Hugging Face's logo

CogACT
/
CogACT-Small

Robotics
Transformers
English
vla
diffusion
multimodal
pretraining
Inference Endpoints
Model card Files Community
CogACT-Small / dataset_statistics.json
arnoldland's picture
arnoldland
Initial commit of CogACT-Small
43a4fb5
raw
history blame contribute delete
53.4 kB
{
"fractal20220817_data": {
"action": {
"mean": [
0.006987582892179489,
0.006265914998948574,
-0.01262515690177679,
0.04333311691880226,
-0.005756211932748556,
0.0009130309335887432,
0.5354204773902893
],
"std": [
0.06921170651912689,
0.05970961973071098,
0.07353077083826065,
0.1561051607131958,
0.13164445757865906,
0.1459379941225052,
0.4971102774143219
],
"max": [
2.9984593391418457,
22.09052848815918,
2.7507524490356445,
1.570636510848999,
1.5321086645126343,
1.5691522359848022,
1.0
],
"min": [
-2.0204520225524902,
-5.497899532318115,
-2.031663417816162,
-1.569917917251587,
-1.569892168045044,
-1.570419430732727,
0.0
],
"q01": [
-0.22453527510166169,
-0.14820013284683228,
-0.231589707583189,
-0.3517994859814644,
-0.4193011274933815,
-0.43643461108207704,
0.0
],
"q99": [
0.17824687153100965,
0.14938379630446405,
0.21842354819178575,
0.5892666035890578,
0.35272657424211445,
0.44796681255102094,
1.0
],
"mask": [
true,
true,
true,
true,
true,
true,
false
]
},
"proprio": {
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
},
"num_transitions": 3786400,
"num_trajectories": 87212
},
"kuka": {
"action": {
"mean": [
-0.00046689820010215044,
0.0004013901634607464,
-0.0012807822786271572,
0.0,
0.0,
-0.037224654108285904,
0.4131543040275574
],
"std": [
0.020832600072026253,
0.029158756136894226,
0.06422767788171768,
0.0,
0.0,
0.14224332571029663,
0.490863174200058
],
"max": [
0.1697135865688324,
0.2777623236179352,
0.43710532784461975,
0.0,
0.0,
1.9684287309646606,
1.0
],
"min": [
-0.159867063164711,
-0.2892282009124756,
-0.2795473635196686,
0.0,
0.0,
-1.9875637292861938,
0.0
],
"q01": [
-0.06619441494345665,
-0.08713878810405731,
-0.15083016991615295,
0.0,
0.0,
-0.5415697038173676,
0.0
],
"q99": [
0.06601839080452929,
0.08732476785779003,
0.18168179214000715,
0.0,
0.0,
0.2923380345106127,
1.0
],
"mask": [
true,
true,
true,
true,
true,
true,
false
]
},
"proprio": {
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
},
"num_transitions": 2455879,
"num_trajectories": 209880
},
"bridge_orig": {
"action": {
"mean": [
0.0002334175951546058,
0.00013004158972762525,
-0.00012762603000737727,
-0.00015565902867820114,
-0.0004039338091388345,
0.00023558299290016294,
0.5764582753181458
],
"std": [
0.009765751659870148,
0.013689497485756874,
0.012667125090956688,
0.028534479439258575,
0.03063787892460823,
0.07691725343465805,
0.4973650574684143
],
"max": [
0.41691166162490845,
0.25864794850349426,
0.21218234300613403,
3.122201919555664,
1.8618112802505493,
6.280478477478027,
1.0
],
"min": [
-0.4007510244846344,
-0.13874775171279907,
-0.22553899884223938,
-3.2010786533355713,
-1.8618112802505493,
-6.279075622558594,
0.0
],
"q01": [
-0.02872725307941437,
-0.04170349963009357,
-0.026093858778476715,
-0.08092105075716972,
-0.09288699507713317,
-0.20718276381492615,
0.0
],
"q99": [
0.028309678435325586,
0.040855254605412394,
0.040161586627364146,
0.08192047759890528,
0.07792850524187081,
0.20382574498653397,
1.0
],
"mask": [
true,
true,
true,
true,
true,
true,
false
]
},
"proprio": {
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
},
"num_transitions": 2135463,
"num_trajectories": 60064
},
"taco_play": {
"action": {
"mean": [
-0.003845921251922846,
0.009671425446867943,
0.012780577875673771,
-0.00540378550067544,
-0.009606565348803997,
-0.002480721101164818,
0.4263913035392761
],
"std": [
0.23254039883613586,
0.3629826605319977,
0.2869292199611664,
0.261770635843277,
0.2438892275094986,
0.5216503739356995,
0.4946901500225067
],
"max": [
1.4915844202041626,
2.1842432022094727,
2.6836395263671875,
5.035226821899414,
2.665864944458008,
4.250768661499023,
1.0
],
"min": [
-4.242457866668701,
-3.192805051803589,
-1.3371467590332031,
-4.202683448791504,
-2.6722638607025146,
-3.3467135429382324,
0.0
],
"q01": [
-0.7106140398979186,
-1.056944659948349,
-0.5878450274467468,
-0.7682853937149048,
-0.7180147767066956,
-1.5527938604354858,
0.0
],
"q99": [
0.6482916426658629,
1.0051310062408447,
0.9480248689651489,
0.6926478147506714,
0.6351067513227462,
1.628010264635086,
1.0
],
"mask": [
true,
true,
true,
true,
true,
true,
false
]
},
"proprio": {
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
},
"num_transitions": 237798,
"num_trajectories": 3603
},
"jaco_play": {
"action": {
"mean": [
0.0009658538619987667,
-0.0058008055202662945,
-0.003950664773583412,
0.0,
0.0,
0.0,
0.34934908151626587
],
"std": [
0.12235058099031448,
0.09678731858730316,
0.11155354231595993,
0.0,
0.0,
0.0,
0.4768224060535431
],
"max": [
0.20000000298023224,
0.20000000298023224,
0.20000000298023224,
0.0,
0.0,
0.0,
1.0
],
"min": [
-0.20000000298023224,
-0.20000000298023224,
-0.20000000298023224,
0.0,
0.0,
0.0,
0.0
],
"q01": [
-0.20000000298023224,
-0.20000000298023224,
-0.20000000298023224,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.20000000298023224,
0.20000000298023224,
0.20000000298023224,
0.0,
0.0,
0.0,
1.0
],
"mask": [
true,
true,
true,
true,
true,
true,
false
]
},
"proprio": {
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
},
"num_transitions": 77965,
"num_trajectories": 1085
},
"berkeley_cable_routing": {
"action": {
"mean": [
-0.07139874249696732,
0.023609014227986336,
0.10241945832967758,
0.0,
0.0,
0.0496709942817688,
0.0
],
"std": [
0.18155010044574738,
0.1810990869998932,
0.21220779418945312,
0.0,
0.0,
0.34755125641822815,
0.0
],
"max": [
0.9633283019065857,
1.0,
1.0,
0.0,
0.0,
1.0,
0.0
],
"min": [
-0.9809081554412842,
-0.9554349184036255,
-0.9994775056838989,
0.0,
0.0,
-1.0,
0.0
],
"q01": [
-0.5534318816661835,
-0.4797285574674606,
-0.5314934802055359,
0.0,
0.0,
-0.8855219376087189,
0.0
],
"q99": [
0.42652835428714786,
0.5000944086909298,
0.639823433756829,
0.0,
0.0,
0.984243879914284,
0.0
],
"mask": [
true,
true,
true,
true,
true,
true,
false
]
},
"proprio": {
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
},
"num_transitions": 42328,
"num_trajectories": 1647
},
"roboturk": {
"action": {
"mean": [
0.0014448720030486584,
-0.0015945221530273557,
-0.0011753772851079702,
0.002301251282915473,
-0.0009382449788972735,
-0.00011485815048217773,
0.5746025443077087
],
"std": [
0.04935385286808014,
0.0635456070303917,
0.061164740473032,
0.09553451836109161,
0.08420129120349884,
0.0651790052652359,
0.4945187270641327
],
"max": [
0.39124172925949097,
0.4601028263568878,
0.4870833456516266,
1.816888689994812,
1.8240282535552979,
1.4824820756912231,
1.0
],
"min": [
-0.6546999216079712,
-0.6365841031074524,
-0.4217723608016968,
-1.6695482730865479,
-1.8023357391357422,
-1.4630827903747559,
0.0
],
"q01": [
-0.1342635464668274,
-0.19996687173843383,
-0.1482972100377083,
-0.20720748245716095,
-0.09676413893699647,
-0.18075634717941286,
0.0
],
"q99": [
0.14956976801157001,
0.1805950567126275,
0.18841815620660796,
0.21615413755178453,
0.09457383215427405,
0.18543301910162005,
1.0
],
"mask": [
true,
true,
true,
true,
true,
true,
false
]
},
"proprio": {
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
},
"num_transitions": 187507,
"num_trajectories": 1995
},
"viola": {
"action": {
"mean": [
0.04761846736073494,
-0.029204588383436203,
0.055867526680231094,
-0.002618523547425866,
0.006867336109280586,
-0.016821356490254402,
0.7323777675628662
],
"std": [
0.39158064126968384,
0.40765121579170227,
0.40077799558639526,
0.10023975372314453,
0.08443227410316467,
0.10375077277421951,
0.4426046907901764
],
"max": [
1.0,
1.0,
1.0,
0.375,
0.36321428418159485,
0.375,
1.0
],
"min": [
-1.0,
-1.0,
-1.0,
-0.375,
-0.375,
-0.375,
0.0
],
"q01": [
-0.9628571271896362,
-1.0,
-1.0,
-0.26249998807907104,
-0.21321429312229156,
-0.3385714292526245,
0.0
],
"q99": [
0.9114285707473755,
0.868571400642395,
1.0,
0.2817857265472412,
0.2239285707473755,
0.3557142913341522,
1.0
],
"mask": [
true,
true,
true,
true,
true,
true,
false
]
},
"proprio": {
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
},
"num_transitions": 76324,
"num_trajectories": 150
},
"berkeley_autolab_ur5": {
"action": {
"mean": [
0.000568361661862582,
0.0012176960008218884,
-0.0005296391318552196,
0.00021029781782999635,
6.069496521377005e-05,
0.0012049865908920765,
0.6298308372497559
],
"std": [
0.011533070355653763,
0.007990499958395958,
0.009577802382409573,
0.009432998485863209,
0.016427574679255486,
0.0110540222376585,
0.4826793968677521
],
"max": [
0.019999999552965164,
0.019999999552965164,
0.019999999552965164,
0.06666667014360428,
0.06666667014360428,
0.06666667014360428,
1.0
],
"min": [
-0.019999999552965164,
-0.019999999552965164,
-0.019999999552965164,
-0.06666667014360428,
-0.06666667014360428,
-0.06666667014360428,
0.0
],
"q01": [
-0.019999999552965164,
-0.019999999552965164,
-0.019999999552965164,
-0.02628571353852749,
-0.06666667014360428,
-0.03847619146108627,
0.0
],
"q99": [
0.019999999552965164,
0.019999999552965164,
0.019999999552965164,
0.031809523701667786,
0.06666667014360428,
0.036571428179740906,
1.0
],
"mask": [
true,
true,
true,
true,
true,
true,
false
]
},
"proprio": {
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
},
"num_transitions": 97939,
"num_trajectories": 1000
},
"toto": {
"action": {
"mean": [
0.3854214549064636,
0.007769509684294462,
0.3632741868495941,
-0.6652028560638428,
0.18903960287570953,
0.03298758342862129,
0.0
],
"std": [
0.122116319835186,
0.19378569722175598,
0.10178232938051224,
0.5725255608558655,
0.2988460063934326,
0.32599160075187683,
0.0
],
"max": [
0.6839867234230042,
0.4454185664653778,
0.7984078526496887,
2.120781660079956,
1.371164321899414,
1.4118704795837402,
0.0
],
"min": [
0.09922284632921219,
-0.5180193781852722,
0.13791072368621826,
-2.635117530822754,
-1.0734480619430542,
-1.9282547235488892,
0.0
],
"q01": [
0.1756722891330719,
-0.3077590811252594,
0.235383919775486,
-2.0908505964279174,
-0.6191593289375306,
-0.7488683319091797,
0.0
],
"q99": [
0.6136963081359863,
0.33704194784164443,
0.6681221985816956,
0.7422861719131538,
0.7955395007133507,
0.740464625358582,
0.0
],
"mask": [
true,
true,
true,
true,
true,
true,
false
]
},
"proprio": {
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
},
"num_transitions": 325699,
"num_trajectories": 1003
},
"stanford_hydra_dataset_converted_externally_to_rlds": {
"action": {
"mean": [
0.0007790075615048409,
0.00013707915786653757,
-0.00025485886726528406,
0.0012903279857710004,
-0.004751726984977722,
0.002692904556170106,
0.48855218291282654
],
"std": [
0.008022191002964973,
0.009131455793976784,
0.009574385359883308,
0.04122225195169449,
0.03843000903725624,
0.04606698825955391,
0.4997812509536743
],
"max": [
0.02499854564666748,
0.02499903365969658,
0.024999922141432762,
0.24974457919597626,
0.24997030198574066,
0.24999946355819702,
1.0
],
"min": [
-0.024999044835567474,
-0.024999700486660004,
-0.02499929815530777,
-0.24993225932121277,
-0.2499666064977646,
-0.2499932497739792,
0.0
],
"q01": [
-0.019992006458342076,
-0.02415412735193968,
-0.022941758055239916,
-0.11085530579090118,
-0.12024572037160397,
-0.13314770206809043,
0.0
],
"q99": [
0.022886231057345868,
0.022358838934451335,
0.02410089675337076,
0.12370114490389822,
0.11323311634361738,
0.18474749639630164,
1.0
],
"mask": [
true,
true,
true,
true,
true,
true,
false
]
},
"proprio": {
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
},
"num_transitions": 358234,
"num_trajectories": 570
},
"austin_buds_dataset_converted_externally_to_rlds": {
"action": {
"mean": [
-0.07678322494029999,
0.003684911411255598,
0.056449249386787415,
0.0,
0.0,
0.0,
0.3510494828224182
],
"std": [
0.6367751359939575,
0.3788909912109375,
0.47796276211738586,
0.0,
0.0,
0.0,
0.4772103726863861
],
"max": [
1.0,
1.0,
1.0,
0.0,
0.0,
0.0,
1.0
],
"min": [
-1.0,
-1.0,
-1.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
-1.0,
-0.9599999785423279,
-0.8714285492897034,
0.0,
0.0,
0.0,
0.0
],
"q99": [
1.0,
0.8600000143051147,
1.0,
0.0,
0.0,
0.0,
1.0
],
"mask": [
true,
true,
true,
true,
true,
true,
false
]
},
"proprio": {
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
},
"num_transitions": 34112,
"num_trajectories": 50
},
"nyu_franka_play_dataset_converted_externally_to_rlds": {
"action": {
"mean": [
0.0010219914838671684,
-0.00012002645235043019,
0.00032894135802052915,
0.001503427978605032,
-0.002198529429733753,
-0.0016632297774776816,
0.7230083346366882
],
"std": [
0.013274148106575012,
0.013215921819210052,
0.012822107411921024,
0.27324536442756653,
0.057022497057914734,
0.039172809571027756,
0.4475318491458893
],
"max": [
0.06424188613891602,
0.07027634978294373,
0.06129661202430725,
6.281067848205566,
0.1967729926109314,
0.26377415657043457,
1.0
],
"min": [
-0.05952230095863342,
-0.07232445478439331,
-0.06730806827545166,
-6.278434753417969,
-0.21479034423828125,
-0.3627619743347168,
0.0
],
"q01": [
-0.03199600875377655,
-0.032861671447753905,
-0.03368805110454559,
-0.12080862045288086,
-0.12175218224525451,
-0.11370223641395569,
0.0
],
"q99": [
0.03101520001888276,
0.0373908892273903,
0.03646374464035038,
0.11764093399047852,
0.1258920183777809,
0.09366151213645942,
1.0
],
"mask": [
true,
true,
true,
true,
true,
true,
false
]
},
"proprio": {
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
},
"num_transitions": 44875,
"num_trajectories": 456
},
"furniture_bench_dataset_converted_externally_to_rlds": {
"action": {
"mean": [
0.0001461072388337925,
0.0010830991668626666,
0.0006224962417036295,
-0.0033032018691301346,
-0.002688060747459531,
0.01824265345931053,
0.48854944109916687
],
"std": [
0.016107235103845596,
0.014891562052071095,
0.014014234766364098,
0.058274269104003906,
0.1141708493232727,
0.33479613065719604,
0.4999157190322876
],
"max": [
0.10000000149011612,
0.10000000149011612,
0.10000000149011612,
0.8651833534240723,
1.0909736156463623,
2.863185405731201,
1.0
],
"min": [
-0.10495579987764359,
-0.10939455777406693,
-0.10000000149011612,
-0.971906840801239,
-1.0475432872772217,
-3.06000018119812,
0.0
],
"q01": [
-0.053988199681043625,
-0.05049169331789017,
-0.032499241530895236,
-0.1953887003660202,
-0.41674559473991396,
-0.8886768054962159,
0.0
],
"q99": [
0.05414841488003723,
0.04965164884924884,
0.060055799782276154,
0.18231668293476103,
0.39867786407470646,
0.8772024297714229,
1.0
],
"mask": [
true,
true,
true,
true,
true,
true,
false
]
},
"proprio": {
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
},
"num_transitions": 3948057,
"num_trajectories": 5100
},
"ucsd_kitchen_dataset_converted_externally_to_rlds": {
"action": {
"mean": [
410.37567138671875,
116.9518814086914,
192.35032653808594,
-121.22441864013672,
-33.84893035888672,
50.016136169433594,
0.741813600063324
],
"std": [
122.8149642944336,
108.80091857910156,
130.303466796875,
116.28205108642578,
27.621841430664062,
41.02094650268555,
0.43763357400894165
],
"max": [
678.0,
400.0,
507.0,
180.00001525878906,
6.000013828277588,
116.99998474121094,
1.0
],
"min": [
172.0,
-166.0,
-99.99999237060547,
-180.00001525878906,
-89.0,
-96.00010681152344,
0.0
],
"q01": [
200.00001052856445,
-102.31004211425781,
-94.99993370056153,
-180.00001525878906,
-88.00001525878906,
-38.999977111816406,
0.0
],
"q99": [
637.0,
368.30999999999995,
493.0,
180.00001525878906,
0.999983012676239,
105.00001525878906,
1.0
],
"mask": [
true,
true,
true,
true,
true,
true,
false
]
},
"proprio": {
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
},
"num_transitions": 3970,
"num_trajectories": 150
},
"austin_sailor_dataset_converted_externally_to_rlds": {
"action": {
"mean": [
0.011825310997664928,
0.006461076904088259,
0.06023634970188141,
0.0,
0.0,
0.001646595192141831,
0.5260950326919556
],
"std": [
0.46348825097084045,
0.41240230202674866,
0.4118625819683075,
0.0,
0.0,
0.05786110833287239,
0.4989398121833801
],
"max": [
1.0,
1.0,
1.0,
0.0,
0.0,
0.375,
1.0
],
"min": [
-1.0,
-1.0,
-1.0,
0.0,
0.0,
-0.375,
0.0
],
"q01": [
-1.0,
-0.9828571677207947,
-0.6000000238418579,
0.0,
0.0,
-0.17249999940395355,
0.0
],
"q99": [
1.0,
0.9457142949104309,
1.0,
0.0,
0.0,
0.17892856895923615,
1.0
],
"mask": [
true,
true,
true,
true,
true,
true,
false
]
},
"proprio": {
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
},
"num_transitions": 353094,
"num_trajectories": 240
},
"austin_sirius_dataset_converted_externally_to_rlds": {
"action": {
"mean": [
0.077476866543293,
0.031955525279045105,
0.04244736582040787,
0.0,
0.0,
-0.01603453978896141,
0.43260183930397034
],
"std": [
0.3906329870223999,
0.2998153865337372,
0.2782270312309265,
0.0,
0.0,
0.08120627701282501,
0.4952819347381592
],
"max": [
1.0002285242080688,
0.960608720779419,
1.105179786682129,
0.0,
0.0,
0.341785728931427,
1.0
],
"min": [
-1.0183025598526,
-0.9800000190734863,
-0.9774575233459473,
0.0,
0.0,
-0.34607142210006714,
0.0
],
"q01": [
-0.780905865430832,
-0.5667179036140442,
-0.5254343223571777,
0.0,
0.0,
-0.28495091378688814,
0.0
],
"q99": [
0.9569637751579284,
0.6971374487876891,
0.8124888157844541,
0.0,
0.0,
0.1971428543329239,
1.0
],
"mask": [
true,
true,
true,
true,
true,
true,
false
]
},
"proprio": {
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
},
"num_transitions": 279939,
"num_trajectories": 559
},
"dlr_edan_shared_control_converted_externally_to_rlds": {
"action": {
"mean": [
0.006647810805588961,
-0.0007657366222701967,
0.006522853393107653,
0.0011679711751639843,
-0.0063956258818507195,
-0.011902999132871628,
0.6985887289047241
],
"std": [
0.02139361761510372,
0.01814231649041176,
0.03374375030398369,
0.01743542030453682,
0.03394376486539841,
0.04641873762011528,
0.4588589370250702
],
"max": [
0.18991442024707794,
0.0739002525806427,
0.18064819276332855,
0.0866486132144928,
0.13464981317520142,
0.16910280287265778,
1.0
],
"min": [
-0.10054297000169754,
-0.08427435159683228,
-0.13533438742160797,
-0.17556548118591309,
-0.18485672771930695,
-0.2680685818195343,
0.0
],
"q01": [
-0.02987122368067503,
-0.06013262912631035,
-0.08286409199237824,
-0.05924444157630205,
-0.15986866518855095,
-0.15636983573436739,
0.0
],
"q99": [
0.08832092039287087,
0.042126184627413736,
0.11311905644834042,
0.0643695573508739,
0.03941855944693088,
0.156646853685379,
1.0
],
"mask": [
true,
true,
true,
true,
true,
true,
false
]
},
"proprio": {
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
},
"num_transitions": 8928,
"num_trajectories": 104
},
"iamlab_cmu_pickup_insert_converted_externally_to_rlds": {
"action": {
"mean": [
0.5274373292922974,
0.028582019731402397,
0.18712475895881653,
1.2339574098587036,
0.03226623311638832,
-1.4199477434158325,
0.5550631880760193
],
"std": [
0.08108346909284592,
0.1116756796836853,
0.07747554779052734,
2.8737246990203857,
0.02774704247713089,
2.7678680419921875,
0.49695101380348206
],
"max": [
0.6634981632232666,
0.23428471386432648,
0.4308285415172577,
3.1415927410125732,
0.13647015392780304,
3.141592502593994,
1.0
],
"min": [
0.3071657121181488,
-0.29754969477653503,
0.06578229367733002,
-3.1415927410125732,
-0.04584203287959099,
-3.141592502593994,
0.0
],
"q01": [
0.3148897051811218,
-0.20317550599575043,
0.06785467118024827,
-3.140952730178833,
-0.029743434861302376,
-3.141091251373291,
0.0
],
"q99": [
0.6472805738449097,
0.20846802592277527,
0.36855655312538155,
3.1409926891326903,
0.11424950212240226,
3.1410969257354737,
1.0
],
"mask": [
true,
true,
true,
true,
true,
true,
false
]
},
"proprio": {
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
},
"num_transitions": 146241,
"num_trajectories": 631
},
"utaustin_mutex": {
"action": {
"mean": [
0.06176406517624855,
-0.0050054881721735,
0.10216782987117767,
-0.03314130753278732,
0.013895021751523018,
-0.011317633092403412,
0.5038976669311523
],
"std": [
0.1875014454126358,
0.4468473196029663,
0.3792876601219177,
0.14097853004932404,
0.06453699618577957,
0.11765266209840775,
0.501045286655426
],
"max": [
1.0,
1.0,
1.0,
0.375,
0.375,
0.375,
1.0
],
"min": [
-1.0,
-1.0,
-1.0,
-0.375,
-0.375,
-0.375,
0.0
],
"q01": [
-0.4285714328289032,
-0.9800000190734863,
-0.5571428537368774,
-0.375,
-0.15642857551574707,
-0.335357129573822,
0.0
],
"q99": [
0.5914285778999329,
0.9714285731315613,
1.0,
0.3278571367263794,
0.207857146859169,
0.25607141852378845,
1.0
],
"mask": [
true,
true,
true,
true,
true,
true,
false
]
},
"proprio": {
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
},
"num_transitions": 361883,
"num_trajectories": 1500
},
"berkeley_fanuc_manipulation": {
"action": {
"mean": [
0.0007744057802483439,
-0.00031240080716088414,
-0.0015001941937953234,
-0.0007515158504247665,
-0.00015832878125365824,
0.00014327642566058785,
0.699295699596405
],
"std": [
0.003407012205570936,
0.00499218562617898,
0.0053443326614797115,
0.00759896170347929,
0.004081868566572666,
0.008568967692553997,
0.4586922824382782
],
"max": [
0.009999999776482582,
0.009999999776482582,
0.009999999776482582,
0.03490658476948738,
0.03490658476948738,
0.03490658476948738,
1.0
],
"min": [
-0.009999999776482582,
-0.009999999776482582,
-0.009999999776482582,
-0.03490658476948738,
-0.03490658476948738,
-0.03490658476948738,
0.0
],
"q01": [
-0.009999999776482582,
-0.009999999776482582,
-0.009999999776482582,
-0.03490658476948738,
0.0,
-0.03490658476948738,
0.0
],
"q99": [
0.009999999776482582,
0.009999999776482582,
0.009999999776482582,
0.03490658476948738,
0.0,
0.03490658476948738,
1.0
],
"mask": [
true,
true,
true,
true,
true,
true,
false
]
},
"proprio": {
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
},
"num_transitions": 62613,
"num_trajectories": 415
},
"cmu_stretch": {
"action": {
"mean": [
0.00036304566310718656,
0.0,
0.001646695309318602,
0.0,
0.0,
0.0,
0.3987048268318176
],
"std": [
0.004081828519701958,
0.0,
0.003774335840716958,
0.0,
0.0,
0.0,
0.48963701725006104
],
"max": [
0.02338407188653946,
0.0,
0.023404927924275398,
0.0,
0.0,
0.0,
1.0
],
"min": [
-0.019353797659277916,
0.0,
-0.02019215188920498,
0.0,
0.0,
0.0,
0.0
],
"q01": [
-0.011175686959177256,
0.0,
-0.0032206363626755773,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.014501785952597848,
0.0,
0.015056106168776728,
0.0,
0.0,
0.0,
1.0
],
"mask": [
true,
true,
true,
true,
true,
true,
false
]
},
"proprio": {
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
},
"num_transitions": 25016,
"num_trajectories": 135
},
"bc_z": {
"action": {
"mean": [
-0.009958603419363499,
0.0008958337712101638,
0.004995233844965696,
0.0002975360839627683,
-0.008734495379030704,
-0.030689729377627373,
0.8344562649726868
],
"std": [
0.030533043667674065,
0.023141516372561455,
0.020642178133130074,
0.04156160727143288,
0.04643016308546066,
0.07697733491659164,
0.3610839545726776
],
"max": [
0.2165454924106598,
0.1251407265663147,
0.10772687941789627,
0.33544227480888367,
0.28117990493774414,
0.40614867210388184,
1.0
],
"min": [
-0.1677047461271286,
-0.14630407094955444,
-0.10066790133714676,
-0.29421567916870117,
-0.32101404666900635,
-0.4635624885559082,
0.0
],
"q01": [
-0.09220654994249344,
-0.06456145539879798,
-0.049121275544166565,
-0.11594625547528267,
-0.14152548640966414,
-0.2251061636209488,
0.0
],
"q99": [
0.07628866866230968,
0.058019736707210584,
0.052540797740221024,
0.11740604028105736,
0.11703975558280955,
0.16729306846857078,
1.0
],
"mask": [
true,
true,
true,
true,
true,
true,
false
]
},
"proprio": {
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
},
"num_transitions": 6015535,
"num_trajectories": 43264
},
"fmb_dataset": {
"action": {
"mean": [
0.049701154232025146,
-0.08722910284996033,
-0.07115050405263901,
0.003890096675604582,
-0.0021935547702014446,
-0.009235301986336708,
0.6831377744674683
],
"std": [
0.2699195444583893,
0.31641528010368347,
0.3944796323776245,
0.31888020038604736,
0.11227167397737503,
0.2184300422668457,
0.4654340147972107
],
"max": [
1.399999976158142,
1.0,
1.399999976158142,
1.0,
1.0,
1.0,
1.0
],
"min": [
-1.399999976158142,
-1.399999976158142,
-1.0,
-1.0,
-1.0,
-1.0,
0.0
],
"q01": [
-0.9399999976158142,
-1.399999976158142,
-0.9428571462631226,
-1.0,
-0.30714285373687744,
-0.9285714030265808,
0.0
],
"q99": [
0.9514285922050476,
0.43714284896850586,
1.399999976158142,
1.0,
0.37714284658432007,
1.0,
1.0
],
"mask": [
true,
true,
true,
true,
true,
true,
false
]
},
"proprio": {
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
},
"num_transitions": 338188,
"num_trajectories": 1804
},
"dobbe": {
"action": {
"mean": [
-0.0001120689048548229,
0.001122967223636806,
-0.00010193946945946664,
-7.371333049377427e-05,
-0.0006753351772204041,
-5.664419222739525e-05,
0.631874144077301
],
"std": [
0.04266081005334854,
0.044282134622335434,
0.12224893271923065,
0.005388346500694752,
0.011246900074183941,
0.0062882378697395325,
0.39732569456100464
],
"max": [
38.590423583984375,
17.932697296142578,
4.843764305114746,
1.4372116327285767,
0.4340403974056244,
1.2057193517684937,
0.9998947381973267
],
"min": [
-5.700923442840576,
-21.605947494506836,
-123.72489929199219,
-1.7229845523834229,
-0.4998578727245331,
-0.8867913484573364,
1.4196479014572105e-06
],
"q01": [
-0.01119564864784479,
-0.014266146533191203,
-0.0071747214533388615,
-0.009444301575422287,
-0.03990109823644161,
-0.017422311007976532,
4.003279136668425e-05
],
"q99": [
0.01015154086053368,
0.017181577533483497,
0.007216989761218411,
0.010380979906767595,
0.03556173853576176,
0.018032474815845446,
0.9982578039169312
],
"mask": [
true,
true,
true,
true,
true,
true,
false
]
},
"proprio": {
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
},
"num_transitions": 1139911,
"num_trajectories": 5208
}
}