Upload 4 files

.gitattributes

@@ -33,3 +33,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+300000/default/checkpoint filter=lfs diff=lfs merge=lfs -text

300000/default/checkpoint

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdb129fdfaac4ef5a7a8b7ae12e3fc94f7f141c5d4db7f9bcf4cb84478c98496
+size 809848679

config.json

@@ -0,0 +1 @@
+{"dataset_kwargs": {"balance_weights": true, "batch_size": 64, "dataset_kwargs_list": [{"name": "fractal20220817_data", "data_dir": "gs://rail-datasets-europe-west4/oxe/resize_256_256", "image_obs_keys": {"primary": "image", "wrist": null}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "standardize_fn": {"module": "octo.data.oxe.oxe_standardization_transforms", "name": "rt1_dataset_transform", "args": [], "kwargs": {}}}, {"name": "kuka", "data_dir": "gs://rail-datasets-europe-west4/oxe/resize_256_256", "image_obs_keys": {"primary": "image", "wrist": null}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "standardize_fn": {"module": "octo.data.oxe.oxe_standardization_transforms", "name": "kuka_dataset_transform", "args": [], "kwargs": {}}}, {"name": "bridge_dataset", "data_dir": "gs://rail-datasets-europe-west4/oxe/resize_256_256", "image_obs_keys": {"primary": "image_0", "wrist": null}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "standardize_fn": {"module": "octo.data.oxe.oxe_standardization_transforms", "name": "bridge_dataset_transform", "args": [], "kwargs": {}}}, {"name": "taco_play", "data_dir": "gs://rail-datasets-europe-west4/oxe/resize_256_256", "image_obs_keys": {"primary": "rgb_static", "wrist": "rgb_gripper"}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "standardize_fn": {"module": "octo.data.oxe.oxe_standardization_transforms", "name": "taco_dataset_transform", "args": [], "kwargs": {}}}, {"name": "taco_extra", "data_dir": "gs://rail-datasets-europe-west4/oxe/resize_256_256", "image_obs_keys": {"primary": "rgb_static", "wrist": "rgb_gripper"}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "standardize_fn": {"module": "octo.data.oxe.oxe_standardization_transforms", "name": "taco_dataset_transform", "args": [], "kwargs": {}}}, {"name": "jaco_play", "data_dir": "gs://rail-datasets-europe-west4/oxe/resize_256_256", "image_obs_keys": {"primary": "image", "wrist": "image_wrist"}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "standardize_fn": {"module": "octo.data.oxe.oxe_standardization_transforms", "name": "jaco_play_dataset_transform", "args": [], "kwargs": {}}}, {"name": "berkeley_cable_routing", "data_dir": "gs://rail-datasets-europe-west4/oxe/resize_256_256", "image_obs_keys": {"primary": "image", "wrist": "wrist45_image"}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "standardize_fn": {"module": "octo.data.oxe.oxe_standardization_transforms", "name": "berkeley_cable_routing_dataset_transform", "args": [], "kwargs": {}}}, {"name": "roboturk", "data_dir": "gs://rail-datasets-europe-west4/oxe/resize_256_256", "image_obs_keys": {"primary": "front_rgb", "wrist": null}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "standardize_fn": {"module": "octo.data.oxe.oxe_standardization_transforms", "name": "roboturk_dataset_transform", "args": [], "kwargs": {}}}, {"name": "nyu_door_opening_surprising_effectiveness", "data_dir": "gs://rail-datasets-europe-west4/oxe/resize_256_256", "image_obs_keys": {"primary": null, "wrist": "image"}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "standardize_fn": {"module": "octo.data.oxe.oxe_standardization_transforms", "name": "nyu_door_opening_dataset_transform", "args": [], "kwargs": {}}}, {"name": "viola", "data_dir": "gs://rail-datasets-europe-west4/oxe/resize_256_256", "image_obs_keys": {"primary": "agentview_rgb", "wrist": "eye_in_hand_rgb"}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "standardize_fn": {"module": "octo.data.oxe.oxe_standardization_transforms", "name": "viola_dataset_transform", "args": [], "kwargs": {}}}, {"name": "berkeley_autolab_ur5", "data_dir": "gs://rail-datasets-europe-west4/oxe/resize_256_256", "image_obs_keys": {"primary": "image", "wrist": "hand_image"}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "standardize_fn": {"module": "octo.data.oxe.oxe_standardization_transforms", "name": "berkeley_autolab_ur5_dataset_transform", "args": [], "kwargs": {}}}, {"name": "toto", "data_dir": "gs://rail-datasets-europe-west4/oxe/resize_256_256", "image_obs_keys": {"primary": "image", "wrist": null}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "standardize_fn": {"module": "octo.data.oxe.oxe_standardization_transforms", "name": "toto_dataset_transform", "args": [], "kwargs": {}}}, {"name": "language_table", "data_dir": "gs://rail-datasets-europe-west4/oxe/resize_256_256", "image_obs_keys": {"primary": "rgb", "wrist": null}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "standardize_fn": {"module": "octo.data.oxe.oxe_standardization_transforms", "name": "language_table_dataset_transform", "args": [], "kwargs": {}}}, {"name": "stanford_hydra_dataset_converted_externally_to_rlds", "data_dir": "gs://rail-datasets-europe-west4/oxe/resize_256_256", "image_obs_keys": {"primary": "image", "wrist": "wrist_image"}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "standardize_fn": {"module": "octo.data.oxe.oxe_standardization_transforms", "name": "stanford_hydra_dataset_transform", "args": [], "kwargs": {}}}, {"name": "austin_buds_dataset_converted_externally_to_rlds", "data_dir": "gs://rail-datasets-europe-west4/oxe/resize_256_256", "image_obs_keys": {"primary": "image", "wrist": "wrist_image"}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "standardize_fn": {"module": "octo.data.oxe.oxe_standardization_transforms", "name": "austin_buds_dataset_transform", "args": [], "kwargs": {}}}, {"name": "nyu_franka_play_dataset_converted_externally_to_rlds", "data_dir": "gs://rail-datasets-europe-west4/oxe/resize_256_256", "image_obs_keys": {"primary": "image", "wrist": null}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "standardize_fn": {"module": "octo.data.oxe.oxe_standardization_transforms", "name": "nyu_franka_play_dataset_transform", "args": [], "kwargs": {}}}, {"name": "furniture_bench_dataset_converted_externally_to_rlds", "data_dir": "gs://rail-datasets-europe-west4/oxe/resize_256_256", "image_obs_keys": {"primary": "image", "wrist": "wrist_image"}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "standardize_fn": {"module": "octo.data.oxe.oxe_standardization_transforms", "name": "furniture_bench_dataset_transform", "args": [], "kwargs": {}}}, {"name": "ucsd_kitchen_dataset_converted_externally_to_rlds", "data_dir": "gs://rail-datasets-europe-west4/oxe/resize_256_256", "image_obs_keys": {"primary": "image", "wrist": null}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "standardize_fn": {"module": "octo.data.oxe.oxe_standardization_transforms", "name": "ucsd_kitchen_dataset_transform", "args": [], "kwargs": {}}}, {"name": "austin_sailor_dataset_converted_externally_to_rlds", "data_dir": "gs://rail-datasets-europe-west4/oxe/resize_256_256", "image_obs_keys": {"primary": "image", "wrist": "wrist_image"}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "standardize_fn": {"module": "octo.data.oxe.oxe_standardization_transforms", "name": "austin_sailor_dataset_transform", "args": [], "kwargs": {}}}, {"name": "austin_sirius_dataset_converted_externally_to_rlds", "data_dir": "gs://rail-datasets-europe-west4/oxe/resize_256_256", "image_obs_keys": {"primary": "image", "wrist": "wrist_image"}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "standardize_fn": {"module": "octo.data.oxe.oxe_standardization_transforms", "name": "austin_sirius_dataset_transform", "args": [], "kwargs": {}}}, {"name": "bc_z", "data_dir": "gs://rail-datasets-europe-west4/oxe/resize_256_256", "image_obs_keys": {"primary": "image", "wrist": null}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "standardize_fn": {"module": "octo.data.oxe.oxe_standardization_transforms", "name": "bc_z_dataset_transform", "args": [], "kwargs": {}}}, {"name": "dlr_edan_shared_control_converted_externally_to_rlds", "data_dir": "gs://rail-datasets-europe-west4/oxe/resize_256_256", "image_obs_keys": {"primary": "image", "wrist": null}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "standardize_fn": {"module": "octo.data.oxe.oxe_standardization_transforms", "name": "dlr_edan_shared_control_dataset_transform", "args": [], "kwargs": {}}}, {"name": "iamlab_cmu_pickup_insert_converted_externally_to_rlds", "data_dir": "gs://rail-datasets-europe-west4/oxe/resize_256_256", "image_obs_keys": {"primary": "image", "wrist": "wrist_image"}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "standardize_fn": {"module": "octo.data.oxe.oxe_standardization_transforms", "name": "iamlab_pick_insert_dataset_transform", "args": [], "kwargs": {}}}, {"name": "utaustin_mutex", "data_dir": "gs://rail-datasets-europe-west4/oxe/resize_256_256", "image_obs_keys": {"primary": "image", "wrist": "wrist_image"}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "standardize_fn": {"module": "octo.data.oxe.oxe_standardization_transforms", "name": "utaustin_mutex_dataset_transform", "args": [], "kwargs": {}}}, {"name": "berkeley_fanuc_manipulation", "data_dir": "gs://rail-datasets-europe-west4/oxe/resize_256_256", "image_obs_keys": {"primary": "image", "wrist": "wrist_image"}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "standardize_fn": {"module": "octo.data.oxe.oxe_standardization_transforms", "name": "berkeley_fanuc_dataset_transform", "args": [], "kwargs": {}}}, {"name": "cmu_stretch", "data_dir": "gs://rail-datasets-europe-west4/oxe/resize_256_256", "image_obs_keys": {"primary": "image", "wrist": null}, "action_normalization_mask": [true, true, true, true, true, true, false], "language_key": "language_instruction", "standardize_fn": {"module": "octo.data.oxe.oxe_standardization_transforms", "name": "cmu_stretch_dataset_transform", "args": [], "kwargs": {}}}], "frame_transform_kwargs": {"image_augment_kwargs": {"primary": {"augment_order": ["random_resized_crop", "random_brightness", "random_contrast", "random_saturation", "random_hue"], "random_brightness": [0.1], "random_contrast": [0.9, 1.1], "random_hue": [0.05], "random_resized_crop": {"ratio": [0.9, 1.1], "scale": [0.8, 1.0]}, "random_saturation": [0.9, 1.1]}, "wrist": {"augment_order": ["random_brightness", "random_contrast", "random_saturation", "random_hue"], "random_brightness": [0.1], "random_contrast": [0.9, 1.1], "random_hue": [0.05], "random_saturation": [0.9, 1.1]}}, "image_dropout_prob": 0.0, "num_parallel_calls": 200, "resize_size": {"primary": [256, 256], "wrist": [128, 128]}}, "sample_weights": [0.54087122203, 0.8341046294, 1.0, 2.0, 2.0, 1.0, 1.0, 2.0, 1.0, 2.0, 2.0, 1.0, 0.1, 2.0, 1.0, 3.0, 0.1, 2.0, 1.0, 1.0, 0.2, 1.0, 1.0, 1.0, 2.0, 1.0], "shuffle_buffer_size": 250000, "traj_read_threads": 48, "traj_transform_kwargs": {"action_horizon": 4, "goal_relabeling_strategy": "uniform", "max_action_dim": 7, "subsample_length": 100, "task_augment_kwargs": {"keep_image_prob": 0.5, "pickle_file_path": "gs://rail-datasets-europe-west4/oxe/resize_256_256/paraphrases_oxe.pkl", "rephrase_prob": 0.5}, "task_augment_strategy": "delete_and_rephrase", "window_size": 2}, "traj_transform_threads": 48}, "eval_datasets": ["bridge_dataset"], "eval_interval": 5000, "log_interval": 100, "model": {"heads": {"action": {"args": [], "kwargs": {"action_dim": 7, "action_horizon": 4, "dropout_rate": 0.0, "n_diffusion_samples": 1, "readout_key": "readout_action", "use_map": false}, "module": "octo.model.components.action_heads", "name": "DiffusionActionHead"}}, "max_horizon": 10, "observation_tokenizers": {"primary": {"args": [], "kwargs": {"encoder": {"args": [], "kwargs": {}, "module": "octo.model.components.vit_encoders", "name": "SmallStem16"}, "obs_stack_keys": ["image_primary"], "task_stack_keys": ["image_primary"]}, "module": "octo.model.components.tokenizers", "name": "ImageTokenizer"}, "wrist": {"args": [], "kwargs": {"encoder": {"args": [], "kwargs": {}, "module": "octo.model.components.vit_encoders", "name": "SmallStem16"}, "obs_stack_keys": ["image_wrist"], "task_stack_keys": ["image_wrist"]}, "module": "octo.model.components.tokenizers", "name": "ImageTokenizer"}}, "readouts": {"action": 1}, "repeat_task_tokens": true, "task_tokenizers": {"language": {"args": [], "kwargs": {"encoder": "t5-base", "finetune_encoder": false}, "module": "octo.model.components.tokenizers", "name": "LanguageTokenizer"}}, "token_embedding_size": 768, "transformer_kwargs": {"add_position_embedding": false, "attention_dropout_rate": 0.0, "dropout_rate": 0.0, "mlp_dim": 3072, "num_attention_heads": 12, "num_layers": 12}, "use_correct_attention": true}, "num_steps": 300000.0, "optimizer": {"clip_gradient": 1.0, "frozen_keys": ["*hf_model*"], "learning_rate": {"init_value": 0.0, "name": "rsqrt", "peak_value": 0.0003, "timescale": 10000, "warmup_steps": 2000}, "weight_decay": 0.1}, "prefetch_num_batches": 0, "pretrained_loaders": [{"module": "octo.utils.train_utils", "name": "hf_weights_loader", "args": [], "kwargs": {"hf_model": "t5-base"}}], "resume_path": null, "save_dir": "gs://rail-tpus-homer-v5/log", "save_interval": 10000, "seed": 42, "start_step": null, "text_processor": {"args": [], "kwargs": {"encode_with_model": false, "tokenizer_kwargs": {"max_length": 16, "padding": "max_length", "return_tensors": "np", "truncation": true}, "tokenizer_name": "t5-base"}, "module": "octo.data.utils.text_processing", "name": "HFTokenizer"}, "val_kwargs": {"num_val_batches": 16, "val_shuffle_buffer_size": 1000}, "viz_interval": 1000000, "viz_kwargs": {"eval_batch_size": 128, "samples_per_state": 8, "trajs_for_metrics": 100, "trajs_for_viz": 8}, "wandb": {"entity": null, "group": null, "project": "octo"}, "wandb_resume_id": null, "window_size": 2}

dataset_statistics.json

@@ -0,0 +1 @@
+{"austin_buds_dataset_converted_externally_to_rlds": {"action": {"mask": [true, true, true, true, true, true, false], "max": [1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 1.0], "mean": [-0.07678327709436417, 0.0036849190946668386, 0.056449323892593384, 0.0, 0.0, 0.0, 0.3510494828224182], "min": [-1.0, -1.0, -1.0, 0.0, 0.0, 0.0, 0.0], "std": [0.6367749571800232, 0.3788914084434509, 0.47796350717544556, 0.0, 0.0, 0.0, 0.47721067070961]}, "num_trajectories": 50, "num_transitions": 34112}, "austin_sailor_dataset_converted_externally_to_rlds": {"action": {"mask": [true, true, true, true, true, true, false], "max": [1.0, 1.0, 1.0, 0.0, 0.0, 0.375, 1.0], "mean": [0.011825340799987316, 0.006461091339588165, 0.06023646518588066, 0.0, 0.0, 0.0016465886728838086, 0.5260950326919556], "min": [-1.0, -1.0, -1.0, 0.0, 0.0, -0.375, 0.0], "std": [0.46348896622657776, 0.41240254044532776, 0.4118632972240448, 0.0, 0.0, 0.057860810309648514, 0.4989373981952667]}, "num_trajectories": 240, "num_transitions": 353094}, "austin_sirius_dataset_converted_externally_to_rlds": {"action": {"mask": [true, true, true, true, true, true, false], "max": [1.0002285242080688, 0.960608720779419, 1.105179786682129, 0.0, 0.0, 0.341785728931427, 1.0], "mean": [0.0774768814444542, 0.031955476850271225, 0.042447470128536224, 0.0, 0.0, -0.016034528613090515, 0.43260180950164795], "min": [-1.0183025598526, -0.9800000190734863, -0.9774575233459473, 0.0, 0.0, -0.34607142210006714, 0.0], "std": [0.3906330168247223, 0.2998153567314148, 0.2782268226146698, 0.0, 0.0, 0.0812060758471489, 0.4952842593193054]}, "num_trajectories": 559, "num_transitions": 279939}, "bc_z": {"action": {"mask": [true, true, true, true, true, true, false], "max": [0.2165454924106598, 0.1251407265663147, 0.10772687941789627, 0.33544227480888367, 0.28117990493774414, 0.40614867210388184, 1.0], "mean": [-0.009958064183592796, 0.0008958409889601171, 0.004995802417397499, 0.00029753969283774495, -0.008734289556741714, -0.03069109097123146, 0.8344562649726868], "min": [-0.1677047461271286, -0.14630407094955444, -0.10066790133714676, -0.29421567916870117, -0.32101404666900635, -0.4635624885559082, 0.0], "std": [0.030539296567440033, 0.023141667246818542, 0.020642723888158798, 0.0415586493909359, 0.04642805457115173, 0.07697977125644684, 0.3610472083091736]}, "num_trajectories": 43264, "num_transitions": 6015535}, "berkeley_autolab_ur5": {"action": {"mask": [true, true, true, true, true, true, false], "max": [0.019999999552965164, 0.019999999552965164, 0.019999999552965164, 0.06666667014360428, 0.06666667014360428, 0.06666667014360428, 1.0], "mean": [0.0005683631170541048, 0.0012176906457170844, -0.0005296376184560359, 0.00021029732306487858, 6.069441951694898e-05, 0.0012049878714606166, 0.6298308372497559], "min": [-0.019999999552965164, -0.019999999552965164, -0.019999999552965164, -0.06666667014360428, -0.06666667014360428, -0.06666667014360428, 0.0], "std": [0.011533341370522976, 0.007990486919879913, 0.009577819146215916, 0.009433035738766193, 0.016427570953965187, 0.011054138652980328, 0.482679158449173]}, "num_trajectories": 1000, "num_transitions": 97939}, "berkeley_cable_routing": {"action": {"mask": [true, true, true, true, true, true, false], "max": [0.9633283019065857, 1.0, 1.0, 0.0, 0.0, 1.0, 0.0], "mean": [-0.07139891386032104, 0.02360900677740574, 0.10241945832967758, 0.0, 0.0, 0.049671001732349396, 0.0], "min": [-0.9809081554412842, -0.9554349184036255, -0.9994775056838989, 0.0, 0.0, -1.0, 0.0], "std": [0.18154966831207275, 0.1810985952615738, 0.2122078686952591, 0.0, 0.0, 0.3475513160228729, 0.0]}, "num_trajectories": 1647, "num_transitions": 42328}, "berkeley_fanuc_manipulation": {"action": {"mask": [true, true, true, true, true, true, false], "max": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582, 0.03490658476948738, 0.03490658476948738, 0.03490658476948738, 1.0], "mean": [0.0007744057802483439, -0.00031240080716088414, -0.0015001941937953234, -0.0007515158504247665, -0.00015832878125365824, 0.00014327642566058785, 0.699295699596405], "min": [-0.009999999776482582, -0.009999999776482582, -0.009999999776482582, -0.03490658476948738, -0.03490658476948738, -0.03490658476948738, 0.0], "std": [0.003407004289329052, 0.004992213100194931, 0.005344330798834562, 0.0075988867320120335, 0.004081834573298693, 0.008568995632231236, 0.4586927890777588]}, "num_trajectories": 415, "num_transitions": 62613}, "bridge_dataset": {"action": {"mask": [true, true, true, true, true, true, false], "max": [0.41691166162490845, 0.25864794850349426, 0.21218234300613403, 3.122201919555664, 1.8618112802505493, 6.280478477478027, 1.0], "mean": [0.0002175864647142589, 0.00012508298095781356, -0.00017108325846493244, -0.00016171138850040734, -0.0002524856827221811, 0.00025157874915748835, 0.5879484415054321], "min": [-0.4007510244846344, -0.13874775171279907, -0.22553899884223938, -3.2010786533355713, -1.8618112802505493, -6.279075622558594, 0.0], "std": [0.009632384404540062, 0.013500643894076347, 0.012510603293776512, 0.028145212680101395, 0.030282432213425636, 0.07585602253675461, 0.4877190887928009]}, "num_trajectories": 60064, "num_transitions": 2195527}, "cmu_stretch": {"action": {"mask": [true, true, true, true, true, true, false], "max": [0.02338407188653946, 0.0, 0.023404927924275398, 0.0, 0.0, 0.0, 1.0], "mean": [0.00036304729292169213, 0.0, 0.001646695425733924, 0.0, 0.0, 0.0, 0.3987048268318176], "min": [-0.019353797659277916, 0.0, -0.02019215188920498, 0.0, 0.0, 0.0, 0.0], "std": [0.004081821534782648, 0.0, 0.003774335840716958, 0.0, 0.0, 0.0, 0.4896377623081207]}, "num_trajectories": 135, "num_transitions": 25016}, "dlr_edan_shared_control_converted_externally_to_rlds": {"action": {"mask": [true, true, true, true, true, true, false], "max": [0.18991442024707794, 0.0739002525806427, 0.18064819276332855, 0.0866486132144928, 0.13464981317520142, 0.16910280287265778, 1.0], "mean": [0.006647808011621237, -0.0007657367968931794, 0.006522845942527056, 0.0011679737363010645, -0.006395629607141018, -0.01190300565212965, 0.6985887289047241], "min": [-0.10054297000169754, -0.08427435159683228, -0.13533438742160797, -0.17556548118591309, -0.18485672771930695, -0.2680685818195343, 0.0], "std": [0.021393615752458572, 0.018142307177186012, 0.033743731677532196, 0.017435438930988312, 0.03394375741481781, 0.04641878977417946, 0.45885780453681946]}, "num_trajectories": 104, "num_transitions": 8928}, "fractal20220817_data": {"action": {"mask": [true, true, true, true, true, true, false], "max": [2.9984593391418457, 22.09052848815918, 2.7507524490356445, 1.570636510848999, 1.5321086645126343, 1.5691522359848022, 1.0], "mean": [0.00698752561584115, 0.006265821401029825, -0.012625171802937984, 0.04333370178937912, -0.005756174214184284, 0.0009130397229455411, 0.5354204773902893], "min": [-2.0204520225524902, -5.497899532318115, -2.031663417816162, -1.569917917251587, -1.569892168045044, -1.570419430732727, 0.0], "std": [0.06921105831861496, 0.05970754474401474, 0.07353075593709946, 0.15610410273075104, 0.13164445757865906, 0.1459377557039261, 0.49711504578590393]}, "num_trajectories": 87212, "num_transitions": 3786400}, "furniture_bench_dataset_converted_externally_to_rlds": {"action": {"mask": [true, true, true, true, true, true, false], "max": [0.10000000149011612, 0.10000000149011612, 0.10000000149011612, 0.8651833534240723, 1.0909736156463623, 2.863185405731201, 1.0], "mean": [0.0001461071806261316, 0.0010831020772457123, 0.000622497231233865, -0.003303219797089696, -0.0026880616787821054, 0.01824265345931053, 0.48854944109916687], "min": [-0.10495579987764359, -0.10939455777406693, -0.10000000149011612, -0.971906840801239, -1.0475432872772217, -3.06000018119812, 0.0], "std": [0.01610717363655567, 0.014891523867845535, 0.014014237560331821, 0.0582742840051651, 0.1141708493232727, 0.334795206785202, 0.4999154210090637]}, "num_trajectories": 5100, "num_transitions": 3948057}, "iamlab_cmu_pickup_insert_converted_externally_to_rlds": {"action": {"mask": [true, true, true, true, true, true, false], "max": [0.6634981632232666, 0.23428471386432648, 0.4308285415172577, 3.1415927410125732, 0.13647015392780304, 3.141592502593994, 1.0], "mean": [0.5274361371994019, 0.028582004830241203, 0.18712492287158966, 1.2339564561843872, 0.03226622939109802, -1.4199471473693848, 0.5550631880760193], "min": [0.3071657121181488, -0.29754969477653503, 0.06578229367733002, -3.1415927410125732, -0.04584203287959099, -3.141592502593994, 0.0], "std": [0.08108349144458771, 0.11167570948600769, 0.07747554779052734, 2.873722791671753, 0.027747048065066338, 2.7678682804107666, 0.49695107340812683]}, "num_trajectories": 631, "num_transitions": 146241}, "jaco_play": {"action": {"mask": [true, true, true, true, true, true, false], "max": [0.20000000298023224, 0.20000000298023224, 0.20000000298023224, 0.0, 0.0, 0.0, 1.0], "mean": [0.0009658567723818123, -0.005800798535346985, -0.003950483165681362, 0.0, 0.0, 0.0, 0.34934908151626587], "min": [-0.20000000298023224, -0.20000000298023224, -0.20000000298023224, 0.0, 0.0, 0.0, 0.0], "std": [0.12235051393508911, 0.09678874164819717, 0.11155395954847336, 0.0, 0.0, 0.0, 0.47683021426200867]}, "num_trajectories": 1085, "num_transitions": 77965}, "kuka": {"action": {"mask": [true, true, true, true, true, true, false], "max": [0.1697135865688324, 0.2777623236179352, 0.43710532784461975, 0.0, 0.0, 1.9684287309646606, 1.0], "mean": [-0.0004669002955779433, 0.00040138757321983576, -0.0012807989260181785, 0.0, 0.0, -0.03722408413887024, 0.4131543040275574], "min": [-0.159867063164711, -0.2892282009124756, -0.2795473635196686, 0.0, 0.0, -1.9875637292861938, 0.0], "std": [0.02083241008222103, 0.02915872074663639, 0.0642298236489296, 0.0, 0.0, 0.14225348830223083, 0.49086064100265503]}, "num_trajectories": 209880, "num_transitions": 2455879}, "language_table": {"action": {"mask": [true, true, true, true, true, true, false], "max": [0.23357294499874115, 0.24496802687644958, 0.0, 0.0, 0.0, 0.0, 1.0], "mean": [0.00014891750470269471, -0.0005636686109937727, 0.0, 0.0, 0.0, 0.0, 1.0], "min": [-0.21989956498146057, -0.23736150562763214, 0.0, 0.0, 0.0, 0.0, 1.0], "std": [0.030162937939167023, 0.04230760037899017, 0.0, 0.0, 0.0, 0.0, 0.0]}, "num_trajectories": 442226, "num_transitions": 7045476}, "nyu_door_opening_surprising_effectiveness": {"action": {"mask": [true, true, true, true, true, true, false], "max": [0.035083357244729996, 0.06318933516740799, 0.04333261772990227, 0.0547751821577549, 0.17345580458641052, 0.06685609370470047, 1.0], "mean": [-0.0062134163454174995, 0.0012825587764382362, 0.001244054059498012, -0.00015657366020604968, -0.011653857305645943, -0.0015855220844969153, 0.3981377184391022], "min": [-0.27681806683540344, -0.1072750836610794, -0.3554435968399048, -0.03678947687149048, -0.21697817742824554, -0.06767269968986511, 0.0], "std": [0.012148530222475529, 0.019559349864721298, 0.00774687435477972, 0.008133072406053543, 0.03360674902796745, 0.013172103092074394, 0.4895334839820862]}, "num_trajectories": 484, "num_transitions": 20405}, "nyu_franka_play_dataset_converted_externally_to_rlds": {"action": {"mask": [true, true, true, true, true, true, false], "max": [0.06424188613891602, 0.07027634978294373, 0.06129661202430725, 6.281067848205566, 0.1967729926109314, 0.26377415657043457, 1.0], "mean": [0.0010219916002824903, -0.00012002603762084618, 0.0003289415908511728, 0.0015034275129437447, -0.002198530128225684, -0.0016632293118163943, 0.7230083346366882], "min": [-0.05952230095863342, -0.07232445478439331, -0.06730806827545166, -6.278434753417969, -0.21479034423828125, -0.3627619743347168, 0.0], "std": [0.013274149969220161, 0.01321591716259718, 0.012822108343243599, 0.2732453942298889, 0.05702253058552742, 0.039172813296318054, 0.44753241539001465]}, "num_trajectories": 456, "num_transitions": 44875}, "roboturk": {"action": {"mask": [true, true, true, true, true, true, false], "max": [0.39124172925949097, 0.4601028263568878, 0.4870833456516266, 1.816888689994812, 1.8240282535552979, 1.4824820756912231, 1.0], "mean": [0.001444878987967968, -0.0015945204067975283, -0.0011753765866160393, 0.002301238477230072, -0.0009382437565363944, -0.0001148576193372719, 0.5746025443077087], "min": [-0.6546999216079712, -0.6365841031074524, -0.4217723608016968, -1.6695482730865479, -1.8023357391357422, -1.4630827903747559, 0.0], "std": [0.049353644251823425, 0.06354569643735886, 0.06116502732038498, 0.09553452581167221, 0.0842016264796257, 0.065179243683815, 0.49451038241386414]}, "num_trajectories": 1995, "num_transitions": 187507}, "stanford_hydra_dataset_converted_externally_to_rlds": {"action": {"mask": [true, true, true, true, true, true, false], "max": [0.02499854564666748, 0.02499903365969658, 0.024999922141432762, 0.24974457919597626, 0.24997030198574066, 0.24999946355819702, 1.0], "mean": [0.0007790059316903353, 0.00013707693142350763, -0.0002548578486312181, 0.0012903371825814247, -0.004751724656671286, 0.0026928959414362907, 0.48855218291282654], "min": [-0.024999044835567474, -0.024999700486660004, -0.02499929815530777, -0.24993225932121277, -0.2499666064977646, -0.2499932497739792, 0.0], "std": [0.008022256195545197, 0.009131476283073425, 0.009574325755238533, 0.04122215881943703, 0.03843040019273758, 0.04606686159968376, 0.4997873902320862]}, "num_trajectories": 570, "num_transitions": 358234}, "taco_extra": {"action": {"mask": [true, true, true, true, true, true, false], "max": [1.5608147382736206, 2.172372579574585, 1.8152713775634766, 3.392831325531006, 4.247413158416748, 3.0427656173706055, 1.0], "mean": [-0.013198820874094963, 0.02590644545853138, -0.012259113602340221, 0.0013214120408520103, 0.0023246107157319784, 0.05522562935948372, 0.781635046005249], "min": [-1.6745959520339966, -1.8985087871551514, -1.725131869316101, -1.839556336402893, -3.38140869140625, -3.2894704341888428, 0.0], "std": [0.22596730291843414, 0.3672400712966919, 0.2521360218524933, 0.19997861981391907, 0.25952470302581787, 0.32822132110595703, 0.4132028818130493]}, "num_trajectories": 514, "num_transitions": 55192}, "taco_play": {"action": {"mask": [true, true, true, true, true, true, false], "max": [1.4915844202041626, 2.1842432022094727, 2.6836395263671875, 5.035226821899414, 2.665864944458008, 4.250768661499023, 1.0], "mean": [-0.0038459203206002712, 0.009671441279351711, 0.012780577875673771, -0.005403787828981876, -0.009606575593352318, -0.0024807462468743324, 0.4263913035392761], "min": [-4.242457866668701, -3.192805051803589, -1.3371467590332031, -4.202683448791504, -2.6722638607025146, -3.3467135429382324, 0.0], "std": [0.23254038393497467, 0.36298274993896484, 0.28692924976348877, 0.2617706060409546, 0.24388928711414337, 0.5216503739356995, 0.49469006061553955]}, "num_trajectories": 3603, "num_transitions": 237798}, "toto": {"action": {"mask": [true, true, true, true, true, true, false], "max": [0.6839867234230042, 0.4454185664653778, 0.7984078526496887, 2.120781660079956, 1.371164321899414, 1.4118704795837402, 0.0], "mean": [0.38542136549949646, 0.007769488729536533, 0.36327409744262695, -0.6652027368545532, 0.18903958797454834, 0.03298758715391159, 0.0], "min": [0.09922284632921219, -0.5180193781852722, 0.13791072368621826, -2.635117530822754, -1.0734480619430542, -1.9282547235488892, 0.0], "std": [0.122116319835186, 0.19378569722175598, 0.10178232192993164, 0.5725256204605103, 0.29884597659111023, 0.32599160075187683, 0.0]}, "num_trajectories": 1003, "num_transitions": 325699}, "ucsd_kitchen_dataset_converted_externally_to_rlds": {"action": {"mask": [true, true, true, true, true, true, false], "max": [678.0, 400.0, 507.0, 180.00001525878906, 6.000013828277588, 116.99998474121094, 1.0], "mean": [410.37567138671875, 116.95187377929688, 192.35032653808594, -121.22441864013672, -33.84893035888672, 50.016136169433594, 0.741813600063324], "min": [172.0, -166.0, -99.99999237060547, -180.00001525878906, -89.0, -96.00010681152344, 0.0], "std": [122.8149642944336, 108.80091857910156, 130.303466796875, 116.28205108642578, 27.621841430664062, 41.02094650268555, 0.43763357400894165]}, "num_trajectories": 150, "num_transitions": 3970}, "utaustin_mutex": {"action": {"mask": [true, true, true, true, true, true, false], "max": [1.0, 1.0, 1.0, 0.375, 0.375, 0.375, 1.0], "mean": [0.061764102429151535, -0.005005483981221914, 0.10216780006885529, -0.03314127400517464, 0.013895015232264996, -0.011317641474306583, 0.5038976669311523], "min": [-1.0, -1.0, -1.0, -0.375, -0.375, -0.375, 0.0], "std": [0.1875014752149582, 0.4468472898006439, 0.379287987947464, 0.14097853004932404, 0.06453709304332733, 0.11765363812446594, 0.501045286655426]}, "num_trajectories": 1500, "num_transitions": 361883}, "viola": {"action": {"mask": [true, true, true, true, true, true, false], "max": [1.0, 1.0, 1.0, 0.375, 0.36321428418159485, 0.375, 1.0], "mean": [0.047618549317121506, -0.02920447289943695, 0.055867500603199005, -0.002618522150442004, 0.0068673547357320786, -0.016821343451738358, 0.7323777675628662], "min": [-1.0, -1.0, -1.0, -0.375, -0.375, -0.375, 0.0], "std": [0.3915797173976898, 0.4076520800590515, 0.4007793664932251, 0.10023960471153259, 0.0844321921467781, 0.10375051945447922, 0.44260308146476746]}, "num_trajectories": 150, "num_transitions": 76324}}

example_batch.msgpack

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d4e7b8e02bf36b11881b5b1d3e0c1f33226ce289e33c1a43d14ebb4e2953e28
+size 738353