| { | |
| "_name_or_path": "openvla/openvla-7b", | |
| "arch_specifier": "no-align+fused-gelu-mlp", | |
| "architectures": [ | |
| "OpenVLAForActionPrediction" | |
| ], | |
| "auto_map": { | |
| "AutoConfig": "openvla/openvla-7b--configuration_prismatic.OpenVLAConfig", | |
| "AutoModelForVision2Seq": "openvla/openvla-7b--modeling_prismatic.OpenVLAForActionPrediction" | |
| }, | |
| "hf_llm_id": "meta-llama/Llama-2-7b-hf", | |
| "image_resize_strategy": "resize-naive", | |
| "image_sizes": [ | |
| 224, | |
| 224 | |
| ], | |
| "llm_backbone_id": "llama2-7b-pure", | |
| "llm_max_length": 2048, | |
| "model_type": "openvla", | |
| "n_action_bins": 256, | |
| "norm_stats": { | |
| "kinova": { | |
| "action": { | |
| "mean": [ | |
| -0.00020067453442607075, | |
| -0.0006858264678157866, | |
| -0.009424498304724693, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| -0.4078544080257416 | |
| ], | |
| "std": [ | |
| 0.024468697607517242, | |
| 0.018178345635533333, | |
| 0.0452522449195385, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.9132017493247986 | |
| ], | |
| "max": [ | |
| 0.09284012019634247, | |
| 0.07762093842029572, | |
| 0.10962827503681183, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ], | |
| "min": [ | |
| -0.10259060561656952, | |
| -0.0854005366563797, | |
| -0.10095969587564468, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| -1.0 | |
| ], | |
| "q01": [ | |
| -0.06314262807369232, | |
| -0.05193830907344818, | |
| -0.07782501727342606, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| -1.0 | |
| ], | |
| "q99": [ | |
| 0.05859208554029463, | |
| 0.05156266748905182, | |
| 0.10301319599151611, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ], | |
| "mask": [ | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| false | |
| ] | |
| }, | |
| "proprio": { | |
| "mean": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "std": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "max": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "min": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| }, | |
| "num_transitions": 30989, | |
| "num_trajectories": 500 | |
| }, | |
| "austin_buds_dataset_converted_externally_to_rlds": { | |
| "action": { | |
| "mask": [ | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| false | |
| ], | |
| "max": [ | |
| 1.0, | |
| 1.0, | |
| 1.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ], | |
| "mean": [ | |
| -0.07678354531526566, | |
| 0.0036849044263362885, | |
| 0.05644911900162697, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.3510494828224182 | |
| ], | |
| "min": [ | |
| -1.0, | |
| -1.0, | |
| -1.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| -1.0, | |
| -0.9599999785423279, | |
| -0.8714285492897034, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 1.0, | |
| 0.8600000143051147, | |
| 1.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ], | |
| "std": [ | |
| 0.6367740631103516, | |
| 0.37889179587364197, | |
| 0.47796326875686646, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.47721168398857117 | |
| ] | |
| }, | |
| "num_trajectories": 50, | |
| "num_transitions": 34112, | |
| "proprio": { | |
| "max": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "mean": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "min": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "std": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| } | |
| }, | |
| "austin_sailor_dataset_converted_externally_to_rlds": { | |
| "action": { | |
| "mask": [ | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| false | |
| ], | |
| "max": [ | |
| 1.0, | |
| 1.0, | |
| 1.0, | |
| 0.0, | |
| 0.0, | |
| 0.375, | |
| 1.0 | |
| ], | |
| "mean": [ | |
| 0.011825348250567913, | |
| 0.006461074110120535, | |
| 0.06023626774549484, | |
| 0.0, | |
| 0.0, | |
| 0.0016465914668515325, | |
| 0.5260950326919556 | |
| ], | |
| "min": [ | |
| -1.0, | |
| -1.0, | |
| -1.0, | |
| 0.0, | |
| 0.0, | |
| -0.375, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| -1.0, | |
| -0.9828571677207947, | |
| -0.6000000238418579, | |
| 0.0, | |
| 0.0, | |
| -0.17249999940395355, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 1.0, | |
| 0.9457142949104309, | |
| 1.0, | |
| 0.0, | |
| 0.0, | |
| 0.17892856895923615, | |
| 1.0 | |
| ], | |
| "std": [ | |
| 0.46348899602890015, | |
| 0.41240179538726807, | |
| 0.411862850189209, | |
| 0.0, | |
| 0.0, | |
| 0.0578610822558403, | |
| 0.49894046783447266 | |
| ] | |
| }, | |
| "num_trajectories": 240, | |
| "num_transitions": 353094, | |
| "proprio": { | |
| "max": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "mean": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "min": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "std": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| } | |
| }, | |
| "austin_sirius_dataset_converted_externally_to_rlds": { | |
| "action": { | |
| "mask": [ | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| false | |
| ], | |
| "max": [ | |
| 1.0002285242080688, | |
| 0.960608720779419, | |
| 1.105179786682129, | |
| 0.0, | |
| 0.0, | |
| 0.341785728931427, | |
| 1.0 | |
| ], | |
| "mean": [ | |
| 0.07747682929039001, | |
| 0.03195561468601227, | |
| 0.04244732856750488, | |
| 0.0, | |
| 0.0, | |
| -0.01603456400334835, | |
| 0.43260177969932556 | |
| ], | |
| "min": [ | |
| -1.0183025598526, | |
| -0.9800000190734863, | |
| -0.9774575233459473, | |
| 0.0, | |
| 0.0, | |
| -0.34607142210006714, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| -0.780905865430832, | |
| -0.5667179036140442, | |
| -0.5254343223571777, | |
| 0.0, | |
| 0.0, | |
| -0.28495091378688814, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.9569637751579284, | |
| 0.6971374487876891, | |
| 0.8124888157844541, | |
| 0.0, | |
| 0.0, | |
| 0.1971428543329239, | |
| 1.0 | |
| ], | |
| "std": [ | |
| 0.3906329572200775, | |
| 0.2998155355453491, | |
| 0.2782271206378937, | |
| 0.0, | |
| 0.0, | |
| 0.08120622485876083, | |
| 0.49528297781944275 | |
| ] | |
| }, | |
| "num_trajectories": 559, | |
| "num_transitions": 279939, | |
| "proprio": { | |
| "max": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "mean": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "min": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "std": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| } | |
| }, | |
| "bc_z": { | |
| "action": { | |
| "mask": [ | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| false | |
| ], | |
| "max": [ | |
| 0.2165454924106598, | |
| 0.1251407265663147, | |
| 0.10772687941789627, | |
| 0.33544227480888367, | |
| 0.28117990493774414, | |
| 0.40614867210388184, | |
| 1.0 | |
| ], | |
| "mean": [ | |
| -0.009958467446267605, | |
| 0.0008958321413956583, | |
| 0.004995597992092371, | |
| 0.00029755113064311445, | |
| -0.008735382929444313, | |
| -0.030693737789988518, | |
| 0.8344562649726868 | |
| ], | |
| "min": [ | |
| -0.1677047461271286, | |
| -0.14630407094955444, | |
| -0.10066790133714676, | |
| -0.29421567916870117, | |
| -0.32101404666900635, | |
| -0.4635624885559082, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| -0.09220654994249344, | |
| -0.06456145539879798, | |
| -0.049121275544166565, | |
| -0.11594625547528267, | |
| -0.14152548640966414, | |
| -0.2251061636209488, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.07628866866230968, | |
| 0.058019736707210584, | |
| 0.052540797740221024, | |
| 0.11740604028105736, | |
| 0.11703975558280955, | |
| 0.16729306846857078, | |
| 1.0 | |
| ], | |
| "std": [ | |
| 0.03053455986082554, | |
| 0.0231423731893301, | |
| 0.020641816779971123, | |
| 0.04155943542718887, | |
| 0.046427831053733826, | |
| 0.0769818127155304, | |
| 0.3610210120677948 | |
| ] | |
| }, | |
| "num_trajectories": 43264, | |
| "num_transitions": 6015535, | |
| "proprio": { | |
| "max": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "mean": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "min": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "std": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| } | |
| }, | |
| "berkeley_autolab_ur5": { | |
| "action": { | |
| "mask": [ | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| false | |
| ], | |
| "max": [ | |
| 0.019999999552965164, | |
| 0.019999999552965164, | |
| 0.019999999552965164, | |
| 0.06666667014360428, | |
| 0.06666667014360428, | |
| 0.06666667014360428, | |
| 1.0 | |
| ], | |
| "mean": [ | |
| 0.0005683620693162084, | |
| 0.001217700308188796, | |
| -0.0005296372692100704, | |
| 0.00021029810886830091, | |
| 6.0695128922816366e-05, | |
| 0.001204986940138042, | |
| 0.6298308372497559 | |
| ], | |
| "min": [ | |
| -0.019999999552965164, | |
| -0.019999999552965164, | |
| -0.019999999552965164, | |
| -0.06666667014360428, | |
| -0.06666667014360428, | |
| -0.06666667014360428, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| -0.019999999552965164, | |
| -0.019999999552965164, | |
| -0.019999999552965164, | |
| -0.02628571353852749, | |
| -0.06666667014360428, | |
| -0.03847619146108627, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.019999999552965164, | |
| 0.019999999552965164, | |
| 0.019999999552965164, | |
| 0.031809523701667786, | |
| 0.06666667014360428, | |
| 0.036571428179740906, | |
| 1.0 | |
| ], | |
| "std": [ | |
| 0.0115329809486866, | |
| 0.007990492507815361, | |
| 0.009577835910022259, | |
| 0.009432995691895485, | |
| 0.016427582129836082, | |
| 0.011053967289626598, | |
| 0.48267969489097595 | |
| ] | |
| }, | |
| "num_trajectories": 1000, | |
| "num_transitions": 97939, | |
| "proprio": { | |
| "max": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "mean": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "min": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "std": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| } | |
| }, | |
| "berkeley_cable_routing": { | |
| "action": { | |
| "mask": [ | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| false | |
| ], | |
| "max": [ | |
| 0.9633283019065857, | |
| 1.0, | |
| 1.0, | |
| 0.0, | |
| 0.0, | |
| 1.0, | |
| 0.0 | |
| ], | |
| "mean": [ | |
| -0.07139874249696732, | |
| 0.023609008640050888, | |
| 0.10241943597793579, | |
| 0.0, | |
| 0.0, | |
| 0.049671024084091187, | |
| 0.0 | |
| ], | |
| "min": [ | |
| -0.9809081554412842, | |
| -0.9554349184036255, | |
| -0.9994775056838989, | |
| 0.0, | |
| 0.0, | |
| -1.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| -0.5534318816661835, | |
| -0.4797285574674606, | |
| -0.5314934802055359, | |
| 0.0, | |
| 0.0, | |
| -0.8855219376087189, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.42652835428714786, | |
| 0.5000944086909298, | |
| 0.639823433756829, | |
| 0.0, | |
| 0.0, | |
| 0.984243879914284, | |
| 0.0 | |
| ], | |
| "std": [ | |
| 0.1815500408411026, | |
| 0.1810990273952484, | |
| 0.21220779418945312, | |
| 0.0, | |
| 0.0, | |
| 0.3475511968135834, | |
| 0.0 | |
| ] | |
| }, | |
| "num_trajectories": 1647, | |
| "num_transitions": 42328, | |
| "proprio": { | |
| "max": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "mean": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "min": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "std": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| } | |
| }, | |
| "berkeley_fanuc_manipulation": { | |
| "action": { | |
| "mask": [ | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| false | |
| ], | |
| "max": [ | |
| 0.009999999776482582, | |
| 0.009999999776482582, | |
| 0.009999999776482582, | |
| 0.03490658476948738, | |
| 0.03490658476948738, | |
| 0.03490658476948738, | |
| 1.0 | |
| ], | |
| "mean": [ | |
| 0.0007744057802483439, | |
| -0.00031240080716088414, | |
| -0.0015001941937953234, | |
| -0.0007515158504247665, | |
| -0.00015832878125365824, | |
| 0.00014327642566058785, | |
| 0.699295699596405 | |
| ], | |
| "min": [ | |
| -0.009999999776482582, | |
| -0.009999999776482582, | |
| -0.009999999776482582, | |
| -0.03490658476948738, | |
| -0.03490658476948738, | |
| -0.03490658476948738, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| -0.009999999776482582, | |
| -0.009999999776482582, | |
| -0.009999999776482582, | |
| -0.03490658476948738, | |
| 0.0, | |
| -0.03490658476948738, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.009999999776482582, | |
| 0.009999999776482582, | |
| 0.009999999776482582, | |
| 0.03490658476948738, | |
| 0.0, | |
| 0.03490658476948738, | |
| 1.0 | |
| ], | |
| "std": [ | |
| 0.0034070091787725687, | |
| 0.0049921851605176926, | |
| 0.005344334989786148, | |
| 0.00759894959628582, | |
| 0.004081866703927517, | |
| 0.008568956516683102, | |
| 0.4586937427520752 | |
| ] | |
| }, | |
| "num_trajectories": 415, | |
| "num_transitions": 62613, | |
| "proprio": { | |
| "max": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "mean": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "min": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "std": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| } | |
| }, | |
| "bridge_orig": { | |
| "action": { | |
| "mask": [ | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| false | |
| ], | |
| "max": [ | |
| 0.41691166162490845, | |
| 0.25864794850349426, | |
| 0.21218234300613403, | |
| 3.122201919555664, | |
| 1.8618112802505493, | |
| 6.280478477478027, | |
| 1.0 | |
| ], | |
| "mean": [ | |
| 0.0002334194869035855, | |
| 0.00013004911306779832, | |
| -0.00012762474943883717, | |
| -0.0001556558854645118, | |
| -0.0004039328487124294, | |
| 0.00023557482927571982, | |
| 0.5764579176902771 | |
| ], | |
| "min": [ | |
| -0.4007510244846344, | |
| -0.13874775171279907, | |
| -0.22553899884223938, | |
| -3.2010786533355713, | |
| -1.8618112802505493, | |
| -6.279075622558594, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| -0.02872725307941437, | |
| -0.04170349963009357, | |
| -0.026093858778476715, | |
| -0.08092105075716972, | |
| -0.09288699507713317, | |
| -0.20718276381492615, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.028309678435325586, | |
| 0.040855254605412394, | |
| 0.040161586627364146, | |
| 0.08192047759890528, | |
| 0.07792850524187081, | |
| 0.20382574498653397, | |
| 1.0 | |
| ], | |
| "std": [ | |
| 0.009765930473804474, | |
| 0.013689135201275349, | |
| 0.012667362578213215, | |
| 0.028534092009067535, | |
| 0.030637972056865692, | |
| 0.07691419124603271, | |
| 0.4973701536655426 | |
| ] | |
| }, | |
| "num_trajectories": 60064, | |
| "num_transitions": 2135463, | |
| "proprio": { | |
| "max": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "mean": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "min": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "std": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| } | |
| }, | |
| "cmu_stretch": { | |
| "action": { | |
| "mask": [ | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| false | |
| ], | |
| "max": [ | |
| 0.02338407188653946, | |
| 0.0, | |
| 0.023404927924275398, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ], | |
| "mean": [ | |
| 0.00036304505192674696, | |
| 0.0, | |
| 0.0016466958913952112, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.3987048268318176 | |
| ], | |
| "min": [ | |
| -0.019353797659277916, | |
| 0.0, | |
| -0.02019215188920498, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| -0.011175686959177256, | |
| 0.0, | |
| -0.0032206363626755773, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.014501785952597848, | |
| 0.0, | |
| 0.015056106168776728, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ], | |
| "std": [ | |
| 0.004081828519701958, | |
| 0.0, | |
| 0.0037743328139185905, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.48963725566864014 | |
| ] | |
| }, | |
| "num_trajectories": 135, | |
| "num_transitions": 25016, | |
| "proprio": { | |
| "max": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "mean": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "min": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "std": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| } | |
| }, | |
| "dlr_edan_shared_control_converted_externally_to_rlds": { | |
| "action": { | |
| "mask": [ | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| false | |
| ], | |
| "max": [ | |
| 0.18991442024707794, | |
| 0.0739002525806427, | |
| 0.18064819276332855, | |
| 0.0866486132144928, | |
| 0.13464981317520142, | |
| 0.16910280287265778, | |
| 1.0 | |
| ], | |
| "mean": [ | |
| 0.006647810339927673, | |
| -0.0007657372043468058, | |
| 0.006522852927446365, | |
| 0.0011679717572405934, | |
| -0.006395625416189432, | |
| -0.011902998201549053, | |
| 0.6985887289047241 | |
| ], | |
| "min": [ | |
| -0.10054297000169754, | |
| -0.08427435159683228, | |
| -0.13533438742160797, | |
| -0.17556548118591309, | |
| -0.18485672771930695, | |
| -0.2680685818195343, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| -0.02987122368067503, | |
| -0.06013262912631035, | |
| -0.08286409199237824, | |
| -0.05924444157630205, | |
| -0.15986866518855095, | |
| -0.15636983573436739, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.08832092039287087, | |
| 0.042126184627413736, | |
| 0.11311905644834042, | |
| 0.0643695573508739, | |
| 0.03941855944693088, | |
| 0.156646853685379, | |
| 1.0 | |
| ], | |
| "std": [ | |
| 0.021393608301877975, | |
| 0.01814231649041176, | |
| 0.03374375030398369, | |
| 0.01743541844189167, | |
| 0.03394376486539841, | |
| 0.04641875624656677, | |
| 0.4588589072227478 | |
| ] | |
| }, | |
| "num_trajectories": 104, | |
| "num_transitions": 8928, | |
| "proprio": { | |
| "max": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "mean": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "min": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "std": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| } | |
| }, | |
| "dobbe": { | |
| "action": { | |
| "mask": [ | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| false | |
| ], | |
| "max": [ | |
| 38.590423583984375, | |
| 17.932697296142578, | |
| 4.843764305114746, | |
| 1.4372116327285767, | |
| 0.4340403974056244, | |
| 1.2057193517684937, | |
| 0.9998947381973267 | |
| ], | |
| "mean": [ | |
| -0.0001120665911003016, | |
| 0.0011229600058868527, | |
| -0.00010194431524723768, | |
| -7.371398532995954e-05, | |
| -0.00067531579406932, | |
| -5.6643435527803376e-05, | |
| 0.6318281888961792 | |
| ], | |
| "min": [ | |
| -5.700923442840576, | |
| -21.605947494506836, | |
| -123.72489929199219, | |
| -1.7229845523834229, | |
| -0.4998578727245331, | |
| -0.8867913484573364, | |
| 1.4196479014572105e-06 | |
| ], | |
| "q01": [ | |
| -0.01119564864784479, | |
| -0.014266146533191203, | |
| -0.0071747214533388615, | |
| -0.009444301575422287, | |
| -0.03990109823644161, | |
| -0.017422311007976532, | |
| 4.003279136668425e-05 | |
| ], | |
| "q99": [ | |
| 0.01015154086053368, | |
| 0.017181577533483497, | |
| 0.007216989761218411, | |
| 0.010380979906767595, | |
| 0.03556173853576176, | |
| 0.018032474815845446, | |
| 0.9982578039169312 | |
| ], | |
| "std": [ | |
| 0.04264938458800316, | |
| 0.04428559169173241, | |
| 0.12224084138870239, | |
| 0.005388413090258837, | |
| 0.011246449314057827, | |
| 0.006287882570177317, | |
| 0.39732322096824646 | |
| ] | |
| }, | |
| "num_trajectories": 5208, | |
| "num_transitions": 1139911, | |
| "proprio": { | |
| "max": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "mean": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "min": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "std": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| } | |
| }, | |
| "fmb_dataset": { | |
| "action": { | |
| "mask": [ | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| false | |
| ], | |
| "max": [ | |
| 1.399999976158142, | |
| 1.0, | |
| 1.399999976158142, | |
| 1.0, | |
| 1.0, | |
| 1.0, | |
| 1.0 | |
| ], | |
| "mean": [ | |
| 0.059029702097177505, | |
| -0.06476633995771408, | |
| -0.09787475317716599, | |
| 0.004325388930737972, | |
| 0.00028963794466108084, | |
| -0.04457257315516472, | |
| 0.7336440086364746 | |
| ], | |
| "min": [ | |
| -1.399999976158142, | |
| -1.399999976158142, | |
| -1.0, | |
| -1.0, | |
| -1.0, | |
| -1.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| -0.8257142901420593, | |
| -1.399999976158142, | |
| -1.0, | |
| -1.0, | |
| -0.3028571307659149, | |
| -1.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 1.0, | |
| 0.5257142782211304, | |
| 1.0, | |
| 1.0, | |
| 0.3400000035762787, | |
| 1.0, | |
| 1.0 | |
| ], | |
| "std": [ | |
| 0.28809213638305664, | |
| 0.2820415794849396, | |
| 0.4626740515232086, | |
| 0.3266514539718628, | |
| 0.10842999070882797, | |
| 0.3440099358558655, | |
| 0.4435282051563263 | |
| ] | |
| }, | |
| "num_trajectories": 8612, | |
| "num_transitions": 1137459, | |
| "proprio": { | |
| "max": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "mean": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "min": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "std": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| } | |
| }, | |
| "fractal20220817_data": { | |
| "action": { | |
| "mask": [ | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| false | |
| ], | |
| "max": [ | |
| 2.9984593391418457, | |
| 22.09052848815918, | |
| 2.7507524490356445, | |
| 1.570636510848999, | |
| 1.5321086645126343, | |
| 1.5691522359848022, | |
| 1.0 | |
| ], | |
| "mean": [ | |
| 0.006987582892179489, | |
| 0.006265917327255011, | |
| -0.01262515690177679, | |
| 0.04333311319351196, | |
| -0.005756212864071131, | |
| 0.0009130256366916001, | |
| 0.5354204773902893 | |
| ], | |
| "min": [ | |
| -2.0204520225524902, | |
| -5.497899532318115, | |
| -2.031663417816162, | |
| -1.569917917251587, | |
| -1.569892168045044, | |
| -1.570419430732727, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| -0.22453527510166169, | |
| -0.14820013284683228, | |
| -0.231589707583189, | |
| -0.3517994859814644, | |
| -0.4193011274933815, | |
| -0.43643461108207704, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.17824687153100965, | |
| 0.14938379630446405, | |
| 0.21842354819178575, | |
| 0.5892666035890578, | |
| 0.35272657424211445, | |
| 0.44796681255102094, | |
| 1.0 | |
| ], | |
| "std": [ | |
| 0.0692116990685463, | |
| 0.05970962345600128, | |
| 0.07353084534406662, | |
| 0.15610496699810028, | |
| 0.13164450228214264, | |
| 0.14593800902366638, | |
| 0.497110515832901 | |
| ] | |
| }, | |
| "num_trajectories": 87212, | |
| "num_transitions": 3786400, | |
| "proprio": { | |
| "max": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "mean": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "min": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "std": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| } | |
| }, | |
| "furniture_bench_dataset_converted_externally_to_rlds": { | |
| "action": { | |
| "mask": [ | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| false | |
| ], | |
| "max": [ | |
| 0.10000000149011612, | |
| 0.10000000149011612, | |
| 0.10000000149011612, | |
| 0.8651833534240723, | |
| 1.0909736156463623, | |
| 2.863185405731201, | |
| 1.0 | |
| ], | |
| "mean": [ | |
| 0.00014610752987209707, | |
| 0.0010830952087417245, | |
| 0.0006224989192560315, | |
| -0.003303206292912364, | |
| -0.0026880695950239897, | |
| 0.018242603167891502, | |
| 0.48854944109916687 | |
| ], | |
| "min": [ | |
| -0.10495579987764359, | |
| -0.10939455777406693, | |
| -0.10000000149011612, | |
| -0.971906840801239, | |
| -1.0475432872772217, | |
| -3.06000018119812, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| -0.053988199681043625, | |
| -0.05049169331789017, | |
| -0.032499241530895236, | |
| -0.1953887003660202, | |
| -0.41674559473991396, | |
| -0.8886768388748169, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.05414841488003723, | |
| 0.04965164884924884, | |
| 0.060055799782276154, | |
| 0.18231668293476103, | |
| 0.39867786407470646, | |
| 0.8772023963928218, | |
| 1.0 | |
| ], | |
| "std": [ | |
| 0.01610708422958851, | |
| 0.014891477301716805, | |
| 0.014014219865202904, | |
| 0.058274295181035995, | |
| 0.11417088657617569, | |
| 0.33479776978492737, | |
| 0.49991825222969055 | |
| ] | |
| }, | |
| "num_trajectories": 5100, | |
| "num_transitions": 3948057, | |
| "proprio": { | |
| "max": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "mean": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "min": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "std": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| } | |
| }, | |
| "iamlab_cmu_pickup_insert_converted_externally_to_rlds": { | |
| "action": { | |
| "mask": [ | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| false | |
| ], | |
| "max": [ | |
| 0.6634981632232666, | |
| 0.23428471386432648, | |
| 0.4308285415172577, | |
| 3.1415927410125732, | |
| 0.13647015392780304, | |
| 3.141592502593994, | |
| 1.0 | |
| ], | |
| "mean": [ | |
| 0.5274372696876526, | |
| 0.02858201041817665, | |
| 0.18712575733661652, | |
| 1.2339589595794678, | |
| 0.03226623684167862, | |
| -1.4199490547180176, | |
| 0.5550631880760193 | |
| ], | |
| "min": [ | |
| 0.3071657121181488, | |
| -0.29754969477653503, | |
| 0.06578229367733002, | |
| -3.1415927410125732, | |
| -0.04584203287959099, | |
| -3.141592502593994, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 0.3148897051811218, | |
| -0.20317550599575043, | |
| 0.06785467118024827, | |
| -3.140952730178833, | |
| -0.029743434861302376, | |
| -3.141091251373291, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.6472805738449097, | |
| 0.20846802592277527, | |
| 0.36855655312538155, | |
| 3.1409926891326903, | |
| 0.11424950212240226, | |
| 3.1410969257354737, | |
| 1.0 | |
| ], | |
| "std": [ | |
| 0.08108345419168472, | |
| 0.1116757020354271, | |
| 0.07747554779052734, | |
| 2.8737246990203857, | |
| 0.02774704433977604, | |
| 2.7678682804107666, | |
| 0.49695101380348206 | |
| ] | |
| }, | |
| "num_trajectories": 631, | |
| "num_transitions": 146241, | |
| "proprio": { | |
| "max": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "mean": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "min": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "std": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| } | |
| }, | |
| "jaco_play": { | |
| "action": { | |
| "mask": [ | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| false | |
| ], | |
| "max": [ | |
| 0.20000000298023224, | |
| 0.20000000298023224, | |
| 0.20000000298023224, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ], | |
| "mean": [ | |
| 0.0009658430935814977, | |
| -0.00580078037455678, | |
| -0.00395062193274498, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.34934908151626587 | |
| ], | |
| "min": [ | |
| -0.20000000298023224, | |
| -0.20000000298023224, | |
| -0.20000000298023224, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| -0.20000000298023224, | |
| -0.20000000298023224, | |
| -0.20000000298023224, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.20000000298023224, | |
| 0.20000000298023224, | |
| 0.20000000298023224, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ], | |
| "std": [ | |
| 0.12235074490308762, | |
| 0.09678777307271957, | |
| 0.11155334860086441, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.4768252968788147 | |
| ] | |
| }, | |
| "num_trajectories": 1085, | |
| "num_transitions": 77965, | |
| "proprio": { | |
| "max": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "mean": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "min": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "std": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| } | |
| }, | |
| "kuka": { | |
| "action": { | |
| "mask": [ | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| false | |
| ], | |
| "max": [ | |
| 0.1697135865688324, | |
| 0.2777623236179352, | |
| 0.43710532784461975, | |
| 0.0, | |
| 0.0, | |
| 1.9684287309646606, | |
| 1.0 | |
| ], | |
| "mean": [ | |
| -0.0004668905457947403, | |
| 0.00040138536132872105, | |
| -0.001280792523175478, | |
| 0.0, | |
| 0.0, | |
| -0.03722453489899635, | |
| 0.4131543040275574 | |
| ], | |
| "min": [ | |
| -0.159867063164711, | |
| -0.2892282009124756, | |
| -0.2795473635196686, | |
| 0.0, | |
| 0.0, | |
| -1.9875637292861938, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| -0.06619441494345665, | |
| -0.08713878810405731, | |
| -0.15083016991615295, | |
| 0.0, | |
| 0.0, | |
| -0.5415697038173676, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.06601839080452929, | |
| 0.08732476785779003, | |
| 0.18168179214000715, | |
| 0.0, | |
| 0.0, | |
| 0.2923380345106127, | |
| 1.0 | |
| ], | |
| "std": [ | |
| 0.02083250693976879, | |
| 0.02915887162089348, | |
| 0.06422865390777588, | |
| 0.0, | |
| 0.0, | |
| 0.14224295318126678, | |
| 0.49086448550224304 | |
| ] | |
| }, | |
| "num_trajectories": 209880, | |
| "num_transitions": 2455879, | |
| "proprio": { | |
| "max": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "mean": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "min": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "std": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| } | |
| }, | |
| "nyu_franka_play_dataset_converted_externally_to_rlds": { | |
| "action": { | |
| "mask": [ | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| false | |
| ], | |
| "max": [ | |
| 0.06424188613891602, | |
| 0.07027634978294373, | |
| 0.06129661202430725, | |
| 6.281067848205566, | |
| 0.1967729926109314, | |
| 0.26377415657043457, | |
| 1.0 | |
| ], | |
| "mean": [ | |
| 0.001021989737637341, | |
| -0.00012002651783404872, | |
| 0.00032894269679673016, | |
| 0.0015034361276775599, | |
| -0.002198522910475731, | |
| -0.001663230243138969, | |
| 0.7230083346366882 | |
| ], | |
| "min": [ | |
| -0.05952230095863342, | |
| -0.07232445478439331, | |
| -0.06730806827545166, | |
| -6.278434753417969, | |
| -0.21479034423828125, | |
| -0.3627619743347168, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| -0.03199600875377655, | |
| -0.032861671447753905, | |
| -0.03368805110454559, | |
| -0.12080862045288086, | |
| -0.12175218224525451, | |
| -0.11370223641395569, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.03101520001888276, | |
| 0.0373908892273903, | |
| 0.03646374464035038, | |
| 0.11764093399047852, | |
| 0.1258920183777809, | |
| 0.09366151213645942, | |
| 1.0 | |
| ], | |
| "std": [ | |
| 0.01327415369451046, | |
| 0.013215910643339157, | |
| 0.012822109274566174, | |
| 0.2732451558113098, | |
| 0.057022541761398315, | |
| 0.039172880351543427, | |
| 0.44752755761146545 | |
| ] | |
| }, | |
| "num_trajectories": 456, | |
| "num_transitions": 44875, | |
| "proprio": { | |
| "max": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "mean": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "min": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "std": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| } | |
| }, | |
| "roboturk": { | |
| "action": { | |
| "mask": [ | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| false | |
| ], | |
| "max": [ | |
| 0.39124172925949097, | |
| 0.4601028263568878, | |
| 0.4870833456516266, | |
| 1.816888689994812, | |
| 1.8240282535552979, | |
| 1.4824820756912231, | |
| 1.0 | |
| ], | |
| "mean": [ | |
| 0.0014448732836171985, | |
| -0.0015945249469950795, | |
| -0.0011753785656765103, | |
| 0.0023012510500848293, | |
| -0.0009382463176734746, | |
| -0.00011485807772260159, | |
| 0.5746025443077087 | |
| ], | |
| "min": [ | |
| -0.6546999216079712, | |
| -0.6365841031074524, | |
| -0.4217723608016968, | |
| -1.6695482730865479, | |
| -1.8023357391357422, | |
| -1.4630827903747559, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| -0.1342635464668274, | |
| -0.19996687173843383, | |
| -0.1482972100377083, | |
| -0.20720748245716095, | |
| -0.09676413893699647, | |
| -0.18075634717941286, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.14956976801157001, | |
| 0.1805950567126275, | |
| 0.18841815620660796, | |
| 0.21615413755178453, | |
| 0.09457383215427405, | |
| 0.18543301910162005, | |
| 1.0 | |
| ], | |
| "std": [ | |
| 0.04935386776924133, | |
| 0.0635455846786499, | |
| 0.061164740473032, | |
| 0.09553450345993042, | |
| 0.08420111238956451, | |
| 0.06517903506755829, | |
| 0.49452081322669983 | |
| ] | |
| }, | |
| "num_trajectories": 1995, | |
| "num_transitions": 187507, | |
| "proprio": { | |
| "max": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "mean": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "min": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "std": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| } | |
| }, | |
| "stanford_hydra_dataset_converted_externally_to_rlds": { | |
| "action": { | |
| "mask": [ | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| false | |
| ], | |
| "max": [ | |
| 0.02499854564666748, | |
| 0.02499903365969658, | |
| 0.024999922141432762, | |
| 0.24974457919597626, | |
| 0.24997030198574066, | |
| 0.24999946355819702, | |
| 1.0 | |
| ], | |
| "mean": [ | |
| 0.0007790001109242439, | |
| 0.00013707754260394722, | |
| -0.0002548607881180942, | |
| 0.0012903271708637476, | |
| -0.004751681815832853, | |
| 0.002692886395379901, | |
| 0.48855218291282654 | |
| ], | |
| "min": [ | |
| -0.024999044835567474, | |
| -0.024999700486660004, | |
| -0.02499929815530777, | |
| -0.24993225932121277, | |
| -0.2499666064977646, | |
| -0.2499932497739792, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| -0.019992006458342076, | |
| -0.02415412735193968, | |
| -0.022941758055239916, | |
| -0.11085530579090118, | |
| -0.12024572037160397, | |
| -0.13314770206809043, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.022886231057345868, | |
| 0.022358838934451335, | |
| 0.02410089675337076, | |
| 0.12370114490389822, | |
| 0.11323311634361738, | |
| 0.18474749639630164, | |
| 1.0 | |
| ], | |
| "std": [ | |
| 0.008022161200642586, | |
| 0.009131459519267082, | |
| 0.009574338793754578, | |
| 0.04122216999530792, | |
| 0.0384303517639637, | |
| 0.04606688767671585, | |
| 0.49976691603660583 | |
| ] | |
| }, | |
| "num_trajectories": 570, | |
| "num_transitions": 358234, | |
| "proprio": { | |
| "max": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "mean": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "min": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "std": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| } | |
| }, | |
| "taco_play": { | |
| "action": { | |
| "mask": [ | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| false | |
| ], | |
| "max": [ | |
| 1.4915844202041626, | |
| 2.1842432022094727, | |
| 2.6836395263671875, | |
| 5.035226821899414, | |
| 2.665864944458008, | |
| 4.250768661499023, | |
| 1.0 | |
| ], | |
| "mean": [ | |
| -0.003845922416076064, | |
| 0.009671456180512905, | |
| 0.012780580669641495, | |
| -0.005403771996498108, | |
| -0.009606587700545788, | |
| -0.002480733208358288, | |
| 0.4263913035392761 | |
| ], | |
| "min": [ | |
| -4.242457866668701, | |
| -3.192805051803589, | |
| -1.3371467590332031, | |
| -4.202683448791504, | |
| -2.6722638607025146, | |
| -3.3467135429382324, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| -0.7106140398979186, | |
| -1.056944659948349, | |
| -0.5878450274467468, | |
| -0.7682853937149048, | |
| -0.7180147767066956, | |
| -1.5527938604354858, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.6482916426658629, | |
| 1.0051310062408447, | |
| 0.9480248689651489, | |
| 0.6926478147506714, | |
| 0.6351067513227462, | |
| 1.628010264635086, | |
| 1.0 | |
| ], | |
| "std": [ | |
| 0.23254038393497467, | |
| 0.36298269033432007, | |
| 0.28692901134490967, | |
| 0.2617705166339874, | |
| 0.2438892275094986, | |
| 0.5216503143310547, | |
| 0.4946896731853485 | |
| ] | |
| }, | |
| "num_trajectories": 3603, | |
| "num_transitions": 237798, | |
| "proprio": { | |
| "max": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "mean": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "min": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "std": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| } | |
| }, | |
| "toto": { | |
| "action": { | |
| "mask": [ | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| false | |
| ], | |
| "max": [ | |
| 0.6839867234230042, | |
| 0.4454185664653778, | |
| 0.7984078526496887, | |
| 2.120781660079956, | |
| 1.371164321899414, | |
| 1.4118704795837402, | |
| 0.0 | |
| ], | |
| "mean": [ | |
| 0.38542115688323975, | |
| 0.007769413758069277, | |
| 0.3632740378379822, | |
| -0.6652036905288696, | |
| 0.1890396922826767, | |
| 0.03298724442720413, | |
| 0.0 | |
| ], | |
| "min": [ | |
| 0.09922284632921219, | |
| -0.5180193781852722, | |
| 0.13791072368621826, | |
| -2.635117530822754, | |
| -1.0734480619430542, | |
| -1.9282547235488892, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 0.1756722891330719, | |
| -0.3077590811252594, | |
| 0.235383919775486, | |
| -2.0908505964279174, | |
| -0.6191593289375306, | |
| -0.7488683319091797, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.6136963081359863, | |
| 0.33704194784164443, | |
| 0.6681221985816956, | |
| 0.7422861719131538, | |
| 0.7955395007133507, | |
| 0.740464625358582, | |
| 0.0 | |
| ], | |
| "std": [ | |
| 0.12211652100086212, | |
| 0.19378550350666046, | |
| 0.10178236663341522, | |
| 0.5725259184837341, | |
| 0.29884573817253113, | |
| 0.3259911835193634, | |
| 0.0 | |
| ] | |
| }, | |
| "num_trajectories": 1003, | |
| "num_transitions": 325699, | |
| "proprio": { | |
| "max": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "mean": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "min": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "std": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| } | |
| }, | |
| "ucsd_kitchen_dataset_converted_externally_to_rlds": { | |
| "action": { | |
| "mask": [ | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| false | |
| ], | |
| "max": [ | |
| 678.0, | |
| 400.0, | |
| 507.0, | |
| 180.00001525878906, | |
| 6.000013828277588, | |
| 116.99998474121094, | |
| 1.0 | |
| ], | |
| "mean": [ | |
| 410.37567138671875, | |
| 116.9518814086914, | |
| 192.35032653808594, | |
| -121.22441864013672, | |
| -33.84893035888672, | |
| 50.016136169433594, | |
| 0.741813600063324 | |
| ], | |
| "min": [ | |
| 172.0, | |
| -166.0, | |
| -99.99999237060547, | |
| -180.00001525878906, | |
| -89.0, | |
| -96.00010681152344, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 200.00001052856445, | |
| -102.31004211425781, | |
| -94.99993370056153, | |
| -180.00001525878906, | |
| -88.00001525878906, | |
| -38.999977111816406, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 637.0, | |
| 368.30999999999995, | |
| 493.0, | |
| 180.00001525878906, | |
| 0.999983012676239, | |
| 105.00001525878906, | |
| 1.0 | |
| ], | |
| "std": [ | |
| 122.81494903564453, | |
| 108.8009033203125, | |
| 130.303466796875, | |
| 116.28205108642578, | |
| 27.621843338012695, | |
| 41.02094650268555, | |
| 0.43763357400894165 | |
| ] | |
| }, | |
| "num_trajectories": 150, | |
| "num_transitions": 3970, | |
| "proprio": { | |
| "max": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "mean": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "min": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "std": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| } | |
| }, | |
| "utaustin_mutex": { | |
| "action": { | |
| "mask": [ | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| false | |
| ], | |
| "max": [ | |
| 1.0, | |
| 1.0, | |
| 1.0, | |
| 0.375, | |
| 0.375, | |
| 0.375, | |
| 1.0 | |
| ], | |
| "mean": [ | |
| 0.06176406890153885, | |
| -0.005005486309528351, | |
| 0.10216785222291946, | |
| -0.03314131125807762, | |
| 0.013895004987716675, | |
| -0.011317633092403412, | |
| 0.5038976669311523 | |
| ], | |
| "min": [ | |
| -1.0, | |
| -1.0, | |
| -1.0, | |
| -0.375, | |
| -0.375, | |
| -0.375, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| -0.4285714328289032, | |
| -0.9800000190734863, | |
| -0.5571428537368774, | |
| -0.375, | |
| -0.15642857551574707, | |
| -0.335357129573822, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.5914285778999329, | |
| 0.9714285731315613, | |
| 1.0, | |
| 0.3278571367263794, | |
| 0.207857146859169, | |
| 0.25607141852378845, | |
| 1.0 | |
| ], | |
| "std": [ | |
| 0.1875014752149582, | |
| 0.4468473494052887, | |
| 0.3792876601219177, | |
| 0.14097853004932404, | |
| 0.06453701853752136, | |
| 0.11765272170305252, | |
| 0.501045286655426 | |
| ] | |
| }, | |
| "num_trajectories": 1500, | |
| "num_transitions": 361883, | |
| "proprio": { | |
| "max": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "mean": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "min": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "std": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| } | |
| }, | |
| "viola": { | |
| "action": { | |
| "mask": [ | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| false | |
| ], | |
| "max": [ | |
| 1.0, | |
| 1.0, | |
| 1.0, | |
| 0.375, | |
| 0.36321428418159485, | |
| 0.375, | |
| 1.0 | |
| ], | |
| "mean": [ | |
| 0.04761844128370285, | |
| -0.029204415157437325, | |
| 0.05586736649274826, | |
| -0.002618510741740465, | |
| 0.006867344491183758, | |
| -0.01682133786380291, | |
| 0.7323777675628662 | |
| ], | |
| "min": [ | |
| -1.0, | |
| -1.0, | |
| -1.0, | |
| -0.375, | |
| -0.375, | |
| -0.375, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| -0.9628571271896362, | |
| -1.0, | |
| -1.0, | |
| -0.26249998807907104, | |
| -0.21321429312229156, | |
| -0.3385714292526245, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.9114285707473755, | |
| 0.868571400642395, | |
| 1.0, | |
| 0.2817857265472412, | |
| 0.2239285707473755, | |
| 0.3557142913341522, | |
| 1.0 | |
| ], | |
| "std": [ | |
| 0.39157867431640625, | |
| 0.4076525568962097, | |
| 0.40077948570251465, | |
| 0.10023996233940125, | |
| 0.0844319611787796, | |
| 0.10375042259693146, | |
| 0.44260647892951965 | |
| ] | |
| }, | |
| "num_trajectories": 150, | |
| "num_transitions": 76324, | |
| "proprio": { | |
| "max": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "mean": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "min": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "std": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| } | |
| } | |
| }, | |
| "output_projector_states": false, | |
| "pad_to_multiple_of": 64, | |
| "pad_token_id": 32000, | |
| "text_config": { | |
| "model_type": "llama", | |
| "pad_token_id": 32000, | |
| "torch_dtype": "bfloat16", | |
| "vocab_size": 32064 | |
| }, | |
| "timm_model_ids": [ | |
| "vit_large_patch14_reg4_dinov2.lvd142m", | |
| "vit_so400m_patch14_siglip_224" | |
| ], | |
| "timm_override_act_layers": [ | |
| null, | |
| null | |
| ], | |
| "torch_dtype": "bfloat16", | |
| "transformers_version": "4.40.1", | |
| "use_fused_vision_backbone": true, | |
| "vision_backbone_id": "dinosiglip-vit-so-224px" | |
| } | |