InternVLA-A1.5-base / stats.json
hxma's picture
Upload folder using huggingface_hub
897eaef verified
Raw
History Blame Contribute Delete
343 kB
{
"a2d": {
"observation.images.head_right_fisheye": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.2315717310162484
]
],
[
[
0.23159259189816572
]
],
[
[
0.22936478737541055
]
]
],
"std": [
[
[
0.14033539618767438
]
],
[
[
0.14262738424953927
]
],
[
[
0.14294225543343958
]
]
],
"count": [
377479
]
},
"observation.images.head_center_fisheye": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.2170564526776088
]
],
[
[
0.21715563952928688
]
],
[
[
0.21329664920334832
]
]
],
"std": [
[
[
0.13733952334113325
]
],
[
[
0.13933204888565712
]
],
[
[
0.13837168358341617
]
]
],
"count": [
377479
]
},
"observation.images.head": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.4342076007237568
]
],
[
[
0.43646875224929266
]
],
[
[
0.43947909177612193
]
]
],
"std": [
[
[
0.238587756768418
]
],
[
[
0.23212485938515712
]
],
[
[
0.2303160651119787
]
]
],
"count": [
377479
]
},
"observation.states.head.position": {
"min": [
-0.3141944110393524,
-7.989483492565341e-06
],
"max": [
0.3491190969944,
0.5243231654167175
],
"mean": [
-0.006390239577740431,
0.4214302599430084
],
"std": [
0.040385738015174866,
0.07512572407722473
],
"count": [
206317747
]
},
"observation.states.waist.position": {
"min": [
-0.00019494339358061552,
-3.51537273672875e-05
],
"max": [
0.8899499773979187,
0.6806919574737549
],
"mean": [
0.462455153465271,
0.2702843248844147
],
"std": [
0.13027304410934448,
0.1003517434000969
],
"count": [
206317747
]
},
"actions.end.orientation": {
"min": [
-0.8659883141517639,
-0.707099199295044,
-0.8578947186470032,
-0.5
],
"max": [
0.9999998211860657,
0.9999992251396179,
0.9986231923103333,
0.9996573328971863
],
"mean": [
-0.0957142785191536,
0.33084630966186523,
-0.16654019057750702,
0.21365666389465332
],
"std": [
0.5548436045646667,
0.47030869126319885,
0.3892369866371155,
0.35699814558029175
],
"count": [
412635494
]
},
"observation.images.hand_right": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.4012361263480749
]
],
[
[
0.4128215547931966
]
],
[
[
0.41201127556394607
]
]
],
"std": [
[
[
0.3006461868623912
]
],
[
[
0.2870540652329497
]
],
[
[
0.28873655436784607
]
]
],
"count": [
377479
]
},
"observation.states.joint.current_value": {
"min": [
-21509.0,
-21583.0,
-26576.0,
-27299.0,
-14975.0,
-15064.0,
-14811.0,
-21502.0,
-21507.0,
-26476.0,
-26706.0,
-14990.0,
-14856.0,
-14972.0
],
"max": [
21311.0,
21799.0,
27382.0,
27585.0,
14989.0,
15018.0,
12276.0,
21545.0,
21508.0,
26707.0,
27705.0,
15040.0,
15010.0,
11652.0
],
"mean": [
-1973.25830078125,
-594.5382080078125,
-2118.474853515625,
-1013.27880859375,
-1161.8677978515625,
125.57772827148438,
13.544347763061523,
2125.65283203125,
572.1343994140625,
2160.431640625,
930.390625,
1165.202880859375,
-169.16151428222656,
-20.55805206298828
],
"std": [
1171.3841552734375,
702.0079956054688,
1523.385986328125,
1328.933349609375,
1126.8544921875,
983.2664794921875,
243.56626892089844,
1217.5579833984375,
763.5587158203125,
1420.76806640625,
1297.6051025390625,
944.412109375,
955.84423828125,
268.05047607421875
],
"count": [
206317747
]
},
"actions.waist.position": {
"min": [
-0.00019494339358061552,
-3.51537273672875e-05
],
"max": [
0.8899499773979187,
0.6806919574737549
],
"mean": [
0.462455153465271,
0.2702843248844147
],
"std": [
0.13027304410934448,
0.1003517434000969
],
"count": [
206317747
]
},
"observation.images.back_left_fisheye": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.2406036947933155
]
],
[
[
0.23535502602992275
]
],
[
[
0.23411491353305053
]
]
],
"std": [
[
[
0.14170669996228788
]
],
[
[
0.14011669717959988
]
],
[
[
0.1402756774757254
]
]
],
"count": [
377479
]
},
"timestamp": {
"min": [
0.0
],
"max": [
371.73333740234375
],
"mean": [
37.82756042480469
],
"std": [
30.960451126098633
],
"count": [
206317747
]
},
"observation.states.end.orientation": {
"min": [
-0.8659883141517639,
-0.707099199295044,
-0.8578947186470032,
-0.5
],
"max": [
0.9999998211860657,
0.9999992251396179,
0.9986231923103333,
0.9996573328971863
],
"mean": [
-0.09570971131324768,
0.33084073662757874,
-0.16653458774089813,
0.21365401148796082
],
"std": [
0.5548442006111145,
0.4703128933906555,
0.38923993706703186,
0.3569991886615753
],
"count": [
412635494
]
},
"observation.images.hand_left": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.41786597235305717
]
],
[
[
0.4284313766342145
]
],
[
[
0.42881415371165427
]
]
],
"std": [
[
[
0.2625953225261703
]
],
[
[
0.24836191157221135
]
],
[
[
0.2543553211379638
]
]
],
"count": [
377479
]
},
"observation.states.end.position": {
"min": [
0.19337546825408936,
-0.7023321390151978,
0.02558809332549572
],
"max": [
0.9986844062805176,
0.6781377792358398,
1.3737616539001465
],
"mean": [
0.6642024517059326,
-0.007329180371016264,
0.6810888051986694
],
"std": [
0.07928971946239471,
0.31414300203323364,
0.18238481879234314
],
"count": [
412635494
]
},
"frame_index": {
"min": [
0.0
],
"max": [
11152.0
],
"mean": [
1134.8265380859375
],
"std": [
928.8145751953125
],
"count": [
206317747
]
},
"observation.states.joint.position": {
"min": [
-3.1426401138305664,
-1.8865216970443726,
-2.9275848865509033,
-1.5048705339431763,
-3.08754301071167,
-1.7474952936172485,
-3.140000104904175,
-2.8576574325561523,
-2.033689260482788,
-3.140000104904175,
-1.484890341758728,
-3.1418726444244385,
-1.7603733539581299,
-3.140075206756592
],
"max": [
2.8758695125579834,
2.0117151737213135,
3.138101577758789,
1.4812432527542114,
3.1430766582489014,
1.7610539197921753,
3.1404590606689453,
3.140000104904175,
1.9619559049606323,
3.1351795196533203,
1.5224602222442627,
3.1516618728637695,
1.741370439529419,
3.140075206756592
],
"mean": [
-1.2326810359954834,
0.7677901387214661,
0.8066206574440002,
-0.8516032695770264,
0.5997862815856934,
1.1834211349487305,
0.06289777904748917,
1.2573060989379883,
-0.7288170456886292,
-0.9002650380134583,
0.8033254742622375,
-0.568104088306427,
-1.1562278270721436,
0.0007565367268398404
],
"std": [
0.5751113891601562,
0.3921157717704773,
0.6091160178184509,
0.4113500714302063,
0.5058683156967163,
0.3978140950202942,
0.6982151865959167,
0.6329915523529053,
0.44166192412376404,
0.6600342392921448,
0.41723132133483887,
0.4813174903392792,
0.3783360421657562,
0.7129143476486206
],
"count": [
206317747
]
},
"index": {
"min": [
0.0
],
"max": [
10437652.0
],
"mean": [
1407644.875
],
"std": [
1539739.0
],
"count": [
206317747
]
},
"task_index": {
"min": [
0.0
],
"max": [
0.0
],
"mean": [
0.0
],
"std": [
0.0
],
"count": [
206317747
]
},
"actions.head.position": {
"min": [
-0.3141944110393524,
-7.989483492565341e-06
],
"max": [
0.3491190969944,
0.5243231654167175
],
"mean": [
-0.006390239577740431,
0.4214302599430084
],
"std": [
0.040385738015174866,
0.07512572407722473
],
"count": [
206317747
]
},
"episode_index": {
"min": [
0.0
],
"max": [
8232.0
],
"mean": [
767.5787963867188
],
"std": [
1093.5506591796875
],
"count": [
206317747
]
},
"actions.joint.position": {
"min": [
-1.7914215326309204,
-1.6348680257797241,
-1.4873474836349487,
-1.4548759460449219,
-2.240899085998535,
-1.8038171529769897,
-3.4757676124572754,
-1.6461334228515625,
-1.3727182149887085,
-1.444272518157959,
-1.2959821224212646,
-1.7712056636810303,
-1.848980188369751,
-3.174412727355957
],
"max": [
1.6070955991744995,
1.1229939460754395,
1.2000415325164795,
1.2937791347503662,
1.663032054901123,
1.6665472984313965,
3.1848840713500977,
1.6074773073196411,
1.7747725248336792,
1.4743931293487549,
1.4139199256896973,
1.9228148460388184,
1.8182251453399658,
2.559840202331543
],
"mean": [
-0.0019902666099369526,
0.0007972356979735196,
0.005883503705263138,
0.002925095148384571,
-0.0023837448097765446,
-0.0032534017227590084,
0.0030469002667814493,
0.002534338738769293,
-0.0006564394570887089,
-0.007297950331121683,
-0.0034327625762671232,
0.003094361163675785,
0.0033172282855957747,
-0.003114244667813182
],
"std": [
0.05846413969993591,
0.05941038578748703,
0.05411318689584732,
0.06191148981451988,
0.06851422786712646,
0.07117217034101486,
0.08588860929012299,
0.06875154376029968,
0.07714387774467468,
0.06475178897380829,
0.0728577971458435,
0.07771088927984238,
0.08220776170492172,
0.10469666123390198
],
"count": [
10039066750
]
},
"observation.states.robot.position": {
"min": [
-10.095999717712402,
-26.13800048828125,
0.0
],
"max": [
13.439000129699707,
18.18899917602539,
0.0
],
"mean": [
0.018679631873965263,
-0.000379027595045045,
0.0
],
"std": [
0.5366398096084595,
0.4929087162017822,
0.0
],
"count": [
206317747
]
},
"actions.end.position": {
"min": [
0.19337546825408936,
-0.7023321390151978,
0.02587788738310337
],
"max": [
0.9986844062805176,
0.6781377792358398,
1.3737616539001465
],
"mean": [
0.6642028093338013,
-0.007328854873776436,
0.6810888051986694
],
"std": [
0.07928933948278427,
0.31414082646369934,
0.18238449096679688
],
"count": [
412635494
]
},
"observation.states.effector.position": {
"min": [
31.68000030517578,
32.79999923706055
],
"max": [
124.24285888671875,
124.28878021240234
],
"mean": [
63.92190170288086,
67.9267578125
],
"std": [
37.45624542236328,
38.00613021850586
],
"count": [
206317747
]
},
"observation.images.head_left_fisheye": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.2273635830751999
]
],
[
[
0.22639874164807958
]
],
[
[
0.22391866267180333
]
]
],
"std": [
[
[
0.13988676701500716
]
],
[
[
0.1404964710507028
]
],
[
[
0.1400171912642899
]
]
],
"count": [
377479
]
},
"observation.states.robot.orientation": {
"min": [
0.0,
0.0,
-0.9999999403953552,
0.0
],
"max": [
0.0,
0.0,
0.9999999403953552,
1.0
],
"mean": [
0.0,
0.0,
-0.0044853053987026215,
0.8723011016845703
],
"std": [
0.0,
0.0,
0.17404766380786896,
0.3195227086544037
],
"count": [
206317747
]
},
"actions.effector.position": {
"min": [
0.0,
0.0
],
"max": [
1.0,
1.0
],
"mean": [
0.38904863595962524,
0.4319799244403839
],
"std": [
0.486628919839859,
0.4939044713973999
],
"count": [
10039066750
]
},
"observation.images.back_right_fisheye": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.24406564106197712
]
],
[
[
0.23887354567756203
]
],
[
[
0.23895767925496028
]
]
],
"std": [
[
[
0.14380076551541654
]
],
[
[
0.14275321411059783
]
],
[
[
0.1430845503139609
]
]
],
"count": [
377479
]
},
"actions.robot.velocity": {
"min": [
-1.600000023841858,
-1.0
],
"max": [
1.600000023841858,
1.0
],
"mean": [
0.003452081000432372,
-0.0004149683518335223
],
"std": [
0.1737053096294403,
0.06619741767644882
],
"count": [
206317747
]
}
},
"fastumi-dual": {
"timestamp": {
"min": [
0.0
],
"max": [
80.30000305175781
],
"mean": [
15.0211181640625
],
"std": [
10.564391136169434
],
"count": [
168425322
]
},
"frame_index": {
"min": [
0.0
],
"max": [
1606.0
],
"mean": [
300.4224853515625
],
"std": [
211.28793334960938
],
"count": [
168425322
]
},
"observation.state": {
"min": [
-0.11862096935510635,
-0.5676758885383606,
-0.1848101168870926,
-0.7057750225067139,
-0.7040443420410156,
-0.7070769667625427,
-0.707090437412262,
0.0,
-0.20085039734840393,
-0.7329530119895935,
-0.2267322987318039,
-0.7068197727203369,
-0.7014908790588379,
-0.7070993185043335,
-0.7071007490158081,
0.0
],
"max": [
0.9247521162033081,
0.7879078984260559,
0.5517377853393555,
0.8879699110984802,
0.9300415515899658,
0.9665517210960388,
1.0,
1.0,
0.9460640549659729,
0.6672215461730957,
0.7026964426040649,
0.8903431296348572,
0.9513095617294312,
0.9963571429252625,
1.0,
1.0
],
"mean": [
0.3798789381980896,
-0.017069583758711815,
0.15297211706638336,
-0.02072935178875923,
0.09152553975582123,
-0.07558321207761765,
0.9635263681411743,
0.8332995772361755,
0.3992982506752014,
0.024310382083058357,
0.14078985154628754,
0.031907256692647934,
0.11636482924222946,
0.06435264647006989,
0.9597333669662476,
0.8183660507202148
],
"std": [
0.09498082101345062,
0.09347473829984665,
0.06553445011377335,
0.09289687126874924,
0.15159957110881805,
0.14371447265148163,
0.06950893998146057,
0.32139238715171814,
0.11665228009223938,
0.105769582092762,
0.0868070125579834,
0.10261242091655731,
0.1692952960729599,
0.12530380487442017,
0.07294372469186783,
0.34004977345466614
],
"count": [
168425322
]
},
"robot_1_state": {
"min": [
-0.20085039734840393,
-0.7329530119895935,
-0.2267322987318039,
-0.7068197727203369,
-0.7014908790588379,
-0.7070993185043335,
-0.7071007490158081,
0.0
],
"max": [
0.9460640549659729,
0.6672215461730957,
0.7026964426040649,
0.8903431296348572,
0.9513095617294312,
0.9963571429252625,
1.0,
1.0
],
"mean": [
0.3992982506752014,
0.024310382083058357,
0.14078985154628754,
0.031907256692647934,
0.11636482924222946,
0.06435264647006989,
0.9597333669662476,
0.8183660507202148
],
"std": [
0.11665228009223938,
0.105769582092762,
0.0868070125579834,
0.10261242091655731,
0.1692952960729599,
0.12530380487442017,
0.07294372469186783,
0.34004977345466614
],
"count": [
168425322
]
},
"episode_index": {
"min": [
0.0
],
"max": [
5923.0
],
"mean": [
858.125
],
"std": [
878.6865234375
],
"count": [
168425322
]
},
"index": {
"min": [
0.0
],
"max": [
2787501.0
],
"mean": [
471120.40625
],
"std": [
450803.9375
],
"count": [
168425322
]
},
"task_index": {
"min": [
0.0
],
"max": [
0.0
],
"mean": [
0.0
],
"std": [
0.0
],
"count": [
168425322
]
},
"action": {
"min": [
-0.5328348875045776,
-0.6751453876495361,
-0.46661078929901123,
-1.4357197284698486,
-1.6041570901870728,
-1.6396739482879639,
-1.695674180984497,
0.0,
-0.5349764823913574,
-0.6129767894744873,
-0.630035936832428,
-1.5825501680374146,
-1.5737144947052002,
-1.59995436668396,
-1.6987709999084473,
0.0
],
"max": [
0.5524052381515503,
0.6014980673789978,
0.533226490020752,
1.4369105100631714,
1.416433334350586,
1.6517679691314697,
1.6978733539581299,
1.0,
0.5767701268196106,
0.7269622087478638,
0.5439437627792358,
1.5717185735702515,
1.501890778541565,
1.5951886177062988,
1.6993821859359741,
1.0
],
"mean": [
0.0002917619713116437,
-8.328638796228915e-05,
-3.973092680098489e-05,
-0.00022947287652641535,
0.0004233129438944161,
-0.00016446493100374937,
-6.72894821036607e-05,
0.8180310130119324,
0.0018554184352979064,
0.0005692066042684019,
0.00015964815975166857,
0.0006134677096270025,
0.0018248003907501698,
0.0008550587808713317,
-0.0003184200031682849,
0.8016522526741028
],
"std": [
0.053355004638433456,
0.052305445075035095,
0.05069137364625931,
0.04718228057026863,
0.09464241564273834,
0.06465157121419907,
0.04026436805725098,
0.3314450681209564,
0.058020226657390594,
0.06724438816308975,
0.056964434683322906,
0.06037234887480736,
0.10152360796928406,
0.06795728951692581,
0.05139721557497978,
0.3505825400352478
],
"count": [
7668378650
]
},
"robot_0_state": {
"min": [
-0.11862096935510635,
-0.5676758885383606,
-0.1848101168870926,
-0.7057750225067139,
-0.7040443420410156,
-0.7070769667625427,
-0.707090437412262,
0.0
],
"max": [
0.9247521162033081,
0.7879078984260559,
0.5517377853393555,
0.8879699110984802,
0.9300415515899658,
0.9665517210960388,
1.0,
1.0
],
"mean": [
0.3798789381980896,
-0.017069583758711815,
0.15297211706638336,
-0.02072935178875923,
0.09152553975582123,
-0.07558321207761765,
0.9635263681411743,
0.8332995772361755
],
"std": [
0.09498082101345062,
0.09347473829984665,
0.06553445011377335,
0.09289687126874924,
0.15159957110881805,
0.14371447265148163,
0.06950893998146057,
0.32139238715171814
],
"count": [
168425322
]
},
"observation.images.robot_0_image": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.26049654468919237
]
],
[
[
0.2623465223391655
]
],
[
[
0.2504924847723742
]
]
],
"std": [
[
[
0.25789345883565323
]
],
[
[
0.25826680104331473
]
],
[
[
0.25823069112416985
]
]
],
"count": [
168311
]
},
"observation.images.robot_1_image": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.2605257413373798
]
],
[
[
0.2627915920301125
]
],
[
[
0.2519133462926359
]
]
],
"std": [
[
[
0.25542473771335256
]
],
[
[
0.2560373863508628
]
],
[
[
0.25649824317117065
]
]
],
"count": [
168311
]
}
},
"ARX Lift-2": {
"head_camera_intrinsics": {
"min": [
323.3450012207031,
323.1700134277344,
319.54998779296875,
180.0
],
"max": [
323.5199890136719,
323.3450012207031,
320.0,
182.17999267578125
],
"mean": [
323.3477478027344,
323.34210205078125,
319.6506042480469,
181.69346618652344
],
"std": [
0.21650634706020355,
0.3186887204647064,
0.0,
0.9142961502075195
],
"count": [
147679934
]
},
"images.rgb.head": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.47932605716912363
]
],
[
[
0.4447743821760716
]
],
[
[
0.3759621978276251
]
]
],
"std": [
[
[
0.28567523630394454
]
],
[
[
0.28924888958690226
]
],
[
[
0.2931696221745316
]
]
],
"count": [
45693
]
},
"states.right_gripper.position": {
"min": [
0.0
],
"max": [
0.10000000149011612
],
"mean": [
0.06810848414897919
],
"std": [
0.03135671094059944
],
"count": [
147679934
]
},
"states.right_joint.position": {
"min": [
-2.433427095413208,
-0.11033768206834793,
-2.576958417892456,
-1.7604341506958008,
-2.272326946258545,
-3.1400017738342285
],
"max": [
3.141601085662842,
3.6690542697906494,
3.3177499771118164,
1.7026290893554688,
1.9559606313705444,
2.6671013832092285
],
"mean": [
0.063023641705513,
0.9377689957618713,
0.626068651676178,
-0.1627202332019806,
-0.02748851664364338,
0.02648027613759041
],
"std": [
0.23761917650699615,
1.082403302192688,
0.7993808388710022,
0.5013625621795654,
0.28076547384262085,
0.43004271388053894
],
"count": [
147679934
]
},
"actions.right_gripper.position": {
"min": [
0.0
],
"max": [
0.10000000149011612
],
"mean": [
0.06756699085235596
],
"std": [
0.031498413532972336
],
"count": [
6840856200
]
},
"master_actions.right_joint.position": {
"min": [
-2.433427095413208,
-0.19310736656188965,
-2.576892852783203,
-1.7604341506958008,
-1.6745227575302124,
-3.1400017738342285
],
"max": [
3.141601085662842,
3.6686854362487793,
3.240037679672241,
1.7025258541107178,
1.6726367473602295,
2.6697030067443848
],
"mean": [
0.06313386559486389,
0.9389059543609619,
0.6267677545547485,
-0.1628439724445343,
-0.027402685955166817,
0.026539340615272522
],
"std": [
0.23773272335529327,
1.08279550075531,
0.799610435962677,
0.5016767382621765,
0.28088119626045227,
0.43028369545936584
],
"count": [
147679934
]
},
"timestamp": {
"min": [
0.0
],
"max": [
63.29999923706055
],
"mean": [
14.466641426086426
],
"std": [
10.843647956848145
],
"count": [
147679934
]
},
"states.left_ee_to_robot_pose": {
"min": [
-0.3685411214828491,
-0.3074118494987488,
0.20083193480968475,
-0.7069620490074158,
-0.7064285278320312,
-0.7069209814071655,
-0.7070217132568359
],
"max": [
0.7977994680404663,
0.7660654187202454,
1.4119528532028198,
1.0,
0.9980663657188416,
0.9873380661010742,
0.9739253520965576
],
"mean": [
0.37921449542045593,
0.22267520427703857,
0.833259642124176,
0.8951554298400879,
0.0026822942309081554,
0.19910141825675964,
-0.039112623780965805
],
"std": [
0.15076321363449097,
0.08737567812204361,
0.09732579439878464,
0.18118837475776672,
0.16087107360363007,
0.2734629809856415,
0.15500938892364502
],
"count": [
147679934
]
},
"states.right_ee_to_right_armbase_pose": {
"min": [
-0.5369827151298523,
-0.5200366377830505,
-0.3508318364620209,
-0.7070016860961914,
-0.7070609927177429,
-0.7035565972328186,
-0.6975718140602112
],
"max": [
0.6303129196166992,
0.5827534794807434,
0.7142120599746704,
1.0,
0.9996270537376404,
0.9999103546142578,
0.9317286014556885
],
"mean": [
0.21567612886428833,
0.02339416928589344,
0.14898039400577545,
0.8961175680160522,
0.014015894383192062,
0.20620062947273254,
0.025152387097477913
],
"std": [
0.14881311357021332,
0.08563179522752762,
0.07242871075868607,
0.18113934993743896,
0.15512174367904663,
0.2713707387447357,
0.1520179957151413
],
"count": [
147679934
]
},
"states.left_ee_to_left_armbase_pose": {
"min": [
-0.5315712690353394,
-0.5558319091796875,
-0.36611708998680115,
-0.7069620490074158,
-0.7064285278320312,
-0.7069209814071655,
-0.7070217132568359
],
"max": [
0.6347693204879761,
0.5176453590393066,
0.7179527282714844,
1.0,
0.9980663657188416,
0.9873380661010742,
0.9739253520965576
],
"mean": [
0.21618524193763733,
-0.025744935497641563,
0.14670056104660034,
0.8951554298400879,
0.0026822942309081554,
0.19910141825675964,
-0.039112623780965805
],
"std": [
0.15076376497745514,
0.08737543225288391,
0.07332786917686462,
0.18118837475776672,
0.16087107360363007,
0.2734629809856415,
0.15500938892364502
],
"count": [
147679934
]
},
"frame_index": {
"min": [
0.0
],
"max": [
1899.0
],
"mean": [
433.9995422363281
],
"std": [
325.3087158203125
],
"count": [
147679934
]
},
"actions.left_joint.position": {
"min": [
-5.24058198928833,
-3.7372961044311523,
-3.3560538291931152,
-2.7898712158203125,
-3.452683687210083,
-3.133542537689209
],
"max": [
3.663785696029663,
3.8059046268463135,
3.355672597885132,
3.034261703491211,
3.626187324523926,
3.685375452041626
],
"mean": [
-0.003088783472776413,
0.03959015756845474,
0.025579003617167473,
-0.002687626052647829,
0.0038672469090670347,
-0.002039727522060275
],
"std": [
0.10593491047620773,
0.3460845649242401,
0.26728561520576477,
0.20266008377075195,
0.10659521818161011,
0.17861780524253845
],
"count": [
6840856200
]
},
"master_actions.right_gripper.openness": {
"min": [
0.0
],
"max": [
1.0
],
"mean": [
0.7224467396736145
],
"std": [
0.4476013779640198
],
"count": [
147679934
]
},
"master_actions.right_gripper.position": {
"min": [
0.0
],
"max": [
0.10000000149011612
],
"mean": [
0.06809263676404953
],
"std": [
0.03136569634079933
],
"count": [
147679934
]
},
"actions.right_joint.position": {
"min": [
-3.0625760555267334,
-3.7364399433135986,
-3.3476176261901855,
-3.3434104919433594,
-2.3050994873046875,
-3.468447685241699
],
"max": [
2.172114610671997,
3.769054412841797,
3.377957582473755,
2.6458330154418945,
2.2961597442626953,
2.6485695838928223
],
"mean": [
0.0038591877091675997,
0.03231297805905342,
0.022293727844953537,
-0.0044085923582315445,
-0.00046205363469198346,
0.002747349441051483
],
"std": [
0.10169980674982071,
0.3506733775138855,
0.2686273753643036,
0.20675678551197052,
0.1265621781349182,
0.18071690201759338
],
"count": [
6840856200
]
},
"actions.left_tcp_to_left_armbase_pose": {
"min": [
-0.6652623414993286,
-0.6585085391998291,
-0.5088384747505188,
-0.7069620490074158,
-0.7064285278320312,
-0.7069209814071655,
-0.7070217132568359
],
"max": [
0.7963134050369263,
0.6239452958106995,
0.8783523440361023,
1.0,
0.9980663657188416,
0.9873380661010742,
0.9739253520965576
],
"mean": [
0.332624614238739,
-0.03825584799051285,
0.09570864588022232,
0.8950139880180359,
0.002669443842023611,
0.19931547343730927,
-0.03920330852270126
],
"std": [
0.11310188472270966,
0.102302685379982,
0.11762992292642593,
0.18129278719425201,
0.1609821617603302,
0.2735128402709961,
0.15520259737968445
],
"count": [
147679934
]
},
"states.right_ee_to_robot_pose": {
"min": [
-0.37395259737968445,
-0.7684566974639893,
0.2121126800775528,
-0.7070016860961914,
-0.7070609927177429,
-0.7035565972328186,
-0.6975718140602112
],
"max": [
0.7933430671691895,
0.3343333899974823,
1.4082123041152954,
1.0,
0.9996270537376404,
0.9999103546142578,
0.9317286014556885
],
"mean": [
0.37870538234710693,
-0.22502592206001282,
0.8355391621589661,
0.8961175680160522,
0.014015894383192062,
0.20620062947273254,
0.025152387097477913
],
"std": [
0.14881367981433868,
0.08563145250082016,
0.09543588012456894,
0.18113934993743896,
0.15512174367904663,
0.2713707387447357,
0.1520179957151413
],
"count": [
147679934
]
},
"images.rgb.hand_right": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.41129222643762503
]
],
[
[
0.3768401038316389
]
],
[
[
0.3138523921648372
]
]
],
"std": [
[
[
0.28025618732720753
]
],
[
[
0.28030704497953796
]
],
[
[
0.2772108964082773
]
]
],
"count": [
45693
]
},
"index": {
"min": [
0.0
],
"max": [
6781600.0
],
"mean": [
1181889.875
],
"std": [
1415242.625
],
"count": [
147679934
]
},
"states.left_joint.position": {
"min": [
-2.0939836502075195,
-0.1233576089143753,
-2.1006338596343994,
-1.804902195930481,
-3.6711466312408447,
-2.0950608253479004
],
"max": [
3.146616220474243,
3.682547092437744,
3.2615432739257812,
1.8157877922058105,
2.167360782623291,
2.247169017791748
],
"mean": [
-0.06574895977973938,
0.9494407176971436,
0.6285032033920288,
-0.14491385221481323,
0.05337907373905182,
-0.0037050186656415462
],
"std": [
0.24781419336795807,
1.0957818031311035,
0.8071321845054626,
0.5129067897796631,
0.29629865288734436,
0.4467441439628601
],
"count": [
147679934
]
},
"head_camera_to_robot_extrinsics": {
"min": [
-2.452223539352417,
-0.10302558541297913,
0.49500998854637146,
-0.3850175142288208,
-0.6792880296707153,
-0.6790745258331299,
-0.3671068549156189
],
"max": [
1.6400705575942993,
0.09258240461349487,
1.0147160291671753,
0.3667440414428711,
0.7226678133010864,
0.7227897047996521,
0.3385331928730011
],
"mean": [
0.32718509435653687,
-0.006434895563870668,
0.9481419920921326,
-0.056613728404045105,
0.15998275578022003,
-0.14404705166816711,
0.05657392740249634
],
"std": [
0.018291616812348366,
0.014892139472067356,
0.05987023189663887,
0.2494390308856964,
0.639469563961029,
0.6433432102203369,
0.24943605065345764
],
"count": [
147679934
]
},
"master_actions.left_joint.position": {
"min": [
-1.9458982944488525,
-0.2289235144853592,
-2.1006338596343994,
-1.7146612405776978,
-1.6741784811019897,
-2.362476348876953
],
"max": [
3.1415998935699463,
3.665095567703247,
3.2400662899017334,
1.6721867322921753,
1.6716519594192505,
2.247169017791748
],
"mean": [
-0.0658436268568039,
0.9509108066558838,
0.6293337941169739,
-0.1449430286884308,
0.05362527817487717,
-0.0037448955699801445
],
"std": [
0.24798583984375,
1.09624183177948,
0.8073740601539612,
0.5134552121162415,
0.2968553900718689,
0.44712069630622864
],
"count": [
147679934
]
},
"actions.left_tcp_to_robot_pose": {
"min": [
-0.5022321939468384,
-0.410088449716568,
0.09788703918457031,
-0.7069620490074158,
-0.7064285278320312,
-0.7069209814071655,
-0.7070217132568359
],
"max": [
0.9593435525894165,
0.8723653554916382,
1.5723525285720825,
1.0,
0.9980663657188416,
0.9873380661010742,
0.9739253520965576
],
"mean": [
0.49565377831459045,
0.21016445755958557,
0.7822680473327637,
0.8950139880180359,
0.002669443842023611,
0.19931547343730927,
-0.03920330852270126
],
"std": [
0.11310247331857681,
0.10230260342359543,
0.13518227636814117,
0.18129278719425201,
0.1609821617603302,
0.2735128402709961,
0.15520259737968445
],
"count": [
147679934
]
},
"hand_right_camera_intrinsics": {
"min": [
433.635009765625,
433.3800048828125,
320.0,
219.14999389648438
],
"max": [
488.52001953125,
488.52001953125,
323.92999267578125,
243.13999938964844
],
"mean": [
433.6979675292969,
433.689697265625,
322.1686096191406,
242.4133758544922
],
"std": [
1.794087529182434,
1.8071039915084839,
1.1524430513381958,
1.5360257625579834
],
"count": [
147679934
]
},
"hand_left_camera_intrinsics": {
"min": [
433.635009765625,
433.3800048828125,
320.0,
219.14999389648438
],
"max": [
488.52001953125,
488.52001953125,
323.92999267578125,
243.13999938964844
],
"mean": [
433.6979675292969,
433.689697265625,
322.1686096191406,
242.4133758544922
],
"std": [
1.794087529182434,
1.8071039915084839,
1.1524430513381958,
1.5360257625579834
],
"count": [
147679934
]
},
"actions.left_gripper.position": {
"min": [
0.0
],
"max": [
0.10000000149011612
],
"mean": [
0.07029862701892853
],
"std": [
0.029859106987714767
],
"count": [
6840856200
]
},
"states.left_gripper.position": {
"min": [
0.0
],
"max": [
0.10000000149011612
],
"mean": [
0.0705263540148735
],
"std": [
0.02982553467154503
],
"count": [
147679934
]
},
"states.right_tcp_to_right_armbase_pose": {
"min": [
-0.6655531525611877,
-0.6780331134796143,
-0.46268099546432495,
-0.7070016860961914,
-0.7070609927177429,
-0.7035565972328186,
-0.6975718140602112
],
"max": [
0.7859275341033936,
0.664831817150116,
0.8729659914970398,
1.0,
0.9996270537376404,
0.9999103546142578,
0.9317286014556885
],
"mean": [
0.33203768730163574,
0.03214750811457634,
0.0965580940246582,
0.8961175680160522,
0.014015894383192062,
0.20620062947273254,
0.025152387097477913
],
"std": [
0.10843795537948608,
0.10096437484025955,
0.11651137471199036,
0.18113934993743896,
0.15512174367904663,
0.2713707387447357,
0.1520179957151413
],
"count": [
147679934
]
},
"states.robot_to_env_pose": {
"min": [
-0.499983012676239,
-1.3284146785736084,
-0.2975030243396759,
-0.7071067690849304,
0.0,
0.0,
0.0
],
"max": [
0.5,
0.7674832940101624,
0.5689384341239929,
1.0,
0.0,
0.0,
0.7071067690849304
],
"mean": [
-0.04923079162836075,
-0.576423168182373,
0.26962465047836304,
0.7176827192306519,
0.0,
0.0,
0.5493021607398987
],
"std": [
0.23815089464187622,
0.4507104158401489,
0.1618039309978485,
0.31066998839378357,
0.0,
0.0,
0.2944187521934509
],
"count": [
147679934
]
},
"states.left_tcp_to_left_armbase_pose": {
"min": [
-0.6652623414993286,
-0.6585085391998291,
-0.5088384747505188,
-0.7069620490074158,
-0.7064285278320312,
-0.7069209814071655,
-0.7070217132568359
],
"max": [
0.7963134050369263,
0.6239452958106995,
0.8783523440361023,
1.0,
0.9980663657188416,
0.9873380661010742,
0.9739253520965576
],
"mean": [
0.3325216770172119,
-0.038190361112356186,
0.09579436480998993,
0.8951554298400879,
0.0026822942309081554,
0.19910141825675964,
-0.039112623780965805
],
"std": [
0.11304933577775955,
0.10224085301160812,
0.11761536449193954,
0.18118837475776672,
0.16087107360363007,
0.2734629809856415,
0.15500938892364502
],
"count": [
147679934
]
},
"actions.left_ee_to_left_armbase_pose": {
"min": [
-0.5315712690353394,
-0.5558319091796875,
-0.36611708998680115,
-0.7069620490074158,
-0.7064285278320312,
-0.7069209814071655,
-0.7070217132568359
],
"max": [
0.6347693204879761,
0.5176453590393066,
0.7179527282714844,
1.0,
0.9980663657188416,
0.9873380661010742,
0.9739253520965576
],
"mean": [
0.21634618937969208,
-0.02578619308769703,
0.14666788280010223,
0.8950139880180359,
0.002669443842023611,
0.19931547343730927,
-0.03920330852270126
],
"std": [
0.1508052796125412,
0.08744195848703384,
0.07335513085126877,
0.18129278719425201,
0.1609821617603302,
0.2735128402709961,
0.15520259737968445
],
"count": [
147679934
]
},
"actions.left_ee_to_robot_pose": {
"min": [
-0.3685411214828491,
-0.3074118494987488,
0.20083193480968475,
-0.7069620490074158,
-0.7064285278320312,
-0.7069209814071655,
-0.7070217132568359
],
"max": [
0.7977994680404663,
0.7660654187202454,
1.4119528532028198,
1.0,
0.9980663657188416,
0.9873380661010742,
0.9739253520965576
],
"mean": [
0.37937527894973755,
0.2226339727640152,
0.83322674036026,
0.8950139880180359,
0.002669443842023611,
0.19931547343730927,
-0.03920330852270126
],
"std": [
0.15080545842647552,
0.08744220435619354,
0.09734845161437988,
0.18129278719425201,
0.1609821617603302,
0.2735128402709961,
0.15520259737968445
],
"count": [
147679934
]
},
"hand_left_camera_to_robot_extrinsics": {
"min": [
-2.4919137954711914,
-0.39783573150634766,
0.08912346512079239,
-0.7059761881828308,
-0.7070971727371216,
-0.7071017622947693,
-0.7003536820411682
],
"max": [
1.6003830432891846,
0.852268397808075,
1.5199809074401855,
0.9998583197593689,
0.9999294281005859,
0.9999992251396179,
0.9828557372093201
],
"mean": [
0.454216867685318,
0.22402821481227875,
0.8681885600090027,
0.036229707300662994,
-0.09680615365505219,
0.23266637325286865,
-0.029355071485042572
],
"std": [
0.15497180819511414,
0.097525455057621,
0.12888012826442719,
0.2921854853630066,
0.6119682192802429,
0.6275736093521118,
0.283891499042511
],
"count": [
147679934
]
},
"actions.right_ee_to_robot_pose": {
"min": [
-0.37395259737968445,
-0.7684566974639893,
0.2121126800775528,
-0.7070016860961914,
-0.7070609927177429,
-0.7035565972328186,
-0.6975718140602112
],
"max": [
0.7933430671691895,
0.3343333899974823,
1.4082123041152954,
1.0,
0.9996270537376404,
0.9999103546142578,
0.9317286014556885
],
"mean": [
0.37883785367012024,
-0.2249823957681656,
0.8355230689048767,
0.8960263729095459,
0.014029763638973236,
0.20638230443000793,
0.025172749534249306
],
"std": [
0.1488540768623352,
0.08568918704986572,
0.09544899314641953,
0.18119429051876068,
0.15520231425762177,
0.27140936255455017,
0.1520872414112091
],
"count": [
147679934
]
},
"actions.right_ee_to_right_armbase_pose": {
"min": [
-0.5369827151298523,
-0.5200366377830505,
-0.3508318364620209,
-0.7070016860961914,
-0.7070609927177429,
-0.7035565972328186,
-0.6975718140602112
],
"max": [
0.6303129196166992,
0.5827534794807434,
0.7142120599746704,
1.0,
0.9996270537376404,
0.9999103546142578,
0.9317286014556885
],
"mean": [
0.21580860018730164,
0.023437660187482834,
0.148964062333107,
0.8960263729095459,
0.014029763638973236,
0.20638230443000793,
0.025172749534249306
],
"std": [
0.14885373413562775,
0.085689477622509,
0.07244645804166794,
0.18119429051876068,
0.15520231425762177,
0.27140936255455017,
0.1520872414112091
],
"count": [
147679934
]
},
"hand_right_camera_to_robot_extrinsics": {
"min": [
-2.3980712890625,
-0.859887421131134,
-0.053777895867824554,
-0.705839991569519,
-0.7070988416671753,
-0.7070915699005127,
-0.6977725625038147
],
"max": [
1.7018749713897705,
0.40899232029914856,
1.4956042766571045,
0.9996465444564819,
0.999971866607666,
0.9999797344207764,
0.994265615940094
],
"mean": [
0.4535411298274994,
-0.2114783227443695,
0.8703423738479614,
-0.00416316045448184,
0.0658869594335556,
0.0677575096487999,
-0.0005551896756514907
],
"std": [
0.15302427113056183,
0.09436384588479996,
0.1263141632080078,
0.28463494777679443,
0.6552554965019226,
0.6302881836891174,
0.28880828619003296
],
"count": [
147679934
]
},
"actions.right_tcp_to_right_armbase_pose": {
"min": [
-0.6655531525611877,
-0.6780331134796143,
-0.46268099546432495,
-0.7070016860961914,
-0.7070609927177429,
-0.7035565972328186,
-0.6975718140602112
],
"max": [
0.7859275341033936,
0.664831817150116,
0.8729659914970398,
1.0,
0.9996270537376404,
0.9999103546142578,
0.9317286014556885
],
"mean": [
0.3321322500705719,
0.03219843655824661,
0.0964919701218605,
0.8960263729095459,
0.014029763638973236,
0.20638230443000793,
0.025172749534249306
],
"std": [
0.10848511010408401,
0.10101696848869324,
0.11652640998363495,
0.18119429051876068,
0.15520231425762177,
0.27140936255455017,
0.1520872414112091
],
"count": [
147679934
]
},
"images.rgb.hand_left": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.4585273656379837
]
],
[
[
0.42793603499302496
]
],
[
[
0.35177968743049104
]
]
],
"std": [
[
[
0.29381716614931674
]
],
[
[
0.29544242659794073
]
],
[
[
0.2965681892025767
]
]
],
"count": [
45693
]
},
"master_actions.left_gripper.openness": {
"min": [
0.0
],
"max": [
1.0
],
"mean": [
0.7220489978790283
],
"std": [
0.44751349091529846
],
"count": [
147679934
]
},
"states.left_tcp_to_robot_pose": {
"min": [
-0.5022321939468384,
-0.410088449716568,
0.09788703918457031,
-0.7069620490074158,
-0.7064285278320312,
-0.7069209814071655,
-0.7070217132568359
],
"max": [
0.9593435525894165,
0.8723653554916382,
1.5723525285720825,
1.0,
0.9980663657188416,
0.9873380661010742,
0.9739253520965576
],
"mean": [
0.4955509603023529,
0.2102298140525818,
0.7823535799980164,
0.8951554298400879,
0.0026822942309081554,
0.19910141825675964,
-0.039112623780965805
],
"std": [
0.11304910480976105,
0.10224100947380066,
0.1351730227470398,
0.18118837475776672,
0.16087107360363007,
0.2734629809856415,
0.15500938892364502
],
"count": [
147679934
]
},
"actions.right_tcp_to_robot_pose": {
"min": [
-0.5025230646133423,
-0.9264532327651978,
0.10925088077783585,
-0.7070016860961914,
-0.7070609927177429,
-0.7035565972328186,
-0.6975718140602112
],
"max": [
0.9489576816558838,
0.41641175746917725,
1.56696617603302,
1.0,
0.9996270537376404,
0.9999103546142578,
0.9317286014556885
],
"mean": [
0.49516138434410095,
-0.21622154116630554,
0.7830510139465332,
0.8960263729095459,
0.014029763638973236,
0.20638230443000793,
0.025172749534249306
],
"std": [
0.10848645120859146,
0.10101679712533951,
0.13331598043441772,
0.18119429051876068,
0.15520231425762177,
0.27140936255455017,
0.1520872414112091
],
"count": [
147679934
]
},
"task_index": {
"min": [
0.0
],
"max": [
4999.0
],
"mean": [
345.87078857421875
],
"std": [
997.3897705078125
],
"count": [
147679934
]
},
"states.right_tcp_to_robot_pose": {
"min": [
-0.5025230646133423,
-0.9264532327651978,
0.10925088077783585,
-0.7070016860961914,
-0.7070609927177429,
-0.7035565972328186,
-0.6975718140602112
],
"max": [
0.9489576816558838,
0.41641175746917725,
1.56696617603302,
1.0,
0.9996270537376404,
0.9999103546142578,
0.9317286014556885
],
"mean": [
0.4950670003890991,
-0.2162724882364273,
0.7831169962882996,
0.8961175680160522,
0.014015894383192062,
0.20620062947273254,
0.025152387097477913
],
"std": [
0.10843919217586517,
0.10096423327922821,
0.13330323994159698,
0.18113934993743896,
0.15512174367904663,
0.2713707387447357,
0.1520179957151413
],
"count": [
147679934
]
},
"master_actions.left_gripper.position": {
"min": [
0.0
],
"max": [
0.10000000149011612
],
"mean": [
0.07050586491823196
],
"std": [
0.029837368056178093
],
"count": [
147679934
]
},
"episode_index": {
"min": [
0.0
],
"max": [
6657.0
],
"mean": [
1252.9080810546875
],
"std": [
1235.6103515625
],
"count": [
147679934
]
}
},
"AgileX Split Aloha": {
"states.left_tcp_to_robot_pose": {
"min": [
-0.3458949029445648,
-0.4370867609977722,
0.2571527361869812,
-0.6810635924339294,
-0.7065035104751587,
-0.7066988945007324,
-0.7018314003944397
],
"max": [
1.1140633821487427,
0.9690123200416565,
1.5338891744613647,
0.9908026456832886,
0.9999997615814209,
0.9999973177909851,
0.9974037408828735
],
"mean": [
0.6356146931648254,
0.26070019602775574,
0.8468101024627686,
0.32451432943344116,
0.5909246206283569,
0.5437784194946289,
0.30270442366600037
],
"std": [
0.11039247363805771,
0.11563799530267715,
0.21441565454006195,
0.21429961919784546,
0.16602711379528046,
0.18059509992599487,
0.22818759083747864
],
"count": [
140734002
]
},
"states.left_ee_to_robot_pose": {
"min": [
-0.21993345022201538,
-0.34681621193885803,
0.377277672290802,
-0.6810635924339294,
-0.7065035104751587,
-0.7066988945007324,
-0.7018314003944397
],
"max": [
0.9812567830085754,
0.8660539984703064,
1.4077553749084473,
0.9908026456832886,
0.9999997615814209,
0.9999973177909851,
0.9974037408828735
],
"mean": [
0.5464370846748352,
0.2675061523914337,
0.902178168296814,
0.32451432943344116,
0.5909246206283569,
0.5437784194946289,
0.30270442366600037
],
"std": [
0.13819922506809235,
0.10610810667276382,
0.17892909049987793,
0.21429961919784546,
0.16602711379528046,
0.18059509992599487,
0.22818759083747864
],
"count": [
140734002
]
},
"images.rgb.head": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.45929228912580644
]
],
[
[
0.4266916813653789
]
],
[
[
0.36265680156987146
]
]
],
"std": [
[
[
0.2791552916757314
]
],
[
[
0.2805291225756733
]
],
[
[
0.2892190018016603
]
]
],
"count": [
45122
]
},
"actions.left_ee_to_robot_pose": {
"min": [
-0.21993345022201538,
-0.34681621193885803,
0.377277672290802,
-0.6810635924339294,
-0.7065035104751587,
-0.7066988945007324,
-0.7018314003944397
],
"max": [
0.9812567830085754,
0.8660539984703064,
1.4077553749084473,
0.9908026456832886,
0.9999997615814209,
0.9999973177909851,
0.9974037408828735
],
"mean": [
0.5465531945228577,
0.26745644211769104,
0.9021123647689819,
0.3244139850139618,
0.5909926295280457,
0.5437721014022827,
0.30256667733192444
],
"std": [
0.1382276862859726,
0.10616177320480347,
0.17896923422813416,
0.21433334052562714,
0.16606785356998444,
0.180710569024086,
0.22819946706295013
],
"count": [
140734002
]
},
"actions.right_tcp_to_robot_pose": {
"min": [
-0.08276224136352539,
-0.9443843960762024,
0.22606363892555237,
-0.6883538365364075,
-0.7069259285926819,
-0.7067217826843262,
-0.639345109462738
],
"max": [
1.110187292098999,
0.3900037705898285,
1.5281490087509155,
0.9742906093597412,
0.9999997615814209,
0.9999986886978149,
0.9234237670898438
],
"mean": [
0.6366389393806458,
-0.2565965950489044,
0.8449745178222656,
0.2983893156051636,
0.5588445067405701,
0.5806004405021667,
0.3240683376789093
],
"std": [
0.10867878049612045,
0.11281595379114151,
0.216831237077713,
0.22578923404216766,
0.1747896820306778,
0.16678547859191895,
0.2172321379184723
],
"count": [
140734002
]
},
"master_actions.left_joint.position": {
"min": [
-2.625950336456299,
-5.382970333099365,
-2.7715272903442383,
-2.3094537258148193,
-3.302025079727173,
-3.7266483306884766
],
"max": [
2.6919326782226562,
3.700263738632202,
0.12066081911325455,
6.226835250854492,
5.262518882751465,
3.2484190464019775
],
"mean": [
-0.1200348362326622,
1.0989480018615723,
-0.5779786109924316,
-0.013639478944242,
0.1596394181251526,
-0.013865401968359947
],
"std": [
0.3444786071777344,
1.0172981023788452,
0.6221702098846436,
0.4502863585948944,
0.4725092947483063,
0.6330649256706238
],
"count": [
140734002
]
},
"actions.left_tcp_to_left_armbase_pose": {
"min": [
-0.7143740653991699,
-0.7430874109268188,
-0.3972698152065277,
-0.6810635924339294,
-0.7065035104751587,
-0.7066988945007324,
-0.7018314003944397
],
"max": [
0.7455841898918152,
0.6630117297172546,
0.8811851143836975,
0.9908026456832886,
0.9999997615814209,
0.9999973177909851,
0.9974037408828735
],
"mean": [
0.26799705624580383,
-0.04534444212913513,
0.10311410576105118,
0.3244139850139618,
0.5909926295280457,
0.5437721014022827,
0.30256667733192444
],
"std": [
0.11009510606527328,
0.11522289365530014,
0.16452208161354065,
0.21433334052562714,
0.16606785356998444,
0.180710569024086,
0.22819946706295013
],
"count": [
140734002
]
},
"hand_left_camera_to_robot_extrinsics": {
"min": [
-0.8018622994422913,
-1.0332518815994263,
0.2983880043029785,
-0.6961328983306885,
-0.7071056962013245,
-0.7071040272712708,
-0.6931412220001221
],
"max": [
1.070436954498291,
0.9108514189720154,
1.8537685871124268,
0.9936107397079468,
0.999993085861206,
0.9999943375587463,
0.9976373910903931
],
"mean": [
0.6079003810882568,
0.2617117166519165,
0.9328524470329285,
0.0265186820179224,
0.014265014789998531,
0.14353986084461212,
0.023183956742286682
],
"std": [
0.14684779942035675,
0.11535324901342392,
0.20967814326286316,
0.28578490018844604,
0.6240138411521912,
0.653717041015625,
0.282027930021286
],
"count": [
140734002
]
},
"episode_index": {
"min": [
0.0
],
"max": [
6646.0
],
"mean": [
1332.9044189453125
],
"std": [
1229.8201904296875
],
"count": [
140734002
]
},
"master_actions.right_gripper.position": {
"min": [
0.0
],
"max": [
0.10000000149011612
],
"mean": [
0.07978995889425278
],
"std": [
0.033372439444065094
],
"count": [
140734002
]
},
"master_actions.left_gripper.position": {
"min": [
0.0
],
"max": [
0.10000000149011612
],
"mean": [
0.08216225355863571
],
"std": [
0.031063687056303024
],
"count": [
140734002
]
},
"actions.right_ee_to_robot_pose": {
"min": [
-0.028216272592544556,
-0.8484576940536499,
0.35702934861183167,
-0.6883538365364075,
-0.7069259285926819,
-0.7067217826843262,
-0.639345109462738
],
"max": [
0.9752058386802673,
0.39043501019477844,
1.4359015226364136,
0.9742906093597412,
0.9999997615814209,
0.9999986886978149,
0.9234237670898438
],
"mean": [
0.5476098656654358,
-0.2630399465560913,
0.9010733366012573,
0.2983893156051636,
0.5588445067405701,
0.5806004405021667,
0.3240683376789093
],
"std": [
0.13652558624744415,
0.10432099550962448,
0.1809653639793396,
0.22578923404216766,
0.1747896820306778,
0.16678547859191895,
0.2172321379184723
],
"count": [
140734002
]
},
"head_camera_to_robot_extrinsics": {
"min": [
-0.4956619143486023,
-0.7360379099845886,
0.8527461290359497,
-0.35373589396476746,
-0.6729691624641418,
-0.6734866499900818,
-0.3505181670188904
],
"max": [
0.690803587436676,
0.4635922610759735,
1.53549325466156,
0.35402196645736694,
0.9365448355674744,
0.9364299774169922,
0.3492567539215088
],
"mean": [
0.38854271173477173,
-0.013244584202766418,
1.0048878192901611,
0.15921978652477264,
-0.36722904443740845,
0.3901430666446686,
-0.15780305862426758
],
"std": [
0.01891459710896015,
0.017714662477374077,
0.14131926000118256,
0.22139079868793488,
0.5339803099632263,
0.5315985679626465,
0.21431876718997955
],
"count": [
140734002
]
},
"actions.left_joint.position": {
"min": [
-5.350478649139404,
-8.205354690551758,
-3.8368096351623535,
-6.433774948120117,
-3.277651071548462,
-6.648960113525391
],
"max": [
5.405672073364258,
3.7001278400421143,
4.175942897796631,
8.183722496032715,
5.875010013580322,
6.395712852478027
],
"mean": [
-0.004583414644002914,
0.029491059482097626,
-0.015923069790005684,
-0.001089846482500434,
0.0008386849076487124,
0.00036943069426342845
],
"std": [
0.12760430574417114,
0.28035110235214233,
0.1789143979549408,
0.1734250783920288,
0.15041740238666534,
0.22385387122631073
],
"count": [
6595178250
]
},
"states.right_joint.position": {
"min": [
-2.6449809074401855,
-0.0010037191677838564,
-3.262512683868408,
-5.082755088806152,
-1.9580594301223755,
-5.020358085632324
],
"max": [
2.642108678817749,
3.4995715618133545,
0.28915706276893616,
4.08786153793335,
2.636763572692871,
3.8062150478363037
],
"mean": [
0.12999609112739563,
1.112744688987732,
-0.5777208209037781,
0.014927378855645657,
0.1462961733341217,
0.0638803020119667
],
"std": [
0.34180572628974915,
1.0123240947723389,
0.6097344160079956,
0.4527866840362549,
0.4827812910079956,
0.6512436270713806
],
"count": [
140734002
]
},
"states.right_tcp_to_right_armbase_pose": {
"min": [
-0.45124202966690063,
-0.6383848786354065,
-0.42664045095443726,
-0.6883538365364075,
-0.7069259285926819,
-0.7067217826843262,
-0.639345109462738
],
"max": [
0.741707444190979,
0.6221811175346375,
0.8754448890686035,
0.9742906093597412,
0.9999997615814209,
0.9999986886978149,
0.9234237670898438
],
"mean": [
0.26885104179382324,
0.04935375601053238,
0.1014677882194519,
0.2985210716724396,
0.5588188171386719,
0.5805578827857971,
0.32415473461151123
],
"std": [
0.10828693211078644,
0.11229608207941055,
0.16468586027622223,
0.2257710099220276,
0.1747369021177292,
0.16673901677131653,
0.2171994000673294
],
"count": [
140734002
]
},
"master_actions.right_joint.position": {
"min": [
-2.434485912322998,
-0.1285504698753357,
-2.697770833969116,
-1.838684320449829,
-1.438529133796692,
-3.152780771255493
],
"max": [
2.5673346519470215,
3.227501392364502,
0.10000000149011612,
2.0781197547912598,
1.2698651552200317,
3.143770933151245
],
"mean": [
0.13015668094158173,
1.1138514280319214,
-0.5784544348716736,
0.015671491622924805,
0.1458757221698761,
0.06413716077804565
],
"std": [
0.34204918146133423,
1.0125912427902222,
0.6097834706306458,
0.4529888331890106,
0.48275917768478394,
0.6520413160324097
],
"count": [
140734002
]
},
"states.right_tcp_to_robot_pose": {
"min": [
-0.08276224136352539,
-0.9443843960762024,
0.22606363892555237,
-0.6883538365364075,
-0.7069259285926819,
-0.7067217826843262,
-0.639345109462738
],
"max": [
1.110187292098999,
0.3900037705898285,
1.5281490087509155,
0.9742906093597412,
0.9999997615814209,
0.9999986886978149,
0.9234237670898438
],
"mean": [
0.6365596652030945,
-0.2566606104373932,
0.8450635671615601,
0.2985210716724396,
0.5588188171386719,
0.5805578827857971,
0.32415473461151123
],
"std": [
0.10863983631134033,
0.11275418847799301,
0.21679797768592834,
0.2257710099220276,
0.1747369021177292,
0.16673901677131653,
0.2171994000673294
],
"count": [
140734002
]
},
"images.rgb.hand_left": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.4441868021551884
]
],
[
[
0.41597173428400175
]
],
[
[
0.34237166784828515
]
]
],
"std": [
[
[
0.29067710575918515
]
],
[
[
0.28972209951677325
]
],
[
[
0.2933734839385213
]
]
],
"count": [
45122
]
},
"states.robot_to_env_pose": {
"min": [
-0.6499999761581421,
-0.9956024289131165,
-0.18997018039226532,
0.6501463651657104,
0.0,
0.0,
0.0
],
"max": [
0.5,
0.0,
1.11270010471344,
1.0,
0.0,
0.0,
0.7598090171813965
],
"mean": [
-0.153135284781456,
-0.5970349311828613,
0.3124224543571472,
0.7936331629753113,
0.0,
0.0,
0.49888527393341064
],
"std": [
0.3460584580898285,
0.3855804204940796,
0.09607596695423126,
0.13318559527397156,
0.0,
0.0,
0.3217467665672302
],
"count": [
140734002
]
},
"master_actions.left_gripper.openness": {
"min": [
0.0
],
"max": [
1.0
],
"mean": [
0.7241345047950745
],
"std": [
0.4469493329524994
],
"count": [
140734002
]
},
"states.left_joint.position": {
"min": [
-3.2543811798095703,
-5.382970333099365,
-4.176327705383301,
-5.667778968811035,
-3.302025079727173,
-5.5212812423706055
],
"max": [
2.934131622314453,
3.700263738632202,
1.7281842231750488,
6.226835250854492,
5.262518882751465,
5.644815444946289
],
"mean": [
-0.11979271471500397,
1.097491979598999,
-0.5771632790565491,
-0.014600537717342377,
0.1593320369720459,
-0.013842573389410973
],
"std": [
0.3441177010536194,
1.016944408416748,
0.6220349073410034,
0.45014500617980957,
0.4716706871986389,
0.6326843500137329
],
"count": [
140734002
]
},
"actions.right_gripper.position": {
"min": [
0.0
],
"max": [
0.10000000149011612
],
"mean": [
0.0792401060461998
],
"std": [
0.03353779762983322
],
"count": [
6595178250
]
},
"states.right_ee_to_robot_pose": {
"min": [
-0.028216272592544556,
-0.8484576940536499,
0.35702934861183167,
-0.6883538365364075,
-0.7069259285926819,
-0.7067217826843262,
-0.639345109462738
],
"max": [
0.9752058386802673,
0.39043501019477844,
1.4359015226364136,
0.9742906093597412,
0.9999997615814209,
0.9999986886978149,
0.9234237670898438
],
"mean": [
0.5475029349327087,
-0.2630947530269623,
0.9011321067810059,
0.2985210716724396,
0.5588188171386719,
0.5805578827857971,
0.32415473461151123
],
"std": [
0.13649895787239075,
0.10426505655050278,
0.1809215396642685,
0.2257710099220276,
0.1747369021177292,
0.16673901677131653,
0.2171994000673294
],
"count": [
140734002
]
},
"actions.left_tcp_to_robot_pose": {
"min": [
-0.3458949029445648,
-0.4370867609977722,
0.2571527361869812,
-0.6810635924339294,
-0.7065035104751587,
-0.7066988945007324,
-0.7018314003944397
],
"max": [
1.1140633821487427,
0.9690123200416565,
1.5338891744613647,
0.9908026456832886,
0.9999997615814209,
0.9999973177909851,
0.9974037408828735
],
"mean": [
0.6357005834579468,
0.2606411278247833,
0.8467095494270325,
0.3244139850139618,
0.5909926295280457,
0.5437721014022827,
0.30256667733192444
],
"std": [
0.11043605953454971,
0.11569522321224213,
0.21444790065288544,
0.21433334052562714,
0.16606785356998444,
0.180710569024086,
0.22819946706295013
],
"count": [
140734002
]
},
"states.left_gripper.position": {
"min": [
0.0
],
"max": [
0.10000000149011612
],
"mean": [
0.08218322694301605
],
"std": [
0.031047416850924492
],
"count": [
140734002
]
},
"task_index": {
"min": [
0.0
],
"max": [
4999.0
],
"mean": [
423.9349670410156
],
"std": [
1091.6944580078125
],
"count": [
140734002
]
},
"hand_right_camera_to_robot_extrinsics": {
"min": [
-0.6905869245529175,
-0.8690706491470337,
0.32134535908699036,
-0.6513309478759766,
-0.7071056962013245,
-0.7070999145507812,
-0.6609262824058533
],
"max": [
1.0729882717132568,
0.533940315246582,
1.5637047290802002,
0.9111233353614807,
0.9999918937683105,
0.9999727010726929,
0.947531521320343
],
"mean": [
0.6030780673027039,
-0.26039668917655945,
0.9353480339050293,
-0.037186041474342346,
0.216138556599617,
-0.06040477752685547,
0.08872044831514359
],
"std": [
0.14796583354473114,
0.11174508929252625,
0.20933958888053894,
0.2917427122592926,
0.6195893287658691,
0.6282190680503845,
0.2769794762134552
],
"count": [
140734002
]
},
"head_camera_intrinsics": {
"min": [
323.3450012207031,
323.3450012207031,
319.54998779296875,
180.0
],
"max": [
323.3450012207031,
323.3450012207031,
320.0,
182.17999267578125
],
"mean": [
323.344970703125,
323.344970703125,
319.6820373535156,
181.53976440429688
],
"std": [
0.0,
0.0,
0.33071890473365784,
1.0
],
"count": [
140734002
]
},
"states.right_ee_to_right_armbase_pose": {
"min": [
-0.3966960608959198,
-0.542458176612854,
-0.29567474126815796,
-0.6883538365364075,
-0.7069259285926819,
-0.7067217826843262,
-0.639345109462738
],
"max": [
0.6067260503768921,
0.5576760172843933,
0.7405033707618713,
0.9742906093597412,
0.9999997615814209,
0.9999986886978149,
0.9234237670898438
],
"mean": [
0.1797945499420166,
0.042919594794511795,
0.15753614902496338,
0.2985210716724396,
0.5588188171386719,
0.5805578827857971,
0.32415473461151123
],
"std": [
0.13620012998580933,
0.10375446826219559,
0.11580874025821686,
0.2257710099220276,
0.1747369021177292,
0.16673901677131653,
0.2171994000673294
],
"count": [
140734002
]
},
"index": {
"min": [
0.0
],
"max": [
7764545.0
],
"mean": [
1510573.75
],
"std": [
1684854.25
],
"count": [
140734002
]
},
"hand_right_camera_intrinsics": {
"min": [
488.5199890136719,
488.5199890136719,
320.0,
219.14999389648438
],
"max": [
488.52001953125,
488.52001953125,
323.92999267578125,
240.0
],
"mean": [
488.52008056640625,
488.52008056640625,
322.77587890625,
225.27333068847656
],
"std": [
0.0,
0.0,
1.7743836641311646,
9.498149871826172
],
"count": [
140734002
]
},
"actions.right_tcp_to_right_armbase_pose": {
"min": [
-0.45124202966690063,
-0.6383848786354065,
-0.42664045095443726,
-0.6883538365364075,
-0.7069259285926819,
-0.7067217826843262,
-0.639345109462738
],
"max": [
0.741707444190979,
0.6221811175346375,
0.8754448890686035,
0.9742906093597412,
0.9999997615814209,
0.9999986886978149,
0.9234237670898438
],
"mean": [
0.2689306139945984,
0.04941776767373085,
0.10137875378131866,
0.2983893156051636,
0.5588445067405701,
0.5806004405021667,
0.3240683376789093
],
"std": [
0.10832449048757553,
0.11235810816287994,
0.16469065845012665,
0.22578923404216766,
0.1747896820306778,
0.16678547859191895,
0.2172321379184723
],
"count": [
140734002
]
},
"actions.left_ee_to_left_armbase_pose": {
"min": [
-0.5884126424789429,
-0.608224630355835,
-0.2754264175891876,
-0.6810635924339294,
-0.7065035104751587,
-0.7066988945007324,
-0.7018314003944397
],
"max": [
0.612777590751648,
0.5600533485412598,
0.7476311326026917,
0.9908026456832886,
0.9999997615814209,
0.9999973177909851,
0.9974037408828735
],
"mean": [
0.17884916067123413,
-0.038529254496097565,
0.1585167646408081,
0.3244139850139618,
0.5909926295280457,
0.5437721014022827,
0.30256667733192444
],
"std": [
0.1379464715719223,
0.10564188659191132,
0.11555158346891403,
0.21433334052562714,
0.16606785356998444,
0.180710569024086,
0.22819946706295013
],
"count": [
140734002
]
},
"images.rgb.hand_right": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.4193312113629196
]
],
[
[
0.3810729839271265
]
],
[
[
0.3187468330639471
]
]
],
"std": [
[
[
0.2841136709790627
]
],
[
[
0.282255425701027
]
],
[
[
0.28496869997392543
]
]
],
"count": [
45122
]
},
"states.left_ee_to_left_armbase_pose": {
"min": [
-0.5884126424789429,
-0.608224630355835,
-0.2754264175891876,
-0.6810635924339294,
-0.7065035104751587,
-0.7066988945007324,
-0.7018314003944397
],
"max": [
0.612777590751648,
0.5600533485412598,
0.7476311326026917,
0.9908026456832886,
0.9999997615814209,
0.9999973177909851,
0.9974037408828735
],
"mean": [
0.17873349785804749,
-0.03847946971654892,
0.15858249366283417,
0.32451432943344116,
0.5909246206283569,
0.5437784194946289,
0.30270442366600037
],
"std": [
0.13791625201702118,
0.10558783262968063,
0.11553528159856796,
0.21429961919784546,
0.16602711379528046,
0.18059509992599487,
0.22818759083747864
],
"count": [
140734002
]
},
"frame_index": {
"min": [
0.0
],
"max": [
2524.0
],
"mean": [
510.5065002441406
],
"std": [
382.5806884765625
],
"count": [
140734002
]
},
"states.left_tcp_to_left_armbase_pose": {
"min": [
-0.7143740653991699,
-0.7430874109268188,
-0.3972698152065277,
-0.6810635924339294,
-0.7065035104751587,
-0.7066988945007324,
-0.7018314003944397
],
"max": [
0.7455841898918152,
0.6630117297172546,
0.8811851143836975,
0.9908026456832886,
0.9999997615814209,
0.9999973177909851,
0.9974037408828735
],
"mean": [
0.26791107654571533,
-0.04528561979532242,
0.1032145693898201,
0.32451432943344116,
0.5909246206283569,
0.5437784194946289,
0.30270442366600037
],
"std": [
0.11005232483148575,
0.11516595631837845,
0.16451697051525116,
0.21429961919784546,
0.16602711379528046,
0.18059509992599487,
0.22818759083747864
],
"count": [
140734002
]
},
"master_actions.right_gripper.openness": {
"min": [
0.0
],
"max": [
1.0
],
"mean": [
0.7129793167114258
],
"std": [
0.4523712992668152
],
"count": [
140734002
]
},
"states.right_gripper.position": {
"min": [
0.0
],
"max": [
0.10000000149011612
],
"mean": [
0.079810231924057
],
"std": [
0.033357903361320496
],
"count": [
140734002
]
},
"actions.left_gripper.position": {
"min": [
0.0
],
"max": [
0.10000000149011612
],
"mean": [
0.08181704580783844
],
"std": [
0.031117508187890053
],
"count": [
6595178250
]
},
"hand_left_camera_intrinsics": {
"min": [
488.5199890136719,
488.5199890136719,
320.0,
219.14999389648438
],
"max": [
488.52001953125,
488.52001953125,
323.92999267578125,
240.0
],
"mean": [
488.52008056640625,
488.52008056640625,
322.77587890625,
225.27333068847656
],
"std": [
0.0,
0.0,
1.7743836641311646,
9.498149871826172
],
"count": [
140734002
]
},
"actions.right_joint.position": {
"min": [
-3.535360097885132,
-3.139975070953369,
-3.5516698360443115,
-6.497945308685303,
-2.046909809112549,
-5.885282516479492
],
"max": [
3.6048355102539062,
2.503293037414551,
2.6970412731170654,
5.2901997566223145,
2.8236117362976074,
5.798579216003418
],
"mean": [
0.006119924131780863,
0.027109887450933456,
-0.015277665108442307,
0.0007048075785860419,
0.000294084835331887,
0.0040274010971188545
],
"std": [
0.12368004769086838,
0.28108057379722595,
0.17792865633964539,
0.16638171672821045,
0.1522567868232727,
0.22259116172790527
],
"count": [
6595178250
]
},
"actions.right_ee_to_right_armbase_pose": {
"min": [
-0.3966960608959198,
-0.542458176612854,
-0.29567474126815796,
-0.6883538365364075,
-0.7069259285926819,
-0.7067217826843262,
-0.639345109462738
],
"max": [
0.6067260503768921,
0.5576760172843933,
0.7405033707618713,
0.9742906093597412,
0.9999997615814209,
0.9999986886978149,
0.9234237670898438
],
"mean": [
0.17990116775035858,
0.042974356561899185,
0.15747743844985962,
0.2983893156051636,
0.5588445067405701,
0.5806004405021667,
0.3240683376789093
],
"std": [
0.1362268328666687,
0.10381022095680237,
0.11582545191049576,
0.22578923404216766,
0.1747896820306778,
0.16678547859191895,
0.2172321379184723
],
"count": [
140734002
]
},
"timestamp": {
"min": [
0.0
],
"max": [
84.13333129882812
],
"mean": [
17.016887664794922
],
"std": [
12.75267219543457
],
"count": [
140734002
]
}
},
"r1lite": {
"observation.state.torso": {
"min": [
-1.3646999597549438,
0.0021286357659846544,
-0.6998000144958496,
0.0
],
"max": [
0.40950000286102295,
2.610599994659424,
1.5721999406814575,
0.0
],
"mean": [
-0.7528386116027832,
1.846501350402832,
0.8288441896438599,
0.0
],
"std": [
0.324745774269104,
0.62168288230896,
0.375042200088501,
0.0
],
"count": [
24955715
]
},
"quality_index": {
"min": [
0.0
],
"max": [
138.0
],
"mean": [
3.8923211097717285
],
"std": [
3.7888870239257812
],
"count": [
24955715
]
},
"observation.state.right_arm.velocities": {
"min": [
-3.4133334159851074,
-2.804689884185791,
-4.058213710784912,
-7.850410461425781,
-3.5305492877960205,
-3.7301387786865234
],
"max": [
3.418898105621338,
2.7522342205047607,
3.2253143787384033,
33.0,
3.6035923957824707,
3.940636157989502
],
"mean": [
-0.004383718129247427,
-0.0023524698335677385,
-0.004442117642611265,
0.0022155847400426865,
-0.00043171801371499896,
0.0003148799587506801
],
"std": [
0.15448066592216492,
0.31483954191207886,
0.25518879294395447,
0.35339590907096863,
0.18543203175067902,
0.18118934333324432
],
"count": [
24955715
]
},
"observation.images.head_rgb": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.310406791308353
]
],
[
[
0.3364758096137517
]
],
[
[
0.3575578778045528
]
]
],
"std": [
[
[
0.12998542428666487
]
],
[
[
0.14478040143408535
]
],
[
[
0.1418868790643692
]
]
],
"count": [
13499
]
},
"observation.state.chassis.imu": {
"min": [
-0.918112576007843,
-0.9241511821746826,
-0.9999881386756897,
-0.9999999403953552,
-31.611072540283203,
-26.975093841552734,
-46.265960693359375,
-2.481032609939575,
-1.2786251306533813,
-2.431514263153076
],
"max": [
0.9255990386009216,
0.9234611392021179,
1.0,
1.0,
43.420570373535156,
26.794357299804688,
45.619468688964844,
0.7760823369026184,
0.8708411455154419,
0.0
],
"mean": [
0.017793025821447372,
0.001063281437382102,
0.12925782799720764,
0.04194711148738861,
-0.00017003082029987127,
0.000196883556782268,
-0.00019624839478638023,
-0.0028441085014492273,
0.0009831029456108809,
-0.8953841328620911
],
"std": [
0.15124964714050293,
0.1609652191400528,
0.5854403376579285,
0.7679119110107422,
0.2801362872123718,
0.24376030266284943,
3.496213436126709,
0.013456371612846851,
0.011680731549859047,
0.3082411587238312
],
"count": [
24955715
]
},
"observation.images.left_wrist_rgb": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.42204212292575205
]
],
[
[
0.4228723265791818
]
],
[
[
0.41196912944088027
]
]
],
"std": [
[
[
0.16584299197166966
]
],
[
[
0.17176771732070517
]
],
[
[
0.18506052262560035
]
]
],
"count": [
13499
]
},
"action.right_gripper": {
"min": [
0.0
],
"max": [
100.0
],
"mean": [
12.788476943969727
],
"std": [
33.34691619873047
],
"count": [
1201039750
]
},
"action.left_gripper": {
"min": [
0.0
],
"max": [
100.0
],
"mean": [
9.299878120422363
],
"std": [
29.00661849975586
],
"count": [
1201039750
]
},
"observation.state.right_ee_pose": {
"min": [
-0.3939395844936371,
-0.8794258832931519,
-0.010399936698377132,
-0.8668333292007446,
-0.7848459482192993,
-0.8395054340362549,
-0.501447856426239
],
"max": [
0.557729184627533,
0.19289010763168335,
0.8154382109642029,
0.9797406792640686,
0.9156375527381897,
0.8963977098464966,
1.0
],
"mean": [
0.11657500267028809,
-0.28982818126678467,
0.3980674147605896,
0.011398512870073318,
0.08967356383800507,
0.06060345098376274,
0.9470707774162292
],
"std": [
0.16283421218395233,
0.09806319326162338,
0.09267628937959671,
0.15804804861545563,
0.17163042724132538,
0.16247156262397766,
0.10188155621290207
],
"count": [
24955715
]
},
"action.torso.velocities": {
"min": [
-0.15000000596046448,
0.0,
-0.15000000596046448,
0.0,
-0.20000000298023224,
0.0
],
"max": [
0.15000000596046448,
0.0,
0.15000000596046448,
0.0,
0.20000000298023224,
0.0
],
"mean": [
-1.4325205484055914e-05,
0.0,
-0.0002549121854826808,
0.0,
0.00010005346848629415,
0.0
],
"std": [
0.00512965302914381,
0.0,
0.018613016232848167,
0.0,
0.04117102548480034,
0.0
],
"count": [
24955715
]
},
"observation.state.left_arm": {
"min": [
-1.8894253969192505,
-0.035957448184490204,
-0.020638298243284225,
-1.5852957963943481,
-1.573191523551941,
-2.7455317974090576
],
"max": [
2.4059574604034424,
3.068297863006592,
2.07808518409729,
1.5297871828079224,
1.559148907661438,
2.864255428314209
],
"mean": [
-0.13410495221614838,
0.6588293313980103,
0.4278900623321533,
-0.0953441932797432,
-0.022954823449254036,
-0.03137696534395218
],
"std": [
0.29452604055404663,
0.8863409161567688,
0.61688232421875,
0.44199320673942566,
0.2700335383415222,
0.32321760058403015
],
"count": [
24955715
]
},
"observation.state.left_gripper": {
"min": [
-0.791563868522644
],
"max": [
105.33026123046875
],
"mean": [
13.609153747558594
],
"std": [
25.46707534790039
],
"count": [
24955715
]
},
"frame_index": {
"min": [
0.0
],
"max": [
11362.0
],
"mean": [
951.3330688476562
],
"std": [
904.6624145507812
],
"count": [
24955715
]
},
"observation.images.head_right_rgb": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.3038281707424143
]
],
[
[
0.32925699878357806
]
],
[
[
0.35136646749513106
]
]
],
"std": [
[
[
0.1558577229567978
]
],
[
[
0.16961223496704358
]
],
[
[
0.15863366590492434
]
]
],
"count": [
13499
]
},
"coarse_task_index": {
"min": [
0.0
],
"max": [
35.0
],
"mean": [
3.995201826095581
],
"std": [
4.931689262390137
],
"count": [
24955715
]
},
"observation.state.left_arm.velocities": {
"min": [
-3.562807559967041,
-4.085140228271484,
-3.717001438140869,
-3.7975144386291504,
-5.560959339141846,
-3.7200992107391357
],
"max": [
2.815143585205078,
3.3880796432495117,
3.300410509109497,
33.0,
14.246735572814941,
4.6829657554626465
],
"mean": [
-0.004290922079235315,
-0.0023432099260389805,
-0.004320614971220493,
0.0012033687671646476,
-0.0005021674442104995,
0.0005878403899259865
],
"std": [
0.13006789982318878,
0.2548893988132477,
0.20746059715747833,
0.26477867364883423,
0.160893052816391,
0.15912918746471405
],
"count": [
24955715
]
},
"observation.state.right_gripper": {
"min": [
-0.5697948932647705
],
"max": [
103.20832824707031
],
"mean": [
17.718637466430664
],
"std": [
29.304967880249023
],
"count": [
24955715
]
},
"observation.state.right_arm": {
"min": [
-2.7612764835357666,
-0.02638297900557518,
-0.04021276533603668,
-1.594680905342102,
-1.5360530614852905,
-2.785531997680664
],
"max": [
1.908510684967041,
3.0778722763061523,
2.026808500289917,
1.5695744752883911,
1.556595802307129,
2.7854864597320557
],
"mean": [
0.14612187445163727,
0.8654499053955078,
0.5777717232704163,
-0.09977196156978607,
0.010314477607607841,
0.03967484086751938
],
"std": [
0.3207980692386627,
0.9255075454711914,
0.6633052229881287,
0.48605525493621826,
0.29837748408317566,
0.38049107789993286
],
"count": [
24955715
]
},
"observation.images.right_wrist_rgb": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.3861235910761403
]
],
[
[
0.4160659668205874
]
],
[
[
0.4129276805947542
]
]
],
"std": [
[
[
0.24059274759651372
]
],
[
[
0.24003254513506064
]
],
[
[
0.2447977959134732
]
]
],
"count": [
13499
]
},
"observation.state.torso.velocities": {
"min": [
-0.7815655469894409,
-0.6956666707992554,
-0.7689262628555298,
0.0
],
"max": [
0.7671763896942139,
0.7543333172798157,
0.7350000143051147,
0.0
],
"mean": [
-0.002247136551886797,
-0.002590067218989134,
-0.002386949025094509,
0.0
],
"std": [
0.025745052844285965,
0.05157036706805229,
0.051572464406490326,
0.0
],
"count": [
24955715
]
},
"coarse_quality_index": {
"min": [
0.0
],
"max": [
14.0
],
"mean": [
3.6030168533325195
],
"std": [
3.0026111602783203
],
"count": [
24955715
]
},
"index": {
"min": [
0.0
],
"max": [
590730.0
],
"mean": [
82172.84375
],
"std": [
78075.4921875
],
"count": [
24955715
]
},
"observation.state.left_ee_pose": {
"min": [
-0.39218419790267944,
-0.19763776659965515,
-0.0020595176611095667,
-0.8536570072174072,
-0.7283123135566711,
-0.862666666507721,
-0.5002913475036621
],
"max": [
0.555766761302948,
0.8684892654418945,
0.811620831489563,
0.9903586506843567,
0.8518361449241638,
0.9111840724945068,
1.0
],
"mean": [
0.08045100420713425,
0.29365622997283936,
0.3817548155784607,
-0.00594243174418807,
0.06274870783090591,
-0.06416986137628555,
0.9576067328453064
],
"std": [
0.15027235448360443,
0.09032547473907471,
0.08393698930740356,
0.1335635930299759,
0.15515339374542236,
0.16158992052078247,
0.08291656523942947
],
"count": [
24955715
]
},
"action.right_arm": {
"min": [
-2.601111888885498,
-3.0785999298095703,
-4.053196907043457,
-3.0836987495422363,
-3.360732316970825,
-4.269698143005371
],
"max": [
2.732531785964966,
3.066685199737549,
0.558368980884552,
3.2521560192108154,
2.7173075675964355,
4.370365142822266
],
"mean": [
0.00014281427138485014,
-0.0034741421695798635,
-1.1880712509155273,
-0.0006368600879795849,
-0.000552683137357235,
0.0005258810706436634
],
"std": [
0.19903713464736938,
0.5220126509666443,
1.2852842807769775,
0.3087488114833832,
0.18766407668590546,
0.2176390141248703
],
"count": [
1201039750
]
},
"action.left_arm": {
"min": [
-6.2663116455078125,
-4.2606282234191895,
-4.155095100402832,
-3.1091203689575195,
-2.2109735012054443,
-4.382477760314941
],
"max": [
2.4803993701934814,
3.056798219680786,
1.5569905042648315,
3.1194212436676025,
3.079810857772827,
3.8810434341430664
],
"mean": [
0.0005016275099478662,
-0.0027281250804662704,
-0.8814226984977722,
-0.0003191337164025754,
0.00039587481296621263,
0.00027498078998178244
],
"std": [
0.16775336861610413,
0.4324590861797333,
1.2116495370864868,
0.2602379024028778,
0.15734919905662537,
0.1795528680086136
],
"count": [
1201039750
]
},
"action.chassis.velocities": {
"min": [
-0.20000000298023224,
-0.20000000298023224,
-0.6000000238418579
],
"max": [
0.20000000298023224,
0.20000000298023224,
0.6000000238418579
],
"mean": [
0.0006922492175363004,
4.623676068149507e-05,
-3.847648258670233e-05
],
"std": [
0.02722763642668724,
0.02903536707162857,
0.06940367817878723
],
"count": [
24955715
]
},
"timestamp": {
"min": [
0.0
],
"max": [
757.4666748046875
],
"mean": [
63.42218780517578
],
"std": [
60.31088638305664
],
"count": [
24955715
]
},
"episode_index": {
"min": [
0.0
],
"max": [
753.0
],
"mean": [
50.636173248291016
],
"std": [
57.10096740722656
],
"count": [
24955715
]
},
"task_index": {
"min": [
0.0
],
"max": [
936.0
],
"mean": [
40.46322250366211
],
"std": [
79.93987274169922
],
"count": [
24955715
]
},
"observation.state.chassis": {
"min": [
-9.425999641418457,
-6.2829999923706055,
-6.895999908447266,
-0.6195303201675415,
-0.9211705923080444,
-0.42691951990127563
],
"max": [
12.033696174621582,
11.938294410705566,
12.036173820495605,
0.40539395809173584,
1.1303400993347168,
0.3726104497909546
],
"mean": [
2.482008218765259,
1.7933748960494995,
2.718313455581665,
0.0020001865923404694,
0.0011708351084962487,
0.0012164307991042733
],
"std": [
3.141000509262085,
2.9728362560272217,
3.2609987258911133,
0.04141516610980034,
0.04892665892839432,
0.04176684841513634
],
"count": [
24955715
]
}
},
"agilex_3rgb": {
"observation.states.joint_position_left": {
"min": [
-2.091057777404785,
-0.00171661376953125,
0.01430511474609375,
-1.4269094467163086,
-1.5802621841430664,
-1.5718698501586914,
-0.01807236671447754
],
"max": [
0.7108793258666992,
2.5907907485961914,
3.1435489654541016,
1.3509960174560547,
1.563858985900879,
1.5787363052368164,
5.4465179443359375
],
"mean": [
-0.28747260570526123,
0.773970901966095,
0.8243739008903503,
-0.5302353501319885,
0.16564816236495972,
-0.030084166675806046,
0.8913196325302124
],
"std": [
0.3195142447948456,
0.668306827545166,
0.6484689116477966,
0.4016237258911133,
0.26300227642059326,
0.19933897256851196,
1.552107572555542
],
"count": [
5431759
]
},
"actions.end_effector_right": {
"min": [
-0.242858424782753,
-0.0763055756688118,
-0.1036459431052208,
-3.1395134925842285,
-1.3025472164154053,
-3.141434669494629,
-0.2508211135864258
],
"max": [
0.3965003192424774,
0.512925386428833,
0.4673699140548706,
3.1369271278381348,
1.5675408840179443,
3.1402270793914795,
5.944342613220215
],
"mean": [
0.046655137091875076,
0.06402244418859482,
0.11799878627061844,
0.2520587742328644,
0.5331304669380188,
0.5759777426719666,
0.4578758478164673
],
"std": [
0.08763006329536438,
0.07439202815294266,
0.09436066448688507,
0.329624205827713,
0.3304399847984314,
0.3785567581653595,
0.7613265514373779
],
"count": [
5431759
]
},
"actions.joint_position_right": {
"min": [
-2.3014421463012695,
-2.0698862075805664,
-2.5452041625976562,
-2.282750129699707,
-1.683070182800293,
-1.628519058227539,
-0.9864921569824219
],
"max": [
1.330204963684082,
2.1980628967285156,
1.8825817108154297,
2.3781185150146484,
1.725794792175293,
2.080948829650879,
10.480659484863281
],
"mean": [
0.0025147716514766216,
-0.007389510981738567,
-0.012093260884284973,
0.012490437366068363,
0.007579103112220764,
-0.008911356329917908,
1.676374912261963
],
"std": [
0.16907502710819244,
0.35854336619377136,
0.30457809567451477,
0.278882771730423,
0.14621736109256744,
0.133461132645607,
2.237295389175415
],
"count": [
250424850
]
},
"observation.states.joint_position_right": {
"min": [
-0.3152894973754883,
-0.00629425048828125,
0.00820159912109375,
-1.3658733367919922,
-1.2617301940917969,
-1.3296327590942383,
-0.02064736746251583
],
"max": [
2.2703514099121094,
2.91428279876709,
3.156519889831543,
1.3693065643310547,
1.5711069107055664,
1.585984230041504,
5.322538375854492
],
"mean": [
0.3233942985534668,
0.7908617258071899,
0.8556858897209167,
-0.6464936137199402,
-0.18356691300868988,
0.09241010993719101,
0.9615775346755981
],
"std": [
0.2994566261768341,
0.5923676490783691,
0.551389753818512,
0.40894994139671326,
0.2594775855541229,
0.1825914978981018,
1.5919374227523804
],
"count": [
5431759
]
},
"actions.joint_effort_left": {
"min": [
-0.6021976470947266,
-10.843955993652344,
-2.105494499206543,
-0.41758155822753906,
-1.3494510650634766,
-0.628570556640625,
-2.123077392578125
],
"max": [
0.41758155822753906,
6.290109634399414,
6.0615386962890625,
4.391208648681641,
1.410989761352539,
0.46153831481933594,
0.7956047058105469
],
"mean": [
-0.008756864815950394,
-1.3511583805084229,
5.115610122680664,
2.9742894172668457,
0.09996873885393143,
-0.008826961740851402,
-0.008796649053692818
],
"std": [
0.016776753589510918,
2.9936883449554443,
0.5335214138031006,
0.5079467296600342,
0.1996859312057495,
0.009741674177348614,
0.021323945373296738
],
"count": [
5431759
]
},
"frame_index": {
"min": [
0.0
],
"max": [
1165.0
],
"mean": [
331.6827087402344
],
"std": [
212.988525390625
],
"count": [
5431759
]
},
"task_index": {
"min": [
0.0
],
"max": [
0.0
],
"mean": [
0.0
],
"std": [
0.0
],
"count": [
5431759
]
},
"episode_index": {
"min": [
0.0
],
"max": [
399.0
],
"mean": [
82.09844207763672
],
"std": [
64.3377914428711
],
"count": [
5431759
]
},
"actions.joint_velocity_right": {
"min": [
-14.80219841003418,
-15.219779968261719,
-18.208791732788086,
-9.153846740722656,
-7.791210174560547,
-9.285713195800781,
-18.89011001586914
],
"max": [
9.483516693115234,
9.967033386230469,
13.153846740722656,
7.6813201904296875,
5.703296661376953,
7.373626708984375,
12.538459777832031
],
"mean": [
-0.02002476528286934,
0.0008638371946290135,
-0.023961903527379036,
-0.014015709049999714,
-0.013368764892220497,
-0.02821561135351658,
-0.009114702232182026
],
"std": [
0.9188951849937439,
1.7448863983154297,
1.6953157186508179,
0.5613622069358826,
0.3522844910621643,
0.30369696021080017,
0.4927707314491272
],
"count": [
5431759
]
},
"observation.states.end_effector_left": {
"min": [
-0.2872166037559509,
-0.44644996523857117,
-0.05806363373994827,
-3.0451910495758057,
-1.0462472438812256,
-3.1390371322631836,
-0.21686840057373047
],
"max": [
0.4159260392189026,
0.19990402460098267,
0.5292775630950928,
3.0727219581604004,
1.5617839097976685,
3.137641429901123,
5.4465179443359375
],
"mean": [
0.05904727056622505,
-0.06713803857564926,
0.11111923307180405,
-0.1419944018125534,
0.44501227140426636,
-0.49288687109947205,
1.390066385269165
],
"std": [
0.09478478133678436,
0.08323042094707489,
0.10235993564128876,
0.30482834577560425,
0.3165372312068939,
0.41174644231796265,
1.832593560218811
],
"count": [
5431759
]
},
"observation.images.camera_front": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.5587154861641113
]
],
[
[
0.5404295332508913
]
],
[
[
0.5682011454857158
]
]
],
"std": [
[
[
0.2699721332940541
]
],
[
[
0.2791937542078403
]
],
[
[
0.27449330157240165
]
]
],
"count": [
14413
]
},
"observation.images.camera_right_wrist": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.5487027266852181
]
],
[
[
0.5366247790580536
]
],
[
[
0.5625793916360459
]
]
],
"std": [
[
[
0.2684369257279201
]
],
[
[
0.2845136527670715
]
],
[
[
0.28098340032345026
]
]
],
"count": [
14413
]
},
"observation.states.joint_velocity_left": {
"min": [
-8.164836883544922,
-12.824176788330078,
-18.428571701049805,
-7.0,
-6.120880126953125,
-4.3186798095703125,
-35.74725341796875
],
"max": [
10.934066772460938,
9.0,
10.208789825439453,
6.472526550292969,
5.659339904785156,
4.4945068359375,
35.19779968261719
],
"mean": [
-0.0036565803457051516,
0.00521991029381752,
-0.012007856741547585,
-0.013096676208078861,
-0.010498746298253536,
0.002634933218359947,
-0.005488502327352762
],
"std": [
0.9077962040901184,
1.726312279701233,
1.6808233261108398,
0.5455536842346191,
0.3717213273048401,
0.287553071975708,
3.2805840969085693
],
"count": [
5431759
]
},
"index": {
"min": [
0.0
],
"max": [
265466.0
],
"mean": [
55094.390625
],
"std": [
45828.03515625
],
"count": [
5431759
]
},
"actions.end_effector_left": {
"min": [
-0.2799898386001587,
-0.4494718909263611,
-0.07776334881782532,
-3.1352176666259766,
-1.0878318548202515,
-3.13797664642334,
-0.18406391143798828
],
"max": [
0.4182470738887787,
0.19864864647388458,
0.5306239128112793,
3.080735445022583,
1.5685882568359375,
3.1369881629943848,
5.053596496582031
],
"mean": [
0.05952170491218567,
-0.06780514866113663,
0.11099974811077118,
-0.1362411081790924,
0.43957698345184326,
-0.49348732829093933,
0.4195646047592163
],
"std": [
0.09510717540979385,
0.08438029885292053,
0.10540428012609482,
0.30080118775367737,
0.3123798072338104,
0.4140182435512543,
0.8100626468658447
],
"count": [
5431759
]
},
"observation.states.joint_velocity_right": {
"min": [
-14.186813354492188,
-14.164834976196289,
-16.78022003173828,
-5.9450531005859375,
-6.384616851806641,
-6.406593322753906,
-35.41758346557617
],
"max": [
9.087913513183594,
10.186813354492188,
12.582416534423828,
6.3186798095703125,
5.769229888916016,
4.802196502685547,
35.109893798828125
],
"mean": [
-0.020511265844106674,
-0.0009253658936358988,
-0.022106315940618515,
-0.0136571004986763,
-0.013794568367302418,
-0.025022635236382484,
-0.0005761573556810617
],
"std": [
0.9167142510414124,
1.7529962062835693,
1.703782558441162,
0.5551345944404602,
0.33905255794525146,
0.2690698802471161,
3.419816017150879
],
"count": [
5431759
]
},
"actions.joint_effort_right": {
"min": [
-4.857142448425293,
-12.540658950805664,
-1.25274658203125,
-0.08351707458496094,
-1.164834976196289,
-1.5076923370361328,
-3.028571128845215
],
"max": [
3.415384292602539,
5.463735580444336,
8.44395637512207,
4.232967376708984,
1.2703304290771484,
0.7164840698242188,
0.9890117645263672
],
"mean": [
-0.00821040291339159,
-1.1134835481643677,
4.9890642166137695,
2.8334362506866455,
-0.1476629376411438,
-0.0087622394785285,
-0.00880709383636713
],
"std": [
0.05776381492614746,
2.7509219646453857,
0.5696431994438171,
0.5729992389678955,
0.21588078141212463,
0.009331543929874897,
0.019683899357914925
],
"count": [
5431759
]
},
"timestamp": {
"min": [
0.0
],
"max": [
38.83333206176758
],
"mean": [
11.056084632873535
],
"std": [
7.099631309509277
],
"count": [
5431759
]
},
"observation.states.end_effector_right": {
"min": [
-0.24242855608463287,
-0.07589682191610336,
-0.08718103915452957,
-3.1246681213378906,
-1.3060177564620972,
-3.1383471488952637,
-0.24776840209960938
],
"max": [
0.395738422870636,
0.5114397406578064,
0.4692436456680298,
3.135423183441162,
1.5701441764831543,
3.126995086669922,
5.322538375854492
],
"mean": [
0.046182408928871155,
0.0633319839835167,
0.1176409050822258,
0.25400054454803467,
0.5370621681213379,
0.5753391981124878,
1.6106741428375244
],
"std": [
0.08706330507993698,
0.07352844625711441,
0.09330929070711136,
0.33231282234191895,
0.3301997184753418,
0.37702083587646484,
1.9792457818984985
],
"count": [
5431759
]
},
"observation.images.camera_left_wrist": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.5437232245172638
]
],
[
[
0.5362069865950264
]
],
[
[
0.564356198252735
]
]
],
"std": [
[
[
0.2725208972510528
]
],
[
[
0.2858724989039733
]
],
[
[
0.28458264532509214
]
]
],
"count": [
14413
]
},
"observation.states.joint_effort_right": {
"min": [
-11.441758155822754,
-17.173625946044922,
-2.5538463592529297,
-5.34945011138916,
-5.287912368774414,
-2.290109634399414,
-12.75164794921875
],
"max": [
6.668132781982422,
5.349451065063477,
12.593406677246094,
8.479120254516602,
8.707693099975586,
1.9472522735595703,
15.265933990478516
],
"mean": [
0.05111362785100937,
-1.0767027139663696,
4.715857982635498,
2.8015520572662354,
-0.14803935587406158,
0.004041035659611225,
-0.05610347166657448
],
"std": [
0.24535082280635834,
2.6119377613067627,
0.8468604683876038,
0.7642866373062134,
0.32193732261657715,
0.16061188280582428,
0.9464777708053589
],
"count": [
5431759
]
},
"observation.states.joint_effort_left": {
"min": [
-6.307692527770996,
-15.863736152648926,
-5.2087907791137695,
-6.413187026977539,
-11.661539077758789,
-3.731867790222168,
-11.547252655029297
],
"max": [
9.771429061889648,
10.30769157409668,
10.167032241821289,
11.397802352905273,
10.079120635986328,
2.2373619079589844,
15.072528839111328
],
"mean": [
-0.026611346751451492,
-1.4031398296356201,
4.630356788635254,
3.0599634647369385,
0.09950751811265945,
0.015479139983654022,
-0.26821258664131165
],
"std": [
0.32744354009628296,
2.960803270339966,
1.0896573066711426,
0.8456670641899109,
0.39028769731521606,
0.1656322330236435,
1.4567573070526123
],
"count": [
5431759
]
},
"actions.joint_velocity_left": {
"min": [
-8.560440063476562,
-12.406593322753906,
-20.05494499206543,
-8.934066772460938,
-7.263736724853516,
-7.615383148193359,
-13.791208267211914
],
"max": [
11.549449920654297,
8.538459777832031,
10.538459777832031,
7.0659332275390625,
6.626373291015625,
7.8131866455078125,
9.5054931640625
],
"mean": [
-0.004096278455108404,
0.005427527241408825,
-0.015180597081780434,
-0.013480075635015965,
-0.01142493262887001,
0.005896538496017456,
-0.009930573403835297
],
"std": [
0.9091798067092896,
1.7164928913116455,
1.6760691404342651,
0.5482800602912903,
0.38453641533851624,
0.3251022398471832,
0.4893917143344879
],
"count": [
5431759
]
},
"actions.joint_position_left": {
"min": [
-1.4679183959960938,
-2.2800798416137695,
-2.7008466720581055,
-1.8703737258911133,
-1.640726089477539,
-2.2632951736450195,
-0.7942314147949219
],
"max": [
2.426565170288086,
2.1206226348876953,
2.249561309814453,
2.644007682800293,
2.0077056884765625,
2.198824882507324,
8.928817749023438
],
"mean": [
-0.0003605557722039521,
-0.008736105635762215,
-0.014216816052794456,
0.014452679082751274,
-0.009145223535597324,
0.014143401756882668,
1.3227381706237793
],
"std": [
0.17524027824401855,
0.35005757212638855,
0.3090607821941376,
0.2696475684642792,
0.17230311036109924,
0.14804020524024963,
2.07096529006958
],
"count": [
250424850
]
}
},
"Genie-1": {
"states.robot_to_env_pose": {
"min": [
-0.02505362220108509,
-0.8499986529350281,
-0.7329345941543579,
0.7071067690849304,
9.313225191043273e-10,
-6.1845634169444e-10,
0.7071067690849304
],
"max": [
0.02499982714653015,
-0.7800002694129944,
0.5921404957771301,
0.7071067690849304,
9.313225191043273e-10,
-6.1845634169444e-10,
0.7071067690849304
],
"mean": [
-0.00048572791274636984,
-0.8120647668838501,
-0.043109118938446045,
0.70710688829422,
9.313214643924539e-10,
-6.184562861832887e-10,
0.70710688829422
],
"std": [
0.014426648616790771,
0.018681146204471588,
0.24654899537563324,
0.0,
1.0168460040996252e-12,
3.215549300352588e-13,
0.0
],
"count": [
18840935
]
},
"states.right_ee_to_robot_pose": {
"min": [
-0.31078800559043884,
-0.8924083113670349,
0.6298943161964417,
-0.7070894241333008,
-0.7070894241333008,
-0.7059944868087769,
-0.6986715197563171
],
"max": [
0.992515504360199,
0.26363980770111084,
1.976650357246399,
0.9996358752250671,
0.9999461770057678,
0.9981772899627686,
0.9997948408126831
],
"mean": [
0.6555368304252625,
-0.2518898844718933,
1.1064378023147583,
-0.41212284564971924,
0.6477658152580261,
-0.08364927023649216,
0.04771997034549713
],
"std": [
0.08204777538776398,
0.12393157929182053,
0.09974391758441925,
0.3799865245819092,
0.3917649984359741,
0.29449325799942017,
0.12916691601276398
],
"count": [
18840935
]
},
"timestamp": {
"min": [
0.0
],
"max": [
31.100000381469727
],
"mean": [
7.7030205726623535
],
"std": [
5.915524482727051
],
"count": [
18840935
]
},
"actions.left_tcp_to_left_armbase_pose": {
"min": [
-0.6121523976325989,
-0.47860151529312134,
-0.6921423077583313,
-0.7037089467048645,
-0.7055482864379883,
-0.7065842747688293,
-0.7065101861953735
],
"max": [
0.8926814794540405,
1.1109302043914795,
0.8952809572219849,
0.9997661709785461,
0.9741376042366028,
0.9968883991241455,
0.9999511241912842
],
"mean": [
0.4599691927433014,
0.09397410601377487,
0.05024223402142525,
0.20810064673423767,
0.015148259699344635,
0.5758805871009827,
-0.3922157883644104
],
"std": [
0.10501772165298462,
0.10690955072641373,
0.09270329773426056,
0.2074875831604004,
0.23727667331695557,
0.41100969910621643,
0.45023664832115173
],
"count": [
18840935
]
},
"states.left_tcp_to_left_armbase_pose": {
"min": [
-0.6121523976325989,
-0.47860151529312134,
-0.6921423077583313,
-0.7037089467048645,
-0.7055482864379883,
-0.7065842747688293,
-0.7065101861953735
],
"max": [
0.8926814794540405,
1.1109302043914795,
0.8952809572219849,
0.9997661709785461,
0.9741376042366028,
0.9968883991241455,
0.9999511241912842
],
"mean": [
0.4598873257637024,
0.09401200711727142,
0.05021797865629196,
0.20814746618270874,
0.01526036486029625,
0.5759690403938293,
-0.3926793336868286
],
"std": [
0.1049787625670433,
0.10687386244535446,
0.09266682714223862,
0.2073894590139389,
0.23709553480148315,
0.41076067090034485,
0.4500616490840912
],
"count": [
18840935
]
},
"actions.right_ee_to_robot_pose": {
"min": [
-0.31078800559043884,
-0.8924083113670349,
0.6298943161964417,
-0.7070894241333008,
-0.7070894241333008,
-0.7059944868087769,
-0.6986715197563171
],
"max": [
0.992515504360199,
0.26363980770111084,
1.976650357246399,
0.9996358752250671,
0.9999461770057678,
0.9981772899627686,
0.9997948408126831
],
"mean": [
0.6556466221809387,
-0.25173258781433105,
1.106493353843689,
-0.41160672903060913,
0.6476318836212158,
-0.08363071084022522,
0.0477338545024395
],
"std": [
0.08210224658250809,
0.1240018978714943,
0.09976662695407867,
0.3802388906478882,
0.3920782506465912,
0.294724702835083,
0.12926873564720154
],
"count": [
18840935
]
},
"states.left_joint.position": {
"min": [
-3.109011650085449,
-2.169252634048462,
-3.0915133953094482,
-2.0872957706451416,
-2.920048952102661,
-2.4149675369262695,
-3.384948253631592
],
"max": [
3.139195442199707,
1.4823558330535889,
3.0972816944122314,
1.5036227703094482,
3.3714098930358887,
2.0690157413482666,
3.103081703186035
],
"mean": [
-0.7946692705154419,
0.18905329704284668,
0.2246013879776001,
-1.1380754709243774,
0.6706215739250183,
1.2858712673187256,
-0.4450991153717041
],
"std": [
0.7954184412956238,
0.9513732194900513,
0.597927451133728,
0.3587418794631958,
0.522394061088562,
0.4730129837989807,
0.6784234046936035
],
"count": [
18840935
]
},
"states.right_ee_to_right_armbase_pose": {
"min": [
-0.6052932143211365,
-0.8924081921577454,
-0.3942418694496155,
-0.7068179845809937,
-0.706994891166687,
-0.7007423639297485,
-0.7048665285110474
],
"max": [
0.6525636315345764,
0.2636398375034332,
0.6767289638519287,
0.9997367858886719,
0.9982188940048218,
0.9686515927314758,
0.996041476726532
],
"mean": [
0.37170493602752686,
-0.2518899142742157,
0.08480256050825119,
-0.39702022075653076,
0.5879664421081543,
0.034782085567712784,
0.2216065376996994
],
"std": [
0.0727890208363533,
0.12393157929182053,
0.08880368620157242,
0.42891165614128113,
0.397360622882843,
0.255260705947876,
0.1983240246772766
],
"count": [
18840935
]
},
"master_actions.right_joint.position": {
"min": [
-2.652817487716675,
-1.4836039543151855,
-3.0999999046325684,
-1.5054454803466797,
-3.113384485244751,
-2.42360258102417,
-3.05749773979187
],
"max": [
3.1315574645996094,
2.102745771408081,
3.10282564163208,
1.9454772472381592,
3.107654571533203,
1.744158148765564,
3.100193738937378
],
"mean": [
0.7327446937561035,
-0.08170565962791443,
-0.17326156795024872,
1.1093007326126099,
-0.675542950630188,
-1.2999298572540283,
0.5081641674041748
],
"std": [
0.8309195637702942,
1.015968680381775,
0.6271854043006897,
0.40914660692214966,
0.5467023253440857,
0.47398191690444946,
0.6879673600196838
],
"count": [
18840935
]
},
"master_actions.left_gripper.position": {
"min": [
-31.047536849975586
],
"max": [
13.528731346130371
],
"mean": [
0.8458595871925354
],
"std": [
0.29372501373291016
],
"count": [
18840935
]
},
"actions.left_gripper.position": {
"min": [
-31.047536849975586
],
"max": [
13.528731346130371
],
"mean": [
0.8395162224769592
],
"std": [
0.2954457700252533
],
"count": [
817983650
]
},
"actions.right_tcp_to_right_armbase_pose": {
"min": [
-0.8211797475814819,
-1.1121445894241333,
-0.5837138295173645,
-0.7068179845809937,
-0.706994891166687,
-0.7007423639297485,
-0.7048665285110474
],
"max": [
0.867559015750885,
0.4778217673301697,
0.8955612778663635,
0.9997367858886719,
0.9982188940048218,
0.9686515927314758,
0.996041476726532
],
"mean": [
0.45787936449050903,
-0.09895945340394974,
0.054040729999542236,
-0.39651304483413696,
0.5878373980522156,
0.03462059050798416,
0.2215602993965149
],
"std": [
0.11112777143716812,
0.11185362935066223,
0.09612344205379486,
0.4291432499885559,
0.3976511061191559,
0.25548630952835083,
0.19842728972434998
],
"count": [
18840935
]
},
"actions.left_ee_to_left_armbase_pose": {
"min": [
-0.4610773026943207,
-0.2837640643119812,
-0.5628702044487,
-0.7037089467048645,
-0.7055482864379883,
-0.7065842747688293,
-0.7065101861953735
],
"max": [
0.6728261113166809,
0.8915553689002991,
0.6759207248687744,
0.9997661709785461,
0.9741376042366028,
0.9968883991241455,
0.9999511241912842
],
"mean": [
0.37438270449638367,
0.25429069995880127,
0.07536492496728897,
0.20810064673423767,
0.015148259699344635,
0.5758805871009827,
-0.3922157883644104
],
"std": [
0.06809937208890915,
0.1182076558470726,
0.09004274010658264,
0.2074875831604004,
0.23727667331695557,
0.41100969910621643,
0.45023664832115173
],
"count": [
18840935
]
},
"master_actions.left_joint.position": {
"min": [
-3.110853433609009,
-2.1690075397491455,
-3.0916354656219482,
-2.0872957706451416,
-2.920048952102661,
-2.411776065826416,
-3.384948253631592
],
"max": [
3.139894485473633,
1.4823558330535889,
3.0999999046325684,
1.4863662719726562,
3.3714098930358887,
2.0690157413482666,
3.103081703186035
],
"mean": [
-0.793830394744873,
0.18674741685390472,
0.22554057836532593,
-1.1360936164855957,
0.6697815656661987,
1.2854381799697876,
-0.44619667530059814
],
"std": [
0.7989770770072937,
0.9549784660339355,
0.6013912558555603,
0.3610571622848511,
0.5246614813804626,
0.47441530227661133,
0.6801559925079346
],
"count": [
18840935
]
},
"states.right_tcp_to_right_armbase_pose": {
"min": [
-0.8211797475814819,
-1.1121445894241333,
-0.5837138295173645,
-0.7068179845809937,
-0.706994891166687,
-0.7007423639297485,
-0.7048665285110474
],
"max": [
0.867559015750885,
0.4778217673301697,
0.8955612778663635,
0.9997367858886719,
0.9982188940048218,
0.9686515927314758,
0.996041476726532
],
"mean": [
0.4577743113040924,
-0.09900268912315369,
0.05401671305298805,
-0.39702022075653076,
0.5879664421081543,
0.034782085567712784,
0.2216065376996994
],
"std": [
0.11106365919113159,
0.11181431263685226,
0.09609000384807587,
0.42891165614128113,
0.397360622882843,
0.255260705947876,
0.1983240246772766
],
"count": [
18840935
]
},
"actions.left_tcp_to_robot_pose": {
"min": [
-0.16946537792682648,
-0.4786015450954437,
0.38304686546325684,
-0.7049983143806458,
-0.706758439540863,
-0.707067608833313,
-0.7070688009262085
],
"max": [
1.2116529941558838,
1.11093008518219,
2.190539598464966,
0.9949477910995483,
0.9993139505386353,
0.9998385310173035,
0.9981259703636169
],
"mean": [
0.710176408290863,
0.09397414326667786,
1.0285841226577759,
0.04175100475549698,
-0.11954018473625183,
0.6617082953453064,
-0.4259452223777771
],
"std": [
0.10868261754512787,
0.10690954327583313,
0.10395517945289612,
0.13220132887363434,
0.27096453309059143,
0.360341876745224,
0.379387229681015
],
"count": [
18840935
]
},
"head_camera_to_robot_extrinsics": {
"min": [
0.2453145533800125,
-0.04772524535655975,
0.9440444707870483,
-0.2629460394382477,
-0.7005819082260132,
-0.687227189540863,
-0.40480566024780273
],
"max": [
0.6741119623184204,
0.047049492597579956,
1.5223848819732666,
0.39576515555381775,
0.7296305894851685,
0.7438259720802307,
0.28536951541900635
],
"mean": [
0.5194424390792847,
-1.0523486707825214e-05,
1.3667443990707397,
0.201124906539917,
-0.6424634456634521,
0.6617389917373657,
-0.21551541984081268
],
"std": [
0.024010954424738884,
0.0038006450049579144,
0.05167483165860176,
0.05413205921649933,
0.1682942807674408,
0.16690534353256226,
0.05773935467004776
],
"count": [
18840935
]
},
"hand_right_camera_to_robot_extrinsics": {
"min": [
-0.3814636170864105,
-1.0481433868408203,
-0.22654850780963898,
-0.7050166130065918,
-0.7068910598754883,
-0.7069167494773865,
-0.6999728679656982
],
"max": [
2.8865966796875,
1.8378486633300781,
2.064302921295166,
0.9993934035301208,
0.9998446106910706,
0.9999403953552246,
0.9989999532699585
],
"mean": [
0.6844748258590698,
-0.18106475472450256,
1.1538218259811401,
-0.2852480113506317,
0.771572470664978,
-0.11318495869636536,
0.02031598798930645
],
"std": [
0.1117396205663681,
0.12357305735349655,
0.10848583281040192,
0.2979300320148468,
0.3489058315753937,
0.28629425168037415,
0.1327546089887619
],
"count": [
18840935
]
},
"actions.left_ee_to_robot_pose": {
"min": [
-0.08939067274332047,
-0.283764123916626,
0.6019872426986694,
-0.7049983143806458,
-0.706758439540863,
-0.707067608833313,
-0.7070688009262085
],
"max": [
0.9923858642578125,
0.8915553092956543,
1.9738203287124634,
0.9949477910995483,
0.9993139505386353,
0.9998385310173035,
0.9981259703636169
],
"mean": [
0.653006374835968,
0.25429069995880127,
1.096967101097107,
0.04175100475549698,
-0.11954018473625183,
0.6617082953453064,
-0.4259452223777771
],
"std": [
0.08002656698226929,
0.11820758879184723,
0.094462551176548,
0.13220132887363434,
0.27096453309059143,
0.360341876745224,
0.379387229681015
],
"count": [
18840935
]
},
"actions.right_ee_to_right_armbase_pose": {
"min": [
-0.6052932143211365,
-0.8924081921577454,
-0.3942418694496155,
-0.7068179845809937,
-0.706994891166687,
-0.7007423639297485,
-0.7048665285110474
],
"max": [
0.6525636315345764,
0.2636398375034332,
0.6767289638519287,
0.9997367858886719,
0.9982188940048218,
0.9686515927314758,
0.996041476726532
],
"mean": [
0.37176698446273804,
-0.25173255801200867,
0.08490724861621857,
-0.39651304483413696,
0.5878373980522156,
0.03462059050798416,
0.2215602993965149
],
"std": [
0.0728265792131424,
0.12400192767381668,
0.0888490229845047,
0.4291432499885559,
0.3976511061191559,
0.25548630952835083,
0.19842728972434998
],
"count": [
18840935
]
},
"master_actions.right_gripper.openness": {
"min": [
0.0
],
"max": [
1.0
],
"mean": [
0.8145615458488464
],
"std": [
0.38865286111831665
],
"count": [
18840935
]
},
"states.left_tcp_to_robot_pose": {
"min": [
-0.16946537792682648,
-0.4786015450954437,
0.38304686546325684,
-0.7049983143806458,
-0.706758439540863,
-0.707067608833313,
-0.7070688009262085
],
"max": [
1.2116529941558838,
1.11093008518219,
2.190539598464966,
0.9949477910995483,
0.9993139505386353,
0.9998385310173035,
0.9981259703636169
],
"mean": [
0.7100909352302551,
0.09401203691959381,
1.0286047458648682,
0.04177108779549599,
-0.11953968554735184,
0.6617540121078491,
-0.4263683557510376
],
"std": [
0.10863818973302841,
0.10687384754419327,
0.10397295653820038,
0.13209199905395508,
0.27077922224998474,
0.3601236343383789,
0.37920793890953064
],
"count": [
18840935
]
},
"images.rgb.hand_right": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.6123546534986543
]
],
[
[
0.5853980875144176
]
],
[
[
0.5430618257401
]
]
],
"std": [
[
[
0.3343220915316621
]
],
[
[
0.3362977327851885
]
],
[
[
0.34291546049657606
]
]
],
"count": [
3000
]
},
"states.left_ee_to_left_armbase_pose": {
"min": [
-0.4610773026943207,
-0.2837640643119812,
-0.5628702044487,
-0.7037089467048645,
-0.7055482864379883,
-0.7065842747688293,
-0.7065101861953735
],
"max": [
0.6728261113166809,
0.8915553689002991,
0.6759207248687744,
0.9997661709785461,
0.9741376042366028,
0.9968883991241455,
0.9999511241912842
],
"mean": [
0.3743353486061096,
0.2544308602809906,
0.0752592533826828,
0.20814746618270874,
0.01526036486029625,
0.5759690403938293,
-0.3926793336868286
],
"std": [
0.06807639449834824,
0.1181441992521286,
0.08997424691915512,
0.2073894590139389,
0.23709553480148315,
0.41076067090034485,
0.4500616490840912
],
"count": [
18840935
]
},
"images.rgb.head": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.6412966940813363
]
],
[
[
0.6154517052469136
]
],
[
[
0.5773943628358751
]
]
],
"std": [
[
[
0.3274805584228503
]
],
[
[
0.3314267970327354
]
],
[
[
0.3414217213569636
]
]
],
"count": [
3000
]
},
"episode_index": {
"min": [
0.0
],
"max": [
2193.0
],
"mean": [
398.0010986328125
],
"std": [
551.03662109375
],
"count": [
18840935
]
},
"states.right_gripper.position": {
"min": [
-93.83064270019531
],
"max": [
22.70714569091797
],
"mean": [
0.8544023036956787
],
"std": [
0.2759970724582672
],
"count": [
18840935
]
},
"images.rgb.hand_left": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.6046336906478279
]
],
[
[
0.5780519778450595
]
],
[
[
0.5396336167980263
]
]
],
"std": [
[
[
0.3341776476455558
]
],
[
[
0.334456178228261
]
],
[
[
0.3382468632610946
]
]
],
"count": [
3000
]
},
"actions.right_gripper.position": {
"min": [
-93.83064270019531
],
"max": [
22.70714569091797
],
"mean": [
0.8496156334877014
],
"std": [
0.2757028639316559
],
"count": [
817983650
]
},
"states.right_tcp_to_robot_pose": {
"min": [
-0.526583194732666,
-1.1121447086334229,
0.4099868834018707,
-0.7070894241333008,
-0.7070894241333008,
-0.7059944868087769,
-0.6986715197563171
],
"max": [
1.2119410037994385,
0.4778217375278473,
2.196092367172241,
0.9996358752250671,
0.9999461770057678,
0.9981772899627686,
0.9997948408126831
],
"mean": [
0.7099061012268066,
-0.0990026518702507,
1.0330432653427124,
-0.41212284564971924,
0.6477658152580261,
-0.08364927023649216,
0.04771997034549713
],
"std": [
0.11362405121326447,
0.11181430518627167,
0.11298515647649765,
0.3799865245819092,
0.3917649984359741,
0.29449325799942017,
0.12916691601276398
],
"count": [
18840935
]
},
"hand_left_camera_to_robot_extrinsics": {
"min": [
-0.03358030319213867,
-1.2856229543685913,
0.5267146825790405,
-0.6901317238807678,
-0.7069825530052185,
-0.7070196270942688,
-0.706656813621521
],
"max": [
2.0532209873199463,
0.9700044989585876,
2.067401885986328,
0.9989142417907715,
0.9986445307731628,
0.9998824000358582,
0.9986103177070618
],
"mean": [
0.6991555094718933,
0.18716855347156525,
1.1245752573013306,
0.030465733259916306,
-0.1546659767627716,
0.7850766777992249,
-0.32884806394577026
],
"std": [
0.09851762652397156,
0.11272186785936356,
0.09782151877880096,
0.13579168915748596,
0.2578486502170563,
0.2852068245410919,
0.29050904512405396
],
"count": [
18840935
]
},
"states.left_ee_to_robot_pose": {
"min": [
-0.08939067274332047,
-0.283764123916626,
0.6019872426986694,
-0.7049983143806458,
-0.706758439540863,
-0.707067608833313,
-0.7070688009262085
],
"max": [
0.9923858642578125,
0.8915553092956543,
1.9738203287124634,
0.9949477910995483,
0.9993139505386353,
0.9998385310173035,
0.9981259703636169
],
"mean": [
0.6529098153114319,
0.2544308602809906,
1.0969009399414062,
0.04177108779549599,
-0.11953968554735184,
0.6617540121078491,
-0.4263683557510376
],
"std": [
0.0799831673502922,
0.11814416944980621,
0.09440889954566956,
0.13209199905395508,
0.27077922224998474,
0.3601236343383789,
0.37920793890953064
],
"count": [
18840935
]
},
"states.left_gripper.position": {
"min": [
-31.047536849975586
],
"max": [
18.342538833618164
],
"mean": [
0.8464376926422119
],
"std": [
0.2932944893836975
],
"count": [
18840935
]
},
"master_actions.left_gripper.openness": {
"min": [
0.0
],
"max": [
1.0
],
"mean": [
0.8003353476524353
],
"std": [
0.3997482657432556
],
"count": [
18840935
]
},
"head_camera_intrinsics": {
"min": [
323.3450012207031,
323.3450012207031,
319.54998779296875,
182.17999267578125
],
"max": [
323.3450012207031,
323.3450012207031,
319.54998779296875,
182.17999267578125
],
"mean": [
323.3452453613281,
323.3452453613281,
319.550048828125,
182.1798553466797
],
"std": [
0.0,
0.0,
0.0,
0.24206146597862244
],
"count": [
18840935
]
},
"hand_left_camera_intrinsics": {
"min": [
433.635009765625,
433.635009765625,
431.8999938964844,
241.38999938964844
],
"max": [
433.635009765625,
433.635009765625,
431.8999938964844,
241.38999938964844
],
"mean": [
433.6348876953125,
433.6348876953125,
431.8999938964844,
241.3899383544922
],
"std": [
0.46770718693733215,
0.46770718693733215,
0.0,
0.1875
],
"count": [
18840935
]
},
"index": {
"min": [
0.0
],
"max": [
1594442.0
],
"mean": [
235132.484375
],
"std": [
364870.375
],
"count": [
18840935
]
},
"actions.right_joint.position": {
"min": [
-2.1482789516448975,
-2.8892130851745605,
-3.533997058868408,
-1.6144917011260986,
-3.8622522354125977,
-3.42922306060791,
-4.490894794464111
],
"max": [
3.5515239238739014,
1.5820900201797485,
2.9704761505126953,
2.9564313888549805,
2.94697904586792,
1.9393800497055054,
3.311695098876953
],
"mean": [
-0.018811320886015892,
0.03203209862112999,
0.0014296560548245907,
-0.016126656904816628,
0.003931897226721048,
0.012188050895929337,
0.02099226787686348
],
"std": [
0.27072370052337646,
0.3312830626964569,
0.20357488095760345,
0.1584554761648178,
0.18622757494449615,
0.18588492274284363,
0.2534776031970978
],
"count": [
817983650
]
},
"master_actions.right_gripper.position": {
"min": [
-93.83064270019531
],
"max": [
22.70714569091797
],
"mean": [
0.8538026213645935
],
"std": [
0.2765274941921234
],
"count": [
18840935
]
},
"frame_index": {
"min": [
0.0
],
"max": [
933.0
],
"mean": [
231.09048461914062
],
"std": [
177.46600341796875
],
"count": [
18840935
]
},
"states.right_joint.position": {
"min": [
-2.6501145362854004,
-1.4836673736572266,
-3.10017728805542,
-1.5054689645767212,
-3.113384485244751,
-2.42360258102417,
-3.0568394660949707
],
"max": [
3.1312415599823,
2.102745771408081,
3.10282564163208,
1.9663244485855103,
3.1078872680664062,
1.744158148765564,
3.100193738937378
],
"mean": [
0.7338668704032898,
-0.08439086377620697,
-0.1727287322282791,
1.1112233400344849,
-0.676044225692749,
-1.300614595413208,
0.5063180923461914
],
"std": [
0.8274230360984802,
1.0124549865722656,
0.6238864660263062,
0.4071480929851532,
0.5440612435340881,
0.4723779857158661,
0.6858174204826355
],
"count": [
18840935
]
},
"actions.right_tcp_to_robot_pose": {
"min": [
-0.526583194732666,
-1.1121447086334229,
0.4099868834018707,
-0.7070894241333008,
-0.7070894241333008,
-0.7059944868087769,
-0.6986715197563171
],
"max": [
1.2119410037994385,
0.4778217375278473,
2.196092367172241,
0.9996358752250671,
0.9999461770057678,
0.9981772899627686,
0.9997948408126831
],
"mean": [
0.7100116014480591,
-0.09895941615104675,
1.0330092906951904,
-0.41160672903060913,
0.6476318836212158,
-0.08363071084022522,
0.0477338545024395
],
"std": [
0.1136833131313324,
0.11185365915298462,
0.11296827346086502,
0.3802388906478882,
0.3920782506465912,
0.294724702835083,
0.12926873564720154
],
"count": [
18840935
]
},
"task_index": {
"min": [
0.0
],
"max": [
30.0
],
"mean": [
1.9637975692749023
],
"std": [
5.356683254241943
],
"count": [
18840935
]
},
"hand_right_camera_intrinsics": {
"min": [
433.635009765625,
433.635009765625,
431.8999938964844,
241.38999938964844
],
"max": [
433.635009765625,
433.635009765625,
431.8999938964844,
241.38999938964844
],
"mean": [
433.6348876953125,
433.6348876953125,
431.8999938964844,
241.3899383544922
],
"std": [
0.46770718693733215,
0.46770718693733215,
0.0,
0.1875
],
"count": [
18840935
]
},
"actions.left_joint.position": {
"min": [
-4.479841232299805,
-1.6254962682724,
-2.7485718727111816,
-2.9230613708496094,
-2.7858364582061768,
-1.5692105293273926,
-3.2472071647644043
],
"max": [
2.352735757827759,
2.9045286178588867,
3.5812926292419434,
1.7752320766448975,
3.890096664428711,
4.076046943664551,
3.2842066287994385
],
"mean": [
0.01631711982190609,
-0.02813527174293995,
0.0008427334250882268,
0.016301404684782028,
-0.005606123246252537,
-0.010605801828205585,
-0.014807180501520634
],
"std": [
0.2577780783176422,
0.3037567734718323,
0.18695178627967834,
0.1435968428850174,
0.1719842255115509,
0.18481530249118805,
0.23824599385261536
],
"count": [
817983650
]
}
},
"Franka": {
"states.gripper.position": {
"min": [
0.0
],
"max": [
1.0
],
"mean": [
0.40064990520477295
],
"std": [
0.47934406995773315
],
"count": [
64998110
]
},
"master_actions.gripper.pose": {
"min": [
-0.5886622071266174,
-0.7203167676925659,
-0.3232220411300659,
-3.1415927410125732,
-1.5705453157424927,
-3.141592502593994
],
"max": [
0.8479434847831726,
0.7128124237060547,
1.1009458303451538,
3.1415927410125732,
1.56938636302948,
3.141592502593994
],
"mean": [
0.43017011880874634,
0.018678812310099602,
0.34114447236061096,
-0.0347725972533226,
-0.019567130133509636,
-0.16320405900478363
],
"std": [
0.12293286621570587,
0.2078172117471695,
0.12801459431648254,
2.989279270172119,
0.3208834230899811,
0.741034209728241
],
"count": [
64998110
]
},
"states.tcp_to_armbase_pose": {
"min": [
-0.6654785871505737,
-0.763344407081604,
-0.3871573507785797,
-0.7069592475891113,
-0.707035481929779,
-0.7068787217140198,
-0.7066540718078613
],
"max": [
0.9303598403930664,
0.7273703813552856,
1.0850850343704224,
0.999978244304657,
1.0,
0.999974250793457,
0.9997894167900085
],
"mean": [
0.4359978437423706,
0.017381586134433746,
0.21908578276634216,
0.0032707019709050655,
0.9080472588539124,
0.023217415437102318,
0.019892865791916847
],
"std": [
0.12108402699232101,
0.20533768832683563,
0.12590771913528442,
0.1341414451599121,
0.24103344976902008,
0.266694039106369,
0.1651899665594101
],
"count": [
64998110
]
},
"images.rgb.hand": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.5833246226539203
]
],
[
[
0.5573147477741093
]
],
[
[
0.5011847439989506
]
]
],
"std": [
[
[
0.2827824924330288
]
],
[
[
0.29141492829333
]
],
[
[
0.30947738637735567
]
]
],
"count": [
50764
]
},
"hand_camera_to_robot_extrinsics": {
"min": [
-0.6134033799171448,
-0.7256761789321899,
-0.33298641443252563,
-0.7062029242515564,
-0.7070618867874146,
-0.7070509195327759,
-0.7068045139312744
],
"max": [
0.8993929624557495,
0.7526560425758362,
1.0281283855438232,
0.9999438524246216,
0.9999948740005493,
0.9999921321868896,
0.9999125003814697
],
"mean": [
0.39250102639198303,
-0.005857026670128107,
0.31929561495780945,
0.14859917759895325,
0.5556284189224243,
0.5679372549057007,
0.13830476999282837
],
"std": [
0.13882099092006683,
0.20720389485359192,
0.12520870566368103,
0.17065653204917908,
0.3700721263885498,
0.36977654695510864,
0.15717068314552307
],
"count": [
64998110
]
},
"master_actions.joint.position": {
"min": [
-5.333568572998047,
-1.7628031969070435,
-2.8941218852996826,
-3.1871800422668457,
-6.093289852142334,
-6.277713775634766,
-5.655116081237793
],
"max": [
6.183481693267822,
1.7628005743026733,
4.660283088684082,
-0.06982052326202393,
6.056750297546387,
6.224431991577148,
5.5103535652160645
],
"mean": [
-0.0449044294655323,
-0.04888880252838135,
0.09064532816410065,
-2.280141592025757,
0.037268735468387604,
2.226245880126953,
0.1616017371416092
],
"std": [
0.5692651271820068,
0.5485937595367432,
0.5520998239517212,
0.4271799623966217,
0.5937180519104004,
0.469536691904068,
0.8373909592628479
],
"count": [
64998110
]
},
"head_camera_intrinsics": {
"min": [
323.3450012207031,
323.3450012207031,
318.19000244140625,
182.17999267578125
],
"max": [
605.2940063476562,
605.2940063476562,
320.77801513671875,
255.8159942626953
],
"mean": [
538.7601318359375,
538.7601318359375,
319.6970520019531,
228.2955780029297
],
"std": [
119.4945068359375,
119.4945068359375,
0.5303300619125366,
26.00720977783203
],
"count": [
64998110
]
},
"actions.gripper.position": {
"min": [
0.0
],
"max": [
1.0
],
"mean": [
0.3867638409137726
],
"std": [
0.47702252864837646
],
"count": [
2980657850
]
},
"actions.ee_to_armbase_pose": {
"min": [
-0.5886622071266174,
-0.7201771140098572,
-0.3232192099094391,
-0.7069592475891113,
-0.707035481929779,
-0.7068787217140198,
-0.7066540718078613
],
"max": [
0.8479536175727844,
0.7126164436340332,
1.1025772094726562,
0.999978244304657,
1.0,
0.999974250793457,
0.9997894167900085
],
"mean": [
0.4300729036331177,
0.01858082041144371,
0.3414972424507141,
0.0032643156591802835,
0.9078429341316223,
0.02329065650701523,
0.01992376521229744
],
"std": [
0.12306413054466248,
0.20771346986293793,
0.1282939463853836,
0.13423730432987213,
0.24133704602718353,
0.267007052898407,
0.16527190804481506
],
"count": [
64998110
]
},
"master_actions.gripper.position": {
"min": [
0.0
],
"max": [
1.0
],
"mean": [
0.40055668354034424
],
"std": [
0.47935745120048523
],
"count": [
64998110
]
},
"hand_camera_intrinsics": {
"min": [
605.2940063476562,
605.2940063476562,
310.885009765625,
240.0
],
"max": [
605.4450073242188,
605.4450073242188,
320.77801513671875,
255.8159942626953
],
"mean": [
605.3119506835938,
605.3119506835938,
319.13153076171875,
245.2383270263672
],
"std": [
0.0,
0.0,
3.019468069076538,
6.991344928741455
],
"count": [
64998110
]
},
"states.joint.position": {
"min": [
-5.333568572998047,
-1.7628377676010132,
-2.8940787315368652,
-3.294687271118164,
-6.093289852142334,
-6.277713775634766,
-6.255098819732666
],
"max": [
6.183481693267822,
1.7628018856048584,
4.660283088684082,
-0.06982052326202393,
6.056750297546387,
6.224431991577148,
6.093045711517334
],
"mean": [
-0.04497838765382767,
-0.050738196820020676,
0.09039658308029175,
-2.2808449268341064,
0.037756405770778656,
2.2266268730163574,
0.15780240297317505
],
"std": [
0.5683509707450867,
0.5489280819892883,
0.5512715578079224,
0.42656949162483215,
0.5927822589874268,
0.47031649947166443,
0.8213431239128113
],
"count": [
64998110
]
},
"actions.tcp_to_robot_pose": {
"min": [
-0.6654785871505737,
-0.763344407081604,
-0.3871573507785797,
-0.7069592475891113,
-0.707035481929779,
-0.7068787217140198,
-0.7066540718078613
],
"max": [
0.9303598403930664,
0.7273703813552856,
1.0850850343704224,
0.999978244304657,
1.0,
0.999974250793457,
0.9997894167900085
],
"mean": [
0.43617329001426697,
0.017448032274842262,
0.2187822163105011,
0.0032643156591802835,
0.9078429341316223,
0.02329065650701523,
0.01992376521229744
],
"std": [
0.12111220508813858,
0.2055961787700653,
0.12571656703948975,
0.13423730432987213,
0.24133704602718353,
0.267007052898407,
0.16527190804481506
],
"count": [
64998110
]
},
"actions.ee_to_robot_pose": {
"min": [
-0.5886622071266174,
-0.7201771140098572,
-0.3232192099094391,
-0.7069592475891113,
-0.707035481929779,
-0.7068787217140198,
-0.7066540718078613
],
"max": [
0.8479536175727844,
0.7126164436340332,
1.1025772094726562,
0.999978244304657,
1.0,
0.999974250793457,
0.9997894167900085
],
"mean": [
0.4300729036331177,
0.01858082041144371,
0.3414972424507141,
0.0032643156591802835,
0.9078429341316223,
0.02329065650701523,
0.01992376521229744
],
"std": [
0.12306413054466248,
0.20771346986293793,
0.1282939463853836,
0.13423730432987213,
0.24133704602718353,
0.267007052898407,
0.16527190804481506
],
"count": [
64998110
]
},
"actions.gripper.pose": {
"min": [
-0.5886622071266174,
-0.7201771140098572,
-0.3232192099094391,
-3.1415927410125732,
-1.5706114768981934,
-3.141591787338257
],
"max": [
0.8479536771774292,
0.7126164436340332,
1.1025772094726562,
3.1415927410125732,
1.5684442520141602,
3.141589403152466
],
"mean": [
0.4300729036331177,
0.018580816686153412,
0.3414972126483917,
-0.17617428302764893,
-0.01882226951420307,
-0.15957492589950562
],
"std": [
0.12306413054466248,
0.20771348476409912,
0.12829403579235077,
2.9775478839874268,
0.31941619515419006,
0.7422862648963928
],
"count": [
64998110
]
},
"head_camera_to_robot_extrinsics": {
"min": [
-1000.089111328125,
-1.1494556665420532,
0.16544568538665771,
-0.6761370301246643,
-0.6683846712112427,
-0.38636744022369385,
-0.4099845886230469
],
"max": [
1.2022478580474854,
0.05947168916463852,
0.993459939956665,
0.6942698359489441,
0.8833267688751221,
0.6902964115142822,
0.30948761105537415
],
"mean": [
0.06613118946552277,
-0.719373881816864,
0.6164794564247131,
-0.47156623005867004,
0.7993977069854736,
-0.10034184157848358,
0.03981059044599533
],
"std": [
0.4581008851528168,
0.3137364685535431,
0.07676252722740173,
0.06907206028699875,
0.0767141729593277,
0.3020734190940857,
0.1582115739583969
],
"count": [
64998110
]
},
"images.rgb.head": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.6355108132431438
]
],
[
[
0.6074493153653573
]
],
[
[
0.5640964948774447
]
]
],
"std": [
[
[
0.28986602854800686
]
],
[
[
0.2984678926884177
]
],
[
[
0.3134347664500926
]
]
],
"count": [
50764
]
},
"actions.tcp_to_armbase_pose": {
"min": [
-0.6654785871505737,
-0.763344407081604,
-0.3871573507785797,
-0.7069592475891113,
-0.707035481929779,
-0.7068787217140198,
-0.7066540718078613
],
"max": [
0.9303598403930664,
0.7273703813552856,
1.0850850343704224,
0.999978244304657,
1.0,
0.999974250793457,
0.9997894167900085
],
"mean": [
0.43617329001426697,
0.017448032274842262,
0.2187822163105011,
0.0032643156591802835,
0.9078429341316223,
0.02329065650701523,
0.01992376521229744
],
"std": [
0.12111220508813858,
0.2055961787700653,
0.12571656703948975,
0.13423730432987213,
0.24133704602718353,
0.267007052898407,
0.16527190804481506
],
"count": [
64998110
]
},
"frame_index": {
"min": [
0.0
],
"max": [
2126.0
],
"mean": [
424.39068603515625
],
"std": [
331.9037780761719
],
"count": [
64998110
]
},
"states.robot_to_env_pose": {
"min": [
-0.507671594619751,
-0.5,
-0.07381363958120346,
0.7071067690849304,
0.0,
0.0,
0.0
],
"max": [
999.534912109375,
0.048628561198711395,
1.0362248420715332,
1.0,
0.0,
0.0,
0.7071067690849304
],
"mean": [
-0.2706414759159088,
-0.17714352905750275,
0.9102442264556885,
0.8913318514823914,
0.0,
0.0,
0.262347549200058
],
"std": [
0.24299992620944977,
0.229546457529068,
0.12861670553684235,
0.1414906084537506,
0.0,
0.0,
0.341586709022522
],
"count": [
64998110
]
},
"task_index": {
"min": [
0.0
],
"max": [
4999.0
],
"mean": [
532.5797729492188
],
"std": [
1208.265869140625
],
"count": [
64998110
]
},
"episode_index": {
"min": [
0.0
],
"max": [
5345.0
],
"mean": [
1911.1727294921875
],
"std": [
1410.974609375
],
"count": [
64998110
]
},
"actions.gripper.openness": {
"min": [
0.0
],
"max": [
1.0
],
"mean": [
0.5012218356132507
],
"std": [
0.4999985098838806
],
"count": [
64998110
]
},
"timestamp": {
"min": [
0.0
],
"max": [
70.86666870117188
],
"mean": [
14.14636516571045
],
"std": [
11.063462257385254
],
"count": [
64998110
]
},
"states.tcp_to_robot_pose": {
"min": [
-0.6654785871505737,
-0.763344407081604,
-0.3871573507785797,
-0.7069592475891113,
-0.707035481929779,
-0.7068787217140198,
-0.7066540718078613
],
"max": [
0.9303598403930664,
0.7273703813552856,
1.0850850343704224,
0.999978244304657,
1.0,
0.999974250793457,
0.9997894167900085
],
"mean": [
0.4359978437423706,
0.017381586134433746,
0.21908578276634216,
0.0032707019709050655,
0.9080472588539124,
0.023217415437102318,
0.019892865791916847
],
"std": [
0.12108402699232101,
0.20533768832683563,
0.12590771913528442,
0.1341414451599121,
0.24103344976902008,
0.266694039106369,
0.1651899665594101
],
"count": [
64998110
]
},
"states.ee_to_armbase_pose": {
"min": [
-0.5886622071266174,
-0.7201771140098572,
-0.3232192099094391,
-0.7069592475891113,
-0.707035481929779,
-0.7068787217140198,
-0.7066540718078613
],
"max": [
0.8479536175727844,
0.7126164436340332,
1.1025772094726562,
0.999978244304657,
1.0,
0.999974250793457,
0.9997894167900085
],
"mean": [
0.429907888174057,
0.01851457916200161,
0.34181126952171326,
0.0032707019709050655,
0.9080472588539124,
0.023217415437102318,
0.019892865791916847
],
"std": [
0.12303070724010468,
0.20745818316936493,
0.12848296761512756,
0.1341414451599121,
0.24103344976902008,
0.266694039106369,
0.1651899665594101
],
"count": [
64998110
]
},
"actions.joint.position": {
"min": [
-9.804682731628418,
-1.7982432842254639,
-2.4252870082855225,
-1.6933411359786987,
-6.946676254272461,
-8.886549949645996,
-8.528618812561035
],
"max": [
6.524318695068359,
1.803518295288086,
4.790648460388184,
1.8650999069213867,
7.659153938293457,
4.774890899658203,
7.3891825675964355
],
"mean": [
-0.001096096122637391,
0.03064066171646118,
0.0041991304606199265,
0.010305208154022694,
0.0013297989498823881,
0.021504148840904236,
-0.000691592285875231
],
"std": [
0.16454003751277924,
0.23943142592906952,
0.15519538521766663,
0.20406410098075867,
0.18009400367736816,
0.22070731222629547,
0.24277061223983765
],
"count": [
2980657850
]
},
"index": {
"min": [
0.0
],
"max": [
6806625.0
],
"mean": [
1764191.75
],
"std": [
1626540.5
],
"count": [
64998110
]
},
"states.gripper.pose": {
"min": [
-0.5886622071266174,
-0.7201771140098572,
-0.3232192099094391,
-3.1415927410125732,
-1.5706114768981934,
-3.141591787338257
],
"max": [
0.8479536771774292,
0.7126164436340332,
1.1025772094726562,
3.1415927410125732,
1.5684442520141602,
3.141589403152466
],
"mean": [
0.429907888174057,
0.01851457916200161,
0.3418112099170685,
-0.17608356475830078,
-0.018813354894518852,
-0.1596238762140274
],
"std": [
0.12303070724010468,
0.20745818316936493,
0.12848325073719025,
2.9777612686157227,
0.31927600502967834,
0.7415627241134644
],
"count": [
64998110
]
},
"states.ee_to_robot_pose": {
"min": [
-0.5886622071266174,
-0.7201771140098572,
-0.3232192099094391,
-0.7069592475891113,
-0.707035481929779,
-0.7068787217140198,
-0.7066540718078613
],
"max": [
0.8479536175727844,
0.7126164436340332,
1.1025772094726562,
0.999978244304657,
1.0,
0.999974250793457,
0.9997894167900085
],
"mean": [
0.429907888174057,
0.01851457916200161,
0.34181126952171326,
0.0032707019709050655,
0.9080472588539124,
0.023217415437102318,
0.019892865791916847
],
"std": [
0.12303070724010468,
0.20745818316936493,
0.12848296761512756,
0.1341414451599121,
0.24103344976902008,
0.266694039106369,
0.1651899665594101
],
"count": [
64998110
]
},
"master_actions.gripper.openness": {
"min": [
0.0
],
"max": [
1.0
],
"mean": [
0.5012218356132507
],
"std": [
0.4999985098838806
],
"count": [
64998110
]
}
},
"franka_droid": {
"observation.images.wrist_left": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.3976203054269194
]
],
[
[
0.3871892818546649
]
],
[
[
0.3336362622019357
]
]
],
"std": [
[
[
0.08627309063517866
]
],
[
[
0.0783642428283823
]
],
[
[
0.09337033076430142
]
]
],
"count": [
9880399
],
"q01": [
[
[
0.0013177223156974275
]
],
[
[
0.0026627298163866605
]
],
[
[
0.0014785101157722652
]
]
],
"q10": [
[
[
0.036897905133423656
]
],
[
[
0.038736551800309126
]
],
[
[
0.026978834694000163
]
]
],
"q50": [
[
[
0.40370945022841176
]
],
[
[
0.3818255250941323
]
],
[
[
0.30993625915476153
]
]
],
"q90": [
[
[
0.7541511756752501
]
],
[
[
0.7463885856266324
]
],
[
[
0.6815181005341311
]
]
],
"q99": [
[
[
0.9131635070376395
]
],
[
[
0.9195172786193295
]
],
[
[
0.8846286396385151
]
]
]
},
"is_first": {
"min": [
0.0
],
"max": [
1.0
],
"mean": [
0.003413698635995388
],
"std": [
0.05832705646753311
],
"count": [
27593531
]
},
"camera_extrinsics.exterior_1_left": {
"min": [
-0.4061287045478821,
-0.8382569551467896,
0.136173814535141,
-3.0570228099823,
-0.6354267597198486,
-3.1335179805755615
],
"max": [
0.9078853130340576,
1.0507566928863525,
0.7972877621650696,
1.7509201765060425,
1.5647183656692505,
3.1100029945373535
],
"mean": [
0.19977504014968872,
0.18621692061424255,
0.43398216366767883,
-1.9974617958068848,
0.005034292116761208,
-1.7123652696609497
],
"std": [
0.1895720362663269,
0.4664369225502014,
0.1149151623249054,
0.24287109076976776,
0.1277497261762619,
1.0309779644012451
],
"count": [
27593531
]
},
"action.cartesian_position": {
"min": [
-0.8037163615226746,
-0.9975920915603638,
-0.9239428043365479,
-6.283180236816406,
-2.4132046699523926,
-6.283054828643799
],
"max": [
0.627133309841156,
0.942120373249054,
0.9936542510986328,
6.283182621002197,
2.456707715988159,
6.282794952392578
],
"mean": [
0.01711735501885414,
-0.00036144323530606925,
-0.015339255332946777,
0.012666651979088783,
-0.010952578857541084,
-0.007690230384469032
],
"std": [
0.07759170234203339,
0.09403424710035324,
0.09872045367956161,
2.7978515625,
0.20655858516693115,
0.4328368902206421
],
"count": [
1148896350
]
},
"action.gripper_position": {
"min": [
0.0
],
"max": [
1.0
],
"mean": [
0.4556777775287628
],
"std": [
0.44135525822639465
],
"count": [
1148896350
]
},
"action.gripper_velocity": {
"min": [
-1.0
],
"max": [
1.0
],
"mean": [
0.16286534070968628
],
"std": [
0.4436315894126892
],
"count": [
27593531
]
},
"observation.images.exterior_1_left": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.39594134104250656
]
],
[
[
0.3925803910915668
]
],
[
[
0.35542220860752105
]
]
],
"std": [
[
[
0.06247013745462104
]
],
[
[
0.061971972497512885
]
],
[
[
0.07334730587859552
]
]
],
"count": [
9880399
],
"q01": [
[
[
0.01194747260918715
]
],
[
[
0.01541963341444587
]
],
[
[
0.006985511530525994
]
]
],
"q10": [
[
[
0.08588676603455353
]
],
[
[
0.08761488769710632
]
],
[
[
0.06851709621773572
]
]
],
"q50": [
[
[
0.35867325148564794
]
],
[
[
0.3516051606157253
]
],
[
[
0.3067859150414518
]
]
],
"q90": [
[
[
0.7716965533051588
]
],
[
[
0.7689354806476101
]
],
[
[
0.7296123334191681
]
]
],
"q99": [
[
[
0.9296929133658819
]
],
[
[
0.9417731825791831
]
],
[
[
0.9262088391725545
]
]
]
},
"index": {
"min": [
0.0
],
"max": [
27630374.0
],
"mean": [
13815192.0
],
"std": [
7976428.0
],
"count": [
27593531
]
},
"camera_extrinsics.wrist_left": {
"min": [
0.05596059933304787,
-0.557707667350769,
-0.15744832158088684,
-3.1415493488311768,
-0.9542905688285828,
-3.118767499923706
],
"max": [
0.8169044852256775,
0.5791018009185791,
0.8965381979942322,
3.1414573192596436,
1.139443039894104,
3.1029858589172363
],
"mean": [
0.28704410791397095,
-0.02928403951227665,
0.46584004163742065,
2.7003707885742188,
-0.006500694900751114,
1.5142292976379395
],
"std": [
0.05799349397420883,
0.11360250413417816,
0.05965590849518776,
0.782511830329895,
0.1574905961751938,
0.4471486508846283
],
"count": [
27593531
]
},
"reward": {
"min": [
0.0
],
"max": [
1.0
],
"mean": [
0.0028544371016323566
],
"std": [
0.053350627422332764
],
"count": [
27593531
]
},
"action.joint_position": {
"min": [
-2.8215115070343018,
-2.4883241653442383,
-3.615752935409546,
-2.451036214828491,
-3.4963788986206055,
-2.811838150024414,
-3.372452735900879
],
"max": [
2.993748664855957,
2.624358892440796,
3.1196765899658203,
2.4959945678710938,
3.752185821533203,
3.2666454315185547,
3.3889846801757812
],
"mean": [
0.0010598531225696206,
0.08421776443719864,
-0.0021486293990164995,
0.05580346658825874,
-0.003155905520543456,
0.03554889187216759,
0.010986577719449997
],
"std": [
0.17711059749126434,
0.32671883702278137,
0.1690792292356491,
0.29553502798080444,
0.2730281949043274,
0.28573551774024963,
0.3295589089393616
],
"count": [
1148896350
]
},
"action.joint_velocity": {
"min": [
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0
],
"max": [
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0
],
"mean": [
-0.004406601190567017,
0.01937258429825306,
0.002147288527339697,
0.032952405512332916,
0.0012406910536810756,
0.00044396473094820976,
0.002891837153583765
],
"std": [
0.15228819847106934,
0.2936502993106842,
0.14837336540222168,
0.2891433537006378,
0.21627038717269897,
0.237507164478302,
0.2573705017566681
],
"count": [
27593531
]
},
"episode_index": {
"min": [
0.0
],
"max": [
95657.0
],
"mean": [
47910.73828125
],
"std": [
27644.1328125
],
"count": [
27593531
]
},
"observation.state.gripper_position": {
"min": [
0.0
],
"max": [
1.0
],
"mean": [
0.36132246255874634
],
"std": [
0.4032098948955536
],
"count": [
27593531
]
},
"observation.state": {
"min": [
-2.672288417816162,
-1.6589547395706177,
-2.6781487464904785,
-2.9409868717193604,
-2.6705946922302246,
0.23991677165031433,
-3.01689076423645,
0.0
],
"max": [
2.677424192428589,
1.5840554237365723,
2.6957037448883057,
-0.29779934883117676,
2.6624162197113037,
4.309162616729736,
2.755643367767334,
1.0
],
"mean": [
0.014295287430286407,
0.24081715941429138,
-0.014694181270897388,
-2.0274274349212646,
-0.03551638126373291,
2.323869466781616,
0.08334964513778687,
0.36132246255874634
],
"std": [
0.32460251450538635,
0.5153817534446716,
0.2902102768421173,
0.5022139549255371,
0.5334727168083191,
0.46852707862854004,
0.745053231716156,
0.4032098948955536
],
"count": [
27593531
]
},
"camera_extrinsics.exterior_2_left": {
"min": [
-0.3938228189945221,
-0.8522573113441467,
0.13279427587985992,
-3.043391227722168,
-1.5452197790145874,
-3.1349070072174072
],
"max": [
171.77088928222656,
501.0211181640625,
129.38931274414062,
3.1098504066467285,
1.501720905303955,
3.138532876968384
],
"mean": [
0.17603608965873718,
-0.09014999866485596,
0.4290240406990051,
-1.9885786771774292,
0.0046721287071704865,
-1.2602297067642212
],
"std": [
1.2785584926605225,
3.7234344482421875,
0.9574670195579529,
0.26719027757644653,
0.12965239584445953,
0.8569096922874451
],
"count": [
27593531
]
},
"task_index": {
"min": [
0.0
],
"max": [
49629.0
],
"mean": [
14651.6953125
],
"std": [
15822.7744140625
],
"count": [
27593531
]
},
"action": {
"min": [
-2.781099557876587,
-1.6589616537094116,
-2.771268129348755,
-2.9508564472198486,
-2.7826988697052,
0.16821147501468658,
-3.01689076423645,
0.0
],
"max": [
2.753600597381592,
1.6668277978897095,
2.7745442390441895,
-0.1839631199836731,
2.781451463699341,
4.402013778686523,
2.90183162689209,
1.0
],
"mean": [
0.013474741019308567,
0.24693654477596283,
-0.014321208000183105,
-2.019535541534424,
-0.03537853807210922,
2.3251538276672363,
0.08422669023275375,
0.40256407856941223
],
"std": [
0.32806217670440674,
0.5107817649841309,
0.29171350598335266,
0.5062472224235535,
0.539327085018158,
0.4723028242588043,
0.7517545819282532,
0.43835291266441345
],
"count": [
27593531
]
},
"is_terminal": {
"min": [
0.0
],
"max": [
1.0
],
"mean": [
0.003413698635995388
],
"std": [
0.05832705646753311
],
"count": [
27593531
]
},
"observation.images.exterior_2_left": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.3972812309309666
]
],
[
[
0.39556941968886117
]
],
[
[
0.35775132712389635
]
]
],
"std": [
[
[
0.06391811864267134
]
],
[
[
0.06275304465073439
]
],
[
[
0.07471199481470012
]
]
],
"count": [
9880399
],
"q01": [
[
[
0.01175556390437388
]
],
[
[
0.01582203570680745
]
],
[
[
0.0063240794197805044
]
]
],
"q10": [
[
[
0.08439292707465929
]
],
[
[
0.0867971628446957
]
],
[
[
0.06715661535817237
]
]
],
"q50": [
[
[
0.36801181016125734
]
],
[
[
0.3611717604913456
]
],
[
[
0.3138531184264421
]
]
],
"q90": [
[
[
0.7661055475953392
]
],
[
[
0.7684689582053783
]
],
[
[
0.7289106761297804
]
]
],
"q99": [
[
[
0.9302675024008226
]
],
[
[
0.9448612597398283
]
],
[
[
0.9314720770091105
]
]
]
},
"action.original": {
"min": [
-0.2824200689792633,
-0.8714114427566528,
-0.3079752027988434,
-3.141592502593994,
-1.570475697517395,
-3.1415903568267822,
0.0
],
"max": [
0.9295652508735657,
0.8648782968521118,
1.1109716892242432,
3.1415927410125732,
1.5702463388442993,
3.1415891647338867,
1.0
],
"mean": [
0.5221056342124939,
0.0002637815778143704,
0.3207622170448303,
0.3008587658405304,
-0.08901173621416092,
-0.05116188898682594,
0.40256407856941223
],
"std": [
0.11978457123041153,
0.18009665608406067,
0.1663578450679779,
2.911367177963257,
0.36295992136001587,
0.7709128856658936,
0.43835291266441345
],
"count": [
27593531
]
},
"frame_index": {
"min": [
0.0
],
"max": [
3190.0
],
"mean": [
232.0498504638672
],
"std": [
244.25155639648438
],
"count": [
27593531
]
},
"timestamp": {
"min": [
0.0
],
"max": [
212.6666717529297
],
"mean": [
15.469989776611328
],
"std": [
16.283437728881836
],
"count": [
27593531
]
},
"discount": {
"min": [
1.0
],
"max": [
1.0
],
"mean": [
1.0
],
"std": [
0.0
],
"count": [
27593531
]
},
"is_last": {
"min": [
0.0
],
"max": [
1.0
],
"mean": [
0.003413698635995388
],
"std": [
0.05832705646753311
],
"count": [
27593531
]
},
"is_episode_successful": {
"min": [
0.0
],
"max": [
1.0
],
"mean": [
0.8482838869094849
],
"std": [
0.3587455153465271
],
"count": [
27593531
]
},
"observation.state.joint_position": {
"min": [
-2.672288417816162,
-1.6589547395706177,
-2.6781487464904785,
-2.9409868717193604,
-2.6705946922302246,
0.23991677165031433,
-3.01689076423645
],
"max": [
2.677424192428589,
1.5840554237365723,
2.6957037448883057,
-0.29779934883117676,
2.6624162197113037,
4.309162616729736,
2.755643367767334
],
"mean": [
0.014295287430286407,
0.24081715941429138,
-0.014694181270897388,
-2.0274274349212646,
-0.03551638126373291,
2.323869466781616,
0.08334964513778687
],
"std": [
0.32460251450538635,
0.5153817534446716,
0.2902102768421173,
0.5022139549255371,
0.5334727168083191,
0.46852707862854004,
0.745053231716156
],
"count": [
27593531
]
},
"observation.state.cartesian_position": {
"min": [
-0.2824079692363739,
-0.8556680083274841,
-0.24001094698905945,
-3.141592502593994,
-1.5703768730163574,
-3.141592025756836
],
"max": [
0.8575563430786133,
0.8407337069511414,
1.0439032316207886,
3.1415927410125732,
1.5705928802490234,
3.1415927410125732
],
"mean": [
0.5196583867073059,
0.00046073345583863556,
0.3202384114265442,
0.31293532252311707,
-0.0861232653260231,
-0.04997635260224342
],
"std": [
0.11891169846057892,
0.17903749644756317,
0.16564321517944336,
2.9132652282714844,
0.35987532138824463,
0.7636402249336243
],
"count": [
27593531
]
},
"action.cartesian_velocity": {
"min": [
-0.9999999403953552,
-0.9999951124191284,
-0.9999960660934448,
-0.9999980330467224,
-0.9999982118606567,
-0.9999998807907104
],
"max": [
0.9999998211860657,
0.999991774559021,
0.9999973177909851,
0.9999874830245972,
0.9999978542327881,
0.9999998807907104
],
"mean": [
0.026182251051068306,
-0.0027229285333305597,
0.012251785956323147,
0.0038039200007915497,
-0.027584366500377655,
-0.007126705255359411
],
"std": [
0.2602247893810272,
0.1865473836660385,
0.23276342451572418,
0.22727157175540924,
0.23415838181972504,
0.29525911808013916
],
"count": [
27593531
]
}
},
"fastumi-single": {
"robot_0_state": {
"min": [
0.16783231496810913,
-0.4733705222606659,
-0.029907960444688797,
-0.7064692378044128,
-0.7034944295883179,
-0.7067700624465942,
-0.7067300081253052,
0.0
],
"max": [
0.8162788152694702,
0.5630566477775574,
0.6486696004867554,
0.8626904487609863,
0.9015395045280457,
0.896087110042572,
1.0,
1.0
],
"mean": [
0.46035856008529663,
0.04662776738405228,
0.16694755852222443,
0.023725446313619614,
0.17515894770622253,
0.028846340253949165,
0.955112636089325,
0.6913004517555237
],
"std": [
0.10503510385751724,
0.1555015593767166,
0.07602933794260025,
0.09887661039829254,
0.17097152769565582,
0.11678462475538254,
0.05511525273323059,
0.3905705511569977
],
"count": [
32855105
]
},
"index": {
"min": [
0.0
],
"max": [
3806150.0
],
"mean": [
487690.78125
],
"std": [
689551.3125
],
"count": [
32855105
]
},
"episode_index": {
"min": [
0.0
],
"max": [
3059.0
],
"mean": [
672.5223388671875
],
"std": [
608.547607421875
],
"count": [
32855105
]
},
"frame_index": {
"min": [
0.0
],
"max": [
2402.0
],
"mean": [
367.20062255859375
],
"std": [
428.155029296875
],
"count": [
32855105
]
},
"task_index": {
"min": [
0.0
],
"max": [
0.0
],
"mean": [
0.0
],
"std": [
0.0
],
"count": [
32855105
]
},
"action": {
"min": [
-0.47684693336486816,
-0.7050237059593201,
-0.5167257189750671,
-1.5473544597625732,
-1.462168574333191,
-1.4989490509033203,
-1.6755647659301758,
0.0
],
"max": [
0.5106016397476196,
0.5524647235870361,
0.47073498368263245,
1.5405211448669434,
1.4977413415908813,
1.465078592300415,
1.6809006929397583,
1.0
],
"mean": [
0.0010269561316817999,
0.0002952478243969381,
0.000750698905903846,
0.00012276294000912458,
-0.0004030309210065752,
2.6794355107995216e-06,
-6.216725887497887e-05,
0.6682618856430054
],
"std": [
0.07572785019874573,
0.09453349560499191,
0.07927703857421875,
0.062116436660289764,
0.13433071970939636,
0.07616184651851654,
0.04362959787249565,
0.3940598666667938
],
"count": [
1471948600
]
},
"observation.state": {
"min": [
0.16783231496810913,
-0.4733705222606659,
-0.029907960444688797,
-0.7064692378044128,
-0.7034944295883179,
-0.7067700624465942,
-0.7067300081253052,
0.0
],
"max": [
0.8162788152694702,
0.5630566477775574,
0.6486696004867554,
0.8626904487609863,
0.9015395045280457,
0.896087110042572,
1.0,
1.0
],
"mean": [
0.46035856008529663,
0.04662776738405228,
0.16694755852222443,
0.023725446313619614,
0.17515894770622253,
0.028846340253949165,
0.955112636089325,
0.6913004517555237
],
"std": [
0.10503510385751724,
0.1555015593767166,
0.07602933794260025,
0.09887661039829254,
0.17097152769565582,
0.11678462475538254,
0.05511525273323059,
0.3905705511569977
],
"count": [
32855105
]
},
"observation.images.front": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.2713396395890848
]
],
[
[
0.27119941932153974
]
],
[
[
0.25834394288165013
]
]
],
"std": [
[
[
0.2578876520539233
]
],
[
[
0.2604841462429187
]
],
[
[
0.2614595653944343
]
]
],
"count": [
89658
]
},
"timestamp": {
"min": [
0.0
],
"max": [
120.0999984741211
],
"mean": [
18.36004638671875
],
"std": [
21.40774154663086
],
"count": [
32855105
]
}
},
"ARX AC One": {
"actions.right_ee_to_right_armbase_pose": {
"min": [
-0.1254996359348297,
-0.30651596188545227,
-0.06259922683238983,
0.5037817358970642,
-0.31556326150894165,
-0.5278054475784302,
-0.6736788749694824
],
"max": [
0.5930792093276978,
0.49891194701194763,
0.4810696840286255,
0.9999993443489075,
0.5138790607452393,
0.8515863418579102,
0.43042758107185364
],
"mean": [
0.32761773467063904,
0.005551646463572979,
0.12168571352958679,
0.8137820959091187,
0.03513728454709053,
0.48961302638053894,
0.0005592189263552427
],
"std": [
0.12657275795936584,
0.12012190371751785,
0.07738341391086578,
0.11823592334985733,
0.09532790631055832,
0.2580658793449402,
0.08448789268732071
],
"count": [
1717873
]
},
"hand_left_camera_intrinsics": {
"min": [
433.8900146484375,
433.3800048828125,
320.0,
240.0
],
"max": [
433.8900146484375,
433.3800048828125,
320.0,
240.0
],
"mean": [
433.89019775390625,
433.3804016113281,
319.9999694824219,
239.99998474121094
],
"std": [
0.1767766922712326,
0.0,
0.3061862289905548,
0.22534695267677307
],
"count": [
1717873
]
},
"states.right_joint.position": {
"min": [
-1.4352991580963135,
-0.866104781627655,
-0.5735385417938232,
-1.6710286140441895,
-0.9355536699295044,
-1.0480438470840454
],
"max": [
1.0366250276565552,
3.25364089012146,
3.4066476821899414,
1.6728498935699463,
0.8221467733383179,
1.5554733276367188
],
"mean": [
-0.016515374183654785,
1.8477139472961426,
1.2517927885055542,
-0.47723209857940674,
-0.03883177787065506,
0.03444031625986099
],
"std": [
0.3017275631427765,
0.8069456219673157,
0.795396089553833,
0.5538317561149597,
0.2024678885936737,
0.24060316383838654
],
"count": [
1717873
]
},
"images.rgb.head": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
0.8823529411764706
]
],
[
[
0.8784313725490196
]
],
[
[
0.9176470588235294
]
]
],
"mean": [
[
[
0.46609540806605576
]
],
[
[
0.50668060458635
]
],
[
[
0.5050248936673355
]
]
],
"std": [
[
[
0.23961611906470223
]
],
[
[
0.20145873297584194
]
],
[
[
0.18294988745022903
]
]
],
"count": [
279732
]
},
"actions.left_gripper.position": {
"min": [
0.00041704135946929455
],
"max": [
3.0405640602111816
],
"mean": [
0.05872529745101929
],
"std": [
0.26318952441215515
],
"count": [
82894850
]
},
"states.left_gripper.position": {
"min": [
0.00041704135946929455
],
"max": [
3.0405640602111816
],
"mean": [
0.058757390826940536
],
"std": [
0.26018843054771423
],
"count": [
1717873
]
},
"states.right_ee_to_right_armbase_pose": {
"min": [
-0.1254996359348297,
-0.30651596188545227,
-0.06259922683238983,
0.5037817358970642,
-0.31556326150894165,
-0.5278054475784302,
-0.6736788749694824
],
"max": [
0.5930792093276978,
0.49891194701194763,
0.4810696840286255,
1.0,
0.5138790607452393,
0.8515863418579102,
0.43042758107185364
],
"mean": [
0.3274987041950226,
0.005550650414079428,
0.1216348186135292,
0.8137974143028259,
0.03514617681503296,
0.48949113488197327,
0.0005544559680856764
],
"std": [
0.1266920417547226,
0.12011942267417908,
0.07732880860567093,
0.11825406551361084,
0.09532060474157333,
0.25824248790740967,
0.08448443561792374
],
"count": [
1717873
]
},
"hand_right_camera_intrinsics": {
"min": [
433.8900146484375,
433.3800048828125,
320.0,
240.0
],
"max": [
433.8900146484375,
433.3800048828125,
320.0,
240.0
],
"mean": [
433.89019775390625,
433.3804016113281,
319.9999694824219,
239.99998474121094
],
"std": [
0.1767766922712326,
0.0,
0.3061862289905548,
0.22534695267677307
],
"count": [
1717873
]
},
"hand_left_camera_to_robot_extrinsics": {
"min": [
0.20751804113388062,
0.0076653785072267056,
0.6364070177078247,
-0.5093733072280884,
-0.7070450186729431,
-0.7070683240890503,
-0.5771383047103882
],
"max": [
0.8394441604614258,
0.5618410706520081,
1.1961337327957153,
0.6754628419876099,
0.8732888102531433,
0.8476153016090393,
0.6074472069740295
],
"mean": [
0.5542497634887695,
0.28332674503326416,
0.8873167037963867,
-0.027367645874619484,
-0.02415105514228344,
0.09326878190040588,
0.02197575569152832
],
"std": [
0.13108226656913757,
0.09164659678936005,
0.12708310782909393,
0.1727280169725418,
0.6847475171089172,
0.6834076642990112,
0.1540304571390152
],
"count": [
1717873
]
},
"actions.right_joint.position": {
"min": [
-1.1358366012573242,
-2.2352423667907715,
-2.8143277168273926,
-2.6319503784179688,
-0.9436231851577759,
-1.4963278770446777
],
"max": [
1.4959731101989746,
2.359403133392334,
1.7700135707855225,
2.0025110244750977,
1.2230077981948853,
1.204487681388855
],
"mean": [
0.00011418909707572311,
0.022142842411994934,
0.015898223966360092,
-0.0010388254886493087,
3.968890450778417e-05,
-0.0004588434530887753
],
"std": [
0.12364381551742554,
0.3148588538169861,
0.32391202449798584,
0.22703386843204498,
0.12290939688682556,
0.11200368404388428
],
"count": [
82894850
]
},
"master_actions.left_gripper.openness": {
"min": [
-0.0
],
"max": [
1.0
],
"mean": [
0.5701907277107239
],
"std": [
0.44183990359306335
],
"count": [
1717873
]
},
"frame_index": {
"min": [
0.0
],
"max": [
1868.0
],
"mean": [
709.2461547851562
],
"std": [
417.8592529296875
],
"count": [
1717873
]
},
"timestamp": {
"min": [
0.0
],
"max": [
62.266666412353516
],
"mean": [
23.641578674316406
],
"std": [
13.928594589233398
],
"count": [
1717873
]
},
"master_actions.left_joint.position": {
"min": [
-1.121071696281433,
-0.2511731684207916,
-0.27925699949264526,
-1.5184122323989868,
-0.8441178798675537,
-0.9553975462913513
],
"max": [
1.0674233436584473,
3.2583398818969727,
3.02968692779541,
1.6716006994247437,
0.7799276113510132,
1.0141535997390747
],
"mean": [
0.09712570905685425,
1.7173099517822266,
1.1697887182235718,
-0.37932923436164856,
0.04183138906955719,
0.09956953674554825
],
"std": [
0.2840951979160309,
0.7291100025177002,
0.6994003653526306,
0.4014756679534912,
0.14950917661190033,
0.20168361067771912
],
"count": [
1717873
]
},
"actions.right_tcp_to_robot_pose": {
"min": [
0.076499342918396,
-0.617209255695343,
0.536528468132019,
0.5037817358970642,
-0.31556326150894165,
-0.5278054475784302,
-0.6736788749694824
],
"max": [
0.871540367603302,
0.3444368243217468,
1.278739094734192,
0.9999993443489075,
0.5138790607452393,
0.8515863418579102,
0.43042758107185364
],
"mean": [
0.5375806093215942,
-0.23702700436115265,
0.7414335608482361,
0.8137820959091187,
0.03513728454709053,
0.48961302638053894,
0.0005592189263552427
],
"std": [
0.10156367719173431,
0.13162577152252197,
0.11326783150434494,
0.11823592334985733,
0.09532790631055832,
0.2580658793449402,
0.08448789268732071
],
"count": [
1717873
]
},
"actions.left_tcp_to_left_armbase_pose": {
"min": [
0.08666352927684784,
-0.24012356996536255,
-0.18683648109436035,
0.6423138380050659,
-0.26428332924842834,
-0.25366124510765076,
-0.4757578670978546
],
"max": [
0.6825438737869263,
0.3219861686229706,
0.3647157549858093,
0.9999992251396179,
0.3976175785064697,
0.7642307877540588,
0.2711763083934784
],
"mean": [
0.3957095444202423,
0.039902254939079285,
0.04956922307610512,
0.8685203194618225,
0.029647404327988625,
0.43410512804985046,
0.012969966977834702
],
"std": [
0.1134709045290947,
0.09715516865253448,
0.1259019821882248,
0.09120572358369827,
0.048436667770147324,
0.20262128114700317,
0.06677035242319107
],
"count": [
1717873
]
},
"states.right_ee_to_robot_pose": {
"min": [
0.028500361368060112,
-0.5555159449577332,
0.6674007773399353,
0.5037817358970642,
-0.31556326150894165,
-0.5278054475784302,
-0.6736788749694824
],
"max": [
0.7470791935920715,
0.24991193413734436,
1.2110697031021118,
1.0,
0.5138790607452393,
0.8515863418579102,
0.43042758107185364
],
"mean": [
0.4814990758895874,
-0.24344933032989502,
0.8516355156898499,
0.8137974143028259,
0.03514617681503296,
0.48949113488197327,
0.0005544559680856764
],
"std": [
0.12669110298156738,
0.12011934071779251,
0.07731937617063522,
0.11825406551361084,
0.09532060474157333,
0.25824248790740967,
0.08448443561792374
],
"count": [
1717873
]
},
"master_actions.left_gripper.position": {
"min": [
0.00041704135946929455
],
"max": [
3.0405640602111816
],
"mean": [
0.058757390826940536
],
"std": [
0.26018843054771423
],
"count": [
1717873
]
},
"actions.left_ee_to_left_armbase_pose": {
"min": [
0.03691039979457855,
-0.21974316239356995,
-0.04894385486841202,
0.6423138380050659,
-0.26428332924842834,
-0.25366124510765076,
-0.4757578670978546
],
"max": [
0.5911837220191956,
0.3062589168548584,
0.4119780361652374,
0.9999992251396179,
0.3976175785064697,
0.7642307877540588,
0.2711763083934784
],
"mean": [
0.31594884395599365,
0.032064832746982574,
0.15748882293701172,
0.8685203194618225,
0.029647404327988625,
0.43410512804985046,
0.012969966977834702
],
"std": [
0.12580952048301697,
0.08511533588171005,
0.09843224287033081,
0.09120572358369827,
0.048436667770147324,
0.20262128114700317,
0.06677035242319107
],
"count": [
1717873
]
},
"episode_index": {
"min": [
0.0
],
"max": [
1223.0
],
"mean": [
633.3461303710938
],
"std": [
344.5468444824219
],
"count": [
1717873
]
},
"actions.left_joint.position": {
"min": [
-0.8911924362182617,
-1.7919434309005737,
-2.2512366771698,
-2.144493341445923,
-1.003490924835205,
-0.8838821053504944
],
"max": [
1.214184284210205,
2.2888383865356445,
2.104492664337158,
2.107422113418579,
0.8472939729690552,
0.7652308344841003
],
"mean": [
0.006863399874418974,
0.02517789416015148,
0.020715413615107536,
-0.00755142979323864,
0.002534243045374751,
0.004390777088701725
],
"std": [
0.07830964773893356,
0.29752829670906067,
0.2639148533344269,
0.18535836040973663,
0.06482800841331482,
0.0555315800011158
],
"count": [
82894850
]
},
"states.left_ee_to_left_armbase_pose": {
"min": [
0.03691039979457855,
-0.21974316239356995,
-0.04894385486841202,
0.6423138380050659,
-0.26428332924842834,
-0.25366124510765076,
-0.4757578670978546
],
"max": [
0.5911837220191956,
0.3062589168548584,
0.4119780361652374,
0.9999994039535522,
0.3976175785064697,
0.7642307877540588,
0.2711763083934784
],
"mean": [
0.31581833958625793,
0.03199279308319092,
0.1574288308620453,
0.8685621023178101,
0.029630238190293312,
0.43390533328056335,
0.012929066084325314
],
"std": [
0.1259230226278305,
0.08508162945508957,
0.09840026497840881,
0.09125864505767822,
0.048425182700157166,
0.20286308228969574,
0.06674658507108688
],
"count": [
1717873
]
},
"actions.left_ee_to_robot_pose": {
"min": [
0.19091039896011353,
0.03125683590769768,
0.6810561418533325,
0.6423138380050659,
-0.26428332924842834,
-0.25366124510765076,
-0.4757578670978546
],
"max": [
0.7451837062835693,
0.5572589039802551,
1.1419780254364014,
0.9999992251396179,
0.3976175785064697,
0.7642307877540588,
0.2711763083934784
],
"mean": [
0.4699488878250122,
0.28306490182876587,
0.8874886631965637,
0.8685203194618225,
0.029647404327988625,
0.43410512804985046,
0.012969966977834702
],
"std": [
0.12580978870391846,
0.08511584252119064,
0.09843318909406662,
0.09120572358369827,
0.048436667770147324,
0.20262128114700317,
0.06677035242319107
],
"count": [
1717873
]
},
"actions.right_ee_to_robot_pose": {
"min": [
0.028500361368060112,
-0.5555159449577332,
0.6674007773399353,
0.5037817358970642,
-0.31556326150894165,
-0.5278054475784302,
-0.6736788749694824
],
"max": [
0.7470791935920715,
0.24991193413734436,
1.2110697031021118,
0.9999993443489075,
0.5138790607452393,
0.8515863418579102,
0.43042758107185364
],
"mean": [
0.4816175699234009,
-0.24344830214977264,
0.8516860604286194,
0.8137820959091187,
0.03513728454709053,
0.48961302638053894,
0.0005592189263552427
],
"std": [
0.12657243013381958,
0.12012197822332382,
0.07737910002470016,
0.11823592334985733,
0.09532790631055832,
0.2580658793449402,
0.08448789268732071
],
"count": [
1717873
]
},
"images.rgb.hand_left": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
0.9803921568627451
]
],
[
[
0.9686274509803922
]
],
[
[
0.9529411764705882
]
]
],
"mean": [
[
[
0.4303526390373738
]
],
[
[
0.46766906321748103
]
],
[
[
0.4645714200756312
]
]
],
"std": [
[
[
0.25925085582990187
]
],
[
[
0.23179819707185528
]
],
[
[
0.21186466425563288
]
]
],
"count": [
279732
]
},
"states.right_tcp_to_right_armbase_pose": {
"min": [
-0.07750065624713898,
-0.36820924282073975,
-0.19347155094146729,
0.5037817358970642,
-0.31556326150894165,
-0.5278054475784302,
-0.6736788749694824
],
"max": [
0.7175403237342834,
0.5934368371963501,
0.5487391352653503,
1.0,
0.5138790607452393,
0.8515863418579102,
0.43042758107185364
],
"mean": [
0.3834702968597412,
0.011970925144851208,
0.01141709741204977,
0.8137974143028259,
0.03514617681503296,
0.48949113488197327,
0.0005544559680856764
],
"std": [
0.10160760581493378,
0.13162347674369812,
0.11325301229953766,
0.11825406551361084,
0.09532060474157333,
0.25824248790740967,
0.08448443561792374
],
"count": [
1717873
]
},
"states.left_tcp_to_left_armbase_pose": {
"min": [
0.08666352927684784,
-0.24012356996536255,
-0.18683648109436035,
0.6423138380050659,
-0.26428332924842834,
-0.25366124510765076,
-0.4757578670978546
],
"max": [
0.6825438737869263,
0.3219861686229706,
0.3647157549858093,
0.9999994039535522,
0.3976175785064697,
0.7642307877540588,
0.2711763083934784
],
"mean": [
0.395603746175766,
0.039816245436668396,
0.04956414923071861,
0.8685621023178101,
0.029630238190293312,
0.43390533328056335,
0.012929066084325314
],
"std": [
0.11352407932281494,
0.09711753576993942,
0.1258927434682846,
0.09125864505767822,
0.048425182700157166,
0.20286308228969574,
0.06674658507108688
],
"count": [
1717873
]
},
"actions.left_tcp_to_robot_pose": {
"min": [
0.2406635284423828,
0.010876426473259926,
0.543163537979126,
0.6423138380050659,
-0.26428332924842834,
-0.25366124510765076,
-0.4757578670978546
],
"max": [
0.8365438580513,
0.5729861855506897,
1.0947157144546509,
0.9999992251396179,
0.3976175785064697,
0.7642307877540588,
0.2711763083934784
],
"mean": [
0.5497100949287415,
0.2909022569656372,
0.7795698642730713,
0.8685203194618225,
0.029647404327988625,
0.43410512804985046,
0.012969966977834702
],
"std": [
0.11346709728240967,
0.09715516120195389,
0.12590107321739197,
0.09120572358369827,
0.048436667770147324,
0.20262128114700317,
0.06677035242319107
],
"count": [
1717873
]
},
"states.left_ee_to_robot_pose": {
"min": [
0.19091039896011353,
0.03125683590769768,
0.6810561418533325,
0.6423138380050659,
-0.26428332924842834,
-0.25366124510765076,
-0.4757578670978546
],
"max": [
0.7451837062835693,
0.5572589039802551,
1.1419780254364014,
0.9999994039535522,
0.3976175785064697,
0.7642307877540588,
0.2711763083934784
],
"mean": [
0.4698185920715332,
0.28299304842948914,
0.887428879737854,
0.8685621023178101,
0.029630238190293312,
0.43390533328056335,
0.012929066084325314
],
"std": [
0.1259227842092514,
0.08508069068193436,
0.0983947291970253,
0.09125864505767822,
0.048425182700157166,
0.20286308228969574,
0.06674658507108688
],
"count": [
1717873
]
},
"index": {
"min": [
0.0
],
"max": [
1717872.0
],
"mean": [
858935.6875
],
"std": [
495907.9375
],
"count": [
1717873
]
},
"task_index": {
"min": [
0.0
],
"max": [
1.0
],
"mean": [
0.8517539501190186
],
"std": [
0.3553437292575836
],
"count": [
1717873
]
},
"head_camera_to_robot_extrinsics": {
"min": [
0.2541179955005646,
0.001006699982099235,
1.0199999809265137,
-0.17936837673187256,
0.683978796005249,
-0.683978796005249,
0.17936837673187256
],
"max": [
0.2541179955005646,
0.001006699982099235,
1.0199999809265137,
-0.17936837673187256,
0.683978796005249,
-0.683978796005249,
0.17936837673187256
],
"mean": [
0.25411781668663025,
0.0010067012626677752,
1.0200002193450928,
-0.17936855554580688,
0.6839786171913147,
-0.6839786171913147,
0.17936855554580688
],
"std": [
0.00035589304752647877,
0.0,
0.0,
0.0,
0.000732421875,
0.000732421875,
0.0
],
"count": [
1717873
]
},
"hand_right_camera_to_robot_extrinsics": {
"min": [
-0.00815359503030777,
-0.5945305228233337,
0.6003329157829285,
-0.46020588278770447,
-0.7070299386978149,
-0.7070797681808472,
-0.6983531713485718
],
"max": [
0.839177668094635,
0.2979563772678375,
1.2542698383331299,
0.46527260541915894,
0.9389417171478271,
0.8964168429374695,
0.8366112112998962
],
"mean": [
0.5583369135856628,
-0.24335114657878876,
0.8383228182792664,
0.001387464813888073,
-0.16976243257522583,
0.24501051008701324,
0.022495049983263016
],
"std": [
0.1331218034029007,
0.12768439948558807,
0.11337880790233612,
0.191217303276062,
0.6409263610839844,
0.6404314041137695,
0.23052221536636353
],
"count": [
1717873
]
},
"actions.right_gripper.position": {
"min": [
-5.020558546675602e-07
],
"max": [
0.04422180727124214
],
"mean": [
0.017311690375208855
],
"std": [
0.016448870301246643
],
"count": [
82894850
]
},
"actions.right_tcp_to_right_armbase_pose": {
"min": [
-0.07750065624713898,
-0.36820924282073975,
-0.19347155094146729,
0.5037817358970642,
-0.31556326150894165,
-0.5278054475784302,
-0.6736788749694824
],
"max": [
0.7175403237342834,
0.5934368371963501,
0.5487391352653503,
0.9999993443489075,
0.5138790607452393,
0.8515863418579102,
0.43042758107185364
],
"mean": [
0.3835802972316742,
0.011973205953836441,
0.011432506144046783,
0.8137820959091187,
0.03513728454709053,
0.48961302638053894,
0.0005592189263552427
],
"std": [
0.10156558454036713,
0.13162629306316376,
0.1132788211107254,
0.11823592334985733,
0.09532790631055832,
0.2580658793449402,
0.08448789268732071
],
"count": [
1717873
]
},
"states.left_joint.position": {
"min": [
-1.121071696281433,
-0.2511731684207916,
-0.27925699949264526,
-1.5184122323989868,
-0.8441178798675537,
-0.9553975462913513
],
"max": [
1.0674233436584473,
3.2583398818969727,
3.02968692779541,
1.6716006994247437,
0.7799276113510132,
1.0141535997390747
],
"mean": [
0.09712570905685425,
1.7173099517822266,
1.1697887182235718,
-0.37932923436164856,
0.04183138906955719,
0.09956953674554825
],
"std": [
0.2840951979160309,
0.7291100025177002,
0.6994003653526306,
0.4014756679534912,
0.14950917661190033,
0.20168361067771912
],
"count": [
1717873
]
},
"images.rgb.hand_right": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.3723431042474108
]
],
[
[
0.4218097220383682
]
],
[
[
0.4297596960963176
]
]
],
"std": [
[
[
0.2489803639664986
]
],
[
[
0.21931337699084874
]
],
[
[
0.20090385793365778
]
]
],
"count": [
279732
]
},
"states.right_gripper.position": {
"min": [
-5.020558546675602e-07
],
"max": [
0.045000024139881134
],
"mean": [
0.018173564225435257
],
"std": [
0.016833432018756866
],
"count": [
1717873
]
},
"states.left_tcp_to_robot_pose": {
"min": [
0.2406635284423828,
0.010876426473259926,
0.543163537979126,
0.6423138380050659,
-0.26428332924842834,
-0.25366124510765076,
-0.4757578670978546
],
"max": [
0.8365438580513,
0.5729861855506897,
1.0947157144546509,
0.9999994039535522,
0.3976175785064697,
0.7642307877540588,
0.2711763083934784
],
"mean": [
0.5496038794517517,
0.29081669449806213,
0.7795647978782654,
0.8685621023178101,
0.029630238190293312,
0.43390533328056335,
0.012929066084325314
],
"std": [
0.11352211236953735,
0.0971163883805275,
0.12588711082935333,
0.09125864505767822,
0.048425182700157166,
0.20286308228969574,
0.06674658507108688
],
"count": [
1717873
]
},
"states.right_tcp_to_robot_pose": {
"min": [
0.076499342918396,
-0.617209255695343,
0.536528468132019,
0.5037817358970642,
-0.31556326150894165,
-0.5278054475784302,
-0.6736788749694824
],
"max": [
0.871540367603302,
0.3444368243217468,
1.278739094734192,
1.0,
0.5138790607452393,
0.8515863418579102,
0.43042758107185364
],
"mean": [
0.5374699831008911,
-0.23702919483184814,
0.7414172887802124,
0.8137974143028259,
0.03514617681503296,
0.48949113488197327,
0.0005544559680856764
],
"std": [
0.1016097292304039,
0.13162335753440857,
0.11325467377901077,
0.11825406551361084,
0.09532060474157333,
0.25824248790740967,
0.08448443561792374
],
"count": [
1717873
]
},
"head_camera_intrinsics": {
"min": [
433.8900146484375,
433.3800048828125,
320.0,
240.0
],
"max": [
433.8900146484375,
433.3800048828125,
320.0,
240.0
],
"mean": [
433.89019775390625,
433.3804016113281,
319.9999694824219,
239.99998474121094
],
"std": [
0.1767766922712326,
0.0,
0.3061862289905548,
0.22534695267677307
],
"count": [
1717873
]
},
"master_actions.right_gripper.openness": {
"min": [
-0.0
],
"max": [
1.0
],
"mean": [
0.4077882766723633
],
"std": [
0.390937477350235
],
"count": [
1717873
]
},
"master_actions.right_gripper.position": {
"min": [
-5.020558546675602e-07
],
"max": [
0.045000024139881134
],
"mean": [
0.018173564225435257
],
"std": [
0.016833432018756866
],
"count": [
1717873
]
},
"master_actions.right_joint.position": {
"min": [
-1.4352991580963135,
-0.866104781627655,
-0.5735385417938232,
-1.6710286140441895,
-0.9355536699295044,
-1.0480438470840454
],
"max": [
1.0366250276565552,
3.25364089012146,
3.4066476821899414,
1.6728498935699463,
0.8221467733383179,
1.5554733276367188
],
"mean": [
-0.016515374183654785,
1.8477139472961426,
1.2517927885055542,
-0.47723209857940674,
-0.03883177787065506,
0.03444031625986099
],
"std": [
0.3017275631427765,
0.8069456219673157,
0.795396089553833,
0.5538317561149597,
0.2024678885936737,
0.24060316383838654
],
"count": [
1717873
]
},
"states.robot_to_env_pose": {
"min": [
0.0,
0.0,
0.17000000178813934,
1.0,
0.0,
0.0,
0.0
],
"max": [
0.0,
0.0,
0.17000000178813934,
1.0,
0.0,
0.0,
0.0
],
"mean": [
0.0,
0.0,
0.1700001358985901,
1.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"count": [
1717873
]
}
}
}