File size: 5,246 Bytes
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"encoding_id": "rokae_progress_condition_v3",
"state_feature": "observation.state",
"dtype": "float64",
"dimension": 57,
"layout": {
"physical_state": {
"start": 0,
"stop": 30,
"names": [
"left_joint_pos0",
"left_joint_pos1",
"left_joint_pos2",
"left_joint_pos3",
"left_joint_pos4",
"left_joint_pos5",
"left_joint_pos6",
"left_cart_pos0",
"left_cart_pos1",
"left_cart_pos2",
"left_cart_pos3",
"left_cart_pos4",
"left_cart_pos5",
"left_psi",
"left_gripper_pos",
"right_joint_pos0",
"right_joint_pos1",
"right_joint_pos2",
"right_joint_pos3",
"right_joint_pos4",
"right_joint_pos5",
"right_joint_pos6",
"right_cart_pos0",
"right_cart_pos1",
"right_cart_pos2",
"right_cart_pos3",
"right_cart_pos4",
"right_cart_pos5",
"right_psi",
"right_gripper_pos"
],
"source_dtype": "float32"
},
"skill_onehot": {
"start": 30,
"stop": 38,
"vocabulary": [
"approach",
"grasp",
"place",
"pour",
"retreat",
"return",
"transport",
"stack"
]
},
"pos_onehot": {
"start": 38,
"stop": 43,
"vocabulary": [
"lower right",
"none",
"upper right",
"top1",
"top2"
]
},
"obj_onehot": {
"start": 43,
"stop": 46,
"vocabulary": [
"bread",
"kettle",
"cup"
]
},
"progress_fourier": {
"start": 46,
"stop": 57,
"names": [
"progress",
"progress_sin(1pi)",
"progress_cos(1pi)",
"progress_sin(2pi)",
"progress_cos(2pi)",
"progress_sin(3pi)",
"progress_cos(3pi)",
"progress_sin(4pi)",
"progress_cos(4pi)",
"progress_sin(5pi)",
"progress_cos(5pi)"
],
"formula": "[p, sin(pi*k*p), cos(pi*k*p) for k=1..5]"
}
},
"progress_label": {
"version": "endpoint_state_distance_v1",
"formula": "clip(1 - ||(x_t - x_end) * weights||_2 / ||(x_start - x_end) * weights||_2, 0, 1)",
"state_source": "observation.state",
"fields": [
"right_joint_pos0",
"right_joint_pos1",
"right_joint_pos2",
"right_joint_pos3",
"right_joint_pos4",
"right_joint_pos5",
"right_joint_pos6",
"right_gripper_pos"
],
"weights": [
1,
1,
1,
1,
1,
1,
1,
1
],
"units": "source_native; joint and gripper channels have explicit weights",
"computation_dtype": "float64",
"endpoint_rule": "final frame of every segment is written as exactly 1.0"
},
"normalization_statistics_scope": "all 1447 episodes in this unified full-training dataset",
"derived_condition_rules": {
"stack_atomic": {
"object": "cup",
"position_skills": [
"approach",
"grasp",
"retreat"
],
"pickup_positions": {
"right_lower": "lower right",
"right_upper": "upper right"
},
"stack_cycle_positions": {
"1": "top1",
"2": "top2"
}
}
},
"labels_file": "labels.parquet",
"condition_fields_in_vla_parquet": "removed; raw per-frame values are in labels.csv",
"pi05_stock_preprocessing": {
"state_normalization": "quantiles using q01/q99 to approximately [-1, 1]",
"state_encoding": "256-bin discretization, then serialized into the Task/State text prompt",
"separate_skill_or_progress_channel": false,
"note": "observation.state is a structured dataset field, but stock PI0.5 consumes it through language tokens"
},
"normalization_policy": {
"physical_state": "pooled all-episode statistics for channels 0:30",
"skill_pos_obj_progress": "identity under MEAN_STD for channels 30:57",
"other_normalization_modes": "processor must apply an equivalent conditional-channel mask"
},
"task_text_contracts": {
"new_pour": {
"task_profile": "new_pour",
"object_condition": "kettle",
"front_skills": [
"approach",
"grasp",
"retreat"
],
"front_text": "grasp the kettle at the <pickup_pos>",
"back_text": "pour into the centre",
"source_policy": "original source task/object retained in source_map and labels"
},
"new_pick_place": {
"task_profile": "new_pick_place",
"object_condition": "bread",
"front_skills": [
"approach",
"grasp",
"retreat"
],
"front_text": "grasp the bread at the <pickup_pos>",
"back_text": "place into the centre",
"source_policy": "original source task/object retained in source_map and labels"
},
"new_stack": {
"task_profile": "new_stack",
"object_condition": "cup",
"front_skills": [
"approach",
"grasp",
"retreat"
],
"front_text": "grasp the cup at the <pickup_pos>",
"back_text": "stack into <top1/top2>",
"source_policy": "original source task/object retained in source_map and labels"
}
}
}
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