Hugging Face's logo

Datasets:
deformable-bench
/
flatten-tshirt

Tasks:
Robotics
Modalities:
Video
Size:
< 1K
Tags:
robotics
lerobot
bimanual
deformable-object-manipulation
cloth
simulation
Libraries:
Datasets
lerobot
License:
Dataset card Data Studio Files
xet
 Community
hwk0809 commited on
Commit
12bbfd8
·
verified ·
1 Parent(s): 6d378a6

LeRobot v3.0 dataset: flatten_tshirt_200 (200 episodes)

Browse files
Files changed (14) hide show
  1. README.md +48 -0
  2. data/chunk-000/file-000.parquet +3 -0
  3. experiment_config.yaml +92 -0
  4. meta/episodes/chunk-000/file-000.parquet +3 -0
  5. meta/info.json +166 -0
  6. meta/stats.json +934 -0
  7. meta/synreal_collect_state.json +10 -0
  8. meta/tasks.parquet +3 -0
  9. videos/observation.images.left_hand_cam/chunk-000/file-000.mp4 +3 -0
  10. videos/observation.images.left_hand_cam/chunk-000/file-001.mp4 +3 -0
  11. videos/observation.images.right_hand_cam/chunk-000/file-000.mp4 +3 -0
  12. videos/observation.images.right_hand_cam/chunk-000/file-001.mp4 +3 -0
  13. videos/observation.images.static_cam/chunk-000/file-000.mp4 +3 -0
  14. videos/observation.images.static_cam/chunk-000/file-001.mp4 +3 -0
README.md ADDED
@@ -0,0 +1,48 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ---
2
+ license: apache-2.0
3
+ task_categories:
4
+ - robotics
5
+ tags:
6
+ - robotics
7
+ - lerobot
8
+ - bimanual
9
+ - deformable-object-manipulation
10
+ - cloth
11
+ - simulation
12
+ ---
13
+
14
+ # flatten_tshirt — bimanual t-shirt flattening
15
+
16
+ A dual-arm Piper flattens a crumpled t-shirt on a table. Success combines a coverage signal (catches 'still crumpled') with a shape-distance signal against a canonical flat pose (catches 'spread out but still folded').
17
+
18
+ Part of a bimanual deformable-object (cloth / bag) manipulation benchmark. Physics is a GPU
19
+ cloth solver co-simulated with the robot in a single model; observations are rendered with a
20
+ photorealistic renderer.
21
+
22
+ ## Contents
23
+
24
+ | | |
25
+ |---|---|
26
+ | Format | LeRobot `v3.0` (parquet + mp4, compacted) |
27
+ | Robot | `sim_dual_piper_deformable` |
28
+ | Episodes | 200 |
29
+ | Frames | 41,464 |
30
+ | Tasks | 1 |
31
+ | Control rate | 25 fps |
32
+ | Cameras | `static_cam`, `right_hand_cam`, `left_hand_cam` |
33
+ | Video | 1280×720, H264 |
34
+ | State / action | 14-D each (left 6 joints + gripper, right 6 joints + gripper) |
35
+
36
+ ## Usage
37
+
38
+ ```python
39
+ from lerobot.datasets.lerobot_dataset import LeRobotDataset
40
+
41
+ ds = LeRobotDataset("hwk0809/flatten-tshirt")
42
+ ```
43
+
44
+ If your `torchcodec` build cannot decode these videos, pass `video_backend="pyav"`.
45
+
46
+ ## License
47
+
48
+ Apache-2.0.
data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:71df4db13f540ebc704fe913fbf2147bc035bda229a2411da8b0ee25b4f4a66f
3
+ size 5256041
experiment_config.yaml ADDED
@@ -0,0 +1,92 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ task: flatten_tshirt_procedural_fold
2
+ repo_id: flatten_tshirt_procedural_fold_clean200
3
+ num_episodes: 1
4
+ target_episodes: 200
5
+ render: kit
6
+ image_hw:
7
+ - 720
8
+ - 1280
9
+ sim:
10
+ physics_fps: 50
11
+ substeps: 10
12
+ control_fps: 25
13
+ save_render_state: false
14
+ enable_collision_trick: true
15
+ randomization:
16
+ seed: 42
17
+ cloth_init:
18
+ mode: procedural_fold
19
+ base_pos:
20
+ - 0.319347
21
+ - -0.342035
22
+ - 0.01
23
+ base_quat:
24
+ - 1
25
+ - 0
26
+ - 0
27
+ - 0
28
+ pos_offset:
29
+ enabled: true
30
+ range_x:
31
+ - -0.02
32
+ - 0.02
33
+ range_y:
34
+ - -0.02
35
+ - 0.02
36
+ rot_offset:
37
+ enabled: true
38
+ axis_z_only: true
39
+ angle_range_deg:
40
+ - -5
41
+ - 5
42
+ procedural_fold:
43
+ protected_keypoints:
44
+ - left_shoulder
45
+ - left_hem
46
+ protection_radius: 0.045
47
+ max_patch_pins: 16
48
+ program: null
49
+ lift_height:
50
+ - 0.08
51
+ - 0.16
52
+ segment_durations:
53
+ - 0.25
54
+ - 0.5
55
+ - 0.25
56
+ final_z: 0.012
57
+ protected_settle_duration: 0.8
58
+ settle_duration: 0.4
59
+ programs:
60
+ right_sleeve_in:
61
+ - handle: right_sleeve_outer
62
+ target: right_shoulder
63
+ offset:
64
+ - -0.02
65
+ - 0.0
66
+ right_half_in:
67
+ - handle: right_sleeve_outer
68
+ target: center
69
+ offset:
70
+ - 0.0
71
+ - 0.03
72
+ - handle: right_hem
73
+ target: center
74
+ offset:
75
+ - 0.03
76
+ - -0.03
77
+ center_bunch:
78
+ - handle: right_collar
79
+ target: center
80
+ offset:
81
+ - -0.02
82
+ - 0.0
83
+ - handle: right_shoulder
84
+ target: center
85
+ offset:
86
+ - 0.03
87
+ - 0.02
88
+ robot_init:
89
+ start_pose: lift_silk
90
+ noise_scale: 0.0
91
+ light:
92
+ enabled: false
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:604eabe6a527340faee8b11032f3198f3713da4f191c7bf7bab54fb2b48f9e4e
3
+ size 590328
meta/info.json ADDED
@@ -0,0 +1,166 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "sim_dual_piper_deformable",
4
+ "total_episodes": 200,
5
+ "total_frames": 41464,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 200,
10
+ "fps": 25,
11
+ "splits": {
12
+ "train": "0:200"
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
+ "action": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 14
21
+ ],
22
+ "names": [
23
+ "left_joint_1.pos",
24
+ "left_joint_2.pos",
25
+ "left_joint_3.pos",
26
+ "left_joint_4.pos",
27
+ "left_joint_5.pos",
28
+ "left_joint_6.pos",
29
+ "left_gripper.pos",
30
+ "right_joint_1.pos",
31
+ "right_joint_2.pos",
32
+ "right_joint_3.pos",
33
+ "right_joint_4.pos",
34
+ "right_joint_5.pos",
35
+ "right_joint_6.pos",
36
+ "right_gripper.pos"
37
+ ]
38
+ },
39
+ "observation.state": {
40
+ "dtype": "float32",
41
+ "shape": [
42
+ 14
43
+ ],
44
+ "names": [
45
+ "left_joint_1.pos",
46
+ "left_joint_2.pos",
47
+ "left_joint_3.pos",
48
+ "left_joint_4.pos",
49
+ "left_joint_5.pos",
50
+ "left_joint_6.pos",
51
+ "left_gripper.pos",
52
+ "right_joint_1.pos",
53
+ "right_joint_2.pos",
54
+ "right_joint_3.pos",
55
+ "right_joint_4.pos",
56
+ "right_joint_5.pos",
57
+ "right_joint_6.pos",
58
+ "right_gripper.pos"
59
+ ]
60
+ },
61
+ "observation.images.static_cam": {
62
+ "dtype": "video",
63
+ "shape": [
64
+ 720,
65
+ 1280,
66
+ 3
67
+ ],
68
+ "names": [
69
+ "height",
70
+ "width",
71
+ "channels"
72
+ ],
73
+ "info": {
74
+ "video.height": 720,
75
+ "video.width": 1280,
76
+ "video.codec": "h264",
77
+ "video.pix_fmt": "yuv420p",
78
+ "video.is_depth_map": false,
79
+ "video.fps": 25,
80
+ "video.channels": 3,
81
+ "has_audio": false
82
+ }
83
+ },
84
+ "observation.images.right_hand_cam": {
85
+ "dtype": "video",
86
+ "shape": [
87
+ 720,
88
+ 1280,
89
+ 3
90
+ ],
91
+ "names": [
92
+ "height",
93
+ "width",
94
+ "channels"
95
+ ],
96
+ "info": {
97
+ "video.height": 720,
98
+ "video.width": 1280,
99
+ "video.codec": "h264",
100
+ "video.pix_fmt": "yuv420p",
101
+ "video.is_depth_map": false,
102
+ "video.fps": 25,
103
+ "video.channels": 3,
104
+ "has_audio": false
105
+ }
106
+ },
107
+ "observation.images.left_hand_cam": {
108
+ "dtype": "video",
109
+ "shape": [
110
+ 720,
111
+ 1280,
112
+ 3
113
+ ],
114
+ "names": [
115
+ "height",
116
+ "width",
117
+ "channels"
118
+ ],
119
+ "info": {
120
+ "video.height": 720,
121
+ "video.width": 1280,
122
+ "video.codec": "h264",
123
+ "video.pix_fmt": "yuv420p",
124
+ "video.is_depth_map": false,
125
+ "video.fps": 25,
126
+ "video.channels": 3,
127
+ "has_audio": false
128
+ }
129
+ },
130
+ "timestamp": {
131
+ "dtype": "float32",
132
+ "shape": [
133
+ 1
134
+ ],
135
+ "names": null
136
+ },
137
+ "frame_index": {
138
+ "dtype": "int64",
139
+ "shape": [
140
+ 1
141
+ ],
142
+ "names": null
143
+ },
144
+ "episode_index": {
145
+ "dtype": "int64",
146
+ "shape": [
147
+ 1
148
+ ],
149
+ "names": null
150
+ },
151
+ "index": {
152
+ "dtype": "int64",
153
+ "shape": [
154
+ 1
155
+ ],
156
+ "names": null
157
+ },
158
+ "task_index": {
159
+ "dtype": "int64",
160
+ "shape": [
161
+ 1
162
+ ],
163
+ "names": null
164
+ }
165
+ }
166
+ }
meta/stats.json ADDED
@@ -0,0 +1,934 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 0
8
+ ],
9
+ "mean": [
10
+ 0.0
11
+ ],
12
+ "std": [
13
+ 0.0
14
+ ],
15
+ "count": [
16
+ 41464
17
+ ],
18
+ "q01": [
19
+ 3.9999999999994093e-16
20
+ ],
21
+ "q10": [
22
+ 3.999999999999419e-15
23
+ ],
24
+ "q50": [
25
+ 1.999999999999708e-14
26
+ ],
27
+ "q90": [
28
+ 3.599999999999477e-14
29
+ ],
30
+ "q99": [
31
+ 3.959999999999417e-14
32
+ ]
33
+ },
34
+ "action": {
35
+ "min": [
36
+ -0.1442108303308487,
37
+ 0.00031153898453339934,
38
+ -2.227299690246582,
39
+ -0.25237134099006653,
40
+ -0.0803229808807373,
41
+ 2.102312646456994e-05,
42
+ 0.014999999664723873,
43
+ -0.13539838790893555,
44
+ 0.0003102696791756898,
45
+ -2.2277352809906006,
46
+ 3.545542131178081e-05,
47
+ -0.07119417935609818,
48
+ -0.08882377296686172,
49
+ 0.014999999664723873
50
+ ],
51
+ "max": [
52
+ 0.003959776367992163,
53
+ 2.0369465351104736,
54
+ -7.577225915156305e-05,
55
+ -3.660303264041431e-05,
56
+ 1.1897107362747192,
57
+ 0.08539432287216187,
58
+ 0.9940816760063171,
59
+ 0.12378165870904922,
60
+ 1.978105902671814,
61
+ -7.585070852655917e-05,
62
+ 0.22516357898712158,
63
+ 1.1896787881851196,
64
+ -2.14690480788704e-05,
65
+ 0.9940816760063171
66
+ ],
67
+ "mean": [
68
+ -0.06447824296039639,
69
+ 1.3405895198481714,
70
+ -1.0203036133148893,
71
+ -0.187375754160372,
72
+ 0.642667947243234,
73
+ 0.07814133185379395,
74
+ 0.280040884551833,
75
+ -0.015017034158100965,
76
+ 1.2862220635009092,
77
+ -0.9630868171181616,
78
+ 0.1227261550498459,
79
+ 0.6863282978687075,
80
+ -0.08107848584000757,
81
+ 0.2800396596536702
82
+ ],
83
+ "std": [
84
+ 0.04262389449510662,
85
+ 0.5300102803599714,
86
+ 0.44722207831891164,
87
+ 0.05484869434654232,
88
+ 0.29278597821571584,
89
+ 0.01814010533543473,
90
+ 0.3559019294432797,
91
+ 0.06487312779467007,
92
+ 0.4914552679521888,
93
+ 0.4428933536684903,
94
+ 0.052457893604304875,
95
+ 0.28719353105094414,
96
+ 0.018847910383483376,
97
+ 0.35590049380000355
98
+ ],
99
+ "count": [
100
+ 41464
101
+ ],
102
+ "q01": [
103
+ -0.12527459487385123,
104
+ 0.00904768196034939,
105
+ -2.2077842588544145,
106
+ -0.23566905552643425,
107
+ -0.060627376780426186,
108
+ 0.0006105727360325058,
109
+ 0.014999999664723873,
110
+ -0.08639164650421025,
111
+ 0.009172601929925682,
112
+ -2.2105788419452765,
113
+ 0.001041427361808662,
114
+ -0.054816939914223525,
115
+ -0.08770134403647127,
116
+ 0.014999999664723873
117
+ ],
118
+ "q10": [
119
+ -0.1075044215214426,
120
+ 0.6282152058571411,
121
+ -1.301669468353344,
122
+ -0.2267697336450491,
123
+ 0.21047003119982705,
124
+ 0.07564329588027488,
125
+ 0.014999999664723873,
126
+ -0.08543321094595178,
127
+ 0.635581325521912,
128
+ -1.318379820965499,
129
+ 0.08761188916156873,
130
+ 0.21175305304929143,
131
+ -0.08741795564761122,
132
+ 0.014999999664723873
133
+ ],
134
+ "q50": [
135
+ -0.08487332320434486,
136
+ 1.4910043043328005,
137
+ -1.0786675199152815,
138
+ -0.21306564762641783,
139
+ 0.6227809165933281,
140
+ 0.0837801183729575,
141
+ 0.014999999664723873,
142
+ 0.0010040079015232561,
143
+ 1.3743988020814029,
144
+ -0.9664269799395223,
145
+ 0.10594371448013308,
146
+ 0.7196907806284789,
147
+ -0.08718364104367818,
148
+ 0.014999999664723873
149
+ ],
150
+ "q90": [
151
+ -0.007003046288274505,
152
+ 1.9213137313086779,
153
+ -0.27603863855712824,
154
+ -0.13146785743050846,
155
+ 0.9815571864083759,
156
+ 0.08390503988226179,
157
+ 0.866108327461886,
158
+ 0.057691759726986036,
159
+ 1.8161032508694765,
160
+ -0.280843646304846,
161
+ 0.20418493994807255,
162
+ 0.9898507173544546,
163
+ -0.07881022984305362,
164
+ 0.8661084855621141
165
+ ],
166
+ "q99": [
167
+ 9.264613977764732e-05,
168
+ 1.9731909588172147,
169
+ -0.0021062968397908698,
170
+ -0.0010499544524140807,
171
+ 1.1863139703591081,
172
+ 0.08429354832167796,
173
+ 0.983019776740754,
174
+ 0.12137803028539447,
175
+ 1.966278921152527,
176
+ -0.002159943583962448,
177
+ 0.2235554173910071,
178
+ 1.1865060533309033,
179
+ -0.0006346462172810607,
180
+ 0.9830151336896482
181
+ ]
182
+ },
183
+ "observation.images.left_hand_cam": {
184
+ "min": [
185
+ [
186
+ [
187
+ 0.0
188
+ ]
189
+ ],
190
+ [
191
+ [
192
+ 0.0
193
+ ]
194
+ ],
195
+ [
196
+ [
197
+ 0.0
198
+ ]
199
+ ]
200
+ ],
201
+ "max": [
202
+ [
203
+ [
204
+ 0.9529411764705882
205
+ ]
206
+ ],
207
+ [
208
+ [
209
+ 0.9529411764705882
210
+ ]
211
+ ],
212
+ [
213
+ [
214
+ 0.9529411764705882
215
+ ]
216
+ ]
217
+ ],
218
+ "mean": [
219
+ [
220
+ [
221
+ 0.7058179137391073
222
+ ]
223
+ ],
224
+ [
225
+ [
226
+ 0.7505280682870374
227
+ ]
228
+ ],
229
+ [
230
+ [
231
+ 0.7777898438453155
232
+ ]
233
+ ]
234
+ ],
235
+ "std": [
236
+ [
237
+ [
238
+ 0.010584357469926635
239
+ ]
240
+ ],
241
+ [
242
+ [
243
+ 0.00663171361854752
244
+ ]
245
+ ],
246
+ [
247
+ [
248
+ 0.005913408428078172
249
+ ]
250
+ ]
251
+ ],
252
+ "count": [
253
+ 20000
254
+ ],
255
+ "q01": [
256
+ [
257
+ [
258
+ 0.06916345916619926
259
+ ]
260
+ ],
261
+ [
262
+ [
263
+ 0.08524233239344
264
+ ]
265
+ ],
266
+ [
267
+ [
268
+ 0.09793457892533444
269
+ ]
270
+ ]
271
+ ],
272
+ "q10": [
273
+ [
274
+ [
275
+ 0.4779966066743194
276
+ ]
277
+ ],
278
+ [
279
+ [
280
+ 0.5678139922126441
281
+ ]
282
+ ],
283
+ [
284
+ [
285
+ 0.625893611895253
286
+ ]
287
+ ]
288
+ ],
289
+ "q50": [
290
+ [
291
+ [
292
+ 0.7207946170109739
293
+ ]
294
+ ],
295
+ [
296
+ [
297
+ 0.7797217602278496
298
+ ]
299
+ ],
300
+ [
301
+ [
302
+ 0.8134792288774867
303
+ ]
304
+ ]
305
+ ],
306
+ "q90": [
307
+ [
308
+ [
309
+ 0.9004536865755841
310
+ ]
311
+ ],
312
+ [
313
+ [
314
+ 0.9003902262917783
315
+ ]
316
+ ],
317
+ [
318
+ [
319
+ 0.9004108287000209
320
+ ]
321
+ ]
322
+ ],
323
+ "q99": [
324
+ [
325
+ [
326
+ 0.9214569092781074
327
+ ]
328
+ ],
329
+ [
330
+ [
331
+ 0.9209295179712231
332
+ ]
333
+ ],
334
+ [
335
+ [
336
+ 0.9209501449078076
337
+ ]
338
+ ]
339
+ ]
340
+ },
341
+ "episode_index": {
342
+ "min": [
343
+ 0
344
+ ],
345
+ "max": [
346
+ 199
347
+ ],
348
+ "mean": [
349
+ 99.53074956588846
350
+ ],
351
+ "std": [
352
+ 57.695769124749354
353
+ ],
354
+ "count": [
355
+ 41464
356
+ ],
357
+ "q01": [
358
+ 99.53074956588846
359
+ ],
360
+ "q10": [
361
+ 99.53074956588846
362
+ ],
363
+ "q50": [
364
+ 99.53074956588846
365
+ ],
366
+ "q90": [
367
+ 99.53074956588846
368
+ ],
369
+ "q99": [
370
+ 99.53074956588846
371
+ ]
372
+ },
373
+ "index": {
374
+ "min": [
375
+ 0
376
+ ],
377
+ "max": [
378
+ 41463
379
+ ],
380
+ "mean": [
381
+ 20731.5
382
+ ],
383
+ "std": [
384
+ 11969.625777358284
385
+ ],
386
+ "count": [
387
+ 41464
388
+ ],
389
+ "q01": [
390
+ 20630.31555391008
391
+ ],
392
+ "q10": [
393
+ 20648.389856167203
394
+ ],
395
+ "q50": [
396
+ 20731.268151316803
397
+ ],
398
+ "q90": [
399
+ 20814.48841534543
400
+ ],
401
+ "q99": [
402
+ 20832.68444608992
403
+ ]
404
+ },
405
+ "observation.state": {
406
+ "min": [
407
+ -0.1442108303308487,
408
+ 0.00031153898453339934,
409
+ -2.227299690246582,
410
+ -0.25237134099006653,
411
+ -0.0803229808807373,
412
+ 2.102312646456994e-05,
413
+ 0.014999999664723873,
414
+ -0.13539838790893555,
415
+ 0.0003102696791756898,
416
+ -2.2277352809906006,
417
+ 3.545542131178081e-05,
418
+ -0.07119417935609818,
419
+ -0.08882377296686172,
420
+ 0.014999999664723873
421
+ ],
422
+ "max": [
423
+ 0.003959776367992163,
424
+ 2.0369465351104736,
425
+ -7.577225915156305e-05,
426
+ -3.660303264041431e-05,
427
+ 1.1897107362747192,
428
+ 0.08539432287216187,
429
+ 1.0,
430
+ 0.12399999797344208,
431
+ 1.978105902671814,
432
+ -7.585070852655917e-05,
433
+ 0.22529999911785126,
434
+ 1.1896787881851196,
435
+ -2.14690480788704e-05,
436
+ 1.0
437
+ ],
438
+ "mean": [
439
+ -0.06507615240117542,
440
+ 1.3444317246458604,
441
+ -1.0257283171260414,
442
+ -0.18846167593198232,
443
+ 0.647415400577769,
444
+ 0.07854073212221306,
445
+ 0.28013285364687557,
446
+ -0.014419204663802117,
447
+ 1.2900641703011106,
448
+ -0.9685114996370123,
449
+ 0.12381208368948837,
450
+ 0.6910757447905389,
451
+ -0.08147786920985445,
452
+ 0.28013171627183187
453
+ ],
454
+ "std": [
455
+ 0.04258521017771652,
456
+ 0.5231310614227125,
457
+ 0.44160294947250517,
458
+ 0.05333937558343311,
459
+ 0.2903180095789281,
460
+ 0.01730992156470378,
461
+ 0.3560848071668278,
462
+ 0.06557656698007192,
463
+ 0.4844600108877604,
464
+ 0.4379279595369775,
465
+ 0.05223932380966236,
466
+ 0.283948063739791,
467
+ 0.017985276076457148,
468
+ 0.35608354795668207
469
+ ],
470
+ "count": [
471
+ 41464
472
+ ],
473
+ "q01": [
474
+ -0.12548482607153286,
475
+ 0.02471267312996785,
476
+ -2.2077842588544145,
477
+ -0.23567383678035117,
478
+ -0.060627376780426186,
479
+ 0.0016624343316982146,
480
+ 0.014999999664723873,
481
+ -0.08639164650421025,
482
+ 0.025067756595597197,
483
+ -2.2105788419452765,
484
+ 0.0028434805386512445,
485
+ -0.054816939914223525,
486
+ -0.08770134403647127,
487
+ 0.014999999664723873
488
+ ],
489
+ "q10": [
490
+ -0.1089176552835043,
491
+ 0.6364363417328379,
492
+ -1.301669468353344,
493
+ -0.22705177128361115,
494
+ 0.2355847963342739,
495
+ 0.07838944600580232,
496
+ 0.014999999664723873,
497
+ -0.0854331407692145,
498
+ 0.6441904923431363,
499
+ -1.318379820965499,
500
+ 0.08761570189060562,
501
+ 0.23791423385864746,
502
+ -0.08741795564761122,
503
+ 0.014999999664723873
504
+ ],
505
+ "q50": [
506
+ -0.08489597314229287,
507
+ 1.4910043043328005,
508
+ -1.0790288429588724,
509
+ -0.2131345238606715,
510
+ 0.6237439097776024,
511
+ 0.08378014114920684,
512
+ 0.014999999664723873,
513
+ 0.0014635835808473436,
514
+ 1.3743988020814029,
515
+ -0.9668908947218489,
516
+ 0.10755538362068126,
517
+ 0.7232614605665576,
518
+ -0.08718364104367818,
519
+ 0.014999999664723873
520
+ ],
521
+ "q90": [
522
+ -0.007450890645843708,
523
+ 1.9213137313086779,
524
+ -0.2857915899533573,
525
+ -0.13610182058212766,
526
+ 0.9826813310771443,
527
+ 0.08390503997806763,
528
+ 0.8661086403496152,
529
+ 0.05851133066897424,
530
+ 1.8161032508694765,
531
+ -0.2907417277404981,
532
+ 0.2054091791926194,
533
+ 0.9899907383884491,
534
+ -0.08145763112828477,
535
+ 0.8661086403496152
536
+ ],
537
+ "q99": [
538
+ -0.0001241074878653789,
539
+ 1.9731909588172147,
540
+ -0.0058797906866157375,
541
+ -0.0028671188600334053,
542
+ 1.1863139703591081,
543
+ 0.08429354832167796,
544
+ 0.9873203735612942,
545
+ 0.12283857582545596,
546
+ 1.966278921152527,
547
+ -0.0059710643782179594,
548
+ 0.22453081336944053,
549
+ 1.1865060533309033,
550
+ -0.0017244581987651169,
551
+ 0.9873164967751478
552
+ ]
553
+ },
554
+ "frame_index": {
555
+ "min": [
556
+ 0
557
+ ],
558
+ "max": [
559
+ 210
560
+ ],
561
+ "mean": [
562
+ 103.17036465367552
563
+ ],
564
+ "std": [
565
+ 59.865376203558576
566
+ ],
567
+ "count": [
568
+ 41464
569
+ ],
570
+ "q01": [
571
+ 1.9859185637645524
572
+ ],
573
+ "q10": [
574
+ 20.06022082087255
575
+ ],
576
+ "q50": [
577
+ 102.9385159704803
578
+ ],
579
+ "q90": [
580
+ 186.15877999911586
581
+ ],
582
+ "q99": [
583
+ 204.35481074358685
584
+ ]
585
+ },
586
+ "observation.images.static_cam": {
587
+ "min": [
588
+ [
589
+ [
590
+ 0.0
591
+ ]
592
+ ],
593
+ [
594
+ [
595
+ 0.0
596
+ ]
597
+ ],
598
+ [
599
+ [
600
+ 0.0
601
+ ]
602
+ ]
603
+ ],
604
+ "max": [
605
+ [
606
+ [
607
+ 0.9450980392156862
608
+ ]
609
+ ],
610
+ [
611
+ [
612
+ 0.9450980392156862
613
+ ]
614
+ ],
615
+ [
616
+ [
617
+ 0.9450980392156862
618
+ ]
619
+ ]
620
+ ],
621
+ "mean": [
622
+ [
623
+ [
624
+ 0.7715777099264711
625
+ ]
626
+ ],
627
+ [
628
+ [
629
+ 0.7909501849673203
630
+ ]
631
+ ],
632
+ [
633
+ [
634
+ 0.801433229697712
635
+ ]
636
+ ]
637
+ ],
638
+ "std": [
639
+ [
640
+ [
641
+ 0.002892261818722152
642
+ ]
643
+ ],
644
+ [
645
+ [
646
+ 0.001863470265541142
647
+ ]
648
+ ],
649
+ [
650
+ [
651
+ 0.0014194228179495358
652
+ ]
653
+ ]
654
+ ],
655
+ "count": [
656
+ 20000
657
+ ],
658
+ "q01": [
659
+ [
660
+ [
661
+ 0.08276431409415133
662
+ ]
663
+ ],
664
+ [
665
+ [
666
+ 0.08926222348340945
667
+ ]
668
+ ],
669
+ [
670
+ [
671
+ 0.0929909325754113
672
+ ]
673
+ ]
674
+ ],
675
+ "q10": [
676
+ [
677
+ [
678
+ 0.5563510346561604
679
+ ]
680
+ ],
681
+ [
682
+ [
683
+ 0.5979217730649901
684
+ ]
685
+ ],
686
+ [
687
+ [
688
+ 0.6017318333635613
689
+ ]
690
+ ]
691
+ ],
692
+ "q50": [
693
+ [
694
+ [
695
+ 0.878335725056215
696
+ ]
697
+ ],
698
+ [
699
+ [
700
+ 0.8785461296287432
701
+ ]
702
+ ],
703
+ [
704
+ [
705
+ 0.878831860396345
706
+ ]
707
+ ]
708
+ ],
709
+ "q90": [
710
+ [
711
+ [
712
+ 0.9058965856198029
713
+ ]
714
+ ],
715
+ [
716
+ [
717
+ 0.9058913470959576
718
+ ]
719
+ ],
720
+ [
721
+ [
722
+ 0.9058904001538107
723
+ ]
724
+ ]
725
+ ],
726
+ "q99": [
727
+ [
728
+ [
729
+ 0.9176019744853705
730
+ ]
731
+ ],
732
+ [
733
+ [
734
+ 0.9176063318470409
735
+ ]
736
+ ],
737
+ [
738
+ [
739
+ 0.9176055292661885
740
+ ]
741
+ ]
742
+ ]
743
+ },
744
+ "timestamp": {
745
+ "min": [
746
+ 0.0
747
+ ],
748
+ "max": [
749
+ 8.4
750
+ ],
751
+ "mean": [
752
+ 4.1268145861470185
753
+ ],
754
+ "std": [
755
+ 2.3946150481423403
756
+ ],
757
+ "count": [
758
+ 41464
759
+ ],
760
+ "q01": [
761
+ 0.07943674245643012
762
+ ],
763
+ "q10": [
764
+ 0.8024088327575679
765
+ ],
766
+ "q50": [
767
+ 4.117540638818986
768
+ ],
769
+ "q90": [
770
+ 7.446351200041855
771
+ ],
772
+ "q99": [
773
+ 8.17419242983761
774
+ ]
775
+ },
776
+ "observation.images.right_hand_cam": {
777
+ "min": [
778
+ [
779
+ [
780
+ 0.0
781
+ ]
782
+ ],
783
+ [
784
+ [
785
+ 0.0
786
+ ]
787
+ ],
788
+ [
789
+ [
790
+ 0.0
791
+ ]
792
+ ]
793
+ ],
794
+ "max": [
795
+ [
796
+ [
797
+ 0.9490196078431372
798
+ ]
799
+ ],
800
+ [
801
+ [
802
+ 0.9490196078431372
803
+ ]
804
+ ],
805
+ [
806
+ [
807
+ 0.9490196078431372
808
+ ]
809
+ ]
810
+ ],
811
+ "mean": [
812
+ [
813
+ [
814
+ 0.7197143294662307
815
+ ]
816
+ ],
817
+ [
818
+ [
819
+ 0.7598940339052287
820
+ ]
821
+ ],
822
+ [
823
+ [
824
+ 0.7848203207652503
825
+ ]
826
+ ]
827
+ ],
828
+ "std": [
829
+ [
830
+ [
831
+ 0.005066754593275622
832
+ ]
833
+ ],
834
+ [
835
+ [
836
+ 0.004988091101389142
837
+ ]
838
+ ],
839
+ [
840
+ [
841
+ 0.0048408817640863905
842
+ ]
843
+ ]
844
+ ],
845
+ "count": [
846
+ 20000
847
+ ],
848
+ "q01": [
849
+ [
850
+ [
851
+ 0.07987834519926654
852
+ ]
853
+ ],
854
+ [
855
+ [
856
+ 0.08859720643626878
857
+ ]
858
+ ],
859
+ [
860
+ [
861
+ 0.09568584139336825
862
+ ]
863
+ ]
864
+ ],
865
+ "q10": [
866
+ [
867
+ [
868
+ 0.5009276200549362
869
+ ]
870
+ ],
871
+ [
872
+ [
873
+ 0.5889916412913071
874
+ ]
875
+ ],
876
+ [
877
+ [
878
+ 0.6461767423351913
879
+ ]
880
+ ]
881
+ ],
882
+ "q50": [
883
+ [
884
+ [
885
+ 0.7655776136557777
886
+ ]
887
+ ],
888
+ [
889
+ [
890
+ 0.8029841116408755
891
+ ]
892
+ ],
893
+ [
894
+ [
895
+ 0.824826362461632
896
+ ]
897
+ ]
898
+ ],
899
+ "q90": [
900
+ [
901
+ [
902
+ 0.9019026129966126
903
+ ]
904
+ ],
905
+ [
906
+ [
907
+ 0.9018947201905552
908
+ ]
909
+ ],
910
+ [
911
+ [
912
+ 0.901896233947759
913
+ ]
914
+ ]
915
+ ],
916
+ "q99": [
917
+ [
918
+ [
919
+ 0.9211399662838112
920
+ ]
921
+ ],
922
+ [
923
+ [
924
+ 0.9205911513375787
925
+ ]
926
+ ],
927
+ [
928
+ [
929
+ 0.9206689145801112
930
+ ]
931
+ ]
932
+ ]
933
+ }
934
+ }
meta/synreal_collect_state.json ADDED
@@ -0,0 +1,10 @@
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_offset_floor": 0,
3
+ "last_episode_id": 213,
4
+ "next_episode_id": 214,
5
+ "repo_id": "flatten_tshirt_procedural_fold_clean200",
6
+ "saved_episodes": 200,
7
+ "seed": 42,
8
+ "task": "flatten_tshirt_procedural_fold",
9
+ "updated_at": "2026-07-14T20:53:48.447407+00:00"
10
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d6c8dc3f0a8f3cfc93e0e00cd022a610e76d63b76379f9a9e1f42b7bf3e42710
3
+ size 2426
videos/observation.images.left_hand_cam/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fef7d91d24df0b05e9a3af8a494d5aa56230095215fbd943dd32e14c596613b8
3
+ size 208741028
videos/observation.images.left_hand_cam/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3bffd2a27c0e93fcc05c4291ae7789deb3a77a71deb435b2a25fc5edcab91f31
3
+ size 148451530
videos/observation.images.right_hand_cam/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1935841c95f0dca0f462243d13a7d88822d189a737b13c24c789435177eeda8a
3
+ size 209242454
videos/observation.images.right_hand_cam/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1055d59d24313629ab5c1a37b5abfc604ae16720870bc97fb265841464680ca6
3
+ size 109018729
videos/observation.images.static_cam/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6419b8691ae7de2aafc2d95be9456a368c2dc0657558b50d1fa8d26172a857d7
3
+ size 209187177
videos/observation.images.static_cam/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e0e931051cec88e8593de586f99a72b54f1c514bed1c4a3fd917ed0a23a81a33
3
+ size 36581497