Upload folder using huggingface_hub

data/chunk-000/file-003.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76b3c1043815d0c765b3b013b274b4b0a66da2f65ff66e5e67f687927dda46e0
+size 1224309

meta/camera_settings.json

@@ -324,6 +324,114 @@
                     }
                 }
             }
+        },
+        {
+            "captured_at": "2026-08-22T14:07:55.672978+00:00",
+            "robot_type": "piper_follower",
+            "dataset_fps": 30,
+            "cameras": {
+                "r_wrist": {
+                    "type": "opencv",
+                    "configuration": {
+                        "fps": 120,
+                        "width": 640,
+                        "height": 480,
+                        "index_or_path": "/dev/r_wrist",
+                        "color_mode": "rgb",
+                        "rotation": 0,
+                        "warmup_s": 1,
+                        "fourcc": "MJPG"
+                    },
+                    "runtime": {
+                        "width": 640,
+                        "height": 480,
+                        "capture_width": 640,
+                        "capture_height": 480,
+                        "fps": 120.10136452241716,
+                        "backend": "V4L2",
+                        "fourcc": "MJPG"
+                    },
+                    "v4l2": {
+                        "available": true,
+                        "device": "/dev/r_wrist",
+                        "resolved_device": "/dev/video10",
+                        "controls": {
+                            "brightness": 5,
+                            "contrast": 30,
+                            "saturation": 60,
+                            "hue": 0,
+                            "white_balance_automatic": 1,
+                            "gamma": 130,
+                            "gain": 0,
+                            "power_line_frequency": 2,
+                            "white_balance_temperature": 4487,
+                            "sharpness": 0,
+                            "backlight_compensation": 1,
+                            "auto_exposure": 1,
+                            "exposure_time_absolute": 200,
+                            "exposure_dynamic_framerate": 0
+                        },
+                        "report": "Driver Info:\n\tDriver name      : uvcvideo\n\tCard type        : USB 2.0 Camera: HD USB Camera\n\tBus info         : usb-0000:80:14.0-9.1.4.2\n\tDriver version   : 6.8.12\n\tCapabilities     : 0x84a00001\n\t\tVideo Capture\n\t\tMetadata Capture\n\t\tStreaming\n\t\tExtended Pix Format\n\t\tDevice Capabilities\n\tDevice Caps      : 0x04200001\n\t\tVideo Capture\n\t\tStreaming\n\t\tExtended Pix Format\nMedia Driver Info:\n\tDriver name      : uvcvideo\n\tModel            : USB 2.0 Camera: HD USB Camera\n\tSerial           : \n\tBus info         : usb-0000:80:14.0-9.1.4.2\n\tMedia version    : 6.8.12\n\tHardware revision: 0x00000100 (256)\n\tDriver version   : 6.8.12\nInterface Info:\n\tID               : 0x03000002\n\tType             : V4L Video\nEntity Info:\n\tID               : 0x00000001 (1)\n\tName             : USB 2.0 Camera: HD USB Camera\n\tFunction         : V4L2 I/O\n\tFlags            : default\n\tPad 0x01000007   : 0: Sink\n\t  Link 0x02000010: from remote pad 0x100000a of entity 'Extension 3' (Video Pixel Formatter): Data, Enabled, Immutable\nPriority: 2\nVideo input : 0 (Camera 1: ok)\nFormat Video Capture:\n\tWidth/Height      : 640/480\n\tPixel Format      : 'MJPG' (Motion-JPEG)\n\tField             : None\n\tBytes per Line    : 0\n\tSize Image        : 614989\n\tColorspace        : sRGB\n\tTransfer Function : Rec. 709\n\tYCbCr/HSV Encoding: ITU-R 601\n\tQuantization      : Default (maps to Full Range)\n\tFlags             : \nCrop Capability Video Capture:\n\tBounds      : Left 0, Top 0, Width 640, Height 480\n\tDefault     : Left 0, Top 0, Width 640, Height 480\n\tPixel Aspect: 1/1\nSelection Video Capture: crop_default, Left 0, Top 0, Width 640, Height 480, Flags: \nSelection Video Capture: crop_bounds, Left 0, Top 0, Width 640, Height 480, Flags: \nStreaming Parameters Video Capture:\n\tCapabilities     : timeperframe\n\tFrames per second: 120.101 (61612/513)\n\tRead buffers     : 0\n\nUser Controls\n\n                     brightness 0x00980900 (int)    : min=-64 max=64 step=1 default=0 value=5\n                       contrast 0x00980901 (int)    : min=0 max=64 step=1 default=32 value=30\n                     saturation 0x00980902 (int)    : min=0 max=128 step=1 default=60 value=60\n                            hue 0x00980903 (int)    : min=-40 max=40 step=1 default=0 value=0\n        white_balance_automatic 0x0098090c (bool)   : default=1 value=1\n                          gamma 0x00980910 (int)    : min=72 max=500 step=1 default=100 value=130\n                           gain 0x00980913 (int)    : min=0 max=100 step=1 default=0 value=0\n           power_line_frequency 0x00980918 (menu)   : min=0 max=2 default=1 value=2 (60 Hz)\n\t\t\t\t0: Disabled\n\t\t\t\t1: 50 Hz\n\t\t\t\t2: 60 Hz\n      white_balance_temperature 0x0098091a (int)    : min=2800 max=6500 step=1 default=4600 value=4487 flags=inactive\n                      sharpness 0x0098091b (int)    : min=0 max=6 step=1 default=2 value=0\n         backlight_compensation 0x0098091c (int)    : min=0 max=2 step=1 default=1 value=1\n\nCamera Controls\n\n                  auto_exposure 0x009a0901 (menu)   : min=0 max=3 default=3 value=1 (Manual Mode)\n\t\t\t\t1: Manual Mode\n\t\t\t\t3: Aperture Priority Mode\n         exposure_time_absolute 0x009a0902 (int)    : min=1 max=5000 step=1 default=157 value=200\n     exposure_dynamic_framerate 0x009a0903 (bool)   : default=0 value=0"
+                    }
+                },
+                "top": {
+                    "type": "opencv",
+                    "configuration": {
+                        "fps": 120,
+                        "width": 640,
+                        "height": 480,
+                        "index_or_path": "/dev/top",
+                        "color_mode": "rgb",
+                        "rotation": 0,
+                        "warmup_s": 1,
+                        "fourcc": "MJPG"
+                    },
+                    "runtime": {
+                        "width": 640,
+                        "height": 480,
+                        "capture_width": 640,
+                        "capture_height": 480,
+                        "fps": 120.10136452241716,
+                        "backend": "V4L2",
+                        "fourcc": "MJPG"
+                    },
+                    "v4l2": {
+                        "available": true,
+                        "device": "/dev/top",
+                        "resolved_device": "/dev/video8",
+                        "controls": {
+                            "brightness": 5,
+                            "contrast": 30,
+                            "saturation": 60,
+                            "hue": 0,
+                            "white_balance_automatic": 1,
+                            "gamma": 130,
+                            "gain": 0,
+                            "power_line_frequency": 2,
+                            "white_balance_temperature": 4487,
+                            "sharpness": 0,
+                            "backlight_compensation": 1,
+                            "auto_exposure": 1,
+                            "exposure_time_absolute": 200,
+                            "exposure_dynamic_framerate": 0
+                        },
+                        "report": "Driver Info:\n\tDriver name      : uvcvideo\n\tCard type        : USB 2.0 Camera: HD USB Camera\n\tBus info         : usb-0000:80:14.0-9.1.4.1\n\tDriver version   : 6.8.12\n\tCapabilities     : 0x84a00001\n\t\tVideo Capture\n\t\tMetadata Capture\n\t\tStreaming\n\t\tExtended Pix Format\n\t\tDevice Capabilities\n\tDevice Caps      : 0x04200001\n\t\tVideo Capture\n\t\tStreaming\n\t\tExtended Pix Format\nMedia Driver Info:\n\tDriver name      : uvcvideo\n\tModel            : USB 2.0 Camera: HD USB Camera\n\tSerial           : \n\tBus info         : usb-0000:80:14.0-9.1.4.1\n\tMedia version    : 6.8.12\n\tHardware revision: 0x00000100 (256)\n\tDriver version   : 6.8.12\nInterface Info:\n\tID               : 0x03000002\n\tType             : V4L Video\nEntity Info:\n\tID               : 0x00000001 (1)\n\tName             : USB 2.0 Camera: HD USB Camera\n\tFunction         : V4L2 I/O\n\tFlags            : default\n\tPad 0x01000007   : 0: Sink\n\t  Link 0x02000010: from remote pad 0x100000a of entity 'Extension 3' (Video Pixel Formatter): Data, Enabled, Immutable\nPriority: 2\nVideo input : 0 (Camera 1: ok)\nFormat Video Capture:\n\tWidth/Height      : 640/480\n\tPixel Format      : 'MJPG' (Motion-JPEG)\n\tField             : None\n\tBytes per Line    : 0\n\tSize Image        : 614989\n\tColorspace        : sRGB\n\tTransfer Function : Rec. 709\n\tYCbCr/HSV Encoding: ITU-R 601\n\tQuantization      : Default (maps to Full Range)\n\tFlags             : \nCrop Capability Video Capture:\n\tBounds      : Left 0, Top 0, Width 640, Height 480\n\tDefault     : Left 0, Top 0, Width 640, Height 480\n\tPixel Aspect: 1/1\nSelection Video Capture: crop_default, Left 0, Top 0, Width 640, Height 480, Flags: \nSelection Video Capture: crop_bounds, Left 0, Top 0, Width 640, Height 480, Flags: \nStreaming Parameters Video Capture:\n\tCapabilities     : timeperframe\n\tFrames per second: 120.101 (61612/513)\n\tRead buffers     : 0\n\nUser Controls\n\n                     brightness 0x00980900 (int)    : min=-64 max=64 step=1 default=0 value=5\n                       contrast 0x00980901 (int)    : min=0 max=64 step=1 default=32 value=30\n                     saturation 0x00980902 (int)    : min=0 max=128 step=1 default=60 value=60\n                            hue 0x00980903 (int)    : min=-40 max=40 step=1 default=0 value=0\n        white_balance_automatic 0x0098090c (bool)   : default=1 value=1\n                          gamma 0x00980910 (int)    : min=72 max=500 step=1 default=100 value=130\n                           gain 0x00980913 (int)    : min=0 max=100 step=1 default=0 value=0\n           power_line_frequency 0x00980918 (menu)   : min=0 max=2 default=1 value=2 (60 Hz)\n\t\t\t\t0: Disabled\n\t\t\t\t1: 50 Hz\n\t\t\t\t2: 60 Hz\n      white_balance_temperature 0x0098091a (int)    : min=2800 max=6500 step=1 default=4600 value=4487 flags=inactive\n                      sharpness 0x0098091b (int)    : min=0 max=6 step=1 default=2 value=0\n         backlight_compensation 0x0098091c (int)    : min=0 max=2 step=1 default=1 value=1\n\nCamera Controls\n\n                  auto_exposure 0x009a0901 (menu)   : min=0 max=3 default=3 value=1 (Manual Mode)\n\t\t\t\t1: Manual Mode\n\t\t\t\t3: Aperture Priority Mode\n         exposure_time_absolute 0x009a0902 (int)    : min=1 max=5000 step=1 default=157 value=200\n     exposure_dynamic_framerate 0x009a0903 (bool)   : default=0 value=0"
+                    }
+                },
+                "realsense": {
+                    "type": "intelrealsense",
+                    "configuration": {
+                        "fps": 30,
+                        "width": 640,
+                        "height": 480,
+                        "serial_number_or_name": "348122071313",
+                        "color_mode": "rgb",
+                        "use_depth": false,
+                        "rotation": 0,
+                        "warmup_s": 1
+                    }
+                }
+            }
         }
     ]
 }

meta/episodes/chunk-000/file-004.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25177fcfebcc2cadfbddfddd64c62b600be532fb29f0eeb168d6cd07c8d3ad39
+size 160275

meta/episodes/chunk-000/file-005.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cb6658ac7828e78f4ecd9e05a49395c92975562aa3c2525737d6910a72994ed
+size 115293

meta/info.json

@@ -1,15 +1,15 @@
 {
     "codebase_version": "v3.0",
     "robot_type": "piper_follower",
-    "total_episodes": 65,
-    "total_frames": 27588,
+    "total_episodes": 100,
+    "total_frames": 46482,
     "total_tasks": 1,
     "chunks_size": 1000,
     "data_files_size_in_mb": 100,
     "video_files_size_in_mb": 500,
     "fps": 30,
     "splits": {
-        "train": "0:65"
+        "train": "0:100"
     },
     "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
     "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",

meta/stats.json

@@ -1,5 +1,5 @@
 {
-    "observation.images.top": {
+    "observation.images.realsense": {
         "min": [
             [
                 [
@@ -37,245 +37,287 @@
         "mean": [
             [
                 [
-                    0.18111004454441854
+                    0.25465081222353503
                 ]
             ],
             [
                 [
-                    0.18785165742437535
+                    0.26022716894402165
                 ]
             ],
             [
                 [
-                    0.18608784989708274
+                    0.25298875760135914
                 ]
             ]
         ],
         "std": [
             [
                 [
-                    0.008436060021163115
+                    0.020565989100106055
                 ]
             ],
             [
                 [
-                    0.010155623961998022
+                    0.027082376845521294
                 ]
             ],
             [
                 [
-                    0.00915000255404122
+                    0.019665933799570916
                 ]
             ]
         ],
         "count": [
-            6773
+            10705
         ],
         "q01": [
             [
                 [
-                    0.04641073633524599
+                    0.02715608018387475
                 ]
             ],
             [
                 [
-                    0.054158340764996274
+                    0.01667858241171832
                 ]
             ],
             [
                 [
-                    0.052627339543132444
+                    0.019205572436785178
                 ]
             ]
         ],
         "q10": [
             [
                 [
-                    0.0601329686914222
+                    0.06306033055009064
                 ]
             ],
             [
                 [
-                    0.0680180447828855
+                    0.05685903265282886
                 ]
             ],
             [
                 [
-                    0.0694815745091851
+                    0.06413666736626011
                 ]
             ]
         ],
         "q50": [
             [
                 [
-                    0.1005132070223313
+                    0.15082205125332218
                 ]
             ],
             [
                 [
-                    0.1090604904932534
+                    0.16099091517615624
                 ]
             ],
             [
                 [
-                    0.11563128798990188
+                    0.16175922181743788
                 ]
             ]
         ],
         "q90": [
             [
                 [
-                    0.3779955895072294
+                    0.5011722837300753
                 ]
             ],
             [
                 [
-                    0.390182951916143
+                    0.5210217092389847
                 ]
             ],
             [
                 [
-                    0.37935390885426373
+                    0.5151935744488925
                 ]
             ]
         ],
         "q99": [
             [
                 [
-                    0.7855424627394023
+                    0.9991020003826097
                 ]
             ],
             [
                 [
-                    0.7455010691087981
+                    0.9998679573819319
                 ]
             ],
             [
                 [
-                    0.7197499356025994
+                    0.9800383129663034
                 ]
             ]
         ]
     },
-    "task_index": {
+    "index": {
         "min": [
             0
         ],
         "max": [
+            46481
+        ],
+        "mean": [
+            23240.5
+        ],
+        "std": [
+            13418.197603130857
+        ],
+        "count": [
+            46482
+        ],
+        "q01": [
+            22998.023555453285
+        ],
+        "q10": [
+            23042.49841931578
+        ],
+        "q50": [
+            23240.265325777727
+        ],
+        "q90": [
+            23438.42957534881
+        ],
+        "q99": [
+            23482.97644454672
+        ]
+    },
+    "frame_index": {
+        "min": [
             0
         ],
+        "max": [
+            1011
+        ],
         "mean": [
-            0.0
+            246.9753237812487
         ],
         "std": [
-            0.0
+            161.21844471845804
         ],
         "count": [
-            27588
+            46482
         ],
         "q01": [
-            3.999999999999419e-16
+            4.498879234530268
         ],
         "q10": [
-            3.999999999999416e-15
+            48.973743097032695
         ],
         "q50": [
-            1.999999999999709e-14
+            246.71874518308155
         ],
         "q90": [
-            3.599999999999476e-14
+            444.9048991300659
         ],
         "q99": [
-            3.9599999999994235e-14
+            489.45176832796705
         ]
     },
-    "observation.state": {
+    "episode_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            99
+        ],
+        "mean": [
+            50.9864033389269
+        ],
+        "std": [
+            30.378995753044844
+        ],
+        "count": [
+            46482
+        ],
+        "q01": [
+            50.9864033389269
+        ],
+        "q10": [
+            50.9864033389269
+        ],
+        "q50": [
+            50.9864033389269
+        ],
+        "q90": [
+            50.98640333892692
+        ],
+        "q99": [
+            50.98640333892692
+        ]
+    },
+    "timestamp": {
         "min": [
-            -12498.3359375,
-            -178.0902862548828,
-            -104475.96875,
-            -37250.8828125,
-            -71522.2578125,
-            -113087.328125,
             0.0
         ],
         "max": [
-            91873.578125,
-            131162.5,
-            215.1090545654297,
-            103289.3671875,
-            46638.64453125,
-            39274.91015625,
-            200000000.0
+            33.7
         ],
         "mean": [
-            50380.29806763244,
-            84393.61294539293,
-            -56558.73671184029,
-            63945.18671472878,
-            -39575.149278487836,
-            -44793.99322452242,
-            50708.29882175334
+            8.232510792708293
         ],
         "std": [
-            30633.012347904292,
-            42542.445954315874,
-            32994.923184094696,
-            39660.42318456821,
-            30976.784958175074,
-            30635.03614885953,
-            1204477.4594480323
+            5.373948157281931
         ],
         "count": [
-            27588
+            46482
         ],
         "q01": [
-            1906.0167143425904,
-            9013.764475935299,
-            -86908.50646868642,
-            -2146.4443688998026,
-            -69650.40166014389,
-            -81208.07454703016,
-            240.5614327795719
+            0.1499626410560903
         ],
         "q10": [
-            4664.863580268646,
-            17370.86167169125,
-            -86632.15319848606,
-            4928.681256531216,
-            -67525.99143937415,
-            -70568.74806017354,
-            349.3018128726532
+            1.6324581031569092
         ],
         "q50": [
-            65099.22987141697,
-            104453.8676156732,
-            -72590.36603417758,
-            86704.5899507209,
-            -56858.081695272194,
-            -60827.91713394922,
-            31425.677673319333
+            8.224598435236476
         ],
         "q90": [
-            80974.5913968739,
-            122195.9318757028,
-            -4886.286350894253,
-            98497.62226406737,
-            6144.391821604549,
-            1999.65130810877,
-            95358.03902681895
+            14.83016330441301
         ],
         "q99": [
-            84018.76163875728,
-            122499.87618218879,
-            -1304.8780533332372,
-            99616.13736814006,
-            16644.05340052444,
-            10801.093737556095,
-            96393.0606017318
+            16.315058944360484
         ]
     },
-    "observation.images.realsense": {
+    "task_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            46482
+        ],
+        "q01": [
+            3.999999999999417e-16
+        ],
+        "q10": [
+            3.999999999999416e-15
+        ],
+        "q50": [
+            1.9999999999997094e-14
+        ],
+        "q90": [
+            3.599999999999474e-14
+        ],
+        "q99": [
+            3.9599999999994203e-14
+        ]
+    },
+    "observation.images.r_wrist": {
         "min": [
             [
                 [
@@ -313,127 +355,299 @@
         "mean": [
             [
                 [
-                    0.245002677845955
+                    0.1437790399773485
                 ]
             ],
             [
                 [
-                    0.24783246760734912
+                    0.1585707351491118
                 ]
             ],
             [
                 [
-                    0.24925601385233956
+                    0.1471939859397752
                 ]
             ]
         ],
         "std": [
             [
                 [
-                    0.02026374952709686
+                    0.009768976715029508
                 ]
             ],
             [
                 [
-                    0.026959714173405327
+                    0.009310140641147508
                 ]
             ],
             [
                 [
-                    0.023640550208293077
+                    0.00909601225038154
                 ]
             ]
         ],
         "count": [
-            6773
+            10705
         ],
         "q01": [
             [
                 [
-                    0.027548908173456236
+                    0.043371848401355835
                 ]
             ],
             [
                 [
-                    0.017157573656306456
+                    0.06013016933776541
                 ]
             ],
             [
                 [
-                    0.02766734863302971
+                    0.04494603584344405
                 ]
             ]
         ],
         "q10": [
             [
                 [
-                    0.06295830345603481
+                    0.05413545683038147
                 ]
             ],
             [
                 [
-                    0.05553529772453827
+                    0.07071171746488225
                 ]
             ],
             [
                 [
-                    0.07145922015872545
+                    0.05753207682357246
                 ]
             ]
         ],
         "q50": [
             [
                 [
-                    0.14495053376896877
+                    0.08064333001497588
                 ]
             ],
             [
                 [
-                    0.1505558120979565
+                    0.0946791776428939
                 ]
             ],
             [
                 [
-                    0.15936744015908424
+                    0.08536564065487262
                 ]
             ]
         ],
         "q90": [
             [
                 [
-                    0.4878713006147086
+                    0.3559734641641411
                 ]
             ],
             [
                 [
-                    0.5030159212435471
+                    0.36639889913993023
                 ]
             ],
             [
                 [
-                    0.5050313059020334
+                    0.34004774557073314
                 ]
             ]
         ],
         "q99": [
             [
                 [
-                    0.9986505983149498
+                    0.5879842979892799
                 ]
             ],
             [
                 [
-                    0.9998494744395893
+                    0.5844459781151339
                 ]
             ],
             [
                 [
-                    0.9706926437613881
+                    0.5888492245228708
                 ]
             ]
         ]
     },
-    "observation.images.r_wrist": {
+    "action": {
+        "min": [
+            -0.21868975460529327,
+            -0.034911125898361206,
+            -1.8223506212234497,
+            -0.6484338045120239,
+            -1.3081066608428955,
+            -1.9724799394607544,
+            -0.0003000000142492354
+        ],
+        "max": [
+            1.6021947860717773,
+            2.287515878677368,
+            0.03896177560091019,
+            1.7962230443954468,
+            0.8122503757476807,
+            0.6973692774772644,
+            0.10589999705553055
+        ],
+        "mean": [
+            0.8915900993529772,
+            1.4663129812504412,
+            -1.0072476052872712,
+            1.1451690493077895,
+            -0.6928315019552147,
+            -0.785235639719415,
+            0.041909192632180924
+        ],
+        "std": [
+            0.5249386860586637,
+            0.7651668169766821,
+            0.5808631862137338,
+            0.6917596890907053,
+            0.5348016535245437,
+            0.5161577196901701,
+            0.043162533031114364
+        ],
+        "count": [
+            46482
+        ],
+        "q01": [
+            0.060508017108667364,
+            0.10858449808774245,
+            -1.5580216547481718,
+            -0.0013933440212626886,
+            -1.2355544683943627,
+            -1.3666549296589485,
+            8.904941313903188e-05
+        ],
+        "q10": [
+            0.09583122547560186,
+            0.2333374764227516,
+            -1.5515705116593765,
+            0.09514291053294709,
+            -1.1676090892089734,
+            -1.1999624331599508,
+            0.00011957335252745386
+        ],
+        "q50": [
+            1.1508879782195913,
+            1.860600828074744,
+            -1.274747778793695,
+            1.5634469231336967,
+            -1.0008964477398554,
+            -1.068402949456689,
+            0.019001764601653315
+        ],
+        "q90": [
+            1.4065108836098055,
+            2.147742670729258,
+            -0.0676520153649167,
+            1.7377424281673288,
+            0.11691485643761336,
+            0.009188568024219437,
+            0.09933033486571598
+        ],
+        "q99": [
+            1.4659948305764388,
+            2.1524092264581047,
+            0.001310223964724257,
+            1.7579855282753698,
+            0.2777595267486088,
+            0.15621277469543177,
+            0.0998807179815543
+        ]
+    },
+    "observation.state": {
+        "min": [
+            -12498.3359375,
+            -193.09788513183594,
+            -104475.96875,
+            -37250.8828125,
+            -71522.2578125,
+            -113087.328125,
+            0.0
+        ],
+        "max": [
+            91873.578125,
+            131162.5,
+            215.1090545654297,
+            103289.3671875,
+            46638.64453125,
+            39274.91015625,
+            200000000.0
+        ],
+        "mean": [
+            51224.48776609763,
+            84103.3858647568,
+            -57912.08686897616,
+            65307.96031923312,
+            -39845.30389808992,
+            -45396.722261944116,
+            49568.78243048046
+        ],
+        "std": [
+            29973.060598917647,
+            43716.651015509146,
+            33014.92325800945,
+            39139.55861458068,
+            30171.77804483065,
+            29365.70612097379,
+            928274.1444985376
+        ],
+        "count": [
+            46482
+        ],
+        "q01": [
+            3491.3279225821966,
+            6736.090298243444,
+            -89294.63386913204,
+            -52.54123545026049,
+            -68775.74720814168,
+            -78327.91416302032,
+            215.00977170294522
+        ],
+        "q10": [
+            5717.867174359787,
+            13805.02414608621,
+            -88934.4956432163,
+            5774.4918896207,
+            -66188.1511468056,
+            -68864.74369076932,
+            285.46304015927274
+        ],
+        "q50": [
+            65955.2510974052,
+            106632.90908590269,
+            -73027.86462096227,
+            89120.0628605991,
+            -57431.855040275404,
+            -61318.437431074955,
+            31944.845706422704
+        ],
+        "q90": [
+            80635.03813034102,
+            123111.32678527593,
+            -4392.521497994219,
+            98369.47186532975,
+            6226.584887813709,
+            349.45505911428774,
+            96572.60620082483
+        ],
+        "q99": [
+            84017.51739491172,
+            123371.54628485256,
+            -1114.086479517706,
+            99328.19911143492,
+            15324.359464062178,
+            8934.44884321997,
+            97190.06006264879
+        ]
+    },
+    "observation.images.top": {
         "min": [
             [
                 [
@@ -471,338 +685,124 @@
         "mean": [
             [
                 [
-                    0.14514928628570387
+                    0.18678422572983738
                 ]
             ],
             [
                 [
-                    0.16040248375421823
+                    0.1925049968251352
                 ]
             ],
             [
                 [
-                    0.1477887298990416
+                    0.1922369984133309
                 ]
             ]
         ],
         "std": [
             [
                 [
-                    0.01054495635669291
+                    0.010167559889835006
                 ]
             ],
             [
                 [
-                    0.009514727930550002
+                    0.010286174301125018
                 ]
             ],
             [
                 [
-                    0.009671471233911233
+                    0.011025574109278983
                 ]
             ]
         ],
         "count": [
-            6773
+            10705
         ],
         "q01": [
             [
                 [
-                    0.04545586861078513
+                    0.047678860406501676
                 ]
             ],
             [
                 [
-                    0.06310227680468398
+                    0.05450374726812442
                 ]
             ],
             [
                 [
-                    0.045024053428788964
+                    0.05344347979446849
                 ]
             ]
         ],
         "q10": [
             [
                 [
-                    0.05573585342621139
+                    0.06194083740671395
                 ]
             ],
             [
                 [
-                    0.07320423258732385
+                    0.0685639598478279
                 ]
             ],
             [
                 [
-                    0.057276892164021105
+                    0.0699664738623516
                 ]
             ]
         ],
         "q50": [
             [
                 [
-                    0.08106080459566446
+                    0.10367940081741432
                 ]
             ],
             [
                 [
-                    0.0964515573096113
+                    0.11265830287897656
                 ]
             ],
             [
                 [
-                    0.08554164137907008
+                    0.11996944665743353
                 ]
             ]
         ],
         "q90": [
             [
                 [
-                    0.35930887350634766
+                    0.38387979129495126
                 ]
             ],
             [
                 [
-                    0.36842621873703024
+                    0.3968683643156427
                 ]
             ],
             [
                 [
-                    0.3431476753485628
+                    0.39107732893087005
                 ]
             ]
         ],
         "q99": [
             [
                 [
-                    0.5954137801124892
+                    0.7995633560512604
                 ]
             ],
             [
                 [
-                    0.5930159322444216
+                    0.7500513753223378
                 ]
             ],
             [
                 [
-                    0.5988070903593109
+                    0.7345323534672354
                 ]
             ]
         ]
-    },
-    "frame_index": {
-        "min": [
-            0
-        ],
-        "max": [
-            1011
-        ],
-        "mean": [
-            228.5740176888503
-        ],
-        "std": [
-            157.19231516591088
-        ],
-        "count": [
-            27588
-        ],
-        "q01": [
-            4.124599474890911
-        ],
-        "q10": [
-            45.28455943010682
-        ],
-        "q50": [
-            228.34664899956496
-        ],
-        "q90": [
-            411.8081104263526
-        ],
-        "q99": [
-            453.02343590280947
-        ]
-    },
-    "episode_index": {
-        "min": [
-            0
-        ],
-        "max": [
-            64
-        ],
-        "mean": [
-            29.5656807307525
-        ],
-        "std": [
-            18.809434809338114
-        ],
-        "count": [
-            27588
-        ],
-        "q01": [
-            29.5656807307525
-        ],
-        "q10": [
-            29.565680730752504
-        ],
-        "q50": [
-            29.565680730752504
-        ],
-        "q90": [
-            29.565680730752522
-        ],
-        "q99": [
-            29.565680730752522
-        ]
-    },
-    "timestamp": {
-        "min": [
-            0.0
-        ],
-        "max": [
-            33.7
-        ],
-        "mean": [
-            7.619133922961684
-        ],
-        "std": [
-            5.239743838863691
-        ],
-        "count": [
-            27588
-        ],
-        "q01": [
-            0.1374866490680884
-        ],
-        "q10": [
-            1.509485314259359
-        ],
-        "q50": [
-            7.6119101631142945
-        ],
-        "q90": [
-            13.726937014289254
-        ],
-        "q99": [
-            15.100781196855255
-        ]
-    },
-    "action": {
-        "min": [
-            -0.21868975460529327,
-            -0.033661097288131714,
-            -1.8223506212234497,
-            -0.6484338045120239,
-            -1.3081066608428955,
-            -1.9724799394607544,
-            -9.999999747378752e-05
-        ],
-        "max": [
-            1.6021947860717773,
-            2.287515878677368,
-            0.03896177560091019,
-            1.7962230443954468,
-            0.8122503757476807,
-            0.6973692774772644,
-            0.10589999705553055
-        ],
-        "mean": [
-            0.8772874149949339,
-            1.4714977809125245,
-            -0.9836748200291151,
-            1.122291390025064,
-            -0.6911998545110649,
-            -0.772443889588554,
-            0.03974642289523723
-        ],
-        "std": [
-            0.5359343723887008,
-            0.7445869691421012,
-            0.5802023909208688,
-            0.702666470532743,
-            0.5485280872039766,
-            0.5391854184996455,
-            0.04308061094901338
-        ],
-        "count": [
-            27588
-        ],
-        "q01": [
-            0.03295555475437332,
-            0.14961319299777692,
-            -1.516177961009472,
-            -0.03794921569501569,
-            -1.2628738079549207,
-            -1.4164418832601622,
-            0.00015163086934216521
-        ],
-        "q10": [
-            0.07670190657136713,
-            0.29593315039071477,
-            -1.511293388705131,
-            0.07673309595122044,
-            -1.199007720309376,
-            -1.2286032326532426,
-            0.00020220907388836023
-        ],
-        "q50": [
-            1.1362951577817542,
-            1.822220383762745,
-            -1.2672254279368846,
-            1.5251265100046998,
-            -0.9912097501132978,
-            -1.0594170056761107,
-            0.01764755561401542
-        ],
-        "q90": [
-            1.412423571580393,
-            2.1316327555123133,
-            -0.0764741744401283,
-            1.7438395848229533,
-            0.1147573859408194,
-            0.040055340168078664,
-            0.09794329161240267
-        ],
-        "q99": [
-            1.4661365333313927,
-            2.1370952146463216,
-            -0.0017919904179527,
-            1.7665113761194748,
-            0.30027483844543246,
-            0.1896686124913605,
-            0.09884490844282023
-        ]
-    },
-    "index": {
-        "min": [
-            0
-        ],
-        "max": [
-            27587
-        ],
-        "mean": [
-            13793.5
-        ],
-        "std": [
-            7963.9696079698
-        ],
-        "count": [
-            27588
-        ],
-        "q01": [
-            13569.05058178604
-        ],
-        "q10": [
-            13610.210541741257
-        ],
-        "q50": [
-            13793.287830440775
-        ],
-        "q90": [
-            13976.7340927375
-        ],
-        "q99": [
-            14017.94941821396
-        ]
     }
 }

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

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a84350bf29969fa4e58c6dcffb6e32fa253554141ed632def698b463384b419a
-size 125550713
+oid sha256:87dc855c2735c3ecf58733e8d492bd30595dae5b07aab10b9691943a347ac4bd
+size 213802579

videos/observation.images.realsense/chunk-000/file-001.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:53ea29752069b87d573a5db77c144bac9234cc6710320f823575d536d71c61e1
-size 229675785
+oid sha256:21bf7a72eb5a0c641afe3ce4cf7b3390746d59e4ae44a7d44152336df4474e01
+size 516216642

videos/observation.images.realsense/chunk-000/file-002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f101dd9abc44f1be779115ab68c18618c3c3f4cc499d9a8745bf9e8fe671909
+size 242442088

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

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:02547173b2c6260f7919e12b6d349a0bbf3f666ce4ca5f5a7bd7424edda3bd6b
-size 205923309
+oid sha256:ee90534442e92381da3a21a9a0cdaf27f4ad35e0cf45b827c6175b6b06e90a96
+size 356604983