Hugging Face's logo

Datasets:
starry0929
/
rssr

Dataset card Files
xet
 Community
starry0929 commited on
Commit
45899db
·
verified ·
1 Parent(s): 25e357c

Add drawer_center_layout_100 (31 files)

Browse files
Files changed (31) hide show
  1. drawer_center_layout_100/draw/evidence/episode_000078.json +742 -0
  2. drawer_center_layout_100/draw/evidence/episode_000079.json +742 -0
  3. drawer_center_layout_100/draw/evidence/episode_000080.json +742 -0
  4. drawer_center_layout_100/draw/evidence/episode_000081.json +742 -0
  5. drawer_center_layout_100/draw/evidence/episode_000082.json +742 -0
  6. drawer_center_layout_100/draw/evidence/episode_000083.json +742 -0
  7. drawer_center_layout_100/draw/evidence/episode_000084.json +742 -0
  8. drawer_center_layout_100/draw/evidence/episode_000085.json +742 -0
  9. drawer_center_layout_100/draw/evidence/episode_000086.json +742 -0
  10. drawer_center_layout_100/draw/evidence/episode_000087.json +742 -0
  11. drawer_center_layout_100/draw/evidence/episode_000088.json +742 -0
  12. drawer_center_layout_100/draw/evidence/episode_000089.json +742 -0
  13. drawer_center_layout_100/draw/evidence/episode_000090.json +742 -0
  14. drawer_center_layout_100/draw/evidence/episode_000091.json +742 -0
  15. drawer_center_layout_100/draw/evidence/episode_000092.json +742 -0
  16. drawer_center_layout_100/draw/evidence/episode_000093.json +742 -0
  17. drawer_center_layout_100/draw/evidence/episode_000094.json +742 -0
  18. drawer_center_layout_100/draw/evidence/episode_000095.json +742 -0
  19. drawer_center_layout_100/draw/evidence/episode_000096.json +742 -0
  20. drawer_center_layout_100/draw/evidence/episode_000097.json +742 -0
  21. drawer_center_layout_100/draw/evidence/episode_000098.json +742 -0
  22. drawer_center_layout_100/draw/evidence/episode_000099.json +742 -0
  23. drawer_center_layout_100/draw/manifest.json +26 -0
  24. drawer_center_layout_100/draw/meta/episodes.jsonl +100 -0
  25. drawer_center_layout_100/draw/meta/episodes_stats.jsonl +0 -0
  26. drawer_center_layout_100/draw/meta/info.json +345 -0
  27. drawer_center_layout_100/draw/meta/source_cases.jsonl +0 -0
  28. drawer_center_layout_100/draw/meta/stats.json +684 -0
  29. drawer_center_layout_100/draw/meta/tasks.jsonl +1 -0
  30. drawer_center_layout_100/draw/official_reader_receipt.json +8 -0
  31. drawer_center_layout_100/manifest.json +2047 -0
drawer_center_layout_100/draw/evidence/episode_000078.json ADDED
@@ -0,0 +1,742 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_index": 78,
3
+ "length": 450,
4
+ "tasks": [
5
+ "Put_the_block_in_the_drawer."
6
+ ],
7
+ "stats": {
8
+ "observation.state": {
9
+ "min": [
10
+ 0.5173289179801941,
11
+ -0.8005717396736145,
12
+ 0.2798028588294983,
13
+ 0.016859259456396103,
14
+ 0.009002665057778358,
15
+ 0.9799561500549316,
16
+ -0.2004868984222412,
17
+ -0.1560087502002716,
18
+ -1.1766616106033325,
19
+ 0.8539764285087585,
20
+ -0.5823656916618347,
21
+ 0.14776666462421417,
22
+ 0.06507611274719238,
23
+ 0.01913643069565296,
24
+ 0.01913740113377571,
25
+ -0.4890078902244568,
26
+ 0.019136779010295868,
27
+ -0.48933443427085876,
28
+ 0.019137507304549217,
29
+ -0.05744754150509834,
30
+ -0.250505268573761,
31
+ 0.32571229338645935,
32
+ 0.8635008931159973,
33
+ -0.7628068923950195,
34
+ -0.3742865025997162,
35
+ -0.5758466720581055,
36
+ 0.07779449224472046,
37
+ 0.07779281586408615,
38
+ -0.8001400828361511,
39
+ 0.07772713154554367,
40
+ -0.8003784418106079,
41
+ 0.07773306220769882
42
+ ],
43
+ "max": [
44
+ 0.5175660252571106,
45
+ -0.8003271818161011,
46
+ 0.28027990460395813,
47
+ 0.017620189115405083,
48
+ 0.009011330083012581,
49
+ 0.9800328016281128,
50
+ -0.027001406997442245,
51
+ 0.06272932142019272,
52
+ -0.9631423950195312,
53
+ 1.7133153676986694,
54
+ -0.40766072273254395,
55
+ 0.6318866610527039,
56
+ 0.3769471049308777,
57
+ 0.48900800943374634,
58
+ 0.4893284738063812,
59
+ -0.019137054681777954,
60
+ 0.4890093207359314,
61
+ -0.01913733035326004,
62
+ 0.4890093505382538,
63
+ 0.6046965718269348,
64
+ -0.017204679548740387,
65
+ 1.1057521104812622,
66
+ 1.4455703496932983,
67
+ 0.5862753391265869,
68
+ 0.35544493794441223,
69
+ -0.15013353526592255,
70
+ 0.8001396656036377,
71
+ 0.8003675937652588,
72
+ -0.07779484987258911,
73
+ 0.8001548051834106,
74
+ -0.0776885524392128,
75
+ 0.8001551628112793
76
+ ],
77
+ "mean": [
78
+ 0.5174531506167518,
79
+ -0.8004516892962985,
80
+ 0.2800363720787896,
81
+ 0.01733847545252906,
82
+ 0.009007098256713815,
83
+ 0.9799998565514882,
84
+ -0.13371065691527392,
85
+ -0.06431014049770763,
86
+ -1.028064638906055,
87
+ 1.4356511798169878,
88
+ -0.4716779198911455,
89
+ 0.3385083190931214,
90
+ 0.3079373922281795,
91
+ 0.2253277240569393,
92
+ 0.22544415556308295,
93
+ -0.22532772708684207,
94
+ 0.2253282284612457,
95
+ -0.22544536132365464,
96
+ 0.22532837454643515,
97
+ 0.42556499833137623,
98
+ -0.13107192945977053,
99
+ 0.5233666692177454,
100
+ 1.1109556455082363,
101
+ -0.5205381546335088,
102
+ -0.06191258170182765,
103
+ -0.47491783406999377,
104
+ 0.41552534437841837,
105
+ 0.41562088095479544,
106
+ -0.4155252082149188,
107
+ 0.41553174273835286,
108
+ -0.4156065506239732,
109
+ 0.4155322634677092
110
+ ],
111
+ "std": [
112
+ 4.560498502882794e-05,
113
+ 4.564505401262308e-05,
114
+ 0.00012268516248228734,
115
+ 0.00020114167763849054,
116
+ 5.314880741818306e-07,
117
+ 4.101555503402407e-06,
118
+ 0.06319483848668302,
119
+ 0.0515994593836132,
120
+ 0.039733248083607786,
121
+ 0.27127046754350537,
122
+ 0.044703717763790084,
123
+ 0.18277163082710626,
124
+ 0.06178872994001423,
125
+ 0.21542591222883806,
126
+ 0.21556767798145948,
127
+ 0.2154258204931716,
128
+ 0.21542627850758056,
129
+ 0.2155697013868305,
130
+ 0.21542629910084704,
131
+ 0.16987118851106717,
132
+ 0.07970385763437368,
133
+ 0.19889243301444434,
134
+ 0.222580046055176,
135
+ 0.34180265034666374,
136
+ 0.22058509532473877,
137
+ 0.12730238810502756,
138
+ 0.3400811833478838,
139
+ 0.34018423792772373,
140
+ 0.34008095682818446,
141
+ 0.3400887671339608,
142
+ 0.34019412775706953,
143
+ 0.3400888356804487
144
+ ],
145
+ "count": [
146
+ 450
147
+ ]
148
+ },
149
+ "action": {
150
+ "min": [
151
+ 0.5174471735954285,
152
+ -0.8004457950592041,
153
+ 0.009007098153233528,
154
+ 0.9800000190734863,
155
+ 0.2799195647239685,
156
+ 0.017286056652665138,
157
+ -0.2004810869693756,
158
+ -0.15014035999774933,
159
+ -1.176558017730713,
160
+ 0.8540637493133545,
161
+ -0.5823277831077576,
162
+ 0.14781247079372406,
163
+ 0.06530871987342834,
164
+ 0.019999999552965164,
165
+ -0.057363077998161316,
166
+ -0.28032463788986206,
167
+ 0.35064008831977844,
168
+ 0.8679882287979126,
169
+ -0.7620828747749329,
170
+ -0.3795031011104584,
171
+ -0.5794954299926758,
172
+ 0.07999999821186066
173
+ ],
174
+ "max": [
175
+ 0.5174471735954285,
176
+ -0.8004457950592041,
177
+ 0.009007098153233528,
178
+ 0.9800000190734863,
179
+ 0.2799195647239685,
180
+ 0.017286056652665138,
181
+ -0.028631487861275673,
182
+ 0.06267600506544113,
183
+ -0.9641432762145996,
184
+ 1.7132294178009033,
185
+ -0.40763193368911743,
186
+ 0.6321556568145752,
187
+ 0.3769376277923584,
188
+ 0.4950079917907715,
189
+ 0.6515949964523315,
190
+ -0.002050671260803938,
191
+ 1.1056675910949707,
192
+ 1.4454175233840942,
193
+ 0.586101233959198,
194
+ 0.35543811321258545,
195
+ -0.15016160905361176,
196
+ 0.8061396479606628
197
+ ],
198
+ "mean": [
199
+ 0.5174471735954285,
200
+ -0.8004457950592041,
201
+ 0.009007098153233528,
202
+ 0.9800000190734863,
203
+ 0.2799195647239685,
204
+ 0.017286056652665138,
205
+ -0.13454076134910187,
206
+ -0.06424901418931162,
207
+ -1.0282736464341482,
208
+ 1.435791989432441,
209
+ -0.47166020260916813,
210
+ 0.33865444590648014,
211
+ 0.3079034520023399,
212
+ 0.22745621853404574,
213
+ 0.4381580733295737,
214
+ -0.1394052842963073,
215
+ 0.5357054046789805,
216
+ 1.1113645613193512,
217
+ -0.520416965501176,
218
+ -0.06371783332226591,
219
+ -0.47685559170113667,
220
+ 0.4179118506279257
221
+ ],
222
+ "std": [
223
+ 0.0,
224
+ 0.0,
225
+ 0.0,
226
+ 0.0,
227
+ 0.0,
228
+ 0.0,
229
+ 0.06232630007532456,
230
+ 0.05113070161291684,
231
+ 0.03950541889717649,
232
+ 0.2711863558451095,
233
+ 0.044720634430196304,
234
+ 0.18295185353396845,
235
+ 0.06182956018308329,
236
+ 0.21807740809179266,
237
+ 0.17558307354355593,
238
+ 0.09424117243942604,
239
+ 0.19065988127732691,
240
+ 0.22192461318671614,
241
+ 0.3415999035187662,
242
+ 0.22277563055000102,
243
+ 0.12853646065454205,
244
+ 0.3427487838489147
245
+ ],
246
+ "count": [
247
+ 450
248
+ ]
249
+ },
250
+ "timestamp": {
251
+ "min": [
252
+ 0.0
253
+ ],
254
+ "max": [
255
+ 14.966666221618652
256
+ ],
257
+ "mean": [
258
+ 7.48333333350718
259
+ ],
260
+ "std": [
261
+ 4.3301163254484205
262
+ ],
263
+ "count": [
264
+ 450
265
+ ]
266
+ },
267
+ "frame_index": {
268
+ "min": [
269
+ 0.0
270
+ ],
271
+ "max": [
272
+ 449.0
273
+ ],
274
+ "mean": [
275
+ 224.5
276
+ ],
277
+ "std": [
278
+ 129.90348981712026
279
+ ],
280
+ "count": [
281
+ 450
282
+ ]
283
+ },
284
+ "episode_index": {
285
+ "min": [
286
+ 78.0
287
+ ],
288
+ "max": [
289
+ 78.0
290
+ ],
291
+ "mean": [
292
+ 78.0
293
+ ],
294
+ "std": [
295
+ 0.0
296
+ ],
297
+ "count": [
298
+ 450
299
+ ]
300
+ },
301
+ "index": {
302
+ "min": [
303
+ 35100.0
304
+ ],
305
+ "max": [
306
+ 35549.0
307
+ ],
308
+ "mean": [
309
+ 35324.5
310
+ ],
311
+ "std": [
312
+ 129.90348981712026
313
+ ],
314
+ "count": [
315
+ 450
316
+ ]
317
+ },
318
+ "task_index": {
319
+ "min": [
320
+ 0.0
321
+ ],
322
+ "max": [
323
+ 0.0
324
+ ],
325
+ "mean": [
326
+ 0.0
327
+ ],
328
+ "std": [
329
+ 0.0
330
+ ],
331
+ "count": [
332
+ 450
333
+ ]
334
+ },
335
+ "physical_index": {
336
+ "min": [
337
+ 78.0
338
+ ],
339
+ "max": [
340
+ 78.0
341
+ ],
342
+ "mean": [
343
+ 78.0
344
+ ],
345
+ "std": [
346
+ 0.0
347
+ ],
348
+ "count": [
349
+ 450
350
+ ]
351
+ },
352
+ "source_case_index": {
353
+ "min": [
354
+ 48.0
355
+ ],
356
+ "max": [
357
+ 48.0
358
+ ],
359
+ "mean": [
360
+ 48.0
361
+ ],
362
+ "std": [
363
+ 0.0
364
+ ],
365
+ "count": [
366
+ 450
367
+ ]
368
+ },
369
+ "appearance_index": {
370
+ "min": [
371
+ 0.0
372
+ ],
373
+ "max": [
374
+ 0.0
375
+ ],
376
+ "mean": [
377
+ 0.0
378
+ ],
379
+ "std": [
380
+ 0.0
381
+ ],
382
+ "count": [
383
+ 450
384
+ ]
385
+ },
386
+ "physical_query_time_s": {
387
+ "min": [
388
+ 0.0
389
+ ],
390
+ "max": [
391
+ 14.965000000006798
392
+ ],
393
+ "mean": [
394
+ 7.483329629629644
395
+ ],
396
+ "std": [
397
+ 4.330109927180601
398
+ ],
399
+ "count": [
400
+ 450
401
+ ]
402
+ },
403
+ "state_time_s": {
404
+ "min": [
405
+ 0.0
406
+ ],
407
+ "max": [
408
+ 14.965000000006798
409
+ ],
410
+ "mean": [
411
+ 7.48001111111215
412
+ ],
413
+ "std": [
414
+ 4.330119275994038
415
+ ],
416
+ "count": [
417
+ 450
418
+ ]
419
+ },
420
+ "command_time_s": {
421
+ "min": [
422
+ 0.0
423
+ ],
424
+ "max": [
425
+ 14.965000000006798
426
+ ],
427
+ "mean": [
428
+ 7.48001111111215
429
+ ],
430
+ "std": [
431
+ 4.330119275994038
432
+ ],
433
+ "count": [
434
+ 450
435
+ ]
436
+ },
437
+ "state_source_index": {
438
+ "min": [
439
+ 0.0
440
+ ],
441
+ "max": [
442
+ 1497.0
443
+ ],
444
+ "mean": [
445
+ 748.0022222222223
446
+ ],
447
+ "std": [
448
+ 433.01384888753273
449
+ ],
450
+ "count": [
451
+ 450
452
+ ]
453
+ },
454
+ "command_source_index": {
455
+ "min": [
456
+ 0.0
457
+ ],
458
+ "max": [
459
+ 29930.0
460
+ ],
461
+ "mean": [
462
+ 14960.022222222222
463
+ ],
464
+ "std": [
465
+ 8660.238551984809
466
+ ],
467
+ "count": [
468
+ 450
469
+ ]
470
+ },
471
+ "observation.images.cam_high": {
472
+ "mean": [
473
+ [
474
+ [
475
+ 0.3272212838260304
476
+ ]
477
+ ],
478
+ [
479
+ [
480
+ 0.3222021089685875
481
+ ]
482
+ ],
483
+ [
484
+ [
485
+ 0.3134932793429872
486
+ ]
487
+ ]
488
+ ],
489
+ "std": [
490
+ [
491
+ [
492
+ 0.31592082962738655
493
+ ]
494
+ ],
495
+ [
496
+ [
497
+ 0.3110184738662029
498
+ ]
499
+ ],
500
+ [
501
+ [
502
+ 0.30413366835789163
503
+ ]
504
+ ]
505
+ ],
506
+ "min": [
507
+ [
508
+ [
509
+ 0.0
510
+ ]
511
+ ],
512
+ [
513
+ [
514
+ 0.0
515
+ ]
516
+ ],
517
+ [
518
+ [
519
+ 0.0
520
+ ]
521
+ ]
522
+ ],
523
+ "max": [
524
+ [
525
+ [
526
+ 0.8470588235294118
527
+ ]
528
+ ],
529
+ [
530
+ [
531
+ 0.8470588235294118
532
+ ]
533
+ ],
534
+ [
535
+ [
536
+ 0.8470588235294118
537
+ ]
538
+ ]
539
+ ],
540
+ "count": [
541
+ 100
542
+ ]
543
+ },
544
+ "observation.images.cam_left_wrist": {
545
+ "mean": [
546
+ [
547
+ [
548
+ 0.33207681510104037
549
+ ]
550
+ ],
551
+ [
552
+ [
553
+ 0.32293737729466787
554
+ ]
555
+ ],
556
+ [
557
+ [
558
+ 0.31519185564850943
559
+ ]
560
+ ]
561
+ ],
562
+ "std": [
563
+ [
564
+ [
565
+ 0.3194065997556744
566
+ ]
567
+ ],
568
+ [
569
+ [
570
+ 0.31045534409435943
571
+ ]
572
+ ],
573
+ [
574
+ [
575
+ 0.3026929871458409
576
+ ]
577
+ ]
578
+ ],
579
+ "min": [
580
+ [
581
+ [
582
+ 0.0
583
+ ]
584
+ ],
585
+ [
586
+ [
587
+ 0.0
588
+ ]
589
+ ],
590
+ [
591
+ [
592
+ 0.0
593
+ ]
594
+ ]
595
+ ],
596
+ "max": [
597
+ [
598
+ [
599
+ 0.9647058823529412
600
+ ]
601
+ ],
602
+ [
603
+ [
604
+ 1.0
605
+ ]
606
+ ],
607
+ [
608
+ [
609
+ 0.9921568627450981
610
+ ]
611
+ ]
612
+ ],
613
+ "count": [
614
+ 100
615
+ ]
616
+ },
617
+ "observation.images.cam_right_wrist": {
618
+ "mean": [
619
+ [
620
+ [
621
+ 0.35913257959433775
622
+ ]
623
+ ],
624
+ [
625
+ [
626
+ 0.35246927442852144
627
+ ]
628
+ ],
629
+ [
630
+ [
631
+ 0.3409497267657063
632
+ ]
633
+ ]
634
+ ],
635
+ "std": [
636
+ [
637
+ [
638
+ 0.35400240641296254
639
+ ]
640
+ ],
641
+ [
642
+ [
643
+ 0.3473369574871036
644
+ ]
645
+ ],
646
+ [
647
+ [
648
+ 0.33649168090909554
649
+ ]
650
+ ]
651
+ ],
652
+ "min": [
653
+ [
654
+ [
655
+ 0.0
656
+ ]
657
+ ],
658
+ [
659
+ [
660
+ 0.0
661
+ ]
662
+ ],
663
+ [
664
+ [
665
+ 0.0
666
+ ]
667
+ ]
668
+ ],
669
+ "max": [
670
+ [
671
+ [
672
+ 0.9372549019607843
673
+ ]
674
+ ],
675
+ [
676
+ [
677
+ 0.9764705882352941
678
+ ]
679
+ ],
680
+ [
681
+ [
682
+ 0.9647058823529412
683
+ ]
684
+ ]
685
+ ],
686
+ "count": [
687
+ 100
688
+ ]
689
+ }
690
+ },
691
+ "provenance": {
692
+ "task": "Put_the_block_in_the_drawer.",
693
+ "case_id": "drawer_center_train_078",
694
+ "visual_side": "center",
695
+ "split": "train",
696
+ "sampler_index": 78,
697
+ "block_center_xy_m": [
698
+ 0.2180030548571753,
699
+ -0.4920723308224326
700
+ ],
701
+ "cabinet_center_xy_m": [
702
+ 0.006479999999999986,
703
+ -0.7450947521865888
704
+ ],
705
+ "spec": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_spec_20261101_attempt_01",
706
+ "spec_scene_sha256": "6a5f0717d01020d68c76825965f8a8cd6d3aac2a370f497ca853221a551a8924",
707
+ "native": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_078/attempt_01/native",
708
+ "native_receipt_sha256": "b5a40f8a6245207eddedee73ce8bcbe25a2c4094bff72cbdec036763cea93573",
709
+ "batch_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_078/attempt_01",
710
+ "render_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_078/attempt_01",
711
+ "source": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_078/attempt_01/source",
712
+ "source_metadata_sha256": "7b80c5de65e2b47ab1b62e7cdd8d16b0d7b813b4859282f90ac812ed2122a7b8",
713
+ "camera_order": [
714
+ "head_rgbd",
715
+ "left_wrist_rgbd",
716
+ "right_wrist_rgbd"
717
+ ],
718
+ "camera_mounts": "astribot_sdk_nominal_image_up",
719
+ "controller": "rssr.drawer.center_layout.v1",
720
+ "handle_hand": "right",
721
+ "payload_hand": "left",
722
+ "drawer_closer": "right (handle hand)"
723
+ },
724
+ "files": {
725
+ "data/chunk-000/episode_000078.parquet": {
726
+ "sha256": "a050f51adeb6319ea3c8af43f1bd8adf3b2493e7b0f70c203fd0d15dfb694262",
727
+ "bytes": 125718
728
+ },
729
+ "videos/chunk-000/observation.images.cam_high/episode_000078.mp4": {
730
+ "sha256": "7bf7f5f57d8430bcd5325a58f551e42146f289fe1bf10cffc5801e1948370b75",
731
+ "bytes": 108753
732
+ },
733
+ "videos/chunk-000/observation.images.cam_left_wrist/episode_000078.mp4": {
734
+ "sha256": "7254ed5924f11613b6e925277196a8cf218d2fbb9b80a66bf65f221d32d64469",
735
+ "bytes": 130169
736
+ },
737
+ "videos/chunk-000/observation.images.cam_right_wrist/episode_000078.mp4": {
738
+ "sha256": "34146814c52d08c49446059329aac3e3b791d8b259fc607b732da95bf7c0bcd1",
739
+ "bytes": 182084
740
+ }
741
+ }
742
+ }
drawer_center_layout_100/draw/evidence/episode_000079.json ADDED
@@ -0,0 +1,742 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_index": 79,
3
+ "length": 450,
4
+ "tasks": [
5
+ "Put_the_block_in_the_drawer."
6
+ ],
7
+ "stats": {
8
+ "observation.state": {
9
+ "min": [
10
+ 0.5173146724700928,
11
+ -0.8005615472793579,
12
+ 0.27978214621543884,
13
+ 0.016774682328104973,
14
+ 0.00899906363338232,
15
+ 0.9799073934555054,
16
+ -0.2080570012331009,
17
+ -0.16858012974262238,
18
+ -1.1766616106033325,
19
+ 0.9500728249549866,
20
+ -0.5851624011993408,
21
+ 0.09935209900140762,
22
+ 0.06507611274719238,
23
+ 0.019140945747494698,
24
+ 0.01914188452064991,
25
+ -0.48903027176856995,
26
+ 0.019141240045428276,
27
+ -0.48935654759407043,
28
+ 0.019141966477036476,
29
+ -0.05744754150509834,
30
+ -0.2830057144165039,
31
+ 0.33604270219802856,
32
+ 0.8828616738319397,
33
+ -0.7642385363578796,
34
+ -0.34673014283180237,
35
+ -0.5932500958442688,
36
+ 0.07920470088720322,
37
+ 0.07920960336923599,
38
+ -0.8008975982666016,
39
+ 0.07918830215930939,
40
+ -0.8011970520019531,
41
+ 0.07919055968523026
42
+ ],
43
+ "max": [
44
+ 0.5175629258155823,
45
+ -0.800312876701355,
46
+ 0.28035497665405273,
47
+ 0.017656687647104263,
48
+ 0.009014523588120937,
49
+ 0.9800630807876587,
50
+ 0.0036258057225495577,
51
+ 0.014637033455073833,
52
+ -0.9536535143852234,
53
+ 1.7312254905700684,
54
+ -0.4359348714351654,
55
+ 0.5892524123191833,
56
+ 0.3546536862850189,
57
+ 0.4890303909778595,
58
+ 0.48935067653656006,
59
+ -0.01914161443710327,
60
+ 0.4890317916870117,
61
+ -0.019141796976327896,
62
+ 0.4890318214893341,
63
+ 0.5883508324623108,
64
+ -0.03907732665538788,
65
+ 1.1057521104812622,
66
+ 1.4537101984024048,
67
+ 0.5862753391265869,
68
+ 0.35541045665740967,
69
+ -0.15013353526592255,
70
+ 0.8008977770805359,
71
+ 0.8011054992675781,
72
+ -0.07920478284358978,
73
+ 0.8009085655212402,
74
+ -0.07919236272573471,
75
+ 0.800909698009491
76
+ ],
77
+ "mean": [
78
+ 0.5174569341871473,
79
+ -0.8004555058479309,
80
+ 0.2800901155339347,
81
+ 0.01734412875854307,
82
+ 0.009007115796622302,
83
+ 0.9799999113877614,
84
+ -0.11204646294876713,
85
+ -0.07191307535433832,
86
+ -1.0241668048169879,
87
+ 1.472279171148936,
88
+ -0.4933096390962601,
89
+ 0.31384957533743646,
90
+ 0.27787765559222966,
91
+ 0.23285145674314764,
92
+ 0.2329731348446674,
93
+ -0.23285146370116208,
94
+ 0.23285202925403914,
95
+ -0.23297414241151676,
96
+ 0.23285220492217276,
97
+ 0.4113063112306797,
98
+ -0.15751520144442718,
99
+ 0.5299160013596217,
100
+ 1.1241850981447432,
101
+ -0.5219545521856183,
102
+ -0.04572314057463599,
103
+ -0.4827749219205644,
104
+ 0.4170424293809467,
105
+ 0.41714321924580466,
106
+ -0.4170422598057323,
107
+ 0.417050940344731,
108
+ -0.4171157971686787,
109
+ 0.4170514231754674
110
+ ],
111
+ "std": [
112
+ 5.836253778959231e-05,
113
+ 5.8327445075167794e-05,
114
+ 0.00014650348267894768,
115
+ 0.00023756456738511627,
116
+ 7.259124632391393e-07,
117
+ 8.121734612886212e-06,
118
+ 0.08153926350726193,
119
+ 0.04128126645269257,
120
+ 0.04334775960840251,
121
+ 0.24814340515944075,
122
+ 0.04080861089330395,
123
+ 0.18834721266749083,
124
+ 0.06506616932811346,
125
+ 0.21634115542152646,
126
+ 0.21648438644112325,
127
+ 0.21634103424343268,
128
+ 0.21634152662703568,
129
+ 0.21648623345769244,
130
+ 0.21634153477580303,
131
+ 0.16615818486623654,
132
+ 0.0806920554812793,
133
+ 0.1960830823141896,
134
+ 0.21771984706009467,
135
+ 0.34316285434264476,
136
+ 0.21203340807390242,
137
+ 0.1327440991416046,
138
+ 0.3402657685991939,
139
+ 0.34037386000986253,
140
+ 0.3402655431988605,
141
+ 0.34027495528199375,
142
+ 0.3403805847211937,
143
+ 0.34027506727584284
144
+ ],
145
+ "count": [
146
+ 450
147
+ ]
148
+ },
149
+ "action": {
150
+ "min": [
151
+ 0.5174471735954285,
152
+ -0.8004457950592041,
153
+ 0.009007098153233528,
154
+ 0.9800000190734863,
155
+ 0.2799195647239685,
156
+ 0.017286056652665138,
157
+ -0.20804525911808014,
158
+ -0.1655941605567932,
159
+ -1.1765575408935547,
160
+ 0.9501349925994873,
161
+ -0.5851435661315918,
162
+ 0.09934879839420319,
163
+ 0.06530814617872238,
164
+ 0.019999999552965164,
165
+ -0.05736181139945984,
166
+ -0.3159242272377014,
167
+ 0.368859201669693,
168
+ 0.8880838751792908,
169
+ -0.7635945677757263,
170
+ -0.352701872587204,
171
+ -0.5991238951683044,
172
+ 0.07999999821186066
173
+ ],
174
+ "max": [
175
+ 0.5174471735954285,
176
+ -0.8004457950592041,
177
+ 0.009007098153233528,
178
+ 0.9800000190734863,
179
+ 0.2799195647239685,
180
+ 0.017286056652665138,
181
+ 0.0004263035370968282,
182
+ 0.01397961936891079,
183
+ -0.9545523524284363,
184
+ 1.7311152219772339,
185
+ -0.4359090328216553,
186
+ 0.5895805954933167,
187
+ 0.3546569347381592,
188
+ 0.49503037333488464,
189
+ 0.6453811526298523,
190
+ -0.024500904604792595,
191
+ 1.1056681871414185,
192
+ 1.4542661905288696,
193
+ 0.5861015915870667,
194
+ 0.3553682267665863,
195
+ -0.15016144514083862,
196
+ 0.8110367059707642
197
+ ],
198
+ "mean": [
199
+ 0.5174471735954285,
200
+ -0.8004457950592041,
201
+ 0.009007098153233528,
202
+ 0.9800000190734863,
203
+ 0.2799195647239685,
204
+ 0.017286056652665138,
205
+ -0.11288806675476382,
206
+ -0.07182692934828588,
207
+ -1.0243887289365132,
208
+ 1.472425666782591,
209
+ -0.49329286926322513,
210
+ 0.3140010819501347,
211
+ 0.27783878756894004,
212
+ 0.23506365784754354,
213
+ 0.4302499900960053,
214
+ -0.1673313322207994,
215
+ 0.5473272554079691,
216
+ 1.125061838891771,
217
+ -0.521808566921908,
218
+ -0.047895777256797174,
219
+ -0.485930159787337,
220
+ 0.41946165136165087
221
+ ],
222
+ "std": [
223
+ 0.0,
224
+ 0.0,
225
+ 0.0,
226
+ 0.0,
227
+ 0.0,
228
+ 0.0,
229
+ 0.08074957667549747,
230
+ 0.040913661035453165,
231
+ 0.043170313012524615,
232
+ 0.2480531316901276,
233
+ 0.040825852087081727,
234
+ 0.18852344565532786,
235
+ 0.06510516140903526,
236
+ 0.21902568579382573,
237
+ 0.17411820732441377,
238
+ 0.09756883437622885,
239
+ 0.18532634558732053,
240
+ 0.21715681846322898,
241
+ 0.34293775704188023,
242
+ 0.21453001271348573,
243
+ 0.13474474114832075,
244
+ 0.34294737929300745
245
+ ],
246
+ "count": [
247
+ 450
248
+ ]
249
+ },
250
+ "timestamp": {
251
+ "min": [
252
+ 0.0
253
+ ],
254
+ "max": [
255
+ 14.966666221618652
256
+ ],
257
+ "mean": [
258
+ 7.48333333350718
259
+ ],
260
+ "std": [
261
+ 4.3301163254484205
262
+ ],
263
+ "count": [
264
+ 450
265
+ ]
266
+ },
267
+ "frame_index": {
268
+ "min": [
269
+ 0.0
270
+ ],
271
+ "max": [
272
+ 449.0
273
+ ],
274
+ "mean": [
275
+ 224.5
276
+ ],
277
+ "std": [
278
+ 129.90348981712026
279
+ ],
280
+ "count": [
281
+ 450
282
+ ]
283
+ },
284
+ "episode_index": {
285
+ "min": [
286
+ 79.0
287
+ ],
288
+ "max": [
289
+ 79.0
290
+ ],
291
+ "mean": [
292
+ 79.0
293
+ ],
294
+ "std": [
295
+ 0.0
296
+ ],
297
+ "count": [
298
+ 450
299
+ ]
300
+ },
301
+ "index": {
302
+ "min": [
303
+ 35550.0
304
+ ],
305
+ "max": [
306
+ 35999.0
307
+ ],
308
+ "mean": [
309
+ 35774.5
310
+ ],
311
+ "std": [
312
+ 129.90348981712026
313
+ ],
314
+ "count": [
315
+ 450
316
+ ]
317
+ },
318
+ "task_index": {
319
+ "min": [
320
+ 0.0
321
+ ],
322
+ "max": [
323
+ 0.0
324
+ ],
325
+ "mean": [
326
+ 0.0
327
+ ],
328
+ "std": [
329
+ 0.0
330
+ ],
331
+ "count": [
332
+ 450
333
+ ]
334
+ },
335
+ "physical_index": {
336
+ "min": [
337
+ 79.0
338
+ ],
339
+ "max": [
340
+ 79.0
341
+ ],
342
+ "mean": [
343
+ 79.0
344
+ ],
345
+ "std": [
346
+ 0.0
347
+ ],
348
+ "count": [
349
+ 450
350
+ ]
351
+ },
352
+ "source_case_index": {
353
+ "min": [
354
+ 48.0
355
+ ],
356
+ "max": [
357
+ 48.0
358
+ ],
359
+ "mean": [
360
+ 48.0
361
+ ],
362
+ "std": [
363
+ 0.0
364
+ ],
365
+ "count": [
366
+ 450
367
+ ]
368
+ },
369
+ "appearance_index": {
370
+ "min": [
371
+ 0.0
372
+ ],
373
+ "max": [
374
+ 0.0
375
+ ],
376
+ "mean": [
377
+ 0.0
378
+ ],
379
+ "std": [
380
+ 0.0
381
+ ],
382
+ "count": [
383
+ 450
384
+ ]
385
+ },
386
+ "physical_query_time_s": {
387
+ "min": [
388
+ 0.0
389
+ ],
390
+ "max": [
391
+ 14.965000000006798
392
+ ],
393
+ "mean": [
394
+ 7.483329629629644
395
+ ],
396
+ "std": [
397
+ 4.330109927180601
398
+ ],
399
+ "count": [
400
+ 450
401
+ ]
402
+ },
403
+ "state_time_s": {
404
+ "min": [
405
+ 0.0
406
+ ],
407
+ "max": [
408
+ 14.965000000006798
409
+ ],
410
+ "mean": [
411
+ 7.48001111111215
412
+ ],
413
+ "std": [
414
+ 4.330119275994038
415
+ ],
416
+ "count": [
417
+ 450
418
+ ]
419
+ },
420
+ "command_time_s": {
421
+ "min": [
422
+ 0.0
423
+ ],
424
+ "max": [
425
+ 14.965000000006798
426
+ ],
427
+ "mean": [
428
+ 7.48001111111215
429
+ ],
430
+ "std": [
431
+ 4.330119275994038
432
+ ],
433
+ "count": [
434
+ 450
435
+ ]
436
+ },
437
+ "state_source_index": {
438
+ "min": [
439
+ 0.0
440
+ ],
441
+ "max": [
442
+ 1497.0
443
+ ],
444
+ "mean": [
445
+ 748.0022222222223
446
+ ],
447
+ "std": [
448
+ 433.01384888753273
449
+ ],
450
+ "count": [
451
+ 450
452
+ ]
453
+ },
454
+ "command_source_index": {
455
+ "min": [
456
+ 0.0
457
+ ],
458
+ "max": [
459
+ 29930.0
460
+ ],
461
+ "mean": [
462
+ 14960.022222222222
463
+ ],
464
+ "std": [
465
+ 8660.238551984809
466
+ ],
467
+ "count": [
468
+ 450
469
+ ]
470
+ },
471
+ "observation.images.cam_high": {
472
+ "mean": [
473
+ [
474
+ [
475
+ 0.32680706657663067
476
+ ]
477
+ ],
478
+ [
479
+ [
480
+ 0.32177995182447977
481
+ ]
482
+ ],
483
+ [
484
+ [
485
+ 0.31302718352966186
486
+ ]
487
+ ]
488
+ ],
489
+ "std": [
490
+ [
491
+ [
492
+ 0.3155455559448087
493
+ ]
494
+ ],
495
+ [
496
+ [
497
+ 0.3106479851433251
498
+ ]
499
+ ],
500
+ [
501
+ [
502
+ 0.3035986652146004
503
+ ]
504
+ ]
505
+ ],
506
+ "min": [
507
+ [
508
+ [
509
+ 0.0
510
+ ]
511
+ ],
512
+ [
513
+ [
514
+ 0.0
515
+ ]
516
+ ],
517
+ [
518
+ [
519
+ 0.0
520
+ ]
521
+ ]
522
+ ],
523
+ "max": [
524
+ [
525
+ [
526
+ 0.8627450980392157
527
+ ]
528
+ ],
529
+ [
530
+ [
531
+ 0.8627450980392157
532
+ ]
533
+ ],
534
+ [
535
+ [
536
+ 0.8509803921568627
537
+ ]
538
+ ]
539
+ ],
540
+ "count": [
541
+ 100
542
+ ]
543
+ },
544
+ "observation.images.cam_left_wrist": {
545
+ "mean": [
546
+ [
547
+ [
548
+ 0.33454674526060424
549
+ ]
550
+ ],
551
+ [
552
+ [
553
+ 0.3251249945290617
554
+ ]
555
+ ],
556
+ [
557
+ [
558
+ 0.317419177827381
559
+ ]
560
+ ]
561
+ ],
562
+ "std": [
563
+ [
564
+ [
565
+ 0.32135879807354284
566
+ ]
567
+ ],
568
+ [
569
+ [
570
+ 0.31237926315418657
571
+ ]
572
+ ],
573
+ [
574
+ [
575
+ 0.30467204739237286
576
+ ]
577
+ ]
578
+ ],
579
+ "min": [
580
+ [
581
+ [
582
+ 0.0
583
+ ]
584
+ ],
585
+ [
586
+ [
587
+ 0.0
588
+ ]
589
+ ],
590
+ [
591
+ [
592
+ 0.0
593
+ ]
594
+ ]
595
+ ],
596
+ "max": [
597
+ [
598
+ [
599
+ 0.9725490196078431
600
+ ]
601
+ ],
602
+ [
603
+ [
604
+ 1.0
605
+ ]
606
+ ],
607
+ [
608
+ [
609
+ 1.0
610
+ ]
611
+ ]
612
+ ],
613
+ "count": [
614
+ 100
615
+ ]
616
+ },
617
+ "observation.images.cam_right_wrist": {
618
+ "mean": [
619
+ [
620
+ [
621
+ 0.35942264718387357
622
+ ]
623
+ ],
624
+ [
625
+ [
626
+ 0.35278251769457786
627
+ ]
628
+ ],
629
+ [
630
+ [
631
+ 0.3413204015981393
632
+ ]
633
+ ]
634
+ ],
635
+ "std": [
636
+ [
637
+ [
638
+ 0.35446913632432453
639
+ ]
640
+ ],
641
+ [
642
+ [
643
+ 0.34782829316485186
644
+ ]
645
+ ],
646
+ [
647
+ [
648
+ 0.33703907593671
649
+ ]
650
+ ]
651
+ ],
652
+ "min": [
653
+ [
654
+ [
655
+ 0.0
656
+ ]
657
+ ],
658
+ [
659
+ [
660
+ 0.0
661
+ ]
662
+ ],
663
+ [
664
+ [
665
+ 0.0
666
+ ]
667
+ ]
668
+ ],
669
+ "max": [
670
+ [
671
+ [
672
+ 0.9450980392156862
673
+ ]
674
+ ],
675
+ [
676
+ [
677
+ 0.984313725490196
678
+ ]
679
+ ],
680
+ [
681
+ [
682
+ 0.9725490196078431
683
+ ]
684
+ ]
685
+ ],
686
+ "count": [
687
+ 100
688
+ ]
689
+ }
690
+ },
691
+ "provenance": {
692
+ "task": "Put_the_block_in_the_drawer.",
693
+ "case_id": "drawer_center_train_079",
694
+ "visual_side": "center",
695
+ "split": "train",
696
+ "sampler_index": 79,
697
+ "block_center_xy_m": [
698
+ 0.24788192126300118,
699
+ -0.4606126313768081
700
+ ],
701
+ "cabinet_center_xy_m": [
702
+ -0.008720000000000006,
703
+ -0.742237609329446
704
+ ],
705
+ "spec": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_spec_20261101_attempt_01",
706
+ "spec_scene_sha256": "de684e2e083c5614748d87e1506cdd6fb9e9dcbf2d36a5665a850f95412cf263",
707
+ "native": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_079/attempt_01/native",
708
+ "native_receipt_sha256": "4e8eb67c84be91bb27f9334db2645d12fdf6b1120f2d8522d64e33776d68a6ba",
709
+ "batch_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_079/attempt_01",
710
+ "render_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_079/attempt_01",
711
+ "source": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_079/attempt_01/source",
712
+ "source_metadata_sha256": "c2bba292713fea6afc114a012abadea96061a4dec36e7bdcee120a488ce9ef02",
713
+ "camera_order": [
714
+ "head_rgbd",
715
+ "left_wrist_rgbd",
716
+ "right_wrist_rgbd"
717
+ ],
718
+ "camera_mounts": "astribot_sdk_nominal_image_up",
719
+ "controller": "rssr.drawer.center_layout.v1",
720
+ "handle_hand": "right",
721
+ "payload_hand": "left",
722
+ "drawer_closer": "right (handle hand)"
723
+ },
724
+ "files": {
725
+ "data/chunk-000/episode_000079.parquet": {
726
+ "sha256": "5d620dc2f5c804d91590c6114104c9d3da256a8e3d5695376677d708fb0e73d5",
727
+ "bytes": 126702
728
+ },
729
+ "videos/chunk-000/observation.images.cam_high/episode_000079.mp4": {
730
+ "sha256": "4fac688cab3765db623320d96d1528ec70b856b441e651909171cb5ec61e1e82",
731
+ "bytes": 107108
732
+ },
733
+ "videos/chunk-000/observation.images.cam_left_wrist/episode_000079.mp4": {
734
+ "sha256": "acab978a8066e35499219380b6857ced1bd2963b4821f9fcc50c55591ddd5885",
735
+ "bytes": 129714
736
+ },
737
+ "videos/chunk-000/observation.images.cam_right_wrist/episode_000079.mp4": {
738
+ "sha256": "887d223cf25720c31abae6b737bc74b9dc4245b19e913fde0dad8287cf20a8b0",
739
+ "bytes": 181881
740
+ }
741
+ }
742
+ }
drawer_center_layout_100/draw/evidence/episode_000080.json ADDED
@@ -0,0 +1,742 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_index": 80,
3
+ "length": 450,
4
+ "tasks": [
5
+ "Put_the_block_in_the_drawer."
6
+ ],
7
+ "stats": {
8
+ "observation.state": {
9
+ "min": [
10
+ 0.5173186659812927,
11
+ -0.8005726933479309,
12
+ 0.2797926664352417,
13
+ 0.016789838671684265,
14
+ 0.009001794271171093,
15
+ 0.979957640171051,
16
+ -0.19844737648963928,
17
+ -0.17847837507724762,
18
+ -1.1766616106033325,
19
+ 0.9253326058387756,
20
+ -0.5882483720779419,
21
+ 0.12717562913894653,
22
+ 0.06507611274719238,
23
+ 0.019142480567097664,
24
+ 0.019143402576446533,
25
+ -0.48902758955955505,
26
+ 0.019142737612128258,
27
+ -0.48935386538505554,
28
+ 0.01914345659315586,
29
+ -0.05744754150509834,
30
+ -0.27628716826438904,
31
+ 0.33248981833457947,
32
+ 0.896472692489624,
33
+ -0.770298421382904,
34
+ -0.35915449261665344,
35
+ -0.5888890624046326,
36
+ 0.07789318263530731,
37
+ 0.07789306342601776,
38
+ -0.8003402948379517,
39
+ 0.07782462239265442,
40
+ -0.8005747199058533,
41
+ 0.07783103734254837
42
+ ],
43
+ "max": [
44
+ 0.5175608396530151,
45
+ -0.8003170490264893,
46
+ 0.28033196926116943,
47
+ 0.017653703689575195,
48
+ 0.009009871631860733,
49
+ 0.9800742268562317,
50
+ 0.011570810340344906,
51
+ 0.002499494468793273,
52
+ -0.963976263999939,
53
+ 1.728021264076233,
54
+ -0.46612364053726196,
55
+ 0.6150879263877869,
56
+ 0.3049432337284088,
57
+ 0.4890277087688446,
58
+ 0.4893512427806854,
59
+ -0.01914317160844803,
60
+ 0.4890291392803192,
61
+ -0.019143301993608475,
62
+ 0.4890291690826416,
63
+ 0.583410918712616,
64
+ -0.03807239234447479,
65
+ 1.1057521104812622,
66
+ 1.460224986076355,
67
+ 0.5862753391265869,
68
+ 0.3554735779762268,
69
+ -0.15013353526592255,
70
+ 0.8003398180007935,
71
+ 0.800574779510498,
72
+ -0.07789435982704163,
73
+ 0.800358235836029,
74
+ -0.07776975631713867,
75
+ 0.8003585338592529
76
+ ],
77
+ "mean": [
78
+ 0.5174567596117655,
79
+ -0.8004556324746873,
80
+ 0.28008297973208957,
81
+ 0.017344147380855348,
82
+ 0.009007076494809654,
83
+ 0.9800005858474308,
84
+ -0.10414561084924369,
85
+ -0.08909738195539427,
86
+ -1.0371321568224166,
87
+ 1.464238625632392,
88
+ -0.5159651010566287,
89
+ 0.34186562263303333,
90
+ 0.223741770800617,
91
+ 0.23784912978609404,
92
+ 0.2379746607401305,
93
+ -0.23784912830839555,
94
+ 0.23784967248638472,
95
+ -0.2379753564339545,
96
+ 0.23784984895752537,
97
+ 0.4064668667396634,
98
+ -0.15461941726505757,
99
+ 0.5273949574099647,
100
+ 1.1349931499693129,
101
+ -0.5259829705684549,
102
+ -0.05657224501538116,
103
+ -0.4799939016169972,
104
+ 0.4179970044725471,
105
+ 0.4180974710318777,
106
+ -0.4179968327946133,
107
+ 0.4180047555764516,
108
+ -0.4180712947911686,
109
+ 0.41800529410441717
110
+ ],
111
+ "std": [
112
+ 5.676088579733279e-05,
113
+ 5.6784868937067845e-05,
114
+ 0.00014259899539253317,
115
+ 0.0002321174362388354,
116
+ 5.183666741896491e-07,
117
+ 6.242633892978661e-06,
118
+ 0.08043674291160624,
119
+ 0.03975817434219987,
120
+ 0.04607744327203812,
121
+ 0.25437602402306597,
122
+ 0.0360641347706284,
123
+ 0.18767490262996536,
124
+ 0.06714134740563665,
125
+ 0.21675436564657663,
126
+ 0.21689895635685288,
127
+ 0.21675424171959637,
128
+ 0.21675469152968269,
129
+ 0.21690043393067132,
130
+ 0.21675471006952707,
131
+ 0.16544807575629997,
132
+ 0.07913385538588952,
133
+ 0.19691626055016237,
134
+ 0.2148071437257995,
135
+ 0.3444431232456367,
136
+ 0.21603114823856506,
137
+ 0.1304727824651014,
138
+ 0.3403127407218753,
139
+ 0.34042071081328845,
140
+ 0.3403125271146085,
141
+ 0.34032237961512624,
142
+ 0.3404282878087673,
143
+ 0.34032240120654295
144
+ ],
145
+ "count": [
146
+ 450
147
+ ]
148
+ },
149
+ "action": {
150
+ "min": [
151
+ 0.5174471735954285,
152
+ -0.8004457950592041,
153
+ 0.009007098153233528,
154
+ 0.9800000190734863,
155
+ 0.2799195647239685,
156
+ 0.017286056652665138,
157
+ -0.19843916594982147,
158
+ -0.17970341444015503,
159
+ -1.176561713218689,
160
+ 0.9253957271575928,
161
+ -0.5882409811019897,
162
+ 0.1272038072347641,
163
+ 0.06529808044433594,
164
+ 0.019999999552965164,
165
+ -0.05736399069428444,
166
+ -0.3091737926006317,
167
+ 0.3639329671859741,
168
+ 0.9016771912574768,
169
+ -0.7696603536605835,
170
+ -0.36508452892303467,
171
+ -0.5945462584495544,
172
+ 0.07999999821186066
173
+ ],
174
+ "max": [
175
+ 0.5174471735954285,
176
+ -0.8004457950592041,
177
+ 0.009007098153233528,
178
+ 0.9800000190734863,
179
+ 0.2799195647239685,
180
+ 0.017286056652665138,
181
+ 0.00837631057947874,
182
+ 0.002177936490625143,
183
+ -0.9650551676750183,
184
+ 1.7279056310653687,
185
+ -0.466106116771698,
186
+ 0.6154129505157471,
187
+ 0.30493098497390747,
188
+ 0.49502769112586975,
189
+ 0.639055073261261,
190
+ -0.021982181817293167,
191
+ 1.1056675910949707,
192
+ 1.4608017206192017,
193
+ 0.5861011147499084,
194
+ 0.3554781377315521,
195
+ -0.1501617729663849,
196
+ 0.8110548853874207
197
+ ],
198
+ "mean": [
199
+ 0.5174471735954285,
200
+ -0.8004457950592041,
201
+ 0.009007098153233528,
202
+ 0.9800000190734863,
203
+ 0.2799195647239685,
204
+ 0.017286056652665138,
205
+ -0.10499795391379545,
206
+ -0.08903546862294509,
207
+ -1.0373772699303097,
208
+ 1.4643859647379982,
209
+ -0.5159511082702213,
210
+ 0.3420213380455971,
211
+ 0.22370357937282986,
212
+ 0.2401338494486279,
213
+ 0.4244945975778521,
214
+ -0.1641678130792247,
215
+ 0.5442311566405826,
216
+ 1.1358385676807827,
217
+ -0.5258578440738428,
218
+ -0.058719699943645134,
219
+ -0.4830075886183315,
220
+ 0.4204309377570947
221
+ ],
222
+ "std": [
223
+ 0.0,
224
+ 0.0,
225
+ 0.0,
226
+ 0.0,
227
+ 0.0,
228
+ 0.0,
229
+ 0.0796037057535855,
230
+ 0.03944938713605548,
231
+ 0.045982022193049775,
232
+ 0.25429114440593203,
233
+ 0.036079016649282196,
234
+ 0.18785359266713195,
235
+ 0.06717734553141996,
236
+ 0.21946070089045674,
237
+ 0.17308273776168642,
238
+ 0.09577111062993962,
239
+ 0.1864180008677065,
240
+ 0.21425397509291763,
241
+ 0.3442291125360326,
242
+ 0.21851414140774716,
243
+ 0.1323969751910265,
244
+ 0.3430102722598379
245
+ ],
246
+ "count": [
247
+ 450
248
+ ]
249
+ },
250
+ "timestamp": {
251
+ "min": [
252
+ 0.0
253
+ ],
254
+ "max": [
255
+ 14.966666221618652
256
+ ],
257
+ "mean": [
258
+ 7.48333333350718
259
+ ],
260
+ "std": [
261
+ 4.3301163254484205
262
+ ],
263
+ "count": [
264
+ 450
265
+ ]
266
+ },
267
+ "frame_index": {
268
+ "min": [
269
+ 0.0
270
+ ],
271
+ "max": [
272
+ 449.0
273
+ ],
274
+ "mean": [
275
+ 224.5
276
+ ],
277
+ "std": [
278
+ 129.90348981712026
279
+ ],
280
+ "count": [
281
+ 450
282
+ ]
283
+ },
284
+ "episode_index": {
285
+ "min": [
286
+ 80.0
287
+ ],
288
+ "max": [
289
+ 80.0
290
+ ],
291
+ "mean": [
292
+ 80.0
293
+ ],
294
+ "std": [
295
+ 0.0
296
+ ],
297
+ "count": [
298
+ 450
299
+ ]
300
+ },
301
+ "index": {
302
+ "min": [
303
+ 36000.0
304
+ ],
305
+ "max": [
306
+ 36449.0
307
+ ],
308
+ "mean": [
309
+ 36224.5
310
+ ],
311
+ "std": [
312
+ 129.90348981712026
313
+ ],
314
+ "count": [
315
+ 450
316
+ ]
317
+ },
318
+ "task_index": {
319
+ "min": [
320
+ 0.0
321
+ ],
322
+ "max": [
323
+ 0.0
324
+ ],
325
+ "mean": [
326
+ 0.0
327
+ ],
328
+ "std": [
329
+ 0.0
330
+ ],
331
+ "count": [
332
+ 450
333
+ ]
334
+ },
335
+ "physical_index": {
336
+ "min": [
337
+ 80.0
338
+ ],
339
+ "max": [
340
+ 80.0
341
+ ],
342
+ "mean": [
343
+ 80.0
344
+ ],
345
+ "std": [
346
+ 0.0
347
+ ],
348
+ "count": [
349
+ 450
350
+ ]
351
+ },
352
+ "source_case_index": {
353
+ "min": [
354
+ 48.0
355
+ ],
356
+ "max": [
357
+ 48.0
358
+ ],
359
+ "mean": [
360
+ 48.0
361
+ ],
362
+ "std": [
363
+ 0.0
364
+ ],
365
+ "count": [
366
+ 450
367
+ ]
368
+ },
369
+ "appearance_index": {
370
+ "min": [
371
+ 0.0
372
+ ],
373
+ "max": [
374
+ 0.0
375
+ ],
376
+ "mean": [
377
+ 0.0
378
+ ],
379
+ "std": [
380
+ 0.0
381
+ ],
382
+ "count": [
383
+ 450
384
+ ]
385
+ },
386
+ "physical_query_time_s": {
387
+ "min": [
388
+ 0.0
389
+ ],
390
+ "max": [
391
+ 14.965000000006798
392
+ ],
393
+ "mean": [
394
+ 7.483329629629644
395
+ ],
396
+ "std": [
397
+ 4.330109927180601
398
+ ],
399
+ "count": [
400
+ 450
401
+ ]
402
+ },
403
+ "state_time_s": {
404
+ "min": [
405
+ 0.0
406
+ ],
407
+ "max": [
408
+ 14.965000000006798
409
+ ],
410
+ "mean": [
411
+ 7.48001111111215
412
+ ],
413
+ "std": [
414
+ 4.330119275994038
415
+ ],
416
+ "count": [
417
+ 450
418
+ ]
419
+ },
420
+ "command_time_s": {
421
+ "min": [
422
+ 0.0
423
+ ],
424
+ "max": [
425
+ 14.965000000006798
426
+ ],
427
+ "mean": [
428
+ 7.48001111111215
429
+ ],
430
+ "std": [
431
+ 4.330119275994038
432
+ ],
433
+ "count": [
434
+ 450
435
+ ]
436
+ },
437
+ "state_source_index": {
438
+ "min": [
439
+ 0.0
440
+ ],
441
+ "max": [
442
+ 1497.0
443
+ ],
444
+ "mean": [
445
+ 748.0022222222223
446
+ ],
447
+ "std": [
448
+ 433.01384888753273
449
+ ],
450
+ "count": [
451
+ 450
452
+ ]
453
+ },
454
+ "command_source_index": {
455
+ "min": [
456
+ 0.0
457
+ ],
458
+ "max": [
459
+ 29930.0
460
+ ],
461
+ "mean": [
462
+ 14960.022222222222
463
+ ],
464
+ "std": [
465
+ 8660.238551984809
466
+ ],
467
+ "count": [
468
+ 450
469
+ ]
470
+ },
471
+ "observation.images.cam_high": {
472
+ "mean": [
473
+ [
474
+ [
475
+ 0.32655313140881354
476
+ ]
477
+ ],
478
+ [
479
+ [
480
+ 0.32151640109168667
481
+ ]
482
+ ],
483
+ [
484
+ [
485
+ 0.31271897118222286
486
+ ]
487
+ ]
488
+ ],
489
+ "std": [
490
+ [
491
+ [
492
+ 0.31553224168354577
493
+ ]
494
+ ],
495
+ [
496
+ [
497
+ 0.3105849159200601
498
+ ]
499
+ ],
500
+ [
501
+ [
502
+ 0.3035664825190592
503
+ ]
504
+ ]
505
+ ],
506
+ "min": [
507
+ [
508
+ [
509
+ 0.0
510
+ ]
511
+ ],
512
+ [
513
+ [
514
+ 0.0
515
+ ]
516
+ ],
517
+ [
518
+ [
519
+ 0.0
520
+ ]
521
+ ]
522
+ ],
523
+ "max": [
524
+ [
525
+ [
526
+ 0.8431372549019608
527
+ ]
528
+ ],
529
+ [
530
+ [
531
+ 0.8431372549019608
532
+ ]
533
+ ],
534
+ [
535
+ [
536
+ 0.8431372549019608
537
+ ]
538
+ ]
539
+ ],
540
+ "count": [
541
+ 100
542
+ ]
543
+ },
544
+ "observation.images.cam_left_wrist": {
545
+ "mean": [
546
+ [
547
+ [
548
+ 0.335755440457433
549
+ ]
550
+ ],
551
+ [
552
+ [
553
+ 0.32630554721888755
554
+ ]
555
+ ],
556
+ [
557
+ [
558
+ 0.3187719439338235
559
+ ]
560
+ ]
561
+ ],
562
+ "std": [
563
+ [
564
+ [
565
+ 0.3223703165556084
566
+ ]
567
+ ],
568
+ [
569
+ [
570
+ 0.31346536750570847
571
+ ]
572
+ ],
573
+ [
574
+ [
575
+ 0.3059668956153072
576
+ ]
577
+ ]
578
+ ],
579
+ "min": [
580
+ [
581
+ [
582
+ 0.0
583
+ ]
584
+ ],
585
+ [
586
+ [
587
+ 0.0
588
+ ]
589
+ ],
590
+ [
591
+ [
592
+ 0.0
593
+ ]
594
+ ]
595
+ ],
596
+ "max": [
597
+ [
598
+ [
599
+ 0.9764705882352941
600
+ ]
601
+ ],
602
+ [
603
+ [
604
+ 1.0
605
+ ]
606
+ ],
607
+ [
608
+ [
609
+ 0.9921568627450981
610
+ ]
611
+ ]
612
+ ],
613
+ "count": [
614
+ 100
615
+ ]
616
+ },
617
+ "observation.images.cam_right_wrist": {
618
+ "mean": [
619
+ [
620
+ [
621
+ 0.35950346310399156
622
+ ]
623
+ ],
624
+ [
625
+ [
626
+ 0.35290374118397355
627
+ ]
628
+ ],
629
+ [
630
+ [
631
+ 0.34149412264905965
632
+ ]
633
+ ]
634
+ ],
635
+ "std": [
636
+ [
637
+ [
638
+ 0.354584223871399
639
+ ]
640
+ ],
641
+ [
642
+ [
643
+ 0.3480024943903908
644
+ ]
645
+ ],
646
+ [
647
+ [
648
+ 0.3372631469116992
649
+ ]
650
+ ]
651
+ ],
652
+ "min": [
653
+ [
654
+ [
655
+ 0.0
656
+ ]
657
+ ],
658
+ [
659
+ [
660
+ 0.0
661
+ ]
662
+ ],
663
+ [
664
+ [
665
+ 0.0
666
+ ]
667
+ ]
668
+ ],
669
+ "max": [
670
+ [
671
+ [
672
+ 0.9490196078431372
673
+ ]
674
+ ],
675
+ [
676
+ [
677
+ 0.9882352941176471
678
+ ]
679
+ ],
680
+ [
681
+ [
682
+ 0.9764705882352941
683
+ ]
684
+ ]
685
+ ],
686
+ "count": [
687
+ 100
688
+ ]
689
+ }
690
+ },
691
+ "provenance": {
692
+ "task": "Put_the_block_in_the_drawer.",
693
+ "case_id": "drawer_center_train_080",
694
+ "visual_side": "center",
695
+ "split": "train",
696
+ "sampler_index": 80,
697
+ "block_center_xy_m": [
698
+ 0.26935853345226785,
699
+ -0.45924071511797593
700
+ ],
701
+ "cabinet_center_xy_m": [
702
+ -0.004720000000000002,
703
+ -0.7393804664723032
704
+ ],
705
+ "spec": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_spec_20261101_attempt_01",
706
+ "spec_scene_sha256": "42d538a2f30d37ed11c1e2d113fc4ace12f8168ffee7aeb0c77c5ad552981456",
707
+ "native": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_080/attempt_01/native",
708
+ "native_receipt_sha256": "0a1f25ae20c866763fe454b7f3be0c7779ea110b3439bfdbab9f909cfdd311c3",
709
+ "batch_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_080/attempt_01",
710
+ "render_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_080/attempt_01",
711
+ "source": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_080/attempt_01/source",
712
+ "source_metadata_sha256": "2f2fb7f88a5e71ef95927dc6921b6132a1df7827c61b51654727a63cb2f285d9",
713
+ "camera_order": [
714
+ "head_rgbd",
715
+ "left_wrist_rgbd",
716
+ "right_wrist_rgbd"
717
+ ],
718
+ "camera_mounts": "astribot_sdk_nominal_image_up",
719
+ "controller": "rssr.drawer.center_layout.v1",
720
+ "handle_hand": "right",
721
+ "payload_hand": "left",
722
+ "drawer_closer": "right (handle hand)"
723
+ },
724
+ "files": {
725
+ "data/chunk-000/episode_000080.parquet": {
726
+ "sha256": "f5c565a00ae746899cf74aa3944b12e556e6531305c81fd1a51da74b574a268a",
727
+ "bytes": 126398
728
+ },
729
+ "videos/chunk-000/observation.images.cam_high/episode_000080.mp4": {
730
+ "sha256": "0c294d15d9d2e306361541c0455fe6f7dd77214651e789152a8e2a913e8d7b8e",
731
+ "bytes": 106569
732
+ },
733
+ "videos/chunk-000/observation.images.cam_left_wrist/episode_000080.mp4": {
734
+ "sha256": "501b45b23346aca75b4450b4be811d0d848fe688a5782874927abff36ca24351",
735
+ "bytes": 128796
736
+ },
737
+ "videos/chunk-000/observation.images.cam_right_wrist/episode_000080.mp4": {
738
+ "sha256": "7e590e6dd5e428120ee677480d670956278a848170aca3148e02bbcfb2913bbc",
739
+ "bytes": 181493
740
+ }
741
+ }
742
+ }
drawer_center_layout_100/draw/evidence/episode_000081.json ADDED
@@ -0,0 +1,742 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_index": 81,
3
+ "length": 450,
4
+ "tasks": [
5
+ "Put_the_block_in_the_drawer."
6
+ ],
7
+ "stats": {
8
+ "observation.state": {
9
+ "min": [
10
+ 0.5173355937004089,
11
+ -0.8005709648132324,
12
+ 0.2798113524913788,
13
+ 0.01680559478700161,
14
+ 0.008998818695545197,
15
+ 0.979961633682251,
16
+ -0.18384690582752228,
17
+ -0.17117804288864136,
18
+ -1.1766616106033325,
19
+ 0.9885356426239014,
20
+ -0.5858849883079529,
21
+ 0.0676109790802002,
22
+ 0.06507611274719238,
23
+ 0.019141748547554016,
24
+ 0.019142670556902885,
25
+ -0.4890159070491791,
26
+ 0.01914202608168125,
27
+ -0.48934248089790344,
28
+ 0.0191427543759346,
29
+ -0.05744754150509834,
30
+ -0.26981091499328613,
31
+ 0.3280968964099884,
32
+ 0.9098201394081116,
33
+ -0.7763656377792358,
34
+ -0.37149858474731445,
35
+ -0.5842350721359253,
36
+ 0.07910260558128357,
37
+ 0.07911970466375351,
38
+ -0.8000258803367615,
39
+ 0.0791194960474968,
40
+ -0.8003145456314087,
41
+ 0.07911622524261475
42
+ ],
43
+ "max": [
44
+ 0.5175624489784241,
45
+ -0.8003336191177368,
46
+ 0.28032782673835754,
47
+ 0.017652517184615135,
48
+ 0.009011344984173775,
49
+ 0.9800642132759094,
50
+ 0.0378507561981678,
51
+ -0.0002830626617651433,
52
+ -0.9466419816017151,
53
+ 1.7726386785507202,
54
+ -0.4048151671886444,
55
+ 0.5522975325584412,
56
+ 0.4128645062446594,
57
+ 0.48901599645614624,
58
+ 0.4893365800380707,
59
+ -0.019142424687743187,
60
+ 0.4890173673629761,
61
+ -0.019142596051096916,
62
+ 0.48901739716529846,
63
+ 0.5785104632377625,
64
+ -0.03702889382839203,
65
+ 1.1057521104812622,
66
+ 1.4666311740875244,
67
+ 0.5862753391265869,
68
+ 0.3555901050567627,
69
+ -0.15013353526592255,
70
+ 0.8000250458717346,
71
+ 0.8002102971076965,
72
+ -0.07910477370023727,
73
+ 0.8000284433364868,
74
+ -0.0791219025850296,
75
+ 0.8000279664993286
76
+ ],
77
+ "mean": [
78
+ 0.5174560774697198,
79
+ -0.8004548720518748,
80
+ 0.2800751695368025,
81
+ 0.017345490058263142,
82
+ 0.009007062204182148,
83
+ 0.9800003915362888,
84
+ -0.0838074830226833,
85
+ -0.08002406330449352,
86
+ -1.0132265916135577,
87
+ 1.518654371102651,
88
+ -0.4722422006395128,
89
+ 0.2794795115623209,
90
+ 0.3418599750598272,
91
+ 0.22284507679442564,
92
+ 0.22295948257048925,
93
+ -0.22284510715554157,
94
+ 0.22284559499472378,
95
+ -0.22296061500493022,
96
+ 0.22284576626287567,
97
+ 0.4029450585579293,
98
+ -0.15132615079482398,
99
+ 0.525633943080902,
100
+ 1.1429615342617034,
101
+ -0.5294792068862848,
102
+ -0.06511559371720069,
103
+ -0.4773091174165408,
104
+ 0.41559496897790166,
105
+ 0.41569465114010706,
106
+ -0.41559480493267376,
107
+ 0.41560275880826847,
108
+ -0.4156696112950643,
109
+ 0.4156032640238603
110
+ ],
111
+ "std": [
112
+ 5.534944028738749e-05,
113
+ 5.562828630819216e-05,
114
+ 0.00014014973849031857,
115
+ 0.00022871504811671276,
116
+ 6.484032985990404e-07,
117
+ 5.956183409034386e-06,
118
+ 0.08640751381662355,
119
+ 0.04143277353847748,
120
+ 0.0396812680439545,
121
+ 0.2403418476357119,
122
+ 0.04720262534381094,
123
+ 0.1867513500030996,
124
+ 0.06525461302395791,
125
+ 0.21507097278327214,
126
+ 0.2152117962634016,
127
+ 0.2150708755406053,
128
+ 0.21507134249646126,
129
+ 0.2152137721079578,
130
+ 0.21507135689303375,
131
+ 0.16469078753960095,
132
+ 0.07701430343673801,
133
+ 0.19737046234526376,
134
+ 0.21147782506751436,
135
+ 0.34544753904150355,
136
+ 0.21924426164313549,
137
+ 0.12822520740985666,
138
+ 0.34015848702674156,
139
+ 0.3402659397042442,
140
+ 0.34015824386843424,
141
+ 0.3401677330086796,
142
+ 0.34027271460733044,
143
+ 0.3401677634614991
144
+ ],
145
+ "count": [
146
+ 450
147
+ ]
148
+ },
149
+ "action": {
150
+ "min": [
151
+ 0.5174471735954285,
152
+ -0.8004457950592041,
153
+ 0.009007098153233528,
154
+ 0.9800000190734863,
155
+ 0.2799195647239685,
156
+ 0.017286056652665138,
157
+ -0.18383702635765076,
158
+ -0.16882307827472687,
159
+ -1.1765578985214233,
160
+ 0.9889642000198364,
161
+ -0.5858709812164307,
162
+ 0.06763772666454315,
163
+ 0.06530757993459702,
164
+ 0.019999999552965164,
165
+ -0.057366132736206055,
166
+ -0.3024718165397644,
167
+ 0.3595355451107025,
168
+ 0.9150166511535645,
169
+ -0.7758947014808655,
170
+ -0.37746933102607727,
171
+ -0.5901293158531189,
172
+ 0.07999999821186066
173
+ ],
174
+ "max": [
175
+ 0.5174471735954285,
176
+ -0.8004457950592041,
177
+ 0.009007098153233528,
178
+ 0.9800000190734863,
179
+ 0.2799195647239685,
180
+ 0.017286056652665138,
181
+ 0.03468027338385582,
182
+ -0.0005771263386122882,
183
+ -0.9475775957107544,
184
+ 1.7725244760513306,
185
+ -0.4047803282737732,
186
+ 0.5526471734046936,
187
+ 0.4128550589084625,
188
+ 0.4950160086154938,
189
+ 0.6324993371963501,
190
+ -0.019814563915133476,
191
+ 1.1056668758392334,
192
+ 1.4671334028244019,
193
+ 0.5861006379127502,
194
+ 0.35565099120140076,
195
+ -0.15016208589076996,
196
+ 0.8060250878334045
197
+ ],
198
+ "mean": [
199
+ 0.5174471735954285,
200
+ -0.8004457950592041,
201
+ 0.009007098153233528,
202
+ 0.9800000190734863,
203
+ 0.2799195647239685,
204
+ 0.017286056652665138,
205
+ -0.08458644008852893,
206
+ -0.07993731993108263,
207
+ -1.0134365317556593,
208
+ 1.518791631857554,
209
+ -0.4722229405906465,
210
+ 0.2796195326248805,
211
+ 0.34182588843835726,
212
+ 0.22492462505896887,
213
+ 0.4201232864784025,
214
+ -0.1608250878130396,
215
+ 0.5420355953772863,
216
+ 1.143747081624137,
217
+ -0.5293602335901879,
218
+ -0.0672720756465181,
219
+ -0.48018647852871155,
220
+ 0.41798959978752664
221
+ ],
222
+ "std": [
223
+ 0.0,
224
+ 0.0,
225
+ 0.0,
226
+ 0.0,
227
+ 0.0,
228
+ 0.0,
229
+ 0.08567088622180453,
230
+ 0.04103676883759441,
231
+ 0.039396971950736694,
232
+ 0.24025227622715453,
233
+ 0.04722309276602327,
234
+ 0.18691892533294296,
235
+ 0.06529090746153496,
236
+ 0.21770533586865778,
237
+ 0.1720454009859197,
238
+ 0.09349132210683007,
239
+ 0.18705223884354502,
240
+ 0.21093537405238133,
241
+ 0.3452373968605062,
242
+ 0.22173572229831695,
243
+ 0.13006772839250536,
244
+ 0.3428421869775437
245
+ ],
246
+ "count": [
247
+ 450
248
+ ]
249
+ },
250
+ "timestamp": {
251
+ "min": [
252
+ 0.0
253
+ ],
254
+ "max": [
255
+ 14.966666221618652
256
+ ],
257
+ "mean": [
258
+ 7.48333333350718
259
+ ],
260
+ "std": [
261
+ 4.3301163254484205
262
+ ],
263
+ "count": [
264
+ 450
265
+ ]
266
+ },
267
+ "frame_index": {
268
+ "min": [
269
+ 0.0
270
+ ],
271
+ "max": [
272
+ 449.0
273
+ ],
274
+ "mean": [
275
+ 224.5
276
+ ],
277
+ "std": [
278
+ 129.90348981712026
279
+ ],
280
+ "count": [
281
+ 450
282
+ ]
283
+ },
284
+ "episode_index": {
285
+ "min": [
286
+ 81.0
287
+ ],
288
+ "max": [
289
+ 81.0
290
+ ],
291
+ "mean": [
292
+ 81.0
293
+ ],
294
+ "std": [
295
+ 0.0
296
+ ],
297
+ "count": [
298
+ 450
299
+ ]
300
+ },
301
+ "index": {
302
+ "min": [
303
+ 36450.0
304
+ ],
305
+ "max": [
306
+ 36899.0
307
+ ],
308
+ "mean": [
309
+ 36674.5
310
+ ],
311
+ "std": [
312
+ 129.90348981712026
313
+ ],
314
+ "count": [
315
+ 450
316
+ ]
317
+ },
318
+ "task_index": {
319
+ "min": [
320
+ 0.0
321
+ ],
322
+ "max": [
323
+ 0.0
324
+ ],
325
+ "mean": [
326
+ 0.0
327
+ ],
328
+ "std": [
329
+ 0.0
330
+ ],
331
+ "count": [
332
+ 450
333
+ ]
334
+ },
335
+ "physical_index": {
336
+ "min": [
337
+ 81.0
338
+ ],
339
+ "max": [
340
+ 81.0
341
+ ],
342
+ "mean": [
343
+ 81.0
344
+ ],
345
+ "std": [
346
+ 0.0
347
+ ],
348
+ "count": [
349
+ 450
350
+ ]
351
+ },
352
+ "source_case_index": {
353
+ "min": [
354
+ 48.0
355
+ ],
356
+ "max": [
357
+ 48.0
358
+ ],
359
+ "mean": [
360
+ 48.0
361
+ ],
362
+ "std": [
363
+ 0.0
364
+ ],
365
+ "count": [
366
+ 450
367
+ ]
368
+ },
369
+ "appearance_index": {
370
+ "min": [
371
+ 0.0
372
+ ],
373
+ "max": [
374
+ 0.0
375
+ ],
376
+ "mean": [
377
+ 0.0
378
+ ],
379
+ "std": [
380
+ 0.0
381
+ ],
382
+ "count": [
383
+ 450
384
+ ]
385
+ },
386
+ "physical_query_time_s": {
387
+ "min": [
388
+ 0.0
389
+ ],
390
+ "max": [
391
+ 14.965000000006798
392
+ ],
393
+ "mean": [
394
+ 7.483329629629644
395
+ ],
396
+ "std": [
397
+ 4.330109927180601
398
+ ],
399
+ "count": [
400
+ 450
401
+ ]
402
+ },
403
+ "state_time_s": {
404
+ "min": [
405
+ 0.0
406
+ ],
407
+ "max": [
408
+ 14.965000000006798
409
+ ],
410
+ "mean": [
411
+ 7.48001111111215
412
+ ],
413
+ "std": [
414
+ 4.330119275994038
415
+ ],
416
+ "count": [
417
+ 450
418
+ ]
419
+ },
420
+ "command_time_s": {
421
+ "min": [
422
+ 0.0
423
+ ],
424
+ "max": [
425
+ 14.965000000006798
426
+ ],
427
+ "mean": [
428
+ 7.48001111111215
429
+ ],
430
+ "std": [
431
+ 4.330119275994038
432
+ ],
433
+ "count": [
434
+ 450
435
+ ]
436
+ },
437
+ "state_source_index": {
438
+ "min": [
439
+ 0.0
440
+ ],
441
+ "max": [
442
+ 1497.0
443
+ ],
444
+ "mean": [
445
+ 748.0022222222223
446
+ ],
447
+ "std": [
448
+ 433.01384888753273
449
+ ],
450
+ "count": [
451
+ 450
452
+ ]
453
+ },
454
+ "command_source_index": {
455
+ "min": [
456
+ 0.0
457
+ ],
458
+ "max": [
459
+ 29930.0
460
+ ],
461
+ "mean": [
462
+ 14960.022222222222
463
+ ],
464
+ "std": [
465
+ 8660.238551984809
466
+ ],
467
+ "count": [
468
+ 450
469
+ ]
470
+ },
471
+ "observation.images.cam_high": {
472
+ "mean": [
473
+ [
474
+ [
475
+ 0.3266495801445578
476
+ ]
477
+ ],
478
+ [
479
+ [
480
+ 0.32155515800070034
481
+ ]
482
+ ],
483
+ [
484
+ [
485
+ 0.3126987169867947
486
+ ]
487
+ ]
488
+ ],
489
+ "std": [
490
+ [
491
+ [
492
+ 0.3154263493869675
493
+ ]
494
+ ],
495
+ [
496
+ [
497
+ 0.31044387408184454
498
+ ]
499
+ ],
500
+ [
501
+ [
502
+ 0.3033780743279481
503
+ ]
504
+ ]
505
+ ],
506
+ "min": [
507
+ [
508
+ [
509
+ 0.0
510
+ ]
511
+ ],
512
+ [
513
+ [
514
+ 0.0
515
+ ]
516
+ ],
517
+ [
518
+ [
519
+ 0.0
520
+ ]
521
+ ]
522
+ ],
523
+ "max": [
524
+ [
525
+ [
526
+ 0.8470588235294118
527
+ ]
528
+ ],
529
+ [
530
+ [
531
+ 0.8470588235294118
532
+ ]
533
+ ],
534
+ [
535
+ [
536
+ 0.8470588235294118
537
+ ]
538
+ ]
539
+ ],
540
+ "count": [
541
+ 100
542
+ ]
543
+ },
544
+ "observation.images.cam_left_wrist": {
545
+ "mean": [
546
+ [
547
+ [
548
+ 0.3342678000887855
549
+ ]
550
+ ],
551
+ [
552
+ [
553
+ 0.32510388061474593
554
+ ]
555
+ ],
556
+ [
557
+ [
558
+ 0.31732588113370347
559
+ ]
560
+ ]
561
+ ],
562
+ "std": [
563
+ [
564
+ [
565
+ 0.3213672697202823
566
+ ]
567
+ ],
568
+ [
569
+ [
570
+ 0.3124698992932947
571
+ ]
572
+ ],
573
+ [
574
+ [
575
+ 0.30465698478021375
576
+ ]
577
+ ]
578
+ ],
579
+ "min": [
580
+ [
581
+ [
582
+ 0.0
583
+ ]
584
+ ],
585
+ [
586
+ [
587
+ 0.0
588
+ ]
589
+ ],
590
+ [
591
+ [
592
+ 0.0
593
+ ]
594
+ ]
595
+ ],
596
+ "max": [
597
+ [
598
+ [
599
+ 0.9803921568627451
600
+ ]
601
+ ],
602
+ [
603
+ [
604
+ 1.0
605
+ ]
606
+ ],
607
+ [
608
+ [
609
+ 0.9882352941176471
610
+ ]
611
+ ]
612
+ ],
613
+ "count": [
614
+ 100
615
+ ]
616
+ },
617
+ "observation.images.cam_right_wrist": {
618
+ "mean": [
619
+ [
620
+ [
621
+ 0.3595147512129852
622
+ ]
623
+ ],
624
+ [
625
+ [
626
+ 0.3529050885979391
627
+ ]
628
+ ],
629
+ [
630
+ [
631
+ 0.34144014715261106
632
+ ]
633
+ ]
634
+ ],
635
+ "std": [
636
+ [
637
+ [
638
+ 0.35445717131866966
639
+ ]
640
+ ],
641
+ [
642
+ [
643
+ 0.3478529159509827
644
+ ]
645
+ ],
646
+ [
647
+ [
648
+ 0.33706200309217116
649
+ ]
650
+ ]
651
+ ],
652
+ "min": [
653
+ [
654
+ [
655
+ 0.0
656
+ ]
657
+ ],
658
+ [
659
+ [
660
+ 0.0
661
+ ]
662
+ ],
663
+ [
664
+ [
665
+ 0.0
666
+ ]
667
+ ]
668
+ ],
669
+ "max": [
670
+ [
671
+ [
672
+ 0.9490196078431372
673
+ ]
674
+ ],
675
+ [
676
+ [
677
+ 0.9725490196078431
678
+ ]
679
+ ],
680
+ [
681
+ [
682
+ 0.9607843137254902
683
+ ]
684
+ ]
685
+ ],
686
+ "count": [
687
+ 100
688
+ ]
689
+ }
690
+ },
691
+ "provenance": {
692
+ "task": "Put_the_block_in_the_drawer.",
693
+ "case_id": "drawer_center_train_081",
694
+ "visual_side": "center",
695
+ "split": "train",
696
+ "sampler_index": 81,
697
+ "block_center_xy_m": [
698
+ 0.22876917066886435,
699
+ -0.441659649061839
700
+ ],
701
+ "cabinet_center_xy_m": [
702
+ -0.0007199999999999984,
703
+ -0.7365233236151603
704
+ ],
705
+ "spec": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_spec_20261101_attempt_01",
706
+ "spec_scene_sha256": "6ed7f59cf08dd20f620738e4ead69950b270d0b276920ed162d399dc032d8ad5",
707
+ "native": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_081/attempt_01/native",
708
+ "native_receipt_sha256": "c5fb7d1f48faf65d487f9a25cf50e8118a546477e2a1b4e03caef9d2f5541bc6",
709
+ "batch_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_081/attempt_01",
710
+ "render_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_081/attempt_01",
711
+ "source": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_081/attempt_01/source",
712
+ "source_metadata_sha256": "a62916f40a26516ea740fed34a51bebe48d0c0966b502e6d9e4ec8f32a024cef",
713
+ "camera_order": [
714
+ "head_rgbd",
715
+ "left_wrist_rgbd",
716
+ "right_wrist_rgbd"
717
+ ],
718
+ "camera_mounts": "astribot_sdk_nominal_image_up",
719
+ "controller": "rssr.drawer.center_layout.v1",
720
+ "handle_hand": "right",
721
+ "payload_hand": "left",
722
+ "drawer_closer": "right (handle hand)"
723
+ },
724
+ "files": {
725
+ "data/chunk-000/episode_000081.parquet": {
726
+ "sha256": "0c786852ccef06945f6cc65e10e7d08e0d285a013569e5b393f317ed1e4df3c7",
727
+ "bytes": 126342
728
+ },
729
+ "videos/chunk-000/observation.images.cam_high/episode_000081.mp4": {
730
+ "sha256": "764d9e7300da79ba54286b69165ac15858333df2b2c3c6c00ab46c3871d8ca5b",
731
+ "bytes": 107943
732
+ },
733
+ "videos/chunk-000/observation.images.cam_left_wrist/episode_000081.mp4": {
734
+ "sha256": "b6a74e9b78a5ab2c8a4bf77e4a76b35daecdda40f8d792b465c2ea3963cc77cf",
735
+ "bytes": 127980
736
+ },
737
+ "videos/chunk-000/observation.images.cam_right_wrist/episode_000081.mp4": {
738
+ "sha256": "605d3a367f1c47b97be80676760667e3f1cd67940038cd954253cdc256fdbdf1",
739
+ "bytes": 180910
740
+ }
741
+ }
742
+ }
drawer_center_layout_100/draw/evidence/episode_000082.json ADDED
@@ -0,0 +1,742 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_index": 82,
3
+ "length": 450,
4
+ "tasks": [
5
+ "Put_the_block_in_the_drawer."
6
+ ],
7
+ "stats": {
8
+ "observation.state": {
9
+ "min": [
10
+ 0.5173457860946655,
11
+ -0.8005684018135071,
12
+ 0.27984383702278137,
13
+ 0.01681649498641491,
14
+ 0.009002355858683586,
15
+ 0.9799587726593018,
16
+ -0.17955826222896576,
17
+ -0.156320720911026,
18
+ -1.1766616106033325,
19
+ 0.8532569408416748,
20
+ -0.5823659896850586,
21
+ 0.16405892372131348,
22
+ 0.06507611274719238,
23
+ 0.019136542454361916,
24
+ 0.019137512892484665,
25
+ -0.4890040457248688,
26
+ 0.019136890769004822,
27
+ -0.48933058977127075,
28
+ 0.01913761906325817,
29
+ -0.05744754150509834,
30
+ -0.2630530297756195,
31
+ 0.3242972195148468,
32
+ 0.9227219820022583,
33
+ -0.7825754880905151,
34
+ -0.38368961215019226,
35
+ -0.5798507928848267,
36
+ 0.07665537297725677,
37
+ 0.07667234539985657,
38
+ -0.8005469441413879,
39
+ 0.07664890587329865,
40
+ -0.8007800579071045,
41
+ 0.07664341479539871
42
+ ],
43
+ "max": [
44
+ 0.5175585746765137,
45
+ -0.8003443479537964,
46
+ 0.28030264377593994,
47
+ 0.017647702246904373,
48
+ 0.00901176780462265,
49
+ 0.9800696969032288,
50
+ 0.0020194780081510544,
51
+ 0.05511372536420822,
52
+ -0.9536928534507751,
53
+ 1.7415297031402588,
54
+ -0.4074915647506714,
55
+ 0.6524991989135742,
56
+ 0.3663402795791626,
57
+ 0.48900413513183594,
58
+ 0.4893246591091156,
59
+ -0.019137168303132057,
60
+ 0.48900550603866577,
61
+ -0.019137442111968994,
62
+ 0.48900553584098816,
63
+ 0.5736531019210815,
64
+ -0.035906337201595306,
65
+ 1.1057521104812622,
66
+ 1.472625732421875,
67
+ 0.5862753391265869,
68
+ 0.3557598888874054,
69
+ -0.15013353526592255,
70
+ 0.800546407699585,
71
+ 0.800782322883606,
72
+ -0.0766567513346672,
73
+ 0.8005635738372803,
74
+ -0.07667877525091171,
75
+ 0.8005641102790833
76
+ ],
77
+ "mean": [
78
+ 0.517456627951728,
79
+ -0.8004554388258193,
80
+ 0.28006912615564133,
81
+ 0.01734620006961955,
82
+ 0.009007085644536549,
83
+ 0.9800004487567477,
84
+ -0.11179488434499137,
85
+ -0.07027715942576632,
86
+ -1.0226065611839295,
87
+ 1.4556669994195301,
88
+ -0.4694246488809586,
89
+ 0.35456431892183093,
90
+ 0.2959822206364738,
91
+ 0.22754112505250507,
92
+ 0.22765865452587605,
93
+ -0.2275411524416672,
94
+ 0.22754170870201454,
95
+ -0.2276602825605207,
96
+ 0.227541886539095,
97
+ 0.39819592747216426,
98
+ -0.14821915006472006,
99
+ 0.5230394408437941,
100
+ 1.1531165844864315,
101
+ -0.5336091985662157,
102
+ -0.07569105519809656,
103
+ -0.4746157311399778,
104
+ 0.4165602927075492,
105
+ 0.41666002217266296,
106
+ -0.4165601693921619,
107
+ 0.41656848021679455,
108
+ -0.41663740414712164,
109
+ 0.4165689245528645
110
+ ],
111
+ "std": [
112
+ 5.256926299567449e-05,
113
+ 5.2569832249734004e-05,
114
+ 0.00013475925003835547,
115
+ 0.00022308533193992299,
116
+ 5.469778805988274e-07,
117
+ 6.116642447612588e-06,
118
+ 0.06341446795704797,
119
+ 0.050920361160600794,
120
+ 0.043649273082425666,
121
+ 0.28170733828526295,
122
+ 0.04436383103053351,
123
+ 0.18427135707730746,
124
+ 0.06172678983008889,
125
+ 0.21572958745446374,
126
+ 0.21587118807236158,
127
+ 0.21572948784659035,
128
+ 0.21573002659324317,
129
+ 0.2158737419178375,
130
+ 0.21573004899845433,
131
+ 0.16399731167608764,
132
+ 0.07551910976998208,
133
+ 0.1982944639668896,
134
+ 0.2087683468910361,
135
+ 0.3468039530988468,
136
+ 0.22333130112308366,
137
+ 0.12605328338375033,
138
+ 0.34023143520851945,
139
+ 0.340338383631669,
140
+ 0.3402311976710019,
141
+ 0.340240198263333,
142
+ 0.34034478888198627,
143
+ 0.3402402619982994
144
+ ],
145
+ "count": [
146
+ 450
147
+ ]
148
+ },
149
+ "action": {
150
+ "min": [
151
+ 0.5174471735954285,
152
+ -0.8004457950592041,
153
+ 0.009007098153233528,
154
+ 0.9800000190734863,
155
+ 0.2799195647239685,
156
+ 0.017286056652665138,
157
+ -0.17948126792907715,
158
+ -0.15049029886722565,
159
+ -1.1765577793121338,
160
+ 0.8533357381820679,
161
+ -0.5823286175727844,
162
+ 0.16408686339855194,
163
+ 0.06530924886465073,
164
+ 0.019999999552965164,
165
+ -0.05736824497580528,
166
+ -0.29532161355018616,
167
+ 0.3544706404209137,
168
+ 0.9279121160507202,
169
+ -0.7820358872413635,
170
+ -0.38962677121162415,
171
+ -0.5854901671409607,
172
+ 0.07999999821186066
173
+ ],
174
+ "max": [
175
+ 0.5174471735954285,
176
+ -0.8004457950592041,
177
+ 0.009007098153233528,
178
+ 0.9800000190734863,
179
+ 0.2799195647239685,
180
+ 0.017286056652665138,
181
+ 0.0004303902678657323,
182
+ 0.05503271892666817,
183
+ -0.9545937180519104,
184
+ 1.7414252758026123,
185
+ -0.40746405720710754,
186
+ 0.6527725458145142,
187
+ 0.3663300573825836,
188
+ 0.49500414729118347,
189
+ 0.6260704398155212,
190
+ -0.01792912557721138,
191
+ 1.1056662797927856,
192
+ 1.4730889797210693,
193
+ 0.5861002206802368,
194
+ 0.35583123564720154,
195
+ -0.15016238391399384,
196
+ 0.8065463900566101
197
+ ],
198
+ "mean": [
199
+ 0.5174471735954285,
200
+ -0.8004457950592041,
201
+ 0.009007098153233528,
202
+ 0.9800000190734863,
203
+ 0.2799195647239685,
204
+ 0.017286056652665138,
205
+ -0.11260708184243008,
206
+ -0.0702046312751352,
207
+ -1.022812130583657,
208
+ 1.455807096030977,
209
+ -0.469407291147444,
210
+ 0.3547102551658948,
211
+ 0.2959470930861102,
212
+ 0.22968473393056127,
213
+ 0.41441752136322774,
214
+ -0.1574832169380453,
215
+ 0.5388219297594494,
216
+ 1.1538763741652172,
217
+ -0.5335094708002482,
218
+ -0.07780925344818065,
219
+ -0.4773674062556691,
220
+ 0.4189647722244263
221
+ ],
222
+ "std": [
223
+ 0.0,
224
+ 0.0,
225
+ 0.0,
226
+ 0.0,
227
+ 0.0,
228
+ 0.0,
229
+ 0.06254120380422684,
230
+ 0.05047518900926979,
231
+ 0.04344670615263733,
232
+ 0.28162857484996273,
233
+ 0.044379720591957966,
234
+ 0.18445201893177765,
235
+ 0.06176766523556513,
236
+ 0.21838875305417385,
237
+ 0.17100186025766784,
238
+ 0.09168423729622033,
239
+ 0.1882591197585866,
240
+ 0.20822041469877883,
241
+ 0.3466031233223424,
242
+ 0.22580426600284068,
243
+ 0.1278168609502309,
244
+ 0.342912319811187
245
+ ],
246
+ "count": [
247
+ 450
248
+ ]
249
+ },
250
+ "timestamp": {
251
+ "min": [
252
+ 0.0
253
+ ],
254
+ "max": [
255
+ 14.966666221618652
256
+ ],
257
+ "mean": [
258
+ 7.48333333350718
259
+ ],
260
+ "std": [
261
+ 4.3301163254484205
262
+ ],
263
+ "count": [
264
+ 450
265
+ ]
266
+ },
267
+ "frame_index": {
268
+ "min": [
269
+ 0.0
270
+ ],
271
+ "max": [
272
+ 449.0
273
+ ],
274
+ "mean": [
275
+ 224.5
276
+ ],
277
+ "std": [
278
+ 129.90348981712026
279
+ ],
280
+ "count": [
281
+ 450
282
+ ]
283
+ },
284
+ "episode_index": {
285
+ "min": [
286
+ 82.0
287
+ ],
288
+ "max": [
289
+ 82.0
290
+ ],
291
+ "mean": [
292
+ 82.0
293
+ ],
294
+ "std": [
295
+ 0.0
296
+ ],
297
+ "count": [
298
+ 450
299
+ ]
300
+ },
301
+ "index": {
302
+ "min": [
303
+ 36900.0
304
+ ],
305
+ "max": [
306
+ 37349.0
307
+ ],
308
+ "mean": [
309
+ 37124.5
310
+ ],
311
+ "std": [
312
+ 129.90348981712026
313
+ ],
314
+ "count": [
315
+ 450
316
+ ]
317
+ },
318
+ "task_index": {
319
+ "min": [
320
+ 0.0
321
+ ],
322
+ "max": [
323
+ 0.0
324
+ ],
325
+ "mean": [
326
+ 0.0
327
+ ],
328
+ "std": [
329
+ 0.0
330
+ ],
331
+ "count": [
332
+ 450
333
+ ]
334
+ },
335
+ "physical_index": {
336
+ "min": [
337
+ 82.0
338
+ ],
339
+ "max": [
340
+ 82.0
341
+ ],
342
+ "mean": [
343
+ 82.0
344
+ ],
345
+ "std": [
346
+ 0.0
347
+ ],
348
+ "count": [
349
+ 450
350
+ ]
351
+ },
352
+ "source_case_index": {
353
+ "min": [
354
+ 48.0
355
+ ],
356
+ "max": [
357
+ 48.0
358
+ ],
359
+ "mean": [
360
+ 48.0
361
+ ],
362
+ "std": [
363
+ 0.0
364
+ ],
365
+ "count": [
366
+ 450
367
+ ]
368
+ },
369
+ "appearance_index": {
370
+ "min": [
371
+ 0.0
372
+ ],
373
+ "max": [
374
+ 0.0
375
+ ],
376
+ "mean": [
377
+ 0.0
378
+ ],
379
+ "std": [
380
+ 0.0
381
+ ],
382
+ "count": [
383
+ 450
384
+ ]
385
+ },
386
+ "physical_query_time_s": {
387
+ "min": [
388
+ 0.0
389
+ ],
390
+ "max": [
391
+ 14.965000000006798
392
+ ],
393
+ "mean": [
394
+ 7.483329629629644
395
+ ],
396
+ "std": [
397
+ 4.330109927180601
398
+ ],
399
+ "count": [
400
+ 450
401
+ ]
402
+ },
403
+ "state_time_s": {
404
+ "min": [
405
+ 0.0
406
+ ],
407
+ "max": [
408
+ 14.965000000006798
409
+ ],
410
+ "mean": [
411
+ 7.48001111111215
412
+ ],
413
+ "std": [
414
+ 4.330119275994038
415
+ ],
416
+ "count": [
417
+ 450
418
+ ]
419
+ },
420
+ "command_time_s": {
421
+ "min": [
422
+ 0.0
423
+ ],
424
+ "max": [
425
+ 14.965000000006798
426
+ ],
427
+ "mean": [
428
+ 7.48001111111215
429
+ ],
430
+ "std": [
431
+ 4.330119275994038
432
+ ],
433
+ "count": [
434
+ 450
435
+ ]
436
+ },
437
+ "state_source_index": {
438
+ "min": [
439
+ 0.0
440
+ ],
441
+ "max": [
442
+ 1497.0
443
+ ],
444
+ "mean": [
445
+ 748.0022222222223
446
+ ],
447
+ "std": [
448
+ 433.01384888753273
449
+ ],
450
+ "count": [
451
+ 450
452
+ ]
453
+ },
454
+ "command_source_index": {
455
+ "min": [
456
+ 0.0
457
+ ],
458
+ "max": [
459
+ 29930.0
460
+ ],
461
+ "mean": [
462
+ 14960.022222222222
463
+ ],
464
+ "std": [
465
+ 8660.238551984809
466
+ ],
467
+ "count": [
468
+ 450
469
+ ]
470
+ },
471
+ "observation.images.cam_high": {
472
+ "mean": [
473
+ [
474
+ [
475
+ 0.3260643663715487
476
+ ]
477
+ ],
478
+ [
479
+ [
480
+ 0.3209788735806823
481
+ ]
482
+ ],
483
+ [
484
+ [
485
+ 0.31215000844087637
486
+ ]
487
+ ]
488
+ ],
489
+ "std": [
490
+ [
491
+ [
492
+ 0.31521638043717215
493
+ ]
494
+ ],
495
+ [
496
+ [
497
+ 0.3102470414818799
498
+ ]
499
+ ],
500
+ [
501
+ [
502
+ 0.3032223991501064
503
+ ]
504
+ ]
505
+ ],
506
+ "min": [
507
+ [
508
+ [
509
+ 0.0
510
+ ]
511
+ ],
512
+ [
513
+ [
514
+ 0.0
515
+ ]
516
+ ],
517
+ [
518
+ [
519
+ 0.0
520
+ ]
521
+ ]
522
+ ],
523
+ "max": [
524
+ [
525
+ [
526
+ 0.8666666666666667
527
+ ]
528
+ ],
529
+ [
530
+ [
531
+ 0.8666666666666667
532
+ ]
533
+ ],
534
+ [
535
+ [
536
+ 0.8549019607843137
537
+ ]
538
+ ]
539
+ ],
540
+ "count": [
541
+ 100
542
+ ]
543
+ },
544
+ "observation.images.cam_left_wrist": {
545
+ "mean": [
546
+ [
547
+ [
548
+ 0.3329698309011105
549
+ ]
550
+ ],
551
+ [
552
+ [
553
+ 0.323736484437525
554
+ ]
555
+ ],
556
+ [
557
+ [
558
+ 0.31613953237545017
559
+ ]
560
+ ]
561
+ ],
562
+ "std": [
563
+ [
564
+ [
565
+ 0.320068432396465
566
+ ]
567
+ ],
568
+ [
569
+ [
570
+ 0.3111273920503565
571
+ ]
572
+ ],
573
+ [
574
+ [
575
+ 0.3034584405918917
576
+ ]
577
+ ]
578
+ ],
579
+ "min": [
580
+ [
581
+ [
582
+ 0.0
583
+ ]
584
+ ],
585
+ [
586
+ [
587
+ 0.0
588
+ ]
589
+ ],
590
+ [
591
+ [
592
+ 0.0
593
+ ]
594
+ ]
595
+ ],
596
+ "max": [
597
+ [
598
+ [
599
+ 0.9764705882352941
600
+ ]
601
+ ],
602
+ [
603
+ [
604
+ 1.0
605
+ ]
606
+ ],
607
+ [
608
+ [
609
+ 0.9803921568627451
610
+ ]
611
+ ]
612
+ ],
613
+ "count": [
614
+ 100
615
+ ]
616
+ },
617
+ "observation.images.cam_right_wrist": {
618
+ "mean": [
619
+ [
620
+ [
621
+ 0.35924742396958786
622
+ ]
623
+ ],
624
+ [
625
+ [
626
+ 0.35263289612720083
627
+ ]
628
+ ],
629
+ [
630
+ [
631
+ 0.3411297229829432
632
+ ]
633
+ ]
634
+ ],
635
+ "std": [
636
+ [
637
+ [
638
+ 0.35422257831246695
639
+ ]
640
+ ],
641
+ [
642
+ [
643
+ 0.34759803107450066
644
+ ]
645
+ ],
646
+ [
647
+ [
648
+ 0.33677625525496946
649
+ ]
650
+ ]
651
+ ],
652
+ "min": [
653
+ [
654
+ [
655
+ 0.0
656
+ ]
657
+ ],
658
+ [
659
+ [
660
+ 0.0
661
+ ]
662
+ ],
663
+ [
664
+ [
665
+ 0.0
666
+ ]
667
+ ]
668
+ ],
669
+ "max": [
670
+ [
671
+ [
672
+ 0.9372549019607843
673
+ ]
674
+ ],
675
+ [
676
+ [
677
+ 0.9764705882352941
678
+ ]
679
+ ],
680
+ [
681
+ [
682
+ 0.9607843137254902
683
+ ]
684
+ ]
685
+ ],
686
+ "count": [
687
+ 100
688
+ ]
689
+ }
690
+ },
691
+ "provenance": {
692
+ "task": "Put_the_block_in_the_drawer.",
693
+ "case_id": "drawer_center_train_082",
694
+ "visual_side": "center",
695
+ "split": "train",
696
+ "sampler_index": 82,
697
+ "block_center_xy_m": [
698
+ 0.22303565793350777,
699
+ -0.4912203635188805
700
+ ],
701
+ "cabinet_center_xy_m": [
702
+ 0.003280000000000005,
703
+ -0.7336661807580175
704
+ ],
705
+ "spec": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_spec_20261101_attempt_01",
706
+ "spec_scene_sha256": "1315e35df85a41f97ddaf59c7ca288f5114c1b0806dc59a380f7fb4ccf67b81a",
707
+ "native": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_082/attempt_01/native",
708
+ "native_receipt_sha256": "a1ef160b3c1f4d6ce8902952216b9780c5bfc8d8361462441a9b53c83bdc2efe",
709
+ "batch_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_082/attempt_01",
710
+ "render_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_082/attempt_01",
711
+ "source": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_082/attempt_01/source",
712
+ "source_metadata_sha256": "1e8ce0f295b8f805423a9245db17cc4ed9e780054f491d777647989b810c4771",
713
+ "camera_order": [
714
+ "head_rgbd",
715
+ "left_wrist_rgbd",
716
+ "right_wrist_rgbd"
717
+ ],
718
+ "camera_mounts": "astribot_sdk_nominal_image_up",
719
+ "controller": "rssr.drawer.center_layout.v1",
720
+ "handle_hand": "right",
721
+ "payload_hand": "left",
722
+ "drawer_closer": "right (handle hand)"
723
+ },
724
+ "files": {
725
+ "data/chunk-000/episode_000082.parquet": {
726
+ "sha256": "99c65b55445cdc408186cd854b90d7d3e8d8de679bad77ffc66ab22fed01a50c",
727
+ "bytes": 126090
728
+ },
729
+ "videos/chunk-000/observation.images.cam_high/episode_000082.mp4": {
730
+ "sha256": "92f72f205f3efaebef406a4dad0a1c4bed540241ebc7f8714ea6ac1ef720a059",
731
+ "bytes": 107913
732
+ },
733
+ "videos/chunk-000/observation.images.cam_left_wrist/episode_000082.mp4": {
734
+ "sha256": "eee5a9df75274096ef120e74ceb2742a7d1dc6c2dc2a488467db22d7b1e1f47b",
735
+ "bytes": 130456
736
+ },
737
+ "videos/chunk-000/observation.images.cam_right_wrist/episode_000082.mp4": {
738
+ "sha256": "0ec1df1b3615aac0f91b8e135eb75ffe5feac1fe4461ec4d4702dc8979510585",
739
+ "bytes": 182595
740
+ }
741
+ }
742
+ }
drawer_center_layout_100/draw/evidence/episode_000083.json ADDED
@@ -0,0 +1,742 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_index": 83,
3
+ "length": 450,
4
+ "tasks": [
5
+ "Put_the_block_in_the_drawer."
6
+ ],
7
+ "stats": {
8
+ "observation.state": {
9
+ "min": [
10
+ 0.517336368560791,
11
+ -0.8005678653717041,
12
+ 0.2798011302947998,
13
+ 0.016876859590411186,
14
+ 0.008998816832900047,
15
+ 0.9799669981002808,
16
+ -0.2140742391347885,
17
+ -0.17575493454933167,
18
+ -1.1766616106033325,
19
+ 0.9852010011672974,
20
+ -0.5872491598129272,
21
+ 0.08470291644334793,
22
+ 0.06507611274719238,
23
+ 0.019142357632517815,
24
+ 0.019143272191286087,
25
+ -0.48902109265327454,
26
+ 0.019142618402838707,
27
+ -0.48934757709503174,
28
+ 0.01914334110915661,
29
+ -0.05744754150509834,
30
+ -0.24680310487747192,
31
+ 0.3259838819503784,
32
+ 0.8346670866012573,
33
+ -0.7542059421539307,
34
+ -0.3696642220020294,
35
+ -0.5746269226074219,
36
+ 0.0792694240808487,
37
+ 0.07926470786333084,
38
+ -0.8009111285209656,
39
+ 0.07923565804958344,
40
+ -0.8012135028839111,
41
+ 0.07923797518014908
42
+ ],
43
+ "max": [
44
+ 0.5175628066062927,
45
+ -0.8003348708152771,
46
+ 0.2802616059780121,
47
+ 0.017606137320399284,
48
+ 0.009009386412799358,
49
+ 0.9800717830657959,
50
+ 0.020392902195453644,
51
+ -0.007730358745902777,
52
+ -0.9735847115516663,
53
+ 1.7227718830108643,
54
+ -0.4484509527683258,
55
+ 0.5650582313537598,
56
+ 0.3550315797328949,
57
+ 0.4890211820602417,
58
+ 0.4893416464328766,
59
+ -0.01914304308593273,
60
+ 0.48902255296707153,
61
+ -0.01914319023489952,
62
+ 0.4890225827693939,
63
+ 0.618867814540863,
64
+ -0.009150066412985325,
65
+ 1.1057521104812622,
66
+ 1.4343725442886353,
67
+ 0.5862753391265869,
68
+ 0.355396032333374,
69
+ -0.15013353526592255,
70
+ 0.8009108901023865,
71
+ 0.801112711429596,
72
+ -0.07926838099956512,
73
+ 0.800919234752655,
74
+ -0.07925302535295486,
75
+ 0.8009201288223267
76
+ ],
77
+ "mean": [
78
+ 0.5174514803621504,
79
+ -0.8004503101772732,
80
+ 0.2800214030345281,
81
+ 0.017337086014449596,
82
+ 0.009007045423818959,
83
+ 0.980000473525789,
84
+ -0.1111950670880348,
85
+ -0.09299020536347395,
86
+ -1.0392594639460246,
87
+ 1.472755119005839,
88
+ -0.5067446890142229,
89
+ 0.2986859328548114,
90
+ 0.28052757049600285,
91
+ 0.23005431830883027,
92
+ 0.23017418158964978,
93
+ -0.23005433882690138,
94
+ 0.23005483630216783,
95
+ -0.23017544074190988,
96
+ 0.23005499898145595,
97
+ 0.436988926418255,
98
+ -0.12490615489582221,
99
+ 0.5234210834238264,
100
+ 1.0937749412324693,
101
+ -0.5147180613140679,
102
+ -0.055872448057246706,
103
+ -0.47503960496849484,
104
+ 0.41654131177398895,
105
+ 0.4166366490887271,
106
+ -0.4165411414868302,
107
+ 0.41654729132850965,
108
+ -0.41662684357828567,
109
+ 0.41654779540167913
110
+ ],
111
+ "std": [
112
+ 4.37372668170272e-05,
113
+ 4.379466931451886e-05,
114
+ 0.000121914652874462,
115
+ 0.00019051808080914796,
116
+ 6.479909962944052e-07,
117
+ 5.751236721605706e-06,
118
+ 0.08895607091965728,
119
+ 0.03910200569829955,
120
+ 0.037184370855195374,
121
+ 0.23559338810510133,
122
+ 0.04115181264311176,
123
+ 0.18649731587076943,
124
+ 0.06393783085773257,
125
+ 0.21601689390716958,
126
+ 0.21615985579817226,
127
+ 0.21601679620064246,
128
+ 0.21601726593009807,
129
+ 0.21616192185125244,
130
+ 0.2160172842052187,
131
+ 0.1728620647674124,
132
+ 0.0821484510821949,
133
+ 0.1993707290839812,
134
+ 0.2288764946242923,
135
+ 0.3396896915195435,
136
+ 0.2196800302714601,
137
+ 0.12810608513336197,
138
+ 0.34019684459299654,
139
+ 0.34029945960954455,
140
+ 0.3401966367474958,
141
+ 0.34020389788558403,
142
+ 0.34030848436460936,
143
+ 0.3402039828862696
144
+ ],
145
+ "count": [
146
+ 450
147
+ ]
148
+ },
149
+ "action": {
150
+ "min": [
151
+ 0.5174471735954285,
152
+ -0.8004457950592041,
153
+ 0.009007098153233528,
154
+ 0.9800000190734863,
155
+ 0.2799195647239685,
156
+ 0.017286056652665138,
157
+ -0.21406954526901245,
158
+ -0.1738748848438263,
159
+ -1.1765598058700562,
160
+ 0.9852620363235474,
161
+ -0.5872392654418945,
162
+ 0.0847465917468071,
163
+ 0.06530273705720901,
164
+ 0.019999999552965164,
165
+ -0.05736069008708,
166
+ -0.27526408433914185,
167
+ 0.3491988182067871,
168
+ 0.8388186097145081,
169
+ -0.7536358833312988,
170
+ -0.3745604455471039,
171
+ -0.5783463716506958,
172
+ 0.07999999821186066
173
+ ],
174
+ "max": [
175
+ 0.5174471735954285,
176
+ -0.8004457950592041,
177
+ 0.009007098153233528,
178
+ 0.9800000190734863,
179
+ 0.2799195647239685,
180
+ 0.017286056652665138,
181
+ 0.0188481193035841,
182
+ -0.008052279241383076,
183
+ -0.97454434633255,
184
+ 1.722651720046997,
185
+ -0.4484301507472992,
186
+ 0.5654252171516418,
187
+ 0.3550213873386383,
188
+ 0.49502119421958923,
189
+ 0.6639720797538757,
190
+ 0.004452230408787727,
191
+ 1.105668306350708,
192
+ 1.4340345859527588,
193
+ 0.5861017107963562,
194
+ 0.35532957315444946,
195
+ -0.1501612365245819,
196
+ 0.8110142350196838
197
+ ],
198
+ "mean": [
199
+ 0.5174471735954285,
200
+ -0.8004457950592041,
201
+ 0.009007098153233528,
202
+ 0.9800000190734863,
203
+ 0.2799195647239685,
204
+ 0.017286056652665138,
205
+ -0.11202747625574476,
206
+ -0.09294322813757591,
207
+ -1.0395074262883928,
208
+ 1.4728946404986911,
209
+ -0.506728767156601,
210
+ 0.2988339157236947,
211
+ 0.28049427433146373,
212
+ 0.23223911369012462,
213
+ 0.4478832668857649,
214
+ -0.13299746714585733,
215
+ 0.5343883618381289,
216
+ 1.094021611346139,
217
+ -0.5145872196244696,
218
+ -0.05757216190564729,
219
+ -0.47664486868513956,
220
+ 0.4189596053957939
221
+ ],
222
+ "std": [
223
+ 0.0,
224
+ 0.0,
225
+ 0.0,
226
+ 0.0,
227
+ 0.0,
228
+ 0.0,
229
+ 0.08822324539706262,
230
+ 0.038754055483737074,
231
+ 0.037005377961997585,
232
+ 0.23550312236156357,
233
+ 0.041169786704627724,
234
+ 0.18666913096138565,
235
+ 0.06397098811696207,
236
+ 0.21869988663869777,
237
+ 0.17772643008621106,
238
+ 0.09589341597527742,
239
+ 0.19184596545316365,
240
+ 0.22824967657548087,
241
+ 0.3394870666116442,
242
+ 0.22174911171730907,
243
+ 0.129153367555605,
244
+ 0.34288278424224167
245
+ ],
246
+ "count": [
247
+ 450
248
+ ]
249
+ },
250
+ "timestamp": {
251
+ "min": [
252
+ 0.0
253
+ ],
254
+ "max": [
255
+ 14.966666221618652
256
+ ],
257
+ "mean": [
258
+ 7.48333333350718
259
+ ],
260
+ "std": [
261
+ 4.3301163254484205
262
+ ],
263
+ "count": [
264
+ 450
265
+ ]
266
+ },
267
+ "frame_index": {
268
+ "min": [
269
+ 0.0
270
+ ],
271
+ "max": [
272
+ 449.0
273
+ ],
274
+ "mean": [
275
+ 224.5
276
+ ],
277
+ "std": [
278
+ 129.90348981712026
279
+ ],
280
+ "count": [
281
+ 450
282
+ ]
283
+ },
284
+ "episode_index": {
285
+ "min": [
286
+ 83.0
287
+ ],
288
+ "max": [
289
+ 83.0
290
+ ],
291
+ "mean": [
292
+ 83.0
293
+ ],
294
+ "std": [
295
+ 0.0
296
+ ],
297
+ "count": [
298
+ 450
299
+ ]
300
+ },
301
+ "index": {
302
+ "min": [
303
+ 37350.0
304
+ ],
305
+ "max": [
306
+ 37799.0
307
+ ],
308
+ "mean": [
309
+ 37574.5
310
+ ],
311
+ "std": [
312
+ 129.90348981712026
313
+ ],
314
+ "count": [
315
+ 450
316
+ ]
317
+ },
318
+ "task_index": {
319
+ "min": [
320
+ 0.0
321
+ ],
322
+ "max": [
323
+ 0.0
324
+ ],
325
+ "mean": [
326
+ 0.0
327
+ ],
328
+ "std": [
329
+ 0.0
330
+ ],
331
+ "count": [
332
+ 450
333
+ ]
334
+ },
335
+ "physical_index": {
336
+ "min": [
337
+ 83.0
338
+ ],
339
+ "max": [
340
+ 83.0
341
+ ],
342
+ "mean": [
343
+ 83.0
344
+ ],
345
+ "std": [
346
+ 0.0
347
+ ],
348
+ "count": [
349
+ 450
350
+ ]
351
+ },
352
+ "source_case_index": {
353
+ "min": [
354
+ 48.0
355
+ ],
356
+ "max": [
357
+ 48.0
358
+ ],
359
+ "mean": [
360
+ 48.0
361
+ ],
362
+ "std": [
363
+ 0.0
364
+ ],
365
+ "count": [
366
+ 450
367
+ ]
368
+ },
369
+ "appearance_index": {
370
+ "min": [
371
+ 0.0
372
+ ],
373
+ "max": [
374
+ 0.0
375
+ ],
376
+ "mean": [
377
+ 0.0
378
+ ],
379
+ "std": [
380
+ 0.0
381
+ ],
382
+ "count": [
383
+ 450
384
+ ]
385
+ },
386
+ "physical_query_time_s": {
387
+ "min": [
388
+ 0.0
389
+ ],
390
+ "max": [
391
+ 14.965000000006798
392
+ ],
393
+ "mean": [
394
+ 7.483329629629644
395
+ ],
396
+ "std": [
397
+ 4.330109927180601
398
+ ],
399
+ "count": [
400
+ 450
401
+ ]
402
+ },
403
+ "state_time_s": {
404
+ "min": [
405
+ 0.0
406
+ ],
407
+ "max": [
408
+ 14.965000000006798
409
+ ],
410
+ "mean": [
411
+ 7.48001111111215
412
+ ],
413
+ "std": [
414
+ 4.330119275994038
415
+ ],
416
+ "count": [
417
+ 450
418
+ ]
419
+ },
420
+ "command_time_s": {
421
+ "min": [
422
+ 0.0
423
+ ],
424
+ "max": [
425
+ 14.965000000006798
426
+ ],
427
+ "mean": [
428
+ 7.48001111111215
429
+ ],
430
+ "std": [
431
+ 4.330119275994038
432
+ ],
433
+ "count": [
434
+ 450
435
+ ]
436
+ },
437
+ "state_source_index": {
438
+ "min": [
439
+ 0.0
440
+ ],
441
+ "max": [
442
+ 1497.0
443
+ ],
444
+ "mean": [
445
+ 748.0022222222223
446
+ ],
447
+ "std": [
448
+ 433.01384888753273
449
+ ],
450
+ "count": [
451
+ 450
452
+ ]
453
+ },
454
+ "command_source_index": {
455
+ "min": [
456
+ 0.0
457
+ ],
458
+ "max": [
459
+ 29930.0
460
+ ],
461
+ "mean": [
462
+ 14960.022222222222
463
+ ],
464
+ "std": [
465
+ 8660.238551984809
466
+ ],
467
+ "count": [
468
+ 450
469
+ ]
470
+ },
471
+ "observation.images.cam_high": {
472
+ "mean": [
473
+ [
474
+ [
475
+ 0.3276817547331433
476
+ ]
477
+ ],
478
+ [
479
+ [
480
+ 0.32274380611619646
481
+ ]
482
+ ],
483
+ [
484
+ [
485
+ 0.31413149791166467
486
+ ]
487
+ ]
488
+ ],
489
+ "std": [
490
+ [
491
+ [
492
+ 0.31616119746264054
493
+ ]
494
+ ],
495
+ [
496
+ [
497
+ 0.31137883369543856
498
+ ]
499
+ ],
500
+ [
501
+ [
502
+ 0.3045012899183125
503
+ ]
504
+ ]
505
+ ],
506
+ "min": [
507
+ [
508
+ [
509
+ 0.0
510
+ ]
511
+ ],
512
+ [
513
+ [
514
+ 0.0
515
+ ]
516
+ ],
517
+ [
518
+ [
519
+ 0.0
520
+ ]
521
+ ]
522
+ ],
523
+ "max": [
524
+ [
525
+ [
526
+ 0.8509803921568627
527
+ ]
528
+ ],
529
+ [
530
+ [
531
+ 0.8509803921568627
532
+ ]
533
+ ],
534
+ [
535
+ [
536
+ 0.8470588235294118
537
+ ]
538
+ ]
539
+ ],
540
+ "count": [
541
+ 100
542
+ ]
543
+ },
544
+ "observation.images.cam_left_wrist": {
545
+ "mean": [
546
+ [
547
+ [
548
+ 0.33466473698854543
549
+ ]
550
+ ],
551
+ [
552
+ [
553
+ 0.32527118269182675
554
+ ]
555
+ ],
556
+ [
557
+ [
558
+ 0.3175791652598539
559
+ ]
560
+ ]
561
+ ],
562
+ "std": [
563
+ [
564
+ [
565
+ 0.32149586627149396
566
+ ]
567
+ ],
568
+ [
569
+ [
570
+ 0.31241292836387685
571
+ ]
572
+ ],
573
+ [
574
+ [
575
+ 0.30465425948556296
576
+ ]
577
+ ]
578
+ ],
579
+ "min": [
580
+ [
581
+ [
582
+ 0.0
583
+ ]
584
+ ],
585
+ [
586
+ [
587
+ 0.0
588
+ ]
589
+ ],
590
+ [
591
+ [
592
+ 0.0
593
+ ]
594
+ ]
595
+ ],
596
+ "max": [
597
+ [
598
+ [
599
+ 0.9764705882352941
600
+ ]
601
+ ],
602
+ [
603
+ [
604
+ 1.0
605
+ ]
606
+ ],
607
+ [
608
+ [
609
+ 1.0
610
+ ]
611
+ ]
612
+ ],
613
+ "count": [
614
+ 100
615
+ ]
616
+ },
617
+ "observation.images.cam_right_wrist": {
618
+ "mean": [
619
+ [
620
+ [
621
+ 0.3596011670293117
622
+ ]
623
+ ],
624
+ [
625
+ [
626
+ 0.35296841627275916
627
+ ]
628
+ ],
629
+ [
630
+ [
631
+ 0.34147790835084035
632
+ ]
633
+ ]
634
+ ],
635
+ "std": [
636
+ [
637
+ [
638
+ 0.35446495254074784
639
+ ]
640
+ ],
641
+ [
642
+ [
643
+ 0.34780951377893754
644
+ ]
645
+ ],
646
+ [
647
+ [
648
+ 0.3369963688599314
649
+ ]
650
+ ]
651
+ ],
652
+ "min": [
653
+ [
654
+ [
655
+ 0.0
656
+ ]
657
+ ],
658
+ [
659
+ [
660
+ 0.0
661
+ ]
662
+ ],
663
+ [
664
+ [
665
+ 0.0
666
+ ]
667
+ ]
668
+ ],
669
+ "max": [
670
+ [
671
+ [
672
+ 0.9568627450980393
673
+ ]
674
+ ],
675
+ [
676
+ [
677
+ 0.984313725490196
678
+ ]
679
+ ],
680
+ [
681
+ [
682
+ 0.9764705882352941
683
+ ]
684
+ ]
685
+ ],
686
+ "count": [
687
+ 100
688
+ ]
689
+ }
690
+ },
691
+ "provenance": {
692
+ "task": "Put_the_block_in_the_drawer.",
693
+ "case_id": "drawer_center_train_083",
694
+ "visual_side": "center",
695
+ "split": "train",
696
+ "sampler_index": 83,
697
+ "block_center_xy_m": [
698
+ 0.25213793878572605,
699
+ -0.449268250746781
700
+ ],
701
+ "cabinet_center_xy_m": [
702
+ 0.007280000000000009,
703
+ -0.7504008746355685
704
+ ],
705
+ "spec": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_spec_20261101_attempt_01",
706
+ "spec_scene_sha256": "e8927cbcd9b405351a11878aeb772de4a1c71e57b7b454389d245a05caec8e28",
707
+ "native": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_083/attempt_01/native",
708
+ "native_receipt_sha256": "e0ea1953d08f230cfa67cd693880bc5fa4e933226efa87a9e0cfdb8537e02044",
709
+ "batch_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_083/attempt_01",
710
+ "render_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_083/attempt_01",
711
+ "source": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_083/attempt_01/source",
712
+ "source_metadata_sha256": "714252983d591ae5ce819e5eaa7adab2bc3c768144f6bc4585e513f3fad22217",
713
+ "camera_order": [
714
+ "head_rgbd",
715
+ "left_wrist_rgbd",
716
+ "right_wrist_rgbd"
717
+ ],
718
+ "camera_mounts": "astribot_sdk_nominal_image_up",
719
+ "controller": "rssr.drawer.center_layout.v1",
720
+ "handle_hand": "right",
721
+ "payload_hand": "left",
722
+ "drawer_closer": "right (handle hand)"
723
+ },
724
+ "files": {
725
+ "data/chunk-000/episode_000083.parquet": {
726
+ "sha256": "ef0eb81c28654c953ec20e9e671ed51417875ed02e68d08eeef293156abe3ca1",
727
+ "bytes": 125868
728
+ },
729
+ "videos/chunk-000/observation.images.cam_high/episode_000083.mp4": {
730
+ "sha256": "383b9c3ac2c49b3b75680d7430367ce700d816da3e69c615c8b360b31c97dc19",
731
+ "bytes": 108821
732
+ },
733
+ "videos/chunk-000/observation.images.cam_left_wrist/episode_000083.mp4": {
734
+ "sha256": "162e53d82ca9a12d590f5e0b29c86d23e00c5b57b16cb5a030bb0126e48d71f8",
735
+ "bytes": 127566
736
+ },
737
+ "videos/chunk-000/observation.images.cam_right_wrist/episode_000083.mp4": {
738
+ "sha256": "78417f582e38d257e24a8b04700c86232ab679a99e9ceb4d6ba663ab5a7f66d5",
739
+ "bytes": 180810
740
+ }
741
+ }
742
+ }
drawer_center_layout_100/draw/evidence/episode_000084.json ADDED
@@ -0,0 +1,742 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_index": 84,
3
+ "length": 450,
4
+ "tasks": [
5
+ "Put_the_block_in_the_drawer."
6
+ ],
7
+ "stats": {
8
+ "observation.state": {
9
+ "min": [
10
+ 0.517316997051239,
11
+ -0.8005592226982117,
12
+ 0.2797701954841614,
13
+ 0.016789663583040237,
14
+ 0.009003817103803158,
15
+ 0.9799672961235046,
16
+ -0.222150519490242,
17
+ -0.1648363173007965,
18
+ -1.1766616106033325,
19
+ 0.9885356426239014,
20
+ -0.5841465592384338,
21
+ 0.042384952306747437,
22
+ 0.06507611274719238,
23
+ 0.019140345975756645,
24
+ 0.019141286611557007,
25
+ -0.48898881673812866,
26
+ 0.01914065331220627,
27
+ -0.48931583762168884,
28
+ 0.019141383469104767,
29
+ -0.05744754150509834,
30
+ -0.27826401591300964,
31
+ 0.3364313244819641,
32
+ 0.8549060225486755,
33
+ -0.7550449967384338,
34
+ -0.34092846512794495,
35
+ -0.592025876045227,
36
+ 0.07913176715373993,
37
+ 0.07913953810930252,
38
+ -0.8012610673904419,
39
+ 0.079123854637146,
40
+ -0.8015558123588562,
41
+ 0.07912299036979675
42
+ ],
43
+ "max": [
44
+ 0.5175560116767883,
45
+ -0.8003150820732117,
46
+ 0.28033068776130676,
47
+ 0.017648598179221153,
48
+ 0.00901029072701931,
49
+ 0.9800633788108826,
50
+ 0.00800685491412878,
51
+ 0.029793955385684967,
52
+ -0.9420620203018188,
53
+ 1.7391306161880493,
54
+ -0.3839736878871918,
55
+ 0.5277431011199951,
56
+ 0.44722041487693787,
57
+ 0.4889889061450958,
58
+ 0.4893099367618561,
59
+ -0.019141005352139473,
60
+ 0.4889902174472809,
61
+ -0.019141212105751038,
62
+ 0.48899027705192566,
63
+ 0.6026464104652405,
64
+ -0.0314386710524559,
65
+ 1.1057521104812622,
66
+ 1.4410016536712646,
67
+ 0.5862753391265869,
68
+ 0.35535651445388794,
69
+ -0.15013353526592255,
70
+ 0.8012604713439941,
71
+ 0.8014915585517883,
72
+ -0.07913278043270111,
73
+ 0.8012756109237671,
74
+ -0.07913502305746078,
75
+ 0.8012760877609253
76
+ ],
77
+ "mean": [
78
+ 0.5174552770455678,
79
+ -0.8004540322886573,
80
+ 0.28007761968506706,
81
+ 0.017343114821447268,
82
+ 0.009007107627888521,
83
+ 0.9800003027915954,
84
+ -0.11661669750171616,
85
+ -0.04988799357515139,
86
+ -1.005095237493515,
87
+ 1.4927794512112935,
88
+ -0.4568972408771515,
89
+ 0.2556669524974293,
90
+ 0.3777711328201824,
91
+ 0.22002945102751256,
92
+ 0.2201423867709107,
93
+ -0.2200295050938924,
94
+ 0.2200299508455727,
95
+ -0.22014359340485598,
96
+ 0.22003013960189288,
97
+ 0.4242354020512559,
98
+ -0.1502000290983253,
99
+ 0.5302923620409435,
100
+ 1.1032840157879724,
101
+ -0.5157564599511938,
102
+ -0.03739912536848957,
103
+ -0.48340141485134763,
104
+ 0.4155788320965237,
105
+ 0.4156780463953813,
106
+ -0.4155786810484197,
107
+ 0.4155868717531363,
108
+ -0.4156544294787778,
109
+ 0.41558734787835017
110
+ ],
111
+ "std": [
112
+ 5.498111655929013e-05,
113
+ 5.511345579700992e-05,
114
+ 0.00014097184719357873,
115
+ 0.00023119640459065669,
116
+ 4.827759968925314e-07,
117
+ 5.860576550247605e-06,
118
+ 0.09009346538864244,
119
+ 0.045178754935291915,
120
+ 0.03862173284187993,
121
+ 0.2308862451167237,
122
+ 0.050827543885522915,
123
+ 0.18743012050608832,
124
+ 0.06761587538042978,
125
+ 0.21464958559832423,
126
+ 0.21479033765848557,
127
+ 0.214649489005624,
128
+ 0.2146499601652987,
129
+ 0.2147923817624018,
130
+ 0.21464997048095835,
131
+ 0.1687535746227119,
132
+ 0.08233632578605188,
133
+ 0.19632445873951992,
134
+ 0.2243173316609503,
135
+ 0.34082299468269983,
136
+ 0.21027403779867132,
137
+ 0.13366906694160202,
138
+ 0.3401290014265515,
139
+ 0.3402358144243289,
140
+ 0.3401287837608063,
141
+ 0.3401377982434481,
142
+ 0.3402440704691885,
143
+ 0.3401378696512719
144
+ ],
145
+ "count": [
146
+ 450
147
+ ]
148
+ },
149
+ "action": {
150
+ "min": [
151
+ 0.5174471735954285,
152
+ -0.8004457950592041,
153
+ 0.009007098153233528,
154
+ 0.9800000190734863,
155
+ 0.2799195647239685,
156
+ 0.017286056652665138,
157
+ -0.222141295671463,
158
+ -0.16133955121040344,
159
+ -1.1765562295913696,
160
+ 0.9889485836029053,
161
+ -0.584122359752655,
162
+ 0.04237953573465347,
163
+ 0.06531175225973129,
164
+ 0.019999999552965164,
165
+ -0.05735929682850838,
166
+ -0.31059926748275757,
167
+ 0.3677743971347809,
168
+ 0.8597630858421326,
169
+ -0.7543099522590637,
170
+ -0.3466891348361969,
171
+ -0.5971242785453796,
172
+ 0.07999999821186066
173
+ ],
174
+ "max": [
175
+ 0.5174471735954285,
176
+ -0.8004457950592041,
177
+ 0.009007098153233528,
178
+ 0.9800000190734863,
179
+ 0.2799195647239685,
180
+ 0.017286056652665138,
181
+ 0.007011877838522196,
182
+ 0.029653992503881454,
183
+ -0.9430201649665833,
184
+ 1.7390140295028687,
185
+ -0.3839375972747803,
186
+ 0.5281030535697937,
187
+ 0.44721680879592896,
188
+ 0.49498891830444336,
189
+ 0.6573482751846313,
190
+ -0.01810402423143387,
191
+ 1.1056689023971558,
192
+ 1.4412468671798706,
193
+ 0.5861021280288696,
194
+ 0.35528138279914856,
195
+ -0.1501610428094864,
196
+ 0.8113294839859009
197
+ ],
198
+ "mean": [
199
+ 0.5174471735954285,
200
+ -0.8004457950592041,
201
+ 0.009007098153233528,
202
+ 0.9800000190734863,
203
+ 0.2799195647239685,
204
+ 0.017286056652665138,
205
+ -0.1174111640366108,
206
+ -0.04977452580183227,
207
+ -1.0052801665994857,
208
+ 1.492918323940701,
209
+ -0.45687578188048467,
210
+ 0.2558039786583847,
211
+ 0.37773592349555757,
212
+ 0.22207364394432969,
213
+ 0.4417908107561784,
214
+ -0.1599096262248026,
215
+ 0.5464496176110374,
216
+ 1.1039933440420362,
217
+ -0.5155915818042639,
218
+ -0.039485005270560376,
219
+ -0.4862475371360779,
220
+ 0.4179939775996738
221
+ ],
222
+ "std": [
223
+ 0.0,
224
+ 0.0,
225
+ 0.0,
226
+ 0.0,
227
+ 0.0,
228
+ 0.0,
229
+ 0.08941313536948056,
230
+ 0.04471928587766202,
231
+ 0.03825360945521462,
232
+ 0.23079301920259762,
233
+ 0.050849705497000325,
234
+ 0.18759481972893566,
235
+ 0.06765649444861238,
236
+ 0.21728445790313095,
237
+ 0.176300089570281,
238
+ 0.09876098943087974,
239
+ 0.18620063627346314,
240
+ 0.22369115265419395,
241
+ 0.34059235812392474,
242
+ 0.2126902222848239,
243
+ 0.13545946898659286,
244
+ 0.34282990854744083
245
+ ],
246
+ "count": [
247
+ 450
248
+ ]
249
+ },
250
+ "timestamp": {
251
+ "min": [
252
+ 0.0
253
+ ],
254
+ "max": [
255
+ 14.966666221618652
256
+ ],
257
+ "mean": [
258
+ 7.48333333350718
259
+ ],
260
+ "std": [
261
+ 4.3301163254484205
262
+ ],
263
+ "count": [
264
+ 450
265
+ ]
266
+ },
267
+ "frame_index": {
268
+ "min": [
269
+ 0.0
270
+ ],
271
+ "max": [
272
+ 449.0
273
+ ],
274
+ "mean": [
275
+ 224.5
276
+ ],
277
+ "std": [
278
+ 129.90348981712026
279
+ ],
280
+ "count": [
281
+ 450
282
+ ]
283
+ },
284
+ "episode_index": {
285
+ "min": [
286
+ 84.0
287
+ ],
288
+ "max": [
289
+ 84.0
290
+ ],
291
+ "mean": [
292
+ 84.0
293
+ ],
294
+ "std": [
295
+ 0.0
296
+ ],
297
+ "count": [
298
+ 450
299
+ ]
300
+ },
301
+ "index": {
302
+ "min": [
303
+ 37800.0
304
+ ],
305
+ "max": [
306
+ 38249.0
307
+ ],
308
+ "mean": [
309
+ 38024.5
310
+ ],
311
+ "std": [
312
+ 129.90348981712026
313
+ ],
314
+ "count": [
315
+ 450
316
+ ]
317
+ },
318
+ "task_index": {
319
+ "min": [
320
+ 0.0
321
+ ],
322
+ "max": [
323
+ 0.0
324
+ ],
325
+ "mean": [
326
+ 0.0
327
+ ],
328
+ "std": [
329
+ 0.0
330
+ ],
331
+ "count": [
332
+ 450
333
+ ]
334
+ },
335
+ "physical_index": {
336
+ "min": [
337
+ 84.0
338
+ ],
339
+ "max": [
340
+ 84.0
341
+ ],
342
+ "mean": [
343
+ 84.0
344
+ ],
345
+ "std": [
346
+ 0.0
347
+ ],
348
+ "count": [
349
+ 450
350
+ ]
351
+ },
352
+ "source_case_index": {
353
+ "min": [
354
+ 48.0
355
+ ],
356
+ "max": [
357
+ 48.0
358
+ ],
359
+ "mean": [
360
+ 48.0
361
+ ],
362
+ "std": [
363
+ 0.0
364
+ ],
365
+ "count": [
366
+ 450
367
+ ]
368
+ },
369
+ "appearance_index": {
370
+ "min": [
371
+ 0.0
372
+ ],
373
+ "max": [
374
+ 0.0
375
+ ],
376
+ "mean": [
377
+ 0.0
378
+ ],
379
+ "std": [
380
+ 0.0
381
+ ],
382
+ "count": [
383
+ 450
384
+ ]
385
+ },
386
+ "physical_query_time_s": {
387
+ "min": [
388
+ 0.0
389
+ ],
390
+ "max": [
391
+ 14.965000000006798
392
+ ],
393
+ "mean": [
394
+ 7.483329629629644
395
+ ],
396
+ "std": [
397
+ 4.330109927180601
398
+ ],
399
+ "count": [
400
+ 450
401
+ ]
402
+ },
403
+ "state_time_s": {
404
+ "min": [
405
+ 0.0
406
+ ],
407
+ "max": [
408
+ 14.965000000006798
409
+ ],
410
+ "mean": [
411
+ 7.48001111111215
412
+ ],
413
+ "std": [
414
+ 4.330119275994038
415
+ ],
416
+ "count": [
417
+ 450
418
+ ]
419
+ },
420
+ "command_time_s": {
421
+ "min": [
422
+ 0.0
423
+ ],
424
+ "max": [
425
+ 14.965000000006798
426
+ ],
427
+ "mean": [
428
+ 7.48001111111215
429
+ ],
430
+ "std": [
431
+ 4.330119275994038
432
+ ],
433
+ "count": [
434
+ 450
435
+ ]
436
+ },
437
+ "state_source_index": {
438
+ "min": [
439
+ 0.0
440
+ ],
441
+ "max": [
442
+ 1497.0
443
+ ],
444
+ "mean": [
445
+ 748.0022222222223
446
+ ],
447
+ "std": [
448
+ 433.01384888753273
449
+ ],
450
+ "count": [
451
+ 450
452
+ ]
453
+ },
454
+ "command_source_index": {
455
+ "min": [
456
+ 0.0
457
+ ],
458
+ "max": [
459
+ 29930.0
460
+ ],
461
+ "mean": [
462
+ 14960.022222222222
463
+ ],
464
+ "std": [
465
+ 8660.238551984809
466
+ ],
467
+ "count": [
468
+ 450
469
+ ]
470
+ },
471
+ "observation.images.cam_high": {
472
+ "mean": [
473
+ [
474
+ [
475
+ 0.32734697394582835
476
+ ]
477
+ ],
478
+ [
479
+ [
480
+ 0.3223929009103641
481
+ ]
482
+ ],
483
+ [
484
+ [
485
+ 0.31367625722163867
486
+ ]
487
+ ]
488
+ ],
489
+ "std": [
490
+ [
491
+ [
492
+ 0.315661911333683
493
+ ]
494
+ ],
495
+ [
496
+ [
497
+ 0.31080162443550596
498
+ ]
499
+ ],
500
+ [
501
+ [
502
+ 0.3038664962385931
503
+ ]
504
+ ]
505
+ ],
506
+ "min": [
507
+ [
508
+ [
509
+ 0.0
510
+ ]
511
+ ],
512
+ [
513
+ [
514
+ 0.0
515
+ ]
516
+ ],
517
+ [
518
+ [
519
+ 0.0
520
+ ]
521
+ ]
522
+ ],
523
+ "max": [
524
+ [
525
+ [
526
+ 0.8470588235294118
527
+ ]
528
+ ],
529
+ [
530
+ [
531
+ 0.8470588235294118
532
+ ]
533
+ ],
534
+ [
535
+ [
536
+ 0.8431372549019608
537
+ ]
538
+ ]
539
+ ],
540
+ "count": [
541
+ 100
542
+ ]
543
+ },
544
+ "observation.images.cam_left_wrist": {
545
+ "mean": [
546
+ [
547
+ [
548
+ 0.33347819596588635
549
+ ]
550
+ ],
551
+ [
552
+ [
553
+ 0.32438276169842933
554
+ ]
555
+ ],
556
+ [
557
+ [
558
+ 0.3165089496736194
559
+ ]
560
+ ]
561
+ ],
562
+ "std": [
563
+ [
564
+ [
565
+ 0.3206866071249857
566
+ ]
567
+ ],
568
+ [
569
+ [
570
+ 0.3117269892354907
571
+ ]
572
+ ],
573
+ [
574
+ [
575
+ 0.3038131355691195
576
+ ]
577
+ ]
578
+ ],
579
+ "min": [
580
+ [
581
+ [
582
+ 0.0
583
+ ]
584
+ ],
585
+ [
586
+ [
587
+ 0.0
588
+ ]
589
+ ],
590
+ [
591
+ [
592
+ 0.0
593
+ ]
594
+ ]
595
+ ],
596
+ "max": [
597
+ [
598
+ [
599
+ 0.9764705882352941
600
+ ]
601
+ ],
602
+ [
603
+ [
604
+ 1.0
605
+ ]
606
+ ],
607
+ [
608
+ [
609
+ 1.0
610
+ ]
611
+ ]
612
+ ],
613
+ "count": [
614
+ 100
615
+ ]
616
+ },
617
+ "observation.images.cam_right_wrist": {
618
+ "mean": [
619
+ [
620
+ [
621
+ 0.3592041980854842
622
+ ]
623
+ ],
624
+ [
625
+ [
626
+ 0.35253353607067833
627
+ ]
628
+ ],
629
+ [
630
+ [
631
+ 0.34099927470988395
632
+ ]
633
+ ]
634
+ ],
635
+ "std": [
636
+ [
637
+ [
638
+ 0.35415358052765555
639
+ ]
640
+ ],
641
+ [
642
+ [
643
+ 0.3475115374349665
644
+ ]
645
+ ],
646
+ [
647
+ [
648
+ 0.33665256125361165
649
+ ]
650
+ ]
651
+ ],
652
+ "min": [
653
+ [
654
+ [
655
+ 0.0
656
+ ]
657
+ ],
658
+ [
659
+ [
660
+ 0.0
661
+ ]
662
+ ],
663
+ [
664
+ [
665
+ 0.0
666
+ ]
667
+ ]
668
+ ],
669
+ "max": [
670
+ [
671
+ [
672
+ 0.9450980392156862
673
+ ]
674
+ ],
675
+ [
676
+ [
677
+ 0.9803921568627451
678
+ ]
679
+ ],
680
+ [
681
+ [
682
+ 0.9647058823529412
683
+ ]
684
+ ]
685
+ ],
686
+ "count": [
687
+ 100
688
+ ]
689
+ }
690
+ },
691
+ "provenance": {
692
+ "task": "Put_the_block_in_the_drawer.",
693
+ "case_id": "drawer_center_train_084",
694
+ "visual_side": "center",
695
+ "split": "train",
696
+ "sampler_index": 84,
697
+ "block_center_xy_m": [
698
+ 0.20909177525361666,
699
+ -0.44964714324318855
700
+ ],
701
+ "cabinet_center_xy_m": [
702
+ -0.007919999999999983,
703
+ -0.7475437317784256
704
+ ],
705
+ "spec": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_spec_20261101_attempt_01",
706
+ "spec_scene_sha256": "2d8d0a84c01a958ce5e7e47d1b5d80bd8d8bb4ef29461565016d39ef2d434ba5",
707
+ "native": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_084/attempt_01/native",
708
+ "native_receipt_sha256": "53b61cf56dd73aa2b9b0588185964f5163d14c018b1e48745b7d00e05fcf4eb1",
709
+ "batch_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_084/attempt_01",
710
+ "render_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_084/attempt_01",
711
+ "source": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_084/attempt_01/source",
712
+ "source_metadata_sha256": "eff4a02343fafe24a9d7c9c3a956987544f5483a46b718ead390d168d3942cd2",
713
+ "camera_order": [
714
+ "head_rgbd",
715
+ "left_wrist_rgbd",
716
+ "right_wrist_rgbd"
717
+ ],
718
+ "camera_mounts": "astribot_sdk_nominal_image_up",
719
+ "controller": "rssr.drawer.center_layout.v1",
720
+ "handle_hand": "right",
721
+ "payload_hand": "left",
722
+ "drawer_closer": "right (handle hand)"
723
+ },
724
+ "files": {
725
+ "data/chunk-000/episode_000084.parquet": {
726
+ "sha256": "a1fb46ef77da190f36e83fd2149cb3a1dca354d456da0a73c8fbce2becc04853",
727
+ "bytes": 126658
728
+ },
729
+ "videos/chunk-000/observation.images.cam_high/episode_000084.mp4": {
730
+ "sha256": "16f6c747795c6d8b682cd1c9c8cbb06d1807c6f191d442e1d0e2da3796e4973c",
731
+ "bytes": 109223
732
+ },
733
+ "videos/chunk-000/observation.images.cam_left_wrist/episode_000084.mp4": {
734
+ "sha256": "2ff3319421b6a45921f8dc57587936d9e6650b5700896cc4dc8b4c1efdb4eb64",
735
+ "bytes": 128329
736
+ },
737
+ "videos/chunk-000/observation.images.cam_right_wrist/episode_000084.mp4": {
738
+ "sha256": "58774f717f813e74a5e919effc461aa63d8596d3fce76ab6a2e5d0a51cb46548",
739
+ "bytes": 182426
740
+ }
741
+ }
742
+ }
drawer_center_layout_100/draw/evidence/episode_000085.json ADDED
@@ -0,0 +1,742 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_index": 85,
3
+ "length": 450,
4
+ "tasks": [
5
+ "Put_the_block_in_the_drawer."
6
+ ],
7
+ "stats": {
8
+ "observation.state": {
9
+ "min": [
10
+ 0.5173145532608032,
11
+ -0.8005695343017578,
12
+ 0.2797699272632599,
13
+ 0.016808686777949333,
14
+ 0.00900216493755579,
15
+ 0.9799813032150269,
16
+ -0.20915210247039795,
17
+ -0.15897929668426514,
18
+ -1.1766616106033325,
19
+ 0.8546198010444641,
20
+ -0.5826457142829895,
21
+ 0.14786101877689362,
22
+ 0.06507611274719238,
23
+ 0.01913749985396862,
24
+ 0.01913846842944622,
25
+ -0.4893103241920471,
26
+ 0.01913784258067608,
27
+ -0.4896480441093445,
28
+ 0.01913856901228428,
29
+ -0.05744754150509834,
30
+ -0.27168476581573486,
31
+ 0.3332940936088562,
32
+ 0.869229257106781,
33
+ -0.7609573006629944,
34
+ -0.3533896207809448,
35
+ -0.5875717997550964,
36
+ 0.07890962064266205,
37
+ 0.07890722155570984,
38
+ -0.7998855710029602,
39
+ 0.0788370817899704,
40
+ -0.8001123666763306,
41
+ 0.07884444296360016
42
+ ],
43
+ "max": [
44
+ 0.5175560712814331,
45
+ -0.8003121018409729,
46
+ 0.28032559156417847,
47
+ 0.017645584419369698,
48
+ 0.009008958004415035,
49
+ 0.9800715446472168,
50
+ -0.028393182903528214,
51
+ 0.02059161476790905,
52
+ -0.9631893038749695,
53
+ 1.7049226760864258,
54
+ -0.43962568044662476,
55
+ 0.6374504566192627,
56
+ 0.326816201210022,
57
+ 0.48931044340133667,
58
+ 0.48961472511291504,
59
+ -0.019138136878609657,
60
+ 0.4893147349357605,
61
+ -0.019138388335704803,
62
+ 0.48931553959846497,
63
+ 0.5976144075393677,
64
+ -0.030442604795098305,
65
+ 1.1057521104812622,
66
+ 1.4477741718292236,
67
+ 0.5862753391265869,
68
+ 0.3554045855998993,
69
+ -0.15013353526592255,
70
+ 0.7998855113983154,
71
+ 0.8001232743263245,
72
+ -0.07891308516263962,
73
+ 0.7999032735824585,
74
+ -0.07868850231170654,
75
+ 0.7999038100242615
76
+ ],
77
+ "mean": [
78
+ 0.5174553896321191,
79
+ -0.8004541652732425,
80
+ 0.28007081184122296,
81
+ 0.017342971745464536,
82
+ 0.009007065368609296,
83
+ 0.9800003514024946,
84
+ -0.13202265858236287,
85
+ -0.06777132904208782,
86
+ -1.0330740698178609,
87
+ 1.431850758128696,
88
+ -0.4939271468586392,
89
+ 0.3517725974983639,
90
+ 0.25102196408642663,
91
+ 0.23471572192592755,
92
+ 0.23483875011818275,
93
+ -0.23471570115536453,
94
+ 0.23471628052906857,
95
+ -0.2348401338317328,
96
+ 0.23471642940822574,
97
+ 0.41906112133874557,
98
+ -0.14767174182666673,
99
+ 0.5277944487333298,
100
+ 1.115093548297882,
101
+ -0.5198037308113028,
102
+ -0.049078777409102055,
103
+ -0.4804474234249857,
104
+ 0.41700425788760187,
105
+ 0.41710355190767184,
106
+ -0.41700412334667314,
107
+ 0.41701203101211126,
108
+ -0.41708022273249096,
109
+ 0.4170125316249
110
+ ],
111
+ "std": [
112
+ 5.377442873488908e-05,
113
+ 5.381491830251238e-05,
114
+ 0.00013737382522136223,
115
+ 0.0002247612132734236,
116
+ 5.025306967541402e-07,
117
+ 5.082481944512972e-06,
118
+ 0.06843464854088203,
119
+ 0.04278116558118254,
120
+ 0.044303978799231286,
121
+ 0.2670592273367897,
122
+ 0.038779725867834694,
123
+ 0.18614526924379418,
124
+ 0.06365909518034306,
125
+ 0.21650067637247009,
126
+ 0.21664438824760504,
127
+ 0.21650056919447602,
128
+ 0.2165010539463208,
129
+ 0.21664662845489832,
130
+ 0.21650108530441237,
131
+ 0.167964350949568,
132
+ 0.08084817595120616,
133
+ 0.19712743172877625,
134
+ 0.22107623246331834,
135
+ 0.34211036758313895,
136
+ 0.214230905516493,
137
+ 0.1312805286503562,
138
+ 0.34020074222300106,
139
+ 0.34030728500689844,
140
+ 0.3402005079050096,
141
+ 0.34020964942255866,
142
+ 0.3403151594001705,
143
+ 0.34020969094067444
144
+ ],
145
+ "count": [
146
+ 450
147
+ ]
148
+ },
149
+ "action": {
150
+ "min": [
151
+ 0.5174471735954285,
152
+ -0.8004457950592041,
153
+ 0.009007098153233528,
154
+ 0.9800000190734863,
155
+ 0.2799195647239685,
156
+ 0.017286056652665138,
157
+ -0.2091415524482727,
158
+ -0.15379221737384796,
159
+ -1.1765563488006592,
160
+ 0.8546987771987915,
161
+ -0.582612931728363,
162
+ 0.14789025485515594,
163
+ 0.06531151384115219,
164
+ 0.019999999552965164,
165
+ -0.057361457496881485,
166
+ -0.30383050441741943,
167
+ 0.3630531132221222,
168
+ 0.8740354180335999,
169
+ -0.7602380514144897,
170
+ -0.35908153653144836,
171
+ -0.5923781394958496,
172
+ 0.07999999821186066
173
+ ],
174
+ "max": [
175
+ 0.5174471735954285,
176
+ -0.8004457950592041,
177
+ 0.009007098153233528,
178
+ 0.9800000190734863,
179
+ 0.2799195647239685,
180
+ 0.017286056652665138,
181
+ -0.031606025993824005,
182
+ 0.020507976412773132,
183
+ -0.96435546875,
184
+ 1.7048161029815674,
185
+ -0.43960443139076233,
186
+ 0.637735903263092,
187
+ 0.32680439949035645,
188
+ 0.4953104257583618,
189
+ 0.6506800055503845,
190
+ -0.015776079148054123,
191
+ 1.1056681871414185,
192
+ 1.4480468034744263,
193
+ 0.5861016511917114,
194
+ 0.35535281896591187,
195
+ -0.15016138553619385,
196
+ 0.8112666606903076
197
+ ],
198
+ "mean": [
199
+ 0.5174471735954285,
200
+ -0.8004457950592041,
201
+ 0.009007098153233528,
202
+ 0.9800000190734863,
203
+ 0.2799195647239685,
204
+ 0.017286056652665138,
205
+ -0.1328886513080862,
206
+ -0.06769756684196182,
207
+ -1.0332970192697313,
208
+ 1.4319977993435329,
209
+ -0.49391164971722495,
210
+ 0.3519271033671167,
211
+ 0.2509836547407839,
212
+ 0.23696500240100754,
213
+ 0.43566805488895627,
214
+ -0.1570657654810283,
215
+ 0.5433451881011327,
216
+ 1.1157765277226765,
217
+ -0.5196604812672982,
218
+ -0.051129969803538795,
219
+ -0.48314920104212233,
220
+ 0.4194594573477904
221
+ ],
222
+ "std": [
223
+ 0.0,
224
+ 0.0,
225
+ 0.0,
226
+ 0.0,
227
+ 0.0,
228
+ 0.0,
229
+ 0.06757245416655311,
230
+ 0.042367284330415735,
231
+ 0.044156757982780466,
232
+ 0.2669741654572234,
233
+ 0.03879449502197381,
234
+ 0.18632762344409598,
235
+ 0.06369887198741378,
236
+ 0.21919129189417522,
237
+ 0.1751496652487081,
238
+ 0.09696177937501592,
239
+ 0.18728758462609005,
240
+ 0.22046649112089453,
241
+ 0.3418913932057953,
242
+ 0.21662293292515714,
243
+ 0.132993933310865,
244
+ 0.3429395324812906
245
+ ],
246
+ "count": [
247
+ 450
248
+ ]
249
+ },
250
+ "timestamp": {
251
+ "min": [
252
+ 0.0
253
+ ],
254
+ "max": [
255
+ 14.966666221618652
256
+ ],
257
+ "mean": [
258
+ 7.48333333350718
259
+ ],
260
+ "std": [
261
+ 4.3301163254484205
262
+ ],
263
+ "count": [
264
+ 450
265
+ ]
266
+ },
267
+ "frame_index": {
268
+ "min": [
269
+ 0.0
270
+ ],
271
+ "max": [
272
+ 449.0
273
+ ],
274
+ "mean": [
275
+ 224.5
276
+ ],
277
+ "std": [
278
+ 129.90348981712026
279
+ ],
280
+ "count": [
281
+ 450
282
+ ]
283
+ },
284
+ "episode_index": {
285
+ "min": [
286
+ 85.0
287
+ ],
288
+ "max": [
289
+ 85.0
290
+ ],
291
+ "mean": [
292
+ 85.0
293
+ ],
294
+ "std": [
295
+ 0.0
296
+ ],
297
+ "count": [
298
+ 450
299
+ ]
300
+ },
301
+ "index": {
302
+ "min": [
303
+ 38250.0
304
+ ],
305
+ "max": [
306
+ 38699.0
307
+ ],
308
+ "mean": [
309
+ 38474.5
310
+ ],
311
+ "std": [
312
+ 129.90348981712026
313
+ ],
314
+ "count": [
315
+ 450
316
+ ]
317
+ },
318
+ "task_index": {
319
+ "min": [
320
+ 0.0
321
+ ],
322
+ "max": [
323
+ 0.0
324
+ ],
325
+ "mean": [
326
+ 0.0
327
+ ],
328
+ "std": [
329
+ 0.0
330
+ ],
331
+ "count": [
332
+ 450
333
+ ]
334
+ },
335
+ "physical_index": {
336
+ "min": [
337
+ 85.0
338
+ ],
339
+ "max": [
340
+ 85.0
341
+ ],
342
+ "mean": [
343
+ 85.0
344
+ ],
345
+ "std": [
346
+ 0.0
347
+ ],
348
+ "count": [
349
+ 450
350
+ ]
351
+ },
352
+ "source_case_index": {
353
+ "min": [
354
+ 48.0
355
+ ],
356
+ "max": [
357
+ 48.0
358
+ ],
359
+ "mean": [
360
+ 48.0
361
+ ],
362
+ "std": [
363
+ 0.0
364
+ ],
365
+ "count": [
366
+ 450
367
+ ]
368
+ },
369
+ "appearance_index": {
370
+ "min": [
371
+ 0.0
372
+ ],
373
+ "max": [
374
+ 0.0
375
+ ],
376
+ "mean": [
377
+ 0.0
378
+ ],
379
+ "std": [
380
+ 0.0
381
+ ],
382
+ "count": [
383
+ 450
384
+ ]
385
+ },
386
+ "physical_query_time_s": {
387
+ "min": [
388
+ 0.0
389
+ ],
390
+ "max": [
391
+ 14.965000000006798
392
+ ],
393
+ "mean": [
394
+ 7.483329629629644
395
+ ],
396
+ "std": [
397
+ 4.330109927180601
398
+ ],
399
+ "count": [
400
+ 450
401
+ ]
402
+ },
403
+ "state_time_s": {
404
+ "min": [
405
+ 0.0
406
+ ],
407
+ "max": [
408
+ 14.965000000006798
409
+ ],
410
+ "mean": [
411
+ 7.48001111111215
412
+ ],
413
+ "std": [
414
+ 4.330119275994038
415
+ ],
416
+ "count": [
417
+ 450
418
+ ]
419
+ },
420
+ "command_time_s": {
421
+ "min": [
422
+ 0.0
423
+ ],
424
+ "max": [
425
+ 14.965000000006798
426
+ ],
427
+ "mean": [
428
+ 7.48001111111215
429
+ ],
430
+ "std": [
431
+ 4.330119275994038
432
+ ],
433
+ "count": [
434
+ 450
435
+ ]
436
+ },
437
+ "state_source_index": {
438
+ "min": [
439
+ 0.0
440
+ ],
441
+ "max": [
442
+ 1497.0
443
+ ],
444
+ "mean": [
445
+ 748.0022222222223
446
+ ],
447
+ "std": [
448
+ 433.01384888753273
449
+ ],
450
+ "count": [
451
+ 450
452
+ ]
453
+ },
454
+ "command_source_index": {
455
+ "min": [
456
+ 0.0
457
+ ],
458
+ "max": [
459
+ 29930.0
460
+ ],
461
+ "mean": [
462
+ 14960.022222222222
463
+ ],
464
+ "std": [
465
+ 8660.238551984809
466
+ ],
467
+ "count": [
468
+ 450
469
+ ]
470
+ },
471
+ "observation.images.cam_high": {
472
+ "mean": [
473
+ [
474
+ [
475
+ 0.3270042587347439
476
+ ]
477
+ ],
478
+ [
479
+ [
480
+ 0.3219928479204182
481
+ ]
482
+ ],
483
+ [
484
+ [
485
+ 0.313362316020158
486
+ ]
487
+ ]
488
+ ],
489
+ "std": [
490
+ [
491
+ [
492
+ 0.3157598495308617
493
+ ]
494
+ ],
495
+ [
496
+ [
497
+ 0.3108592838494173
498
+ ]
499
+ ],
500
+ [
501
+ [
502
+ 0.30401463820108093
503
+ ]
504
+ ]
505
+ ],
506
+ "min": [
507
+ [
508
+ [
509
+ 0.0
510
+ ]
511
+ ],
512
+ [
513
+ [
514
+ 0.0
515
+ ]
516
+ ],
517
+ [
518
+ [
519
+ 0.0
520
+ ]
521
+ ]
522
+ ],
523
+ "max": [
524
+ [
525
+ [
526
+ 0.8784313725490196
527
+ ]
528
+ ],
529
+ [
530
+ [
531
+ 0.8705882352941177
532
+ ]
533
+ ],
534
+ [
535
+ [
536
+ 0.8627450980392157
537
+ ]
538
+ ]
539
+ ],
540
+ "count": [
541
+ 100
542
+ ]
543
+ },
544
+ "observation.images.cam_left_wrist": {
545
+ "mean": [
546
+ [
547
+ [
548
+ 0.33391662055447185
549
+ ]
550
+ ],
551
+ [
552
+ [
553
+ 0.32445989724014607
554
+ ]
555
+ ],
556
+ [
557
+ [
558
+ 0.3168886718750001
559
+ ]
560
+ ]
561
+ ],
562
+ "std": [
563
+ [
564
+ [
565
+ 0.32066960106042386
566
+ ]
567
+ ],
568
+ [
569
+ [
570
+ 0.3116452098919941
571
+ ]
572
+ ],
573
+ [
574
+ [
575
+ 0.3040780535064521
576
+ ]
577
+ ]
578
+ ],
579
+ "min": [
580
+ [
581
+ [
582
+ 0.0
583
+ ]
584
+ ],
585
+ [
586
+ [
587
+ 0.0
588
+ ]
589
+ ],
590
+ [
591
+ [
592
+ 0.0
593
+ ]
594
+ ]
595
+ ],
596
+ "max": [
597
+ [
598
+ [
599
+ 0.9725490196078431
600
+ ]
601
+ ],
602
+ [
603
+ [
604
+ 1.0
605
+ ]
606
+ ],
607
+ [
608
+ [
609
+ 0.9882352941176471
610
+ ]
611
+ ]
612
+ ],
613
+ "count": [
614
+ 100
615
+ ]
616
+ },
617
+ "observation.images.cam_right_wrist": {
618
+ "mean": [
619
+ [
620
+ [
621
+ 0.3592996894070128
622
+ ]
623
+ ],
624
+ [
625
+ [
626
+ 0.35267515834458785
627
+ ]
628
+ ],
629
+ [
630
+ [
631
+ 0.34117956948404365
632
+ ]
633
+ ]
634
+ ],
635
+ "std": [
636
+ [
637
+ [
638
+ 0.35430015319185354
639
+ ]
640
+ ],
641
+ [
642
+ [
643
+ 0.34767245379856876
644
+ ]
645
+ ],
646
+ [
647
+ [
648
+ 0.3368219566778156
649
+ ]
650
+ ]
651
+ ],
652
+ "min": [
653
+ [
654
+ [
655
+ 0.0
656
+ ]
657
+ ],
658
+ [
659
+ [
660
+ 0.0
661
+ ]
662
+ ],
663
+ [
664
+ [
665
+ 0.0
666
+ ]
667
+ ]
668
+ ],
669
+ "max": [
670
+ [
671
+ [
672
+ 0.9450980392156862
673
+ ]
674
+ ],
675
+ [
676
+ [
677
+ 0.9725490196078431
678
+ ]
679
+ ],
680
+ [
681
+ [
682
+ 0.9607843137254902
683
+ ]
684
+ ]
685
+ ],
686
+ "count": [
687
+ 100
688
+ ]
689
+ }
690
+ },
691
+ "provenance": {
692
+ "task": "Put_the_block_in_the_drawer.",
693
+ "case_id": "drawer_center_train_085",
694
+ "visual_side": "center",
695
+ "split": "train",
696
+ "sampler_index": 85,
697
+ "block_center_xy_m": [
698
+ 0.2451233939234957,
699
+ -0.4852240130570987
700
+ ],
701
+ "cabinet_center_xy_m": [
702
+ -0.003919999999999979,
703
+ -0.7446865889212827
704
+ ],
705
+ "spec": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_spec_20261101_attempt_01",
706
+ "spec_scene_sha256": "c2a2154d330c5e4f564d268406d3fa09c867a5b45b7f65cea2cf38b0a1cb82c9",
707
+ "native": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_085/attempt_01/native",
708
+ "native_receipt_sha256": "e4c10ef8d557d1589df775730945849abad366b7441f764f3431366a35b0e024",
709
+ "batch_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_085/attempt_01",
710
+ "render_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_085/attempt_01",
711
+ "source": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_085/attempt_01/source",
712
+ "source_metadata_sha256": "d8040708da9541e739d6122eb46b1087295f453752d40a6a5e11788be4386c35",
713
+ "camera_order": [
714
+ "head_rgbd",
715
+ "left_wrist_rgbd",
716
+ "right_wrist_rgbd"
717
+ ],
718
+ "camera_mounts": "astribot_sdk_nominal_image_up",
719
+ "controller": "rssr.drawer.center_layout.v1",
720
+ "handle_hand": "right",
721
+ "payload_hand": "left",
722
+ "drawer_closer": "right (handle hand)"
723
+ },
724
+ "files": {
725
+ "data/chunk-000/episode_000085.parquet": {
726
+ "sha256": "7e36d53d7b50f66d5de1ef5d174a4fc463138714b3b318349ecebef066d61376",
727
+ "bytes": 126220
728
+ },
729
+ "videos/chunk-000/observation.images.cam_high/episode_000085.mp4": {
730
+ "sha256": "79a2e7804fe1e8e8753e85567b34b88a5be5d65986f047b803f350fcfe9f059f",
731
+ "bytes": 106088
732
+ },
733
+ "videos/chunk-000/observation.images.cam_left_wrist/episode_000085.mp4": {
734
+ "sha256": "3e0b2f3dd33a8aacf961bb0f28ed08b774d6215cc9eec5126371a614772cd091",
735
+ "bytes": 128899
736
+ },
737
+ "videos/chunk-000/observation.images.cam_right_wrist/episode_000085.mp4": {
738
+ "sha256": "9f7a0597287fb93ae92c2cdadfbeac3482650b8c9600ad61cb642930f79d9b72",
739
+ "bytes": 181954
740
+ }
741
+ }
742
+ }
drawer_center_layout_100/draw/evidence/episode_000086.json ADDED
@@ -0,0 +1,742 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_index": 86,
3
+ "length": 450,
4
+ "tasks": [
5
+ "Put_the_block_in_the_drawer."
6
+ ],
7
+ "stats": {
8
+ "observation.state": {
9
+ "min": [
10
+ 0.5173240900039673,
11
+ -0.8005674481391907,
12
+ 0.2797936499118805,
13
+ 0.016823934391140938,
14
+ 0.00899876281619072,
15
+ 0.9799621105194092,
16
+ -0.2001102864742279,
17
+ -0.18880484998226166,
18
+ -1.1766616106033325,
19
+ 0.9885356426239014,
20
+ -0.5902756452560425,
21
+ 0.05233064666390419,
22
+ 0.06507611274719238,
23
+ 0.019143838435411453,
24
+ 0.01914471760392189,
25
+ -0.48935583233833313,
26
+ 0.019144052639603615,
27
+ -0.48968690633773804,
28
+ 0.019144771620631218,
29
+ -0.05744754150509834,
30
+ -0.2652558386325836,
31
+ 0.3290002644062042,
32
+ 0.882710874080658,
33
+ -0.7670382857322693,
34
+ -0.3658428490161896,
35
+ -0.5829401016235352,
36
+ 0.079073965549469,
37
+ 0.07907650619745255,
38
+ -0.7999306321144104,
39
+ 0.07905310392379761,
40
+ -0.80022132396698,
41
+ 0.0790526419878006
42
+ ],
43
+ "max": [
44
+ 0.5175567269325256,
45
+ -0.8003221750259399,
46
+ 0.28030630946159363,
47
+ 0.01764318160712719,
48
+ 0.009009850211441517,
49
+ 0.9800696969032288,
50
+ 0.0919785425066948,
51
+ 4.50770603492856e-05,
52
+ -0.9560731053352356,
53
+ 1.758779525756836,
54
+ -0.42344242334365845,
55
+ 0.534586489200592,
56
+ 0.3958926200866699,
57
+ 0.4893558621406555,
58
+ 0.48967403173446655,
59
+ -0.019144544377923012,
60
+ 0.4893576502799988,
61
+ -0.019144654273986816,
62
+ 0.4893583357334137,
63
+ 0.5925992131233215,
64
+ -0.029347823932766914,
65
+ 1.1057521104812622,
66
+ 1.4542988538742065,
67
+ 0.5862753391265869,
68
+ 0.35546043515205383,
69
+ -0.15013353526592255,
70
+ 0.7999298572540283,
71
+ 0.8001105189323425,
72
+ -0.07907597720623016,
73
+ 0.7999320030212402,
74
+ -0.07907862961292267,
75
+ 0.799931526184082
76
+ ],
77
+ "mean": [
78
+ 0.5174543489350213,
79
+ -0.8004532685544756,
80
+ 0.28006171007951103,
81
+ 0.017342210225760938,
82
+ 0.009007049153248469,
83
+ 0.980000662141376,
84
+ -0.08086588213375459,
85
+ -0.08994580200834511,
86
+ -1.0220585732989842,
87
+ 1.5188696765899659,
88
+ -0.4878148880932066,
89
+ 0.2719453407906824,
90
+ 0.32313313437832725,
91
+ 0.2225529548732771,
92
+ 0.22266740512102842,
93
+ -0.22255300527645483,
94
+ 0.2225535076442692,
95
+ -0.2226688385837608,
96
+ 0.22255369973679384,
97
+ 0.4152204699506466,
98
+ -0.14442510017504295,
99
+ 0.5258500681320826,
100
+ 1.1239475699265797,
101
+ -0.5233954690303654,
102
+ -0.058142834957689044,
103
+ -0.4777346064647039,
104
+ 0.415558223426342,
105
+ 0.4156565074622631,
106
+ -0.41555804315540523,
107
+ 0.41556562799546454,
108
+ -0.4156361131204499,
109
+ 0.41556612379021113
110
+ ],
111
+ "std": [
112
+ 5.304759124844011e-05,
113
+ 5.323365705510667e-05,
114
+ 0.0001355792544791136,
115
+ 0.0002199364583974964,
116
+ 6.653070232244235e-07,
117
+ 6.925696627992863e-06,
118
+ 0.10704631398831486,
119
+ 0.04188694440318021,
120
+ 0.038426051190858325,
121
+ 0.22299009804344105,
122
+ 0.04570483930818992,
123
+ 0.1897215025156673,
124
+ 0.06529469186934034,
125
+ 0.21505612114331554,
126
+ 0.2151971711408622,
127
+ 0.21505601529829246,
128
+ 0.21505654483531278,
129
+ 0.21519951159776976,
130
+ 0.2150565597570516,
131
+ 0.16730402810535827,
132
+ 0.0789906533203485,
133
+ 0.1976641735925651,
134
+ 0.21783228448109573,
135
+ 0.3431765431074989,
136
+ 0.2176825575758935,
137
+ 0.12902670138433836,
138
+ 0.34013408353602065,
139
+ 0.34023987200252,
140
+ 0.3401338470179079,
141
+ 0.34014259731246826,
142
+ 0.34024680393351103,
143
+ 0.3401426511630783
144
+ ],
145
+ "count": [
146
+ 450
147
+ ]
148
+ },
149
+ "action": {
150
+ "min": [
151
+ 0.5174471735954285,
152
+ -0.8004457950592041,
153
+ 0.009007098153233528,
154
+ 0.9800000190734863,
155
+ 0.2799195647239685,
156
+ 0.017286056652665138,
157
+ -0.2001001238822937,
158
+ -0.18790856003761292,
159
+ -1.1765631437301636,
160
+ 0.9889793992042542,
161
+ -0.5902724266052246,
162
+ 0.05235782638192177,
163
+ 0.0652954950928688,
164
+ 0.019999999552965164,
165
+ -0.057363588362932205,
166
+ -0.2971975803375244,
167
+ 0.35832974314689636,
168
+ 0.8875987529754639,
169
+ -0.7664990425109863,
170
+ -0.3715149462223053,
171
+ -0.5881466269493103,
172
+ 0.07999999821186066
173
+ ],
174
+ "max": [
175
+ 0.5174471735954285,
176
+ -0.8004457950592041,
177
+ 0.009007098153233528,
178
+ 0.9800000190734863,
179
+ 0.2799195647239685,
180
+ 0.017286056652665138,
181
+ 0.08998920768499374,
182
+ -0.00038989982567727566,
183
+ -0.9568839073181152,
184
+ 1.758664608001709,
185
+ -0.42341533303260803,
186
+ 0.5350722670555115,
187
+ 0.3958824574947357,
188
+ 0.49535587430000305,
189
+ 0.6443036794662476,
190
+ -0.013416185043752193,
191
+ 1.1056675910949707,
192
+ 1.4545466899871826,
193
+ 0.5861011743545532,
194
+ 0.3554636836051941,
195
+ -0.15016169846057892,
196
+ 0.8059298396110535
197
+ ],
198
+ "mean": [
199
+ 0.5174471735954285,
200
+ -0.8004457950592041,
201
+ 0.009007098153233528,
202
+ 0.9800000190734863,
203
+ 0.2799195647239685,
204
+ 0.017286056652665138,
205
+ -0.08163837902076516,
206
+ -0.0898677134852753,
207
+ -1.0222779058085547,
208
+ 1.5190044067965613,
209
+ -0.48779691769017114,
210
+ 0.27208437900576327,
211
+ 0.32309941622946,
212
+ 0.22462577907989423,
213
+ 0.4309515779327032,
214
+ -0.1535684317557348,
215
+ 0.5408365532424715,
216
+ 1.1245815465185378,
217
+ -0.5232651906677832,
218
+ -0.06017330703131544,
219
+ -0.48027285625537236,
220
+ 0.41795615022381144
221
+ ],
222
+ "std": [
223
+ 0.0,
224
+ 0.0,
225
+ 0.0,
226
+ 0.0,
227
+ 0.0,
228
+ 0.0,
229
+ 0.1063761621332541,
230
+ 0.04158174943798397,
231
+ 0.03817643969023715,
232
+ 0.22289952686007808,
233
+ 0.04572555074581473,
234
+ 0.18988496209979855,
235
+ 0.06532583454689525,
236
+ 0.217696243166735,
237
+ 0.17415160974176858,
238
+ 0.09484757554952566,
239
+ 0.18807162918496906,
240
+ 0.21724245184283283,
241
+ 0.3429645763289407,
242
+ 0.22005888835184675,
243
+ 0.13065251414089887,
244
+ 0.3428110704192329
245
+ ],
246
+ "count": [
247
+ 450
248
+ ]
249
+ },
250
+ "timestamp": {
251
+ "min": [
252
+ 0.0
253
+ ],
254
+ "max": [
255
+ 14.966666221618652
256
+ ],
257
+ "mean": [
258
+ 7.48333333350718
259
+ ],
260
+ "std": [
261
+ 4.3301163254484205
262
+ ],
263
+ "count": [
264
+ 450
265
+ ]
266
+ },
267
+ "frame_index": {
268
+ "min": [
269
+ 0.0
270
+ ],
271
+ "max": [
272
+ 449.0
273
+ ],
274
+ "mean": [
275
+ 224.5
276
+ ],
277
+ "std": [
278
+ 129.90348981712026
279
+ ],
280
+ "count": [
281
+ 450
282
+ ]
283
+ },
284
+ "episode_index": {
285
+ "min": [
286
+ 86.0
287
+ ],
288
+ "max": [
289
+ 86.0
290
+ ],
291
+ "mean": [
292
+ 86.0
293
+ ],
294
+ "std": [
295
+ 0.0
296
+ ],
297
+ "count": [
298
+ 450
299
+ ]
300
+ },
301
+ "index": {
302
+ "min": [
303
+ 38700.0
304
+ ],
305
+ "max": [
306
+ 39149.0
307
+ ],
308
+ "mean": [
309
+ 38924.5
310
+ ],
311
+ "std": [
312
+ 129.90348981712026
313
+ ],
314
+ "count": [
315
+ 450
316
+ ]
317
+ },
318
+ "task_index": {
319
+ "min": [
320
+ 0.0
321
+ ],
322
+ "max": [
323
+ 0.0
324
+ ],
325
+ "mean": [
326
+ 0.0
327
+ ],
328
+ "std": [
329
+ 0.0
330
+ ],
331
+ "count": [
332
+ 450
333
+ ]
334
+ },
335
+ "physical_index": {
336
+ "min": [
337
+ 86.0
338
+ ],
339
+ "max": [
340
+ 86.0
341
+ ],
342
+ "mean": [
343
+ 86.0
344
+ ],
345
+ "std": [
346
+ 0.0
347
+ ],
348
+ "count": [
349
+ 450
350
+ ]
351
+ },
352
+ "source_case_index": {
353
+ "min": [
354
+ 48.0
355
+ ],
356
+ "max": [
357
+ 48.0
358
+ ],
359
+ "mean": [
360
+ 48.0
361
+ ],
362
+ "std": [
363
+ 0.0
364
+ ],
365
+ "count": [
366
+ 450
367
+ ]
368
+ },
369
+ "appearance_index": {
370
+ "min": [
371
+ 0.0
372
+ ],
373
+ "max": [
374
+ 0.0
375
+ ],
376
+ "mean": [
377
+ 0.0
378
+ ],
379
+ "std": [
380
+ 0.0
381
+ ],
382
+ "count": [
383
+ 450
384
+ ]
385
+ },
386
+ "physical_query_time_s": {
387
+ "min": [
388
+ 0.0
389
+ ],
390
+ "max": [
391
+ 14.965000000006798
392
+ ],
393
+ "mean": [
394
+ 7.483329629629644
395
+ ],
396
+ "std": [
397
+ 4.330109927180601
398
+ ],
399
+ "count": [
400
+ 450
401
+ ]
402
+ },
403
+ "state_time_s": {
404
+ "min": [
405
+ 0.0
406
+ ],
407
+ "max": [
408
+ 14.965000000006798
409
+ ],
410
+ "mean": [
411
+ 7.48001111111215
412
+ ],
413
+ "std": [
414
+ 4.330119275994038
415
+ ],
416
+ "count": [
417
+ 450
418
+ ]
419
+ },
420
+ "command_time_s": {
421
+ "min": [
422
+ 0.0
423
+ ],
424
+ "max": [
425
+ 14.965000000006798
426
+ ],
427
+ "mean": [
428
+ 7.48001111111215
429
+ ],
430
+ "std": [
431
+ 4.330119275994038
432
+ ],
433
+ "count": [
434
+ 450
435
+ ]
436
+ },
437
+ "state_source_index": {
438
+ "min": [
439
+ 0.0
440
+ ],
441
+ "max": [
442
+ 1497.0
443
+ ],
444
+ "mean": [
445
+ 748.0022222222223
446
+ ],
447
+ "std": [
448
+ 433.01384888753273
449
+ ],
450
+ "count": [
451
+ 450
452
+ ]
453
+ },
454
+ "command_source_index": {
455
+ "min": [
456
+ 0.0
457
+ ],
458
+ "max": [
459
+ 29930.0
460
+ ],
461
+ "mean": [
462
+ 14960.022222222222
463
+ ],
464
+ "std": [
465
+ 8660.238551984809
466
+ ],
467
+ "count": [
468
+ 450
469
+ ]
470
+ },
471
+ "observation.images.cam_high": {
472
+ "mean": [
473
+ [
474
+ [
475
+ 0.3271590714410765
476
+ ]
477
+ ],
478
+ [
479
+ [
480
+ 0.32209591102065827
481
+ ]
482
+ ],
483
+ [
484
+ [
485
+ 0.3133591475652761
486
+ ]
487
+ ]
488
+ ],
489
+ "std": [
490
+ [
491
+ [
492
+ 0.31573442946531394
493
+ ]
494
+ ],
495
+ [
496
+ [
497
+ 0.3108094546905303
498
+ ]
499
+ ],
500
+ [
501
+ [
502
+ 0.30383328518125563
503
+ ]
504
+ ]
505
+ ],
506
+ "min": [
507
+ [
508
+ [
509
+ 0.0
510
+ ]
511
+ ],
512
+ [
513
+ [
514
+ 0.0
515
+ ]
516
+ ],
517
+ [
518
+ [
519
+ 0.0
520
+ ]
521
+ ]
522
+ ],
523
+ "max": [
524
+ [
525
+ [
526
+ 0.8705882352941177
527
+ ]
528
+ ],
529
+ [
530
+ [
531
+ 0.8705882352941177
532
+ ]
533
+ ],
534
+ [
535
+ [
536
+ 0.8588235294117647
537
+ ]
538
+ ]
539
+ ],
540
+ "count": [
541
+ 100
542
+ ]
543
+ },
544
+ "observation.images.cam_left_wrist": {
545
+ "mean": [
546
+ [
547
+ [
548
+ 0.33526511073179277
549
+ ]
550
+ ],
551
+ [
552
+ [
553
+ 0.3260267450730292
554
+ ]
555
+ ],
556
+ [
557
+ [
558
+ 0.31827522649684875
559
+ ]
560
+ ]
561
+ ],
562
+ "std": [
563
+ [
564
+ [
565
+ 0.3222491575002662
566
+ ]
567
+ ],
568
+ [
569
+ [
570
+ 0.3133101761268093
571
+ ]
572
+ ],
573
+ [
574
+ [
575
+ 0.3055595682425212
576
+ ]
577
+ ]
578
+ ],
579
+ "min": [
580
+ [
581
+ [
582
+ 0.0
583
+ ]
584
+ ],
585
+ [
586
+ [
587
+ 0.0
588
+ ]
589
+ ],
590
+ [
591
+ [
592
+ 0.0
593
+ ]
594
+ ]
595
+ ],
596
+ "max": [
597
+ [
598
+ [
599
+ 0.9764705882352941
600
+ ]
601
+ ],
602
+ [
603
+ [
604
+ 1.0
605
+ ]
606
+ ],
607
+ [
608
+ [
609
+ 1.0
610
+ ]
611
+ ]
612
+ ],
613
+ "count": [
614
+ 100
615
+ ]
616
+ },
617
+ "observation.images.cam_right_wrist": {
618
+ "mean": [
619
+ [
620
+ [
621
+ 0.35966537005427174
622
+ ]
623
+ ],
624
+ [
625
+ [
626
+ 0.35310287630677273
627
+ ]
628
+ ],
629
+ [
630
+ [
631
+ 0.3416300621811224
632
+ ]
633
+ ]
634
+ ],
635
+ "std": [
636
+ [
637
+ [
638
+ 0.3545928406129961
639
+ ]
640
+ ],
641
+ [
642
+ [
643
+ 0.3480055935809894
644
+ ]
645
+ ],
646
+ [
647
+ [
648
+ 0.33722606243269976
649
+ ]
650
+ ]
651
+ ],
652
+ "min": [
653
+ [
654
+ [
655
+ 0.0
656
+ ]
657
+ ],
658
+ [
659
+ [
660
+ 0.0
661
+ ]
662
+ ],
663
+ [
664
+ [
665
+ 0.0
666
+ ]
667
+ ]
668
+ ],
669
+ "max": [
670
+ [
671
+ [
672
+ 0.9529411764705882
673
+ ]
674
+ ],
675
+ [
676
+ [
677
+ 0.9764705882352941
678
+ ]
679
+ ],
680
+ [
681
+ [
682
+ 0.9686274509803922
683
+ ]
684
+ ]
685
+ ],
686
+ "count": [
687
+ 100
688
+ ]
689
+ }
690
+ },
691
+ "provenance": {
692
+ "task": "Put_the_block_in_the_drawer.",
693
+ "case_id": "drawer_center_train_086",
694
+ "visual_side": "center",
695
+ "split": "train",
696
+ "sampler_index": 86,
697
+ "block_center_xy_m": [
698
+ 0.24566484734594415,
699
+ -0.4221792450558275
700
+ ],
701
+ "cabinet_center_xy_m": [
702
+ 8.00000000000245e-05,
703
+ -0.7418294460641399
704
+ ],
705
+ "spec": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_spec_20261101_attempt_01",
706
+ "spec_scene_sha256": "70cf927c8c629715e102b8dd2cdbadae9d6bfb6510e7b755da7bbde53f4408be",
707
+ "native": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_086/attempt_01/native",
708
+ "native_receipt_sha256": "b01adc140cb280923f52cbe0f8bd25ba05f59c69850a9df458d25b9325fb9453",
709
+ "batch_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_086/attempt_01",
710
+ "render_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_086/attempt_01",
711
+ "source": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_086/attempt_01/source",
712
+ "source_metadata_sha256": "0f60d9658c60a37c1a465ffe46201bddb2610a12424034fbbec543f6e42d61a1",
713
+ "camera_order": [
714
+ "head_rgbd",
715
+ "left_wrist_rgbd",
716
+ "right_wrist_rgbd"
717
+ ],
718
+ "camera_mounts": "astribot_sdk_nominal_image_up",
719
+ "controller": "rssr.drawer.center_layout.v1",
720
+ "handle_hand": "right",
721
+ "payload_hand": "left",
722
+ "drawer_closer": "right (handle hand)"
723
+ },
724
+ "files": {
725
+ "data/chunk-000/episode_000086.parquet": {
726
+ "sha256": "bedb5eb7ca7c86652743bf70a932d4614b8f1ab56f94a9e9559d10ce4bd857c7",
727
+ "bytes": 126011
728
+ },
729
+ "videos/chunk-000/observation.images.cam_high/episode_000086.mp4": {
730
+ "sha256": "cf9508206120f63aa05a6cafd3859c6b27e5ce3aa077353af71f66ce981eec18",
731
+ "bytes": 108723
732
+ },
733
+ "videos/chunk-000/observation.images.cam_left_wrist/episode_000086.mp4": {
734
+ "sha256": "f4ec1b6ab3c9def8f70d0a8b7f2a0402ce229af75ef69531948e2e058f372793",
735
+ "bytes": 127177
736
+ },
737
+ "videos/chunk-000/observation.images.cam_right_wrist/episode_000086.mp4": {
738
+ "sha256": "af320768be37103f044cbc1aa54b2fc4fb817cb98b58d6203fff56eead4975b3",
739
+ "bytes": 181018
740
+ }
741
+ }
742
+ }
drawer_center_layout_100/draw/evidence/episode_000087.json ADDED
@@ -0,0 +1,742 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_index": 87,
3
+ "length": 450,
4
+ "tasks": [
5
+ "Put_the_block_in_the_drawer."
6
+ ],
7
+ "stats": {
8
+ "observation.state": {
9
+ "min": [
10
+ 0.5173293948173523,
11
+ -0.8005653023719788,
12
+ 0.2798090875148773,
13
+ 0.016833269968628883,
14
+ 0.0090029276907444,
15
+ 0.9799656867980957,
16
+ -0.18580998480319977,
17
+ -0.1632242053747177,
18
+ -1.1766616106033325,
19
+ 0.9558089375495911,
20
+ -0.5837093591690063,
21
+ 0.10219130665063858,
22
+ 0.06507611274719238,
23
+ 0.01913965493440628,
24
+ 0.01914060488343239,
25
+ -0.4890156388282776,
26
+ 0.0191399734467268,
27
+ -0.4893421232700348,
28
+ 0.019140703603625298,
29
+ -0.05744754150509834,
30
+ -0.2587006092071533,
31
+ 0.32528552412986755,
32
+ 0.8957748413085938,
33
+ -0.7732359170913696,
34
+ -0.3781322240829468,
35
+ -0.5785799622535706,
36
+ 0.07924515008926392,
37
+ 0.07926436513662338,
38
+ -0.8010570406913757,
39
+ 0.07925660163164139,
40
+ -0.8013598322868347,
41
+ 0.07925663888454437
42
+ ],
43
+ "max": [
44
+ 0.5175525546073914,
45
+ -0.800327479839325,
46
+ 0.2802857756614685,
47
+ 0.017639124765992165,
48
+ 0.009009823203086853,
49
+ 0.9800605177879333,
50
+ 0.005285021383315325,
51
+ 0.019172748550772667,
52
+ -0.9555550813674927,
53
+ 1.7531795501708984,
54
+ -0.4129631817340851,
55
+ 0.5871111750602722,
56
+ 0.3901604115962982,
57
+ 0.48901572823524475,
58
+ 0.489336222410202,
59
+ -0.01914030872285366,
60
+ 0.4890170693397522,
61
+ -0.01914052478969097,
62
+ 0.489017128944397,
63
+ 0.5876168012619019,
64
+ -0.02820180170238018,
65
+ 1.1057521104812622,
66
+ 1.460453748703003,
67
+ 0.5862753391265869,
68
+ 0.35556167364120483,
69
+ -0.15013353526592255,
70
+ 0.8010570406913757,
71
+ 0.8012621402740479,
72
+ -0.07924750447273254,
73
+ 0.8010658025741577,
74
+ -0.07925748825073242,
75
+ 0.801067054271698
76
+ ],
77
+ "mean": [
78
+ 0.5174546917279561,
79
+ -0.800453460348977,
80
+ 0.28005629281202954,
81
+ 0.01734411597251892,
82
+ 0.009007095756630102,
83
+ 0.9800003499454922,
84
+ -0.101671770696331,
85
+ -0.07935830239310032,
86
+ -1.0221973111894396,
87
+ 1.4875788788000743,
88
+ -0.4774987547265159,
89
+ 0.30632583674457337,
90
+ 0.31905062364207376,
91
+ 0.22628870276527271,
92
+ 0.2264051939919591,
93
+ -0.2262887296039197,
94
+ 0.2262892299062676,
95
+ -0.22640639573335647,
96
+ 0.22628940314882331,
97
+ 0.41049305639177974,
98
+ -0.14170717265870836,
99
+ 0.5234725094503827,
100
+ 1.1338554424709744,
101
+ -0.5273431663341277,
102
+ -0.06813502818481841,
103
+ -0.4752872946196132,
104
+ 0.41606100991368294,
105
+ 0.4161589004264937,
106
+ -0.416060844047202,
107
+ 0.41606858824690185,
108
+ -0.41614051741030483,
109
+ 0.41606904048058724
110
+ ],
111
+ "std": [
112
+ 5.0533226389542155e-05,
113
+ 5.080519507640234e-05,
114
+ 0.00013091133413346622,
115
+ 0.00021648978942626746,
116
+ 4.908339521665132e-07,
117
+ 5.607860116534e-06,
118
+ 0.07249285880475843,
119
+ 0.04397727186721209,
120
+ 0.039516469157190724,
121
+ 0.2555153327630115,
122
+ 0.04488895553655817,
123
+ 0.18451997822079552,
124
+ 0.06351833523043364,
125
+ 0.21554493522354418,
126
+ 0.21568611257237336,
127
+ 0.21554482483791743,
128
+ 0.21554531080247732,
129
+ 0.21568815022575447,
130
+ 0.2155453140766043,
131
+ 0.16646190798931898,
132
+ 0.07724921432679115,
133
+ 0.19848205607238878,
134
+ 0.2150649317257397,
135
+ 0.34444065818378633,
136
+ 0.22168612825741552,
137
+ 0.12694117081601272,
138
+ 0.3401750153778164,
139
+ 0.3402802873364096,
140
+ 0.34017478581964783,
141
+ 0.3401830322087361,
142
+ 0.34028763444548027,
143
+ 0.34018310717491546
144
+ ],
145
+ "count": [
146
+ 450
147
+ ]
148
+ },
149
+ "action": {
150
+ "min": [
151
+ 0.5174471735954285,
152
+ -0.8004457950592041,
153
+ 0.009007098153233528,
154
+ 0.9800000190734863,
155
+ 0.2799195647239685,
156
+ 0.017286056652665138,
157
+ -0.18580451607704163,
158
+ -0.15921643376350403,
159
+ -1.17655611038208,
160
+ 0.9558833241462708,
161
+ -0.5836829543113708,
162
+ 0.10221890360116959,
163
+ 0.06531184911727905,
164
+ 0.019999999552965164,
165
+ -0.05736568570137024,
166
+ -0.2901686728000641,
167
+ 0.3537520170211792,
168
+ 0.9007198810577393,
169
+ -0.7726390361785889,
170
+ -0.38383254408836365,
171
+ -0.5836256146430969,
172
+ 0.07999999821186066
173
+ ],
174
+ "max": [
175
+ 0.5174471735954285,
176
+ -0.8004457950592041,
177
+ 0.009007098153233528,
178
+ 0.9800000190734863,
179
+ 0.2799195647239685,
180
+ 0.017286056652665138,
181
+ 0.002136454451829195,
182
+ 0.01903989538550377,
183
+ -0.9564625024795532,
184
+ 1.7530696392059326,
185
+ -0.4129326343536377,
186
+ 0.5874006152153015,
187
+ 0.390150249004364,
188
+ 0.4950157403945923,
189
+ 0.6380500197410583,
190
+ -0.011249581351876259,
191
+ 1.105666995048523,
192
+ 1.460610032081604,
193
+ 0.586100697517395,
194
+ 0.3556218147277832,
195
+ -0.150162011384964,
196
+ 0.8110640048980713
197
+ ],
198
+ "mean": [
199
+ 0.5174471735954285,
200
+ -0.8004457950592041,
201
+ 0.009007098153233528,
202
+ 0.9800000190734863,
203
+ 0.2799195647239685,
204
+ 0.017286056652665138,
205
+ -0.10248116284558717,
206
+ -0.07928191980890309,
207
+ -1.0224119732115005,
208
+ 1.487719562848409,
209
+ -0.4774802691406674,
210
+ 0.3064705988433626,
211
+ 0.31901578234301675,
212
+ 0.2284075749831067,
213
+ 0.4253702257593654,
214
+ -0.15082062371075153,
215
+ 0.5380227514108022,
216
+ 1.1344440914524927,
217
+ -0.5272216186042351,
218
+ -0.07016656138410327,
219
+ -0.4777141632967525,
220
+ 0.41847331542107796
221
+ ],
222
+ "std": [
223
+ 0.0,
224
+ 0.0,
225
+ 0.0,
226
+ 0.0,
227
+ 0.0,
228
+ 0.0,
229
+ 0.07168220555722256,
230
+ 0.04356439564076479,
231
+ 0.039269313976216,
232
+ 0.25542781317629837,
233
+ 0.04490753349067444,
234
+ 0.18469332527715993,
235
+ 0.06355715780212444,
236
+ 0.21819275563519971,
237
+ 0.17307034215588937,
238
+ 0.09296952975192198,
239
+ 0.18907413546072538,
240
+ 0.21445601073793918,
241
+ 0.3442331104996791,
242
+ 0.22407088239313364,
243
+ 0.12849059810383037,
244
+ 0.34287156167638766
245
+ ],
246
+ "count": [
247
+ 450
248
+ ]
249
+ },
250
+ "timestamp": {
251
+ "min": [
252
+ 0.0
253
+ ],
254
+ "max": [
255
+ 14.966666221618652
256
+ ],
257
+ "mean": [
258
+ 7.48333333350718
259
+ ],
260
+ "std": [
261
+ 4.3301163254484205
262
+ ],
263
+ "count": [
264
+ 450
265
+ ]
266
+ },
267
+ "frame_index": {
268
+ "min": [
269
+ 0.0
270
+ ],
271
+ "max": [
272
+ 449.0
273
+ ],
274
+ "mean": [
275
+ 224.5
276
+ ],
277
+ "std": [
278
+ 129.90348981712026
279
+ ],
280
+ "count": [
281
+ 450
282
+ ]
283
+ },
284
+ "episode_index": {
285
+ "min": [
286
+ 87.0
287
+ ],
288
+ "max": [
289
+ 87.0
290
+ ],
291
+ "mean": [
292
+ 87.0
293
+ ],
294
+ "std": [
295
+ 0.0
296
+ ],
297
+ "count": [
298
+ 450
299
+ ]
300
+ },
301
+ "index": {
302
+ "min": [
303
+ 39150.0
304
+ ],
305
+ "max": [
306
+ 39599.0
307
+ ],
308
+ "mean": [
309
+ 39374.5
310
+ ],
311
+ "std": [
312
+ 129.90348981712026
313
+ ],
314
+ "count": [
315
+ 450
316
+ ]
317
+ },
318
+ "task_index": {
319
+ "min": [
320
+ 0.0
321
+ ],
322
+ "max": [
323
+ 0.0
324
+ ],
325
+ "mean": [
326
+ 0.0
327
+ ],
328
+ "std": [
329
+ 0.0
330
+ ],
331
+ "count": [
332
+ 450
333
+ ]
334
+ },
335
+ "physical_index": {
336
+ "min": [
337
+ 87.0
338
+ ],
339
+ "max": [
340
+ 87.0
341
+ ],
342
+ "mean": [
343
+ 87.0
344
+ ],
345
+ "std": [
346
+ 0.0
347
+ ],
348
+ "count": [
349
+ 450
350
+ ]
351
+ },
352
+ "source_case_index": {
353
+ "min": [
354
+ 48.0
355
+ ],
356
+ "max": [
357
+ 48.0
358
+ ],
359
+ "mean": [
360
+ 48.0
361
+ ],
362
+ "std": [
363
+ 0.0
364
+ ],
365
+ "count": [
366
+ 450
367
+ ]
368
+ },
369
+ "appearance_index": {
370
+ "min": [
371
+ 0.0
372
+ ],
373
+ "max": [
374
+ 0.0
375
+ ],
376
+ "mean": [
377
+ 0.0
378
+ ],
379
+ "std": [
380
+ 0.0
381
+ ],
382
+ "count": [
383
+ 450
384
+ ]
385
+ },
386
+ "physical_query_time_s": {
387
+ "min": [
388
+ 0.0
389
+ ],
390
+ "max": [
391
+ 14.965000000006798
392
+ ],
393
+ "mean": [
394
+ 7.483329629629644
395
+ ],
396
+ "std": [
397
+ 4.330109927180601
398
+ ],
399
+ "count": [
400
+ 450
401
+ ]
402
+ },
403
+ "state_time_s": {
404
+ "min": [
405
+ 0.0
406
+ ],
407
+ "max": [
408
+ 14.965000000006798
409
+ ],
410
+ "mean": [
411
+ 7.48001111111215
412
+ ],
413
+ "std": [
414
+ 4.330119275994038
415
+ ],
416
+ "count": [
417
+ 450
418
+ ]
419
+ },
420
+ "command_time_s": {
421
+ "min": [
422
+ 0.0
423
+ ],
424
+ "max": [
425
+ 14.965000000006798
426
+ ],
427
+ "mean": [
428
+ 7.48001111111215
429
+ ],
430
+ "std": [
431
+ 4.330119275994038
432
+ ],
433
+ "count": [
434
+ 450
435
+ ]
436
+ },
437
+ "state_source_index": {
438
+ "min": [
439
+ 0.0
440
+ ],
441
+ "max": [
442
+ 1497.0
443
+ ],
444
+ "mean": [
445
+ 748.0022222222223
446
+ ],
447
+ "std": [
448
+ 433.01384888753273
449
+ ],
450
+ "count": [
451
+ 450
452
+ ]
453
+ },
454
+ "command_source_index": {
455
+ "min": [
456
+ 0.0
457
+ ],
458
+ "max": [
459
+ 29930.0
460
+ ],
461
+ "mean": [
462
+ 14960.022222222222
463
+ ],
464
+ "std": [
465
+ 8660.238551984809
466
+ ],
467
+ "count": [
468
+ 450
469
+ ]
470
+ },
471
+ "observation.images.cam_high": {
472
+ "mean": [
473
+ [
474
+ [
475
+ 0.32690553330707284
476
+ ]
477
+ ],
478
+ [
479
+ [
480
+ 0.3218088383791016
481
+ ]
482
+ ],
483
+ [
484
+ [
485
+ 0.3130587860144058
486
+ ]
487
+ ]
488
+ ],
489
+ "std": [
490
+ [
491
+ [
492
+ 0.31560533870717294
493
+ ]
494
+ ],
495
+ [
496
+ [
497
+ 0.31066355723642547
498
+ ]
499
+ ],
500
+ [
501
+ [
502
+ 0.30369389501149885
503
+ ]
504
+ ]
505
+ ],
506
+ "min": [
507
+ [
508
+ [
509
+ 0.0
510
+ ]
511
+ ],
512
+ [
513
+ [
514
+ 0.0
515
+ ]
516
+ ],
517
+ [
518
+ [
519
+ 0.0
520
+ ]
521
+ ]
522
+ ],
523
+ "max": [
524
+ [
525
+ [
526
+ 0.8431372549019608
527
+ ]
528
+ ],
529
+ [
530
+ [
531
+ 0.8431372549019608
532
+ ]
533
+ ],
534
+ [
535
+ [
536
+ 0.8431372549019608
537
+ ]
538
+ ]
539
+ ],
540
+ "count": [
541
+ 100
542
+ ]
543
+ },
544
+ "observation.images.cam_left_wrist": {
545
+ "mean": [
546
+ [
547
+ [
548
+ 0.33355569258953577
549
+ ]
550
+ ],
551
+ [
552
+ [
553
+ 0.32433143100990397
554
+ ]
555
+ ],
556
+ [
557
+ [
558
+ 0.31662358302696086
559
+ ]
560
+ ]
561
+ ],
562
+ "std": [
563
+ [
564
+ [
565
+ 0.32063281137065686
566
+ ]
567
+ ],
568
+ [
569
+ [
570
+ 0.3116574665338328
571
+ ]
572
+ ],
573
+ [
574
+ [
575
+ 0.3038972948586467
576
+ ]
577
+ ]
578
+ ],
579
+ "min": [
580
+ [
581
+ [
582
+ 0.0
583
+ ]
584
+ ],
585
+ [
586
+ [
587
+ 0.0
588
+ ]
589
+ ],
590
+ [
591
+ [
592
+ 0.0
593
+ ]
594
+ ]
595
+ ],
596
+ "max": [
597
+ [
598
+ [
599
+ 0.9647058823529412
600
+ ]
601
+ ],
602
+ [
603
+ [
604
+ 1.0
605
+ ]
606
+ ],
607
+ [
608
+ [
609
+ 0.9921568627450981
610
+ ]
611
+ ]
612
+ ],
613
+ "count": [
614
+ 100
615
+ ]
616
+ },
617
+ "observation.images.cam_right_wrist": {
618
+ "mean": [
619
+ [
620
+ [
621
+ 0.3595442473864546
622
+ ]
623
+ ],
624
+ [
625
+ [
626
+ 0.35297806310024005
627
+ ]
628
+ ],
629
+ [
630
+ [
631
+ 0.34148043905062025
632
+ ]
633
+ ]
634
+ ],
635
+ "std": [
636
+ [
637
+ [
638
+ 0.3544006260524153
639
+ ]
640
+ ],
641
+ [
642
+ [
643
+ 0.3478209976129716
644
+ ]
645
+ ],
646
+ [
647
+ [
648
+ 0.337000775378986
649
+ ]
650
+ ]
651
+ ],
652
+ "min": [
653
+ [
654
+ [
655
+ 0.0
656
+ ]
657
+ ],
658
+ [
659
+ [
660
+ 0.0
661
+ ]
662
+ ],
663
+ [
664
+ [
665
+ 0.0
666
+ ]
667
+ ]
668
+ ],
669
+ "max": [
670
+ [
671
+ [
672
+ 0.9607843137254902
673
+ ]
674
+ ],
675
+ [
676
+ [
677
+ 0.9803921568627451
678
+ ]
679
+ ],
680
+ [
681
+ [
682
+ 0.9647058823529412
683
+ ]
684
+ ]
685
+ ],
686
+ "count": [
687
+ 100
688
+ ]
689
+ }
690
+ },
691
+ "provenance": {
692
+ "task": "Put_the_block_in_the_drawer.",
693
+ "case_id": "drawer_center_train_087",
694
+ "visual_side": "center",
695
+ "split": "train",
696
+ "sampler_index": 87,
697
+ "block_center_xy_m": [
698
+ 0.22813794725168954,
699
+ -0.4646681585873126
700
+ ],
701
+ "cabinet_center_xy_m": [
702
+ 0.004080000000000028,
703
+ -0.738972303206997
704
+ ],
705
+ "spec": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_spec_20261101_attempt_01",
706
+ "spec_scene_sha256": "623a7cc41c0ad50cc86277d0964ac3790d60556e9ca783606fb6d9fab8590fa2",
707
+ "native": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_087/attempt_01/native",
708
+ "native_receipt_sha256": "678dea3b235377a8ad3f889895863036d30b9685c732a43c47cc72f05641b48e",
709
+ "batch_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_087/attempt_01",
710
+ "render_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_087/attempt_01",
711
+ "source": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_087/attempt_01/source",
712
+ "source_metadata_sha256": "c341057c1927deb9858223848df0febaf6546ce4ca7c08c3c0cfc5291777cb1d",
713
+ "camera_order": [
714
+ "head_rgbd",
715
+ "left_wrist_rgbd",
716
+ "right_wrist_rgbd"
717
+ ],
718
+ "camera_mounts": "astribot_sdk_nominal_image_up",
719
+ "controller": "rssr.drawer.center_layout.v1",
720
+ "handle_hand": "right",
721
+ "payload_hand": "left",
722
+ "drawer_closer": "right (handle hand)"
723
+ },
724
+ "files": {
725
+ "data/chunk-000/episode_000087.parquet": {
726
+ "sha256": "7e55abfd29617cd56998150c40d29a8768d91617013aee196fbda99533482e8f",
727
+ "bytes": 125686
728
+ },
729
+ "videos/chunk-000/observation.images.cam_high/episode_000087.mp4": {
730
+ "sha256": "3c58b069590678adab1e8886e1aef1170117fa7d2cda61785e78b1dbcf5d128b",
731
+ "bytes": 107584
732
+ },
733
+ "videos/chunk-000/observation.images.cam_left_wrist/episode_000087.mp4": {
734
+ "sha256": "5ad10bb87baf4d3c3f3c91a4e1a18b7ff7b973d71ae707d506661849832d20e9",
735
+ "bytes": 127541
736
+ },
737
+ "videos/chunk-000/observation.images.cam_right_wrist/episode_000087.mp4": {
738
+ "sha256": "c63c0a6dd8a1c6239b8ea79ddb085715ff4876fff6009a34eda76db034b2f624",
739
+ "bytes": 181823
740
+ }
741
+ }
742
+ }
drawer_center_layout_100/draw/evidence/episode_000088.json ADDED
@@ -0,0 +1,742 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_index": 88,
3
+ "length": 450,
4
+ "tasks": [
5
+ "Put_the_block_in_the_drawer."
6
+ ],
7
+ "stats": {
8
+ "observation.state": {
9
+ "min": [
10
+ 0.5173468589782715,
11
+ -0.8005742430686951,
12
+ 0.27985674142837524,
13
+ 0.016852952539920807,
14
+ 0.008999219164252281,
15
+ 0.9799647331237793,
16
+ -0.1765293926000595,
17
+ -0.1641020029783249,
18
+ -1.1766616106033325,
19
+ 0.8528200387954712,
20
+ -0.5838861465454102,
21
+ 0.1753995418548584,
22
+ 0.06507611274719238,
23
+ 0.019138840958476067,
24
+ 0.019139809533953667,
25
+ -0.4889921545982361,
26
+ 0.01913917064666748,
27
+ -0.4893188774585724,
28
+ 0.019139891490340233,
29
+ -0.05744754150509834,
30
+ -0.25206589698791504,
31
+ 0.3210890293121338,
32
+ 0.9086589813232422,
33
+ -0.7793126702308655,
34
+ -0.3902813494205475,
35
+ -0.5742530226707458,
36
+ 0.07681829482316971,
37
+ 0.07684727013111115,
38
+ -0.7998088598251343,
39
+ 0.07685161381959915,
40
+ -0.8000520467758179,
41
+ 0.0768423080444336
42
+ ],
43
+ "max": [
44
+ 0.5175685286521912,
45
+ -0.8003456592559814,
46
+ 0.2802950441837311,
47
+ 0.01763177663087845,
48
+ 0.009011452086269855,
49
+ 0.980074405670166,
50
+ -0.0009985527722164989,
51
+ -0.008516970090568066,
52
+ -0.9753316640853882,
53
+ 1.7260111570358276,
54
+ -0.4653726816177368,
55
+ 0.6621207594871521,
56
+ 0.2860199511051178,
57
+ 0.48899224400520325,
58
+ 0.4893129765987396,
59
+ -0.019139494746923447,
60
+ 0.48899364471435547,
61
+ -0.01913970708847046,
62
+ 0.48899367451667786,
63
+ 0.5828127861022949,
64
+ -0.026954539120197296,
65
+ 1.1057521104812622,
66
+ 1.4662996530532837,
67
+ 0.5862753391265869,
68
+ 0.3557323217391968,
69
+ -0.15013353526592255,
70
+ 0.7998095154762268,
71
+ 0.8000476956367493,
72
+ -0.07682103663682938,
73
+ 0.7998259663581848,
74
+ -0.07684642821550369,
75
+ 0.7998270988464355
76
+ ],
77
+ "mean": [
78
+ 0.517455410030153,
79
+ -0.8004542356067234,
80
+ 0.2800498304102156,
81
+ 0.017343489684992365,
82
+ 0.009007054447299904,
83
+ 0.9800004886256324,
84
+ -0.10455162199524541,
85
+ -0.09921649522458513,
86
+ -1.0469757188691033,
87
+ 1.4472440734174516,
88
+ -0.5137942884365717,
89
+ 0.37842369284894734,
90
+ 0.20755594505204095,
91
+ 0.23909937012112803,
92
+ 0.23922543422215514,
93
+ -0.2390993502570523,
94
+ 0.23909986233545674,
95
+ -0.2392266028871139,
96
+ 0.23910001517583926,
97
+ 0.4055549498166268,
98
+ -0.13864076269169648,
99
+ 0.5208203432295058,
100
+ 1.1445070005787743,
101
+ -0.5315850665296118,
102
+ -0.07949361156568759,
103
+ -0.47241743283139337,
104
+ 0.41746245354413986,
105
+ 0.4175605827073256,
106
+ -0.4174622878763411,
107
+ 0.41746960067086747,
108
+ -0.4175431877705786,
109
+ 0.41747009398208723
110
+ ],
111
+ "std": [
112
+ 4.824396427210549e-05,
113
+ 4.82663356334094e-05,
114
+ 0.0001250421477840267,
115
+ 0.00020884607986588208,
116
+ 6.398031388350576e-07,
117
+ 5.810198674199382e-06,
118
+ 0.06650927616624756,
119
+ 0.04143362378986679,
120
+ 0.04505245388634683,
121
+ 0.2753651950092299,
122
+ 0.03479508722781418,
123
+ 0.1850831371675992,
124
+ 0.06516999223545565,
125
+ 0.21683483055900146,
126
+ 0.2169792936098368,
127
+ 0.21683471860926332,
128
+ 0.2168351249082137,
129
+ 0.2169812647975033,
130
+ 0.21683515164509112,
131
+ 0.16575145431297433,
132
+ 0.07595009150545862,
133
+ 0.19942934869027204,
134
+ 0.21216571970463216,
135
+ 0.3458639054983202,
136
+ 0.2258140733300881,
137
+ 0.12469626689603583,
138
+ 0.340257048937466,
139
+ 0.34036204267814674,
140
+ 0.340256815869657,
141
+ 0.3402650451517085,
142
+ 0.340369919884177,
143
+ 0.3402651291929684
144
+ ],
145
+ "count": [
146
+ 450
147
+ ]
148
+ },
149
+ "action": {
150
+ "min": [
151
+ 0.5174471735954285,
152
+ -0.8004457950592041,
153
+ 0.009007098153233528,
154
+ 0.9800000190734863,
155
+ 0.2799195647239685,
156
+ 0.017286056652665138,
157
+ -0.1765231341123581,
158
+ -0.159983828663826,
159
+ -1.1765568256378174,
160
+ 0.8528862595558167,
161
+ -0.5838615894317627,
162
+ 0.17544452846050262,
163
+ 0.06530950963497162,
164
+ 0.019999999552965164,
165
+ -0.057367756962776184,
166
+ -0.2829452157020569,
167
+ 0.3485338091850281,
168
+ 0.9135123491287231,
169
+ -0.7788049578666687,
170
+ -0.39588961005210876,
171
+ -0.5791081190109253,
172
+ 0.07999999821186066
173
+ ],
174
+ "max": [
175
+ 0.5174471735954285,
176
+ -0.8004457950592041,
177
+ 0.009007098153233528,
178
+ 0.9800000190734863,
179
+ 0.2799195647239685,
180
+ 0.017286056652665138,
181
+ -0.0025977797340601683,
182
+ -0.008596477098762989,
183
+ -0.9765975475311279,
184
+ 1.7259294986724854,
185
+ -0.4653598368167877,
186
+ 0.6624084711074829,
187
+ 0.28600677847862244,
188
+ 0.4949922561645508,
189
+ 0.6314865350723267,
190
+ -0.009288403205573559,
191
+ 1.1056663990020752,
192
+ 1.4664300680160522,
193
+ 0.5861002802848816,
194
+ 0.35579466819763184,
195
+ -0.15016230940818787,
196
+ 0.8058095574378967
197
+ ],
198
+ "mean": [
199
+ 0.5174471735954285,
200
+ -0.8004457950592041,
201
+ 0.009007098153233528,
202
+ 0.9800000190734863,
203
+ 0.2799195647239685,
204
+ 0.017286056652665138,
205
+ -0.10540836934000254,
206
+ -0.09917547329639395,
207
+ -1.0472270845042335,
208
+ 1.4473900214831035,
209
+ -0.5137815789381663,
210
+ 0.37858084268040126,
211
+ 0.20751989480521943,
212
+ 0.2414002094252242,
213
+ 0.41940965451429496,
214
+ -0.14737772300218543,
215
+ 0.534612521926562,
216
+ 1.14507706284523,
217
+ -0.5314859148063179,
218
+ -0.08145704366764726,
219
+ -0.4746986559695668,
220
+ 0.4198809073699845
221
+ ],
222
+ "std": [
223
+ 0.0,
224
+ 0.0,
225
+ 0.0,
226
+ 0.0,
227
+ 0.0,
228
+ 0.0,
229
+ 0.06561248362355322,
230
+ 0.041091071298845115,
231
+ 0.044972649416371344,
232
+ 0.27528365567484886,
233
+ 0.03480772015866036,
234
+ 0.18526570562509165,
235
+ 0.06520513047985373,
236
+ 0.21953857848746286,
237
+ 0.17195703007059876,
238
+ 0.0912258925347973,
239
+ 0.1903894419044598,
240
+ 0.211559637730962,
241
+ 0.34566708033374416,
242
+ 0.22815361817015326,
243
+ 0.12615819633534925,
244
+ 0.342931566070938
245
+ ],
246
+ "count": [
247
+ 450
248
+ ]
249
+ },
250
+ "timestamp": {
251
+ "min": [
252
+ 0.0
253
+ ],
254
+ "max": [
255
+ 14.966666221618652
256
+ ],
257
+ "mean": [
258
+ 7.48333333350718
259
+ ],
260
+ "std": [
261
+ 4.3301163254484205
262
+ ],
263
+ "count": [
264
+ 450
265
+ ]
266
+ },
267
+ "frame_index": {
268
+ "min": [
269
+ 0.0
270
+ ],
271
+ "max": [
272
+ 449.0
273
+ ],
274
+ "mean": [
275
+ 224.5
276
+ ],
277
+ "std": [
278
+ 129.90348981712026
279
+ ],
280
+ "count": [
281
+ 450
282
+ ]
283
+ },
284
+ "episode_index": {
285
+ "min": [
286
+ 88.0
287
+ ],
288
+ "max": [
289
+ 88.0
290
+ ],
291
+ "mean": [
292
+ 88.0
293
+ ],
294
+ "std": [
295
+ 0.0
296
+ ],
297
+ "count": [
298
+ 450
299
+ ]
300
+ },
301
+ "index": {
302
+ "min": [
303
+ 39600.0
304
+ ],
305
+ "max": [
306
+ 40049.0
307
+ ],
308
+ "mean": [
309
+ 39824.5
310
+ ],
311
+ "std": [
312
+ 129.90348981712026
313
+ ],
314
+ "count": [
315
+ 450
316
+ ]
317
+ },
318
+ "task_index": {
319
+ "min": [
320
+ 0.0
321
+ ],
322
+ "max": [
323
+ 0.0
324
+ ],
325
+ "mean": [
326
+ 0.0
327
+ ],
328
+ "std": [
329
+ 0.0
330
+ ],
331
+ "count": [
332
+ 450
333
+ ]
334
+ },
335
+ "physical_index": {
336
+ "min": [
337
+ 88.0
338
+ ],
339
+ "max": [
340
+ 88.0
341
+ ],
342
+ "mean": [
343
+ 88.0
344
+ ],
345
+ "std": [
346
+ 0.0
347
+ ],
348
+ "count": [
349
+ 450
350
+ ]
351
+ },
352
+ "source_case_index": {
353
+ "min": [
354
+ 48.0
355
+ ],
356
+ "max": [
357
+ 48.0
358
+ ],
359
+ "mean": [
360
+ 48.0
361
+ ],
362
+ "std": [
363
+ 0.0
364
+ ],
365
+ "count": [
366
+ 450
367
+ ]
368
+ },
369
+ "appearance_index": {
370
+ "min": [
371
+ 0.0
372
+ ],
373
+ "max": [
374
+ 0.0
375
+ ],
376
+ "mean": [
377
+ 0.0
378
+ ],
379
+ "std": [
380
+ 0.0
381
+ ],
382
+ "count": [
383
+ 450
384
+ ]
385
+ },
386
+ "physical_query_time_s": {
387
+ "min": [
388
+ 0.0
389
+ ],
390
+ "max": [
391
+ 14.965000000006798
392
+ ],
393
+ "mean": [
394
+ 7.483329629629644
395
+ ],
396
+ "std": [
397
+ 4.330109927180601
398
+ ],
399
+ "count": [
400
+ 450
401
+ ]
402
+ },
403
+ "state_time_s": {
404
+ "min": [
405
+ 0.0
406
+ ],
407
+ "max": [
408
+ 14.965000000006798
409
+ ],
410
+ "mean": [
411
+ 7.48001111111215
412
+ ],
413
+ "std": [
414
+ 4.330119275994038
415
+ ],
416
+ "count": [
417
+ 450
418
+ ]
419
+ },
420
+ "command_time_s": {
421
+ "min": [
422
+ 0.0
423
+ ],
424
+ "max": [
425
+ 14.965000000006798
426
+ ],
427
+ "mean": [
428
+ 7.48001111111215
429
+ ],
430
+ "std": [
431
+ 4.330119275994038
432
+ ],
433
+ "count": [
434
+ 450
435
+ ]
436
+ },
437
+ "state_source_index": {
438
+ "min": [
439
+ 0.0
440
+ ],
441
+ "max": [
442
+ 1497.0
443
+ ],
444
+ "mean": [
445
+ 748.0022222222223
446
+ ],
447
+ "std": [
448
+ 433.01384888753273
449
+ ],
450
+ "count": [
451
+ 450
452
+ ]
453
+ },
454
+ "command_source_index": {
455
+ "min": [
456
+ 0.0
457
+ ],
458
+ "max": [
459
+ 29930.0
460
+ ],
461
+ "mean": [
462
+ 14960.022222222222
463
+ ],
464
+ "std": [
465
+ 8660.238551984809
466
+ ],
467
+ "count": [
468
+ 450
469
+ ]
470
+ },
471
+ "observation.images.cam_high": {
472
+ "mean": [
473
+ [
474
+ [
475
+ 0.32654361666541615
476
+ ]
477
+ ],
478
+ [
479
+ [
480
+ 0.32146671871873755
481
+ ]
482
+ ],
483
+ [
484
+ [
485
+ 0.3126554731267507
486
+ ]
487
+ ]
488
+ ],
489
+ "std": [
490
+ [
491
+ [
492
+ 0.3156353365923894
493
+ ]
494
+ ],
495
+ [
496
+ [
497
+ 0.3106536672320384
498
+ ]
499
+ ],
500
+ [
501
+ [
502
+ 0.30366292752147955
503
+ ]
504
+ ]
505
+ ],
506
+ "min": [
507
+ [
508
+ [
509
+ 0.0
510
+ ]
511
+ ],
512
+ [
513
+ [
514
+ 0.0
515
+ ]
516
+ ],
517
+ [
518
+ [
519
+ 0.0
520
+ ]
521
+ ]
522
+ ],
523
+ "max": [
524
+ [
525
+ [
526
+ 0.8470588235294118
527
+ ]
528
+ ],
529
+ [
530
+ [
531
+ 0.8470588235294118
532
+ ]
533
+ ],
534
+ [
535
+ [
536
+ 0.8431372549019608
537
+ ]
538
+ ]
539
+ ],
540
+ "count": [
541
+ 100
542
+ ]
543
+ },
544
+ "observation.images.cam_left_wrist": {
545
+ "mean": [
546
+ [
547
+ [
548
+ 0.3350156632965686
549
+ ]
550
+ ],
551
+ [
552
+ [
553
+ 0.32551982433598436
554
+ ]
555
+ ],
556
+ [
557
+ [
558
+ 0.31803091470963385
559
+ ]
560
+ ]
561
+ ],
562
+ "std": [
563
+ [
564
+ [
565
+ 0.32160146001232265
566
+ ]
567
+ ],
568
+ [
569
+ [
570
+ 0.31266262812696494
571
+ ]
572
+ ],
573
+ [
574
+ [
575
+ 0.3051799187969339
576
+ ]
577
+ ]
578
+ ],
579
+ "min": [
580
+ [
581
+ [
582
+ 0.0
583
+ ]
584
+ ],
585
+ [
586
+ [
587
+ 0.0
588
+ ]
589
+ ],
590
+ [
591
+ [
592
+ 0.0
593
+ ]
594
+ ]
595
+ ],
596
+ "max": [
597
+ [
598
+ [
599
+ 0.9764705882352941
600
+ ]
601
+ ],
602
+ [
603
+ [
604
+ 0.9921568627450981
605
+ ]
606
+ ],
607
+ [
608
+ [
609
+ 0.9803921568627451
610
+ ]
611
+ ]
612
+ ],
613
+ "count": [
614
+ 100
615
+ ]
616
+ },
617
+ "observation.images.cam_right_wrist": {
618
+ "mean": [
619
+ [
620
+ [
621
+ 0.35966882065326133
622
+ ]
623
+ ],
624
+ [
625
+ [
626
+ 0.353103478109994
627
+ ]
628
+ ],
629
+ [
630
+ [
631
+ 0.341676025097539
632
+ ]
633
+ ]
634
+ ],
635
+ "std": [
636
+ [
637
+ [
638
+ 0.3546143175318999
639
+ ]
640
+ ],
641
+ [
642
+ [
643
+ 0.3480092665755621
644
+ ]
645
+ ],
646
+ [
647
+ [
648
+ 0.33723759127631525
649
+ ]
650
+ ]
651
+ ],
652
+ "min": [
653
+ [
654
+ [
655
+ 0.0
656
+ ]
657
+ ],
658
+ [
659
+ [
660
+ 0.0
661
+ ]
662
+ ],
663
+ [
664
+ [
665
+ 0.0
666
+ ]
667
+ ]
668
+ ],
669
+ "max": [
670
+ [
671
+ [
672
+ 0.9568627450980393
673
+ ]
674
+ ],
675
+ [
676
+ [
677
+ 0.996078431372549
678
+ ]
679
+ ],
680
+ [
681
+ [
682
+ 0.984313725490196
683
+ ]
684
+ ]
685
+ ],
686
+ "count": [
687
+ 100
688
+ ]
689
+ }
690
+ },
691
+ "provenance": {
692
+ "task": "Put_the_block_in_the_drawer.",
693
+ "case_id": "drawer_center_train_088",
694
+ "visual_side": "center",
695
+ "split": "train",
696
+ "sampler_index": 88,
697
+ "block_center_xy_m": [
698
+ 0.2642735361394366,
699
+ -0.4793208551386181
700
+ ],
701
+ "cabinet_center_xy_m": [
702
+ 0.008080000000000032,
703
+ -0.7361151603498541
704
+ ],
705
+ "spec": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_spec_20261101_attempt_01",
706
+ "spec_scene_sha256": "150250dcb79bb8cd3e27eac7be267914a56638e756c8a6ec86222d3d55dbf25a",
707
+ "native": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_088/attempt_01/native",
708
+ "native_receipt_sha256": "fedda8cbf4588d924e8627e0b168cb7665c2bc42932caa7bbf14796b2bcd2f0a",
709
+ "batch_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_088/attempt_01",
710
+ "render_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_088/attempt_01",
711
+ "source": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_088/attempt_01/source",
712
+ "source_metadata_sha256": "63e49230a0585f48b1d91dd6dbef3cce2fd8ce9c11fbcc608f613f86d11d6cf0",
713
+ "camera_order": [
714
+ "head_rgbd",
715
+ "left_wrist_rgbd",
716
+ "right_wrist_rgbd"
717
+ ],
718
+ "camera_mounts": "astribot_sdk_nominal_image_up",
719
+ "controller": "rssr.drawer.center_layout.v1",
720
+ "handle_hand": "right",
721
+ "payload_hand": "left",
722
+ "drawer_closer": "right (handle hand)"
723
+ },
724
+ "files": {
725
+ "data/chunk-000/episode_000088.parquet": {
726
+ "sha256": "6a4d9bdd63e4c25843165cae0930e3d4bfd7d6fff4f6e02205e1e69e71c8ecdb",
727
+ "bytes": 125776
728
+ },
729
+ "videos/chunk-000/observation.images.cam_high/episode_000088.mp4": {
730
+ "sha256": "7da01a6e9f2a4ebd94e4f042ce9fe59a260a9b93ca8872216f14e844145feb4c",
731
+ "bytes": 104837
732
+ },
733
+ "videos/chunk-000/observation.images.cam_left_wrist/episode_000088.mp4": {
734
+ "sha256": "6fcf4fd9bf74a7db234c83f193e52f37c35f8eca04b37665527d2cc925f847ce",
735
+ "bytes": 128954
736
+ },
737
+ "videos/chunk-000/observation.images.cam_right_wrist/episode_000088.mp4": {
738
+ "sha256": "0a9c412162a3ad938bc146aa198a86803e087a89744bade3a4644fed1fb5a80a",
739
+ "bytes": 180747
740
+ }
741
+ }
742
+ }
drawer_center_layout_100/draw/evidence/episode_000089.json ADDED
@@ -0,0 +1,742 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_index": 89,
3
+ "length": 450,
4
+ "tasks": [
5
+ "Put_the_block_in_the_drawer."
6
+ ],
7
+ "stats": {
8
+ "observation.state": {
9
+ "min": [
10
+ 0.5173245072364807,
11
+ -0.8005681037902832,
12
+ 0.27980837225914,
13
+ 0.016762038692831993,
14
+ 0.00900283083319664,
15
+ 0.9799103140830994,
16
+ -0.18312644958496094,
17
+ -0.1783944070339203,
18
+ -1.1766616106033325,
19
+ 0.9548596739768982,
20
+ -0.5880829691886902,
21
+ 0.11898129433393478,
22
+ 0.06507611274719238,
23
+ 0.01914261095225811,
24
+ 0.01914352737367153,
25
+ -0.48901674151420593,
26
+ 0.019142866134643555,
27
+ -0.48934316635131836,
28
+ 0.019143586978316307,
29
+ -0.05744754150509834,
30
+ -0.2845427095890045,
31
+ 0.33296242356300354,
32
+ 0.9276468753814697,
33
+ -0.7807233929634094,
34
+ -0.3623124361038208,
35
+ -0.5922232270240784,
36
+ 0.07725872844457626,
37
+ 0.07725731283426285,
38
+ -0.8005560040473938,
39
+ 0.07718873769044876,
40
+ -0.8007875084877014,
41
+ 0.07719418406486511
42
+ ],
43
+ "max": [
44
+ 0.5175700187683105,
45
+ -0.8003224730491638,
46
+ 0.28036266565322876,
47
+ 0.017664093524217606,
48
+ 0.009014448150992393,
49
+ 0.9800413250923157,
50
+ 0.027584852650761604,
51
+ 0.0008888617740012705,
52
+ -0.9537088871002197,
53
+ 1.7520490884780884,
54
+ -0.4524475038051605,
55
+ 0.6083459258079529,
56
+ 0.3251030445098877,
57
+ 0.4890168309211731,
58
+ 0.48933732509613037,
59
+ -0.019143303856253624,
60
+ 0.4890182912349701,
61
+ -0.01914343610405922,
62
+ 0.48901835083961487,
63
+ 0.5662124156951904,
64
+ -0.04847903922200203,
65
+ 1.1057521104812622,
66
+ 1.474318504333496,
67
+ 0.5862753391265869,
68
+ 0.3556290864944458,
69
+ -0.15013353526592255,
70
+ 0.800555408000946,
71
+ 0.8007948994636536,
72
+ -0.07725822180509567,
73
+ 0.800575315952301,
74
+ -0.07721028476953506,
75
+ 0.8005756139755249
76
+ ],
77
+ "mean": [
78
+ 0.517459517982271,
79
+ -0.8004579260614183,
80
+ 0.2801037698984146,
81
+ 0.01734713293198082,
82
+ 0.009007131153096756,
83
+ 0.9799995589256286,
84
+ -0.08888904396493065,
85
+ -0.08888128480867534,
86
+ -1.0277883883317311,
87
+ 1.4879346205128563,
88
+ -0.5052215658956104,
89
+ 0.33308394191993607,
90
+ 0.24578909488187897,
91
+ 0.2350363690737221,
92
+ 0.2351590641712149,
93
+ -0.23503636387487253,
94
+ 0.23503703373173873,
95
+ -0.23516065595050653,
96
+ 0.23503721727265253,
97
+ 0.39166071304999706,
98
+ -0.1645956135706769,
99
+ 0.5281778045495351,
100
+ 1.1565899606545766,
101
+ -0.5328166900620434,
102
+ -0.062378460466473676,
103
+ -0.4802686351868841,
104
+ 0.4175691037707859,
105
+ 0.41767151080899767,
106
+ -0.41756894883182316,
107
+ 0.4175780093173186,
108
+ -0.4176387725604905,
109
+ 0.4175785065525108
110
+ ],
111
+ "std": [
112
+ 6.105408956490199e-05,
113
+ 6.087376367127351e-05,
114
+ 0.00015016773074247718,
115
+ 0.00024421315866700614,
116
+ 6.260875153733708e-07,
117
+ 6.967989312825867e-06,
118
+ 0.08068975163071511,
119
+ 0.040211160872712884,
120
+ 0.04671045971869495,
121
+ 0.2545108767847625,
122
+ 0.03813328206160345,
123
+ 0.1880308060932364,
124
+ 0.06613856473832873,
125
+ 0.21654119854553142,
126
+ 0.21668420855399168,
127
+ 0.2165410667629095,
128
+ 0.21654165424574803,
129
+ 0.21668677911042727,
130
+ 0.2165416684457064,
131
+ 0.16234540797471933,
132
+ 0.07731475278786505,
133
+ 0.19610793317167619,
134
+ 0.20723757126038678,
135
+ 0.34704774321054005,
136
+ 0.21658513576561048,
137
+ 0.13016511464569994,
138
+ 0.34032257190241133,
139
+ 0.3404325605746865,
140
+ 0.340322337325702,
141
+ 0.34033289675975387,
142
+ 0.34043849285122435,
143
+ 0.34033295008914405
144
+ ],
145
+ "count": [
146
+ 450
147
+ ]
148
+ },
149
+ "action": {
150
+ "min": [
151
+ 0.5174471735954285,
152
+ -0.8004457950592041,
153
+ 0.009007098153233528,
154
+ 0.9800000190734863,
155
+ 0.2799195647239685,
156
+ 0.017286056652665138,
157
+ -0.1831158697605133,
158
+ -0.17768730223178864,
159
+ -1.1765612363815308,
160
+ 0.9549098610877991,
161
+ -0.5880752801895142,
162
+ 0.11897972226142883,
163
+ 0.06529942154884338,
164
+ 0.019999999552965164,
165
+ -0.057366762310266495,
166
+ -0.3182031214237213,
167
+ 0.3675123453140259,
168
+ 0.9333032965660095,
169
+ -0.7801674008369446,
170
+ -0.3686116337776184,
171
+ -0.5989031195640564,
172
+ 0.07999999821186066
173
+ ],
174
+ "max": [
175
+ 0.5174471735954285,
176
+ -0.8004457950592041,
177
+ 0.009007098153233528,
178
+ 0.9800000190734863,
179
+ 0.2799195647239685,
180
+ 0.017286056652665138,
181
+ 0.02443701960146427,
182
+ 0.0002330210554646328,
183
+ -0.954727828502655,
184
+ 1.7519418001174927,
185
+ -0.4524259567260742,
186
+ 0.6086806058883667,
187
+ 0.3251064419746399,
188
+ 0.49501684308052063,
189
+ 0.6253527998924255,
190
+ -0.030716577544808388,
191
+ 1.1056668758392334,
192
+ 1.4752939939498901,
193
+ 0.5861005783081055,
194
+ 0.35569098591804504,
195
+ -0.15016219019889832,
196
+ 0.8111147880554199
197
+ ],
198
+ "mean": [
199
+ 0.5174471735954285,
200
+ -0.8004457950592041,
201
+ 0.009007098153233528,
202
+ 0.9800000190734863,
203
+ 0.2799195647239685,
204
+ 0.017286056652665138,
205
+ -0.08971407094614632,
206
+ -0.08880268979009188,
207
+ -1.0280167433950635,
208
+ 1.4880818061033885,
209
+ -0.5052063979705175,
210
+ 0.33323772067824997,
211
+ 0.24574882749054167,
212
+ 0.23727596900943254,
213
+ 0.412021258027655,
214
+ -0.1745141448949774,
215
+ 0.5471026201380623,
216
+ 1.1576902307404413,
217
+ -0.5327095977249297,
218
+ -0.06467576928741538,
219
+ -0.4838111110859447,
220
+ 0.4199914164178901
221
+ ],
222
+ "std": [
223
+ 0.0,
224
+ 0.0,
225
+ 0.0,
226
+ 0.0,
227
+ 0.0,
228
+ 0.0,
229
+ 0.07986292683942259,
230
+ 0.03989936647571096,
231
+ 0.04658318920200905,
232
+ 0.2544244257325002,
233
+ 0.038149107259234386,
234
+ 0.18820935502043315,
235
+ 0.06617690637596292,
236
+ 0.2192326690399332,
237
+ 0.17070985036544062,
238
+ 0.09470456525489733,
239
+ 0.18457570871664716,
240
+ 0.2067681273691917,
241
+ 0.34683691694090285,
242
+ 0.21920603295174884,
243
+ 0.1324341399552335,
244
+ 0.3430056315454071
245
+ ],
246
+ "count": [
247
+ 450
248
+ ]
249
+ },
250
+ "timestamp": {
251
+ "min": [
252
+ 0.0
253
+ ],
254
+ "max": [
255
+ 14.966666221618652
256
+ ],
257
+ "mean": [
258
+ 7.48333333350718
259
+ ],
260
+ "std": [
261
+ 4.3301163254484205
262
+ ],
263
+ "count": [
264
+ 450
265
+ ]
266
+ },
267
+ "frame_index": {
268
+ "min": [
269
+ 0.0
270
+ ],
271
+ "max": [
272
+ 449.0
273
+ ],
274
+ "mean": [
275
+ 224.5
276
+ ],
277
+ "std": [
278
+ 129.90348981712026
279
+ ],
280
+ "count": [
281
+ 450
282
+ ]
283
+ },
284
+ "episode_index": {
285
+ "min": [
286
+ 89.0
287
+ ],
288
+ "max": [
289
+ 89.0
290
+ ],
291
+ "mean": [
292
+ 89.0
293
+ ],
294
+ "std": [
295
+ 0.0
296
+ ],
297
+ "count": [
298
+ 450
299
+ ]
300
+ },
301
+ "index": {
302
+ "min": [
303
+ 40050.0
304
+ ],
305
+ "max": [
306
+ 40499.0
307
+ ],
308
+ "mean": [
309
+ 40274.5
310
+ ],
311
+ "std": [
312
+ 129.90348981712026
313
+ ],
314
+ "count": [
315
+ 450
316
+ ]
317
+ },
318
+ "task_index": {
319
+ "min": [
320
+ 0.0
321
+ ],
322
+ "max": [
323
+ 0.0
324
+ ],
325
+ "mean": [
326
+ 0.0
327
+ ],
328
+ "std": [
329
+ 0.0
330
+ ],
331
+ "count": [
332
+ 450
333
+ ]
334
+ },
335
+ "physical_index": {
336
+ "min": [
337
+ 89.0
338
+ ],
339
+ "max": [
340
+ 89.0
341
+ ],
342
+ "mean": [
343
+ 89.0
344
+ ],
345
+ "std": [
346
+ 0.0
347
+ ],
348
+ "count": [
349
+ 450
350
+ ]
351
+ },
352
+ "source_case_index": {
353
+ "min": [
354
+ 48.0
355
+ ],
356
+ "max": [
357
+ 48.0
358
+ ],
359
+ "mean": [
360
+ 48.0
361
+ ],
362
+ "std": [
363
+ 0.0
364
+ ],
365
+ "count": [
366
+ 450
367
+ ]
368
+ },
369
+ "appearance_index": {
370
+ "min": [
371
+ 0.0
372
+ ],
373
+ "max": [
374
+ 0.0
375
+ ],
376
+ "mean": [
377
+ 0.0
378
+ ],
379
+ "std": [
380
+ 0.0
381
+ ],
382
+ "count": [
383
+ 450
384
+ ]
385
+ },
386
+ "physical_query_time_s": {
387
+ "min": [
388
+ 0.0
389
+ ],
390
+ "max": [
391
+ 14.965000000006798
392
+ ],
393
+ "mean": [
394
+ 7.483329629629644
395
+ ],
396
+ "std": [
397
+ 4.330109927180601
398
+ ],
399
+ "count": [
400
+ 450
401
+ ]
402
+ },
403
+ "state_time_s": {
404
+ "min": [
405
+ 0.0
406
+ ],
407
+ "max": [
408
+ 14.965000000006798
409
+ ],
410
+ "mean": [
411
+ 7.48001111111215
412
+ ],
413
+ "std": [
414
+ 4.330119275994038
415
+ ],
416
+ "count": [
417
+ 450
418
+ ]
419
+ },
420
+ "command_time_s": {
421
+ "min": [
422
+ 0.0
423
+ ],
424
+ "max": [
425
+ 14.965000000006798
426
+ ],
427
+ "mean": [
428
+ 7.48001111111215
429
+ ],
430
+ "std": [
431
+ 4.330119275994038
432
+ ],
433
+ "count": [
434
+ 450
435
+ ]
436
+ },
437
+ "state_source_index": {
438
+ "min": [
439
+ 0.0
440
+ ],
441
+ "max": [
442
+ 1497.0
443
+ ],
444
+ "mean": [
445
+ 748.0022222222223
446
+ ],
447
+ "std": [
448
+ 433.01384888753273
449
+ ],
450
+ "count": [
451
+ 450
452
+ ]
453
+ },
454
+ "command_source_index": {
455
+ "min": [
456
+ 0.0
457
+ ],
458
+ "max": [
459
+ 29930.0
460
+ ],
461
+ "mean": [
462
+ 14960.022222222222
463
+ ],
464
+ "std": [
465
+ 8660.238551984809
466
+ ],
467
+ "count": [
468
+ 450
469
+ ]
470
+ },
471
+ "observation.images.cam_high": {
472
+ "mean": [
473
+ [
474
+ [
475
+ 0.325920146965036
476
+ ]
477
+ ],
478
+ [
479
+ [
480
+ 0.3207814547694078
481
+ ]
482
+ ],
483
+ [
484
+ [
485
+ 0.3120081462272409
486
+ ]
487
+ ]
488
+ ],
489
+ "std": [
490
+ [
491
+ [
492
+ 0.3151668151035795
493
+ ]
494
+ ],
495
+ [
496
+ [
497
+ 0.31012037491333666
498
+ ]
499
+ ],
500
+ [
501
+ [
502
+ 0.3031091219738961
503
+ ]
504
+ ]
505
+ ],
506
+ "min": [
507
+ [
508
+ [
509
+ 0.0
510
+ ]
511
+ ],
512
+ [
513
+ [
514
+ 0.0
515
+ ]
516
+ ],
517
+ [
518
+ [
519
+ 0.0
520
+ ]
521
+ ]
522
+ ],
523
+ "max": [
524
+ [
525
+ [
526
+ 0.8509803921568627
527
+ ]
528
+ ],
529
+ [
530
+ [
531
+ 0.8509803921568627
532
+ ]
533
+ ],
534
+ [
535
+ [
536
+ 0.8509803921568627
537
+ ]
538
+ ]
539
+ ],
540
+ "count": [
541
+ 100
542
+ ]
543
+ },
544
+ "observation.images.cam_left_wrist": {
545
+ "mean": [
546
+ [
547
+ [
548
+ 0.335725265887605
549
+ ]
550
+ ],
551
+ [
552
+ [
553
+ 0.3263280843587435
554
+ ]
555
+ ],
556
+ [
557
+ [
558
+ 0.31877253635829333
559
+ ]
560
+ ]
561
+ ],
562
+ "std": [
563
+ [
564
+ [
565
+ 0.3224415963530832
566
+ ]
567
+ ],
568
+ [
569
+ [
570
+ 0.31356670297989964
571
+ ]
572
+ ],
573
+ [
574
+ [
575
+ 0.3060313259454474
576
+ ]
577
+ ]
578
+ ],
579
+ "min": [
580
+ [
581
+ [
582
+ 0.0
583
+ ]
584
+ ],
585
+ [
586
+ [
587
+ 0.0
588
+ ]
589
+ ],
590
+ [
591
+ [
592
+ 0.0
593
+ ]
594
+ ]
595
+ ],
596
+ "max": [
597
+ [
598
+ [
599
+ 0.9725490196078431
600
+ ]
601
+ ],
602
+ [
603
+ [
604
+ 1.0
605
+ ]
606
+ ],
607
+ [
608
+ [
609
+ 0.9921568627450981
610
+ ]
611
+ ]
612
+ ],
613
+ "count": [
614
+ 100
615
+ ]
616
+ },
617
+ "observation.images.cam_right_wrist": {
618
+ "mean": [
619
+ [
620
+ [
621
+ 0.3596650988520408
622
+ ]
623
+ ],
624
+ [
625
+ [
626
+ 0.3530362199567327
627
+ ]
628
+ ],
629
+ [
630
+ [
631
+ 0.34167256199354745
632
+ ]
633
+ ]
634
+ ],
635
+ "std": [
636
+ [
637
+ [
638
+ 0.3547056606432044
639
+ ]
640
+ ],
641
+ [
642
+ [
643
+ 0.34808455497967516
644
+ ]
645
+ ],
646
+ [
647
+ [
648
+ 0.3373536143504312
649
+ ]
650
+ ]
651
+ ],
652
+ "min": [
653
+ [
654
+ [
655
+ 0.0
656
+ ]
657
+ ],
658
+ [
659
+ [
660
+ 0.0
661
+ ]
662
+ ],
663
+ [
664
+ [
665
+ 0.0
666
+ ]
667
+ ]
668
+ ],
669
+ "max": [
670
+ [
671
+ [
672
+ 0.9490196078431372
673
+ ]
674
+ ],
675
+ [
676
+ [
677
+ 0.9882352941176471
678
+ ]
679
+ ],
680
+ [
681
+ [
682
+ 0.9764705882352941
683
+ ]
684
+ ]
685
+ ],
686
+ "count": [
687
+ 100
688
+ ]
689
+ }
690
+ },
691
+ "provenance": {
692
+ "task": "Put_the_block_in_the_drawer.",
693
+ "case_id": "drawer_center_train_089",
694
+ "visual_side": "center",
695
+ "split": "train",
696
+ "sampler_index": 89,
697
+ "block_center_xy_m": [
698
+ 0.2629286627454589,
699
+ -0.45393564309221457
700
+ ],
701
+ "cabinet_center_xy_m": [
702
+ -0.007120000000000015,
703
+ -0.7332580174927114
704
+ ],
705
+ "spec": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_spec_20261101_attempt_01",
706
+ "spec_scene_sha256": "2d0f5521eb086c300051903950d05031d468ca00541d78200ead03043698c448",
707
+ "native": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_089/attempt_01/native",
708
+ "native_receipt_sha256": "0c339ec2a93cad5d7b09471b4f0f294ce3def2ca9d46a71cc82a067707cc45fa",
709
+ "batch_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_089/attempt_01",
710
+ "render_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_089/attempt_01",
711
+ "source": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_089/attempt_01/source",
712
+ "source_metadata_sha256": "52d63e8afcb004f1c4268ed6dcfaf68e45816435b51f814917d55107ef6859ae",
713
+ "camera_order": [
714
+ "head_rgbd",
715
+ "left_wrist_rgbd",
716
+ "right_wrist_rgbd"
717
+ ],
718
+ "camera_mounts": "astribot_sdk_nominal_image_up",
719
+ "controller": "rssr.drawer.center_layout.v1",
720
+ "handle_hand": "right",
721
+ "payload_hand": "left",
722
+ "drawer_closer": "right (handle hand)"
723
+ },
724
+ "files": {
725
+ "data/chunk-000/episode_000089.parquet": {
726
+ "sha256": "7dda1ddc84505a91e19e96e07fe6a015464fbf7e66806eb3d85b53969f31dd18",
727
+ "bytes": 126477
728
+ },
729
+ "videos/chunk-000/observation.images.cam_high/episode_000089.mp4": {
730
+ "sha256": "9e7a1d88ad8da558d829252b5f2d77353242f391ef3158e30af95ef3928cfef2",
731
+ "bytes": 106134
732
+ },
733
+ "videos/chunk-000/observation.images.cam_left_wrist/episode_000089.mp4": {
734
+ "sha256": "38989a61f366a6fa5befb8a594c4540632f208538559b5f0bd7e00aaddf85f1c",
735
+ "bytes": 129979
736
+ },
737
+ "videos/chunk-000/observation.images.cam_right_wrist/episode_000089.mp4": {
738
+ "sha256": "b6fc34f603669819eed2eceb91624560eed13c5aec5738a64f2b85d17887befe",
739
+ "bytes": 182111
740
+ }
741
+ }
742
+ }
drawer_center_layout_100/draw/evidence/episode_000090.json ADDED
@@ -0,0 +1,742 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_index": 90,
3
+ "length": 450,
4
+ "tasks": [
5
+ "Put_the_block_in_the_drawer."
6
+ ],
7
+ "stats": {
8
+ "observation.state": {
9
+ "min": [
10
+ 0.5173068642616272,
11
+ -0.8005555272102356,
12
+ 0.2797546684741974,
13
+ 0.01681910641491413,
14
+ 0.009004782885313034,
15
+ 0.9799058437347412,
16
+ -0.22387243807315826,
17
+ -0.17036384344100952,
18
+ -1.1766616106033325,
19
+ 0.9885356426239014,
20
+ -0.5856372714042664,
21
+ 0.027270080521702766,
22
+ 0.06507611274719238,
23
+ 0.0191416684538126,
24
+ 0.01914258860051632,
25
+ -0.4890035092830658,
26
+ 0.019141947850584984,
27
+ -0.48933035135269165,
28
+ 0.019142676144838333,
29
+ -0.05744754150509834,
30
+ -0.2670985758304596,
31
+ 0.3333686888217926,
32
+ 0.8402434587478638,
33
+ -0.7519311308860779,
34
+ -0.3474300503730774,
35
+ -0.5863484144210815,
36
+ 0.079090416431427,
37
+ 0.0790993720293045,
38
+ -0.8010645508766174,
39
+ 0.07908471673727036,
40
+ -0.8013684749603271,
41
+ 0.07908359915018082
42
+ ],
43
+ "max": [
44
+ 0.5175518989562988,
45
+ -0.8003048300743103,
46
+ 0.28029966354370117,
47
+ 0.017638608813285828,
48
+ 0.009014631621539593,
49
+ 0.98006272315979,
50
+ 0.05155413597822189,
51
+ 0.020747484639286995,
52
+ -0.9491973519325256,
53
+ 1.7417387962341309,
54
+ -0.38866952061653137,
55
+ 0.5083100199699402,
56
+ 0.44965216517448425,
57
+ 0.48900359869003296,
58
+ 0.4893244206905365,
59
+ -0.01914234273135662,
60
+ 0.48900488018989563,
61
+ -0.01914251782000065,
62
+ 0.4890049397945404,
63
+ 0.6118590235710144,
64
+ -0.02267310954630375,
65
+ 1.1057521104812622,
66
+ 1.4348136186599731,
67
+ 0.5862753391265869,
68
+ 0.35535359382629395,
69
+ -0.15013353526592255,
70
+ 0.8010646104812622,
71
+ 0.8012679219245911,
72
+ -0.07909159362316132,
73
+ 0.8010731935501099,
74
+ -0.0790991336107254,
75
+ 0.8010743856430054
76
+ ],
77
+ "mean": [
78
+ 0.5174536136786143,
79
+ -0.8004521768622929,
80
+ 0.28005932629108427,
81
+ 0.017341828813983336,
82
+ 0.009007125654154353,
83
+ 0.9799998915195465,
84
+ -0.10725749597729495,
85
+ -0.060348403724500614,
86
+ -1.0095001150502099,
87
+ 1.504385068681505,
88
+ -0.4615926899512609,
89
+ 0.2442903363580505,
90
+ 0.3809014208118121,
91
+ 0.2184638243044416,
92
+ 0.21857547665635746,
93
+ -0.2184638469128145,
94
+ 0.2184642394590709,
95
+ -0.21857642274349928,
96
+ 0.21846440019292965,
97
+ 0.4321667574822075,
98
+ -0.14020123784326843,
99
+ 0.5283487300740348,
100
+ 1.0932331936889224,
101
+ -0.5135375790825735,
102
+ -0.03967517362157297,
103
+ -0.4813872468471527,
104
+ 0.41506650611758233,
105
+ 0.4151640690531996,
106
+ -0.4150663402511014,
107
+ 0.41507379558351304,
108
+ -0.415144659496016,
109
+ 0.4150742910802364
110
+ ],
111
+ "std": [
112
+ 5.2037827527440036e-05,
113
+ 5.191368085687289e-05,
114
+ 0.00013439711972202943,
115
+ 0.00022036295216849698,
116
+ 6.06624965994173e-07,
117
+ 7.405179923386153e-06,
118
+ 0.10265357941223248,
119
+ 0.043873437630417955,
120
+ 0.036988544400102144,
121
+ 0.21901558762728984,
122
+ 0.05127648253137956,
123
+ 0.1883499827786273,
124
+ 0.06762691427280575,
125
+ 0.21440024957079168,
126
+ 0.21454048709353957,
127
+ 0.21440015827173708,
128
+ 0.21440052499653572,
129
+ 0.21454218944933998,
130
+ 0.21440054805797573,
131
+ 0.17065356045307342,
132
+ 0.08253789146411726,
133
+ 0.1972995307149375,
134
+ 0.22805859795249003,
135
+ 0.3397281589072599,
136
+ 0.2124716408969089,
137
+ 0.1324043966215545,
138
+ 0.3400811058084164,
139
+ 0.34018637682302555,
140
+ 0.34008090257677304,
141
+ 0.3400893562766952,
142
+ 0.340195202790286,
143
+ 0.3400894344866554
144
+ ],
145
+ "count": [
146
+ 450
147
+ ]
148
+ },
149
+ "action": {
150
+ "min": [
151
+ 0.5174471735954285,
152
+ -0.8004457950592041,
153
+ 0.009007098153233528,
154
+ 0.9800000190734863,
155
+ 0.2799195647239685,
156
+ 0.017286056652665138,
157
+ -0.2238687127828598,
158
+ -0.16798126697540283,
159
+ -1.1765574216842651,
160
+ 0.9889623522758484,
161
+ -0.5856224298477173,
162
+ 0.027263063937425613,
163
+ 0.06530870497226715,
164
+ 0.019999999552965164,
165
+ -0.0573590062558651,
166
+ -0.29851579666137695,
167
+ 0.3623252511024475,
168
+ 0.8448798656463623,
169
+ -0.7511658072471619,
170
+ -0.35298559069633484,
171
+ -0.5908011198043823,
172
+ 0.07999999821186066
173
+ ],
174
+ "max": [
175
+ 0.5174471735954285,
176
+ -0.8004457950592041,
177
+ 0.009007098153233528,
178
+ 0.9800000190734863,
179
+ 0.2799195647239685,
180
+ 0.017286056652665138,
181
+ 0.05008205398917198,
182
+ 0.020062685012817383,
183
+ -0.9501768946647644,
184
+ 1.7416014671325684,
185
+ -0.38863667845726013,
186
+ 0.5087669491767883,
187
+ 0.4496495723724365,
188
+ 0.4950035810470581,
189
+ 0.6632174253463745,
190
+ -0.008843888528645039,
191
+ 1.1056689023971558,
192
+ 1.4347585439682007,
193
+ 0.5861021280288696,
194
+ 0.3552773594856262,
195
+ -0.1501609832048416,
196
+ 0.8112305998802185
197
+ ],
198
+ "mean": [
199
+ 0.5174471735954285,
200
+ -0.8004457950592041,
201
+ 0.009007098153233528,
202
+ 0.9800000190734863,
203
+ 0.2799195647239685,
204
+ 0.017286056652665138,
205
+ -0.10803708010550407,
206
+ -0.06024815460726839,
207
+ -1.009694423807992,
208
+ 1.5045215377542707,
209
+ -0.46157148751947613,
210
+ 0.2444262197903461,
211
+ 0.38086798237429725,
212
+ 0.2204945013920466,
213
+ 0.4476340200808934,
214
+ -0.14954551998111937,
215
+ 0.5428633289204703,
216
+ 1.0937629824214512,
217
+ -0.5133735657628211,
218
+ -0.04166468465455788,
219
+ -0.4838188065091769,
220
+ 0.4174888487160206
221
+ ],
222
+ "std": [
223
+ 0.0,
224
+ 0.0,
225
+ 0.0,
226
+ 0.0,
227
+ 0.0,
228
+ 0.0,
229
+ 0.10202975332947126,
230
+ 0.04344917554478482,
231
+ 0.03660352943395446,
232
+ 0.21891963088292815,
233
+ 0.051299482322804096,
234
+ 0.18851149354858748,
235
+ 0.06766429438180988,
236
+ 0.2170171809092215,
237
+ 0.1775333513538185,
238
+ 0.09831049645645637,
239
+ 0.1879796401866943,
240
+ 0.22738495218639598,
241
+ 0.33950289439242676,
242
+ 0.21480064296821128,
243
+ 0.1339361243886038,
244
+ 0.3427791435667343
245
+ ],
246
+ "count": [
247
+ 450
248
+ ]
249
+ },
250
+ "timestamp": {
251
+ "min": [
252
+ 0.0
253
+ ],
254
+ "max": [
255
+ 14.966666221618652
256
+ ],
257
+ "mean": [
258
+ 7.48333333350718
259
+ ],
260
+ "std": [
261
+ 4.3301163254484205
262
+ ],
263
+ "count": [
264
+ 450
265
+ ]
266
+ },
267
+ "frame_index": {
268
+ "min": [
269
+ 0.0
270
+ ],
271
+ "max": [
272
+ 449.0
273
+ ],
274
+ "mean": [
275
+ 224.5
276
+ ],
277
+ "std": [
278
+ 129.90348981712026
279
+ ],
280
+ "count": [
281
+ 450
282
+ ]
283
+ },
284
+ "episode_index": {
285
+ "min": [
286
+ 90.0
287
+ ],
288
+ "max": [
289
+ 90.0
290
+ ],
291
+ "mean": [
292
+ 90.0
293
+ ],
294
+ "std": [
295
+ 0.0
296
+ ],
297
+ "count": [
298
+ 450
299
+ ]
300
+ },
301
+ "index": {
302
+ "min": [
303
+ 40500.0
304
+ ],
305
+ "max": [
306
+ 40949.0
307
+ ],
308
+ "mean": [
309
+ 40724.5
310
+ ],
311
+ "std": [
312
+ 129.90348981712026
313
+ ],
314
+ "count": [
315
+ 450
316
+ ]
317
+ },
318
+ "task_index": {
319
+ "min": [
320
+ 0.0
321
+ ],
322
+ "max": [
323
+ 0.0
324
+ ],
325
+ "mean": [
326
+ 0.0
327
+ ],
328
+ "std": [
329
+ 0.0
330
+ ],
331
+ "count": [
332
+ 450
333
+ ]
334
+ },
335
+ "physical_index": {
336
+ "min": [
337
+ 90.0
338
+ ],
339
+ "max": [
340
+ 90.0
341
+ ],
342
+ "mean": [
343
+ 90.0
344
+ ],
345
+ "std": [
346
+ 0.0
347
+ ],
348
+ "count": [
349
+ 450
350
+ ]
351
+ },
352
+ "source_case_index": {
353
+ "min": [
354
+ 48.0
355
+ ],
356
+ "max": [
357
+ 48.0
358
+ ],
359
+ "mean": [
360
+ 48.0
361
+ ],
362
+ "std": [
363
+ 0.0
364
+ ],
365
+ "count": [
366
+ 450
367
+ ]
368
+ },
369
+ "appearance_index": {
370
+ "min": [
371
+ 0.0
372
+ ],
373
+ "max": [
374
+ 0.0
375
+ ],
376
+ "mean": [
377
+ 0.0
378
+ ],
379
+ "std": [
380
+ 0.0
381
+ ],
382
+ "count": [
383
+ 450
384
+ ]
385
+ },
386
+ "physical_query_time_s": {
387
+ "min": [
388
+ 0.0
389
+ ],
390
+ "max": [
391
+ 14.965000000006798
392
+ ],
393
+ "mean": [
394
+ 7.483329629629644
395
+ ],
396
+ "std": [
397
+ 4.330109927180601
398
+ ],
399
+ "count": [
400
+ 450
401
+ ]
402
+ },
403
+ "state_time_s": {
404
+ "min": [
405
+ 0.0
406
+ ],
407
+ "max": [
408
+ 14.965000000006798
409
+ ],
410
+ "mean": [
411
+ 7.48001111111215
412
+ ],
413
+ "std": [
414
+ 4.330119275994038
415
+ ],
416
+ "count": [
417
+ 450
418
+ ]
419
+ },
420
+ "command_time_s": {
421
+ "min": [
422
+ 0.0
423
+ ],
424
+ "max": [
425
+ 14.965000000006798
426
+ ],
427
+ "mean": [
428
+ 7.48001111111215
429
+ ],
430
+ "std": [
431
+ 4.330119275994038
432
+ ],
433
+ "count": [
434
+ 450
435
+ ]
436
+ },
437
+ "state_source_index": {
438
+ "min": [
439
+ 0.0
440
+ ],
441
+ "max": [
442
+ 1497.0
443
+ ],
444
+ "mean": [
445
+ 748.0022222222223
446
+ ],
447
+ "std": [
448
+ 433.01384888753273
449
+ ],
450
+ "count": [
451
+ 450
452
+ ]
453
+ },
454
+ "command_source_index": {
455
+ "min": [
456
+ 0.0
457
+ ],
458
+ "max": [
459
+ 29930.0
460
+ ],
461
+ "mean": [
462
+ 14960.022222222222
463
+ ],
464
+ "std": [
465
+ 8660.238551984809
466
+ ],
467
+ "count": [
468
+ 450
469
+ ]
470
+ },
471
+ "observation.images.cam_high": {
472
+ "mean": [
473
+ [
474
+ [
475
+ 0.3248854752838636
476
+ ]
477
+ ],
478
+ [
479
+ [
480
+ 0.31986604954481795
481
+ ]
482
+ ],
483
+ [
484
+ [
485
+ 0.3113124726453081
486
+ ]
487
+ ]
488
+ ],
489
+ "std": [
490
+ [
491
+ [
492
+ 0.3162191883878034
493
+ ]
494
+ ],
495
+ [
496
+ [
497
+ 0.3112869575826532
498
+ ]
499
+ ],
500
+ [
501
+ [
502
+ 0.3044823311084749
503
+ ]
504
+ ]
505
+ ],
506
+ "min": [
507
+ [
508
+ [
509
+ 0.0
510
+ ]
511
+ ],
512
+ [
513
+ [
514
+ 0.0
515
+ ]
516
+ ],
517
+ [
518
+ [
519
+ 0.0
520
+ ]
521
+ ]
522
+ ],
523
+ "max": [
524
+ [
525
+ [
526
+ 0.8627450980392157
527
+ ]
528
+ ],
529
+ [
530
+ [
531
+ 0.8705882352941177
532
+ ]
533
+ ],
534
+ [
535
+ [
536
+ 0.8705882352941177
537
+ ]
538
+ ]
539
+ ],
540
+ "count": [
541
+ 100
542
+ ]
543
+ },
544
+ "observation.images.cam_left_wrist": {
545
+ "mean": [
546
+ [
547
+ [
548
+ 0.3246957564275711
549
+ ]
550
+ ],
551
+ [
552
+ [
553
+ 0.3154725671518608
554
+ ]
555
+ ],
556
+ [
557
+ [
558
+ 0.30794081304396753
559
+ ]
560
+ ]
561
+ ],
562
+ "std": [
563
+ [
564
+ [
565
+ 0.32146533887626577
566
+ ]
567
+ ],
568
+ [
569
+ [
570
+ 0.31204612778199914
571
+ ]
572
+ ],
573
+ [
574
+ [
575
+ 0.30414530740961254
576
+ ]
577
+ ]
578
+ ],
579
+ "min": [
580
+ [
581
+ [
582
+ 0.0
583
+ ]
584
+ ],
585
+ [
586
+ [
587
+ 0.0
588
+ ]
589
+ ],
590
+ [
591
+ [
592
+ 0.0
593
+ ]
594
+ ]
595
+ ],
596
+ "max": [
597
+ [
598
+ [
599
+ 0.984313725490196
600
+ ]
601
+ ],
602
+ [
603
+ [
604
+ 1.0
605
+ ]
606
+ ],
607
+ [
608
+ [
609
+ 0.984313725490196
610
+ ]
611
+ ]
612
+ ],
613
+ "count": [
614
+ 100
615
+ ]
616
+ },
617
+ "observation.images.cam_right_wrist": {
618
+ "mean": [
619
+ [
620
+ [
621
+ 0.35918725771558624
622
+ ]
623
+ ],
624
+ [
625
+ [
626
+ 0.3525069277711085
627
+ ]
628
+ ],
629
+ [
630
+ [
631
+ 0.3409960452931173
632
+ ]
633
+ ]
634
+ ],
635
+ "std": [
636
+ [
637
+ [
638
+ 0.3542080133408965
639
+ ]
640
+ ],
641
+ [
642
+ [
643
+ 0.34751649304624604
644
+ ]
645
+ ],
646
+ [
647
+ [
648
+ 0.3366592042807231
649
+ ]
650
+ ]
651
+ ],
652
+ "min": [
653
+ [
654
+ [
655
+ 0.0
656
+ ]
657
+ ],
658
+ [
659
+ [
660
+ 0.0
661
+ ]
662
+ ],
663
+ [
664
+ [
665
+ 0.0
666
+ ]
667
+ ]
668
+ ],
669
+ "max": [
670
+ [
671
+ [
672
+ 0.9568627450980393
673
+ ]
674
+ ],
675
+ [
676
+ [
677
+ 0.996078431372549
678
+ ]
679
+ ],
680
+ [
681
+ [
682
+ 0.984313725490196
683
+ ]
684
+ ]
685
+ ],
686
+ "count": [
687
+ 100
688
+ ]
689
+ }
690
+ },
691
+ "provenance": {
692
+ "task": "Put_the_block_in_the_drawer.",
693
+ "case_id": "drawer_center_train_090",
694
+ "visual_side": "center",
695
+ "split": "train",
696
+ "sampler_index": 90,
697
+ "block_center_xy_m": [
698
+ 0.21398372996760281,
699
+ -0.43381501014700613
700
+ ],
701
+ "cabinet_center_xy_m": [
702
+ -0.0031200000000000117,
703
+ -0.7499927113702624
704
+ ],
705
+ "spec": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_spec_20261101_attempt_01",
706
+ "spec_scene_sha256": "2bf8bbfe94bb86bc9f57ae983eda306672bfae5fc0fd8012bdc516206d7edad7",
707
+ "native": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_090/attempt_01/native",
708
+ "native_receipt_sha256": "d282f08f6c321c0d02a41d429b30ee1e83fc280cf80b68595dcc96cb27986f26",
709
+ "batch_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_090/attempt_01",
710
+ "render_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_090/attempt_01",
711
+ "source": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_090/attempt_01/source",
712
+ "source_metadata_sha256": "f38cdd5ce91a70b03e8de48b25d964b8b41e15a3f12151979ad943511913b027",
713
+ "camera_order": [
714
+ "head_rgbd",
715
+ "left_wrist_rgbd",
716
+ "right_wrist_rgbd"
717
+ ],
718
+ "camera_mounts": "astribot_sdk_nominal_image_up",
719
+ "controller": "rssr.drawer.center_layout.v1",
720
+ "handle_hand": "right",
721
+ "payload_hand": "left",
722
+ "drawer_closer": "right (handle hand)"
723
+ },
724
+ "files": {
725
+ "data/chunk-000/episode_000090.parquet": {
726
+ "sha256": "91e14e1d77d1910727bf42fa877b81525b9aa6698f0aa0eb9192f4fbe88c7fcc",
727
+ "bytes": 126273
728
+ },
729
+ "videos/chunk-000/observation.images.cam_high/episode_000090.mp4": {
730
+ "sha256": "3c5e90d14eeb4c220ca4205b1bcc9b1d911133cc01696aaa43249707249b2859",
731
+ "bytes": 111146
732
+ },
733
+ "videos/chunk-000/observation.images.cam_left_wrist/episode_000090.mp4": {
734
+ "sha256": "a8c1dba079036d9557dad58d1884f31c75cf0887cf732cb6aadec83c65b7cab8",
735
+ "bytes": 128235
736
+ },
737
+ "videos/chunk-000/observation.images.cam_right_wrist/episode_000090.mp4": {
738
+ "sha256": "86c46c89a09ed918f28315403562737c0bfab3481180a0d6e5df795ce0e11147",
739
+ "bytes": 181969
740
+ }
741
+ }
742
+ }
drawer_center_layout_100/draw/evidence/episode_000091.json ADDED
@@ -0,0 +1,742 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_index": 91,
3
+ "length": 450,
4
+ "tasks": [
5
+ "Put_the_block_in_the_drawer."
6
+ ],
7
+ "stats": {
8
+ "observation.state": {
9
+ "min": [
10
+ 0.5173249840736389,
11
+ -0.8005765676498413,
12
+ 0.279798299074173,
13
+ 0.01683932915329933,
14
+ 0.008999042212963104,
15
+ 0.9799637198448181,
16
+ -0.21105819940567017,
17
+ -0.16007551550865173,
18
+ -1.1766616106033325,
19
+ 0.8959391117095947,
20
+ -0.5829148292541504,
21
+ 0.12070751935243607,
22
+ 0.06507611274719238,
23
+ 0.01913827657699585,
24
+ 0.019139239564538002,
25
+ -0.4890267550945282,
26
+ 0.01913861185312271,
27
+ -0.48935216665267944,
28
+ 0.01913934201002121,
29
+ -0.05744754150509834,
30
+ -0.2605932354927063,
31
+ 0.3300234377384186,
32
+ 0.8547542691230774,
33
+ -0.7578142285346985,
34
+ -0.3598528206348419,
35
+ -0.5818877816200256,
36
+ 0.07867950946092606,
37
+ 0.07868007570505142,
38
+ -0.7997369766235352,
39
+ 0.07861386239528656,
40
+ -0.7999797463417053,
41
+ 0.07862050086259842
42
+ ],
43
+ "max": [
44
+ 0.5175707340240479,
45
+ -0.8003203868865967,
46
+ 0.28030717372894287,
47
+ 0.017632652074098587,
48
+ 0.009011427871882915,
49
+ 0.9800635576248169,
50
+ -0.02486610785126686,
51
+ 0.025080213323235512,
52
+ -0.9639815092086792,
53
+ 1.7141082286834717,
54
+ -0.42761632800102234,
55
+ 0.6072319149971008,
56
+ 0.3603326976299286,
57
+ 0.48902684450149536,
58
+ 0.48935064673423767,
59
+ -0.019138919189572334,
60
+ 0.48902764916419983,
61
+ -0.019139159470796585,
62
+ 0.4890276789665222,
63
+ 0.6067397594451904,
64
+ -0.02149459347128868,
65
+ 1.1057521104812622,
66
+ 1.4414960145950317,
67
+ 0.5862753391265869,
68
+ 0.3554002344608307,
69
+ -0.15013353526592255,
70
+ 0.7997376918792725,
71
+ 0.7999750375747681,
72
+ -0.0786827951669693,
73
+ 0.7997540831565857,
74
+ -0.07847236096858978,
75
+ 0.7997552156448364
76
+ ],
77
+ "mean": [
78
+ 0.5174535425504049,
79
+ -0.8004522621631622,
80
+ 0.2800511047575209,
81
+ 0.017341032665636805,
82
+ 0.00900706189374129,
83
+ 0.9800002182854547,
84
+ -0.1292165785820948,
85
+ -0.07007972414980436,
86
+ -1.0307123686207664,
87
+ 1.447816141181522,
88
+ -0.48746133274502224,
89
+ 0.3247819774846236,
90
+ 0.2872701300846206,
91
+ 0.2303622584665815,
92
+ 0.23048242366148367,
93
+ -0.2303622727178865,
94
+ 0.23036279814110863,
95
+ -0.23048361195872227,
96
+ 0.2303629601457053,
97
+ 0.4272010696189116,
98
+ -0.13762829196121956,
99
+ 0.5260565908749898,
100
+ 1.1045038219292957,
101
+ -0.5174719278897262,
102
+ -0.05068945106914422,
103
+ -0.4785309794545174,
104
+ 0.4160059235824479,
105
+ 0.41610319044854904,
106
+ -0.41600575258334477,
107
+ 0.41601264908909796,
108
+ -0.41608506532178985,
109
+ 0.416013177368376
110
+ ],
111
+ "std": [
112
+ 4.967459044767854e-05,
113
+ 4.987179581223409e-05,
114
+ 0.00012991775152918368,
115
+ 0.00021262327720443725,
116
+ 6.298635580498131e-07,
117
+ 4.721501671882369e-06,
118
+ 0.07073996062016005,
119
+ 0.043681141870657816,
120
+ 0.040164703656894694,
121
+ 0.25798525885163576,
122
+ 0.04183458899271196,
123
+ 0.18524859537198873,
124
+ 0.06307946816773785,
125
+ 0.21606433430604174,
126
+ 0.21620740285357148,
127
+ 0.21606423517306228,
128
+ 0.2160647142539107,
129
+ 0.2162094146784186,
130
+ 0.21606472614462666,
131
+ 0.16989616072694294,
132
+ 0.08103199018409876,
133
+ 0.19800010963830994,
134
+ 0.22481229687243234,
135
+ 0.34097818446825034,
136
+ 0.2163645540537539,
137
+ 0.13007090046138015,
138
+ 0.3401366164239138,
139
+ 0.3402412419567082,
140
+ 0.3401363721635049,
141
+ 0.3401448652109708,
142
+ 0.34024946900973807,
143
+ 0.3401449062315637
144
+ ],
145
+ "count": [
146
+ 450
147
+ ]
148
+ },
149
+ "action": {
150
+ "min": [
151
+ 0.5174471735954285,
152
+ -0.8004457950592041,
153
+ 0.009007098153233528,
154
+ 0.9800000190734863,
155
+ 0.2799195647239685,
156
+ 0.017286056652665138,
157
+ -0.21105340123176575,
158
+ -0.15518122911453247,
159
+ -1.1765562295913696,
160
+ 0.8960288166999817,
161
+ -0.5828836560249329,
162
+ 0.12075332552194595,
163
+ 0.0653119832277298,
164
+ 0.019999999552965164,
165
+ -0.057361118495464325,
166
+ -0.29165005683898926,
167
+ 0.35748815536499023,
168
+ 0.8593244552612305,
169
+ -0.7572004199028015,
170
+ -0.36529186367988586,
171
+ -0.5862274765968323,
172
+ 0.07999999821186066
173
+ ],
174
+ "max": [
175
+ 0.5174471735954285,
176
+ -0.8004457950592041,
177
+ 0.009007098153233528,
178
+ 0.9800000190734863,
179
+ 0.2799195647239685,
180
+ 0.017286056652665138,
181
+ -0.02808682806789875,
182
+ 0.024990931153297424,
183
+ -0.9649524092674255,
184
+ 1.7139910459518433,
185
+ -0.42759159207344055,
186
+ 0.6074972152709961,
187
+ 0.36032235622406006,
188
+ 0.4950268268585205,
189
+ 0.6562896966934204,
190
+ -0.007410493679344654,
191
+ 1.105668306350708,
192
+ 1.4414565563201904,
193
+ 0.5861016511917114,
194
+ 0.3553411662578583,
195
+ -0.15016131103038788,
196
+ 0.8057377338409424
197
+ ],
198
+ "mean": [
199
+ 0.5174471735954285,
200
+ -0.8004457950592041,
201
+ 0.009007098153233528,
202
+ 0.9800000190734863,
203
+ 0.2799195647239685,
204
+ 0.017286056652665138,
205
+ -0.13006150907112493,
206
+ -0.07002014446880721,
207
+ -1.0309410863452488,
208
+ 1.4479581978585985,
209
+ -0.48744475066661835,
210
+ 0.3249305265479618,
211
+ 0.2872361765636338,
212
+ 0.23255004706896013,
213
+ 0.44157068053208703,
214
+ -0.1465934152269943,
215
+ 0.5398125618033939,
216
+ 1.104996098809772,
217
+ -0.5173286111207885,
218
+ -0.05261903384102172,
219
+ -0.4807805506388346,
220
+ 0.4184085093769762
221
+ ],
222
+ "std": [
223
+ 0.0,
224
+ 0.0,
225
+ 0.0,
226
+ 0.0,
227
+ 0.0,
228
+ 0.0,
229
+ 0.069912752844998,
230
+ 0.043233946355028106,
231
+ 0.039972345180500544,
232
+ 0.2578997410803722,
233
+ 0.041851332838318295,
234
+ 0.1854255157411995,
235
+ 0.0631171235115942,
236
+ 0.21874510331015518,
237
+ 0.17632401915051046,
238
+ 0.09634771289112169,
239
+ 0.18905946315776445,
240
+ 0.22416359100563693,
241
+ 0.3407627490058992,
242
+ 0.21865480861278067,
243
+ 0.13148592902781195,
244
+ 0.34280663656798105
245
+ ],
246
+ "count": [
247
+ 450
248
+ ]
249
+ },
250
+ "timestamp": {
251
+ "min": [
252
+ 0.0
253
+ ],
254
+ "max": [
255
+ 14.966666221618652
256
+ ],
257
+ "mean": [
258
+ 7.48333333350718
259
+ ],
260
+ "std": [
261
+ 4.3301163254484205
262
+ ],
263
+ "count": [
264
+ 450
265
+ ]
266
+ },
267
+ "frame_index": {
268
+ "min": [
269
+ 0.0
270
+ ],
271
+ "max": [
272
+ 449.0
273
+ ],
274
+ "mean": [
275
+ 224.5
276
+ ],
277
+ "std": [
278
+ 129.90348981712026
279
+ ],
280
+ "count": [
281
+ 450
282
+ ]
283
+ },
284
+ "episode_index": {
285
+ "min": [
286
+ 91.0
287
+ ],
288
+ "max": [
289
+ 91.0
290
+ ],
291
+ "mean": [
292
+ 91.0
293
+ ],
294
+ "std": [
295
+ 0.0
296
+ ],
297
+ "count": [
298
+ 450
299
+ ]
300
+ },
301
+ "index": {
302
+ "min": [
303
+ 40950.0
304
+ ],
305
+ "max": [
306
+ 41399.0
307
+ ],
308
+ "mean": [
309
+ 41174.5
310
+ ],
311
+ "std": [
312
+ 129.90348981712026
313
+ ],
314
+ "count": [
315
+ 450
316
+ ]
317
+ },
318
+ "task_index": {
319
+ "min": [
320
+ 0.0
321
+ ],
322
+ "max": [
323
+ 0.0
324
+ ],
325
+ "mean": [
326
+ 0.0
327
+ ],
328
+ "std": [
329
+ 0.0
330
+ ],
331
+ "count": [
332
+ 450
333
+ ]
334
+ },
335
+ "physical_index": {
336
+ "min": [
337
+ 91.0
338
+ ],
339
+ "max": [
340
+ 91.0
341
+ ],
342
+ "mean": [
343
+ 91.0
344
+ ],
345
+ "std": [
346
+ 0.0
347
+ ],
348
+ "count": [
349
+ 450
350
+ ]
351
+ },
352
+ "source_case_index": {
353
+ "min": [
354
+ 48.0
355
+ ],
356
+ "max": [
357
+ 48.0
358
+ ],
359
+ "mean": [
360
+ 48.0
361
+ ],
362
+ "std": [
363
+ 0.0
364
+ ],
365
+ "count": [
366
+ 450
367
+ ]
368
+ },
369
+ "appearance_index": {
370
+ "min": [
371
+ 0.0
372
+ ],
373
+ "max": [
374
+ 0.0
375
+ ],
376
+ "mean": [
377
+ 0.0
378
+ ],
379
+ "std": [
380
+ 0.0
381
+ ],
382
+ "count": [
383
+ 450
384
+ ]
385
+ },
386
+ "physical_query_time_s": {
387
+ "min": [
388
+ 0.0
389
+ ],
390
+ "max": [
391
+ 14.965000000006798
392
+ ],
393
+ "mean": [
394
+ 7.483329629629644
395
+ ],
396
+ "std": [
397
+ 4.330109927180601
398
+ ],
399
+ "count": [
400
+ 450
401
+ ]
402
+ },
403
+ "state_time_s": {
404
+ "min": [
405
+ 0.0
406
+ ],
407
+ "max": [
408
+ 14.965000000006798
409
+ ],
410
+ "mean": [
411
+ 7.48001111111215
412
+ ],
413
+ "std": [
414
+ 4.330119275994038
415
+ ],
416
+ "count": [
417
+ 450
418
+ ]
419
+ },
420
+ "command_time_s": {
421
+ "min": [
422
+ 0.0
423
+ ],
424
+ "max": [
425
+ 14.965000000006798
426
+ ],
427
+ "mean": [
428
+ 7.48001111111215
429
+ ],
430
+ "std": [
431
+ 4.330119275994038
432
+ ],
433
+ "count": [
434
+ 450
435
+ ]
436
+ },
437
+ "state_source_index": {
438
+ "min": [
439
+ 0.0
440
+ ],
441
+ "max": [
442
+ 1497.0
443
+ ],
444
+ "mean": [
445
+ 748.0022222222223
446
+ ],
447
+ "std": [
448
+ 433.01384888753273
449
+ ],
450
+ "count": [
451
+ 450
452
+ ]
453
+ },
454
+ "command_source_index": {
455
+ "min": [
456
+ 0.0
457
+ ],
458
+ "max": [
459
+ 29930.0
460
+ ],
461
+ "mean": [
462
+ 14960.022222222222
463
+ ],
464
+ "std": [
465
+ 8660.238551984809
466
+ ],
467
+ "count": [
468
+ 450
469
+ ]
470
+ },
471
+ "observation.images.cam_high": {
472
+ "mean": [
473
+ [
474
+ [
475
+ 0.3272589965673769
476
+ ]
477
+ ],
478
+ [
479
+ [
480
+ 0.3222793007828131
481
+ ]
482
+ ],
483
+ [
484
+ [
485
+ 0.3136209882390456
486
+ ]
487
+ ]
488
+ ],
489
+ "std": [
490
+ [
491
+ [
492
+ 0.31586013284571646
493
+ ]
494
+ ],
495
+ [
496
+ [
497
+ 0.3110136756174007
498
+ ]
499
+ ],
500
+ [
501
+ [
502
+ 0.30411078673574893
503
+ ]
504
+ ]
505
+ ],
506
+ "min": [
507
+ [
508
+ [
509
+ 0.0
510
+ ]
511
+ ],
512
+ [
513
+ [
514
+ 0.0
515
+ ]
516
+ ],
517
+ [
518
+ [
519
+ 0.0
520
+ ]
521
+ ]
522
+ ],
523
+ "max": [
524
+ [
525
+ [
526
+ 0.8549019607843137
527
+ ]
528
+ ],
529
+ [
530
+ [
531
+ 0.8549019607843137
532
+ ]
533
+ ],
534
+ [
535
+ [
536
+ 0.8509803921568627
537
+ ]
538
+ ]
539
+ ],
540
+ "count": [
541
+ 100
542
+ ]
543
+ },
544
+ "observation.images.cam_left_wrist": {
545
+ "mean": [
546
+ [
547
+ [
548
+ 0.3332473020458183
549
+ ]
550
+ ],
551
+ [
552
+ [
553
+ 0.32392495044892955
554
+ ]
555
+ ],
556
+ [
557
+ [
558
+ 0.3162278442627051
559
+ ]
560
+ ]
561
+ ],
562
+ "std": [
563
+ [
564
+ [
565
+ 0.3201967050743434
566
+ ]
567
+ ],
568
+ [
569
+ [
570
+ 0.31114533473168626
571
+ ]
572
+ ],
573
+ [
574
+ [
575
+ 0.3034348216569065
576
+ ]
577
+ ]
578
+ ],
579
+ "min": [
580
+ [
581
+ [
582
+ 0.0
583
+ ]
584
+ ],
585
+ [
586
+ [
587
+ 0.0
588
+ ]
589
+ ],
590
+ [
591
+ [
592
+ 0.0
593
+ ]
594
+ ]
595
+ ],
596
+ "max": [
597
+ [
598
+ [
599
+ 0.9725490196078431
600
+ ]
601
+ ],
602
+ [
603
+ [
604
+ 1.0
605
+ ]
606
+ ],
607
+ [
608
+ [
609
+ 1.0
610
+ ]
611
+ ]
612
+ ],
613
+ "count": [
614
+ 100
615
+ ]
616
+ },
617
+ "observation.images.cam_right_wrist": {
618
+ "mean": [
619
+ [
620
+ [
621
+ 0.3594703131252501
622
+ ]
623
+ ],
624
+ [
625
+ [
626
+ 0.3528433818840036
627
+ ]
628
+ ],
629
+ [
630
+ [
631
+ 0.34135225730917373
632
+ ]
633
+ ]
634
+ ],
635
+ "std": [
636
+ [
637
+ [
638
+ 0.35431641527501445
639
+ ]
640
+ ],
641
+ [
642
+ [
643
+ 0.34768042130960924
644
+ ]
645
+ ],
646
+ [
647
+ [
648
+ 0.3368738171607401
649
+ ]
650
+ ]
651
+ ],
652
+ "min": [
653
+ [
654
+ [
655
+ 0.0
656
+ ]
657
+ ],
658
+ [
659
+ [
660
+ 0.0
661
+ ]
662
+ ],
663
+ [
664
+ [
665
+ 0.0
666
+ ]
667
+ ]
668
+ ],
669
+ "max": [
670
+ [
671
+ [
672
+ 0.9450980392156862
673
+ ]
674
+ ],
675
+ [
676
+ [
677
+ 0.984313725490196
678
+ ]
679
+ ],
680
+ [
681
+ [
682
+ 0.9725490196078431
683
+ ]
684
+ ]
685
+ ],
686
+ "count": [
687
+ 100
688
+ ]
689
+ }
690
+ },
691
+ "provenance": {
692
+ "task": "Put_the_block_in_the_drawer.",
693
+ "case_id": "drawer_center_train_091",
694
+ "visual_side": "center",
695
+ "split": "train",
696
+ "sampler_index": 91,
697
+ "block_center_xy_m": [
698
+ 0.23501281768021332,
699
+ -0.4783746567997666
700
+ ],
701
+ "cabinet_center_xy_m": [
702
+ 0.0008799999999999919,
703
+ -0.7471355685131195
704
+ ],
705
+ "spec": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_spec_20261101_attempt_01",
706
+ "spec_scene_sha256": "6064bc86b98db550bc0bc9c6cd7102d0a11745560e201e7baf2812da2c1a4eb6",
707
+ "native": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_091/attempt_01/native",
708
+ "native_receipt_sha256": "a4e48d5798ca0d5358a6a39d3aac09b71d365f9ee658c1b106ff35909ab5a238",
709
+ "batch_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_091/attempt_01",
710
+ "render_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_091/attempt_01",
711
+ "source": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_091/attempt_01/source",
712
+ "source_metadata_sha256": "fcb93077f86db068b4ec100b9705d0aa01acee06a3e550132d388a219378fadb",
713
+ "camera_order": [
714
+ "head_rgbd",
715
+ "left_wrist_rgbd",
716
+ "right_wrist_rgbd"
717
+ ],
718
+ "camera_mounts": "astribot_sdk_nominal_image_up",
719
+ "controller": "rssr.drawer.center_layout.v1",
720
+ "handle_hand": "right",
721
+ "payload_hand": "left",
722
+ "drawer_closer": "right (handle hand)"
723
+ },
724
+ "files": {
725
+ "data/chunk-000/episode_000091.parquet": {
726
+ "sha256": "79438e2d31a62688ce39a6b4c375bc7eae638776ad701d31fae1356239e3a6f9",
727
+ "bytes": 125837
728
+ },
729
+ "videos/chunk-000/observation.images.cam_high/episode_000091.mp4": {
730
+ "sha256": "d39e0e421a683defb534d4bd6ac477cc905dd8fa80dd2e3d261a4a16ec11f1c0",
731
+ "bytes": 108241
732
+ },
733
+ "videos/chunk-000/observation.images.cam_left_wrist/episode_000091.mp4": {
734
+ "sha256": "2b123f0cec0837c8da207281785d7397b983cea27375e97eaeb9a97fb98842ec",
735
+ "bytes": 128609
736
+ },
737
+ "videos/chunk-000/observation.images.cam_right_wrist/episode_000091.mp4": {
738
+ "sha256": "496211dd5897b68c5ec10cadb02714296202579df742e5826ab8ba7970c291d1",
739
+ "bytes": 181565
740
+ }
741
+ }
742
+ }
drawer_center_layout_100/draw/evidence/episode_000092.json ADDED
@@ -0,0 +1,742 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_index": 92,
3
+ "length": 450,
4
+ "tasks": [
5
+ "Put_the_block_in_the_drawer."
6
+ ],
7
+ "stats": {
8
+ "observation.state": {
9
+ "min": [
10
+ 0.5173320174217224,
11
+ -0.8005738258361816,
12
+ 0.27980703115463257,
13
+ 0.016851751133799553,
14
+ 0.009001907892525196,
15
+ 0.9799662232398987,
16
+ -0.19986377656459808,
17
+ -0.19297954440116882,
18
+ -1.1766616106033325,
19
+ 0.9885356426239014,
20
+ -0.5913470983505249,
21
+ 0.07865751534700394,
22
+ 0.06507611274719238,
23
+ 0.0191440861672163,
24
+ 0.01914496161043644,
25
+ -0.48901525139808655,
26
+ 0.019144291058182716,
27
+ -0.4893418252468109,
28
+ 0.01914500631392002,
29
+ -0.05744754150509834,
30
+ -0.25425052642822266,
31
+ 0.3263769745826721,
32
+ 0.8682736754417419,
33
+ -0.7639160752296448,
34
+ -0.37223219871520996,
35
+ -0.5774569511413574,
36
+ 0.07909256964921951,
37
+ 0.0790906623005867,
38
+ -0.8006166815757751,
39
+ 0.07907628268003464,
40
+ -0.8009153604507446,
41
+ 0.07907604426145554
42
+ ],
43
+ "max": [
44
+ 0.5175679922103882,
45
+ -0.8003301024436951,
46
+ 0.28029191493988037,
47
+ 0.017628565430641174,
48
+ 0.009008889086544514,
49
+ 0.9800711274147034,
50
+ 0.06808421015739441,
51
+ -0.011575677432119846,
52
+ -0.968312680721283,
53
+ 1.7443788051605225,
54
+ -0.45003965497016907,
55
+ 0.5581682920455933,
56
+ 0.3552808165550232,
57
+ 0.4890153408050537,
58
+ 0.48933807015419006,
59
+ -0.019144797697663307,
60
+ 0.48901671171188354,
61
+ -0.019144894555211067,
62
+ 0.48901674151420593,
63
+ 0.601680338382721,
64
+ -0.02026735618710518,
65
+ 1.1057521104812622,
66
+ 1.4478269815444946,
67
+ 0.5862753391265869,
68
+ 0.3554496169090271,
69
+ -0.15013353526592255,
70
+ 0.8006166219711304,
71
+ 0.8008164763450623,
72
+ -0.0790906772017479,
73
+ 0.8006255626678467,
74
+ -0.07902908325195312,
75
+ 0.8006265163421631
76
+ ],
77
+ "mean": [
78
+ 0.517453023592631,
79
+ -0.8004518536726634,
80
+ 0.28004268632994755,
81
+ 0.017339336574077605,
82
+ 0.009007078767236736,
83
+ 0.9800004581610362,
84
+ -0.0886135711827794,
85
+ -0.10142200240037508,
86
+ -1.0358003359370762,
87
+ 1.497575036154853,
88
+ -0.5080750138229794,
89
+ 0.29526874320374596,
90
+ 0.27980730808443494,
91
+ 0.22786588980919786,
92
+ 0.2279847668318285,
93
+ -0.22786590644468863,
94
+ 0.22786636191109816,
95
+ -0.22798550666206413,
96
+ 0.22786653290606207,
97
+ 0.42258565158971273,
98
+ -0.13463648012528817,
99
+ 0.5237161377403471,
100
+ 1.1150200062327915,
101
+ -0.5213888646279358,
102
+ -0.06149156391737051,
103
+ -0.4756341301732593,
104
+ 0.4164859743747446,
105
+ 0.41658256686396067,
106
+ -0.41648581862449646,
107
+ 0.4164929503864712,
108
+ -0.41656780747903716,
109
+ 0.41649340257048606
110
+ ],
111
+ "std": [
112
+ 4.871578840908434e-05,
113
+ 4.880242236789083e-05,
114
+ 0.00012718735177332877,
115
+ 0.00020595176792491483,
116
+ 5.217752817207023e-07,
117
+ 5.508018536093445e-06,
118
+ 0.09865192112962587,
119
+ 0.039515883965870066,
120
+ 0.03863981268080741,
121
+ 0.23066000336919376,
122
+ 0.0413184212386123,
123
+ 0.1875057505575055,
124
+ 0.06477405938324322,
125
+ 0.21576729898150868,
126
+ 0.21591043640731164,
127
+ 0.21576719534134944,
128
+ 0.21576760785486895,
129
+ 0.2159119165718823,
130
+ 0.2157676354837009,
131
+ 0.1691927531925179,
132
+ 0.07955674843798344,
133
+ 0.19875008358629626,
134
+ 0.22155222608752576,
135
+ 0.34222611144145076,
136
+ 0.2201634390233372,
137
+ 0.12774916777589082,
138
+ 0.3401633224289067,
139
+ 0.34026715189737616,
140
+ 0.3401631226589991,
141
+ 0.3401713619853215,
142
+ 0.3402756216189188,
143
+ 0.3401714006527208
144
+ ],
145
+ "count": [
146
+ 450
147
+ ]
148
+ },
149
+ "action": {
150
+ "min": [
151
+ 0.5174471735954285,
152
+ -0.8004457950592041,
153
+ 0.009007098153233528,
154
+ 0.9800000190734863,
155
+ 0.2799195647239685,
156
+ 0.017286056652665138,
157
+ -0.19985805451869965,
158
+ -0.1936696320772171,
159
+ -1.1765648126602173,
160
+ 0.9889805316925049,
161
+ -0.5913453698158264,
162
+ 0.07870166003704071,
163
+ 0.06529157608747482,
164
+ 0.019999999552965164,
165
+ -0.057363204658031464,
166
+ -0.2846969962120056,
167
+ 0.35255369544029236,
168
+ 0.8728488683700562,
169
+ -0.7632538080215454,
170
+ -0.3775958716869354,
171
+ -0.5817275047302246,
172
+ 0.07999999821186066
173
+ ],
174
+ "max": [
175
+ 0.5174471735954285,
176
+ -0.8004457950592041,
177
+ 0.009007098153233528,
178
+ 0.9800000190734863,
179
+ 0.2799195647239685,
180
+ 0.017286056652665138,
181
+ 0.06606727838516235,
182
+ -0.011885802261531353,
183
+ -0.9691753387451172,
184
+ 1.7442584037780762,
185
+ -0.4500187933444977,
186
+ 0.5585970282554626,
187
+ 0.35526999831199646,
188
+ 0.49501532316207886,
189
+ 0.6499802470207214,
190
+ -0.005152874160557985,
191
+ 1.1056675910949707,
192
+ 1.4477763175964355,
193
+ 0.5861011743545532,
194
+ 0.35544970631599426,
195
+ -0.15016163885593414,
196
+ 0.8066166639328003
197
+ ],
198
+ "mean": [
199
+ 0.5174471735954285,
200
+ -0.8004457950592041,
201
+ 0.009007098153233528,
202
+ 0.9800000190734863,
203
+ 0.2799195647239685,
204
+ 0.017286056652665138,
205
+ -0.08941587787173275,
206
+ -0.10136029202077124,
207
+ -1.0360366835859087,
208
+ 1.4977131628990172,
209
+ -0.5080590715010961,
210
+ 0.29541449644499357,
211
+ 0.2797717636658086,
212
+ 0.2300228721814023,
213
+ 0.43605804758224015,
214
+ -0.14320969871141845,
215
+ 0.5368087114228143,
216
+ 1.1154825655619303,
217
+ -0.5212639703032457,
218
+ -0.0633699823023441,
219
+ -0.47772188935014936,
220
+ 0.4188960189289517
221
+ ],
222
+ "std": [
223
+ 0.0,
224
+ 0.0,
225
+ 0.0,
226
+ 0.0,
227
+ 0.0,
228
+ 0.0,
229
+ 0.09794018483026568,
230
+ 0.03922430785050501,
231
+ 0.03846399577965868,
232
+ 0.23057080812848063,
233
+ 0.04133712111087542,
234
+ 0.18767571320582097,
235
+ 0.0648065940687103,
236
+ 0.218443217283969,
237
+ 0.17525352722277787,
238
+ 0.09451506058264315,
239
+ 0.19011973587977546,
240
+ 0.22091790570125652,
241
+ 0.34202033809040194,
242
+ 0.22241330609652604,
243
+ 0.12908098915999758,
244
+ 0.3428351775218492
245
+ ],
246
+ "count": [
247
+ 450
248
+ ]
249
+ },
250
+ "timestamp": {
251
+ "min": [
252
+ 0.0
253
+ ],
254
+ "max": [
255
+ 14.966666221618652
256
+ ],
257
+ "mean": [
258
+ 7.48333333350718
259
+ ],
260
+ "std": [
261
+ 4.3301163254484205
262
+ ],
263
+ "count": [
264
+ 450
265
+ ]
266
+ },
267
+ "frame_index": {
268
+ "min": [
269
+ 0.0
270
+ ],
271
+ "max": [
272
+ 449.0
273
+ ],
274
+ "mean": [
275
+ 224.5
276
+ ],
277
+ "std": [
278
+ 129.90348981712026
279
+ ],
280
+ "count": [
281
+ 450
282
+ ]
283
+ },
284
+ "episode_index": {
285
+ "min": [
286
+ 92.0
287
+ ],
288
+ "max": [
289
+ 92.0
290
+ ],
291
+ "mean": [
292
+ 92.0
293
+ ],
294
+ "std": [
295
+ 0.0
296
+ ],
297
+ "count": [
298
+ 450
299
+ ]
300
+ },
301
+ "index": {
302
+ "min": [
303
+ 41400.0
304
+ ],
305
+ "max": [
306
+ 41849.0
307
+ ],
308
+ "mean": [
309
+ 41624.5
310
+ ],
311
+ "std": [
312
+ 129.90348981712026
313
+ ],
314
+ "count": [
315
+ 450
316
+ ]
317
+ },
318
+ "task_index": {
319
+ "min": [
320
+ 0.0
321
+ ],
322
+ "max": [
323
+ 0.0
324
+ ],
325
+ "mean": [
326
+ 0.0
327
+ ],
328
+ "std": [
329
+ 0.0
330
+ ],
331
+ "count": [
332
+ 450
333
+ ]
334
+ },
335
+ "physical_index": {
336
+ "min": [
337
+ 92.0
338
+ ],
339
+ "max": [
340
+ 92.0
341
+ ],
342
+ "mean": [
343
+ 92.0
344
+ ],
345
+ "std": [
346
+ 0.0
347
+ ],
348
+ "count": [
349
+ 450
350
+ ]
351
+ },
352
+ "source_case_index": {
353
+ "min": [
354
+ 48.0
355
+ ],
356
+ "max": [
357
+ 48.0
358
+ ],
359
+ "mean": [
360
+ 48.0
361
+ ],
362
+ "std": [
363
+ 0.0
364
+ ],
365
+ "count": [
366
+ 450
367
+ ]
368
+ },
369
+ "appearance_index": {
370
+ "min": [
371
+ 0.0
372
+ ],
373
+ "max": [
374
+ 0.0
375
+ ],
376
+ "mean": [
377
+ 0.0
378
+ ],
379
+ "std": [
380
+ 0.0
381
+ ],
382
+ "count": [
383
+ 450
384
+ ]
385
+ },
386
+ "physical_query_time_s": {
387
+ "min": [
388
+ 0.0
389
+ ],
390
+ "max": [
391
+ 14.965000000006798
392
+ ],
393
+ "mean": [
394
+ 7.483329629629644
395
+ ],
396
+ "std": [
397
+ 4.330109927180601
398
+ ],
399
+ "count": [
400
+ 450
401
+ ]
402
+ },
403
+ "state_time_s": {
404
+ "min": [
405
+ 0.0
406
+ ],
407
+ "max": [
408
+ 14.965000000006798
409
+ ],
410
+ "mean": [
411
+ 7.48001111111215
412
+ ],
413
+ "std": [
414
+ 4.330119275994038
415
+ ],
416
+ "count": [
417
+ 450
418
+ ]
419
+ },
420
+ "command_time_s": {
421
+ "min": [
422
+ 0.0
423
+ ],
424
+ "max": [
425
+ 14.965000000006798
426
+ ],
427
+ "mean": [
428
+ 7.48001111111215
429
+ ],
430
+ "std": [
431
+ 4.330119275994038
432
+ ],
433
+ "count": [
434
+ 450
435
+ ]
436
+ },
437
+ "state_source_index": {
438
+ "min": [
439
+ 0.0
440
+ ],
441
+ "max": [
442
+ 1497.0
443
+ ],
444
+ "mean": [
445
+ 748.0022222222223
446
+ ],
447
+ "std": [
448
+ 433.01384888753273
449
+ ],
450
+ "count": [
451
+ 450
452
+ ]
453
+ },
454
+ "command_source_index": {
455
+ "min": [
456
+ 0.0
457
+ ],
458
+ "max": [
459
+ 29930.0
460
+ ],
461
+ "mean": [
462
+ 14960.022222222222
463
+ ],
464
+ "std": [
465
+ 8660.238551984809
466
+ ],
467
+ "count": [
468
+ 450
469
+ ]
470
+ },
471
+ "observation.images.cam_high": {
472
+ "mean": [
473
+ [
474
+ [
475
+ 0.32734502785489195
476
+ ]
477
+ ],
478
+ [
479
+ [
480
+ 0.3224153817777111
481
+ ]
482
+ ],
483
+ [
484
+ [
485
+ 0.3136849755527211
486
+ ]
487
+ ]
488
+ ],
489
+ "std": [
490
+ [
491
+ [
492
+ 0.3159701034209668
493
+ ]
494
+ ],
495
+ [
496
+ [
497
+ 0.3111333724430922
498
+ ]
499
+ ],
500
+ [
501
+ [
502
+ 0.3041900460330805
503
+ ]
504
+ ]
505
+ ],
506
+ "min": [
507
+ [
508
+ [
509
+ 0.0
510
+ ]
511
+ ],
512
+ [
513
+ [
514
+ 0.0
515
+ ]
516
+ ],
517
+ [
518
+ [
519
+ 0.0
520
+ ]
521
+ ]
522
+ ],
523
+ "max": [
524
+ [
525
+ [
526
+ 0.8627450980392157
527
+ ]
528
+ ],
529
+ [
530
+ [
531
+ 0.8627450980392157
532
+ ]
533
+ ],
534
+ [
535
+ [
536
+ 0.8509803921568627
537
+ ]
538
+ ]
539
+ ],
540
+ "count": [
541
+ 100
542
+ ]
543
+ },
544
+ "observation.images.cam_left_wrist": {
545
+ "mean": [
546
+ [
547
+ [
548
+ 0.33550484881452575
549
+ ]
550
+ ],
551
+ [
552
+ [
553
+ 0.3261259378751501
554
+ ]
555
+ ],
556
+ [
557
+ [
558
+ 0.3185123736994798
559
+ ]
560
+ ]
561
+ ],
562
+ "std": [
563
+ [
564
+ [
565
+ 0.32240532493528307
566
+ ]
567
+ ],
568
+ [
569
+ [
570
+ 0.313438174785849
571
+ ]
572
+ ],
573
+ [
574
+ [
575
+ 0.3057386258759536
576
+ ]
577
+ ]
578
+ ],
579
+ "min": [
580
+ [
581
+ [
582
+ 0.0
583
+ ]
584
+ ],
585
+ [
586
+ [
587
+ 0.0
588
+ ]
589
+ ],
590
+ [
591
+ [
592
+ 0.0
593
+ ]
594
+ ]
595
+ ],
596
+ "max": [
597
+ [
598
+ [
599
+ 0.996078431372549
600
+ ]
601
+ ],
602
+ [
603
+ [
604
+ 1.0
605
+ ]
606
+ ],
607
+ [
608
+ [
609
+ 1.0
610
+ ]
611
+ ]
612
+ ],
613
+ "count": [
614
+ 100
615
+ ]
616
+ },
617
+ "observation.images.cam_right_wrist": {
618
+ "mean": [
619
+ [
620
+ [
621
+ 0.35956617490746295
622
+ ]
623
+ ],
624
+ [
625
+ [
626
+ 0.35299887767607036
627
+ ]
628
+ ],
629
+ [
630
+ [
631
+ 0.3414923570990897
632
+ ]
633
+ ]
634
+ ],
635
+ "std": [
636
+ [
637
+ [
638
+ 0.3545421181229356
639
+ ]
640
+ ],
641
+ [
642
+ [
643
+ 0.3479590350935554
644
+ ]
645
+ ],
646
+ [
647
+ [
648
+ 0.3371467232706403
649
+ ]
650
+ ]
651
+ ],
652
+ "min": [
653
+ [
654
+ [
655
+ 0.0
656
+ ]
657
+ ],
658
+ [
659
+ [
660
+ 0.0
661
+ ]
662
+ ],
663
+ [
664
+ [
665
+ 0.0
666
+ ]
667
+ ]
668
+ ],
669
+ "max": [
670
+ [
671
+ [
672
+ 0.9490196078431372
673
+ ]
674
+ ],
675
+ [
676
+ [
677
+ 0.9882352941176471
678
+ ]
679
+ ],
680
+ [
681
+ [
682
+ 0.9764705882352941
683
+ ]
684
+ ]
685
+ ],
686
+ "count": [
687
+ 100
688
+ ]
689
+ }
690
+ },
691
+ "provenance": {
692
+ "task": "Put_the_block_in_the_drawer.",
693
+ "case_id": "drawer_center_train_092",
694
+ "visual_side": "center",
695
+ "split": "train",
696
+ "sampler_index": 92,
697
+ "block_center_xy_m": [
698
+ 0.25964651707848724,
699
+ -0.43213399263107993
700
+ ],
701
+ "cabinet_center_xy_m": [
702
+ 0.0048799999999999955,
703
+ -0.7442784256559766
704
+ ],
705
+ "spec": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_spec_20261101_attempt_01",
706
+ "spec_scene_sha256": "12db1a95a7a27f068266f3652af02101de25797035ad70c5701e5e0606640bcf",
707
+ "native": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_092/attempt_01/native",
708
+ "native_receipt_sha256": "0372d476f6c6b29192f293cf8656cdad0cc6619d2b03762a3961a8763597eb86",
709
+ "batch_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_092/attempt_01",
710
+ "render_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_092/attempt_01",
711
+ "source": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_092/attempt_01/source",
712
+ "source_metadata_sha256": "ef1a10571447b5f95ee7765168e3c184b91559873e688f1327219bac50bfdde5",
713
+ "camera_order": [
714
+ "head_rgbd",
715
+ "left_wrist_rgbd",
716
+ "right_wrist_rgbd"
717
+ ],
718
+ "camera_mounts": "astribot_sdk_nominal_image_up",
719
+ "controller": "rssr.drawer.center_layout.v1",
720
+ "handle_hand": "right",
721
+ "payload_hand": "left",
722
+ "drawer_closer": "right (handle hand)"
723
+ },
724
+ "files": {
725
+ "data/chunk-000/episode_000092.parquet": {
726
+ "sha256": "b3f2e07273cec1f4be496292e45ade52f16cc6668f8c6556d1e1ff84c54c60bd",
727
+ "bytes": 125646
728
+ },
729
+ "videos/chunk-000/observation.images.cam_high/episode_000092.mp4": {
730
+ "sha256": "c93fe42af73987ff642814c6744a5831951757939ca898a9c19fa2f89d30fa8a",
731
+ "bytes": 108924
732
+ },
733
+ "videos/chunk-000/observation.images.cam_left_wrist/episode_000092.mp4": {
734
+ "sha256": "ffce4117e397ec3e9afeaef6fe9c4d181b3ed254c6c4056bcad502133200628e",
735
+ "bytes": 127963
736
+ },
737
+ "videos/chunk-000/observation.images.cam_right_wrist/episode_000092.mp4": {
738
+ "sha256": "bf4e5a907a828ae6b1fd11af99b3479957b2ac5bc80ac6a922f18b760e6a3117",
739
+ "bytes": 181444
740
+ }
741
+ }
742
+ }
drawer_center_layout_100/draw/evidence/episode_000093.json ADDED
@@ -0,0 +1,742 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_index": 93,
3
+ "length": 450,
4
+ "tasks": [
5
+ "Put_the_block_in_the_drawer."
6
+ ],
7
+ "stats": {
8
+ "observation.state": {
9
+ "min": [
10
+ 0.5173441171646118,
11
+ -0.8005711436271667,
12
+ 0.2798222005367279,
13
+ 0.01686519756913185,
14
+ 0.008998780511319637,
15
+ 0.9799670577049255,
16
+ -0.1906973272562027,
17
+ -0.16321703791618347,
18
+ -1.1766616106033325,
19
+ 0.9885356426239014,
20
+ -0.5837306976318359,
21
+ 0.07788573950529099,
22
+ 0.06507611274719238,
23
+ 0.019139813259243965,
24
+ 0.019140759482979774,
25
+ -0.4890331029891968,
26
+ 0.019140128046274185,
27
+ -0.48935937881469727,
28
+ 0.019140860065817833,
29
+ -0.05744754150509834,
30
+ -0.2476864755153656,
31
+ 0.3223976492881775,
32
+ 0.8815820813179016,
33
+ -0.7699148058891296,
34
+ -0.38447660207748413,
35
+ -0.5732364058494568,
36
+ 0.07714446634054184,
37
+ 0.07714252173900604,
38
+ -0.7997156977653503,
39
+ 0.07707963138818741,
40
+ -0.7999619245529175,
41
+ 0.07708366215229034
42
+ ],
43
+ "max": [
44
+ 0.5175653100013733,
45
+ -0.8003426194190979,
46
+ 0.2802773118019104,
47
+ 0.017622075974941254,
48
+ 0.009010277688503265,
49
+ 0.9800658822059631,
50
+ 0.007896228693425655,
51
+ 0.03291437402367592,
52
+ -0.9550306797027588,
53
+ 1.7573328018188477,
54
+ -0.3920610249042511,
55
+ 0.5579144358634949,
56
+ 0.42970961332321167,
57
+ 0.48903319239616394,
58
+ 0.4893534481525421,
59
+ -0.019140467047691345,
60
+ 0.4890344738960266,
61
+ -0.019140683114528656,
62
+ 0.4890345335006714,
63
+ 0.5967772006988525,
64
+ -0.01890341006219387,
65
+ 1.1057521104812622,
66
+ 1.4538441896438599,
67
+ 0.5862753391265869,
68
+ 0.35554513335227966,
69
+ -0.15013353526592255,
70
+ 0.7997165322303772,
71
+ 0.7999511957168579,
72
+ -0.07714354991912842,
73
+ 0.7997311353683472,
74
+ -0.0771063044667244,
75
+ 0.7997323870658875
76
+ ],
77
+ "mean": [
78
+ 0.5174538445472717,
79
+ -0.8004525034957461,
80
+ 0.2800363102224138,
81
+ 0.01733972214990192,
82
+ 0.00900705452180571,
83
+ 0.9800001406669616,
84
+ -0.10173637620686754,
85
+ -0.07540444680088614,
86
+ -1.0169782169659933,
87
+ 1.4983671748638152,
88
+ -0.46401684522628783,
89
+ 0.2798019911845525,
90
+ 0.36239518475201393,
91
+ 0.21940894421190024,
92
+ 0.2195211417021023,
93
+ -0.2194089710050159,
94
+ 0.21940937492996454,
95
+ -0.21952207490801812,
96
+ 0.2194095274971591,
97
+ 0.4189376978082065,
98
+ -0.13123218341006174,
99
+ 0.5219390928082996,
100
+ 1.1232357365555234,
101
+ -0.5249796469336919,
102
+ -0.07072303853358285,
103
+ -0.4728579877151383,
104
+ 0.41456300124526024,
105
+ 0.41465846894515884,
106
+ -0.4145628333422873,
107
+ 0.41456940942340426,
108
+ -0.41464368970857723,
109
+ 0.41456992773546114
110
+ ],
111
+ "std": [
112
+ 4.4911492547945075e-05,
113
+ 4.504948419065955e-05,
114
+ 0.00012082965630568876,
115
+ 0.00020048238884788844,
116
+ 6.489772009889617e-07,
117
+ 4.872312837380703e-06,
118
+ 0.07628644757107463,
119
+ 0.04635236776682774,
120
+ 0.03703922632911697,
121
+ 0.24707581941833165,
122
+ 0.04933754615839218,
123
+ 0.18296211601796916,
124
+ 0.06520173236407703,
125
+ 0.21456840089174237,
126
+ 0.21470869492190342,
127
+ 0.21456831769088583,
128
+ 0.21456870699162428,
129
+ 0.2147103799069077,
130
+ 0.21456871959712934,
131
+ 0.16845411337192237,
132
+ 0.07777784010342388,
133
+ 0.19919397463616914,
134
+ 0.21803795817279864,
135
+ 0.3432976945200011,
136
+ 0.22334397804285724,
137
+ 0.12548797781355914,
138
+ 0.34001145240616826,
139
+ 0.34011460488418394,
140
+ 0.34001123291801316,
141
+ 0.3400191314541853,
142
+ 0.3401231731140042,
143
+ 0.3400191750674563
144
+ ],
145
+ "count": [
146
+ 450
147
+ ]
148
+ },
149
+ "action": {
150
+ "min": [
151
+ 0.5174471735954285,
152
+ -0.8004457950592041,
153
+ 0.009007098153233528,
154
+ 0.9800000190734863,
155
+ 0.2799195647239685,
156
+ 0.017286056652665138,
157
+ -0.1906912624835968,
158
+ -0.15927338600158691,
159
+ -1.17655611038208,
160
+ 0.9889429807662964,
161
+ -0.5837041735649109,
162
+ 0.07792903482913971,
163
+ 0.0653122067451477,
164
+ 0.019999999552965164,
165
+ -0.057365261018276215,
166
+ -0.2775055468082428,
167
+ 0.347808837890625,
168
+ 0.8860816955566406,
169
+ -0.7693250179290771,
170
+ -0.3897731900215149,
171
+ -0.577239453792572,
172
+ 0.07999999821186066
173
+ ],
174
+ "max": [
175
+ 0.5174471735954285,
176
+ -0.8004457950592041,
177
+ 0.009007098153233528,
178
+ 0.9800000190734863,
179
+ 0.2799195647239685,
180
+ 0.017286056652665138,
181
+ 0.004771255888044834,
182
+ 0.03276562690734863,
183
+ -0.9558402895927429,
184
+ 1.7572264671325684,
185
+ -0.3920240104198456,
186
+ 0.5582175850868225,
187
+ 0.4297061264514923,
188
+ 0.4950331747531891,
189
+ 0.64336758852005,
190
+ -0.0028964178636670113,
191
+ 1.105666995048523,
192
+ 1.453741431236267,
193
+ 0.5861007571220398,
194
+ 0.35559552907943726,
195
+ -0.15016193687915802,
196
+ 0.8111613988876343
197
+ ],
198
+ "mean": [
199
+ 0.5174471735954285,
200
+ -0.8004457950592041,
201
+ 0.009007098153233528,
202
+ 0.9800000190734863,
203
+ 0.2799195647239685,
204
+ 0.017286056652665138,
205
+ -0.10251918507172376,
206
+ -0.07533444232169939,
207
+ -1.0171880151165855,
208
+ 1.4985019226868947,
209
+ -0.4639969409174389,
210
+ 0.27994008382161456,
211
+ 0.3623639607263936,
212
+ 0.22145333771076467,
213
+ 0.4314049155266386,
214
+ -0.1395542889000434,
215
+ 0.5343354376819399,
216
+ 1.1236678420172796,
217
+ -0.5248694018442378,
218
+ -0.07254463585497838,
219
+ -0.4748198711872101,
220
+ 0.41695446759462357
221
+ ],
222
+ "std": [
223
+ 0.0,
224
+ 0.0,
225
+ 0.0,
226
+ 0.0,
227
+ 0.0,
228
+ 0.0,
229
+ 0.07552590064059549,
230
+ 0.045894735495256724,
231
+ 0.03670334338037596,
232
+ 0.24698734352930493,
233
+ 0.049358175248275994,
234
+ 0.1831301841802646,
235
+ 0.06524010733410393,
236
+ 0.2171905816894905,
237
+ 0.17411642344256645,
238
+ 0.09232266636516073,
239
+ 0.19090272753405307,
240
+ 0.21739166056071915,
241
+ 0.34309897099920067,
242
+ 0.22555804759854192,
243
+ 0.12673918927782474,
244
+ 0.3426904558391144
245
+ ],
246
+ "count": [
247
+ 450
248
+ ]
249
+ },
250
+ "timestamp": {
251
+ "min": [
252
+ 0.0
253
+ ],
254
+ "max": [
255
+ 14.966666221618652
256
+ ],
257
+ "mean": [
258
+ 7.48333333350718
259
+ ],
260
+ "std": [
261
+ 4.3301163254484205
262
+ ],
263
+ "count": [
264
+ 450
265
+ ]
266
+ },
267
+ "frame_index": {
268
+ "min": [
269
+ 0.0
270
+ ],
271
+ "max": [
272
+ 449.0
273
+ ],
274
+ "mean": [
275
+ 224.5
276
+ ],
277
+ "std": [
278
+ 129.90348981712026
279
+ ],
280
+ "count": [
281
+ 450
282
+ ]
283
+ },
284
+ "episode_index": {
285
+ "min": [
286
+ 93.0
287
+ ],
288
+ "max": [
289
+ 93.0
290
+ ],
291
+ "mean": [
292
+ 93.0
293
+ ],
294
+ "std": [
295
+ 0.0
296
+ ],
297
+ "count": [
298
+ 450
299
+ ]
300
+ },
301
+ "index": {
302
+ "min": [
303
+ 41850.0
304
+ ],
305
+ "max": [
306
+ 42299.0
307
+ ],
308
+ "mean": [
309
+ 42074.5
310
+ ],
311
+ "std": [
312
+ 129.90348981712026
313
+ ],
314
+ "count": [
315
+ 450
316
+ ]
317
+ },
318
+ "task_index": {
319
+ "min": [
320
+ 0.0
321
+ ],
322
+ "max": [
323
+ 0.0
324
+ ],
325
+ "mean": [
326
+ 0.0
327
+ ],
328
+ "std": [
329
+ 0.0
330
+ ],
331
+ "count": [
332
+ 450
333
+ ]
334
+ },
335
+ "physical_index": {
336
+ "min": [
337
+ 93.0
338
+ ],
339
+ "max": [
340
+ 93.0
341
+ ],
342
+ "mean": [
343
+ 93.0
344
+ ],
345
+ "std": [
346
+ 0.0
347
+ ],
348
+ "count": [
349
+ 450
350
+ ]
351
+ },
352
+ "source_case_index": {
353
+ "min": [
354
+ 48.0
355
+ ],
356
+ "max": [
357
+ 48.0
358
+ ],
359
+ "mean": [
360
+ 48.0
361
+ ],
362
+ "std": [
363
+ 0.0
364
+ ],
365
+ "count": [
366
+ 450
367
+ ]
368
+ },
369
+ "appearance_index": {
370
+ "min": [
371
+ 0.0
372
+ ],
373
+ "max": [
374
+ 0.0
375
+ ],
376
+ "mean": [
377
+ 0.0
378
+ ],
379
+ "std": [
380
+ 0.0
381
+ ],
382
+ "count": [
383
+ 450
384
+ ]
385
+ },
386
+ "physical_query_time_s": {
387
+ "min": [
388
+ 0.0
389
+ ],
390
+ "max": [
391
+ 14.965000000006798
392
+ ],
393
+ "mean": [
394
+ 7.483329629629644
395
+ ],
396
+ "std": [
397
+ 4.330109927180601
398
+ ],
399
+ "count": [
400
+ 450
401
+ ]
402
+ },
403
+ "state_time_s": {
404
+ "min": [
405
+ 0.0
406
+ ],
407
+ "max": [
408
+ 14.965000000006798
409
+ ],
410
+ "mean": [
411
+ 7.48001111111215
412
+ ],
413
+ "std": [
414
+ 4.330119275994038
415
+ ],
416
+ "count": [
417
+ 450
418
+ ]
419
+ },
420
+ "command_time_s": {
421
+ "min": [
422
+ 0.0
423
+ ],
424
+ "max": [
425
+ 14.965000000006798
426
+ ],
427
+ "mean": [
428
+ 7.48001111111215
429
+ ],
430
+ "std": [
431
+ 4.330119275994038
432
+ ],
433
+ "count": [
434
+ 450
435
+ ]
436
+ },
437
+ "state_source_index": {
438
+ "min": [
439
+ 0.0
440
+ ],
441
+ "max": [
442
+ 1497.0
443
+ ],
444
+ "mean": [
445
+ 748.0022222222223
446
+ ],
447
+ "std": [
448
+ 433.01384888753273
449
+ ],
450
+ "count": [
451
+ 450
452
+ ]
453
+ },
454
+ "command_source_index": {
455
+ "min": [
456
+ 0.0
457
+ ],
458
+ "max": [
459
+ 29930.0
460
+ ],
461
+ "mean": [
462
+ 14960.022222222222
463
+ ],
464
+ "std": [
465
+ 8660.238551984809
466
+ ],
467
+ "count": [
468
+ 450
469
+ ]
470
+ },
471
+ "observation.images.cam_high": {
472
+ "mean": [
473
+ [
474
+ [
475
+ 0.32726350852841135
476
+ ]
477
+ ],
478
+ [
479
+ [
480
+ 0.3222770889605842
481
+ ]
482
+ ],
483
+ [
484
+ [
485
+ 0.31353287877651065
486
+ ]
487
+ ]
488
+ ],
489
+ "std": [
490
+ [
491
+ [
492
+ 0.3157647453001695
493
+ ]
494
+ ],
495
+ [
496
+ [
497
+ 0.3108883005664428
498
+ ]
499
+ ],
500
+ [
501
+ [
502
+ 0.303937117633321
503
+ ]
504
+ ]
505
+ ],
506
+ "min": [
507
+ [
508
+ [
509
+ 0.0
510
+ ]
511
+ ],
512
+ [
513
+ [
514
+ 0.0
515
+ ]
516
+ ],
517
+ [
518
+ [
519
+ 0.0
520
+ ]
521
+ ]
522
+ ],
523
+ "max": [
524
+ [
525
+ [
526
+ 0.8509803921568627
527
+ ]
528
+ ],
529
+ [
530
+ [
531
+ 0.8509803921568627
532
+ ]
533
+ ],
534
+ [
535
+ [
536
+ 0.8431372549019608
537
+ ]
538
+ ]
539
+ ],
540
+ "count": [
541
+ 100
542
+ ]
543
+ },
544
+ "observation.images.cam_left_wrist": {
545
+ "mean": [
546
+ [
547
+ [
548
+ 0.33349422972313925
549
+ ]
550
+ ],
551
+ [
552
+ [
553
+ 0.3244781873686975
554
+ ]
555
+ ],
556
+ [
557
+ [
558
+ 0.31658138411614645
559
+ ]
560
+ ]
561
+ ],
562
+ "std": [
563
+ [
564
+ [
565
+ 0.32059998623684327
566
+ ]
567
+ ],
568
+ [
569
+ [
570
+ 0.3117197191477457
571
+ ]
572
+ ],
573
+ [
574
+ [
575
+ 0.30373250321936496
576
+ ]
577
+ ]
578
+ ],
579
+ "min": [
580
+ [
581
+ [
582
+ 0.0
583
+ ]
584
+ ],
585
+ [
586
+ [
587
+ 0.0
588
+ ]
589
+ ],
590
+ [
591
+ [
592
+ 0.0
593
+ ]
594
+ ]
595
+ ],
596
+ "max": [
597
+ [
598
+ [
599
+ 0.9686274509803922
600
+ ]
601
+ ],
602
+ [
603
+ [
604
+ 0.996078431372549
605
+ ]
606
+ ],
607
+ [
608
+ [
609
+ 0.9882352941176471
610
+ ]
611
+ ]
612
+ ],
613
+ "count": [
614
+ 100
615
+ ]
616
+ },
617
+ "observation.images.cam_right_wrist": {
618
+ "mean": [
619
+ [
620
+ [
621
+ 0.359464012167367
622
+ ]
623
+ ],
624
+ [
625
+ [
626
+ 0.3528397226077931
627
+ ]
628
+ ],
629
+ [
630
+ [
631
+ 0.3412957651810724
632
+ ]
633
+ ]
634
+ ],
635
+ "std": [
636
+ [
637
+ [
638
+ 0.35422169463106024
639
+ ]
640
+ ],
641
+ [
642
+ [
643
+ 0.34759909846562587
644
+ ]
645
+ ],
646
+ [
647
+ [
648
+ 0.33676813353143803
649
+ ]
650
+ ]
651
+ ],
652
+ "min": [
653
+ [
654
+ [
655
+ 0.0
656
+ ]
657
+ ],
658
+ [
659
+ [
660
+ 0.0
661
+ ]
662
+ ],
663
+ [
664
+ [
665
+ 0.0
666
+ ]
667
+ ]
668
+ ],
669
+ "max": [
670
+ [
671
+ [
672
+ 0.9490196078431372
673
+ ]
674
+ ],
675
+ [
676
+ [
677
+ 0.9882352941176471
678
+ ]
679
+ ],
680
+ [
681
+ [
682
+ 0.9764705882352941
683
+ ]
684
+ ]
685
+ ],
686
+ "count": [
687
+ 100
688
+ ]
689
+ }
690
+ },
691
+ "provenance": {
692
+ "task": "Put_the_block_in_the_drawer.",
693
+ "case_id": "drawer_center_train_093",
694
+ "visual_side": "center",
695
+ "split": "train",
696
+ "sampler_index": 93,
697
+ "block_center_xy_m": [
698
+ 0.21249959702440904,
699
+ -0.45750443670084123
700
+ ],
701
+ "cabinet_center_xy_m": [
702
+ 0.008880000000000055,
703
+ -0.7414212827988338
704
+ ],
705
+ "spec": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_spec_20261101_attempt_01",
706
+ "spec_scene_sha256": "d4319bdd19a518ec2f5673fcb763f1f531d847a608de2c5819dbb7b632e0ee77",
707
+ "native": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_093/attempt_01/native",
708
+ "native_receipt_sha256": "a34003af7e2780816b86b405b44bf0d95105bec3fd26b0107e759183e13bc6c2",
709
+ "batch_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_093/attempt_01",
710
+ "render_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_093/attempt_01",
711
+ "source": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_093/attempt_01/source",
712
+ "source_metadata_sha256": "0ced1341dfe339b66f9528f067f1edcd8986a45b7752c7f34be9baed3dd5b97e",
713
+ "camera_order": [
714
+ "head_rgbd",
715
+ "left_wrist_rgbd",
716
+ "right_wrist_rgbd"
717
+ ],
718
+ "camera_mounts": "astribot_sdk_nominal_image_up",
719
+ "controller": "rssr.drawer.center_layout.v1",
720
+ "handle_hand": "right",
721
+ "payload_hand": "left",
722
+ "drawer_closer": "right (handle hand)"
723
+ },
724
+ "files": {
725
+ "data/chunk-000/episode_000093.parquet": {
726
+ "sha256": "9163a2fe683d9d3059f55683b16421b233613486f008f4c3193d97caad7da4b1",
727
+ "bytes": 125432
728
+ },
729
+ "videos/chunk-000/observation.images.cam_high/episode_000093.mp4": {
730
+ "sha256": "6209771bb5d45139fce9e8ed0f747314d0762dfc1db58b882dcd112dc7a10ac3",
731
+ "bytes": 109735
732
+ },
733
+ "videos/chunk-000/observation.images.cam_left_wrist/episode_000093.mp4": {
734
+ "sha256": "36559f1c4f54b5e06d17f180ae9b315fc61a2e299593c0f9909d201697d676b2",
735
+ "bytes": 128104
736
+ },
737
+ "videos/chunk-000/observation.images.cam_right_wrist/episode_000093.mp4": {
738
+ "sha256": "e9394e7d9e7ce6fedc7d5a9076ced958c5109636511f4e110153ae7450187b72",
739
+ "bytes": 179301
740
+ }
741
+ }
742
+ }
drawer_center_layout_100/draw/evidence/episode_000094.json ADDED
@@ -0,0 +1,742 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_index": 94,
3
+ "length": 450,
4
+ "tasks": [
5
+ "Put_the_block_in_the_drawer."
6
+ ],
7
+ "stats": {
8
+ "observation.state": {
9
+ "min": [
10
+ 0.5173355937004089,
11
+ -0.800574779510498,
12
+ 0.27979904413223267,
13
+ 0.016778038814663887,
14
+ 0.009004339575767517,
15
+ 0.9799577593803406,
16
+ -0.19757531583309174,
17
+ -0.1566196084022522,
18
+ -1.1766616106033325,
19
+ 0.7899568676948547,
20
+ -0.5821923613548279,
21
+ 0.19573913514614105,
22
+ 0.06507611274719238,
23
+ 0.01913556270301342,
24
+ 0.019136538729071617,
25
+ -0.48899275064468384,
26
+ 0.019135916605591774,
27
+ -0.48931941390037537,
28
+ 0.019136635586619377,
29
+ -0.05744754150509834,
30
+ -0.27999961376190186,
31
+ 0.33359792828559875,
32
+ 0.9011288285255432,
33
+ -0.7713451981544495,
34
+ -0.35689452290534973,
35
+ -0.5908163785934448,
36
+ 0.07907630503177643,
37
+ 0.07907208800315857,
38
+ -0.8003886342048645,
39
+ 0.07903917878866196,
40
+ -0.8006224036216736,
41
+ 0.0790415033698082
42
+ ],
43
+ "max": [
44
+ 0.5175623893737793,
45
+ -0.8003342151641846,
46
+ 0.28034237027168274,
47
+ 0.017657319083809853,
48
+ 0.009011410176753998,
49
+ 0.980060875415802,
50
+ -0.021280786022543907,
51
+ 0.019919538870453835,
52
+ -0.9653232097625732,
53
+ 1.6981384754180908,
54
+ -0.4542810320854187,
55
+ 0.6886759400367737,
56
+ 0.2808190882205963,
57
+ 0.4889928698539734,
58
+ 0.489313542842865,
59
+ -0.01913618855178356,
60
+ 0.488994300365448,
61
+ -0.019136466085910797,
62
+ 0.4889943301677704,
63
+ 0.5803508758544922,
64
+ -0.04102781042456627,
65
+ 1.1057521104812622,
66
+ 1.4622175693511963,
67
+ 0.5862753391265869,
68
+ 0.3554740250110626,
69
+ -0.15013353526592255,
70
+ 0.8003881573677063,
71
+ 0.8006240725517273,
72
+ -0.0790754035115242,
73
+ 0.8004069328308105,
74
+ -0.07905585318803787,
75
+ 0.8004072904586792
76
+ ],
77
+ "mean": [
78
+ 0.5174572629398769,
79
+ -0.8004559434784784,
80
+ 0.280089575515853,
81
+ 0.017344443719420167,
82
+ 0.00900711237349444,
83
+ 0.9800001800060272,
84
+ -0.12989153125633796,
85
+ -0.06835336936210903,
86
+ -1.0384086488352882,
87
+ 1.4127636569076114,
88
+ -0.5013369780778885,
89
+ 0.39685694966051316,
90
+ 0.20167028860913383,
91
+ 0.24031967046360175,
92
+ 0.2404470380809572,
93
+ -0.24031966666794485,
94
+ 0.24032026958962283,
95
+ -0.2404482747779952,
96
+ 0.24032045379694966,
97
+ 0.4038229469018471,
98
+ -0.15794505468673176,
99
+ 0.5281299475166533,
100
+ 1.1381632137298583,
101
+ -0.5267161791285293,
102
+ -0.055687756573768434,
103
+ -0.4807043813334571,
104
+ 0.41800674504703944,
105
+ 0.41810805706514254,
106
+ -0.418006591581636,
107
+ 0.41801514133810996,
108
+ -0.41808045852515435,
109
+ 0.4180156371825271
110
+ ],
111
+ "std": [
112
+ 5.8044724161071706e-05,
113
+ 5.825614730245059e-05,
114
+ 0.00014553705254258508,
115
+ 0.00023682022298613251,
116
+ 5.013179081213595e-07,
117
+ 5.515655864284586e-06,
118
+ 0.0657461322275869,
119
+ 0.04264500019863504,
120
+ 0.049746326040949806,
121
+ 0.2835404131908541,
122
+ 0.03493971061602294,
123
+ 0.1873904284124387,
124
+ 0.06551226717707956,
125
+ 0.21692964640626783,
126
+ 0.2170747241769219,
127
+ 0.21692953052855157,
128
+ 0.21693002960830754,
129
+ 0.2170768163753352,
130
+ 0.2169300578683151,
131
+ 0.16483585408636592,
132
+ 0.07909382884551701,
133
+ 0.1965503915710843,
134
+ 0.21357583715797168,
135
+ 0.34479171570267775,
136
+ 0.21523249161360136,
137
+ 0.1309299753398687,
138
+ 0.34031436247243413,
139
+ 0.3404229767087661,
140
+ 0.3403141353257362,
141
+ 0.3403238580811606,
142
+ 0.34042981134738404,
143
+ 0.34032392786497895
144
+ ],
145
+ "count": [
146
+ 450
147
+ ]
148
+ },
149
+ "action": {
150
+ "min": [
151
+ 0.5174471735954285,
152
+ -0.8004457950592041,
153
+ 0.009007098153233528,
154
+ 0.9800000190734863,
155
+ 0.2799195647239685,
156
+ 0.017286056652665138,
157
+ -0.19743530452251434,
158
+ -0.1507786512374878,
159
+ -1.176557183265686,
160
+ 0.7900445461273193,
161
+ -0.5821524858474731,
162
+ 0.1957676261663437,
163
+ 0.06530963629484177,
164
+ 0.019999999552965164,
165
+ -0.05736412853002548,
166
+ -0.3131299316883087,
167
+ 0.36599040031433105,
168
+ 0.9064140319824219,
169
+ -0.7707196474075317,
170
+ -0.36290714144706726,
171
+ -0.596742570400238,
172
+ 0.07999999821186066
173
+ ],
174
+ "max": [
175
+ 0.5174471735954285,
176
+ -0.8004457950592041,
177
+ 0.009007098153233528,
178
+ 0.9800000190734863,
179
+ 0.2799195647239685,
180
+ 0.017286056652665138,
181
+ -0.022888705134391785,
182
+ 0.019863275811076164,
183
+ -0.9668000340461731,
184
+ 1.6980654001235962,
185
+ -0.45426690578460693,
186
+ 0.6889635920524597,
187
+ 0.2808073163032532,
188
+ 0.4949928820133209,
189
+ 0.6371746063232422,
190
+ -0.024833017960190773,
191
+ 1.1056674718856812,
192
+ 1.4629076719284058,
193
+ 0.5861011147499084,
194
+ 0.35548099875450134,
195
+ -0.15016180276870728,
196
+ 0.8063881993293762
197
+ ],
198
+ "mean": [
199
+ 0.5174471735954285,
200
+ -0.8004457950592041,
201
+ 0.009007098153233528,
202
+ 0.9800000190734863,
203
+ 0.2799195647239685,
204
+ 0.017286056652665138,
205
+ -0.13076962994204627,
206
+ -0.0682825103211346,
207
+ -1.0386320418781705,
208
+ 1.4129151606559753,
209
+ -0.5013235313362545,
210
+ 0.39701556593179704,
211
+ 0.20163044065237046,
212
+ 0.24264409583061933,
213
+ 0.42264771435590875,
214
+ -0.16761514549040132,
215
+ 0.5455981416172452,
216
+ 1.1390763641728294,
217
+ -0.5265909060546093,
218
+ -0.057876233591167774,
219
+ -0.48386996782488295,
220
+ 0.4204240435858568
221
+ ],
222
+ "std": [
223
+ 0.0,
224
+ 0.0,
225
+ 0.0,
226
+ 0.0,
227
+ 0.0,
228
+ 0.0,
229
+ 0.06484904508905193,
230
+ 0.042247019192404485,
231
+ 0.049650283266444314,
232
+ 0.2834577061979455,
233
+ 0.03495110186287619,
234
+ 0.1875748572282209,
235
+ 0.0655512749153637,
236
+ 0.2196473154798959,
237
+ 0.17272213029258868,
238
+ 0.09597770849248796,
239
+ 0.1857403425996022,
240
+ 0.21304622312692753,
241
+ 0.34457632404605243,
242
+ 0.21774785834415858,
243
+ 0.13295722546894334,
244
+ 0.34300127515950185
245
+ ],
246
+ "count": [
247
+ 450
248
+ ]
249
+ },
250
+ "timestamp": {
251
+ "min": [
252
+ 0.0
253
+ ],
254
+ "max": [
255
+ 14.966666221618652
256
+ ],
257
+ "mean": [
258
+ 7.48333333350718
259
+ ],
260
+ "std": [
261
+ 4.3301163254484205
262
+ ],
263
+ "count": [
264
+ 450
265
+ ]
266
+ },
267
+ "frame_index": {
268
+ "min": [
269
+ 0.0
270
+ ],
271
+ "max": [
272
+ 449.0
273
+ ],
274
+ "mean": [
275
+ 224.5
276
+ ],
277
+ "std": [
278
+ 129.90348981712026
279
+ ],
280
+ "count": [
281
+ 450
282
+ ]
283
+ },
284
+ "episode_index": {
285
+ "min": [
286
+ 94.0
287
+ ],
288
+ "max": [
289
+ 94.0
290
+ ],
291
+ "mean": [
292
+ 94.0
293
+ ],
294
+ "std": [
295
+ 0.0
296
+ ],
297
+ "count": [
298
+ 450
299
+ ]
300
+ },
301
+ "index": {
302
+ "min": [
303
+ 42300.0
304
+ ],
305
+ "max": [
306
+ 42749.0
307
+ ],
308
+ "mean": [
309
+ 42524.5
310
+ ],
311
+ "std": [
312
+ 129.90348981712026
313
+ ],
314
+ "count": [
315
+ 450
316
+ ]
317
+ },
318
+ "task_index": {
319
+ "min": [
320
+ 0.0
321
+ ],
322
+ "max": [
323
+ 0.0
324
+ ],
325
+ "mean": [
326
+ 0.0
327
+ ],
328
+ "std": [
329
+ 0.0
330
+ ],
331
+ "count": [
332
+ 450
333
+ ]
334
+ },
335
+ "physical_index": {
336
+ "min": [
337
+ 94.0
338
+ ],
339
+ "max": [
340
+ 94.0
341
+ ],
342
+ "mean": [
343
+ 94.0
344
+ ],
345
+ "std": [
346
+ 0.0
347
+ ],
348
+ "count": [
349
+ 450
350
+ ]
351
+ },
352
+ "source_case_index": {
353
+ "min": [
354
+ 48.0
355
+ ],
356
+ "max": [
357
+ 48.0
358
+ ],
359
+ "mean": [
360
+ 48.0
361
+ ],
362
+ "std": [
363
+ 0.0
364
+ ],
365
+ "count": [
366
+ 450
367
+ ]
368
+ },
369
+ "appearance_index": {
370
+ "min": [
371
+ 0.0
372
+ ],
373
+ "max": [
374
+ 0.0
375
+ ],
376
+ "mean": [
377
+ 0.0
378
+ ],
379
+ "std": [
380
+ 0.0
381
+ ],
382
+ "count": [
383
+ 450
384
+ ]
385
+ },
386
+ "physical_query_time_s": {
387
+ "min": [
388
+ 0.0
389
+ ],
390
+ "max": [
391
+ 14.965000000006798
392
+ ],
393
+ "mean": [
394
+ 7.483329629629644
395
+ ],
396
+ "std": [
397
+ 4.330109927180601
398
+ ],
399
+ "count": [
400
+ 450
401
+ ]
402
+ },
403
+ "state_time_s": {
404
+ "min": [
405
+ 0.0
406
+ ],
407
+ "max": [
408
+ 14.965000000006798
409
+ ],
410
+ "mean": [
411
+ 7.48001111111215
412
+ ],
413
+ "std": [
414
+ 4.330119275994038
415
+ ],
416
+ "count": [
417
+ 450
418
+ ]
419
+ },
420
+ "command_time_s": {
421
+ "min": [
422
+ 0.0
423
+ ],
424
+ "max": [
425
+ 14.965000000006798
426
+ ],
427
+ "mean": [
428
+ 7.48001111111215
429
+ ],
430
+ "std": [
431
+ 4.330119275994038
432
+ ],
433
+ "count": [
434
+ 450
435
+ ]
436
+ },
437
+ "state_source_index": {
438
+ "min": [
439
+ 0.0
440
+ ],
441
+ "max": [
442
+ 1497.0
443
+ ],
444
+ "mean": [
445
+ 748.0022222222223
446
+ ],
447
+ "std": [
448
+ 433.01384888753273
449
+ ],
450
+ "count": [
451
+ 450
452
+ ]
453
+ },
454
+ "command_source_index": {
455
+ "min": [
456
+ 0.0
457
+ ],
458
+ "max": [
459
+ 29930.0
460
+ ],
461
+ "mean": [
462
+ 14960.022222222222
463
+ ],
464
+ "std": [
465
+ 8660.238551984809
466
+ ],
467
+ "count": [
468
+ 450
469
+ ]
470
+ },
471
+ "observation.images.cam_high": {
472
+ "mean": [
473
+ [
474
+ [
475
+ 0.3263888703919067
476
+ ]
477
+ ],
478
+ [
479
+ [
480
+ 0.3213266955219588
481
+ ]
482
+ ],
483
+ [
484
+ [
485
+ 0.31255341589760904
486
+ ]
487
+ ]
488
+ ],
489
+ "std": [
490
+ [
491
+ [
492
+ 0.3154384643248133
493
+ ]
494
+ ],
495
+ [
496
+ [
497
+ 0.3104590424909548
498
+ ]
499
+ ],
500
+ [
501
+ [
502
+ 0.30349726718735975
503
+ ]
504
+ ]
505
+ ],
506
+ "min": [
507
+ [
508
+ [
509
+ 0.0
510
+ ]
511
+ ],
512
+ [
513
+ [
514
+ 0.0
515
+ ]
516
+ ],
517
+ [
518
+ [
519
+ 0.0
520
+ ]
521
+ ]
522
+ ],
523
+ "max": [
524
+ [
525
+ [
526
+ 0.8470588235294118
527
+ ]
528
+ ],
529
+ [
530
+ [
531
+ 0.8470588235294118
532
+ ]
533
+ ],
534
+ [
535
+ [
536
+ 0.8431372549019608
537
+ ]
538
+ ]
539
+ ],
540
+ "count": [
541
+ 100
542
+ ]
543
+ },
544
+ "observation.images.cam_left_wrist": {
545
+ "mean": [
546
+ [
547
+ [
548
+ 0.3346406132765606
549
+ ]
550
+ ],
551
+ [
552
+ [
553
+ 0.32523339023109243
554
+ ]
555
+ ],
556
+ [
557
+ [
558
+ 0.3177157745910864
559
+ ]
560
+ ]
561
+ ],
562
+ "std": [
563
+ [
564
+ [
565
+ 0.3212531316866758
566
+ ]
567
+ ],
568
+ [
569
+ [
570
+ 0.3124434923722552
571
+ ]
572
+ ],
573
+ [
574
+ [
575
+ 0.3049751556793152
576
+ ]
577
+ ]
578
+ ],
579
+ "min": [
580
+ [
581
+ [
582
+ 0.0
583
+ ]
584
+ ],
585
+ [
586
+ [
587
+ 0.0
588
+ ]
589
+ ],
590
+ [
591
+ [
592
+ 0.0
593
+ ]
594
+ ]
595
+ ],
596
+ "max": [
597
+ [
598
+ [
599
+ 0.9764705882352941
600
+ ]
601
+ ],
602
+ [
603
+ [
604
+ 1.0
605
+ ]
606
+ ],
607
+ [
608
+ [
609
+ 1.0
610
+ ]
611
+ ]
612
+ ],
613
+ "count": [
614
+ 100
615
+ ]
616
+ },
617
+ "observation.images.cam_right_wrist": {
618
+ "mean": [
619
+ [
620
+ [
621
+ 0.3593697072579031
622
+ ]
623
+ ],
624
+ [
625
+ [
626
+ 0.35270398393732494
627
+ ]
628
+ ],
629
+ [
630
+ [
631
+ 0.3412544908588436
632
+ ]
633
+ ]
634
+ ],
635
+ "std": [
636
+ [
637
+ [
638
+ 0.35441116247833365
639
+ ]
640
+ ],
641
+ [
642
+ [
643
+ 0.34776270109416324
644
+ ]
645
+ ],
646
+ [
647
+ [
648
+ 0.336998308772746
649
+ ]
650
+ ]
651
+ ],
652
+ "min": [
653
+ [
654
+ [
655
+ 0.0
656
+ ]
657
+ ],
658
+ [
659
+ [
660
+ 0.0
661
+ ]
662
+ ],
663
+ [
664
+ [
665
+ 0.0
666
+ ]
667
+ ]
668
+ ],
669
+ "max": [
670
+ [
671
+ [
672
+ 0.9568627450980393
673
+ ]
674
+ ],
675
+ [
676
+ [
677
+ 0.996078431372549
678
+ ]
679
+ ],
680
+ [
681
+ [
682
+ 0.9725490196078431
683
+ ]
684
+ ]
685
+ ],
686
+ "count": [
687
+ 100
688
+ ]
689
+ }
690
+ },
691
+ "provenance": {
692
+ "task": "Put_the_block_in_the_drawer.",
693
+ "case_id": "drawer_center_train_094",
694
+ "visual_side": "center",
695
+ "split": "train",
696
+ "sampler_index": 94,
697
+ "block_center_xy_m": [
698
+ 0.25658957700318136,
699
+ -0.49587876718695223
700
+ ],
701
+ "cabinet_center_xy_m": [
702
+ -0.006319999999999992,
703
+ -0.7385641399416909
704
+ ],
705
+ "spec": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_spec_20261101_attempt_01",
706
+ "spec_scene_sha256": "895600f7fa61053a6df0e9f4b85a4364995d6e3039c122921d09a8368fd25a3e",
707
+ "native": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_094/attempt_01/native",
708
+ "native_receipt_sha256": "06d4096978b8a958234c86d3131e3c0763a8146660fb07772091b9bf15d400a4",
709
+ "batch_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_094/attempt_01",
710
+ "render_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_094/attempt_01",
711
+ "source": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_094/attempt_01/source",
712
+ "source_metadata_sha256": "f32d8aca137a8f8e9f334bb3afeaf4f41d1bbfb93ca3089b396d4547cc267997",
713
+ "camera_order": [
714
+ "head_rgbd",
715
+ "left_wrist_rgbd",
716
+ "right_wrist_rgbd"
717
+ ],
718
+ "camera_mounts": "astribot_sdk_nominal_image_up",
719
+ "controller": "rssr.drawer.center_layout.v1",
720
+ "handle_hand": "right",
721
+ "payload_hand": "left",
722
+ "drawer_closer": "right (handle hand)"
723
+ },
724
+ "files": {
725
+ "data/chunk-000/episode_000094.parquet": {
726
+ "sha256": "4b3e8667da63ff94e5eb78ecc6d01ad4e220f3e47451943f518952c11f86a541",
727
+ "bytes": 126750
728
+ },
729
+ "videos/chunk-000/observation.images.cam_high/episode_000094.mp4": {
730
+ "sha256": "5fedf2299cb1e2100d631aae8e4d5358e270d9f9931f6224b1aa368efa35c447",
731
+ "bytes": 107158
732
+ },
733
+ "videos/chunk-000/observation.images.cam_left_wrist/episode_000094.mp4": {
734
+ "sha256": "636157e5110a353e49cdefa4c4fece46a991a28dc618b5ab9ad4efb14e08b7f4",
735
+ "bytes": 129970
736
+ },
737
+ "videos/chunk-000/observation.images.cam_right_wrist/episode_000094.mp4": {
738
+ "sha256": "3e5ed05e7f231d12b47c06175deb414d4a5e677d632e791260e062a9952c9870",
739
+ "bytes": 182283
740
+ }
741
+ }
742
+ }
drawer_center_layout_100/draw/evidence/episode_000095.json ADDED
@@ -0,0 +1,742 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_index": 95,
3
+ "length": 450,
4
+ "tasks": [
5
+ "Put_the_block_in_the_drawer."
6
+ ],
7
+ "stats": {
8
+ "observation.state": {
9
+ "min": [
10
+ 0.5173330307006836,
11
+ -0.8005621433258057,
12
+ 0.2798148989677429,
13
+ 0.016794679686427116,
14
+ 0.009002039209008217,
15
+ 0.9799644351005554,
16
+ -0.18331673741340637,
17
+ -0.1691754311323166,
18
+ -1.1766616106033325,
19
+ 0.9834380745887756,
20
+ -0.5853228569030762,
21
+ 0.09349538385868073,
22
+ 0.06507611274719238,
23
+ 0.019141219556331635,
24
+ 0.01914215087890625,
25
+ -0.48901066184043884,
26
+ 0.019141508266329765,
27
+ -0.4893372356891632,
28
+ 0.019142236560583115,
29
+ -0.05744754150509834,
30
+ -0.2733713686466217,
31
+ 0.329489141702652,
32
+ 0.9142137169837952,
33
+ -0.7774674892425537,
34
+ -0.3692314028739929,
35
+ -0.5863085985183716,
36
+ 0.07691186666488647,
37
+ 0.07691076397895813,
38
+ -0.8000549077987671,
39
+ 0.07684691995382309,
40
+ -0.8003427982330322,
41
+ 0.07685054838657379
42
+ ],
43
+ "max": [
44
+ 0.5175638198852539,
45
+ -0.8003310561180115,
46
+ 0.28034400939941406,
47
+ 0.017656434327363968,
48
+ 0.009010644629597664,
49
+ 0.9800711274147034,
50
+ 0.02305547520518303,
51
+ -0.0008348488481715322,
52
+ -0.9498088955879211,
53
+ 1.762312889099121,
54
+ -0.42106959223747253,
55
+ 0.5812031626701355,
56
+ 0.3793034851551056,
57
+ 0.489010751247406,
58
+ 0.48933136463165283,
59
+ -0.019141890108585358,
60
+ 0.48901212215423584,
61
+ -0.019142070785164833,
62
+ 0.4890121817588806,
63
+ 0.575499415397644,
64
+ -0.03998245298862457,
65
+ 1.1057521104812622,
66
+ 1.4685337543487549,
67
+ 0.5862753391265869,
68
+ 0.35559898614883423,
69
+ -0.15013353526592255,
70
+ 0.8000540733337402,
71
+ 0.8002405762672424,
72
+ -0.07691080868244171,
73
+ 0.8000578880310059,
74
+ -0.07689397782087326,
75
+ 0.8000574111938477
76
+ ],
77
+ "mean": [
78
+ 0.5174576020240784,
79
+ -0.8004563297165764,
80
+ 0.280082908405198,
81
+ 0.01734577634682258,
82
+ 0.009007091199358304,
83
+ 0.9800002855724759,
84
+ -0.0906926169994727,
85
+ -0.08218719582254481,
86
+ -1.019470684395896,
87
+ 1.5007808510462444,
88
+ -0.48305308401584623,
89
+ 0.3044610699017843,
90
+ 0.3055329906609323,
91
+ 0.22848437499254942,
92
+ 0.22860326902319988,
93
+ -0.22848441106577713,
94
+ 0.2284848789167073,
95
+ -0.2286041197925806,
96
+ 0.22848506819042894,
97
+ 0.39998895855672245,
98
+ -0.154538909105791,
99
+ 0.526087124546369,
100
+ 1.1468235703309377,
101
+ -0.5304326021477269,
102
+ -0.06509000611310412,
103
+ -0.47791275646951464,
104
+ 0.4165655500193437,
105
+ 0.41666614105304084,
106
+ -0.41656540660394564,
107
+ 0.41657396965556676,
108
+ -0.41664020682374636,
109
+ 0.4165744553340806
110
+ ],
111
+ "std": [
112
+ 5.5897098816656494e-05,
113
+ 5.579118827573899e-05,
114
+ 0.00014114567483557158,
115
+ 0.00023190127455704693,
116
+ 5.217732246943356e-07,
117
+ 5.62089893040178e-06,
118
+ 0.07925704870854593,
119
+ 0.04100405844299196,
120
+ 0.04186678895048592,
121
+ 0.2503759003225359,
122
+ 0.04371308622672058,
123
+ 0.1868352759245978,
124
+ 0.06434635135390784,
125
+ 0.21585539654668473,
126
+ 0.2159980692956854,
127
+ 0.21585528667177933,
128
+ 0.21585573013278037,
129
+ 0.21599969400578015,
130
+ 0.2158557470906332,
131
+ 0.16412382417556132,
132
+ 0.07720606926436427,
133
+ 0.19713873514595945,
134
+ 0.2103971623525444,
135
+ 0.34590911620723047,
136
+ 0.21865514643342351,
137
+ 0.12865801052395268,
138
+ 0.3402196231087554,
139
+ 0.3403275176943453,
140
+ 0.3402193873128516,
141
+ 0.3402288591707471,
142
+ 0.34033391364241744,
143
+ 0.34022891270809297
144
+ ],
145
+ "count": [
146
+ 450
147
+ ]
148
+ },
149
+ "action": {
150
+ "min": [
151
+ 0.5174471735954285,
152
+ -0.8004457950592041,
153
+ 0.009007098153233528,
154
+ 0.9800000190734863,
155
+ 0.2799195647239685,
156
+ 0.017286056652665138,
157
+ -0.18331025540828705,
158
+ -0.16638779640197754,
159
+ -1.1765575408935547,
160
+ 0.9835099577903748,
161
+ -0.5853069424629211,
162
+ 0.09349193423986435,
163
+ 0.06530831009149551,
164
+ 0.019999999552965164,
165
+ -0.05736628547310829,
166
+ -0.3064148426055908,
167
+ 0.3611334562301636,
168
+ 0.9195718169212341,
169
+ -0.7769117951393127,
170
+ -0.375287801027298,
171
+ -0.5921854376792908,
172
+ 0.07999999821186066
173
+ ],
174
+ "max": [
175
+ 0.5174471735954285,
176
+ -0.8004457950592041,
177
+ 0.009007098153233528,
178
+ 0.9800000190734863,
179
+ 0.2799195647239685,
180
+ 0.017286056652665138,
181
+ 0.01990964449942112,
182
+ -0.0011078709503635764,
183
+ -0.950700044631958,
184
+ 1.7622015476226807,
185
+ -0.42104044556617737,
186
+ 0.5815160870552063,
187
+ 0.3793059289455414,
188
+ 0.49501073360443115,
189
+ 0.6308659315109253,
190
+ -0.0226189773529768,
191
+ 1.1056668758392334,
192
+ 1.4691203832626343,
193
+ 0.5861006379127502,
194
+ 0.3556601405143738,
195
+ -0.15016211569309235,
196
+ 0.8060540556907654
197
+ ],
198
+ "mean": [
199
+ 0.5174471735954285,
200
+ -0.8004457950592041,
201
+ 0.009007098153233528,
202
+ 0.9800000190734863,
203
+ 0.2799195647239685,
204
+ 0.017286056652665138,
205
+ -0.09149634099337668,
206
+ -0.08210277272207249,
207
+ -1.0196884698337978,
208
+ 1.500921447277069,
209
+ -0.48303513639503054,
210
+ 0.3046068168348736,
211
+ 0.30549690034654403,
212
+ 0.2306377821457055,
213
+ 0.4178812825199889,
214
+ -0.16404933034131924,
215
+ 0.5430039238929748,
216
+ 1.1477038090758853,
217
+ -0.5303239402951698,
218
+ -0.06725550645108645,
219
+ -0.48096263911989,
220
+ 0.4189722073243724
221
+ ],
222
+ "std": [
223
+ 0.0,
224
+ 0.0,
225
+ 0.0,
226
+ 0.0,
227
+ 0.0,
228
+ 0.0,
229
+ 0.07846770905490821,
230
+ 0.04062648189391584,
231
+ 0.04164946300017847,
232
+ 0.25029007908948847,
233
+ 0.043731901017672985,
234
+ 0.18700928172776726,
235
+ 0.06438370434600041,
236
+ 0.21852347024239185,
237
+ 0.17169759013987057,
238
+ 0.09389774460597997,
239
+ 0.18657072682071874,
240
+ 0.2098569506732586,
241
+ 0.3457016197910411,
242
+ 0.22117247698409384,
243
+ 0.13060677438355842,
244
+ 0.3429031156930681
245
+ ],
246
+ "count": [
247
+ 450
248
+ ]
249
+ },
250
+ "timestamp": {
251
+ "min": [
252
+ 0.0
253
+ ],
254
+ "max": [
255
+ 14.966666221618652
256
+ ],
257
+ "mean": [
258
+ 7.48333333350718
259
+ ],
260
+ "std": [
261
+ 4.3301163254484205
262
+ ],
263
+ "count": [
264
+ 450
265
+ ]
266
+ },
267
+ "frame_index": {
268
+ "min": [
269
+ 0.0
270
+ ],
271
+ "max": [
272
+ 449.0
273
+ ],
274
+ "mean": [
275
+ 224.5
276
+ ],
277
+ "std": [
278
+ 129.90348981712026
279
+ ],
280
+ "count": [
281
+ 450
282
+ ]
283
+ },
284
+ "episode_index": {
285
+ "min": [
286
+ 95.0
287
+ ],
288
+ "max": [
289
+ 95.0
290
+ ],
291
+ "mean": [
292
+ 95.0
293
+ ],
294
+ "std": [
295
+ 0.0
296
+ ],
297
+ "count": [
298
+ 450
299
+ ]
300
+ },
301
+ "index": {
302
+ "min": [
303
+ 42750.0
304
+ ],
305
+ "max": [
306
+ 43199.0
307
+ ],
308
+ "mean": [
309
+ 42974.5
310
+ ],
311
+ "std": [
312
+ 129.90348981712026
313
+ ],
314
+ "count": [
315
+ 450
316
+ ]
317
+ },
318
+ "task_index": {
319
+ "min": [
320
+ 0.0
321
+ ],
322
+ "max": [
323
+ 0.0
324
+ ],
325
+ "mean": [
326
+ 0.0
327
+ ],
328
+ "std": [
329
+ 0.0
330
+ ],
331
+ "count": [
332
+ 450
333
+ ]
334
+ },
335
+ "physical_index": {
336
+ "min": [
337
+ 95.0
338
+ ],
339
+ "max": [
340
+ 95.0
341
+ ],
342
+ "mean": [
343
+ 95.0
344
+ ],
345
+ "std": [
346
+ 0.0
347
+ ],
348
+ "count": [
349
+ 450
350
+ ]
351
+ },
352
+ "source_case_index": {
353
+ "min": [
354
+ 48.0
355
+ ],
356
+ "max": [
357
+ 48.0
358
+ ],
359
+ "mean": [
360
+ 48.0
361
+ ],
362
+ "std": [
363
+ 0.0
364
+ ],
365
+ "count": [
366
+ 450
367
+ ]
368
+ },
369
+ "appearance_index": {
370
+ "min": [
371
+ 0.0
372
+ ],
373
+ "max": [
374
+ 0.0
375
+ ],
376
+ "mean": [
377
+ 0.0
378
+ ],
379
+ "std": [
380
+ 0.0
381
+ ],
382
+ "count": [
383
+ 450
384
+ ]
385
+ },
386
+ "physical_query_time_s": {
387
+ "min": [
388
+ 0.0
389
+ ],
390
+ "max": [
391
+ 14.965000000006798
392
+ ],
393
+ "mean": [
394
+ 7.483329629629644
395
+ ],
396
+ "std": [
397
+ 4.330109927180601
398
+ ],
399
+ "count": [
400
+ 450
401
+ ]
402
+ },
403
+ "state_time_s": {
404
+ "min": [
405
+ 0.0
406
+ ],
407
+ "max": [
408
+ 14.965000000006798
409
+ ],
410
+ "mean": [
411
+ 7.48001111111215
412
+ ],
413
+ "std": [
414
+ 4.330119275994038
415
+ ],
416
+ "count": [
417
+ 450
418
+ ]
419
+ },
420
+ "command_time_s": {
421
+ "min": [
422
+ 0.0
423
+ ],
424
+ "max": [
425
+ 14.965000000006798
426
+ ],
427
+ "mean": [
428
+ 7.48001111111215
429
+ ],
430
+ "std": [
431
+ 4.330119275994038
432
+ ],
433
+ "count": [
434
+ 450
435
+ ]
436
+ },
437
+ "state_source_index": {
438
+ "min": [
439
+ 0.0
440
+ ],
441
+ "max": [
442
+ 1497.0
443
+ ],
444
+ "mean": [
445
+ 748.0022222222223
446
+ ],
447
+ "std": [
448
+ 433.01384888753273
449
+ ],
450
+ "count": [
451
+ 450
452
+ ]
453
+ },
454
+ "command_source_index": {
455
+ "min": [
456
+ 0.0
457
+ ],
458
+ "max": [
459
+ 29930.0
460
+ ],
461
+ "mean": [
462
+ 14960.022222222222
463
+ ],
464
+ "std": [
465
+ 8660.238551984809
466
+ ],
467
+ "count": [
468
+ 450
469
+ ]
470
+ },
471
+ "observation.images.cam_high": {
472
+ "mean": [
473
+ [
474
+ [
475
+ 0.3263548356842737
476
+ ]
477
+ ],
478
+ [
479
+ [
480
+ 0.32130225840336135
481
+ ]
482
+ ],
483
+ [
484
+ [
485
+ 0.31244592524509807
486
+ ]
487
+ ]
488
+ ],
489
+ "std": [
490
+ [
491
+ [
492
+ 0.31532195716807715
493
+ ]
494
+ ],
495
+ [
496
+ [
497
+ 0.3103952809171343
498
+ ]
499
+ ],
500
+ [
501
+ [
502
+ 0.3032853136159918
503
+ ]
504
+ ]
505
+ ],
506
+ "min": [
507
+ [
508
+ [
509
+ 0.0
510
+ ]
511
+ ],
512
+ [
513
+ [
514
+ 0.0
515
+ ]
516
+ ],
517
+ [
518
+ [
519
+ 0.0
520
+ ]
521
+ ]
522
+ ],
523
+ "max": [
524
+ [
525
+ [
526
+ 0.8549019607843137
527
+ ]
528
+ ],
529
+ [
530
+ [
531
+ 0.8549019607843137
532
+ ]
533
+ ],
534
+ [
535
+ [
536
+ 0.8549019607843137
537
+ ]
538
+ ]
539
+ ],
540
+ "count": [
541
+ 100
542
+ ]
543
+ },
544
+ "observation.images.cam_left_wrist": {
545
+ "mean": [
546
+ [
547
+ [
548
+ 0.3343897973251801
549
+ ]
550
+ ],
551
+ [
552
+ [
553
+ 0.3250334024234694
554
+ ]
555
+ ],
556
+ [
557
+ [
558
+ 0.3173075917867147
559
+ ]
560
+ ]
561
+ ],
562
+ "std": [
563
+ [
564
+ [
565
+ 0.3213894982979534
566
+ ]
567
+ ],
568
+ [
569
+ [
570
+ 0.31238664988781484
571
+ ]
572
+ ],
573
+ [
574
+ [
575
+ 0.3046488820921803
576
+ ]
577
+ ]
578
+ ],
579
+ "min": [
580
+ [
581
+ [
582
+ 0.0
583
+ ]
584
+ ],
585
+ [
586
+ [
587
+ 0.0
588
+ ]
589
+ ],
590
+ [
591
+ [
592
+ 0.0
593
+ ]
594
+ ]
595
+ ],
596
+ "max": [
597
+ [
598
+ [
599
+ 0.9803921568627451
600
+ ]
601
+ ],
602
+ [
603
+ [
604
+ 1.0
605
+ ]
606
+ ],
607
+ [
608
+ [
609
+ 0.9921568627450981
610
+ ]
611
+ ]
612
+ ],
613
+ "count": [
614
+ 100
615
+ ]
616
+ },
617
+ "observation.images.cam_right_wrist": {
618
+ "mean": [
619
+ [
620
+ [
621
+ 0.3595536636529612
622
+ ]
623
+ ],
624
+ [
625
+ [
626
+ 0.35291843299819925
627
+ ]
628
+ ],
629
+ [
630
+ [
631
+ 0.34148479782538016
632
+ ]
633
+ ]
634
+ ],
635
+ "std": [
636
+ [
637
+ [
638
+ 0.35454286115252587
639
+ ]
640
+ ],
641
+ [
642
+ [
643
+ 0.34788485485357484
644
+ ]
645
+ ],
646
+ [
647
+ [
648
+ 0.3371715222321148
649
+ ]
650
+ ]
651
+ ],
652
+ "min": [
653
+ [
654
+ [
655
+ 0.0
656
+ ]
657
+ ],
658
+ [
659
+ [
660
+ 0.0
661
+ ]
662
+ ],
663
+ [
664
+ [
665
+ 0.0
666
+ ]
667
+ ]
668
+ ],
669
+ "max": [
670
+ [
671
+ [
672
+ 0.9411764705882353
673
+ ]
674
+ ],
675
+ [
676
+ [
677
+ 0.9764705882352941
678
+ ]
679
+ ],
680
+ [
681
+ [
682
+ 0.9647058823529412
683
+ ]
684
+ ]
685
+ ],
686
+ "count": [
687
+ 100
688
+ ]
689
+ }
690
+ },
691
+ "provenance": {
692
+ "task": "Put_the_block_in_the_drawer.",
693
+ "case_id": "drawer_center_train_095",
694
+ "visual_side": "center",
695
+ "split": "train",
696
+ "sampler_index": 95,
697
+ "block_center_xy_m": [
698
+ 0.23948600212813176,
699
+ -0.4538978851053332
700
+ ],
701
+ "cabinet_center_xy_m": [
702
+ -0.0023199999999999887,
703
+ -0.735706997084548
704
+ ],
705
+ "spec": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_spec_20261101_attempt_01",
706
+ "spec_scene_sha256": "4078b160e2bb04cd5e6a7fe450401562d5b4a437db745caf1ee4a0035bfcbab8",
707
+ "native": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_095/attempt_01/native",
708
+ "native_receipt_sha256": "afe35270b24f306f1d7b4e58c6ffd9f353175d4ca1e27c845e688def93a9ad95",
709
+ "batch_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_095/attempt_01",
710
+ "render_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_095/attempt_01",
711
+ "source": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_095/attempt_01/source",
712
+ "source_metadata_sha256": "187c0f13b6aa5e1f26655c61bd824ded1161da8b4f32403982f664c8fe6881be",
713
+ "camera_order": [
714
+ "head_rgbd",
715
+ "left_wrist_rgbd",
716
+ "right_wrist_rgbd"
717
+ ],
718
+ "camera_mounts": "astribot_sdk_nominal_image_up",
719
+ "controller": "rssr.drawer.center_layout.v1",
720
+ "handle_hand": "right",
721
+ "payload_hand": "left",
722
+ "drawer_closer": "right (handle hand)"
723
+ },
724
+ "files": {
725
+ "data/chunk-000/episode_000095.parquet": {
726
+ "sha256": "e19ddf7b5fb95f6328a3f09650c34c848cb057776a9115c9394e8cc3b35bf486",
727
+ "bytes": 126239
728
+ },
729
+ "videos/chunk-000/observation.images.cam_high/episode_000095.mp4": {
730
+ "sha256": "58a14720e44c9a7d32a8dbce4cc6bce85799c2720f80b9a90dd5dd3c561a0215",
731
+ "bytes": 107426
732
+ },
733
+ "videos/chunk-000/observation.images.cam_left_wrist/episode_000095.mp4": {
734
+ "sha256": "ba775a43c5883b5c73b4c3ebe2f4ff154713ad765a50e0b7ecd739d0ccd8a212",
735
+ "bytes": 129099
736
+ },
737
+ "videos/chunk-000/observation.images.cam_right_wrist/episode_000095.mp4": {
738
+ "sha256": "c5a1d98f99e48861a859061472a934732a57123662ce1ddcc2c136950edb391e",
739
+ "bytes": 181715
740
+ }
741
+ }
742
+ }
drawer_center_layout_100/draw/evidence/episode_000096.json ADDED
@@ -0,0 +1,742 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_index": 96,
3
+ "length": 450,
4
+ "tasks": [
5
+ "Put_the_block_in_the_drawer."
6
+ ],
7
+ "stats": {
8
+ "observation.state": {
9
+ "min": [
10
+ 0.5173391103744507,
11
+ -0.8005591034889221,
12
+ 0.2798222005367279,
13
+ 0.016805104911327362,
14
+ 0.009002270177006721,
15
+ 0.9799097776412964,
16
+ -0.17152799665927887,
17
+ -0.15904392302036285,
18
+ -1.1766616106033325,
19
+ 0.920407235622406,
20
+ -0.5827662348747253,
21
+ 0.12292111665010452,
22
+ 0.06507611274719238,
23
+ 0.019138099625706673,
24
+ 0.019139062613248825,
25
+ -0.48901525139808655,
26
+ 0.019138436764478683,
27
+ -0.48934170603752136,
28
+ 0.019139166921377182,
29
+ -0.05744754150509834,
30
+ -0.2667732834815979,
31
+ 0.325322687625885,
32
+ 0.9271299242973328,
33
+ -0.7836870551109314,
34
+ -0.3814675509929657,
35
+ -0.5816779732704163,
36
+ 0.07923572510480881,
37
+ 0.07923616468906403,
38
+ -0.8008155226707458,
39
+ 0.07922227680683136,
40
+ -0.8011153340339661,
41
+ 0.07922232151031494
42
+ ],
43
+ "max": [
44
+ 0.5175607204437256,
45
+ -0.8003372550010681,
46
+ 0.280316561460495,
47
+ 0.017653493210673332,
48
+ 0.009014373645186424,
49
+ 0.9800698161125183,
50
+ 0.00829915702342987,
51
+ 0.047640539705753326,
52
+ -0.9458798766136169,
53
+ 1.7628148794174194,
54
+ -0.3947625160217285,
55
+ 0.6100884079933167,
56
+ 0.4022578299045563,
57
+ 0.4890153408050537,
58
+ 0.4893358051776886,
59
+ -0.01913873851299286,
60
+ 0.48901668190956116,
61
+ -0.019138986244797707,
62
+ 0.48901674151420593,
63
+ 0.570563018321991,
64
+ -0.03887849301099777,
65
+ 1.1057521104812622,
66
+ 1.4746720790863037,
67
+ 0.5862753391265869,
68
+ 0.35577139258384705,
69
+ -0.15013353526592255,
70
+ 0.800815761089325,
71
+ 0.8010217547416687,
72
+ -0.07923499494791031,
73
+ 0.8008257150650024,
74
+ -0.0792214497923851,
75
+ 0.8008268475532532
76
+ ],
77
+ "mean": [
78
+ 0.5174573327435388,
79
+ -0.8004559438758426,
80
+ 0.2800762657986747,
81
+ 0.01734659300496181,
82
+ 0.009007099049372806,
83
+ 0.9799999442365435,
84
+ -0.10032640888135777,
85
+ -0.06989191504247072,
86
+ -1.01382343199518,
87
+ 1.4859611201286316,
88
+ -0.4620875236723158,
89
+ 0.3191541036632326,
90
+ 0.33257285353210236,
91
+ 0.22409292697078653,
92
+ 0.22420871002392637,
93
+ -0.2240929539584451,
94
+ 0.22409342840313912,
95
+ -0.2242096951852242,
96
+ 0.2240936014221774,
97
+ 0.3959742183346922,
98
+ -0.15127288088202476,
99
+ 0.5239384610785378,
100
+ 1.1556132593419817,
101
+ -0.5342218112179803,
102
+ -0.07445579467593537,
103
+ -0.4752133055859142,
104
+ 0.4156165379285812,
105
+ 0.4157161381840706,
106
+ -0.41561635033951866,
107
+ 0.4156243532564905,
108
+ -0.41569127263294325,
109
+ 0.415624881486098
110
+ ],
111
+ "std": [
112
+ 5.433135948433831e-05,
113
+ 5.4073640381525276e-05,
114
+ 0.00013790613506831407,
115
+ 0.00022767683878920713,
116
+ 5.9937073094073e-07,
117
+ 7.597690393712204e-06,
118
+ 0.06570053354844267,
119
+ 0.04886244988540375,
120
+ 0.0418821298011461,
121
+ 0.26990598339309174,
122
+ 0.04728479640649046,
123
+ 0.18378704917772626,
124
+ 0.06374498036936416,
125
+ 0.21526152007710422,
126
+ 0.21540321003553364,
127
+ 0.2152614313675494,
128
+ 0.21526186428654767,
129
+ 0.21540499935222968,
130
+ 0.2152618928038124,
131
+ 0.16341292354930645,
132
+ 0.07537585327324384,
133
+ 0.19781997642064356,
134
+ 0.20738899261936727,
135
+ 0.34707487452493946,
136
+ 0.222270912135516,
137
+ 0.1264457757322698,
138
+ 0.3401823675696792,
139
+ 0.3402899126683669,
140
+ 0.3401821387975406,
141
+ 0.3401914681709118,
142
+ 0.34029664504429513,
143
+ 0.34019153765683835
144
+ ],
145
+ "count": [
146
+ 450
147
+ ]
148
+ },
149
+ "action": {
150
+ "min": [
151
+ 0.5174471735954285,
152
+ -0.8004457950592041,
153
+ 0.009007098153233528,
154
+ 0.9800000190734863,
155
+ 0.2799195647239685,
156
+ 0.017286056652665138,
157
+ -0.17151914536952972,
158
+ -0.15392687916755676,
159
+ -1.1765563488006592,
160
+ 0.920484721660614,
161
+ -0.5827332735061646,
162
+ 0.12291432172060013,
163
+ 0.06531189382076263,
164
+ 0.019999999552965164,
165
+ -0.05736841261386871,
166
+ -0.29942891001701355,
167
+ 0.3565204441547394,
168
+ 0.9325037598609924,
169
+ -0.7831942439079285,
170
+ -0.38752537965774536,
171
+ -0.5877857804298401,
172
+ 0.07999999821186066
173
+ ],
174
+ "max": [
175
+ 0.5174471735954285,
176
+ -0.8004457950592041,
177
+ 0.009007098153233528,
178
+ 0.9800000190734863,
179
+ 0.2799195647239685,
180
+ 0.017286056652665138,
181
+ 0.006716751027852297,
182
+ 0.04754370078444481,
183
+ -0.9468010067939758,
184
+ 1.7627167701721191,
185
+ -0.3947290778160095,
186
+ 0.6103601455688477,
187
+ 0.4022601544857025,
188
+ 0.49501535296440125,
189
+ 0.6244107484817505,
190
+ -0.020221538841724396,
191
+ 1.1056662797927856,
192
+ 1.4752264022827148,
193
+ 0.586100161075592,
194
+ 0.3558456599712372,
195
+ -0.15016241371631622,
196
+ 0.811220109462738
197
+ ],
198
+ "mean": [
199
+ 0.5174471735954285,
200
+ -0.8004457950592041,
201
+ 0.009007098153233528,
202
+ 0.9800000190734863,
203
+ 0.2799195647239685,
204
+ 0.017286056652665138,
205
+ -0.1011239364487119,
206
+ -0.06980559024455336,
207
+ -1.0140227823787265,
208
+ 1.486099810467826,
209
+ -0.46206849846574993,
210
+ 0.3192969184451633,
211
+ 0.33253728952672745,
212
+ 0.2261953221551246,
213
+ 0.413054050553797,
214
+ -0.16063660808735425,
215
+ 0.5403858990801705,
216
+ 1.1564542941252391,
217
+ -0.5341252841665927,
218
+ -0.07661384183680639,
219
+ -0.4781423392560747,
220
+ 0.4180186575320032
221
+ ],
222
+ "std": [
223
+ 0.0,
224
+ 0.0,
225
+ 0.0,
226
+ 0.0,
227
+ 0.0,
228
+ 0.0,
229
+ 0.06484703606591467,
230
+ 0.04841331920724545,
231
+ 0.041620992385670644,
232
+ 0.2698225496653658,
233
+ 0.047302996153173,
234
+ 0.18396333872304244,
235
+ 0.06378683045537928,
236
+ 0.21791292591138176,
237
+ 0.17069206067246726,
238
+ 0.09181529500247208,
239
+ 0.1874537490850366,
240
+ 0.2068579257201345,
241
+ 0.34687502712225166,
242
+ 0.22477829203783734,
243
+ 0.12832598702619422,
244
+ 0.3428656149751206
245
+ ],
246
+ "count": [
247
+ 450
248
+ ]
249
+ },
250
+ "timestamp": {
251
+ "min": [
252
+ 0.0
253
+ ],
254
+ "max": [
255
+ 14.966666221618652
256
+ ],
257
+ "mean": [
258
+ 7.48333333350718
259
+ ],
260
+ "std": [
261
+ 4.3301163254484205
262
+ ],
263
+ "count": [
264
+ 450
265
+ ]
266
+ },
267
+ "frame_index": {
268
+ "min": [
269
+ 0.0
270
+ ],
271
+ "max": [
272
+ 449.0
273
+ ],
274
+ "mean": [
275
+ 224.5
276
+ ],
277
+ "std": [
278
+ 129.90348981712026
279
+ ],
280
+ "count": [
281
+ 450
282
+ ]
283
+ },
284
+ "episode_index": {
285
+ "min": [
286
+ 96.0
287
+ ],
288
+ "max": [
289
+ 96.0
290
+ ],
291
+ "mean": [
292
+ 96.0
293
+ ],
294
+ "std": [
295
+ 0.0
296
+ ],
297
+ "count": [
298
+ 450
299
+ ]
300
+ },
301
+ "index": {
302
+ "min": [
303
+ 43200.0
304
+ ],
305
+ "max": [
306
+ 43649.0
307
+ ],
308
+ "mean": [
309
+ 43424.5
310
+ ],
311
+ "std": [
312
+ 129.90348981712026
313
+ ],
314
+ "count": [
315
+ 450
316
+ ]
317
+ },
318
+ "task_index": {
319
+ "min": [
320
+ 0.0
321
+ ],
322
+ "max": [
323
+ 0.0
324
+ ],
325
+ "mean": [
326
+ 0.0
327
+ ],
328
+ "std": [
329
+ 0.0
330
+ ],
331
+ "count": [
332
+ 450
333
+ ]
334
+ },
335
+ "physical_index": {
336
+ "min": [
337
+ 96.0
338
+ ],
339
+ "max": [
340
+ 96.0
341
+ ],
342
+ "mean": [
343
+ 96.0
344
+ ],
345
+ "std": [
346
+ 0.0
347
+ ],
348
+ "count": [
349
+ 450
350
+ ]
351
+ },
352
+ "source_case_index": {
353
+ "min": [
354
+ 48.0
355
+ ],
356
+ "max": [
357
+ 48.0
358
+ ],
359
+ "mean": [
360
+ 48.0
361
+ ],
362
+ "std": [
363
+ 0.0
364
+ ],
365
+ "count": [
366
+ 450
367
+ ]
368
+ },
369
+ "appearance_index": {
370
+ "min": [
371
+ 0.0
372
+ ],
373
+ "max": [
374
+ 0.0
375
+ ],
376
+ "mean": [
377
+ 0.0
378
+ ],
379
+ "std": [
380
+ 0.0
381
+ ],
382
+ "count": [
383
+ 450
384
+ ]
385
+ },
386
+ "physical_query_time_s": {
387
+ "min": [
388
+ 0.0
389
+ ],
390
+ "max": [
391
+ 14.965000000006798
392
+ ],
393
+ "mean": [
394
+ 7.483329629629644
395
+ ],
396
+ "std": [
397
+ 4.330109927180601
398
+ ],
399
+ "count": [
400
+ 450
401
+ ]
402
+ },
403
+ "state_time_s": {
404
+ "min": [
405
+ 0.0
406
+ ],
407
+ "max": [
408
+ 14.965000000006798
409
+ ],
410
+ "mean": [
411
+ 7.48001111111215
412
+ ],
413
+ "std": [
414
+ 4.330119275994038
415
+ ],
416
+ "count": [
417
+ 450
418
+ ]
419
+ },
420
+ "command_time_s": {
421
+ "min": [
422
+ 0.0
423
+ ],
424
+ "max": [
425
+ 14.965000000006798
426
+ ],
427
+ "mean": [
428
+ 7.48001111111215
429
+ ],
430
+ "std": [
431
+ 4.330119275994038
432
+ ],
433
+ "count": [
434
+ 450
435
+ ]
436
+ },
437
+ "state_source_index": {
438
+ "min": [
439
+ 0.0
440
+ ],
441
+ "max": [
442
+ 1497.0
443
+ ],
444
+ "mean": [
445
+ 748.0022222222223
446
+ ],
447
+ "std": [
448
+ 433.01384888753273
449
+ ],
450
+ "count": [
451
+ 450
452
+ ]
453
+ },
454
+ "command_source_index": {
455
+ "min": [
456
+ 0.0
457
+ ],
458
+ "max": [
459
+ 29930.0
460
+ ],
461
+ "mean": [
462
+ 14960.022222222222
463
+ ],
464
+ "std": [
465
+ 8660.238551984809
466
+ ],
467
+ "count": [
468
+ 450
469
+ ]
470
+ },
471
+ "observation.images.cam_high": {
472
+ "mean": [
473
+ [
474
+ [
475
+ 0.3260124893707484
476
+ ]
477
+ ],
478
+ [
479
+ [
480
+ 0.3208366987419968
481
+ ]
482
+ ],
483
+ [
484
+ [
485
+ 0.31197949023359345
486
+ ]
487
+ ]
488
+ ],
489
+ "std": [
490
+ [
491
+ [
492
+ 0.3150760647839929
493
+ ]
494
+ ],
495
+ [
496
+ [
497
+ 0.3100341342503499
498
+ ]
499
+ ],
500
+ [
501
+ [
502
+ 0.30298271619246836
503
+ ]
504
+ ]
505
+ ],
506
+ "min": [
507
+ [
508
+ [
509
+ 0.0
510
+ ]
511
+ ],
512
+ [
513
+ [
514
+ 0.0
515
+ ]
516
+ ],
517
+ [
518
+ [
519
+ 0.0
520
+ ]
521
+ ]
522
+ ],
523
+ "max": [
524
+ [
525
+ [
526
+ 0.8509803921568627
527
+ ]
528
+ ],
529
+ [
530
+ [
531
+ 0.8509803921568627
532
+ ]
533
+ ],
534
+ [
535
+ [
536
+ 0.8392156862745098
537
+ ]
538
+ ]
539
+ ],
540
+ "count": [
541
+ 100
542
+ ]
543
+ },
544
+ "observation.images.cam_left_wrist": {
545
+ "mean": [
546
+ [
547
+ [
548
+ 0.33259083320828325
549
+ ]
550
+ ],
551
+ [
552
+ [
553
+ 0.3234149472288916
554
+ ]
555
+ ],
556
+ [
557
+ [
558
+ 0.31572097198254306
559
+ ]
560
+ ]
561
+ ],
562
+ "std": [
563
+ [
564
+ [
565
+ 0.31991637362203373
566
+ ]
567
+ ],
568
+ [
569
+ [
570
+ 0.3109327725283315
571
+ ]
572
+ ],
573
+ [
574
+ [
575
+ 0.30315525043468944
576
+ ]
577
+ ]
578
+ ],
579
+ "min": [
580
+ [
581
+ [
582
+ 0.0
583
+ ]
584
+ ],
585
+ [
586
+ [
587
+ 0.0
588
+ ]
589
+ ],
590
+ [
591
+ [
592
+ 0.0
593
+ ]
594
+ ]
595
+ ],
596
+ "max": [
597
+ [
598
+ [
599
+ 0.984313725490196
600
+ ]
601
+ ],
602
+ [
603
+ [
604
+ 1.0
605
+ ]
606
+ ],
607
+ [
608
+ [
609
+ 0.9921568627450981
610
+ ]
611
+ ]
612
+ ],
613
+ "count": [
614
+ 100
615
+ ]
616
+ },
617
+ "observation.images.cam_right_wrist": {
618
+ "mean": [
619
+ [
620
+ [
621
+ 0.35934580082032813
622
+ ]
623
+ ],
624
+ [
625
+ [
626
+ 0.35267351549994996
627
+ ]
628
+ ],
629
+ [
630
+ [
631
+ 0.3412005161439576
632
+ ]
633
+ ]
634
+ ],
635
+ "std": [
636
+ [
637
+ [
638
+ 0.35425090927742464
639
+ ]
640
+ ],
641
+ [
642
+ [
643
+ 0.34758504787125727
644
+ ]
645
+ ],
646
+ [
647
+ [
648
+ 0.33678761679386376
649
+ ]
650
+ ]
651
+ ],
652
+ "min": [
653
+ [
654
+ [
655
+ 0.0
656
+ ]
657
+ ],
658
+ [
659
+ [
660
+ 0.0
661
+ ]
662
+ ],
663
+ [
664
+ [
665
+ 0.0
666
+ ]
667
+ ]
668
+ ],
669
+ "max": [
670
+ [
671
+ [
672
+ 0.9568627450980393
673
+ ]
674
+ ],
675
+ [
676
+ [
677
+ 0.996078431372549
678
+ ]
679
+ ],
680
+ [
681
+ [
682
+ 0.984313725490196
683
+ ]
684
+ ]
685
+ ],
686
+ "count": [
687
+ 100
688
+ ]
689
+ }
690
+ },
691
+ "provenance": {
692
+ "task": "Put_the_block_in_the_drawer.",
693
+ "case_id": "drawer_center_train_096",
694
+ "visual_side": "center",
695
+ "split": "train",
696
+ "sampler_index": 96,
697
+ "block_center_xy_m": [
698
+ 0.216240548053695,
699
+ -0.47652236191381925
700
+ ],
701
+ "cabinet_center_xy_m": [
702
+ 0.0016800000000000148,
703
+ -0.7328498542274052
704
+ ],
705
+ "spec": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_spec_20261101_attempt_01",
706
+ "spec_scene_sha256": "efb36d32555411e64ebe2d894c274a6aa687bf30f826aee96fc3cffb0808fba5",
707
+ "native": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_096/attempt_01/native",
708
+ "native_receipt_sha256": "9a7abed55dd0312f7192ac69f7030ac0fb97f07ef84ea4435365d6377f0d423e",
709
+ "batch_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_096/attempt_01",
710
+ "render_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_096/attempt_01",
711
+ "source": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_096/attempt_01/source",
712
+ "source_metadata_sha256": "77ad18c2d581c2138462aab1f8b95ca0b7e4516a64f2742aea7647ee2b7110ea",
713
+ "camera_order": [
714
+ "head_rgbd",
715
+ "left_wrist_rgbd",
716
+ "right_wrist_rgbd"
717
+ ],
718
+ "camera_mounts": "astribot_sdk_nominal_image_up",
719
+ "controller": "rssr.drawer.center_layout.v1",
720
+ "handle_hand": "right",
721
+ "payload_hand": "left",
722
+ "drawer_closer": "right (handle hand)"
723
+ },
724
+ "files": {
725
+ "data/chunk-000/episode_000096.parquet": {
726
+ "sha256": "fde181a3c03f33ab6e49421ae95da1e9cad03753b188967b35e3030920f48b01",
727
+ "bytes": 125861
728
+ },
729
+ "videos/chunk-000/observation.images.cam_high/episode_000096.mp4": {
730
+ "sha256": "fe8713984f5d46030ac87761ff0cddbf0a60a1786cbdb3c691b39c5b2f20313b",
731
+ "bytes": 108667
732
+ },
733
+ "videos/chunk-000/observation.images.cam_left_wrist/episode_000096.mp4": {
734
+ "sha256": "b73fc98d1a4427e0b2a55fd525f9dabb8f8ed7b87ec4d5ddd53df31b1b36320e",
735
+ "bytes": 128146
736
+ },
737
+ "videos/chunk-000/observation.images.cam_right_wrist/episode_000096.mp4": {
738
+ "sha256": "804c08c7328b374c3ee814338c8be68a3c3db65ed8ef27757f1464c66d1c484b",
739
+ "bytes": 182591
740
+ }
741
+ }
742
+ }
drawer_center_layout_100/draw/evidence/episode_000097.json ADDED
@@ -0,0 +1,742 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_index": 97,
3
+ "length": 450,
4
+ "tasks": [
5
+ "Put_the_block_in_the_drawer."
6
+ ],
7
+ "stats": {
8
+ "observation.state": {
9
+ "min": [
10
+ 0.5173243284225464,
11
+ -0.8005583882331848,
12
+ 0.2798173129558563,
13
+ 0.01687580905854702,
14
+ 0.009003935381770134,
15
+ 0.9799676537513733,
16
+ -0.22267715632915497,
17
+ -0.1677941232919693,
18
+ -1.1766616106033325,
19
+ 0.9036694169044495,
20
+ -0.5849901437759399,
21
+ 0.11993376165628433,
22
+ 0.06507611274719238,
23
+ 0.019140450283885002,
24
+ 0.01914140023291111,
25
+ -0.48899632692337036,
26
+ 0.019140753895044327,
27
+ -0.4893215596675873,
28
+ 0.019141478464007378,
29
+ -0.05744754150509834,
30
+ -0.2480074018239975,
31
+ 0.32842931151390076,
32
+ 0.8243798613548279,
33
+ -0.7496774792671204,
34
+ -0.3617303967475891,
35
+ -0.5768361687660217,
36
+ 0.07911086827516556,
37
+ 0.07912374287843704,
38
+ -0.79964679479599,
39
+ 0.07912375777959824,
40
+ -0.7999072670936584,
41
+ 0.07912112027406693
42
+ ],
43
+ "max": [
44
+ 0.517540454864502,
45
+ -0.8003226518630981,
46
+ 0.28025296330451965,
47
+ 0.017613999545574188,
48
+ 0.00901151355355978,
49
+ 0.9800472855567932,
50
+ -0.02014259435236454,
51
+ -0.0012033891398459673,
52
+ -0.9796714782714844,
53
+ 1.6959296464920044,
54
+ -0.46251654624938965,
55
+ 0.6039372682571411,
56
+ 0.31770163774490356,
57
+ 0.4889964163303375,
58
+ 0.4893221855163574,
59
+ -0.019141117110848427,
60
+ 0.4889969825744629,
61
+ -0.0191413015127182,
62
+ 0.4889970123767853,
63
+ 0.6231743693351746,
64
+ -0.00855948869138956,
65
+ 1.1057521104812622,
66
+ 1.427535891532898,
67
+ 0.5862753391265869,
68
+ 0.35536858439445496,
69
+ -0.15013353526592255,
70
+ 0.7996476292610168,
71
+ 0.7998636960983276,
72
+ -0.07911182940006256,
73
+ 0.7996594309806824,
74
+ -0.07911975681781769,
75
+ 0.7996605038642883
76
+ ],
77
+ "mean": [
78
+ 0.5174529728624556,
79
+ -0.8004515881008573,
80
+ 0.28003145654996237,
81
+ 0.01734043272005187,
82
+ 0.00900708934913079,
83
+ 0.9799999115202161,
84
+ -0.13074861420939365,
85
+ -0.08685289904630432,
86
+ -1.0470821620358362,
87
+ 1.4361856493684981,
88
+ -0.5151966140667598,
89
+ 0.33156072358290356,
90
+ 0.240069976101319,
91
+ 0.23626463146259388,
92
+ 0.23638959175596636,
93
+ -0.23626463544037607,
94
+ 0.2362651165492005,
95
+ -0.23639030463579627,
96
+ 0.23626528433627553,
97
+ 0.4405257191095087,
98
+ -0.12477106748976641,
99
+ 0.5243651029136446,
100
+ 1.0847121891710494,
101
+ -0.5123737878828413,
102
+ -0.04924178658546427,
103
+ -0.4773747659391827,
104
+ 0.41742550619774393,
105
+ 0.417520892156495,
106
+ -0.41742534637451173,
107
+ 0.4174318527678649,
108
+ -0.4175088882280721,
109
+ 0.41743235995372135
110
+ ],
111
+ "std": [
112
+ 4.280563500483656e-05,
113
+ 4.310631349425344e-05,
114
+ 0.00011501319211174007,
115
+ 0.00019590099920388998,
116
+ 5.047148952916695e-07,
117
+ 4.714193442408784e-06,
118
+ 0.07814139383275924,
119
+ 0.03956884549875455,
120
+ 0.03971534622156328,
121
+ 0.24919787653122805,
122
+ 0.03739862829780532,
123
+ 0.18610310300730182,
124
+ 0.06482982417982532,
125
+ 0.21661634832410925,
126
+ 0.21676133344955392,
127
+ 0.2166162383279249,
128
+ 0.2166166399976785,
129
+ 0.21676276143470322,
130
+ 0.21661666067066584,
131
+ 0.17313408577571457,
132
+ 0.08305706074227413,
133
+ 0.19910740860300946,
134
+ 0.23266855284732094,
135
+ 0.3388738604424792,
136
+ 0.21786734572697658,
137
+ 0.1297189343491885,
138
+ 0.34015755992975,
139
+ 0.340259682208622,
140
+ 0.3401573096988905,
141
+ 0.3401645403221532,
142
+ 0.3402703839717534,
143
+ 0.3401645969529425
144
+ ],
145
+ "count": [
146
+ 450
147
+ ]
148
+ },
149
+ "action": {
150
+ "min": [
151
+ 0.5174471735954285,
152
+ -0.8004457950592041,
153
+ 0.009007098153233528,
154
+ 0.9800000190734863,
155
+ 0.2799195647239685,
156
+ 0.017286056652665138,
157
+ -0.2226715236902237,
158
+ -0.16458402574062347,
159
+ -1.1765576601028442,
160
+ 0.9037272334098816,
161
+ -0.5849707126617432,
162
+ 0.11996442079544067,
163
+ 0.06530765444040298,
164
+ 0.019999999552965164,
165
+ -0.0573594756424427,
166
+ -0.2768336236476898,
167
+ 0.35254427790641785,
168
+ 0.8284974694252014,
169
+ -0.748932957649231,
170
+ -0.36674565076828003,
171
+ -0.5796288847923279,
172
+ 0.07999999821186066
173
+ ],
174
+ "max": [
175
+ 0.5174471735954285,
176
+ -0.8004457950592041,
177
+ 0.009007098153233528,
178
+ 0.9800000190734863,
179
+ 0.2799195647239685,
180
+ 0.017286056652665138,
181
+ -0.02341632917523384,
182
+ -0.001527326530776918,
183
+ -0.9809079170227051,
184
+ 1.6958130598068237,
185
+ -0.4624997675418854,
186
+ 0.6042614579200745,
187
+ 0.31768837571144104,
188
+ 0.49499642848968506,
189
+ 0.6686453223228455,
190
+ 0.004784222226589918,
191
+ 1.1056686639785767,
192
+ 1.427110195159912,
193
+ 0.5861019492149353,
194
+ 0.35529235005378723,
195
+ -0.1501610428094864,
196
+ 0.8111943602561951
197
+ ],
198
+ "mean": [
199
+ 0.5174471735954285,
200
+ -0.8004457950592041,
201
+ 0.009007098153233528,
202
+ 0.9800000190734863,
203
+ 0.2799195647239685,
204
+ 0.017286056652665138,
205
+ -0.13162462298654848,
206
+ -0.08680909495309203,
207
+ -1.047333178387748,
208
+ 1.4363334457079568,
209
+ -0.5151820955673854,
210
+ 0.33171720761391854,
211
+ 0.2400336983634366,
212
+ 0.23853292018589045,
213
+ 0.4522771644850986,
214
+ -0.13333404344125788,
215
+ 0.536007809109158,
216
+ 1.0849963083532121,
217
+ -0.5122249108842678,
218
+ -0.05100936226436817,
219
+ -0.4791584034760793,
220
+ 0.419838045189778
221
+ ],
222
+ "std": [
223
+ 0.0,
224
+ 0.0,
225
+ 0.0,
226
+ 0.0,
227
+ 0.0,
228
+ 0.0,
229
+ 0.07733705247719773,
230
+ 0.03921725136239112,
231
+ 0.03959298905496865,
232
+ 0.24910729885568847,
233
+ 0.03741411160759469,
234
+ 0.18628263771715747,
235
+ 0.06486552738537377,
236
+ 0.21932159909562585,
237
+ 0.178696916854229,
238
+ 0.09722896939798237,
239
+ 0.19128725968611004,
240
+ 0.2319424312334705,
241
+ 0.3386611238013636,
242
+ 0.22000504478517408,
243
+ 0.13082632354301607,
244
+ 0.3428619631475032
245
+ ],
246
+ "count": [
247
+ 450
248
+ ]
249
+ },
250
+ "timestamp": {
251
+ "min": [
252
+ 0.0
253
+ ],
254
+ "max": [
255
+ 14.966666221618652
256
+ ],
257
+ "mean": [
258
+ 7.48333333350718
259
+ ],
260
+ "std": [
261
+ 4.3301163254484205
262
+ ],
263
+ "count": [
264
+ 450
265
+ ]
266
+ },
267
+ "frame_index": {
268
+ "min": [
269
+ 0.0
270
+ ],
271
+ "max": [
272
+ 449.0
273
+ ],
274
+ "mean": [
275
+ 224.5
276
+ ],
277
+ "std": [
278
+ 129.90348981712026
279
+ ],
280
+ "count": [
281
+ 450
282
+ ]
283
+ },
284
+ "episode_index": {
285
+ "min": [
286
+ 97.0
287
+ ],
288
+ "max": [
289
+ 97.0
290
+ ],
291
+ "mean": [
292
+ 97.0
293
+ ],
294
+ "std": [
295
+ 0.0
296
+ ],
297
+ "count": [
298
+ 450
299
+ ]
300
+ },
301
+ "index": {
302
+ "min": [
303
+ 43650.0
304
+ ],
305
+ "max": [
306
+ 44099.0
307
+ ],
308
+ "mean": [
309
+ 43874.5
310
+ ],
311
+ "std": [
312
+ 129.90348981712026
313
+ ],
314
+ "count": [
315
+ 450
316
+ ]
317
+ },
318
+ "task_index": {
319
+ "min": [
320
+ 0.0
321
+ ],
322
+ "max": [
323
+ 0.0
324
+ ],
325
+ "mean": [
326
+ 0.0
327
+ ],
328
+ "std": [
329
+ 0.0
330
+ ],
331
+ "count": [
332
+ 450
333
+ ]
334
+ },
335
+ "physical_index": {
336
+ "min": [
337
+ 97.0
338
+ ],
339
+ "max": [
340
+ 97.0
341
+ ],
342
+ "mean": [
343
+ 97.0
344
+ ],
345
+ "std": [
346
+ 0.0
347
+ ],
348
+ "count": [
349
+ 450
350
+ ]
351
+ },
352
+ "source_case_index": {
353
+ "min": [
354
+ 48.0
355
+ ],
356
+ "max": [
357
+ 48.0
358
+ ],
359
+ "mean": [
360
+ 48.0
361
+ ],
362
+ "std": [
363
+ 0.0
364
+ ],
365
+ "count": [
366
+ 450
367
+ ]
368
+ },
369
+ "appearance_index": {
370
+ "min": [
371
+ 0.0
372
+ ],
373
+ "max": [
374
+ 0.0
375
+ ],
376
+ "mean": [
377
+ 0.0
378
+ ],
379
+ "std": [
380
+ 0.0
381
+ ],
382
+ "count": [
383
+ 450
384
+ ]
385
+ },
386
+ "physical_query_time_s": {
387
+ "min": [
388
+ 0.0
389
+ ],
390
+ "max": [
391
+ 14.965000000006798
392
+ ],
393
+ "mean": [
394
+ 7.483329629629644
395
+ ],
396
+ "std": [
397
+ 4.330109927180601
398
+ ],
399
+ "count": [
400
+ 450
401
+ ]
402
+ },
403
+ "state_time_s": {
404
+ "min": [
405
+ 0.0
406
+ ],
407
+ "max": [
408
+ 14.965000000006798
409
+ ],
410
+ "mean": [
411
+ 7.48001111111215
412
+ ],
413
+ "std": [
414
+ 4.330119275994038
415
+ ],
416
+ "count": [
417
+ 450
418
+ ]
419
+ },
420
+ "command_time_s": {
421
+ "min": [
422
+ 0.0
423
+ ],
424
+ "max": [
425
+ 14.965000000006798
426
+ ],
427
+ "mean": [
428
+ 7.48001111111215
429
+ ],
430
+ "std": [
431
+ 4.330119275994038
432
+ ],
433
+ "count": [
434
+ 450
435
+ ]
436
+ },
437
+ "state_source_index": {
438
+ "min": [
439
+ 0.0
440
+ ],
441
+ "max": [
442
+ 1497.0
443
+ ],
444
+ "mean": [
445
+ 748.0022222222223
446
+ ],
447
+ "std": [
448
+ 433.01384888753273
449
+ ],
450
+ "count": [
451
+ 450
452
+ ]
453
+ },
454
+ "command_source_index": {
455
+ "min": [
456
+ 0.0
457
+ ],
458
+ "max": [
459
+ 29930.0
460
+ ],
461
+ "mean": [
462
+ 14960.022222222222
463
+ ],
464
+ "std": [
465
+ 8660.238551984809
466
+ ],
467
+ "count": [
468
+ 450
469
+ ]
470
+ },
471
+ "observation.images.cam_high": {
472
+ "mean": [
473
+ [
474
+ [
475
+ 0.32776553512029805
476
+ ]
477
+ ],
478
+ [
479
+ [
480
+ 0.32287682885654256
481
+ ]
482
+ ],
483
+ [
484
+ [
485
+ 0.31429711259503795
486
+ ]
487
+ ]
488
+ ],
489
+ "std": [
490
+ [
491
+ [
492
+ 0.3162839964431051
493
+ ]
494
+ ],
495
+ [
496
+ [
497
+ 0.31151047472602506
498
+ ]
499
+ ],
500
+ [
501
+ [
502
+ 0.3046748547625804
503
+ ]
504
+ ]
505
+ ],
506
+ "min": [
507
+ [
508
+ [
509
+ 0.0
510
+ ]
511
+ ],
512
+ [
513
+ [
514
+ 0.0
515
+ ]
516
+ ],
517
+ [
518
+ [
519
+ 0.0
520
+ ]
521
+ ]
522
+ ],
523
+ "max": [
524
+ [
525
+ [
526
+ 0.8392156862745098
527
+ ]
528
+ ],
529
+ [
530
+ [
531
+ 0.8470588235294118
532
+ ]
533
+ ],
534
+ [
535
+ [
536
+ 0.8470588235294118
537
+ ]
538
+ ]
539
+ ],
540
+ "count": [
541
+ 100
542
+ ]
543
+ },
544
+ "observation.images.cam_left_wrist": {
545
+ "mean": [
546
+ [
547
+ [
548
+ 0.3344458361469588
549
+ ]
550
+ ],
551
+ [
552
+ [
553
+ 0.32489214279461787
554
+ ]
555
+ ],
556
+ [
557
+ [
558
+ 0.3173182265093538
559
+ ]
560
+ ]
561
+ ],
562
+ "std": [
563
+ [
564
+ [
565
+ 0.32105876092948443
566
+ ]
567
+ ],
568
+ [
569
+ [
570
+ 0.31195537171691956
571
+ ]
572
+ ],
573
+ [
574
+ [
575
+ 0.30429301131729136
576
+ ]
577
+ ]
578
+ ],
579
+ "min": [
580
+ [
581
+ [
582
+ 0.0
583
+ ]
584
+ ],
585
+ [
586
+ [
587
+ 0.0
588
+ ]
589
+ ],
590
+ [
591
+ [
592
+ 0.0
593
+ ]
594
+ ]
595
+ ],
596
+ "max": [
597
+ [
598
+ [
599
+ 0.9764705882352941
600
+ ]
601
+ ],
602
+ [
603
+ [
604
+ 1.0
605
+ ]
606
+ ],
607
+ [
608
+ [
609
+ 1.0
610
+ ]
611
+ ]
612
+ ],
613
+ "count": [
614
+ 100
615
+ ]
616
+ },
617
+ "observation.images.cam_right_wrist": {
618
+ "mean": [
619
+ [
620
+ [
621
+ 0.35937795508828535
622
+ ]
623
+ ],
624
+ [
625
+ [
626
+ 0.35275312077956184
627
+ ]
628
+ ],
629
+ [
630
+ [
631
+ 0.34127440898234296
632
+ ]
633
+ ]
634
+ ],
635
+ "std": [
636
+ [
637
+ [
638
+ 0.35431767753123966
639
+ ]
640
+ ],
641
+ [
642
+ [
643
+ 0.34770717682036106
644
+ ]
645
+ ],
646
+ [
647
+ [
648
+ 0.3368777587791432
649
+ ]
650
+ ]
651
+ ],
652
+ "min": [
653
+ [
654
+ [
655
+ 0.0
656
+ ]
657
+ ],
658
+ [
659
+ [
660
+ 0.0
661
+ ]
662
+ ],
663
+ [
664
+ [
665
+ 0.0
666
+ ]
667
+ ]
668
+ ],
669
+ "max": [
670
+ [
671
+ [
672
+ 0.9450980392156862
673
+ ]
674
+ ],
675
+ [
676
+ [
677
+ 0.984313725490196
678
+ ]
679
+ ],
680
+ [
681
+ [
682
+ 0.9725490196078431
683
+ ]
684
+ ]
685
+ ],
686
+ "count": [
687
+ 100
688
+ ]
689
+ }
690
+ },
691
+ "provenance": {
692
+ "task": "Put_the_block_in_the_drawer.",
693
+ "case_id": "drawer_center_train_097",
694
+ "visual_side": "center",
695
+ "split": "train",
696
+ "sampler_index": 97,
697
+ "block_center_xy_m": [
698
+ 0.25892811776238506,
699
+ -0.4689009189398221
700
+ ],
701
+ "cabinet_center_xy_m": [
702
+ 0.005679999999999963,
703
+ -0.7523833819241982
704
+ ],
705
+ "spec": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_spec_20261101_attempt_01",
706
+ "spec_scene_sha256": "8d9a5e8cb7e5f29f61b312356c5e9b82176aee08ad1e69e58ea3568d23170210",
707
+ "native": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_097/attempt_01/native",
708
+ "native_receipt_sha256": "339ebe994d63f376776c55b314fb7571fb3e5990da8b954cf9edf999be648aa0",
709
+ "batch_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_097/attempt_01",
710
+ "render_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_097/attempt_01",
711
+ "source": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_097/attempt_01/source",
712
+ "source_metadata_sha256": "1dfe94837ff9c2e94b529bf474a83ba20f74e359c53ce51d56ffc9846316924b",
713
+ "camera_order": [
714
+ "head_rgbd",
715
+ "left_wrist_rgbd",
716
+ "right_wrist_rgbd"
717
+ ],
718
+ "camera_mounts": "astribot_sdk_nominal_image_up",
719
+ "controller": "rssr.drawer.center_layout.v1",
720
+ "handle_hand": "right",
721
+ "payload_hand": "left",
722
+ "drawer_closer": "right (handle hand)"
723
+ },
724
+ "files": {
725
+ "data/chunk-000/episode_000097.parquet": {
726
+ "sha256": "7ecc72f54777ab854c320e132f060d6efd59aabde67c29fe69772763b650e0c1",
727
+ "bytes": 125828
728
+ },
729
+ "videos/chunk-000/observation.images.cam_high/episode_000097.mp4": {
730
+ "sha256": "0e6ff71546cc84c73aff2a5b26770825ad75054c4b860f172be44b08f51041a6",
731
+ "bytes": 108199
732
+ },
733
+ "videos/chunk-000/observation.images.cam_left_wrist/episode_000097.mp4": {
734
+ "sha256": "2bbdcd48a12a512aca4cbbc4c92c8cd6dbd1578f4d40bc3016895a238e1f5e9a",
735
+ "bytes": 127884
736
+ },
737
+ "videos/chunk-000/observation.images.cam_right_wrist/episode_000097.mp4": {
738
+ "sha256": "ec87ee619f56c75355bb9d2d43b54e2d0e381624f9d97a4657016f20a3992de1",
739
+ "bytes": 181449
740
+ }
741
+ }
742
+ }
drawer_center_layout_100/draw/evidence/episode_000098.json ADDED
@@ -0,0 +1,742 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_index": 98,
3
+ "length": 450,
4
+ "tasks": [
5
+ "Put_the_block_in_the_drawer."
6
+ ],
7
+ "stats": {
8
+ "observation.state": {
9
+ "min": [
10
+ 0.5173431634902954,
11
+ -0.8005551099777222,
12
+ 0.27983394265174866,
13
+ 0.016887307167053223,
14
+ 0.009004533290863037,
15
+ 0.9799666404724121,
16
+ -0.210837259888649,
17
+ -0.19567319750785828,
18
+ -1.1766616106033325,
19
+ 0.9796931147575378,
20
+ -0.5919973850250244,
21
+ 0.10074534267187119,
22
+ 0.06507611274719238,
23
+ 0.019144129008054733,
24
+ 0.01914500817656517,
25
+ -0.4889923334121704,
26
+ 0.019144332036376,
27
+ -0.48931923508644104,
28
+ 0.019145045429468155,
29
+ -0.05744754150509834,
30
+ -0.2428526133298874,
31
+ 0.3247862458229065,
32
+ 0.8381325006484985,
33
+ -0.756064772605896,
34
+ -0.37529149651527405,
35
+ -0.5726805925369263,
36
+ 0.0778672993183136,
37
+ 0.07786524295806885,
38
+ -0.8010067939758301,
39
+ 0.07780145108699799,
40
+ -0.801306426525116,
41
+ 0.07780718803405762
42
+ ],
43
+ "max": [
44
+ 0.51753830909729,
45
+ -0.8003416657447815,
46
+ 0.28022703528404236,
47
+ 0.017595632001757622,
48
+ 0.009009646251797676,
49
+ 0.9800459742546082,
50
+ 0.039128486067056656,
51
+ -0.016185756772756577,
52
+ -0.9822337031364441,
53
+ 1.71712064743042,
54
+ -0.4739063084125519,
55
+ 0.579616367816925,
56
+ 0.3172656297683716,
57
+ 0.4889924228191376,
58
+ 0.4893133342266083,
59
+ -0.019144844263792038,
60
+ 0.4889937937259674,
61
+ -0.019144929945468903,
62
+ 0.4889938533306122,
63
+ 0.6180484294891357,
64
+ -0.007061350625008345,
65
+ 1.1057521104812622,
66
+ 1.435250163078308,
67
+ 0.5862753391265869,
68
+ 0.35541579127311707,
69
+ -0.15013353526592255,
70
+ 0.8010063767433167,
71
+ 0.8012173175811768,
72
+ -0.07786763459444046,
73
+ 0.8010161519050598,
74
+ -0.07775556296110153,
75
+ 0.8010168075561523
76
+ ],
77
+ "mean": [
78
+ 0.5174517283174727,
79
+ -0.800450437201394,
80
+ 0.28001915242936876,
81
+ 0.017335404319067795,
82
+ 0.009007083866745234,
83
+ 0.9800001537799835,
84
+ -0.10479773242256164,
85
+ -0.10702102281567123,
86
+ -1.0499742133087582,
87
+ 1.4664284144507513,
88
+ -0.5264137775368161,
89
+ 0.3166573565204938,
90
+ 0.23890484968821207,
91
+ 0.23378672108882004,
92
+ 0.23390871456099882,
93
+ -0.23378671817067598,
94
+ 0.23378731601768069,
95
+ -0.233910302279724,
96
+ 0.23378747526556254,
97
+ 0.4357465030933316,
98
+ -0.12249382036117216,
99
+ 0.5221851040919622,
100
+ 1.0968312254216936,
101
+ -0.5161753537329948,
102
+ -0.06090374427144222,
103
+ -0.4738469992412461,
104
+ 0.41795099367698035,
105
+ 0.41804624259471895,
106
+ -0.4179507919318146,
107
+ 0.41795650091436176,
108
+ -0.4180365667409367,
109
+ 0.4179570400218169
110
+ ],
111
+ "std": [
112
+ 4.1671380210285213e-05,
113
+ 4.1907841711540586e-05,
114
+ 0.00011592734388017511,
115
+ 0.0001839218593872178,
116
+ 4.493163784821756e-07,
117
+ 4.4579214693237165e-06,
118
+ 0.0924916898628686,
119
+ 0.0382269599148133,
120
+ 0.038700420893171654,
121
+ 0.23529769767641973,
122
+ 0.037842068215219904,
123
+ 0.1866030586870071,
124
+ 0.06558094842020686,
125
+ 0.21639508629659512,
126
+ 0.21653819229723592,
127
+ 0.21639496975563122,
128
+ 0.21639551496374085,
129
+ 0.21654067076839698,
130
+ 0.21639552660235697,
131
+ 0.17268593474954672,
132
+ 0.08193749825846544,
133
+ 0.1997601826060589,
134
+ 0.22848303533979167,
135
+ 0.3401099311787731,
136
+ 0.2218368857127838,
137
+ 0.12710147730030297,
138
+ 0.3402643037694225,
139
+ 0.3403666643558314,
140
+ 0.34026409919570866,
141
+ 0.3402714985376916,
142
+ 0.34037604391741705,
143
+ 0.34027151929242144
144
+ ],
145
+ "count": [
146
+ 450
147
+ ]
148
+ },
149
+ "action": {
150
+ "min": [
151
+ 0.5174471735954285,
152
+ -0.8004457950592041,
153
+ 0.009007098153233528,
154
+ 0.9800000190734863,
155
+ 0.2799195647239685,
156
+ 0.017286056652665138,
157
+ -0.21083180606365204,
158
+ -0.1970527321100235,
159
+ -1.1765660047531128,
160
+ 0.9797586798667908,
161
+ -0.5919960737228394,
162
+ 0.10077489167451859,
163
+ 0.0652884766459465,
164
+ 0.019999999552965164,
165
+ -0.05736151337623596,
166
+ -0.26978835463523865,
167
+ 0.34718722105026245,
168
+ 0.8422629237174988,
169
+ -0.7554084658622742,
170
+ -0.38000500202178955,
171
+ -0.5753943920135498,
172
+ 0.07999999821186066
173
+ ],
174
+ "max": [
175
+ 0.5174471735954285,
176
+ -0.8004457950592041,
177
+ 0.009007098153233528,
178
+ 0.9800000190734863,
179
+ 0.2799195647239685,
180
+ 0.017286056652665138,
181
+ 0.036784686148166656,
182
+ -0.01648402027785778,
183
+ -0.983253002166748,
184
+ 1.7170028686523438,
185
+ -0.47389093041419983,
186
+ 0.580029308795929,
187
+ 0.3172524571418762,
188
+ 0.4949924349784851,
189
+ 0.6622700095176697,
190
+ 0.006588959600776434,
191
+ 1.105668067932129,
192
+ 1.4349340200424194,
193
+ 0.5861015319824219,
194
+ 0.35537272691726685,
195
+ -0.15016137063503265,
196
+ 0.8110731244087219
197
+ ],
198
+ "mean": [
199
+ 0.5174471735954285,
200
+ -0.8004457950592041,
201
+ 0.009007098153233528,
202
+ 0.9800000190734863,
203
+ 0.2799195647239685,
204
+ 0.017286056652665138,
205
+ -0.10564346850779353,
206
+ -0.10699214964691135,
207
+ -1.0502379324701097,
208
+ 1.4665731721454196,
209
+ -0.5263996576600605,
210
+ 0.31681257630387943,
211
+ 0.23886955299311213,
212
+ 0.23601704988214706,
213
+ 0.44633280495647343,
214
+ -0.1302855370784851,
215
+ 0.5328188643852869,
216
+ 1.0970821585920123,
217
+ -0.5160529009449399,
218
+ -0.06255477901561082,
219
+ -0.4753945242365201,
220
+ 0.42038475536637837
221
+ ],
222
+ "std": [
223
+ 0.0,
224
+ 0.0,
225
+ 0.0,
226
+ 0.0,
227
+ 0.0,
228
+ 0.0,
229
+ 0.09173984876077315,
230
+ 0.03793816969047865,
231
+ 0.03859267366169586,
232
+ 0.2352059991242168,
233
+ 0.03785831944472002,
234
+ 0.18677936737656595,
235
+ 0.06561297083994888,
236
+ 0.21908655563821838,
237
+ 0.17749301172781626,
238
+ 0.09513725115465303,
239
+ 0.19247064185137874,
240
+ 0.22786481057612043,
241
+ 0.33991296243203034,
242
+ 0.2238439983373796,
243
+ 0.1280961886149924,
244
+ 0.34295573022666126
245
+ ],
246
+ "count": [
247
+ 450
248
+ ]
249
+ },
250
+ "timestamp": {
251
+ "min": [
252
+ 0.0
253
+ ],
254
+ "max": [
255
+ 14.966666221618652
256
+ ],
257
+ "mean": [
258
+ 7.48333333350718
259
+ ],
260
+ "std": [
261
+ 4.3301163254484205
262
+ ],
263
+ "count": [
264
+ 450
265
+ ]
266
+ },
267
+ "frame_index": {
268
+ "min": [
269
+ 0.0
270
+ ],
271
+ "max": [
272
+ 449.0
273
+ ],
274
+ "mean": [
275
+ 224.5
276
+ ],
277
+ "std": [
278
+ 129.90348981712026
279
+ ],
280
+ "count": [
281
+ 450
282
+ ]
283
+ },
284
+ "episode_index": {
285
+ "min": [
286
+ 98.0
287
+ ],
288
+ "max": [
289
+ 98.0
290
+ ],
291
+ "mean": [
292
+ 98.0
293
+ ],
294
+ "std": [
295
+ 0.0
296
+ ],
297
+ "count": [
298
+ 450
299
+ ]
300
+ },
301
+ "index": {
302
+ "min": [
303
+ 44100.0
304
+ ],
305
+ "max": [
306
+ 44549.0
307
+ ],
308
+ "mean": [
309
+ 44324.5
310
+ ],
311
+ "std": [
312
+ 129.90348981712026
313
+ ],
314
+ "count": [
315
+ 450
316
+ ]
317
+ },
318
+ "task_index": {
319
+ "min": [
320
+ 0.0
321
+ ],
322
+ "max": [
323
+ 0.0
324
+ ],
325
+ "mean": [
326
+ 0.0
327
+ ],
328
+ "std": [
329
+ 0.0
330
+ ],
331
+ "count": [
332
+ 450
333
+ ]
334
+ },
335
+ "physical_index": {
336
+ "min": [
337
+ 98.0
338
+ ],
339
+ "max": [
340
+ 98.0
341
+ ],
342
+ "mean": [
343
+ 98.0
344
+ ],
345
+ "std": [
346
+ 0.0
347
+ ],
348
+ "count": [
349
+ 450
350
+ ]
351
+ },
352
+ "source_case_index": {
353
+ "min": [
354
+ 48.0
355
+ ],
356
+ "max": [
357
+ 48.0
358
+ ],
359
+ "mean": [
360
+ 48.0
361
+ ],
362
+ "std": [
363
+ 0.0
364
+ ],
365
+ "count": [
366
+ 450
367
+ ]
368
+ },
369
+ "appearance_index": {
370
+ "min": [
371
+ 0.0
372
+ ],
373
+ "max": [
374
+ 0.0
375
+ ],
376
+ "mean": [
377
+ 0.0
378
+ ],
379
+ "std": [
380
+ 0.0
381
+ ],
382
+ "count": [
383
+ 450
384
+ ]
385
+ },
386
+ "physical_query_time_s": {
387
+ "min": [
388
+ 0.0
389
+ ],
390
+ "max": [
391
+ 14.965000000006798
392
+ ],
393
+ "mean": [
394
+ 7.483329629629644
395
+ ],
396
+ "std": [
397
+ 4.330109927180601
398
+ ],
399
+ "count": [
400
+ 450
401
+ ]
402
+ },
403
+ "state_time_s": {
404
+ "min": [
405
+ 0.0
406
+ ],
407
+ "max": [
408
+ 14.965000000006798
409
+ ],
410
+ "mean": [
411
+ 7.48001111111215
412
+ ],
413
+ "std": [
414
+ 4.330119275994038
415
+ ],
416
+ "count": [
417
+ 450
418
+ ]
419
+ },
420
+ "command_time_s": {
421
+ "min": [
422
+ 0.0
423
+ ],
424
+ "max": [
425
+ 14.965000000006798
426
+ ],
427
+ "mean": [
428
+ 7.48001111111215
429
+ ],
430
+ "std": [
431
+ 4.330119275994038
432
+ ],
433
+ "count": [
434
+ 450
435
+ ]
436
+ },
437
+ "state_source_index": {
438
+ "min": [
439
+ 0.0
440
+ ],
441
+ "max": [
442
+ 1497.0
443
+ ],
444
+ "mean": [
445
+ 748.0022222222223
446
+ ],
447
+ "std": [
448
+ 433.01384888753273
449
+ ],
450
+ "count": [
451
+ 450
452
+ ]
453
+ },
454
+ "command_source_index": {
455
+ "min": [
456
+ 0.0
457
+ ],
458
+ "max": [
459
+ 29930.0
460
+ ],
461
+ "mean": [
462
+ 14960.022222222222
463
+ ],
464
+ "std": [
465
+ 8660.238551984809
466
+ ],
467
+ "count": [
468
+ 450
469
+ ]
470
+ },
471
+ "observation.images.cam_high": {
472
+ "mean": [
473
+ [
474
+ [
475
+ 0.32772558007578034
476
+ ]
477
+ ],
478
+ [
479
+ [
480
+ 0.32284635807447987
481
+ ]
482
+ ],
483
+ [
484
+ [
485
+ 0.3141593379539316
486
+ ]
487
+ ]
488
+ ],
489
+ "std": [
490
+ [
491
+ [
492
+ 0.3162226408981693
493
+ ]
494
+ ],
495
+ [
496
+ [
497
+ 0.31148134688247436
498
+ ]
499
+ ],
500
+ [
501
+ [
502
+ 0.3045396493910058
503
+ ]
504
+ ]
505
+ ],
506
+ "min": [
507
+ [
508
+ [
509
+ 0.0
510
+ ]
511
+ ],
512
+ [
513
+ [
514
+ 0.0
515
+ ]
516
+ ],
517
+ [
518
+ [
519
+ 0.0
520
+ ]
521
+ ]
522
+ ],
523
+ "max": [
524
+ [
525
+ [
526
+ 0.8392156862745098
527
+ ]
528
+ ],
529
+ [
530
+ [
531
+ 0.8392156862745098
532
+ ]
533
+ ],
534
+ [
535
+ [
536
+ 0.8392156862745098
537
+ ]
538
+ ]
539
+ ],
540
+ "count": [
541
+ 100
542
+ ]
543
+ },
544
+ "observation.images.cam_left_wrist": {
545
+ "mean": [
546
+ [
547
+ [
548
+ 0.3356014593337335
549
+ ]
550
+ ],
551
+ [
552
+ [
553
+ 0.32604672337685076
554
+ ]
555
+ ],
556
+ [
557
+ [
558
+ 0.3184846110319128
559
+ ]
560
+ ]
561
+ ],
562
+ "std": [
563
+ [
564
+ [
565
+ 0.3221540796801091
566
+ ]
567
+ ],
568
+ [
569
+ [
570
+ 0.3131132239338733
571
+ ]
572
+ ],
573
+ [
574
+ [
575
+ 0.3055035739707618
576
+ ]
577
+ ]
578
+ ],
579
+ "min": [
580
+ [
581
+ [
582
+ 0.0
583
+ ]
584
+ ],
585
+ [
586
+ [
587
+ 0.0
588
+ ]
589
+ ],
590
+ [
591
+ [
592
+ 0.0
593
+ ]
594
+ ]
595
+ ],
596
+ "max": [
597
+ [
598
+ [
599
+ 0.9647058823529412
600
+ ]
601
+ ],
602
+ [
603
+ [
604
+ 0.9921568627450981
605
+ ]
606
+ ],
607
+ [
608
+ [
609
+ 0.984313725490196
610
+ ]
611
+ ]
612
+ ],
613
+ "count": [
614
+ 100
615
+ ]
616
+ },
617
+ "observation.images.cam_right_wrist": {
618
+ "mean": [
619
+ [
620
+ [
621
+ 0.35966989764655866
622
+ ]
623
+ ],
624
+ [
625
+ [
626
+ 0.35306810927496
627
+ ]
628
+ ],
629
+ [
630
+ [
631
+ 0.34160226121698684
632
+ ]
633
+ ]
634
+ ],
635
+ "std": [
636
+ [
637
+ [
638
+ 0.35458694494317317
639
+ ]
640
+ ],
641
+ [
642
+ [
643
+ 0.34793863425397437
644
+ ]
645
+ ],
646
+ [
647
+ [
648
+ 0.33714805228570305
649
+ ]
650
+ ]
651
+ ],
652
+ "min": [
653
+ [
654
+ [
655
+ 0.0
656
+ ]
657
+ ],
658
+ [
659
+ [
660
+ 0.0
661
+ ]
662
+ ],
663
+ [
664
+ [
665
+ 0.0
666
+ ]
667
+ ]
668
+ ],
669
+ "max": [
670
+ [
671
+ [
672
+ 0.9529411764705882
673
+ ]
674
+ ],
675
+ [
676
+ [
677
+ 0.9882352941176471
678
+ ]
679
+ ],
680
+ [
681
+ [
682
+ 0.9764705882352941
683
+ ]
684
+ ]
685
+ ],
686
+ "count": [
687
+ 100
688
+ ]
689
+ }
690
+ },
691
+ "provenance": {
692
+ "task": "Put_the_block_in_the_drawer.",
693
+ "case_id": "drawer_center_train_098",
694
+ "visual_side": "center",
695
+ "split": "train",
696
+ "sampler_index": 98,
697
+ "block_center_xy_m": [
698
+ 0.2710176282868669,
699
+ -0.443404617043956
700
+ ],
701
+ "cabinet_center_xy_m": [
702
+ 0.009679999999999966,
703
+ -0.7495262390670553
704
+ ],
705
+ "spec": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_spec_20261101_attempt_01",
706
+ "spec_scene_sha256": "092aa0cb021cf857dc71d63cb684671a195aa38a40619ccb116e2f957bc1a418",
707
+ "native": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_098/attempt_01/native",
708
+ "native_receipt_sha256": "5b8d51163881a1d8b642c111bdf6c10dbc0cd4a3f34f6af2793f8344ead5248c",
709
+ "batch_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_098/attempt_01",
710
+ "render_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_098/attempt_01",
711
+ "source": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_098/attempt_01/source",
712
+ "source_metadata_sha256": "bfba764d4ed3c72bb12bb9b23352379c5a75bda22e07a88ed5f88cc7a466d0a1",
713
+ "camera_order": [
714
+ "head_rgbd",
715
+ "left_wrist_rgbd",
716
+ "right_wrist_rgbd"
717
+ ],
718
+ "camera_mounts": "astribot_sdk_nominal_image_up",
719
+ "controller": "rssr.drawer.center_layout.v1",
720
+ "handle_hand": "right",
721
+ "payload_hand": "left",
722
+ "drawer_closer": "right (handle hand)"
723
+ },
724
+ "files": {
725
+ "data/chunk-000/episode_000098.parquet": {
726
+ "sha256": "7503277dd59e3b31a5955d9b96114b7ef52eeb70cffe6294f19899db9af39845",
727
+ "bytes": 126145
728
+ },
729
+ "videos/chunk-000/observation.images.cam_high/episode_000098.mp4": {
730
+ "sha256": "5a8eda4d8c0cf4cb4552b4e6949c88aa8e44ac49fe0818c7cbeafaac349f40fc",
731
+ "bytes": 109196
732
+ },
733
+ "videos/chunk-000/observation.images.cam_left_wrist/episode_000098.mp4": {
734
+ "sha256": "a586b67c790a1d2b8ab81267ca9b3a5b9f6fef75908dfc00c26af952d959c64f",
735
+ "bytes": 128058
736
+ },
737
+ "videos/chunk-000/observation.images.cam_right_wrist/episode_000098.mp4": {
738
+ "sha256": "2e78f9adf47222740237d1bd7a3062b363d42c51a57354826aa767957e3a54c1",
739
+ "bytes": 181739
740
+ }
741
+ }
742
+ }
drawer_center_layout_100/draw/evidence/episode_000099.json ADDED
@@ -0,0 +1,742 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_index": 99,
3
+ "length": 450,
4
+ "tasks": [
5
+ "Put_the_block_in_the_drawer."
6
+ ],
7
+ "stats": {
8
+ "observation.state": {
9
+ "min": [
10
+ 0.5173143744468689,
11
+ -0.8005731701850891,
12
+ 0.2797695994377136,
13
+ 0.016781171783804893,
14
+ 0.009004070423543453,
15
+ 0.9799666404724121,
16
+ -0.22063416242599487,
17
+ -0.16702616214752197,
18
+ -1.1766616106033325,
19
+ 0.9885356426239014,
20
+ -0.5847311019897461,
21
+ 0.05849269777536392,
22
+ 0.06507611274719238,
23
+ 0.019140832126140594,
24
+ 0.019141769036650658,
25
+ -0.4889920651912689,
26
+ 0.01914113014936447,
27
+ -0.489317923784256,
28
+ 0.01914185844361782,
29
+ -0.05744754150509834,
30
+ -0.28168362379074097,
31
+ 0.33733874559402466,
32
+ 0.8599414825439453,
33
+ -0.7562376856803894,
34
+ -0.33911362290382385,
35
+ -0.593721330165863,
36
+ 0.07918036729097366,
37
+ 0.07917580008506775,
38
+ -0.8008164763450623,
39
+ 0.07914337515830994,
40
+ -0.801118016242981,
41
+ 0.0791459009051323
42
+ ],
43
+ "max": [
44
+ 0.517557680606842,
45
+ -0.8003126382827759,
46
+ 0.2803437113761902,
47
+ 0.01765214465558529,
48
+ 0.00900919921696186,
49
+ 0.9800651669502258,
50
+ 0.0081943953409791,
51
+ 0.024245137348771095,
52
+ -0.9469881057739258,
53
+ 1.7347304821014404,
54
+ -0.4070357382297516,
55
+ 0.5463442802429199,
56
+ 0.4103250503540039,
57
+ 0.4889921545982361,
58
+ 0.48931699991226196,
59
+ -0.01914149895310402,
60
+ 0.4889928996562958,
61
+ -0.01914169080555439,
62
+ 0.48899292945861816,
63
+ 0.599514365196228,
64
+ -0.03421682491898537,
65
+ 1.1057521104812622,
66
+ 1.4430676698684692,
67
+ 0.5862753391265869,
68
+ 0.3553593158721924,
69
+ -0.15013353526592255,
70
+ 0.8008166551589966,
71
+ 0.8010212182998657,
72
+ -0.07917945832014084,
73
+ 0.8008267879486084,
74
+ -0.07916159927845001,
75
+ 0.8008279204368591
76
+ ],
77
+ "mean": [
78
+ 0.5174559851487478,
79
+ -0.8004547610547808,
80
+ 0.2800836503505707,
81
+ 0.017343470806048977,
82
+ 0.009007084026104874,
83
+ 0.9800003265009986,
84
+ -0.11579477462755879,
85
+ -0.05905186437400213,
86
+ -1.013240820699268,
87
+ 1.4861919286515977,
88
+ -0.4733074080281787,
89
+ 0.27446800026628704,
90
+ 0.33790212051735985,
91
+ 0.22534857413007153,
92
+ 0.22546551917576127,
93
+ -0.225348573649923,
94
+ 0.225349032903711,
95
+ -0.22546637698180147,
96
+ 0.22534919004887344,
97
+ 0.4213794229598716,
98
+ -0.15347327200902833,
99
+ 0.5308284733692805,
100
+ 1.1069247949123382,
101
+ -0.5166316379792988,
102
+ -0.036947803342352724,
103
+ -0.48408732020192674,
104
+ 0.4160665503475401,
105
+ 0.4161664953496721,
106
+ -0.4160663719806406,
107
+ 0.4160748217834367,
108
+ -0.4161412321858936,
109
+ 0.41607530724671155
110
+ ],
111
+ "std": [
112
+ 5.648227417487944e-05,
113
+ 5.676803861128498e-05,
114
+ 0.00014336961688300875,
115
+ 0.00023455881577727865,
116
+ 4.457107399380006e-07,
117
+ 5.328259492035914e-06,
118
+ 0.08943635178456828,
119
+ 0.04325705767112966,
120
+ 0.039625362613910455,
121
+ 0.23456275092948106,
122
+ 0.04651306289978076,
123
+ 0.18870415071436078,
124
+ 0.06565639651931059,
125
+ 0.21544136759439042,
126
+ 0.2155837670626956,
127
+ 0.21544126184641593,
128
+ 0.21544165910492785,
129
+ 0.2155854028819774,
130
+ 0.21544167934800054,
131
+ 0.16808779793980458,
132
+ 0.08224712220279123,
133
+ 0.1960536594995591,
134
+ 0.2231583361095127,
135
+ 0.34123593460239704,
136
+ 0.20976384428830055,
137
+ 0.1340778172253742,
138
+ 0.34016028774531726,
139
+ 0.34026794634682495,
140
+ 0.340160106167557,
141
+ 0.34016957449101204,
142
+ 0.34027483303606737,
143
+ 0.34016961417934105
144
+ ],
145
+ "count": [
146
+ 450
147
+ ]
148
+ },
149
+ "action": {
150
+ "min": [
151
+ 0.5174471735954285,
152
+ -0.8004457950592041,
153
+ 0.009007098153233528,
154
+ 0.9800000190734863,
155
+ 0.2799195647239685,
156
+ 0.017286056652665138,
157
+ -0.2206258922815323,
158
+ -0.1639733612537384,
159
+ -1.1765568256378174,
160
+ 0.9889556169509888,
161
+ -0.5847100019454956,
162
+ 0.05852046608924866,
163
+ 0.06531017273664474,
164
+ 0.019999999552965164,
165
+ -0.05735945701599121,
166
+ -0.31419846415519714,
167
+ 0.3694218695163727,
168
+ 0.8648999929428101,
169
+ -0.7555073499679565,
170
+ -0.3449198305606842,
171
+ -0.5990372896194458,
172
+ 0.07999999821186066
173
+ ],
174
+ "max": [
175
+ 0.5174471735954285,
176
+ -0.8004457950592041,
177
+ 0.009007098153233528,
178
+ 0.9800000190734863,
179
+ 0.2799195647239685,
180
+ 0.017286056652665138,
181
+ 0.006940997671335936,
182
+ 0.02380121871829033,
183
+ -0.9479377865791321,
184
+ 1.7346066236495972,
185
+ -0.4070037603378296,
186
+ 0.5467084646224976,
187
+ 0.4103153347969055,
188
+ 0.4949921667575836,
189
+ 0.6552977561950684,
190
+ -0.02092854306101799,
191
+ 1.1056689023971558,
192
+ 1.4434428215026855,
193
+ 0.5861021280288696,
194
+ 0.3552852272987366,
195
+ -0.15016107261180878,
196
+ 0.8068166971206665
197
+ ],
198
+ "mean": [
199
+ 0.5174471735954285,
200
+ -0.8004457950592041,
201
+ 0.009007098153233528,
202
+ 0.9800000190734863,
203
+ 0.2799195647239685,
204
+ 0.017286056652665138,
205
+ -0.11660721620801875,
206
+ -0.05894349677358857,
207
+ -1.0134377139144473,
208
+ 1.4863341776529948,
209
+ -0.4732876384920544,
210
+ 0.2746116951935821,
211
+ 0.33786397680640223,
212
+ 0.22747676444550355,
213
+ 0.4395900362999075,
214
+ -0.16329436361375782,
215
+ 0.5475099127822453,
216
+ 1.107693367931578,
217
+ -0.5164665154005504,
218
+ -0.03906584116416828,
219
+ -0.487064990401268,
220
+ 0.4184717908832762
221
+ ],
222
+ "std": [
223
+ 0.0,
224
+ 0.0,
225
+ 0.0,
226
+ 0.0,
227
+ 0.0,
228
+ 0.0,
229
+ 0.08872832888056302,
230
+ 0.04285301511007006,
231
+ 0.039337033346400006,
232
+ 0.23447193140460795,
233
+ 0.0465334732072288,
234
+ 0.18887253819529032,
235
+ 0.06569613881881566,
236
+ 0.21810407464269352,
237
+ 0.17586205323522094,
238
+ 0.09890912641389513,
239
+ 0.1856729770347707,
240
+ 0.2225455356809288,
241
+ 0.3410035958223811,
242
+ 0.2122120806543235,
243
+ 0.13594686966487243,
244
+ 0.34284584596884793
245
+ ],
246
+ "count": [
247
+ 450
248
+ ]
249
+ },
250
+ "timestamp": {
251
+ "min": [
252
+ 0.0
253
+ ],
254
+ "max": [
255
+ 14.966666221618652
256
+ ],
257
+ "mean": [
258
+ 7.48333333350718
259
+ ],
260
+ "std": [
261
+ 4.3301163254484205
262
+ ],
263
+ "count": [
264
+ 450
265
+ ]
266
+ },
267
+ "frame_index": {
268
+ "min": [
269
+ 0.0
270
+ ],
271
+ "max": [
272
+ 449.0
273
+ ],
274
+ "mean": [
275
+ 224.5
276
+ ],
277
+ "std": [
278
+ 129.90348981712026
279
+ ],
280
+ "count": [
281
+ 450
282
+ ]
283
+ },
284
+ "episode_index": {
285
+ "min": [
286
+ 99.0
287
+ ],
288
+ "max": [
289
+ 99.0
290
+ ],
291
+ "mean": [
292
+ 99.0
293
+ ],
294
+ "std": [
295
+ 0.0
296
+ ],
297
+ "count": [
298
+ 450
299
+ ]
300
+ },
301
+ "index": {
302
+ "min": [
303
+ 44550.0
304
+ ],
305
+ "max": [
306
+ 44999.0
307
+ ],
308
+ "mean": [
309
+ 44774.5
310
+ ],
311
+ "std": [
312
+ 129.90348981712026
313
+ ],
314
+ "count": [
315
+ 450
316
+ ]
317
+ },
318
+ "task_index": {
319
+ "min": [
320
+ 0.0
321
+ ],
322
+ "max": [
323
+ 0.0
324
+ ],
325
+ "mean": [
326
+ 0.0
327
+ ],
328
+ "std": [
329
+ 0.0
330
+ ],
331
+ "count": [
332
+ 450
333
+ ]
334
+ },
335
+ "physical_index": {
336
+ "min": [
337
+ 99.0
338
+ ],
339
+ "max": [
340
+ 99.0
341
+ ],
342
+ "mean": [
343
+ 99.0
344
+ ],
345
+ "std": [
346
+ 0.0
347
+ ],
348
+ "count": [
349
+ 450
350
+ ]
351
+ },
352
+ "source_case_index": {
353
+ "min": [
354
+ 48.0
355
+ ],
356
+ "max": [
357
+ 48.0
358
+ ],
359
+ "mean": [
360
+ 48.0
361
+ ],
362
+ "std": [
363
+ 0.0
364
+ ],
365
+ "count": [
366
+ 450
367
+ ]
368
+ },
369
+ "appearance_index": {
370
+ "min": [
371
+ 0.0
372
+ ],
373
+ "max": [
374
+ 0.0
375
+ ],
376
+ "mean": [
377
+ 0.0
378
+ ],
379
+ "std": [
380
+ 0.0
381
+ ],
382
+ "count": [
383
+ 450
384
+ ]
385
+ },
386
+ "physical_query_time_s": {
387
+ "min": [
388
+ 0.0
389
+ ],
390
+ "max": [
391
+ 14.965000000006798
392
+ ],
393
+ "mean": [
394
+ 7.483329629629644
395
+ ],
396
+ "std": [
397
+ 4.330109927180601
398
+ ],
399
+ "count": [
400
+ 450
401
+ ]
402
+ },
403
+ "state_time_s": {
404
+ "min": [
405
+ 0.0
406
+ ],
407
+ "max": [
408
+ 14.965000000006798
409
+ ],
410
+ "mean": [
411
+ 7.48001111111215
412
+ ],
413
+ "std": [
414
+ 4.330119275994038
415
+ ],
416
+ "count": [
417
+ 450
418
+ ]
419
+ },
420
+ "command_time_s": {
421
+ "min": [
422
+ 0.0
423
+ ],
424
+ "max": [
425
+ 14.965000000006798
426
+ ],
427
+ "mean": [
428
+ 7.48001111111215
429
+ ],
430
+ "std": [
431
+ 4.330119275994038
432
+ ],
433
+ "count": [
434
+ 450
435
+ ]
436
+ },
437
+ "state_source_index": {
438
+ "min": [
439
+ 0.0
440
+ ],
441
+ "max": [
442
+ 1497.0
443
+ ],
444
+ "mean": [
445
+ 748.0022222222223
446
+ ],
447
+ "std": [
448
+ 433.01384888753273
449
+ ],
450
+ "count": [
451
+ 450
452
+ ]
453
+ },
454
+ "command_source_index": {
455
+ "min": [
456
+ 0.0
457
+ ],
458
+ "max": [
459
+ 29930.0
460
+ ],
461
+ "mean": [
462
+ 14960.022222222222
463
+ ],
464
+ "std": [
465
+ 8660.238551984809
466
+ ],
467
+ "count": [
468
+ 450
469
+ ]
470
+ },
471
+ "observation.images.cam_high": {
472
+ "mean": [
473
+ [
474
+ [
475
+ 0.3272141973977091
476
+ ]
477
+ ],
478
+ [
479
+ [
480
+ 0.322270319065126
481
+ ]
482
+ ],
483
+ [
484
+ [
485
+ 0.31361326952656066
486
+ ]
487
+ ]
488
+ ],
489
+ "std": [
490
+ [
491
+ [
492
+ 0.3156337569452993
493
+ ]
494
+ ],
495
+ [
496
+ [
497
+ 0.31076331760286074
498
+ ]
499
+ ],
500
+ [
501
+ [
502
+ 0.30387450539420885
503
+ ]
504
+ ]
505
+ ],
506
+ "min": [
507
+ [
508
+ [
509
+ 0.0
510
+ ]
511
+ ],
512
+ [
513
+ [
514
+ 0.0
515
+ ]
516
+ ],
517
+ [
518
+ [
519
+ 0.0
520
+ ]
521
+ ]
522
+ ],
523
+ "max": [
524
+ [
525
+ [
526
+ 0.8431372549019608
527
+ ]
528
+ ],
529
+ [
530
+ [
531
+ 0.8470588235294118
532
+ ]
533
+ ],
534
+ [
535
+ [
536
+ 0.8431372549019608
537
+ ]
538
+ ]
539
+ ],
540
+ "count": [
541
+ 100
542
+ ]
543
+ },
544
+ "observation.images.cam_left_wrist": {
545
+ "mean": [
546
+ [
547
+ [
548
+ 0.3338348229916967
549
+ ]
550
+ ],
551
+ [
552
+ [
553
+ 0.3245350147871649
554
+ ]
555
+ ],
556
+ [
557
+ [
558
+ 0.31681276963910565
559
+ ]
560
+ ]
561
+ ],
562
+ "std": [
563
+ [
564
+ [
565
+ 0.32083778444256705
566
+ ]
567
+ ],
568
+ [
569
+ [
570
+ 0.31178831416745406
571
+ ]
572
+ ],
573
+ [
574
+ [
575
+ 0.30402381299362186
576
+ ]
577
+ ]
578
+ ],
579
+ "min": [
580
+ [
581
+ [
582
+ 0.0
583
+ ]
584
+ ],
585
+ [
586
+ [
587
+ 0.0
588
+ ]
589
+ ],
590
+ [
591
+ [
592
+ 0.0
593
+ ]
594
+ ]
595
+ ],
596
+ "max": [
597
+ [
598
+ [
599
+ 0.9686274509803922
600
+ ]
601
+ ],
602
+ [
603
+ [
604
+ 1.0
605
+ ]
606
+ ],
607
+ [
608
+ [
609
+ 0.9882352941176471
610
+ ]
611
+ ]
612
+ ],
613
+ "count": [
614
+ 100
615
+ ]
616
+ },
617
+ "observation.images.cam_right_wrist": {
618
+ "mean": [
619
+ [
620
+ [
621
+ 0.3593322704081633
622
+ ]
623
+ ],
624
+ [
625
+ [
626
+ 0.3526480654761905
627
+ ]
628
+ ],
629
+ [
630
+ [
631
+ 0.3411877813625451
632
+ ]
633
+ ]
634
+ ],
635
+ "std": [
636
+ [
637
+ [
638
+ 0.35433739905644074
639
+ ]
640
+ ],
641
+ [
642
+ [
643
+ 0.34767331394963474
644
+ ]
645
+ ],
646
+ [
647
+ [
648
+ 0.3368642226041815
649
+ ]
650
+ ]
651
+ ],
652
+ "min": [
653
+ [
654
+ [
655
+ 0.0
656
+ ]
657
+ ],
658
+ [
659
+ [
660
+ 0.0
661
+ ]
662
+ ],
663
+ [
664
+ [
665
+ 0.0
666
+ ]
667
+ ]
668
+ ],
669
+ "max": [
670
+ [
671
+ [
672
+ 0.9568627450980393
673
+ ]
674
+ ],
675
+ [
676
+ [
677
+ 0.984313725490196
678
+ ]
679
+ ],
680
+ [
681
+ [
682
+ 0.9764705882352941
683
+ ]
684
+ ]
685
+ ],
686
+ "count": [
687
+ 100
688
+ ]
689
+ }
690
+ },
691
+ "provenance": {
692
+ "task": "Put_the_block_in_the_drawer.",
693
+ "case_id": "drawer_center_train_099",
694
+ "visual_side": "center",
695
+ "split": "train",
696
+ "sampler_index": 99,
697
+ "block_center_xy_m": [
698
+ 0.22690962864635175,
699
+ -0.4518672158627205
700
+ ],
701
+ "cabinet_center_xy_m": [
702
+ -0.00935999999999998,
703
+ -0.7466690962099125
704
+ ],
705
+ "spec": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_spec_20261101_attempt_01",
706
+ "spec_scene_sha256": "b025943a503de1c329ec13efec797c73c658b699d9e2d21255c34ec95eb12325",
707
+ "native": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_099/attempt_01/native",
708
+ "native_receipt_sha256": "22d38656f7b2d4ab6f247fc34de0891191d56d9423d4a8ed3494e7e6adb76076",
709
+ "batch_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01/cases/drawer_center_train_099/attempt_01",
710
+ "render_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_099/attempt_01",
711
+ "source": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01/cases/drawer_center_train_099/attempt_01/source",
712
+ "source_metadata_sha256": "defd0e7d069344de54e1caac49ba7eebdb3a11a21555f83ce887f8683a3afc4c",
713
+ "camera_order": [
714
+ "head_rgbd",
715
+ "left_wrist_rgbd",
716
+ "right_wrist_rgbd"
717
+ ],
718
+ "camera_mounts": "astribot_sdk_nominal_image_up",
719
+ "controller": "rssr.drawer.center_layout.v1",
720
+ "handle_hand": "right",
721
+ "payload_hand": "left",
722
+ "drawer_closer": "right (handle hand)"
723
+ },
724
+ "files": {
725
+ "data/chunk-000/episode_000099.parquet": {
726
+ "sha256": "e49b17eb5965a1fb4de399b668bea507ed747cbb4ff329a141b850e631f9ed95",
727
+ "bytes": 126579
728
+ },
729
+ "videos/chunk-000/observation.images.cam_high/episode_000099.mp4": {
730
+ "sha256": "e9572e1f8e8bc517303f9cf748627a10aba568863f94cdceafce32181cd5a365",
731
+ "bytes": 110457
732
+ },
733
+ "videos/chunk-000/observation.images.cam_left_wrist/episode_000099.mp4": {
734
+ "sha256": "e02ae13290350efe1d219734c1124136ed40ee89b566d5ca1eb8bccd0550b75a",
735
+ "bytes": 127789
736
+ },
737
+ "videos/chunk-000/observation.images.cam_right_wrist/episode_000099.mp4": {
738
+ "sha256": "c31e951ea9fa5aa1d44a496790b8e5e1af9cd997f29c9673e9fa6d6444effdc3",
739
+ "bytes": 181624
740
+ }
741
+ }
742
+ }
drawer_center_layout_100/draw/manifest.json ADDED
@@ -0,0 +1,26 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema": "rssr.drawer.center_layout_local_lerobot.v1",
3
+ "episodes": 100,
4
+ "frames": 45000,
5
+ "fps": 30,
6
+ "state_dimension": 32,
7
+ "action_dimension": 22,
8
+ "camera_order": [
9
+ "head_rgbd",
10
+ "left_wrist_rgbd",
11
+ "right_wrist_rgbd"
12
+ ],
13
+ "camera_features": [
14
+ "observation.images.cam_high",
15
+ "observation.images.cam_left_wrist",
16
+ "observation.images.cam_right_wrist"
17
+ ],
18
+ "camera_resolution": [
19
+ 224,
20
+ 224
21
+ ],
22
+ "hf_writes": false,
23
+ "spec": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_spec_20261101_attempt_01",
24
+ "native_batch": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/drawer_center_layout_batch_20261101_attempt_01",
25
+ "renders": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/drawer_center_render_20261101_attempt_01"
26
+ }
drawer_center_layout_100/draw/meta/episodes.jsonl ADDED
@@ -0,0 +1,100 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
2
+ {"episode_index": 1, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
3
+ {"episode_index": 2, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
4
+ {"episode_index": 3, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
5
+ {"episode_index": 4, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
6
+ {"episode_index": 5, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
7
+ {"episode_index": 6, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
8
+ {"episode_index": 7, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
9
+ {"episode_index": 8, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
10
+ {"episode_index": 9, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
11
+ {"episode_index": 10, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
12
+ {"episode_index": 11, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
13
+ {"episode_index": 12, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
14
+ {"episode_index": 13, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
15
+ {"episode_index": 14, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
16
+ {"episode_index": 15, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
17
+ {"episode_index": 16, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
18
+ {"episode_index": 17, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
19
+ {"episode_index": 18, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
20
+ {"episode_index": 19, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
21
+ {"episode_index": 20, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
22
+ {"episode_index": 21, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
23
+ {"episode_index": 22, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
24
+ {"episode_index": 23, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
25
+ {"episode_index": 24, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
26
+ {"episode_index": 25, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
27
+ {"episode_index": 26, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
28
+ {"episode_index": 27, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
29
+ {"episode_index": 28, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
30
+ {"episode_index": 29, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
31
+ {"episode_index": 30, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
32
+ {"episode_index": 31, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
33
+ {"episode_index": 32, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
34
+ {"episode_index": 33, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
35
+ {"episode_index": 34, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
36
+ {"episode_index": 35, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
37
+ {"episode_index": 36, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
38
+ {"episode_index": 37, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
39
+ {"episode_index": 38, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
40
+ {"episode_index": 39, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
41
+ {"episode_index": 40, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
42
+ {"episode_index": 41, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
43
+ {"episode_index": 42, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
44
+ {"episode_index": 43, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
45
+ {"episode_index": 44, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
46
+ {"episode_index": 45, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
47
+ {"episode_index": 46, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
48
+ {"episode_index": 47, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
49
+ {"episode_index": 48, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
50
+ {"episode_index": 49, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
51
+ {"episode_index": 50, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
52
+ {"episode_index": 51, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
53
+ {"episode_index": 52, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
54
+ {"episode_index": 53, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
55
+ {"episode_index": 54, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
56
+ {"episode_index": 55, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
57
+ {"episode_index": 56, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
58
+ {"episode_index": 57, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
59
+ {"episode_index": 58, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
60
+ {"episode_index": 59, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
61
+ {"episode_index": 60, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
62
+ {"episode_index": 61, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
63
+ {"episode_index": 62, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
64
+ {"episode_index": 63, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
65
+ {"episode_index": 64, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
66
+ {"episode_index": 65, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
67
+ {"episode_index": 66, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
68
+ {"episode_index": 67, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
69
+ {"episode_index": 68, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
70
+ {"episode_index": 69, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
71
+ {"episode_index": 70, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
72
+ {"episode_index": 71, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
73
+ {"episode_index": 72, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
74
+ {"episode_index": 73, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
75
+ {"episode_index": 74, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
76
+ {"episode_index": 75, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
77
+ {"episode_index": 76, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
78
+ {"episode_index": 77, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
79
+ {"episode_index": 78, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
80
+ {"episode_index": 79, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
81
+ {"episode_index": 80, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
82
+ {"episode_index": 81, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
83
+ {"episode_index": 82, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
84
+ {"episode_index": 83, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
85
+ {"episode_index": 84, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
86
+ {"episode_index": 85, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
87
+ {"episode_index": 86, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
88
+ {"episode_index": 87, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
89
+ {"episode_index": 88, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
90
+ {"episode_index": 89, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
91
+ {"episode_index": 90, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
92
+ {"episode_index": 91, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
93
+ {"episode_index": 92, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
94
+ {"episode_index": 93, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
95
+ {"episode_index": 94, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
96
+ {"episode_index": 95, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
97
+ {"episode_index": 96, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
98
+ {"episode_index": 97, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
99
+ {"episode_index": 98, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
100
+ {"episode_index": 99, "tasks": ["Put_the_block_in_the_drawer."], "length": 450}
drawer_center_layout_100/draw/meta/episodes_stats.jsonl ADDED
The diff for this file is too large to render. See raw diff
 
drawer_center_layout_100/draw/meta/info.json ADDED
@@ -0,0 +1,345 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action_contract": {
3
+ "dimension": 22,
4
+ "gripper_interface": "two symmetric fixed tendons",
5
+ "joint_names": [
6
+ "astribot_torso_joint_1",
7
+ "astribot_torso_joint_2",
8
+ "astribot_head_joint_1",
9
+ "astribot_head_joint_2",
10
+ "astribot_torso_joint_3",
11
+ "astribot_torso_joint_4",
12
+ "astribot_arm_left_joint_1",
13
+ "astribot_arm_left_joint_2",
14
+ "astribot_arm_left_joint_3",
15
+ "astribot_arm_left_joint_4",
16
+ "astribot_arm_left_joint_5",
17
+ "astribot_arm_left_joint_6",
18
+ "astribot_arm_left_joint_7",
19
+ "astribot_gripper_left_joint_L1",
20
+ "astribot_arm_right_joint_1",
21
+ "astribot_arm_right_joint_2",
22
+ "astribot_arm_right_joint_3",
23
+ "astribot_arm_right_joint_4",
24
+ "astribot_arm_right_joint_5",
25
+ "astribot_arm_right_joint_6",
26
+ "astribot_arm_right_joint_7",
27
+ "astribot_gripper_right_joint_L1"
28
+ ],
29
+ "semantics": "absolute_desired_joint_position",
30
+ "source_key": "qpos in actions_30fps.npz",
31
+ "unit": "rad"
32
+ },
33
+ "camera_order": [
34
+ "head_rgbd",
35
+ "left_wrist_rgbd",
36
+ "right_wrist_rgbd"
37
+ ],
38
+ "campaign_id": "drawer_center_layout_100_20261101_attempt_01",
39
+ "chunks_size": 1000,
40
+ "codebase_version": "v2.1",
41
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
42
+ "features": {
43
+ "action": {
44
+ "dtype": "float32",
45
+ "names": [
46
+ [
47
+ "astribot_torso_joint_1",
48
+ "astribot_torso_joint_2",
49
+ "astribot_head_joint_1",
50
+ "astribot_head_joint_2",
51
+ "astribot_torso_joint_3",
52
+ "astribot_torso_joint_4",
53
+ "astribot_arm_left_joint_1",
54
+ "astribot_arm_left_joint_2",
55
+ "astribot_arm_left_joint_3",
56
+ "astribot_arm_left_joint_4",
57
+ "astribot_arm_left_joint_5",
58
+ "astribot_arm_left_joint_6",
59
+ "astribot_arm_left_joint_7",
60
+ "astribot_gripper_left_joint_L1",
61
+ "astribot_arm_right_joint_1",
62
+ "astribot_arm_right_joint_2",
63
+ "astribot_arm_right_joint_3",
64
+ "astribot_arm_right_joint_4",
65
+ "astribot_arm_right_joint_5",
66
+ "astribot_arm_right_joint_6",
67
+ "astribot_arm_right_joint_7",
68
+ "astribot_gripper_right_joint_L1"
69
+ ]
70
+ ],
71
+ "shape": [
72
+ 22
73
+ ]
74
+ },
75
+ "appearance_index": {
76
+ "dtype": "int64",
77
+ "names": null,
78
+ "shape": [
79
+ 1
80
+ ]
81
+ },
82
+ "command_source_index": {
83
+ "dtype": "int64",
84
+ "names": null,
85
+ "shape": [
86
+ 1
87
+ ]
88
+ },
89
+ "command_time_s": {
90
+ "dtype": "float64",
91
+ "names": null,
92
+ "shape": [
93
+ 1
94
+ ]
95
+ },
96
+ "episode_index": {
97
+ "dtype": "int64",
98
+ "names": null,
99
+ "shape": [
100
+ 1
101
+ ]
102
+ },
103
+ "frame_index": {
104
+ "dtype": "int64",
105
+ "names": null,
106
+ "shape": [
107
+ 1
108
+ ]
109
+ },
110
+ "index": {
111
+ "dtype": "int64",
112
+ "names": null,
113
+ "shape": [
114
+ 1
115
+ ]
116
+ },
117
+ "observation.images.cam_high": {
118
+ "dtype": "video",
119
+ "info": {
120
+ "has_audio": false,
121
+ "video.channels": 3,
122
+ "video.codec": "h264",
123
+ "video.fps": 30,
124
+ "video.height": 224,
125
+ "video.is_depth_map": false,
126
+ "video.pix_fmt": "yuv420p",
127
+ "video.width": 224
128
+ },
129
+ "names": [
130
+ "channels",
131
+ "height",
132
+ "width"
133
+ ],
134
+ "shape": [
135
+ 3,
136
+ 224,
137
+ 224
138
+ ]
139
+ },
140
+ "observation.images.cam_left_wrist": {
141
+ "dtype": "video",
142
+ "info": {
143
+ "has_audio": false,
144
+ "video.channels": 3,
145
+ "video.codec": "h264",
146
+ "video.fps": 30,
147
+ "video.height": 224,
148
+ "video.is_depth_map": false,
149
+ "video.pix_fmt": "yuv420p",
150
+ "video.width": 224
151
+ },
152
+ "names": [
153
+ "channels",
154
+ "height",
155
+ "width"
156
+ ],
157
+ "shape": [
158
+ 3,
159
+ 224,
160
+ 224
161
+ ]
162
+ },
163
+ "observation.images.cam_right_wrist": {
164
+ "dtype": "video",
165
+ "info": {
166
+ "has_audio": false,
167
+ "video.channels": 3,
168
+ "video.codec": "h264",
169
+ "video.fps": 30,
170
+ "video.height": 224,
171
+ "video.is_depth_map": false,
172
+ "video.pix_fmt": "yuv420p",
173
+ "video.width": 224
174
+ },
175
+ "names": [
176
+ "channels",
177
+ "height",
178
+ "width"
179
+ ],
180
+ "shape": [
181
+ 3,
182
+ 224,
183
+ 224
184
+ ]
185
+ },
186
+ "observation.state": {
187
+ "dtype": "float32",
188
+ "names": [
189
+ [
190
+ "astribot_torso_joint_1",
191
+ "astribot_torso_joint_2",
192
+ "astribot_torso_joint_3",
193
+ "astribot_torso_joint_4",
194
+ "astribot_head_joint_1",
195
+ "astribot_head_joint_2",
196
+ "astribot_arm_left_joint_1",
197
+ "astribot_arm_left_joint_2",
198
+ "astribot_arm_left_joint_3",
199
+ "astribot_arm_left_joint_4",
200
+ "astribot_arm_left_joint_5",
201
+ "astribot_arm_left_joint_6",
202
+ "astribot_arm_left_joint_7",
203
+ "astribot_gripper_left_joint_L1",
204
+ "astribot_gripper_left_joint_L11",
205
+ "astribot_gripper_left_joint_L2",
206
+ "astribot_gripper_left_joint_R1",
207
+ "astribot_gripper_left_joint_R11",
208
+ "astribot_gripper_left_joint_R2",
209
+ "astribot_arm_right_joint_1",
210
+ "astribot_arm_right_joint_2",
211
+ "astribot_arm_right_joint_3",
212
+ "astribot_arm_right_joint_4",
213
+ "astribot_arm_right_joint_5",
214
+ "astribot_arm_right_joint_6",
215
+ "astribot_arm_right_joint_7",
216
+ "astribot_gripper_right_joint_L1",
217
+ "astribot_gripper_right_joint_L11",
218
+ "astribot_gripper_right_joint_L2",
219
+ "astribot_gripper_right_joint_R1",
220
+ "astribot_gripper_right_joint_R11",
221
+ "astribot_gripper_right_joint_R2"
222
+ ]
223
+ ],
224
+ "shape": [
225
+ 32
226
+ ]
227
+ },
228
+ "physical_index": {
229
+ "dtype": "int64",
230
+ "names": null,
231
+ "shape": [
232
+ 1
233
+ ]
234
+ },
235
+ "physical_query_time_s": {
236
+ "dtype": "float64",
237
+ "names": null,
238
+ "shape": [
239
+ 1
240
+ ]
241
+ },
242
+ "source_case_index": {
243
+ "dtype": "int64",
244
+ "names": null,
245
+ "shape": [
246
+ 1
247
+ ]
248
+ },
249
+ "state_source_index": {
250
+ "dtype": "int64",
251
+ "names": null,
252
+ "shape": [
253
+ 1
254
+ ]
255
+ },
256
+ "state_time_s": {
257
+ "dtype": "float64",
258
+ "names": null,
259
+ "shape": [
260
+ 1
261
+ ]
262
+ },
263
+ "task_index": {
264
+ "dtype": "int64",
265
+ "names": null,
266
+ "shape": [
267
+ 1
268
+ ]
269
+ },
270
+ "timestamp": {
271
+ "dtype": "float32",
272
+ "names": null,
273
+ "shape": [
274
+ 1
275
+ ]
276
+ }
277
+ },
278
+ "fps": 30,
279
+ "hardware_sdk_ready": false,
280
+ "height_contract": {
281
+ "campaign_id": "stack_cups_random200_r15_20261021_attempt_01",
282
+ "id": "stack_cups_random200_r15_table_075_085_v1",
283
+ "path": "/pfs/yichen/rssr_data_enhance+causal_map/sim2-refine/orchestration/stack_random200_r15/height_contract_v2.json",
284
+ "sha256": "0c4d14b184ed3780a08c6fe1c025b0b1f5d7ff2487a2ce645ad1097b73ef3fee"
285
+ },
286
+ "maximum_episode_frames": 450,
287
+ "native_duration_limit_s": 15.0,
288
+ "raster_policy": "upright 224x126 16:9 content in 224x224 with 49px black bars",
289
+ "robot_type": "astribot_s1_full4torso_sim2_cups_blocks_drawer",
290
+ "splits": {
291
+ "train": "0:100"
292
+ },
293
+ "state_contract": {
294
+ "dimension": 32,
295
+ "joint_names": [
296
+ "astribot_torso_joint_1",
297
+ "astribot_torso_joint_2",
298
+ "astribot_torso_joint_3",
299
+ "astribot_torso_joint_4",
300
+ "astribot_head_joint_1",
301
+ "astribot_head_joint_2",
302
+ "astribot_arm_left_joint_1",
303
+ "astribot_arm_left_joint_2",
304
+ "astribot_arm_left_joint_3",
305
+ "astribot_arm_left_joint_4",
306
+ "astribot_arm_left_joint_5",
307
+ "astribot_arm_left_joint_6",
308
+ "astribot_arm_left_joint_7",
309
+ "astribot_gripper_left_joint_L1",
310
+ "astribot_gripper_left_joint_L11",
311
+ "astribot_gripper_left_joint_L2",
312
+ "astribot_gripper_left_joint_R1",
313
+ "astribot_gripper_left_joint_R11",
314
+ "astribot_gripper_left_joint_R2",
315
+ "astribot_arm_right_joint_1",
316
+ "astribot_arm_right_joint_2",
317
+ "astribot_arm_right_joint_3",
318
+ "astribot_arm_right_joint_4",
319
+ "astribot_arm_right_joint_5",
320
+ "astribot_arm_right_joint_6",
321
+ "astribot_arm_right_joint_7",
322
+ "astribot_gripper_right_joint_L1",
323
+ "astribot_gripper_right_joint_L11",
324
+ "astribot_gripper_right_joint_L2",
325
+ "astribot_gripper_right_joint_R1",
326
+ "astribot_gripper_right_joint_R11",
327
+ "astribot_gripper_right_joint_R2"
328
+ ],
329
+ "semantics": "measured_joint_position",
330
+ "source_key": "scalar_joint_qpos in actions_30fps.npz",
331
+ "unit": "rad"
332
+ },
333
+ "table_top_height_range_m": [
334
+ 0.75,
335
+ 0.85
336
+ ],
337
+ "total_chunks": 1,
338
+ "total_episodes": 100,
339
+ "total_frames": 45000,
340
+ "total_tasks": 1,
341
+ "total_videos": 300,
342
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
343
+ "camera_mounts": "Astribot SDK kinematic.xml nominal mounts, image rolled 180 deg to match real/training image up",
344
+ "layout": "cabinet centred on robot forward axis; block disk left of centre between cabinet and robot"
345
+ }
drawer_center_layout_100/draw/meta/source_cases.jsonl ADDED
The diff for this file is too large to render. See raw diff
 
drawer_center_layout_100/draw/meta/stats.json ADDED
@@ -0,0 +1,684 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "min": [
4
+ 0.5172906517982483,
5
+ -0.8005869388580322,
6
+ 0.2797318994998932,
7
+ 0.016753770411014557,
8
+ 0.00899868831038475,
9
+ 0.9799052476882935,
10
+ -0.2301766574382782,
11
+ -0.20028632879257202,
12
+ -1.1766616106033325,
13
+ 0.7899568676948547,
14
+ -0.5933929681777954,
15
+ 0.027270080521702766,
16
+ 0.06507611274719238,
17
+ 0.01913541369140148,
18
+ 0.01913638785481453,
19
+ -0.48983919620513916,
20
+ 0.019135767593979836,
21
+ -0.49014803767204285,
22
+ 0.019136488437652588,
23
+ -0.05744754150509834,
24
+ -0.28744006156921387,
25
+ 0.32040825486183167,
26
+ 0.8225036263465881,
27
+ -0.7837277054786682,
28
+ -0.3920956552028656,
29
+ -0.5947374701499939,
30
+ 0.07665537297725677,
31
+ 0.07667234539985657,
32
+ -0.801278293132782,
33
+ 0.07663362473249435,
34
+ -0.8015710115432739,
35
+ 0.07663504779338837
36
+ ],
37
+ "max": [
38
+ 0.5175813436508179,
39
+ -0.8002892732620239,
40
+ 0.28037214279174805,
41
+ 0.017665386199951172,
42
+ 0.009014741517603397,
43
+ 0.9800745844841003,
44
+ 0.09257513284683228,
45
+ 0.06272932142019272,
46
+ -0.9322054982185364,
47
+ 1.7834831476211548,
48
+ -0.3715883493423462,
49
+ 0.6886759400367737,
50
+ 0.46136847138404846,
51
+ 0.4898398518562317,
52
+ 0.49013733863830566,
53
+ -0.019136033952236176,
54
+ 0.4898403286933899,
55
+ -0.019136320799589157,
56
+ 0.48984163999557495,
57
+ 0.625382125377655,
58
+ -0.003632438601925969,
59
+ 1.1057521104812622,
60
+ 1.4746720790863037,
61
+ 0.5862753391265869,
62
+ 0.3558296859264374,
63
+ -0.15013353526592255,
64
+ 0.8012776374816895,
65
+ 0.8015100955963135,
66
+ -0.0766567513346672,
67
+ 0.8012921214103699,
68
+ -0.07667877525091171,
69
+ 0.8012924790382385
70
+ ],
71
+ "mean": [
72
+ 0.5174551565792826,
73
+ -0.8004538247532316,
74
+ 0.28006294275985816,
75
+ 0.017342816693542734,
76
+ 0.00900709088283281,
77
+ 0.980000126390987,
78
+ -0.1089704997849987,
79
+ -0.07749276818657266,
80
+ -1.0266842851585813,
81
+ 1.4741603686875775,
82
+ -0.48821173858642586,
83
+ 0.31131735238511515,
84
+ 0.29382040093094103,
85
+ 0.22889793557466726,
86
+ 0.22901703257618683,
87
+ -0.22889795199872714,
88
+ 0.22889844992831346,
89
+ -0.22901807016005937,
90
+ 0.22889862212426962,
91
+ 0.41683549348982313,
92
+ -0.1438430627133025,
93
+ 0.5259633181174599,
94
+ 1.1205969080858766,
95
+ -0.5224673478163925,
96
+ -0.05647061720721739,
97
+ -0.478253095435765,
98
+ 0.4164532142597768,
99
+ 0.4165516090042061,
100
+ -0.4164530504387287,
101
+ 0.41646065918554853,
102
+ -0.41653091064674996,
103
+ 0.4164611582928233
104
+ ],
105
+ "std": [
106
+ 5.209928170242694e-05,
107
+ 5.2138695312972754e-05,
108
+ 0.00013546052747738995,
109
+ 0.00021977982557911944,
110
+ 5.786704953689299e-07,
111
+ 6.084049983041189e-06,
112
+ 0.0840258636437966,
113
+ 0.04526135686508533,
114
+ 0.04308661232056836,
115
+ 0.25159297957673743,
116
+ 0.04766385173258033,
117
+ 0.19018564757765652,
118
+ 0.08394866871135621,
119
+ 0.215887040212893,
120
+ 0.21602974487801713,
121
+ 0.21588693610803963,
122
+ 0.2158873865161345,
123
+ 0.2160315884730013,
124
+ 0.2158874063433802,
125
+ 0.16826190931533916,
126
+ 0.08040524474409598,
127
+ 0.19775309566352847,
128
+ 0.22050712150588792,
129
+ 0.34295482427563356,
130
+ 0.2177918041905091,
131
+ 0.12956741044186992,
132
+ 0.3401835958308678,
133
+ 0.34028938913461615,
134
+ 0.3401833725426725,
135
+ 0.3401921261053416,
136
+ 0.3402972667064149,
137
+ 0.340192183654199
138
+ ],
139
+ "count": [
140
+ 45000
141
+ ]
142
+ },
143
+ "action": {
144
+ "min": [
145
+ 0.5174471735954285,
146
+ -0.8004457950592041,
147
+ 0.009007098153233528,
148
+ 0.9800000190734863,
149
+ 0.2799195647239685,
150
+ 0.017286056652665138,
151
+ -0.23016643524169922,
152
+ -0.2015957534313202,
153
+ -1.1765679121017456,
154
+ 0.7900445461273193,
155
+ -0.5933905839920044,
156
+ 0.027263063937425613,
157
+ 0.06528417021036148,
158
+ 0.019999999552965164,
159
+ -0.05736895650625229,
160
+ -0.3209649920463562,
161
+ 0.34691765904426575,
162
+ 0.8264774680137634,
163
+ -0.7831942439079285,
164
+ -0.39788904786109924,
165
+ -0.6011365652084351,
166
+ 0.07999999821186066
167
+ ],
168
+ "max": [
169
+ 0.5174471735954285,
170
+ -0.8004457950592041,
171
+ 0.009007098153233528,
172
+ 0.9800000190734863,
173
+ 0.2799195647239685,
174
+ 0.017286056652665138,
175
+ 0.09039297699928284,
176
+ 0.06267600506544113,
177
+ -0.9331702589988708,
178
+ 1.783368706703186,
179
+ -0.3715498447418213,
180
+ 0.6889635920524597,
181
+ 0.46136537194252014,
182
+ 0.4958398640155792,
183
+ 0.6688303351402283,
184
+ 0.009446922689676285,
185
+ 1.105669379234314,
186
+ 1.4752939939498901,
187
+ 0.5861024260520935,
188
+ 0.35591113567352295,
189
+ -0.1501607745885849,
190
+ 0.8113294839859009
191
+ ],
192
+ "mean": [
193
+ 0.5174471735954298,
194
+ -0.8004457950592023,
195
+ 0.00900709815323355,
196
+ 0.980000019073488,
197
+ 0.27991956472396834,
198
+ 0.017286056652665117,
199
+ -0.10979333779106593,
200
+ -0.0774194161254007,
201
+ -1.0269055757774248,
202
+ 1.4743025697827339,
203
+ -0.4881946012424099,
204
+ 0.3114647499561725,
205
+ 0.29378453578419167,
206
+ 0.2310639010105695,
207
+ 0.4325060358557917,
208
+ -0.1530177849079149,
209
+ 0.5408898963173232,
210
+ 1.1212332945201124,
211
+ -0.5223353157428546,
212
+ -0.058486428326103436,
213
+ -0.48080314375029665,
214
+ 0.41886258624047057
215
+ ],
216
+ "std": [
217
+ 1.3322676295501873e-15,
218
+ 1.776356839400251e-15,
219
+ 2.255140518769848e-17,
220
+ 1.6653345369377348e-15,
221
+ 1.665334536937734e-16,
222
+ 2.0816681711721676e-17,
223
+ 0.08328598158073461,
224
+ 0.044897480531749655,
225
+ 0.042895125431367684,
226
+ 0.2515053603831655,
227
+ 0.0476810926017059,
228
+ 0.19035745086138448,
229
+ 0.08397845470075742,
230
+ 0.21855687997005208,
231
+ 0.17496339815615533,
232
+ 0.09610739295077032,
233
+ 0.18825699377289673,
234
+ 0.21991394403485948,
235
+ 0.3427422207455274,
236
+ 0.22015368572120417,
237
+ 0.13119590270332673,
238
+ 0.34286748814499746
239
+ ],
240
+ "count": [
241
+ 45000
242
+ ]
243
+ },
244
+ "timestamp": {
245
+ "min": [
246
+ 0.0
247
+ ],
248
+ "max": [
249
+ 14.966666221618652
250
+ ],
251
+ "mean": [
252
+ 7.483333333507179
253
+ ],
254
+ "std": [
255
+ 4.3301163254484205
256
+ ],
257
+ "count": [
258
+ 45000
259
+ ]
260
+ },
261
+ "frame_index": {
262
+ "min": [
263
+ 0.0
264
+ ],
265
+ "max": [
266
+ 449.0
267
+ ],
268
+ "mean": [
269
+ 224.50000000000009
270
+ ],
271
+ "std": [
272
+ 129.9034898171203
273
+ ],
274
+ "count": [
275
+ 45000
276
+ ]
277
+ },
278
+ "episode_index": {
279
+ "min": [
280
+ 0.0
281
+ ],
282
+ "max": [
283
+ 99.0
284
+ ],
285
+ "mean": [
286
+ 49.49999999999999
287
+ ],
288
+ "std": [
289
+ 28.86607004772212
290
+ ],
291
+ "count": [
292
+ 45000
293
+ ]
294
+ },
295
+ "index": {
296
+ "min": [
297
+ 0.0
298
+ ],
299
+ "max": [
300
+ 44999.0
301
+ ],
302
+ "mean": [
303
+ 22499.499999999993
304
+ ],
305
+ "std": [
306
+ 12990.381053559078
307
+ ],
308
+ "count": [
309
+ 45000
310
+ ]
311
+ },
312
+ "task_index": {
313
+ "min": [
314
+ 0.0
315
+ ],
316
+ "max": [
317
+ 0.0
318
+ ],
319
+ "mean": [
320
+ 0.0
321
+ ],
322
+ "std": [
323
+ 0.0
324
+ ],
325
+ "count": [
326
+ 45000
327
+ ]
328
+ },
329
+ "physical_index": {
330
+ "min": [
331
+ 0.0
332
+ ],
333
+ "max": [
334
+ 99.0
335
+ ],
336
+ "mean": [
337
+ 49.49999999999999
338
+ ],
339
+ "std": [
340
+ 28.86607004772212
341
+ ],
342
+ "count": [
343
+ 45000
344
+ ]
345
+ },
346
+ "source_case_index": {
347
+ "min": [
348
+ 48.0
349
+ ],
350
+ "max": [
351
+ 48.0
352
+ ],
353
+ "mean": [
354
+ 48.0
355
+ ],
356
+ "std": [
357
+ 0.0
358
+ ],
359
+ "count": [
360
+ 45000
361
+ ]
362
+ },
363
+ "appearance_index": {
364
+ "min": [
365
+ 0.0
366
+ ],
367
+ "max": [
368
+ 0.0
369
+ ],
370
+ "mean": [
371
+ 0.0
372
+ ],
373
+ "std": [
374
+ 0.0
375
+ ],
376
+ "count": [
377
+ 45000
378
+ ]
379
+ },
380
+ "physical_query_time_s": {
381
+ "min": [
382
+ 0.0
383
+ ],
384
+ "max": [
385
+ 14.965000000006798
386
+ ],
387
+ "mean": [
388
+ 7.483329629629645
389
+ ],
390
+ "std": [
391
+ 4.330109927180602
392
+ ],
393
+ "count": [
394
+ 45000
395
+ ]
396
+ },
397
+ "state_time_s": {
398
+ "min": [
399
+ 0.0
400
+ ],
401
+ "max": [
402
+ 14.965000000006798
403
+ ],
404
+ "mean": [
405
+ 7.480011111112152
406
+ ],
407
+ "std": [
408
+ 4.330119275994038
409
+ ],
410
+ "count": [
411
+ 45000
412
+ ]
413
+ },
414
+ "command_time_s": {
415
+ "min": [
416
+ 0.0
417
+ ],
418
+ "max": [
419
+ 14.965000000006798
420
+ ],
421
+ "mean": [
422
+ 7.480011111112152
423
+ ],
424
+ "std": [
425
+ 4.330119275994038
426
+ ],
427
+ "count": [
428
+ 45000
429
+ ]
430
+ },
431
+ "state_source_index": {
432
+ "min": [
433
+ 0.0
434
+ ],
435
+ "max": [
436
+ 1497.0
437
+ ],
438
+ "mean": [
439
+ 748.0022222222224
440
+ ],
441
+ "std": [
442
+ 433.0138488875328
443
+ ],
444
+ "count": [
445
+ 45000
446
+ ]
447
+ },
448
+ "command_source_index": {
449
+ "min": [
450
+ 0.0
451
+ ],
452
+ "max": [
453
+ 29930.0
454
+ ],
455
+ "mean": [
456
+ 14960.022222222222
457
+ ],
458
+ "std": [
459
+ 8660.238551984809
460
+ ],
461
+ "count": [
462
+ 45000
463
+ ]
464
+ },
465
+ "observation.images.cam_high": {
466
+ "min": [
467
+ [
468
+ [
469
+ 0.0
470
+ ]
471
+ ],
472
+ [
473
+ [
474
+ 0.0
475
+ ]
476
+ ],
477
+ [
478
+ [
479
+ 0.0
480
+ ]
481
+ ]
482
+ ],
483
+ "max": [
484
+ [
485
+ [
486
+ 0.8862745098039215
487
+ ]
488
+ ],
489
+ [
490
+ [
491
+ 0.8823529411764706
492
+ ]
493
+ ],
494
+ [
495
+ [
496
+ 0.8705882352941177
497
+ ]
498
+ ]
499
+ ],
500
+ "mean": [
501
+ [
502
+ [
503
+ 0.326918295216524
504
+ ]
505
+ ],
506
+ [
507
+ [
508
+ 0.3219017876994548
509
+ ]
510
+ ],
511
+ [
512
+ [
513
+ 0.31316911360638006
514
+ ]
515
+ ]
516
+ ],
517
+ "std": [
518
+ [
519
+ [
520
+ 0.31569686932246643
521
+ ]
522
+ ],
523
+ [
524
+ [
525
+ 0.31078777107283395
526
+ ]
527
+ ],
528
+ [
529
+ [
530
+ 0.3038372080024368
531
+ ]
532
+ ]
533
+ ],
534
+ "count": [
535
+ 10000
536
+ ]
537
+ },
538
+ "observation.images.cam_left_wrist": {
539
+ "min": [
540
+ [
541
+ [
542
+ 0.0
543
+ ]
544
+ ],
545
+ [
546
+ [
547
+ 0.0
548
+ ]
549
+ ],
550
+ [
551
+ [
552
+ 0.0
553
+ ]
554
+ ]
555
+ ],
556
+ "max": [
557
+ [
558
+ [
559
+ 1.0
560
+ ]
561
+ ],
562
+ [
563
+ [
564
+ 1.0
565
+ ]
566
+ ],
567
+ [
568
+ [
569
+ 1.0
570
+ ]
571
+ ]
572
+ ],
573
+ "mean": [
574
+ [
575
+ [
576
+ 0.3341224977881777
577
+ ]
578
+ ],
579
+ [
580
+ [
581
+ 0.32480386706244985
582
+ ]
583
+ ],
584
+ [
585
+ [
586
+ 0.3171483810946253
587
+ ]
588
+ ]
589
+ ],
590
+ "std": [
591
+ [
592
+ [
593
+ 0.32115974040166706
594
+ ]
595
+ ],
596
+ [
597
+ [
598
+ 0.3121851105931256
599
+ ]
600
+ ],
601
+ [
602
+ [
603
+ 0.30448629982916753
604
+ ]
605
+ ]
606
+ ],
607
+ "count": [
608
+ 10000
609
+ ]
610
+ },
611
+ "observation.images.cam_right_wrist": {
612
+ "min": [
613
+ [
614
+ [
615
+ 0.0
616
+ ]
617
+ ],
618
+ [
619
+ [
620
+ 0.0
621
+ ]
622
+ ],
623
+ [
624
+ [
625
+ 0.0
626
+ ]
627
+ ]
628
+ ],
629
+ "max": [
630
+ [
631
+ [
632
+ 0.984313725490196
633
+ ]
634
+ ],
635
+ [
636
+ [
637
+ 1.0
638
+ ]
639
+ ],
640
+ [
641
+ [
642
+ 0.9921568627450981
643
+ ]
644
+ ]
645
+ ],
646
+ "mean": [
647
+ [
648
+ [
649
+ 0.3593264083133254
650
+ ]
651
+ ],
652
+ [
653
+ [
654
+ 0.35270144648484403
655
+ ]
656
+ ],
657
+ [
658
+ [
659
+ 0.34121464246636163
660
+ ]
661
+ ]
662
+ ],
663
+ "std": [
664
+ [
665
+ [
666
+ 0.3543793097698588
667
+ ]
668
+ ],
669
+ [
670
+ [
671
+ 0.34774815659238323
672
+ ]
673
+ ],
674
+ [
675
+ [
676
+ 0.33693499942006355
677
+ ]
678
+ ]
679
+ ],
680
+ "count": [
681
+ 10000
682
+ ]
683
+ }
684
+ }
drawer_center_layout_100/draw/meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Put_the_block_in_the_drawer."}
drawer_center_layout_100/draw/official_reader_receipt.json ADDED
@@ -0,0 +1,8 @@
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema": "rssr.drawer.center_layout_official_reader.v1",
3
+ "accepted": true,
4
+ "episodes": 100,
5
+ "frames": 45000,
6
+ "samples_checked": 300,
7
+ "hf_writes": false
8
+ }
drawer_center_layout_100/manifest.json ADDED
@@ -0,0 +1,2047 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episodes": 100,
3
+ "file_pins": {
4
+ "draw/README.md": {
5
+ "bytes": 498,
6
+ "sha256": "2e1610bb3c8f1c4cec39bfc34fcd4c0d6f6a1ca752cb76d7d40fa15661b06c25"
7
+ },
8
+ "draw/data/chunk-000/episode_000000.parquet": {
9
+ "bytes": 126869,
10
+ "sha256": "48747d3226790bd0b8c8c49b469212af647a605748ba454d0bd8c3d92e81babd"
11
+ },
12
+ "draw/data/chunk-000/episode_000001.parquet": {
13
+ "bytes": 126049,
14
+ "sha256": "0061383123cfc55cdce3896756871307808dc5fd6e9d4a33b78ccd7a23e51573"
15
+ },
16
+ "draw/data/chunk-000/episode_000002.parquet": {
17
+ "bytes": 125804,
18
+ "sha256": "42c9cfdf90882ec511fd886e0eb31a1bff9ac563fce50acd2eedf5af61057fd3"
19
+ },
20
+ "draw/data/chunk-000/episode_000003.parquet": {
21
+ "bytes": 125646,
22
+ "sha256": "a9546380427a283421c94150b2c52854b43b62bd72c7de85dfb4e84f59322639"
23
+ },
24
+ "draw/data/chunk-000/episode_000004.parquet": {
25
+ "bytes": 126657,
26
+ "sha256": "7c9a3ea65bf690fdfdc8b5b09021ba95257d6adc6a3af395c001fc84cc08d3dc"
27
+ },
28
+ "draw/data/chunk-000/episode_000005.parquet": {
29
+ "bytes": 126460,
30
+ "sha256": "5db7234775e2a588d845d97c9382ecf03e148da740ba9149d16543f3127aaf21"
31
+ },
32
+ "draw/data/chunk-000/episode_000006.parquet": {
33
+ "bytes": 125818,
34
+ "sha256": "ca8be51ccb3e79d4bf440dc04154d0d351acd9ae19a0b05b9a46e6b73335b74c"
35
+ },
36
+ "draw/data/chunk-000/episode_000007.parquet": {
37
+ "bytes": 125798,
38
+ "sha256": "4695201a25c306fb13726d56902b2a6504dd85bbfb3369b8550ba5785ae479dc"
39
+ },
40
+ "draw/data/chunk-000/episode_000008.parquet": {
41
+ "bytes": 125787,
42
+ "sha256": "4039ead589a0a1fe562b44ae6dd8e94efc266e91bc707ba62423f1076f7fc30e"
43
+ },
44
+ "draw/data/chunk-000/episode_000009.parquet": {
45
+ "bytes": 126396,
46
+ "sha256": "ca3519101728e26f5e698b8fcabdd6d8841907807a175092cccae0f6a71b4109"
47
+ },
48
+ "draw/data/chunk-000/episode_000010.parquet": {
49
+ "bytes": 126543,
50
+ "sha256": "e5dc54d213cb3d4879874d51c190003c0de48efb909039063e5c4a7d228305d0"
51
+ },
52
+ "draw/data/chunk-000/episode_000011.parquet": {
53
+ "bytes": 126138,
54
+ "sha256": "dff6c21f83fc649bcdd20962dc89f7fdbfdca6c3521a919148c8a0e6d81c312a"
55
+ },
56
+ "draw/data/chunk-000/episode_000012.parquet": {
57
+ "bytes": 125931,
58
+ "sha256": "b49c5f3900e7e3229e65293731a05e8da32cfc298b46ae1e0f5c6315feeec7f9"
59
+ },
60
+ "draw/data/chunk-000/episode_000013.parquet": {
61
+ "bytes": 126059,
62
+ "sha256": "dc25e8d824869df8605c9b446199fe5e88e8ce2c6a7b69d67282475f2b911187"
63
+ },
64
+ "draw/data/chunk-000/episode_000014.parquet": {
65
+ "bytes": 126604,
66
+ "sha256": "b52da0588ab476eb695d205cbc65a019aa4a7361d636e24f3ea1b925c269bad9"
67
+ },
68
+ "draw/data/chunk-000/episode_000015.parquet": {
69
+ "bytes": 126371,
70
+ "sha256": "2042a9b0a32137421aa63ac690d5352ec170d48c5b600b8ef5b6cdb355c9d2f2"
71
+ },
72
+ "draw/data/chunk-000/episode_000016.parquet": {
73
+ "bytes": 125924,
74
+ "sha256": "63d526ad589336660f05074454d251754ccba483d8edb5d34f45dd01f41cdc2e"
75
+ },
76
+ "draw/data/chunk-000/episode_000017.parquet": {
77
+ "bytes": 126136,
78
+ "sha256": "3b079f529fd8a113b33d72faeb65966e978838119763f96f0561a2ecdd718c32"
79
+ },
80
+ "draw/data/chunk-000/episode_000018.parquet": {
81
+ "bytes": 125752,
82
+ "sha256": "c3c63c53ab91495050f6f943507a62814bab24da6966a4fb767bb6637b1e3330"
83
+ },
84
+ "draw/data/chunk-000/episode_000019.parquet": {
85
+ "bytes": 126287,
86
+ "sha256": "48f7dd500a36d77f4f6495f21c44c34f6f82845595b2f190a390c2f686fc427d"
87
+ },
88
+ "draw/data/chunk-000/episode_000020.parquet": {
89
+ "bytes": 125724,
90
+ "sha256": "4a9bfb904b79417e126eae702ec27258aa7309b685a87d7fa70da7d6037eaefb"
91
+ },
92
+ "draw/data/chunk-000/episode_000021.parquet": {
93
+ "bytes": 125802,
94
+ "sha256": "173e15ff22d013d7311fa880819fd75c95f2d5ee00d6e6a82fefea1f882d794d"
95
+ },
96
+ "draw/data/chunk-000/episode_000022.parquet": {
97
+ "bytes": 125750,
98
+ "sha256": "18d50ba4192a701944bea4cfe3ff693d8d84084f2b7eb116547047938576b481"
99
+ },
100
+ "draw/data/chunk-000/episode_000023.parquet": {
101
+ "bytes": 125567,
102
+ "sha256": "22f07e261485e01c7bf2cc4deb08466de7d4926fd445c5ff1f958990c6e4ee39"
103
+ },
104
+ "draw/data/chunk-000/episode_000024.parquet": {
105
+ "bytes": 126938,
106
+ "sha256": "2e347f10dfaf748f7a0dba40e8a7fbe6f7d1e802ad68c6449f12333033a293d6"
107
+ },
108
+ "draw/data/chunk-000/episode_000025.parquet": {
109
+ "bytes": 126429,
110
+ "sha256": "eea3cbb8339560dbb70f425d194cd659427c285b362c0e8e71ad6a284761994d"
111
+ },
112
+ "draw/data/chunk-000/episode_000026.parquet": {
113
+ "bytes": 126029,
114
+ "sha256": "9d907531c5ace69c100aaf8f6b656ceaa004137b7c5ba07bedd395ab54cef2a1"
115
+ },
116
+ "draw/data/chunk-000/episode_000027.parquet": {
117
+ "bytes": 125761,
118
+ "sha256": "033269a816e17ee46c246fbb54b284910996b57a191336b392c17d302b4d6ef3"
119
+ },
120
+ "draw/data/chunk-000/episode_000028.parquet": {
121
+ "bytes": 125808,
122
+ "sha256": "7bac51df9b26d125acf081b64b2809cde2228eb10dd57393b921c3b751dcb1d7"
123
+ },
124
+ "draw/data/chunk-000/episode_000029.parquet": {
125
+ "bytes": 126587,
126
+ "sha256": "249eb7ab773a07f762c6a1a4468ac3e6abb31bcc51132709a16b11fa07732a4e"
127
+ },
128
+ "draw/data/chunk-000/episode_000030.parquet": {
129
+ "bytes": 126251,
130
+ "sha256": "a49c8e6e87a030d4682b6dcefc60cca3e2dfa0efc76c48324547334e8cc009b1"
131
+ },
132
+ "draw/data/chunk-000/episode_000031.parquet": {
133
+ "bytes": 126258,
134
+ "sha256": "2eef9539d4dfaaa14fe75c911f886ed5f3ef26ab4804640c9769700d8e40839c"
135
+ },
136
+ "draw/data/chunk-000/episode_000032.parquet": {
137
+ "bytes": 125800,
138
+ "sha256": "b7ee7e3e392b6908d6b5644e5c9c029450fad68868032405c7cf6adcbaa0429c"
139
+ },
140
+ "draw/data/chunk-000/episode_000033.parquet": {
141
+ "bytes": 126146,
142
+ "sha256": "25431e428b3e4ab602f689240490891f7c27d4eca9f7d892a420c903fb7f278c"
143
+ },
144
+ "draw/data/chunk-000/episode_000034.parquet": {
145
+ "bytes": 126217,
146
+ "sha256": "d8865626eda71fddd69f2f35539c4da90d93a764cb7e366cdc29d1896c09fb6e"
147
+ },
148
+ "draw/data/chunk-000/episode_000035.parquet": {
149
+ "bytes": 126431,
150
+ "sha256": "88b34d14c28d51c759f349365b0c1ad75316cd52cabcdede1d1d30132f17b92a"
151
+ },
152
+ "draw/data/chunk-000/episode_000036.parquet": {
153
+ "bytes": 126183,
154
+ "sha256": "5bc29187bae36adb989a45539e35d992154d73911b690e18c6b96cd419639ba6"
155
+ },
156
+ "draw/data/chunk-000/episode_000037.parquet": {
157
+ "bytes": 125826,
158
+ "sha256": "a99573801d1d323d405be23732ace1bde09101348d07f558874e950334d659df"
159
+ },
160
+ "draw/data/chunk-000/episode_000038.parquet": {
161
+ "bytes": 125876,
162
+ "sha256": "116e9b276cbc8c97ea847391916f3aab1f9e516d431bdfd838771a2b0a97273d"
163
+ },
164
+ "draw/data/chunk-000/episode_000039.parquet": {
165
+ "bytes": 126559,
166
+ "sha256": "ef4bc5f38f45e404a67ef4089c5b510d84042f3a8beb6c7d4ca18e894a1784fe"
167
+ },
168
+ "draw/data/chunk-000/episode_000040.parquet": {
169
+ "bytes": 126416,
170
+ "sha256": "f8d9263ddfa193e07e86819e29ca06e0b044ffa5ea8adc010ffbe28c9ede975c"
171
+ },
172
+ "draw/data/chunk-000/episode_000041.parquet": {
173
+ "bytes": 126001,
174
+ "sha256": "00a559880f53bbe94796ed934f16f6aaa2b2c7f8f61738f013b81dc14ed3e132"
175
+ },
176
+ "draw/data/chunk-000/episode_000042.parquet": {
177
+ "bytes": 125727,
178
+ "sha256": "e8b2edc5fea0f6a0417652315c5f3809342a0526c0dfa8e71fc069de261c23fd"
179
+ },
180
+ "draw/data/chunk-000/episode_000043.parquet": {
181
+ "bytes": 125596,
182
+ "sha256": "06e663cbf5fd8cf8435fed620ad24f7b19c9e7e033a4c0fa013ef5e6c190dc68"
183
+ },
184
+ "draw/data/chunk-000/episode_000044.parquet": {
185
+ "bytes": 126593,
186
+ "sha256": "c502df3fc348565d1d1cfedc8ab8f1d7d1f732d0378a64c3ecb1b27e36e92099"
187
+ },
188
+ "draw/data/chunk-000/episode_000045.parquet": {
189
+ "bytes": 126535,
190
+ "sha256": "c438a1f5607b24666c8d08de7fee84d48ee84663665d39ea1272ad4753e33e05"
191
+ },
192
+ "draw/data/chunk-000/episode_000046.parquet": {
193
+ "bytes": 126339,
194
+ "sha256": "68fa12d89c387b7debbfe9c1def8a3aafa4ca189b0edf586edfb97911daae19a"
195
+ },
196
+ "draw/data/chunk-000/episode_000047.parquet": {
197
+ "bytes": 126078,
198
+ "sha256": "68c389f78f801a17fc794805847c27e5d79397bc5660796ccc7a22de78d80faa"
199
+ },
200
+ "draw/data/chunk-000/episode_000048.parquet": {
201
+ "bytes": 126040,
202
+ "sha256": "b23021034fafcd0518dee284eb845e2483791cb0265ce4b922912f98f8d18d53"
203
+ },
204
+ "draw/data/chunk-000/episode_000049.parquet": {
205
+ "bytes": 126290,
206
+ "sha256": "29d2f0a9b12ec5064893120403a19d62c245b07b7a8130de2a1a0b998247ce3a"
207
+ },
208
+ "draw/data/chunk-000/episode_000050.parquet": {
209
+ "bytes": 126525,
210
+ "sha256": "548ba3ecfd3a7526b312284a32282f0d0f1ee06afbad521e537aad2c2572d517"
211
+ },
212
+ "draw/data/chunk-000/episode_000051.parquet": {
213
+ "bytes": 126261,
214
+ "sha256": "8c393dc8e6d8af04882a00debe9b3bade00e418b15596ba8f8102e29e6700c50"
215
+ },
216
+ "draw/data/chunk-000/episode_000052.parquet": {
217
+ "bytes": 125799,
218
+ "sha256": "89e73da46f724cd0e908fbe65f7b992538fed38697c95621348707fb1190b0dd"
219
+ },
220
+ "draw/data/chunk-000/episode_000053.parquet": {
221
+ "bytes": 125398,
222
+ "sha256": "e1a892b898c79bc8fe6ee45f8998848503cb320225c0879a1217c10180515b0b"
223
+ },
224
+ "draw/data/chunk-000/episode_000054.parquet": {
225
+ "bytes": 126726,
226
+ "sha256": "4397f03e364988804b46fad82bda094c8632c928af6495adf60f8bd1f44ea94d"
227
+ },
228
+ "draw/data/chunk-000/episode_000055.parquet": {
229
+ "bytes": 126166,
230
+ "sha256": "90ca0c1807d82f144de940c4f28b6151029c897c657f532f91decacf1221908f"
231
+ },
232
+ "draw/data/chunk-000/episode_000056.parquet": {
233
+ "bytes": 125856,
234
+ "sha256": "3571c2c0368c19a364b26590e2502f4b6b6bd829c589046999346c0b7d172205"
235
+ },
236
+ "draw/data/chunk-000/episode_000057.parquet": {
237
+ "bytes": 125867,
238
+ "sha256": "c84af8295f37826266eaee0e83bca40afcad7bf683fb3766dd6c03183b775434"
239
+ },
240
+ "draw/data/chunk-000/episode_000058.parquet": {
241
+ "bytes": 125811,
242
+ "sha256": "169f311bc4f2fd14ac8a460b798ecafbd1e9774993d591a3787b60e6f3c82bad"
243
+ },
244
+ "draw/data/chunk-000/episode_000059.parquet": {
245
+ "bytes": 126618,
246
+ "sha256": "48c71889fc8e7a29a2c0be63f06ac6f01907e0313ea0399f2dfafae3c93c0548"
247
+ },
248
+ "draw/data/chunk-000/episode_000060.parquet": {
249
+ "bytes": 126423,
250
+ "sha256": "7390e67c2c3c42f56a4c8e404ddf08b96f9ff884b6aa75f9049de242303c5b96"
251
+ },
252
+ "draw/data/chunk-000/episode_000061.parquet": {
253
+ "bytes": 125980,
254
+ "sha256": "5286c822f8ee6b2854c7305817945a9e018986b797a84bfbd1e6f2bd7fa0dcc5"
255
+ },
256
+ "draw/data/chunk-000/episode_000062.parquet": {
257
+ "bytes": 125795,
258
+ "sha256": "5a4ae35e5e0ba8244b3c143c79affbd608c3d1b182067870db85280ffd2c7c6b"
259
+ },
260
+ "draw/data/chunk-000/episode_000063.parquet": {
261
+ "bytes": 125562,
262
+ "sha256": "a186d15d500f4f7463b70467eafadd956cb3931cb0d285c0d0f11500ac38cf46"
263
+ },
264
+ "draw/data/chunk-000/episode_000064.parquet": {
265
+ "bytes": 126463,
266
+ "sha256": "d99fc5434c16fb4fc145db00dd0e1e2910444527231bb4f84af64266bf69c84f"
267
+ },
268
+ "draw/data/chunk-000/episode_000065.parquet": {
269
+ "bytes": 126467,
270
+ "sha256": "dc4198f7e1e03571f504651022a2bfb78922982d70aaf60f78c38f536f776064"
271
+ },
272
+ "draw/data/chunk-000/episode_000066.parquet": {
273
+ "bytes": 125948,
274
+ "sha256": "ab5b6ea245e06ac9b44288831422ecc84ad2f13da851774796ec1a64ae774d61"
275
+ },
276
+ "draw/data/chunk-000/episode_000067.parquet": {
277
+ "bytes": 125819,
278
+ "sha256": "d03692ee3272ad4bd7d01fe1c6ff401fe360d409972ae0eabbc768c2e986292e"
279
+ },
280
+ "draw/data/chunk-000/episode_000068.parquet": {
281
+ "bytes": 125900,
282
+ "sha256": "9e70dd8b8f3201cfe4975e9e09244833148d0b7f9dd5d54fdcfba0e6f238f8a7"
283
+ },
284
+ "draw/data/chunk-000/episode_000069.parquet": {
285
+ "bytes": 126151,
286
+ "sha256": "76032a783af4f58fb4b2d63069d54557cc33e891e7b8717c6adbcda2d6787525"
287
+ },
288
+ "draw/data/chunk-000/episode_000070.parquet": {
289
+ "bytes": 125881,
290
+ "sha256": "16e052a747de10bf6dc805f9afd6a26f4ffedd655374546149cd6bb9bb468f0d"
291
+ },
292
+ "draw/data/chunk-000/episode_000071.parquet": {
293
+ "bytes": 125865,
294
+ "sha256": "325e62f13585e8d95c9a463ba0dc85a5feab2db8df75525d9000cc2fc8ca945c"
295
+ },
296
+ "draw/data/chunk-000/episode_000072.parquet": {
297
+ "bytes": 125899,
298
+ "sha256": "0749b69be7688811105f92a4f99636c730e7c46212d899aaac3daabaa5f9fa57"
299
+ },
300
+ "draw/data/chunk-000/episode_000073.parquet": {
301
+ "bytes": 125502,
302
+ "sha256": "18dd9537bda5254c91443f1d428d242f4c0d2137490f079d692ae3b31f5466c0"
303
+ },
304
+ "draw/data/chunk-000/episode_000074.parquet": {
305
+ "bytes": 126416,
306
+ "sha256": "0255ad652d26fde0defa5e6ea7b6fcd487ba49657000dc845c12e5d8844ed11d"
307
+ },
308
+ "draw/data/chunk-000/episode_000075.parquet": {
309
+ "bytes": 126500,
310
+ "sha256": "b89b27b65bf88f3429c20c535192adc7afa4baf26bee0aaba23db1b22082b9f3"
311
+ },
312
+ "draw/data/chunk-000/episode_000076.parquet": {
313
+ "bytes": 125799,
314
+ "sha256": "14a8d4ee6a8e05cff79c2b4ad2f120dfcb93b466393873f3987405da2b5290d0"
315
+ },
316
+ "draw/data/chunk-000/episode_000077.parquet": {
317
+ "bytes": 125675,
318
+ "sha256": "38e901e1b5a4ab001481bc9e2aabe47a1833adb664e6698371172cf4020cbaab"
319
+ },
320
+ "draw/data/chunk-000/episode_000078.parquet": {
321
+ "bytes": 125718,
322
+ "sha256": "a050f51adeb6319ea3c8af43f1bd8adf3b2493e7b0f70c203fd0d15dfb694262"
323
+ },
324
+ "draw/data/chunk-000/episode_000079.parquet": {
325
+ "bytes": 126702,
326
+ "sha256": "5d620dc2f5c804d91590c6114104c9d3da256a8e3d5695376677d708fb0e73d5"
327
+ },
328
+ "draw/data/chunk-000/episode_000080.parquet": {
329
+ "bytes": 126398,
330
+ "sha256": "f5c565a00ae746899cf74aa3944b12e556e6531305c81fd1a51da74b574a268a"
331
+ },
332
+ "draw/data/chunk-000/episode_000081.parquet": {
333
+ "bytes": 126342,
334
+ "sha256": "0c786852ccef06945f6cc65e10e7d08e0d285a013569e5b393f317ed1e4df3c7"
335
+ },
336
+ "draw/data/chunk-000/episode_000082.parquet": {
337
+ "bytes": 126090,
338
+ "sha256": "99c65b55445cdc408186cd854b90d7d3e8d8de679bad77ffc66ab22fed01a50c"
339
+ },
340
+ "draw/data/chunk-000/episode_000083.parquet": {
341
+ "bytes": 125868,
342
+ "sha256": "ef0eb81c28654c953ec20e9e671ed51417875ed02e68d08eeef293156abe3ca1"
343
+ },
344
+ "draw/data/chunk-000/episode_000084.parquet": {
345
+ "bytes": 126658,
346
+ "sha256": "a1fb46ef77da190f36e83fd2149cb3a1dca354d456da0a73c8fbce2becc04853"
347
+ },
348
+ "draw/data/chunk-000/episode_000085.parquet": {
349
+ "bytes": 126220,
350
+ "sha256": "7e36d53d7b50f66d5de1ef5d174a4fc463138714b3b318349ecebef066d61376"
351
+ },
352
+ "draw/data/chunk-000/episode_000086.parquet": {
353
+ "bytes": 126011,
354
+ "sha256": "bedb5eb7ca7c86652743bf70a932d4614b8f1ab56f94a9e9559d10ce4bd857c7"
355
+ },
356
+ "draw/data/chunk-000/episode_000087.parquet": {
357
+ "bytes": 125686,
358
+ "sha256": "7e55abfd29617cd56998150c40d29a8768d91617013aee196fbda99533482e8f"
359
+ },
360
+ "draw/data/chunk-000/episode_000088.parquet": {
361
+ "bytes": 125776,
362
+ "sha256": "6a4d9bdd63e4c25843165cae0930e3d4bfd7d6fff4f6e02205e1e69e71c8ecdb"
363
+ },
364
+ "draw/data/chunk-000/episode_000089.parquet": {
365
+ "bytes": 126477,
366
+ "sha256": "7dda1ddc84505a91e19e96e07fe6a015464fbf7e66806eb3d85b53969f31dd18"
367
+ },
368
+ "draw/data/chunk-000/episode_000090.parquet": {
369
+ "bytes": 126273,
370
+ "sha256": "91e14e1d77d1910727bf42fa877b81525b9aa6698f0aa0eb9192f4fbe88c7fcc"
371
+ },
372
+ "draw/data/chunk-000/episode_000091.parquet": {
373
+ "bytes": 125837,
374
+ "sha256": "79438e2d31a62688ce39a6b4c375bc7eae638776ad701d31fae1356239e3a6f9"
375
+ },
376
+ "draw/data/chunk-000/episode_000092.parquet": {
377
+ "bytes": 125646,
378
+ "sha256": "b3f2e07273cec1f4be496292e45ade52f16cc6668f8c6556d1e1ff84c54c60bd"
379
+ },
380
+ "draw/data/chunk-000/episode_000093.parquet": {
381
+ "bytes": 125432,
382
+ "sha256": "9163a2fe683d9d3059f55683b16421b233613486f008f4c3193d97caad7da4b1"
383
+ },
384
+ "draw/data/chunk-000/episode_000094.parquet": {
385
+ "bytes": 126750,
386
+ "sha256": "4b3e8667da63ff94e5eb78ecc6d01ad4e220f3e47451943f518952c11f86a541"
387
+ },
388
+ "draw/data/chunk-000/episode_000095.parquet": {
389
+ "bytes": 126239,
390
+ "sha256": "e19ddf7b5fb95f6328a3f09650c34c848cb057776a9115c9394e8cc3b35bf486"
391
+ },
392
+ "draw/data/chunk-000/episode_000096.parquet": {
393
+ "bytes": 125861,
394
+ "sha256": "fde181a3c03f33ab6e49421ae95da1e9cad03753b188967b35e3030920f48b01"
395
+ },
396
+ "draw/data/chunk-000/episode_000097.parquet": {
397
+ "bytes": 125828,
398
+ "sha256": "7ecc72f54777ab854c320e132f060d6efd59aabde67c29fe69772763b650e0c1"
399
+ },
400
+ "draw/data/chunk-000/episode_000098.parquet": {
401
+ "bytes": 126145,
402
+ "sha256": "7503277dd59e3b31a5955d9b96114b7ef52eeb70cffe6294f19899db9af39845"
403
+ },
404
+ "draw/data/chunk-000/episode_000099.parquet": {
405
+ "bytes": 126579,
406
+ "sha256": "e49b17eb5965a1fb4de399b668bea507ed747cbb4ff329a141b850e631f9ed95"
407
+ },
408
+ "draw/evidence/episode_000000.json": {
409
+ "bytes": 15211,
410
+ "sha256": "ac131f7c8da213eb7a21337867a8e12061dfb8dce990475e5eb8418bf7147e5f"
411
+ },
412
+ "draw/evidence/episode_000001.json": {
413
+ "bytes": 15253,
414
+ "sha256": "a63fbacb46b9df147ead6bdda412762f190d1fd5f9f80f5f7f60840174b769c1"
415
+ },
416
+ "draw/evidence/episode_000002.json": {
417
+ "bytes": 15253,
418
+ "sha256": "4b939b0f31b0961b33eed6c6a36776882efab0d20becb0f12be1db467f807876"
419
+ },
420
+ "draw/evidence/episode_000003.json": {
421
+ "bytes": 15211,
422
+ "sha256": "6038aabd234ead5fd3f1d0ba556f44db49e7574a3184a556a9670ed007fe1144"
423
+ },
424
+ "draw/evidence/episode_000004.json": {
425
+ "bytes": 15227,
426
+ "sha256": "55c522dc6fdba6284c23e758ba3578eb90e6c09603a4a782e7de49204509937f"
427
+ },
428
+ "draw/evidence/episode_000005.json": {
429
+ "bytes": 15246,
430
+ "sha256": "a4a7ab0a4ac35b6fd11f50d5514c269cb55582f78a552fab8153fb76a48d5434"
431
+ },
432
+ "draw/evidence/episode_000006.json": {
433
+ "bytes": 15255,
434
+ "sha256": "6881753c8432172cd51e2a991b5ac13c8fd74ee0fbadbec79a626ce0628999e6"
435
+ },
436
+ "draw/evidence/episode_000007.json": {
437
+ "bytes": 15232,
438
+ "sha256": "e649538b5ffe58bdb73b32af28e56c431cdc5c273d284217ab8b6a3a5241102f"
439
+ },
440
+ "draw/evidence/episode_000008.json": {
441
+ "bytes": 15244,
442
+ "sha256": "bc43033f0a3121632f870223cde1adeac8eba8528d4d9f3b8cf6fa923df936d5"
443
+ },
444
+ "draw/evidence/episode_000009.json": {
445
+ "bytes": 15260,
446
+ "sha256": "55d5d0b46450e1845c1b6ea5303adf3a18eb2474bee2d0d8313d453b1d689aeb"
447
+ },
448
+ "draw/evidence/episode_000010.json": {
449
+ "bytes": 15241,
450
+ "sha256": "1402ee3ff7a43baae8ba306641a02ecf039f983cbefe02a4cd7704469da542f3"
451
+ },
452
+ "draw/evidence/episode_000011.json": {
453
+ "bytes": 15219,
454
+ "sha256": "34c2e4fd6c38ae14a2768c70c381a43ebd6d962c32231b28163fd9284c5ef2df"
455
+ },
456
+ "draw/evidence/episode_000012.json": {
457
+ "bytes": 15249,
458
+ "sha256": "0f6df9fa5d437d3281f4e376859aa2ce727adb229c542baac87eb64b7e0dc2a8"
459
+ },
460
+ "draw/evidence/episode_000013.json": {
461
+ "bytes": 15266,
462
+ "sha256": "b0509725e6387be4b728621e74fad05d21e46b6adb896f63e634a99a22b7efb6"
463
+ },
464
+ "draw/evidence/episode_000014.json": {
465
+ "bytes": 15253,
466
+ "sha256": "286c3bbba50d6447e1083051af9e3522b563ca30a3a6b7e18d8b067b01b4531c"
467
+ },
468
+ "draw/evidence/episode_000015.json": {
469
+ "bytes": 15235,
470
+ "sha256": "39544ddfc52c8389b9258f094c5c95ed5535d6efb2a433816775457c66394bbc"
471
+ },
472
+ "draw/evidence/episode_000016.json": {
473
+ "bytes": 15244,
474
+ "sha256": "63286e89122e8fdb983df67416b9339eaf2370c978d9d9af38871a003717d0a9"
475
+ },
476
+ "draw/evidence/episode_000017.json": {
477
+ "bytes": 15264,
478
+ "sha256": "08cb8aa8e7e3307b8852f5bd84521985b4fd4f816012c55f5511babc22d86f45"
479
+ },
480
+ "draw/evidence/episode_000018.json": {
481
+ "bytes": 15248,
482
+ "sha256": "38e880cf70da76339e6a65a26351c46c019f96a8f90c77a13a2d3bec426b4421"
483
+ },
484
+ "draw/evidence/episode_000019.json": {
485
+ "bytes": 15270,
486
+ "sha256": "da1777ccb811168bd6f93952761b30514b6427cfd965a5ba23349e4f1c60d210"
487
+ },
488
+ "draw/evidence/episode_000020.json": {
489
+ "bytes": 15245,
490
+ "sha256": "1795d54250464bf8beeee06897c1e053d73ce62c698a422ece7d6c6ca9e36b84"
491
+ },
492
+ "draw/evidence/episode_000021.json": {
493
+ "bytes": 15242,
494
+ "sha256": "729551e1b04933885ac22125f7ecdc8d3fc886664dc5c85f035f0e00633cf7aa"
495
+ },
496
+ "draw/evidence/episode_000022.json": {
497
+ "bytes": 15244,
498
+ "sha256": "cdb6a24288d69c4940d192d971d7fb19cc17d53cc01d0e4185abf17bded7b8cb"
499
+ },
500
+ "draw/evidence/episode_000023.json": {
501
+ "bytes": 15263,
502
+ "sha256": "0ad9f791e30adf3adeb2ef67f84f8f89eddb908c126a659e8ba8e0f6d1e81926"
503
+ },
504
+ "draw/evidence/episode_000024.json": {
505
+ "bytes": 15260,
506
+ "sha256": "fcf6970c37f608f39adbe93dddc41ab8e7c72977ac3f45db4dafea91e5790c3d"
507
+ },
508
+ "draw/evidence/episode_000025.json": {
509
+ "bytes": 15239,
510
+ "sha256": "be56890caeef3e9b980c9b3e8f0b0b8c4995c8b4dd50cf787581fbde3b2c94e0"
511
+ },
512
+ "draw/evidence/episode_000026.json": {
513
+ "bytes": 15256,
514
+ "sha256": "4b9cc72f0cd100874f1bfe03e8fba02cc08985139ae6e549cd84d8b23abad3d3"
515
+ },
516
+ "draw/evidence/episode_000027.json": {
517
+ "bytes": 15235,
518
+ "sha256": "64b28fe388a139e5c9069ebf266305d262430add34ec97eb247eff277088cb1f"
519
+ },
520
+ "draw/evidence/episode_000028.json": {
521
+ "bytes": 15269,
522
+ "sha256": "5d3691db2eb4f1c1f145b888ae485659644738a9a77edb930b4f2cbec0dfe802"
523
+ },
524
+ "draw/evidence/episode_000029.json": {
525
+ "bytes": 15239,
526
+ "sha256": "cd9903e9671bee7b1b29998a375bf00d326c203f4e8b9c80ab80a7979f00964a"
527
+ },
528
+ "draw/evidence/episode_000030.json": {
529
+ "bytes": 15262,
530
+ "sha256": "44a284500008eafc4501aee2f5159eda44522f9520c4d3de4ed27a9927a68a5c"
531
+ },
532
+ "draw/evidence/episode_000031.json": {
533
+ "bytes": 15257,
534
+ "sha256": "343758aa369f15f97aa0a209e776a42a0895c3bfde5bd2f0e8c3b6704f366575"
535
+ },
536
+ "draw/evidence/episode_000032.json": {
537
+ "bytes": 15259,
538
+ "sha256": "cae7eab48e7f2b1244f8e0f2ba2646a9c159fa31e67295aecb27f87770837bc1"
539
+ },
540
+ "draw/evidence/episode_000033.json": {
541
+ "bytes": 15249,
542
+ "sha256": "d1f02e3b1910dfedf675012d00c234d225ff942b80440766aa75cc481107abcd"
543
+ },
544
+ "draw/evidence/episode_000034.json": {
545
+ "bytes": 15242,
546
+ "sha256": "9facfa28e05bb3d3e13c1c4fdf0f5b43e1ab508398787f16a4bbc5568b7be192"
547
+ },
548
+ "draw/evidence/episode_000035.json": {
549
+ "bytes": 15257,
550
+ "sha256": "1d5e4cd55d2b4f3272c9a7a250496bca7bccbb87e69c80f03af571e0048cfae3"
551
+ },
552
+ "draw/evidence/episode_000036.json": {
553
+ "bytes": 15264,
554
+ "sha256": "283502577f1e0ade8a5e86ffdba4a344bc81ef55be03aca3938b9c9f33a77c93"
555
+ },
556
+ "draw/evidence/episode_000037.json": {
557
+ "bytes": 15264,
558
+ "sha256": "81348974df266b95b464170e2c32fc3ab5a7da496ac4e30a290a18d8b6882e55"
559
+ },
560
+ "draw/evidence/episode_000038.json": {
561
+ "bytes": 15247,
562
+ "sha256": "9b678e4fea6bfdb762813b9661a16aff7bb5903fc3ee82c76c2f8a6ac8cacd1a"
563
+ },
564
+ "draw/evidence/episode_000039.json": {
565
+ "bytes": 15251,
566
+ "sha256": "de9f0b6bb68bd6f1e31eb6728723d62d0d70ce0accfc0af36a4d53c78c80962e"
567
+ },
568
+ "draw/evidence/episode_000040.json": {
569
+ "bytes": 15266,
570
+ "sha256": "7651982e0ca62a5e008b689b71ed1b9d7b20fd08484048a6f5a4a76815bb643b"
571
+ },
572
+ "draw/evidence/episode_000041.json": {
573
+ "bytes": 15258,
574
+ "sha256": "84895150681f8bebfd257804b599b329daa2b59e0014771e05ca490327e159b6"
575
+ },
576
+ "draw/evidence/episode_000042.json": {
577
+ "bytes": 15243,
578
+ "sha256": "c3e7d15a4935cfa09e88eeda8643105d514a3514449df0edd4c6948430ad76a8"
579
+ },
580
+ "draw/evidence/episode_000043.json": {
581
+ "bytes": 15268,
582
+ "sha256": "856f69c7f57736c396c8aca182e05c25da59af49e6962502de789f37eb736836"
583
+ },
584
+ "draw/evidence/episode_000044.json": {
585
+ "bytes": 15237,
586
+ "sha256": "4fdee15f32f840b5945e4a6556e45ebf03025f601642d0cafe590594498cc512"
587
+ },
588
+ "draw/evidence/episode_000045.json": {
589
+ "bytes": 15251,
590
+ "sha256": "8bed757ca1b6885427218c6824c4fdcf2f779ff8fb00d10cb10a52f176cb371f"
591
+ },
592
+ "draw/evidence/episode_000046.json": {
593
+ "bytes": 15240,
594
+ "sha256": "3266a96a989cbccd58be1c3eee2f31a70f9acd6c7eeef96746c21baa84f1c29d"
595
+ },
596
+ "draw/evidence/episode_000047.json": {
597
+ "bytes": 15250,
598
+ "sha256": "0e034b8afb3dc0ec6808f33e4815734e75c8da2ecbdc850db3affe9081da3dbd"
599
+ },
600
+ "draw/evidence/episode_000048.json": {
601
+ "bytes": 15225,
602
+ "sha256": "1a82f1e8dd5c2bdd46c4c430460db22278e9c7b09b32ff533c6e6c455a202b39"
603
+ },
604
+ "draw/evidence/episode_000049.json": {
605
+ "bytes": 15255,
606
+ "sha256": "1368fe5b84278da43aa72f0cb9bb65f06a113f2c4ae5b7a8819366dec63a76ed"
607
+ },
608
+ "draw/evidence/episode_000050.json": {
609
+ "bytes": 15248,
610
+ "sha256": "14aa0427fcf8797be4bcf0eaab75c46a4db29610f3c3e5dad13531ce1be4351a"
611
+ },
612
+ "draw/evidence/episode_000051.json": {
613
+ "bytes": 15244,
614
+ "sha256": "892c64a75f1695d2ed17cf5d53c8af1ed2d8620bce22ba794c4024a69e6e42cd"
615
+ },
616
+ "draw/evidence/episode_000052.json": {
617
+ "bytes": 15262,
618
+ "sha256": "486af289b132026c4791c3d6b68a2a5fe0829b3ebc645e284efd36be5351af9a"
619
+ },
620
+ "draw/evidence/episode_000053.json": {
621
+ "bytes": 15265,
622
+ "sha256": "aa075af8e33efdcde60d3026ff6ae37e49530309d482c5a72c3cc4f674f7cb71"
623
+ },
624
+ "draw/evidence/episode_000054.json": {
625
+ "bytes": 15272,
626
+ "sha256": "89ea560e597dfafb15a35be4f52e6af5876796ea10efdbeac147f4a69da1588d"
627
+ },
628
+ "draw/evidence/episode_000055.json": {
629
+ "bytes": 15259,
630
+ "sha256": "b26e4e879ec871950550588e0dc3dbf0ce5d9d919df504b9d7423ab2dab6f1d5"
631
+ },
632
+ "draw/evidence/episode_000056.json": {
633
+ "bytes": 15254,
634
+ "sha256": "01063113ca137801a40f57b12b229505713cf13bb050bad92fcc1727415cda8d"
635
+ },
636
+ "draw/evidence/episode_000057.json": {
637
+ "bytes": 15266,
638
+ "sha256": "6d79c3c9ceb785dd37e1ee8358d10248e279954ef30a404e0786e6a21f16201e"
639
+ },
640
+ "draw/evidence/episode_000058.json": {
641
+ "bytes": 15276,
642
+ "sha256": "ff9b4db1f7cbca00ff622f952c3b9b54a50abf1b3b7c1d0b740d35efab178751"
643
+ },
644
+ "draw/evidence/episode_000059.json": {
645
+ "bytes": 15267,
646
+ "sha256": "94d0dae4da566c93e08f9a0e81fd52018211fc29adaebbeb230a4bf3eafa450c"
647
+ },
648
+ "draw/evidence/episode_000060.json": {
649
+ "bytes": 15255,
650
+ "sha256": "259ea27970870ff4c260f1114a3dae739800486a49441b27ed28c0c5bc917fac"
651
+ },
652
+ "draw/evidence/episode_000061.json": {
653
+ "bytes": 15254,
654
+ "sha256": "f4232ff43d369a9790ac4471ebf954143aa9aba0ae8013ad9d0937c5541c9cab"
655
+ },
656
+ "draw/evidence/episode_000062.json": {
657
+ "bytes": 15245,
658
+ "sha256": "d9e6afe913d5f49eda7d9b5e49c0a8cab409586a24cb6e529815f676fad5fe77"
659
+ },
660
+ "draw/evidence/episode_000063.json": {
661
+ "bytes": 15265,
662
+ "sha256": "b58c49bcee6bdcf96b0faf220b363636e1b9bbeaf2af2b7cd65b052cb2550e53"
663
+ },
664
+ "draw/evidence/episode_000064.json": {
665
+ "bytes": 15247,
666
+ "sha256": "d3252ad66b61dda2f5889a159d657b5bbbd68551d141bdf26e440cced3c9c82d"
667
+ },
668
+ "draw/evidence/episode_000065.json": {
669
+ "bytes": 15267,
670
+ "sha256": "ee3ffa6d08bcfbe119cca1056daedfde932e2196525398fbf7ee8a197839f381"
671
+ },
672
+ "draw/evidence/episode_000066.json": {
673
+ "bytes": 15254,
674
+ "sha256": "b9e810d635ce1c95bef3ed498574f7ef3b3cd76014c91c54a0547aaead06c511"
675
+ },
676
+ "draw/evidence/episode_000067.json": {
677
+ "bytes": 15259,
678
+ "sha256": "f2b457f296f1ad43c11973269c484f235d814ddb730836f0e9cf072f6737d2c2"
679
+ },
680
+ "draw/evidence/episode_000068.json": {
681
+ "bytes": 15223,
682
+ "sha256": "b161e0e27566f6ed80840e115646857b966db94863a5e1810a352e9ddef7d16d"
683
+ },
684
+ "draw/evidence/episode_000069.json": {
685
+ "bytes": 15250,
686
+ "sha256": "55c6e406ab2ed738370dded458121bc9aecbb5503dbd49e584ce058066fc8ad4"
687
+ },
688
+ "draw/evidence/episode_000070.json": {
689
+ "bytes": 15244,
690
+ "sha256": "88319a389fc35d3137fa4a085211c6bee31bcf0d9c6e9f01e16169f8c0f59962"
691
+ },
692
+ "draw/evidence/episode_000071.json": {
693
+ "bytes": 15258,
694
+ "sha256": "bae188c970a94bcd7c0ddd0f0827c33f6635886e10e92d0c6b239b1282104807"
695
+ },
696
+ "draw/evidence/episode_000072.json": {
697
+ "bytes": 15269,
698
+ "sha256": "52bbc2eae8e2974a73b3f2c2f0945fb9a537cca2dfb9752dc6f15cfe129f59b5"
699
+ },
700
+ "draw/evidence/episode_000073.json": {
701
+ "bytes": 15270,
702
+ "sha256": "0a5b2094bd0fc24950869f77f4add0fd759e92dffdbbd95b8a62afe2ef526c7a"
703
+ },
704
+ "draw/evidence/episode_000074.json": {
705
+ "bytes": 15244,
706
+ "sha256": "e0354dd00ac6fd6ad826b97d1841c7d718862376897c6c2048c7c41ca22c727f"
707
+ },
708
+ "draw/evidence/episode_000075.json": {
709
+ "bytes": 15245,
710
+ "sha256": "7001296f620481942d38469ef4bbefe0284be0ffb027a643c1d4b7d07be0af0d"
711
+ },
712
+ "draw/evidence/episode_000076.json": {
713
+ "bytes": 15278,
714
+ "sha256": "5be072237ac340212d31ce062d7b70ffd4f6001890c582fa853928955829579e"
715
+ },
716
+ "draw/evidence/episode_000077.json": {
717
+ "bytes": 15257,
718
+ "sha256": "a18a52787a1f5ff3d1dc54b40bca376707c1204b273429acb2e104e1a22d2245"
719
+ },
720
+ "draw/evidence/episode_000078.json": {
721
+ "bytes": 15270,
722
+ "sha256": "9d3e5795a967ff32dc10320d8746ec2d9cb6d7042d4e66de003728a4990eac9b"
723
+ },
724
+ "draw/evidence/episode_000079.json": {
725
+ "bytes": 15254,
726
+ "sha256": "b87ab444b9f1602206e026211f226b19187a431e75d6d7a84287f95425a07b35"
727
+ },
728
+ "draw/evidence/episode_000080.json": {
729
+ "bytes": 15257,
730
+ "sha256": "9413ec2a35742969c02cad498a927e996861ce6127de2fbde49e8977fe925bc4"
731
+ },
732
+ "draw/evidence/episode_000081.json": {
733
+ "bytes": 15266,
734
+ "sha256": "d389895f46f0ac1eb2ec9abe40a80a7cd7519c49de67d34da85187e0657cfc5a"
735
+ },
736
+ "draw/evidence/episode_000082.json": {
737
+ "bytes": 15260,
738
+ "sha256": "e836bd1d0dbbba799813dca1b1a47f8d0f6ab5b14466a2cd23a47d43dfee1618"
739
+ },
740
+ "draw/evidence/episode_000083.json": {
741
+ "bytes": 15241,
742
+ "sha256": "8ecb82e7e7d40aec74b602f3efcce10bf8eed379be3a827e8c3c8ae24c5503f7"
743
+ },
744
+ "draw/evidence/episode_000084.json": {
745
+ "bytes": 15243,
746
+ "sha256": "ae21e8e887d81dca6b75ba15e203f48ece8cfeb166c75fd8af5537b735336e9e"
747
+ },
748
+ "draw/evidence/episode_000085.json": {
749
+ "bytes": 15264,
750
+ "sha256": "28309d7cf61d27f4a5b085407361c96ee1504e7130ca09269758bb0443e88f59"
751
+ },
752
+ "draw/evidence/episode_000086.json": {
753
+ "bytes": 15237,
754
+ "sha256": "de8a5442474f47fa9b33d6fa1745c5f361b4d9ab863d1364a13539fbed39d176"
755
+ },
756
+ "draw/evidence/episode_000087.json": {
757
+ "bytes": 15245,
758
+ "sha256": "ee8dee0c963b8565caa6ffbeade8a5cc0bdb4a612ae71c13a2c87d15cd48d9b2"
759
+ },
760
+ "draw/evidence/episode_000088.json": {
761
+ "bytes": 15271,
762
+ "sha256": "c32b73d66fff8bbb89a953e4b8f3e99c48334c76b1b88f6237e57096e6ad1a08"
763
+ },
764
+ "draw/evidence/episode_000089.json": {
765
+ "bytes": 15259,
766
+ "sha256": "65af5110057b3423f839d70d8d1a895987312b2d1ca047d676050b365eece197"
767
+ },
768
+ "draw/evidence/episode_000090.json": {
769
+ "bytes": 15254,
770
+ "sha256": "0a4a7b02617cff9e2a7528b10086f7048693e5947270fe2ee7cee612c5dacf48"
771
+ },
772
+ "draw/evidence/episode_000091.json": {
773
+ "bytes": 15251,
774
+ "sha256": "bf4262306ab39d6670a209c62f561b7347231c1a13bab3983c800f538dded9a9"
775
+ },
776
+ "draw/evidence/episode_000092.json": {
777
+ "bytes": 15252,
778
+ "sha256": "6ad7168f95021a2063a319ac2b67bb3589722bedccb4ab33eb5a9dd27cab376e"
779
+ },
780
+ "draw/evidence/episode_000093.json": {
781
+ "bytes": 15279,
782
+ "sha256": "d656630a4d4e2c725938f4c2aaba49c3520a68d11e6fef748d37edc26d1e617f"
783
+ },
784
+ "draw/evidence/episode_000094.json": {
785
+ "bytes": 15251,
786
+ "sha256": "4a2144c33aaed4c7311cb69422a39f0e0fcf1b4426b72938c292276dbaf9e8c9"
787
+ },
788
+ "draw/evidence/episode_000095.json": {
789
+ "bytes": 15260,
790
+ "sha256": "c350bf3235eac8d304b235e5121ad5db2b99a36461fe5302c4f505ce8016294b"
791
+ },
792
+ "draw/evidence/episode_000096.json": {
793
+ "bytes": 15248,
794
+ "sha256": "d12971424cae813f7d9ea51cd4d5a48d77804892075a156cd0420818d9da03f8"
795
+ },
796
+ "draw/evidence/episode_000097.json": {
797
+ "bytes": 15241,
798
+ "sha256": "6638f102fc571ba4ce8e5acd503de27a76bddc341b299a4dece1805b912b199c"
799
+ },
800
+ "draw/evidence/episode_000098.json": {
801
+ "bytes": 15273,
802
+ "sha256": "9eab680742ad169175d081de5cfd0888a60223a4e91a6857b4bfb17f4602f431"
803
+ },
804
+ "draw/evidence/episode_000099.json": {
805
+ "bytes": 15250,
806
+ "sha256": "106d0e9779881d16c3cc39fbc63a0808564500d2e2492626b902bd6662d24247"
807
+ },
808
+ "draw/manifest.json": {
809
+ "bytes": 828,
810
+ "sha256": "6ff497fab1bb563ed042235519bb338775187d2e2d22db9473fcd9540e93b046"
811
+ },
812
+ "draw/meta/episodes.jsonl": {
813
+ "bytes": 7990,
814
+ "sha256": "acedeec60e296e04b9fada07b679c0af93a175978c06fd38bfa673e616b877ba"
815
+ },
816
+ "draw/meta/episodes_stats.jsonl": {
817
+ "bytes": 707676,
818
+ "sha256": "528ac92ba8fbf82786a30505ad27e31b68a02c2732fdb5ff26be07f6ddb9e2f6"
819
+ },
820
+ "draw/meta/info.json": {
821
+ "bytes": 9175,
822
+ "sha256": "0b85ed1ca30adcae8159bbae4153418609775303728c721c87bd7bef7a65c092"
823
+ },
824
+ "draw/meta/source_cases.jsonl": {
825
+ "bytes": 160355,
826
+ "sha256": "9dacb5d2346259d78135efc273c41558d057c0431a1f3eca1d08b8fcf6106b9d"
827
+ },
828
+ "draw/meta/stats.json": {
829
+ "bytes": 11468,
830
+ "sha256": "9900637b829dc24f7ba2e54750b597308b8aad879767aa248402972ccc2deedc"
831
+ },
832
+ "draw/meta/tasks.jsonl": {
833
+ "bytes": 58,
834
+ "sha256": "eea07c0749bdbe410e07ed715850e5bf0f7469bafe8c0ab14b4793b8ff7923bd"
835
+ },
836
+ "draw/official_reader_receipt.json": {
837
+ "bytes": 169,
838
+ "sha256": "e4ac22be2d6a0e4f55abab3dac9c015039b5b8ef1e862edd8754969399054244"
839
+ },
840
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000000.mp4": {
841
+ "bytes": 110242,
842
+ "sha256": "39e2be040fbb2b579f7fb3b5caa4cd22eb2459693809071c0d7f19479245ca05"
843
+ },
844
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000001.mp4": {
845
+ "bytes": 109273,
846
+ "sha256": "1857e0fb7afa8c165afb00b1179173d6bc4d74325b48c19e368bb98d47e77962"
847
+ },
848
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000002.mp4": {
849
+ "bytes": 108537,
850
+ "sha256": "bf486a499db43824e5d8534e7031da08235db191a9e98e6e6698a9eb43f012b5"
851
+ },
852
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000003.mp4": {
853
+ "bytes": 108673,
854
+ "sha256": "539f697d8950ee0fd3a0bb1a6203f7de91c82196ba0e8b57f03c7f2274ea116d"
855
+ },
856
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000004.mp4": {
857
+ "bytes": 106842,
858
+ "sha256": "a833d1fbc7163b707114e2bddb939f0c22d3a8f7416bf96783537a616e948ef8"
859
+ },
860
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000005.mp4": {
861
+ "bytes": 107481,
862
+ "sha256": "19798024ad8b062b0354f04cf74d99555dd6bc65736b59a3417a70a7a8a38acc"
863
+ },
864
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000006.mp4": {
865
+ "bytes": 110667,
866
+ "sha256": "8ff7ec23ae64a69a3f0fab4b5f063229ffc9e1e3f865d3cd812b33e6195e9c0a"
867
+ },
868
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000007.mp4": {
869
+ "bytes": 109019,
870
+ "sha256": "ca287870ffa2c76fde8267d1743b90f171a98f911416fccc42fea6e33c62609e"
871
+ },
872
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000008.mp4": {
873
+ "bytes": 108413,
874
+ "sha256": "ac8eec364666fba5aa2fff469e471db7c27cce3edc292f0821b2892d6d8f2419"
875
+ },
876
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000009.mp4": {
877
+ "bytes": 108950,
878
+ "sha256": "5fa59c32812604c646fc51814c4600995015a7d980bcf9d048694509785a2ac5"
879
+ },
880
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000010.mp4": {
881
+ "bytes": 107788,
882
+ "sha256": "a36fb299e0324c3f292a8fd874cdf414584e0ed1b81e68b5068f828f93632be8"
883
+ },
884
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000011.mp4": {
885
+ "bytes": 106659,
886
+ "sha256": "a132d8e7439d0c975e1fdf716d76a796d1b79bdce507215774a75b946fa2747f"
887
+ },
888
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000012.mp4": {
889
+ "bytes": 108358,
890
+ "sha256": "2a7b501f7bd7f53386d8b2a20ec80d153e20da578627d6e46631feed0523f367"
891
+ },
892
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000013.mp4": {
893
+ "bytes": 107739,
894
+ "sha256": "60e4db3c9f6c2b8755604c1281ca818ad1e18893748ccb62273a1afc73ab164a"
895
+ },
896
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000014.mp4": {
897
+ "bytes": 108815,
898
+ "sha256": "61477b1850ab87eac042d8c10a6a264246d697595b345779d5938c9dd92d1d37"
899
+ },
900
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000015.mp4": {
901
+ "bytes": 109406,
902
+ "sha256": "7ffc44acc9b9b4d5353d0f30efb333d80b3d6c68d305859e4b025176f5ef0908"
903
+ },
904
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000016.mp4": {
905
+ "bytes": 105929,
906
+ "sha256": "4a10c92d1cf970ee80410719696a4b0230074977f63d1242dc742236b9b1d540"
907
+ },
908
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000017.mp4": {
909
+ "bytes": 107173,
910
+ "sha256": "f55b1a9444bdb59af6c91a1961a61517b03902e60f9e63e5c1eb8b5be388799f"
911
+ },
912
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000018.mp4": {
913
+ "bytes": 108566,
914
+ "sha256": "165f90e94543d4538772728fbed65c77a570b9d60544b86a3f2c7314eb05d6fb"
915
+ },
916
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000019.mp4": {
917
+ "bytes": 106612,
918
+ "sha256": "f4c399656cc0ded0b9fbf6a16795d34664deabd56b5a736d3bc867fe21342507"
919
+ },
920
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000020.mp4": {
921
+ "bytes": 112091,
922
+ "sha256": "dc1efd2cccad21a328f9b1cce05700385c63cc8d1acfc6e12b7fc24396562f1e"
923
+ },
924
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000021.mp4": {
925
+ "bytes": 110672,
926
+ "sha256": "6d3136495e192edb61210196eca96f38970ab06a4c4b21ed3f1cd634bd412d33"
927
+ },
928
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000022.mp4": {
929
+ "bytes": 107028,
930
+ "sha256": "d068364b6801e1ad65e4cc74bca2034b278fde889c631a4ef613c085ae92af43"
931
+ },
932
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000023.mp4": {
933
+ "bytes": 107824,
934
+ "sha256": "bcd2442e443e094932125e12dc81848ffbe93f658557bb76dcdf15bd0877bc40"
935
+ },
936
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000024.mp4": {
937
+ "bytes": 106804,
938
+ "sha256": "9b630ff244df4d1deeefcf6223e74e52477ccca5ec7671347b76838e24a08b95"
939
+ },
940
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000025.mp4": {
941
+ "bytes": 105876,
942
+ "sha256": "a750ebe7a98a273c5f7790be923f8c851e2a16a70b47046fab35723e92f4059c"
943
+ },
944
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000026.mp4": {
945
+ "bytes": 105719,
946
+ "sha256": "3c4c86fcfc625ff27eb5a7420e01df1b9c0be8b03f889f9c38e5f7e61625f36b"
947
+ },
948
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000027.mp4": {
949
+ "bytes": 109363,
950
+ "sha256": "9b8a5cc128b7ff1e91aeb63a53e036eb8f49682b9ec0b8d698f77414ca2dda62"
951
+ },
952
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000028.mp4": {
953
+ "bytes": 109051,
954
+ "sha256": "ac7701cfb94a15f2016162c21600f0824e64dbd61204975920f88047a2ee40e0"
955
+ },
956
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000029.mp4": {
957
+ "bytes": 108047,
958
+ "sha256": "00568ca34896e0a64b046c67d2c29a40301a97c62acf488b0564274d5987cea0"
959
+ },
960
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000030.mp4": {
961
+ "bytes": 108653,
962
+ "sha256": "1b2aa291f942aea826d6a98335f2f05c64d9b551baa0c9bbb7ccc8babc996ea4"
963
+ },
964
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000031.mp4": {
965
+ "bytes": 106635,
966
+ "sha256": "f5f36a31d4f6d1ca7355f0a42663c0226fe633725f5317b04eed4556d7aecee8"
967
+ },
968
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000032.mp4": {
969
+ "bytes": 108068,
970
+ "sha256": "bc40283b435a3086d8eac7a64d420eda110c712a4260d262755096b9674f3995"
971
+ },
972
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000033.mp4": {
973
+ "bytes": 107760,
974
+ "sha256": "325c0d5864e892df1a257806446dfb920e983fd4ec59189fde37404737810309"
975
+ },
976
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000034.mp4": {
977
+ "bytes": 106701,
978
+ "sha256": "ce1a2dd57f6545bd1fdf84194c01519a6b9bce1db929df921488769f38536359"
979
+ },
980
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000035.mp4": {
981
+ "bytes": 107828,
982
+ "sha256": "988a11ebfd73e82b06ccf1906a425fc2f587fab158bc2ab2d09595ef887d8f33"
983
+ },
984
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000036.mp4": {
985
+ "bytes": 108835,
986
+ "sha256": "1924b7c41d17f1d20f3a1ec00be8b91ec94a94a38267841e45d0213c2e002bd8"
987
+ },
988
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000037.mp4": {
989
+ "bytes": 109551,
990
+ "sha256": "4f91cdc45956a21dc9f5406fbf32f48b9feca7048087244fafdbf5f4d92b4d28"
991
+ },
992
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000038.mp4": {
993
+ "bytes": 108046,
994
+ "sha256": "fcbf2a207e35630a1f710b40718b5e5a7675c5cdec66c85fd4b62d57ef898244"
995
+ },
996
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000039.mp4": {
997
+ "bytes": 106882,
998
+ "sha256": "4f9de87fc40e5bc9cc247a83e45e182a220c4de195a6f77438728bacca235cc0"
999
+ },
1000
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000040.mp4": {
1001
+ "bytes": 105341,
1002
+ "sha256": "14e20dd28a7a87283d1ab33ef11cc0d5af76da47e301cd6fcea79b7b371005fc"
1003
+ },
1004
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000041.mp4": {
1005
+ "bytes": 109600,
1006
+ "sha256": "e2c919c062435f53f2a64b7b4e439dcd8d8ddfddd51f6c35af76df5e78e8ef1b"
1007
+ },
1008
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000042.mp4": {
1009
+ "bytes": 108841,
1010
+ "sha256": "a37dd202f2fd19cb34a63ab52691b5d720f9b49a47c44db3c34004d27424686a"
1011
+ },
1012
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000043.mp4": {
1013
+ "bytes": 107392,
1014
+ "sha256": "6dd4e0493224cf517e0eca0f659da0f27f6023934b7263012768760988b83d1b"
1015
+ },
1016
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000044.mp4": {
1017
+ "bytes": 107518,
1018
+ "sha256": "866c4f5862d2de9fa414b579be9125228d9925281afe052508d1fc69203e4f74"
1019
+ },
1020
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000045.mp4": {
1021
+ "bytes": 111053,
1022
+ "sha256": "176a5965f8f93d4247d4b555b6fc8e41204861af5d81bb98ffd62e812ae9113e"
1023
+ },
1024
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000046.mp4": {
1025
+ "bytes": 106714,
1026
+ "sha256": "d06bafbb924a22db2f0f9cbf9f79471084e0ded67cf6ad0140feba80bf92e1b4"
1027
+ },
1028
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000047.mp4": {
1029
+ "bytes": 107918,
1030
+ "sha256": "6737cf9bc3e01b022288b35f5f7db6491b72f8945009d33203c45a64b952990a"
1031
+ },
1032
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000048.mp4": {
1033
+ "bytes": 110570,
1034
+ "sha256": "047768e00bed2ed22c06a70137677b20f2f82361d7caaf871937d2bda9b1e0c4"
1035
+ },
1036
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000049.mp4": {
1037
+ "bytes": 107552,
1038
+ "sha256": "7c3aad346e25a4474319b2dc3461ee525cef7d5e99a26e5099c3fdee537d425d"
1039
+ },
1040
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000050.mp4": {
1041
+ "bytes": 110454,
1042
+ "sha256": "8f5908d9d2c11693106dd86653a09a7f012f5d759bd3b5a901524664528d778f"
1043
+ },
1044
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000051.mp4": {
1045
+ "bytes": 108772,
1046
+ "sha256": "b8f64bddb35979551e19be7877f7722d3a1d2db8bacf040eb7cc2d58b81bff50"
1047
+ },
1048
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000052.mp4": {
1049
+ "bytes": 106043,
1050
+ "sha256": "61df872a48a43de2cf5c21e3323bf843a3bc0fe9bfcdddde8147dc42254d99b3"
1051
+ },
1052
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000053.mp4": {
1053
+ "bytes": 106984,
1054
+ "sha256": "3bd4a411ccd907e1772f6dd157ea90dc0a8240f3e2f04c5bee29e74aa6f4f8b2"
1055
+ },
1056
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000054.mp4": {
1057
+ "bytes": 108285,
1058
+ "sha256": "34e2f84b671854f9e986bbb95fa9c651aa2632538e27d1a8422dc3651dad86a1"
1059
+ },
1060
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000055.mp4": {
1061
+ "bytes": 110087,
1062
+ "sha256": "b8d24221510774f192ef3b637b2c68849e33c55bc2c03800ea13c751775e67b0"
1063
+ },
1064
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000056.mp4": {
1065
+ "bytes": 108614,
1066
+ "sha256": "94a365887054c65509cc1531b27436a0b3c17a192c2f2a5d6fc6a81fedcf02cb"
1067
+ },
1068
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000057.mp4": {
1069
+ "bytes": 108973,
1070
+ "sha256": "88f96164cc8ab11ce323077427e08459021dfb265436e8df1565310c1861b5f5"
1071
+ },
1072
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000058.mp4": {
1073
+ "bytes": 107244,
1074
+ "sha256": "d71372d84438e8dbd3d9b126e462dfcc183bb0a2af8e0fb66ab891382d468623"
1075
+ },
1076
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000059.mp4": {
1077
+ "bytes": 107470,
1078
+ "sha256": "680b516ac8e5dc05411871ffe12f2da895a0f7d032ebba148652fa69621c1051"
1079
+ },
1080
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000060.mp4": {
1081
+ "bytes": 109165,
1082
+ "sha256": "624911e57f5d5148faf94321e1b7b7dec31d3f3ae139de5a9b592cbcea26cdac"
1083
+ },
1084
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000061.mp4": {
1085
+ "bytes": 105670,
1086
+ "sha256": "f6a182b6684c301da598e4add912f3b6547111470b9d0eb9af2423dcf8111288"
1087
+ },
1088
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000062.mp4": {
1089
+ "bytes": 108935,
1090
+ "sha256": "0363fc09c6d2b2b5fa65f50d7d417962989861681a620aad797f08acdd6c1e6b"
1091
+ },
1092
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000063.mp4": {
1093
+ "bytes": 109246,
1094
+ "sha256": "3a75d54e1c26963b10e63f85f069740193252e5b346765956087b1211dc562b1"
1095
+ },
1096
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000064.mp4": {
1097
+ "bytes": 107873,
1098
+ "sha256": "ced36b7af1dec9ef11dfc5c782796d1fd83b591566840b2a741f01ab796492f6"
1099
+ },
1100
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000065.mp4": {
1101
+ "bytes": 108019,
1102
+ "sha256": "0ccd0847e7f2ed49f6110df0efe3269caf758616a72f5f508e60e402f34ef335"
1103
+ },
1104
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000066.mp4": {
1105
+ "bytes": 108863,
1106
+ "sha256": "10e462430dacdffd8c41c3ad3058647795e1f47c49b4cf1515c3c1cf1d6406d8"
1107
+ },
1108
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000067.mp4": {
1109
+ "bytes": 106165,
1110
+ "sha256": "fd6f092579854a0909c2fa90cb6bcd9f0cd197a7150d81c71f27a55b18d3ae77"
1111
+ },
1112
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000068.mp4": {
1113
+ "bytes": 108050,
1114
+ "sha256": "82de30492d08b0558e593c6ec471a0748acd244418fc7e64167045b2efa84cf1"
1115
+ },
1116
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000069.mp4": {
1117
+ "bytes": 109678,
1118
+ "sha256": "d23182da840d830555ba81628f0777fe68dd0a45aa1edb4525423795a8cc70a2"
1119
+ },
1120
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000070.mp4": {
1121
+ "bytes": 107312,
1122
+ "sha256": "884e44b470b60cc051f24cfdb26c4d1a27a5a9ba5e428c1362d832ca85ad095d"
1123
+ },
1124
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000071.mp4": {
1125
+ "bytes": 107460,
1126
+ "sha256": "cbd96e443084339ff295fe1b094a91a35de2dbda4fd5b31657bbfbd80d021211"
1127
+ },
1128
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000072.mp4": {
1129
+ "bytes": 109345,
1130
+ "sha256": "89e300cae912934c89e9543d22ca4dc35ccffa678dbd6c8763ed77c8ee717274"
1131
+ },
1132
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000073.mp4": {
1133
+ "bytes": 107586,
1134
+ "sha256": "21c7d1137e58b28a6d87325339a77db7125848001c9ae6e11910aece81cfe89e"
1135
+ },
1136
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000074.mp4": {
1137
+ "bytes": 107561,
1138
+ "sha256": "3d4c66017d193b088809c0b6747535519b4f686db645cb0490f185d4a5e713ee"
1139
+ },
1140
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000075.mp4": {
1141
+ "bytes": 108147,
1142
+ "sha256": "3d767e69f1d6719c932d278a27b162d87b71655e1f665867985327c4de9214c0"
1143
+ },
1144
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000076.mp4": {
1145
+ "bytes": 107611,
1146
+ "sha256": "bce4b150ec47ed95c0f70567adfeba6bb595e728e75709a2254429b4e4e58f58"
1147
+ },
1148
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000077.mp4": {
1149
+ "bytes": 110168,
1150
+ "sha256": "19b90a1f3384894ac930c179b2f3e335ed7375eaeba566ea162d2171ecbebed2"
1151
+ },
1152
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000078.mp4": {
1153
+ "bytes": 108753,
1154
+ "sha256": "7bf7f5f57d8430bcd5325a58f551e42146f289fe1bf10cffc5801e1948370b75"
1155
+ },
1156
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000079.mp4": {
1157
+ "bytes": 107108,
1158
+ "sha256": "4fac688cab3765db623320d96d1528ec70b856b441e651909171cb5ec61e1e82"
1159
+ },
1160
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000080.mp4": {
1161
+ "bytes": 106569,
1162
+ "sha256": "0c294d15d9d2e306361541c0455fe6f7dd77214651e789152a8e2a913e8d7b8e"
1163
+ },
1164
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000081.mp4": {
1165
+ "bytes": 107943,
1166
+ "sha256": "764d9e7300da79ba54286b69165ac15858333df2b2c3c6c00ab46c3871d8ca5b"
1167
+ },
1168
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000082.mp4": {
1169
+ "bytes": 107913,
1170
+ "sha256": "92f72f205f3efaebef406a4dad0a1c4bed540241ebc7f8714ea6ac1ef720a059"
1171
+ },
1172
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000083.mp4": {
1173
+ "bytes": 108821,
1174
+ "sha256": "383b9c3ac2c49b3b75680d7430367ce700d816da3e69c615c8b360b31c97dc19"
1175
+ },
1176
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000084.mp4": {
1177
+ "bytes": 109223,
1178
+ "sha256": "16f6c747795c6d8b682cd1c9c8cbb06d1807c6f191d442e1d0e2da3796e4973c"
1179
+ },
1180
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000085.mp4": {
1181
+ "bytes": 106088,
1182
+ "sha256": "79a2e7804fe1e8e8753e85567b34b88a5be5d65986f047b803f350fcfe9f059f"
1183
+ },
1184
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000086.mp4": {
1185
+ "bytes": 108723,
1186
+ "sha256": "cf9508206120f63aa05a6cafd3859c6b27e5ce3aa077353af71f66ce981eec18"
1187
+ },
1188
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000087.mp4": {
1189
+ "bytes": 107584,
1190
+ "sha256": "3c58b069590678adab1e8886e1aef1170117fa7d2cda61785e78b1dbcf5d128b"
1191
+ },
1192
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000088.mp4": {
1193
+ "bytes": 104837,
1194
+ "sha256": "7da01a6e9f2a4ebd94e4f042ce9fe59a260a9b93ca8872216f14e844145feb4c"
1195
+ },
1196
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000089.mp4": {
1197
+ "bytes": 106134,
1198
+ "sha256": "9e7a1d88ad8da558d829252b5f2d77353242f391ef3158e30af95ef3928cfef2"
1199
+ },
1200
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000090.mp4": {
1201
+ "bytes": 111146,
1202
+ "sha256": "3c5e90d14eeb4c220ca4205b1bcc9b1d911133cc01696aaa43249707249b2859"
1203
+ },
1204
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000091.mp4": {
1205
+ "bytes": 108241,
1206
+ "sha256": "d39e0e421a683defb534d4bd6ac477cc905dd8fa80dd2e3d261a4a16ec11f1c0"
1207
+ },
1208
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000092.mp4": {
1209
+ "bytes": 108924,
1210
+ "sha256": "c93fe42af73987ff642814c6744a5831951757939ca898a9c19fa2f89d30fa8a"
1211
+ },
1212
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000093.mp4": {
1213
+ "bytes": 109735,
1214
+ "sha256": "6209771bb5d45139fce9e8ed0f747314d0762dfc1db58b882dcd112dc7a10ac3"
1215
+ },
1216
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000094.mp4": {
1217
+ "bytes": 107158,
1218
+ "sha256": "5fedf2299cb1e2100d631aae8e4d5358e270d9f9931f6224b1aa368efa35c447"
1219
+ },
1220
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000095.mp4": {
1221
+ "bytes": 107426,
1222
+ "sha256": "58a14720e44c9a7d32a8dbce4cc6bce85799c2720f80b9a90dd5dd3c561a0215"
1223
+ },
1224
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000096.mp4": {
1225
+ "bytes": 108667,
1226
+ "sha256": "fe8713984f5d46030ac87761ff0cddbf0a60a1786cbdb3c691b39c5b2f20313b"
1227
+ },
1228
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000097.mp4": {
1229
+ "bytes": 108199,
1230
+ "sha256": "0e6ff71546cc84c73aff2a5b26770825ad75054c4b860f172be44b08f51041a6"
1231
+ },
1232
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000098.mp4": {
1233
+ "bytes": 109196,
1234
+ "sha256": "5a8eda4d8c0cf4cb4552b4e6949c88aa8e44ac49fe0818c7cbeafaac349f40fc"
1235
+ },
1236
+ "draw/videos/chunk-000/observation.images.cam_high/episode_000099.mp4": {
1237
+ "bytes": 110457,
1238
+ "sha256": "e9572e1f8e8bc517303f9cf748627a10aba568863f94cdceafce32181cd5a365"
1239
+ },
1240
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000000.mp4": {
1241
+ "bytes": 128293,
1242
+ "sha256": "6780bec42e1437584c65b0bc0ee067b5f9da123e5f471994906d68c21f835b33"
1243
+ },
1244
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000001.mp4": {
1245
+ "bytes": 127584,
1246
+ "sha256": "36ec471ba845f59cec338d1a80147a9830c5f5d04d6babc2298a14206a6781b6"
1247
+ },
1248
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000002.mp4": {
1249
+ "bytes": 128889,
1250
+ "sha256": "d6fad131e7b6fa40347f79dee9b41516d6fa3ca4e62eba14039aa1f6cf27de3e"
1251
+ },
1252
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000003.mp4": {
1253
+ "bytes": 128029,
1254
+ "sha256": "c88e8607669b388b75c0987ed87ed93c6563c4896c7f9e24d134c9f5f162faba"
1255
+ },
1256
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000004.mp4": {
1257
+ "bytes": 130329,
1258
+ "sha256": "c7bb139b5cede6c86bf208630c382c7cb7512732ab69be4438f9a644a53b2aaa"
1259
+ },
1260
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000005.mp4": {
1261
+ "bytes": 130164,
1262
+ "sha256": "e7476a9a1942f2467961435dd7becb32a6143e2100dca958f8ebdbba7f5009dc"
1263
+ },
1264
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000006.mp4": {
1265
+ "bytes": 128245,
1266
+ "sha256": "5a2c4ae240159a5a117bf648cd5cd3839f1cffe53c4c88e12d8d12fb751eb36d"
1267
+ },
1268
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000007.mp4": {
1269
+ "bytes": 128545,
1270
+ "sha256": "96f82bb1fbfb550522ab02e44362cfbf22e2b6f59c3e994b6e7189d5796c0840"
1271
+ },
1272
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000008.mp4": {
1273
+ "bytes": 128395,
1274
+ "sha256": "c2ffd956762f303cef7ed06874b6db45f5d98e137eff767ae8ebc267b298869c"
1275
+ },
1276
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000009.mp4": {
1277
+ "bytes": 128126,
1278
+ "sha256": "5a280fdcf6605e1df43f613c6e4793cfb31cb8e4845678fbca5c3acb63fbe973"
1279
+ },
1280
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000010.mp4": {
1281
+ "bytes": 132008,
1282
+ "sha256": "5a2800eb57dd7207ea2e7138f80d6d65f7de1b567a38cc32b700197e1ad07cb4"
1283
+ },
1284
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000011.mp4": {
1285
+ "bytes": 128812,
1286
+ "sha256": "2caabfffd58fa2aff5e7982fc5c59ad1a2615937462e361fe8c8feca5577cad3"
1287
+ },
1288
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000012.mp4": {
1289
+ "bytes": 127900,
1290
+ "sha256": "2faa5c9e9280ce41b7e650f57bbb69b4d86a4f1f93da766e0560641c00489631"
1291
+ },
1292
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000013.mp4": {
1293
+ "bytes": 128092,
1294
+ "sha256": "6191dd2df52879b272093cb7974067c8b1d46ace932b117dffde5bb8235cceaf"
1295
+ },
1296
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000014.mp4": {
1297
+ "bytes": 129499,
1298
+ "sha256": "94cfeaa3791b7ece5374f0ea3faeaba7aed07e38f34acb279a41d3818424dcc7"
1299
+ },
1300
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000015.mp4": {
1301
+ "bytes": 128558,
1302
+ "sha256": "2e670994f553b82e734f9fd1bbb6015980dcdbd3de06d60f152bf801c273ac0c"
1303
+ },
1304
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000016.mp4": {
1305
+ "bytes": 128073,
1306
+ "sha256": "fba82830dcd69ae2cdaaabc84332acb6edce9fbb4c8f12841227f90eaf54aa8d"
1307
+ },
1308
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000017.mp4": {
1309
+ "bytes": 128057,
1310
+ "sha256": "411b169c75e1df27d517402f3583095fa3e6a5d4246b9f95b932fb080da02914"
1311
+ },
1312
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000018.mp4": {
1313
+ "bytes": 126911,
1314
+ "sha256": "ac77640dda5c48ceb5f7d876d4c1b13e96051346fb907871c1fac2a8e434fdb8"
1315
+ },
1316
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000019.mp4": {
1317
+ "bytes": 130800,
1318
+ "sha256": "deb997dfbfbc90e0237e688fe6be36be27cdf482259aa66efb4a4d73113913ce"
1319
+ },
1320
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000020.mp4": {
1321
+ "bytes": 130470,
1322
+ "sha256": "ca4ee6ab65ff9c4ff0985ae1097eaee28a3797b1e4890c96a605ba653093e9a6"
1323
+ },
1324
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000021.mp4": {
1325
+ "bytes": 127864,
1326
+ "sha256": "0faa065fc1821fee841c73872b6a2cc72ffc724beb144d746cbb608e9a8aaf42"
1327
+ },
1328
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000022.mp4": {
1329
+ "bytes": 129402,
1330
+ "sha256": "9f77d46ae3ce831c692588a8c3f41c716978fc326f8343eeafd76c7397982c28"
1331
+ },
1332
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000023.mp4": {
1333
+ "bytes": 127079,
1334
+ "sha256": "3db2a06187bf6e3c899d261fc8377e1f8f542d00e4ae2a5eca9d50005d643751"
1335
+ },
1336
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000024.mp4": {
1337
+ "bytes": 130291,
1338
+ "sha256": "6c93f42efc18e21653ae4afb418530785313f04b0d342b579f9de14d920c5bea"
1339
+ },
1340
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000025.mp4": {
1341
+ "bytes": 129781,
1342
+ "sha256": "2837d8c9eb6e49ff35a98c49b5d6b0b5e05c89547088dd3e304552771b93b6ef"
1343
+ },
1344
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000026.mp4": {
1345
+ "bytes": 130685,
1346
+ "sha256": "eb6f9aa5a470ba3873dbd91a612fc1fff5aad6f4245b53a924a712e5fd6d7fca"
1347
+ },
1348
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000027.mp4": {
1349
+ "bytes": 128343,
1350
+ "sha256": "c3e13f2ad47b66191a5eeb50b2841eb8e19c68bfccf1b5a35873ce52e4796d79"
1351
+ },
1352
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000028.mp4": {
1353
+ "bytes": 128959,
1354
+ "sha256": "24097ef8a62826fdc52fe27a4f15400e43fb89ec1207a21d82bcc0054452323a"
1355
+ },
1356
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000029.mp4": {
1357
+ "bytes": 128998,
1358
+ "sha256": "4ce12424f0c8412a8c5fdaf7222c9daece3e28d50c98258c8d582b4ad10d3813"
1359
+ },
1360
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000030.mp4": {
1361
+ "bytes": 128384,
1362
+ "sha256": "7716b622ea75ecd4313f96b3a45c7973b83f81175789ebddd112c04fdbc4dca2"
1363
+ },
1364
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000031.mp4": {
1365
+ "bytes": 129373,
1366
+ "sha256": "1d2a5b71500a27333be39c334ee5ec5134cf905dde46540b9d7affcfd95c0592"
1367
+ },
1368
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000032.mp4": {
1369
+ "bytes": 129740,
1370
+ "sha256": "3ad17fbcd01e96d6ffe960d9d2a07219c6fc4187f8ed713c86ee82ad33c8bda3"
1371
+ },
1372
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000033.mp4": {
1373
+ "bytes": 129533,
1374
+ "sha256": "92881c5593b2520787934ee5b861d9d167931db0a8ffccc3da51f7404dde7092"
1375
+ },
1376
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000034.mp4": {
1377
+ "bytes": 129148,
1378
+ "sha256": "748e0d7e35aa6f4a66884467561802139363a90238c4a39a8843c5889f9c5073"
1379
+ },
1380
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000035.mp4": {
1381
+ "bytes": 128382,
1382
+ "sha256": "4596ab8002dca1fde78467492376dabcc4b161e93cf8d0f6736aab3701453524"
1383
+ },
1384
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000036.mp4": {
1385
+ "bytes": 127516,
1386
+ "sha256": "a20cb2b95be4f6569a5eb21031e1bf037dd86c2b3754bee3c8b5c856b4f1b793"
1387
+ },
1388
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000037.mp4": {
1389
+ "bytes": 130818,
1390
+ "sha256": "82fbee9b9efe7186811c8ef65ed267b7f6c9f4de6c0b95fbe832804a379747b9"
1391
+ },
1392
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000038.mp4": {
1393
+ "bytes": 127633,
1394
+ "sha256": "1cbf6871fb32baf0169e5deec7133c54154c9fa85a18c2c1c2a245d828b97196"
1395
+ },
1396
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000039.mp4": {
1397
+ "bytes": 129117,
1398
+ "sha256": "35d3035b72a9ae6f178a4d7982e913138b9d0225e9af232c48a9b6732198d1ae"
1399
+ },
1400
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000040.mp4": {
1401
+ "bytes": 130015,
1402
+ "sha256": "ba973789344f31a3c91b0aacfdfd680bf7a3db28859406d743839f806fdbcb0f"
1403
+ },
1404
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000041.mp4": {
1405
+ "bytes": 128215,
1406
+ "sha256": "d15efffb9372837349a01f6485d61b6cc7d65bcb142173cdbdacfefdb0d85864"
1407
+ },
1408
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000042.mp4": {
1409
+ "bytes": 128792,
1410
+ "sha256": "cf8cd57fa33e8f6819b88eb44ae6b5b0c3762a95787bd10b765e35c534f3a1e5"
1411
+ },
1412
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000043.mp4": {
1413
+ "bytes": 128819,
1414
+ "sha256": "dd5f1112f7e344a03820babdc839bfb90e5b44a5183f51ad27479731b24af30c"
1415
+ },
1416
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000044.mp4": {
1417
+ "bytes": 129798,
1418
+ "sha256": "f3221d1a9fb828b3a05109494b7bc453a35cbbf904d48f194316e99118e1c96c"
1419
+ },
1420
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000045.mp4": {
1421
+ "bytes": 130548,
1422
+ "sha256": "dd37e8a2339b698703b66e126606a61a51d515ae21fa4fc2f96ac37d15104422"
1423
+ },
1424
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000046.mp4": {
1425
+ "bytes": 130226,
1426
+ "sha256": "92bc2f1e7ea0d2b998b74bc0194f868a56dae35764e90ea08ba8f1a0d357b264"
1427
+ },
1428
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000047.mp4": {
1429
+ "bytes": 125746,
1430
+ "sha256": "fbe13ee1570c30679af9712ec3519cf94b52f6f89531864563fa98014861d0c0"
1431
+ },
1432
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000048.mp4": {
1433
+ "bytes": 125834,
1434
+ "sha256": "ddad71b15d119fec2e734fd7916a67f1a99b390e88da57549ec9e0c34a193749"
1435
+ },
1436
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000049.mp4": {
1437
+ "bytes": 128624,
1438
+ "sha256": "c78d4befb537b11fb24657279a12b5869ac6abf67e94deb5beee89bd4ecdde69"
1439
+ },
1440
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000050.mp4": {
1441
+ "bytes": 128441,
1442
+ "sha256": "67ffebedacf1ffca98850cec93ff5bb1e89c8dc075938add15a9d02663b13580"
1443
+ },
1444
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000051.mp4": {
1445
+ "bytes": 128950,
1446
+ "sha256": "619e0c68ad8579821cd08f670360d6c1b785e116d13c42db0ef53c58cfe76394"
1447
+ },
1448
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000052.mp4": {
1449
+ "bytes": 128740,
1450
+ "sha256": "b2f6a75f85ae5bab4adccae60c37a13af0bdbd4f88f52b7f48c1fd3c94beea07"
1451
+ },
1452
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000053.mp4": {
1453
+ "bytes": 128848,
1454
+ "sha256": "c5aa7442f40f35d06d1b0bb25d1ef06eb863c4d254e1dd142609f08582f03327"
1455
+ },
1456
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000054.mp4": {
1457
+ "bytes": 128950,
1458
+ "sha256": "4f3f1c92a1a53804f7b6fcff1a868cbe0febb606b850cf6472402211c2014504"
1459
+ },
1460
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000055.mp4": {
1461
+ "bytes": 127661,
1462
+ "sha256": "ec202764bb6038177d9a5ffd60f0207922ebfaf3f132f33bd043ef317858e5d9"
1463
+ },
1464
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000056.mp4": {
1465
+ "bytes": 127841,
1466
+ "sha256": "b3c8ae5f120fe26cdf145ddb31e00cb2f40595db4a28ff2d38b5d2227e24e40c"
1467
+ },
1468
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000057.mp4": {
1469
+ "bytes": 128052,
1470
+ "sha256": "620f64bbff8bd6700de0dedaabc645ba01c328711f7a2ea0f9d7a01f5c52f894"
1471
+ },
1472
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000058.mp4": {
1473
+ "bytes": 130139,
1474
+ "sha256": "2daa1f187c86c6661921053a360cff289540a8d0ce96a4c231aa6a6b32d47082"
1475
+ },
1476
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000059.mp4": {
1477
+ "bytes": 129846,
1478
+ "sha256": "81ac2f1857663b86490ddd584771f4a201c4f80f8b77b75e398fcf4c73509015"
1479
+ },
1480
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000060.mp4": {
1481
+ "bytes": 129157,
1482
+ "sha256": "7475ceb8b8cf60141e21166e0e0c898945ba1666bf4264b9e996b5307ccbfb49"
1483
+ },
1484
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000061.mp4": {
1485
+ "bytes": 129073,
1486
+ "sha256": "7882b733ea85453f7456ac6e7da12877f615da75c6bf80e2509662b5289b462f"
1487
+ },
1488
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000062.mp4": {
1489
+ "bytes": 128216,
1490
+ "sha256": "7b73c356f40fe4b002be6e541eb0685df6dcb17cf00c3e69149e02c64e551f46"
1491
+ },
1492
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000063.mp4": {
1493
+ "bytes": 127215,
1494
+ "sha256": "000daf8e8b08b77a2ec19dd44bb97eeab3eaa36e59e9e861218a3aa350e6d5cd"
1495
+ },
1496
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000064.mp4": {
1497
+ "bytes": 129737,
1498
+ "sha256": "49b9d55cf1e34152cea1938441631a9f730e166fc51842868d7bc6924a124cc0"
1499
+ },
1500
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000065.mp4": {
1501
+ "bytes": 129120,
1502
+ "sha256": "c74ab3b306a55516d4f6dc4b53eee6f00a42cfac91bac088bde1fabea74131cd"
1503
+ },
1504
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000066.mp4": {
1505
+ "bytes": 128629,
1506
+ "sha256": "ee27ec874aafaef8e070fa1718f124c2cc563270eb69bde4e831b6d836797154"
1507
+ },
1508
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000067.mp4": {
1509
+ "bytes": 128427,
1510
+ "sha256": "8d223b5cef54aca9035fce5722f79055658e4c8ad3ef204b81f8f8b01d3d7418"
1511
+ },
1512
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000068.mp4": {
1513
+ "bytes": 127271,
1514
+ "sha256": "4de1980146c7eae4608a045dd1ea22d5dde261ca0cb45aebb2a177290198c2c5"
1515
+ },
1516
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000069.mp4": {
1517
+ "bytes": 128130,
1518
+ "sha256": "b2b214d50ed01cf2ecb7910a8a7c0a14ab6b4959c949572b70fe279eca404f9c"
1519
+ },
1520
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000070.mp4": {
1521
+ "bytes": 127646,
1522
+ "sha256": "83c0fe6dc63e19a975fa8a2dd65a903604ec8db6d81b033289d4ea170d70278f"
1523
+ },
1524
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000071.mp4": {
1525
+ "bytes": 128595,
1526
+ "sha256": "6bf32f0c15c3b3784226d78589c9c14781c88ab7c0d134b87adafaa9d263b841"
1527
+ },
1528
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000072.mp4": {
1529
+ "bytes": 125224,
1530
+ "sha256": "6aef0f8fe538f5ab69d7db88962977e7865ce4ea056c6abd0a53ba7285614ffb"
1531
+ },
1532
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000073.mp4": {
1533
+ "bytes": 129249,
1534
+ "sha256": "4111e8bb162d891b8e83099a74ec387eb6fd193e0a66b3fd71f0e2dbb0f4b499"
1535
+ },
1536
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000074.mp4": {
1537
+ "bytes": 130296,
1538
+ "sha256": "abf0cd8ed4791e36fd8e2c3cfc367ec39422be46424d1bf3ca8fe75975b42b65"
1539
+ },
1540
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000075.mp4": {
1541
+ "bytes": 128579,
1542
+ "sha256": "eee059d9d990ddc51d54a63df97917d31b3b09275bc4c8767b039a34a6523067"
1543
+ },
1544
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000076.mp4": {
1545
+ "bytes": 128918,
1546
+ "sha256": "7a62f9d04a70fa4cecf3cdad4e0dd2fe9d827efea19ea77f832b522ef4466f23"
1547
+ },
1548
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000077.mp4": {
1549
+ "bytes": 127881,
1550
+ "sha256": "b8b8348d0d8f57544d7244b6b1e155e373b2aa5954cd2f062c72e22b1c7e2194"
1551
+ },
1552
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000078.mp4": {
1553
+ "bytes": 130169,
1554
+ "sha256": "7254ed5924f11613b6e925277196a8cf218d2fbb9b80a66bf65f221d32d64469"
1555
+ },
1556
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000079.mp4": {
1557
+ "bytes": 129714,
1558
+ "sha256": "acab978a8066e35499219380b6857ced1bd2963b4821f9fcc50c55591ddd5885"
1559
+ },
1560
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000080.mp4": {
1561
+ "bytes": 128796,
1562
+ "sha256": "501b45b23346aca75b4450b4be811d0d848fe688a5782874927abff36ca24351"
1563
+ },
1564
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000081.mp4": {
1565
+ "bytes": 127980,
1566
+ "sha256": "b6a74e9b78a5ab2c8a4bf77e4a76b35daecdda40f8d792b465c2ea3963cc77cf"
1567
+ },
1568
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000082.mp4": {
1569
+ "bytes": 130456,
1570
+ "sha256": "eee5a9df75274096ef120e74ceb2742a7d1dc6c2dc2a488467db22d7b1e1f47b"
1571
+ },
1572
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000083.mp4": {
1573
+ "bytes": 127566,
1574
+ "sha256": "162e53d82ca9a12d590f5e0b29c86d23e00c5b57b16cb5a030bb0126e48d71f8"
1575
+ },
1576
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000084.mp4": {
1577
+ "bytes": 128329,
1578
+ "sha256": "2ff3319421b6a45921f8dc57587936d9e6650b5700896cc4dc8b4c1efdb4eb64"
1579
+ },
1580
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000085.mp4": {
1581
+ "bytes": 128899,
1582
+ "sha256": "3e0b2f3dd33a8aacf961bb0f28ed08b774d6215cc9eec5126371a614772cd091"
1583
+ },
1584
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000086.mp4": {
1585
+ "bytes": 127177,
1586
+ "sha256": "f4ec1b6ab3c9def8f70d0a8b7f2a0402ce229af75ef69531948e2e058f372793"
1587
+ },
1588
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000087.mp4": {
1589
+ "bytes": 127541,
1590
+ "sha256": "5ad10bb87baf4d3c3f3c91a4e1a18b7ff7b973d71ae707d506661849832d20e9"
1591
+ },
1592
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000088.mp4": {
1593
+ "bytes": 128954,
1594
+ "sha256": "6fcf4fd9bf74a7db234c83f193e52f37c35f8eca04b37665527d2cc925f847ce"
1595
+ },
1596
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000089.mp4": {
1597
+ "bytes": 129979,
1598
+ "sha256": "38989a61f366a6fa5befb8a594c4540632f208538559b5f0bd7e00aaddf85f1c"
1599
+ },
1600
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000090.mp4": {
1601
+ "bytes": 128235,
1602
+ "sha256": "a8c1dba079036d9557dad58d1884f31c75cf0887cf732cb6aadec83c65b7cab8"
1603
+ },
1604
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000091.mp4": {
1605
+ "bytes": 128609,
1606
+ "sha256": "2b123f0cec0837c8da207281785d7397b983cea27375e97eaeb9a97fb98842ec"
1607
+ },
1608
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000092.mp4": {
1609
+ "bytes": 127963,
1610
+ "sha256": "ffce4117e397ec3e9afeaef6fe9c4d181b3ed254c6c4056bcad502133200628e"
1611
+ },
1612
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000093.mp4": {
1613
+ "bytes": 128104,
1614
+ "sha256": "36559f1c4f54b5e06d17f180ae9b315fc61a2e299593c0f9909d201697d676b2"
1615
+ },
1616
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000094.mp4": {
1617
+ "bytes": 129970,
1618
+ "sha256": "636157e5110a353e49cdefa4c4fece46a991a28dc618b5ab9ad4efb14e08b7f4"
1619
+ },
1620
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000095.mp4": {
1621
+ "bytes": 129099,
1622
+ "sha256": "ba775a43c5883b5c73b4c3ebe2f4ff154713ad765a50e0b7ecd739d0ccd8a212"
1623
+ },
1624
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000096.mp4": {
1625
+ "bytes": 128146,
1626
+ "sha256": "b73fc98d1a4427e0b2a55fd525f9dabb8f8ed7b87ec4d5ddd53df31b1b36320e"
1627
+ },
1628
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000097.mp4": {
1629
+ "bytes": 127884,
1630
+ "sha256": "2bbdcd48a12a512aca4cbbc4c92c8cd6dbd1578f4d40bc3016895a238e1f5e9a"
1631
+ },
1632
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000098.mp4": {
1633
+ "bytes": 128058,
1634
+ "sha256": "a586b67c790a1d2b8ab81267ca9b3a5b9f6fef75908dfc00c26af952d959c64f"
1635
+ },
1636
+ "draw/videos/chunk-000/observation.images.cam_left_wrist/episode_000099.mp4": {
1637
+ "bytes": 127789,
1638
+ "sha256": "e02ae13290350efe1d219734c1124136ed40ee89b566d5ca1eb8bccd0550b75a"
1639
+ },
1640
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000000.mp4": {
1641
+ "bytes": 182463,
1642
+ "sha256": "e5ef7b49ca620278b47f66de57055c65729e7aaeab9096add0a145c0053e9fc3"
1643
+ },
1644
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000001.mp4": {
1645
+ "bytes": 181734,
1646
+ "sha256": "c3bb1ebc8cde7c32fd0366d45911f609cca3a6749f329168c5ddc07b4a96b4e1"
1647
+ },
1648
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000002.mp4": {
1649
+ "bytes": 180945,
1650
+ "sha256": "2ebf8e0d6e5415adecf40d4243ddbc7603092a20249458386633d9c7a94b37f6"
1651
+ },
1652
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000003.mp4": {
1653
+ "bytes": 181229,
1654
+ "sha256": "b8833f025ce42fea734f5fff1ae7adfed9e3b86feea9c679bcf2fc74579af8d5"
1655
+ },
1656
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000004.mp4": {
1657
+ "bytes": 182137,
1658
+ "sha256": "5470ae28fa1e4957889cfd689e81d843a0ff22fb388b5ee20223495d85887168"
1659
+ },
1660
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000005.mp4": {
1661
+ "bytes": 180723,
1662
+ "sha256": "b3e802edd9d82e3e1fa81d3659fe34c56dcfa1f0befb4d24312a6bfa41455668"
1663
+ },
1664
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000006.mp4": {
1665
+ "bytes": 181311,
1666
+ "sha256": "cc878144a10a5c6adba98fd3363286ae6155991da27c3c50f1af8a4cf875f738"
1667
+ },
1668
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000007.mp4": {
1669
+ "bytes": 180736,
1670
+ "sha256": "e49609ae3aa5864ebaf68c054423f610220f12362a6c158dbb32d49c8773c4e3"
1671
+ },
1672
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000008.mp4": {
1673
+ "bytes": 181413,
1674
+ "sha256": "f1be360119d2330f8252fd1275a4dbac004f4b2846dae253dc2f702e9ad7b924"
1675
+ },
1676
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000009.mp4": {
1677
+ "bytes": 181401,
1678
+ "sha256": "e99ad4e743e7aeb29bf3fef25d7ae427480d93fd6b9b63a93862f9768abb788a"
1679
+ },
1680
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000010.mp4": {
1681
+ "bytes": 182448,
1682
+ "sha256": "0138bd7cc63c9057b9f138cdea3555a432aa501d25ac2d21a036b36eb58e3c59"
1683
+ },
1684
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000011.mp4": {
1685
+ "bytes": 180913,
1686
+ "sha256": "d93c7e90e02bf584bd9e05aa82d5cc37ceb1819a294db975e6a09c98bd347aa3"
1687
+ },
1688
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000012.mp4": {
1689
+ "bytes": 181226,
1690
+ "sha256": "cdc556342dd9a2ba210758d74eb78ea3f003371e97b0c54ba6f67a0919be8802"
1691
+ },
1692
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000013.mp4": {
1693
+ "bytes": 182205,
1694
+ "sha256": "efbdd5ccc7785f8ce0c457e8d02d6a9878d2d7601b8e124c2a6fce341e57e35c"
1695
+ },
1696
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000014.mp4": {
1697
+ "bytes": 183136,
1698
+ "sha256": "0c75be3fde86ca05611027c52f128997816b1537db20bcaa2a95751568a72e45"
1699
+ },
1700
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000015.mp4": {
1701
+ "bytes": 181675,
1702
+ "sha256": "44e3563e0f1ca170e8f0d1d50f51f6555eb552b1ba1c7e0e92f51a162f1bf3b7"
1703
+ },
1704
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000016.mp4": {
1705
+ "bytes": 181381,
1706
+ "sha256": "5f4a14d066f0262b72418d593274ca52728ac2cca51094adf1b8f9ab0da129d8"
1707
+ },
1708
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000017.mp4": {
1709
+ "bytes": 181720,
1710
+ "sha256": "9d5f5d1a0962c738914f8d37932bf5112fc1faf9f0838e617b03b62497023c7f"
1711
+ },
1712
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000018.mp4": {
1713
+ "bytes": 180788,
1714
+ "sha256": "30889a942468e7f2bef8e45dbe1889b1729c658d6f56d60b5a4ceaddfad309d5"
1715
+ },
1716
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000019.mp4": {
1717
+ "bytes": 182202,
1718
+ "sha256": "d392ab54d3758eb3a3779632fe906f12b0343548b2929d33f988daffc3be3ca7"
1719
+ },
1720
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000020.mp4": {
1721
+ "bytes": 184933,
1722
+ "sha256": "6c1ff78b71658457a9408f77830ccc209e4651957ac531488694958eb994c61c"
1723
+ },
1724
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000021.mp4": {
1725
+ "bytes": 180382,
1726
+ "sha256": "1632a65f713a29954ad0d88b259abeb6b4459979f90201acb71693936ff9ba0a"
1727
+ },
1728
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000022.mp4": {
1729
+ "bytes": 183101,
1730
+ "sha256": "cfa390e710fa32759ac8f1e4771e922c0b39f4d2cd8356ac9ef709fe2be1b593"
1731
+ },
1732
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000023.mp4": {
1733
+ "bytes": 180705,
1734
+ "sha256": "7c1e258b8b10cb1c9bf9032b8b5a628f4fcbc2e0409516d4df20640f79bacd16"
1735
+ },
1736
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000024.mp4": {
1737
+ "bytes": 181518,
1738
+ "sha256": "fb3561b59bd8287c392482b7342c84d3b97923d46e69138aa374593073011392"
1739
+ },
1740
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000025.mp4": {
1741
+ "bytes": 181773,
1742
+ "sha256": "60df8725ec8b3117ec8aeec4a6162232cdd83db8dbaa7fa91a035c0ec598f556"
1743
+ },
1744
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000026.mp4": {
1745
+ "bytes": 181364,
1746
+ "sha256": "f07dc6186241a7422ade8ee3eb95bfa191a99ed576f666fd1d1b63687c1c7190"
1747
+ },
1748
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000027.mp4": {
1749
+ "bytes": 181655,
1750
+ "sha256": "2118cad196ac7ae37922f117a47c39e271cb89b34b6c3938755758b4575dafc8"
1751
+ },
1752
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000028.mp4": {
1753
+ "bytes": 181663,
1754
+ "sha256": "2eaf065b48a6b4a4d6820ddfa45508fa2577d11e9264f22d6bd249c82b523115"
1755
+ },
1756
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000029.mp4": {
1757
+ "bytes": 181522,
1758
+ "sha256": "abc1614d671465c1a51b348e70e41d4c1fb76fa7a1c0e93a5389a3c805ac51eb"
1759
+ },
1760
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000030.mp4": {
1761
+ "bytes": 181970,
1762
+ "sha256": "de38d294cbd6cfe058cf9d570209c48368cdb98b48c6c36fac1d6fa287eb8450"
1763
+ },
1764
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000031.mp4": {
1765
+ "bytes": 181694,
1766
+ "sha256": "b6c1a1d04dbe8218fcdf692d067e03b88a35e9857289ed62434563dccbeae2d1"
1767
+ },
1768
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000032.mp4": {
1769
+ "bytes": 180504,
1770
+ "sha256": "2618e6b9fe1b99e2412e8c886ca87a6d3d594478585c628ca2f94ff329adc210"
1771
+ },
1772
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000033.mp4": {
1773
+ "bytes": 180708,
1774
+ "sha256": "10042bfcefa2205df4a956b4ca3900fcc6112a03fe0e99312a4a1a32ee22b2c5"
1775
+ },
1776
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000034.mp4": {
1777
+ "bytes": 182528,
1778
+ "sha256": "2bbf9f64988272b5595b7c42527f6fd0382708066b260b11800c2426e71bd894"
1779
+ },
1780
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000035.mp4": {
1781
+ "bytes": 181415,
1782
+ "sha256": "e830b28fe7361e45e0621fe5a90ac8b45680436e87f097889a55030907c37687"
1783
+ },
1784
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000036.mp4": {
1785
+ "bytes": 181224,
1786
+ "sha256": "f8772ca90ab4133e9529f68cbae9a1f99b4733454383295441bafaeeb16b6e8b"
1787
+ },
1788
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000037.mp4": {
1789
+ "bytes": 182463,
1790
+ "sha256": "be1e2f5d9898b1de25fe7fc9b1a6bc1b522653a3bb9e17dcc67e1a59d713a453"
1791
+ },
1792
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000038.mp4": {
1793
+ "bytes": 180498,
1794
+ "sha256": "95ce3469120a2e70205b31bc8661dea87b88cff2f3b3855dcc0bf9b4099534ba"
1795
+ },
1796
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000039.mp4": {
1797
+ "bytes": 180797,
1798
+ "sha256": "608c499f7b7c35260972c7bfa20e2b6064f6197a2088026c8342ffe9627b5f72"
1799
+ },
1800
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000040.mp4": {
1801
+ "bytes": 182225,
1802
+ "sha256": "859c719be9f032a51fe04b4449061d93ceb69df70c48b276ac1c4a00a2671c67"
1803
+ },
1804
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000041.mp4": {
1805
+ "bytes": 182083,
1806
+ "sha256": "7ff763526e05bcdad029c09c165f939f85297da9186bae8302cca534424b1c7d"
1807
+ },
1808
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000042.mp4": {
1809
+ "bytes": 181991,
1810
+ "sha256": "70d12bfb5ddc1e801705836c62256478f3364abb71c7844dae784ee03f0c6d2b"
1811
+ },
1812
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000043.mp4": {
1813
+ "bytes": 181241,
1814
+ "sha256": "2dbb605988f33da8f01dd6c62f1b3c45fd632660960f687cddd3ef8176a9482d"
1815
+ },
1816
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000044.mp4": {
1817
+ "bytes": 181089,
1818
+ "sha256": "2c4dc3be3637b856f16bfa6257dc747f4f979bd1ed00c750f84e43cf928d3ae9"
1819
+ },
1820
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000045.mp4": {
1821
+ "bytes": 184404,
1822
+ "sha256": "fce926a4e9033fc41df147c2fc86aaf496b6b8016fe5cf58ba3869f32857cea5"
1823
+ },
1824
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000046.mp4": {
1825
+ "bytes": 183925,
1826
+ "sha256": "6169bb103ed12e0ab4daf2f5e9003eac263f4cc7e58fe1d85e842747c0ab8f96"
1827
+ },
1828
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000047.mp4": {
1829
+ "bytes": 180547,
1830
+ "sha256": "d31e8cd5a7c2c45ca625da916001b259a6533a9e2b64d118ced4a840600f12df"
1831
+ },
1832
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000048.mp4": {
1833
+ "bytes": 182050,
1834
+ "sha256": "ca589ac0e610c3f3bb8366315af93d60cef7d90ba89edaed434231d429b7a4af"
1835
+ },
1836
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000049.mp4": {
1837
+ "bytes": 182688,
1838
+ "sha256": "5cf00476c7502423784052182675e5bf90153b91a815e9c1a9731de8a08cf94a"
1839
+ },
1840
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000050.mp4": {
1841
+ "bytes": 182067,
1842
+ "sha256": "b03e44cd558ce7f66c1e474318bfff684d97ce1b078006fc64433f54918dc36c"
1843
+ },
1844
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000051.mp4": {
1845
+ "bytes": 181575,
1846
+ "sha256": "1fe9155cdf8845456e5e21f66723a1039c708dc06fa9567c756ebcff91db9e37"
1847
+ },
1848
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000052.mp4": {
1849
+ "bytes": 180781,
1850
+ "sha256": "d70c33c6d7042dc4049f869929532da50439c9a35bce96fabc50d931111a51cd"
1851
+ },
1852
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000053.mp4": {
1853
+ "bytes": 181334,
1854
+ "sha256": "8bb51d31c54b1cc2ccb6f7f7a433b46930710ef8c1580a38140a07027f0e92ea"
1855
+ },
1856
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000054.mp4": {
1857
+ "bytes": 181627,
1858
+ "sha256": "5ae687b4d22ea0a06e5edf1cac62be00974b579801768ee900117dee372f5544"
1859
+ },
1860
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000055.mp4": {
1861
+ "bytes": 181808,
1862
+ "sha256": "3248a2abd678f8d72486024628d32c9667f37080eae246ac19296714569fc985"
1863
+ },
1864
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000056.mp4": {
1865
+ "bytes": 181229,
1866
+ "sha256": "f8a4a9ee6b95a7afce10fb5bacdecbd4f167afadfaba9f174784c460cdc7593a"
1867
+ },
1868
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000057.mp4": {
1869
+ "bytes": 180832,
1870
+ "sha256": "c6299d895fd40ad7190fa67f0bf09b1a7b39c2bf6802daf01f12e1260c577be8"
1871
+ },
1872
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000058.mp4": {
1873
+ "bytes": 181074,
1874
+ "sha256": "db9a1163ab61237ebd37199eeddeaafceb9f62db90a39bbb167ec9d48191fe30"
1875
+ },
1876
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000059.mp4": {
1877
+ "bytes": 181468,
1878
+ "sha256": "756b48e8a7e08df414f099dd9b24c8cf16ccd741010f53016018f8079c3ed411"
1879
+ },
1880
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000060.mp4": {
1881
+ "bytes": 182599,
1882
+ "sha256": "90de71fcadeb113da10766a7a493fa2d81be179699cc84f1a6cb1c09badac050"
1883
+ },
1884
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000061.mp4": {
1885
+ "bytes": 181208,
1886
+ "sha256": "3e11bc4f86eeddc539225bd6e28a1e3498efcaab1f661b34778f793c38a3be05"
1887
+ },
1888
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000062.mp4": {
1889
+ "bytes": 181444,
1890
+ "sha256": "7a03de76636481befae8272bd61a1c88c3dea198e7d795d1b8374df9da91767c"
1891
+ },
1892
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000063.mp4": {
1893
+ "bytes": 181191,
1894
+ "sha256": "8cd175da722d8a07b4de447542b26fa8f78923ccdba636ca8e7191de9abf66f5"
1895
+ },
1896
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000064.mp4": {
1897
+ "bytes": 182369,
1898
+ "sha256": "ec1847b3f1a7466b36b45167373c19f734c4c35180b3329599e86aab1aee429d"
1899
+ },
1900
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000065.mp4": {
1901
+ "bytes": 181853,
1902
+ "sha256": "ddc3dd5db8fff1e634429c58177e15842607b300f917c3a4d1d438e160f70400"
1903
+ },
1904
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000066.mp4": {
1905
+ "bytes": 181548,
1906
+ "sha256": "052a62de768958fae981e91f6fd6087e6501391c7d5e30a700387a8497e72ca6"
1907
+ },
1908
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000067.mp4": {
1909
+ "bytes": 180813,
1910
+ "sha256": "1e68b715e9c8d9829a3d06bdf9d4011cba3b32cd417c8da25209fddaec2ec6ea"
1911
+ },
1912
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000068.mp4": {
1913
+ "bytes": 180518,
1914
+ "sha256": "3e795f669f240468f1f7bb54306ee2f9d91477bb262efeff652e4de6a9e92e73"
1915
+ },
1916
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000069.mp4": {
1917
+ "bytes": 182927,
1918
+ "sha256": "264f17bc5d89aa847d92251e131891645faddbdf01db2e1d2631bf76dd98eb8e"
1919
+ },
1920
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000070.mp4": {
1921
+ "bytes": 183006,
1922
+ "sha256": "65316bd73d882728ff43d8837adc796c9839c34fa0243e1ed9cb4676756535b0"
1923
+ },
1924
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000071.mp4": {
1925
+ "bytes": 180594,
1926
+ "sha256": "af0270206a17c417f1f35c1665bbe97753d0d24f1c0ea861a3909b986bd6c6d6"
1927
+ },
1928
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000072.mp4": {
1929
+ "bytes": 180687,
1930
+ "sha256": "11d352f39143acf0c18f75b5429faaf4ea9b0182413751438d30b51055a661bd"
1931
+ },
1932
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000073.mp4": {
1933
+ "bytes": 180528,
1934
+ "sha256": "f1d16522e8429a446e699d9af7bdf98269642bb22eb0e0d1b5bcbbb096918f37"
1935
+ },
1936
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000074.mp4": {
1937
+ "bytes": 180759,
1938
+ "sha256": "fd0a9ec7a9ecf3856c0139bc9164698e7a8458e9f9b76bb79f0c208e37360a3e"
1939
+ },
1940
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000075.mp4": {
1941
+ "bytes": 182333,
1942
+ "sha256": "7e91b637d702750c363fde42959b5ac32729e9dfb6774a08d030efc85377f482"
1943
+ },
1944
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000076.mp4": {
1945
+ "bytes": 180701,
1946
+ "sha256": "3ff37e7d3e16d1ac296924b0d48bf615272203abed7f2a2a84367af8b45879e4"
1947
+ },
1948
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000077.mp4": {
1949
+ "bytes": 180853,
1950
+ "sha256": "44f3137ea5e7973d1d26c780b9125a0a18b22367b7da2fe9f6845392aa2159e3"
1951
+ },
1952
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000078.mp4": {
1953
+ "bytes": 182084,
1954
+ "sha256": "34146814c52d08c49446059329aac3e3b791d8b259fc607b732da95bf7c0bcd1"
1955
+ },
1956
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000079.mp4": {
1957
+ "bytes": 181881,
1958
+ "sha256": "887d223cf25720c31abae6b737bc74b9dc4245b19e913fde0dad8287cf20a8b0"
1959
+ },
1960
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000080.mp4": {
1961
+ "bytes": 181493,
1962
+ "sha256": "7e590e6dd5e428120ee677480d670956278a848170aca3148e02bbcfb2913bbc"
1963
+ },
1964
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000081.mp4": {
1965
+ "bytes": 180910,
1966
+ "sha256": "605d3a367f1c47b97be80676760667e3f1cd67940038cd954253cdc256fdbdf1"
1967
+ },
1968
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000082.mp4": {
1969
+ "bytes": 182595,
1970
+ "sha256": "0ec1df1b3615aac0f91b8e135eb75ffe5feac1fe4461ec4d4702dc8979510585"
1971
+ },
1972
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000083.mp4": {
1973
+ "bytes": 180810,
1974
+ "sha256": "78417f582e38d257e24a8b04700c86232ab679a99e9ceb4d6ba663ab5a7f66d5"
1975
+ },
1976
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000084.mp4": {
1977
+ "bytes": 182426,
1978
+ "sha256": "58774f717f813e74a5e919effc461aa63d8596d3fce76ab6a2e5d0a51cb46548"
1979
+ },
1980
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000085.mp4": {
1981
+ "bytes": 181954,
1982
+ "sha256": "9f7a0597287fb93ae92c2cdadfbeac3482650b8c9600ad61cb642930f79d9b72"
1983
+ },
1984
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000086.mp4": {
1985
+ "bytes": 181018,
1986
+ "sha256": "af320768be37103f044cbc1aa54b2fc4fb817cb98b58d6203fff56eead4975b3"
1987
+ },
1988
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000087.mp4": {
1989
+ "bytes": 181823,
1990
+ "sha256": "c63c0a6dd8a1c6239b8ea79ddb085715ff4876fff6009a34eda76db034b2f624"
1991
+ },
1992
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000088.mp4": {
1993
+ "bytes": 180747,
1994
+ "sha256": "0a9c412162a3ad938bc146aa198a86803e087a89744bade3a4644fed1fb5a80a"
1995
+ },
1996
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000089.mp4": {
1997
+ "bytes": 182111,
1998
+ "sha256": "b6fc34f603669819eed2eceb91624560eed13c5aec5738a64f2b85d17887befe"
1999
+ },
2000
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000090.mp4": {
2001
+ "bytes": 181969,
2002
+ "sha256": "86c46c89a09ed918f28315403562737c0bfab3481180a0d6e5df795ce0e11147"
2003
+ },
2004
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000091.mp4": {
2005
+ "bytes": 181565,
2006
+ "sha256": "496211dd5897b68c5ec10cadb02714296202579df742e5826ab8ba7970c291d1"
2007
+ },
2008
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000092.mp4": {
2009
+ "bytes": 181444,
2010
+ "sha256": "bf4e5a907a828ae6b1fd11af99b3479957b2ac5bc80ac6a922f18b760e6a3117"
2011
+ },
2012
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000093.mp4": {
2013
+ "bytes": 179301,
2014
+ "sha256": "e9394e7d9e7ce6fedc7d5a9076ced958c5109636511f4e110153ae7450187b72"
2015
+ },
2016
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000094.mp4": {
2017
+ "bytes": 182283,
2018
+ "sha256": "3e5ed05e7f231d12b47c06175deb414d4a5e677d632e791260e062a9952c9870"
2019
+ },
2020
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000095.mp4": {
2021
+ "bytes": 181715,
2022
+ "sha256": "c5a1d98f99e48861a859061472a934732a57123662ce1ddcc2c136950edb391e"
2023
+ },
2024
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000096.mp4": {
2025
+ "bytes": 182591,
2026
+ "sha256": "804c08c7328b374c3ee814338c8be68a3c3db65ed8ef27757f1464c66d1c484b"
2027
+ },
2028
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000097.mp4": {
2029
+ "bytes": 181449,
2030
+ "sha256": "ec87ee619f56c75355bb9d2d43b54e2d0e381624f9d97a4657016f20a3992de1"
2031
+ },
2032
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000098.mp4": {
2033
+ "bytes": 181739,
2034
+ "sha256": "2e78f9adf47222740237d1bd7a3062b363d42c51a57354826aa767957e3a54c1"
2035
+ },
2036
+ "draw/videos/chunk-000/observation.images.cam_right_wrist/episode_000099.mp4": {
2037
+ "bytes": 181624,
2038
+ "sha256": "c31e951ea9fa5aa1d44a496790b8e5e1af9cd997f29c9673e9fa6d6444effdc3"
2039
+ }
2040
+ },
2041
+ "frames": 45000,
2042
+ "path_in_repo": "drawer_center_layout_100",
2043
+ "raster_policy": "224x126 upright 16:9 content black-padded to 224x224",
2044
+ "repo_id": "starry0929/rssr",
2045
+ "schema": "rssr.v8visual_cup_drawer.release.v1",
2046
+ "task_folder": "draw"
2047
+ }