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b/json/chunk-0042/episode_0042610.json new file mode 100644 index 0000000000000000000000000000000000000000..8bc9a976b7132b5a2ad045ede7dd596bebb6cfab --- /dev/null +++ b/json/chunk-0042/episode_0042610.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 green bell pepper in the pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0042/image_0/episode_0042610.mp4", + "start": 0, + "end": 26, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": 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a/json/chunk-0042/episode_0042631.json b/json/chunk-0042/episode_0042631.json new file mode 100644 index 0000000000000000000000000000000000000000..d2169ab10531eda1719b554ac92143358e3e100d --- /dev/null +++ b/json/chunk-0042/episode_0042631.json @@ -0,0 +1,1702 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 27, + "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 yelow thing to the upper right burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0042/image_0/episode_0042631.mp4", + "start": 0, + "end": 27, + "fps": 5.0, + "crop_bbox": null + } + ], + 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a/json/chunk-0042/episode_0042659.json b/json/chunk-0042/episode_0042659.json new file mode 100644 index 0000000000000000000000000000000000000000..ff816b596652363a6da1d221d5ea572f9a453eb7 --- /dev/null +++ b/json/chunk-0042/episode_0042659.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:\nMoved the yellow cloth to the bottom right corner of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0042/image_0/episode_0042659.mp4", + "start": 0, + "end": 38, + "fps": 5.0, + "crop_bbox": null + } + 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a/json/chunk-0042/episode_0042662.json b/json/chunk-0042/episode_0042662.json new file mode 100644 index 0000000000000000000000000000000000000000..3d3a6456f960037c28978c4f99742c51ded5ea46 --- /dev/null +++ b/json/chunk-0042/episode_0042662.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:\nMove the silver pot that has a red thing inside to the top of the wooden table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0042/image_0/episode_0042662.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + 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b/json/chunk-0042/episode_0042699.json new file mode 100644 index 0000000000000000000000000000000000000000..0f166af310d8732268707d6f7f09ea553b2eefbd --- /dev/null +++ b/json/chunk-0042/episode_0042699.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:\nTake the pot and put it on the left side of the table above a towel." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0042/image_0/episode_0042699.mp4", + "start": 0, + "end": 24, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + 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b/json/chunk-0042/episode_0042722.json new file mode 100644 index 0000000000000000000000000000000000000000..39105171474e87d99df4130653c477bd0e6a685a --- /dev/null +++ b/json/chunk-0042/episode_0042722.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 orange cloth from the white basket into the washer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0042/image_0/episode_0042722.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": 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a/json/chunk-0042/episode_0042768.json b/json/chunk-0042/episode_0042768.json new file mode 100644 index 0000000000000000000000000000000000000000..af79ec9fe67ca5aa073d36f51f50e2ed2aa5542f --- /dev/null +++ b/json/chunk-0042/episode_0042768.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:\nMove the pan so it's bellow the pickle." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0042/image_0/episode_0042768.mp4", + "start": 0, + "end": 39, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, 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b/json/chunk-0042/episode_0042774.json new file mode 100644 index 0000000000000000000000000000000000000000..220ad540c2006cc2390a0669fa434e55c108d05a --- /dev/null +++ b/json/chunk-0042/episode_0042774.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:\nMoved the blue cloth to the left stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0042/image_0/episode_0042774.mp4", + "start": 0, + "end": 38, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + 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a/json/chunk-0042/episode_0042775.json b/json/chunk-0042/episode_0042775.json new file mode 100644 index 0000000000000000000000000000000000000000..8fd93ef8e24341f49eb4988296a23e7758fa4ae2 --- /dev/null +++ b/json/chunk-0042/episode_0042775.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:\nPick the towel to the right of the spoon." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0042/image_0/episode_0042775.mp4", + "start": 0, + "end": 26, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": 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a/json/chunk-0042/episode_0042784.json b/json/chunk-0042/episode_0042784.json new file mode 100644 index 0000000000000000000000000000000000000000..016283cf22d383f1b1540087b77fc877c6989416 --- /dev/null +++ b/json/chunk-0042/episode_0042784.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:\nTake clothes out of laundry machine." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0042/image_0/episode_0042784.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + 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b/json/chunk-0042/episode_0042807.json new file mode 100644 index 0000000000000000000000000000000000000000..c0f89b0582cdfa09b84d50e65c8f7b28a342e39e --- /dev/null +++ b/json/chunk-0042/episode_0042807.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:\nClose low fridge." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0042/image_0/episode_0042807.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ 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file mode 100644 index 0000000000000000000000000000000000000000..b5a81adcc636e5e1a13c2cc066155460f27c55ef --- /dev/null +++ b/json/chunk-0042/episode_0042829.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 rectangular block on top of the tower on the right side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0042/image_0/episode_0042829.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + 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a/json/chunk-0042/episode_0042836.json b/json/chunk-0042/episode_0042836.json new file mode 100644 index 0000000000000000000000000000000000000000..12046c564790dadbfc8d30832ba20b4ff9a532db --- /dev/null +++ b/json/chunk-0042/episode_0042836.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:\nPick the pot and place it on bottom right edge of table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0042/image_0/episode_0042836.mp4", + "start": 0, + "end": 34, + "fps": 5.0, + "crop_bbox": null + } + ], + 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diff --git a/json/chunk-0042/episode_0042839.json b/json/chunk-0042/episode_0042839.json new file mode 100644 index 0000000000000000000000000000000000000000..3139f6b71543bdbd3917b6243a32b729b3eb318e --- /dev/null +++ b/json/chunk-0042/episode_0042839.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 yellow knife to left edge of counter below crescent roll." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0042/image_0/episode_0042839.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + 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"value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the red circular object to the middle of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0042/image_0/episode_0042855.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2744210660457611, + -0.06545040756464005, + 0.08045627921819687, + 0.040686458349227905, + -0.14319145679473877, + 0.16517843306064606, + 0.0, + 0.9913908839225769 + ], + [ + 0.2716267704963684, + -0.06504299491643906, + 0.07486572861671448, + 0.04705589637160301, + -0.12406569719314575, + 0.1657186895608902, + 0.0, + 0.9913908839225769 + ], + [ + 0.27539998292922974, + -0.08555002510547638, + 0.07384335249662399, + -0.03536854684352875, + 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b/json/chunk-0042/episode_0042865.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 the mushroom into the pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0042/image_0/episode_0042865.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.37405624985694885, + 0.08564623445272446, + 0.06559339910745621, + 0.0981500893831253, + -0.186388298869133, + 0.11768703162670135, + 0.0, + 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diff --git a/json/chunk-0042/episode_0042871.json b/json/chunk-0042/episode_0042871.json new file mode 100644 index 0000000000000000000000000000000000000000..45b24dbf7bb647458e359bd915dc7c8cacf24bd0 --- /dev/null +++ b/json/chunk-0042/episode_0042871.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:\nPut broccoli in pot or pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0042/image_0/episode_0042871.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + 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b/json/chunk-0042/episode_0042874.json new file mode 100644 index 0000000000000000000000000000000000000000..71f6394db46b1574805ab80cb841942f2eb1c424 --- /dev/null +++ b/json/chunk-0042/episode_0042874.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:\nPut the blue brush on top of the yellow cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0042/image_0/episode_0042874.mp4", + "start": 0, + "end": 43, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + 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b/json/chunk-0042/episode_0042877.json new file mode 100644 index 0000000000000000000000000000000000000000..735fd0a3d47a8270354194881469b4544d8ccd8e --- /dev/null +++ b/json/chunk-0042/episode_0042877.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 cylinder off of the red arc and put it on top of the plus." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0042/image_0/episode_0042877.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + 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--git a/json/chunk-0042/episode_0042888.json b/json/chunk-0042/episode_0042888.json new file mode 100644 index 0000000000000000000000000000000000000000..2b40f44a522c2b04e3c44f12f566dcb14385b299 --- /dev/null +++ b/json/chunk-0042/episode_0042888.json @@ -0,0 +1,1342 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 21, + "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 down toward the tables edge." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0042/image_0/episode_0042888.mp4", + "start": 0, + "end": 21, + "fps": 5.0, + "crop_bbox": null + } + ], + 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from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the brown cylinder and put it on top of the blue cube." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0042/image_0/episode_0042916.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.31357473134994507, + 0.09895485639572144, + 0.11294711381196976, + -0.011004475876688957, + 0.0535566471517086, + -0.09372013807296753, + 0.0, + 1.0001531839370728 + ], + [ + 0.31196656823158264, + 0.09719053655862808, + 0.10079005360603333, + -0.03008580394089222, + 0.08719353377819061, + -0.09821145981550217, + 0.0, + 1.0001531839370728 + ], + [ + 0.3140298128128052, + 0.09489429742097855, + 0.09288213402032852, + -0.03977939486503601, + 0.06305066496133804, + -0.10611897706985474, + 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file mode 100644 index 0000000000000000000000000000000000000000..5915180ac6d3e876bf03e40fb283a88eadef0738 --- /dev/null +++ b/json/chunk-0042/episode_0042945.json @@ -0,0 +1,3322 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 54, + "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 pot on top to the left of the pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0042/image_0/episode_0042945.mp4", + "start": 0, + "end": 54, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 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b/json/chunk-0042/episode_0042961.json new file mode 100644 index 0000000000000000000000000000000000000000..82a65126bd252219b973178e85e3bc058dfab932 --- /dev/null +++ b/json/chunk-0042/episode_0042961.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 pan just behind the violet cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0042/image_0/episode_0042961.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + 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views.\n# Base View\n\nGenerate robot actions for the task:\nMove the silver pot to the left burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0042/image_0/episode_0042983.mp4", + "start": 0, + "end": 28, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.25061023235321045, + 0.15202696621418, + 0.08589564263820648, + -0.0029612563084810972, + -0.18051429092884064, + -0.0892718955874443, + 0.0, + 1.0008161067962646 + ], + [ + 0.24811749160289764, + 0.14931145310401917, + 0.07895595580339432, + -0.025162924081087112, + -0.16282479465007782, + -0.08269824832677841, + 0.0, + 1.0008161067962646 + ], + [ + 0.2503228783607483, + 0.12228225916624069, + 0.09706452488899231, + -0.02882559224963188, + -0.2063707560300827, + -0.1499904990196228, + 0.0, + 1.0008161067962646 + ], + 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a/json/chunk-0043/episode_0043027.json b/json/chunk-0043/episode_0043027.json new file mode 100644 index 0000000000000000000000000000000000000000..0e979000388619567575d5781e4ce8521843f1ae --- /dev/null +++ b/json/chunk-0043/episode_0043027.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 blue fork to the bottom right corner of the stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043027.mp4", + "start": 0, + "end": 17, + "fps": 5.0, + "crop_bbox": null + } + ], + 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b/json/chunk-0043/episode_0043033.json new file mode 100644 index 0000000000000000000000000000000000000000..55bfe07fa97dceea9cd4d9e6a3c8d80a1fcc64b1 --- /dev/null +++ b/json/chunk-0043/episode_0043033.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 the top right on top of the blue towel." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043033.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": 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b/json/chunk-0043/episode_0043038.json new file mode 100644 index 0000000000000000000000000000000000000000..d0143ebdcb2b8f8db4d50430b3574ac49bfe1ec9 --- /dev/null +++ b/json/chunk-0043/episode_0043038.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:\nPut the red cube on top of the red rectangle." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043038.mp4", + "start": 0, + "end": 44, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + 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a/json/chunk-0043/episode_0043056.json b/json/chunk-0043/episode_0043056.json new file mode 100644 index 0000000000000000000000000000000000000000..d1fd1eae4d8f3c9ff8657c30de2cf414d10077d4 --- /dev/null +++ b/json/chunk-0043/episode_0043056.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:\nHold the red spoon from center of the table and put it on left edge of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043056.mp4", + "start": 0, + "end": 32, + "fps": 5.0, + 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a/json/chunk-0043/episode_0043061.json b/json/chunk-0043/episode_0043061.json new file mode 100644 index 0000000000000000000000000000000000000000..0c817572c113719114959fc6e334d54aaf22afa9 --- /dev/null +++ b/json/chunk-0043/episode_0043061.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-0043/image_0/episode_0043061.mp4", + "start": 0, + "end": 95, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + 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stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043084.mp4", + "start": 0, + "end": 71, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.22936001420021057, + -0.0804566740989685, + 0.13845929503440857, + -0.0703090950846672, + -0.26281341910362244, + 0.11756551265716553, + 0.0, + 1.0047606229782104 + ], + [ + 0.22688914835453033, + -0.08006907999515533, + 0.1328926980495453, + -0.06272543221712112, + -0.24659684300422668, + 0.12228791415691376, + 0.0, + 1.0047606229782104 + ], + [ + 0.23086316883563995, + -0.09646531939506531, + 0.12064741551876068, + -0.056845422834157944, + -0.2737313508987427, + 0.14015863835811615, + 0.0, + 1.0047606229782104 + ], + [ + 0.23499301075935364, + -0.11202328652143478, + 0.10758146643638611, + 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a/json/chunk-0043/episode_0043087.json b/json/chunk-0043/episode_0043087.json new file mode 100644 index 0000000000000000000000000000000000000000..2b6800a08e9be486c28055101d84bc8a04286cee --- /dev/null +++ b/json/chunk-0043/episode_0043087.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:\nPut red bottle in sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043087.mp4", + "start": 0, + "end": 22, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": 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b/json/chunk-0043/episode_0043094.json new file mode 100644 index 0000000000000000000000000000000000000000..65c29d90839ba8f2d53aeb275746bb72e809dd95 --- /dev/null +++ b/json/chunk-0043/episode_0043094.json @@ -0,0 +1,5122 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 84, + "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-0043/image_0/episode_0043094.mp4", + "start": 0, + "end": 84, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 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a/json/chunk-0043/episode_0043099.json b/json/chunk-0043/episode_0043099.json new file mode 100644 index 0000000000000000000000000000000000000000..cac221e48de0ef0bdd1d1199578dd854efa3d062 --- /dev/null +++ b/json/chunk-0043/episode_0043099.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:\nMove the basket to the left on top of the green towel." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043099.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + 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View\n\nGenerate robot actions for the task:\nPicks a silver lid and closses the silver pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043147.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3616839647293091, + 0.012128941714763641, + 0.05931893736124039, + 0.04110626131296158, + -0.023191016167402267, + -0.10433773696422577, + 0.0, + 1.0014774799346924 + ], + [ + 0.35834288597106934, + 0.012038139626383781, + 0.0460919588804245, + 0.037168074399232864, + 0.007304078433662653, + -0.10624884814023972, + 0.0, + 1.0014774799346924 + ], + [ + 0.3291958272457123, + 0.01916448026895523, + 0.03656017780303955, + 0.05419459939002991, + 0.044495824724435806, + -0.12390786409378052, + 0.0, + 1.0014774799346924 + ], + [ + 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a/json/chunk-0043/episode_0043156.json b/json/chunk-0043/episode_0043156.json new file mode 100644 index 0000000000000000000000000000000000000000..db589701ec2dcb2256d62f87da0f6a2f15c070a2 --- /dev/null +++ b/json/chunk-0043/episode_0043156.json @@ -0,0 +1,1702 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 27, + "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 silver lid from pot and put on the blue cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043156.mp4", + "start": 0, + "end": 27, + "fps": 5.0, + "crop_bbox": null + } + ], + 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View\n\nGenerate robot actions for the task:\nMove the blue spoon to the bottom right of the stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043174.mp4", + "start": 0, + "end": 24, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2630895972251892, + 0.0949818342924118, + 0.06678138673305511, + 0.009207455441355705, + -0.08446041494607925, + -0.17444972693920135, + 0.0, + 0.9994885921478271 + ], + [ + 0.2604604959487915, + 0.09353162348270416, + 0.058307502418756485, + -0.006312012206763029, + -0.059371788054704666, + -0.16557355225086212, + 0.0, + 0.9994885921478271 + ], + [ + 0.26499107480049133, + 0.0728171318769455, + 0.0469052828848362, + -0.01911475881934166, + -0.052776437252759933, + -0.1635894924402237, + 0.0, + 0.9994885921478271 + ], + 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a/json/chunk-0043/episode_0043190.json b/json/chunk-0043/episode_0043190.json new file mode 100644 index 0000000000000000000000000000000000000000..8d92a6f00ef7a60e01e0d4972b2b8d124796f64a --- /dev/null +++ b/json/chunk-0043/episode_0043190.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:\nFold the cloth from the bottom to the middle." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043190.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": 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a/json/chunk-0043/episode_0043202.json b/json/chunk-0043/episode_0043202.json new file mode 100644 index 0000000000000000000000000000000000000000..444152cc6c0ca43b0081d5b0d5aced262d9f85fa --- /dev/null +++ b/json/chunk-0043/episode_0043202.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:\nMoves a grey toy to the right side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043202.mp4", + "start": 0, + "end": 16, + "fps": 5.0, + "crop_bbox": null + } + ], + 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a/json/chunk-0043/episode_0043206.json b/json/chunk-0043/episode_0043206.json new file mode 100644 index 0000000000000000000000000000000000000000..bf3f55daf7d1e0d24fc795da4b4df20fd408efe1 --- /dev/null +++ b/json/chunk-0043/episode_0043206.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:\nUnfold the cloth from left to right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043206.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + 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a/json/chunk-0043/episode_0043207.json b/json/chunk-0043/episode_0043207.json new file mode 100644 index 0000000000000000000000000000000000000000..d91f984e22efaf9f1f59d2b56d3d62e35a80dd8f --- /dev/null +++ b/json/chunk-0043/episode_0043207.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:\nOpens the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043207.mp4", + "start": 0, + "end": 26, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null 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a/json/chunk-0043/episode_0043215.json b/json/chunk-0043/episode_0043215.json new file mode 100644 index 0000000000000000000000000000000000000000..2e1c3b26d64990cd15fdcd8b55b850f1349e49e9 --- /dev/null +++ b/json/chunk-0043/episode_0043215.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:\nMove the white basket to the right side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043215.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + 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a/json/chunk-0043/episode_0043224.json b/json/chunk-0043/episode_0043224.json new file mode 100644 index 0000000000000000000000000000000000000000..68928d6752e2b354f57cfc87a965f56655061949 --- /dev/null +++ b/json/chunk-0043/episode_0043224.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 cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043224.mp4", + "start": 0, + "end": 37, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + 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}, + "extra_info": null +} diff --git a/json/chunk-0043/episode_0043263.json b/json/chunk-0043/episode_0043263.json new file mode 100644 index 0000000000000000000000000000000000000000..5fbcb4727b7f5a831941ea080c45afba79d3f25c --- /dev/null +++ b/json/chunk-0043/episode_0043263.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:\nMoved a blue spoon from the top left of the table to the bottom left of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043263.mp4", + "start": 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"extra_info": null +} diff --git a/json/chunk-0043/episode_0043272.json b/json/chunk-0043/episode_0043272.json new file mode 100644 index 0000000000000000000000000000000000000000..fb4b188bc40ba5baf54d156d190f3cd5afadf484 --- /dev/null +++ b/json/chunk-0043/episode_0043272.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:\nRemove the chicken from the pot and place it on the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043272.mp4", + "start": 0, + "end": 29, + "fps": 5.0, 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b/json/chunk-0043/episode_0043300.json new file mode 100644 index 0000000000000000000000000000000000000000..e4e012173244df7824d3d69fc4370e21e1692bdb --- /dev/null +++ b/json/chunk-0043/episode_0043300.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:\nMove the green cloth to the bottom left side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043300.mp4", + "start": 0, + "end": 18, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": 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"value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoved the blue blanket on the top right side of the green blanket." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043309.mp4", + "start": 0, + "end": 28, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2662523090839386, + -0.0017965309089049697, + 0.05174984782934189, + 0.013532483950257301, + -0.17281968891620636, + -0.09062658995389938, + 0.0, + 0.9994885921478271 + ], + [ + 0.2634291350841522, + -0.002103987382724881, + 0.045561421662569046, + 0.009183119982481003, + -0.15008795261383057, + -0.08800285309553146, + 0.0, + 0.9994885921478271 + ], + [ + 0.2641901671886444, + 0.0017208608333021402, + 0.03861476853489876, + 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a/json/chunk-0043/episode_0043385.json b/json/chunk-0043/episode_0043385.json new file mode 100644 index 0000000000000000000000000000000000000000..dd3c5e153bb8f6ba270339b1c6cc24ebf7b0d536 --- /dev/null +++ b/json/chunk-0043/episode_0043385.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:\nMove the yellow cloth straight up." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043385.mp4", + "start": 0, + "end": 39, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + 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a/json/chunk-0043/episode_0043430.json b/json/chunk-0043/episode_0043430.json new file mode 100644 index 0000000000000000000000000000000000000000..a819d168b0215e8b2fd19328c2fcd0383e362cce --- /dev/null +++ b/json/chunk-0043/episode_0043430.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:\nTake broccoli out of pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043430.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + 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b/json/chunk-0043/episode_0043435.json new file mode 100644 index 0000000000000000000000000000000000000000..957e0657307868c6a396d5e098e92b51f705fd1b --- /dev/null +++ b/json/chunk-0043/episode_0043435.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:\nFold the cloth from left to right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043435.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + 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a/json/chunk-0043/episode_0043450.json b/json/chunk-0043/episode_0043450.json new file mode 100644 index 0000000000000000000000000000000000000000..8a1b0e5bafe20ab44a20860ad9113c8898917f17 --- /dev/null +++ b/json/chunk-0043/episode_0043450.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:\nTurn faucet left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043450.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null 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a/json/chunk-0043/episode_0043489.json b/json/chunk-0043/episode_0043489.json new file mode 100644 index 0000000000000000000000000000000000000000..44f69f060372f271f78bd6f7a644f4b2d7562e06 --- /dev/null +++ b/json/chunk-0043/episode_0043489.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 the corn to the upper middle of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043489.mp4", + "start": 0, + "end": 55, + "fps": 5.0, + "crop_bbox": null + } + ], + 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diff --git a/json/chunk-0043/episode_0043491.json b/json/chunk-0043/episode_0043491.json new file mode 100644 index 0000000000000000000000000000000000000000..447a69e431ab894c37687a98a095d390cf335941 --- /dev/null +++ b/json/chunk-0043/episode_0043491.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:\nMove the cone to the right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043491.mp4", + "start": 0, + "end": 39, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + 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b/json/chunk-0043/episode_0043510.json new file mode 100644 index 0000000000000000000000000000000000000000..d98f55eaac8e27724d31a8974ce7b6b02092c58a --- /dev/null +++ b/json/chunk-0043/episode_0043510.json @@ -0,0 +1,5662 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 93, + "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-0043/image_0/episode_0043510.mp4", + "start": 0, + "end": 93, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 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--git a/json/chunk-0043/episode_0043525.json b/json/chunk-0043/episode_0043525.json new file mode 100644 index 0000000000000000000000000000000000000000..7ec0f0649187d4c3ec484280c4c77a5acbaefcfe --- /dev/null +++ b/json/chunk-0043/episode_0043525.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." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043525.mp4", + "start": 0, + "end": 40, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, 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observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake out the chocolate out of the drawer and put it on the bottom center of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043542.mp4", + "start": 0, + "end": 43, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.32053011655807495, + 0.12310246378183365, + 0.11605765670537949, + -0.3548852205276489, + -0.1387903094291687, + 1.1242119073867798, + 0.0, + 1.0008161067962646 + ], + [ + 0.31965652108192444, + 0.12256327271461487, + 0.10614661872386932, + -0.33861789107322693, + -0.1158449724316597, + 1.1248942613601685, + 0.0, + 1.0014774799346924 + ], + [ + 0.32701200246810913, + 0.12472052127122879, + 0.09914905577898026, + -0.36948397755622864, 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a/json/chunk-0043/episode_0043590.json b/json/chunk-0043/episode_0043590.json new file mode 100644 index 0000000000000000000000000000000000000000..3bddf1204c4e8d9407264a3d4d643812cad578e1 --- /dev/null +++ b/json/chunk-0043/episode_0043590.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 yellow pepper on the on the bottom right corner of the cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043590.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null 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b/json/chunk-0043/episode_0043637.json new file mode 100644 index 0000000000000000000000000000000000000000..1652a1f82b44ee6ae2a6726aefa06fa847c29fb5 --- /dev/null +++ b/json/chunk-0043/episode_0043637.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:\nUnzip zipper bag." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043637.mp4", + "start": 0, + "end": 18, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ 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a/json/chunk-0043/episode_0043645.json b/json/chunk-0043/episode_0043645.json new file mode 100644 index 0000000000000000000000000000000000000000..d974b954683ea32d07c6f6a36f55017a2599c92e --- /dev/null +++ b/json/chunk-0043/episode_0043645.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 yellow spoon to the left side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043645.mp4", + "start": 0, + "end": 32, + "fps": 5.0, + "crop_bbox": null + } + ], + 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b/json/chunk-0043/episode_0043648.json new file mode 100644 index 0000000000000000000000000000000000000000..395aa5d68f48301d9532c3cb76c740828461eb32 --- /dev/null +++ b/json/chunk-0043/episode_0043648.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 cup from counter to sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043648.mp4", + "start": 0, + "end": 20, + "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:\nPlace the red vegetable on the front right corner of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043666.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2856571078300476, + 0.021670427173376083, + 0.10667618364095688, + 0.007288903463631868, + -0.13461658358573914, + -0.10570047795772552, + 0.0, + 1.0008161067962646 + ], + [ + 0.28172072768211365, + 0.021543137729167938, + 0.09725097566843033, + 0.0023672941606491804, + -0.10121412575244904, + -0.10724954307079315, + 0.0, + 1.0008161067962646 + ], + [ + 0.25920695066452026, + 0.03432473912835121, + 0.08439352363348007, + -0.005655914079397917, + -0.06755299121141434, + -0.08235538005828857, + 0.0, + 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b/json/chunk-0043/episode_0043708.json new file mode 100644 index 0000000000000000000000000000000000000000..1f07fc96a823af674a3b1feb0d1525cd01473fe1 --- /dev/null +++ b/json/chunk-0043/episode_0043708.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 silver pot to the right side of the oven top." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043708.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + 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b/json/chunk-0043/episode_0043716.json new file mode 100644 index 0000000000000000000000000000000000000000..8db1d721ca7b86d284c990a4b2755ea850a5eac0 --- /dev/null +++ b/json/chunk-0043/episode_0043716.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 object on the left top side burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043716.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + 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b/json/chunk-0043/episode_0043717.json new file mode 100644 index 0000000000000000000000000000000000000000..a09694fca02f8dc14e003a284d9db370b78a3b4d --- /dev/null +++ b/json/chunk-0043/episode_0043717.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 carrot directly to the left of the orange cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043717.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null 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a/json/chunk-0043/episode_0043721.json b/json/chunk-0043/episode_0043721.json new file mode 100644 index 0000000000000000000000000000000000000000..c2b8fa09c723d9249b35ed8adc85c340877dc561 --- /dev/null +++ b/json/chunk-0043/episode_0043721.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:\nWipe pot with sponge." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043721.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": 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--git a/json/chunk-0043/episode_0043743.json b/json/chunk-0043/episode_0043743.json new file mode 100644 index 0000000000000000000000000000000000000000..ba1fc5c2514b2d70f18ca5e32bbee76249548b12 --- /dev/null +++ b/json/chunk-0043/episode_0043743.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:\nTake the egg and put it in the stainless steel pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043743.mp4", + "start": 0, + "end": 41, + "fps": 5.0, + "crop_bbox": null + } + ], + 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diff --git a/json/chunk-0043/episode_0043753.json b/json/chunk-0043/episode_0043753.json new file mode 100644 index 0000000000000000000000000000000000000000..010b69964bfef9ba8e1b4a131fe38cc2317c55b5 --- /dev/null +++ b/json/chunk-0043/episode_0043753.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:\nClose the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043753.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + 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"extra_info": null +} diff --git a/json/chunk-0043/episode_0043764.json b/json/chunk-0043/episode_0043764.json new file mode 100644 index 0000000000000000000000000000000000000000..5563865f69bd96209bcb402a81381ee8a5915133 --- /dev/null +++ b/json/chunk-0043/episode_0043764.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 drumstick to the top right corner of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043764.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + 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b/json/chunk-0043/episode_0043781.json new file mode 100644 index 0000000000000000000000000000000000000000..b304d430000e14861a2d7e9e3416f5f2f47d755d --- /dev/null +++ b/json/chunk-0043/episode_0043781.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 silver pan to the center of table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043781.mp4", + "start": 0, + "end": 26, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + 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b/json/chunk-0043/episode_0043782.json new file mode 100644 index 0000000000000000000000000000000000000000..a249fbb713b5657fb8c927ea2c4b7841255665ba --- /dev/null +++ b/json/chunk-0043/episode_0043782.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 bottom left to top right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043782.mp4", + "start": 0, + "end": 40, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + 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b/json/chunk-0043/episode_0043794.json new file mode 100644 index 0000000000000000000000000000000000000000..e2fa6e5de894ee43fa8cb5be38ca60e8057c31ea --- /dev/null +++ b/json/chunk-0043/episode_0043794.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 eggplant in pot or pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043794.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + 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task:\nBergerak ke bawah dan ambil panci perak. Lalu angkat dan pindahkan panci perak ke pembakar kanan atas. Kemudian lepaskan kapitannya." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043808.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3930967450141907, + 0.06303407996892929, + 0.01415225025266409, + -0.008396834135055542, + -0.052740298211574554, + 0.004485186655074358, + 0.0, + 0.9981546401977539 + ], + [ + 0.3864375650882721, + 0.060096003115177155, + -0.004194119479507208, + -0.016509005799889565, + -0.0028245639987289906, + -0.00295885163359344, + 0.0, + 0.9981546401977539 + ], + [ + 0.38646364212036133, + 0.049406006932258606, + -0.008664892055094242, + -0.017750367522239685, + 0.010647447779774666, + -0.051403239369392395, + 0.0, + 0.9981546401977539 + ], + [ + 0.3961030840873718, + 0.024094143882393837, + 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"extra_info": null +} diff --git a/json/chunk-0043/episode_0043876.json b/json/chunk-0043/episode_0043876.json new file mode 100644 index 0000000000000000000000000000000000000000..7a343dc70b89b507bf3220df59d935d7d2e9bea2 --- /dev/null +++ b/json/chunk-0043/episode_0043876.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:\nPut the silver pot upon the orange object." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043876.mp4", + "start": 0, + "end": 43, + "fps": 5.0, + "crop_bbox": 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"extra_info": null +} diff --git a/json/chunk-0043/episode_0043877.json b/json/chunk-0043/episode_0043877.json new file mode 100644 index 0000000000000000000000000000000000000000..fc5f24a7d2ed8ff1989111cc96d08566bf3c7632 --- /dev/null +++ b/json/chunk-0043/episode_0043877.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 gray object inside the silver pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043877.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": 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b/json/chunk-0043/episode_0043882.json new file mode 100644 index 0000000000000000000000000000000000000000..4a30b61f38d01528e7a0ef602511dca84d9e1fdf --- /dev/null +++ b/json/chunk-0043/episode_0043882.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 green napkin from back to front side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043882.mp4", + "start": 0, + "end": 32, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": 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a/json/chunk-0043/episode_0043909.json b/json/chunk-0043/episode_0043909.json new file mode 100644 index 0000000000000000000000000000000000000000..2eb2c41b33fb9282ac537138298484636602826b --- /dev/null +++ b/json/chunk-0043/episode_0043909.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 carrot on plate." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043909.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": 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b/json/chunk-0043/episode_0043913.json new file mode 100644 index 0000000000000000000000000000000000000000..e4ae0f19c9c52d6cb919dc226c9512f478889f60 --- /dev/null +++ b/json/chunk-0043/episode_0043913.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:\nPut fork from basket to tray." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043913.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + 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b/json/chunk-0043/episode_0043915.json new file mode 100644 index 0000000000000000000000000000000000000000..143c7e9747e68d6b555bc39a38465dec87104caa --- /dev/null +++ b/json/chunk-0043/episode_0043915.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:\nPut blueberries on plate sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043915.mp4", + "start": 0, + "end": 25, + "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:\nMove the metal bowl to the other side of the counter." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043922.mp4", + "start": 0, + "end": 37, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.28779563307762146, + 0.053315624594688416, + 0.11168491095304489, + 0.04225720092654228, + -0.037228062748909, + -0.2949811816215515, + 0.0, + 1.0001531839370728 + ], + [ + 0.2873583137989044, + 0.05459168925881386, + 0.10220412909984589, + 0.031253837049007416, + -0.015103880316019058, + -0.2979501485824585, + 0.0, + 1.0001531839370728 + ], + [ + 0.2865305542945862, + 0.09407354146242142, + 0.08935912698507309, + 0.04494760185480118, + -0.025179419666528702, + -0.23466719686985016, + 0.0, + 0.9994885921478271 + ], + [ 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b/json/chunk-0043/episode_0043929.json new file mode 100644 index 0000000000000000000000000000000000000000..220f9f3675efbc027c52b97d6405bebb502058e3 --- /dev/null +++ b/json/chunk-0043/episode_0043929.json @@ -0,0 +1,1342 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 21, + "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 from left side to right side of gas stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043929.mp4", + "start": 0, + "end": 21, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null 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diff --git a/json/chunk-0043/episode_0043936.json b/json/chunk-0043/episode_0043936.json new file mode 100644 index 0000000000000000000000000000000000000000..93216a2b6fabdf9d581af4474a2632b3e07f0591 --- /dev/null +++ b/json/chunk-0043/episode_0043936.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:\nOpen cabinet." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043936.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + 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View\n\nGenerate robot actions for the task:\nMoved the steel pot to the upper left corner of the burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043948.mp4", + "start": 0, + "end": 44, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3733534514904022, + 0.021493129432201385, + 0.07794039696455002, + 0.0631585568189621, + 0.004776818212121725, + -0.00803374219685793, + 0.0, + 1.0008161067962646 + ], + [ + 0.3710428476333618, + 0.020624347031116486, + 0.06543614715337753, + 0.060313597321510315, + 0.04006991535425186, + -0.010600407607853413, + 0.0, + 1.0008161067962646 + ], + [ + 0.3672204315662384, + -0.008371521718800068, + 0.059506796300411224, + 0.04669107124209404, + 0.05927981436252594, + -0.10634408891201019, + 0.0, + 1.0008161067962646 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--git a/json/chunk-0043/episode_0043965.json b/json/chunk-0043/episode_0043965.json new file mode 100644 index 0000000000000000000000000000000000000000..009b7590e20465cb87b80abde6af401b1df9604b --- /dev/null +++ b/json/chunk-0043/episode_0043965.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-0043/image_0/episode_0043965.mp4", + "start": 0, + "end": 95, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": 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a/json/chunk-0043/episode_0043976.json b/json/chunk-0043/episode_0043976.json new file mode 100644 index 0000000000000000000000000000000000000000..142530a1c0ef831d69aaea6c9f08bd3f6f6928e8 --- /dev/null +++ b/json/chunk-0043/episode_0043976.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:\nUnzip zipper bag." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0043/image_0/episode_0043976.mp4", + "start": 0, + "end": 18, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null 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