| { | |
| "state_mode": "QUANTILE", | |
| "features": { | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 8 | |
| ], | |
| "names": { | |
| "motors": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw", | |
| "pad", | |
| "gripper" | |
| ] | |
| } | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": { | |
| "motors": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw", | |
| "gripper" | |
| ] | |
| } | |
| } | |
| }, | |
| "stats": { | |
| "observation.state": { | |
| "min": [ | |
| -0.4828203022480011, | |
| -0.3255046010017395, | |
| 0.008128180168569088, | |
| 0.35277295112609863, | |
| -3.641430377960205, | |
| -1.842738389968872, | |
| -0.0013586411951109767, | |
| -0.042040832340717316 | |
| ], | |
| "max": [ | |
| 0.21031762659549713, | |
| 0.39128610491752625, | |
| 1.3660105466842651, | |
| 3.6714255809783936, | |
| 3.560650587081909, | |
| 1.386339545249939, | |
| 0.04233968257904053, | |
| 0.0013633022317662835 | |
| ], | |
| "mean": [ | |
| -0.046518828719854355, | |
| 0.034408919513225555, | |
| 0.7645694613456726, | |
| 2.9716713428497314, | |
| -0.2204727977514267, | |
| -0.12557993829250336, | |
| 0.026915358379483223, | |
| -0.027191326022148132 | |
| ], | |
| "std": [ | |
| 0.10494082421064377, | |
| 0.1517619788646698, | |
| 0.3785194456577301, | |
| 0.3442671298980713, | |
| 0.9068173766136169, | |
| 0.32538288831710815, | |
| 0.014175750315189362, | |
| 0.014058776199817657 | |
| ], | |
| "count": [ | |
| 273465 | |
| ], | |
| "q01": [ | |
| -0.3991248905658722, | |
| -0.2688351273536682, | |
| 0.03826696425676346, | |
| 1.508958101272583, | |
| -2.7197911739349365, | |
| -1.0805085897445679, | |
| 0.0017423711251467466, | |
| -0.04002561420202255 | |
| ], | |
| "q99": [ | |
| 0.13556525111198425, | |
| 0.33566486835479736, | |
| 1.2706660032272339, | |
| 3.277346134185791, | |
| 2.406111240386963, | |
| 0.5977716445922852, | |
| 0.04031316190958023, | |
| -0.00177810771856457 | |
| ] | |
| }, | |
| "action": { | |
| "min": [ | |
| -0.9375, | |
| -0.9375, | |
| -0.9375, | |
| -0.2582142949104309, | |
| -0.375, | |
| -0.3675000071525574, | |
| -1.0 | |
| ], | |
| "max": [ | |
| 0.9375, | |
| 0.9375, | |
| 0.9375, | |
| 0.3557142913341522, | |
| 0.375, | |
| 0.375, | |
| 1.0 | |
| ], | |
| "mean": [ | |
| 0.06278152763843536, | |
| 0.08684158325195312, | |
| -0.0903734639286995, | |
| 0.0005407554563134909, | |
| 0.005643464159220457, | |
| -0.005229106638580561, | |
| -0.0496407225728035 | |
| ], | |
| "std": [ | |
| 0.33551836013793945, | |
| 0.37847793102264404, | |
| 0.4446770250797272, | |
| 0.03924214467406273, | |
| 0.06341660022735596, | |
| 0.07792268693447113, | |
| 1.000144362449646 | |
| ], | |
| "count": [ | |
| 273465 | |
| ], | |
| "q01": [ | |
| -0.7044642567634583, | |
| -0.8008928298950195, | |
| -0.9375, | |
| -0.11464285850524902, | |
| -0.1639285683631897, | |
| -0.2239285707473755, | |
| -1.0 | |
| ], | |
| "q99": [ | |
| 0.9375, | |
| 0.8678571581840515, | |
| 0.9375, | |
| 0.13178572058677673, | |
| 0.19285714626312256, | |
| 0.335357129573822, | |
| 1.0 | |
| ] | |
| } | |
| }, | |
| "datasets": { | |
| "libero_4_suites": { | |
| "features": { | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 8 | |
| ], | |
| "names": { | |
| "motors": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw", | |
| "pad", | |
| "gripper" | |
| ] | |
| } | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": { | |
| "motors": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw", | |
| "gripper" | |
| ] | |
| } | |
| } | |
| }, | |
| "stats": { | |
| "observation.state": { | |
| "min": [ | |
| -0.4828203022480011, | |
| -0.3255046010017395, | |
| 0.008128180168569088, | |
| 0.35277295112609863, | |
| -3.641430377960205, | |
| -1.842738389968872, | |
| -0.0013586411951109767, | |
| -0.042040832340717316 | |
| ], | |
| "max": [ | |
| 0.21031762659549713, | |
| 0.39128610491752625, | |
| 1.3660105466842651, | |
| 3.6714255809783936, | |
| 3.560650587081909, | |
| 1.386339545249939, | |
| 0.04233968257904053, | |
| 0.0013633022317662835 | |
| ], | |
| "mean": [ | |
| -0.046518828719854355, | |
| 0.034408919513225555, | |
| 0.7645694613456726, | |
| 2.9716713428497314, | |
| -0.2204727977514267, | |
| -0.12557993829250336, | |
| 0.026915358379483223, | |
| -0.027191326022148132 | |
| ], | |
| "std": [ | |
| 0.10494082421064377, | |
| 0.1517619788646698, | |
| 0.3785194456577301, | |
| 0.3442671298980713, | |
| 0.9068173766136169, | |
| 0.32538288831710815, | |
| 0.014175750315189362, | |
| 0.014058776199817657 | |
| ], | |
| "count": [ | |
| 273465 | |
| ], | |
| "q01": [ | |
| -0.3991248905658722, | |
| -0.2688351273536682, | |
| 0.03826696425676346, | |
| 1.508958101272583, | |
| -2.7197911739349365, | |
| -1.0805085897445679, | |
| 0.0017423711251467466, | |
| -0.04002561420202255 | |
| ], | |
| "q99": [ | |
| 0.13556525111198425, | |
| 0.33566486835479736, | |
| 1.2706660032272339, | |
| 3.277346134185791, | |
| 2.406111240386963, | |
| 0.5977716445922852, | |
| 0.04031316190958023, | |
| -0.00177810771856457 | |
| ] | |
| }, | |
| "action": { | |
| "min": [ | |
| -0.9375, | |
| -0.9375, | |
| -0.9375, | |
| -0.2582142949104309, | |
| -0.375, | |
| -0.3675000071525574, | |
| -1.0 | |
| ], | |
| "max": [ | |
| 0.9375, | |
| 0.9375, | |
| 0.9375, | |
| 0.3557142913341522, | |
| 0.375, | |
| 0.375, | |
| 1.0 | |
| ], | |
| "mean": [ | |
| 0.06278152763843536, | |
| 0.08684158325195312, | |
| -0.0903734639286995, | |
| 0.0005407554563134909, | |
| 0.005643464159220457, | |
| -0.005229106638580561, | |
| -0.0496407225728035 | |
| ], | |
| "std": [ | |
| 0.33551836013793945, | |
| 0.37847793102264404, | |
| 0.4446770250797272, | |
| 0.03924214467406273, | |
| 0.06341660022735596, | |
| 0.07792268693447113, | |
| 1.000144362449646 | |
| ], | |
| "count": [ | |
| 273465 | |
| ], | |
| "q01": [ | |
| -0.7044642567634583, | |
| -0.8008928298950195, | |
| -0.9375, | |
| -0.11464285850524902, | |
| -0.1639285683631897, | |
| -0.2239285707473755, | |
| -1.0 | |
| ], | |
| "q99": [ | |
| 0.9375, | |
| 0.8678571581840515, | |
| 0.9375, | |
| 0.13178572058677673, | |
| 0.19285714626312256, | |
| 0.335357129573822, | |
| 1.0 | |
| ] | |
| } | |
| } | |
| } | |
| } | |
| } |