[QLM-DATA-001] QLM-DATA-001-20261008-normal-v2 payload 500/556
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +6 -0
- raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0093/raw-validation.json +12 -0
- raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0093/review/terminal_pre_reset_ego.png +3 -0
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- raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0093/streams/policy_50hz.parquet +3 -0
- raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0093/summary.json +111 -0
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- raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0094/metadata/contact_provenance.json +0 -0
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- raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0094/raw-validation.json +12 -0
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- raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0094/streams/policy_50hz.parquet +3 -0
- raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0094/summary.json +111 -0
- raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0095/cameras/ego.mp4 +3 -0
- raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0095/cameras/observer.mp4 +3 -0
- raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0095/cameras/task_centric.mp4 +3 -0
- raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0095/capture.json +3 -0
- raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0095/manifest.json +289 -0
- raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0095/metadata/contact_provenance.json +0 -0
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- raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0095/metadata/task_review.json +0 -0
- raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0095/raw-validation.json +12 -0
- raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0095/review/terminal_pre_reset_ego.png +3 -0
- raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0095/review/terminal_pre_reset_task_centric.png +3 -0
- raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0095/streams/camera_index.parquet +3 -0
- raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0095/streams/contact_sensor.parquet +3 -0
- raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0095/streams/controller_100hz.parquet +3 -0
- raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0095/streams/physics_500hz.parquet +3 -0
- raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0095/streams/policy_50hz.parquet +3 -0
- raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0095/summary.json +111 -0
- raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0096/cameras/ego.mp4 +3 -0
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- raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0096/manifest.json +289 -0
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-0.8830946087837219,
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| 203 |
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| 204 |
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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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|
| 236 |
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| 237 |
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|
| 238 |
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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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"observation.state.foot_contact": [
|
| 248 |
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true,
|
| 249 |
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true,
|
| 250 |
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false,
|
| 251 |
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true
|
| 252 |
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],
|
| 253 |
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"task.goal.position": [
|
| 254 |
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|
| 255 |
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|
| 256 |
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|
| 257 |
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],
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| 258 |
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"task.progress": [
|
| 259 |
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|
| 260 |
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|
| 261 |
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"task.success": [
|
| 262 |
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|
| 263 |
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|
| 264 |
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"task.contact.fl_object": [
|
| 265 |
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false
|
| 266 |
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],
|
| 267 |
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"task.contact.body_object": [
|
| 268 |
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false
|
| 269 |
+
]
|
| 270 |
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}
|
| 271 |
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},
|
| 272 |
+
"extensions": {
|
| 273 |
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"task_profile_version": "push-box-v2-2",
|
| 274 |
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"contact_diagnostics": {
|
| 275 |
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"path": "metadata/contact_provenance.json",
|
| 276 |
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"sha256": "e0efa9a96006d8641ed70d9b13a8c0111f31a1c33dc6804260168accceeddb92"
|
| 277 |
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},
|
| 278 |
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"provenance": {
|
| 279 |
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"path": "metadata/provenance.json",
|
| 280 |
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"sha256": "009f8a17cc686afd9133c38bc9e12a0a612dffbf740898b35461d9d2c06b4d91"
|
| 281 |
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},
|
| 282 |
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"origin": "real_isaac_acquisition",
|
| 283 |
+
"purpose": "demonstration",
|
| 284 |
+
"task_review": {
|
| 285 |
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"path": "metadata/task_review.json",
|
| 286 |
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"sha256": "b38a411d95c3cded211cc3fd262e047d2d80e966272334ec78305ed9f182c358"
|
| 287 |
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}
|
| 288 |
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}
|
| 289 |
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}
|
raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0094/metadata/contact_provenance.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0094/metadata/provenance.json
ADDED
|
@@ -0,0 +1,317 @@
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
| 1 |
+
{
|
| 2 |
+
"work_id": "QLM-DATA-001",
|
| 3 |
+
"scenario": {
|
| 4 |
+
"id": "push_box__ep0094",
|
| 5 |
+
"seed": 202610070094,
|
| 6 |
+
"asset": "cardboard-box-04",
|
| 7 |
+
"appearance": "ap_03"
|
| 8 |
+
},
|
| 9 |
+
"task_profile": {
|
| 10 |
+
"task_profile_version": "push-box-v2-2",
|
| 11 |
+
"asset_sha256": "7673e8efbe4b2d62616aeeedd800c84f46e05341f79abfb008bd341cfaf908c3",
|
| 12 |
+
"scale": 1,
|
| 13 |
+
"initial_geometric_center_xy": "derived: front face at x=0.54m; center y aligned to native neutral FL lateral command",
|
| 14 |
+
"initial_floor_clearance": 0.02,
|
| 15 |
+
"goal_x": [
|
| 16 |
+
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|
| 17 |
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16.578604397732956
|
| 18 |
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],
|
| 19 |
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"goal_y": [
|
| 20 |
+
-30.132030421142407,
|
| 21 |
+
-29.549035570356335
|
| 22 |
+
],
|
| 23 |
+
"goal_membership": "Four corners of the XY envelope of all eight pose-transformed source box-bound corners inside goal",
|
| 24 |
+
"success": "box_fully_inside and not fallen for 3 consecutive 50Hz policy ticks",
|
| 25 |
+
"fall": {
|
| 26 |
+
"base_height_lt": 0.1,
|
| 27 |
+
"projected_gravity_error_gt": 0.75
|
| 28 |
+
},
|
| 29 |
+
"contact": {
|
| 30 |
+
"role": "diagnostic_only",
|
| 31 |
+
"unavailable": "unknown",
|
| 32 |
+
"bool_columns": "false is an invalid placeholder when extension availability is false; never confirmed non-contact"
|
| 33 |
+
},
|
| 34 |
+
"observer": {
|
| 35 |
+
"position": [
|
| 36 |
+
1.8,
|
| 37 |
+
2.0,
|
| 38 |
+
1.5
|
| 39 |
+
],
|
| 40 |
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"look_at": [
|
| 41 |
+
0.65,
|
| 42 |
+
0.1,
|
| 43 |
+
0.2
|
| 44 |
+
],
|
| 45 |
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"fps": 25,
|
| 46 |
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"model_input": false
|
| 47 |
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},
|
| 48 |
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"policy_rgb_fps": 50,
|
| 49 |
+
"policy_fps": 50,
|
| 50 |
+
"controller_fps": 100,
|
| 51 |
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"physics_fps": 500,
|
| 52 |
+
"force_zero": true,
|
| 53 |
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"success_policy_ticks": 3,
|
| 54 |
+
"initial_box_yaw_rad": 0.0,
|
| 55 |
+
"push_face": "local_x_min (reviewed narrow face, selected from actual mesh bounds)",
|
| 56 |
+
"robot_placement": "retain native robot reset XY origin; move box to obtain frontal FL alignment",
|
| 57 |
+
"expert": {
|
| 58 |
+
"settle_seconds": 2.1,
|
| 59 |
+
"normal_approach_seconds": 1.0,
|
| 60 |
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"standoff_m": 0.1,
|
| 61 |
+
"penetration_m": 0.015,
|
| 62 |
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"align_base_speed": 0.14,
|
| 63 |
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"push_base_speed": 0.12,
|
| 64 |
+
"face_distance_for_foot_approach": 0.405,
|
| 65 |
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"approach_foot_x": 0.28,
|
| 66 |
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"push_foot_x": 0.38,
|
| 67 |
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"motion": "coordinated",
|
| 68 |
+
"transition_s": 0.45,
|
| 69 |
+
"leg_finish_max_x": 0.4,
|
| 70 |
+
"lateral_tracking_gain": 2.0,
|
| 71 |
+
"lateral_tracking_limit_m": 0.015,
|
| 72 |
+
"corner_recovery": false
|
| 73 |
+
},
|
| 74 |
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"initial_face_distance_x": 0.54,
|
| 75 |
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"asset_id": "cardboard-box-04",
|
| 76 |
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"source_profile_sha256": "d5066dd45b281344d4efcdbc01fb9e75cc0d3b93301268cab4529d81623d3c00",
|
| 77 |
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"goal_color": [
|
| 78 |
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0.05,
|
| 79 |
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0.8,
|
| 80 |
+
0.15
|
| 81 |
+
],
|
| 82 |
+
"scaleup_recovery": false,
|
| 83 |
+
"recovery_progress_m": 0.12,
|
| 84 |
+
"episode_scenario": {
|
| 85 |
+
"work_id": "QLM-DATA-001",
|
| 86 |
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"authorization": "qlm-scaleup-push-v1",
|
| 87 |
+
"selected_face": "local_x_max"
|
| 88 |
+
},
|
| 89 |
+
"instruction": "Push the box into the target area.",
|
| 90 |
+
"scaleup_metadata": {
|
| 91 |
+
"episode_uid": "push_box__ep0094",
|
| 92 |
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"task_id": "push_box",
|
| 93 |
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"split": "train",
|
| 94 |
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"difficulty": "randomized",
|
| 95 |
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"trajectory_type": "normal",
|
| 96 |
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"recovery_type": null,
|
| 97 |
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"appearance_preset": "ap_03",
|
| 98 |
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"asset_id": "cardboard-box-04",
|
| 99 |
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"initial_condition_id": "ic_0094",
|
| 100 |
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"goal_condition_id": "gc_0094",
|
| 101 |
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"environment_seed": 202610070094
|
| 102 |
+
},
|
| 103 |
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"scaleup_motion_revision": "continuous-v2",
|
| 104 |
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"canonical_goal_position": [
|
| 105 |
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16.268073237573,
|
| 106 |
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-29.84053299574937,
|
| 107 |
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0.0
|
| 108 |
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],
|
| 109 |
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"environment_origin": [
|
| 110 |
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15.0,
|
| 111 |
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-30.0,
|
| 112 |
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0.0
|
| 113 |
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],
|
| 114 |
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"initial_center_x_world": 15.785476761127237
|
| 115 |
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},
|
| 116 |
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"implementation": {
|
| 117 |
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"__init__.py": "02566799d0b1b4b6a2f706b3e7680fffc812ed2854f5c8a7e05cb8fb3ea43407",
|
| 118 |
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"batch.py": "c74e9215b5cc82ae23990bd6a7711ef8456093b00431a4e69eee2b443db6a6e2",
|
| 119 |
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"isaac.py": "33b089e5bb7189782f355828410edae91bb6932ee8b75970d98d86334702d86e",
|
| 120 |
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"orchestrator.py": "2a1b06fc57b78bad741977809c96eb818e39f7f244bb3f3ce03e7c8861ff393b"
|
| 121 |
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},
|
| 122 |
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"source_commit": "a11e5a77c09a5fcc0170463dcb59f428ac6a65a9",
|
| 123 |
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"checkpoint_sha256": "1cc5f68fe15e37ccabae26060d79a26a8c078ed465a81f6f729c2009b67ca706",
|
| 124 |
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"capture_sha256": "25edd25992d42b8aa4a019cb662113fca59bb490509e8ba9e9e681dcaec3fb30",
|
| 125 |
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"terminal_gate": {
|
| 126 |
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"passed": true,
|
| 127 |
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"status": "success",
|
| 128 |
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"outcome": "success",
|
| 129 |
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"terminal_before_reset": true,
|
| 130 |
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"n_actions": 451,
|
| 131 |
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"n_boundaries": 452,
|
| 132 |
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"initial_geometry": {
|
| 133 |
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"center": [
|
| 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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"face_center": [
|
| 139 |
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|
| 140 |
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| 212 |
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|
| 222 |
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|
| 224 |
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|
| 225 |
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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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"task.goal.position": [
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|
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|
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|
| 262 |
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|
| 263 |
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|
| 264 |
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"task.contact.fl_object": [
|
| 265 |
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false
|
| 266 |
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],
|
| 267 |
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"task.contact.body_object": [
|
| 268 |
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false
|
| 269 |
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]
|
| 270 |
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}
|
| 271 |
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},
|
| 272 |
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"extensions": {
|
| 273 |
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"task_profile_version": "push-box-v2-2",
|
| 274 |
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"contact_diagnostics": {
|
| 275 |
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"path": "metadata/contact_provenance.json",
|
| 276 |
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"sha256": "d4e174b0d5cb4990f15b3d9560a2980db7e80198dcc0448a29c24fb47308f846"
|
| 277 |
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},
|
| 278 |
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"provenance": {
|
| 279 |
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"path": "metadata/provenance.json",
|
| 280 |
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"sha256": "80c321a52500b1030f30b2fb6222d48cb9f83c9c4c81f63e676acefbb82ca39c"
|
| 281 |
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},
|
| 282 |
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"origin": "real_isaac_acquisition",
|
| 283 |
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"purpose": "demonstration",
|
| 284 |
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"task_review": {
|
| 285 |
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"path": "metadata/task_review.json",
|
| 286 |
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"sha256": "f4f71d37167a7fb0f3e6f1292085c4f38822884481e8e96c864d019bba856e2b"
|
| 287 |
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}
|
| 288 |
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}
|
| 289 |
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}
|
raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0095/metadata/contact_provenance.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0095/metadata/provenance.json
ADDED
|
@@ -0,0 +1,317 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"work_id": "QLM-DATA-001",
|
| 3 |
+
"scenario": {
|
| 4 |
+
"id": "push_box__ep0095",
|
| 5 |
+
"seed": 202610070095,
|
| 6 |
+
"asset": "cardboard-box-04",
|
| 7 |
+
"appearance": "ap_03"
|
| 8 |
+
},
|
| 9 |
+
"task_profile": {
|
| 10 |
+
"task_profile_version": "push-box-v2-2",
|
| 11 |
+
"asset_sha256": "7673e8efbe4b2d62616aeeedd800c84f46e05341f79abfb008bd341cfaf908c3",
|
| 12 |
+
"scale": 1,
|
| 13 |
+
"initial_geometric_center_xy": "derived: front face at x=0.54m; center y aligned to native neutral FL lateral command",
|
| 14 |
+
"initial_floor_clearance": 0.02,
|
| 15 |
+
"goal_x": [
|
| 16 |
+
15.957203974158874,
|
| 17 |
+
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|
| 18 |
+
],
|
| 19 |
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"goal_y": [
|
| 20 |
+
-0.15872305453878502,
|
| 21 |
+
0.4690384079284412
|
| 22 |
+
],
|
| 23 |
+
"goal_membership": "Four corners of the XY envelope of all eight pose-transformed source box-bound corners inside goal",
|
| 24 |
+
"success": "box_fully_inside and not fallen for 3 consecutive 50Hz policy ticks",
|
| 25 |
+
"fall": {
|
| 26 |
+
"base_height_lt": 0.1,
|
| 27 |
+
"projected_gravity_error_gt": 0.75
|
| 28 |
+
},
|
| 29 |
+
"contact": {
|
| 30 |
+
"role": "diagnostic_only",
|
| 31 |
+
"unavailable": "unknown",
|
| 32 |
+
"bool_columns": "false is an invalid placeholder when extension availability is false; never confirmed non-contact"
|
| 33 |
+
},
|
| 34 |
+
"observer": {
|
| 35 |
+
"position": [
|
| 36 |
+
1.8,
|
| 37 |
+
2.0,
|
| 38 |
+
1.5
|
| 39 |
+
],
|
| 40 |
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"look_at": [
|
| 41 |
+
0.65,
|
| 42 |
+
0.1,
|
| 43 |
+
0.2
|
| 44 |
+
],
|
| 45 |
+
"fps": 25,
|
| 46 |
+
"model_input": false
|
| 47 |
+
},
|
| 48 |
+
"policy_rgb_fps": 50,
|
| 49 |
+
"policy_fps": 50,
|
| 50 |
+
"controller_fps": 100,
|
| 51 |
+
"physics_fps": 500,
|
| 52 |
+
"force_zero": true,
|
| 53 |
+
"success_policy_ticks": 3,
|
| 54 |
+
"initial_box_yaw_rad": 0.0,
|
| 55 |
+
"push_face": "local_x_min (reviewed narrow face, selected from actual mesh bounds)",
|
| 56 |
+
"robot_placement": "retain native robot reset XY origin; move box to obtain frontal FL alignment",
|
| 57 |
+
"expert": {
|
| 58 |
+
"settle_seconds": 2.1,
|
| 59 |
+
"normal_approach_seconds": 1.0,
|
| 60 |
+
"standoff_m": 0.1,
|
| 61 |
+
"penetration_m": 0.015,
|
| 62 |
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"align_base_speed": 0.14,
|
| 63 |
+
"push_base_speed": 0.12,
|
| 64 |
+
"face_distance_for_foot_approach": 0.405,
|
| 65 |
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"approach_foot_x": 0.28,
|
| 66 |
+
"push_foot_x": 0.38,
|
| 67 |
+
"motion": "coordinated",
|
| 68 |
+
"transition_s": 0.45,
|
| 69 |
+
"leg_finish_max_x": 0.4,
|
| 70 |
+
"lateral_tracking_gain": 2.0,
|
| 71 |
+
"lateral_tracking_limit_m": 0.015,
|
| 72 |
+
"corner_recovery": false
|
| 73 |
+
},
|
| 74 |
+
"initial_face_distance_x": 0.54,
|
| 75 |
+
"asset_id": "cardboard-box-04",
|
| 76 |
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"source_profile_sha256": "d5066dd45b281344d4efcdbc01fb9e75cc0d3b93301268cab4529d81623d3c00",
|
| 77 |
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"goal_color": [
|
| 78 |
+
0.05,
|
| 79 |
+
0.8,
|
| 80 |
+
0.15
|
| 81 |
+
],
|
| 82 |
+
"scaleup_recovery": false,
|
| 83 |
+
"recovery_progress_m": 0.12,
|
| 84 |
+
"episode_scenario": {
|
| 85 |
+
"work_id": "QLM-DATA-001",
|
| 86 |
+
"authorization": "qlm-scaleup-push-v1",
|
| 87 |
+
"selected_face": "local_y_min"
|
| 88 |
+
},
|
| 89 |
+
"instruction": "Push the box into the target area.",
|
| 90 |
+
"scaleup_metadata": {
|
| 91 |
+
"episode_uid": "push_box__ep0095",
|
| 92 |
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"task_id": "push_box",
|
| 93 |
+
"split": "train",
|
| 94 |
+
"difficulty": "randomized",
|
| 95 |
+
"trajectory_type": "normal",
|
| 96 |
+
"recovery_type": null,
|
| 97 |
+
"appearance_preset": "ap_03",
|
| 98 |
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"asset_id": "cardboard-box-04",
|
| 99 |
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"initial_condition_id": "ic_0095",
|
| 100 |
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"goal_condition_id": "gc_0095",
|
| 101 |
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"environment_seed": 202610070095
|
| 102 |
+
},
|
| 103 |
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"scaleup_motion_revision": "continuous-v2",
|
| 104 |
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"canonical_goal_position": [
|
| 105 |
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16.2390368009068,
|
| 106 |
+
0.1551576766948281,
|
| 107 |
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0.0
|
| 108 |
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],
|
| 109 |
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"environment_origin": [
|
| 110 |
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15.0,
|
| 111 |
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0.0,
|
| 112 |
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0.0
|
| 113 |
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],
|
| 114 |
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"initial_center_x_world": 15.758352420671551
|
| 115 |
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},
|
| 116 |
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"implementation": {
|
| 117 |
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"__init__.py": "02566799d0b1b4b6a2f706b3e7680fffc812ed2854f5c8a7e05cb8fb3ea43407",
|
| 118 |
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"batch.py": "c74e9215b5cc82ae23990bd6a7711ef8456093b00431a4e69eee2b443db6a6e2",
|
| 119 |
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"isaac.py": "33b089e5bb7189782f355828410edae91bb6932ee8b75970d98d86334702d86e",
|
| 120 |
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"orchestrator.py": "2a1b06fc57b78bad741977809c96eb818e39f7f244bb3f3ce03e7c8861ff393b"
|
| 121 |
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},
|
| 122 |
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"source_commit": "a11e5a77c09a5fcc0170463dcb59f428ac6a65a9",
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 265 |
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|
| 266 |
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|
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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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"extensions": {
|
| 273 |
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"task_profile_version": "push-box-v2-2",
|
| 274 |
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"contact_diagnostics": {
|
| 275 |
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"path": "metadata/contact_provenance.json",
|
| 276 |
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"sha256": "b9f28090771c66cc82492c697769587cc930e0a9520e24e509ec527c86332f6e"
|
| 277 |
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},
|
| 278 |
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"provenance": {
|
| 279 |
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"path": "metadata/provenance.json",
|
| 280 |
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"sha256": "3f0670912949046468a82b36958a222366ce8d0ea30f1e516e8984957e0c01da"
|
| 281 |
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},
|
| 282 |
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"origin": "real_isaac_acquisition",
|
| 283 |
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"purpose": "demonstration",
|
| 284 |
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"task_review": {
|
| 285 |
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"path": "metadata/task_review.json",
|
| 286 |
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"sha256": "f45fa709bb97520bec5b1a9d5edde749aecfb662a93f9e103bb6b866ac36a136"
|
| 287 |
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}
|
| 288 |
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}
|
| 289 |
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}
|
raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0096/metadata/contact_provenance.json
ADDED
|
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|
|