LIBERO-CF64k / dataset.json
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Complete verified LIBERO-CF64k dataset
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{
"actions": 128,
"contexts": 10000,
"control_frequency_hz": 20,
"duration_seconds": 6.4,
"frames": 129,
"indices": {
"contexts.jsonl": "c6cac22849cb97db2fc40d910c7ef3e6f7a5658b5e3a3c3a24976eb1b90e3c2f",
"samples.jsonl": "daf1743ad4c4ce417c38a7c899e321807437b5bbadc884a42bdc905b66f6994b",
"shards.json": "a8c565dc97bd56c63401507e881dc9d2ad89c1edc54910fd45a7f6d7bdb2da29"
},
"parent_trajectories": 371,
"perturbations": {
"gripper_close": 1674,
"gripper_close_delayed_12": 3078,
"gripper_close_delayed_4": 3176,
"gripper_close_then_open": 3082,
"gripper_open": 1980,
"gripper_open_then_close": 3010,
"independent_action_noise": 2000,
"invert_gripper": 2000,
"random_arm_and_gripper": 16000,
"random_axis_pulse": 2000,
"random_control_blend": 2000,
"random_gripper_switch": 2000,
"random_piecewise_control": 2000,
"reverse_translation": 2000,
"rotate_translation_xy": 2000,
"rotation_pulse_yaw_positive": 2000,
"scale_arm_fast": 2000,
"scale_arm_slow": 2000,
"smooth_action_noise": 2000,
"stop_arm": 2000,
"translation_bias": 2000,
"translation_pulse_x_negative": 2000,
"translation_pulse_z_negative": 2000
},
"samples": 64000,
"split": "train",
"tasks": [
{
"prompt": "turn on the stove and put the moka pot on it",
"samples": 6400,
"simulator_state_length": 47,
"task_id": 0
},
{
"prompt": "put the black bowl in the bottom drawer of the cabinet and close it",
"samples": 6400,
"simulator_state_length": 51,
"task_id": 1
},
{
"prompt": "put the yellow and white mug in the microwave and close it",
"samples": 6400,
"simulator_state_length": 47,
"task_id": 2
},
{
"prompt": "put both moka pots on the stove",
"samples": 6400,
"simulator_state_length": 47,
"task_id": 3
},
{
"prompt": "put both the alphabet soup and the cream cheese box in the basket",
"samples": 6400,
"simulator_state_length": 84,
"task_id": 4
},
{
"prompt": "put both the alphabet soup and the tomato sauce in the basket",
"samples": 6400,
"simulator_state_length": 123,
"task_id": 5
},
{
"prompt": "put both the cream cheese box and the butter in the basket",
"samples": 6400,
"simulator_state_length": 123,
"task_id": 6
},
{
"prompt": "put the white mug on the left plate and put the yellow and white mug on the right plate",
"samples": 6400,
"simulator_state_length": 84,
"task_id": 7
},
{
"prompt": "put the white mug on the plate and put the chocolate pudding to the right of the plate",
"samples": 6400,
"simulator_state_length": 71,
"task_id": 8
},
{
"prompt": "pick up the book and place it in the back compartment of the caddy",
"samples": 6400,
"simulator_state_length": 45,
"task_id": 9
}
],
"views": [
"observation.images.agentview_rgb",
"observation.images.eye_in_hand_rgb"
]
}