Datasets:
File size: 3,075 Bytes
27d7abc | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 | {
"status": "final",
"updated": "2026-10-18T01:25:06+02:00",
"dataset": "ws4/haller_open_the_box",
"task": "open the box by pulling its handle",
"rule": "held-out = last 3 good takes of P2 and of P3 (orchestrator); P1 (3 takes) folded into train; drop = review.json rejects",
"layouts": {
"P1": [
0,
1,
2
],
"P2": [
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
27,
28,
29,
30,
31,
32,
33,
34,
35,
36,
37,
38
],
"P3": [
39,
40,
41,
42,
43,
44,
45,
46,
47,
48,
49,
50,
51,
52,
53,
54,
55,
56,
57,
58,
59,
60,
61,
62,
63,
64,
65,
66,
67,
68,
69,
70,
71,
72,
73,
74
]
},
"drop": [
3,
7,
16,
19,
21,
28,
41,
46,
47,
70
],
"heldout": {
"P1": [],
"P2": [
36,
37,
38
],
"P3": [
72,
73,
74
]
},
"train": [
0,
1,
2,
4,
5,
6,
8,
9,
10,
11,
12,
13,
14,
15,
17,
18,
20,
22,
23,
24,
25,
26,
27,
29,
30,
31,
32,
33,
34,
35,
39,
40,
42,
43,
44,
45,
48,
49,
50,
51,
52,
53,
54,
55,
56,
57,
58,
59,
60,
61,
62,
63,
64,
65,
66,
67,
68,
69,
71
],
"counts": {
"episodes": 75,
"good": {
"P1": 3,
"P2": 30,
"P3": 32
},
"good_total": 65,
"heldout_total": 6,
"train_total": 59
},
"notes": {
"task_arm": "robot RIGHT arm = haller 'left' = left_* columns and observation.images.left_wrist; the pen arm (right_*) is parked and holding",
"end_state": "takes end with the box arm HOLDING the lid open (returning home closes the lid; Oscar). Not a return to home.",
"start_pose": "box arm at home, median left_* [0.2, 6.4, 0.9, 0.8, 0.2, 99.5]; ep 26 started away from home (noted in review.json)",
"positions": "provisional, from head frames (Oscar did not name them): P1 eps 0-2 first box setup; P2 eps 3-38 box with the red tab handle on its left edge; P3 eps 39-74 box shifted left and rotated (final setup per Oscar's photo at the end)",
"parked_arm": "pen arm right_* tucked [-1.1, -102.5, 95.9, 37.7, -11.1, 2.4] at the start; moved by hand around eps 6-7 to [1.3, -83.7, 81.8, 82.8, -10.3, 0.9], pan drifting to 5.4 by ep ~35. Range eps 7-74: min [1.1, -95.5, 81.8, 44.4, -10.5, 0.9] max [5.4, -83.0, 81.9, 83.2, -10.1, 0.9]",
"box_arm_hold_after_session": "after the last take the box arm holds the lid at left_* [12.13, -13.80, 12.26, 37.54, 29.93, 0.87] (gripper closed on the flap), load <= 0.11; this is the start pose for the green-pen and cutter sessions",
"rate": "30 Hz except eps 31 (29.50), 43 (29.76), 73 (29.82) during other jobs' CPU spikes; gaps > 100 ms in eps 1, 31, 43, 73 (max 182 ms in ep 43); 3 cameras push typical max gaps to 50-70 ms",
"integrity": "225 video files: packets == rows; timestamps exactly frame_index/30; action != state on the task arm in every episode"
}
}
|