{ "dataset_name": "gr1_unified.PosttrainPnPNovelFromTrayToCardboardboxSplitA", "dataset_statistics": { "state": { "left_arm": { "max": [ 2.2101333141326904, 1.4649879932403564, 1.5148195028305054, -0.5726710557937622, 2.996826410293579, 1.4919421672821045, 1.2149429321289062 ], "min": [ -1.6659060716629028, -0.0013064054073765874, -2.09700083732605, -2.5246083736419678, -0.9562112092971802, -1.41571044921875, -1.485048770904541 ], "mean": [ 0.33240288496017456, 0.09045397490262985, -0.07999003678560257, -1.998504877090454, 0.11714358627796173, 0.007623086683452129, -0.09291937947273254 ], "std": [ 0.463095098733902, 0.13773353397846222, 0.28058210015296936, 0.2998426854610443, 0.24838347733020782, 0.23293137550354004, 0.42081576585769653 ], "q01": [ -0.49226662516593933, 7.209810519270832e-6, -0.9353795647621155, -2.485245704650879, -0.21320490539073944, -0.9358266592025757, -1.2038363218307495 ], "q99": [ 1.8587725162506104, 0.6884247064590454, 0.56278395652771, -1.2125844955444336, 1.3105707168579102, 0.5227577090263367, 0.6759384274482727 ] }, "left_hand": { "max": [ 1.8043198585510254, 1.6302133798599243, 2.2771623134613037, 1.8359140157699585, 1.660863995552063, 2.05678653717041 ], "min": [ -0.9866260886192322, -0.9270832538604736, -1.9190133810043335, -1.198304533958435, -0.22259724140167236, -0.00005891910768696107 ], "mean": [ 0.13283227384090424, 0.1341286301612854, 0.12957292795181274, 0.1329534947872162, 0.06079846993088722, 1.6984920501708984 ], "std": [ 0.4168516993522644, 0.4196074903011322, 0.40573716163635254, 0.41415369510650635, 0.18773819506168365, 0.2156863659620285 ], "q01": [ -0.011004877276718616, -0.004080912563949823, -0.003029046580195427, -0.002316598081961274, -0.0033761055674403906, 0.3198026716709137 ], "q99": [ 1.5046297311782837, 1.5058239698410034, 1.5396769046783447, 1.5631163120269775, 0.7476824522018433, 1.898444414138794 ] }, "left_leg": { "max": [ 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 ], "mean": [ 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 ], "q01": [ 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 ] }, "neck": { "max": [ 0.0, 0.0, 0.0 ], "min": [ 0.0, 0.0, 0.0 ], "mean": [ 0.0, 0.0, 0.0 ], "std": [ 0.0, 0.0, 0.0 ], "q01": [ 0.0, 0.0, 0.0 ], "q99": [ 0.0, 0.0, 0.0 ] }, "right_arm": { "max": [ 1.3260267972946167, 0.0015528597868978977, 1.4147199392318726, -0.0031026960350573063, 2.178007125854492, 1.1194874048233032, 1.2240592241287231 ], "min": [ -1.8469336032867432, -1.7535321712493896, -1.1235870122909546, -2.51948618888855, -1.4168405532836914, -1.4613168239593506, -1.1890273094177246 ], "mean": [ -0.18299652636051178, -0.18364083766937256, 0.06290498375892639, -1.474810242652893, 0.38242095708847046, -0.31904056668281555, -0.013417151756584644 ], "std": [ 0.43415966629981995, 0.22948087751865387, 0.32702335715293884, 0.4574778378009796, 0.38094907999038696, 0.3162630498409271, 0.34257781505584717 ], "q01": [ -1.327748417854309, -0.866425633430481, -0.6825976967811584, -2.308243989944458, -0.48200762271881104, -1.136069416999817, -0.7929989695549011 ], "q99": [ 0.544790506362915, 4.451322183740558e-6, 0.7807474732398987, -0.215261772274971, 1.3742598295211792, 0.43346789479255676, 0.8322758674621582 ] }, "right_hand": { "max": [ 2.4768009185791016, 2.0506653785705566, 1.9933366775512695, 2.2104575634002686, 1.434532642364502, 1.9434807300567627 ], "min": [ -0.4248061180114746, -0.2478909194469452, -0.8583232164382935, -0.11822697520256042, -0.49044039845466614, -0.06975425034761429 ], "mean": [ 0.5624047517776489, 0.5264617204666138, 0.4965918958187103, 0.5308995842933655, 0.07385791838169098, 1.6328392028808594 ], "std": [ 0.5858263969421387, 0.5328947901725769, 0.49656593799591064, 0.5376757979393005, 0.15430746972560883, 0.2522010803222656 ], "q01": [ -0.001700692344456911, -0.0007417644374072552, -0.0012819203548133373, -0.0009455266408622265, -0.048283275216817856, 0.31277161836624146 ], "q99": [ 1.4889895915985107, 1.4739984273910522, 1.3683382272720337, 1.492733359336853, 0.5899575352668762, 1.7469990253448486 ] }, "right_leg": { "max": [ 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 ], "mean": [ 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 ], "q01": [ 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 ] }, "waist": { "max": [ 0.3714878559112549, 0.1700574904680252, 0.07874081283807755 ], "min": [ -0.35562974214553833, -0.27994030714035034, -0.09614838659763336 ], "mean": [ 0.011108185164630413, -0.004542412236332893, -0.0033976559061557055 ], "std": [ 0.03371388837695122, 0.015726566314697266, 0.009844409301877022 ], "q01": [ -0.049012441188097, -0.05644787847995758, -0.0456099808216095 ], "q99": [ 0.15333595871925354, 0.029097124934196472, 0.011369297280907631 ] } }, "action": { "left_arm": { "max": [ 2.20768404006958, 1.4926527738571167, 1.577671766281128, -0.568148672580719, 2.999837636947632, 1.4995970726013184, 1.4130821228027344 ], "min": [ -1.669469952583313, -0.0000653202660032548, -2.107011318206787, -2.843343734741211, -1.1059764623641968, -1.4957854747772217, -1.499252438545227 ], "mean": [ 0.3377611041069031, 0.09002851694822311, -0.08214034140110016, -2.0164268016815186, 0.12031857669353485, 0.002700244775041938, -0.10303707420825958 ], "std": [ 0.4658109247684479, 0.13990822434425354, 0.2864852547645569, 0.3104003369808197, 0.25455448031425476, 0.24945540726184845, 0.4546484649181366 ], "q01": [ -0.49783119559288025, 1.4051470316189807e-6, -0.9704950451850891, -2.619107723236084, -0.22822506725788116, -1.0025638341903687, -1.4224801063537598 ], "q99": [ 1.8617585897445679, 0.6926172971725464, 0.5649315714836121, -1.1695655584335327, 1.3195370435714722, 0.5292917490005493, 0.6911406517028809 ] }, "left_hand": { "max": [ 1.5, 1.5, 1.5, 1.5, 3.0, 3.0 ], "min": [ -1.5, -1.5, -1.5, -1.5, -3.0, 0.0 ], "mean": [ -1.2176164388656616, -1.2176164388656616, -1.2176164388656616, -1.2176164388656616, -2.4352328777313232, 2.9986157417297363 ], "std": [ 0.8748114705085754, 0.8748114705085754, 0.8748114705085754, 0.8748114705085754, 1.7496229410171509, 0.06441567093133926 ], "q01": [ -1.5, -1.5, -1.5, -1.5, -3.0, 3.0 ], "q99": [ 1.5, 1.5, 1.5, 1.5, 3.0, 3.0 ] }, "left_leg": { "max": [ 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 ], "mean": [ 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 ], "q01": [ 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 ] }, "neck": { "max": [ 0.0, 0.0, 0.0 ], "min": [ 0.0, 0.0, 0.0 ], "mean": [ 0.0, 0.0, 0.0 ], "std": [ 0.0, 0.0, 0.0 ], "q01": [ 0.0, 0.0, 0.0 ], "q99": [ 0.0, 0.0, 0.0 ] }, "right_arm": { "max": [ 1.3333231210708618, 0.00006348681199597195, 1.4471092224121094, -0.00015513479593209922, 2.203104019165039, 1.293752908706665, 1.4862029552459717 ], "min": [ -1.9388744831085205, -1.7830274105072021, -1.2098475694656372, -2.7962543964385986, -1.4237189292907715, -1.4980356693267822, -1.3952521085739136 ], "mean": [ -0.19688189029693604, -0.18563218414783478, 0.060216136276721954, -1.457137942314148, 0.3878486454486847, -0.32586464285850525, -0.011507172137498856 ], "std": [ 0.4475816786289215, 0.23723332583904266, 0.33788198232650757, 0.48168686032295227, 0.3862660825252533, 0.32681673765182495, 0.3560490608215332 ], "q01": [ -1.3514221906661987, -0.8853119611740112, -0.6987410187721252, -2.3463363647460938, -0.5022467970848083, -1.181825876235962, -0.8216235637664795 ], "q99": [ 0.5599810481071472, 9.664642419693337e-8, 0.7934432029724121, -0.2046048641204834, 1.3848463296890259, 0.4562866687774658, 0.8599610328674316 ] }, "right_hand": { "max": [ 1.5, 1.5, 1.5, 1.5, 3.0, 3.0 ], "min": [ -1.5, -1.5, -1.5, -1.5, -3.0, 0.0 ], "mean": [ -0.21771924197673798, -0.21771924197673798, -0.21771924197673798, -0.21771924197673798, -0.43543848395347595, 2.9985105991363525 ], "std": [ 1.4837677478790283, 1.4837677478790283, 1.4837677478790283, 1.4837677478790283, 2.9675354957580566, 0.06681343913078308 ], "q01": [ -1.5, -1.5, -1.5, -1.5, -3.0, 3.0 ], "q99": [ 1.5, 1.5, 1.5, 1.5, 3.0, 3.0 ] }, "right_leg": { "max": [ 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 ], "mean": [ 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 ], "q01": [ 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 ] }, "waist": { "max": [ 0.38225144147872925, 0.17090243101119995, 0.0727986991405487 ], "min": [ -0.39856868982315063, -0.3068510591983795, -0.07539913058280945 ], "mean": [ 0.012431129813194275, -0.0018085468327626586, 0.000018006201571552083 ], "std": [ 0.03520657867193222, 0.014980125240981579, 0.0033256015740334988 ], "q01": [ -0.05412354692816734, -0.05858265981078148, -0.009962821379303932 ], "q99": [ 0.1574554294347763, 0.03050689585506916, 0.008781843818724155 ] } }, "total_trajectory_length": 199399, "num_trajectories": 1000 }, "modalities": { "video": { "ego_view": { "resolution": [ 256, 256 ], "channels": 3, "fps": 20.0 } }, "state": { "left_arm": { "absolute": true, "rotation_type": null, "shape": [ 7 ], "continuous": true }, "left_hand": { "absolute": true, "rotation_type": null, "shape": [ 6 ], "continuous": true }, "left_leg": { "absolute": true, "rotation_type": null, "shape": [ 6 ], "continuous": true }, "neck": { "absolute": true, "rotation_type": null, "shape": [ 3 ], "continuous": true }, "right_arm": { "absolute": true, "rotation_type": null, "shape": [ 7 ], "continuous": true }, "right_hand": { "absolute": true, "rotation_type": null, "shape": [ 6 ], "continuous": true }, "right_leg": { "absolute": true, "rotation_type": null, "shape": [ 6 ], "continuous": true }, "waist": { "absolute": true, "rotation_type": null, "shape": [ 3 ], "continuous": true } }, "action": { "left_arm": { "absolute": true, "rotation_type": null, "shape": [ 7 ], "continuous": true }, "left_hand": { "absolute": true, "rotation_type": null, "shape": [ 6 ], "continuous": true }, "left_leg": { "absolute": true, "rotation_type": null, "shape": [ 6 ], "continuous": true }, "neck": { "absolute": true, "rotation_type": null, "shape": [ 3 ], "continuous": true }, "right_arm": { "absolute": true, "rotation_type": null, "shape": [ 7 ], "continuous": true }, "right_hand": { "absolute": true, "rotation_type": null, "shape": [ 6 ], "continuous": true }, "right_leg": { "absolute": true, "rotation_type": null, "shape": [ 6 ], "continuous": true }, "waist": { "absolute": true, "rotation_type": null, "shape": [ 3 ], "continuous": true } }, "annotation": { "human": [ "fine_action", "coarse_action" ] } }, "embodiment": { "robot_name": "GR1ArmsAndWaistFourierHands", "robot_type": "GR1ArmsAndWaistFourierHands", "record_frequency": 20.0, "body_controller_frequency": 20.0, "hand_controller_frequency": 20.0, "embodiment_tag": "gr1_unified" }, "processing": null, "version": null }