{
  "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"
  ]
}