Hugging Face's logo

Datasets:
unitreerobotics
/
G1_Dex1_Two_Robot_Clean_Table_Left

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
100K - 1M
Tags:
LeRobot
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
 Community
G1_Dex1_Two_Robot_Clean_Table_Left / meta /stats.json
rdrhj's picture
rdrhj
Add files using upload-large-folder tool
e363f36 verified
Raw History Blame Contribute Delete
67.5 kB
{
"observation.state.recomputed_ee_valid": {
"min": [
1.0
],
"max": [
1.0
],
"mean": [
1.0
],
"std": [
0.0
],
"count": [
258507.0
],
"q01": [
1.0000000000000004
],
"q10": [
1.0000000000000038
],
"q50": [
1.00000000000002
],
"q90": [
1.000000000000036
],
"q99": [
1.0000000000000393
]
},
"observation.images.head_stereo_left": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.4860922700837023
]
],
[
[
0.5160309351605805
]
],
[
[
0.4738223763456762
]
]
],
"std": [
[
[
0.014858357035002955
]
],
[
[
0.011741172180144956
]
],
[
[
0.00905783597539297
]
]
],
"count": [
47173.0
],
"q01": [
[
[
0.04301226835541682
]
],
[
[
0.04333392058994933
]
],
[
[
0.07192199496787337
]
]
],
"q10": [
[
[
0.11760330163694532
]
],
[
[
0.12201669986535965
]
],
[
[
0.14350830820039137
]
]
],
"q50": [
[
[
0.5579551268482962
]
],
[
[
0.6010741820498388
]
],
[
[
0.5433569908670736
]
]
],
"q90": [
[
[
0.7120384776602571
]
],
[
[
0.7525422138064738
]
],
[
[
0.6727931788899733
]
]
],
"q99": [
[
[
0.9468353007702943
]
],
[
[
0.9851469705189565
]
],
[
[
0.9716255019288477
]
]
]
},
"observation.images.wrist_left_ir": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"mean": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"std": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"count": [
47173.0
],
"q01": [
[
[
1.5686274509801629e-18
]
],
[
[
1.5686274509801629e-18
]
],
[
[
1.5686274509801629e-18
]
]
],
"q10": [
[
[
1.5686274509801637e-17
]
],
[
[
1.5686274509801637e-17
]
],
[
[
1.5686274509801637e-17
]
]
],
"q50": [
[
[
7.843137254900819e-17
]
],
[
[
7.843137254900819e-17
]
],
[
[
7.843137254900819e-17
]
]
],
"q90": [
[
[
1.411764705882148e-16
]
],
[
[
1.411764705882148e-16
]
],
[
[
1.411764705882148e-16
]
]
],
"q99": [
[
[
1.5529411764703618e-16
]
],
[
[
1.5529411764703618e-16
]
],
[
[
1.5529411764703618e-16
]
]
]
},
"index": {
"min": [
0.0
],
"max": [
258506.0
],
"mean": [
129253.0
],
"std": [
74624.54301814294
],
"count": [
258507.0
],
"q01": [
128791.37206797156
],
"q10": [
128876.17349561093
],
"q50": [
129252.84371634504
],
"q90": [
129629.77528891712
],
"q99": [
129714.62401252141
]
},
"observation.infrared_valid": {
"min": [
0.0
],
"max": [
0.0
],
"mean": [
0.0
],
"std": [
0.0
],
"count": [
258507.0
],
"q01": [
3.9999999999994176e-16
],
"q10": [
3.999999999999417e-15
],
"q50": [
1.9999999999997084e-14
],
"q90": [
3.599999999999476e-14
],
"q99": [
3.9599999999994235e-14
]
},
"observation.images.wrist_right_ir": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"mean": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"std": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"count": [
47173.0
],
"q01": [
[
[
1.5686274509801629e-18
]
],
[
[
1.5686274509801629e-18
]
],
[
[
1.5686274509801629e-18
]
]
],
"q10": [
[
[
1.5686274509801637e-17
]
],
[
[
1.5686274509801637e-17
]
],
[
[
1.5686274509801637e-17
]
]
],
"q50": [
[
[
7.843137254900819e-17
]
],
[
[
7.843137254900819e-17
]
],
[
[
7.843137254900819e-17
]
]
],
"q90": [
[
[
1.411764705882148e-16
]
],
[
[
1.411764705882148e-16
]
],
[
[
1.411764705882148e-16
]
]
],
"q99": [
[
[
1.5529411764703618e-16
]
],
[
[
1.5529411764703618e-16
]
],
[
[
1.5529411764703618e-16
]
]
]
},
"observation.state.right_arm": {
"min": [
-1.4145939350128174,
-1.378221869468689,
-0.700549840927124,
-0.8515271544456482,
-0.41224536299705505,
-0.7243687510490417,
-1.1306129693984985
],
"max": [
0.6070609092712402,
0.08404537290334702,
0.4839589595794678,
1.3456487655639648,
1.9715489149093628,
1.5777990818023682,
1.6125130653381348
],
"mean": [
-0.13847859233278592,
-0.3974443991201011,
-0.10540358721052384,
-0.041110171745195524,
0.4611236250601441,
0.13999645413117537,
0.7548588811906222
],
"std": [
0.2696714664367389,
0.17832141702645396,
0.1946210130502157,
0.29688966394064487,
0.21910895223676632,
0.42760866176916446,
0.4089072152845782
],
"count": [
258507.0
],
"q01": [
-0.5929028266503582,
-0.8035825758937123,
-0.3969423282650262,
-0.38970539056628645,
0.08780617418687017,
-0.372086954298388,
0.09456802668502073
],
"q10": [
-0.4455858168076223,
-0.6274046665642797,
-0.3444190481161115,
-0.3010653582285941,
0.2013036138934268,
-0.24103589408485493,
0.2528250458153254
],
"q50": [
-0.13423278135325992,
-0.38222414800874815,
-0.11073124109837083,
-0.07496426645093081,
0.44259445658433105,
0.03352351844417418,
0.7854524096103287
],
"q90": [
0.1543191362980237,
-0.21619269523657242,
0.11540135525741946,
0.29718357148315766,
0.7378010415001318,
0.769299817406645,
1.2463536907360502
],
"q99": [
0.2258012496406618,
-0.14101932842295437,
0.1846143073068638,
0.5311431421977661,
0.8665090510558469,
1.0949697239725016,
1.376514072148904
]
},
"action.left_arm": {
"min": [
-1.5245901346206665,
0.08580400049686432,
-0.8359068036079407,
-0.7320236563682556,
-1.972221851348877,
-0.7177334427833557,
-1.6144293546676636
],
"max": [
0.6959334015846252,
1.5749801397323608,
0.8934401869773865,
1.3816591501235962,
0.8239267468452454,
1.614429235458374,
1.1377476453781128
],
"mean": [
-0.42585737238360866,
0.6937147808970634,
0.09377043240014343,
0.22706306207606888,
-0.32391432863343356,
0.24466850684062477,
-0.9749964429129822
],
"std": [
0.3541189696936972,
0.21858202668182325,
0.25684276392606054,
0.4236837528969196,
0.31483202476994265,
0.41294099325268496,
0.42103086395730366
],
"count": [
258507.0
],
"q01": [
-1.0834381185218782,
0.36022058976705185,
-0.37780693001629606,
-0.2734642336783159,
-0.7863095512822845,
-0.3038004197793801,
-1.5124067493742084
],
"q10": [
-0.9003976416620737,
0.46791772814950594,
-0.1961169062798747,
-0.14455575568279622,
-0.636697171511097,
-0.15808320239218687,
-1.428093957206145
],
"q50": [
-0.40393198618236104,
0.687964152962983,
0.1147805067302016,
0.15823141668993007,
-0.38850062590578716,
0.18899494421590962,
-1.0559053902529865
],
"q90": [
-0.0366334619816333,
0.935604733702761,
0.36975776677547834,
0.804845133891043,
0.07478278093714924,
0.7621400710127562,
-0.43100081809104196
],
"q99": [
0.12329850114008968,
1.1085446745667558,
0.45725686171111946,
1.1018638967577559,
0.41449126865571356,
1.0868631764383372,
-0.2807535917767175
]
},
"timestamp": {
"min": [
0.0
],
"max": [
69.8
],
"mean": [
15.684686552652991
],
"std": [
10.64359573338731
],
"count": [
258507.0
],
"q01": [
0.29708881827714595
],
"q10": [
3.1238030729404964
],
"q50": [
15.677696415596694
],
"q90": [
28.243862849968085
],
"q99": [
31.07215363679499
]
},
"action.action_torso": {
"min": [
-0.003963499795645475,
-0.0014679558807983994,
0.04399999976158142,
-0.0702955424785614,
-0.019220612943172455,
-0.1925317496061325
],
"max": [
-0.0036816352512687445,
0.000755906745325774,
0.04399999976158142,
0.01473553478717804,
0.3560565710067749,
0.3685693144798279
],
"mean": [
-0.00395125604933797,
-0.00017955078606972472,
0.043999909924653906,
-0.026418078120503473,
0.11323406557502229,
0.04249655661595575
],
"std": [
2.3405395608066712e-05,
0.00025324776674641946,
6.380212672109583e-05,
0.01262195549745801,
0.06171401118930271,
0.06296518321043926
],
"count": [
258507.0
],
"q01": [
-0.0039605455812005965,
-0.00037309843373859646,
0.04399999976158142,
-0.03928047967115816,
0.097229650565368,
0.001374226821652402
],
"q10": [
-0.003959070005124462,
-0.00030029217364962313,
0.04399999976158142,
-0.03658097104022373,
0.10010885738908992,
0.012334863031087384
],
"q50": [
-0.003953272771514063,
-0.0001763433305053893,
0.04399999976158142,
-0.026217177027426045,
0.11337376294255745,
0.041677445477541215
],
"q90": [
-0.0039399517527162016,
-5.846169251416774e-05,
0.04399999976158142,
-0.01694564913111031,
0.12998393618082724,
0.07277954850064353
],
"q99": [
-0.003929330130747106,
-1.566775095821977e-05,
0.04399999976158142,
-0.014833875044460893,
0.13622700520566855,
0.09128437627881486
]
},
"observation.state.left_leg": {
"min": [
-0.47015488147735596,
-0.05073215439915657,
-0.1985214650630951,
0.5902843475341797,
-0.402235209941864,
-0.13017402589321136
],
"max": [
-0.24555452167987823,
0.1301923543214798,
-0.011958963237702847,
0.7130624651908875,
-0.13325926661491394,
0.03877832740545273
],
"mean": [
-0.36892843382048207,
0.040293358027124235,
-0.12814741314750194,
0.6490003995057909,
-0.26377741756084755,
-0.041006461984921035
],
"std": [
0.03365830326884665,
0.02532576247976761,
0.027987589959310034,
0.017874402445909696,
0.04119636417259964,
0.02809413467063923
],
"count": [
258507.0
],
"q01": [
-0.3831422142710594,
0.0281545530626325,
-0.13626853164304975,
0.6343006638676294,
-0.27765571146788093,
-0.06261087562633522
],
"q10": [
-0.38030666470827523,
0.030749095493819253,
-0.13382977843954671,
0.638508747909185,
-0.27452486222123007,
-0.05614409993567756
],
"q50": [
-0.3693716111128727,
0.039753520111517913,
-0.12806435336357355,
0.6487109868242571,
-0.2635817270708638,
-0.041271802351116084
],
"q90": [
-0.35693288257689104,
0.049368760688190995,
-0.12281945419681199,
0.6608657895943539,
-0.2529874225230094,
-0.024759585990158726
],
"q99": [
-0.35038415377427773,
0.05287064882413616,
-0.12060033759687627,
0.6652634955633477,
-0.24945756293017746,
-0.02099672472878953
]
},
"observation.images.wrist_right": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.4210933115455708
]
],
[
[
0.4345765163097686
]
],
[
[
0.4301626228321868
]
]
],
"std": [
[
[
0.008799293946138261
]
],
[
[
0.00806563128125009
]
],
[
[
0.00819693681512144
]
]
],
"count": [
47173.0
],
"q01": [
[
[
0.01215282362816466
]
],
[
[
0.04568362310691764
]
],
[
[
0.030801305501241896
]
]
],
"q10": [
[
[
0.06924507732167781
]
],
[
[
0.11538518100993801
]
],
[
[
0.09810400368733352
]
]
],
"q50": [
[
[
0.4910320924831938
]
],
[
[
0.5005852521868864
]
],
[
[
0.5010581889493233
]
]
],
"q90": [
[
[
0.6742787551352769
]
],
[
[
0.668260157399677
]
],
[
[
0.6723406545668053
]
]
],
"q99": [
[
[
0.9479910230208117
]
],
[
[
0.9475961642958934
]
],
[
[
0.9493230813790112
]
]
]
},
"action.left_gripper": {
"min": [
0.0
],
"max": [
4.5
],
"mean": [
2.9505404331870535
],
"std": [
2.0296088061430417
],
"count": [
258507.0
],
"q01": [
0.04199193708394784
],
"q10": [
0.06153819312595318
],
"q50": [
4.436026646643983
],
"q90": [
4.499750551688907
],
"q99": [
4.499975055168891
]
},
"action.left_leg": {
"min": [
-0.47015488147735596,
-0.05073215439915657,
-0.1985214650630951,
0.5902843475341797,
-0.402235209941864,
-0.13017402589321136
],
"max": [
-0.24555452167987823,
0.1301923543214798,
-0.011958963237702847,
0.7130624651908875,
-0.13325926661491394,
0.03877832740545273
],
"mean": [
-0.36892843382048207,
0.040293358027124235,
-0.12814741314750194,
0.6490003995057909,
-0.26377741756084755,
-0.041006461984921035
],
"std": [
0.03365830326884665,
0.02532576247976761,
0.027987589959310034,
0.017874402445909696,
0.04119636417259964,
0.02809413467063923
],
"count": [
258507.0
],
"q01": [
-0.3831422142710594,
0.0281545530626325,
-0.13626853164304975,
0.6343006638676294,
-0.27765571146788093,
-0.06261087562633522
],
"q10": [
-0.38030666470827523,
0.030749095493819253,
-0.13382977843954671,
0.638508747909185,
-0.27452486222123007,
-0.05614409993567756
],
"q50": [
-0.3693716111128727,
0.039753520111517913,
-0.12806435336357355,
0.6487109868242571,
-0.2635817270708638,
-0.041271802351116084
],
"q90": [
-0.35693288257689104,
0.049368760688190995,
-0.12281945419681199,
0.6608657895943539,
-0.2529874225230094,
-0.024759585990158726
],
"q99": [
-0.35038415377427773,
0.05287064882413616,
-0.12060033759687627,
0.6652634955633477,
-0.24945756293017746,
-0.02099672472878953
]
},
"action.right_leg": {
"min": [
-0.478446900844574,
-0.03263118118047714,
0.06604883074760437,
0.6116918921470642,
-0.3489092290401459,
-0.06683437526226044
],
"max": [
-0.3108595013618469,
0.14963982999324799,
0.23360823094844818,
0.701830267906189,
-0.13064663112163544,
0.07853155583143234
],
"mean": [
-0.39517110319474524,
0.0801754153286989,
0.1457956216005112,
0.6524977172278827,
-0.22903844155648598,
-0.0007882057373272792
],
"std": [
0.030711699157152134,
0.029510130153711032,
0.03191058148773656,
0.016393404551435946,
0.03909303396701908,
0.02035068704542366
],
"count": [
258507.0
],
"q01": [
-0.41175545710155487,
0.06709988546099085,
0.14068935645260072,
0.6429107675961251,
-0.24758466010069896,
-0.024119718238255268
],
"q10": [
-0.40834967585645815,
0.06872840830608498,
0.1423437797502074,
0.6453553282710965,
-0.2422838731466651,
-0.0160719964735373
],
"q50": [
-0.39697744128596685,
0.07932024077685569,
0.14588936231169145,
0.6527741329738462,
-0.22838568702792506,
-0.0006027604653216681
],
"q90": [
-0.3793630634395488,
0.09157907887753614,
0.14897757589888802,
0.658514128438467,
-0.216946115688984,
0.014523783463999483
],
"q99": [
-0.3750091769654003,
0.09460274186632296,
0.15018310185705164,
0.660926135788494,
-0.2128430343597769,
0.020633857827853614
]
},
"observation.state.left_arm": {
"min": [
-1.5221883058547974,
0.09547832608222961,
-0.8134772181510925,
-0.7122225165367126,
-1.973574161529541,
-0.7095428705215454,
-1.6147832870483398
],
"max": [
0.6842153668403625,
1.5636178255081177,
0.8710734248161316,
1.3636969327926636,
0.8181151151657104,
1.6078420877456665,
1.1277674436569214
],
"mean": [
-0.43073819234953453,
0.6921450405517582,
0.09968273293002965,
0.2277057298095532,
-0.3293177424123446,
0.24533617972220226,
-0.9706357792782175
],
"std": [
0.3523986981394569,
0.2171499732123914,
0.2551304644664787,
0.42197722435937646,
0.31412114454150775,
0.4102394443994497,
0.41833962227877985
],
"count": [
258507.0
],
"q01": [
-1.0783029688414503,
0.36295842356203034,
-0.36901358915908633,
-0.26514029734212347,
-0.7870918644523237,
-0.29839656124102215,
-1.5033184002375741
],
"q10": [
-0.9042879612440375,
0.4689936397311651,
-0.18698479340578675,
-0.14308809650741097,
-0.6410844195013242,
-0.15496871001840978,
-1.4202751136993539
],
"q50": [
-0.40820103232873833,
0.6858865170580707,
0.12235333059216416,
0.16036644183013166,
-0.39441393523643176,
0.1907738805901495,
-1.0486855679625002
],
"q90": [
-0.0437208125512758,
0.9329327285986531,
0.37112573896011786,
0.8027386732636728,
0.06822784296232325,
0.7580462434507246,
-0.42947385595690757
],
"q99": [
0.11352453266204554,
1.1045898312271962,
0.45574594903972415,
1.093349129001317,
0.4067064825646532,
1.0775889421538425,
-0.2804029739837229
]
},
"task_index": {
"min": [
0.0
],
"max": [
19.0
],
"mean": [
9.498713767905704
],
"std": [
5.764567858418536
],
"count": [
258507.0
],
"q01": [
-1e-10
],
"q10": [
1.460676385966883
],
"q50": [
9.487611246125583
],
"q90": [
17.467073931596538
],
"q99": [
18.999217255169384
]
},
"action.right_gripper": {
"min": [
0.0
],
"max": [
4.5
],
"mean": [
3.3568380051456925
],
"std": [
1.893293583748459
],
"count": [
258507.0
],
"q01": [
0.03387794116731739
],
"q10": [
0.09085302121016015
],
"q50": [
4.493905052503527
],
"q90": [
4.49983958697652
],
"q99": [
4.499983958697653
]
},
"episode_index": {
"min": [
0.0
],
"max": [
299.0
],
"mean": [
136.5221560731431
],
"std": [
80.91891418062717
],
"count": [
258507.0
],
"q01": [
136.5221560731431
],
"q10": [
136.5221560731431
],
"q50": [
136.5221560731431
],
"q90": [
136.52215607314312
],
"q99": [
136.52215607314312
]
},
"action.action_d435": {
"min": [
0.04545406624674797,
-0.00013718429545406252,
0.42503929138183594,
-0.15531469881534576,
0.8111574053764343,
-0.1999599188566208
],
"max": [
0.1870420277118683,
0.09088244289159775,
0.47458794713020325,
0.02360992692410946,
1.1833257675170898,
0.3140984773635864
],
"mean": [
0.09985574200506604,
0.03338829417646614,
0.463164927130123,
-0.04495945769982889,
0.9434714651661347,
0.00901233723849854
],
"std": [
0.02534910244285679,
0.010972859372004404,
0.006797100347837698,
0.022020443738404942,
0.06167268170660977,
0.05508312106211917
],
"count": [
258507.0
],
"q01": [
0.09295368342963835,
0.02536680641114308,
0.46019723450209793,
-0.06785257211545016,
0.9276208709296013,
-0.03250661453779023
],
"q10": [
0.09446099896759645,
0.02709672940383096,
0.4609999766758075,
-0.06300611562617935,
0.9304940712647333,
-0.018698846095462438
],
"q50": [
0.09978840046148664,
0.03325095204712198,
0.46323892381149034,
-0.04438162614370366,
0.9436485185284219,
0.008157447816076106
],
"q90": [
0.10667311228798523,
0.039703427244339375,
0.4647251081334925,
-0.028674829974840745,
0.9599407885844365,
0.03808398771962558
],
"q99": [
0.10928974020161362,
0.04262723226185026,
0.4650308949104345,
-0.025091977981094686,
0.96617169888272,
0.05547606566454689
]
},
"observation.state.right_leg": {
"min": [
-0.478446900844574,
-0.03263118118047714,
0.06604883074760437,
0.6116918921470642,
-0.3489092290401459,
-0.06683437526226044
],
"max": [
-0.3108595013618469,
0.14963982999324799,
0.23360823094844818,
0.701830267906189,
-0.13064663112163544,
0.07853155583143234
],
"mean": [
-0.39517110319474524,
0.0801754153286989,
0.1457956216005112,
0.6524977172278827,
-0.22903844155648598,
-0.0007882057373272792
],
"std": [
0.030711699157152134,
0.029510130153711032,
0.03191058148773656,
0.016393404551435946,
0.03909303396701908,
0.02035068704542366
],
"count": [
258507.0
],
"q01": [
-0.41175545710155487,
0.06709988546099085,
0.14068935645260072,
0.6429107675961251,
-0.24758466010069896,
-0.024119718238255268
],
"q10": [
-0.40834967585645815,
0.06872840830608498,
0.1423437797502074,
0.6453553282710965,
-0.2422838731466651,
-0.0160719964735373
],
"q50": [
-0.39697744128596685,
0.07932024077685569,
0.14588936231169145,
0.6527741329738462,
-0.22838568702792506,
-0.0006027604653216681
],
"q90": [
-0.3793630634395488,
0.09157907887753614,
0.14897757589888802,
0.658514128438467,
-0.216946115688984,
0.014523783463999483
],
"q99": [
-0.3750091769654003,
0.09460274186632296,
0.15018310185705164,
0.660926135788494,
-0.2128430343597769,
0.020633857827853614
]
},
"action.pivot": {
"min": [
-1.6358544022414961e-13,
0.0,
-0.75,
-0.30691903829574585,
0.0,
0.0,
0.7400000095367432
],
"max": [
0.0794210135936737,
4.468385725041414e-19,
0.800000011920929,
0.43866202235221863,
0.4039178788661957,
0.0,
0.7400000095367432
],
"mean": [
5.028875360478619e-06,
1.728534235852067e-23,
-9.23572524072872e-05,
0.056519235097773166,
0.13294913919072876,
0.0,
0.7399951242505306
],
"std": [
0.0004716171878552315,
2.0161447934196127e-21,
0.005802206954101094,
0.08750110210073905,
0.06680079588314415,
0.0,
0.0035470716160125224
],
"count": [
258507.0
],
"q01": [
-4.4833159605687726e-13,
3.9995784462121235e-16,
-0.0023454840392060547,
-0.020820475643610437,
0.0980073647002652,
3.9995784462121235e-16,
0.7400000095367432
],
"q10": [
-4.44446532178209e-13,
3.999578446212128e-15,
-1.3203514977234172e-06,
0.002152985378622715,
0.1103532521552524,
3.999578446212128e-15,
0.7400000095367432
],
"q50": [
-4.284646825347158e-13,
1.9997892231060632e-14,
-5.252205419732686e-07,
0.056817570461529555,
0.13275569323886843,
1.9997892231060632e-14,
0.7400000095367432
],
"q90": [
-4.1251981596587115e-13,
3.599620601590912e-14,
2.6991041377688017e-07,
0.10775511518135733,
0.15620141809214882,
3.599620601590912e-14,
0.7400000095367432
],
"q99": [
0.00019865015912163365,
3.959582661750005e-14,
0.0006881509549857543,
0.13831800400469355,
0.17265567929151784,
3.959582661750005e-14,
0.7400000095367432
]
},
"observation.state.waist_state_joint": {
"min": [
-0.19189247488975525,
-0.07007770240306854,
-0.019227759912610054
],
"max": [
0.37940579652786255,
0.014701543375849724,
0.3566805124282837
],
"mean": [
0.04545623781097632,
-0.026204233260783753,
0.1132656418375025
],
"std": [
0.06423879631280195,
0.012512652474740414,
0.06173724117094608
],
"count": [
258507.0
],
"q01": [
0.003958488201129227,
-0.038911103188721034,
0.09726231860002563
],
"q10": [
0.014765667612845881,
-0.03623876922266207,
0.10012379420923763
],
"q50": [
0.04456506567808535,
-0.026015208236036456,
0.11340604608425307
],
"q90": [
0.0761307799040306,
-0.01681968366373187,
0.13000891543103374
],
"q99": [
0.09476701285075363,
-0.014725190951580465,
0.13631439627227462
]
},
"observation.images.head_stereo_right": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.4807204963661779
]
],
[
[
0.5235748829852962
]
],
[
[
0.46619138138573935
]
]
],
"std": [
[
[
0.01637584929549033
]
],
[
[
0.013142416492710475
]
],
[
[
0.01116696316225615
]
]
],
"count": [
47173.0
],
"q01": [
[
[
0.034362507790764135
]
],
[
[
0.04641471676159897
]
],
[
[
0.05439922271389382
]
]
],
"q10": [
[
[
0.12327637670777757
]
],
[
[
0.14505597720729033
]
],
[
[
0.14028881367962692
]
]
],
"q50": [
[
[
0.5522101000705336
]
],
[
[
0.6101245645117555
]
],
[
[
0.5400268638680594
]
]
],
"q90": [
[
[
0.7028142838053183
]
],
[
[
0.7501885526893401
]
],
[
[
0.6558583206177578
]
]
],
"q99": [
[
[
0.9270659482017
]
],
[
[
0.9762705462904123
]
],
[
[
0.9503619472745544
]
]
]
},
"action.waist_action_joint": {
"min": [
-0.19189247488975525,
-0.07007770240306854,
-0.019227759912610054
],
"max": [
0.37940579652786255,
0.014701543375849724,
0.3566805124282837
],
"mean": [
0.04545003712965386,
-0.026205388083482876,
0.11328177650692094
],
"std": [
0.06424395816050393,
0.012513157648686572,
0.061738091376281806
],
"count": [
258507.0
],
"q01": [
0.003960562848649169,
-0.03891256824321161,
0.09725811542012394
],
"q10": [
0.014765806531293406,
-0.03623063897031656,
0.10013849212866074
],
"q50": [
0.04456041801915053,
-0.026016299934190225,
0.11341667626016817
],
"q90": [
0.07611349730697527,
-0.01682065236821703,
0.1300664828081823
],
"q99": [
0.09476916628583233,
-0.014724615802245834,
0.13631601936645182
]
},
"frame_index": {
"min": [
0.0
],
"max": [
2094.0
],
"mean": [
470.5405965795897
],
"std": [
319.3078720016193
],
"count": [
258507.0
],
"q01": [
8.912664551159688
],
"q10": [
93.71409219053757
],
"q50": [
470.3371870131176
],
"q90": [
847.3158854967205
],
"q99": [
932.1646091010044
]
},
"action.right_arm": {
"min": [
-1.42991042137146,
-1.387956142425537,
-0.7194836735725403,
-0.86375492811203,
-0.4298827648162842,
-0.7362992763519287,
-1.1299678087234497
],
"max": [
0.6089047789573669,
0.08969653397798538,
0.4957731068134308,
1.3561896085739136,
1.9722214937210083,
1.614429235458374,
1.6144291162490845
],
"mean": [
-0.13288938102532794,
-0.3999299159634863,
-0.10580829658858415,
-0.04113772417929718,
0.45950146896989463,
0.1405888830305069,
0.7557123711619216
],
"std": [
0.2695640541315913,
0.17903223244255137,
0.19901317405742563,
0.3000684477385453,
0.22046530198933154,
0.4313823612416569,
0.41113572225606754
],
"count": [
258507.0
],
"q01": [
-0.589303419309814,
-0.8077768533039784,
-0.4065851983455849,
-0.3986923048077739,
0.08304875511890072,
-0.374294887005709,
0.08984441720893045
],
"q10": [
-0.439785144723203,
-0.6302402999396423,
-0.3505147188683946,
-0.30568256587309894,
0.19797174232907339,
-0.24297720583205704,
0.2506002954666541
],
"q50": [
-0.12875352228647627,
-0.3850399093276716,
-0.1119381696686783,
-0.07622183814593185,
0.44107468941708156,
0.03297602012027834,
0.7872486470806752
],
"q90": [
0.1600635771795711,
-0.21718019262670166,
0.11936589812618975,
0.30366079998877826,
0.7388723587183884,
0.7733734763644463,
1.2500790774505703
],
"q99": [
0.23204884823060898,
-0.14021581739633127,
0.1934690186105688,
0.5408219674561976,
0.8737841382871803,
1.110692909461414,
1.3814990856588134
]
},
"action.base_command": {
"min": [
-1.6358544022414961e-13,
0.0,
-0.75,
0.7400000095367432
],
"max": [
0.0794210135936737,
4.468385725041414e-19,
0.800000011920929,
0.7400000095367432
],
"mean": [
5.028875360478619e-06,
1.728534235852067e-23,
-9.23572524072872e-05,
0.7399951242505306
],
"std": [
0.0004716171878552315,
2.0161447934196127e-21,
0.005802206954101094,
0.0035470716160125224
],
"count": [
258507.0
],
"q01": [
-4.4833159605687726e-13,
3.9995784462121235e-16,
-0.0023454840392060547,
0.7400000095367432
],
"q10": [
-4.44446532178209e-13,
3.999578446212128e-15,
-1.3203514977234172e-06,
0.7400000095367432
],
"q50": [
-4.284646825347158e-13,
1.9997892231060632e-14,
-5.252205419732686e-07,
0.7400000095367432
],
"q90": [
-4.1251981596587115e-13,
3.599620601590912e-14,
2.6991041377688017e-07,
0.7400000095367432
],
"q99": [
0.00019865015912163365,
3.959582661750005e-14,
0.0006881509549857543,
0.7400000095367432
]
},
"action.lower_body": {
"min": [
-0.47015488147735596,
-0.05073215439915657,
-0.1985214650630951,
0.5902843475341797,
-0.402235209941864,
-0.13017402589321136,
-0.478446900844574,
-0.03263118118047714,
0.06604883074760437,
0.6116918921470642,
-0.3489092290401459,
-0.06683437526226044,
-0.19189247488975525,
-0.07007770240306854,
-0.019227759912610054
],
"max": [
-0.24555452167987823,
0.1301923543214798,
-0.011958963237702847,
0.7130624651908875,
-0.13325926661491394,
0.03877832740545273,
-0.3108595013618469,
0.14963982999324799,
0.23360823094844818,
0.701830267906189,
-0.13064663112163544,
0.07853155583143234,
0.37940579652786255,
0.014701543375849724,
0.3566805124282837
],
"mean": [
-0.36892843382048207,
0.040293358027124235,
-0.12814741314750194,
0.6490003995057909,
-0.26377741756084755,
-0.041006461984921035,
-0.39517110319474524,
0.0801754153286989,
0.1457956216005112,
0.6524977172278827,
-0.22903844155648598,
-0.0007882057373272792,
0.04545623781097632,
-0.026204233260783753,
0.1132656418375025
],
"std": [
0.03365830326884665,
0.02532576247976761,
0.027987589959310034,
0.017874402445909696,
0.04119636417259964,
0.02809413467063923,
0.030711699157152134,
0.029510130153711032,
0.03191058148773656,
0.016393404551435946,
0.03909303396701908,
0.02035068704542366,
0.06423879631280195,
0.012512652474740414,
0.06173724117094608
],
"count": [
258507.0
],
"q01": [
-0.3831422142710594,
0.0281545530626325,
-0.13626853164304975,
0.6343006638676294,
-0.27765571146788093,
-0.06261087562633522,
-0.41175545710155487,
0.06709988546099085,
0.14068935645260072,
0.6429107675961251,
-0.24758466010069896,
-0.024119718238255268,
0.003958488201129227,
-0.038911103188721034,
0.09726231860002563
],
"q10": [
-0.38030666470827523,
0.030749095493819253,
-0.13382977843954671,
0.638508747909185,
-0.27452486222123007,
-0.05614409993567756,
-0.40834967585645815,
0.06872840830608498,
0.1423437797502074,
0.6453553282710965,
-0.2422838731466651,
-0.0160719964735373,
0.014765667612845881,
-0.03623876922266207,
0.10012379420923763
],
"q50": [
-0.3693716111128727,
0.039753520111517913,
-0.12806435336357355,
0.6487109868242571,
-0.2635817270708638,
-0.041271802351116084,
-0.39697744128596685,
0.07932024077685569,
0.14588936231169145,
0.6527741329738462,
-0.22838568702792506,
-0.0006027604653216681,
0.04456506567808535,
-0.026015208236036456,
0.11340604608425307
],
"q90": [
-0.35693288257689104,
0.049368760688190995,
-0.12281945419681199,
0.6608657895943539,
-0.2529874225230094,
-0.024759585990158726,
-0.3793630634395488,
0.09157907887753614,
0.14897757589888802,
0.658514128438467,
-0.216946115688984,
0.014523783463999483,
0.0761307799040306,
-0.01681968366373187,
0.13000891543103374
],
"q99": [
-0.35038415377427773,
0.05287064882413616,
-0.12060033759687627,
0.6652634955633477,
-0.24945756293017746,
-0.02099672472878953,
-0.3750091769654003,
0.09460274186632296,
0.15018310185705164,
0.660926135788494,
-0.2128430343597769,
0.020633857827853614,
0.09476701285075363,
-0.014725190951580465,
0.13631439627227462
]
},
"observation.state.state_d435": {
"min": [
0.04545406624674797,
-0.00013718429545406252,
0.42503929138183594,
-0.15531469881534576,
0.8111574053764343,
-0.1999599188566208
],
"max": [
0.1870420277118683,
0.09088244289159775,
0.47458794713020325,
0.02360992692410946,
1.1833257675170898,
0.3140984773635864
],
"mean": [
0.09984888241208081,
0.03338792564654963,
0.46316668954920215,
-0.044956201913388456,
0.9434554064758083,
0.009021703766972968
],
"std": [
0.02534927313622282,
0.010971492285082846,
0.0067965466129498026,
0.022018220936963342,
0.061672061697141255,
0.05507993914568097
],
"count": [
258507.0
],
"q01": [
0.09295588131841202,
0.025368356040828828,
0.46019712899037324,
-0.06785005273796071,
0.9276248937997301,
-0.032507957082503584
],
"q10": [
0.09445416424025335,
0.02709626424699242,
0.4610055474285847,
-0.06301750600013069,
0.9304787294252439,
-0.018705922901314703
],
"q50": [
0.09978375713637115,
0.03324927150554732,
0.4632397693823272,
-0.044376618194998926,
0.9436380831677017,
0.0081704822224414
],
"q90": [
0.10665162320882793,
0.039706576487096946,
0.4647270816511352,
-0.028674162320739244,
0.9598832746462519,
0.03809524770237778
],
"q99": [
0.10928829801043803,
0.04262687526985545,
0.46503004510442514,
-0.025093771105003815,
0.9661699512079848,
0.05547871182008664
]
},
"observation.state.right_gripper": {
"min": [
-0.05605166032910347
],
"max": [
4.723104000091553
],
"mean": [
3.447947872636048
],
"std": [
1.8180312089298205
],
"count": [
258507.0
],
"q01": [
0.14853907741722322
],
"q10": [
0.3264361476201865
],
"q50": [
4.535580406922877
],
"q90": [
4.547629658381782
],
"q99": [
4.550052752063929
]
},
"observation.state.lower_body": {
"min": [
-0.47015488147735596,
-0.05073215439915657,
-0.1985214650630951,
0.5902843475341797,
-0.402235209941864,
-0.13017402589321136,
-0.478446900844574,
-0.03263118118047714,
0.06604883074760437,
0.6116918921470642,
-0.3489092290401459,
-0.06683437526226044,
-0.19189247488975525,
-0.07007770240306854,
-0.019227759912610054
],
"max": [
-0.24555452167987823,
0.1301923543214798,
-0.011958963237702847,
0.7130624651908875,
-0.13325926661491394,
0.03877832740545273,
-0.3108595013618469,
0.14963982999324799,
0.23360823094844818,
0.701830267906189,
-0.13064663112163544,
0.07853155583143234,
0.37940579652786255,
0.014701543375849724,
0.3566805124282837
],
"mean": [
-0.36892843382048207,
0.040293358027124235,
-0.12814741314750194,
0.6490003995057909,
-0.26377741756084755,
-0.041006461984921035,
-0.39517110319474524,
0.0801754153286989,
0.1457956216005112,
0.6524977172278827,
-0.22903844155648598,
-0.0007882057373272792,
0.04545623781097632,
-0.026204233260783753,
0.1132656418375025
],
"std": [
0.03365830326884665,
0.02532576247976761,
0.027987589959310034,
0.017874402445909696,
0.04119636417259964,
0.02809413467063923,
0.030711699157152134,
0.029510130153711032,
0.03191058148773656,
0.016393404551435946,
0.03909303396701908,
0.02035068704542366,
0.06423879631280195,
0.012512652474740414,
0.06173724117094608
],
"count": [
258507.0
],
"q01": [
-0.3831422142710594,
0.0281545530626325,
-0.13626853164304975,
0.6343006638676294,
-0.27765571146788093,
-0.06261087562633522,
-0.41175545710155487,
0.06709988546099085,
0.14068935645260072,
0.6429107675961251,
-0.24758466010069896,
-0.024119718238255268,
0.003958488201129227,
-0.038911103188721034,
0.09726231860002563
],
"q10": [
-0.38030666470827523,
0.030749095493819253,
-0.13382977843954671,
0.638508747909185,
-0.27452486222123007,
-0.05614409993567756,
-0.40834967585645815,
0.06872840830608498,
0.1423437797502074,
0.6453553282710965,
-0.2422838731466651,
-0.0160719964735373,
0.014765667612845881,
-0.03623876922266207,
0.10012379420923763
],
"q50": [
-0.3693716111128727,
0.039753520111517913,
-0.12806435336357355,
0.6487109868242571,
-0.2635817270708638,
-0.041271802351116084,
-0.39697744128596685,
0.07932024077685569,
0.14588936231169145,
0.6527741329738462,
-0.22838568702792506,
-0.0006027604653216681,
0.04456506567808535,
-0.026015208236036456,
0.11340604608425307
],
"q90": [
-0.35693288257689104,
0.049368760688190995,
-0.12281945419681199,
0.6608657895943539,
-0.2529874225230094,
-0.024759585990158726,
-0.3793630634395488,
0.09157907887753614,
0.14897757589888802,
0.658514128438467,
-0.216946115688984,
0.014523783463999483,
0.0761307799040306,
-0.01681968366373187,
0.13000891543103374
],
"q99": [
-0.35038415377427773,
0.05287064882413616,
-0.12060033759687627,
0.6652634955633477,
-0.24945756293017746,
-0.02099672472878953,
-0.3750091769654003,
0.09460274186632296,
0.15018310185705164,
0.660926135788494,
-0.2128430343597769,
0.020633857827853614,
0.09476701285075363,
-0.014725190951580465,
0.13631439627227462
]
},
"observation.state.state_torso": {
"min": [
-0.003963499795645475,
-0.0014679558807983994,
0.04399999976158142,
-0.0702955424785614,
-0.019220612943172455,
-0.1925317496061325
],
"max": [
-0.0036816352512687445,
0.000755906745325774,
0.04399999976158142,
0.01473553478717804,
0.3560565710067749,
0.3685693144798279
],
"mean": [
-0.0039512562536181345,
-0.00017957541475205035,
0.043999909924653906,
-0.026416852544395377,
0.11321794455243787,
0.04250341297680944
],
"std": [
2.3404707157177293e-05,
0.00025322748797225014,
6.380212672109583e-05,
0.012621384547794703,
0.061713170221221796,
0.06296050029554483
],
"count": [
258507.0
],
"q01": [
-0.0039605465933949075,
-0.00037308957773147757,
0.04399999976158142,
-0.039278951197862365,
0.097233836471812,
0.001372208161521448
],
"q10": [
-0.003959070910206527,
-0.000300361578112094,
0.04399999976158142,
-0.036589188079709234,
0.10009359941016274,
0.012335046872643059
],
"q50": [
-0.003953272551437179,
-0.00017634787083581813,
0.04399999976158142,
-0.02621522849067275,
0.11336285030896201,
0.04168178375770312
],
"q90": [
-0.003939949319939284,
-5.846091061161418e-05,
0.04399999976158142,
-0.016944740541977664,
0.1299264089397676,
0.07279726150368289
],
"q99": [
-0.003929330339230214,
-1.565905384352812e-05,
0.04399999976158142,
-0.014834471690342299,
0.136225437296478,
0.09128129267505912
]
},
"observation.images.wrist_left": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.42857518301256303
]
],
[
[
0.44242623791491176
]
],
[
[
0.4404011539138582
]
]
],
"std": [
[
[
0.012543907022415925
]
],
[
[
0.010869272744948724
]
],
[
[
0.010321107382205296
]
]
],
"count": [
47173.0
],
"q01": [
[
[
0.014261139038257075
]
],
[
[
0.04827599240134121
]
],
[
[
0.03288143838723912
]
]
],
"q10": [
[
[
0.06317828458504406
]
],
[
[
0.1066876692306176
]
],
[
[
0.09209774797491435
]
]
],
"q50": [
[
[
0.4982869485189497
]
],
[
[
0.5089137282376172
]
],
[
[
0.509620767727461
]
]
],
"q90": [
[
[
0.6638769163105296
]
],
[
[
0.6673152258519424
]
],
[
[
0.6732725516065855
]
]
],
"q99": [
[
[
0.8570641014771058
]
],
[
[
0.854977962055341
]
],
[
[
0.9075760465144063
]
]
]
},
"observation.state.left_gripper": {
"min": [
-0.054678745567798615
],
"max": [
4.690445423126221
],
"mean": [
2.9813620986358984
],
"std": [
1.9613240186173504
],
"count": [
258507.0
],
"q01": [
0.11567851341126623
],
"q10": [
0.15230837515546203
],
"q50": [
4.412371769704154
],
"q90": [
4.479966294161756
],
"q99": [
4.518439837683168
]
}
}