Hugging Face's logo

Datasets:
lerobot
/
aloha_static_coffee_new

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
ArXiv:
Tags:
LeRobot
aloha
Libraries:
Datasets
Dask
License:
Dataset card Viewer Files Community
aliberts HF staff commited on
Commit
0634728
·
verified ·
1 Parent(s): 16d5bcd

Upload folder using huggingface_hub

Browse files
Files changed (4) hide show
  1. meta/episodes.json +452 -0
  2. meta/info.json +142 -0
  3. meta/stats.json +550 -0
  4. meta/tasks.json +6 -0
meta/episodes.json ADDED
@@ -0,0 +1,452 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [
2
+ {
3
+ "episode_index": 0,
4
+ "tasks": [
5
+ [
6
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
7
+ ]
8
+ ],
9
+ "length": 1500
10
+ },
11
+ {
12
+ "episode_index": 1,
13
+ "tasks": [
14
+ [
15
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
16
+ ]
17
+ ],
18
+ "length": 1500
19
+ },
20
+ {
21
+ "episode_index": 2,
22
+ "tasks": [
23
+ [
24
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
25
+ ]
26
+ ],
27
+ "length": 1500
28
+ },
29
+ {
30
+ "episode_index": 3,
31
+ "tasks": [
32
+ [
33
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
34
+ ]
35
+ ],
36
+ "length": 1500
37
+ },
38
+ {
39
+ "episode_index": 4,
40
+ "tasks": [
41
+ [
42
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
43
+ ]
44
+ ],
45
+ "length": 1500
46
+ },
47
+ {
48
+ "episode_index": 5,
49
+ "tasks": [
50
+ [
51
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
52
+ ]
53
+ ],
54
+ "length": 1500
55
+ },
56
+ {
57
+ "episode_index": 6,
58
+ "tasks": [
59
+ [
60
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
61
+ ]
62
+ ],
63
+ "length": 1500
64
+ },
65
+ {
66
+ "episode_index": 7,
67
+ "tasks": [
68
+ [
69
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
70
+ ]
71
+ ],
72
+ "length": 1500
73
+ },
74
+ {
75
+ "episode_index": 8,
76
+ "tasks": [
77
+ [
78
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
79
+ ]
80
+ ],
81
+ "length": 1500
82
+ },
83
+ {
84
+ "episode_index": 9,
85
+ "tasks": [
86
+ [
87
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
88
+ ]
89
+ ],
90
+ "length": 1500
91
+ },
92
+ {
93
+ "episode_index": 10,
94
+ "tasks": [
95
+ [
96
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
97
+ ]
98
+ ],
99
+ "length": 1500
100
+ },
101
+ {
102
+ "episode_index": 11,
103
+ "tasks": [
104
+ [
105
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
106
+ ]
107
+ ],
108
+ "length": 1500
109
+ },
110
+ {
111
+ "episode_index": 12,
112
+ "tasks": [
113
+ [
114
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
115
+ ]
116
+ ],
117
+ "length": 1500
118
+ },
119
+ {
120
+ "episode_index": 13,
121
+ "tasks": [
122
+ [
123
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
124
+ ]
125
+ ],
126
+ "length": 1500
127
+ },
128
+ {
129
+ "episode_index": 14,
130
+ "tasks": [
131
+ [
132
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
133
+ ]
134
+ ],
135
+ "length": 1500
136
+ },
137
+ {
138
+ "episode_index": 15,
139
+ "tasks": [
140
+ [
141
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
142
+ ]
143
+ ],
144
+ "length": 1500
145
+ },
146
+ {
147
+ "episode_index": 16,
148
+ "tasks": [
149
+ [
150
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
151
+ ]
152
+ ],
153
+ "length": 1500
154
+ },
155
+ {
156
+ "episode_index": 17,
157
+ "tasks": [
158
+ [
159
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
160
+ ]
161
+ ],
162
+ "length": 1500
163
+ },
164
+ {
165
+ "episode_index": 18,
166
+ "tasks": [
167
+ [
168
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
169
+ ]
170
+ ],
171
+ "length": 1500
172
+ },
173
+ {
174
+ "episode_index": 19,
175
+ "tasks": [
176
+ [
177
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
178
+ ]
179
+ ],
180
+ "length": 1500
181
+ },
182
+ {
183
+ "episode_index": 20,
184
+ "tasks": [
185
+ [
186
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
187
+ ]
188
+ ],
189
+ "length": 1500
190
+ },
191
+ {
192
+ "episode_index": 21,
193
+ "tasks": [
194
+ [
195
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
196
+ ]
197
+ ],
198
+ "length": 1500
199
+ },
200
+ {
201
+ "episode_index": 22,
202
+ "tasks": [
203
+ [
204
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
205
+ ]
206
+ ],
207
+ "length": 1500
208
+ },
209
+ {
210
+ "episode_index": 23,
211
+ "tasks": [
212
+ [
213
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
214
+ ]
215
+ ],
216
+ "length": 1500
217
+ },
218
+ {
219
+ "episode_index": 24,
220
+ "tasks": [
221
+ [
222
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
223
+ ]
224
+ ],
225
+ "length": 1500
226
+ },
227
+ {
228
+ "episode_index": 25,
229
+ "tasks": [
230
+ [
231
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
232
+ ]
233
+ ],
234
+ "length": 1500
235
+ },
236
+ {
237
+ "episode_index": 26,
238
+ "tasks": [
239
+ [
240
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
241
+ ]
242
+ ],
243
+ "length": 1500
244
+ },
245
+ {
246
+ "episode_index": 27,
247
+ "tasks": [
248
+ [
249
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
250
+ ]
251
+ ],
252
+ "length": 1500
253
+ },
254
+ {
255
+ "episode_index": 28,
256
+ "tasks": [
257
+ [
258
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
259
+ ]
260
+ ],
261
+ "length": 1500
262
+ },
263
+ {
264
+ "episode_index": 29,
265
+ "tasks": [
266
+ [
267
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
268
+ ]
269
+ ],
270
+ "length": 1500
271
+ },
272
+ {
273
+ "episode_index": 30,
274
+ "tasks": [
275
+ [
276
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
277
+ ]
278
+ ],
279
+ "length": 1500
280
+ },
281
+ {
282
+ "episode_index": 31,
283
+ "tasks": [
284
+ [
285
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
286
+ ]
287
+ ],
288
+ "length": 1500
289
+ },
290
+ {
291
+ "episode_index": 32,
292
+ "tasks": [
293
+ [
294
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
295
+ ]
296
+ ],
297
+ "length": 1500
298
+ },
299
+ {
300
+ "episode_index": 33,
301
+ "tasks": [
302
+ [
303
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
304
+ ]
305
+ ],
306
+ "length": 1500
307
+ },
308
+ {
309
+ "episode_index": 34,
310
+ "tasks": [
311
+ [
312
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
313
+ ]
314
+ ],
315
+ "length": 1500
316
+ },
317
+ {
318
+ "episode_index": 35,
319
+ "tasks": [
320
+ [
321
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
322
+ ]
323
+ ],
324
+ "length": 1500
325
+ },
326
+ {
327
+ "episode_index": 36,
328
+ "tasks": [
329
+ [
330
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
331
+ ]
332
+ ],
333
+ "length": 1500
334
+ },
335
+ {
336
+ "episode_index": 37,
337
+ "tasks": [
338
+ [
339
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
340
+ ]
341
+ ],
342
+ "length": 1500
343
+ },
344
+ {
345
+ "episode_index": 38,
346
+ "tasks": [
347
+ [
348
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
349
+ ]
350
+ ],
351
+ "length": 1500
352
+ },
353
+ {
354
+ "episode_index": 39,
355
+ "tasks": [
356
+ [
357
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
358
+ ]
359
+ ],
360
+ "length": 1500
361
+ },
362
+ {
363
+ "episode_index": 40,
364
+ "tasks": [
365
+ [
366
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
367
+ ]
368
+ ],
369
+ "length": 1500
370
+ },
371
+ {
372
+ "episode_index": 41,
373
+ "tasks": [
374
+ [
375
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
376
+ ]
377
+ ],
378
+ "length": 1500
379
+ },
380
+ {
381
+ "episode_index": 42,
382
+ "tasks": [
383
+ [
384
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
385
+ ]
386
+ ],
387
+ "length": 1500
388
+ },
389
+ {
390
+ "episode_index": 43,
391
+ "tasks": [
392
+ [
393
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
394
+ ]
395
+ ],
396
+ "length": 1500
397
+ },
398
+ {
399
+ "episode_index": 44,
400
+ "tasks": [
401
+ [
402
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
403
+ ]
404
+ ],
405
+ "length": 1500
406
+ },
407
+ {
408
+ "episode_index": 45,
409
+ "tasks": [
410
+ [
411
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
412
+ ]
413
+ ],
414
+ "length": 1500
415
+ },
416
+ {
417
+ "episode_index": 46,
418
+ "tasks": [
419
+ [
420
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
421
+ ]
422
+ ],
423
+ "length": 1500
424
+ },
425
+ {
426
+ "episode_index": 47,
427
+ "tasks": [
428
+ [
429
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
430
+ ]
431
+ ],
432
+ "length": 1500
433
+ },
434
+ {
435
+ "episode_index": 48,
436
+ "tasks": [
437
+ [
438
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
439
+ ]
440
+ ],
441
+ "length": 1500
442
+ },
443
+ {
444
+ "episode_index": 49,
445
+ "tasks": [
446
+ [
447
+ "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
448
+ ]
449
+ ],
450
+ "length": 1500
451
+ }
452
+ ]
meta/info.json ADDED
@@ -0,0 +1,142 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.0",
3
+ "data_path": "data/train-{episode_index:05d}-of-{total_episodes:05d}.parquet",
4
+ "robot_type": "aloha",
5
+ "total_episodes": 50,
6
+ "total_frames": 75000,
7
+ "total_tasks": 1,
8
+ "fps": 50,
9
+ "splits": {
10
+ "train": "0:50"
11
+ },
12
+ "keys": [
13
+ "observation.state",
14
+ "observation.effort",
15
+ "action"
16
+ ],
17
+ "video_keys": [
18
+ "observation.images.cam_high",
19
+ "observation.images.cam_left_wrist",
20
+ "observation.images.cam_low",
21
+ "observation.images.cam_right_wrist"
22
+ ],
23
+ "image_keys": [],
24
+ "shapes": {
25
+ "observation.state": 14,
26
+ "observation.effort": 14,
27
+ "action": 14,
28
+ "observation.images.cam_high": {
29
+ "width": 640,
30
+ "height": 480,
31
+ "channels": 3
32
+ },
33
+ "observation.images.cam_left_wrist": {
34
+ "width": 640,
35
+ "height": 480,
36
+ "channels": 3
37
+ },
38
+ "observation.images.cam_low": {
39
+ "width": 640,
40
+ "height": 480,
41
+ "channels": 3
42
+ },
43
+ "observation.images.cam_right_wrist": {
44
+ "width": 640,
45
+ "height": 480,
46
+ "channels": 3
47
+ }
48
+ },
49
+ "names": {
50
+ "observation.state": [
51
+ "left_waist",
52
+ "left_shoulder",
53
+ "left_elbow",
54
+ "left_forearm_roll",
55
+ "left_wrist_angle",
56
+ "left_wrist_rotate",
57
+ "left_gripper",
58
+ "right_waist",
59
+ "right_shoulder",
60
+ "right_elbow",
61
+ "right_forearm_roll",
62
+ "right_wrist_angle",
63
+ "right_wrist_rotate",
64
+ "right_gripper"
65
+ ],
66
+ "action": [
67
+ "left_waist",
68
+ "left_shoulder",
69
+ "left_elbow",
70
+ "left_forearm_roll",
71
+ "left_wrist_angle",
72
+ "left_wrist_rotate",
73
+ "left_gripper",
74
+ "right_waist",
75
+ "right_shoulder",
76
+ "right_elbow",
77
+ "right_forearm_roll",
78
+ "right_wrist_angle",
79
+ "right_wrist_rotate",
80
+ "right_gripper"
81
+ ],
82
+ "observation.effort": [
83
+ "left_waist",
84
+ "left_shoulder",
85
+ "left_elbow",
86
+ "left_forearm_roll",
87
+ "left_wrist_angle",
88
+ "left_wrist_rotate",
89
+ "left_gripper",
90
+ "right_waist",
91
+ "right_shoulder",
92
+ "right_elbow",
93
+ "right_forearm_roll",
94
+ "right_wrist_angle",
95
+ "right_wrist_rotate",
96
+ "right_gripper"
97
+ ]
98
+ },
99
+ "videos": {
100
+ "videos_path": "videos/{video_key}_episode_{episode_index:06d}.mp4",
101
+ "observation.images.cam_high": {
102
+ "video.fps": 50.0,
103
+ "video.width": 640,
104
+ "video.height": 480,
105
+ "video.channels": 3,
106
+ "video.codec": "av1",
107
+ "video.pix_fmt": "yuv420p",
108
+ "video.is_depth_map": false,
109
+ "has_audio": false
110
+ },
111
+ "observation.images.cam_left_wrist": {
112
+ "video.fps": 50.0,
113
+ "video.width": 640,
114
+ "video.height": 480,
115
+ "video.channels": 3,
116
+ "video.codec": "av1",
117
+ "video.pix_fmt": "yuv420p",
118
+ "video.is_depth_map": false,
119
+ "has_audio": false
120
+ },
121
+ "observation.images.cam_low": {
122
+ "video.fps": 50.0,
123
+ "video.width": 640,
124
+ "video.height": 480,
125
+ "video.channels": 3,
126
+ "video.codec": "av1",
127
+ "video.pix_fmt": "yuv420p",
128
+ "video.is_depth_map": false,
129
+ "has_audio": false
130
+ },
131
+ "observation.images.cam_right_wrist": {
132
+ "video.fps": 50.0,
133
+ "video.width": 640,
134
+ "video.height": 480,
135
+ "video.channels": 3,
136
+ "video.codec": "av1",
137
+ "video.pix_fmt": "yuv420p",
138
+ "video.is_depth_map": false,
139
+ "has_audio": false
140
+ }
141
+ }
142
+ }
meta/stats.json ADDED
@@ -0,0 +1,550 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "max": [
4
+ 0.6166602969169617,
5
+ 0.21322333812713623,
6
+ 1.274738073348999,
7
+ 1.90827214717865,
8
+ 1.7149906158447266,
9
+ 0.09357283264398575,
10
+ 0.24579091370105743,
11
+ 0.24083499610424042,
12
+ 0.4325825870037079,
13
+ 1.179631233215332,
14
+ 1.3545050621032715,
15
+ 0.951068103313446,
16
+ 0.39576706290245056,
17
+ 1.0927647352218628
18
+ ],
19
+ "mean": [
20
+ 0.1845541149377823,
21
+ -0.5716326832771301,
22
+ 0.5901793241500854,
23
+ 0.8577032089233398,
24
+ 0.6290991902351379,
25
+ -0.653969943523407,
26
+ 0.11031565070152283,
27
+ -0.26419439911842346,
28
+ -0.13157321512699127,
29
+ 0.6139917373657227,
30
+ 0.3047778606414795,
31
+ 0.05643812194466591,
32
+ -0.41448357701301575,
33
+ 0.5072811245918274
34
+ ],
35
+ "min": [
36
+ -0.28071850538253784,
37
+ -1.0124273300170898,
38
+ -0.06596117466688156,
39
+ -0.11811652034521103,
40
+ -0.6718835830688477,
41
+ -1.986505150794983,
42
+ 0.041775330901145935,
43
+ -0.8329516053199768,
44
+ -0.9572040438652039,
45
+ -0.03221359848976135,
46
+ -0.31753402948379517,
47
+ -0.7900001406669617,
48
+ -1.38825261592865,
49
+ -0.061778027564287186
50
+ ],
51
+ "std": [
52
+ 0.18554238975048065,
53
+ 0.2953111231327057,
54
+ 0.3220387399196625,
55
+ 0.6183784008026123,
56
+ 0.5594159960746765,
57
+ 0.5386292338371277,
58
+ 0.034434881061315536,
59
+ 0.2653287351131439,
60
+ 0.2645478844642639,
61
+ 0.2651843726634979,
62
+ 0.3689832091331482,
63
+ 0.4140091836452484,
64
+ 0.4912757873535156,
65
+ 0.2230035364627838
66
+ ]
67
+ },
68
+ "episode_index": {
69
+ "max": [
70
+ 49.0
71
+ ],
72
+ "mean": [
73
+ 24.49997901916504
74
+ ],
75
+ "min": [
76
+ 0.0
77
+ ],
78
+ "std": [
79
+ 14.43087387084961
80
+ ]
81
+ },
82
+ "frame_index": {
83
+ "max": [
84
+ 1499.0
85
+ ],
86
+ "mean": [
87
+ 749.4996337890625
88
+ ],
89
+ "min": [
90
+ 0.0
91
+ ],
92
+ "std": [
93
+ 433.0126647949219
94
+ ]
95
+ },
96
+ "index": {
97
+ "max": [
98
+ 74999.0
99
+ ],
100
+ "mean": [
101
+ 37499.55078125
102
+ ],
103
+ "min": [
104
+ 0.0
105
+ ],
106
+ "std": [
107
+ 21650.62890625
108
+ ]
109
+ },
110
+ "next.done": {
111
+ "max": [
112
+ 1.0
113
+ ],
114
+ "mean": [
115
+ 0.0006666677072644234
116
+ ],
117
+ "min": [
118
+ 0.0
119
+ ],
120
+ "std": [
121
+ 0.025811288505792618
122
+ ]
123
+ },
124
+ "observation.effort": {
125
+ "max": [
126
+ 1694.7000732421875,
127
+ 1985.2200927734375,
128
+ 1756.570068359375,
129
+ 1164.77001953125,
130
+ 1428.3900146484375,
131
+ 371.2200012207031,
132
+ 893.0800170898438,
133
+ 1140.56005859375,
134
+ 414.260009765625,
135
+ -67.25,
136
+ 492.27001953125,
137
+ 659.0499877929688,
138
+ 121.05000305175781,
139
+ 914.6000366210938
140
+ ],
141
+ "mean": [
142
+ 45.688194274902344,
143
+ -148.68374633789062,
144
+ -381.41986083984375,
145
+ 64.47494506835938,
146
+ -44.508392333984375,
147
+ -6.699854850769043,
148
+ -19.713993072509766,
149
+ 1.3146231174468994,
150
+ -478.3158264160156,
151
+ -465.98046875,
152
+ 19.41259002685547,
153
+ -145.5153350830078,
154
+ -0.5097739100456238,
155
+ -219.21560668945312
156
+ ],
157
+ "min": [
158
+ -624.0800170898438,
159
+ -2103.580078125,
160
+ -1261.6099853515625,
161
+ -1293.8900146484375,
162
+ -645.6000366210938,
163
+ -234.02999877929688,
164
+ -922.6700439453125,
165
+ -516.47998046875,
166
+ -1791.5400390625,
167
+ -1119.0400390625,
168
+ -156.02000427246094,
169
+ -589.1099853515625,
170
+ -225.9600067138672,
171
+ -1073.31005859375
172
+ ],
173
+ "std": [
174
+ 145.31654357910156,
175
+ 298.60528564453125,
176
+ 199.8887176513672,
177
+ 117.29700469970703,
178
+ 152.1135711669922,
179
+ 19.713970184326172,
180
+ 48.504547119140625,
181
+ 126.19369506835938,
182
+ 246.8467559814453,
183
+ 162.22068786621094,
184
+ 37.17958068847656,
185
+ 85.09598541259766,
186
+ 9.531856536865234,
187
+ 343.0464172363281
188
+ ]
189
+ },
190
+ "observation.images.cam_high": {
191
+ "max": [
192
+ [
193
+ [
194
+ 1.0
195
+ ]
196
+ ],
197
+ [
198
+ [
199
+ 1.0
200
+ ]
201
+ ],
202
+ [
203
+ [
204
+ 1.0
205
+ ]
206
+ ]
207
+ ],
208
+ "mean": [
209
+ [
210
+ [
211
+ 0.4750315248966217
212
+ ]
213
+ ],
214
+ [
215
+ [
216
+ 0.47710636258125305
217
+ ]
218
+ ],
219
+ [
220
+ [
221
+ 0.4843401610851288
222
+ ]
223
+ ]
224
+ ],
225
+ "min": [
226
+ [
227
+ [
228
+ 0.0
229
+ ]
230
+ ],
231
+ [
232
+ [
233
+ 0.0
234
+ ]
235
+ ],
236
+ [
237
+ [
238
+ 0.0
239
+ ]
240
+ ]
241
+ ],
242
+ "std": [
243
+ [
244
+ [
245
+ 0.20807009935379028
246
+ ]
247
+ ],
248
+ [
249
+ [
250
+ 0.2060021162033081
251
+ ]
252
+ ],
253
+ [
254
+ [
255
+ 0.20423944294452667
256
+ ]
257
+ ]
258
+ ]
259
+ },
260
+ "observation.images.cam_left_wrist": {
261
+ "max": [
262
+ [
263
+ [
264
+ 1.0
265
+ ]
266
+ ],
267
+ [
268
+ [
269
+ 1.0
270
+ ]
271
+ ],
272
+ [
273
+ [
274
+ 1.0
275
+ ]
276
+ ]
277
+ ],
278
+ "mean": [
279
+ [
280
+ [
281
+ 0.44395726919174194
282
+ ]
283
+ ],
284
+ [
285
+ [
286
+ 0.4501511752605438
287
+ ]
288
+ ],
289
+ [
290
+ [
291
+ 0.456361323595047
292
+ ]
293
+ ]
294
+ ],
295
+ "min": [
296
+ [
297
+ [
298
+ 0.0
299
+ ]
300
+ ],
301
+ [
302
+ [
303
+ 0.0
304
+ ]
305
+ ],
306
+ [
307
+ [
308
+ 0.0
309
+ ]
310
+ ]
311
+ ],
312
+ "std": [
313
+ [
314
+ [
315
+ 0.26508328318595886
316
+ ]
317
+ ],
318
+ [
319
+ [
320
+ 0.26174283027648926
321
+ ]
322
+ ],
323
+ [
324
+ [
325
+ 0.2573094964027405
326
+ ]
327
+ ]
328
+ ]
329
+ },
330
+ "observation.images.cam_low": {
331
+ "max": [
332
+ [
333
+ [
334
+ 1.0
335
+ ]
336
+ ],
337
+ [
338
+ [
339
+ 1.0
340
+ ]
341
+ ],
342
+ [
343
+ [
344
+ 1.0
345
+ ]
346
+ ]
347
+ ],
348
+ "mean": [
349
+ [
350
+ [
351
+ 0.44661471247673035
352
+ ]
353
+ ],
354
+ [
355
+ [
356
+ 0.4540914297103882
357
+ ]
358
+ ],
359
+ [
360
+ [
361
+ 0.4577717185020447
362
+ ]
363
+ ]
364
+ ],
365
+ "min": [
366
+ [
367
+ [
368
+ 0.0
369
+ ]
370
+ ],
371
+ [
372
+ [
373
+ 0.0
374
+ ]
375
+ ],
376
+ [
377
+ [
378
+ 0.0
379
+ ]
380
+ ]
381
+ ],
382
+ "std": [
383
+ [
384
+ [
385
+ 0.2362147867679596
386
+ ]
387
+ ],
388
+ [
389
+ [
390
+ 0.23208540678024292
391
+ ]
392
+ ],
393
+ [
394
+ [
395
+ 0.22309622168540955
396
+ ]
397
+ ]
398
+ ]
399
+ },
400
+ "observation.images.cam_right_wrist": {
401
+ "max": [
402
+ [
403
+ [
404
+ 1.0
405
+ ]
406
+ ],
407
+ [
408
+ [
409
+ 1.0
410
+ ]
411
+ ],
412
+ [
413
+ [
414
+ 1.0
415
+ ]
416
+ ]
417
+ ],
418
+ "mean": [
419
+ [
420
+ [
421
+ 0.42565083503723145
422
+ ]
423
+ ],
424
+ [
425
+ [
426
+ 0.4287889897823334
427
+ ]
428
+ ],
429
+ [
430
+ [
431
+ 0.43649822473526
432
+ ]
433
+ ]
434
+ ],
435
+ "min": [
436
+ [
437
+ [
438
+ 0.0
439
+ ]
440
+ ],
441
+ [
442
+ [
443
+ 0.0
444
+ ]
445
+ ],
446
+ [
447
+ [
448
+ 0.0
449
+ ]
450
+ ]
451
+ ],
452
+ "std": [
453
+ [
454
+ [
455
+ 0.2746427059173584
456
+ ]
457
+ ],
458
+ [
459
+ [
460
+ 0.26869815587997437
461
+ ]
462
+ ],
463
+ [
464
+ [
465
+ 0.2604452669620514
466
+ ]
467
+ ]
468
+ ]
469
+ },
470
+ "observation.state": {
471
+ "max": [
472
+ 0.5967185497283936,
473
+ 0.23316508531570435,
474
+ 1.288543939590454,
475
+ 1.9036701917648315,
476
+ 1.7073206901550293,
477
+ 0.0920388475060463,
478
+ 0.14465899765491486,
479
+ 0.23316508531570435,
480
+ 0.452524334192276,
481
+ 1.1919031143188477,
482
+ 1.352971076965332,
483
+ 0.951068103313446,
484
+ 0.3942330777645111,
485
+ 0.9999999403953552
486
+ ],
487
+ "mean": [
488
+ 0.18170489370822906,
489
+ -0.566713273525238,
490
+ 0.6073193550109863,
491
+ 0.8532191514968872,
492
+ 0.6301560401916504,
493
+ -0.6527251601219177,
494
+ 0.07513371109962463,
495
+ -0.26412156224250793,
496
+ -0.11388902366161346,
497
+ 0.6334615349769592,
498
+ 0.3014044165611267,
499
+ 0.06241295486688614,
500
+ -0.4127424657344818,
501
+ 0.5519359707832336
502
+ ],
503
+ "min": [
504
+ -0.28071850538253784,
505
+ -1.0154953002929688,
506
+ -0.03681553900241852,
507
+ -0.11658254265785217,
508
+ -0.6396700143814087,
509
+ -1.986505150794983,
510
+ 0.007831979542970657,
511
+ -0.8283496499061584,
512
+ -0.9679418802261353,
513
+ 0.006135923322290182,
514
+ -0.3067961633205414,
515
+ -0.7792622447013855,
516
+ -1.3867186307907104,
517
+ -0.023710286244750023
518
+ ],
519
+ "std": [
520
+ 0.1856149584054947,
521
+ 0.3039621412754059,
522
+ 0.32322490215301514,
523
+ 0.6172955632209778,
524
+ 0.5564277172088623,
525
+ 0.5390529632568359,
526
+ 0.02644648402929306,
527
+ 0.2655051350593567,
528
+ 0.2722899913787842,
529
+ 0.26385360956192017,
530
+ 0.36703550815582275,
531
+ 0.4118461608886719,
532
+ 0.4909692406654358,
533
+ 0.2490447461605072
534
+ ]
535
+ },
536
+ "timestamp": {
537
+ "max": [
538
+ 29.979999542236328
539
+ ],
540
+ "mean": [
541
+ 14.989994049072266
542
+ ],
543
+ "min": [
544
+ 0.0
545
+ ],
546
+ "std": [
547
+ 8.660252571105957
548
+ ]
549
+ }
550
+ }
meta/tasks.json ADDED
@@ -0,0 +1,6 @@
 
 
 
 
 
 
 
1
+ [
2
+ {
3
+ "task_index": 0,
4
+ "task": "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray."
5
+ }
6
+ ]