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a/json/chunk-0001/episode_0001347.json b/json/chunk-0001/episode_0001347.json new file mode 100644 index 0000000000000000000000000000000000000000..34dd77c4766daafd577c53e7399e8eb6a87ca56a --- /dev/null +++ b/json/chunk-0001/episode_0001347.json @@ -0,0 +1,2482 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 40, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold the clothe from top right to bottom left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001347.mp4", + "start": 0, + "end": 40, + "fps": 5.0, + "crop_bbox": null + } + ], + 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a/json/chunk-0001/episode_0001356.json b/json/chunk-0001/episode_0001356.json new file mode 100644 index 0000000000000000000000000000000000000000..49b6a59ca9d9f33410b7e3dfe2794d7f7b117504 --- /dev/null +++ b/json/chunk-0001/episode_0001356.json @@ -0,0 +1,2542 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 41, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold the cloth from right to left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001356.mp4", + "start": 0, + "end": 41, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + 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diff --git a/json/chunk-0001/episode_0001362.json b/json/chunk-0001/episode_0001362.json new file mode 100644 index 0000000000000000000000000000000000000000..860f0cd3a14acaac9a6e8eaa8f3a0dcd984f451a --- /dev/null +++ b/json/chunk-0001/episode_0001362.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the can to the right side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001362.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + 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--git a/json/chunk-0001/episode_0001363.json b/json/chunk-0001/episode_0001363.json new file mode 100644 index 0000000000000000000000000000000000000000..18bac50a5b8e9c41477c61266f33963ff0f6aa32 --- /dev/null +++ b/json/chunk-0001/episode_0001363.json @@ -0,0 +1,1942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 31, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the light blue can to the bottom right of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001363.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + 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"extra_info": null +} diff --git a/json/chunk-0001/episode_0001365.json b/json/chunk-0001/episode_0001365.json new file mode 100644 index 0000000000000000000000000000000000000000..c7daf218dcddfcb42012908c9d88ea8c2fcbcde8 --- /dev/null +++ b/json/chunk-0001/episode_0001365.json @@ -0,0 +1,1102 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 17, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the green handkerchief to the center of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001365.mp4", + "start": 0, + "end": 17, + "fps": 5.0, + 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a/json/chunk-0001/episode_0001369.json b/json/chunk-0001/episode_0001369.json new file mode 100644 index 0000000000000000000000000000000000000000..bb621442fff2b2fb2cd024fda8bd277f31de9c0b --- /dev/null +++ b/json/chunk-0001/episode_0001369.json @@ -0,0 +1,2722 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 44, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the pot on the right burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001369.mp4", + "start": 0, + "end": 44, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + 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a/json/chunk-0001/episode_0001372.json b/json/chunk-0001/episode_0001372.json new file mode 100644 index 0000000000000000000000000000000000000000..407912dafa3efb46207d996b77b8b4ccd21a191c --- /dev/null +++ b/json/chunk-0001/episode_0001372.json @@ -0,0 +1,1462 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 23, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick the silver pot away from the purple paper." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001372.mp4", + "start": 0, + "end": 23, + "fps": 5.0, + "crop_bbox": null + } + ], + 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--git a/json/chunk-0001/episode_0001374.json b/json/chunk-0001/episode_0001374.json new file mode 100644 index 0000000000000000000000000000000000000000..85f3c18ef88a484e2070fc37a9cbd952bd6451e1 --- /dev/null +++ b/json/chunk-0001/episode_0001374.json @@ -0,0 +1,1522 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 24, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nGets the pink thing and put it on to the top of the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001374.mp4", + "start": 0, + "end": 24, + "fps": 5.0, + "crop_bbox": null + } + 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diff --git a/json/chunk-0001/episode_0001376.json b/json/chunk-0001/episode_0001376.json new file mode 100644 index 0000000000000000000000000000000000000000..79828ad3d0e90a7ed06490a52852c6f00664a414 --- /dev/null +++ b/json/chunk-0001/episode_0001376.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the pot behind the knife." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001376.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": 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b/json/chunk-0001/episode_0001377.json new file mode 100644 index 0000000000000000000000000000000000000000..9ecf4cf89ebd9f6770263ef9b1377086c2b1e468 --- /dev/null +++ b/json/chunk-0001/episode_0001377.json @@ -0,0 +1,1882 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 30, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nSlide the orange cloth back to the left side of the pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001377.mp4", + "start": 0, + "end": 30, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null 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b/json/chunk-0001/episode_0001403.json new file mode 100644 index 0000000000000000000000000000000000000000..7946c1c8f7d892b5e8d7f34d698c645ba23b6134 --- /dev/null +++ b/json/chunk-0001/episode_0001403.json @@ -0,0 +1,2242 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 36, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nRemove the green cube from top of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001403.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + 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a/json/chunk-0001/episode_0001414.json b/json/chunk-0001/episode_0001414.json new file mode 100644 index 0000000000000000000000000000000000000000..4352bfbce080772abe52cc72c3dfc9d892b4e835 --- /dev/null +++ b/json/chunk-0001/episode_0001414.json @@ -0,0 +1,2602 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 42, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the zero chip in the tray." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001414.mp4", + "start": 0, + "end": 42, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + 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a/json/chunk-0001/episode_0001415.json b/json/chunk-0001/episode_0001415.json new file mode 100644 index 0000000000000000000000000000000000000000..d30535643012b0756a036959d15ac4122e4127f1 --- /dev/null +++ b/json/chunk-0001/episode_0001415.json @@ -0,0 +1,2062 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 33, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the spoon behind the vessel." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001415.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + 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a/json/chunk-0001/episode_0001437.json b/json/chunk-0001/episode_0001437.json new file mode 100644 index 0000000000000000000000000000000000000000..20b8cc6392648372495890d5ef43d3a1a98e8b24 --- /dev/null +++ b/json/chunk-0001/episode_0001437.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the block off the blue rectangular block and put it on top of the cylinder." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001437.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + 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a/json/chunk-0001/episode_0001446.json b/json/chunk-0001/episode_0001446.json new file mode 100644 index 0000000000000000000000000000000000000000..bc32721ce91ba60b0e0fe4751b7cba2ef9c0c715 --- /dev/null +++ b/json/chunk-0001/episode_0001446.json @@ -0,0 +1,1642 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 26, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the green object to the left side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001446.mp4", + "start": 0, + "end": 26, + "fps": 5.0, + "crop_bbox": null + } + ], + 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--git a/json/chunk-0001/episode_0001449.json b/json/chunk-0001/episode_0001449.json new file mode 100644 index 0000000000000000000000000000000000000000..c8739b368fb1dfb969f52cc3ebd0d953ad4da6f0 --- /dev/null +++ b/json/chunk-0001/episode_0001449.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the orange teddy on the right of the pink teddy." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001449.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + 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b/json/chunk-0001/episode_0001480.json new file mode 100644 index 0000000000000000000000000000000000000000..d635d0f84e677f697768d53208f2c3fef1ce40ff --- /dev/null +++ b/json/chunk-0001/episode_0001480.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFolds the cloth from the top to bottom." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001480.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + 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spoon." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001489.mp4", + "start": 0, + "end": 24, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.25223508477211, + 0.1275041699409485, + 0.07421868294477463, + -0.030974911525845528, + -0.17210753262043, + 0.20405492186546326, + 0.0, + 1.0001531839370728 + ], + [ + 0.25037679076194763, + 0.12499753385782242, + 0.06685930490493774, + -0.039836637675762177, + -0.14698897302150726, + 0.20705446600914001, + 0.0, + 1.0001531839370728 + ], + [ + 0.2552697956562042, + 0.08464531600475311, + 0.058814384043216705, + -0.05138928443193436, + -0.13560572266578674, + 0.11327441781759262, + 0.0, + 1.0001531839370728 + ], + [ + 0.26134923100471497, + 0.033082880079746246, + 0.06911204755306244, + -0.03198975324630737, + 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a/json/chunk-0001/episode_0001504.json b/json/chunk-0001/episode_0001504.json new file mode 100644 index 0000000000000000000000000000000000000000..1e8d56ead0cce30dc8222a9349da786e832de360 --- /dev/null +++ b/json/chunk-0001/episode_0001504.json @@ -0,0 +1,1402 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 22, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMamindra zavatra tsy fantatra." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001504.mp4", + "start": 0, + "end": 22, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + 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a/json/chunk-0001/episode_0001541.json b/json/chunk-0001/episode_0001541.json new file mode 100644 index 0000000000000000000000000000000000000000..a9b755d3b0ca02a4b503073c1f2721b661f28ff1 --- /dev/null +++ b/json/chunk-0001/episode_0001541.json @@ -0,0 +1,1522 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 24, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the spoon to the upper right side of stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001541.mp4", + "start": 0, + "end": 24, + "fps": 5.0, + "crop_bbox": null + } + ], + 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--git a/json/chunk-0001/episode_0001542.json b/json/chunk-0001/episode_0001542.json new file mode 100644 index 0000000000000000000000000000000000000000..a24ddb4bd6fa5e9d1f738561584e1a5f132f12f0 --- /dev/null +++ b/json/chunk-0001/episode_0001542.json @@ -0,0 +1,2122 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 34, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold the cloth from left to right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001542.mp4", + "start": 0, + "end": 34, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": 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a/json/chunk-0001/episode_0001544.json b/json/chunk-0001/episode_0001544.json new file mode 100644 index 0000000000000000000000000000000000000000..11750faf42980f03b4e8fc1c06ad9aecf3a8f131 --- /dev/null +++ b/json/chunk-0001/episode_0001544.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the pot to the top right side of the heater." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001544.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + 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a/json/chunk-0001/episode_0001556.json b/json/chunk-0001/episode_0001556.json new file mode 100644 index 0000000000000000000000000000000000000000..b681a158988fbcf97ec909d111bf61b5c151de41 --- /dev/null +++ b/json/chunk-0001/episode_0001556.json @@ -0,0 +1,2902 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 47, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the knife to the centre of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001556.mp4", + "start": 0, + "end": 47, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": 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+} diff --git a/json/chunk-0001/episode_0001558.json b/json/chunk-0001/episode_0001558.json new file mode 100644 index 0000000000000000000000000000000000000000..e63024c7e4546c577ff04faebbfd55ad9987695b --- /dev/null +++ b/json/chunk-0001/episode_0001558.json @@ -0,0 +1,1762 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 28, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from bottom right to top left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001558.mp4", + "start": 0, + "end": 28, + "fps": 5.0, + "crop_bbox": null + } + ], + 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+} diff --git a/json/chunk-0001/episode_0001559.json b/json/chunk-0001/episode_0001559.json new file mode 100644 index 0000000000000000000000000000000000000000..9c164307c4f4717fa63a0e33abf36a0ce516a53f --- /dev/null +++ b/json/chunk-0001/episode_0001559.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the blue spoon and put it below the orange cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001559.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + 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a/json/chunk-0001/episode_0001573.json b/json/chunk-0001/episode_0001573.json new file mode 100644 index 0000000000000000000000000000000000000000..e2572c83495c0e21baea0808436eee86e8fb2293 --- /dev/null +++ b/json/chunk-0001/episode_0001573.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove faucet front to left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001573.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + 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b/json/chunk-0001/episode_0001574.json new file mode 100644 index 0000000000000000000000000000000000000000..a0df808c8086a5704950abef407c13f4118345e3 --- /dev/null +++ b/json/chunk-0001/episode_0001574.json @@ -0,0 +1,1162 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 18, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nLever vertical to front." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001574.mp4", + "start": 0, + "end": 18, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": 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View\n\nGenerate robot actions for the task:\nPlaced the purple cloth on the right stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001635.mp4", + "start": 0, + "end": 38, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.31316137313842773, + 0.08184687793254852, + 0.1112469881772995, + 0.3114509582519531, + 0.06236890330910683, + -1.3555004596710205, + 0.0, + 0.9981546401977539 + ], + [ + 0.2994147837162018, + 0.07760009169578552, + 0.09171371161937714, + 0.23830446600914001, + 0.06157204881310463, + -1.3553192615509033, + 0.0, + 0.9981546401977539 + ], + [ + 0.2937691807746887, + 0.06999161094427109, + 0.08049760013818741, + 0.17834338545799255, + 0.06737986952066422, + -1.2834233045578003, + 0.0, + 0.9981546401977539 + ], + [ + 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--git a/json/chunk-0001/episode_0001652.json b/json/chunk-0001/episode_0001652.json new file mode 100644 index 0000000000000000000000000000000000000000..e976e93ef65fc234b1a806851b3c5ce87052fec7 --- /dev/null +++ b/json/chunk-0001/episode_0001652.json @@ -0,0 +1,2002 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 32, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the silver pot to the right burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001652.mp4", + "start": 0, + "end": 32, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": 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a/json/chunk-0001/episode_0001686.json b/json/chunk-0001/episode_0001686.json new file mode 100644 index 0000000000000000000000000000000000000000..c0e77dde65486bf8b9ac5a48b25410af1cc9214c --- /dev/null +++ b/json/chunk-0001/episode_0001686.json @@ -0,0 +1,1642 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 26, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the silver lid on top of the orange cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001686.mp4", + "start": 0, + "end": 26, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": 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b/json/chunk-0001/episode_0001691.json new file mode 100644 index 0000000000000000000000000000000000000000..ff1b0e1d0a360476ee0589cb45f8bcf0eaf09c8f --- /dev/null +++ b/json/chunk-0001/episode_0001691.json @@ -0,0 +1,982 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 15, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut pan from drying rack into sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001691.mp4", + "start": 0, + "end": 15, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + 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a/json/chunk-0001/episode_0001702.json b/json/chunk-0001/episode_0001702.json new file mode 100644 index 0000000000000000000000000000000000000000..fc900255af9b4136f0219fa4f5210671afc17b3d --- /dev/null +++ b/json/chunk-0001/episode_0001702.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose brown1fbox flap." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001702.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": 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b/json/chunk-0001/episode_0001718.json new file mode 100644 index 0000000000000000000000000000000000000000..ea150e975c3959c3262eb28d482c5e9e8ba8811f --- /dev/null +++ b/json/chunk-0001/episode_0001718.json @@ -0,0 +1,2602 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 42, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the pot in front of the oven." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001718.mp4", + "start": 0, + "end": 42, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { 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a/json/chunk-0001/episode_0001728.json b/json/chunk-0001/episode_0001728.json new file mode 100644 index 0000000000000000000000000000000000000000..cc5c1a178b6b400c9e37205002f9e770282ba366 --- /dev/null +++ b/json/chunk-0001/episode_0001728.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nRight pepper shaker." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001728.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": 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b/json/chunk-0001/episode_0001735.json new file mode 100644 index 0000000000000000000000000000000000000000..080765c160a8880a909d3509a06207f59186d44a --- /dev/null +++ b/json/chunk-0001/episode_0001735.json @@ -0,0 +1,1522 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 24, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the pot on the lower right corner of the stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001735.mp4", + "start": 0, + "end": 24, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, 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b/json/chunk-0001/episode_0001754.json new file mode 100644 index 0000000000000000000000000000000000000000..7d2a0ff373443fd421b2b6b9e59b963d029ddda5 --- /dev/null +++ b/json/chunk-0001/episode_0001754.json @@ -0,0 +1,2062 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 33, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut broccoli in pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001754.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + 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red ball from vessel and place it on the bottom right of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001757.mp4", + "start": 0, + "end": 32, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.30404525995254517, + 0.00762345502153039, + 0.08205360919237137, + -0.014891069382429123, + -0.10001594573259354, + -0.1853012591600418, + 0.0, + 1.0008161067962646 + ], + [ + 0.30263668298721313, + 0.007554839365184307, + 0.07469641417264938, + -0.02064945362508297, + -0.07469484210014343, + -0.18791484832763672, + 0.0, + 1.0008161067962646 + ], + [ + 0.30530035495758057, + 0.023339733481407166, + 0.07326768338680267, + -0.02140674740076065, + -0.0628960058093071, + -0.15534578263759613, + 0.0, + 1.0008161067962646 + ], + [ + 0.31200382113456726, + 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b/json/chunk-0001/episode_0001762.json new file mode 100644 index 0000000000000000000000000000000000000000..9a47be385ced19a91e39508e091b11169d5ae408 --- /dev/null +++ b/json/chunk-0001/episode_0001762.json @@ -0,0 +1,1642 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 26, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut corn in bowl sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001762.mp4", + "start": 0, + "end": 26, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ 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diff --git a/json/chunk-0001/episode_0001774.json b/json/chunk-0001/episode_0001774.json new file mode 100644 index 0000000000000000000000000000000000000000..a90b7d9f86f1640310f3dc38cba185c1b810fe87 --- /dev/null +++ b/json/chunk-0001/episode_0001774.json @@ -0,0 +1,2482 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 40, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from right to left and cover the yellow object." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001774.mp4", + "start": 0, + "end": 40, + "fps": 5.0, + "crop_bbox": 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mode 100644 index 0000000000000000000000000000000000000000..38da3c87355377ea433809395ae535bb23fc0304 --- /dev/null +++ b/json/chunk-0001/episode_0001776.json @@ -0,0 +1,3082 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 50, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the red chili pepper into the silver pot at the top of the stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001776.mp4", + "start": 0, + "end": 50, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ 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a/json/chunk-0001/episode_0001798.json b/json/chunk-0001/episode_0001798.json new file mode 100644 index 0000000000000000000000000000000000000000..59156fbea617c74fc8d66756eb17a07e81d4fea3 --- /dev/null +++ b/json/chunk-0001/episode_0001798.json @@ -0,0 +1,1942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 31, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTo bottom left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001798.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + 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a/json/chunk-0001/episode_0001847.json b/json/chunk-0001/episode_0001847.json new file mode 100644 index 0000000000000000000000000000000000000000..be72e7b340e84df594bb348a76b1ba61caedaaca --- /dev/null +++ b/json/chunk-0001/episode_0001847.json @@ -0,0 +1,2122 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 34, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut a rectangle on the others rectangles." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001847.mp4", + "start": 0, + "end": 34, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": 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a/json/chunk-0001/episode_0001855.json b/json/chunk-0001/episode_0001855.json new file mode 100644 index 0000000000000000000000000000000000000000..3ab6b741eb15ab03bbb681d8cd10c841903e3653 --- /dev/null +++ b/json/chunk-0001/episode_0001855.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the brush on the cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001855.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + 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b/json/chunk-0001/episode_0001867.json new file mode 100644 index 0000000000000000000000000000000000000000..6aa1ffc1830e942b23a7beba55a5d98ff0157f51 --- /dev/null +++ b/json/chunk-0001/episode_0001867.json @@ -0,0 +1,2062 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 33, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut sushi in pot cardboard fence." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001867.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + 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View\n\nGenerate robot actions for the task:\nTake the mushroom out of the drawer and put it on the middle bottom part of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001871.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.26681122183799744, + -0.011180874891579151, + 0.14786675572395325, + 0.042499806731939316, + -0.0878465324640274, + 0.026113566011190414, + 0.0, + 0.9988223910331726 + ], + [ + 0.2649267613887787, + -0.011683348566293716, + 0.14105673134326935, + 0.04358607530593872, + -0.06174909695982933, + 0.024883707985281944, + 0.0, + 0.9988223910331726 + ], + [ + 0.2761067748069763, + -0.007533088326454163, + 0.13063804805278778, + 0.021429814398288727, + -0.03452572226524353, + 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a/json/chunk-0001/episode_0001898.json b/json/chunk-0001/episode_0001898.json new file mode 100644 index 0000000000000000000000000000000000000000..fb7ebb2c23d389475945f7811a1258b85183ba73 --- /dev/null +++ b/json/chunk-0001/episode_0001898.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the silver pot to above the blue cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001898.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": 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diff --git a/json/chunk-0001/episode_0001904.json b/json/chunk-0001/episode_0001904.json new file mode 100644 index 0000000000000000000000000000000000000000..6e1fb2c000888f47597e84b7f0a9027d3c2877a0 --- /dev/null +++ b/json/chunk-0001/episode_0001904.json @@ -0,0 +1,1222 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 19, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut pot on stove which is near stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001904.mp4", + "start": 0, + "end": 19, + "fps": 5.0, + "crop_bbox": null + } + ], + 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a/json/chunk-0001/episode_0001906.json b/json/chunk-0001/episode_0001906.json new file mode 100644 index 0000000000000000000000000000000000000000..afee667bf9181a65ef36686d1bc1623ceb058c66 --- /dev/null +++ b/json/chunk-0001/episode_0001906.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the potato to the back left of the table with the green cloth to the back left of it." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001906.mp4", + "start": 0, + "end": 45, + "fps": 5.0, 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View\n\nGenerate robot actions for the task:\nPlace the spoon right next to the front left edge of the metal pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001917.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.23451875150203705, + 0.14250436425209045, + 0.05278640612959862, + 0.11423350870609283, + -0.013941832818090916, + -0.017304375767707825, + 0.0, + 0.9981546401977539 + ], + [ + 0.23287101089954376, + 0.14069584012031555, + 0.04356701672077179, + 0.09715026617050171, + 0.01675279811024666, + -0.01872292347252369, + 0.0, + 0.9981546401977539 + ], + [ + 0.25574663281440735, + 0.13853052258491516, + 0.041844408959150314, + 0.09029986709356308, + 0.032594844698905945, + -0.06489714980125427, + 0.0, + 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--git a/json/chunk-0001/episode_0001942.json b/json/chunk-0001/episode_0001942.json new file mode 100644 index 0000000000000000000000000000000000000000..4e6367d02567d1ffb1dfaee425258db91a6bc344 --- /dev/null +++ b/json/chunk-0001/episode_0001942.json @@ -0,0 +1,2242 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 36, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut spoon onto towl." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001942.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + 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b/json/chunk-0001/episode_0001943.json new file mode 100644 index 0000000000000000000000000000000000000000..e69dc926884d3a7fa0f05c3782c131ef8c732676 --- /dev/null +++ b/json/chunk-0001/episode_0001943.json @@ -0,0 +1,2002 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 32, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the can to the bottom side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001943.mp4", + "start": 0, + "end": 32, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + 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a/json/chunk-0001/episode_0001963.json b/json/chunk-0001/episode_0001963.json new file mode 100644 index 0000000000000000000000000000000000000000..bc9c35efd86922deb7415feeb4d9dc0078ed43b3 --- /dev/null +++ b/json/chunk-0001/episode_0001963.json @@ -0,0 +1,3262 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 53, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoved the red bottle to the left lower burner side." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001963.mp4", + "start": 0, + "end": 53, + "fps": 5.0, + "crop_bbox": null + } + ], + 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a/json/chunk-0001/episode_0001964.json b/json/chunk-0001/episode_0001964.json new file mode 100644 index 0000000000000000000000000000000000000000..fbe93ed1901331c614c6323b0d05da12ad21f489 --- /dev/null +++ b/json/chunk-0001/episode_0001964.json @@ -0,0 +1,2302 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 37, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nRotated the white cube with a hole 45 degrees." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0001/image_0/episode_0001964.mp4", + "start": 0, + "end": 37, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": 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a/json/chunk-0002/episode_0002050.json b/json/chunk-0002/episode_0002050.json new file mode 100644 index 0000000000000000000000000000000000000000..0dac9d5738ca0d582f492fcb17da936b615d3c93 --- /dev/null +++ b/json/chunk-0002/episode_0002050.json @@ -0,0 +1,2482 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 40, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoved the eggplant from the silver pot to the bottom right burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002050.mp4", + "start": 0, + "end": 40, + "fps": 5.0, + "crop_bbox": null + } 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b/json/chunk-0002/episode_0002097.json new file mode 100644 index 0000000000000000000000000000000000000000..6c4745a7dec1d1fe215c7cd489b37544614039f9 --- /dev/null +++ b/json/chunk-0002/episode_0002097.json @@ -0,0 +1,1522 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 24, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the grapes in the pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002097.mp4", + "start": 0, + "end": 24, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + 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b/json/chunk-0002/episode_0002117.json new file mode 100644 index 0000000000000000000000000000000000000000..472cd038eb9c489454822e74b6b51eee278fd93b --- /dev/null +++ b/json/chunk-0002/episode_0002117.json @@ -0,0 +1,2122 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 34, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the coth from bottom left to top right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002117.mp4", + "start": 0, + "end": 34, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + 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a/json/chunk-0002/episode_0002120.json b/json/chunk-0002/episode_0002120.json new file mode 100644 index 0000000000000000000000000000000000000000..a893467c103c8192950d00e2796f0f490868c30b --- /dev/null +++ b/json/chunk-0002/episode_0002120.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut broccoli in pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002120.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": 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b/json/chunk-0002/episode_0002143.json new file mode 100644 index 0000000000000000000000000000000000000000..9f4ec89995d844017851465b9da8ae7670dec91f --- /dev/null +++ b/json/chunk-0002/episode_0002143.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the green block on top of the yellow block." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002143.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + 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b/json/chunk-0002/episode_0002159.json new file mode 100644 index 0000000000000000000000000000000000000000..de3cf9b3c839d1ea6465e02d6cc359613747d26d --- /dev/null +++ b/json/chunk-0002/episode_0002159.json @@ -0,0 +1,4402 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 72, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nSweep into pile." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002159.mp4", + "start": 0, + "end": 72, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 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a/json/chunk-0002/episode_0002200.json b/json/chunk-0002/episode_0002200.json new file mode 100644 index 0000000000000000000000000000000000000000..644709cd5576f838fa435b14cd7deca0af418a4d --- /dev/null +++ b/json/chunk-0002/episode_0002200.json @@ -0,0 +1,1102 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 17, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFlip pot upright in sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002200.mp4", + "start": 0, + "end": 17, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + 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a/json/chunk-0002/episode_0002205.json b/json/chunk-0002/episode_0002205.json new file mode 100644 index 0000000000000000000000000000000000000000..83cb31abdb47282eec9efecfe88fdd138c88e9c2 --- /dev/null +++ b/json/chunk-0002/episode_0002205.json @@ -0,0 +1,4282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 70, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut bread on plate and pear in pot or pan on stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002205.mp4", + "start": 0, + "end": 70, + "fps": 5.0, + "crop_bbox": null + } + ], + 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a/json/chunk-0002/episode_0002206.json b/json/chunk-0002/episode_0002206.json new file mode 100644 index 0000000000000000000000000000000000000000..fa45a8458924efdb6b802d3230fb45fcd8167016 --- /dev/null +++ b/json/chunk-0002/episode_0002206.json @@ -0,0 +1,1642 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 26, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the cloth to the left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002206.mp4", + "start": 0, + "end": 26, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + 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b/json/chunk-0002/episode_0002248.json new file mode 100644 index 0000000000000000000000000000000000000000..4fd4f459288cae0b0942271725da74aa7e64d432 --- /dev/null +++ b/json/chunk-0002/episode_0002248.json @@ -0,0 +1,1942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 31, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the white thing to the left of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002248.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + 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actions for the task:\nPut the green cloth inside the washer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002256.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.28218919038772583, + -0.009861133992671967, + 0.02273538149893284, + 0.018801216036081314, + 0.01217017974704504, + -0.12900598347187042, + 0.0, + 1.0008161067962646 + ], + [ + 0.27839046716690063, + -0.008899169974029064, + 0.01574614644050598, + 0.01894933544099331, + 0.03681444376707077, + -0.12959161400794983, + 0.0, + 1.0008161067962646 + ], + [ + 0.2745552957057953, + 0.015338608995079994, + 0.013744205236434937, + 0.06768310070037842, + -0.016247102990746498, + -0.11628696322441101, + 0.0, + 1.0008161067962646 + ], + [ + 0.27447107434272766, + 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"value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut red block from arch to left side." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002268.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.15685833990573883, + -0.030893364921212196, + 0.1800430715084076, + 0.15374693274497986, + 0.002968432381749153, + -0.00300207850523293, + 0.0, + 1.0001531839370728 + ], + [ + 0.154867485165596, + -0.03044991008937359, + 0.17682257294654846, + 0.15683425962924957, + 0.016511473804712296, + -0.0028697210364043713, + 0.0, + 1.0001531839370728 + ], + [ + 0.15536710619926453, + -0.03190583363175392, + 0.1859368532896042, + 0.12502530217170715, + 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a/json/chunk-0002/episode_0002271.json b/json/chunk-0002/episode_0002271.json new file mode 100644 index 0000000000000000000000000000000000000000..f677b7c8327695156c60390df0edb0397b87aa0b --- /dev/null +++ b/json/chunk-0002/episode_0002271.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the yellow duck in the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002271.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + 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b/json/chunk-0002/episode_0002320.json new file mode 100644 index 0000000000000000000000000000000000000000..99accf2d99c669e20992d5574707c612f9a13ea2 --- /dev/null +++ b/json/chunk-0002/episode_0002320.json @@ -0,0 +1,1882 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 30, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut banana in pot cardboard fence." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002320.mp4", + "start": 0, + "end": 30, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + 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a/json/chunk-0002/episode_0002336.json b/json/chunk-0002/episode_0002336.json new file mode 100644 index 0000000000000000000000000000000000000000..bbff390837a4725a649e7ac9dc58d2996e209946 --- /dev/null +++ b/json/chunk-0002/episode_0002336.json @@ -0,0 +1,1042 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 16, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut corn in pan which is on stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002336.mp4", + "start": 0, + "end": 16, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + 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actions for the task:\nMove the purple towel to the right top corner of the stove right burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002338.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2757229208946228, + 0.021969953551888466, + 0.11781967431306839, + 0.010037600994110107, + -0.24715304374694824, + -0.12384805083274841, + 0.0, + 1.0001531839370728 + ], + [ + 0.27422410249710083, + 0.020785538479685783, + 0.11134036630392075, + -0.0035819876939058304, + -0.22039291262626648, + -0.11956532299518585, + 0.0, + 1.0001531839370728 + ], + [ + 0.2845284044742584, + 0.03746776655316353, + 0.11971835047006607, + -0.019436653703451157, + -0.22934195399284363, + -0.07304622232913971, + 0.0, + 1.0001531839370728 + ], 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"extra_info": null +} diff --git a/json/chunk-0002/episode_0002379.json b/json/chunk-0002/episode_0002379.json new file mode 100644 index 0000000000000000000000000000000000000000..9b5deffdcbb8282b5e891455ea9c5321e60bd67b --- /dev/null +++ b/json/chunk-0002/episode_0002379.json @@ -0,0 +1,2302 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 37, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the can between the yellow cloth and the fork." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002379.mp4", + "start": 0, + "end": 37, + "fps": 5.0, + 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}, + "extra_info": null +} diff --git a/json/chunk-0002/episode_0002380.json b/json/chunk-0002/episode_0002380.json new file mode 100644 index 0000000000000000000000000000000000000000..559743842b19dfc01cf9020c2f66151937232f1d --- /dev/null +++ b/json/chunk-0002/episode_0002380.json @@ -0,0 +1,2122 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 34, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nThe robot placed the cloth on the butane gas burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002380.mp4", + "start": 0, + "end": 34, + "fps": 5.0, 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--git a/json/chunk-0002/episode_0002383.json b/json/chunk-0002/episode_0002383.json new file mode 100644 index 0000000000000000000000000000000000000000..2b0938927c37979f03ee6f7f0e1976dd5016c6cc --- /dev/null +++ b/json/chunk-0002/episode_0002383.json @@ -0,0 +1,2662 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 43, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the yellow block above the green arch and the tower." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002383.mp4", + "start": 0, + "end": 43, + "fps": 5.0, + "crop_bbox": null + } + 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+ "extra_info": null +} diff --git a/json/chunk-0002/episode_0002397.json b/json/chunk-0002/episode_0002397.json new file mode 100644 index 0000000000000000000000000000000000000000..5d2430a481263a83f81285ce2d5789bc736af5fc --- /dev/null +++ b/json/chunk-0002/episode_0002397.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nRemoved the green thing from the drawer and placed it on the left side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002397.mp4", + "start": 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a/json/chunk-0002/episode_0002410.json b/json/chunk-0002/episode_0002410.json new file mode 100644 index 0000000000000000000000000000000000000000..824c2c883408e7017aa4351e98d907b6104adb48 --- /dev/null +++ b/json/chunk-0002/episode_0002410.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut spoon in pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002410.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null 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a/json/chunk-0002/episode_0002412.json b/json/chunk-0002/episode_0002412.json new file mode 100644 index 0000000000000000000000000000000000000000..51d3b17ccf4c7fa9d6ca3c4d7c8e525282ddba04 --- /dev/null +++ b/json/chunk-0002/episode_0002412.json @@ -0,0 +1,922 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 14, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the green cloth to the left lower part of table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002412.mp4", + "start": 0, + "end": 14, + "fps": 5.0, + "crop_bbox": null + } + ], + 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b/json/chunk-0002/episode_0002413.json new file mode 100644 index 0000000000000000000000000000000000000000..53a85c189060b17933f1d86228c6c648ca05f89a --- /dev/null +++ b/json/chunk-0002/episode_0002413.json @@ -0,0 +1,1462 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 23, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut lemon on plate." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002413.mp4", + "start": 0, + "end": 23, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + 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--git a/json/chunk-0002/episode_0002443.json b/json/chunk-0002/episode_0002443.json new file mode 100644 index 0000000000000000000000000000000000000000..40e116840dd559c9593fd2f6aa3f9809e6f1c6ac --- /dev/null +++ b/json/chunk-0002/episode_0002443.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the red fork to the back of the can." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002443.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + 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a/json/chunk-0002/episode_0002444.json b/json/chunk-0002/episode_0002444.json new file mode 100644 index 0000000000000000000000000000000000000000..642c915d260a9ef55b2d3db1a8b1005fa5b3b03b --- /dev/null +++ b/json/chunk-0002/episode_0002444.json @@ -0,0 +1,2002 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 32, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from bottom left to top right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002444.mp4", + "start": 0, + "end": 32, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": 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file mode 100644 index 0000000000000000000000000000000000000000..c4ac8869fbdf2e7eff5935ddfd8313d9c9d32ef2 --- /dev/null +++ b/json/chunk-0002/episode_0002447.json @@ -0,0 +1,1942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 31, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoved the blue cloth from the right side of the stove to the burner on the left side." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002447.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + 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a/json/chunk-0002/episode_0002448.json b/json/chunk-0002/episode_0002448.json new file mode 100644 index 0000000000000000000000000000000000000000..136f48b23fff591b20fb0634c6a95ad0adca6e31 --- /dev/null +++ b/json/chunk-0002/episode_0002448.json @@ -0,0 +1,2002 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 32, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the silver pot to the top right burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002448.mp4", + "start": 0, + "end": 32, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": 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a/json/chunk-0002/episode_0002455.json b/json/chunk-0002/episode_0002455.json new file mode 100644 index 0000000000000000000000000000000000000000..4cda455052d07a95472b8bee6ac6ed7e4b0d2e0c --- /dev/null +++ b/json/chunk-0002/episode_0002455.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from bottom right to the top left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002455.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + 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a/json/chunk-0002/episode_0002467.json b/json/chunk-0002/episode_0002467.json new file mode 100644 index 0000000000000000000000000000000000000000..90fd0e996db237acc22f661e32f63bcbd28daf19 --- /dev/null +++ b/json/chunk-0002/episode_0002467.json @@ -0,0 +1,5182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 85, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nSweep into pile." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002467.mp4", + "start": 0, + "end": 85, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + 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b/json/chunk-0002/episode_0002475.json new file mode 100644 index 0000000000000000000000000000000000000000..2d885958c5ce43640908fd23f64ae9ec4741a31f --- /dev/null +++ b/json/chunk-0002/episode_0002475.json @@ -0,0 +1,2122 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 34, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoved the purple and gray tin to the middle of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002475.mp4", + "start": 0, + "end": 34, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null 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a/json/chunk-0002/episode_0002476.json b/json/chunk-0002/episode_0002476.json new file mode 100644 index 0000000000000000000000000000000000000000..c29979591793a19301558be093b1ae57fb757c56 --- /dev/null +++ b/json/chunk-0002/episode_0002476.json @@ -0,0 +1,2902 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 47, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoved the red pot to the upper right corner of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002476.mp4", + "start": 0, + "end": 47, + "fps": 5.0, + "crop_bbox": null + } + ], + 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b/json/chunk-0002/episode_0002493.json new file mode 100644 index 0000000000000000000000000000000000000000..c4fd749696305dfdcd4ab8d491199cefccc7ae5f --- /dev/null +++ b/json/chunk-0002/episode_0002493.json @@ -0,0 +1,2122 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 34, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the yellow towel on the front left corner of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002493.mp4", + "start": 0, + "end": 34, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": 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a/json/chunk-0002/episode_0002503.json b/json/chunk-0002/episode_0002503.json new file mode 100644 index 0000000000000000000000000000000000000000..7f73a275387caa78545d2161c93ce493cdfb9848 --- /dev/null +++ b/json/chunk-0002/episode_0002503.json @@ -0,0 +1,2422 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 39, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick the rectangular cube and put it on the plus and cube." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002503.mp4", + "start": 0, + "end": 39, + "fps": 5.0, + "crop_bbox": null + } + ], + 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b/json/chunk-0002/episode_0002505.json new file mode 100644 index 0000000000000000000000000000000000000000..41370203370cc490bac68be91b40d45baf756165 --- /dev/null +++ b/json/chunk-0002/episode_0002505.json @@ -0,0 +1,3382 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 55, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove red pot to the right side of the sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002505.mp4", + "start": 0, + "end": 55, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + 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b/json/chunk-0002/episode_0002509.json new file mode 100644 index 0000000000000000000000000000000000000000..bbc8f34a0af7241b568984885614ea7d2582bcae --- /dev/null +++ b/json/chunk-0002/episode_0002509.json @@ -0,0 +1,3262 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 53, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut strawberry in pot or pan an put pot or pan on stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002509.mp4", + "start": 0, + "end": 53, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null 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diff --git a/json/chunk-0002/episode_0002518.json b/json/chunk-0002/episode_0002518.json new file mode 100644 index 0000000000000000000000000000000000000000..37d0e7df779fab83a1b263c5104ae468a71aec35 --- /dev/null +++ b/json/chunk-0002/episode_0002518.json @@ -0,0 +1,2002 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 32, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the pot to the left of the spoon." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002518.mp4", + "start": 0, + "end": 32, + "fps": 5.0, + "crop_bbox": null + } + ], + 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b/json/chunk-0002/episode_0002520.json new file mode 100644 index 0000000000000000000000000000000000000000..6634d6130d1c44352c65c152a6d1d915c723d8df --- /dev/null +++ b/json/chunk-0002/episode_0002520.json @@ -0,0 +1,1942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 31, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the chicken leg to the top center of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002520.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, 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a/json/chunk-0002/episode_0002564.json b/json/chunk-0002/episode_0002564.json new file mode 100644 index 0000000000000000000000000000000000000000..8233835a00e4ffef8a81ecee548adb8180d32926 --- /dev/null +++ b/json/chunk-0002/episode_0002564.json @@ -0,0 +1,1882 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 30, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from top left to bottom right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002564.mp4", + "start": 0, + "end": 30, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": 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a/json/chunk-0002/episode_0002588.json b/json/chunk-0002/episode_0002588.json new file mode 100644 index 0000000000000000000000000000000000000000..6d2793465ce609088a369d360fbe85593cb9d53c --- /dev/null +++ b/json/chunk-0002/episode_0002588.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the purple object on the purple cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002588.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": 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diff --git a/json/chunk-0002/episode_0002590.json b/json/chunk-0002/episode_0002590.json new file mode 100644 index 0000000000000000000000000000000000000000..8c561e852db13cfbc304576e5e9b0fad53d3023c --- /dev/null +++ b/json/chunk-0002/episode_0002590.json @@ -0,0 +1,1642 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 26, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold the cloth from bottom right to top left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002590.mp4", + "start": 0, + "end": 26, + "fps": 5.0, + "crop_bbox": null + } + ], + 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diff --git a/json/chunk-0002/episode_0002591.json b/json/chunk-0002/episode_0002591.json new file mode 100644 index 0000000000000000000000000000000000000000..64390029793c494cfa86fae7260833d5a88f0cd4 --- /dev/null +++ b/json/chunk-0002/episode_0002591.json @@ -0,0 +1,5782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 95, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nSweep into pile." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002591.mp4", + "start": 0, + "end": 95, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + 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plate." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002592.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.35396668314933777, + 0.009183883666992188, + 0.05889932066202164, + 0.09378538280725479, + -0.29924389719963074, + -0.3125402331352234, + 0.0, + 1.0086473226547241 + ], + [ + 0.3501087427139282, + 0.009525720030069351, + 0.0502949059009552, + 0.08537522703409195, + -0.27433347702026367, + -0.30245810747146606, + 0.0, + 1.0086473226547241 + ], + [ + 0.3453187346458435, + 0.025297777727246284, + 0.06398705393075943, + 0.15477871894836426, + -0.28872695565223694, + -0.30590298771858215, + 0.0, + 1.0086473226547241 + ], + [ + 0.3338366448879242, + 0.03821798786520958, + 0.08672340959310532, + 0.24949224293231964, + 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--git a/json/chunk-0002/episode_0002607.json b/json/chunk-0002/episode_0002607.json new file mode 100644 index 0000000000000000000000000000000000000000..31bde5025606c60949bc2d28e7f0273267715896 --- /dev/null +++ b/json/chunk-0002/episode_0002607.json @@ -0,0 +1,982 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 15, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nEnd effector reaching pot or pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002607.mp4", + "start": 0, + "end": 15, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + 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a/json/chunk-0002/episode_0002612.json b/json/chunk-0002/episode_0002612.json new file mode 100644 index 0000000000000000000000000000000000000000..d71d5e5719c676526df441a7becefc66a011846c --- /dev/null +++ b/json/chunk-0002/episode_0002612.json @@ -0,0 +1,2002 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 32, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut broccoli in pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002612.mp4", + "start": 0, + "end": 32, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": 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file mode 100644 index 0000000000000000000000000000000000000000..d41a1fb17e78d5d9abf8c3b02034a0fe40e695ed --- /dev/null +++ b/json/chunk-0002/episode_0002614.json @@ -0,0 +1,1402 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 22, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPICK UP THE GREEN TOWEL AND PUT ANOTHER SIDE OF THE TABLE." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002614.mp4", + "start": 0, + "end": 22, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 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a/json/chunk-0002/episode_0002616.json b/json/chunk-0002/episode_0002616.json new file mode 100644 index 0000000000000000000000000000000000000000..c50192774b02b72828aeea190a49f14750bf9e10 --- /dev/null +++ b/json/chunk-0002/episode_0002616.json @@ -0,0 +1,982 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 15, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut detergent from sink into drying rack." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002616.mp4", + "start": 0, + "end": 15, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, 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b/json/chunk-0002/episode_0002626.json new file mode 100644 index 0000000000000000000000000000000000000000..03856f776225300a5d47815102559203e4def8dd --- /dev/null +++ b/json/chunk-0002/episode_0002626.json @@ -0,0 +1,2362 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 38, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the red object out of the pot and put it on the left burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002626.mp4", + "start": 0, + "end": 38, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + 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b/json/chunk-0002/episode_0002633.json new file mode 100644 index 0000000000000000000000000000000000000000..5454d68411b80778c04883fbfc7e49872f4ef669 --- /dev/null +++ b/json/chunk-0002/episode_0002633.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from right to left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002633.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + 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a/json/chunk-0002/episode_0002655.json b/json/chunk-0002/episode_0002655.json new file mode 100644 index 0000000000000000000000000000000000000000..a06971ca929fbc0f20a1970233a814dfb523a365 --- /dev/null +++ b/json/chunk-0002/episode_0002655.json @@ -0,0 +1,2542 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 41, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the scoop on the yellow cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002655.mp4", + "start": 0, + "end": 41, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + 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b/json/chunk-0002/episode_0002659.json new file mode 100644 index 0000000000000000000000000000000000000000..6cf7c8745012a6df2ce46e71af43d23225eebe94 --- /dev/null +++ b/json/chunk-0002/episode_0002659.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the block on the tower." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002659.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + 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a/json/chunk-0002/episode_0002676.json b/json/chunk-0002/episode_0002676.json new file mode 100644 index 0000000000000000000000000000000000000000..c6a95961926796880ad784897a21e8e5a6c5baa2 --- /dev/null +++ b/json/chunk-0002/episode_0002676.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the egg plant and place into the pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002676.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": 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place it behind the blue cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002682.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.24551457166671753, + 0.07302521169185638, + 0.08561111986637115, + 0.013832103461027145, + -0.030812447890639305, + -0.1712627410888672, + 0.0, + 0.9988223910331726 + ], + [ + 0.24353432655334473, + 0.07199640572071075, + 0.07872189581394196, + -0.001496701268479228, + -0.005893280263990164, + -0.1725490689277649, + 0.0, + 0.9988223910331726 + ], + [ + 0.24805589020252228, + 0.10242821276187897, + 0.07099013030529022, + -0.031566817313432693, + 0.015744155272841454, + -0.10062600672245026, + 0.0, + 0.9988223910331726 + ], + [ + 0.258884996175766, + 0.13722902536392212, + 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a/json/chunk-0002/episode_0002691.json b/json/chunk-0002/episode_0002691.json new file mode 100644 index 0000000000000000000000000000000000000000..9d7fdd11f46d6e2af118118ffec8a0b1da2fc909 --- /dev/null +++ b/json/chunk-0002/episode_0002691.json @@ -0,0 +1,1762 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 28, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake off the silver lid and placed it on the lower right burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002691.mp4", + "start": 0, + "end": 28, + "fps": 5.0, + "crop_bbox": null + } + 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a/json/chunk-0002/episode_0002693.json b/json/chunk-0002/episode_0002693.json new file mode 100644 index 0000000000000000000000000000000000000000..670994a74e30d09122f21e13c829abfa101e04d7 --- /dev/null +++ b/json/chunk-0002/episode_0002693.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake carrot off plate." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002693.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": 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a/json/chunk-0002/episode_0002702.json b/json/chunk-0002/episode_0002702.json new file mode 100644 index 0000000000000000000000000000000000000000..19a1094f7a0e756cb497a73aabd2d18c8e28bb26 --- /dev/null +++ b/json/chunk-0002/episode_0002702.json @@ -0,0 +1,2242 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 36, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the corn to the front right of the counter." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002702.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + "crop_bbox": null + } + ], + 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a/json/chunk-0002/episode_0002704.json b/json/chunk-0002/episode_0002704.json new file mode 100644 index 0000000000000000000000000000000000000000..d399aedb22a3eaf27f46db02ad93da6bc91bc1ec --- /dev/null +++ b/json/chunk-0002/episode_0002704.json @@ -0,0 +1,2662 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 43, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoved the green can nearer to the yellow and red can." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002704.mp4", + "start": 0, + "end": 43, + "fps": 5.0, + "crop_bbox": null + } + ], + 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b/json/chunk-0002/episode_0002734.json new file mode 100644 index 0000000000000000000000000000000000000000..99f98aca991991ae5e94b8779dc4301fb02bdf45 --- /dev/null +++ b/json/chunk-0002/episode_0002734.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the silver bowl left of the orange cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0002/image_0/episode_0002734.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + 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