std_results/comparison_stats.json

[
  {
    "name": "std_mm_teleop",
    "root": "/workspace/std_mm_teleop/lerobot_v30",
    "format": "LeRobot v3.0",
    "robot_type": "so_follower",
    "fps": 10,
    "episodes": 100,
    "frames": 9500,
    "tasks": 1,
    "task_examples": [
      "pick up blue cube and put into orange box"
    ],
    "duration_s": 950.0,
    "duration_hms": "15.8 min",
    "episode_len": {
      "mean": 95.0,
      "min": 78,
      "max": 117,
      "median": 94
    },
    "camera_keys": [
      "observation.images.wrist",
      "observation.images.front"
    ],
    "video": {
      "observation.images.wrist": {
        "codec": "h264",
        "size": "640x480",
        "pix_fmt": "yuv420p",
        "fps": "10/1",
        "n_files": 1
      },
      "observation.images.front": {
        "codec": "h264",
        "size": "640x480",
        "pix_fmt": "yuv420p",
        "fps": "10/1",
        "n_files": 1
      }
    },
    "state_dtype": "float32[6]",
    "action_dtype": "float32[6]",
    "state_layout": [
      "shoulder_pan.pos",
      "shoulder_lift.pos",
      "elbow_flex.pos",
      "wrist_flex.pos",
      "wrist_roll.pos",
      "gripper.pos"
    ],
    "state_range_deg": [
      [
        -14.3,
        62.6
      ],
      [
        -105.8,
        70.7
      ],
      [
        -78.3,
        97.1
      ],
      [
        28.7,
        97.2
      ],
      [
        -72.2,
        115.5
      ],
      [
        1.4,
        59.8
      ]
    ],
    "action_convention": {
      "mae_vs_state_at_lag": {
        "0": 4.0875,
        "1": 2.4818,
        "2": 2.0846,
        "3": 3.0765,
        "4": 4.45,
        "5": 6.1464,
        "6": 7.921
      },
      "best_lag_frames": 2,
      "best_lag_mae_deg": 2.0846
    },
    "gripper": {
      "state_range": [
        1.398,
        59.784
      ],
      "action_range": [
        0.0,
        60.714
      ],
      "looks_normalized_01": false,
      "mean": 18.569,
      "mean_normalized": 0.294,
      "p05_p50_p95": [
        1.461,
        13.85,
        44.473
      ],
      "pct_below_25pct_of_span": 52.6,
      "pct_above_75pct_of_span": 4.1
    }
  },
  {
    "name": "ego_v21",
    "root": "/workspace/final_dataset/final_data/ego_v21",
    "format": "LeRobot v3.0",
    "robot_type": "so101_follower",
    "fps": 30,
    "episodes": 324,
    "frames": 36442,
    "tasks": 89,
    "task_examples": [
      "pick up a AirPods case from the table and place it on the chessboard.",
      "pick up a black silk hairtie from the table and place it in the clear jar.",
      "pick up a black stapler from the table and place it in the box lid."
    ],
    "duration_s": 1214.7,
    "duration_hms": "20.2 min",
    "episode_len": {
      "mean": 112.5,
      "min": 30,
      "max": 354,
      "median": 96
    },
    "camera_keys": [
      "observation.images.front",
      "observation.images.wrist"
    ],
    "video": {
      "observation.images.front": {
        "codec": "h264",
        "size": "640x480",
        "pix_fmt": "yuv420p",
        "fps": "30/1",
        "n_files": 1
      },
      "observation.images.wrist": {
        "codec": "h264",
        "size": "640x480",
        "pix_fmt": "yuv420p",
        "fps": "30/1",
        "n_files": 1
      }
    },
    "state_dtype": "float32[6]",
    "action_dtype": "float32[6]",
    "state_layout": [
      "shoulder_pan.pos",
      "shoulder_lift.pos",
      "elbow_flex.pos",
      "wrist_flex.pos",
      "wrist_roll.pos",
      "gripper.pos"
    ],
    "state_range_deg": [
      [
        -110.0,
        110.0
      ],
      [
        -100.0,
        100.0
      ],
      [
        -96.8,
        96.8
      ],
      [
        -95.0,
        95.0
      ],
      [
        -157.2,
        162.8
      ],
      [
        -10.0,
        84.3
      ]
    ],
    "action_convention": {
      "mae_vs_state_at_lag": {
        "0": 1.9507,
        "1": 0.0,
        "2": 1.9761,
        "3": 3.8321,
        "4": 5.6246,
        "5": 7.3562,
        "6": 9.0061
      },
      "best_lag_frames": 1,
      "best_lag_mae_deg": 0.0
    },
    "gripper": {
      "state_range": [
        -10.0,
        84.298
      ],
      "action_range": [
        -8.594,
        84.298
      ],
      "looks_normalized_01": false,
      "mean": 20.944,
      "mean_normalized": 0.328,
      "p05_p50_p95": [
        1.1,
        18.343,
        49.112
      ],
      "pct_below_25pct_of_span": 33.5,
      "pct_above_75pct_of_span": 0.7
    }
  }
]