Keep evaluation weights and required licensing only
Browse filesUse policy.pt for policy weights; support configuration is maintained in Phoenix-MWA source. No history rewrite.
This view is limited to 50 files because it contains too many changes. See raw diff
- README.md +0 -61
- config.yaml +0 -256
- initialization.json +0 -21
- metadata/gr1_unified.PnPBottleToCabinetClose/meta/episodes.jsonl +0 -0
- metadata/gr1_unified.PnPBottleToCabinetClose/meta/modality.json +0 -359
- metadata/gr1_unified.PnPBottleToCabinetClose/meta/tasks.jsonl +0 -2
- metadata/gr1_unified.PnPCanToDrawerClose/meta/episodes.jsonl +0 -0
- metadata/gr1_unified.PnPCanToDrawerClose/meta/modality.json +0 -359
- metadata/gr1_unified.PnPCanToDrawerClose/meta/tasks.jsonl +0 -2
- metadata/gr1_unified.PnPCupToDrawerClose/meta/episodes.jsonl +0 -0
- metadata/gr1_unified.PnPCupToDrawerClose/meta/modality.json +0 -359
- metadata/gr1_unified.PnPCupToDrawerClose/meta/tasks.jsonl +0 -2
- metadata/gr1_unified.PnPMilkToMicrowaveClose/meta/episodes.jsonl +0 -0
- metadata/gr1_unified.PnPMilkToMicrowaveClose/meta/modality.json +0 -359
- metadata/gr1_unified.PnPMilkToMicrowaveClose/meta/tasks.jsonl +0 -2
- metadata/gr1_unified.PnPPotatoToMicrowaveClose/meta/episodes.jsonl +0 -0
- metadata/gr1_unified.PnPPotatoToMicrowaveClose/meta/modality.json +0 -359
- metadata/gr1_unified.PnPPotatoToMicrowaveClose/meta/tasks.jsonl +0 -2
- metadata/gr1_unified.PnPWineToCabinetClose/meta/episodes.jsonl +0 -0
- metadata/gr1_unified.PnPWineToCabinetClose/meta/modality.json +0 -359
- metadata/gr1_unified.PnPWineToCabinetClose/meta/tasks.jsonl +0 -2
- metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToBasketSplitA/meta/episodes.jsonl +0 -0
- metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToBasketSplitA/meta/modality.json +0 -359
- metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToBasketSplitA/meta/tasks.jsonl +0 -11
- metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToCardboardboxSplitA/meta/episodes.jsonl +0 -0
- metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToCardboardboxSplitA/meta/modality.json +0 -359
- metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToCardboardboxSplitA/meta/tasks.jsonl +0 -11
- metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToPanSplitA/meta/episodes.jsonl +0 -0
- metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToPanSplitA/meta/modality.json +0 -359
- metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToPanSplitA/meta/tasks.jsonl +0 -11
- metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToPotSplitA/meta/episodes.jsonl +0 -0
- metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToPotSplitA/meta/modality.json +0 -359
- metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToPotSplitA/meta/tasks.jsonl +0 -11
- metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToTieredbasketSplitA/meta/episodes.jsonl +0 -0
- metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToTieredbasketSplitA/meta/modality.json +0 -359
- metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToTieredbasketSplitA/meta/tasks.jsonl +0 -11
- metadata/gr1_unified.PosttrainPnPNovelFromPlacematToBasketSplitA/meta/episodes.jsonl +0 -0
- metadata/gr1_unified.PosttrainPnPNovelFromPlacematToBasketSplitA/meta/modality.json +0 -359
- metadata/gr1_unified.PosttrainPnPNovelFromPlacematToBasketSplitA/meta/tasks.jsonl +0 -11
- metadata/gr1_unified.PosttrainPnPNovelFromPlacematToBowlSplitA/meta/episodes.jsonl +0 -0
- metadata/gr1_unified.PosttrainPnPNovelFromPlacematToBowlSplitA/meta/modality.json +0 -359
- metadata/gr1_unified.PosttrainPnPNovelFromPlacematToBowlSplitA/meta/tasks.jsonl +0 -11
- metadata/gr1_unified.PosttrainPnPNovelFromPlacematToPlateSplitA/meta/episodes.jsonl +0 -0
- metadata/gr1_unified.PosttrainPnPNovelFromPlacematToPlateSplitA/meta/modality.json +0 -359
- metadata/gr1_unified.PosttrainPnPNovelFromPlacematToPlateSplitA/meta/tasks.jsonl +0 -11
- metadata/gr1_unified.PosttrainPnPNovelFromPlacematToTieredshelfSplitA/meta/episodes.jsonl +0 -0
- metadata/gr1_unified.PosttrainPnPNovelFromPlacematToTieredshelfSplitA/meta/modality.json +0 -359
- metadata/gr1_unified.PosttrainPnPNovelFromPlacematToTieredshelfSplitA/meta/tasks.jsonl +0 -11
- metadata/gr1_unified.PosttrainPnPNovelFromPlateToBowlSplitA/meta/episodes.jsonl +0 -0
- metadata/gr1_unified.PosttrainPnPNovelFromPlateToBowlSplitA/meta/modality.json +0 -359
README.md
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---
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library_name: pytorch
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tags:
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- robotics
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- phoenix-mwa
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- robocasa
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---
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# Phoenix-RoboCasa
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Phoenix-MWA RoboCasa GR1 policy initialized from pretraining step **110,000**, then fine-tuned for **45,000** steps. This is a weights-only inference release for a local **Phoenix-MWA** checkout; it is not a full training-state resume checkpoint.
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The policy uses `phoenix.local_joint96.weights.v1` and requires the matching DINO110k EMA and STVAE150k weights from [OpenPhoenix/Phoenix-Encoders](https://huggingface.co/OpenPhoenix/Phoenix-Encoders). The separate LIBERO policy is [OpenPhoenix/Phoenix-LIBERO](https://huggingface.co/OpenPhoenix/Phoenix-LIBERO).
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## Files
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- `policy_phoenix_v1.pt`, `config.yaml` and `initialization.json`: policy, saved configuration and initialization provenance.
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- `scene_seed_list.json`: evaluation scene seeds.
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- `package/`: matching numeric/text package, including `package.json`, `norm.json` and referenced resources.
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- `metadata/`: task metadata used by the package.
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Historical absolute paths in configuration and package records retain training/data provenance. Pass `--metadata-root` to relocate task metadata and use the runtime configuration produced below. Do not replace the matching normalization or text resources. The release does not include a historical `source_acceptance.json`; the direct preparation entry does not require one.
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## Download and smoke evaluation
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Run from the root of your local Phoenix-MWA checkout. Follow its `docs/INSTALLATION.md` and `docs/RESOURCES.md`, install the `robocasa-policy` extra in the policy environment, and install `huggingface_hub` there:
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```python
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from huggingface_hub import snapshot_download
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snapshot_download("OpenPhoenix/Phoenix-RoboCasa", local_dir="checkpoints/robocasa")
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snapshot_download("OpenPhoenix/Phoenix-Encoders", local_dir="checkpoints/encoders")
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```
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Acquire the matching Wan video/VAE, T5 text-encoder and tokenizer components separately under `checkpoints/base/` in Phoenix-MWA's expected layout. These are not included here. The saved configuration selects [Wan2.2-TI2V-5B](https://huggingface.co/Wan-AI/Wan2.2-TI2V-5B) and the [Wan2.1-T2V-1.3B](https://huggingface.co/Wan-AI/Wan2.1-T2V-1.3B) tokenizer.
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Install the official [RoboCasa GR1 tabletop simulator](https://github.com/robocasa/robocasa-gr1-tabletop-tasks) and its assets in a separate environment. Follow Phoenix-MWA's resource instructions to prepare `resources/robocasa/`, including its `simulator/` checkouts. Set `ROBOCASA_SIM_PYTHON` to that environment's Python executable:
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```bash
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export ROBOCASA_SIM_PYTHON=/path/to/robocasa-env/bin/python
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python tools/prepare_eval.py --benchmark robocasa-gr1 \
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--checkpoint checkpoints/robocasa/policy_phoenix_v1.pt \
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--config checkpoints/robocasa/config.yaml \
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--dino checkpoints/encoders/dino110k.pt \
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--stvae checkpoints/encoders/stvae150k.pt \
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--model-base checkpoints/base \
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--package checkpoints/robocasa/package \
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--metadata-root checkpoints/robocasa/metadata \
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--scene-seeds checkpoints/robocasa/scene_seed_list.json \
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--resources resources/robocasa \
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--sim-python "$ROBOCASA_SIM_PYTHON" \
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--output resources/phoenix-robocasa-smoke
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NUM_GPUS_TOTAL=1 bash scripts/evaluate.sh robocasa-gr1 \
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resources/phoenix-robocasa-smoke/eval.env.sh smoke
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```
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Use a new `--output` directory for each run. Preparation creates runtime files without launching inference. Smoke runs the first task for one episode and checks execution; it is not a benchmark success-rate estimate. Target-platform validation remains necessary. PPU/NVIDIA numerical parity is not certified, and no cross-platform acceptance claim is made by this release.
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## Licensing
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See [NOTICE.md](NOTICE.md) and the accompanying component licenses. The auxiliary dataset-derived resources retain the **CC BY-NC 4.0** terms of their NVIDIA GR00T source, including its non-commercial restriction and attribution requirements. This does not declare the policy weights themselves to be CC BY-NC 4.0 or MIT. Phoenix-MWA's source-code license does not override terms for weights, datasets, simulators or upstream models. The shared encoder repository includes the applicable DINOv3 terms.
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config.yaml
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output_dir: /mnt/cpfs/licy/robocasa_posttrain/runs/robocasa_joint96_delta80_110000_random/robocasa_delta80_slot18_init110000_random_128gpu_b1024_60k_20261009_01
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video_latent_cache: 'off'
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video_latent_cache_fields:
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- current
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- memory_anchor
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- memory_recent
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batch_size: 8
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num_workers: 8
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lr_scheduler_type: cosine
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learning_rate: 0.0001
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vlm_learning_rate: 5.0e-05
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num_epochs: 50
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max_steps: 60000
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log_every: 10
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save_every: 5000
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max_weight_checkpoints: 20
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eval_every: 0
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eval_num_inference_steps: 10
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eval_loss_samples_per_rank: 2
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eval_max_videos: 0
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gradient_accumulation_steps: 1
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mixed_precision: bf16
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seed: 42
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max_grad_norm: 1.0
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weight_decay: 0.01
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resume: null
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wandb:
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enabled: false
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workspace: null
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project: fastwam-auxsignals
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name: robocasa_delta80_slot18_init110000_random_128gpu_b1024_60k_20261009_01
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group: null
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mode: offline
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paths:
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data: data
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cache: .cache/internw0
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checkpoints: checkpoints
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output: /mnt/cpfs/licy/robocasa_posttrain/runs
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robotwin: data/robotwin
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robodojo: data/robodojo
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libero: data/libero
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ebench: data/ebench
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save_on_train_end: false
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save_training_state: false
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data:
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video_size:
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- 256
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- 256
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processor:
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num_output_cameras: 3
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sampling:
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num_frames: 33
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action_size: 32
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action_video_freq_ratio: 4
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memory_video_anchor_size: 0
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memory_recent_frame_offset: 0
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train:
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_target_: wam.datasets.robocasa_posttrain.RoboCasaPosttrainDataset
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package_root: /mnt/data/lcy/robocasa_resources/packages/full_delta80_remarks_slot18_v1
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cache_root: /mnt/data/lcy/robocasa_resources/cache/wan48_stvae150k_dino110k_full24_stride1_math_v1
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pretrained_norm_stats: /mnt/data/lcy/robocasa_resources/packages/full_delta80_remarks_slot18_v1/norm.json
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domain: robocasa
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split: train
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allow_smoke: false
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val_set_proportion: 0.01
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processor:
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action_output_dim: 80
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proprio_output_dim: 80
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num_output_cameras: 3
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val:
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_target_: wam.datasets.robocasa_posttrain.RoboCasaPosttrainDataset
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package_root: /mnt/data/lcy/robocasa_resources/packages/full_delta80_remarks_slot18_v1
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cache_root: /mnt/data/lcy/robocasa_resources/cache/wan48_stvae150k_dino110k_full24_stride1_math_v1
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pretrained_norm_stats: /mnt/data/lcy/robocasa_resources/packages/full_delta80_remarks_slot18_v1/norm.json
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domain: robocasa
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split: val
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allow_smoke: false
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val_set_proportion: 0.01
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processor:
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action_output_dim: 80
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proprio_output_dim: 80
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num_output_cameras: 3
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model:
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_target_: wam.training.robocasa_posttrain.create_robocasa_wam
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model_id: Wan-AI/Wan2.2-TI2V-5B
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tokenizer_model_id: Wan-AI/Wan2.1-T2V-1.3B
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tokenizer_max_len: 128
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load_text_encoder: false
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proprio_dim: 80
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redirect_common_files: true
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mot_checkpoint_mixed_attn: true
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mot_attention_backend: sdpa
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mot_flex_block_size: 64
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action_dit_pretrained_path: null
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action_dit_use_interpolated_init: false
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skip_dit_load_from_pretrain: false
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video_dit_config:
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has_image_input: false
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patch_size:
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- 1
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- 2
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- 2
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in_dim: 96
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hidden_dim: 3072
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ffn_dim: 14336
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freq_dim: 256
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text_dim: 4096
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out_dim: 96
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num_heads: 24
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attn_head_dim: 128
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num_layers: 30
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eps: 1.0e-06
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seperated_timestep: true
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require_clip_embedding: false
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require_vae_embedding: false
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fuse_vae_embedding_in_latents: true
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use_gradient_checkpointing: true
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video_attention_mask_mode: first_frame_causal
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action_conditioned: false
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action_dim: 80
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action_group_causal_mask_mode: group_diagonal
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action_dit_config:
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training_time_rtc:
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enabled: false
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max_delay_steps: 16
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action_dim: 80
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hidden_dim: 1024
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ffn_dim: 4096
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num_heads: 24
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attn_head_dim: 128
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num_layers: 30
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text_dim: 4096
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freq_dim: 256
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eps: 1.0e-06
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use_gradient_checkpointing: true
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num_embodiments: 28
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soft_prompt_tokens: 8
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embodiment_registry_path: /mnt/data/lcy/Phoenix-Posttrain/configs/embodiment_registry/robocasa_gr1_delta80_slot18_v1.json
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video_scheduler:
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train_shift: 6.0
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infer_shift: 6.0
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num_train_timesteps: 1000
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action_scheduler:
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train_shift: 1.0
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infer_shift: 1.0
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num_train_timesteps: 1000
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loss:
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lambda_video: 1.0
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lambda_action: 1.0
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lambda_vae: 0.5
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lambda_stvae: 0.5
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future_delta:
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enabled: false
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num_tokens: null
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video_size:
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- 256
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- 256
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num_views: 3
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num_frames: 33
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action_video_freq_ratio: 4
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loss_weight: 0.5
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semantic_alignment:
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enabled: false
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student_layer: 8
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teacher_layer: 20
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loss_weight: 0.1
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max_sigma: 0.5
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understanding:
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enabled: false
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vlm_model_path: checkpoints/RynnBrain1.1-2B
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trust_remote_code: true
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train_vlm: false
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vlm_gradient_checkpointing: false
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vlm_batch_size: 0
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max_pixels: 65536
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prompt_cache_size: 256
|
| 177 |
-
precompute_metadata: true
|
| 178 |
-
save_vlm_weights: null
|
| 179 |
-
interval_chunks: 1
|
| 180 |
-
prompt: null
|
| 181 |
-
default_view_layout: auto
|
| 182 |
-
default_view_names: ''
|
| 183 |
-
memory:
|
| 184 |
-
enabled: false
|
| 185 |
-
video:
|
| 186 |
-
enabled: false
|
| 187 |
-
num_anchor_frames: 0
|
| 188 |
-
num_recent_frames: 0
|
| 189 |
-
deduplicate_identical_anchor_batch: true
|
| 190 |
-
joint96_three_view: true
|
| 191 |
-
mot_checkpoint_layer_stride: 1
|
| 192 |
-
mot_flex_masked_batches: false
|
| 193 |
-
mot_flex_training_kernel_options:
|
| 194 |
-
fwd_BLOCK_M: 64
|
| 195 |
-
fwd_BLOCK_N: 64
|
| 196 |
-
fwd_num_stages: 2
|
| 197 |
-
bwd_BLOCK_M1: 64
|
| 198 |
-
bwd_BLOCK_N1: 64
|
| 199 |
-
bwd_BLOCK_M2: 64
|
| 200 |
-
bwd_BLOCK_N2: 64
|
| 201 |
-
bwd_num_stages: 2
|
| 202 |
-
distillation:
|
| 203 |
-
enabled: false
|
| 204 |
-
joint_visual_codec:
|
| 205 |
-
source_root: bundled://dino-stvae-v1
|
| 206 |
-
source_sha256: 7c13fab69963a05163adfe10957d5673a69021e8ab95f13009da00ddcf552118
|
| 207 |
-
stvae_checkpoint_path: /mnt/data/lcy/InternW0-Delta/artifacts/robot37_stvae150k_20261003_v1/weights/step_150000_compat.pt
|
| 208 |
-
expected_stvae_step: 150000
|
| 209 |
-
dino_kwargs:
|
| 210 |
-
checkpoint_path: /mnt/data/wlb/starVLA/results/multi_teacher_distillation/ego_video_multi_teacher_distillation_vggt_init_mask_curriculum_legacy_stratified_views_aux256_resume35000/checkpoints/step_00110000.pt
|
| 211 |
-
checkpoint_state: ema_student
|
| 212 |
-
output_source: backbone
|
| 213 |
-
projection_mode: raw
|
| 214 |
-
projector_out_dim: 1024
|
| 215 |
-
projector_state_path: null
|
| 216 |
-
feature_norm_state_path: null
|
| 217 |
-
require_feature_norm: false
|
| 218 |
-
starvla_source_path: bundled://dino-stvae-v1/third_party/dino90k_runtime
|
| 219 |
-
dinov3_source_path: bundled://dino-stvae-v1/third_party/dino90k_runtime/dinov3
|
| 220 |
-
dinov3_source_commit: 6876159a11b4df116f30f667f8c9888617df0751
|
| 221 |
-
verify_source_commit: true
|
| 222 |
-
strict_load: true
|
| 223 |
-
image_size: 256
|
| 224 |
-
patch_size: 16
|
| 225 |
-
mot_compile_mode: 'off'
|
| 226 |
-
local_robot_joint96:
|
| 227 |
-
enabled: false
|
| 228 |
-
expected_world_size: 192
|
| 229 |
-
require_deepspeed: true
|
| 230 |
-
smoke_mode: false
|
| 231 |
-
allow_audit_package: false
|
| 232 |
-
allow_smoke_norm: false
|
| 233 |
-
validation_seed: 20260928
|
| 234 |
-
prefetch_factor: 1
|
| 235 |
-
pin_memory: false
|
| 236 |
-
min_learning_rate: 5.0e-07
|
| 237 |
-
warmup_steps: null
|
| 238 |
-
joint96_posttrain:
|
| 239 |
-
enabled: true
|
| 240 |
-
cached_visuals: true
|
| 241 |
-
expected_pretrain_step: 110000
|
| 242 |
-
robocasa:
|
| 243 |
-
enabled: true
|
| 244 |
-
embodiment_id: 18
|
| 245 |
-
frame_contract: robocasa_gr1_canonical80_native_delta_slot18_v1
|
| 246 |
-
require_episode_remarks: true
|
| 247 |
-
init_checkpoint: /mnt/data/lcy/InternW0-Delta/runs/local_robot37_multiview_softprompt/robot37_rgbmix_exclude11_interndata6_softprompt_stvae150k_w224_b20_s256013_resume075000_mask75_lang70_save5000_20261007_01/checkpoints/weights/step_110000.pt
|
| 248 |
-
length_bucketed_sampling: false
|
| 249 |
-
local_robot_softprompt:
|
| 250 |
-
enabled: true
|
| 251 |
-
registry_path: /mnt/data/lcy/Phoenix-Posttrain/configs/embodiment_registry/robocasa_gr1_delta80_slot18_v1.json
|
| 252 |
-
init_checkpoint: null
|
| 253 |
-
expected_init_step: null
|
| 254 |
-
cache_locality_sampling:
|
| 255 |
-
enabled: false
|
| 256 |
-
episodes_per_batch: 1
|
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|
|
initialization.json
DELETED
|
@@ -1,21 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"checkpoint": "/mnt/cpfs/licy/InternW0-Delta/checkpoints/policy/robot37_step_110000.pt",
|
| 3 |
-
"pretrain_step": 110000,
|
| 4 |
-
"new_global_step": 0,
|
| 5 |
-
"weights_only": true,
|
| 6 |
-
"new_parameters": [],
|
| 7 |
-
"new_prompt_slot": 18,
|
| 8 |
-
"new_prompt_initialization": "fresh_normal_std0.02_after_empty_parent_check",
|
| 9 |
-
"action_space": {
|
| 10 |
-
"version": "robocasa_gr1_canonical80_native_delta_slot18_v1",
|
| 11 |
-
"world_axes": "source_world_A_identity",
|
| 12 |
-
"ee_axes": "source_wrist_B_identity",
|
| 13 |
-
"translation": "action_xyz[t]-state_xyz[t]",
|
| 14 |
-
"rotation": "Log(state_R[t].T@action_R[t])",
|
| 15 |
-
"rotation6d": "first_two_columns_concatenated",
|
| 16 |
-
"source_action_offset": 0,
|
| 17 |
-
"joint_hand_waist": "absolute_source_action",
|
| 18 |
-
"controller": "absolute_joint29",
|
| 19 |
-
"embodiment_id": 18
|
| 20 |
-
}
|
| 21 |
-
}
|
|
|
|
|
|
|
|
|
|
|
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|
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|
metadata/gr1_unified.PnPBottleToCabinetClose/meta/episodes.jsonl
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
metadata/gr1_unified.PnPBottleToCabinetClose/meta/modality.json
DELETED
|
@@ -1,359 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"state": {
|
| 3 |
-
"left_arm": {
|
| 4 |
-
"original_key": "observation.state",
|
| 5 |
-
"start": 0,
|
| 6 |
-
"end": 7
|
| 7 |
-
},
|
| 8 |
-
"left_hand": {
|
| 9 |
-
"original_key": "observation.state",
|
| 10 |
-
"start": 7,
|
| 11 |
-
"end": 13
|
| 12 |
-
},
|
| 13 |
-
"left_leg": {
|
| 14 |
-
"original_key": "observation.state",
|
| 15 |
-
"start": 13,
|
| 16 |
-
"end": 19
|
| 17 |
-
},
|
| 18 |
-
"neck": {
|
| 19 |
-
"original_key": "observation.state",
|
| 20 |
-
"start": 19,
|
| 21 |
-
"end": 22
|
| 22 |
-
},
|
| 23 |
-
"right_arm": {
|
| 24 |
-
"original_key": "observation.state",
|
| 25 |
-
"start": 22,
|
| 26 |
-
"end": 29
|
| 27 |
-
},
|
| 28 |
-
"right_hand": {
|
| 29 |
-
"original_key": "observation.state",
|
| 30 |
-
"start": 29,
|
| 31 |
-
"end": 35
|
| 32 |
-
},
|
| 33 |
-
"right_leg": {
|
| 34 |
-
"original_key": "observation.state",
|
| 35 |
-
"start": 35,
|
| 36 |
-
"end": 41
|
| 37 |
-
},
|
| 38 |
-
"waist": {
|
| 39 |
-
"original_key": "observation.state",
|
| 40 |
-
"start": 41,
|
| 41 |
-
"end": 44
|
| 42 |
-
},
|
| 43 |
-
"wrist_l_pos": {
|
| 44 |
-
"original_key": "observation.state",
|
| 45 |
-
"start": 44,
|
| 46 |
-
"end": 47
|
| 47 |
-
},
|
| 48 |
-
"wrist_l_rot6d": {
|
| 49 |
-
"original_key": "observation.state",
|
| 50 |
-
"start": 47,
|
| 51 |
-
"end": 53
|
| 52 |
-
},
|
| 53 |
-
"thumb_l_pos": {
|
| 54 |
-
"original_key": "observation.state",
|
| 55 |
-
"start": 53,
|
| 56 |
-
"end": 56
|
| 57 |
-
},
|
| 58 |
-
"thumb_l_rot6d": {
|
| 59 |
-
"original_key": "observation.state",
|
| 60 |
-
"start": 56,
|
| 61 |
-
"end": 62
|
| 62 |
-
},
|
| 63 |
-
"index_l_pos": {
|
| 64 |
-
"original_key": "observation.state",
|
| 65 |
-
"start": 62,
|
| 66 |
-
"end": 65
|
| 67 |
-
},
|
| 68 |
-
"index_l_rot6d": {
|
| 69 |
-
"original_key": "observation.state",
|
| 70 |
-
"start": 65,
|
| 71 |
-
"end": 71
|
| 72 |
-
},
|
| 73 |
-
"middle_l_pos": {
|
| 74 |
-
"original_key": "observation.state",
|
| 75 |
-
"start": 71,
|
| 76 |
-
"end": 74
|
| 77 |
-
},
|
| 78 |
-
"middle_l_rot6d": {
|
| 79 |
-
"original_key": "observation.state",
|
| 80 |
-
"start": 74,
|
| 81 |
-
"end": 80
|
| 82 |
-
},
|
| 83 |
-
"ring_l_pos": {
|
| 84 |
-
"original_key": "observation.state",
|
| 85 |
-
"start": 80,
|
| 86 |
-
"end": 83
|
| 87 |
-
},
|
| 88 |
-
"ring_l_rot6d": {
|
| 89 |
-
"original_key": "observation.state",
|
| 90 |
-
"start": 83,
|
| 91 |
-
"end": 89
|
| 92 |
-
},
|
| 93 |
-
"pinky_l_pos": {
|
| 94 |
-
"original_key": "observation.state",
|
| 95 |
-
"start": 89,
|
| 96 |
-
"end": 92
|
| 97 |
-
},
|
| 98 |
-
"pinky_l_rot6d": {
|
| 99 |
-
"original_key": "observation.state",
|
| 100 |
-
"start": 92,
|
| 101 |
-
"end": 98
|
| 102 |
-
},
|
| 103 |
-
"wrist_r_pos": {
|
| 104 |
-
"original_key": "observation.state",
|
| 105 |
-
"start": 98,
|
| 106 |
-
"end": 101
|
| 107 |
-
},
|
| 108 |
-
"wrist_r_rot6d": {
|
| 109 |
-
"original_key": "observation.state",
|
| 110 |
-
"start": 101,
|
| 111 |
-
"end": 107
|
| 112 |
-
},
|
| 113 |
-
"thumb_r_pos": {
|
| 114 |
-
"original_key": "observation.state",
|
| 115 |
-
"start": 107,
|
| 116 |
-
"end": 110
|
| 117 |
-
},
|
| 118 |
-
"thumb_r_rot6d": {
|
| 119 |
-
"original_key": "observation.state",
|
| 120 |
-
"start": 110,
|
| 121 |
-
"end": 116
|
| 122 |
-
},
|
| 123 |
-
"index_r_pos": {
|
| 124 |
-
"original_key": "observation.state",
|
| 125 |
-
"start": 116,
|
| 126 |
-
"end": 119
|
| 127 |
-
},
|
| 128 |
-
"index_r_rot6d": {
|
| 129 |
-
"original_key": "observation.state",
|
| 130 |
-
"start": 119,
|
| 131 |
-
"end": 125
|
| 132 |
-
},
|
| 133 |
-
"middle_r_pos": {
|
| 134 |
-
"original_key": "observation.state",
|
| 135 |
-
"start": 125,
|
| 136 |
-
"end": 128
|
| 137 |
-
},
|
| 138 |
-
"middle_r_rot6d": {
|
| 139 |
-
"original_key": "observation.state",
|
| 140 |
-
"start": 128,
|
| 141 |
-
"end": 134
|
| 142 |
-
},
|
| 143 |
-
"ring_r_pos": {
|
| 144 |
-
"original_key": "observation.state",
|
| 145 |
-
"start": 134,
|
| 146 |
-
"end": 137
|
| 147 |
-
},
|
| 148 |
-
"ring_r_rot6d": {
|
| 149 |
-
"original_key": "observation.state",
|
| 150 |
-
"start": 137,
|
| 151 |
-
"end": 143
|
| 152 |
-
},
|
| 153 |
-
"pinky_r_pos": {
|
| 154 |
-
"original_key": "observation.state",
|
| 155 |
-
"start": 143,
|
| 156 |
-
"end": 146
|
| 157 |
-
},
|
| 158 |
-
"pinky_r_rot6d": {
|
| 159 |
-
"original_key": "observation.state",
|
| 160 |
-
"start": 146,
|
| 161 |
-
"end": 152
|
| 162 |
-
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|
| 163 |
-
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|
| 164 |
-
"original_key": "observation.state",
|
| 165 |
-
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|
| 166 |
-
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|
| 167 |
-
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|
| 168 |
-
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|
| 169 |
-
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|
| 170 |
-
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|
| 171 |
-
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|
| 172 |
-
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|
| 173 |
-
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|
| 174 |
-
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|
| 175 |
-
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|
| 176 |
-
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|
| 177 |
-
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|
| 178 |
-
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|
| 179 |
-
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|
| 180 |
-
"left_hand": {
|
| 181 |
-
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|
| 182 |
-
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|
| 183 |
-
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|
| 184 |
-
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|
| 185 |
-
"left_leg": {
|
| 186 |
-
"original_key": "action",
|
| 187 |
-
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|
| 188 |
-
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|
| 189 |
-
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|
| 190 |
-
"neck": {
|
| 191 |
-
"original_key": "action",
|
| 192 |
-
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|
| 193 |
-
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|
| 194 |
-
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|
| 195 |
-
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|
| 196 |
-
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|
| 197 |
-
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|
| 198 |
-
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|
| 199 |
-
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|
| 200 |
-
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|
| 201 |
-
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|
| 202 |
-
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|
| 203 |
-
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|
| 204 |
-
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|
| 205 |
-
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|
| 206 |
-
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|
| 207 |
-
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|
| 208 |
-
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|
| 209 |
-
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|
| 210 |
-
"waist": {
|
| 211 |
-
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|
| 212 |
-
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|
| 213 |
-
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|
| 214 |
-
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|
| 215 |
-
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|
| 216 |
-
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|
| 217 |
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|
| 218 |
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|
| 219 |
-
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|
| 220 |
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|
| 221 |
-
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|
| 222 |
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|
| 223 |
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|
| 224 |
-
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|
| 225 |
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|
| 226 |
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| 227 |
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| 228 |
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|
| 229 |
-
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|
| 230 |
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|
| 231 |
-
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| 232 |
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|
| 233 |
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|
| 234 |
-
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|
| 235 |
-
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|
| 236 |
-
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|
| 237 |
-
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|
| 238 |
-
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|
| 239 |
-
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|
| 240 |
-
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|
| 241 |
-
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|
| 242 |
-
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|
| 243 |
-
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|
| 244 |
-
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|
| 245 |
-
"middle_l_pos": {
|
| 246 |
-
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|
| 247 |
-
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|
| 248 |
-
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|
| 249 |
-
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|
| 250 |
-
"middle_l_rot6d": {
|
| 251 |
-
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|
| 252 |
-
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|
| 253 |
-
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|
| 254 |
-
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|
| 255 |
-
"ring_l_pos": {
|
| 256 |
-
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|
| 257 |
-
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|
| 258 |
-
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|
| 259 |
-
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|
| 260 |
-
"ring_l_rot6d": {
|
| 261 |
-
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|
| 262 |
-
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|
| 263 |
-
"end": 89
|
| 264 |
-
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|
| 265 |
-
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|
| 266 |
-
"original_key": "action",
|
| 267 |
-
"start": 89,
|
| 268 |
-
"end": 92
|
| 269 |
-
},
|
| 270 |
-
"pinky_l_rot6d": {
|
| 271 |
-
"original_key": "action",
|
| 272 |
-
"start": 92,
|
| 273 |
-
"end": 98
|
| 274 |
-
},
|
| 275 |
-
"wrist_r_pos": {
|
| 276 |
-
"original_key": "action",
|
| 277 |
-
"start": 98,
|
| 278 |
-
"end": 101
|
| 279 |
-
},
|
| 280 |
-
"wrist_r_rot6d": {
|
| 281 |
-
"original_key": "action",
|
| 282 |
-
"start": 101,
|
| 283 |
-
"end": 107
|
| 284 |
-
},
|
| 285 |
-
"thumb_r_pos": {
|
| 286 |
-
"original_key": "action",
|
| 287 |
-
"start": 107,
|
| 288 |
-
"end": 110
|
| 289 |
-
},
|
| 290 |
-
"thumb_r_rot6d": {
|
| 291 |
-
"original_key": "action",
|
| 292 |
-
"start": 110,
|
| 293 |
-
"end": 116
|
| 294 |
-
},
|
| 295 |
-
"index_r_pos": {
|
| 296 |
-
"original_key": "action",
|
| 297 |
-
"start": 116,
|
| 298 |
-
"end": 119
|
| 299 |
-
},
|
| 300 |
-
"index_r_rot6d": {
|
| 301 |
-
"original_key": "action",
|
| 302 |
-
"start": 119,
|
| 303 |
-
"end": 125
|
| 304 |
-
},
|
| 305 |
-
"middle_r_pos": {
|
| 306 |
-
"original_key": "action",
|
| 307 |
-
"start": 125,
|
| 308 |
-
"end": 128
|
| 309 |
-
},
|
| 310 |
-
"middle_r_rot6d": {
|
| 311 |
-
"original_key": "action",
|
| 312 |
-
"start": 128,
|
| 313 |
-
"end": 134
|
| 314 |
-
},
|
| 315 |
-
"ring_r_pos": {
|
| 316 |
-
"original_key": "action",
|
| 317 |
-
"start": 134,
|
| 318 |
-
"end": 137
|
| 319 |
-
},
|
| 320 |
-
"ring_r_rot6d": {
|
| 321 |
-
"original_key": "action",
|
| 322 |
-
"start": 137,
|
| 323 |
-
"end": 143
|
| 324 |
-
},
|
| 325 |
-
"pinky_r_pos": {
|
| 326 |
-
"original_key": "action",
|
| 327 |
-
"start": 143,
|
| 328 |
-
"end": 146
|
| 329 |
-
},
|
| 330 |
-
"pinky_r_rot6d": {
|
| 331 |
-
"original_key": "action",
|
| 332 |
-
"start": 146,
|
| 333 |
-
"end": 152
|
| 334 |
-
},
|
| 335 |
-
"camera_egoview_pos": {
|
| 336 |
-
"original_key": "action",
|
| 337 |
-
"start": 152,
|
| 338 |
-
"end": 155
|
| 339 |
-
},
|
| 340 |
-
"camera_egoview_rot6d": {
|
| 341 |
-
"original_key": "action",
|
| 342 |
-
"start": 155,
|
| 343 |
-
"end": 161
|
| 344 |
-
}
|
| 345 |
-
},
|
| 346 |
-
"video": {
|
| 347 |
-
"ego_view": {
|
| 348 |
-
"original_key": "observation.images.ego_view"
|
| 349 |
-
}
|
| 350 |
-
},
|
| 351 |
-
"annotation": {
|
| 352 |
-
"human.fine_action": {
|
| 353 |
-
"original_key": "annotation.human.fine_action"
|
| 354 |
-
},
|
| 355 |
-
"human.coarse_action": {
|
| 356 |
-
"original_key": "annotation.human.coarse_action"
|
| 357 |
-
}
|
| 358 |
-
}
|
| 359 |
-
}
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|
metadata/gr1_unified.PnPBottleToCabinetClose/meta/tasks.jsonl
DELETED
|
@@ -1,2 +0,0 @@
|
|
| 1 |
-
{"task_index": 0, "task": ""}
|
| 2 |
-
{"task_index": 1, "task": "unlocked_waist: pick up the bottled water, place it into the cabinet and close the cabinet"}
|
|
|
|
|
|
|
|
|
metadata/gr1_unified.PnPCanToDrawerClose/meta/episodes.jsonl
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
metadata/gr1_unified.PnPCanToDrawerClose/meta/modality.json
DELETED
|
@@ -1,359 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"state": {
|
| 3 |
-
"left_arm": {
|
| 4 |
-
"original_key": "observation.state",
|
| 5 |
-
"start": 0,
|
| 6 |
-
"end": 7
|
| 7 |
-
},
|
| 8 |
-
"left_hand": {
|
| 9 |
-
"original_key": "observation.state",
|
| 10 |
-
"start": 7,
|
| 11 |
-
"end": 13
|
| 12 |
-
},
|
| 13 |
-
"left_leg": {
|
| 14 |
-
"original_key": "observation.state",
|
| 15 |
-
"start": 13,
|
| 16 |
-
"end": 19
|
| 17 |
-
},
|
| 18 |
-
"neck": {
|
| 19 |
-
"original_key": "observation.state",
|
| 20 |
-
"start": 19,
|
| 21 |
-
"end": 22
|
| 22 |
-
},
|
| 23 |
-
"right_arm": {
|
| 24 |
-
"original_key": "observation.state",
|
| 25 |
-
"start": 22,
|
| 26 |
-
"end": 29
|
| 27 |
-
},
|
| 28 |
-
"right_hand": {
|
| 29 |
-
"original_key": "observation.state",
|
| 30 |
-
"start": 29,
|
| 31 |
-
"end": 35
|
| 32 |
-
},
|
| 33 |
-
"right_leg": {
|
| 34 |
-
"original_key": "observation.state",
|
| 35 |
-
"start": 35,
|
| 36 |
-
"end": 41
|
| 37 |
-
},
|
| 38 |
-
"waist": {
|
| 39 |
-
"original_key": "observation.state",
|
| 40 |
-
"start": 41,
|
| 41 |
-
"end": 44
|
| 42 |
-
},
|
| 43 |
-
"wrist_l_pos": {
|
| 44 |
-
"original_key": "observation.state",
|
| 45 |
-
"start": 44,
|
| 46 |
-
"end": 47
|
| 47 |
-
},
|
| 48 |
-
"wrist_l_rot6d": {
|
| 49 |
-
"original_key": "observation.state",
|
| 50 |
-
"start": 47,
|
| 51 |
-
"end": 53
|
| 52 |
-
},
|
| 53 |
-
"thumb_l_pos": {
|
| 54 |
-
"original_key": "observation.state",
|
| 55 |
-
"start": 53,
|
| 56 |
-
"end": 56
|
| 57 |
-
},
|
| 58 |
-
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|
| 59 |
-
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|
| 60 |
-
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|
| 61 |
-
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|
| 62 |
-
},
|
| 63 |
-
"index_l_pos": {
|
| 64 |
-
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|
| 65 |
-
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|
| 66 |
-
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|
| 67 |
-
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|
| 68 |
-
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|
| 69 |
-
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|
| 70 |
-
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|
| 71 |
-
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|
| 72 |
-
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|
| 73 |
-
"middle_l_pos": {
|
| 74 |
-
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|
| 75 |
-
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|
| 76 |
-
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|
| 77 |
-
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|
| 78 |
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"middle_l_rot6d": {
|
| 79 |
-
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| 80 |
-
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|
| 81 |
-
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|
| 82 |
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|
| 83 |
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|
| 84 |
-
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| 85 |
-
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|
| 86 |
-
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|
| 87 |
-
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|
| 88 |
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|
| 89 |
-
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|
| 90 |
-
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|
| 91 |
-
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|
| 92 |
-
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|
| 93 |
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|
| 94 |
-
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|
| 95 |
-
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|
| 96 |
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|
| 97 |
-
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|
| 98 |
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|
| 99 |
-
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
-
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|
| 105 |
-
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|
| 106 |
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|
| 107 |
-
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|
| 108 |
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|
| 109 |
-
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|
| 110 |
-
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
-
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|
| 115 |
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|
| 116 |
-
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|
| 117 |
-
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|
| 118 |
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|
| 119 |
-
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|
| 120 |
-
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|
| 121 |
-
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|
| 122 |
-
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|
| 123 |
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|
| 124 |
-
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
-
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
-
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|
| 135 |
-
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
-
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
-
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|
| 145 |
-
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|
| 146 |
-
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|
| 147 |
-
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|
| 148 |
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|
| 149 |
-
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
-
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
-
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
-
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|
| 177 |
-
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
-
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|
| 182 |
-
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
-
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|
| 187 |
-
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|
| 188 |
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|
| 189 |
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|
| 190 |
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"neck": {
|
| 191 |
-
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|
| 192 |
-
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|
| 193 |
-
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|
| 194 |
-
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|
| 195 |
-
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|
| 196 |
-
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|
| 197 |
-
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|
| 198 |
-
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|
| 199 |
-
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|
| 200 |
-
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|
| 201 |
-
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|
| 202 |
-
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|
| 203 |
-
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|
| 204 |
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|
| 205 |
-
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|
| 206 |
-
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|
| 207 |
-
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|
| 208 |
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|
| 209 |
-
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|
| 210 |
-
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|
| 211 |
-
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|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
-
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|
| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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|
| 221 |
-
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| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
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|
| 226 |
-
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| 227 |
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|
| 228 |
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|
| 229 |
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|
| 230 |
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|
| 231 |
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|
| 232 |
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|
| 233 |
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|
| 234 |
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|
| 235 |
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|
| 236 |
-
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|
| 237 |
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|
| 238 |
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|
| 239 |
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|
| 240 |
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|
| 241 |
-
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|
| 242 |
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|
| 243 |
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|
| 244 |
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|
| 245 |
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|
| 246 |
-
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|
| 247 |
-
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|
| 248 |
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|
| 249 |
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|
| 250 |
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|
| 251 |
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|
| 252 |
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|
| 253 |
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|
| 254 |
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|
| 255 |
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|
| 256 |
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|
| 257 |
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|
| 258 |
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|
| 259 |
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|
| 260 |
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|
| 261 |
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|
| 262 |
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|
| 263 |
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|
| 264 |
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| 265 |
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|
| 266 |
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|
| 267 |
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|
| 268 |
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|
| 269 |
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| 270 |
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|
| 271 |
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|
| 272 |
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|
| 273 |
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|
| 274 |
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|
| 275 |
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|
| 276 |
-
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|
| 277 |
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|
| 278 |
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|
| 279 |
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|
| 280 |
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|
| 281 |
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|
| 282 |
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|
| 283 |
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|
| 284 |
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|
| 285 |
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|
| 286 |
-
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|
| 287 |
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|
| 288 |
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|
| 289 |
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|
| 290 |
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|
| 291 |
-
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|
| 292 |
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|
| 293 |
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|
| 294 |
-
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|
| 295 |
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|
| 296 |
-
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|
| 297 |
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|
| 298 |
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|
| 299 |
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|
| 300 |
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|
| 301 |
-
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|
| 302 |
-
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|
| 303 |
-
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|
| 304 |
-
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|
| 305 |
-
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|
| 306 |
-
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|
| 307 |
-
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|
| 308 |
-
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|
| 309 |
-
},
|
| 310 |
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|
| 311 |
-
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|
| 312 |
-
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|
| 313 |
-
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|
| 314 |
-
},
|
| 315 |
-
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|
| 316 |
-
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|
| 317 |
-
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|
| 318 |
-
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|
| 319 |
-
},
|
| 320 |
-
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|
| 321 |
-
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|
| 322 |
-
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|
| 323 |
-
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|
| 324 |
-
},
|
| 325 |
-
"pinky_r_pos": {
|
| 326 |
-
"original_key": "action",
|
| 327 |
-
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|
| 328 |
-
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|
| 329 |
-
},
|
| 330 |
-
"pinky_r_rot6d": {
|
| 331 |
-
"original_key": "action",
|
| 332 |
-
"start": 146,
|
| 333 |
-
"end": 152
|
| 334 |
-
},
|
| 335 |
-
"camera_egoview_pos": {
|
| 336 |
-
"original_key": "action",
|
| 337 |
-
"start": 152,
|
| 338 |
-
"end": 155
|
| 339 |
-
},
|
| 340 |
-
"camera_egoview_rot6d": {
|
| 341 |
-
"original_key": "action",
|
| 342 |
-
"start": 155,
|
| 343 |
-
"end": 161
|
| 344 |
-
}
|
| 345 |
-
},
|
| 346 |
-
"video": {
|
| 347 |
-
"ego_view": {
|
| 348 |
-
"original_key": "observation.images.ego_view"
|
| 349 |
-
}
|
| 350 |
-
},
|
| 351 |
-
"annotation": {
|
| 352 |
-
"human.fine_action": {
|
| 353 |
-
"original_key": "annotation.human.fine_action"
|
| 354 |
-
},
|
| 355 |
-
"human.coarse_action": {
|
| 356 |
-
"original_key": "annotation.human.coarse_action"
|
| 357 |
-
}
|
| 358 |
-
}
|
| 359 |
-
}
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metadata/gr1_unified.PnPCanToDrawerClose/meta/tasks.jsonl
DELETED
|
@@ -1,2 +0,0 @@
|
|
| 1 |
-
{"task_index": 0, "task": ""}
|
| 2 |
-
{"task_index": 1, "task": "unlocked_waist: pick up the can, place it into the drawer and close the drawer"}
|
|
|
|
|
|
|
|
|
metadata/gr1_unified.PnPCupToDrawerClose/meta/episodes.jsonl
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
metadata/gr1_unified.PnPCupToDrawerClose/meta/modality.json
DELETED
|
@@ -1,359 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"state": {
|
| 3 |
-
"left_arm": {
|
| 4 |
-
"original_key": "observation.state",
|
| 5 |
-
"start": 0,
|
| 6 |
-
"end": 7
|
| 7 |
-
},
|
| 8 |
-
"left_hand": {
|
| 9 |
-
"original_key": "observation.state",
|
| 10 |
-
"start": 7,
|
| 11 |
-
"end": 13
|
| 12 |
-
},
|
| 13 |
-
"left_leg": {
|
| 14 |
-
"original_key": "observation.state",
|
| 15 |
-
"start": 13,
|
| 16 |
-
"end": 19
|
| 17 |
-
},
|
| 18 |
-
"neck": {
|
| 19 |
-
"original_key": "observation.state",
|
| 20 |
-
"start": 19,
|
| 21 |
-
"end": 22
|
| 22 |
-
},
|
| 23 |
-
"right_arm": {
|
| 24 |
-
"original_key": "observation.state",
|
| 25 |
-
"start": 22,
|
| 26 |
-
"end": 29
|
| 27 |
-
},
|
| 28 |
-
"right_hand": {
|
| 29 |
-
"original_key": "observation.state",
|
| 30 |
-
"start": 29,
|
| 31 |
-
"end": 35
|
| 32 |
-
},
|
| 33 |
-
"right_leg": {
|
| 34 |
-
"original_key": "observation.state",
|
| 35 |
-
"start": 35,
|
| 36 |
-
"end": 41
|
| 37 |
-
},
|
| 38 |
-
"waist": {
|
| 39 |
-
"original_key": "observation.state",
|
| 40 |
-
"start": 41,
|
| 41 |
-
"end": 44
|
| 42 |
-
},
|
| 43 |
-
"wrist_l_pos": {
|
| 44 |
-
"original_key": "observation.state",
|
| 45 |
-
"start": 44,
|
| 46 |
-
"end": 47
|
| 47 |
-
},
|
| 48 |
-
"wrist_l_rot6d": {
|
| 49 |
-
"original_key": "observation.state",
|
| 50 |
-
"start": 47,
|
| 51 |
-
"end": 53
|
| 52 |
-
},
|
| 53 |
-
"thumb_l_pos": {
|
| 54 |
-
"original_key": "observation.state",
|
| 55 |
-
"start": 53,
|
| 56 |
-
"end": 56
|
| 57 |
-
},
|
| 58 |
-
"thumb_l_rot6d": {
|
| 59 |
-
"original_key": "observation.state",
|
| 60 |
-
"start": 56,
|
| 61 |
-
"end": 62
|
| 62 |
-
},
|
| 63 |
-
"index_l_pos": {
|
| 64 |
-
"original_key": "observation.state",
|
| 65 |
-
"start": 62,
|
| 66 |
-
"end": 65
|
| 67 |
-
},
|
| 68 |
-
"index_l_rot6d": {
|
| 69 |
-
"original_key": "observation.state",
|
| 70 |
-
"start": 65,
|
| 71 |
-
"end": 71
|
| 72 |
-
},
|
| 73 |
-
"middle_l_pos": {
|
| 74 |
-
"original_key": "observation.state",
|
| 75 |
-
"start": 71,
|
| 76 |
-
"end": 74
|
| 77 |
-
},
|
| 78 |
-
"middle_l_rot6d": {
|
| 79 |
-
"original_key": "observation.state",
|
| 80 |
-
"start": 74,
|
| 81 |
-
"end": 80
|
| 82 |
-
},
|
| 83 |
-
"ring_l_pos": {
|
| 84 |
-
"original_key": "observation.state",
|
| 85 |
-
"start": 80,
|
| 86 |
-
"end": 83
|
| 87 |
-
},
|
| 88 |
-
"ring_l_rot6d": {
|
| 89 |
-
"original_key": "observation.state",
|
| 90 |
-
"start": 83,
|
| 91 |
-
"end": 89
|
| 92 |
-
},
|
| 93 |
-
"pinky_l_pos": {
|
| 94 |
-
"original_key": "observation.state",
|
| 95 |
-
"start": 89,
|
| 96 |
-
"end": 92
|
| 97 |
-
},
|
| 98 |
-
"pinky_l_rot6d": {
|
| 99 |
-
"original_key": "observation.state",
|
| 100 |
-
"start": 92,
|
| 101 |
-
"end": 98
|
| 102 |
-
},
|
| 103 |
-
"wrist_r_pos": {
|
| 104 |
-
"original_key": "observation.state",
|
| 105 |
-
"start": 98,
|
| 106 |
-
"end": 101
|
| 107 |
-
},
|
| 108 |
-
"wrist_r_rot6d": {
|
| 109 |
-
"original_key": "observation.state",
|
| 110 |
-
"start": 101,
|
| 111 |
-
"end": 107
|
| 112 |
-
},
|
| 113 |
-
"thumb_r_pos": {
|
| 114 |
-
"original_key": "observation.state",
|
| 115 |
-
"start": 107,
|
| 116 |
-
"end": 110
|
| 117 |
-
},
|
| 118 |
-
"thumb_r_rot6d": {
|
| 119 |
-
"original_key": "observation.state",
|
| 120 |
-
"start": 110,
|
| 121 |
-
"end": 116
|
| 122 |
-
},
|
| 123 |
-
"index_r_pos": {
|
| 124 |
-
"original_key": "observation.state",
|
| 125 |
-
"start": 116,
|
| 126 |
-
"end": 119
|
| 127 |
-
},
|
| 128 |
-
"index_r_rot6d": {
|
| 129 |
-
"original_key": "observation.state",
|
| 130 |
-
"start": 119,
|
| 131 |
-
"end": 125
|
| 132 |
-
},
|
| 133 |
-
"middle_r_pos": {
|
| 134 |
-
"original_key": "observation.state",
|
| 135 |
-
"start": 125,
|
| 136 |
-
"end": 128
|
| 137 |
-
},
|
| 138 |
-
"middle_r_rot6d": {
|
| 139 |
-
"original_key": "observation.state",
|
| 140 |
-
"start": 128,
|
| 141 |
-
"end": 134
|
| 142 |
-
},
|
| 143 |
-
"ring_r_pos": {
|
| 144 |
-
"original_key": "observation.state",
|
| 145 |
-
"start": 134,
|
| 146 |
-
"end": 137
|
| 147 |
-
},
|
| 148 |
-
"ring_r_rot6d": {
|
| 149 |
-
"original_key": "observation.state",
|
| 150 |
-
"start": 137,
|
| 151 |
-
"end": 143
|
| 152 |
-
},
|
| 153 |
-
"pinky_r_pos": {
|
| 154 |
-
"original_key": "observation.state",
|
| 155 |
-
"start": 143,
|
| 156 |
-
"end": 146
|
| 157 |
-
},
|
| 158 |
-
"pinky_r_rot6d": {
|
| 159 |
-
"original_key": "observation.state",
|
| 160 |
-
"start": 146,
|
| 161 |
-
"end": 152
|
| 162 |
-
},
|
| 163 |
-
"camera_egoview_pos": {
|
| 164 |
-
"original_key": "observation.state",
|
| 165 |
-
"start": 152,
|
| 166 |
-
"end": 155
|
| 167 |
-
},
|
| 168 |
-
"camera_egoview_rot6d": {
|
| 169 |
-
"original_key": "observation.state",
|
| 170 |
-
"start": 155,
|
| 171 |
-
"end": 161
|
| 172 |
-
}
|
| 173 |
-
},
|
| 174 |
-
"action": {
|
| 175 |
-
"left_arm": {
|
| 176 |
-
"original_key": "action",
|
| 177 |
-
"start": 0,
|
| 178 |
-
"end": 7
|
| 179 |
-
},
|
| 180 |
-
"left_hand": {
|
| 181 |
-
"original_key": "action",
|
| 182 |
-
"start": 7,
|
| 183 |
-
"end": 13
|
| 184 |
-
},
|
| 185 |
-
"left_leg": {
|
| 186 |
-
"original_key": "action",
|
| 187 |
-
"start": 13,
|
| 188 |
-
"end": 19
|
| 189 |
-
},
|
| 190 |
-
"neck": {
|
| 191 |
-
"original_key": "action",
|
| 192 |
-
"start": 19,
|
| 193 |
-
"end": 22
|
| 194 |
-
},
|
| 195 |
-
"right_arm": {
|
| 196 |
-
"original_key": "action",
|
| 197 |
-
"start": 22,
|
| 198 |
-
"end": 29
|
| 199 |
-
},
|
| 200 |
-
"right_hand": {
|
| 201 |
-
"original_key": "action",
|
| 202 |
-
"start": 29,
|
| 203 |
-
"end": 35
|
| 204 |
-
},
|
| 205 |
-
"right_leg": {
|
| 206 |
-
"original_key": "action",
|
| 207 |
-
"start": 35,
|
| 208 |
-
"end": 41
|
| 209 |
-
},
|
| 210 |
-
"waist": {
|
| 211 |
-
"original_key": "action",
|
| 212 |
-
"start": 41,
|
| 213 |
-
"end": 44
|
| 214 |
-
},
|
| 215 |
-
"wrist_l_pos": {
|
| 216 |
-
"original_key": "action",
|
| 217 |
-
"start": 44,
|
| 218 |
-
"end": 47
|
| 219 |
-
},
|
| 220 |
-
"wrist_l_rot6d": {
|
| 221 |
-
"original_key": "action",
|
| 222 |
-
"start": 47,
|
| 223 |
-
"end": 53
|
| 224 |
-
},
|
| 225 |
-
"thumb_l_pos": {
|
| 226 |
-
"original_key": "action",
|
| 227 |
-
"start": 53,
|
| 228 |
-
"end": 56
|
| 229 |
-
},
|
| 230 |
-
"thumb_l_rot6d": {
|
| 231 |
-
"original_key": "action",
|
| 232 |
-
"start": 56,
|
| 233 |
-
"end": 62
|
| 234 |
-
},
|
| 235 |
-
"index_l_pos": {
|
| 236 |
-
"original_key": "action",
|
| 237 |
-
"start": 62,
|
| 238 |
-
"end": 65
|
| 239 |
-
},
|
| 240 |
-
"index_l_rot6d": {
|
| 241 |
-
"original_key": "action",
|
| 242 |
-
"start": 65,
|
| 243 |
-
"end": 71
|
| 244 |
-
},
|
| 245 |
-
"middle_l_pos": {
|
| 246 |
-
"original_key": "action",
|
| 247 |
-
"start": 71,
|
| 248 |
-
"end": 74
|
| 249 |
-
},
|
| 250 |
-
"middle_l_rot6d": {
|
| 251 |
-
"original_key": "action",
|
| 252 |
-
"start": 74,
|
| 253 |
-
"end": 80
|
| 254 |
-
},
|
| 255 |
-
"ring_l_pos": {
|
| 256 |
-
"original_key": "action",
|
| 257 |
-
"start": 80,
|
| 258 |
-
"end": 83
|
| 259 |
-
},
|
| 260 |
-
"ring_l_rot6d": {
|
| 261 |
-
"original_key": "action",
|
| 262 |
-
"start": 83,
|
| 263 |
-
"end": 89
|
| 264 |
-
},
|
| 265 |
-
"pinky_l_pos": {
|
| 266 |
-
"original_key": "action",
|
| 267 |
-
"start": 89,
|
| 268 |
-
"end": 92
|
| 269 |
-
},
|
| 270 |
-
"pinky_l_rot6d": {
|
| 271 |
-
"original_key": "action",
|
| 272 |
-
"start": 92,
|
| 273 |
-
"end": 98
|
| 274 |
-
},
|
| 275 |
-
"wrist_r_pos": {
|
| 276 |
-
"original_key": "action",
|
| 277 |
-
"start": 98,
|
| 278 |
-
"end": 101
|
| 279 |
-
},
|
| 280 |
-
"wrist_r_rot6d": {
|
| 281 |
-
"original_key": "action",
|
| 282 |
-
"start": 101,
|
| 283 |
-
"end": 107
|
| 284 |
-
},
|
| 285 |
-
"thumb_r_pos": {
|
| 286 |
-
"original_key": "action",
|
| 287 |
-
"start": 107,
|
| 288 |
-
"end": 110
|
| 289 |
-
},
|
| 290 |
-
"thumb_r_rot6d": {
|
| 291 |
-
"original_key": "action",
|
| 292 |
-
"start": 110,
|
| 293 |
-
"end": 116
|
| 294 |
-
},
|
| 295 |
-
"index_r_pos": {
|
| 296 |
-
"original_key": "action",
|
| 297 |
-
"start": 116,
|
| 298 |
-
"end": 119
|
| 299 |
-
},
|
| 300 |
-
"index_r_rot6d": {
|
| 301 |
-
"original_key": "action",
|
| 302 |
-
"start": 119,
|
| 303 |
-
"end": 125
|
| 304 |
-
},
|
| 305 |
-
"middle_r_pos": {
|
| 306 |
-
"original_key": "action",
|
| 307 |
-
"start": 125,
|
| 308 |
-
"end": 128
|
| 309 |
-
},
|
| 310 |
-
"middle_r_rot6d": {
|
| 311 |
-
"original_key": "action",
|
| 312 |
-
"start": 128,
|
| 313 |
-
"end": 134
|
| 314 |
-
},
|
| 315 |
-
"ring_r_pos": {
|
| 316 |
-
"original_key": "action",
|
| 317 |
-
"start": 134,
|
| 318 |
-
"end": 137
|
| 319 |
-
},
|
| 320 |
-
"ring_r_rot6d": {
|
| 321 |
-
"original_key": "action",
|
| 322 |
-
"start": 137,
|
| 323 |
-
"end": 143
|
| 324 |
-
},
|
| 325 |
-
"pinky_r_pos": {
|
| 326 |
-
"original_key": "action",
|
| 327 |
-
"start": 143,
|
| 328 |
-
"end": 146
|
| 329 |
-
},
|
| 330 |
-
"pinky_r_rot6d": {
|
| 331 |
-
"original_key": "action",
|
| 332 |
-
"start": 146,
|
| 333 |
-
"end": 152
|
| 334 |
-
},
|
| 335 |
-
"camera_egoview_pos": {
|
| 336 |
-
"original_key": "action",
|
| 337 |
-
"start": 152,
|
| 338 |
-
"end": 155
|
| 339 |
-
},
|
| 340 |
-
"camera_egoview_rot6d": {
|
| 341 |
-
"original_key": "action",
|
| 342 |
-
"start": 155,
|
| 343 |
-
"end": 161
|
| 344 |
-
}
|
| 345 |
-
},
|
| 346 |
-
"video": {
|
| 347 |
-
"ego_view": {
|
| 348 |
-
"original_key": "observation.images.ego_view"
|
| 349 |
-
}
|
| 350 |
-
},
|
| 351 |
-
"annotation": {
|
| 352 |
-
"human.fine_action": {
|
| 353 |
-
"original_key": "annotation.human.fine_action"
|
| 354 |
-
},
|
| 355 |
-
"human.coarse_action": {
|
| 356 |
-
"original_key": "annotation.human.coarse_action"
|
| 357 |
-
}
|
| 358 |
-
}
|
| 359 |
-
}
|
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|
metadata/gr1_unified.PnPCupToDrawerClose/meta/tasks.jsonl
DELETED
|
@@ -1,2 +0,0 @@
|
|
| 1 |
-
{"task_index": 0, "task": ""}
|
| 2 |
-
{"task_index": 1, "task": "unlocked_waist: pick up the cup, place it into the drawer and close the drawer"}
|
|
|
|
|
|
|
|
|
metadata/gr1_unified.PnPMilkToMicrowaveClose/meta/episodes.jsonl
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
metadata/gr1_unified.PnPMilkToMicrowaveClose/meta/modality.json
DELETED
|
@@ -1,359 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"state": {
|
| 3 |
-
"left_arm": {
|
| 4 |
-
"original_key": "observation.state",
|
| 5 |
-
"start": 0,
|
| 6 |
-
"end": 7
|
| 7 |
-
},
|
| 8 |
-
"left_hand": {
|
| 9 |
-
"original_key": "observation.state",
|
| 10 |
-
"start": 7,
|
| 11 |
-
"end": 13
|
| 12 |
-
},
|
| 13 |
-
"left_leg": {
|
| 14 |
-
"original_key": "observation.state",
|
| 15 |
-
"start": 13,
|
| 16 |
-
"end": 19
|
| 17 |
-
},
|
| 18 |
-
"neck": {
|
| 19 |
-
"original_key": "observation.state",
|
| 20 |
-
"start": 19,
|
| 21 |
-
"end": 22
|
| 22 |
-
},
|
| 23 |
-
"right_arm": {
|
| 24 |
-
"original_key": "observation.state",
|
| 25 |
-
"start": 22,
|
| 26 |
-
"end": 29
|
| 27 |
-
},
|
| 28 |
-
"right_hand": {
|
| 29 |
-
"original_key": "observation.state",
|
| 30 |
-
"start": 29,
|
| 31 |
-
"end": 35
|
| 32 |
-
},
|
| 33 |
-
"right_leg": {
|
| 34 |
-
"original_key": "observation.state",
|
| 35 |
-
"start": 35,
|
| 36 |
-
"end": 41
|
| 37 |
-
},
|
| 38 |
-
"waist": {
|
| 39 |
-
"original_key": "observation.state",
|
| 40 |
-
"start": 41,
|
| 41 |
-
"end": 44
|
| 42 |
-
},
|
| 43 |
-
"wrist_l_pos": {
|
| 44 |
-
"original_key": "observation.state",
|
| 45 |
-
"start": 44,
|
| 46 |
-
"end": 47
|
| 47 |
-
},
|
| 48 |
-
"wrist_l_rot6d": {
|
| 49 |
-
"original_key": "observation.state",
|
| 50 |
-
"start": 47,
|
| 51 |
-
"end": 53
|
| 52 |
-
},
|
| 53 |
-
"thumb_l_pos": {
|
| 54 |
-
"original_key": "observation.state",
|
| 55 |
-
"start": 53,
|
| 56 |
-
"end": 56
|
| 57 |
-
},
|
| 58 |
-
"thumb_l_rot6d": {
|
| 59 |
-
"original_key": "observation.state",
|
| 60 |
-
"start": 56,
|
| 61 |
-
"end": 62
|
| 62 |
-
},
|
| 63 |
-
"index_l_pos": {
|
| 64 |
-
"original_key": "observation.state",
|
| 65 |
-
"start": 62,
|
| 66 |
-
"end": 65
|
| 67 |
-
},
|
| 68 |
-
"index_l_rot6d": {
|
| 69 |
-
"original_key": "observation.state",
|
| 70 |
-
"start": 65,
|
| 71 |
-
"end": 71
|
| 72 |
-
},
|
| 73 |
-
"middle_l_pos": {
|
| 74 |
-
"original_key": "observation.state",
|
| 75 |
-
"start": 71,
|
| 76 |
-
"end": 74
|
| 77 |
-
},
|
| 78 |
-
"middle_l_rot6d": {
|
| 79 |
-
"original_key": "observation.state",
|
| 80 |
-
"start": 74,
|
| 81 |
-
"end": 80
|
| 82 |
-
},
|
| 83 |
-
"ring_l_pos": {
|
| 84 |
-
"original_key": "observation.state",
|
| 85 |
-
"start": 80,
|
| 86 |
-
"end": 83
|
| 87 |
-
},
|
| 88 |
-
"ring_l_rot6d": {
|
| 89 |
-
"original_key": "observation.state",
|
| 90 |
-
"start": 83,
|
| 91 |
-
"end": 89
|
| 92 |
-
},
|
| 93 |
-
"pinky_l_pos": {
|
| 94 |
-
"original_key": "observation.state",
|
| 95 |
-
"start": 89,
|
| 96 |
-
"end": 92
|
| 97 |
-
},
|
| 98 |
-
"pinky_l_rot6d": {
|
| 99 |
-
"original_key": "observation.state",
|
| 100 |
-
"start": 92,
|
| 101 |
-
"end": 98
|
| 102 |
-
},
|
| 103 |
-
"wrist_r_pos": {
|
| 104 |
-
"original_key": "observation.state",
|
| 105 |
-
"start": 98,
|
| 106 |
-
"end": 101
|
| 107 |
-
},
|
| 108 |
-
"wrist_r_rot6d": {
|
| 109 |
-
"original_key": "observation.state",
|
| 110 |
-
"start": 101,
|
| 111 |
-
"end": 107
|
| 112 |
-
},
|
| 113 |
-
"thumb_r_pos": {
|
| 114 |
-
"original_key": "observation.state",
|
| 115 |
-
"start": 107,
|
| 116 |
-
"end": 110
|
| 117 |
-
},
|
| 118 |
-
"thumb_r_rot6d": {
|
| 119 |
-
"original_key": "observation.state",
|
| 120 |
-
"start": 110,
|
| 121 |
-
"end": 116
|
| 122 |
-
},
|
| 123 |
-
"index_r_pos": {
|
| 124 |
-
"original_key": "observation.state",
|
| 125 |
-
"start": 116,
|
| 126 |
-
"end": 119
|
| 127 |
-
},
|
| 128 |
-
"index_r_rot6d": {
|
| 129 |
-
"original_key": "observation.state",
|
| 130 |
-
"start": 119,
|
| 131 |
-
"end": 125
|
| 132 |
-
},
|
| 133 |
-
"middle_r_pos": {
|
| 134 |
-
"original_key": "observation.state",
|
| 135 |
-
"start": 125,
|
| 136 |
-
"end": 128
|
| 137 |
-
},
|
| 138 |
-
"middle_r_rot6d": {
|
| 139 |
-
"original_key": "observation.state",
|
| 140 |
-
"start": 128,
|
| 141 |
-
"end": 134
|
| 142 |
-
},
|
| 143 |
-
"ring_r_pos": {
|
| 144 |
-
"original_key": "observation.state",
|
| 145 |
-
"start": 134,
|
| 146 |
-
"end": 137
|
| 147 |
-
},
|
| 148 |
-
"ring_r_rot6d": {
|
| 149 |
-
"original_key": "observation.state",
|
| 150 |
-
"start": 137,
|
| 151 |
-
"end": 143
|
| 152 |
-
},
|
| 153 |
-
"pinky_r_pos": {
|
| 154 |
-
"original_key": "observation.state",
|
| 155 |
-
"start": 143,
|
| 156 |
-
"end": 146
|
| 157 |
-
},
|
| 158 |
-
"pinky_r_rot6d": {
|
| 159 |
-
"original_key": "observation.state",
|
| 160 |
-
"start": 146,
|
| 161 |
-
"end": 152
|
| 162 |
-
},
|
| 163 |
-
"camera_egoview_pos": {
|
| 164 |
-
"original_key": "observation.state",
|
| 165 |
-
"start": 152,
|
| 166 |
-
"end": 155
|
| 167 |
-
},
|
| 168 |
-
"camera_egoview_rot6d": {
|
| 169 |
-
"original_key": "observation.state",
|
| 170 |
-
"start": 155,
|
| 171 |
-
"end": 161
|
| 172 |
-
}
|
| 173 |
-
},
|
| 174 |
-
"action": {
|
| 175 |
-
"left_arm": {
|
| 176 |
-
"original_key": "action",
|
| 177 |
-
"start": 0,
|
| 178 |
-
"end": 7
|
| 179 |
-
},
|
| 180 |
-
"left_hand": {
|
| 181 |
-
"original_key": "action",
|
| 182 |
-
"start": 7,
|
| 183 |
-
"end": 13
|
| 184 |
-
},
|
| 185 |
-
"left_leg": {
|
| 186 |
-
"original_key": "action",
|
| 187 |
-
"start": 13,
|
| 188 |
-
"end": 19
|
| 189 |
-
},
|
| 190 |
-
"neck": {
|
| 191 |
-
"original_key": "action",
|
| 192 |
-
"start": 19,
|
| 193 |
-
"end": 22
|
| 194 |
-
},
|
| 195 |
-
"right_arm": {
|
| 196 |
-
"original_key": "action",
|
| 197 |
-
"start": 22,
|
| 198 |
-
"end": 29
|
| 199 |
-
},
|
| 200 |
-
"right_hand": {
|
| 201 |
-
"original_key": "action",
|
| 202 |
-
"start": 29,
|
| 203 |
-
"end": 35
|
| 204 |
-
},
|
| 205 |
-
"right_leg": {
|
| 206 |
-
"original_key": "action",
|
| 207 |
-
"start": 35,
|
| 208 |
-
"end": 41
|
| 209 |
-
},
|
| 210 |
-
"waist": {
|
| 211 |
-
"original_key": "action",
|
| 212 |
-
"start": 41,
|
| 213 |
-
"end": 44
|
| 214 |
-
},
|
| 215 |
-
"wrist_l_pos": {
|
| 216 |
-
"original_key": "action",
|
| 217 |
-
"start": 44,
|
| 218 |
-
"end": 47
|
| 219 |
-
},
|
| 220 |
-
"wrist_l_rot6d": {
|
| 221 |
-
"original_key": "action",
|
| 222 |
-
"start": 47,
|
| 223 |
-
"end": 53
|
| 224 |
-
},
|
| 225 |
-
"thumb_l_pos": {
|
| 226 |
-
"original_key": "action",
|
| 227 |
-
"start": 53,
|
| 228 |
-
"end": 56
|
| 229 |
-
},
|
| 230 |
-
"thumb_l_rot6d": {
|
| 231 |
-
"original_key": "action",
|
| 232 |
-
"start": 56,
|
| 233 |
-
"end": 62
|
| 234 |
-
},
|
| 235 |
-
"index_l_pos": {
|
| 236 |
-
"original_key": "action",
|
| 237 |
-
"start": 62,
|
| 238 |
-
"end": 65
|
| 239 |
-
},
|
| 240 |
-
"index_l_rot6d": {
|
| 241 |
-
"original_key": "action",
|
| 242 |
-
"start": 65,
|
| 243 |
-
"end": 71
|
| 244 |
-
},
|
| 245 |
-
"middle_l_pos": {
|
| 246 |
-
"original_key": "action",
|
| 247 |
-
"start": 71,
|
| 248 |
-
"end": 74
|
| 249 |
-
},
|
| 250 |
-
"middle_l_rot6d": {
|
| 251 |
-
"original_key": "action",
|
| 252 |
-
"start": 74,
|
| 253 |
-
"end": 80
|
| 254 |
-
},
|
| 255 |
-
"ring_l_pos": {
|
| 256 |
-
"original_key": "action",
|
| 257 |
-
"start": 80,
|
| 258 |
-
"end": 83
|
| 259 |
-
},
|
| 260 |
-
"ring_l_rot6d": {
|
| 261 |
-
"original_key": "action",
|
| 262 |
-
"start": 83,
|
| 263 |
-
"end": 89
|
| 264 |
-
},
|
| 265 |
-
"pinky_l_pos": {
|
| 266 |
-
"original_key": "action",
|
| 267 |
-
"start": 89,
|
| 268 |
-
"end": 92
|
| 269 |
-
},
|
| 270 |
-
"pinky_l_rot6d": {
|
| 271 |
-
"original_key": "action",
|
| 272 |
-
"start": 92,
|
| 273 |
-
"end": 98
|
| 274 |
-
},
|
| 275 |
-
"wrist_r_pos": {
|
| 276 |
-
"original_key": "action",
|
| 277 |
-
"start": 98,
|
| 278 |
-
"end": 101
|
| 279 |
-
},
|
| 280 |
-
"wrist_r_rot6d": {
|
| 281 |
-
"original_key": "action",
|
| 282 |
-
"start": 101,
|
| 283 |
-
"end": 107
|
| 284 |
-
},
|
| 285 |
-
"thumb_r_pos": {
|
| 286 |
-
"original_key": "action",
|
| 287 |
-
"start": 107,
|
| 288 |
-
"end": 110
|
| 289 |
-
},
|
| 290 |
-
"thumb_r_rot6d": {
|
| 291 |
-
"original_key": "action",
|
| 292 |
-
"start": 110,
|
| 293 |
-
"end": 116
|
| 294 |
-
},
|
| 295 |
-
"index_r_pos": {
|
| 296 |
-
"original_key": "action",
|
| 297 |
-
"start": 116,
|
| 298 |
-
"end": 119
|
| 299 |
-
},
|
| 300 |
-
"index_r_rot6d": {
|
| 301 |
-
"original_key": "action",
|
| 302 |
-
"start": 119,
|
| 303 |
-
"end": 125
|
| 304 |
-
},
|
| 305 |
-
"middle_r_pos": {
|
| 306 |
-
"original_key": "action",
|
| 307 |
-
"start": 125,
|
| 308 |
-
"end": 128
|
| 309 |
-
},
|
| 310 |
-
"middle_r_rot6d": {
|
| 311 |
-
"original_key": "action",
|
| 312 |
-
"start": 128,
|
| 313 |
-
"end": 134
|
| 314 |
-
},
|
| 315 |
-
"ring_r_pos": {
|
| 316 |
-
"original_key": "action",
|
| 317 |
-
"start": 134,
|
| 318 |
-
"end": 137
|
| 319 |
-
},
|
| 320 |
-
"ring_r_rot6d": {
|
| 321 |
-
"original_key": "action",
|
| 322 |
-
"start": 137,
|
| 323 |
-
"end": 143
|
| 324 |
-
},
|
| 325 |
-
"pinky_r_pos": {
|
| 326 |
-
"original_key": "action",
|
| 327 |
-
"start": 143,
|
| 328 |
-
"end": 146
|
| 329 |
-
},
|
| 330 |
-
"pinky_r_rot6d": {
|
| 331 |
-
"original_key": "action",
|
| 332 |
-
"start": 146,
|
| 333 |
-
"end": 152
|
| 334 |
-
},
|
| 335 |
-
"camera_egoview_pos": {
|
| 336 |
-
"original_key": "action",
|
| 337 |
-
"start": 152,
|
| 338 |
-
"end": 155
|
| 339 |
-
},
|
| 340 |
-
"camera_egoview_rot6d": {
|
| 341 |
-
"original_key": "action",
|
| 342 |
-
"start": 155,
|
| 343 |
-
"end": 161
|
| 344 |
-
}
|
| 345 |
-
},
|
| 346 |
-
"video": {
|
| 347 |
-
"ego_view": {
|
| 348 |
-
"original_key": "observation.images.ego_view"
|
| 349 |
-
}
|
| 350 |
-
},
|
| 351 |
-
"annotation": {
|
| 352 |
-
"human.fine_action": {
|
| 353 |
-
"original_key": "annotation.human.fine_action"
|
| 354 |
-
},
|
| 355 |
-
"human.coarse_action": {
|
| 356 |
-
"original_key": "annotation.human.coarse_action"
|
| 357 |
-
}
|
| 358 |
-
}
|
| 359 |
-
}
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|
metadata/gr1_unified.PnPMilkToMicrowaveClose/meta/tasks.jsonl
DELETED
|
@@ -1,2 +0,0 @@
|
|
| 1 |
-
{"task_index": 0, "task": ""}
|
| 2 |
-
{"task_index": 1, "task": "unlocked_waist: pick up the milk, place it into the microwave and close the microwave"}
|
|
|
|
|
|
|
|
|
metadata/gr1_unified.PnPPotatoToMicrowaveClose/meta/episodes.jsonl
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
metadata/gr1_unified.PnPPotatoToMicrowaveClose/meta/modality.json
DELETED
|
@@ -1,359 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"state": {
|
| 3 |
-
"left_arm": {
|
| 4 |
-
"original_key": "observation.state",
|
| 5 |
-
"start": 0,
|
| 6 |
-
"end": 7
|
| 7 |
-
},
|
| 8 |
-
"left_hand": {
|
| 9 |
-
"original_key": "observation.state",
|
| 10 |
-
"start": 7,
|
| 11 |
-
"end": 13
|
| 12 |
-
},
|
| 13 |
-
"left_leg": {
|
| 14 |
-
"original_key": "observation.state",
|
| 15 |
-
"start": 13,
|
| 16 |
-
"end": 19
|
| 17 |
-
},
|
| 18 |
-
"neck": {
|
| 19 |
-
"original_key": "observation.state",
|
| 20 |
-
"start": 19,
|
| 21 |
-
"end": 22
|
| 22 |
-
},
|
| 23 |
-
"right_arm": {
|
| 24 |
-
"original_key": "observation.state",
|
| 25 |
-
"start": 22,
|
| 26 |
-
"end": 29
|
| 27 |
-
},
|
| 28 |
-
"right_hand": {
|
| 29 |
-
"original_key": "observation.state",
|
| 30 |
-
"start": 29,
|
| 31 |
-
"end": 35
|
| 32 |
-
},
|
| 33 |
-
"right_leg": {
|
| 34 |
-
"original_key": "observation.state",
|
| 35 |
-
"start": 35,
|
| 36 |
-
"end": 41
|
| 37 |
-
},
|
| 38 |
-
"waist": {
|
| 39 |
-
"original_key": "observation.state",
|
| 40 |
-
"start": 41,
|
| 41 |
-
"end": 44
|
| 42 |
-
},
|
| 43 |
-
"wrist_l_pos": {
|
| 44 |
-
"original_key": "observation.state",
|
| 45 |
-
"start": 44,
|
| 46 |
-
"end": 47
|
| 47 |
-
},
|
| 48 |
-
"wrist_l_rot6d": {
|
| 49 |
-
"original_key": "observation.state",
|
| 50 |
-
"start": 47,
|
| 51 |
-
"end": 53
|
| 52 |
-
},
|
| 53 |
-
"thumb_l_pos": {
|
| 54 |
-
"original_key": "observation.state",
|
| 55 |
-
"start": 53,
|
| 56 |
-
"end": 56
|
| 57 |
-
},
|
| 58 |
-
"thumb_l_rot6d": {
|
| 59 |
-
"original_key": "observation.state",
|
| 60 |
-
"start": 56,
|
| 61 |
-
"end": 62
|
| 62 |
-
},
|
| 63 |
-
"index_l_pos": {
|
| 64 |
-
"original_key": "observation.state",
|
| 65 |
-
"start": 62,
|
| 66 |
-
"end": 65
|
| 67 |
-
},
|
| 68 |
-
"index_l_rot6d": {
|
| 69 |
-
"original_key": "observation.state",
|
| 70 |
-
"start": 65,
|
| 71 |
-
"end": 71
|
| 72 |
-
},
|
| 73 |
-
"middle_l_pos": {
|
| 74 |
-
"original_key": "observation.state",
|
| 75 |
-
"start": 71,
|
| 76 |
-
"end": 74
|
| 77 |
-
},
|
| 78 |
-
"middle_l_rot6d": {
|
| 79 |
-
"original_key": "observation.state",
|
| 80 |
-
"start": 74,
|
| 81 |
-
"end": 80
|
| 82 |
-
},
|
| 83 |
-
"ring_l_pos": {
|
| 84 |
-
"original_key": "observation.state",
|
| 85 |
-
"start": 80,
|
| 86 |
-
"end": 83
|
| 87 |
-
},
|
| 88 |
-
"ring_l_rot6d": {
|
| 89 |
-
"original_key": "observation.state",
|
| 90 |
-
"start": 83,
|
| 91 |
-
"end": 89
|
| 92 |
-
},
|
| 93 |
-
"pinky_l_pos": {
|
| 94 |
-
"original_key": "observation.state",
|
| 95 |
-
"start": 89,
|
| 96 |
-
"end": 92
|
| 97 |
-
},
|
| 98 |
-
"pinky_l_rot6d": {
|
| 99 |
-
"original_key": "observation.state",
|
| 100 |
-
"start": 92,
|
| 101 |
-
"end": 98
|
| 102 |
-
},
|
| 103 |
-
"wrist_r_pos": {
|
| 104 |
-
"original_key": "observation.state",
|
| 105 |
-
"start": 98,
|
| 106 |
-
"end": 101
|
| 107 |
-
},
|
| 108 |
-
"wrist_r_rot6d": {
|
| 109 |
-
"original_key": "observation.state",
|
| 110 |
-
"start": 101,
|
| 111 |
-
"end": 107
|
| 112 |
-
},
|
| 113 |
-
"thumb_r_pos": {
|
| 114 |
-
"original_key": "observation.state",
|
| 115 |
-
"start": 107,
|
| 116 |
-
"end": 110
|
| 117 |
-
},
|
| 118 |
-
"thumb_r_rot6d": {
|
| 119 |
-
"original_key": "observation.state",
|
| 120 |
-
"start": 110,
|
| 121 |
-
"end": 116
|
| 122 |
-
},
|
| 123 |
-
"index_r_pos": {
|
| 124 |
-
"original_key": "observation.state",
|
| 125 |
-
"start": 116,
|
| 126 |
-
"end": 119
|
| 127 |
-
},
|
| 128 |
-
"index_r_rot6d": {
|
| 129 |
-
"original_key": "observation.state",
|
| 130 |
-
"start": 119,
|
| 131 |
-
"end": 125
|
| 132 |
-
},
|
| 133 |
-
"middle_r_pos": {
|
| 134 |
-
"original_key": "observation.state",
|
| 135 |
-
"start": 125,
|
| 136 |
-
"end": 128
|
| 137 |
-
},
|
| 138 |
-
"middle_r_rot6d": {
|
| 139 |
-
"original_key": "observation.state",
|
| 140 |
-
"start": 128,
|
| 141 |
-
"end": 134
|
| 142 |
-
},
|
| 143 |
-
"ring_r_pos": {
|
| 144 |
-
"original_key": "observation.state",
|
| 145 |
-
"start": 134,
|
| 146 |
-
"end": 137
|
| 147 |
-
},
|
| 148 |
-
"ring_r_rot6d": {
|
| 149 |
-
"original_key": "observation.state",
|
| 150 |
-
"start": 137,
|
| 151 |
-
"end": 143
|
| 152 |
-
},
|
| 153 |
-
"pinky_r_pos": {
|
| 154 |
-
"original_key": "observation.state",
|
| 155 |
-
"start": 143,
|
| 156 |
-
"end": 146
|
| 157 |
-
},
|
| 158 |
-
"pinky_r_rot6d": {
|
| 159 |
-
"original_key": "observation.state",
|
| 160 |
-
"start": 146,
|
| 161 |
-
"end": 152
|
| 162 |
-
},
|
| 163 |
-
"camera_egoview_pos": {
|
| 164 |
-
"original_key": "observation.state",
|
| 165 |
-
"start": 152,
|
| 166 |
-
"end": 155
|
| 167 |
-
},
|
| 168 |
-
"camera_egoview_rot6d": {
|
| 169 |
-
"original_key": "observation.state",
|
| 170 |
-
"start": 155,
|
| 171 |
-
"end": 161
|
| 172 |
-
}
|
| 173 |
-
},
|
| 174 |
-
"action": {
|
| 175 |
-
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| 176 |
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|
| 184 |
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|
| 185 |
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| 186 |
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|
| 189 |
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| 190 |
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| 191 |
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|
| 194 |
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| 196 |
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|
| 199 |
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| 204 |
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| 206 |
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| 207 |
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|
| 209 |
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| 210 |
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| 211 |
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|
| 214 |
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| 215 |
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| 216 |
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| 217 |
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| 219 |
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| 221 |
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| 224 |
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| 229 |
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| 234 |
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| 236 |
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| 239 |
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| 244 |
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| 246 |
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| 249 |
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| 254 |
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| 255 |
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| 256 |
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| 259 |
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|
| 264 |
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| 266 |
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| 267 |
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| 268 |
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|
| 269 |
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|
| 270 |
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| 271 |
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| 272 |
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| 273 |
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|
| 274 |
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|
| 275 |
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|
| 276 |
-
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| 277 |
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|
| 278 |
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|
| 279 |
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|
| 280 |
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|
| 281 |
-
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| 282 |
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|
| 283 |
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|
| 284 |
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|
| 285 |
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|
| 286 |
-
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| 287 |
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|
| 288 |
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|
| 289 |
-
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|
| 290 |
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|
| 291 |
-
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|
| 292 |
-
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|
| 293 |
-
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|
| 294 |
-
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|
| 295 |
-
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|
| 296 |
-
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|
| 297 |
-
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|
| 298 |
-
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|
| 299 |
-
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|
| 300 |
-
"index_r_rot6d": {
|
| 301 |
-
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|
| 302 |
-
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|
| 303 |
-
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|
| 304 |
-
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|
| 305 |
-
"middle_r_pos": {
|
| 306 |
-
"original_key": "action",
|
| 307 |
-
"start": 125,
|
| 308 |
-
"end": 128
|
| 309 |
-
},
|
| 310 |
-
"middle_r_rot6d": {
|
| 311 |
-
"original_key": "action",
|
| 312 |
-
"start": 128,
|
| 313 |
-
"end": 134
|
| 314 |
-
},
|
| 315 |
-
"ring_r_pos": {
|
| 316 |
-
"original_key": "action",
|
| 317 |
-
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|
| 318 |
-
"end": 137
|
| 319 |
-
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|
| 320 |
-
"ring_r_rot6d": {
|
| 321 |
-
"original_key": "action",
|
| 322 |
-
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|
| 323 |
-
"end": 143
|
| 324 |
-
},
|
| 325 |
-
"pinky_r_pos": {
|
| 326 |
-
"original_key": "action",
|
| 327 |
-
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|
| 328 |
-
"end": 146
|
| 329 |
-
},
|
| 330 |
-
"pinky_r_rot6d": {
|
| 331 |
-
"original_key": "action",
|
| 332 |
-
"start": 146,
|
| 333 |
-
"end": 152
|
| 334 |
-
},
|
| 335 |
-
"camera_egoview_pos": {
|
| 336 |
-
"original_key": "action",
|
| 337 |
-
"start": 152,
|
| 338 |
-
"end": 155
|
| 339 |
-
},
|
| 340 |
-
"camera_egoview_rot6d": {
|
| 341 |
-
"original_key": "action",
|
| 342 |
-
"start": 155,
|
| 343 |
-
"end": 161
|
| 344 |
-
}
|
| 345 |
-
},
|
| 346 |
-
"video": {
|
| 347 |
-
"ego_view": {
|
| 348 |
-
"original_key": "observation.images.ego_view"
|
| 349 |
-
}
|
| 350 |
-
},
|
| 351 |
-
"annotation": {
|
| 352 |
-
"human.fine_action": {
|
| 353 |
-
"original_key": "annotation.human.fine_action"
|
| 354 |
-
},
|
| 355 |
-
"human.coarse_action": {
|
| 356 |
-
"original_key": "annotation.human.coarse_action"
|
| 357 |
-
}
|
| 358 |
-
}
|
| 359 |
-
}
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|
metadata/gr1_unified.PnPPotatoToMicrowaveClose/meta/tasks.jsonl
DELETED
|
@@ -1,2 +0,0 @@
|
|
| 1 |
-
{"task_index": 0, "task": ""}
|
| 2 |
-
{"task_index": 1, "task": "unlocked_waist: pick up the potato, place it into the microwave and close the microwave"}
|
|
|
|
|
|
|
|
|
metadata/gr1_unified.PnPWineToCabinetClose/meta/episodes.jsonl
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
metadata/gr1_unified.PnPWineToCabinetClose/meta/modality.json
DELETED
|
@@ -1,359 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"state": {
|
| 3 |
-
"left_arm": {
|
| 4 |
-
"original_key": "observation.state",
|
| 5 |
-
"start": 0,
|
| 6 |
-
"end": 7
|
| 7 |
-
},
|
| 8 |
-
"left_hand": {
|
| 9 |
-
"original_key": "observation.state",
|
| 10 |
-
"start": 7,
|
| 11 |
-
"end": 13
|
| 12 |
-
},
|
| 13 |
-
"left_leg": {
|
| 14 |
-
"original_key": "observation.state",
|
| 15 |
-
"start": 13,
|
| 16 |
-
"end": 19
|
| 17 |
-
},
|
| 18 |
-
"neck": {
|
| 19 |
-
"original_key": "observation.state",
|
| 20 |
-
"start": 19,
|
| 21 |
-
"end": 22
|
| 22 |
-
},
|
| 23 |
-
"right_arm": {
|
| 24 |
-
"original_key": "observation.state",
|
| 25 |
-
"start": 22,
|
| 26 |
-
"end": 29
|
| 27 |
-
},
|
| 28 |
-
"right_hand": {
|
| 29 |
-
"original_key": "observation.state",
|
| 30 |
-
"start": 29,
|
| 31 |
-
"end": 35
|
| 32 |
-
},
|
| 33 |
-
"right_leg": {
|
| 34 |
-
"original_key": "observation.state",
|
| 35 |
-
"start": 35,
|
| 36 |
-
"end": 41
|
| 37 |
-
},
|
| 38 |
-
"waist": {
|
| 39 |
-
"original_key": "observation.state",
|
| 40 |
-
"start": 41,
|
| 41 |
-
"end": 44
|
| 42 |
-
},
|
| 43 |
-
"wrist_l_pos": {
|
| 44 |
-
"original_key": "observation.state",
|
| 45 |
-
"start": 44,
|
| 46 |
-
"end": 47
|
| 47 |
-
},
|
| 48 |
-
"wrist_l_rot6d": {
|
| 49 |
-
"original_key": "observation.state",
|
| 50 |
-
"start": 47,
|
| 51 |
-
"end": 53
|
| 52 |
-
},
|
| 53 |
-
"thumb_l_pos": {
|
| 54 |
-
"original_key": "observation.state",
|
| 55 |
-
"start": 53,
|
| 56 |
-
"end": 56
|
| 57 |
-
},
|
| 58 |
-
"thumb_l_rot6d": {
|
| 59 |
-
"original_key": "observation.state",
|
| 60 |
-
"start": 56,
|
| 61 |
-
"end": 62
|
| 62 |
-
},
|
| 63 |
-
"index_l_pos": {
|
| 64 |
-
"original_key": "observation.state",
|
| 65 |
-
"start": 62,
|
| 66 |
-
"end": 65
|
| 67 |
-
},
|
| 68 |
-
"index_l_rot6d": {
|
| 69 |
-
"original_key": "observation.state",
|
| 70 |
-
"start": 65,
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| 71 |
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| 72 |
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| 74 |
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| 75 |
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| 76 |
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| 77 |
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| 78 |
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| 79 |
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| 80 |
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| 81 |
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|
| 82 |
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| 83 |
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| 84 |
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| 85 |
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| 86 |
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|
| 87 |
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| 88 |
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|
| 89 |
-
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| 90 |
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|
| 91 |
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|
| 92 |
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| 93 |
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|
| 94 |
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| 95 |
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|
| 96 |
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|
| 97 |
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| 98 |
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|
| 99 |
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| 100 |
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| 101 |
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|
| 102 |
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| 103 |
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| 104 |
-
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| 105 |
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|
| 106 |
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|
| 107 |
-
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| 108 |
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|
| 109 |
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| 110 |
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| 111 |
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|
| 112 |
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| 113 |
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|
| 114 |
-
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| 115 |
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|
| 116 |
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|
| 117 |
-
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|
| 118 |
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|
| 119 |
-
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| 120 |
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| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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| 125 |
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|
| 126 |
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|
| 127 |
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| 128 |
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|
| 129 |
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| 130 |
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| 131 |
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|
| 132 |
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| 133 |
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|
| 134 |
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| 135 |
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|
| 136 |
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|
| 137 |
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| 138 |
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|
| 139 |
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| 140 |
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| 141 |
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|
| 142 |
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| 143 |
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|
| 144 |
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| 145 |
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| 146 |
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|
| 147 |
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| 148 |
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|
| 149 |
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| 150 |
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| 151 |
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|
| 152 |
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| 153 |
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|
| 154 |
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| 155 |
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| 156 |
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| 157 |
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| 158 |
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|
| 159 |
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| 160 |
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| 161 |
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|
| 162 |
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| 163 |
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|
| 164 |
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| 165 |
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| 166 |
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|
| 167 |
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| 168 |
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| 169 |
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| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
-
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
-
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|
| 197 |
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|
| 198 |
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|
| 199 |
-
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|
| 200 |
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|
| 201 |
-
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|
| 202 |
-
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
-
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| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
-
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|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
-
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|
| 217 |
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|
| 218 |
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|
| 219 |
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| 220 |
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| 221 |
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| 222 |
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|
| 223 |
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|
| 224 |
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| 225 |
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|
| 226 |
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| 227 |
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| 228 |
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|
| 229 |
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| 230 |
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|
| 231 |
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| 232 |
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| 233 |
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|
| 234 |
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| 235 |
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|
| 236 |
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| 237 |
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|
| 238 |
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|
| 239 |
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|
| 240 |
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|
| 241 |
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| 242 |
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| 243 |
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|
| 244 |
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| 245 |
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|
| 246 |
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| 247 |
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|
| 248 |
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|
| 249 |
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| 250 |
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| 251 |
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| 252 |
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| 253 |
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|
| 254 |
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| 255 |
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|
| 256 |
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| 257 |
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|
| 258 |
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|
| 259 |
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| 260 |
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|
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| 262 |
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| 263 |
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|
| 264 |
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| 265 |
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| 266 |
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| 267 |
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|
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|
| 269 |
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| 270 |
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| 272 |
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| 273 |
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|
| 274 |
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| 275 |
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|
| 276 |
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| 277 |
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|
| 279 |
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| 280 |
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|
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| 282 |
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| 283 |
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|
| 284 |
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| 285 |
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| 286 |
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| 287 |
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| 288 |
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|
| 289 |
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|
| 290 |
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|
| 291 |
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|
| 292 |
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|
| 293 |
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|
| 294 |
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|
| 295 |
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|
| 296 |
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|
| 297 |
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|
| 298 |
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|
| 299 |
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|
| 300 |
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|
| 301 |
-
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|
| 302 |
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|
| 303 |
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|
| 304 |
-
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|
| 305 |
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|
| 306 |
-
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|
| 307 |
-
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|
| 308 |
-
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|
| 309 |
-
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|
| 310 |
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|
| 311 |
-
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|
| 312 |
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|
| 313 |
-
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|
| 314 |
-
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|
| 315 |
-
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|
| 316 |
-
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|
| 317 |
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|
| 318 |
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|
| 319 |
-
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|
| 320 |
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|
| 321 |
-
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|
| 322 |
-
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|
| 323 |
-
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|
| 324 |
-
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|
| 325 |
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|
| 326 |
-
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|
| 327 |
-
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|
| 328 |
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|
| 329 |
-
},
|
| 330 |
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|
| 331 |
-
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|
| 332 |
-
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|
| 333 |
-
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|
| 334 |
-
},
|
| 335 |
-
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|
| 336 |
-
"original_key": "action",
|
| 337 |
-
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|
| 338 |
-
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|
| 339 |
-
},
|
| 340 |
-
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|
| 341 |
-
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|
| 342 |
-
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|
| 343 |
-
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|
| 344 |
-
}
|
| 345 |
-
},
|
| 346 |
-
"video": {
|
| 347 |
-
"ego_view": {
|
| 348 |
-
"original_key": "observation.images.ego_view"
|
| 349 |
-
}
|
| 350 |
-
},
|
| 351 |
-
"annotation": {
|
| 352 |
-
"human.fine_action": {
|
| 353 |
-
"original_key": "annotation.human.fine_action"
|
| 354 |
-
},
|
| 355 |
-
"human.coarse_action": {
|
| 356 |
-
"original_key": "annotation.human.coarse_action"
|
| 357 |
-
}
|
| 358 |
-
}
|
| 359 |
-
}
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metadata/gr1_unified.PnPWineToCabinetClose/meta/tasks.jsonl
DELETED
|
@@ -1,2 +0,0 @@
|
|
| 1 |
-
{"task_index": 0, "task": ""}
|
| 2 |
-
{"task_index": 1, "task": "unlocked_waist: pick up the wine, place it into the cabinet and close the cabinet"}
|
|
|
|
|
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|
|
|
metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToBasketSplitA/meta/episodes.jsonl
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToBasketSplitA/meta/modality.json
DELETED
|
@@ -1,359 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"state": {
|
| 3 |
-
"left_arm": {
|
| 4 |
-
"original_key": "observation.state",
|
| 5 |
-
"start": 0,
|
| 6 |
-
"end": 7
|
| 7 |
-
},
|
| 8 |
-
"left_hand": {
|
| 9 |
-
"original_key": "observation.state",
|
| 10 |
-
"start": 7,
|
| 11 |
-
"end": 13
|
| 12 |
-
},
|
| 13 |
-
"left_leg": {
|
| 14 |
-
"original_key": "observation.state",
|
| 15 |
-
"start": 13,
|
| 16 |
-
"end": 19
|
| 17 |
-
},
|
| 18 |
-
"neck": {
|
| 19 |
-
"original_key": "observation.state",
|
| 20 |
-
"start": 19,
|
| 21 |
-
"end": 22
|
| 22 |
-
},
|
| 23 |
-
"right_arm": {
|
| 24 |
-
"original_key": "observation.state",
|
| 25 |
-
"start": 22,
|
| 26 |
-
"end": 29
|
| 27 |
-
},
|
| 28 |
-
"right_hand": {
|
| 29 |
-
"original_key": "observation.state",
|
| 30 |
-
"start": 29,
|
| 31 |
-
"end": 35
|
| 32 |
-
},
|
| 33 |
-
"right_leg": {
|
| 34 |
-
"original_key": "observation.state",
|
| 35 |
-
"start": 35,
|
| 36 |
-
"end": 41
|
| 37 |
-
},
|
| 38 |
-
"waist": {
|
| 39 |
-
"original_key": "observation.state",
|
| 40 |
-
"start": 41,
|
| 41 |
-
"end": 44
|
| 42 |
-
},
|
| 43 |
-
"wrist_l_pos": {
|
| 44 |
-
"original_key": "observation.state",
|
| 45 |
-
"start": 44,
|
| 46 |
-
"end": 47
|
| 47 |
-
},
|
| 48 |
-
"wrist_l_rot6d": {
|
| 49 |
-
"original_key": "observation.state",
|
| 50 |
-
"start": 47,
|
| 51 |
-
"end": 53
|
| 52 |
-
},
|
| 53 |
-
"thumb_l_pos": {
|
| 54 |
-
"original_key": "observation.state",
|
| 55 |
-
"start": 53,
|
| 56 |
-
"end": 56
|
| 57 |
-
},
|
| 58 |
-
"thumb_l_rot6d": {
|
| 59 |
-
"original_key": "observation.state",
|
| 60 |
-
"start": 56,
|
| 61 |
-
"end": 62
|
| 62 |
-
},
|
| 63 |
-
"index_l_pos": {
|
| 64 |
-
"original_key": "observation.state",
|
| 65 |
-
"start": 62,
|
| 66 |
-
"end": 65
|
| 67 |
-
},
|
| 68 |
-
"index_l_rot6d": {
|
| 69 |
-
"original_key": "observation.state",
|
| 70 |
-
"start": 65,
|
| 71 |
-
"end": 71
|
| 72 |
-
},
|
| 73 |
-
"middle_l_pos": {
|
| 74 |
-
"original_key": "observation.state",
|
| 75 |
-
"start": 71,
|
| 76 |
-
"end": 74
|
| 77 |
-
},
|
| 78 |
-
"middle_l_rot6d": {
|
| 79 |
-
"original_key": "observation.state",
|
| 80 |
-
"start": 74,
|
| 81 |
-
"end": 80
|
| 82 |
-
},
|
| 83 |
-
"ring_l_pos": {
|
| 84 |
-
"original_key": "observation.state",
|
| 85 |
-
"start": 80,
|
| 86 |
-
"end": 83
|
| 87 |
-
},
|
| 88 |
-
"ring_l_rot6d": {
|
| 89 |
-
"original_key": "observation.state",
|
| 90 |
-
"start": 83,
|
| 91 |
-
"end": 89
|
| 92 |
-
},
|
| 93 |
-
"pinky_l_pos": {
|
| 94 |
-
"original_key": "observation.state",
|
| 95 |
-
"start": 89,
|
| 96 |
-
"end": 92
|
| 97 |
-
},
|
| 98 |
-
"pinky_l_rot6d": {
|
| 99 |
-
"original_key": "observation.state",
|
| 100 |
-
"start": 92,
|
| 101 |
-
"end": 98
|
| 102 |
-
},
|
| 103 |
-
"wrist_r_pos": {
|
| 104 |
-
"original_key": "observation.state",
|
| 105 |
-
"start": 98,
|
| 106 |
-
"end": 101
|
| 107 |
-
},
|
| 108 |
-
"wrist_r_rot6d": {
|
| 109 |
-
"original_key": "observation.state",
|
| 110 |
-
"start": 101,
|
| 111 |
-
"end": 107
|
| 112 |
-
},
|
| 113 |
-
"thumb_r_pos": {
|
| 114 |
-
"original_key": "observation.state",
|
| 115 |
-
"start": 107,
|
| 116 |
-
"end": 110
|
| 117 |
-
},
|
| 118 |
-
"thumb_r_rot6d": {
|
| 119 |
-
"original_key": "observation.state",
|
| 120 |
-
"start": 110,
|
| 121 |
-
"end": 116
|
| 122 |
-
},
|
| 123 |
-
"index_r_pos": {
|
| 124 |
-
"original_key": "observation.state",
|
| 125 |
-
"start": 116,
|
| 126 |
-
"end": 119
|
| 127 |
-
},
|
| 128 |
-
"index_r_rot6d": {
|
| 129 |
-
"original_key": "observation.state",
|
| 130 |
-
"start": 119,
|
| 131 |
-
"end": 125
|
| 132 |
-
},
|
| 133 |
-
"middle_r_pos": {
|
| 134 |
-
"original_key": "observation.state",
|
| 135 |
-
"start": 125,
|
| 136 |
-
"end": 128
|
| 137 |
-
},
|
| 138 |
-
"middle_r_rot6d": {
|
| 139 |
-
"original_key": "observation.state",
|
| 140 |
-
"start": 128,
|
| 141 |
-
"end": 134
|
| 142 |
-
},
|
| 143 |
-
"ring_r_pos": {
|
| 144 |
-
"original_key": "observation.state",
|
| 145 |
-
"start": 134,
|
| 146 |
-
"end": 137
|
| 147 |
-
},
|
| 148 |
-
"ring_r_rot6d": {
|
| 149 |
-
"original_key": "observation.state",
|
| 150 |
-
"start": 137,
|
| 151 |
-
"end": 143
|
| 152 |
-
},
|
| 153 |
-
"pinky_r_pos": {
|
| 154 |
-
"original_key": "observation.state",
|
| 155 |
-
"start": 143,
|
| 156 |
-
"end": 146
|
| 157 |
-
},
|
| 158 |
-
"pinky_r_rot6d": {
|
| 159 |
-
"original_key": "observation.state",
|
| 160 |
-
"start": 146,
|
| 161 |
-
"end": 152
|
| 162 |
-
},
|
| 163 |
-
"camera_egoview_pos": {
|
| 164 |
-
"original_key": "observation.state",
|
| 165 |
-
"start": 152,
|
| 166 |
-
"end": 155
|
| 167 |
-
},
|
| 168 |
-
"camera_egoview_rot6d": {
|
| 169 |
-
"original_key": "observation.state",
|
| 170 |
-
"start": 155,
|
| 171 |
-
"end": 161
|
| 172 |
-
}
|
| 173 |
-
},
|
| 174 |
-
"action": {
|
| 175 |
-
"left_arm": {
|
| 176 |
-
"original_key": "action",
|
| 177 |
-
"start": 0,
|
| 178 |
-
"end": 7
|
| 179 |
-
},
|
| 180 |
-
"left_hand": {
|
| 181 |
-
"original_key": "action",
|
| 182 |
-
"start": 7,
|
| 183 |
-
"end": 13
|
| 184 |
-
},
|
| 185 |
-
"left_leg": {
|
| 186 |
-
"original_key": "action",
|
| 187 |
-
"start": 13,
|
| 188 |
-
"end": 19
|
| 189 |
-
},
|
| 190 |
-
"neck": {
|
| 191 |
-
"original_key": "action",
|
| 192 |
-
"start": 19,
|
| 193 |
-
"end": 22
|
| 194 |
-
},
|
| 195 |
-
"right_arm": {
|
| 196 |
-
"original_key": "action",
|
| 197 |
-
"start": 22,
|
| 198 |
-
"end": 29
|
| 199 |
-
},
|
| 200 |
-
"right_hand": {
|
| 201 |
-
"original_key": "action",
|
| 202 |
-
"start": 29,
|
| 203 |
-
"end": 35
|
| 204 |
-
},
|
| 205 |
-
"right_leg": {
|
| 206 |
-
"original_key": "action",
|
| 207 |
-
"start": 35,
|
| 208 |
-
"end": 41
|
| 209 |
-
},
|
| 210 |
-
"waist": {
|
| 211 |
-
"original_key": "action",
|
| 212 |
-
"start": 41,
|
| 213 |
-
"end": 44
|
| 214 |
-
},
|
| 215 |
-
"wrist_l_pos": {
|
| 216 |
-
"original_key": "action",
|
| 217 |
-
"start": 44,
|
| 218 |
-
"end": 47
|
| 219 |
-
},
|
| 220 |
-
"wrist_l_rot6d": {
|
| 221 |
-
"original_key": "action",
|
| 222 |
-
"start": 47,
|
| 223 |
-
"end": 53
|
| 224 |
-
},
|
| 225 |
-
"thumb_l_pos": {
|
| 226 |
-
"original_key": "action",
|
| 227 |
-
"start": 53,
|
| 228 |
-
"end": 56
|
| 229 |
-
},
|
| 230 |
-
"thumb_l_rot6d": {
|
| 231 |
-
"original_key": "action",
|
| 232 |
-
"start": 56,
|
| 233 |
-
"end": 62
|
| 234 |
-
},
|
| 235 |
-
"index_l_pos": {
|
| 236 |
-
"original_key": "action",
|
| 237 |
-
"start": 62,
|
| 238 |
-
"end": 65
|
| 239 |
-
},
|
| 240 |
-
"index_l_rot6d": {
|
| 241 |
-
"original_key": "action",
|
| 242 |
-
"start": 65,
|
| 243 |
-
"end": 71
|
| 244 |
-
},
|
| 245 |
-
"middle_l_pos": {
|
| 246 |
-
"original_key": "action",
|
| 247 |
-
"start": 71,
|
| 248 |
-
"end": 74
|
| 249 |
-
},
|
| 250 |
-
"middle_l_rot6d": {
|
| 251 |
-
"original_key": "action",
|
| 252 |
-
"start": 74,
|
| 253 |
-
"end": 80
|
| 254 |
-
},
|
| 255 |
-
"ring_l_pos": {
|
| 256 |
-
"original_key": "action",
|
| 257 |
-
"start": 80,
|
| 258 |
-
"end": 83
|
| 259 |
-
},
|
| 260 |
-
"ring_l_rot6d": {
|
| 261 |
-
"original_key": "action",
|
| 262 |
-
"start": 83,
|
| 263 |
-
"end": 89
|
| 264 |
-
},
|
| 265 |
-
"pinky_l_pos": {
|
| 266 |
-
"original_key": "action",
|
| 267 |
-
"start": 89,
|
| 268 |
-
"end": 92
|
| 269 |
-
},
|
| 270 |
-
"pinky_l_rot6d": {
|
| 271 |
-
"original_key": "action",
|
| 272 |
-
"start": 92,
|
| 273 |
-
"end": 98
|
| 274 |
-
},
|
| 275 |
-
"wrist_r_pos": {
|
| 276 |
-
"original_key": "action",
|
| 277 |
-
"start": 98,
|
| 278 |
-
"end": 101
|
| 279 |
-
},
|
| 280 |
-
"wrist_r_rot6d": {
|
| 281 |
-
"original_key": "action",
|
| 282 |
-
"start": 101,
|
| 283 |
-
"end": 107
|
| 284 |
-
},
|
| 285 |
-
"thumb_r_pos": {
|
| 286 |
-
"original_key": "action",
|
| 287 |
-
"start": 107,
|
| 288 |
-
"end": 110
|
| 289 |
-
},
|
| 290 |
-
"thumb_r_rot6d": {
|
| 291 |
-
"original_key": "action",
|
| 292 |
-
"start": 110,
|
| 293 |
-
"end": 116
|
| 294 |
-
},
|
| 295 |
-
"index_r_pos": {
|
| 296 |
-
"original_key": "action",
|
| 297 |
-
"start": 116,
|
| 298 |
-
"end": 119
|
| 299 |
-
},
|
| 300 |
-
"index_r_rot6d": {
|
| 301 |
-
"original_key": "action",
|
| 302 |
-
"start": 119,
|
| 303 |
-
"end": 125
|
| 304 |
-
},
|
| 305 |
-
"middle_r_pos": {
|
| 306 |
-
"original_key": "action",
|
| 307 |
-
"start": 125,
|
| 308 |
-
"end": 128
|
| 309 |
-
},
|
| 310 |
-
"middle_r_rot6d": {
|
| 311 |
-
"original_key": "action",
|
| 312 |
-
"start": 128,
|
| 313 |
-
"end": 134
|
| 314 |
-
},
|
| 315 |
-
"ring_r_pos": {
|
| 316 |
-
"original_key": "action",
|
| 317 |
-
"start": 134,
|
| 318 |
-
"end": 137
|
| 319 |
-
},
|
| 320 |
-
"ring_r_rot6d": {
|
| 321 |
-
"original_key": "action",
|
| 322 |
-
"start": 137,
|
| 323 |
-
"end": 143
|
| 324 |
-
},
|
| 325 |
-
"pinky_r_pos": {
|
| 326 |
-
"original_key": "action",
|
| 327 |
-
"start": 143,
|
| 328 |
-
"end": 146
|
| 329 |
-
},
|
| 330 |
-
"pinky_r_rot6d": {
|
| 331 |
-
"original_key": "action",
|
| 332 |
-
"start": 146,
|
| 333 |
-
"end": 152
|
| 334 |
-
},
|
| 335 |
-
"camera_egoview_pos": {
|
| 336 |
-
"original_key": "action",
|
| 337 |
-
"start": 152,
|
| 338 |
-
"end": 155
|
| 339 |
-
},
|
| 340 |
-
"camera_egoview_rot6d": {
|
| 341 |
-
"original_key": "action",
|
| 342 |
-
"start": 155,
|
| 343 |
-
"end": 161
|
| 344 |
-
}
|
| 345 |
-
},
|
| 346 |
-
"video": {
|
| 347 |
-
"ego_view": {
|
| 348 |
-
"original_key": "observation.images.ego_view"
|
| 349 |
-
}
|
| 350 |
-
},
|
| 351 |
-
"annotation": {
|
| 352 |
-
"human.fine_action": {
|
| 353 |
-
"original_key": "annotation.human.fine_action"
|
| 354 |
-
},
|
| 355 |
-
"human.coarse_action": {
|
| 356 |
-
"original_key": "annotation.human.coarse_action"
|
| 357 |
-
}
|
| 358 |
-
}
|
| 359 |
-
}
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|
metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToBasketSplitA/meta/tasks.jsonl
DELETED
|
@@ -1,11 +0,0 @@
|
|
| 1 |
-
{"task_index": 0, "task": ""}
|
| 2 |
-
{"task_index": 1, "task": "unlocked_waist: pick the can from the cutting board and place it in the basket"}
|
| 3 |
-
{"task_index": 2, "task": "unlocked_waist: pick the bell pepper from the cutting board and place it in the basket"}
|
| 4 |
-
{"task_index": 3, "task": "unlocked_waist: pick the cupcake from the cutting board and place it in the basket"}
|
| 5 |
-
{"task_index": 4, "task": "unlocked_waist: pick the tomato from the cutting board and place it in the basket"}
|
| 6 |
-
{"task_index": 5, "task": "unlocked_waist: pick the sweet potato from the cutting board and place it in the basket"}
|
| 7 |
-
{"task_index": 6, "task": "unlocked_waist: pick the squash from the cutting board and place it in the basket"}
|
| 8 |
-
{"task_index": 7, "task": "unlocked_waist: pick the pear from the cutting board and place it in the basket"}
|
| 9 |
-
{"task_index": 8, "task": "unlocked_waist: pick the eggplant from the cutting board and place it in the basket"}
|
| 10 |
-
{"task_index": 9, "task": "unlocked_waist: pick the lemon from the cutting board and place it in the basket"}
|
| 11 |
-
{"task_index": 10, "task": "unlocked_waist: pick the croissant from the cutting board and place it in the basket"}
|
|
|
|
|
|
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|
|
|
|
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|
|
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|
metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToCardboardboxSplitA/meta/episodes.jsonl
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToCardboardboxSplitA/meta/modality.json
DELETED
|
@@ -1,359 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"state": {
|
| 3 |
-
"left_arm": {
|
| 4 |
-
"original_key": "observation.state",
|
| 5 |
-
"start": 0,
|
| 6 |
-
"end": 7
|
| 7 |
-
},
|
| 8 |
-
"left_hand": {
|
| 9 |
-
"original_key": "observation.state",
|
| 10 |
-
"start": 7,
|
| 11 |
-
"end": 13
|
| 12 |
-
},
|
| 13 |
-
"left_leg": {
|
| 14 |
-
"original_key": "observation.state",
|
| 15 |
-
"start": 13,
|
| 16 |
-
"end": 19
|
| 17 |
-
},
|
| 18 |
-
"neck": {
|
| 19 |
-
"original_key": "observation.state",
|
| 20 |
-
"start": 19,
|
| 21 |
-
"end": 22
|
| 22 |
-
},
|
| 23 |
-
"right_arm": {
|
| 24 |
-
"original_key": "observation.state",
|
| 25 |
-
"start": 22,
|
| 26 |
-
"end": 29
|
| 27 |
-
},
|
| 28 |
-
"right_hand": {
|
| 29 |
-
"original_key": "observation.state",
|
| 30 |
-
"start": 29,
|
| 31 |
-
"end": 35
|
| 32 |
-
},
|
| 33 |
-
"right_leg": {
|
| 34 |
-
"original_key": "observation.state",
|
| 35 |
-
"start": 35,
|
| 36 |
-
"end": 41
|
| 37 |
-
},
|
| 38 |
-
"waist": {
|
| 39 |
-
"original_key": "observation.state",
|
| 40 |
-
"start": 41,
|
| 41 |
-
"end": 44
|
| 42 |
-
},
|
| 43 |
-
"wrist_l_pos": {
|
| 44 |
-
"original_key": "observation.state",
|
| 45 |
-
"start": 44,
|
| 46 |
-
"end": 47
|
| 47 |
-
},
|
| 48 |
-
"wrist_l_rot6d": {
|
| 49 |
-
"original_key": "observation.state",
|
| 50 |
-
"start": 47,
|
| 51 |
-
"end": 53
|
| 52 |
-
},
|
| 53 |
-
"thumb_l_pos": {
|
| 54 |
-
"original_key": "observation.state",
|
| 55 |
-
"start": 53,
|
| 56 |
-
"end": 56
|
| 57 |
-
},
|
| 58 |
-
"thumb_l_rot6d": {
|
| 59 |
-
"original_key": "observation.state",
|
| 60 |
-
"start": 56,
|
| 61 |
-
"end": 62
|
| 62 |
-
},
|
| 63 |
-
"index_l_pos": {
|
| 64 |
-
"original_key": "observation.state",
|
| 65 |
-
"start": 62,
|
| 66 |
-
"end": 65
|
| 67 |
-
},
|
| 68 |
-
"index_l_rot6d": {
|
| 69 |
-
"original_key": "observation.state",
|
| 70 |
-
"start": 65,
|
| 71 |
-
"end": 71
|
| 72 |
-
},
|
| 73 |
-
"middle_l_pos": {
|
| 74 |
-
"original_key": "observation.state",
|
| 75 |
-
"start": 71,
|
| 76 |
-
"end": 74
|
| 77 |
-
},
|
| 78 |
-
"middle_l_rot6d": {
|
| 79 |
-
"original_key": "observation.state",
|
| 80 |
-
"start": 74,
|
| 81 |
-
"end": 80
|
| 82 |
-
},
|
| 83 |
-
"ring_l_pos": {
|
| 84 |
-
"original_key": "observation.state",
|
| 85 |
-
"start": 80,
|
| 86 |
-
"end": 83
|
| 87 |
-
},
|
| 88 |
-
"ring_l_rot6d": {
|
| 89 |
-
"original_key": "observation.state",
|
| 90 |
-
"start": 83,
|
| 91 |
-
"end": 89
|
| 92 |
-
},
|
| 93 |
-
"pinky_l_pos": {
|
| 94 |
-
"original_key": "observation.state",
|
| 95 |
-
"start": 89,
|
| 96 |
-
"end": 92
|
| 97 |
-
},
|
| 98 |
-
"pinky_l_rot6d": {
|
| 99 |
-
"original_key": "observation.state",
|
| 100 |
-
"start": 92,
|
| 101 |
-
"end": 98
|
| 102 |
-
},
|
| 103 |
-
"wrist_r_pos": {
|
| 104 |
-
"original_key": "observation.state",
|
| 105 |
-
"start": 98,
|
| 106 |
-
"end": 101
|
| 107 |
-
},
|
| 108 |
-
"wrist_r_rot6d": {
|
| 109 |
-
"original_key": "observation.state",
|
| 110 |
-
"start": 101,
|
| 111 |
-
"end": 107
|
| 112 |
-
},
|
| 113 |
-
"thumb_r_pos": {
|
| 114 |
-
"original_key": "observation.state",
|
| 115 |
-
"start": 107,
|
| 116 |
-
"end": 110
|
| 117 |
-
},
|
| 118 |
-
"thumb_r_rot6d": {
|
| 119 |
-
"original_key": "observation.state",
|
| 120 |
-
"start": 110,
|
| 121 |
-
"end": 116
|
| 122 |
-
},
|
| 123 |
-
"index_r_pos": {
|
| 124 |
-
"original_key": "observation.state",
|
| 125 |
-
"start": 116,
|
| 126 |
-
"end": 119
|
| 127 |
-
},
|
| 128 |
-
"index_r_rot6d": {
|
| 129 |
-
"original_key": "observation.state",
|
| 130 |
-
"start": 119,
|
| 131 |
-
"end": 125
|
| 132 |
-
},
|
| 133 |
-
"middle_r_pos": {
|
| 134 |
-
"original_key": "observation.state",
|
| 135 |
-
"start": 125,
|
| 136 |
-
"end": 128
|
| 137 |
-
},
|
| 138 |
-
"middle_r_rot6d": {
|
| 139 |
-
"original_key": "observation.state",
|
| 140 |
-
"start": 128,
|
| 141 |
-
"end": 134
|
| 142 |
-
},
|
| 143 |
-
"ring_r_pos": {
|
| 144 |
-
"original_key": "observation.state",
|
| 145 |
-
"start": 134,
|
| 146 |
-
"end": 137
|
| 147 |
-
},
|
| 148 |
-
"ring_r_rot6d": {
|
| 149 |
-
"original_key": "observation.state",
|
| 150 |
-
"start": 137,
|
| 151 |
-
"end": 143
|
| 152 |
-
},
|
| 153 |
-
"pinky_r_pos": {
|
| 154 |
-
"original_key": "observation.state",
|
| 155 |
-
"start": 143,
|
| 156 |
-
"end": 146
|
| 157 |
-
},
|
| 158 |
-
"pinky_r_rot6d": {
|
| 159 |
-
"original_key": "observation.state",
|
| 160 |
-
"start": 146,
|
| 161 |
-
"end": 152
|
| 162 |
-
},
|
| 163 |
-
"camera_egoview_pos": {
|
| 164 |
-
"original_key": "observation.state",
|
| 165 |
-
"start": 152,
|
| 166 |
-
"end": 155
|
| 167 |
-
},
|
| 168 |
-
"camera_egoview_rot6d": {
|
| 169 |
-
"original_key": "observation.state",
|
| 170 |
-
"start": 155,
|
| 171 |
-
"end": 161
|
| 172 |
-
}
|
| 173 |
-
},
|
| 174 |
-
"action": {
|
| 175 |
-
"left_arm": {
|
| 176 |
-
"original_key": "action",
|
| 177 |
-
"start": 0,
|
| 178 |
-
"end": 7
|
| 179 |
-
},
|
| 180 |
-
"left_hand": {
|
| 181 |
-
"original_key": "action",
|
| 182 |
-
"start": 7,
|
| 183 |
-
"end": 13
|
| 184 |
-
},
|
| 185 |
-
"left_leg": {
|
| 186 |
-
"original_key": "action",
|
| 187 |
-
"start": 13,
|
| 188 |
-
"end": 19
|
| 189 |
-
},
|
| 190 |
-
"neck": {
|
| 191 |
-
"original_key": "action",
|
| 192 |
-
"start": 19,
|
| 193 |
-
"end": 22
|
| 194 |
-
},
|
| 195 |
-
"right_arm": {
|
| 196 |
-
"original_key": "action",
|
| 197 |
-
"start": 22,
|
| 198 |
-
"end": 29
|
| 199 |
-
},
|
| 200 |
-
"right_hand": {
|
| 201 |
-
"original_key": "action",
|
| 202 |
-
"start": 29,
|
| 203 |
-
"end": 35
|
| 204 |
-
},
|
| 205 |
-
"right_leg": {
|
| 206 |
-
"original_key": "action",
|
| 207 |
-
"start": 35,
|
| 208 |
-
"end": 41
|
| 209 |
-
},
|
| 210 |
-
"waist": {
|
| 211 |
-
"original_key": "action",
|
| 212 |
-
"start": 41,
|
| 213 |
-
"end": 44
|
| 214 |
-
},
|
| 215 |
-
"wrist_l_pos": {
|
| 216 |
-
"original_key": "action",
|
| 217 |
-
"start": 44,
|
| 218 |
-
"end": 47
|
| 219 |
-
},
|
| 220 |
-
"wrist_l_rot6d": {
|
| 221 |
-
"original_key": "action",
|
| 222 |
-
"start": 47,
|
| 223 |
-
"end": 53
|
| 224 |
-
},
|
| 225 |
-
"thumb_l_pos": {
|
| 226 |
-
"original_key": "action",
|
| 227 |
-
"start": 53,
|
| 228 |
-
"end": 56
|
| 229 |
-
},
|
| 230 |
-
"thumb_l_rot6d": {
|
| 231 |
-
"original_key": "action",
|
| 232 |
-
"start": 56,
|
| 233 |
-
"end": 62
|
| 234 |
-
},
|
| 235 |
-
"index_l_pos": {
|
| 236 |
-
"original_key": "action",
|
| 237 |
-
"start": 62,
|
| 238 |
-
"end": 65
|
| 239 |
-
},
|
| 240 |
-
"index_l_rot6d": {
|
| 241 |
-
"original_key": "action",
|
| 242 |
-
"start": 65,
|
| 243 |
-
"end": 71
|
| 244 |
-
},
|
| 245 |
-
"middle_l_pos": {
|
| 246 |
-
"original_key": "action",
|
| 247 |
-
"start": 71,
|
| 248 |
-
"end": 74
|
| 249 |
-
},
|
| 250 |
-
"middle_l_rot6d": {
|
| 251 |
-
"original_key": "action",
|
| 252 |
-
"start": 74,
|
| 253 |
-
"end": 80
|
| 254 |
-
},
|
| 255 |
-
"ring_l_pos": {
|
| 256 |
-
"original_key": "action",
|
| 257 |
-
"start": 80,
|
| 258 |
-
"end": 83
|
| 259 |
-
},
|
| 260 |
-
"ring_l_rot6d": {
|
| 261 |
-
"original_key": "action",
|
| 262 |
-
"start": 83,
|
| 263 |
-
"end": 89
|
| 264 |
-
},
|
| 265 |
-
"pinky_l_pos": {
|
| 266 |
-
"original_key": "action",
|
| 267 |
-
"start": 89,
|
| 268 |
-
"end": 92
|
| 269 |
-
},
|
| 270 |
-
"pinky_l_rot6d": {
|
| 271 |
-
"original_key": "action",
|
| 272 |
-
"start": 92,
|
| 273 |
-
"end": 98
|
| 274 |
-
},
|
| 275 |
-
"wrist_r_pos": {
|
| 276 |
-
"original_key": "action",
|
| 277 |
-
"start": 98,
|
| 278 |
-
"end": 101
|
| 279 |
-
},
|
| 280 |
-
"wrist_r_rot6d": {
|
| 281 |
-
"original_key": "action",
|
| 282 |
-
"start": 101,
|
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-
"end": 107
|
| 284 |
-
},
|
| 285 |
-
"thumb_r_pos": {
|
| 286 |
-
"original_key": "action",
|
| 287 |
-
"start": 107,
|
| 288 |
-
"end": 110
|
| 289 |
-
},
|
| 290 |
-
"thumb_r_rot6d": {
|
| 291 |
-
"original_key": "action",
|
| 292 |
-
"start": 110,
|
| 293 |
-
"end": 116
|
| 294 |
-
},
|
| 295 |
-
"index_r_pos": {
|
| 296 |
-
"original_key": "action",
|
| 297 |
-
"start": 116,
|
| 298 |
-
"end": 119
|
| 299 |
-
},
|
| 300 |
-
"index_r_rot6d": {
|
| 301 |
-
"original_key": "action",
|
| 302 |
-
"start": 119,
|
| 303 |
-
"end": 125
|
| 304 |
-
},
|
| 305 |
-
"middle_r_pos": {
|
| 306 |
-
"original_key": "action",
|
| 307 |
-
"start": 125,
|
| 308 |
-
"end": 128
|
| 309 |
-
},
|
| 310 |
-
"middle_r_rot6d": {
|
| 311 |
-
"original_key": "action",
|
| 312 |
-
"start": 128,
|
| 313 |
-
"end": 134
|
| 314 |
-
},
|
| 315 |
-
"ring_r_pos": {
|
| 316 |
-
"original_key": "action",
|
| 317 |
-
"start": 134,
|
| 318 |
-
"end": 137
|
| 319 |
-
},
|
| 320 |
-
"ring_r_rot6d": {
|
| 321 |
-
"original_key": "action",
|
| 322 |
-
"start": 137,
|
| 323 |
-
"end": 143
|
| 324 |
-
},
|
| 325 |
-
"pinky_r_pos": {
|
| 326 |
-
"original_key": "action",
|
| 327 |
-
"start": 143,
|
| 328 |
-
"end": 146
|
| 329 |
-
},
|
| 330 |
-
"pinky_r_rot6d": {
|
| 331 |
-
"original_key": "action",
|
| 332 |
-
"start": 146,
|
| 333 |
-
"end": 152
|
| 334 |
-
},
|
| 335 |
-
"camera_egoview_pos": {
|
| 336 |
-
"original_key": "action",
|
| 337 |
-
"start": 152,
|
| 338 |
-
"end": 155
|
| 339 |
-
},
|
| 340 |
-
"camera_egoview_rot6d": {
|
| 341 |
-
"original_key": "action",
|
| 342 |
-
"start": 155,
|
| 343 |
-
"end": 161
|
| 344 |
-
}
|
| 345 |
-
},
|
| 346 |
-
"video": {
|
| 347 |
-
"ego_view": {
|
| 348 |
-
"original_key": "observation.images.ego_view"
|
| 349 |
-
}
|
| 350 |
-
},
|
| 351 |
-
"annotation": {
|
| 352 |
-
"human.fine_action": {
|
| 353 |
-
"original_key": "annotation.human.fine_action"
|
| 354 |
-
},
|
| 355 |
-
"human.coarse_action": {
|
| 356 |
-
"original_key": "annotation.human.coarse_action"
|
| 357 |
-
}
|
| 358 |
-
}
|
| 359 |
-
}
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|
metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToCardboardboxSplitA/meta/tasks.jsonl
DELETED
|
@@ -1,11 +0,0 @@
|
|
| 1 |
-
{"task_index": 0, "task": ""}
|
| 2 |
-
{"task_index": 1, "task": "unlocked_waist: pick the can from the cutting board and place it in the cardboard box"}
|
| 3 |
-
{"task_index": 2, "task": "unlocked_waist: pick the squash from the cutting board and place it in the cardboard box"}
|
| 4 |
-
{"task_index": 3, "task": "unlocked_waist: pick the pear from the cutting board and place it in the cardboard box"}
|
| 5 |
-
{"task_index": 4, "task": "unlocked_waist: pick the cupcake from the cutting board and place it in the cardboard box"}
|
| 6 |
-
{"task_index": 5, "task": "unlocked_waist: pick the tomato from the cutting board and place it in the cardboard box"}
|
| 7 |
-
{"task_index": 6, "task": "unlocked_waist: pick the lemon from the cutting board and place it in the cardboard box"}
|
| 8 |
-
{"task_index": 7, "task": "unlocked_waist: pick the sweet potato from the cutting board and place it in the cardboard box"}
|
| 9 |
-
{"task_index": 8, "task": "unlocked_waist: pick the bell pepper from the cutting board and place it in the cardboard box"}
|
| 10 |
-
{"task_index": 9, "task": "unlocked_waist: pick the croissant from the cutting board and place it in the cardboard box"}
|
| 11 |
-
{"task_index": 10, "task": "unlocked_waist: pick the eggplant from the cutting board and place it in the cardboard box"}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToPanSplitA/meta/episodes.jsonl
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToPanSplitA/meta/modality.json
DELETED
|
@@ -1,359 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"state": {
|
| 3 |
-
"left_arm": {
|
| 4 |
-
"original_key": "observation.state",
|
| 5 |
-
"start": 0,
|
| 6 |
-
"end": 7
|
| 7 |
-
},
|
| 8 |
-
"left_hand": {
|
| 9 |
-
"original_key": "observation.state",
|
| 10 |
-
"start": 7,
|
| 11 |
-
"end": 13
|
| 12 |
-
},
|
| 13 |
-
"left_leg": {
|
| 14 |
-
"original_key": "observation.state",
|
| 15 |
-
"start": 13,
|
| 16 |
-
"end": 19
|
| 17 |
-
},
|
| 18 |
-
"neck": {
|
| 19 |
-
"original_key": "observation.state",
|
| 20 |
-
"start": 19,
|
| 21 |
-
"end": 22
|
| 22 |
-
},
|
| 23 |
-
"right_arm": {
|
| 24 |
-
"original_key": "observation.state",
|
| 25 |
-
"start": 22,
|
| 26 |
-
"end": 29
|
| 27 |
-
},
|
| 28 |
-
"right_hand": {
|
| 29 |
-
"original_key": "observation.state",
|
| 30 |
-
"start": 29,
|
| 31 |
-
"end": 35
|
| 32 |
-
},
|
| 33 |
-
"right_leg": {
|
| 34 |
-
"original_key": "observation.state",
|
| 35 |
-
"start": 35,
|
| 36 |
-
"end": 41
|
| 37 |
-
},
|
| 38 |
-
"waist": {
|
| 39 |
-
"original_key": "observation.state",
|
| 40 |
-
"start": 41,
|
| 41 |
-
"end": 44
|
| 42 |
-
},
|
| 43 |
-
"wrist_l_pos": {
|
| 44 |
-
"original_key": "observation.state",
|
| 45 |
-
"start": 44,
|
| 46 |
-
"end": 47
|
| 47 |
-
},
|
| 48 |
-
"wrist_l_rot6d": {
|
| 49 |
-
"original_key": "observation.state",
|
| 50 |
-
"start": 47,
|
| 51 |
-
"end": 53
|
| 52 |
-
},
|
| 53 |
-
"thumb_l_pos": {
|
| 54 |
-
"original_key": "observation.state",
|
| 55 |
-
"start": 53,
|
| 56 |
-
"end": 56
|
| 57 |
-
},
|
| 58 |
-
"thumb_l_rot6d": {
|
| 59 |
-
"original_key": "observation.state",
|
| 60 |
-
"start": 56,
|
| 61 |
-
"end": 62
|
| 62 |
-
},
|
| 63 |
-
"index_l_pos": {
|
| 64 |
-
"original_key": "observation.state",
|
| 65 |
-
"start": 62,
|
| 66 |
-
"end": 65
|
| 67 |
-
},
|
| 68 |
-
"index_l_rot6d": {
|
| 69 |
-
"original_key": "observation.state",
|
| 70 |
-
"start": 65,
|
| 71 |
-
"end": 71
|
| 72 |
-
},
|
| 73 |
-
"middle_l_pos": {
|
| 74 |
-
"original_key": "observation.state",
|
| 75 |
-
"start": 71,
|
| 76 |
-
"end": 74
|
| 77 |
-
},
|
| 78 |
-
"middle_l_rot6d": {
|
| 79 |
-
"original_key": "observation.state",
|
| 80 |
-
"start": 74,
|
| 81 |
-
"end": 80
|
| 82 |
-
},
|
| 83 |
-
"ring_l_pos": {
|
| 84 |
-
"original_key": "observation.state",
|
| 85 |
-
"start": 80,
|
| 86 |
-
"end": 83
|
| 87 |
-
},
|
| 88 |
-
"ring_l_rot6d": {
|
| 89 |
-
"original_key": "observation.state",
|
| 90 |
-
"start": 83,
|
| 91 |
-
"end": 89
|
| 92 |
-
},
|
| 93 |
-
"pinky_l_pos": {
|
| 94 |
-
"original_key": "observation.state",
|
| 95 |
-
"start": 89,
|
| 96 |
-
"end": 92
|
| 97 |
-
},
|
| 98 |
-
"pinky_l_rot6d": {
|
| 99 |
-
"original_key": "observation.state",
|
| 100 |
-
"start": 92,
|
| 101 |
-
"end": 98
|
| 102 |
-
},
|
| 103 |
-
"wrist_r_pos": {
|
| 104 |
-
"original_key": "observation.state",
|
| 105 |
-
"start": 98,
|
| 106 |
-
"end": 101
|
| 107 |
-
},
|
| 108 |
-
"wrist_r_rot6d": {
|
| 109 |
-
"original_key": "observation.state",
|
| 110 |
-
"start": 101,
|
| 111 |
-
"end": 107
|
| 112 |
-
},
|
| 113 |
-
"thumb_r_pos": {
|
| 114 |
-
"original_key": "observation.state",
|
| 115 |
-
"start": 107,
|
| 116 |
-
"end": 110
|
| 117 |
-
},
|
| 118 |
-
"thumb_r_rot6d": {
|
| 119 |
-
"original_key": "observation.state",
|
| 120 |
-
"start": 110,
|
| 121 |
-
"end": 116
|
| 122 |
-
},
|
| 123 |
-
"index_r_pos": {
|
| 124 |
-
"original_key": "observation.state",
|
| 125 |
-
"start": 116,
|
| 126 |
-
"end": 119
|
| 127 |
-
},
|
| 128 |
-
"index_r_rot6d": {
|
| 129 |
-
"original_key": "observation.state",
|
| 130 |
-
"start": 119,
|
| 131 |
-
"end": 125
|
| 132 |
-
},
|
| 133 |
-
"middle_r_pos": {
|
| 134 |
-
"original_key": "observation.state",
|
| 135 |
-
"start": 125,
|
| 136 |
-
"end": 128
|
| 137 |
-
},
|
| 138 |
-
"middle_r_rot6d": {
|
| 139 |
-
"original_key": "observation.state",
|
| 140 |
-
"start": 128,
|
| 141 |
-
"end": 134
|
| 142 |
-
},
|
| 143 |
-
"ring_r_pos": {
|
| 144 |
-
"original_key": "observation.state",
|
| 145 |
-
"start": 134,
|
| 146 |
-
"end": 137
|
| 147 |
-
},
|
| 148 |
-
"ring_r_rot6d": {
|
| 149 |
-
"original_key": "observation.state",
|
| 150 |
-
"start": 137,
|
| 151 |
-
"end": 143
|
| 152 |
-
},
|
| 153 |
-
"pinky_r_pos": {
|
| 154 |
-
"original_key": "observation.state",
|
| 155 |
-
"start": 143,
|
| 156 |
-
"end": 146
|
| 157 |
-
},
|
| 158 |
-
"pinky_r_rot6d": {
|
| 159 |
-
"original_key": "observation.state",
|
| 160 |
-
"start": 146,
|
| 161 |
-
"end": 152
|
| 162 |
-
},
|
| 163 |
-
"camera_egoview_pos": {
|
| 164 |
-
"original_key": "observation.state",
|
| 165 |
-
"start": 152,
|
| 166 |
-
"end": 155
|
| 167 |
-
},
|
| 168 |
-
"camera_egoview_rot6d": {
|
| 169 |
-
"original_key": "observation.state",
|
| 170 |
-
"start": 155,
|
| 171 |
-
"end": 161
|
| 172 |
-
}
|
| 173 |
-
},
|
| 174 |
-
"action": {
|
| 175 |
-
"left_arm": {
|
| 176 |
-
"original_key": "action",
|
| 177 |
-
"start": 0,
|
| 178 |
-
"end": 7
|
| 179 |
-
},
|
| 180 |
-
"left_hand": {
|
| 181 |
-
"original_key": "action",
|
| 182 |
-
"start": 7,
|
| 183 |
-
"end": 13
|
| 184 |
-
},
|
| 185 |
-
"left_leg": {
|
| 186 |
-
"original_key": "action",
|
| 187 |
-
"start": 13,
|
| 188 |
-
"end": 19
|
| 189 |
-
},
|
| 190 |
-
"neck": {
|
| 191 |
-
"original_key": "action",
|
| 192 |
-
"start": 19,
|
| 193 |
-
"end": 22
|
| 194 |
-
},
|
| 195 |
-
"right_arm": {
|
| 196 |
-
"original_key": "action",
|
| 197 |
-
"start": 22,
|
| 198 |
-
"end": 29
|
| 199 |
-
},
|
| 200 |
-
"right_hand": {
|
| 201 |
-
"original_key": "action",
|
| 202 |
-
"start": 29,
|
| 203 |
-
"end": 35
|
| 204 |
-
},
|
| 205 |
-
"right_leg": {
|
| 206 |
-
"original_key": "action",
|
| 207 |
-
"start": 35,
|
| 208 |
-
"end": 41
|
| 209 |
-
},
|
| 210 |
-
"waist": {
|
| 211 |
-
"original_key": "action",
|
| 212 |
-
"start": 41,
|
| 213 |
-
"end": 44
|
| 214 |
-
},
|
| 215 |
-
"wrist_l_pos": {
|
| 216 |
-
"original_key": "action",
|
| 217 |
-
"start": 44,
|
| 218 |
-
"end": 47
|
| 219 |
-
},
|
| 220 |
-
"wrist_l_rot6d": {
|
| 221 |
-
"original_key": "action",
|
| 222 |
-
"start": 47,
|
| 223 |
-
"end": 53
|
| 224 |
-
},
|
| 225 |
-
"thumb_l_pos": {
|
| 226 |
-
"original_key": "action",
|
| 227 |
-
"start": 53,
|
| 228 |
-
"end": 56
|
| 229 |
-
},
|
| 230 |
-
"thumb_l_rot6d": {
|
| 231 |
-
"original_key": "action",
|
| 232 |
-
"start": 56,
|
| 233 |
-
"end": 62
|
| 234 |
-
},
|
| 235 |
-
"index_l_pos": {
|
| 236 |
-
"original_key": "action",
|
| 237 |
-
"start": 62,
|
| 238 |
-
"end": 65
|
| 239 |
-
},
|
| 240 |
-
"index_l_rot6d": {
|
| 241 |
-
"original_key": "action",
|
| 242 |
-
"start": 65,
|
| 243 |
-
"end": 71
|
| 244 |
-
},
|
| 245 |
-
"middle_l_pos": {
|
| 246 |
-
"original_key": "action",
|
| 247 |
-
"start": 71,
|
| 248 |
-
"end": 74
|
| 249 |
-
},
|
| 250 |
-
"middle_l_rot6d": {
|
| 251 |
-
"original_key": "action",
|
| 252 |
-
"start": 74,
|
| 253 |
-
"end": 80
|
| 254 |
-
},
|
| 255 |
-
"ring_l_pos": {
|
| 256 |
-
"original_key": "action",
|
| 257 |
-
"start": 80,
|
| 258 |
-
"end": 83
|
| 259 |
-
},
|
| 260 |
-
"ring_l_rot6d": {
|
| 261 |
-
"original_key": "action",
|
| 262 |
-
"start": 83,
|
| 263 |
-
"end": 89
|
| 264 |
-
},
|
| 265 |
-
"pinky_l_pos": {
|
| 266 |
-
"original_key": "action",
|
| 267 |
-
"start": 89,
|
| 268 |
-
"end": 92
|
| 269 |
-
},
|
| 270 |
-
"pinky_l_rot6d": {
|
| 271 |
-
"original_key": "action",
|
| 272 |
-
"start": 92,
|
| 273 |
-
"end": 98
|
| 274 |
-
},
|
| 275 |
-
"wrist_r_pos": {
|
| 276 |
-
"original_key": "action",
|
| 277 |
-
"start": 98,
|
| 278 |
-
"end": 101
|
| 279 |
-
},
|
| 280 |
-
"wrist_r_rot6d": {
|
| 281 |
-
"original_key": "action",
|
| 282 |
-
"start": 101,
|
| 283 |
-
"end": 107
|
| 284 |
-
},
|
| 285 |
-
"thumb_r_pos": {
|
| 286 |
-
"original_key": "action",
|
| 287 |
-
"start": 107,
|
| 288 |
-
"end": 110
|
| 289 |
-
},
|
| 290 |
-
"thumb_r_rot6d": {
|
| 291 |
-
"original_key": "action",
|
| 292 |
-
"start": 110,
|
| 293 |
-
"end": 116
|
| 294 |
-
},
|
| 295 |
-
"index_r_pos": {
|
| 296 |
-
"original_key": "action",
|
| 297 |
-
"start": 116,
|
| 298 |
-
"end": 119
|
| 299 |
-
},
|
| 300 |
-
"index_r_rot6d": {
|
| 301 |
-
"original_key": "action",
|
| 302 |
-
"start": 119,
|
| 303 |
-
"end": 125
|
| 304 |
-
},
|
| 305 |
-
"middle_r_pos": {
|
| 306 |
-
"original_key": "action",
|
| 307 |
-
"start": 125,
|
| 308 |
-
"end": 128
|
| 309 |
-
},
|
| 310 |
-
"middle_r_rot6d": {
|
| 311 |
-
"original_key": "action",
|
| 312 |
-
"start": 128,
|
| 313 |
-
"end": 134
|
| 314 |
-
},
|
| 315 |
-
"ring_r_pos": {
|
| 316 |
-
"original_key": "action",
|
| 317 |
-
"start": 134,
|
| 318 |
-
"end": 137
|
| 319 |
-
},
|
| 320 |
-
"ring_r_rot6d": {
|
| 321 |
-
"original_key": "action",
|
| 322 |
-
"start": 137,
|
| 323 |
-
"end": 143
|
| 324 |
-
},
|
| 325 |
-
"pinky_r_pos": {
|
| 326 |
-
"original_key": "action",
|
| 327 |
-
"start": 143,
|
| 328 |
-
"end": 146
|
| 329 |
-
},
|
| 330 |
-
"pinky_r_rot6d": {
|
| 331 |
-
"original_key": "action",
|
| 332 |
-
"start": 146,
|
| 333 |
-
"end": 152
|
| 334 |
-
},
|
| 335 |
-
"camera_egoview_pos": {
|
| 336 |
-
"original_key": "action",
|
| 337 |
-
"start": 152,
|
| 338 |
-
"end": 155
|
| 339 |
-
},
|
| 340 |
-
"camera_egoview_rot6d": {
|
| 341 |
-
"original_key": "action",
|
| 342 |
-
"start": 155,
|
| 343 |
-
"end": 161
|
| 344 |
-
}
|
| 345 |
-
},
|
| 346 |
-
"video": {
|
| 347 |
-
"ego_view": {
|
| 348 |
-
"original_key": "observation.images.ego_view"
|
| 349 |
-
}
|
| 350 |
-
},
|
| 351 |
-
"annotation": {
|
| 352 |
-
"human.fine_action": {
|
| 353 |
-
"original_key": "annotation.human.fine_action"
|
| 354 |
-
},
|
| 355 |
-
"human.coarse_action": {
|
| 356 |
-
"original_key": "annotation.human.coarse_action"
|
| 357 |
-
}
|
| 358 |
-
}
|
| 359 |
-
}
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|
metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToPanSplitA/meta/tasks.jsonl
DELETED
|
@@ -1,11 +0,0 @@
|
|
| 1 |
-
{"task_index": 0, "task": ""}
|
| 2 |
-
{"task_index": 1, "task": "unlocked_waist: pick the bell pepper from the cutting board and place it in the pan"}
|
| 3 |
-
{"task_index": 2, "task": "unlocked_waist: pick the cupcake from the cutting board and place it in the pan"}
|
| 4 |
-
{"task_index": 3, "task": "unlocked_waist: pick the croissant from the cutting board and place it in the pan"}
|
| 5 |
-
{"task_index": 4, "task": "unlocked_waist: pick the tomato from the cutting board and place it in the pan"}
|
| 6 |
-
{"task_index": 5, "task": "unlocked_waist: pick the lemon from the cutting board and place it in the pan"}
|
| 7 |
-
{"task_index": 6, "task": "unlocked_waist: pick the pear from the cutting board and place it in the pan"}
|
| 8 |
-
{"task_index": 7, "task": "unlocked_waist: pick the squash from the cutting board and place it in the pan"}
|
| 9 |
-
{"task_index": 8, "task": "unlocked_waist: pick the can from the cutting board and place it in the pan"}
|
| 10 |
-
{"task_index": 9, "task": "unlocked_waist: pick the sweet potato from the cutting board and place it in the pan"}
|
| 11 |
-
{"task_index": 10, "task": "unlocked_waist: pick the eggplant from the cutting board and place it in the pan"}
|
|
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|
metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToPotSplitA/meta/episodes.jsonl
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToPotSplitA/meta/modality.json
DELETED
|
@@ -1,359 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"state": {
|
| 3 |
-
"left_arm": {
|
| 4 |
-
"original_key": "observation.state",
|
| 5 |
-
"start": 0,
|
| 6 |
-
"end": 7
|
| 7 |
-
},
|
| 8 |
-
"left_hand": {
|
| 9 |
-
"original_key": "observation.state",
|
| 10 |
-
"start": 7,
|
| 11 |
-
"end": 13
|
| 12 |
-
},
|
| 13 |
-
"left_leg": {
|
| 14 |
-
"original_key": "observation.state",
|
| 15 |
-
"start": 13,
|
| 16 |
-
"end": 19
|
| 17 |
-
},
|
| 18 |
-
"neck": {
|
| 19 |
-
"original_key": "observation.state",
|
| 20 |
-
"start": 19,
|
| 21 |
-
"end": 22
|
| 22 |
-
},
|
| 23 |
-
"right_arm": {
|
| 24 |
-
"original_key": "observation.state",
|
| 25 |
-
"start": 22,
|
| 26 |
-
"end": 29
|
| 27 |
-
},
|
| 28 |
-
"right_hand": {
|
| 29 |
-
"original_key": "observation.state",
|
| 30 |
-
"start": 29,
|
| 31 |
-
"end": 35
|
| 32 |
-
},
|
| 33 |
-
"right_leg": {
|
| 34 |
-
"original_key": "observation.state",
|
| 35 |
-
"start": 35,
|
| 36 |
-
"end": 41
|
| 37 |
-
},
|
| 38 |
-
"waist": {
|
| 39 |
-
"original_key": "observation.state",
|
| 40 |
-
"start": 41,
|
| 41 |
-
"end": 44
|
| 42 |
-
},
|
| 43 |
-
"wrist_l_pos": {
|
| 44 |
-
"original_key": "observation.state",
|
| 45 |
-
"start": 44,
|
| 46 |
-
"end": 47
|
| 47 |
-
},
|
| 48 |
-
"wrist_l_rot6d": {
|
| 49 |
-
"original_key": "observation.state",
|
| 50 |
-
"start": 47,
|
| 51 |
-
"end": 53
|
| 52 |
-
},
|
| 53 |
-
"thumb_l_pos": {
|
| 54 |
-
"original_key": "observation.state",
|
| 55 |
-
"start": 53,
|
| 56 |
-
"end": 56
|
| 57 |
-
},
|
| 58 |
-
"thumb_l_rot6d": {
|
| 59 |
-
"original_key": "observation.state",
|
| 60 |
-
"start": 56,
|
| 61 |
-
"end": 62
|
| 62 |
-
},
|
| 63 |
-
"index_l_pos": {
|
| 64 |
-
"original_key": "observation.state",
|
| 65 |
-
"start": 62,
|
| 66 |
-
"end": 65
|
| 67 |
-
},
|
| 68 |
-
"index_l_rot6d": {
|
| 69 |
-
"original_key": "observation.state",
|
| 70 |
-
"start": 65,
|
| 71 |
-
"end": 71
|
| 72 |
-
},
|
| 73 |
-
"middle_l_pos": {
|
| 74 |
-
"original_key": "observation.state",
|
| 75 |
-
"start": 71,
|
| 76 |
-
"end": 74
|
| 77 |
-
},
|
| 78 |
-
"middle_l_rot6d": {
|
| 79 |
-
"original_key": "observation.state",
|
| 80 |
-
"start": 74,
|
| 81 |
-
"end": 80
|
| 82 |
-
},
|
| 83 |
-
"ring_l_pos": {
|
| 84 |
-
"original_key": "observation.state",
|
| 85 |
-
"start": 80,
|
| 86 |
-
"end": 83
|
| 87 |
-
},
|
| 88 |
-
"ring_l_rot6d": {
|
| 89 |
-
"original_key": "observation.state",
|
| 90 |
-
"start": 83,
|
| 91 |
-
"end": 89
|
| 92 |
-
},
|
| 93 |
-
"pinky_l_pos": {
|
| 94 |
-
"original_key": "observation.state",
|
| 95 |
-
"start": 89,
|
| 96 |
-
"end": 92
|
| 97 |
-
},
|
| 98 |
-
"pinky_l_rot6d": {
|
| 99 |
-
"original_key": "observation.state",
|
| 100 |
-
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|
| 101 |
-
"end": 98
|
| 102 |
-
},
|
| 103 |
-
"wrist_r_pos": {
|
| 104 |
-
"original_key": "observation.state",
|
| 105 |
-
"start": 98,
|
| 106 |
-
"end": 101
|
| 107 |
-
},
|
| 108 |
-
"wrist_r_rot6d": {
|
| 109 |
-
"original_key": "observation.state",
|
| 110 |
-
"start": 101,
|
| 111 |
-
"end": 107
|
| 112 |
-
},
|
| 113 |
-
"thumb_r_pos": {
|
| 114 |
-
"original_key": "observation.state",
|
| 115 |
-
"start": 107,
|
| 116 |
-
"end": 110
|
| 117 |
-
},
|
| 118 |
-
"thumb_r_rot6d": {
|
| 119 |
-
"original_key": "observation.state",
|
| 120 |
-
"start": 110,
|
| 121 |
-
"end": 116
|
| 122 |
-
},
|
| 123 |
-
"index_r_pos": {
|
| 124 |
-
"original_key": "observation.state",
|
| 125 |
-
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|
| 126 |
-
"end": 119
|
| 127 |
-
},
|
| 128 |
-
"index_r_rot6d": {
|
| 129 |
-
"original_key": "observation.state",
|
| 130 |
-
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|
| 131 |
-
"end": 125
|
| 132 |
-
},
|
| 133 |
-
"middle_r_pos": {
|
| 134 |
-
"original_key": "observation.state",
|
| 135 |
-
"start": 125,
|
| 136 |
-
"end": 128
|
| 137 |
-
},
|
| 138 |
-
"middle_r_rot6d": {
|
| 139 |
-
"original_key": "observation.state",
|
| 140 |
-
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|
| 141 |
-
"end": 134
|
| 142 |
-
},
|
| 143 |
-
"ring_r_pos": {
|
| 144 |
-
"original_key": "observation.state",
|
| 145 |
-
"start": 134,
|
| 146 |
-
"end": 137
|
| 147 |
-
},
|
| 148 |
-
"ring_r_rot6d": {
|
| 149 |
-
"original_key": "observation.state",
|
| 150 |
-
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|
| 151 |
-
"end": 143
|
| 152 |
-
},
|
| 153 |
-
"pinky_r_pos": {
|
| 154 |
-
"original_key": "observation.state",
|
| 155 |
-
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|
| 156 |
-
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|
| 157 |
-
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|
| 158 |
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"pinky_r_rot6d": {
|
| 159 |
-
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|
| 160 |
-
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|
| 161 |
-
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|
| 162 |
-
},
|
| 163 |
-
"camera_egoview_pos": {
|
| 164 |
-
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|
| 165 |
-
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|
| 166 |
-
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|
| 167 |
-
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|
| 168 |
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"camera_egoview_rot6d": {
|
| 169 |
-
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|
| 170 |
-
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|
| 171 |
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|
| 172 |
-
}
|
| 173 |
-
},
|
| 174 |
-
"action": {
|
| 175 |
-
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|
| 176 |
-
"original_key": "action",
|
| 177 |
-
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|
| 178 |
-
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|
| 179 |
-
},
|
| 180 |
-
"left_hand": {
|
| 181 |
-
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|
| 182 |
-
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|
| 183 |
-
"end": 13
|
| 184 |
-
},
|
| 185 |
-
"left_leg": {
|
| 186 |
-
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|
| 187 |
-
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|
| 188 |
-
"end": 19
|
| 189 |
-
},
|
| 190 |
-
"neck": {
|
| 191 |
-
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|
| 192 |
-
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|
| 193 |
-
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|
| 194 |
-
},
|
| 195 |
-
"right_arm": {
|
| 196 |
-
"original_key": "action",
|
| 197 |
-
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|
| 198 |
-
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|
| 199 |
-
},
|
| 200 |
-
"right_hand": {
|
| 201 |
-
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|
| 202 |
-
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|
| 203 |
-
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|
| 204 |
-
},
|
| 205 |
-
"right_leg": {
|
| 206 |
-
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|
| 207 |
-
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|
| 208 |
-
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|
| 209 |
-
},
|
| 210 |
-
"waist": {
|
| 211 |
-
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|
| 212 |
-
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|
| 213 |
-
"end": 44
|
| 214 |
-
},
|
| 215 |
-
"wrist_l_pos": {
|
| 216 |
-
"original_key": "action",
|
| 217 |
-
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|
| 218 |
-
"end": 47
|
| 219 |
-
},
|
| 220 |
-
"wrist_l_rot6d": {
|
| 221 |
-
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|
| 222 |
-
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|
| 223 |
-
"end": 53
|
| 224 |
-
},
|
| 225 |
-
"thumb_l_pos": {
|
| 226 |
-
"original_key": "action",
|
| 227 |
-
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|
| 228 |
-
"end": 56
|
| 229 |
-
},
|
| 230 |
-
"thumb_l_rot6d": {
|
| 231 |
-
"original_key": "action",
|
| 232 |
-
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|
| 233 |
-
"end": 62
|
| 234 |
-
},
|
| 235 |
-
"index_l_pos": {
|
| 236 |
-
"original_key": "action",
|
| 237 |
-
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|
| 238 |
-
"end": 65
|
| 239 |
-
},
|
| 240 |
-
"index_l_rot6d": {
|
| 241 |
-
"original_key": "action",
|
| 242 |
-
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|
| 243 |
-
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|
| 244 |
-
},
|
| 245 |
-
"middle_l_pos": {
|
| 246 |
-
"original_key": "action",
|
| 247 |
-
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|
| 248 |
-
"end": 74
|
| 249 |
-
},
|
| 250 |
-
"middle_l_rot6d": {
|
| 251 |
-
"original_key": "action",
|
| 252 |
-
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|
| 253 |
-
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|
| 254 |
-
},
|
| 255 |
-
"ring_l_pos": {
|
| 256 |
-
"original_key": "action",
|
| 257 |
-
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|
| 258 |
-
"end": 83
|
| 259 |
-
},
|
| 260 |
-
"ring_l_rot6d": {
|
| 261 |
-
"original_key": "action",
|
| 262 |
-
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|
| 263 |
-
"end": 89
|
| 264 |
-
},
|
| 265 |
-
"pinky_l_pos": {
|
| 266 |
-
"original_key": "action",
|
| 267 |
-
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|
| 268 |
-
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|
| 269 |
-
},
|
| 270 |
-
"pinky_l_rot6d": {
|
| 271 |
-
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|
| 272 |
-
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|
| 273 |
-
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|
| 274 |
-
},
|
| 275 |
-
"wrist_r_pos": {
|
| 276 |
-
"original_key": "action",
|
| 277 |
-
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|
| 278 |
-
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|
| 279 |
-
},
|
| 280 |
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|
| 281 |
-
"original_key": "action",
|
| 282 |
-
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|
| 283 |
-
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|
| 284 |
-
},
|
| 285 |
-
"thumb_r_pos": {
|
| 286 |
-
"original_key": "action",
|
| 287 |
-
"start": 107,
|
| 288 |
-
"end": 110
|
| 289 |
-
},
|
| 290 |
-
"thumb_r_rot6d": {
|
| 291 |
-
"original_key": "action",
|
| 292 |
-
"start": 110,
|
| 293 |
-
"end": 116
|
| 294 |
-
},
|
| 295 |
-
"index_r_pos": {
|
| 296 |
-
"original_key": "action",
|
| 297 |
-
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|
| 298 |
-
"end": 119
|
| 299 |
-
},
|
| 300 |
-
"index_r_rot6d": {
|
| 301 |
-
"original_key": "action",
|
| 302 |
-
"start": 119,
|
| 303 |
-
"end": 125
|
| 304 |
-
},
|
| 305 |
-
"middle_r_pos": {
|
| 306 |
-
"original_key": "action",
|
| 307 |
-
"start": 125,
|
| 308 |
-
"end": 128
|
| 309 |
-
},
|
| 310 |
-
"middle_r_rot6d": {
|
| 311 |
-
"original_key": "action",
|
| 312 |
-
"start": 128,
|
| 313 |
-
"end": 134
|
| 314 |
-
},
|
| 315 |
-
"ring_r_pos": {
|
| 316 |
-
"original_key": "action",
|
| 317 |
-
"start": 134,
|
| 318 |
-
"end": 137
|
| 319 |
-
},
|
| 320 |
-
"ring_r_rot6d": {
|
| 321 |
-
"original_key": "action",
|
| 322 |
-
"start": 137,
|
| 323 |
-
"end": 143
|
| 324 |
-
},
|
| 325 |
-
"pinky_r_pos": {
|
| 326 |
-
"original_key": "action",
|
| 327 |
-
"start": 143,
|
| 328 |
-
"end": 146
|
| 329 |
-
},
|
| 330 |
-
"pinky_r_rot6d": {
|
| 331 |
-
"original_key": "action",
|
| 332 |
-
"start": 146,
|
| 333 |
-
"end": 152
|
| 334 |
-
},
|
| 335 |
-
"camera_egoview_pos": {
|
| 336 |
-
"original_key": "action",
|
| 337 |
-
"start": 152,
|
| 338 |
-
"end": 155
|
| 339 |
-
},
|
| 340 |
-
"camera_egoview_rot6d": {
|
| 341 |
-
"original_key": "action",
|
| 342 |
-
"start": 155,
|
| 343 |
-
"end": 161
|
| 344 |
-
}
|
| 345 |
-
},
|
| 346 |
-
"video": {
|
| 347 |
-
"ego_view": {
|
| 348 |
-
"original_key": "observation.images.ego_view"
|
| 349 |
-
}
|
| 350 |
-
},
|
| 351 |
-
"annotation": {
|
| 352 |
-
"human.fine_action": {
|
| 353 |
-
"original_key": "annotation.human.fine_action"
|
| 354 |
-
},
|
| 355 |
-
"human.coarse_action": {
|
| 356 |
-
"original_key": "annotation.human.coarse_action"
|
| 357 |
-
}
|
| 358 |
-
}
|
| 359 |
-
}
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|
metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToPotSplitA/meta/tasks.jsonl
DELETED
|
@@ -1,11 +0,0 @@
|
|
| 1 |
-
{"task_index": 0, "task": ""}
|
| 2 |
-
{"task_index": 1, "task": "unlocked_waist: pick the bell pepper from the cutting board and place it in the pot"}
|
| 3 |
-
{"task_index": 2, "task": "unlocked_waist: pick the tomato from the cutting board and place it in the pot"}
|
| 4 |
-
{"task_index": 3, "task": "unlocked_waist: pick the sweet potato from the cutting board and place it in the pot"}
|
| 5 |
-
{"task_index": 4, "task": "unlocked_waist: pick the pear from the cutting board and place it in the pot"}
|
| 6 |
-
{"task_index": 5, "task": "unlocked_waist: pick the lemon from the cutting board and place it in the pot"}
|
| 7 |
-
{"task_index": 6, "task": "unlocked_waist: pick the squash from the cutting board and place it in the pot"}
|
| 8 |
-
{"task_index": 7, "task": "unlocked_waist: pick the croissant from the cutting board and place it in the pot"}
|
| 9 |
-
{"task_index": 8, "task": "unlocked_waist: pick the eggplant from the cutting board and place it in the pot"}
|
| 10 |
-
{"task_index": 9, "task": "unlocked_waist: pick the cupcake from the cutting board and place it in the pot"}
|
| 11 |
-
{"task_index": 10, "task": "unlocked_waist: pick the can from the cutting board and place it in the pot"}
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToTieredbasketSplitA/meta/episodes.jsonl
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToTieredbasketSplitA/meta/modality.json
DELETED
|
@@ -1,359 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"state": {
|
| 3 |
-
"left_arm": {
|
| 4 |
-
"original_key": "observation.state",
|
| 5 |
-
"start": 0,
|
| 6 |
-
"end": 7
|
| 7 |
-
},
|
| 8 |
-
"left_hand": {
|
| 9 |
-
"original_key": "observation.state",
|
| 10 |
-
"start": 7,
|
| 11 |
-
"end": 13
|
| 12 |
-
},
|
| 13 |
-
"left_leg": {
|
| 14 |
-
"original_key": "observation.state",
|
| 15 |
-
"start": 13,
|
| 16 |
-
"end": 19
|
| 17 |
-
},
|
| 18 |
-
"neck": {
|
| 19 |
-
"original_key": "observation.state",
|
| 20 |
-
"start": 19,
|
| 21 |
-
"end": 22
|
| 22 |
-
},
|
| 23 |
-
"right_arm": {
|
| 24 |
-
"original_key": "observation.state",
|
| 25 |
-
"start": 22,
|
| 26 |
-
"end": 29
|
| 27 |
-
},
|
| 28 |
-
"right_hand": {
|
| 29 |
-
"original_key": "observation.state",
|
| 30 |
-
"start": 29,
|
| 31 |
-
"end": 35
|
| 32 |
-
},
|
| 33 |
-
"right_leg": {
|
| 34 |
-
"original_key": "observation.state",
|
| 35 |
-
"start": 35,
|
| 36 |
-
"end": 41
|
| 37 |
-
},
|
| 38 |
-
"waist": {
|
| 39 |
-
"original_key": "observation.state",
|
| 40 |
-
"start": 41,
|
| 41 |
-
"end": 44
|
| 42 |
-
},
|
| 43 |
-
"wrist_l_pos": {
|
| 44 |
-
"original_key": "observation.state",
|
| 45 |
-
"start": 44,
|
| 46 |
-
"end": 47
|
| 47 |
-
},
|
| 48 |
-
"wrist_l_rot6d": {
|
| 49 |
-
"original_key": "observation.state",
|
| 50 |
-
"start": 47,
|
| 51 |
-
"end": 53
|
| 52 |
-
},
|
| 53 |
-
"thumb_l_pos": {
|
| 54 |
-
"original_key": "observation.state",
|
| 55 |
-
"start": 53,
|
| 56 |
-
"end": 56
|
| 57 |
-
},
|
| 58 |
-
"thumb_l_rot6d": {
|
| 59 |
-
"original_key": "observation.state",
|
| 60 |
-
"start": 56,
|
| 61 |
-
"end": 62
|
| 62 |
-
},
|
| 63 |
-
"index_l_pos": {
|
| 64 |
-
"original_key": "observation.state",
|
| 65 |
-
"start": 62,
|
| 66 |
-
"end": 65
|
| 67 |
-
},
|
| 68 |
-
"index_l_rot6d": {
|
| 69 |
-
"original_key": "observation.state",
|
| 70 |
-
"start": 65,
|
| 71 |
-
"end": 71
|
| 72 |
-
},
|
| 73 |
-
"middle_l_pos": {
|
| 74 |
-
"original_key": "observation.state",
|
| 75 |
-
"start": 71,
|
| 76 |
-
"end": 74
|
| 77 |
-
},
|
| 78 |
-
"middle_l_rot6d": {
|
| 79 |
-
"original_key": "observation.state",
|
| 80 |
-
"start": 74,
|
| 81 |
-
"end": 80
|
| 82 |
-
},
|
| 83 |
-
"ring_l_pos": {
|
| 84 |
-
"original_key": "observation.state",
|
| 85 |
-
"start": 80,
|
| 86 |
-
"end": 83
|
| 87 |
-
},
|
| 88 |
-
"ring_l_rot6d": {
|
| 89 |
-
"original_key": "observation.state",
|
| 90 |
-
"start": 83,
|
| 91 |
-
"end": 89
|
| 92 |
-
},
|
| 93 |
-
"pinky_l_pos": {
|
| 94 |
-
"original_key": "observation.state",
|
| 95 |
-
"start": 89,
|
| 96 |
-
"end": 92
|
| 97 |
-
},
|
| 98 |
-
"pinky_l_rot6d": {
|
| 99 |
-
"original_key": "observation.state",
|
| 100 |
-
"start": 92,
|
| 101 |
-
"end": 98
|
| 102 |
-
},
|
| 103 |
-
"wrist_r_pos": {
|
| 104 |
-
"original_key": "observation.state",
|
| 105 |
-
"start": 98,
|
| 106 |
-
"end": 101
|
| 107 |
-
},
|
| 108 |
-
"wrist_r_rot6d": {
|
| 109 |
-
"original_key": "observation.state",
|
| 110 |
-
"start": 101,
|
| 111 |
-
"end": 107
|
| 112 |
-
},
|
| 113 |
-
"thumb_r_pos": {
|
| 114 |
-
"original_key": "observation.state",
|
| 115 |
-
"start": 107,
|
| 116 |
-
"end": 110
|
| 117 |
-
},
|
| 118 |
-
"thumb_r_rot6d": {
|
| 119 |
-
"original_key": "observation.state",
|
| 120 |
-
"start": 110,
|
| 121 |
-
"end": 116
|
| 122 |
-
},
|
| 123 |
-
"index_r_pos": {
|
| 124 |
-
"original_key": "observation.state",
|
| 125 |
-
"start": 116,
|
| 126 |
-
"end": 119
|
| 127 |
-
},
|
| 128 |
-
"index_r_rot6d": {
|
| 129 |
-
"original_key": "observation.state",
|
| 130 |
-
"start": 119,
|
| 131 |
-
"end": 125
|
| 132 |
-
},
|
| 133 |
-
"middle_r_pos": {
|
| 134 |
-
"original_key": "observation.state",
|
| 135 |
-
"start": 125,
|
| 136 |
-
"end": 128
|
| 137 |
-
},
|
| 138 |
-
"middle_r_rot6d": {
|
| 139 |
-
"original_key": "observation.state",
|
| 140 |
-
"start": 128,
|
| 141 |
-
"end": 134
|
| 142 |
-
},
|
| 143 |
-
"ring_r_pos": {
|
| 144 |
-
"original_key": "observation.state",
|
| 145 |
-
"start": 134,
|
| 146 |
-
"end": 137
|
| 147 |
-
},
|
| 148 |
-
"ring_r_rot6d": {
|
| 149 |
-
"original_key": "observation.state",
|
| 150 |
-
"start": 137,
|
| 151 |
-
"end": 143
|
| 152 |
-
},
|
| 153 |
-
"pinky_r_pos": {
|
| 154 |
-
"original_key": "observation.state",
|
| 155 |
-
"start": 143,
|
| 156 |
-
"end": 146
|
| 157 |
-
},
|
| 158 |
-
"pinky_r_rot6d": {
|
| 159 |
-
"original_key": "observation.state",
|
| 160 |
-
"start": 146,
|
| 161 |
-
"end": 152
|
| 162 |
-
},
|
| 163 |
-
"camera_egoview_pos": {
|
| 164 |
-
"original_key": "observation.state",
|
| 165 |
-
"start": 152,
|
| 166 |
-
"end": 155
|
| 167 |
-
},
|
| 168 |
-
"camera_egoview_rot6d": {
|
| 169 |
-
"original_key": "observation.state",
|
| 170 |
-
"start": 155,
|
| 171 |
-
"end": 161
|
| 172 |
-
}
|
| 173 |
-
},
|
| 174 |
-
"action": {
|
| 175 |
-
"left_arm": {
|
| 176 |
-
"original_key": "action",
|
| 177 |
-
"start": 0,
|
| 178 |
-
"end": 7
|
| 179 |
-
},
|
| 180 |
-
"left_hand": {
|
| 181 |
-
"original_key": "action",
|
| 182 |
-
"start": 7,
|
| 183 |
-
"end": 13
|
| 184 |
-
},
|
| 185 |
-
"left_leg": {
|
| 186 |
-
"original_key": "action",
|
| 187 |
-
"start": 13,
|
| 188 |
-
"end": 19
|
| 189 |
-
},
|
| 190 |
-
"neck": {
|
| 191 |
-
"original_key": "action",
|
| 192 |
-
"start": 19,
|
| 193 |
-
"end": 22
|
| 194 |
-
},
|
| 195 |
-
"right_arm": {
|
| 196 |
-
"original_key": "action",
|
| 197 |
-
"start": 22,
|
| 198 |
-
"end": 29
|
| 199 |
-
},
|
| 200 |
-
"right_hand": {
|
| 201 |
-
"original_key": "action",
|
| 202 |
-
"start": 29,
|
| 203 |
-
"end": 35
|
| 204 |
-
},
|
| 205 |
-
"right_leg": {
|
| 206 |
-
"original_key": "action",
|
| 207 |
-
"start": 35,
|
| 208 |
-
"end": 41
|
| 209 |
-
},
|
| 210 |
-
"waist": {
|
| 211 |
-
"original_key": "action",
|
| 212 |
-
"start": 41,
|
| 213 |
-
"end": 44
|
| 214 |
-
},
|
| 215 |
-
"wrist_l_pos": {
|
| 216 |
-
"original_key": "action",
|
| 217 |
-
"start": 44,
|
| 218 |
-
"end": 47
|
| 219 |
-
},
|
| 220 |
-
"wrist_l_rot6d": {
|
| 221 |
-
"original_key": "action",
|
| 222 |
-
"start": 47,
|
| 223 |
-
"end": 53
|
| 224 |
-
},
|
| 225 |
-
"thumb_l_pos": {
|
| 226 |
-
"original_key": "action",
|
| 227 |
-
"start": 53,
|
| 228 |
-
"end": 56
|
| 229 |
-
},
|
| 230 |
-
"thumb_l_rot6d": {
|
| 231 |
-
"original_key": "action",
|
| 232 |
-
"start": 56,
|
| 233 |
-
"end": 62
|
| 234 |
-
},
|
| 235 |
-
"index_l_pos": {
|
| 236 |
-
"original_key": "action",
|
| 237 |
-
"start": 62,
|
| 238 |
-
"end": 65
|
| 239 |
-
},
|
| 240 |
-
"index_l_rot6d": {
|
| 241 |
-
"original_key": "action",
|
| 242 |
-
"start": 65,
|
| 243 |
-
"end": 71
|
| 244 |
-
},
|
| 245 |
-
"middle_l_pos": {
|
| 246 |
-
"original_key": "action",
|
| 247 |
-
"start": 71,
|
| 248 |
-
"end": 74
|
| 249 |
-
},
|
| 250 |
-
"middle_l_rot6d": {
|
| 251 |
-
"original_key": "action",
|
| 252 |
-
"start": 74,
|
| 253 |
-
"end": 80
|
| 254 |
-
},
|
| 255 |
-
"ring_l_pos": {
|
| 256 |
-
"original_key": "action",
|
| 257 |
-
"start": 80,
|
| 258 |
-
"end": 83
|
| 259 |
-
},
|
| 260 |
-
"ring_l_rot6d": {
|
| 261 |
-
"original_key": "action",
|
| 262 |
-
"start": 83,
|
| 263 |
-
"end": 89
|
| 264 |
-
},
|
| 265 |
-
"pinky_l_pos": {
|
| 266 |
-
"original_key": "action",
|
| 267 |
-
"start": 89,
|
| 268 |
-
"end": 92
|
| 269 |
-
},
|
| 270 |
-
"pinky_l_rot6d": {
|
| 271 |
-
"original_key": "action",
|
| 272 |
-
"start": 92,
|
| 273 |
-
"end": 98
|
| 274 |
-
},
|
| 275 |
-
"wrist_r_pos": {
|
| 276 |
-
"original_key": "action",
|
| 277 |
-
"start": 98,
|
| 278 |
-
"end": 101
|
| 279 |
-
},
|
| 280 |
-
"wrist_r_rot6d": {
|
| 281 |
-
"original_key": "action",
|
| 282 |
-
"start": 101,
|
| 283 |
-
"end": 107
|
| 284 |
-
},
|
| 285 |
-
"thumb_r_pos": {
|
| 286 |
-
"original_key": "action",
|
| 287 |
-
"start": 107,
|
| 288 |
-
"end": 110
|
| 289 |
-
},
|
| 290 |
-
"thumb_r_rot6d": {
|
| 291 |
-
"original_key": "action",
|
| 292 |
-
"start": 110,
|
| 293 |
-
"end": 116
|
| 294 |
-
},
|
| 295 |
-
"index_r_pos": {
|
| 296 |
-
"original_key": "action",
|
| 297 |
-
"start": 116,
|
| 298 |
-
"end": 119
|
| 299 |
-
},
|
| 300 |
-
"index_r_rot6d": {
|
| 301 |
-
"original_key": "action",
|
| 302 |
-
"start": 119,
|
| 303 |
-
"end": 125
|
| 304 |
-
},
|
| 305 |
-
"middle_r_pos": {
|
| 306 |
-
"original_key": "action",
|
| 307 |
-
"start": 125,
|
| 308 |
-
"end": 128
|
| 309 |
-
},
|
| 310 |
-
"middle_r_rot6d": {
|
| 311 |
-
"original_key": "action",
|
| 312 |
-
"start": 128,
|
| 313 |
-
"end": 134
|
| 314 |
-
},
|
| 315 |
-
"ring_r_pos": {
|
| 316 |
-
"original_key": "action",
|
| 317 |
-
"start": 134,
|
| 318 |
-
"end": 137
|
| 319 |
-
},
|
| 320 |
-
"ring_r_rot6d": {
|
| 321 |
-
"original_key": "action",
|
| 322 |
-
"start": 137,
|
| 323 |
-
"end": 143
|
| 324 |
-
},
|
| 325 |
-
"pinky_r_pos": {
|
| 326 |
-
"original_key": "action",
|
| 327 |
-
"start": 143,
|
| 328 |
-
"end": 146
|
| 329 |
-
},
|
| 330 |
-
"pinky_r_rot6d": {
|
| 331 |
-
"original_key": "action",
|
| 332 |
-
"start": 146,
|
| 333 |
-
"end": 152
|
| 334 |
-
},
|
| 335 |
-
"camera_egoview_pos": {
|
| 336 |
-
"original_key": "action",
|
| 337 |
-
"start": 152,
|
| 338 |
-
"end": 155
|
| 339 |
-
},
|
| 340 |
-
"camera_egoview_rot6d": {
|
| 341 |
-
"original_key": "action",
|
| 342 |
-
"start": 155,
|
| 343 |
-
"end": 161
|
| 344 |
-
}
|
| 345 |
-
},
|
| 346 |
-
"video": {
|
| 347 |
-
"ego_view": {
|
| 348 |
-
"original_key": "observation.images.ego_view"
|
| 349 |
-
}
|
| 350 |
-
},
|
| 351 |
-
"annotation": {
|
| 352 |
-
"human.fine_action": {
|
| 353 |
-
"original_key": "annotation.human.fine_action"
|
| 354 |
-
},
|
| 355 |
-
"human.coarse_action": {
|
| 356 |
-
"original_key": "annotation.human.coarse_action"
|
| 357 |
-
}
|
| 358 |
-
}
|
| 359 |
-
}
|
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|
metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToTieredbasketSplitA/meta/tasks.jsonl
DELETED
|
@@ -1,11 +0,0 @@
|
|
| 1 |
-
{"task_index": 0, "task": ""}
|
| 2 |
-
{"task_index": 1, "task": "unlocked_waist: pick the squash from the cutting board and place it in the tiered basket"}
|
| 3 |
-
{"task_index": 2, "task": "unlocked_waist: pick the croissant from the cutting board and place it in the tiered basket"}
|
| 4 |
-
{"task_index": 3, "task": "unlocked_waist: pick the tomato from the cutting board and place it in the tiered basket"}
|
| 5 |
-
{"task_index": 4, "task": "unlocked_waist: pick the bell pepper from the cutting board and place it in the tiered basket"}
|
| 6 |
-
{"task_index": 5, "task": "unlocked_waist: pick the pear from the cutting board and place it in the tiered basket"}
|
| 7 |
-
{"task_index": 6, "task": "unlocked_waist: pick the lemon from the cutting board and place it in the tiered basket"}
|
| 8 |
-
{"task_index": 7, "task": "unlocked_waist: pick the can from the cutting board and place it in the tiered basket"}
|
| 9 |
-
{"task_index": 8, "task": "unlocked_waist: pick the eggplant from the cutting board and place it in the tiered basket"}
|
| 10 |
-
{"task_index": 9, "task": "unlocked_waist: pick the cupcake from the cutting board and place it in the tiered basket"}
|
| 11 |
-
{"task_index": 10, "task": "unlocked_waist: pick the sweet potato from the cutting board and place it in the tiered basket"}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
metadata/gr1_unified.PosttrainPnPNovelFromPlacematToBasketSplitA/meta/episodes.jsonl
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
metadata/gr1_unified.PosttrainPnPNovelFromPlacematToBasketSplitA/meta/modality.json
DELETED
|
@@ -1,359 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"state": {
|
| 3 |
-
"left_arm": {
|
| 4 |
-
"original_key": "observation.state",
|
| 5 |
-
"start": 0,
|
| 6 |
-
"end": 7
|
| 7 |
-
},
|
| 8 |
-
"left_hand": {
|
| 9 |
-
"original_key": "observation.state",
|
| 10 |
-
"start": 7,
|
| 11 |
-
"end": 13
|
| 12 |
-
},
|
| 13 |
-
"left_leg": {
|
| 14 |
-
"original_key": "observation.state",
|
| 15 |
-
"start": 13,
|
| 16 |
-
"end": 19
|
| 17 |
-
},
|
| 18 |
-
"neck": {
|
| 19 |
-
"original_key": "observation.state",
|
| 20 |
-
"start": 19,
|
| 21 |
-
"end": 22
|
| 22 |
-
},
|
| 23 |
-
"right_arm": {
|
| 24 |
-
"original_key": "observation.state",
|
| 25 |
-
"start": 22,
|
| 26 |
-
"end": 29
|
| 27 |
-
},
|
| 28 |
-
"right_hand": {
|
| 29 |
-
"original_key": "observation.state",
|
| 30 |
-
"start": 29,
|
| 31 |
-
"end": 35
|
| 32 |
-
},
|
| 33 |
-
"right_leg": {
|
| 34 |
-
"original_key": "observation.state",
|
| 35 |
-
"start": 35,
|
| 36 |
-
"end": 41
|
| 37 |
-
},
|
| 38 |
-
"waist": {
|
| 39 |
-
"original_key": "observation.state",
|
| 40 |
-
"start": 41,
|
| 41 |
-
"end": 44
|
| 42 |
-
},
|
| 43 |
-
"wrist_l_pos": {
|
| 44 |
-
"original_key": "observation.state",
|
| 45 |
-
"start": 44,
|
| 46 |
-
"end": 47
|
| 47 |
-
},
|
| 48 |
-
"wrist_l_rot6d": {
|
| 49 |
-
"original_key": "observation.state",
|
| 50 |
-
"start": 47,
|
| 51 |
-
"end": 53
|
| 52 |
-
},
|
| 53 |
-
"thumb_l_pos": {
|
| 54 |
-
"original_key": "observation.state",
|
| 55 |
-
"start": 53,
|
| 56 |
-
"end": 56
|
| 57 |
-
},
|
| 58 |
-
"thumb_l_rot6d": {
|
| 59 |
-
"original_key": "observation.state",
|
| 60 |
-
"start": 56,
|
| 61 |
-
"end": 62
|
| 62 |
-
},
|
| 63 |
-
"index_l_pos": {
|
| 64 |
-
"original_key": "observation.state",
|
| 65 |
-
"start": 62,
|
| 66 |
-
"end": 65
|
| 67 |
-
},
|
| 68 |
-
"index_l_rot6d": {
|
| 69 |
-
"original_key": "observation.state",
|
| 70 |
-
"start": 65,
|
| 71 |
-
"end": 71
|
| 72 |
-
},
|
| 73 |
-
"middle_l_pos": {
|
| 74 |
-
"original_key": "observation.state",
|
| 75 |
-
"start": 71,
|
| 76 |
-
"end": 74
|
| 77 |
-
},
|
| 78 |
-
"middle_l_rot6d": {
|
| 79 |
-
"original_key": "observation.state",
|
| 80 |
-
"start": 74,
|
| 81 |
-
"end": 80
|
| 82 |
-
},
|
| 83 |
-
"ring_l_pos": {
|
| 84 |
-
"original_key": "observation.state",
|
| 85 |
-
"start": 80,
|
| 86 |
-
"end": 83
|
| 87 |
-
},
|
| 88 |
-
"ring_l_rot6d": {
|
| 89 |
-
"original_key": "observation.state",
|
| 90 |
-
"start": 83,
|
| 91 |
-
"end": 89
|
| 92 |
-
},
|
| 93 |
-
"pinky_l_pos": {
|
| 94 |
-
"original_key": "observation.state",
|
| 95 |
-
"start": 89,
|
| 96 |
-
"end": 92
|
| 97 |
-
},
|
| 98 |
-
"pinky_l_rot6d": {
|
| 99 |
-
"original_key": "observation.state",
|
| 100 |
-
"start": 92,
|
| 101 |
-
"end": 98
|
| 102 |
-
},
|
| 103 |
-
"wrist_r_pos": {
|
| 104 |
-
"original_key": "observation.state",
|
| 105 |
-
"start": 98,
|
| 106 |
-
"end": 101
|
| 107 |
-
},
|
| 108 |
-
"wrist_r_rot6d": {
|
| 109 |
-
"original_key": "observation.state",
|
| 110 |
-
"start": 101,
|
| 111 |
-
"end": 107
|
| 112 |
-
},
|
| 113 |
-
"thumb_r_pos": {
|
| 114 |
-
"original_key": "observation.state",
|
| 115 |
-
"start": 107,
|
| 116 |
-
"end": 110
|
| 117 |
-
},
|
| 118 |
-
"thumb_r_rot6d": {
|
| 119 |
-
"original_key": "observation.state",
|
| 120 |
-
"start": 110,
|
| 121 |
-
"end": 116
|
| 122 |
-
},
|
| 123 |
-
"index_r_pos": {
|
| 124 |
-
"original_key": "observation.state",
|
| 125 |
-
"start": 116,
|
| 126 |
-
"end": 119
|
| 127 |
-
},
|
| 128 |
-
"index_r_rot6d": {
|
| 129 |
-
"original_key": "observation.state",
|
| 130 |
-
"start": 119,
|
| 131 |
-
"end": 125
|
| 132 |
-
},
|
| 133 |
-
"middle_r_pos": {
|
| 134 |
-
"original_key": "observation.state",
|
| 135 |
-
"start": 125,
|
| 136 |
-
"end": 128
|
| 137 |
-
},
|
| 138 |
-
"middle_r_rot6d": {
|
| 139 |
-
"original_key": "observation.state",
|
| 140 |
-
"start": 128,
|
| 141 |
-
"end": 134
|
| 142 |
-
},
|
| 143 |
-
"ring_r_pos": {
|
| 144 |
-
"original_key": "observation.state",
|
| 145 |
-
"start": 134,
|
| 146 |
-
"end": 137
|
| 147 |
-
},
|
| 148 |
-
"ring_r_rot6d": {
|
| 149 |
-
"original_key": "observation.state",
|
| 150 |
-
"start": 137,
|
| 151 |
-
"end": 143
|
| 152 |
-
},
|
| 153 |
-
"pinky_r_pos": {
|
| 154 |
-
"original_key": "observation.state",
|
| 155 |
-
"start": 143,
|
| 156 |
-
"end": 146
|
| 157 |
-
},
|
| 158 |
-
"pinky_r_rot6d": {
|
| 159 |
-
"original_key": "observation.state",
|
| 160 |
-
"start": 146,
|
| 161 |
-
"end": 152
|
| 162 |
-
},
|
| 163 |
-
"camera_egoview_pos": {
|
| 164 |
-
"original_key": "observation.state",
|
| 165 |
-
"start": 152,
|
| 166 |
-
"end": 155
|
| 167 |
-
},
|
| 168 |
-
"camera_egoview_rot6d": {
|
| 169 |
-
"original_key": "observation.state",
|
| 170 |
-
"start": 155,
|
| 171 |
-
"end": 161
|
| 172 |
-
}
|
| 173 |
-
},
|
| 174 |
-
"action": {
|
| 175 |
-
"left_arm": {
|
| 176 |
-
"original_key": "action",
|
| 177 |
-
"start": 0,
|
| 178 |
-
"end": 7
|
| 179 |
-
},
|
| 180 |
-
"left_hand": {
|
| 181 |
-
"original_key": "action",
|
| 182 |
-
"start": 7,
|
| 183 |
-
"end": 13
|
| 184 |
-
},
|
| 185 |
-
"left_leg": {
|
| 186 |
-
"original_key": "action",
|
| 187 |
-
"start": 13,
|
| 188 |
-
"end": 19
|
| 189 |
-
},
|
| 190 |
-
"neck": {
|
| 191 |
-
"original_key": "action",
|
| 192 |
-
"start": 19,
|
| 193 |
-
"end": 22
|
| 194 |
-
},
|
| 195 |
-
"right_arm": {
|
| 196 |
-
"original_key": "action",
|
| 197 |
-
"start": 22,
|
| 198 |
-
"end": 29
|
| 199 |
-
},
|
| 200 |
-
"right_hand": {
|
| 201 |
-
"original_key": "action",
|
| 202 |
-
"start": 29,
|
| 203 |
-
"end": 35
|
| 204 |
-
},
|
| 205 |
-
"right_leg": {
|
| 206 |
-
"original_key": "action",
|
| 207 |
-
"start": 35,
|
| 208 |
-
"end": 41
|
| 209 |
-
},
|
| 210 |
-
"waist": {
|
| 211 |
-
"original_key": "action",
|
| 212 |
-
"start": 41,
|
| 213 |
-
"end": 44
|
| 214 |
-
},
|
| 215 |
-
"wrist_l_pos": {
|
| 216 |
-
"original_key": "action",
|
| 217 |
-
"start": 44,
|
| 218 |
-
"end": 47
|
| 219 |
-
},
|
| 220 |
-
"wrist_l_rot6d": {
|
| 221 |
-
"original_key": "action",
|
| 222 |
-
"start": 47,
|
| 223 |
-
"end": 53
|
| 224 |
-
},
|
| 225 |
-
"thumb_l_pos": {
|
| 226 |
-
"original_key": "action",
|
| 227 |
-
"start": 53,
|
| 228 |
-
"end": 56
|
| 229 |
-
},
|
| 230 |
-
"thumb_l_rot6d": {
|
| 231 |
-
"original_key": "action",
|
| 232 |
-
"start": 56,
|
| 233 |
-
"end": 62
|
| 234 |
-
},
|
| 235 |
-
"index_l_pos": {
|
| 236 |
-
"original_key": "action",
|
| 237 |
-
"start": 62,
|
| 238 |
-
"end": 65
|
| 239 |
-
},
|
| 240 |
-
"index_l_rot6d": {
|
| 241 |
-
"original_key": "action",
|
| 242 |
-
"start": 65,
|
| 243 |
-
"end": 71
|
| 244 |
-
},
|
| 245 |
-
"middle_l_pos": {
|
| 246 |
-
"original_key": "action",
|
| 247 |
-
"start": 71,
|
| 248 |
-
"end": 74
|
| 249 |
-
},
|
| 250 |
-
"middle_l_rot6d": {
|
| 251 |
-
"original_key": "action",
|
| 252 |
-
"start": 74,
|
| 253 |
-
"end": 80
|
| 254 |
-
},
|
| 255 |
-
"ring_l_pos": {
|
| 256 |
-
"original_key": "action",
|
| 257 |
-
"start": 80,
|
| 258 |
-
"end": 83
|
| 259 |
-
},
|
| 260 |
-
"ring_l_rot6d": {
|
| 261 |
-
"original_key": "action",
|
| 262 |
-
"start": 83,
|
| 263 |
-
"end": 89
|
| 264 |
-
},
|
| 265 |
-
"pinky_l_pos": {
|
| 266 |
-
"original_key": "action",
|
| 267 |
-
"start": 89,
|
| 268 |
-
"end": 92
|
| 269 |
-
},
|
| 270 |
-
"pinky_l_rot6d": {
|
| 271 |
-
"original_key": "action",
|
| 272 |
-
"start": 92,
|
| 273 |
-
"end": 98
|
| 274 |
-
},
|
| 275 |
-
"wrist_r_pos": {
|
| 276 |
-
"original_key": "action",
|
| 277 |
-
"start": 98,
|
| 278 |
-
"end": 101
|
| 279 |
-
},
|
| 280 |
-
"wrist_r_rot6d": {
|
| 281 |
-
"original_key": "action",
|
| 282 |
-
"start": 101,
|
| 283 |
-
"end": 107
|
| 284 |
-
},
|
| 285 |
-
"thumb_r_pos": {
|
| 286 |
-
"original_key": "action",
|
| 287 |
-
"start": 107,
|
| 288 |
-
"end": 110
|
| 289 |
-
},
|
| 290 |
-
"thumb_r_rot6d": {
|
| 291 |
-
"original_key": "action",
|
| 292 |
-
"start": 110,
|
| 293 |
-
"end": 116
|
| 294 |
-
},
|
| 295 |
-
"index_r_pos": {
|
| 296 |
-
"original_key": "action",
|
| 297 |
-
"start": 116,
|
| 298 |
-
"end": 119
|
| 299 |
-
},
|
| 300 |
-
"index_r_rot6d": {
|
| 301 |
-
"original_key": "action",
|
| 302 |
-
"start": 119,
|
| 303 |
-
"end": 125
|
| 304 |
-
},
|
| 305 |
-
"middle_r_pos": {
|
| 306 |
-
"original_key": "action",
|
| 307 |
-
"start": 125,
|
| 308 |
-
"end": 128
|
| 309 |
-
},
|
| 310 |
-
"middle_r_rot6d": {
|
| 311 |
-
"original_key": "action",
|
| 312 |
-
"start": 128,
|
| 313 |
-
"end": 134
|
| 314 |
-
},
|
| 315 |
-
"ring_r_pos": {
|
| 316 |
-
"original_key": "action",
|
| 317 |
-
"start": 134,
|
| 318 |
-
"end": 137
|
| 319 |
-
},
|
| 320 |
-
"ring_r_rot6d": {
|
| 321 |
-
"original_key": "action",
|
| 322 |
-
"start": 137,
|
| 323 |
-
"end": 143
|
| 324 |
-
},
|
| 325 |
-
"pinky_r_pos": {
|
| 326 |
-
"original_key": "action",
|
| 327 |
-
"start": 143,
|
| 328 |
-
"end": 146
|
| 329 |
-
},
|
| 330 |
-
"pinky_r_rot6d": {
|
| 331 |
-
"original_key": "action",
|
| 332 |
-
"start": 146,
|
| 333 |
-
"end": 152
|
| 334 |
-
},
|
| 335 |
-
"camera_egoview_pos": {
|
| 336 |
-
"original_key": "action",
|
| 337 |
-
"start": 152,
|
| 338 |
-
"end": 155
|
| 339 |
-
},
|
| 340 |
-
"camera_egoview_rot6d": {
|
| 341 |
-
"original_key": "action",
|
| 342 |
-
"start": 155,
|
| 343 |
-
"end": 161
|
| 344 |
-
}
|
| 345 |
-
},
|
| 346 |
-
"video": {
|
| 347 |
-
"ego_view": {
|
| 348 |
-
"original_key": "observation.images.ego_view"
|
| 349 |
-
}
|
| 350 |
-
},
|
| 351 |
-
"annotation": {
|
| 352 |
-
"human.fine_action": {
|
| 353 |
-
"original_key": "annotation.human.fine_action"
|
| 354 |
-
},
|
| 355 |
-
"human.coarse_action": {
|
| 356 |
-
"original_key": "annotation.human.coarse_action"
|
| 357 |
-
}
|
| 358 |
-
}
|
| 359 |
-
}
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|
metadata/gr1_unified.PosttrainPnPNovelFromPlacematToBasketSplitA/meta/tasks.jsonl
DELETED
|
@@ -1,11 +0,0 @@
|
|
| 1 |
-
{"task_index": 0, "task": ""}
|
| 2 |
-
{"task_index": 1, "task": "unlocked_waist: pick the croissant from the placemat and place it in the basket"}
|
| 3 |
-
{"task_index": 2, "task": "unlocked_waist: pick the can from the placemat and place it in the basket"}
|
| 4 |
-
{"task_index": 3, "task": "unlocked_waist: pick the bell pepper from the placemat and place it in the basket"}
|
| 5 |
-
{"task_index": 4, "task": "unlocked_waist: pick the eggplant from the placemat and place it in the basket"}
|
| 6 |
-
{"task_index": 5, "task": "unlocked_waist: pick the squash from the placemat and place it in the basket"}
|
| 7 |
-
{"task_index": 6, "task": "unlocked_waist: pick the lemon from the placemat and place it in the basket"}
|
| 8 |
-
{"task_index": 7, "task": "unlocked_waist: pick the tomato from the placemat and place it in the basket"}
|
| 9 |
-
{"task_index": 8, "task": "unlocked_waist: pick the sweet potato from the placemat and place it in the basket"}
|
| 10 |
-
{"task_index": 9, "task": "unlocked_waist: pick the cupcake from the placemat and place it in the basket"}
|
| 11 |
-
{"task_index": 10, "task": "unlocked_waist: pick the pear from the placemat and place it in the basket"}
|
|
|
|
|
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|
metadata/gr1_unified.PosttrainPnPNovelFromPlacematToBowlSplitA/meta/episodes.jsonl
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
metadata/gr1_unified.PosttrainPnPNovelFromPlacematToBowlSplitA/meta/modality.json
DELETED
|
@@ -1,359 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"state": {
|
| 3 |
-
"left_arm": {
|
| 4 |
-
"original_key": "observation.state",
|
| 5 |
-
"start": 0,
|
| 6 |
-
"end": 7
|
| 7 |
-
},
|
| 8 |
-
"left_hand": {
|
| 9 |
-
"original_key": "observation.state",
|
| 10 |
-
"start": 7,
|
| 11 |
-
"end": 13
|
| 12 |
-
},
|
| 13 |
-
"left_leg": {
|
| 14 |
-
"original_key": "observation.state",
|
| 15 |
-
"start": 13,
|
| 16 |
-
"end": 19
|
| 17 |
-
},
|
| 18 |
-
"neck": {
|
| 19 |
-
"original_key": "observation.state",
|
| 20 |
-
"start": 19,
|
| 21 |
-
"end": 22
|
| 22 |
-
},
|
| 23 |
-
"right_arm": {
|
| 24 |
-
"original_key": "observation.state",
|
| 25 |
-
"start": 22,
|
| 26 |
-
"end": 29
|
| 27 |
-
},
|
| 28 |
-
"right_hand": {
|
| 29 |
-
"original_key": "observation.state",
|
| 30 |
-
"start": 29,
|
| 31 |
-
"end": 35
|
| 32 |
-
},
|
| 33 |
-
"right_leg": {
|
| 34 |
-
"original_key": "observation.state",
|
| 35 |
-
"start": 35,
|
| 36 |
-
"end": 41
|
| 37 |
-
},
|
| 38 |
-
"waist": {
|
| 39 |
-
"original_key": "observation.state",
|
| 40 |
-
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| 41 |
-
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|
| 42 |
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| 43 |
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| 44 |
-
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| 45 |
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|
| 46 |
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|
| 47 |
-
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| 48 |
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|
| 49 |
-
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| 50 |
-
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|
| 51 |
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|
| 52 |
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| 53 |
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|
| 54 |
-
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| 55 |
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| 56 |
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|
| 57 |
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| 58 |
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|
| 59 |
-
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| 60 |
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| 61 |
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|
| 62 |
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| 63 |
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|
| 64 |
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| 65 |
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| 66 |
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|
| 67 |
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| 68 |
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|
| 69 |
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| 70 |
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| 71 |
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|
| 72 |
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| 73 |
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|
| 74 |
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| 75 |
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| 76 |
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| 77 |
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| 78 |
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|
| 79 |
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| 80 |
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| 81 |
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| 82 |
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| 83 |
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|
| 84 |
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| 85 |
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| 86 |
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|
| 87 |
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| 88 |
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|
| 89 |
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| 90 |
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| 91 |
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|
| 92 |
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| 93 |
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|
| 94 |
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| 95 |
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|
| 96 |
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| 97 |
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| 98 |
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|
| 99 |
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| 100 |
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| 101 |
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|
| 102 |
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| 103 |
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|
| 104 |
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| 105 |
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| 106 |
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| 107 |
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| 108 |
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| 109 |
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| 110 |
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| 111 |
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|
| 112 |
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| 113 |
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|
| 114 |
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| 115 |
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| 116 |
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|
| 117 |
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| 118 |
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|
| 119 |
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| 120 |
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| 121 |
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|
| 122 |
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| 123 |
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|
| 124 |
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| 125 |
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|
| 126 |
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|
| 127 |
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| 128 |
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|
| 129 |
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| 130 |
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|
| 131 |
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|
| 132 |
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| 133 |
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|
| 134 |
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| 135 |
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|
| 136 |
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|
| 137 |
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| 138 |
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|
| 139 |
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| 140 |
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| 141 |
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|
| 142 |
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| 143 |
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|
| 144 |
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| 145 |
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| 146 |
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|
| 147 |
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| 148 |
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|
| 149 |
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| 150 |
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| 151 |
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|
| 152 |
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| 153 |
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|
| 154 |
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| 155 |
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| 156 |
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| 157 |
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| 158 |
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|
| 159 |
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| 160 |
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| 161 |
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|
| 162 |
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| 163 |
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|
| 164 |
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| 165 |
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| 166 |
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| 167 |
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| 168 |
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| 169 |
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| 170 |
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| 171 |
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|
| 172 |
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|
| 173 |
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| 174 |
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|
| 175 |
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| 176 |
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| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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| 181 |
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| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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| 187 |
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|
| 188 |
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|
| 189 |
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| 190 |
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|
| 191 |
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| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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| 206 |
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| 207 |
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| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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| 212 |
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|
| 213 |
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|
| 214 |
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| 215 |
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|
| 216 |
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| 217 |
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|
| 218 |
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|
| 219 |
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| 220 |
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| 221 |
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| 222 |
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| 223 |
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|
| 224 |
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| 225 |
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| 226 |
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| 227 |
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| 228 |
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|
| 229 |
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| 230 |
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| 231 |
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| 232 |
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| 233 |
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|
| 234 |
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| 235 |
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|
| 236 |
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| 237 |
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|
| 238 |
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|
| 239 |
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| 240 |
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|
| 241 |
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| 242 |
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| 243 |
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|
| 244 |
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| 245 |
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| 246 |
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| 247 |
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| 248 |
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|
| 249 |
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| 250 |
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| 251 |
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| 252 |
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| 253 |
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|
| 254 |
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| 255 |
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| 256 |
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| 257 |
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|
| 258 |
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|
| 259 |
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| 260 |
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| 261 |
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| 262 |
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| 263 |
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|
| 264 |
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| 265 |
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| 266 |
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| 267 |
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| 269 |
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| 270 |
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| 272 |
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| 273 |
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|
| 274 |
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| 275 |
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| 276 |
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| 277 |
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| 278 |
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|
| 279 |
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| 280 |
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| 282 |
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| 283 |
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|
| 284 |
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| 285 |
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| 286 |
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| 287 |
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| 288 |
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|
| 289 |
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| 290 |
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|
| 291 |
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|
| 292 |
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|
| 293 |
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|
| 294 |
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|
| 295 |
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|
| 296 |
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|
| 297 |
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|
| 298 |
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|
| 299 |
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|
| 300 |
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|
| 301 |
-
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|
| 302 |
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|
| 303 |
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|
| 304 |
-
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|
| 305 |
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|
| 306 |
-
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|
| 307 |
-
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|
| 308 |
-
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|
| 309 |
-
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|
| 310 |
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|
| 311 |
-
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|
| 312 |
-
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|
| 313 |
-
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|
| 314 |
-
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|
| 315 |
-
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|
| 316 |
-
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|
| 317 |
-
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|
| 318 |
-
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|
| 319 |
-
},
|
| 320 |
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|
| 321 |
-
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|
| 322 |
-
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|
| 323 |
-
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|
| 324 |
-
},
|
| 325 |
-
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|
| 326 |
-
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|
| 327 |
-
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|
| 328 |
-
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|
| 329 |
-
},
|
| 330 |
-
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|
| 331 |
-
"original_key": "action",
|
| 332 |
-
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|
| 333 |
-
"end": 152
|
| 334 |
-
},
|
| 335 |
-
"camera_egoview_pos": {
|
| 336 |
-
"original_key": "action",
|
| 337 |
-
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|
| 338 |
-
"end": 155
|
| 339 |
-
},
|
| 340 |
-
"camera_egoview_rot6d": {
|
| 341 |
-
"original_key": "action",
|
| 342 |
-
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|
| 343 |
-
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|
| 344 |
-
}
|
| 345 |
-
},
|
| 346 |
-
"video": {
|
| 347 |
-
"ego_view": {
|
| 348 |
-
"original_key": "observation.images.ego_view"
|
| 349 |
-
}
|
| 350 |
-
},
|
| 351 |
-
"annotation": {
|
| 352 |
-
"human.fine_action": {
|
| 353 |
-
"original_key": "annotation.human.fine_action"
|
| 354 |
-
},
|
| 355 |
-
"human.coarse_action": {
|
| 356 |
-
"original_key": "annotation.human.coarse_action"
|
| 357 |
-
}
|
| 358 |
-
}
|
| 359 |
-
}
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|
metadata/gr1_unified.PosttrainPnPNovelFromPlacematToBowlSplitA/meta/tasks.jsonl
DELETED
|
@@ -1,11 +0,0 @@
|
|
| 1 |
-
{"task_index": 0, "task": ""}
|
| 2 |
-
{"task_index": 1, "task": "unlocked_waist: pick the squash from the placemat and place it in the bowl"}
|
| 3 |
-
{"task_index": 2, "task": "unlocked_waist: pick the cupcake from the placemat and place it in the bowl"}
|
| 4 |
-
{"task_index": 3, "task": "unlocked_waist: pick the bell pepper from the placemat and place it in the bowl"}
|
| 5 |
-
{"task_index": 4, "task": "unlocked_waist: pick the tomato from the placemat and place it in the bowl"}
|
| 6 |
-
{"task_index": 5, "task": "unlocked_waist: pick the lemon from the placemat and place it in the bowl"}
|
| 7 |
-
{"task_index": 6, "task": "unlocked_waist: pick the eggplant from the placemat and place it in the bowl"}
|
| 8 |
-
{"task_index": 7, "task": "unlocked_waist: pick the sweet potato from the placemat and place it in the bowl"}
|
| 9 |
-
{"task_index": 8, "task": "unlocked_waist: pick the can from the placemat and place it in the bowl"}
|
| 10 |
-
{"task_index": 9, "task": "unlocked_waist: pick the croissant from the placemat and place it in the bowl"}
|
| 11 |
-
{"task_index": 10, "task": "unlocked_waist: pick the pear from the placemat and place it in the bowl"}
|
|
|
|
|
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|
|
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|
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|
|
|
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|
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|
metadata/gr1_unified.PosttrainPnPNovelFromPlacematToPlateSplitA/meta/episodes.jsonl
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
metadata/gr1_unified.PosttrainPnPNovelFromPlacematToPlateSplitA/meta/modality.json
DELETED
|
@@ -1,359 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"state": {
|
| 3 |
-
"left_arm": {
|
| 4 |
-
"original_key": "observation.state",
|
| 5 |
-
"start": 0,
|
| 6 |
-
"end": 7
|
| 7 |
-
},
|
| 8 |
-
"left_hand": {
|
| 9 |
-
"original_key": "observation.state",
|
| 10 |
-
"start": 7,
|
| 11 |
-
"end": 13
|
| 12 |
-
},
|
| 13 |
-
"left_leg": {
|
| 14 |
-
"original_key": "observation.state",
|
| 15 |
-
"start": 13,
|
| 16 |
-
"end": 19
|
| 17 |
-
},
|
| 18 |
-
"neck": {
|
| 19 |
-
"original_key": "observation.state",
|
| 20 |
-
"start": 19,
|
| 21 |
-
"end": 22
|
| 22 |
-
},
|
| 23 |
-
"right_arm": {
|
| 24 |
-
"original_key": "observation.state",
|
| 25 |
-
"start": 22,
|
| 26 |
-
"end": 29
|
| 27 |
-
},
|
| 28 |
-
"right_hand": {
|
| 29 |
-
"original_key": "observation.state",
|
| 30 |
-
"start": 29,
|
| 31 |
-
"end": 35
|
| 32 |
-
},
|
| 33 |
-
"right_leg": {
|
| 34 |
-
"original_key": "observation.state",
|
| 35 |
-
"start": 35,
|
| 36 |
-
"end": 41
|
| 37 |
-
},
|
| 38 |
-
"waist": {
|
| 39 |
-
"original_key": "observation.state",
|
| 40 |
-
"start": 41,
|
| 41 |
-
"end": 44
|
| 42 |
-
},
|
| 43 |
-
"wrist_l_pos": {
|
| 44 |
-
"original_key": "observation.state",
|
| 45 |
-
"start": 44,
|
| 46 |
-
"end": 47
|
| 47 |
-
},
|
| 48 |
-
"wrist_l_rot6d": {
|
| 49 |
-
"original_key": "observation.state",
|
| 50 |
-
"start": 47,
|
| 51 |
-
"end": 53
|
| 52 |
-
},
|
| 53 |
-
"thumb_l_pos": {
|
| 54 |
-
"original_key": "observation.state",
|
| 55 |
-
"start": 53,
|
| 56 |
-
"end": 56
|
| 57 |
-
},
|
| 58 |
-
"thumb_l_rot6d": {
|
| 59 |
-
"original_key": "observation.state",
|
| 60 |
-
"start": 56,
|
| 61 |
-
"end": 62
|
| 62 |
-
},
|
| 63 |
-
"index_l_pos": {
|
| 64 |
-
"original_key": "observation.state",
|
| 65 |
-
"start": 62,
|
| 66 |
-
"end": 65
|
| 67 |
-
},
|
| 68 |
-
"index_l_rot6d": {
|
| 69 |
-
"original_key": "observation.state",
|
| 70 |
-
"start": 65,
|
| 71 |
-
"end": 71
|
| 72 |
-
},
|
| 73 |
-
"middle_l_pos": {
|
| 74 |
-
"original_key": "observation.state",
|
| 75 |
-
"start": 71,
|
| 76 |
-
"end": 74
|
| 77 |
-
},
|
| 78 |
-
"middle_l_rot6d": {
|
| 79 |
-
"original_key": "observation.state",
|
| 80 |
-
"start": 74,
|
| 81 |
-
"end": 80
|
| 82 |
-
},
|
| 83 |
-
"ring_l_pos": {
|
| 84 |
-
"original_key": "observation.state",
|
| 85 |
-
"start": 80,
|
| 86 |
-
"end": 83
|
| 87 |
-
},
|
| 88 |
-
"ring_l_rot6d": {
|
| 89 |
-
"original_key": "observation.state",
|
| 90 |
-
"start": 83,
|
| 91 |
-
"end": 89
|
| 92 |
-
},
|
| 93 |
-
"pinky_l_pos": {
|
| 94 |
-
"original_key": "observation.state",
|
| 95 |
-
"start": 89,
|
| 96 |
-
"end": 92
|
| 97 |
-
},
|
| 98 |
-
"pinky_l_rot6d": {
|
| 99 |
-
"original_key": "observation.state",
|
| 100 |
-
"start": 92,
|
| 101 |
-
"end": 98
|
| 102 |
-
},
|
| 103 |
-
"wrist_r_pos": {
|
| 104 |
-
"original_key": "observation.state",
|
| 105 |
-
"start": 98,
|
| 106 |
-
"end": 101
|
| 107 |
-
},
|
| 108 |
-
"wrist_r_rot6d": {
|
| 109 |
-
"original_key": "observation.state",
|
| 110 |
-
"start": 101,
|
| 111 |
-
"end": 107
|
| 112 |
-
},
|
| 113 |
-
"thumb_r_pos": {
|
| 114 |
-
"original_key": "observation.state",
|
| 115 |
-
"start": 107,
|
| 116 |
-
"end": 110
|
| 117 |
-
},
|
| 118 |
-
"thumb_r_rot6d": {
|
| 119 |
-
"original_key": "observation.state",
|
| 120 |
-
"start": 110,
|
| 121 |
-
"end": 116
|
| 122 |
-
},
|
| 123 |
-
"index_r_pos": {
|
| 124 |
-
"original_key": "observation.state",
|
| 125 |
-
"start": 116,
|
| 126 |
-
"end": 119
|
| 127 |
-
},
|
| 128 |
-
"index_r_rot6d": {
|
| 129 |
-
"original_key": "observation.state",
|
| 130 |
-
"start": 119,
|
| 131 |
-
"end": 125
|
| 132 |
-
},
|
| 133 |
-
"middle_r_pos": {
|
| 134 |
-
"original_key": "observation.state",
|
| 135 |
-
"start": 125,
|
| 136 |
-
"end": 128
|
| 137 |
-
},
|
| 138 |
-
"middle_r_rot6d": {
|
| 139 |
-
"original_key": "observation.state",
|
| 140 |
-
"start": 128,
|
| 141 |
-
"end": 134
|
| 142 |
-
},
|
| 143 |
-
"ring_r_pos": {
|
| 144 |
-
"original_key": "observation.state",
|
| 145 |
-
"start": 134,
|
| 146 |
-
"end": 137
|
| 147 |
-
},
|
| 148 |
-
"ring_r_rot6d": {
|
| 149 |
-
"original_key": "observation.state",
|
| 150 |
-
"start": 137,
|
| 151 |
-
"end": 143
|
| 152 |
-
},
|
| 153 |
-
"pinky_r_pos": {
|
| 154 |
-
"original_key": "observation.state",
|
| 155 |
-
"start": 143,
|
| 156 |
-
"end": 146
|
| 157 |
-
},
|
| 158 |
-
"pinky_r_rot6d": {
|
| 159 |
-
"original_key": "observation.state",
|
| 160 |
-
"start": 146,
|
| 161 |
-
"end": 152
|
| 162 |
-
},
|
| 163 |
-
"camera_egoview_pos": {
|
| 164 |
-
"original_key": "observation.state",
|
| 165 |
-
"start": 152,
|
| 166 |
-
"end": 155
|
| 167 |
-
},
|
| 168 |
-
"camera_egoview_rot6d": {
|
| 169 |
-
"original_key": "observation.state",
|
| 170 |
-
"start": 155,
|
| 171 |
-
"end": 161
|
| 172 |
-
}
|
| 173 |
-
},
|
| 174 |
-
"action": {
|
| 175 |
-
"left_arm": {
|
| 176 |
-
"original_key": "action",
|
| 177 |
-
"start": 0,
|
| 178 |
-
"end": 7
|
| 179 |
-
},
|
| 180 |
-
"left_hand": {
|
| 181 |
-
"original_key": "action",
|
| 182 |
-
"start": 7,
|
| 183 |
-
"end": 13
|
| 184 |
-
},
|
| 185 |
-
"left_leg": {
|
| 186 |
-
"original_key": "action",
|
| 187 |
-
"start": 13,
|
| 188 |
-
"end": 19
|
| 189 |
-
},
|
| 190 |
-
"neck": {
|
| 191 |
-
"original_key": "action",
|
| 192 |
-
"start": 19,
|
| 193 |
-
"end": 22
|
| 194 |
-
},
|
| 195 |
-
"right_arm": {
|
| 196 |
-
"original_key": "action",
|
| 197 |
-
"start": 22,
|
| 198 |
-
"end": 29
|
| 199 |
-
},
|
| 200 |
-
"right_hand": {
|
| 201 |
-
"original_key": "action",
|
| 202 |
-
"start": 29,
|
| 203 |
-
"end": 35
|
| 204 |
-
},
|
| 205 |
-
"right_leg": {
|
| 206 |
-
"original_key": "action",
|
| 207 |
-
"start": 35,
|
| 208 |
-
"end": 41
|
| 209 |
-
},
|
| 210 |
-
"waist": {
|
| 211 |
-
"original_key": "action",
|
| 212 |
-
"start": 41,
|
| 213 |
-
"end": 44
|
| 214 |
-
},
|
| 215 |
-
"wrist_l_pos": {
|
| 216 |
-
"original_key": "action",
|
| 217 |
-
"start": 44,
|
| 218 |
-
"end": 47
|
| 219 |
-
},
|
| 220 |
-
"wrist_l_rot6d": {
|
| 221 |
-
"original_key": "action",
|
| 222 |
-
"start": 47,
|
| 223 |
-
"end": 53
|
| 224 |
-
},
|
| 225 |
-
"thumb_l_pos": {
|
| 226 |
-
"original_key": "action",
|
| 227 |
-
"start": 53,
|
| 228 |
-
"end": 56
|
| 229 |
-
},
|
| 230 |
-
"thumb_l_rot6d": {
|
| 231 |
-
"original_key": "action",
|
| 232 |
-
"start": 56,
|
| 233 |
-
"end": 62
|
| 234 |
-
},
|
| 235 |
-
"index_l_pos": {
|
| 236 |
-
"original_key": "action",
|
| 237 |
-
"start": 62,
|
| 238 |
-
"end": 65
|
| 239 |
-
},
|
| 240 |
-
"index_l_rot6d": {
|
| 241 |
-
"original_key": "action",
|
| 242 |
-
"start": 65,
|
| 243 |
-
"end": 71
|
| 244 |
-
},
|
| 245 |
-
"middle_l_pos": {
|
| 246 |
-
"original_key": "action",
|
| 247 |
-
"start": 71,
|
| 248 |
-
"end": 74
|
| 249 |
-
},
|
| 250 |
-
"middle_l_rot6d": {
|
| 251 |
-
"original_key": "action",
|
| 252 |
-
"start": 74,
|
| 253 |
-
"end": 80
|
| 254 |
-
},
|
| 255 |
-
"ring_l_pos": {
|
| 256 |
-
"original_key": "action",
|
| 257 |
-
"start": 80,
|
| 258 |
-
"end": 83
|
| 259 |
-
},
|
| 260 |
-
"ring_l_rot6d": {
|
| 261 |
-
"original_key": "action",
|
| 262 |
-
"start": 83,
|
| 263 |
-
"end": 89
|
| 264 |
-
},
|
| 265 |
-
"pinky_l_pos": {
|
| 266 |
-
"original_key": "action",
|
| 267 |
-
"start": 89,
|
| 268 |
-
"end": 92
|
| 269 |
-
},
|
| 270 |
-
"pinky_l_rot6d": {
|
| 271 |
-
"original_key": "action",
|
| 272 |
-
"start": 92,
|
| 273 |
-
"end": 98
|
| 274 |
-
},
|
| 275 |
-
"wrist_r_pos": {
|
| 276 |
-
"original_key": "action",
|
| 277 |
-
"start": 98,
|
| 278 |
-
"end": 101
|
| 279 |
-
},
|
| 280 |
-
"wrist_r_rot6d": {
|
| 281 |
-
"original_key": "action",
|
| 282 |
-
"start": 101,
|
| 283 |
-
"end": 107
|
| 284 |
-
},
|
| 285 |
-
"thumb_r_pos": {
|
| 286 |
-
"original_key": "action",
|
| 287 |
-
"start": 107,
|
| 288 |
-
"end": 110
|
| 289 |
-
},
|
| 290 |
-
"thumb_r_rot6d": {
|
| 291 |
-
"original_key": "action",
|
| 292 |
-
"start": 110,
|
| 293 |
-
"end": 116
|
| 294 |
-
},
|
| 295 |
-
"index_r_pos": {
|
| 296 |
-
"original_key": "action",
|
| 297 |
-
"start": 116,
|
| 298 |
-
"end": 119
|
| 299 |
-
},
|
| 300 |
-
"index_r_rot6d": {
|
| 301 |
-
"original_key": "action",
|
| 302 |
-
"start": 119,
|
| 303 |
-
"end": 125
|
| 304 |
-
},
|
| 305 |
-
"middle_r_pos": {
|
| 306 |
-
"original_key": "action",
|
| 307 |
-
"start": 125,
|
| 308 |
-
"end": 128
|
| 309 |
-
},
|
| 310 |
-
"middle_r_rot6d": {
|
| 311 |
-
"original_key": "action",
|
| 312 |
-
"start": 128,
|
| 313 |
-
"end": 134
|
| 314 |
-
},
|
| 315 |
-
"ring_r_pos": {
|
| 316 |
-
"original_key": "action",
|
| 317 |
-
"start": 134,
|
| 318 |
-
"end": 137
|
| 319 |
-
},
|
| 320 |
-
"ring_r_rot6d": {
|
| 321 |
-
"original_key": "action",
|
| 322 |
-
"start": 137,
|
| 323 |
-
"end": 143
|
| 324 |
-
},
|
| 325 |
-
"pinky_r_pos": {
|
| 326 |
-
"original_key": "action",
|
| 327 |
-
"start": 143,
|
| 328 |
-
"end": 146
|
| 329 |
-
},
|
| 330 |
-
"pinky_r_rot6d": {
|
| 331 |
-
"original_key": "action",
|
| 332 |
-
"start": 146,
|
| 333 |
-
"end": 152
|
| 334 |
-
},
|
| 335 |
-
"camera_egoview_pos": {
|
| 336 |
-
"original_key": "action",
|
| 337 |
-
"start": 152,
|
| 338 |
-
"end": 155
|
| 339 |
-
},
|
| 340 |
-
"camera_egoview_rot6d": {
|
| 341 |
-
"original_key": "action",
|
| 342 |
-
"start": 155,
|
| 343 |
-
"end": 161
|
| 344 |
-
}
|
| 345 |
-
},
|
| 346 |
-
"video": {
|
| 347 |
-
"ego_view": {
|
| 348 |
-
"original_key": "observation.images.ego_view"
|
| 349 |
-
}
|
| 350 |
-
},
|
| 351 |
-
"annotation": {
|
| 352 |
-
"human.fine_action": {
|
| 353 |
-
"original_key": "annotation.human.fine_action"
|
| 354 |
-
},
|
| 355 |
-
"human.coarse_action": {
|
| 356 |
-
"original_key": "annotation.human.coarse_action"
|
| 357 |
-
}
|
| 358 |
-
}
|
| 359 |
-
}
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|
metadata/gr1_unified.PosttrainPnPNovelFromPlacematToPlateSplitA/meta/tasks.jsonl
DELETED
|
@@ -1,11 +0,0 @@
|
|
| 1 |
-
{"task_index": 0, "task": ""}
|
| 2 |
-
{"task_index": 1, "task": "unlocked_waist: pick the bell pepper from the placemat and place it in the plate"}
|
| 3 |
-
{"task_index": 2, "task": "unlocked_waist: pick the sweet potato from the placemat and place it in the plate"}
|
| 4 |
-
{"task_index": 3, "task": "unlocked_waist: pick the squash from the placemat and place it in the plate"}
|
| 5 |
-
{"task_index": 4, "task": "unlocked_waist: pick the tomato from the placemat and place it in the plate"}
|
| 6 |
-
{"task_index": 5, "task": "unlocked_waist: pick the pear from the placemat and place it in the plate"}
|
| 7 |
-
{"task_index": 6, "task": "unlocked_waist: pick the lemon from the placemat and place it in the plate"}
|
| 8 |
-
{"task_index": 7, "task": "unlocked_waist: pick the cupcake from the placemat and place it in the plate"}
|
| 9 |
-
{"task_index": 8, "task": "unlocked_waist: pick the croissant from the placemat and place it in the plate"}
|
| 10 |
-
{"task_index": 9, "task": "unlocked_waist: pick the can from the placemat and place it in the plate"}
|
| 11 |
-
{"task_index": 10, "task": "unlocked_waist: pick the eggplant from the placemat and place it in the plate"}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
metadata/gr1_unified.PosttrainPnPNovelFromPlacematToTieredshelfSplitA/meta/episodes.jsonl
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
metadata/gr1_unified.PosttrainPnPNovelFromPlacematToTieredshelfSplitA/meta/modality.json
DELETED
|
@@ -1,359 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"state": {
|
| 3 |
-
"left_arm": {
|
| 4 |
-
"original_key": "observation.state",
|
| 5 |
-
"start": 0,
|
| 6 |
-
"end": 7
|
| 7 |
-
},
|
| 8 |
-
"left_hand": {
|
| 9 |
-
"original_key": "observation.state",
|
| 10 |
-
"start": 7,
|
| 11 |
-
"end": 13
|
| 12 |
-
},
|
| 13 |
-
"left_leg": {
|
| 14 |
-
"original_key": "observation.state",
|
| 15 |
-
"start": 13,
|
| 16 |
-
"end": 19
|
| 17 |
-
},
|
| 18 |
-
"neck": {
|
| 19 |
-
"original_key": "observation.state",
|
| 20 |
-
"start": 19,
|
| 21 |
-
"end": 22
|
| 22 |
-
},
|
| 23 |
-
"right_arm": {
|
| 24 |
-
"original_key": "observation.state",
|
| 25 |
-
"start": 22,
|
| 26 |
-
"end": 29
|
| 27 |
-
},
|
| 28 |
-
"right_hand": {
|
| 29 |
-
"original_key": "observation.state",
|
| 30 |
-
"start": 29,
|
| 31 |
-
"end": 35
|
| 32 |
-
},
|
| 33 |
-
"right_leg": {
|
| 34 |
-
"original_key": "observation.state",
|
| 35 |
-
"start": 35,
|
| 36 |
-
"end": 41
|
| 37 |
-
},
|
| 38 |
-
"waist": {
|
| 39 |
-
"original_key": "observation.state",
|
| 40 |
-
"start": 41,
|
| 41 |
-
"end": 44
|
| 42 |
-
},
|
| 43 |
-
"wrist_l_pos": {
|
| 44 |
-
"original_key": "observation.state",
|
| 45 |
-
"start": 44,
|
| 46 |
-
"end": 47
|
| 47 |
-
},
|
| 48 |
-
"wrist_l_rot6d": {
|
| 49 |
-
"original_key": "observation.state",
|
| 50 |
-
"start": 47,
|
| 51 |
-
"end": 53
|
| 52 |
-
},
|
| 53 |
-
"thumb_l_pos": {
|
| 54 |
-
"original_key": "observation.state",
|
| 55 |
-
"start": 53,
|
| 56 |
-
"end": 56
|
| 57 |
-
},
|
| 58 |
-
"thumb_l_rot6d": {
|
| 59 |
-
"original_key": "observation.state",
|
| 60 |
-
"start": 56,
|
| 61 |
-
"end": 62
|
| 62 |
-
},
|
| 63 |
-
"index_l_pos": {
|
| 64 |
-
"original_key": "observation.state",
|
| 65 |
-
"start": 62,
|
| 66 |
-
"end": 65
|
| 67 |
-
},
|
| 68 |
-
"index_l_rot6d": {
|
| 69 |
-
"original_key": "observation.state",
|
| 70 |
-
"start": 65,
|
| 71 |
-
"end": 71
|
| 72 |
-
},
|
| 73 |
-
"middle_l_pos": {
|
| 74 |
-
"original_key": "observation.state",
|
| 75 |
-
"start": 71,
|
| 76 |
-
"end": 74
|
| 77 |
-
},
|
| 78 |
-
"middle_l_rot6d": {
|
| 79 |
-
"original_key": "observation.state",
|
| 80 |
-
"start": 74,
|
| 81 |
-
"end": 80
|
| 82 |
-
},
|
| 83 |
-
"ring_l_pos": {
|
| 84 |
-
"original_key": "observation.state",
|
| 85 |
-
"start": 80,
|
| 86 |
-
"end": 83
|
| 87 |
-
},
|
| 88 |
-
"ring_l_rot6d": {
|
| 89 |
-
"original_key": "observation.state",
|
| 90 |
-
"start": 83,
|
| 91 |
-
"end": 89
|
| 92 |
-
},
|
| 93 |
-
"pinky_l_pos": {
|
| 94 |
-
"original_key": "observation.state",
|
| 95 |
-
"start": 89,
|
| 96 |
-
"end": 92
|
| 97 |
-
},
|
| 98 |
-
"pinky_l_rot6d": {
|
| 99 |
-
"original_key": "observation.state",
|
| 100 |
-
"start": 92,
|
| 101 |
-
"end": 98
|
| 102 |
-
},
|
| 103 |
-
"wrist_r_pos": {
|
| 104 |
-
"original_key": "observation.state",
|
| 105 |
-
"start": 98,
|
| 106 |
-
"end": 101
|
| 107 |
-
},
|
| 108 |
-
"wrist_r_rot6d": {
|
| 109 |
-
"original_key": "observation.state",
|
| 110 |
-
"start": 101,
|
| 111 |
-
"end": 107
|
| 112 |
-
},
|
| 113 |
-
"thumb_r_pos": {
|
| 114 |
-
"original_key": "observation.state",
|
| 115 |
-
"start": 107,
|
| 116 |
-
"end": 110
|
| 117 |
-
},
|
| 118 |
-
"thumb_r_rot6d": {
|
| 119 |
-
"original_key": "observation.state",
|
| 120 |
-
"start": 110,
|
| 121 |
-
"end": 116
|
| 122 |
-
},
|
| 123 |
-
"index_r_pos": {
|
| 124 |
-
"original_key": "observation.state",
|
| 125 |
-
"start": 116,
|
| 126 |
-
"end": 119
|
| 127 |
-
},
|
| 128 |
-
"index_r_rot6d": {
|
| 129 |
-
"original_key": "observation.state",
|
| 130 |
-
"start": 119,
|
| 131 |
-
"end": 125
|
| 132 |
-
},
|
| 133 |
-
"middle_r_pos": {
|
| 134 |
-
"original_key": "observation.state",
|
| 135 |
-
"start": 125,
|
| 136 |
-
"end": 128
|
| 137 |
-
},
|
| 138 |
-
"middle_r_rot6d": {
|
| 139 |
-
"original_key": "observation.state",
|
| 140 |
-
"start": 128,
|
| 141 |
-
"end": 134
|
| 142 |
-
},
|
| 143 |
-
"ring_r_pos": {
|
| 144 |
-
"original_key": "observation.state",
|
| 145 |
-
"start": 134,
|
| 146 |
-
"end": 137
|
| 147 |
-
},
|
| 148 |
-
"ring_r_rot6d": {
|
| 149 |
-
"original_key": "observation.state",
|
| 150 |
-
"start": 137,
|
| 151 |
-
"end": 143
|
| 152 |
-
},
|
| 153 |
-
"pinky_r_pos": {
|
| 154 |
-
"original_key": "observation.state",
|
| 155 |
-
"start": 143,
|
| 156 |
-
"end": 146
|
| 157 |
-
},
|
| 158 |
-
"pinky_r_rot6d": {
|
| 159 |
-
"original_key": "observation.state",
|
| 160 |
-
"start": 146,
|
| 161 |
-
"end": 152
|
| 162 |
-
},
|
| 163 |
-
"camera_egoview_pos": {
|
| 164 |
-
"original_key": "observation.state",
|
| 165 |
-
"start": 152,
|
| 166 |
-
"end": 155
|
| 167 |
-
},
|
| 168 |
-
"camera_egoview_rot6d": {
|
| 169 |
-
"original_key": "observation.state",
|
| 170 |
-
"start": 155,
|
| 171 |
-
"end": 161
|
| 172 |
-
}
|
| 173 |
-
},
|
| 174 |
-
"action": {
|
| 175 |
-
"left_arm": {
|
| 176 |
-
"original_key": "action",
|
| 177 |
-
"start": 0,
|
| 178 |
-
"end": 7
|
| 179 |
-
},
|
| 180 |
-
"left_hand": {
|
| 181 |
-
"original_key": "action",
|
| 182 |
-
"start": 7,
|
| 183 |
-
"end": 13
|
| 184 |
-
},
|
| 185 |
-
"left_leg": {
|
| 186 |
-
"original_key": "action",
|
| 187 |
-
"start": 13,
|
| 188 |
-
"end": 19
|
| 189 |
-
},
|
| 190 |
-
"neck": {
|
| 191 |
-
"original_key": "action",
|
| 192 |
-
"start": 19,
|
| 193 |
-
"end": 22
|
| 194 |
-
},
|
| 195 |
-
"right_arm": {
|
| 196 |
-
"original_key": "action",
|
| 197 |
-
"start": 22,
|
| 198 |
-
"end": 29
|
| 199 |
-
},
|
| 200 |
-
"right_hand": {
|
| 201 |
-
"original_key": "action",
|
| 202 |
-
"start": 29,
|
| 203 |
-
"end": 35
|
| 204 |
-
},
|
| 205 |
-
"right_leg": {
|
| 206 |
-
"original_key": "action",
|
| 207 |
-
"start": 35,
|
| 208 |
-
"end": 41
|
| 209 |
-
},
|
| 210 |
-
"waist": {
|
| 211 |
-
"original_key": "action",
|
| 212 |
-
"start": 41,
|
| 213 |
-
"end": 44
|
| 214 |
-
},
|
| 215 |
-
"wrist_l_pos": {
|
| 216 |
-
"original_key": "action",
|
| 217 |
-
"start": 44,
|
| 218 |
-
"end": 47
|
| 219 |
-
},
|
| 220 |
-
"wrist_l_rot6d": {
|
| 221 |
-
"original_key": "action",
|
| 222 |
-
"start": 47,
|
| 223 |
-
"end": 53
|
| 224 |
-
},
|
| 225 |
-
"thumb_l_pos": {
|
| 226 |
-
"original_key": "action",
|
| 227 |
-
"start": 53,
|
| 228 |
-
"end": 56
|
| 229 |
-
},
|
| 230 |
-
"thumb_l_rot6d": {
|
| 231 |
-
"original_key": "action",
|
| 232 |
-
"start": 56,
|
| 233 |
-
"end": 62
|
| 234 |
-
},
|
| 235 |
-
"index_l_pos": {
|
| 236 |
-
"original_key": "action",
|
| 237 |
-
"start": 62,
|
| 238 |
-
"end": 65
|
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-
},
|
| 240 |
-
"index_l_rot6d": {
|
| 241 |
-
"original_key": "action",
|
| 242 |
-
"start": 65,
|
| 243 |
-
"end": 71
|
| 244 |
-
},
|
| 245 |
-
"middle_l_pos": {
|
| 246 |
-
"original_key": "action",
|
| 247 |
-
"start": 71,
|
| 248 |
-
"end": 74
|
| 249 |
-
},
|
| 250 |
-
"middle_l_rot6d": {
|
| 251 |
-
"original_key": "action",
|
| 252 |
-
"start": 74,
|
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-
"end": 80
|
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-
},
|
| 255 |
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"ring_l_pos": {
|
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-
"original_key": "action",
|
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-
"start": 80,
|
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-
"end": 83
|
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-
},
|
| 260 |
-
"ring_l_rot6d": {
|
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-
"original_key": "action",
|
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-
"start": 83,
|
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-
"end": 89
|
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-
},
|
| 265 |
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"pinky_l_pos": {
|
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-
"original_key": "action",
|
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-
"start": 89,
|
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-
"end": 92
|
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-
},
|
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"pinky_l_rot6d": {
|
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-
"original_key": "action",
|
| 272 |
-
"start": 92,
|
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-
"end": 98
|
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-
},
|
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"wrist_r_pos": {
|
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-
"original_key": "action",
|
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-
"start": 98,
|
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-
"end": 101
|
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-
},
|
| 280 |
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"wrist_r_rot6d": {
|
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-
"original_key": "action",
|
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"start": 101,
|
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-
"end": 107
|
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-
},
|
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"thumb_r_pos": {
|
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"original_key": "action",
|
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-
"start": 107,
|
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-
"end": 110
|
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-
},
|
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"thumb_r_rot6d": {
|
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-
"original_key": "action",
|
| 292 |
-
"start": 110,
|
| 293 |
-
"end": 116
|
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-
},
|
| 295 |
-
"index_r_pos": {
|
| 296 |
-
"original_key": "action",
|
| 297 |
-
"start": 116,
|
| 298 |
-
"end": 119
|
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-
},
|
| 300 |
-
"index_r_rot6d": {
|
| 301 |
-
"original_key": "action",
|
| 302 |
-
"start": 119,
|
| 303 |
-
"end": 125
|
| 304 |
-
},
|
| 305 |
-
"middle_r_pos": {
|
| 306 |
-
"original_key": "action",
|
| 307 |
-
"start": 125,
|
| 308 |
-
"end": 128
|
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-
},
|
| 310 |
-
"middle_r_rot6d": {
|
| 311 |
-
"original_key": "action",
|
| 312 |
-
"start": 128,
|
| 313 |
-
"end": 134
|
| 314 |
-
},
|
| 315 |
-
"ring_r_pos": {
|
| 316 |
-
"original_key": "action",
|
| 317 |
-
"start": 134,
|
| 318 |
-
"end": 137
|
| 319 |
-
},
|
| 320 |
-
"ring_r_rot6d": {
|
| 321 |
-
"original_key": "action",
|
| 322 |
-
"start": 137,
|
| 323 |
-
"end": 143
|
| 324 |
-
},
|
| 325 |
-
"pinky_r_pos": {
|
| 326 |
-
"original_key": "action",
|
| 327 |
-
"start": 143,
|
| 328 |
-
"end": 146
|
| 329 |
-
},
|
| 330 |
-
"pinky_r_rot6d": {
|
| 331 |
-
"original_key": "action",
|
| 332 |
-
"start": 146,
|
| 333 |
-
"end": 152
|
| 334 |
-
},
|
| 335 |
-
"camera_egoview_pos": {
|
| 336 |
-
"original_key": "action",
|
| 337 |
-
"start": 152,
|
| 338 |
-
"end": 155
|
| 339 |
-
},
|
| 340 |
-
"camera_egoview_rot6d": {
|
| 341 |
-
"original_key": "action",
|
| 342 |
-
"start": 155,
|
| 343 |
-
"end": 161
|
| 344 |
-
}
|
| 345 |
-
},
|
| 346 |
-
"video": {
|
| 347 |
-
"ego_view": {
|
| 348 |
-
"original_key": "observation.images.ego_view"
|
| 349 |
-
}
|
| 350 |
-
},
|
| 351 |
-
"annotation": {
|
| 352 |
-
"human.fine_action": {
|
| 353 |
-
"original_key": "annotation.human.fine_action"
|
| 354 |
-
},
|
| 355 |
-
"human.coarse_action": {
|
| 356 |
-
"original_key": "annotation.human.coarse_action"
|
| 357 |
-
}
|
| 358 |
-
}
|
| 359 |
-
}
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|
metadata/gr1_unified.PosttrainPnPNovelFromPlacematToTieredshelfSplitA/meta/tasks.jsonl
DELETED
|
@@ -1,11 +0,0 @@
|
|
| 1 |
-
{"task_index": 0, "task": ""}
|
| 2 |
-
{"task_index": 1, "task": "unlocked_waist: pick the tomato from the placemat and place it in the tiered shelf"}
|
| 3 |
-
{"task_index": 2, "task": "unlocked_waist: pick the lemon from the placemat and place it in the tiered shelf"}
|
| 4 |
-
{"task_index": 3, "task": "unlocked_waist: pick the bell pepper from the placemat and place it in the tiered shelf"}
|
| 5 |
-
{"task_index": 4, "task": "unlocked_waist: pick the squash from the placemat and place it in the tiered shelf"}
|
| 6 |
-
{"task_index": 5, "task": "unlocked_waist: pick the croissant from the placemat and place it in the tiered shelf"}
|
| 7 |
-
{"task_index": 6, "task": "unlocked_waist: pick the sweet potato from the placemat and place it in the tiered shelf"}
|
| 8 |
-
{"task_index": 7, "task": "unlocked_waist: pick the pear from the placemat and place it in the tiered shelf"}
|
| 9 |
-
{"task_index": 8, "task": "unlocked_waist: pick the cupcake from the placemat and place it in the tiered shelf"}
|
| 10 |
-
{"task_index": 9, "task": "unlocked_waist: pick the eggplant from the placemat and place it in the tiered shelf"}
|
| 11 |
-
{"task_index": 10, "task": "unlocked_waist: pick the can from the placemat and place it in the tiered shelf"}
|
|
|
|
|
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|
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|
metadata/gr1_unified.PosttrainPnPNovelFromPlateToBowlSplitA/meta/episodes.jsonl
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
metadata/gr1_unified.PosttrainPnPNovelFromPlateToBowlSplitA/meta/modality.json
DELETED
|
@@ -1,359 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"state": {
|
| 3 |
-
"left_arm": {
|
| 4 |
-
"original_key": "observation.state",
|
| 5 |
-
"start": 0,
|
| 6 |
-
"end": 7
|
| 7 |
-
},
|
| 8 |
-
"left_hand": {
|
| 9 |
-
"original_key": "observation.state",
|
| 10 |
-
"start": 7,
|
| 11 |
-
"end": 13
|
| 12 |
-
},
|
| 13 |
-
"left_leg": {
|
| 14 |
-
"original_key": "observation.state",
|
| 15 |
-
"start": 13,
|
| 16 |
-
"end": 19
|
| 17 |
-
},
|
| 18 |
-
"neck": {
|
| 19 |
-
"original_key": "observation.state",
|
| 20 |
-
"start": 19,
|
| 21 |
-
"end": 22
|
| 22 |
-
},
|
| 23 |
-
"right_arm": {
|
| 24 |
-
"original_key": "observation.state",
|
| 25 |
-
"start": 22,
|
| 26 |
-
"end": 29
|
| 27 |
-
},
|
| 28 |
-
"right_hand": {
|
| 29 |
-
"original_key": "observation.state",
|
| 30 |
-
"start": 29,
|
| 31 |
-
"end": 35
|
| 32 |
-
},
|
| 33 |
-
"right_leg": {
|
| 34 |
-
"original_key": "observation.state",
|
| 35 |
-
"start": 35,
|
| 36 |
-
"end": 41
|
| 37 |
-
},
|
| 38 |
-
"waist": {
|
| 39 |
-
"original_key": "observation.state",
|
| 40 |
-
"start": 41,
|
| 41 |
-
"end": 44
|
| 42 |
-
},
|
| 43 |
-
"wrist_l_pos": {
|
| 44 |
-
"original_key": "observation.state",
|
| 45 |
-
"start": 44,
|
| 46 |
-
"end": 47
|
| 47 |
-
},
|
| 48 |
-
"wrist_l_rot6d": {
|
| 49 |
-
"original_key": "observation.state",
|
| 50 |
-
"start": 47,
|
| 51 |
-
"end": 53
|
| 52 |
-
},
|
| 53 |
-
"thumb_l_pos": {
|
| 54 |
-
"original_key": "observation.state",
|
| 55 |
-
"start": 53,
|
| 56 |
-
"end": 56
|
| 57 |
-
},
|
| 58 |
-
"thumb_l_rot6d": {
|
| 59 |
-
"original_key": "observation.state",
|
| 60 |
-
"start": 56,
|
| 61 |
-
"end": 62
|
| 62 |
-
},
|
| 63 |
-
"index_l_pos": {
|
| 64 |
-
"original_key": "observation.state",
|
| 65 |
-
"start": 62,
|
| 66 |
-
"end": 65
|
| 67 |
-
},
|
| 68 |
-
"index_l_rot6d": {
|
| 69 |
-
"original_key": "observation.state",
|
| 70 |
-
"start": 65,
|
| 71 |
-
"end": 71
|
| 72 |
-
},
|
| 73 |
-
"middle_l_pos": {
|
| 74 |
-
"original_key": "observation.state",
|
| 75 |
-
"start": 71,
|
| 76 |
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| 77 |
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| 78 |
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| 79 |
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| 80 |
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| 81 |
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|
| 82 |
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| 83 |
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| 84 |
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| 85 |
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| 86 |
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|
| 87 |
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| 88 |
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|
| 89 |
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| 90 |
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|
| 91 |
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|
| 92 |
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| 93 |
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|
| 94 |
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| 95 |
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|
| 96 |
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|
| 97 |
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| 98 |
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|
| 99 |
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| 100 |
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| 101 |
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|
| 102 |
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| 103 |
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| 104 |
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| 105 |
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| 106 |
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|
| 107 |
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| 108 |
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| 109 |
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| 110 |
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| 111 |
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|
| 112 |
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| 113 |
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|
| 114 |
-
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| 115 |
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| 116 |
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|
| 117 |
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| 118 |
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|
| 119 |
-
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| 120 |
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| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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| 125 |
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|
| 126 |
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|
| 127 |
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| 128 |
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|
| 129 |
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| 130 |
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| 131 |
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|
| 132 |
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| 133 |
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|
| 134 |
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| 135 |
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| 136 |
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|
| 137 |
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| 138 |
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|
| 139 |
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| 140 |
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| 141 |
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|
| 142 |
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| 143 |
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|
| 144 |
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| 145 |
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| 146 |
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|
| 147 |
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| 148 |
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| 149 |
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| 150 |
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| 151 |
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| 152 |
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| 153 |
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|
| 154 |
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| 155 |
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| 156 |
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| 157 |
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| 158 |
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| 159 |
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| 160 |
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| 161 |
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|
| 162 |
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| 163 |
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|
| 164 |
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| 165 |
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| 166 |
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| 167 |
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| 168 |
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| 169 |
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| 170 |
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| 171 |
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|
| 172 |
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|
| 173 |
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| 174 |
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|
| 175 |
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|
| 176 |
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| 177 |
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| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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| 190 |
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|
| 191 |
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| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
-
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| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
-
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| 202 |
-
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
-
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| 212 |
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| 213 |
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|
| 214 |
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| 215 |
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|
| 216 |
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| 217 |
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|
| 218 |
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|
| 219 |
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| 220 |
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| 221 |
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| 222 |
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| 223 |
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|
| 224 |
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| 225 |
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|
| 226 |
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| 227 |
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| 228 |
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|
| 229 |
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| 230 |
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| 231 |
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| 232 |
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| 233 |
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|
| 234 |
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| 235 |
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|
| 236 |
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| 237 |
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|
| 238 |
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|
| 239 |
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| 240 |
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|
| 241 |
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| 242 |
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|
| 243 |
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|
| 244 |
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| 245 |
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|
| 246 |
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| 247 |
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| 248 |
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|
| 249 |
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| 250 |
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|
| 251 |
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| 252 |
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| 253 |
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|
| 254 |
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| 255 |
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| 256 |
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| 257 |
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|
| 259 |
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| 262 |
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| 263 |
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|
| 264 |
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| 265 |
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| 266 |
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| 267 |
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|
| 269 |
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| 270 |
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| 272 |
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| 273 |
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|
| 274 |
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| 275 |
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| 276 |
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| 277 |
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|
| 279 |
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| 282 |
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| 283 |
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|
| 284 |
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| 285 |
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|
| 286 |
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| 287 |
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| 288 |
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|
| 289 |
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| 290 |
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|
| 291 |
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|
| 292 |
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|
| 293 |
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|
| 294 |
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|
| 295 |
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|
| 296 |
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|
| 297 |
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|
| 298 |
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|
| 299 |
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|
| 300 |
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|
| 301 |
-
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|
| 302 |
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|
| 303 |
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|
| 304 |
-
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|
| 305 |
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|
| 306 |
-
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|
| 307 |
-
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|
| 308 |
-
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|
| 309 |
-
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|
| 310 |
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|
| 311 |
-
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|
| 312 |
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|
| 313 |
-
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|
| 314 |
-
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|
| 315 |
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|
| 316 |
-
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|
| 317 |
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|
| 318 |
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|
| 319 |
-
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|
| 320 |
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|
| 321 |
-
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|
| 322 |
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|
| 323 |
-
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|
| 324 |
-
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|
| 325 |
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|
| 326 |
-
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|
| 327 |
-
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|
| 328 |
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|
| 329 |
-
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|
| 330 |
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|
| 331 |
-
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|
| 332 |
-
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|
| 333 |
-
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|
| 334 |
-
},
|
| 335 |
-
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|
| 336 |
-
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|
| 337 |
-
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|
| 338 |
-
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|
| 339 |
-
},
|
| 340 |
-
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|
| 341 |
-
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|
| 342 |
-
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|
| 343 |
-
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|
| 344 |
-
}
|
| 345 |
-
},
|
| 346 |
-
"video": {
|
| 347 |
-
"ego_view": {
|
| 348 |
-
"original_key": "observation.images.ego_view"
|
| 349 |
-
}
|
| 350 |
-
},
|
| 351 |
-
"annotation": {
|
| 352 |
-
"human.fine_action": {
|
| 353 |
-
"original_key": "annotation.human.fine_action"
|
| 354 |
-
},
|
| 355 |
-
"human.coarse_action": {
|
| 356 |
-
"original_key": "annotation.human.coarse_action"
|
| 357 |
-
}
|
| 358 |
-
}
|
| 359 |
-
}
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