Datasets:
Upload folder using huggingface_hub
Browse files- meta/episodes.json +452 -0
- meta/info.json +76 -0
- meta/stats.json +274 -0
- meta/tasks.json +6 -0
meta/episodes.json
ADDED
@@ -0,0 +1,452 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
[
|
2 |
+
{
|
3 |
+
"episode_index": 0,
|
4 |
+
"tasks": [
|
5 |
+
[
|
6 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
7 |
+
]
|
8 |
+
],
|
9 |
+
"length": 400
|
10 |
+
},
|
11 |
+
{
|
12 |
+
"episode_index": 1,
|
13 |
+
"tasks": [
|
14 |
+
[
|
15 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
16 |
+
]
|
17 |
+
],
|
18 |
+
"length": 400
|
19 |
+
},
|
20 |
+
{
|
21 |
+
"episode_index": 2,
|
22 |
+
"tasks": [
|
23 |
+
[
|
24 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
25 |
+
]
|
26 |
+
],
|
27 |
+
"length": 400
|
28 |
+
},
|
29 |
+
{
|
30 |
+
"episode_index": 3,
|
31 |
+
"tasks": [
|
32 |
+
[
|
33 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
34 |
+
]
|
35 |
+
],
|
36 |
+
"length": 400
|
37 |
+
},
|
38 |
+
{
|
39 |
+
"episode_index": 4,
|
40 |
+
"tasks": [
|
41 |
+
[
|
42 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
43 |
+
]
|
44 |
+
],
|
45 |
+
"length": 400
|
46 |
+
},
|
47 |
+
{
|
48 |
+
"episode_index": 5,
|
49 |
+
"tasks": [
|
50 |
+
[
|
51 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
52 |
+
]
|
53 |
+
],
|
54 |
+
"length": 400
|
55 |
+
},
|
56 |
+
{
|
57 |
+
"episode_index": 6,
|
58 |
+
"tasks": [
|
59 |
+
[
|
60 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
61 |
+
]
|
62 |
+
],
|
63 |
+
"length": 400
|
64 |
+
},
|
65 |
+
{
|
66 |
+
"episode_index": 7,
|
67 |
+
"tasks": [
|
68 |
+
[
|
69 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
70 |
+
]
|
71 |
+
],
|
72 |
+
"length": 400
|
73 |
+
},
|
74 |
+
{
|
75 |
+
"episode_index": 8,
|
76 |
+
"tasks": [
|
77 |
+
[
|
78 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
79 |
+
]
|
80 |
+
],
|
81 |
+
"length": 400
|
82 |
+
},
|
83 |
+
{
|
84 |
+
"episode_index": 9,
|
85 |
+
"tasks": [
|
86 |
+
[
|
87 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
88 |
+
]
|
89 |
+
],
|
90 |
+
"length": 400
|
91 |
+
},
|
92 |
+
{
|
93 |
+
"episode_index": 10,
|
94 |
+
"tasks": [
|
95 |
+
[
|
96 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
97 |
+
]
|
98 |
+
],
|
99 |
+
"length": 400
|
100 |
+
},
|
101 |
+
{
|
102 |
+
"episode_index": 11,
|
103 |
+
"tasks": [
|
104 |
+
[
|
105 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
106 |
+
]
|
107 |
+
],
|
108 |
+
"length": 400
|
109 |
+
},
|
110 |
+
{
|
111 |
+
"episode_index": 12,
|
112 |
+
"tasks": [
|
113 |
+
[
|
114 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
115 |
+
]
|
116 |
+
],
|
117 |
+
"length": 400
|
118 |
+
},
|
119 |
+
{
|
120 |
+
"episode_index": 13,
|
121 |
+
"tasks": [
|
122 |
+
[
|
123 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
124 |
+
]
|
125 |
+
],
|
126 |
+
"length": 400
|
127 |
+
},
|
128 |
+
{
|
129 |
+
"episode_index": 14,
|
130 |
+
"tasks": [
|
131 |
+
[
|
132 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
133 |
+
]
|
134 |
+
],
|
135 |
+
"length": 400
|
136 |
+
},
|
137 |
+
{
|
138 |
+
"episode_index": 15,
|
139 |
+
"tasks": [
|
140 |
+
[
|
141 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
142 |
+
]
|
143 |
+
],
|
144 |
+
"length": 400
|
145 |
+
},
|
146 |
+
{
|
147 |
+
"episode_index": 16,
|
148 |
+
"tasks": [
|
149 |
+
[
|
150 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
151 |
+
]
|
152 |
+
],
|
153 |
+
"length": 400
|
154 |
+
},
|
155 |
+
{
|
156 |
+
"episode_index": 17,
|
157 |
+
"tasks": [
|
158 |
+
[
|
159 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
160 |
+
]
|
161 |
+
],
|
162 |
+
"length": 400
|
163 |
+
},
|
164 |
+
{
|
165 |
+
"episode_index": 18,
|
166 |
+
"tasks": [
|
167 |
+
[
|
168 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
169 |
+
]
|
170 |
+
],
|
171 |
+
"length": 400
|
172 |
+
},
|
173 |
+
{
|
174 |
+
"episode_index": 19,
|
175 |
+
"tasks": [
|
176 |
+
[
|
177 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
178 |
+
]
|
179 |
+
],
|
180 |
+
"length": 400
|
181 |
+
},
|
182 |
+
{
|
183 |
+
"episode_index": 20,
|
184 |
+
"tasks": [
|
185 |
+
[
|
186 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
187 |
+
]
|
188 |
+
],
|
189 |
+
"length": 400
|
190 |
+
},
|
191 |
+
{
|
192 |
+
"episode_index": 21,
|
193 |
+
"tasks": [
|
194 |
+
[
|
195 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
196 |
+
]
|
197 |
+
],
|
198 |
+
"length": 400
|
199 |
+
},
|
200 |
+
{
|
201 |
+
"episode_index": 22,
|
202 |
+
"tasks": [
|
203 |
+
[
|
204 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
205 |
+
]
|
206 |
+
],
|
207 |
+
"length": 400
|
208 |
+
},
|
209 |
+
{
|
210 |
+
"episode_index": 23,
|
211 |
+
"tasks": [
|
212 |
+
[
|
213 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
214 |
+
]
|
215 |
+
],
|
216 |
+
"length": 400
|
217 |
+
},
|
218 |
+
{
|
219 |
+
"episode_index": 24,
|
220 |
+
"tasks": [
|
221 |
+
[
|
222 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
223 |
+
]
|
224 |
+
],
|
225 |
+
"length": 400
|
226 |
+
},
|
227 |
+
{
|
228 |
+
"episode_index": 25,
|
229 |
+
"tasks": [
|
230 |
+
[
|
231 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
232 |
+
]
|
233 |
+
],
|
234 |
+
"length": 400
|
235 |
+
},
|
236 |
+
{
|
237 |
+
"episode_index": 26,
|
238 |
+
"tasks": [
|
239 |
+
[
|
240 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
241 |
+
]
|
242 |
+
],
|
243 |
+
"length": 400
|
244 |
+
},
|
245 |
+
{
|
246 |
+
"episode_index": 27,
|
247 |
+
"tasks": [
|
248 |
+
[
|
249 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
250 |
+
]
|
251 |
+
],
|
252 |
+
"length": 400
|
253 |
+
},
|
254 |
+
{
|
255 |
+
"episode_index": 28,
|
256 |
+
"tasks": [
|
257 |
+
[
|
258 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
259 |
+
]
|
260 |
+
],
|
261 |
+
"length": 400
|
262 |
+
},
|
263 |
+
{
|
264 |
+
"episode_index": 29,
|
265 |
+
"tasks": [
|
266 |
+
[
|
267 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
268 |
+
]
|
269 |
+
],
|
270 |
+
"length": 400
|
271 |
+
},
|
272 |
+
{
|
273 |
+
"episode_index": 30,
|
274 |
+
"tasks": [
|
275 |
+
[
|
276 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
277 |
+
]
|
278 |
+
],
|
279 |
+
"length": 400
|
280 |
+
},
|
281 |
+
{
|
282 |
+
"episode_index": 31,
|
283 |
+
"tasks": [
|
284 |
+
[
|
285 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
286 |
+
]
|
287 |
+
],
|
288 |
+
"length": 400
|
289 |
+
},
|
290 |
+
{
|
291 |
+
"episode_index": 32,
|
292 |
+
"tasks": [
|
293 |
+
[
|
294 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
295 |
+
]
|
296 |
+
],
|
297 |
+
"length": 400
|
298 |
+
},
|
299 |
+
{
|
300 |
+
"episode_index": 33,
|
301 |
+
"tasks": [
|
302 |
+
[
|
303 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
304 |
+
]
|
305 |
+
],
|
306 |
+
"length": 400
|
307 |
+
},
|
308 |
+
{
|
309 |
+
"episode_index": 34,
|
310 |
+
"tasks": [
|
311 |
+
[
|
312 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
313 |
+
]
|
314 |
+
],
|
315 |
+
"length": 400
|
316 |
+
},
|
317 |
+
{
|
318 |
+
"episode_index": 35,
|
319 |
+
"tasks": [
|
320 |
+
[
|
321 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
322 |
+
]
|
323 |
+
],
|
324 |
+
"length": 400
|
325 |
+
},
|
326 |
+
{
|
327 |
+
"episode_index": 36,
|
328 |
+
"tasks": [
|
329 |
+
[
|
330 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
331 |
+
]
|
332 |
+
],
|
333 |
+
"length": 400
|
334 |
+
},
|
335 |
+
{
|
336 |
+
"episode_index": 37,
|
337 |
+
"tasks": [
|
338 |
+
[
|
339 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
340 |
+
]
|
341 |
+
],
|
342 |
+
"length": 400
|
343 |
+
},
|
344 |
+
{
|
345 |
+
"episode_index": 38,
|
346 |
+
"tasks": [
|
347 |
+
[
|
348 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
349 |
+
]
|
350 |
+
],
|
351 |
+
"length": 400
|
352 |
+
},
|
353 |
+
{
|
354 |
+
"episode_index": 39,
|
355 |
+
"tasks": [
|
356 |
+
[
|
357 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
358 |
+
]
|
359 |
+
],
|
360 |
+
"length": 400
|
361 |
+
},
|
362 |
+
{
|
363 |
+
"episode_index": 40,
|
364 |
+
"tasks": [
|
365 |
+
[
|
366 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
367 |
+
]
|
368 |
+
],
|
369 |
+
"length": 400
|
370 |
+
},
|
371 |
+
{
|
372 |
+
"episode_index": 41,
|
373 |
+
"tasks": [
|
374 |
+
[
|
375 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
376 |
+
]
|
377 |
+
],
|
378 |
+
"length": 400
|
379 |
+
},
|
380 |
+
{
|
381 |
+
"episode_index": 42,
|
382 |
+
"tasks": [
|
383 |
+
[
|
384 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
385 |
+
]
|
386 |
+
],
|
387 |
+
"length": 400
|
388 |
+
},
|
389 |
+
{
|
390 |
+
"episode_index": 43,
|
391 |
+
"tasks": [
|
392 |
+
[
|
393 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
394 |
+
]
|
395 |
+
],
|
396 |
+
"length": 400
|
397 |
+
},
|
398 |
+
{
|
399 |
+
"episode_index": 44,
|
400 |
+
"tasks": [
|
401 |
+
[
|
402 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
403 |
+
]
|
404 |
+
],
|
405 |
+
"length": 400
|
406 |
+
},
|
407 |
+
{
|
408 |
+
"episode_index": 45,
|
409 |
+
"tasks": [
|
410 |
+
[
|
411 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
412 |
+
]
|
413 |
+
],
|
414 |
+
"length": 400
|
415 |
+
},
|
416 |
+
{
|
417 |
+
"episode_index": 46,
|
418 |
+
"tasks": [
|
419 |
+
[
|
420 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
421 |
+
]
|
422 |
+
],
|
423 |
+
"length": 400
|
424 |
+
},
|
425 |
+
{
|
426 |
+
"episode_index": 47,
|
427 |
+
"tasks": [
|
428 |
+
[
|
429 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
430 |
+
]
|
431 |
+
],
|
432 |
+
"length": 400
|
433 |
+
},
|
434 |
+
{
|
435 |
+
"episode_index": 48,
|
436 |
+
"tasks": [
|
437 |
+
[
|
438 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
439 |
+
]
|
440 |
+
],
|
441 |
+
"length": 400
|
442 |
+
},
|
443 |
+
{
|
444 |
+
"episode_index": 49,
|
445 |
+
"tasks": [
|
446 |
+
[
|
447 |
+
"Pick up the cube with the right arm and transfer it to the left arm."
|
448 |
+
]
|
449 |
+
],
|
450 |
+
"length": 400
|
451 |
+
}
|
452 |
+
]
|
meta/info.json
ADDED
@@ -0,0 +1,76 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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": 20000,
|
7 |
+
"total_tasks": 1,
|
8 |
+
"fps": 50,
|
9 |
+
"splits": {
|
10 |
+
"train": "0:50"
|
11 |
+
},
|
12 |
+
"keys": [
|
13 |
+
"observation.state",
|
14 |
+
"action"
|
15 |
+
],
|
16 |
+
"video_keys": [
|
17 |
+
"observation.images.top"
|
18 |
+
],
|
19 |
+
"image_keys": [],
|
20 |
+
"shapes": {
|
21 |
+
"observation.state": 14,
|
22 |
+
"action": 14,
|
23 |
+
"observation.images.top": {
|
24 |
+
"width": 640,
|
25 |
+
"height": 480,
|
26 |
+
"channels": 3
|
27 |
+
}
|
28 |
+
},
|
29 |
+
"names": {
|
30 |
+
"observation.state": [
|
31 |
+
"left_waist",
|
32 |
+
"left_shoulder",
|
33 |
+
"left_elbow",
|
34 |
+
"left_forearm_roll",
|
35 |
+
"left_wrist_angle",
|
36 |
+
"left_wrist_rotate",
|
37 |
+
"left_gripper",
|
38 |
+
"right_waist",
|
39 |
+
"right_shoulder",
|
40 |
+
"right_elbow",
|
41 |
+
"right_forearm_roll",
|
42 |
+
"right_wrist_angle",
|
43 |
+
"right_wrist_rotate",
|
44 |
+
"right_gripper"
|
45 |
+
],
|
46 |
+
"action": [
|
47 |
+
"left_waist",
|
48 |
+
"left_shoulder",
|
49 |
+
"left_elbow",
|
50 |
+
"left_forearm_roll",
|
51 |
+
"left_wrist_angle",
|
52 |
+
"left_wrist_rotate",
|
53 |
+
"left_gripper",
|
54 |
+
"right_waist",
|
55 |
+
"right_shoulder",
|
56 |
+
"right_elbow",
|
57 |
+
"right_forearm_roll",
|
58 |
+
"right_wrist_angle",
|
59 |
+
"right_wrist_rotate",
|
60 |
+
"right_gripper"
|
61 |
+
]
|
62 |
+
},
|
63 |
+
"videos": {
|
64 |
+
"videos_path": "videos/{video_key}_episode_{episode_index:06d}.mp4",
|
65 |
+
"observation.images.top": {
|
66 |
+
"video.fps": 50.0,
|
67 |
+
"video.width": 640,
|
68 |
+
"video.height": 480,
|
69 |
+
"video.channels": 3,
|
70 |
+
"video.codec": "av1",
|
71 |
+
"video.pix_fmt": "yuv420p",
|
72 |
+
"video.is_depth_map": false,
|
73 |
+
"has_audio": false
|
74 |
+
}
|
75 |
+
}
|
76 |
+
}
|
meta/stats.json
ADDED
@@ -0,0 +1,274 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
{
|
2 |
+
"action": {
|
3 |
+
"max": [
|
4 |
+
0.04141748324036598,
|
5 |
+
-0.10431069880723953,
|
6 |
+
1.2471264600753784,
|
7 |
+
0.012271846644580364,
|
8 |
+
-0.26384469866752625,
|
9 |
+
0.13038836419582367,
|
10 |
+
1.1414905786514282,
|
11 |
+
0.33133986592292786,
|
12 |
+
0.2791845202445984,
|
13 |
+
1.2931458950042725,
|
14 |
+
0.25003886222839355,
|
15 |
+
0.6120583415031433,
|
16 |
+
1.2210487127304077,
|
17 |
+
1.2004203796386719
|
18 |
+
],
|
19 |
+
"mean": [
|
20 |
+
-0.007564446423202753,
|
21 |
+
-0.6281843185424805,
|
22 |
+
1.0312833786010742,
|
23 |
+
-0.04664313793182373,
|
24 |
+
-0.4721137583255768,
|
25 |
+
-0.07452698051929474,
|
26 |
+
0.373897910118103,
|
27 |
+
-0.03718753531575203,
|
28 |
+
-0.32611438632011414,
|
29 |
+
0.8997200727462769,
|
30 |
+
-0.21371079981327057,
|
31 |
+
-0.3184039890766144,
|
32 |
+
-0.2336096167564392,
|
33 |
+
0.5519470572471619
|
34 |
+
],
|
35 |
+
"min": [
|
36 |
+
-0.07363107800483704,
|
37 |
+
-0.9587380290031433,
|
38 |
+
0.6826214790344238,
|
39 |
+
-0.20248547196388245,
|
40 |
+
-0.8375535607337952,
|
41 |
+
-0.3374757766723633,
|
42 |
+
0.15309308469295502,
|
43 |
+
-0.3405437469482422,
|
44 |
+
-1.0400390625,
|
45 |
+
0.4693981409072876,
|
46 |
+
-1.4450099468231201,
|
47 |
+
-1.0154953002929688,
|
48 |
+
-1.3621749877929688,
|
49 |
+
0.1409180760383606
|
50 |
+
],
|
51 |
+
"std": [
|
52 |
+
0.012527869082987309,
|
53 |
+
0.29573681950569153,
|
54 |
+
0.16701507568359375,
|
55 |
+
0.04584391415119171,
|
56 |
+
0.14833474159240723,
|
57 |
+
0.087628073990345,
|
58 |
+
0.30665168166160583,
|
59 |
+
0.10599812865257263,
|
60 |
+
0.2757197916507721,
|
61 |
+
0.18058083951473236,
|
62 |
+
0.2630402743816376,
|
63 |
+
0.30707770586013794,
|
64 |
+
0.5305277109146118,
|
65 |
+
0.38380080461502075
|
66 |
+
]
|
67 |
+
},
|
68 |
+
"episode_index": {
|
69 |
+
"max": [
|
70 |
+
49.0
|
71 |
+
],
|
72 |
+
"mean": [
|
73 |
+
24.500011444091797
|
74 |
+
],
|
75 |
+
"min": [
|
76 |
+
0.0
|
77 |
+
],
|
78 |
+
"std": [
|
79 |
+
14.430870056152344
|
80 |
+
]
|
81 |
+
},
|
82 |
+
"frame_index": {
|
83 |
+
"max": [
|
84 |
+
399.0
|
85 |
+
],
|
86 |
+
"mean": [
|
87 |
+
199.5000762939453
|
88 |
+
],
|
89 |
+
"min": [
|
90 |
+
0.0
|
91 |
+
],
|
92 |
+
"std": [
|
93 |
+
115.46966552734375
|
94 |
+
]
|
95 |
+
},
|
96 |
+
"index": {
|
97 |
+
"max": [
|
98 |
+
19999.0
|
99 |
+
],
|
100 |
+
"mean": [
|
101 |
+
9999.5
|
102 |
+
],
|
103 |
+
"min": [
|
104 |
+
0.0
|
105 |
+
],
|
106 |
+
"std": [
|
107 |
+
5773.5029296875
|
108 |
+
]
|
109 |
+
},
|
110 |
+
"next.done": {
|
111 |
+
"max": [
|
112 |
+
1.0
|
113 |
+
],
|
114 |
+
"mean": [
|
115 |
+
0.002499999012798071
|
116 |
+
],
|
117 |
+
"min": [
|
118 |
+
0.0
|
119 |
+
],
|
120 |
+
"std": [
|
121 |
+
0.04993745684623718
|
122 |
+
]
|
123 |
+
},
|
124 |
+
"observation.images.top": {
|
125 |
+
"max": [
|
126 |
+
[
|
127 |
+
[
|
128 |
+
1.0
|
129 |
+
]
|
130 |
+
],
|
131 |
+
[
|
132 |
+
[
|
133 |
+
1.0
|
134 |
+
]
|
135 |
+
],
|
136 |
+
[
|
137 |
+
[
|
138 |
+
1.0
|
139 |
+
]
|
140 |
+
]
|
141 |
+
],
|
142 |
+
"mean": [
|
143 |
+
[
|
144 |
+
[
|
145 |
+
0.15859392285346985
|
146 |
+
]
|
147 |
+
],
|
148 |
+
[
|
149 |
+
[
|
150 |
+
0.1574283242225647
|
151 |
+
]
|
152 |
+
],
|
153 |
+
[
|
154 |
+
[
|
155 |
+
0.15745869278907776
|
156 |
+
]
|
157 |
+
]
|
158 |
+
],
|
159 |
+
"min": [
|
160 |
+
[
|
161 |
+
[
|
162 |
+
0.0
|
163 |
+
]
|
164 |
+
],
|
165 |
+
[
|
166 |
+
[
|
167 |
+
0.0
|
168 |
+
]
|
169 |
+
],
|
170 |
+
[
|
171 |
+
[
|
172 |
+
0.0
|
173 |
+
]
|
174 |
+
]
|
175 |
+
],
|
176 |
+
"std": [
|
177 |
+
[
|
178 |
+
[
|
179 |
+
0.20132511854171753
|
180 |
+
]
|
181 |
+
],
|
182 |
+
[
|
183 |
+
[
|
184 |
+
0.19916057586669922
|
185 |
+
]
|
186 |
+
],
|
187 |
+
[
|
188 |
+
[
|
189 |
+
0.19919170439243317
|
190 |
+
]
|
191 |
+
]
|
192 |
+
]
|
193 |
+
},
|
194 |
+
"observation.state": {
|
195 |
+
"max": [
|
196 |
+
0.040276989340782166,
|
197 |
+
-0.10350845009088516,
|
198 |
+
1.250494360923767,
|
199 |
+
0.012111586518585682,
|
200 |
+
-0.26289719343185425,
|
201 |
+
0.13089120388031006,
|
202 |
+
1.0181641578674316,
|
203 |
+
0.32975292205810547,
|
204 |
+
0.26967695355415344,
|
205 |
+
1.2961957454681396,
|
206 |
+
0.24831564724445343,
|
207 |
+
0.6167895793914795,
|
208 |
+
1.2217248678207397,
|
209 |
+
1.163696050643921
|
210 |
+
],
|
211 |
+
"mean": [
|
212 |
+
-0.007402688730508089,
|
213 |
+
-0.6318774819374084,
|
214 |
+
1.0356645584106445,
|
215 |
+
-0.050272196531295776,
|
216 |
+
-0.46199214458465576,
|
217 |
+
-0.07467500120401382,
|
218 |
+
0.4746761620044708,
|
219 |
+
-0.03615444898605347,
|
220 |
+
-0.3320339322090149,
|
221 |
+
0.9038933515548706,
|
222 |
+
-0.22060784697532654,
|
223 |
+
-0.3101157248020172,
|
224 |
+
-0.23484455049037933,
|
225 |
+
0.6842413544654846
|
226 |
+
],
|
227 |
+
"min": [
|
228 |
+
-0.07413633167743683,
|
229 |
+
-0.9599999785423279,
|
230 |
+
0.6854013800621033,
|
231 |
+
-0.21935929358005524,
|
232 |
+
-0.8236697316169739,
|
233 |
+
-0.33816230297088623,
|
234 |
+
0.0,
|
235 |
+
-0.34037381410598755,
|
236 |
+
-1.0634464025497437,
|
237 |
+
0.45876720547676086,
|
238 |
+
-1.4443697929382324,
|
239 |
+
-1.00570547580719,
|
240 |
+
-1.361513376235962,
|
241 |
+
0.0
|
242 |
+
],
|
243 |
+
"std": [
|
244 |
+
0.01218993030488491,
|
245 |
+
0.29753074049949646,
|
246 |
+
0.16727614402770996,
|
247 |
+
0.047336842864751816,
|
248 |
+
0.14859996736049652,
|
249 |
+
0.08788280189037323,
|
250 |
+
0.31751549243927,
|
251 |
+
0.10498899966478348,
|
252 |
+
0.2793290913105011,
|
253 |
+
0.18093593418598175,
|
254 |
+
0.26604267954826355,
|
255 |
+
0.3046573996543884,
|
256 |
+
0.5298554301261902,
|
257 |
+
0.25504589080810547
|
258 |
+
]
|
259 |
+
},
|
260 |
+
"timestamp": {
|
261 |
+
"max": [
|
262 |
+
7.980000019073486
|
263 |
+
],
|
264 |
+
"mean": [
|
265 |
+
3.9900012016296387
|
266 |
+
],
|
267 |
+
"min": [
|
268 |
+
0.0
|
269 |
+
],
|
270 |
+
"std": [
|
271 |
+
2.3093934059143066
|
272 |
+
]
|
273 |
+
}
|
274 |
+
}
|
meta/tasks.json
ADDED
@@ -0,0 +1,6 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
[
|
2 |
+
{
|
3 |
+
"task_index": 0,
|
4 |
+
"task": "Pick up the cube with the right arm and transfer it to the left arm."
|
5 |
+
}
|
6 |
+
]
|