Upload folder using huggingface_hub

data/chunk-000/file-000.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:520f720cc7a7f5924ed8738173b13336aeedb084a4fa1d998be02406ae43f2ad
-size 304630
+oid sha256:724adff9c3bc2ab7399d28c0ec1ff6cdb4f39530f6a73d5dd048ce2ebbb16e0c
+size 567274

meta/episodes/chunk-000/file-000.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0ee590c0b427a3c8f2cc4b4bc80745cc6a48ec08d9e24d409684a74959ddbf5f
-size 65082
+oid sha256:454101d69bde7188587324ac02631d389f01d4f335c46513c5ae398d9c5710ba
+size 106424

meta/info.json

@@ -81,7 +81,23 @@
                 "height",
                 "width",
                 "channels"
-            ]
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false,
+                "video.g": 2,
+                "video.crf": 30,
+                "video.preset": 12,
+                "video.fast_decode": 0,
+                "video.video_backend": "pyav",
+                "video.extra_options": {}
+            }
         },
         "observation.images.gelsight1": {
             "dtype": "video",
@@ -94,7 +110,23 @@
                 "height",
                 "width",
                 "channels"
-            ]
+            ],
+            "info": {
+                "video.height": 375,
+                "video.width": 500,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false,
+                "video.g": 2,
+                "video.crf": 30,
+                "video.preset": 12,
+                "video.fast_decode": 0,
+                "video.video_backend": "pyav",
+                "video.extra_options": {}
+            }
         },
         "observation.images.gelsight2": {
             "dtype": "video",
@@ -107,7 +139,23 @@
                 "height",
                 "width",
                 "channels"
-            ]
+            ],
+            "info": {
+                "video.height": 375,
+                "video.width": 500,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false,
+                "video.g": 2,
+                "video.crf": 30,
+                "video.preset": 12,
+                "video.fast_decode": 0,
+                "video.video_backend": "pyav",
+                "video.extra_options": {}
+            }
         },
         "timestamp": {
             "dtype": "float32",
@@ -145,14 +193,16 @@
             "names": null
         }
     },
-    "total_episodes": 0,
-    "total_frames": 0,
-    "total_tasks": 0,
+    "total_episodes": 10,
+    "total_frames": 4769,
+    "total_tasks": 10,
     "chunks_size": 1000,
     "data_files_size_in_mb": 100,
     "video_files_size_in_mb": 200,
     "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
     "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
     "robot_type": "dg5f_ur5e",
-    "splits": {}
+    "splits": {
+        "train": "0:10"
+    }
 }

meta/stats.json

@@ -1,519 +1,37 @@
 {
-    "action": {
-        "min": [
-            0.42236968874931335,
-            -1.0175269842147827,
-            0.8621926307678223,
-            -1.0838494300842285,
-            0.003490658476948738,
-            0.3263765573501587,
-            -0.08552113175392151,
-            0.09599310904741287,
-            0.07504915446043015,
-            0.4398229718208313,
-            -0.1500983089208603,
-            0.07679449021816254,
-            0.21467550098896027,
-            0.24260076880455017,
-            -0.027925267815589905,
-            0.2949606478214264,
-            0.036651913076639175,
-            0.2373647838830948,
-            0.39618974924087524,
-            0.4625122547149658,
-            -0.08708841353654861,
-            -1.8125206232070923,
-            -2.314812660217285,
-            -3.2275240421295166,
-            -2.7802963256835938,
-            -3.2278103828430176
-        ],
-        "max": [
-            0.8709192872047424,
-            -0.24260076880455017,
-            0.982620358467102,
-            -0.986111044883728,
-            0.3577924966812134,
-            1.5707963705062866,
-            1.6057028770446777,
-            0.7853981852531433,
-            0.45727625489234924,
-            1.4276793003082275,
-            1.6091935634613037,
-            1.4049900770187378,
-            0.4031710624694824,
-            1.4660766124725342,
-            1.619665503501892,
-            1.488765835762024,
-            0.10297442227602005,
-            0.34033921360969543,
-            1.5952309370040894,
-            1.6650440692901611,
-            0.4522117078304291,
-            -1.5492947101593018,
-            -1.7487157583236694,
-            -1.538399338722229,
-            -1.1859568357467651,
-            -0.3658059239387512
-        ],
-        "mean": [
-            0.7099382281303406,
-            -0.7958738207817078,
-            0.9494022727012634,
-            -1.0188342332839966,
-            0.1998315006494522,
-            1.2112576961517334,
-            0.048389632254838943,
-            0.45979854464530945,
-            0.25890645384788513,
-            1.0684256553649902,
-            1.1765156984329224,
-            0.9112426042556763,
-            0.333156019449234,
-            1.0461798906326294,
-            1.150964379310608,
-            1.045866847038269,
-            0.06402144581079483,
-            0.2784900367259979,
-            1.3475056886672974,
-            1.3409457206726074,
-            0.212837815284729,
-            -1.7275680303573608,
-            -2.0400614738464355,
-            -2.282424211502075,
-            -2.1940958499908447,
-            -1.3532484769821167
-        ],
-        "std": [
-            0.11917514353990555,
-            0.16417762637138367,
-            0.024939415976405144,
-            0.0211460180580616,
-            0.06450855731964111,
-            0.23237673938274384,
-            0.14347216486930847,
-            0.14583566784858704,
-            0.08181138336658478,
-            0.24775642156600952,
-            0.7037864327430725,
-            0.3562532067298889,
-            0.045022521167993546,
-            0.26196640729904175,
-            0.7010572552680969,
-            0.3117755055427551,
-            0.015960372984409332,
-            0.02718525379896164,
-            0.34889087080955505,
-            0.43841129541397095,
-            0.1562792807817459,
-            0.060662928968667984,
-            0.14644692838191986,
-            0.41123950481414795,
-            0.33656570315361023,
-            0.6561564207077026
-        ],
-        "count": [
-            2304
-        ],
-        "q01": [
-            0.4800423920154572,
-            -1.0140118980407715,
-            0.8709196891784668,
-            -1.0559353269849505,
-            0.01745298460125923,
-            0.32996328521997503,
-            -0.0786651358405749,
-            0.12394035074217566,
-            0.09770507528023287,
-            0.4486990988254547,
-            -0.1257919365167618,
-            0.09593112885951996,
-            0.23910502692063648,
-            0.2809396028518677,
-            -0.017584988772869112,
-            0.3453440135717392,
-            0.036651913076639175,
-            0.23909475369493388,
-            0.42761420845985415,
-            0.5164690494537354,
-            -0.08525263860821725,
-            -1.8072032017707824,
-            -2.314812660217285,
-            -3.2275240421295166,
-            -2.7165099430084227,
-            -3.178560962677002
-        ],
-        "q10": [
-            0.537623136693781,
-            -0.9162664264440536,
-            0.9232889288947695,
-            -1.0471890681612808,
-            0.11520101598330906,
-            0.846459163305087,
-            -0.03313589377443218,
-            0.2722326278686523,
-            0.15005622918789202,
-            0.6335728456897121,
-            -0.007059084996581077,
-            0.29314869244893393,
-            0.27924276888370514,
-            0.6282892942428588,
-            0.015694863181941365,
-            0.5200981299082438,
-            0.04537104774300042,
-            0.24086252415881437,
-            0.7924488544464111,
-            0.5987500660121441,
-            -0.04325409904122353,
-            -1.8069542487462362,
-            -2.2033143043518066,
-            -2.91253604888916,
-            -2.528645658493042,
-            -2.3907312393188476
-        ],
-        "q50": [
-            0.7574842721223831,
-            -0.8394618481397629,
-            0.9529514759778976,
-            -1.0227455934592053,
-            0.2094333571631734,
-            1.2653933450823924,
-            0.022528417581735655,
-            0.45371159315109255,
-            0.23917746543884277,
-            1.1380145955593028,
-            1.5971620641435895,
-            1.0264210104942322,
-            0.32289871347269844,
-            1.1259503364562988,
-            1.6073564121909176,
-            1.120372548699379,
-            0.06109477139332078,
-            0.2705368586020036,
-            1.5796042179090406,
-            1.642314254291474,
-            0.2875094711780548,
-            -1.7349571831764714,
-            -2.0719948609670005,
-            -2.230771541595459,
-            -2.1697706381479898,
-            -1.1580085754394531
-        ],
-        "q90": [
-            0.8412651962247388,
-            -0.6039547277735425,
-            0.9721557946040713,
-            -0.9878518887092731,
-            0.27924471664935985,
-            1.4223520421981812,
-            0.24954417347908017,
-            0.626641844270321,
-            0.356036656669208,
-            1.3037823796272279,
-            1.6058957717140314,
-            1.2897661383559065,
-            0.39793628160817635,
-            1.2810761690139771,
-            1.6147007495958638,
-            1.3631536602973937,
-            0.08901484008576419,
-            0.3106764327155219,
-            1.5899902901092133,
-            1.657834431412932,
-            0.3962107956409454,
-            -1.7333989259174891,
-            -1.8284468203783035,
-            -1.8713144699732462,
-            -1.813250191750065,
-            -0.9699176311492921
-        ],
-        "q99": [
-            0.8569417572021485,
-            -0.2443889124052865,
-            0.982613508966234,
-            -0.9861131695981296,
-            0.33865737557411196,
-            1.5532488298416138,
-            0.6124104852676392,
-            0.7312731118635698,
-            0.4206038475036621,
-            1.3910258865356446,
-            1.6089619873591832,
-            1.3997622680664064,
-            0.40141328554600475,
-            1.4102763986587525,
-            1.617953807000191,
-            1.4330127799510957,
-            0.09250761181116104,
-            0.3333643797636032,
-            1.5918481371262494,
-            1.6631597048044204,
-            0.4431471586227417,
-            -1.5493673777580261,
-            -1.7487350861231485,
-            -1.6377333784103394,
-            -1.187303473552068,
-            -0.3663332127571106
-        ]
-    },
-    "observation.state": {
+    "task_index": {
         "min": [
-            0.42236968874931335,
-            -1.0175269842147827,
-            0.8621926307678223,
-            -1.0838494300842285,
-            0.003490658476948738,
-            0.3263765573501587,
-            -0.09250245243310928,
-            0.09599310904741287,
-            0.07504915446043015,
-            0.4398229718208313,
-            -0.1500983089208603,
-            0.07679449021816254,
-            0.21467550098896027,
-            0.24260076880455017,
-            -0.02617993950843811,
-            0.2949606478214264,
-            0.036651913076639175,
-            0.2373647838830948,
-            0.39618974924087524,
-            0.4625122547149658,
-            -0.08708841353654861,
-            -1.8125206232070923,
-            -2.314812660217285,
-            -3.2275240421295166,
-            -2.7802963256835938,
-            -3.2278103828430176
+            0
         ],
         "max": [
-            0.8691739439964294,
-            -0.24260076880455017,
-            0.982620358467102,
-            -0.986111044883728,
-            0.3560471534729004,
-            1.5707963705062866,
-            1.6057028770446777,
-            0.7853981852531433,
-            0.45553094148635864,
-            1.4276793003082275,
-            1.6091935634613037,
-            1.4049900770187378,
-            0.4031710624694824,
-            1.4660766124725342,
-            1.619665503501892,
-            1.488765835762024,
-            0.10297442227602005,
-            0.34033921360969543,
-            1.5952309370040894,
-            1.6650440692901611,
-            0.4522117078304291,
-            -1.5492947101593018,
-            -1.7487157583236694,
-            -1.538399338722229,
-            -1.1859568357467651,
-            -0.3658059239387512
+            9
         ],
         "mean": [
-            0.7100668549537659,
-            -0.7959214448928833,
-            0.9494097828865051,
-            -1.0188201665878296,
-            0.19974137842655182,
-            1.2112568616867065,
-            0.04844646528363228,
-            0.4596577286720276,
-            0.2588852643966675,
-            1.0684491395950317,
-            1.1765156984329224,
-            0.9113128185272217,
-            0.3331107795238495,
-            1.0461403131484985,
-            1.1509166955947876,
-            1.0458873510360718,
-            0.06400477141141891,
-            0.27845972776412964,
-            1.347548007965088,
-            1.340950846672058,
-            0.212837815284729,
-            -1.7275680303573608,
-            -2.0400614738464355,
-            -2.282424211502075,
-            -2.1940958499908447,
-            -1.3532484769821167
+            4.578318305724471
         ],
         "std": [
-            0.11914287507534027,
-            0.16421175003051758,
-            0.024921484291553497,
-            0.021143198013305664,
-            0.06444483250379562,
-            0.23243777453899384,
-            0.1437990814447403,
-            0.14577633142471313,
-            0.08177795261144638,
-            0.24775618314743042,
-            0.7037397623062134,
-            0.3562987148761749,
-            0.045043863356113434,
-            0.2619759738445282,
-            0.7011086940765381,
-            0.3118177652359009,
-            0.015957891941070557,
-            0.027223458513617516,
-            0.34894418716430664,
-            0.43833300471305847,
-            0.1562792807817459,
-            0.060662928968667984,
-            0.14644692838191986,
-            0.41123950481414795,
-            0.33656570315361023,
-            0.6561564207077026
+            2.6513723311871926
         ],
         "count": [
-            2304
+            4769
         ],
         "q01": [
-            0.4799988596439362,
-            -1.0140382635593415,
-            0.8709221935272217,
-            -1.0559353269849505,
-            0.01745471581816673,
-            0.32995942943974543,
-            -0.07851942911744118,
-            0.12393141822889447,
-            0.09776073596694253,
-            0.4487018346786499,
-            -0.12580068549594364,
-            0.09407165765762329,
-            0.23911759356657664,
-            0.2809004545211792,
-            -0.017564487059911094,
-            0.3453440135717392,
-            0.036651913076639175,
-            0.23909475352174492,
-            0.42761420845985415,
-            0.5164690494537354,
-            -0.08525263860821725,
-            -1.8072032017707824,
-            -2.314812660217285,
-            -3.2275240421295166,
-            -2.7165099430084227,
-            -3.178560962677002
+            4.578318305724471
         ],
         "q10": [
-            0.5376243591308594,
-            -0.9162742320229026,
-            0.9232870082060496,
-            -1.0471886326545892,
-            0.11520718998379177,
-            0.8464643955230713,
-            -0.03310814910261325,
-            0.27230156064033506,
-            0.14839734647955213,
-            0.633564007282257,
-            -0.007125058956444263,
-            0.2930778503417969,
-            0.2792434125411801,
-            0.6283382415771485,
-            0.01573226282542402,
-            0.5200991055061077,
-            0.04537084616720676,
-            0.24085791400500706,
-            0.7906503438949585,
-            0.5987801291048527,
-            -0.04325409904122353,
-            -1.8069542487462362,
-            -2.2033143043518066,
-            -2.91253604888916,
-            -2.528645658493042,
-            -2.3907312393188476
+            4.5783183057244745
         ],
         "q50": [
-            0.7575271555355617,
-            -0.839487686753273,
-            0.9529506094527967,
-            -1.0227452644280024,
-            0.20940656810998917,
-            1.2653890454079495,
-            0.022756891603442443,
-            0.4537072385612287,
-            0.23911291360855103,
-            1.1380158271108354,
-            1.5971600532531738,
-            1.0263656775156658,
-            0.32289864347044345,
-            1.1274797022342682,
-            1.6073800719629123,
-            1.120373543103536,
-            0.06109691535433134,
-            0.2705367086150429,
-            1.5796042179090406,
-            1.6423251344196832,
-            0.2875094711780548,
-            -1.7349571831764714,
-            -2.0719948609670005,
-            -2.230771541595459,
-            -2.1697706381479898,
-            -1.1580085754394531
+            4.5783183057244905
         ],
         "q90": [
-            0.8412423363677016,
-            -0.6039565416831004,
-            0.9721552410344968,
-            -0.9878520569178109,
-            0.2792258646753099,
-            1.4223398791419135,
-            0.23375675678253172,
-            0.6266391244427911,
-            0.35604611607485037,
-            1.3020041465759278,
-            1.6058857608953288,
-            1.2897571714300857,
-            0.3979357206262648,
-            1.2828112547214214,
-            1.6147151741716597,
-            1.363133456156804,
-            0.08901464581489563,
-            0.3106763869524002,
-            1.5900003114323706,
-            1.6578314085264463,
-            0.3962107956409454,
-            -1.7333989259174891,
-            -1.8284468203783035,
-            -1.8713144699732462,
-            -1.813250191750065,
-            -0.9699176311492921
+            4.5783183057245065
         ],
         "q99": [
-            0.8569600987434387,
-            -0.24438337768827165,
-            0.982613245523893,
-            -0.9861132000964224,
-            0.3351024794578552,
-            1.5532488298416138,
-            0.6129274972279867,
-            0.7312793283462524,
-            0.42061930855115254,
-            1.3911206436157226,
-            1.6089909343719482,
-            1.4015260791778565,
-            0.4014117115736008,
-            1.4102763986587525,
-            1.6179688948240036,
-            1.4329721879959108,
-            0.0925078020527445,
-            0.33336532563998783,
-            1.591846889283922,
-            1.6631597048044204,
-            0.4431471586227417,
-            -1.5493673777580261,
-            -1.7487350861231485,
-            -1.6377333784103394,
-            -1.187303473552068,
-            -0.3663332127571106
+            4.57831830572451
         ]
     },
-    "observation.images.realsense": {
+    "observation.images.gelsight2": {
         "min": [
             [
                 [
@@ -551,39 +69,39 @@
         "mean": [
             [
                 [
-                    0.37968127473127805
+                    0.21506570448407994
                 ]
             ],
             [
                 [
-                    0.3947232213166391
+                    0.2917899074151163
                 ]
             ],
             [
                 [
-                    0.401514964884046
+                    0.6626438847652287
                 ]
             ]
         ],
         "std": [
             [
                 [
-                    0.0
+                    0.013790472893929677
                 ]
             ],
             [
                 [
-                    0.0
+                    0.0074200028929261655
                 ]
             ],
             [
                 [
-                    0.0
+                    0.006049628309969706
                 ]
             ]
         ],
         "count": [
-            332
+            1100
         ],
         "q01": [
             [
@@ -593,85 +111,727 @@
             ],
             [
                 [
-                    0.02759507615974284
+                    -3.9215686274509807e-13
                 ]
             ],
             [
                 [
-                    0.01963803223602351
+                    0.01302067629180014
                 ]
             ]
         ],
         "q10": [
             [
                 [
-                    0.054957860138383
+                    -3.9215686274509807e-13
                 ]
             ],
             [
                 [
-                    0.07059104401040195
+                    -3.9215686274509807e-13
                 ]
             ],
             [
                 [
-                    0.06671652773185577
+                    0.4295143445414559
                 ]
             ]
         ],
         "q50": [
             [
                 [
-                    0.3647801013602566
+                    0.2420573451541899
                 ]
             ],
             [
                 [
-                    0.37251817591105835
+                    0.3368716591714573
                 ]
             ],
             [
                 [
-                    0.37643102577454524
+                    0.6560146567904993
                 ]
             ]
         ],
         "q90": [
             [
                 [
-                    0.70586042950002
+                    0.4480086000466994
                 ]
             ],
             [
                 [
-                    0.7294570805126848
+                    0.4902561149848438
                 ]
             ],
             [
                 [
-                    0.7529273659539046
+                    0.9878377238653732
                 ]
             ]
         ],
         "q99": [
             [
                 [
-                    0.9960071595404536
+                    0.6054160483361992
                 ]
             ],
             [
                 [
-                    0.9999078617583383
+                    0.7800758054380107
                 ]
             ],
             [
                 [
-                    0.9998018495784083
+                    0.9999726290615296
                 ]
             ]
         ]
     },
-    "observation.images.gelsight1": {
+    "observation.state": {
+        "min": [
+            0.6946410536766052,
+            -1.197295904159546,
+            0.8953539133071899,
+            -1.0838494300842285,
+            0.008726646192371845,
+            0.42586034536361694,
+            -0.10297442227602005,
+            0.11519172787666321,
+            0.12740904092788696,
+            0.37000980973243713,
+            -0.13788101077079773,
+            0.003490658476948738,
+            0.3228859007358551,
+            0.36302849650382996,
+            -0.02617993950843811,
+            0.01745329238474369,
+            0.0,
+            0.2687807083129883,
+            0.6195918917655945,
+            0.04712389037013054,
+            0.364458292722702,
+            -2.2460243701934814,
+            -1.5967984199523926,
+            -3.524099111557007,
+            -1.6978362798690796,
+            -2.7443482875823975
+        ],
+        "max": [
+            1.0506882667541504,
+            -0.7923794984817505,
+            0.9686577320098877,
+            -0.9599310755729675,
+            0.406661719083786,
+            1.4695671796798706,
+            1.244419813156128,
+            0.9320058226585388,
+            0.4921828508377075,
+            1.326450228691101,
+            0.12566371262073517,
+            0.4380776286125183,
+            0.4468042850494385,
+            1.6563174724578857,
+            0.04188790172338486,
+            0.5602506995201111,
+            0.08377580344676971,
+            0.35953783988952637,
+            1.4067354202270508,
+            0.5637413263320923,
+            0.8165651559829712,
+            -1.8002816438674927,
+            -1.1112573146820068,
+            -2.8471620082855225,
+            -0.5843904614448547,
+            -1.7605026960372925
+        ],
+        "mean": [
+            0.9326610840899211,
+            -1.0528051449483133,
+            0.9374996117511668,
+            -1.0319698897515934,
+            0.24804988159438954,
+            1.1239411008010547,
+            0.030008381168760513,
+            0.46133229750136107,
+            0.2876094951897603,
+            0.9044108066100899,
+            -0.01644062548107111,
+            0.07735848166306306,
+            0.3813855416383801,
+            0.8293204196445796,
+            0.006960096081771921,
+            0.28176973534220295,
+            0.041269065705603535,
+            0.3075475811170917,
+            1.0646521835663103,
+            0.38193542329513647,
+            0.577006917150797,
+            -2.026139727376697,
+            -1.2818049296164917,
+            -3.273394174459821,
+            -1.046234207049334,
+            -2.3649029313305636
+        ],
+        "std": [
+            0.06289860029552702,
+            0.08264090406194177,
+            0.020391015239163597,
+            0.023163047347215585,
+            0.09180997624472517,
+            0.24588195950917838,
+            0.18680845384444317,
+            0.17550709111333518,
+            0.08283263299783655,
+            0.2507253937090908,
+            0.04861694017073685,
+            0.08882005911322793,
+            0.028164667460871026,
+            0.30942451294383483,
+            0.01185014702936964,
+            0.13089083167374935,
+            0.02176783922343879,
+            0.02376957521068699,
+            0.197799319625901,
+            0.0985428874126069,
+            0.11045478625541957,
+            0.11259705798000011,
+            0.11123303337238416,
+            0.17122160303920753,
+            0.2532573586999547,
+            0.2311068015566556
+        ],
+        "count": [
+            4769
+        ],
+        "q01": [
+            0.8231028303598045,
+            -1.116977080551416,
+            0.9253051990329717,
+            -1.0457229411069804,
+            0.15728625035333488,
+            0.726543850222015,
+            -0.048016597602070124,
+            0.25638859739376524,
+            0.19257326964417096,
+            0.5386081105790338,
+            -0.05782367460838619,
+            0.024265534240878378,
+            0.3701151847491357,
+            0.5297153355471492,
+            -0.0006952112670501711,
+            0.138726294768685,
+            0.03190783767751717,
+            0.30408804820106394,
+            0.8697243968847752,
+            0.2984291127017745,
+            0.4448051637839603,
+            -2.0993206733234144,
+            -1.3578314974480161,
+            -3.4014777795359583,
+            -1.203156511662616,
+            -2.579488259905613
+        ],
+        "q10": [
+            0.8597573782938207,
+            -1.1095936910135151,
+            0.9272281796444694,
+            -1.043928450936904,
+            0.16760870015428475,
+            0.8386738569723767,
+            -0.04105644977730951,
+            0.29930027096992196,
+            0.19983267475365632,
+            0.6360539128119382,
+            -0.04816492453684196,
+            0.03356236562879513,
+            0.37379832668586377,
+            0.623566554657602,
+            0.0014591173510695905,
+            0.15685159018926284,
+            0.0331446186385436,
+            0.30455483466723005,
+            0.9281646610539888,
+            0.3086120297084777,
+            0.46230193649411433,
+            -2.0929547885151782,
+            -1.3153445891270126,
+            -3.394807685994532,
+            -1.1636703456108064,
+            -2.5468182586018804
+        ],
+        "q50": [
+            0.9499150627593171,
+            -1.067050405305592,
+            0.9345006325560693,
+            -1.0356349533983364,
+            0.25495426196314097,
+            1.222242001090813,
+            -0.027004172158091845,
+            0.48756753264524033,
+            0.29153675353023534,
+            0.9926677520541453,
+            -0.017686347022696915,
+            0.07415151386485248,
+            0.38089006132262315,
+            0.8946311480219281,
+            0.006702413618559199,
+            0.27803173489239585,
+            0.03746990834602144,
+            0.306109478443491,
+            1.0822223272757499,
+            0.38139429850027023,
+            0.5738722705621093,
+            -2.007652312836593,
+            -1.2846530956190862,
+            -3.2713469768511088,
+            -1.0544457110490602,
+            -2.354112918772259
+        ],
+        "q90": [
+            0.9786688231638203,
+            -0.9714042011423943,
+            0.9505315379678186,
+            -1.0179853938600087,
+            0.33372330048030985,
+            1.3132121741701714,
+            0.14165628676688918,
+            0.6262170875747557,
+            0.3838990780449782,
+            1.0750083210685628,
+            0.005397165653878296,
+            0.1553372712324525,
+            0.3911643319709534,
+            1.0010269861445815,
+            0.012760590595215664,
+            0.3854942822535393,
+            0.05301025339744214,
+            0.3117827296150658,
+            1.1707230242200815,
+            0.4448713680676235,
+            0.6833235874814558,
+            -1.975644466275941,
+            -1.2434917867054802,
+            -3.1395876908190696,
+            -0.9068864490693134,
+            -2.2003781366861666
+        ],
+        "q99": [
+            0.9885997575459514,
+            -0.945001350279584,
+            0.9541363773505884,
+            -1.0075605944651491,
+            0.3408059717089603,
+            1.3269086649820019,
+            0.23769170724764974,
+            0.6746409255812882,
+            0.39323197211608746,
+            1.139864140222575,
+            0.017084509271385318,
+            0.20880869317646597,
+            0.39449380605100964,
+            1.0761516778724758,
+            0.015643479606318053,
+            0.39643428758772636,
+            0.05442359410301443,
+            0.3130499200951191,
+            1.243832729290384,
+            0.46900786597055993,
+            0.6855695898242468,
+            -1.971047939667065,
+            -1.2369535052579061,
+            -3.0802646367329194,
+            -0.8895891729268989,
+            -2.198657858245984
+        ]
+    },
+    "frame_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            698
+        ],
+        "mean": [
+            257.7531977353743
+        ],
+        "std": [
+            167.33387026516405
+        ],
+        "count": [
+            4769
+        ],
+        "q01": [
+            4.500197516362203
+        ],
+        "q10": [
+            51.12506117836395
+        ],
+        "q50": [
+            257.4188226043193
+        ],
+        "q90": [
+            464.2758278969139
+        ],
+        "q99": [
+            510.8856192167055
+        ]
+    },
+    "episode_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            9
+        ],
+        "mean": [
+            4.578318305724471
+        ],
+        "std": [
+            2.6513723311871926
+        ],
+        "count": [
+            4769
+        ],
+        "q01": [
+            4.578318305724471
+        ],
+        "q10": [
+            4.5783183057244745
+        ],
+        "q50": [
+            4.5783183057244905
+        ],
+        "q90": [
+            4.5783183057245065
+        ],
+        "q99": [
+            4.57831830572451
+        ]
+    },
+    "action": {
+        "min": [
+            0.6946410536766052,
+            -1.197295904159546,
+            0.8953539133071899,
+            -1.0838494300842285,
+            0.008726646192371845,
+            0.42586034536361694,
+            -0.10297442227602005,
+            0.11519172787666321,
+            0.12740904092788696,
+            0.37000980973243713,
+            -0.13788101077079773,
+            0.003490658476948738,
+            0.3246312439441681,
+            0.36302849650382996,
+            -0.02617993950843811,
+            0.01745329238474369,
+            0.0,
+            0.2687807083129883,
+            0.6195918917655945,
+            0.04712389037013054,
+            0.364458292722702,
+            -2.2460243701934814,
+            -1.5967984199523926,
+            -3.524099111557007,
+            -1.6978362798690796,
+            -2.7443482875823975
+        ],
+        "max": [
+            1.0506882667541504,
+            -0.7923794984817505,
+            0.9686577320098877,
+            -0.9599310755729675,
+            0.406661719083786,
+            1.4695671796798706,
+            1.239183783531189,
+            0.9320058226585388,
+            0.4921828508377075,
+            1.326450228691101,
+            0.12566371262073517,
+            0.4398229718208313,
+            0.4468042850494385,
+            1.6580628156661987,
+            0.04188790172338486,
+            0.5602506995201111,
+            0.08377580344676971,
+            0.35953783988952637,
+            1.4067354202270508,
+            0.5654866695404053,
+            0.8165651559829712,
+            -1.8002816438674927,
+            -1.1112573146820068,
+            -2.8471620082855225,
+            -0.5843904614448547,
+            -1.7605026960372925
+        ],
+        "mean": [
+            0.9325936823977092,
+            -1.052846864400157,
+            0.9374967180450249,
+            -1.0319712937415633,
+            0.24804769108932356,
+            1.1240282464662323,
+            0.030012039921355732,
+            0.46126099065505477,
+            0.28756850183597527,
+            0.9045831870297811,
+            -0.01643183956268722,
+            0.07736764583735876,
+            0.3813774934677889,
+            0.8294613281494168,
+            0.006960828684734774,
+            0.28180376899444876,
+            0.041266869733094055,
+            0.30755490152109444,
+            1.0647290702335088,
+            0.38193722490145493,
+            0.577006917150797,
+            -2.026139727376697,
+            -1.2818049296164917,
+            -3.273394174459821,
+            -1.046234207049334,
+            -2.3649029313305636
+        ],
+        "std": [
+            0.06294429936877892,
+            0.0826323907782379,
+            0.020376899056687114,
+            0.02319904173420968,
+            0.09185460755974084,
+            0.24587719717334666,
+            0.18672854562808391,
+            0.17553207523352737,
+            0.08286129353622641,
+            0.2507330803340619,
+            0.048621037079202685,
+            0.08885370895748784,
+            0.028178364330914706,
+            0.30945955828111077,
+            0.011859253679650439,
+            0.13092366267978187,
+            0.021765663734977025,
+            0.023770326417515468,
+            0.19779475401788613,
+            0.09854664892362772,
+            0.11045478625541957,
+            0.11259705798000011,
+            0.11123303337238416,
+            0.17122160303920753,
+            0.2532573586999547,
+            0.2311068015566556
+        ],
+        "count": [
+            4769
+        ],
+        "q01": [
+            0.8233206512174988,
+            -1.1169688586372084,
+            0.9253051953619975,
+            -1.0457229147322915,
+            0.1579012516033619,
+            0.7267788653079943,
+            -0.04754231224968852,
+            0.25641722657615024,
+            0.19236786465162675,
+            0.5385901853226138,
+            -0.05782396709091717,
+            0.02426830561738716,
+            0.37012564998371633,
+            0.529471787512094,
+            -0.0008020881846047081,
+            0.13898061218527497,
+            0.03190673173649989,
+            0.304088042221223,
+            0.8697267115892414,
+            0.2979284109331114,
+            0.4448051637839603,
+            -2.0993206733234144,
+            -1.3578314974480161,
+            -3.4014777795359583,
+            -1.203156511662616,
+            -2.579488259905613
+        ],
+        "q10": [
+            0.8597567476955605,
+            -1.1095938559390255,
+            0.9272281267965935,
+            -1.0439283262506274,
+            0.16771224461214163,
+            0.838560819720573,
+            -0.040874513926592644,
+            0.2996446847897731,
+            0.19983712618682867,
+            0.6362360444529997,
+            -0.04816522989060665,
+            0.03356510020923199,
+            0.3735787779794013,
+            0.6237639720079515,
+            0.0014588527693087604,
+            0.15701648647145044,
+            0.033039833581841566,
+            0.30455483788612897,
+            0.9281546803063896,
+            0.3091499545829195,
+            0.46230193649411433,
+            -2.0929547885151782,
+            -1.3153445891270126,
+            -3.394807685994532,
+            -1.1636703456108064,
+            -2.5468182586018804
+        ],
+        "q50": [
+            0.9495536438092528,
+            -1.0670487349908682,
+            0.9345005092802756,
+            -1.0356344721145352,
+            0.25495081191838925,
+            1.2224340739594222,
+            -0.02675509070234179,
+            0.48691451201435626,
+            0.29157370283483874,
+            0.992488989180905,
+            -0.017686073900626372,
+            0.07324159333902017,
+            0.3808905494167021,
+            0.8946276070500645,
+            0.006702020682045322,
+            0.27815021512648486,
+            0.0374693184983692,
+            0.3061094856649985,
+            1.0822150868226683,
+            0.38123192775144993,
+            0.5738722705621093,
+            -2.007652312836593,
+            -1.2846530956190862,
+            -3.2713469768511088,
+            -1.0544457110490602,
+            -2.354112918772259
+        ],
+        "q90": [
+            0.9787916982793732,
+            -0.9714064275940382,
+            0.9505315733133523,
+            -1.017984475994558,
+            0.33372411316645056,
+            1.3132011188363273,
+            0.14164117286153166,
+            0.626055612552353,
+            0.38389825879071393,
+            1.074993241274198,
+            0.005738093068605771,
+            0.15517024323396741,
+            0.3914196689965825,
+            1.0012226651224931,
+            0.012579925165040824,
+            0.3855930586762596,
+            0.05301128211098259,
+            0.3117827508331394,
+            1.1702867852417242,
+            0.44487262152639656,
+            0.6833235874814558,
+            -1.975644466275941,
+            -1.2434917867054802,
+            -3.1395876908190696,
+            -0.9068864490693134,
+            -2.2003781366861666
+        ],
+        "q99": [
+            0.9883920126833654,
+            -0.945203762139537,
+            0.9547577574969653,
+            -1.0075600237577411,
+            0.3411089284176711,
+            1.3269140325933058,
+            0.23704773662246664,
+            0.6737764895148269,
+            0.3930035917184962,
+            1.1396258312485474,
+            0.017085193567765306,
+            0.20880235271252606,
+            0.39439134760821154,
+            1.0762648896985414,
+            0.015643179376426158,
+            0.3964366903949665,
+            0.05442357814423891,
+            0.31304993641028855,
+            1.2440048501209884,
+            0.4689790600509829,
+            0.6855695898242468,
+            -1.971047939667065,
+            -1.2369535052579061,
+            -3.0802646367329194,
+            -0.8895891729268989,
+            -2.198657858245984
+        ]
+    },
+    "timestamp": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            23.266666666666666
+        ],
+        "mean": [
+            8.59177325784581
+        ],
+        "std": [
+            5.577795675505469
+        ],
+        "count": [
+            4769
+        ],
+        "q01": [
+            0.1500065837837445
+        ],
+        "q10": [
+            1.7041687058679753
+        ],
+        "q50": [
+            8.581309466694492
+        ],
+        "q90": [
+            15.475860929974584
+        ],
+        "q99": [
+            17.029520640651796
+        ]
+    },
+    "index": {
+        "min": [
+            0
+        ],
+        "max": [
+            4768
+        ],
+        "mean": [
+            2384.0
+        ],
+        "std": [
+            1376.691686616869
+        ],
+        "count": [
+            4769
+        ],
+        "q01": [
+            2130.746999780988
+        ],
+        "q10": [
+            2177.37186344299
+        ],
+        "q50": [
+            2383.6860862654644
+        ],
+        "q90": [
+            2590.5226301615394
+        ],
+        "q99": [
+            2637.1324214813317
+        ]
+    },
+    "observation.images.realsense": {
         "min": [
             [
                 [
@@ -692,12 +852,12 @@
         "max": [
             [
                 [
-                    0.6392156862745098
+                    1.0
                 ]
             ],
             [
                 [
-                    0.8117647058823529
+                    1.0
                 ]
             ],
             [
@@ -709,127 +869,127 @@
         "mean": [
             [
                 [
-                    0.18357365382629495
+                    0.38218064393939394
                 ]
             ],
             [
                 [
-                    0.2559640294181304
+                    0.3962547107100416
                 ]
             ],
             [
                 [
-                    0.5565473741390359
+                    0.3941191380718954
                 ]
             ]
         ],
         "std": [
             [
                 [
-                    0.0
+                    0.007101097205081063
                 ]
             ],
             [
                 [
-                    0.0
+                    0.009394871751204906
                 ]
             ],
             [
                 [
-                    0.0
+                    0.0077420977632513925
                 ]
             ]
         ],
         "count": [
-            332
+            1100
         ],
         "q01": [
             [
                 [
-                    -3.9215686274509807e-13
+                    0.004775337112761094
                 ]
             ],
             [
                 [
-                    -3.9215686274509807e-13
+                    0.030647059799075203
                 ]
             ],
             [
                 [
-                    0.019736643464433837
+                    0.020099308788935677
                 ]
             ]
         ],
         "q10": [
             [
                 [
-                    -3.9215686274509807e-13
+                    0.03931865902221343
                 ]
             ],
             [
                 [
-                    -3.9215686274509807e-13
+                    0.06156524803217306
                 ]
             ],
             [
                 [
-                    0.13338115858323824
+                    0.056613748222172224
                 ]
             ]
         ],
         "q50": [
             [
                 [
-                    0.18821660692428305
+                    0.40863204305224293
                 ]
             ],
             [
                 [
-                    0.29409009697023486
+                    0.4155056182239323
                 ]
             ],
             [
                 [
-                    0.5411776191476283
+                    0.41115929812897006
                 ]
             ]
         ],
         "q90": [
             [
                 [
-                    0.4078448810693523
+                    0.6960253888809412
                 ]
             ],
             [
                 [
-                    0.4588378829767891
+                    0.6986735097364957
                 ]
             ],
             [
                 [
-                    0.9019363983262629
+                    0.6904724384974134
                 ]
             ]
         ],
         "q99": [
             [
                 [
-                    0.4627337970040784
+                    0.9308056548966395
                 ]
             ],
             [
                 [
-                    0.537324181006534
+                    0.9554003065055924
                 ]
             ],
             [
                 [
-                    0.9999384010314115
+                    0.9906789983590749
                 ]
             ]
         ]
     },
-    "observation.images.gelsight2": {
+    "observation.images.gelsight1": {
         "min": [
             [
                 [
@@ -867,39 +1027,39 @@
         "mean": [
             [
                 [
-                    0.21642378969912762
+                    0.18678051998676443
                 ]
             ],
             [
                 [
-                    0.29827103044089
+                    0.24413816405691285
                 ]
             ],
             [
                 [
-                    0.6566744107815553
+                    0.550600525067512
                 ]
             ]
         ],
         "std": [
             [
                 [
-                    0.0
+                    0.0076378139338262145
                 ]
             ],
             [
                 [
-                    0.0
+                    0.006945640163637806
                 ]
             ],
             [
                 [
-                    0.0
+                    0.0030296194489847204
                 ]
             ]
         ],
         "count": [
-            332
+            1100
         ],
         "q01": [
             [
@@ -914,7 +1074,7 @@
             ],
             [
                 [
-                    0.003919835628220424
+                    0.0003455580252962292
                 ]
             ]
         ],
@@ -931,220 +1091,60 @@
             ],
             [
                 [
-                    0.41975473349237935
+                    0.12559647695877507
                 ]
             ]
         ],
         "q50": [
             [
                 [
-                    0.25091911869205763
+                    0.18956217116895968
                 ]
             ],
             [
                 [
-                    0.3528357735422997
+                    0.27747944339466474
                 ]
             ],
             [
                 [
-                    0.6588934964696366
+                    0.5372398837139918
                 ]
             ]
         ],
         "q90": [
             [
                 [
-                    0.43123539204598443
+                    0.41660529323394613
                 ]
             ],
             [
                 [
-                    0.47846973804677856
+                    0.4563088653515861
                 ]
             ],
             [
                 [
-                    0.9802896053983949
+                    0.9078084371871854
                 ]
             ]
         ],
         "q99": [
             [
                 [
-                    0.5333452715496025
+                    0.5078401296574044
                 ]
             ],
             [
                 [
-                    0.7764340175955247
+                    0.5356930967839144
                 ]
             ],
             [
                 [
-                    0.9999706287456985
+                    0.9999361052272289
                 ]
             ]
         ]
-    },
-    "timestamp": {
-        "min": [
-            0.0
-        ],
-        "max": [
-            76.76666666666667
-        ],
-        "mean": [
-            38.38333333333333
-        ],
-        "std": [
-            22.170248248664414
-        ],
-        "count": [
-            2304
-        ],
-        "q01": [
-            0.7529274665686283
-        ],
-        "q10": [
-            7.667454666586644
-        ],
-        "q50": [
-            38.36797999999996
-        ],
-        "q90": [
-            69.09921200008003
-        ],
-        "q99": [
-            76.01373920009804
-        ]
-    },
-    "frame_index": {
-        "min": [
-            0
-        ],
-        "max": [
-            2303
-        ],
-        "mean": [
-            1151.5
-        ],
-        "std": [
-            665.1074474599324
-        ],
-        "count": [
-            2304
-        ],
-        "q01": [
-            22.587823999901964
-        ],
-        "q10": [
-            230.02363999992
-        ],
-        "q50": [
-            1151.0394
-        ],
-        "q90": [
-            2072.97636000008
-        ],
-        "q99": [
-            2280.4121760000985
-        ]
-    },
-    "episode_index": {
-        "min": [
-            0
-        ],
-        "max": [
-            0
-        ],
-        "mean": [
-            0.0
-        ],
-        "std": [
-            0.0
-        ],
-        "count": [
-            2304
-        ],
-        "q01": [
-            3.9999999999994176e-16
-        ],
-        "q10": [
-            3.999999999999417e-15
-        ],
-        "q50": [
-            1.9999999999997088e-14
-        ],
-        "q90": [
-            3.5999999999994754e-14
-        ],
-        "q99": [
-            3.9599999999994235e-14
-        ]
-    },
-    "index": {
-        "min": [
-            0
-        ],
-        "max": [
-            2303
-        ],
-        "mean": [
-            1151.5
-        ],
-        "std": [
-            665.1074474599324
-        ],
-        "count": [
-            2304
-        ],
-        "q01": [
-            22.587823999901964
-        ],
-        "q10": [
-            230.02363999992
-        ],
-        "q50": [
-            1151.0394
-        ],
-        "q90": [
-            2072.97636000008
-        ],
-        "q99": [
-            2280.4121760000985
-        ]
-    },
-    "task_index": {
-        "min": [
-            0
-        ],
-        "max": [
-            0
-        ],
-        "mean": [
-            0.0
-        ],
-        "std": [
-            0.0
-        ],
-        "count": [
-            2304
-        ],
-        "q01": [
-            3.9999999999994176e-16
-        ],
-        "q10": [
-            3.999999999999417e-15
-        ],
-        "q50": [
-            1.9999999999997088e-14
-        ],
-        "q90": [
-            3.5999999999994754e-14
-        ],
-        "q99": [
-            3.9599999999994235e-14
-        ]
     }
 }

meta/tasks.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:fa16d8685a8e3594ac4d3519411fdb7ad4ae0508e255f0daf00ca714e383cf9c
-size 2279
+oid sha256:6313ace378aa0b9b562209dd58dbe474c85eb22879f041f40b479b9b86df7bf3
+size 2392

videos/observation.images.gelsight1/chunk-000/file-000.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1de01b9746fad4058e148871f81d66d5e239d13d9fa27010339e43bacbb2e321
-size 6924337
+oid sha256:a6a038edc9bbbc92ae7e79b143cf1b1b78114d64a1620bb2d64ec056bdc63538
+size 14008997

videos/observation.images.gelsight2/chunk-000/file-000.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:820f1ded07382b51a8957bf71109787900c98bcd85254f04a6db6e6e3eac3416
-size 9529228
+oid sha256:62dc25a8dc7b8705b6cf4b2e5e4724209a5f585078808e47a86cb713f6a024ae
+size 19651292

videos/observation.images.realsense/chunk-000/file-000.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a8d4dc24df698e252829e324ee5765589a8211a7e48713b77c71300d5f60635b
-size 23091089
+oid sha256:3e72730043dfe08ab84748e79159042b7834f36633842ab24689dce962353d4a
+size 43827935