Upload folder using huggingface_hub

data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72b6bf5ea90391cfba65237f412ac0926b5204ef1bcc092b86d09dfebc35ae6f
+size 139950

data/chunk-000/episode_000001.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e006c706732b8e73f559c3d4afaf21079346d4c70950df2ef2dc9560cedcc520
+size 119397

meta/episodes.jsonl

@@ -0,0 +1,2 @@
+{"episode_index": 0, "tasks": ["push the red block on the left to the blue zone on the right."], "length": 171}
+{"episode_index": 1, "tasks": ["push the red block on the left to the blue zone on the right."], "length": 146}

meta/episodes_stats.jsonl

@@ -0,0 +1,2 @@
+{"episode_index": 0, "stats": {"observation.state": {"min": [-0.44985365867614746, -0.04669236019253731, -0.03078649751842022, 0.6639260053634644, -0.2978452742099762, -0.024548029527068138, -0.444431334733963, -0.08018968254327774, -0.06358617544174194, 0.7314496636390686, -0.34223493933677673, -0.01796535588800907, 0.006674559786915779, -0.1169368326663971, 0.06632645428180695, -0.958317220211029, 0.16713131964206696, -1.6621298789978027, 0.05176078900694847, -1.4542378187179565, -0.5310066938400269, -0.02007225714623928, -0.0005369495484046638, -1.2736908502120059e-05, -0.017231695353984833, -0.00818699225783348, -0.00021310737065505236, 0.0005595320835709572, 8.418459765380248e-05, -0.20124730467796326, -0.33138030767440796, -0.6687880754470825, 0.0634830966591835, 0.08926782757043839, -0.7066745758056641, -0.007298826240003109, -0.00013950184802524745, -6.673746497654065e-07, -0.000358131859684363, -0.00015497635467909276, -0.000219759633182548, -0.0009496209095232189, -0.00011414547770982608], "max": [-0.3998478949069977, 0.023065758869051933, 0.0234383437782526, 0.6890017986297607, -0.22604621946811676, 0.010199087671935558, -0.4130706191062927, -0.00766295101493597, -0.006198509596288204, 0.7503835558891296, -0.2945311665534973, 0.019571758806705475, 0.05061652883887291, -0.029395146295428276, 0.10203539580106735, 0.12987220287322998, 0.23240843415260315, 0.005304962396621704, 1.3506815433502197, -0.18710650503635406, 0.15082788467407227, 0.024989034980535507, 3.28038222505711e-05, 4.778524271387141e-06, 0.0005709097604267299, 0.00037822421290911734, -0.00020217345445416868, 0.001051260158419609, 0.00012423917360138148, 0.2646036148071289, -0.15106996893882751, 0.4173268675804138, 1.1276217699050903, 0.22425556182861328, -0.038281381130218506, 0.038966767489910126, 0.00042712330468930304, 5.003830301575363e-05, 0.019351301714777946, 0.008946836926043034, -0.0002061104605672881, -0.00043905695201829076, -6.734443013556302e-05], "mean": [-0.4226193924744924, -0.020257897298400204, 0.000643475707252755, 0.6747349016150536, -0.2679158444815909, -0.006821169819014299, -0.43247530927435, -0.053941027683407416, -0.03320652248926068, 0.7388697468746476, -0.32131362466784247, 0.0008733666361355882, 0.027941818389910878, -0.07289810402438654, 0.0854634933217227, -0.5175738810627634, 0.1892865904067692, -0.7454546935941782, 0.6470568981130569, -0.7140145010766927, -0.1805029711522685, 0.007360902901408455, -2.21381961159052e-05, 5.3498942144443784e-08, -0.0014551415976135976, -0.0006395520896090304, -0.0002074857715215011, 0.0007339360914737727, 0.00010609232762022412, -0.02424210998602756, -0.2083998948161365, -0.2614122350340742, 0.6406510938503589, 0.16786430610550773, -0.41119624909601715, 0.02025516413299269, 0.0001653139686393308, 2.7255836125459877e-05, 0.010329029292980038, 0.00482388928374585, -0.00021509707759662767, -0.0006351878293667381, -8.463020895489312e-05], "std": [0.012828426045747769, 0.026253118130675233, 0.013983872155200404, 0.009032495483761647, 0.01708645822147116, 0.011983776413079244, 0.010056590717440405, 0.027804329227495532, 0.015041460994666437, 0.005174327255939826, 0.011553461128719616, 0.013144354099649674, 0.014197547096671115, 0.03315968512255519, 0.012536467429584924, 0.37040359272280887, 0.012523437493300893, 0.7227787759506504, 0.3643426690457591, 0.5386259227890596, 0.26855036862117887, 0.008553794633814825, 0.00010652321027099897, 3.460728405115408e-06, 0.0037109980249418334, 0.0017736733090236514, 3.621201759946492e-06, 0.000124232133931619, 1.3630967698746164e-05, 0.16091323434340735, 0.04841053308248924, 0.3378572162939848, 0.3665725116407032, 0.0394430291038393, 0.1894242857204874, 0.014088501639590661, 0.0001658169669220917, 1.8051497224170454e-05, 0.006401860519384794, 0.00295145383338429, 3.781332845121648e-06, 0.00014291750052734665, 1.37233868089997e-05], "count": [171]}, "observation.eef_state": {"min": [0.1646837261165573, 0.04786169754739303, 0.027141555631726304, 0.8993775431456664, -0.10607956051324242, 0.12517042317119687, -0.4158167487245791, 0.12172565675060908, -0.2949066818698345, 0.020646685659345687, 0.9359439900260402, -0.057014387739146556, 0.08842122730877192, -0.33192035206562864], "max": [0.29229319083084954, 0.1908197432629501, 0.059679721434418256, 0.9875845835922119, 0.03734843591883705, 0.18896865252230396, 0.005786623330779587, 0.17409952626680456, -0.14684025930286498, 0.048760520938900626, 0.992185356285975, -0.004085821843369784, 0.14663782553054633, 0.16365058816279202], "mean": [0.2475406025993383, 0.1297818716517888, 0.045303999892567226, 0.9603487118256501, -0.02359684598136684, 0.1516282333281642, -0.1565085504232469, 0.15955199137396264, -0.23767001816892297, 0.030589096031961548, 0.9687464183166034, -0.034784098902413775, 0.11228397432612913, -0.15125067651010665], "std": [0.030732191026371265, 0.056093341485803486, 0.008492684523401486, 0.034409997071547314, 0.0202160232499456, 0.018898862133622796, 0.16654606141331568, 0.014402111682499821, 0.04846653437057603, 0.006938471147455837, 0.013996827556018748, 0.016675318711521975, 0.015999436432692617, 0.15526115426962653], "count": [171]}, "action": {"min": [-0.42532262206077576, -0.01842210441827774, -0.03014974854886532, 0.6223703622817993, -0.35109177231788635, 0.002738931914791465, -0.3968273401260376, -0.08427193015813828, -0.06005352735519409, 0.6712216138839722, -0.3891143798828125, -0.009204858914017677, 0.008437613025307655, -0.12606917321681976, 0.022326119244098663, -1.0422180418126425, 0.190001, -1.5919108408497762, -0.08022908468150776, -1.4575265398729047, -0.613295554535101, 0.0, -1e-06, -1e-06, -1e-06, -1e-06, 0.0, 0.0, 1e-06, -0.2192767245596336, -0.34037381828408253, -0.7047779107719702, -0.03678535026511238, 0.09520747449074232, -0.7447936910489955, 0.0, -1e-06, -1e-06, -1e-06, -1e-06, 0.0, 0.0, 1e-06], "max": [-0.36430373787879944, 0.037253499031066895, 0.02618148736655712, 0.651481568813324, -0.0932837575674057, 0.020718496292829514, -0.3539416790008545, -0.033611878752708435, 0.00015939027070999146, 0.7183969020843506, -0.11578546464443207, 0.013852746225893497, 0.04796334728598595, -0.03522106260061264, 0.04033970832824707, 0.06983869476176371, 0.23505330652947243, 0.05910764084414392, 1.2952736776664713, -0.17871169908261728, 0.06792253259791362, 0.0, -1e-06, -1e-06, -1e-06, -1e-06, 0.0, 0.0, 1e-06, 0.24920398233421506, -0.190001, 0.39969944377233474, 1.0867111360836545, 0.22997784273537805, -0.1468031823928622, 0.0, -1e-06, -1e-06, -1e-06, -1e-06, 0.0, 0.0, 1e-06], "mean": [-0.39113524033312214, 0.0037179348598185336, 0.002557096289394543, 0.6380544876494603, -0.2067678727601704, 0.012157725905509372, -0.3787786657350105, -0.06206221765244913, -0.032209001503318374, 0.6926899907881754, -0.21695908067519204, 0.0020233075194365795, 0.025499979382631374, -0.0774093184685498, 0.03295491696798313, -0.5911672806234354, 0.19127908004077224, -0.7038214174420231, 0.5689169415547919, -0.7090624269604663, -0.27476458780263335, 0.0, -9.999999999999978e-07, -9.999999999999978e-07, -9.999999999999978e-07, -9.999999999999978e-07, 0.0, 0.0, 9.999999999999978e-07, -0.04807297620068067, -0.2426856165171362, -0.30390231078013175, 0.5777672423350602, 0.17806171662289486, -0.47067560522361224, 0.0, -9.999999999999978e-07, -9.999999999999978e-07, -9.999999999999978e-07, -9.999999999999978e-07, 0.0, 0.0, 9.999999999999978e-07], "std": [0.014895523365647055, 0.020006184416033194, 0.014655600341000382, 0.007991639502948478, 0.0652130907956984, 0.0038420668294235497, 0.014506085107462468, 0.016344767670370193, 0.01689066034873513, 0.01359088625113257, 0.06090613520926301, 0.008468758241322157, 0.013353865307047248, 0.037461003842171756, 0.0057478746090736475, 0.3802994664594549, 0.005525118357001287, 0.7043769100344934, 0.3895760603690841, 0.5386728951568744, 0.2702427544217055, 0.0, 2.117582368135751e-21, 2.117582368135751e-21, 2.117582368135751e-21, 2.117582368135751e-21, 0.0, 0.0, 2.117582368135751e-21, 0.16032275004962887, 0.044937750396803706, 0.3426514934588845, 0.3807012491525991, 0.04099903141676312, 0.16907139438263927, 0.0, 2.117582368135751e-21, 2.117582368135751e-21, 2.117582368135751e-21, 2.117582368135751e-21, 0.0, 0.0, 2.117582368135751e-21], "count": [171]}, "action.eef": {"min": [0.18703788663235824, -0.024764581337188646, 0.08637298034709663, 0.999999994584156, 3.000263176627393e-05, 2.7471626008123504e-05, -9.579582400921954e-05, 0.13187584230944305, -0.3129092528250025, 0.023075433729883035, 0.999999994584156, -3.000263176627393e-05, 2.7471626008123504e-05, 9.579582400921954e-05], "max": [0.32929763650903743, 0.19251191350530597, 0.12398594002922403, 0.999999994584156, 3.000263176627393e-05, 2.7471626008123504e-05, -9.579582400921954e-05, 0.17682325820667127, -0.14632174397542078, 0.07863542334083602, 0.999999994584156, -3.000263176627393e-05, 2.7471626008123504e-05, 9.579582400921954e-05], "mean": [0.27704912685315003, 0.10134433293947767, 0.10174207788588396, 0.9999999945841576, 3.0002631766273924e-05, 2.7471626008123497e-05, -9.579582400921954e-05, 0.16492066698100008, -0.25325122650909376, 0.04609054378428792, 0.9999999945841576, -3.0002631766273924e-05, 2.7471626008123497e-05, 9.579582400921954e-05], "std": [0.039434040548277816, 0.08038612949184781, 0.010364304600712347, 1.5543122344752192e-15, 6.776263578034403e-21, 6.776263578034403e-21, 0.0, 0.012068396259683511, 0.055046488910893636, 0.015996914980805167, 1.5543122344752192e-15, 6.776263578034403e-21, 6.776263578034403e-21, 0.0], "count": [171]}, "observation.img_state_delta": {"min": [0.0007448196411132812], "max": [0.05801963806152344], "mean": [0.0209342148154974], "std": [0.012332787737250328], "count": [171]}, "teleop.navigate_command": {"min": [0.0, 0.0, 0.0], "max": [0.0, 0.0, 0.0], "mean": [0.0, 0.0, 0.0], "std": [0.0, 0.0, 0.0], "count": [171]}, "teleop.base_height_command": {"min": [0.74], "max": [0.74], "mean": [0.74], "std": [0.0], "count": [171]}, "timestamp": {"min": [0.0], "max": [8.5], "mean": [4.25], "std": [2.468130196457769], "count": [171]}, "frame_index": {"min": [0], "max": [170], "mean": [85.0], "std": [49.362603929155384], "count": [171]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [171]}, "index": {"min": [0], "max": [170], "mean": [85.0], "std": [49.362603929155384], "count": [171]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [171]}}}
+{"episode_index": 1, "stats": {"observation.state": {"min": [-0.44098153710365295, -0.03017623908817768, -0.010514250956475735, 0.6706449389457703, -0.28904932737350464, -0.02504996582865715, -0.4430094361305237, -0.06885134428739548, -0.03853195905685425, 0.7264989018440247, -0.3272951543331146, -0.012092528864741325, 0.0046928352676332, -0.0968550369143486, 0.07341521978378296, -0.9832530617713928, 0.1692143678665161, -1.6491068601608276, 0.020599203184247017, -1.3791159391403198, -0.5659289360046387, -0.01292648259550333, -0.0005148733034729958, -2.7847436285810545e-05, -0.011011814698576927, -0.005533802323043346, -0.00021217284665908664, 0.0004492536245379597, 8.849632286000997e-05, -0.26424893736839294, -0.23662269115447998, -0.414718359708786, 0.04137704521417618, 0.12154950946569443, -0.33139193058013916, -0.0006635926547460258, 1.381096268460169e-07, 5.352722837415058e-06, -8.075488585745916e-05, -4.73926447739359e-05, -0.0002110591158270836, -0.000771284569054842, -0.00011619406723184511], "max": [-0.4058171212673187, 0.02563215233385563, 0.024131469428539276, 0.691588282585144, -0.2592138350009918, 0.0018315231427550316, -0.4291582703590393, -0.010547704063355923, -0.0015542551409453154, 0.750726044178009, -0.2943083941936493, 0.01704428344964981, 0.04253462702035904, -0.035217490047216415, 0.10930926352739334, 0.033218272030353546, 0.20945395529270172, 0.0712265819311142, 1.2187721729278564, -0.16200131177902222, 0.2653881907463074, 0.041363224387168884, 0.0004363170301076025, 0.00013293222582433373, 0.0008676359429955482, 0.0006051153177395463, -0.00019674308714456856, 0.001034885412082076, 0.0001380834000883624, -0.0353933684527874, -0.17786140739917755, 0.1259913146495819, 0.8546170592308044, 0.19892321527004242, 0.21945476531982422, 0.024704480543732643, 0.0002425380371278152, 4.3420877773314714e-05, 0.012269135564565659, 0.005864593666046858, -0.00020569258776959032, -0.0006513404659926891, -9.925699123414233e-05], "mean": [-0.42346023166016356, -0.002120688864012402, 0.007237149494644717, 0.6803421700653964, -0.2709989325232702, -0.015173391950231409, -0.4382160156965256, -0.04073700114880523, -0.021356730099946056, 0.7361333215073363, -0.31156058364535033, -0.001168961806361538, 0.02543576897683311, -0.06199234377031457, 0.08936889158332184, -0.5821487759716397, 0.1884484275767248, -0.7003406830696542, 0.6999036864415832, -0.6966702605355276, -0.143630026759937, 0.010659152594847886, -6.642528195579746e-06, 5.716571693016726e-06, -0.000653734911254007, -0.0003273911091043081, -0.00020503985642914802, 0.0007391824685627186, 0.00011361219691174832, -0.17978355153272413, -0.20356927199722968, -0.25942400601462856, 0.5405040774239253, 0.15212258099489015, -0.09393589485162385, 0.00740001969405381, 0.00011678192679227874, 2.4978567839067705e-05, 0.0027230737855487765, 0.0012965100859686299, -0.00020847727216888627, -0.0007101342796462856, -0.00010744114608738304], "std": [0.008772750520900655, 0.02086864684811438, 0.010894388115995511, 0.007725759172941407, 0.009047371181094383, 0.00876896390382394, 0.00352280823302729, 0.02200752557327449, 0.011722838183248046, 0.007394312142601572, 0.008246120918428667, 0.009711518999969493, 0.01233655703721217, 0.02372291006180473, 0.012794532296126643, 0.3317712972460483, 0.011519111878365554, 0.7229316327043231, 0.35683456954699605, 0.5256714701903186, 0.29538529456001594, 0.01240386823391704, 0.0001234788954830035, 2.0298347431020244e-05, 0.0025017815976678673, 0.0012714960400037752, 5.228060495062146e-06, 0.0001810906974223304, 1.715779923652167e-05, 0.07322978501065643, 0.01987150010991764, 0.1917852971912354, 0.282440127268724, 0.02726446358929117, 0.1901336519473416, 0.008333548245933726, 7.69331019589809e-05, 1.3115304025646281e-05, 0.003828050053386476, 0.001798691732715016, 1.6569090125673287e-06, 3.7860878673077474e-05, 5.191610272810507e-06], "count": [146]}, "observation.eef_state": {"min": [0.18949239149445282, 0.048311349532600356, 0.030813696579625918, 0.9093840637854422, -0.103153842896876, 0.118630434842052, -0.39402539534336956, 0.20726521595115344, -0.26464916469664373, 0.039316237937132216, 0.9652839093659061, -0.03854558052006733, 0.1337207100079737, -0.21262184999880318], "max": [0.29631353241076425, 0.19602473176004204, 0.06374023532059164, 0.9848897018955087, 0.03182511640052343, 0.19444768179143718, 0.03271894712636944, 0.22043445000520578, -0.15432763163351465, 0.08126290114266524, 0.9873356851783306, -0.00014211193055289222, 0.16280711888357471, 0.06928132486044397], "mean": [0.2624526544156438, 0.13061421307443738, 0.05182843960938444, 0.9613329281322133, -0.01978179024879731, 0.16102038955083373, -0.14638601723975028, 0.21514737322898045, -0.2296480923993548, 0.051750094116560244, 0.9752503657376771, -0.021162016939404334, 0.14815635547962422, -0.12952442266799152], "std": [0.02919791607998083, 0.0559579154501314, 0.009292457204040715, 0.028891493294278116, 0.020621206177300483, 0.026870594188315812, 0.1615836279078566, 0.0033696070363972274, 0.0366211104281674, 0.014459422556564749, 0.007292706440439236, 0.011755385118051142, 0.00868512187729225, 0.0971864570944854], "count": [146]}, "action": {"min": [-0.3973294794559479, -0.006022382527589798, -0.008483275771141052, 0.6390377879142761, -0.23038825392723083, 0.005495117045938969, -0.3857797384262085, -0.06700090318918228, -0.04221625626087189, 0.682274341583252, -0.19972914457321167, -0.012307529337704182, 0.008036129176616669, -0.11446890980005264, 0.010608509182929993, -1.0707989811906984, 0.190001, -1.5739595125244783, -0.1144776000813705, -1.3796854859099017, -0.654940964990274, 0.0, -1e-06, -1e-06, -1e-06, -1e-06, 0.0, 0.0, 1e-06, -0.30388034286579063, -0.2830295461294975, -0.44210961577119795, -0.07359802204451653, 0.11918815856344743, -0.3967911973019408, 0.0, -1e-06, -1e-06, -1e-06, -1e-06, 0.0, 0.0, 1e-06], "max": [-0.3691917359828949, 0.0358528271317482, 0.02751501463353634, 0.6615451574325562, -0.09563010931015015, 0.013630417175590992, -0.34996020793914795, -0.030766375362873077, 0.0025759367272257805, 0.719734787940979, -0.06353093683719635, 0.010861443355679512, 0.04358445107936859, -0.03210613876581192, 0.038122959434986115, -0.03475761266708405, 0.21552047840384478, 0.09075842414826663, 1.1491805068565561, -0.1571026260454152, 0.1715098063480766, 0.0, -1e-06, -1e-06, -1e-06, -1e-06, 0.0, 0.0, 1e-06, -0.07672409931407398, -0.190001, 0.1069937361587, 0.7842673064484162, 0.20297250022555136, 0.14427250819193202, 0.0, -1e-06, -1e-06, -1e-06, -1e-06, 0.0, 0.0, 1e-06], "mean": [-0.38614257884352177, 0.014114575600889448, 0.011449929422456515, 0.6498998697489908, -0.17314510236251845, 0.009842750667403005, -0.3682262254496143, -0.051621505684436186, -0.020803334267988596, 0.6966499604590951, -0.1434753722421927, 0.0005517610985058526, 0.025078203688592534, -0.06902751928731186, 0.024311210883602705, -0.6620841012883676, 0.19157301698531315, -0.6616054569238977, 0.6199622054719427, -0.6929993803249154, -0.24618163568730264, 0.0, -9.99999999999998e-07, -9.99999999999998e-07, -9.99999999999998e-07, -9.99999999999998e-07, 0.0, 0.0, 9.99999999999998e-07, -0.22352204664407238, -0.2371147035977781, -0.2901747954921197, 0.45317701484044454, 0.15381953297957407, -0.17494209334790817, 0.0, -9.99999999999998e-07, -9.99999999999998e-07, -9.99999999999998e-07, -9.99999999999998e-07, 0.0, 0.0, 9.99999999999998e-07], "std": [0.005226928268109378, 0.015692111899456025, 0.010764803355299613, 0.00598497223039709, 0.03215736011382132, 0.0018888433368059391, 0.011033941341945448, 0.014094572943565526, 0.014197007704177748, 0.010443275332208273, 0.027340953098192743, 0.008056650375627866, 0.011821201843317062, 0.031046357931202768, 0.008915008666629518, 0.337637136856245, 0.0036654395528376055, 0.7053978081374968, 0.37641495683623477, 0.5277475337466009, 0.29169181742644024, 0.0, 1.9058241313221758e-21, 1.9058241313221758e-21, 1.9058241313221758e-21, 1.9058241313221758e-21, 0.0, 0.0, 1.9058241313221758e-21, 0.06927602953425897, 0.03093023642587566, 0.1904863953196478, 0.2870986297979829, 0.025098114330579843, 0.1806434773809463, 0.0, 1.9058241313221758e-21, 1.9058241313221758e-21, 1.9058241313221758e-21, 1.9058241313221758e-21, 0.0, 0.0, 1.9058241313221758e-21], "count": [146]}, "action.eef": {"min": [0.20668661179139244, 0.0008901991102231166, 0.08751777964150598, 0.999999994584156, 3.000263176627393e-05, 2.7471626008123504e-05, -9.579582400921954e-05, 0.21447245933343387, -0.2817083528580212, 0.06560565170101375, 0.999999994584156, -3.000263176627393e-05, 2.7471626008123504e-05, 9.579582400921954e-05], "max": [0.32311012727909394, 0.1868105290383869, 0.13418946893686473, 0.999999994584156, 3.000263176627393e-05, 2.7471626008123504e-05, -9.579582400921954e-05, 0.23127482600061772, -0.15561083040793464, 0.1227453995933276, 0.999999994584156, -3.000263176627393e-05, 2.7471626008123504e-05, 9.579582400921954e-05], "mean": [0.28502325555037406, 0.10772483006756353, 0.11895583429067443, 0.9999999945841574, 3.000263176627388e-05, 2.7471626008123548e-05, -9.579582400921946e-05, 0.22380146800822612, -0.2454514200017545, 0.08817876171934878, 0.9999999945841574, -3.000263176627388e-05, 2.7471626008123548e-05, 9.579582400921946e-05], "std": [0.03241482915540766, 0.07033893209743339, 0.011450650163915862, 1.4432899320127035e-15, 5.082197683525802e-20, 4.404571325722362e-20, 8.131516293641283e-20, 0.004086708443049181, 0.04307175298180359, 0.019020494041450363, 1.4432899320127035e-15, 5.082197683525802e-20, 4.404571325722362e-20, 8.131516293641283e-20], "count": [146]}, "observation.img_state_delta": {"min": [0.0008718967437744141], "max": [0.05668449401855469], "mean": [0.020761383697390556], "std": [0.012988829985260963], "count": [146]}, "teleop.navigate_command": {"min": [0.0, 0.0, 0.0], "max": [0.0, 0.0, 0.0], "mean": [0.0, 0.0, 0.0], "std": [0.0, 0.0, 0.0], "count": [146]}, "teleop.base_height_command": {"min": [0.74], "max": [0.74], "mean": [0.7400000000000001], "std": [1.1102230246251565e-16], "count": [146]}, "timestamp": {"min": [0.0], "max": [7.25], "mean": [3.625], "std": [2.1072790512886517], "count": [146]}, "frame_index": {"min": [0], "max": [145], "mean": [72.5], "std": [42.14558102577303], "count": [146]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [146]}, "index": {"min": [171], "max": [316], "mean": [243.5], "std": [42.14558102577303], "count": [146]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [146]}}}

meta/info.json

@@ -0,0 +1,274 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": null,
+    "total_episodes": 2,
+    "total_frames": 317,
+    "total_tasks": 1,
+    "total_videos": 2,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 20,
+    "splits": {
+        "train": "0:2"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "observation.images.ego_view": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 20,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.state": {
+            "dtype": "float64",
+            "shape": [
+                43
+            ],
+            "names": [
+                "left_hip_pitch_joint",
+                "left_hip_roll_joint",
+                "left_hip_yaw_joint",
+                "left_knee_joint",
+                "left_ankle_pitch_joint",
+                "left_ankle_roll_joint",
+                "right_hip_pitch_joint",
+                "right_hip_roll_joint",
+                "right_hip_yaw_joint",
+                "right_knee_joint",
+                "right_ankle_pitch_joint",
+                "right_ankle_roll_joint",
+                "waist_yaw_joint",
+                "waist_roll_joint",
+                "waist_pitch_joint",
+                "left_shoulder_pitch_joint",
+                "left_shoulder_roll_joint",
+                "left_shoulder_yaw_joint",
+                "left_elbow_joint",
+                "left_wrist_roll_joint",
+                "left_wrist_pitch_joint",
+                "left_wrist_yaw_joint",
+                "left_hand_index_0_joint",
+                "left_hand_index_1_joint",
+                "left_hand_middle_0_joint",
+                "left_hand_middle_1_joint",
+                "left_hand_thumb_0_joint",
+                "left_hand_thumb_1_joint",
+                "left_hand_thumb_2_joint",
+                "right_shoulder_pitch_joint",
+                "right_shoulder_roll_joint",
+                "right_shoulder_yaw_joint",
+                "right_elbow_joint",
+                "right_wrist_roll_joint",
+                "right_wrist_pitch_joint",
+                "right_wrist_yaw_joint",
+                "right_hand_index_0_joint",
+                "right_hand_index_1_joint",
+                "right_hand_middle_0_joint",
+                "right_hand_middle_1_joint",
+                "right_hand_thumb_0_joint",
+                "right_hand_thumb_1_joint",
+                "right_hand_thumb_2_joint"
+            ]
+        },
+        "observation.eef_state": {
+            "dtype": "float64",
+            "shape": [
+                14
+            ],
+            "names": [
+                "left_wrist_pos",
+                "left_wrist_abs_quat",
+                "right_wrist_pos",
+                "right_wrist_abs_quat"
+            ]
+        },
+        "action": {
+            "dtype": "float64",
+            "shape": [
+                43
+            ],
+            "names": [
+                "left_hip_pitch_joint",
+                "left_hip_roll_joint",
+                "left_hip_yaw_joint",
+                "left_knee_joint",
+                "left_ankle_pitch_joint",
+                "left_ankle_roll_joint",
+                "right_hip_pitch_joint",
+                "right_hip_roll_joint",
+                "right_hip_yaw_joint",
+                "right_knee_joint",
+                "right_ankle_pitch_joint",
+                "right_ankle_roll_joint",
+                "waist_yaw_joint",
+                "waist_roll_joint",
+                "waist_pitch_joint",
+                "left_shoulder_pitch_joint",
+                "left_shoulder_roll_joint",
+                "left_shoulder_yaw_joint",
+                "left_elbow_joint",
+                "left_wrist_roll_joint",
+                "left_wrist_pitch_joint",
+                "left_wrist_yaw_joint",
+                "left_hand_index_0_joint",
+                "left_hand_index_1_joint",
+                "left_hand_middle_0_joint",
+                "left_hand_middle_1_joint",
+                "left_hand_thumb_0_joint",
+                "left_hand_thumb_1_joint",
+                "left_hand_thumb_2_joint",
+                "right_shoulder_pitch_joint",
+                "right_shoulder_roll_joint",
+                "right_shoulder_yaw_joint",
+                "right_elbow_joint",
+                "right_wrist_roll_joint",
+                "right_wrist_pitch_joint",
+                "right_wrist_yaw_joint",
+                "right_hand_index_0_joint",
+                "right_hand_index_1_joint",
+                "right_hand_middle_0_joint",
+                "right_hand_middle_1_joint",
+                "right_hand_thumb_0_joint",
+                "right_hand_thumb_1_joint",
+                "right_hand_thumb_2_joint"
+            ]
+        },
+        "action.eef": {
+            "dtype": "float64",
+            "shape": [
+                14
+            ],
+            "names": [
+                "left_wrist_pos",
+                "left_wrist_abs_quat",
+                "right_wrist_pos",
+                "right_wrist_abs_quat"
+            ]
+        },
+        "observation.img_state_delta": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": "img_state_delta"
+        },
+        "teleop.navigate_command": {
+            "dtype": "float64",
+            "shape": [
+                3
+            ],
+            "names": [
+                "lin_vel_x",
+                "lin_vel_y",
+                "ang_vel_z"
+            ]
+        },
+        "teleop.base_height_command": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ],
+            "names": "base_height_command"
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    },
+    "script_config": {
+        "wbc_version": "gear_wbc",
+        "wbc_model_path": "policy/GR00T-WholeBodyControl-Balance.onnx,policy/GR00T-WholeBodyControl-Walk.onnx",
+        "wbc_policy_class": "G1DecoupledWholeBodyPolicy",
+        "interface": "lo",
+        "simulator": "None",
+        "sim_sync_mode": false,
+        "control_frequency": 50,
+        "sim_frequency": 200,
+        "enable_waist": false,
+        "with_hands": true,
+        "high_elbow_pose": false,
+        "no_wrist": true,
+        "verbose": true,
+        "enable_offscreen": false,
+        "enable_onscreen": true,
+        "upper_body_joint_speed": 1000,
+        "env_name": "default",
+        "ik_indicator": false,
+        "verbose_timing": false,
+        "keyboard_dispatcher_type": "raw",
+        "enable_gravity_compensation": false,
+        "gravity_compensation_joints": null,
+        "body_control_device": "dummy",
+        "hand_control_device": "dummy",
+        "body_streamer_ip": "10.112.210.229",
+        "body_streamer_keyword": "knee",
+        "enable_visualization": false,
+        "enable_real_device": true,
+        "teleop_frequency": 20,
+        "teleop_replay_path": null,
+        "robot_ip": "192.168.123.164",
+        "data_collection": true,
+        "data_collection_frequency": 20,
+        "root_output_dir": "outputs",
+        "enable_upper_body_operation": true,
+        "upper_body_operation_mode": "teleop"
+    },
+    "discarded_episode_indices": [],
+    "data_collection_info": {
+        "lower_body_policy": "gear_wbc",
+        "wbc_model_path": "policy/GR00T-WholeBodyControl-Balance.onnx,policy/GR00T-WholeBodyControl-Walk.onnx",
+        "teleoperator_username": "NEW_USER",
+        "support_operator_username": "NEW_USER",
+        "robot_type": "g1",
+        "robot_id": "sim"
+    }
+}

meta/modality.json

@@ -0,0 +1,126 @@
+{
+    "state": {
+        "left_leg": {
+            "start": 0,
+            "end": 6
+        },
+        "right_leg": {
+            "start": 6,
+            "end": 12
+        },
+        "waist": {
+            "start": 12,
+            "end": 15
+        },
+        "left_arm": {
+            "start": 15,
+            "end": 22
+        },
+        "left_hand": {
+            "start": 22,
+            "end": 29
+        },
+        "right_arm": {
+            "start": 29,
+            "end": 36
+        },
+        "right_hand": {
+            "start": 36,
+            "end": 43
+        },
+        "left_wrist_pos": {
+            "start": 0,
+            "end": 3,
+            "original_key": "observation.eef_state"
+        },
+        "left_wrist_abs_quat": {
+            "start": 3,
+            "end": 7,
+            "original_key": "observation.eef_state",
+            "rotation_type": "quaternion"
+        },
+        "right_wrist_pos": {
+            "start": 7,
+            "end": 10,
+            "original_key": "observation.eef_state"
+        },
+        "right_wrist_abs_quat": {
+            "start": 10,
+            "end": 14,
+            "original_key": "observation.eef_state",
+            "rotation_type": "quaternion"
+        }
+    },
+    "action": {
+        "left_leg": {
+            "start": 0,
+            "end": 6
+        },
+        "right_leg": {
+            "start": 6,
+            "end": 12
+        },
+        "waist": {
+            "start": 12,
+            "end": 15
+        },
+        "left_arm": {
+            "start": 15,
+            "end": 22
+        },
+        "left_hand": {
+            "start": 22,
+            "end": 29
+        },
+        "right_arm": {
+            "start": 29,
+            "end": 36
+        },
+        "right_hand": {
+            "start": 36,
+            "end": 43
+        },
+        "left_wrist_pos": {
+            "start": 0,
+            "end": 3,
+            "original_key": "action.eef"
+        },
+        "left_wrist_abs_quat": {
+            "start": 3,
+            "end": 7,
+            "original_key": "action.eef",
+            "rotation_type": "quaternion"
+        },
+        "right_wrist_pos": {
+            "start": 7,
+            "end": 10,
+            "original_key": "action.eef"
+        },
+        "right_wrist_abs_quat": {
+            "start": 10,
+            "end": 14,
+            "original_key": "action.eef",
+            "rotation_type": "quaternion"
+        },
+        "base_height_command": {
+            "start": 0,
+            "end": 1,
+            "original_key": "teleop.base_height_command"
+        },
+        "navigate_command": {
+            "start": 0,
+            "end": 3,
+            "original_key": "teleop.navigate_command"
+        }
+    },
+    "video": {
+        "ego_view": {
+            "original_key": "observation.images.ego_view"
+        }
+    },
+    "annotation": {
+        "human.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "push the red block on the left to the blue zone on the right."}

videos/chunk-000/observation.images.ego_view/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:938dac0cf091d309588b09a6e8e0995c6a5da32f4312a918f8af0f971d9cc37c
+size 757827

videos/chunk-000/observation.images.ego_view/episode_000001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:553dfb6e94bc072bce621fbabe8bc075758ffec82bea49012fcbe7e6a97267a4
+size 615303