Datasets:
ArXiv:
License:
Add files using upload-large-folder tool
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +149 -0
- official_data/umi_data/batch2/fold_clothes_e00009/annotation/grounding_000000.jsonl +6 -0
- official_data/umi_data/batch2/fold_clothes_e00009/annotation/subtasks_000000.jsonl +1 -0
- official_data/umi_data/batch2/fold_clothes_e00009/export_meta.json +42 -0
- official_data/umi_data/batch2/fold_clothes_e00009/imu/episode_0000_left.csv +0 -0
- official_data/umi_data/batch2/fold_clothes_e00009/imu/episode_0000_right.csv +0 -0
- official_data/umi_data/batch2/fold_clothes_e00009/meta/annotation.json +18 -0
- official_data/umi_data/batch2/fold_clothes_e00009/meta/calibration.json +333 -0
- official_data/umi_data/batch2/fold_clothes_e00009/meta/info.json +147 -0
- official_data/umi_data/batch2/fold_clothes_e00009/meta/stats.json +812 -0
- official_data/umi_data/batch2/fold_clothes_e00065/annotation/subtasks_000000.jsonl +1 -0
- official_data/umi_data/batch2/fold_clothes_e00065/export_meta.json +42 -0
- official_data/umi_data/batch2/fold_clothes_e00065/imu/episode_0000_left.csv +0 -0
- official_data/umi_data/batch2/fold_clothes_e00065/imu/episode_0000_right.csv +0 -0
- official_data/umi_data/batch2/fold_clothes_e00065/meta/annotation.json +14 -0
- official_data/umi_data/batch2/fold_clothes_e00065/meta/calibration.json +333 -0
- official_data/umi_data/batch2/fold_clothes_e00065/meta/info.json +147 -0
- official_data/umi_data/batch2/fold_clothes_e00065/meta/stats.json +812 -0
- official_data/umi_data/batch2/fold_clothes_e00067/data/chunk-000/file-000.parquet +3 -0
- official_data/umi_data/batch2/fold_clothes_e00067/meta/episodes/chunk-000/file-000.parquet +3 -0
- official_data/umi_data/batch2/fold_clothes_e00067/meta/tasks.parquet +3 -0
- official_data/umi_data/batch2/fold_clothes_e00067/videos/observation.audio.left_ego/episode_0000.m4a +3 -0
- official_data/umi_data/batch2/fold_clothes_e00067/videos/observation.audio.right_ego/episode_0000.m4a +3 -0
- official_data/umi_data/batch2/fold_clothes_e00067/videos/observation.images.left_ego/chunk-000/file-000.mp4 +3 -0
- official_data/umi_data/batch2/fold_clothes_e00067/videos/observation.images.right_ego/chunk-000/file-000.mp4 +3 -0
- official_data/umi_data/batch2/fold_clothes_e00069/annotation/subtasks_000000.jsonl +1 -0
- official_data/umi_data/batch2/fold_clothes_e00069/export_meta.json +42 -0
- official_data/umi_data/batch2/fold_clothes_e00069/imu/episode_0000_left.csv +0 -0
- official_data/umi_data/batch2/fold_clothes_e00069/imu/episode_0000_right.csv +0 -0
- official_data/umi_data/batch2/fold_clothes_e00069/meta/annotation.json +14 -0
- official_data/umi_data/batch2/fold_clothes_e00069/meta/calibration.json +333 -0
- official_data/umi_data/batch2/fold_clothes_e00069/meta/info.json +147 -0
- official_data/umi_data/batch2/fold_clothes_e00069/meta/stats.json +812 -0
- official_data/umi_data/batch2/fold_clothes_e00110/annotation/subtasks_000000.jsonl +1 -0
- official_data/umi_data/batch2/fold_clothes_e00110/export_meta.json +42 -0
- official_data/umi_data/batch2/fold_clothes_e00110/imu/episode_0000_left.csv +0 -0
- official_data/umi_data/batch2/fold_clothes_e00110/imu/episode_0000_right.csv +0 -0
- official_data/umi_data/batch2/fold_clothes_e00110/meta/annotation.json +14 -0
- official_data/umi_data/batch2/fold_clothes_e00110/meta/calibration.json +333 -0
- official_data/umi_data/batch2/fold_clothes_e00110/meta/info.json +147 -0
- official_data/umi_data/batch2/fold_clothes_e00110/meta/stats.json +812 -0
- official_data/umi_data/batch2/fold_clothes_e00144/data/chunk-000/file-000.parquet +3 -0
- official_data/umi_data/batch2/fold_clothes_e00144/meta/episodes/chunk-000/file-000.parquet +3 -0
- official_data/umi_data/batch2/fold_clothes_e00144/meta/tasks.parquet +3 -0
- official_data/umi_data/batch2/fold_clothes_e00144/videos/observation.audio.left_ego/episode_0000.m4a +3 -0
- official_data/umi_data/batch2/fold_clothes_e00144/videos/observation.audio.right_ego/episode_0000.m4a +3 -0
- official_data/umi_data/batch2/fold_clothes_e00144/videos/observation.images.left_ego/chunk-000/file-000.mp4 +3 -0
- official_data/umi_data/batch2/fold_clothes_e00144/videos/observation.images.right_ego/chunk-000/file-000.mp4 +3 -0
- official_data/umi_data/batch2/fold_clothes_e00230/data/chunk-000/file-000.parquet +3 -0
- official_data/umi_data/batch2/fold_clothes_e00230/meta/episodes/chunk-000/file-000.parquet +3 -0
.gitattributes
CHANGED
|
@@ -107,3 +107,152 @@ robot_description/meshes/waist_pitch_g.stl filter=lfs diff=lfs merge=lfs -text
|
|
| 107 |
robot_description/meshes/waist_pitch_w.stl filter=lfs diff=lfs merge=lfs -text
|
| 108 |
official_data/umi_data/batch1/umi_fold_clothes_02/imu/episode_000019_left.csv filter=lfs diff=lfs merge=lfs -text
|
| 109 |
official_data/umi_data/batch1/umi_fold_clothes_02/imu/episode_000019_right.csv filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 107 |
robot_description/meshes/waist_pitch_w.stl filter=lfs diff=lfs merge=lfs -text
|
| 108 |
official_data/umi_data/batch1/umi_fold_clothes_02/imu/episode_000019_left.csv filter=lfs diff=lfs merge=lfs -text
|
| 109 |
official_data/umi_data/batch1/umi_fold_clothes_02/imu/episode_000019_right.csv filter=lfs diff=lfs merge=lfs -text
|
| 110 |
+
official_data/umi_data/batch2/fold_clothes_e01219/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 111 |
+
official_data/umi_data/batch2/fold_clothes_e01219/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 112 |
+
official_data/umi_data/batch2/fold_clothes_e01775/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 113 |
+
official_data/umi_data/batch2/fold_clothes_e01775/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 114 |
+
official_data/umi_data/batch2/fold_clothes_e02653/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 115 |
+
official_data/umi_data/batch2/fold_clothes_e02653/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 116 |
+
official_data/umi_data/batch2/fold_clothes_e06971/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 117 |
+
official_data/umi_data/batch2/fold_clothes_e06971/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 118 |
+
official_data/umi_data/batch2/fold_clothes_e03021/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 119 |
+
official_data/umi_data/batch2/fold_clothes_e03021/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 120 |
+
official_data/umi_data/batch2/fold_clothes_e08374/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 121 |
+
official_data/umi_data/batch2/fold_clothes_e08374/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 122 |
+
official_data/umi_data/batch2/fold_clothes_e04840/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 123 |
+
official_data/umi_data/batch2/fold_clothes_e04840/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 124 |
+
official_data/umi_data/batch2/fold_clothes_e08550/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 125 |
+
official_data/umi_data/batch2/fold_clothes_e08550/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 126 |
+
official_data/umi_data/batch2/fold_clothes_e04351/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 127 |
+
official_data/umi_data/batch2/fold_clothes_e04351/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 128 |
+
official_data/umi_data/batch2/fold_clothes_e03286/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 129 |
+
official_data/umi_data/batch2/fold_clothes_e03286/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 130 |
+
official_data/umi_data/batch2/fold_clothes_e03111/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 131 |
+
official_data/umi_data/batch2/fold_clothes_e03111/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 132 |
+
official_data/umi_data/batch2/fold_clothes_e02726/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 133 |
+
official_data/umi_data/batch2/fold_clothes_e02726/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 134 |
+
official_data/umi_data/batch2/fold_clothes_e03813/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 135 |
+
official_data/umi_data/batch2/fold_clothes_e03813/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 136 |
+
official_data/umi_data/batch2/fold_clothes_e02938/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 137 |
+
official_data/umi_data/batch2/fold_clothes_e02938/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 138 |
+
official_data/umi_data/batch2/fold_clothes_e02938/imu/episode_0000_right.csv filter=lfs diff=lfs merge=lfs -text
|
| 139 |
+
official_data/umi_data/batch2/fold_clothes_e03334/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 140 |
+
official_data/umi_data/batch2/fold_clothes_e03334/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 141 |
+
official_data/umi_data/batch2/fold_clothes_e06770/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 142 |
+
official_data/umi_data/batch2/fold_clothes_e06770/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 143 |
+
official_data/umi_data/batch2/fold_clothes_e03606/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 144 |
+
official_data/umi_data/batch2/fold_clothes_e03606/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 145 |
+
official_data/umi_data/batch2/fold_clothes_e00345/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 146 |
+
official_data/umi_data/batch2/fold_clothes_e00345/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 147 |
+
official_data/umi_data/batch2/fold_clothes_e00339/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 148 |
+
official_data/umi_data/batch2/fold_clothes_e00339/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 149 |
+
official_data/umi_data/batch2/fold_clothes_e08178/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 150 |
+
official_data/umi_data/batch2/fold_clothes_e08178/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 151 |
+
official_data/umi_data/batch2/fold_clothes_e00230/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 152 |
+
official_data/umi_data/batch2/fold_clothes_e00230/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 153 |
+
official_data/umi_data/batch2/fold_clothes_e05740/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 154 |
+
official_data/umi_data/batch2/fold_clothes_e05740/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 155 |
+
official_data/umi_data/batch2/fold_clothes_e06991/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 156 |
+
official_data/umi_data/batch2/fold_clothes_e06991/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 157 |
+
official_data/umi_data/batch2/fold_clothes_e02455/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 158 |
+
official_data/umi_data/batch2/fold_clothes_e02455/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 159 |
+
official_data/umi_data/batch2/fold_clothes_e00536/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 160 |
+
official_data/umi_data/batch2/fold_clothes_e00536/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 161 |
+
official_data/umi_data/batch2/fold_clothes_e08218/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 162 |
+
official_data/umi_data/batch2/fold_clothes_e08218/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 163 |
+
official_data/umi_data/batch2/fold_clothes_e01502/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 164 |
+
official_data/umi_data/batch2/fold_clothes_e01502/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 165 |
+
official_data/umi_data/batch2/fold_clothes_e06600/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 166 |
+
official_data/umi_data/batch2/fold_clothes_e06600/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 167 |
+
official_data/umi_data/batch2/fold_clothes_e01868/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 168 |
+
official_data/umi_data/batch2/fold_clothes_e01868/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 169 |
+
official_data/umi_data/batch2/fold_clothes_e06711/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 170 |
+
official_data/umi_data/batch2/fold_clothes_e06711/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 171 |
+
official_data/umi_data/batch2/fold_clothes_e00067/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 172 |
+
official_data/umi_data/batch2/fold_clothes_e00067/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 173 |
+
official_data/umi_data/batch2/fold_clothes_e02046/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 174 |
+
official_data/umi_data/batch2/fold_clothes_e02046/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 175 |
+
official_data/umi_data/batch2/fold_clothes_e05052/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 176 |
+
official_data/umi_data/batch2/fold_clothes_e05052/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 177 |
+
official_data/umi_data/batch2/fold_clothes_e03688/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 178 |
+
official_data/umi_data/batch2/fold_clothes_e03688/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 179 |
+
official_data/umi_data/batch2/fold_clothes_e07918/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 180 |
+
official_data/umi_data/batch2/fold_clothes_e07918/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 181 |
+
official_data/umi_data/batch2/fold_clothes_e08871/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 182 |
+
official_data/umi_data/batch2/fold_clothes_e08871/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 183 |
+
official_data/umi_data/batch2/fold_clothes_e04641/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 184 |
+
official_data/umi_data/batch2/fold_clothes_e04641/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 185 |
+
official_data/umi_data/batch2/fold_clothes_e08596/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 186 |
+
official_data/umi_data/batch2/fold_clothes_e08596/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 187 |
+
official_data/umi_data/batch2/fold_clothes_e06457/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 188 |
+
official_data/umi_data/batch2/fold_clothes_e06457/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 189 |
+
official_data/umi_data/batch2/fold_clothes_e07060/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 190 |
+
official_data/umi_data/batch2/fold_clothes_e07060/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 191 |
+
official_data/umi_data/batch2/fold_clothes_e05184/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 192 |
+
official_data/umi_data/batch2/fold_clothes_e05184/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 193 |
+
official_data/umi_data/batch2/fold_clothes_e02958/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 194 |
+
official_data/umi_data/batch2/fold_clothes_e02958/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 195 |
+
official_data/umi_data/batch2/fold_clothes_e01173/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 196 |
+
official_data/umi_data/batch2/fold_clothes_e01173/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 197 |
+
official_data/umi_data/batch2/fold_clothes_e01727/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 198 |
+
official_data/umi_data/batch2/fold_clothes_e01727/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 199 |
+
official_data/umi_data/batch2/fold_clothes_e02959/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 200 |
+
official_data/umi_data/batch2/fold_clothes_e02959/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 201 |
+
official_data/umi_data/batch2/fold_clothes_e07299/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 202 |
+
official_data/umi_data/batch2/fold_clothes_e07299/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 203 |
+
official_data/umi_data/batch2/fold_clothes_e07349/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 204 |
+
official_data/umi_data/batch2/fold_clothes_e07349/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 205 |
+
official_data/umi_data/batch2/fold_clothes_e03101/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 206 |
+
official_data/umi_data/batch2/fold_clothes_e03101/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 207 |
+
official_data/umi_data/batch2/fold_clothes_e00988/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 208 |
+
official_data/umi_data/batch2/fold_clothes_e00988/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 209 |
+
official_data/umi_data/batch2/fold_clothes_e08417/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 210 |
+
official_data/umi_data/batch2/fold_clothes_e08417/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 211 |
+
official_data/umi_data/batch2/fold_clothes_e08103/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 212 |
+
official_data/umi_data/batch2/fold_clothes_e08103/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 213 |
+
official_data/umi_data/batch2/fold_clothes_e07428/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 214 |
+
official_data/umi_data/batch2/fold_clothes_e07428/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 215 |
+
official_data/umi_data/batch2/fold_clothes_e07758/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 216 |
+
official_data/umi_data/batch2/fold_clothes_e07758/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 217 |
+
official_data/umi_data/batch2/fold_clothes_e00144/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 218 |
+
official_data/umi_data/batch2/fold_clothes_e00144/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 219 |
+
official_data/umi_data/batch2/fold_clothes_e02910/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 220 |
+
official_data/umi_data/batch2/fold_clothes_e02910/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 221 |
+
official_data/umi_data/batch2/fold_clothes_e00265/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 222 |
+
official_data/umi_data/batch2/fold_clothes_e00265/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 223 |
+
official_data/umi_data/batch2/fold_clothes_e01183/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 224 |
+
official_data/umi_data/batch2/fold_clothes_e01183/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 225 |
+
official_data/umi_data/batch2/fold_clothes_e08643/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 226 |
+
official_data/umi_data/batch2/fold_clothes_e08643/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 227 |
+
official_data/umi_data/batch2/fold_clothes_e03168/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 228 |
+
official_data/umi_data/batch2/fold_clothes_e03168/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 229 |
+
official_data/umi_data/batch2/fold_clothes_e07884/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 230 |
+
official_data/umi_data/batch2/fold_clothes_e07884/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 231 |
+
official_data/umi_data/batch2/fold_clothes_e04515/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 232 |
+
official_data/umi_data/batch2/fold_clothes_e04515/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 233 |
+
official_data/umi_data/batch2/fold_clothes_e03370/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 234 |
+
official_data/umi_data/batch2/fold_clothes_e03370/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 235 |
+
official_data/umi_data/batch2/fold_clothes_e00251/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 236 |
+
official_data/umi_data/batch2/fold_clothes_e00251/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 237 |
+
official_data/umi_data/batch2/fold_clothes_e00699/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 238 |
+
official_data/umi_data/batch2/fold_clothes_e00699/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 239 |
+
official_data/umi_data/batch2/fold_clothes_e06571/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 240 |
+
official_data/umi_data/batch2/fold_clothes_e06571/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 241 |
+
official_data/umi_data/batch2/fold_clothes_e07899/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 242 |
+
official_data/umi_data/batch2/fold_clothes_e07899/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 243 |
+
official_data/umi_data/batch2/fold_clothes_e03540/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 244 |
+
official_data/umi_data/batch2/fold_clothes_e03540/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 245 |
+
official_data/umi_data/batch2/fold_clothes_e02939/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 246 |
+
official_data/umi_data/batch2/fold_clothes_e02939/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 247 |
+
official_data/umi_data/batch2/fold_clothes_e04071/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 248 |
+
official_data/umi_data/batch2/fold_clothes_e04071/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 249 |
+
official_data/umi_data/batch2/fold_clothes_e00831/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 250 |
+
official_data/umi_data/batch2/fold_clothes_e00831/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 251 |
+
official_data/umi_data/batch2/fold_clothes_e01808/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 252 |
+
official_data/umi_data/batch2/fold_clothes_e01808/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 253 |
+
official_data/umi_data/batch2/fold_clothes_e04858/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 254 |
+
official_data/umi_data/batch2/fold_clothes_e04858/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 255 |
+
official_data/umi_data/batch2/fold_clothes_e07099/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 256 |
+
official_data/umi_data/batch2/fold_clothes_e07099/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 257 |
+
official_data/umi_data/batch2/fold_clothes_e00702/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 258 |
+
official_data/umi_data/batch2/fold_clothes_e00702/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
official_data/umi_data/batch2/fold_clothes_e00009/annotation/grounding_000000.jsonl
ADDED
|
@@ -0,0 +1,6 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"frame_index": 0, "t_s": 0.0, "side": "left", "task": "fold the black pants", "step": "fold the black pants", "next_step": "", "next_action": "retract the gripper as the task is complete", "boxes": [{"label": "黑色裤子", "box_2d": [418, 238, 558, 431]}, {"label": "gripper", "box_2d": [501, 225, 991, 771]}], "points": [{"label": "gripper", "point": [830, 498], "arrow_to": [950, 498], "note": "retract the gripper"}], "segment": 9, "anchor": "release"}
|
| 2 |
+
{"frame_index": 0, "t_s": 0.0, "side": "right", "task": "fold the black pants", "step": "fold the black pants", "next_step": "", "next_action": "move the gripper away from the folded pants", "boxes": [{"label": "黑色裤子", "box_2d": [433, 242, 601, 316]}, {"label": "gripper", "box_2d": [502, 230, 980, 775]}], "points": [{"label": "gripper", "point": [740, 502], "arrow_to": [650, 502], "note": "move away from the bed"}], "segment": 9, "anchor": "release"}
|
| 3 |
+
{"frame_index": 298, "t_s": 9.93, "side": "left", "task": "fold the black pants", "step": "fold the black pants", "next_step": "", "next_action": "retract the gripper to clear the workspace", "boxes": [{"label": "gripper", "box_2d": [500, 225, 978, 770]}, {"label": "黑色裤子", "box_2d": [280, 290, 670, 730]}], "points": [{"label": "gripper", "point": [750, 500], "arrow_to": [900, 500], "note": "move back to clear the workspace"}], "segment": 9, "anchor": "release"}
|
| 4 |
+
{"frame_index": 298, "t_s": 9.93, "side": "right", "task": "fold the black pants", "step": "fold the black pants", "next_step": "", "next_action": "retract the gripper to finish the task", "boxes": [{"label": "黑色裤子", "box_2d": [316, 374, 701, 778]}, {"label": "gripper", "box_2d": [501, 228, 988, 775]}], "points": [{"label": "gripper", "point": [750, 500], "arrow_to": [900, 500], "note": "retract the gripper away from the folded pants"}], "segment": 9, "anchor": "release"}
|
| 5 |
+
{"frame_index": 544, "t_s": 18.13, "side": "left", "task": "fold the black pants", "step": "fold the black pants", "next_step": "", "next_action": "release the black pants and move the gripper away", "boxes": [{"label": "黑色裤子", "box_2d": [208, 141, 635, 582]}, {"label": "gripper", "box_2d": [698, 224, 988, 769]}], "points": [{"label": "gripper", "point": [840, 496], "arrow_to": [920, 496], "note": "move the gripper away from the folded pants"}], "segment": 9, "anchor": "grasp"}
|
| 6 |
+
{"frame_index": 544, "t_s": 18.13, "side": "right", "task": "fold the black pants", "step": "fold the black pants", "next_step": "", "next_action": "place the folded pants on the mat", "boxes": [{"label": "黑色裤子", "box_2d": [278, 468, 655, 911]}, {"label": "gripper", "box_2d": [508, 233, 985, 780]}], "points": [{"label": "place point", "point": [466, 689], "arrow_to": [660, 730], "note": "lower the gripper to place the folded pants on the mat"}], "segment": 9, "anchor": "grasp"}
|
official_data/umi_data/batch2/fold_clothes_e00009/annotation/subtasks_000000.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"start_frame_index": 0, "end_frame_index": 647, "instruction": "fold the black pants", "instruction_zh": "fold the black pants", "target_objects": ["黑色裤子"], "success": null}
|
official_data/umi_data/batch2/fold_clothes_e00009/export_meta.json
ADDED
|
@@ -0,0 +1,42 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"n_episodes": 1,
|
| 3 |
+
"fps": 30.0,
|
| 4 |
+
"state_names": [
|
| 5 |
+
"left_x",
|
| 6 |
+
"left_y",
|
| 7 |
+
"left_z",
|
| 8 |
+
"left_qw",
|
| 9 |
+
"left_qx",
|
| 10 |
+
"left_qy",
|
| 11 |
+
"left_qz",
|
| 12 |
+
"left_gripper",
|
| 13 |
+
"right_x",
|
| 14 |
+
"right_y",
|
| 15 |
+
"right_z",
|
| 16 |
+
"right_qw",
|
| 17 |
+
"right_qx",
|
| 18 |
+
"right_qy",
|
| 19 |
+
"right_qz",
|
| 20 |
+
"right_gripper"
|
| 21 |
+
],
|
| 22 |
+
"action_names": [
|
| 23 |
+
"left_x",
|
| 24 |
+
"left_y",
|
| 25 |
+
"left_z",
|
| 26 |
+
"left_qw",
|
| 27 |
+
"left_qx",
|
| 28 |
+
"left_qy",
|
| 29 |
+
"left_qz",
|
| 30 |
+
"left_gripper",
|
| 31 |
+
"right_x",
|
| 32 |
+
"right_y",
|
| 33 |
+
"right_z",
|
| 34 |
+
"right_qw",
|
| 35 |
+
"right_qx",
|
| 36 |
+
"right_qy",
|
| 37 |
+
"right_qz",
|
| 38 |
+
"right_gripper"
|
| 39 |
+
],
|
| 40 |
+
"img_size": 960,
|
| 41 |
+
"episodes": []
|
| 42 |
+
}
|
official_data/umi_data/batch2/fold_clothes_e00009/imu/episode_0000_left.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
official_data/umi_data/batch2/fold_clothes_e00009/imu/episode_0000_right.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
official_data/umi_data/batch2/fold_clothes_e00009/meta/annotation.json
ADDED
|
@@ -0,0 +1,18 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 2,
|
| 3 |
+
"layers": {
|
| 4 |
+
"subtasks": {
|
| 5 |
+
"source": "human",
|
| 6 |
+
"review": "approved",
|
| 7 |
+
"segments_version": "c174a87aa6e831ed"
|
| 8 |
+
},
|
| 9 |
+
"grounding": {
|
| 10 |
+
"source": "gemini-robotics-er-1.6-preview",
|
| 11 |
+
"backfilled_at": "2026-08-30T19:01:00+0800"
|
| 12 |
+
}
|
| 13 |
+
},
|
| 14 |
+
"dropped_layers": [
|
| 15 |
+
"action_steps"
|
| 16 |
+
],
|
| 17 |
+
"created_at": "2026-08-30T18:57:30+0800"
|
| 18 |
+
}
|
official_data/umi_data/batch2/fold_clothes_e00009/meta/calibration.json
ADDED
|
@@ -0,0 +1,333 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"note": "Per-body camera + IMU calibration. Intrinsics come from each body's own .insv factory telemetry; see provenance per side.",
|
| 3 |
+
"sides": {
|
| 4 |
+
"left": {
|
| 5 |
+
"ego_video": {
|
| 6 |
+
"source": "fisheye.mp4",
|
| 7 |
+
"insv_stream": 0,
|
| 8 |
+
"lens": "front",
|
| 9 |
+
"native_size": [
|
| 10 |
+
1920,
|
| 11 |
+
1920
|
| 12 |
+
],
|
| 13 |
+
"dataset_size": [
|
| 14 |
+
960,
|
| 15 |
+
960
|
| 16 |
+
]
|
| 17 |
+
},
|
| 18 |
+
"rolling_shutter_ms": 15.845431327819824,
|
| 19 |
+
"imu": {
|
| 20 |
+
"gyro_range_dps": 2000.0,
|
| 21 |
+
"accel_range_g": 32.0,
|
| 22 |
+
"gyro_bias_rad_s": [
|
| 23 |
+
-0.0013867632554003927,
|
| 24 |
+
-0.008702634237893705,
|
| 25 |
+
0.00043594322021658514
|
| 26 |
+
],
|
| 27 |
+
"accel_bias_m_s2": [
|
| 28 |
+
0.0503796935657597,
|
| 29 |
+
0.06368103280953678,
|
| 30 |
+
-0.10290447774487302
|
| 31 |
+
],
|
| 32 |
+
"gravity_vector_camera_frame": [
|
| 33 |
+
-0.017064087953647143,
|
| 34 |
+
-0.6765060843299928,
|
| 35 |
+
-0.7362393189492193
|
| 36 |
+
],
|
| 37 |
+
"gravity_magnitude_m_s2": 9.807648757459717,
|
| 38 |
+
"accel_convention": "imu_raw.csv is standard specific force (a ~ -g_body at rest) and is NOT negated; gravity = -(gravity_vector_camera_frame). See docs/46"
|
| 39 |
+
},
|
| 40 |
+
"lenses": {
|
| 41 |
+
"front": {
|
| 42 |
+
"model": "ucm_mei_radtan",
|
| 43 |
+
"canvas": [
|
| 44 |
+
15360,
|
| 45 |
+
7680
|
| 46 |
+
],
|
| 47 |
+
"params_on_canvas": {
|
| 48 |
+
"xi": 2.31494,
|
| 49 |
+
"fx": 7151.64,
|
| 50 |
+
"fy": 7150.25,
|
| 51 |
+
"cx": 3825.2,
|
| 52 |
+
"cy": 3856.77,
|
| 53 |
+
"k1": 0.96616316,
|
| 54 |
+
"k2": -1.84301269,
|
| 55 |
+
"k3": 3.4789691,
|
| 56 |
+
"p1": -0.00073036,
|
| 57 |
+
"p2": 0.00056983
|
| 58 |
+
},
|
| 59 |
+
"params_on_native_fisheye": {
|
| 60 |
+
"xi": 2.31494,
|
| 61 |
+
"k1": 0.966163,
|
| 62 |
+
"k2": -1.843013,
|
| 63 |
+
"k3": 3.478969,
|
| 64 |
+
"p1": -0.00073,
|
| 65 |
+
"p2": 0.00057,
|
| 66 |
+
"fx": 1787.91,
|
| 67 |
+
"fy": 1787.5625,
|
| 68 |
+
"cx": 956.3,
|
| 69 |
+
"cy": 964.1925
|
| 70 |
+
},
|
| 71 |
+
"cam_imu_factory": {
|
| 72 |
+
"yaw_deg": 0.038,
|
| 73 |
+
"pitch_deg": -0.111,
|
| 74 |
+
"roll_deg": 90.251,
|
| 75 |
+
"t_m": [
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
0.0
|
| 79 |
+
]
|
| 80 |
+
},
|
| 81 |
+
"params_on_dataset_frame": {
|
| 82 |
+
"xi": 2.31494,
|
| 83 |
+
"k1": 0.966163,
|
| 84 |
+
"k2": -1.843013,
|
| 85 |
+
"k3": 3.478969,
|
| 86 |
+
"p1": -0.00073,
|
| 87 |
+
"p2": 0.00057,
|
| 88 |
+
"fx": 893.955,
|
| 89 |
+
"fy": 893.78125,
|
| 90 |
+
"cx": 478.15,
|
| 91 |
+
"cy": 482.09625
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"rear": {
|
| 95 |
+
"model": "ucm_mei_radtan",
|
| 96 |
+
"canvas": [
|
| 97 |
+
15360,
|
| 98 |
+
7680
|
| 99 |
+
],
|
| 100 |
+
"params_on_canvas": {
|
| 101 |
+
"xi": 2.31494,
|
| 102 |
+
"fx": 7112.96,
|
| 103 |
+
"fy": 7112.38,
|
| 104 |
+
"cx": 11536.9,
|
| 105 |
+
"cy": 3832.74,
|
| 106 |
+
"k1": 0.97610056,
|
| 107 |
+
"k2": -2.08686185,
|
| 108 |
+
"k3": 4.44184732,
|
| 109 |
+
"p1": 0.00037154,
|
| 110 |
+
"p2": 0.00087007
|
| 111 |
+
},
|
| 112 |
+
"params_on_native_fisheye": {
|
| 113 |
+
"xi": 2.31494,
|
| 114 |
+
"k1": 0.976101,
|
| 115 |
+
"k2": -2.086862,
|
| 116 |
+
"k3": 4.441847,
|
| 117 |
+
"p1": 0.000372,
|
| 118 |
+
"p2": 0.00087,
|
| 119 |
+
"fx": 1778.24,
|
| 120 |
+
"fy": 1778.095,
|
| 121 |
+
"cx": 964.225,
|
| 122 |
+
"cy": 958.185
|
| 123 |
+
},
|
| 124 |
+
"cam_imu_factory": {
|
| 125 |
+
"yaw_deg": -0.18,
|
| 126 |
+
"pitch_deg": 0.037,
|
| 127 |
+
"roll_deg": 89.556,
|
| 128 |
+
"t_m": [
|
| 129 |
+
0.000857,
|
| 130 |
+
0.000123,
|
| 131 |
+
-0.03356
|
| 132 |
+
]
|
| 133 |
+
}
|
| 134 |
+
}
|
| 135 |
+
},
|
| 136 |
+
"cam_imu_used_by_cook": {
|
| 137 |
+
"R_cam_imu": [
|
| 138 |
+
[
|
| 139 |
+
0.0019373142578613613,
|
| 140 |
+
0.0006632238225311149,
|
| 141 |
+
0.9999979034716158
|
| 142 |
+
],
|
| 143 |
+
[
|
| 144 |
+
0.999988527837293,
|
| 145 |
+
-0.0043820463100301965,
|
| 146 |
+
-0.0019343898106758783
|
| 147 |
+
],
|
| 148 |
+
[
|
| 149 |
+
0.004380754189541147,
|
| 150 |
+
0.9999901788539213,
|
| 151 |
+
-0.0006717056147145419
|
| 152 |
+
]
|
| 153 |
+
],
|
| 154 |
+
"t_cam_imu_m": [
|
| 155 |
+
0.004100510626148365,
|
| 156 |
+
-0.001160295357225906,
|
| 157 |
+
-0.025483155366164204
|
| 158 |
+
],
|
| 159 |
+
"source": "Tic=factory-insv-Euler (lever from REDACTED); gravity=static; bias=factory"
|
| 160 |
+
},
|
| 161 |
+
"provenance": {
|
| 162 |
+
"camera_intrinsics": "insv_factory (per-body, from this body's own telemetry)",
|
| 163 |
+
"kalibr_refined": false,
|
| 164 |
+
"pose_frame": "cubemap front virtual pinhole, 110 deg FoV / tilt 70 / 640 px",
|
| 165 |
+
"pose_frame_note": "state/action poses (T_w_cam) live in this virtual pinhole frame, NOT the fisheye frame of the delivered video. When the body has no Kalibr EUCM calibration the LUT is borrowed from another body \u2014 see cam_imu_used_by_cook.source."
|
| 166 |
+
}
|
| 167 |
+
},
|
| 168 |
+
"right": {
|
| 169 |
+
"ego_video": {
|
| 170 |
+
"source": "fisheye.mp4",
|
| 171 |
+
"insv_stream": 0,
|
| 172 |
+
"lens": "front",
|
| 173 |
+
"native_size": [
|
| 174 |
+
1920,
|
| 175 |
+
1920
|
| 176 |
+
],
|
| 177 |
+
"dataset_size": [
|
| 178 |
+
960,
|
| 179 |
+
960
|
| 180 |
+
]
|
| 181 |
+
},
|
| 182 |
+
"rolling_shutter_ms": 15.845431327819824,
|
| 183 |
+
"imu": {
|
| 184 |
+
"gyro_range_dps": 2000.0,
|
| 185 |
+
"accel_range_g": 32.0,
|
| 186 |
+
"gyro_bias_rad_s": [
|
| 187 |
+
-0.003812722102728109,
|
| 188 |
+
-0.008879356853717553,
|
| 189 |
+
-0.001709114831144977
|
| 190 |
+
],
|
| 191 |
+
"accel_bias_m_s2": [
|
| 192 |
+
-0.08276988688218828,
|
| 193 |
+
0.002346097679111282,
|
| 194 |
+
-0.013017165897631735
|
| 195 |
+
],
|
| 196 |
+
"gravity_vector_camera_frame": [
|
| 197 |
+
-0.00013467957327572498,
|
| 198 |
+
-0.7022974754324035,
|
| 199 |
+
-0.7118835844874394
|
| 200 |
+
],
|
| 201 |
+
"gravity_magnitude_m_s2": 9.790518342771486,
|
| 202 |
+
"accel_convention": "imu_raw.csv is standard specific force (a ~ -g_body at rest) and is NOT negated; gravity = -(gravity_vector_camera_frame). See docs/46"
|
| 203 |
+
},
|
| 204 |
+
"lenses": {
|
| 205 |
+
"front": {
|
| 206 |
+
"model": "ucm_mei_radtan",
|
| 207 |
+
"canvas": [
|
| 208 |
+
15360,
|
| 209 |
+
7680
|
| 210 |
+
],
|
| 211 |
+
"params_on_canvas": {
|
| 212 |
+
"xi": 2.31494,
|
| 213 |
+
"fx": 7144.3,
|
| 214 |
+
"fy": 7140.36,
|
| 215 |
+
"cx": 3828.19,
|
| 216 |
+
"cy": 3860.43,
|
| 217 |
+
"k1": 0.95641762,
|
| 218 |
+
"k2": -1.85701871,
|
| 219 |
+
"k3": 3.5351615,
|
| 220 |
+
"p1": -0.00076912,
|
| 221 |
+
"p2": -0.00104643
|
| 222 |
+
},
|
| 223 |
+
"params_on_native_fisheye": {
|
| 224 |
+
"xi": 2.31494,
|
| 225 |
+
"k1": 0.956418,
|
| 226 |
+
"k2": -1.857019,
|
| 227 |
+
"k3": 3.535162,
|
| 228 |
+
"p1": -0.000769,
|
| 229 |
+
"p2": -0.001046,
|
| 230 |
+
"fx": 1786.075,
|
| 231 |
+
"fy": 1785.09,
|
| 232 |
+
"cx": 957.0475,
|
| 233 |
+
"cy": 965.1075
|
| 234 |
+
},
|
| 235 |
+
"cam_imu_factory": {
|
| 236 |
+
"yaw_deg": 0.222,
|
| 237 |
+
"pitch_deg": 0.1,
|
| 238 |
+
"roll_deg": 89.795,
|
| 239 |
+
"t_m": [
|
| 240 |
+
0.0,
|
| 241 |
+
0.0,
|
| 242 |
+
0.0
|
| 243 |
+
]
|
| 244 |
+
},
|
| 245 |
+
"params_on_dataset_frame": {
|
| 246 |
+
"xi": 2.31494,
|
| 247 |
+
"k1": 0.956418,
|
| 248 |
+
"k2": -1.857019,
|
| 249 |
+
"k3": 3.535162,
|
| 250 |
+
"p1": -0.000769,
|
| 251 |
+
"p2": -0.001046,
|
| 252 |
+
"fx": 893.0375,
|
| 253 |
+
"fy": 892.545,
|
| 254 |
+
"cx": 478.52375,
|
| 255 |
+
"cy": 482.55375
|
| 256 |
+
}
|
| 257 |
+
},
|
| 258 |
+
"rear": {
|
| 259 |
+
"model": "ucm_mei_radtan",
|
| 260 |
+
"canvas": [
|
| 261 |
+
15360,
|
| 262 |
+
7680
|
| 263 |
+
],
|
| 264 |
+
"params_on_canvas": {
|
| 265 |
+
"xi": 2.31494,
|
| 266 |
+
"fx": 7131.67,
|
| 267 |
+
"fy": 7130.66,
|
| 268 |
+
"cx": 11542.4,
|
| 269 |
+
"cy": 3876.96,
|
| 270 |
+
"k1": 0.97506797,
|
| 271 |
+
"k2": -2.16964269,
|
| 272 |
+
"k3": 4.22772408,
|
| 273 |
+
"p1": -0.00106036,
|
| 274 |
+
"p2": -0.00272907
|
| 275 |
+
},
|
| 276 |
+
"params_on_native_fisheye": {
|
| 277 |
+
"xi": 2.31494,
|
| 278 |
+
"k1": 0.975068,
|
| 279 |
+
"k2": -2.169643,
|
| 280 |
+
"k3": 4.227724,
|
| 281 |
+
"p1": -0.00106,
|
| 282 |
+
"p2": -0.002729,
|
| 283 |
+
"fx": 1782.9175,
|
| 284 |
+
"fy": 1782.665,
|
| 285 |
+
"cx": 965.6,
|
| 286 |
+
"cy": 969.24
|
| 287 |
+
},
|
| 288 |
+
"cam_imu_factory": {
|
| 289 |
+
"yaw_deg": -0.064,
|
| 290 |
+
"pitch_deg": 0.149,
|
| 291 |
+
"roll_deg": 89.457,
|
| 292 |
+
"t_m": [
|
| 293 |
+
0.001875,
|
| 294 |
+
-5.7e-05,
|
| 295 |
+
-0.032888
|
| 296 |
+
]
|
| 297 |
+
}
|
| 298 |
+
}
|
| 299 |
+
},
|
| 300 |
+
"cam_imu_used_by_cook": {
|
| 301 |
+
"R_cam_imu": [
|
| 302 |
+
[
|
| 303 |
+
-0.003698620751528131,
|
| 304 |
+
0.00442383717822975,
|
| 305 |
+
0.9999833747963798
|
| 306 |
+
],
|
| 307 |
+
[
|
| 308 |
+
0.9999877040146874,
|
| 309 |
+
0.003319687668612209,
|
| 310 |
+
0.0036839507620446965
|
| 311 |
+
],
|
| 312 |
+
[
|
| 313 |
+
-0.0033033352797848248,
|
| 314 |
+
0.9999847045522263,
|
| 315 |
+
-0.004436061048492451
|
| 316 |
+
]
|
| 317 |
+
],
|
| 318 |
+
"t_cam_imu_m": [
|
| 319 |
+
0.004100510626148365,
|
| 320 |
+
-0.001160295357225906,
|
| 321 |
+
-0.025483155366164204
|
| 322 |
+
],
|
| 323 |
+
"source": "Tic=Kalibr(REDACTED, factory-resid 0.12deg); gravity=static; bias=factory"
|
| 324 |
+
},
|
| 325 |
+
"provenance": {
|
| 326 |
+
"camera_intrinsics": "insv_factory (per-body, from this body's own telemetry)",
|
| 327 |
+
"kalibr_refined": true,
|
| 328 |
+
"pose_frame": "cubemap front virtual pinhole, 110 deg FoV / tilt 70 / 640 px",
|
| 329 |
+
"pose_frame_note": "state/action poses (T_w_cam) live in this virtual pinhole frame, NOT the fisheye frame of the delivered video. When the body has no Kalibr EUCM calibration the LUT is borrowed from another body \u2014 see cam_imu_used_by_cook.source."
|
| 330 |
+
}
|
| 331 |
+
}
|
| 332 |
+
}
|
| 333 |
+
}
|
official_data/umi_data/batch2/fold_clothes_e00009/meta/info.json
ADDED
|
@@ -0,0 +1,147 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "umi_bimanual_gripper",
|
| 4 |
+
"total_episodes": 1,
|
| 5 |
+
"total_frames": 647,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
+
"data_files_size_in_mb": 100,
|
| 9 |
+
"video_files_size_in_mb": 200,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:1"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 15 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"observation.images.left_ego": {
|
| 18 |
+
"dtype": "video",
|
| 19 |
+
"shape": [
|
| 20 |
+
960,
|
| 21 |
+
960,
|
| 22 |
+
3
|
| 23 |
+
],
|
| 24 |
+
"names": [
|
| 25 |
+
"height",
|
| 26 |
+
"width",
|
| 27 |
+
"channels"
|
| 28 |
+
],
|
| 29 |
+
"info": {
|
| 30 |
+
"video.height": 960,
|
| 31 |
+
"video.width": 960,
|
| 32 |
+
"video.codec": "h264",
|
| 33 |
+
"video.pix_fmt": "yuv420p",
|
| 34 |
+
"video.is_depth_map": false,
|
| 35 |
+
"video.fps": 30,
|
| 36 |
+
"video.channels": 3,
|
| 37 |
+
"has_audio": false
|
| 38 |
+
}
|
| 39 |
+
},
|
| 40 |
+
"observation.images.right_ego": {
|
| 41 |
+
"dtype": "video",
|
| 42 |
+
"shape": [
|
| 43 |
+
960,
|
| 44 |
+
960,
|
| 45 |
+
3
|
| 46 |
+
],
|
| 47 |
+
"names": [
|
| 48 |
+
"height",
|
| 49 |
+
"width",
|
| 50 |
+
"channels"
|
| 51 |
+
],
|
| 52 |
+
"info": {
|
| 53 |
+
"video.height": 960,
|
| 54 |
+
"video.width": 960,
|
| 55 |
+
"video.codec": "h264",
|
| 56 |
+
"video.pix_fmt": "yuv420p",
|
| 57 |
+
"video.is_depth_map": false,
|
| 58 |
+
"video.fps": 30,
|
| 59 |
+
"video.channels": 3,
|
| 60 |
+
"has_audio": false
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"observation.state": {
|
| 64 |
+
"dtype": "float32",
|
| 65 |
+
"shape": [
|
| 66 |
+
16
|
| 67 |
+
],
|
| 68 |
+
"names": [
|
| 69 |
+
"left_x",
|
| 70 |
+
"left_y",
|
| 71 |
+
"left_z",
|
| 72 |
+
"left_qw",
|
| 73 |
+
"left_qx",
|
| 74 |
+
"left_qy",
|
| 75 |
+
"left_qz",
|
| 76 |
+
"left_gripper",
|
| 77 |
+
"right_x",
|
| 78 |
+
"right_y",
|
| 79 |
+
"right_z",
|
| 80 |
+
"right_qw",
|
| 81 |
+
"right_qx",
|
| 82 |
+
"right_qy",
|
| 83 |
+
"right_qz",
|
| 84 |
+
"right_gripper"
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
"action": {
|
| 88 |
+
"dtype": "float32",
|
| 89 |
+
"shape": [
|
| 90 |
+
16
|
| 91 |
+
],
|
| 92 |
+
"names": [
|
| 93 |
+
"left_x",
|
| 94 |
+
"left_y",
|
| 95 |
+
"left_z",
|
| 96 |
+
"left_qw",
|
| 97 |
+
"left_qx",
|
| 98 |
+
"left_qy",
|
| 99 |
+
"left_qz",
|
| 100 |
+
"left_gripper",
|
| 101 |
+
"right_x",
|
| 102 |
+
"right_y",
|
| 103 |
+
"right_z",
|
| 104 |
+
"right_qw",
|
| 105 |
+
"right_qx",
|
| 106 |
+
"right_qy",
|
| 107 |
+
"right_qz",
|
| 108 |
+
"right_gripper"
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
"timestamp": {
|
| 112 |
+
"dtype": "float32",
|
| 113 |
+
"shape": [
|
| 114 |
+
1
|
| 115 |
+
],
|
| 116 |
+
"names": null
|
| 117 |
+
},
|
| 118 |
+
"frame_index": {
|
| 119 |
+
"dtype": "int64",
|
| 120 |
+
"shape": [
|
| 121 |
+
1
|
| 122 |
+
],
|
| 123 |
+
"names": null
|
| 124 |
+
},
|
| 125 |
+
"episode_index": {
|
| 126 |
+
"dtype": "int64",
|
| 127 |
+
"shape": [
|
| 128 |
+
1
|
| 129 |
+
],
|
| 130 |
+
"names": null
|
| 131 |
+
},
|
| 132 |
+
"index": {
|
| 133 |
+
"dtype": "int64",
|
| 134 |
+
"shape": [
|
| 135 |
+
1
|
| 136 |
+
],
|
| 137 |
+
"names": null
|
| 138 |
+
},
|
| 139 |
+
"task_index": {
|
| 140 |
+
"dtype": "int64",
|
| 141 |
+
"shape": [
|
| 142 |
+
1
|
| 143 |
+
],
|
| 144 |
+
"names": null
|
| 145 |
+
}
|
| 146 |
+
}
|
| 147 |
+
}
|
official_data/umi_data/batch2/fold_clothes_e00009/meta/stats.json
ADDED
|
@@ -0,0 +1,812 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"observation.state": {
|
| 3 |
+
"min": [
|
| 4 |
+
0.7507092952728271,
|
| 5 |
+
-0.5561478137969971,
|
| 6 |
+
0.5921605825424194,
|
| 7 |
+
0.23278160393238068,
|
| 8 |
+
-0.1683366298675537,
|
| 9 |
+
-0.33652862906455994,
|
| 10 |
+
-0.7659772634506226,
|
| 11 |
+
-1.6200000047683716,
|
| 12 |
+
-0.011813326738774776,
|
| 13 |
+
-1.196471929550171,
|
| 14 |
+
0.5585878491401672,
|
| 15 |
+
0.24689729511737823,
|
| 16 |
+
-0.6284223794937134,
|
| 17 |
+
-0.7877448797225952,
|
| 18 |
+
-0.9482773542404175,
|
| 19 |
+
-0.10000000149011612
|
| 20 |
+
],
|
| 21 |
+
"max": [
|
| 22 |
+
1.8009551763534546,
|
| 23 |
+
1.056044340133667,
|
| 24 |
+
1.5295367240905762,
|
| 25 |
+
0.9934307336807251,
|
| 26 |
+
0.5629045367240906,
|
| 27 |
+
0.6155672073364258,
|
| 28 |
+
0.5532221794128418,
|
| 29 |
+
18.34000015258789,
|
| 30 |
+
0.5826625227928162,
|
| 31 |
+
0.24795901775360107,
|
| 32 |
+
1.6251033544540405,
|
| 33 |
+
0.8087363839149475,
|
| 34 |
+
0.3162931203842163,
|
| 35 |
+
0.220802441239357,
|
| 36 |
+
-0.06615029275417328,
|
| 37 |
+
20.56999969482422
|
| 38 |
+
],
|
| 39 |
+
"mean": [
|
| 40 |
+
1.1462844610214233,
|
| 41 |
+
0.21386952698230743,
|
| 42 |
+
1.0538750886917114,
|
| 43 |
+
0.8743119835853577,
|
| 44 |
+
0.17235568165779114,
|
| 45 |
+
0.10289561748504639,
|
| 46 |
+
-0.1109195202589035,
|
| 47 |
+
2.12937331199646,
|
| 48 |
+
0.21452876925468445,
|
| 49 |
+
-0.5161551237106323,
|
| 50 |
+
1.1112686395645142,
|
| 51 |
+
0.500118613243103,
|
| 52 |
+
-0.22786928713321686,
|
| 53 |
+
-0.3571793735027313,
|
| 54 |
+
-0.6592728495597839,
|
| 55 |
+
6.711994171142578
|
| 56 |
+
],
|
| 57 |
+
"std": [
|
| 58 |
+
0.2764732837677002,
|
| 59 |
+
0.38170984387397766,
|
| 60 |
+
0.2752334475517273,
|
| 61 |
+
0.1561412364244461,
|
| 62 |
+
0.13958850502967834,
|
| 63 |
+
0.20323464274406433,
|
| 64 |
+
0.31274911761283875,
|
| 65 |
+
3.988206386566162,
|
| 66 |
+
0.12792009115219116,
|
| 67 |
+
0.30089473724365234,
|
| 68 |
+
0.24820661544799805,
|
| 69 |
+
0.12239714711904526,
|
| 70 |
+
0.21347671747207642,
|
| 71 |
+
0.18973308801651,
|
| 72 |
+
0.19795680046081543,
|
| 73 |
+
5.411820888519287
|
| 74 |
+
],
|
| 75 |
+
"count": [
|
| 76 |
+
647
|
| 77 |
+
],
|
| 78 |
+
"q01": [
|
| 79 |
+
0.7627808022499084,
|
| 80 |
+
-0.5508372366428376,
|
| 81 |
+
0.6151206582784653,
|
| 82 |
+
0.2603885933756828,
|
| 83 |
+
-0.08037270881235599,
|
| 84 |
+
-0.25760558754205704,
|
| 85 |
+
-0.7452737557888031,
|
| 86 |
+
-1.5662277507781983,
|
| 87 |
+
-0.004623735686764121,
|
| 88 |
+
-1.1896918046474456,
|
| 89 |
+
0.590683559179306,
|
| 90 |
+
0.25155718237161634,
|
| 91 |
+
-0.6220984518527984,
|
| 92 |
+
-0.7707065057754516,
|
| 93 |
+
-0.9361975073814393,
|
| 94 |
+
-0.08143834441900254
|
| 95 |
+
],
|
| 96 |
+
"q10": [
|
| 97 |
+
0.8342458486557007,
|
| 98 |
+
-0.25766655802726746,
|
| 99 |
+
0.7501459419727325,
|
| 100 |
+
0.6608292698860169,
|
| 101 |
+
0.01998721808195114,
|
| 102 |
+
-0.13912106603384017,
|
| 103 |
+
-0.5362518489360809,
|
| 104 |
+
-0.9726805500686169,
|
| 105 |
+
0.0497387021780014,
|
| 106 |
+
-0.8099855720996857,
|
| 107 |
+
0.8174738049507141,
|
| 108 |
+
0.3456517606973648,
|
| 109 |
+
-0.4671216607093811,
|
| 110 |
+
-0.6001853197813034,
|
| 111 |
+
-0.8830528855323792,
|
| 112 |
+
0.4279117822647095
|
| 113 |
+
],
|
| 114 |
+
"q50": [
|
| 115 |
+
1.128902792930603,
|
| 116 |
+
0.2759045362472534,
|
| 117 |
+
1.0202602744102478,
|
| 118 |
+
0.9405655860900879,
|
| 119 |
+
0.15202012658119202,
|
| 120 |
+
0.08286960422992706,
|
| 121 |
+
-0.16983100771903992,
|
| 122 |
+
0.6231713692347208,
|
| 123 |
+
0.1892978623509407,
|
| 124 |
+
-0.5368002951145172,
|
| 125 |
+
1.0405462384223938,
|
| 126 |
+
0.49132539331912994,
|
| 127 |
+
-0.2695249617099762,
|
| 128 |
+
-0.38356953859329224,
|
| 129 |
+
-0.6955479383468628,
|
| 130 |
+
6.355240821838379
|
| 131 |
+
],
|
| 132 |
+
"q90": [
|
| 133 |
+
1.6504128694534301,
|
| 134 |
+
0.6131106853485108,
|
| 135 |
+
1.420294952392578,
|
| 136 |
+
0.9802410542964936,
|
| 137 |
+
0.3305599719285965,
|
| 138 |
+
0.5249848484992982,
|
| 139 |
+
0.3272829592227936,
|
| 140 |
+
8.249421882629395,
|
| 141 |
+
0.3781985253095627,
|
| 142 |
+
-0.20983892083168026,
|
| 143 |
+
1.4903597474098205,
|
| 144 |
+
0.6826934099197388,
|
| 145 |
+
0.09736476540565492,
|
| 146 |
+
-0.10489784479141234,
|
| 147 |
+
-0.3677847981452942,
|
| 148 |
+
14.465321063995361
|
| 149 |
+
],
|
| 150 |
+
"q99": [
|
| 151 |
+
1.7701892685890197,
|
| 152 |
+
1.048476654291153,
|
| 153 |
+
1.5215746355056763,
|
| 154 |
+
0.9886908642450969,
|
| 155 |
+
0.5566545909643174,
|
| 156 |
+
0.6050047171115875,
|
| 157 |
+
0.529088841676712,
|
| 158 |
+
16.46986825942993,
|
| 159 |
+
0.5734517186880111,
|
| 160 |
+
0.23020121097564697,
|
| 161 |
+
1.6109250426292419,
|
| 162 |
+
0.7913789182901383,
|
| 163 |
+
0.3083131343126297,
|
| 164 |
+
0.1327623438835144,
|
| 165 |
+
-0.08669854402542115,
|
| 166 |
+
19.53868963241577
|
| 167 |
+
]
|
| 168 |
+
},
|
| 169 |
+
"action": {
|
| 170 |
+
"min": [
|
| 171 |
+
0.7507092952728271,
|
| 172 |
+
-0.5561478137969971,
|
| 173 |
+
0.5921605825424194,
|
| 174 |
+
0.23278160393238068,
|
| 175 |
+
-0.1683366298675537,
|
| 176 |
+
-0.33652862906455994,
|
| 177 |
+
-0.7659772634506226,
|
| 178 |
+
-1.6200000047683716,
|
| 179 |
+
-0.011813326738774776,
|
| 180 |
+
-1.196471929550171,
|
| 181 |
+
0.5585878491401672,
|
| 182 |
+
0.24689729511737823,
|
| 183 |
+
-0.6284223794937134,
|
| 184 |
+
-0.7877448797225952,
|
| 185 |
+
-0.9482773542404175,
|
| 186 |
+
-0.10000000149011612
|
| 187 |
+
],
|
| 188 |
+
"max": [
|
| 189 |
+
1.809999704360962,
|
| 190 |
+
1.056044340133667,
|
| 191 |
+
1.5295367240905762,
|
| 192 |
+
0.9934307336807251,
|
| 193 |
+
0.5629045367240906,
|
| 194 |
+
0.6155672073364258,
|
| 195 |
+
0.5532221794128418,
|
| 196 |
+
18.34000015258789,
|
| 197 |
+
0.5826625227928162,
|
| 198 |
+
0.24795901775360107,
|
| 199 |
+
1.6251033544540405,
|
| 200 |
+
0.8087363839149475,
|
| 201 |
+
0.3162931203842163,
|
| 202 |
+
0.220802441239357,
|
| 203 |
+
-0.06615029275417328,
|
| 204 |
+
20.56999969482422
|
| 205 |
+
],
|
| 206 |
+
"mean": [
|
| 207 |
+
1.1464251279830933,
|
| 208 |
+
0.21368344128131866,
|
| 209 |
+
1.0543626546859741,
|
| 210 |
+
0.8743904829025269,
|
| 211 |
+
0.17231102287769318,
|
| 212 |
+
0.10294894129037857,
|
| 213 |
+
-0.11082294583320618,
|
| 214 |
+
2.1293785572052,
|
| 215 |
+
0.21458621323108673,
|
| 216 |
+
-0.515978217124939,
|
| 217 |
+
1.1111485958099365,
|
| 218 |
+
0.49997371435165405,
|
| 219 |
+
-0.22793444991111755,
|
| 220 |
+
-0.3573096990585327,
|
| 221 |
+
-0.6592636704444885,
|
| 222 |
+
6.704972267150879
|
| 223 |
+
],
|
| 224 |
+
"std": [
|
| 225 |
+
0.27678829431533813,
|
| 226 |
+
0.3816561698913574,
|
| 227 |
+
0.27499446272850037,
|
| 228 |
+
0.15611547231674194,
|
| 229 |
+
0.13953325152397156,
|
| 230 |
+
0.20316080749034882,
|
| 231 |
+
0.31265634298324585,
|
| 232 |
+
3.9882025718688965,
|
| 233 |
+
0.1280648410320282,
|
| 234 |
+
0.3008863031864166,
|
| 235 |
+
0.2483859360218048,
|
| 236 |
+
0.12258096039295197,
|
| 237 |
+
0.21335458755493164,
|
| 238 |
+
0.18984676897525787,
|
| 239 |
+
0.19795221090316772,
|
| 240 |
+
5.417189598083496
|
| 241 |
+
],
|
| 242 |
+
"count": [
|
| 243 |
+
647
|
| 244 |
+
],
|
| 245 |
+
"q01": [
|
| 246 |
+
0.7628847867250442,
|
| 247 |
+
-0.5508372366428376,
|
| 248 |
+
0.6151206582784653,
|
| 249 |
+
0.2603885933756828,
|
| 250 |
+
-0.08037270881235599,
|
| 251 |
+
-0.25760558754205704,
|
| 252 |
+
-0.7452737557888031,
|
| 253 |
+
-1.5662277507781983,
|
| 254 |
+
-0.004623735686764121,
|
| 255 |
+
-1.1896918046474456,
|
| 256 |
+
0.590683559179306,
|
| 257 |
+
0.25155718237161634,
|
| 258 |
+
-0.6220984518527984,
|
| 259 |
+
-0.7707065057754516,
|
| 260 |
+
-0.9361975073814393,
|
| 261 |
+
-0.08143834441900254
|
| 262 |
+
],
|
| 263 |
+
"q10": [
|
| 264 |
+
0.8341178178787232,
|
| 265 |
+
-0.25766655802726746,
|
| 266 |
+
0.7501459419727325,
|
| 267 |
+
0.6608292698860169,
|
| 268 |
+
0.01998721808195114,
|
| 269 |
+
-0.13912106603384017,
|
| 270 |
+
-0.5362518489360809,
|
| 271 |
+
-0.9726805500686169,
|
| 272 |
+
0.0497387021780014,
|
| 273 |
+
-0.8099855720996857,
|
| 274 |
+
0.8174738049507141,
|
| 275 |
+
0.345595583319664,
|
| 276 |
+
-0.4671216607093811,
|
| 277 |
+
-0.6001853197813034,
|
| 278 |
+
-0.8830528855323792,
|
| 279 |
+
0.4237777829170227
|
| 280 |
+
],
|
| 281 |
+
"q50": [
|
| 282 |
+
1.12898188829422,
|
| 283 |
+
0.26623138785362244,
|
| 284 |
+
1.020635187625885,
|
| 285 |
+
0.9405655860900879,
|
| 286 |
+
0.15202012658119202,
|
| 287 |
+
0.08286960422992706,
|
| 288 |
+
-0.16983100771903992,
|
| 289 |
+
0.6231713692347208,
|
| 290 |
+
0.1892978623509407,
|
| 291 |
+
-0.5350669920444489,
|
| 292 |
+
1.0405462384223938,
|
| 293 |
+
0.49132539331912994,
|
| 294 |
+
-0.2695249617099762,
|
| 295 |
+
-0.38356953859329224,
|
| 296 |
+
-0.6955479383468628,
|
| 297 |
+
6.355240821838379
|
| 298 |
+
],
|
| 299 |
+
"q90": [
|
| 300 |
+
1.650534164905548,
|
| 301 |
+
0.6131106853485108,
|
| 302 |
+
1.420294952392578,
|
| 303 |
+
0.9802410542964936,
|
| 304 |
+
0.33053803592920306,
|
| 305 |
+
0.5249848484992982,
|
| 306 |
+
0.3272829592227936,
|
| 307 |
+
8.249421882629395,
|
| 308 |
+
0.3781985253095627,
|
| 309 |
+
-0.20983892083168026,
|
| 310 |
+
1.4903597474098205,
|
| 311 |
+
0.6826934099197388,
|
| 312 |
+
0.09736476540565492,
|
| 313 |
+
-0.10489784479141234,
|
| 314 |
+
-0.3677847981452942,
|
| 315 |
+
14.465321063995361
|
| 316 |
+
],
|
| 317 |
+
"q99": [
|
| 318 |
+
1.7743080067634582,
|
| 319 |
+
1.048476654291153,
|
| 320 |
+
1.5215746355056763,
|
| 321 |
+
0.9886908642450969,
|
| 322 |
+
0.5566545909643174,
|
| 323 |
+
0.6050047171115875,
|
| 324 |
+
0.529088841676712,
|
| 325 |
+
16.46986825942993,
|
| 326 |
+
0.5734517186880111,
|
| 327 |
+
0.23020121097564697,
|
| 328 |
+
1.6109250426292419,
|
| 329 |
+
0.7913789182901383,
|
| 330 |
+
0.3083131343126297,
|
| 331 |
+
0.1327623438835144,
|
| 332 |
+
-0.08669854402542115,
|
| 333 |
+
19.53868963241577
|
| 334 |
+
]
|
| 335 |
+
},
|
| 336 |
+
"timestamp": {
|
| 337 |
+
"min": [
|
| 338 |
+
0.0
|
| 339 |
+
],
|
| 340 |
+
"max": [
|
| 341 |
+
21.53333282470703
|
| 342 |
+
],
|
| 343 |
+
"mean": [
|
| 344 |
+
10.766666412353516
|
| 345 |
+
],
|
| 346 |
+
"std": [
|
| 347 |
+
6.225753307342529
|
| 348 |
+
],
|
| 349 |
+
"count": [
|
| 350 |
+
647
|
| 351 |
+
],
|
| 352 |
+
"q01": [
|
| 353 |
+
0.2001307912170887
|
| 354 |
+
],
|
| 355 |
+
"q10": [
|
| 356 |
+
2.1348145246505736
|
| 357 |
+
],
|
| 358 |
+
"q50": [
|
| 359 |
+
10.768819808959961
|
| 360 |
+
],
|
| 361 |
+
"q90": [
|
| 362 |
+
19.398518371582032
|
| 363 |
+
],
|
| 364 |
+
"q99": [
|
| 365 |
+
21.333201866149903
|
| 366 |
+
]
|
| 367 |
+
},
|
| 368 |
+
"frame_index": {
|
| 369 |
+
"min": [
|
| 370 |
+
0
|
| 371 |
+
],
|
| 372 |
+
"max": [
|
| 373 |
+
646
|
| 374 |
+
],
|
| 375 |
+
"mean": [
|
| 376 |
+
323.0
|
| 377 |
+
],
|
| 378 |
+
"std": [
|
| 379 |
+
186.77258899528056
|
| 380 |
+
],
|
| 381 |
+
"count": [
|
| 382 |
+
647
|
| 383 |
+
],
|
| 384 |
+
"q01": [
|
| 385 |
+
6.003923999901859
|
| 386 |
+
],
|
| 387 |
+
"q10": [
|
| 388 |
+
64.04443999991983
|
| 389 |
+
],
|
| 390 |
+
"q50": [
|
| 391 |
+
323.06460000000004
|
| 392 |
+
],
|
| 393 |
+
"q90": [
|
| 394 |
+
581.9555600000801
|
| 395 |
+
],
|
| 396 |
+
"q99": [
|
| 397 |
+
639.9960760000981
|
| 398 |
+
]
|
| 399 |
+
},
|
| 400 |
+
"episode_index": {
|
| 401 |
+
"min": [
|
| 402 |
+
0
|
| 403 |
+
],
|
| 404 |
+
"max": [
|
| 405 |
+
0
|
| 406 |
+
],
|
| 407 |
+
"mean": [
|
| 408 |
+
0.0
|
| 409 |
+
],
|
| 410 |
+
"std": [
|
| 411 |
+
0.0
|
| 412 |
+
],
|
| 413 |
+
"count": [
|
| 414 |
+
647
|
| 415 |
+
],
|
| 416 |
+
"q01": [
|
| 417 |
+
3.9999999999994176e-16
|
| 418 |
+
],
|
| 419 |
+
"q10": [
|
| 420 |
+
3.999999999999417e-15
|
| 421 |
+
],
|
| 422 |
+
"q50": [
|
| 423 |
+
1.9999999999997088e-14
|
| 424 |
+
],
|
| 425 |
+
"q90": [
|
| 426 |
+
3.599999999999476e-14
|
| 427 |
+
],
|
| 428 |
+
"q99": [
|
| 429 |
+
3.9599999999994235e-14
|
| 430 |
+
]
|
| 431 |
+
},
|
| 432 |
+
"index": {
|
| 433 |
+
"min": [
|
| 434 |
+
0
|
| 435 |
+
],
|
| 436 |
+
"max": [
|
| 437 |
+
646
|
| 438 |
+
],
|
| 439 |
+
"mean": [
|
| 440 |
+
323.0
|
| 441 |
+
],
|
| 442 |
+
"std": [
|
| 443 |
+
186.77258899528056
|
| 444 |
+
],
|
| 445 |
+
"count": [
|
| 446 |
+
647
|
| 447 |
+
],
|
| 448 |
+
"q01": [
|
| 449 |
+
6.003923999901859
|
| 450 |
+
],
|
| 451 |
+
"q10": [
|
| 452 |
+
64.04443999991983
|
| 453 |
+
],
|
| 454 |
+
"q50": [
|
| 455 |
+
323.06460000000004
|
| 456 |
+
],
|
| 457 |
+
"q90": [
|
| 458 |
+
581.9555600000801
|
| 459 |
+
],
|
| 460 |
+
"q99": [
|
| 461 |
+
639.9960760000981
|
| 462 |
+
]
|
| 463 |
+
},
|
| 464 |
+
"task_index": {
|
| 465 |
+
"min": [
|
| 466 |
+
0
|
| 467 |
+
],
|
| 468 |
+
"max": [
|
| 469 |
+
0
|
| 470 |
+
],
|
| 471 |
+
"mean": [
|
| 472 |
+
0.0
|
| 473 |
+
],
|
| 474 |
+
"std": [
|
| 475 |
+
0.0
|
| 476 |
+
],
|
| 477 |
+
"count": [
|
| 478 |
+
647
|
| 479 |
+
],
|
| 480 |
+
"q01": [
|
| 481 |
+
3.9999999999994176e-16
|
| 482 |
+
],
|
| 483 |
+
"q10": [
|
| 484 |
+
3.999999999999417e-15
|
| 485 |
+
],
|
| 486 |
+
"q50": [
|
| 487 |
+
1.9999999999997088e-14
|
| 488 |
+
],
|
| 489 |
+
"q90": [
|
| 490 |
+
3.599999999999476e-14
|
| 491 |
+
],
|
| 492 |
+
"q99": [
|
| 493 |
+
3.9599999999994235e-14
|
| 494 |
+
]
|
| 495 |
+
},
|
| 496 |
+
"observation.images.left_ego": {
|
| 497 |
+
"min": [
|
| 498 |
+
[
|
| 499 |
+
[
|
| 500 |
+
0.0
|
| 501 |
+
]
|
| 502 |
+
],
|
| 503 |
+
[
|
| 504 |
+
[
|
| 505 |
+
0.0
|
| 506 |
+
]
|
| 507 |
+
],
|
| 508 |
+
[
|
| 509 |
+
[
|
| 510 |
+
0.0
|
| 511 |
+
]
|
| 512 |
+
]
|
| 513 |
+
],
|
| 514 |
+
"max": [
|
| 515 |
+
[
|
| 516 |
+
[
|
| 517 |
+
1.0
|
| 518 |
+
]
|
| 519 |
+
],
|
| 520 |
+
[
|
| 521 |
+
[
|
| 522 |
+
1.0
|
| 523 |
+
]
|
| 524 |
+
],
|
| 525 |
+
[
|
| 526 |
+
[
|
| 527 |
+
1.0
|
| 528 |
+
]
|
| 529 |
+
]
|
| 530 |
+
],
|
| 531 |
+
"mean": [
|
| 532 |
+
[
|
| 533 |
+
[
|
| 534 |
+
0.3641886093888491
|
| 535 |
+
]
|
| 536 |
+
],
|
| 537 |
+
[
|
| 538 |
+
[
|
| 539 |
+
0.32528966703916024
|
| 540 |
+
]
|
| 541 |
+
],
|
| 542 |
+
[
|
| 543 |
+
[
|
| 544 |
+
0.2745935486223072
|
| 545 |
+
]
|
| 546 |
+
]
|
| 547 |
+
],
|
| 548 |
+
"std": [
|
| 549 |
+
[
|
| 550 |
+
[
|
| 551 |
+
0.0
|
| 552 |
+
]
|
| 553 |
+
],
|
| 554 |
+
[
|
| 555 |
+
[
|
| 556 |
+
0.0
|
| 557 |
+
]
|
| 558 |
+
],
|
| 559 |
+
[
|
| 560 |
+
[
|
| 561 |
+
0.0
|
| 562 |
+
]
|
| 563 |
+
]
|
| 564 |
+
],
|
| 565 |
+
"count": [
|
| 566 |
+
647
|
| 567 |
+
],
|
| 568 |
+
"q01": [
|
| 569 |
+
[
|
| 570 |
+
[
|
| 571 |
+
0.0038043287002887853
|
| 572 |
+
]
|
| 573 |
+
],
|
| 574 |
+
[
|
| 575 |
+
[
|
| 576 |
+
0.0038049539543102457
|
| 577 |
+
]
|
| 578 |
+
],
|
| 579 |
+
[
|
| 580 |
+
[
|
| 581 |
+
-3.9215686274509807e-13
|
| 582 |
+
]
|
| 583 |
+
]
|
| 584 |
+
],
|
| 585 |
+
"q10": [
|
| 586 |
+
[
|
| 587 |
+
[
|
| 588 |
+
0.003917539758514216
|
| 589 |
+
]
|
| 590 |
+
],
|
| 591 |
+
[
|
| 592 |
+
[
|
| 593 |
+
0.003917394520102495
|
| 594 |
+
]
|
| 595 |
+
],
|
| 596 |
+
[
|
| 597 |
+
[
|
| 598 |
+
0.00391194591955564
|
| 599 |
+
]
|
| 600 |
+
]
|
| 601 |
+
],
|
| 602 |
+
"q50": [
|
| 603 |
+
[
|
| 604 |
+
[
|
| 605 |
+
0.3883116531262071
|
| 606 |
+
]
|
| 607 |
+
],
|
| 608 |
+
[
|
| 609 |
+
[
|
| 610 |
+
0.33733946408250187
|
| 611 |
+
]
|
| 612 |
+
],
|
| 613 |
+
[
|
| 614 |
+
[
|
| 615 |
+
0.22743033244305053
|
| 616 |
+
]
|
| 617 |
+
]
|
| 618 |
+
],
|
| 619 |
+
"q90": [
|
| 620 |
+
[
|
| 621 |
+
[
|
| 622 |
+
0.7332360402712809
|
| 623 |
+
]
|
| 624 |
+
],
|
| 625 |
+
[
|
| 626 |
+
[
|
| 627 |
+
0.6589571679456233
|
| 628 |
+
]
|
| 629 |
+
],
|
| 630 |
+
[
|
| 631 |
+
[
|
| 632 |
+
0.5921321164757036
|
| 633 |
+
]
|
| 634 |
+
]
|
| 635 |
+
],
|
| 636 |
+
"q99": [
|
| 637 |
+
[
|
| 638 |
+
[
|
| 639 |
+
0.9176431377967205
|
| 640 |
+
]
|
| 641 |
+
],
|
| 642 |
+
[
|
| 643 |
+
[
|
| 644 |
+
0.9333410208833771
|
| 645 |
+
]
|
| 646 |
+
],
|
| 647 |
+
[
|
| 648 |
+
[
|
| 649 |
+
0.968769941555521
|
| 650 |
+
]
|
| 651 |
+
]
|
| 652 |
+
]
|
| 653 |
+
},
|
| 654 |
+
"observation.images.right_ego": {
|
| 655 |
+
"min": [
|
| 656 |
+
[
|
| 657 |
+
[
|
| 658 |
+
0.0
|
| 659 |
+
]
|
| 660 |
+
],
|
| 661 |
+
[
|
| 662 |
+
[
|
| 663 |
+
0.0
|
| 664 |
+
]
|
| 665 |
+
],
|
| 666 |
+
[
|
| 667 |
+
[
|
| 668 |
+
0.0
|
| 669 |
+
]
|
| 670 |
+
]
|
| 671 |
+
],
|
| 672 |
+
"max": [
|
| 673 |
+
[
|
| 674 |
+
[
|
| 675 |
+
1.0
|
| 676 |
+
]
|
| 677 |
+
],
|
| 678 |
+
[
|
| 679 |
+
[
|
| 680 |
+
1.0
|
| 681 |
+
]
|
| 682 |
+
],
|
| 683 |
+
[
|
| 684 |
+
[
|
| 685 |
+
1.0
|
| 686 |
+
]
|
| 687 |
+
]
|
| 688 |
+
],
|
| 689 |
+
"mean": [
|
| 690 |
+
[
|
| 691 |
+
[
|
| 692 |
+
0.37035604485053075
|
| 693 |
+
]
|
| 694 |
+
],
|
| 695 |
+
[
|
| 696 |
+
[
|
| 697 |
+
0.32820789872984024
|
| 698 |
+
]
|
| 699 |
+
],
|
| 700 |
+
[
|
| 701 |
+
[
|
| 702 |
+
0.27560922121251913
|
| 703 |
+
]
|
| 704 |
+
]
|
| 705 |
+
],
|
| 706 |
+
"std": [
|
| 707 |
+
[
|
| 708 |
+
[
|
| 709 |
+
0.0
|
| 710 |
+
]
|
| 711 |
+
],
|
| 712 |
+
[
|
| 713 |
+
[
|
| 714 |
+
0.0
|
| 715 |
+
]
|
| 716 |
+
],
|
| 717 |
+
[
|
| 718 |
+
[
|
| 719 |
+
0.0
|
| 720 |
+
]
|
| 721 |
+
]
|
| 722 |
+
],
|
| 723 |
+
"count": [
|
| 724 |
+
647
|
| 725 |
+
],
|
| 726 |
+
"q01": [
|
| 727 |
+
[
|
| 728 |
+
[
|
| 729 |
+
0.003803541228311134
|
| 730 |
+
]
|
| 731 |
+
],
|
| 732 |
+
[
|
| 733 |
+
[
|
| 734 |
+
0.0038057048588392125
|
| 735 |
+
]
|
| 736 |
+
],
|
| 737 |
+
[
|
| 738 |
+
[
|
| 739 |
+
-3.9215686274509807e-13
|
| 740 |
+
]
|
| 741 |
+
]
|
| 742 |
+
],
|
| 743 |
+
"q10": [
|
| 744 |
+
[
|
| 745 |
+
[
|
| 746 |
+
0.003915681653042007
|
| 747 |
+
]
|
| 748 |
+
],
|
| 749 |
+
[
|
| 750 |
+
[
|
| 751 |
+
0.003916929124544424
|
| 752 |
+
]
|
| 753 |
+
],
|
| 754 |
+
[
|
| 755 |
+
[
|
| 756 |
+
0.003910842679576079
|
| 757 |
+
]
|
| 758 |
+
]
|
| 759 |
+
],
|
| 760 |
+
"q50": [
|
| 761 |
+
[
|
| 762 |
+
[
|
| 763 |
+
0.41164667627327944
|
| 764 |
+
]
|
| 765 |
+
],
|
| 766 |
+
[
|
| 767 |
+
[
|
| 768 |
+
0.33739836469741674
|
| 769 |
+
]
|
| 770 |
+
],
|
| 771 |
+
[
|
| 772 |
+
[
|
| 773 |
+
0.23121007895385032
|
| 774 |
+
]
|
| 775 |
+
]
|
| 776 |
+
],
|
| 777 |
+
"q90": [
|
| 778 |
+
[
|
| 779 |
+
[
|
| 780 |
+
0.7332959864791292
|
| 781 |
+
]
|
| 782 |
+
],
|
| 783 |
+
[
|
| 784 |
+
[
|
| 785 |
+
0.6705818424839873
|
| 786 |
+
]
|
| 787 |
+
],
|
| 788 |
+
[
|
| 789 |
+
[
|
| 790 |
+
0.6116138064386349
|
| 791 |
+
]
|
| 792 |
+
]
|
| 793 |
+
],
|
| 794 |
+
"q99": [
|
| 795 |
+
[
|
| 796 |
+
[
|
| 797 |
+
0.8666910644030978
|
| 798 |
+
]
|
| 799 |
+
],
|
| 800 |
+
[
|
| 801 |
+
[
|
| 802 |
+
0.8549174356284527
|
| 803 |
+
]
|
| 804 |
+
],
|
| 805 |
+
[
|
| 806 |
+
[
|
| 807 |
+
0.8471013282656344
|
| 808 |
+
]
|
| 809 |
+
]
|
| 810 |
+
]
|
| 811 |
+
}
|
| 812 |
+
}
|
official_data/umi_data/batch2/fold_clothes_e00065/annotation/subtasks_000000.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"start_frame_index": 0, "end_frame_index": 1466, "instruction": "fold the orange long sleeve", "instruction_zh": "fold the orange long sleeve", "target_objects": ["橙色长袖"], "success": null}
|
official_data/umi_data/batch2/fold_clothes_e00065/export_meta.json
ADDED
|
@@ -0,0 +1,42 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_names": [
|
| 3 |
+
"left_x",
|
| 4 |
+
"left_y",
|
| 5 |
+
"left_z",
|
| 6 |
+
"left_qw",
|
| 7 |
+
"left_qx",
|
| 8 |
+
"left_qy",
|
| 9 |
+
"left_qz",
|
| 10 |
+
"left_gripper",
|
| 11 |
+
"right_x",
|
| 12 |
+
"right_y",
|
| 13 |
+
"right_z",
|
| 14 |
+
"right_qw",
|
| 15 |
+
"right_qx",
|
| 16 |
+
"right_qy",
|
| 17 |
+
"right_qz",
|
| 18 |
+
"right_gripper"
|
| 19 |
+
],
|
| 20 |
+
"n_episodes": 1,
|
| 21 |
+
"fps": 30.0,
|
| 22 |
+
"img_size": 960,
|
| 23 |
+
"state_names": [
|
| 24 |
+
"left_x",
|
| 25 |
+
"left_y",
|
| 26 |
+
"left_z",
|
| 27 |
+
"left_qw",
|
| 28 |
+
"left_qx",
|
| 29 |
+
"left_qy",
|
| 30 |
+
"left_qz",
|
| 31 |
+
"left_gripper",
|
| 32 |
+
"right_x",
|
| 33 |
+
"right_y",
|
| 34 |
+
"right_z",
|
| 35 |
+
"right_qw",
|
| 36 |
+
"right_qx",
|
| 37 |
+
"right_qy",
|
| 38 |
+
"right_qz",
|
| 39 |
+
"right_gripper"
|
| 40 |
+
],
|
| 41 |
+
"episodes": []
|
| 42 |
+
}
|
official_data/umi_data/batch2/fold_clothes_e00065/imu/episode_0000_left.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
official_data/umi_data/batch2/fold_clothes_e00065/imu/episode_0000_right.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
official_data/umi_data/batch2/fold_clothes_e00065/meta/annotation.json
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 2,
|
| 3 |
+
"layers": {
|
| 4 |
+
"subtasks": {
|
| 5 |
+
"source": "human",
|
| 6 |
+
"review": "approved",
|
| 7 |
+
"segments_version": "3f3f7bab87910fd8"
|
| 8 |
+
}
|
| 9 |
+
},
|
| 10 |
+
"dropped_layers": [
|
| 11 |
+
"action_steps"
|
| 12 |
+
],
|
| 13 |
+
"created_at": "2026-08-30T19:08:16+0800"
|
| 14 |
+
}
|
official_data/umi_data/batch2/fold_clothes_e00065/meta/calibration.json
ADDED
|
@@ -0,0 +1,333 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"note": "Per-body camera + IMU calibration. Intrinsics come from each body's own .insv factory telemetry; see provenance per side.",
|
| 3 |
+
"sides": {
|
| 4 |
+
"left": {
|
| 5 |
+
"ego_video": {
|
| 6 |
+
"source": "fisheye.mp4",
|
| 7 |
+
"insv_stream": 0,
|
| 8 |
+
"lens": "front",
|
| 9 |
+
"native_size": [
|
| 10 |
+
1920,
|
| 11 |
+
1920
|
| 12 |
+
],
|
| 13 |
+
"dataset_size": [
|
| 14 |
+
960,
|
| 15 |
+
960
|
| 16 |
+
]
|
| 17 |
+
},
|
| 18 |
+
"rolling_shutter_ms": 15.845431327819824,
|
| 19 |
+
"imu": {
|
| 20 |
+
"gyro_range_dps": 2000.0,
|
| 21 |
+
"accel_range_g": 32.0,
|
| 22 |
+
"gyro_bias_rad_s": [
|
| 23 |
+
-0.0013867632554003927,
|
| 24 |
+
-0.008702634237893705,
|
| 25 |
+
0.00043594322021658514
|
| 26 |
+
],
|
| 27 |
+
"accel_bias_m_s2": [
|
| 28 |
+
0.0503796935657597,
|
| 29 |
+
0.06368103280953678,
|
| 30 |
+
-0.10290447774487302
|
| 31 |
+
],
|
| 32 |
+
"gravity_vector_camera_frame": [
|
| 33 |
+
-0.10908758254141775,
|
| 34 |
+
-0.730464398875813,
|
| 35 |
+
-0.6741822166968408
|
| 36 |
+
],
|
| 37 |
+
"gravity_magnitude_m_s2": 9.823193919532361,
|
| 38 |
+
"accel_convention": "imu_raw.csv is standard specific force (a ~ -g_body at rest) and is NOT negated; gravity = -(gravity_vector_camera_frame). See docs/46"
|
| 39 |
+
},
|
| 40 |
+
"lenses": {
|
| 41 |
+
"front": {
|
| 42 |
+
"model": "ucm_mei_radtan",
|
| 43 |
+
"canvas": [
|
| 44 |
+
15360,
|
| 45 |
+
7680
|
| 46 |
+
],
|
| 47 |
+
"params_on_canvas": {
|
| 48 |
+
"xi": 2.31494,
|
| 49 |
+
"fx": 7151.64,
|
| 50 |
+
"fy": 7150.25,
|
| 51 |
+
"cx": 3825.2,
|
| 52 |
+
"cy": 3856.77,
|
| 53 |
+
"k1": 0.96616316,
|
| 54 |
+
"k2": -1.84301269,
|
| 55 |
+
"k3": 3.4789691,
|
| 56 |
+
"p1": -0.00073036,
|
| 57 |
+
"p2": 0.00056983
|
| 58 |
+
},
|
| 59 |
+
"params_on_native_fisheye": {
|
| 60 |
+
"xi": 2.31494,
|
| 61 |
+
"k1": 0.966163,
|
| 62 |
+
"k2": -1.843013,
|
| 63 |
+
"k3": 3.478969,
|
| 64 |
+
"p1": -0.00073,
|
| 65 |
+
"p2": 0.00057,
|
| 66 |
+
"fx": 1787.91,
|
| 67 |
+
"fy": 1787.5625,
|
| 68 |
+
"cx": 956.3,
|
| 69 |
+
"cy": 964.1925
|
| 70 |
+
},
|
| 71 |
+
"cam_imu_factory": {
|
| 72 |
+
"yaw_deg": 0.038,
|
| 73 |
+
"pitch_deg": -0.111,
|
| 74 |
+
"roll_deg": 90.251,
|
| 75 |
+
"t_m": [
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
0.0
|
| 79 |
+
]
|
| 80 |
+
},
|
| 81 |
+
"params_on_dataset_frame": {
|
| 82 |
+
"xi": 2.31494,
|
| 83 |
+
"k1": 0.966163,
|
| 84 |
+
"k2": -1.843013,
|
| 85 |
+
"k3": 3.478969,
|
| 86 |
+
"p1": -0.00073,
|
| 87 |
+
"p2": 0.00057,
|
| 88 |
+
"fx": 893.955,
|
| 89 |
+
"fy": 893.78125,
|
| 90 |
+
"cx": 478.15,
|
| 91 |
+
"cy": 482.09625
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"rear": {
|
| 95 |
+
"model": "ucm_mei_radtan",
|
| 96 |
+
"canvas": [
|
| 97 |
+
15360,
|
| 98 |
+
7680
|
| 99 |
+
],
|
| 100 |
+
"params_on_canvas": {
|
| 101 |
+
"xi": 2.31494,
|
| 102 |
+
"fx": 7112.96,
|
| 103 |
+
"fy": 7112.38,
|
| 104 |
+
"cx": 11536.9,
|
| 105 |
+
"cy": 3832.74,
|
| 106 |
+
"k1": 0.97610056,
|
| 107 |
+
"k2": -2.08686185,
|
| 108 |
+
"k3": 4.44184732,
|
| 109 |
+
"p1": 0.00037154,
|
| 110 |
+
"p2": 0.00087007
|
| 111 |
+
},
|
| 112 |
+
"params_on_native_fisheye": {
|
| 113 |
+
"xi": 2.31494,
|
| 114 |
+
"k1": 0.976101,
|
| 115 |
+
"k2": -2.086862,
|
| 116 |
+
"k3": 4.441847,
|
| 117 |
+
"p1": 0.000372,
|
| 118 |
+
"p2": 0.00087,
|
| 119 |
+
"fx": 1778.24,
|
| 120 |
+
"fy": 1778.095,
|
| 121 |
+
"cx": 964.225,
|
| 122 |
+
"cy": 958.185
|
| 123 |
+
},
|
| 124 |
+
"cam_imu_factory": {
|
| 125 |
+
"yaw_deg": -0.18,
|
| 126 |
+
"pitch_deg": 0.037,
|
| 127 |
+
"roll_deg": 89.556,
|
| 128 |
+
"t_m": [
|
| 129 |
+
0.000857,
|
| 130 |
+
0.000123,
|
| 131 |
+
-0.03356
|
| 132 |
+
]
|
| 133 |
+
}
|
| 134 |
+
}
|
| 135 |
+
},
|
| 136 |
+
"cam_imu_used_by_cook": {
|
| 137 |
+
"R_cam_imu": [
|
| 138 |
+
[
|
| 139 |
+
0.0019373142578613613,
|
| 140 |
+
0.0006632238225311149,
|
| 141 |
+
0.9999979034716158
|
| 142 |
+
],
|
| 143 |
+
[
|
| 144 |
+
0.999988527837293,
|
| 145 |
+
-0.0043820463100301965,
|
| 146 |
+
-0.0019343898106758783
|
| 147 |
+
],
|
| 148 |
+
[
|
| 149 |
+
0.004380754189541147,
|
| 150 |
+
0.9999901788539213,
|
| 151 |
+
-0.0006717056147145419
|
| 152 |
+
]
|
| 153 |
+
],
|
| 154 |
+
"t_cam_imu_m": [
|
| 155 |
+
0.004100510626148365,
|
| 156 |
+
-0.001160295357225906,
|
| 157 |
+
-0.025483155366164204
|
| 158 |
+
],
|
| 159 |
+
"source": "Tic=factory-insv-Euler (lever from REDACTED); gravity=static; bias=factory"
|
| 160 |
+
},
|
| 161 |
+
"provenance": {
|
| 162 |
+
"camera_intrinsics": "insv_factory (per-body, from this body's own telemetry)",
|
| 163 |
+
"kalibr_refined": false,
|
| 164 |
+
"pose_frame": "cubemap front virtual pinhole, 110 deg FoV / tilt 70 / 640 px",
|
| 165 |
+
"pose_frame_note": "state/action poses (T_w_cam) live in this virtual pinhole frame, NOT the fisheye frame of the delivered video. When the body has no Kalibr EUCM calibration the LUT is borrowed from another body \u2014 see cam_imu_used_by_cook.source."
|
| 166 |
+
}
|
| 167 |
+
},
|
| 168 |
+
"right": {
|
| 169 |
+
"ego_video": {
|
| 170 |
+
"source": "fisheye.mp4",
|
| 171 |
+
"insv_stream": 0,
|
| 172 |
+
"lens": "front",
|
| 173 |
+
"native_size": [
|
| 174 |
+
1920,
|
| 175 |
+
1920
|
| 176 |
+
],
|
| 177 |
+
"dataset_size": [
|
| 178 |
+
960,
|
| 179 |
+
960
|
| 180 |
+
]
|
| 181 |
+
},
|
| 182 |
+
"rolling_shutter_ms": 15.845431327819824,
|
| 183 |
+
"imu": {
|
| 184 |
+
"gyro_range_dps": 2000.0,
|
| 185 |
+
"accel_range_g": 32.0,
|
| 186 |
+
"gyro_bias_rad_s": [
|
| 187 |
+
-0.003812722102728109,
|
| 188 |
+
-0.008879356853717553,
|
| 189 |
+
-0.001709114831144977
|
| 190 |
+
],
|
| 191 |
+
"accel_bias_m_s2": [
|
| 192 |
+
-0.08276988688218828,
|
| 193 |
+
0.002346097679111282,
|
| 194 |
+
-0.013017165897631735
|
| 195 |
+
],
|
| 196 |
+
"gravity_vector_camera_frame": [
|
| 197 |
+
0.08243444599522709,
|
| 198 |
+
-0.7438809268100787,
|
| 199 |
+
-0.663208661615361
|
| 200 |
+
],
|
| 201 |
+
"gravity_magnitude_m_s2": 9.825098705852328,
|
| 202 |
+
"accel_convention": "imu_raw.csv is standard specific force (a ~ -g_body at rest) and is NOT negated; gravity = -(gravity_vector_camera_frame). See docs/46"
|
| 203 |
+
},
|
| 204 |
+
"lenses": {
|
| 205 |
+
"front": {
|
| 206 |
+
"model": "ucm_mei_radtan",
|
| 207 |
+
"canvas": [
|
| 208 |
+
15360,
|
| 209 |
+
7680
|
| 210 |
+
],
|
| 211 |
+
"params_on_canvas": {
|
| 212 |
+
"xi": 2.31494,
|
| 213 |
+
"fx": 7144.3,
|
| 214 |
+
"fy": 7140.36,
|
| 215 |
+
"cx": 3828.19,
|
| 216 |
+
"cy": 3860.43,
|
| 217 |
+
"k1": 0.95641762,
|
| 218 |
+
"k2": -1.85701871,
|
| 219 |
+
"k3": 3.5351615,
|
| 220 |
+
"p1": -0.00076912,
|
| 221 |
+
"p2": -0.00104643
|
| 222 |
+
},
|
| 223 |
+
"params_on_native_fisheye": {
|
| 224 |
+
"xi": 2.31494,
|
| 225 |
+
"k1": 0.956418,
|
| 226 |
+
"k2": -1.857019,
|
| 227 |
+
"k3": 3.535162,
|
| 228 |
+
"p1": -0.000769,
|
| 229 |
+
"p2": -0.001046,
|
| 230 |
+
"fx": 1786.075,
|
| 231 |
+
"fy": 1785.09,
|
| 232 |
+
"cx": 957.0475,
|
| 233 |
+
"cy": 965.1075
|
| 234 |
+
},
|
| 235 |
+
"cam_imu_factory": {
|
| 236 |
+
"yaw_deg": 0.222,
|
| 237 |
+
"pitch_deg": 0.1,
|
| 238 |
+
"roll_deg": 89.795,
|
| 239 |
+
"t_m": [
|
| 240 |
+
0.0,
|
| 241 |
+
0.0,
|
| 242 |
+
0.0
|
| 243 |
+
]
|
| 244 |
+
},
|
| 245 |
+
"params_on_dataset_frame": {
|
| 246 |
+
"xi": 2.31494,
|
| 247 |
+
"k1": 0.956418,
|
| 248 |
+
"k2": -1.857019,
|
| 249 |
+
"k3": 3.535162,
|
| 250 |
+
"p1": -0.000769,
|
| 251 |
+
"p2": -0.001046,
|
| 252 |
+
"fx": 893.0375,
|
| 253 |
+
"fy": 892.545,
|
| 254 |
+
"cx": 478.52375,
|
| 255 |
+
"cy": 482.55375
|
| 256 |
+
}
|
| 257 |
+
},
|
| 258 |
+
"rear": {
|
| 259 |
+
"model": "ucm_mei_radtan",
|
| 260 |
+
"canvas": [
|
| 261 |
+
15360,
|
| 262 |
+
7680
|
| 263 |
+
],
|
| 264 |
+
"params_on_canvas": {
|
| 265 |
+
"xi": 2.31494,
|
| 266 |
+
"fx": 7131.67,
|
| 267 |
+
"fy": 7130.66,
|
| 268 |
+
"cx": 11542.4,
|
| 269 |
+
"cy": 3876.96,
|
| 270 |
+
"k1": 0.97506797,
|
| 271 |
+
"k2": -2.16964269,
|
| 272 |
+
"k3": 4.22772408,
|
| 273 |
+
"p1": -0.00106036,
|
| 274 |
+
"p2": -0.00272907
|
| 275 |
+
},
|
| 276 |
+
"params_on_native_fisheye": {
|
| 277 |
+
"xi": 2.31494,
|
| 278 |
+
"k1": 0.975068,
|
| 279 |
+
"k2": -2.169643,
|
| 280 |
+
"k3": 4.227724,
|
| 281 |
+
"p1": -0.00106,
|
| 282 |
+
"p2": -0.002729,
|
| 283 |
+
"fx": 1782.9175,
|
| 284 |
+
"fy": 1782.665,
|
| 285 |
+
"cx": 965.6,
|
| 286 |
+
"cy": 969.24
|
| 287 |
+
},
|
| 288 |
+
"cam_imu_factory": {
|
| 289 |
+
"yaw_deg": -0.064,
|
| 290 |
+
"pitch_deg": 0.149,
|
| 291 |
+
"roll_deg": 89.457,
|
| 292 |
+
"t_m": [
|
| 293 |
+
0.001875,
|
| 294 |
+
-5.7e-05,
|
| 295 |
+
-0.032888
|
| 296 |
+
]
|
| 297 |
+
}
|
| 298 |
+
}
|
| 299 |
+
},
|
| 300 |
+
"cam_imu_used_by_cook": {
|
| 301 |
+
"R_cam_imu": [
|
| 302 |
+
[
|
| 303 |
+
-0.003698620751528131,
|
| 304 |
+
0.00442383717822975,
|
| 305 |
+
0.9999833747963798
|
| 306 |
+
],
|
| 307 |
+
[
|
| 308 |
+
0.9999877040146874,
|
| 309 |
+
0.003319687668612209,
|
| 310 |
+
0.0036839507620446965
|
| 311 |
+
],
|
| 312 |
+
[
|
| 313 |
+
-0.0033033352797848248,
|
| 314 |
+
0.9999847045522263,
|
| 315 |
+
-0.004436061048492451
|
| 316 |
+
]
|
| 317 |
+
],
|
| 318 |
+
"t_cam_imu_m": [
|
| 319 |
+
0.004100510626148365,
|
| 320 |
+
-0.001160295357225906,
|
| 321 |
+
-0.025483155366164204
|
| 322 |
+
],
|
| 323 |
+
"source": "Tic=Kalibr(REDACTED, factory-resid 0.12deg); gravity=static; bias=factory"
|
| 324 |
+
},
|
| 325 |
+
"provenance": {
|
| 326 |
+
"camera_intrinsics": "insv_factory (per-body, from this body's own telemetry)",
|
| 327 |
+
"kalibr_refined": true,
|
| 328 |
+
"pose_frame": "cubemap front virtual pinhole, 110 deg FoV / tilt 70 / 640 px",
|
| 329 |
+
"pose_frame_note": "state/action poses (T_w_cam) live in this virtual pinhole frame, NOT the fisheye frame of the delivered video. When the body has no Kalibr EUCM calibration the LUT is borrowed from another body \u2014 see cam_imu_used_by_cook.source."
|
| 330 |
+
}
|
| 331 |
+
}
|
| 332 |
+
}
|
| 333 |
+
}
|
official_data/umi_data/batch2/fold_clothes_e00065/meta/info.json
ADDED
|
@@ -0,0 +1,147 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "umi_bimanual_gripper",
|
| 4 |
+
"total_episodes": 1,
|
| 5 |
+
"total_frames": 1466,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
+
"data_files_size_in_mb": 100,
|
| 9 |
+
"video_files_size_in_mb": 200,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:1"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 15 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"observation.images.left_ego": {
|
| 18 |
+
"dtype": "video",
|
| 19 |
+
"shape": [
|
| 20 |
+
960,
|
| 21 |
+
960,
|
| 22 |
+
3
|
| 23 |
+
],
|
| 24 |
+
"names": [
|
| 25 |
+
"height",
|
| 26 |
+
"width",
|
| 27 |
+
"channels"
|
| 28 |
+
],
|
| 29 |
+
"info": {
|
| 30 |
+
"video.height": 960,
|
| 31 |
+
"video.width": 960,
|
| 32 |
+
"video.codec": "h264",
|
| 33 |
+
"video.pix_fmt": "yuv420p",
|
| 34 |
+
"video.is_depth_map": false,
|
| 35 |
+
"video.fps": 30,
|
| 36 |
+
"video.channels": 3,
|
| 37 |
+
"has_audio": false
|
| 38 |
+
}
|
| 39 |
+
},
|
| 40 |
+
"observation.images.right_ego": {
|
| 41 |
+
"dtype": "video",
|
| 42 |
+
"shape": [
|
| 43 |
+
960,
|
| 44 |
+
960,
|
| 45 |
+
3
|
| 46 |
+
],
|
| 47 |
+
"names": [
|
| 48 |
+
"height",
|
| 49 |
+
"width",
|
| 50 |
+
"channels"
|
| 51 |
+
],
|
| 52 |
+
"info": {
|
| 53 |
+
"video.height": 960,
|
| 54 |
+
"video.width": 960,
|
| 55 |
+
"video.codec": "h264",
|
| 56 |
+
"video.pix_fmt": "yuv420p",
|
| 57 |
+
"video.is_depth_map": false,
|
| 58 |
+
"video.fps": 30,
|
| 59 |
+
"video.channels": 3,
|
| 60 |
+
"has_audio": false
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"observation.state": {
|
| 64 |
+
"dtype": "float32",
|
| 65 |
+
"shape": [
|
| 66 |
+
16
|
| 67 |
+
],
|
| 68 |
+
"names": [
|
| 69 |
+
"left_x",
|
| 70 |
+
"left_y",
|
| 71 |
+
"left_z",
|
| 72 |
+
"left_qw",
|
| 73 |
+
"left_qx",
|
| 74 |
+
"left_qy",
|
| 75 |
+
"left_qz",
|
| 76 |
+
"left_gripper",
|
| 77 |
+
"right_x",
|
| 78 |
+
"right_y",
|
| 79 |
+
"right_z",
|
| 80 |
+
"right_qw",
|
| 81 |
+
"right_qx",
|
| 82 |
+
"right_qy",
|
| 83 |
+
"right_qz",
|
| 84 |
+
"right_gripper"
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
"action": {
|
| 88 |
+
"dtype": "float32",
|
| 89 |
+
"shape": [
|
| 90 |
+
16
|
| 91 |
+
],
|
| 92 |
+
"names": [
|
| 93 |
+
"left_x",
|
| 94 |
+
"left_y",
|
| 95 |
+
"left_z",
|
| 96 |
+
"left_qw",
|
| 97 |
+
"left_qx",
|
| 98 |
+
"left_qy",
|
| 99 |
+
"left_qz",
|
| 100 |
+
"left_gripper",
|
| 101 |
+
"right_x",
|
| 102 |
+
"right_y",
|
| 103 |
+
"right_z",
|
| 104 |
+
"right_qw",
|
| 105 |
+
"right_qx",
|
| 106 |
+
"right_qy",
|
| 107 |
+
"right_qz",
|
| 108 |
+
"right_gripper"
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
"timestamp": {
|
| 112 |
+
"dtype": "float32",
|
| 113 |
+
"shape": [
|
| 114 |
+
1
|
| 115 |
+
],
|
| 116 |
+
"names": null
|
| 117 |
+
},
|
| 118 |
+
"frame_index": {
|
| 119 |
+
"dtype": "int64",
|
| 120 |
+
"shape": [
|
| 121 |
+
1
|
| 122 |
+
],
|
| 123 |
+
"names": null
|
| 124 |
+
},
|
| 125 |
+
"episode_index": {
|
| 126 |
+
"dtype": "int64",
|
| 127 |
+
"shape": [
|
| 128 |
+
1
|
| 129 |
+
],
|
| 130 |
+
"names": null
|
| 131 |
+
},
|
| 132 |
+
"index": {
|
| 133 |
+
"dtype": "int64",
|
| 134 |
+
"shape": [
|
| 135 |
+
1
|
| 136 |
+
],
|
| 137 |
+
"names": null
|
| 138 |
+
},
|
| 139 |
+
"task_index": {
|
| 140 |
+
"dtype": "int64",
|
| 141 |
+
"shape": [
|
| 142 |
+
1
|
| 143 |
+
],
|
| 144 |
+
"names": null
|
| 145 |
+
}
|
| 146 |
+
}
|
| 147 |
+
}
|
official_data/umi_data/batch2/fold_clothes_e00065/meta/stats.json
ADDED
|
@@ -0,0 +1,812 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"observation.state": {
|
| 3 |
+
"min": [
|
| 4 |
+
-1.3980112075805664,
|
| 5 |
+
-0.03848809003829956,
|
| 6 |
+
0.20174400508403778,
|
| 7 |
+
4.9611324357101694e-05,
|
| 8 |
+
-0.8521584272384644,
|
| 9 |
+
-0.5638371706008911,
|
| 10 |
+
-0.9632169008255005,
|
| 11 |
+
-1.3733333349227905,
|
| 12 |
+
-0.6839855313301086,
|
| 13 |
+
-0.12154403328895569,
|
| 14 |
+
-0.15720292925834656,
|
| 15 |
+
7.984419062267989e-05,
|
| 16 |
+
-0.9973317384719849,
|
| 17 |
+
-0.6269779801368713,
|
| 18 |
+
-0.5131011605262756,
|
| 19 |
+
-0.6566666960716248
|
| 20 |
+
],
|
| 21 |
+
"max": [
|
| 22 |
+
-0.46889203786849976,
|
| 23 |
+
1.163667917251587,
|
| 24 |
+
1.0095880031585693,
|
| 25 |
+
0.4526550769805908,
|
| 26 |
+
0.7518898248672485,
|
| 27 |
+
0.6646250486373901,
|
| 28 |
+
0.9259827136993408,
|
| 29 |
+
14.8100004196167,
|
| 30 |
+
0.5532441735267639,
|
| 31 |
+
0.6337305903434753,
|
| 32 |
+
0.7128228545188904,
|
| 33 |
+
0.6760366559028625,
|
| 34 |
+
0.9971415996551514,
|
| 35 |
+
0.6511042714118958,
|
| 36 |
+
0.4596268832683563,
|
| 37 |
+
18.18000030517578
|
| 38 |
+
],
|
| 39 |
+
"mean": [
|
| 40 |
+
-0.7715854048728943,
|
| 41 |
+
0.3817164897918701,
|
| 42 |
+
0.6141135692596436,
|
| 43 |
+
0.1314331442117691,
|
| 44 |
+
-0.13014359772205353,
|
| 45 |
+
0.006578114349395037,
|
| 46 |
+
-0.12825459241867065,
|
| 47 |
+
1.6299619674682617,
|
| 48 |
+
-0.03932169824838638,
|
| 49 |
+
0.23517416417598724,
|
| 50 |
+
0.21507006883621216,
|
| 51 |
+
0.14531749486923218,
|
| 52 |
+
-0.0307146068662405,
|
| 53 |
+
0.004530356265604496,
|
| 54 |
+
-0.017773551866412163,
|
| 55 |
+
3.9913318157196045
|
| 56 |
+
],
|
| 57 |
+
"std": [
|
| 58 |
+
0.18334977328777313,
|
| 59 |
+
0.22948232293128967,
|
| 60 |
+
0.1525038778781891,
|
| 61 |
+
0.09915173798799515,
|
| 62 |
+
0.5385287404060364,
|
| 63 |
+
0.3192409574985504,
|
| 64 |
+
0.7399575114250183,
|
| 65 |
+
3.6998724937438965,
|
| 66 |
+
0.2372262328863144,
|
| 67 |
+
0.19152429699897766,
|
| 68 |
+
0.1561298668384552,
|
| 69 |
+
0.14215511083602905,
|
| 70 |
+
0.8752391338348389,
|
| 71 |
+
0.3625681698322296,
|
| 72 |
+
0.2447352260351181,
|
| 73 |
+
3.684316635131836
|
| 74 |
+
],
|
| 75 |
+
"count": [
|
| 76 |
+
1466
|
| 77 |
+
],
|
| 78 |
+
"q01": [
|
| 79 |
+
-1.3629536700248719,
|
| 80 |
+
-0.025826982297003268,
|
| 81 |
+
0.2205926236510277,
|
| 82 |
+
0.0020609900122508405,
|
| 83 |
+
-0.8283479189872742,
|
| 84 |
+
-0.5374669873714447,
|
| 85 |
+
-0.9045270162820817,
|
| 86 |
+
-1.0604771375656128,
|
| 87 |
+
-0.6509119081497192,
|
| 88 |
+
-0.09787976861000061,
|
| 89 |
+
-0.11932896599173545,
|
| 90 |
+
0.002196940761059523,
|
| 91 |
+
-0.9956045335531235,
|
| 92 |
+
-0.5866774868965149,
|
| 93 |
+
-0.45849998354911803,
|
| 94 |
+
-0.15312493085861206
|
| 95 |
+
],
|
| 96 |
+
"q10": [
|
| 97 |
+
-1.0546831130981444,
|
| 98 |
+
0.1397435635328293,
|
| 99 |
+
0.4375698149204254,
|
| 100 |
+
0.01981036625802517,
|
| 101 |
+
-0.6953252911567688,
|
| 102 |
+
-0.31033170223236084,
|
| 103 |
+
-0.8564393281936645,
|
| 104 |
+
-0.9809722585337503,
|
| 105 |
+
-0.3364229559898376,
|
| 106 |
+
-0.012391738593578339,
|
| 107 |
+
0.014296549558639526,
|
| 108 |
+
0.019709628075361252,
|
| 109 |
+
-0.9523364067077636,
|
| 110 |
+
-0.49288159012794497,
|
| 111 |
+
-0.34320448637008666,
|
| 112 |
+
0.39939218282699585
|
| 113 |
+
],
|
| 114 |
+
"q50": [
|
| 115 |
+
-0.7509726285934448,
|
| 116 |
+
0.3433166742324829,
|
| 117 |
+
0.6225903183221817,
|
| 118 |
+
0.11496613919734955,
|
| 119 |
+
-0.4203486144542694,
|
| 120 |
+
-0.15279370546340942,
|
| 121 |
+
-0.6258058547973633,
|
| 122 |
+
-0.5576933026313782,
|
| 123 |
+
-0.012788385152816772,
|
| 124 |
+
0.22467386722564697,
|
| 125 |
+
0.20194369554519653,
|
| 126 |
+
0.10269007831811905,
|
| 127 |
+
-0.7052411437034607,
|
| 128 |
+
-0.006596863269805908,
|
| 129 |
+
-0.016231685876846313,
|
| 130 |
+
2.7716064453125
|
| 131 |
+
],
|
| 132 |
+
"q90": [
|
| 133 |
+
-0.5642753899097442,
|
| 134 |
+
0.7076661348342895,
|
| 135 |
+
0.7849104046821594,
|
| 136 |
+
0.2714952200651169,
|
| 137 |
+
0.5694133281707764,
|
| 138 |
+
0.47111766338348393,
|
| 139 |
+
0.7882034182548523,
|
| 140 |
+
7.5838185310363775,
|
| 141 |
+
0.20612701177597048,
|
| 142 |
+
0.5130906641483307,
|
| 143 |
+
0.43958255648612976,
|
| 144 |
+
0.3743435859680176,
|
| 145 |
+
0.9492342948913575,
|
| 146 |
+
0.4615390419960022,
|
| 147 |
+
0.3043210983276367,
|
| 148 |
+
9.990570259094238
|
| 149 |
+
],
|
| 150 |
+
"q99": [
|
| 151 |
+
-0.4751468431949616,
|
| 152 |
+
1.1272041940689086,
|
| 153 |
+
0.9923550724983216,
|
| 154 |
+
0.4282451546192169,
|
| 155 |
+
0.7054815220832824,
|
| 156 |
+
0.6362082648277283,
|
| 157 |
+
0.8992845773696899,
|
| 158 |
+
13.393441162109374,
|
| 159 |
+
0.546399872303009,
|
| 160 |
+
0.6247186803817749,
|
| 161 |
+
0.6076088428497314,
|
| 162 |
+
0.5916475081443786,
|
| 163 |
+
0.9877036786079406,
|
| 164 |
+
0.6123374056816101,
|
| 165 |
+
0.4353747820854187,
|
| 166 |
+
13.984471321105957
|
| 167 |
+
]
|
| 168 |
+
},
|
| 169 |
+
"action": {
|
| 170 |
+
"min": [
|
| 171 |
+
-1.3980112075805664,
|
| 172 |
+
-0.03848809003829956,
|
| 173 |
+
0.20174400508403778,
|
| 174 |
+
4.9611324357101694e-05,
|
| 175 |
+
-0.8521584272384644,
|
| 176 |
+
-0.5638371706008911,
|
| 177 |
+
-0.9632169008255005,
|
| 178 |
+
-1.3733333349227905,
|
| 179 |
+
-0.6839855313301086,
|
| 180 |
+
-0.12154403328895569,
|
| 181 |
+
-0.15720292925834656,
|
| 182 |
+
7.984419062267989e-05,
|
| 183 |
+
-0.9973317384719849,
|
| 184 |
+
-0.6269779801368713,
|
| 185 |
+
-0.5131011605262756,
|
| 186 |
+
-0.6566666960716248
|
| 187 |
+
],
|
| 188 |
+
"max": [
|
| 189 |
+
-0.46889203786849976,
|
| 190 |
+
1.163667917251587,
|
| 191 |
+
1.0095880031585693,
|
| 192 |
+
0.4526550769805908,
|
| 193 |
+
0.7518898248672485,
|
| 194 |
+
0.6646250486373901,
|
| 195 |
+
0.9259827136993408,
|
| 196 |
+
14.8100004196167,
|
| 197 |
+
0.5532441735267639,
|
| 198 |
+
0.6337305903434753,
|
| 199 |
+
0.7128228545188904,
|
| 200 |
+
0.6760366559028625,
|
| 201 |
+
0.9971415996551514,
|
| 202 |
+
0.6511042714118958,
|
| 203 |
+
0.4596268832683563,
|
| 204 |
+
18.18000030517578
|
| 205 |
+
],
|
| 206 |
+
"mean": [
|
| 207 |
+
-0.7715381383895874,
|
| 208 |
+
0.38173097372055054,
|
| 209 |
+
0.6140100359916687,
|
| 210 |
+
0.13141369819641113,
|
| 211 |
+
-0.12996184825897217,
|
| 212 |
+
0.006525288335978985,
|
| 213 |
+
-0.128421351313591,
|
| 214 |
+
1.6292750835418701,
|
| 215 |
+
-0.03937622532248497,
|
| 216 |
+
0.235201895236969,
|
| 217 |
+
0.21504734456539154,
|
| 218 |
+
0.1452951729297638,
|
| 219 |
+
-0.029433835297822952,
|
| 220 |
+
0.004870727192610502,
|
| 221 |
+
-0.018057413399219513,
|
| 222 |
+
3.9987874031066895
|
| 223 |
+
],
|
| 224 |
+
"std": [
|
| 225 |
+
0.18335968255996704,
|
| 226 |
+
0.22948750853538513,
|
| 227 |
+
0.15254032611846924,
|
| 228 |
+
0.09916558116674423,
|
| 229 |
+
0.5383458137512207,
|
| 230 |
+
0.3192589581012726,
|
| 231 |
+
0.7400878667831421,
|
| 232 |
+
3.6980466842651367,
|
| 233 |
+
0.23723551630973816,
|
| 234 |
+
0.1915297508239746,
|
| 235 |
+
0.15614250302314758,
|
| 236 |
+
0.14216624200344086,
|
| 237 |
+
0.875275194644928,
|
| 238 |
+
0.36262747645378113,
|
| 239 |
+
0.24465499818325043,
|
| 240 |
+
3.697748899459839
|
| 241 |
+
],
|
| 242 |
+
"count": [
|
| 243 |
+
1466
|
| 244 |
+
],
|
| 245 |
+
"q01": [
|
| 246 |
+
-1.3629536700248719,
|
| 247 |
+
-0.025826982297003268,
|
| 248 |
+
0.2205926236510277,
|
| 249 |
+
0.0020609900122508405,
|
| 250 |
+
-0.8283479189872742,
|
| 251 |
+
-0.5374669873714447,
|
| 252 |
+
-0.9045270162820817,
|
| 253 |
+
-1.0604771375656128,
|
| 254 |
+
-0.6509119081497192,
|
| 255 |
+
-0.09787976861000061,
|
| 256 |
+
-0.11932896599173545,
|
| 257 |
+
0.002196940761059523,
|
| 258 |
+
-0.9956045335531235,
|
| 259 |
+
-0.5866774868965149,
|
| 260 |
+
-0.45849998354911803,
|
| 261 |
+
-0.15312493085861206
|
| 262 |
+
],
|
| 263 |
+
"q10": [
|
| 264 |
+
-1.0546831130981444,
|
| 265 |
+
0.1397435635328293,
|
| 266 |
+
0.4375698149204254,
|
| 267 |
+
0.01981036625802517,
|
| 268 |
+
-0.6950900077819824,
|
| 269 |
+
-0.31033170223236084,
|
| 270 |
+
-0.8564393281936645,
|
| 271 |
+
-0.9809722585337503,
|
| 272 |
+
-0.3364229559898376,
|
| 273 |
+
-0.012391738593578339,
|
| 274 |
+
0.014296549558639526,
|
| 275 |
+
0.019709628075361252,
|
| 276 |
+
-0.9523364067077636,
|
| 277 |
+
-0.49288159012794497,
|
| 278 |
+
-0.34320448637008666,
|
| 279 |
+
0.39939218282699585
|
| 280 |
+
],
|
| 281 |
+
"q50": [
|
| 282 |
+
-0.75087970495224,
|
| 283 |
+
0.3433166742324829,
|
| 284 |
+
0.6225499212741852,
|
| 285 |
+
0.11496613919734955,
|
| 286 |
+
-0.4203486144542694,
|
| 287 |
+
-0.15279370546340942,
|
| 288 |
+
-0.6261836886405945,
|
| 289 |
+
-0.5576933026313782,
|
| 290 |
+
-0.012788385152816772,
|
| 291 |
+
0.22467386722564697,
|
| 292 |
+
0.20194369554519653,
|
| 293 |
+
0.10269007831811905,
|
| 294 |
+
-0.7051414251327515,
|
| 295 |
+
-0.004040718078613281,
|
| 296 |
+
-0.01642623543739319,
|
| 297 |
+
2.7716064453125
|
| 298 |
+
],
|
| 299 |
+
"q90": [
|
| 300 |
+
-0.5642753899097442,
|
| 301 |
+
0.7076661348342895,
|
| 302 |
+
0.7849104046821594,
|
| 303 |
+
0.2714952200651169,
|
| 304 |
+
0.5694133281707764,
|
| 305 |
+
0.47111766338348393,
|
| 306 |
+
0.7882034182548523,
|
| 307 |
+
7.5838185310363775,
|
| 308 |
+
0.20612701177597048,
|
| 309 |
+
0.5130906641483307,
|
| 310 |
+
0.43958255648612976,
|
| 311 |
+
0.3743435859680176,
|
| 312 |
+
0.9492342948913575,
|
| 313 |
+
0.4615390419960022,
|
| 314 |
+
0.3043210983276367,
|
| 315 |
+
9.992454242706298
|
| 316 |
+
],
|
| 317 |
+
"q99": [
|
| 318 |
+
-0.4751468431949616,
|
| 319 |
+
1.1272041940689086,
|
| 320 |
+
0.9923550724983216,
|
| 321 |
+
0.4282451546192169,
|
| 322 |
+
0.7054815220832824,
|
| 323 |
+
0.6362082648277283,
|
| 324 |
+
0.8992845773696899,
|
| 325 |
+
13.393441162109374,
|
| 326 |
+
0.546399872303009,
|
| 327 |
+
0.6247186803817749,
|
| 328 |
+
0.6076088428497314,
|
| 329 |
+
0.5916475081443786,
|
| 330 |
+
0.9877036786079406,
|
| 331 |
+
0.6123374056816101,
|
| 332 |
+
0.4353747820854187,
|
| 333 |
+
14.579710006713867
|
| 334 |
+
]
|
| 335 |
+
},
|
| 336 |
+
"timestamp": {
|
| 337 |
+
"min": [
|
| 338 |
+
0.0
|
| 339 |
+
],
|
| 340 |
+
"max": [
|
| 341 |
+
48.83333206176758
|
| 342 |
+
],
|
| 343 |
+
"mean": [
|
| 344 |
+
24.41666603088379
|
| 345 |
+
],
|
| 346 |
+
"std": [
|
| 347 |
+
14.106589317321777
|
| 348 |
+
],
|
| 349 |
+
"count": [
|
| 350 |
+
1466
|
| 351 |
+
],
|
| 352 |
+
"q01": [
|
| 353 |
+
0.46547931134700776
|
| 354 |
+
],
|
| 355 |
+
"q10": [
|
| 356 |
+
4.869659805297852
|
| 357 |
+
],
|
| 358 |
+
"q50": [
|
| 359 |
+
24.406898498535156
|
| 360 |
+
],
|
| 361 |
+
"q90": [
|
| 362 |
+
43.96367263793945
|
| 363 |
+
],
|
| 364 |
+
"q99": [
|
| 365 |
+
48.367852783203126
|
| 366 |
+
]
|
| 367 |
+
},
|
| 368 |
+
"frame_index": {
|
| 369 |
+
"min": [
|
| 370 |
+
0
|
| 371 |
+
],
|
| 372 |
+
"max": [
|
| 373 |
+
1465
|
| 374 |
+
],
|
| 375 |
+
"mean": [
|
| 376 |
+
732.5
|
| 377 |
+
],
|
| 378 |
+
"std": [
|
| 379 |
+
423.1976488592535
|
| 380 |
+
],
|
| 381 |
+
"count": [
|
| 382 |
+
1466
|
| 383 |
+
],
|
| 384 |
+
"q01": [
|
| 385 |
+
13.964379999901906
|
| 386 |
+
],
|
| 387 |
+
"q10": [
|
| 388 |
+
146.08979999991996
|
| 389 |
+
],
|
| 390 |
+
"q50": [
|
| 391 |
+
732.2069999999999
|
| 392 |
+
],
|
| 393 |
+
"q90": [
|
| 394 |
+
1318.91020000008
|
| 395 |
+
],
|
| 396 |
+
"q99": [
|
| 397 |
+
1451.035620000098
|
| 398 |
+
]
|
| 399 |
+
},
|
| 400 |
+
"episode_index": {
|
| 401 |
+
"min": [
|
| 402 |
+
0
|
| 403 |
+
],
|
| 404 |
+
"max": [
|
| 405 |
+
0
|
| 406 |
+
],
|
| 407 |
+
"mean": [
|
| 408 |
+
0.0
|
| 409 |
+
],
|
| 410 |
+
"std": [
|
| 411 |
+
0.0
|
| 412 |
+
],
|
| 413 |
+
"count": [
|
| 414 |
+
1466
|
| 415 |
+
],
|
| 416 |
+
"q01": [
|
| 417 |
+
3.9999999999994176e-16
|
| 418 |
+
],
|
| 419 |
+
"q10": [
|
| 420 |
+
3.999999999999417e-15
|
| 421 |
+
],
|
| 422 |
+
"q50": [
|
| 423 |
+
1.9999999999997088e-14
|
| 424 |
+
],
|
| 425 |
+
"q90": [
|
| 426 |
+
3.599999999999476e-14
|
| 427 |
+
],
|
| 428 |
+
"q99": [
|
| 429 |
+
3.9599999999994235e-14
|
| 430 |
+
]
|
| 431 |
+
},
|
| 432 |
+
"index": {
|
| 433 |
+
"min": [
|
| 434 |
+
0
|
| 435 |
+
],
|
| 436 |
+
"max": [
|
| 437 |
+
1465
|
| 438 |
+
],
|
| 439 |
+
"mean": [
|
| 440 |
+
732.5
|
| 441 |
+
],
|
| 442 |
+
"std": [
|
| 443 |
+
423.1976488592535
|
| 444 |
+
],
|
| 445 |
+
"count": [
|
| 446 |
+
1466
|
| 447 |
+
],
|
| 448 |
+
"q01": [
|
| 449 |
+
13.964379999901906
|
| 450 |
+
],
|
| 451 |
+
"q10": [
|
| 452 |
+
146.08979999991996
|
| 453 |
+
],
|
| 454 |
+
"q50": [
|
| 455 |
+
732.2069999999999
|
| 456 |
+
],
|
| 457 |
+
"q90": [
|
| 458 |
+
1318.91020000008
|
| 459 |
+
],
|
| 460 |
+
"q99": [
|
| 461 |
+
1451.035620000098
|
| 462 |
+
]
|
| 463 |
+
},
|
| 464 |
+
"task_index": {
|
| 465 |
+
"min": [
|
| 466 |
+
0
|
| 467 |
+
],
|
| 468 |
+
"max": [
|
| 469 |
+
0
|
| 470 |
+
],
|
| 471 |
+
"mean": [
|
| 472 |
+
0.0
|
| 473 |
+
],
|
| 474 |
+
"std": [
|
| 475 |
+
0.0
|
| 476 |
+
],
|
| 477 |
+
"count": [
|
| 478 |
+
1466
|
| 479 |
+
],
|
| 480 |
+
"q01": [
|
| 481 |
+
3.9999999999994176e-16
|
| 482 |
+
],
|
| 483 |
+
"q10": [
|
| 484 |
+
3.999999999999417e-15
|
| 485 |
+
],
|
| 486 |
+
"q50": [
|
| 487 |
+
1.9999999999997088e-14
|
| 488 |
+
],
|
| 489 |
+
"q90": [
|
| 490 |
+
3.599999999999476e-14
|
| 491 |
+
],
|
| 492 |
+
"q99": [
|
| 493 |
+
3.9599999999994235e-14
|
| 494 |
+
]
|
| 495 |
+
},
|
| 496 |
+
"observation.images.left_ego": {
|
| 497 |
+
"min": [
|
| 498 |
+
[
|
| 499 |
+
[
|
| 500 |
+
0.0
|
| 501 |
+
]
|
| 502 |
+
],
|
| 503 |
+
[
|
| 504 |
+
[
|
| 505 |
+
0.0
|
| 506 |
+
]
|
| 507 |
+
],
|
| 508 |
+
[
|
| 509 |
+
[
|
| 510 |
+
0.0
|
| 511 |
+
]
|
| 512 |
+
]
|
| 513 |
+
],
|
| 514 |
+
"max": [
|
| 515 |
+
[
|
| 516 |
+
[
|
| 517 |
+
1.0
|
| 518 |
+
]
|
| 519 |
+
],
|
| 520 |
+
[
|
| 521 |
+
[
|
| 522 |
+
1.0
|
| 523 |
+
]
|
| 524 |
+
],
|
| 525 |
+
[
|
| 526 |
+
[
|
| 527 |
+
1.0
|
| 528 |
+
]
|
| 529 |
+
]
|
| 530 |
+
],
|
| 531 |
+
"mean": [
|
| 532 |
+
[
|
| 533 |
+
[
|
| 534 |
+
0.3456118227917331
|
| 535 |
+
]
|
| 536 |
+
],
|
| 537 |
+
[
|
| 538 |
+
[
|
| 539 |
+
0.31039468070196563
|
| 540 |
+
]
|
| 541 |
+
],
|
| 542 |
+
[
|
| 543 |
+
[
|
| 544 |
+
0.24956335089402576
|
| 545 |
+
]
|
| 546 |
+
]
|
| 547 |
+
],
|
| 548 |
+
"std": [
|
| 549 |
+
[
|
| 550 |
+
[
|
| 551 |
+
0.0
|
| 552 |
+
]
|
| 553 |
+
],
|
| 554 |
+
[
|
| 555 |
+
[
|
| 556 |
+
0.0
|
| 557 |
+
]
|
| 558 |
+
],
|
| 559 |
+
[
|
| 560 |
+
[
|
| 561 |
+
0.0
|
| 562 |
+
]
|
| 563 |
+
]
|
| 564 |
+
],
|
| 565 |
+
"count": [
|
| 566 |
+
1466
|
| 567 |
+
],
|
| 568 |
+
"q01": [
|
| 569 |
+
[
|
| 570 |
+
[
|
| 571 |
+
0.0038048780325167144
|
| 572 |
+
]
|
| 573 |
+
],
|
| 574 |
+
[
|
| 575 |
+
[
|
| 576 |
+
0.003805339033823714
|
| 577 |
+
]
|
| 578 |
+
],
|
| 579 |
+
[
|
| 580 |
+
[
|
| 581 |
+
-3.9215686274509807e-13
|
| 582 |
+
]
|
| 583 |
+
]
|
| 584 |
+
],
|
| 585 |
+
"q10": [
|
| 586 |
+
[
|
| 587 |
+
[
|
| 588 |
+
0.003917455002891496
|
| 589 |
+
]
|
| 590 |
+
],
|
| 591 |
+
[
|
| 592 |
+
[
|
| 593 |
+
0.003916846937760428
|
| 594 |
+
]
|
| 595 |
+
],
|
| 596 |
+
[
|
| 597 |
+
[
|
| 598 |
+
0.00391123142246489
|
| 599 |
+
]
|
| 600 |
+
]
|
| 601 |
+
],
|
| 602 |
+
"q50": [
|
| 603 |
+
[
|
| 604 |
+
[
|
| 605 |
+
0.3490106033684335
|
| 606 |
+
]
|
| 607 |
+
],
|
| 608 |
+
[
|
| 609 |
+
[
|
| 610 |
+
0.30581758494743777
|
| 611 |
+
]
|
| 612 |
+
],
|
| 613 |
+
[
|
| 614 |
+
[
|
| 615 |
+
0.1842853406196717
|
| 616 |
+
]
|
| 617 |
+
]
|
| 618 |
+
],
|
| 619 |
+
"q90": [
|
| 620 |
+
[
|
| 621 |
+
[
|
| 622 |
+
0.7018799238862758
|
| 623 |
+
]
|
| 624 |
+
],
|
| 625 |
+
[
|
| 626 |
+
[
|
| 627 |
+
0.6470420696586598
|
| 628 |
+
]
|
| 629 |
+
],
|
| 630 |
+
[
|
| 631 |
+
[
|
| 632 |
+
0.5724334791963048
|
| 633 |
+
]
|
| 634 |
+
]
|
| 635 |
+
],
|
| 636 |
+
"q99": [
|
| 637 |
+
[
|
| 638 |
+
[
|
| 639 |
+
0.9215820659284581
|
| 640 |
+
]
|
| 641 |
+
],
|
| 642 |
+
[
|
| 643 |
+
[
|
| 644 |
+
0.9058220944541392
|
| 645 |
+
]
|
| 646 |
+
],
|
| 647 |
+
[
|
| 648 |
+
[
|
| 649 |
+
0.9136934102171166
|
| 650 |
+
]
|
| 651 |
+
]
|
| 652 |
+
]
|
| 653 |
+
},
|
| 654 |
+
"observation.images.right_ego": {
|
| 655 |
+
"min": [
|
| 656 |
+
[
|
| 657 |
+
[
|
| 658 |
+
0.0
|
| 659 |
+
]
|
| 660 |
+
],
|
| 661 |
+
[
|
| 662 |
+
[
|
| 663 |
+
0.0
|
| 664 |
+
]
|
| 665 |
+
],
|
| 666 |
+
[
|
| 667 |
+
[
|
| 668 |
+
0.0
|
| 669 |
+
]
|
| 670 |
+
]
|
| 671 |
+
],
|
| 672 |
+
"max": [
|
| 673 |
+
[
|
| 674 |
+
[
|
| 675 |
+
1.0
|
| 676 |
+
]
|
| 677 |
+
],
|
| 678 |
+
[
|
| 679 |
+
[
|
| 680 |
+
1.0
|
| 681 |
+
]
|
| 682 |
+
],
|
| 683 |
+
[
|
| 684 |
+
[
|
| 685 |
+
1.0
|
| 686 |
+
]
|
| 687 |
+
]
|
| 688 |
+
],
|
| 689 |
+
"mean": [
|
| 690 |
+
[
|
| 691 |
+
[
|
| 692 |
+
0.3504717357852738
|
| 693 |
+
]
|
| 694 |
+
],
|
| 695 |
+
[
|
| 696 |
+
[
|
| 697 |
+
0.3154560072135973
|
| 698 |
+
]
|
| 699 |
+
],
|
| 700 |
+
[
|
| 701 |
+
[
|
| 702 |
+
0.2573039695292147
|
| 703 |
+
]
|
| 704 |
+
]
|
| 705 |
+
],
|
| 706 |
+
"std": [
|
| 707 |
+
[
|
| 708 |
+
[
|
| 709 |
+
0.0
|
| 710 |
+
]
|
| 711 |
+
],
|
| 712 |
+
[
|
| 713 |
+
[
|
| 714 |
+
0.0
|
| 715 |
+
]
|
| 716 |
+
],
|
| 717 |
+
[
|
| 718 |
+
[
|
| 719 |
+
0.0
|
| 720 |
+
]
|
| 721 |
+
]
|
| 722 |
+
],
|
| 723 |
+
"count": [
|
| 724 |
+
1466
|
| 725 |
+
],
|
| 726 |
+
"q01": [
|
| 727 |
+
[
|
| 728 |
+
[
|
| 729 |
+
0.003803750093385588
|
| 730 |
+
]
|
| 731 |
+
],
|
| 732 |
+
[
|
| 733 |
+
[
|
| 734 |
+
0.003806259669755775
|
| 735 |
+
]
|
| 736 |
+
],
|
| 737 |
+
[
|
| 738 |
+
[
|
| 739 |
+
0.0038004444438673518
|
| 740 |
+
]
|
| 741 |
+
]
|
| 742 |
+
],
|
| 743 |
+
"q10": [
|
| 744 |
+
[
|
| 745 |
+
[
|
| 746 |
+
0.003915561984306917
|
| 747 |
+
]
|
| 748 |
+
],
|
| 749 |
+
[
|
| 750 |
+
[
|
| 751 |
+
0.0039173408951966296
|
| 752 |
+
]
|
| 753 |
+
],
|
| 754 |
+
[
|
| 755 |
+
[
|
| 756 |
+
0.003912165622098476
|
| 757 |
+
]
|
| 758 |
+
]
|
| 759 |
+
],
|
| 760 |
+
"q50": [
|
| 761 |
+
[
|
| 762 |
+
[
|
| 763 |
+
0.37256819783689693
|
| 764 |
+
]
|
| 765 |
+
],
|
| 766 |
+
[
|
| 767 |
+
[
|
| 768 |
+
0.32952094597650666
|
| 769 |
+
]
|
| 770 |
+
],
|
| 771 |
+
[
|
| 772 |
+
[
|
| 773 |
+
0.20795422382503118
|
| 774 |
+
]
|
| 775 |
+
]
|
| 776 |
+
],
|
| 777 |
+
"q90": [
|
| 778 |
+
[
|
| 779 |
+
[
|
| 780 |
+
0.6981367318566956
|
| 781 |
+
]
|
| 782 |
+
],
|
| 783 |
+
[
|
| 784 |
+
[
|
| 785 |
+
0.6508927875493109
|
| 786 |
+
]
|
| 787 |
+
],
|
| 788 |
+
[
|
| 789 |
+
[
|
| 790 |
+
0.5842755006415976
|
| 791 |
+
]
|
| 792 |
+
]
|
| 793 |
+
],
|
| 794 |
+
"q99": [
|
| 795 |
+
[
|
| 796 |
+
[
|
| 797 |
+
0.8785781340256411
|
| 798 |
+
]
|
| 799 |
+
],
|
| 800 |
+
[
|
| 801 |
+
[
|
| 802 |
+
0.8313161559394371
|
| 803 |
+
]
|
| 804 |
+
],
|
| 805 |
+
[
|
| 806 |
+
[
|
| 807 |
+
0.7765792150298219
|
| 808 |
+
]
|
| 809 |
+
]
|
| 810 |
+
]
|
| 811 |
+
}
|
| 812 |
+
}
|
official_data/umi_data/batch2/fold_clothes_e00067/data/chunk-000/file-000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a2d9b70e9ca6316d81b906950303140e12645055cdd0b6cc310a991ae7729dca
|
| 3 |
+
size 240608
|
official_data/umi_data/batch2/fold_clothes_e00067/meta/episodes/chunk-000/file-000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6aca72a0067d3389e7dfc5413ae5e021fd0a08976d01815dffaeeea1dfc03606
|
| 3 |
+
size 54447
|
official_data/umi_data/batch2/fold_clothes_e00067/meta/tasks.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ed999e108aef2e92999c2d33292481f71c67511334bc63cceabd3115f2b492d4
|
| 3 |
+
size 2231
|
official_data/umi_data/batch2/fold_clothes_e00067/videos/observation.audio.left_ego/episode_0000.m4a
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:76b3ce00674e0ccc214f21b9349a051ff1dd69e684b5c2eade7564fc779ca882
|
| 3 |
+
size 961802
|
official_data/umi_data/batch2/fold_clothes_e00067/videos/observation.audio.right_ego/episode_0000.m4a
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e2a6a4b6520a619decc80527f9828fa4703da03b444de815bf515919f9c94797
|
| 3 |
+
size 963266
|
official_data/umi_data/batch2/fold_clothes_e00067/videos/observation.images.left_ego/chunk-000/file-000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:46637d5641845bd17599d02f23074b5132bdb010b7858cca82cd89f44d74d3bb
|
| 3 |
+
size 25474505
|
official_data/umi_data/batch2/fold_clothes_e00067/videos/observation.images.right_ego/chunk-000/file-000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bd58a7fec0558e817ae9428a6e3629505452456daf87dbe468d9e6a3c5a272a7
|
| 3 |
+
size 24940521
|
official_data/umi_data/batch2/fold_clothes_e00069/annotation/subtasks_000000.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"start_frame_index": 0, "end_frame_index": 1272, "instruction": "fold the black gray striped short sleeve", "instruction_zh": "fold the black gray striped short sleeve", "target_objects": ["黑灰色条纹短袖"], "success": null}
|
official_data/umi_data/batch2/fold_clothes_e00069/export_meta.json
ADDED
|
@@ -0,0 +1,42 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"fps": 30.0,
|
| 3 |
+
"action_names": [
|
| 4 |
+
"left_x",
|
| 5 |
+
"left_y",
|
| 6 |
+
"left_z",
|
| 7 |
+
"left_qw",
|
| 8 |
+
"left_qx",
|
| 9 |
+
"left_qy",
|
| 10 |
+
"left_qz",
|
| 11 |
+
"left_gripper",
|
| 12 |
+
"right_x",
|
| 13 |
+
"right_y",
|
| 14 |
+
"right_z",
|
| 15 |
+
"right_qw",
|
| 16 |
+
"right_qx",
|
| 17 |
+
"right_qy",
|
| 18 |
+
"right_qz",
|
| 19 |
+
"right_gripper"
|
| 20 |
+
],
|
| 21 |
+
"n_episodes": 1,
|
| 22 |
+
"state_names": [
|
| 23 |
+
"left_x",
|
| 24 |
+
"left_y",
|
| 25 |
+
"left_z",
|
| 26 |
+
"left_qw",
|
| 27 |
+
"left_qx",
|
| 28 |
+
"left_qy",
|
| 29 |
+
"left_qz",
|
| 30 |
+
"left_gripper",
|
| 31 |
+
"right_x",
|
| 32 |
+
"right_y",
|
| 33 |
+
"right_z",
|
| 34 |
+
"right_qw",
|
| 35 |
+
"right_qx",
|
| 36 |
+
"right_qy",
|
| 37 |
+
"right_qz",
|
| 38 |
+
"right_gripper"
|
| 39 |
+
],
|
| 40 |
+
"img_size": 960,
|
| 41 |
+
"episodes": []
|
| 42 |
+
}
|
official_data/umi_data/batch2/fold_clothes_e00069/imu/episode_0000_left.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
official_data/umi_data/batch2/fold_clothes_e00069/imu/episode_0000_right.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
official_data/umi_data/batch2/fold_clothes_e00069/meta/annotation.json
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 2,
|
| 3 |
+
"layers": {
|
| 4 |
+
"subtasks": {
|
| 5 |
+
"source": "human",
|
| 6 |
+
"review": "approved",
|
| 7 |
+
"segments_version": "cf6d2fa037f8aae9"
|
| 8 |
+
}
|
| 9 |
+
},
|
| 10 |
+
"dropped_layers": [
|
| 11 |
+
"action_steps"
|
| 12 |
+
],
|
| 13 |
+
"created_at": "2026-08-30T19:10:22+0800"
|
| 14 |
+
}
|
official_data/umi_data/batch2/fold_clothes_e00069/meta/calibration.json
ADDED
|
@@ -0,0 +1,333 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"note": "Per-body camera + IMU calibration. Intrinsics come from each body's own .insv factory telemetry; see provenance per side.",
|
| 3 |
+
"sides": {
|
| 4 |
+
"left": {
|
| 5 |
+
"ego_video": {
|
| 6 |
+
"source": "fisheye.mp4",
|
| 7 |
+
"insv_stream": 0,
|
| 8 |
+
"lens": "front",
|
| 9 |
+
"native_size": [
|
| 10 |
+
1920,
|
| 11 |
+
1920
|
| 12 |
+
],
|
| 13 |
+
"dataset_size": [
|
| 14 |
+
960,
|
| 15 |
+
960
|
| 16 |
+
]
|
| 17 |
+
},
|
| 18 |
+
"rolling_shutter_ms": 15.845431327819824,
|
| 19 |
+
"imu": {
|
| 20 |
+
"gyro_range_dps": 2000.0,
|
| 21 |
+
"accel_range_g": 32.0,
|
| 22 |
+
"gyro_bias_rad_s": [
|
| 23 |
+
0.0005852230385086188,
|
| 24 |
+
-0.014437321261745434,
|
| 25 |
+
0.0021304732363218227
|
| 26 |
+
],
|
| 27 |
+
"accel_bias_m_s2": [
|
| 28 |
+
-0.06708939538945007,
|
| 29 |
+
0.002720208900512903,
|
| 30 |
+
0.05842290836520983
|
| 31 |
+
],
|
| 32 |
+
"gravity_vector_camera_frame": [
|
| 33 |
+
0.13046292550964642,
|
| 34 |
+
-0.34270163110264934,
|
| 35 |
+
-0.9303413444037881
|
| 36 |
+
],
|
| 37 |
+
"gravity_magnitude_m_s2": 9.87297686004221,
|
| 38 |
+
"accel_convention": "imu_raw.csv is standard specific force (a ~ -g_body at rest) and is NOT negated; gravity = -(gravity_vector_camera_frame). See docs/46"
|
| 39 |
+
},
|
| 40 |
+
"lenses": {
|
| 41 |
+
"front": {
|
| 42 |
+
"model": "ucm_mei_radtan",
|
| 43 |
+
"canvas": [
|
| 44 |
+
15360,
|
| 45 |
+
7680
|
| 46 |
+
],
|
| 47 |
+
"params_on_canvas": {
|
| 48 |
+
"xi": 2.31494,
|
| 49 |
+
"fx": 7093.04,
|
| 50 |
+
"fy": 7091.99,
|
| 51 |
+
"cx": 3839.69,
|
| 52 |
+
"cy": 3857.92,
|
| 53 |
+
"k1": 0.96855682,
|
| 54 |
+
"k2": -2.09735131,
|
| 55 |
+
"k3": 4.46704149,
|
| 56 |
+
"p1": -0.00090097,
|
| 57 |
+
"p2": 0.00104274
|
| 58 |
+
},
|
| 59 |
+
"params_on_native_fisheye": {
|
| 60 |
+
"xi": 2.31494,
|
| 61 |
+
"k1": 0.968557,
|
| 62 |
+
"k2": -2.097351,
|
| 63 |
+
"k3": 4.467041,
|
| 64 |
+
"p1": -0.000901,
|
| 65 |
+
"p2": 0.001043,
|
| 66 |
+
"fx": 1773.26,
|
| 67 |
+
"fy": 1772.9975,
|
| 68 |
+
"cx": 959.9225,
|
| 69 |
+
"cy": 964.48
|
| 70 |
+
},
|
| 71 |
+
"cam_imu_factory": {
|
| 72 |
+
"yaw_deg": 0.362,
|
| 73 |
+
"pitch_deg": -0.072,
|
| 74 |
+
"roll_deg": 90.245,
|
| 75 |
+
"t_m": [
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
0.0
|
| 79 |
+
]
|
| 80 |
+
},
|
| 81 |
+
"params_on_dataset_frame": {
|
| 82 |
+
"xi": 2.31494,
|
| 83 |
+
"k1": 0.968557,
|
| 84 |
+
"k2": -2.097351,
|
| 85 |
+
"k3": 4.467041,
|
| 86 |
+
"p1": -0.000901,
|
| 87 |
+
"p2": 0.001043,
|
| 88 |
+
"fx": 886.63,
|
| 89 |
+
"fy": 886.49875,
|
| 90 |
+
"cx": 479.96125,
|
| 91 |
+
"cy": 482.24
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"rear": {
|
| 95 |
+
"model": "ucm_mei_radtan",
|
| 96 |
+
"canvas": [
|
| 97 |
+
15360,
|
| 98 |
+
7680
|
| 99 |
+
],
|
| 100 |
+
"params_on_canvas": {
|
| 101 |
+
"xi": 2.31494,
|
| 102 |
+
"fx": 7120.31,
|
| 103 |
+
"fy": 7120.12,
|
| 104 |
+
"cx": 11536.3,
|
| 105 |
+
"cy": 3833.5,
|
| 106 |
+
"k1": 0.9454937,
|
| 107 |
+
"k2": -1.77051091,
|
| 108 |
+
"k3": 3.22309566,
|
| 109 |
+
"p1": 0.0014388,
|
| 110 |
+
"p2": 0.0010173
|
| 111 |
+
},
|
| 112 |
+
"params_on_native_fisheye": {
|
| 113 |
+
"xi": 2.31494,
|
| 114 |
+
"k1": 0.945494,
|
| 115 |
+
"k2": -1.770511,
|
| 116 |
+
"k3": 3.223096,
|
| 117 |
+
"p1": 0.001439,
|
| 118 |
+
"p2": 0.001017,
|
| 119 |
+
"fx": 1780.0775,
|
| 120 |
+
"fy": 1780.03,
|
| 121 |
+
"cx": 964.075,
|
| 122 |
+
"cy": 958.375
|
| 123 |
+
},
|
| 124 |
+
"cam_imu_factory": {
|
| 125 |
+
"yaw_deg": -0.482,
|
| 126 |
+
"pitch_deg": -0.157,
|
| 127 |
+
"roll_deg": 88.884,
|
| 128 |
+
"t_m": [
|
| 129 |
+
-0.001914,
|
| 130 |
+
-0.000591,
|
| 131 |
+
-0.033149
|
| 132 |
+
]
|
| 133 |
+
}
|
| 134 |
+
}
|
| 135 |
+
},
|
| 136 |
+
"cam_imu_used_by_cook": {
|
| 137 |
+
"R_cam_imu": [
|
| 138 |
+
[
|
| 139 |
+
0.0012566367307023252,
|
| 140 |
+
0.006318044869206176,
|
| 141 |
+
0.9999792513713259
|
| 142 |
+
],
|
| 143 |
+
[
|
| 144 |
+
0.9999900681225892,
|
| 145 |
+
-0.004283897711408802,
|
| 146 |
+
-0.0012295839041644462
|
| 147 |
+
],
|
| 148 |
+
[
|
| 149 |
+
0.004276040260128955,
|
| 150 |
+
0.9999708648402855,
|
| 151 |
+
-0.006323365422373787
|
| 152 |
+
]
|
| 153 |
+
],
|
| 154 |
+
"t_cam_imu_m": [
|
| 155 |
+
0.004100510626148365,
|
| 156 |
+
-0.001160295357225906,
|
| 157 |
+
-0.025483155366164204
|
| 158 |
+
],
|
| 159 |
+
"source": "Tic=factory-insv-Euler (lever from REDACTED); gravity=static; bias=factory"
|
| 160 |
+
},
|
| 161 |
+
"provenance": {
|
| 162 |
+
"camera_intrinsics": "insv_factory (per-body, from this body's own telemetry)",
|
| 163 |
+
"kalibr_refined": false,
|
| 164 |
+
"pose_frame": "cubemap front virtual pinhole, 110 deg FoV / tilt 70 / 640 px",
|
| 165 |
+
"pose_frame_note": "state/action poses (T_w_cam) live in this virtual pinhole frame, NOT the fisheye frame of the delivered video. When the body has no Kalibr EUCM calibration the LUT is borrowed from another body \u2014 see cam_imu_used_by_cook.source."
|
| 166 |
+
}
|
| 167 |
+
},
|
| 168 |
+
"right": {
|
| 169 |
+
"ego_video": {
|
| 170 |
+
"source": "fisheye.mp4",
|
| 171 |
+
"insv_stream": 0,
|
| 172 |
+
"lens": "front",
|
| 173 |
+
"native_size": [
|
| 174 |
+
1920,
|
| 175 |
+
1920
|
| 176 |
+
],
|
| 177 |
+
"dataset_size": [
|
| 178 |
+
960,
|
| 179 |
+
960
|
| 180 |
+
]
|
| 181 |
+
},
|
| 182 |
+
"rolling_shutter_ms": 15.845431327819824,
|
| 183 |
+
"imu": {
|
| 184 |
+
"gyro_range_dps": 2000.0,
|
| 185 |
+
"accel_range_g": 32.0,
|
| 186 |
+
"gyro_bias_rad_s": [
|
| 187 |
+
-0.0009979738722080995,
|
| 188 |
+
-7.590495180781667e-05,
|
| 189 |
+
0.001331743031894395
|
| 190 |
+
],
|
| 191 |
+
"accel_bias_m_s2": [
|
| 192 |
+
-0.16426932903165703,
|
| 193 |
+
0.06206009360245489,
|
| 194 |
+
-0.02775673406327294
|
| 195 |
+
],
|
| 196 |
+
"gravity_vector_camera_frame": [
|
| 197 |
+
-0.03782707084775022,
|
| 198 |
+
-0.39423233222416315,
|
| 199 |
+
-0.9182319864501431
|
| 200 |
+
],
|
| 201 |
+
"gravity_magnitude_m_s2": 9.89182794205524,
|
| 202 |
+
"accel_convention": "imu_raw.csv is standard specific force (a ~ -g_body at rest) and is NOT negated; gravity = -(gravity_vector_camera_frame). See docs/46"
|
| 203 |
+
},
|
| 204 |
+
"lenses": {
|
| 205 |
+
"front": {
|
| 206 |
+
"model": "ucm_mei_radtan",
|
| 207 |
+
"canvas": [
|
| 208 |
+
15360,
|
| 209 |
+
7680
|
| 210 |
+
],
|
| 211 |
+
"params_on_canvas": {
|
| 212 |
+
"xi": 2.31494,
|
| 213 |
+
"fx": 7108.39,
|
| 214 |
+
"fy": 7106.1,
|
| 215 |
+
"cx": 3837.99,
|
| 216 |
+
"cy": 3862.2,
|
| 217 |
+
"k1": 0.96027756,
|
| 218 |
+
"k2": -1.91148615,
|
| 219 |
+
"k3": 3.69615507,
|
| 220 |
+
"p1": -0.00068743,
|
| 221 |
+
"p2": 0.00118116
|
| 222 |
+
},
|
| 223 |
+
"params_on_native_fisheye": {
|
| 224 |
+
"xi": 2.31494,
|
| 225 |
+
"k1": 0.960278,
|
| 226 |
+
"k2": -1.911486,
|
| 227 |
+
"k3": 3.696155,
|
| 228 |
+
"p1": -0.000687,
|
| 229 |
+
"p2": 0.001181,
|
| 230 |
+
"fx": 1777.0975,
|
| 231 |
+
"fy": 1776.525,
|
| 232 |
+
"cx": 959.4975,
|
| 233 |
+
"cy": 965.55
|
| 234 |
+
},
|
| 235 |
+
"cam_imu_factory": {
|
| 236 |
+
"yaw_deg": -0.038,
|
| 237 |
+
"pitch_deg": -0.41,
|
| 238 |
+
"roll_deg": 89.824,
|
| 239 |
+
"t_m": [
|
| 240 |
+
0.0,
|
| 241 |
+
0.0,
|
| 242 |
+
0.0
|
| 243 |
+
]
|
| 244 |
+
},
|
| 245 |
+
"params_on_dataset_frame": {
|
| 246 |
+
"xi": 2.31494,
|
| 247 |
+
"k1": 0.960278,
|
| 248 |
+
"k2": -1.911486,
|
| 249 |
+
"k3": 3.696155,
|
| 250 |
+
"p1": -0.000687,
|
| 251 |
+
"p2": 0.001181,
|
| 252 |
+
"fx": 888.54875,
|
| 253 |
+
"fy": 888.2625,
|
| 254 |
+
"cx": 479.74875,
|
| 255 |
+
"cy": 482.775
|
| 256 |
+
}
|
| 257 |
+
},
|
| 258 |
+
"rear": {
|
| 259 |
+
"model": "ucm_mei_radtan",
|
| 260 |
+
"canvas": [
|
| 261 |
+
15360,
|
| 262 |
+
7680
|
| 263 |
+
],
|
| 264 |
+
"params_on_canvas": {
|
| 265 |
+
"xi": 2.31494,
|
| 266 |
+
"fx": 7104.96,
|
| 267 |
+
"fy": 7103.43,
|
| 268 |
+
"cx": 11543.3,
|
| 269 |
+
"cy": 3827.7,
|
| 270 |
+
"k1": 0.95837986,
|
| 271 |
+
"k2": -1.94622421,
|
| 272 |
+
"k3": 3.85370684,
|
| 273 |
+
"p1": 0.00113873,
|
| 274 |
+
"p2": 4.863e-05
|
| 275 |
+
},
|
| 276 |
+
"params_on_native_fisheye": {
|
| 277 |
+
"xi": 2.31494,
|
| 278 |
+
"k1": 0.95838,
|
| 279 |
+
"k2": -1.946224,
|
| 280 |
+
"k3": 3.853707,
|
| 281 |
+
"p1": 0.001139,
|
| 282 |
+
"p2": 4.9e-05,
|
| 283 |
+
"fx": 1776.24,
|
| 284 |
+
"fy": 1775.8575,
|
| 285 |
+
"cx": 965.825,
|
| 286 |
+
"cy": 956.925
|
| 287 |
+
},
|
| 288 |
+
"cam_imu_factory": {
|
| 289 |
+
"yaw_deg": 0.076,
|
| 290 |
+
"pitch_deg": -0.321,
|
| 291 |
+
"roll_deg": 89.455,
|
| 292 |
+
"t_m": [
|
| 293 |
+
-0.001616,
|
| 294 |
+
-0.000337,
|
| 295 |
+
-0.033354
|
| 296 |
+
]
|
| 297 |
+
}
|
| 298 |
+
}
|
| 299 |
+
},
|
| 300 |
+
"cam_imu_used_by_cook": {
|
| 301 |
+
"R_cam_imu": [
|
| 302 |
+
[
|
| 303 |
+
0.0071557888626999615,
|
| 304 |
+
-0.000663208086594611,
|
| 305 |
+
0.9999741770869816
|
| 306 |
+
],
|
| 307 |
+
[
|
| 308 |
+
0.9999696792250243,
|
| 309 |
+
0.0030765198532859417,
|
| 310 |
+
-0.007153716250583313
|
| 311 |
+
],
|
| 312 |
+
[
|
| 313 |
+
-0.003071696006114788,
|
| 314 |
+
0.9999950475780497,
|
| 315 |
+
0.0006852029041134744
|
| 316 |
+
]
|
| 317 |
+
],
|
| 318 |
+
"t_cam_imu_m": [
|
| 319 |
+
0.004100510626148365,
|
| 320 |
+
-0.001160295357225906,
|
| 321 |
+
-0.025483155366164204
|
| 322 |
+
],
|
| 323 |
+
"source": "Tic=factory-insv-Euler (lever from REDACTED); gravity=static; bias=factory"
|
| 324 |
+
},
|
| 325 |
+
"provenance": {
|
| 326 |
+
"camera_intrinsics": "insv_factory (per-body, from this body's own telemetry)",
|
| 327 |
+
"kalibr_refined": false,
|
| 328 |
+
"pose_frame": "cubemap front virtual pinhole, 110 deg FoV / tilt 70 / 640 px",
|
| 329 |
+
"pose_frame_note": "state/action poses (T_w_cam) live in this virtual pinhole frame, NOT the fisheye frame of the delivered video. When the body has no Kalibr EUCM calibration the LUT is borrowed from another body \u2014 see cam_imu_used_by_cook.source."
|
| 330 |
+
}
|
| 331 |
+
}
|
| 332 |
+
}
|
| 333 |
+
}
|
official_data/umi_data/batch2/fold_clothes_e00069/meta/info.json
ADDED
|
@@ -0,0 +1,147 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "umi_bimanual_gripper",
|
| 4 |
+
"total_episodes": 1,
|
| 5 |
+
"total_frames": 1272,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
+
"data_files_size_in_mb": 100,
|
| 9 |
+
"video_files_size_in_mb": 200,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:1"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 15 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"observation.images.left_ego": {
|
| 18 |
+
"dtype": "video",
|
| 19 |
+
"shape": [
|
| 20 |
+
960,
|
| 21 |
+
960,
|
| 22 |
+
3
|
| 23 |
+
],
|
| 24 |
+
"names": [
|
| 25 |
+
"height",
|
| 26 |
+
"width",
|
| 27 |
+
"channels"
|
| 28 |
+
],
|
| 29 |
+
"info": {
|
| 30 |
+
"video.height": 960,
|
| 31 |
+
"video.width": 960,
|
| 32 |
+
"video.codec": "h264",
|
| 33 |
+
"video.pix_fmt": "yuv420p",
|
| 34 |
+
"video.is_depth_map": false,
|
| 35 |
+
"video.fps": 30,
|
| 36 |
+
"video.channels": 3,
|
| 37 |
+
"has_audio": false
|
| 38 |
+
}
|
| 39 |
+
},
|
| 40 |
+
"observation.images.right_ego": {
|
| 41 |
+
"dtype": "video",
|
| 42 |
+
"shape": [
|
| 43 |
+
960,
|
| 44 |
+
960,
|
| 45 |
+
3
|
| 46 |
+
],
|
| 47 |
+
"names": [
|
| 48 |
+
"height",
|
| 49 |
+
"width",
|
| 50 |
+
"channels"
|
| 51 |
+
],
|
| 52 |
+
"info": {
|
| 53 |
+
"video.height": 960,
|
| 54 |
+
"video.width": 960,
|
| 55 |
+
"video.codec": "h264",
|
| 56 |
+
"video.pix_fmt": "yuv420p",
|
| 57 |
+
"video.is_depth_map": false,
|
| 58 |
+
"video.fps": 30,
|
| 59 |
+
"video.channels": 3,
|
| 60 |
+
"has_audio": false
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"observation.state": {
|
| 64 |
+
"dtype": "float32",
|
| 65 |
+
"shape": [
|
| 66 |
+
16
|
| 67 |
+
],
|
| 68 |
+
"names": [
|
| 69 |
+
"left_x",
|
| 70 |
+
"left_y",
|
| 71 |
+
"left_z",
|
| 72 |
+
"left_qw",
|
| 73 |
+
"left_qx",
|
| 74 |
+
"left_qy",
|
| 75 |
+
"left_qz",
|
| 76 |
+
"left_gripper",
|
| 77 |
+
"right_x",
|
| 78 |
+
"right_y",
|
| 79 |
+
"right_z",
|
| 80 |
+
"right_qw",
|
| 81 |
+
"right_qx",
|
| 82 |
+
"right_qy",
|
| 83 |
+
"right_qz",
|
| 84 |
+
"right_gripper"
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
"action": {
|
| 88 |
+
"dtype": "float32",
|
| 89 |
+
"shape": [
|
| 90 |
+
16
|
| 91 |
+
],
|
| 92 |
+
"names": [
|
| 93 |
+
"left_x",
|
| 94 |
+
"left_y",
|
| 95 |
+
"left_z",
|
| 96 |
+
"left_qw",
|
| 97 |
+
"left_qx",
|
| 98 |
+
"left_qy",
|
| 99 |
+
"left_qz",
|
| 100 |
+
"left_gripper",
|
| 101 |
+
"right_x",
|
| 102 |
+
"right_y",
|
| 103 |
+
"right_z",
|
| 104 |
+
"right_qw",
|
| 105 |
+
"right_qx",
|
| 106 |
+
"right_qy",
|
| 107 |
+
"right_qz",
|
| 108 |
+
"right_gripper"
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
"timestamp": {
|
| 112 |
+
"dtype": "float32",
|
| 113 |
+
"shape": [
|
| 114 |
+
1
|
| 115 |
+
],
|
| 116 |
+
"names": null
|
| 117 |
+
},
|
| 118 |
+
"frame_index": {
|
| 119 |
+
"dtype": "int64",
|
| 120 |
+
"shape": [
|
| 121 |
+
1
|
| 122 |
+
],
|
| 123 |
+
"names": null
|
| 124 |
+
},
|
| 125 |
+
"episode_index": {
|
| 126 |
+
"dtype": "int64",
|
| 127 |
+
"shape": [
|
| 128 |
+
1
|
| 129 |
+
],
|
| 130 |
+
"names": null
|
| 131 |
+
},
|
| 132 |
+
"index": {
|
| 133 |
+
"dtype": "int64",
|
| 134 |
+
"shape": [
|
| 135 |
+
1
|
| 136 |
+
],
|
| 137 |
+
"names": null
|
| 138 |
+
},
|
| 139 |
+
"task_index": {
|
| 140 |
+
"dtype": "int64",
|
| 141 |
+
"shape": [
|
| 142 |
+
1
|
| 143 |
+
],
|
| 144 |
+
"names": null
|
| 145 |
+
}
|
| 146 |
+
}
|
| 147 |
+
}
|
official_data/umi_data/batch2/fold_clothes_e00069/meta/stats.json
ADDED
|
@@ -0,0 +1,812 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"observation.state": {
|
| 3 |
+
"min": [
|
| 4 |
+
-0.5580668449401855,
|
| 5 |
+
-0.46780505776405334,
|
| 6 |
+
-0.028262726962566376,
|
| 7 |
+
0.905808687210083,
|
| 8 |
+
-0.15280380845069885,
|
| 9 |
+
-0.0718163326382637,
|
| 10 |
+
-0.18710634112358093,
|
| 11 |
+
-0.3566666543483734,
|
| 12 |
+
-0.2933792769908905,
|
| 13 |
+
-0.6674650311470032,
|
| 14 |
+
-0.046628933399915695,
|
| 15 |
+
0.8877538442611694,
|
| 16 |
+
-0.2137657254934311,
|
| 17 |
+
-0.3772428631782532,
|
| 18 |
+
-0.3553379774093628,
|
| 19 |
+
-1.6100000143051147
|
| 20 |
+
],
|
| 21 |
+
"max": [
|
| 22 |
+
0.42288467288017273,
|
| 23 |
+
0.28024107217788696,
|
| 24 |
+
0.7924739122390747,
|
| 25 |
+
0.9998559355735779,
|
| 26 |
+
0.25696897506713867,
|
| 27 |
+
0.284299373626709,
|
| 28 |
+
0.37010112404823303,
|
| 29 |
+
18.05666732788086,
|
| 30 |
+
0.631659984588623,
|
| 31 |
+
0.11401167511940002,
|
| 32 |
+
0.41939306259155273,
|
| 33 |
+
0.9999043941497803,
|
| 34 |
+
0.1479598432779312,
|
| 35 |
+
0.1469694972038269,
|
| 36 |
+
0.21891070902347565,
|
| 37 |
+
16.219999313354492
|
| 38 |
+
],
|
| 39 |
+
"mean": [
|
| 40 |
+
-0.2481360286474228,
|
| 41 |
+
-0.004820054862648249,
|
| 42 |
+
0.2565164268016815,
|
| 43 |
+
0.9815729260444641,
|
| 44 |
+
0.012843183241784573,
|
| 45 |
+
0.10594415664672852,
|
| 46 |
+
0.06052107363939285,
|
| 47 |
+
6.398407459259033,
|
| 48 |
+
0.16398563981056213,
|
| 49 |
+
-0.21869085729122162,
|
| 50 |
+
0.1663205921649933,
|
| 51 |
+
0.9654746651649475,
|
| 52 |
+
-0.03726383298635483,
|
| 53 |
+
-0.13653405010700226,
|
| 54 |
+
-0.1486208438873291,
|
| 55 |
+
6.874392509460449
|
| 56 |
+
],
|
| 57 |
+
"std": [
|
| 58 |
+
0.24637486040592194,
|
| 59 |
+
0.16635477542877197,
|
| 60 |
+
0.16081611812114716,
|
| 61 |
+
0.019826563075184822,
|
| 62 |
+
0.06214071810245514,
|
| 63 |
+
0.07683567702770233,
|
| 64 |
+
0.1063183918595314,
|
| 65 |
+
4.319222450256348,
|
| 66 |
+
0.21574825048446655,
|
| 67 |
+
0.20197029411792755,
|
| 68 |
+
0.11081971973180771,
|
| 69 |
+
0.024784782901406288,
|
| 70 |
+
0.06713587790727615,
|
| 71 |
+
0.09623303264379501,
|
| 72 |
+
0.10657735913991928,
|
| 73 |
+
5.2925519943237305
|
| 74 |
+
],
|
| 75 |
+
"count": [
|
| 76 |
+
1272
|
| 77 |
+
],
|
| 78 |
+
"q01": [
|
| 79 |
+
-0.5437999057769776,
|
| 80 |
+
-0.4651759227116903,
|
| 81 |
+
-0.016959541738033296,
|
| 82 |
+
0.9209826469421387,
|
| 83 |
+
-0.13922229409217834,
|
| 84 |
+
-0.04883119955658913,
|
| 85 |
+
-0.17521330893039702,
|
| 86 |
+
-0.27063956260681155,
|
| 87 |
+
-0.2848023211956024,
|
| 88 |
+
-0.6429704523086548,
|
| 89 |
+
-0.013287855684757233,
|
| 90 |
+
0.9001065325737,
|
| 91 |
+
-0.1907802391052246,
|
| 92 |
+
-0.3584005844593048,
|
| 93 |
+
-0.3381426668167114,
|
| 94 |
+
-1.4498628346125284
|
| 95 |
+
],
|
| 96 |
+
"q10": [
|
| 97 |
+
-0.46613208055496214,
|
| 98 |
+
-0.19413986206054687,
|
| 99 |
+
0.09602963477373123,
|
| 100 |
+
0.9415692090988159,
|
| 101 |
+
-0.05731035768985748,
|
| 102 |
+
-0.00421132892370224,
|
| 103 |
+
-0.051905518770217894,
|
| 104 |
+
0.4837178885936737,
|
| 105 |
+
-0.136270609498024,
|
| 106 |
+
-0.5114510297775269,
|
| 107 |
+
0.03522316738963127,
|
| 108 |
+
0.9288727164268493,
|
| 109 |
+
-0.12266875803470612,
|
| 110 |
+
-0.25476588010787965,
|
| 111 |
+
-0.2927219033241272,
|
| 112 |
+
-0.8889548420906067
|
| 113 |
+
],
|
| 114 |
+
"q50": [
|
| 115 |
+
-0.3503013253211975,
|
| 116 |
+
0.009597986936569214,
|
| 117 |
+
0.21135133504867554,
|
| 118 |
+
0.9889840483665466,
|
| 119 |
+
0.01017648975054423,
|
| 120 |
+
0.10923289507627487,
|
| 121 |
+
0.050542645156383514,
|
| 122 |
+
5.811800003051758,
|
| 123 |
+
0.1656252145767212,
|
| 124 |
+
-0.22249218821525574,
|
| 125 |
+
0.13894101977348328,
|
| 126 |
+
0.967717170715332,
|
| 127 |
+
-0.04187372326850891,
|
| 128 |
+
-0.14501677453517914,
|
| 129 |
+
-0.15572914481163025,
|
| 130 |
+
8.35340404510498
|
| 131 |
+
],
|
| 132 |
+
"q90": [
|
| 133 |
+
0.17387995719909666,
|
| 134 |
+
0.20824912190437317,
|
| 135 |
+
0.4547900378704071,
|
| 136 |
+
0.9969078461329143,
|
| 137 |
+
0.08452020585536957,
|
| 138 |
+
0.20707926154136658,
|
| 139 |
+
0.21227768063545227,
|
| 140 |
+
12.822861289978027,
|
| 141 |
+
0.43128724694252013,
|
| 142 |
+
0.040052688121795646,
|
| 143 |
+
0.32933897972106935,
|
| 144 |
+
0.9950011610984802,
|
| 145 |
+
0.05100292265415191,
|
| 146 |
+
-0.0015084028244018602,
|
| 147 |
+
-0.01804729104042054,
|
| 148 |
+
13.201024627685547
|
| 149 |
+
],
|
| 150 |
+
"q99": [
|
| 151 |
+
0.3733034586906433,
|
| 152 |
+
0.26906229853630065,
|
| 153 |
+
0.785133249759674,
|
| 154 |
+
0.9994564151763916,
|
| 155 |
+
0.19257566332817078,
|
| 156 |
+
0.27370706796646116,
|
| 157 |
+
0.3393744719028473,
|
| 158 |
+
16.9087060546875,
|
| 159 |
+
0.5973003578186035,
|
| 160 |
+
0.10139549732208251,
|
| 161 |
+
0.40944629430770874,
|
| 162 |
+
0.9989237356185913,
|
| 163 |
+
0.10609228432178497,
|
| 164 |
+
0.09468247771263122,
|
| 165 |
+
0.13749830603599547,
|
| 166 |
+
14.830258979797364
|
| 167 |
+
]
|
| 168 |
+
},
|
| 169 |
+
"action": {
|
| 170 |
+
"min": [
|
| 171 |
+
-0.5580668449401855,
|
| 172 |
+
-0.46780505776405334,
|
| 173 |
+
-0.028262726962566376,
|
| 174 |
+
0.905808687210083,
|
| 175 |
+
-0.15280380845069885,
|
| 176 |
+
-0.0718163326382637,
|
| 177 |
+
-0.18710634112358093,
|
| 178 |
+
-0.3566666543483734,
|
| 179 |
+
-0.2933792769908905,
|
| 180 |
+
-0.6674650311470032,
|
| 181 |
+
-0.046628933399915695,
|
| 182 |
+
0.8877538442611694,
|
| 183 |
+
-0.2137657254934311,
|
| 184 |
+
-0.3772428631782532,
|
| 185 |
+
-0.3553379774093628,
|
| 186 |
+
-1.6100000143051147
|
| 187 |
+
],
|
| 188 |
+
"max": [
|
| 189 |
+
0.42288467288017273,
|
| 190 |
+
0.28024107217788696,
|
| 191 |
+
0.7924739122390747,
|
| 192 |
+
0.9998559355735779,
|
| 193 |
+
0.25696897506713867,
|
| 194 |
+
0.284299373626709,
|
| 195 |
+
0.37010112404823303,
|
| 196 |
+
18.05666732788086,
|
| 197 |
+
0.631659984588623,
|
| 198 |
+
0.11401167511940002,
|
| 199 |
+
0.41939306259155273,
|
| 200 |
+
0.9999043941497803,
|
| 201 |
+
0.1479598432779312,
|
| 202 |
+
0.1469694972038269,
|
| 203 |
+
0.21891070902347565,
|
| 204 |
+
16.219999313354492
|
| 205 |
+
],
|
| 206 |
+
"mean": [
|
| 207 |
+
-0.24828968942165375,
|
| 208 |
+
-0.004652800504118204,
|
| 209 |
+
0.25642314553260803,
|
| 210 |
+
0.9815794825553894,
|
| 211 |
+
0.012869097292423248,
|
| 212 |
+
0.10589531064033508,
|
| 213 |
+
0.06064169108867645,
|
| 214 |
+
6.398384094238281,
|
| 215 |
+
0.16409341990947723,
|
| 216 |
+
-0.2185271680355072,
|
| 217 |
+
0.1662999540567398,
|
| 218 |
+
0.9654721617698669,
|
| 219 |
+
-0.03728132322430611,
|
| 220 |
+
-0.1365572065114975,
|
| 221 |
+
-0.14861559867858887,
|
| 222 |
+
6.873213291168213
|
| 223 |
+
],
|
| 224 |
+
"std": [
|
| 225 |
+
0.24646277725696564,
|
| 226 |
+
0.16634094715118408,
|
| 227 |
+
0.1608530730009079,
|
| 228 |
+
0.01983107253909111,
|
| 229 |
+
0.062142834067344666,
|
| 230 |
+
0.07691533863544464,
|
| 231 |
+
0.10617493838071823,
|
| 232 |
+
4.3191914558410645,
|
| 233 |
+
0.21564331650733948,
|
| 234 |
+
0.20197051763534546,
|
| 235 |
+
0.11083541810512543,
|
| 236 |
+
0.024783579632639885,
|
| 237 |
+
0.06711134314537048,
|
| 238 |
+
0.09624599665403366,
|
| 239 |
+
0.10657492280006409,
|
| 240 |
+
5.2915940284729
|
| 241 |
+
],
|
| 242 |
+
"count": [
|
| 243 |
+
1272
|
| 244 |
+
],
|
| 245 |
+
"q01": [
|
| 246 |
+
-0.5437999057769776,
|
| 247 |
+
-0.4651759227116903,
|
| 248 |
+
-0.016959541738033296,
|
| 249 |
+
0.9209826469421387,
|
| 250 |
+
-0.13922229409217834,
|
| 251 |
+
-0.04904487103223801,
|
| 252 |
+
-0.17521330893039702,
|
| 253 |
+
-0.27063956260681155,
|
| 254 |
+
-0.2848023211956024,
|
| 255 |
+
-0.6429704523086548,
|
| 256 |
+
-0.013287855684757233,
|
| 257 |
+
0.9001065325737,
|
| 258 |
+
-0.1907802391052246,
|
| 259 |
+
-0.3584005844593048,
|
| 260 |
+
-0.3381426668167114,
|
| 261 |
+
-1.4498628346125284
|
| 262 |
+
],
|
| 263 |
+
"q10": [
|
| 264 |
+
-0.46623017489910124,
|
| 265 |
+
-0.19413986206054687,
|
| 266 |
+
0.09602963477373123,
|
| 267 |
+
0.9415692090988159,
|
| 268 |
+
-0.05731035768985748,
|
| 269 |
+
-0.004282550513744354,
|
| 270 |
+
-0.05168263912200928,
|
| 271 |
+
0.4837178885936737,
|
| 272 |
+
-0.136270609498024,
|
| 273 |
+
-0.5114510297775269,
|
| 274 |
+
0.03522316738963127,
|
| 275 |
+
0.9288727164268493,
|
| 276 |
+
-0.12266875803470612,
|
| 277 |
+
-0.25476588010787965,
|
| 278 |
+
-0.2927219033241272,
|
| 279 |
+
-0.8889548420906067
|
| 280 |
+
],
|
| 281 |
+
"q50": [
|
| 282 |
+
-0.3510860800743103,
|
| 283 |
+
0.009747594594955444,
|
| 284 |
+
0.21131029725074768,
|
| 285 |
+
0.9889840483665466,
|
| 286 |
+
0.010203808546066284,
|
| 287 |
+
0.10923289507627487,
|
| 288 |
+
0.050542645156383514,
|
| 289 |
+
5.811800003051758,
|
| 290 |
+
0.1656252145767212,
|
| 291 |
+
-0.2217107117176056,
|
| 292 |
+
0.13894101977348328,
|
| 293 |
+
0.967717170715332,
|
| 294 |
+
-0.04187372326850891,
|
| 295 |
+
-0.14501677453517914,
|
| 296 |
+
-0.15572914481163025,
|
| 297 |
+
8.35340404510498
|
| 298 |
+
],
|
| 299 |
+
"q90": [
|
| 300 |
+
0.17387995719909666,
|
| 301 |
+
0.20824912190437317,
|
| 302 |
+
0.4547900378704071,
|
| 303 |
+
0.9969141244888305,
|
| 304 |
+
0.08452020585536957,
|
| 305 |
+
0.20707926154136658,
|
| 306 |
+
0.21227768063545227,
|
| 307 |
+
12.822861289978027,
|
| 308 |
+
0.43128724694252013,
|
| 309 |
+
0.040052688121795646,
|
| 310 |
+
0.32933897972106935,
|
| 311 |
+
0.9950011610984802,
|
| 312 |
+
0.0509305864572525,
|
| 313 |
+
-0.0015084028244018602,
|
| 314 |
+
-0.01804729104042054,
|
| 315 |
+
13.201024627685547
|
| 316 |
+
],
|
| 317 |
+
"q99": [
|
| 318 |
+
0.3733034586906433,
|
| 319 |
+
0.26906229853630065,
|
| 320 |
+
0.785133249759674,
|
| 321 |
+
0.9994564151763916,
|
| 322 |
+
0.19257566332817078,
|
| 323 |
+
0.27370706796646116,
|
| 324 |
+
0.3393744719028473,
|
| 325 |
+
16.9087060546875,
|
| 326 |
+
0.5973003578186035,
|
| 327 |
+
0.10139549732208251,
|
| 328 |
+
0.40944629430770874,
|
| 329 |
+
0.9989237356185913,
|
| 330 |
+
0.10609228432178497,
|
| 331 |
+
0.09468247771263122,
|
| 332 |
+
0.13749830603599547,
|
| 333 |
+
14.830258979797364
|
| 334 |
+
]
|
| 335 |
+
},
|
| 336 |
+
"timestamp": {
|
| 337 |
+
"min": [
|
| 338 |
+
0.0
|
| 339 |
+
],
|
| 340 |
+
"max": [
|
| 341 |
+
42.36666488647461
|
| 342 |
+
],
|
| 343 |
+
"mean": [
|
| 344 |
+
21.183332443237305
|
| 345 |
+
],
|
| 346 |
+
"std": [
|
| 347 |
+
12.239821434020996
|
| 348 |
+
],
|
| 349 |
+
"count": [
|
| 350 |
+
1272
|
| 351 |
+
],
|
| 352 |
+
"q01": [
|
| 353 |
+
0.40434744834899905
|
| 354 |
+
],
|
| 355 |
+
"q10": [
|
| 356 |
+
4.229887962341309
|
| 357 |
+
],
|
| 358 |
+
"q50": [
|
| 359 |
+
21.17486000061035
|
| 360 |
+
],
|
| 361 |
+
"q90": [
|
| 362 |
+
38.13677825927734
|
| 363 |
+
],
|
| 364 |
+
"q99": [
|
| 365 |
+
41.96231796264649
|
| 366 |
+
]
|
| 367 |
+
},
|
| 368 |
+
"frame_index": {
|
| 369 |
+
"min": [
|
| 370 |
+
0
|
| 371 |
+
],
|
| 372 |
+
"max": [
|
| 373 |
+
1271
|
| 374 |
+
],
|
| 375 |
+
"mean": [
|
| 376 |
+
635.5
|
| 377 |
+
],
|
| 378 |
+
"std": [
|
| 379 |
+
367.19465773165416
|
| 380 |
+
],
|
| 381 |
+
"count": [
|
| 382 |
+
1272
|
| 383 |
+
],
|
| 384 |
+
"q01": [
|
| 385 |
+
12.13042399990191
|
| 386 |
+
],
|
| 387 |
+
"q10": [
|
| 388 |
+
126.89663999991997
|
| 389 |
+
],
|
| 390 |
+
"q50": [
|
| 391 |
+
635.2457999999999
|
| 392 |
+
],
|
| 393 |
+
"q90": [
|
| 394 |
+
1144.1033600000799
|
| 395 |
+
],
|
| 396 |
+
"q99": [
|
| 397 |
+
1258.869576000098
|
| 398 |
+
]
|
| 399 |
+
},
|
| 400 |
+
"episode_index": {
|
| 401 |
+
"min": [
|
| 402 |
+
0
|
| 403 |
+
],
|
| 404 |
+
"max": [
|
| 405 |
+
0
|
| 406 |
+
],
|
| 407 |
+
"mean": [
|
| 408 |
+
0.0
|
| 409 |
+
],
|
| 410 |
+
"std": [
|
| 411 |
+
0.0
|
| 412 |
+
],
|
| 413 |
+
"count": [
|
| 414 |
+
1272
|
| 415 |
+
],
|
| 416 |
+
"q01": [
|
| 417 |
+
3.9999999999994176e-16
|
| 418 |
+
],
|
| 419 |
+
"q10": [
|
| 420 |
+
3.999999999999417e-15
|
| 421 |
+
],
|
| 422 |
+
"q50": [
|
| 423 |
+
1.9999999999997088e-14
|
| 424 |
+
],
|
| 425 |
+
"q90": [
|
| 426 |
+
3.5999999999994754e-14
|
| 427 |
+
],
|
| 428 |
+
"q99": [
|
| 429 |
+
3.9599999999994235e-14
|
| 430 |
+
]
|
| 431 |
+
},
|
| 432 |
+
"index": {
|
| 433 |
+
"min": [
|
| 434 |
+
0
|
| 435 |
+
],
|
| 436 |
+
"max": [
|
| 437 |
+
1271
|
| 438 |
+
],
|
| 439 |
+
"mean": [
|
| 440 |
+
635.5
|
| 441 |
+
],
|
| 442 |
+
"std": [
|
| 443 |
+
367.19465773165416
|
| 444 |
+
],
|
| 445 |
+
"count": [
|
| 446 |
+
1272
|
| 447 |
+
],
|
| 448 |
+
"q01": [
|
| 449 |
+
12.13042399990191
|
| 450 |
+
],
|
| 451 |
+
"q10": [
|
| 452 |
+
126.89663999991997
|
| 453 |
+
],
|
| 454 |
+
"q50": [
|
| 455 |
+
635.2457999999999
|
| 456 |
+
],
|
| 457 |
+
"q90": [
|
| 458 |
+
1144.1033600000799
|
| 459 |
+
],
|
| 460 |
+
"q99": [
|
| 461 |
+
1258.869576000098
|
| 462 |
+
]
|
| 463 |
+
},
|
| 464 |
+
"task_index": {
|
| 465 |
+
"min": [
|
| 466 |
+
0
|
| 467 |
+
],
|
| 468 |
+
"max": [
|
| 469 |
+
0
|
| 470 |
+
],
|
| 471 |
+
"mean": [
|
| 472 |
+
0.0
|
| 473 |
+
],
|
| 474 |
+
"std": [
|
| 475 |
+
0.0
|
| 476 |
+
],
|
| 477 |
+
"count": [
|
| 478 |
+
1272
|
| 479 |
+
],
|
| 480 |
+
"q01": [
|
| 481 |
+
3.9999999999994176e-16
|
| 482 |
+
],
|
| 483 |
+
"q10": [
|
| 484 |
+
3.999999999999417e-15
|
| 485 |
+
],
|
| 486 |
+
"q50": [
|
| 487 |
+
1.9999999999997088e-14
|
| 488 |
+
],
|
| 489 |
+
"q90": [
|
| 490 |
+
3.5999999999994754e-14
|
| 491 |
+
],
|
| 492 |
+
"q99": [
|
| 493 |
+
3.9599999999994235e-14
|
| 494 |
+
]
|
| 495 |
+
},
|
| 496 |
+
"observation.images.left_ego": {
|
| 497 |
+
"min": [
|
| 498 |
+
[
|
| 499 |
+
[
|
| 500 |
+
0.0
|
| 501 |
+
]
|
| 502 |
+
],
|
| 503 |
+
[
|
| 504 |
+
[
|
| 505 |
+
0.0
|
| 506 |
+
]
|
| 507 |
+
],
|
| 508 |
+
[
|
| 509 |
+
[
|
| 510 |
+
0.0
|
| 511 |
+
]
|
| 512 |
+
]
|
| 513 |
+
],
|
| 514 |
+
"max": [
|
| 515 |
+
[
|
| 516 |
+
[
|
| 517 |
+
1.0
|
| 518 |
+
]
|
| 519 |
+
],
|
| 520 |
+
[
|
| 521 |
+
[
|
| 522 |
+
1.0
|
| 523 |
+
]
|
| 524 |
+
],
|
| 525 |
+
[
|
| 526 |
+
[
|
| 527 |
+
1.0
|
| 528 |
+
]
|
| 529 |
+
]
|
| 530 |
+
],
|
| 531 |
+
"mean": [
|
| 532 |
+
[
|
| 533 |
+
[
|
| 534 |
+
0.3815836227034537
|
| 535 |
+
]
|
| 536 |
+
],
|
| 537 |
+
[
|
| 538 |
+
[
|
| 539 |
+
0.37525886725021856
|
| 540 |
+
]
|
| 541 |
+
],
|
| 542 |
+
[
|
| 543 |
+
[
|
| 544 |
+
0.3651016356646039
|
| 545 |
+
]
|
| 546 |
+
]
|
| 547 |
+
],
|
| 548 |
+
"std": [
|
| 549 |
+
[
|
| 550 |
+
[
|
| 551 |
+
0.0
|
| 552 |
+
]
|
| 553 |
+
],
|
| 554 |
+
[
|
| 555 |
+
[
|
| 556 |
+
0.0
|
| 557 |
+
]
|
| 558 |
+
],
|
| 559 |
+
[
|
| 560 |
+
[
|
| 561 |
+
0.0
|
| 562 |
+
]
|
| 563 |
+
]
|
| 564 |
+
],
|
| 565 |
+
"count": [
|
| 566 |
+
1272
|
| 567 |
+
],
|
| 568 |
+
"q01": [
|
| 569 |
+
[
|
| 570 |
+
[
|
| 571 |
+
0.0038027175304488465
|
| 572 |
+
]
|
| 573 |
+
],
|
| 574 |
+
[
|
| 575 |
+
[
|
| 576 |
+
0.0038041418828257444
|
| 577 |
+
]
|
| 578 |
+
],
|
| 579 |
+
[
|
| 580 |
+
[
|
| 581 |
+
0.0038040831378333907
|
| 582 |
+
]
|
| 583 |
+
]
|
| 584 |
+
],
|
| 585 |
+
"q10": [
|
| 586 |
+
[
|
| 587 |
+
[
|
| 588 |
+
0.0039227521050109355
|
| 589 |
+
]
|
| 590 |
+
],
|
| 591 |
+
[
|
| 592 |
+
[
|
| 593 |
+
0.003922677124309554
|
| 594 |
+
]
|
| 595 |
+
],
|
| 596 |
+
[
|
| 597 |
+
[
|
| 598 |
+
0.003923513480225086
|
| 599 |
+
]
|
| 600 |
+
]
|
| 601 |
+
],
|
| 602 |
+
"q50": [
|
| 603 |
+
[
|
| 604 |
+
[
|
| 605 |
+
0.4079129089992666
|
| 606 |
+
]
|
| 607 |
+
],
|
| 608 |
+
[
|
| 609 |
+
[
|
| 610 |
+
0.3920818259814897
|
| 611 |
+
]
|
| 612 |
+
],
|
| 613 |
+
[
|
| 614 |
+
[
|
| 615 |
+
0.36864390938841085
|
| 616 |
+
]
|
| 617 |
+
]
|
| 618 |
+
],
|
| 619 |
+
"q90": [
|
| 620 |
+
[
|
| 621 |
+
[
|
| 622 |
+
0.7177808619366471
|
| 623 |
+
]
|
| 624 |
+
],
|
| 625 |
+
[
|
| 626 |
+
[
|
| 627 |
+
0.7254228951209166
|
| 628 |
+
]
|
| 629 |
+
],
|
| 630 |
+
[
|
| 631 |
+
[
|
| 632 |
+
0.7177521604772844
|
| 633 |
+
]
|
| 634 |
+
]
|
| 635 |
+
],
|
| 636 |
+
"q99": [
|
| 637 |
+
[
|
| 638 |
+
[
|
| 639 |
+
0.9998801212041635
|
| 640 |
+
]
|
| 641 |
+
],
|
| 642 |
+
[
|
| 643 |
+
[
|
| 644 |
+
0.9998499201447725
|
| 645 |
+
]
|
| 646 |
+
],
|
| 647 |
+
[
|
| 648 |
+
[
|
| 649 |
+
0.9999025168817374
|
| 650 |
+
]
|
| 651 |
+
]
|
| 652 |
+
]
|
| 653 |
+
},
|
| 654 |
+
"observation.images.right_ego": {
|
| 655 |
+
"min": [
|
| 656 |
+
[
|
| 657 |
+
[
|
| 658 |
+
0.0
|
| 659 |
+
]
|
| 660 |
+
],
|
| 661 |
+
[
|
| 662 |
+
[
|
| 663 |
+
0.0
|
| 664 |
+
]
|
| 665 |
+
],
|
| 666 |
+
[
|
| 667 |
+
[
|
| 668 |
+
0.0
|
| 669 |
+
]
|
| 670 |
+
]
|
| 671 |
+
],
|
| 672 |
+
"max": [
|
| 673 |
+
[
|
| 674 |
+
[
|
| 675 |
+
1.0
|
| 676 |
+
]
|
| 677 |
+
],
|
| 678 |
+
[
|
| 679 |
+
[
|
| 680 |
+
1.0
|
| 681 |
+
]
|
| 682 |
+
],
|
| 683 |
+
[
|
| 684 |
+
[
|
| 685 |
+
1.0
|
| 686 |
+
]
|
| 687 |
+
]
|
| 688 |
+
],
|
| 689 |
+
"mean": [
|
| 690 |
+
[
|
| 691 |
+
[
|
| 692 |
+
0.38204972769420625
|
| 693 |
+
]
|
| 694 |
+
],
|
| 695 |
+
[
|
| 696 |
+
[
|
| 697 |
+
0.39367379179657325
|
| 698 |
+
]
|
| 699 |
+
],
|
| 700 |
+
[
|
| 701 |
+
[
|
| 702 |
+
0.3813548622284862
|
| 703 |
+
]
|
| 704 |
+
]
|
| 705 |
+
],
|
| 706 |
+
"std": [
|
| 707 |
+
[
|
| 708 |
+
[
|
| 709 |
+
0.0
|
| 710 |
+
]
|
| 711 |
+
],
|
| 712 |
+
[
|
| 713 |
+
[
|
| 714 |
+
0.0
|
| 715 |
+
]
|
| 716 |
+
],
|
| 717 |
+
[
|
| 718 |
+
[
|
| 719 |
+
0.0
|
| 720 |
+
]
|
| 721 |
+
]
|
| 722 |
+
],
|
| 723 |
+
"count": [
|
| 724 |
+
1272
|
| 725 |
+
],
|
| 726 |
+
"q01": [
|
| 727 |
+
[
|
| 728 |
+
[
|
| 729 |
+
0.0038009033385034193
|
| 730 |
+
]
|
| 731 |
+
],
|
| 732 |
+
[
|
| 733 |
+
[
|
| 734 |
+
0.0038051259934564815
|
| 735 |
+
]
|
| 736 |
+
],
|
| 737 |
+
[
|
| 738 |
+
[
|
| 739 |
+
0.003801712720493455
|
| 740 |
+
]
|
| 741 |
+
]
|
| 742 |
+
],
|
| 743 |
+
"q10": [
|
| 744 |
+
[
|
| 745 |
+
[
|
| 746 |
+
0.003914915127847423
|
| 747 |
+
]
|
| 748 |
+
],
|
| 749 |
+
[
|
| 750 |
+
[
|
| 751 |
+
0.003917830543655293
|
| 752 |
+
]
|
| 753 |
+
],
|
| 754 |
+
[
|
| 755 |
+
[
|
| 756 |
+
0.003914815933735002
|
| 757 |
+
]
|
| 758 |
+
]
|
| 759 |
+
],
|
| 760 |
+
"q50": [
|
| 761 |
+
[
|
| 762 |
+
[
|
| 763 |
+
0.419702772470058
|
| 764 |
+
]
|
| 765 |
+
],
|
| 766 |
+
[
|
| 767 |
+
[
|
| 768 |
+
0.4352254412952943
|
| 769 |
+
]
|
| 770 |
+
],
|
| 771 |
+
[
|
| 772 |
+
[
|
| 773 |
+
0.4079293641576732
|
| 774 |
+
]
|
| 775 |
+
]
|
| 776 |
+
],
|
| 777 |
+
"q90": [
|
| 778 |
+
[
|
| 779 |
+
[
|
| 780 |
+
0.7059353336201143
|
| 781 |
+
]
|
| 782 |
+
],
|
| 783 |
+
[
|
| 784 |
+
[
|
| 785 |
+
0.7333813677717982
|
| 786 |
+
]
|
| 787 |
+
],
|
| 788 |
+
[
|
| 789 |
+
[
|
| 790 |
+
0.721587568316638
|
| 791 |
+
]
|
| 792 |
+
]
|
| 793 |
+
],
|
| 794 |
+
"q99": [
|
| 795 |
+
[
|
| 796 |
+
[
|
| 797 |
+
0.9998069110023368
|
| 798 |
+
]
|
| 799 |
+
],
|
| 800 |
+
[
|
| 801 |
+
[
|
| 802 |
+
0.9998022972290658
|
| 803 |
+
]
|
| 804 |
+
],
|
| 805 |
+
[
|
| 806 |
+
[
|
| 807 |
+
0.9998814308654211
|
| 808 |
+
]
|
| 809 |
+
]
|
| 810 |
+
]
|
| 811 |
+
}
|
| 812 |
+
}
|
official_data/umi_data/batch2/fold_clothes_e00110/annotation/subtasks_000000.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"start_frame_index": 0, "end_frame_index": 2105, "instruction": "fold the black short sleeve", "instruction_zh": "fold the black short sleeve", "target_objects": ["黑色短袖"], "success": null}
|
official_data/umi_data/batch2/fold_clothes_e00110/export_meta.json
ADDED
|
@@ -0,0 +1,42 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"n_episodes": 1,
|
| 3 |
+
"action_names": [
|
| 4 |
+
"left_x",
|
| 5 |
+
"left_y",
|
| 6 |
+
"left_z",
|
| 7 |
+
"left_qw",
|
| 8 |
+
"left_qx",
|
| 9 |
+
"left_qy",
|
| 10 |
+
"left_qz",
|
| 11 |
+
"left_gripper",
|
| 12 |
+
"right_x",
|
| 13 |
+
"right_y",
|
| 14 |
+
"right_z",
|
| 15 |
+
"right_qw",
|
| 16 |
+
"right_qx",
|
| 17 |
+
"right_qy",
|
| 18 |
+
"right_qz",
|
| 19 |
+
"right_gripper"
|
| 20 |
+
],
|
| 21 |
+
"img_size": 960,
|
| 22 |
+
"state_names": [
|
| 23 |
+
"left_x",
|
| 24 |
+
"left_y",
|
| 25 |
+
"left_z",
|
| 26 |
+
"left_qw",
|
| 27 |
+
"left_qx",
|
| 28 |
+
"left_qy",
|
| 29 |
+
"left_qz",
|
| 30 |
+
"left_gripper",
|
| 31 |
+
"right_x",
|
| 32 |
+
"right_y",
|
| 33 |
+
"right_z",
|
| 34 |
+
"right_qw",
|
| 35 |
+
"right_qx",
|
| 36 |
+
"right_qy",
|
| 37 |
+
"right_qz",
|
| 38 |
+
"right_gripper"
|
| 39 |
+
],
|
| 40 |
+
"fps": 30.0,
|
| 41 |
+
"episodes": []
|
| 42 |
+
}
|
official_data/umi_data/batch2/fold_clothes_e00110/imu/episode_0000_left.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
official_data/umi_data/batch2/fold_clothes_e00110/imu/episode_0000_right.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
official_data/umi_data/batch2/fold_clothes_e00110/meta/annotation.json
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 2,
|
| 3 |
+
"layers": {
|
| 4 |
+
"subtasks": {
|
| 5 |
+
"source": "human",
|
| 6 |
+
"review": "approved",
|
| 7 |
+
"segments_version": "63b1a5adec06ca31"
|
| 8 |
+
}
|
| 9 |
+
},
|
| 10 |
+
"dropped_layers": [
|
| 11 |
+
"action_steps"
|
| 12 |
+
],
|
| 13 |
+
"created_at": "2026-08-30T11:39:55+0000"
|
| 14 |
+
}
|
official_data/umi_data/batch2/fold_clothes_e00110/meta/calibration.json
ADDED
|
@@ -0,0 +1,333 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"note": "Per-body camera + IMU calibration. Intrinsics come from each body's own .insv factory telemetry; see provenance per side.",
|
| 3 |
+
"sides": {
|
| 4 |
+
"left": {
|
| 5 |
+
"ego_video": {
|
| 6 |
+
"source": "fisheye.mp4",
|
| 7 |
+
"insv_stream": 0,
|
| 8 |
+
"lens": "front",
|
| 9 |
+
"native_size": [
|
| 10 |
+
1920,
|
| 11 |
+
1920
|
| 12 |
+
],
|
| 13 |
+
"dataset_size": [
|
| 14 |
+
960,
|
| 15 |
+
960
|
| 16 |
+
]
|
| 17 |
+
},
|
| 18 |
+
"rolling_shutter_ms": 15.845431327819824,
|
| 19 |
+
"imu": {
|
| 20 |
+
"gyro_range_dps": 2000.0,
|
| 21 |
+
"accel_range_g": 32.0,
|
| 22 |
+
"gyro_bias_rad_s": [
|
| 23 |
+
0.0005852230385086188,
|
| 24 |
+
-0.014437321261745434,
|
| 25 |
+
0.0021304732363218227
|
| 26 |
+
],
|
| 27 |
+
"accel_bias_m_s2": [
|
| 28 |
+
-0.06708939538945007,
|
| 29 |
+
0.002720208900512903,
|
| 30 |
+
0.05842290836520983
|
| 31 |
+
],
|
| 32 |
+
"gravity_vector_camera_frame": [
|
| 33 |
+
0.15091497527688671,
|
| 34 |
+
-0.39055261462360125,
|
| 35 |
+
-0.9081262717529127
|
| 36 |
+
],
|
| 37 |
+
"gravity_magnitude_m_s2": 9.871162660794774,
|
| 38 |
+
"accel_convention": "imu_raw.csv is standard specific force (a ~ -g_body at rest) and is NOT negated; gravity = -(gravity_vector_camera_frame). See docs/46"
|
| 39 |
+
},
|
| 40 |
+
"lenses": {
|
| 41 |
+
"front": {
|
| 42 |
+
"model": "ucm_mei_radtan",
|
| 43 |
+
"canvas": [
|
| 44 |
+
15360,
|
| 45 |
+
7680
|
| 46 |
+
],
|
| 47 |
+
"params_on_canvas": {
|
| 48 |
+
"xi": 2.31494,
|
| 49 |
+
"fx": 7093.04,
|
| 50 |
+
"fy": 7091.99,
|
| 51 |
+
"cx": 3839.69,
|
| 52 |
+
"cy": 3857.92,
|
| 53 |
+
"k1": 0.96855682,
|
| 54 |
+
"k2": -2.09735131,
|
| 55 |
+
"k3": 4.46704149,
|
| 56 |
+
"p1": -0.00090097,
|
| 57 |
+
"p2": 0.00104274
|
| 58 |
+
},
|
| 59 |
+
"params_on_native_fisheye": {
|
| 60 |
+
"xi": 2.31494,
|
| 61 |
+
"k1": 0.968557,
|
| 62 |
+
"k2": -2.097351,
|
| 63 |
+
"k3": 4.467041,
|
| 64 |
+
"p1": -0.000901,
|
| 65 |
+
"p2": 0.001043,
|
| 66 |
+
"fx": 1773.26,
|
| 67 |
+
"fy": 1772.9975,
|
| 68 |
+
"cx": 959.9225,
|
| 69 |
+
"cy": 964.48
|
| 70 |
+
},
|
| 71 |
+
"cam_imu_factory": {
|
| 72 |
+
"yaw_deg": 0.362,
|
| 73 |
+
"pitch_deg": -0.072,
|
| 74 |
+
"roll_deg": 90.245,
|
| 75 |
+
"t_m": [
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
0.0
|
| 79 |
+
]
|
| 80 |
+
},
|
| 81 |
+
"params_on_dataset_frame": {
|
| 82 |
+
"xi": 2.31494,
|
| 83 |
+
"k1": 0.968557,
|
| 84 |
+
"k2": -2.097351,
|
| 85 |
+
"k3": 4.467041,
|
| 86 |
+
"p1": -0.000901,
|
| 87 |
+
"p2": 0.001043,
|
| 88 |
+
"fx": 886.63,
|
| 89 |
+
"fy": 886.49875,
|
| 90 |
+
"cx": 479.96125,
|
| 91 |
+
"cy": 482.24
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"rear": {
|
| 95 |
+
"model": "ucm_mei_radtan",
|
| 96 |
+
"canvas": [
|
| 97 |
+
15360,
|
| 98 |
+
7680
|
| 99 |
+
],
|
| 100 |
+
"params_on_canvas": {
|
| 101 |
+
"xi": 2.31494,
|
| 102 |
+
"fx": 7120.31,
|
| 103 |
+
"fy": 7120.12,
|
| 104 |
+
"cx": 11536.3,
|
| 105 |
+
"cy": 3833.5,
|
| 106 |
+
"k1": 0.9454937,
|
| 107 |
+
"k2": -1.77051091,
|
| 108 |
+
"k3": 3.22309566,
|
| 109 |
+
"p1": 0.0014388,
|
| 110 |
+
"p2": 0.0010173
|
| 111 |
+
},
|
| 112 |
+
"params_on_native_fisheye": {
|
| 113 |
+
"xi": 2.31494,
|
| 114 |
+
"k1": 0.945494,
|
| 115 |
+
"k2": -1.770511,
|
| 116 |
+
"k3": 3.223096,
|
| 117 |
+
"p1": 0.001439,
|
| 118 |
+
"p2": 0.001017,
|
| 119 |
+
"fx": 1780.0775,
|
| 120 |
+
"fy": 1780.03,
|
| 121 |
+
"cx": 964.075,
|
| 122 |
+
"cy": 958.375
|
| 123 |
+
},
|
| 124 |
+
"cam_imu_factory": {
|
| 125 |
+
"yaw_deg": -0.482,
|
| 126 |
+
"pitch_deg": -0.157,
|
| 127 |
+
"roll_deg": 88.884,
|
| 128 |
+
"t_m": [
|
| 129 |
+
-0.001914,
|
| 130 |
+
-0.000591,
|
| 131 |
+
-0.033149
|
| 132 |
+
]
|
| 133 |
+
}
|
| 134 |
+
}
|
| 135 |
+
},
|
| 136 |
+
"cam_imu_used_by_cook": {
|
| 137 |
+
"R_cam_imu": [
|
| 138 |
+
[
|
| 139 |
+
0.0012566367307023252,
|
| 140 |
+
0.006318044869206176,
|
| 141 |
+
0.9999792513713259
|
| 142 |
+
],
|
| 143 |
+
[
|
| 144 |
+
0.9999900681225892,
|
| 145 |
+
-0.004283897711408802,
|
| 146 |
+
-0.0012295839041644462
|
| 147 |
+
],
|
| 148 |
+
[
|
| 149 |
+
0.004276040260128955,
|
| 150 |
+
0.9999708648402855,
|
| 151 |
+
-0.006323365422373787
|
| 152 |
+
]
|
| 153 |
+
],
|
| 154 |
+
"t_cam_imu_m": [
|
| 155 |
+
0.004100510626148365,
|
| 156 |
+
-0.001160295357225906,
|
| 157 |
+
-0.025483155366164204
|
| 158 |
+
],
|
| 159 |
+
"source": "Tic=factory-insv-Euler (lever from REDACTED); gravity=static; bias=factory"
|
| 160 |
+
},
|
| 161 |
+
"provenance": {
|
| 162 |
+
"camera_intrinsics": "insv_factory (per-body, from this body's own telemetry)",
|
| 163 |
+
"kalibr_refined": false,
|
| 164 |
+
"pose_frame": "cubemap front virtual pinhole, 110 deg FoV / tilt 70 / 640 px",
|
| 165 |
+
"pose_frame_note": "state/action poses (T_w_cam) live in this virtual pinhole frame, NOT the fisheye frame of the delivered video. When the body has no Kalibr EUCM calibration the LUT is borrowed from another body \u2014 see cam_imu_used_by_cook.source."
|
| 166 |
+
}
|
| 167 |
+
},
|
| 168 |
+
"right": {
|
| 169 |
+
"ego_video": {
|
| 170 |
+
"source": "fisheye.mp4",
|
| 171 |
+
"insv_stream": 0,
|
| 172 |
+
"lens": "front",
|
| 173 |
+
"native_size": [
|
| 174 |
+
1920,
|
| 175 |
+
1920
|
| 176 |
+
],
|
| 177 |
+
"dataset_size": [
|
| 178 |
+
960,
|
| 179 |
+
960
|
| 180 |
+
]
|
| 181 |
+
},
|
| 182 |
+
"rolling_shutter_ms": 15.845431327819824,
|
| 183 |
+
"imu": {
|
| 184 |
+
"gyro_range_dps": 2000.0,
|
| 185 |
+
"accel_range_g": 32.0,
|
| 186 |
+
"gyro_bias_rad_s": [
|
| 187 |
+
-0.0009979738722080995,
|
| 188 |
+
-7.590495180781667e-05,
|
| 189 |
+
0.001331743031894395
|
| 190 |
+
],
|
| 191 |
+
"accel_bias_m_s2": [
|
| 192 |
+
-0.16426932903165703,
|
| 193 |
+
0.06206009360245489,
|
| 194 |
+
-0.02775673406327294
|
| 195 |
+
],
|
| 196 |
+
"gravity_vector_camera_frame": [
|
| 197 |
+
-0.047718194139466694,
|
| 198 |
+
-0.4404993616914349,
|
| 199 |
+
-0.8964838460884313
|
| 200 |
+
],
|
| 201 |
+
"gravity_magnitude_m_s2": 9.897888345824931,
|
| 202 |
+
"accel_convention": "imu_raw.csv is standard specific force (a ~ -g_body at rest) and is NOT negated; gravity = -(gravity_vector_camera_frame). See docs/46"
|
| 203 |
+
},
|
| 204 |
+
"lenses": {
|
| 205 |
+
"front": {
|
| 206 |
+
"model": "ucm_mei_radtan",
|
| 207 |
+
"canvas": [
|
| 208 |
+
15360,
|
| 209 |
+
7680
|
| 210 |
+
],
|
| 211 |
+
"params_on_canvas": {
|
| 212 |
+
"xi": 2.31494,
|
| 213 |
+
"fx": 7108.39,
|
| 214 |
+
"fy": 7106.1,
|
| 215 |
+
"cx": 3837.99,
|
| 216 |
+
"cy": 3862.2,
|
| 217 |
+
"k1": 0.96027756,
|
| 218 |
+
"k2": -1.91148615,
|
| 219 |
+
"k3": 3.69615507,
|
| 220 |
+
"p1": -0.00068743,
|
| 221 |
+
"p2": 0.00118116
|
| 222 |
+
},
|
| 223 |
+
"params_on_native_fisheye": {
|
| 224 |
+
"xi": 2.31494,
|
| 225 |
+
"k1": 0.960278,
|
| 226 |
+
"k2": -1.911486,
|
| 227 |
+
"k3": 3.696155,
|
| 228 |
+
"p1": -0.000687,
|
| 229 |
+
"p2": 0.001181,
|
| 230 |
+
"fx": 1777.0975,
|
| 231 |
+
"fy": 1776.525,
|
| 232 |
+
"cx": 959.4975,
|
| 233 |
+
"cy": 965.55
|
| 234 |
+
},
|
| 235 |
+
"cam_imu_factory": {
|
| 236 |
+
"yaw_deg": -0.038,
|
| 237 |
+
"pitch_deg": -0.41,
|
| 238 |
+
"roll_deg": 89.824,
|
| 239 |
+
"t_m": [
|
| 240 |
+
0.0,
|
| 241 |
+
0.0,
|
| 242 |
+
0.0
|
| 243 |
+
]
|
| 244 |
+
},
|
| 245 |
+
"params_on_dataset_frame": {
|
| 246 |
+
"xi": 2.31494,
|
| 247 |
+
"k1": 0.960278,
|
| 248 |
+
"k2": -1.911486,
|
| 249 |
+
"k3": 3.696155,
|
| 250 |
+
"p1": -0.000687,
|
| 251 |
+
"p2": 0.001181,
|
| 252 |
+
"fx": 888.54875,
|
| 253 |
+
"fy": 888.2625,
|
| 254 |
+
"cx": 479.74875,
|
| 255 |
+
"cy": 482.775
|
| 256 |
+
}
|
| 257 |
+
},
|
| 258 |
+
"rear": {
|
| 259 |
+
"model": "ucm_mei_radtan",
|
| 260 |
+
"canvas": [
|
| 261 |
+
15360,
|
| 262 |
+
7680
|
| 263 |
+
],
|
| 264 |
+
"params_on_canvas": {
|
| 265 |
+
"xi": 2.31494,
|
| 266 |
+
"fx": 7104.96,
|
| 267 |
+
"fy": 7103.43,
|
| 268 |
+
"cx": 11543.3,
|
| 269 |
+
"cy": 3827.7,
|
| 270 |
+
"k1": 0.95837986,
|
| 271 |
+
"k2": -1.94622421,
|
| 272 |
+
"k3": 3.85370684,
|
| 273 |
+
"p1": 0.00113873,
|
| 274 |
+
"p2": 4.863e-05
|
| 275 |
+
},
|
| 276 |
+
"params_on_native_fisheye": {
|
| 277 |
+
"xi": 2.31494,
|
| 278 |
+
"k1": 0.95838,
|
| 279 |
+
"k2": -1.946224,
|
| 280 |
+
"k3": 3.853707,
|
| 281 |
+
"p1": 0.001139,
|
| 282 |
+
"p2": 4.9e-05,
|
| 283 |
+
"fx": 1776.24,
|
| 284 |
+
"fy": 1775.8575,
|
| 285 |
+
"cx": 965.825,
|
| 286 |
+
"cy": 956.925
|
| 287 |
+
},
|
| 288 |
+
"cam_imu_factory": {
|
| 289 |
+
"yaw_deg": 0.076,
|
| 290 |
+
"pitch_deg": -0.321,
|
| 291 |
+
"roll_deg": 89.455,
|
| 292 |
+
"t_m": [
|
| 293 |
+
-0.001616,
|
| 294 |
+
-0.000337,
|
| 295 |
+
-0.033354
|
| 296 |
+
]
|
| 297 |
+
}
|
| 298 |
+
}
|
| 299 |
+
},
|
| 300 |
+
"cam_imu_used_by_cook": {
|
| 301 |
+
"R_cam_imu": [
|
| 302 |
+
[
|
| 303 |
+
0.0071557888626999615,
|
| 304 |
+
-0.000663208086594611,
|
| 305 |
+
0.9999741770869816
|
| 306 |
+
],
|
| 307 |
+
[
|
| 308 |
+
0.9999696792250243,
|
| 309 |
+
0.0030765198532859417,
|
| 310 |
+
-0.007153716250583313
|
| 311 |
+
],
|
| 312 |
+
[
|
| 313 |
+
-0.003071696006114788,
|
| 314 |
+
0.9999950475780497,
|
| 315 |
+
0.0006852029041134744
|
| 316 |
+
]
|
| 317 |
+
],
|
| 318 |
+
"t_cam_imu_m": [
|
| 319 |
+
0.004100510626148365,
|
| 320 |
+
-0.001160295357225906,
|
| 321 |
+
-0.025483155366164204
|
| 322 |
+
],
|
| 323 |
+
"source": "Tic=factory-insv-Euler (lever from REDACTED); gravity=static; bias=factory"
|
| 324 |
+
},
|
| 325 |
+
"provenance": {
|
| 326 |
+
"camera_intrinsics": "insv_factory (per-body, from this body's own telemetry)",
|
| 327 |
+
"kalibr_refined": false,
|
| 328 |
+
"pose_frame": "cubemap front virtual pinhole, 110 deg FoV / tilt 70 / 640 px",
|
| 329 |
+
"pose_frame_note": "state/action poses (T_w_cam) live in this virtual pinhole frame, NOT the fisheye frame of the delivered video. When the body has no Kalibr EUCM calibration the LUT is borrowed from another body \u2014 see cam_imu_used_by_cook.source."
|
| 330 |
+
}
|
| 331 |
+
}
|
| 332 |
+
}
|
| 333 |
+
}
|
official_data/umi_data/batch2/fold_clothes_e00110/meta/info.json
ADDED
|
@@ -0,0 +1,147 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "umi_bimanual_gripper",
|
| 4 |
+
"total_episodes": 1,
|
| 5 |
+
"total_frames": 2105,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
+
"data_files_size_in_mb": 100,
|
| 9 |
+
"video_files_size_in_mb": 200,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:1"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 15 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"observation.images.left_ego": {
|
| 18 |
+
"dtype": "video",
|
| 19 |
+
"shape": [
|
| 20 |
+
960,
|
| 21 |
+
960,
|
| 22 |
+
3
|
| 23 |
+
],
|
| 24 |
+
"names": [
|
| 25 |
+
"height",
|
| 26 |
+
"width",
|
| 27 |
+
"channels"
|
| 28 |
+
],
|
| 29 |
+
"info": {
|
| 30 |
+
"video.height": 960,
|
| 31 |
+
"video.width": 960,
|
| 32 |
+
"video.codec": "h264",
|
| 33 |
+
"video.pix_fmt": "yuv420p",
|
| 34 |
+
"video.is_depth_map": false,
|
| 35 |
+
"video.fps": 30,
|
| 36 |
+
"video.channels": 3,
|
| 37 |
+
"has_audio": false
|
| 38 |
+
}
|
| 39 |
+
},
|
| 40 |
+
"observation.images.right_ego": {
|
| 41 |
+
"dtype": "video",
|
| 42 |
+
"shape": [
|
| 43 |
+
960,
|
| 44 |
+
960,
|
| 45 |
+
3
|
| 46 |
+
],
|
| 47 |
+
"names": [
|
| 48 |
+
"height",
|
| 49 |
+
"width",
|
| 50 |
+
"channels"
|
| 51 |
+
],
|
| 52 |
+
"info": {
|
| 53 |
+
"video.height": 960,
|
| 54 |
+
"video.width": 960,
|
| 55 |
+
"video.codec": "h264",
|
| 56 |
+
"video.pix_fmt": "yuv420p",
|
| 57 |
+
"video.is_depth_map": false,
|
| 58 |
+
"video.fps": 30,
|
| 59 |
+
"video.channels": 3,
|
| 60 |
+
"has_audio": false
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"observation.state": {
|
| 64 |
+
"dtype": "float32",
|
| 65 |
+
"shape": [
|
| 66 |
+
16
|
| 67 |
+
],
|
| 68 |
+
"names": [
|
| 69 |
+
"left_x",
|
| 70 |
+
"left_y",
|
| 71 |
+
"left_z",
|
| 72 |
+
"left_qw",
|
| 73 |
+
"left_qx",
|
| 74 |
+
"left_qy",
|
| 75 |
+
"left_qz",
|
| 76 |
+
"left_gripper",
|
| 77 |
+
"right_x",
|
| 78 |
+
"right_y",
|
| 79 |
+
"right_z",
|
| 80 |
+
"right_qw",
|
| 81 |
+
"right_qx",
|
| 82 |
+
"right_qy",
|
| 83 |
+
"right_qz",
|
| 84 |
+
"right_gripper"
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
"action": {
|
| 88 |
+
"dtype": "float32",
|
| 89 |
+
"shape": [
|
| 90 |
+
16
|
| 91 |
+
],
|
| 92 |
+
"names": [
|
| 93 |
+
"left_x",
|
| 94 |
+
"left_y",
|
| 95 |
+
"left_z",
|
| 96 |
+
"left_qw",
|
| 97 |
+
"left_qx",
|
| 98 |
+
"left_qy",
|
| 99 |
+
"left_qz",
|
| 100 |
+
"left_gripper",
|
| 101 |
+
"right_x",
|
| 102 |
+
"right_y",
|
| 103 |
+
"right_z",
|
| 104 |
+
"right_qw",
|
| 105 |
+
"right_qx",
|
| 106 |
+
"right_qy",
|
| 107 |
+
"right_qz",
|
| 108 |
+
"right_gripper"
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
"timestamp": {
|
| 112 |
+
"dtype": "float32",
|
| 113 |
+
"shape": [
|
| 114 |
+
1
|
| 115 |
+
],
|
| 116 |
+
"names": null
|
| 117 |
+
},
|
| 118 |
+
"frame_index": {
|
| 119 |
+
"dtype": "int64",
|
| 120 |
+
"shape": [
|
| 121 |
+
1
|
| 122 |
+
],
|
| 123 |
+
"names": null
|
| 124 |
+
},
|
| 125 |
+
"episode_index": {
|
| 126 |
+
"dtype": "int64",
|
| 127 |
+
"shape": [
|
| 128 |
+
1
|
| 129 |
+
],
|
| 130 |
+
"names": null
|
| 131 |
+
},
|
| 132 |
+
"index": {
|
| 133 |
+
"dtype": "int64",
|
| 134 |
+
"shape": [
|
| 135 |
+
1
|
| 136 |
+
],
|
| 137 |
+
"names": null
|
| 138 |
+
},
|
| 139 |
+
"task_index": {
|
| 140 |
+
"dtype": "int64",
|
| 141 |
+
"shape": [
|
| 142 |
+
1
|
| 143 |
+
],
|
| 144 |
+
"names": null
|
| 145 |
+
}
|
| 146 |
+
}
|
| 147 |
+
}
|
official_data/umi_data/batch2/fold_clothes_e00110/meta/stats.json
ADDED
|
@@ -0,0 +1,812 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"observation.state": {
|
| 3 |
+
"min": [
|
| 4 |
+
-0.7516412138938904,
|
| 5 |
+
-0.7770551443099976,
|
| 6 |
+
-0.33938708901405334,
|
| 7 |
+
0.930114209651947,
|
| 8 |
+
-0.20069502294063568,
|
| 9 |
+
-0.1928626000881195,
|
| 10 |
+
-0.15275265276432037,
|
| 11 |
+
-0.699999988079071,
|
| 12 |
+
-0.8036952614784241,
|
| 13 |
+
-1.0116561651229858,
|
| 14 |
+
-0.4086196720600128,
|
| 15 |
+
0.8640814423561096,
|
| 16 |
+
-0.2276776134967804,
|
| 17 |
+
-0.16164924204349518,
|
| 18 |
+
-0.4891781806945801,
|
| 19 |
+
-1.7200000286102295
|
| 20 |
+
],
|
| 21 |
+
"max": [
|
| 22 |
+
0.3904479444026947,
|
| 23 |
+
0.21005460619926453,
|
| 24 |
+
0.6482134461402893,
|
| 25 |
+
1.0,
|
| 26 |
+
0.15833070874214172,
|
| 27 |
+
0.2996249794960022,
|
| 28 |
+
0.28926214575767517,
|
| 29 |
+
17.610000610351562,
|
| 30 |
+
0.7567940950393677,
|
| 31 |
+
0.06591805070638657,
|
| 32 |
+
0.5802478790283203,
|
| 33 |
+
1.0,
|
| 34 |
+
0.12780290842056274,
|
| 35 |
+
0.3714347779750824,
|
| 36 |
+
0.18473371863365173,
|
| 37 |
+
15.319999694824219
|
| 38 |
+
],
|
| 39 |
+
"mean": [
|
| 40 |
+
-0.3190270662307739,
|
| 41 |
+
-0.2276744246482849,
|
| 42 |
+
0.20276778936386108,
|
| 43 |
+
0.9871734976768494,
|
| 44 |
+
-0.05654650181531906,
|
| 45 |
+
0.06290793418884277,
|
| 46 |
+
0.039285868406295776,
|
| 47 |
+
5.535994529724121,
|
| 48 |
+
0.045720599591732025,
|
| 49 |
+
-0.3767149746417999,
|
| 50 |
+
0.06276696920394897,
|
| 51 |
+
0.9825361371040344,
|
| 52 |
+
-0.06280926614999771,
|
| 53 |
+
0.012962780892848969,
|
| 54 |
+
-0.0880269706249237,
|
| 55 |
+
3.952280282974243
|
| 56 |
+
],
|
| 57 |
+
"std": [
|
| 58 |
+
0.26434922218322754,
|
| 59 |
+
0.2130931317806244,
|
| 60 |
+
0.22106589376926422,
|
| 61 |
+
0.013354291208088398,
|
| 62 |
+
0.05333902686834335,
|
| 63 |
+
0.08032911270856857,
|
| 64 |
+
0.08552397787570953,
|
| 65 |
+
4.647671699523926,
|
| 66 |
+
0.33017808198928833,
|
| 67 |
+
0.2519787549972534,
|
| 68 |
+
0.1912120282649994,
|
| 69 |
+
0.020163414999842644,
|
| 70 |
+
0.05687117576599121,
|
| 71 |
+
0.08096449822187424,
|
| 72 |
+
0.11209625005722046,
|
| 73 |
+
5.021486282348633
|
| 74 |
+
],
|
| 75 |
+
"count": [
|
| 76 |
+
2105
|
| 77 |
+
],
|
| 78 |
+
"q01": [
|
| 79 |
+
-0.7404372930526734,
|
| 80 |
+
-0.7476294249296188,
|
| 81 |
+
-0.2969103932380676,
|
| 82 |
+
0.939200085401535,
|
| 83 |
+
-0.18740747943520547,
|
| 84 |
+
-0.0922917053103447,
|
| 85 |
+
-0.12764399796724318,
|
| 86 |
+
-0.6626292592287064,
|
| 87 |
+
-0.7705972909927368,
|
| 88 |
+
-1.0010851204395295,
|
| 89 |
+
-0.36569291949272154,
|
| 90 |
+
0.8865365266799927,
|
| 91 |
+
-0.18906887546181678,
|
| 92 |
+
-0.13946761563420296,
|
| 93 |
+
-0.4558801904320717,
|
| 94 |
+
-1.694354808330536
|
| 95 |
+
],
|
| 96 |
+
"q10": [
|
| 97 |
+
-0.6473684906959534,
|
| 98 |
+
-0.4793921783566475,
|
| 99 |
+
-0.08442153533299764,
|
| 100 |
+
0.9708925783634186,
|
| 101 |
+
-0.1174369566142559,
|
| 102 |
+
-0.023791611194610596,
|
| 103 |
+
-0.07456022873520851,
|
| 104 |
+
-0.45006847381591797,
|
| 105 |
+
-0.3466278910636902,
|
| 106 |
+
-0.7563787996768951,
|
| 107 |
+
-0.12254029512405396,
|
| 108 |
+
0.9584769010543823,
|
| 109 |
+
-0.12910286337137222,
|
| 110 |
+
-0.076728954911232,
|
| 111 |
+
-0.23976337164640427,
|
| 112 |
+
-1.2511869966983795
|
| 113 |
+
],
|
| 114 |
+
"q50": [
|
| 115 |
+
-0.34737975398699444,
|
| 116 |
+
-0.2555650472640991,
|
| 117 |
+
0.21712583303451538,
|
| 118 |
+
0.9919648915529251,
|
| 119 |
+
-0.05789254233241081,
|
| 120 |
+
0.04348219931125641,
|
| 121 |
+
0.033711303025484085,
|
| 122 |
+
5.029199600219727,
|
| 123 |
+
0.06034773588180542,
|
| 124 |
+
-0.32470256090164185,
|
| 125 |
+
0.011632561683654785,
|
| 126 |
+
0.9898106455802917,
|
| 127 |
+
-0.0650985948741436,
|
| 128 |
+
0.004059921950101852,
|
| 129 |
+
-0.06793269142508507,
|
| 130 |
+
2.5110316276550293
|
| 131 |
+
],
|
| 132 |
+
"q90": [
|
| 133 |
+
0.11303442716598511,
|
| 134 |
+
0.08202654123306274,
|
| 135 |
+
0.5252571702003479,
|
| 136 |
+
0.9985661804676056,
|
| 137 |
+
0.0032495371997356415,
|
| 138 |
+
0.18755943328142166,
|
| 139 |
+
0.16200609505176544,
|
| 140 |
+
11.8917875289917,
|
| 141 |
+
0.4279210567474365,
|
| 142 |
+
-0.060912370681762695,
|
| 143 |
+
0.3723384737968445,
|
| 144 |
+
0.9978411545356115,
|
| 145 |
+
0.008231105903784433,
|
| 146 |
+
0.10835781693458557,
|
| 147 |
+
0.03441767394542694,
|
| 148 |
+
11.33093547821045
|
| 149 |
+
],
|
| 150 |
+
"q99": [
|
| 151 |
+
0.3522907137870788,
|
| 152 |
+
0.17924698591232296,
|
| 153 |
+
0.6276614844799041,
|
| 154 |
+
0.9998735338449478,
|
| 155 |
+
0.1003085672855377,
|
| 156 |
+
0.28454994410276413,
|
| 157 |
+
0.24054772257804868,
|
| 158 |
+
16.551620483398438,
|
| 159 |
+
0.7148911967873574,
|
| 160 |
+
0.06117138862609861,
|
| 161 |
+
0.5038974344730377,
|
| 162 |
+
0.9996552109718323,
|
| 163 |
+
0.10227584093809126,
|
| 164 |
+
0.2996763318777084,
|
| 165 |
+
0.12784885764122006,
|
| 166 |
+
14.103172636032104
|
| 167 |
+
]
|
| 168 |
+
},
|
| 169 |
+
"action": {
|
| 170 |
+
"min": [
|
| 171 |
+
-0.7516412138938904,
|
| 172 |
+
-0.7770551443099976,
|
| 173 |
+
-0.33938708901405334,
|
| 174 |
+
0.930114209651947,
|
| 175 |
+
-0.20069502294063568,
|
| 176 |
+
-0.1928626000881195,
|
| 177 |
+
-0.15275265276432037,
|
| 178 |
+
-0.699999988079071,
|
| 179 |
+
-0.8036952614784241,
|
| 180 |
+
-1.0116561651229858,
|
| 181 |
+
-0.4086196720600128,
|
| 182 |
+
0.8640814423561096,
|
| 183 |
+
-0.2276776134967804,
|
| 184 |
+
-0.16164924204349518,
|
| 185 |
+
-0.4891781806945801,
|
| 186 |
+
-1.7200000286102295
|
| 187 |
+
],
|
| 188 |
+
"max": [
|
| 189 |
+
0.3904479444026947,
|
| 190 |
+
0.21005460619926453,
|
| 191 |
+
0.6482134461402893,
|
| 192 |
+
0.9999969601631165,
|
| 193 |
+
0.15833070874214172,
|
| 194 |
+
0.2996249794960022,
|
| 195 |
+
0.28926214575767517,
|
| 196 |
+
17.610000610351562,
|
| 197 |
+
0.7567940950393677,
|
| 198 |
+
0.06591805070638657,
|
| 199 |
+
0.5802478790283203,
|
| 200 |
+
0.9999975562095642,
|
| 201 |
+
0.12780290842056274,
|
| 202 |
+
0.3714347779750824,
|
| 203 |
+
0.18473371863365173,
|
| 204 |
+
15.319999694824219
|
| 205 |
+
],
|
| 206 |
+
"mean": [
|
| 207 |
+
-0.3192179501056671,
|
| 208 |
+
-0.22768527269363403,
|
| 209 |
+
0.2026509940624237,
|
| 210 |
+
0.9871715307235718,
|
| 211 |
+
-0.05653516203165054,
|
| 212 |
+
0.06289076805114746,
|
| 213 |
+
0.03924938291311264,
|
| 214 |
+
5.5415167808532715,
|
| 215 |
+
0.04567146673798561,
|
| 216 |
+
-0.37680622935295105,
|
| 217 |
+
0.06271717697381973,
|
| 218 |
+
0.9825249910354614,
|
| 219 |
+
-0.06283695995807648,
|
| 220 |
+
0.012904658913612366,
|
| 221 |
+
-0.08810564130544662,
|
| 222 |
+
3.9541168212890625
|
| 223 |
+
],
|
| 224 |
+
"std": [
|
| 225 |
+
0.2642638385295868,
|
| 226 |
+
0.21308211982250214,
|
| 227 |
+
0.2212378829717636,
|
| 228 |
+
0.013356522656977177,
|
| 229 |
+
0.05335358530282974,
|
| 230 |
+
0.08034640550613403,
|
| 231 |
+
0.08555710315704346,
|
| 232 |
+
4.647408962249756,
|
| 233 |
+
0.33019256591796875,
|
| 234 |
+
0.251877099275589,
|
| 235 |
+
0.1912420094013214,
|
| 236 |
+
0.020167848095297813,
|
| 237 |
+
0.05685477331280708,
|
| 238 |
+
0.08101768046617508,
|
| 239 |
+
0.11209256201982498,
|
| 240 |
+
5.020652770996094
|
| 241 |
+
],
|
| 242 |
+
"count": [
|
| 243 |
+
2105
|
| 244 |
+
],
|
| 245 |
+
"q01": [
|
| 246 |
+
-0.7404372930526734,
|
| 247 |
+
-0.7476294249296188,
|
| 248 |
+
-0.2969103932380676,
|
| 249 |
+
0.9391996681690216,
|
| 250 |
+
-0.18740747943520547,
|
| 251 |
+
-0.0922917053103447,
|
| 252 |
+
-0.12764399796724318,
|
| 253 |
+
-0.6626292592287064,
|
| 254 |
+
-0.7705972909927368,
|
| 255 |
+
-1.0010851204395295,
|
| 256 |
+
-0.36569291949272154,
|
| 257 |
+
0.8865361690521241,
|
| 258 |
+
-0.18906887546181678,
|
| 259 |
+
-0.13946761563420296,
|
| 260 |
+
-0.4558801904320717,
|
| 261 |
+
-1.694354808330536
|
| 262 |
+
],
|
| 263 |
+
"q10": [
|
| 264 |
+
-0.6473684906959534,
|
| 265 |
+
-0.4793921783566475,
|
| 266 |
+
-0.08448737859725952,
|
| 267 |
+
0.9708907902240753,
|
| 268 |
+
-0.1174369566142559,
|
| 269 |
+
-0.024259470403194427,
|
| 270 |
+
-0.07491384074091911,
|
| 271 |
+
-0.44823747873306274,
|
| 272 |
+
-0.3466278910636902,
|
| 273 |
+
-0.7563787996768951,
|
| 274 |
+
-0.12254029512405396,
|
| 275 |
+
0.9584751725196838,
|
| 276 |
+
-0.12910286337137222,
|
| 277 |
+
-0.07736865803599358,
|
| 278 |
+
-0.23976337164640427,
|
| 279 |
+
-1.2511869966983795
|
| 280 |
+
],
|
| 281 |
+
"q50": [
|
| 282 |
+
-0.3474558889865875,
|
| 283 |
+
-0.2555650472640991,
|
| 284 |
+
0.21712583303451538,
|
| 285 |
+
0.9919639527797699,
|
| 286 |
+
-0.05789254233241081,
|
| 287 |
+
0.04348219931125641,
|
| 288 |
+
0.033711303025484085,
|
| 289 |
+
5.030420303344727,
|
| 290 |
+
0.06034773588180542,
|
| 291 |
+
-0.32470256090164185,
|
| 292 |
+
0.011632561683654785,
|
| 293 |
+
0.9898011326789856,
|
| 294 |
+
-0.0650985948741436,
|
| 295 |
+
0.004059921950101852,
|
| 296 |
+
-0.06796639040112495,
|
| 297 |
+
2.517848014831543
|
| 298 |
+
],
|
| 299 |
+
"q90": [
|
| 300 |
+
0.11303442716598511,
|
| 301 |
+
0.08202654123306274,
|
| 302 |
+
0.5252571702003479,
|
| 303 |
+
0.9985634908080101,
|
| 304 |
+
0.0032854415476322174,
|
| 305 |
+
0.18755943328142166,
|
| 306 |
+
0.16200609505176544,
|
| 307 |
+
11.8917875289917,
|
| 308 |
+
0.4279210567474365,
|
| 309 |
+
-0.06258261203765869,
|
| 310 |
+
0.3723384737968445,
|
| 311 |
+
0.9978364706039429,
|
| 312 |
+
0.008231105903784433,
|
| 313 |
+
0.10835781693458557,
|
| 314 |
+
0.03441767394542694,
|
| 315 |
+
11.33093547821045
|
| 316 |
+
],
|
| 317 |
+
"q99": [
|
| 318 |
+
0.3522907137870788,
|
| 319 |
+
0.17924698591232296,
|
| 320 |
+
0.6276614844799041,
|
| 321 |
+
0.9998638406395912,
|
| 322 |
+
0.1003085672855377,
|
| 323 |
+
0.28454994410276413,
|
| 324 |
+
0.24054772257804868,
|
| 325 |
+
16.551620483398438,
|
| 326 |
+
0.7148911967873574,
|
| 327 |
+
0.06117138862609861,
|
| 328 |
+
0.5038974344730377,
|
| 329 |
+
0.9996434807777405,
|
| 330 |
+
0.10227584093809126,
|
| 331 |
+
0.2996763318777084,
|
| 332 |
+
0.12784885764122006,
|
| 333 |
+
14.103172636032104
|
| 334 |
+
]
|
| 335 |
+
},
|
| 336 |
+
"timestamp": {
|
| 337 |
+
"min": [
|
| 338 |
+
0.0
|
| 339 |
+
],
|
| 340 |
+
"max": [
|
| 341 |
+
70.13333129882812
|
| 342 |
+
],
|
| 343 |
+
"mean": [
|
| 344 |
+
35.06666946411133
|
| 345 |
+
],
|
| 346 |
+
"std": [
|
| 347 |
+
20.255367279052734
|
| 348 |
+
],
|
| 349 |
+
"count": [
|
| 350 |
+
2105
|
| 351 |
+
],
|
| 352 |
+
"q01": [
|
| 353 |
+
0.6880079746246338
|
| 354 |
+
],
|
| 355 |
+
"q10": [
|
| 356 |
+
7.006319522857666
|
| 357 |
+
],
|
| 358 |
+
"q50": [
|
| 359 |
+
35.073678970336914
|
| 360 |
+
],
|
| 361 |
+
"q90": [
|
| 362 |
+
63.12701225280762
|
| 363 |
+
],
|
| 364 |
+
"q99": [
|
| 365 |
+
69.44532089233398
|
| 366 |
+
]
|
| 367 |
+
},
|
| 368 |
+
"frame_index": {
|
| 369 |
+
"min": [
|
| 370 |
+
0
|
| 371 |
+
],
|
| 372 |
+
"max": [
|
| 373 |
+
2104
|
| 374 |
+
],
|
| 375 |
+
"mean": [
|
| 376 |
+
1052.0
|
| 377 |
+
],
|
| 378 |
+
"std": [
|
| 379 |
+
607.6610897531617
|
| 380 |
+
],
|
| 381 |
+
"count": [
|
| 382 |
+
2105
|
| 383 |
+
],
|
| 384 |
+
"q01": [
|
| 385 |
+
20.640239999901965
|
| 386 |
+
],
|
| 387 |
+
"q10": [
|
| 388 |
+
210.18959999992
|
| 389 |
+
],
|
| 390 |
+
"q50": [
|
| 391 |
+
1052.2104
|
| 392 |
+
],
|
| 393 |
+
"q90": [
|
| 394 |
+
1893.81040000008
|
| 395 |
+
],
|
| 396 |
+
"q99": [
|
| 397 |
+
2083.359760000098
|
| 398 |
+
]
|
| 399 |
+
},
|
| 400 |
+
"episode_index": {
|
| 401 |
+
"min": [
|
| 402 |
+
0
|
| 403 |
+
],
|
| 404 |
+
"max": [
|
| 405 |
+
0
|
| 406 |
+
],
|
| 407 |
+
"mean": [
|
| 408 |
+
0.0
|
| 409 |
+
],
|
| 410 |
+
"std": [
|
| 411 |
+
0.0
|
| 412 |
+
],
|
| 413 |
+
"count": [
|
| 414 |
+
2105
|
| 415 |
+
],
|
| 416 |
+
"q01": [
|
| 417 |
+
3.9999999999994176e-16
|
| 418 |
+
],
|
| 419 |
+
"q10": [
|
| 420 |
+
3.999999999999417e-15
|
| 421 |
+
],
|
| 422 |
+
"q50": [
|
| 423 |
+
1.9999999999997088e-14
|
| 424 |
+
],
|
| 425 |
+
"q90": [
|
| 426 |
+
3.599999999999476e-14
|
| 427 |
+
],
|
| 428 |
+
"q99": [
|
| 429 |
+
3.959999999999423e-14
|
| 430 |
+
]
|
| 431 |
+
},
|
| 432 |
+
"index": {
|
| 433 |
+
"min": [
|
| 434 |
+
0
|
| 435 |
+
],
|
| 436 |
+
"max": [
|
| 437 |
+
2104
|
| 438 |
+
],
|
| 439 |
+
"mean": [
|
| 440 |
+
1052.0
|
| 441 |
+
],
|
| 442 |
+
"std": [
|
| 443 |
+
607.6610897531617
|
| 444 |
+
],
|
| 445 |
+
"count": [
|
| 446 |
+
2105
|
| 447 |
+
],
|
| 448 |
+
"q01": [
|
| 449 |
+
20.640239999901965
|
| 450 |
+
],
|
| 451 |
+
"q10": [
|
| 452 |
+
210.18959999992
|
| 453 |
+
],
|
| 454 |
+
"q50": [
|
| 455 |
+
1052.2104
|
| 456 |
+
],
|
| 457 |
+
"q90": [
|
| 458 |
+
1893.81040000008
|
| 459 |
+
],
|
| 460 |
+
"q99": [
|
| 461 |
+
2083.359760000098
|
| 462 |
+
]
|
| 463 |
+
},
|
| 464 |
+
"task_index": {
|
| 465 |
+
"min": [
|
| 466 |
+
0
|
| 467 |
+
],
|
| 468 |
+
"max": [
|
| 469 |
+
0
|
| 470 |
+
],
|
| 471 |
+
"mean": [
|
| 472 |
+
0.0
|
| 473 |
+
],
|
| 474 |
+
"std": [
|
| 475 |
+
0.0
|
| 476 |
+
],
|
| 477 |
+
"count": [
|
| 478 |
+
2105
|
| 479 |
+
],
|
| 480 |
+
"q01": [
|
| 481 |
+
3.9999999999994176e-16
|
| 482 |
+
],
|
| 483 |
+
"q10": [
|
| 484 |
+
3.999999999999417e-15
|
| 485 |
+
],
|
| 486 |
+
"q50": [
|
| 487 |
+
1.9999999999997088e-14
|
| 488 |
+
],
|
| 489 |
+
"q90": [
|
| 490 |
+
3.599999999999476e-14
|
| 491 |
+
],
|
| 492 |
+
"q99": [
|
| 493 |
+
3.959999999999423e-14
|
| 494 |
+
]
|
| 495 |
+
},
|
| 496 |
+
"observation.images.left_ego": {
|
| 497 |
+
"min": [
|
| 498 |
+
[
|
| 499 |
+
[
|
| 500 |
+
0.0
|
| 501 |
+
]
|
| 502 |
+
],
|
| 503 |
+
[
|
| 504 |
+
[
|
| 505 |
+
0.0
|
| 506 |
+
]
|
| 507 |
+
],
|
| 508 |
+
[
|
| 509 |
+
[
|
| 510 |
+
0.0
|
| 511 |
+
]
|
| 512 |
+
]
|
| 513 |
+
],
|
| 514 |
+
"max": [
|
| 515 |
+
[
|
| 516 |
+
[
|
| 517 |
+
1.0
|
| 518 |
+
]
|
| 519 |
+
],
|
| 520 |
+
[
|
| 521 |
+
[
|
| 522 |
+
1.0
|
| 523 |
+
]
|
| 524 |
+
],
|
| 525 |
+
[
|
| 526 |
+
[
|
| 527 |
+
1.0
|
| 528 |
+
]
|
| 529 |
+
]
|
| 530 |
+
],
|
| 531 |
+
"mean": [
|
| 532 |
+
[
|
| 533 |
+
[
|
| 534 |
+
0.12841196958997322
|
| 535 |
+
]
|
| 536 |
+
],
|
| 537 |
+
[
|
| 538 |
+
[
|
| 539 |
+
0.140989143348574
|
| 540 |
+
]
|
| 541 |
+
],
|
| 542 |
+
[
|
| 543 |
+
[
|
| 544 |
+
0.12479485884792849
|
| 545 |
+
]
|
| 546 |
+
]
|
| 547 |
+
],
|
| 548 |
+
"std": [
|
| 549 |
+
[
|
| 550 |
+
[
|
| 551 |
+
0.0
|
| 552 |
+
]
|
| 553 |
+
],
|
| 554 |
+
[
|
| 555 |
+
[
|
| 556 |
+
0.0
|
| 557 |
+
]
|
| 558 |
+
],
|
| 559 |
+
[
|
| 560 |
+
[
|
| 561 |
+
0.0
|
| 562 |
+
]
|
| 563 |
+
]
|
| 564 |
+
],
|
| 565 |
+
"count": [
|
| 566 |
+
2105
|
| 567 |
+
],
|
| 568 |
+
"q01": [
|
| 569 |
+
[
|
| 570 |
+
[
|
| 571 |
+
0.003810209546559326
|
| 572 |
+
]
|
| 573 |
+
],
|
| 574 |
+
[
|
| 575 |
+
[
|
| 576 |
+
0.0038031813669917587
|
| 577 |
+
]
|
| 578 |
+
],
|
| 579 |
+
[
|
| 580 |
+
[
|
| 581 |
+
0.0038081118384434573
|
| 582 |
+
]
|
| 583 |
+
]
|
| 584 |
+
],
|
| 585 |
+
"q10": [
|
| 586 |
+
[
|
| 587 |
+
[
|
| 588 |
+
0.003928599679348554
|
| 589 |
+
]
|
| 590 |
+
],
|
| 591 |
+
[
|
| 592 |
+
[
|
| 593 |
+
0.00391944977437574
|
| 594 |
+
]
|
| 595 |
+
],
|
| 596 |
+
[
|
| 597 |
+
[
|
| 598 |
+
0.003925685685030334
|
| 599 |
+
]
|
| 600 |
+
]
|
| 601 |
+
],
|
| 602 |
+
"q50": [
|
| 603 |
+
[
|
| 604 |
+
[
|
| 605 |
+
0.09814403769131425
|
| 606 |
+
]
|
| 607 |
+
],
|
| 608 |
+
[
|
| 609 |
+
[
|
| 610 |
+
0.07049127240616045
|
| 611 |
+
]
|
| 612 |
+
],
|
| 613 |
+
[
|
| 614 |
+
[
|
| 615 |
+
0.07444022472811734
|
| 616 |
+
]
|
| 617 |
+
]
|
| 618 |
+
],
|
| 619 |
+
"q90": [
|
| 620 |
+
[
|
| 621 |
+
[
|
| 622 |
+
0.2627082379634454
|
| 623 |
+
]
|
| 624 |
+
],
|
| 625 |
+
[
|
| 626 |
+
[
|
| 627 |
+
0.3451317915375246
|
| 628 |
+
]
|
| 629 |
+
],
|
| 630 |
+
[
|
| 631 |
+
[
|
| 632 |
+
0.27855951437552673
|
| 633 |
+
]
|
| 634 |
+
]
|
| 635 |
+
],
|
| 636 |
+
"q99": [
|
| 637 |
+
[
|
| 638 |
+
[
|
| 639 |
+
0.5490753376130253
|
| 640 |
+
]
|
| 641 |
+
],
|
| 642 |
+
[
|
| 643 |
+
[
|
| 644 |
+
0.8117578295348538
|
| 645 |
+
]
|
| 646 |
+
],
|
| 647 |
+
[
|
| 648 |
+
[
|
| 649 |
+
0.9410685310662172
|
| 650 |
+
]
|
| 651 |
+
]
|
| 652 |
+
]
|
| 653 |
+
},
|
| 654 |
+
"observation.images.right_ego": {
|
| 655 |
+
"min": [
|
| 656 |
+
[
|
| 657 |
+
[
|
| 658 |
+
0.0
|
| 659 |
+
]
|
| 660 |
+
],
|
| 661 |
+
[
|
| 662 |
+
[
|
| 663 |
+
0.0
|
| 664 |
+
]
|
| 665 |
+
],
|
| 666 |
+
[
|
| 667 |
+
[
|
| 668 |
+
0.0
|
| 669 |
+
]
|
| 670 |
+
]
|
| 671 |
+
],
|
| 672 |
+
"max": [
|
| 673 |
+
[
|
| 674 |
+
[
|
| 675 |
+
1.0
|
| 676 |
+
]
|
| 677 |
+
],
|
| 678 |
+
[
|
| 679 |
+
[
|
| 680 |
+
1.0
|
| 681 |
+
]
|
| 682 |
+
],
|
| 683 |
+
[
|
| 684 |
+
[
|
| 685 |
+
1.0
|
| 686 |
+
]
|
| 687 |
+
]
|
| 688 |
+
],
|
| 689 |
+
"mean": [
|
| 690 |
+
[
|
| 691 |
+
[
|
| 692 |
+
0.12292882062171324
|
| 693 |
+
]
|
| 694 |
+
],
|
| 695 |
+
[
|
| 696 |
+
[
|
| 697 |
+
0.1463093169072573
|
| 698 |
+
]
|
| 699 |
+
],
|
| 700 |
+
[
|
| 701 |
+
[
|
| 702 |
+
0.12571517761570963
|
| 703 |
+
]
|
| 704 |
+
]
|
| 705 |
+
],
|
| 706 |
+
"std": [
|
| 707 |
+
[
|
| 708 |
+
[
|
| 709 |
+
0.0
|
| 710 |
+
]
|
| 711 |
+
],
|
| 712 |
+
[
|
| 713 |
+
[
|
| 714 |
+
0.0
|
| 715 |
+
]
|
| 716 |
+
],
|
| 717 |
+
[
|
| 718 |
+
[
|
| 719 |
+
0.0
|
| 720 |
+
]
|
| 721 |
+
]
|
| 722 |
+
],
|
| 723 |
+
"count": [
|
| 724 |
+
2105
|
| 725 |
+
],
|
| 726 |
+
"q01": [
|
| 727 |
+
[
|
| 728 |
+
[
|
| 729 |
+
0.0038081562647826477
|
| 730 |
+
]
|
| 731 |
+
],
|
| 732 |
+
[
|
| 733 |
+
[
|
| 734 |
+
0.0038033654214776583
|
| 735 |
+
]
|
| 736 |
+
],
|
| 737 |
+
[
|
| 738 |
+
[
|
| 739 |
+
0.003806612786523158
|
| 740 |
+
]
|
| 741 |
+
]
|
| 742 |
+
],
|
| 743 |
+
"q10": [
|
| 744 |
+
[
|
| 745 |
+
[
|
| 746 |
+
0.003921132180968843
|
| 747 |
+
]
|
| 748 |
+
],
|
| 749 |
+
[
|
| 750 |
+
[
|
| 751 |
+
0.003914089210378895
|
| 752 |
+
]
|
| 753 |
+
],
|
| 754 |
+
[
|
| 755 |
+
[
|
| 756 |
+
0.003918226368194027
|
| 757 |
+
]
|
| 758 |
+
]
|
| 759 |
+
],
|
| 760 |
+
"q50": [
|
| 761 |
+
[
|
| 762 |
+
[
|
| 763 |
+
0.09817227769150738
|
| 764 |
+
]
|
| 765 |
+
],
|
| 766 |
+
[
|
| 767 |
+
[
|
| 768 |
+
0.0822316106704146
|
| 769 |
+
]
|
| 770 |
+
],
|
| 771 |
+
[
|
| 772 |
+
[
|
| 773 |
+
0.07848228597179266
|
| 774 |
+
]
|
| 775 |
+
]
|
| 776 |
+
],
|
| 777 |
+
"q90": [
|
| 778 |
+
[
|
| 779 |
+
[
|
| 780 |
+
0.24716639983459468
|
| 781 |
+
]
|
| 782 |
+
],
|
| 783 |
+
[
|
| 784 |
+
[
|
| 785 |
+
0.34915887955646424
|
| 786 |
+
]
|
| 787 |
+
],
|
| 788 |
+
[
|
| 789 |
+
[
|
| 790 |
+
0.2784103224102392
|
| 791 |
+
]
|
| 792 |
+
]
|
| 793 |
+
],
|
| 794 |
+
"q99": [
|
| 795 |
+
[
|
| 796 |
+
[
|
| 797 |
+
0.4392302567379088
|
| 798 |
+
]
|
| 799 |
+
],
|
| 800 |
+
[
|
| 801 |
+
[
|
| 802 |
+
0.6784743713055745
|
| 803 |
+
]
|
| 804 |
+
],
|
| 805 |
+
[
|
| 806 |
+
[
|
| 807 |
+
0.8116123726536476
|
| 808 |
+
]
|
| 809 |
+
]
|
| 810 |
+
]
|
| 811 |
+
}
|
| 812 |
+
}
|
official_data/umi_data/batch2/fold_clothes_e00144/data/chunk-000/file-000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c4dbc2fadcc0a970352f08db48b1a99feb648a984b87b86e1b965fbb293901fe
|
| 3 |
+
size 170542
|
official_data/umi_data/batch2/fold_clothes_e00144/meta/episodes/chunk-000/file-000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e4d6dc6ca5af1e3ff3a6862ceedba1a3af8e34f7cde2289621e7e498c0f4d2b8
|
| 3 |
+
size 54428
|
official_data/umi_data/batch2/fold_clothes_e00144/meta/tasks.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fc34af933996a10945281895790542cfe1179de8baedd97ae1ff5218b8e46c7e
|
| 3 |
+
size 2201
|
official_data/umi_data/batch2/fold_clothes_e00144/videos/observation.audio.left_ego/episode_0000.m4a
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:dfa7c148d020452c2110b3ec9a36f3157d28ea8ac2570c5261dafdcf211bf70c
|
| 3 |
+
size 680326
|
official_data/umi_data/batch2/fold_clothes_e00144/videos/observation.audio.right_ego/episode_0000.m4a
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:05592613a22a0c1ef4af4565b9fd326512604db3b065d3a62c73c807b2b8771b
|
| 3 |
+
size 674464
|
official_data/umi_data/batch2/fold_clothes_e00144/videos/observation.images.left_ego/chunk-000/file-000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1d6f6b2be0da4afceef095cfa89192bda2773182166507b71dd7889e1ce7e157
|
| 3 |
+
size 22394694
|
official_data/umi_data/batch2/fold_clothes_e00144/videos/observation.images.right_ego/chunk-000/file-000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:030a3c73052ae7c20892fecb30e6e0e8199fe849cb71b65eec1f113d5f7ecb2e
|
| 3 |
+
size 20641989
|
official_data/umi_data/batch2/fold_clothes_e00230/data/chunk-000/file-000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c9c04f8528f5b5a74733d2e178ed504660b8f66ecd611d30cddd8c0b5ff8d947
|
| 3 |
+
size 139754
|
official_data/umi_data/batch2/fold_clothes_e00230/meta/episodes/chunk-000/file-000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:780b96c005086cf15bb158232f672dbe84f4f01ede5665efac3618deb7df34f3
|
| 3 |
+
size 54422
|