Datasetpublic

BAAI-Humanoid/DECO-50

DECO: Decoupled Multimodal Diffusion Transformer for Bimanual Dexterous Manipulation with a Plugin Tactile Adapter DECO-50 is a bimanual dexterous manipulation dataset with tactile sensing, comprising 50 hours of teleoperated data across 4 scenarios and 28 subtasks, totaling over 5 million frames collected on real dual-arm robots. Dataset Structure DECO-50/ ├── task1/ │ ├── sub_task_1/ │ │ ├── episode_000000/ │ │ │… See the full description on the dataset page: https://huggingface.co/datasets/BAAI-Humanoid/DECO-50.

sourceHugging Faceapache-2.0updated 8mo agoView on Hugging Face

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roottask3_statistics.yaml

task3_statistics.yaml59 linesDownload Raw Back to root

1data:2  action_max: [0.40990179777145386, 0.9223130941390991, 0.8044996857643127,3    1.4940369129180908, 1.7664875984191895, 0.4699745178222656, 1.2699283361434937,4    1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.4148801863193512, 0.25821009278297424, 1.1570245027542114,5    1.497391700744629, 0.8864486217498779, 0.4699617922306061, 1.1955451965332031,6    1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.7519218921661377, 0.8617485165596008]7  action_mean: [-0.32266560196876526, 0.1532042920589447,8    -0.07145041972398758, 0.021162696182727814, 0.29573801159858704, -0.01653880998492241,9    0.010714979842305183, 0.7327064275741577, 0.7856841683387756, 0.802937388420105,10    0.8074080348014832, 0.5986568927764893, 0.42872655391693115, -0.34762316942214966,11    -0.18399015069007874, 0.06957133859395981, -0.009764540009200573, -0.32083165645599365,12    0.03669411689043045, 0.011873546056449413, 0.7000328302383423, 0.7789998054504395,13    0.814455509185791, 0.8093302249908447, 0.6355512738227844, 0.47325068712234497,14    -0.009795385412871838, 0.5209003686904907]15  action_min: [-1.8829011917114258, -0.3159845769405365, -1.3142634630203247,16    -0.8306751847267151, -0.7938204407691956, -0.4699859917163849, -1.2695837020874023,17    0.0008721973863430321, 0.05292443931102753, 0.10493600368499756, 0.11467815935611725,18    0.0, 0.0, -1.5292675495147705, -0.9879631400108337, -0.5469856858253479, -0.7700611352920532,19    -1.5900744199752808, -0.46998319029808044, -1.2698193788528442, 0.0, 0.0669606626033783,20    0.13123561441898346, 0.15110838413238525, 0.0, 0.0, -0.6529536247253418, -0.0]21  action_std: [0.32884466648101807, 0.14386454224586487, 0.2093135267496109,22    0.26963040232658386, 0.37076860666275024, 0.2740909159183502, 0.26011306047439575,23    0.21699856221675873, 0.1867770254611969, 0.1633993238210678, 0.1638876348733902,24    0.22841913998126984, 0.3574347198009491, 0.2985677421092987, 0.1646975427865982,25    0.17748239636421204, 0.2497156709432602, 0.3370676636695862, 0.22953665256500244,26    0.24226470291614532, 0.20721234381198883, 0.18045806884765625, 0.1512479931116104,27    0.15107794106006622, 0.20774655044078827, 0.3613181412220001, 0.1670447736978531,28    0.08364122360944748]29  observation_max: [0.30250120162963867, 0.8721194267272949,30    0.8123350143432617, 1.5322084426879883, 1.7469961643218994, 0.47972583770751953,31    1.2803549766540527, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9940000176429749, 0.3056885898113251,32    0.2489057183265686, 1.1648821830749512, 1.5358980894088745, 0.8776688575744629,33    0.4794502258300781, 1.1578116416931152, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9950000047683716,34    0.7516505718231201, 0.8605632185935974]35  observation_mean: [-0.2986069321632385, 0.1495630443096161,36    -0.07161043584346771, 0.033968906849622726, 0.2924216091632843, 0.00085787707939744,37    0.004260217770934105, 0.732507050037384, 0.785634458065033, 0.8021352291107178,38    0.8071843981742859, 0.6023082137107849, 0.41393059492111206, -0.3202059864997864,39    -0.17922525107860565, 0.07295010983943939, 0.00815647840499878, -0.3202347755432129,40    0.05704960227012634, 0.017581094056367874, 0.698764443397522, 0.7777532935142517,41    0.8130289912223816, 0.8076905012130737, 0.6367233395576477, 0.45640629529953003,42    -0.009629372507333755, 0.5202240347862244]43  observation_min: [-1.8432822227478027, -0.31049442291259766,44    -1.3200700283050537, -0.7959656715393066, -0.781207799911499, -0.4908885359764099,45    -1.2273682355880737, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -1.5162289142608643, -0.9473350644111633,46    -0.5473120212554932, -0.7294931411743164, -1.596163272857666, -0.46030473709106445,47    -1.2305843830108643, 0.0, 0.0, 0.0, 0.1509999930858612, 0.0, 0.0, -0.6519418358802795,48    5.614369857909196e-09]49  observation_std: [0.31106865406036377, 0.13688334822654724,50    0.21039699018001556, 0.26584234833717346, 0.36761224269866943, 0.27117490768432617,51    0.25743237137794495, 0.21656188368797302, 0.18679073452949524, 0.16432926058769226,52    0.16264952719211578, 0.22860239446163177, 0.3544105291366577, 0.28428342938423157,53    0.1569073647260666, 0.178770050406456, 0.24617502093315125, 0.33390823006629944,54    0.22565782070159912, 0.23962073028087616, 0.206899031996727, 0.17960932850837708,55    0.15049713850021362, 0.15092112123966217, 0.2068226933479309, 0.3631957471370697,56    0.16673995554447174, 0.08352027833461761]57  tac_left_max: 3965.058  tac_right_max: 3964.059