diff --git a/annotation/test/1007.json b/annotation/test/1007.json new file mode 100644 index 0000000000000000000000000000000000000000..1474d04ad28681d5ad0a11ed4d606aa45b124785 --- /dev/null +++ b/annotation/test/1007.json @@ -0,0 +1,603 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move pot on top of blue towel" + ], + "videos": [ + { + "video_path": "videos/test/1007/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -3.5894385110510595e-10, + 8.877945048793271e-09, + -0.001533982981960739, + 1.0 + ], + [ + -0.0030493293670403893, + 0.00033880513071344193, + 0.005603478308087743, + -0.008634122894265213, + -0.021110880382648963, + -0.0033139771093543147, + 1.0 + ], + [ + 0.0010344381453725854, + 0.0005542984229185392, + 0.0008892202435605128, + 9.669316695845865e-05, + 0.010155770348562312, + -0.0013716741294077395, + 1.0 + ], + [ + 0.0007712868760762768, + 0.003710529871798014, + 0.004612603056092037, + 0.002110025706910237, + 0.018139607297628427, + -0.010522172359791809, + 1.0 + ], + [ + 0.014161821215963407, + 0.011061048488588866, + 0.006559902843518457, + -0.01051079858559594, + 0.05263242854574053, + -0.027854506852483602, + 1.0 + ], + [ + 0.02178494522478397, + 0.020016423967661557, + 0.016778432791433078, + -0.004312092601545082, + -0.015465336201954082, + -0.08205237678609736, + 1.0 + ], + [ + 0.01230777699820246, + 0.009766957727320549, + 0.018732383964297345, + 0.02005647639189014, + -0.0441831813855922, + -0.09560053017183132, + 1.0 + ], + [ + -0.0005150963026659877, + 0.002488030862852999, + 0.01737161115176717, + 0.016932246688075976, + -0.052554263019660194, + -0.0349772059761847, + 1.0 + ], + [ + -0.0005891821639906606, + 0.0077364437680183555, + 0.010454328947598828, + 0.00953577963799621, + -0.02668838850540039, + 0.02203281302289161, + 1.0 + ], + [ + 0.003706760087585271, + 0.006917718630927976, + 0.0023081213860402486, + 0.02926838558196279, + 0.03921045137752366, + 0.019808727788819175, + 1.0 + ], + [ + -0.001391453464159307, + 0.0016514475993554345, + 0.003998947558632119, + 0.004919377735629028, + -0.01003712630666804, + 0.002905348272610023, + 0.0 + ], + [ + 0.0012272430494679972, + 0.002487717473361026, + -0.0009677141797168399, + -0.0160786430631867, + 0.012088152916659614, + 0.015890541681975873, + 0.0 + ], + [ + 0.004730861446868903, + 0.005402796251607083, + -0.014759882159061209, + -0.04335292487104814, + 0.036127679541538935, + 0.08959724218609684, + 0.0 + ], + [ + 0.008074843062555934, + -0.022554854419779814, + -0.02472842169737426, + -0.014134999654830564, + 0.06040087515898734, + 0.022332357422278765, + 0.0 + ], + [ + 0.0014949929610884192, + -0.03840420729861645, + -0.010650794769641205, + 0.016331498417983828, + 0.013570933560834587, + -0.023162256104405924, + 0.0 + ], + [ + 0.0033635354662583713, + -0.03749431298754835, + -0.0037964619221699863, + -0.00966447485974398, + 0.011605422600122036, + -0.004542722744305047, + 0.0 + ], + [ + -0.0017510541387706882, + -0.027226889644567515, + 0.014061005362077472, + -0.027585829076397474, + -0.00968912614012773, + -0.008498479990736404, + 0.0 + ], + [ + 0.0025277504242554026, + -0.01161399636850519, + 0.00491594542683256, + 0.01883347810011229, + 0.0019756694615281956, + -0.021506297740545396, + 0.0 + ], + [ + 0.004214896417288802, + -0.0016004795701541033, + 0.00918343751122157, + 0.019730141705409297, + -0.012790016396659686, + 0.0028870514393897805, + 0.0 + ], + [ + 0.006087543287314926, + -0.00016726664092186195, + -0.0023144098134592127, + 0.022855805138120504, + 0.005745973107498279, + 0.005051408467110623, + 0.0 + ], + [ + 0.00023070874603630087, + -0.002556944315311643, + 0.006805899006618286, + 0.005000208351546724, + -0.014327836862863515, + -0.01588381078523914, + 0.0 + ], + [ + -0.000742185161186822, + -0.001471238706254189, + -0.000491385786474285, + 0.011752522266144217, + -0.008978382184548958, + -0.01975059459400948, + 0.0 + ], + [ + -0.001611175020367265, + 0.0013509710539911838, + 3.639387145997628e-05, + -0.005380198565840911, + -0.011219164326628632, + 0.003058181997045575, + 1.0 + ], + [ + 0.003935300921904267, + 0.011207085283699661, + -0.01597974433511679, + -0.015019236003719577, + 0.03465042987743647, + 0.017905643116384592, + 1.0 + ], + [ + 0.0060094926937244685, + 0.02052085673731784, + -0.02753560693384692, + -0.0024673243517894182, + 0.05376267679413532, + 0.06980007595823806, + 1.0 + ], + [ + 0.00347207637081284, + 0.030466637428327645, + -0.01791722742886316, + -0.05834108671081156, + 0.0019145818037557799, + 0.08852810758664575, + 1.0 + ], + [ + -0.007572917696312241, + 0.021105188625003476, + 0.003974975692945694, + -0.035521897019964936, + -0.06259107743559406, + 0.01565753859242523, + 1.0 + ], + [ + -0.013670479462826738, + 0.020316283491627764, + 0.008995923804805349, + 0.022164753370889325, + -0.07076913412528897, + -0.016956447298416635, + 1.0 + ], + [ + -0.006601538012534399, + 0.008078455655743326, + -0.0043315836341472685, + 0.015809728867335747, + 0.016174658137862355, + -0.0073798236763915155, + 1.0 + ], + [ + -0.00023841054424225455, + 1.4273422067370041e-05, + 0.0003016889395404247, + 0.00010271366093884485, + -2.2625228474814603e-05, + -0.003203679364958688, + 1.0 + ] + ], + "state": [ + [ + 0.25987666845321655, + 0.0808585062623024, + 0.082870714366436, + 3.138625278491997, + -0.20143620669841764, + -0.06052978336811066, + 1.0 + ], + [ + 0.25987666845321655, + 0.0808585062623024, + 0.082870714366436, + 3.138312035361775, + -0.20143142342567444, + -0.05896415188908576, + 1.0 + ], + [ + 0.25799205899238586, + 0.080611951649189, + 0.0767715647816658, + 3.129017329896339, + -0.18030871450901031, + -0.05566672608256339, + 1.0 + ], + [ + 0.2591346502304077, + 0.0799819678068161, + 0.07608919590711594, + 3.1288395674251994, + -0.1904462277889252, + -0.054139919579029076, + 1.0 + ], + [ + 0.26054978370666504, + 0.0761306956410408, + 0.07175282388925552, + 3.1288677920871457, + -0.20843899250030518, + -0.043151143938302994, + 1.0 + ], + [ + 0.2752384543418884, + 0.06434246152639389, + 0.06840367615222931, + 3.1122368221455297, + -0.2606257796287537, + -0.013671975582838058, + 1.0 + ], + [ + 0.30017536878585815, + 0.04349931329488754, + 0.058380186557769775, + 3.0863929485254964, + -0.24187906086444855, + 0.07033056765794753, + 1.0 + ], + [ + 0.31719350814819336, + 0.03388587757945061, + 0.04369203373789787, + 3.08396819059784, + -0.1914424002170563, + 0.16497807204723355, + 1.0 + ], + [ + 0.3204951286315918, + 0.030903229489922523, + 0.026708759367465973, + 3.0947256704145154, + -0.1368638128042221, + 0.19712263345718387, + 1.0 + ], + [ + 0.32288089394569397, + 0.022999687120318413, + 0.016642238944768906, + 3.1074502487951, + -0.111199751496315, + 0.17372681200504303, + 1.0 + ], + [ + 0.3279443085193634, + 0.01678895577788353, + 0.014995735138654709, + 3.1387699827370277, + -0.15104438364505768, + 0.15507079660892487, + 1.0 + ], + [ + 0.32743582129478455, + 0.015026543289422989, + 0.010837568901479244, + -3.139050220493697, + -0.14101484417915344, + 0.1521078646183014, + 0.0 + ], + [ + 0.3288806080818176, + 0.01272876001894474, + 0.011961898766458035, + 3.1303203731128058, + -0.15304453670978546, + 0.13599950075149536, + 0.0 + ], + [ + 0.3319845199584961, + 0.007868634536862373, + 0.027329731732606888, + 3.1008311827951154, + -0.18956197798252106, + 0.045245308429002755, + 0.0 + ], + [ + 0.33436381816864014, + 0.031544286757707596, + 0.05221389979124069, + 3.090490562962838, + -0.25078436732292175, + 0.024792715907096863, + 0.0 + ], + [ + 0.3326950967311859, + 0.07041297852993011, + 0.060988735407590866, + 3.100709205614873, + -0.2630816400051117, + 0.049465030431747437, + 0.0 + ], + [ + 0.3334916830062866, + 0.10811663419008255, + 0.0640464797616005, + 3.0896880497508725, + -0.27448830008506775, + 0.05467294901609421, + 0.0 + ], + [ + 0.3345455229282379, + 0.13467462360858917, + 0.048695772886276245, + 3.059859374659606, + -0.26436236500740057, + 0.06294424831867218, + 0.0 + ], + [ + 0.3378027081489563, + 0.14607596397399902, + 0.04371168464422226, + 3.0728660394721707, + -0.2645126283168792, + 0.08531832695007323, + 0.0 + ], + [ + 0.3441890478134155, + 0.1475917398929596, + 0.03586442396044731, + 3.093605714040347, + -0.2519491612911225, + 0.08143749833106995, + 0.0 + ], + [ + 0.3494698405265808, + 0.14830176532268524, + 0.039612989872694016, + 3.1176910643749913, + -0.25792789459228516, + 0.0765044316649437, + 0.0 + ], + [ + 0.35125532746315, + 0.1508392095565796, + 0.03303386643528938, + 3.118608597787567, + -0.24319283664226535, + 0.09251065552234651, + 0.0 + ], + [ + 0.3502914607524872, + 0.15223829448223114, + 0.03329912945628166, + 3.1255283152037343, + -0.2337156981229782, + 0.11259496957063675, + 0.0 + ], + [ + 0.34888923168182373, + 0.1507197469472885, + 0.03291170299053192, + 3.1209160537743053, + -0.22254586219787595, + 0.10927528887987135, + 1.0 + ], + [ + 0.3503345251083374, + 0.13993875682353973, + 0.04958860203623772, + 3.1098096278780183, + -0.25752538442611694, + 0.09151484817266464, + 1.0 + ], + [ + 0.3507704436779022, + 0.12026077508926392, + 0.07836387306451797, + 3.1255750862234315, + -0.31285849213600153, + 0.020090119913220406, + 1.0 + ], + [ + 0.34901660680770874, + 0.09004369378089905, + 0.09694209694862366, + 3.0959060957008084, + -0.3149222433567047, + -0.07298535853624344, + 1.0 + ], + [ + 0.34121355414390564, + 0.06929274648427963, + 0.09173738211393356, + 3.066221745806285, + -0.25305694341659546, + -0.0920606404542923, + 1.0 + ], + [ + 0.32796481251716614, + 0.04949086531996727, + 0.08111117035150528, + 3.085256988304206, + -0.18119527399539948, + -0.08032755553722382, + 1.0 + ], + [ + 0.3200061321258545, + 0.04228449612855911, + 0.08462286740541458, + 3.0995399860017976, + -0.19692245125770572, + -0.07188654690980911, + 1.0 + ], + [ + 0.31982970237731934, + 0.04227018728852272, + 0.08428121358156204, + 3.099004531400748, + -0.19676414132118225, + -0.06862369179725647, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.07526767253875732, + 0.37001103162765503, + 0.6740108132362366, + 0.8581428229808807, + 0.9207848757505417, + 0.9221144318580627, + 0.9221144318580627, + 0.9221144318580627, + 0.9221144318580627, + 0.9221144318580627, + 0.9221144318580627, + 0.9221144318580627, + 0.8846468031406403, + 0.7153154015541077, + 0.43002378940582275, + 0.13125866651535034, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "1007", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1007/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1015.json b/annotation/test/1015.json new file mode 100644 index 0000000000000000000000000000000000000000..f27825e927648411693299a08d6c934f64a33396 --- /dev/null +++ b/annotation/test/1015.json @@ -0,0 +1,698 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Put the red box into the vessel." + ], + "videos": [ + { + "video_path": "videos/test/1015/rgb.mp4" + } + ], + "action": [ + [ + -0.00023513262432872117, + 6.235791322196617e-05, + -1.8209071924389766e-07, + -0.0003909609290778362, + -0.0014833253761664458, + -0.0015336939311061865, + 1.0 + ], + [ + -0.001153112311757794, + -0.00035906378027078707, + 0.006854227525386755, + -0.005733685989136467, + -0.023759607135224327, + 0.0038924997511404786, + 1.0 + ], + [ + -0.008230345232677506, + -0.028975774987618223, + 0.0005078852915761692, + 0.02182367037779108, + 0.0012199837848373314, + 0.008972441413151585, + 1.0 + ], + [ + -0.006800613477456215, + -0.033773244557013936, + -0.0022668138229811918, + 0.05158209188337252, + 0.025017646056216668, + 0.00929687320121195, + 1.0 + ], + [ + -0.013372062832301764, + -0.04595649114374006, + -0.0013689041042309383, + 0.03439644139683457, + 0.025862294842953513, + -0.03268806859038224, + 1.0 + ], + [ + -0.009199324672975516, + -0.03367076291167453, + 0.015685713703292505, + 0.03501318956929986, + -0.018425777715148677, + -0.03185376167706128, + 1.0 + ], + [ + -0.012205446694979446, + -0.019701672191403154, + 0.019890017199573718, + 0.014956208664158992, + -0.028849486942552138, + -0.037383537091339715, + 1.0 + ], + [ + -0.010440659564541942, + -1.5805371070913416e-05, + 0.013897716208355863, + 0.009306778040785396, + -0.022001202620188603, + -0.04566986468050868, + 1.0 + ], + [ + -0.0048705150224617, + -0.00035732989041640557, + 0.010983932799751711, + 0.0025554115558154285, + -0.007415735876930233, + -0.06005861614345554, + 1.0 + ], + [ + 0.001795262881007703, + 0.0007700989785383298, + 0.010462614849248174, + -0.01710174506120679, + 0.007294657101580649, + -0.06860659239285269, + 1.0 + ], + [ + 0.0026032240761629136, + -0.0009718431039057385, + 0.010955355327538663, + -0.0003763703907864044, + -0.004832967263343776, + -0.06472595549852463, + 1.0 + ], + [ + 0.0072853041706027934, + 0.0019003155049975237, + 0.008450526621448375, + -0.02064654745578957, + -0.003224625442129998, + -0.06130310585991271, + 1.0 + ], + [ + 0.007872981100207753, + 0.006262241745677039, + 0.006327281814289318, + -0.008532342386511616, + -0.0015007129101019827, + -0.012152892765278549, + 1.0 + ], + [ + 0.007403391004663192, + 0.004779713917083618, + 0.008459356065749248, + 0.0025339191792080303, + -0.015239853521499244, + 0.0034953587757305393, + 1.0 + ], + [ + 0.004882345303609616, + 0.002538700798925578, + 0.0006782749800319219, + -0.0002912580219456654, + 0.0002795638494874076, + 0.01987141666572867, + 1.0 + ], + [ + 0.00023170621796898797, + -0.0017431113060942536, + 0.00024427403645715327, + 0.008398910326234821, + -0.0060278555833454634, + -0.0019395685960955965, + 1.0 + ], + [ + -0.00012180290982125432, + -0.0003717625622162212, + -4.831249280196565e-07, + 0.0023194745789692464, + -0.0008403486365682178, + 0.03096844904559908, + 0.0 + ], + [ + -0.003975569039548079, + 0.005421652876637702, + -0.006882434755050088, + -0.03118113085631034, + -0.002698977529240373, + 0.06918141959610555, + 0.0 + ], + [ + 0.0006880980008552363, + 0.007414004347051658, + -0.019007163162951132, + -0.045589877231293444, + 0.01136308313675924, + 0.16158223405458644, + 0.0 + ], + [ + 0.01595014547201458, + 0.004872213532628307, + -0.021790607229809248, + -0.04666186752215421, + 0.03262073407934869, + 0.0238179980583974, + 0.0 + ], + [ + 0.03759401434104398, + 0.006337256276638009, + -0.010973470413670644, + 0.015628610244022928, + 0.03363269555112462, + -0.013283337719609396, + 0.0 + ], + [ + 0.028686766765221063, + 0.013992104981027088, + 0.01195611203742603, + 0.005740583530389607, + -0.005485923210610881, + 0.0018647996925549638, + 0.0 + ], + [ + 0.019446327211857007, + 0.009275869416397733, + 0.014550786588324625, + 0.0001249293328801555, + -0.011832598188423244, + -0.016279230566145445, + 0.0 + ], + [ + 0.008414179653025081, + 0.001431068718040415, + 0.014688706799329754, + 0.0038988908440736494, + -0.016529172976531323, + -0.010062371450571763, + 0.0 + ], + [ + -0.0003685794752990097, + -0.003977095253381985, + 0.01180650148809552, + 0.009398145921105012, + -0.01686340597742889, + -0.0008868847454501415, + 0.0 + ], + [ + -0.004139186960213736, + -0.0061694164927410975, + 0.009178695426725957, + -0.0012903114585325185, + -0.023425693972830054, + 3.794896824008384e-05, + 1.0 + ], + [ + -0.003497962094655394, + -0.004599142117401893, + 0.0030994065394282155, + -0.0116006036812289, + 0.004458202838784072, + -0.012516090262481062, + 1.0 + ], + [ + -0.006946158226816782, + 0.003157978930759948, + -0.013382992985836608, + 0.0027760498451324463, + 0.0276408451943888, + 0.006263977521208643, + 1.0 + ], + [ + -0.004590430374837139, + 0.0032551335021797495, + -0.03990985685537327, + 0.01948876525080941, + 0.11073703441208868, + 0.008433892818022419, + 1.0 + ], + [ + 0.001883513234851895, + 0.010712343444589816, + -0.043056254169925666, + -0.010985201548436718, + 0.08054403449147594, + 0.017701496116424652, + 1.0 + ], + [ + -0.015738184540939303, + 0.01587371715849152, + -0.03413354427674146, + -0.01384524540178993, + 0.011477298996837974, + 0.03230825354785827, + 1.0 + ], + [ + -0.03013447186148228, + 0.017528893671265915, + -0.009834283744265036, + -0.013968480300810738, + -0.05949178264358091, + 0.02249282696217487, + 1.0 + ], + [ + -0.019688191720963782, + 0.010258022611196904, + 0.005655135277693506, + 0.037213474762191695, + -0.04162784857915545, + -0.05185083839837859, + 1.0 + ], + [ + -0.006490279680843955, + 0.0014710887345041077, + 0.007893610670637818, + -0.0008170424549858034, + -0.022995915107268623, + -0.022024866586487262, + 1.0 + ], + [ + -0.0027434942793362546, + -0.0018699801793438738, + 0.0026064187919461485, + 0.007827322295047992, + -0.02574887011817516, + -0.029269683542070418, + 1.0 + ] + ], + "state": [ + [ + 0.27359357476234436, + 0.00861427839845419, + 0.1529095470905304, + 3.0672894214564046, + -0.07091285288333893, + -0.1515909880399704, + 1.0 + ], + [ + 0.2733519971370697, + 0.00858828891068697, + 0.1528976857662201, + 3.0667976458841046, + -0.0693196952342987, + -0.15016822516918182, + 1.0 + ], + [ + 0.2726614773273468, + 0.00853689108043909, + 0.14597240090370178, + 3.061436267691203, + -0.04591628536581993, + -0.1558300107717514, + 1.0 + ], + [ + 0.26914387941360474, + 0.038285356014966965, + 0.14277124404907227, + 3.0836695117228707, + -0.04784897342324257, + -0.16468608379364014, + 1.0 + ], + [ + 0.2679775357246399, + 0.07279127091169357, + 0.142753466963768, + 3.1356108832457146, + -0.07336138188838959, + -0.17253738641738894, + 1.0 + ], + [ + 0.262651652097702, + 0.12037601321935654, + 0.142864391207695, + -3.1155953501635274, + -0.09898801147937775, + -0.1395445019006729, + 1.0 + ], + [ + 0.25977373123168945, + 0.15518176555633545, + 0.12722256779670715, + -3.0837956202500543, + -0.08134455233812332, + -0.10712047666311264, + 1.0 + ], + [ + 0.2514163851737976, + 0.1770181804895401, + 0.1075739711523056, + -3.072031119959899, + -0.05464031919836998, + -0.06808917969465256, + 1.0 + ], + [ + 0.24183760583400726, + 0.17865541577339172, + 0.0931614562869072, + -3.065357009070464, + -0.0358048640191555, + -0.02097993716597557, + 1.0 + ], + [ + 0.2373872995376587, + 0.17994190752506256, + 0.0820692926645279, + -3.0651027505570134, + -0.0329166129231453, + 0.039500996470451355, + 1.0 + ], + [ + 0.23952393233776093, + 0.18005803227424622, + 0.07164318859577179, + -3.0846123938732823, + -0.0453527495265007, + 0.1074160784482956, + 1.0 + ], + [ + 0.24242910742759705, + 0.18197470903396606, + 0.06089017167687416, + -3.0880511720948896, + -0.04411560669541359, + 0.17237518727779386, + 1.0 + ], + [ + 0.2502184212207794, + 0.18186375498771667, + 0.05267965793609619, + -3.111506603779741, + -0.04409107565879822, + 0.23382270336151123, + 1.0 + ], + [ + 0.2595551609992981, + 0.1778487265110016, + 0.046520207077264786, + -3.1205790397995194, + -0.04295333102345467, + 0.24602648615837097, + 1.0 + ], + [ + 0.2682059705257416, + 0.17527730762958527, + 0.03828808292746544, + -3.1179064271324357, + -0.027643181383609768, + 0.2428513020277023, + 1.0 + ], + [ + 0.2735694944858551, + 0.17400790750980377, + 0.037685099989175797, + -3.1176529229902705, + -0.027446603402495384, + 0.22297134995460513, + 1.0 + ], + [ + 0.27341416478157043, + 0.1757655292749405, + 0.03748905658721924, + -3.1093108152323445, + -0.02146684378385544, + 0.2250550985336304, + 1.0 + ], + [ + 0.2732122838497162, + 0.1761004775762558, + 0.037498921155929565, + -3.1063429323309144, + -0.019617281854152676, + 0.19412398338317868, + 0.0 + ], + [ + 0.27027544379234314, + 0.16975389420986176, + 0.04410673677921295, + -3.136254526330628, + -0.014437053352594377, + 0.12507399916648865, + 0.0 + ], + [ + 0.2716239392757416, + 0.1623489111661911, + 0.0630820095539093, + 3.103595746802636, + -0.02475295215845108, + -0.0366068109869957, + 0.0 + ], + [ + 0.2868674695491791, + 0.15774701535701752, + 0.08543001860380173, + 3.0574826319986066, + -0.05824854597449303, + -0.05919396132230758, + 0.0 + ], + [ + 0.3233465552330017, + 0.15018272399902344, + 0.09906620532274246, + 3.0721355100446424, + -0.09063887596130371, + -0.043073609471321106, + 0.0 + ], + [ + 0.3522430658340454, + 0.1341354101896286, + 0.0907515436410904, + 3.078078808384486, + -0.08529537171125412, + -0.04532279074192047, + 0.0 + ], + [ + 0.37232327461242676, + 0.12303350865840912, + 0.07852616906166077, + 3.076883414881774, + -0.0724431574344635, + -0.02978788129985332, + 0.0 + ], + [ + 0.38169461488723755, + 0.12037531286478043, + 0.06460796296596527, + 3.080125654237815, + -0.05529499799013138, + -0.020803052932024006, + 0.0 + ], + [ + 0.3820587992668152, + 0.12361276894807816, + 0.052577465772628784, + 3.08952338819439, + -0.038408961147069924, + -0.020953921601176262, + 0.0 + ], + [ + 0.3784068822860718, + 0.12937389314174652, + 0.042938172817230225, + 3.0882671010964593, + -0.01501696649938822, + -0.022211046889424324, + 1.0 + ], + [ + 0.375058650970459, + 0.133876770734787, + 0.03954588621854782, + 3.0764790197187146, + -0.01880052126944065, + -0.009472980163991451, + 1.0 + ], + [ + 0.367837518453598, + 0.13166458904743195, + 0.05297302082180977, + 3.0793145803087434, + -0.046790171414613724, + -0.013927849940955639, + 1.0 + ], + [ + 0.3613695204257965, + 0.1309896856546402, + 0.09274957329034805, + 3.098490012931176, + -0.1578364968299866, + -0.0154345091432333, + 1.0 + ], + [ + 0.3562597334384918, + 0.12222037464380264, + 0.13598303496837616, + 3.0896673185103616, + -0.23905201256275177, + -0.030009446665644646, + 1.0 + ], + [ + 0.3322908282279968, + 0.108852818608284, + 0.16617515683174133, + 3.083586910861083, + -0.25206783413887024, + -0.0627097487449646, + 1.0 + ], + [ + 0.29940831661224365, + 0.09395495057106018, + 0.16915099322795868, + 3.076119089620658, + -0.19389489293098452, + -0.08906692266464232, + 1.0 + ], + [ + 0.28017643094062805, + 0.08502417057752609, + 0.16047872602939606, + 3.103807872282811, + -0.14873135089874268, + -0.039551287889480584, + 1.0 + ], + [ + 0.2748526334762573, + 0.08346523344516754, + 0.15177103877067566, + 3.099832246201583, + -0.12488654255867004, + -0.018250862136483192, + 1.0 + ], + [ + 0.27249711751937866, + 0.0852680578827858, + 0.14876797795295715, + 3.104137035208293, + -0.09788868576288223, + 0.0100437942892313, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.02981734275817871, + 0.11723887920379639, + 0.11723887920379639, + 0.11723887920379639, + 0.11723887920379639, + 0.11723887920379639, + 0.11723887920379639, + 0.11723887920379639, + 0.11723887920379639, + 0.07851552963256836, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "1015", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1015/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1021.json b/annotation/test/1021.json new file mode 100644 index 0000000000000000000000000000000000000000..95e821b099efe287398e9cc96b9ccdc2644e03f6 --- /dev/null +++ b/annotation/test/1021.json @@ -0,0 +1,774 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Place the mushroom on the front right corner of the table." + ], + "videos": [ + { + "video_path": "videos/test/1021/rgb.mp4" + } + ], + "action": [ + [ + -0.00010066237179497155, + 0.0001834114542545955, + -1.400274181155353e-07, + -0.0011560955676680673, + -0.000635714104472975, + -0.0007510162775485615, + 1.0 + ], + [ + 0.002357786366294283, + 0.002318360562861287, + 0.008731641354083074, + -0.018348563500595994, + 0.033242965766282044, + -0.0062176884871222434, + 1.0 + ], + [ + -0.014276439174014032, + 0.0021863509703380717, + -0.010743654176789581, + 0.009111214342777714, + 0.007248849234463525, + -0.023555708238503656, + 1.0 + ], + [ + -0.017270633379809615, + -0.0034328558617585493, + -0.011281896941352117, + 0.00011503585165252296, + -0.006602742432798755, + -0.02677085495624827, + 1.0 + ], + [ + -0.031518627479480504, + 0.0030993691095485896, + -0.013513565230478914, + 0.022587391389906362, + -0.02596681727175487, + -0.042803241292389535, + 1.0 + ], + [ + -0.03300022959717023, + -0.0035878529659638266, + 0.010533256924492022, + -0.06342901668772408, + -0.009062538486891378, + 0.04237860170302901, + 1.0 + ], + [ + -0.030621980062958666, + 0.000369654373289692, + 0.01397546280714923, + -0.022982341293989832, + -0.012633416241625499, + 0.012887503203874707, + 1.0 + ], + [ + -0.02016890592463849, + -0.0013586093860871032, + 0.020665688467055503, + -0.034813043355830374, + -0.0003127332787142901, + 0.01839119430951648, + 1.0 + ], + [ + -0.01196409999650767, + -0.0026391676705929015, + 0.021149360142578018, + -0.0135684399075246, + 0.022615182173101538, + 0.0453201087408377, + 1.0 + ], + [ + -0.011958627926780707, + 0.0052876967368529915, + 0.005986028018302479, + -0.037010464522605355, + -0.008191388707401867, + -0.008159219873960677, + 1.0 + ], + [ + -0.009053619255843188, + 0.005961295884291151, + 0.0055278163466681044, + -0.029789974142786134, + 0.01070574279629959, + -0.034531063800333925, + 1.0 + ], + [ + -0.005044681951223547, + 0.0017006872732519946, + 0.007605614199058696, + -0.032428002812929235, + 0.01379637363816879, + -0.016838091963545316, + 1.0 + ], + [ + -0.0014391309581406884, + 0.0008164652610903051, + 0.00033067838229069774, + -0.00203626532957667, + -0.0059061652106491514, + 0.001196852934479793, + 1.0 + ], + [ + 0.00278537960354861, + 0.0021733473997310837, + 0.003978303212833736, + -0.0089009506741691, + 0.0025548549329548497, + -0.0026266595884722435, + 0.0 + ], + [ + 0.004797671786241995, + 9.968173378778175e-05, + -0.0003352090838909012, + 0.00886960929494051, + -0.0010836264698441767, + 0.000492319650465104, + 0.0 + ], + [ + 0.005326636807814416, + 0.00190139957152808, + -0.0007703422738253465, + -0.0004664512491646927, + 0.0082612647615745, + -0.010878292408216347, + 0.0 + ], + [ + 0.0045989986986019965, + 0.001194128174466776, + -0.0017670808394019673, + 0.0039174966504986345, + 0.005466918330125013, + -0.029000752277061382, + 0.0 + ], + [ + 0.010784841665182475, + 0.005378298590835757, + -0.017240411395178196, + 0.010841862804331692, + -0.007985671474800012, + -0.031849311152822454, + 0.0 + ], + [ + 0.012116267159076407, + 0.0023891380903052124, + -0.027451980738490613, + 0.02595885924908789, + -0.02970522693628324, + -0.015967638630754826, + 0.0 + ], + [ + 0.02643131347904653, + -0.008900610189352055, + -0.022920107947168884, + 0.04213832125971427, + -0.027461335868020853, + 0.04613066769952829, + 0.0 + ], + [ + 0.041489464176777686, + -0.023890681958851537, + -0.022940521981604484, + 0.04297259778176161, + -0.0378537662338187, + 0.11824767907693763, + 0.0 + ], + [ + 0.04389668765630328, + -0.02288441622454812, + -0.007146054314654665, + 0.04228847596964586, + -0.005472968967416869, + 0.1261428593917833, + 0.0 + ], + [ + 0.03580586384303731, + -0.025791772953031356, + 0.005892532715278988, + 0.024440028331593193, + 0.015530032608368136, + 0.13966380398807285, + 0.0 + ], + [ + 0.031158864450791492, + -0.02630287358599739, + 0.0073800574538834185, + -0.011412149112289684, + 0.0015743737916750814, + 0.14615529916444864, + 0.0 + ], + [ + 0.018355104584541284, + -0.007010511623112535, + 0.012029085341721991, + -0.013277433173590892, + 0.017390505580504357, + 0.04871438915969268, + 0.0 + ], + [ + 0.013187657902074542, + -0.008668311231030016, + 0.014350529164508952, + 0.03201417648302567, + 0.03515363717121792, + 0.048877570651572895, + 0.0 + ], + [ + 0.01164113981063083, + -0.003378710770794849, + 0.022986813451734985, + -0.0218364693488063, + 0.04955547786449194, + 0.04344454077600482, + 0.0 + ], + [ + 0.009278981485319207, + -0.0005392729628551539, + 0.014095314359738449, + -0.014947383038817489, + 0.03316339969898569, + 0.030389899803445433, + 0.0 + ], + [ + 0.006409184358062751, + -0.004391670025407113, + 0.010649343256324002, + 0.006326689076243289, + 0.023137965353544093, + 0.024057482517969034, + 0.0 + ], + [ + 0.00014311258815242673, + 6.96042342574898e-05, + 0.006485716039248597, + -0.005666894928609723, + 0.014252618858176918, + 0.0016949396540839334, + 0.0 + ], + [ + 0.0010325883375250818, + 0.003020271601091604, + -0.0002701286444028479, + -0.018507778870903775, + 0.01070615621227929, + -0.018967883887644144, + 0.0 + ], + [ + 0.0003645378432580288, + 0.005429891690511675, + -0.0031246295674707643, + -0.03415346915175514, + -0.0016506032176719246, + -0.022049147680246545, + 1.0 + ], + [ + 0.0005994624387064914, + 0.00020987388349464063, + -0.011314869111239996, + 0.00449862411821448, + -0.019796777541627415, + -0.0012614215789727547, + 1.0 + ], + [ + 0.0009126092841271107, + 0.000410801638065314, + -0.01853254126473499, + 0.016578963996982672, + -0.042958733616077056, + 0.014970144048244425, + 1.0 + ], + [ + 0.0008597655453651234, + 0.0023575506324040076, + -0.02745306730104368, + 0.03514233350895808, + -0.051803919065560165, + -0.017515166219036447, + 1.0 + ], + [ + -0.004386867411639403, + 0.007804259948269575, + -0.02560115871577801, + 0.031622503922904235, + -0.06638543423257022, + -0.02251477101573461, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 4.525785298914513e-18, + -5.969299566510991e-19, + -2.7003838495337344e-18, + 1.0 + ], + [ + -8.57766993749597e-05, + 0.0001973921165531658, + -1.496575012781563e-07, + -0.0012451884903643341, + -0.0005400424325039449, + 0.0007151737532064975, + 1.0 + ], + [ + -0.0002926373916239045, + -0.0003841122887499442, + -0.0003394985745685624, + 0.00188325195136671, + -0.0008527464949487275, + -0.0006583484159319255, + 1.0 + ] + ], + "state": [ + [ + 0.2733270823955536, + 0.01060215849429369, + 0.0884232297539711, + -3.0030411799722394, + -0.023816287517547607, + -2.4545960426330566, + 1.0 + ], + [ + 0.27328920364379883, + 0.010806063190102577, + 0.08839564770460129, + -3.004217105107852, + -0.023290378972887996, + -2.4537642002105713, + 1.0 + ], + [ + 0.2706078290939331, + 0.010027516633272171, + 0.07948612421751022, + -3.0225268622213086, + -0.057071484625339515, + -2.452157497406006, + 1.0 + ], + [ + 0.2798710763454437, + 0.02213139459490776, + 0.08906272798776627, + -3.0147306640916547, + -0.06705233454704285, + -2.429579734802246, + 1.0 + ], + [ + 0.294798344373703, + 0.03240155056118965, + 0.0995049998164177, + -3.016499461727687, + -0.06386413425207138, + -2.402132987976074, + 1.0 + ], + [ + 0.31544333696365356, + 0.057676050812006, + 0.11048818379640579, + -2.996919782953807, + -0.043372005224227905, + -2.3563930988311768, + 1.0 + ], + [ + 0.3420405089855194, + 0.07709552347660065, + 0.09916070103645325, + -3.0587011521034917, + -0.028260309249162674, + -2.397035598754883, + 1.0 + ], + [ + 0.3647949993610382, + 0.09699080884456635, + 0.08434291929006577, + -3.081349266814538, + -0.014601287432014942, + -2.4088330268859863, + 1.0 + ], + [ + 0.38130202889442444, + 0.10834722220897675, + 0.06350422650575638, + -3.115904677780815, + -0.013179450295865532, + -2.427173614501953, + 1.0 + ], + [ + 0.39221444725990295, + 0.11359963566064835, + 0.042273785918951035, + -3.1288887179740748, + -0.03460965305566788, + -2.473076105117798, + 1.0 + ], + [ + 0.3981988728046417, + 0.1249670758843422, + 0.035810891538858414, + 3.1170001105689487, + -0.026521394029259678, + -2.464810848236084, + 1.0 + ], + [ + 0.4013258218765259, + 0.13529784977436066, + 0.030193140730261803, + 3.086300777392932, + -0.036358900368213654, + -2.4300057888031006, + 1.0 + ], + [ + 0.40355390310287476, + 0.1400163173675537, + 0.022514713928103447, + 3.0532364567094525, + -0.04919808357954025, + -2.4124112129211426, + 1.0 + ], + [ + 0.40405505895614624, + 0.141593798995018, + 0.02218690887093544, + 3.0512831156426152, + -0.043420497328042984, + -2.41412615776062, + 1.0 + ], + [ + 0.4001767039299011, + 0.14151915907859802, + 0.018545279279351234, + 3.0422585551911077, + -0.04572787508368493, + -2.4112768173217773, + 0.0 + ], + [ + 0.3965740501880646, + 0.13838155567646027, + 0.019107673317193985, + 3.0511554573946675, + -0.044698406010866165, + -2.411874771118164, + 0.0 + ], + [ + 0.39142298698425293, + 0.13622160255908966, + 0.020283665508031845, + 3.050173873203345, + -0.051940470933914185, + -2.4002795219421387, + 0.0 + ], + [ + 0.3874129354953766, + 0.13394390046596527, + 0.022388627752661705, + 3.0526022409373006, + -0.054714988917112344, + -2.370857000350952, + 0.0 + ], + [ + 0.3777153491973877, + 0.1298581063747406, + 0.0406021885573864, + 3.0617867206507405, + -0.043904494494199746, + -2.3398149013519287, + 0.0 + ], + [ + 0.36999979615211487, + 0.12216313183307648, + 0.06866249442100525, + 3.087122956412383, + -0.013016887940466402, + -2.3262720108032227, + 0.0 + ], + [ + 0.3594569265842438, + 0.09618739038705826, + 0.09140618145465851, + 3.1299212045320353, + 0.011907918378710747, + -2.373816728591919, + 0.0 + ], + [ + 0.3461928069591522, + 0.04980628564953804, + 0.11357066035270691, + -3.1116292254352054, + 0.04829846322536468, + -2.4925551414489746, + 0.0 + ], + [ + 0.324657678604126, + 0.0050242566503584385, + 0.11927065253257751, + -3.075651103752204, + 0.05715522542595863, + -2.618680953979492, + 0.0 + ], + [ + 0.30694058537483215, + -0.03534192964434624, + 0.1130518913269043, + -3.0598555972152433, + 0.05026888102293014, + -2.7592344284057617, + 0.0 + ], + [ + 0.2883169949054718, + -0.07173631340265274, + 0.10628491640090942, + -3.0794503075354775, + 0.0600564181804657, + -2.9052932262420654, + 0.0 + ], + [ + 0.27299222350120544, + -0.08339185267686844, + 0.09363359957933426, + -3.095780024426528, + 0.04564930871129036, + -2.9550392627716064, + 0.0 + ], + [ + 0.2623998522758484, + -0.09487206488847733, + 0.07910782843828201, + -3.066096568601676, + 0.012712017633020878, + -3.005450963973999, + 0.0 + ], + [ + 0.2518453896045685, + -0.10146842151880264, + 0.056295182555913925, + -3.088522197800227, + -0.033440787345170975, + -3.0524847507476807, + 0.0 + ], + [ + 0.2422550618648529, + -0.10361659526824951, + 0.042566411197185516, + -3.1023922135406217, + -0.06492846459150313, + -3.0846426486968994, + 0.0 + ], + [ + 0.2354651242494583, + -0.10881715267896652, + 0.03253526613116264, + -3.094442693638154, + -0.08708567172288895, + -3.1096770763397217, + 0.0 + ], + [ + 0.23476669192314148, + -0.10907573252916336, + 0.026090487837791443, + -3.0998981838398656, + -0.10124231874942778, + -3.112053871154785, + 0.0 + ], + [ + 0.23366492986679077, + -0.10607805848121643, + 0.026338115334510803, + -3.1202928629987916, + -0.11271233856678009, + -3.0934317111968994, + 0.0 + ], + [ + 0.23337653279304504, + -0.10059037059545517, + 0.02936830185353756, + 3.126235150853642, + -0.11150409281253816, + -3.071214437484741, + 1.0 + ], + [ + 0.23403586447238922, + -0.1005077138543129, + 0.04068148508667946, + 3.130623810114809, + -0.09169022738933563, + -3.070253372192383, + 1.0 + ], + [ + 0.23480747640132904, + -0.10024454444646835, + 0.05922311544418335, + -3.1345759421871087, + -0.04888735711574555, + -3.085698366165161, + 1.0 + ], + [ + 0.23514625430107117, + -0.09767147898674011, + 0.08666820079088211, + -3.100298946844884, + 0.0028001938480883837, + -3.0678436756134033, + 1.0 + ], + [ + 0.23879823088645935, + -0.08852305263280869, + 0.11193754523992538, + -3.068527588742324, + 0.06819871813058853, + -3.042599678039551, + 1.0 + ], + [ + 0.23879823088645935, + -0.08852305263280869, + 0.11193754523992538, + -3.068527588742324, + 0.06819871813058853, + -3.042599678039551, + 1.0 + ], + [ + 0.23886489868164062, + -0.0883185863494873, + 0.11192916333675385, + -3.0698188116126737, + 0.06878951191902159, + -3.0432751178741455, + 1.0 + ], + [ + 0.23916560411453247, + -0.0886494442820549, + 0.11231458187103271, + -3.0678860937529286, + 0.06959283351898193, + -3.042555570602417, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0446895956993103, + 0.3208107352256775, + 0.565265566110611, + 0.7101396322250366, + 0.7789131253957748, + 0.8102775663137436, + 0.8386979252099991, + 0.8498599678277969, + 0.8498599678277969, + 0.8498599678277969, + 0.8498599678277969, + 0.8498599678277969, + 0.8498599678277969, + 0.8498599678277969, + 0.8498599678277969, + 0.8498599678277969, + 0.8498599678277969, + 0.8498599678277969, + 0.803891122341156, + 0.5570135116577148, + 0.23959487676620483, + 0.008609116077423096, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1021", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1021/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1027.json b/annotation/test/1027.json new file mode 100644 index 0000000000000000000000000000000000000000..11dffcf4817629cc20d5af4b11a0d7ead1c2969a --- /dev/null +++ b/annotation/test/1027.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put cap on container" + ], + "videos": [ + { + "video_path": "videos/test/1027/rgb.mp4" + } + ], + "action": [ + [ + 0.00016751429635841086, + 0.00025682139307245123, + 7.787949147195962e-05, + 0.001489795601150379, + 0.0013583480966388214, + 0.0020494598773477496, + 1.0 + ], + [ + -0.007410577319880467, + 0.0015141933986648544, + 0.012798092680318951, + -0.006013529148266841, + -0.04832110167779818, + -0.004216853690852885, + 1.0 + ], + [ + -0.01410305886429525, + 0.007119157627460949, + 0.011277873897417266, + -0.019840226111822075, + -0.058326291163877005, + 0.010904796175574442, + 1.0 + ], + [ + -0.00904452428214125, + 0.01113979605416967, + 0.007970220579927712, + -0.012534259193138218, + -0.03177379393076164, + 0.06304691648921147, + 1.0 + ], + [ + -0.0032723907258599507, + 0.011557742553095761, + 0.007110740018062298, + -0.007236036074020926, + 0.017844120796125535, + 0.04656073661127625, + 1.0 + ], + [ + 0.003328581407286307, + 0.005506801272875463, + 0.007808130462731352, + 0.011813839897496032, + 0.03878912671190929, + 0.027007358942935964, + 1.0 + ], + [ + 0.004587559622177204, + 1.0393573040272708e-05, + 0.007986811967815944, + 0.017727075295197316, + 0.055425565850156296, + 0.021443838703963186, + 1.0 + ], + [ + 0.0007623918860296422, + 0.00037031479114735266, + 0.0013889222465104322, + 0.004326374185528321, + 0.012906574731799757, + 0.009604785736156576, + 1.0 + ], + [ + -0.006832974348190692, + 0.0023061380591498384, + 0.007487002756514345, + 0.0012006942848096266, + -0.02327608521409287, + 0.0013510220501625671, + 1.0 + ], + [ + -0.007280615247559984, + 0.004176467375258108, + 0.010204367256113156, + 0.0064915112103019, + -0.028118405851234787, + -0.007942989481976324, + 1.0 + ], + [ + -0.0054862539457474855, + -0.002233758374897918, + 0.008051290990238229, + 0.0057091465350603615, + 0.0020387093408794923, + -0.015217465495005527, + 1.0 + ], + [ + 0.006945990044267908, + -0.0011510745584074706, + -8.047007482782423e-05, + 0.009040712889391537, + 0.04438756036941591, + -0.021397239984568127, + 0.0 + ], + [ + -0.001165620061474279, + -0.007098445167765228, + -0.016750405327049217, + 0.016355610813163772, + -0.026283405996783697, + 0.013039034054256458, + 0.0 + ], + [ + -0.009211769499981915, + -0.030576515374386513, + -0.04724406813947951, + 0.02799630364632283, + -0.004239962902258602, + 0.09022648917132191, + 0.0 + ], + [ + -0.012904309077357592, + -0.03512691678497683, + -0.024353095354772696, + -0.008504241220891025, + -0.014142044432663644, + 0.06064391261348144, + 0.0 + ], + [ + 0.00021536679809776286, + -0.026158636181608637, + -0.003757511618606658, + 0.029652716378701403, + 0.017498843183060973, + -0.0035637662187387757, + 0.0 + ], + [ + 0.014123462806419908, + -0.019059589329728274, + 0.020586798961159274, + 0.024497834500290784, + 0.0055555020445689765, + -0.020906839961479712, + 0.0 + ], + [ + 0.008831207786399639, + -0.010796531557941238, + 0.019214629614402096, + 0.02168363823434628, + 0.011786265218947678, + -0.009368677262166256, + 0.0 + ], + [ + 0.004502607116548333, + -0.00269070865274352, + 0.020858227874541797, + -0.008156683739325451, + -0.024744222586605268, + -0.011573431859879075, + 0.0 + ], + [ + 0.0052430249436015335, + -0.0010044532959847454, + 0.005777840977638815, + -0.005023770562746491, + 0.015213752019068532, + -0.005569761835332804, + 0.0 + ], + [ + 0.004965149572095296, + -0.003119618601328744, + 0.00860687434180757, + -0.011133107983455407, + -5.9956023109832725e-05, + -0.0030731476122866316, + 0.0 + ], + [ + 0.0022044584336468782, + -0.0006277441327443851, + 0.00084815541962958, + 0.004702734806516123, + 0.007959202942903464, + -0.013036985892057517, + 0.0 + ], + [ + 0.004402079328823264, + -0.0026792480968710988, + 0.004282379551304779, + 0.004948019246858998, + -0.0019306586561222165, + 0.0030916421745058997, + 0.0 + ] + ], + "state": [ + [ + 0.31745877861976624, + 0.02602408267557621, + 0.08781164884567261, + 2.991274060803004, + 0.07313603907823563, + 0.25568744540214533, + 1.0 + ], + [ + 0.3176848590373993, + 0.0258086696267128, + 0.08776096999645233, + 2.992630424099513, + 0.0714859738945961, + 0.25385984778404236, + 1.0 + ], + [ + 0.31052371859550476, + 0.020441371947526932, + 0.07589038461446762, + 2.986225875216075, + 0.1198970377445221, + 0.25083476305007935, + 1.0 + ], + [ + 0.29797568917274475, + 0.008164006285369396, + 0.06760893762111664, + 2.963743494945117, + 0.17580895125865936, + 0.23074845969676971, + 1.0 + ], + [ + 0.2911365330219269, + -0.006153754889965057, + 0.06340768188238144, + 2.9394739886098584, + 0.19552887976169586, + 0.16178035736083984, + 1.0 + ], + [ + 0.2891312837600708, + -0.019399629905819893, + 0.059486158192157745, + 2.9241046031289777, + 0.1685297042131424, + 0.11915650963783266, + 1.0 + ], + [ + 0.29215705394744873, + -0.026149699464440346, + 0.052583079785108566, + 2.9327454586797437, + 0.12480009347200395, + 0.10103420913219452, + 1.0 + ], + [ + 0.29588642716407776, + -0.02744624949991703, + 0.04426167905330658, + 2.948974134522029, + 0.06612858176231383, + 0.0915549173951149, + 1.0 + ], + [ + 0.29661646485328674, + -0.028011217713356018, + 0.042921777814626694, + 2.9528286923938474, + 0.0516204796731472, + 0.08458998799324037, + 1.0 + ], + [ + 0.2897712290287018, + -0.03227488324046135, + 0.036362286657094955, + 2.9536860456042966, + 0.0742286890745163, + 0.07888032495975494, + 1.0 + ], + [ + 0.28232330083847046, + -0.0388914979994297, + 0.027683109045028687, + 2.9602930416637143, + 0.10333553701639174, + 0.08144209533929825, + 1.0 + ], + [ + 0.27596816420555115, + -0.03866230696439743, + 0.019971322268247604, + 2.9676138033443173, + 0.10406176745891571, + 0.09686115384101868, + 1.0 + ], + [ + 0.28272080421447754, + -0.03685315325856209, + 0.019130464643239975, + 2.9795471151643476, + 0.06400494277477264, + 0.12565702199935913, + 0.0 + ], + [ + 0.28132641315460205, + -0.02724423073232174, + 0.034559234976768494, + 2.9947716762595853, + 0.08783099800348283, + 0.10848658531904219, + 0.0 + ], + [ + 0.2718661427497864, + 0.009104231372475624, + 0.07746697962284088, + 3.0154657681756696, + 0.07848848402500153, + 0.018333157524466515, + 0.0 + ], + [ + 0.25985631346702576, + 0.04680173099040985, + 0.09815894067287445, + 3.002321111159869, + 0.08474374562501907, + -0.04382801055908203, + 0.0 + ], + [ + 0.26123616099357605, + 0.07319359481334686, + 0.09823013097047806, + 3.032460371153899, + 0.06790757179260254, + -0.03785640373826027, + 0.0 + ], + [ + 0.2744207978248596, + 0.08941018581390381, + 0.07478351145982742, + 3.0584357549720487, + 0.06464647501707077, + -0.016424288973212242, + 0.0 + ], + [ + 0.28208810091018677, + 0.09844871610403061, + 0.0542098693549633, + 3.0807853696220597, + 0.053675655275583274, + -0.006094753276556731, + 0.0 + ], + [ + 0.2854670584201813, + 0.09984633326530457, + 0.033015333116054535, + 3.0731538777523717, + 0.07907472550868988, + 0.003981602378189563, + 0.0 + ], + [ + 0.29023048281669617, + 0.10047228634357452, + 0.02678639627993107, + 3.0686458667093, + 0.06427575647830962, + 0.010591709055006504, + 0.0 + ], + [ + 0.29459285736083984, + 0.10300266742706299, + 0.017674323171377182, + 3.0577100982242307, + 0.06455922871828079, + 0.013658703304827213, + 0.0 + ], + [ + 0.2967270314693451, + 0.103586345911026, + 0.016636205837130547, + 3.0633005892210683, + 0.057714242488145835, + 0.02733912318944931, + 0.0 + ], + [ + 0.3007980287075043, + 0.10603465139865875, + 0.011910930275917053, + 3.0680620466643056, + 0.05939688161015511, + 0.024100244045257565, + 0.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.07284492254257202, + 0.16464275121688843, + 0.1339167356491089, + 0.13214361667633057, + 0.13214361667633057, + 0.13214361667633057, + 0.13214361667633057, + 0.13214361667633057, + 0.13214361667633057, + 0.13214361667633057, + 0.13214361667633057, + 0.13214361667633057, + 0.13214361667633057 + ], + "episode_id": "1027", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1027/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1042.json b/annotation/test/1042.json new file mode 100644 index 0000000000000000000000000000000000000000..fd127836f846109bb272964394b260fa983a0f9b --- /dev/null +++ b/annotation/test/1042.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "close oven" + ], + "videos": [ + { + "video_path": "videos/test/1042/rgb.mp4" + } + ], + "action": [ + [ + 0.00022131721507427318, + 0.0001009556612447126, + -1.8653597971545077e-07, + -0.0006366579488884321, + 0.001395630225758215, + -4.2387462484173136e-07, + 1.0 + ], + [ + -0.005450581305397419, + -0.0007706960774677451, + 0.00619038534673422, + 0.003622885541612805, + -0.02864297130511836, + 0.0024052616226846813, + 1.0 + ], + [ + -0.021939595887733625, + -0.010825658594423082, + 0.0024214060862670695, + -0.013812372357073936, + -0.051665201888236575, + 0.030061502222558364, + 1.0 + ], + [ + -0.01581118170540451, + -0.018886259161335635, + -0.017547962631589385, + 0.0006323301621107251, + 0.00537227169357048, + 0.010109114434710464, + 1.0 + ], + [ + -0.006077164131254988, + -0.02854577980346038, + -0.024460397465391723, + -0.0064888448359291554, + 0.03184638510521466, + 0.0028591834409257603, + 1.0 + ], + [ + -3.6368929542764716e-05, + -0.037509663286630635, + -0.016363938745006468, + 0.0005939922629200427, + -0.010452860585015053, + -0.032114069187847906, + 1.0 + ], + [ + 0.002295326941719517, + -0.034491651379762664, + -0.006378831569880752, + 0.03203465216718131, + 0.042114407740987354, + -0.013213103765616083, + 1.0 + ], + [ + 0.012314780419562936, + -0.030581335135122966, + 0.0018385776567844303, + 0.006698791839950947, + 0.042163461604251114, + -0.022716826305771, + 1.0 + ], + [ + 0.009748287310451869, + -0.012721549458938927, + 0.011964974205816319, + -0.00260219833312081, + 0.03895947933230863, + -0.006735757669913266, + 1.0 + ], + [ + 0.005154062082881315, + 0.006732779592869531, + 0.01650115375760571, + -0.04240596574747977, + -0.019997808183335852, + -0.009433034912486558, + 1.0 + ], + [ + 0.0025021566589661674, + 0.00725347371214871, + 0.008912981178885795, + -0.03385369198922966, + -0.011876908404591333, + -0.02097195712820489, + 1.0 + ], + [ + 0.0011355734879538151, + 0.009075382933166069, + 0.01689626804053606, + 0.029340794472207114, + -0.024290651052150922, + -0.027449420464565295, + 1.0 + ], + [ + 0.00040087148121505274, + 0.011932764970701115, + 0.008563621237249828, + -0.004601206596693766, + -0.0285169262025082, + -0.030682458366497772, + 1.0 + ], + [ + -0.0012601842390448533, + 0.014447346258739035, + 0.0058688919972069075, + -0.004094083199847584, + 0.015425707987988944, + -0.008487790505107076, + 1.0 + ], + [ + -0.0008687877724178209, + 0.02612430803185672, + 0.0001532549586463713, + -0.028940227472649998, + 0.004813379005682402, + 0.02406059515484298, + 1.0 + ], + [ + 0.00595401580748279, + 0.02518604771949348, + 0.001173253388840088, + -0.024927767173278458, + 0.004131746834980478, + -0.024728612435172798, + 1.0 + ], + [ + 0.007173950557939888, + 0.025327989024070793, + 0.0006164080816959217, + -0.03414456173853945, + 0.030263745214352246, + -0.026285688242677102, + 1.0 + ], + [ + 0.00245561216286468, + 0.02511521924736055, + 0.0023941715877084835, + -0.015015604469670532, + 0.01455376273745931, + -0.023366932675782492, + 1.0 + ], + [ + 0.0018777842860196793, + 0.03462215257440227, + 0.003777206445649044, + -0.01667598327161274, + 0.0012534845859670707, + 0.027775608405451218, + 1.0 + ], + [ + -0.0003317194722224164, + 0.027944470145616955, + 0.0007809364943316416, + -2.211693497858077e-05, + -0.0032448994696476674, + 0.006919921540755015, + 1.0 + ], + [ + -0.010228442901211514, + 0.013617217300092256, + -0.011588267264325575, + 0.007357543513321957, + 0.005951392634564867, + 0.0371491202499969, + 1.0 + ], + [ + -0.017791235723853164, + 0.003722713029149049, + -0.030492748102450836, + -0.030230635307495164, + 0.010792796767780458, + 0.05737118033611056, + 1.0 + ], + [ + -0.03321922073155782, + -0.007647149825949891, + -0.002296013575450492, + 0.013590713957470347, + -0.04269595676909955, + 0.06589996839300186, + 1.0 + ], + [ + -0.016579256193661285, + -0.01497720723881363, + 0.020599599314576885, + 0.062154646786909656, + -0.017770132479155813, + 0.027912034417526294, + 1.0 + ], + [ + -0.000162652516033516, + -0.010519394307510758, + 0.020060699452871828, + 0.02592053024376285, + 0.061166258659538446, + 0.002629677118402826, + 1.0 + ], + [ + 0.0026307493685463652, + -0.0063542170115065775, + 0.027352894670568725, + -0.00929009580456927, + -0.020333909033710525, + 0.0424830080804247, + 1.0 + ], + [ + 0.009029282695860513, + -0.0058065211078244874, + 0.01864861112354478, + -0.01699352335818761, + 0.0021557159141489327, + 0.006915642071740442, + 1.0 + ], + [ + 0.016157800313589488, + 0.0031502532061977316, + 0.011684341173183427, + 0.0007516352075955926, + 0.013477113722801944, + -0.014040690863578918, + 1.0 + ], + [ + 0.01657862356663669, + 0.00866844494866815, + 0.005368333476483706, + -0.025092842604853387, + 0.01059125541318762, + -0.012683940297669458, + 1.0 + ], + [ + 0.013980773281169869, + 0.0070617528750133215, + 0.006745753771794269, + -0.01881040392699304, + 0.011596062669917535, + 0.0019555516427192483, + 1.0 + ], + [ + 0.015891444523832687, + 0.005605016362955159, + 0.004886985926855739, + -0.013430861619052643, + 0.04077597950385788, + 0.004694101261093575, + 1.0 + ], + [ + 0.015087845748792478, + 0.003427823662716773, + 0.006520328345926621, + -0.0010514773206954, + 0.02872725939986453, + 0.0009569910858421031, + 1.0 + ], + [ + 0.018009353348680476, + -0.0017663868082803847, + 0.007725127693285412, + 0.006906334129050701, + 0.030620910104814315, + -0.013693227807621288, + 1.0 + ], + [ + 0.004567332301813274, + -0.00047505891887873015, + 0.0016099331190773428, + 0.008490054963129323, + 0.014289159399755755, + 0.01158646011606763, + 1.0 + ], + [ + -0.0002891301902923834, + -0.00011439372353549222, + 0.0005097513293446955, + 0.0005385139400572315, + -0.0014362418281685812, + -1.726527435361676e-05, + 1.0 + ], + [ + -0.011149314266446025, + -0.0022093221716565793, + 0.004798548567540542, + -0.004995227629205808, + -0.021100868908217538, + 0.0061615602705460005, + 1.0 + ], + [ + -0.0055165322680326475, + -0.003723854923804869, + 0.001984913150565309, + 0.01583590397322228, + -0.015908319638107196, + 0.01819367405201742, + 1.0 + ], + [ + -0.00528350583937809, + -0.0030380460723483803, + -0.0011451045268182517, + 0.014213384341255892, + -0.01780471151853217, + -0.014681221769527042, + 1.0 + ] + ], + "state": [ + [ + 0.27893683314323425, + -0.03640158846974373, + 0.09040053933858871, + -3.126739701377698, + -0.04357760399580002, + 0.2641426622867584, + 1.0 + ], + [ + 0.2791766822338104, + -0.036441292613744736, + 0.09040886908769608, + -3.1273754594200334, + -0.04497308656573296, + 0.26412233710289007, + 1.0 + ], + [ + 0.27396443486213684, + -0.036961425095796585, + 0.08399126678705215, + -3.123656943561979, + -0.016298726201057434, + 0.2621251940727234, + 1.0 + ], + [ + 0.24999603629112244, + -0.032140422612428665, + 0.08140712976455688, + -3.1369779749126216, + 0.035904139280319214, + 0.23301647603511813, + 1.0 + ], + [ + 0.23089565336704254, + -0.017346050590276718, + 0.09959825873374939, + -3.1367097460948905, + 0.03057673014700413, + 0.2228780835866928, + 1.0 + ], + [ + 0.21942181885242462, + 0.009200423024594784, + 0.12437204271554947, + 3.139897005870477, + -0.0012554529821500182, + 0.2198649048805237, + 1.0 + ], + [ + 0.21117953956127167, + 0.045821744948625565, + 0.14067229628562927, + 3.1404514886722943, + 0.009252483956515789, + 0.251960813999176, + 1.0 + ], + [ + 0.20485840737819672, + 0.07981819659471512, + 0.14699025452136993, + -3.110577318938919, + -0.032847631722688675, + 0.26521739363670344, + 1.0 + ], + [ + 0.2087373435497284, + 0.11260495334863663, + 0.14650581777095795, + -3.10456274648244, + -0.07568767666816711, + 0.28665706515312195, + 1.0 + ], + [ + 0.2151743769645691, + 0.1282178908586502, + 0.13579002022743225, + -3.107539842026778, + -0.11486873775720596, + 0.2919761538505554, + 1.0 + ], + [ + 0.2236883044242859, + 0.12433727085590363, + 0.11977013945579529, + 3.1320807255157312, + -0.09519779682159424, + 0.3021286427974701, + 1.0 + ], + [ + 0.22905227541923523, + 0.11832299828529358, + 0.11120443791151047, + 3.0962390658729753, + -0.08310121297836304, + 0.32305741310119623, + 1.0 + ], + [ + 0.23454293608665466, + 0.10979273170232773, + 0.09488809108734131, + 3.123394103842326, + -0.05756239220499992, + 0.34941259026527405, + 1.0 + ], + [ + 0.23950785398483276, + 0.09873782098293304, + 0.08657991886138916, + 3.117058294015475, + -0.02846576645970345, + 0.3795706033706665, + 1.0 + ], + [ + 0.24388836324214935, + 0.0847804918885231, + 0.08103358000516891, + 3.112709740298339, + -0.043677493929862976, + 0.38844171166419983, + 1.0 + ], + [ + 0.25295281410217285, + 0.06026974320411682, + 0.08159632235765457, + 3.084822667884179, + -0.049171146005392075, + 0.3645015358924866, + 1.0 + ], + [ + 0.26748478412628174, + 0.03882952034473419, + 0.08214633911848068, + 3.0586855356865605, + -0.051878008991479874, + 0.38945817947387695, + 1.0 + ], + [ + 0.28364449739456177, + 0.018122470006346703, + 0.08399952203035355, + 3.023044290142604, + -0.07983990758657457, + 0.41824004054069525, + 1.0 + ], + [ + 0.29608210921287537, + -0.003950653597712517, + 0.08478651195764542, + 3.0060571153932294, + -0.0915033221244812, + 0.44326692819595337, + 1.0 + ], + [ + 0.3126260042190552, + -0.03463565185666084, + 0.0858897939324379, + 2.991942675905772, + -0.09646357595920564, + 0.4157877862453461, + 1.0 + ], + [ + 0.32323285937309265, + -0.060285404324531555, + 0.08923615515232086, + 2.992632584767886, + -0.09428404271602629, + 0.4084287583827973, + 1.0 + ], + [ + 0.31738805770874023, + -0.07561423629522324, + 0.10169419646263123, + 3.003477709489413, + -0.10562082380056381, + 0.37237468361854553, + 1.0 + ], + [ + 0.2977064251899719, + -0.08275338262319565, + 0.13036230206489563, + 2.979328440623828, + -0.12404293566942216, + 0.3166130781173706, + 1.0 + ], + [ + 0.26379460096359253, + -0.08553232252597809, + 0.1272747665643692, + 3.0021222700648984, + -0.09222330152988434, + 0.24442027509212494, + 1.0 + ], + [ + 0.2468891441822052, + -0.07741399854421616, + 0.10336179286241531, + 3.067099506156989, + -0.07846352458000182, + 0.21421948075294497, + 1.0 + ], + [ + 0.24641020596027374, + -0.06831051409244537, + 0.08262503892183304, + 3.0927271415763578, + -0.13965550065040586, + 0.21617041528224945, + 1.0 + ], + [ + 0.25163671374320984, + -0.06203281879425049, + 0.055629633367061615, + 3.0895607230537614, + -0.12128815054893495, + 0.17243131995201114, + 1.0 + ], + [ + 0.2618940770626068, + -0.055344924330711365, + 0.0379357673227787, + 3.073396647470542, + -0.12379780411720276, + 0.1655847728252411, + 1.0 + ], + [ + 0.27975180745124817, + -0.05635439604520798, + 0.028576020151376724, + 3.0722893719845494, + -0.13627296686172485, + 0.18064966797828674, + 1.0 + ], + [ + 0.2981654405593872, + -0.06215989589691162, + 0.02611716091632843, + 3.0453607385330876, + -0.14594818651676178, + 0.19417977333068845, + 1.0 + ], + [ + 0.3140803575515747, + -0.06685438752174377, + 0.022178540006279945, + 3.026666434603282, + -0.15767844021320343, + 0.1933371126651764, + 1.0 + ], + [ + 0.3313088119029999, + -0.06972615420818329, + 0.02051415853202343, + 3.01313707430894, + -0.19872356951236725, + 0.1933528035879135, + 1.0 + ], + [ + 0.34780558943748474, + -0.07081136852502823, + 0.017583904787898064, + 3.0114791860156735, + -0.2273359149694443, + 0.19615574181079867, + 1.0 + ], + [ + 0.3666130304336548, + -0.0663103312253952, + 0.013956873677670956, + 3.0142556597762784, + -0.255885511636734, + 0.21429020166397098, + 1.0 + ], + [ + 0.37128371000289917, + -0.0650208368897438, + 0.013509607873857021, + 3.025281274812766, + -0.2715180516242981, + 0.204245388507843, + 1.0 + ], + [ + 0.3711363673210144, + -0.06499573588371277, + 0.012931517325341702, + 3.0258612801604947, + -0.2700895071029663, + 0.20409023761749265, + 1.0 + ], + [ + 0.3615938127040863, + -0.06529556959867477, + 0.005117163062095642, + 3.0232007672363004, + -0.24983121454715732, + 0.1952606588602066, + 1.0 + ], + [ + 0.3562628924846649, + -0.06281949579715729, + 0.001417237101122737, + 3.044116960959979, + -0.236132487654686, + 0.17474806308746335, + 1.0 + ], + [ + 0.35046473145484924, + -0.06065960228443146, + 0.0010017723543569446, + 3.055237801867076, + -0.21696367859840393, + 0.1879335641860962, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1042", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1042/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1043.json b/annotation/test/1043.json new file mode 100644 index 0000000000000000000000000000000000000000..0fdd593d9a1507612a3ed19321a576c7bee4d1ff --- /dev/null +++ b/annotation/test/1043.json @@ -0,0 +1,926 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "move the pot left side of yellow cloth" + ], + "videos": [ + { + "video_path": "videos/test/1043/rgb.mp4" + } + ], + "action": [ + [ + 0.00031020248818137015, + -0.00022251239513412576, + -0.00035442239107923406, + 0.0007075200070981864, + 0.0013429663473661423, + -0.001754724875150841, + 1.0 + ], + [ + -0.0010612528447922476, + 0.002450031486131318, + 0.0035965109953566545, + -0.013417955412541174, + -0.010703268737429418, + -0.021763572948785434, + 1.0 + ], + [ + 0.011368632933272466, + 0.0002803443165920998, + -0.006386418265646752, + -0.0009407016086545587, + 0.052942353266855584, + -0.15066336363090116, + 1.0 + ], + [ + 0.021051316163871184, + 0.006962754756825008, + -0.010693160789100532, + 0.011924538214097984, + 0.04323401087792817, + -0.041177701740298285, + 1.0 + ], + [ + 0.029352477575659782, + 0.014770254902950804, + -0.00020510986403715414, + -0.04240452814277006, + 0.0444332942087346, + -0.013564994657928283, + 1.0 + ], + [ + 0.028700299661499985, + 0.025921780519484582, + 0.010644139065977961, + -0.015323869253640118, + 0.06207232804234175, + -0.026076701329060595, + 1.0 + ], + [ + 0.016385206955434627, + 0.027541323977233884, + 0.013180285677480762, + -0.0234486448020629, + 0.02177703019774153, + 0.007506740220641479, + 1.0 + ], + [ + 0.015395008691392802, + 0.02631806181358672, + 0.013859310001169297, + -0.023269831243562758, + -0.0027459980105112507, + 0.025177698442819432, + 1.0 + ], + [ + 0.010353673950568455, + 0.019854948961853646, + 0.016722362231183497, + -0.005002339750078017, + -0.011663674775407118, + 0.013838192016457774, + 1.0 + ], + [ + 0.009208119188236653, + 0.0062007859066865395, + 0.01926903608920957, + 0.024298805676442395, + -0.03119831756278169, + 0.012167460885535768, + 1.0 + ], + [ + 0.006061653678258098, + 0.0027238916451513637, + 0.01584874224325481, + 0.006117151251983513, + -0.02025246149840107, + -0.0010551116588780236, + 1.0 + ], + [ + 0.0050757383702437495, + 0.005009485494890882, + 0.010777316127740468, + 0.004751472928255554, + 0.005516732848467263, + -0.009874168269426886, + 1.0 + ], + [ + -0.0018758964365441992, + 0.003420256196054241, + 0.006885210839894494, + -0.00033856835415062785, + -0.01517595958534081, + -0.0034506806836912857, + 1.0 + ], + [ + -0.0005894407460315891, + 0.0053751395527121704, + -0.00021867947384805994, + -0.05385481553820973, + -0.005568856964110401, + 0.0011334021757440156, + 1.0 + ], + [ + 0.0012917701369191536, + -0.006104689912864592, + 0.0004263620331892457, + -0.01644628132805424, + -0.003955888213750518, + -0.023309109213947212, + 0.0 + ], + [ + -0.0012927606463922327, + -0.0008036961165184532, + -3.562496302655418e-05, + -0.024260071261182604, + -0.013467490639837867, + -0.0008381091870796914, + 0.0 + ], + [ + 0.00046658023420347044, + -0.0034419181170833282, + -0.001715917448155138, + -0.010931181951588329, + -0.001300315589376599, + -0.015669724888594805, + 0.0 + ], + [ + -0.001125065239346512, + -0.00955036408732689, + -0.023006377816513653, + -0.0328842812153527, + 0.021853466025938875, + -0.04096208390681792, + 0.0 + ], + [ + -0.0019187477468853844, + -0.012146343116138762, + -0.011661816773522187, + -0.0290668172349148, + 0.007398340714248607, + -0.07143127619495848, + 0.0 + ], + [ + 0.001376053737853388, + -0.017160606542586544, + -0.02133614805170749, + -0.023804932580379204, + 0.06395172727696183, + -0.14897757954128837, + 0.0 + ], + [ + 0.00016525390212002806, + -0.02096350234458349, + -0.010271580939095465, + 0.00093975804267824, + -0.0021729604329133664, + -0.24693811098642018, + 0.0 + ], + [ + 0.00700489547033359, + -0.029111870844043413, + -0.019456649625604155, + 0.002479649061790673, + 0.024171602812620895, + -0.19142700752860622, + 0.0 + ], + [ + 0.0062617676663924305, + -0.020466551718316562, + -0.009368292402283197, + 0.057769143867111405, + 0.02862063293399277, + -0.10724947993372504, + 0.0 + ], + [ + 0.012168161790844076, + -0.02660632696510968, + -0.0016190230681351334, + 0.0642194791104746, + 0.01367026543838508, + -0.1026809105111964, + 0.0 + ], + [ + 0.015361092344923843, + -0.03264917261700551, + 0.005928964308133562, + 0.0007046846259556992, + -0.015313903324482486, + -0.08827024116038863, + 0.0 + ], + [ + 0.011663614563477663, + -0.025595817590092912, + 0.009770371649416954, + 0.02179071117882981, + -0.01739362995418041, + -0.13783457712783773, + 0.0 + ], + [ + 0.004907127521124911, + -0.01194184336775923, + 0.0032816799776413277, + 0.010488595637344902, + -0.002235774462401187, + -0.21211471530657344, + 0.0 + ], + [ + 0.001552257477057846, + -0.007480055940094634, + 0.00339944677591712, + 0.05131689106964053, + 0.013617896791269896, + -0.1901672423912093, + 0.0 + ], + [ + -0.0011768501348983819, + -0.006752580133409966, + 0.006189622134322961, + 0.021773884656807782, + 0.011910369583981782, + -0.2032771970048063, + 0.0 + ], + [ + 0.0008431099314864505, + -0.006780240343029465, + 0.0062934115500162275, + 0.010464706985507582, + -0.03063384025251695, + -0.2199514189233889, + 0.0 + ], + [ + 0.0034521887526718165, + -0.0030811941868681084, + 0.007714769183884386, + 0.0015105364652194693, + 0.005058597343262675, + -0.14556021598538157, + 0.0 + ], + [ + 0.0008877763539362276, + -0.004754905958646369, + 0.007559778273971976, + -0.00256402056471437, + -0.007761728681070213, + -0.08054629957472208, + 0.0 + ], + [ + 0.0061006170912888775, + 0.0020265903397373637, + 0.0076832538647162415, + -0.0026135527049215147, + -0.03070597514872331, + -0.012942751543775234, + 0.0 + ], + [ + 0.0010255438425699583, + 0.00028865184062429154, + 0.013105542839971994, + 0.0484426585909514, + -0.02685238168126355, + 0.041952270780151894, + 0.0 + ], + [ + 2.128353586474592e-05, + -0.0023608290165958515, + 0.010080910841724086, + 0.04026307340653058, + -0.010792980250294982, + 0.018520042766420112, + 0.0 + ], + [ + -0.0010288148641995766, + 0.001410985329688893, + -0.002902366109688169, + 0.016194074004296982, + -0.006815792371136717, + 0.030708423025430892, + 1.0 + ], + [ + -0.0008220942582532752, + -0.0012474276060292153, + -0.001584265257233559, + 0.014731560159846186, + -0.005299081405780159, + 0.023376970084885436, + 1.0 + ], + [ + -0.0011278730573338806, + 0.0006757329624299966, + -0.0063011839818402065, + -0.016798454839277183, + 0.0006370792074569863, + 0.02249536281375063, + 1.0 + ], + [ + -0.008211036683010157, + 0.0009623108605340193, + -0.02061925110928498, + -0.04545600851866283, + 0.05370795618664673, + 0.06467312696651346, + 1.0 + ], + [ + -0.011299379843906441, + 0.0017996062309613026, + -0.01647579068571909, + -0.0438121417656966, + 0.021014406201796294, + 0.09260287488997276, + 1.0 + ], + [ + -0.023265957884538353, + 0.007116217503850578, + -0.018582996380174105, + -0.009142424827306013, + 0.047506801478677335, + 0.21549066545297543, + 1.0 + ], + [ + -0.015709387821540376, + 0.020789472678006488, + -0.015365384482881604, + 0.015724782855865004, + 0.04072930126116234, + 0.24828665970517583, + 1.0 + ], + [ + -0.004662582560839589, + 0.025014843294488946, + 0.0009240615931589239, + 0.07296958010057904, + 0.06987816302747259, + 0.2695649583143832, + 1.0 + ], + [ + -0.005358234058094931, + 0.027478054626158422, + -0.0006094822103665301, + -0.037675030719712746, + 0.0455984287390226, + 0.2461017603357044, + 1.0 + ], + [ + -0.011945417814707626, + 0.025604751469845238, + -0.005068833553116042, + -0.030664329321362732, + 0.05560793560490292, + 0.25210964857187795, + 1.0 + ], + [ + -0.0014836778973127257, + 0.019514882552416738, + 0.0010824144906181137, + -0.060359469039154, + 0.007185471619518668, + 0.21898427444682514, + 1.0 + ], + [ + -0.002515197693976021, + 0.009197831337940552, + 0.002294375875419934, + -0.047808841809868025, + -0.005488127863839169, + 0.2201297406327145, + 1.0 + ] + ], + "state": [ + [ + 0.179212287068367, + 0.08583943545818329, + 0.11279989033937454, + -3.0215814878516873, + 0.08294659852981569, + -0.15146943926811218, + 1.0 + ], + [ + 0.1795758157968521, + 0.08596449345350266, + 0.11315140128135681, + -3.0207425599270543, + 0.08140310645103455, + -0.14988286793231964, + 1.0 + ], + [ + 0.17792069911956787, + 0.08419319987297058, + 0.10938484966754913, + -3.0323164259367665, + 0.08938342332839966, + -0.12689687311649325, + 1.0 + ], + [ + 0.18958890438079834, + 0.0817214697599411, + 0.11466256529092789, + -3.0214235876970967, + 0.019457921385765076, + 0.016843272373080257, + 1.0 + ], + [ + 0.21096155047416687, + 0.07388588786125183, + 0.12403247505426407, + -3.0087684114747724, + -0.02841196395456791, + 0.05251495167613029, + 1.0 + ], + [ + 0.2410813570022583, + 0.06078151613473892, + 0.12311425060033798, + -3.051260033743926, + -0.074249267578125, + 0.06008516624569892, + 1.0 + ], + [ + 0.27210161089897156, + 0.03774679824709892, + 0.11233977973461151, + -3.0679531042748174, + -0.1384049355983734, + 0.08060429990291597, + 1.0 + ], + [ + 0.2924971282482147, + 0.012811055406928062, + 0.09957455098628998, + -3.0901172627979, + -0.15956488251686096, + 0.07140062749385834, + 1.0 + ], + [ + 0.311890184879303, + -0.011437331326305866, + 0.08701858669519424, + -3.1093821955197534, + -0.15547692775726318, + 0.04609237611293793, + 1.0 + ], + [ + 0.3256819546222687, + -0.030127819627523422, + 0.07147806882858276, + -3.11228013982112, + -0.1433594971895218, + 0.032498497515916824, + 1.0 + ], + [ + 0.337750107049942, + -0.03537184000015259, + 0.05355057865381241, + -3.086351914452859, + -0.1118088960647583, + 0.021185826510190964, + 1.0 + ], + [ + 0.34559366106987, + -0.03705074265599251, + 0.03835170343518257, + -3.0804668982797345, + -0.09164532274007796, + 0.023366380482912064, + 1.0 + ], + [ + 0.3517603576183319, + -0.04124957695603371, + 0.027799440547823906, + -3.076592559116431, + -0.09775076806545258, + 0.03293059766292572, + 1.0 + ], + [ + 0.35068392753601074, + -0.04425245523452759, + 0.02055739052593708, + -3.0773580243163785, + -0.0828300341963768, + 0.03737454488873482, + 1.0 + ], + [ + 0.350308358669281, + -0.04964834824204445, + 0.02038225345313549, + -3.1311476669558367, + -0.07719988375902176, + 0.036598652601242065, + 1.0 + ], + [ + 0.35139983892440796, + -0.043495479971170425, + 0.02012038230895996, + 3.133783124508806, + -0.07346656918525697, + 0.06001080200076103, + 0.0 + ], + [ + 0.3500625193119049, + -0.04277043044567108, + 0.020054761320352554, + 3.1094684546166143, + -0.05999292433261871, + 0.060744959861040115, + 0.0 + ], + [ + 0.350219190120697, + -0.03925918787717819, + 0.021684331819415092, + 3.0976030958169183, + -0.05818268284201621, + 0.0763912945985794, + 0.0 + ], + [ + 0.34698566794395447, + -0.028922976925969124, + 0.04414486885070801, + 3.0623046850138387, + -0.07816307991743088, + 0.11839403212070465, + 0.0 + ], + [ + 0.342720091342926, + -0.016306640580296516, + 0.05462561920285225, + 3.0278215428167066, + -0.07968358695507051, + 0.19041496515274048, + 0.0 + ], + [ + 0.33887702226638794, + 0.002782891970127821, + 0.07392410933971405, + 2.9927559216790875, + -0.1254162043333054, + 0.34669411182403564, + 0.0 + ], + [ + 0.33063989877700806, + 0.023469723761081696, + 0.08093880116939545, + 2.967805864410945, + -0.08329501748085022, + 0.5913791656494142, + 0.0 + ], + [ + 0.3175978660583496, + 0.053302865475416183, + 0.0956023558974266, + 2.957506688433238, + -0.07266687601804732, + 0.7846046686172486, + 0.0 + ], + [ + 0.3063088655471802, + 0.07288748770952225, + 0.10150620341300964, + 3.0082945992522916, + -0.08076850324869156, + 0.8956242799758911, + 0.0 + ], + [ + 0.29323434829711914, + 0.09909338504076004, + 0.10056281834840775, + 3.0648510103398046, + -0.08026179671287537, + 0.9995437264442444, + 0.0 + ], + [ + 0.27487584948539734, + 0.12989667057991028, + 0.09340688586235046, + 3.0588708614283284, + -0.057931430637836456, + 1.0865108966827393, + 0.0 + ], + [ + 0.25875595211982727, + 0.15230923891067505, + 0.0822502002120018, + 3.073563905554362, + -0.028708839789032936, + 1.2224559783935547, + 0.0 + ], + [ + 0.24948130548000336, + 0.16102062165737152, + 0.0783068910241127, + 3.079544251906224, + -0.011527104303240778, + 1.4339308738708496, + 0.0 + ], + [ + 0.24251212179660797, + 0.1635921448469162, + 0.07446830719709396, + 3.1297966289618095, + -0.013189557939767836, + 1.624586582183838, + 0.0 + ], + [ + 0.23590150475502014, + 0.16214056313037872, + 0.06818448752164841, + -3.134037336456128, + -0.022445853799581528, + 1.8280302286148071, + 0.0 + ], + [ + 0.2290484756231308, + 0.16135422885417938, + 0.061962977051734924, + -3.1286533895232758, + 0.007080313749611379, + 2.0481131076812744, + 0.0 + ], + [ + 0.22466230392456055, + 0.16291099786758423, + 0.05426447093486786, + -3.1262529577412685, + 7.05896527506411e-05, + 2.1935930252075195, + 0.0 + ], + [ + 0.22018885612487793, + 0.16079077124595642, + 0.04677845537662506, + -3.128860701928385, + 0.006597009487450124, + 2.2742486000061035, + 0.0 + ], + [ + 0.21774640679359436, + 0.16665183007717133, + 0.03902994468808174, + -3.131381368386098, + 0.03713513165712356, + 2.2875843048095703, + 0.0 + ], + [ + 0.21750955283641815, + 0.1671592891216278, + 0.02589309960603714, + -3.084493951993533, + 0.06438207626342773, + 2.2458372116088867, + 0.0 + ], + [ + 0.21560634672641754, + 0.16484466195106506, + 0.015982547774910927, + -3.045389937358447, + 0.07620400190353392, + 2.227912425994873, + 0.0 + ], + [ + 0.21743763983249664, + 0.16522660851478577, + 0.018806295469403267, + -3.0315220971875867, + 0.0859033465385437, + 2.1978909969329834, + 1.0 + ], + [ + 0.21696902811527252, + 0.16405686736106873, + 0.020582223311066628, + -3.018769370513507, + 0.09371595829725266, + 2.175138235092163, + 1.0 + ], + [ + 0.21846607327461243, + 0.1644277572631836, + 0.026831617578864098, + -3.0377048050337514, + 0.09581586718559265, + 2.1526310443878174, + 1.0 + ], + [ + 0.22447086870670319, + 0.1609315276145935, + 0.047931842505931854, + -3.089953763531991, + 0.0488649345934391, + 2.0827369689941406, + 1.0 + ], + [ + 0.23191618919372559, + 0.15308623015880585, + 0.06482517719268799, + -3.1385463363309434, + 0.03243756294250488, + 1.9891396760940552, + 1.0 + ], + [ + 0.24767263233661652, + 0.13530182838439941, + 0.08413120359182358, + 3.128489250438758, + -0.015167974866926668, + 1.7737237215042114, + 1.0 + ], + [ + 0.27105003595352173, + 0.12383317947387695, + 0.09952760487794876, + -3.134855918707796, + -0.05865051597356797, + 1.5257841348648071, + 1.0 + ], + [ + 0.2958261966705322, + 0.11812201887369156, + 0.09816361963748932, + -3.046356001990386, + -0.12459737062454224, + 1.2542541027069092, + 1.0 + ], + [ + 0.320298433303833, + 0.10477369278669357, + 0.09550703316926956, + -3.055910827713557, + -0.14295268058776855, + 1.0024569034576416, + 1.0 + ], + [ + 0.33558136224746704, + 0.08050130307674408, + 0.0966351106762886, + -3.052640365558215, + -0.17231489717960358, + 0.7428442239761354, + 1.0 + ], + [ + 0.34794220328330994, + 0.06559272855520248, + 0.09361061453819275, + -3.0774441977315625, + -0.1560356467962265, + 0.5213567614555359, + 1.0 + ], + [ + 0.350674033164978, + 0.056746188551187515, + 0.09037544578313828, + -3.0926694368296346, + -0.132803350687027, + 0.30007052421569824, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05933445692062378, + 0.33987146615982056, + 0.634721577167511, + 0.8355658501386642, + 0.9132281243801117, + 0.9156777262687683, + 0.9156777262687683, + 0.9156777262687683, + 0.9156777262687683, + 0.9156777262687683, + 0.9156777262687683, + 0.9156777262687683, + 0.9156777262687683, + 0.9156777262687683, + 0.9156777262687683, + 0.9156777262687683, + 0.9156777262687683, + 0.9156777262687683, + 0.9156777262687683, + 0.9156777262687683, + 0.9156777262687683, + 0.8803941234946251, + 0.6965844929218292, + 0.4110974073410034, + 0.11550527811050415, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "1043", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1043/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1059.json b/annotation/test/1059.json new file mode 100644 index 0000000000000000000000000000000000000000..51ddac329d80ddd04117eb25c605c9f41129006d --- /dev/null +++ b/annotation/test/1059.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "pick up pot 50" + ], + "videos": [ + { + "video_path": "videos/test/1059/rgb.mp4" + } + ], + "action": [ + [ + -0.0006186797236839044, + 0.0016280572648912296, + 0.006055008854258835, + -0.01482791125380709, + -0.008028429485265859, + -0.0008366246823185537, + 1.0 + ], + [ + 0.00014090837265617656, + 0.0034748369898092313, + 0.010456471817408365, + -0.02981930315468019, + -0.006417298457019186, + -0.004924766905533728, + 1.0 + ], + [ + -0.0010052030762143262, + 0.0031281262200117403, + 0.005061560706140333, + -0.009513126859640265, + -0.0019198564181036057, + -0.012664191354012538, + 1.0 + ], + [ + -0.0010126264049465257, + 0.00021292599807791538, + 0.003965023363556851, + 0.006849347586081493, + -0.0023747061515322914, + -0.02198015532319231, + 1.0 + ], + [ + -0.001552884901996389, + -0.0009548939725554491, + -1.0478051723550536e-05, + 0.006025031641735455, + -0.00979106688214316, + -0.0003380416006404072, + 1.0 + ], + [ + -9.844963026743294e-05, + -0.0010604433921480743, + 0.001788811081958437, + -0.004259444382110245, + -0.007702214624029408, + 0.0016098790925693203, + 1.0 + ], + [ + -0.0002893446666714674, + -0.0003621815408793013, + 0.0007668337778801559, + -0.00240720794224428, + -0.004868729634299273, + 0.002584438569199051, + 1.0 + ], + [ + 0.00024998240251937194, + -0.0025274797524825815, + -0.00018518684298981242, + 0.009325523682771432, + 0.002267381076427724, + -0.003700661495008963, + 1.0 + ], + [ + -0.0005253411429017582, + -0.0015453949093867522, + -8.808847807703014e-05, + 0.01382145276861758, + -0.00977228443789445, + -0.012628644159505735, + 1.0 + ], + [ + 0.0018049656389208125, + -0.000658419235619569, + 0.002204600863472543, + 0.0008593891767531902, + -0.000898198349369839, + -0.0023265797516752295, + 1.0 + ], + [ + 0.006639023987556948, + 0.0032107517883688034, + 2.0618898189547086e-05, + -0.0239311338659272, + 0.02569838310554912, + -0.002626332030540909, + 1.0 + ], + [ + 0.015114293534584825, + 0.006029836251513958, + -0.0004216008824659034, + -0.015085380459447463, + 0.03085302654840803, + 0.024397163130905647, + 1.0 + ], + [ + 0.008304096018345275, + 0.005681202605314466, + -3.72549729164469e-05, + 0.00047557185786276996, + -0.003526854631940094, + 0.04141452849465185, + 1.0 + ], + [ + -0.0017586447550151738, + -0.0023971383781563583, + 5.922166188937762e-05, + 0.009061225362328925, + -0.014806046287096048, + 0.006059084526205516, + 1.0 + ], + [ + -1.0896165649879402e-05, + -0.0004424949398964994, + -0.00036180357494896084, + 0.002069064421093973, + -0.00044826652527233714, + 0.005075013419410075, + 1.0 + ], + [ + 0.001122257086263566, + -0.003581930595969546, + -0.0005155064792847077, + 0.028005770655794668, + 0.009904269401425376, + 0.014592733697152457, + 1.0 + ], + [ + 0.002350617948627835, + -0.008706085199554117, + -0.017435051860889467, + 0.10082648122361831, + 0.05220817594804124, + 0.014445051735576234, + 1.0 + ], + [ + -0.002125171767320027, + -0.014857811518308749, + -0.033442727340398465, + 0.09712670032754846, + 0.06667145076266918, + -0.01580862820475325, + 1.0 + ], + [ + 0.0013445813414635077, + 0.0010218950081885684, + -5.6855979564482905e-06, + -0.010096374795801864, + 0.014914958498317758, + -0.008686330946783076, + 1.0 + ], + [ + -0.0007812253278405325, + 0.0009483675452162664, + 0.00029173918517755526, + -0.009157321377134453, + -0.002418485658564942, + 0.0016912512987308764, + 1.0 + ], + [ + 0.008330327887278091, + -0.010401986534904204, + -0.008818517234167928, + 0.03976986510712141, + 0.04265528237087204, + -0.0026779727221473123, + 1.0 + ], + [ + 0.017217642331940907, + -0.02648899704104703, + -0.020559263964591238, + 0.10993531572349322, + 0.09555380394746839, + 0.0034220718967187826, + 1.0 + ], + [ + 0.015899599989524858, + -0.029958841393842302, + -0.030438001930185456, + 0.11291171544586492, + 0.0705147750978317, + 0.013103646385273674, + 1.0 + ] + ], + "state": [ + [ + 0.40897899866104126, + 0.013524790294468403, + 0.10066259652376175, + -3.04245716531808, + -0.010655440390110014, + -1.0561144351959229, + 1.0 + ], + [ + 0.40781837701797485, + 0.013503423891961575, + 0.09446994215250015, + -3.0572993402653417, + -0.0027492197696119547, + -1.0544873476028442, + 1.0 + ], + [ + 0.40565693378448486, + 0.012080542743206024, + 0.08375846594572067, + -3.0871331339054784, + 0.003230702830478549, + -1.0490398406982422, + 1.0 + ], + [ + 0.4026784896850586, + 0.011547185480594635, + 0.07853741198778152, + -3.0966094007068357, + 0.004458124283701181, + -1.0362898111343384, + 1.0 + ], + [ + 0.4021240174770355, + 0.012416264973580837, + 0.07457137852907181, + -3.0896725227409085, + 0.005841018166393042, + -1.0142247676849365, + 1.0 + ], + [ + 0.40211308002471924, + 0.014237937517464161, + 0.07464046776294708, + -3.0836400782042226, + 0.015601345337927341, + -1.0133789777755737, + 1.0 + ], + [ + 0.4030331075191498, + 0.014959140680730343, + 0.07291782647371292, + -3.0879159589582166, + 0.023383863270282745, + -1.0145403146743774, + 1.0 + ], + [ + 0.403213232755661, + 0.015432298183441162, + 0.07217849791049957, + -3.090376930432864, + 0.02838417515158653, + -1.0168607234954834, + 1.0 + ], + [ + 0.4054880142211914, + 0.016535017639398575, + 0.07248561084270477, + -3.0809499752991876, + 0.025930136442184445, + -1.0132797956466675, + 1.0 + ], + [ + 0.4065170884132385, + 0.017789972946047783, + 0.0726807564496994, + -3.0667885338240346, + 0.034916855394840234, + -1.0000746250152588, + 1.0 + ], + [ + 0.40814223885536194, + 0.0167788565158844, + 0.07046982645988464, + -3.065845938520976, + 0.03563856706023216, + -0.9976859092712402, + 1.0 + ], + [ + 0.4090461730957031, + 0.00947687216103077, + 0.06996990740299225, + -3.0897280183904847, + 0.009815134108066559, + -0.9970124363899232, + 1.0 + ], + [ + 0.41217488050460815, + -0.006497737020254135, + 0.06992999464273453, + -3.105061041312762, + -0.019735068082809445, + -1.0229699611663818, + 1.0 + ], + [ + 0.4116531014442444, + -0.01654578000307083, + 0.06992363184690475, + -3.103802306699105, + -0.01468159630894661, + -1.0642321109771729, + 1.0 + ], + [ + 0.4128962755203247, + -0.013844465836882591, + 0.06992919743061066, + -3.09465683077509, + 0.00034301914274692535, + -1.069726824760437, + 1.0 + ], + [ + 0.41326388716697693, + -0.013630853965878487, + 0.07031136751174927, + -3.0925900918715676, + 0.0010288991034030914, + -1.074775218963623, + 1.0 + ], + [ + 0.41692259907722473, + -0.012927800416946411, + 0.07100055366754532, + -3.0646029730611524, + -0.008148830384016037, + -1.0898354053497314, + 1.0 + ], + [ + 0.4244486391544342, + -0.011485862545669079, + 0.08907213062047958, + -2.9635339846187314, + -0.059089887887239456, + -1.108264446258545, + 1.0 + ], + [ + 0.43035078048706055, + -0.0038268445059657097, + 0.12443017214536667, + -2.866230012970515, + -0.12750524282455444, + -1.1045105457305908, + 1.0 + ], + [ + 0.4300861358642578, + -0.005491874646395445, + 0.12433098256587982, + -2.8768505473905286, + -0.14421884715557098, + -1.1001625061035156, + 1.0 + ], + [ + 0.42902231216430664, + -0.0052511077374219894, + 0.12369447946548462, + -2.885862114029475, + -0.14144201576709747, + -1.1011720895767212, + 1.0 + ], + [ + 0.43902742862701416, + -0.0076572648249566555, + 0.13592027127742767, + -2.844686599569865, + -0.18338184058666232, + -1.1095099449157715, + 1.0 + ], + [ + 0.46163409948349, + -0.009743791073560715, + 0.1660098433494568, + -2.7275715490155896, + -0.2736497223377228, + -1.1418906450271606, + 1.0 + ], + [ + 0.4773212969303131, + -0.007540395017713308, + 0.20873990654945374, + -2.6023779233270368, + -0.3326968848705291, + -1.184552788734436, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.15004962682724, + 0.31880712509155273, + 0.4061017632484436, + 0.47435641288757324, + 0.5514773726463318, + 0.6321892142295837, + 0.7086509466171265, + 0.78205905854702, + 0.8773598745465279, + 0.9207848757505417, + 0.9214513674378395, + 0.9211185500025749, + 0.9214513674378395, + 0.9217833653092384, + 0.9352733492851257, + 0.9370363429188728, + 0.9370363429188728, + 0.9370363429188728, + 0.9370363429188728, + 0.9370363429188728 + ], + "episode_id": "1059", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1059/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1069.json b/annotation/test/1069.json new file mode 100644 index 0000000000000000000000000000000000000000..57f105ec4505bc03e1607cdf2117c73f9ec62d29 --- /dev/null +++ b/annotation/test/1069.json @@ -0,0 +1,508 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put pepper in pan" + ], + "videos": [ + { + "video_path": "videos/test/1069/rgb.mp4" + } + ], + "action": [ + [ + -0.0006954221472087452, + 0.000633303834897696, + 0.0012146771259177772, + -0.0013031158065038345, + -0.004251783769785466, + 0.0031270530409424637, + 1.0 + ], + [ + 0.004190708008709705, + 0.013922415597362176, + 0.00025508812045398424, + -0.01978093924787687, + -0.0056989227932331835, + 0.02445136591246673, + 1.0 + ], + [ + 0.01949811547098773, + 0.025608727028052607, + -0.008569150327573074, + -0.025215726559555, + 0.016330820820353368, + 0.03242929434705053, + 1.0 + ], + [ + 0.014058844396741281, + 0.03017676658390044, + -0.008837179947294155, + -0.022266467816661955, + 0.004585721677034467, + 0.009849396721954605, + 1.0 + ], + [ + 0.026647512287767974, + 0.030349478570681394, + -0.01511666107085354, + 0.008190984659131999, + 0.03673593068634149, + 0.019467054803526496, + 1.0 + ], + [ + 0.02955351516551469, + 0.015244105728931322, + 0.0016272875850038137, + 0.030313639523480766, + 0.009310801127336118, + 0.0427420680041919, + 1.0 + ], + [ + 0.0276748928125417, + 0.008467431646760839, + 0.007587589116987858, + -0.0008259023984881225, + 0.03329813667620358, + 0.01981005122036825, + 1.0 + ], + [ + 0.02043023417090106, + 0.005724456756059717, + 0.014789966639468138, + -0.013399116332988119, + 0.04092494127890303, + 0.029742302769906147, + 1.0 + ], + [ + 0.016889302575858894, + 0.00889993390742138, + 0.01434461395361319, + -0.02130619124301839, + 0.04157466426216558, + 0.029456796184282003, + 1.0 + ], + [ + 0.01605632364692404, + 0.00563318802396308, + 0.020865532057955747, + -0.0290114999967882, + 0.024563208549636315, + 0.04261436062556809, + 1.0 + ], + [ + 0.012218103495854272, + -0.0015924280359331207, + 0.01997392303369051, + -0.03689193713695789, + 0.01793573747014649, + 0.028382084060386288, + 1.0 + ], + [ + 0.00402642536416243, + -0.003224751432498962, + 0.017455607475235915, + -0.018306079419971394, + 0.004373303055858834, + -0.006302297045151729, + 1.0 + ], + [ + 0.0011247442891788662, + 0.0062343572100371615, + 0.005025304145375156, + 0.0010331878327963864, + 0.006551333595675838, + -0.027752290622367604, + 1.0 + ], + [ + 0.0003339881848305573, + 0.0004624585406434542, + 0.00019025605165628795, + 0.025757779897648936, + -0.0010201481784259166, + -0.040317329319638336, + 0.0 + ], + [ + -0.007922013816219512, + 0.001445292409986076, + -0.005480237463613777, + 0.051793612363494425, + -0.059379298648341, + -0.029729101255967547, + 0.0 + ], + [ + -0.004176833379568103, + -0.004364275517540625, + -0.02674942863274068, + 0.086178224030865, + -0.047432731315766745, + -0.04699471899923881, + 0.0 + ], + [ + -0.017567888199959088, + -0.007047602474200333, + -0.03688067138660188, + 0.10563262363704824, + -0.03721254886329891, + -0.07699319683592615, + 0.0 + ], + [ + -0.03425731357594707, + 0.007529984131884654, + -0.028684135566635943, + 0.046602017382303726, + -0.07107489494599717, + -0.14000771291956063, + 0.0 + ], + [ + -0.03118990086070763, + 0.0061861682608723165, + -0.016297784617260665, + 0.03006368894545351, + -0.08805473852099216, + -0.13770522609388092, + 0.0 + ], + [ + -0.0262357346235668, + 0.00716399377947764, + -0.008928821807236722, + 0.009060558112971484, + -0.0708570868815613, + -0.10840705965497327, + 0.0 + ], + [ + -0.02539603197010755, + 0.006510586133350671, + -0.0019555510819899303, + -0.03320539070260677, + -0.06677436725192347, + -0.09823546923368627, + 0.0 + ], + [ + -0.011468053875785134, + 0.005945544922896399, + 0.011381463276475622, + -0.05083850103334076, + -0.04266952504882728, + -0.05846797754400603, + 0.0 + ], + [ + -0.004939230054606805, + 0.008544710345406667, + 0.0074878689499468095, + -0.06868061725903768, + -0.0040389898203025045, + -0.05597444054762087, + 0.0 + ], + [ + -0.0027024183692099077, + 0.004835426705230656, + 0.0016614016624795739, + -0.02437085911174309, + 0.00863844618031604, + -0.01619150839674219, + 1.0 + ], + [ + -1.6306085518630906e-05, + -0.0001769070799880605, + -0.00044240995735282353, + 3.774437356833337e-05, + 7.887309928122457e-05, + -0.00013953963437235477, + 1.0 + ] + ], + "state": [ + [ + 0.21575452387332916, + 0.12071869522333145, + 0.04278067871928215, + -2.9962601532512387, + -0.20813991129398346, + 0.09264247119426727, + 1.0 + ], + [ + 0.21538488566875458, + 0.12023169547319412, + 0.04137130826711655, + -2.997039483981677, + -0.20347943902015683, + 0.09011195600032808, + 1.0 + ], + [ + 0.22116342186927795, + 0.10695738345384598, + 0.040006786584854126, + -3.0120439698272428, + -0.19426177442073822, + 0.0662890300154686, + 1.0 + ], + [ + 0.2410087138414383, + 0.08171535283327103, + 0.04886218160390854, + -3.0305621196799954, + -0.20615141093730927, + 0.03128357231616973, + 1.0 + ], + [ + 0.2546190321445465, + 0.051155976951122284, + 0.05706388130784035, + -3.0506784935765943, + -0.20960648357868192, + 0.02075637690722942, + 1.0 + ], + [ + 0.2787749469280243, + 0.020054064691066742, + 0.07463821023702621, + -3.0375771467858037, + -0.24436809122562408, + -0.0026478487998247147, + 1.0 + ], + [ + 0.3081851601600647, + 0.004983380902558565, + 0.07868233323097229, + -2.9965072145038327, + -0.24895626306533813, + -0.04750845953822136, + 1.0 + ], + [ + 0.3367798626422882, + -0.00366583582945168, + 0.07703836262226105, + -2.9910382648282727, + -0.2789643406867981, + -0.07289554178714752, + 1.0 + ], + [ + 0.36036908626556396, + -0.008839011192321777, + 0.06778126955032349, + -2.9941149969869336, + -0.3147834837436676, + -0.11025278270244598, + 1.0 + ], + [ + 0.3803631067276001, + -0.017788758501410484, + 0.058275140821933746, + -3.0037644674354276, + -0.3513745069503785, + -0.14776824414730072, + 1.0 + ], + [ + 0.4021742045879364, + -0.023778308182954788, + 0.04367000237107277, + -3.0160588790946683, + -0.36946868896484375, + -0.19664372503757477, + 1.0 + ], + [ + 0.421093225479126, + -0.023386413231492043, + 0.029788628220558167, + -3.041150855022021, + -0.38353034853935236, + -0.22942683100700378, + 1.0 + ], + [ + 0.4320678114891052, + -0.020857147872447968, + 0.01548930536955595, + -3.0618157257610044, + -0.388506680727005, + -0.22312526404857633, + 1.0 + ], + [ + 0.43383046984672546, + -0.02721894159913063, + 0.010819556191563606, + -3.0719583128863057, + -0.39709725975990295, + -0.19369338452816007, + 1.0 + ], + [ + 0.4341306984424591, + -0.02773447148501873, + 0.010744024068117142, + -3.0631605257564267, + -0.3985434472560883, + -0.14997449517250064, + 0.0 + ], + [ + 0.42457911372184753, + -0.028182607144117355, + 0.012600520625710487, + -3.0253957231813153, + -0.3414339423179626, + -0.11363863945007324, + 0.0 + ], + [ + 0.41180136799812317, + -0.02548263594508171, + 0.036714088171720505, + -2.9575204720073422, + -0.2992904484272003, + -0.05908228829503059, + 0.0 + ], + [ + 0.3840029537677765, + -0.023659907281398773, + 0.06741277128458023, + -2.877642573910304, + -0.27574002742767334, + 0.026631601154804233, + 0.0 + ], + [ + 0.34444257616996765, + -0.039471715688705444, + 0.08284024894237518, + -2.876440705853053, + -0.24019590020179749, + 0.1847137212753296, + 0.0 + ], + [ + 0.3132454454898834, + -0.05571883171796799, + 0.08912249654531479, + -2.8862145860963544, + -0.1882103532552719, + 0.34316787123680115, + 0.0 + ], + [ + 0.29086363315582275, + -0.07347197830677032, + 0.09092269092798233, + -2.9016155769401273, + -0.1455385386943817, + 0.4670992195606232, + 0.0 + ], + [ + 0.27143919467926025, + -0.09087143838405609, + 0.08758797496557236, + -2.9519758840375623, + -0.10307267308235167, + 0.5788372159004211, + 0.0 + ], + [ + 0.26497015357017517, + -0.09951159358024597, + 0.07417519390583038, + -3.009798051910945, + -0.07195883989334108, + 0.6444289684295654, + 0.0 + ], + [ + 0.26602044701576233, + -0.10808712244033813, + 0.06529637426137924, + -3.0827225056760987, + -0.07519368082284927, + 0.7006075382232666, + 0.0 + ], + [ + 0.267120897769928, + -0.11334561556577682, + 0.06315582990646362, + -3.1082786453240594, + -0.08476053178310394, + 0.7163184881210327, + 1.0 + ], + [ + 0.266973614692688, + -0.11325895041227341, + 0.06360089778900146, + -3.108252527313777, + -0.08484400808811188, + 0.7164558172225951, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.18881899118423462, + 0.43895184993743896, + 0.4498257637023926, + 0.45081204175949097, + 0.45081204175949097, + 0.45081204175949097, + 0.45081204175949097, + 0.4517979621887207, + 0.45081204175949097, + 0.45081204175949097, + 0.21254569292068481, + 0.0, + 0.0 + ], + "episode_id": "1069", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1069/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1080.json b/annotation/test/1080.json new file mode 100644 index 0000000000000000000000000000000000000000..dcdb398f21be8fd5f6582ceaa81e66a1b31b40ac --- /dev/null +++ b/annotation/test/1080.json @@ -0,0 +1,812 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Place the green spatula between the colander and sushi" + ], + "videos": [ + { + "video_path": "videos/test/1080/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 9.354813104927348e-17, + -5.3941602296410096e-17, + 4.856220027705902e-17, + 1.0 + ], + [ + -0.006831500881258643, + -0.004132092975014238, + 0.008524710608887853, + 0.024945684596528316, + -0.030769219940338863, + -0.0008748418031679998, + 1.0 + ], + [ + -0.026813872470747097, + -0.0003576116385795299, + 0.0027683726194029025, + 0.01701962489919572, + -0.05890349571497871, + 0.045985031624136814, + 1.0 + ], + [ + -0.021154544327513587, + -0.005339337725719954, + 0.003059933716009281, + -0.030318276290119676, + -0.03896811366599567, + 0.01375770344422072, + 1.0 + ], + [ + -0.021856016651772732, + -0.011038900597896363, + 0.013470499161551266, + 0.013962652583913736, + -0.04675733936523213, + 0.051755220950232876, + 1.0 + ], + [ + -0.012412297265651594, + -0.0030922848812095214, + 0.012352383420972033, + -0.02222439089920352, + -0.008330028185979017, + 0.039553100099022326, + 1.0 + ], + [ + -0.018333623053987443, + 0.0011476641162988127, + 0.02371079107916223, + -0.04704339907181352, + -0.002455791015619147, + 0.07853830665341649, + 1.0 + ], + [ + -0.009636341250458341, + 0.007738027215610526, + 0.01712476560903557, + -0.009902739959490045, + -0.04011522507449785, + 0.04921645386331535, + 1.0 + ], + [ + -0.009643056883077105, + 0.009108650542025405, + 0.012914679009648487, + -0.0011054991977975407, + -0.023970044504449513, + 0.03901633858107375, + 1.0 + ], + [ + -0.006098250303114917, + 0.00948101922450419, + 0.010994339769010575, + -0.00620213304575217, + -0.00943130077119311, + 0.012270737264069458, + 1.0 + ], + [ + -0.0027892115146981923, + 0.0073893908776756475, + 0.008482901333979501, + 0.010771324493460894, + -0.011428862977498056, + -0.005123420690585487, + 1.0 + ], + [ + 0.0009619836148793112, + -0.0018492324436464361, + 0.006579102055253318, + 0.02121544067889122, + -0.003639670342415808, + -0.010024658345140545, + 1.0 + ], + [ + 0.003155703811638637, + 0.0001559882257648671, + 0.0011020493167482655, + -0.0003437520126080015, + 0.015094706311203156, + -0.006603521891467067, + 1.0 + ], + [ + 0.0023064761096850857, + -0.0011805613862486007, + 0.00017424603874738586, + 0.008682347644672184, + 0.012803330112249059, + -0.0004613617071719464, + 0.0 + ], + [ + -0.0007637383105144444, + -0.00029735155026652593, + 0.00015776366157950562, + 0.002545048093196828, + -0.0017315694319342662, + -0.004938710601801845, + 0.0 + ], + [ + -0.0012728970480156473, + -0.0015102315654517858, + -1.230563212779704e-05, + 0.009454164522543237, + -0.008109457712117322, + 0.008642052589251988, + 0.0 + ], + [ + 0.010482646477064355, + 0.007758610119686263, + -0.018105138203733585, + -0.0056932035467977, + 0.04392924159937367, + 0.03633277579687591, + 0.0 + ], + [ + 0.019280740023961806, + 0.009185241757019269, + -0.031091349160259022, + -0.01846319244428231, + 0.06887240933718253, + -0.0003559568951244763, + 0.0 + ], + [ + 0.0252623483915338, + 0.00022409737866439436, + -0.022372512346635464, + -0.023220736849675627, + 0.051704896182560175, + -0.028049781048691165, + 0.0 + ], + [ + 0.033444211903348044, + -0.013639900497606834, + -0.010364517573014499, + -0.0044245715648127395, + 0.042497433742590095, + -0.08232641362088075, + 0.0 + ], + [ + 0.03047205014937248, + -0.016584815802634167, + 0.01074487590577262, + 0.023304403095903238, + 0.013045196880997888, + -0.06730081147709997, + 0.0 + ], + [ + 0.02261493013303174, + -0.02144795604854945, + 0.014777734206575894, + 0.039950623713352215, + 0.005923552384814964, + -0.05719229904088339, + 0.0 + ], + [ + 0.014236316545797063, + -0.017965427251365743, + 0.01852723879970028, + 0.04540818064825272, + -0.012859209589137967, + -0.05427109046612459, + 0.0 + ], + [ + 0.004891347243690059, + -0.02156380274168245, + 0.021912075622368916, + 0.05174075532129825, + -0.0343160247865919, + -0.05410434898621665, + 0.0 + ], + [ + -0.00015116256306783673, + -0.015582121881102876, + 0.01611791560216681, + 0.035887723820754856, + -0.029010373192678875, + -0.015316590610998682, + 0.0 + ], + [ + 0.0025158581590218887, + -0.019242990329752074, + 0.018146213837589294, + 0.03861691791376034, + -0.021666723957347644, + -0.007421228847710554, + 0.0 + ], + [ + 0.002651140996091274, + -0.0058343711389709065, + 0.008954960914052233, + 0.019165029118830005, + 0.010694757459537754, + 0.005887338244039135, + 0.0 + ], + [ + -0.000892376230113234, + -0.0007956793862406039, + 0.004058364682359772, + -0.0027264098212315935, + 0.014956696329818761, + -0.011695923531637568, + 0.0 + ], + [ + -0.009167367566717929, + 0.0030218843040924854, + 0.006428475233914244, + 0.003727185332694051, + -0.0185192913771815, + 0.013463945001568415, + 0.0 + ], + [ + -0.006918537474905729, + 0.0023432328876847224, + 0.007896072001933234, + -0.01018059719466374, + -0.03552462920150056, + -0.0038763897083833572, + 0.0 + ], + [ + -9.432684857005045e-05, + -0.0010750263368987229, + -3.926248280708533e-05, + 0.009564175051907877, + 0.0009076009481897631, + -0.007519587221713271, + 0.0 + ], + [ + -0.000804034242264259, + -0.004549809364716041, + 0.0009414609610401415, + 0.03880167736824857, + -0.02137108241778677, + -0.023980949464581132, + 0.0 + ], + [ + 0.0021376046800257323, + -0.001399576115338934, + -0.0007221656239970837, + 0.011044857991980843, + 0.008529169021665891, + -0.021960244848288367, + 1.0 + ], + [ + -0.002093866435578043, + 0.001728918394767699, + -0.00022789846050743468, + -6.037165403016721e-05, + -0.006769656040794595, + 0.006941334673249847, + 1.0 + ], + [ + -0.002763241521328036, + 0.0027227696754119615, + -0.0029440824937721393, + 0.0006306808617190487, + -0.007572670784314177, + 0.0014032770923925726, + 1.0 + ], + [ + 0.013353304904577467, + 0.014909208702094678, + -0.03114101003360834, + -0.01630996120278917, + 0.05996250183045385, + 0.017635057476803072, + 1.0 + ], + [ + 0.014896057296694484, + 0.013553568225530548, + -0.036247719145134576, + -0.021699446744754942, + 0.006756769300190351, + -0.0046364578732871675, + 1.0 + ], + [ + 0.003492259192423589, + 0.006034785884619586, + -0.04273243945747226, + -0.039201598859785386, + 0.02461473051435416, + -0.02454362629996222, + 1.0 + ], + [ + -0.003065158007149171, + 0.004369020445103328, + -0.031953112413752253, + -0.04530073680238731, + 0.03455900462300576, + -0.010668690499011138, + 1.0 + ], + [ + -0.0005441895520577375, + 0.00045245664174967527, + -0.000827297510975097, + -0.0024512842351515317, + 0.0001803182544872918, + 0.00043401210100225534, + 1.0 + ], + [ + 0.0002540509218903169, + -0.0007796471503827343, + 4.600712020653705e-05, + 0.00253389520752792, + -0.00012473870528872046, + -0.0005889179995383116, + 1.0 + ] + ], + "state": [ + [ + 0.3298254907131195, + -0.0014651445671916008, + 0.1814240962266922, + 2.9120284487777433, + -0.45139330625534047, + 0.6838045716285706, + 1.0 + ], + [ + 0.3298254907131195, + -0.0014651445671916008, + 0.1814240962266922, + 2.9120284487777433, + -0.45139330625534047, + 0.6838045716285706, + 1.0 + ], + [ + 0.3268687427043915, + -0.0011865634005516768, + 0.17012833058834076, + 2.939808489876338, + -0.42122343182563776, + 0.6770665049552917, + 1.0 + ], + [ + 0.3088117241859436, + -0.015963518992066383, + 0.1566242128610611, + 2.9817461540275296, + -0.37201797962188726, + 0.616104781627655, + 1.0 + ], + [ + 0.29111143946647644, + -0.022634059190750122, + 0.14532862603664398, + 2.9589540680223188, + -0.33566114306449896, + 0.5951621532440186, + 1.0 + ], + [ + 0.2734690308570862, + -0.02442423813045025, + 0.12372913956642151, + 2.9934940357976636, + -0.29846858978271484, + 0.5330736637115479, + 1.0 + ], + [ + 0.2658332288265228, + -0.027494940906763077, + 0.10796608030796051, + 2.9837864359193524, + -0.2958142757415772, + 0.4908918142318726, + 1.0 + ], + [ + 0.25863152742385864, + -0.03685479611158371, + 0.0803949162364006, + 2.9610260893874845, + -0.30479079484939575, + 0.40917009115219116, + 1.0 + ], + [ + 0.258705735206604, + -0.048471853137016296, + 0.06275881081819534, + 2.968585567670413, + -0.273679792881012, + 0.35143023729324346, + 1.0 + ], + [ + 0.2566734552383423, + -0.06114168465137482, + 0.0494137667119503, + 2.979476349549838, + -0.25652891397476196, + 0.3074378967285156, + 1.0 + ], + [ + 0.256673663854599, + -0.07282048463821411, + 0.03885159268975258, + 2.9768510480695447, + -0.2491774708032608, + 0.29337176680564875, + 1.0 + ], + [ + 0.2582857012748718, + -0.08140145987272263, + 0.03122856095433235, + 2.9868056644969663, + -0.2370618432760239, + 0.2966426908969879, + 1.0 + ], + [ + 0.2604663074016571, + -0.07988498359918594, + 0.024858716875314713, + 3.005772205191203, + -0.2319096773862839, + 0.3062433004379273, + 1.0 + ], + [ + 0.26372087001800537, + -0.07917451858520508, + 0.02454189956188202, + 3.0033831765227994, + -0.24596250057220456, + 0.31509554386138916, + 1.0 + ], + [ + 0.2655704617500305, + -0.07736703008413315, + 0.02477836236357689, + 3.0114950855546674, + -0.2585795521736145, + 0.31739270687103277, + 0.0 + ], + [ + 0.26483073830604553, + -0.07732123136520386, + 0.024394545704126358, + 3.012806298332759, + -0.2562190294265747, + 0.3222227096557617, + 0.0 + ], + [ + 0.26323166489601135, + -0.07627443969249725, + 0.02389613911509514, + 3.0247757529192647, + -0.24927453696727755, + 0.31230440735816956, + 0.0 + ], + [ + 0.27018433809280396, + -0.07990960776805878, + 0.04478450492024422, + 3.0270130952172956, + -0.29701471328735346, + 0.27995869517326355, + 0.0 + ], + [ + 0.28045907616615295, + -0.0827515497803688, + 0.08096655458211899, + 3.005698325234004, + -0.36538350582122797, + 0.2887605130672455, + 0.0 + ], + [ + 0.2946743667125702, + -0.07559847086668015, + 0.1107243224978447, + 2.9688072969489774, + -0.412576287984848, + 0.32670480012893677, + 0.0 + ], + [ + 0.3158207833766937, + -0.052364375442266464, + 0.1313396394252777, + 2.9258015175634107, + -0.43857753276824957, + 0.42432421445846563, + 0.0 + ], + [ + 0.34067580103874207, + -0.025883574038743973, + 0.131562277674675, + 2.9175184984975537, + -0.43582156300544733, + 0.49993523955345154, + 0.0 + ], + [ + 0.357321172952652, + 0.0032948304433375597, + 0.12372750788927078, + 2.9313603063398084, + -0.42813989520072937, + 0.5626837611198425, + 0.0 + ], + [ + 0.3686450719833374, + 0.026638036593794823, + 0.10974352061748505, + 2.954276519017764, + -0.40366956591606146, + 0.6174750328063965, + 0.0 + ], + [ + 0.37058955430984497, + 0.04899904131889343, + 0.08817348629236221, + 2.986492397385188, + -0.35942330956459045, + 0.6673959493637085, + 0.0 + ], + [ + 0.3675552010536194, + 0.06303850561380386, + 0.0709601566195488, + 3.018365727859088, + -0.3283741474151611, + 0.6786419749259949, + 0.0 + ], + [ + 0.3639359474182129, + 0.08178748190402985, + 0.05248627811670303, + 3.055364878969737, + -0.30595582723617554, + 0.6835711002349855, + 0.0 + ], + [ + 0.3649127781391144, + 0.08908563107252121, + 0.04429832473397255, + 3.076093444722243, + -0.31711399555206293, + 0.678367555141449, + 0.0 + ], + [ + 0.36491692066192627, + 0.08976755291223526, + 0.04012283310294151, + 3.0691937526040753, + -0.3312467336654663, + 0.6917432546615601, + 0.0 + ], + [ + 0.3620109260082245, + 0.08284324407577515, + 0.03128502517938614, + 3.0779656638675412, + -0.31371256709098816, + 0.6762195229530334, + 0.0 + ], + [ + 0.3605167269706726, + 0.07800225913524628, + 0.02179623767733574, + 3.067228639619895, + -0.27801296114921575, + 0.6778914928436279, + 0.0 + ], + [ + 0.35978060960769653, + 0.07878967374563217, + 0.021731197834014893, + 3.0746352915936193, + -0.27835121750831604, + 0.6857606172561646, + 0.0 + ], + [ + 0.3566119074821472, + 0.08198115229606628, + 0.020314378663897514, + 3.107050309079238, + -0.25535181164741516, + 0.7090060710906981, + 0.0 + ], + [ + 0.35712572932243347, + 0.08429761976003647, + 0.021505871787667274, + 3.112284843000122, + -0.2630528509616852, + 0.7320395112037658, + 1.0 + ], + [ + 0.35671862959861755, + 0.08161737769842148, + 0.021230289712548256, + 3.1141430494659623, + -0.25648266077041626, + 0.7246615886688232, + 1.0 + ], + [ + 0.35589486360549927, + 0.07736080139875412, + 0.02344829961657524, + 3.115194549905606, + -0.24895101785659787, + 0.7229998111724854, + 1.0 + ], + [ + 0.36909210681915283, + 0.07022544741630554, + 0.05729024484753609, + 3.1029904206567487, + -0.30932483077049255, + 0.7061865329742433, + 1.0 + ], + [ + 0.37925851345062256, + 0.06293455511331558, + 0.09682473540306091, + 3.0797232707315167, + -0.3158937990665436, + 0.7113349437713622, + 1.0 + ], + [ + 0.3738556504249573, + 0.053814537823200226, + 0.1388046145439148, + 3.031954417126723, + -0.3388326168060303, + 0.7389149069786072, + 1.0 + ], + [ + 0.36436763405799866, + 0.04402480646967888, + 0.1681920886039734, + 2.981466310220309, + -0.37197983264923096, + 0.7543498277664185, + 1.0 + ], + [ + 0.3639783263206482, + 0.04322701320052147, + 0.16882236301898956, + 2.9791709949546537, + -0.3722270131111145, + 0.7539207339286804, + 1.0 + ], + [ + 0.36367475986480713, + 0.04398715868592262, + 0.16875502467155457, + 2.981485905247279, + -0.37200862169265747, + 0.7545229196548462, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05310845375061035, + 0.3438887596130371, + 0.6405960619449615, + 0.6716246902942657, + 0.6716246902942657, + 0.6716246902942657, + 0.6716246902942657, + 0.6716246902942657, + 0.6716246902942657, + 0.6716246902942657, + 0.6716246902942657, + 0.6716246902942657, + 0.6716246902942657, + 0.6716246902942657, + 0.6716246902942657, + 0.6716246902942657, + 0.6716246902942657, + 0.6716246902942657, + 0.6716246902942657, + 0.5958403646945953, + 0.28388506174087524, + 0.02474844455718994, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1080", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1080/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1083.json b/annotation/test/1083.json new file mode 100644 index 0000000000000000000000000000000000000000..f1c5e07cd1094644e9300fa320af6751ca6f6bea --- /dev/null +++ b/annotation/test/1083.json @@ -0,0 +1,508 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Put the green pickle in the silver pan" + ], + "videos": [ + { + "video_path": "videos/test/1083/rgb.mp4" + } + ], + "action": [ + [ + -0.0007270873921247536, + 3.3688138656113975e-05, + 0.00032154422313144073, + 0.00017405011678305916, + -0.0033332631010505455, + -0.0007452988451985819, + 1.0 + ], + [ + -0.0010360759743415794, + 0.0003692397406950996, + 0.008108617488611023, + -0.010695078000546887, + -0.0271113899170137, + -0.006017950578315021, + 1.0 + ], + [ + 0.014233120831816855, + -0.020034999153835675, + 0.002220891499150852, + -4.1105963995322254e-05, + -0.005167696421327108, + -0.05707138424875768, + 1.0 + ], + [ + 0.017527098698811163, + -0.01164981655704086, + 0.00065471279069566, + -0.00026947730724899985, + -0.004310981444957208, + -0.04609476321582738, + 1.0 + ], + [ + 0.012123374924535009, + -0.010065783494767926, + 0.00692652179048453, + 0.010383756057706361, + -0.007498952423713549, + -0.03314335575035755, + 1.0 + ], + [ + 0.004959133891411525, + -0.00643038371269222, + 0.01978575531547427, + 0.003925638000689109, + -0.050001449353781785, + -0.03119125239727907, + 1.0 + ], + [ + 0.008705476404948719, + -0.005762511159787918, + 0.0069416890960933226, + 0.025831052907377625, + -0.0008658687250250896, + -0.02399065305475217, + 1.0 + ], + [ + -0.0007852864420793294, + -0.0058762791837208925, + 0.01300581327658992, + 0.0015879106537382908, + -0.03504120142693326, + -0.027406978673354183, + 1.0 + ], + [ + -0.0011106385324387332, + -0.0001541754043399594, + 0.0065364977999041824, + -0.006245975773533441, + -0.01612080607896285, + -0.011496193182466374, + 1.0 + ], + [ + 0.0013973743325429373, + 0.002013454496604553, + 0.002081255868002127, + -0.009945666489862118, + 0.01913660068302338, + 0.010880578631297533, + 0.0 + ], + [ + -0.0017948887380406806, + 0.005734341563712631, + -0.007867560868811947, + -0.02919043980228284, + 0.025428264181208426, + 0.014147976083139712, + 0.0 + ], + [ + 0.00825013644883203, + 0.012520293265104758, + -0.05998604597859568, + 0.020510228465347766, + 0.18824724488247613, + 0.059640407132450966, + 0.0 + ], + [ + -0.0017956206735397662, + 0.032192163244897154, + -0.03354584699632697, + 0.028396161118036622, + 0.09667977146328202, + 0.08930590870368392, + 0.0 + ], + [ + -0.02758870187572689, + 0.015073993452868592, + 0.005515451163027584, + -0.008773887294092423, + -0.05870358581080822, + 0.022540880175152676, + 0.0 + ], + [ + -0.029832742593531247, + 0.005615716592465376, + 0.02121063836100209, + -0.004913523825110553, + -0.08574774126776509, + 0.006653182047451175, + 0.0 + ], + [ + -0.021610728134371177, + -0.008409292742145044, + 0.014847443662750159, + 0.013456050976005616, + -0.04762882252222788, + -0.02385864393630738, + 0.0 + ], + [ + -0.014394625062612177, + -0.003419716595155162, + 0.015682199691496965, + 0.016239945301822916, + -0.04194639548311182, + 0.0018702792172874579, + 0.0 + ], + [ + -0.002950799928183704, + -0.000669058382922251, + 0.011887824019336562, + 0.005189053140824289, + -0.02929662739748846, + 0.005624483382065993, + 0.0 + ], + [ + -0.0016948606615773305, + 0.001245300123595048, + 0.008206481348280633, + -0.008975163073627133, + -0.026158066177382908, + 0.01187995853283725, + 0.0 + ], + [ + 0.004792899278335327, + 0.0009060949813573715, + -0.002609147595956275, + -0.010598623967466447, + 0.01667638675967889, + 0.004253418649560958, + 1.0 + ], + [ + 0.005284351460519232, + 0.001576080346648285, + -0.021786096746397813, + -0.012299700092063633, + 0.0503683615308147, + -0.011076609496002527, + 1.0 + ], + [ + 0.00339071809557202, + 0.0001984152297737213, + -0.0263836653375405, + -0.014325705318246564, + 0.05870083653836108, + -0.03310071207378606, + 1.0 + ], + [ + -0.002495732723886137, + -0.003250712347688947, + -0.003140544405861916, + 0.01038446421514422, + -0.007045690569456334, + -0.03640229742281639, + 1.0 + ], + [ + 0.0018909374076985573, + -0.004663641737788222, + -0.004946295904404681, + 0.05575066228335341, + -0.029039431550075573, + 0.005922652131828342, + 1.0 + ], + [ + -0.0008763511256034235, + 0.001765349829767651, + -5.829966670097059e-05, + 0.0005007612458550594, + -0.010443503132355597, + 0.012366347746702014, + 1.0 + ] + ], + "state": [ + [ + 0.2775830030441284, + -0.007926436141133308, + 0.07620087265968323, + 3.1325661122151693, + -0.05217459797859192, + -0.35194090008735657, + 1.0 + ], + [ + 0.27690452337265015, + -0.007716256659477949, + 0.07584216445684433, + 3.1327027726271233, + -0.04883472993969917, + -0.3512248694896698, + 1.0 + ], + [ + 0.27615252137184143, + -0.0079107116907835, + 0.0676962360739708, + 3.1217225213819226, + -0.021670099347829822, + -0.3454490005970001, + 1.0 + ], + [ + 0.2963629961013794, + 0.0060577597469091415, + 0.06538673490285873, + 3.120479717972227, + -0.01533495169132948, + -0.2884857952594757, + 1.0 + ], + [ + 0.31648677587509155, + 0.012220598757266998, + 0.06475509703159332, + 3.119527306529232, + -0.010035932995378971, + -0.24249053001403809, + 1.0 + ], + [ + 0.3307042121887207, + 0.01891300268471241, + 0.05773020163178444, + 3.1295916169234594, + -0.0018022237345576286, + -0.2095216661691666, + 1.0 + ], + [ + 0.33687788248062134, + 0.023931149393320084, + 0.03787767142057419, + 3.1334526735642036, + 0.048570726066827774, + -0.17893566191196442, + 1.0 + ], + [ + 0.34611591696739197, + 0.02805865928530693, + 0.030474882572889328, + -3.122733514877506, + 0.04961784929037094, + -0.15492330491542816, + 1.0 + ], + [ + 0.34565362334251404, + 0.03432554751634598, + 0.017637012526392937, + -3.1197448429935655, + 0.08411645889282227, + -0.1267775595188141, + 1.0 + ], + [ + 0.34404897689819336, + 0.03482941538095474, + 0.011221849359571934, + -3.12498930295045, + 0.09997635334730147, + -0.1148739755153656, + 1.0 + ], + [ + 0.3449937701225281, + 0.0327286534011364, + 0.00897853821516037, + -3.1360541769587478, + 0.08101675659418106, + -0.12610562145709994, + 0.0 + ], + [ + 0.34312137961387634, + 0.027141956612467766, + 0.016933774575591087, + 3.116783810900994, + 0.0556589663028717, + -0.14041179418563843, + 0.0 + ], + [ + 0.3530545234680176, + 0.014599963091313839, + 0.07665964215993881, + 3.1338054282874843, + -0.13409149646759033, + -0.19481864571571347, + 0.0 + ], + [ + 0.34069475531578064, + -0.015506823547184467, + 0.1099117249250412, + -3.108843984203883, + -0.2309272885322571, + -0.2853588163852691, + 0.0 + ], + [ + 0.31205329298973083, + -0.022617053240537643, + 0.09775058925151825, + -3.1127823909097394, + -0.17146798968315125, + -0.30623349547386175, + 0.0 + ], + [ + 0.28599321842193604, + -0.01962386630475521, + 0.07160994410514832, + -3.116875026496597, + -0.08556278049945833, + -0.3104076683521271, + 0.0 + ], + [ + 0.26936137676239014, + -0.005074726417660713, + 0.0551815927028656, + -3.1055389662557324, + -0.03851136565208436, + -0.2853877544403076, + 0.0 + ], + [ + 0.2572549283504486, + 0.0026279217563569546, + 0.03909016028046608, + -3.0892535542422017, + 0.003475172678008676, + -0.2857436239719391, + 0.0 + ], + [ + 0.2547479569911957, + 0.004709003493189812, + 0.02726394310593605, + -3.084056647615977, + 0.03302588686347008, + -0.28982776403427124, + 0.0 + ], + [ + 0.2526427209377289, + 0.004531936254352331, + 0.01905990205705166, + -3.09335774381692, + 0.05982202291488647, + -0.3001984357833862, + 0.0 + ], + [ + 0.2570545971393585, + 0.0020871195010840893, + 0.021331192925572395, + -3.104252630966254, + 0.0433693528175354, + -0.30525511503219604, + 1.0 + ], + [ + 0.2622699737548828, + -0.0020603120792657137, + 0.042793743312358856, + -3.116108154999562, + -0.0073791965842247, + -0.2960796356201172, + 1.0 + ], + [ + 0.26507291197776794, + -0.0038255969993770123, + 0.06918808817863464, + -3.130636236751922, + -0.0669005960226059, + -0.26447167992591863, + 1.0 + ], + [ + 0.26330509781837463, + -1.4887139514030423e-05, + 0.07219011336565018, + -3.1227012072973928, + -0.060209520161151886, + -0.2279289811849594, + 1.0 + ], + [ + 0.2658812403678894, + 0.004078241530805826, + 0.07732828706502914, + -3.0666193907433232, + -0.03106252290308476, + -0.23330217599868774, + 1.0 + ], + [ + 0.2646232843399048, + 0.0025632695760577917, + 0.07722701132297516, + -3.0657607858353337, + -0.019720029085874557, + -0.24485306441783905, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05388200283050537, + 0.2968200445175171, + 0.55240198969841, + 0.5606889724731445, + 0.5606889724731445, + 0.5606889724731445, + 0.561605840921402, + 0.561605840921402, + 0.561605840921402, + 0.561605840921402, + 0.4753316640853882, + 0.17852425575256348, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1083", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1083/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1090.json b/annotation/test/1090.json new file mode 100644 index 0000000000000000000000000000000000000000..742ff340deb754e8df1512b52faf242af65f7381 --- /dev/null +++ b/annotation/test/1090.json @@ -0,0 +1,641 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "take cup off plate" + ], + "videos": [ + { + "video_path": "videos/test/1090/rgb.mp4" + } + ], + "action": [ + [ + 0.00032472611693813345, + 0.0005409201610782018, + 0.00017368181100671466, + -0.0005466111591324514, + 0.0001085912553504441, + 0.0014291350355680175, + 1.0 + ], + [ + -0.009357120666664949, + 0.00028268639166049254, + 0.0068988874268954194, + -0.0068211799359155535, + -0.03682317350181189, + 0.003995816378814976, + 1.0 + ], + [ + -0.018369920100711715, + -0.01117643512561847, + -0.0064930081017429775, + -0.03616999311008008, + -0.0342001714604101, + 0.05236988624649042, + 1.0 + ], + [ + -0.012638576522623636, + -0.018617645084683273, + -0.017168563134443985, + -0.04660119627226438, + -0.008716777515055302, + 0.03104450516206625, + 1.0 + ], + [ + -0.01401075296286398, + -0.020172900419679892, + -0.008506266366118925, + 0.003635060735371589, + -0.04659499780083879, + 0.04889543244655435, + 1.0 + ], + [ + -0.00995213025347663, + -0.02559678454575203, + -0.0013493956081238247, + 0.040907716066801235, + -0.02143445936407608, + 0.12029623068587497, + 1.0 + ], + [ + -0.009491570605167893, + -0.025589797933676092, + -0.0018449508940934188, + 0.017157991775353106, + 0.004410445547623473, + 0.04870541970918278, + 1.0 + ], + [ + -0.004006201644790185, + -0.01570696149159991, + 0.009360239113713597, + 0.02667709543910179, + 0.009734896049317201, + -0.016949156160870053, + 1.0 + ], + [ + 0.004468320844501169, + -0.008243788367073896, + 0.00845577754165653, + 0.04374346795953476, + 0.01937159572349707, + -0.03062132389094416, + 1.0 + ], + [ + 0.004488863241111315, + 0.002381837750021188, + 0.012882981355908657, + -0.00023450067906562915, + -0.018697768480120766, + -0.04186432671653201, + 1.0 + ], + [ + 0.009176324145984651, + 0.008719281468395214, + 0.009456083930241629, + 0.021379307036952552, + -0.0019195826705318787, + 0.0031316531397419215, + 1.0 + ], + [ + 0.003127103646872601, + 0.010298525696377157, + 0.00808075863908904, + -0.0032590334404921204, + -0.004132115481683507, + 0.006709602375128198, + 1.0 + ], + [ + 0.0021278247562233044, + 0.0033366819191815275, + 0.0007338083241791737, + 0.003316299093322366, + 0.008078710667526837, + -3.059314113831511e-05, + 1.0 + ], + [ + -0.004060447842393808, + 0.003022770759211565, + 0.002375817430568796, + -0.011288148028683762, + -0.0030637650025182217, + 0.016170732019138004, + 1.0 + ], + [ + -0.0050330870107153204, + 0.0017224347123386099, + -0.0012350817456137642, + -0.03063467164133491, + -0.019178777780580563, + -0.0025239071259087233, + 0.0 + ], + [ + 0.0042920351347864654, + 0.0014678594294476428, + -0.013630447849691148, + -0.019059723610493295, + 0.035675032491722755, + -0.0148971855226188, + 0.0 + ], + [ + 0.0072119180979997415, + 0.0011867144182296813, + -0.011897305702813627, + -0.01222695745800212, + 0.03231713181109907, + -0.020170061950227382, + 0.0 + ], + [ + 0.0012069054824995322, + 0.01235502218182877, + -0.01017273509253686, + -0.03062456279168144, + -0.007654450959436934, + 0.028190475433030684, + 0.0 + ], + [ + -0.004015307905911964, + 0.01686644347103975, + -0.0045612158060216994, + -0.02971671492624709, + -0.015945994998437386, + 0.0640282281530537, + 0.0 + ], + [ + -0.017454631862883752, + 0.020462740842449027, + 0.0035247631598096514, + -0.036326334592605265, + -0.005960909258492551, + 0.08319908055864321, + 0.0 + ], + [ + -0.007921803345291847, + 0.022895106431436506, + 0.008096944708115818, + -0.04176665978537771, + -0.015926812463745676, + 0.07896156116900217, + 0.0 + ], + [ + 0.0010609640156280743, + 0.024283362556574126, + 0.0067333445312173805, + -0.06154851252939452, + 0.019570262483297778, + 0.0558311190708942, + 0.0 + ], + [ + 0.00505630651818896, + 0.022092422995783657, + 0.008887272374133039, + -0.04020674018735221, + 0.038772082504278396, + 0.12047307094201001, + 0.0 + ], + [ + 0.00894572251505295, + 0.010685658855620216, + 0.010667850049711611, + 0.019834091919351052, + 0.03381886651904179, + 0.013255501042286634, + 0.0 + ], + [ + 0.009674268579818275, + 0.0015648664689760189, + 0.008880068247232966, + 0.031077500513512504, + 0.03558140104281634, + -0.012500970141114126, + 0.0 + ], + [ + 0.007458229079027828, + -0.003455673048632348, + 0.005590769254180667, + 0.01318700932328879, + -0.0050087992311784535, + -0.045153786697106194, + 0.0 + ], + [ + -0.0018882392770086436, + -0.0003654868510643148, + -0.001818521341879783, + -0.004996220517874912, + -0.0389160559362854, + -0.029561735216743844, + 0.0 + ], + [ + -0.0011578749360699407, + -0.0005004856615975132, + -0.010003045729612572, + -0.010029309297315431, + -0.022789307736108544, + -0.0065500728429050475, + 1.0 + ], + [ + 0.00842199854759801, + -0.008043939479911166, + -0.023724036881752633, + -0.007578480846180423, + 0.007516110961367325, + -0.035249803184512776, + 1.0 + ], + [ + 0.015713163784407482, + -0.00987392967718394, + -0.029142087437366054, + -0.007805729510564249, + 0.02471649091285053, + -0.032717777751507374, + 1.0 + ], + [ + 0.006914277219581422, + -0.008518488892701494, + -0.022350617860838813, + 0.003129970167595316, + 0.025956419314320255, + -0.011407373615012434, + 1.0 + ], + [ + -0.0001987406535996901, + -0.0005890674184168324, + -0.0001298951881757034, + -5.4382916505685284e-05, + 0.0008468192618745889, + -0.0022237968735437314, + 1.0 + ] + ], + "state": [ + [ + 0.3294476568698883, + 0.03282416611909866, + 0.09368128329515457, + -3.0660070051723203, + -0.364397406578064, + 0.10188645124435426, + 1.0 + ], + [ + 0.32987889647483826, + 0.03233925253152847, + 0.09359703212976456, + -3.0660070051723203, + -0.3643973767757415, + 0.10035247355699539, + 1.0 + ], + [ + 0.323603093624115, + 0.031947627663612366, + 0.0838148444890976, + -3.072324277954646, + -0.3273773789405823, + 0.09908340126276018, + 1.0 + ], + [ + 0.30291545391082764, + 0.04064406454563141, + 0.08477368205785751, + -3.0918118750029286, + -0.28921902179718023, + 0.0470777302980423, + 1.0 + ], + [ + 0.28483137488365173, + 0.057552024722099304, + 0.09849216789007187, + -3.1293660654970488, + -0.2788298726081848, + 0.015278278850018978, + 1.0 + ], + [ + 0.2686481177806854, + 0.07737448811531067, + 0.10305021703243256, + -3.1120731850438794, + -0.2313110679388046, + -0.03431203588843345, + 1.0 + ], + [ + 0.2593609690666199, + 0.10325412452220917, + 0.10281690955162048, + -3.0434258078509053, + -0.2046709805727005, + -0.15645235776901245, + 1.0 + ], + [ + 0.25324878096580505, + 0.1298166960477829, + 0.10514122992753983, + -3.0162386169009885, + -0.20404039323329923, + -0.20639219880104065, + 1.0 + ], + [ + 0.2542946934700012, + 0.146714985370636, + 0.09715835750102997, + -2.99280663033063, + -0.2157926708459854, + -0.19042371213436127, + 1.0 + ], + [ + 0.2618620991706848, + 0.15483562648296356, + 0.09114041179418564, + -2.9551325311237058, + -0.23940615355968475, + -0.1622143387794495, + 1.0 + ], + [ + 0.26923924684524536, + 0.15367668867111206, + 0.07947727292776108, + -2.96637715597684, + -0.22854848206043243, + -0.11642250418663026, + 1.0 + ], + [ + 0.27974796295166016, + 0.1454630047082901, + 0.07100670039653778, + -2.944359080987521, + -0.226111501455307, + -0.11924338340759279, + 1.0 + ], + [ + 0.28397393226623535, + 0.1363804042339325, + 0.06201867386698723, + -2.946294041472026, + -0.2207408845424652, + -0.12515659630298615, + 1.0 + ], + [ + 0.28594011068344116, + 0.13297750055789948, + 0.06115037202835083, + -2.9426258226209363, + -0.22867168486118317, + -0.12673541903495789, + 1.0 + ], + [ + 0.2823599576950073, + 0.13091997802257538, + 0.057379696518182755, + -2.9503932019048413, + -0.22244521975517276, + -0.14236654341220856, + 1.0 + ], + [ + 0.2770339846611023, + 0.1297379434108734, + 0.05713275820016861, + -2.9823753406577787, + -0.2040913850069046, + -0.13611485064029696, + 0.0 + ], + [ + 0.2780524790287018, + 0.12595440447330475, + 0.07095349580049515, + -3.0032286067777356, + -0.24166831374168396, + -0.12680009007453918, + 0.0 + ], + [ + 0.2818838655948639, + 0.1226268857717514, + 0.08396172523498535, + -3.01926006575162, + -0.27642837166786194, + -0.11067836731672288, + 0.0 + ], + [ + 0.2792164981365204, + 0.10933613777160645, + 0.09255409985780716, + -3.0422777851396283, + -0.26528808474540716, + -0.13870353996753695, + 0.0 + ], + [ + 0.27225157618522644, + 0.09290572255849838, + 0.09426746517419815, + -3.0554017816954335, + -0.24255502223968503, + -0.20269934833049771, + 0.0 + ], + [ + 0.25285232067108154, + 0.07638957351446152, + 0.08495631068944931, + -3.071726182597228, + -0.22862584888935086, + -0.28727841377258306, + 0.0 + ], + [ + 0.24124464392662048, + 0.05659324303269386, + 0.07373719662427902, + -3.095728775607892, + -0.2065332382917404, + -0.36661115288734436, + 0.0 + ], + [ + 0.2351302206516266, + 0.033287111669778824, + 0.0662817731499672, + 3.1377534816325685, + -0.22318705916404724, + -0.42471411824226374, + 0.0 + ], + [ + 0.23228085041046143, + 0.010291867889463902, + 0.05881686508655548, + 3.1250729394429406, + -0.26076483726501465, + -0.5491737723350525, + 0.0 + ], + [ + 0.2362910658121109, + -0.004894946236163378, + 0.05098799988627434, + -3.134865957433828, + -0.29477635025978083, + -0.5624332427978516, + 0.0 + ], + [ + 0.24550454318523407, + -0.012481769546866417, + 0.04529169946908951, + -3.1075505410605153, + -0.3304179608821869, + -0.5494790077209473, + 0.0 + ], + [ + 0.2549372911453247, + -0.013985329307615757, + 0.04253740608692169, + -3.1099099685722074, + -0.3265969753265381, + -0.5016513466835022, + 0.0 + ], + [ + 0.2530026435852051, + -0.012573338113725185, + 0.0436641126871109, + -3.12519618880982, + -0.28847834467887873, + -0.4695676267147064, + 0.0 + ], + [ + 0.24962545931339264, + -0.010482437908649445, + 0.052930980920791626, + -3.137262815265455, + -0.2657924294471741, + -0.4623946249485016, + 1.0 + ], + [ + 0.2548554241657257, + -0.004216318018734455, + 0.07806757092475891, + 3.1287361682676753, + -0.2732919156551361, + -0.42582079768180847, + 1.0 + ], + [ + 0.26573601365089417, + 0.002101174322888255, + 0.11024460196495056, + 3.111610025289007, + -0.2974318563938141, + -0.3912806808948517, + 1.0 + ], + [ + 0.26936662197113037, + 0.01053896639496088, + 0.13338643312454224, + 3.1109678355329713, + -0.323011726140976, + -0.37844008207321167, + 1.0 + ], + [ + 0.26937752962112427, + 0.01117253489792347, + 0.1334293633699417, + 3.110160609828778, + -0.3237892091274262, + -0.37606814503669744, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.003185570240020752, + 0.003185570240020752, + 0.003858029842376709, + 0.003858029842376709, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003858029842376709, + 0.003185570240020752, + 0.003185570240020752, + 0.003858029842376709, + 0.003185570240020752, + 0.006563663482666016, + 0.06564539670944214, + 0.33987146615982056, + 0.6279491484165192, + 0.78205905854702, + 0.7913298904895782, + 0.7667048275470734, + 0.7640831917524338, + 0.7634250819683075, + 0.7634250819683075, + 0.7634250819683075, + 0.7634250819683075, + 0.7634250819683075, + 0.7634250819683075, + 0.7071579098701477, + 0.43597882986068726, + 0.14643770456314087, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938 + ], + "episode_id": "1090", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1090/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/11.json b/annotation/test/11.json new file mode 100644 index 0000000000000000000000000000000000000000..079fd8d174e1e8fa856276c730a2283de096fa63 --- /dev/null +++ b/annotation/test/11.json @@ -0,0 +1,508 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put potato on plate" + ], + "videos": [ + { + "video_path": "videos/test/11/rgb.mp4" + } + ], + "action": [ + [ + -0.001689985036594908, + -6.968724295715274e-05, + 0.0018783934243217022, + 0.002406747139797996, + -0.008717747111788922, + 0.0015087588019392362, + 1.0 + ], + [ + 0.008945023028410843, + -0.004666132440287294, + 0.01439981192993014, + -0.020345462814457826, + -0.04068189106226782, + 0.04385179461463412, + 1.0 + ], + [ + 0.03011799330671875, + -0.028631060703170855, + 0.010011171203710431, + -0.030006266315486564, + 0.00594715760889171, + 0.034647655334016564, + 1.0 + ], + [ + 0.021472851142232213, + -0.024565812481944418, + 0.014958692611132062, + -0.009154321157715303, + 0.0030929253217255757, + 0.03280453543373007, + 1.0 + ], + [ + 0.01808214944136968, + -0.019589325929109537, + 0.014152817348201847, + -0.009436403205137367, + 0.012904543613653782, + 0.026681812661555147, + 1.0 + ], + [ + 0.01775030497878035, + -0.014352254848995416, + 0.026961171639945426, + -0.02047897422857988, + 0.06169270945736376, + 0.0363370589490007, + 1.0 + ], + [ + 0.0034725412277080456, + -0.009862976302770667, + 0.018322572189878563, + -0.005832399580351826, + 0.042725780006015915, + 0.0014020643403427286, + 1.0 + ], + [ + -0.00458527635021258, + -0.008348895653758953, + 0.019667756618027946, + -0.00599961532421137, + -0.002571504296182466, + 0.010861898876016593, + 1.0 + ], + [ + 0.0002054140771903606, + -0.00609218393688985, + 0.0028728546124768203, + -0.006926530030580657, + 0.019905985258439788, + 0.008921058153425193, + 1.0 + ], + [ + -0.0036218494608968583, + -0.0004935724547277543, + 0.007516252322812384, + -0.03475528885031317, + -0.00162580858208859, + -0.004957986679949654, + 1.0 + ], + [ + -0.002911035334750906, + -0.0025620335285762, + 0.004465351091357818, + -0.012308032383156012, + -0.0028695992955666415, + -0.00841877527834326, + 1.0 + ], + [ + 0.00010692294582585392, + -0.00269866203784338, + 1.2220075387914886e-05, + 1.6478795080502918e-05, + 0.009487751379637867, + -0.010983075461528588, + 1.0 + ], + [ + -0.002145192120669672, + -0.00042353412700836177, + 0.00228546332852656, + 0.008501509496831301, + 0.004416979233021918, + -0.0014212508842887323, + 0.0 + ], + [ + -0.0100347926926528, + 0.01665716988103833, + -0.009726612233671512, + 0.05503900268636073, + -0.04867544565899821, + -0.00835799115540396, + 0.0 + ], + [ + 0.006648807969480698, + 0.028224045796452435, + -0.0376815697929076, + 0.028313091852695496, + -0.017733103423182232, + 7.585026608825057e-05, + 0.0 + ], + [ + 0.006486116680489641, + 0.03216097115534473, + -0.03365089536169531, + -0.03525519761133251, + 0.005950652403763598, + 0.01735660197078036, + 0.0 + ], + [ + -6.665977030966977e-05, + 0.030308381047512534, + -0.02428710394682553, + -0.05916589384058295, + 0.014134295185677945, + -0.012737316029293712, + 0.0 + ], + [ + -0.01710485118366328, + 0.027445995331519916, + 0.006080612154024281, + -0.05358448009535178, + -0.060991194315877274, + 0.010651913461032354, + 0.0 + ], + [ + -0.009439918414691648, + 0.017211852648017164, + -0.002096468655153827, + -0.057280811057433274, + -0.05559045234171603, + 0.033558098612503896, + 0.0 + ], + [ + -0.007064840742747896, + 0.0028361878846842685, + 0.008031267219501306, + -0.02206017984057452, + -0.0357660385324792, + 0.006017693144990028, + 0.0 + ], + [ + -0.015583147340471969, + 0.00042157705918408853, + 0.018732440094534397, + 0.010505988935081001, + -0.006280424905142834, + -0.0026793062059228168, + 0.0 + ], + [ + -0.0034440296379861525, + 0.001640393513460204, + 0.003620777002122674, + -0.0029136670135113452, + 0.022055389020361436, + 0.03221808655001405, + 0.0 + ], + [ + -0.0009400302483948614, + -0.000543630954197875, + 0.000957122358051633, + -0.0026138011429306814, + 0.00242660468083845, + 0.02131566868596943, + 1.0 + ], + [ + -3.366371669590344e-05, + -0.0005138548770556875, + -5.017145193777122e-05, + 0.00019176880353302962, + 0.00013475420469340603, + 0.0030859685809036443, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -1.8386795493364626e-17, + 1.1192045613870226e-17, + -7.001937280639638e-18, + 1.0 + ] + ], + "state": [ + [ + 0.304485559463501, + -0.02807832881808281, + 0.12531615793704987, + -2.992340462403842, + -0.22069004178047177, + 0.05728127062320709, + 1.0 + ], + [ + 0.30322301387786865, + -0.02780192904174328, + 0.12314386665821075, + -2.9898841996961316, + -0.21184486150741577, + 0.05708117038011551, + 1.0 + ], + [ + 0.3144066035747528, + -0.02036304585635662, + 0.11179789155721664, + -3.0022810717397412, + -0.16485728323459628, + 0.01940968632698059, + 1.0 + ], + [ + 0.34450775384902954, + 0.009970728307962418, + 0.11088268458843231, + -3.0265258868509015, + -0.16583390533924103, + -0.016216842457652092, + 1.0 + ], + [ + 0.36809393763542175, + 0.03571245074272156, + 0.10255318135023117, + -3.030230404930659, + -0.16504988074302676, + -0.04961353167891503, + 1.0 + ], + [ + 0.3889027237892151, + 0.05574594438076019, + 0.09379751980304718, + -3.035038398700305, + -0.17484451830387115, + -0.07799525558948517, + 1.0 + ], + [ + 0.41204914450645447, + 0.07112747430801392, + 0.07198887318372726, + -3.0477816854887685, + -0.23216110467910767, + -0.12179530411958694, + 1.0 + ], + [ + 0.4207600951194763, + 0.08168328553438187, + 0.055934350937604904, + -3.0522386004501065, + -0.27456408739089966, + -0.1274009793996811, + 1.0 + ], + [ + 0.4227296710014343, + 0.09158392250537872, + 0.03655271977186203, + -3.055263230698653, + -0.27101781964302063, + -0.13839119672775266, + 1.0 + ], + [ + 0.42441678047180176, + 0.09772711992263794, + 0.03435613587498665, + -3.059214862185069, + -0.2900647819042205, + -0.14945581555366516, + 1.0 + ], + [ + 0.42325735092163086, + 0.09902459383010864, + 0.026181312277913094, + -3.0954853390627584, + -0.2888486087322235, + -0.14416153728961947, + 1.0 + ], + [ + 0.4221172332763672, + 0.10198421031236649, + 0.021189488470554352, + -3.110331328707286, + -0.2863592505455017, + -0.13525685667991638, + 1.0 + ], + [ + 0.42256245017051697, + 0.1046462133526802, + 0.021288888528943062, + -3.113469526293226, + -0.29616880416870117, + -0.12409000098705292, + 1.0 + ], + [ + 0.4212449789047241, + 0.10530195385217667, + 0.018489094451069832, + -3.1053639223151883, + -0.30062374472618103, + -0.12273265421390533, + 0.0 + ], + [ + 0.40697193145751953, + 0.08993519097566605, + 0.02422565035521984, + -3.0533774365955075, + -0.25226736068725586, + -0.11229729652404784, + 0.0 + ], + [ + 0.40115419030189514, + 0.058957941830158234, + 0.05982435867190361, + -3.0254321192675313, + -0.23459625244140625, + -0.11076875030994415, + 0.0 + ], + [ + 0.39660096168518066, + 0.023398982360959053, + 0.0902152955532074, + -3.0564152022176465, + -0.2384568452835083, + -0.12922000885009766, + 0.0 + ], + [ + 0.3873147964477539, + -0.007930311374366283, + 0.11120834946632385, + -3.1183814761512956, + -0.2536073923110962, + -0.11735305935144424, + 0.0 + ], + [ + 0.36934828758239746, + -0.03329868242144585, + 0.10041563212871552, + 3.113621341186114, + -0.19237455725669858, + -0.1267407387495041, + 0.0 + ], + [ + 0.35750073194503784, + -0.04907415062189102, + 0.10114029794931412, + 3.0630880688601216, + -0.13762550055980682, + -0.1621234118938446, + 0.0 + ], + [ + 0.35109031200408936, + -0.05152890458703041, + 0.09246055781841278, + 3.042194942133971, + -0.10243624448776244, + -0.17096950113773343, + 0.0 + ], + [ + 0.3373012840747833, + -0.05146026238799095, + 0.07236641645431519, + 3.052489312487193, + -0.09592072665691377, + -0.16891726851463318, + 0.0 + ], + [ + 0.3339197337627411, + -0.052867889404296875, + 0.06859203428030014, + 3.052500682073184, + -0.12071137130260466, + -0.19925713539123535, + 0.0 + ], + [ + 0.33321356773376465, + -0.05225976184010506, + 0.06748443096876144, + 3.052456686394759, + -0.12499795854091646, + -0.2204375118017197, + 1.0 + ], + [ + 0.3332933485507965, + -0.05174855515360832, + 0.06748443096876144, + 3.0530336072021207, + -0.12540629506111148, + -0.22352346777915957, + 1.0 + ], + [ + 0.3332933485507965, + -0.05174855515360832, + 0.06748443096876144, + 3.0530336072021207, + -0.12540629506111148, + -0.22352346777915957, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.17109763622283936, + 0.34690237045288086, + 0.34690237045288086, + 0.34690237045288086, + 0.34690237045288086, + 0.34690237045288086, + 0.34690237045288086, + 0.34690237045288086, + 0.34690237045288086, + 0.34690237045288086, + 0.11984705924987793, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "11", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/11/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1123.json b/annotation/test/1123.json new file mode 100644 index 0000000000000000000000000000000000000000..deb28dca540cfa1c2b02e879afbb3d431a6b3ea1 --- /dev/null +++ b/annotation/test/1123.json @@ -0,0 +1,413 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "open large4fbox flaps" + ], + "videos": [ + { + "video_path": "videos/test/1123/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 4.0517821528479e-18, + -5.1171496783883875e-18, + -5.213997891164744e-18, + 1.0 + ], + [ + -0.002698647729102795, + 0.0008414370288640994, + 0.014722115322584203, + 0.0025051390013194896, + -0.05669508235633768, + 0.0022008584619523895, + 1.0 + ], + [ + 0.002721497440934227, + -0.012986024816804147, + -0.0008221060898171029, + -0.01780161653284229, + -0.01814425869370732, + -0.05057562523871737, + 1.0 + ], + [ + 0.003095342063070487, + -0.016469527736730296, + 0.00769286344589437, + -0.06619754696498834, + -0.028615533830379285, + -0.046583566113197125, + 1.0 + ], + [ + -0.0006248783397569979, + 0.0013869569663324307, + 0.004605113414330338, + -0.11921145956326447, + -0.001782710444924343, + -0.0220058169052521, + 1.0 + ], + [ + -0.0015174918671850281, + 0.0019226678135112593, + 0.015927295228944635, + -0.17996898346114062, + 0.019746766181471552, + -0.06315331640811737, + 1.0 + ], + [ + -0.003427317112001144, + 0.0131412245790901, + 0.0027454814581520147, + -0.17906004372737389, + 0.046420689122511974, + -0.0423407792889808, + 1.0 + ], + [ + -0.0017692167408479922, + 0.01013693213064753, + 0.005744923375118002, + -0.11626937631633785, + 0.02427650986970284, + -0.052024662098401814, + 1.0 + ], + [ + -0.0053844289821988215, + 0.022510406055135632, + -0.0025955292621408057, + -0.024721829064621597, + 0.054335224095907686, + 0.005067387580859412, + 1.0 + ], + [ + -0.006853212843526968, + 0.025349441176205634, + -0.0005977614395086174, + -0.005628946950622928, + 0.020369489772764933, + -0.03848941504444441, + 1.0 + ], + [ + -0.006469235623140315, + 0.02165815737993756, + -0.004180649822920466, + 0.020451065346166912, + 0.01865286449601482, + 0.011959022593408015, + 1.0 + ], + [ + -0.004279247430765085, + 0.011993396443394791, + -0.0006879514198986119, + 0.006204105871270919, + 0.023326671924869268, + 0.023118906341950823, + 1.0 + ], + [ + -0.00884324154802992, + 0.016095522945444075, + 0.00188442838323459, + 0.023533756806768048, + 0.007172728317294727, + -0.01855749946781904, + 1.0 + ], + [ + -0.012650546941775887, + 0.02395575537650406, + 0.004135625237545578, + 0.02751757001870225, + 0.0001947149111872934, + 0.0004271713815663123, + 1.0 + ], + [ + -0.007273592208490138, + 0.02022568209731114, + 0.005408343300052461, + -0.03126777736867628, + 0.032428817108467706, + 0.010002277319279891, + 1.0 + ], + [ + -0.024878970447585646, + 0.0189477547393345, + 0.02885070469537779, + -0.036978117114229325, + 0.03963844244178668, + 0.024658547328512907, + 1.0 + ], + [ + -0.014454361800856503, + -0.00540676341660166, + 0.02120239810010525, + -0.018892928267283123, + 0.0460683308109647, + 0.010485382547607237, + 1.0 + ], + [ + -0.008764649383110593, + -0.017559790126166944, + 0.012009468182812915, + 0.0018214449268776514, + 0.012506152690587342, + 0.02770125146837269, + 1.0 + ], + [ + -0.01126454356441085, + -0.022313592430179073, + 0.01013063452836351, + 0.012710255552573161, + 0.009944156401073954, + 0.01692855375697519, + 1.0 + ], + [ + -0.001208262121330189, + -0.003797635269658848, + 0.0005286322655419116, + 0.016792012526659305, + -0.0025704845857965953, + 0.03248380839627234, + 1.0 + ] + ], + "state": [ + [ + 0.33721697330474854, + 0.00391622819006443, + 0.15694260597229004, + -3.0555901025706014, + -0.06349170207977295, + 0.03597290068864823, + 1.0 + ], + [ + 0.33721697330474854, + 0.00391622819006443, + 0.15694260597229004, + -3.0555901025706014, + -0.06349170207977295, + 0.03597290068864823, + 1.0 + ], + [ + 0.3354448080062866, + 0.004278978798538446, + 0.14206109941005707, + -3.05311672587926, + -0.00681711221113801, + 0.03865107148885727, + 1.0 + ], + [ + 0.337653785943985, + 0.017236603423953056, + 0.14404594898223877, + -3.0713777636461934, + 0.0067985616624355325, + 0.09062685817480087, + 1.0 + ], + [ + 0.33915650844573975, + 0.03441174328327179, + 0.1375066041946411, + -3.13729955826933, + 0.03206874057650566, + 0.13911104202270508, + 1.0 + ], + [ + 0.3385811448097229, + 0.03295067325234413, + 0.13291798532009125, + 3.0273794179135045, + 0.03374919667840003, + 0.16113682091236115, + 1.0 + ], + [ + 0.3371621370315552, + 0.02894582971930504, + 0.11737366765737534, + 2.849822135763713, + 0.02125188522040844, + 0.2261354774236679, + 1.0 + ], + [ + 0.33684563636779785, + 0.015148017555475235, + 0.11859684437513351, + 2.672019662457057, + -0.011064870283007622, + 0.28000837564468384, + 1.0 + ], + [ + 0.3383678197860718, + 0.003474718891084194, + 0.11804121732711792, + 2.5558013041787824, + -0.009169498458504677, + 0.3373854458332062, + 1.0 + ], + [ + 0.3388948440551758, + -0.014697719365358353, + 0.1325991004705429, + 2.5300832112603864, + -0.05723625048995017, + 0.36323931813240046, + 1.0 + ], + [ + 0.3389475643634796, + -0.03651504963636398, + 0.14722508192062378, + 2.522488983469554, + -0.05177289992570877, + 0.4065043032169342, + 1.0 + ], + [ + 0.3382692039012909, + -0.053369056433439255, + 0.16284196078777313, + 2.542760105925151, + -0.07390318065881729, + 0.4075935184955597, + 1.0 + ], + [ + 0.33762767910957336, + -0.06401412189006805, + 0.1698346585035324, + 2.5492319782548627, + -0.10620035976171492, + 0.40161818265914917, + 1.0 + ], + [ + 0.3344408869743347, + -0.08101825416088104, + 0.17627854645252228, + 2.5708080251985272, + -0.10177073627710342, + 0.42111945152282715, + 1.0 + ], + [ + 0.33123165369033813, + -0.10699208825826645, + 0.18440742790699005, + 2.5983515699678144, + -0.10216537863016129, + 0.4208638668060303, + 1.0 + ], + [ + 0.33230090141296387, + -0.12854568660259247, + 0.1894604116678238, + 2.565941782789775, + -0.13509079813957212, + 0.429141640663147, + 1.0 + ], + [ + 0.32473301887512207, + -0.16675959527492523, + 0.1723499447107315, + 2.5283294041925153, + -0.18176095187664035, + 0.430063396692276, + 1.0 + ], + [ + 0.3184156119823456, + -0.17821823060512543, + 0.14962345361709595, + 2.505472334223338, + -0.22543339431285858, + 0.44846946001052856, + 1.0 + ], + [ + 0.31173357367515564, + -0.17367562651634216, + 0.12808029353618622, + 2.51074609358842, + -0.25192415714263916, + 0.43313583731651306, + 1.0 + ], + [ + 0.3016057014465332, + -0.16509012877941132, + 0.10460410267114639, + 2.525461109476634, + -0.26993128657341003, + 0.4250388443470001, + 1.0 + ], + [ + 0.3000307083129883, + -0.16273631155490875, + 0.10175097733736038, + 2.550310941534587, + -0.2864937484264374, + 0.39585393667221075, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0025147199630737305, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0011776089668273926, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938 + ], + "episode_id": "1123", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1123/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1129.json b/annotation/test/1129.json new file mode 100644 index 0000000000000000000000000000000000000000..4cca57499e0e6668a93fc05aaa72f6ba95387c43 --- /dev/null +++ b/annotation/test/1129.json @@ -0,0 +1,565 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put sushi on plate" + ], + "videos": [ + { + "video_path": "videos/test/1129/rgb.mp4" + } + ], + "action": [ + [ + -0.0009370447208783563, + 0.00025343450749424674, + 0.001129696185975136, + -0.0010063397821505392, + -0.004739822349461966, + 0.0002314820857786878, + 1.0 + ], + [ + 0.016715728845876722, + 0.012716383164827658, + 0.009330512853865923, + 0.0035112811278031446, + -0.024646252993493677, + -0.07535442181229834, + 1.0 + ], + [ + 0.03408622729494257, + 0.030261647313759365, + 0.0049657422446235, + 0.011315693906289663, + 0.017571719954037526, + -0.14624578286603268, + 1.0 + ], + [ + 0.028358757826845313, + 0.03249562145385442, + 0.0118819213735623, + 0.02115908575081888, + 0.01703250039175507, + -0.13575448416878053, + 1.0 + ], + [ + 0.026378221721301935, + 0.022081224842493336, + 0.008591316361802612, + 0.000952665269022332, + 0.017941713680984146, + -0.12617469214240365, + 1.0 + ], + [ + 0.020788560671323727, + 0.023537273532006915, + 0.018320581718622737, + 0.03254207896118073, + -0.006541345119187287, + -0.12102934560812256, + 1.0 + ], + [ + 0.012816637563113594, + 0.017167862661374617, + 0.018629526174418345, + 0.00827980704253376, + 0.003169102608382281, + -0.04883985079909092, + 1.0 + ], + [ + 0.010917067692235024, + 0.007470679388422253, + 0.019621198789311928, + -0.0018879775161114616, + 0.00995228440068023, + -0.045671885999871965, + 1.0 + ], + [ + 0.0017261103020327628, + 0.010622758382306259, + 0.020489537138338166, + -0.015017500731405816, + 0.01027637778256941, + -0.04983435463802802, + 1.0 + ], + [ + -0.001190195392052716, + 0.007561458591908446, + 0.009009972116899911, + -0.024710942395043033, + -0.004294311096154498, + -0.03883909141914586, + 1.0 + ], + [ + -0.004363170935347828, + 0.009798067504245557, + 0.0031403522435229014, + -0.06685405876170156, + -0.016852326350446638, + -0.020213940218128102, + 1.0 + ], + [ + 0.0049654344983719075, + -0.0028045958560974082, + 0.013849526979960086, + -0.04595046444630043, + -0.009607089569871732, + 0.015954195431537064, + 1.0 + ], + [ + -0.0014076011562996625, + -0.0037929493554117173, + 0.013079522063808333, + -0.03243954500583309, + -0.01278387320347587, + 0.023266921830380576, + 1.0 + ], + [ + -0.0038097349312642137, + -0.004111878015191098, + 0.01322210730840625, + -0.021590779768788648, + 0.009037301630431099, + 0.033714265671305726, + 1.0 + ], + [ + 0.0016539429311762904, + -0.0031121880159027692, + 0.006730269711803552, + -0.00912897547484315, + 0.034274687443513294, + 0.023922991133594983, + 1.0 + ], + [ + 0.0020066559342006435, + 0.0006021556399573605, + 0.0006675578858323149, + -0.009704463014671103, + 0.02246072991601251, + 0.007760383904522333, + 0.0 + ], + [ + -0.0019497469529991243, + -0.002361199080025277, + -0.0023641202701396437, + 0.022382478975459398, + -0.0194105177964291, + -0.004789867949166351, + 0.0 + ], + [ + 0.0031503630682869935, + 0.0022746333031492785, + -0.020251960297034185, + 0.06795902132856567, + -0.03629380404824695, + 0.014780313553603134, + 0.0 + ], + [ + -0.00788103829144769, + 0.00226193008500152, + -0.03239958619654675, + 0.08249320832707831, + -0.017431035987569943, + 0.07401860471139098, + 0.0 + ], + [ + -0.021369224241885768, + -0.01712074766360767, + -0.02918962788371951, + 0.03055887662415179, + 0.006792543600286049, + 0.05364407274873859, + 0.0 + ], + [ + -0.03284811635113786, + -0.03491541705282116, + -0.010392883420461553, + -0.021667147156149546, + -0.007016100001416913, + 0.03442981084531027, + 0.0 + ], + [ + -0.02900269898976882, + -0.027166412050467402, + 0.0054279605083406846, + -0.030031326214502798, + -0.0015166993071251934, + 0.025905919979111333, + 0.0 + ], + [ + -0.029398599169248623, + -0.016701797718763976, + 0.014360434020627666, + -0.05319899396407013, + -0.020016550981348573, + 0.14111110247461697, + 0.0 + ], + [ + -0.016057199651189364, + -0.012721305498980144, + 0.017947150399332975, + -0.045441746161878835, + -0.01790168711045485, + 0.130781612802638, + 0.0 + ], + [ + -0.006736832419629351, + -0.0034695671672678925, + 0.013321944028300507, + -0.02229733886022447, + 0.024117199964506557, + 0.019148434050477395, + 0.0 + ], + [ + -0.0012537179442068064, + -0.0010182418045091178, + 0.006495616472190246, + -0.013641253299985258, + 0.03474045599153486, + 0.010342613541895302, + 0.0 + ], + [ + 0.002621714866756933, + 0.00017920882920582375, + 0.0004306648542710333, + -0.0007465009263539507, + 0.020973553599236024, + 0.010347876898101321, + 0.0 + ], + [ + -0.00017677199096812572, + 0.0003456629133481291, + -1.2017360130535553e-05, + -0.0002382212196317163, + -6.89902040714004e-05, + 0.0015138118432750922, + 1.0 + ] + ], + "state": [ + [ + 0.2188369482755661, + -0.01949772983789444, + 0.1806616634130478, + -3.0476440509134015, + -0.06196511909365655, + -0.052214138209819794, + 1.0 + ], + [ + 0.21796636283397675, + -0.019598770886659622, + 0.17945735156536102, + -3.048662619786807, + -0.057224482297897346, + -0.05199960246682167, + 1.0 + ], + [ + 0.23461709916591644, + -0.032277025282382965, + 0.16996023058891296, + -3.049822235601493, + -0.03949908912181854, + 0.025360189378261566, + 1.0 + ], + [ + 0.2697230577468872, + -0.061075326055288315, + 0.16359420120716095, + -3.0451279898458203, + -0.06994350254535676, + 0.16969165205955505, + 1.0 + ], + [ + 0.3039054274559021, + -0.08687333762645721, + 0.15065616369247437, + -3.034164713817187, + -0.09930898249149323, + 0.3038008213043213, + 1.0 + ], + [ + 0.33627569675445557, + -0.0987672209739685, + 0.1424158364534378, + -3.0463387464457234, + -0.12988024950027469, + 0.4283396899700165, + 1.0 + ], + [ + 0.36644765734672546, + -0.10883238911628723, + 0.12480457872152328, + -3.0302828197651586, + -0.1338941901922226, + 0.5505409836769104, + 1.0 + ], + [ + 0.3874392509460449, + -0.11353825032711029, + 0.10627706348896027, + -3.028628038364001, + -0.14231020212173462, + 0.5992181301116944, + 1.0 + ], + [ + 0.40168434381484985, + -0.11011975258588791, + 0.08769276738166809, + -3.036975311236926, + -0.15720513463020325, + 0.6440263986587524, + 1.0 + ], + [ + 0.41079631447792053, + -0.11381372809410095, + 0.06674115359783173, + -3.05981362064416, + -0.1724405884742737, + 0.693241536617279, + 1.0 + ], + [ + 0.41550666093826294, + -0.11874120682477951, + 0.05708173289895058, + -3.09138626803691, + -0.17119967937469482, + 0.7328812479972839, + 1.0 + ], + [ + 0.41921189427375793, + -0.12836013734340668, + 0.052763327956199646, + 3.121314114081212, + -0.15534481406211853, + 0.7541691064834594, + 1.0 + ], + [ + 0.42262759804725647, + -0.12168945372104645, + 0.03979545831680298, + 3.0778902043872556, + -0.1460428088903427, + 0.7378503680229188, + 1.0 + ], + [ + 0.42104244232177734, + -0.1191401258111, + 0.02643769234418869, + 3.048992956178733, + -0.1347234696149826, + 0.7135987281799316, + 1.0 + ], + [ + 0.4176841676235199, + -0.1182493194937706, + 0.01250305213034153, + 3.031891944008418, + -0.14676624536514282, + 0.6805105805397033, + 1.0 + ], + [ + 0.4182722270488739, + -0.1147412583231926, + 0.005789970513433218, + 3.025698723393031, + -0.18342398107051852, + 0.660156488418579, + 1.0 + ], + [ + 0.42033031582832336, + -0.11399838328361511, + 0.005572484340518713, + 3.0169188400083264, + -0.2066289484500885, + 0.6549361348152162, + 0.0 + ], + [ + 0.4168768525123596, + -0.11332592368125916, + 0.007180970627814531, + 3.038789751129695, + -0.18677291274070743, + 0.657315731048584, + 0.0 + ], + [ + 0.41644445061683655, + -0.11389250308275223, + 0.027790013700723648, + 3.110159969078847, + -0.15215560793876648, + 0.6386836171150208, + 0.0 + ], + [ + 0.40698128938674927, + -0.122466541826725, + 0.05867519974708557, + -3.0790574197941503, + -0.1366325616836548, + 0.5634612441062927, + 0.0 + ], + [ + 0.3774537444114685, + -0.1230674684047699, + 0.08568558841943741, + -3.0411690791421613, + -0.13986077904701233, + 0.5089656114578247, + 0.0 + ], + [ + 0.33094435930252075, + -0.11043104529380798, + 0.09481219947338104, + -3.058174396055289, + -0.12934978306293488, + 0.47513121366500854, + 0.0 + ], + [ + 0.29313936829566956, + -0.0989266037940979, + 0.0879518985748291, + -3.0848935713344297, + -0.1256371736526489, + 0.4492377042770386, + 0.0 + ], + [ + 0.26078295707702637, + -0.09511097520589828, + 0.07098270952701569, + -3.1210959275537213, + -0.09645482897758482, + 0.3088720440864563, + 0.0 + ], + [ + 0.24320100247859955, + -0.08698458224534988, + 0.05183585360646248, + 3.129034325602003, + -0.07506438344717024, + 0.17813891172409055, + 0.0 + ], + [ + 0.23699073493480682, + -0.08474763482809067, + 0.03800380229949951, + 3.1081556809418878, + -0.09940675646066666, + 0.15920697152614594, + 0.0 + ], + [ + 0.23627154529094696, + -0.08405233919620514, + 0.031385570764541626, + 3.0954144803159913, + -0.13446933031082156, + 0.14995406568050385, + 0.0 + ], + [ + 0.23892608284950256, + -0.08385242521762848, + 0.03131892532110214, + 3.0959312339597425, + -0.1558922380208969, + 0.14047266542911532, + 0.0 + ], + [ + 0.2387971729040146, + -0.0842188373208046, + 0.03131892532110214, + 3.0959312339597425, + -0.1558922380208969, + 0.13893868029117584, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.19541800022125244, + 0.3740283250808716, + 0.3750324845314026, + 0.3750324845314026, + 0.3750324845314026, + 0.3750324845314026, + 0.3750324845314026, + 0.3750324845314026, + 0.3750324845314026, + 0.3750324845314026, + 0.3750324845314026, + 0.3750324845314026, + 0.14463752508163452, + 0.012741804122924805 + ], + "episode_id": "1129", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1129/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1145.json b/annotation/test/1145.json new file mode 100644 index 0000000000000000000000000000000000000000..52f67cea8a49ec347c46fd369f8e049b91c937d1 --- /dev/null +++ b/annotation/test/1145.json @@ -0,0 +1,565 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "take can out of pan" + ], + "videos": [ + { + "video_path": "videos/test/1145/rgb.mp4" + } + ], + "action": [ + [ + -4.492718957850443e-05, + 3.541993778233568e-05, + 0.000326275191487958, + -3.997410188441991e-05, + -0.0015250941783858853, + 0.00016010357415144783, + 1.0 + ], + [ + 0.0076017869560747724, + 0.005856829665985128, + 0.006372257086602827, + -0.002914570212182677, + -0.04322160483480098, + 0.006024578352900753, + 1.0 + ], + [ + 0.023773484136757634, + 0.016153442503840938, + -0.0019429081900586283, + -0.002597997903066498, + 0.0043911523358445, + -0.02848944995485687, + 1.0 + ], + [ + 0.023483584342011567, + 0.028224660546845522, + -0.002176528635600433, + 0.007918145704829556, + 0.01425799272772107, + -0.034726083137406986, + 1.0 + ], + [ + 0.022994497900528026, + 0.03823076906847709, + -0.00029501813001854956, + 0.005974341880193849, + 0.031197667191901597, + -0.002976937984603244, + 1.0 + ], + [ + 0.032984795211817436, + 0.03278352223187395, + 0.004747639885387597, + 0.009091318164045126, + 0.04150440241910265, + 0.02131121521136552, + 1.0 + ], + [ + 0.022831707886714257, + 0.02310950801308874, + 0.005972273111390354, + -0.004927840214845861, + 0.02357937988556802, + 0.025760589062568808, + 1.0 + ], + [ + 0.019122835611063413, + 0.01082748558936995, + 0.01436602691188091, + -0.02698755526003222, + 0.02621320796343462, + 0.041053038537954036, + 1.0 + ], + [ + 0.010758150286870948, + -0.002433782812074147, + 0.006977180768713542, + -0.013817045858818704, + 0.021326914332202844, + 0.022316050350379365, + 1.0 + ], + [ + 0.0061135688580297755, + -0.007708169913711146, + 0.0039834821164888784, + -0.008133444253800545, + 0.01124378995867125, + 0.015561129903435476, + 1.0 + ], + [ + 0.003956723920161257, + -0.006821773490053514, + 0.008821540819196262, + -0.02610454749845586, + 0.0010503837201335277, + 0.027800740872278164, + 1.0 + ], + [ + 0.006398193597364552, + -0.010743817529543464, + 0.006723430355156299, + -0.030460208165814615, + 0.02816271767094374, + -0.004938655498640861, + 1.0 + ], + [ + -0.0032969739792629415, + -0.0014083315030008635, + 0.01104620641420278, + -0.007923526663413205, + 0.010379015652481676, + 0.006364594768230067, + 1.0 + ], + [ + -0.0017444931779669142, + -0.0010349783898889568, + 0.005916226830875643, + -0.012879884861865178, + 0.01874766405580687, + -0.007204879215708601, + 1.0 + ], + [ + -0.002715937319503692, + -0.0003905327913154778, + 0.005074508080063336, + -0.009679263398881735, + 0.008799196178610781, + -0.0026127622361442264, + 1.0 + ], + [ + 0.0009268202709471525, + 0.000569371249225974, + 0.002917731005606726, + -0.01798745496034886, + 0.011899473570943016, + -0.009305248557697229, + 1.0 + ], + [ + -0.005452088009684783, + -0.0016443313797521273, + 0.0023890901073641076, + 0.004399262028999923, + -0.039858134865483355, + -5.0815219494573376e-05, + 0.0 + ], + [ + 0.005149436428518479, + -0.00024184322300473587, + -0.011974897206436793, + 0.021873942918596054, + -0.035024498555700806, + 0.009651767150348664, + 0.0 + ], + [ + 0.006101311835748235, + 0.008672147811274875, + -0.020011515740140803, + 0.023729951490833158, + -0.04037042777676488, + 0.012793774889548038, + 0.0 + ], + [ + -0.004411696378676576, + -0.0004952808000540395, + -0.009915250491019127, + 0.04029431423560382, + -0.04403696197377218, + -0.028767026500561867, + 0.0 + ], + [ + -0.02327193886152749, + -0.005491746575408765, + -0.020899451124773812, + 0.05602947481312695, + -0.010293208165457625, + -0.0627882702709601, + 0.0 + ], + [ + -0.03314172337850172, + 0.0006932736040575854, + -0.01568475582256266, + 0.0266663177850261, + -0.0073587965032140485, + -0.04148360881345105, + 0.0 + ], + [ + -0.031732885114278374, + -0.001383163825187041, + 0.004255555251857731, + -0.02976766199216921, + 0.016501599357490262, + -0.02462748365601792, + 0.0 + ], + [ + -0.019372296473580793, + -0.0004010844992609136, + 0.017831003962211104, + -0.07875176051445125, + 0.013044832889605475, + -0.0419786009303804, + 0.0 + ], + [ + -0.00647374658838216, + -0.003626145486142216, + 0.013323037042945352, + -0.03658334759067439, + 0.008294247196851757, + -0.020973369939035806, + 0.0 + ], + [ + -0.001968363915029565, + 0.003068903147636431, + 0.0013963730238380138, + -0.005991022686104744, + 0.004929064558911814, + 0.00963745501261031, + 1.0 + ], + [ + -0.00021311619038565324, + -0.00011729224826825308, + -1.9098947242383817e-07, + 0.0007396633140377124, + -0.001343884309816228, + -5.02731388090616e-07, + 1.0 + ], + [ + 0.00017637837508410653, + -0.00043549878446241043, + 3.2672142394128445e-05, + 0.00034609561484909746, + 2.8341258226305344e-05, + -0.0014941587494116078, + 1.0 + ] + ], + "state": [ + [ + 0.21538691222667694, + 0.022502396255731583, + 0.11332916468381882, + -3.033149944739886, + -0.14769893884658813, + 0.0013442612253129482, + 1.0 + ], + [ + 0.21539077162742615, + 0.02250250242650509, + 0.11299793422222137, + -3.033190669613429, + -0.14616547524929047, + 0.001350223203189671, + 1.0 + ], + [ + 0.2239333540201187, + 0.01738099381327629, + 0.1072109043598175, + -3.035811776416846, + -0.10254580527544022, + 3.440565706114285e-05, + 1.0 + ], + [ + 0.2475593239068985, + 0.0011135156964883208, + 0.1098698228597641, + -3.0413195361667356, + -0.10988006740808487, + 0.028069596737623215, + 1.0 + ], + [ + 0.27175870537757874, + -0.026518957689404488, + 0.11178915202617645, + -3.0371078943186482, + -0.12748144567012787, + 0.06146065518260002, + 1.0 + ], + [ + 0.2973295748233795, + -0.0630704015493393, + 0.11104870587587357, + -3.0310446341806134, + -0.15881939232349396, + 0.06116294115781784, + 1.0 + ], + [ + 0.33311378955841064, + -0.0929986909031868, + 0.10803480446338654, + -3.0177398418360433, + -0.1976660192012787, + 0.034909915179014206, + 1.0 + ], + [ + 0.35798537731170654, + -0.11433830112218857, + 0.10390812903642654, + -3.0169568975740155, + -0.21780133247375486, + 0.00575102586299181, + 1.0 + ], + [ + 0.38007861375808716, + -0.12316899746656418, + 0.09280823171138763, + -3.0342429672651967, + -0.2384943962097168, + -0.03951262682676315, + 1.0 + ], + [ + 0.3922251760959625, + -0.12047938257455826, + 0.08886245638132095, + -3.0420902987294873, + -0.2572346329689026, + -0.0648132711648941, + 1.0 + ], + [ + 0.39945948123931885, + -0.11286619305610657, + 0.08732495456933975, + -3.045853005843707, + -0.26684072613716125, + -0.08202262222766875, + 1.0 + ], + [ + 0.40602508187294006, + -0.10574636608362198, + 0.08052695542573929, + -3.06440673221881, + -0.2651236951351166, + -0.11080227047204971, + 1.0 + ], + [ + 0.41493362188339233, + -0.09543795138597488, + 0.07653377205133438, + -3.0955898260050496, + -0.29358232021331787, + -0.10792865604162216, + 1.0 + ], + [ + 0.41515833139419556, + -0.09353627264499664, + 0.06507928669452667, + -3.1014391538971147, + -0.3036505877971649, + -0.11509115248918533, + 1.0 + ], + [ + 0.41539421677589417, + -0.09228343516588211, + 0.05895630270242691, + -3.1163452008091888, + -0.32266581058502203, + -0.10829517990350723, + 1.0 + ], + [ + 0.4144856333732605, + -0.09166308492422104, + 0.053293343633413315, + -3.126824991899081, + -0.3315272033214569, + -0.10576786100864412, + 1.0 + ], + [ + 0.41624853014945984, + -0.09237942099571228, + 0.050828512758016586, + 3.135217716107615, + -0.3435483872890472, + -0.09607350826263429, + 1.0 + ], + [ + 0.4120994806289673, + -0.09034296125173569, + 0.04673277586698532, + 3.1396837119297167, + -0.30369073152542114, + -0.09628650546073914, + 0.0 + ], + [ + 0.4134516716003418, + -0.09020762890577316, + 0.05969914048910141, + -3.1186143328719815, + -0.2686700820922852, + -0.10636060684919359, + 0.0 + ], + [ + 0.4131036102771759, + -0.09935200214385986, + 0.08041512966156006, + -3.0916348082297525, + -0.227997213602066, + -0.11852809786796568, + 0.0 + ], + [ + 0.4066080152988434, + -0.09857894480228424, + 0.08908866345882416, + -3.0584278126531323, + -0.18534162640571591, + -0.08708683401346205, + 0.0 + ], + [ + 0.3802390396595001, + -0.09252584725618362, + 0.1057189553976059, + -3.0144337584548673, + -0.17991958558559415, + -0.02262042462825775, + 0.0 + ], + [ + 0.34481239318847656, + -0.09440179169178009, + 0.11500871181488037, + -2.995525987940379, + -0.177718460559845, + 0.020134778693318367, + 0.0 + ], + [ + 0.31425419449806213, + -0.09302893280982971, + 0.10545305162668228, + -3.0292687212401113, + -0.1975850611925125, + 0.04253013804554939, + 0.0 + ], + [ + 0.29864031076431274, + -0.09129402786493301, + 0.08432041853666306, + -3.1161883400105914, + -0.21508900821208954, + 0.0837269425392151, + 0.0 + ], + [ + 0.29481956362724304, + -0.08763734251260757, + 0.07001684606075287, + 3.1258659214996776, + -0.2238661497831345, + 0.10501334071159364, + 0.0 + ], + [ + 0.29353243112564087, + -0.0908806100487709, + 0.06826556473970413, + 3.122054297598549, + -0.2289357483386993, + 0.0951986238360405, + 1.0 + ], + [ + 0.2933151423931122, + -0.09078355133533478, + 0.06821515411138535, + 3.122799942391463, + -0.2275921106338501, + 0.09517218917608262, + 1.0 + ], + [ + 0.29345405101776123, + -0.09033350646495819, + 0.06821515411138535, + 3.122799942391463, + -0.2275921106338501, + 0.09670617431402206, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0225980281829834, + 0.11464011669158936, + 0.11550527811050415, + 0.11550527811050415, + 0.11550527811050415, + 0.11550527811050415, + 0.11550527811050415, + 0.11550527811050415, + 0.11550527811050415, + 0.11550527811050415, + 0.003185570240020752, + 0.0025147199630737305, + 0.0025147199630737305 + ], + "episode_id": "1145", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1145/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1153.json b/annotation/test/1153.json new file mode 100644 index 0000000000000000000000000000000000000000..95e6b1e548705bebd814144a3e62afd7de4198fa --- /dev/null +++ b/annotation/test/1153.json @@ -0,0 +1,850 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Place the pineapple on the other side of the blue rag." + ], + "videos": [ + { + "video_path": "videos/test/1153/rgb.mp4" + } + ], + "action": [ + [ + -0.0005205739280449637, + 0.0001384107334173461, + 0.0007883128606882186, + -0.0008673258475728236, + -0.0029422062922024876, + -0.0015921122348277266, + 1.0 + ], + [ + -0.000667304699280883, + 0.0019833494942924053, + 0.006073112019797999, + -0.008699098636185362, + -0.01830276596685267, + -0.0035778006433995154, + 1.0 + ], + [ + 0.01844054754117147, + 0.04974354370192432, + -0.000937562921439984, + -0.06692775568825915, + 0.03414892229776984, + 0.08477800876249938, + 1.0 + ], + [ + 0.017582764689743787, + 0.028506639670450154, + 0.008662888120818838, + -0.027648580378180507, + -0.0010385463571187948, + 0.08443881564018321, + 1.0 + ], + [ + 0.028176747740211745, + 0.03703347556130134, + 0.012196690223374522, + -0.06886031128886423, + 0.011736109591901283, + 0.19011989072638025, + 1.0 + ], + [ + 0.02432051877133638, + 0.007994009553606189, + 0.023733855664697608, + -0.04467501206203549, + 0.006097126201288791, + 0.13428586372304926, + 1.0 + ], + [ + 0.011338945439248274, + 0.0025269106145119507, + 0.008735533058879816, + 0.0035414478097304, + 0.025932542868449263, + 0.13138021404302827, + 1.0 + ], + [ + 0.0009020223829610809, + 0.004264947530388894, + 0.009628278690652041, + -0.044762849044933356, + 0.013835419277457408, + 0.06471079349301745, + 1.0 + ], + [ + -2.4547030721109525e-05, + 0.0036957140770661114, + 0.004267956364281325, + -0.007192676062877908, + 0.03162868886990176, + 0.0901417107258744, + 1.0 + ], + [ + -0.006162236897399467, + 0.009415630417582005, + 0.0007911259985372955, + -0.014817576824941494, + 0.017988462719695935, + 0.03333043055119822, + 1.0 + ], + [ + -1.3455099761278657e-05, + 0.000689427629195662, + 0.0015118659973605581, + -0.0028233250110411335, + 0.01121949668089167, + 0.002175554192828699, + 1.0 + ], + [ + -0.002627934250204141, + -0.00037754687487825923, + 0.004859667222397757, + 0.016786007164036724, + 0.014465943794104435, + -0.016158326460696693, + 1.0 + ], + [ + 0.0022077915986378244, + -0.0009865291390143574, + -0.00565717414939113, + 0.03771047266605296, + 0.04161812339971315, + -0.06138912001339536, + 1.0 + ], + [ + -0.0011421813815647157, + 0.00317277421961964, + -0.0019252385116570471, + -0.024802780933684154, + -0.02561165463808173, + 0.000328674575754049, + 1.0 + ], + [ + 0.0007163376015202423, + -0.00021056690252270528, + -0.000927283414437711, + -0.0010529734781010807, + 0.004197694431956935, + -0.0036987951338162835, + 0.0 + ], + [ + 0.002570749838792506, + 0.0009955040141114283, + 0.000493011869218567, + -0.006926747317372441, + 0.016794857670331776, + 0.010375612253928586, + 0.0 + ], + [ + 0.003876319876561413, + 0.002390611953425743, + 0.004966502859439366, + -0.010239368003763702, + 0.07936556371507837, + -0.009690520947683808, + 0.0 + ], + [ + -0.0013634379281326058, + 0.0003920976559310799, + -0.0002791868303163333, + 0.033347084802986315, + 0.07224056377490416, + -0.07728026279295779, + 0.0 + ], + [ + -0.0207562492830188, + -0.011055581396663846, + -0.08020949703304767, + 0.11809052236618942, + -0.0319382025319077, + -0.2343393025203332, + 0.0 + ], + [ + -0.010384530828139407, + -0.02585984040402821, + -0.04829420931185492, + 0.1528388286281849, + -0.09175070139482154, + -0.21057083828356535, + 0.0 + ], + [ + -0.019294324028956953, + -0.05063931797894874, + -0.012097951628906579, + 0.11657937721623728, + -0.03177365984619193, + -0.1745492904348813, + 0.0 + ], + [ + -0.007734503214054717, + -0.039035125691347115, + -0.0068861169465563145, + 0.11151417471799804, + -0.028760478229654336, + -0.07722025648125116, + 0.0 + ], + [ + -0.009725845247815385, + -0.054591878705838315, + 0.014709523383975229, + 0.05335408179732197, + -0.022876441731039778, + -0.07612269175034464, + 0.0 + ], + [ + -0.00559713146177135, + -0.03909599522058344, + 0.030093680479317233, + -0.03816224701689053, + -0.01881438819038164, + 0.016535153125837202, + 0.0 + ], + [ + -0.009689547740661693, + -0.051188837280973044, + 0.03380973777499116, + -0.04918317501865369, + -0.02111594974060008, + -0.0026085808690340666, + 0.0 + ], + [ + -0.0038052096152574955, + -0.028699132193461426, + 0.015338065170729736, + -0.04447788299039203, + 0.002209433068540793, + 0.02052017535556349, + 0.0 + ], + [ + -0.003743902760690553, + 0.0030769270495316662, + 0.0037794274264044627, + -0.01523729579293053, + 0.033354581268116384, + 0.015235424812234137, + 0.0 + ], + [ + -0.00016627875254617193, + 0.011190275878606331, + -0.0006555847455805716, + -0.012619633692399507, + 0.046865625627367694, + 0.03421463930374515, + 0.0 + ], + [ + 0.0004939178582866026, + 0.014269319308029818, + -0.014002485923576368, + -0.022414171342367714, + 0.045122788484754775, + -0.007626944324950125, + 0.0 + ], + [ + 0.009634180414114943, + 0.007841784058647203, + -0.01047822070460898, + 0.00989634589483661, + 0.03525256532155773, + 0.0026923471838148755, + 0.0 + ], + [ + 0.004432278240747789, + 0.006138247813274076, + 0.0048153777041803165, + 0.010286756535943744, + -0.015699207298577083, + 0.009023508404987137, + 0.0 + ], + [ + -0.0029711751670742385, + 0.004361768074017828, + 0.01833728559263174, + -0.008487939000700417, + -0.04954182510092088, + 0.0005995123843221494, + 0.0 + ], + [ + 0.006304779673748148, + 0.006754308448002573, + 0.005747363006084015, + 0.006265318747145513, + -0.0014173962358944073, + 0.027425600795201413, + 0.0 + ], + [ + -0.000668149280228065, + 0.010860626749297357, + 0.011906527238867823, + -0.016900207334476558, + -0.023849812487905964, + 0.024709436467889794, + 0.0 + ], + [ + 0.0006823342309855829, + 0.00044503222333559095, + 0.0018247207875153471, + 0.011371074068959486, + -0.005567924600219779, + 0.008502117376478645, + 0.0 + ], + [ + -0.0026594904589638643, + 0.0010367615653995967, + 0.0055116677981547416, + -9.446515622583935e-05, + -0.025427508134008583, + -0.002643645586295188, + 0.0 + ], + [ + -0.0017455261663051496, + 0.001700113580063283, + 0.0005501205893839699, + -0.009176525912768014, + -0.008093695166672592, + 0.0016411501543255724, + 0.0 + ], + [ + 0.0032255254949876714, + 0.005181560094733455, + -0.016626671029341088, + -0.008375561072489256, + 0.03146402837724502, + -0.0007536088164296846, + 1.0 + ], + [ + 0.006095136604334334, + 0.007822070250856872, + -0.047333794456992234, + 0.022038934534187236, + 0.06558431825381529, + -0.003310076570639645, + 1.0 + ], + [ + -0.0022001662629394696, + 0.01815268796154823, + -0.02124309798280197, + -0.005721680664600497, + -0.04209268511527874, + 0.008472586823808227, + 1.0 + ], + [ + -0.0028520809068728254, + 0.01753710140337467, + 0.0037560631659068907, + 0.008451977287701435, + -0.0824192714181324, + 0.0022674782225514107, + 1.0 + ], + [ + -0.002237402530418245, + 0.0031820646376761893, + 0.013165460289598014, + 0.011073394878435146, + -0.06734435710544319, + 0.004088498399443409, + 1.0 + ], + [ + 0.00367489436646639, + 0.0011878634847502171, + 0.009886893307012538, + 0.11220910161819085, + -0.07159816798053742, + 0.018365354920848377, + 1.0 + ] + ], + "state": [ + [ + 0.29735103249549866, + 0.08599961549043655, + 0.10498811304569244, + -3.1125955154472074, + -0.16439184546470642, + -0.0007710038335062565, + 1.0 + ], + [ + 0.2969669997692108, + 0.08588441461324692, + 0.1041216030716896, + -3.113740777718373, + -0.16149680316448212, + 0.0009278416982851923, + 1.0 + ], + [ + 0.29729509353637695, + 0.08407126367092133, + 0.09796802699565887, + -3.1230992825054606, + -0.1432994157075882, + 0.005055640824139118, + 1.0 + ], + [ + 0.3157954216003418, + 0.03441178426146507, + 0.1006188616156578, + 3.1054717396670064, + -0.1753484606742859, + -0.0816243886947632, + 1.0 + ], + [ + 0.33202892541885376, + 0.0041866847313940525, + 0.09617538750171661, + 3.0928950553112706, + -0.17672516405582428, + -0.167384535074234, + 1.0 + ], + [ + 0.35491690039634705, + -0.03779659420251846, + 0.09091120958328247, + 3.058632807927676, + -0.19444453716278073, + -0.3603624999523163, + 1.0 + ], + [ + 0.377900630235672, + -0.05707227811217308, + 0.07305388897657394, + 3.040959159033843, + -0.20986203849315643, + -0.49668037891387934, + 1.0 + ], + [ + 0.38757991790771484, + -0.06617633253335953, + 0.06716372072696686, + 3.0727533121877393, + -0.2470664381980896, + -0.6287539005279541, + 1.0 + ], + [ + 0.38723719120025635, + -0.07200692594051361, + 0.05835498124361038, + 3.044230992096015, + -0.264804869890213, + -0.6946515440940858, + 1.0 + ], + [ + 0.3853808045387268, + -0.07578783482313156, + 0.05459560453891754, + 3.061097392933913, + -0.3040071129798889, + -0.7854064702987671, + 1.0 + ], + [ + 0.37454861402511597, + -0.07831813395023346, + 0.05272093787789345, + 3.056341843801089, + -0.3244575262069702, + -0.8189259767532349, + 1.0 + ], + [ + 0.374259352684021, + -0.07920300960540771, + 0.05134451016783714, + 3.0539225434237203, + -0.335821270942688, + -0.8202099204063416, + 1.0 + ], + [ + 0.3736264705657959, + -0.07859688997268677, + 0.04587669298052788, + 3.064624512689658, + -0.34876409173011785, + -0.8017362952232361, + 1.0 + ], + [ + 0.3747663199901581, + -0.0777348056435585, + 0.051860734820365906, + 3.0786972289257726, + -0.3847780525684357, + -0.7322917580604553, + 1.0 + ], + [ + 0.3713509142398834, + -0.07875953614711761, + 0.05339779332280159, + 3.0546510090404233, + -0.35923695564270025, + -0.7343614101409912, + 1.0 + ], + [ + 0.37180691957473755, + -0.07878012955188751, + 0.05449732393026352, + 3.052075119810649, + -0.3630945384502411, + -0.7300297021865844, + 0.0 + ], + [ + 0.3730134069919586, + -0.0812496691942215, + 0.05503454431891441, + 3.0485181902819356, + -0.38073477149009705, + -0.7395420670509338, + 0.0 + ], + [ + 0.37505337595939636, + -0.08695732802152634, + 0.0520903654396534, + 3.0309357439451894, + -0.4587955474853515, + -0.720595121383667, + 0.0 + ], + [ + 0.37379127740859985, + -0.08632664382457733, + 0.051774147897958755, + 3.0211632197075566, + -0.5202404856681824, + -0.6230546236038208, + 0.0 + ], + [ + 0.3395838141441345, + -0.03636671602725983, + 0.10939763486385345, + 3.016953693824359, + -0.446216106414795, + -0.3691799938678742, + 0.0 + ], + [ + 0.32428014278411865, + 0.003505046246573329, + 0.14524370431900024, + 3.082259925203868, + -0.32034751772880554, + -0.16210974752902985, + 0.0 + ], + [ + 0.3116622567176819, + 0.05751733109354973, + 0.14778022468090057, + -3.1396264795963695, + -0.2734832167625427, + 0.01684661954641342, + 0.0 + ], + [ + 0.3016785979270935, + 0.09637617319822311, + 0.1523953229188919, + -3.0496063103252133, + -0.24404408037662506, + 0.09645511209964751, + 0.0 + ], + [ + 0.2892361283302307, + 0.15114471316337585, + 0.14069800078868866, + -3.01580964227254, + -0.22749739885330203, + 0.17640715837478638, + 0.0 + ], + [ + 0.2819385826587677, + 0.1930772364139557, + 0.11512724310159683, + -3.050725633400031, + -0.20673464238643646, + 0.16206046938896182, + 0.0 + ], + [ + 0.2697390615940094, + 0.24584586918354034, + 0.0847310945391655, + -3.100832274305173, + -0.18594039976596835, + 0.1666528433561325, + 0.0 + ], + [ + 0.26377159357070923, + 0.2745540142059326, + 0.07011576741933823, + -3.141444148864718, + -0.18727198243141174, + 0.14569319784641266, + 0.0 + ], + [ + 0.2612750232219696, + 0.2710783779621124, + 0.06570493429899216, + 3.129411732899495, + -0.22060215473175046, + 0.13008296489715576, + 0.0 + ], + [ + 0.2623927593231201, + 0.25994786620140076, + 0.06644120067358017, + 3.124417496966668, + -0.2677527368068695, + 0.09523731470108032, + 0.0 + ], + [ + 0.26044899225234985, + 0.2456716001033783, + 0.08030976355075836, + 3.0996504743867597, + -0.312728077173233, + 0.10405791550874709, + 0.0 + ], + [ + 0.2670304477214813, + 0.23892317712306976, + 0.09354786574840546, + 3.1099171732836446, + -0.34806227684020996, + 0.10277022421360017, + 0.0 + ], + [ + 0.27338698506355286, + 0.2332577258348465, + 0.09071800112724304, + 3.123635409521409, + -0.33264037966728205, + 0.09270330518484116, + 0.0 + ], + [ + 0.2769606411457062, + 0.2288794070482254, + 0.07249251753091812, + 3.115632053586193, + -0.2831169366836548, + 0.09115371108055115, + 0.0 + ], + [ + 0.28516703844070435, + 0.22269953787326813, + 0.06890540570020676, + 3.1298913211845836, + -0.28230223059654236, + 0.062568798661232, + 0.0 + ], + [ + 0.28848907351493835, + 0.21188689768314362, + 0.05740688741207123, + 3.1201907621049365, + -0.25865322351455683, + 0.036729227751493454, + 0.0 + ], + [ + 0.28962990641593933, + 0.21144451200962067, + 0.055827002972364426, + 3.13383955613757, + -0.25325870513916016, + 0.027826020494103435, + 0.0 + ], + [ + 0.2884646952152252, + 0.21033219993114471, + 0.04983273148536682, + 3.133113384368368, + -0.22781069576740265, + 0.030336474999785423, + 0.0 + ], + [ + 0.2869376838207245, + 0.2085803598165512, + 0.04891666769981384, + 3.1243322381102523, + -0.219730868935585, + 0.02858469076454639, + 0.0 + ], + [ + 0.28658270835876465, + 0.20367439091205597, + 0.06593149155378342, + 3.115656342478939, + -0.25117701292037964, + 0.02992276847362518, + 1.0 + ], + [ + 0.28087544441223145, + 0.19690869748592377, + 0.11347595602273941, + 3.1363287858017763, + -0.3166501224040985, + 0.03518590331077576, + 1.0 + ], + [ + 0.27278026938438416, + 0.17857195436954498, + 0.13306835293769836, + 3.1334152073883494, + -0.274590402841568, + 0.026161324232816696, + 1.0 + ], + [ + 0.2714747190475464, + 0.16096454858779907, + 0.12881781160831451, + -3.1405329983732706, + -0.1921912431716919, + 0.023173393681645393, + 1.0 + ], + [ + 0.27186721563339233, + 0.1578046828508377, + 0.11546408385038376, + -3.1286838949942073, + -0.12484104186296463, + 0.0191340371966362, + 1.0 + ], + [ + 0.2767657935619354, + 0.1568380892276764, + 0.10609732568264008, + -3.014269309239932, + -0.05299288406968117, + 0.0017163893207907677, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0371822714805603, + 0.31480199098587036, + 0.4448885917663574, + 0.4448885917663574, + 0.4448885917663574, + 0.4448885917663574, + 0.4448885917663574, + 0.4448885917663574, + 0.4448885917663574, + 0.4448885917663574, + 0.4448885917663574, + 0.4448885917663574, + 0.4448885917663574, + 0.4448885917663574, + 0.4448885917663574, + 0.4448885917663574, + 0.4448885917663574, + 0.4448885917663574, + 0.4448885917663574, + 0.4448885917663574, + 0.4448885917663574, + 0.4448885917663574, + 0.4448885917663574, + 0.3760365843772888, + 0.09504926204681396, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1153", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1153/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1158.json b/annotation/test/1158.json new file mode 100644 index 0000000000000000000000000000000000000000..6ec118b27a2f3bf2552f15d9fb6433261199dba8 --- /dev/null +++ b/annotation/test/1158.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the spoon in front of the microwave" + ], + "videos": [ + { + "video_path": "videos/test/1158/rgb.mp4" + } + ], + "action": [ + [ + -0.0005856773362286358, + -1.9975397025664516e-05, + -0.00010302046649901922, + -0.00025001020959483644, + -0.00031306164402312937, + 0.001480781426848356, + 1.0 + ], + [ + -0.001919727594776549, + -0.005497588585141027, + 0.01302440956161294, + 0.037456622526904924, + 0.0038252706077599712, + 0.007546763118654005, + 1.0 + ], + [ + 0.0017822835976615819, + -0.016176929568081456, + 0.013981724593930751, + 0.03848137667696133, + 0.019103973433744963, + 0.05610190190878757, + 1.0 + ], + [ + 0.005213122173320683, + -0.01387884086957321, + -0.010704064976757587, + -0.019228914931692407, + 0.01271425545234198, + 0.02490745383990293, + 1.0 + ], + [ + 0.0009456463297623618, + -0.02085806973535687, + -0.006502949205037594, + -0.02036500878567517, + -0.0060531416998666245, + 0.09958310064280657, + 1.0 + ], + [ + -0.0011687527151382196, + -0.02619255237138439, + 0.0029664016559029535, + -0.00639774150884005, + 0.009790531440205506, + 0.11663971447625175, + 1.0 + ], + [ + -0.006069668675947756, + -0.02525746891396464, + 0.007133342116930225, + 0.02416010192182244, + 0.020163160272905253, + 0.08578055382834161, + 1.0 + ], + [ + -0.005667048793873115, + -0.01741610149902822, + 0.01327981697908225, + 0.02439187676692959, + 0.01306763592809612, + 0.036313340181842374, + 1.0 + ], + [ + -0.006996342778785864, + -0.006920612868585622, + 0.008474735316760108, + 0.016120779307280803, + -0.023937483130394066, + 0.02881387126320139, + 1.0 + ], + [ + -0.004174835602525335, + 0.0007567897189222805, + 0.008139170397407837, + 0.011637643939647314, + -0.015672359228111405, + 0.027636602796386123, + 1.0 + ], + [ + -0.004542779870401248, + -0.00032393406651897724, + 0.009707512768543347, + 0.018197501921057926, + -0.005521298389471528, + 0.011859878123882355, + 1.0 + ], + [ + -0.005606488957467818, + 0.0021471969103253703, + 0.011831133966995784, + 0.02679497706028139, + -0.027892825243591435, + 0.02300880441386101, + 1.0 + ], + [ + -0.0015268508992412042, + 0.007082816172992878, + 0.0024942703823969195, + -0.010931004222041926, + 0.015149688323597924, + 0.012277964424103857, + 1.0 + ], + [ + 0.00039757157970016785, + 0.0012817911430062531, + 0.0018644049928445176, + -0.014268417264047106, + 0.010292937305651334, + -0.008375688441664992, + 0.0 + ], + [ + -0.0007434929105378928, + -0.00041390001761175513, + -0.0005432661701522376, + -0.0001388135084873603, + -0.004607426856668339, + -0.0015533010705850855, + 0.0 + ], + [ + -0.002278528198734124, + -0.0027341528504899785, + -0.0012751609473777169, + -0.0035246503377684615, + -0.011864938796223062, + 0.004549399529959181, + 0.0 + ], + [ + -0.0016878887298382662, + -0.009692833620387665, + -0.006325279832251475, + 0.05196531909229648, + -0.04670720894106123, + -0.028048272521565096, + 0.0 + ], + [ + 0.009027598086099183, + 0.015592903820509506, + -0.02584651126131953, + -0.058731003785688664, + -0.020753739671376916, + -0.07309919572351067, + 0.0 + ], + [ + 0.0019599329860892903, + 0.01576533249488836, + -0.019853725228420258, + -0.01990359513923572, + -0.03374637498322373, + -0.06165438358302137, + 0.0 + ], + [ + -0.00077274540100189, + 0.026295389830086464, + -0.029080480562569115, + -0.04540549662136433, + -0.04762766950811875, + -0.08637774197334483, + 0.0 + ], + [ + -0.009564969505019215, + 0.022120239180696548, + -0.007394213386097605, + -0.011551501530847243, + -0.02432098814228515, + -0.04286739314707648, + 0.0 + ], + [ + -0.008990910128973812, + 0.023856309457453647, + -0.0030474377082819353, + -0.032627845165280014, + 0.00579993614944646, + -0.04344046223380974, + 0.0 + ], + [ + -0.016155766824472822, + 0.020638031611215964, + 0.01155895985599766, + -0.011266118395441943, + 0.01428550336516653, + -0.030580727704868832, + 0.0 + ], + [ + -0.01396091853275056, + 0.015426978355514369, + 0.019516605659106942, + 0.030944269110453955, + -0.0019259929492242659, + -0.024704158248963968, + 0.0 + ], + [ + -0.011118480968369513, + 0.01596056289188865, + 0.01708846193377198, + -0.0012316141439624477, + 0.0277474805078698, + -0.009480938597854746, + 0.0 + ], + [ + -0.013385521782693682, + 0.011393182293403666, + 0.01905119204659472, + 0.010429582442192503, + 0.018873129055502844, + -0.007610181985860861, + 0.0 + ], + [ + -0.00012092687265623207, + 0.003969986762644836, + 0.010950234291767356, + 0.003396936621957224, + 0.02746832094631212, + -0.0056604818656839, + 0.0 + ], + [ + 0.0005981596581170855, + 0.0012340228172757677, + 0.006191241105069415, + -0.013202729122319224, + 0.021281729881351647, + -0.0027365313078987156, + 0.0 + ], + [ + -0.0023087857486510824, + -0.004977080316801809, + 0.005305459156743743, + -0.0028784612699766844, + 0.021042162292081817, + 0.008936314089757124, + 0.0 + ], + [ + 0.0007344776039828462, + -0.005928984489172528, + 0.0015455168758863717, + 0.012656410587622492, + 0.017431156461765497, + -0.012391361610016343, + 0.0 + ], + [ + 0.002013081414620739, + -0.006891124399353446, + -0.0013517258832328794, + 0.011692794518065895, + 0.005985068087662754, + 0.005865902751406802, + 1.0 + ], + [ + -0.00309043673145923, + -0.002026599178221141, + -0.001903480330941155, + 0.003228586110463261, + -0.02062712466698761, + -0.007891272491458776, + 1.0 + ], + [ + -0.00062277785737337, + -0.0005979300596153718, + -0.005036167703526055, + 0.013712213799420689, + -0.011566308469319912, + -0.00499955727682519, + 1.0 + ], + [ + 0.00528154052932923, + 0.009656034532170031, + -0.044822873534671175, + -0.0905725197534003, + -0.06030656825850794, + -0.04086019366437864, + 1.0 + ], + [ + 0.012318028408204946, + -0.00323818663731039, + -0.020113781410336488, + -0.034649466424950454, + -0.026513081175306794, + -0.013064509233553559, + 1.0 + ], + [ + 0.0010048433073492164, + 0.0007778224930539456, + -0.0010743235657751527, + -0.0036762994414213895, + -0.0020257853322253935, + -0.005632840436150614, + 1.0 + ], + [ + 0.00016489340010133227, + -0.0006468164702096945, + 0.00033362695397955947, + 0.0028970920916959833, + 0.0009667316617204001, + 0.0001936165647302246, + 1.0 + ], + [ + -0.00028569520815709506, + 0.00015337412359830695, + -3.3666209029642597e-07, + -0.0009660462572230437, + -0.0018023946853597058, + -0.0007232124805990585, + 1.0 + ] + ], + "state": [ + [ + 0.36210060119628906, + 0.13904961943626404, + 0.10376732796430588, + 2.9331191947036466, + -0.1635579764842987, + 2.0054147243499756, + 1.0 + ], + [ + 0.36231347918510437, + 0.13849399983882904, + 0.10376732796430588, + 2.9331191947036466, + -0.1635579764842987, + 2.003880739212036, + 1.0 + ], + [ + 0.35972464084625244, + 0.13770025968551636, + 0.08975975960493088, + 2.9716676642471036, + -0.16885875165462497, + 1.9971940517425537, + 1.0 + ], + [ + 0.3454863727092743, + 0.1362105906009674, + 0.0737781822681427, + 3.0192694087796887, + -0.19693864881992343, + 1.9441193342208862, + 1.0 + ], + [ + 0.3302167057991028, + 0.13384343683719635, + 0.08355620503425598, + 3.004701228933879, + -0.21254308521747586, + 1.920418381690979, + 1.0 + ], + [ + 0.3099132776260376, + 0.12661734223365784, + 0.08727050572633743, + 3.00647950370843, + -0.21904496848583224, + 1.818498134613037, + 1.0 + ], + [ + 0.2850741147994995, + 0.12060852348804474, + 0.08070351183414459, + 3.0264922623806676, + -0.2429641634225845, + 1.7007867097854614, + 1.0 + ], + [ + 0.26146000623703003, + 0.11400307714939117, + 0.06954971700906754, + 3.071710931258746, + -0.271976888179779, + 1.61474609375, + 1.0 + ], + [ + 0.24509868025779724, + 0.11170869320631027, + 0.05409551411867142, + 3.1060305406623563, + -0.28737306594848633, + 1.5779269933700562, + 1.0 + ], + [ + 0.23851415514945984, + 0.10742244869470596, + 0.04375448077917099, + 3.1308608233281454, + -0.26434603333473206, + 1.547221302986145, + 1.0 + ], + [ + 0.23931309580802917, + 0.10549760609865189, + 0.03481553494930267, + -3.13318963826681, + -0.2488669455051422, + 1.5185375213623047, + 1.0 + ], + [ + 0.23880302906036377, + 0.10350897163152695, + 0.02429114654660225, + -3.1119947900348386, + -0.243228480219841, + 1.5063663721084595, + 1.0 + ], + [ + 0.24042944610118866, + 0.1008206456899643, + 0.011401360854506493, + -3.079730464267083, + -0.21460644900798795, + 1.4836816787719727, + 1.0 + ], + [ + 0.247242733836174, + 0.09935389459133148, + 0.008215973153710365, + -3.0877753516011914, + -0.228949099779129, + 1.4701385498046875, + 1.0 + ], + [ + 0.24849934875965118, + 0.10005654394626617, + 0.006425928324460983, + -3.103867182629653, + -0.23967054486274722, + 1.478177785873413, + 0.0 + ], + [ + 0.24802885949611664, + 0.09924174845218658, + 0.006791962776333094, + -3.104426959651061, + -0.2351246178150177, + 1.4799525737762451, + 0.0 + ], + [ + 0.245124951004982, + 0.09695941209793091, + 0.007599164266139269, + -3.1069685985618314, + -0.2230968177318573, + 1.4757431745529175, + 0.0 + ], + [ + 0.2354036122560501, + 0.09475317597389221, + 0.013717763125896454, + -3.0616440569334706, + -0.1772897392511368, + 1.5058327913284302, + 0.0 + ], + [ + 0.25326991081237793, + 0.0981624498963356, + 0.0394442193210125, + -3.1338849744112274, + -0.16193881630897522, + 1.581333875656128, + 0.0 + ], + [ + 0.26920005679130554, + 0.09708317369222641, + 0.059233687818050385, + 3.119327576952525, + -0.12835703790187836, + 1.6437257528305054, + 0.0 + ], + [ + 0.29510581493377686, + 0.0944008156657219, + 0.08854947984218597, + 3.0630386044555387, + -0.07835417240858078, + 1.7291828393936157, + 0.0 + ], + [ + 0.31792527437210083, + 0.08766724914312363, + 0.09688010811805725, + 3.048330435650893, + -0.05067985877394677, + 1.7700477838516235, + 0.0 + ], + [ + 0.3427598178386688, + 0.08324987441301346, + 0.10167375952005386, + 3.013569953041621, + -0.052361782640218735, + 1.8138993978500366, + 0.0 + ], + [ + 0.367831826210022, + 0.07332165539264679, + 0.09201086312532425, + 3.000671373801776, + -0.06259963661432266, + 1.8461145162582397, + 0.0 + ], + [ + 0.38866472244262695, + 0.06584320217370987, + 0.07401475310325623, + 3.030141318338462, + -0.05720490962266922, + 1.87034273147583, + 0.0 + ], + [ + 0.4086548984050751, + 0.06130931153893471, + 0.058196648955345154, + 3.0281576981120786, + -0.08372126519680023, + 1.882891058921814, + 0.0 + ], + [ + 0.42512303590774536, + 0.05415678769350052, + 0.03949994966387749, + 3.037757197516509, + -0.10160773992538452, + 1.8926374912261963, + 0.0 + ], + [ + 0.42964741587638855, + 0.05665908381342888, + 0.02906196378171444, + 3.0402515177899083, + -0.12833771109580994, + 1.9011824131011963, + 0.0 + ], + [ + 0.43095818161964417, + 0.05855228379368782, + 0.0231535155326128, + 3.0263959189229688, + -0.14923185110092163, + 1.9061119556427002, + 0.0 + ], + [ + 0.42733076214790344, + 0.05579030513763428, + 0.017032811418175697, + 3.024468669789382, + -0.17115853726863864, + 1.8995596170425415, + 0.0 + ], + [ + 0.4215725064277649, + 0.054991528391838074, + 0.014962694607675076, + 3.0346330126100263, + -0.1870044767856598, + 1.9141557216644287, + 0.0 + ], + [ + 0.4143570065498352, + 0.05439232289791107, + 0.015934687107801437, + 3.047309251623698, + -0.19357900321483612, + 1.9088635444641113, + 1.0 + ], + [ + 0.4133991301059723, + 0.050493378192186356, + 0.017012575641274452, + 3.049364576237746, + -0.1722971796989441, + 1.9148651361465454, + 1.0 + ], + [ + 0.4128957986831665, + 0.04875800758600235, + 0.021792063489556313, + 3.062391722696372, + -0.1603182554244995, + 1.9188287258148193, + 1.0 + ], + [ + 0.41930681467056274, + 0.04891286790370941, + 0.06749872118234634, + 2.96596014698083, + -0.09686532616615295, + 1.9548838138580322, + 1.0 + ], + [ + 0.4091954231262207, + 0.05604315176606178, + 0.08783840388059616, + 2.9304564913087567, + -0.06847417354583739, + 1.9631297588348389, + 1.0 + ], + [ + 0.4093385934829712, + 0.05709746107459068, + 0.08911778777837753, + 2.9264339824491223, + -0.06531201303005219, + 1.9682238101959229, + 1.0 + ], + [ + 0.40874621272087097, + 0.05706009641289711, + 0.08866550773382187, + 2.9293298443132123, + -0.06629779189825058, + 1.9682410955429077, + 1.0 + ], + [ + 0.4089955687522888, + 0.05685326084494591, + 0.08867914974689484, + 2.928341733413287, + -0.06438348442316055, + 1.968569040298462, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.020461201667785645, + 0.17945623397827148, + 0.46653658151626587, + 0.5833691358566284, + 0.586055725812912, + 0.5878426134586334, + 0.5922945439815521, + 0.5931822955608368, + 0.5931822955608368, + 0.5931822955608368, + 0.5931822955608368, + 0.5931822955608368, + 0.5931822955608368, + 0.5931822955608368, + 0.5931822955608368, + 0.5931822955608368, + 0.5931822955608368, + 0.542190283536911, + 0.25229883193969727, + 0.014829039573669434, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1158", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1158/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1159.json b/annotation/test/1159.json new file mode 100644 index 0000000000000000000000000000000000000000..4d5a3b4583b51f1517e85efb7b5be55eb2baff10 --- /dev/null +++ b/annotation/test/1159.json @@ -0,0 +1,717 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "open microwave" + ], + "videos": [ + { + "video_path": "videos/test/1159/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -1.1910991253277392e-18, + 9.475058049366406e-19, + -6.242463119222105e-17, + 1.0 + ], + [ + -0.007926601238336387, + -0.0019303272054661577, + 0.010252118446710437, + 0.0022684037270007816, + -0.03786619749409305, + 0.0027145041592152052, + 1.0 + ], + [ + -0.0054712407283722285, + -0.029475147301203784, + 0.0034286302738953515, + -0.007196180294391555, + -0.0028845673809169657, + 0.07537522019326343, + 1.0 + ], + [ + -0.0011029265673716568, + -0.0335861758901628, + -0.02156703379355731, + 0.016313640521741838, + 0.04232145482366808, + 0.03056882986493998, + 1.0 + ], + [ + 0.00046724590061346513, + -0.023965083400043923, + -0.007510408415496123, + 0.017824313505255363, + 0.021454787384399005, + 0.03406782893565807, + 1.0 + ], + [ + 0.015612140995547258, + -0.01605776951887657, + -0.01173149790249729, + 0.013125122538604843, + 0.06031587293682868, + 0.024676732890130254, + 1.0 + ], + [ + 0.017012394523748805, + -0.009278664952046734, + -0.002360570080123179, + -0.0082119174239255, + 0.03015673175181436, + 0.01918722810673906, + 1.0 + ], + [ + 0.009546374002353012, + -0.003207043190821665, + 0.005817739590896924, + 0.01818495991399568, + 0.009324691526724308, + -0.0031678065987922038, + 1.0 + ], + [ + 0.012001448893969112, + -0.008629061282102344, + -0.001858762126532944, + 0.047412590753050946, + 0.03938024831066169, + -0.030848584468992947, + 1.0 + ], + [ + 0.007015415935229216, + -0.0009079436181443853, + 0.0006759699078510535, + -0.005130350039801474, + 0.01546730630568547, + 0.016216751243355983, + 1.0 + ], + [ + 0.0009032204410764628, + -0.0005130303715047265, + 0.001720432855984535, + 0.00020842592317765152, + -5.988296037815939e-05, + 0.015134894711884282, + 1.0 + ], + [ + 0.0017379496468841013, + -0.002282140723509603, + 2.0557639943127515e-05, + -0.012945189540623653, + 0.012472938808310326, + 0.03410280803312349, + 1.0 + ], + [ + -2.351099981768138e-05, + -0.0038857811915624678, + -0.0004270186316793524, + -0.008949281905995728, + -0.013503557374167387, + 0.04392514291494554, + 0.0 + ], + [ + -0.0016763505737066203, + -0.0013274627657821367, + 0.0006771588201406917, + -0.0010863105000609476, + 0.004308909082661902, + 0.026445243949237838, + 0.0 + ], + [ + -0.017838749376011726, + 0.0020468397836468743, + -0.0064090730468920306, + -0.00828039466040487, + 0.01109727285303536, + 0.03543603459686509, + 0.0 + ], + [ + -0.028202500827385485, + 0.006589590258261116, + -0.011010152570878253, + -0.03508532563241786, + -0.027650297050887146, + 0.05361782106632746, + 0.0 + ], + [ + -0.01931858293170963, + 0.009151777583959991, + -0.01620532410003057, + -0.018452722934507903, + -0.01906196580638142, + 0.0579099721968285, + 0.0 + ], + [ + -0.016225116839522883, + 0.01293150777430697, + -0.013376679754103905, + -0.11115060113053381, + -0.08793086243759955, + -0.006761391734346243, + 1.0 + ], + [ + 0.008679382291859834, + 0.005568155306398391, + -0.02898015237579445, + -0.0823329099386191, + -0.04707058497695595, + -0.05140324020834517, + 1.0 + ], + [ + 0.02304463028798334, + 0.006100016680130781, + -0.025151299943043905, + -0.06413763168249374, + 0.02351062610888842, + -0.10777499149015653, + 1.0 + ], + [ + 0.03501036985816764, + 0.005716829515800823, + -0.010564134482179223, + -0.04221085639578913, + 0.016046440849760573, + -0.11278629009803871, + 1.0 + ], + [ + 0.02050747749252333, + 0.0011868500738740834, + 0.008167062730790896, + 0.012930968140520607, + 0.0047277698282929765, + -0.07843578240477236, + 1.0 + ], + [ + 0.011781199831497405, + -0.009014783733652092, + 0.012350593231704994, + 0.09270759547210182, + 0.05623371567023069, + 0.00014138245865401457, + 1.0 + ], + [ + -0.008373135187275402, + -0.01027874590718975, + 0.01777604321481769, + 0.040162936916168734, + -0.01030163018877148, + 0.0672546692708586, + 1.0 + ], + [ + 9.982127784318304e-05, + -0.003525668427640637, + -0.000976489082442692, + 0.007641867420340183, + 0.007372157540812683, + 0.010717557832426929, + 1.0 + ], + [ + -0.007018698064516345, + -0.0043913523557589365, + 0.010876108700709783, + 0.03071396924605766, + -0.017473894660826116, + 0.006548502730678285, + 1.0 + ], + [ + -0.016693301243182898, + 0.00669496014459136, + 0.02643628482731641, + 0.0770279130154136, + -0.0676776351435249, + 0.014012938680159608, + 1.0 + ], + [ + -0.015379288326150702, + 0.019129485133085336, + 0.011013443592121553, + -0.0028253159830535987, + -0.09193285891057931, + 0.04622634706552762, + 1.0 + ], + [ + -0.012775754352434495, + 0.01699514668531641, + -0.004219635661073158, + 0.015072424016911919, + -0.03263507687482841, + 0.01797458436352393, + 1.0 + ], + [ + -0.012917907243967415, + 0.02413882164881291, + 0.014217594484078175, + -0.02101092457397443, + -0.014956519818223407, + 0.02459761832907889, + 1.0 + ], + [ + -0.0009249207928842855, + 0.02508748038388508, + 0.00583134494115445, + -0.031051734184111585, + 0.06018515714662873, + 0.00834204572908308, + 1.0 + ], + [ + 0.0026366680669301793, + 0.01151467501999906, + 0.00802246755087522, + -0.015858516244509447, + 0.03847808604229678, + -0.0219284190710338, + 1.0 + ], + [ + -0.0009894225753024277, + 0.009085427063878581, + 0.011070032406621534, + -0.009974068254070524, + 0.042072461792142045, + -0.007993203024581542, + 1.0 + ], + [ + 0.00012691907906779378, + 0.0025345695569138145, + 0.0029951121318047063, + 0.01551041475475653, + 0.012352805766929443, + 0.022728804795078182, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -4.877416995089563e-17, + 3.595313263032874e-17, + -7.429837623305005e-19, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -4.877416995089563e-17, + 3.595313263032874e-17, + -7.429837623305005e-19, + 1.0 + ] + ], + "state": [ + [ + 0.3573291599750519, + 0.009860238060355186, + 0.05814780667424202, + 2.9895723183923444, + -0.19603529572486877, + 0.2886258363723755, + 1.0 + ], + [ + 0.3573291599750519, + 0.009860238060355186, + 0.05814780667424202, + 2.9895723183923444, + -0.19603529572486877, + 0.2886258363723755, + 1.0 + ], + [ + 0.3517216145992279, + 0.008566134609282017, + 0.04637734219431877, + 2.9933972676568708, + -0.15901008248329163, + 0.28010404109954834, + 1.0 + ], + [ + 0.33978891372680664, + 0.034941013902425766, + 0.037865545600652695, + 2.998647930222102, + -0.16682495176792145, + 0.20407219231128693, + 1.0 + ], + [ + 0.3286709487438202, + 0.06972569227218628, + 0.0540148988366127, + 3.0189903174811086, + -0.21301914751529694, + 0.179312065243721, + 1.0 + ], + [ + 0.32377341389656067, + 0.09394419193267822, + 0.0585346557199955, + 3.043630825477191, + -0.23837280273437503, + 0.14722524583339694, + 1.0 + ], + [ + 0.33390724658966064, + 0.11276252567768097, + 0.07204001396894455, + 3.06120519538457, + -0.3007696270942688, + 0.12773340940475464, + 1.0 + ], + [ + 0.34834879636764526, + 0.12413307279348373, + 0.0786157101392746, + 3.0582025070958814, + -0.33232593536376953, + 0.1100720688700676, + 1.0 + ], + [ + 0.3589869737625122, + 0.12803661823272705, + 0.07599731534719467, + 3.075022632377692, + -0.3413516879081726, + 0.11424624919891359, + 1.0 + ], + [ + 0.36880072951316833, + 0.13795360922813416, + 0.08122167736291885, + 3.11039054219658, + -0.37839221954345703, + 0.15016475319862368, + 1.0 + ], + [ + 0.3753710389137268, + 0.13984422385692596, + 0.0831591933965683, + 3.1115527154230556, + -0.3943084180355072, + 0.13313335180282593, + 1.0 + ], + [ + 0.37679702043533325, + 0.14050044119358063, + 0.08190426230430603, + 3.1180608329647264, + -0.39465549588203425, + 0.11674348264932632, + 1.0 + ], + [ + 0.37815311551094055, + 0.14295613765716553, + 0.08250394463539124, + 3.119281046214052, + -0.4076880514621735, + 0.07992780208587646, + 1.0 + ], + [ + 0.37768620252609253, + 0.14682555198669434, + 0.08280695974826813, + 3.1293378473543605, + -0.39474770426750183, + 0.032029904425144196, + 0.0 + ], + [ + 0.3763638436794281, + 0.14810292422771454, + 0.08152222633361816, + 3.1392700244956693, + -0.3992349803447724, + 0.0033866218291223054, + 0.0 + ], + [ + 0.35744181275367737, + 0.14600688219070435, + 0.08049748092889786, + -3.137187673366167, + -0.4101487994194031, + -0.035225145518779755, + 0.0 + ], + [ + 0.3269847333431244, + 0.1404380351305008, + 0.07932212203741074, + 3.1338836281844458, + -0.3816482126712799, + -0.09285008162260056, + 0.0 + ], + [ + 0.30226072669029236, + 0.13367465138435364, + 0.08723131567239761, + 3.1385558137022933, + -0.36236196756362915, + -0.15493108332157132, + 0.0 + ], + [ + 0.280582994222641, + 0.12401323765516281, + 0.09402446448802948, + 3.0250021537118634, + -0.27440324425697327, + -0.14821112155914307, + 1.0 + ], + [ + 0.2806396186351776, + 0.12182165682315826, + 0.12470636516809464, + 2.930005060630389, + -0.22138665616512299, + -0.10155417025089264, + 1.0 + ], + [ + 0.29728519916534424, + 0.11943996697664261, + 0.15500661730766296, + 2.842341037588664, + -0.22041915357112885, + 0.011491265147924425, + 1.0 + ], + [ + 0.3288978636264801, + 0.11745470017194748, + 0.17415621876716614, + 2.776984455185481, + -0.20116461813449862, + 0.12631577253341678, + 1.0 + ], + [ + 0.3507668375968933, + 0.11617852002382278, + 0.17119218409061432, + 2.775777133303233, + -0.1770693063735962, + 0.20246851444244385, + 1.0 + ], + [ + 0.36386898159980774, + 0.1229519173502922, + 0.1587400734424591, + 2.864336999254771, + -0.22959305346012113, + 0.22298118472099301, + 1.0 + ], + [ + 0.3592262864112854, + 0.12704722583293915, + 0.137446328997612, + 2.9209290017657956, + -0.2375456541776657, + 0.15352268517017367, + 1.0 + ], + [ + 0.3587212860584259, + 0.13066647946834564, + 0.13764585554599762, + 2.930719884234019, + -0.24707536399364471, + 0.14440196752548218, + 1.0 + ], + [ + 0.3544926643371582, + 0.13209035992622375, + 0.1247258260846138, + 2.963939966755458, + -0.23134651780128482, + 0.13406668603420258, + 1.0 + ], + [ + 0.3455389142036438, + 0.11951934546232224, + 0.09672286361455917, + 3.0466065799170217, + -0.16713450849056244, + 0.10798918455839158, + 1.0 + ], + [ + 0.3341405391693115, + 0.09807813167572021, + 0.08514240384101868, + 3.052653135853358, + -0.07974977791309357, + 0.05327380821108818, + 1.0 + ], + [ + 0.321850448846817, + 0.08084607869386673, + 0.08981896936893463, + 3.0693564658337316, + -0.04882289841771126, + 0.03245624899864197, + 1.0 + ], + [ + 0.31037601828575134, + 0.05535830184817314, + 0.0767650157213211, + 3.0496118312054357, + -0.03566446155309677, + 0.006829474586993456, + 1.0 + ], + [ + 0.30975085496902466, + 0.029836392030119896, + 0.07323188334703445, + 3.0184924398832997, + -0.096360981464386, + 0.0040496704168617725, + 1.0 + ], + [ + 0.31305551528930664, + 0.017437057569622993, + 0.06696806102991104, + 3.0000152458720883, + -0.13182152807712555, + 0.030752658843994137, + 1.0 + ], + [ + 0.3136711120605469, + 0.006894440855830908, + 0.05724469572305679, + 2.9880804886394223, + -0.1723321825265884, + 0.04480224475264549, + 1.0 + ], + [ + 0.3143693804740906, + 0.00396002409979701, + 0.05473223328590393, + 3.0072027315669736, + -0.18797801434993744, + 0.023862823843955997, + 1.0 + ], + [ + 0.3143693804740906, + 0.00396002409979701, + 0.05473223328590393, + 3.0072027315669736, + -0.18797801434993744, + 0.023862823843955997, + 1.0 + ], + [ + 0.3143693804740906, + 0.00396002409979701, + 0.05473223328590393, + 3.0072027315669736, + -0.18797801434993744, + 0.023862823843955997, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0, + 0.0011776089668273926, + 0.0018453598022460938, + 0.05079597234725952, + 0.31580305099487305, + 0.6081382930278778, + 0.7520648837089539, + 0.7403817772865295, + 0.6732164919376373, + 0.396095335483551, + 0.11119049787521362, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752 + ], + "episode_id": "1159", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1159/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1163.json b/annotation/test/1163.json new file mode 100644 index 0000000000000000000000000000000000000000..d0b11e945a524487cd7f0c39e47a3cb60317a482 --- /dev/null +++ b/annotation/test/1163.json @@ -0,0 +1,888 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move knife to above broccoli" + ], + "videos": [ + { + "video_path": "videos/test/1163/rgb.mp4" + } + ], + "action": [ + [ + -0.00016827986630473448, + 0.0001756593623131854, + -1.7763473993523705e-07, + -0.001106096725793914, + -0.0010628471131671204, + -0.0015333927191365619, + 1.0 + ], + [ + -0.00035911719721728975, + 0.0004587426995002101, + 0.0056859346927285274, + -0.011369198253951164, + -0.013048097888225843, + -0.01612726227950063, + 1.0 + ], + [ + 0.010194189496953587, + 0.026115374856523772, + 0.011744069492180523, + 0.04825774224056808, + 0.033005700642187136, + -0.10935999896828555, + 1.0 + ], + [ + 0.011807760093739137, + 0.023315600956488235, + 0.013676321595776291, + 0.03943918785344693, + 0.028440081433007764, + -0.08869997398358177, + 1.0 + ], + [ + 0.010653407176754223, + 0.02645544636247194, + 0.02052559628770995, + 0.055530348400638106, + 0.04792347595357792, + -0.13378918948092322, + 1.0 + ], + [ + 0.007035646827858257, + 0.013751684228137601, + 0.021609970274253803, + -0.007951839919249451, + 0.06686456812715325, + -0.025181133620599386, + 1.0 + ], + [ + 0.008018535970505442, + 0.012885200692325783, + 0.02058174000521666, + -0.014691487371714246, + 0.04555510665833225, + 0.011323738653011959, + 1.0 + ], + [ + 0.00014762099793806945, + 0.012258405498854673, + 0.028506349238701798, + 0.016028357696293356, + -0.02518865918022599, + 0.050446316713528255, + 1.0 + ], + [ + 0.005531637277473296, + 0.009131349801296509, + 0.015606610502824409, + 0.018304630925878862, + -0.01726452926953205, + 0.03239895191593372, + 1.0 + ], + [ + 0.0014892107228166764, + 0.004017519138873643, + 0.015103636572534967, + 0.03464928805263906, + -0.02567706781695705, + 0.022003997189278722, + 1.0 + ], + [ + 0.003946027515686028, + -0.002043161777440733, + 0.004436939400587776, + -0.004977483117972309, + -0.004520655375056369, + -0.009709992072176063, + 1.0 + ], + [ + 0.0033075557121935864, + -0.0018815733129572457, + 0.001242468087326024, + -0.009645832763071552, + 0.00418869375391233, + 0.001777763093560531, + 1.0 + ], + [ + -0.00021803542626989118, + -0.0016057623529715781, + -0.0006315726027066666, + -0.04094438069837574, + -0.011795522438045913, + -0.0031165126449179863, + 0.0 + ], + [ + -0.006570591219952729, + -0.003463042591206842, + -0.0016990538437715338, + -0.008090915473758873, + -0.03965913421869085, + -0.0027496307187269086, + 0.0 + ], + [ + -0.006981554103245078, + -0.006033012538704951, + -0.006889891794916714, + 0.036468340696120836, + -0.05791194687112255, + -0.048751474659418745, + 0.0 + ], + [ + 0.0016735566936180758, + -0.006996997829205147, + -0.02051879535229443, + 0.031679685651007504, + -0.020871011468526466, + -0.1061602412308, + 0.0 + ], + [ + 0.002151054659230332, + -0.013551453496467965, + -0.018062159338947902, + -0.06284364923921922, + 0.03235364750124476, + -0.1740549515861509, + 0.0 + ], + [ + 0.008118842399441271, + -0.010596204709216328, + -0.00574582014118375, + -0.02316570604061042, + 0.029710863997623568, + -0.23438581809323247, + 0.0 + ], + [ + 0.016180488629900763, + -0.00945361923738695, + -0.014204741249484388, + -0.028580144703327988, + 0.12820041960420472, + -0.24324934873891768, + 0.0 + ], + [ + 0.021340480682086844, + -0.008369035480991332, + 0.0009111677494469577, + 0.01961166169872519, + 0.05615116000290703, + -0.254258332455201, + 0.0 + ], + [ + 0.022300599541415785, + 0.002375617546735797, + 0.005946015374819747, + -0.06017839062929304, + 0.0501505656391687, + -0.2583293225187809, + 0.0 + ], + [ + 0.023219301186441568, + 0.015815873561280235, + 0.00981110452826203, + 0.013796925214028352, + 0.03341956247621225, + -0.23420757897514188, + 0.0 + ], + [ + 0.014502299629178697, + 0.02510614556837125, + 0.00508536685292398, + -0.007210403874100936, + 0.04034397898782429, + -0.10774525741176015, + 0.0 + ], + [ + 0.01850059515210278, + 0.01687054776475933, + 0.017707329983679382, + 0.022887908505524936, + -0.0035452915697015905, + -0.055019815870852605, + 0.0 + ], + [ + 0.02134627460336776, + 0.004810186849306297, + 0.020717052997659652, + 0.012064805850770915, + -0.02104807653367353, + -0.053868866587871926, + 0.0 + ], + [ + 0.008426615206918765, + 0.009558176309317254, + 0.015524561390823734, + 0.020085700777291063, + -0.014151096311841808, + -0.0035679135936148095, + 0.0 + ], + [ + 0.012177218494116985, + 0.004864294073122726, + 0.010188423768121044, + 0.023611693917317145, + 0.0012373537306662025, + -0.008985714147920714, + 0.0 + ], + [ + 0.005409050665550393, + -0.0021151651331049698, + 0.0012913164502887462, + 0.006749337203866349, + -0.019273020739064606, + -0.0035293161093550777, + 0.0 + ], + [ + 0.009186602737117763, + -0.002081192195914437, + 0.005277093141550712, + 0.00552707176444099, + -0.009648054428023018, + 0.005099180806984361, + 0.0 + ], + [ + 0.009051589018454147, + -0.0011078731579484305, + -0.0015242461649846066, + 0.005067292657212357, + -0.013506839223561497, + 0.029287586493399076, + 0.0 + ], + [ + 0.005661085953930596, + 0.0016523903996764951, + -0.002052264029489457, + -0.013593325838197586, + -0.0159411835396485, + 0.047628595792630825, + 0.0 + ], + [ + 0.00024254841137321399, + 0.0009291239700842668, + 8.821280581194111e-06, + -0.00465115624751716, + 0.005059828816911085, + 0.012232204817367618, + 1.0 + ], + [ + -0.000427572195469714, + 0.003354971887759716, + -0.008464116858959161, + 0.00114875728640906, + -0.0015483573420966657, + 0.0036145799949431263, + 1.0 + ], + [ + -0.010424391881204632, + 0.00978062517101287, + -0.020115987386858276, + -0.030317201432564642, + 0.005164453706471339, + 0.06028143147920194, + 1.0 + ], + [ + -0.026272362438353153, + 0.012694143589555637, + -0.018161861791524084, + -0.049770628903225894, + 0.005237608872969411, + 0.08247299294815387, + 1.0 + ], + [ + -0.02921009775022919, + -0.0032273774332856097, + -0.004647426032943932, + 0.0922619922766833, + -0.017995240582015, + 0.2198577742787786, + 1.0 + ], + [ + -0.040276032907685784, + -0.0015670939523915626, + -0.007174911180543484, + 0.03601380171321345, + -0.018148218037654696, + 0.2664706518511986, + 1.0 + ], + [ + -0.04273795222364288, + 0.0025042307589263307, + -0.008742175231101991, + -0.005217802323772966, + -0.07812870246468454, + 0.23937846369198276, + 1.0 + ], + [ + -0.036082922288842564, + 0.010162808578573386, + -0.013374665775344852, + -0.06541802074360721, + -0.05941884358856438, + 0.24672681582616737, + 1.0 + ], + [ + -0.024440509836494026, + 0.020264507389904995, + -0.011780025375047468, + -0.04250543974786181, + -0.0548677182821617, + 0.2442277925081352, + 1.0 + ], + [ + -0.020895588370325194, + 0.028093031064797602, + -0.021500312039709774, + 0.0130134033748019, + 0.008212720098148269, + 0.25487576922060673, + 1.0 + ], + [ + -0.009760686548430495, + 0.023753605740416548, + -0.01793311790704202, + -0.016946410286872642, + -0.014111716309578802, + 0.15485777828092637, + 1.0 + ], + [ + -0.010175877305398678, + 0.03603580729144447, + -0.014722017001950308, + 0.026219850252242473, + -0.016132103675961934, + 0.16447475529525885, + 1.0 + ], + [ + -0.005009520106718052, + 0.01090851347742244, + -0.008705875403381916, + 0.012479786956521983, + 0.01658124742082217, + 0.06058028973374037, + 1.0 + ], + [ + -0.0009638198756592095, + 0.0015086352602812628, + -0.0017908597150313242, + -0.0004407411413480049, + 0.0026494546134427483, + 0.012751368879093944, + 1.0 + ] + ], + "state": [ + [ + 0.2088586986064911, + 0.05798136815428734, + 0.14115257561206818, + 2.9327058364921292, + -0.01072117779403925, + -0.38761207461357117, + 1.0 + ], + [ + 0.20863761007785797, + 0.05788606032729149, + 0.1411873698234558, + 2.9315860738330564, + -0.0093634445220232, + -0.3863323628902435, + 1.0 + ], + [ + 0.20773670077323914, + 0.0564885251224041, + 0.13571886718273163, + 2.920094670849391, + 0.006760674063116312, + -0.373280793428421, + 1.0 + ], + [ + 0.20696088671684265, + 0.02665989100933075, + 0.12993024289608002, + 2.9704583903127393, + -0.001512228511273861, + -0.2593669593334198, + 1.0 + ], + [ + 0.21189787983894348, + -0.0008298474713228643, + 0.1204422190785408, + 3.010423245029994, + -0.01444730069488287, + -0.1671295166015625, + 1.0 + ], + [ + 0.21783262491226196, + -0.03115241229534149, + 0.10370881855487823, + 3.065071614580699, + -0.044379714876413345, + -0.028188148513436317, + 1.0 + ], + [ + 0.22533446550369263, + -0.04673348367214203, + 0.08354566991329193, + 3.055634433525153, + -0.10910332947969437, + 0.0021533251274377108, + 1.0 + ], + [ + 0.23544910550117493, + -0.0613163560628891, + 0.06513460725545883, + 3.0416678955131253, + -0.15545929968357086, + -0.005296910647302865, + 1.0 + ], + [ + 0.23971760272979736, + -0.0763801857829094, + 0.03834350407123566, + 3.066035660105296, + -0.13520938158035278, + -0.058477103710174554, + 1.0 + ], + [ + 0.2465897798538208, + -0.08708348125219345, + 0.024352096021175385, + 3.0889343825453004, + -0.12036260217428209, + -0.09232762455940247, + 1.0 + ], + [ + 0.24939675629138947, + -0.09217085689306259, + 0.009767256677150726, + 3.126393969292291, + -0.09584637731313705, + -0.11575309187173843, + 1.0 + ], + [ + 0.25395122170448303, + -0.09071161597967148, + 0.0056979157961905, + 3.1204906423860272, + -0.09117420762777327, + -0.1060728207230568, + 1.0 + ], + [ + 0.25753897428512573, + -0.08922819048166275, + 0.004722492769360542, + 3.110999135422059, + -0.09539934992790221, + -0.10776950418949127, + 1.0 + ], + [ + 0.25744277238845825, + -0.08758397400379181, + 0.005281235557049513, + 3.069789471226283, + -0.08351365476846694, + -0.10500583797693253, + 0.0 + ], + [ + 0.25118598341941833, + -0.0833287313580513, + 0.006174330599606037, + 3.061650650697299, + -0.04375950247049332, + -0.10511001199483871, + 0.0 + ], + [ + 0.24466045200824738, + -0.07603991776704788, + 0.012248915620148182, + 3.0961388183110437, + 0.01790150068700314, + -0.061215873807668686, + 0.0 + ], + [ + 0.24717581272125244, + -0.06825711578130722, + 0.03239539638161659, + 3.1299394789435944, + 0.04346703365445138, + 0.04395725205540658, + 0.0 + ], + [ + 0.2494952529668808, + -0.05438077822327614, + 0.050188034772872925, + 3.0748078246885022, + 0.012474526651203634, + 0.21830469369888306, + 0.0 + ], + [ + 0.25510919094085693, + -0.041912999004125595, + 0.055112238973379135, + 3.0563786794715604, + -0.0020192835945636034, + 0.45409199595451355, + 0.0 + ], + [ + 0.26496362686157227, + -0.025276102125644684, + 0.06849347800016403, + 3.029325382905551, + -0.10921478271484376, + 0.7071723937988281, + 0.0 + ], + [ + 0.2759060561656952, + -0.005119061563163996, + 0.06898749619722366, + 3.0243698750906667, + -0.13318978250026703, + 0.9682520627975464, + 0.0 + ], + [ + 0.291373074054718, + 0.011976049281656742, + 0.06637140363454819, + 2.9332499225908, + -0.14854273200035095, + 1.2334944009780884, + 0.0 + ], + [ + 0.3157995045185089, + 0.028736837208271027, + 0.06354986876249313, + 2.9178821613364896, + -0.12911897897720337, + 1.4715371131896973, + 0.0 + ], + [ + 0.3426995277404785, + 0.04043159633874893, + 0.06602323800325394, + 2.897166224318095, + -0.1437658667564392, + 1.5866966247558594, + 0.0 + ], + [ + 0.36303022503852844, + 0.060943786054849625, + 0.05571063607931137, + 2.9128129502111157, + -0.126817986369133, + 1.6396455764770508, + 0.0 + ], + [ + 0.3707684576511383, + 0.08512227982282639, + 0.039477404206991196, + 2.9190337379747113, + -0.09396134316921234, + 1.6875301599502563, + 0.0 + ], + [ + 0.38231128454208374, + 0.0961538776755333, + 0.027293579652905464, + 2.9390632679038724, + -0.07937175780534743, + 1.68788743019104, + 0.0 + ], + [ + 0.3875773847103119, + 0.1097145527601242, + 0.019285691902041435, + 2.9619633575254163, + -0.07877313345670701, + 1.696966528892517, + 0.0 + ], + [ + 0.3850468099117279, + 0.11495980620384216, + 0.01806800626218319, + 2.9686767031722745, + -0.05917968973517418, + 1.6969952583312988, + 0.0 + ], + [ + 0.3827180862426758, + 0.12423966079950333, + 0.01306459866464138, + 2.9745953251891812, + -0.050551529973745346, + 1.6903038024902344, + 0.0 + ], + [ + 0.3803120255470276, + 0.1329885870218277, + 0.014839178882539272, + 2.9813027550750455, + -0.042075511068105705, + 1.6591527462005615, + 0.0 + ], + [ + 0.3811199963092804, + 0.13864170014858246, + 0.01736496016383171, + 2.9699724336438855, + -0.033885471522808075, + 1.6095654964447021, + 0.0 + ], + [ + 0.3820270895957947, + 0.13891439139842987, + 0.01752307452261448, + 2.9657092710309705, + -0.04095780849456787, + 1.5983679294586182, + 1.0 + ], + [ + 0.3838704228401184, + 0.138172447681427, + 0.026418667286634445, + 2.9670160581641873, + -0.04006550833582878, + 1.5945351123809814, + 1.0 + ], + [ + 0.39027437567710876, + 0.12704375386238098, + 0.047492895275354385, + 2.939342277246066, + -0.05554739013314247, + 1.535979986190796, + 1.0 + ], + [ + 0.3981037735939026, + 0.09939327836036682, + 0.06634450703859329, + 2.8946566750579557, + -0.07705067843198776, + 1.4560105800628662, + 1.0 + ], + [ + 0.39049798250198364, + 0.07066576182842255, + 0.06780261546373367, + 3.009552704291888, + -0.11108310520648956, + 1.2370880842208862, + 1.0 + ], + [ + 0.37477588653564453, + 0.032941028475761414, + 0.07020139694213867, + 3.0796654765778264, + -0.12381196767091751, + 0.9684547185897827, + 1.0 + ], + [ + 0.35173943638801575, + -0.004019205924123526, + 0.07373585551977158, + 3.1059390438073358, + -0.056852523237466805, + 0.7249119281768799, + 1.0 + ], + [ + 0.33060723543167114, + -0.03566901758313179, + 0.0853918045759201, + 3.05553990800912, + -0.004430151078850031, + 0.4766036570072174, + 1.0 + ], + [ + 0.31763532757759094, + -0.06394866853952408, + 0.09876149892807007, + 3.016633743541785, + 0.02959783934056759, + 0.22870168089866638, + 1.0 + ], + [ + 0.3037204146385193, + -0.09305557608604431, + 0.12420301139354706, + 3.026230039196559, + -0.010917257517576218, + -0.02309270016849041, + 1.0 + ], + [ + 0.2932414710521698, + -0.11435078084468842, + 0.14464335143566132, + 3.012359770136424, + -0.014520435594022274, + -0.17855793237686154, + 1.0 + ], + [ + 0.27694347500801086, + -0.14579403400421143, + 0.16373687982559204, + 3.0427195375138005, + -0.019424153491854664, + -0.3437660634517669, + 1.0 + ], + [ + 0.2686808705329895, + -0.15345323085784912, + 0.1733779013156891, + 3.0564957951479634, + -0.04186766594648361, + -0.4024537205696106, + 1.0 + ], + [ + 0.2671920359134674, + -0.15428772568702698, + 0.17524848878383636, + 3.056584285693713, + -0.045588035136461265, + -0.41494667530059814, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05310845375061035, + 0.3358554244041443, + 0.6176750957965851, + 0.6611760556697845, + 0.6619860827922821, + 0.6619860827922821, + 0.6619860827922821, + 0.6619860827922821, + 0.6619860827922821, + 0.6619860827922821, + 0.6619860827922821, + 0.6619860827922821, + 0.6619860827922821, + 0.6619860827922821, + 0.6619860827922821, + 0.6619860827922821, + 0.6619860827922821, + 0.6619860827922821, + 0.6619860827922821, + 0.5931822955608368, + 0.2878596782684326, + 0.025468170642852783, + 0.0, + 0.0005114078521728516, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "1163", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1163/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1167.json b/annotation/test/1167.json new file mode 100644 index 0000000000000000000000000000000000000000..7097cab876b4d4b2ba791a2c4c436851af72edfa --- /dev/null +++ b/annotation/test/1167.json @@ -0,0 +1,679 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Pick up the pineapple and place it on the yellow towel" + ], + "videos": [ + { + "video_path": "videos/test/1167/rgb.mp4" + } + ], + "action": [ + [ + 0.00011287396880596144, + 0.0008080000330923941, + -6.323324526693429e-06, + -0.0015176830271521604, + 0.00021604380018993338, + -0.0007845919908950176, + 1.0 + ], + [ + -0.003927859906956118, + -0.00016530020617355228, + 0.012945951651017395, + -0.0033694365673618333, + -0.036698568337669, + -0.003425420868572115, + 1.0 + ], + [ + -0.003308882388372453, + -0.019335830311009078, + 0.009798831029476174, + 0.00013289535395463858, + -0.029794855090212694, + -0.06331072962114868, + 1.0 + ], + [ + -0.00031098161375404595, + -0.02970786511409543, + -0.0036026638672773453, + 0.011608443169162645, + 0.010625086072207537, + -0.08440712675853049, + 1.0 + ], + [ + 0.01143823686179979, + -0.026411545874685687, + -0.007988541484955907, + 0.008259683995768523, + 0.013750377142961148, + -0.052104921546367054, + 1.0 + ], + [ + 0.006043550226318385, + -0.023479750443553084, + 0.0010805001457618309, + 0.010388500296662712, + 0.008906770343927175, + -0.05174820508955005, + 1.0 + ], + [ + -0.009809028474094225, + -0.007042733747823203, + 0.0045037801905535284, + -0.037823634072353327, + -0.037374085155579044, + -0.014479372275428488, + 1.0 + ], + [ + -0.051572170164841245, + 0.008625029004157422, + 0.0012695840344754787, + -0.03170331343956982, + -0.07002073198691985, + 0.06028639527376084, + 1.0 + ], + [ + -0.0254551186029984, + -0.009077290621282805, + -0.01787050357824978, + 0.0486013866374229, + 0.0283451521510035, + -0.02321496713711018, + 1.0 + ], + [ + -0.019535974115390493, + -0.027819651307229742, + 0.005733219885161551, + 0.0090713993645378, + -0.019901571660975767, + -0.0733193457812703, + 1.0 + ], + [ + -0.00398356693804139, + -0.011512228399752434, + 0.002189785887361111, + 0.010461528675416455, + -0.0029375119892993363, + -0.01665055568850606, + 1.0 + ], + [ + -0.003363151135353597, + -0.02060396956551037, + 0.0008025253841241399, + 0.024291799548318633, + 0.008177085881918384, + -0.019463627712829508, + 1.0 + ], + [ + -0.009748993461374339, + -0.018479377545022716, + -0.010578581051223035, + 0.010768576779473524, + 0.027073963920787543, + -0.002668236624248917, + 1.0 + ], + [ + -0.008618227518454128, + -0.004994177009296137, + -0.0003085044899924324, + 0.010819212140317974, + 0.004864493126063672, + 0.02857423031414523, + 1.0 + ], + [ + -0.0005438871502277856, + -0.0004241907890903882, + 0.004776400417827952, + 0.005803998307228006, + -0.008367733969869565, + 0.0037891507824940464, + 1.0 + ], + [ + -0.003348344409814695, + 0.0011863814973948044, + 0.027798048647534084, + -0.008907644772983541, + -0.06904215517252195, + -0.01879628109256503, + 1.0 + ], + [ + 0.0024108464050063383, + -0.0012073912416188522, + 0.008224282721670445, + 6.654358716397238e-05, + -0.01901517237745407, + -0.018509516339554007, + 1.0 + ], + [ + 0.0023779900550217666, + 0.0013621784038024619, + -0.0007498902098626954, + -0.01394572155547648, + 0.010224130263115933, + 0.0036102642031989696, + 1.0 + ], + [ + -0.000970041631278768, + 0.0016243928119890495, + -0.001628065031163979, + -0.00220130062956792, + 0.018382164585051965, + 0.016271047976037786, + 0.0 + ], + [ + -0.0010489033772259923, + 0.0037675909940078265, + -0.021673529259432195, + 0.0002371129228670683, + 0.06612946339171123, + 0.0007728803625688547, + 0.0 + ], + [ + 0.009193606940620696, + 0.0284177432774997, + -0.0359439262249259, + -0.024149246517026563, + 0.11555688469661018, + 0.034136236799150184, + 0.0 + ], + [ + 0.02607316589151659, + 0.054939276405036465, + -0.014582774465764458, + -0.14017299981679618, + 0.07540469142777058, + 0.09157915016807318, + 0.0 + ], + [ + 0.019594974479089065, + 0.04935832236029709, + 0.03577448217156767, + -0.11423626979953279, + -0.08506425930059623, + 0.12480566225467392, + 0.0 + ], + [ + 0.0258646247907838, + 0.042404720030973723, + 0.019453894297845296, + -0.008119552557598506, + -0.020331196410279098, + 0.08740708724351216, + 0.0 + ], + [ + 0.01883657204405168, + 0.0091747106252, + 0.013486253271134195, + 0.02147258042749583, + -0.020543221993795803, + 0.03893824756349459, + 0.0 + ], + [ + 0.003482758402921215, + -0.002342106234904468, + 0.0035950594934245047, + 0.05224177804024818, + -0.026142468493215935, + 0.017273721681788347, + 0.0 + ], + [ + -0.0007049187973327726, + -0.005478148514626656, + -0.00013726441133486662, + 0.031106036130690143, + -0.0030539917667897877, + -0.019577347958148347, + 0.0 + ], + [ + -0.0021193098390086674, + -0.008154878417435014, + -0.0004824928920668675, + 0.012724442971888439, + -0.004840229475288365, + -0.022304085934480227, + 0.0 + ], + [ + -0.003584456071340981, + -0.0023100743532412063, + -0.0006933416150845985, + 0.00812284405369336, + -0.02043646582112641, + -0.013295894938541232, + 1.0 + ], + [ + -0.0005678190664774556, + -0.001126668645462658, + -0.01375559267961795, + 0.016234040261047862, + 0.021615440554537554, + -0.0010899721876335064, + 1.0 + ], + [ + -0.004329718230193913, + -0.003948794997666406, + -0.020583567856061687, + 0.04278629760283805, + 0.02677298443655107, + -0.02031104000167322, + 1.0 + ], + [ + -0.002706582022068799, + -0.00036262566078282423, + -0.005792419737155344, + 0.0024691123099513704, + 0.00583144252646302, + -0.011568546979736001, + 1.0 + ], + [ + -0.0005051768840053824, + 7.813706219023614e-05, + 0.0009087830080502177, + -0.0004569116906030511, + -0.0030337605116477484, + -0.0015290893119835256, + 1.0 + ], + [ + 0.0005348337590427645, + 0.00013808492401190281, + -0.0009104987327529717, + -0.0009013508759916423, + 0.0032368936410620336, + -0.0006911532236229848, + 1.0 + ] + ], + "state": [ + [ + 0.39466723799705505, + -0.008005273528397083, + 0.06970656663179398, + -3.1123892591618976, + -0.1322697401046753, + -0.16384615004062653, + 1.0 + ], + [ + 0.39464810490608215, + -0.008820916526019573, + 0.0697043314576149, + -3.1140104570710143, + -0.1325085610151291, + -0.16306132078170774, + 1.0 + ], + [ + 0.3925776183605194, + -0.007950984872877598, + 0.05636231601238251, + -3.1179504582011184, + -0.09591712057590483, + -0.15860715508460999, + 1.0 + ], + [ + 0.3932981491088867, + 0.011744496412575245, + 0.046749357134103775, + -3.123994220169731, + -0.0674298107624054, + -0.09449069201946259, + 1.0 + ], + [ + 0.39550909399986267, + 0.041307639330625534, + 0.050843920558691025, + -3.1181321573727807, + -0.07929737120866774, + -0.010023019276559351, + 1.0 + ], + [ + 0.4064919054508209, + 0.067415751516819, + 0.06032886356115341, + -3.114018913479992, + -0.09415913373231888, + 0.041970156133174896, + 1.0 + ], + [ + 0.41155800223350525, + 0.09114982932806015, + 0.06046624854207039, + -3.108530679839202, + -0.104363352060318, + 0.09373261779546738, + 1.0 + ], + [ + 0.4016151428222656, + 0.09743457287549973, + 0.05519911274313927, + 3.1352100634300193, + -0.06747543811798096, + 0.10946506261825562, + 1.0 + ], + [ + 0.35149282217025757, + 0.08324097096920013, + 0.05051015317440033, + 3.107595181214162, + 0.002283326582983136, + 0.048880282789468765, + 1.0 + ], + [ + 0.32563525438308716, + 0.09166709333658218, + 0.06811986118555069, + -3.1269372842558703, + -0.025257090106606483, + 0.0730438381433487, + 1.0 + ], + [ + 0.30425554513931274, + 0.11807793378829956, + 0.06230327859520912, + -3.11975981679792, + -0.006362801883369683, + 0.14663466811180115, + 1.0 + ], + [ + 0.29863837361335754, + 0.1289309710264206, + 0.0603400319814682, + -3.109407564746686, + -0.003788584610447288, + 0.16334544122219088, + 1.0 + ], + [ + 0.2919674515724182, + 0.14872880280017853, + 0.060188207775354385, + -3.085193323093005, + -0.012587030418217182, + 0.18253667652606964, + 1.0 + ], + [ + 0.27899667620658875, + 0.16448982059955597, + 0.07166801393032074, + -3.0744184126430234, + -0.03976833447813988, + 0.1836746335029602, + 1.0 + ], + [ + 0.26959866285324097, + 0.16779106855392456, + 0.07196789979934692, + -3.062479021149226, + -0.04268757253885269, + 0.15481224656105044, + 1.0 + ], + [ + 0.2691377103328705, + 0.16852916777133942, + 0.06722106039524078, + -3.0565395822101316, + -0.034046344459056854, + 0.15169458091259003, + 1.0 + ], + [ + 0.26658689975738525, + 0.16933229565620422, + 0.03932484611868858, + -3.066107267635413, + 0.03315957635641099, + 0.17625367641448977, + 1.0 + ], + [ + 0.2683745324611664, + 0.17150355875492096, + 0.031139567494392395, + -3.065381759899207, + 0.05071825534105301, + 0.19616693258285522, + 1.0 + ], + [ + 0.2710117995738983, + 0.17058464884757996, + 0.03166218474507332, + -3.0795463678711137, + 0.04079819098114967, + 0.19178526103496552, + 1.0 + ], + [ + 0.2704496383666992, + 0.16872110962867737, + 0.033224690705537796, + -3.0824555699997624, + 0.023454098030924797, + 0.174403578042984, + 0.0 + ], + [ + 0.2707863748073578, + 0.16366080939769745, + 0.054656367748975754, + -3.0821994004123887, + -0.04251417517662048, + 0.16972391307353973, + 0.0 + ], + [ + 0.28355926275253296, + 0.13490387797355652, + 0.08920992910861969, + -3.104237889992543, + -0.15580494701862335, + 0.12852716445922852, + 0.0 + ], + [ + 0.31428390741348267, + 0.08296802639961243, + 0.10562501102685928, + 3.053714955347129, + -0.22703585028648376, + 0.031961821019649506, + 0.0 + ], + [ + 0.34208059310913086, + 0.03152243793010712, + 0.07953447103500366, + 2.969840796785899, + -0.1512524336576462, + -0.10095200687646867, + 0.0 + ], + [ + 0.3647609353065491, + -0.016111474484205246, + 0.07164742052555084, + 2.976006509857722, + -0.14552751183509827, + -0.19149971008300784, + 0.0 + ], + [ + 0.382590651512146, + -0.03105027601122856, + 0.0627140998840332, + 3.0037009735875806, + -0.1315537989139557, + -0.23365004360675812, + 0.0 + ], + [ + 0.3868677020072937, + -0.030191490426659584, + 0.059321630746126175, + 3.0586565380268773, + -0.10800541937351227, + -0.25446891784667974, + 0.0 + ], + [ + 0.3875996768474579, + -0.024729158729314804, + 0.05893046781420708, + 3.0876907651596746, + -0.10332012176513673, + -0.23510874807834628, + 0.0 + ], + [ + 0.38744837045669556, + -0.016292789950966835, + 0.05875410512089729, + 3.0981469136946878, + -0.09726026654243469, + -0.21299362182617188, + 0.0 + ], + [ + 0.3843994736671448, + -0.013241330161690712, + 0.05899558588862419, + 3.105056831734725, + -0.07625815272331236, + -0.20056453347206113, + 1.0 + ], + [ + 0.38314586877822876, + -0.011324788443744183, + 0.07261775434017181, + 3.1211385635011872, + -0.09781921654939651, + -0.19867701828479767, + 1.0 + ], + [ + 0.3778213560581207, + -0.005796161945909262, + 0.0925954058766365, + -3.121315688016363, + -0.1241498216986656, + -0.17766815423965457, + 1.0 + ], + [ + 0.37451446056365967, + -0.004953344352543354, + 0.09801419824361801, + -3.12027724285657, + -0.13020643591880798, + -0.1661226898431778, + 1.0 + ], + [ + 0.3741272985935211, + -0.004947999492287636, + 0.09704606980085373, + -3.1209426542096814, + -0.12720578908920288, + -0.16451631486415863, + 1.0 + ], + [ + 0.37451139092445374, + -0.00517076812684536, + 0.09801404178142548, + -3.1219237634264907, + -0.13045623898506165, + -0.16388680040836334, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.04393261671066284, + 0.32481974363327026, + 0.3950936794281006, + 0.396095335483551, + 0.3950936794281006, + 0.396095335483551, + 0.396095335483551, + 0.3950936794281006, + 0.3950936794281006, + 0.396095335483551, + 0.396095335483551, + 0.3038042187690735, + 0.04393261671066284, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1167", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1167/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1180.json b/annotation/test/1180.json new file mode 100644 index 0000000000000000000000000000000000000000..2fd621f74dbca2d1917e9b0433ee7bda7d3a4752 --- /dev/null +++ b/annotation/test/1180.json @@ -0,0 +1,565 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the mushroom in front of the pot" + ], + "videos": [ + { + "video_path": "videos/test/1180/rgb.mp4" + } + ], + "action": [ + [ + -0.00022709021692485042, + 8.720345549766412e-05, + -1.8638074125950066e-07, + -0.0005476910266493717, + -0.0014328822762180867, + -0.0015335681135103868, + 1.0 + ], + [ + -0.002079873418382766, + 0.0030596765358225936, + 0.008561901309056527, + -0.01279200731611044, + -0.025667698974255238, + -0.004379369480642053, + 1.0 + ], + [ + 0.015654167265683125, + 0.025221674466837114, + 0.01070624619923172, + -0.015666685686969592, + -0.015957981877997934, + 0.017839346773122558, + 1.0 + ], + [ + 0.032366818302126454, + 0.03303501851716062, + 0.012504005741889087, + -0.03199530796722597, + 0.0016582230035667128, + 0.002282436511080203, + 1.0 + ], + [ + 0.034711528471280534, + 0.015195475100159395, + 0.009748812169036562, + -0.008455853902223393, + 0.012011113003266894, + -0.03080170596288552, + 1.0 + ], + [ + 0.024975905442501518, + 0.0061548162290224, + -0.002101943645924564, + -0.013948748330679488, + 0.047864203542811345, + -0.05993399634349105, + 1.0 + ], + [ + 0.0037658075117334186, + 0.002601843624393902, + -0.0020325163421471646, + 0.006680081599649663, + 0.012798950176594583, + -0.008607269210213986, + 1.0 + ], + [ + -0.0018364176017240626, + -0.002447604843252484, + 0.006420850183983854, + -0.015338210129071994, + -0.028004659253314197, + 0.0006495802922623867, + 1.0 + ], + [ + 0.001131012888017347, + 0.0012543862804950962, + -0.0017445089984048667, + -0.02345934820439862, + -0.00043135421926086836, + 0.0038797457170168265, + 1.0 + ], + [ + 0.01556654674486741, + 0.002607791428095096, + -0.009560163294925967, + -0.020443544395681038, + 0.05615562453987149, + 0.024223325616718083, + 1.0 + ], + [ + 0.016877636279912896, + -0.0036822127220661814, + -0.011377728870752878, + 0.01841966369502129, + 0.05481464860499352, + 0.01951156539786485, + 1.0 + ], + [ + 0.0009365896301813777, + -0.000759305424556128, + 0.004418971113231282, + 0.00896819606717773, + 0.02809821768212587, + 0.030383134421687476, + 1.0 + ], + [ + -0.0013986508425454923, + 0.004642084395944522, + 0.005045438732079379, + -0.03104944863431967, + 0.021252240387112566, + 0.009074755420899708, + 1.0 + ], + [ + -0.00865470984534822, + -0.005186248877792272, + 0.006798959461995099, + -0.04805083367755515, + 0.00950262997566988, + 0.02406514884127411, + 0.0 + ], + [ + -0.003431298017875994, + -0.0011350201806771723, + 0.00347728949284012, + -0.0072002152671882085, + -0.011350700086154249, + 0.016766235808578594, + 0.0 + ], + [ + -0.011950460405029688, + 0.004952274373600985, + -0.009859464570607027, + -0.03753331708225824, + -0.023406882598486493, + 0.006578067336085262, + 0.0 + ], + [ + -0.012327091499800267, + 0.020955912912960062, + -0.054703368095408225, + -0.008142405701116417, + -0.033763699699135084, + -0.007940324265962664, + 0.0 + ], + [ + -0.04400104787775996, + 0.040811933648245605, + -0.019734589327254, + -0.00917376976068007, + -0.07556762171600863, + 0.05588773456504536, + 0.0 + ], + [ + -0.04513162001160807, + 0.04294428064477565, + 0.014220254153846697, + 0.05007821265842145, + -0.09477787470449674, + 0.10360673799303458, + 0.0 + ], + [ + -0.021448298957394675, + 0.03833879044366043, + 0.014395093686449919, + 0.058865912783183164, + -0.03804292969505601, + 0.09840645156237056, + 0.0 + ], + [ + 0.003111124269724471, + 0.009792649862739047, + 0.006794196068900226, + 0.03449662241024429, + -0.005494160320547482, + 0.01611690184285988, + 0.0 + ], + [ + 0.002642545554808186, + 0.00858830384207409, + 0.005775252149716177, + 0.002049920913755338, + -0.007295780242185449, + 0.01792659717074135, + 0.0 + ], + [ + 0.001826180571878152, + 0.0009260487506366433, + -0.0009274239037737248, + -0.006374830463146032, + 0.007201873211768285, + 0.0011168397367556557, + 0.0 + ], + [ + -0.0015245765569066904, + 0.0037011487289859966, + -0.0009545354974612734, + -0.026371075482351947, + -0.013760250405986817, + 0.007527800014269038, + 1.0 + ], + [ + 0.0005185025978509468, + -0.0005987719686570785, + -0.0095177519285924, + -0.13035402608015154, + 0.030607081110035086, + -0.06182359821352294, + 1.0 + ], + [ + -0.002111292923537582, + -0.03688344048656832, + -0.0075738283920041725, + -0.033141190476830354, + 0.010401395454593567, + -0.005757616802596745, + 1.0 + ], + [ + -0.0002300934125841386, + 0.003274815089625468, + -9.986298335210207e-05, + -0.00690482145992982, + -0.005274673220209705, + 0.038169313368515305, + 1.0 + ], + [ + 0.0006746892709825584, + -0.0013413508020396268, + -0.000399974378376284, + 0.003726708179620844, + 0.003988951319497179, + 0.000327815566465434, + 1.0 + ] + ], + "state": [ + [ + 0.24600793421268463, + 0.18122686445713043, + 0.06561776995658875, + -2.987775223451205, + -0.08031041920185089, + 0.12872508168220523, + 1.0 + ], + [ + 0.24579556286334991, + 0.18111245334148407, + 0.06558641791343689, + -2.9884626140170774, + -0.07912929356098175, + 0.13046552240848538, + 1.0 + ], + [ + 0.2446630746126175, + 0.17923122644424438, + 0.05652153491973877, + -3.001861633854457, + -0.05442730337381363, + 0.13871924579143524, + 1.0 + ], + [ + 0.2641517221927643, + 0.15823964774608612, + 0.043279338628053665, + -3.0166865607076367, + -0.03613385930657387, + 0.12326873838901521, + 1.0 + ], + [ + 0.30068302154541016, + 0.13130716979503632, + 0.027937261387705803, + -3.0485927407913884, + -0.03749470412731171, + 0.12079576402902603, + 1.0 + ], + [ + 0.3372451961040497, + 0.12141644209623337, + 0.018128443509340286, + -3.0581918006115636, + -0.05229754745960235, + 0.15038667619228363, + 1.0 + ], + [ + 0.36276882886886597, + 0.1189035177230835, + 0.021013779565691948, + -3.0751031209998807, + -0.10490407049655916, + 0.2063592374324799, + 1.0 + ], + [ + 0.36680394411087036, + 0.116957888007164, + 0.0232530627399683, + -3.069235513108321, + -0.11824344843626021, + 0.21415081620216367, + 1.0 + ], + [ + 0.36512237787246704, + 0.11956547945737839, + 0.01685280352830887, + -3.0847084914618215, + -0.09026501327753066, + 0.21553312242031097, + 1.0 + ], + [ + 0.3663646876811981, + 0.11845391243696213, + 0.018618326634168625, + -3.107819905626126, + -0.08961310982704164, + 0.21166867017745972, + 1.0 + ], + [ + 0.38130983710289, + 0.11866945773363113, + 0.029440097510814667, + -3.1258607638352593, + -0.14488807320594785, + 0.1853254735469818, + 1.0 + ], + [ + 0.39545658230781555, + 0.1248854398727417, + 0.04319135844707489, + -3.104420108842202, + -0.1993584930896759, + 0.16457249224185944, + 1.0 + ], + [ + 0.39706820249557495, + 0.12608873844146729, + 0.03907604515552521, + -3.0890742895477494, + -0.22620815038681027, + 0.13235673308372498, + 1.0 + ], + [ + 0.3974682688713074, + 0.12173260748386383, + 0.03361475467681885, + -3.1177604553573808, + -0.24694274365901944, + 0.12186259031295776, + 1.0 + ], + [ + 0.39010754227638245, + 0.12621788680553436, + 0.02502819523215294, + 3.1235033125900706, + -0.2557947635650635, + 0.09676197916269301, + 0.0 + ], + [ + 0.3875805735588074, + 0.12704958021640778, + 0.020776567980647087, + 3.120729524763771, + -0.24471163749694824, + 0.07927313446998596, + 0.0 + ], + [ + 0.3739927113056183, + 0.12120970338582993, + 0.027545128017663956, + 3.0849455279582223, + -0.22144088149070743, + 0.07203324139118195, + 0.0 + ], + [ + 0.35105636715888977, + 0.10168314725160599, + 0.0792771652340889, + 3.0754271318488797, + -0.18727776408195496, + 0.07815202325582504, + 0.0 + ], + [ + 0.3068781793117523, + 0.05868496745824814, + 0.09308312088251114, + 3.077568145590373, + -0.1152234673500061, + 0.01714094914495945, + 0.0 + ], + [ + 0.2641180157661438, + 0.014179399237036705, + 0.07652676850557327, + 3.1403046767278617, + -0.02656977623701096, + -0.09191476553678511, + 0.0 + ], + [ + 0.2396266609430313, + -0.022083021700382233, + 0.06161632016301155, + -3.081397833424159, + 0.011475154198706152, + -0.1903054267168045, + 0.0 + ], + [ + 0.24082666635513306, + -0.03185257315635681, + 0.054210104048252106, + -3.0470886175804814, + 0.017927467823028564, + -0.2060648649930954, + 0.0 + ], + [ + 0.24165987968444824, + -0.040204767137765884, + 0.04760388284921646, + -3.045357810454913, + 0.026879588142037395, + -0.22322863340377808, + 0.0 + ], + [ + 0.2432381808757782, + -0.04159965738654137, + 0.04838865250349045, + -3.051778780417987, + 0.01981830783188343, + -0.22503262758255008, + 0.0 + ], + [ + 0.24092264473438263, + -0.04493901506066322, + 0.04903746396303177, + -3.0782672857218465, + 0.03419789299368859, + -0.23129884898662567, + 1.0 + ], + [ + 0.24174334108829498, + -0.04513717070221901, + 0.05855072662234306, + 3.076522695022174, + -0.0003189617127645761, + -0.17156843841075897, + 1.0 + ], + [ + 0.24602921307086945, + -0.008026167750358582, + 0.06370954215526581, + 3.043377274768897, + -0.010323956608772276, + -0.16514663398265841, + 1.0 + ], + [ + 0.24526381492614746, + -0.011192661710083485, + 0.06412764638662338, + 3.0369415154033383, + -0.008808904327452183, + -0.20365047454833984, + 1.0 + ], + [ + 0.2462005615234375, + -0.009981287643313408, + 0.06439124792814255, + 3.040666589634963, + -0.01281027588993311, + -0.20355980098247528, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0005114078521728516, + 0.0, + 0.0, + 0.03421902656555176, + 0.3138011693954468, + 0.6124871075153351, + 0.7763764560222626, + 0.8366141468286514, + 0.8571837097406387, + 0.8679704368114471, + 0.8729427605867386, + 0.8729427605867386, + 0.8729427605867386, + 0.8438340872526169, + 0.6185365319252014, + 0.3078004717826843, + 0.0349576473236084, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1180", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1180/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1189.json b/annotation/test/1189.json new file mode 100644 index 0000000000000000000000000000000000000000..ac22019c2728e0e0e90f032552cf3da4e31fab0e --- /dev/null +++ b/annotation/test/1189.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "wipe pot with sponge" + ], + "videos": [ + { + "video_path": "videos/test/1189/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -1.0832233225516589e-17, + -2.0563164813459215e-19, + -3.446532647082637e-18, + 1.0 + ], + [ + -0.001207578144313015, + -0.001644049083307759, + 0.007389476100834618, + 0.0077220555216350436, + -0.031946736555618666, + 0.06288322395643642, + 1.0 + ], + [ + 0.002619910773729228, + -0.01960587990192843, + -0.002602316000181494, + -0.019278162442263137, + -0.03632516350670637, + 0.25613104460503044, + 1.0 + ], + [ + -0.004445844025506753, + -0.020007042476927098, + -0.0031301294291369375, + -0.06320471756249359, + -0.05006294501827478, + 0.24575220662624744, + 1.0 + ], + [ + -0.010010712894065318, + -0.005998371194723252, + 0.0062206595886713885, + 0.004000341668216607, + -0.05175235255226262, + 0.25461030158443276, + 1.0 + ], + [ + -0.01061269787260339, + -0.0017445324345432226, + 0.005637080840956558, + -0.01159094661575377, + -0.04907886921736689, + 0.24886436352476782, + 1.0 + ], + [ + -0.008933249810514696, + -0.0032031763967225527, + 0.009695224964668944, + 0.03452855589420041, + 0.0011852253697768587, + 0.22553585985437233, + 1.0 + ], + [ + -0.0025056971333617434, + -0.0035986006329205567, + 0.009168488279284228, + 0.03822158554242358, + -0.013481310414295792, + 0.12225662127759349, + 1.0 + ], + [ + -0.008315387572909625, + 0.0013067875033955518, + 0.010340500120100658, + 0.06148948426847752, + -0.03376689496120785, + 0.007924324250405892, + 1.0 + ], + [ + -0.0035300058578689856, + 0.0005089682172833354, + 0.011153760322250933, + 0.02378064760913542, + -0.02391711228482874, + 0.00588516999628717, + 1.0 + ], + [ + -0.0013792975130563789, + 0.0019152967584316154, + 0.0094451395656231, + 0.020929068973066185, + -0.023118964675511028, + 0.010555541307277386, + 1.0 + ], + [ + -5.838075360925789e-05, + -0.0007220377648703673, + 0.005708023359314241, + 0.032328088139395784, + -0.022030888358490704, + -0.020454379865435135, + 1.0 + ], + [ + 0.0004153985895311721, + -0.0017501503317703636, + -0.000773124111379537, + 0.007160292449631588, + 0.00024794634434447386, + -0.03475416184474958, + 1.0 + ], + [ + 0.003123045849066088, + -0.012522844738080388, + -0.0055124870926606786, + 0.031660480797174935, + 0.01370182487401104, + -0.05946475012783018, + 0.0 + ], + [ + 0.006231868186762258, + -0.014561730109636082, + -0.020227558209185297, + 0.010670778629537225, + 0.06423881625603238, + -0.061496098513224066, + 0.0 + ], + [ + 0.004623591602187277, + -0.023951802806079225, + -0.025346643933666584, + -0.021408635044051515, + 0.0710879017488369, + -0.0699639786153832, + 0.0 + ], + [ + 0.0025010064519246614, + -0.012995202290700903, + 0.0010103029289162022, + -0.026852358240401837, + 0.023421027703413613, + -0.02588705523903666, + 0.0 + ], + [ + -0.00010730956056514859, + -0.011829985918968385, + -0.008862424305484099, + -0.00397321806552756, + 0.023097321770884433, + -0.04968913135512786, + 0.0 + ], + [ + 0.0006745246221163644, + -0.010506144108897381, + 0.011141782318003373, + 0.013568978541970405, + -0.07368437554791193, + -0.09906082949175378, + 0.0 + ], + [ + 0.0012451091467511103, + -0.01938444942650073, + 0.003824434302336958, + 0.018273600436630393, + -0.06956684600712112, + -0.13457792848547023, + 0.0 + ], + [ + 0.0011083147634939545, + -0.017046257865619852, + 0.004770226236158168, + -0.010674293429688252, + -0.06418890744041811, + -0.13648004445576234, + 0.0 + ], + [ + 0.0012466595481140242, + -0.01461660688792773, + -0.00191507456006839, + 0.06142670883696934, + 0.03359661268620494, + -0.16623704532801684, + 0.0 + ], + [ + 0.00120591997019003, + -0.011807183053624984, + 0.0011463821031536705, + 0.04419109165850433, + 0.028628524630242208, + -0.09186038818856475, + 0.0 + ] + ], + "state": [ + [ + 0.23780204355716705, + -0.1001366674900055, + 0.14647285640239716, + -3.0966269468241414, + 0.00031671932083554566, + 0.024214005097746853, + 1.0 + ], + [ + 0.23780204355716705, + -0.1001366674900055, + 0.14647285640239716, + -3.0966269468241414, + 0.00031671932083554566, + 0.024214005097746853, + 1.0 + ], + [ + 0.23654469847679138, + -0.0981919914484024, + 0.13916513323783875, + -3.0889861566298684, + 0.035055458545684814, + -0.03717269003391266, + 1.0 + ], + [ + 0.24001085758209229, + -0.07886553555727005, + 0.14270071685314178, + -3.118755081790038, + 0.08352849632501602, + -0.2917026877403259, + 1.0 + ], + [ + 0.24178586900234222, + -0.058589085936546326, + 0.14664532244205475, + 3.0801791978352746, + 0.1366318315267563, + -0.5382421612739563, + 1.0 + ], + [ + 0.23537489771842957, + -0.048233162611722946, + 0.1414930671453476, + 3.0509681199961385, + 0.16828949749469754, + -0.7990641593933105, + 1.0 + ], + [ + 0.22828374803066254, + -0.039185743778944016, + 0.13758036494255066, + 2.9995760341458997, + 0.18949104845523834, + -1.0558607578277588, + 1.0 + ], + [ + 0.22459612786769867, + -0.029016584157943726, + 0.12939193844795227, + 2.995461957650729, + 0.15193447470664978, + -1.2815594673156738, + 1.0 + ], + [ + 0.22560827434062958, + -0.02461610548198223, + 0.12028694152832031, + 3.016022490459033, + 0.14636138081550595, + -1.405808448791504, + 1.0 + ], + [ + 0.22145898640155792, + -0.015474656596779823, + 0.11151216924190521, + 3.0756571387224874, + 0.178859069943428, + -1.4180902242660522, + 1.0 + ], + [ + 0.219402015209198, + -0.010279345326125622, + 0.10122120380401611, + 3.098068008320876, + 0.20233140885829928, + -1.4256917238235474, + 1.0 + ], + [ + 0.2166348546743393, + -0.007418750319629908, + 0.09233631193637848, + 3.1166070589148482, + 0.22495545446872714, + -1.4375388622283936, + 1.0 + ], + [ + 0.21703171730041504, + -0.006019834894686937, + 0.08676928281784058, + -3.1296737074204763, + 0.24744491279125214, + -1.4170212745666504, + 1.0 + ], + [ + 0.2188434600830078, + -0.006343349348753691, + 0.08743728697299957, + -3.113745769607373, + 0.24663037061691284, + -1.3811877965927124, + 1.0 + ], + [ + 0.2318267673254013, + -0.00839199684560299, + 0.09235657006502151, + -3.0673274268680295, + 0.23084187507629395, + -1.3205227851867676, + 0.0 + ], + [ + 0.24714864790439606, + -0.015755673870444298, + 0.1116192415356636, + -3.0435161908441266, + 0.1618499159812927, + -1.2633463144302368, + 0.0 + ], + [ + 0.2702275216579437, + -0.01787673309445381, + 0.1380840390920639, + -3.0547412504726132, + 0.08394091576337813, + -1.2006443738937378, + 0.0 + ], + [ + 0.28328385949134827, + -0.015494490042328835, + 0.1379946619272232, + -3.079599155234643, + 0.058339182287454605, + -1.1768535375595093, + 0.0 + ], + [ + 0.29385295510292053, + -0.011590005829930305, + 0.1475629359483719, + -3.0808191766315183, + 0.032141335308551795, + -1.1286808252334595, + 0.0 + ], + [ + 0.3040873408317566, + -0.007118554785847664, + 0.13706356287002563, + -3.064078675704547, + 0.09951215982437134, + -1.0250641107559204, + 0.0 + ], + [ + 0.32138338685035706, + 0.0022036638110876083, + 0.1346394121646881, + -3.0323833619528493, + 0.15750780701637268, + -0.8840286731719971, + 0.0 + ], + [ + 0.33529597520828247, + 0.012780310586094856, + 0.13161736726760864, + -3.0211745669418058, + 0.20486675202846527, + -0.7385247945785522, + 0.0 + ], + [ + 0.346362441778183, + 0.022017814218997955, + 0.13494433462619781, + -2.928249256806918, + 0.14896856248378754, + -0.5758686065673828, + 0.0 + ], + [ + 0.353950560092926, + 0.031138867139816284, + 0.13612960278987885, + -2.8722499926858625, + 0.10103873163461685, + -0.4917870759963989, + 0.0 + ] + ], + "continuous_gripper_state": [ + 0.03274601697921753, + 0.03274601697921753, + 0.03274601697921753, + 0.03274601697921753, + 0.03274601697921753, + 0.03274601697921753, + 0.03274601697921753, + 0.03274601697921753, + 0.03274601697921753, + 0.03274601697921753, + 0.03274601697921753, + 0.03274601697921753, + 0.1189766526222229, + 0.41209590435028076, + 0.6405960619449615, + 0.78205905854702, + 0.8609960228204727, + 0.8936688974499702, + 0.8940681740641594, + 0.8825324028730392, + 0.8799635544419289, + 0.879532054066658, + 0.8786661103367805, + 0.8786661103367805 + ], + "episode_id": "1189", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1189/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1190.json b/annotation/test/1190.json new file mode 100644 index 0000000000000000000000000000000000000000..484dc7a6e04d8d4e05ca53c3c74a28769a824d97 --- /dev/null +++ b/annotation/test/1190.json @@ -0,0 +1,945 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put the utensil between the pan and towel" + ], + "videos": [ + { + "video_path": "videos/test/1190/rgb.mp4" + } + ], + "action": [ + [ + 5.785031024173275e-05, + 4.664805766194956e-05, + -0.0004622015277108001, + 0.000568764010272806, + 0.0014085438825491524, + -0.001320037528855666, + 1.0 + ], + [ + -0.0026321605283061633, + -0.0002575881073042362, + 0.008708933720777842, + -0.011315084735114025, + -0.028195802720224514, + -0.0041111590168143525, + 1.0 + ], + [ + -5.763067009522923e-05, + -4.6443567544665956e-05, + 0.00045989046860015577, + -0.0005684540425153729, + -0.0014086753381992814, + -0.0002131183822699159, + 1.0 + ], + [ + -0.0004547061936574026, + 6.217335134152239e-05, + 0.0008007370710060835, + -0.0011366358385721308, + -0.002817465171460272, + -0.0004254344166148492, + 1.0 + ], + [ + 5.67931650991884e-05, + 4.671132298090851e-05, + -0.00045937711963957463, + 0.0005687715565525333, + 0.0014085486011486347, + 0.00021391765783128718, + 1.0 + ], + [ + 0.0008278990848872166, + 0.00160806605551607, + 0.0001923336982595183, + -0.0021116841652153895, + 0.0019886725245580276, + -0.004442511086683111, + 1.0 + ], + [ + 0.0031621527607548043, + 0.02818937391428676, + 0.007658315926727002, + -0.016625803091413906, + -0.009603179957901567, + 0.0499121644513596, + 1.0 + ], + [ + 0.011093575976137901, + 0.043297353893401565, + -0.010192361382465317, + 0.0172284125304444, + 0.04757415634155024, + 0.08029463246305532, + 1.0 + ], + [ + 0.0063725106428974415, + 0.028630530895425967, + 0.004204501266336828, + 0.0006480071727313048, + 0.0016043019458750634, + 0.03972422143845405, + 1.0 + ], + [ + 0.0009451053373269938, + 0.010226547747232069, + 0.018218037010299407, + -0.009441211773435433, + -0.016954410810939586, + -0.0066414329694370645, + 1.0 + ], + [ + -0.0038354249950571066, + -0.005217095528337345, + 0.03706338564774162, + -0.0038370845800050923, + -0.05390029788506718, + -0.02524202107240098, + 1.0 + ], + [ + 0.0019750100830199856, + -0.0018770769915915219, + 0.026875660936827066, + -0.003497985252975028, + -0.04155038504609418, + -0.008453399051525418, + 1.0 + ], + [ + 0.01392214994828909, + 0.011918300881152812, + 0.013610185026514796, + 0.015758580182223855, + -0.007459684998231428, + 0.03225143694933883, + 1.0 + ], + [ + 0.00717932109079976, + 0.013613563349034106, + 0.0005482879577927363, + 0.02599691902687711, + 0.005668753057995115, + 0.04627978893628459, + 1.0 + ], + [ + 0.0011102306559413464, + 0.007244612667977141, + 7.217872766068348e-05, + 0.020879806461774394, + -0.0029731516083289673, + 0.014608559018295322, + 1.0 + ], + [ + -0.0035476316438473494, + 0.0015216617908140237, + -0.029209170424008408, + 0.010414316371604664, + 0.05875065900956327, + -0.04049507933229574, + 1.0 + ], + [ + -0.006225295954552488, + -0.005989444789042117, + -0.03310304001827022, + -0.022129464547219604, + 0.029882260366404404, + -0.050923945154270345, + 1.0 + ], + [ + -0.0034723953072569686, + -0.006345741226665313, + -0.012657096754139792, + -0.004870469677793236, + 0.00276566562590337, + -0.02563181755683225, + 1.0 + ], + [ + 0.0021529034949082848, + 0.0027966017539545504, + 0.005234311589099653, + -0.0032533436976466814, + -0.029894275467094413, + -0.013837471257245918, + 1.0 + ], + [ + -0.0014746468790415566, + 0.012171090765653914, + 0.01589268118276015, + 0.03647290549740604, + -0.06040055356840807, + -0.005865540156968714, + 1.0 + ], + [ + -0.0018538082242435846, + 0.011388202895860029, + 0.002360357509725367, + 0.029483724000458712, + -0.009814414236904748, + -0.0535627795645738, + 1.0 + ], + [ + -0.002105085332006649, + 0.010218793033494905, + 0.00881726395228747, + 0.007404229815936517, + -0.020087974529187917, + -0.011734997475463797, + 1.0 + ], + [ + 0.0017991511517530744, + 0.0027825231702859822, + 8.907579600882137e-05, + 0.003163041780962877, + 0.016207544754653285, + -0.0283617910505351, + 1.0 + ], + [ + -0.0017634734877114582, + 0.005548673878437286, + 0.009508439143335354, + 0.011995168233490288, + -0.011613369357597597, + -0.0021336577912567083, + 1.0 + ], + [ + 0.0002583923464170787, + 0.0023892032567650466, + 0.011384421110223572, + 0.0048158937707789996, + -0.014703237273821739, + -0.003704767862278432, + 1.0 + ], + [ + -0.003623451851102848, + 0.0029925081771835994, + 0.014864022649549414, + 0.013808340788072802, + -0.03935112531181539, + 0.012061921160545894, + 1.0 + ], + [ + 0.0005995275490093682, + 0.0016954436419314752, + 0.0026579798570242124, + -0.005964191405152702, + -0.0017548736718364113, + -0.0012526512832859637, + 1.0 + ], + [ + -0.00042988111209743226, + -6.918127882714753e-05, + 0.0057824220903939, + 0.0018651735782431544, + -0.01061586654000886, + 0.012538297639161361, + 1.0 + ], + [ + 0.0009385330475354537, + 0.0002566364868813958, + -2.984529061279014e-06, + -0.001627479431329072, + 0.005916169263114422, + -0.0015387993539751682, + 1.0 + ], + [ + 0.00034151965350823763, + 0.0007037871045834887, + 0.00031478270826118526, + -0.004849625903231996, + 0.003458385289621433, + 0.0035036191629674303, + 0.0 + ], + [ + -0.0010994442421366215, + -0.00022689921786969827, + 0.0009323715970876968, + -0.0029203505643201934, + -0.0039115907133040395, + -0.0011862528278329069, + 0.0 + ], + [ + -0.0012344219556926176, + -0.0013024854965023203, + -0.001139474839371007, + -0.007420860689002121, + 0.001433800445281468, + -0.0012627170635062205, + 0.0 + ], + [ + -0.006121827696508577, + -0.0012756924980828718, + -0.035850082944163385, + -0.031033959172009656, + 0.06035789181188877, + -0.010212889913228742, + 0.0 + ], + [ + -0.0033194522262887365, + -0.0061243605175314115, + -0.04169811976542264, + -0.033274918484967206, + 0.07533752164477059, + -0.01097601150160251, + 0.0 + ], + [ + -0.011303140297933629, + -0.015274622199325485, + -0.02644805865902582, + -0.028811638303462016, + 0.01884119425046618, + -0.016951176236291263, + 0.0 + ], + [ + -0.019812887545278282, + -0.02669972558476968, + -0.004787687337550914, + -0.009404024295925023, + -0.03614129268424293, + -0.02196584803388757, + 0.0 + ], + [ + -0.021941104582305294, + -0.04169086542114962, + 0.0026430042825209537, + -0.002049558375434784, + -0.03269281040836132, + -0.06394397464736112, + 0.0 + ], + [ + -0.0177148425666687, + -0.014813762523676525, + 0.012935451084926575, + -0.00272788755544092, + -0.05091375969472433, + 0.02629808303493143, + 0.0 + ], + [ + -0.007846870952904407, + -0.00945876180658847, + 0.027739806385784046, + 0.0038748438516270343, + -0.04209090223667905, + 0.04153960956125188, + 0.0 + ], + [ + 0.017369247148186103, + 0.01299479245927355, + 0.02845495108266681, + 0.043055547626063825, + 0.008914723945380933, + 0.11885357184553288, + 0.0 + ], + [ + 0.013576391114549733, + 0.005539176777165408, + 0.016788179368640375, + 0.024294065962079166, + 0.03761640901438335, + 0.021690885554031324, + 0.0 + ], + [ + 0.01433125361100834, + 0.010343673051414988, + 0.010939733131838698, + 0.04456280409071434, + 0.025082948119779486, + 0.054701872605695784, + 0.0 + ], + [ + 0.005315098266199933, + 0.0068751182317548475, + 0.002503607082887923, + 0.013631448377223777, + 0.013509158943523603, + 0.0060268420822089325, + 0.0 + ], + [ + -0.004691896899494492, + 0.0019011316758937693, + 0.0009509923635500325, + -0.0007804824855048217, + 0.0030326139399116337, + -0.02278058316791548, + 0.0 + ], + [ + -0.007104857917664252, + 0.004723405200988935, + -0.0014490278709115086, + -0.014687774754726839, + -0.019681748591563616, + -0.011484907932030974, + 0.0 + ], + [ + -0.004588155732095852, + 0.0007718902377867627, + -0.012626845196423708, + -0.007335051894785001, + 0.015596565102649668, + -0.010025965971793772, + 1.0 + ], + [ + -0.0036395261974151386, + -0.006440817224613278, + -0.030342949918382843, + -0.022481307209942607, + 0.04865621048562793, + -0.03397729275559445, + 1.0 + ], + [ + 0.0002496088763872774, + -0.014620974360161772, + -0.045492843073687554, + -0.030597447433539236, + 0.0828170630626309, + -0.05877570350319608, + 1.0 + ] + ], + "state": [ + [ + 0.2883715331554413, + 0.10163626819849014, + 0.09907904267311096, + 3.0270184223824224, + -0.0894293561577797, + 0.0282417181879282, + 1.0 + ], + [ + 0.2883874773979187, + 0.10164321959018707, + 0.09954685717821121, + 3.0274551530652722, + -0.09067765623331069, + 0.02972020395100116, + 1.0 + ], + [ + 0.28657495975494385, + 0.10085306316614151, + 0.09066256880760193, + 3.0160153826051435, + -0.06219710782170296, + 0.03059387765824795, + 1.0 + ], + [ + 0.286546528339386, + 0.10084066540002823, + 0.09019779413938522, + 3.0154446234279355, + -0.06077283248305321, + 0.030628949403762814, + 1.0 + ], + [ + 0.2861455976963043, + 0.10066588222980499, + 0.08938507735729218, + 3.014303373294421, + -0.05792422965168953, + 0.03069663979113102, + 1.0 + ], + [ + 0.2861751914024353, + 0.10067877918481827, + 0.08984918147325516, + 3.0148739536576947, + -0.059348538517951965, + 0.030663203448057175, + 1.0 + ], + [ + 0.28705015778541565, + 0.09908537566661835, + 0.08991070091724396, + 3.012486593919345, + -0.06075917929410934, + 0.03533002734184265, + 1.0 + ], + [ + 0.2914673984050751, + 0.07028267532587051, + 0.08614476770162582, + 2.9991062005334577, + -0.05758092179894447, + -0.015486326068639755, + 1.0 + ], + [ + 0.30096563696861267, + 0.02871939167380333, + 0.10299378633499146, + 3.020762661593505, + -0.11591266840696333, + -0.08859407901763916, + 1.0 + ], + [ + 0.3047942817211151, + -0.0006631735595874488, + 0.1030128076672554, + 3.026075357692786, + -0.1222025528550148, + -0.12812992930412292, + 1.0 + ], + [ + 0.3062036633491516, + -0.013204280287027359, + 0.08633627742528915, + 3.0160496552758893, + -0.10459433495998384, + -0.12346231192350389, + 1.0 + ], + [ + 0.30636170506477356, + -0.012684586457908154, + 0.04871543124318123, + 3.0101386328511914, + -0.0479406900703907, + -0.10518173128366472, + 1.0 + ], + [ + 0.3094305694103241, + -0.01467967126518488, + 0.02195114642381668, + 3.006386535363742, + -0.005640753544867039, + -0.10225322842597961, + 1.0 + ], + [ + 0.3219537138938904, + -0.029680434614419937, + 0.010150415822863579, + 3.022401126223155, + -0.0025925920344889164, + -0.1352154910564423, + 1.0 + ], + [ + 0.32723379135131836, + -0.04410605505108833, + 0.011243409477174282, + 3.048636222379752, + -0.013719722628593447, + -0.18049545586109164, + 1.0 + ], + [ + 0.32702165842056274, + -0.051406607031822205, + 0.011859181337058544, + 3.0697292034798345, + -0.01211385428905487, + -0.19531796872615817, + 1.0 + ], + [ + 0.32330670952796936, + -0.05008087679743767, + 0.041057098656892776, + 3.0795493965321263, + -0.06779409199953078, + -0.15067480504512787, + 1.0 + ], + [ + 0.31618356704711914, + -0.040876951068639755, + 0.07322832196950912, + 3.0538956468277654, + -0.09436853975057603, + -0.09778106212615967, + 1.0 + ], + [ + 0.3123382031917572, + -0.03303416073322296, + 0.08490016311407089, + 3.046614559488841, + -0.0948474332690239, + -0.07188915461301805, + 1.0 + ], + [ + 0.3147074282169342, + -0.03649366647005081, + 0.08018077909946442, + 3.0422862266474446, + -0.06376999616622926, + -0.06093276664614677, + 1.0 + ], + [ + 0.31333422660827637, + -0.05012211576104164, + 0.06550879776477814, + 3.078587243455001, + -0.0030858595855534077, + -0.06109147146344185, + 1.0 + ], + [ + 0.3107859492301941, + -0.061501987278461456, + 0.06386445462703705, + 3.107992997514554, + 0.010084348730742931, + -0.008253775537014008, + 1.0 + ], + [ + 0.30850890278816223, + -0.07199277728796005, + 0.05541710928082466, + 3.1155040134959897, + 0.030554577708244324, + 0.0028025722131133084, + 1.0 + ], + [ + 0.31031450629234314, + -0.07477162778377533, + 0.05534569174051285, + 3.1195534748309335, + 0.015079635195434095, + 0.03157719597220421, + 1.0 + ], + [ + 0.30859243869781494, + -0.08058576285839081, + 0.0459894984960556, + 3.131575511890002, + 0.02673717774450779, + 0.03345493972301483, + 1.0 + ], + [ + 0.3086307942867279, + -0.08308900147676468, + 0.034626733511686325, + 3.1364855683692774, + 0.041476618498563766, + 0.037014905363321304, + 1.0 + ], + [ + 0.3045112192630768, + -0.08631204068660736, + 0.01994120329618454, + -3.1334050950878343, + 0.08076250553131104, + 0.024721475318074223, + 1.0 + ], + [ + 0.3049345016479492, + -0.08797571063041687, + 0.017229773104190826, + -3.13926671853336, + 0.08250699937343597, + 0.025992775335907936, + 1.0 + ], + [ + 0.3040277063846588, + -0.08791662752628326, + 0.011502625420689583, + -3.1384373455126813, + 0.09314551949501038, + 0.013425430282950403, + 1.0 + ], + [ + 0.3049657344818115, + -0.08816070109605789, + 0.01141749694943428, + -3.1399228457645556, + 0.08722441643476486, + 0.014951328746974466, + 1.0 + ], + [ + 0.3052889108657837, + -0.0888592079281807, + 0.01107298955321312, + 3.1381060435720762, + 0.08377134799957275, + 0.011429610662162306, + 0.0 + ], + [ + 0.3041127622127533, + -0.08864898979663849, + 0.010235099121928215, + 3.135284163179346, + 0.08768699318170547, + 0.012606731615960598, + 0.0 + ], + [ + 0.3029657304286957, + -0.08735369890928268, + 0.011470092460513115, + 3.127975088665732, + 0.08626111596822737, + 0.013883213512599466, + 0.0 + ], + [ + 0.29992932081222534, + -0.08563193678855896, + 0.047693680971860886, + 3.097868112968751, + 0.026042656973004338, + 0.024901745840907097, + 0.0 + ], + [ + 0.29749175906181335, + -0.07774902880191803, + 0.08915665000677109, + 3.064845072227069, + -0.04874562099575997, + 0.03914327546954156, + 0.0 + ], + [ + 0.28430843353271484, + -0.06099461019039154, + 0.11377502232789993, + 3.0351368879252156, + -0.06622352451086044, + 0.05752658471465111, + 0.0 + ], + [ + 0.26288893818855286, + -0.035126037895679474, + 0.11438329517841339, + 3.0244887863569936, + -0.02794232964515686, + 0.07552070915699004, + 0.0 + ], + [ + 0.23812705278396606, + 0.004214370157569647, + 0.10627730190753937, + 3.0209191014342984, + 0.012043033726513386, + 0.13517022132873535, + 0.0 + ], + [ + 0.2186286300420761, + 0.01483248919248581, + 0.09186702221632004, + 3.017708109813281, + 0.05941484495997429, + 0.1029113158583641, + 0.0 + ], + [ + 0.2085299789905548, + 0.0197797529399395, + 0.06368759274482727, + 3.0188386385613164, + 0.09598787128925323, + 0.05630754306912423, + 0.0 + ], + [ + 0.2241636961698532, + 0.004253774881362915, + 0.03549591824412346, + 3.0515251626544675, + 0.07196443527936937, + -0.060848284512758255, + 0.0 + ], + [ + 0.2360883504152298, + -0.003512495430186391, + 0.01833982579410076, + 3.0744597186618527, + 0.03253772854804993, + -0.07906228303909302, + 0.0 + ], + [ + 0.2491627335548401, + -0.015637222677469254, + 0.007657800801098347, + 3.1173753460221967, + 0.0037979253102093935, + -0.1319391280412674, + 0.0 + ], + [ + 0.25351062417030334, + -0.023208750411868095, + 0.005301238968968391, + 3.1309833360188684, + -0.009853272698819639, + -0.13763681054115295, + 0.0 + ], + [ + 0.24861019849777222, + -0.024459339678287506, + 0.004324284847825766, + 3.1299808026575526, + -0.012641491368412971, + -0.1148236095905304, + 0.0 + ], + [ + 0.24099460244178772, + -0.028318483382463455, + 0.005738127510994673, + 3.1151492298864802, + 0.007173086050897836, + -0.10356994718313217, + 0.0 + ], + [ + 0.2364760935306549, + -0.028288941830396652, + 0.01841355301439762, + 3.107887251424142, + -0.008153331466019152, + -0.0931359753012657, + 1.0 + ], + [ + 0.2333018034696579, + -0.020500285550951958, + 0.048491545021533966, + 3.085096752392598, + -0.05563196912407875, + -0.05752306431531906, + 1.0 + ], + [ + 0.23206202685832977, + -0.003234011586755514, + 0.09303110837936401, + 3.0508657341175756, + -0.1348879337310791, + 0.006216812878847122, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.055433034896850586, + 0.3388673663139343, + 0.5707310736179352, + 0.5761673152446747, + 0.5761673152446747, + 0.5761673152446747, + 0.5761673152446747, + 0.5761673152446747, + 0.5761673152446747, + 0.5761673152446747, + 0.5761673152446747, + 0.5761673152446747, + 0.5761673152446747, + 0.5761673152446747, + 0.5761673152446747, + 0.5761673152446747, + 0.4966591000556946, + 0.1850646734237671, + 0.0, + 0.0, + 0.0005114078521728516 + ], + "episode_id": "1190", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1190/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1202.json b/annotation/test/1202.json new file mode 100644 index 0000000000000000000000000000000000000000..31b083fbb6a7e4ddea7843498475b1bafeb64391 --- /dev/null +++ b/annotation/test/1202.json @@ -0,0 +1,945 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the blue fork to the lower right corner of the table." + ], + "videos": [ + { + "video_path": "videos/test/1202/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -7.908602954879198e-09, + 9.121495254750149e-10, + -0.0015339870800090323, + 1.0 + ], + [ + 0.0007447195227470429, + -0.0025042072129122846, + 0.015311682395703036, + -0.02361951744185998, + -0.030004244782365293, + -0.005412364008683909, + 1.0 + ], + [ + -0.003381883157032142, + 0.008065965242142183, + 0.023851247213348338, + -0.045212033361602226, + 0.06808367759379239, + 0.04897511395177518, + 1.0 + ], + [ + -0.0032582069021909253, + 0.004050443769172875, + 0.01581397614146737, + -0.026769287893574727, + 0.030064213186753924, + 0.04429174882861036, + 1.0 + ], + [ + -0.0006891771596890365, + -0.001028724487768556, + 0.014323078698088349, + 0.014706696783159607, + 0.008743505746103487, + 0.00398838332924456, + 1.0 + ], + [ + 0.004195194401414627, + 0.0018955249508764967, + 0.0062774450247919155, + 0.10939018211759607, + 0.030886849244256807, + -0.007706216495241051, + 1.0 + ], + [ + 0.006108164959717384, + -0.0011751870896249677, + 0.007459199297014777, + 0.06551535057034938, + 0.03720042847917273, + -0.028440615397230827, + 1.0 + ], + [ + 0.006347414064007172, + 0.004347080786443491, + 0.0052535489328611445, + 0.034613287330011934, + 0.008568802923221087, + -0.023841148829052843, + 1.0 + ], + [ + 0.0013329149733765648, + 0.002412810779131078, + 0.016539409964744574, + -0.010583746592304741, + -0.023880624679974493, + -0.03084670822472641, + 1.0 + ], + [ + -0.0011192968235506746, + 0.004151967024372573, + 0.021676229011632478, + -0.05692698465980836, + -0.04571012838724861, + -0.025523723673884977, + 1.0 + ], + [ + -0.00034839891032285673, + -0.0015919811764579786, + 0.015869600890707138, + -0.005588779045198883, + -0.02701837918368641, + -0.021983534275981962, + 1.0 + ], + [ + 0.0021211647998218446, + 0.004292474422262087, + 0.015559163902582825, + 0.018603158101255606, + -0.004600782385607596, + 0.0027765153310184334, + 1.0 + ], + [ + -0.0015854735767051587, + 0.001048862120755357, + 0.011748199701376584, + 0.07941544358645428, + 0.018704429766704684, + -0.013762662584976295, + 1.0 + ], + [ + 0.0021743419279310265, + 0.00019904500278875882, + 0.002614880883785051, + 0.040480214528617504, + 0.019438690685202886, + -0.0096216391147726, + 1.0 + ], + [ + 0.0003901469767584259, + -0.0011487621398719083, + 0.0042306729642148854, + 0.008604891505175793, + -0.001248325187465737, + -0.00458816929205045, + 1.0 + ], + [ + -0.00010396535641066991, + 0.00023015995866146327, + 0.0016512309693582242, + 0.007698207790202232, + -0.002782128942742185, + 0.0035769231935844966, + 1.0 + ], + [ + -0.0023913623926593904, + -0.00015948957525354612, + 0.007684332856659618, + 0.005177921962580131, + -0.019288941725607855, + 0.0019374946426853172, + 1.0 + ], + [ + -0.0008559996394326115, + -0.0006192990874487979, + 0.0036841959931181675, + 0.0028238217900370477, + -0.008071706832809772, + 0.005690443748510601, + 1.0 + ], + [ + -0.0005319995856466562, + -0.0003904000215134423, + 0.0021068144723433426, + 0.001930476220033375, + -0.0048571839416309175, + -0.004328165276587756, + 1.0 + ], + [ + 0.0003310942336686186, + 0.0003168262209087803, + 0.00025060775077273865, + 0.0010623028536428888, + -0.00017017992429844582, + 0.002527138124553656, + 1.0 + ], + [ + -0.0012158345760235202, + -4.2117858233654876e-05, + 0.00027379228338796183, + -0.002932368539288608, + -0.005778309140321249, + 0.0025826701684690738, + 0.0 + ], + [ + -0.001273127145280309, + 0.0020642797242523105, + -0.0005445944990927386, + -0.012923408564217555, + -0.007556184046417591, + 0.0055932999851694256, + 0.0 + ], + [ + -0.0043048091487791875, + 0.0029792293287070957, + -0.01796602986792807, + -0.06435068706692869, + -0.00396082029417247, + 0.0045240024331708135, + 0.0 + ], + [ + -0.00026091926069166956, + -0.0005100324874469717, + -0.0509991790062518, + -0.1009596299199175, + 0.09526913670153317, + -0.016130333500695825, + 0.0 + ], + [ + -0.0015946647453084644, + 0.004173144003655823, + -0.02940419374319942, + -0.062271284272800764, + 0.029763131736142208, + 0.017215813475437772, + 0.0 + ], + [ + -0.011789098731802077, + 0.010713484945161143, + -0.011965494631447878, + -0.017741597653496182, + -0.014285759189901562, + 0.05550639381950626, + 0.0 + ], + [ + -0.017776654620878032, + 0.016930834581026673, + 0.004263066143062972, + 0.0032190006760859577, + -0.015645487784911736, + 0.04429137188975106, + 0.0 + ], + [ + -0.0245335594980049, + 0.015915677481627904, + 0.004653798112940201, + -0.004104956652066623, + -0.012826017822730957, + 0.018594487153245173, + 0.0 + ], + [ + -0.014603924106731657, + 0.01281982781752005, + 0.005133967846017269, + 0.019693677311426672, + 0.013977616941106245, + -0.0016211509151355674, + 0.0 + ], + [ + -0.006782748938558712, + 0.016987729078404082, + 0.01350289285430561, + 0.05972168785879239, + -0.01120198155893307, + 0.01884172070912762, + 0.0 + ], + [ + 0.0006283260392176931, + 0.011378634297168068, + 0.015139494141249335, + 0.05964370134043569, + -0.00272200703984273, + -0.0034147731604959562, + 0.0 + ], + [ + 0.0020338334607078773, + 0.0025557654628911236, + 0.018509831231124596, + 0.03274890673831266, + -0.02613728179410524, + -0.015337501948471407, + 0.0 + ], + [ + -0.003352839369632955, + 0.005177970212657706, + 0.01198729741653264, + -0.035046204046869034, + -0.04310301853553696, + 0.03813695786568905, + 0.0 + ], + [ + -0.0002614635076948594, + 0.011501540513987553, + 0.0010489921580597163, + -0.03264911139064579, + 7.346358474421005e-05, + 0.06092536780487469, + 0.0 + ], + [ + -0.0018514490089561921, + 0.012101264761070953, + 0.009277420520854314, + -0.0014230042315518214, + -0.026315132869473082, + 0.04560159181205444, + 0.0 + ], + [ + -0.002727920841419233, + 0.004809867783309103, + 0.006232885513762759, + 0.019524900522808593, + -0.027763749922268263, + 0.0215586629063871, + 0.0 + ], + [ + -0.003227093611624987, + 0.0031756865552604145, + 0.010844271445139261, + -0.013467408739091552, + -0.04225425946008899, + -0.009978728524827596, + 0.0 + ], + [ + 0.0012584224532839945, + 0.003148840815700926, + 0.004858940226756872, + -0.026544022085596745, + -0.014609367162244681, + -0.008558189456057833, + 0.0 + ], + [ + 0.005328079462137272, + -0.0007421828622426442, + 0.00290948094008441, + -0.04497315117985598, + -0.024295794552146137, + -0.03478417234923405, + 0.0 + ], + [ + 0.004536383497221507, + -0.004642330564804451, + -0.0011527710113310578, + -0.03927726085672709, + -0.010210900839251101, + -0.04331135426016203, + 0.0 + ], + [ + -0.0006738757772974024, + 0.0009194329553448873, + -0.0006076602500930975, + -0.013007705599043668, + -0.005917574290864626, + -0.010906851036182393, + 0.0 + ], + [ + -5.990517253583373e-05, + 0.0006636747097026504, + -0.001458781928325291, + -0.0017998293128491175, + -0.007862144581549005, + 0.007468071400531401, + 0.0 + ], + [ + -0.0015319043536749161, + -0.0006517764224291681, + -0.0003748485602833808, + -0.016239788812183787, + -0.04426642634976212, + 0.02081831406043057, + 0.0 + ], + [ + -0.0017272280365379351, + 0.0008019663302506498, + -0.0018786663035494664, + -0.04397017330378763, + -0.06138050706539608, + 0.02002294377495177, + 0.0 + ], + [ + -0.0009280029673625372, + 0.00034798792996618453, + -0.002190155399848521, + -0.004546124288555295, + -0.012802633948553117, + 0.003726556461942022, + 0.0 + ], + [ + -0.0023703675905814583, + 0.0003372360237018789, + -1.1645078182557847e-06, + -0.0020397968420664495, + -0.0367308412872192, + 0.004891350610172047, + 0.0 + ], + [ + -0.000611443557798974, + 0.0008011834933522994, + -0.0033898497743348674, + -0.003281310302441204, + -0.01711600954663066, + 0.012779989573201847, + 0.0 + ], + [ + 1.6096426282226355e-05, + -4.009259384307631e-05, + -0.00027564441842773405, + 0.0003103062048429572, + -0.003365308656750767, + -0.008144827261094723, + 1.0 + ] + ], + "state": [ + [ + 0.3305569887161255, + 0.0851934626698494, + 0.19396889209747314, + 2.9201634993129453, + -0.012379965744912624, + -0.10348099470138551, + 1.0 + ], + [ + 0.3305569887161255, + 0.0851934626698494, + 0.19396889209747314, + 2.9201452155881604, + -0.012043052352964878, + -0.10198435187339783, + 1.0 + ], + [ + 0.3313896656036377, + 0.08418340981006622, + 0.17849117517471313, + 2.896440314250537, + 0.018417075276374817, + -0.10329598188400269, + 1.0 + ], + [ + 0.3262346684932709, + 0.07103125751018524, + 0.15737658739089966, + 2.850196274118968, + -0.05952176824212074, + -0.1342260092496872, + 1.0 + ], + [ + 0.3227086663246155, + 0.06300806254148483, + 0.1432238668203354, + 2.825482728081294, + -0.10100673884153366, + -0.16816113889217377, + 1.0 + ], + [ + 0.3228362202644348, + 0.0594618059694767, + 0.12929219007492065, + 2.8402859290414533, + -0.11055682599544525, + -0.16924026608467102, + 1.0 + ], + [ + 0.3269183337688446, + 0.0550379604101181, + 0.12435610592365265, + 2.947729455428668, + -0.13774982094764712, + -0.1525612622499466, + 1.0 + ], + [ + 0.33387935161590576, + 0.05368047580122948, + 0.11772045493125916, + 3.0083451886945447, + -0.16868972778320312, + -0.11699926108121872, + 1.0 + ], + [ + 0.3402813971042633, + 0.04788704216480255, + 0.11422238498926163, + 3.0387730469279965, + -0.17396324872970578, + -0.09185200184583664, + 1.0 + ], + [ + 0.3440057635307312, + 0.04342899098992348, + 0.09849326312541962, + 3.0232615565233907, + -0.14697338640689847, + -0.06332123279571532, + 1.0 + ], + [ + 0.34555214643478394, + 0.03663560003042221, + 0.07752163708209991, + 2.9632988591962537, + -0.09854084253311157, + -0.04330120235681534, + 1.0 + ], + [ + 0.346714586019516, + 0.03533632308244705, + 0.06166412681341171, + 2.9560090621286115, + -0.06803824007511139, + -0.026427099481225014, + 1.0 + ], + [ + 0.349628210067749, + 0.028167083859443665, + 0.04734193906188011, + 2.9748551716380796, + -0.06402834504842758, + -0.03001219406723976, + 1.0 + ], + [ + 0.34868696331977844, + 0.025209879502654076, + 0.03585268184542656, + 3.053194174664565, + -0.08018041402101515, + -0.013284564949572086, + 1.0 + ], + [ + 0.3510556221008301, + 0.024749254807829857, + 0.03344804793596268, + 3.092753803479024, + -0.09868864715099333, + -0.0019309606868773699, + 1.0 + ], + [ + 0.35186755657196045, + 0.025688542053103447, + 0.029225612059235573, + 3.100911522405692, + -0.09721680730581285, + 0.0026122434064745907, + 1.0 + ], + [ + 0.3519240915775299, + 0.025391563773155212, + 0.027582762762904167, + 3.1089693402224263, + -0.09458179026842117, + -0.001091409707441926, + 1.0 + ], + [ + 0.3502691388130188, + 0.025302130728960037, + 0.019705824553966522, + 3.1143842936777553, + -0.07536599785089493, + -0.0036639359313994646, + 1.0 + ], + [ + 0.3496960401535034, + 0.02582307532429695, + 0.01595219410955906, + 3.117653550701686, + -0.06745076924562454, + -0.00958514492958784, + 1.0 + ], + [ + 0.34931111335754395, + 0.026166638359427452, + 0.013805592432618141, + 3.119299605610319, + -0.06249077618122101, + -0.0053663020953536025, + 1.0 + ], + [ + 0.34965503215789795, + 0.02584245428442955, + 0.013583261519670486, + 3.1205203050100287, + -0.06237677112221718, + -0.007901536300778387, + 1.0 + ], + [ + 0.34845900535583496, + 0.025888245552778244, + 0.013233385980129242, + 3.1177564804726323, + -0.05665393546223641, + -0.010609688237309456, + 0.0 + ], + [ + 0.3471326231956482, + 0.023851489648222923, + 0.013753984123468399, + 3.105160003649541, + -0.04923226311802864, + -0.016388336196541786, + 0.0 + ], + [ + 0.34190675616264343, + 0.02161398157477379, + 0.031582873314619064, + 3.04103925277526, + -0.04543831944465637, + -0.021058393642306328, + 0.0 + ], + [ + 0.33946266770362854, + 0.02729366533458233, + 0.08220907300710678, + 2.9384776075654706, + -0.13859081268310547, + 0.004715993069112302, + 0.0 + ], + [ + 0.3337797522544861, + 0.0291109811514616, + 0.11134610325098038, + 2.877649249630519, + -0.17120641469955444, + -0.006295855157077313, + 0.0 + ], + [ + 0.31967365741729736, + 0.02197885699570179, + 0.12347398698329926, + 2.8702279349141797, + -0.17160409688949582, + -0.06446051597595213, + 0.0 + ], + [ + 0.30099669098854065, + 0.005694162100553513, + 0.12086324393749237, + 2.881832393007823, + -0.16820840537548065, + -0.11199398338794708, + 0.0 + ], + [ + 0.27517643570899963, + -0.008083534426987171, + 0.11635196208953857, + 2.8813718279176435, + -0.16054990887641907, + -0.13353507220745084, + 0.0 + ], + [ + 0.25932687520980835, + -0.01978669874370098, + 0.11237608641386032, + 2.90020506282384, + -0.17363764345645905, + -0.12829357385635376, + 0.0 + ], + [ + 0.2517283856868744, + -0.03869298845529556, + 0.10228986293077469, + 2.963639872270175, + -0.16722565889358523, + -0.1495628505945206, + 0.0 + ], + [ + 0.2523939311504364, + -0.0528288297355175, + 0.08968798071146011, + 3.0227979366951665, + -0.16394147276878357, + -0.146644726395607, + 0.0 + ], + [ + 0.25660616159439087, + -0.05823378637433052, + 0.07218581438064575, + 3.0535164793306073, + -0.13615863025188446, + -0.13440485298633575, + 0.0 + ], + [ + 0.2540268003940582, + -0.06415387243032455, + 0.06035163998603821, + 3.024161288636275, + -0.09645742177963257, + -0.17634697258472445, + 0.0 + ], + [ + 0.25171616673469543, + -0.07546922564506531, + 0.060630809515714645, + 2.997582258778163, + -0.10348700731992722, + -0.23716939985752106, + 0.0 + ], + [ + 0.24754709005355835, + -0.08815215528011322, + 0.05303468555212021, + 3.001350091891833, + -0.08386202901601791, + -0.28623586893081665, + 0.0 + ], + [ + 0.24379056692123413, + -0.09291938692331314, + 0.04732615873217583, + 3.022982182102748, + -0.059357400983572, + -0.31150057911872864, + 0.0 + ], + [ + 0.2399512529373169, + -0.09634410589933395, + 0.03676072880625725, + 3.009118693070956, + -0.01621867716312408, + -0.30659887194633484, + 0.0 + ], + [ + 0.24008311331272125, + -0.10033297538757324, + 0.032381270080804825, + 2.9824570288234433, + -0.0006065581692382693, + -0.30004626512527466, + 0.0 + ], + [ + 0.24525520205497742, + -0.10164868831634521, + 0.029394173994660378, + 2.9374926408105573, + 0.02889377996325493, + -0.26955085992813116, + 0.0 + ], + [ + 0.25090399384498596, + -0.0982506275177002, + 0.029450949281454086, + 2.899539606767245, + 0.04764553904533386, + -0.22916673123836517, + 0.0 + ], + [ + 0.25011637806892395, + -0.09883393347263336, + 0.030292455106973648, + 2.88697540958459, + 0.056002896279096596, + -0.21998211741447446, + 0.0 + ], + [ + 0.2500842809677124, + -0.09910839051008224, + 0.03187224641442299, + 2.8846622129255017, + 0.06172819435596466, + -0.2292070835828781, + 0.0 + ], + [ + 0.24877198040485382, + -0.0980570986866951, + 0.03216329216957092, + 2.8663488944345197, + 0.09922122955322266, + -0.2607260644435883, + 0.0 + ], + [ + 0.2472379058599472, + -0.09791813790798187, + 0.03435033559799194, + 2.818425180512019, + 0.15278396010398865, + -0.2970605194568634, + 0.0 + ], + [ + 0.2467861920595169, + -0.09739755839109421, + 0.03665338084101677, + 2.812689038115092, + 0.1637359410524368, + -0.304762601852417, + 0.0 + ], + [ + 0.24447675049304962, + -0.09700527787208557, + 0.03714832291007042, + 2.8077233155542096, + 0.19689470529556272, + -0.32157585024833674, + 0.0 + ], + [ + 0.24466285109519958, + -0.09669423848390579, + 0.04066620022058487, + 2.8009095211797437, + 0.2088465392589569, + -0.3396504223346711, + 0.0 + ], + [ + 0.2447691410779953, + -0.09659403562545776, + 0.04090391471982002, + 2.802615853148051, + 0.2147352993488312, + -0.33294421434402466, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0, + 0.0005114078521728516, + 0.0, + 0.0005114078521728516, + 0.012741804122924805, + 0.09588849544525146, + 0.3900832533836365, + 0.5887347459793091, + 0.589625895023346, + 0.589625895023346, + 0.589625895023346, + 0.589625895023346, + 0.589625895023346, + 0.589625895023346, + 0.589625895023346, + 0.589625895023346, + 0.589625895023346, + 0.589625895023346, + 0.589625895023346, + 0.589625895023346, + 0.589625895023346, + 0.589625895023346, + 0.589625895023346, + 0.589625895023346, + 0.589625895023346, + 0.589625895023346, + 0.589625895023346, + 0.589625895023346, + 0.589625895023346, + 0.589625895023346, + 0.589625895023346, + 0.589625895023346, + 0.4928007125854492, + 0.19541800022125244, + 0.0 + ], + "episode_id": "1202", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1202/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1209.json b/annotation/test/1209.json new file mode 100644 index 0000000000000000000000000000000000000000..21ab8983a68d35ecd5684b594fbd985800770ac7 --- /dev/null +++ b/annotation/test/1209.json @@ -0,0 +1,641 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put spatula on cutting board" + ], + "videos": [ + { + "video_path": "videos/test/1209/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 1.3794034548569422e-17, + -6.157592237111241e-18, + -6.46685019978596e-18, + 1.0 + ], + [ + -0.005430905934187657, + -0.0005834755017712428, + 0.010687544831602452, + 0.010473354850079298, + -0.04100348508814389, + -6.840601576938665e-05, + 1.0 + ], + [ + 0.008083624710771493, + -0.03196219318211971, + 0.002765838237068649, + -0.003807580282645975, + -0.054478858553665355, + -0.08061068634484428, + 1.0 + ], + [ + 0.023984789530969514, + -0.029462711437945936, + -0.006469880350134425, + -0.05915824624059264, + 0.02211609500897604, + -0.11533632985281957, + 1.0 + ], + [ + 0.02599810963661123, + -0.019324787396524396, + 0.005281551153362471, + -0.02116313372828795, + 0.04374567406913567, + -0.08401754738752257, + 1.0 + ], + [ + 0.01608903612518282, + -0.01997164168565324, + 0.017819783536055987, + 0.04538124823720786, + 0.01257218668451577, + -0.08693227392540794, + 1.0 + ], + [ + 0.012439713210842435, + -0.007045644133149253, + 0.014726379564746546, + 0.0023839261348670908, + 0.044257585122551256, + -0.08775917756622689, + 1.0 + ], + [ + 0.0025688016037946466, + -0.006504914683555766, + 0.014487099765297697, + 0.02830127103244612, + -0.013206672984785194, + -0.03712343367554432, + 1.0 + ], + [ + -0.0012549975286710508, + 0.0024111711440842083, + 0.012391974545911741, + 0.018271914204442945, + 0.007279123813939663, + -0.043317583980037384, + 1.0 + ], + [ + -0.0012508273632455503, + 0.008855819614965683, + 0.007919289283378714, + 0.0052198112598256085, + 0.03324934683293357, + -0.02252503053252753, + 1.0 + ], + [ + -0.007783280973275992, + 0.0008393110854695602, + 0.012130918360051353, + 0.01655850733881198, + 0.006606415404935246, + -0.0065517674155009115, + 1.0 + ], + [ + -0.002901319938666598, + 0.00255383541663184, + 0.004983724558764715, + -0.0029413810546835895, + 0.020562518450332277, + -0.0087938948394608, + 1.0 + ], + [ + -0.004190236784627576, + -0.0027323470400055115, + 0.004142481298892049, + 0.014274395732256362, + 0.002930566811916163, + -0.010538968040253768, + 1.0 + ], + [ + 0.002049940158359442, + -0.0002920352394256909, + 0.0045698824668078085, + -0.0019157958588404103, + 0.016084825408124337, + -0.004859333249845503, + 1.0 + ], + [ + 0.0009478115150374294, + -0.0019563356002675956, + 0.0019236971608969464, + -0.007611541146517396, + -0.012937105639917608, + -0.014006264941834138, + 0.0 + ], + [ + 0.0017770229247318927, + -0.0005017882435030473, + -0.00046938869542087296, + -0.002307533051881019, + 0.0060376023577386655, + -0.007036530935629483, + 0.0 + ], + [ + -0.006221607791098672, + 0.000767692440560588, + -0.0035322998864303623, + -0.007752514800882297, + -0.044217288502519686, + -0.004808259911492943, + 0.0 + ], + [ + -0.00723548216877259, + 0.0012405437408821982, + -0.028659794819183376, + -0.029126043465067707, + -0.06540062866519938, + 0.02815343261116107, + 0.0 + ], + [ + -0.009992225597322263, + -0.005151415019971518, + -0.016857297431875567, + -0.023945024683696685, + -0.027465276149858185, + 0.0709795783114349, + 0.0 + ], + [ + -0.013116515022524235, + -0.02045058495009618, + -0.008632688351917182, + -0.003254955753168165, + -0.03690059819360031, + 0.08153079631648164, + 0.0 + ], + [ + -0.009560320742312351, + -0.024432143301613366, + 0.0005646529960739696, + 0.017538247134505656, + -0.00433897954186505, + 0.058184893617614336, + 0.0 + ], + [ + -0.011001813392428783, + -0.014164471748245085, + 0.007969504564618516, + 0.009318591239198783, + -0.0005078179091655032, + 0.06554261548243313, + 0.0 + ], + [ + -0.007278852422858667, + -0.0008182454334097788, + 0.008142310356043988, + 0.013468533837652156, + 0.004107535291298412, + 0.03786860759571555, + 0.0 + ], + [ + -0.009757004874201506, + 0.00916037147146265, + 0.006951837195751225, + -0.004038311021761304, + 0.008343737552030946, + 0.005387882622946286, + 0.0 + ], + [ + -0.005597254132282045, + 0.009594427009111983, + -0.003451888994029188, + -0.007425650030810136, + 0.02505638285684055, + 0.003701559538391052, + 0.0 + ], + [ + -0.0009604199828110158, + -2.403927554894447e-05, + -0.00037269195871386586, + 0.02309184281164109, + 0.003125031299336161, + -0.00811567715065766, + 0.0 + ], + [ + 0.004053027854354322, + -0.002601094068708902, + -0.005152189028026818, + -0.0070201839964979616, + 0.02376467292380185, + -0.03859481156466126, + 1.0 + ], + [ + 0.0034454075247156587, + 0.0011746635810855194, + -0.009051373580136333, + 0.0005237318805303338, + 0.0035782246065460327, + -0.017532844213234294, + 1.0 + ], + [ + 0.0009834649033637515, + 0.004355938694985235, + -0.008328321598009, + -0.010230950983086393, + -0.024768779272907073, + -0.014466802945365337, + 1.0 + ], + [ + 0.0031214558615549636, + 0.015077190886612942, + -0.02379125616640657, + -0.030797123274329003, + 0.00861088377774319, + 0.0016821354946923378, + 1.0 + ], + [ + -0.00013949240713031642, + 0.008603560159650619, + -0.010156857116039348, + -0.01607449333208681, + -0.03437691205174415, + 0.017242691178351723, + 1.0 + ], + [ + 7.380738471493114e-05, + 7.291639307648541e-05, + -0.00047680978603137293, + -0.0006680091266429106, + 0.0013766991894222764, + -0.001426856085946143, + 1.0 + ] + ], + "state": [ + [ + 0.3551507592201233, + 0.03333114832639694, + 0.11618421226739883, + 3.104331223415681, + -0.1917834430932999, + 0.5168108940124512, + 1.0 + ], + [ + 0.3551507592201233, + 0.03333114832639694, + 0.11618421226739883, + 3.104331223415681, + -0.1917834430932999, + 0.5168108940124512, + 1.0 + ], + [ + 0.3521977961063385, + 0.03186558559536934, + 0.10464337468147278, + 3.11505474162335, + -0.15080568194389343, + 0.5153353810310364, + 1.0 + ], + [ + 0.3439139425754547, + 0.06380923092365265, + 0.10228584706783295, + 3.0993611124628266, + -0.09373767673969269, + 0.5946974754333496, + 1.0 + ], + [ + 0.34664398431777954, + 0.10152315348386765, + 0.109728142619133, + 3.0295624007755, + -0.11034111678600311, + 0.7115560173988343, + 1.0 + ], + [ + 0.3546770513057709, + 0.13302640616893768, + 0.10522716492414474, + 2.9989109208160123, + -0.14399856328964233, + 0.800798773765564, + 1.0 + ], + [ + 0.35543394088745117, + 0.15856480598449707, + 0.08726928383111954, + 3.0321153347664556, + -0.14353863894939423, + 0.8895481824874878, + 1.0 + ], + [ + 0.36038511991500854, + 0.17323777079582214, + 0.07379917800426483, + 3.021497929590293, + -0.17734193801879886, + 0.9830185770988464, + 1.0 + ], + [ + 0.3593405485153198, + 0.18018648028373718, + 0.05932806804776192, + 3.043561855452605, + -0.15967251360416412, + 1.0187426805496216, + 1.0 + ], + [ + 0.36277520656585693, + 0.17887458205223083, + 0.04718591645359993, + 3.054867321746894, + -0.16252373158931732, + 1.0631496906280518, + 1.0 + ], + [ + 0.371044784784317, + 0.1741807609796524, + 0.03995491564273834, + 3.0558922459655484, + -0.1936444342136383, + 1.0889400243759155, + 1.0 + ], + [ + 0.3702378273010254, + 0.1685926765203476, + 0.02666713111102581, + 3.0710583945089063, + -0.19966086745262146, + 1.0961768627166748, + 1.0 + ], + [ + 0.3719508647918701, + 0.16558386385440826, + 0.021395528689026833, + 3.0660286789112767, + -0.21954189240932465, + 1.1066474914550781, + 1.0 + ], + [ + 0.36838623881340027, + 0.16385114192962646, + 0.016250135377049446, + 3.077911714213439, + -0.22165565192699432, + 1.1176466941833496, + 1.0 + ], + [ + 0.36970192193984985, + 0.16655448079109192, + 0.012233631685376167, + 3.0746603329950055, + -0.23739473521709445, + 1.1236885786056519, + 1.0 + ], + [ + 0.36866462230682373, + 0.16860823333263397, + 0.010463796555995941, + 3.0638873522453984, + -0.2235291302204132, + 1.1371314525604248, + 0.0 + ], + [ + 0.3688657581806183, + 0.17031987011432648, + 0.011276059783995152, + 3.059877136843749, + -0.22899591922760013, + 1.1448159217834473, + 0.0 + ], + [ + 0.3664601147174835, + 0.16386444866657257, + 0.013353392481803894, + 3.051771918433257, + -0.18453364074230194, + 1.1460157632827759, + 0.0 + ], + [ + 0.36014536023139954, + 0.1531435251235962, + 0.0401947908103466, + 3.028772460418292, + -0.1218157336115837, + 1.1119179725646973, + 0.0 + ], + [ + 0.3485912084579468, + 0.1455976366996765, + 0.0550309382379055, + 3.0140757878595075, + -0.10217776149511339, + 1.0379307270050049, + 0.0 + ], + [ + 0.32323598861694336, + 0.14469711482524872, + 0.05962382256984711, + 3.019943172233649, + -0.07555795460939407, + 0.9521653056144714, + 0.0 + ], + [ + 0.2981606125831604, + 0.15117184817790985, + 0.055386897176504135, + 3.0420982783013066, + -0.07817916572093962, + 0.8937052488327026, + 0.0 + ], + [ + 0.2813774049282074, + 0.15152618288993835, + 0.04521912708878517, + 3.0567413811855992, + -0.08401271700859071, + 0.8282053470611572, + 0.0 + ], + [ + 0.2768448293209076, + 0.14677315950393677, + 0.03645482659339905, + 3.0734180976920804, + -0.09125520288944244, + 0.7906654477119445, + 0.0 + ], + [ + 0.2772480249404907, + 0.13351409137248993, + 0.029280278831720352, + 3.0698184465342244, + -0.09994553029537201, + 0.785834550857544, + 0.0 + ], + [ + 0.27961495518684387, + 0.12269377708435059, + 0.03283221647143364, + 3.0625609030299863, + -0.12520265579223633, + 0.7839254140853882, + 0.0 + ], + [ + 0.27886977791786194, + 0.12202618271112442, + 0.03307902067899704, + 3.0846054834597787, + -0.12767283618450165, + 0.7923308610916138, + 0.0 + ], + [ + 0.2791880667209625, + 0.1264650821685791, + 0.03855009377002716, + 3.0724805315309247, + -0.14909893274307254, + 0.8326541781425476, + 1.0 + ], + [ + 0.2809745669364929, + 0.12761636078357697, + 0.04807170107960701, + 3.0703494047098836, + -0.15143427252769473, + 0.8505975604057312, + 1.0 + ], + [ + 0.2835787236690521, + 0.12489538639783859, + 0.056738708168268204, + 3.05817628105218, + -0.12568637728691098, + 0.8633608222007753, + 1.0 + ], + [ + 0.29347020387649536, + 0.11639443784952164, + 0.08189783245325089, + 3.0274973829560956, + -0.1344074159860611, + 0.862393319606781, + 1.0 + ], + [ + 0.29802805185317993, + 0.1103539913892746, + 0.09284961223602295, + 3.0142152180247983, + -0.1021871566772461, + 0.841248869895935, + 1.0 + ], + [ + 0.29805296659469604, + 0.11036422103643417, + 0.09333683550357819, + 3.0133841653638562, + -0.10337131470441818, + 0.8428475856781007, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.04317682981491089, + 0.33786332607269287, + 0.6414313614368439, + 0.6981079280376434, + 0.6660203635692596, + 0.6636029481887817, + 0.6636029481887817, + 0.6636029481887817, + 0.6636029481887817, + 0.6636029481887817, + 0.6636029481887817, + 0.6636029481887817, + 0.6338784694671631, + 0.5158107578754425, + 0.19730991125106812, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1209", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1209/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/121.json b/annotation/test/121.json new file mode 100644 index 0000000000000000000000000000000000000000..6118cacfc6b97f6e415562c2788c45aef8bcb365 --- /dev/null +++ b/annotation/test/121.json @@ -0,0 +1,394 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "turn lever vertical to front distractors" + ], + "videos": [ + { + "video_path": "videos/test/121/rgb.mp4" + } + ], + "action": [ + [ + -0.0008188375225417421, + 0.0003779442080312147, + 0.00439787748836683, + 0.004829103885609005, + -0.009432363341306196, + 0.0022935181173197065, + 1.0 + ], + [ + -0.002173418021966711, + -0.0019290288847353886, + 0.024617910024324806, + 0.07812057443327428, + 2.7884509262004843e-05, + -0.014327325929095754, + 1.0 + ], + [ + 0.006650129756979301, + 0.008208101722762038, + -0.011026810191111479, + 0.10038485605157814, + 0.10118328113726066, + 0.01349976522763886, + 1.0 + ], + [ + 0.01415530638267789, + -0.0053430359753124605, + -0.01709145536677231, + 0.03937004136718598, + 0.07029083034953516, + -0.005247137024436257, + 1.0 + ], + [ + 0.010270951192784223, + -0.0014953375554596874, + -0.0032562103199752362, + -0.006818577590076998, + 0.053788185180951, + 0.000251262559419259, + 1.0 + ], + [ + 0.00590784188479971, + -0.001597056072770051, + 0.0037158572840536967, + -0.019342964045115953, + 0.02625517382214068, + 0.0028025688483517587, + 1.0 + ], + [ + 0.00792219004437417, + -0.007339089192322132, + 0.005423056292941139, + -0.02447232315438762, + 0.0257236999617493, + -0.005034176088818195, + 1.0 + ], + [ + 0.005462929664880029, + 0.002162013392346545, + 0.008367904731920778, + -0.028603658785114984, + 0.023336081941154524, + 0.012739472644922019, + 1.0 + ], + [ + 0.0023645448859887165, + 0.00215709824617766, + 0.005484158733370051, + -0.01035273908470513, + 0.007021195119436709, + 0.009656554105620484, + 1.0 + ], + [ + -9.770763639553739e-05, + 4.361471119592219e-05, + -1.1902667408007106e-05, + -0.0037218459726479367, + -0.006323531721755701, + -0.027515590118786452, + 0.0 + ], + [ + -0.004686386854385061, + 0.003132889192309939, + -0.0008350193866483212, + -0.003192881863587794, + -0.02259665775248043, + -0.04073174208640275, + 0.0 + ], + [ + -0.014273454523827504, + 0.0033705656162755083, + -0.00023461352606790194, + -0.02239315381018322, + -0.03841435600895337, + -0.03922054989010072, + 0.0 + ], + [ + -0.019429200993453834, + 0.0032310972636477534, + 0.003198362173040332, + -0.040160742624842136, + -0.04660735660033409, + -0.027303768589031746, + 0.0 + ], + [ + -0.01356381925281903, + 0.002837644039237889, + 0.011690844801720364, + -0.03940384199355865, + -0.04068747625692384, + -0.012771459477627247, + 0.0 + ], + [ + -0.0051039681114270746, + 0.0009050320071926784, + 0.00927344789756169, + -0.04364992204455541, + -0.013855042175462013, + -0.0216677049398311, + 0.0 + ], + [ + -0.0016279115566215677, + -0.00018889538587012767, + 0.0029570965722981587, + -0.011840743400716272, + -0.002451715108264451, + 0.001332186719207806, + 0.0 + ], + [ + 0.0013268533310042338, + 0.00019764712420275752, + -0.006271962980496111, + -0.004598806314695364, + -0.025052639891500673, + 0.0255871931110366, + 0.0 + ], + [ + 0.008799144477222014, + 0.0034636015812089934, + -0.023952178695286593, + -0.01701783675578403, + -0.0649157519093831, + 0.03379576893862153, + 1.0 + ], + [ + 0.005864326274333134, + -0.007504928941916377, + -0.021874803968417695, + -0.008402390032684124, + -0.10094130828363931, + 0.02716629317593107, + 1.0 + ] + ], + "state": [ + [ + 0.43273308873176575, + -0.1180056631565094, + 0.09318101406097412, + -2.9717371632629117, + -0.10331585258245467, + -0.00800483673810959, + 1.0 + ], + [ + 0.4323752224445343, + -0.11763187497854233, + 0.08872154355049133, + -2.966831477480479, + -0.0936315134167671, + -0.008673754520714283, + 1.0 + ], + [ + 0.4325001537799835, + -0.11145269125699997, + 0.06471553444862366, + -2.8900532146268567, + -0.09614068269729613, + 0.005495914723724126, + 1.0 + ], + [ + 0.438349187374115, + -0.12211502343416214, + 0.073950856924057, + -2.7847903986745557, + -0.19069957733154297, + -0.03336695209145546, + 1.0 + ], + [ + 0.4488205909729004, + -0.12342826277017593, + 0.09419100731611252, + -2.740713121491023, + -0.2583511769771576, + -0.05366850271821023, + 1.0 + ], + [ + 0.4578283429145813, + -0.12380588799715042, + 0.10027781128883362, + -2.7413204332166394, + -0.3077128827571869, + -0.0759262889623642, + 1.0 + ], + [ + 0.46450942754745483, + -0.12138693034648895, + 0.09939887374639511, + -2.756448956327983, + -0.33077400922775274, + -0.08947070688009262, + 1.0 + ], + [ + 0.4734957814216614, + -0.11331874132156372, + 0.09982623159885406, + -2.779059024649211, + -0.3564998507499695, + -0.09480545669794083, + 1.0 + ], + [ + 0.4816664755344391, + -0.11314528435468674, + 0.0936821773648262, + -2.8000693937116345, + -0.3737249970436096, + -0.11648672819137572, + 1.0 + ], + [ + 0.48596587777137756, + -0.11384546756744385, + 0.08906210958957672, + -2.8059405108266553, + -0.37708082795143133, + -0.12880228459835055, + 1.0 + ], + [ + 0.4858711361885071, + -0.11387867480516434, + 0.08902322500944138, + -2.820918323593684, + -0.3800159990787506, + -0.098582960665226, + 0.0 + ], + [ + 0.4812936782836914, + -0.11667812615633011, + 0.08710373938083649, + -2.8425878306203565, + -0.37098813056945806, + -0.04946631193161011, + 0.0 + ], + [ + 0.4681231677532196, + -0.11932025104761124, + 0.08121272176504135, + -2.8839126249128064, + -0.3453678786754608, + 0.002372561488300562, + 0.0 + ], + [ + 0.4511725604534149, + -0.12166982889175415, + 0.07095018029212952, + -2.937572481232234, + -0.30699601769447327, + 0.042502447962760925, + 0.0 + ], + [ + 0.44190213084220886, + -0.12247458845376968, + 0.05539007857441902, + -2.9833557923608502, + -0.269672691822052, + 0.06401890516281128, + 0.0 + ], + [ + 0.43942904472351074, + -0.12206440418958664, + 0.0450662225484848, + -3.0335335825854024, + -0.25932812690734863, + 0.08841338008642195, + 0.0 + ], + [ + 0.43856269121170044, + -0.12163250148296356, + 0.041826918721199036, + -3.0450930317216596, + -0.25674688816070557, + 0.08731745928525925, + 0.0 + ], + [ + 0.4383366107940674, + -0.1224563866853714, + 0.048183586448431015, + -3.0436760057979306, + -0.22927643358707428, + 0.06365220248699188, + 0.0 + ], + [ + 0.441926509141922, + -0.12802790105342865, + 0.07306730002164841, + -3.0542420690232, + -0.16128303110599518, + 0.03607593849301339, + 1.0 + ], + [ + 0.4439079761505127, + -0.12238479405641556, + 0.09616384655237198, + -3.059279056387492, + -0.0583314225077629, + 0.017913527786731723, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.15731757879257202, + 0.4577047824859619, + 0.5643518269062042, + 0.5643518269062042, + 0.565265566110611, + 0.5661784112453461, + 0.5661784112453461, + 0.5661784112453461, + 0.3288310766220093, + 0.06803375482559204, + 0.0 + ], + "episode_id": "121", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/121/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1214.json b/annotation/test/1214.json new file mode 100644 index 0000000000000000000000000000000000000000..841d6b7f2dbbb0d9920fc735c474c41b48af1b25 --- /dev/null +++ b/annotation/test/1214.json @@ -0,0 +1,679 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put banana in pot cardboard fence" + ], + "videos": [ + { + "video_path": "videos/test/1214/rgb.mp4" + } + ], + "action": [ + [ + -0.00043551292156091513, + -7.079347996235508e-05, + 0.00031969093871391316, + 0.00048482847766010865, + -0.0014131545658152666, + 0.00034757311953155344, + 1.0 + ], + [ + -0.0035118490687367438, + -0.0014929650125486357, + 0.005154041016740751, + -0.002959090436953384, + -0.02421276993824886, + 0.006260536310561171, + 1.0 + ], + [ + 0.0050083479759817535, + -0.02887138779436441, + -0.006701458671186718, + -0.055146380799358595, + 0.010907971484096429, + 0.0586571306313147, + 1.0 + ], + [ + 0.005485002087403996, + -0.03146931444320715, + -0.002590755287029589, + -0.035791662712376895, + 0.026404690983407125, + 0.0844375129857695, + 1.0 + ], + [ + 0.014093020153339084, + -0.028314633869623622, + 0.003410089754324245, + -0.01848112970200504, + 0.0039016784946311724, + 0.02842703425161556, + 1.0 + ], + [ + 0.009276912559256683, + -0.03153350165851854, + 0.01771389690249905, + -0.001209710096831536, + -0.03788066970068125, + -0.024374824799915297, + 1.0 + ], + [ + 0.010074414216192385, + -0.00939375546338882, + 0.025498372583913635, + 0.0039921096187248645, + -0.037974823168229095, + 0.027791046492256433, + 1.0 + ], + [ + 0.007537013394225874, + -0.007621336579618913, + 0.01957352159486532, + 0.01750861242555463, + -0.018836424847071553, + -0.007006449060367914, + 1.0 + ], + [ + 0.002584409614447911, + -0.004361376910544802, + 0.01584580193260342, + 0.0331857683947742, + -0.010346085816607217, + 0.004698384657049602, + 1.0 + ], + [ + 0.0021387790611202065, + -0.0029318691352940465, + 0.008166962043839468, + 0.016884711271516216, + -0.011836934795989042, + -0.002948850644946492, + 1.0 + ], + [ + 0.0007242150756048196, + -0.0006554428589172341, + 0.005901813270782587, + 0.0051954341701461355, + -0.010328812561080397, + 0.0010873305427513632, + 1.0 + ], + [ + 0.0038034724042054283, + -0.00410328543975581, + 0.0037332575939950327, + 0.029527397063042703, + 0.020184552595195422, + 0.011878135389504323, + 1.0 + ], + [ + 0.00013370512118731015, + -0.004662112993972569, + 0.006152544327297157, + 0.011724392158288391, + 0.006284810662914279, + 0.007269074064598347, + 1.0 + ], + [ + -0.003682969595313804, + -0.0008604341401062151, + 0.0032302155186849407, + 0.0011859266382680449, + -0.002946691937667655, + 0.012140850470810404, + 1.0 + ], + [ + -0.001960843611318988, + -0.001013010891146113, + 0.0024481178192310997, + 0.006309503544529346, + 0.0026838331551820344, + 0.0055113804390985845, + 1.0 + ], + [ + -0.002100502121558813, + -0.0017504572678559481, + 0.0030281492449605067, + 0.010630238416920205, + 0.006303433685168534, + -0.007615880122058487, + 1.0 + ], + [ + -0.0005311344305686777, + -0.0012823185767091164, + -6.074348763695908e-06, + 0.008167866759217417, + -0.003146161340137105, + -0.025023158674266018, + 0.0 + ], + [ + -0.00610757195853906, + -0.0012231933592714178, + -0.0014926085962448552, + 0.010218634821220688, + -0.0399076375093438, + -0.048827576151559374, + 0.0 + ], + [ + -0.00021507204637905496, + -0.003697022758892021, + -0.028880662986743078, + -0.013969966911853928, + 0.006199771567889407, + -0.0727281948257976, + 0.0 + ], + [ + 0.001917880534777787, + 0.00514770286821956, + -0.03683351840778085, + -0.022600591271096364, + 0.03336161628569009, + -0.03582863149721342, + 0.0 + ], + [ + 0.000882304712720694, + 0.02613074060010844, + -0.025473334212133932, + -0.031199398395994365, + 0.020219886165035006, + 0.008723357805043852, + 0.0 + ], + [ + -0.0022796314791061743, + 0.03882597186155214, + -0.0077764010315594535, + -0.019182625299999364, + -0.03130487775831946, + 0.041481819102100116, + 0.0 + ], + [ + -0.004075902244210284, + 0.03524057165902552, + -0.005445271476355596, + -0.0355570481399094, + -0.030582631144727836, + 0.012651698770924048, + 0.0 + ], + [ + -0.005914805773769595, + 0.03252802173434873, + -0.0024392034054394984, + -0.020124698858815234, + -0.0201610403870576, + 0.04328883946118259, + 0.0 + ], + [ + -0.0034539370320544626, + 0.022649380591504578, + -0.003586768147337063, + -0.012907235560961053, + -0.008485668526577667, + 0.0192814513268409, + 0.0 + ], + [ + 0.007625181057774781, + 0.010922089329934525, + 0.005808587356332504, + 0.006548186887733605, + -0.00170903791303488, + -0.015434786679495079, + 0.0 + ], + [ + 0.010920948496764211, + 0.0030658508546276236, + 0.011656330484259148, + 0.011173238332052382, + -0.007745463351250973, + -0.016083905322473425, + 0.0 + ], + [ + 0.008215859338046262, + 0.003934362375064934, + 0.008899504438803291, + 0.021319352152453917, + 0.002775360487293427, + -0.013005374198913651, + 0.0 + ], + [ + 0.0013578827410035555, + 0.0001849714171887216, + 0.006568990537515897, + 0.03463326896576393, + -0.0035172032802918488, + -0.004308399636239528, + 0.0 + ], + [ + 0.000913920458942808, + 0.0021988590593779397, + -9.81607889751726e-05, + -0.010556365857472725, + 0.006725884317008088, + 0.019166290638533267, + 1.0 + ], + [ + -0.002992295077393404, + 0.0035057492131801405, + -0.0074220225635682905, + -0.033844941600957065, + 0.0020384030974439646, + 0.021785231953266076, + 1.0 + ], + [ + -0.0027827444112407166, + -0.006165031066209247, + -0.029361586194153355, + -0.050470961665930764, + 0.03191532352785085, + -0.019481239440616985, + 1.0 + ], + [ + -0.0023160808412115907, + -0.0051749861998529505, + -0.024768232147797654, + -0.03663541907092424, + 0.011031946058318752, + -0.014619884426550874, + 1.0 + ], + [ + -0.003273507110229221, + -0.009019996375551603, + -0.020912134406891138, + -0.06148723506161458, + -0.08435626299854015, + -0.02504744011544886, + 1.0 + ] + ], + "state": [ + [ + 0.2573145627975464, + -0.021725617349147797, + 0.08762951195240021, + -2.9356464614444455, + -0.10596192628145218, + 0.0996602475643158, + 1.0 + ], + [ + 0.25690165162086487, + -0.02163156121969223, + 0.08728666603565216, + -2.935155974822589, + -0.10450755804777145, + 0.09960871934890748, + 1.0 + ], + [ + 0.25366777181625366, + -0.019424503669142723, + 0.0822075828909874, + -2.9379320313506803, + -0.0795256718993187, + 0.09844174981117249, + 1.0 + ], + [ + 0.2550099194049835, + 0.007758299354463816, + 0.09496861696243286, + -2.9886830021911344, + -0.07821004092693329, + 0.03860861063003541, + 1.0 + ], + [ + 0.2587146759033203, + 0.038631830364465714, + 0.10272844135761261, + -3.018156776326247, + -0.09116281569004059, + -0.049213916063308716, + 1.0 + ], + [ + 0.274125874042511, + 0.06642640382051468, + 0.10411302745342255, + -3.034065472083636, + -0.09149765968322754, + -0.07802551984786987, + 1.0 + ], + [ + 0.28722378611564636, + 0.09875626862049103, + 0.09079276025295258, + -3.0378304739766797, + -0.05641475319862366, + -0.04969802126288414, + 1.0 + ], + [ + 0.29923853278160095, + 0.11015773564577103, + 0.06701134145259857, + -3.032455729442187, + -0.015750184655189514, + -0.07338892668485641, + 1.0 + ], + [ + 0.30775871872901917, + 0.11926547437906265, + 0.04850540682673454, + -3.015074135857173, + 0.00221166736446321, + -0.06437376141548157, + 1.0 + ], + [ + 0.31071123480796814, + 0.12541423738002777, + 0.033330902457237244, + -2.98188969691331, + 0.013067890889942644, + -0.0677291601896286, + 1.0 + ], + [ + 0.3130296766757965, + 0.1294599175453186, + 0.025706809014081955, + -2.9649328907304486, + 0.024285100400447845, + -0.06293428689241409, + 1.0 + ], + [ + 0.31372004747390747, + 0.13110218942165375, + 0.01999613270163536, + -2.959709884720393, + 0.034644234925508506, + -0.0621890127658844, + 1.0 + ], + [ + 0.3177053928375244, + 0.13557402789592743, + 0.016936680302023888, + -2.93069780071313, + 0.016937028616666794, + -0.07752212882041931, + 1.0 + ], + [ + 0.3182063698768616, + 0.14139948785305023, + 0.01189485378563404, + -2.9191194494538983, + 0.012312515638768675, + -0.08594630658626558, + 1.0 + ], + [ + 0.31463417410850525, + 0.14326496422290802, + 0.00897966604679823, + -2.918084519105502, + 0.017864549532532692, + -0.09713945537805557, + 1.0 + ], + [ + 0.3127928674221039, + 0.14498208463191986, + 0.0068523515947163105, + -2.9118848909908017, + 0.016468755900859833, + -0.10310941934585571, + 1.0 + ], + [ + 0.3109084367752075, + 0.14758382737636566, + 0.0043372465297579765, + -2.9011556973033628, + 0.008596528321504593, + -0.09712878614664078, + 1.0 + ], + [ + 0.31050312519073486, + 0.1488731950521469, + 0.0046530552208423615, + -2.8928482105308255, + 0.0056914412416517735, + -0.07207588851451874, + 0.0 + ], + [ + 0.30448034405708313, + 0.15012826025485992, + 0.0064355917274951935, + -2.882516862946101, + 0.032348033040761955, + -0.014924447983503343, + 0.0 + ], + [ + 0.30514174699783325, + 0.14629274606704712, + 0.035291410982608795, + -2.894886301951953, + 0.007661132607609033, + 0.05378105491399766, + 0.0 + ], + [ + 0.3080722987651825, + 0.13244324922561646, + 0.06973685324192047, + -2.917231949167796, + -0.03344165906310081, + 0.08037032932043074, + 0.0 + ], + [ + 0.3108176290988922, + 0.1014203131198883, + 0.08877695351839066, + -2.9479686488681516, + -0.051211148500442505, + 0.06735174357891084, + 0.0 + ], + [ + 0.31120285391807556, + 0.06175956502556801, + 0.08882038295269012, + -2.9653978665643415, + -0.012480258010327816, + 0.032689642161130905, + 0.0 + ], + [ + 0.3083047866821289, + 0.025996295735239983, + 0.08795341849327087, + -3.0007875581556043, + 0.019846688956022263, + 0.025598347187042236, + 0.0 + ], + [ + 0.30318352580070496, + -0.0066939168609678745, + 0.08592129498720169, + -3.021792138116904, + 0.04586591571569442, + -0.014463605359196661, + 0.0 + ], + [ + 0.29944130778312683, + -0.02955789491534233, + 0.08693289756774902, + -3.0355473329597196, + 0.05658750236034393, + -0.03262089565396309, + 0.0 + ], + [ + 0.30632421374320984, + -0.040033869445323944, + 0.07958070933818817, + -3.0281321724229535, + 0.05664645507931709, + -0.01706697605550289, + 0.0 + ], + [ + 0.3165213465690613, + -0.04193461313843727, + 0.06705304980278015, + -3.016015486913272, + 0.06251317262649538, + -0.00017695047426968813, + 0.0 + ], + [ + 0.3241382837295532, + -0.04472470283508301, + 0.057235799729824066, + -2.993919925885745, + 0.05812588706612587, + 0.012399564497172832, + 0.0 + ], + [ + 0.32510504126548767, + -0.043929073959589005, + 0.05064322426915169, + -2.959009291725703, + 0.060970224440097816, + 0.017187455669045452, + 0.0 + ], + [ + 0.32603615522384644, + -0.046093523502349854, + 0.05028538033366203, + -2.9708234687619886, + 0.05782363563776016, + -0.002914833603426814, + 1.0 + ], + [ + 0.3234233856201172, + -0.05080198496580124, + 0.05716537684202194, + -3.005971925454684, + 0.05950300022959709, + -0.02476826123893261, + 1.0 + ], + [ + 0.32247844338417053, + -0.048639342188835144, + 0.08720342069864273, + -3.0554972385340413, + 0.02524026855826378, + -0.009786014445126057, + 1.0 + ], + [ + 0.32082679867744446, + -0.04559701308608055, + 0.11237535625696182, + -3.0917917249077043, + 0.012989731505513191, + 0.00383127573877573, + 1.0 + ], + [ + 0.3178001940250397, + -0.03764075040817261, + 0.1337513029575348, + 3.1304441561275205, + 0.09598894417285919, + 0.033089246600866325, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.011358082294464111, + 0.011358082294464111, + 0.011358082294464111, + 0.011358082294464111, + 0.011358082294464111, + 0.011358082294464111, + 0.011358082294464111, + 0.011358082294464111, + 0.011358082294464111, + 0.011358082294464111, + 0.011358082294464111, + 0.011358082294464111, + 0.011358082294464111, + 0.011358082294464111, + 0.011358082294464111, + 0.05855154991149902, + 0.3208107352256775, + 0.5922945439815521, + 0.6321892142295837, + 0.602889358997345, + 0.602889358997345, + 0.602889358997345, + 0.602889358997345, + 0.602889358997345, + 0.602889358997345, + 0.602889358997345, + 0.602889358997345, + 0.602889358997345, + 0.5431223511695862, + 0.26804131269454956, + 0.03421902656555176, + 0.009980499744415283, + 0.012049198150634766, + 0.012049198150634766, + 0.012049198150634766 + ], + "episode_id": "1214", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1214/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1227.json b/annotation/test/1227.json new file mode 100644 index 0000000000000000000000000000000000000000..83ed470447694c318644b92bed2db2799c61378b --- /dev/null +++ b/annotation/test/1227.json @@ -0,0 +1,603 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "move the strawberry to the lower right of oven top\\" + ], + "videos": [ + { + "video_path": "videos/test/1227/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -6.23305644527294e-09, + 1.293330301733793e-10, + -0.0015339844721108833, + 1.0 + ], + [ + -0.0016964361939175979, + 0.0018897000655947215, + 0.00991722817137554, + -0.00864767127686267, + -0.029787592432851073, + 0.002257801188867417, + 1.0 + ], + [ + 0.0011651297500133218, + 0.002369890654970331, + -0.0007159290246711622, + -0.012620556579450938, + 0.004442011215658908, + -0.002054371605324623, + 1.0 + ], + [ + 0.012539525383225007, + 0.006767629750206367, + -0.013417758163854349, + -0.010442988731869749, + 0.05202522858840239, + 0.023237680933800253, + 1.0 + ], + [ + 0.03723856650343483, + 0.02356977623935589, + -0.03351061082536332, + -0.014124306615974476, + 0.12221304977028306, + 0.060951919147392286, + 1.0 + ], + [ + 0.03232732354017517, + 0.028276625660662448, + -0.008179965309561395, + -0.043996691238830245, + 0.04604170188776035, + 0.08846687254165056, + 1.0 + ], + [ + 0.022552795956762673, + 0.018054037641967488, + 0.02440834325679179, + -0.043451893731699616, + -0.03176507601350928, + 0.061899432684483474, + 1.0 + ], + [ + 0.00354334832778372, + 0.004951983875947946, + 0.013358093291307724, + 0.02385549522950272, + -0.043381939014766724, + 0.024321323340322706, + 1.0 + ], + [ + -0.00725844189540564, + -0.004274226467881581, + 0.018289685856139326, + 0.027767548169897068, + -0.06441086424996699, + -0.0017676985576001775, + 1.0 + ], + [ + -0.007480261063644331, + -0.007578599346076139, + 0.002957143965090161, + 0.03801968654661664, + -0.03945059979285918, + 0.0007465242319230286, + 1.0 + ], + [ + -0.009119181182482443, + -0.01693704989494171, + 0.004829373071703651, + 0.015111948741979216, + -0.027593125301404352, + -0.032836831549973126, + 1.0 + ], + [ + -0.0025635673962044205, + -0.0030947967746068608, + 0.0015865425127579934, + -0.009971735710589659, + -0.007430419829093633, + -0.010347033259500427, + 1.0 + ], + [ + -0.0013578528401698947, + 0.0010779785452991954, + 0.008108675330983701, + -0.004134055867389725, + -0.020976298080050977, + -0.0026139161071946563, + 1.0 + ], + [ + 0.0012276429761831483, + 0.0003849237198739528, + -0.00042198464610530476, + 0.0010875878010752885, + 0.0061818225416121605, + 0.002914466742839982, + 1.0 + ], + [ + 0.002108106525433333, + 0.0034929691356389535, + -0.0019180564182197449, + -0.009759819073643332, + 0.01917123629733023, + 0.005497831541325436, + 1.0 + ], + [ + 0.0005435267413420482, + 0.0022490223752540768, + -0.031751114964407634, + -0.00034281155338310263, + 0.09523341757584795, + 0.003297202682833663, + 0.0 + ], + [ + -0.015347819538906085, + 0.0021474328295147424, + -0.037151497390941965, + 0.010367385360344988, + 0.09617619638783133, + -0.012767631523564157, + 0.0 + ], + [ + -0.035312942043626415, + 0.010555462581231601, + -0.007480232027689313, + -0.026750592100501167, + -0.012538266162955034, + -0.008141966367352519, + 0.0 + ], + [ + -0.03740093476316435, + 0.011389421359685044, + -0.004148878641656145, + -0.030466858345843305, + -0.014250158067970904, + 0.018007834479522856, + 0.0 + ], + [ + -0.026929714791232805, + 0.013138098133493046, + -0.0008434102087695107, + -0.054617060992513504, + 0.0027420288767877918, + 0.022152860110818323, + 0.0 + ], + [ + -0.007089086120663272, + 0.005102536903182672, + 0.009692692947513716, + -0.037336878143024464, + -0.008830176423882103, + 0.015136491386234442, + 0.0 + ], + [ + -0.0011605596733656723, + -0.0004712193176581005, + 0.024499786416602203, + -0.024074524944943863, + -0.054413122252677915, + 0.018048367286747344, + 0.0 + ], + [ + -0.0013881954283786857, + -0.007320343248043411, + 0.022377521820121902, + 0.024467968581833574, + -0.03726159931379898, + -0.005043818834902544, + 0.0 + ], + [ + -0.0004064952625500798, + -0.004030769165248002, + 0.010020393726184773, + -0.0006161285335153783, + 0.007771974273744454, + 0.003341031224786269, + 0.0 + ], + [ + -0.00699493038933289, + 0.0013978174955284453, + 0.007751732715257861, + -0.0033122724467396763, + -0.014994698276872994, + 0.006872811666414791, + 0.0 + ], + [ + -0.0002666511585547828, + -0.000174075680114975, + -0.0019048403805430473, + -0.004221241801016248, + 0.005253895273797126, + 0.01207177557336189, + 0.0 + ], + [ + -0.0013978277070174562, + -0.0017974031719016734, + -0.027061090483012154, + 0.039066009283174614, + 0.034728671700425234, + -0.024635681397357664, + 1.0 + ], + [ + 0.0046588894554596, + -0.0005347068959998576, + -0.032065770299200186, + 0.04369009613722935, + 0.02762053471983018, + -0.03490409436651772, + 1.0 + ], + [ + -0.001361734021968297, + -0.0030192379545621296, + -0.009575474298372497, + 0.027242882108809964, + -0.00684219088313419, + -0.028237779637697108, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 3.0452085354494604e-09, + -3.053723310588692e-09, + -0.0030679745244478513, + 1.0 + ] + ], + "state": [ + [ + 0.3242766559123993, + 0.049142517149448395, + 0.06375431269407272, + -3.038963446515151, + -0.017908141016960144, + -0.05246444046497345, + 1.0 + ], + [ + 0.3242766559123993, + 0.049142517149448395, + 0.06375431269407272, + -3.0389909019046506, + -0.018065275624394417, + -0.050938278436660774, + 1.0 + ], + [ + 0.32272017002105713, + 0.04835672676563263, + 0.05366668850183487, + -3.0476074685626706, + 0.011796873062849045, + -0.05013270303606988, + 1.0 + ], + [ + 0.32376793026924133, + 0.04587448388338089, + 0.0541432723402977, + -3.0602080096774777, + 0.0071816542185843, + -0.04850424453616142, + 1.0 + ], + [ + 0.33600443601608276, + 0.037435244768857956, + 0.06687606126070023, + -3.070768008130141, + -0.04278508946299552, + -0.07588754594326019, + 1.0 + ], + [ + 0.3697851300239563, + 0.00890999287366867, + 0.10019844025373459, + -3.0815240388088903, + -0.1602770984172821, + -0.14577464759349823, + 1.0 + ], + [ + 0.3961670398712158, + -0.02398782968521118, + 0.11174241453409195, + -3.110897110896655, + -0.20025816559791565, + -0.23862260580062863, + 1.0 + ], + [ + 0.41837725043296814, + -0.04719144478440285, + 0.09177637100219727, + 3.141070660383445, + -0.1662357896566391, + -0.3003368377685547, + 1.0 + ], + [ + 0.42235928773880005, + -0.05361603945493698, + 0.07919129729270935, + -3.1142010783129415, + -0.12281719595193864, + -0.32484254240989685, + 1.0 + ], + [ + 0.41916486620903015, + -0.0475032739341259, + 0.060273148119449615, + -3.0868104008310517, + -0.05847817659378052, + -0.32131025195121765, + 1.0 + ], + [ + 0.4146612286567688, + -0.03785822167992592, + 0.0573025606572628, + -3.0488308315449437, + -0.019045855849981308, + -0.31989526748657227, + 1.0 + ], + [ + 0.4115087389945984, + -0.018577134236693382, + 0.05388972535729408, + -3.034412482874938, + 0.005399477668106556, + -0.2846545279026032, + 1.0 + ], + [ + 0.40995368361473083, + -0.014739234000444412, + 0.05265721306204796, + -3.044328013556548, + 0.011680076830089092, + -0.2735714912414551, + 1.0 + ], + [ + 0.4084773659706116, + -0.01462143287062645, + 0.04449859634041786, + -3.04838744004304, + 0.03230325132608414, + -0.26893118023872375, + 1.0 + ], + [ + 0.409559965133667, + -0.015358086675405502, + 0.044843073934316635, + -3.047410974400588, + 0.026419315487146378, + -0.27240949869155884, + 1.0 + ], + [ + 0.4106456935405731, + -0.019459303468465805, + 0.04636790230870247, + -3.0573481564694127, + 0.007849377579987049, + -0.27968502044677734, + 1.0 + ], + [ + 0.410049170255661, + -0.024399328976869583, + 0.07781193405389786, + -3.0574012269550046, + -0.08676835149526595, + -0.2909997403621673, + 0.0 + ], + [ + 0.39083337783813477, + -0.024139156565070152, + 0.11318263411521912, + -3.047049233811446, + -0.18367555737495422, + -0.2863331437110901, + 0.0 + ], + [ + 0.35323044657707214, + -0.02475840225815773, + 0.11307477951049805, + -3.0755184685164174, + -0.1719539016485214, + -0.27690547704696655, + 0.0 + ], + [ + 0.3140454888343811, + -0.02572118490934372, + 0.11001305282115936, + -3.103038704144307, + -0.1565207988023758, + -0.2941419184207916, + 0.0 + ], + [ + 0.2847216725349426, + -0.030589597299695015, + 0.10614745318889618, + 3.1290309504889926, + -0.15836794674396515, + -0.3166658580303192, + 0.0 + ], + [ + 0.2778855264186859, + -0.0338466539978981, + 0.09552210569381714, + 3.0941265804045877, + -0.1497100591659546, + -0.33208397030830383, + 0.0 + ], + [ + 0.28002890944480896, + -0.03531757369637489, + 0.07112844288349152, + 3.073080102103301, + -0.09618279337882994, + -0.3527619242668152, + 0.0 + ], + [ + 0.28278324007987976, + -0.030181685462594032, + 0.04827446490526199, + 3.0972620492153844, + -0.05866306275129319, + -0.35027948021888733, + 0.0 + ], + [ + 0.28419265151023865, + -0.026882242411375046, + 0.03807898238301277, + 3.0968206656449517, + -0.06657519936561584, + -0.35327935218811035, + 0.0 + ], + [ + 0.2775205373764038, + -0.02628001756966114, + 0.02994925156235695, + 3.094006711738654, + -0.05190123990178108, + -0.360825777053833, + 0.0 + ], + [ + 0.2772728204727173, + -0.0259038507938385, + 0.03182727098464966, + 3.0904017259650907, + -0.05771978199481964, + -0.3726534843444824, + 0.0 + ], + [ + 0.2756837010383606, + -0.02186858281493187, + 0.05863545089960098, + 3.127926663617142, + -0.09112238138914108, + -0.3461778163909912, + 1.0 + ], + [ + 0.27763423323631287, + -0.021537939086556435, + 0.0909818708896637, + -3.114797331514307, + -0.11820645630359651, + -0.31066474318504333, + 1.0 + ], + [ + 0.2761070430278778, + -0.018147168681025505, + 0.10040684789419174, + -3.090935880439826, + -0.1120752766728401, + -0.2820749580860138, + 1.0 + ], + [ + 0.2761070430278778, + -0.018147168681025505, + 0.10040684789419174, + -3.0912809689813336, + -0.1122300922870636, + -0.2789915204048157, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.05310845375061035, + 0.33384793996810913, + 0.3720197081565857, + 0.3720197081565857, + 0.4419218897819519, + 0.45868784189224243, + 0.4596704840660095, + 0.470450222492218, + 0.4724041819572449, + 0.4753316640853882, + 0.4763064980506897, + 0.48796534538269043, + 0.5940692126750946, + 0.6046426296234131, + 0.28090745210647583, + 0.020461201667785645, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1227", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1227/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1243.json b/annotation/test/1243.json new file mode 100644 index 0000000000000000000000000000000000000000..b1df3d721317322995e9789b44a26c5e7a8e96f9 --- /dev/null +++ b/annotation/test/1243.json @@ -0,0 +1,679 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Place the purple towel near the front edge of the table, in front of the metal pot." + ], + "videos": [ + { + "video_path": "videos/test/1243/rgb.mp4" + } + ], + "action": [ + [ + 4.825674282038745e-05, + -7.100529402752229e-05, + -0.0005352606159435186, + -1.1700886345462244e-05, + 4.1414938767377216e-05, + -5.61709698767104e-05, + 1.0 + ], + [ + 0.0011364664107678735, + -0.005240679173689465, + 0.010279603710121892, + 0.030856695069475377, + 0.00917603833476402, + -0.004762181783434104, + 1.0 + ], + [ + 0.00083519299006043, + -0.003324592113944475, + 0.0065571827601853296, + 0.004183769809415583, + 0.0018874217837038334, + -0.014906596991467489, + 1.0 + ], + [ + 0.0019772242678947425, + -0.0011683527969529861, + 0.015473140967749524, + 0.01962810585822199, + 0.0005725805237622107, + -0.00554165215881858, + 1.0 + ], + [ + 0.013049175586719685, + -0.0009928287390670453, + 0.018889660157697774, + 0.02167604762617306, + 0.01552004298617279, + -0.039979249282746245, + 1.0 + ], + [ + 0.002179552201393644, + -0.005637156205685633, + 0.01714333361199471, + 0.031049416141536387, + 0.009003864077842039, + -0.005455472299728621, + 1.0 + ], + [ + 0.0028558282480298123, + -0.007994064331011396, + 0.01700203604670809, + 0.03817231422491888, + 0.00753148008990862, + -0.014500993492125252, + 1.0 + ], + [ + 0.0011398613454228531, + -0.0012782483337545909, + 0.007277108891209179, + 0.009782636941545502, + 0.008869433576458972, + -0.007823432403819318, + 1.0 + ], + [ + -0.0007101466108396237, + -0.0005254076137415273, + 0.004372626045636713, + -0.0017408763093709771, + 0.008193125921381715, + 0.001032592607715296, + 1.0 + ], + [ + -0.00018746466351301456, + -0.0004908522089820984, + 0.0022019078138601905, + -0.0013193695844466438, + 0.018348868399925274, + 0.00472248206544666, + 1.0 + ], + [ + -0.003847029552305458, + -0.0046890695346159484, + 0.0013417117691017384, + 0.003931586966239291, + 0.021623049039798177, + 0.028135332765216094, + 1.0 + ], + [ + -0.0026805442474215294, + -0.004508491208818966, + -0.0009053522980263187, + -0.0038423429953810618, + -0.008452012232540714, + 0.0007516533867650338, + 1.0 + ], + [ + -0.0038281518271662293, + -0.011533806645524301, + -0.003196390423756911, + 0.004579464814286548, + -0.014129917235318486, + 0.023669591671750482, + 1.0 + ], + [ + -0.0009401567067109302, + -0.019420564890437874, + -0.002195762837680511, + 0.02416917904386376, + -0.016941991761133635, + 0.018609112795666665, + 1.0 + ], + [ + -0.004012485740513522, + -0.02009373053252399, + -0.0021608483196958995, + 0.02433442515521484, + -0.02326367360333707, + 0.018150826964786367, + 1.0 + ], + [ + -0.007509398612481504, + -0.012724385262310072, + -0.0006365897788779709, + 0.005137714545095014, + -0.01932096353124101, + 0.013658749760582622, + 1.0 + ], + [ + -0.010010426675145992, + -0.009471820988997652, + 0.0015215919243590518, + 0.008812112775424973, + -0.01408971897054787, + 0.014783225113776222, + 1.0 + ], + [ + -0.01086703155872918, + -0.007086191626147765, + 0.00096078242552797, + 0.009184108545105284, + -0.008974283962892411, + 0.02380514636243692, + 1.0 + ], + [ + -0.015247060229701905, + -0.010832116227207813, + -0.0003358383493768894, + 0.0039867286514096035, + -0.009887542133254386, + 0.04875284043590192, + 1.0 + ], + [ + -0.020158637092840628, + -0.024500568447957144, + -0.0001382004247715803, + 0.017986393679305848, + -0.015339892445889807, + 0.0565456803927665, + 1.0 + ], + [ + -0.011794602891063084, + -0.022801084909310366, + -0.0008661281183348382, + 0.017979295454750438, + -0.005698417245293708, + 0.039369972544631864, + 1.0 + ], + [ + -0.010124725453323536, + -0.026388317113072064, + -0.0006470262674763512, + 0.01834025263633083, + 0.004327445836947835, + 0.04109130240809944, + 1.0 + ], + [ + -0.010352195417687502, + -0.017232154383712176, + -0.00020903635068189637, + 0.007541903401743966, + -0.010055934604598814, + 0.03880535219515736, + 1.0 + ], + [ + -0.006108548498857708, + -0.004049347725074774, + 0.0004393073800012543, + 0.0012123336475267344, + -0.008551525634811007, + 0.012623738565128478, + 1.0 + ], + [ + 0.00024039073089877913, + 0.0006305977408747586, + 1.7852668529730118e-05, + -0.005124238018957445, + 0.003304926876551602, + -0.000259430421934335, + 1.0 + ], + [ + 0.003447098480342541, + 0.0026755948460985305, + -0.0010744029225340005, + -0.007126350566058851, + 0.008115966904764158, + -0.019871939701940535, + 1.0 + ], + [ + 0.007103088571260784, + 0.0015658961995471052, + -0.006656410812462044, + -0.019583267537199335, + 0.030716954530836563, + -0.025707429193079355, + 1.0 + ], + [ + 0.0037356433000847564, + 0.003538803306934609, + -0.015731140102445893, + -0.03557284640857188, + 0.04878263668236841, + -0.01823765644575328, + 1.0 + ], + [ + -0.010926082598027579, + 0.010132710376720713, + -0.03031427561429771, + -0.06982493702090214, + -0.02923327529215329, + 0.012502881090871458, + 1.0 + ], + [ + -0.008832596572585566, + 0.0035441071954007246, + -0.019917689921973857, + -0.01943287190012586, + -0.03069396926430466, + -0.0038231374007699696, + 1.0 + ], + [ + -0.006874189381076586, + 0.0059049131673811145, + -0.01429691940420275, + -0.020140095927661215, + -0.03488850110255361, + -0.010001341651707124, + 1.0 + ], + [ + -0.0003873513891391454, + 0.00016982459817765065, + 7.561099966264847e-05, + 0.000792392805561458, + -0.000898035149349153, + -0.0009588341712035745, + 1.0 + ], + [ + 0.00014240786716644983, + 0.00012564950622241273, + -1.1315233281065122e-07, + -0.000791531694484994, + 0.0008987942280166723, + 0.0009581226607636377, + 1.0 + ], + [ + 0.000160845150374514, + -0.00018245839035164912, + -1.827158749772715e-07, + 0.001150700515577085, + 0.0010143988858166745, + 4.749555177401482e-07, + 1.0 + ] + ], + "state": [ + [ + 0.32343024015426636, + 0.1686515063047409, + 0.1185067817568779, + 2.829025389748164, + 0.05380389839410783, + 2.3177943229675293, + 1.0 + ], + [ + 0.32320934534072876, + 0.1685483604669571, + 0.11899097263813019, + 2.8290172537141522, + 0.05378176271915436, + 2.3178606033325195, + 1.0 + ], + [ + 0.32151493430137634, + 0.16769111156463623, + 0.10755328834056854, + 2.860264780121394, + 0.046513307839632034, + 2.325221538543701, + 1.0 + ], + [ + 0.3201727867126465, + 0.16711372137069702, + 0.10029985010623932, + 2.8651708980375012, + 0.04883334040641785, + 2.3400838375091553, + 1.0 + ], + [ + 0.32154154777526855, + 0.17015491425991058, + 0.08501684665679932, + 2.885071428614207, + 0.04979415237903595, + 2.345578193664551, + 1.0 + ], + [ + 0.31580761075019836, + 0.18149004876613617, + 0.06586684286594391, + 2.909076156216212, + 0.0448768138885498, + 2.388227701187134, + 1.0 + ], + [ + 0.31375762820243835, + 0.18130800127983093, + 0.04780621454119682, + 2.940453888969966, + 0.03737110272049904, + 2.395616054534912, + 1.0 + ], + [ + 0.30915188789367676, + 0.17952391505241394, + 0.029455894604325294, + 2.979232968884059, + 0.03288380056619644, + 2.4113376140594482, + 1.0 + ], + [ + 0.3084273338317871, + 0.18005841970443726, + 0.022034382447600365, + 2.989317091303416, + 0.025394253432750702, + 2.420494556427002, + 1.0 + ], + [ + 0.30913951992988586, + 0.1796240508556366, + 0.017652107402682304, + 2.9875767101817807, + 0.01713930442929268, + 2.4207167625427246, + 1.0 + ], + [ + 0.3092121183872223, + 0.17936424911022186, + 0.015404506586492062, + 2.986199738579341, + -0.0017168379854410885, + 2.41886568069458, + 1.0 + ], + [ + 0.3091679811477661, + 0.1735033243894577, + 0.013346640393137932, + 2.9901835193210324, + -0.027432868257164955, + 2.394414186477661, + 1.0 + ], + [ + 0.30801644921302795, + 0.1683085709810257, + 0.01348800677806139, + 2.986391397314616, + -0.019190870225429535, + 2.3923959732055664, + 1.0 + ], + [ + 0.3027411699295044, + 0.15697816014289856, + 0.014789380133152008, + 2.9914970119767865, + -0.008882911875844002, + 2.3668274879455566, + 1.0 + ], + [ + 0.2897457480430603, + 0.14236880838871002, + 0.014048123732209206, + 3.0158635546737393, + 0.0050880853086709985, + 2.3458962440490723, + 1.0 + ], + [ + 0.2781206965446472, + 0.12536118924617767, + 0.01369262021034956, + 3.0400849526100835, + 0.025891093537211418, + 2.3249690532684326, + 1.0 + ], + [ + 0.273998886346817, + 0.11116597801446915, + 0.01323115173727274, + 3.0448131283097943, + 0.04372543469071388, + 2.309410333633423, + 1.0 + ], + [ + 0.27394160628318787, + 0.09744458645582199, + 0.011241325177252293, + 3.05292438169057, + 0.05631514638662338, + 2.2933106422424316, + 1.0 + ], + [ + 0.2759442925453186, + 0.08462751656770706, + 0.010270986706018448, + 3.060749651985713, + 0.06312946230173112, + 2.268756151199341, + 1.0 + ], + [ + 0.2774525284767151, + 0.06598705798387527, + 0.010693956166505814, + 3.0617090856009206, + 0.06897218525409698, + 2.219247817993164, + 1.0 + ], + [ + 0.27020013332366943, + 0.035101935267448425, + 0.01027020812034607, + 3.0758395363860807, + 0.07963883131742477, + 2.161479949951172, + 1.0 + ], + [ + 0.2578321397304535, + 0.012592134065926075, + 0.010576627217233181, + 3.090704484032937, + 0.08267601579427719, + 2.121685028076172, + 1.0 + ], + [ + 0.24066050350666046, + -0.00986641924828291, + 0.010719038546085358, + 3.105706961947032, + 0.0761956050992012, + 2.0807487964630127, + 1.0 + ], + [ + 0.2306777983903885, + -0.02731233835220337, + 0.011098901741206646, + 3.1102850829535207, + 0.08479465544223787, + 2.0414681434631348, + 1.0 + ], + [ + 0.229864701628685, + -0.034609001129865646, + 0.011052439920604229, + 3.1104028822206935, + 0.09293978661298752, + 2.0285274982452393, + 1.0 + ], + [ + 0.23032476007938385, + -0.03411535546183586, + 0.011031943373382092, + 3.1053122413628778, + 0.08964455127716064, + 2.0288913249969482, + 1.0 + ], + [ + 0.23112328350543976, + -0.029776832088828087, + 0.011889388784766197, + 3.1000022684508046, + 0.08223643898963928, + 2.049112319946289, + 1.0 + ], + [ + 0.2287542223930359, + -0.02240973338484764, + 0.01799898035824299, + 3.082632077979394, + 0.05258490890264512, + 2.0761001110076904, + 1.0 + ], + [ + 0.22882357239723206, + -0.01715228334069252, + 0.033692970871925354, + 3.048110084729739, + 0.004950028378516436, + 2.097158670425415, + 1.0 + ], + [ + 0.2405114620923996, + -0.02281934581696987, + 0.06487444043159485, + 2.978180708485194, + 0.032888010144233704, + 2.0819787979125977, + 1.0 + ], + [ + 0.2447284758090973, + -0.029813021421432495, + 0.0853828564286232, + 2.9586299677663526, + 0.06379488855600357, + 2.080754041671753, + 1.0 + ], + [ + 0.25040361285209656, + -0.03339383751153946, + 0.10092296451330185, + 2.938601555424281, + 0.0999201163649559, + 2.0842533111572266, + 1.0 + ], + [ + 0.2507530450820923, + -0.033643826842308044, + 0.10092198103666306, + 2.9394699354940137, + 0.10099298506975174, + 2.085015296936035, + 1.0 + ], + [ + 0.25078925490379333, + -0.03345771133899689, + 0.10093282908201218, + 2.938601555424281, + 0.0999201163649559, + 2.0842533111572266, + 1.0 + ], + [ + 0.25055673718452454, + -0.03340928629040718, + 0.10088036209344864, + 2.939772607880183, + 0.09892644733190538, + 2.084458351135254, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1243", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1243/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1245.json b/annotation/test/1245.json new file mode 100644 index 0000000000000000000000000000000000000000..ac829cc0e5d38271252e8bcd8aeabe281f9e81c0 --- /dev/null +++ b/annotation/test/1245.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put corn in pan which-is on stove distractors" + ], + "videos": [ + { + "video_path": "videos/test/1245/rgb.mp4" + } + ], + "action": [ + [ + -0.0050563513175477795, + 0.001088747597038921, + 0.0065483379803905825, + -0.0033647686082025185, + -0.016534241572125918, + 0.00017997692339148075, + 1.0 + ], + [ + -0.01717719934906636, + 0.003988846775853111, + 0.021039579139883594, + -0.009517625824917999, + -0.05439079032447479, + 0.014909444919953739, + 1.0 + ], + [ + 0.0023474511209671577, + -0.0006346174708663732, + 0.00026340700867787104, + -0.0008284342324085773, + 0.011173996282812541, + 0.019996884989846933, + 1.0 + ], + [ + 0.004467393908260707, + -0.0009960146752503248, + 0.00837059206498403, + -0.01831376963840045, + 0.014367884566095153, + 0.0128452093416824, + 1.0 + ], + [ + 0.0060271115821923125, + -0.005619322754842547, + 0.005666462127428137, + -0.01821342924988365, + 0.006400637248828928, + 0.010416204272469271, + 1.0 + ], + [ + 0.00397892123908585, + -0.005462376061664761, + 0.00402888665497702, + -0.008855352780570298, + 0.005674812936778054, + 0.006615477411939954, + 1.0 + ], + [ + 0.002516138666650889, + -0.0023766681194215896, + 0.001525824684372814, + -0.0038113196114585857, + 0.0018152544582574848, + 0.003572600140570021, + 1.0 + ], + [ + -0.00029096701037300735, + -0.00023692542437088004, + 0.0005618406026776977, + -0.0056961906772727815, + -0.009197743463971859, + -0.003014842951742819, + 0.0 + ], + [ + -0.0045300707299005235, + 0.001063832767570177, + 0.00018628420098805405, + 0.013747830128386908, + -0.023269007978584586, + -0.015473064533665325, + 0.0 + ], + [ + -0.009582229603789056, + 0.0015563434253914531, + -0.00937299937608664, + 0.036832220454968964, + -0.048941520344443885, + 0.009366147386174636, + 0.0 + ], + [ + 0.0025978872264938403, + -0.006405752762482823, + -0.023734238731265227, + 0.05806018526727531, + 0.017513708399662122, + 0.027305713474498776, + 0.0 + ], + [ + -0.0015215265887917717, + -0.00469547033949728, + -0.00993973266447703, + 0.03638224036470215, + -0.02987606816047347, + 0.040946970048704553, + 0.0 + ], + [ + 0.002916882894096501, + -0.008351595110132937, + -0.015576067532563432, + 0.0361850562755158, + -0.03349048154845598, + 0.032711029697149674, + 0.0 + ], + [ + 0.0033877375885943872, + -0.010321475515698182, + -0.02720901018943584, + 0.040803736899533365, + 0.033549631540203385, + -0.005538967875308927, + 0.0 + ], + [ + -0.011794147991512297, + -0.003013694522678741, + 0.002826989931816666, + 0.003276027459152886, + -0.009330815777985725, + -0.020693151851394607, + 0.0 + ], + [ + -0.011814928216077379, + -0.0037972399832145905, + 0.0018172382229772485, + -0.0023351851830706078, + -0.012182333353830207, + -0.027659602543029124, + 0.0 + ], + [ + -0.007798043768241836, + -0.01307740648362248, + -0.00997868573642064, + -0.005940265895600266, + 0.03515754388200984, + -0.05941141085797621, + 0.0 + ], + [ + -0.012955116192133794, + -0.002630803465623201, + 0.010319586263480113, + -0.014254249135297862, + -0.00862332110715053, + -0.02029494572987409, + 0.0 + ], + [ + -0.011507750093966247, + -0.003867116597896059, + 0.007128179573393898, + -0.019617174474110446, + -0.016693776588987304, + -0.019488333755373437, + 0.0 + ], + [ + -0.008337184122157728, + -0.0007752178693579058, + 0.004968418104554394, + -0.03894107827625629, + -0.00231204904438895, + -0.019436909588877553, + 0.0 + ], + [ + -0.010197613239575902, + 0.0003438767439663102, + 0.006509948791165292, + -0.02182976906375182, + -0.0010045176941660136, + -0.021038304972101466, + 0.0 + ], + [ + -0.0023480725735787523, + -0.0006267262581588836, + -0.0009744784867954175, + 0.0027481645441282854, + 0.00548650343499973, + -0.004118496326655424, + 1.0 + ], + [ + 0.0030865006527388086, + -0.001149947343454869, + -0.005340029835912208, + 0.004371362802714192, + 0.013092259772309451, + -0.00026301873740422813, + 1.0 + ] + ], + "state": [ + [ + 0.5001100301742554, + 0.08585856854915619, + 0.057461127638816833, + -3.018822634714194, + -0.5083216428756714, + -0.06298777461051941, + 1.0 + ], + [ + 0.49890586733818054, + 0.0856553316116333, + 0.04920634254813194, + -3.0231902693682393, + -0.4918888807296753, + -0.06089333817362785, + 1.0 + ], + [ + 0.49377450346946716, + 0.0844898447394371, + 0.02226303704082966, + -3.028172606723853, + -0.4360998570919037, + -0.07011761516332626, + 1.0 + ], + [ + 0.4960232973098755, + 0.0849938839673996, + 0.02308250032365322, + -3.01913088013465, + -0.44483456015586853, + -0.09352827817201614, + 1.0 + ], + [ + 0.5037333369255066, + 0.08629056811332703, + 0.017615292221307755, + -3.030488507943698, + -0.45747533440589905, + -0.10969358682632445, + 1.0 + ], + [ + 0.5119872093200684, + 0.09163203835487366, + 0.015783915296196938, + -3.043246844904967, + -0.4626514315605163, + -0.12205460667610167, + 1.0 + ], + [ + 0.5177699327468872, + 0.09679798036813736, + 0.014451831579208374, + -3.048532763617583, + -0.4676365256309509, + -0.13005408644676208, + 1.0 + ], + [ + 0.5209025740623474, + 0.09891778975725174, + 0.014427079819142818, + -3.0504616518789014, + -0.46910843253135676, + -0.13423115015029907, + 1.0 + ], + [ + 0.5209248065948486, + 0.09920446574687958, + 0.013815701939165592, + -3.0580919702821454, + -0.46021950244903564, + -0.12994606792926788, + 0.0 + ], + [ + 0.5168857574462891, + 0.0986788272857666, + 0.011557877995073795, + -3.052848795550414, + -0.4382481276988983, + -0.11077871173620223, + 0.0 + ], + [ + 0.5041196942329407, + 0.0977032408118248, + 0.015820542350411415, + -3.01362361212308, + -0.3886635601520538, + -0.11616242676973343, + 0.0 + ], + [ + 0.4977247416973114, + 0.10179641842842102, + 0.03934600204229355, + -2.94352641900117, + -0.4023728668689728, + -0.14802175760269165, + 0.0 + ], + [ + 0.4925980865955353, + 0.1052379310131073, + 0.04856739938259125, + -2.8928093781047544, + -0.36477917432785034, + -0.18468083441257477, + 0.0 + ], + [ + 0.4900437295436859, + 0.11004804819822311, + 0.06563225388526917, + -2.8477244098954877, + -0.3241629898548126, + -0.20940688252449036, + 0.0 + ], + [ + 0.4845549464225769, + 0.11325687915086746, + 0.0942314937710762, + -2.8052501400285443, + -0.35787490010261536, + -0.21412326395511624, + 0.0 + ], + [ + 0.47513604164123535, + 0.11917121708393097, + 0.08853228390216827, + -2.8104978521638593, + -0.355800211429596, + -0.18999923765659332, + 0.0 + ], + [ + 0.4652157723903656, + 0.12533745169639587, + 0.08396285027265549, + -2.8241426666551313, + -0.35310119390487665, + -0.15790162980556488, + 0.0 + ], + [ + 0.4548221230506897, + 0.13641886413097382, + 0.09399163722991943, + -2.8473237474733075, + -0.4046526551246643, + -0.10848976671695709, + 0.0 + ], + [ + 0.4471466541290283, + 0.1427982598543167, + 0.08051422983407974, + -2.8710185905271253, + -0.4021830260753632, + -0.08466511219739913, + 0.0 + ], + [ + 0.43934717774391174, + 0.14911210536956787, + 0.07064015418291092, + -2.900511773424693, + -0.3911906778812408, + -0.059526290744543076, + 0.0 + ], + [ + 0.43353474140167236, + 0.15140096843242645, + 0.0631721243262291, + -2.9475184102826795, + -0.3935078978538514, + -0.03849159926176071, + 0.0 + ], + [ + 0.4266316890716553, + 0.15258556604385376, + 0.05330127850174904, + -2.9780517687373838, + -0.3964891135692597, + -0.015901828184723854, + 0.0 + ], + [ + 0.42406269907951355, + 0.15308618545532227, + 0.05337550491094589, + -2.9766326268487653, + -0.40257084369659424, + -0.012456162832677364, + 1.0 + ], + [ + 0.4247678816318512, + 0.1533348560333252, + 0.05960492417216301, + -2.971437694626399, + -0.4155277907848358, + -0.014522426761686802, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.18412798643112183, + 0.38005203008651733, + 0.38005203008651733, + 0.38005203008651733, + 0.38005203008651733, + 0.38005203008651733, + 0.38005203008651733, + 0.38005203008651733, + 0.38005203008651733, + 0.38005203008651733, + 0.38005203008651733, + 0.38005203008651733, + 0.38005203008651733, + 0.38005203008651733, + 0.22504717111587524, + 0.03643929958343506, + 0.0 + ], + "episode_id": "1245", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1245/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1258.json b/annotation/test/1258.json new file mode 100644 index 0000000000000000000000000000000000000000..a27fc8f38914a64962f44bf24b6c68ef898f430e --- /dev/null +++ b/annotation/test/1258.json @@ -0,0 +1,1515 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put eggplant on plate and spoon in pot or pan on stove" + ], + "videos": [ + { + "video_path": "videos/test/1258/rgb.mp4" + } + ], + "action": [ + [ + -0.00040279532499808943, + -0.00015237843855785816, + 0.0003332775020870712, + 0.0006317803625200594, + -0.0013920470740394857, + 0.00012685514342837415, + 1.0 + ], + [ + -0.0038591249283758964, + -0.0009615061179647781, + 0.008233952608912075, + 0.01125389259287883, + -0.025099621878665834, + -0.0020733061983654387, + 1.0 + ], + [ + -0.004011803343248721, + 0.006350243967753375, + 0.009178267071299255, + -0.005683789323511266, + 0.022846353475182747, + -0.010835315036774396, + 1.0 + ], + [ + -0.004493852196895592, + 0.008039799821394312, + 0.011347857767892062, + -0.0011468136547334075, + 0.009007894650577662, + -0.007745293124298145, + 1.0 + ], + [ + -0.0034951757810732977, + 0.006716330910245916, + 0.007728610192613527, + -0.0021119312965835833, + 0.021941371564943433, + -0.002335139082875761, + 1.0 + ], + [ + -0.00671956589014221, + 0.006742686474615036, + 0.009641341253926499, + 0.011614492242613642, + 0.011212669678105122, + -0.010283779784975284, + 1.0 + ], + [ + -0.00681099220474263, + 0.004811876602207584, + 0.010875769320891881, + -0.0018729755491501095, + 0.023148866501402816, + 0.0008377950463774375, + 1.0 + ], + [ + -0.004630622512587031, + 0.0006673982236200921, + 0.013183449925226357, + 0.0012425983534277885, + 0.020276441227581234, + 0.0036611253195282987, + 1.0 + ], + [ + -0.0054975223254849865, + 0.0015368802714108738, + 0.009425993270540682, + 0.002542274169185241, + 0.016728241113928392, + -0.00912817676074968, + 1.0 + ], + [ + -0.003599341024205954, + 0.005824543969507407, + 0.00422043075138988, + 0.0038237419892417847, + 0.010660481167474086, + -0.00966873343288223, + 1.0 + ], + [ + -0.003456385451204797, + 0.002831328650954479, + 0.006178162488687246, + 0.002365817566487088, + 0.005531908341008503, + -0.0012469294027311892, + 1.0 + ], + [ + 0.0013883106786806072, + 0.0025842982046761134, + 0.002925901062372042, + -0.0020927709769013145, + 0.025389419845639877, + 0.0007779141371580897, + 1.0 + ], + [ + -0.0018897893064356852, + 0.0030730479802823234, + 0.0012675175593887197, + -0.00013624071628295313, + 0.007382172847104727, + 0.0056356323374052745, + 1.0 + ], + [ + -2.0122259861358365e-05, + 0.0016522792711398285, + 0.000894918483683644, + -0.0013261496784940175, + 0.010712432714124847, + -0.0055373997104061065, + 1.0 + ], + [ + 0.0012126209345877299, + 0.0004888545273337175, + 0.0006253455410101137, + 0.0017196770313500358, + 0.003648601957388566, + -0.0011431572293922275, + 1.0 + ], + [ + 0.0002298374665583419, + 0.0017456817089624912, + -0.0007520439468230174, + 0.0021617358312053625, + -0.018211056090002006, + -0.03829721359686064, + 0.0 + ], + [ + -0.0008378307480975737, + 0.0012505446588517355, + -0.0003607186577738291, + 0.00038821275633277975, + -0.014635224641120936, + -0.0014638431075128587, + 0.0 + ], + [ + -0.0008756837874816185, + 0.0012309352756426997, + -0.0005922514578606287, + -0.0010987611557938077, + -0.013522822675985657, + -0.006079913198632843, + 0.0 + ], + [ + -0.002001587161599336, + 0.0002924604466186421, + -0.0017907282159669434, + 0.004390342353391224, + -0.026267914841345226, + 0.0068176987516676895, + 0.0 + ], + [ + -0.004886411398826029, + -0.00470541844057473, + -0.0034141883385305958, + 0.02693048592024038, + -0.05727514344623441, + 0.012356817393260226, + 0.0 + ], + [ + 0.0010576807603308903, + -0.00494898394510317, + -0.009323956555988387, + 0.015535093301901974, + -0.0301457067650903, + 0.005031058942278365, + 0.0 + ], + [ + 0.005725338069039099, + 0.00029643297172525203, + -0.013241510019351041, + -0.0009732165222826817, + -0.016718935035903847, + 0.0016990724182484622, + 0.0 + ], + [ + 0.005879261205246033, + -0.00010356723889631006, + -0.01586541467485305, + 0.0020215453635564116, + -0.023681953563532063, + -0.003061806330970183, + 0.0 + ], + [ + 0.00931087330897224, + -0.00413515411664757, + -0.016152953190342313, + 0.0035764053382040593, + -0.04326222076600725, + 0.00926725668837892, + 0.0 + ], + [ + 0.018496067921506786, + -0.008735122167317423, + -0.018218810983706788, + -0.012907192928332149, + -0.01771750678269107, + 0.012411970913259655, + 0.0 + ], + [ + 0.0331111205046604, + -0.015493195460380096, + -0.015218503094692344, + -0.039466519612871634, + 0.021791081040098942, + 0.02349262682671768, + 0.0 + ], + [ + 0.026651023989034912, + -0.015947876360546447, + 0.010387674157615585, + -0.00941822996536921, + -0.002383079684729066, + 0.021468337301495367, + 0.0 + ], + [ + 0.027519331878143493, + -0.016318177930497602, + 0.016551212511585027, + -0.0026341148458813844, + 0.01697028834119123, + 0.024345589719296977, + 0.0 + ], + [ + 0.013779702164453305, + -0.007822381478378816, + 0.00889197475181923, + -0.01078140423823229, + 0.011838218158787623, + 0.014820456016227819, + 0.0 + ], + [ + 0.007961507335415724, + -0.007595145679870518, + 0.010092434084731814, + 0.0022229031233671932, + 0.0013110018668428354, + 0.01595583392658895, + 0.0 + ], + [ + 0.004366273098480256, + -0.004190394524913054, + 0.0031507211267724953, + 0.0021819862740717227, + 0.0031375348537763296, + 0.008529910902605842, + 0.0 + ], + [ + -0.0022053797260823955, + 0.0019212097943006668, + -0.00011345098577791885, + 0.009214346561253679, + -0.010429713320136537, + -0.011082073006776931, + 0.0 + ], + [ + -0.003673922626789039, + 0.007880885704511816, + 0.00034490563323422635, + 0.0030065664469351087, + -0.010958838961700596, + -0.020071116638026836, + 1.0 + ], + [ + -0.009128809783776849, + 0.006806214040309874, + -0.0001454132270160531, + 0.006042192577934313, + -0.04511748927695787, + -0.008299703284758108, + 1.0 + ], + [ + -0.0064028778979900594, + -0.0022270354205338586, + -0.016438852294584805, + -0.0020095452155830993, + -0.05439910508806839, + 0.01818932276713933, + 1.0 + ], + [ + -0.005714983971182775, + -0.01623707914961868, + -0.028375332957568843, + -0.008924937092829018, + -0.010018299824665499, + 0.04319876125661678, + 1.0 + ], + [ + -0.002620155790472897, + -0.019499672957912998, + -0.013058113768810276, + -0.010842269054919472, + 0.017119514823396922, + 0.028313578243802037, + 1.0 + ], + [ + 4.6014770060491884e-05, + -0.004072795551016904, + -0.00272053610912314, + 0.00112345553239185, + 0.00770654358946916, + -0.007371873504160991, + 1.0 + ], + [ + -9.44275416793542e-05, + 0.0018033696708869079, + -6.5342140009413696e-06, + -0.004521888747436474, + -0.00022436663544258832, + 0.002101425128802456, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 5.816687237286659e-20, + -2.3180850165250975e-19, + 8.045035103527473e-18, + 1.0 + ], + [ + -0.0020225796903330802, + -0.0017703388769457948, + 9.584009729600492e-05, + 0.010390904724635379, + 0.0020824304304588506, + 0.0007893415373893597, + 1.0 + ], + [ + -0.0284973940416808, + -0.030443033782509496, + -0.02275340491844544, + 0.10710614239208703, + 0.08343675311721759, + 0.022684112023410526, + 1.0 + ], + [ + -0.013301236161419016, + -0.028570180184453894, + -0.013079847326411464, + 0.0708651842753384, + 0.04052759682926043, + 0.00256389296709484, + 1.0 + ], + [ + -0.007845717476730822, + -0.014571051063035648, + 0.0014872308993845679, + 0.0539105779738875, + 0.02575587774397532, + 0.03489603555919205, + 1.0 + ], + [ + -0.005451435231842698, + -0.013322912010347887, + 0.01451826638606749, + 0.022998770741217117, + 0.019665388325392014, + 0.018685144965623478, + 1.0 + ], + [ + -0.007802544034171539, + -0.021174124998472457, + 0.015966111759010162, + 0.002860349221544856, + 0.021441221097045913, + -0.016784097981548608, + 1.0 + ], + [ + -0.011921517146548157, + -0.011147204048647785, + 0.0236093673344764, + -0.01426968039416913, + -0.013426727209940821, + -0.039849060358420854, + 1.0 + ], + [ + -0.010467376162044047, + -0.0036691770405348372, + 0.015267342433070668, + -0.032393821435751306, + 0.01643398327931132, + -0.035973221292886444, + 1.0 + ], + [ + -0.012592053548397784, + -0.00440982158059406, + 0.018963446418774857, + -0.02700622647052502, + 0.0001887730541579161, + -0.030687679856883424, + 1.0 + ], + [ + -0.011909277914839238, + -0.003243439558361074, + 0.012144228046000804, + -0.009410162548004922, + 0.013651307054461383, + -0.01963281701958808, + 1.0 + ], + [ + -0.00964543471977142, + 0.0013501798698251125, + 0.009533843927616656, + -0.02303991622197334, + 0.013238000721902152, + -0.005047600781565062, + 1.0 + ], + [ + -0.004444508048237146, + -0.0016521976424630606, + 0.013764045151785547, + -0.003316389030283962, + 0.01744066324914475, + -0.003958352609432536, + 1.0 + ], + [ + -0.00047567995081727063, + -0.0011485269986692126, + 0.004048078310126757, + -0.0002195230199048632, + 0.008435479054781347, + 0.0037351952816479118, + 1.0 + ], + [ + -0.0009768846662059788, + -0.000512179545137412, + 0.0027991312844600803, + -0.0011605621488269288, + -0.0045547283505317955, + -0.005935882571974247, + 1.0 + ], + [ + 0.00012916368248689484, + -1.844484566145656e-05, + 0.0031895443700032857, + 0.001778778486737641, + 0.004246272995467071, + -0.012202582362088843, + 1.0 + ], + [ + -0.0022172156172152583, + 0.0019990449285950886, + 0.0046723207526840295, + -0.005931569248369896, + 0.006045738423301299, + -0.0038570177694666435, + 1.0 + ], + [ + -0.004763413765453796, + -0.0027101172086330862, + 0.007174303107925612, + -0.00204408758399242, + 0.00813055872611012, + -0.011517893112748683, + 1.0 + ], + [ + -0.0005317668044971983, + 0.0014353603107386112, + 0.004228843445401569, + -0.0025682366254520606, + 0.01167311475645567, + -0.003140604167124029, + 1.0 + ], + [ + -0.001810747428395012, + 0.0009857761407565332, + 0.0016169770092046506, + -0.0011443440804231638, + 0.0058648482153079926, + -0.013014627775074228, + 1.0 + ], + [ + 0.001931437169879236, + 0.0009006741670143135, + 0.0023254665548335714, + -0.0031368241007337294, + -0.010764496520614373, + -0.024312608090751295, + 1.0 + ], + [ + 0.0010767270370475677, + 0.005433001087934663, + -0.0001298183300707905, + -0.020524465522106395, + -0.02836712665965595, + 0.010684195697495125, + 1.0 + ], + [ + -0.0018785198722851757, + 0.002408047448154248, + -0.002000767046539285, + -0.012960860765242195, + -0.03828472888018087, + 0.012353017123727295, + 0.0 + ], + [ + -0.003850076018195516, + 0.001798466748793829, + -0.0014847746465033336, + -0.01656516474875727, + -0.037974982143961014, + -0.00427562479406963, + 0.0 + ], + [ + -0.0030803495612133766, + 0.003208693207008913, + -0.005347553806711127, + -0.01763721609567107, + -0.04778189549110136, + 0.0007678905681688097, + 0.0 + ], + [ + 0.010800574161288748, + 0.002215309178706636, + -0.03382559797535826, + 0.039926711162078216, + -0.0035247632689770158, + 0.007774282499696908, + 0.0 + ], + [ + 0.01053552969060766, + 0.008157005428191842, + -0.03388826021620816, + 0.04611714887556081, + -0.03928984251639794, + -0.018806898013570675, + 0.0 + ], + [ + 0.016394215230984027, + 0.006695617518060033, + -0.03113913835192524, + 0.032890513949985274, + -0.01736477444427972, + -0.004827765887052966, + 0.0 + ], + [ + 0.021629933216915195, + 0.010633110346564162, + -0.01635427516548271, + 0.02582167041304799, + 0.0010438286996569898, + -0.01783345868242597, + 0.0 + ], + [ + 0.021472665288508355, + 0.011658685893293521, + -0.003315924583622234, + -0.0021442470544651296, + -0.005189658197929882, + 0.0009509375931495989, + 0.0 + ], + [ + 0.018756154382381648, + 0.006931116246949589, + 0.006344397824426022, + -0.011583610378256292, + 0.00830094728410596, + 0.0037609430343419504, + 0.0 + ], + [ + 0.01250927052936396, + 0.00438886918257532, + 0.01377914906213938, + -0.021618126751534877, + 0.016731281993343113, + 0.017308978230434507, + 0.0 + ], + [ + 0.00862932718684812, + 0.0012951985532698481, + 0.015450309713870434, + -0.021859900745583416, + 0.04497580364031743, + -0.001665460971274962, + 0.0 + ], + [ + -5.064371871045753e-05, + 0.0008513689621254352, + 0.014688143889204313, + -0.009817733044232429, + 0.024202559002585906, + -0.004333201141416391, + 0.0 + ], + [ + -0.0003530824859637266, + 0.0014908498862278136, + 0.005233382892986662, + -0.005107314533354557, + 0.009422123376174173, + -0.0018555380429337053, + 0.0 + ], + [ + -0.005262061344043547, + 0.0013316109445201936, + 0.006432562913744276, + -0.009059187286017054, + -0.006106300316077777, + 0.000911590718060613, + 0.0 + ], + [ + -0.0012433271110780734, + 0.0008097098682219427, + 0.0021989817537600704, + -0.0031062037254727145, + 0.001696774126982637, + 0.01298464745618372, + 0.0 + ], + [ + -0.00447662566415147, + -0.0004628092417428382, + -0.00033711774263414207, + -0.0006959918813074495, + -0.02929173982650901, + 0.0014445413729033782, + 1.0 + ], + [ + -0.0024596538122497015, + 0.0038146144905434106, + -0.004730057982290617, + 0.01201623217435507, + -0.032266578296893784, + -0.0010404470238846433, + 1.0 + ] + ], + "state": [ + [ + 0.27043113112449646, + -0.11136494576931, + 0.11737799644470215, + -3.1261614571609577, + -0.1659015268087387, + -0.004796123132109642, + 1.0 + ], + [ + 0.2700892686843872, + -0.1112058013677597, + 0.11698513478040695, + -3.125512024509259, + -0.1645076870918274, + -0.0049029248766601086, + 1.0 + ], + [ + 0.2676333785057068, + -0.11009996384382248, + 0.10824665427207947, + -3.114662693934985, + -0.13944414258003235, + -0.0024027121253311634, + 1.0 + ], + [ + 0.2649448812007904, + -0.11619432270526886, + 0.09843382984399796, + -3.1217797735058745, + -0.16256661713123324, + 0.007947156205773354, + 1.0 + ], + [ + 0.26243454217910767, + -0.12402792274951935, + 0.08635327219963074, + -3.12416907412047, + -0.171721488237381, + 0.01562508009374142, + 1.0 + ], + [ + 0.2604342997074127, + -0.1306406408548355, + 0.07802694290876389, + -3.1266168329217514, + -0.1936998814344406, + 0.017614254727959633, + 1.0 + ], + [ + 0.2558324337005615, + -0.13732028007507324, + 0.06717442721128464, + -3.1169907861673316, + -0.20505523681640625, + 0.02794475108385086, + 1.0 + ], + [ + 0.2515307664871216, + -0.14198517799377441, + 0.05502697825431824, + -3.118563054251023, + -0.2281762808561325, + 0.026500605046749115, + 1.0 + ], + [ + 0.25001513957977295, + -0.14238911867141724, + 0.04112621769309044, + -3.116352804126688, + -0.24836105108261108, + 0.022243697196245193, + 1.0 + ], + [ + 0.24704177677631378, + -0.14375409483909607, + 0.030603382736444473, + -3.1160248426073274, + -0.2653046846389771, + 0.03126101940870285, + 1.0 + ], + [ + 0.244893416762352, + -0.1495388150215149, + 0.02544449083507061, + -3.114760648580738, + -0.27619683742523193, + 0.04102351516485214, + 1.0 + ], + [ + 0.24338355660438538, + -0.15226759016513824, + 0.0184869896620512, + -3.1127061696075877, + -0.281760036945343, + 0.04216663911938667, + 1.0 + ], + [ + 0.24565447866916656, + -0.15467271208763123, + 0.015991954132914543, + -3.114348890381404, + -0.30711606144905096, + 0.040581919252872474, + 1.0 + ], + [ + 0.24438583850860596, + -0.15776410698890686, + 0.014133094809949398, + -3.112630108492919, + -0.3143365681171418, + 0.03444682434201241, + 1.0 + ], + [ + 0.2447139024734497, + -0.15937943756580353, + 0.013230658136308193, + -3.115659788372465, + -0.3252004086971283, + 0.0399603545665741, + 1.0 + ], + [ + 0.2460845410823822, + -0.15979748964309692, + 0.013013707473874092, + -3.1142938045137605, + -0.3288772404193878, + 0.04106786847114563, + 1.0 + ], + [ + 0.24614714086055756, + -0.1615619659423828, + 0.013754318468272686, + -3.125303343059965, + -0.3114629685878753, + 0.08180279284715652, + 0.0 + ], + [ + 0.24535100162029266, + -0.16288770735263824, + 0.013821491971611977, + -3.125458862754055, + -0.29685306549072266, + 0.08358250558376314, + 0.0 + ], + [ + 0.24445326626300812, + -0.1642075926065445, + 0.014112627133727074, + -3.128475038456269, + -0.28342404961586, + 0.09014089405536652, + 0.0 + ], + [ + 0.24207015335559845, + -0.1647402048110962, + 0.015268347226083279, + -3.1222089660638055, + -0.2570629119873047, + 0.08345083147287369, + 0.0 + ], + [ + 0.2360861748456955, + -0.1605861783027649, + 0.01741560734808445, + -3.0923315679007253, + -0.19954267144203186, + 0.07199895381927489, + 0.0 + ], + [ + 0.23490826785564423, + -0.1561756283044815, + 0.02699197828769684, + -3.076062487559863, + -0.16918455064296722, + 0.06840922683477402, + 0.0 + ], + [ + 0.23840181529521942, + -0.15710188448429108, + 0.04096130654215813, + -3.076924244063445, + -0.1523902118206024, + 0.06780175864696501, + 0.0 + ], + [ + 0.2418632060289383, + -0.1577908843755722, + 0.0575091727077961, + -3.0755872150235852, + -0.12895402312278748, + 0.0724249705672264, + 0.0 + ], + [ + 0.24874883890151978, + -0.1542225331068039, + 0.07496095448732376, + -3.071125293272086, + -0.08517219126224518, + 0.06601598113775253, + 0.0 + ], + [ + 0.2650526762008667, + -0.14569775760173798, + 0.09525492042303085, + -3.083076564716645, + -0.06661947816610338, + 0.05485950410366059, + 0.0 + ], + [ + 0.29617130756378174, + -0.12939026951789856, + 0.11352196335792542, + -3.1208949481421193, + -0.08697906881570815, + 0.030044164508581165, + 0.0 + ], + [ + 0.323097288608551, + -0.11241431534290314, + 0.10581974685192108, + -3.128451144444295, + -0.08413223177194595, + 0.008553795516490938, + 0.0 + ], + [ + 0.3517495095729828, + -0.0956343486905098, + 0.09185471385717392, + -3.1290126239233693, + -0.10075567662715912, + -0.016134483739733696, + 0.0 + ], + [ + 0.3664698600769043, + -0.08793722093105316, + 0.08449247479438782, + -3.1382794716679534, + -0.11239518970251083, + -0.031196707859635357, + 0.0 + ], + [ + 0.3757438063621521, + -0.08059437572956085, + 0.07538173347711563, + -3.134255379559942, + -0.11363894492387773, + -0.04726040363311768, + 0.0 + ], + [ + 0.3806295096874237, + -0.07660733908414841, + 0.07277707755565643, + -3.1310971650579056, + -0.1167096346616745, + -0.05587164685130119, + 0.0 + ], + [ + 0.37832435965538025, + -0.07840371131896973, + 0.07261291891336441, + -3.123193413140722, + -0.10638947039842607, + -0.044617686420679085, + 0.0 + ], + [ + 0.3743756413459778, + -0.08610846102237701, + 0.07173571735620499, + -3.122351661446043, + -0.09577982127666473, + -0.024256175383925434, + 1.0 + ], + [ + 0.3651248514652252, + -0.09269378334283829, + 0.0708770677447319, + -3.1171684471243104, + -0.05082635208964348, + -0.015086821280419827, + 1.0 + ], + [ + 0.35792091488838196, + -0.09075997769832611, + 0.08701881766319275, + -3.1182890386604747, + 0.004007913172245026, + -0.03191588073968887, + 1.0 + ], + [ + 0.3528209328651428, + -0.07501773536205292, + 0.11578746885061264, + -3.127406426826962, + 0.015026084147393703, + -0.07487193495035172, + 1.0 + ], + [ + 0.35185280442237854, + -0.055578384548425674, + 0.12915875017642975, + -3.1386813741461417, + -0.0016962374793365598, + -0.10342149436473846, + 1.0 + ], + [ + 0.3523136079311371, + -0.05153951793909073, + 0.13189120590686798, + -3.1375703775608024, + -0.009424163959920405, + -0.09607198089361191, + 1.0 + ], + [ + 0.3520466387271881, + -0.05332552641630173, + 0.13188959658145905, + 3.14111282813759, + -0.00919132586568594, + -0.09817257523536682, + 1.0 + ], + [ + 0.3520466387271881, + -0.05332552641630173, + 0.13188959658145905, + 3.14111282813759, + -0.00919132586568594, + -0.09817257523536682, + 1.0 + ], + [ + 0.3502082824707031, + -0.05136561021208763, + 0.13177432119846344, + -3.131674328940459, + -0.0112741319462657, + -0.0989609658718109, + 1.0 + ], + [ + 0.32457879185676575, + -0.018456552177667618, + 0.15450580418109894, + -3.024270074563571, + -0.09447868913412094, + -0.1224968209862709, + 1.0 + ], + [ + 0.3131866455078125, + 0.009991366416215897, + 0.1695123165845871, + -2.9526169319921216, + -0.13442489504814148, + -0.12985000014305118, + 1.0 + ], + [ + 0.30719685554504395, + 0.02548844739794731, + 0.16972577571868896, + -2.8934868444972714, + -0.15306504070758817, + -0.16941705346107486, + 1.0 + ], + [ + 0.30628836154937744, + 0.042363401502370834, + 0.1582188755273819, + -2.8669585307412824, + -0.16749952733516693, + -0.19268204271793363, + 1.0 + ], + [ + 0.3050442934036255, + 0.06778257340192795, + 0.14742730557918549, + -2.865804763632365, + -0.19267973303794858, + -0.18215063214302063, + 1.0 + ], + [ + 0.30035099387168884, + 0.08609053492546082, + 0.12582692503929138, + -2.888486446934291, + -0.19043606519699097, + -0.1393789350986481, + 1.0 + ], + [ + 0.293795645236969, + 0.09445780515670776, + 0.1102340817451477, + -2.9269175847345075, + -0.21526193618774417, + -0.10794869810342789, + 1.0 + ], + [ + 0.2862004041671753, + 0.1036781594157219, + 0.090361587703228, + -2.9605773856216153, + -0.22188463807106018, + -0.07725313305854796, + 1.0 + ], + [ + 0.2775256335735321, + 0.10974248498678207, + 0.07665737718343735, + -2.973813848691531, + -0.238815039396286, + -0.05990857258439064, + 1.0 + ], + [ + 0.27045920491218567, + 0.11042766273021698, + 0.06502347439527512, + -2.99751532276208, + -0.25270912051200867, + -0.05705216526985169, + 1.0 + ], + [ + 0.2697097659111023, + 0.11408766359090805, + 0.05095311254262924, + -3.0011764039569577, + -0.27053713798522944, + -0.05558609962463378, + 1.0 + ], + [ + 0.2703734040260315, + 0.11575714498758316, + 0.04711843654513359, + -3.0000364651256284, + -0.27836352586746216, + -0.06066031381487846, + 1.0 + ], + [ + 0.270230770111084, + 0.1166694387793541, + 0.04425502195954323, + -3.003059672313281, + -0.27468574047088623, + -0.05388733744621277, + 1.0 + ], + [ + 0.27123454213142395, + 0.11707467585802078, + 0.04125194996595383, + -3.0045348425679883, + -0.28055769205093384, + -0.041920263320207596, + 1.0 + ], + [ + 0.27040567994117737, + 0.11576633900403976, + 0.03592803701758385, + -3.0113291313224515, + -0.2870724201202393, + -0.03879772499203681, + 1.0 + ], + [ + 0.26789405941963196, + 0.11948562413454056, + 0.02809450961649418, + -3.0164444615417203, + -0.29661428928375244, + -0.027960717678070065, + 1.0 + ], + [ + 0.26863887906074524, + 0.11856815963983536, + 0.02375519461929798, + -3.019513214128562, + -0.3085877001285553, + -0.026219677180051804, + 1.0 + ], + [ + 0.2674174904823303, + 0.11781839281320572, + 0.021561741828918457, + -3.0245639403634748, + -0.31596994400024414, + -0.013380773365497589, + 1.0 + ], + [ + 0.2699950933456421, + 0.1171608567237854, + 0.01986672915518284, + -3.036014588671275, + -0.3080123364925384, + 0.013276150450110435, + 1.0 + ], + [ + 0.2712273895740509, + 0.11176031082868576, + 0.019770579412579536, + -3.0540920962863645, + -0.2786681056022644, + 0.005338618531823159, + 1.0 + ], + [ + 0.26894474029541016, + 0.10917440801858902, + 0.020967749878764153, + -3.0644555260711392, + -0.23943905532360077, + -0.0038759727030992512, + 0.0 + ], + [ + 0.26487892866134644, + 0.1072826161980629, + 0.02135816402733326, + -3.082707582163163, + -0.2019002735614777, + 0.0034585744142532353, + 0.0 + ], + [ + 0.2608407139778137, + 0.1037507876753807, + 0.025785308331251144, + -3.100693093734332, + -0.1541556417942047, + 0.005528380628675223, + 0.0 + ], + [ + 0.2663574814796448, + 0.10018470883369446, + 0.06075071170926094, + -3.0595833977037152, + -0.15031144022941592, + -0.0021821691188961267, + 0.0 + ], + [ + 0.2717928886413574, + 0.08926719427108765, + 0.09506124258041382, + -3.0167322178655347, + -0.11265785992145538, + 0.01990544609725475, + 0.0 + ], + [ + 0.2849103808403015, + 0.07900480926036835, + 0.1267765760421753, + -2.98461106617982, + -0.09602677822113038, + 0.026889555156230927, + 0.0 + ], + [ + 0.30539512634277344, + 0.06649189442396164, + 0.14327450096607208, + -2.960494892793246, + -0.09983099997043611, + 0.04442781209945679, + 0.0 + ], + [ + 0.32715997099876404, + 0.055382322520017624, + 0.14657065272331238, + -2.9626366068893155, + -0.09455493837594986, + 0.04442713782191276, + 0.0 + ], + [ + 0.34677189588546753, + 0.050557468086481094, + 0.14089806377887726, + -2.9737249334626874, + -0.10205259174108504, + 0.039221715182065964, + 0.0 + ], + [ + 0.36074352264404297, + 0.049079231917858124, + 0.12792819738388062, + -2.993315952020236, + -0.1156366690993309, + 0.01922910287976265, + 0.0 + ], + [ + 0.3710792064666748, + 0.05027973651885986, + 0.11355505138635635, + -3.0144419242912015, + -0.16036321222782132, + 0.014167442917823792, + 0.0 + ], + [ + 0.37335821986198425, + 0.051330212503671646, + 0.09905775636434555, + -3.0244218726926526, + -0.1849197149276733, + 0.015416905283927917, + 0.0 + ], + [ + 0.37401217222213745, + 0.050471361726522446, + 0.09371263533830643, + -3.0296629165583333, + -0.19449409842491153, + 0.01617242582142353, + 0.0 + ], + [ + 0.37012380361557007, + 0.049803607165813446, + 0.08627791702747345, + -3.0386759733133992, + -0.18832418322563174, + 0.01594457402825356, + 0.0 + ], + [ + 0.369336873292923, + 0.049211472272872925, + 0.08381476253271103, + -3.0392960106306752, + -0.18866170942783353, + 0.0026178392581641674, + 0.0 + ], + [ + 0.36486682295799255, + 0.049625735729932785, + 0.0833510234951973, + -3.040243463712283, + -0.15937539935111997, + 0.0041922153905034065, + 1.0 + ], + [ + 0.36177071928977966, + 0.04533911123871803, + 0.0872257649898529, + -3.028863327699252, + -0.12737824022769928, + 0.008525937795639038, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.03421902656555176, + 0.16832619905471802, + 0.4180815815925598, + 0.42206674814224243, + 0.3980981707572937, + 0.3980981707572937, + 0.3980981707572937, + 0.3980981707572937, + 0.3980981707572937, + 0.3980981707572937, + 0.3980981707572937, + 0.3980981707572937, + 0.3980981707572937, + 0.3980981707572937, + 0.3980981707572937, + 0.3980981707572937, + 0.3980981707572937, + 0.35293054580688477, + 0.06405991315841675, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0072438716888427734, + 0.07526767253875732, + 0.3690063953399658, + 0.6296481192111969, + 0.6168128550052643, + 0.6002527475357056, + 0.599371999502182, + 0.599371999502182, + 0.599371999502182, + 0.599371999502182, + 0.599371999502182, + 0.599371999502182, + 0.599371999502182, + 0.599371999502182, + 0.599371999502182, + 0.6304961442947388, + 0.5707310736179352, + 0.25622397661209106, + 0.011358082294464111, + 0.0005114078521728516 + ], + "episode_id": "1258", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1258/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1260.json b/annotation/test/1260.json new file mode 100644 index 0000000000000000000000000000000000000000..c1704361a4934e415387e65701d62af30f518a07 --- /dev/null +++ b/annotation/test/1260.json @@ -0,0 +1,831 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the green cloth to the left front edge of the table" + ], + "videos": [ + { + "video_path": "videos/test/1260/rgb.mp4" + } + ], + "action": [ + [ + -0.00014101804084614263, + 8.957694688688532e-05, + 0.000562971716659833, + -0.00033096915132340874, + -0.0014899640575980926, + -0.0013801695291474545, + 1.0 + ], + [ + -0.007118872385261627, + 0.0033636247893111706, + 0.01118411612071381, + -0.007984543271313767, + -0.035592326720542564, + -0.009716229826636525, + 1.0 + ], + [ + -0.017694369676615772, + 0.01638494618501494, + 0.01123949473623819, + 0.011737982649067674, + -0.04202298496268402, + -0.0809342802862873, + 1.0 + ], + [ + -0.005547752729150445, + 0.01663001999538156, + -0.02972140771188022, + 0.030691835275640764, + 0.06382230245194781, + -0.00682654682783446, + 1.0 + ], + [ + -0.014757733729302034, + 0.03168293674624366, + -0.008558070929749027, + -0.008615427219852019, + -0.043203095976224744, + -0.0006280042419769695, + 1.0 + ], + [ + -0.01814322712905478, + 0.037254519936100176, + -0.00010774707509113218, + -0.032047053318428304, + -0.04040980885999957, + -0.04000859052528173, + 1.0 + ], + [ + -0.014706839228166896, + 0.022767540767821757, + 0.004560761356556573, + -0.029114803988490683, + -0.025717505755951126, + -0.06498118446929954, + 1.0 + ], + [ + -0.007628404396366838, + 0.026578209547477222, + -0.0010259760377294047, + -0.018103579273819625, + 0.020910958732979, + -0.014629228550601794, + 1.0 + ], + [ + -0.008101462935422604, + 0.007106724837626478, + 0.015443444978232058, + -0.03431778882902113, + -0.022539053636615326, + -0.12096804772364751, + 0.0 + ], + [ + -0.004109292587764249, + 0.0006126448105344435, + 0.011823830780802404, + 0.010498009953788596, + 0.015945822733701567, + -0.12203292376741269, + 0.0 + ], + [ + -0.0034500940280142484, + -0.0008414930199317246, + 0.009860481949818202, + 0.006507803188880212, + -0.01351274997383315, + -0.05799574651921294, + 0.0 + ], + [ + 0.001529488444330642, + -0.007639963799083557, + 0.012027533422789054, + -0.02396132483480989, + -0.013561848871133052, + -0.0021045887258379255, + 0.0 + ], + [ + -0.0003626844614548456, + 0.0013886627754001587, + 0.005102428218916363, + -0.034452680833573085, + 0.017600266224253945, + 0.05611335536968823, + 0.0 + ], + [ + -0.0003189563868583308, + -0.0020613387517483786, + 0.005919819921202742, + -0.017155125648923446, + 0.0033050127109183814, + 0.07114270289361911, + 0.0 + ], + [ + 0.002270433352021099, + -0.007317863451818808, + 0.0011587544725676971, + -0.024816189453387687, + -0.022240802913355028, + 0.08900756554140901, + 0.0 + ], + [ + 0.002600143655289104, + -0.018030222978925023, + 0.0005584633445273817, + -0.002478269016988349, + -0.03232214691615913, + 0.04054674536491676, + 0.0 + ], + [ + -0.0013846085471205466, + -0.014633459353343951, + -0.00015675476138261643, + 0.0673367459919312, + -0.015028201299471775, + 0.10967165853554497, + 0.0 + ], + [ + -0.006940277016313633, + -0.029319804522187593, + -0.0005310358704297059, + 0.06443951005600047, + -0.08418972327679607, + 0.14599456880046116, + 0.0 + ], + [ + -0.013302570604234053, + -0.018392505702763465, + 0.0022461434804239237, + 0.021405045349535426, + -0.07360754145555283, + 0.13171998354752162, + 0.0 + ], + [ + -0.013054985083325723, + -0.022980689464052937, + 0.002550423582736261, + 0.056620170147616604, + -0.019634428556419496, + 0.1425476237455608, + 0.0 + ], + [ + -0.008782043112804064, + -0.024562352346607003, + 0.0038650989169812565, + 0.03851529583583555, + 0.03753698418638084, + 0.11670139328799599, + 0.0 + ], + [ + -0.003785639547844793, + -0.019967675717881977, + 0.0032351604568946306, + 0.04825698999107595, + 0.031517411777396316, + 0.044251919885574406, + 0.0 + ], + [ + -0.0036709469076859733, + -0.020700017700876684, + 0.004120611441182482, + 0.037696515441350796, + 0.006488809554940403, + 0.05451978351230731, + 0.0 + ], + [ + -0.006862080712625003, + -0.018076515580577348, + 0.004120611364327756, + 0.020802925368732822, + 0.021858714578193605, + 0.03424081533965293, + 0.0 + ], + [ + -0.01064654085575165, + -0.02042326054321377, + 0.004939658009843923, + 0.007979574522209624, + -0.02215830629275684, + -0.031090894888489384, + 0.0 + ], + [ + -0.006894269570123043, + -0.01431176021937079, + 0.004663175696132958, + 0.005976348402128338, + -0.009247133305936078, + -0.02655806128164468, + 0.0 + ], + [ + -0.0020104433086865366, + -0.0011404901564434644, + 0.0006266599001855418, + -0.0022471789359292437, + 0.0004039262079761713, + 0.0013478487545340802, + 0.0 + ], + [ + -0.000370377015158488, + 0.001427378009373333, + -0.0030470072459681747, + -0.011283346953335764, + 0.0018873962970554876, + 0.014356232873099586, + 0.0 + ], + [ + 0.0010861377658234162, + -0.003385668820932194, + -0.019458019705690915, + 0.007160459611147715, + 0.032201830684140675, + -0.012439177783211006, + 0.0 + ], + [ + 0.0030193312810595646, + -0.004281557480994752, + -0.013384713796086802, + 0.015372518820381818, + -0.0013008627601215697, + -0.0235761651568894, + 1.0 + ], + [ + 0.0025800456006903182, + -0.002423759418736655, + -0.010783641567101728, + 0.04467259551130982, + -0.008688095852857968, + -0.0024048999870793387, + 1.0 + ], + [ + 0.0038983946570356805, + 0.00035752097973135524, + -0.02056596589164658, + 0.020362738008157386, + 0.02414461396574621, + -0.008192316369220961, + 1.0 + ], + [ + 0.003948432027811149, + 0.0028080732813565907, + -0.012461090032734365, + -0.004923977550513659, + -0.0009824090136460433, + -0.00882858856233168, + 1.0 + ], + [ + 0.018134516306038236, + 0.02189352105757728, + -0.0199885275050671, + -0.009348055082828361, + 0.042230247721547466, + 0.01122436801865029, + 1.0 + ], + [ + 0.015311254226352367, + 0.03080124503382261, + -0.01625396080677613, + -0.040939338637156306, + 0.02798721617582718, + -0.01880012574990257, + 1.0 + ], + [ + 0.013365195246899744, + 0.03886295249927349, + -0.010355237859558688, + -0.08320099981166676, + 0.012475509374548378, + 0.007778907695839695, + 1.0 + ], + [ + 0.007925193095595464, + 0.041992473050274225, + -0.014000731838690151, + -0.032732593954230164, + 0.03269949701463301, + 0.010584744693367721, + 1.0 + ], + [ + 0.002401550249121386, + 0.03913725045232443, + -0.009268013195576496, + -0.06442208882277756, + 0.037576643040801674, + 0.013024026565190678, + 1.0 + ], + [ + 0.005919688823456509, + 0.0501162994677578, + -0.006248359982343172, + -0.052993429875098426, + 0.0031476760541256778, + 0.09664328478713093, + 1.0 + ], + [ + 0.009547573038762356, + 0.033846366189771014, + -0.00981644128514264, + -0.03398138992376075, + 0.019287474318246216, + 0.07534156062400031, + 1.0 + ], + [ + 0.0056645932647708, + 0.020620757100543452, + -0.003925104461680885, + -0.00269504445832819, + 0.01788380456691805, + 0.0874347825898914, + 1.0 + ], + [ + 0.00014896097566037526, + 0.000864366279917198, + -5.867152735323994e-05, + 0.0033175545417848474, + -2.9691942100035005e-05, + 0.008185846780648499, + 1.0 + ] + ], + "state": [ + [ + 0.35209929943084717, + 0.1503172516822815, + 0.09544293582439423, + -2.9930468519502362, + -0.2030305564403534, + 0.13843838870525357, + 1.0 + ], + [ + 0.35207706689834595, + 0.15030883252620697, + 0.09485618025064468, + -2.993704157071658, + -0.20176100730895996, + 0.140056699514389, + 1.0 + ], + [ + 0.3476986885070801, + 0.14799603819847107, + 0.08210637420415878, + -3.0046302696042737, + -0.1679665446281433, + 0.15511655807495117, + 1.0 + ], + [ + 0.33494195342063904, + 0.13112570345401764, + 0.06596509367227554, + -3.007757680612155, + -0.13675114512443542, + 0.2417872101068497, + 1.0 + ], + [ + 0.33089667558670044, + 0.10906828939914703, + 0.09219110012054443, + -2.9765461852126798, + -0.20091262459754944, + 0.23999238014221191, + 1.0 + ], + [ + 0.32398566603660583, + 0.07375502586364746, + 0.09241721779108047, + -2.9865715523534497, + -0.15839414298534393, + 0.2478051334619522, + 1.0 + ], + [ + 0.3165123164653778, + 0.03387950360774994, + 0.08398043364286423, + -3.0259272401505193, + -0.12447769939899443, + 0.2939016222953797, + 1.0 + ], + [ + 0.309794545173645, + 0.008767599239945412, + 0.07505203038454056, + -3.0636913200193128, + -0.10614106059074402, + 0.36178338527679443, + 1.0 + ], + [ + 0.3122105896472931, + -0.01873503252863884, + 0.07320422679185867, + -3.0831684229248246, + -0.12811808288097382, + 0.37484472990036016, + 1.0 + ], + [ + 0.3088831901550293, + -0.026699118316173553, + 0.05646681413054466, + -3.1335628648572644, + -0.11170655488967896, + 0.49766963720321655, + 0.0 + ], + [ + 0.30670061707496643, + -0.02847401611506939, + 0.044254086911678314, + -3.1367906160936734, + -0.12779536843299866, + 0.6205611824989319, + 0.0 + ], + [ + 0.3044217824935913, + -0.029010294005274773, + 0.03403842821717262, + -3.1377345923152795, + -0.1143449693918228, + 0.6789979934692383, + 0.0 + ], + [ + 0.30184245109558105, + -0.021214822307229042, + 0.022293318063020706, + 3.1212423873418054, + -0.1007910743355751, + 0.6811656951904297, + 0.0 + ], + [ + 0.3028983175754547, + -0.022279812023043633, + 0.017209457233548164, + 3.092464482533284, + -0.11937156319618226, + 0.6250314712524415, + 0.0 + ], + [ + 0.3021877110004425, + -0.020612193271517754, + 0.011200363747775555, + 3.083935683714696, + -0.12586183845996857, + 0.5535716414451599, + 0.0 + ], + [ + 0.3004666268825531, + -0.013166016899049282, + 0.009919336065649986, + 3.0707059671455106, + -0.10826747864484788, + 0.4629154801368714, + 0.0 + ], + [ + 0.2949431538581848, + 0.004133515991270542, + 0.008376942947506905, + 3.0728859921270093, + -0.07879851758480072, + 0.42006784677505493, + 0.0 + ], + [ + 0.2877856492996216, + 0.016937371343374252, + 0.0074223424308001995, + -3.1338532465794167, + -0.07083880901336669, + 0.3093516230583191, + 0.0 + ], + [ + 0.27221566438674927, + 0.042736709117889404, + 0.007687147241085768, + -3.059215547638484, + 0.01521798875182867, + 0.16452305018901825, + 0.0 + ], + [ + 0.2560509443283081, + 0.05882137641310692, + 0.007164543494582176, + -3.0401454513245305, + 0.09926752001047134, + 0.03909016028046608, + 0.0 + ], + [ + 0.24214579164981842, + 0.0814160481095314, + 0.008249404840171337, + -2.9984369446807584, + 0.1322152465581894, + -0.10192274302244185, + 0.0 + ], + [ + 0.23597310483455658, + 0.10703959316015244, + 0.00908863078802824, + -2.9768617023997983, + 0.11070244014263153, + -0.22348263859748843, + 0.0 + ], + [ + 0.23679620027542114, + 0.12759627401828766, + 0.009589419700205326, + -2.934131698804446, + 0.08673327416181563, + -0.27247083187103266, + 0.0 + ], + [ + 0.23897285759449005, + 0.14890137314796448, + 0.010137996636331081, + -2.901500256853648, + 0.09147758781909944, + -0.32738763093948364, + 0.0 + ], + [ + 0.23848925530910492, + 0.16864332556724548, + 0.011059652082622051, + -2.884342612820216, + 0.07831811904907228, + -0.3659570217132568, + 0.0 + ], + [ + 0.2361263483762741, + 0.19204655289649963, + 0.012310350313782692, + -2.8736615498834333, + 0.0917888656258583, + -0.3301057815551757, + 0.0 + ], + [ + 0.23444408178329468, + 0.20851674675941467, + 0.012237314134836197, + -2.8651987334066114, + 0.09363993257284163, + -0.3019241988658905, + 0.0 + ], + [ + 0.23288406431674957, + 0.21033090353012085, + 0.012134925462305546, + -2.867578299837657, + 0.09361905604600908, + -0.3033373057842254, + 0.0 + ], + [ + 0.232102632522583, + 0.20827166736125946, + 0.014705480076372623, + -2.8802358527951917, + 0.09567706286907196, + -0.3177345097064972, + 0.0 + ], + [ + 0.23436596989631653, + 0.20567762851715088, + 0.0341838076710701, + -2.8725850005918225, + 0.06135435402393341, + -0.3140365779399871, + 0.0 + ], + [ + 0.2382272332906723, + 0.2050231248140335, + 0.04801351949572563, + -2.85586869915063, + 0.056326694786548615, + -0.2909260094165802, + 1.0 + ], + [ + 0.2410850077867508, + 0.20342223346233368, + 0.05888037011027336, + -2.8109200318628034, + 0.06398408859968185, + -0.2861602008342743, + 1.0 + ], + [ + 0.24402301013469696, + 0.1952448934316635, + 0.07792724668979645, + -2.7904631217294416, + 0.038487914949655526, + -0.28625261783599854, + 1.0 + ], + [ + 0.2462494969367981, + 0.1873730719089508, + 0.08850228041410446, + -2.7950683553987226, + 0.03637231886386871, + -0.27761909365653986, + 1.0 + ], + [ + 0.25657138228416443, + 0.1559605598449707, + 0.09919998794794083, + -2.8051117976480207, + 0.0004537677159532905, + -0.30250763893127447, + 1.0 + ], + [ + 0.26092928647994995, + 0.11852175742387772, + 0.10436595231294632, + -2.845922889309474, + -0.03217073902487755, + -0.29400452971458435, + 1.0 + ], + [ + 0.2621103525161743, + 0.07616826146841049, + 0.10337856411933899, + -2.928762288885661, + -0.041836343705654144, + -0.30509018898010254, + 1.0 + ], + [ + 0.2562534809112549, + 0.031879972666502, + 0.10852069407701492, + -2.9606880118423184, + -0.07155593484640121, + -0.3223812878131867, + 1.0 + ], + [ + 0.24565909802913666, + -0.00692881690338254, + 0.11076229810714722, + -3.02360866417224, + -0.10616227239370347, + -0.3420545756816864, + 1.0 + ], + [ + 0.23423391580581665, + -0.05646997317671776, + 0.11169355362653732, + -3.0669092928343495, + -0.09743605554103853, + -0.4388562440872193, + 1.0 + ], + [ + 0.22754348814487457, + -0.09142394363880157, + 0.11985157430171967, + -3.0936087128990373, + -0.11076706647872923, + -0.515889585018158, + 1.0 + ], + [ + 0.22190521657466888, + -0.11212152987718582, + 0.1233912780880928, + -3.0866713543706616, + -0.12400904297828673, + -0.6047547459602356, + 1.0 + ], + [ + 0.2215331494808197, + -0.11291743069887161, + 0.12342075258493423, + -3.0823370945924005, + -0.12352588772773743, + -0.6129893660545348, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.04544806480407715, + 0.3358554244041443, + 0.622829258441925, + 0.8376581221818924, + 0.9337822273373604, + 0.9413194209337234, + 0.9415987432003021, + 0.9415987432003021, + 0.9415987432003021, + 0.9415987432003021, + 0.9415987432003021, + 0.9415987432003021, + 0.9415987432003021, + 0.9415987432003021, + 0.9415987432003021, + 0.9415987432003021, + 0.9421549662947655, + 0.9421549662947655, + 0.9421549662947655, + 0.9421549662947655, + 0.9421549662947655, + 0.9156777262687683, + 0.7621053606271744, + 0.5205599963665009, + 0.2231171727180481, + 0.008609116077423096, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1260", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1260/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1264.json b/annotation/test/1264.json new file mode 100644 index 0000000000000000000000000000000000000000..ccf37978506d981c101b7e04bb3a8ed26f065983 --- /dev/null +++ b/annotation/test/1264.json @@ -0,0 +1,489 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Put the spoon to the right of the cloth" + ], + "videos": [ + { + "video_path": "videos/test/1264/rgb.mp4" + } + ], + "action": [ + [ + -0.0002251701077395138, + 9.205048002989955e-05, + -1.8801771837755807e-07, + -0.0005783257633692828, + -0.0014207949991021374, + -0.0015335454271729932, + 1.0 + ], + [ + -0.005299710907280112, + 0.002039567757673897, + 0.014549528957192503, + -0.01647827384922228, + -0.03633901552156573, + -0.007160491986833927, + 1.0 + ], + [ + -0.010121532385535557, + -0.0165351413868573, + 0.003960807072199729, + -0.0009731010765847029, + -0.012421433975519064, + -0.07469067836370019, + 1.0 + ], + [ + -0.015969735956296967, + -0.02109393262486906, + 0.005031602671121778, + -0.008863941578632281, + -0.01484612431496258, + -0.07971509464133159, + 1.0 + ], + [ + -0.013581495186442678, + -0.016952673097542458, + -0.0056355896690583, + 0.00027230576688226, + 0.01468913020691581, + -0.06930020577026058, + 1.0 + ], + [ + -0.0168720850226969, + -0.023708869941244808, + -0.003000280235397537, + 0.008774797519867907, + 0.0038735047846899717, + -0.08960809817842157, + 1.0 + ], + [ + -0.0027594071162156783, + -0.006833196912297952, + 0.0005252196404035177, + 0.010572755683499252, + -0.005698755571588013, + -0.03266619040645395, + 1.0 + ], + [ + 0.0006597353620104523, + -0.004438879962321801, + 0.0038557213565154655, + 0.015345909288184037, + -0.010808089178836635, + -0.0243359753392827, + 1.0 + ], + [ + -0.00574177664575139, + -0.0031611150280817, + 0.01838189648945981, + 0.017647778776246317, + -0.04731614327393387, + -0.021729293971610233, + 1.0 + ], + [ + 0.0030395296260724023, + -0.00341867695514226, + 0.010179221341834112, + 0.01803050599718997, + -0.027221946463408652, + -0.025788073833379617, + 1.0 + ], + [ + 0.002749153614486885, + 0.0004333298628027551, + -0.0005973512770722605, + -0.002636703347215263, + 0.01776178401193983, + 0.004585824460457865, + 1.0 + ], + [ + -0.0007690440893924263, + 0.004879233483685099, + -0.0035309124623801617, + -0.016082462124122926, + 0.013180329139338837, + 0.01817118893899377, + 0.0 + ], + [ + 0.006051279561085106, + 0.024238786366108902, + -0.03509631369626519, + 0.024193692111553953, + 0.05125702010518996, + 0.05190735902114078, + 0.0 + ], + [ + 0.010506662375295786, + 0.06412985723284098, + -0.026882204297831613, + -0.011468508453900031, + 0.05028405168061879, + 0.1541118141628034, + 0.0 + ], + [ + 0.006344525990781775, + 0.04923932219450234, + -0.003863429446836875, + -0.00957981348228227, + 0.018366690734582407, + 0.15184064531996733, + 0.0 + ], + [ + -0.005635138894604559, + 0.05064443768237448, + 0.007285180438253872, + 0.005691008564091365, + -0.012486491292522195, + 0.060186097779354845, + 0.0 + ], + [ + -0.0016622262122423259, + 0.02058669791425373, + 0.0032323547921776575, + -0.009744806645382938, + -0.006904329130039552, + -0.03028617714720997, + 0.0 + ], + [ + -0.005259132012556215, + 0.00496271231090146, + 0.033382643152962466, + -0.016251748802201642, + -0.07147555096721336, + -0.05408172696108793, + 0.0 + ], + [ + 0.009531740034678915, + -0.0023559240791350424, + 0.01603447498730789, + -0.010335256470191189, + -0.018057776535873486, + -0.01951954349431629, + 0.0 + ], + [ + 0.004435502318015235, + -0.0010087090520952456, + 0.0019659934983336934, + -0.013632895947465584, + -0.0038001238371120905, + 0.0038846562297034093, + 0.0 + ], + [ + -0.006450665821292525, + -0.0015969117569059896, + -0.007908026426982871, + 0.007173547566610295, + 0.04581174038007174, + 0.05740337333556439, + 0.0 + ], + [ + -0.0023559788863377544, + -0.002514484414527712, + -0.05020903410322398, + -0.01811535461888959, + 0.17090748502646896, + -0.012807040376758682, + 1.0 + ], + [ + -0.001307708516827501, + -0.013626752065648446, + -0.010109552036293238, + -0.011934027764982823, + 0.02677259724145089, + -0.03229076284004778, + 1.0 + ], + [ + -4.948659728374177e-05, + -0.0013107891827823846, + -5.287193843610544e-05, + -0.0007269329037416208, + 0.0002941877019163109, + -0.001988962145414252, + 1.0 + ] + ], + "state": [ + [ + 0.38099774718284607, + 0.13288885354995728, + 0.06848921626806259, + -3.1005447563999375, + -0.1819365322589874, + -0.029230965301394463, + 1.0 + ], + [ + 0.3807743489742279, + 0.13280336558818817, + 0.06844494491815567, + -3.1014156361394605, + -0.18057963252067566, + -0.027614118531346318, + 1.0 + ], + [ + 0.3781473636627197, + 0.13142184913158417, + 0.05311112850904465, + -3.119432369368621, + -0.14455083012580872, + -0.018914066255092617, + 1.0 + ], + [ + 0.3689650297164917, + 0.1482173651456833, + 0.04809717833995819, + -3.131348695727535, + -0.13337793946266174, + 0.056701328605413444, + 1.0 + ], + [ + 0.35260361433029175, + 0.16846705973148346, + 0.04120098799467087, + 3.1322564167254647, + -0.11892146617174149, + 0.13712522387504578, + 1.0 + ], + [ + 0.33627647161483765, + 0.18337973952293396, + 0.04502804949879646, + 3.124246010678359, + -0.1326750963926315, + 0.20716895163059232, + 1.0 + ], + [ + 0.314688503742218, + 0.2031187266111374, + 0.04536193609237671, + 3.1211370845609387, + -0.13445954024791718, + 0.2976492047309876, + 1.0 + ], + [ + 0.31015902757644653, + 0.2088640034198761, + 0.04433314874768257, + 3.1273225817182144, + -0.12802237272262573, + 0.3304600119590759, + 1.0 + ], + [ + 0.30982887744903564, + 0.21338489651679993, + 0.04053077846765518, + 3.1395638944865247, + -0.11683057993650436, + 0.35480380058288574, + 1.0 + ], + [ + 0.3054061233997345, + 0.21507765352725983, + 0.021598568186163902, + -3.1285030042105397, + -0.06944314390420914, + 0.37646496295928955, + 1.0 + ], + [ + 0.30757418274879456, + 0.21975380182266235, + 0.011700295843183994, + -3.112287491681524, + -0.04253731667995453, + 0.402621328830719, + 1.0 + ], + [ + 0.31025493144989014, + 0.2204056829214096, + 0.01240107137709856, + -3.1147025005244693, + -0.060156550258398056, + 0.39750853180885315, + 1.0 + ], + [ + 0.311283677816391, + 0.21544471383094788, + 0.015747137367725372, + -3.12967097771401, + -0.07283324003219606, + 0.37894183397293085, + 0.0 + ], + [ + 0.32365870475769043, + 0.1938341110944748, + 0.05090006813406944, + -3.1016291437023362, + -0.12336713820695878, + 0.32609274983406067, + 0.0 + ], + [ + 0.3515748381614685, + 0.13449722528457642, + 0.07630685716867447, + -3.0941495915227613, + -0.16596567630767822, + 0.16807961463928223, + 0.0 + ], + [ + 0.3657543957233429, + 0.08683044463396072, + 0.07885795831680298, + -3.078778127329894, + -0.1751904934644699, + 0.013165838085114956, + 0.0 + ], + [ + 0.3626866340637207, + 0.036698468029499054, + 0.06758580356836319, + -3.0627340992265424, + -0.15864266455173492, + -0.046866271644830704, + 0.0 + ], + [ + 0.36086195707321167, + 0.01649368181824684, + 0.0625399723649025, + -3.0774273743205747, + -0.15406975150108335, + -0.015762262046337128, + 0.0 + ], + [ + 0.36078202724456787, + 0.01368262991309166, + 0.028499122709035873, + -3.1026390140228948, + -0.0859438106417656, + 0.04287321865558624, + 0.0 + ], + [ + 0.37150838971138, + 0.017124105244874954, + 0.013445544056594372, + -3.1147144587063273, + -0.0686422809958458, + 0.06312581151723862, + 0.0 + ], + [ + 0.3759903609752655, + 0.018470708280801773, + 0.011816157959401608, + -3.1280874676355204, + -0.06473863869905472, + 0.059336777776479714, + 0.0 + ], + [ + 0.36896413564682007, + 0.01954590156674385, + 0.019311103969812393, + -3.1171486416184386, + -0.1096620261669159, + 0.0010288002667948604, + 0.0 + ], + [ + 0.36112090945243835, + 0.020824378356337547, + 0.06900687515735626, + -3.1358812950835606, + -0.28082683682441706, + 0.009833202697336674, + 1.0 + ], + [ + 0.35690781474113464, + 0.03435239568352699, + 0.0784325897693634, + 3.126024925271519, + -0.30763328075408936, + 0.043541982769966125, + 1.0 + ], + [ + 0.3567937910556793, + 0.03566012531518936, + 0.07844854146242142, + 3.1246646588021, + -0.30789583921432495, + 0.04563364759087563, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.028361797332763672, + 0.2968200445175171, + 0.5625219643115997, + 0.586055725812912, + 0.586055725812912, + 0.586055725812912, + 0.586055725812912, + 0.586055725812912, + 0.586055725812912, + 0.586055725812912, + 0.5384550094604492, + 0.23667550086975098, + 0.005884885787963867, + 0.0, + 0.0 + ], + "episode_id": "1264", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1264/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/127.json b/annotation/test/127.json new file mode 100644 index 0000000000000000000000000000000000000000..b9f67937d7c59da50e58b6566261b235fe281bb4 --- /dev/null +++ b/annotation/test/127.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Place the mushroom in the pot" + ], + "videos": [ + { + "video_path": "videos/test/127/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -5.284364830913765e-09, + 7.953279776120495e-09, + -0.0015339818213415562, + 1.0 + ], + [ + -0.005314296274135635, + 0.0035373428342999947, + 0.014739676749936289, + -0.015169591432268033, + -0.04410878188407779, + 0.001928045156695004, + 1.0 + ], + [ + 0.013343349988589156, + -0.017631519111191804, + 0.0003973448431668378, + -0.06020575044096509, + 0.007641051785100223, + -0.029974841103980437, + 1.0 + ], + [ + 0.015495232493947481, + -0.03638993204772436, + -0.0030785755684973096, + 0.0105644879450589, + 0.009712702919872581, + -0.044316345384101084, + 1.0 + ], + [ + 0.013516433430165679, + -0.02244842574829349, + 0.0020623691406495316, + 0.0003897286935707635, + -0.0044023780543868355, + -0.015153986430080632, + 1.0 + ], + [ + 0.014458824619247372, + -0.02377434401857249, + 0.00012415186794937798, + 0.007613632104566424, + 0.0020961536298942274, + -0.014100912958943581, + 1.0 + ], + [ + 1.8616290166192143e-05, + -0.006529249175204632, + 0.015859081662922315, + 0.0025993615544333644, + -0.03651250035657541, + -0.016184349233290863, + 1.0 + ], + [ + 0.0024800128133909997, + 0.0046291430926156535, + 0.012092276881974876, + 0.010019337582699525, + -0.025436651306678184, + 0.0070397303716505455, + 1.0 + ], + [ + 0.0011412673112818066, + 0.004442172700946433, + 0.006040939034082035, + -0.000574408164427017, + -0.01219251938708733, + 0.004296761563905641, + 1.0 + ], + [ + -0.003319558308556292, + 0.0006537682548856232, + -0.0008157155686229087, + 0.0007404872369789476, + 0.004546547534013115, + 0.003351434362007717, + 1.0 + ], + [ + -0.009525287289877553, + 0.004376479109730509, + -0.014352644174401215, + -0.0074417091350521564, + 0.02810198715156474, + 0.008131737180249298, + 0.0 + ], + [ + -0.009124131552631788, + 0.016483771269478757, + -0.03190308446846827, + 0.005708147244343401, + 0.06950091638192102, + 0.02832601142409955, + 0.0 + ], + [ + -0.01796958050871247, + 0.04622395745226633, + -0.04019509454890896, + -0.011598229362110267, + 0.07830500325146074, + 0.08962960006795527, + 0.0 + ], + [ + -0.038194500733570745, + 0.04675109888556378, + -0.0022911588329347045, + -0.05287641501712585, + -0.033618314954359935, + 0.11100420621794724, + 0.0 + ], + [ + -0.03098304481388027, + 0.04673465705244352, + 0.007853445303732217, + -0.03205358735021987, + -0.050053591008545596, + 0.1030591929244485, + 0.0 + ], + [ + -0.004103932102361723, + 0.05017823583705373, + 0.008378354184160667, + 0.0061773034044601705, + -0.01172887973582417, + 0.04924216185395964, + 0.0 + ], + [ + -0.002428202647859067, + 0.005740924679137078, + 0.014593657638845616, + 0.007245447411731651, + -0.04089545063342216, + -0.01096246340904084, + 0.0 + ], + [ + 0.0008364294477577587, + 0.0024871941678807456, + 0.001071861666525056, + -0.009808038522294104, + 0.001851329132553404, + 0.02440840161083359, + 0.0 + ], + [ + 0.00013853765807150884, + 0.00019859208684378844, + 0.00011867147768763241, + -0.0011160511165532255, + 0.004623183555204442, + -0.008630414041051237, + 0.0 + ], + [ + 0.0006508587783378263, + 0.00013023645272463335, + -0.010782806168592486, + -0.0011626825672960603, + 0.026108370597938968, + 0.006620853395231006, + 1.0 + ], + [ + 0.0003332117454775113, + 0.0012723685104476467, + -0.011937547514691895, + -0.00841413176788422, + 0.02478533571801022, + -0.0037484492039285113, + 1.0 + ], + [ + 0.00040927411147242547, + -0.004588332552601171, + -0.014743404644159396, + -0.006337632502060755, + 0.02926641008303127, + -0.022227494718573826, + 1.0 + ], + [ + 1.0035944534815456e-05, + -0.0029413089394603174, + -0.00047421367248963675, + -0.00021236704291901536, + 0.0016027182759255822, + -0.004726630077570442, + 1.0 + ] + ], + "state": [ + [ + 0.37405624985694885, + 0.08564623445272446, + 0.06559339910745621, + -3.043154800432273, + -0.18623775243759155, + 0.11613357067108153, + 1.0 + ], + [ + 0.37405624985694885, + 0.08564623445272446, + 0.06559339910745621, + -3.043442564206668, + -0.186388298869133, + 0.11768703162670137, + 1.0 + ], + [ + 0.37187713384628296, + 0.08329819142818451, + 0.04985329881310463, + -3.0589670558744153, + -0.142302468419075, + 0.12011561542749405, + 1.0 + ], + [ + 0.3827318549156189, + 0.10234024375677109, + 0.05279415100812912, + -3.1234010123931846, + -0.15232963860034943, + 0.14969906210899353, + 1.0 + ], + [ + 0.3918972313404083, + 0.14046142995357513, + 0.05884213000535965, + -3.119637571396776, + -0.162696897983551, + 0.19442009925842282, + 1.0 + ], + [ + 0.4008885622024536, + 0.16515199840068817, + 0.05948318913578987, + -3.1217511874907693, + -0.15860918164253235, + 0.20986077189445496, + 1.0 + ], + [ + 0.4098466634750366, + 0.19136543571949005, + 0.06211008504033089, + -3.116388639556714, + -0.1609688699245453, + 0.22410139441490173, + 1.0 + ], + [ + 0.4107769727706909, + 0.19868198037147522, + 0.04662639647722244, + -3.1165381615334233, + -0.12485221773386002, + 0.24132397770881656, + 1.0 + ], + [ + 0.41567569971084595, + 0.1954338401556015, + 0.034825775772333145, + -3.1057102923565587, + -0.0992446318268776, + 0.2348942756652832, + 1.0 + ], + [ + 0.41836002469062805, + 0.1917344033718109, + 0.028772933408617973, + -3.1058987361663064, + -0.08690507709980011, + 0.23102338612079618, + 1.0 + ], + [ + 0.4152302145957947, + 0.19029711186885834, + 0.029273686930537224, + -3.1048520376258573, + -0.09132859110832214, + 0.2274971753358841, + 1.0 + ], + [ + 0.40583422780036926, + 0.18309155106544495, + 0.04252805933356285, + -3.1114395299279174, + -0.11910906434059143, + 0.21827664971351624, + 0.0 + ], + [ + 0.39712420105934143, + 0.163297638297081, + 0.07261306792497635, + -3.101994687812873, + -0.18766869604587552, + 0.18739493191242218, + 0.0 + ], + [ + 0.381653755903244, + 0.1117338091135025, + 0.10692112147808075, + -3.0957715568416795, + -0.26154303550720215, + 0.09173887223005295, + 0.0 + ], + [ + 0.34916338324546814, + 0.06174015626311302, + 0.09718742221593857, + -3.119966276111551, + -0.22130315005779264, + -0.020279400050640106, + 0.0 + ], + [ + 0.31994301080703735, + 0.015769334509968758, + 0.08174050599336624, + -3.129443638148256, + -0.1678817719221115, + -0.12355429679155351, + 0.0 + ], + [ + 0.31124693155288696, + -0.03360811620950699, + 0.07219377905130386, + -3.1149796844744166, + -0.15535198152065277, + -0.17324568331241608, + 0.0 + ], + [ + 0.3102082908153534, + -0.03885822370648384, + 0.05725434049963951, + -3.109590249257632, + -0.1147514283657074, + -0.16112858057022095, + 0.0 + ], + [ + 0.31076520681381226, + -0.041432540863752365, + 0.05620678514242172, + -3.1165891011529645, + -0.11578642576932907, + -0.18574857711791992, + 0.0 + ], + [ + 0.31087836623191833, + -0.04165279120206833, + 0.056100018322467804, + -3.118696365626999, + -0.1206197142601013, + -0.17717424035072327, + 0.0 + ], + [ + 0.3101714551448822, + -0.04190928116440773, + 0.06687702983617783, + -3.118974033864685, + -0.1465664952993393, + -0.18446697294712067, + 1.0 + ], + [ + 0.3085034191608429, + -0.043166689574718475, + 0.07870376110076904, + -3.1278536628284535, + -0.1714295148849487, + -0.181233748793602, + 1.0 + ], + [ + 0.30720627307891846, + -0.03847062960267067, + 0.09336161613464355, + -3.13798770763027, + -0.20095707476139066, + -0.15897192060947415, + 1.0 + ], + [ + 0.30758577585220337, + -0.03555435314774513, + 0.09383867681026459, + -3.139162087701731, + -0.2025745511054993, + -0.15415255725383759, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05002796649932861, + 0.3178056478500366, + 0.5328307151794434, + 0.6355637311935425, + 0.6795415878295898, + 0.6803275644779205, + 0.6803275644779205, + 0.6803275644779205, + 0.6803275644779205, + 0.6142202019691467, + 0.29881423711776733, + 0.03201168775558472, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "127", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/127/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1272.json b/annotation/test/1272.json new file mode 100644 index 0000000000000000000000000000000000000000..cd671668668c309852d380bb30f68529c02ed651 --- /dev/null +++ b/annotation/test/1272.json @@ -0,0 +1,280 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "pick up pan from stove distractors" + ], + "videos": [ + { + "video_path": "videos/test/1272/rgb.mp4" + } + ], + "action": [ + [ + -0.0008035295853366237, + 0.0007353014570824162, + 0.0025782455903471347, + -0.0006741747130626235, + -0.0062433884108513416, + 0.0007561394727597245, + 1.0 + ], + [ + -0.008250744619974557, + 0.006618657459177065, + 0.020907425404224307, + -0.011873534795615702, + -0.044834228291089157, + 0.008906395047505433, + 1.0 + ], + [ + 0.002166068807181278, + 0.0027078207731646383, + 0.0016699700917049791, + -0.027773038143028995, + 0.01664200591734601, + -0.004333787935582728, + 1.0 + ], + [ + -0.0005953039785939674, + -0.004322500285892983, + 0.00745760244460956, + -0.021708452927617774, + -0.011289319434316896, + -0.009775665545883157, + 1.0 + ], + [ + -0.0013515613116763985, + -0.00013376555969532076, + 0.006664042892254313, + -0.012471867524100592, + -0.015871744631648015, + -0.00423172610088277, + 1.0 + ], + [ + 0.0018990917802551585, + 0.001565534829414786, + 0.0006159802645750131, + -0.011429710853296228, + -0.008573720029633814, + 0.0007546921149354968, + 0.0 + ], + [ + 0.00029028713780625666, + -0.0019258762886786502, + -0.0015263972671630966, + 0.01629731411642606, + -0.009470739009913704, + -0.0055780866419456255, + 0.0 + ], + [ + 0.0020437054125884914, + -0.0004532105247129929, + -0.013473860749627828, + 0.044817047864649136, + -0.017417992614023728, + 0.008050907620557109, + 0.0 + ], + [ + 0.0009503534831807849, + 0.005188861610354188, + -0.015984599827225773, + 0.04154091743808386, + -0.014319180817481214, + 0.01549378386631893, + 0.0 + ], + [ + -0.008838135415354168, + 0.0021273142581175377, + -0.024201288488972114, + 0.053769455345723666, + 0.007546074824587233, + -0.020846535588649108, + 0.0 + ], + [ + -0.012550906034156742, + -0.0016673497215259395, + -0.01793371104601177, + 0.025013502134495262, + 0.03160233011148425, + -0.034015453207518774, + 0.0 + ], + [ + -0.00469970193665001, + -0.007046979168954612, + -0.006753015213967565, + 0.017214959781437895, + 0.016742942037738486, + -0.025790995337565098, + 0.0 + ], + [ + 0.002352326345940959, + -0.00016567361543193471, + -0.0017147088052932413, + -0.004176256117643598, + 0.019573105966060697, + 0.004341619204786757, + 0.0 + ] + ], + "state": [ + [ + 0.42774057388305664, + 0.12328024953603745, + 0.06554301083087921, + -2.9304131736331662, + -0.17564725875854492, + 0.3132701218128205, + 1.0 + ], + [ + 0.42748764157295227, + 0.12301065027713776, + 0.06276866048574448, + -2.9311841448121747, + -0.16938404738903046, + 0.31384775042533875, + 1.0 + ], + [ + 0.4239024221897125, + 0.11963284760713577, + 0.039861489087343216, + -2.9429550935798368, + -0.12367905676364899, + 0.3145126402378082, + 1.0 + ], + [ + 0.42692050337791443, + 0.11816969513893127, + 0.03797381371259689, + -2.97082048852975, + -0.14084893465042117, + 0.31548637151718145, + 1.0 + ], + [ + 0.42552801966667175, + 0.12352914363145828, + 0.031341202557086945, + -2.994165228801318, + -0.13137565553188324, + 0.3271382451057434, + 1.0 + ], + [ + 0.42471736669540405, + 0.12442751973867416, + 0.02464868128299713, + -3.007481115060397, + -0.11629490554332733, + 0.33369925618171686, + 1.0 + ], + [ + 0.42707064747810364, + 0.12368842959403992, + 0.02405479922890663, + -3.0189523865752896, + -0.10769725590944289, + 0.33410006761550903, + 0.0 + ], + [ + 0.42659997940063477, + 0.125350683927536, + 0.025826390832662582, + -3.003375457721301, + -0.09897761046886443, + 0.3408275246620178, + 0.0 + ], + [ + 0.4277384877204895, + 0.12426106631755829, + 0.03937052562832832, + -2.9579868634515485, + -0.08061497658491133, + 0.33523619174957275, + 0.0 + ], + [ + 0.43014848232269287, + 0.11660785228013992, + 0.05416765809059143, + -2.9154234697395047, + -0.0637013390660286, + 0.3225932717323303, + 0.0 + ], + [ + 0.4227658808231354, + 0.10623196512460709, + 0.07666607201099396, + -2.8628762682252606, + -0.07571866363286972, + 0.3412692844867707, + 0.0 + ], + [ + 0.4108257293701172, + 0.09845643490552902, + 0.09336628764867783, + -2.8396304567628583, + -0.11543682962656021, + 0.36541944742202753, + 0.0 + ], + [ + 0.4038599133491516, + 0.10084478557109833, + 0.10131131857633591, + -2.8247166593843183, + -0.13906942307949066, + 0.3852510750293731, + 0.0 + ], + [ + 0.40594446659088135, + 0.10128341615200043, + 0.10330213606357574, + -2.8274123688512525, + -0.15630780160427094, + 0.3749014735221863, + 0.0 + ] + ], + "continuous_gripper_state": [ + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.13658356666564941, + 0.34991633892059326, + 0.6480775773525238, + 0.8291874825954437, + 0.9022414609789848, + 0.9045029357075691, + 0.9045029357075691, + 0.9045029357075691, + 0.9045029357075691, + 0.9045029357075691 + ], + "episode_id": "1272", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1272/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/128.json b/annotation/test/128.json new file mode 100644 index 0000000000000000000000000000000000000000..4cc59f02b74669ab896efa44510a2cf8a24195a8 --- /dev/null +++ b/annotation/test/128.json @@ -0,0 +1,451 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put eggplant in pot or pan" + ], + "videos": [ + { + "video_path": "videos/test/128/rgb.mp4" + } + ], + "action": [ + [ + -0.0005992290425445385, + 0.0007376341306328015, + 0.0026821844187859115, + -0.0060997342625552994, + -0.006872526756557237, + -0.0009898027669418836, + 1.0 + ], + [ + -0.0001119323235586768, + 0.002312302216121416, + 0.008001322238064282, + -0.00532753320888071, + -0.016853182029180843, + 0.07201705735352339, + 1.0 + ], + [ + 0.011566696561809305, + 0.0053509124347287905, + 0.008745845059351776, + -0.01210486473641908, + 0.033307394842609354, + 0.1469003864796801, + 1.0 + ], + [ + 0.009139137012463282, + 0.0015794980976919966, + 0.0137584046138341, + -0.03966420086268456, + 0.04254333925486452, + 0.12654219481491077, + 1.0 + ], + [ + 0.004635355104131757, + 0.0004429161998557691, + 0.013487779002243697, + -0.06831904205574699, + 0.03273324075634635, + 0.1084327472432847, + 1.0 + ], + [ + -0.0008151556378857355, + 0.002446909073017991, + 0.007507130396093748, + -0.04035587700522817, + 0.015792034955340397, + 0.04642261045960757, + 1.0 + ], + [ + 0.0004971885595346171, + -0.0025081234014627646, + 0.004742139257109384, + 0.011746149071654744, + 0.0048691928284653515, + 0.026133327702912695, + 1.0 + ], + [ + -0.0028975811202643304, + -0.0022275191843126457, + 0.006337554840581576, + 0.017016846940236616, + 0.01228429381156983, + -0.0004309956124731492, + 1.0 + ], + [ + -0.004828038786139322, + -0.003063099268677135, + 0.004476137023956557, + -0.00039662693510067476, + 0.029515965297766008, + -0.017603275997796968, + 1.0 + ], + [ + -0.004067002350239355, + -0.005554568270239369, + 0.001170148689655295, + 0.006036874082653079, + 0.017565946841226126, + -0.022839828746740835, + 0.0 + ], + [ + 0.0003276005088023571, + 0.0015005460422833502, + -0.0015958059032880926, + -0.012185172737913995, + -0.013755050716114397, + -0.03308212968424074, + 0.0 + ], + [ + 0.002241719197289828, + 0.013528602534703843, + -0.0017034629731378906, + -0.06892099531836236, + -0.030908853364701755, + -0.01593529392572257, + 0.0 + ], + [ + -0.0037535148688842153, + 0.006263880461859122, + -0.026177769563472827, + -0.030573984758498162, + -0.054742925488293494, + -0.019981232355174624, + 0.0 + ], + [ + -0.008143073563867302, + -0.0024409959344123514, + -0.03770531306618556, + 0.03611270343846692, + -0.07206724241064881, + 0.002320573634309096, + 0.0 + ], + [ + -0.01757056780562052, + -0.010743158142874402, + -0.026558389797605424, + 0.09619372558911259, + -0.06263713108071521, + -0.00468692258704802, + 0.0 + ], + [ + -0.022902849137790015, + -0.018613756086850293, + -0.008853234051904267, + 0.09103883458742175, + 0.01803650777658758, + -0.04269770802123085, + 0.0 + ], + [ + -0.024286779672743043, + -0.03512508519134843, + -0.001560767485766678, + 0.06808373656187887, + 0.02158654151592942, + 0.01950372297729663, + 0.0 + ], + [ + -0.02256377215558562, + -0.0343076941018255, + 0.0040449016501259046, + 0.03099991022081306, + -0.0006712226474035768, + 0.04661395832033364, + 0.0 + ], + [ + -0.016652704329881477, + -0.019772952038784253, + 0.001153726846285495, + -0.0057011636202091666, + 0.008116014788252789, + 0.005864612929995078, + 0.0 + ], + [ + -0.008795736603693751, + -0.007603315175100561, + 0.003007495532048441, + -0.018677257326226222, + 0.008933891875504018, + 0.003468927329922234, + 1.0 + ], + [ + -0.000199263481598736, + 0.00025555790049687347, + -3.278649334624091e-07, + -0.0016162503033615937, + -0.0012503949300122187, + 0.0037972806034331937, + 1.0 + ], + [ + -0.0004293661861710491, + -0.000237490543107247, + -2.0735375188617706e-05, + 0.001650441260927858, + 0.0008084112491035815, + -0.0021953910502515357, + 1.0 + ] + ], + "state": [ + [ + 0.2936211824417114, + 0.093550905585289, + 0.08413033187389374, + -2.9352549483352384, + -0.14537188410758972, + -0.4560348987579345, + 1.0 + ], + [ + 0.2933740019798279, + 0.09348005056381226, + 0.0812963992357254, + -2.94169798691804, + -0.13884751498699188, + -0.45363500714302063, + 1.0 + ], + [ + 0.2940101623535156, + 0.0924161970615387, + 0.07305965572595596, + -2.9381001015477857, + -0.10772556066513062, + -0.5212438106536865, + 1.0 + ], + [ + 0.3031526803970337, + 0.08316153287887573, + 0.06471243500709534, + -2.9362000246816358, + -0.10955157876014708, + -0.672730028629303, + 1.0 + ], + [ + 0.31222206354141235, + 0.07754656672477722, + 0.052002958953380585, + -2.962944062548228, + -0.12450642883777618, + -0.8062716722488403, + 1.0 + ], + [ + 0.3179687261581421, + 0.07438773661851883, + 0.0393301323056221, + -3.018234873312064, + -0.13670043647289276, + -0.9198293089866638, + 1.0 + ], + [ + 0.31692254543304443, + 0.07327814400196075, + 0.031540192663669586, + -3.052107060449668, + -0.14650394022464752, + -0.9683586359024048, + 1.0 + ], + [ + 0.3199809193611145, + 0.07398740947246552, + 0.027161944657564163, + -3.0364852492981633, + -0.14896680414676666, + -0.995118796825409, + 1.0 + ], + [ + 0.32132720947265625, + 0.07720345258712769, + 0.02073022723197937, + -3.0193311293893537, + -0.1612284630537033, + -0.9959902763366698, + 1.0 + ], + [ + 0.322101354598999, + 0.08260449022054672, + 0.01593879424035549, + -3.021954747038432, + -0.19265510141849518, + -0.9818642735481262, + 1.0 + ], + [ + 0.3246390223503113, + 0.08898529410362244, + 0.01467050053179264, + -3.0199558456712445, + -0.21277981996536252, + -0.960813343524933, + 0.0 + ], + [ + 0.32327330112457275, + 0.08800133317708969, + 0.0161100085824728, + -3.039640503125735, + -0.20301131904125214, + -0.9255852103233339, + 0.0 + ], + [ + 0.3136638104915619, + 0.07810055464506149, + 0.0168731939047575, + -3.112420007708021, + -0.17384779453277585, + -0.9063038229942322, + 0.0 + ], + [ + 0.30308234691619873, + 0.08021721988916397, + 0.041816189885139465, + 3.1364705377542457, + -0.11967048794031143, + -0.8846095204353333, + 0.0 + ], + [ + 0.29714667797088623, + 0.09162256121635437, + 0.07826676964759827, + -3.1102938299351415, + -0.047615647315979, + -0.8872959017753601, + 0.0 + ], + [ + 0.29293662309646606, + 0.1124790832400322, + 0.10428155958652496, + -3.014355706172534, + 0.014845145866274835, + -0.8806608319282532, + 0.0 + ], + [ + 0.29183444380760193, + 0.14105060696601868, + 0.11576395481824875, + -2.922804119186946, + -0.00847416277974844, + -0.8406044840812683, + 0.0 + ], + [ + 0.30087730288505554, + 0.18184688687324524, + 0.12470518052577972, + -2.854530068235942, + -0.025310905650258064, + -0.864332377910614, + 0.0 + ], + [ + 0.31203874945640564, + 0.221220001578331, + 0.1299666315317154, + -2.822696181135722, + -0.011448314413428307, + -0.9088502526283264, + 0.0 + ], + [ + 0.31686368584632874, + 0.24616391956806183, + 0.13487929105758667, + -2.8283044417672834, + -0.017316112294793132, + -0.9169647693634033, + 0.0 + ], + [ + 0.3179972469806671, + 0.258100688457489, + 0.13420921564102173, + -2.846869858103343, + -0.024745749309659004, + -0.9230198860168457, + 1.0 + ], + [ + 0.31768307089805603, + 0.2581104636192322, + 0.13413038849830627, + -2.8484065552526197, + -0.022446123883128163, + -0.9262910485267639, + 1.0 + ], + [ + 0.31760093569755554, + 0.25858819484710693, + 0.13420921564102173, + -2.8467984815412244, + -0.023854475468397137, + -0.9244224429130554, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.1518612504005432, + 0.18319201469421387, + 0.18319201469421387, + 0.18319201469421387, + 0.18319201469421387, + 0.18319201469421387, + 0.18319201469421387, + 0.18319201469421387, + 0.18319201469421387, + 0.18319201469421387, + 0.023313462734222412, + 0.0, + 0.0 + ], + "episode_id": "128", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/128/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1293.json b/annotation/test/1293.json new file mode 100644 index 0000000000000000000000000000000000000000..75cb08e6634bc7ef311bec520ef9f0c8bf65aa82 --- /dev/null +++ b/annotation/test/1293.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "open microwave" + ], + "videos": [ + { + "video_path": "videos/test/1293/rgb.mp4" + } + ], + "action": [ + [ + 8.582188974540198e-05, + -0.00041061946629992644, + -0.0004816151106042484, + 0.0003340647291123344, + 0.001660782621361466, + -0.0028888579788136303, + 1.0 + ], + [ + -0.004795383055583793, + 0.0033598705349283378, + 0.006690748404584856, + -0.006129975318789095, + -0.021783795124649383, + -0.007180920947331325, + 1.0 + ], + [ + -0.00623523963710222, + 0.023841767072333486, + -0.0024213645941145966, + -0.01748615861668699, + 0.037313997970577835, + -0.005890402715648245, + 1.0 + ], + [ + 0.00226536939079262, + 0.018846710124412906, + -0.0015196302064144644, + -0.016616160093017224, + 0.05731083373839966, + 0.021388207672607334, + 1.0 + ], + [ + 0.008032212484555972, + 0.013201443078036845, + 0.0028220906738893646, + -0.03081190787119523, + 0.06800439878693998, + -0.005115867336829765, + 1.0 + ], + [ + 0.007992537727627811, + 0.015094541692797328, + 0.003693520425568547, + -0.0006463187910658743, + 0.0017907700416505028, + 0.03211422558589823, + 1.0 + ], + [ + 0.011938977845279364, + 0.01111501890468128, + 0.00294114308103383, + 0.004772752182158503, + 0.002200995832958248, + 0.00832614916919305, + 1.0 + ], + [ + 0.00842805812963891, + 0.007530476032603377, + -0.0019082965573462782, + 0.01718910708608044, + 0.005138493517583215, + 0.021286049608981998, + 1.0 + ], + [ + 0.006147963904764341, + 0.0007309230452725049, + 0.0015660936335946043, + 0.01950716943739713, + 0.010062764358452273, + 0.025225694247303095, + 1.0 + ], + [ + 0.01457313919698827, + 0.0006440683084724523, + -0.00017257153983684683, + 0.013903737461528393, + 0.01789645825877163, + 0.03061589867054775, + 1.0 + ], + [ + 0.010516703540064988, + 0.00483010160864714, + -6.372899514546135e-05, + 0.003628488249794384, + 0.01510757624680822, + 0.03552138477248293, + 1.0 + ], + [ + 0.007471942117591279, + 0.0018286694982997146, + -0.0014304613332247367, + -0.001053206809065567, + 0.009047978302744538, + 0.0136088386277898, + 1.0 + ], + [ + 0.003371794702792398, + 0.0032814490332734847, + 0.0003819125112611576, + 0.002937817384886815, + -0.0015838442461389706, + 0.002700791483224815, + 1.0 + ], + [ + 0.000845156904267317, + 0.004217836961019471, + 0.0017290738167375851, + 0.005655868353101592, + 0.01881008074941629, + 0.006889633513503384, + 1.0 + ], + [ + -0.004616208488986685, + 0.0014604302482082324, + 0.004360884765470814, + 0.0022025234200295286, + 0.003364680746931899, + -0.010462729882496724, + 0.0 + ], + [ + -0.005240262885519404, + 0.000265129601623056, + -0.001674794379471435, + 0.003372434180764759, + 0.01763052099424071, + -0.01132371179685211, + 0.0 + ], + [ + -0.01366652049856796, + -0.0035314906933730894, + -0.0028506507220011374, + 0.007355622522355314, + -0.00491367512485526, + -0.020320549349620617, + 0.0 + ], + [ + -0.010892754974751433, + -0.006762468662693466, + -0.00367798682393696, + -0.012779051872344082, + -0.0011472308123928064, + -0.03592058522357681, + 0.0 + ], + [ + -0.011432453364072852, + -0.0035687514242085726, + -0.0022087734234599084, + 0.006176445904554448, + -0.034679860447911895, + -0.02929609775172569, + 0.0 + ], + [ + -0.00942023527696398, + -0.0023446046180819282, + 0.001554835598364549, + 0.0410826394994065, + -0.025002752841496223, + -0.047255016049926934, + 1.0 + ], + [ + -0.022137736600004978, + -0.0041582666486809335, + -0.00730780910512364, + 0.06747487217301766, + -0.00491446925725882, + -0.0696880960156934, + 1.0 + ], + [ + -0.034052028212800164, + -0.0007730105224472079, + -0.0026527518048954438, + 0.043257499987634326, + 0.010790143194677955, + -0.1278332598293333, + 1.0 + ], + [ + -0.022029176917655685, + 0.012125369974483284, + -0.004113765999040061, + 0.014127906885654516, + 0.03796680839171378, + -0.07273726857434122, + 1.0 + ], + [ + 0.009223735234335489, + 0.03932547571862996, + -0.010312363093739936, + -0.04855661050008858, + -0.0010680351820137315, + 0.11704446833805189, + 1.0 + ], + [ + 0.0017151003569199727, + 0.028703946657316307, + 0.01233733887607454, + -0.09986777033672938, + -0.0224559484485132, + 0.12660734480032768, + 1.0 + ], + [ + 0.014535255348223067, + 0.03203364387561747, + 0.016514798054876958, + -0.04601823548884841, + -0.0025248195726431215, + 0.10911703440305433, + 1.0 + ], + [ + 0.016250685903869962, + 0.021457407450448607, + 0.006845433008267994, + -0.03968477716007146, + 0.015158995721907194, + 0.09546167176457479, + 1.0 + ], + [ + 0.016223492065266715, + 0.004198863043464339, + -0.0020009072132465694, + 0.01549428768219782, + 0.01895050979709635, + 0.17569420111817713, + 1.0 + ], + [ + 0.003871841786983661, + -0.010652753369893122, + 0.004088507482584536, + -0.04542855328124372, + 0.019723924969761834, + 0.07695268255330628, + 1.0 + ], + [ + 0.0033321003247227545, + -0.026085096511956615, + 0.00039301145600985, + -0.0253157293654302, + 0.0035383873110663776, + 0.07233003065713811, + 1.0 + ], + [ + -0.005928748701765276, + -0.026213402245366613, + 0.007924486253714124, + -0.026489492893195174, + -0.026687211137011044, + 0.11586019940342256, + 1.0 + ], + [ + -0.0006275770035561975, + -0.014652059608963076, + -0.002082440834812144, + 0.0017009822502797403, + -0.008210659622125112, + 0.015126329754690415, + 1.0 + ], + [ + -0.008953176198401625, + -0.0037492047436755945, + 0.0032059505190232336, + 0.02839874864912894, + -0.02461607520894789, + -0.06745496600650762, + 1.0 + ], + [ + -0.03477253654931174, + -0.0024803330182666273, + -0.001110741133259707, + 0.05780265358552398, + -0.016912623398580438, + -0.17258540369301212, + 1.0 + ], + [ + -0.036725407218710246, + -0.01341953286208826, + -0.0058467571928838965, + 0.031068858642285063, + 0.00691926638881548, + -0.1800492829267032, + 1.0 + ], + [ + -0.0329812778668778, + -0.02314431747459166, + -0.008188421972789201, + 0.019592011952266477, + 0.017088358746248887, + -0.12250450898871751, + 1.0 + ], + [ + -0.01866325582923869, + -0.024339213299889317, + -0.0018452561592734137, + -0.004865865343273962, + 0.010400291248794177, + -0.03933321925631906, + 1.0 + ], + [ + -0.004674886400924453, + -0.02543828265700562, + -0.003166031901704765, + 0.005683904149932676, + 0.0008756186388133231, + -0.0438787310887343, + 1.0 + ] + ], + "state": [ + [ + 0.28844085335731506, + 0.053038641810417175, + 0.08382634073495865, + 3.049288461106368, + -0.13352912664413452, + 0.15060265362262723, + 1.0 + ], + [ + 0.288398802280426, + 0.053490713238716125, + 0.08427555114030838, + 3.049215780692645, + -0.13491594791412354, + 0.15366007387638092, + 1.0 + ], + [ + 0.285153865814209, + 0.04897814989089966, + 0.07733597606420517, + 3.0423692037635526, + -0.11256085336208344, + 0.15883207321166992, + 1.0 + ], + [ + 0.28222134709358215, + 0.024724401533603668, + 0.08137665688991547, + 3.0237324853711804, + -0.14910255372524261, + 0.16849221289157867, + 1.0 + ], + [ + 0.2869929373264313, + 0.006732518784701824, + 0.08539707213640213, + 3.009134756522723, + -0.20851436257362366, + 0.15370336174964905, + 1.0 + ], + [ + 0.2970345914363861, + -0.005330849904567003, + 0.08602877706289291, + 2.9750019331746778, + -0.2752253115177155, + 0.16828650236129764, + 1.0 + ], + [ + 0.30751875042915344, + -0.01926977001130581, + 0.08710435032844543, + 2.9833139051967343, + -0.2821764051914215, + 0.13562190532684326, + 1.0 + ], + [ + 0.32074493169784546, + -0.029010610654950142, + 0.08932185173034668, + 2.9903766234689435, + -0.2856532335281372, + 0.12741418182849887, + 1.0 + ], + [ + 0.3288310170173645, + -0.03519028425216675, + 0.09459524601697922, + 3.0135620554261884, + -0.2938789427280426, + 0.10623755306005479, + 1.0 + ], + [ + 0.33520081639289856, + -0.03544116020202637, + 0.09497874975204468, + 3.040310749905654, + -0.30699431896209717, + 0.08134056627750397, + 1.0 + ], + [ + 0.34902599453926086, + -0.034939512610435486, + 0.099608413875103, + 3.063383551436015, + -0.32776322960853577, + 0.051085591316223145, + 1.0 + ], + [ + 0.3590737283229828, + -0.03924241289496422, + 0.10341145098209381, + 3.0787592624598226, + -0.3453989326953888, + 0.014708619564771652, + 1.0 + ], + [ + 0.36560696363449097, + -0.04088173806667328, + 0.10739260911941528, + 3.0824082774394235, + -0.35525298118591303, + 0.0008286405354738234, + 1.0 + ], + [ + 0.36883604526519775, + -0.044177357107400894, + 0.1083899512887001, + 3.0863806811445436, + -0.3538302183151245, + -0.0021453341469168663, + 1.0 + ], + [ + 0.37013715505599976, + -0.04848698526620865, + 0.1072816401720047, + 3.0942010042541703, + -0.37298548221588135, + -0.008416463620960712, + 1.0 + ], + [ + 0.36738651990890503, + -0.050129275768995285, + 0.10160744935274124, + 3.09224949603016, + -0.37582868337631226, + 0.0029900269582867622, + 0.0 + ], + [ + 0.36189380288124084, + -0.05032790079712868, + 0.10125221312046051, + 3.090778963761874, + -0.3928497731685639, + 0.016172038391232494, + 0.0 + ], + [ + 0.3481895625591278, + -0.04687734320759773, + 0.09848474711179733, + 3.0898588096075734, + -0.3868273496627808, + 0.03781596571207047, + 0.0 + ], + [ + 0.33659350872039795, + -0.0403674878180027, + 0.09745324403047562, + 3.0625462402873715, + -0.38356369733810425, + 0.07643663138151169, + 0.0 + ], + [ + 0.32502129673957825, + -0.03751080483198166, + 0.0949554592370987, + 3.0581735019856175, + -0.34653982520103455, + 0.10455672442913055, + 0.0 + ], + [ + 0.3165684938430786, + -0.036178819835186005, + 0.09011485427618027, + 3.0832288918369493, + -0.31732597947120667, + 0.15191328525543213, + 1.0 + ], + [ + 0.29291021823883057, + -0.035169944167137146, + 0.08990796655416489, + 3.128176523494073, + -0.3075726330280304, + 0.2246115803718567, + 1.0 + ], + [ + 0.2603115439414978, + -0.041788291186094284, + 0.08211699873209, + 3.130909581790217, + -0.31404784321784973, + 0.35919100046157837, + 1.0 + ], + [ + 0.24371640384197235, + -0.06092368811368942, + 0.07934748381376266, + 3.121023105578967, + -0.35035735368728643, + 0.43701466917991644, + 1.0 + ], + [ + 0.26465854048728943, + -0.09430219978094101, + 0.09295693039894104, + 3.1152754222326955, + -0.3491912186145783, + 0.3124179244041443, + 1.0 + ], + [ + 0.2788807451725006, + -0.12020330131053925, + 0.08266470581293106, + 3.06144534249837, + -0.3271480202674866, + 0.17812904715538025, + 1.0 + ], + [ + 0.30271443724632263, + -0.14969998598098755, + 0.07417546212673187, + 3.052869537966796, + -0.3313337564468384, + 0.06286577135324478, + 1.0 + ], + [ + 0.3210281729698181, + -0.1705702245235443, + 0.07481209933757782, + 3.046029294031211, + -0.35335683822631836, + -0.03705115243792533, + 1.0 + ], + [ + 0.33526378870010376, + -0.17508943378925323, + 0.08267083764076233, + 3.127260220358618, + -0.3833217918872833, + -0.2237602472305298, + 1.0 + ], + [ + 0.3426622152328491, + -0.16590920090675354, + 0.0801859200000763, + 3.1130140406363687, + -0.40295130014419556, + -0.3070946335792542, + 1.0 + ], + [ + 0.3538881540298462, + -0.14212684333324432, + 0.08044549077749252, + 3.1185870711975774, + -0.40744030475616455, + -0.38574329018592834, + 1.0 + ], + [ + 0.3617663085460663, + -0.11723794788122177, + 0.0702686756849289, + -3.1413367147084834, + -0.3805284798145294, + -0.511163055896759, + 1.0 + ], + [ + 0.36774972081184387, + -0.10379514843225479, + 0.0719725489616394, + -3.1336055874177298, + -0.37226834893226624, + -0.527398943901062, + 1.0 + ], + [ + 0.36344099044799805, + -0.09691736847162247, + 0.0657576471567154, + -3.1313740919628223, + -0.3473067283630371, + -0.4554679989814758, + 1.0 + ], + [ + 0.3348166048526764, + -0.08014754951000214, + 0.054990436881780624, + -3.135536091989376, + -0.3267965018749237, + -0.2729832828044891, + 1.0 + ], + [ + 0.3030987083911896, + -0.05736888200044632, + 0.04881538078188896, + 3.117847355204173, + -0.32931408286094666, + -0.08264090865850449, + 1.0 + ], + [ + 0.27146100997924805, + -0.031336233019828796, + 0.04537567123770714, + 3.09554577072198, + -0.3409083187580108, + 0.04776346683502197, + 1.0 + ], + [ + 0.2524855136871338, + -0.007817048579454422, + 0.03981708362698555, + 3.0765662138634404, + -0.34920617938041687, + 0.09008783847093582, + 1.0 + ], + [ + 0.24529503285884857, + 0.017227863892912865, + 0.03963299095630646, + 3.066366071003028, + -0.3468799591064453, + 0.13670942187309268, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05310845375061035, + 0.36498814821243286, + 0.6380844116210938, + 0.63640496134758, + 0.6159495413303375, + 0.6142202019691467, + 0.5365830659866333, + 0.2096758484840393, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1293", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1293/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1319.json b/annotation/test/1319.json new file mode 100644 index 0000000000000000000000000000000000000000..a278a29a8feecd6d04b426e95319c39442cacb69 --- /dev/null +++ b/annotation/test/1319.json @@ -0,0 +1,831 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the can to the front right corner of the table" + ], + "videos": [ + { + "video_path": "videos/test/1319/rgb.mp4" + } + ], + "action": [ + [ + -0.00022916828214621405, + -8.160234569161511e-05, + -1.9616540184747344e-07, + 0.0005145692140896563, + -0.0014451029760300577, + -3.7151686020614455e-07, + 1.0 + ], + [ + -3.0064017213069575e-05, + -0.0009659278611630589, + 0.008816851251723018, + 0.014986558653428529, + -0.02390213607109912, + -0.010405194050163831, + 1.0 + ], + [ + 0.015064328727861733, + -0.00845461607591894, + 0.015630462862025584, + 0.08210686980814352, + 0.021581163563165806, + -0.06805735689894206, + 1.0 + ], + [ + 0.018530444016884015, + -0.0036622254133875853, + 0.012717950366117118, + 0.06882917176577628, + 0.03374013788231233, + -0.04207873473954273, + 1.0 + ], + [ + 0.021433414022087177, + -0.0052372967760940395, + 0.011728212547577386, + 0.03534534539856064, + 0.039510225753688184, + -0.048331598417274704, + 1.0 + ], + [ + 0.016887172715214695, + 0.0011131841125991498, + 0.013238602148995044, + 0.03803831597682051, + 0.03910553099861743, + 0.00809393224066598, + 1.0 + ], + [ + 0.013653490460476276, + 0.0006132600512574315, + 0.008510712261536818, + -0.005825930366643689, + 0.06807379739280449, + -0.0063809593787055655, + 1.0 + ], + [ + 0.015040183993233534, + 0.007021686327030584, + 0.017342092258460187, + 0.017783712974177628, + 0.03376913008843994, + 0.020371026356504816, + 1.0 + ], + [ + 0.009780580231456554, + 0.00733435965937924, + 0.008652011801870092, + -0.010180295381711849, + 0.04620331611536048, + 0.011942645670588772, + 1.0 + ], + [ + 0.004760959122597034, + 0.007807626928567304, + 0.007864251885722347, + -0.030883305325590815, + 0.02214800080885464, + 0.019950253396843164, + 1.0 + ], + [ + 0.004197802561522954, + 0.006643059238377838, + 0.0026673140059119086, + -0.038189179710382874, + 0.04270152288858764, + -0.01067291770956508, + 1.0 + ], + [ + 0.001055657713359916, + 0.0020008650616784467, + 0.0011483740753396013, + -0.018531752211076037, + 0.00641628347219372, + -0.0121904463604561, + 1.0 + ], + [ + -0.007736395576022706, + 0.002070134448847038, + 0.012137148142629858, + 0.003197379014259507, + -0.0324232789371463, + 0.01656630100600864, + 1.0 + ], + [ + -0.00124150341811927, + 0.0015841141802523384, + 0.0010719031536767076, + -0.017215730102883454, + -0.005025227858832422, + 0.0011777085032531774, + 1.0 + ], + [ + -0.0034361790823725998, + -0.002646327321208823, + 0.0034528302532747276, + -0.0057636221102981815, + -0.011241480320956421, + 0.019520948377254096, + 1.0 + ], + [ + -0.013294042776553723, + -0.002740891610832865, + 0.005392618033495614, + -0.020701051105635, + -0.05271482646807671, + 0.019765397577541085, + 1.0 + ], + [ + -0.006837983745910929, + -0.0015101930137101883, + -0.009837443667198898, + -0.013513206392315102, + -0.02801334653241118, + 0.07967141414406201, + 1.0 + ], + [ + -0.00962170236320405, + 0.0008063322952727848, + -0.0032010144307002748, + -0.017461539319496837, + -0.02389983587188328, + 0.026071044405452968, + 1.0 + ], + [ + -0.007024401603034713, + 0.0019688708495018627, + -0.0037080573409195537, + -0.0021247681212880867, + -0.00697155283192063, + 0.0012742921848853913, + 1.0 + ], + [ + -0.006988190200425858, + 0.004178614272478245, + 0.00016157440763138288, + -0.0048151782975467804, + -0.010631397693413822, + -0.007402023254779522, + 1.0 + ], + [ + -0.009913588705497842, + 0.0037052961758785538, + -0.0010245669118890415, + -0.0006476656755373155, + -0.013577795482346323, + -0.011702761204313251, + 1.0 + ], + [ + -0.01667704001370574, + 0.005589860038777167, + -0.0009073137962860772, + 0.0041687249693458765, + -0.02418869284850891, + -0.005657873307635147, + 1.0 + ], + [ + -0.014250298258170079, + 0.002134537476534076, + -0.004931634803609814, + -0.002637816509107269, + -0.009421302681433532, + -0.019008610762580033, + 1.0 + ], + [ + -0.009784229590723437, + 1.1704538831712334e-06, + -0.002283389220563517, + 0.006282048577931161, + -0.00964464879263787, + -0.018958051430918707, + 1.0 + ], + [ + -0.011751286723872111, + 0.0037558894249014223, + 0.0007506979823598262, + -0.00709419699508503, + -0.029006514129355208, + -0.01044443435609037, + 1.0 + ], + [ + -0.010977875781104783, + 0.008272468251123495, + -0.0048252065133042995, + -0.014811738353515647, + -0.014190675283195625, + -0.0009032755762834699, + 1.0 + ], + [ + -0.013217758332713594, + 0.004586677185342037, + 0.0005201138192390889, + 0.007292160395269165, + -0.03419170941970515, + 0.0029894382601569104, + 1.0 + ], + [ + -0.012363586768954287, + 0.002781653683130307, + -0.0013050241509467782, + -0.008974060143472361, + -0.013393012603411988, + 0.008351394405728286, + 1.0 + ], + [ + -0.0031211675812700974, + -0.0010801171405689248, + -0.004946811536355133, + 0.027185470698380038, + -0.00408033519406851, + -0.002338338319368099, + 1.0 + ], + [ + 0.003014633326751345, + -0.005355515123973545, + -0.010428805563510342, + 0.015097667438802484, + 0.02994220928377892, + -0.006488198030404066, + 1.0 + ], + [ + 0.009997673763104722, + -0.009853233369387647, + -0.007348727823080494, + 0.0348946722527647, + 0.0010802174152084111, + -0.007610885925417194, + 1.0 + ], + [ + 0.022762722710812557, + -0.009834171985814396, + -0.017347269148369388, + 0.00877845242415568, + 0.030511827213949405, + -0.02580229521752231, + 1.0 + ], + [ + 0.01432854989357336, + -0.014773038615169062, + 0.0020127878092369204, + -0.016166866470689458, + -0.037340902001487465, + -0.07416901443066025, + 1.0 + ], + [ + 0.0046847161187502945, + -0.02043926731487445, + 0.002195160609925579, + 0.025946986160438744, + -0.019024117213516146, + -0.05750969919359098, + 1.0 + ], + [ + 0.0029465114789736994, + -0.025787976321786234, + 0.0007795414010658988, + 0.0014822624329801665, + -0.04196510175998024, + -0.012620824569703148, + 1.0 + ], + [ + 0.007611820234603383, + -0.012635120356167826, + -0.007347057967964202, + 0.004271049691359168, + 0.0013970117711876058, + 0.008559506362873472, + 1.0 + ], + [ + 0.011187171478419047, + -0.018879247116692487, + 0.002700288973604664, + 0.010001446704799874, + -0.022003629116789197, + -0.010424597302285643, + 1.0 + ], + [ + -0.007888038217161199, + -0.01948205518177648, + 0.010681200943370222, + 0.013621872751598273, + -0.06467747528900715, + -0.0585520316100094, + 1.0 + ], + [ + -0.006556450680672824, + -0.025979237515322884, + 0.014198521623365169, + 0.004781758861102893, + -0.033302557247355674, + -0.11507491937466721, + 1.0 + ], + [ + 2.5075055179142878e-05, + -0.03271550768136084, + 0.005295780741307656, + 0.003598668647787181, + -0.011817376513185915, + -0.11426616568248134, + 1.0 + ], + [ + -0.0008628500615231814, + -0.025451699537450648, + 0.008121926863552013, + 0.011231949998067906, + -0.018430777443316622, + -0.08634824796169475, + 1.0 + ], + [ + 0.0002201889277239716, + -0.002260953965413812, + 0.0006820751539673482, + 0.0006106410966684847, + -0.0025715512344008777, + -0.004294506042259411, + 1.0 + ] + ], + "state": [ + [ + 0.29481008648872375, + -0.08354295790195465, + 0.16384202241897583, + 3.096320292102643, + -0.13536523282527924, + 0.06676523387432098, + 1.0 + ], + [ + 0.29457855224609375, + -0.0834767296910286, + 0.16380763053894043, + 3.0968436693125447, + -0.1339215934276581, + 0.06669961661100388, + 1.0 + ], + [ + 0.29569000005722046, + -0.08283066749572754, + 0.15503163635730743, + 3.110566746565052, + -0.10957209020853044, + 0.07607848197221756, + 1.0 + ], + [ + 0.31174731254577637, + -0.07361790537834167, + 0.1408890187740326, + -3.098014289634772, + -0.12877333164215088, + 0.14533247053623202, + 1.0 + ], + [ + 0.3309146761894226, + -0.06655479967594147, + 0.1308262050151825, + -3.0344756563478192, + -0.16420704126358032, + 0.18642957508563993, + 1.0 + ], + [ + 0.35227903723716736, + -0.05594995617866516, + 0.1233781948685646, + -3.006471352773257, + -0.20849609375, + 0.2311888933181763, + 1.0 + ], + [ + 0.37087827920913696, + -0.0508727990090847, + 0.11389309912919998, + -2.965504678087779, + -0.246135875582695, + 0.21749524772167206, + 1.0 + ], + [ + 0.38563597202301025, + -0.04670295491814613, + 0.10898911952972412, + -2.969469906883784, + -0.314269095659256, + 0.2115561068058014, + 1.0 + ], + [ + 0.40597689151763916, + -0.04637203738093376, + 0.09624561667442322, + -2.9431567211919507, + -0.3439408242702484, + 0.18410529196262362, + 1.0 + ], + [ + 0.4193243086338043, + -0.04946565255522728, + 0.09019698947668076, + -2.9455852677398404, + -0.38680392503738403, + 0.16164343059062958, + 1.0 + ], + [ + 0.4281000792980194, + -0.05424206703901291, + 0.08344095945358276, + -2.966677578287669, + -0.4045258164405823, + 0.13566911220550537, + 1.0 + ], + [ + 0.43422073125839233, + -0.05954043194651604, + 0.08161577582359314, + -3.0060491432719907, + -0.4484306573867798, + 0.1390775442123413, + 1.0 + ], + [ + 0.43602079153060913, + -0.06113360822200775, + 0.08080447465181351, + -3.030001687007495, + -0.45640498399734497, + 0.15156732499599457, + 1.0 + ], + [ + 0.4346177875995636, + -0.06206175684928894, + 0.06636086851358414, + -3.020545223849364, + -0.422298789024353, + 0.13748599588871, + 1.0 + ], + [ + 0.43420347571372986, + -0.06357591599225998, + 0.0647069662809372, + -3.037507364647933, + -0.41716805100440985, + 0.13687098026275638, + 1.0 + ], + [ + 0.4319513440132141, + -0.060867127031087875, + 0.06042645499110222, + -3.0352418219023427, + -0.40388599038124084, + 0.11702835559844971, + 1.0 + ], + [ + 0.42140480875968933, + -0.05878648906946182, + 0.050538789480924606, + -3.0499271770292005, + -0.34932997822761536, + 0.10209378600120543, + 1.0 + ], + [ + 0.4115692675113678, + -0.059187620878219604, + 0.05753273144364357, + -3.0360763763361653, + -0.31308886408805847, + 0.0214313305914402, + 1.0 + ], + [ + 0.4014877676963806, + -0.06054295599460602, + 0.057516928762197495, + -3.046020956831523, + -0.28648844361305237, + -0.002964097075164318, + 1.0 + ], + [ + 0.3937528729438782, + -0.062833771109581, + 0.05889240279793739, + -3.0479660799079618, + -0.27942705154418945, + -0.0035916182678192854, + 1.0 + ], + [ + 0.38717299699783325, + -0.06695537269115448, + 0.05643489211797714, + -3.055172311263629, + -0.2695242166519165, + 0.0050847530364990234, + 1.0 + ], + [ + 0.37745001912117004, + -0.07078476250171661, + 0.05447079613804817, + -3.059351587789603, + -0.25698450207710266, + 0.01835041120648384, + 1.0 + ], + [ + 0.3613138496875763, + -0.07672735303640366, + 0.050662506371736526, + -3.0571534131937703, + -0.23333476483821872, + 0.02618678845465183, + 1.0 + ], + [ + 0.3464268147945404, + -0.07966101914644241, + 0.05197325721383095, + -3.064485477405139, + -0.22550389170646665, + 0.04643424600362778, + 1.0 + ], + [ + 0.3364003300666809, + -0.08030417561531067, + 0.05200440436601639, + -3.0627127309613904, + -0.2173039764165878, + 0.06655131280422209, + 1.0 + ], + [ + 0.3254205286502838, + -0.08472920954227448, + 0.04845109209418297, + -3.072567382948943, + -0.1891929656267166, + 0.07947500050067903, + 1.0 + ], + [ + 0.3145587146282196, + -0.0942070260643959, + 0.05055397003889084, + -3.087731322395154, + -0.17509804666042328, + 0.08138392865657806, + 1.0 + ], + [ + 0.30208924412727356, + -0.09979122877120972, + 0.04749680683016777, + -3.0802064446085176, + -0.14079488813877106, + 0.0802295133471489, + 1.0 + ], + [ + 0.2899579703807831, + -0.10363230109214783, + 0.04688253998756409, + -3.088113745796033, + -0.1269107758998871, + 0.07265531271696091, + 1.0 + ], + [ + 0.2861801087856293, + -0.10309096425771713, + 0.051444776356220245, + -3.061253609257289, + -0.1229608505964279, + 0.07522781938314436, + 1.0 + ], + [ + 0.2875012755393982, + -0.0984773188829422, + 0.06255775690078735, + -3.0466248263889035, + -0.1533261239528656, + 0.07933779060840607, + 1.0 + ], + [ + 0.2953723967075348, + -0.08871078491210938, + 0.07223782688379288, + -3.0128881206088742, + -0.15511885285377502, + 0.08690277487039566, + 1.0 + ], + [ + 0.31428152322769165, + -0.07950855046510696, + 0.09399889409542084, + -3.0074883719258985, + -0.18865281343460086, + 0.1089543402194977, + 1.0 + ], + [ + 0.3266547918319702, + -0.0631566196680069, + 0.0966668352484703, + -3.038873540359088, + -0.1609683781862259, + 0.1884404271841049, + 1.0 + ], + [ + 0.3273600935935974, + -0.042095035314559937, + 0.09733103215694427, + -3.022668073075362, + -0.14765454828739166, + 0.24824166297912598, + 1.0 + ], + [ + 0.3235451877117157, + -0.016551010310649872, + 0.10002521425485611, + -3.0236901362710675, + -0.10746064037084581, + 0.2658418715000153, + 1.0 + ], + [ + 0.3268689811229706, + -0.0035374630242586136, + 0.10957326740026474, + -3.0184887071424207, + -0.10783706605434419, + 0.2571268379688263, + 1.0 + ], + [ + 0.33281412720680237, + 0.01774192415177822, + 0.11041781306266785, + -3.009877475100108, + -0.0872708112001419, + 0.2702217400074005, + 1.0 + ], + [ + 0.3203856945037842, + 0.035795461386442184, + 0.1017308384180069, + -3.0020693262391767, + -0.03064512833952904, + 0.3366807103157044, + 1.0 + ], + [ + 0.3053510785102844, + 0.05988239869475365, + 0.09108726680278778, + -3.001820908980914, + -0.013415798544883728, + 0.45524176955223083, + 1.0 + ], + [ + 0.2908134162425995, + 0.08965715765953064, + 0.09040135890245438, + -3.0006753375106534, + -0.01750914007425308, + 0.5700556039810181, + 1.0 + ], + [ + 0.2759377360343933, + 0.1114087775349617, + 0.08592024445533752, + -2.9915093799405774, + -0.011304792948067188, + 0.6581351757049559, + 1.0 + ], + [ + 0.27468520402908325, + 0.11339506506919861, + 0.08558640629053116, + -2.9909522106223783, + -0.009404142387211323, + 0.6627660989761353, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "1319", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1319/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1320.json b/annotation/test/1320.json new file mode 100644 index 0000000000000000000000000000000000000000..aba9883c0b19365fb5e5d057b62d9421b47c943b --- /dev/null +++ b/annotation/test/1320.json @@ -0,0 +1,736 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "open fridge" + ], + "videos": [ + { + "video_path": "videos/test/1320/rgb.mp4" + } + ], + "action": [ + [ + 0.00014663645066097456, + 3.6947952508401326e-05, + -0.00035415698021377647, + 0.00022272300826937117, + 0.0014972711415786307, + 0.0002485138621392028, + 1.0 + ], + [ + -0.004029616636461861, + 0.00022327291071004538, + 0.004277558576373299, + -0.0010685488601088217, + -0.023813681867998936, + -0.009162454521836914, + 1.0 + ], + [ + -0.00421278200294412, + 0.01749354102805895, + 0.005642817085577408, + 0.011648340777622408, + -0.05825645550333775, + -0.01575867095792804, + 1.0 + ], + [ + 0.0057663444398735695, + 0.024552968151765272, + 0.0038215786169182977, + -0.017866605467587802, + 0.035023005835354004, + -0.022732022543864534, + 1.0 + ], + [ + 0.004474685593350499, + 0.01806091952525235, + 0.006348795882730912, + 0.004674788375450447, + 0.03946386669106265, + 0.017744811666540957, + 1.0 + ], + [ + 0.018585959571814498, + 0.017600205007219403, + 0.014469963009867928, + 0.006042205035822123, + 0.12698191412317633, + 0.020567213031287578, + 1.0 + ], + [ + 0.004573757267053871, + -0.0009102759117582725, + 0.015313918456802503, + 0.012767184282017358, + 0.03323969994684527, + 0.025857899701120575, + 1.0 + ], + [ + 0.00197144633941782, + -0.003888386395629119, + 0.003858852852833038, + 0.0008874339464953923, + -0.01831168762291544, + 0.03127768284778735, + 1.0 + ], + [ + 0.0031881632944928445, + -0.003173706942066749, + 0.007700217012686148, + 0.01033209496109046, + 0.004347741366126879, + -0.008120990369413966, + 1.0 + ], + [ + 0.011970760499145945, + 0.0007082017897501253, + 0.003144192026642614, + -0.02440593677474605, + 0.010480081776338235, + -0.001961695228216949, + 1.0 + ], + [ + 0.0015042037989390824, + 0.0008972281419316484, + 0.003082545166169982, + 0.01273253338139829, + 0.01114316978178151, + -0.010328538884221626, + 1.0 + ], + [ + 0.0003851789473781829, + 0.0015043649222127988, + 0.0001397588215368572, + 0.0075907506287334215, + 0.005637526723072348, + -0.00429771904004135, + 0.0 + ], + [ + -0.002267589588543952, + -0.00022897612306583837, + 1.99914797549036e-05, + 0.0025846592746804403, + -0.007594636260371562, + 0.008569220965475594, + 0.0 + ], + [ + -0.025784818867499514, + -0.0006441334195661753, + -0.009396373818504916, + -0.02150111465918475, + -0.110155163392275, + 0.009224945753613613, + 0.0 + ], + [ + -0.03345075372021273, + -0.007442584850331916, + -0.011529314394270658, + 0.003080323295568319, + -0.10592533125433724, + -0.028182792044269, + 0.0 + ], + [ + -0.04189282832902047, + -0.008624931495176368, + -0.019311448317020165, + 0.014887179020084833, + -0.08520161292672453, + -0.032004915041879266, + 0.0 + ], + [ + -0.03265113944270742, + -0.006420759884738302, + -0.014216796959852524, + 0.0501269197764733, + -0.017942957357010084, + 0.0455789583746075, + 0.0 + ], + [ + -0.01145005383571844, + 0.01626550874954665, + 0.004308062478562923, + -0.022499648579316318, + 0.007633177758483434, + 0.054887934199288856, + 1.0 + ], + [ + 0.0010117944592384447, + 0.03125126033029274, + 0.005428023131866109, + -0.042639796639114595, + 0.03437033238020109, + 0.05010181379156659, + 1.0 + ], + [ + 0.001661633553160403, + 0.02824191199086256, + 0.006100842884164324, + -0.07459970772199324, + 0.03860729041022498, + 0.008730849796437363, + 1.0 + ], + [ + 0.004201117813632022, + 0.03252632551182461, + 0.01290528491478344, + -0.03493305799254339, + 0.03861973408117659, + 0.007376947461873937, + 1.0 + ], + [ + 0.024646641391259383, + 0.003191696494739828, + -0.0003567856593274245, + 0.021158397159672916, + -0.004204635078209883, + 0.09717466224640585, + 1.0 + ], + [ + 0.033908295179634076, + -0.026113220272478217, + -0.012183497703809757, + 0.04094281030340605, + 0.023970767533103694, + 0.10198100120793797, + 1.0 + ], + [ + 0.01744019854525397, + -0.017285191408227076, + -0.010687726631929968, + 0.04872979101430414, + -0.015447826706433448, + 0.02104063202670292, + 1.0 + ], + [ + -0.00432404782572311, + -0.01827409937859434, + -0.0015422795580330296, + 0.02137439611161156, + -0.05545431166969407, + -0.05336133753367106, + 1.0 + ], + [ + -0.004093187450883939, + -0.005521726548629496, + -0.000517368195129209, + -0.006753366515583371, + -0.02860809329265169, + -0.04269527224282329, + 1.0 + ], + [ + -0.020012420342711865, + -0.0024122059458441232, + 0.002543055447180921, + 0.00034913595514352133, + -0.030096994511556462, + -0.1011953140635733, + 1.0 + ], + [ + -0.023066871688680216, + -0.005154625263256625, + -0.0024463026418693606, + -0.003762384208851209, + -0.030361601636547574, + -0.09242523761403727, + 1.0 + ], + [ + -0.016597048536848354, + -0.008513503536536682, + 1.945835778439438e-05, + 0.0010774446861836358, + 0.0008829934058134044, + -0.07409619194655626, + 1.0 + ], + [ + -0.01058636591634015, + -0.018669827740340636, + -0.0015681134613890417, + 0.011794297523557661, + -0.025201124511015343, + -0.05383119615494682, + 1.0 + ], + [ + -0.005176254415303634, + -0.022392127295199966, + -0.0028116069802596897, + 0.04227960399257421, + 0.024676181629522086, + -0.016684279095602716, + 1.0 + ], + [ + 0.0048904351642833875, + -0.04066769662037614, + 0.0018255105442428568, + 0.028557966397869134, + -0.006289004462168329, + 0.0175925048518783, + 1.0 + ], + [ + 0.009356178005195944, + -0.02392926986251536, + 0.0033225246281655264, + 0.0019051002578133337, + -0.0071266969442692705, + 0.011765779256456981, + 1.0 + ], + [ + 0.00989573186041116, + -0.018148201766665324, + 0.0016863534817851762, + 0.01367955727501473, + -0.002834929410606321, + 0.019410388799403572, + 1.0 + ], + [ + 0.006322592040093806, + -0.007548886980771125, + 0.0016656256570235768, + 0.00023158594468812308, + -0.0016871223796263218, + 0.040921888827965505, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 2.6961996624496007e-10, + 7.118600158250378e-10, + 0.0015339846030637636, + 1.0 + ], + [ + -0.0002286513663543081, + 8.300114804549232e-05, + -1.8459297966361e-07, + -0.0005234259360191164, + -0.0014419211921187446, + 3.774416706743066e-07, + 1.0 + ] + ], + "state": [ + [ + 0.24503451585769653, + 0.021799562498927116, + 0.05440772324800491, + 3.0021032114797315, + -0.168050155043602, + 0.04560280963778496, + 1.0 + ], + [ + 0.2451189011335373, + 0.021816078573465347, + 0.05478309094905853, + 3.0023322125249585, + -0.16956743597984314, + 0.04556433483958244, + 1.0 + ], + [ + 0.24189722537994385, + 0.020853454247117043, + 0.04995822533965111, + 3.0002426524930677, + -0.14470966160297397, + 0.05139103904366494, + 1.0 + ], + [ + 0.23911409080028534, + 0.002572322031483054, + 0.04626129940152168, + 3.0105842520766934, + -0.08481086790561675, + 0.05878957733511925, + 1.0 + ], + [ + 0.24635854363441467, + -0.021886073052883148, + 0.04617047309875488, + 2.9903731514983853, + -0.11653316020965576, + 0.08607371151447296, + 1.0 + ], + [ + 0.25281545519828796, + -0.040210042148828506, + 0.043159279972314835, + 2.9963045736127576, + -0.1582116335630417, + 0.07434264570474625, + 1.0 + ], + [ + 0.27441683411598206, + -0.05816490948200226, + 0.034465137869119644, + 3.0014657994085034, + -0.2868258059024811, + 0.07241333276033401, + 1.0 + ], + [ + 0.2831963896751404, + -0.05876881256699562, + 0.02109282836318016, + 3.0204397310786923, + -0.3232854008674621, + 0.05032143741846085, + 1.0 + ], + [ + 0.2862571179866791, + -0.055216845124959946, + 0.017641399055719376, + 3.032462926703044, + -0.30870291590690613, + 0.015413410030305386, + 1.0 + ], + [ + 0.29168882966041565, + -0.05281667038798332, + 0.010988143272697926, + 3.040069656568118, + -0.31212866306304937, + 0.02439346350729466, + 1.0 + ], + [ + 0.3040409982204437, + -0.053538817912340164, + 0.011755629442632198, + 3.0146828462653836, + -0.32235449552536016, + 0.027570731937885288, + 1.0 + ], + [ + 0.30643483996391296, + -0.05475345626473427, + 0.009439618326723576, + 3.023510234551974, + -0.33207803964614874, + 0.03989960253238678, + 1.0 + ], + [ + 0.30684641003608704, + -0.056248582899570465, + 0.009601530618965626, + 3.02939676691825, + -0.33716580271720886, + 0.04512573033571243, + 0.0 + ], + [ + 0.30471354722976685, + -0.056119367480278015, + 0.008808440528810024, + 3.0352586974673947, + -0.3305629789829254, + 0.03522422164678574, + 0.0 + ], + [ + 0.27727362513542175, + -0.0554475337266922, + 0.009212108328938484, + 3.0200869907909116, + -0.22193913161754608, + 0.013915332965552807, + 0.0 + ], + [ + 0.24220390617847443, + -0.047149576246738434, + 0.01213251892477274, + 3.0191502590947827, + -0.11335675418376921, + 0.029012439772486687, + 0.0 + ], + [ + 0.19823269546031952, + -0.03750205412507057, + 0.025391044095158577, + 3.031203547614165, + -0.024860147386789322, + 0.05027162656188011, + 0.0 + ], + [ + 0.1649002581834793, + -0.031221216544508934, + 0.03799818828701973, + 3.0826113169365605, + -0.012017897330224514, + 0.0029954644851386547, + 0.0 + ], + [ + 0.15354064106941223, + -0.04774649068713188, + 0.03451906144618988, + 3.0608500485592565, + -0.022853964939713478, + -0.051358919590711594, + 1.0 + ], + [ + 0.15299521386623383, + -0.0793474018573761, + 0.03165316581726074, + 3.0193320011072835, + -0.06112637370824814, + -0.09858125448226929, + 1.0 + ], + [ + 0.15197232365608215, + -0.10816176235675812, + 0.0291485246270895, + 2.9448844512277326, + -0.10050963610410689, + -0.10255318880081177, + 1.0 + ], + [ + 0.15323521196842194, + -0.14289483428001404, + 0.023302461951971054, + 2.9097705652290067, + -0.13982598483562467, + -0.10223324596881866, + 1.0 + ], + [ + 0.17705541849136353, + -0.14837878942489624, + 0.02780747599899769, + 2.9454674144559583, + -0.1573818773031235, + -0.19896933436393738, + 1.0 + ], + [ + 0.21436160802841187, + -0.12735103070735931, + 0.03989846259355545, + 3.0024884064965924, + -0.2000110149383545, + -0.29621124267578125, + 1.0 + ], + [ + 0.23458318412303925, + -0.11407537013292313, + 0.05138804763555527, + 3.055885048704692, + -0.18757615983486176, + -0.31959879398345953, + 1.0 + ], + [ + 0.23631687462329865, + -0.09533188492059708, + 0.05055449903011322, + 3.0681283493810376, + -0.12753941118717194, + -0.2708699405193329, + 1.0 + ], + [ + 0.23387502133846283, + -0.088899165391922, + 0.050143659114837646, + 3.056233847635337, + -0.095770925283432, + -0.23022226989269257, + 1.0 + ], + [ + 0.2152339220046997, + -0.08228423446416855, + 0.04550308361649513, + 3.0475596358352384, + -0.05670784041285515, + -0.13186213374137878, + 1.0 + ], + [ + 0.19299934804439545, + -0.07392672449350357, + 0.04614407941699028, + 3.039080174761363, + -0.017588242888450623, + -0.04273715615272523, + 1.0 + ], + [ + 0.17679740488529205, + -0.06475932151079178, + 0.044961750507354736, + 3.039140762882777, + -0.010843129828572272, + 0.031064260751008987, + 1.0 + ], + [ + 0.1656387448310852, + -0.04636472091078758, + 0.04449746012687683, + 3.0504834075742444, + 0.019743097946047783, + 0.0820252001285553, + 1.0 + ], + [ + 0.15864789485931396, + -0.024308282881975174, + 0.045362137258052826, + 3.093123758333274, + -0.0033163388725370164, + 0.10088056325912474, + 1.0 + ], + [ + 0.15944404900074005, + 0.016510918736457825, + 0.04158466309309006, + 3.1217477974765977, + 0.002113500377163291, + 0.08300428092479707, + 1.0 + ], + [ + 0.16678190231323242, + 0.04106244817376137, + 0.03776818513870239, + 3.1236286388062915, + 0.009005174972116947, + 0.07109920680522919, + 1.0 + ], + [ + 0.17534728348255157, + 0.059833332896232605, + 0.03566707670688629, + 3.137136302544274, + 0.011489294469356537, + 0.05163981020450592, + 1.0 + ], + [ + 0.18125227093696594, + 0.06768999248743057, + 0.03389529883861542, + 3.1369014709540686, + 0.01298446673899889, + 0.010707409121096134, + 1.0 + ], + [ + 0.18125227093696594, + 0.06768999248743057, + 0.03389529883861542, + 3.1368815578804394, + 0.012977254576981066, + 0.009173312224447725, + 1.0 + ], + [ + 0.18102441728115082, + 0.0676048994064331, + 0.033898841589689255, + 3.136358033987232, + 0.01441915798932314, + 0.00916614104062319, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0025147199630737305, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.05465686321258545, + 0.34690237045288086, + 0.6193969249725342, + 0.6414313614368439, + 0.6116192042827606, + 0.6081382930278778, + 0.5365830659866333, + 0.21350353956222534, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0, + 0.0, + 0.0, + 0.0025147199630737305, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.005884885787963867, + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016 + ], + "episode_id": "1320", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1320/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1322.json b/annotation/test/1322.json new file mode 100644 index 0000000000000000000000000000000000000000..9da56537c9392381047554d5d65fda2787658665 --- /dev/null +++ b/annotation/test/1322.json @@ -0,0 +1,622 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Place the broccoli inside the pot" + ], + "videos": [ + { + "video_path": "videos/test/1322/rgb.mp4" + } + ], + "action": [ + [ + 0.00010609579722995937, + -2.3389543116946805e-05, + -0.0004482228141711701, + 0.0005741658328338818, + 0.001421109521471985, + -0.0014713026090734714, + 1.0 + ], + [ + -0.002464645901502077, + 0.0016136652532325604, + 0.0067186372654779655, + -0.011459441695437146, + -0.02182570645976483, + -0.007346287094907085, + 1.0 + ], + [ + 0.009885920529558551, + 0.029582131637023563, + 0.0002718287357981981, + -0.019361371443207535, + 0.00621748533435492, + 0.05039215870642656, + 1.0 + ], + [ + 0.02549922916405165, + 0.0333786077967806, + -0.012941533335975258, + -0.019282359114712825, + 0.042180473920557585, + 0.07245356766440803, + 1.0 + ], + [ + 0.020836767231797906, + 0.029437861205027723, + -0.004596007462142953, + -0.01001832219585999, + 0.017892517733332405, + 0.0736445238542123, + 1.0 + ], + [ + 0.018832055205487405, + 0.012372546722195997, + 0.006171845118476559, + -0.001438093418665631, + -0.0035823701729890477, + 0.008889086109162251, + 1.0 + ], + [ + 0.023127702869418065, + 0.005706456567552831, + 0.0024579909584605507, + -0.013287793109371369, + 0.02465096131998809, + -0.022164120914904672, + 1.0 + ], + [ + 0.010797479817076175, + 0.002049020617865515, + 0.011966921168133197, + -0.0036049342430904394, + -0.009672880472483786, + -0.022383336121033517, + 1.0 + ], + [ + 0.0023417546775001924, + 0.009556108662213946, + 0.014981422506762874, + -0.009313144061383982, + -0.022412704827161723, + -0.004445680232696821, + 1.0 + ], + [ + 0.00016779692640944284, + 0.012167375272915375, + 0.009385462064164718, + -0.005954650311307002, + -0.012657392698872132, + 0.020808759559735324, + 1.0 + ], + [ + 0.00030378452066403183, + 0.0071967153601510845, + 0.006663555341402363, + 0.0036111384209840387, + -0.0022025095044316332, + 0.004225563942899831, + 1.0 + ], + [ + -0.0034408947470972663, + -0.0034356485764589673, + 0.013992362959214718, + 0.015916955378260163, + -0.0229526822074749, + -0.017147733764396527, + 1.0 + ], + [ + -0.003222407793052927, + -0.0017189519711751377, + 0.013045496670459882, + 0.009904804631084882, + -0.02850372114064878, + -0.005852564472501795, + 1.0 + ], + [ + 0.0027428056143922667, + 0.0007618465215858449, + -2.554982517624855e-05, + -0.004672439251470862, + 0.017333638494851807, + 0.007619791657467913, + 1.0 + ], + [ + -0.0013943946550314472, + 0.0014275421473022212, + 0.0003632919945659962, + -0.005372716830062415, + -0.004166852948483329, + 0.009932801953584683, + 1.0 + ], + [ + -0.0061516554274285516, + 0.0046016964765160165, + -0.010402560248757988, + -0.022529433668274187, + 0.010600534653865585, + 0.01970881342110387, + 1.0 + ], + [ + -0.004541138038426478, + 0.006108715344459108, + -0.03295090220927092, + -0.013948244335023504, + 0.06881610959925259, + 0.023170740541515005, + 0.0 + ], + [ + -0.01953943187190209, + -0.0008334950156666792, + -0.030880386003729682, + -0.017920748402889965, + 0.05108180459902903, + 0.011102247094722155, + 0.0 + ], + [ + -0.03312408707889457, + -0.004026023226293065, + -0.01440054269347703, + 0.001461767555650127, + -0.001035504344192571, + 0.014280318563614832, + 0.0 + ], + [ + -0.0348620524746746, + 0.0024466936341861166, + 0.0073222080330932835, + 0.0034342997642438137, + -0.05291533956396106, + 0.02367056830530312, + 0.0 + ], + [ + -0.021599097666518362, + -0.0009680209020394933, + 0.014339869170995495, + 0.022681614876475405, + -0.05232764042008262, + 0.007101680323764639, + 0.0 + ], + [ + -0.0008581692223697427, + 0.007492207507813803, + 0.005674528871648494, + 0.001586117307756723, + -0.0018451195355474858, + 0.023170742176477705, + 0.0 + ], + [ + 0.0008291895328680639, + 0.003992592642298561, + 0.0025829243419416632, + -0.0006733888597217624, + -0.004536033261906794, + 0.0011626760071024415, + 1.0 + ], + [ + 0.0016125841789709219, + 0.0009573093933500708, + -0.002273380199512159, + -0.007563103910454968, + -0.002753742725741067, + 0.001970561930259465, + 1.0 + ], + [ + 7.518880528039564e-05, + -0.014637960250154658, + -0.020683109081999145, + 0.022235677422106834, + 0.03690278475972457, + -0.033616319064201365, + 1.0 + ], + [ + -0.011404141048766922, + -0.047567510316673084, + -0.02349200625778721, + 0.09021467111368232, + 0.020755893048888297, + -0.148261920467034, + 1.0 + ], + [ + 0.0032699441505797946, + -0.025505629872839088, + 0.00010685205356954938, + 0.03450636171598833, + -0.019388941442191242, + -0.0651457303008915, + 1.0 + ], + [ + 0.0019429876376383574, + -0.013827878807910707, + 0.015139135163902777, + -0.013182532334799692, + -0.037924207661154646, + -0.03384498966524199, + 1.0 + ], + [ + 0.005057465607376241, + -0.0063113843108954645, + 0.007810573177106953, + -0.021955987575492896, + -0.0202142411327572, + 0.0038542893835747326, + 1.0 + ], + [ + 0.003748052009427977, + -0.0009724402046489722, + 0.002164067732661703, + -0.07049475731830109, + -0.06013226910581828, + 0.03390530884822428, + 1.0 + ], + [ + -0.0008914751146915523, + -0.0009920827707538648, + -0.0004273767544602526, + -0.0016117687643883425, + -0.003954884344032012, + 0.00012751246311875334, + 1.0 + ] + ], + "state": [ + [ + 0.28471991419792175, + 0.09114231914281845, + 0.0780257061123848, + -3.131420349823781, + -0.1323416829109192, + -0.057379115372896194, + 1.0 + ], + [ + 0.28476691246032715, + 0.09115847945213318, + 0.07848422229290009, + -3.13104014669592, + -0.13377754390239718, + -0.05590921267867088, + 1.0 + ], + [ + 0.28313884139060974, + 0.08970450609922409, + 0.07148037850856781, + 3.139671057467819, + -0.11202672123908997, + -0.04828700423240662, + 1.0 + ], + [ + 0.2915474474430084, + 0.05968104302883148, + 0.07237191498279572, + 3.1259814148121556, + -0.11819814890623093, + -0.09902041405439378, + 1.0 + ], + [ + 0.3118857443332672, + 0.02432471700012684, + 0.08874595910310745, + 3.115294750901409, + -0.16119612753391266, + -0.17168425023555756, + 1.0 + ], + [ + 0.3262942135334015, + -0.00791770126670599, + 0.09738912433385849, + 3.1172667538099965, + -0.1805809736251831, + -0.24603082239627838, + 1.0 + ], + [ + 0.3422354459762573, + -0.024828534573316574, + 0.09499774128198624, + 3.1174667702340564, + -0.1772085279226303, + -0.25514712929725647, + 1.0 + ], + [ + 0.36320483684539795, + -0.03625496104359627, + 0.09679146111011505, + 3.100084765004464, + -0.20127113163471222, + -0.23193272948265076, + 1.0 + ], + [ + 0.37522611021995544, + -0.04170800372958183, + 0.08731810003519058, + 3.0920165610783776, + -0.19062873721122742, + -0.2095659673213959, + 1.0 + ], + [ + 0.3780204653739929, + -0.05281921103596687, + 0.07353482395410538, + 3.08205138345296, + -0.16802220046520233, + -0.20618991553783414, + 1.0 + ], + [ + 0.3769964873790741, + -0.06558426469564438, + 0.06503982841968536, + 3.079749757545539, + -0.15658617019653318, + -0.2279801070690155, + 1.0 + ], + [ + 0.37651506066322327, + -0.07326909154653549, + 0.05895709618926048, + 3.0840484631531915, + -0.1546475291252136, + -0.23238629102706906, + 1.0 + ], + [ + 0.3759346902370453, + -0.07043399661779404, + 0.04442936182022095, + 3.097503004717179, + -0.13072729110717773, + -0.2164556384086609, + 1.0 + ], + [ + 0.37472856044769287, + -0.06899917870759964, + 0.03101257234811783, + 3.106788860755511, + -0.10199194401502609, + -0.2118433266878128, + 1.0 + ], + [ + 0.37723103165626526, + -0.07031527161598206, + 0.03134360536932945, + 3.1028311011665544, + -0.11957770586013794, + -0.21890464425086978, + 1.0 + ], + [ + 0.3756026327610016, + -0.07142876833677292, + 0.030871761962771416, + 3.098671397315808, + -0.11579278111457825, + -0.2290593832731247, + 1.0 + ], + [ + 0.3675176203250885, + -0.07380617409944534, + 0.040680546313524246, + 3.078387865918227, + -0.12720762193202972, + -0.24845071136951447, + 1.0 + ], + [ + 0.35807281732559204, + -0.0755525454878807, + 0.0731065571308136, + 3.0667291079931935, + -0.19732682406902316, + -0.2675469219684601, + 0.0 + ], + [ + 0.3346140384674072, + -0.06586536765098572, + 0.09941105544567108, + 3.0501784329586705, + -0.24909049272537231, + -0.2750150263309479, + 0.0 + ], + [ + 0.3018491566181183, + -0.0510886013507843, + 0.10478686541318893, + 3.0552910660677632, + -0.24933680891990664, + -0.28978708386421204, + 0.0 + ], + [ + 0.2702721059322357, + -0.044875167310237885, + 0.08931925892829895, + 3.0657220800691327, + -0.19855897128582, + -0.3184604644775391, + 0.0 + ], + [ + 0.25281640887260437, + -0.03924848139286041, + 0.07096908241510391, + 3.090507721649953, + -0.14690811932086945, + -0.32961687445640564, + 0.0 + ], + [ + 0.2502293884754181, + -0.04657787084579468, + 0.06561583280563354, + 3.095545033114501, + -0.1462085247039795, + -0.3531022071838379, + 0.0 + ], + [ + 0.24990637600421906, + -0.050836142152547836, + 0.06336580216884613, + 3.0950728637450418, + -0.1417306810617447, + -0.3544863164424896, + 1.0 + ], + [ + 0.25080156326293945, + -0.05207441374659538, + 0.06588581204414368, + 3.0878087153011045, + -0.13907124102115634, + -0.3566032350063324, + 1.0 + ], + [ + 0.25378143787384033, + -0.036399874836206436, + 0.08557072281837463, + 3.1050389801436147, + -0.1740250140428543, + -0.3205287456512451, + 1.0 + ], + [ + 0.25479692220687866, + 0.014254311099648476, + 0.10500571876764297, + -3.1136846357309302, + -0.18741826713085175, + -0.16895762085914615, + 1.0 + ], + [ + 0.2621404826641083, + 0.038868628442287445, + 0.10620930045843124, + -3.091636387752839, + -0.16944612562656403, + -0.10235210508108139, + 1.0 + ], + [ + 0.26795458793640137, + 0.05291469767689705, + 0.09231387078762054, + -3.110887015359946, + -0.13315062224864957, + -0.06636050343513487, + 1.0 + ], + [ + 0.27439895272254944, + 0.05904906243085861, + 0.08543954789638519, + -3.1324050967865666, + -0.11282688379287718, + -0.06961230933666229, + 1.0 + ], + [ + 0.2784252166748047, + 0.059763021767139435, + 0.08372019231319427, + 3.084056345867463, + -0.052323129028081894, + -0.10294808447360992, + 1.0 + ], + [ + 0.2776247560977936, + 0.06086613982915878, + 0.08404268324375153, + 3.082462703930684, + -0.048382118344306946, + -0.10330322384834291, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.04926097393035889, + 0.20776593685150146, + 0.21063190698623657, + 0.27298253774642944, + 0.3268251419067383, + 0.3268251419067383, + 0.3268251419067383, + 0.3268251419067383, + 0.327828049659729, + 0.28090745210647583, + 0.011358082294464111, + 0.0, + 0.0005114078521728516, + 0.0011776089668273926, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "1322", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1322/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1323.json b/annotation/test/1323.json new file mode 100644 index 0000000000000000000000000000000000000000..6892793a143792320b60a27f8038f0879df669c3 --- /dev/null +++ b/annotation/test/1323.json @@ -0,0 +1,869 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the yellow cloth behind the pot with the bell pepper" + ], + "videos": [ + { + "video_path": "videos/test/1323/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 2.524753850730242e-09, + 8.982591840286722e-10, + -0.0015339843776390244, + 1.0 + ], + [ + -0.0030976744922438923, + 0.0023420765351104067, + 0.010869588616127952, + -0.0051846782697103425, + -0.03147103244176551, + -0.0032899959273503965, + 1.0 + ], + [ + -0.01510158702218411, + 0.03773308415649806, + 0.0047227596418723955, + 0.0005230843488834321, + 0.012983667844291493, + 0.05646616152083296, + 1.0 + ], + [ + -0.007391352166242663, + 0.03865173591789993, + 0.00048532129394458285, + 0.03783566355041111, + 0.013461405627332414, + 0.07128890510699723, + 1.0 + ], + [ + -0.005390932985048218, + 0.02692985054814083, + 0.004893632798763192, + 0.012599764231469588, + -0.0014492639848590425, + 0.048414425402776746, + 1.0 + ], + [ + -0.004908222590166487, + 0.02650655756866313, + 0.001076158993538355, + -0.001074310537331271, + -0.00256900704244049, + 0.01787493793983481, + 1.0 + ], + [ + -0.0005356277813991813, + 0.01269704805480369, + -0.0011109919388311669, + -0.02587307291367246, + 0.003197035104071191, + -0.0022587204563108624, + 1.0 + ], + [ + -0.0022004587920859044, + 0.011661283961790305, + -0.004000199497425201, + -0.012125015102773565, + 0.021340644341791275, + -0.0009742970292111833, + 1.0 + ], + [ + -0.0007975578524562162, + 0.0020481278734757495, + 0.004415218894097557, + -0.0009731277518182332, + -0.010794304334130573, + -0.009319956777402175, + 1.0 + ], + [ + -0.0013380591120076015, + 0.0036924842567294847, + 0.017208019350681353, + -0.0029715620181911978, + -0.04785277755303118, + -0.008390775530155537, + 1.0 + ], + [ + -0.0036196792746295706, + 0.005489426409088831, + 0.009907038588100138, + 0.01152114372795021, + -0.030165871573814285, + 0.009566981342535561, + 1.0 + ], + [ + -0.0013078200964729782, + -0.0005316576365906432, + 0.012431013594329672, + 0.02175313535098012, + -0.034719794268487716, + -0.013203506958205475, + 1.0 + ], + [ + -0.0004077414108595047, + 0.004300157345110121, + 0.006619132047550818, + 0.002761342482339947, + -0.012438116926535459, + -0.0003719684801496108, + 1.0 + ], + [ + -0.00040070849423935685, + 0.0043467396605573055, + 0.007091768705672298, + 0.0030440993279860847, + -0.012396659239183103, + -0.0018592486268314647, + 1.0 + ], + [ + -0.00024255579108700147, + 0.0012394922590031735, + 0.0009901384482950736, + -0.007319943402014816, + 0.00896098283106303, + -0.015915246579060856, + 0.0 + ], + [ + -0.00364564010930978, + -0.0015932799723665052, + -0.0020262547668283954, + -0.0030426061306412264, + 0.00856352009577554, + 0.00908716981740491, + 0.0 + ], + [ + -0.0007653140554941837, + -0.005611960099637315, + -0.022236461968903633, + -0.00047158755346918003, + 0.08967239107762567, + 0.01856385579055687, + 0.0 + ], + [ + -0.0037872469373266037, + -0.006839873318674018, + -0.028536188051670897, + -0.0035094981787322115, + 0.09596827955212735, + 0.01682240301918037, + 0.0 + ], + [ + -0.004750818271180948, + -0.02077275502770608, + -0.01608801757469062, + 0.0003985706477264781, + 0.013125047617795354, + -0.013840456428104546, + 0.0 + ], + [ + -0.004741856149910557, + -0.03665818387331407, + 0.002193794713678121, + 0.00395335801450211, + -0.054220154830868304, + -0.06159102030716583, + 0.0 + ], + [ + 0.01104530168561219, + -0.04911929281378308, + 0.00038027380609493335, + -0.018299290242600037, + -0.026887344115800214, + -0.06032038377349147, + 0.0 + ], + [ + 0.01467204334692843, + -0.03795601430628395, + 0.0002500882037363974, + -0.020656530495225898, + -0.009659133120479887, + -0.021769889001701244, + 0.0 + ], + [ + 0.017563541096880488, + -0.034123906054168235, + 0.0051447513120482374, + 0.0057509712242382795, + -0.034688660299284524, + -0.029081141575147802, + 0.0 + ], + [ + 0.016663473522455913, + -0.027902139255972555, + 0.0017856274365883379, + 0.02385050807322776, + -0.0084048761666922, + -0.018813942578968533, + 0.0 + ], + [ + 0.011789963524920385, + -0.018273405659821867, + 0.003863979473049431, + 0.03870009145978191, + -0.001831752549873836, + 0.00513710699773533, + 0.0 + ], + [ + 0.005461264146267767, + -0.00985240883584301, + 0.010155560189126313, + 0.0161507289285365, + -0.01941895044223467, + 0.014549213337130678, + 0.0 + ], + [ + -0.0015889138124612044, + -0.009568114177182865, + 0.004629604474582026, + 0.016062620025336462, + 0.0015331572384499985, + -0.001035755261201331, + 0.0 + ], + [ + -0.0028293915867728236, + -0.004671510290879092, + 0.021255774201356076, + 0.003597838570405904, + -0.04752614679367775, + -0.004172076672380015, + 0.0 + ], + [ + 0.0008295158202142911, + -0.008726565332662868, + 0.019251623418751498, + 0.01108028562574336, + -0.048996630220454564, + -0.006791972436314324, + 0.0 + ], + [ + 0.0004470679814374674, + -0.013113192658827865, + 0.010230592863845318, + 0.013887618834632352, + -0.023732180704503846, + -0.031246966304440772, + 0.0 + ], + [ + 0.002193887929150027, + -0.005775347204772429, + 0.011143203150849669, + 0.018196893227612018, + -0.027910409327309395, + -0.012410117305024225, + 0.0 + ], + [ + 0.0028824476588598293, + -0.0014875579940287443, + -0.0017685829371798844, + -0.0138370673774444, + -0.0012987466945344858, + 0.017490450179250015, + 0.0 + ], + [ + -0.0006562375264030463, + 0.002262466722949821, + 0.0011690064440559452, + -0.03422532390038628, + 0.005432456537322479, + 0.020259679641204318, + 1.0 + ], + [ + -0.001389745317668094, + -0.003381166559234997, + -0.015229713473727332, + -0.017878595573781315, + 0.04310530944066907, + 0.008016257592213053, + 1.0 + ], + [ + -0.0058308360891506416, + -0.006850924616691869, + -0.0164568819945016, + -0.011787411016281895, + 0.029233567721029287, + -0.0011146769788110147, + 1.0 + ], + [ + -0.00619169810183757, + -0.004558431321668794, + -0.03775771589911245, + 0.010373980152535583, + 0.08075731864095677, + -0.0037592816060164763, + 1.0 + ], + [ + -0.009646381266142347, + 0.017624614912320608, + -0.023910011513238513, + -0.03335305914119496, + 0.043626340624840915, + 0.018750035219362703, + 1.0 + ], + [ + -0.000875945742858707, + 0.04108329017375133, + -0.008194949114673835, + -0.014218686420095316, + 0.01297786673153336, + 0.05792880406179011, + 1.0 + ], + [ + -0.0007252485558763451, + 0.05135684697670215, + -0.004651995587315552, + -0.023072106723793805, + 0.010576234303695285, + 0.03000035468281299, + 1.0 + ], + [ + 0.0016884023224924118, + 0.032996022009203756, + 0.0021531089143931297, + -0.01459046284216449, + -0.006552507659421941, + 0.010240439296621329, + 1.0 + ], + [ + 0.004685138605347682, + 0.021307400768050315, + -0.0013696098159829604, + 0.01990370472788493, + -0.0005920021800172713, + 0.003034901723660838, + 1.0 + ], + [ + 0.0005571252314448869, + 0.0014485049830867576, + 0.00030679637637005813, + 0.024198665896633522, + 0.000136635003357526, + -0.017007135850135784, + 1.0 + ], + [ + 0.00015292835710423988, + -0.0005016608578288636, + 4.4674606726676136e-05, + 0.00017785262630304907, + 0.0013783270624881648, + -0.003060503476224559, + 1.0 + ], + [ + 8.86789741314544e-05, + 0.0005227399297381566, + 0.0004395973320539802, + -0.00023154295684311437, + -0.0013651378034299669, + 0.0016701830681945635, + 1.0 + ] + ], + "state": [ + [ + 0.31230059266090393, + 0.09677498787641525, + 0.10693359375, + -3.06396687974269, + -0.025639481842517853, + 0.10275369882583618, + 1.0 + ], + [ + 0.31230059266090393, + 0.09677498787641525, + 0.10693359375, + -3.0640061890059194, + -0.0257584098726511, + 0.10428357124328615, + 1.0 + ], + [ + 0.30965837836265564, + 0.09499774873256683, + 0.09583904594182968, + -3.069300951557704, + 0.005363336764276028, + 0.11000102758407593, + 1.0 + ], + [ + 0.2987026870250702, + 0.056267544627189636, + 0.08848430961370468, + -3.0691973512345037, + -0.0035189900081604715, + 0.05274762213230133, + 1.0 + ], + [ + 0.2933638393878937, + 0.017416641116142273, + 0.08517850935459137, + -3.0312899892502507, + -0.011784045957028866, + -0.019328955560922623, + 1.0 + ], + [ + 0.2875595986843109, + -0.008703561499714851, + 0.0772872194647789, + -3.018252508836337, + -0.0050026574172079554, + -0.06728976219892502, + 1.0 + ], + [ + 0.28092432022094727, + -0.03448856249451637, + 0.07293369621038437, + -3.0192580689960202, + -0.0002534047816880047, + -0.08471272885799407, + 1.0 + ], + [ + 0.27931296825408936, + -0.047135304659605026, + 0.07248683273792267, + -3.045131193595477, + -0.0037021769676357508, + -0.0828610211610794, + 1.0 + ], + [ + 0.2761169672012329, + -0.05890350043773651, + 0.07533714920282364, + -3.057230206327983, + -0.025037432089447975, + -0.08394701778888702, + 1.0 + ], + [ + 0.2752965986728668, + -0.060509175062179565, + 0.0707465186715126, + -3.0584580918126782, + -0.015065523795783521, + -0.07375001162290573, + 1.0 + ], + [ + 0.2740587294101715, + -0.06267464905977249, + 0.05327313393354416, + -3.06152647187049, + 0.031926270574331284, + -0.06141916662454605, + 1.0 + ], + [ + 0.2698318660259247, + -0.06710302084684372, + 0.04307958483695984, + -3.050198661284991, + 0.06275983154773712, + -0.06855279952287674, + 1.0 + ], + [ + 0.2678721249103546, + -0.06530056893825531, + 0.030855275690555573, + -3.027374321716376, + 0.09612130373716354, + -0.052168212831020355, + 1.0 + ], + [ + 0.2666061520576477, + -0.06875701248645782, + 0.023860933259129524, + -3.024431752162524, + 0.10843582451343536, + -0.05037060007452965, + 1.0 + ], + [ + 0.26521649956703186, + -0.07217934727668762, + 0.016397396102547646, + -3.021019974845, + 0.12052956968545914, + -0.04705110564827919, + 1.0 + ], + [ + 0.2647877335548401, + -0.07327178865671158, + 0.015302736312150955, + -3.0265674014859876, + 0.1097063049674034, + -0.03224095329642296, + 0.0 + ], + [ + 0.2614496946334839, + -0.07181323319673538, + 0.01788441278040409, + -3.0307132472568235, + 0.1022367924451828, + -0.042303167283535, + 0.0 + ], + [ + 0.26313766837120056, + -0.06876491010189056, + 0.04056476801633835, + -3.033678675191947, + 0.015129268169403074, + -0.07059402018785477, + 0.0 + ], + [ + 0.26006239652633667, + -0.06481154263019562, + 0.06972561031579971, + -3.0371383299403867, + -0.07847308367490768, + -0.09764774143695831, + 0.0 + ], + [ + 0.2557820677757263, + -0.04531925916671753, + 0.08746346831321716, + -3.03771477391059, + -0.0929635763168335, + -0.08519870787858963, + 0.0 + ], + [ + 0.25405004620552063, + -0.008349718526005745, + 0.08863545209169388, + -3.040051119523593, + -0.045209746807813644, + -0.0183308906853199, + 0.0 + ], + [ + 0.26577073335647583, + 0.04034845530986786, + 0.09373070299625397, + -3.061348149674483, + -0.024482339620590206, + 0.04440582543611526, + 0.0 + ], + [ + 0.27867522835731506, + 0.07881314307451248, + 0.09688224643468857, + -3.0825714265280446, + -0.016592994332313534, + 0.0668821707367897, + 0.0 + ], + [ + 0.2939518988132477, + 0.11428137868642807, + 0.09405116736888885, + -3.077329049008437, + 0.016328135505318645, + 0.09794602543115616, + 0.0 + ], + [ + 0.3077993392944336, + 0.14373590052127838, + 0.0937890112400055, + -3.053172843652316, + 0.023504473268985752, + 0.11726564913988115, + 0.0 + ], + [ + 0.31728342175483704, + 0.16352464258670807, + 0.09127727895975113, + -3.0145901908450803, + 0.025782410055398938, + 0.11230872571468352, + 0.0 + ], + [ + 0.32124292850494385, + 0.17510069906711578, + 0.08231357485055923, + -2.9987335075908383, + 0.04688587784767151, + 0.10032594203948973, + 0.0 + ], + [ + 0.31849899888038635, + 0.18500545620918274, + 0.07917138934135437, + -2.9826329072290143, + 0.045220859348773956, + 0.10113368928432465, + 0.0 + ], + [ + 0.3139708936214447, + 0.19256412982940674, + 0.05907166004180908, + -2.978335993485995, + 0.09148392826318741, + 0.11281776428222658, + 0.0 + ], + [ + 0.31187447905540466, + 0.2041412591934204, + 0.04149209335446358, + -2.965722309547015, + 0.13871479034423825, + 0.1276143491268158, + 0.0 + ], + [ + 0.30937591195106506, + 0.21864210069179535, + 0.033726561814546585, + -2.9470063616805753, + 0.15652965009212494, + 0.16295692324638367, + 0.0 + ], + [ + 0.3087354302406311, + 0.22646281123161316, + 0.023688383400440216, + -2.9259779920154294, + 0.1814892739057541, + 0.18081814050674438, + 0.0 + ], + [ + 0.31169429421424866, + 0.22809627652168274, + 0.025180406868457794, + -2.942932890849658, + 0.18647387623786926, + 0.16371409595012665, + 0.0 + ], + [ + 0.3110906481742859, + 0.22598236799240112, + 0.02373715303838253, + -2.981147440271922, + 0.1851049959659576, + 0.1424170136451721, + 1.0 + ], + [ + 0.3124474883079529, + 0.22709085047245026, + 0.039301153272390366, + -3.001646177964755, + 0.14381387829780581, + 0.12747204303741455, + 1.0 + ], + [ + 0.30860549211502075, + 0.23112352192401886, + 0.05721035227179527, + -3.0138032158189496, + 0.11471007019281387, + 0.12447845935821533, + 1.0 + ], + [ + 0.3068574368953705, + 0.2306118756532669, + 0.09569988399744034, + -3.003766106563159, + 0.034131113439798355, + 0.11791037023067474, + 1.0 + ], + [ + 0.30044421553611755, + 0.20896464586257935, + 0.11727849394083023, + -3.037867272394248, + -0.006515806540846825, + 0.0933619663119316, + 1.0 + ], + [ + 0.30343538522720337, + 0.16735129058361053, + 0.12116986513137817, + -3.0518741105967244, + -0.013418232090771198, + 0.03439842909574509, + 1.0 + ], + [ + 0.30448368191719055, + 0.1157897412776947, + 0.12119193375110626, + -3.07457027037675, + -0.02125801146030426, + 0.0035654441453516483, + 1.0 + ], + [ + 0.3063811957836151, + 0.08301855623722076, + 0.11687071621417999, + -3.0889546257727822, + -0.014033384621143341, + -0.006213891785591841, + 1.0 + ], + [ + 0.31092965602874756, + 0.0616399310529232, + 0.11718308925628662, + -3.0690090527110776, + -0.013282462023198606, + -0.009213706478476524, + 1.0 + ], + [ + 0.3114790618419647, + 0.06021236628293991, + 0.11677949130535126, + -3.0450460111075124, + -0.014650125056505203, + 0.007740553934127092, + 1.0 + ], + [ + 0.3116280138492584, + 0.06071716547012329, + 0.11678562313318253, + -3.0449111630492887, + -0.016316993162035942, + 0.010654322803020476, + 1.0 + ], + [ + 0.3117297291755676, + 0.060240358114242554, + 0.11629913002252579, + -3.04511775274808, + -0.014796987175941467, + 0.009123551659286022, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05933445692062378, + 0.23279041051864624, + 0.23279041051864624, + 0.23376083374023438, + 0.23279041051864624, + 0.23376083374023438, + 0.23376083374023438, + 0.23376083374023438, + 0.23376083374023438, + 0.23376083374023438, + 0.23376083374023438, + 0.23376083374023438, + 0.23376083374023438, + 0.23376083374023438, + 0.23376083374023438, + 0.23376083374023438, + 0.23376083374023438, + 0.23376083374023438, + 0.14553707838058472, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1323", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1323/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1327.json b/annotation/test/1327.json new file mode 100644 index 0000000000000000000000000000000000000000..31928ece18ddcd6f8c40182df270d923fc278086 --- /dev/null +++ b/annotation/test/1327.json @@ -0,0 +1,869 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Pick up the knife from the pot and put it on the table" + ], + "videos": [ + { + "video_path": "videos/test/1327/rgb.mp4" + } + ], + "action": [ + [ + -0.0002872936954773809, + 9.986997527934283e-05, + -2.8741153183621914e-07, + -0.0006279794599573908, + -0.0018123579733689249, + -0.0010129153063333522, + 1.0 + ], + [ + -0.0054398730225207765, + -0.0015728462008093621, + 0.005792347226748461, + 0.012121222187842506, + -0.028107922823529752, + -0.007676698104153353, + 1.0 + ], + [ + -0.002712425851505874, + -0.028192274455735016, + -0.000779555495753584, + 0.07660115252699287, + -0.018689247894613827, + -0.15333930010209434, + 1.0 + ], + [ + -0.0001879415896684002, + -0.03909319315665298, + -0.00609445388567427, + 0.0665332550960261, + 0.020828587902932835, + -0.2413307491003514, + 1.0 + ], + [ + 0.010740501872422174, + -0.04419829182300486, + 0.008993044552681356, + 0.014211858817104357, + -0.026850581429581168, + -0.2684819699914806, + 1.0 + ], + [ + 0.0039078100676243534, + -0.024083942436757128, + 0.016869244657864227, + 0.06161278881082632, + -0.06095487064520257, + -0.23892613416795624, + 1.0 + ], + [ + 0.006643662408980129, + -0.013843597945298595, + 0.010320408922837193, + 0.05364416691197235, + -0.009308018543254878, + -0.2520377752971983, + 1.0 + ], + [ + 0.0019984655670387225, + -0.004873394249810601, + 0.01100224838845931, + 0.08666949717789241, + -0.027156862864911327, + -0.22098926084128098, + 1.0 + ], + [ + 0.008970121525923545, + -0.006146344108287713, + 0.007559200438099789, + 0.010782605874262443, + -0.027331050249153308, + -0.17691101264896544, + 1.0 + ], + [ + -0.0006627829344299405, + 0.003774693879219853, + 0.0116145518940881, + -0.004061317152251872, + -0.021284917056041734, + -0.03769309761268642, + 1.0 + ], + [ + 0.0014351768704627431, + -0.000654331443918195, + 0.01024962303274031, + -0.019788548870464308, + 0.0084020049380392, + -0.03467157757461267, + 1.0 + ], + [ + -0.0015456073242848844, + -0.00010845852439748634, + 0.01026878040282649, + -0.010851651929723155, + 0.004587555932559014, + -0.04486437038797783, + 1.0 + ], + [ + -0.0014215363437904962, + -0.0015538220983236065, + 0.00941782232595708, + 0.025151573157539613, + -0.0064602823821523015, + -0.007467773837603594, + 1.0 + ], + [ + -0.001359993407398415, + -0.001172322063361506, + 0.00945084674429235, + 0.022141998099013658, + -0.005960514565647843, + -0.0028843347829442026, + 1.0 + ], + [ + -0.0021580251330289, + -0.001225886214653084, + 0.00729315092688834, + 0.02051811720810175, + -0.003725581648655303, + -0.0071383518100675124, + 1.0 + ], + [ + -0.0004838594085071637, + 0.0022692277232710923, + 0.003753870673359484, + 0.010239858149310256, + -0.00306842819901403, + 0.004368269139096889, + 1.0 + ], + [ + 2.7407307128510047e-05, + 0.0005264612410159946, + -0.000545175010862997, + -6.20560760499327e-05, + -0.0008210976032696759, + -0.004421890568295237, + 0.0 + ], + [ + -0.0006956838242672837, + -0.0019818722442730124, + -0.0004312651768822438, + 0.011844183886426505, + -0.004561113522553255, + 0.004322128015167445, + 0.0 + ], + [ + 0.002349941759512061, + -0.0017847677813466493, + -0.01952583387150499, + -0.018547587352041914, + 0.009154592648311548, + -0.01817924092568937, + 0.0 + ], + [ + 0.002220961989629034, + 0.0024044291230351914, + -0.022638105630590752, + -0.010569703274494562, + 0.039483937607159056, + 0.0022047982214553007, + 0.0 + ], + [ + 0.0035729097603261224, + 0.004543863693063575, + -0.019088353528913044, + -0.03318444635149305, + 0.043482517550903176, + 0.0397904017708743, + 0.0 + ], + [ + 0.0007601300987823704, + 0.020461914654349666, + -0.015459213531424827, + -0.07706392168141174, + -0.010258480652658757, + 0.19957504980449373, + 0.0 + ], + [ + 0.014337615577964914, + 0.019622073405515916, + -0.011058712636396326, + 0.009783463622082043, + 0.0024202941993962273, + 0.2518289069477694, + 0.0 + ], + [ + 0.01572624089624722, + 0.010895787001177791, + 0.014036415360828265, + 0.09990120221315943, + -0.08867489961281945, + 0.28212263479809646, + 0.0 + ], + [ + 0.014955828825891325, + -0.00034294063118927204, + 0.015521853081204887, + 0.04317192813891336, + -0.09689891764626374, + 0.26592630133656825, + 0.0 + ], + [ + 0.005104829674671588, + -0.004038611006115359, + 0.008536843788885409, + 0.02386415904209717, + -0.015091781569227329, + 0.2626852353048512, + 0.0 + ], + [ + 0.004535465844628537, + -0.007929172340556382, + 0.010501034176869676, + -0.004674777826875765, + 0.026228541092037694, + 0.2225472955249936, + 0.0 + ], + [ + 0.007964308703431065, + -0.006689061744009553, + 0.01655164709781525, + 0.0020834541344974867, + 0.04568502037327374, + 0.24848593809765623, + 0.0 + ], + [ + 0.005430067395633104, + -0.0021059535061730738, + 0.022404585585603088, + -0.06530836091086951, + -0.00016067413966776428, + 0.042964727459999415, + 0.0 + ], + [ + 0.0013220900836175518, + -0.0024034565149119065, + 0.013483668885724059, + -0.007455289603424531, + -0.03895147816604151, + -0.040937354028268695, + 0.0 + ], + [ + 0.004816274926056545, + -0.0017546922262700751, + 0.0007451115252055005, + -0.0020668996171172133, + 0.004264632565529771, + 0.010749267116651114, + 0.0 + ], + [ + -0.0010521688152023256, + 0.0041629499365364465, + 0.0012137071232940307, + -0.021760799647360267, + 0.015377744135826136, + 0.0009245622030733802, + 0.0 + ], + [ + -0.004481917698428071, + 0.0037834015031610545, + -0.0008108772181431453, + 0.00945740823715899, + 0.05124119555424055, + -0.02985334950452452, + 0.0 + ], + [ + -0.005034738090672989, + 0.0005369688886776686, + -0.0015512310380504544, + 0.022567529014126935, + 0.018115481642987305, + 0.026391017741712826, + 1.0 + ], + [ + 6.30360424707516e-05, + -0.0008191110068979493, + -0.024838475066396287, + 0.014273502410373132, + 0.04219343308772154, + -0.00697191892481797, + 1.0 + ], + [ + 0.001038771882811345, + 0.0010742421067891435, + -0.016855534229896413, + -0.00491418806294175, + 0.030991587193567066, + -0.01537657080866275, + 1.0 + ], + [ + 0.0057271088927827105, + -0.0028776654138585917, + -0.03185822521839783, + 0.020003466798067398, + 0.06347712955694397, + -0.000937365556457663, + 1.0 + ], + [ + 0.003997914726407845, + 0.015017477710660677, + -0.02649803593580487, + -0.004559574346695657, + 0.0494443685578761, + 0.031675116154299555, + 1.0 + ], + [ + 0.007458440621861014, + 0.023464964298073, + -0.018061129137259258, + -0.01976478233325557, + 0.03389030119784507, + 0.010875250334787985, + 1.0 + ], + [ + 0.009899599816698088, + 0.020626848418056398, + -0.025126262709200816, + -0.028413629171913098, + 0.05634175136507149, + -0.031690673532027196, + 1.0 + ], + [ + 0.00856945194348391, + 0.017397678687026845, + -0.015874816880906358, + -0.017543609306808983, + 0.030918798405144894, + -0.05926416563072683, + 1.0 + ], + [ + 0.008679474245866315, + 0.014861495564796521, + -0.010880404369279825, + -0.040024288107104615, + 0.046164920511847396, + -0.02784344068937112, + 1.0 + ], + [ + 0.00462128484504609, + 0.00866993246878, + -0.0013026182671558174, + -0.02522581202271522, + 0.020325490312538434, + -0.05101964341669257, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -3.1771488793411104e-09, + -1.2392603994177456e-08, + -0.0030679564210361154, + 1.0 + ] + ], + "state": [ + [ + 0.28422558307647705, + -0.08545858412981033, + 0.1171073392033577, + -3.1293142839619, + -0.33460661768913263, + -0.0983181670308113, + 1.0 + ], + [ + 0.28394603729248047, + -0.08553136140108109, + 0.11701210588216782, + -3.1303019059174737, + -0.3328066468238831, + -0.09722298383712769, + 1.0 + ], + [ + 0.28086546063423157, + -0.0835849940776825, + 0.10977753251791, + -3.1209142209314784, + -0.30477625131607056, + -0.08884643763303757, + 1.0 + ], + [ + 0.28038057684898376, + -0.05526012182235718, + 0.11026312410831451, + -3.092447994398423, + -0.28556123375892634, + 0.07136446982622147, + 1.0 + ], + [ + 0.27518796920776367, + -0.016785839572548866, + 0.11789344996213913, + -3.0976918024295053, + -0.3096188008785247, + 0.32352331280708313, + 1.0 + ], + [ + 0.27275919914245605, + 0.02938785031437874, + 0.11445634812116623, + 3.113589994730898, + -0.2829733192920685, + 0.6043148636817932, + 1.0 + ], + [ + 0.26646560430526733, + 0.05372418835759163, + 0.09870795160531998, + 3.1088457090132913, + -0.20743860304355624, + 0.8462247848510742, + 1.0 + ], + [ + 0.26213738322257996, + 0.06919966638088226, + 0.08953896164894104, + 3.1113463064008435, + -0.18337154388427737, + 1.1021836996078491, + 1.0 + ], + [ + 0.2598935067653656, + 0.07481566816568375, + 0.07894562184810638, + -3.1246937179290732, + -0.14515338838100433, + 1.3245227336883545, + 1.0 + ], + [ + 0.2562362849712372, + 0.08599869161844254, + 0.07286722958087921, + -3.1398701538615903, + -0.11851579695940016, + 1.503076434135437, + 1.0 + ], + [ + 0.2600308060646057, + 0.08645889908075333, + 0.061249345541000366, + 3.1347717834920665, + -0.09721129387617111, + 1.540976643562317, + 1.0 + ], + [ + 0.25951892137527466, + 0.08889886736869812, + 0.05118320509791374, + 3.1115983576797923, + -0.1053178161382675, + 1.5758970975875854, + 1.0 + ], + [ + 0.2597208023071289, + 0.08844219148159027, + 0.040810201317071915, + 3.0960217622392854, + -0.10845132917165758, + 1.6211445331573486, + 1.0 + ], + [ + 0.2586185336112976, + 0.08799894899129868, + 0.03123319521546364, + 3.1203939263992986, + -0.1016547679901123, + 1.6283472776412964, + 1.0 + ], + [ + 0.25767093896865845, + 0.08755210787057877, + 0.021670516580343246, + -3.140930777071514, + -0.0956340655684471, + 1.6311172246932983, + 1.0 + ], + [ + 0.2565299868583679, + 0.08602872490882874, + 0.01420543435961008, + -3.121097421395131, + -0.09191076457500459, + 1.6382882595062256, + 1.0 + ], + [ + 0.2587257921695709, + 0.08604376018047333, + 0.010377475060522556, + -3.110461026551672, + -0.08875260502099992, + 1.6339668035507202, + 1.0 + ], + [ + 0.259269118309021, + 0.08605854213237762, + 0.010906348004937172, + -3.110918926196643, + -0.08806866407394409, + 1.6384294033050537, + 0.0 + ], + [ + 0.257355660200119, + 0.08519099652767181, + 0.011335097253322601, + -3.0987057407670697, + -0.08337637037038803, + 1.6342346668243408, + 0.0 + ], + [ + 0.2563665211200714, + 0.0858403891324997, + 0.031047167256474495, + -3.1187445801966867, + -0.09328871220350266, + 1.6520814895629883, + 0.0 + ], + [ + 0.2592690885066986, + 0.08618535846471786, + 0.05373315140604973, + -3.129004598716744, + -0.1327115148305893, + 1.6489496231079102, + 0.0 + ], + [ + 0.2639583647251129, + 0.0875791683793068, + 0.07306823879480362, + 3.126416972959884, + -0.17558065056800842, + 1.6080228090286255, + 0.0 + ], + [ + 0.28424397110939026, + 0.08632738888263702, + 0.08872653543949127, + 3.0847902355068406, + -0.16481143236160278, + 1.4055417776107788, + 0.0 + ], + [ + 0.30494681000709534, + 0.095191590487957, + 0.103069007396698, + 3.1378109831181398, + -0.17613837122917175, + 1.1502342224121094, + 0.0 + ], + [ + 0.32226401567459106, + 0.10709387063980103, + 0.09204612672328949, + -2.996318133669444, + -0.08157533407211304, + 0.8679393529891969, + 0.0 + ], + [ + 0.3307322859764099, + 0.12109079211950302, + 0.07800700515508652, + -2.9368505497747144, + 0.05492572858929634, + 0.6202348470687866, + 0.0 + ], + [ + 0.33123618364334106, + 0.12844300270080566, + 0.07020069658756256, + -2.93356707890565, + 0.12076595425605775, + 0.36445873975753784, + 0.0 + ], + [ + 0.33093228936195374, + 0.13895192742347717, + 0.06108016520738602, + -2.9703274091058454, + 0.13765859603881836, + 0.13914534449577332, + 0.0 + ], + [ + 0.33537808060646057, + 0.14907850325107574, + 0.04496128857135773, + -3.008140595751353, + 0.1301374435424805, + -0.11560106277465822, + 0.0 + ], + [ + 0.33848464488983154, + 0.15382012724876404, + 0.02251685969531536, + -3.07914353732998, + 0.1358930766582489, + -0.1585584133863449, + 0.0 + ], + [ + 0.33850952982902527, + 0.15709757804870605, + 0.009153044782578945, + -3.0806595032387456, + 0.17208586633205414, + -0.11465053260326384, + 0.0 + ], + [ + 0.34332072734832764, + 0.15835222601890564, + 0.007700847461819649, + -3.084638251113244, + 0.1684732288122177, + -0.12579728662967682, + 0.0 + ], + [ + 0.34153786301612854, + 0.15445803105831146, + 0.0064490740187466145, + -3.1066975389891347, + 0.15317277610301971, + -0.12761686742305756, + 0.0 + ], + [ + 0.33676227927207947, + 0.15123018622398376, + 0.0078033460304141045, + -3.092907490330287, + 0.10086117684841156, + -0.09946542978286743, + 0.0 + ], + [ + 0.3318697512149811, + 0.15110357105731964, + 0.00982581451535225, + -3.073102334635802, + 0.08401385694742204, + -0.12679915130138394, + 1.0 + ], + [ + 0.33388784527778625, + 0.14995647966861725, + 0.03456922248005867, + -3.0584267770224294, + 0.04144157841801643, + -0.12273304909467697, + 1.0 + ], + [ + 0.3353024423122406, + 0.14729253947734833, + 0.0512198805809021, + -3.062779525416442, + 0.009276472963392735, + -0.10999075323343277, + 1.0 + ], + [ + 0.3413291871547699, + 0.146989643573761, + 0.08315127342939377, + -3.0426551421457013, + -0.054077226668596275, + -0.11405843496322632, + 1.0 + ], + [ + 0.3419603109359741, + 0.12924107909202576, + 0.1082160696387291, + -3.045181917148181, + -0.10011569410562515, + -0.15060791373252866, + 1.0 + ], + [ + 0.34397897124290466, + 0.10355282574892044, + 0.12460130453109741, + -3.0634802003675183, + -0.13279172778129578, + -0.16481347382068634, + 1.0 + ], + [ + 0.34690141677856445, + 0.08023270219564438, + 0.14914573729038239, + -3.0954655428701123, + -0.1913843750953674, + -0.13716068863868713, + 1.0 + ], + [ + 0.3499220609664917, + 0.0615328885614872, + 0.1655566245317459, + -3.1243317892127713, + -0.22467608749866488, + -0.07792538404464722, + 1.0 + ], + [ + 0.35482698678970337, + 0.04605701565742493, + 0.17784562706947327, + 3.1125886832648, + -0.27123019099235535, + -0.04988731443881988, + 1.0 + ], + [ + 0.35842782258987427, + 0.037237972021102905, + 0.18058045208454132, + 3.0729794075065335, + -0.2896963655948639, + 0.003935267683118582, + 1.0 + ], + [ + 0.35842782258987427, + 0.037237972021102905, + 0.18058045208454132, + 3.0720674340897283, + -0.2894846200942993, + 0.007128887809813023, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05621075630187988, + 0.3438887596130371, + 0.5707310736179352, + 0.5869496464729309, + 0.5878426134586334, + 0.5878426134586334, + 0.5869496464729309, + 0.5878426134586334, + 0.5878426134586334, + 0.5878426134586334, + 0.5878426134586334, + 0.5878426134586334, + 0.5878426134586334, + 0.5869496464729309, + 0.5878426134586334, + 0.5878426134586334, + 0.5878426134586334, + 0.5014694333076477, + 0.21063190698623657, + 0.0025147199630737305, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1327", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1327/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1329.json b/annotation/test/1329.json new file mode 100644 index 0000000000000000000000000000000000000000..5f157fc7ae87054a55005964e801421a36f249f3 --- /dev/null +++ b/annotation/test/1329.json @@ -0,0 +1,869 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the spoon from corner to other side of the table." + ], + "videos": [ + { + "video_path": "videos/test/1329/rgb.mp4" + } + ], + "action": [ + [ + 7.082889479577376e-06, + 0.00024314853280096415, + -1.872301926698916e-07, + -0.0015333143418766594, + 4.470532625046754e-05, + -6.388510152653637e-08, + 1.0 + ], + [ + -0.001104473690401159, + -0.0038809747613357897, + 0.005872159379398397, + 0.02825684583798742, + -0.009732338398658428, + 0.0011726236641046812, + 1.0 + ], + [ + 0.046609359921457594, + 0.009234229970820459, + 0.010132338258528412, + 0.028739239142404976, + 0.052841722236198055, + -0.09850097958939341, + 1.0 + ], + [ + 0.024497474107816847, + 0.008932034300172295, + 0.016001151654411006, + 0.0059334837026347, + 0.005596240720838398, + -0.09875003022678452, + 1.0 + ], + [ + 0.019580860812320466, + 0.00312478991406381, + 0.022043913916241404, + 0.0002444274324237648, + -0.01765287660963839, + -0.15640315283182044, + 1.0 + ], + [ + 0.007138942570453885, + 0.006290674640386449, + 0.021430517953745832, + -0.0002512710975703776, + -0.006837907645801957, + -0.07631040084086686, + 1.0 + ], + [ + 0.012191670266294512, + 0.006529333498850599, + 0.01740187505066854, + 0.00011929680149362298, + 0.006384151387986193, + -0.06153943710927819, + 1.0 + ], + [ + 0.014087612041450502, + 0.00539682322331851, + 0.017419854180854642, + 0.015244390576211575, + 0.02553651622726962, + -0.030203621111571075, + 1.0 + ], + [ + 0.015165227157786213, + -0.002838047892490811, + 0.016737334672470666, + 0.03747190665353223, + 0.019902580244474506, + -0.04719533746383484, + 1.0 + ], + [ + 0.009515999817565261, + -0.0026125192967196564, + 0.011085136220572084, + 0.0376061198118188, + 0.023596532294038682, + -0.020321012483339757, + 1.0 + ], + [ + 0.008840939216413535, + -0.00705785253220191, + 0.009927871310269882, + 0.04170439224865612, + 0.02208861086208966, + -0.032187147051098125, + 1.0 + ], + [ + 0.0015482900310137173, + -0.008896379597374056, + 0.00843253635715274, + 0.05629611301302792, + 0.0196635985657538, + -0.012368444046767346, + 1.0 + ], + [ + -0.00017819429412713967, + -0.006435592666170988, + 0.008770266094553654, + 0.042456461523027, + -0.00021607618146407006, + -0.01690658868951203, + 1.0 + ], + [ + 0.004419354342064443, + -3.478878122560755e-05, + 0.0034712414692071925, + 0.052848633304248945, + 0.01743613464516386, + -0.003473158398536044, + 1.0 + ], + [ + -0.0023564009484295487, + 0.0035771959829188843, + 0.0008200533419908237, + 0.012492137535158215, + -0.015536916002977621, + 0.006997373169375569, + 1.0 + ], + [ + 0.0008891935227747893, + -0.001317727091887662, + 0.0011873273747053973, + -0.0005293389456080954, + 0.009209875576371833, + -0.010058038543253734, + 0.0 + ], + [ + -0.00132174785545953, + -0.0011679068896030213, + -5.87093121322345e-05, + 0.0021220423533093616, + 0.003484540631826302, + 0.006619902758971251, + 0.0 + ], + [ + -0.0013114953965968244, + -0.0021140013361057256, + -0.0016410298478629652, + -0.004699869227277056, + 0.013815458534792262, + 0.02851112394422872, + 0.0 + ], + [ + -0.0023652384413274433, + -0.0011324841489524697, + -0.004050615813512608, + 0.02832105252225189, + 0.024529782867873204, + 0.03838809673916397, + 0.0 + ], + [ + -0.008357476874352584, + 0.014475036070767465, + -0.014896271555692763, + -0.02882915447149, + 0.025429983505907236, + 0.026375285352556538, + 0.0 + ], + [ + -0.011589924036083672, + 0.010911097258387698, + -0.022929917181002936, + -0.03443792689435565, + 0.011289933670479564, + 0.005631811429713889, + 0.0 + ], + [ + -0.01764073122294046, + 0.010516338540017923, + -0.016629317970998186, + -0.02186548480655692, + 0.011366779626688467, + 0.022410406866039376, + 0.0 + ], + [ + -0.031197759299228977, + 0.009140824438042393, + -0.021514818104295886, + -0.04862119908625142, + -0.017702263652373394, + 0.030806675778276102, + 0.0 + ], + [ + -0.029543823376006025, + -3.3433062994325315e-05, + -0.016008690614832562, + -0.022384561048509628, + -0.02538587110623654, + 0.03048788909303643, + 0.0 + ], + [ + -0.03362658927929721, + -0.005607759566734298, + -0.007248479424510868, + -0.001483156067143575, + -0.03070985129642643, + 0.03585712588861099, + 0.0 + ], + [ + -0.021675636883963463, + -0.006596040751138385, + -0.003308616960817377, + 0.006671245016683923, + -0.01609750032657128, + 0.02713513554859268, + 0.0 + ], + [ + -0.006805296344749338, + -0.004539104724986661, + 0.0025692004237095395, + -2.94766103310012e-05, + -0.00872453027115115, + 0.002026629640340857, + 0.0 + ], + [ + -0.00033583419759097583, + 0.0007632823191285058, + 0.0025776078927443346, + -0.004694281388984594, + 0.0045560696119442065, + 0.011141726951015325, + 0.0 + ], + [ + -0.004372331929605302, + -0.0025603252172530858, + 0.013914187876189303, + 0.027923342667878416, + 0.00877582836277685, + 0.029614679698302816, + 0.0 + ], + [ + 0.00028749945367223816, + 0.003802592144293003, + 0.008416413608487291, + 0.006218615250221958, + 0.006599369656763711, + 0.0070089066588570345, + 0.0 + ], + [ + -0.004415974809043333, + -0.0023606239541055806, + 0.010138295999221782, + 0.024467063926075696, + -0.008272995523682262, + 0.018181580210683054, + 0.0 + ], + [ + 0.0005804932281241075, + 0.0006727278264343892, + -0.00040164961867451013, + -0.0004927160887951957, + -0.00885389086409884, + -0.004532692097783691, + 0.0 + ], + [ + 5.3297754248359456e-05, + -0.0011826114660693746, + 0.0018263446883087038, + 0.008345546045800697, + -0.029446782214193057, + -0.004563700979557467, + 0.0 + ], + [ + 0.0010819655659225673, + -0.002988034038619175, + 0.0011245618746533726, + 0.01937382811817701, + -0.013125085399821658, + -0.008997283827869363, + 0.0 + ], + [ + 0.00036264201864524826, + 0.0005981082298449988, + -8.598822950154412e-05, + -0.005347149713897762, + -0.00167076318800029, + 0.010838600520457714, + 1.0 + ], + [ + 0.00040899021907911783, + -0.001810535548199059, + -0.0010873973224991755, + 0.0014484825586820805, + 3.077011326362019e-05, + -0.004097896548142476, + 1.0 + ], + [ + 0.0018465129100495986, + 4.733805956296132e-05, + -0.004464569068302678, + -0.013975479517144375, + -0.005838716761944708, + 0.0024577003646601035, + 1.0 + ], + [ + 0.006879700987611706, + 0.004774015918895092, + -0.010330388576542374, + -0.030113962838891672, + 0.006890513615538527, + 0.013158005514309866, + 1.0 + ], + [ + 0.0044662456519506104, + 0.007943655605761567, + -0.012104913382310732, + -0.03602750755995504, + 0.005810956613116301, + 0.01359373928351278, + 1.0 + ], + [ + 0.007585531470825834, + 0.0030063217913820265, + -0.013505795723859076, + -0.012669615201040176, + 0.017587843523442698, + 0.001208575918468182, + 1.0 + ], + [ + 0.006811932406334633, + 0.007804415004293359, + -0.022247010572843045, + -0.06092196241637536, + -0.00834045412009752, + -0.00532500241640287, + 1.0 + ], + [ + 0.0007143044132566019, + 0.0006642692212680893, + -0.0026944322497793323, + -0.0051788408259804694, + -0.001555057685659613, + -0.0044791298136363, + 1.0 + ], + [ + -0.0003916048467894036, + -0.00024081490376992576, + 0.0005384744856877699, + 0.0017065665286113431, + -0.0012667077904854542, + -0.0004360376022121107, + 1.0 + ], + [ + 0.0003908174014780508, + 0.00024006549672724942, + -0.0005393804423840581, + -0.001706015404613084, + 0.001267449952895567, + 0.000433875596267778, + 1.0 + ] + ], + "state": [ + [ + 0.2551862895488739, + -0.0648387223482132, + 0.10535570234060287, + 2.8026419301801404, + -0.418092131614685, + 0.8787603378295898, + 1.0 + ], + [ + 0.2553459405899048, + -0.0650053545832634, + 0.10543262213468552, + 2.8011019845777234, + -0.41813427209854126, + 0.8787766695022584, + 1.0 + ], + [ + 0.25516510009765625, + -0.06256382167339325, + 0.0987415611743927, + 2.8312732597165784, + -0.4093480706214904, + 0.8740290999412537, + 1.0 + ], + [ + 0.2934657335281372, + -0.035315562039613724, + 0.11102820187807083, + 2.8135284801297864, + -0.42701742053031927, + 0.9947811961174011, + 1.0 + ], + [ + 0.3197939693927765, + -0.01976810395717621, + 0.11000601202249527, + 2.778222980099269, + -0.3985062241554261, + 1.09818696975708, + 1.0 + ], + [ + 0.3410291075706482, + -0.0018606255762279034, + 0.09963780641555786, + 2.7249603887372693, + -0.3225879967212677, + 1.245595097541809, + 1.0 + ], + [ + 0.3585885167121887, + 0.00506877014413476, + 0.08572900295257568, + 2.703561933832713, + -0.2847340703010559, + 1.3154064416885376, + 1.0 + ], + [ + 0.37532898783683777, + 0.016562098637223244, + 0.07668719440698624, + 2.687473567324229, + -0.26393190026283264, + 1.3759392499923706, + 1.0 + ], + [ + 0.3908884525299072, + 0.03088650293648243, + 0.06753556430339813, + 2.692531557875224, + -0.27343565225601196, + 1.4157590866088867, + 1.0 + ], + [ + 0.39847618341445923, + 0.048937518149614334, + 0.055926766246557236, + 2.7162091751867017, + -0.2705204486846924, + 1.468845248222351, + 1.0 + ], + [ + 0.40189680457115173, + 0.06080736219882965, + 0.04770083725452423, + 2.7460086067491254, + -0.2835184633731842, + 1.4982640743255615, + 1.0 + ], + [ + 0.40007272362709045, + 0.07278252393007278, + 0.03876739740371704, + 2.776759537058421, + -0.2912884056568146, + 1.5381547212600708, + 1.0 + ], + [ + 0.3949253559112549, + 0.07761005312204361, + 0.02862589806318283, + 2.8274564762883863, + -0.305193156003952, + 1.5576227903366089, + 1.0 + ], + [ + 0.3915536105632782, + 0.08058859407901764, + 0.018720051273703575, + 2.864918829994746, + -0.2997235059738159, + 1.5743824243545532, + 1.0 + ], + [ + 0.39244964718818665, + 0.08580290526151657, + 0.01682545430958271, + 2.915216552215167, + -0.31553757190704346, + 1.5829064846038818, + 1.0 + ], + [ + 0.3961465060710907, + 0.0836062803864479, + 0.016097774729132652, + 2.9310429116063794, + -0.3019503355026245, + 1.5721129179000854, + 1.0 + ], + [ + 0.3951043486595154, + 0.08488106727600098, + 0.014990687370300293, + 2.9268482496314725, + -0.30883318185806274, + 1.5844573974609375, + 0.0 + ], + [ + 0.39396727085113525, + 0.0836644172668457, + 0.014406489208340645, + 2.930801974731036, + -0.3136431276798249, + 1.5784385204315186, + 0.0 + ], + [ + 0.391569048166275, + 0.08203990012407303, + 0.015107540413737297, + 2.9343061466985425, + -0.3330157697200775, + 1.5520000457763672, + 0.0 + ], + [ + 0.38956257700920105, + 0.07862212508916855, + 0.01786022074520588, + 2.97405260999734, + -0.36473467946052546, + 1.5172067880630493, + 0.0 + ], + [ + 0.4005889892578125, + 0.06410282105207443, + 0.03085564449429512, + 2.9536166806989392, + -0.3941150307655334, + 1.4936439990997314, + 0.0 + ], + [ + 0.4054519534111023, + 0.043532680720090866, + 0.04908694699406624, + 2.9205985089116773, + -0.4062560498714447, + 1.4899182319641113, + 0.0 + ], + [ + 0.41014498472213745, + 0.01954765059053898, + 0.05913765728473663, + 2.907153369980403, + -0.4221771657466888, + 1.4686815738677979, + 0.0 + ], + [ + 0.41015389561653137, + -0.018554847687482834, + 0.06738033890724182, + 2.873867156105586, + -0.4118543863296509, + 1.4314979314804077, + 0.0 + ], + [ + 0.40131136775016785, + -0.0508902482688427, + 0.06969299167394638, + 2.867234768467494, + -0.39515334367752075, + 1.3923709392547607, + 0.0 + ], + [ + 0.3881853520870209, + -0.08219393342733383, + 0.06178591027855873, + 2.883591951923915, + -0.3749240934848785, + 1.3463475704193115, + 0.0 + ], + [ + 0.37653180956840515, + -0.10079187154769897, + 0.05525907501578331, + 2.902249338226863, + -0.36610114574432373, + 1.313851237297058, + 0.0 + ], + [ + 0.3715660870075226, + -0.10473500192165375, + 0.04948762431740761, + 2.9037556668096265, + -0.3581026494503021, + 1.3095407485961914, + 0.0 + ], + [ + 0.3729986548423767, + -0.10459998995065689, + 0.047192201018333435, + 2.9027306755357465, + -0.3651375770568848, + 1.2990977764129639, + 0.0 + ], + [ + 0.37403109669685364, + -0.10389146953821182, + 0.03243722766637802, + 2.940998377399989, + -0.3805331587791443, + 1.2703450918197632, + 0.0 + ], + [ + 0.3800946772098541, + -0.10257834196090698, + 0.02558981440961361, + 2.9494443108611783, + -0.3883905410766601, + 1.2643449306488037, + 0.0 + ], + [ + 0.37968680262565613, + -0.10260414332151413, + 0.014289752580225468, + 2.9818746616416654, + -0.38366460800170893, + 1.243395209312439, + 0.0 + ], + [ + 0.3803676962852478, + -0.10246595740318298, + 0.014973964542150497, + 2.980143057303973, + -0.37420064210891724, + 1.2466899156570435, + 0.0 + ], + [ + 0.37978729605674744, + -0.10145024210214615, + 0.013138643465936184, + 2.9885075112157544, + -0.34440329670906067, + 1.2464450597763062, + 0.0 + ], + [ + 0.3776439130306244, + -0.09909693151712418, + 0.012028925120830536, + 3.0054124911599835, + -0.3300512731075287, + 1.2537280321121216, + 0.0 + ], + [ + 0.3782860040664673, + -0.09900331497192383, + 0.01230386458337307, + 3.0038294961028775, + -0.3298467993736267, + 1.242138147354126, + 1.0 + ], + [ + 0.37648555636405945, + -0.09826400130987167, + 0.013220133259892464, + 3.0038882960849485, + -0.3293116986751557, + 1.2464321851730347, + 1.0 + ], + [ + 0.3760495185852051, + -0.09778500348329544, + 0.018008103594183922, + 2.9910150339179715, + -0.32386383414268494, + 1.2430188655853271, + 1.0 + ], + [ + 0.380031019449234, + -0.09592383354902267, + 0.030558886006474495, + 2.9649402668052396, + -0.33262601494789124, + 1.2303493022918701, + 1.0 + ], + [ + 0.3853551745414734, + -0.09794294089078903, + 0.04460005834698677, + 2.9332056661420545, + -0.3407089114189148, + 1.21723473072052, + 1.0 + ], + [ + 0.38636794686317444, + -0.09562388807535172, + 0.06017507240176201, + 2.9196274896436414, + -0.3581651747226715, + 1.2198573350906372, + 1.0 + ], + [ + 0.38828861713409424, + -0.09827595949172974, + 0.08449622243642807, + 2.8574462552839, + -0.34885495901107794, + 1.2234306335449219, + 1.0 + ], + [ + 0.388083815574646, + -0.09849583357572556, + 0.08734598755836487, + 2.8508653362565717, + -0.34610387682914734, + 1.227537751197815, + 1.0 + ], + [ + 0.3879547119140625, + -0.09863018244504929, + 0.08666291832923889, + 2.852551968889781, + -0.3447653353214264, + 1.2275958061218262, + 1.0 + ], + [ + 0.388083815574646, + -0.09849583357572556, + 0.08734598755836487, + 2.8508653362565717, + -0.34610387682914734, + 1.227537751197815, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.052336275577545166, + 0.34188002347946167, + 0.5752633512020111, + 0.5761673152446747, + 0.5761673152446747, + 0.5770704746246338, + 0.5770704746246338, + 0.5770704746246338, + 0.5770704746246338, + 0.5770704746246338, + 0.5770704746246338, + 0.5761673152446747, + 0.5770704746246338, + 0.5770704746246338, + 0.5770704746246338, + 0.5770704746246338, + 0.5770704746246338, + 0.5770704746246338, + 0.5770704746246338, + 0.49762243032455444, + 0.19920474290847778, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1329", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1329/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1330.json b/annotation/test/1330.json new file mode 100644 index 0000000000000000000000000000000000000000..0f8ca0a1b9db57751ee2305ba32c61dc22234f16 --- /dev/null +++ b/annotation/test/1330.json @@ -0,0 +1,622 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Put the pot on the blue cloth." + ], + "videos": [ + { + "video_path": "videos/test/1330/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -1.9958222640338443e-09, + 2.0675247764622417e-09, + -0.0015339846654988055, + 1.0 + ], + [ + -0.002361018860189053, + 0.0018664664397306532, + 0.007706349087977442, + -0.016567780100931004, + -0.027911126910693522, + -0.0051614929787916425, + 1.0 + ], + [ + 0.02668390779773167, + -0.00985625999586816, + -0.013279266344347248, + 0.002272647392777782, + 0.05261068993614789, + -0.007271369797140055, + 1.0 + ], + [ + 0.021373873945931827, + -0.015154720752593413, + -0.00999524065377564, + -0.00984881837201777, + 0.057405262851066736, + -0.03179772717951896, + 1.0 + ], + [ + 0.021763009503840476, + -0.010887708339645034, + 0.002457915938016257, + -0.012349725137395393, + 0.027029389775393108, + -0.022434342330553473, + 1.0 + ], + [ + 0.011777423046283117, + -0.015273414891318381, + 0.023791303665975583, + 0.03852113572276371, + -0.0521051707216618, + -0.024205130408811167, + 1.0 + ], + [ + 0.0058615815993306765, + -0.0017727821328427109, + 0.027446412680609815, + 0.003996019115375465, + -0.051032347861275404, + -0.0022332519057034917, + 1.0 + ], + [ + 0.004926872992084442, + 0.006512109818569544, + 0.013815916444491549, + -0.0019702621664955465, + -0.02002470440424427, + -0.0005559856175722529, + 1.0 + ], + [ + 0.002184025763723302, + 0.001359883741352003, + 0.010436111415022159, + 0.0022711626948114984, + -0.013526363300760095, + 0.004215147980826535, + 1.0 + ], + [ + 0.0016677286018094823, + -0.002827733237163141, + 0.0005715972622527314, + 0.014362619431783222, + 0.011356345948816784, + -0.0019285779860482907, + 1.0 + ], + [ + -0.0006672539018206729, + -0.00048449266454068707, + 0.0023008615664025845, + 0.006511974178623771, + -0.006910550929415632, + 0.006555538109857633, + 0.0 + ], + [ + -3.217599140876861e-05, + -0.0010132158823211942, + -3.491208709481178e-05, + 0.009778934109333604, + -0.001570994695712173, + 0.013362048158936867, + 0.0 + ], + [ + 0.0008257921714488233, + 4.6727034162184795e-05, + -0.008005421169932636, + -0.0007429896105684367, + 0.02130518410639807, + 0.018836774636573517, + 0.0 + ], + [ + -0.0009263766755855548, + -0.0060832547257527025, + -0.012226514241547741, + 0.002336304976453351, + 0.036146103131881796, + 0.023453932819764288, + 0.0 + ], + [ + 0.007904023370312933, + -0.0034065097416439336, + -0.041673966826765156, + 0.03682586764333826, + 0.10301338121426212, + 0.03659706755909394, + 0.0 + ], + [ + 0.009218531996597456, + 0.02956969898990411, + -0.02967876395715073, + -0.022610272299737003, + 0.07434270867569685, + 0.078252530024993, + 0.0 + ], + [ + 0.0019357662903987545, + 0.05414666362552832, + -0.005554063368845835, + -0.0536967144556924, + -0.004954664064274706, + 0.11760411949906407, + 0.0 + ], + [ + -0.0016160225840758798, + 0.052032511038370186, + 0.009531666588232197, + -0.0016306530352165583, + -0.050929014288013906, + 0.10586687353727652, + 0.0 + ], + [ + 0.0070154357706059805, + 0.042563150596822356, + 0.005354364179278185, + 0.03363802793493413, + -0.022633988984569094, + 0.11006158528335529, + 0.0 + ], + [ + -0.0009662982033004248, + 0.006562923282834631, + 0.009133401717423321, + 0.012147321952896455, + -0.01659868551420507, + 0.01688634865759023, + 0.0 + ], + [ + -0.0006744793462766755, + 0.007644248846490532, + 0.010748685258321492, + -0.0074951513926691405, + -0.032084669122294046, + 0.016369946351977614, + 0.0 + ], + [ + 0.0006603348347841298, + 0.0013526170432046187, + 0.008413065189740672, + -0.01733259463451069, + -0.03193938466347611, + 0.01682985980679065, + 0.0 + ], + [ + -0.001063441467700292, + -0.004128494449810755, + 0.0010449716354441778, + -0.018611082619693204, + 0.011069961853913181, + -0.003774286312502531, + 1.0 + ], + [ + -0.0033504907588723107, + -0.00021971840043319104, + -0.0054517684869299764, + -0.02456747363249754, + 0.01360312654391566, + -0.009771379177542644, + 1.0 + ], + [ + -0.008855789769795277, + -0.012431376842283492, + -0.02894669190551121, + -0.00022643798386634342, + 0.06433806445889946, + -0.06122889648668283, + 1.0 + ], + [ + -0.01063426861378657, + -0.01605333066583285, + -0.021283475477799157, + -0.014949466862845585, + 0.034917438042898104, + -0.1113376354169229, + 1.0 + ], + [ + -0.01609642650069182, + -0.013019614806870946, + 0.0016076942491471944, + -0.030425076549368726, + -0.03209283440138328, + -0.10780979700830824, + 1.0 + ], + [ + -0.006420051762535862, + -0.005856267897483999, + 0.0018331159618701156, + -0.027804909711618076, + -0.008403064089501942, + -0.05636592029389452, + 1.0 + ], + [ + -0.0055514968251889115, + -0.0027942467984762233, + 0.0030274204845020048, + -0.025000407286271332, + -0.02681445383762387, + -0.03266341447093843, + 1.0 + ], + [ + -0.009317586825397836, + -0.006435213746816137, + 0.006149354969736141, + 0.05463391505371568, + -0.03735925335435016, + 0.03332065679362305, + 1.0 + ], + [ + 0.0002833768592510186, + 0.001341704807989561, + -0.0004321245788177092, + -0.0005708544128276907, + 0.00014799202223556205, + 0.003047006160693665, + 1.0 + ] + ], + "state": [ + [ + 0.2589205205440521, + 0.09481420367956161, + 0.07290370762348175, + -3.080634834366389, + -0.08862850069999695, + -0.09248260408639908, + 1.0 + ], + [ + 0.2589205205440521, + 0.09481420367956161, + 0.07290370762348175, + -3.080770967649766, + -0.08872184902429579, + -0.09094542264938353, + 1.0 + ], + [ + 0.2571406066417694, + 0.09357614815235138, + 0.06491965800523758, + -3.097924431907483, + -0.06117399781942366, + -0.08408628404140472, + 1.0 + ], + [ + 0.28362441062927246, + 0.10064398497343063, + 0.08022225648164749, + -3.0958973449938973, + -0.11405115574598312, + -0.07909514009952544, + 1.0 + ], + [ + 0.30474182963371277, + 0.1136985793709755, + 0.09326238930225372, + -3.1090561394863805, + -0.1727997809648514, + -0.04956505820155144, + 1.0 + ], + [ + 0.3270585536956787, + 0.12356692552566528, + 0.09493322670459747, + -3.1251811255984983, + -0.2005039155483246, + -0.027589863166213036, + 1.0 + ], + [ + 0.3437137007713318, + 0.1387750506401062, + 0.074212945997715, + -3.0916885790699205, + -0.14873981475830075, + -0.0022864430211484432, + 1.0 + ], + [ + 0.35356688499450684, + 0.1418922245502472, + 0.04805946722626686, + -3.0883395356410226, + -0.0978807583451271, + 0.0025086533278226857, + 1.0 + ], + [ + 0.359866738319397, + 0.13614052534103394, + 0.03446568176150322, + -3.0904580933325967, + -0.07791391015052795, + 0.004134475253522397, + 1.0 + ], + [ + 0.3628641664981842, + 0.13532821834087372, + 0.024175528436899185, + -3.0879081582003316, + -0.06418929994106293, + 0.0006093094707466662, + 1.0 + ], + [ + 0.3645536005496979, + 0.1381835788488388, + 0.023864326998591423, + -3.0736268033557614, + -0.0756327137351036, + 0.0019294040976092217, + 1.0 + ], + [ + 0.3640579879283905, + 0.1388222575187683, + 0.021557731553912163, + -3.0666546543412885, + -0.06829151511192322, + -0.004155701026320457, + 0.0 + ], + [ + 0.36402252316474915, + 0.13983017206192017, + 0.021665949374437332, + -3.0559790303283414, + -0.06571860611438751, + -0.017391175031661987, + 0.0 + ], + [ + 0.36431023478507996, + 0.13909396529197693, + 0.0296750757843256, + -3.055363753932067, + -0.08532118797302246, + -0.038051858544349663, + 0.0 + ], + [ + 0.3624964952468872, + 0.14417432248592377, + 0.04225490614771843, + -3.050728814797946, + -0.11928322911262514, + -0.06470607966184615, + 0.0 + ], + [ + 0.36533764004707336, + 0.14360041916370392, + 0.0847095400094986, + -3.0079304446750363, + -0.21842353045940402, + -0.11140786111354829, + 0.0 + ], + [ + 0.3650978207588196, + 0.11015868186950684, + 0.11157532036304474, + -3.010986091690608, + -0.2808285057544709, + -0.2022458761930466, + 0.0 + ], + [ + 0.3564102351665497, + 0.05639918893575668, + 0.11062728613615036, + -3.032383957999297, + -0.25870808959007263, + -0.3222030103206634, + 0.0 + ], + [ + 0.3425544798374176, + 0.007591405417770147, + 0.09557189792394638, + -3.0084539373689374, + -0.19526918232440948, + -0.4236568212509155, + 0.0 + ], + [ + 0.33371567726135254, + -0.033920709043741226, + 0.08618428558111191, + -2.954727755981036, + -0.15714778006076813, + -0.5310186147689819, + 0.0 + ], + [ + 0.3318619430065155, + -0.03834278881549835, + 0.07596500962972641, + -2.940437363582202, + -0.1376866102218628, + -0.5446538329124451, + 0.0 + ], + [ + 0.3299381136894226, + -0.043423693627119064, + 0.06392727792263031, + -2.9465085734897336, + -0.10297200828790665, + -0.5543266534805298, + 0.0 + ], + [ + 0.3314008116722107, + -0.04397178441286087, + 0.05552457645535469, + -2.9626878668838224, + -0.0683707818388939, + -0.5646620392799377, + 0.0 + ], + [ + 0.33279502391815186, + -0.039825718849897385, + 0.05515899136662483, + -2.9814076741510114, + -0.07993558794260025, + -0.5629125237464906, + 1.0 + ], + [ + 0.32925644516944885, + -0.038364555686712265, + 0.06029117479920387, + -3.0065644105249127, + -0.09492084383964537, + -0.5554030537605286, + 1.0 + ], + [ + 0.3237614929676056, + -0.025043340399861336, + 0.08967188000679016, + -3.0116899480395993, + -0.16678217053413394, + -0.5027960538864136, + 1.0 + ], + [ + 0.31754225492477417, + -0.0066031902097165585, + 0.11076845228672028, + -3.0452548434310636, + -0.21485088765621185, + -0.3945176899433136, + 1.0 + ], + [ + 0.30813294649124146, + 0.011519428342580795, + 0.10699676722288132, + -3.1001462956243238, + -0.19193367660045624, + -0.2820873558521271, + 1.0 + ], + [ + 0.30402088165283203, + 0.0188822653144598, + 0.10421238094568253, + -3.1390087619707963, + -0.18556053936481476, + -0.2244323194026947, + 1.0 + ], + [ + 0.2998683750629425, + 0.022704333066940308, + 0.10021980106830597, + 3.113060774403163, + -0.15873050689697268, + -0.19129471480846405, + 1.0 + ], + [ + 0.2930077910423279, + 0.030406396836042404, + 0.09249616414308548, + -3.1100207549803933, + -0.12224283814430237, + -0.22590306401252747, + 1.0 + ], + [ + 0.2929321825504303, + 0.029033780097961426, + 0.09291736781597137, + -3.110217025625058, + -0.12229400128126146, + -0.22897617518901825, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.06485205888748169, + 0.342884361743927, + 0.6422656774520874, + 0.8165320754051208, + 0.8738340437412262, + 0.9156777262687683, + 0.9266620799899101, + 0.927931509912014, + 0.927931509912014, + 0.927931509912014, + 0.927931509912014, + 0.927931509912014, + 0.898399829864502, + 0.7333587110042572, + 0.45278340578079224, + 0.149145245552063, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1330", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1330/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1339.json b/annotation/test/1339.json new file mode 100644 index 0000000000000000000000000000000000000000..851007169f89603e76fe9c21f51a2f7c5677c9df --- /dev/null +++ b/annotation/test/1339.json @@ -0,0 +1,907 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Place the blue measuring spoon on the orange towel." + ], + "videos": [ + { + "video_path": "videos/test/1339/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -8.724774996508618e-10, + 1.3196140809896285e-09, + -0.0030679758549031115, + 1.0 + ], + [ + -0.003266026203485085, + 0.00035281495653378833, + 0.006462988441543696, + -0.006801824479944939, + -0.025087410173491632, + -0.0035495002470963296, + 1.0 + ], + [ + -0.012353163412954572, + -0.020195016555949876, + 0.004018451613837388, + 0.015900580442469267, + -0.01569885413901424, + -0.08067183558866992, + 1.0 + ], + [ + 0.001333071240451652, + -0.0008534722352757628, + -5.9842420462596124e-05, + 0.00033507007137414957, + 0.009700679921712642, + -0.033925091790253215, + 1.0 + ], + [ + 0.005284738284737758, + 0.035831422951528615, + -0.0017123667569848445, + 0.0008693494184714156, + 0.007213319482222911, + 0.027972819790962947, + 1.0 + ], + [ + 0.0013789606076647673, + 0.030582918430155332, + 0.0005558964436097962, + 0.04730576365908045, + 0.0007265415091514033, + 0.02696190096382078, + 1.0 + ], + [ + 0.0015192660095688958, + 0.025572664404700424, + 0.0012205853012259382, + 0.03117917286164783, + -0.01071338100932689, + 0.037218467670846384, + 1.0 + ], + [ + -0.0033219192725242957, + 0.008024280773986783, + 0.004567853086698637, + 0.01225221975714448, + -0.011359494927338586, + -0.015682236801407474, + 1.0 + ], + [ + -0.010358097770613016, + 0.007843245129021134, + 0.01498537130827417, + 0.0100319746700633, + -0.03608597568144927, + -0.02226354403709258, + 1.0 + ], + [ + -0.007130510919489096, + 0.007012050104800271, + 0.016044630208437976, + -0.02327698774046926, + -0.027779992542702685, + -0.01359880803701415, + 1.0 + ], + [ + 1.0593490284703068e-05, + 0.010112879716307943, + 0.012839987317056564, + -0.019685984984622512, + -0.012501052898283247, + 0.005021300582146933, + 1.0 + ], + [ + -0.001678742687484862, + 0.002605692516810556, + 0.011769558762610433, + 0.007015209934146852, + -0.02655091527209111, + -0.007135544568334828, + 1.0 + ], + [ + -0.0015453819855970748, + 0.0029381588960005625, + 0.007587793037085134, + 0.005598414013703227, + -0.018968209965543718, + 0.0033987853390124107, + 1.0 + ], + [ + 0.0010464746833881787, + 0.0004172244196263873, + 0.0054455305684582515, + -0.0002628529759772802, + -7.545372289148568e-05, + -0.004316462941970469, + 1.0 + ], + [ + -0.0028074259419553446, + -0.0013886262707554925, + 0.0008823728378055442, + 0.006931616773402776, + 0.007010976034180725, + -0.0003786464413919359, + 0.0 + ], + [ + 0.002481948915524569, + -0.0006109769223981669, + -0.016858522249280892, + -0.006879210363976869, + 0.05060132417066393, + 0.03432875266523404, + 0.0 + ], + [ + 0.00492893710526514, + -0.010341245063071814, + -0.03264620838489789, + 0.0009128874339082503, + 0.07334188215601851, + 0.012511012162932383, + 0.0 + ], + [ + -0.00035954976404115247, + -0.034256754070018804, + -0.05119037506266025, + 0.0009006581635300154, + 0.11909409413081798, + -0.04798177239915857, + 0.0 + ], + [ + -0.03258293873616155, + -0.042635290050592925, + -0.02296273966616966, + 0.025678055765678214, + -0.048852776592998075, + 0.0039110947665721525, + 0.0 + ], + [ + -0.0383751512234575, + -0.043884677690365435, + 0.003615427670997235, + -0.007488852298966195, + -0.07117319209157956, + 0.017623188565540904, + 0.0 + ], + [ + -0.022585554167595247, + -0.04717935877591515, + 0.011436544703977935, + -0.030610049213652495, + -0.0028951481813831435, + 0.056262025310272495, + 0.0 + ], + [ + -0.018417473735817525, + -0.043599612756135546, + 0.01913828051124391, + -0.04190855101251203, + 0.002058140962473449, + 0.014709772204747345, + 0.0 + ], + [ + -0.007831692398693394, + -0.05075323609117021, + 0.00997437665340978, + 0.013359691203314731, + 0.014874767459032318, + -0.04240205132381049, + 0.0 + ], + [ + 0.005880969687981022, + -0.02478759278684062, + 0.0008533926760123929, + 0.02241657155941593, + -0.014733656238531302, + 0.004013652866532798, + 0.0 + ], + [ + 0.025509947101329953, + -0.0022041393389512936, + 0.0008885924343768066, + 0.04187584788736151, + -0.003174320098617498, + 0.017866275592503273, + 0.0 + ], + [ + 0.02078138763844015, + 0.007114471699088793, + -0.0013280921100195747, + 0.04079610781542549, + -0.03023722370584462, + 0.030901706175533145, + 0.0 + ], + [ + 0.010799269963224462, + 0.006536942748719404, + 0.011739868387291236, + 0.0009428165546169381, + -0.043998174739087334, + 0.010447938270480506, + 0.0 + ], + [ + 0.00436080464220445, + 0.003971571839601262, + 0.008595982424873071, + 0.006871769439294818, + -0.03942960939877801, + 0.016737859794274147, + 0.0 + ], + [ + -0.0005486182745336988, + 1.5311613925392927e-05, + 0.0018175013334546354, + 0.007354498276565188, + 0.001418615703096086, + -0.015313393156324406, + 0.0 + ], + [ + 0.0017178700562367028, + 0.004681181253815385, + 0.00356662186398611, + -0.01601996570245069, + 0.022972768547596605, + 0.0034791670847864327, + 0.0 + ], + [ + 0.004667565472470444, + 0.004609206581492094, + 0.0019193217101452313, + -0.017853080045838094, + 0.03396287016539386, + 0.019044096181200912, + 0.0 + ], + [ + 0.004324331748732979, + 0.004842857131244139, + 0.0031962950343268274, + -0.01105091926124082, + 0.04092622585504673, + 0.06391297075884725, + 0.0 + ], + [ + -8.376132817768837e-05, + 0.00011869821128562312, + 0.0007141524010445709, + -0.003008976917963919, + 0.004477570463667925, + 0.01630732685324566, + 0.0 + ], + [ + -0.004077203294635175, + -0.0006698533711006525, + 0.000809642690722068, + -0.0036829706305064568, + -0.005236272603108002, + -0.018901343253846657, + 0.0 + ], + [ + -0.0042523148686299615, + 0.0026422553103557364, + -0.0003807163492380588, + -0.012691673576943004, + -0.03461242335422932, + -0.01992713884311234, + 0.0 + ], + [ + 0.0028765959968498176, + 0.003797683739129671, + -0.006201389347726241, + 0.0006872635673732637, + 0.007052243758757686, + 0.012721834777068548, + 1.0 + ], + [ + 0.008100207003288866, + 0.004860291084782255, + -0.0059562759890138825, + 0.01342217885424513, + 0.008218603515516806, + 0.013439788660221105, + 1.0 + ], + [ + 0.020603540613707724, + 0.021884425819647627, + -0.03677499834017673, + 0.020818035841982826, + 0.06883742561736284, + -0.06179533318470628, + 1.0 + ], + [ + 0.009187806281232077, + 0.019901160113285018, + -0.013545825554985963, + -0.06402791689868989, + 0.10027860034773531, + -0.11886992970496722, + 1.0 + ], + [ + 0.0044003048790063615, + 0.022199721192106964, + 0.008546301584646358, + -0.046696156355129685, + 0.0034172783386731257, + -0.07666583483281916, + 1.0 + ], + [ + 0.01106012317528195, + 0.02364427504936613, + 0.0061848265013756685, + -0.010164506135609873, + -0.020239962839496434, + 0.05005479717773451, + 1.0 + ], + [ + 0.01140586079769411, + 0.015092220043217816, + 0.0027753874085691037, + 0.005817183285315507, + -0.03827667938797307, + 0.05236879992898399, + 1.0 + ], + [ + 0.008037367346094846, + 0.009299138060624627, + 0.0012612867632172185, + 0.011402622493843797, + -0.047324997693780235, + 0.01314867749552266, + 1.0 + ], + [ + -0.001347672012397313, + 0.006479211932285411, + 0.00037768319115787086, + -0.002887638313090594, + -0.022096328756686875, + 0.003156945674513844, + 1.0 + ], + [ + -0.004842305403182275, + 0.005136896242838121, + -0.0002586422490750643, + -0.0032701681138251003, + -0.039211660109532545, + 0.002354892232359566, + 1.0 + ], + [ + 0.00014417884464078078, + -0.0009657625065700053, + 0.0003897598118797052, + 0.003177421872783081, + 0.0005595992896820799, + -0.00012259142737045575, + 1.0 + ] + ], + "state": [ + [ + 0.27257296442985535, + 0.004784679971635342, + 0.09187030047178268, + 3.093213355290242, + -0.12706784904003143, + -0.20727521181106567, + 1.0 + ], + [ + 0.27257296442985535, + 0.004784679971635342, + 0.09187030047178268, + 3.0928220955007752, + -0.12691888213157654, + -0.20418597757816315, + 1.0 + ], + [ + 0.2700631618499756, + 0.004622755106538534, + 0.08507057279348373, + 3.085709599899598, + -0.10168792307376862, + -0.2018526792526245, + 1.0 + ], + [ + 0.26253199577331543, + 0.02651618979871273, + 0.07870297133922577, + 3.0936747697466096, + -0.08118943125009537, + -0.12193280458450317, + 1.0 + ], + [ + 0.2639533281326294, + 0.027203775942325592, + 0.07882991433143616, + 3.091239458071538, + -0.0892062708735466, + -0.08744616061449051, + 1.0 + ], + [ + 0.26576727628707886, + -0.008792005479335785, + 0.08280041068792343, + 3.0945946892076215, + -0.09778416901826859, + -0.11515197902917862, + 1.0 + ], + [ + 0.26353204250335693, + -0.03931257501244545, + 0.08381234854459763, + -3.1386290410351982, + -0.09974095225334166, + -0.14218433201313016, + 1.0 + ], + [ + 0.2615330219268799, + -0.06485600024461746, + 0.08267370611429214, + -3.103735054033347, + -0.08884823322296143, + -0.1795160472393036, + 1.0 + ], + [ + 0.25730153918266296, + -0.07206189632415771, + 0.07752986252307892, + -3.0929182601445397, + -0.07807886600494385, + -0.1633668690919876, + 1.0 + ], + [ + 0.24713824689388275, + -0.07758733630180359, + 0.06141946092247963, + -3.084741601841994, + -0.04309631511569023, + -0.1393660306930542, + 1.0 + ], + [ + 0.23993800580501556, + -0.08272599428892136, + 0.04471036419272423, + -3.1086561662429055, + -0.01612892560660839, + -0.12421403080224991, + 1.0 + ], + [ + 0.23895935714244843, + -0.09236356616020203, + 0.031546201556921005, + -3.1282656249874314, + -0.003469128394499421, + -0.12882058322429657, + 1.0 + ], + [ + 0.2370205819606781, + -0.0945814922451973, + 0.019737210124731064, + -3.121272076042839, + 0.02298443391919136, + -0.12133240699768065, + 1.0 + ], + [ + 0.2349756509065628, + -0.09713613986968994, + 0.012128818780183792, + -3.115739395963498, + 0.042017683386802666, + -0.12434714287519454, + 1.0 + ], + [ + 0.23575150966644287, + -0.09751158207654953, + 0.006635179277509451, + -3.1158209947221955, + 0.04198113828897476, + -0.12002636492252351, + 1.0 + ], + [ + 0.23310041427612305, + -0.09577071666717529, + 0.005907452665269375, + -3.1088804361694535, + 0.0349627323448658, + -0.11982839554548264, + 0.0 + ], + [ + 0.23615559935569763, + -0.09607888013124466, + 0.022679870948195457, + -3.1169959624582013, + -0.014511561952531336, + -0.15575392544269562, + 0.0 + ], + [ + 0.2420320063829422, + -0.08734957873821259, + 0.05563860014081001, + -3.1158107837014875, + -0.08752204477787018, + -0.17008471488952634, + 0.0 + ], + [ + 0.2427675873041153, + -0.05406811833381653, + 0.10746438801288605, + -3.1187605207138738, + -0.20772358775138855, + -0.1245454326272011, + 0.0 + ], + [ + 0.21146489679813385, + -0.007720651105046272, + 0.12416040897369385, + -3.092471746849366, + -0.15879344940185547, + -0.12737151980400085, + 0.0 + ], + [ + 0.17969830334186554, + 0.04071621969342232, + 0.11665430665016174, + -3.097602507221051, + -0.08682521432638168, + -0.1414898931980133, + 0.0 + ], + [ + 0.16494306921958923, + 0.09093546867370605, + 0.10538027435541153, + -3.1234048922830304, + -0.08132320642471313, + -0.197755828499794, + 0.0 + ], + [ + 0.157038152217865, + 0.13733330368995667, + 0.08560259640216827, + 3.119071800383278, + -0.08310463279485701, + -0.21255163848400113, + 0.0 + ], + [ + 0.16096752882003784, + 0.18816404044628143, + 0.07387609779834747, + 3.1288872604542455, + -0.09694496542215346, + -0.1696281135082245, + 0.0 + ], + [ + 0.1710307002067566, + 0.21157598495483398, + 0.07328256964683533, + -3.1314747809716543, + -0.08226263523101805, + -0.1738424450159073, + 0.0 + ], + [ + 0.19652406871318817, + 0.20934584736824036, + 0.07451540231704712, + -3.0881306399875363, + -0.07889461517333984, + -0.19173124432563782, + 0.0 + ], + [ + 0.2154206931591034, + 0.19836850464344025, + 0.07709632068872452, + -3.0450260808044156, + -0.04701583459973336, + -0.22099076211452484, + 0.0 + ], + [ + 0.2253323346376419, + 0.19063322246074677, + 0.0653020367026329, + -3.0437020157747945, + -0.002214537234976888, + -0.2271390408277512, + 0.0 + ], + [ + 0.2288995236158371, + 0.1866142600774765, + 0.05636872723698616, + -3.036733539896556, + 0.038662217557430274, + -0.23994033038616183, + 0.0 + ], + [ + 0.22834068536758423, + 0.18693114817142487, + 0.05458216369152069, + -3.0288076420598706, + 0.03564424812793732, + -0.22484998404979706, + 0.0 + ], + [ + 0.22892524302005768, + 0.18243767321109772, + 0.05045272037386894, + -3.04501515080268, + 0.013208374381065369, + -0.23089195787906647, + 0.0 + ], + [ + 0.23243074119091034, + 0.17709091305732727, + 0.048036444932222366, + -3.0631299336724958, + -0.018763234838843346, + -0.25311529636383057, + 0.0 + ], + [ + 0.23553504049777985, + 0.1715598702430725, + 0.04455215111374855, + -3.073034608858176, + -0.05451573058962823, + -0.3200914263725281, + 0.0 + ], + [ + 0.23547105491161346, + 0.17150786519050598, + 0.043828051537275314, + -3.0751476680212697, + -0.05785821378231049, + -0.3366948366165161, + 0.0 + ], + [ + 0.23190945386886597, + 0.17351959645748138, + 0.04283018037676811, + -3.07995422382886, + -0.05387771129608155, + -0.3174598217010498, + 0.0 + ], + [ + 0.2270338237285614, + 0.17232096195220947, + 0.0428181029856205, + -3.0938099456303796, + -0.02054538205265999, + -0.29544565081596375, + 0.0 + ], + [ + 0.22847628593444824, + 0.1676071733236313, + 0.04888884723186493, + -3.0928574932091912, + -0.026980193331837654, + -0.3084942698478699, + 1.0 + ], + [ + 0.23448240756988525, + 0.16029362380504608, + 0.054817717522382736, + -3.0790651832991323, + -0.03453174978494644, + -0.3223263025283814, + 1.0 + ], + [ + 0.24520930647850037, + 0.13126085698604584, + 0.09084363281726837, + -3.060192907350608, + -0.10703687369823454, + -0.26477402448654175, + 1.0 + ], + [ + 0.24732200801372528, + 0.10899539291858673, + 0.10363999754190445, + -3.1363525871471545, + -0.2159680873155594, + -0.15247097611427307, + 1.0 + ], + [ + 0.2500401437282562, + 0.08616304397583008, + 0.09612167626619339, + 3.0833095406466207, + -0.21914204955101013, + -0.07394281774759294, + 1.0 + ], + [ + 0.2600758671760559, + 0.061389561742544174, + 0.0938437432050705, + 3.0845535342865666, + -0.20156072080135345, + -0.12614037096500394, + 1.0 + ], + [ + 0.2696259617805481, + 0.04483064264059067, + 0.09425536543130875, + 3.101463945704051, + -0.1660294234752655, + -0.1813299357891083, + 1.0 + ], + [ + 0.2758823037147522, + 0.034185606986284256, + 0.09470867365598679, + 3.1153290701382836, + -0.11925122886896133, + -0.1964588314294815, + 1.0 + ], + [ + 0.27332791686058044, + 0.028079871088266373, + 0.09434241056442261, + 3.112881802143999, + -0.09724459052085876, + -0.20021186769008636, + 1.0 + ], + [ + 0.2675464153289795, + 0.024021251127123833, + 0.09427634626626968, + 3.1099281777911862, + -0.058116111904382706, + -0.20369522273540497, + 1.0 + ], + [ + 0.26790404319763184, + 0.02492043562233448, + 0.0938652902841568, + 3.11309743498499, + -0.05867154896259308, + -0.20355473458766937, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.04317682981491089, + 0.3298342227935791, + 0.55240198969841, + 0.5542488992214203, + 0.5542488992214203, + 0.5542488992214203, + 0.5542488992214203, + 0.5542488992214203, + 0.5542488992214203, + 0.5542488992214203, + 0.5542488992214203, + 0.5542488992214203, + 0.5542488992214203, + 0.5542488992214203, + 0.5542488992214203, + 0.5542488992214203, + 0.5542488992214203, + 0.5542488992214203, + 0.5542488992214203, + 0.5542488992214203, + 0.5542488992214203, + 0.48699653148651123, + 0.17945623397827148, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "1339", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1339/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1346.json b/annotation/test/1346.json new file mode 100644 index 0000000000000000000000000000000000000000..dc8c8e0107d3a739eeeec0a60e661c10b734003b --- /dev/null +++ b/annotation/test/1346.json @@ -0,0 +1,1249 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put bread on plate and pear in pot or pan on stove" + ], + "videos": [ + { + "video_path": "videos/test/1346/rgb.mp4" + } + ], + "action": [ + [ + 0.0003729392853607238, + 8.25401304139192e-05, + 8.362467609658071e-05, + -2.55633917479603e-09, + -9.484669703719343e-12, + -9.004468086757246e-10, + 1.0 + ], + [ + -0.005103114890427119, + -0.000705800183252764, + 0.004446603191430057, + 0.0031342201970736335, + -0.01654846609999099, + -0.0047023512294096705, + 1.0 + ], + [ + -0.005770504248706547, + 0.002123238474147661, + 0.008397058244376336, + 0.00589648202564765, + 0.021565552274227327, + 0.0021889109020689253, + 1.0 + ], + [ + -0.003755103367320041, + 0.002671237924141656, + 0.004657820606794263, + -0.0009241257743070042, + 0.01983899346122925, + -0.004626060016107116, + 1.0 + ], + [ + -0.0031354314270276894, + 0.002547716162134782, + 0.004203213701486593, + 0.005292108513404235, + 0.02045123354870537, + -0.002803114496797535, + 1.0 + ], + [ + -0.004240722033254956, + 0.0005698638423346177, + 0.006044583073221943, + -6.623837066922612e-05, + 0.010248062752853292, + 0.004488173787089451, + 1.0 + ], + [ + -0.0053603141586954246, + 0.0007008186773334134, + 0.005495671951694906, + -0.010761260474488327, + 0.00954891929601714, + -0.002483433081767572, + 1.0 + ], + [ + -0.0043074408991413595, + 0.000447129323200092, + 0.006258602022101654, + -0.0006473504742118814, + 0.01229979586531382, + -0.004547018489092786, + 1.0 + ], + [ + -0.006141511104004461, + 0.0012247954169418754, + 0.005061239853878275, + -0.004702638803278271, + 0.005914925981941475, + -0.00033695311438231023, + 1.0 + ], + [ + -0.0008203752701350628, + 0.0011066579924758648, + 0.0038763650308332423, + -0.00791548621908911, + 0.00692743553162857, + -0.0009745999356014197, + 1.0 + ], + [ + -0.0015046548790565487, + 0.00079733688025119, + 0.004396265769830164, + 0.0013117287218200508, + 0.0030974170489834704, + 0.00938548158928159, + 1.0 + ], + [ + -0.0005591552321225794, + 0.0033724278461195736, + 0.0030058328551289875, + 0.005586781373965153, + 0.004424533121197525, + 0.006151171402992465, + 1.0 + ], + [ + -0.003683259140175691, + 0.00390478282772932, + 0.0013479768067785325, + 0.007803883621677595, + -0.012459437315444898, + -0.003952126202397297, + 1.0 + ], + [ + 0.0009181564206466469, + 0.006378693044018324, + -0.0039482923706171055, + 0.004711192981339039, + -0.035098932142041364, + -0.03193357046109847, + 0.0 + ], + [ + 0.0028597889222171835, + 0.0015335203791954338, + -0.005298633096766599, + -0.005844408833718608, + -0.050279435634735345, + 0.001229053047384083, + 0.0 + ], + [ + 0.01088048610794996, + -0.0055744874224401605, + -0.01678755463928005, + 0.0032078429366038997, + -0.03383815201520947, + 0.018069509386940297, + 0.0 + ], + [ + 0.012131620825064441, + -0.012117887025370023, + -0.021614880965882766, + 0.01383536879958838, + -0.015046936887652157, + 0.033754283902659325, + 0.0 + ], + [ + 0.013815528447929555, + -0.008075422621213059, + -0.009246610935672556, + -0.010587428535097228, + 0.011170686570373043, + 0.012749025079753003, + 0.0 + ], + [ + 0.01826649077277912, + 0.00039658232715288717, + 0.00237534965158207, + -0.011114883074250648, + -0.013198901512278285, + 0.0037747778773400548, + 0.0 + ], + [ + 0.018314249884939706, + 0.0022690848008166237, + 0.00407307269670232, + 0.007322823847799014, + -0.015735812476819187, + -0.01145319020449698, + 0.0 + ], + [ + 0.023795541550238594, + 0.0068055156436084945, + 0.00503624718262374, + 0.0008894404505652134, + -0.002434198634330453, + -0.02931198092442059, + 0.0 + ], + [ + 0.01931667038758057, + 0.008851985267609799, + 0.01110020403816238, + 0.003259695895542255, + 0.0003341702097588335, + -0.024582574181443675, + 0.0 + ], + [ + 0.014319166924753475, + 0.0056356238684946705, + 0.005861759753505808, + -0.006816387160142345, + 0.009360601718059431, + -0.00026363176797154894, + 0.0 + ], + [ + 0.0030391695891630486, + 0.0028206424577650177, + 0.009778469007912122, + -0.008250959601350591, + -0.005311215041298373, + 0.026733396065850998, + 0.0 + ], + [ + 0.0008438637688236869, + 0.0002827822483913138, + 0.0010453011128308666, + -0.001289626528469487, + 0.004424442699637977, + -0.002932052414057663, + 1.0 + ], + [ + -0.007562223818627805, + 0.002526110445021665, + 0.0003709502792604114, + 0.007789008421901598, + -0.03540326689198002, + -0.01392974566951765, + 1.0 + ], + [ + -0.008287085085482886, + -0.0016526492341122376, + -0.02078865795918618, + 0.009749531810783564, + -0.02408037596542351, + -0.002277038677703144, + 1.0 + ], + [ + -0.009082207839415907, + -0.014212262654621024, + -0.01764067553867274, + -0.006788519305361208, + -0.058107753111501854, + 0.058248079142213846, + 1.0 + ], + [ + -0.0034702257596136285, + -0.02990938830300715, + -0.01815429697403265, + -0.03080403868422712, + -0.030507677918655163, + 0.10324602685112899, + 1.0 + ], + [ + -0.00018487073185258253, + -0.0036782905546181893, + -3.9209213129164616e-05, + -0.003663327874850075, + 0.0003425183583909859, + -0.009265143364419512, + 1.0 + ], + [ + 0.00018167261190055775, + 0.004362612512730776, + 5.377834663722513e-05, + -0.0006453525914430556, + -0.00013870940543005486, + 0.013790084667619159, + 1.0 + ], + [ + 0.00042002437990824236, + -0.007321428625035621, + -0.00119980016662273, + 0.001832994528562289, + 0.010948357632696182, + -0.010656232678139123, + 1.0 + ], + [ + -0.02305032899390344, + -0.03562987501307519, + -0.017872105465434145, + 0.014611885937655823, + 0.11388634982814098, + 0.014089728698975427, + 1.0 + ], + [ + -0.02162230431849141, + -0.04399374523793439, + -0.017152715244874005, + 0.09942659546168882, + 0.14646527953124847, + -0.11588170356144291, + 1.0 + ], + [ + -0.006897148830993289, + -0.005219659599423269, + -0.003430270231926933, + 0.07582517344447637, + 0.07113757315224932, + -0.037365471662105514, + 1.0 + ], + [ + -0.00989344066492144, + -0.01831912976436118, + 0.00996170157576399, + 0.03650439780506625, + 0.045430341975170485, + -0.06339564012657938, + 1.0 + ], + [ + -0.0037886183314209767, + -0.00515879438329994, + 0.011070014707042034, + -0.01094571240575322, + 0.04607692760744298, + -0.03389418139368122, + 1.0 + ], + [ + -0.0041373748801318945, + -0.005885051956105525, + 0.013732034185592667, + -0.019141966823565365, + 0.007773232294052357, + -0.01862104663155307, + 1.0 + ], + [ + -0.005673792650183868, + -0.0025029285003735323, + 0.014992822480189629, + -0.026156003000777805, + 0.007052330067664717, + -0.009592044249057264, + 1.0 + ], + [ + -0.0031299669676641464, + -0.0035657556462373816, + 0.010900642066761829, + -0.03263465902730385, + 0.01623159025840763, + -0.0006716269828993932, + 1.0 + ], + [ + -0.005435800860688598, + -0.005843918023042787, + 0.011596563594904484, + -0.0170333501203672, + 0.008058404490429587, + -0.005638785629064963, + 1.0 + ], + [ + -0.007311984288154594, + -0.002030438837534074, + 0.010358306850186755, + -0.013329884789177078, + 0.0032948200742427152, + -0.01318706649721015, + 1.0 + ], + [ + -0.008492930708552027, + -0.002377751681523306, + 0.00637935026854807, + -0.009621612521462044, + 0.00972315279971588, + -0.007925570576254159, + 1.0 + ], + [ + -0.009393957531673262, + 0.0002406612308192168, + 0.007989136836543762, + -0.00938891347469856, + 0.007707054934899157, + -0.013058969859549924, + 1.0 + ], + [ + -0.004454893208380238, + -0.0007855142422215504, + 0.0026844846582397626, + 0.0007983629595608369, + 0.016090124229388738, + -0.0027101903853227085, + 1.0 + ], + [ + -0.005407049692642102, + 0.002204592682239758, + 0.008648536968820104, + -0.0195208411158262, + 0.008149410712997398, + -0.001335530865635655, + 1.0 + ], + [ + -0.004788466500681435, + 9.714264604671348e-05, + 0.005214141812654669, + -0.028257575108731565, + -0.015179419684894169, + -0.022457977719620274, + 1.0 + ], + [ + 0.0003194829123863291, + 0.0026762870154366097, + 0.0004252195426313406, + -0.0034189406672377356, + -0.0278205432897183, + -6.54617926415551e-05, + 0.0 + ], + [ + 0.0036244270431928156, + 0.007386753398345604, + -0.014676045525242078, + 0.0038174444298760034, + -0.060218784954058205, + -0.0010265707406611898, + 0.0 + ], + [ + 0.016400579430883477, + 0.005960831102614324, + -0.02656151806864271, + 0.05036731712161785, + -0.01572860023507635, + 0.021180308401123164, + 0.0 + ], + [ + 0.019976752082062114, + 0.006157098946932544, + -0.027490063278927987, + 0.04311495099977996, + -0.030326162270760033, + 0.00029462307256779394, + 0.0 + ], + [ + 0.027057737952093295, + 0.019700511637446, + -0.008703113038111263, + 0.026328483843151944, + 0.01786817962211463, + 0.004677650134636325, + 0.0 + ], + [ + 0.019774336513897116, + 0.026555775299316346, + 0.01643993255599998, + 0.009648829762538117, + -0.0048585326028443175, + -0.023029137281685205, + 0.0 + ], + [ + 0.016348253712579718, + 0.01227374399998715, + 0.012156065455068596, + -0.012074757527297073, + 0.0017777262512982458, + 0.018835279967370055, + 0.0 + ], + [ + 0.007717549144474628, + 0.006997730870328108, + 0.012536608951218454, + 0.0015923994520424612, + -0.005443997078618116, + 0.007239357946459205, + 0.0 + ], + [ + 0.0005619727176958491, + 0.005184628938458944, + 0.012727990561019614, + -0.025984580096940057, + -0.025811617570587576, + 0.008068628851432186, + 0.0 + ], + [ + 0.0021084031709937092, + 0.0027033237443202345, + 0.004454998477673218, + -0.01561439029762343, + 0.014389662616690124, + 0.01741589348338341, + 0.0 + ], + [ + -0.005392603108342762, + -0.0019358130450366033, + -0.0005164429449476476, + -0.00883188390895402, + -0.03431389697265806, + 0.015045961991532667, + 1.0 + ], + [ + -0.0049568404986981285, + 0.0015904819208943063, + -0.007660266953518748, + 0.015786755344249823, + -0.031095093222718764, + -0.014865004618276775, + 1.0 + ], + [ + -0.0016665391622467719, + 0.008533568040766694, + -0.01537711684273789, + 0.007849760547327533, + -0.0017699731722701326, + -0.023807767372866044, + 1.0 + ], + [ + -0.005739933546181583, + 0.014541238774863513, + -0.005096786809187474, + 0.01038267155676026, + -0.02273091217467994, + -0.013257875749001606, + 1.0 + ], + [ + -0.003870768812099554, + 0.015217730003512873, + -0.008458575909861474, + 0.015486374850716307, + -0.026506651454410037, + -0.03241713641771535, + 1.0 + ], + [ + 0.0009648912139294478, + 0.015262029340248355, + -0.01122833716849814, + 0.0052029426279726005, + -0.013600921810840548, + -0.05303772263193881, + 1.0 + ], + [ + -0.001025986159953772, + 0.007558286654285259, + -0.0029426901716840866, + -0.022620739354811632, + -0.0062190808424946765, + -0.038812817006990366, + 1.0 + ] + ], + "state": [ + [ + 0.2460189163684845, + -0.039040353149175644, + 0.09085904806852341, + -3.131059725890406, + -0.2580046057701111, + 0.012626978568732738, + 1.0 + ], + [ + 0.2464020699262619, + -0.039117176085710526, + 0.09087251126766205, + -3.1310597286843738, + -0.2580046057701111, + 0.012626979500055313, + 1.0 + ], + [ + 0.2425912618637085, + -0.03841264173388481, + 0.08527844399213791, + -3.1292055967547974, + -0.24150346219539642, + 0.017648447304964066, + 1.0 + ], + [ + 0.23903881013393402, + -0.04049472138285637, + 0.07572007179260254, + -3.1226979867839297, + -0.2630394995212555, + 0.015105644240975382, + 1.0 + ], + [ + 0.2366761714220047, + -0.04311346635222435, + 0.07019814103841782, + -3.1247694940590343, + -0.282959908246994, + 0.01953114941716194, + 1.0 + ], + [ + 0.23489947617053986, + -0.045625291764736176, + 0.06524608284235, + -3.1201932301097592, + -0.30345451831817627, + 0.0221069548279047, + 1.0 + ], + [ + 0.23267225921154022, + -0.04611503705382347, + 0.058200154453516006, + -3.118780108290263, + -0.31360071897506714, + 0.01715946383774281, + 1.0 + ], + [ + 0.22928357124328613, + -0.04674855247139931, + 0.05130508542060852, + -3.130277248220988, + -0.3232029676437378, + 0.019547995179891586, + 1.0 + ], + [ + 0.22719615697860718, + -0.04716571792960167, + 0.043998051434755325, + -3.1324063913249454, + -0.3355501592159271, + 0.024215519428253174, + 1.0 + ], + [ + 0.22309714555740356, + -0.048443593084812164, + 0.03718632832169533, + -3.137207629746296, + -0.3414679169654847, + 0.024515433236956596, + 1.0 + ], + [ + 0.22365038096904755, + -0.04952000454068184, + 0.033254511654376984, + 3.1377258944609245, + -0.34839940071105957, + 0.025519976392388344, + 1.0 + ], + [ + 0.22375667095184326, + -0.05033188685774803, + 0.028611620888113976, + -3.1407391211302063, + -0.35151711106300354, + 0.015536067076027393, + 1.0 + ], + [ + 0.2243199646472931, + -0.05369340255856514, + 0.025594359263777733, + -3.13289136079187, + -0.355929434299469, + 0.008969610556960106, + 1.0 + ], + [ + 0.22138413786888123, + -0.05761279910802841, + 0.023015595972537994, + -3.1265895461016378, + -0.3435018062591553, + 0.013281593099236487, + 1.0 + ], + [ + 0.22103683650493622, + -0.0640551894903183, + 0.026951931416988373, + -3.133348502340265, + -0.30869975686073303, + 0.047328636050224304, + 0.0 + ], + [ + 0.22222886979579926, + -0.06557764858007431, + 0.032856740057468414, + -3.1389266302627554, + -0.25841179490089417, + 0.046487584710121155, + 0.0 + ], + [ + 0.22819063067436218, + -0.05976460874080658, + 0.05188166722655296, + -3.1310051764645657, + -0.22448325157165527, + 0.0280561875551939, + 0.0 + ], + [ + 0.23484179377555847, + -0.04768490791320801, + 0.07577864080667496, + -3.1095317510240754, + -0.20895148813724518, + -0.006280126050114632, + 0.0 + ], + [ + 0.24643464386463165, + -0.039982691407203674, + 0.08793852478265762, + -3.117335582273551, + -0.21968953311443326, + -0.01970253139734268, + 0.0 + ], + [ + 0.2647714614868164, + -0.04068293794989586, + 0.08959231525659561, + -3.1276795641803226, + -0.20640163123607635, + -0.023230627179145813, + 0.0 + ], + [ + 0.2834816575050354, + -0.04333046078681946, + 0.08932849019765854, + -3.122791973995515, + -0.19081246852874756, + -0.011345308274030685, + 0.0 + ], + [ + 0.30774688720703125, + -0.05031583458185196, + 0.08877188712358475, + -3.1275774632864675, + -0.18884649872779846, + 0.018538633361458775, + 0.0 + ], + [ + 0.3289845883846283, + -0.05861911550164223, + 0.08137448877096176, + -3.129019064018973, + -0.1894674003124237, + 0.043561998754739754, + 0.0 + ], + [ + 0.3443925380706787, + -0.06351424753665924, + 0.07824530452489853, + -3.135862933593341, + -0.19883057475090024, + 0.04371083900332451, + 0.0 + ], + [ + 0.3494225740432739, + -0.06606145203113556, + 0.06924410909414291, + -3.138742010463499, + -0.19329454004764557, + 0.016501858830451965, + 0.0 + ], + [ + 0.3504561483860016, + -0.06632423400878906, + 0.06837958842515945, + -3.140603566430979, + -0.19772648811340332, + 0.01947927102446556, + 1.0 + ], + [ + 0.34316521883010864, + -0.0689924955368042, + 0.06652788817882538, + -3.135593734337487, + -0.16231761872768402, + 0.03362119570374489, + 1.0 + ], + [ + 0.33158111572265625, + -0.06785333901643753, + 0.0857134610414505, + -3.1262375750863036, + -0.13825085759162903, + 0.03606529533863067, + 1.0 + ], + [ + 0.3196295201778412, + -0.05433576926589012, + 0.10214827209711075, + -3.1251015571230134, + -0.07902919501066209, + -0.021363744512200356, + 1.0 + ], + [ + 0.31533172726631165, + -0.024631230160593987, + 0.12046115845441818, + 3.1353052925602576, + -0.04640961810946464, + -0.12415286153554915, + 1.0 + ], + [ + 0.31560325622558594, + -0.02095811814069748, + 0.12046864628791809, + 3.1312118425318083, + -0.0466918833553791, + -0.1148756369948387, + 1.0 + ], + [ + 0.3152838349342346, + -0.02531314454972744, + 0.12046864628791809, + 3.1312118425318083, + -0.046691883355379105, + -0.1286814659833908, + 1.0 + ], + [ + 0.31658899784088135, + -0.018087400123476982, + 0.12161076068878174, + 3.1325413371720394, + -0.057526323944330215, + -0.11789494752883911, + 1.0 + ], + [ + 0.2969442903995514, + 0.02027975767850876, + 0.13780534267425537, + -3.1353286380232355, + -0.1715305745601654, + -0.1310573220252991, + 1.0 + ], + [ + 0.2786077857017517, + 0.06696178764104843, + 0.15128681063652039, + -3.0564875548058232, + -0.3175438642501831, + -0.01133199781179428, + 1.0 + ], + [ + 0.27090588212013245, + 0.07195857167243958, + 0.1528017669916153, + -2.9910168965631208, + -0.39143556356430054, + 0.02230365388095379, + 1.0 + ], + [ + 0.264034241437912, + 0.09141633659601212, + 0.14246338605880737, + -2.978200452523776, + -0.4451981782913208, + 0.08412429690361023, + 1.0 + ], + [ + 0.2643749415874481, + 0.0983603224158287, + 0.1317313313484192, + -3.001729266839572, + -0.49600934982299805, + 0.11358698457479477, + 1.0 + ], + [ + 0.26592400670051575, + 0.10632918775081635, + 0.11852458864450455, + -3.030332276719161, + -0.5062205195426941, + 0.1334308236837387, + 1.0 + ], + [ + 0.2674804627895355, + 0.1107274666428566, + 0.10298515856266022, + -3.0613625590973577, + -0.514272928237915, + 0.1434801816940308, + 1.0 + ], + [ + 0.2693009674549103, + 0.11546435952186584, + 0.09223420917987823, + -3.093626497434922, + -0.5305060148239136, + 0.14274813234806058, + 1.0 + ], + [ + 0.2694112956523895, + 0.12193913757801056, + 0.0797344222664833, + -3.113751361268111, + -0.5388174057006836, + 0.14885979890823364, + 1.0 + ], + [ + 0.2680864930152893, + 0.12408438324928284, + 0.0671437457203865, + -3.1349259625473103, + -0.5424267053604127, + 0.16414400935173035, + 1.0 + ], + [ + 0.2637556493282318, + 0.12582024931907654, + 0.05730960890650749, + 3.1338717892118773, + -0.5521837472915649, + 0.17337633669376373, + 1.0 + ], + [ + 0.26005664467811584, + 0.12486548721790314, + 0.045582015067338943, + 3.116363205137201, + -0.5597364902496338, + 0.1888565421104431, + 1.0 + ], + [ + 0.25762391090393066, + 0.1251310408115387, + 0.04092574492096901, + 3.1151864175968846, + -0.5757500529289246, + 0.1925700902938843, + 1.0 + ], + [ + 0.2582269310951233, + 0.12277064472436905, + 0.030778897926211357, + 3.0946530943089208, + -0.5838605761528014, + 0.19442807137966153, + 1.0 + ], + [ + 0.2571875751018524, + 0.12221772223711014, + 0.02379748411476612, + 3.052202360826083, + -0.5674899816513062, + 0.22018422186374662, + 1.0 + ], + [ + 0.2581377923488617, + 0.11965994536876678, + 0.02381354197859764, + 3.050264747934886, + -0.5397728681564331, + 0.21736536920070645, + 0.0 + ], + [ + 0.254798948764801, + 0.1127600371837616, + 0.03879120200872421, + 3.0565100779109677, + -0.4797059297561646, + 0.21232859790325165, + 0.0 + ], + [ + 0.2576290965080261, + 0.10960349440574646, + 0.0702880471944809, + 3.118478490161248, + -0.4657039344310761, + 0.18721580505371094, + 0.0 + ], + [ + 0.2640056610107422, + 0.10519316047430038, + 0.10394176095724106, + -3.1211093814396342, + -0.43539243936538696, + 0.18611820042133334, + 0.0 + ], + [ + 0.2883537709712982, + 0.08955394476652145, + 0.12287744134664536, + -3.092412306117364, + -0.4531551003456116, + 0.18051031231880188, + 0.0 + ], + [ + 0.318094402551651, + 0.06884132325649261, + 0.11559821665287018, + -3.0940711220079145, + -0.4493032097816468, + 0.2063114941120148, + 0.0 + ], + [ + 0.34031087160110474, + 0.06155544891953468, + 0.11123649030923843, + -3.0970384572916707, + -0.45009809732437134, + 0.1853223592042923, + 0.0 + ], + [ + 0.3538147211074829, + 0.0575425885617733, + 0.10303658992052078, + -3.092078587161847, + -0.4443252980709076, + 0.1775810867547989, + 0.0 + ], + [ + 0.3606046438217163, + 0.05414019897580147, + 0.09156843274831772, + -3.114858232560106, + -0.4181351661682129, + 0.1701633781194687, + 0.0 + ], + [ + 0.3647521734237671, + 0.052231721580028534, + 0.0882887914776802, + -3.122518031048127, + -0.4319833815097809, + 0.15057078003883362, + 0.0 + ], + [ + 0.3593924939632416, + 0.05336620286107063, + 0.08653350174427032, + -3.1248077658289155, + -0.397341787815094, + 0.13497579097747803, + 1.0 + ], + [ + 0.3521680235862732, + 0.05065050348639488, + 0.09165322780609131, + -3.115391546981879, + -0.36645153164863586, + 0.15144710242748258, + 1.0 + ], + [ + 0.3466121554374695, + 0.040765661746263504, + 0.10519859939813614, + -3.116695813956209, + -0.36519676446914673, + 0.17697697877883914, + 1.0 + ], + [ + 0.34225210547447205, + 0.02508958801627159, + 0.10756975412368774, + -3.1115492453151425, + -0.34276673197746277, + 0.19164660573005676, + 1.0 + ], + [ + 0.33898019790649414, + 0.0087013840675354, + 0.11380121111869812, + -3.1078100969367703, + -0.3170507848262787, + 0.22657585144042972, + 1.0 + ], + [ + 0.3401327133178711, + -0.007075520232319832, + 0.1242748498916626, + -3.120119184377142, + -0.30478113889694214, + 0.2826240360736847, + 1.0 + ], + [ + 0.34051674604415894, + -0.014898513443768024, + 0.12661857903003693, + 3.1282047341861805, + -0.2991586327552796, + 0.3233715295791626, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.02618938684463501, + 0.21638107299804688, + 0.39409196376800537, + 0.3639833331108093, + 0.36096906661987305, + 0.36096906661987305, + 0.36096906661987305, + 0.36096906661987305, + 0.36096906661987305, + 0.36096906661987305, + 0.36096906661987305, + 0.36096906661987305, + 0.2938306927680969, + 0.02763611078262329, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05002796649932861, + 0.20776593685150146, + 0.18038904666900635, + 0.17759305238723755, + 0.17759305238723755, + 0.17759305238723755, + 0.17759305238723755, + 0.17759305238723755, + 0.1766626238822937, + 0.15823012590408325, + 0.07445871829986572, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1346", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1346/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/137.json b/annotation/test/137.json new file mode 100644 index 0000000000000000000000000000000000000000..84cd21258796180e4d4dd0eb222a808fbd56317a --- /dev/null +++ b/annotation/test/137.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "pick up pot 50" + ], + "videos": [ + { + "video_path": "videos/test/137/rgb.mp4" + } + ], + "action": [ + [ + -0.0016545314637142854, + 0.0013852364193739572, + 0.0019484862349146064, + -0.006377592175832811, + -0.001066689464050387, + -0.004397647196258193, + 1.0 + ], + [ + -0.008593660912061098, + 0.010607719588908774, + 0.014611482086865791, + -0.051588515007737125, + -0.012407207682587327, + -0.019134481046581338, + 1.0 + ], + [ + -0.00348239101794631, + 0.0049038246176979754, + 0.0028801352418141484, + -0.01917556769367789, + -0.016748657435757992, + 0.008456797410826392, + 1.0 + ], + [ + -0.0012788736291843017, + 0.0013027542581727804, + 0.0010901133026564678, + -0.005494239709301112, + -0.005048858306002268, + 0.0017887025864226406, + 1.0 + ], + [ + -0.002244334038992644, + 0.0025753887573107784, + 0.001708612022724534, + -0.009140513739520078, + -0.0057589775780638695, + -0.008931300196250878, + 1.0 + ], + [ + -0.004356182444956624, + 0.006261018970501051, + 0.008728978617288396, + -0.04264595880212429, + -0.009079860052998271, + -0.00958785875350278, + 1.0 + ], + [ + -0.005218804327335544, + 0.0078011918071251825, + 0.014465003847021193, + -0.05790837834866989, + 0.006359755005302348, + -0.018026961637711655, + 1.0 + ], + [ + -0.002227807659012171, + 0.00438786214007007, + 0.010711829813403262, + -0.02942892852466783, + 0.009590076843697237, + -0.00698945556350449, + 1.0 + ], + [ + -0.0011950380062598258, + -0.00033143941836942905, + 0.000948785428419647, + 0.010823790544159334, + -0.0008746476886471457, + -0.002286442934401301, + 1.0 + ], + [ + -0.00016330675054868497, + -0.0018101154059246424, + 0.001970569596860419, + 0.020813215355276547, + -0.010831014412240568, + 0.008219860686141318, + 1.0 + ], + [ + 0.0007495502655573324, + 8.256444564044991e-05, + 0.0008289394391271735, + -1.1537185233943254e-05, + -0.008331125639766802, + 0.010314320226496716, + 1.0 + ], + [ + 0.00152290101583772, + -5.5523885687567134e-05, + 0.0007362161338175566, + -0.0005328430543523318, + -0.007530346872315419, + 0.010782894805691588, + 1.0 + ], + [ + 0.002856813643814909, + -0.0005193502804346898, + 0.00035725342262594637, + -0.00046247204347136536, + -0.003925680974174371, + 0.009942160843624474, + 1.0 + ], + [ + 0.005664737169321594, + -0.0018637350597848013, + 0.0006297461249511635, + 0.0038626051674596094, + 0.0028403819332198095, + 0.013749911501472853, + 1.0 + ], + [ + 0.0024550563333060062, + -0.0006790217536447493, + 0.0003379827000786739, + 0.0005248950804960357, + -0.006582621903205038, + 0.01480243420970314, + 1.0 + ], + [ + 0.001686392250954379, + 0.00011838875089045849, + 0.0004875242610468485, + -0.0018164799737996047, + -0.003364456022270126, + 0.009764146887076676, + 1.0 + ], + [ + 0.000518193930212914, + -0.0009869356106094853, + -0.00027985186429149917, + 0.0019264959576290222, + -0.008814384912587613, + 0.011477943140096428, + 1.0 + ], + [ + 0.002143898680121179, + -0.00019004112236590306, + -0.0027020092664534825, + 0.0562795861801535, + -0.008961629252811963, + -0.000872578169279912, + 0.0 + ], + [ + 0.013055458435330918, + -0.010723596376529932, + -0.029675695693815795, + 0.1795160680873739, + 0.033969880879300404, + 0.023651006071219227, + 0.0 + ], + [ + 0.01089045714762081, + -0.025456261500169344, + -0.04116734378443686, + 0.16734332088561388, + 0.008009001738183601, + 0.04761410853888601, + 0.0 + ], + [ + 0.003632992257382153, + 0.00012745783327591583, + -0.0020960729628651596, + -0.028569140059394788, + -0.0035768498677831713, + 0.01107096579645659, + 0.0 + ], + [ + 0.0008030055543811148, + 0.0025461015948454644, + 0.00032675139980043415, + -0.02065125778918002, + -0.004457978045348409, + -0.009963816500909675, + 0.0 + ], + [ + 0.0007307301014369745, + 0.0015189172436828146, + -0.0012074495725255022, + -0.02046871937855132, + -0.002434668195938455, + -0.012843509949809288, + 0.0 + ] + ], + "state": [ + [ + 0.4060198664665222, + -0.09341496229171753, + 0.1436186283826828, + -2.706366779404231, + -0.4086885452270507, + -1.7583366632461548, + 1.0 + ], + [ + 0.40570178627967834, + -0.09276016056537628, + 0.14080384373664856, + -2.7146711369329175, + -0.4095711410045623, + -1.753499150276184, + 1.0 + ], + [ + 0.40230852365493774, + -0.09128152579069138, + 0.12115264683961868, + -2.776116134720393, + -0.4060895144939422, + -1.7289482355117798, + 1.0 + ], + [ + 0.3990297019481659, + -0.08929605782032013, + 0.11569581925868988, + -2.794423075514384, + -0.38742396235466003, + -1.7310127019882202, + 1.0 + ], + [ + 0.398286908864975, + -0.0885385051369667, + 0.11385315656661987, + -2.79992729623849, + -0.3820677399635315, + -1.7309740781784058, + 1.0 + ], + [ + 0.39664170145988464, + -0.08709708601236343, + 0.11072192341089249, + -2.8132333775335034, + -0.3796125948429107, + -1.7198365926742554, + 1.0 + ], + [ + 0.3935997486114502, + -0.08640162646770477, + 0.09955793619155884, + -2.8606683035665235, + -0.3740810751914978, + -1.7069412469863892, + 1.0 + ], + [ + 0.39000973105430603, + -0.08693026751279831, + 0.08270079642534256, + -2.924739869432994, + -0.3851414918899536, + -1.690155029296875, + 1.0 + ], + [ + 0.3877790868282318, + -0.08889880776405334, + 0.07129427045583725, + -2.9561004062467298, + -0.39600616693496704, + -1.6849935054779053, + 1.0 + ], + [ + 0.38836389780044556, + -0.08819442987442017, + 0.0700293555855751, + -2.9462838937812528, + -0.3955669999122619, + -1.682383418083191, + 1.0 + ], + [ + 0.39045751094818115, + -0.08889072388410568, + 0.06850676238536835, + -2.9229856451326093, + -0.3833393156528473, + -1.6888110637664795, + 1.0 + ], + [ + 0.3904377222061157, + -0.08989991992712021, + 0.06802002340555191, + -2.9196787794404706, + -0.37295591831207275, + -1.6976826190948486, + 1.0 + ], + [ + 0.3904401659965515, + -0.09158924221992493, + 0.06791751086711884, + -2.916760044293948, + -0.36322167515754694, + -1.707161784172058, + 1.0 + ], + [ + 0.39064639806747437, + -0.09439636021852493, + 0.06871519237756729, + -2.9138861914449414, + -0.35716354846954346, + -1.7165722846984863, + 1.0 + ], + [ + 0.39180269837379456, + -0.09999838471412659, + 0.07051508873701096, + -2.904808508353778, + -0.3567900061607361, + -1.7315518856048584, + 1.0 + ], + [ + 0.39215484261512756, + -0.10244587063789368, + 0.07121395319700241, + -2.899527745442935, + -0.3468881845474243, + -1.7452102899551392, + 1.0 + ], + [ + 0.39185193181037903, + -0.10417605936527252, + 0.0713154748082161, + -2.89822310407693, + -0.34126773476600647, + -1.7544139623641968, + 1.0 + ], + [ + 0.39266934990882874, + -0.10465110838413239, + 0.07196895778179169, + -2.893107669549533, + -0.32993286848068243, + -1.763943076133728, + 1.0 + ], + [ + 0.39197441935539246, + -0.10570187121629715, + 0.07518551498651505, + -2.837860496836253, + -0.32145950198173523, + -1.7607287168502808, + 0.0 + ], + [ + 0.3928491473197937, + -0.10834091901779175, + 0.10922016948461533, + -2.6473389883809766, + -0.3466222286224365, + -1.7955154180526733, + 0.0 + ], + [ + 0.39703288674354553, + -0.10296664386987686, + 0.15836268663406372, + -2.4641245921426496, + -0.3307190537452698, + -1.8438503742218018, + 0.0 + ], + [ + 0.3948814570903778, + -0.10540866106748581, + 0.16101151704788208, + -2.490520330267497, + -0.32098564505577093, + -1.8505778312683105, + 0.0 + ], + [ + 0.392757773399353, + -0.10618315637111664, + 0.15955400466918945, + -2.514743300276347, + -0.3234591484069825, + -1.839369297027588, + 0.0 + ], + [ + 0.39071232080459595, + -0.1063101515173912, + 0.15986865758895874, + -2.5392337163263043, + -0.3289976119995117, + -1.826869010925293, + 0.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.15731757879257202, + 0.3639833331108093, + 0.5129536092281342, + 0.6304961442947388, + 0.7218906283378601, + 0.8165320754051208, + 0.9059926047921181, + 0.9301212355494499, + 0.9307394847273827, + 0.9319662973284721, + 0.9319662973284721, + 0.9322709515690804, + 0.9322709515690804, + 0.9322709515690804, + 0.9322709515690804 + ], + "episode_id": "137", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/137/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1378.json b/annotation/test/1378.json new file mode 100644 index 0000000000000000000000000000000000000000..7f3787657e1f9b361e96c9ebbd39f792574a4086 --- /dev/null +++ b/annotation/test/1378.json @@ -0,0 +1,394 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "pick up any cup" + ], + "videos": [ + { + "video_path": "videos/test/1378/rgb.mp4" + } + ], + "action": [ + [ + -0.00017986888260493013, + 0.000622612857392949, + 0.00031341793254725884, + -0.0012129313874209321, + -0.0012041485942261864, + 0.0013367955604980243, + 1.0 + ], + [ + -0.0034718453232379662, + 0.0007477363053810809, + 0.009385795031290218, + -0.010130449974138872, + -0.017540928995996897, + -0.005168135092060405, + 1.0 + ], + [ + -0.001588546557593535, + -0.00539154169069553, + 0.016784782228312273, + 0.017978031052534732, + -0.013746065081740241, + 0.002357882048661833, + 1.0 + ], + [ + 0.011682440378286366, + -0.009348766989071647, + 0.016089309216250385, + 0.04153809421842608, + -0.013987933047420666, + 0.0048094088011787755, + 1.0 + ], + [ + 0.003927253355192122, + -0.006399232187911523, + 0.02126714404129064, + 0.034293836021402846, + -0.026270474209662956, + 0.010663379205982808, + 1.0 + ], + [ + -0.0012900724755856693, + 0.00043702937482588503, + 0.015105564996865243, + 0.0158616213614554, + -0.0010034246512707651, + 0.02555390040960826, + 1.0 + ], + [ + -0.004649397688731716, + 0.005612802553338, + 0.004468414302507198, + 0.005250851273532146, + -0.003916341142628814, + 0.012192250221885395, + 1.0 + ], + [ + -0.00598418788370395, + 0.005817180998147761, + 0.006404600530560816, + 0.008016948519191946, + -0.00759544500326865, + 0.016260435579713944, + 1.0 + ], + [ + -0.0008133417756598896, + 0.003083975196361274, + 0.013177443997636836, + 0.016354128147175864, + -0.007613364208907969, + -0.004301577461727794, + 1.0 + ], + [ + 0.0011103959419084197, + 0.0006742089967415564, + 0.008590236377190558, + 0.01101702401955938, + -0.001403476660014691, + -0.005682158314494011, + 1.0 + ], + [ + 0.0032709963442598355, + -0.006054536564560981, + 0.00134598159755674, + -0.013174457925924062, + -0.013471797181983462, + -0.0010316330858395368, + 0.0 + ], + [ + -0.0026441852908106033, + -0.0061178396693214, + -0.002076896389283969, + -0.03286267073312669, + -0.010724389707922544, + -0.010869332758739527, + 0.0 + ], + [ + -0.00040905388359035864, + -0.0025104417646610298, + -0.00211957372817991, + -0.022388849271003652, + -0.010639518603429104, + 0.008636971596506648, + 0.0 + ], + [ + -0.0016815522528688712, + -5.174577326660394e-05, + -0.00470091672571527, + -0.03457477624539883, + -0.005153769428020563, + 0.004160153522737318, + 0.0 + ], + [ + 0.0003362389776089491, + 0.006116039532646277, + -0.028213523405958348, + -0.05433094988364986, + -0.0028034472759324042, + 0.006038279254897693, + 0.0 + ], + [ + 0.003013587730233943, + 0.006156065009811442, + -0.040138976556378596, + -0.055809771783936465, + 0.0033355430362248402, + 0.009089117399663055, + 0.0 + ], + [ + -0.004743289727186708, + 0.012362889990379955, + -0.024830219390078373, + -0.01960512050980051, + -0.024252497785055185, + 0.030342240719510038, + 0.0 + ], + [ + 0.0009138437590772336, + 0.006868424645728332, + -0.02670883381202041, + 0.0345357366899106, + -0.028302956191745846, + 0.043343073866129886, + 0.0 + ], + [ + -0.003091434347144094, + 0.0037220674218204387, + -0.011191424383293375, + 0.00992148998674818, + -0.015465757538138083, + 0.019338281128735396, + 0.0 + ] + ], + "state": [ + [ + 0.25205838680267334, + 0.04751342162489891, + 0.04526364058256149, + 3.112058341624685, + -0.14717292785644528, + -0.4498600959777832, + 1.0 + ], + [ + 0.2516624629497528, + 0.04700322821736336, + 0.04494555667042732, + 3.111048739525028, + -0.14600864052772522, + -0.45124661922454834, + 1.0 + ], + [ + 0.24934574961662292, + 0.046976856887340546, + 0.0351814329624176, + 3.1002347153895577, + -0.1283164918422699, + -0.44657897949218744, + 1.0 + ], + [ + 0.2519128620624542, + 0.05095084011554718, + 0.01812451332807541, + 3.1185856872522315, + -0.11467912048101425, + -0.4495222866535187, + 1.0 + ], + [ + 0.26794594526290894, + 0.05318168178200722, + 0.0032682581804692745, + -3.122473472850867, + -0.10080401599407197, + -0.45467790961265564, + 1.0 + ], + [ + 0.276356041431427, + 0.05664467439055443, + -0.017370125278830528, + -3.087148865806409, + -0.07432927936315538, + -0.46486157178878784, + 1.0 + ], + [ + 0.2763817310333252, + 0.057063184678554535, + -0.03253117948770523, + -3.069409394758292, + -0.07191279530525208, + -0.490388959646225, + 1.0 + ], + [ + 0.2701142132282257, + 0.054428581148386, + -0.03771425411105156, + -3.0633077343278607, + -0.06712228059768677, + -0.5022937059402466, + 1.0 + ], + [ + 0.26273220777511597, + 0.05243821069598198, + -0.04494014009833336, + -3.054248908656188, + -0.05827030912041664, + -0.5179363489151001, + 1.0 + ], + [ + 0.2617526650428772, + 0.050783418118953705, + -0.058361005038022995, + -3.038181925314017, + -0.05106049031019211, + -0.5129806995391846, + 1.0 + ], + [ + 0.2632080018520355, + 0.050211720168590546, + -0.06690704822540283, + -3.0274627675586423, + -0.05025019869208335, + -0.5071766972541809, + 1.0 + ], + [ + 0.26908814907073975, + 0.054001107811927795, + -0.06738965213298798, + -3.040755832689353, + -0.036983370780944824, + -0.5046159625053406, + 0.0 + ], + [ + 0.2695299983024597, + 0.06047166511416435, + -0.06480704993009567, + -3.0740597640448293, + -0.02740498818457127, + -0.492718368768692, + 0.0 + ], + [ + 0.2702317237854004, + 0.06277545541524887, + -0.06253496557474136, + -3.0962304157489022, + -0.016206037253141403, + -0.5006182193756104, + 0.0 + ], + [ + 0.26861241459846497, + 0.06347732245922089, + -0.05786440521478653, + -3.130741374688693, + -0.010868796147406101, + -0.5045405626296996, + 0.0 + ], + [ + 0.2655346095561981, + 0.057841021567583084, + -0.029716916382312775, + 3.0981781241768083, + -0.00799979642033577, + -0.5105482339859009, + 0.0 + ], + [ + 0.2657279670238495, + 0.05268021672964096, + 0.010674233548343182, + 3.0424413328343114, + -0.011726347729563713, + -0.5194845795631409, + 0.0 + ], + [ + 0.2564597427845001, + 0.04664018377661705, + 0.03654888644814491, + 3.023241939144679, + 0.009410265833139421, + -0.5520719885826112, + 0.0 + ], + [ + 0.25553375482559204, + 0.04290403425693512, + 0.06387206166982651, + 3.057421440380164, + 0.0323893204331398, + -0.5984635353088378, + 0.0 + ], + [ + 0.25172826647758484, + 0.042148657143116, + 0.07543088495731354, + 3.0666838978701314, + 0.046167779713869095, + -0.6190534234046937, + 0.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05310845375061035, + 0.21350353956222534, + 0.5384550094604492, + 0.7486622035503387, + 0.8720476180315018, + 0.9052495956420898, + 0.8944665566086769, + 0.8867373988032341, + 0.8833810612559319, + 0.8825324028730392, + 0.882106713950634 + ], + "episode_id": "1378", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1378/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1385.json b/annotation/test/1385.json new file mode 100644 index 0000000000000000000000000000000000000000..f2c658b62cce603ede38c838e1e45b22cfaba0bc --- /dev/null +++ b/annotation/test/1385.json @@ -0,0 +1,527 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put potato in pot cardboard fence" + ], + "videos": [ + { + "video_path": "videos/test/1385/rgb.mp4" + } + ], + "action": [ + [ + -0.00016553380172328484, + 9.552374874397913e-05, + -0.00037979137977518557, + -0.00010157850298263728, + 1.733854157660689e-05, + -0.0013710045615467391, + 1.0 + ], + [ + -0.005481661981230637, + 0.0004157179001827903, + 0.008280198895530994, + -0.004038716200194071, + -0.02896799327396529, + -0.027569589860324463, + 1.0 + ], + [ + -0.006092097828484013, + 0.00992835783930587, + 0.02098302716863041, + 0.02371048656717104, + -0.016168705391669057, + -0.16847545828003066, + 1.0 + ], + [ + 0.003554098266832795, + 0.00824387360154942, + 0.011287490624549146, + -0.04015734034553928, + 0.07035017820487227, + -0.19802799500550147, + 1.0 + ], + [ + -0.00020895690355308264, + 0.008853578899475857, + 0.01960521397041973, + 0.021234971402586865, + -0.003964545387183108, + -0.13440416827403853, + 1.0 + ], + [ + -0.0036584050670945187, + 0.0028869652316409586, + 0.016495565499433193, + 0.010469488118993196, + -0.0004000079452903565, + -0.027922334580948782, + 1.0 + ], + [ + -0.0018779505405231076, + -0.0035964193474204453, + 0.009106287674651391, + 0.02293401593417044, + -0.02068571970095893, + -0.030672612995198537, + 1.0 + ], + [ + 0.001843273449827554, + 0.001911680583796918, + 0.0021890992415360393, + -0.011389845174190154, + 0.009709529691774084, + 0.009243491725565059, + 1.0 + ], + [ + -0.001036470134829816, + -0.005870722602659774, + 0.009688063413622149, + 0.012632879601608842, + -0.028267126041867922, + -0.007363165262569205, + 1.0 + ], + [ + 0.0019177414945854652, + -0.0012358972514055853, + 0.005210995156233525, + 0.016005248353587853, + 0.012791203918706516, + 0.0009280518899854701, + 1.0 + ], + [ + -0.0005887270431718082, + 0.0001854294763713761, + 0.003392394939901899, + 0.0010077284218618719, + 0.0004089794698768078, + 0.0161658823438038, + 0.0 + ], + [ + -0.006027257493136293, + -0.0022127292264862877, + -0.00031900586216670725, + -0.008085626244873073, + -0.050083262639754274, + 0.00018922332716263192, + 0.0 + ], + [ + 0.00037608387491277193, + 0.002569724040027553, + -0.00776187481767867, + -0.006121574000043272, + -0.02433578218711831, + -0.017696944987848698, + 0.0 + ], + [ + 0.0006595995460155408, + 0.0072092686757050314, + -0.027881248514804804, + -0.017503439324742995, + 0.010241347056171338, + -0.014645114471734394, + 0.0 + ], + [ + -0.010404191879349255, + 0.0053737586174415816, + -0.028218692068970763, + -0.034236073326262065, + -0.003265371206207861, + 0.003999810931985892, + 0.0 + ], + [ + -0.02999606727064911, + 0.004905564350108095, + -0.00880789342231654, + 0.013031118875382127, + -0.04283331979571087, + 0.059239394247754665, + 0.0 + ], + [ + -0.027886212311237325, + 0.00516878890189298, + 0.011933729869176922, + 0.07267261154063029, + -0.03542043568563904, + 0.0669445074096489, + 0.0 + ], + [ + -0.016414781617988514, + 0.005681545126267081, + 0.006637008296745787, + 0.016359468847386167, + -0.0026541776852798287, + 0.019383887422211362, + 0.0 + ], + [ + -0.0036483782532612877, + 0.006194534460292115, + 0.016173996401753717, + 0.041411172182696326, + -0.00746555200655862, + 0.007188526466626613, + 0.0 + ], + [ + -0.004557035345607756, + -0.0020713455162863067, + 0.004707420274468646, + -0.0001479752072099804, + -0.010015846579794247, + 0.036262136865356835, + 1.0 + ], + [ + 0.001505422635622574, + -0.004207752148016663, + -0.007770391980253323, + -0.02225925000111945, + -0.003402547355818781, + -0.008285033475089602, + 1.0 + ], + [ + 0.01487671172121808, + 0.0002027422812827737, + -0.018294750488222825, + -0.012581039987449744, + 0.0499850973683633, + -0.033933273625173656, + 1.0 + ], + [ + 0.02848347414767341, + -0.0004006876334602667, + -0.018008200638256904, + 0.020040295784313995, + 0.11165715117040978, + -0.05322091102761557, + 1.0 + ], + [ + 0.024620730487428296, + -0.005240224918311534, + -0.010799507359615447, + -0.025651841319444098, + 0.048264671689415936, + -0.10524378613069026, + 1.0 + ], + [ + 0.016577843384978173, + -0.0041809599062359055, + -0.0038762223171437517, + 0.0036231414878459757, + 0.03620872705922722, + -0.038541730577830335, + 1.0 + ], + [ + 0.00017227136492913782, + 0.00017174649722286216, + -1.8094957246749048e-07, + -0.0010880224199621225, + 0.0010813650716860919, + -0.004602518520278271, + 1.0 + ] + ], + "state": [ + [ + 0.23670785129070282, + 0.08862130343914032, + 0.11021589487791061, + 3.0720780735188207, + -0.17495498061180115, + 0.20155242085456848, + 1.0 + ], + [ + 0.2364961951971054, + 0.08850771933794022, + 0.11056670546531677, + 3.071734594302722, + -0.1748768836259842, + 0.20294252038002017, + 1.0 + ], + [ + 0.23281168937683105, + 0.08673606812953949, + 0.1015075221657753, + 3.0632100721173963, + -0.14399832487106323, + 0.22867728769779205, + 1.0 + ], + [ + 0.23237083852291107, + 0.07478409260511398, + 0.08070056885480881, + 3.0640312527590474, + -0.11274600774049759, + 0.39639934897422785, + 1.0 + ], + [ + 0.24024122953414917, + 0.06822017580270767, + 0.07055303454399109, + 3.0023024549060544, + -0.16531388461589813, + 0.6017247438430785, + 1.0 + ], + [ + 0.24904240667819977, + 0.06032583490014076, + 0.05258048325777054, + 3.002793150144168, + -0.14132308959960938, + 0.7356056571006775, + 1.0 + ], + [ + 0.25147148966789246, + 0.05558977648615837, + 0.036286573857069016, + 3.009392188983508, + -0.1370100975036621, + 0.763465166091919, + 1.0 + ], + [ + 0.24942995607852936, + 0.05690906196832657, + 0.026618221774697304, + 3.0285447036200246, + -0.1124096065759659, + 0.7913116812705994, + 1.0 + ], + [ + 0.25239863991737366, + 0.05685945227742195, + 0.02487787976861, + 3.018067518370696, + -0.12309618294239043, + 0.7831612825393677, + 1.0 + ], + [ + 0.2493010014295578, + 0.06031211465597153, + 0.014491254463791847, + 3.030180150764533, + -0.09413637220859528, + 0.7870000004768372, + 1.0 + ], + [ + 0.2505421042442322, + 0.06247630715370178, + 0.009378957562148571, + 3.046128997700759, + -0.10695143789052963, + 0.7875027656555175, + 1.0 + ], + [ + 0.25074201822280884, + 0.06195720657706261, + 0.005976032931357622, + 3.0488728453689298, + -0.10888556391000746, + 0.7713538408279419, + 0.0 + ], + [ + 0.24488100409507751, + 0.05937272310256958, + 0.005433145444840193, + 3.0411972795897206, + -0.0590338595211506, + 0.7665221095085144, + 0.0 + ], + [ + 0.24604614078998566, + 0.05802519991993904, + 0.013421778567135334, + 3.0341620688610753, + -0.033040203154087074, + 0.7816938161849976, + 0.0 + ], + [ + 0.24878942966461182, + 0.05486118793487549, + 0.04192153364419937, + 3.016148494678088, + -0.04164821282029152, + 0.7973655462265015, + 0.0 + ], + [ + 0.2419821321964264, + 0.04531103000044823, + 0.070132777094841, + 2.982095332937785, + -0.03890853747725486, + 0.7929853200912476, + 0.0 + ], + [ + 0.2231445163488388, + 0.02127685770392418, + 0.07843400537967682, + 2.997859375672885, + -0.005937465000897646, + 0.7277374267578125, + 0.0 + ], + [ + 0.2069116234779358, + -0.0023244956973940134, + 0.06719832867383957, + 3.0712324773245534, + 0.019552351906895638, + 0.6564276814460754, + 0.0 + ], + [ + 0.19755791127681732, + -0.017273884266614914, + 0.06129928305745125, + 3.087223382788249, + 0.020833594724535942, + 0.6369009613990784, + 0.0 + ], + [ + 0.19856181740760803, + -0.025318346917629242, + 0.045565247535705566, + 3.1284765611686787, + 0.027896877378225323, + 0.6293146014213563, + 0.0 + ], + [ + 0.1935897171497345, + -0.026452774181962013, + 0.04096001759171486, + 3.1273210813575467, + 0.03741788491606712, + 0.5929004549980164, + 1.0 + ], + [ + 0.19266362488269806, + -0.021869828924536705, + 0.048607856035232544, + 3.1053705756836614, + 0.04093705117702484, + 0.601142942905426, + 1.0 + ], + [ + 0.20527920126914978, + -0.012660176493227482, + 0.06627378612756729, + 3.0942290258877954, + -0.00781271979212761, + 0.6368231773376465, + 1.0 + ], + [ + 0.22732102870941162, + 0.005200643092393875, + 0.08446480333805084, + 3.1135941838198384, + -0.1168125569820404, + 0.695335865020752, + 1.0 + ], + [ + 0.24159452319145203, + 0.02432539314031601, + 0.09791028499603271, + 3.075510749714919, + -0.16144868731498718, + 0.8031813502311705, + 1.0 + ], + [ + 0.2493697851896286, + 0.038758471608161926, + 0.10412011295557022, + 3.0724546184116086, + -0.19489744305610657, + 0.8447943329811096, + 1.0 + ], + [ + 0.24960856139659882, + 0.03876937925815582, + 0.10416529327630997, + 3.0704460461908063, + -0.19565612077713013, + 0.8495513200759888, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.015527725219726562, + 0.015527725219726562, + 0.015527725219726562, + 0.015527725219726562, + 0.015527725219726562, + 0.015527725219726562, + 0.015527725219726562, + 0.015527725219726562, + 0.015527725219726562, + 0.015527725219726562, + 0.04544806480407715, + 0.295823335647583, + 0.33384793996810913, + 0.3097999095916748, + 0.3097999095916748, + 0.3097999095916748, + 0.3097999095916748, + 0.3097999095916748, + 0.3097999095916748, + 0.2660676836967468, + 0.021884262561798096, + 0.012741804122924805, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105 + ], + "episode_id": "1385", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1385/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1386.json b/annotation/test/1386.json new file mode 100644 index 0000000000000000000000000000000000000000..d3a99aefead88140692b0d9e80a8fc1ae4385ddf --- /dev/null +++ b/annotation/test/1386.json @@ -0,0 +1,413 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put detergent from sink into drying rack" + ], + "videos": [ + { + "video_path": "videos/test/1386/rgb.mp4" + } + ], + "action": [ + [ + -0.00020712005333493462, + -0.00020584384701936972, + 0.0012199720606322427, + 0.003720780609330899, + -0.002702344256659819, + 0.00017076398883045542, + 1.0 + ], + [ + -0.002176064583920885, + -0.003336863132203679, + 0.008081107481147739, + 0.027453635118524312, + 0.01157681836101999, + -0.13151966751545044, + 1.0 + ], + [ + -0.012132419323828601, + 0.0014623603842213494, + 0.005360387469697135, + 0.020006890312107485, + 0.044159586850081964, + -0.2268152486134899, + 1.0 + ], + [ + -0.00591344646421012, + -0.0019527259317216545, + 0.0011394673566596826, + 0.025413529217588465, + 0.03910861797077826, + -0.1937719386630422, + 1.0 + ], + [ + -0.0038037454369691743, + 0.00010750467346925395, + 0.00810680803171516, + 0.023573131089740653, + -0.007617916457276082, + -0.140909998857225, + 1.0 + ], + [ + -0.0035808045620912524, + -0.004374726092707482, + 0.010204903176195107, + 0.043187869475502086, + -0.0583364887942662, + -0.07848503076130255, + 1.0 + ], + [ + -0.002601955857090576, + -0.005991756215025432, + 0.015882439975428278, + 0.053734470258892976, + -0.07280125449913076, + -0.06092350375032742, + 1.0 + ], + [ + -0.004617030133876132, + -0.009722942461812314, + 0.02028160492281991, + 0.012024601438735183, + -0.04815116913659879, + -0.040995752726375574, + 1.0 + ], + [ + -0.001435791733215963, + -0.00417341239670112, + 0.010361338367243617, + -0.05249057808002977, + -0.04005069539891505, + -0.055239762329644074, + 1.0 + ], + [ + -0.002531769348871215, + -0.0010556461909132305, + -0.00034659697088942735, + -0.029245281619641707, + -0.006269673913621892, + -0.0258516108221758, + 0.0 + ], + [ + 0.0017812708128533653, + -0.0022530524737095783, + -0.004299163250516001, + 0.03142947775938812, + 0.04300222568369731, + 0.019406488734020847, + 0.0 + ], + [ + 0.007139928774848275, + 0.013152491918159426, + -0.0230047938703304, + 0.014372511283005646, + 0.07485141120491541, + 0.07657226894031238, + 0.0 + ], + [ + 0.024065438956533413, + 0.02152456633565541, + -0.031181451989711725, + 0.0031516535335038777, + 0.08569702285811406, + 0.06312251921294226, + 0.0 + ], + [ + 0.031420363635231624, + 0.013054542917217197, + -0.022068594785546153, + -1.8304552127588894e-05, + 0.06444727226991742, + 0.04169015449255964, + 0.0 + ], + [ + 0.03690953087977905, + 2.252921325738093e-05, + -0.005740836663492945, + 0.013501191177180355, + 0.03485347346214832, + 0.012994281402990355, + 0.0 + ], + [ + 0.03637314359706673, + -0.00562677636048807, + 0.0020694943216063846, + -0.01937292728042334, + 0.01403961736324138, + 0.0030098700806593685, + 0.0 + ], + [ + 0.033301531134003096, + -0.006271781342078244, + 0.0063409122516079434, + -0.04493570335343884, + -0.022926376690894947, + 0.014622137680645204, + 0.0 + ], + [ + 0.02225932409832097, + -0.006914708167939556, + 0.011364614662767222, + -0.04455620661381353, + -0.07061719434296197, + 0.04449996013260314, + 0.0 + ], + [ + 0.012236547203049508, + -0.007034011965332862, + 0.0017840072833723351, + -0.023765053532524023, + -0.015556922734613952, + 0.012467616693503065, + 1.0 + ], + [ + -0.0012243752811729903, + 0.0006119998783657968, + 2.5527624426948148e-05, + -0.000965376448006677, + -0.003905754749642794, + 0.0037405981501431296, + 1.0 + ] + ], + "state": [ + [ + 0.24523022770881653, + -0.10207553952932358, + 0.19762124121189117, + 2.969351442652293, + -0.169374018907547, + 0.5447132587432862, + 1.0 + ], + [ + 0.24523724615573883, + -0.1020786464214325, + 0.1963668316602707, + 2.9731795509629926, + -0.16674089431762695, + 0.5440729856491089, + 1.0 + ], + [ + 0.24361029267311096, + -0.10080123692750931, + 0.1875978261232376, + 2.9800476153665265, + -0.154720738530159, + 0.6772701144218445, + 1.0 + ], + [ + 0.23632049560546875, + -0.10962185263633728, + 0.18073317408561707, + 2.9685052802139005, + -0.15801472961902618, + 0.9111140370368958, + 1.0 + ], + [ + 0.23151728510856628, + -0.11299637705087662, + 0.17836207151412964, + 2.9658957590633115, + -0.1602894365787506, + 1.111269474029541, + 1.0 + ], + [ + 0.23178045451641083, + -0.11589814722537994, + 0.16989384591579437, + 2.9690908809476575, + -0.12671844661235812, + 1.249765157699585, + 1.0 + ], + [ + 0.22866301238536835, + -0.11716586351394653, + 0.15872357785701752, + 3.0038623233609876, + -0.0554998405277729, + 1.317021131515503, + 1.0 + ], + [ + 0.22460713982582092, + -0.11784911900758743, + 0.14205005764961243, + 3.0546122436695775, + 0.02504242025315762, + 1.3672209978103638, + 1.0 + ], + [ + 0.2158067673444748, + -0.12128350883722305, + 0.12112269550561905, + 3.067514697211333, + 0.07655518501996994, + 1.4039374589920044, + 1.0 + ], + [ + 0.21208585798740387, + -0.12293391674757004, + 0.110621877014637, + 3.019079426425048, + 0.12047799676656723, + 1.4563943147659302, + 1.0 + ], + [ + 0.21071892976760864, + -0.12528079748153687, + 0.11113959550857544, + 2.99288663466508, + 0.12982206046581268, + 1.4814964532852173, + 0.0 + ], + [ + 0.20806795358657837, + -0.12276085466146469, + 0.11479393392801285, + 3.0225245674424848, + 0.08440887182950974, + 1.4686461687088013, + 0.0 + ], + [ + 0.21927611529827118, + -0.11468970775604248, + 0.1385093480348587, + 3.03117490013177, + 0.0008093549986369908, + 1.4017361402511597, + 0.0 + ], + [ + 0.24103128910064697, + -0.09396220743656158, + 0.17185328900814056, + 3.0340328459912023, + -0.09131854772567749, + 1.3484543561935425, + 0.0 + ], + [ + 0.25781047344207764, + -0.06785888969898224, + 0.19796380400657654, + 3.0370428283982953, + -0.15981274843215942, + 1.3135653734207153, + 0.0 + ], + [ + 0.2662917673587799, + -0.03335093334317207, + 0.20947639644145966, + 3.0519910549097737, + -0.19582490622997284, + 1.3041058778762817, + 0.0 + ], + [ + 0.2705984115600586, + 0.0029752699192613363, + 0.21403805911540985, + 3.032955864565917, + -0.21007722616195676, + 1.3023254871368408, + 0.0 + ], + [ + 0.27427539229393005, + 0.03725355863571167, + 0.21415260434150696, + 2.9916210194402417, + -0.1888405680656433, + 1.2849994897842407, + 0.0 + ], + [ + 0.276157945394516, + 0.061889078468084335, + 0.20627908408641815, + 2.957229660945483, + -0.12538108229637146, + 1.2301229238510132, + 0.0 + ], + [ + 0.2741323411464691, + 0.07589166611433029, + 0.204789936542511, + 2.9353645612769803, + -0.112358920276165, + 1.214920163154602, + 1.0 + ], + [ + 0.2742709219455719, + 0.07453016936779022, + 0.2047523558139801, + 2.93490286369855, + -0.10930076241493225, + 1.2104322910308838, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.18038904666900635, + 0.42007458209991455, + 0.42803627252578735, + 0.429030179977417, + 0.42803627252578735, + 0.42803627252578735, + 0.42803627252578735, + 0.42803627252578735, + 0.42803627252578735, + 0.20015323162078857, + 0.0, + 0.0 + ], + "episode_id": "1386", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1386/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1395.json b/annotation/test/1395.json new file mode 100644 index 0000000000000000000000000000000000000000..1f621ab735d717394c895d2bbb9c3f01cae5ca9b --- /dev/null +++ b/annotation/test/1395.json @@ -0,0 +1,774 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Pick up the pan and place it in the back right corner" + ], + "videos": [ + { + "video_path": "videos/test/1395/rgb.mp4" + } + ], + "action": [ + [ + -0.00022520534184720278, + 0.000488736676845537, + 0.0002446204108983089, + -0.0013786573474821118, + -0.0006694837544294261, + -0.0014702876729658226, + 1.0 + ], + [ + -0.0012696408052184428, + 0.004222981215336204, + 0.005990242388886442, + -0.023454139768456058, + -0.008154862705083126, + 0.0020805644213755586, + 1.0 + ], + [ + -0.026159185100680334, + -0.007184003235593531, + -0.010038332946090472, + 0.003712492518342678, + -0.011991516589134606, + -0.027361546506601796, + 1.0 + ], + [ + -0.025841305336617354, + -0.010366516392097088, + -0.013714699156642743, + 0.015103993473910136, + 0.023361332507574308, + -0.03589914866662336, + 1.0 + ], + [ + -0.023823770010724343, + -0.006796719246321461, + -0.0016679628070891872, + 0.012688566960343053, + -0.035976778355589635, + -0.0396802346165881, + 1.0 + ], + [ + -0.019013592007768174, + 0.0009189958031944838, + 0.008596860064624836, + 0.014767025392460645, + -0.07024650473186018, + 0.014137382468227811, + 1.0 + ], + [ + -0.016601074145790783, + 0.007897057776523045, + 0.019263607422560808, + -0.01639344658343107, + -0.06314607459367051, + 0.007473873032088083, + 1.0 + ], + [ + -0.010023958379987466, + 0.013553994418341335, + 0.021289443461797123, + -0.0331998960278013, + -0.056540622884814026, + 0.026813750721749487, + 1.0 + ], + [ + -0.0009165724485304608, + 0.006225630841619992, + 0.004505708088730717, + -0.034171315109998615, + -0.007962615053997682, + 0.015177955164013065, + 1.0 + ], + [ + 0.0023733081605431237, + 0.008413513365316372, + 0.00011535999355453094, + -0.05294064848123157, + 0.011762402331611056, + -0.010633884183617213, + 1.0 + ], + [ + -0.0011958354926792211, + 0.0050323672036099365, + 0.008893819304204952, + -0.04103777082657971, + -0.015833876123396283, + -0.007222324079672192, + 1.0 + ], + [ + 0.0046314854855559, + -0.00012126841285666512, + 0.009162576001853539, + -0.04021526895712138, + 0.006715445687857714, + 0.013992474891425497, + 1.0 + ], + [ + 0.00938493790586252, + -2.7801164183894023e-05, + 0.002357370345111824, + -0.004941579930624237, + 0.002544274044659084, + 0.02755393237321172, + 1.0 + ], + [ + 0.005509814823690621, + -0.0020832695987358704, + 0.005355125884865018, + 6.124518764000129e-05, + 0.0049760678151163475, + -0.01200581047131025, + 1.0 + ], + [ + 0.0016608558092279884, + 0.0010450000396389346, + 0.0039969231614678784, + -0.015644456605561227, + -0.007746931872880841, + -0.013979625284434697, + 0.0 + ], + [ + 0.0005547668205613537, + -0.0028566978289702185, + 0.000836852182633388, + 0.003620964092480076, + -0.0008093936832793622, + -0.003902171789888668, + 0.0 + ], + [ + -0.00025236040192764723, + -0.004191825561662976, + -0.0019215168038557713, + 0.011565729646968186, + -0.004173907011032162, + -0.008299606979913261, + 0.0 + ], + [ + 0.0001900463309613975, + -0.00164612607685351, + -0.001378165835070553, + 0.0031190683020907374, + 0.00023085866000257304, + -0.008510574052560432, + 0.0 + ], + [ + -0.001423301078583345, + -0.006946720726629206, + -0.01806251852309817, + 0.0511287807849934, + 0.008088375783659344, + -0.038569362763923414, + 0.0 + ], + [ + 0.0028043630157510366, + -0.01314498633455374, + -0.03246157112466573, + 0.07127566375960243, + 0.04507016595503305, + -0.06867236899169848, + 0.0 + ], + [ + 0.012696318932879324, + -0.004693963076971918, + -0.02857531451732871, + -0.00018768233119459282, + 0.07659159168865969, + -0.06260835725733442, + 0.0 + ], + [ + 0.042949678074336355, + 0.01797959182056608, + -0.012879504250330175, + -0.0144629621332207, + 0.0574822763633698, + 0.07246379180875574, + 0.0 + ], + [ + 0.04876735040721688, + 0.02868186540691302, + -0.0007455862471927298, + 0.005527176379645034, + 0.030945796629529485, + 0.11290986900749564, + 0.0 + ], + [ + 0.045863949922626455, + 0.029012284946600766, + 0.014348280979734777, + -0.030631991721540453, + 0.01258499811783768, + 0.11895214266463626, + 0.0 + ], + [ + 0.03914753426169329, + 0.008456061722627622, + 0.018955340952210836, + -0.019918933023306214, + 0.01043324051020047, + 0.0617890219681927, + 0.0 + ], + [ + 0.03780858838151969, + 0.00768054362221552, + 0.022263212769616233, + -0.009976388274776699, + 0.0012159728372025413, + 0.06538037781614571, + 0.0 + ], + [ + 0.0221201598007228, + -0.0009319068955613518, + 0.02228538523608754, + -0.0009308059422436859, + -0.011201925228884468, + 0.026992628546429035, + 0.0 + ], + [ + 0.009882377049560232, + -0.00028045367662743285, + 0.015495118375611079, + -0.006069486788584715, + 0.0059474151985066314, + 0.008384161702687264, + 0.0 + ], + [ + 0.004444296140256732, + -0.0005970434868301428, + 0.0054646237035039825, + 0.0047442336214179774, + -0.0004224377797880167, + 0.007183179295907001, + 0.0 + ], + [ + 0.0010183978809030357, + 0.0007546570833352843, + 3.832604436711971e-05, + -0.007180000109419216, + 0.0042681817036849794, + 0.010797556860592859, + 0.0 + ], + [ + -0.0016346815487510082, + 0.0036260677631349126, + 0.0023487052909548756, + -0.01207109223509134, + -0.003425792064941401, + -0.007198336854781993, + 0.0 + ], + [ + -0.004247328092074386, + 0.0042959578708875075, + 0.0005747802767963785, + -0.010000839174907912, + -0.007538913339851698, + 0.005132766271104915, + 1.0 + ], + [ + 0.0014779534914891026, + -0.004190678082028211, + -0.016149220611022773, + 0.011914848393569004, + 0.035026187127922964, + -0.006186763039504033, + 1.0 + ], + [ + -0.004911502603196222, + -0.004901727751714548, + -0.015147080699841128, + 0.007371424914728727, + 0.023439744918243355, + -0.02202257507429054, + 1.0 + ], + [ + -0.0026574163349856877, + -0.0041456506548299505, + -0.02448321445053318, + 0.012802414201244982, + 0.04364349114249725, + -0.014086022058405773, + 1.0 + ], + [ + -0.008738414550010018, + -0.001045135212250455, + -0.020417719910786412, + 0.019727018417834242, + 0.02726056234458077, + 0.036657284796500676, + 1.0 + ], + [ + -0.0003572686834423127, + -0.0009620488327130946, + -0.002350199247838255, + 0.004126361546339707, + 0.004506400400863998, + 0.0024674154029211584, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -7.160265734828369e-17, + 2.115313592260474e-18, + 7.991539683928807e-17, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -7.160265734828369e-17, + 2.115313592260474e-18, + 7.991539683928807e-17, + 1.0 + ] + ], + "state": [ + [ + 0.30422666668891907, + 0.09147924184799194, + 0.09962277114391327, + -2.7706030031018933, + -0.1318913996219635, + -0.8653448224067689, + 1.0 + ], + [ + 0.30383720993995667, + 0.09137081354856491, + 0.09919150918722153, + -2.772196056442805, + -0.1318003237247467, + -0.8637177348136902, + 1.0 + ], + [ + 0.30227693915367126, + 0.09046395123004913, + 0.09197543561458588, + -2.7957704981141767, + -0.12344429641962051, + -0.8627058863639832, + 1.0 + ], + [ + 0.28699079155921936, + 0.11347715556621552, + 0.10054323077201843, + -2.795888813334056, + -0.12138081341981886, + -0.8326792120933533, + 1.0 + ], + [ + 0.27216967940330505, + 0.13735836744308472, + 0.11370959132909775, + -2.7839762290292462, + -0.15548251569271088, + -0.8065173625946045, + 1.0 + ], + [ + 0.25963425636291504, + 0.15879130363464355, + 0.11391434818506241, + -2.779281797009059, + -0.13547156751155853, + -0.7563097476959229, + 1.0 + ], + [ + 0.2482539862394333, + 0.1725357174873352, + 0.1030585765838623, + -2.7651897986703595, + -0.06477305293083191, + -0.7445940375328064, + 1.0 + ], + [ + 0.236884206533432, + 0.1826554238796234, + 0.08120988309383392, + -2.7819007654958448, + -0.0032976754009723663, + -0.7283343076705933, + 1.0 + ], + [ + 0.22600768506526947, + 0.1853979229927063, + 0.056479115039110184, + -2.814486654596873, + 0.059058751910924905, + -0.7335071563720703, + 1.0 + ], + [ + 0.22207550704479218, + 0.18295414745807648, + 0.05027702450752258, + -2.8493700345330915, + 0.07147166132926941, + -0.7453514337539673, + 1.0 + ], + [ + 0.21824024617671967, + 0.17557521164417267, + 0.04757976904511452, + -2.9018108268552503, + 0.05714287981390953, + -0.7385465502738953, + 1.0 + ], + [ + 0.2150731384754181, + 0.17470422387123108, + 0.03782961145043373, + -2.942215161519595, + 0.07080519944429398, + -0.7277442812919617, + 1.0 + ], + [ + 0.21933574974536896, + 0.17349642515182495, + 0.028567347675561905, + -2.9835154881053647, + 0.06698598712682724, + -0.7428232431411743, + 1.0 + ], + [ + 0.2263878434896469, + 0.16756172478199005, + 0.02562076784670353, + -2.9903696199231824, + 0.06878483295440675, + -0.7704995870590209, + 1.0 + ], + [ + 0.23208282887935638, + 0.16602835059165955, + 0.020273679867386818, + -2.989550219970294, + 0.06205268949270249, + -0.7593591809272765, + 1.0 + ], + [ + 0.23280590772628784, + 0.16475243866443634, + 0.016069507226347923, + -3.004275532560893, + 0.0675860345363617, + -0.7443335056304932, + 0.0 + ], + [ + 0.23518602550029755, + 0.16656318306922913, + 0.015595108270645142, + -3.0003864635997495, + 0.06785312294960022, + -0.7403481006622314, + 0.0 + ], + [ + 0.23774191737174988, + 0.16948314011096954, + 0.018098821863532066, + -2.9882265647226056, + 0.07081480324268342, + -0.7315216064453126, + 0.0 + ], + [ + 0.23891401290893555, + 0.17033417522907257, + 0.019694792106747627, + -2.984518887596675, + 0.06928405910730362, + -0.7231260538101196, + 0.0 + ], + [ + 0.24150238931179047, + 0.17343243956565857, + 0.0386747382581234, + -2.9309392889314374, + 0.055216208100318916, + -0.6862428784370423, + 0.0 + ], + [ + 0.2489853948354721, + 0.1751454472541809, + 0.07295999675989151, + -2.8566180189424237, + -0.0033012584317475557, + -0.628598153591156, + 0.0 + ], + [ + 0.2571030557155609, + 0.1648814082145691, + 0.10174421966075897, + -2.8562900145822248, + -0.09439367800951004, + -0.5900604724884033, + 0.0 + ], + [ + 0.2804431915283203, + 0.12412544339895248, + 0.11305844038724899, + -2.8632117827707013, + -0.1288372129201889, + -0.6764108538627625, + 0.0 + ], + [ + 0.30148401856422424, + 0.07160841673612595, + 0.11221863329410553, + -2.844377430277415, + -0.1267537623643875, + -0.7944121360778809, + 0.0 + ], + [ + 0.31853771209716797, + 0.02065221033990383, + 0.09597904235124588, + -2.8622021992974958, + -0.10315807908773422, + -0.9124574661254883, + 0.0 + ], + [ + 0.3413611948490143, + -0.013598073273897171, + 0.07956727594137192, + -2.876223685341426, + -0.09595823287963867, + -0.9750150442123413, + 0.0 + ], + [ + 0.36244162917137146, + -0.047494761645793915, + 0.05979961156845093, + -2.880654813843318, + -0.07980299741029738, + -1.038625955581665, + 0.0 + ], + [ + 0.38022106885910034, + -0.0645836591720581, + 0.040340181440114975, + -2.8797886093431195, + -0.06199563294649125, + -1.0618568658828735, + 0.0 + ], + [ + 0.3892154395580292, + -0.07191671431064606, + 0.026086539030075073, + -2.8852674086862287, + -0.06556752324104309, + -1.0715153217315674, + 0.0 + ], + [ + 0.39322319626808167, + -0.07516559958457947, + 0.021254047751426697, + -2.880080135660716, + -0.06333623081445694, + -1.078370451927185, + 0.0 + ], + [ + 0.39307698607444763, + -0.07641410827636719, + 0.021086838096380234, + -2.886543961363383, + -0.06466352194547655, + -1.0899285078048706, + 0.0 + ], + [ + 0.3898322284221649, + -0.076499342918396, + 0.017800312489271164, + -2.8991284688287458, + -0.06316263228654861, + -1.0820831060409546, + 0.0 + ], + [ + 0.3843289613723755, + -0.07473839819431305, + 0.015945980325341225, + -2.9089229722791394, + -0.05461157113313675, + -1.085260272026062, + 1.0 + ], + [ + 0.38490596413612366, + -0.07507306337356567, + 0.03268212452530861, + -2.8967503180080136, + -0.09011996537446976, + -1.0873268842697144, + 1.0 + ], + [ + 0.38292720913887024, + -0.06897265464067459, + 0.048059165477752686, + -2.8907623310857495, + -0.1181875467300415, + -1.071539282798767, + 1.0 + ], + [ + 0.37845733761787415, + -0.06508093327283859, + 0.07231923192739487, + -2.878051998215266, + -0.16396020352840424, + -1.0686986446380615, + 1.0 + ], + [ + 0.3689604699611664, + -0.0567384697496891, + 0.09060989320278168, + -2.8514202554994306, + -0.18058378994464874, + -1.1118851900100708, + 1.0 + ], + [ + 0.36882731318473816, + -0.055905964225530624, + 0.09303183853626251, + -2.8466253598504743, + -0.18419460952281952, + -1.115601658821106, + 1.0 + ], + [ + 0.36882731318473816, + -0.055905964225530624, + 0.09303183853626251, + -2.8466253598504743, + -0.18419460952281952, + -1.115601658821106, + 1.0 + ], + [ + 0.36882731318473816, + -0.055905964225530624, + 0.09303183853626251, + -2.8466253598504743, + -0.18419460952281952, + -1.115601658821106, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.03274601697921753, + 0.2878596782684326, + 0.6002527475357056, + 0.8281095325946808, + 0.9177437350153923, + 0.9221144318580627, + 0.9282467439770699, + 0.9310474172234535, + 0.9313545674085617, + 0.9313545674085617, + 0.9313545674085617, + 0.9313545674085617, + 0.9313545674085617, + 0.9313545674085617, + 0.9313545674085617, + 0.9313545674085617, + 0.9313545674085617, + 0.9128747060894966, + 0.7500266283750534, + 0.4763064980506897, + 0.17017298936843872, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1395", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1395/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1397.json b/annotation/test/1397.json new file mode 100644 index 0000000000000000000000000000000000000000..11a2f5265975ba992c3bd66c50d94cbdc3a8e827 --- /dev/null +++ b/annotation/test/1397.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put sweet potato in pot" + ], + "videos": [ + { + "video_path": "videos/test/1397/rgb.mp4" + } + ], + "action": [ + [ + -0.0013691889290882628, + -0.00030245202776692503, + 0.0013808809042797133, + 0.002273403747477331, + -0.005876476161060549, + -0.0009916139972196783, + 1.0 + ], + [ + 0.0012108944182546678, + 0.00477181376139516, + 0.012778072039546264, + 0.025779952564617237, + -0.0011953657728344127, + -0.012080334004345845, + 1.0 + ], + [ + 0.007236055450729175, + 0.010097198599496216, + 0.00888261671324076, + 0.008169750854697554, + 0.033267396300742894, + -0.009310227809283374, + 1.0 + ], + [ + 0.0067945337519300705, + 0.007538974582488094, + 0.009372278556799386, + -0.01592655650801463, + 0.030999218425229957, + -0.0024435197417387706, + 1.0 + ], + [ + 0.002175782036133334, + 0.006459120158024605, + 0.008747661097076549, + -0.02994213650582591, + 0.02221332905064983, + -0.03328301537704914, + 1.0 + ], + [ + -0.0033001806071676454, + 0.0013595806551021526, + 0.012611448104254385, + -0.0035885613347051266, + 0.018386198269389347, + -0.01691578459198545, + 1.0 + ], + [ + -0.0031081555225913474, + -0.003372703098128361, + 0.007569064911608918, + 0.005006701587599853, + 0.0166881086077112, + 0.002831516419032987, + 1.0 + ], + [ + -0.003327796621737295, + -0.006226588767901801, + 0.0047506984585872535, + 0.020282871562166637, + 0.00810367518202235, + 0.011736953252036185, + 1.0 + ], + [ + -0.0034884484682426316, + -0.007610764841179489, + 0.003960550546552082, + 0.029281374807447948, + 0.006297664061994194, + 0.005887985363353552, + 1.0 + ], + [ + -0.0019721216456339737, + -0.008320196465948407, + 0.006493459993011765, + 0.018291188306986672, + 0.013532126707827687, + 0.003116080005619392, + 1.0 + ], + [ + -0.00247132674804866, + -0.007009634513807154, + 0.006968061957582675, + -0.0037493015883530065, + 0.005438262387740366, + 0.004897023308941147, + 1.0 + ], + [ + 0.0006042878961145986, + -0.006117406121917492, + 0.006932624088599344, + -0.01476823460013851, + 0.019300066599230937, + -0.014192401896136134, + 1.0 + ], + [ + -0.00031138051716526985, + 0.0009103701253747582, + 0.0076204105750693266, + -0.019603138846136133, + 0.005491892755573192, + -0.01300052634812087, + 1.0 + ], + [ + -0.001944240941736663, + 0.0006767765677202918, + 0.008162422874049571, + -0.02011863342200353, + -0.013847681353627997, + -0.022277158471948284, + 1.0 + ], + [ + -0.0030533783834790613, + 0.0021362834467925805, + 0.0035059202033249086, + -0.008402679862131075, + -0.014974981482862434, + -0.01938035254756892, + 1.0 + ], + [ + -0.0022894864069180174, + 0.0037209697409766413, + -0.001298066238249541, + -0.0007714893679939361, + -0.0015645899811970799, + -0.010664333200241726, + 0.0 + ], + [ + -0.007729162027752309, + 0.0009560809282887402, + -0.005762978139527873, + 0.046012755090879154, + -0.06467327164839419, + -0.015642913034817373, + 0.0 + ], + [ + 0.0012378206730068134, + -0.002232828068462755, + -0.021199627247391432, + 0.04711919874979635, + -0.044189620282981824, + 0.005480352021125679, + 0.0 + ], + [ + 0.010665516374541247, + -0.012758812166504893, + -0.033478465646762684, + 0.07725388260183252, + -0.0008295095132039254, + 0.04215267037386006, + 0.0 + ], + [ + 0.0235191230471694, + -0.022655133842626945, + -0.028086011099597172, + 0.08832854973334042, + 0.04198915834549945, + 0.09280276761403793, + 0.0 + ], + [ + 0.01966802428383185, + -0.023121358789466803, + -0.0027628478496078686, + 0.051239572787111276, + 0.08740281635815682, + 0.0648969775270199, + 0.0 + ], + [ + 0.005462263674623607, + -0.012854822473343783, + 0.012050715527172061, + -0.010728947243886872, + 0.07697727719473696, + 0.02169065297227007, + 0.0 + ], + [ + -0.0043076460005437335, + -0.008546833250929056, + 0.014820989215851977, + -0.028773746837823678, + 0.023387889951765745, + 0.0037016671852368697, + 1.0 + ] + ], + "state": [ + [ + 0.24310682713985443, + -0.09774351865053177, + 0.12046283483505249, + -3.0324848016076764, + -0.20823515951633453, + 0.07871655374765398, + 1.0 + ], + [ + 0.24201200902462006, + -0.09737745672464371, + 0.11886898428201675, + -3.0305527319484433, + -0.2025013267993927, + 0.08037605881690979, + 1.0 + ], + [ + 0.24611327052116394, + -0.10038433969020844, + 0.106154665350914, + -3.0072731246524533, + -0.20263680815696716, + 0.09276801347732545, + 1.0 + ], + [ + 0.2560224235057831, + -0.10831724107265472, + 0.09766393154859543, + -3.0000175853543958, + -0.2368488758802414, + 0.09767185151576996, + 1.0 + ], + [ + 0.2656098008155823, + -0.11354833841323853, + 0.08920466154813766, + -3.0153998752408704, + -0.26788216829299927, + 0.09564406424760818, + 1.0 + ], + [ + 0.2707058787345886, + -0.11839059740304947, + 0.08062804490327835, + -3.0537259598546704, + -0.2939809262752533, + 0.1272120326757431, + 1.0 + ], + [ + 0.27124935388565063, + -0.1185707375407219, + 0.06753375381231308, + -3.0619514529877385, + -0.31374520063400274, + 0.14322802424430847, + 1.0 + ], + [ + 0.26998013257980347, + -0.11474858224391937, + 0.05965297296643257, + -3.0555803199582776, + -0.33015233278274536, + 0.1388413608074188, + 1.0 + ], + [ + 0.267295241355896, + -0.1084478422999382, + 0.054602645337581635, + -3.0310450737648686, + -0.3371914327144623, + 0.12571263313293457, + 1.0 + ], + [ + 0.2640424370765686, + -0.10079403966665268, + 0.05052618309855461, + -2.9994641562276563, + -0.3427935540676117, + 0.11876149475574493, + 1.0 + ], + [ + 0.2628653049468994, + -0.09171344339847565, + 0.04491930454969406, + -2.9793682416253766, + -0.3557433485984802, + 0.11342627555131912, + 1.0 + ], + [ + 0.26164111495018005, + -0.08375784009695053, + 0.038673821836709976, + -2.9809922148757657, + -0.360313206911087, + 0.10732336342334747, + 1.0 + ], + [ + 0.26349371671676636, + -0.07636959850788116, + 0.033398326486349106, + -2.9998895694785794, + -0.381611704826355, + 0.11909067630767824, + 1.0 + ], + [ + 0.2660231590270996, + -0.07589070498943329, + 0.026161685585975647, + -3.0243685488873204, + -0.388855129480362, + 0.13216084241867065, + 1.0 + ], + [ + 0.26727885007858276, + -0.07543878257274628, + 0.017850112169981003, + -3.0541923960023603, + -0.37759271264076233, + 0.15770255029201505, + 1.0 + ], + [ + 0.26610150933265686, + -0.07747100293636322, + 0.013304537162184715, + -3.070736924307891, + -0.36428263783454895, + 0.17976187169551847, + 1.0 + ], + [ + 0.26431524753570557, + -0.08166143298149109, + 0.013452539220452309, + -3.0756094103031835, + -0.36345493793487543, + 0.19126145541667938, + 0.0 + ], + [ + 0.2554912865161896, + -0.08472876250743866, + 0.016020642593503, + -3.0368678291612348, + -0.2998805642127991, + 0.2120264768600464, + 0.0 + ], + [ + 0.25049030780792236, + -0.0858006551861763, + 0.03675185516476631, + -2.9893931617313108, + -0.25536021590232855, + 0.21117156744003296, + 0.0 + ], + [ + 0.2503504455089569, + -0.07812387496232986, + 0.07333594560623169, + -2.901450665789195, + -0.2479264736175537, + 0.1683213710784912, + 0.0 + ], + [ + 0.2623575031757355, + -0.06053880229592323, + 0.110776886343956, + -2.78871742089326, + -0.26540571451187134, + 0.06459528952836989, + 0.0 + ], + [ + 0.27718818187713623, + -0.038794271647930145, + 0.1261485517024994, + -2.7124309559636792, + -0.3238820433616638, + -0.03132200613617897, + 0.0 + ], + [ + 0.2846711575984955, + -0.02231704443693161, + 0.12256964296102524, + -2.704645963507243, + -0.3843896985054016, + -0.08708060532808304, + 0.0 + ], + [ + 0.28557732701301575, + -0.00832713209092617, + 0.11185856908559799, + -2.727928580837794, + -0.40397775173187256, + -0.10149019956588745, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.1897594928741455, + 0.24447113275527954, + 0.24447113275527954, + 0.24447113275527954, + 0.24447113275527954, + 0.24447113275527954, + 0.24447113275527954, + 0.24447113275527954, + 0.24447113275527954 + ], + "episode_id": "1397", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1397/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1401.json b/annotation/test/1401.json new file mode 100644 index 0000000000000000000000000000000000000000..16d47b7e145547d7cd810fadff8ea86f41b0570a --- /dev/null +++ b/annotation/test/1401.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "close oven" + ], + "videos": [ + { + "video_path": "videos/test/1401/rgb.mp4" + } + ], + "action": [ + [ + -0.0004533963327131299, + -2.579111826435079e-05, + 0.0003201154946062476, + 9.676430781037194e-05, + -0.0015308572662082259, + 1.3694823618763185e-05, + 1.0 + ], + [ + -0.008597167908756271, + 0.0008989181330139414, + 0.010014488167527473, + -0.003086697152778575, + -0.03710055155846177, + -3.0370657268167104e-05, + 1.0 + ], + [ + -0.032326836288447965, + 0.00657433095850699, + -0.002842510315754014, + -0.0256959006968645, + -0.022717399314217575, + 0.0247361530831455, + 1.0 + ], + [ + -0.030485199416610206, + 0.0040045012938940035, + -0.021519695681491532, + -0.0505888579265134, + -0.000772814295767508, + 0.05551958545566481, + 1.0 + ], + [ + -0.022573267267233722, + -0.004703715604819365, + -0.023425693137655853, + -0.019417669777006395, + 0.019655315486152226, + 0.024202329771428773, + 1.0 + ], + [ + -0.011858831493388598, + -0.012504118297924374, + -0.01269005486738926, + 0.05977710416414331, + 0.010631022578375265, + -0.016839402934660564, + 1.0 + ], + [ + 0.00504866678223251, + -0.016789798356745062, + -0.001910723906246521, + 0.05878420227991059, + 0.04177288305025257, + -0.01974189616016151, + 1.0 + ], + [ + 0.006572658492161523, + -0.022972927433848107, + 0.006215016145810582, + 0.04393901336567987, + 0.0351563576597261, + -0.033413486779403125, + 1.0 + ], + [ + 0.0040150458442346805, + -0.009558356969305811, + 0.015642888182171563, + 0.03368869929553881, + -0.009834478871130026, + -0.02276075740520479, + 1.0 + ], + [ + 0.0018949850129773022, + -0.0032029872300567436, + 0.009849979677141532, + 0.020773024746856397, + -0.011769544312163706, + -0.019986301690994912, + 1.0 + ], + [ + -0.0023827118820955537, + 0.005467264724312878, + 0.00784059610431572, + -0.031441600773604896, + -0.027951504510310622, + -0.018894527235822568, + 1.0 + ], + [ + -0.010864389523781881, + 0.00989597507154897, + 0.008168308961239993, + -0.01303483412245821, + -0.027475798000177007, + -0.020876624443842598, + 1.0 + ], + [ + -0.007458903510988646, + 0.009276636406072222, + 0.00796110857669506, + -0.01074242672884633, + -0.006816564984163054, + -0.03415443900258818, + 1.0 + ], + [ + -0.007000266255678667, + 0.015462655345197102, + 0.004023776244131154, + -0.021301161400598616, + -0.013806814578815786, + 0.0004694072579229128, + 1.0 + ], + [ + -0.002894544206160253, + 0.024726676238849186, + -0.001666587829636986, + -0.03490773994546446, + -0.004815324322876165, + 0.0073589585875842595, + 1.0 + ], + [ + 0.003557744023016276, + 0.02236855048632587, + -0.005948150823430587, + -0.037357963093350204, + 0.005283268527586339, + -0.027871609050778276, + 1.0 + ], + [ + 0.01311356252225565, + 0.025211392597800277, + 0.004307640630050201, + -0.010311896787739637, + 9.316004244304877e-05, + -0.03026945341237308, + 1.0 + ], + [ + 0.010990192255732912, + 0.022229417734975342, + 0.005804574259945313, + -0.0009810356674261106, + 0.0025023940509169736, + -0.02567081412152803, + 1.0 + ], + [ + 0.010881342444940038, + 0.01802297029576492, + 0.0022592358550336945, + -0.011357959372133098, + 0.020287394432188816, + -0.018715949481977624, + 1.0 + ], + [ + 0.008436163198001187, + 0.010776574534701861, + -0.006622605550782322, + -0.03909567272879099, + 0.023801167060609595, + 0.0013098566671977802, + 1.0 + ], + [ + -3.716342579455356e-05, + -0.003973124885664166, + -0.021610961959214116, + -0.06844096890504996, + 0.032871720387418826, + 0.02626013455796748, + 1.0 + ], + [ + -0.012751642611841644, + -0.013286561819678319, + -0.03053107587371761, + -0.04248091283227177, + 0.015612823527501528, + 0.04708036572590234, + 1.0 + ], + [ + -0.023690343837219217, + -0.0118458728198484, + -0.0012828756044414844, + 0.03455202733136195, + -0.06195649000573954, + 0.08452812268783859, + 1.0 + ], + [ + -0.033947336111455076, + -0.0021887987577417934, + 0.020018458978682093, + 0.023236244889379094, + -0.08569653422462144, + 0.12151840331325901, + 1.0 + ], + [ + -0.013694229723356597, + -0.0007976116927214469, + 0.022511244298775, + -0.008151647231230554, + -0.03903730598192285, + 0.023469086265553968, + 1.0 + ], + [ + -0.008718696329969779, + 0.00501467221093769, + 0.03348546219627348, + 0.0031137765009260515, + -0.017189256605126366, + 0.046496997096505774, + 1.0 + ], + [ + 0.0031832996208777994, + 0.014044208676246983, + 0.022165066780911267, + -0.015353099768274073, + -0.004365120371659317, + 0.024583626028106553, + 1.0 + ], + [ + 0.019688879772728974, + 0.013141539387052311, + 0.011863613427867471, + -0.044302109587710206, + 0.020941264358348845, + 0.023146732739329694, + 1.0 + ], + [ + 0.013088892293198161, + 0.010562503166229045, + 0.004545513310798144, + -0.016656153115300613, + 0.021998380248177615, + 0.02043611472609037, + 1.0 + ], + [ + 0.01163945723556962, + 0.00473739626211364, + 0.0007318355803097638, + -0.0013700056933201412, + 0.027935853016317992, + -0.0038957016705912194, + 1.0 + ], + [ + 0.013367950305351773, + 0.0032344988080891396, + 0.004744939793860152, + 0.004639358937106361, + 0.02268881162106685, + -0.0046302458861978086, + 1.0 + ], + [ + 0.01858617674161869, + 0.002748902139539854, + 0.008593450003904938, + 0.011040072780850183, + 0.03583636839261041, + -0.017638683207048516, + 1.0 + ], + [ + 0.01851583337124538, + 0.003057867881164426, + 0.004273240247609511, + 0.0001699903770297119, + 0.028803578186671012, + -0.02861432847379643, + 1.0 + ], + [ + 0.011960194024712984, + 0.003925513399108242, + 0.0033439243062453427, + -0.008469424632809712, + 0.012305543716717451, + -0.026412770454903655, + 1.0 + ], + [ + 0.009298412846049355, + -0.000780470472690945, + 0.006477796005410697, + 0.004258885894012655, + 0.007672869302076507, + -0.01402004240700063, + 1.0 + ], + [ + 0.006407060707329681, + -0.0005074362548947605, + 0.0020099612506756506, + 0.004173215160516328, + 0.013531687952092707, + -0.014667327316650276, + 1.0 + ], + [ + 0.007218266752915505, + -0.00026116991361709914, + 0.0023026259934019943, + -0.0059683997418070334, + 0.004461004603518867, + -0.042774434386416885, + 1.0 + ], + [ + 0.001485865704800725, + 0.00010304160703422506, + 0.0013939829052802704, + 0.001982787437884185, + 0.00042734490204986245, + -0.01273299341061852, + 1.0 + ] + ], + "state": [ + [ + 0.34485965967178345, + 0.08560218662023544, + 0.11075298488140106, + 3.1357677938700697, + -0.2302230000495911, + 0.3041436076164246, + 1.0 + ], + [ + 0.3445010483264923, + 0.08551470190286636, + 0.11033771187067032, + 3.1358698491291186, + -0.22869224846363068, + 0.30412039160728455, + 1.0 + ], + [ + 0.3389632999897003, + 0.08277443796396255, + 0.09864012151956558, + 3.132821250828453, + -0.19159212708473206, + 0.30393508076667786, + 1.0 + ], + [ + 0.31011560559272766, + 0.06686253100633621, + 0.09533137828111649, + 3.111942049237438, + -0.1690325140953064, + 0.2786464691162109, + 1.0 + ], + [ + 0.2786512076854706, + 0.054361145943403244, + 0.1115235909819603, + 3.070869917171546, + -0.16964216530323026, + 0.22231897711753842, + 1.0 + ], + [ + 0.25175678730010986, + 0.054788973182439804, + 0.1304166465997696, + 3.055369058745452, + -0.19091393053531647, + 0.19915001094341278, + 1.0 + ], + [ + 0.2355114072561264, + 0.06533396244049072, + 0.13952231407165527, + 3.111729461821266, + -0.20002508163452148, + 0.21720148622989655, + 1.0 + ], + [ + 0.2364410161972046, + 0.08278364688158035, + 0.14190591871738434, + -3.116983823599764, + -0.2411449104547501, + 0.23878927528858185, + 1.0 + ], + [ + 0.2384846806526184, + 0.10707519948482513, + 0.13799113035202026, + -3.0811198485367974, + -0.2769813239574433, + 0.27259561419487005, + 1.0 + ], + [ + 0.24334083497524261, + 0.11932108551263809, + 0.1246255487203598, + -3.0540560876303395, + -0.2684631943702698, + 0.29677441716194153, + 1.0 + ], + [ + 0.24632105231285095, + 0.12446953356266022, + 0.11593739688396454, + -3.0390405525737485, + -0.2584257423877716, + 0.3184311985969544, + 1.0 + ], + [ + 0.24761350452899933, + 0.12001431733369827, + 0.10724695026874542, + -3.0761532877855977, + -0.23249366879463196, + 0.3406794667243957, + 1.0 + ], + [ + 0.24268057942390442, + 0.10835538059473038, + 0.09618250280618668, + -3.094506526487418, + -0.20638149976730347, + 0.36379098892211914, + 1.0 + ], + [ + 0.24062812328338623, + 0.09805963188409805, + 0.08644312620162964, + -3.1124763806634625, + -0.2010557800531387, + 0.3989360332489013, + 1.0 + ], + [ + 0.24108871817588806, + 0.08160769194364548, + 0.08066301047801971, + -3.133761099661239, + -0.18724115192890167, + 0.39886760711669916, + 1.0 + ], + [ + 0.24782335758209229, + 0.05759969353675842, + 0.08157134056091309, + 3.115902116643735, + -0.18236327171325684, + 0.39142322540283203, + 1.0 + ], + [ + 0.2584369480609894, + 0.03795463591814041, + 0.08862920850515366, + 3.073386998968669, + -0.18685659766197205, + 0.41991713643074036, + 1.0 + ], + [ + 0.28101444244384766, + 0.020167486742138863, + 0.08853083103895187, + 3.057398596900054, + -0.18480069935321805, + 0.4506459236145019, + 1.0 + ], + [ + 0.3012467622756958, + 0.004807339049875736, + 0.08670230209827423, + 3.051624560850211, + -0.1850735247135162, + 0.4768843948841095, + 1.0 + ], + [ + 0.3191846013069153, + -0.00635770708322525, + 0.08808465301990509, + 3.036422239738055, + -0.203558087348938, + 0.4977751672267914, + 1.0 + ], + [ + 0.32985833287239075, + -0.01196337677538395, + 0.09734803438186646, + 2.997048484283038, + -0.22736507654190063, + 0.49900284409523016, + 1.0 + ], + [ + 0.3223358988761902, + -0.008040294982492924, + 0.11761730164289474, + 2.933522956567355, + -0.26362350583076477, + 0.47700595855712896, + 1.0 + ], + [ + 0.2962549328804016, + 0.00021356889919843525, + 0.14048519730567932, + 2.902851866679736, + -0.2883729040622711, + 0.4323296844959259, + 1.0 + ], + [ + 0.27108439803123474, + 0.0016090903664007783, + 0.13225722312927246, + 2.966409297781535, + -0.246757835149765, + 0.3326322138309479, + 1.0 + ], + [ + 0.2450443059206009, + -0.008797979913651943, + 0.10448029637336731, + 3.0239085053377828, + -0.18124428391456604, + 0.1961360424757004, + 1.0 + ], + [ + 0.23616233468055725, + -0.01244993694126606, + 0.0799303874373436, + 3.0207929631047925, + -0.14516146481037137, + 0.16796691715717313, + 1.0 + ], + [ + 0.2338181734085083, + -0.02198941260576248, + 0.0463753268122673, + 3.0310662259631833, + -0.1335286945104599, + 0.11930873245000838, + 1.0 + ], + [ + 0.24161039292812347, + -0.0375760942697525, + 0.026500718668103218, + 3.019092211621352, + -0.13185985386371613, + 0.09417552500963211, + 1.0 + ], + [ + 0.2637357711791992, + -0.05004347488284111, + 0.019008761271834373, + 2.97750540276105, + -0.15544466674327853, + 0.07351752370595932, + 1.0 + ], + [ + 0.2778778672218323, + -0.06019528582692146, + 0.018309390172362328, + 2.9634391983323773, + -0.1804640740156174, + 0.056681182235479355, + 1.0 + ], + [ + 0.2895600199699402, + -0.06433223187923431, + 0.020515847951173782, + 2.960394473867961, + -0.20726023614406583, + 0.06565584987401964, + 1.0 + ], + [ + 0.3037171959877014, + -0.06744673103094101, + 0.019269736483693123, + 2.963167267041751, + -0.22873525321483612, + 0.07452867925167084, + 1.0 + ], + [ + 0.323885977268219, + -0.07018299400806427, + 0.015722492709755898, + 2.9685760756307324, + -0.2608063519001007, + 0.09906636178493498, + 1.0 + ], + [ + 0.34300366044044495, + -0.07204919308423996, + 0.01693851687014103, + 2.959867464500018, + -0.2841072380542755, + 0.13358633220195767, + 1.0 + ], + [ + 0.35569339990615845, + -0.0748492106795311, + 0.01781495288014412, + 2.9432056566053113, + -0.2913209795951843, + 0.16302764415740967, + 1.0 + ], + [ + 0.36640840768814087, + -0.07360513508319855, + 0.014255129732191563, + 2.942900749044963, + -0.2960453331470489, + 0.17897860705852509, + 1.0 + ], + [ + 0.3730153441429138, + -0.07230749726295471, + 0.014143821783363819, + 2.9418680538707456, + -0.3063713312149048, + 0.19686000049114227, + 1.0 + ], + [ + 0.38048669695854187, + -0.07102220505475998, + 0.014119694009423256, + 2.9225635548406323, + -0.3019704520702362, + 0.24169920384883878, + 1.0 + ], + [ + 0.38234710693359375, + -0.07097912579774857, + 0.013283858075737953, + 2.920666279392787, + -0.2995966076850891, + 0.2548046410083771, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1401", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1401/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1403.json b/annotation/test/1403.json new file mode 100644 index 0000000000000000000000000000000000000000..a3175b3c2ba64442714687c5534ab7ac0b2ed0b1 --- /dev/null +++ b/annotation/test/1403.json @@ -0,0 +1,717 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the towel to the right of the pan." + ], + "videos": [ + { + "video_path": "videos/test/1403/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 4.443471070541112e-09, + -3.0564001427659233e-09, + -0.001533976187244377, + 1.0 + ], + [ + -0.001930784840557892, + 0.0027349223456114447, + 0.00898565617900928, + -0.004838872946044127, + -0.02797161498070921, + -0.000516992083406483, + 1.0 + ], + [ + 0.0040081541872562165, + 0.02890330978862336, + -0.004251105946753246, + -0.012754986426411319, + 0.006663234257362617, + 0.027877508321728056, + 1.0 + ], + [ + 0.004587618637853332, + 0.030291403946174224, + 0.0026078383428253223, + -0.008406110763894088, + -0.00986456801133054, + 0.05360637974518216, + 1.0 + ], + [ + 0.0070985461909637785, + 0.033834546092018, + -0.0003289508056741552, + -0.011993359016792203, + 0.015223298017818993, + 0.03450107891751049, + 1.0 + ], + [ + 0.009081255124685567, + 0.030076784651781832, + 0.005623369936591888, + -0.007561126454131559, + -0.003105858059422561, + -0.00822851210099665, + 1.0 + ], + [ + 0.00995971057875771, + 0.02900283625211798, + 0.010068092273622278, + -0.001593282529674383, + -0.019106971247617642, + -0.10046436143288004, + 1.0 + ], + [ + 0.007816631356533339, + 0.015966571418148875, + 0.011304114133488991, + -0.005804760910804784, + -0.018028810770823914, + -0.03501223889954262, + 1.0 + ], + [ + 0.0010260572369578797, + 0.006488408913705434, + 0.015693052280038183, + -0.01729029445916022, + -0.02907442774100816, + -0.001282659480311244, + 1.0 + ], + [ + 0.0026525739245005244, + 0.006178498534178445, + 0.00589637332019581, + -0.03586325609608753, + 0.021707989641871102, + -0.0007966038528047999, + 1.0 + ], + [ + -0.0032218693324730274, + 0.0003566561989634558, + 0.004128759253710019, + -0.00922492364920499, + -0.0037336827312900453, + 0.0064323031523685695, + 1.0 + ], + [ + -0.005286343004606695, + 0.002595793677857636, + 0.006135276733020766, + -0.02246914092176698, + -0.004409228678379681, + 0.03905050185471637, + 1.0 + ], + [ + -0.005744745121069367, + 0.0019212183134507763, + 0.002386912411351026, + -0.023021072035478096, + 0.005907058685250395, + 0.025961306457210852, + 1.0 + ], + [ + -0.008679466051026779, + 0.005701102869900198, + -0.00015495533997499208, + -0.04752082173235492, + -0.010409263718356073, + 0.08307185595932794, + 1.0 + ], + [ + -0.008716060896118132, + 0.007595678044694839, + 0.0006516668969088486, + -0.004835405509283118, + -0.006622689571528848, + 0.13020704969970062, + 1.0 + ], + [ + -0.012128241180539245, + 0.011921305492107917, + -0.0018969922741650883, + -0.013210079240207192, + 0.004654218602611358, + 0.1119365961447066, + 1.0 + ], + [ + -0.014045167771820877, + 0.009169071765229225, + -0.0014755553327531043, + -0.012318603964398737, + -0.013354174702313598, + 0.06048805156912627, + 1.0 + ], + [ + -0.019445499975420534, + 0.005461999917531432, + -0.0030691813791069666, + -0.0017064408437594697, + -0.02496423181147378, + 0.03546619330824157, + 1.0 + ], + [ + -0.016754653383672713, + 0.0017092085013046523, + 7.378172011327579e-05, + -0.0007171520786233227, + -0.015369417584351711, + -0.004050762090881928, + 1.0 + ], + [ + -0.01496266388681173, + 0.005097045251396971, + 0.0019856948257620114, + 0.006778825240279626, + -0.015016752771959171, + 0.0035201957102764126, + 1.0 + ], + [ + -0.009503281962709945, + 0.0036612329683500602, + -0.0009560496713564392, + 0.001900353211434883, + -0.005052688923754508, + 0.008034083375417878, + 1.0 + ], + [ + -0.003977992004907074, + 0.0021394646175556015, + 0.0010047183088826932, + 0.0007509377546052438, + -0.00636857059271029, + 0.0039695430042648566, + 1.0 + ], + [ + -0.005883084962664166, + 0.0011561374306061968, + -0.0001623555179031138, + -0.000820892327543978, + -0.012304946894407707, + 0.007549242054224736, + 1.0 + ], + [ + -0.005249532355109772, + 0.0011026546271271523, + 3.18339911064678e-05, + -0.008439047254042749, + -0.009918450119775752, + 0.01680364580259822, + 1.0 + ], + [ + -0.0028626808407432613, + -0.0005301968799562672, + -0.0027279547110032735, + 0.004898899451197429, + -0.0035930265730129652, + 0.0025301025075559233, + 1.0 + ], + [ + 0.0027814631356747224, + -0.00208827069918284, + -0.00781229866123946, + 0.013775743580842704, + 0.011057025275159121, + -0.0019315342031609234, + 1.0 + ], + [ + 0.010370391129536565, + -0.0023491250170828053, + -0.020755018208933187, + 0.015503044282608005, + 0.052560225461469136, + 0.006532370365268696, + 1.0 + ], + [ + 0.008023263665937221, + -0.0036839388832007472, + -0.016333325242001172, + 0.021724216131326874, + 0.03542664337201867, + -0.004356870657328011, + 1.0 + ], + [ + 0.006048977219645031, + -0.003946766760872797, + -0.012208693700751495, + 0.020987463712038208, + 0.008196719924810013, + -0.006334926092934488, + 1.0 + ], + [ + 0.006360237745118283, + -0.0003906162361188959, + -0.008135151712129361, + 0.005893123974928098, + 0.003087264883503066, + -0.013494311933639522, + 1.0 + ], + [ + 0.017299160911186908, + 0.013876290182593681, + -0.008503903619201189, + -0.0029443117998679074, + 0.028511101700139777, + 0.023488823360501107, + 1.0 + ], + [ + 0.010954094168224793, + 0.014242014535935177, + -0.012920011658342266, + -0.013881622822076048, + 0.0063786088569306645, + 0.011962552335227177, + 1.0 + ], + [ + 0.004338781360808784, + 0.016987842716033638, + -0.00928226218908642, + -0.029807349724646093, + -0.0013461897300913724, + 0.005955050074489381, + 1.0 + ], + [ + 0.0009548173503139293, + 0.018766597787430422, + -0.0029112535801658953, + 0.005865412316548689, + 0.003143561915112596, + 0.04167677576066347, + 1.0 + ], + [ + -0.0004789788868058942, + 0.012393810450810295, + -0.001416709934071104, + 0.004474552340695722, + 0.00023573992380751448, + 0.025895699001277347, + 1.0 + ], + [ + 0.00038716961813509555, + 0.0005173536695287603, + -0.0003591714347675913, + -0.0002994346417823002, + 0.0015715692524322525, + 0.004532887515558249, + 1.0 + ] + ], + "state": [ + [ + 0.31553494930267334, + 0.1378636360168457, + 0.09958704560995102, + -2.964667083817073, + -0.15860806405544284, + 0.17940852046012878, + 1.0 + ], + [ + 0.31553494930267334, + 0.1378636360168457, + 0.09958704560995102, + -2.9649088253551206, + -0.15887786448001862, + 0.18093781173229218, + 1.0 + ], + [ + 0.31531134247779846, + 0.13669128715991974, + 0.09007256478071213, + -2.970546471076556, + -0.13143034279346466, + 0.186409592628479, + 1.0 + ], + [ + 0.3247228264808655, + 0.10874629020690918, + 0.08987348526716232, + -2.97958658834035, + -0.13319779932498932, + 0.15754929184913635, + 1.0 + ], + [ + 0.3348163366317749, + 0.08050606399774551, + 0.08308917284011841, + -2.981342764692851, + -0.11464351415634155, + 0.10590203106403351, + 1.0 + ], + [ + 0.3459421396255493, + 0.04804673045873642, + 0.07886043190956116, + -2.9892197122150144, + -0.12409117072820665, + 0.06913374364376068, + 1.0 + ], + [ + 0.35817667841911316, + 0.01994999125599861, + 0.06993889808654785, + -2.9978587945275983, + -0.12226562201976776, + 0.07780303061008453, + 1.0 + ], + [ + 0.37186774611473083, + -0.006326980423182249, + 0.057140372693538666, + -3.0127041061692914, + -0.1170801967382431, + 0.18066710233688354, + 1.0 + ], + [ + 0.38361263275146484, + -0.018800808116793633, + 0.04488168656826019, + -3.0229255725913724, + -0.10361950099468231, + 0.21790161728858948, + 1.0 + ], + [ + 0.38725146651268005, + -0.022691048681735992, + 0.02872467413544655, + -3.040656017261096, + -0.07490029931068419, + 0.22262959182262418, + 1.0 + ], + [ + 0.39153096079826355, + -0.02741566114127636, + 0.022452419623732567, + -3.0763906111293515, + -0.0965779796242714, + 0.22122818231582644, + 1.0 + ], + [ + 0.3888111114501953, + -0.028116436675190926, + 0.018017824739217758, + -3.0850182977789125, + -0.09243128448724747, + 0.21502639353275296, + 1.0 + ], + [ + 0.3847131133079529, + -0.0313090905547142, + 0.01128443330526352, + -3.103941487269946, + -0.08575207740068436, + 0.17614534497261047, + 1.0 + ], + [ + 0.3796059489250183, + -0.034076884388923645, + 0.008343903347849846, + -3.1247248408668717, + -0.09064838290214537, + 0.14987257122993466, + 1.0 + ], + [ + 0.37190526723861694, + -0.041007284075021744, + 0.007616732269525528, + 3.1184004099392375, + -0.07852931320667267, + 0.06673644483089447, + 1.0 + ], + [ + 0.36378002166748047, + -0.049176063388586044, + 0.00645908759906888, + 3.123984435694762, + -0.07425226271152496, + -0.06394956260919572, + 1.0 + ], + [ + 0.35079437494277954, + -0.06025490537285805, + 0.00766016123816371, + 3.1191904229396066, + -0.08040760457515718, + -0.17614908516407013, + 1.0 + ], + [ + 0.3352777361869812, + -0.06677031517028809, + 0.008207185193896294, + 3.111800817894288, + -0.06826228648424147, + -0.23705825209617612, + 1.0 + ], + [ + 0.3149452209472656, + -0.06738056242465973, + 0.010103816166520119, + 3.112575251730629, + -0.044320642948150635, + -0.27327725291252136, + 1.0 + ], + [ + 0.2983675003051758, + -0.06451055407524109, + 0.009337345138192177, + 3.1116951537602624, + -0.02883988246321678, + -0.26967307925224304, + 1.0 + ], + [ + 0.2826294004917145, + -0.06550783663988113, + 0.0070742042735219, + 3.1185852607064923, + -0.013934843242168427, + -0.2736405730247498, + 1.0 + ], + [ + 0.2724834382534027, + -0.06643892079591751, + 0.007981705479323864, + 3.120599627616354, + -0.009067853912711143, + -0.28178900480270386, + 1.0 + ], + [ + 0.26807019114494324, + -0.06741009652614594, + 0.006986087188124657, + 3.1213875153386077, + -0.002783936681225896, + -0.28589129447937006, + 1.0 + ], + [ + 0.26210036873817444, + -0.06685668975114822, + 0.007155389059334993, + 3.1205874123894652, + 0.009366061538457872, + -0.29368737339973455, + 1.0 + ], + [ + 0.25675642490386963, + -0.0663929283618927, + 0.007195889018476009, + 3.111991051706024, + 0.01892804726958275, + -0.31069788336753845, + 1.0 + ], + [ + 0.2542668581008911, + -0.06495212018489838, + 0.009960652329027653, + 3.1168399715148887, + 0.02244454994797707, + -0.31333386898040777, + 1.0 + ], + [ + 0.25778093934059143, + -0.06369297951459885, + 0.01765449531376362, + 3.1306637424328407, + 0.011438663117587568, + -0.31112924218177795, + 1.0 + ], + [ + 0.2686670422554016, + -0.06448794156312943, + 0.03826262429356575, + -3.1371016368554017, + -0.0411900132894516, + -0.3170830905437469, + 1.0 + ], + [ + 0.2767699360847473, + -0.0633469671010971, + 0.054928846657276154, + -3.115548001723834, + -0.07663550227880477, + -0.3128757178783417, + 1.0 + ], + [ + 0.282728374004364, + -0.06146194413304329, + 0.06766317039728165, + -3.095030343281575, + -0.08499297499656677, + -0.30673444271087646, + 1.0 + ], + [ + 0.2881142199039459, + -0.06315570324659348, + 0.07631821185350418, + -3.090277677523442, + -0.0886973962187767, + -0.29334589838981623, + 1.0 + ], + [ + 0.29981622099876404, + -0.08162249624729156, + 0.08560096472501755, + -3.0909949039393148, + -0.11593861132860182, + -0.3184252977371216, + 1.0 + ], + [ + 0.3041536808013916, + -0.09871701151132584, + 0.09896950423717499, + -3.1034494062238416, + -0.12169528007507324, + -0.33078634738922114, + 1.0 + ], + [ + 0.3016079366207123, + -0.11616557836532593, + 0.10806009918451309, + -3.132536035152622, + -0.12012085318565369, + -0.3367285430431366, + 1.0 + ], + [ + 0.2959836423397064, + -0.1341070830821991, + 0.11089593917131424, + -3.1216445603692016, + -0.12278196960687637, + -0.3787484169006347, + 1.0 + ], + [ + 0.29081666469573975, + -0.14541776478290558, + 0.11199768632650375, + -3.113981630774685, + -0.122459813952446, + -0.40483909845352173, + 1.0 + ], + [ + 0.2909235656261444, + -0.1460369974374771, + 0.11238715052604675, + -3.113718206184455, + -0.12390435487031937, + -0.4094489812850952, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0, + 0.0, + 0.0, + 0.0011776089668273926, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0011776089668273926, + 0.0005114078521728516 + ], + "episode_id": "1403", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1403/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1406.json b/annotation/test/1406.json new file mode 100644 index 0000000000000000000000000000000000000000..1e0fc5bd2cf371bdb20945bd37fdaae3a8ee8c2d --- /dev/null +++ b/annotation/test/1406.json @@ -0,0 +1,527 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "close fridge" + ], + "videos": [ + { + "video_path": "videos/test/1406/rgb.mp4" + } + ], + "action": [ + [ + 0.00013212637542335247, + 0.0002885246125686837, + 0.00029640402871944994, + -0.001017809271275189, + -0.0011263322205211145, + 1.6284072896939606e-05, + 1.0 + ], + [ + -0.0021285971513078793, + 0.0011835519816570804, + 0.0042812470723383135, + -0.011918870836339624, + -0.017896839886408496, + -0.002532085378126078, + 1.0 + ], + [ + 0.012336439451979014, + -0.014225978305738554, + 0.00950992857885455, + -0.02843847232089074, + -0.04610184457082052, + -0.01677560567214189, + 1.0 + ], + [ + 0.015850158500442444, + -0.014552239607786854, + 0.0033304575609298644, + 0.00734707606036078, + -0.00829480875355634, + -0.03775931857530861, + 1.0 + ], + [ + 0.020755124634030467, + -0.015293210722453387, + -0.0021496969044792935, + 0.008283612416203734, + 0.019624642639373784, + -0.077356519755742, + 1.0 + ], + [ + 0.022864693520477274, + -0.00011385712245295848, + -0.001996002587572396, + 0.006528942774167991, + 0.010350174860839296, + -0.08660062226260618, + 1.0 + ], + [ + 0.0187562598137428, + 0.0251391694718382, + -0.0020594777139208535, + -0.0313031435326346, + -0.00543457413218247, + -0.0038330749291796327, + 1.0 + ], + [ + 0.00505220299222076, + 0.02101879883207044, + 0.006097504687744577, + -0.02545467046078772, + -0.038557087681399094, + 0.034556582654220236, + 1.0 + ], + [ + 0.007353345862020601, + 0.02325456393329365, + 0.00023400198310638882, + -0.01681298562557233, + 0.020954844200971427, + 0.03254167456931143, + 1.0 + ], + [ + 0.0048635133735612, + 0.021725363667336538, + 0.003266238893613113, + 0.012707077007763428, + 0.010883514794577026, + 0.00817039931572292, + 1.0 + ], + [ + 0.013314759657997981, + 0.016837458447212964, + 0.01114893409552908, + 0.0318523025333202, + -0.01043597242697677, + -0.0024581194308539167, + 1.0 + ], + [ + 0.02171209996100094, + 0.013850885114730037, + -0.003418799923365521, + -0.016055124490888313, + 0.03645842020869178, + -0.005469574848990721, + 1.0 + ], + [ + 0.013487944823009301, + 0.00471128401514528, + -0.001079323730918, + -0.011064509707760538, + -0.0016386595405967258, + -0.014312197502046105, + 1.0 + ], + [ + 0.011844438744991803, + 0.0017265823615979327, + 0.0011227503342238175, + -0.0028463254339902554, + -6.485088938301175e-05, + -0.007788068013028057, + 1.0 + ], + [ + 0.011349318870866947, + 0.0006147366525197159, + -0.00025579446147624404, + -0.0059173332567471915, + 0.015081070475039407, + -0.015287916706235426, + 1.0 + ], + [ + 0.005528422462900697, + 0.001456129040299598, + 0.0009578971367152947, + -0.004079525749622479, + -0.0032613366667014207, + -0.003661932391328573, + 1.0 + ], + [ + 0.007328020247510212, + 0.0018831434831556092, + -0.003926883441959957, + -0.010461591298499572, + 0.014805820358010868, + -0.009366620274394865, + 1.0 + ], + [ + 0.0019946210823245086, + 0.0018345299137618573, + -0.002747353739822941, + -0.007382341044243507, + 0.004156465990390019, + -0.00785534997577411, + 1.0 + ], + [ + 0.0030073752426300958, + 0.0018370735434301037, + -0.0005228130104330009, + -0.003466292549946115, + 0.004322107081720621, + -0.005826449623607196, + 1.0 + ], + [ + 0.0010359727025518821, + 0.00039641985416521286, + -0.000915864714338285, + -0.005300790446998843, + -0.001860670853825761, + -0.005578175731979074, + 1.0 + ], + [ + 0.00023457963409076447, + 0.0017188278752529442, + 0.0003837741059861648, + -0.006794220344013282, + -0.0051178766061732005, + -0.0017122197731345885, + 1.0 + ], + [ + -0.005563288762667002, + -0.0006984546283706418, + 0.005704838380378369, + 0.0009539538497291579, + -0.012223075523662643, + 0.025118382725562147, + 1.0 + ], + [ + -0.026093029299171996, + -0.006689138366509654, + -0.004429551444622283, + -0.008859156803837493, + -0.03129393304784511, + 0.033265418098968706, + 1.0 + ], + [ + -0.03228846459168882, + -0.007024150366293485, + -0.01131739984149717, + -0.01464239949822568, + -0.018645013736700387, + 0.0426815017459553, + 1.0 + ], + [ + -0.022219423278838232, + -0.00631027905408232, + -0.002229928803876412, + 0.012807021941583693, + -0.007141160519195339, + 0.052521603334662104, + 1.0 + ], + [ + -0.00048668171728358906, + -0.0026893786662437013, + -0.0002252785810513887, + 0.003322050523632145, + 0.0013546166042342838, + -0.0016652282805000602, + 1.0 + ] + ], + "state": [ + [ + 0.15111860632896423, + 0.13118351995944977, + 0.0996769592165947, + -3.0490582828694066, + -0.1004815325140953, + 0.09632796794176102, + 1.0 + ], + [ + 0.15130658447742462, + 0.13094057142734528, + 0.09937003999948502, + -3.050084890919276, + -0.09935851395130157, + 0.09641626477241516, + 1.0 + ], + [ + 0.14970573782920837, + 0.1299946904182434, + 0.09480896592140198, + -3.0624035989218434, + -0.08176708221435547, + 0.1005866229534149, + 1.0 + ], + [ + 0.16111814975738525, + 0.14615607261657715, + 0.08748970925807953, + -3.0924390723281583, + -0.03711981698870659, + 0.12095219641923904, + 1.0 + ], + [ + 0.17516441643238068, + 0.1626698076725006, + 0.08546829968690872, + -3.086541088419505, + -0.030662856996059414, + 0.15909036993980405, + 1.0 + ], + [ + 0.19315701723098755, + 0.18090219795703888, + 0.08909113705158234, + -3.080742860334464, + -0.05442117154598236, + 0.23534473776817325, + 1.0 + ], + [ + 0.21525456011295319, + 0.18619297444820404, + 0.09233111888170242, + -3.0791083221607884, + -0.06981153041124344, + 0.321358323097229, + 1.0 + ], + [ + 0.2409406155347824, + 0.1681644171476364, + 0.0941239520907402, + -3.1107022167467555, + -0.0646263062953949, + 0.32553192973136896, + 1.0 + ], + [ + 0.252788782119751, + 0.1501891165971756, + 0.08772053569555283, + -3.1339970800378403, + -0.02498462237417698, + 0.292198359966278, + 1.0 + ], + [ + 0.26653602719306946, + 0.13004307448863983, + 0.08749374002218246, + 3.133190463418611, + -0.045678369700908654, + 0.2594713866710663, + 1.0 + ], + [ + 0.27694883942604065, + 0.11030182242393494, + 0.08463545143604279, + -3.1369185099662324, + -0.05662865564227104, + 0.25138023495674133, + 1.0 + ], + [ + 0.29461508989334106, + 0.09750889986753464, + 0.07417953014373779, + -3.1052080040150365, + -0.046204108744859695, + 0.25388965010643005, + 1.0 + ], + [ + 0.3189863860607147, + 0.08940436691045761, + 0.07809194177389145, + -3.121431069570132, + -0.08283695578575136, + 0.25804024934768677, + 1.0 + ], + [ + 0.33311188220977783, + 0.08823830634355545, + 0.08018871396780014, + -3.1336882516094526, + -0.08147861808538438, + 0.27243030071258545, + 1.0 + ], + [ + 0.3450329005718231, + 0.08978532999753952, + 0.08002012223005295, + -3.137170801060744, + -0.08147285133600236, + 0.2802445590496064, + 1.0 + ], + [ + 0.35605382919311523, + 0.09231650084257126, + 0.08119599521160126, + 3.138852673937105, + -0.09661190211772919, + 0.29553520679473877, + 1.0 + ], + [ + 0.36183080077171326, + 0.09255044907331467, + 0.08077982068061829, + 3.1344192392476877, + -0.09333989769220351, + 0.29920414090156555, + 1.0 + ], + [ + 0.36899858713150024, + 0.09282028675079346, + 0.08538596332073212, + 3.1230691281431397, + -0.10807394236326216, + 0.30873128771781916, + 1.0 + ], + [ + 0.3711439073085785, + 0.0916326642036438, + 0.08836574852466583, + 3.114826351525732, + -0.11208078265190125, + 0.31671229004859924, + 1.0 + ], + [ + 0.3744905889034271, + 0.09081171452999115, + 0.08927031606435776, + 3.110691400366374, + -0.11624342203140259, + 0.3226926326751709, + 1.0 + ], + [ + 0.37548109889030457, + 0.09075496345758438, + 0.09031188488006592, + 3.1047468428784093, + -0.11420951783657074, + 0.3282468318939209, + 1.0 + ], + [ + 0.3762945532798767, + 0.08920252323150635, + 0.09002050757408142, + 3.097777636843272, + -0.10903190821409224, + 0.32977843284606934, + 1.0 + ], + [ + 0.3715071678161621, + 0.08803732693195343, + 0.08371920138597488, + 3.101544728624173, + -0.09788474440574645, + 0.3040271997451782, + 1.0 + ], + [ + 0.34428825974464417, + 0.08668818324804306, + 0.08530744910240173, + 3.0960676950686654, + -0.0678892582654953, + 0.269471675157547, + 1.0 + ], + [ + 0.3105131983757019, + 0.08517377823591232, + 0.09407779574394226, + 3.0844132920079907, + -0.05114113911986351, + 0.22593562304973605, + 1.0 + ], + [ + 0.2873539924621582, + 0.0864454135298729, + 0.09480518847703934, + 3.1000017804377755, + -0.04694032296538353, + 0.17303428053855896, + 1.0 + ], + [ + 0.28640562295913696, + 0.08901695162057877, + 0.09489548951387405, + 3.1032430474930486, + -0.04822446033358574, + 0.17475639283657074, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334 + ], + "episode_id": "1406", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1406/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1407.json b/annotation/test/1407.json new file mode 100644 index 0000000000000000000000000000000000000000..98f2a732916d514b7c4cde28ee33f8a521725aeb --- /dev/null +++ b/annotation/test/1407.json @@ -0,0 +1,451 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put broccoli in bowl" + ], + "videos": [ + { + "video_path": "videos/test/1407/rgb.mp4" + } + ], + "action": [ + [ + -0.0016534717202691123, + 0.0002728373149733615, + 0.004629909783953038, + 0.0017265409731607373, + -0.013737846550154108, + 0.0023950250936676967, + 1.0 + ], + [ + -0.019408340115042968, + -0.013639444210117223, + 0.005280665594324504, + 0.06510927241926759, + -0.07945391962844701, + 0.03251869951846262, + 1.0 + ], + [ + -0.03472292309917496, + -0.04070262261131498, + -0.024880607708125283, + 0.10851404515605753, + -0.04974684837830607, + -0.007339561331260015, + 1.0 + ], + [ + -0.039272931917291976, + -0.034017522026067955, + -0.008682829988967867, + 0.07491674707579714, + -0.03722678564532274, + -0.001923420078355938, + 1.0 + ], + [ + -0.03711806695701232, + -0.033374493657327184, + 0.009998359408869846, + -0.0011077579338177534, + -0.004579896070787312, + 0.02685035194772746, + 1.0 + ], + [ + -0.03679908371626926, + -0.033739905770051634, + 0.02006547357024329, + -0.02030334286778865, + 0.015728922934212474, + -0.017966200498247764, + 1.0 + ], + [ + -0.024229251518399796, + -0.02560177668383317, + 0.023075361706338282, + -0.013446904801213529, + 0.018919206713576955, + -0.007290950494077821, + 1.0 + ], + [ + -0.010594600353791181, + -0.007730135271015745, + 0.02475096790805744, + -0.05103098894335229, + 0.027384869211155773, + -0.0028477808794051536, + 1.0 + ], + [ + -0.00029344731588441033, + 0.000157481445051357, + 0.019574692883511793, + -0.03906480634200227, + 0.05948287435547147, + 0.009378222349710365, + 1.0 + ], + [ + 0.0038280484964529917, + 0.003155113108041131, + 0.014453230146175096, + -0.03002134159347399, + 0.04124124918063616, + 0.01181003371695868, + 1.0 + ], + [ + 0.0006521196859127602, + 0.005480215451961638, + 0.010388709231234788, + -0.038883242444624405, + 0.0005597710812845684, + 0.011624284953019244, + 1.0 + ], + [ + 0.0019530450484638007, + -0.001708653399115612, + 0.0019527101101764694, + 0.007831218131822436, + 0.010764391407417735, + 0.007423750629964516, + 1.0 + ], + [ + 0.0007165446825254494, + 0.0002204986356904733, + 0.0002875832751641364, + 0.006870338043263087, + -0.003333008514222665, + 0.013180357900811018, + 0.0 + ], + [ + 0.002598562412131064, + 0.005802143746680453, + -0.0058580389325023, + -0.0033617345002886984, + -0.02245310013742281, + -0.001067918291581304, + 0.0 + ], + [ + 0.007824555943704816, + -0.0021831966415168536, + -0.01794026014273703, + 0.03587090528378076, + 0.0006079982886457535, + -0.0031792347587964306, + 0.0 + ], + [ + 0.017172544778507725, + -0.005320243031437, + -0.016017932464064008, + 0.044689149375342525, + 0.016262700510523666, + -0.008539294757541161, + 0.0 + ], + [ + 0.042225088316832186, + -0.005667195545735388, + -0.01500539910726542, + 0.04091947760992956, + 0.03980589367989174, + -0.007148912164773916, + 0.0 + ], + [ + 0.04887282630321873, + -0.0033771873613664535, + 0.0079834243404168, + -0.012996179623591947, + 0.02629030419372228, + 0.008148048720211916, + 0.0 + ], + [ + 0.031942406151408594, + -0.004936237625142156, + 0.008554626381057825, + 0.005024330060071981, + 0.028373209413725467, + 0.0095459702550724, + 0.0 + ], + [ + 0.018375742829650616, + -0.0032330571978589785, + 0.005533020286484366, + -0.0056330327682960965, + 0.029699402602577342, + 0.0015315983798197732, + 0.0 + ], + [ + 0.00966659971927026, + -0.0038968939787532406, + 0.00290113423738443, + -0.005250845760053943, + 0.02783129765421911, + 0.017629072850958993, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 2.5081227007076236e-17, + 2.1839545979962773e-17, + 2.5557295525244206e-17, + 1.0 + ] + ], + "state": [ + [ + 0.36029455065727234, + -0.03269773721694946, + 0.0634160041809082, + 3.1352349316054067, + -0.12869822978973391, + -0.04100780189037324, + 1.0 + ], + [ + 0.3592372238636017, + -0.03295687586069107, + 0.058613985776901245, + 3.137281598644801, + -0.11497548967599869, + -0.04350638762116432, + 1.0 + ], + [ + 0.3411794602870941, + -0.018541302531957626, + 0.05108325183391571, + -3.077034080522605, + -0.0356006920337677, + -0.07628528773784637, + 1.0 + ], + [ + 0.3085783123970032, + 0.02307700365781784, + 0.07728461176156998, + -2.9688185920291623, + 0.013570922426879404, + -0.06576094776391983, + 1.0 + ], + [ + 0.2716929316520691, + 0.05759382247924805, + 0.09221794456243515, + -2.8936741222911557, + 0.04991208761930465, + -0.057458650320768356, + 1.0 + ], + [ + 0.23660629987716675, + 0.09447715431451797, + 0.09256868064403534, + -2.8961025198274335, + 0.06092451885342599, + -0.08240969479084015, + 1.0 + ], + [ + 0.20241214334964752, + 0.13503441214561462, + 0.08356615155935287, + -2.915569009380885, + 0.04129532352089882, + -0.06879568845033646, + 1.0 + ], + [ + 0.17964152991771698, + 0.1667967140674591, + 0.06782972067594528, + -2.9288573880964, + 0.0212232805788517, + -0.06593048572540282, + 1.0 + ], + [ + 0.16943667829036713, + 0.18027998507022858, + 0.04549872502684593, + -2.979871990280696, + -0.006145457737147808, + -0.06892917305231094, + 1.0 + ], + [ + 0.16946890950202942, + 0.1832813173532486, + 0.026152653619647026, + -3.018560731905051, + -0.06334029883146287, + -0.08777952194213867, + 1.0 + ], + [ + 0.17408442497253418, + 0.18151234090328217, + 0.011693321168422699, + -3.047426277893134, + -0.10281142592430115, + -0.10463963449001312, + 1.0 + ], + [ + 0.1753699779510498, + 0.176873579621315, + 0.0009596103336662054, + -3.0851165262335023, + -0.1022687703371048, + -0.11632611602544783, + 1.0 + ], + [ + 0.17769838869571686, + 0.1784300059080124, + -0.0006844695890322328, + -3.0764599238806447, + -0.11259365826845169, + -0.12439631670713425, + 1.0 + ], + [ + 0.1784135103225708, + 0.17813770473003387, + -0.0009033785900101066, + -3.068132760124751, + -0.10840041935443877, + -0.1374080777168274, + 0.0 + ], + [ + 0.1795405000448227, + 0.17170627415180206, + 0.004762361757457256, + -3.071770841377326, + -0.08608586341142654, + -0.1346854418516159, + 0.0 + ], + [ + 0.1858520805835724, + 0.17178575694561005, + 0.023417135700583458, + -3.036170320706912, + -0.08691375702619553, + -0.13154451549053192, + 0.0 + ], + [ + 0.20186594128608704, + 0.17330358922481537, + 0.04133438691496849, + -2.9920613785558423, + -0.10398271679878235, + -0.12472818791866301, + 0.0 + ], + [ + 0.24234066903591156, + 0.1716238111257553, + 0.06131467595696449, + -2.9511417021327695, + -0.1444091200828552, + -0.12358127534389494, + 0.0 + ], + [ + 0.2919591963291168, + 0.17032498121261597, + 0.06122302636504173, + -2.9621929695182523, + -0.16866929829120633, + -0.13674251735210416, + 0.0 + ], + [ + 0.3252778947353363, + 0.17218393087387085, + 0.0591556541621685, + -2.9546410163217267, + -0.1948658674955368, + -0.15147288143634796, + 0.0 + ], + [ + 0.34465959668159485, + 0.17347928881645203, + 0.05796966329216957, + -2.9587999155097684, + -0.2237580567598343, + -0.15867601335048676, + 0.0 + ], + [ + 0.3551254868507385, + 0.17621931433677673, + 0.058023661375045776, + -2.9589000066095075, + -0.24786397814750674, + -0.1817699670791626, + 1.0 + ], + [ + 0.3551254868507385, + 0.17621931433677673, + 0.058023661375045776, + -2.9589000066095075, + -0.24786397814750674, + -0.1817699670791626, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.1233397126197815, + 0.3408757448196411, + 0.38707518577575684, + 0.38707518577575684, + 0.38707518577575684, + 0.38707518577575684, + 0.38707518577575684, + 0.38707518577575684, + 0.18600207567214966, + 0.019751906394958496, + 0.0005114078521728516 + ], + "episode_id": "1407", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1407/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1412.json b/annotation/test/1412.json new file mode 100644 index 0000000000000000000000000000000000000000..ca3932c60c2406e2058dfd6ecbd33675c5dc7830 --- /dev/null +++ b/annotation/test/1412.json @@ -0,0 +1,375 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "flip cup upright" + ], + "videos": [ + { + "video_path": "videos/test/1412/rgb.mp4" + } + ], + "action": [ + [ + -0.0007919894397268448, + -0.0001390316888197653, + 0.0011177481150434806, + 0.0016001239866686337, + -0.00427240436978385, + 0.0005999294655015876, + 1.0 + ], + [ + -0.006376430977879399, + 0.0021800330661911164, + 0.009475582546934404, + -0.052097971941985635, + -0.052976915114136866, + -0.050501881677199045, + 1.0 + ], + [ + -0.005007159623208874, + -0.004759273784542109, + 0.010777099926406224, + -0.05965673693656304, + -0.039237231200078465, + -0.09829255578399194, + 1.0 + ], + [ + -0.0036947654033169307, + -0.0030047879857031615, + 0.008949136617492543, + -0.033838259848956734, + -0.015677720492707756, + -0.044174423467308065, + 1.0 + ], + [ + -0.0020167774955848826, + -0.0006894231649539189, + 0.0064328847573134305, + -0.05960414379849933, + -0.012398969684042225, + -0.032093371965856335, + 1.0 + ], + [ + -0.001972787271621039, + 0.0016906460962270529, + 0.006299880299372639, + -0.05500466990518823, + -0.00553286474327023, + -0.017048325738017695, + 1.0 + ], + [ + -0.0012831339964474227, + 0.0025899901616806414, + 0.006888808123096306, + -0.03752867134638948, + 0.0018289146020919356, + -0.0034878949578415214, + 1.0 + ], + [ + 0.0005283443250644719, + 0.0020923984140134486, + 0.006320737144425043, + -0.020154666493006977, + -0.0027133280582314337, + 0.001728246660037939, + 1.0 + ], + [ + 0.001617433073780113, + -0.0018957877621536363, + 0.009467631579886055, + -0.014538565181859146, + -0.00025728996874650994, + -0.00328713457099697, + 1.0 + ], + [ + 0.002167504706087578, + 0.0008652310063339676, + 0.004580316425872642, + -0.017016813692664078, + 0.00962049545797484, + -0.0008599401338535149, + 1.0 + ], + [ + 0.0011768311212721383, + -0.0006984767041724051, + 0.0026542857336232005, + 0.0023153119378496586, + 0.0011344789330964308, + -0.0012578389744526172, + 0.0 + ], + [ + 0.0013519606743632813, + -0.0027953439492387454, + -4.3188134548515125e-05, + 0.02486318406426441, + 0.00968044678896716, + 0.012686734066786512, + 0.0 + ], + [ + 0.0009484180430073077, + 0.0037781555915023675, + -0.0031742367517017603, + 0.06552474218497256, + -0.0014294521086701598, + 0.10245078690641747, + 0.0 + ], + [ + 0.00556256633802808, + 0.0028370749877495217, + -0.0014120230851319918, + 0.052679612770329204, + -0.016341997976026233, + 0.09619064567425739, + 0.0 + ], + [ + -0.0011318244182214597, + -0.0011822074092063914, + 0.0032751272116110647, + 0.0065673036210382495, + -0.023462730614920886, + 0.03344110951395922, + 0.0 + ], + [ + -0.0008351746871839413, + 0.000279450628013429, + 0.0012343728286998879, + -0.002140807722819479, + -0.008019886552061917, + 0.027398818645827425, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 4.746464457202688e-17, + 8.720611065651105e-18, + 7.14103771353697e-18, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 4.746464457202688e-17, + 8.720611065651105e-18, + 7.14103771353697e-18, + 1.0 + ] + ], + "state": [ + [ + 0.27289819717407227, + -0.0097670778632164, + 0.15736529231071472, + -3.083965664851018, + -0.21891528367996216, + 0.2525314390659332, + 1.0 + ], + [ + 0.2723318338394165, + -0.00970338936895132, + 0.15611185133457184, + -3.082286587106534, + -0.21461540460586548, + 0.25217029452323914, + 1.0 + ], + [ + 0.2686789929866791, + -0.012311863712966442, + 0.14538568258285522, + 3.137243292881646, + -0.1644144058227539, + 0.3063871562480927, + 1.0 + ], + [ + 0.2642330825328827, + -0.00877578929066658, + 0.133914053440094, + 3.061445178585597, + -0.12395793199539185, + 0.4051920175552368, + 1.0 + ], + [ + 0.26100626587867737, + -0.007680431008338928, + 0.12436654418706894, + 3.0223538373881063, + -0.10468119382858278, + 0.4481983780860901, + 1.0 + ], + [ + 0.25984281301498413, + -0.00832941010594368, + 0.11772200465202332, + 2.9596082289987287, + -0.08850467950105667, + 0.47870516777038574, + 1.0 + ], + [ + 0.2598518133163452, + -0.011482597328722477, + 0.11168081313371658, + 2.903225692110606, + -0.07996685057878494, + 0.49452075362205505, + 1.0 + ], + [ + 0.26112014055252075, + -0.015505967661738396, + 0.1055152639746666, + 2.8653921504789075, + -0.08091992139816286, + 0.4983544051647187, + 1.0 + ], + [ + 0.2637600600719452, + -0.018323618918657303, + 0.1000654324889183, + 2.845432074862071, + -0.07878049463033676, + 0.4959442615509034, + 1.0 + ], + [ + 0.26629531383514404, + -0.01803191937506199, + 0.09061378985643387, + 2.8306526859574994, + -0.07757468521595003, + 0.49902245402336126, + 1.0 + ], + [ + 0.2695363461971283, + -0.018799588084220886, + 0.08669812977313995, + 2.8133306225114545, + -0.08647017925977707, + 0.5027986168861389, + 1.0 + ], + [ + 0.2708646059036255, + -0.018291158601641655, + 0.08407224714756012, + 2.8155111988359174, + -0.08713845163583754, + 0.5043609738349915, + 0.0 + ], + [ + 0.2708224952220917, + -0.01527393702417612, + 0.08333861827850342, + 2.8411519547277173, + -0.10036923736333847, + 0.4953993558883667, + 0.0 + ], + [ + 0.2725558876991272, + -0.017371628433465958, + 0.0875629261136055, + 2.9180895407968244, + -0.12878650426864624, + 0.3963044881820678, + 0.0 + ], + [ + 0.278354287147522, + -0.017605002969503403, + 0.09026645123958588, + 2.984420808153697, + -0.13352194428443906, + 0.29800978302955633, + 0.0 + ], + [ + 0.27752485871315, + -0.017174571752548218, + 0.08672641217708588, + 2.995968612032481, + -0.11549132317304611, + 0.26106950640678406, + 0.0 + ], + [ + 0.2769724130630493, + -0.01779375970363617, + 0.08545728027820587, + 2.997159572439738, + -0.11148527264595032, + 0.23262077569961548, + 0.0 + ], + [ + 0.2769724130630493, + -0.01779375970363617, + 0.08545728027820587, + 2.997159572439738, + -0.11148527264595032, + 0.23262077569961548, + 1.0 + ], + [ + 0.2769724130630493, + -0.01779375970363617, + 0.08545728027820587, + 2.997159572439738, + -0.11148527264595032, + 0.23262077569961548, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.15367639064788818, + 0.38707518577575684, + 0.6803275644779205, + 0.8552532643079758, + 0.9029988870024681, + 0.9033762961626053, + 0.8114246279001236, + 0.557933509349823, + 0.28189969062805176, + 0.020461201667785645 + ], + "episode_id": "1412", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1412/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1414.json b/annotation/test/1414.json new file mode 100644 index 0000000000000000000000000000000000000000..ffe122e3b41603914b6751e2853b1fae0bb66829 --- /dev/null +++ b/annotation/test/1414.json @@ -0,0 +1,261 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "close white1fbox flap" + ], + "videos": [ + { + "video_path": "videos/test/1414/rgb.mp4" + } + ], + "action": [ + [ + -0.00043556383198072355, + 0.000291871898748707, + 0.0004865876922788848, + -0.0012739244011392436, + -0.0018056472264645102, + -0.0004200713272508246, + 1.0 + ], + [ + -0.0009978339150915182, + -0.0005187780328239944, + 0.0022953396869172978, + -0.0002761562556192309, + -0.006026647112826966, + 0.009114420813607315, + 1.0 + ], + [ + 0.01661670372954697, + -0.003910545819109167, + 0.00418197146516105, + -0.003070833880049218, + 0.016346703512866698, + 0.02943345420652517, + 1.0 + ], + [ + 0.02361316757104119, + -0.0015156654248333343, + 0.007692090171010547, + -0.0015709000046915593, + 0.030014323549509794, + 0.03729195446770175, + 1.0 + ], + [ + 0.023800867462307314, + 0.0005612841472818672, + 0.008136154025692257, + -0.014262498908569114, + 0.022474691489392157, + 0.045903692306498566, + 1.0 + ], + [ + 0.023646722122843158, + 0.003933531396174846, + 0.006604073544671029, + -0.020347484424975054, + 0.010929130628851744, + 0.03790149121828674, + 1.0 + ], + [ + 0.02099460994715566, + 0.00222740238663172, + 0.011121385983512118, + -0.03668628242101307, + 0.014981115394243969, + 0.028684372425489553, + 1.0 + ], + [ + 0.012668440896890508, + 0.004008504776405365, + 0.0176153397514685, + -0.037496433636143224, + 0.0214655534164339, + 0.007738812875402568, + 1.0 + ], + [ + 0.008845439534269368, + 0.002110266277240269, + 0.01191552029201417, + -0.02018103866288359, + 0.015275367563111887, + 0.006400051328546006, + 1.0 + ], + [ + 0.011170983224092289, + -0.0007464062841357259, + 0.005053114384293745, + -0.0068942899186491815, + 0.004414722374076081, + 0.013790951880752137, + 1.0 + ], + [ + 0.0010924825618395413, + -0.0008586002862007371, + 0.002419856107507303, + 0.003621461952233313, + -0.002227856710183035, + 0.0037038530644597995, + 1.0 + ], + [ + 0.0018774005757546891, + 0.0009119121844521307, + 0.00040012993658105153, + -0.005687207286156177, + 0.011973352089270835, + -0.0058102200555288745, + 1.0 + ] + ], + "state": [ + [ + 0.15475064516067505, + 0.020569637417793274, + 0.057082921266555786, + -2.949828164773532, + -0.1618836522102356, + -0.0038849948905408382, + 1.0 + ], + [ + 0.15440598130226135, + 0.02037719264626503, + 0.05648639425635338, + -2.9512253423505506, + -0.16019111871719358, + -0.0031186724081635475, + 1.0 + ], + [ + 0.15376771986484528, + 0.021322917193174362, + 0.05419912189245224, + -2.950243594246455, + -0.1525438129901886, + -0.011019629426300526, + 1.0 + ], + [ + 0.1707523614168167, + 0.02577054128050804, + 0.053401194512844086, + -2.948460193472453, + -0.16291658580303192, + -0.043451644480228424, + 1.0 + ], + [ + 0.1953357458114624, + 0.027668340131640434, + 0.050069116055965424, + -2.94313100178773, + -0.18506962060928345, + -0.08653400093317032, + 1.0 + ], + [ + 0.220216304063797, + 0.026567762717604637, + 0.046499818563461304, + -2.948315145569392, + -0.19782747328281403, + -0.1369443982839584, + 1.0 + ], + [ + 0.2442398965358734, + 0.020640848204493523, + 0.04405183717608452, + -2.9609222431951245, + -0.20112025737762448, + -0.17704708874225616, + 1.0 + ], + [ + 0.2666858732700348, + 0.016428986564278603, + 0.037133850157260895, + -2.991362201171466, + -0.21060657501220703, + -0.20865288376808167, + 1.0 + ], + [ + 0.2822156250476837, + 0.011784445494413376, + 0.022163454443216324, + -3.0264996608072003, + -0.23065944015979767, + -0.21981084346771237, + 1.0 + ], + [ + 0.2931559383869171, + 0.008594267070293427, + 0.012426568195223808, + -3.044759342568465, + -0.2450910210609436, + -0.22817187011241913, + 1.0 + ], + [ + 0.3051624298095703, + 0.007070391438901424, + 0.010328016243875027, + -3.048119844990321, + -0.24812670052051544, + -0.24277211725711823, + 1.0 + ], + [ + 0.3070054352283478, + 0.007727321237325668, + 0.008338496088981628, + -3.0436177050047597, + -0.24556133151054382, + -0.24635946750640866, + 1.0 + ], + [ + 0.3086746633052826, + 0.006412129383534193, + 0.008322102949023247, + -3.050458254414149, + -0.25804293155670166, + -0.24159084260463715, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1414", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1414/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1422.json b/annotation/test/1422.json new file mode 100644 index 0000000000000000000000000000000000000000..bb802059e5b503201a84d82f2b1a0d15f9160198 --- /dev/null +++ b/annotation/test/1422.json @@ -0,0 +1,717 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "topple basil bottle cardboard fence" + ], + "videos": [ + { + "video_path": "videos/test/1422/rgb.mp4" + } + ], + "action": [ + [ + -0.0003658854627769689, + -0.0003026212266040506, + 0.0003282378696430254, + 0.001669415002045491, + -0.0010842951990319824, + 0.000861402115695182, + 1.0 + ], + [ + -0.006393670471989056, + 0.00034273942313230654, + 0.007912029741666722, + -0.0009546291280566698, + -0.03701537048932613, + 0.01353174104073453, + 1.0 + ], + [ + -0.015251582490368856, + -0.0017553525927895266, + 0.0063663460967460575, + -0.04759151210058955, + -0.06576047914162393, + 0.11718549568974346, + 1.0 + ], + [ + -0.012425927857382462, + -0.008738950028063724, + -0.004030179853692288, + -0.007683629971847396, + 0.020345749853641713, + 0.04524273865831211, + 1.0 + ], + [ + -0.013474031400319334, + -0.014332016991857413, + -0.005064228840893327, + 0.004204146335200915, + 0.021454077454410095, + 0.01191235241007141, + 1.0 + ], + [ + -0.013777553520364309, + -0.0073289249221901555, + 0.0018933963530924013, + 0.03417744643534347, + 0.030076917084886294, + -0.007946849690367519, + 1.0 + ], + [ + -0.011328179731934188, + -0.003479703051240984, + 0.001113102360239342, + 0.023751071329357627, + 0.02276709661972691, + 0.0036877766980667488, + 1.0 + ], + [ + -0.009799972264243404, + -0.00030212309038088724, + 0.0025349351515084866, + 0.0054272975430439616, + -0.0091842336072482, + 0.0096739336893295, + 1.0 + ], + [ + -0.007381157845685027, + 0.0012328319639359961, + 0.0003543494301286891, + 0.005593621055220706, + 0.00808453002307757, + -0.003472184470364824, + 1.0 + ], + [ + -0.007091137091896079, + -0.0007162858797290759, + -0.0007236652560315562, + -0.008708119232740499, + -0.045054092007472915, + -0.012633434445160364, + 1.0 + ], + [ + -0.0055230661425405185, + -0.0034368405364215994, + -0.0005992856823257168, + -0.011803771458434113, + -0.03419246068672787, + 0.007665331748953954, + 1.0 + ], + [ + -0.003146071044786008, + -0.0029344183996948873, + -0.003554817766245302, + -0.003947590890717461, + -0.0230698220812319, + 0.01888005082083279, + 1.0 + ], + [ + 0.000669194656892852, + -0.0006130074887942865, + 1.0022394120993909e-05, + -0.0018304942779176045, + 0.004765416819049415, + 0.02910654154121503, + 1.0 + ], + [ + 0.002089777003956636, + 0.001725605960312432, + -0.00012770386489046142, + -0.021573996040243213, + 0.06754087537956538, + -0.058119929768046766, + 0.0 + ], + [ + 0.0016868012305963432, + 0.00015273645612137114, + 0.0003693723103434033, + 0.019161381412399973, + 0.08901791812246582, + -0.06908972584869676, + 0.0 + ], + [ + 0.0014215432344918963, + 0.006094493807977128, + -0.0018656827652648352, + -0.0447785334216181, + 0.017512337495005154, + -0.1933230480144086, + 0.0 + ], + [ + -0.012619635014959583, + 0.014604798571719, + -0.007912954138837235, + -0.04619155526262326, + -0.12867270810890416, + -0.2873671096324621, + 0.0 + ], + [ + -0.012338250329174478, + 0.005308255397115715, + -0.010636436008344331, + 0.03138451602245583, + -0.04853161348972127, + -0.28450836849544103, + 0.0 + ], + [ + -0.005339905384989687, + 0.00022160125385199773, + -0.006423853798287416, + 0.058435450387460335, + 0.012023137106766753, + -0.24188132487326014, + 0.0 + ], + [ + 0.009556452184864566, + 0.0034951774252185664, + 0.004749215095339281, + 0.07230698796424367, + -0.024659315826767246, + -0.1555415501593804, + 0.0 + ], + [ + 0.01338131823130455, + 0.006526002166057164, + 0.016677572031392512, + 0.10260185207223245, + -0.14586559159763, + -0.0608967112778126, + 0.0 + ], + [ + 0.0029478473656493038, + 0.0021821359772273164, + -0.001327850854408494, + -0.043149379855639845, + -0.04310051454495277, + 0.03444775210025733, + 0.0 + ], + [ + 0.000798113746805186, + -0.0010569278540660365, + 0.005784382906098692, + 0.01207246442306996, + -0.06745153975369977, + 0.008239874379050242, + 0.0 + ], + [ + 0.005805840618776961, + 0.0005245053115288152, + -0.003143249545740712, + -0.03994633882923216, + -0.01672245745436242, + 0.03160258196996381, + 0.0 + ], + [ + 0.015342831302863158, + 0.0004009638261878281, + 0.00037848233436163286, + -0.0005187531023200617, + -0.017101422807639165, + 0.0005022900780187008, + 0.0 + ], + [ + 0.024815573331933502, + -0.00027435335690100703, + 0.004251262525700316, + -0.03424180786595566, + 0.08021135067998023, + 0.006519526865009915, + 0.0 + ], + [ + 0.025015679099060446, + -0.0016077168008127394, + 0.006931174673553903, + -0.008504159829512628, + 0.09002309234712444, + 0.019662908815418077, + 0.0 + ], + [ + 0.020983077313586444, + -0.010657457873929223, + 0.007628245628702708, + 0.00624334845699546, + 0.10000842272080132, + 0.042331362737056, + 0.0 + ], + [ + 0.01505561482435867, + -0.013698781886652587, + 0.013840800701749131, + 0.011973488831142255, + 0.12166168571964193, + 0.12263082867833852, + 0.0 + ], + [ + 0.004122710961862354, + -0.0035520791625402006, + 0.0033192847460950634, + 0.018309892837517487, + 0.030999587323210866, + 0.03355868017360637, + 0.0 + ], + [ + -0.0047768878246834765, + 0.00014040076987014894, + 0.0007193113203572706, + 0.05799767554651896, + 0.0050831734152922406, + 0.019427240101378813, + 1.0 + ], + [ + -0.0033573738681200943, + 0.006646086439722241, + -0.012112146035159125, + -0.006663066551933046, + 0.05468237116933653, + 0.02740756745551369, + 1.0 + ], + [ + -0.0034544899072100205, + 0.008072325737139553, + -0.02660958465513423, + 0.032941578951656454, + 0.06219916209336734, + 0.10288587197096691, + 1.0 + ], + [ + 0.0027272608379214688, + 0.005639287312958768, + -0.034680181325735984, + -0.0775264874815038, + 0.09705841382673369, + 0.06288713426293147, + 1.0 + ], + [ + 0.0006219599043460182, + -0.0008186333960215922, + -0.0005937184032109075, + -0.001346225836871095, + 0.001938934725361599, + -0.0012243689109853592, + 1.0 + ], + [ + 0.0001687175741515736, + -0.0003334133362991715, + 3.985132696794189e-05, + 0.00039247778549960635, + 2.16767980401858e-05, + -0.001482764013993721, + 1.0 + ] + ], + "state": [ + [ + 0.3148950934410095, + 0.02368669956922531, + 0.112903892993927, + -3.1408353676721497, + -0.17624641954898834, + 0.32775974273681646, + 1.0 + ], + [ + 0.3145110011100769, + 0.023875998333096504, + 0.11251681298017502, + -3.1390127175306013, + -0.17516140639781952, + 0.32688578963279724, + 1.0 + ], + [ + 0.30995798110961914, + 0.021991953253746033, + 0.1036107987165451, + -3.1376018939823886, + -0.13809537887573242, + 0.3133297860622406, + 1.0 + ], + [ + 0.29587098956108093, + 0.01929960958659649, + 0.09521256387233734, + 3.114073095964738, + -0.07092860341072083, + 0.1963682919740677, + 1.0 + ], + [ + 0.2817251682281494, + 0.025505438446998596, + 0.0981106162071228, + 3.109589209901639, + -0.0924401730298996, + 0.15152081847190854, + 1.0 + ], + [ + 0.26585569977760315, + 0.037736937403678894, + 0.10145023465156555, + 3.1148304530703506, + -0.11425857990980148, + 0.1402301639318466, + 1.0 + ], + [ + 0.2515212297439575, + 0.04306129366159439, + 0.0978042408823967, + -3.135196409775414, + -0.1441076695919037, + 0.14906691014766693, + 1.0 + ], + [ + 0.2400718778371811, + 0.04486767202615738, + 0.09509789198637009, + -3.1108854712271174, + -0.16684964299201965, + 0.1451805830001831, + 1.0 + ], + [ + 0.23086956143379211, + 0.04390605539083481, + 0.09098093956708908, + -3.1038797219567975, + -0.15736532211303714, + 0.1356761604547501, + 1.0 + ], + [ + 0.22387363016605377, + 0.04172110930085182, + 0.08942855894565582, + -3.098787924396344, + -0.16557422280311584, + 0.13888482749462128, + 1.0 + ], + [ + 0.21672901511192322, + 0.041413720697164536, + 0.08900315314531326, + -3.109872942911931, + -0.12108445167541505, + 0.15352857112884521, + 1.0 + ], + [ + 0.21070395410060883, + 0.043938130140304565, + 0.08903882652521133, + -3.120861467095562, + -0.08666347712278366, + 0.1469310224056244, + 1.0 + ], + [ + 0.20687521994113922, + 0.04626273736357689, + 0.09236783534288406, + -3.123211534815379, + -0.06319258362054825, + 0.1285015344619751, + 1.0 + ], + [ + 0.20745892822742462, + 0.046956345438957214, + 0.0924113392829895, + -3.1232024059915027, + -0.06739532947540283, + 0.09924618154764174, + 1.0 + ], + [ + 0.20969845354557037, + 0.04544313624501228, + 0.09264780580997467, + 3.1345578265660485, + -0.1358833611011505, + 0.1565089225769043, + 0.0 + ], + [ + 0.21142277121543884, + 0.04555797949433327, + 0.09251141548156738, + -3.139155269721993, + -0.22407725453376767, + 0.22773338854312897, + 0.0 + ], + [ + 0.21374931931495667, + 0.039836496114730835, + 0.09463184326887131, + 3.055275121825286, + -0.2377988547086716, + 0.4266519546508789, + 0.0 + ], + [ + 0.20636267960071564, + 0.021244850009679794, + 0.10054440796375275, + 2.947316886978694, + -0.0763176903128624, + 0.6997973918914795, + 0.0 + ], + [ + 0.19831526279449463, + 0.010345103219151497, + 0.11103146523237228, + 2.965247379737445, + 0.028339410200715065, + 0.9688540101051331, + 0.0 + ], + [ + 0.19464582204818726, + 0.006608730182051659, + 0.11754332482814789, + 3.0355447476082524, + 0.05771056190133095, + 1.209472894668579, + 0.0 + ], + [ + 0.20165114104747772, + 0.013892039656639099, + 0.11264679580926895, + 3.1178299748622855, + 0.09796437621116637, + 1.3621832132339478, + 0.0 + ], + [ + 0.2108449637889862, + 0.023906685411930084, + 0.09489939361810684, + -3.0571856295042714, + 0.2450704574584961, + 1.4207065105438232, + 0.0 + ], + [ + 0.21357451379299164, + 0.026665715500712395, + 0.09528928995132446, + -3.1080678348713597, + 0.2908020615577698, + 1.38870370388031, + 0.0 + ], + [ + 0.2121850997209549, + 0.026023901998996735, + 0.08955598622560501, + -3.0977477451139173, + 0.35848638415336614, + 1.382341980934143, + 0.0 + ], + [ + 0.21405857801437378, + 0.03231476619839668, + 0.09043803811073303, + 3.1338432977260133, + 0.37639835476875305, + 1.349185585975647, + 0.0 + ], + [ + 0.21755854785442352, + 0.046011194586753845, + 0.08444933593273163, + 3.133070764253386, + 0.39349529147148127, + 1.3484983444213867, + 0.0 + ], + [ + 0.2220197319984436, + 0.06682804226875305, + 0.07100620120763779, + 3.096450241404124, + 0.3132244646549225, + 1.3423854112625122, + 0.0 + ], + [ + 0.22566057741641998, + 0.08820144087076187, + 0.05664193257689476, + 3.082849474745341, + 0.22236789762973783, + 1.3264882564544678, + 0.0 + ], + [ + 0.2202828973531723, + 0.10876177251338959, + 0.04397645220160484, + 3.0807589684897145, + 0.1199016347527504, + 1.2900456190109253, + 0.0 + ], + [ + 0.21160946786403656, + 0.12499599158763885, + 0.027632717043161392, + 3.078955302136489, + -0.00975780002772808, + 1.1759763956069946, + 0.0 + ], + [ + 0.2101278454065323, + 0.13011686503887177, + 0.024137990549206734, + 3.0975743924551686, + -0.04279204085469245, + 1.1444119215011597, + 0.0 + ], + [ + 0.2083231508731842, + 0.1257282942533493, + 0.023221855983138084, + -3.1267840723791203, + -0.048717234283685684, + 1.1252046823501587, + 1.0 + ], + [ + 0.2127840667963028, + 0.11923308670520782, + 0.03505650907754898, + -3.1320497366883835, + -0.10296835005283356, + 1.09688138961792, + 1.0 + ], + [ + 0.2173795998096466, + 0.10994938015937805, + 0.06109225004911423, + -3.088380279141017, + -0.1636284440755844, + 0.9922002553939819, + 1.0 + ], + [ + 0.22205182909965515, + 0.103431835770607, + 0.0954091027379036, + 3.1288451674678406, + -0.25681987404823303, + 0.922234833240509, + 1.0 + ], + [ + 0.2216673195362091, + 0.10429220646619797, + 0.09613119065761566, + 3.1271707537868103, + -0.2587428390979767, + 0.9235268235206604, + 1.0 + ], + [ + 0.22150707244873047, + 0.10463211685419083, + 0.09613119065761566, + 3.1271707537868103, + -0.2587428390979767, + 0.9250608086585999, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.051565468311309814, + 0.17387640476226807, + 0.1518612504005432, + 0.1482418179512024, + 0.1482418179512024, + 0.1482418179512024, + 0.1482418179512024, + 0.14733940362930298, + 0.1482418179512024, + 0.14733940362930298, + 0.1482418179512024, + 0.14733940362930298, + 0.1482418179512024, + 0.14733940362930298, + 0.14733940362930298, + 0.14733940362930298, + 0.14733940362930298, + 0.10434430837631226, + 0.0005114078521728516, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926 + ], + "episode_id": "1422", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1422/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1435.json b/annotation/test/1435.json new file mode 100644 index 0000000000000000000000000000000000000000..0e2dfb678d4641c2aef779d039f2baa5eaf1e049 --- /dev/null +++ b/annotation/test/1435.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "pour almonds in pot" + ], + "videos": [ + { + "video_path": "videos/test/1435/rgb.mp4" + } + ], + "action": [ + [ + -0.0002416430854807957, + -2.7924586778504077e-05, + -1.8847323174817291e-07, + 0.00017609339678066355, + -0.001523845292319134, + -1.4122902413199842e-07, + 1.0 + ], + [ + -0.0050621798700658, + 0.001981307379920677, + 0.0034896667731165207, + -0.036720444319622, + -0.0647884447491976, + -0.03488843387928495, + 1.0 + ], + [ + 0.019412381875972, + -0.010914339049535376, + -0.009352636662239209, + -0.18242731929545394, + -0.12510102855712482, + -0.17170126324456458, + 1.0 + ], + [ + 0.009341670649832894, + -0.00975142820830496, + 0.0004540622826881224, + -0.12865954631449458, + -0.059004534293883276, + -0.1281999998177102, + 1.0 + ], + [ + 0.0224727306569241, + -0.015398368000978522, + -0.016320316809120498, + -0.13040833704791116, + -0.0474116127590005, + -0.14892716987552237, + 1.0 + ], + [ + 0.025598690436379953, + -0.008688161516566928, + 0.003187177528647629, + -0.039565316286682924, + -0.062445100426080855, + -0.17716588212365925, + 1.0 + ], + [ + 0.02357576993310703, + -0.00266713495002842, + 0.015547045652783947, + 0.03787440002476651, + -0.09109791472753417, + -0.1652650900520376, + 1.0 + ], + [ + 0.022526975936080152, + 0.009188847378185238, + 0.011141359681326377, + 0.007048157302776226, + -0.08182398010940191, + -0.14076351859843078, + 1.0 + ], + [ + 0.01056634528853465, + 0.013288594024198908, + 0.01072455883783796, + 0.009595109607200199, + -0.052785828813491746, + -0.11554738685684739, + 1.0 + ], + [ + -0.0022614273625489794, + 0.008304612455338064, + 0.014683178418213953, + 0.03686236518588209, + -0.02965258964533852, + -0.06801967805092311, + 1.0 + ], + [ + -0.007186931854441746, + 0.0018886833765340964, + 0.01396703005754957, + 0.04433297626251485, + -0.005723235617925202, + -0.02923664477852863, + 1.0 + ], + [ + -0.011198610805489253, + -0.0007198357186603745, + 0.016106706974723335, + 0.054549811235658864, + -0.024102647015594246, + 0.005332933717021394, + 1.0 + ], + [ + -0.011270828344855334, + -0.001480615814718729, + 0.014158688973235519, + 0.046970475119704334, + -0.034101785652339615, + 0.005595310795023814, + 1.0 + ], + [ + -0.013852224294707702, + 0.005897868396631182, + 0.005659441869909161, + 0.02935472713612049, + -0.03740392959326795, + -0.0034935760270482894, + 1.0 + ], + [ + -0.010139632778644282, + 0.003894866709392024, + -0.004416351661434374, + 0.02483679937693562, + -0.018388185270837836, + 0.0025832798503145015, + 1.0 + ], + [ + -0.0004275348724780188, + 0.00010142293231388834, + 0.0012680681406395937, + 0.0014446346951888448, + -0.004945646854514027, + -0.01145521120094668, + 1.0 + ], + [ + 0.0003672025406470854, + 0.00019299693762543885, + 0.010698210525586567, + 0.013177382907339276, + 0.013545193337302917, + -0.013621241671973467, + 0.0 + ], + [ + -0.0015593429381846847, + 0.0014478040881866182, + -0.0004569787928017706, + -0.008544889672805854, + -0.0027298450702837266, + -0.017292219656477224, + 0.0 + ], + [ + -0.008040524689357936, + 0.00570821535267319, + -0.01616219925137771, + -0.0828427401521614, + 0.07814244304247892, + 0.019983870418148524, + 0.0 + ], + [ + -0.024043423116355496, + 0.006300154709145548, + -0.031033167839261862, + -0.1442445260476628, + 0.16100755044817766, + 0.04293062039275703, + 0.0 + ], + [ + -0.021377302117580967, + 0.00969397691443005, + -0.004315778523922552, + -0.07847557447500252, + 0.2037166438544455, + 0.07091565933483089, + 0.0 + ], + [ + -0.0068215720293161395, + 0.013235975166556469, + 0.0013799338218388982, + -0.06714905560521738, + 0.22253200652544627, + 0.07046691763308638, + 0.0 + ], + [ + 0.002110733168501096, + 0.009586098825777047, + 0.0016504589376810078, + -0.04243041436304117, + 0.16136684340333918, + 0.05395027444872413, + 0.0 + ], + [ + -0.005526016055334414, + 0.006610614333025377, + 0.0021350784783891338, + -0.027334812623464596, + 0.13014917430810194, + 0.05818248842294993, + 0.0 + ], + [ + -0.008392785756929715, + 0.0014473978294582486, + -0.00018840807089066342, + -0.02661897222186182, + 0.1210568827800858, + 0.08110250037524197, + 0.0 + ], + [ + -0.007793200410768876, + 0.0017623550592529335, + 0.0028454373523369297, + -0.03128779493769013, + 0.08539713086710511, + 0.050592877278196356, + 0.0 + ], + [ + -0.0004918094679572322, + 0.004644868510291782, + 0.00024036266622194064, + -0.034718710126321196, + 0.09253785951927283, + 0.016565233457082433, + 0.0 + ], + [ + 0.0026273718886695007, + 0.00472157288322141, + 0.00016318870290731277, + -0.05028139844936149, + 0.08930943242285674, + -0.00023376875097767306, + 0.0 + ], + [ + -0.0011353372806078687, + 0.004785474721266671, + -0.0008494897061342572, + -0.05958069210916922, + 0.0719292324925061, + 0.01687582175389338, + 0.0 + ], + [ + -0.001500843826186648, + -0.002013714553160562, + 0.000862847079457366, + -0.029212963586876927, + 0.03165986188127511, + 0.021039494778359893, + 0.0 + ], + [ + -0.0054200464501725845, + -0.0028212076037143017, + -0.00034284026308175166, + -0.015890061844750017, + -0.004059114139419473, + 0.030308185773964012, + 0.0 + ], + [ + -0.0022574067256221574, + -0.0010783155656511893, + -0.005501529946497308, + -0.037230342100131965, + 0.023538097111146947, + 0.013041357859717983, + 0.0 + ], + [ + -0.0016810489382885364, + 0.0018798673993018268, + -0.003255782605262079, + -0.04539552786960727, + 0.03636599167062659, + 0.025381052559402463, + 0.0 + ], + [ + 0.0070508213214442025, + 0.0041242190697085065, + -0.005174137309755379, + -0.023723776920584378, + 0.03480688116711258, + -0.0030363032476748114, + 0.0 + ], + [ + 0.0030452549711427446, + 0.0004256099798777622, + 0.00028708841536622325, + 0.003022711663145527, + 0.016372383151074116, + 0.000675848778865476, + 0.0 + ], + [ + 0.005546523746546675, + 0.00490039233937113, + 0.0017309606914613276, + -0.014885204548182195, + 0.0170727007346714, + 0.01161599097513911, + 0.0 + ], + [ + -0.0029296089736297833, + -0.002548200826091193, + 0.002047927570420307, + 0.00424167899674852, + 0.006901168599339536, + 0.025748992263346763, + 0.0 + ], + [ + -0.005497832298533065, + -0.006406109847031156, + -0.0013515094798219728, + -0.02000931798604882, + 0.00802706964906079, + 0.053230810302812334, + 0.0 + ] + ], + "state": [ + [ + 0.18862292170524597, + 0.041898272931575775, + 0.10261448472738266, + -3.0105811675363263, + -0.06286940723657608, + 0.15481482446193695, + 1.0 + ], + [ + 0.1883801370859146, + 0.04188837856054306, + 0.10260313004255295, + -3.0104174633794507, + -0.06135863810777664, + 0.15501441061496735, + 1.0 + ], + [ + 0.18384617567062378, + 0.0396537259221077, + 0.09858087450265884, + -3.049623208242007, + -0.0016324515454471113, + 0.19800519943237305, + 1.0 + ], + [ + 0.20089375972747803, + 0.05328278988599777, + 0.10892803221940994, + 3.0500223358445844, + 0.10728831589221956, + 0.38032251596450806, + 1.0 + ], + [ + 0.2057950794696808, + 0.06565539538860321, + 0.10659157484769821, + 2.935161741571971, + 0.17692965269088745, + 0.5042691826820374, + 1.0 + ], + [ + 0.21824032068252563, + 0.09355824440717697, + 0.1152537390589714, + 2.831133695440837, + 0.2520934045314789, + 0.6444956064224243, + 1.0 + ], + [ + 0.23253752291202545, + 0.11343412101268768, + 0.10335942357778549, + 2.8344088812642774, + 0.3625174760818482, + 0.8039106726646423, + 1.0 + ], + [ + 0.24554277956485748, + 0.12381896376609802, + 0.08038858324289322, + 2.9260427822643003, + 0.49580919742584234, + 0.9507051110267639, + 1.0 + ], + [ + 0.26383596658706665, + 0.12989060580730438, + 0.06182722747325897, + 3.0031485577398023, + 0.6016401052474976, + 1.0956950187683105, + 1.0 + ], + [ + 0.2785652279853821, + 0.12651626765727997, + 0.048601750284433365, + 3.0904269014769277, + 0.6657093167304993, + 1.231843113899231, + 1.0 + ], + [ + 0.2835797965526581, + 0.1135375127196312, + 0.03879958763718605, + -3.102320762472697, + 0.6970230340957642, + 1.3184614181518555, + 1.0 + ], + [ + 0.28125178813934326, + 0.09914569556713104, + 0.03265523910522461, + -3.033271426456519, + 0.7012300491333008, + 1.356994867324829, + 1.0 + ], + [ + 0.2748541533946991, + 0.08125932514667511, + 0.02770538255572319, + -2.981015296774455, + 0.725764811038971, + 1.3533923625946045, + 1.0 + ], + [ + 0.2674310803413391, + 0.06492627412080765, + 0.024908652529120445, + -2.934013532596179, + 0.7603223323822021, + 1.3532975912094116, + 1.0 + ], + [ + 0.2687571942806244, + 0.04958703741431236, + 0.02956133894622326, + -2.893558161454745, + 0.7961419820785521, + 1.369200348854065, + 1.0 + ], + [ + 0.2725743353366852, + 0.04399333894252777, + 0.039133500307798386, + -2.8665849586301526, + 0.8145994544029236, + 1.372130036354065, + 1.0 + ], + [ + 0.27209538221359253, + 0.04286447539925575, + 0.03858821094036102, + -2.8520245869928083, + 0.816167414188385, + 1.3901851177215576, + 1.0 + ], + [ + 0.2679685056209564, + 0.03623998910188675, + 0.031259577721357346, + -2.8292338271909436, + 0.7992527484893799, + 1.403358817100525, + 0.0 + ], + [ + 0.2692830562591553, + 0.034907836467027664, + 0.03237036243081093, + -2.8200975974374494, + 0.7963835000991821, + 1.4280911684036255, + 0.0 + ], + [ + 0.28027474880218506, + 0.03741936385631561, + 0.047579746693372726, + -2.944053830700465, + 0.7276517152786255, + 1.3697141408920288, + 0.0 + ], + [ + 0.2925878167152405, + 0.03640236333012581, + 0.08537114411592484, + 3.138372004619338, + 0.5760733485221863, + 1.2825536727905273, + 0.0 + ], + [ + 0.29744550585746765, + 0.0187333133071661, + 0.10066152364015579, + 3.0188011174374303, + 0.37071746587753296, + 1.2087376117706299, + 0.0 + ], + [ + 0.3076684772968292, + 0.008159851655364037, + 0.10336741805076599, + 2.9331911226087293, + 0.14094197750091553, + 1.167190432548523, + 0.0 + ], + [ + 0.3174487054347992, + 0.006311891600489616, + 0.10343583673238754, + 2.885331006842204, + -0.028089527040719986, + 1.1483514308929443, + 0.0 + ], + [ + 0.32151463627815247, + -0.0015600200276821852, + 0.1028909981250763, + 2.8564895411306104, + -0.16870322823524475, + 1.1251401901245117, + 0.0 + ], + [ + 0.3191112279891968, + -0.009690496139228344, + 0.10206136107444763, + 2.83567667205865, + -0.3074892461299896, + 1.0797888040542603, + 0.0 + ], + [ + 0.3181581497192383, + -0.01685456372797489, + 0.09762242436408997, + 2.810708524780818, + -0.40406522154808044, + 1.055467963218689, + 0.0 + ], + [ + 0.3215773105621338, + -0.019889909774065018, + 0.09860754758119583, + 2.768071474628993, + -0.4969037771224975, + 1.0718746185302734, + 0.0 + ], + [ + 0.3262365162372589, + -0.020651312544941902, + 0.10124099254608154, + 2.6977014561467847, + -0.5796481966972351, + 1.111043095588684, + 0.0 + ], + [ + 0.3286750912666321, + -0.024643687531352043, + 0.10298044234514236, + 2.6261264999681195, + -0.6517568826675416, + 1.130746603012085, + 0.0 + ], + [ + 0.32741695642471313, + -0.024201292544603348, + 0.1006840392947197, + 2.598749192553111, + -0.6896698474884033, + 1.1272579431533813, + 0.0 + ], + [ + 0.3235985040664673, + -0.02619653008878231, + 0.09633753448724747, + 2.606455298262187, + -0.7015207409858704, + 1.0905364751815796, + 0.0 + ], + [ + 0.31824392080307007, + -0.028395021334290504, + 0.0980755090713501, + 2.568379433947154, + -0.7284178137779236, + 1.0915919542312622, + 0.0 + ], + [ + 0.3163476884365082, + -0.03164030984044075, + 0.09975846856832504, + 2.5240369756990155, + -0.7727321982383728, + 1.0893718004226685, + 0.0 + ], + [ + 0.31687453389167786, + -0.03142314776778221, + 0.10941094160079956, + 2.477406235533305, + -0.7990940809249878, + 1.1218209266662598, + 0.0 + ], + [ + 0.31824633479118347, + -0.029755696654319763, + 0.11161886155605316, + 2.4703969081216535, + -0.8123547434806825, + 1.1357204914093018, + 0.0 + ], + [ + 0.32379260659217834, + -0.029481295496225357, + 0.11680900305509567, + 2.4537533839517316, + -0.8329465985298158, + 1.137984037399292, + 0.0 + ], + [ + 0.3233521580696106, + -0.02884044498205185, + 0.11248867213726044, + 2.4755575974755963, + -0.8544896841049194, + 1.114359974861145, + 0.0 + ], + [ + 0.31745272874832153, + -0.02753235213458538, + 0.10644081234931946, + 2.500449927645274, + -0.8928655982017517, + 1.0555338859558105, + 0.0 + ] + ], + "continuous_gripper_state": [ + 0.012049198150634766, + 0.012049198150634766, + 0.012049198150634766, + 0.012049198150634766, + 0.012049198150634766, + 0.012049198150634766, + 0.012049198150634766, + 0.012049198150634766, + 0.012049198150634766, + 0.012049198150634766, + 0.012049198150634766, + 0.012049198150634766, + 0.012049198150634766, + 0.012049198150634766, + 0.012049198150634766, + 0.012049198150634766, + 0.012049198150634766, + 0.101795494556427, + 0.17294937372207642, + 0.149145245552063, + 0.1482418179512024, + 0.1482418179512024, + 0.1482418179512024, + 0.1482418179512024, + 0.1482418179512024, + 0.1482418179512024, + 0.1482418179512024, + 0.14733940362930298, + 0.1482418179512024, + 0.1482418179512024, + 0.1482418179512024, + 0.1482418179512024, + 0.1482418179512024, + 0.1482418179512024, + 0.14733940362930298, + 0.14733940362930298, + 0.1482418179512024, + 0.14733940362930298, + 0.1482418179512024 + ], + "episode_id": "1435", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1435/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1447.json b/annotation/test/1447.json new file mode 100644 index 0000000000000000000000000000000000000000..8829965c466e8465467d6d62c58770d3dce88558 --- /dev/null +++ b/annotation/test/1447.json @@ -0,0 +1,869 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Place the spoon on the front edge of the table" + ], + "videos": [ + { + "video_path": "videos/test/1447/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 1.4871599961955154e-18, + 1.0053062620655808e-17, + 3.95136298951346e-17, + 1.0 + ], + [ + -0.003755529253913808, + -0.0034962078807078707, + 0.012133700571142726, + 0.02865057252290254, + -0.02847473483226914, + -0.0015909513824565417, + 1.0 + ], + [ + 0.03197443538111979, + -0.029000025717662102, + 0.000239838973416353, + 0.012910670434742182, + -0.0030790515842891303, + -0.12048751391496902, + 1.0 + ], + [ + 0.025828803499568197, + -0.01811478409294357, + -0.0011321278605245226, + 0.012253838608643113, + 0.03583083275137886, + -0.051835526980649874, + 1.0 + ], + [ + 0.016462687624941873, + -0.011490359152402645, + 0.010601284647312545, + 0.01990199015391743, + 0.01740697361698704, + -0.050257619631254184, + 1.0 + ], + [ + 0.014712702166265273, + -0.010033524076295588, + 0.006182998123685351, + -0.013106039856289171, + 0.04103203561788975, + -0.030241498242039148, + 1.0 + ], + [ + 0.003407409323631502, + -0.007209136210043428, + 0.0123065855507486, + 0.011257356748653937, + 0.0424137301604155, + 0.02575832399646588, + 1.0 + ], + [ + 0.003925231685613138, + -0.004604901652599182, + 0.009832708792818548, + 0.01467656265156089, + 0.01649258379557496, + 0.000774519185129141, + 1.0 + ], + [ + -0.00025279568458218266, + -0.007572682240016667, + 0.011617384252597769, + 0.032194041247258505, + -0.006285779314716437, + 0.0033659411883378365, + 1.0 + ], + [ + 0.00040581568003769295, + -0.007524962961463306, + 0.013126379465749231, + 0.026386087331742754, + -0.015792174765429885, + -0.010770802089419117, + 1.0 + ], + [ + -0.00011407855895708213, + -0.010889734213514085, + 0.01508971565140094, + 0.017111917302511746, + -0.0369186423213406, + -0.03820351664825029, + 1.0 + ], + [ + -0.0004898091362518889, + -0.0013677241123947104, + 0.0068554215295904405, + -0.0042770375246013485, + 0.007305582934409453, + -0.020118125559131554, + 1.0 + ], + [ + -0.0027696659519718804, + 0.002994453683399475, + 0.005925938292164861, + 0.009801222074556522, + 0.00040477869054222687, + 0.003274238826928906, + 1.0 + ], + [ + -0.0010618684461196095, + 0.000542282442507203, + 0.002772131389544286, + 0.016259687332534783, + -0.007945465932836144, + 0.0002803376070319425, + 1.0 + ], + [ + 0.0003601388430072856, + 0.0010910960062846075, + 0.004621540898155737, + 0.012260774528830185, + 0.002983579796208267, + 0.007157022427718968, + 1.0 + ], + [ + 0.0018000640896783748, + 0.0018535262524816808, + 0.0004552809240301854, + -0.009420442082165893, + 0.014170044998369966, + 0.0002278296245202014, + 1.0 + ], + [ + 0.0005502339697243709, + 0.0014724774317447053, + -0.0005886149534480697, + -0.007453600519388632, + 0.005756073400557957, + -0.0021423315434945813, + 0.0 + ], + [ + -0.0013407021913731528, + 0.0010843204889493781, + 0.00024496296461141043, + -0.008138786341293024, + -0.0072280156119482256, + -0.0020087695292053823, + 0.0 + ], + [ + -0.0012852088851198836, + 0.0007893004877468937, + -0.001279279608835552, + -0.0058871795454945594, + -0.01250644063417516, + -0.007052539638597608, + 0.0 + ], + [ + -0.002905778767375711, + 0.003608593141798276, + -0.0032248900099871294, + -0.00724701859389199, + -0.027911560898324285, + -0.011347112197183595, + 0.0 + ], + [ + 0.0032744832111300864, + 0.006706022165588735, + -0.028310593556566975, + -0.050877870997121086, + 0.014554760431661767, + -0.020404615897097564, + 0.0 + ], + [ + 0.0006673747826935316, + 0.005670695276178468, + -0.018883840786520625, + -0.04639906952188657, + 0.002780815902305996, + -0.007213276853529265, + 0.0 + ], + [ + -0.00444925632215899, + 0.0017153085572305176, + -0.028886548879225735, + -0.055963723637164065, + 0.006455653221749253, + 0.00108364911851741, + 0.0 + ], + [ + -0.015031222249984703, + -0.0015843433225574068, + -0.01934732792899043, + -0.028650020476818243, + 0.004247278551201415, + 0.028781107765885834, + 0.0 + ], + [ + -0.021694530428105128, + 0.00226698880056526, + -0.019563145567842027, + -0.03401910229367638, + -0.00194518984887164, + 0.03161429171201839, + 0.0 + ], + [ + -0.039554495268191645, + -0.0010950848055008783, + -0.015843898757449983, + -0.03643982132780473, + -0.0245273336845962, + 0.05663173102783028, + 0.0 + ], + [ + -0.039032388068088446, + -0.0063381361822260835, + -0.0009046640185903766, + 0.0011455475678100035, + -0.028673146804083463, + 0.07012399041065322, + 0.0 + ], + [ + -0.03431767155802618, + -0.006866207917801843, + 0.008767741940293894, + 0.009010950802404027, + -0.0280859303275262, + 0.06529738304193528, + 0.0 + ], + [ + -0.018224838391410057, + -0.003193591689729399, + 0.010131165962829253, + 0.00313768855213889, + 0.010845339198879415, + 0.040162554805261555, + 0.0 + ], + [ + -0.014295096326710468, + 0.000984376742220802, + 0.009550578889376877, + 0.011756545688716388, + -0.004336322323409245, + 0.01346179107160763, + 0.0 + ], + [ + -0.016750477045385778, + -0.005951687404266119, + 0.020750089922536345, + 0.043849394953608685, + -0.02027647077996306, + 0.02061758304363766, + 0.0 + ], + [ + -0.01476712394007529, + -0.007071744410948139, + 0.017130953883086567, + 0.03178289987961656, + -0.011843016859841318, + 0.015381292372758426, + 0.0 + ], + [ + -0.004425981579087703, + -0.00684061451420612, + 0.014819602946851244, + 0.007741077007572258, + 0.0041926838176437956, + -0.0026117383010953784, + 0.0 + ], + [ + -0.00360111238701321, + -0.002331382741754539, + 0.011156327130296377, + -0.0014135015837329619, + -0.009990332231174603, + 0.01909286425750783, + 0.0 + ], + [ + 0.0013817752726993638, + -0.003430852383749211, + -0.00010722942302099542, + 0.004782520536429448, + 0.008565072951496763, + -0.021399152486126845, + 0.0 + ], + [ + 0.0026670154385144847, + -0.0014424524836142943, + -0.0017748576169255115, + 0.03366134920736904, + 0.002009577677676648, + -0.037130991116918026, + 0.0 + ], + [ + 0.00281400311118372, + -0.0016965929885830702, + -0.0001405599916869128, + 0.009578088750006883, + -0.007256717743549064, + -0.020531733014421134, + 1.0 + ], + [ + 0.00038921460588561217, + 0.0005241800508240486, + -0.0024537064501099375, + 0.015141315556290055, + -0.00884655813689951, + -0.011233819650283286, + 1.0 + ], + [ + 0.003678857249885061, + 0.002533343041580593, + -0.009413383120527306, + -0.00919448345336748, + -0.006274650198204898, + -0.026932351287438025, + 1.0 + ], + [ + 0.0047933435304658425, + 0.00998427137612776, + -0.01852492641633178, + -0.0242707071131296, + -0.016848058122632185, + 0.0028826536143581384, + 1.0 + ], + [ + 0.009486547077153861, + 0.01686829154989978, + -0.04181466871805156, + -0.062121354707742514, + 0.025216739228459115, + 0.01109667752376003, + 1.0 + ], + [ + 0.011167607572958234, + 0.003768987641209025, + -0.02767754331468007, + -0.04532634398619246, + 0.015413934097638636, + 0.0008143902512197859, + 1.0 + ], + [ + -0.00017512509043378133, + 5.707097937501757e-05, + -9.833383589379726e-08, + -0.0003654897401940945, + -0.0011025474293754162, + 0.005134048548222123, + 1.0 + ], + [ + -3.927619630243272e-06, + 0.0005491050087777705, + -0.00030563068786212017, + -0.0012976895366063601, + 0.0012319684975963508, + 0.002385578070223641, + 1.0 + ] + ], + "state": [ + [ + 0.3655584156513214, + 0.026195216923952103, + 0.12431583553552628, + 2.923471825318881, + -0.15238460898399353, + 1.0374600887298584, + 1.0 + ], + [ + 0.3655584156513214, + 0.026195216923952103, + 0.12431583553552628, + 2.923471825318881, + -0.15238460898399353, + 1.0374600887298584, + 1.0 + ], + [ + 0.3639655113220215, + 0.025046568363904953, + 0.11128903925418854, + 2.95274010499055, + -0.12423884123563766, + 1.032815933227539, + 1.0 + ], + [ + 0.3561614751815796, + 0.06746966391801834, + 0.1096152663230896, + 2.9523407985740384, + -0.09778462350368498, + 1.1511362791061401, + 1.0 + ], + [ + 0.3502844274044037, + 0.09848511964082718, + 0.10985195636749268, + 2.959122436242648, + -0.12306668609380725, + 1.2092015743255615, + 1.0 + ], + [ + 0.34783801436424255, + 0.11852005869150162, + 0.09945715218782425, + 2.9727443178468427, + -0.13089829683303833, + 1.2622333765029907, + 1.0 + ], + [ + 0.3441425859928131, + 0.13607384264469147, + 0.09366291761398315, + 2.954752655821391, + -0.16617679595947266, + 1.2994294166564941, + 1.0 + ], + [ + 0.3410167992115021, + 0.14273779094219208, + 0.08098004013299942, + 2.968817653256007, + -0.21261081099510193, + 1.2816191911697388, + 1.0 + ], + [ + 0.34001365303993225, + 0.14934606850147247, + 0.07156626880168915, + 2.98302178283269, + -0.22899051010608673, + 1.2837470769882202, + 1.0 + ], + [ + 0.3353457450866699, + 0.15346544981002808, + 0.059172142297029495, + 3.0162188728624066, + -0.22331292927265167, + 1.2793209552764893, + 1.0 + ], + [ + 0.3307693302631378, + 0.15848037600517273, + 0.04564444720745087, + 3.0406230111890515, + -0.20628930628299716, + 1.2882198095321655, + 1.0 + ], + [ + 0.3227144181728363, + 0.1641390025615692, + 0.029852133244276047, + 3.050606133537837, + -0.1655866503715515, + 1.3229551315307617, + 1.0 + ], + [ + 0.32216039299964905, + 0.1649627685546875, + 0.02291514165699482, + 3.0428841804438314, + -0.17099836468696594, + 1.3439598083496094, + 1.0 + ], + [ + 0.3252335488796234, + 0.1624307632446289, + 0.01692354679107666, + 3.0532417466216764, + -0.17172294855117798, + 1.3406933546066284, + 1.0 + ], + [ + 0.3258647620677948, + 0.1616845577955246, + 0.014068534597754478, + 3.069668473797389, + -0.1638331264257431, + 1.3396997451782227, + 1.0 + ], + [ + 0.32749804854393005, + 0.1624244898557663, + 0.00965676549822092, + 3.0830759723954877, + -0.16731934249401095, + 1.3326776027679443, + 1.0 + ], + [ + 0.3297543227672577, + 0.16376261413097382, + 0.009615279734134674, + 3.0735478421025952, + -0.181478425860405, + 1.3332889080047607, + 1.0 + ], + [ + 0.3312413990497589, + 0.16383181512355804, + 0.010390670038759708, + 3.0656288286023816, + -0.1870749294757843, + 1.3358625173568726, + 0.0 + ], + [ + 0.332011342048645, + 0.1623239815235138, + 0.00998217798769474, + 3.0572132041030606, + -0.1797151118516922, + 1.3373407125473022, + 0.0 + ], + [ + 0.3323236107826233, + 0.16070352494716644, + 0.011072096414864063, + 3.050238186615058, + -0.1666555553674698, + 1.3433974981307983, + 0.0 + ], + [ + 0.33475959300994873, + 0.15659573674201965, + 0.014081660658121109, + 3.0414931197934827, + -0.137818843126297, + 1.3522305488586426, + 0.0 + ], + [ + 0.3383556604385376, + 0.15506093204021454, + 0.04309709370136261, + 2.987605558829852, + -0.15022894740104673, + 1.3742334842681885, + 0.0 + ], + [ + 0.34056875109672546, + 0.15231268107891083, + 0.06250716745853424, + 2.9400665332847318, + -0.1518661826848984, + 1.3818758726119995, + 0.0 + ], + [ + 0.33490046858787537, + 0.14450669288635254, + 0.09014967083930969, + 2.884063245850154, + -0.15840809047222137, + 1.38210928440094, + 0.0 + ], + [ + 0.325229674577713, + 0.12830233573913574, + 0.10585512965917587, + 2.859786035614558, + -0.16978752613067627, + 1.3549696207046509, + 0.0 + ], + [ + 0.3167605996131897, + 0.10490894317626953, + 0.12133196741342545, + 2.8312091251188, + -0.17662732303142548, + 1.3235729932785034, + 0.0 + ], + [ + 0.3008943498134613, + 0.06607979536056519, + 0.12890467047691345, + 2.806219669180461, + -0.17022044956684113, + 1.2612615823745728, + 0.0 + ], + [ + 0.2832556962966919, + 0.031552284955978394, + 0.12107864767313004, + 2.8211989124589643, + -0.1657081991434097, + 1.1845654249191284, + 0.0 + ], + [ + 0.2676779329776764, + 0.0032147145830094814, + 0.10507752001285553, + 2.842731000977107, + -0.15917837619781494, + 1.1128478050231934, + 0.0 + ], + [ + 0.2604048550128937, + -0.01138482615351677, + 0.09170067310333252, + 2.8517113645845136, + -0.18126611411571503, + 1.0770777463912964, + 0.0 + ], + [ + 0.2577337622642517, + -0.0240990798920393, + 0.08039822429418564, + 2.8660861571603498, + -0.1809401512145996, + 1.0627034902572632, + 0.0 + ], + [ + 0.2515353262424469, + -0.03506061062216759, + 0.0561496876180172, + 2.914594980078288, + -0.16697773337364197, + 1.0369930267333984, + 0.0 + ], + [ + 0.24305954575538635, + -0.043436333537101746, + 0.035666633397340775, + 2.949368717270442, + -0.15887372195720673, + 1.0191166400909424, + 0.0 + ], + [ + 0.23877625167369843, + -0.04298681020736694, + 0.019312573596835136, + 2.9565697779231748, + -0.16248932480812073, + 1.0225261449813843, + 0.0 + ], + [ + 0.23768071830272675, + -0.04432174935936928, + 0.007485285867005587, + 2.958560811477252, + -0.15614697337150574, + 1.001668095588684, + 0.0 + ], + [ + 0.23560157418251038, + -0.04127543792128563, + 0.007187467999756336, + 2.9598236103826245, + -0.16063420474529266, + 1.0245630741119385, + 0.0 + ], + [ + 0.23535940051078796, + -0.038325145840644836, + 0.009079791605472565, + 2.987639384465762, + -0.15578994154930115, + 1.061897873878479, + 0.0 + ], + [ + 0.23524008691310883, + -0.03505372628569603, + 0.009396614506840706, + 2.994234936433383, + -0.14544194936752317, + 1.081277847290039, + 1.0 + ], + [ + 0.23539017140865326, + -0.0351085439324379, + 0.011930662207305431, + 3.007942320900508, + -0.13503484427928925, + 1.091180682182312, + 1.0 + ], + [ + 0.2375863939523697, + -0.033608805388212204, + 0.022004935890436172, + 2.995282145338603, + -0.1251823753118515, + 1.1172398328781128, + 1.0 + ], + [ + 0.2450392246246338, + -0.03469870612025261, + 0.04223120957612991, + 2.971659319596835, + -0.10893283039331436, + 1.1119005680084229, + 1.0 + ], + [ + 0.2556597590446472, + -0.034770965576171875, + 0.08706645667552948, + 2.9102192391925534, + -0.13566045463085172, + 1.105169653892517, + 1.0 + ], + [ + 0.2565462291240692, + -0.02704147808253765, + 0.11612564325332642, + 2.864490660029002, + -0.150849848985672, + 1.107943058013916, + 1.0 + ], + [ + 0.2565169632434845, + -0.0272230077534914, + 0.11611485481262207, + 2.864925416307994, + -0.15119178593158722, + 1.1026427745819092, + 1.0 + ], + [ + 0.2568819224834442, + -0.027486834675073624, + 0.11655319482088089, + 2.863926502066203, + -0.1530282348394394, + 1.100661277770996, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.061691224575042725, + 0.33987146615982056, + 0.6046426296234131, + 0.6330343186855316, + 0.6330343186855316, + 0.6330343186855316, + 0.6330343186855316, + 0.6330343186855316, + 0.6330343186855316, + 0.6330343186855316, + 0.6330343186855316, + 0.6330343186855316, + 0.6330343186855316, + 0.6330343186855316, + 0.6330343186855316, + 0.6330343186855316, + 0.6330343186855316, + 0.6330343186855316, + 0.6330343186855316, + 0.6389226019382477, + 0.5281247198581696, + 0.25327932834625244, + 0.017633140087127686, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1447", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1447/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1448.json b/annotation/test/1448.json new file mode 100644 index 0000000000000000000000000000000000000000..181ab813f4c003bc2c9683cd108db12e989ae98d --- /dev/null +++ b/annotation/test/1448.json @@ -0,0 +1,375 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "end effector reaching stuffedrabbit" + ], + "videos": [ + { + "video_path": "videos/test/1448/rgb.mp4" + } + ], + "action": [ + [ + 0.00023579012787706708, + 5.9825088244354434e-05, + -1.8263124758392025e-07, + -0.00037728914345593696, + 0.001486859904960136, + -2.85451355813114e-07, + 1.0 + ], + [ + -0.007413365823413505, + 0.0017290022971970904, + 0.013904091699901543, + 0.007040560351149904, + -0.039919173208018355, + 0.002198658396137191, + 1.0 + ], + [ + -0.022129321104140877, + 0.005527075143032932, + 0.027252079108171703, + 0.02776441859346553, + -0.01982882161636858, + -0.022874837335981075, + 1.0 + ], + [ + -0.019137127814699072, + 0.002208305782084047, + 0.006041117501146674, + 0.0002969605262840649, + 0.06877483361965464, + -0.008031359220301803, + 1.0 + ], + [ + -0.016326956080278718, + 0.001593781838571691, + 0.003945955709229743, + 0.011105485011229542, + 0.029504642441169217, + -0.004368349785973006, + 1.0 + ], + [ + -0.015378261620589835, + -0.0054233086616564995, + -0.0009866226465043467, + 0.0071445581857918355, + 0.017104556402198604, + 0.010153037157450756, + 1.0 + ], + [ + -0.01618575777318144, + -0.004012194011553083, + 0.01025546409616326, + 0.002364798401167375, + 0.021157646048070803, + 0.021443564529335067, + 1.0 + ], + [ + -0.009906342559830087, + -0.0010566052985668806, + 0.008838957835903482, + -0.020838500447875115, + 0.014662603705332221, + 0.014027421614605037, + 1.0 + ], + [ + -0.0110436200597905, + -0.0017901961690261216, + 0.010303929906406085, + 0.0020440804559976244, + 0.02299238676645303, + -0.011353093930419942, + 1.0 + ], + [ + -0.006236870736928142, + 0.0012649957617636258, + 0.007625276423854072, + -0.013085357162779518, + 0.044988546534234355, + -0.021060651413863134, + 1.0 + ], + [ + -0.00030337015480654743, + 0.003316014162740159, + 0.004667702923477506, + -0.021853110791047646, + 0.03389188883168278, + -0.005606738676306597, + 1.0 + ], + [ + 5.1251064284127915e-05, + 0.00026471902564347336, + 0.0009075063736927462, + -0.014993507173403052, + -0.0008293525744337094, + 0.0011077522701714612, + 1.0 + ], + [ + 0.0002564979662664984, + 0.00019719140967764922, + 0.0001881264243970655, + -0.00047741210820206247, + -0.00040478943373370316, + -0.0014003509828009475, + 1.0 + ], + [ + 0.00018561996447383588, + 0.00015718454834943467, + -1.9642738356048679e-07, + -0.000991210319628786, + 0.0011707123398582615, + -5.754664190812069e-07, + 1.0 + ], + [ + -0.0008267826713204911, + 0.0001082687627061516, + 7.719771653874506e-05, + 0.0008134147068174189, + -0.0024926659905265196, + 0.0017105897002975678, + 1.0 + ], + [ + 0.0008264012624474555, + -0.0001097473227861723, + -7.916865907089825e-05, + -0.0008176799764608231, + 0.0024912700966670683, + -0.0017126220178868509, + 1.0 + ], + [ + 0.0002624897230771005, + 4.092064022048544e-06, + -0.00032722274259782135, + -0.00038317554205522804, + 0.00145697766689891, + -0.0002892567220051359, + 1.0 + ], + [ + -0.00026296500589513306, + -4.293227534725769e-06, + 0.00032683833443187356, + 0.0003827544919104438, + -0.001457088335201953, + 0.0002886987292432726, + 1.0 + ] + ], + "state": [ + [ + 0.3553013205528259, + -0.07610475271940231, + 0.13993270695209503, + -3.0354686697297772, + -0.17952129244804382, + -0.07497324049472809, + 1.0 + ], + [ + 0.3555293083190918, + -0.0761815533041954, + 0.13996875286102295, + -3.035817304747649, + -0.18099981546401978, + -0.07513306289911269, + 1.0 + ], + [ + 0.35075342655181885, + -0.07607413083314896, + 0.12485416978597641, + -3.0290614907913884, + -0.14107136428356168, + -0.07308385521173477, + 1.0 + ], + [ + 0.33260923624038696, + -0.07718410342931747, + 0.09431751072406769, + -3.004845770197459, + -0.12389227002859118, + -0.0479382760822773, + 1.0 + ], + [ + 0.3143511116504669, + -0.07767389714717865, + 0.08571504801511765, + -3.004042299585887, + -0.19311876595020297, + -0.049395956099033356, + 1.0 + ], + [ + 0.2990871071815491, + -0.07795824110507965, + 0.07853107154369354, + -2.9929317106776914, + -0.22294361889362332, + -0.04910865426063537, + 1.0 + ], + [ + 0.28397077322006226, + -0.07199164479970932, + 0.07686589658260345, + -2.9829160292916974, + -0.23833775520324704, + -0.06204747408628464, + 1.0 + ], + [ + 0.27085575461387634, + -0.06558381021022797, + 0.06382032483816147, + -2.974581303196498, + -0.2557682991027832, + -0.08738506585359573, + 1.0 + ], + [ + 0.26367977261543274, + -0.06243425980210304, + 0.053051628172397614, + -2.9911559392982205, + -0.26786041259765625, + -0.10425510257482529, + 1.0 + ], + [ + 0.25604376196861267, + -0.058302950114011765, + 0.0405631959438324, + -2.9912262578778943, + -0.2922861874103546, + -0.09613450616598129, + 1.0 + ], + [ + 0.252305269241333, + -0.058051396161317825, + 0.031365152448415756, + -3.0084762295060834, + -0.33989131450653076, + -0.08121720701456069, + 1.0 + ], + [ + 0.25348734855651855, + -0.06082359701395035, + 0.02648734301328659, + -3.030631112056323, + -0.37422719597816473, + -0.08008212596178056, + 1.0 + ], + [ + 0.2538612186908722, + -0.06101672351360321, + 0.025639289990067482, + -3.045228475826331, + -0.3732800781726837, + -0.0811658576130867, + 1.0 + ], + [ + 0.2541597783565521, + -0.061219774186611176, + 0.025540802627801895, + -3.0462670644098004, + -0.3730114996433258, + -0.07962725311517715, + 1.0 + ], + [ + 0.2543250024318695, + -0.061389945447444916, + 0.025594696402549744, + -3.0472148080640515, + -0.37417694926261896, + -0.07974635064601898, + 1.0 + ], + [ + 0.25358158349990845, + -0.061431366950273514, + 0.02521146833896637, + -3.045825319486209, + -0.37153375148773193, + -0.08132191747426987, + 1.0 + ], + [ + 0.2543250024318695, + -0.061389945447444916, + 0.025594696402549744, + -3.0472148080640515, + -0.37417694926261896, + -0.07974635064601898, + 1.0 + ], + [ + 0.25444722175598145, + -0.06143473461270332, + 0.025993505492806435, + -3.0476570819788655, + -0.3756546974182129, + -0.07958438992500305, + 1.0 + ], + [ + 0.2543250024318695, + -0.061389945447444916, + 0.025594696402549744, + -3.0472148080640515, + -0.37417694926261896, + -0.07974635064601898, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709 + ], + "episode_id": "1448", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1448/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1450.json b/annotation/test/1450.json new file mode 100644 index 0000000000000000000000000000000000000000..5c8118f253ea3cd524e03d637774ba8b904ed2dd --- /dev/null +++ b/annotation/test/1450.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put sushi in pot or pan" + ], + "videos": [ + { + "video_path": "videos/test/1450/rgb.mp4" + } + ], + "action": [ + [ + -0.0005432496955369465, + -0.0003064120002483878, + 0.0003503094839608046, + 0.001780857608045834, + -0.002464226850394487, + 0.0002772652580097719, + 1.0 + ], + [ + -0.003492145584057034, + -0.008230682523825387, + 0.01005570366815826, + 0.03155901725433327, + -0.03163050005595182, + 0.01563366845531648, + 1.0 + ], + [ + -0.0006709253584277394, + -0.05091673612384005, + 0.009640089888943009, + 0.08465291002803, + -0.029287924608644027, + 0.008456110866514882, + 1.0 + ], + [ + -0.011872188254333645, + -0.04148606395792297, + 0.01687825589999501, + 0.06035559210355563, + -0.0020148551019048247, + 0.05573272552249825, + 1.0 + ], + [ + -0.01622491169155218, + -0.040948874216552626, + 0.02221757519866277, + 0.01729693667293879, + -0.0017379262217309334, + 0.030786136877740327, + 1.0 + ], + [ + -0.014093144282165012, + -0.024572121913877622, + 0.02124910902367077, + -0.005807219436951671, + 0.0058661387559960755, + 0.010440873040225639, + 1.0 + ], + [ + -0.002850511215301536, + -0.00680680575366108, + 0.018278691824746184, + -0.026110357800800614, + 0.0018526842765691149, + 0.018291831424829604, + 1.0 + ], + [ + -0.0005331287751328988, + -0.007631128680784185, + 0.016700826297887307, + -0.013363770774238625, + -0.01782361625359436, + -0.005007443019606874, + 1.0 + ], + [ + -0.001346107208514184, + -0.011851040630074474, + 0.010503254687035854, + -0.009806647101850623, + 0.002609960247445757, + -0.033710414743687786, + 1.0 + ], + [ + -0.00280015267427408, + -0.004048668484416149, + 0.009431239947354883, + -0.04416402168125851, + 0.00839406008934646, + -0.0006200080824180066, + 1.0 + ], + [ + -0.005404712072377868, + -0.002940190666604016, + 0.015251826115909415, + -0.08891546508032974, + -0.016933909558076932, + 0.0026076799164135023, + 1.0 + ], + [ + 0.00018394213003674744, + 0.00045548407242969585, + 0.0031105233669751447, + 0.002974330335635963, + -0.010368906456786953, + -0.00379027896195322, + 1.0 + ], + [ + 0.0016671369881417668, + 0.008187264528700439, + -0.0019359478981775665, + 0.018226246967320895, + -0.012000988413720349, + -0.02282419790570315, + 0.0 + ], + [ + 0.0017663302611905145, + 0.01583158780325781, + -0.017696813665280933, + 0.015079081560771812, + 0.007503297891030893, + -0.01976162539030589, + 0.0 + ], + [ + 0.0052001537281912, + 0.04157983731493579, + -0.03489373092566222, + -0.0018086020053696102, + -0.01430171940205928, + -0.04162125346685003, + 0.0 + ], + [ + 0.005539307067971334, + 0.04602439332789976, + -0.027258993742872658, + -0.09218680933208648, + -0.03995420457296055, + -0.048582364404263716, + 0.0 + ], + [ + 0.0068122962401383925, + 0.04317638905576394, + -0.003658618440364695, + -0.0892755508079327, + -0.024696354918632632, + -0.0551819477251321, + 0.0 + ], + [ + 0.002405671249863416, + 0.04670934201289329, + 0.00144108491144184, + -0.05750022962914965, + -0.014972196567997023, + -0.002131666347113251, + 0.0 + ], + [ + 0.004309617875453494, + 0.01792930436763235, + 0.0005957640419082397, + -0.022217648253966056, + 0.00864515891913205, + -0.050947480739899687, + 0.0 + ], + [ + -0.008638384268672644, + 0.01964744641559016, + 0.0029158998035334156, + 0.009307607086528554, + 0.04869391431892157, + -0.00828963522457665, + 0.0 + ], + [ + 0.007294468003766377, + -0.007563701567824059, + 0.0024511529040554085, + -0.022511583793749287, + 0.004074769437228398, + -0.027952152343098294, + 1.0 + ], + [ + -0.0006302751799537583, + 0.000695352329465769, + 6.91210366522656e-05, + -0.00021406959894956917, + -0.0004932823767476028, + 0.0030205007248371974, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -4.321132640477298e-18, + -1.1310099372829483e-17, + -3.464482556244277e-17, + 1.0 + ] + ], + "state": [ + [ + 0.26915162801742554, + -0.14454598724842072, + 0.14899443089962006, + -3.0649065395169934, + -0.21419219672679898, + 0.006652615498751403, + 1.0 + ], + [ + 0.2686878442764282, + -0.14421671628952026, + 0.14856059849262238, + -3.0631063898378095, + -0.21171396970748899, + 0.0065629505552351475, + 1.0 + ], + [ + 0.26718562841415405, + -0.135232612490654, + 0.13865678012371063, + -3.0287163500958165, + -0.17893680930137632, + -0.006747469305992126, + 1.0 + ], + [ + 0.267558217048645, + -0.08355540782213211, + 0.13475508987903595, + -2.9430979659133634, + -0.14888051152229306, + -0.011904711835086346, + 1.0 + ], + [ + 0.2575828433036804, + -0.03943377733230591, + 0.12472057342529297, + -2.8749209960275373, + -0.13570024073123932, + -0.0666477382183075, + 1.0 + ], + [ + 0.24599984288215637, + 0.006796562112867832, + 0.11198210716247559, + -2.853753628330775, + -0.1258537620306015, + -0.09612030535936357, + 1.0 + ], + [ + 0.2365970015525818, + 0.03743382543325424, + 0.09691973030567169, + -2.8580981214814862, + -0.12850604951381683, + -0.10789390653371811, + 1.0 + ], + [ + 0.23703403770923615, + 0.04910249635577202, + 0.08103830367326736, + -2.8819204588704785, + -0.12514750659465787, + -0.1261163204908371, + 1.0 + ], + [ + 0.23973242938518524, + 0.06051719933748245, + 0.06690114736557007, + -2.896436186628886, + -0.10920163244009018, + -0.11664476990699767, + 1.0 + ], + [ + 0.2408296763896942, + 0.07453063875436783, + 0.059485144913196564, + -2.90989043016965, + -0.11985752731561661, + -0.08434477448463441, + 1.0 + ], + [ + 0.23955680429935455, + 0.08076625317335129, + 0.05096001923084259, + -2.953886704640933, + -0.12816953659057614, + -0.08567985147237778, + 1.0 + ], + [ + 0.2365451604127884, + 0.08678065985441208, + 0.03595232963562012, + -3.0428519268804273, + -0.11104647070169449, + -0.08507783710956575, + 1.0 + ], + [ + 0.23706158995628357, + 0.08658945560455322, + 0.03285178169608116, + -3.040407398837157, + -0.10110043734312057, + -0.08025945723056793, + 1.0 + ], + [ + 0.23793558776378632, + 0.07815127819776535, + 0.034113459289073944, + -3.0246269350224217, + -0.09143714606761932, + -0.05624074861407281, + 0.0 + ], + [ + 0.2372579574584961, + 0.06037263944745064, + 0.049937400966882706, + -3.0112860669666013, + -0.1011790782213211, + -0.03739410266280174, + 0.0 + ], + [ + 0.23777025938034058, + 0.014560106210410595, + 0.07950843870639801, + -3.017576368647166, + -0.09231074154376984, + 0.005914302077144384, + 0.0 + ], + [ + 0.24160733819007874, + -0.034460876137018204, + 0.10128460824489594, + -3.1147450414770326, + -0.05853969976305962, + 0.059123296290636056, + 0.0 + ], + [ + 0.2508063018321991, + -0.0772511288523674, + 0.10417714715003967, + 3.0758646597438535, + -0.03524162247776985, + 0.11496712267398834, + 0.0 + ], + [ + 0.2584950625896454, + -0.1233767494559288, + 0.10589082539081573, + 3.0183167924457273, + -0.02016172558069229, + 0.11611083149909975, + 0.0 + ], + [ + 0.26481232047080994, + -0.14062754809856415, + 0.10759079456329346, + 2.995219038920947, + -0.02245255373418331, + 0.167746901512146, + 0.0 + ], + [ + 0.2596140503883362, + -0.16165322065353394, + 0.10737775266170502, + 3.00402449269826, + -0.06941374391317368, + 0.18307486176490784, + 0.0 + ], + [ + 0.26570287346839905, + -0.1532481610774994, + 0.1044267863035202, + 2.979603352146693, + -0.06958959251642227, + 0.2113901972770691, + 1.0 + ], + [ + 0.2652314603328705, + -0.15406259894371033, + 0.1044267863035202, + 2.979603352146693, + -0.06958959251642227, + 0.20832225680351257, + 1.0 + ], + [ + 0.2652314603328705, + -0.15406259894371033, + 0.1044267863035202, + 2.979603352146693, + -0.06958959251642227, + 0.20832225680351257, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.11205136775970459, + 0.3950936794281006, + 0.42007458209991455, + 0.391085684299469, + 0.38908064365386963, + 0.38908064365386963, + 0.3880780339241028, + 0.3880780339241028, + 0.2493598461151123, + 0.013436198234558105, + 0.00520777702331543, + 0.005884885787963867 + ], + "episode_id": "1450", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1450/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1453.json b/annotation/test/1453.json new file mode 100644 index 0000000000000000000000000000000000000000..14e9e8f87d55fe958e59a372e38d52a4e3d837dd --- /dev/null +++ b/annotation/test/1453.json @@ -0,0 +1,584 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Place the orange behind the pot." + ], + "videos": [ + { + "video_path": "videos/test/1453/rgb.mp4" + } + ], + "action": [ + [ + 0.00023442117982777616, + -6.487470049205605e-05, + -1.900209277202323e-07, + 0.00040459761374478636, + 0.001479666230898037, + -0.00306767099344444, + 1.0 + ], + [ + -0.0026663491542858655, + -7.810190710650391e-05, + 0.008350748510425976, + -0.005940379569305203, + -0.025295772832975485, + -0.0007512781352824075, + 1.0 + ], + [ + -0.018483328305129148, + -0.002996552751422014, + 0.022498551088916734, + 0.02341097354715971, + -0.0462146504364658, + 0.010328950971688917, + 1.0 + ], + [ + -0.008871757143862496, + -0.00386404031984392, + 0.007364668818076321, + 0.02390876969338454, + -0.014061736172045812, + -0.009876739772528028, + 1.0 + ], + [ + -0.0067346040957827836, + -0.002493344053412666, + 0.004342169454902415, + 0.011776184542198235, + -0.009256935478278742, + -0.0039460109777885045, + 1.0 + ], + [ + 0.0019734214570854463, + -0.002636868065328273, + 0.001957104786869083, + 0.023542782342518956, + 0.018051740122877257, + -0.009218524174114442, + 1.0 + ], + [ + 0.0034091979731353554, + 0.0018047967069431243, + 0.01434364684553941, + 0.02647681035041336, + -0.022215328628401466, + 0.006244151577566929, + 1.0 + ], + [ + 0.003547587592937524, + 0.004999722591792452, + 0.011447049797222523, + 0.019083495513416565, + -0.020320564986573322, + 0.005967890535203841, + 1.0 + ], + [ + 0.0016959727726884562, + 0.001433802257577921, + 0.0030995781023264186, + 0.002460156992129455, + 0.0016518490473798311, + -0.008344066247853912, + 1.0 + ], + [ + 0.00025543311338867313, + 0.002890287462037581, + 0.006240806619426153, + 0.002534709594647665, + -0.014956734975852582, + 0.0002823970179109931, + 1.0 + ], + [ + 0.00030325872545057807, + 4.146285045259995e-05, + 0.000924545430126487, + -0.00014875649624683624, + 2.7855420017583434e-05, + -0.008982503834725007, + 1.0 + ], + [ + -0.000561655224798304, + -0.0017070318238640728, + 0.0006921817463452923, + -0.009506714329648112, + -0.001232229392486611, + -0.00898920718098896, + 1.0 + ], + [ + -0.0026641235692818972, + -0.0013487591973555364, + -0.0033067466497572395, + -0.027265386405804518, + 0.008957191135524345, + 0.0019231784694506556, + 0.0 + ], + [ + 0.0006694841367671395, + -0.004601948975556746, + -0.03548405235310578, + -0.04229651468042313, + 0.060507898944443965, + -0.011289087128438334, + 0.0 + ], + [ + 0.017578620845453696, + -0.01724151346877695, + -0.04527621917703236, + -0.06806762179653336, + 0.08554432826800906, + -0.05393027705183543, + 0.0 + ], + [ + 0.0251138950062469, + -0.02086173459410788, + -0.01590347140248044, + 0.011356474974135453, + 0.052635001117344676, + -0.06789042111766408, + 0.0 + ], + [ + 0.021105802164406162, + -0.014404121920224965, + 0.0285937053866943, + 0.03323838309528015, + -0.04047010257041339, + -0.027059260748841785, + 0.0 + ], + [ + 0.013052497385756142, + 0.008301163233835906, + 0.024113103894248845, + 0.02172187795647384, + -0.03236431952163133, + 0.023693773912368512, + 0.0 + ], + [ + 0.008068752704239004, + 0.0033521354028573933, + 0.023705748767000538, + 0.027487860257505204, + -0.030544799344529482, + 0.011311872240949252, + 0.0 + ], + [ + 0.008260746786993622, + -0.005184551007239313, + 0.015567964833042638, + 0.023894619941400554, + -0.0006112230422487803, + 0.00012081866728960124, + 0.0 + ], + [ + 0.002397564869022519, + -0.004293451626225957, + 0.009200705657855327, + 0.003824401572904018, + -0.013194548585010018, + 0.004382722291548113, + 0.0 + ], + [ + 0.001039627012609095, + -0.0020265095496267422, + -0.0012397635694027735, + -0.014760128004646598, + 0.009905145923517662, + -0.010998053677174581, + 1.0 + ], + [ + -0.0015673458309945576, + 0.003360592692285378, + -0.006303424097244506, + -0.02034473226386646, + -0.002418640059099383, + 0.015676468489420132, + 1.0 + ], + [ + -6.507192077011017e-05, + 0.004919028494289851, + -0.060385582520280465, + -0.055035267754099504, + 0.11310236236791979, + -0.0029936227745708333, + 1.0 + ], + [ + -0.009954204155918656, + 0.015688715909710837, + -0.037313969454745535, + -0.04520979007097737, + 0.052536412784531965, + 0.0501173885330828, + 1.0 + ], + [ + -0.010632920949831662, + 0.007395155307686385, + 0.0005627654280504985, + 0.040163371430118576, + -0.05254065337845792, + 0.036871813632257645, + 1.0 + ], + [ + -0.006964847558560921, + 0.00033435990715778764, + 0.003625368216958833, + 0.06314762164470461, + -0.0540316120212432, + 0.018909801343354193, + 1.0 + ], + [ + -0.006400039585592062, + 0.0008312660778126132, + -0.0002656538374790862, + 0.0377578335857859, + -0.05485092243381448, + -0.014950285289566231, + 1.0 + ], + [ + 0.0008973391522669734, + -0.0014211357736112133, + -0.0007512584820975411, + 0.00848340947531378, + 0.004639970870649094, + -0.008998282571654402, + 1.0 + ] + ], + "state": [ + [ + 0.3167729079723358, + 0.06303112208843231, + 0.12042370438575745, + 3.079235693561383, + -0.08745652437210083, + -0.0013378572184592485, + 1.0 + ], + [ + 0.3170068562030792, + 0.0630955696105957, + 0.12044034153223038, + 3.07936396648223, + -0.0887417122721672, + 0.0018285159021615982, + 1.0 + ], + [ + 0.3150908946990967, + 0.06265069544315338, + 0.11189740896224976, + 3.073476808267184, + -0.06344816088676453, + 0.0010035005398094654, + 1.0 + ], + [ + 0.2980794608592987, + 0.06409190595149994, + 0.0881207063794136, + 3.0976741184764585, + -0.01803801953792572, + -0.012437299825251104, + 1.0 + ], + [ + 0.28938958048820496, + 0.06773723661899567, + 0.08043469488620758, + 3.1214135849201163, + -0.003555445233359933, + -0.0031883814372122283, + 1.0 + ], + [ + 0.2826783359050751, + 0.07016386836767197, + 0.07601918280124664, + 3.1331756842606744, + 0.0057792519219219685, + 0.0005699375178664923, + 1.0 + ], + [ + 0.28463879227638245, + 0.07278528809547424, + 0.07402858138084412, + -3.126413687253841, + -0.012194512411952017, + 0.009939267300069332, + 1.0 + ], + [ + 0.2882385551929474, + 0.07123411446809769, + 0.0597018338739872, + -3.099861370521136, + 0.010113244876265524, + 0.0040342449210584155, + 1.0 + ], + [ + 0.29168638586997986, + 0.06673017889261246, + 0.04802088439464569, + -3.0808215496414384, + 0.03066495805978775, + -0.0010819121962413194, + 1.0 + ], + [ + 0.293282687664032, + 0.06548554450273514, + 0.04478944465517998, + -3.0781109874420842, + 0.028508359566330906, + 0.00714975781738758, + 1.0 + ], + [ + 0.2933730483055115, + 0.06299757212400436, + 0.038373176008462906, + -3.0755501483851155, + 0.04345287382602691, + 0.007817396894097328, + 1.0 + ], + [ + 0.29363566637039185, + 0.0630192682147026, + 0.037435609847307205, + -3.0753119458728513, + 0.04283054545521736, + 0.01678670570254326, + 1.0 + ], + [ + 0.2930205166339874, + 0.0647583156824112, + 0.036882586777210236, + -3.0844334234767636, + 0.04346294701099396, + 0.025846339762210846, + 1.0 + ], + [ + 0.29047662019729614, + 0.06585058569908142, + 0.0403735488653183, + -3.111802404867955, + 0.03463012352585793, + 0.023413218557834625, + 0.0 + ], + [ + 0.29229500889778137, + 0.06943712383508682, + 0.07593440264463425, + 3.129468004340776, + -0.026188699528574944, + 0.03287861496210098, + 0.0 + ], + [ + 0.30809393525123596, + 0.08775556832551956, + 0.12144310772418976, + 3.059926787512847, + -0.11103354394435883, + 0.08798465132713318, + 0.0 + ], + [ + 0.3294539153575897, + 0.11181509494781494, + 0.13828741014003754, + 3.063315937417098, + -0.15766988694667813, + 0.16076108813285825, + 0.0 + ], + [ + 0.3526812791824341, + 0.12786410748958588, + 0.11233644932508469, + 3.092748975502797, + -0.11516323685646056, + 0.18470925092697144, + 0.0 + ], + [ + 0.3698404133319855, + 0.1214376837015152, + 0.0903140977025032, + 3.1173717343532523, + -0.0839575007557869, + 0.1593865603208542, + 0.0 + ], + [ + 0.3803572654724121, + 0.11915260553359985, + 0.06745631247758865, + -3.1373234527469656, + -0.05368952080607415, + 0.14732621610164642, + 0.0 + ], + [ + 0.3885711431503296, + 0.12568002939224243, + 0.05237632617354393, + -3.113422479602047, + -0.053077787160873406, + 0.1472078412771225, + 0.0 + ], + [ + 0.3907482326030731, + 0.13060350716114044, + 0.04344018176198006, + -3.109382977830716, + -0.03976460173726082, + 0.14319570362567902, + 0.0 + ], + [ + 0.3914417326450348, + 0.1327095627784729, + 0.04478486254811287, + -3.1245681942724666, + -0.05001651868224144, + 0.15388187766075132, + 1.0 + ], + [ + 0.3901177644729614, + 0.12899532914161682, + 0.05094399303197861, + 3.139052777905487, + -0.0473252534866333, + 0.13823138177394867, + 1.0 + ], + [ + 0.38788002729415894, + 0.12387248128652573, + 0.11127117276191711, + 3.0838439037376126, + -0.16041938960552213, + 0.14153493940830233, + 1.0 + ], + [ + 0.3740234971046448, + 0.10825272649526596, + 0.14734850823879242, + 3.046301106112548, + -0.21557943522930148, + 0.09349174797534943, + 1.0 + ], + [ + 0.3643437623977661, + 0.09989742934703827, + 0.14521408081054688, + 3.095459437119313, + -0.16659608483314514, + 0.05125216767191887, + 1.0 + ], + [ + 0.35810723900794983, + 0.09907566010951996, + 0.1405029594898224, + -3.1210665480517825, + -0.11345589905977249, + 0.029760804027318958, + 1.0 + ], + [ + 0.35174793004989624, + 0.09804943203926086, + 0.140025332570076, + -3.085103305178233, + -0.058908749371767044, + 0.04583871737122536, + 1.0 + ], + [ + 0.3525308668613434, + 0.09946324676275253, + 0.14090701937675476, + -3.0771359895640096, + -0.06404710561037065, + 0.054578490555286414, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.03201168775558472, + 0.327828049659729, + 0.39409196376800537, + 0.39409196376800537, + 0.39409196376800537, + 0.39409196376800537, + 0.39409196376800537, + 0.39409196376800537, + 0.39409196376800537, + 0.34690237045288086, + 0.06405991315841675, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1453", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1453/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1478.json b/annotation/test/1478.json new file mode 100644 index 0000000000000000000000000000000000000000..99a875850988850876f1e3113d58445bfee5db5b --- /dev/null +++ b/annotation/test/1478.json @@ -0,0 +1,489 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put banana in pot or pan" + ], + "videos": [ + { + "video_path": "videos/test/1478/rgb.mp4" + } + ], + "action": [ + [ + 0.000215090251546082, + -0.0004784237742152005, + -0.0003255156122992817, + 0.002027924714419422, + 0.0005418575684123286, + -0.000985653019084192, + 1.0 + ], + [ + -0.007412779330072939, + 0.015397692582257039, + 0.0030608153752008332, + -0.034768131246949815, + -0.0701989167607301, + -0.031227456360883362, + 1.0 + ], + [ + -0.00815041604590864, + 0.048388348056082414, + -0.03840349844657717, + 0.014724037191146006, + -0.05939323427580073, + -0.10999688426252961, + 1.0 + ], + [ + -0.015752424819607626, + 0.04490163485153433, + -0.018763692921811542, + -0.002088638628005374, + -0.044834016233927604, + -0.1278996233215086, + 1.0 + ], + [ + -0.012265555478090153, + 0.04128356907330231, + -2.645744288191476e-05, + -0.04717907232016765, + -0.03261549704540654, + -0.14176911955240254, + 1.0 + ], + [ + -0.009747816374813213, + 0.048534227894139664, + 0.0035928504811159486, + -0.02364654802726608, + 0.020073638819144642, + -0.12324645782837919, + 1.0 + ], + [ + -0.01154170374968266, + 0.035684640991072485, + 0.008891099825707485, + 0.01375384084453272, + 0.03161399409584267, + -0.0939709718087896, + 1.0 + ], + [ + -0.007890481572142675, + 0.026198517911078602, + 0.012850721567218094, + 0.00018625878044422367, + 0.06857514229944976, + -0.051517757250408504, + 1.0 + ], + [ + -8.817044230006989e-05, + 0.0027274662661156625, + 0.024853261110157007, + -0.02919887278227932, + 0.025673114845649065, + -0.03559040424010381, + 1.0 + ], + [ + 0.0010870329621765363, + 0.002430834858135047, + 0.022713686905533746, + -0.012870563255035076, + 0.043390993293235404, + 0.006573328643245757, + 1.0 + ], + [ + -0.0017557825177353286, + 0.0007309330554651966, + 0.01884879078873996, + -0.01621993705593535, + 0.010026903875166141, + -0.004257238910632769, + 1.0 + ], + [ + -0.0036214824027345116, + 0.00421562718817308, + 0.015130100861148523, + 0.0017944068144561866, + -0.00385378556106944, + -0.04432864156536466, + 1.0 + ], + [ + -0.004291095796096375, + -0.0030057090613997586, + 0.00132421008774634, + 0.02927223191628242, + -0.027652429515666162, + -0.0438704298077888, + 0.0 + ], + [ + -0.0023867150778905514, + -0.010664870075671356, + -0.007531780651193401, + 0.0566633418701726, + -0.03692846761716875, + -0.023310113402375085, + 0.0 + ], + [ + 0.0004821052330837939, + -0.031139515272849323, + -0.038840776479859236, + 0.10614018438058984, + -0.014424697155543835, + -0.017651622735301412, + 0.0 + ], + [ + 0.012656059398914659, + -0.03135689221242824, + -0.019481908729561362, + 0.048780927489048304, + 0.016248789976131335, + -0.00525247969474526, + 0.0 + ], + [ + 0.03453760659883447, + -0.039641784164889976, + 0.00039252605888484164, + 0.019179204764085928, + 0.045144843260495074, + 0.03231678655389878, + 0.0 + ], + [ + 0.035018251641460024, + -0.024148394609181917, + 0.008347296336646794, + 0.035710781579735416, + 0.03882848172519004, + 0.0756698011568425, + 0.0 + ], + [ + 0.03722511378750858, + -0.010836549796386544, + 0.01274250360122806, + -0.008189034387095269, + 0.04982693402652715, + 0.11098109661961886, + 0.0 + ], + [ + 0.031781688597646, + -0.012962402729321093, + 0.018067270217854998, + -0.016818922065911776, + 0.059411235763524466, + 0.09648192105256624, + 0.0 + ], + [ + 0.017649227947538308, + -0.00837960996667087, + 0.008516706369686133, + -0.02069357390029621, + 0.049239934258733936, + 0.060006646671009835, + 0.0 + ], + [ + 0.0001578935411280811, + 0.00027542031351301656, + -3.118407885879856e-07, + -0.001737684617627831, + 0.0009942404771974354, + -0.0008364165111260999, + 1.0 + ], + [ + -0.000314073999880855, + 7.563014430272769e-05, + 0.00037954579743257734, + 0.000622731590926228, + -0.00284333676227366, + 0.0006107582958983964, + 1.0 + ], + [ + 8.462893534656152e-05, + -0.00015997210940652478, + -0.00037988084088847655, + -9.442439670711684e-05, + 0.0014034647079810816, + -0.0006119930810374552, + 1.0 + ] + ], + "state": [ + [ + 0.22418729960918427, + 0.19780252873897552, + 0.11650288105010986, + -2.9214590807729444, + -0.04532347992062569, + 0.016914276406168938, + 1.0 + ], + [ + 0.22437632083892822, + 0.19820158183574677, + 0.11693432182073593, + -2.9194694628291806, + -0.04606747254729271, + 0.017758719623088837, + 1.0 + ], + [ + 0.21752096712589264, + 0.18373246490955353, + 0.1102219745516777, + -2.956033693748065, + 0.015576613135635855, + 0.06361284852027893, + 1.0 + ], + [ + 0.2133096158504486, + 0.12871049344539642, + 0.13916221261024475, + -2.940456198649951, + 0.053597550839185715, + 0.1827167272567749, + 1.0 + ], + [ + 0.20701299607753754, + 0.07899369299411774, + 0.14940741658210754, + -2.9369874616437635, + 0.07157400995492937, + 0.3172741532325745, + 1.0 + ], + [ + 0.20743389427661896, + 0.03658030182123184, + 0.14194385707378387, + -2.975855918722697, + 0.07405363768339157, + 0.46308809518814087, + 1.0 + ], + [ + 0.21909105777740479, + -0.010441139340400696, + 0.13114596903324127, + -2.991901682811328, + 0.033451251685619354, + 0.5813437104225159, + 1.0 + ], + [ + 0.22770512104034424, + -0.045415833592414856, + 0.11742646247148514, + -2.97571216722066, + -0.011935936287045479, + 0.6694872379302979, + 1.0 + ], + [ + 0.23639580607414246, + -0.068783700466156, + 0.10033325105905533, + -2.9757351597123822, + -0.08806391060352325, + 0.7090050578117371, + 1.0 + ], + [ + 0.23707541823387146, + -0.06633884459733963, + 0.07545972615480423, + -3.0076921453052243, + -0.11921755969524382, + 0.7400754690170287, + 1.0 + ], + [ + 0.23945759236812592, + -0.0633193850517273, + 0.052916206419467926, + -3.018962638574191, + -0.16133327782154083, + 0.7276141047477722, + 1.0 + ], + [ + 0.2393672615289688, + -0.06128377839922905, + 0.034081608057022095, + -3.035665826993533, + -0.1718049049377441, + 0.7306574583053589, + 1.0 + ], + [ + 0.24041225016117096, + -0.06382820755243301, + 0.018199527636170387, + -3.041693555312701, + -0.172486275434494, + 0.7758155465126038, + 1.0 + ], + [ + 0.23533232510089874, + -0.06443712115287781, + 0.016460301354527473, + -3.0205426161461553, + -0.14915859699249268, + 0.8227320313453675, + 0.0 + ], + [ + 0.22574734687805176, + -0.060539159923791885, + 0.024772802367806435, + -2.9679709394746503, + -0.11525791883468628, + 0.8504997491836549, + 0.0 + ], + [ + 0.2047433704137802, + -0.04814576730132103, + 0.06817492842674255, + -2.8641454597287854, + -0.1040763631463051, + 0.8704845309257506, + 0.0 + ], + [ + 0.1920463889837265, + -0.0246950201690197, + 0.09666746109724045, + -2.8153898437791547, + -0.12114235013723373, + 0.871089518070221, + 0.0 + ], + [ + 0.18434154987335205, + 0.024657435715198517, + 0.1130821481347084, + -2.7906993349366864, + -0.15343001484870913, + 0.8255006074905396, + 0.0 + ], + [ + 0.18899008631706238, + 0.06736286729574203, + 0.11889054626226425, + -2.7429602762037, + -0.16336630284786224, + 0.739978015422821, + 0.0 + ], + [ + 0.20695056021213531, + 0.1039828285574913, + 0.11750811338424683, + -2.733739497261592, + -0.16511379182338715, + 0.6167184114456177, + 0.0 + ], + [ + 0.2230326384305954, + 0.13875515758991241, + 0.1114436462521553, + -2.733822466927119, + -0.1804304867982864, + 0.5028013586997986, + 0.0 + ], + [ + 0.23361892998218536, + 0.157210573554039, + 0.11018847674131393, + -2.741544874506541, + -0.20135395228862762, + 0.42668595910072327, + 0.0 + ], + [ + 0.2338842749595642, + 0.1570524126291275, + 0.11011523753404617, + -2.743360610800334, + -0.20259542763233182, + 0.42707711458206177, + 1.0 + ], + [ + 0.2336416095495224, + 0.15702709555625916, + 0.10968062281608582, + -2.7428470273786267, + -0.19973771274089813, + 0.4276277124881744, + 1.0 + ], + [ + 0.23364269733428955, + 0.15702751278877258, + 0.11010140925645828, + -2.742944898205348, + -0.2012686878442764, + 0.42764717340469355, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.1163715124130249, + 0.3760365843772888, + 0.3880780339241028, + 0.3880780339241028, + 0.38908064365386963, + 0.3880780339241028, + 0.3880780339241028, + 0.3880780339241028, + 0.38908064365386963, + 0.24447113275527954, + 0.013436198234558105, + 0.005884885787963867, + 0.005884885787963867 + ], + "episode_id": "1478", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1478/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1484.json b/annotation/test/1484.json new file mode 100644 index 0000000000000000000000000000000000000000..825a805d7bc8611592d77e7a48016ee6a02f74cd --- /dev/null +++ b/annotation/test/1484.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put pot or pan on stove" + ], + "videos": [ + { + "video_path": "videos/test/1484/rgb.mp4" + } + ], + "action": [ + [ + -0.0008942026543973913, + 0.00031548137878938657, + 0.0014460354921744514, + -0.002711721981396081, + -0.005482532039402801, + -0.0020143564717923098, + 1.0 + ], + [ + -0.0002484287430014092, + 0.006627053909173101, + 0.006900494237813047, + -0.0003765346343767131, + -0.061118594053605896, + -0.050893317488512745, + 1.0 + ], + [ + 0.01623534333002785, + 0.01274622593509349, + -0.0007313598672901718, + 0.03440860459894698, + 0.008147508536124387, + -0.07689607742765818, + 1.0 + ], + [ + 0.0007573531316237016, + 0.0045890057088574954, + 0.008392500943748186, + 0.020548261004992664, + 0.03683359580891641, + -0.09199269162320377, + 1.0 + ], + [ + -0.0033420200598475096, + 0.0044559659024004964, + 0.013824686659595865, + -0.006808816095001449, + 0.029526012202119326, + -0.039306740494782486, + 1.0 + ], + [ + -0.0034437899414849157, + 0.0005857769679621819, + 0.013761959366359877, + -0.010884717722249148, + 0.01698614552384373, + -0.01731432903635541, + 1.0 + ], + [ + 0.0013592299399442476, + -0.003158894000620127, + 0.016865417503427935, + -0.014057599804655468, + -0.006654796842885384, + -0.003753847682347974, + 1.0 + ], + [ + 0.006553560242947224, + -0.0016502231342377747, + 0.016067790330398107, + -0.02305219535065635, + 0.005146559730240288, + -0.0058420516653591905, + 1.0 + ], + [ + -0.0012163980884279343, + -0.004071974745513355, + 0.012970069144863492, + -0.018469770220958474, + -0.0046160923547835415, + -0.001784550714948068, + 1.0 + ], + [ + -0.0022970101194407493, + -0.005857441564042514, + 0.01089122280384395, + -0.01772102584876084, + 0.0007234185192032404, + -0.011547642668644382, + 1.0 + ], + [ + -0.012926304158545213, + -0.00413792318376511, + 0.010806228152493614, + -0.023088613471846074, + -0.008678334212566726, + -0.011096754388170031, + 1.0 + ], + [ + -0.012396236389117478, + -0.0039783692309231285, + 0.009334584099653582, + -0.01856506865638718, + 0.003687118713100345, + -0.013187250296323455, + 1.0 + ], + [ + -0.0044410927329784425, + -0.0015894770725034466, + 0.0025192810587152284, + 0.0008299286190840914, + -0.00655436345105444, + 0.002693641380754717, + 1.0 + ], + [ + -0.002783248673543866, + 0.00409758290612069, + -0.008593742073325217, + 0.013825818130471988, + -0.03794027839589368, + 0.04248316884782341, + 0.0 + ], + [ + 0.006304805094171399, + 0.01318238414455937, + -0.030414583724877268, + 0.0331096897243833, + -0.01965086612822874, + 0.10990602058007991, + 0.0 + ], + [ + 0.021065055819779927, + 0.02275111850186309, + -0.05049751272361581, + 0.06576666402958241, + 0.012925365737983537, + 0.18562309212896982, + 0.0 + ], + [ + 0.014215131621642384, + 0.015888435709882694, + -0.04352706789306413, + 0.01683508594025994, + 0.025546519173294827, + 0.10069799737431494, + 0.0 + ], + [ + 0.014375025682423213, + 0.030526180942393604, + -0.029690252032404833, + 0.006082457320356906, + 0.06103612971368838, + 0.04382745086762261, + 0.0 + ], + [ + 0.012317624608765136, + 0.043810382797390184, + -0.006961788141602068, + -0.021462326306721683, + 0.055127272958394216, + 0.013658413807318382, + 0.0 + ], + [ + 0.005856955436915716, + 0.03347742378028036, + -0.0016413194511469924, + -0.024984114232131028, + 0.03499572215832046, + -0.052229290137566754, + 0.0 + ], + [ + 0.0037891123367358322, + 0.024520953398638315, + 0.005466279395540434, + -0.042196057405022726, + 0.009567518262189493, + -0.04431956716496754, + 0.0 + ], + [ + 0.0026337427736955366, + 0.014233033649875014, + 0.00699130488731701, + -0.06128581517113995, + 0.01201637621992183, + -0.04149055690200158, + 0.0 + ], + [ + 0.0059771232086141156, + 0.008422901291248633, + 0.0057221761213406275, + -0.07233271016840544, + 0.030742936524112353, + -0.011704737737371539, + 1.0 + ] + ], + "state": [ + [ + 0.2309197187423706, + 0.14112888276576996, + 0.072878897190094, + -3.119923126074024, + -0.21923600137233737, + 0.1234842985868454, + 1.0 + ], + [ + 0.23040205240249634, + 0.14077837765216827, + 0.07126665860414505, + -3.1231092010908803, + -0.2137978971004486, + 0.12566663324832916, + 1.0 + ], + [ + 0.23245376348495483, + 0.13448753952980042, + 0.06435202062129974, + -3.1346384167023977, + -0.15334011614322662, + 0.17820356786251065, + 1.0 + ], + [ + 0.2504081726074219, + 0.12476520240306854, + 0.06746696680784225, + -3.1121297312253198, + -0.16156503558158877, + 0.2560542821884155, + 1.0 + ], + [ + 0.25355690717697144, + 0.12110350281000137, + 0.0591757632791996, + -3.1065796708040914, + -0.20041213929653168, + 0.34871482849121094, + 1.0 + ], + [ + 0.2544492483139038, + 0.1172044426202774, + 0.04481791704893112, + -3.1212195215099534, + -0.2311461716890335, + 0.38799121975898737, + 1.0 + ], + [ + 0.25438207387924194, + 0.11684717237949371, + 0.030624179169535637, + -3.136113667982169, + -0.24844749271869662, + 0.405490756034851, + 1.0 + ], + [ + 0.258117139339447, + 0.12198872864246368, + 0.01462786365300417, + 3.132054173509129, + -0.24181154370307922, + 0.40939450263977045, + 1.0 + ], + [ + 0.26689133048057556, + 0.12742768228054047, + 0.0005823082174174488, + 3.1075472702556333, + -0.2468978613615036, + 0.41546952724456787, + 1.0 + ], + [ + 0.2672772705554962, + 0.13156342506408691, + -0.012418844737112522, + 3.088667744892188, + -0.24222336709499356, + 0.41714480519294733, + 1.0 + ], + [ + 0.26555511355400085, + 0.13656792044639587, + -0.02382909506559372, + 3.0680916552715978, + -0.24231837689876556, + 0.4290627539157868, + 1.0 + ], + [ + 0.2551751434803009, + 0.13548466563224792, + -0.0376879945397377, + 3.0424323101812085, + -0.23283518850803375, + 0.4397810399532318, + 1.0 + ], + [ + 0.24499067664146423, + 0.13404659926891327, + -0.04996957257390022, + 3.020675556855746, + -0.235177144408226, + 0.45365026593208313, + 1.0 + ], + [ + 0.2411143034696579, + 0.1335739642381668, + -0.053622908890247345, + 3.0223325436287602, + -0.22899411618709561, + 0.4500928819179535, + 1.0 + ], + [ + 0.23815518617630005, + 0.12876127660274506, + -0.04546995088458061, + 3.047005461650439, + -0.19612385332584378, + 0.4025117754936219, + 0.0 + ], + [ + 0.24220846593379974, + 0.11934565752744675, + -0.013322015292942524, + 3.102700898545333, + -0.18569315969943997, + 0.2892985939979553, + 0.0 + ], + [ + 0.25889086723327637, + 0.10264012962579727, + 0.04102843627333641, + -3.079381028311797, + -0.20256881415843964, + 0.1004377007484436, + 0.0 + ], + [ + 0.2661082148551941, + 0.08470959961414337, + 0.08547530323266983, + -3.041836181777068, + -0.22074301540851596, + -0.00417560338973999, + 0.0 + ], + [ + 0.27419233322143555, + 0.05134424939751625, + 0.11448220908641815, + -3.024384992318698, + -0.2768320441246032, + -0.055750556290149696, + 0.0 + ], + [ + 0.283064067363739, + 0.006456251256167889, + 0.11957141011953354, + -3.0399095510416707, + -0.3299258649349212, + -0.07687851786613466, + 0.0 + ], + [ + 0.2865883409976959, + -0.027385491877794266, + 0.11979873478412628, + -3.081764618056365, + -0.36963376402854925, + -0.025000493973493576, + 0.0 + ], + [ + 0.2920169234275818, + -0.05167902633547783, + 0.11471253633499146, + -3.1410086806332735, + -0.3814622163772583, + 0.02204919792711735, + 0.0 + ], + [ + 0.29737964272499084, + -0.06579317152500153, + 0.10919652879238129, + 3.0641753767901143, + -0.3931560814380645, + 0.06695812195539474, + 0.0 + ], + [ + 0.30541157722473145, + -0.07411464303731918, + 0.10681835561990738, + 2.985912175970622, + -0.4228602647781372, + 0.08235613256692886, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.15823012590408325, + 0.4811733365058899, + 0.7686591893434525, + 0.9170585051178932, + 0.9462284594774246, + 0.9462284594774246, + 0.94649388641119, + 0.9462284594774246, + 0.9462284594774246, + 0.94649388641119, + 0.8428151905536652, + 0.6296481192111969 + ], + "episode_id": "1484", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1484/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/15.json b/annotation/test/15.json new file mode 100644 index 0000000000000000000000000000000000000000..ee4ff0a308dbaa070e59e0b9c78f87b43b2a5d38 --- /dev/null +++ b/annotation/test/15.json @@ -0,0 +1,774 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "move the pot put on the yellow cloth" + ], + "videos": [ + { + "video_path": "videos/test/15/rgb.mp4" + } + ], + "action": [ + [ + 0.0007229443166082887, + 5.524050353275654e-06, + -0.00030189949227713426, + -0.0001083176454782605, + 0.003063469288300281, + -7.777578119480589e-05, + 1.0 + ], + [ + -0.0031644199722599955, + 0.0006979707572247583, + 0.005165597574574508, + 0.004635635085455726, + -0.028534807503326716, + -0.028276102395155402, + 1.0 + ], + [ + 0.009712874160073205, + 0.011384790244622798, + 0.0011651101718584027, + 0.04294282033137186, + -0.01748697521732887, + -0.20689108658587524, + 1.0 + ], + [ + 0.014183183876630303, + 0.010803124974622758, + -0.0044316567446271975, + -0.00030722203043291634, + 0.03762888028324788, + -0.22837911764628338, + 1.0 + ], + [ + 0.01513593369656247, + 0.01794195846361044, + 0.003085376066544218, + 0.008616230131822757, + -0.0067928780756358, + -0.18346810140498251, + 1.0 + ], + [ + 0.012300466804899041, + 0.019057019928114465, + 0.00765032832800852, + -0.06795762711604175, + 0.017741793417617512, + -0.15681627074063756, + 1.0 + ], + [ + 0.00963449308696733, + 0.011086460829311112, + 0.008974617424485761, + -0.02258030967829836, + -0.007571224615220521, + -0.09582896436186233, + 1.0 + ], + [ + 0.008260478395501586, + 0.009124081028151576, + 0.010761571626534596, + 0.017545383317287718, + 0.013103908883559638, + -0.05114821772942997, + 1.0 + ], + [ + 0.0024300241921935565, + 0.008224746440029738, + 0.01488006087144823, + 0.041223746401121364, + -0.01998107254046744, + -0.013858441530425088, + 1.0 + ], + [ + -0.0035690957280021885, + 0.0021013116639935093, + 0.01653566790528536, + 0.028397048184140166, + -0.0028142312989399027, + 0.005939072332667555, + 1.0 + ], + [ + -0.0011954219764409683, + 0.004601631986512757, + 0.006776563021501474, + -0.02220171866981616, + -0.005699801565113682, + -0.00480228859749798, + 1.0 + ], + [ + -0.002357462684389844, + -0.0009269887218441523, + 0.011628595434257328, + 0.012311137786477988, + -0.014124516840402097, + 0.011693944948485926, + 1.0 + ], + [ + 0.0010892448789221563, + 0.0029216411568185343, + -0.0005594513589797053, + -0.01877643579086021, + 0.006757458051604797, + 0.001819262079957402, + 0.0 + ], + [ + 0.0007403755715631725, + 0.0005181281501757948, + 0.0011745668221188083, + -0.011942942338911453, + 0.002772000806158411, + 0.024467300516171294, + 0.0 + ], + [ + 0.0009383472971998887, + -0.0005360594607475943, + -0.006043141693644986, + -0.023580241733641785, + -0.0008576251249977157, + 0.02305451827522788, + 0.0 + ], + [ + 0.00041876775351921557, + -0.001672433117729413, + -0.011777475262999859, + -0.03229833329933379, + 0.02389327481331491, + 0.03199881132834333, + 0.0 + ], + [ + -0.000742857428006492, + -0.0017194202974768584, + -0.013061479678988715, + -0.02941707552017187, + 0.016357383872112056, + 0.04848301303074417, + 0.0 + ], + [ + -0.006865925477361708, + -0.004721824783547845, + -0.006530772345292766, + -0.009793940477241542, + -0.018445381456218216, + 0.07251114224925058, + 0.0 + ], + [ + -0.014034934143967037, + -0.00980349504204287, + -0.0121052701566304, + 0.015870101452575548, + -0.02473522634241823, + 0.1008443525935701, + 0.0 + ], + [ + -0.01787922713940257, + -0.007946422550497679, + -0.0008608327767545509, + 0.0073088025929289235, + -0.03729564508735014, + 0.1220375532923414, + 0.0 + ], + [ + -0.01576354571972334, + -0.005013734296608295, + 0.001642816334922631, + -0.00757963923130432, + -0.03715938464371099, + 0.08377229087300771, + 0.0 + ], + [ + -0.016378577814321713, + -0.0045836043869492415, + 0.0044986063814348165, + -0.00349461453704208, + -0.01818359809518038, + 0.07179744505758946, + 0.0 + ], + [ + -0.008473826110575004, + -0.003946903090593645, + -0.0002125014079384083, + -0.010357390243091947, + 0.010024987125756566, + 0.029044690557963177, + 0.0 + ], + [ + -0.010086894716266339, + -0.005610164963314032, + 0.006651765266528701, + 0.007203964284148538, + -0.020457628508064905, + 0.011648028901962709, + 0.0 + ], + [ + -0.0021868552306627156, + -0.0039959509099412125, + 0.0028086041826396097, + -0.00999447186925742, + 0.002250062343987673, + 0.006410057967548898, + 0.0 + ], + [ + 0.0029931467285096366, + -0.002718347651983478, + 0.0007945607461397546, + 0.00751232232772207, + 0.01745574912118347, + 0.004360014422998554, + 0.0 + ], + [ + 0.0006681321466822407, + -0.0017533439380961369, + 0.0029648284751113336, + 0.012400580721572204, + 0.0012162759351841057, + -0.010226310544203266, + 0.0 + ], + [ + 0.0010800762335443827, + -0.00046317371484131135, + 0.0005362815228482357, + 0.0072175690747772765, + -0.0014033900927227247, + 0.0025920735942270194, + 0.0 + ], + [ + -0.002114064980422194, + 0.0009221735739409465, + -0.0022429160999345573, + 0.01360985480987594, + -0.022264944301742303, + 0.029317711832399975, + 0.0 + ], + [ + 0.001185436950976832, + -0.0011125718448875663, + -0.008711379562539449, + -0.011408861490905567, + -0.008897257085574104, + 0.007537152047127371, + 1.0 + ], + [ + 1.7195900998313678e-05, + -0.001839525990636029, + -0.012154083395852831, + 0.018214820947292244, + -0.016561542647480665, + -0.034406657564118724, + 1.0 + ], + [ + 0.0033314424941195907, + 0.004606227708747717, + -0.017057986833014502, + 0.039618960518645184, + -0.04424944135313382, + -0.03823270644575174, + 1.0 + ], + [ + 0.006936997061689162, + 0.012990097590212574, + -0.010130073845697887, + 0.045365828849180403, + -0.012224287532752821, + -0.021458724815985635, + 1.0 + ], + [ + 0.01048864405618593, + 0.014947636123625018, + -0.009819045030839677, + 0.015982007804815415, + 0.037255552462014035, + -0.016621903220521643, + 1.0 + ], + [ + 0.013456041211864058, + 0.012575677990485602, + -0.0066208741892957775, + -0.021998348810878348, + 0.04454670361803988, + 0.01822004479630106, + 1.0 + ], + [ + 0.012601514989663958, + 0.02190543639182948, + -0.01061087078550699, + -0.050962309671929544, + 0.10796453856401969, + 0.15507092956201218, + 1.0 + ], + [ + 0.007781495551388502, + 0.010616877396618433, + 0.0015273216071182746, + -0.015415321866092953, + 0.028390870388129645, + 0.1087907891347619, + 1.0 + ], + [ + 0.00624987494422097, + 0.008914791084831786, + -0.0010428442054565884, + -0.012629695263800375, + 0.03156975340794863, + 0.10758088763949217, + 1.0 + ], + [ + 0.005561030217674307, + 0.008185605229469985, + -0.00044194073612997424, + -0.03398192219413873, + 0.044472777789637256, + 0.14792929648881864, + 1.0 + ] + ], + "state": [ + [ + 0.20953774452209473, + 0.11776124686002731, + 0.08207670599222183, + -3.0930472073429307, + -0.13676275312900543, + 0.49412316083908076, + 1.0 + ], + [ + 0.21014167368412018, + 0.11806367337703705, + 0.08247373253107071, + -3.0931455252044877, + -0.1398263871669769, + 0.49405148625373835, + 1.0 + ], + [ + 0.2082320600748062, + 0.11652744561433792, + 0.07689005136489868, + -3.0926659760349473, + -0.11263269931077957, + 0.5238540768623352, + 1.0 + ], + [ + 0.22241616249084473, + 0.11165504902601242, + 0.07627211511135101, + -3.0740445276075086, + -0.10278864204883574, + 0.732452929019928, + 1.0 + ], + [ + 0.24003206193447113, + 0.11259926855564117, + 0.0814003050327301, + -3.0992216562205037, + -0.1529947966337204, + 0.960239052772522, + 1.0 + ], + [ + 0.2635243237018585, + 0.1151331216096878, + 0.07990928739309311, + -3.1194643174582204, + -0.15134452283382419, + 1.1459764242172241, + 1.0 + ], + [ + 0.28624218702316284, + 0.11953790485858917, + 0.0737859234213829, + 3.0716656168275556, + -0.17067068815231323, + 1.3046562671661377, + 1.0 + ], + [ + 0.3003796339035034, + 0.12696459889411926, + 0.06736302375793457, + 3.0330789407067975, + -0.155656099319458, + 1.4008830785751343, + 1.0 + ], + [ + 0.31210261583328247, + 0.13476049900054932, + 0.059050898998975754, + 3.0425560494237622, + -0.16293159127235413, + 1.453848958015442, + 1.0 + ], + [ + 0.3222370147705078, + 0.1382697969675064, + 0.045636486262083054, + 3.081831047432967, + -0.1416667848825455, + 1.4657806158065796, + 1.0 + ], + [ + 0.32517725229263306, + 0.13673262298107147, + 0.02891600877046585, + 3.111098166676708, + -0.13920964300632477, + 1.4596245288848877, + 1.0 + ], + [ + 0.32992446422576904, + 0.13593760132789612, + 0.0221811905503273, + 3.088248586403676, + -0.13336457312107086, + 1.4642921686172485, + 1.0 + ], + [ + 0.3295370042324066, + 0.13518863916397095, + 0.010309792123734951, + 3.102223293977328, + -0.11987329274415971, + 1.4517730474472046, + 1.0 + ], + [ + 0.33253270387649536, + 0.1358383446931839, + 0.011109225451946259, + 3.0836330895596227, + -0.12669697403907773, + 1.4502086639404297, + 0.0 + ], + [ + 0.3332194685935974, + 0.13664036989212036, + 0.010069355368614197, + 3.0747993161254605, + -0.13084398210048676, + 1.4257339239120483, + 0.0 + ], + [ + 0.33231255412101746, + 0.13692273199558258, + 0.016134435310959816, + 3.054271476464816, + -0.13149188458919525, + 1.402472734451294, + 0.0 + ], + [ + 0.32947248220443726, + 0.13628549873828888, + 0.027676066383719444, + 3.0259420817070684, + -0.1580254435539246, + 1.3723136186599731, + 0.0 + ], + [ + 0.32577937841415405, + 0.13422922790050507, + 0.040175795555114746, + 3.0040324946218213, + -0.1796950548887253, + 1.3252930641174316, + 0.0 + ], + [ + 0.3184789717197418, + 0.12802155315876007, + 0.04467650502920151, + 3.008070634799548, + -0.17085658013820648, + 1.249843716621399, + 0.0 + ], + [ + 0.3027929961681366, + 0.11674564331769943, + 0.052826933562755585, + 3.0423596521192273, + -0.15882524847984314, + 1.1453005075454712, + 0.0 + ], + [ + 0.2882213592529297, + 0.1039547398686409, + 0.050067655742168427, + 3.070289546745368, + -0.1325241327285767, + 1.0191166400909424, + 0.0 + ], + [ + 0.276010662317276, + 0.09343187510967255, + 0.04600638151168823, + 3.0743603353672704, + -0.10092686861753464, + 0.9325174689292908, + 0.0 + ], + [ + 0.26315951347351074, + 0.08327766507863998, + 0.03958417847752571, + 3.0783953463011464, + -0.08733521401882173, + 0.8593904376029968, + 0.0 + ], + [ + 0.2546564042568207, + 0.07946667820215225, + 0.038808006793260574, + 3.0705452283197125, + -0.09913904219865799, + 0.830898642539978, + 0.0 + ], + [ + 0.24457429349422455, + 0.07602236419916153, + 0.03081093728542328, + 3.079038167493888, + -0.07955139130353928, + 0.8177887201309203, + 0.0 + ], + [ + 0.24046769738197327, + 0.07721598446369171, + 0.02759389579296112, + 3.0695436616712293, + -0.0821962058544159, + 0.8115106821060181, + 0.0 + ], + [ + 0.24065199494361877, + 0.08126560598611832, + 0.026854796335101128, + 3.0773004685812673, + -0.09992013126611711, + 0.8084036707878113, + 0.0 + ], + [ + 0.2401951253414154, + 0.08304484188556671, + 0.023865412920713425, + 3.088673422234603, + -0.10047158598899841, + 0.818739116191864, + 0.0 + ], + [ + 0.24065056443214417, + 0.0841672420501709, + 0.023416541516780853, + 3.096159519749232, + -0.09920690953731537, + 0.8160632848739624, + 0.0 + ], + [ + 0.23965133726596832, + 0.08190879970788956, + 0.025478417053818703, + 3.112788612144538, + -0.07825068384408951, + 0.7856785058975219, + 0.0 + ], + [ + 0.23904329538345337, + 0.08322852849960327, + 0.03422025963664055, + 3.1019899268918714, + -0.06957180798053741, + 0.7778696417808533, + 1.0 + ], + [ + 0.23683008551597595, + 0.08430395275354385, + 0.04626397415995598, + 3.1178747938298663, + -0.051621690392494195, + 0.8116335272789, + 1.0 + ], + [ + 0.24155758321285248, + 0.08318381756544113, + 0.06357543915510178, + -3.127616051706024, + -0.006442582700401545, + 0.8487690091133118, + 1.0 + ], + [ + 0.2559537887573242, + 0.07966361939907074, + 0.0735674574971199, + -3.0823917744034013, + 0.0054821306839585296, + 0.8703952431678772, + 1.0 + ], + [ + 0.27459827065467834, + 0.07772864401340485, + 0.08242727071046829, + -3.0662958343797406, + -0.03269211947917939, + 0.8847801685333252, + 1.0 + ], + [ + 0.29308903217315674, + 0.07973287254571915, + 0.08852017670869827, + -3.0875313488119325, + -0.075734443962574, + 0.8632173538208008, + 1.0 + ], + [ + 0.3178517818450928, + 0.07415030896663666, + 0.09885836392641068, + -3.126589766825088, + -0.17421455681324005, + 0.7009105086326599, + 1.0 + ], + [ + 0.33076363801956177, + 0.07118567824363708, + 0.09854626655578613, + -3.122812431427189, + -0.19992016255855558, + 0.5895200371742249, + 1.0 + ], + [ + 0.3406769335269928, + 0.06706951558589935, + 0.10064525157213211, + -3.1135337614738425, + -0.22827717661857605, + 0.4785248935222626, + 1.0 + ], + [ + 0.349216103553772, + 0.06226736679673195, + 0.10211032629013062, + -3.112949287640401, + -0.26599642634391785, + 0.32406696677207947, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.03792673349380493, + 0.3078004717826843, + 0.6098805367946625, + 0.8209985494613647, + 0.9085652902722359, + 0.9174014925956726, + 0.9174014925956726, + 0.9174014925956726, + 0.9174014925956726, + 0.9174014925956726, + 0.9174014925956726, + 0.9174014925956726, + 0.9174014925956726, + 0.9174014925956726, + 0.9174014925956726, + 0.9174014925956726, + 0.9174014925956726, + 0.886321172118187, + 0.7093958556652069, + 0.43697023391723633, + 0.14373880624771118, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0, + 0.0005114078521728516, + 0.0, + 0.0 + ], + "episode_id": "15", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/15/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/150.json b/annotation/test/150.json new file mode 100644 index 0000000000000000000000000000000000000000..ec7485a861fa14f4ec7e7aa5ac4365c7fbddf767 --- /dev/null +++ b/annotation/test/150.json @@ -0,0 +1,698 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "take sushi out of pot cardboard fence" + ], + "videos": [ + { + "video_path": "videos/test/150/rgb.mp4" + } + ], + "action": [ + [ + -0.0002290452017526242, + 8.195234249301654e-05, + -1.9032109715641425e-07, + -0.0005145709917868122, + -0.001445105402958159, + -0.001533621702574928, + 1.0 + ], + [ + -0.004471772219114826, + 0.0011880310675526796, + 0.008164092877511608, + -0.01715413718337286, + -0.032563110365854075, + 0.0073486454601511975, + 1.0 + ], + [ + -0.012211251655779035, + -0.00048400821255989906, + -0.009241641702878792, + -0.10083037462637652, + -0.0604411743126165, + 0.10299798414333926, + 1.0 + ], + [ + -0.01623588605521505, + -0.00669407576073704, + -0.00843405464168503, + -0.06846248885990952, + -0.021989378976012754, + 0.07297164143996367, + 1.0 + ], + [ + -0.020827357194059076, + -0.0021445785692260906, + -0.009555075233003089, + 0.051095517620317145, + 0.038343836363507404, + 0.08678643128652654, + 1.0 + ], + [ + -0.022506783295457074, + 0.004887994121308547, + 0.004838122213271885, + 0.07185153943438868, + 0.010571291044510834, + 0.043375065122497086, + 1.0 + ], + [ + -0.012568766728949226, + 0.002235528546165582, + -0.0022409191439045004, + 0.055108366409851436, + 0.02896709788832864, + 0.015776318688694915, + 1.0 + ], + [ + -0.005682450033078149, + -0.0004886671965103102, + 0.0070045036010769526, + 0.009368987755172505, + -0.022535704627471634, + -0.0066150962254991185, + 1.0 + ], + [ + -0.0021415512247518315, + 0.0010798235864379925, + 0.018130403154246893, + -0.015318558340941974, + -0.057243186948489906, + 0.007182258492175812, + 1.0 + ], + [ + 5.074572312623627e-05, + -0.0010971362142477763, + 0.008965762504862747, + 0.02452755530652459, + -0.009469265080621101, + 0.0014967905990433954, + 1.0 + ], + [ + -0.004044563426827054, + 0.0015710676776092142, + 0.010647216974697586, + -0.008081278495165725, + -0.035972404482117734, + -0.00023918475073273008, + 1.0 + ], + [ + -0.0017195275845981095, + 0.002965218735042599, + 0.005260518375684499, + 0.016132347123916004, + -0.009728526660068262, + 0.0017718024736637715, + 1.0 + ], + [ + -0.0021436090740486846, + -0.000461608685278305, + 0.005783788409225276, + 0.011393652841279026, + -0.010717578061206155, + 0.0017683518368822738, + 1.0 + ], + [ + -0.00010505713763812928, + -0.00035227930184414597, + 0.008603523970176963, + 0.02165274809884379, + -0.0069117551430907245, + 0.005075327395143086, + 1.0 + ], + [ + 0.0007491993083239083, + -0.0009838173761437603, + 0.01143959219919104, + 0.006493144226399819, + -0.024813902178816273, + -0.004552993226297092, + 1.0 + ], + [ + -0.00041152653146603275, + -0.0005717170853071493, + 0.005004334318866165, + 0.00021465007112925598, + -0.015590065631732958, + -0.0002741323871164243, + 1.0 + ], + [ + 8.920196549399148e-05, + 0.00010510293482229714, + -0.0002769836690699156, + -0.007030588439477121, + 0.00732367947110626, + 0.011583287275551623, + 0.0 + ], + [ + -0.0045356005275987606, + 0.00016675055631988058, + -0.009024928745681258, + -0.033766885953942075, + -0.018417042878629573, + 0.010395563319446344, + 0.0 + ], + [ + -0.001034608616582841, + -0.0037039279920895642, + -0.02453452735297995, + 0.009556528324594625, + 0.05750541197408359, + -0.008381947799354689, + 0.0 + ], + [ + 0.007546255321023239, + 0.0006819627304319226, + -0.03451288401980243, + 0.0405300306400066, + 0.1055185910983757, + -0.07627614306612245, + 0.0 + ], + [ + 0.02830136065385297, + 0.004475631888741687, + -0.008458532139970764, + -0.023976319230293804, + -0.0028340435799939804, + -0.0493783771223555, + 0.0 + ], + [ + 0.031151690738667463, + 0.011977898053686212, + 0.019537672697603016, + -0.019950474028910432, + -0.03442831971095499, + -0.04963126947723849, + 0.0 + ], + [ + 0.02167850812287908, + 0.01404483104399596, + 0.01186929652781119, + -0.033769928101251234, + 0.009862244612931613, + -0.0650097514092978, + 0.0 + ], + [ + 0.010106681928318255, + 0.009729934447180358, + 0.011515680443536557, + 6.958881837618256e-08, + 0.017241542064368634, + -0.07949155998437649, + 0.0 + ], + [ + 0.01101194225126266, + 0.0023034918980785776, + 0.004525223110464862, + 0.0032197221758949062, + 0.06949037837818657, + -0.12290132337150284, + 0.0 + ], + [ + -0.0006696214342971694, + 0.0013253179120357413, + 0.013553152683065608, + 0.015687936078809007, + -0.0181577905306345, + -0.004348283251685453, + 0.0 + ], + [ + -0.003164510792787906, + 0.0020506790226583827, + 0.012228498604362445, + 0.007952470846996596, + -0.032110337807837015, + -0.0033094500754739325, + 0.0 + ], + [ + 0.00017155633115495652, + 0.0010603942271903391, + 0.005081510926075756, + 0.023256283911024633, + -0.016063748910681346, + 0.018020404251364357, + 0.0 + ], + [ + -0.0027728998871674143, + 0.00017476121150011522, + -0.00040620345924624016, + -0.0016079115139288102, + -0.022956522226258616, + 0.021590503000224148, + 0.0 + ], + [ + -0.003761950963806754, + -0.0008112043567560504, + -0.0018382553633396533, + -0.021446335492321354, + -0.028340259561893538, + 0.007481054012267268, + 1.0 + ], + [ + -0.0011558182823439166, + -0.0023510840767931077, + -0.014537813717148013, + -0.005143188964329986, + 0.016701186141058214, + 0.009442708225004912, + 1.0 + ], + [ + -0.0015237363160317539, + -0.0025563010073621577, + -0.029590372994235958, + -0.016965951843739373, + 0.04285980021858039, + 0.008184925803113223, + 1.0 + ], + [ + 0.0012381561723878247, + -0.002111495528581503, + -0.037807487347375664, + -0.043502358062668924, + 0.06711274246448264, + 0.014619059139388756, + 1.0 + ], + [ + -0.0018332046941118008, + -0.0041395614141939395, + -0.02133870351619397, + -0.026175577022319967, + 0.012106896910045434, + 0.028796078089734924, + 1.0 + ], + [ + -0.000522463947751579, + -0.002069237762256236, + -0.0008025509207669934, + 0.0008330240704200892, + 0.0010870946451097662, + -0.002676345952658963, + 1.0 + ] + ], + "state": [ + [ + 0.31613999605178833, + 0.0053982981480658054, + 0.07532165944576263, + 3.0715327208214482, + -0.0857388973236084, + -0.2242218405008316, + 1.0 + ], + [ + 0.3158988356590271, + 0.005369459744542837, + 0.0753079503774643, + 3.070895368354865, + -0.08418989181518555, + -0.22278806567192078, + 1.0 + ], + [ + 0.311824768781662, + 0.004486027639359236, + 0.06690068542957306, + 3.0545179416709622, + -0.05222333595156669, + -0.23242749273777005, + 1.0 + ], + [ + 0.2997887432575226, + 0.008656423538923264, + 0.07541530579328537, + 2.9596544076972684, + -0.000647525885142386, + -0.34012806415557856, + 1.0 + ], + [ + 0.28718408942222595, + 0.021719401702284813, + 0.08248843997716904, + 2.8917239626222333, + 0.0077908230014145366, + -0.4158673286437988, + 1.0 + ], + [ + 0.26998868584632874, + 0.0341678112745285, + 0.09137847274541855, + 2.9427611102634152, + -0.050825927406549454, + -0.49047759175300604, + 1.0 + ], + [ + 0.24762292206287384, + 0.03959571197628975, + 0.0864626094698906, + 3.016824798780032, + -0.06971271336078644, + -0.5310038328170776, + 1.0 + ], + [ + 0.23567889630794525, + 0.04436106979846954, + 0.08808273822069168, + 3.0727330913119992, + -0.1004127338528633, + -0.543107271194458, + 1.0 + ], + [ + 0.2314440757036209, + 0.04692396521568298, + 0.08052694797515869, + 3.0815778282755097, + -0.07747401297092438, + -0.5380448102951049, + 1.0 + ], + [ + 0.22969947755336761, + 0.04544350877404213, + 0.0623822957277298, + 3.066985124843665, + -0.020760420709848404, + -0.5486363172531128, + 1.0 + ], + [ + 0.23012463748455048, + 0.045682668685913086, + 0.05336269363760948, + 3.0915551503473004, + -0.011429016478359698, + -0.5508348345756531, + 1.0 + ], + [ + 0.225681334733963, + 0.04594552889466286, + 0.042761847376823425, + 3.083459360646554, + 0.024510322138667107, + -0.5523954033851624, + 1.0 + ], + [ + 0.22239834070205688, + 0.044132743030786514, + 0.03772616386413574, + 3.099531876044818, + 0.03411940485239029, + -0.5547307133674623, + 1.0 + ], + [ + 0.22052393853664398, + 0.045550644397735596, + 0.03200457990169525, + 3.110847495617815, + 0.04475306347012519, + -0.5569502711296082, + 1.0 + ], + [ + 0.22015418112277985, + 0.045884136110544205, + 0.02340761385858059, + 3.1322631669514855, + 0.05150490999221802, + -0.562242567539215, + 1.0 + ], + [ + 0.22075609862804413, + 0.04654150828719139, + 0.011935952119529247, + 3.1389766420521816, + 0.07635972648859024, + -0.5579100251197815, + 1.0 + ], + [ + 0.2203797698020935, + 0.04743482545018196, + 0.0069761197082698345, + 3.1392088505723557, + 0.09195045381784439, + -0.5576757192611693, + 1.0 + ], + [ + 0.2204214632511139, + 0.04728572815656662, + 0.0072439913637936115, + 3.131112587759741, + 0.0845930203795433, + -0.5692827105522156, + 0.0 + ], + [ + 0.2172183096408844, + 0.049249935895204544, + 0.016621118411421776, + 3.0964451675587377, + 0.1028953492641449, + -0.5799252390861511, + 0.0 + ], + [ + 0.22108323872089386, + 0.05246524512767792, + 0.04094099998474121, + 3.10705770005519, + 0.045820705592632294, + -0.5689601302146912, + 0.0 + ], + [ + 0.2290407419204712, + 0.04798189923167229, + 0.07507497072219849, + -3.1320192414620003, + -0.057149507105350494, + -0.48937657475471497, + 0.0 + ], + [ + 0.25141337513923645, + 0.030904186889529228, + 0.08509305864572525, + 3.1243531872802457, + -0.054718319326639175, + -0.43989938497543335, + 0.0 + ], + [ + 0.2752700746059418, + 0.006067322567105293, + 0.06749741733074188, + 3.101732241111346, + -0.019374184310436245, + -0.39088982343673706, + 0.0 + ], + [ + 0.2899848222732544, + -0.015686726197600365, + 0.05661933124065399, + 3.066779928403445, + -0.026598453521728512, + -0.3255179524421692, + 0.0 + ], + [ + 0.2964502274990082, + -0.029017876833677292, + 0.04613570123910904, + 3.064870352047034, + -0.03777055814862251, + -0.24491065740585327, + 0.0 + ], + [ + 0.3066437840461731, + -0.03429040312767029, + 0.042219266295433044, + 3.0636958350711545, + -0.09735387563705446, + -0.11669573187828064, + 0.0 + ], + [ + 0.30699971318244934, + -0.03672437742352486, + 0.028808752074837685, + 3.079086335497447, + -0.07891236245632172, + -0.1137651652097702, + 0.0 + ], + [ + 0.3044922351837158, + -0.03926669806241989, + 0.01652035303413868, + 3.086904263245412, + -0.04665796086192131, + -0.112467922270298, + 0.0 + ], + [ + 0.30474498867988586, + -0.04064031317830086, + 0.011517861858010292, + 3.1110438035153827, + -0.0315948761999607, + -0.1313466578722, + 0.0 + ], + [ + 0.301963210105896, + -0.040436502546072006, + 0.01184141356498003, + 3.110139263915368, + -0.00930063333362341, + -0.15362365543842316, + 0.0 + ], + [ + 0.29836198687553406, + -0.03899991139769554, + 0.013618182390928268, + 3.088759238021918, + 0.01879066787660122, + -0.16199064254760742, + 1.0 + ], + [ + 0.2979908883571625, + -0.035782407969236374, + 0.028030728921294212, + 3.083450002717324, + 0.001613448839634657, + -0.17053690552711487, + 1.0 + ], + [ + 0.29726091027259827, + -0.03132234886288643, + 0.05742497369647026, + 3.066422315435954, + -0.041649531573057175, + -0.17621554434299466, + 1.0 + ], + [ + 0.2978067398071289, + -0.02639690227806568, + 0.09498611837625504, + 3.0231526662879666, + -0.10966844111680984, + -0.18578124046325684, + 1.0 + ], + [ + 0.29501432180404663, + -0.01912393979728222, + 0.11536118388175964, + 3.0000084062391004, + -0.1250520646572113, + -0.21315613389015198, + 1.0 + ], + [ + 0.2949037253856659, + -0.01688816212117672, + 0.11579462140798569, + 3.000489520030566, + -0.1257501244544983, + -0.21033085882663727, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.003858029842376709, + 0.004532158374786377, + 0.004532158374786377, + 0.003858029842376709, + 0.004532158374786377, + 0.004532158374786377, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.057769834995269775, + 0.3218126893043518, + 0.3639833331108093, + 0.33786332607269287, + 0.3368593454360962, + 0.33786332607269287, + 0.3368593454360962, + 0.3368593454360962, + 0.3368593454360962, + 0.33786332607269287, + 0.33786332607269287, + 0.3690063953399658, + 0.35494011640548706, + 0.28090745210647583, + 0.0371822714805603, + 0.009293973445892334, + 0.010668635368347168, + 0.010668635368347168, + 0.010668635368347168, + 0.010668635368347168 + ], + "episode_id": "150", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/150/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1504.json b/annotation/test/1504.json new file mode 100644 index 0000000000000000000000000000000000000000..fcd05617b7adcffb8b52e2452cf249deec51102c --- /dev/null +++ b/annotation/test/1504.json @@ -0,0 +1,793 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Put the mushroom near the tables edge." + ], + "videos": [ + { + "video_path": "videos/test/1504/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -1.7889818540766e-17, + 1.2612282414714199e-17, + 4.8544572700711506e-17, + 1.0 + ], + [ + -0.002014161539775808, + -0.005574272107547551, + 0.012946703444573132, + 0.03718146222780891, + 0.004324359117186594, + 0.007494487562295921, + 1.0 + ], + [ + -0.026829589288184342, + -0.009950775376549413, + -0.0007223388459509034, + 0.009981836299445379, + -0.03692284504727506, + 0.09399201065059598, + 1.0 + ], + [ + -0.03707314158135594, + -0.005843524712693569, + -0.008217498441544485, + -0.0017640013186025192, + -0.07270858637573001, + 0.10336451066862658, + 1.0 + ], + [ + -0.04416650202745512, + -0.008888470186823916, + -0.007432977683427145, + 0.006035334470152924, + -0.06780787521301672, + 0.1192883885057015, + 1.0 + ], + [ + -0.039357407935923246, + -0.018207752322060414, + 0.007413895456090977, + 0.052806404262231973, + -0.013532486147431315, + 0.12339820106275168, + 1.0 + ], + [ + -0.029253812581715402, + -0.009392629204709756, + 0.016102533125016957, + 0.05361819329604031, + 0.004626679482930539, + 0.11767328879385716, + 1.0 + ], + [ + -0.018363033032809475, + -0.0017765980549137729, + 0.012323623198507177, + 0.039090452812409825, + 0.0125348561546713, + 0.07863635319459832, + 1.0 + ], + [ + -0.009885029892386116, + -0.0016622920243149258, + 0.01290081487202619, + 0.03793394533685029, + 0.01644857637195353, + 0.037502216708679995, + 1.0 + ], + [ + -0.005460157335175592, + -0.0019151446217998554, + 0.01102835120381843, + 0.042358826980613544, + 0.01623388975238109, + 0.022470569236209298, + 1.0 + ], + [ + -0.001618294843019669, + 0.0001616137043223454, + 0.006845677836153831, + 0.017390467838700043, + 0.016738971298085357, + 0.004888619174758327, + 1.0 + ], + [ + 0.0007261321590689921, + -0.001116933476977218, + 0.003051786552689383, + 0.011364900403525708, + 0.006188883572320078, + -0.01938114694901979, + 0.0 + ], + [ + 0.0009780868720226416, + 0.0008099269508583239, + 0.0027331097378360068, + 0.007026764496382612, + 0.01277659531440145, + 0.0047694598911218675, + 0.0 + ], + [ + 0.001775008920131928, + -0.0009158055417950127, + -1.2579918641347576e-05, + 0.005750940760983091, + 0.011206414508590463, + -0.002170058681465622, + 0.0 + ], + [ + 0.000962072179286368, + -0.002914394098000525, + -0.006307095734108014, + 0.0009198387353762046, + 0.056017357629635195, + 0.004694697418645354, + 0.0 + ], + [ + 0.005267725496611762, + 0.0003622928521024105, + -0.029142519002784882, + -0.06186156591672377, + -0.006541322862609891, + 0.012446873779410311, + 0.0 + ], + [ + 0.014900714820570041, + -0.008231862007059906, + -0.03036879289515602, + -0.02929916976259132, + -0.035898969912518404, + -0.014924347174530683, + 0.0 + ], + [ + 0.0014922683603426292, + -0.02655515475268718, + -0.031523411646973254, + -0.03437625841740742, + -0.04046296104713292, + 0.009164426059364936, + 0.0 + ], + [ + -0.004258783518192182, + -0.029204146259167688, + 0.0008552340758959551, + 0.016208601700924922, + -0.03285283803094879, + 0.0013111384626154515, + 0.0 + ], + [ + 0.0052355507793464175, + -0.033140071800154894, + 0.008663854499979803, + 0.036494872944794234, + 0.005552971037073736, + 0.0020769885828241597, + 0.0 + ], + [ + 0.01091842321339556, + -0.028317891575398067, + 0.02639281545906539, + 0.07420378140257064, + 0.03820897881047376, + -0.01415576287379573, + 0.0 + ], + [ + -0.0014316607260927415, + -0.02898555255315732, + 0.01407221487398592, + 0.03409412723401468, + -0.004874501374755806, + 0.01163905342678745, + 0.0 + ], + [ + -0.0038856137861234524, + -0.007403551448670442, + 0.02004752618707612, + 0.011122736334817423, + 0.012149022166473497, + 0.014482385964549847, + 0.0 + ], + [ + -0.005096601310789221, + 0.0031122208734856746, + 0.01025861444468668, + 0.008681889116348988, + -0.001384555695613544, + 0.032695984459845825, + 0.0 + ], + [ + -0.00909005697686886, + 0.0003969454226533539, + 0.011480148929237571, + 0.02988112991478357, + -0.011627194405744543, + 0.021421645635592585, + 0.0 + ], + [ + -0.005563756740491937, + 0.0021137497589671433, + 0.0008884549337742066, + -0.0007764638174437611, + 0.001286941537592935, + -0.017812155474528957, + 0.0 + ], + [ + -0.0024587643784798065, + 0.0038524785466021055, + 0.0015983302544519992, + 0.0143986761768249, + -0.0088136196934227, + -0.042840508394084015, + 0.0 + ], + [ + 0.0006331759974666907, + -0.0005387647973672472, + -0.0016307371250523332, + 0.009219465006533712, + 0.007744049331821132, + -0.01831459791661674, + 1.0 + ], + [ + -0.002144250138649304, + -0.0004525715110941492, + -0.002631175125140794, + -0.005311579439026322, + 0.0077242785989810984, + 0.0020443674900505683, + 1.0 + ], + [ + 0.0011697285574232285, + 3.3039793223908066e-05, + -0.013294017080549362, + -0.027215897198736787, + 0.001210857863552912, + -0.004045572721467627, + 1.0 + ], + [ + 0.002808799901733814, + -0.0008163244061874565, + -0.016258684710369477, + -0.03279570100947711, + 0.010212639466093043, + 0.0010499537266890908, + 1.0 + ], + [ + -9.895528116801555e-05, + -0.0004865281722514551, + -0.02097084366142125, + -0.05794992761462116, + 0.04687041832457055, + 0.03355736763637265, + 1.0 + ], + [ + 0.00029444340105502884, + 0.00027800843724272705, + -0.0010872241226916584, + -0.003369972644139342, + 0.0006989372300970177, + -0.002919283510221392, + 1.0 + ], + [ + 0.00042265598651443993, + 0.00012497005250415585, + -6.115345737952029e-07, + -0.0007846706638755343, + 0.0026663542766286294, + 0.0012979291868367097, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 2.600338599374551e-18, + -1.0687890580951177e-17, + 6.536053825770835e-19, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 2.600338599374551e-18, + -1.0687890580951177e-17, + 6.536053825770835e-19, + 1.0 + ], + [ + -5.6931934447359126e-05, + -6.484837784876363e-05, + 4.236987827054582e-05, + 0.0009714101482216654, + -0.002691550583839358, + -0.0028232879807930326, + 1.0 + ], + [ + 0.0004589978404210184, + 0.00014874165693572425, + -0.00037169222905999446, + -0.002267831006319203, + 0.0023126142692566883, + 0.001126221760389755, + 1.0 + ], + [ + -0.0008258242615418709, + -0.0002092016222805029, + 0.00032736973755143344, + 0.002087743067934319, + -0.002285814166550504, + 0.00039182721355204646, + 1.0 + ], + [ + 0.000788764229991506, + 0.00018440470397149695, + 4.138299315069598e-05, + -0.0006054882509668526, + 0.0026387002078927264, + -0.00022482878311863607, + 1.0 + ] + ], + "state": [ + [ + 0.3556993007659912, + 0.16704042255878448, + 0.11311787366867065, + 2.867448182898112, + -0.02099742740392685, + 2.298011302947998, + 1.0 + ], + [ + 0.3556993007659912, + 0.16704042255878448, + 0.11311787366867065, + 2.867448182898112, + -0.02099742740392685, + 2.298011302947998, + 1.0 + ], + [ + 0.35545265674591064, + 0.16451799869537354, + 0.09910634160041809, + 2.904759096103259, + -0.027188841253519055, + 2.2919652462005615, + 1.0 + ], + [ + 0.3657393455505371, + 0.13791020214557648, + 0.09674503654241562, + 2.918497534590312, + -0.0131740216165781, + 2.1919572353363037, + 1.0 + ], + [ + 0.38125211000442505, + 0.10331817716360092, + 0.10297703742980957, + 2.9192196150594434, + 0.0350101999938488, + 2.075190544128418, + 1.0 + ], + [ + 0.39346909523010254, + 0.05985557287931442, + 0.10980940610170364, + 2.92208947439725, + 0.07462099939584732, + 1.9436951875686646, + 1.0 + ], + [ + 0.39302578568458557, + 0.01664126105606556, + 0.10157409310340881, + 2.967378856735774, + 0.06046142429113389, + 1.8200879096984863, + 1.0 + ], + [ + 0.39423105120658875, + -0.014274044893682003, + 0.08588684350252151, + 3.01521526475484, + 0.03515269234776497, + 1.7049410343170166, + 1.0 + ], + [ + 0.3965367078781128, + -0.03292243927717209, + 0.07409064471721649, + 3.0519827400618276, + 0.012713233008980751, + 1.6285176277160645, + 1.0 + ], + [ + 0.3966161608695984, + -0.04298408329486847, + 0.06121955066919327, + 3.0895063077383718, + -0.007032905239611864, + 1.5926430225372314, + 1.0 + ], + [ + 0.3953956663608551, + -0.04839390143752098, + 0.05006832256913185, + 3.1320223297276577, + -0.024412930011749264, + 1.5710448026657104, + 1.0 + ], + [ + 0.3956231474876404, + -0.04984459653496742, + 0.04318704083561897, + -3.1336582285636148, + -0.04119764640927314, + 1.5663132667541504, + 1.0 + ], + [ + 0.39448586106300354, + -0.04898865148425102, + 0.04017670080065727, + -3.1230916940891227, + -0.047532398253679276, + 1.5856661796569824, + 0.0 + ], + [ + 0.3952285349369049, + -0.04786995053291321, + 0.037478651851415634, + -3.115825409191199, + -0.060217976570129395, + 1.5806524753570557, + 0.0 + ], + [ + 0.39429596066474915, + -0.04610944166779518, + 0.03762158006429672, + -3.1101863627606114, + -0.07147647440433501, + 1.5825377702713013, + 0.0 + ], + [ + 0.39157533645629883, + -0.04563847556710243, + 0.04406945779919624, + -3.10875320632989, + -0.12731726467609406, + 1.5760420560836792, + 0.0 + ], + [ + 0.3928862512111664, + -0.044103313237428665, + 0.07361757755279541, + 3.114132359745451, + -0.12036124616861345, + 1.563727855682373, + 0.0 + ], + [ + 0.3839028775691986, + -0.032864514738321304, + 0.1053200513124466, + 3.0831393619352063, + -0.0840543657541275, + 1.5777007341384888, + 0.0 + ], + [ + 0.35555922985076904, + -0.03408503532409668, + 0.13525792956352234, + 3.049686612682887, + -0.04419035464525223, + 1.5661848783493042, + 0.0 + ], + [ + 0.32653823494911194, + -0.0380498506128788, + 0.13154135644435883, + 3.066037247078963, + -0.011596136726438997, + 1.5618650913238525, + 0.0 + ], + [ + 0.29419589042663574, + -0.03239638730883598, + 0.12046214938163757, + 3.1025502142780503, + -0.0172900278121233, + 1.5602129697799683, + 0.0 + ], + [ + 0.2670518457889557, + -0.020716600120067596, + 0.09317700564861298, + -3.1067258102172097, + -0.05491524934768676, + 1.5758624076843262, + 0.0 + ], + [ + 0.23759734630584717, + -0.021578870713710785, + 0.08006487041711807, + -3.07200367202098, + -0.04963437467813492, + 1.5643863677978516, + 0.0 + ], + [ + 0.2287992537021637, + -0.024436673149466515, + 0.06041187047958374, + -3.0601238702707967, + -0.06074121966958046, + 1.5490670204162598, + 0.0 + ], + [ + 0.23096907138824463, + -0.028936035931110382, + 0.049643952399492264, + -3.049510771530219, + -0.05666890740394592, + 1.5165400505065918, + 0.0 + ], + [ + 0.22985275089740753, + -0.037313759326934814, + 0.03767950087785721, + -3.0184937586360654, + -0.04310970753431321, + 1.4962611198425293, + 0.0 + ], + [ + 0.23142562806606293, + -0.04295595362782478, + 0.036299508064985275, + -3.0200449099117, + -0.04656730219721795, + 1.5137994289398193, + 0.0 + ], + [ + 0.23491552472114563, + -0.045519422739744186, + 0.034133631736040115, + -3.0077880193763455, + -0.042967114597558975, + 1.557431936264038, + 0.0 + ], + [ + 0.23460663855075836, + -0.04495516046881676, + 0.03584730625152588, + -2.9993205239349088, + -0.05307880043983459, + 1.5745731592178345, + 1.0 + ], + [ + 0.23454034328460693, + -0.047238245606422424, + 0.03839854896068573, + -3.0044627507501325, + -0.06043490022420883, + 1.571448564529419, + 1.0 + ], + [ + 0.2363901287317276, + -0.04686456918716431, + 0.051609866321086884, + -3.0319120680266103, + -0.06218697503209114, + 1.5752980709075928, + 1.0 + ], + [ + 0.23735031485557556, + -0.04506676644086838, + 0.06800335645675659, + -3.064567597704478, + -0.07222317159175873, + 1.5731309652328491, + 1.0 + ], + [ + 0.23848266899585724, + -0.04667430371046066, + 0.08888771384954453, + -3.1197935474389276, + -0.11632312089204788, + 1.5358502864837646, + 1.0 + ], + [ + 0.23878996074199677, + -0.04651794210076332, + 0.08999548852443695, + -3.123502895357557, + -0.1170850321650505, + 1.5387736558914185, + 1.0 + ], + [ + 0.23892830312252045, + -0.04610220342874527, + 0.09004322439432144, + -3.1241291539096316, + -0.11972736567258835, + 1.537418007850647, + 1.0 + ], + [ + 0.23892830312252045, + -0.04610220342874527, + 0.09004322439432144, + -3.1241291539096316, + -0.11972736567258835, + 1.537418007850647, + 1.0 + ], + [ + 0.23892830312252045, + -0.04610220342874527, + 0.09004322439432144, + -3.1241291539096316, + -0.11972736567258835, + 1.537418007850647, + 1.0 + ], + [ + 0.23886103928089142, + -0.04615158587694168, + 0.08999548852443695, + -3.123502895357557, + -0.11708503216505049, + 1.540307641029358, + 1.0 + ], + [ + 0.23902899026870728, + -0.04574375972151756, + 0.09041552245616913, + -3.125633284571119, + -0.1193768158555031, + 1.5391314029693604, + 1.0 + ], + [ + 0.23878996074199677, + -0.04651794210076332, + 0.08999548852443695, + -3.123502895357557, + -0.1170850321650505, + 1.5387736558914185, + 1.0 + ], + [ + 0.23899874091148376, + -0.045735638588666916, + 0.09004322439432144, + -3.1241291539096316, + -0.11972736567258835, + 1.5389519929885864, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.042422711849212646, + 0.19730991125106812, + 0.4498257637023926, + 0.5949552357196808, + 0.6652155518531799, + 0.6787546575069427, + 0.6795415878295898, + 0.6803275644779205, + 0.6803275644779205, + 0.6803275644779205, + 0.6803275644779205, + 0.6803275644779205, + 0.6803275644779205, + 0.6803275644779205, + 0.6803275644779205, + 0.6803275644779205, + 0.6107503175735474, + 0.30080950260162354, + 0.029088854789733887, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1504", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1504/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1508.json b/annotation/test/1508.json new file mode 100644 index 0000000000000000000000000000000000000000..506b9ed47c29d074545fc64aef931d38bd2f0f2a --- /dev/null +++ b/annotation/test/1508.json @@ -0,0 +1,945 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the blue fork so that it's near the red spoon." + ], + "videos": [ + { + "video_path": "videos/test/1508/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -5.1432803654063285e-18, + 9.893319634905356e-21, + -6.888540106011434e-17, + 1.0 + ], + [ + -0.0006943986641539915, + 0.0005759320926442221, + 0.004825573251507261, + 0.007692536948599757, + -0.01668428294056965, + -0.010297938587903128, + 1.0 + ], + [ + 0.011645880959683308, + -0.00014219465755834236, + 0.008699737525613968, + 0.008704702245774248, + -0.01079316533695226, + -0.14184150692548644, + 1.0 + ], + [ + 0.023260105121357726, + -5.280139262087421e-05, + -0.0007775529783972322, + -0.015550364391564342, + 0.025203011502859102, + -0.25546886388128065, + 1.0 + ], + [ + 0.021329277749785578, + 0.00645081542702104, + 0.008915537580684077, + 0.0064590904127642575, + 0.056295601841854545, + -0.2557534911260923, + 1.0 + ], + [ + 0.022566019304972335, + 0.00952480796322445, + 0.013018143978197524, + -0.02866382318475327, + 0.033055878330492484, + -0.2499166470205769, + 1.0 + ], + [ + 0.01352777391820274, + 0.010611531634735655, + 0.01384676897243268, + -0.045724731445253027, + 0.01535012359478411, + -0.14235712467888, + 1.0 + ], + [ + 0.014952851923635796, + 0.011923928449712034, + 0.024775609339204946, + 0.03710369362268843, + -0.029512715860083857, + -0.05730729723217605, + 1.0 + ], + [ + 0.00569385010867867, + 0.01974108106141071, + 0.017066388846588888, + 0.017245931952554392, + -0.002806134825901599, + -0.02676497085193697, + 1.0 + ], + [ + 0.005855197057302573, + 0.015410851718054872, + 0.008902898463404514, + 0.00408732462683996, + -0.04666792585782082, + -0.012808553180518184, + 1.0 + ], + [ + 0.002352930602315905, + 0.006528148691009856, + 0.015207563480934478, + 0.02436986600948903, + -0.009982617378769116, + -0.014001415849753809, + 1.0 + ], + [ + -0.0010606608779600857, + 0.00035479814373902066, + 0.011554024705179777, + 0.004288065649053717, + -0.015406557996603357, + 0.006868846801211813, + 1.0 + ], + [ + 6.933311733744644e-05, + -0.0014921227869677343, + 0.01112265644304436, + 0.0029003090574848222, + -0.0030796487277838388, + -0.012832306276352535, + 1.0 + ], + [ + -0.0013382757360836865, + -0.0006140553947084599, + 0.013944783195841392, + 0.01646483422304412, + -0.0027468510451453647, + -0.0099039726215843, + 1.0 + ], + [ + -0.0010764280601029991, + -0.0012334648154382006, + 0.008776138950839646, + 0.016468257467834764, + -0.0033016637844692502, + -0.002706813494812366, + 1.0 + ], + [ + 0.0002908860551085431, + 0.0035374214454896662, + 0.004255407358128858, + 0.0030454804109027343, + -0.0003708755253920704, + -0.007670509718888844, + 1.0 + ], + [ + -0.002287117002078764, + 0.0014385986669893673, + 0.008260335341844746, + 0.02279563473268792, + -0.015247664240119467, + -0.00033617535346952646, + 1.0 + ], + [ + 0.0014556053408622603, + 0.0018019532159640151, + 0.0025955042163875635, + 0.02645845179653183, + 9.017733500960368e-05, + -0.007184392023028517, + 1.0 + ], + [ + 0.0009538717479653959, + 1.1417241423050772e-05, + -0.00039164136871893687, + 0.0036539371430424333, + 0.005230764175962881, + -0.014309630449244553, + 0.0 + ], + [ + 0.0005381432517150226, + 0.00012428144933232995, + 0.0012555143873136736, + 0.00038179356047670623, + 0.003929845222990776, + -0.0022165765362980854, + 0.0 + ], + [ + 4.568809858636781e-05, + -0.00795286881147843, + -0.0034045176507815585, + -0.004100280398003794, + 0.00635173776389127, + 0.0005885701932271311, + 0.0 + ], + [ + 0.0032806936170973917, + 0.0007312176581476811, + -0.03357174505033857, + -0.06814973907747948, + 0.008036048101903623, + -0.018931020408468686, + 0.0 + ], + [ + -0.0029763543546697285, + 0.0009787382341460522, + -0.018531551687396532, + -0.026064974411880878, + -0.007920477432125782, + 0.02468961956345546, + 0.0 + ], + [ + -0.01625319837176232, + -0.003814465907600073, + -0.006450976803614902, + 0.028178061921574137, + -0.026265695920564446, + 0.08784353018076245, + 0.0 + ], + [ + -0.022013321164525545, + 0.0017257641461684257, + -0.010097779798464726, + 0.032857384806443464, + -0.008889334668408957, + 0.1767028593785694, + 0.0 + ], + [ + -0.020587584208814142, + 0.00021648887929203857, + 0.004419817912340657, + 0.016633012963049972, + -0.005201528176775619, + 0.08275803885777971, + 0.0 + ], + [ + -0.01968799114887825, + 0.0006151330041905609, + 0.0018601223996584696, + -0.003196675978056549, + -0.0017657877759255525, + 0.09183697074142405, + 0.0 + ], + [ + -0.027602135219425342, + 0.007003103674343086, + 0.006569670925426355, + 0.0010466903688513204, + 0.00836949432453048, + 0.20643789889538391, + 0.0 + ], + [ + -0.01989433714972051, + 0.007074771263716314, + 0.002424578036700463, + -0.03923176933078368, + -0.019128485537272543, + 0.1762953942692999, + 0.0 + ], + [ + -0.016210040089021455, + 0.013348108916297024, + 0.0005098658998646338, + -0.025472354394335907, + -0.009273205598783613, + 0.18487242677546697, + 0.0 + ], + [ + -0.012083093403201876, + 0.014202328126108733, + 0.002031224899326049, + -0.01821980432530081, + 0.012186528361504533, + 0.11603024596692194, + 0.0 + ], + [ + -0.006988932956647544, + 0.006533202585853528, + 0.00470688520407691, + -0.004402510244968539, + 0.006982042734455639, + 0.05711370414714016, + 0.0 + ], + [ + -0.004954771704601998, + 0.00081342815018691, + 0.007349221945512948, + -0.006732945507772547, + 0.000717882062062047, + 0.007391725251583283, + 0.0 + ], + [ + -0.007580833987620784, + 0.009245250844057765, + 0.009217119818782168, + 0.0019230882868890103, + 0.01847586359324653, + 0.030420659998212585, + 0.0 + ], + [ + -0.0024143867308667444, + 0.0038478613323377434, + 0.006885927681075445, + 0.010856940939215687, + 0.021029653797309932, + -0.0005442886626621397, + 0.0 + ], + [ + -0.0029474617206109435, + -0.002046378417266337, + 0.004319449162814507, + 0.01198139033830216, + 0.0011772375292981886, + -0.0056635799873089605, + 0.0 + ], + [ + -0.003419022026362791, + -0.0012592834656725233, + 0.008906792745496557, + 0.010521345719561398, + -0.013025774906349147, + -0.018097937781757622, + 0.0 + ], + [ + -0.0007367518049437268, + -0.0009398423828899154, + 0.00017223471235844597, + -0.002948769607114988, + 0.010377698454933276, + -0.01764010794064688, + 0.0 + ], + [ + -0.003989620002621367, + -0.0029920934583332432, + -0.003228101166624462, + -0.000985358716851867, + -0.005605361141383297, + -0.026834791271051768, + 0.0 + ], + [ + 0.000402742644314054, + -0.002613239060998016, + -0.005502529154630727, + -0.0034280557408789976, + -0.018743514743593735, + -0.024674861626702137, + 1.0 + ], + [ + 0.011141983254993552, + 0.0003574737023224051, + -0.029241881997658876, + -0.0422791633803263, + 0.036204333687976056, + -0.054858875789477055, + 1.0 + ], + [ + 0.006091872412306647, + -0.007874586802856522, + -0.019168380112936784, + 0.01991030512275616, + 0.00942211582239087, + -0.0834062623490287, + 1.0 + ], + [ + 0.009552948975901969, + -0.01611657419670821, + -0.01718494141160786, + 0.024617614802025303, + 0.018667183832015405, + -0.14357804284596482, + 1.0 + ], + [ + 0.007892578035792656, + -0.017889677929423975, + -0.027238163930977874, + 0.021825934325475454, + 0.019214101267058248, + -0.032897941403334074, + 1.0 + ], + [ + 0.0015809204488922797, + -0.017596519618894, + -0.015198133739294276, + 0.03230095675338335, + 0.00812180680785711, + 0.12407114561724113, + 1.0 + ], + [ + 0.007838589040029011, + -0.027461731143773257, + -0.0027662365229664883, + 0.01190400491776645, + -0.020841839701002045, + 0.10302135743254569, + 1.0 + ], + [ + 0.007653144561328858, + -0.02937991369158984, + 0.009485783294804026, + 0.01673876598190328, + -0.01597493376525921, + 0.03409076427947028, + 1.0 + ], + [ + 0.0053836335015383565, + -0.03516101096212816, + 0.009039969106947399, + 0.0035497502132379385, + -0.004293324955089665, + -0.04582577263611864, + 1.0 + ] + ], + "state": [ + [ + 0.24269740283489227, + 0.01722949743270874, + 0.15940938889980316, + -3.0650935788922986, + -0.11621802300214769, + 0.49443289637565613, + 1.0 + ], + [ + 0.24269740283489227, + 0.01722949743270874, + 0.15940938889980316, + -3.0650935788922986, + -0.11621802300214769, + 0.49443289637565613, + 1.0 + ], + [ + 0.24268338084220886, + 0.01698852889239788, + 0.1545061469078064, + -3.0587406997853, + -0.10036177188158035, + 0.5060327649116516, + 1.0 + ], + [ + 0.2531595826148987, + 0.02377917431294918, + 0.1470584273338318, + -3.0651461725407323, + -0.10028713941574097, + 0.6490016579627991, + 1.0 + ], + [ + 0.2715394198894501, + 0.03771422058343887, + 0.15016260743141174, + -3.108414774882146, + -0.1415073424577713, + 0.9042441844940186, + 1.0 + ], + [ + 0.2902255654335022, + 0.05151866003870964, + 0.14413738250732422, + -3.139120654790201, + -0.20156134665012357, + 1.1628632545471191, + 1.0 + ], + [ + 0.30874601006507874, + 0.07044446468353271, + 0.13587746024131775, + 3.064480038481303, + -0.22884532809257507, + 1.4193878173828125, + 1.0 + ], + [ + 0.32269108295440674, + 0.08462484180927277, + 0.1262967437505722, + 2.9862941225343427, + -0.23083797097206116, + 1.5664241313934326, + 1.0 + ], + [ + 0.3383898138999939, + 0.1042909249663353, + 0.10768508911132812, + 3.011412100987979, + -0.19250462949275973, + 1.6194252967834473, + 1.0 + ], + [ + 0.35974833369255066, + 0.11367612332105637, + 0.09468033909797668, + 3.0236072187596044, + -0.18618150055408478, + 1.6460596323013306, + 1.0 + ], + [ + 0.37552326917648315, + 0.12194042652845383, + 0.08885865658521652, + 3.0262186621599874, + -0.13832567632198334, + 1.6533432006835938, + 1.0 + ], + [ + 0.38337528705596924, + 0.12691457569599152, + 0.07496525347232819, + 3.0488186945491513, + -0.12678633630275726, + 1.666204810142517, + 1.0 + ], + [ + 0.3847545087337494, + 0.12744677066802979, + 0.06345174461603165, + 3.054150777059146, + -0.11207801848649979, + 1.6578868627548218, + 1.0 + ], + [ + 0.38412633538246155, + 0.12871967256069183, + 0.05231936648488045, + 3.055649737017699, + -0.10788070410490035, + 1.6704742908477783, + 1.0 + ], + [ + 0.38469159603118896, + 0.1289481520652771, + 0.038310322910547256, + 3.07107553829486, + -0.10428885370492934, + 1.6801584959030151, + 1.0 + ], + [ + 0.3840996026992798, + 0.12873204052448273, + 0.02940506674349308, + 3.087285453575202, + -0.10080435872077943, + 1.6826385259628296, + 1.0 + ], + [ + 0.3877614140510559, + 0.12984538078308105, + 0.02539781481027603, + 3.0895599146657666, + -0.10001472383737564, + 1.6903159618377686, + 1.0 + ], + [ + 0.3897883892059326, + 0.12861882150173187, + 0.017035964876413345, + 3.112395331385084, + -0.08477020263671875, + 1.689857006072998, + 1.0 + ], + [ + 0.39145421981811523, + 0.1304955631494522, + 0.014626543037593365, + 3.1382440993380776, + -0.08464841544628143, + 1.6970667839050293, + 1.0 + ], + [ + 0.3913487195968628, + 0.13140687346458435, + 0.015097465366125107, + 3.1406821571923835, + -0.08982252329587936, + 1.7114516496658325, + 0.0 + ], + [ + 0.39138197898864746, + 0.13206663727760315, + 0.013895398005843163, + 3.1408639159686906, + -0.09375012665987013, + 1.7136815786361694, + 0.0 + ], + [ + 0.38354653120040894, + 0.1306639015674591, + 0.017283471301198006, + 3.1368185604275247, + -0.10010227560997008, + 1.713094711303711, + 0.0 + ], + [ + 0.38412460684776306, + 0.13065475225448608, + 0.05101810395717621, + 3.066762836771556, + -0.10802977532148361, + 1.7321745157241821, + 0.0 + ], + [ + 0.3845173716545105, + 0.12569403648376465, + 0.06914190202951431, + 3.0434516464644155, + -0.10194261372089386, + 1.7068308591842651, + 0.0 + ], + [ + 0.3824062645435333, + 0.10846444964408875, + 0.07350266724824905, + 3.0811719727986535, + -0.08398544788360596, + 1.6165387630462646, + 0.0 + ], + [ + 0.38456007838249207, + 0.08574917912483215, + 0.08180370926856995, + 3.1297880878024777, + -0.08441248536109926, + 1.4389846324920654, + 0.0 + ], + [ + 0.3821791410446167, + 0.0657467171549797, + 0.07566669583320618, + -3.1297273162105164, + -0.07989723235368729, + 1.3559062480926514, + 0.0 + ], + [ + 0.3786054253578186, + 0.04659206420183182, + 0.07223401963710785, + -3.125635054084011, + -0.07670632004737855, + 1.2638254165649414, + 0.0 + ], + [ + 0.3770189881324768, + 0.018761418759822845, + 0.0634578987956047, + -3.1091603880100926, + -0.08016994595527649, + 1.056609869003296, + 0.0 + ], + [ + 0.373458594083786, + -0.0017589014023542404, + 0.059220485389232635, + -3.134874098590114, + -0.054131168872117996, + 0.8808104991912842, + 0.0 + ], + [ + 0.37346816062927246, + -0.022711696103215218, + 0.057744789868593216, + 3.1326760865100702, + -0.04270104318857193, + 0.6958431601524353, + 0.0 + ], + [ + 0.37338048219680786, + -0.04131212458014488, + 0.05532621219754219, + 3.1194603649252137, + -0.05563245341181755, + 0.5797551870346069, + 0.0 + ], + [ + 0.3713899850845337, + -0.05054739862680435, + 0.05038350820541382, + 3.1182643232219895, + -0.06378574669361115, + 0.522695481777191, + 0.0 + ], + [ + 0.3680018186569214, + -0.0536358468234539, + 0.04275433346629143, + 3.112002957733818, + -0.06467411667108536, + 0.5153070688247681, + 0.0 + ], + [ + 0.36661040782928467, + -0.06535760313272476, + 0.033343520015478134, + 3.115870617451616, + -0.08401285856962205, + 0.4853460490703582, + 0.0 + ], + [ + 0.36686307191848755, + -0.06977338343858719, + 0.026380162686109543, + 3.1266303277858576, + -0.10502150654792786, + 0.48643687367439276, + 0.0 + ], + [ + 0.36374861001968384, + -0.06917884200811386, + 0.02174556627869606, + 3.138013099208944, + -0.10611217468976976, + 0.49214956164360046, + 0.0 + ], + [ + 0.36100414395332336, + -0.06925761699676514, + 0.012522325851023197, + -3.136570637701549, + -0.09300437569618225, + 0.5102775692939758, + 0.0 + ], + [ + 0.35991814732551575, + -0.06878744810819626, + 0.01228711474686861, + -3.1411619929473424, + -0.10345608741044998, + 0.5279589295387269, + 0.0 + ], + [ + 0.35469546914100647, + -0.06837108731269836, + 0.015087222680449486, + 3.1382533017364374, + -0.09782491624355316, + 0.5549246668815613, + 0.0 + ], + [ + 0.3531935513019562, + -0.06620591133832932, + 0.02059406414628029, + 3.132414554367312, + -0.07896944880485535, + 0.5796093940734862, + 1.0 + ], + [ + 0.3606053292751312, + -0.061460550874471664, + 0.050625819712877274, + 3.08576316957409, + -0.1145481988787651, + 0.6351268887519836, + 1.0 + ], + [ + 0.3584575057029724, + -0.051947884261608124, + 0.06989867240190506, + 3.0962318946891507, + -0.11890304833650586, + 0.719524085521698, + 1.0 + ], + [ + 0.3530014157295227, + -0.03428640589118004, + 0.08735227584838867, + 3.104113208251544, + -0.12982031702995298, + 0.8650164008140564, + 1.0 + ], + [ + 0.3414652347564697, + -0.018688101321458817, + 0.11469931155443192, + 3.1215573028945407, + -0.14771461486816406, + 0.8989754319190979, + 1.0 + ], + [ + 0.3270706832408905, + -0.008034387603402138, + 0.12961290776729584, + -3.110759575041481, + -0.15717200934886932, + 0.7735432982444763, + 1.0 + ], + [ + 0.3130870461463928, + 0.01655663177371025, + 0.13440684974193573, + -3.0828786214166364, + -0.13234372437000275, + 0.6703336834907532, + 1.0 + ], + [ + 0.301266074180603, + 0.04532354325056076, + 0.1277390569448471, + -3.06176948745782, + -0.11432349681854248, + 0.6370264291763306, + 1.0 + ], + [ + 0.2848585844039917, + 0.0776803269982338, + 0.12218621373176575, + -3.0635858496003827, + -0.1135750487446785, + 0.6833471059799194, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.020461201667785645, + 0.12684893608093262, + 0.426047682762146, + 0.5752633512020111, + 0.5770704746246338, + 0.5770704746246338, + 0.5770704746246338, + 0.5770704746246338, + 0.5770704746246338, + 0.5770704746246338, + 0.5779728293418884, + 0.5779728293418884, + 0.5779728293418884, + 0.5779728293418884, + 0.5779728293418884, + 0.5779728293418884, + 0.5779728293418884, + 0.5779728293418884, + 0.5779728293418884, + 0.5779728293418884, + 0.5779728293418884, + 0.5014694333076477, + 0.1982569694519043, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1508", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1508/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1515.json b/annotation/test/1515.json new file mode 100644 index 0000000000000000000000000000000000000000..1a7743cbb90b17c4e5df3f8999f9bc6c696b0539 --- /dev/null +++ b/annotation/test/1515.json @@ -0,0 +1,641 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put broccoli in pot cardboardfence" + ], + "videos": [ + { + "video_path": "videos/test/1515/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 1.6690170911853113e-09, + 1.2779422249030195e-08, + -0.0015339681337479896, + 1.0 + ], + [ + -0.004225557841899697, + -0.0007767755439882521, + 0.002363822208657572, + 0.0008746841670518055, + -0.023319479955137987, + 0.002983641605339236, + 1.0 + ], + [ + 0.012986730661483236, + -0.02102789592524048, + -0.016890741336681784, + 0.058360875273607525, + -0.013589460538768543, + 0.03879802020208969, + 1.0 + ], + [ + 0.017763519367909285, + -0.023011336877130983, + -0.026993945674993605, + 0.05227512888240954, + -0.008932372174957076, + 0.045213854014717204, + 1.0 + ], + [ + 0.011723631676631275, + -0.025469746062516275, + -0.009753323053351352, + 0.045552639865660736, + -0.0085042916464839, + 0.03912759887180315, + 1.0 + ], + [ + 0.010390350645169619, + -0.03022776090835685, + 0.01667505361709601, + 0.013724432937621813, + -0.009838001520626282, + 0.02947417819177735, + 1.0 + ], + [ + 0.010005055909252566, + -0.023173057563684388, + 0.018055684661745175, + -0.012576087639977057, + 0.01675832366789369, + 0.03768281708496636, + 1.0 + ], + [ + 0.004491954305741115, + -0.020697636701168993, + 0.01375341031071804, + -0.01195987610657986, + 0.03295034823718511, + 0.03235014433187582, + 1.0 + ], + [ + -0.000948337398601846, + -0.015247597142888973, + 0.011118586774566938, + 0.019290187772337486, + 0.017021939535761168, + 0.02420093862317577, + 1.0 + ], + [ + 7.532426375935619e-05, + -0.009927512069665157, + 0.006069984487578046, + 0.031671841525695195, + 0.02328996317784673, + 0.004664214998030071, + 1.0 + ], + [ + -0.0006040356802822792, + -0.0037223307451677667, + 0.01321522909774443, + 0.0082495946875247, + 0.0010520699366719408, + 0.005833782459244228, + 1.0 + ], + [ + 0.0049192980622295235, + -0.004558456293535157, + 0.008046056621779403, + -0.010080173413917742, + 0.010391072418329119, + -0.00020865256069600133, + 1.0 + ], + [ + -0.002236996998879162, + 0.0006306882255050594, + 0.01057255788607276, + -0.009455148792483875, + -0.004371634908289588, + -0.0006908442018607593, + 1.0 + ], + [ + 0.004175798079267553, + -0.0008123862996982082, + 0.009079060287770203, + -0.018553806638654337, + 0.005429512994328776, + -0.0164886532701756, + 1.0 + ], + [ + 0.0012601492009013202, + -0.0029285852153758305, + 0.001983447035812995, + 0.012759528430630432, + 0.01449863686524155, + -0.009509375364486811, + 1.0 + ], + [ + -0.00046028881589718217, + -0.0004042102698929056, + 0.0044536656358675035, + 0.00031424566695942345, + 0.0053859796724732905, + -0.010143591658619635, + 1.0 + ], + [ + -0.0009130358477018958, + 0.0006686788494629874, + 0.0018761317850151398, + 0.013600517216028101, + -0.0034426069417238373, + 0.008233538296330474, + 0.0 + ], + [ + -0.0002506751159467352, + 0.0027950335999778874, + -0.0008636387792013891, + 0.02601674646280991, + -0.013711570841840999, + 0.029053240331929693, + 0.0 + ], + [ + 0.0016156915463767072, + 0.0005759860834974542, + -0.007186379497363299, + 0.024410180123568045, + -0.014182162999706358, + 0.03691598581058469, + 0.0 + ], + [ + 0.011945671191373904, + -0.0030721496497953167, + -0.03810551395323404, + 0.10480702792099517, + -0.03321851088940876, + 0.03885597718792874, + 0.0 + ], + [ + 0.00611148529882131, + 0.0022387464283791414, + -0.03696800823797974, + 0.1035797477652914, + -0.06256259154511483, + 0.003671498703015862, + 0.0 + ], + [ + -0.015901503451005015, + 0.02414624140875288, + -0.042989359973067624, + -0.001385725817572615, + -0.06537108488859562, + -0.10494330308651462, + 0.0 + ], + [ + -0.025509665886320455, + 0.037536905555275134, + -0.015972983165679022, + -0.1445407452963762, + -0.01813423524826103, + -0.14478097172283624, + 0.0 + ], + [ + -0.024386880293020944, + 0.04373101478116165, + -0.009962556239237001, + 0.0315455668656051, + 0.02212922783812001, + -0.12063489735950564, + 0.0 + ], + [ + -0.018831055702935168, + 0.0019115268821574113, + 0.006560029947890103, + 0.0034141783523915, + 0.011925438123926822, + -0.049872597849513894, + 0.0 + ], + [ + -0.011987733297504322, + 0.013359613027616268, + 0.005320419819608813, + -0.03306164267875493, + 0.012735727624431065, + -0.006656920947529817, + 0.0 + ], + [ + -0.009627535522554378, + -0.005495610391149363, + 0.010493680743523214, + -0.003698372623054204, + -0.010602278777496414, + -0.026236786349379385, + 0.0 + ], + [ + -0.004168567392197978, + -0.0014817751851318329, + 0.0067583641665434424, + -0.03124268236492782, + 0.0041929737086281995, + 0.009697574796735909, + 0.0 + ], + [ + -0.0021737074370965998, + -0.008256130792545389, + 0.008712914678885844, + -0.038385888062622275, + -0.003161845537982032, + 0.003364939851646074, + 0.0 + ], + [ + -0.0011821431022701067, + -0.00156732624460346, + 0.0037227024573839693, + -0.008649646151316992, + -0.04149781232928283, + 0.029630390699309058, + 1.0 + ], + [ + 0.013741963301164822, + -8.434252447625197e-05, + -0.006870666044192881, + 0.0029499563723193426, + 0.011226809250976532, + 0.05874026513607962, + 1.0 + ], + [ + 0.0004230692671969534, + -0.0006199442511736496, + -0.0002511099674871686, + 0.0016704841837088525, + 0.00127755144995344, + 0.0025144640267164174, + 1.0 + ] + ], + "state": [ + [ + 0.2473437339067459, + -0.006731339264661074, + 0.0688071995973587, + 3.0192037244611463, + -0.2663547098636628, + -0.008470155298709871, + 1.0 + ], + [ + 0.2473437339067459, + -0.006731339264661074, + 0.0688071995973587, + 3.018788496153899, + -0.26616713404655457, + -0.0068920901976525775, + 1.0 + ], + [ + 0.2439124882221222, + -0.0062263114377856255, + 0.06534051895141602, + 3.021208556490489, + -0.2433841973543167, + -0.01288540009409189, + 1.0 + ], + [ + 0.25337839126586914, + 0.016557788476347923, + 0.08229357749223709, + 3.0896004271977624, + -0.2343515306711197, + -0.05416102334856987, + 1.0 + ], + [ + 0.2659775912761688, + 0.040293626487255096, + 0.11147589236497879, + -3.1303882786356887, + -0.22753216326236728, + -0.10098428279161453, + 1.0 + ], + [ + 0.2776445746421814, + 0.0646001473069191, + 0.12389979511499405, + -3.0758275409513196, + -0.21841415762901306, + -0.1409629434347153, + 1.0 + ], + [ + 0.29522258043289185, + 0.09367717057466507, + 0.11184679716825485, + -3.0557599385553083, + -0.2065691351890564, + -0.1703501045703888, + 1.0 + ], + [ + 0.31228429079055786, + 0.11573970317840576, + 0.09823642671108246, + -3.0601991583877286, + -0.2198765277862549, + -0.21028852462768555, + 1.0 + ], + [ + 0.32367610931396484, + 0.13554537296295166, + 0.0874805897474289, + -3.0643050392442426, + -0.24995096027851108, + -0.24631400406360623, + 1.0 + ], + [ + 0.32907789945602417, + 0.1507476419210434, + 0.07764579355716705, + -3.0385083576017102, + -0.2649707794189453, + -0.27267396450042725, + 1.0 + ], + [ + 0.3332405984401703, + 0.16048580408096313, + 0.0728243812918663, + -3.0048893709951123, + -0.2876503765583038, + -0.2800099849700928, + 1.0 + ], + [ + 0.3376320004463196, + 0.1649339646100998, + 0.06058541312813759, + -2.994889723258563, + -0.2878924310207367, + -0.28618693351745605, + 1.0 + ], + [ + 0.3457486033439636, + 0.16847223043441772, + 0.054989032447338104, + -3.0045721550756177, + -0.29820212721824646, + -0.28756004571914673, + 1.0 + ], + [ + 0.34690555930137634, + 0.16898448765277863, + 0.044238220900297165, + -3.0144194831424436, + -0.29396557807922363, + -0.2862211167812348, + 1.0 + ], + [ + 0.35376685857772827, + 0.16900552809238434, + 0.03692735731601715, + -3.037740724282809, + -0.3014051914215088, + -0.26981493830680847, + 1.0 + ], + [ + 0.35623547434806824, + 0.17155829071998596, + 0.03570752590894699, + -3.0274587516957006, + -0.31680160760879517, + -0.261444240808487, + 1.0 + ], + [ + 0.35736557841300964, + 0.1721966713666916, + 0.031403373926877975, + -3.0302574058347425, + -0.3232930302619934, + -0.25146311521530146, + 1.0 + ], + [ + 0.357010155916214, + 0.17181707918643951, + 0.029274942353367805, + -3.0140500237518033, + -0.3189467787742615, + -0.2596774101257324, + 0.0 + ], + [ + 0.3558881878852844, + 0.1691329926252365, + 0.0296721700578928, + -2.979178624349185, + -0.30153119564056396, + -0.2880265414714814, + 0.0 + ], + [ + 0.35488301515579224, + 0.16762599349021912, + 0.03683491051197052, + -2.9442957063489636, + -0.2813873291015625, + -0.3235560953617096, + 0.0 + ], + [ + 0.3543500602245331, + 0.16310392320156097, + 0.07662729918956757, + -2.830445559816905, + -0.24105544388294217, + -0.3560628294944763, + 0.0 + ], + [ + 0.3475032448768616, + 0.1513012945652008, + 0.11159607023000717, + -2.730080338316508, + -0.18034692108631134, + -0.3401513695716858, + 0.0 + ], + [ + 0.3146064281463623, + 0.12122754752635956, + 0.13800351321697235, + -2.7559575756364545, + -0.16092903912067413, + -0.21630859375, + 0.0 + ], + [ + 0.2811524271965027, + 0.08681736886501312, + 0.13458767533302307, + -2.927431123452731, + -0.19677469134330752, + -0.0725710391998291, + 0.0 + ], + [ + 0.2539612352848053, + 0.043826472014188766, + 0.13025224208831787, + -2.919983999925204, + -0.24269554018974304, + 0.04396174103021622, + 0.0 + ], + [ + 0.23735563457012177, + 0.042672690004110336, + 0.11910686641931534, + -2.9282523860507688, + -0.2650238573551178, + 0.09165245294570923, + 0.0 + ], + [ + 0.22902096807956696, + 0.02992609702050686, + 0.10821881890296936, + -2.962335931258746, + -0.2788783013820648, + 0.09561455994844437, + 0.0 + ], + [ + 0.22167369723320007, + 0.03653339669108391, + 0.09658396989107132, + -2.974013002710887, + -0.27301353216171265, + 0.12438631057739258, + 0.0 + ], + [ + 0.2190861701965332, + 0.03881831467151642, + 0.0892810970544815, + -3.002387972670146, + -0.27551552653312683, + 0.11372309178113937, + 0.0 + ], + [ + 0.2179654985666275, + 0.04813656583428383, + 0.08148892968893051, + -3.0399565195017537, + -0.27191618084907526, + 0.11071906983852385, + 0.0 + ], + [ + 0.2175658792257309, + 0.050041019916534424, + 0.07775719463825226, + -3.0415861179404935, + -0.22753867506980896, + 0.08480983972549438, + 1.0 + ], + [ + 0.22941802442073822, + 0.05044439807534218, + 0.08752544224262238, + -3.025007190304347, + -0.23243714869022372, + 0.023596135899424553, + 1.0 + ], + [ + 0.22974172234535217, + 0.051038727164268494, + 0.08793576806783676, + -3.0227105264836034, + -0.2334127128124237, + 0.020876383408904076, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.055433034896850586, + 0.3669973611831665, + 0.6818961203098297, + 0.7961724698543549, + 0.7888820767402649, + 0.7699566334486008, + 0.7686591893434525, + 0.7686591893434525, + 0.7686591893434525, + 0.7686591893434525, + 0.7686591893434525, + 0.7686591893434525, + 0.7686591893434525, + 0.7298054397106171, + 0.4458767771720886, + 0.11550527811050415, + 0.0, + 0.0 + ], + "episode_id": "1515", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1515/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1522.json b/annotation/test/1522.json new file mode 100644 index 0000000000000000000000000000000000000000..f69db7c60e9992dfadee51abdcd9ad0c35818f8d --- /dev/null +++ b/annotation/test/1522.json @@ -0,0 +1,869 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the stainless steel pot and place it on the green cloth." + ], + "videos": [ + { + "video_path": "videos/test/1522/rgb.mp4" + } + ], + "action": [ + [ + 0.0002432424929643316, + -1.4909844020017686e-06, + -1.855400453364203e-07, + 4.706423465917582e-06, + 0.0015339888765065932, + -0.0030679589570847777, + 1.0 + ], + [ + -0.004086201232090863, + 0.0006200982799034708, + 0.01127651647921206, + -0.0042645639226522244, + -0.039861527602291245, + 0.0009742249608601097, + 1.0 + ], + [ + -0.0020706024180575295, + -0.002005749965737625, + 0.003693254289177659, + -0.023214823491718058, + -0.007282847190723161, + -0.02313612896932933, + 1.0 + ], + [ + -0.009197494043897234, + -0.007327397168655347, + 0.008548683579532191, + -0.005211418821439207, + -0.029547069998246363, + -0.028864892280016808, + 1.0 + ], + [ + -0.018342578188946652, + -0.020859700883210187, + 0.017890626774617103, + 0.019332414899393115, + -0.04180827375147169, + -0.057611701880335583, + 1.0 + ], + [ + -0.010548944786904262, + -0.012190456841819106, + 0.004832298173883101, + 0.036710718106276685, + 0.014508456988973534, + -0.02636045577972308, + 1.0 + ], + [ + -0.006755132170029877, + -0.006601482304012247, + 0.005897962424508797, + 0.03582754953518817, + 0.007573177076653362, + -0.022134846061304617, + 1.0 + ], + [ + -0.0040215170415552086, + -0.004166543734737493, + 0.0030314448648790008, + 0.022963911935391986, + 0.04146392827332466, + -0.05748721030876286, + 1.0 + ], + [ + -0.0025739569851786874, + 0.0028202585412588697, + 0.009196173823443975, + -0.020392291612924367, + -0.022362716541765356, + -0.04791977981658127, + 1.0 + ], + [ + -0.0013532176634869603, + -0.001983510363639956, + 0.01567886519911242, + 0.01018166317498655, + -0.03576255028510421, + -0.023070759080988518, + 1.0 + ], + [ + -0.0007927508352963615, + -0.0019598964029260476, + 0.011316449314934054, + 0.01817826082683056, + -0.023022226331393628, + 0.003878839258563535, + 1.0 + ], + [ + -0.0003806977669299183, + -0.006047810501645575, + 0.003803462274489135, + 0.040443616885623306, + -0.008961245744258422, + 0.010439034678640819, + 1.0 + ], + [ + 0.002073667504823917, + -0.005116658842091157, + -0.0005311866130168064, + 0.03196105378233663, + 0.013644778587778229, + 0.004115475257863192, + 1.0 + ], + [ + -0.0014898079808503579, + -0.0008124951318671558, + 0.007806741881452189, + 0.022356509204018382, + -0.005083850962177931, + -0.009791867992221802, + 1.0 + ], + [ + -0.0009085141437321341, + 0.0026354358457854657, + 0.012120893422471378, + -0.0024241357686297397, + -0.020558993842131206, + -0.00015808106444266168, + 1.0 + ], + [ + 0.0024924350192123564, + -0.0016108225330978222, + 0.008368129840546563, + 0.004561510144886752, + -0.007551920943236982, + -0.004804865758349597, + 1.0 + ], + [ + -0.0004664997869944543, + -0.001038528493371382, + 0.00394952967249233, + -2.738092425520423e-05, + -0.010281215819912308, + 0.005457934355423553, + 1.0 + ], + [ + 0.0005806912856760006, + 0.003422116025180802, + 0.0009589449229738591, + -0.026088973725001217, + 0.0021631330549469066, + 0.006070470125818822, + 1.0 + ], + [ + -0.0007207977374704668, + 0.0006620333863808241, + -0.00029447156867961716, + -0.007755758600561421, + -0.00043226378446426753, + 0.01396026120020077, + 0.0 + ], + [ + 0.0008637542924940355, + 0.00040681607355268706, + -0.003911382373958431, + -0.009893496142827807, + 0.01944268146108924, + -0.004720331659318035, + 0.0 + ], + [ + 0.0015513771771994114, + -0.0008184331452282436, + -0.007117533828032597, + -0.012643441143427425, + 0.02454124211390378, + -0.006179878249826872, + 0.0 + ], + [ + 0.0032455957847645164, + -0.0007199573432938739, + -0.015617653053670065, + -0.008794210241700864, + 0.057207565085139335, + 0.00505270474387799, + 0.0 + ], + [ + 0.011397643940038716, + 0.003677282476774177, + -0.02329346247463211, + -0.013545957941427243, + 0.03224409621378197, + 0.023170661249727498, + 0.0 + ], + [ + 0.02342878481914046, + 0.026797621160390594, + -0.023180898255631757, + -0.03414558008673416, + 0.06140244119071454, + 0.09817279678513635, + 0.0 + ], + [ + 0.03075903815622766, + 0.03165511345623905, + -0.0010698318895947766, + -0.050204166454001206, + 0.036375520692294334, + 0.06482483753479722, + 0.0 + ], + [ + 0.024714952861331546, + 0.03853740000872701, + 0.010684379649176338, + -0.04981374044247099, + -0.006179305244495407, + 0.03679369472076432, + 0.0 + ], + [ + 0.009427269570649538, + 0.03362048010448913, + 0.017630884546951865, + -0.020128279146378436, + -0.0366354904050936, + 0.06545823112928599, + 0.0 + ], + [ + 0.002405377962805543, + 0.025194361930938835, + 0.016541113284001298, + -0.008464449750988139, + -0.03769037770064257, + 0.05737195062601762, + 0.0 + ], + [ + 0.0005710126746078196, + 0.0037381932616201287, + 0.013277924754209988, + 0.010813431383061053, + -0.031160152956609437, + -0.0022598509508522237, + 0.0 + ], + [ + 0.006197818242978306, + -0.0009706192581676519, + 0.003007691011214175, + 0.0078109501295632825, + -0.00673632814512981, + -0.005429774462954836, + 0.0 + ], + [ + 0.003277951965956167, + -0.0052306568232673, + -0.0016936052203644423, + 0.018368036926159396, + 0.009977258967149542, + 0.003070711667583542, + 0.0 + ], + [ + 0.0010294531011956357, + -0.007323538717060459, + 0.00025925201240815617, + 0.002736586580364285, + 0.007482967865744306, + -0.00046791969349442634, + 0.0 + ], + [ + 0.0019724728889251113, + -0.006434517199314994, + -0.01520775997390504, + -0.00019758718974819593, + 0.03347773119038965, + -0.019946974775449246, + 0.0 + ], + [ + -0.0013781465688639115, + -0.006247267119126827, + -0.0016131604424976754, + -0.01487769253513022, + -0.01010581027556815, + -0.014485046870507525, + 0.0 + ], + [ + -0.006750780314222712, + 0.0003686525594905096, + -0.0011069598319700085, + -0.013717919515943557, + -0.04455685062192385, + -0.002434533130459313, + 0.0 + ], + [ + 0.0015234317306669497, + 0.002211824061446664, + -0.007234997057871821, + -0.019530124878527722, + -0.013642280669017005, + 0.014898689077212571, + 1.0 + ], + [ + -0.001233524199877814, + 0.0013003766336392754, + -0.0005825423723280144, + -0.020176370946298098, + -0.0022834788189649968, + 0.011671758215948895, + 1.0 + ], + [ + -0.0014327259775065166, + -0.00815914827182971, + -0.04777561577997187, + -0.05729836072053776, + 0.12500212388407494, + -0.04485986055634385, + 1.0 + ], + [ + -0.015768661767425012, + -0.021159944449047043, + -0.046675087734397616, + 0.008514260971449332, + 0.07492862945345084, + -0.08377794025641766, + 1.0 + ], + [ + -0.020820627737171266, + -0.030986886575099057, + -0.017272511203290278, + 0.05156655943333429, + -0.024039133834271056, + -0.06980886119442521, + 1.0 + ], + [ + -0.012554623658502732, + -0.013621539155129168, + 0.005727896912322799, + 0.03334731821929485, + -0.06104997229060183, + 0.040530084032316796, + 1.0 + ], + [ + -0.012273212672050466, + -0.01007715476265106, + 0.010339568610473906, + 0.010391114497040915, + -0.05441708199251477, + 0.02565694255062081, + 1.0 + ], + [ + -0.0038724293921679025, + -0.0008517293061332262, + 0.004062496709176078, + -0.018899005507127767, + -0.029612306147647347, + 0.06171810868222257, + 1.0 + ], + [ + -0.00016652754707072867, + -0.0014859640300720147, + 0.0004507317377956288, + 0.0030444253929236224, + -0.0017619048838724903, + 0.002614947701408632, + 1.0 + ] + ], + "state": [ + [ + 0.33520135283470154, + -0.03367876634001732, + 0.14547009766101837, + 3.1382966711004308, + -0.20557311177253723, + -0.10245230048894882, + 1.0 + ], + [ + 0.3354383409023285, + -0.03370163217186928, + 0.1455199271440506, + 3.137660408048429, + -0.20709599554538727, + -0.09931220859289168, + 1.0 + ], + [ + 0.3337000012397766, + -0.0341961495578289, + 0.1336466372013092, + 3.133628575252839, + -0.16723847389221191, + -0.10045834630727768, + 1.0 + ], + [ + 0.3324810862541199, + -0.03208699822425842, + 0.12964460253715515, + 3.1065250021689614, + -0.15972672402858734, + -0.07708398997783661, + 1.0 + ], + [ + 0.32536399364471436, + -0.024493206292390823, + 0.11949344724416733, + 3.0968519171052655, + -0.12912394106388092, + -0.049052219837903976, + 1.0 + ], + [ + 0.31059715151786804, + -0.0037054927088320255, + 0.09848242253065109, + 3.1090221238606652, + -0.08458197116851807, + 0.006778856739401817, + 1.0 + ], + [ + 0.30044618248939514, + 0.008252599276602268, + 0.09238320589065552, + -3.1397205569134137, + -0.09819389134645462, + 0.03372500464320182, + 1.0 + ], + [ + 0.2940811216831207, + 0.014654130674898624, + 0.08586371690034866, + -3.106074048327752, + -0.10578437149524689, + 0.05596936121582985, + 1.0 + ], + [ + 0.2901531755924225, + 0.018712321296334267, + 0.08257362991571426, + -3.089109281199523, + -0.14909543097019193, + 0.11252455413341522, + 1.0 + ], + [ + 0.2892633080482483, + 0.0162629596889019, + 0.07296334952116013, + -3.1168922764533242, + -0.1290963739156723, + 0.16195237636566165, + 1.0 + ], + [ + 0.28954195976257324, + 0.018710052594542503, + 0.05729406699538231, + -3.109798142808028, + -0.09387742727994919, + 0.18599052727222443, + 1.0 + ], + [ + 0.2893737852573395, + 0.021037744358181953, + 0.046020857989788055, + -3.0913160686665258, + -0.07074306905269623, + 0.18283858895301822, + 1.0 + ], + [ + 0.28811028599739075, + 0.027141058817505836, + 0.042507968842983246, + -3.0501665120297154, + -0.0612650141119957, + 0.1728447824716568, + 1.0 + ], + [ + 0.2892211675643921, + 0.03245813399553299, + 0.043629176914691925, + -3.017870122688361, + -0.07447618991136551, + 0.1674862951040268, + 1.0 + ], + [ + 0.2880222797393799, + 0.034050244837999344, + 0.03589272126555443, + -2.9962902684980115, + -0.07063557207584381, + 0.1778564602136612, + 1.0 + ], + [ + 0.28814077377319336, + 0.033205218613147736, + 0.02348470501601696, + -2.9989056309037885, + -0.050315797328948975, + 0.180993378162384, + 1.0 + ], + [ + 0.2904866337776184, + 0.03646516799926758, + 0.015566229820251465, + -2.9946359564834317, + -0.04352303221821784, + 0.18682871758937833, + 1.0 + ], + [ + 0.28989097476005554, + 0.03798666223883629, + 0.011794599704444408, + -2.9944871385865888, + -0.032553113996982574, + 0.1829332858324051, + 1.0 + ], + [ + 0.29109832644462585, + 0.03491036966443062, + 0.010364081710577011, + -3.0203728472166738, + -0.03380245715379716, + 0.1766077131032944, + 1.0 + ], + [ + 0.2905037999153137, + 0.03410053625702858, + 0.010551855899393559, + -3.0276734103732785, + -0.031682077795267105, + 0.16279524564743042, + 0.0 + ], + [ + 0.29137325286865234, + 0.03338317200541496, + 0.014417075552046299, + -3.0376242717080792, + -0.051535196602344506, + 0.1652774065732956, + 0.0 + ], + [ + 0.292525053024292, + 0.0336516797542572, + 0.02165151759982109, + -3.050422901409217, + -0.07658491283655167, + 0.1688859462738037, + 0.0 + ], + [ + 0.29465562105178833, + 0.033299870789051056, + 0.03747239708900452, + -3.0582812448316297, + -0.13309058547019958, + 0.158565491437912, + 0.0 + ], + [ + 0.3036939203739166, + 0.029071088880300522, + 0.06168893352150917, + -3.0683457126193723, + -0.16325025260448456, + 0.1324564665555954, + 0.0 + ], + [ + 0.32695385813713074, + 0.003496818942949176, + 0.08637306839227676, + -3.085728572803088, + -0.21644625067710874, + 0.02776825614273548, + 0.0 + ], + [ + 0.3580129146575928, + -0.027318181470036507, + 0.09229589998722076, + -3.1212403551959476, + -0.2486550509929657, + -0.04106770455837249, + 0.0 + ], + [ + 0.38319411873817444, + -0.06669721007347107, + 0.08726448565721512, + 3.121407901989766, + -0.24155810475349426, + -0.07882393151521683, + 0.0 + ], + [ + 0.3936862349510193, + -0.101601243019104, + 0.07306300103664398, + 3.1174722370975694, + -0.20571558177471164, + -0.1463924795389175, + 0.0 + ], + [ + 0.39550238847732544, + -0.12773163616657257, + 0.05796153470873833, + 3.1210985035919627, + -0.16906768083572388, + -0.20546041429042816, + 0.0 + ], + [ + 0.3974095284938812, + -0.13222473859786987, + 0.04504726827144623, + 3.1316267048292836, + -0.13786754012107852, + -0.20382507145404818, + 0.0 + ], + [ + 0.40401792526245117, + -0.13263018429279327, + 0.04291045665740967, + 3.1386942419973245, + -0.13107544183731082, + -0.19841642677783966, + 0.0 + ], + [ + 0.408020943403244, + -0.12809471786022186, + 0.045002926141023636, + -3.1257216093414506, + -0.14106094837188723, + -0.20148856937885282, + 0.0 + ], + [ + 0.4105055332183838, + -0.12112420797348022, + 0.04500608891248703, + -3.123034207271882, + -0.1485503911972046, + -0.20113559067249298, + 0.0 + ], + [ + 0.4114234745502472, + -0.11503361910581589, + 0.06045379862189293, + -3.1261326699801764, + -0.18236441910266876, + -0.18149882555007937, + 0.0 + ], + [ + 0.4109085202217102, + -0.10861363261938095, + 0.06188506260514259, + 3.1394792337720325, + -0.1724640130996704, + -0.16663955152034757, + 0.0 + ], + [ + 0.40410178899765015, + -0.10784020274877548, + 0.06181786209344864, + 3.125354293855377, + -0.12790164351463318, + -0.16428232192993164, + 0.0 + ], + [ + 0.4043351411819458, + -0.11000151932239532, + 0.06922275573015213, + 3.1077655275636396, + -0.1144884005188942, + -0.1794988214969635, + 1.0 + ], + [ + 0.40283048152923584, + -0.11102932691574097, + 0.06970392912626266, + 3.088941341387578, + -0.11259303987026213, + -0.1913159340620041, + 1.0 + ], + [ + 0.3982449769973755, + -0.09928090870380402, + 0.11652360111474991, + 3.0253628884726247, + -0.23490993678569794, + -0.13885715603828433, + 1.0 + ], + [ + 0.3765941560268402, + -0.0695681944489479, + 0.15555377304553986, + 3.0116952528529843, + -0.2986062467098236, + -0.04290709272027016, + 1.0 + ], + [ + 0.3542729318141937, + -0.035616323351860046, + 0.16196148097515106, + 3.043368751304694, + -0.2650677561759949, + 0.025567006319761276, + 1.0 + ], + [ + 0.3436712324619293, + -0.022889018058776855, + 0.1518821269273758, + 3.0890367050939282, + -0.20799864828586578, + -0.02170078828930855, + 1.0 + ], + [ + 0.3341129422187805, + -0.013159235939383507, + 0.13872697949409485, + 3.1053232831233224, + -0.15491972863674164, + -0.0504874661564827, + 1.0 + ], + [ + 0.33095768094062805, + -0.012295044027268887, + 0.13408774137496948, + 3.096234804140874, + -0.1272573471069336, + -0.11372560262680054, + 1.0 + ], + [ + 0.33102497458457947, + -0.010829213075339794, + 0.133553147315979, + 3.099623708175965, + -0.12561535835266113, + -0.116439126431942, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.042422711849212646, + 0.35795462131500244, + 0.6611760556697845, + 0.8595740050077438, + 0.9217833653092384, + 0.9234305396676064, + 0.9234305396676064, + 0.9234305396676064, + 0.9234305396676064, + 0.9234305396676064, + 0.9234305396676064, + 0.9234305396676064, + 0.9234305396676064, + 0.9234305396676064, + 0.9237574338912964, + 0.9234305396676064, + 0.9234305396676064, + 0.8896243497729301, + 0.7086509466171265, + 0.42206674814224243, + 0.13302963972091675, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1522", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1522/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1523.json b/annotation/test/1523.json new file mode 100644 index 0000000000000000000000000000000000000000..05eee49a089e10fae37394883882f113c013b1b5 --- /dev/null +++ b/annotation/test/1523.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put pot or pan from sink into drying rack" + ], + "videos": [ + { + "video_path": "videos/test/1523/rgb.mp4" + } + ], + "action": [ + [ + -0.0006092400881211324, + -0.00035274781055246417, + 0.0006578966145086893, + 0.0015591844383843901, + -0.0042684224365921375, + -0.0005684556260294166, + 1.0 + ], + [ + -0.000624710404200035, + -0.00036794891632458885, + 0.010515147636666082, + 0.00992866582799989, + -0.021716179017732273, + -0.02817884809859955, + 1.0 + ], + [ + -0.0005171243502533528, + 0.002438703199586156, + 0.011856693757471257, + -8.455644868072541e-05, + -0.00599901564288578, + -0.009299182547199542, + 1.0 + ], + [ + -0.0012517963774507637, + -0.00017613558339536973, + 0.012097840536270353, + -0.014905417822355637, + -0.0124325177241158, + 0.0025518486562262086, + 1.0 + ], + [ + -0.002033334212890607, + -0.0026240011533784895, + 0.008425044962840874, + -0.01625757647764874, + 0.002065613773951475, + -0.011686135480153542, + 1.0 + ], + [ + -0.003338459950980305, + -0.007307955356344762, + 0.009167896281510544, + -0.018172614212713586, + 0.005559663625295638, + -0.018746146578324505, + 1.0 + ], + [ + 0.0006692132479697061, + -0.002595901698398437, + 0.0038830584580042, + -0.010927450377808174, + 0.007192813831746128, + 0.004318598987352665, + 0.0 + ], + [ + -0.0006465161162573728, + 0.0033290791181089354, + -0.0037819532868222532, + 0.015165027789087602, + 0.011086047754917382, + 0.008550075010170756, + 0.0 + ], + [ + -0.001956437236379103, + 0.009900921168645991, + -0.005570168034321201, + 0.03226689467091605, + -0.003170217917544925, + 0.002088697952381162, + 0.0 + ], + [ + 0.0031435641441563077, + 0.012535628731310151, + -0.00904334015603128, + 0.02327540704077188, + 0.017763100235875497, + 0.015381621686823799, + 0.0 + ], + [ + -0.0016936317609794543, + 0.004294321123226022, + -0.011225180307257015, + 0.03844991834009752, + 0.0053874797880394355, + -0.002435954272635943, + 0.0 + ], + [ + -0.00021416794266961476, + -0.003530531312906215, + -0.01659457824342602, + 0.024498931410167162, + 0.048490071439802405, + -0.004371144211893249, + 0.0 + ], + [ + 0.007572111084350252, + -0.001882570386376566, + -0.020189902546652375, + 0.005259203592020356, + 0.07024209379640912, + 0.021782252932260215, + 0.0 + ], + [ + 0.010400340512833702, + -0.0017488734249675494, + -0.010791509109513842, + 0.0020995122248514404, + 0.041286111554211295, + 0.015070559315729938, + 0.0 + ], + [ + 0.01509305647099017, + -0.007094686583503353, + -0.011953634050979146, + 0.007744644218851453, + 0.009893305251657672, + 0.0024318006100392227, + 0.0 + ], + [ + 0.015686597341839595, + -0.014488900197965426, + -0.00618738545644391, + 0.00022925056533298053, + -6.28829004826761e-05, + 0.008484011007292331, + 0.0 + ], + [ + 0.010556889289415932, + -0.013863131402884133, + -0.0026282672033753995, + -0.018831393205624953, + 0.009257982654710664, + 0.005573851711006907, + 0.0 + ], + [ + 0.01876119782840606, + -0.0205402173295781, + -0.004323791093624743, + -0.026911823495472817, + 0.014666352237162289, + 0.0015692860185005234, + 0.0 + ], + [ + 0.01270036627960353, + -0.014489075291805835, + 0.0030699026347106523, + -0.029475557376837564, + -0.0082228728533833, + 0.011499968882186674, + 0.0 + ], + [ + 0.01138836219666127, + -0.015259286501283095, + 0.008505871151683948, + -0.02986643051458291, + -0.03747091078130163, + 0.018657103487635843, + 0.0 + ], + [ + 0.0060104297709960685, + -0.016575190989354536, + 0.0037867255516990596, + -0.02181575347221073, + -0.01159870812931157, + 0.005039659783227883, + 0.0 + ], + [ + 0.0029181041414980155, + -0.008744745317576637, + 0.0020524194408610644, + -0.017512681738339756, + 0.014494899280369794, + 0.023225800248904988, + 0.0 + ], + [ + 0.0016432845620115285, + -0.011243349597155566, + 0.0011674672879576405, + -0.021483613327196355, + 0.01073066643770875, + 0.012343967342157883, + 0.0 + ] + ], + "state": [ + [ + 0.21359671652317047, + -0.05644109100103378, + 0.11296111345291138, + 2.931139113503047, + -0.028073055669665337, + 0.2511911690235138, + 1.0 + ], + [ + 0.21297474205493927, + -0.056386444717645645, + 0.11222722381353378, + 2.9327057917886457, + -0.02378005720674992, + 0.25085529685020447, + 1.0 + ], + [ + 0.2130603790283203, + -0.05824391171336174, + 0.1018524244427681, + 2.9420924951606473, + 0.003313354682177305, + 0.27391067147254944, + 1.0 + ], + [ + 0.21380919218063354, + -0.06295715272426605, + 0.09071597456932068, + 2.9420369138293943, + 0.01103616878390312, + 0.2818368077278137, + 1.0 + ], + [ + 0.21309976279735565, + -0.06547953933477402, + 0.07883784174919128, + 2.927063541608401, + 0.02271595224738121, + 0.27687001228332525, + 1.0 + ], + [ + 0.21074175834655762, + -0.06534884870052338, + 0.07009576261043549, + 2.911090226965495, + 0.02318386174738407, + 0.288731187582016, + 1.0 + ], + [ + 0.20587749779224396, + -0.061556797474622726, + 0.059580955654382706, + 2.8934112956100186, + 0.022049404680728912, + 0.3082563579082489, + 1.0 + ], + [ + 0.20594847202301025, + -0.0598943792283535, + 0.055165525525808334, + 2.882424684362956, + 0.014016086235642433, + 0.3058367967605591, + 0.0 + ], + [ + 0.20606933534145355, + -0.06221431866288185, + 0.05968295782804489, + 2.897501306729861, + 0.0011089071631431582, + 0.30041387677192694, + 0.0 + ], + [ + 0.2066534161567688, + -0.07068197429180145, + 0.06748297810554504, + 2.929764824109622, + 0.003680362133309245, + 0.2976209223270416, + 0.0 + ], + [ + 0.21273544430732727, + -0.07964665442705154, + 0.07894811779260635, + 2.9529784341626844, + -0.016919786110520363, + 0.28631865978240967, + 0.0 + ], + [ + 0.2115158587694168, + -0.08220886439085007, + 0.09074904769659042, + 2.9913691004090985, + -0.021754885092377663, + 0.2897223234176636, + 0.0 + ], + [ + 0.2092728614807129, + -0.07664340734481812, + 0.1066199392080307, + 3.0154474844508847, + -0.06904280930757523, + 0.3013211786746979, + 0.0 + ], + [ + 0.21387451887130737, + -0.07059760391712189, + 0.12688779830932617, + 3.021292531984397, + -0.1414605975151062, + 0.28846821188926697, + 0.0 + ], + [ + 0.22146345674991608, + -0.06518364697694778, + 0.13875284790992737, + 3.02472976048524, + -0.18424957990646362, + 0.2783009707927704, + 0.0 + ], + [ + 0.23146581649780273, + -0.053548023104667664, + 0.1523759663105011, + 3.0327043329649648, + -0.19435879588127136, + 0.27701517939567566, + 0.0 + ], + [ + 0.24129721522331238, + -0.03507969528436661, + 0.159895658493042, + 3.0345992167764386, + -0.1952112466096878, + 0.26841115951538086, + 0.0 + ], + [ + 0.24734099209308624, + -0.01883053220808506, + 0.1630547046661377, + 3.016666444140025, + -0.20500946044921875, + 0.2637606859207154, + 0.0 + ], + [ + 0.25928008556365967, + 0.006061912048608065, + 0.16856855154037476, + 2.989684688048907, + -0.21975703537464145, + 0.2640378475189209, + 0.0 + ], + [ + 0.2687288522720337, + 0.02297154627740383, + 0.16623574495315552, + 2.9630291183763227, + -0.2133512943983078, + 0.2511337101459503, + 0.0 + ], + [ + 0.27842625975608826, + 0.03940267860889435, + 0.15781739354133606, + 2.938475625711032, + -0.17972248792648313, + 0.22572132945060727, + 0.0 + ], + [ + 0.28195610642433167, + 0.05608648806810379, + 0.15195290744304657, + 2.9179709424548825, + -0.16937403380870816, + 0.21834026277065274, + 0.0 + ], + [ + 0.28366419672966003, + 0.06473363190889359, + 0.14856061339378357, + 2.9038120975070676, + -0.18862593173980713, + 0.19855937361717224, + 0.0 + ], + [ + 0.2838408350944519, + 0.07563466578722, + 0.14515289664268494, + 2.884137751656123, + -0.2019536197185516, + 0.18889467418193814, + 0.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.13836663961410522, + 0.45081204175949097, + 0.7226157188415527, + 0.8027157187461853, + 0.8595740050077438, + 0.9007156938314438, + 0.9160242155194283, + 0.9160242155194283, + 0.9160242155194283, + 0.9160242155194283, + 0.9160242155194283, + 0.9160242155194283, + 0.9160242155194283, + 0.9160242155194283, + 0.9160242155194283, + 0.9160242155194283, + 0.9160242155194283, + 0.9160242155194283, + 0.9160242155194283 + ], + "episode_id": "1523", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1523/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1528.json b/annotation/test/1528.json new file mode 100644 index 0000000000000000000000000000000000000000..e11f2c88b7e8c6c36b0afde1d720e7bc87719fa4 --- /dev/null +++ b/annotation/test/1528.json @@ -0,0 +1,793 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the can behind the red spoon" + ], + "videos": [ + { + "video_path": "videos/test/1528/rgb.mp4" + } + ], + "action": [ + [ + -6.471869184534302e-05, + 0.0005340551326487314, + -5.106873954552366e-05, + -0.0005012267597449533, + 7.804961301031362e-05, + 0.0014476649502749852, + 1.0 + ], + [ + -0.005316177641017893, + 0.0010623518174867354, + 0.007791583445305239, + -0.0015332540743698635, + -0.03330205992568509, + 0.010978959946629844, + 1.0 + ], + [ + -0.019823835348792066, + -0.004069031370945463, + 0.0015407917059121164, + -0.06491786381255603, + -0.09409775251367368, + 0.2091690496744542, + 1.0 + ], + [ + -0.021336188961696898, + -0.007108642635766352, + -0.002838034361226048, + -0.11868392320106544, + -0.03867272832067922, + 0.23406167902178987, + 1.0 + ], + [ + -0.02146710736189123, + 0.006450724988937938, + 0.002272882557732953, + 0.003160275792885817, + 0.00020600859717636216, + 0.24724742252421983, + 1.0 + ], + [ + -0.014131599234408283, + 0.022736643891623207, + 0.002791986666038114, + -0.017963774387150716, + -0.054289557752674474, + 0.1977111796929762, + 1.0 + ], + [ + -0.007056566946651563, + 0.014888856182899451, + 0.011292475728150193, + 0.02341899930857762, + -0.06863773862043643, + 0.11195083971334574, + 1.0 + ], + [ + -0.009072342055429491, + 0.0027009940108285364, + 0.002899168298170371, + 0.003038632154505595, + 8.515614769365559e-05, + 0.09033126042223293, + 1.0 + ], + [ + -0.000983528723007922, + 0.0007104674926906473, + 0.012189136833013915, + 0.01697204437136399, + -0.09996827830413323, + 0.01794705088907444, + 1.0 + ], + [ + -0.003757113817465615, + -0.00845160474824303, + 0.003832921105524617, + 0.039000579116622046, + -0.10047599308854867, + -0.02423987832981844, + 1.0 + ], + [ + 0.00669900836100506, + -0.004263269674034019, + 0.006886760379926614, + -0.012638200935965597, + 0.021091140955930003, + 0.00816658397262344, + 1.0 + ], + [ + 0.010178324679972333, + -0.00428180577485211, + 0.0005691667795078609, + 0.013519877340548624, + 0.07986696372301208, + 0.015472854452905372, + 1.0 + ], + [ + 0.008629521656255381, + -0.00021841593707113392, + 0.0029614914948090675, + -0.009139768090471333, + 0.09425330512221121, + 0.030574873211487042, + 1.0 + ], + [ + 0.0026831772983218704, + 0.0004309023548850932, + -0.0006387232850387167, + -0.002588464862076798, + 0.011241976822012735, + 0.003026305051955128, + 1.0 + ], + [ + 0.009706394411673966, + -0.0005265016953839071, + -6.360169462514038e-05, + -0.004795055956251929, + 0.02787624297037404, + 0.004561190177416357, + 1.0 + ], + [ + 0.009402043829200596, + -0.0021238539958967776, + 0.0004743232478870355, + -0.005343576033835126, + 0.007899466545810137, + 0.00032209389962178106, + 1.0 + ], + [ + 0.012369504888947681, + -0.0013312508214002533, + 0.002158444350573372, + -0.003988112602917929, + -0.0012399804782026909, + -0.0007488176372528048, + 1.0 + ], + [ + 0.009787830556247771, + -0.000712681193774731, + 0.0006597095535603966, + -0.017624695776872226, + 0.012873805690609176, + 0.01826187204450902, + 1.0 + ], + [ + 0.008477178880748002, + 0.0004147783869607458, + -0.0007212326053031899, + 0.003757161005966466, + 0.005216664151474604, + 0.013731676693118451, + 1.0 + ], + [ + 0.008317422508017444, + -0.0007710242958388123, + 0.000928623373918382, + -0.002340120452809209, + -0.004308050252504684, + -0.0002578452335902629, + 1.0 + ], + [ + 0.005387670900964529, + 0.0025652911346553567, + 0.0023713063117363395, + -0.0008706511807118093, + -0.017275527670330776, + 0.0022080406109130837, + 1.0 + ], + [ + 0.0091446066972876, + -0.0019029430621466084, + -0.0006568358628570791, + -0.00963595262997864, + 0.027253395552356313, + 0.0004342268046115757, + 1.0 + ], + [ + 0.008682789250804082, + 0.0016845219894465555, + 0.00045668866807485733, + -0.014390736705798938, + 0.011666313984317968, + 0.005252214268672623, + 1.0 + ], + [ + 0.01332542549979429, + 0.0011048127182536473, + -0.00515423640685277, + 0.018062461943957282, + 0.01537984854798225, + 0.01109255082672115, + 1.0 + ], + [ + 0.007604085186942316, + 0.000329352061675479, + 0.0005352552229199821, + -0.0076818342765298765, + 0.017456582622196494, + 0.008533336563659748, + 1.0 + ], + [ + 0.008146664796346088, + 0.00018544738877822024, + 0.005369767364275523, + -0.005142422982576136, + -0.002258977436978712, + 0.005857887089024609, + 1.0 + ], + [ + 0.010213973566095018, + -0.0003555256508535358, + 0.0035184463947491714, + 0.00665188771440611, + 0.007381892480465849, + 0.01775558687112597, + 1.0 + ], + [ + 0.009966909915510013, + 0.0009735392109156681, + -0.00015191000014927458, + 0.00483962870508054, + 0.014159325056076411, + 0.03181125619087995, + 1.0 + ], + [ + 0.00952611017485434, + -0.0012617321318493544, + 0.00034739990131214045, + -0.008892553892266765, + 0.026040659593380876, + 0.004628978316714743, + 1.0 + ], + [ + 0.011426420343436945, + 0.0021737764857259786, + 0.0015133452746654563, + -0.0022487777093076248, + 0.009467929665915854, + 0.031947678600554606, + 1.0 + ], + [ + 0.006999334300099584, + 0.0037221856224416293, + 0.0025564024167978143, + -0.02583053081961119, + 0.029653271382290063, + 0.018368712773769, + 1.0 + ], + [ + -0.00022860669468173207, + -0.001876674523739706, + -0.0008134500531523892, + 0.014120074100837189, + 0.004653926804016949, + -0.009960806771753766, + 1.0 + ], + [ + -0.009918883800080514, + 0.0035967554718063393, + -0.017096306173354045, + 0.03320359238142758, + 0.02023938385902445, + -0.04304122468803137, + 1.0 + ], + [ + -0.018985497632040882, + -0.012677934518977725, + -0.025031125341721153, + 0.060188556557272156, + 0.007417958603069902, + -0.1344131918276739, + 1.0 + ], + [ + -0.017659568083729375, + -0.007448389790404107, + -0.017405983174902898, + 0.011402038293718657, + -0.03119362633765511, + -0.14719551942060488, + 1.0 + ], + [ + -0.02208721319333172, + -0.01505445847992551, + -0.00525842266821711, + 0.007596603635632915, + -0.019255918412590237, + -0.233045837556043, + 1.0 + ], + [ + -0.021635849360873816, + -0.025406506601576662, + -0.004992706274879371, + 0.009253947206081501, + 0.03939665055895243, + -0.2291892535582622, + 1.0 + ], + [ + -0.007610438620888526, + -0.009230464029863076, + 0.005956319288658504, + 0.0050362896469292795, + 0.020143424504769147, + -0.06756891573950582, + 1.0 + ], + [ + -0.007485148017725792, + -0.019046395514731536, + -0.0037040200164224868, + 0.03399738273751, + 0.02885662944009903, + -0.08116382584039676, + 1.0 + ], + [ + -0.0075343325128263815, + -0.0074055193745771845, + 0.0017630603514325583, + 0.02105414959690301, + 0.011837779129159981, + -0.055010479557804776, + 1.0 + ] + ], + "state": [ + [ + 0.32803288102149963, + 0.12841303646564484, + 0.1219223290681839, + -3.0879812819236, + -0.3328996896743774, + 0.49943858385086054, + 1.0 + ], + [ + 0.32822948694229126, + 0.12790969014167786, + 0.1219223290681839, + -3.0879812819236, + -0.33289968967437744, + 0.4979045987129211, + 1.0 + ], + [ + 0.32637259364128113, + 0.12616810202598572, + 0.11277804523706436, + -3.0863485132628163, + -0.29904279112815857, + 0.4883057475090027, + 1.0 + ], + [ + 0.30803847312927246, + 0.12112558633089066, + 0.105682373046875, + -3.0914565344625196, + -0.1874450594186783, + 0.28203341364860535, + 1.0 + ], + [ + 0.2853967845439911, + 0.12180866301059723, + 0.1048412173986435, + 3.1149550565802535, + -0.13216774165630343, + 0.04836525022983551, + 1.0 + ], + [ + 0.2647329270839691, + 0.11429187655448914, + 0.09993026405572891, + -3.131718519265302, + -0.13484974205493927, + -0.20109921693801877, + 1.0 + ], + [ + 0.24687333405017853, + 0.09475763887166977, + 0.095041424036026, + -3.123442854853817, + -0.07601458579301834, + -0.39853677153587347, + 1.0 + ], + [ + 0.2355002760887146, + 0.08361659944057465, + 0.08297809213399887, + -3.0917031784826, + -0.004896875936537981, + -0.508953332901001, + 1.0 + ], + [ + 0.22634685039520264, + 0.08580046892166138, + 0.07990344613790512, + -3.0884264205866536, + -0.00046340830158442264, + -0.5991761684417725, + 1.0 + ], + [ + 0.22550451755523682, + 0.08630098402500153, + 0.0676933228969574, + -3.0711857249313077, + 0.10031688958406448, + -0.6117674708366393, + 1.0 + ], + [ + 0.22717627882957458, + 0.09575598686933517, + 0.06485696136951447, + -3.028668390708514, + 0.19878852367401123, + -0.5800251364707948, + 1.0 + ], + [ + 0.23436520993709564, + 0.09703794121742249, + 0.057296834886074066, + -3.0433929805927953, + 0.17874091863632202, + -0.5906842947006226, + 1.0 + ], + [ + 0.245066836476326, + 0.09505967050790787, + 0.05534293130040169, + -3.0337378849559506, + 0.10072821378707887, + -0.6139750480651855, + 1.0 + ], + [ + 0.2521532475948334, + 0.09072048962116241, + 0.051569197326898575, + -3.046562658744403, + 0.01023187767714262, + -0.6543766856193542, + 1.0 + ], + [ + 0.2539888918399811, + 0.08869528025388718, + 0.05213666707277298, + -3.04918763239915, + -0.0006723028491251172, + -0.6584558486938477, + 1.0 + ], + [ + 0.261983186006546, + 0.08316603302955627, + 0.05225510522723198, + -3.053944232063838, + -0.02800869755446911, + -0.6655705571174622, + 1.0 + ], + [ + 0.27071401476860046, + 0.07905431091785431, + 0.052231933921575546, + -3.0592567418986043, + -0.03584963083267212, + -0.6665835380554199, + 1.0 + ], + [ + 0.28141704201698303, + 0.07254811376333237, + 0.050634946674108505, + -3.0632752423458776, + -0.03467542305588722, + -0.6657347679138184, + 1.0 + ], + [ + 0.2895973026752472, + 0.0670929029583931, + 0.05037270858883858, + -3.0802411680393895, + -0.04607469215989113, + -0.6849669218063354, + 1.0 + ], + [ + 0.2958407402038574, + 0.06140090152621269, + 0.051456861197948456, + -3.075842412310191, + -0.050435103476047516, + -0.6990103125572206, + 1.0 + ], + [ + 0.3027675747871399, + 0.056662991642951965, + 0.051001328974962234, + -3.078209200995513, + -0.04615329578518867, + -0.6984694004058838, + 1.0 + ], + [ + 0.3054288625717163, + 0.051281530410051346, + 0.04872355982661247, + -3.07901922066743, + -0.028772573918104175, + -0.6995789408683777, + 1.0 + ], + [ + 0.3136020302772522, + 0.04683183506131172, + 0.049760863184928894, + -3.088570436584302, + -0.05594540014863014, + -0.7017195224761963, + 1.0 + ], + [ + 0.3191760182380676, + 0.03994967043399811, + 0.04970190301537514, + -3.1026298870616635, + -0.06731600314378738, + -0.7075955867767334, + 1.0 + ], + [ + 0.3281702697277069, + 0.030539441853761673, + 0.055693961679935455, + -3.0837769528203687, + -0.08224749565124512, + -0.7193171381950378, + 1.0 + ], + [ + 0.33370909094810486, + 0.025292234495282173, + 0.05576715245842934, + -3.0906659831577024, + -0.09917808324098586, + -0.7288906574249268, + 1.0 + ], + [ + 0.340211421251297, + 0.01960432529449463, + 0.05122795328497887, + -3.095238572108098, + -0.09662220627069473, + -0.7346528172492981, + 1.0 + ], + [ + 0.3483532667160034, + 0.01294783316552639, + 0.04873143881559372, + -3.0868397039645394, + -0.10315761715173723, + -0.7528275847434998, + 1.0 + ], + [ + 0.35491034388542175, + 0.005461110733449459, + 0.049855660647153854, + -3.078651102381297, + -0.11550027877092363, + -0.7855815291404724, + 1.0 + ], + [ + 0.3625280261039734, + -0.0003473053511697799, + 0.050687916576862335, + -3.086795063810893, + -0.1411959230899811, + -0.7919004559516907, + 1.0 + ], + [ + 0.3691505491733551, + -0.010028253309428692, + 0.05068201571702957, + -3.0844578986340245, + -0.14882540702819824, + -0.8246800303459167, + 1.0 + ], + [ + 0.3715057373046875, + -0.01783568039536476, + 0.04898563399910927, + -3.107257308559962, + -0.1773512214422226, + -0.8450232148170471, + 1.0 + ], + [ + 0.3726356625556946, + -0.01632527820765972, + 0.04980893433094025, + -3.0948957075648984, + -0.1823357343673706, + -0.8350630402565002, + 1.0 + ], + [ + 0.3607761859893799, + -0.009767689742147923, + 0.06463982909917831, + -3.06950859923894, + -0.20439797639846802, + -0.79212886095047, + 1.0 + ], + [ + 0.35174840688705444, + 0.014819920994341373, + 0.08612668514251709, + -3.037654349701949, + -0.21959699690341952, + -0.6553038954734802, + 1.0 + ], + [ + 0.3383735716342926, + 0.032165832817554474, + 0.09993031620979309, + -3.0605125447087964, + -0.20130132138729095, + -0.502601683139801, + 1.0 + ], + [ + 0.32529956102371216, + 0.055988941341638565, + 0.10184407234191895, + -3.102354524778672, + -0.1952611654996872, + -0.2641602158546448, + 1.0 + ], + [ + 0.3102674186229706, + 0.08615117520093918, + 0.10351799428462982, + -3.1391342772454998, + -0.23839865624904633, + -0.030181877315044403, + 1.0 + ], + [ + 0.30455514788627625, + 0.09557292610406876, + 0.0959550216794014, + 3.1326030745455107, + -0.2581515610218048, + 0.03964073210954666, + 1.0 + ], + [ + 0.2956664562225342, + 0.11431431025266647, + 0.09745970368385315, + -3.138198607257106, + -0.28539708256721497, + 0.12446660548448564, + 1.0 + ], + [ + 0.28805822134017944, + 0.12083166092634201, + 0.09367088228464127, + -3.1333265603804072, + -0.29697668552398687, + 0.181951642036438, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926 + ], + "episode_id": "1528", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1528/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1535.json b/annotation/test/1535.json new file mode 100644 index 0000000000000000000000000000000000000000..9af5024569a7396635ba141b3a9d6358363955db --- /dev/null +++ b/annotation/test/1535.json @@ -0,0 +1,508 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put pear in bowl" + ], + "videos": [ + { + "video_path": "videos/test/1535/rgb.mp4" + } + ], + "action": [ + [ + -0.000319483846591403, + 0.0007462193613885925, + 0.0025659100266153777, + -0.0039319329088443634, + -0.006754703798943431, + 0.00032066878382018587, + 1.0 + ], + [ + 0.0017258219039704623, + 0.020163368490431138, + 0.00158342436913843, + 0.0035291698627317944, + -0.04524235713798529, + -0.02966765860093065, + 1.0 + ], + [ + 0.01621967722325716, + 0.04179003324270867, + -0.014318291431929472, + 0.011757087751487438, + 0.030384135450787473, + -0.011311160534563049, + 1.0 + ], + [ + 0.013658330104352977, + 0.026827073497632227, + -0.008362630531143948, + 0.0026261666579682477, + 0.06811581716344368, + -0.0660636254607193, + 1.0 + ], + [ + 0.01747429465897945, + 0.035231427235618604, + -0.0026159612320301425, + 0.007147021651014365, + 0.16276819397382727, + -0.029495389321066257, + 1.0 + ], + [ + 0.01440839496947313, + 0.02531935283313805, + 0.014703668516288501, + -0.007652257890373898, + 0.11481940935759116, + 0.019770568459949987, + 1.0 + ], + [ + 0.022663851218404835, + 0.010291543353716851, + 0.02051238441064946, + -0.0200389265725311, + 0.05653636666295888, + 0.006009516910384045, + 1.0 + ], + [ + 0.009490256054499034, + 0.006721788641783046, + 0.01178154331383856, + -0.021593284435071216, + 0.030419568865066186, + -0.003350128545752816, + 1.0 + ], + [ + 0.0008369694067159042, + 0.005746478321088815, + 0.009021659198862948, + -0.029398899381736038, + 0.009360574206571807, + -0.01328568137810545, + 1.0 + ], + [ + 0.0014165007177330531, + 0.005762686685777838, + 0.010630289562049144, + -0.047443665758173284, + 0.016291024093723475, + 0.00725472420684766, + 1.0 + ], + [ + -0.00017661096339501725, + -0.003955815589723829, + 0.013899654081728783, + -0.060560892105487305, + 0.02090567067201334, + 0.013071196091653055, + 1.0 + ], + [ + -0.002656982962405504, + -0.0074779104192789075, + 0.00897158722075276, + -0.03202994281069848, + -0.002929009490108953, + -0.015054276821301315, + 0.0 + ], + [ + -0.0002677609597477158, + -0.000945865454270164, + -0.0012912564887689354, + 0.01333385867564608, + -0.024449931953042875, + 0.016332732426223233, + 0.0 + ], + [ + -0.007064332872566641, + -0.004853463465058807, + -0.005049941518440935, + 0.05408567160893331, + -0.061122084348710005, + 0.014759073767843073, + 0.0 + ], + [ + -0.0019476028107693162, + -0.022498752710101513, + -0.02427091801161749, + 0.0862700730754362, + -0.05505980169717723, + 9.504343423775623e-05, + 0.0 + ], + [ + -0.011987683789714553, + -0.028566664367736472, + -0.024461593757963345, + 0.07534421233148351, + -0.1047235019265867, + -0.02096450461369349, + 0.0 + ], + [ + -0.022431501109561092, + -0.028767967414777627, + -0.009049430987440616, + 0.08057162209026132, + -0.13181171899282756, + -0.006355356499619733, + 0.0 + ], + [ + -0.024506136711726564, + -0.012687031611832898, + -0.008715874204840048, + 0.07392061793762562, + -0.115118118811879, + 0.008813124466074658, + 0.0 + ], + [ + -0.0249785219210686, + -0.0005201128900921634, + 0.005217055283922918, + -0.001999937806164255, + -0.09818365246533273, + -0.005591006231201753, + 0.0 + ], + [ + -0.015424335752507031, + -0.001785322115179918, + 0.009692110134480675, + -0.03809750330346919, + -0.0012161048748984202, + -0.036174341176671655, + 0.0 + ], + [ + -0.006418711224370631, + 0.011133955009334864, + 0.013335866776915516, + -0.02343103873791172, + 0.017098683454045315, + -0.04655071922216006, + 0.0 + ], + [ + -7.710963175992813e-05, + 0.0063583486431563006, + 0.0019644390883698476, + -0.009473085037216233, + 0.018619573740162917, + -0.006231753033444658, + 1.0 + ], + [ + -0.0002273106267653437, + -0.0005568246380255278, + 0.00015023485171297536, + 0.0006439436013719514, + -0.0018990627272062878, + -0.0014586819326700246, + 1.0 + ], + [ + 0.00022709732681626174, + 8.719871735607823e-05, + -1.8455158727130403e-07, + -0.0005498817927749024, + 0.001432041399825895, + -3.9589868778043895e-07, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.727189629678936e-18, + 1.5606135937219297e-17, + 6.264820667457051e-18, + 1.0 + ] + ], + "state": [ + [ + 0.3128567337989807, + 0.14783798158168793, + 0.09601964801549911, + -2.9479131420427045, + -0.09838682413101196, + 0.015819430351257324, + 1.0 + ], + [ + 0.3128040134906769, + 0.14759871363639832, + 0.09333957731723785, + -2.951937900977679, + -0.0916966497898102, + 0.01680899597704411, + 1.0 + ], + [ + 0.3153405487537384, + 0.12813527882099152, + 0.08816388249397278, + -2.9518013169341764, + -0.052792321890592575, + 0.05449820309877396, + 1.0 + ], + [ + 0.3335707187652588, + 0.08532389998435974, + 0.09518848359584808, + -2.940242903428622, + -0.08476382493972778, + 0.05988906696438789, + 1.0 + ], + [ + 0.3485899269580841, + 0.05821669101715088, + 0.09916315972805023, + -2.9417934735589704, + -0.16459734737873077, + 0.11152947694063187, + 1.0 + ], + [ + 0.37034305930137634, + 0.025384046137332916, + 0.0976577177643776, + -2.9312955011897763, + -0.3299511671066284, + 0.1076817438006401, + 1.0 + ], + [ + 0.3925611674785614, + 0.005967304576188326, + 0.08372160792350769, + -2.9222175051742276, + -0.4377707242965698, + 0.06005142629146576, + 1.0 + ], + [ + 0.42280539870262146, + 0.0021946304477751255, + 0.0731680616736412, + -2.9331947435908994, + -0.49156373739242554, + 0.039458945393562324, + 1.0 + ], + [ + 0.4374210238456726, + -0.0013704148586839437, + 0.06625965237617493, + -2.9530477841668805, + -0.5220155715942383, + 0.03597896546125412, + 1.0 + ], + [ + 0.44324085116386414, + -0.005117205437272787, + 0.05806184560060501, + -2.988992529111453, + -0.5336633920669556, + 0.049098409712314606, + 1.0 + ], + [ + 0.45044246315956116, + -0.008848080411553383, + 0.04898244887590408, + -3.0306716208630284, + -0.5486345887184142, + 0.03779337927699089, + 1.0 + ], + [ + 0.45705628395080566, + -0.0031239839736372232, + 0.03747713938355446, + -3.0817533565037927, + -0.5678924918174744, + 0.019641781225800518, + 1.0 + ], + [ + 0.4592350125312805, + 0.004921418614685535, + 0.028875237330794334, + -3.1234759764098605, + -0.565795361995697, + 0.037650976330041885, + 0.0 + ], + [ + 0.45827361941337585, + 0.005808176472783089, + 0.029836010187864304, + -3.100203639017888, + -0.5409746766090393, + 0.019122816622257233, + 0.0 + ], + [ + 0.44942912459373474, + 0.010280227288603783, + 0.030695363879203796, + -3.038955019908496, + -0.47925111651420593, + 0.005383716430515051, + 0.0 + ], + [ + 0.43539831042289734, + 0.03009858913719654, + 0.05326599255204201, + -2.9553398211770734, + -0.42446383833885193, + 0.011467684991657736, + 0.0 + ], + [ + 0.4121275544166565, + 0.05337612330913544, + 0.07505490630865097, + -2.8965118696265897, + -0.32509154081344604, + 0.053527042269706726, + 0.0 + ], + [ + 0.38449957966804504, + 0.07764535397291183, + 0.08282406628131866, + -2.8264168222718915, + -0.198544442653656, + 0.09229975193738937, + 0.0 + ], + [ + 0.35731449723243713, + 0.08452935516834259, + 0.0899696797132492, + -2.7558824141793927, + -0.08631545305252075, + 0.11968765407800673, + 0.0 + ], + [ + 0.3327120840549469, + 0.08403287082910538, + 0.08319550007581711, + -2.7599183340841016, + 0.002608751878142357, + 0.16173452138900757, + 0.0 + ], + [ + 0.31661951541900635, + 0.0867437794804573, + 0.07490606606006622, + -2.7981590946489057, + -0.009735558182001114, + 0.1957596391439438, + 0.0 + ], + [ + 0.31164517998695374, + 0.07964737713336945, + 0.05853819474577904, + -2.8221681137853345, + -0.04149995371699333, + 0.2338545322418213, + 0.0 + ], + [ + 0.3129820227622986, + 0.0743943303823471, + 0.0546765998005867, + -2.831586720543452, + -0.061134465038776405, + 0.23392353951931, + 1.0 + ], + [ + 0.3126261830329895, + 0.07490178197622299, + 0.05468945577740669, + -2.831063302355357, + -0.05977080017328263, + 0.23589554429054263, + 1.0 + ], + [ + 0.31286755204200745, + 0.07487434893846512, + 0.0546765998005867, + -2.831586720543452, + -0.061134465038776405, + 0.23545752465724948, + 1.0 + ], + [ + 0.31286755204200745, + 0.07487434893846512, + 0.0546765998005867, + -2.831586720543452, + -0.061134465038776405, + 0.23545752465724948, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.011358082294464111, + 0.011358082294464111, + 0.011358082294464111, + 0.011358082294464111, + 0.011358082294464111, + 0.011358082294464111, + 0.011358082294464111, + 0.011358082294464111, + 0.011358082294464111, + 0.011358082294464111, + 0.011358082294464111, + 0.011358082294464111, + 0.18132251501083374, + 0.2269795536994934, + 0.22794663906097412, + 0.23085123300552368, + 0.2318204641342163, + 0.2318204641342163, + 0.2318204641342163, + 0.23667550086975098, + 0.2386212944984436, + 0.2415439486503601, + 0.0371822714805603, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377 + ], + "episode_id": "1535", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1535/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1537.json b/annotation/test/1537.json new file mode 100644 index 0000000000000000000000000000000000000000..371345c3e01cfa59cfc880973f3d674766e9d06c --- /dev/null +++ b/annotation/test/1537.json @@ -0,0 +1,945 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Place red spoon on the green cloth" + ], + "videos": [ + { + "video_path": "videos/test/1537/rgb.mp4" + } + ], + "action": [ + [ + 0.0002627877431550659, + 5.6681119528799823e-05, + -0.0002951708809921558, + 4.509110474401651e-05, + 0.0018918804315917962, + -0.0025945972853432947, + 1.0 + ], + [ + -0.002712075763294981, + 0.0015380019100084518, + 0.0016113666600307687, + -0.008041656874264084, + -0.015186838278728187, + -0.010962622271563242, + 1.0 + ], + [ + 0.0035875764332165922, + 0.005185363624442105, + -0.010773425632491297, + 0.006033667654651221, + 0.0029291033390949793, + -0.01951724930537989, + 1.0 + ], + [ + 0.014778114102454963, + 0.007855107727710923, + -0.01689052194311855, + 0.023742904994115435, + 0.009705574617256072, + -0.05648134267459146, + 1.0 + ], + [ + 0.020120267791491096, + 0.020185648135708306, + -0.010136224324727506, + 0.03581930949951647, + 0.003386062973453768, + -0.1498365573158704, + 1.0 + ], + [ + 0.020751001240654675, + 0.029601073507669096, + -0.0019986521609543606, + 0.05214542317571164, + 0.03938272683220792, + -0.17444472441037015, + 1.0 + ], + [ + 0.012128455004722288, + 0.017161281693491338, + -0.0007035975323494324, + 0.0012635977047697178, + 0.002200234399517141, + -0.2085196803280893, + 1.0 + ], + [ + 0.009164010597545843, + 0.01535972018912631, + 0.001433484612275621, + -0.007053400751752225, + 0.027989524476772453, + -0.14025234577394272, + 1.0 + ], + [ + 0.0023471310099061928, + 0.009063314332397609, + 0.011676728180713533, + -0.019871671944042654, + 0.010498405335797326, + -0.10058637165243842, + 1.0 + ], + [ + 0.0003882870142878928, + 0.008293124446398669, + 0.012070913746032544, + 0.004376600093278611, + 0.013037632466596852, + -0.03286628477828628, + 1.0 + ], + [ + 0.0005204832512100654, + 0.0033291666045859097, + 0.009157682562575762, + 0.011303225023477066, + 0.017263843587570438, + -0.009431321557489242, + 1.0 + ], + [ + 0.0003148091806224875, + 0.005780771963495159, + 0.007016722896825352, + 0.007212783200683031, + -0.017861225285302762, + 0.012030059776158172, + 1.0 + ], + [ + -0.0032069130938040267, + -0.00040715819803765666, + 0.009973047674435104, + 0.011803517024703107, + -0.016675671462577143, + 0.01794215095919365, + 1.0 + ], + [ + -0.0001107392696546175, + 0.0006278646058792708, + 0.008614140995609277, + -0.004659330564719276, + -0.009016825261460998, + 0.0026966133607743328, + 1.0 + ], + [ + 0.00043799302145612097, + -0.0016746917403630682, + 0.007979855133043199, + 0.016147032231579615, + 0.008433817863307517, + 0.013118598077512492, + 1.0 + ], + [ + 0.0017120113954514488, + 0.0016111775481699592, + 0.001986980672003003, + -0.007074644804879393, + 0.011347706847187257, + 0.007280359505274538, + 1.0 + ], + [ + -0.002413278706576854, + -0.0024149176415323497, + 0.005653301212228887, + 0.020381578527581205, + -0.007431103627672059, + -0.0031873410907833225, + 1.0 + ], + [ + 0.001066935212245418, + 0.001172450598632821, + -0.0015061254586363772, + 0.002650851347596604, + -0.0030558202308688183, + -0.009691690322503296, + 0.0 + ], + [ + -0.0015964650181738106, + 0.0005294470053575802, + -0.0006719293086953198, + 0.0009853935567236808, + -0.014203256213700393, + -0.00233736128102377, + 0.0 + ], + [ + 0.002041274161187715, + 0.003707332195759656, + -0.007930225551098733, + -0.01540215672051848, + -0.003790520995172223, + 0.0017575098106530366, + 0.0 + ], + [ + 0.003236999588012531, + 0.0015094345635066828, + -0.010943906391295959, + -0.027509793517813838, + -0.0048582825846224245, + -0.019235563897763683, + 0.0 + ], + [ + 0.002625550209146184, + 0.0008327803270281505, + -0.01004964984417187, + -0.012426157954976763, + -0.009748082833203968, + -0.02549633449454432, + 0.0 + ], + [ + 0.015669518014377982, + -0.002682426078589411, + -0.018687700922149986, + -0.011987889732171688, + -0.0032193344424535433, + -0.0528372734834319, + 0.0 + ], + [ + 0.013125095520547941, + -0.011310515220644645, + -0.005560222420238728, + 0.027926044682914253, + -0.021192756799020485, + -0.11019319467759019, + 0.0 + ], + [ + 0.019566323780876686, + -0.014002183676003033, + -0.00168347372914368, + -0.011884639575134288, + 0.014770380125007107, + -0.1710058342730835, + 0.0 + ], + [ + 0.01108042380102554, + -0.014349431103627798, + 0.000719397893758118, + 0.04513042830272715, + -0.012749887554085302, + -0.24540932632519452, + 0.0 + ], + [ + 0.008921908105885315, + -0.011317168206107292, + 0.006577918482589618, + 0.09745095751541939, + 0.029943501997019926, + -0.2632140387420484, + 0.0 + ], + [ + 0.007963800808129242, + -0.0076721493227966606, + 0.008562996294202927, + 0.07580465966354781, + -0.0033156919885503912, + -0.2325746658852849, + 0.0 + ], + [ + 0.006131800391273802, + 0.00241121526938311, + 0.00830530678466333, + 0.027974978408284785, + -0.006230492318640734, + -0.15867109680583033, + 0.0 + ], + [ + 0.007879006864105068, + 0.016419705103643118, + 0.0051089227917945805, + -0.00838602784348251, + -0.012768994122901816, + -0.09175775616533766, + 0.0 + ], + [ + -0.0030187361194052693, + 0.01253914900534948, + 0.0060852256054258185, + -0.008961860542065781, + -0.010026878263331004, + -0.04097600608923914, + 0.0 + ], + [ + -0.004153924381732214, + 0.011509529935632094, + 0.01216784610891953, + 0.0021431115574541103, + 0.015217086170070416, + 0.022064154985970943, + 0.0 + ], + [ + -0.008737879317997316, + 0.0030433234472607797, + 0.013445791637555918, + 0.008049314666681937, + 0.022222230215950267, + 0.021106514034647562, + 0.0 + ], + [ + 0.0027652960950087678, + 0.0075272209233457656, + 1.4487518029051427e-05, + -0.013072929281500683, + 0.0054165726143582706, + 0.020938541723499494, + 0.0 + ], + [ + 0.0011195531705578362, + 0.004048774326780973, + -0.002123813745052904, + -0.012798099645481672, + 0.00022232422158044085, + 0.02964619152872481, + 0.0 + ], + [ + 0.0013702675549548107, + 0.002594154607634061, + -0.0010428943108322548, + -0.013932508396435932, + 0.016411884999771115, + 0.024414553642311234, + 1.0 + ], + [ + 0.0005661095730599933, + 0.0005507349053108128, + -0.00040880753651398256, + -0.0036993560515803567, + 0.01047440013023738, + 0.027724595605740664, + 1.0 + ], + [ + -0.006209012670924946, + -0.00029009850228112536, + -0.013024751322131276, + -0.031798798476313755, + 0.0020773083369752593, + 0.050685743962974414, + 1.0 + ], + [ + 0.00012162182491537911, + 0.001294435634683109, + -0.020478929002558332, + -0.08814587931923715, + 0.0025277633927582974, + 0.1510289238714414, + 1.0 + ], + [ + -0.01422919198896885, + -0.0043650479558406145, + -0.019531564235620993, + -0.07940432449508386, + 0.014782564030337406, + 0.15258114335631462, + 1.0 + ], + [ + -0.013761564587505515, + -0.008731729814740576, + -0.018259545274583785, + -0.06334534979371999, + 0.019420758061552235, + 0.22811319991769996, + 1.0 + ], + [ + -0.014879605988589974, + -0.003924381729664867, + -0.023667774617684, + -0.07348717755197887, + -0.01601066987161172, + 0.2285146388059098, + 1.0 + ], + [ + -0.022612753260253856, + 0.00019138920300627808, + -0.004584304838788414, + 0.004546620752111278, + -0.08150664377466184, + 0.2087528416555312, + 1.0 + ], + [ + -0.034326009055394735, + 0.010009949446874914, + -0.0030546677069639232, + -0.020131188314120883, + -0.10535559760679761, + 0.24243050142490116, + 1.0 + ], + [ + -0.02553824023126835, + 0.017715956139763078, + -0.0004571849153991734, + -0.017435116186162627, + -0.03395575314227857, + 0.2527018743566436, + 1.0 + ], + [ + -0.024297486450222342, + 0.014613532805990986, + 0.005861868400145717, + -0.03578996967513901, + -0.04985551962372951, + 0.22146493344873058, + 1.0 + ], + [ + -0.02854369029409006, + 0.024797792295598073, + 0.011718316153362798, + -0.0728120593805589, + -0.034148821575419375, + 0.2746755912190599, + 1.0 + ], + [ + -0.004172540981209694, + 0.008818659575497953, + 0.002283142242003595, + -0.07664756047856469, + 0.030577252169776956, + 0.20289519130272557, + 1.0 + ] + ], + "state": [ + [ + 0.18686893582344055, + 0.10926982015371323, + 0.04240304231643677, + 3.137705096398019, + -0.2666630446910858, + 0.11664547771215439, + 1.0 + ], + [ + 0.18704986572265625, + 0.10923510789871216, + 0.04275723919272423, + 3.137039060825952, + -0.2685438990592957, + 0.11934413015842438, + 1.0 + ], + [ + 0.18506023287773132, + 0.10744012892246246, + 0.040490806102752686, + 3.126011633435734, + -0.2532910406589508, + 0.13059522211551666, + 1.0 + ], + [ + 0.18646059930324554, + 0.10256408900022507, + 0.05189644545316696, + 3.1269818750494203, + -0.25586616992950445, + 0.1508139818906784, + 1.0 + ], + [ + 0.1974838376045227, + 0.09654442965984344, + 0.07208646833896637, + 3.1359105255738875, + -0.2643258273601532, + 0.2094679921865463, + 1.0 + ], + [ + 0.21804657578468323, + 0.08033826947212219, + 0.08723779767751694, + 3.1313804379948458, + -0.26382952928543096, + 0.3647345006465912, + 1.0 + ], + [ + 0.24675212800502777, + 0.0596366748213768, + 0.09487045556306839, + 3.1362142731719693, + -0.2972803711891175, + 0.5475448966026306, + 1.0 + ], + [ + 0.2653861343860626, + 0.05090339109301567, + 0.09918411076068878, + 3.0742360671334943, + -0.29173493385314936, + 0.7654179930686951, + 1.0 + ], + [ + 0.28248175978660583, + 0.04594305157661438, + 0.10144012421369553, + 3.025175580876418, + -0.3072235882282257, + 0.9142127633094788, + 1.0 + ], + [ + 0.2939985692501068, + 0.0439181849360466, + 0.09209872782230377, + 2.973889650898524, + -0.3043677806854248, + 1.0202258825302124, + 1.0 + ], + [ + 0.3045269548892975, + 0.04158804938197136, + 0.08218120783567429, + 2.9674674441390714, + -0.31154945492744446, + 1.056555151939392, + 1.0 + ], + [ + 0.3102796673774719, + 0.04187944531440735, + 0.0743047371506691, + 2.974783184128352, + -0.3268939256668091, + 1.0695199966430664, + 1.0 + ], + [ + 0.3173634111881256, + 0.040519870817661285, + 0.06876190751791, + 2.9869893213086804, + -0.31124091148376465, + 1.053944706916809, + 1.0 + ], + [ + 0.318340927362442, + 0.03994595631957054, + 0.05833948776125908, + 3.005303742485591, + -0.29746085405349737, + 1.032718539237976, + 1.0 + ], + [ + 0.32109490036964417, + 0.041062865406274796, + 0.05022912099957466, + 3.001831354694911, + -0.2888917028903961, + 1.0286535024642944, + 1.0 + ], + [ + 0.32203906774520874, + 0.04368992894887924, + 0.042555686086416245, + 3.021505693095275, + -0.2990499436855316, + 1.016289472579956, + 1.0 + ], + [ + 0.3247388005256653, + 0.04455901309847832, + 0.041359398514032364, + 3.016241492825099, + -0.3111827671527863, + 1.0101253986358643, + 1.0 + ], + [ + 0.32304897904396057, + 0.04504432901740074, + 0.03499351069331169, + 3.035903388755866, + -0.303410679101944, + 1.012465476989746, + 1.0 + ], + [ + 0.324185848236084, + 0.044963542371988297, + 0.03685963153839111, + 3.035645680623599, + -0.29933595657348633, + 1.0222141742706299, + 0.0 + ], + [ + 0.32366758584976196, + 0.043242208659648895, + 0.037080805748701096, + 3.0363677461915692, + -0.284965068101883, + 1.0230708122253418, + 0.0 + ], + [ + 0.32591259479522705, + 0.041442256420850754, + 0.0455966554582119, + 3.0215930362516126, + -0.2813794314861298, + 1.0208370685577393, + 0.0 + ], + [ + 0.32609546184539795, + 0.04137995466589928, + 0.05710701271891594, + 2.988761754828044, + -0.2742040455341339, + 1.0400710105895996, + 0.0 + ], + [ + 0.3253864347934723, + 0.04156835004687309, + 0.06750144809484482, + 2.969726013141223, + -0.26060965657234186, + 1.0646133422851562, + 0.0 + ], + [ + 0.325377494096756, + 0.053595125675201416, + 0.08888639509677887, + 2.944281341629573, + -0.24805283546447754, + 1.1177476644515991, + 0.0 + ], + [ + 0.31964677572250366, + 0.06965252757072449, + 0.09524490684270859, + 2.947224589186259, + -0.20435503125190735, + 1.2238073348999023, + 0.0 + ], + [ + 0.3130093514919281, + 0.09265334904193878, + 0.09818481653928757, + 2.903120311098643, + -0.1829824298620224, + 1.3973640203475952, + 0.0 + ], + [ + 0.3014511168003082, + 0.1064949557185173, + 0.09618066251277924, + 2.9121807684474668, + -0.10809779167175293, + 1.6339809894561768, + 0.0 + ], + [ + 0.29132407903671265, + 0.115712471306324, + 0.08821647614240646, + 2.9894141425662717, + -0.07438228279352188, + 1.897815465927124, + 0.0 + ], + [ + 0.2825908958911896, + 0.12189187109470367, + 0.07920784503221512, + 3.0523218681388578, + -0.034208241850137704, + 2.127272844314575, + 0.0 + ], + [ + 0.28187641501426697, + 0.1289890855550766, + 0.07136500626802444, + 3.0760379304462155, + -0.013491586782038212, + 2.2847557067871094, + 0.0 + ], + [ + 0.2893178164958954, + 0.14593251049518585, + 0.06744933873414993, + 3.0666942094736775, + 0.00530813867226243, + 2.37546968460083, + 0.0 + ], + [ + 0.30049803853034973, + 0.15315918624401093, + 0.062335554510354996, + 3.058001833158084, + 0.01836799830198288, + 2.4155845642089844, + 0.0 + ], + [ + 0.3120461404323578, + 0.15960264205932617, + 0.051249343901872635, + 3.0597727467590055, + 0.0013580191880464554, + 2.3948707580566406, + 0.0 + ], + [ + 0.32127878069877625, + 0.15668801963329315, + 0.03810913860797882, + 3.067790852981158, + -0.02251501753926277, + 2.3756515979766846, + 0.0 + ], + [ + 0.32449954748153687, + 0.16400714218616486, + 0.038711827248334885, + 3.0551936348252973, + -0.029455915093421936, + 2.35516095161438, + 0.0 + ], + [ + 0.326485812664032, + 0.16746769845485687, + 0.04120899736881256, + 3.043302895622798, + -0.03222241997718811, + 2.325629234313965, + 0.0 + ], + [ + 0.32738184928894043, + 0.17013366520404816, + 0.0425449013710022, + 3.0301142578297338, + -0.050942432135343545, + 2.302917242050171, + 1.0 + ], + [ + 0.3273930847644806, + 0.17087191343307495, + 0.04304065927863121, + 3.0277940427237233, + -0.0644180029630661, + 2.276477098464966, + 1.0 + ], + [ + 0.33060532808303833, + 0.16437700390815735, + 0.055521756410598755, + 2.999372186260768, + -0.07215394824743271, + 2.226224899291992, + 1.0 + ], + [ + 0.33014482259750366, + 0.16231586039066315, + 0.07593294233083725, + 2.923578979569026, + -0.09518009424209595, + 2.0764119625091553, + 1.0 + ], + [ + 0.33041539788246155, + 0.14430613815784454, + 0.09262372553348541, + 2.860455038147517, + -0.14148201048374176, + 1.9292373657226562, + 1.0 + ], + [ + 0.3233430087566376, + 0.12483115494251251, + 0.10565219819545746, + 2.8343611379438123, + -0.2196684181690216, + 1.7104473114013672, + 1.0 + ], + [ + 0.31522056460380554, + 0.10432157665491104, + 0.12326895445585251, + 2.8186368366056165, + -0.2673467993736267, + 1.4795324802398682, + 1.0 + ], + [ + 0.3118586540222168, + 0.08155931532382965, + 0.12154671549797058, + 2.8908921500020703, + -0.24890263378620148, + 1.24872624874115, + 1.0 + ], + [ + 0.30938345193862915, + 0.04590039327740669, + 0.118365578353405, + 2.942778529720851, + -0.19776363670825958, + 0.9831418395042419, + 1.0 + ], + [ + 0.3094491958618164, + 0.014836830087006092, + 0.11721816658973694, + 2.982268901663371, + -0.20736904442310333, + 0.7230498790740967, + 1.0 + ], + [ + 0.3023192882537842, + -0.01193877961486578, + 0.10882079601287842, + 2.997458117204257, + -0.18761728703975677, + 0.49248847365379333, + 1.0 + ], + [ + 0.2913288474082947, + -0.04759673401713371, + 0.09560292214155197, + 2.981947885947772, + -0.185542494058609, + 0.21083933115005493, + 1.0 + ], + [ + 0.2893705368041992, + -0.0572907030582428, + 0.09399557113647461, + 2.945257680612155, + -0.2441639304161072, + 0.009562816470861435, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.06011873483657837, + 0.3298342227935791, + 0.5281247198581696, + 0.5309504270553589, + 0.5309504270553589, + 0.5318908989429474, + 0.5318908989429474, + 0.5318908989429474, + 0.5328307151794434, + 0.5328307151794434, + 0.5328307151794434, + 0.5328307151794434, + 0.5328307151794434, + 0.5328307151794434, + 0.5328307151794434, + 0.5328307151794434, + 0.5328307151794434, + 0.5328307151794434, + 0.4438999891281128, + 0.15095502138137817, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1537", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1537/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1563.json b/annotation/test/1563.json new file mode 100644 index 0000000000000000000000000000000000000000..7fcd21c7a24878947e95c0d9ea0644f0bd1078e4 --- /dev/null +++ b/annotation/test/1563.json @@ -0,0 +1,451 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the purple towel to the back right corner of the stove" + ], + "videos": [ + { + "video_path": "videos/test/1563/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 1.2836399390672971e-08, + -2.7393871548920046e-10, + -0.001533993424966794, + 1.0 + ], + [ + -0.003021507932642009, + 0.004863683770397918, + 0.007890383232100808, + -0.012118695301172206, + -0.0271016794316204, + -0.0027446260094431503, + 1.0 + ], + [ + -0.008182890954283399, + 0.05132404918945597, + -0.006285399695938517, + 0.01637369992720249, + -0.011690693382799848, + 0.09525045323262801, + 1.0 + ], + [ + -0.003968340164043198, + 0.043935030318361906, + -0.011764553728699565, + 0.030629634752453876, + 0.029574522962626533, + 0.07766725627325519, + 1.0 + ], + [ + 0.000964963361068194, + 0.040283946575517225, + 0.0036785859331319947, + -0.05526518767283421, + 0.04932353958770975, + 0.003351613720741455, + 1.0 + ], + [ + 0.004921822147759389, + 0.021218537034970186, + 0.019369431761462788, + -0.03265880266836134, + 0.027352415918749665, + -0.08540611103836956, + 1.0 + ], + [ + 0.0024516674738630554, + 0.00497108231055244, + 0.018823108499683223, + -0.017794355342252464, + 0.035066935965559994, + -0.0856460499797535, + 1.0 + ], + [ + -0.006017656122459851, + -0.005170917419374511, + 0.019624032794810897, + 0.055543279680981585, + 0.02020330397245902, + -0.06316365995287058, + 1.0 + ], + [ + -0.001039912185553601, + -0.007399278612048739, + 0.00610378581521451, + 0.03888401813654975, + -0.0004431099069106741, + -0.019554458907649626, + 1.0 + ], + [ + 0.014364615422292778, + -0.0059282239847284575, + 0.005182187320084455, + -0.03845888782161824, + -0.027804181138149142, + -0.03654067754169086, + 1.0 + ], + [ + 0.047425999655334, + -0.005268017983087215, + 0.005296497607409688, + -0.04735913810409141, + 0.009186035269731295, + -0.05308155779461443, + 1.0 + ], + [ + 0.049851021725143906, + -0.0022344137539933567, + 0.005725975191529382, + -0.02647942727631923, + 0.018842449989392454, + -0.015908482353605435, + 1.0 + ], + [ + 0.0387528263118444, + 0.004768932682069059, + 0.005746565575869114, + -0.0020136538624166943, + 0.013531724831561284, + 0.036994328291130446, + 1.0 + ], + [ + 0.0163260141006194, + 0.003501390357447314, + 0.0029071156938640054, + -0.012331797142521129, + 0.003576709467238144, + 0.02791957561952222, + 1.0 + ], + [ + -0.0015012158802248134, + 0.0004372373044052571, + -0.0006094136977588609, + -0.0027259312493934746, + -0.01248433237767963, + 0.007838789734136231, + 1.0 + ], + [ + -0.003851604488000163, + 0.003356696530788875, + -0.00635249817187486, + -0.02249959823701758, + -0.007839675719982, + -0.01778448177671038, + 1.0 + ], + [ + 0.005338524278230666, + -0.0017528516854312948, + -0.02777782231356785, + -0.008794879586218654, + 0.010198049948822284, + -0.021788923838718832, + 1.0 + ], + [ + 0.010761231849402824, + -0.0009655837481858985, + -0.026905094300531344, + 0.011643377972367495, + -0.003713634144307338, + 0.0007693933127325029, + 1.0 + ], + [ + -0.0035651767110466874, + -0.0007779078545360465, + -0.019259331095514035, + 0.00452549456211891, + -0.00738706853101096, + 0.014506553520969967, + 1.0 + ], + [ + -0.009028411795140068, + -0.007616356935068614, + -0.004401381374757157, + 0.045637899492456425, + -0.029655587982534745, + 0.019222164106822738, + 1.0 + ], + [ + 0.0002427272980819972, + 1.6034228332266698e-05, + -1.9184241730229252e-07, + -9.876170216562096e-05, + 0.001530799308251189, + 0.0015339069623766573, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 3.064215272969773e-18, + -2.6212152580780915e-17, + -1.9112459253235408e-17, + 1.0 + ] + ], + "state": [ + [ + 0.30746209621429443, + 0.07952351123094559, + 0.09426693618297577, + -3.0038018246465406, + -0.04770455881953239, + -0.20739156007766724, + 1.0 + ], + [ + 0.30746209621429443, + 0.07952351123094559, + 0.09426693618297577, + -3.003874512510844, + -0.04791520535945893, + -0.20587036013603213, + 1.0 + ], + [ + 0.30414214730262756, + 0.07640183717012405, + 0.08564857393503189, + -3.0162536968761167, + -0.021445984020829204, + -0.19943104684352875, + 1.0 + ], + [ + 0.2858832776546478, + 0.027339516207575798, + 0.08529315888881683, + -2.998423935967036, + 0.002136192517355085, + -0.2924579083919525, + 1.0 + ], + [ + 0.26907333731651306, + -0.014766039326786995, + 0.0906771570444107, + -2.96837808390195, + -0.01607391051948071, + -0.3735380470752716, + 1.0 + ], + [ + 0.25588101148605347, + -0.05153461545705795, + 0.08012756705284119, + -3.0232522432976445, + -0.06408003717660903, + -0.38535746932029724, + 1.0 + ], + [ + 0.25466206669807434, + -0.07130996137857437, + 0.05874824523925781, + -3.061508098738738, + -0.10109978169202807, + -0.3034026622772217, + 1.0 + ], + [ + 0.2578047513961792, + -0.07590824365615845, + 0.039933063089847565, + -3.08793684666092, + -0.1425512135028839, + -0.22005166113376617, + 1.0 + ], + [ + 0.256026953458786, + -0.06914108991622925, + 0.019955618306994438, + -3.041409747796603, + -0.16583415865898132, + -0.15721428394317627, + 1.0 + ], + [ + 0.2571317255496979, + -0.061244018375873566, + 0.014523981139063835, + -3.0058093090825757, + -0.16731706261634827, + -0.1374373435974121, + 1.0 + ], + [ + 0.27277764678001404, + -0.05677025020122528, + 0.012644718401134014, + -3.0510488544874868, + -0.1445794403553009, + -0.09705964475870134, + 1.0 + ], + [ + 0.32073086500167847, + -0.055686820298433304, + 0.014729277230799198, + -3.1061156709962567, + -0.1583278924226761, + -0.04437007009983063, + 1.0 + ], + [ + 0.3709068298339844, + -0.05547608807682991, + 0.017016613855957985, + -3.13503253611783, + -0.17770415544509885, + -0.028899142518639565, + 1.0 + ], + [ + 0.4099176526069641, + -0.06133688986301422, + 0.018180225044488907, + -3.130375295067676, + -0.19086919724941254, + -0.06666425615549088, + 1.0 + ], + [ + 0.42623820900917053, + -0.06590278446674347, + 0.018384767696261406, + -3.1373066577413162, + -0.19405698776245114, + -0.09515698254108429, + 1.0 + ], + [ + 0.42461341619491577, + -0.06618954986333847, + 0.018691401928663254, + -3.1385060082008174, + -0.18153323233127594, + -0.1030716374516487, + 1.0 + ], + [ + 0.41935890913009644, + -0.06904033571481705, + 0.02423393540084362, + 3.1189152171188077, + -0.17371942102909088, + -0.0849914252758026, + 1.0 + ], + [ + 0.42002442479133606, + -0.06670612841844559, + 0.05247022956609726, + 3.1062549260729035, + -0.18337821960449222, + -0.0626024901866913, + 1.0 + ], + [ + 0.42581701278686523, + -0.06514992564916611, + 0.08083648979663849, + 3.118064899119087, + -0.1796940118074417, + -0.06351733207702637, + 1.0 + ], + [ + 0.41896340250968933, + -0.06348074972629547, + 0.09912526607513428, + 3.1252548453682145, + -0.172630712389946, + -0.07841472327709198, + 1.0 + ], + [ + 0.409966379404068, + -0.05506286025047302, + 0.10178721696138382, + -3.1088770908587655, + -0.14325942099094388, + -0.09831425547599791, + 1.0 + ], + [ + 0.4102039337158203, + -0.0551024004817009, + 0.10182154178619385, + -3.108747439580508, + -0.1447390466928482, + -0.09991414099931717, + 1.0 + ], + [ + 0.4102039337158203, + -0.0551024004817009, + 0.10182154178619385, + -3.108747439580508, + -0.1447390466928482, + -0.09991414099931717, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.003185570240020752, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "1563", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1563/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1570.json b/annotation/test/1570.json new file mode 100644 index 0000000000000000000000000000000000000000..1093d6319f06d1000c1dafef812dbcc74a9a7d32 --- /dev/null +++ b/annotation/test/1570.json @@ -0,0 +1,812 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "video frames or not showing" + ], + "videos": [ + { + "video_path": "videos/test/1570/rgb.mp4" + } + ], + "action": [ + [ + 0.0003048516620390984, + -6.433158143220579e-05, + -0.0003773870050080699, + 0.0003667216395841361, + 0.0014887769682597762, + -0.003021382935841888, + 1.0 + ], + [ + -0.001953102128559309, + 7.253823629931528e-05, + 0.013091799119593909, + -0.008968308344561464, + -0.03726795615324634, + -0.005638547033751388, + 1.0 + ], + [ + -0.003283752397891239, + 0.008069279786071705, + 0.015023815417186129, + 0.009085524160366301, + -0.026306311604115565, + -0.00299732241514535, + 1.0 + ], + [ + -0.003185263695055604, + 0.00792136766330394, + 0.017212559685507473, + 0.011317581443000853, + -0.0038537185182924284, + -0.016034738903767283, + 1.0 + ], + [ + -0.0007764141189972533, + 0.01327725993075178, + 0.018578579764986766, + 0.04473652663493491, + 0.0227695081326205, + -0.06356836004849303, + 1.0 + ], + [ + 0.0016796403325892622, + 0.013104288472382252, + 0.013508813844468285, + 0.03257867442520258, + 0.04846752945891961, + -0.05481213020021759, + 1.0 + ], + [ + 0.002205049103491361, + 0.005115775030385482, + 0.010396776598389952, + -0.02664641701048002, + 0.056042478559704546, + -0.0070441581926757165, + 1.0 + ], + [ + -0.0004890281583793092, + 0.0017320543622188005, + 0.01925585370548596, + -0.0026781990145060782, + -0.03552584419395305, + 0.018519747715653588, + 1.0 + ], + [ + 0.0036686954525934116, + -0.006914195929340175, + 0.008975113216843475, + -0.009287828135564788, + -0.018802060382216195, + -0.003488123012369142, + 1.0 + ], + [ + -0.000792951790862747, + -0.011761576379347332, + 0.008989698513492789, + 0.01159125731687536, + -0.03305303078734254, + 0.0006085872916403033, + 1.0 + ], + [ + 0.0011766562018744133, + -0.008891331301154933, + 0.001295290189654403, + 0.007678339355859643, + -0.01173810493388521, + 0.0025040462486955128, + 1.0 + ], + [ + 0.00096504147640197, + -0.002961364410184153, + -0.001214363004262538, + 0.0005677515089265255, + -0.001980961819023017, + 0.0011274708433737035, + 1.0 + ], + [ + -0.0006563475676408127, + -0.0004298518010176345, + 0.0002867264393477289, + 0.0063261238339883735, + -0.002990601579757414, + 0.007302678426882169, + 1.0 + ], + [ + 0.0016394520564511847, + 0.0020088679709240687, + 0.0015602601497347471, + -0.0015208505642713376, + 0.007991827599607065, + 0.016297784655999185, + 1.0 + ], + [ + 0.0016491424781025622, + 0.005415903341381446, + 0.0007033676748716929, + 0.008115479032776712, + 0.0072394427822960045, + 0.015339180297219144, + 0.0 + ], + [ + 0.0011676316331548939, + 0.0005776855215144381, + 0.0005075317256227121, + 0.007248012721478712, + 0.009533317939604309, + 0.005432495481347614, + 0.0 + ], + [ + -0.000920782174664384, + 0.0006943278555548639, + 0.0006251382604619236, + -0.003935625857101468, + -0.003060318416879114, + -0.0008549048234846705, + 0.0 + ], + [ + 0.0007938482270347521, + 0.008303909588375166, + -0.0041624497669904064, + -0.0527454041431882, + 0.022494044052366186, + 0.028677985122159973, + 0.0 + ], + [ + 0.001044776868025813, + 0.013384368987607082, + -0.03836356969082798, + -0.07925896250508827, + 0.09509757453151486, + 0.02615000901018629, + 0.0 + ], + [ + -0.012150020538270622, + -0.007109307263481648, + -0.03284554874198391, + -0.06849606535549896, + 0.024286521075567155, + -0.020167322433015417, + 0.0 + ], + [ + -0.021414412321554464, + -0.031473986089991364, + -0.02546479217414059, + 8.535460582298784e-05, + -0.023953903396555433, + -0.03981578373646432, + 0.0 + ], + [ + -0.014860671415655823, + -0.036543749777235714, + -0.0059216333586044586, + 0.05565852489496308, + -0.033861486067048994, + -0.017080033156025756, + 0.0 + ], + [ + -0.009266732007448004, + -0.03456650803167629, + -0.0012609907624870737, + 0.03694989950874661, + 0.005399714638993889, + -0.0063208515975628505, + 0.0 + ], + [ + -0.005044509993062566, + -0.021446595601104276, + 0.014429885724982895, + 0.020944263634140012, + -0.0190592257085583, + -0.01964913489831271, + 0.0 + ], + [ + -0.00648908546348289, + -0.017730645316892748, + 0.02904613595034162, + 0.011411504618205935, + -0.0546406096194873, + -0.03187491463921863, + 0.0 + ], + [ + 0.001833296473490973, + -0.006608062301893245, + 0.02044002155146627, + 0.01111645535368287, + -0.03289868297408196, + -0.0043924623060870764, + 0.0 + ], + [ + 0.004025726326695496, + -0.00010596969654323313, + 0.011172944040490032, + 0.01969664474129187, + -0.02472361520849823, + 0.006899716422543696, + 0.0 + ], + [ + 0.001316516846219024, + 0.0001504175493686311, + 0.003550366614839056, + -0.002082643260388821, + -0.010788211462423267, + -0.0013261107493800406, + 0.0 + ], + [ + -0.0010535138744698469, + 0.004532631306648643, + -0.00013847912906990646, + 0.004674804728748087, + -0.021933784189604486, + 0.018708135199559436, + 0.0 + ], + [ + -0.0007872688305192029, + 0.0021985814420062534, + -0.006401423515417502, + -0.007910500685212466, + 0.010493229899772093, + 0.02010651466536102, + 1.0 + ], + [ + -0.003848919619355715, + 0.004823840587165415, + -0.0501807813386117, + 0.03242291732215264, + 0.11101307334761092, + 0.026224920506445825, + 1.0 + ], + [ + -0.002091785441166783, + 0.0028290943363443537, + -0.04017860476424758, + 0.02805329624485783, + 0.08104751271669623, + 0.025307817144970726, + 1.0 + ], + [ + -0.00020891303829909905, + 0.007935556243154002, + -0.021818449422434872, + 0.018205678464223315, + 0.024614645475947154, + -0.00990227002799079, + 1.0 + ], + [ + 0.007644767780327792, + 0.01656194370159286, + -0.0014406406192716272, + -0.011657832248256134, + 0.008664210658631235, + 0.023572606291338602, + 1.0 + ], + [ + -0.0012004079042090667, + 0.002064948440220947, + 1.1552080161627062e-05, + -0.00020512283762663872, + -0.013481075219960984, + -0.012327438645634676, + 1.0 + ], + [ + -0.0029953914673192055, + 0.003830607422911211, + -0.0005186162458822848, + -0.027251378268806838, + -0.024416456197162786, + 0.017380006104081882, + 1.0 + ], + [ + -0.000516442117546004, + -0.0025671366234277957, + 0.0049029146079228045, + -0.07976115021426919, + -0.09148084686024477, + 0.05812778993061548, + 1.0 + ], + [ + -0.00035053890645950333, + -2.2988700440184824e-05, + -0.0012758783571464698, + -0.004473790330626878, + 0.001024258201287952, + -0.0009257814465777979, + 1.0 + ], + [ + -0.00106183958600744, + -0.0005663121060824548, + 0.0012015730703328028, + 0.00036874733858781403, + -0.005463717065351317, + -0.0010003098100651083, + 1.0 + ], + [ + 0.0008353644387923381, + 0.0001221054359983502, + -0.0007196153612256042, + 0.001435117021206029, + 0.002622896275700013, + 0.001683043419731429, + 1.0 + ], + [ + -0.0010466672625463408, + 4.461668323045258e-06, + 0.0007166747750329203, + -0.0022112508656825904, + -0.003945861945850865, + -0.0016768813882600334, + 1.0 + ] + ], + "state": [ + [ + 0.3589034974575043, + 0.0659397765994072, + 0.15703456103801727, + 3.1290643449225506, + -0.07436098903417587, + -0.05032249540090561, + 1.0 + ], + [ + 0.3591826558113098, + 0.06599485874176025, + 0.15743272006511688, + 3.1292046263166746, + -0.07581145316362381, + -0.04727394506335259, + 1.0 + ], + [ + 0.3582165539264679, + 0.0658055916428566, + 0.14423249661922455, + 3.1198355444991073, + -0.03847549483180046, + -0.04209747910499573, + 1.0 + ], + [ + 0.3551553785800934, + 0.05753287300467491, + 0.1292724609375, + 3.128820345858582, + -0.012110089883208275, + -0.03967396542429924, + 1.0 + ], + [ + 0.3518570065498352, + 0.04951683059334755, + 0.11212515830993652, + 3.139945900538475, + -0.008050352334976196, + -0.02368936128914356, + 1.0 + ], + [ + 0.35091495513916016, + 0.03622758015990257, + 0.09356281906366348, + -3.0990119149261197, + -0.03069893643260002, + 0.03992999717593193, + 1.0 + ], + [ + 0.3535231947898865, + 0.023804428055882454, + 0.0795666053891182, + -3.0680645947628697, + -0.08141199499368669, + 0.09273776412010193, + 1.0 + ], + [ + 0.3569832444190979, + 0.019769320264458656, + 0.06903701275587082, + -3.0948339012735566, + -0.1378200203180313, + 0.09566473215818405, + 1.0 + ], + [ + 0.3592219054698944, + 0.01915021426975727, + 0.04983721673488617, + -3.0951640029721936, + -0.10144785046577454, + 0.078750379383564, + 1.0 + ], + [ + 0.3631570637226105, + 0.026806816458702087, + 0.04160866513848305, + -3.104886835562535, + -0.08282697945833206, + 0.08312170952558516, + 1.0 + ], + [ + 0.3620713949203491, + 0.03884178400039673, + 0.03302035853266716, + -3.093325650440999, + -0.04977387189865112, + 0.08372735977172852, + 1.0 + ], + [ + 0.3625374138355255, + 0.04785580560564995, + 0.0322151817381382, + -3.0855477434867105, + -0.03792852908372879, + 0.08179134130477907, + 1.0 + ], + [ + 0.36321043968200684, + 0.050809357315301895, + 0.033629123121500015, + -3.084941407787152, + -0.03588750213384628, + 0.08077595382928847, + 1.0 + ], + [ + 0.36253008246421814, + 0.05120113492012024, + 0.03334381431341171, + -3.0783608128600797, + -0.03248730674386025, + 0.07365059852600098, + 1.0 + ], + [ + 0.364359050989151, + 0.04942464083433151, + 0.03171387314796448, + -3.0793434252315244, + -0.03942878916859627, + 0.0568677969276905, + 1.0 + ], + [ + 0.36634987592697144, + 0.04416763782501221, + 0.03074076399207115, + -3.0706122015886983, + -0.04569511488080025, + 0.041091851890087135, + 0.0 + ], + [ + 0.367562472820282, + 0.04367680102586746, + 0.03024744801223278, + -3.0630834495001515, + -0.054818302392959595, + 0.034988000988960266, + 0.0 + ], + [ + 0.36670324206352234, + 0.04300317168235779, + 0.029520347714424133, + -3.0670786817842206, + -0.05183442682027817, + 0.03608175367116928, + 0.0 + ], + [ + 0.3676224946975708, + 0.034440018236637115, + 0.033089447766542435, + -3.1182671041511973, + -0.07210765779018402, + 0.005736570805311203, + 0.0 + ], + [ + 0.3660058081150055, + 0.020155010744929314, + 0.07110682874917984, + 3.0878277850621423, + -0.1665402054786682, + -0.022899964824318886, + 0.0 + ], + [ + 0.3488577604293823, + 0.029414214193820953, + 0.10106024146080017, + 3.0157088955217084, + -0.18966914713382724, + -0.0010709128109738233, + 0.0 + ], + [ + 0.3238462805747986, + 0.06386309862136841, + 0.1179523915052414, + 3.0088732709460935, + -0.16077978909015656, + 0.035885829478502274, + 0.0 + ], + [ + 0.30769363045692444, + 0.10031302273273468, + 0.11659376323223114, + 3.0624572580033025, + -0.1249435544013977, + 0.048423148691654205, + 0.0 + ], + [ + 0.297020822763443, + 0.13439437747001648, + 0.1139749214053154, + 3.0985622612112245, + -0.12982384860515594, + 0.05520809441804886, + 0.0 + ], + [ + 0.29286107420921326, + 0.15500225126743317, + 0.0981118455529213, + 3.1170564015680036, + -0.10991402715444566, + 0.07412969321012497, + 0.0 + ], + [ + 0.28839290142059326, + 0.17172996699810028, + 0.06810549646615982, + 3.125089945393153, + -0.054456889629364014, + 0.10465217381715775, + 0.0 + ], + [ + 0.2906707227230072, + 0.17827357351779938, + 0.04768945649266243, + 3.1359880507276436, + -0.02148980088531971, + 0.10849975049495697, + 0.0 + ], + [ + 0.2949058413505554, + 0.1787784993648529, + 0.03660517930984497, + -3.1273509488725146, + 0.0031952883582562204, + 0.1014636605978012, + 0.0 + ], + [ + 0.29621440172195435, + 0.17881137132644653, + 0.0330488421022892, + -3.129428050602325, + 0.013963516801595688, + 0.10294333845376967, + 0.0 + ], + [ + 0.2956336438655853, + 0.17419326305389404, + 0.033146876841783524, + -3.1250100192897996, + 0.036120861768722534, + 0.08449588716030122, + 0.0 + ], + [ + 0.29527318477630615, + 0.1718500554561615, + 0.039535243064165115, + -3.133655502582439, + 0.02595502883195877, + 0.0642123818397522, + 1.0 + ], + [ + 0.29306715726852417, + 0.16647544503211975, + 0.08975915610790253, + -3.1018923354619226, + -0.08485592156648637, + 0.0371728166937828, + 1.0 + ], + [ + 0.28775790333747864, + 0.1618533879518509, + 0.12947247922420502, + -3.071275184052535, + -0.1648003160953522, + 0.00836312398314476, + 1.0 + ], + [ + 0.2841518521308899, + 0.1523739993572235, + 0.15035785734653473, + -3.054411733644553, + -0.19004429876804355, + 0.016657965257763866, + 1.0 + ], + [ + 0.29193615913391113, + 0.13587689399719238, + 0.15179520845413208, + -3.061424011486121, + -0.19656676054000854, + -0.008054811507463455, + 1.0 + ], + [ + 0.2907768785953522, + 0.1338287740945816, + 0.1513872891664505, + -3.064284512894698, + -0.1840984225273132, + 0.005541339516639709, + 1.0 + ], + [ + 0.2878130376338959, + 0.129953071475029, + 0.1510564386844635, + -3.0886594486706933, + -0.1583905816078186, + -0.010091509670019148, + 1.0 + ], + [ + 0.2880823612213135, + 0.13277344405651093, + 0.14627434313297272, + 3.123316265764185, + -0.0637414902448654, + -0.06316188722848892, + 1.0 + ], + [ + 0.2876550853252411, + 0.132846862077713, + 0.1475246697664261, + 3.1187821944528302, + -0.06474862992763519, + -0.06221555918455123, + 1.0 + ], + [ + 0.28670942783355713, + 0.13344557583332062, + 0.1462443321943283, + 3.1190938671403607, + -0.05926349386572838, + -0.06133860349655151, + 1.0 + ], + [ + 0.287492573261261, + 0.13329139351844788, + 0.14701472222805023, + 3.1206252855532846, + -0.06192351132631302, + -0.06296532601118088, + 1.0 + ], + [ + 0.2864930033683777, + 0.13333489000797272, + 0.1462348997592926, + 3.118315102654048, + -0.057943280786275864, + -0.061368875205516815, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.03867250680923462, + 0.35494011640548706, + 0.6603650748729706, + 0.8567025810480118, + 0.9125204309821129, + 0.9139323532581329, + 0.933180145919323, + 0.9401945322751999, + 0.940758541226387, + 0.940758541226387, + 0.940758541226387, + 0.940758541226387, + 0.9410393536090851, + 0.9410393536090851, + 0.9410393536090851, + 0.9056215658783913, + 0.7513865828514099, + 0.479228138923645, + 0.17109763622283936, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0, + 0.0005114078521728516, + 0.0 + ], + "episode_id": "1570", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1570/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1579.json b/annotation/test/1579.json new file mode 100644 index 0000000000000000000000000000000000000000..a348cba8356535843d482156bbce94e536991615 --- /dev/null +++ b/annotation/test/1579.json @@ -0,0 +1,660 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put the corn to the left of the pot" + ], + "videos": [ + { + "video_path": "videos/test/1579/rgb.mp4" + } + ], + "action": [ + [ + -4.029473861078774e-05, + 0.0006154607243173989, + -0.0006278720599546542, + -0.0004975995859512341, + 0.0014920202139642707, + 0.0014937854031973528, + 1.0 + ], + [ + -0.004753987971353398, + -0.0003270678023060733, + 0.014498564527366368, + 0.005594449545449565, + -0.03497082250231583, + -0.00962592615391243, + 1.0 + ], + [ + -0.018404224731114388, + 0.0016990952219607294, + -0.003826697797667371, + -0.015477874843054075, + 0.019716535759011992, + -0.02336564872911714, + 1.0 + ], + [ + -0.0201487582676538, + 0.004028788706135357, + -0.04270195213396368, + -0.03377254934012599, + 0.11838617674356952, + 0.004516284998721135, + 1.0 + ], + [ + -0.02894562150363767, + -0.009380639058130613, + -0.0021548827380768244, + 0.02614055628415511, + -0.03125432191315588, + -0.02710607951342118, + 1.0 + ], + [ + -0.02693156302706086, + -0.007569623049182979, + 0.021253062812171677, + 0.013308112580789523, + -0.0802057340504896, + -0.011369864336258355, + 1.0 + ], + [ + -0.017977799466419836, + -0.027901553429460376, + 0.025399465302775648, + 0.004132861875411084, + -0.04813576193897051, + -0.055653140303670696, + 1.0 + ], + [ + -0.007462779174703031, + -0.016058858929266468, + 0.017028505004652184, + 0.04741102569141058, + -0.03465450285738863, + -0.015245927416566257, + 1.0 + ], + [ + -0.008428902945579525, + -0.010126916830723101, + 0.012997612527998127, + 0.035161544526967216, + -0.03677137975534271, + -0.023055521586992728, + 1.0 + ], + [ + -0.004076255426691215, + 0.005134196585822494, + 0.011117098870253155, + -0.04783135723285432, + 0.039256179469382785, + -0.027330717131687006, + 1.0 + ], + [ + 0.0009193022451202388, + 0.0005247043361135101, + 0.0023717665425798994, + -0.034148152815578356, + 0.024507796507946558, + -0.030946841388645743, + 1.0 + ], + [ + 0.003264310118700438, + 0.0015880120161373829, + 0.00020502211814759437, + -0.013183021150208044, + 0.021296900986293752, + -0.010528740047719268, + 1.0 + ], + [ + 0.0010859120835798755, + 0.00033930476549666976, + -9.830766965594884e-05, + 0.0016045535959317114, + 0.0038755616349835814, + -0.007219585710177291, + 1.0 + ], + [ + 1.4046031008653494e-05, + 0.00044516389137229606, + -0.0003966192595857683, + -0.0006485727113692929, + 0.0013870216588948048, + -0.0030655586808475805, + 1.0 + ], + [ + 0.0008047515845429256, + -0.00019414254648395315, + 0.00024389527665806605, + 0.0004967441708844327, + 0.006796488391574833, + -0.007216433415130911, + 1.0 + ], + [ + 0.0011394076296111022, + 0.0002872098815787862, + 0.00023853663782419666, + -0.002614550145456987, + 0.008878584003799286, + -0.012634625456887842, + 1.0 + ], + [ + 0.0007915232477381628, + -3.0682106976273082e-06, + -1.9766442441461257e-06, + -3.770493241225664e-05, + 0.0049915006915115774, + -0.011423949014232083, + 0.0 + ], + [ + 0.0018572428161258202, + -0.0018850416902717849, + -0.0006449055543135963, + 0.005542718507843303, + 0.007504477940991679, + -0.013437051611687723, + 0.0 + ], + [ + 0.007545564247879193, + -0.018567058872780255, + -0.01828891241033609, + 0.0109628302928152, + 0.017855406093158714, + -0.06421092386123854, + 0.0 + ], + [ + 0.019794753264217695, + -0.021392639102051348, + -0.014803538200970539, + -0.01904718406685533, + 0.007647300152283355, + -0.03623791975641265, + 0.0 + ], + [ + 0.036326460792904386, + -0.010786964156554653, + -0.014097049328436048, + -0.013194093594191726, + 0.028542135802399733, + 0.09088474704706155, + 0.0 + ], + [ + 0.030646984870421792, + -0.015764142539550614, + 0.009499238992302917, + -0.009092442549886115, + -0.04349215321223717, + 0.0975321535584342, + 0.0 + ], + [ + 0.025273763120182726, + -0.023153770775876877, + 0.009455251417743636, + -0.005457645658693015, + -0.04878073574619088, + 0.063427775564145, + 0.0 + ], + [ + 0.019246103135143695, + -0.01960964471920424, + 0.005106764669610181, + 0.027958193399898468, + -0.018176980067679236, + 0.06274294077685413, + 0.0 + ], + [ + 0.011441418266174726, + -0.011299983094958464, + 0.005283784682810392, + 0.04587531482578547, + -0.028681143608569642, + 0.07414284824164254, + 0.0 + ], + [ + 0.001121572341747418, + -0.0020339179725077498, + 0.020109475408404923, + -0.015604134438340512, + -0.06324098266442166, + 0.09946195751828274, + 0.0 + ], + [ + 0.008082257989075208, + -0.005476948511530759, + 0.005846889838673706, + 0.013022325351279868, + -0.013016614384160076, + 0.06911247731503498, + 0.0 + ], + [ + 0.002076792242238001, + -0.0012956515452717946, + 0.001043370414082187, + -0.001190576524572919, + -0.006248999672506773, + 8.978881766397544e-05, + 0.0 + ], + [ + 0.0017426250384933503, + 0.005653040878649766, + 0.0037670330700696553, + -0.032931256891869265, + 0.031053190240947232, + -0.006202386070283123, + 0.0 + ], + [ + -0.011408345452501282, + 0.0040137074026558835, + -0.012444032308096676, + -0.009944275895962076, + 0.04191087124927857, + -0.030606968789263812, + 1.0 + ], + [ + -0.00636398926961476, + -0.0004325011293286104, + -0.03921347659430063, + 0.04433539270802432, + 0.10974489539881438, + -0.03206752442482464, + 1.0 + ], + [ + -0.0034748726052297157, + 0.0025914596692088094, + -0.006413127688875583, + -0.00015981788303885702, + 0.021955332614977948, + -0.014537144762654856, + 1.0 + ], + [ + -0.00045733743629797853, + -0.00045007498691589754, + -1.223985400041972e-05, + -0.0004343438691007253, + -0.001448808033975986, + -0.0015201276140397832, + 1.0 + ] + ], + "state": [ + [ + 0.3972216248512268, + -0.08000735938549042, + 0.08505919575691223, + 3.1408449949282264, + -0.09604399651288986, + 0.024505633860826496, + 1.0 + ], + [ + 0.3971363604068756, + -0.08062462508678436, + 0.0856807678937912, + 3.140491220523142, + -0.09753702580928802, + 0.023005837574601173, + 1.0 + ], + [ + 0.3938106298446655, + -0.08038996905088425, + 0.07078780978918076, + -3.1380357189388057, + -0.0625511407852173, + 0.032606136053800576, + 1.0 + ], + [ + 0.3752692937850952, + -0.08270835131406784, + 0.07345051318407059, + 3.128210418979176, + -0.08233363926410676, + 0.05597613006830216, + 1.0 + ], + [ + 0.35190320014953613, + -0.0874800831079483, + 0.11440068483352661, + 3.0945890118652066, + -0.20076924562454224, + 0.05301287397742271, + 1.0 + ], + [ + 0.32273608446121216, + -0.07954291254281998, + 0.11030561476945877, + 3.1155426931851586, + -0.16820968687534332, + 0.07897347211837767, + 1.0 + ], + [ + 0.29929283261299133, + -0.07436276227235794, + 0.08465642482042313, + 3.127209548028656, + -0.0877278745174408, + 0.08825162798166275, + 1.0 + ], + [ + 0.28127866983413696, + -0.048315756022930145, + 0.05738236755132675, + 3.126531319814273, + -0.038664843887090676, + 0.14318247139453888, + 1.0 + ], + [ + 0.27230381965637207, + -0.033645715564489365, + 0.03983836621046066, + -3.109819447743245, + -0.003780479310080408, + 0.15789574384689328, + 1.0 + ], + [ + 0.26237064599990845, + -0.024559875950217247, + 0.02713724970817566, + -3.0747372974925717, + 0.032241091132164, + 0.18210484087467194, + 1.0 + ], + [ + 0.2587945759296417, + -0.029672076925635338, + 0.015839336439967155, + -3.121742935972758, + -0.008762804791331291, + 0.2067316770553589, + 1.0 + ], + [ + 0.25981271266937256, + -0.02994645945727825, + 0.013465769588947296, + 3.12702399876947, + -0.03387586027383804, + 0.2371939867734909, + 1.0 + ], + [ + 0.2633635997772217, + -0.03072470612823963, + 0.013394568115472794, + 3.1134709065132817, + -0.05501512810587882, + 0.24804589152336123, + 1.0 + ], + [ + 0.2644915282726288, + -0.030786072835326195, + 0.01356192585080862, + 3.11467249144847, + -0.05868468061089515, + 0.2553841769695282, + 1.0 + ], + [ + 0.26459163427352905, + -0.03120882250368595, + 0.013970504514873028, + 3.1138417722010097, + -0.05998840183019639, + 0.25849154591560364, + 1.0 + ], + [ + 0.265334814786911, + -0.030818583443760872, + 0.013770011253654957, + 3.113893872248479, + -0.0665803924202919, + 0.26591005921363836, + 1.0 + ], + [ + 0.26652371883392334, + -0.030799178406596184, + 0.013615837320685387, + 3.1104214956336698, + -0.0751001313328743, + 0.2788216471672058, + 1.0 + ], + [ + 0.26728153228759766, + -0.03057897835969925, + 0.013677099719643593, + 3.1095143539183816, + -0.07972813397645952, + 0.2904323637485504, + 0.0 + ], + [ + 0.2684653103351593, + -0.028237152844667435, + 0.01440727710723877, + 3.113966293754526, + -0.08679033070802689, + 0.304154485464096, + 0.0 + ], + [ + 0.26845812797546387, + -0.008257062174379826, + 0.032763514667749405, + 3.1193502751463136, + -0.10268429666757584, + 0.3691677749156952, + 0.0 + ], + [ + 0.2776164710521698, + 0.018571725115180016, + 0.04904119670391083, + 3.0965644997828683, + -0.10945563018321991, + 0.40578508377075195, + 0.0 + ], + [ + 0.3049243092536926, + 0.042723070830106735, + 0.06652523577213287, + 3.0933965315395078, + -0.14161288738250732, + 0.3154125213623047, + 0.0 + ], + [ + 0.3304002583026886, + 0.06711753457784653, + 0.060705650597810745, + 3.098592313128062, + -0.10216087847948074, + 0.21545866131782532, + 0.0 + ], + [ + 0.3511424958705902, + 0.09492090344429016, + 0.052895769476890564, + 3.099857600527354, + -0.05593127757310867, + 0.14996205270290375, + 0.0 + ], + [ + 0.3675747811794281, + 0.11700323224067688, + 0.04806043580174446, + 3.1314401646428784, + -0.04027361795306205, + 0.08647277206182478, + 0.0 + ], + [ + 0.37820950150489807, + 0.12921307981014252, + 0.04312724247574806, + -3.1028516871207437, + -0.012234540656208992, + 0.012066775932908058, + 0.0 + ], + [ + 0.3795418441295624, + 0.1320406198501587, + 0.02312685176730156, + -3.1173745562606534, + 0.05486273765563965, + -0.08480761945247649, + 0.0 + ], + [ + 0.3877466022968292, + 0.1369803100824356, + 0.016979707404971123, + -3.1081850325041493, + 0.06941788643598557, + -0.15374428033828735, + 0.0 + ], + [ + 0.3899290859699249, + 0.13798774778842926, + 0.01583855226635933, + -3.1093666796856603, + 0.0756663978099823, + -0.15362495183944705, + 0.0 + ], + [ + 0.3905053734779358, + 0.1323038935661316, + 0.011770893819630146, + 3.141295832877983, + 0.044428471475839615, + -0.14842404425144193, + 0.0 + ], + [ + 0.3791872560977936, + 0.12994162738323212, + 0.024710524827241898, + 3.1327111535989722, + 0.002505885204300285, + -0.11783142387866974, + 1.0 + ], + [ + 0.3730567693710327, + 0.13145355880260468, + 0.06393443793058395, + -3.1061043721907815, + -0.1069512814283371, + -0.08479607105255127, + 1.0 + ], + [ + 0.3687036335468292, + 0.12899604439735413, + 0.069844551384449, + -3.1077389811449727, + -0.1293983906507492, + -0.0709346979856491, + 1.0 + ], + [ + 0.3682795763015747, + 0.12947671115398407, + 0.06981277465820312, + -3.108377369242259, + -0.12800170481204987, + -0.06935346871614456, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.019751906394958496, + 0.12421530485153198, + 0.39409196376800537, + 0.5824717879295349, + 0.5905163884162903, + 0.5976079404354095, + 0.6098805367946625, + 0.6098805367946625, + 0.6098805367946625, + 0.6098805367946625, + 0.6098805367946625, + 0.6098805367946625, + 0.6098805367946625, + 0.6098805367946625, + 0.5634372532367706, + 0.2640954852104187, + 0.017633140087127686, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "1579", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1579/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/158.json b/annotation/test/158.json new file mode 100644 index 0000000000000000000000000000000000000000..82294af45aa87cf0a26786a889cedc11ad925d71 --- /dev/null +++ b/annotation/test/158.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put pear in bowl" + ], + "videos": [ + { + "video_path": "videos/test/158/rgb.mp4" + } + ], + "action": [ + [ + -0.0016819857286386817, + 0.0006004091821510211, + 0.0016296914296702744, + -0.0017138978778394127, + -0.007413258890291109, + 0.0009726783195886317, + 1.0 + ], + [ + -0.003222723748190078, + 0.0011490448362821135, + 0.011204947384119038, + -0.019005955372637738, + -0.037339368852807225, + -0.012597276628609414, + 1.0 + ], + [ + 0.005388041258044786, + -0.005112110830917951, + 0.012174927831885743, + -0.008944945891241382, + -0.0035156651830746954, + -0.007955362186923198, + 1.0 + ], + [ + -0.001407550514652738, + -0.002599688491480907, + 0.010064637903643137, + -0.01500171398085679, + -0.0023752646241892083, + -0.017501742054835494, + 1.0 + ], + [ + -0.00016543947697941457, + -0.0010357858846569436, + 0.006430784182795243, + -0.0158275855224127, + 0.002075609126057635, + -0.01885944778850463, + 1.0 + ], + [ + 0.00037507455659326695, + 0.0007134424409274442, + 0.007897288866004147, + -0.01182348434282444, + 0.014254548272751705, + -0.010789508043673398, + 1.0 + ], + [ + -0.000326349067423406, + 0.0009411867124954241, + 0.010856519164278766, + -0.016875586444127996, + 0.016720771683472, + -0.00885062339704348, + 1.0 + ], + [ + -0.00098230624974909, + -0.0014396627844419927, + 0.005478892136891872, + -0.009994008371487602, + 0.010458315583177176, + -0.01639245335287426, + 0.0 + ], + [ + -0.0018604808510277, + 0.000908219936750676, + 0.00028534959626824936, + -0.008477432946001577, + -0.001386433527638719, + -0.00980674827253674, + 0.0 + ], + [ + -0.008941657502763213, + 0.002435309091404879, + -0.004875682376946027, + -0.011231793205505857, + -0.04778900188686991, + 0.00937296852575408, + 0.0 + ], + [ + 0.0059684117709678805, + 0.006577817336594674, + -0.020759404759711827, + 0.015384245664081865, + -0.008552132601860381, + 0.015211921364578824, + 0.0 + ], + [ + 0.007689771177637738, + 0.01812041875481985, + -0.033274793202590525, + 0.05437752201737863, + -0.0086918227963588, + 0.00810778814917422, + 0.0 + ], + [ + 0.01141861507721852, + 0.026694423752227324, + -0.03393035311946379, + 0.08862670525354024, + 0.0020127747164544025, + 0.001543511235112342, + 0.0 + ], + [ + 0.012895141022568212, + 0.029705460352463974, + -0.030872897495544983, + 0.06465108479933669, + 0.0011722480240978557, + -0.012895006303057453, + 0.0 + ], + [ + 0.014468711647717417, + 0.020999691035032884, + -0.03004982490663625, + 0.023002690511796275, + 0.009510523527167586, + -0.03251726000722366, + 0.0 + ], + [ + 0.006355668540348514, + 0.01453789910095209, + -0.023217620848512678, + 0.0031418482894455665, + -0.002129618450222161, + -0.04585107910504259, + 0.0 + ], + [ + 0.002657146631589996, + 0.01642955493961283, + -0.024230810851089423, + -0.027814603587997085, + -0.01786205545326801, + -0.06295328226803001, + 0.0 + ], + [ + -0.0037210952769025202, + 0.012032384855862194, + -0.006484968759529219, + -0.043533070932844774, + -0.01910711496724672, + -0.05158825884151062, + 0.0 + ], + [ + -0.007061104742202837, + 0.00809429260416719, + 0.004735422495528496, + -0.036849963491303525, + -0.013758905982828118, + -0.03699763106464321, + 0.0 + ], + [ + -0.0023107816180367147, + 0.0058186566526005346, + -0.005971772300395249, + -0.04651932506858049, + 0.026023913314894807, + -0.01204854691056082, + 0.0 + ], + [ + -0.002276750876436388, + 0.004226435656108682, + 0.0019239770667732717, + -0.026406242360588885, + 0.020639594039393087, + -0.02243392494191363, + 0.0 + ], + [ + -0.002267243170917129, + 0.004625441601122769, + 0.000219705831754224, + -0.0024651275796694723, + 0.019818216324200555, + -0.012061297567681135, + 1.0 + ], + [ + -0.00034505818613654555, + 0.0006302452688804647, + -4.213844432639613e-05, + 0.007396701925270918, + 0.00800756409359077, + -0.01127026057099774, + 1.0 + ] + ], + "state": [ + [ + 0.2780424952507019, + 0.07657598704099655, + -0.00922446046024561, + -2.958968015509196, + -0.22765763103961945, + -0.03152257576584816, + 1.0 + ], + [ + 0.2767815589904785, + 0.07632114738225937, + -0.01127154566347599, + -2.9607670177989682, + -0.22019098699092868, + -0.03112308867275715, + 1.0 + ], + [ + 0.27611708641052246, + 0.07722707092761993, + -0.022933229804039, + -2.9839253296428403, + -0.18568545579910278, + -0.011691314168274403, + 1.0 + ], + [ + 0.28356504440307617, + 0.08410081267356873, + -0.03296682983636856, + -2.994453804688998, + -0.18345585465431213, + -0.0031391335651278496, + 1.0 + ], + [ + 0.28394052386283875, + 0.08814681321382523, + -0.04263768345117569, + -3.0127549936347684, + -0.18364308774471283, + 0.014823793433606623, + 1.0 + ], + [ + 0.2848905920982361, + 0.09001453965902328, + -0.0488073006272316, + -3.0320313220196446, + -0.18809285759925842, + 0.03359119594097138, + 1.0 + ], + [ + 0.2867352366447449, + 0.09023095667362213, + -0.05652528628706932, + -3.045598255591937, + -0.20343364775180814, + 0.04294925183057784, + 1.0 + ], + [ + 0.28861093521118164, + 0.09041537344455719, + -0.06726326048374176, + -3.063955219584056, + -0.2209203541278839, + 0.050334781408309937, + 1.0 + ], + [ + 0.2887311279773712, + 0.09228405356407166, + -0.07269919663667679, + -3.0774519016318997, + -0.23259134590625763, + 0.0662955492734909, + 0.0 + ], + [ + 0.2870624363422394, + 0.09128324687480927, + -0.07346177846193314, + -3.0882712249928197, + -0.23182478547096252, + 0.07644244283437729, + 0.0 + ], + [ + 0.2775053381919861, + 0.08785166591405869, + -0.0709039717912674, + -3.0978517105155667, + -0.18359880149364471, + 0.06952327489852907, + 0.0 + ], + [ + 0.28015395998954773, + 0.08053871989250183, + -0.04970613867044449, + -3.079722797619649, + -0.17436933517456057, + 0.05447220802307129, + 0.0 + ], + [ + 0.2832535207271576, + 0.06053466349840164, + -0.016767947003245354, + -3.0240159576111516, + -0.1651878207921982, + 0.04681340977549553, + 0.0 + ], + [ + 0.2909107208251953, + 0.0303695909678936, + 0.01525831688195467, + -2.9350942095094403, + -0.16700537502765653, + 0.04501948878169059, + 0.0 + ], + [ + 0.3012004494667053, + -0.004607122857123613, + 0.04119257628917694, + -2.8725474198632917, + -0.17078363895416263, + 0.057582929730415344, + 0.0 + ], + [ + 0.3130916953086853, + -0.03220031037926674, + 0.06669820100069046, + -2.8546327372365674, + -0.18852251768112183, + 0.0869193896651268, + 0.0 + ], + [ + 0.3177028298377991, + -0.05239113047719002, + 0.08572111278772354, + -2.860304148989268, + -0.19926325976848602, + 0.13239808380603788, + 0.0 + ], + [ + 0.3195835053920746, + -0.07484958320856094, + 0.10459447652101517, + -2.9018957038694104, + -0.1991330534219742, + 0.19915354251861572, + 0.0 + ], + [ + 0.31795743107795715, + -0.0886724665760994, + 0.10723330825567245, + -2.9567573090367993, + -0.19251225888729093, + 0.25482815504074097, + 0.0 + ], + [ + 0.314174085855484, + -0.09698058664798737, + 0.09985344111919403, + -3.0013008435540875, + -0.18563826382160187, + 0.294402539730072, + 0.0 + ], + [ + 0.31301409006118774, + -0.10422541946172714, + 0.10443878173828125, + -3.0493427907400807, + -0.21308471262454984, + 0.3028816878795624, + 0.0 + ], + [ + 0.31255781650543213, + -0.1085914820432663, + 0.10170430690050125, + -3.080193219827958, + -0.23565758764743805, + 0.3238947093486786, + 0.0 + ], + [ + 0.31204426288604736, + -0.1136196181178093, + 0.1006857380270958, + -3.0852619056873998, + -0.25616440176963806, + 0.3350798487663269, + 1.0 + ], + [ + 0.311935156583786, + -0.11432642489671707, + 0.10060468316078186, + -3.080702269571372, + -0.2647784650325775, + 0.34627103805541987, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.10861486196517944, + 0.3178056478500366, + 0.33485156297683716, + 0.33485156297683716, + 0.33485156297683716, + 0.33485156297683716, + 0.33485156297683716, + 0.33485156297683716, + 0.33485156297683716, + 0.33485156297683716, + 0.33384793996810913, + 0.33485156297683716, + 0.33485156297683716, + 0.33384793996810913, + 0.12159121036529541, + 0.0, + 0.0 + ], + "episode_id": "158", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/158/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1595.json b/annotation/test/1595.json new file mode 100644 index 0000000000000000000000000000000000000000..6907c443374db2866f110c6f407c61dd5e50e918 --- /dev/null +++ b/annotation/test/1595.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "open fridge" + ], + "videos": [ + { + "video_path": "videos/test/1595/rgb.mp4" + } + ], + "action": [ + [ + 5.128609862566184e-06, + 0.000664627026475928, + -9.001897314283418e-05, + -0.0014495531033367698, + 7.548238090968135e-05, + 0.00047253288121851933, + 1.0 + ], + [ + -0.0071341560788038185, + 0.003114953473529984, + 0.007548198001260446, + -0.010270487350929617, + -0.03197599011416199, + 0.009738464795036164, + 1.0 + ], + [ + -0.010192105161897438, + 0.015685081075119355, + -0.008208402221862346, + -0.08595336933532981, + 0.017625212648674133, + 0.11760291694552998, + 1.0 + ], + [ + -0.00506324971958294, + 0.015422398034096807, + -0.018842144710073908, + -0.036026351532409503, + 0.044477647555387016, + 0.06851622251211993, + 1.0 + ], + [ + 0.003463810303856046, + 0.022143674271671236, + -0.010952672615804819, + -0.06030715840737673, + 0.050467430576932405, + 0.08203183481108121, + 1.0 + ], + [ + 0.013433412328104574, + 0.0141305188857181, + -0.0012935734697704703, + -0.006224338897848272, + 0.07632671231763885, + 0.028838287376275366, + 1.0 + ], + [ + 0.0064833422239517395, + 0.009999951963657782, + 0.006713275651903834, + 0.004720745222647807, + 0.020486683992240535, + -0.007030823321994079, + 1.0 + ], + [ + 0.01089691451300282, + 0.0043205033053414395, + 0.012788089682046047, + 0.006670955718136091, + -0.011517346415755012, + -0.02029735784482804, + 1.0 + ], + [ + 0.0058009759171435095, + -8.699412578903818e-05, + 0.009804707192805552, + 0.017489967635238014, + 0.007117999550457918, + -0.015053091342608104, + 1.0 + ], + [ + -0.0037883925175195006, + -0.0014623637544513104, + 0.013262063226636058, + 0.008459345702477222, + -0.028882654739897953, + 0.00237376337615573, + 1.0 + ], + [ + -0.00843618716782911, + 0.005197602826885984, + 0.009149987353247839, + -0.0278037933552615, + 0.024490952364297856, + 0.023117258713581168, + 1.0 + ], + [ + -0.001640682933440366, + 0.0007831358039052185, + 0.004588017379352677, + -0.02325878222856675, + 0.036623170174097636, + 0.034132290442988315, + 0.0 + ], + [ + -0.001879043988260367, + -0.004691371215554469, + -0.0004384182523881189, + -0.06938850355782668, + 0.005423805002112311, + 0.044631351074609436, + 0.0 + ], + [ + 0.0012363304914566552, + -0.0037130910974458096, + -4.375349079204657e-06, + -0.017114674603084284, + 0.01965033491120929, + 0.011569764181984032, + 0.0 + ], + [ + -0.014050422556142174, + -0.004339890766765188, + -0.005039221182638241, + -0.000836101655830566, + -0.04300994235041148, + 0.016883854973650532, + 0.0 + ], + [ + -0.02014711212686085, + -0.005339846137965403, + -0.00864957027858339, + 0.023819442245788365, + -0.06791439069591769, + 0.0003225674995360311, + 0.0 + ], + [ + -0.01975422618638633, + -0.0061185787386352185, + -0.003923116159444392, + 0.02989212365395003, + -0.009354862186900872, + 0.017308498317967012, + 0.0 + ], + [ + -0.01927411260916964, + -0.0021986750346905445, + -0.004317750533059051, + 0.05272230340804021, + -0.010426541940533711, + -0.05946832286938721, + 0.0 + ], + [ + -0.010512559040133308, + 0.01564415662217178, + -0.003019556286336401, + -0.01825733319890109, + -0.037609360963053604, + -0.017887969318504754, + 1.0 + ], + [ + -0.0059840867271706575, + 0.02335650031977125, + -0.0011863491642195771, + -0.05944122736767791, + -0.05161370159033744, + 0.04153786711024766, + 1.0 + ], + [ + 0.0021409393029644857, + 0.018646097389655416, + -0.004173811383973425, + -0.04961956653528515, + -0.03243897911661193, + 0.02816411524069359, + 1.0 + ], + [ + 0.008035639907142837, + 0.025349518901611072, + -0.0006661617817070161, + -0.02780483167253851, + 0.0078049297093138355, + 0.05666127669685913, + 1.0 + ], + [ + 0.009516057856427423, + 0.023583715886105267, + 0.008472323795786631, + -0.061139630343717936, + -0.025107375424001273, + 0.0749785214417168, + 1.0 + ], + [ + 0.0161031258329753, + 0.003104931570160823, + 0.007793209148493748, + 0.013566725902545712, + 0.011901021720561983, + -0.04668676211927658, + 1.0 + ], + [ + 0.018990112503302896, + -0.005668460505295254, + 0.0016995426284074884, + 0.05122263176427212, + 0.05608338359290972, + -0.06581586227314774, + 1.0 + ], + [ + 0.015205319026758356, + -0.013362671200251752, + 0.0002267614818730224, + 0.012094464180563945, + 0.005366365716239789, + -0.05242637515505211, + 1.0 + ], + [ + 0.003133210921581034, + -0.013907326351895566, + -0.0007708694595048575, + 0.06078904655442645, + 0.020189641360791166, + -0.04541489254581953, + 1.0 + ], + [ + -0.011371929585505588, + -0.012189191454421369, + 0.002671750607575895, + 0.05134672781425799, + -0.044956564640188046, + -0.036352257785626015, + 1.0 + ], + [ + -0.021391592345725893, + -0.015163284440300939, + -0.0032249129593980366, + 0.045836575794937044, + -0.0137544322243802, + 0.008670368270517953, + 1.0 + ], + [ + -0.011417174668243683, + -0.013902099113172047, + -0.004252407404833626, + 0.015824362555503183, + -0.026005061096395977, + -0.027345688370176365, + 1.0 + ], + [ + -0.007080271070768031, + -0.029789384868254526, + -0.008434638888003181, + 0.02483196268146047, + -0.013222904349803865, + -0.059099782676921446, + 1.0 + ], + [ + -0.00876758990979036, + -0.03389197229003439, + 0.005474195057487853, + -0.0008613290520235142, + 0.017987435276855347, + -0.02506462037664862, + 1.0 + ], + [ + -0.00407048065409363, + -0.035901983380014935, + 0.00552922289629229, + 0.01616418759684192, + 0.009984313271352416, + -0.045173216370075035, + 1.0 + ], + [ + 0.003795376389089458, + -0.03331908436919629, + 0.012404820920133156, + 0.026313382650251137, + -0.027406461782198663, + -0.043553844914272846, + 1.0 + ], + [ + 0.012570321278199457, + -0.03206735107170185, + 0.009968261563872875, + 0.05762738698937593, + -0.0340072514621657, + -0.0727213798415379, + 1.0 + ], + [ + 0.02466414566951279, + -0.02563245764549828, + 0.005258088835517815, + 0.008703433951329938, + -0.014920907464767324, + -0.08259618570287454, + 1.0 + ], + [ + 0.02561414118723753, + -0.010668962978362635, + -0.0015910094765438046, + -0.0566831830148781, + 0.011400799563755091, + -0.06233705391190643, + 1.0 + ], + [ + 0.02240125638435683, + 0.0032948675072353635, + 0.006910935524441362, + -0.02158927239396507, + -0.035016229681044536, + -0.053062442213943455, + 1.0 + ] + ], + "state": [ + [ + 0.28873252868652344, + 0.1420602798461914, + 0.07624253630638123, + -2.9409082551770886, + -0.20226119458675385, + 0.37218010425567627, + 1.0 + ], + [ + 0.28898885846138, + 0.1414419263601303, + 0.07620019465684891, + -2.9422597904973706, + -0.2022409439086914, + 0.3716920614242553, + 1.0 + ], + [ + 0.284543514251709, + 0.13803623616695404, + 0.06691501289606094, + -2.951773556070872, + -0.16896891593933108, + 0.36843574047088623, + 1.0 + ], + [ + 0.2804758846759796, + 0.11829428374767303, + 0.07022988051176071, + -3.018849404650279, + -0.1629401445388794, + 0.2480218559503555, + 1.0 + ], + [ + 0.27731260657310486, + 0.09932393580675125, + 0.08599797636270523, + -3.042946087318011, + -0.19825658202171326, + 0.17316275835037231, + 1.0 + ], + [ + 0.28294888138771057, + 0.07684415578842163, + 0.09522799402475357, + -3.085962640243121, + -0.23965106904506683, + 0.08409705013036727, + 1.0 + ], + [ + 0.297023743391037, + 0.06379973143339157, + 0.09890803694725037, + -3.0838094038241586, + -0.31412050127983093, + 0.04944948852062225, + 1.0 + ], + [ + 0.3059031069278717, + 0.05463186278939247, + 0.09398788213729858, + -3.080986762540885, + -0.3349734544754028, + 0.05562741309404373, + 1.0 + ], + [ + 0.3206508457660675, + 0.05190959572792053, + 0.08526789397001266, + -3.081594007211276, + -0.3246303796768188, + 0.07773897051811217, + 1.0 + ], + [ + 0.3291904032230377, + 0.053251590579748154, + 0.07784723490476608, + -3.069035308557101, + -0.3326022028923034, + 0.09318426251411438, + 1.0 + ], + [ + 0.32966551184654236, + 0.055726468563079834, + 0.0642082467675209, + -3.0604521875553807, + -0.3036234676837921, + 0.0928981676697731, + 1.0 + ], + [ + 0.3249019980430603, + 0.05082456395030022, + 0.05258125811815262, + -3.080359360324689, + -0.32606154680252075, + 0.06648659706115723, + 1.0 + ], + [ + 0.32486340403556824, + 0.05031998082995415, + 0.04767218977212906, + -3.0911915098601064, + -0.3603023290634155, + 0.0277080200612545, + 0.0 + ], + [ + 0.3227388858795166, + 0.05492621660232544, + 0.047640640288591385, + 3.1394645894230386, + -0.36309224367141724, + -0.02026965469121933, + 0.0 + ], + [ + 0.32397088408470154, + 0.05861509591341019, + 0.04807644709944725, + 3.1267632489376744, + -0.3827417194843292, + -0.03269438445568085, + 0.0 + ], + [ + 0.30923160910606384, + 0.06351365894079208, + 0.04744349420070648, + 3.1328556669228753, + -0.3399261236190796, + -0.05126095935702324, + 0.0 + ], + [ + 0.28767526149749756, + 0.0700419619679451, + 0.04883643612265587, + -3.126213027285882, + -0.2720170021057129, + -0.05221059173345565, + 0.0 + ], + [ + 0.2679117023944855, + 0.07714055478572845, + 0.04739803075790405, + -3.0915481766038617, + -0.26235610246658325, + -0.06998051702976227, + 0.0 + ], + [ + 0.24833697080612183, + 0.08049743622541428, + 0.04667016491293907, + -3.054960312443324, + -0.2544347643852234, + -0.008071943186223507, + 0.0 + ], + [ + 0.2376188188791275, + 0.06473668664693832, + 0.045625537633895874, + -3.078609014051505, + -0.21845689415931702, + 0.013503144495189192, + 1.0 + ], + [ + 0.23215524852275848, + 0.04127591475844383, + 0.04404933750629425, + -3.129621097939559, + -0.1641716510057449, + -0.025167493149638176, + 1.0 + ], + [ + 0.23315086960792542, + 0.022550202906131744, + 0.04829642176628113, + 3.1085243952744683, + -0.1313343346118927, + -0.05316754803061485, + 1.0 + ], + [ + 0.23956415057182312, + -0.0031405529007315636, + 0.050839703530073166, + 3.0882234183424195, + -0.14079725742340088, + -0.1101016253232956, + 1.0 + ], + [ + 0.24729624390602112, + -0.02814362943172455, + 0.045044172555208206, + 3.0379828458004674, + -0.11931120604276657, + -0.18683916330337524, + 1.0 + ], + [ + 0.26315227150917053, + -0.035104382783174515, + 0.03958343341946602, + 3.0459433441334447, + -0.12618544697761536, + -0.1387917399406433, + 1.0 + ], + [ + 0.28284674882888794, + -0.032322052866220474, + 0.03975797817111015, + 3.08820620005066, + -0.17541185021400452, + -0.06690959632396698, + 1.0 + ], + [ + 0.29884016513824463, + -0.020032335072755814, + 0.04148644581437111, + 3.0910450537973126, + -0.17772875726222992, + -0.013428760692477225, + 1.0 + ], + [ + 0.3020989000797272, + -0.006146330386400223, + 0.04210652410984039, + -3.139662323059053, + -0.19540506601333615, + 0.033840164542198174, + 1.0 + ], + [ + 0.29105108976364136, + 0.005680978763848543, + 0.03730068728327751, + -3.0954693054133138, + -0.15038850903511045, + 0.07065816968679427, + 1.0 + ], + [ + 0.2683089077472687, + 0.019107364118099213, + 0.037972114980220795, + -3.048415998118468, + -0.13624407351016998, + 0.06255694478750229, + 1.0 + ], + [ + 0.25542977452278137, + 0.03177312761545181, + 0.041897617280483246, + -3.036652924614497, + -0.11283568292856215, + 0.09238477796316147, + 1.0 + ], + [ + 0.24448268115520477, + 0.059623993933200836, + 0.05253581330180168, + -3.0188098197155675, + -0.10566741973161697, + 0.15287922322750092, + 1.0 + ], + [ + 0.2307748645544052, + 0.09222400188446045, + 0.05033615976572037, + -3.022093357639857, + -0.12656164169311523, + 0.1757303774356842, + 1.0 + ], + [ + 0.220602348446846, + 0.127290740609169, + 0.048622310161590576, + -3.0116029401593885, + -0.14173690974712375, + 0.2198300659656525, + 1.0 + ], + [ + 0.21781453490257263, + 0.16216810047626495, + 0.04125727713108063, + -2.9920308609777173, + -0.12004978954792024, + 0.266894668340683, + 1.0 + ], + [ + 0.2216845601797104, + 0.1976393312215805, + 0.03772048279643059, + -2.944014759855815, + -0.09689057618379594, + 0.3442048132419586, + 1.0 + ], + [ + 0.23597478866577148, + 0.2305583506822586, + 0.03998278081417084, + -2.9441411664062223, + -0.09811142086982728, + 0.42852672934532166, + 1.0 + ], + [ + 0.2546178996562958, + 0.2502337694168091, + 0.046127259731292725, + -3.0069667418771466, + -0.12134154886007309, + 0.48784321546554565, + 1.0 + ], + [ + 0.2761356234550476, + 0.2590053677558899, + 0.041601765900850296, + -3.035654978948184, + -0.09356077015399933, + 0.5453506112098694, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.03127884864807129, + 0.2799156904220581, + 0.5716392397880554, + 0.7607811689376831, + 0.7561112940311432, + 0.7410779595375061, + 0.7410779595375061, + 0.6912181377410889, + 0.4240577816963196, + 0.13480466604232788, + 0.0, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938 + ], + "episode_id": "1595", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1595/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1599.json b/annotation/test/1599.json new file mode 100644 index 0000000000000000000000000000000000000000..a08234362caf8aa917ccd08c2bbb236d2f71c881 --- /dev/null +++ b/annotation/test/1599.json @@ -0,0 +1,945 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Place the blue brush behind the red strawberry" + ], + "videos": [ + { + "video_path": "videos/test/1599/rgb.mp4" + } + ], + "action": [ + [ + -0.00021395126951123707, + -0.000495317449027115, + 0.0003827984098860967, + -0.00046792141646706157, + -0.0011650703393317472, + -0.0017688435345855943, + 1.0 + ], + [ + -0.0017994137588319126, + 0.0006433564049766463, + 0.00703583993212636, + -0.012387489010241056, + -0.02312950250071898, + -0.007192421597162461, + 1.0 + ], + [ + 0.004816653315903306, + 0.01828503647820516, + 0.004855352929604435, + -0.01273881696719292, + -0.01398169743050571, + 0.03095361997014506, + 1.0 + ], + [ + 0.006441665426501348, + 0.0201904607728355, + 0.0035866165145308922, + -0.008210545240566372, + -0.011606299793700522, + 0.04389596377255485, + 1.0 + ], + [ + 0.012764092194822576, + 0.02426426062355968, + 0.012777258267384252, + 0.018842024395154346, + -0.011843949534612994, + 0.036692241244197434, + 1.0 + ], + [ + 0.008433903855381135, + 0.01152902373426739, + 0.021945245923848406, + 0.09806837620852925, + -0.047978979139432235, + -0.06792997282686733, + 1.0 + ], + [ + 0.012359148743103496, + -0.005430146742149032, + 0.016643561674699936, + 0.014502427465520612, + -0.023237252844076014, + -0.07438928558088272, + 1.0 + ], + [ + 0.01896801652165578, + -0.005472891208910642, + 0.01102663793098296, + 0.012287135384565223, + 0.016122037836455584, + -0.04048601883061366, + 1.0 + ], + [ + 0.015048962614610239, + -0.000514864964889695, + 0.009925896287935464, + -0.06979706019385139, + 0.06591614145398034, + 0.05367675540336326, + 1.0 + ], + [ + 0.005112023382341577, + 0.015921578121714387, + 0.0049533231051997265, + -0.041870717000233246, + 0.051355454336130625, + 0.10515550016036265, + 1.0 + ], + [ + -0.0029363234127302747, + 0.02198910771660119, + 0.004018237357350929, + -0.011024866163559752, + -0.03122928086356635, + 0.08607222669579037, + 1.0 + ], + [ + 0.00023276046126415045, + 0.01876670318768705, + -0.006667555007401093, + -0.0020362620943745868, + -0.01677691487316714, + 0.05467068334842064, + 1.0 + ], + [ + -0.00042376768113796664, + 0.014420394233693718, + 0.0019362081766532066, + 0.01274296786845992, + -0.028508834044753482, + 0.03402759511894475, + 1.0 + ], + [ + -0.006789615989300028, + 0.0012309527344540323, + 0.005717151527960475, + 0.0506899619319293, + -0.03625111797980164, + 0.013094154411495805, + 1.0 + ], + [ + -0.007178460066823275, + -0.0017223225073106916, + 0.0073626953534552154, + 0.022773368388284785, + -0.016758526405306066, + -0.0074097577818106955, + 1.0 + ], + [ + -0.005863413297234952, + 0.000751943711008561, + 0.008524739277942346, + 0.006263110371107269, + -0.0012828142714607, + -0.029636450401250635, + 1.0 + ], + [ + -0.008448331125724746, + 0.0045828767921781335, + 0.012493655770976272, + 0.02918438693147013, + 0.01340784609102413, + -0.0965007598032188, + 1.0 + ], + [ + -0.002030558993671119, + 6.779634395278163e-05, + 0.0014289465898085325, + 0.0005376813192840126, + 0.004665991825911518, + -0.13215732080864973, + 1.0 + ], + [ + 0.003400665266217944, + 0.0020655484361694026, + -0.004103963710846461, + -0.003309579892080118, + -0.0004456871444905021, + -0.08794916712212462, + 1.0 + ], + [ + 0.0031596086508147297, + 0.0018410862004790646, + -0.0038463769241916124, + -0.009242924572916426, + -0.00020526458730133317, + -0.023567699098064665, + 1.0 + ], + [ + 0.009384800588537674, + -0.00437899244868131, + -0.011761722775257976, + -0.004454154945883262, + 0.014466237876577377, + -0.025022698196288443, + 1.0 + ], + [ + 0.010221957425661279, + -0.001170224448384927, + -0.013943577570711187, + -0.009080826994146822, + 0.019907780734067917, + -0.031167546954095092, + 1.0 + ], + [ + 0.01048974374825146, + 0.00675750471895927, + -0.0057656253007603245, + -0.02860633692042732, + 0.011422589169080555, + -0.004818977594592887, + 1.0 + ], + [ + 0.0007649368170586911, + 0.010834727522263924, + 0.00905810693590675, + -0.006023874493535166, + -0.0420936336804663, + 0.03461726378381187, + 1.0 + ], + [ + -0.00421535738822198, + 0.007240788799659907, + 0.007248372750190216, + -0.016445936472948168, + -0.0521237650886481, + 0.04647209988766526, + 1.0 + ], + [ + -0.008869792301968334, + -0.004509388184177466, + 0.015574625778967042, + -0.026253923433765217, + 7.138446658090534e-06, + 0.050160987768595185, + 1.0 + ], + [ + -0.002531250310352018, + -0.008018791616468648, + 0.006188604719365924, + 0.01092661478455728, + -0.02599417458907431, + 0.007396025215631325, + 1.0 + ], + [ + -0.003490325721147728, + -0.0008184981859540588, + 0.0050984209643101155, + 0.015023553804664533, + -0.0030194660106699273, + -0.0028454353880948513, + 1.0 + ], + [ + -0.0021706989263860963, + -0.00073437985682262, + 0.0034769812795566128, + 0.00559091793981979, + 0.0016997126285171946, + -0.0035271848940849593, + 1.0 + ], + [ + -0.001630990702381971, + -0.0004942811278650761, + 0.001959582237692367, + 0.0015482488756126244, + 0.001639836040821941, + -0.013446278394027362, + 1.0 + ], + [ + -0.0013847459226324595, + 0.001251176222717059, + 0.000730495132395119, + -0.0006323469522563136, + 0.01665594506713371, + -0.0005375688325849165, + 1.0 + ], + [ + -0.0007749162910949887, + 0.0002470982019100461, + -0.0009159362047652602, + -0.0010205044045216427, + -0.009261298046654216, + 0.01770782815716462, + 0.0 + ], + [ + -0.0016902773432452463, + -0.0037972440861587147, + -0.001310384482886517, + -0.008253602066162952, + -0.011648545891899198, + 0.0030477271742032513, + 0.0 + ], + [ + -0.003504935070068734, + -0.015787457945224393, + -0.0034453255778383774, + -0.01878989763055755, + -0.03608598987887722, + -0.02327981795302153, + 0.0 + ], + [ + 0.0032226009668751463, + -0.01406277849753542, + -0.027193237716243004, + -0.022336553981778265, + 0.03655605419568579, + -0.00984652477411666, + 0.0 + ], + [ + 0.0001879079699869671, + -0.029979800590465355, + -0.02062791527301993, + 0.006328224948453906, + 0.018962241545823426, + -0.047366642926654406, + 0.0 + ], + [ + 0.00014515237727627832, + -0.046182020515190374, + -0.010007457258260874, + 0.024359977477131558, + 0.019203992612612585, + -0.07502924193647993, + 0.0 + ], + [ + -0.00375918005090219, + -0.04513632607637646, + -0.0059882643941496115, + 0.04515709482750776, + 0.009807265378360783, + -0.07522579458292768, + 0.0 + ], + [ + -0.002671670781036285, + -0.055656936254634554, + 0.014717001547194042, + -0.008815116067644516, + -0.01563863236751625, + -0.09474029595285509, + 0.0 + ], + [ + -0.0025802732224249948, + -0.012706770250353779, + 0.02921063870607965, + 0.005427056962971534, + -0.027353021450825424, + 0.010145323118436557, + 0.0 + ], + [ + 0.000785423620239558, + -0.005695451350648389, + 0.007184821031712816, + -0.003475527330715206, + 0.024054412697784786, + -0.007441959175852031, + 0.0 + ], + [ + -0.002809575294436121, + 0.008377516094817036, + -0.0009628494649741662, + -0.006684228919300139, + 0.007818350059042417, + 0.021238543055572906, + 0.0 + ], + [ + -0.0018233183963855828, + 0.020689251454779876, + -0.03569695675733894, + 0.01050788592766093, + 0.04697151258491422, + 0.03858418722638222, + 0.0 + ], + [ + 0.0034817078274900657, + 0.009584837790167567, + -0.057483992319908854, + 0.09158832862796318, + 0.1559692379473275, + 0.039122407580848555, + 1.0 + ], + [ + 0.010303176333739143, + 0.015157604949084467, + -0.03990942341442537, + -0.020087565980589674, + 0.043390870505509264, + 0.044600407358415514, + 1.0 + ], + [ + 0.010431999305855925, + 0.032353003675307204, + -0.012607751716986023, + -0.10233772695931943, + -0.02388292085933831, + 0.09632836243032274, + 1.0 + ], + [ + -0.0012119561562812312, + 0.022982368755713835, + 0.008629548696357504, + -0.0725669677991861, + -0.0383180321083869, + 0.06913803968186119, + 1.0 + ], + [ + -0.004203778002515019, + 0.004467788335899823, + 0.006132959598580578, + -0.03444842771476458, + -0.04251533337234727, + 0.031414569064441886, + 1.0 + ] + ], + "state": [ + [ + 0.28416529297828674, + 0.10736832767724991, + 0.13743770122528076, + 3.0285924841933927, + -0.15591834485530853, + -0.03374402970075608, + 1.0 + ], + [ + 0.28403690457344055, + 0.10782191157341003, + 0.1369735598564148, + 3.0278690626197537, + -0.15456104278564453, + -0.03209822252392769, + 1.0 + ], + [ + 0.28327807784080505, + 0.10640791803598404, + 0.12986162304878235, + 3.014750229316302, + -0.13076320290565488, + -0.027539771050214764, + 1.0 + ], + [ + 0.287861704826355, + 0.08752218633890152, + 0.12800779938697815, + 3.0063306858115872, + -0.12073957920074463, + -0.06024939939379692, + 1.0 + ], + [ + 0.29311105608940125, + 0.06667859107255936, + 0.12795855104923248, + 3.003710614638873, + -0.11503352224826811, + -0.10560782253742218, + 1.0 + ], + [ + 0.304065465927124, + 0.0395827554166317, + 0.12016423791646957, + 3.0270258878641805, + -0.10826068371534348, + -0.14380182325839996, + 1.0 + ], + [ + 0.31255295872688293, + 0.02424599602818489, + 0.10071200877428055, + 3.1184781977259597, + -0.05262792110443115, + -0.08180384337902069, + 1.0 + ], + [ + 0.326144814491272, + 0.028192590922117233, + 0.08462073653936386, + 3.1291555065014443, + -0.027535784989595413, + -0.007965035736560822, + 1.0 + ], + [ + 0.3454529643058777, + 0.033374298363924026, + 0.0740533247590065, + 3.140330480998852, + -0.04313039779663085, + 0.032751135528087616, + 1.0 + ], + [ + 0.360891193151474, + 0.03438270464539528, + 0.06478488445281982, + 3.072855981188365, + -0.10905206203460692, + -0.021045513451099396, + 1.0 + ], + [ + 0.36604902148246765, + 0.018046358600258827, + 0.06151602417230606, + 3.042420694726058, + -0.16693058609962463, + -0.12370039522647858, + 1.0 + ], + [ + 0.36072707176208496, + -0.003742390312254429, + 0.059232089668512344, + 3.04661692132289, + -0.14370483160018918, + -0.2133364677429199, + 1.0 + ], + [ + 0.35595256090164185, + -0.021176576614379883, + 0.06759586930274963, + 3.0528046136074742, + -0.1319587677717209, + -0.2698379456996918, + 1.0 + ], + [ + 0.3517553508281708, + -0.03509669378399849, + 0.06689585745334625, + 3.070388788478919, + -0.10649109631776808, + -0.3064543306827545, + 1.0 + ], + [ + 0.34539464116096497, + -0.03479847311973572, + 0.06059090793132782, + 3.122707214327999, + -0.07125037163496017, + -0.32212522625923157, + 1.0 + ], + [ + 0.33960312604904175, + -0.031196745112538338, + 0.05270472541451454, + -3.138212520517879, + -0.05435311421751976, + -0.315023809671402, + 1.0 + ], + [ + 0.33425289392471313, + -0.03021378628909588, + 0.043871548026800156, + -3.1335632001333913, + -0.053146570920944214, + -0.2853412926197052, + 1.0 + ], + [ + 0.3255345821380615, + -0.032327596098184586, + 0.030910400673747063, + -3.1095394027703485, + -0.06708050519227982, + -0.18874257802963257, + 1.0 + ], + [ + 0.32363462448120117, + -0.031987037509679794, + 0.029347123578190804, + -3.118123758705803, + -0.07538292557001114, + -0.056427866220474236, + 1.0 + ], + [ + 0.3265934884548187, + -0.03431890904903412, + 0.033646080642938614, + -3.128157613920518, + -0.07670672982931138, + 0.03176752105355263, + 1.0 + ], + [ + 0.3295096457004547, + -0.03611978888511658, + 0.03769826516509056, + -3.1392155190748205, + -0.07679673284292221, + 0.05540553480386735, + 1.0 + ], + [ + 0.3377096951007843, + -0.03130728751420975, + 0.05015568062663078, + 3.137590190982916, + -0.09129835665225983, + 0.08049566298723221, + 1.0 + ], + [ + 0.3464908301830292, + -0.02936890721321106, + 0.06496836245059967, + 3.125644501420208, + -0.111036479473114, + 0.11193013936281204, + 1.0 + ], + [ + 0.35694849491119385, + -0.034900132566690445, + 0.07196720689535141, + 3.096479049074002, + -0.122379370033741, + 0.11696802824735643, + 1.0 + ], + [ + 0.3600511848926544, + -0.04584503918886185, + 0.06356434524059296, + 3.094912478821822, + -0.08180797845125197, + 0.08039528876543045, + 1.0 + ], + [ + 0.35703375935554504, + -0.0536838173866272, + 0.05634036660194397, + 3.082451382773467, + -0.03181125223636627, + 0.03157830610871315, + 1.0 + ], + [ + 0.3485625386238098, + -0.05036868900060654, + 0.04025232419371605, + 3.057864586012908, + -0.03474210575222969, + -0.01852474734187126, + 1.0 + ], + [ + 0.3464091420173645, + -0.04285436496138573, + 0.03333098813891411, + 3.06909819890792, + -0.009455950930714607, + -0.028066532686352726, + 1.0 + ], + [ + 0.3429815173149109, + -0.04231089726090431, + 0.028153900057077408, + 3.0840969031029424, + -0.006238285917788744, + -0.025447236374020576, + 1.0 + ], + [ + 0.34084704518318176, + -0.04172303155064583, + 0.024626990780234337, + 3.089665537821599, + -0.007732463069260121, + -0.02182810381054878, + 1.0 + ], + [ + 0.3392403721809387, + -0.04129595682024956, + 0.022631842643022537, + 3.091113971667834, + -0.008671491406857967, + -0.008314339444041252, + 1.0 + ], + [ + 0.33785080909729004, + -0.04257088899612427, + 0.02195342630147934, + 3.090462716417857, + -0.02527908608317375, + -0.006936714984476566, + 1.0 + ], + [ + 0.3370513319969177, + -0.042765311896800995, + 0.02286091074347496, + 3.0899074618988713, + -0.016930678859353065, + -0.02509663626551628, + 0.0 + ], + [ + 0.33543986082077026, + -0.03886377438902855, + 0.023944595828652382, + 3.0817124118381223, + -0.005455028265714645, + -0.028741920366883278, + 0.0 + ], + [ + 0.33238163590431213, + -0.022803908213973045, + 0.02641979791224003, + 3.0627817531400403, + 0.03196054324507713, + -0.007667809259146452, + 0.0 + ], + [ + 0.3365572690963745, + -0.006675418000668287, + 0.05230521783232689, + 3.0408044328265866, + -0.003709381213411689, + 0.005019256379455327, + 0.0 + ], + [ + 0.33652010560035706, + 0.0252279881387949, + 0.06981252878904343, + 3.0470542033487042, + -0.01780698820948601, + 0.054054673761129386, + 0.0 + ], + [ + 0.3340303599834442, + 0.07208238542079926, + 0.07541751861572266, + 3.070312591391154, + -0.02979760244488716, + 0.1305863857269287, + 0.0 + ], + [ + 0.32430529594421387, + 0.11664362996816635, + 0.0780627578496933, + 3.1134154592924794, + -0.034142125397920615, + 0.2063618749380112, + 0.0 + ], + [ + 0.3109211027622223, + 0.17025898396968842, + 0.06170183792710304, + 3.101508645462342, + -0.015692930668592453, + 0.3006219267845154, + 0.0 + ], + [ + 0.3054889440536499, + 0.18064209818840027, + 0.031968627125024796, + 3.1070995127135, + 0.01123255677521229, + 0.2893917858600616, + 0.0 + ], + [ + 0.30460861325263977, + 0.18606047332286835, + 0.024583308026194572, + 3.103708045678683, + -0.012551286257803438, + 0.29765731096267695, + 0.0 + ], + [ + 0.30435195565223694, + 0.1772633194923401, + 0.025827405974268913, + 3.0972936545782765, + -0.021165641024708748, + 0.27672615647315985, + 0.0 + ], + [ + 0.30706873536109924, + 0.15819185972213745, + 0.06235877424478531, + 3.1085555796795568, + -0.06978527456521988, + 0.24021427333354947, + 0.0 + ], + [ + 0.3083570897579193, + 0.15059952437877655, + 0.12023016065359116, + -3.081002017604657, + -0.22692011296749115, + 0.2058408707380295, + 1.0 + ], + [ + 0.31319960951805115, + 0.13368578255176544, + 0.16046877205371857, + -3.090106753753968, + -0.26727268099784857, + 0.15699945390224457, + 1.0 + ], + [ + 0.3254406750202179, + 0.10225418955087662, + 0.1737620085477829, + 3.116293955715843, + -0.23724712431430817, + 0.05931666120886803, + 1.0 + ], + [ + 0.32752725481987, + 0.0791439339518547, + 0.16565710306167603, + 3.060564490156718, + -0.20010048151016233, + -0.01214813347905874, + 1.0 + ], + [ + 0.32449060678482056, + 0.07423093169927597, + 0.15918506681919098, + 3.0330876057320317, + -0.1601453572511673, + -0.04732358828186989, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.061691224575042725, + 0.3058019280433655, + 0.5698221921920776, + 0.6611760556697845, + 0.6627950072288513, + 0.6668240427970886, + 0.675596296787262, + 0.6763874590396881, + 0.6779666841030121, + 0.7500266283750534, + 0.9074680432677269, + 0.9427080601453781, + 0.9194417595863342, + 0.767357349395752, + 0.49569541215896606, + 0.2096758484840393, + 0.0011776089668273926, + 0.0, + 0.0 + ], + "episode_id": "1599", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1599/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1637.json b/annotation/test/1637.json new file mode 100644 index 0000000000000000000000000000000000000000..5480276a556448eba4d8a1e89c3ae73d7c041685 --- /dev/null +++ b/annotation/test/1637.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Put the spoon on top of the napkin." + ], + "videos": [ + { + "video_path": "videos/test/1637/rgb.mp4" + } + ], + "action": [ + [ + -0.0002415118402627786, + 2.9034252071205184e-05, + -1.732351590376782e-07, + -0.00018077112971832287, + -0.0015232929162453022, + -0.0015338446574246392, + 1.0 + ], + [ + -0.001083492223768986, + -0.0005253492479731941, + 0.007101207292582306, + -0.002303870956957135, + -0.027416670295843822, + -0.009821454746523555, + 1.0 + ], + [ + 0.006392383796082749, + -0.0001265737254449513, + -0.01413387874693813, + 0.03268860619452785, + 0.015482887036487075, + -0.044959325928009136, + 1.0 + ], + [ + -0.0015757380116547953, + -0.014127493017371094, + -0.006291818196271223, + 0.004276221213131541, + 0.0028135841811871144, + -0.040430514564512215, + 1.0 + ], + [ + -0.015911415011026695, + -0.037644709625083, + -0.001184651874004894, + 0.06359077144650617, + 0.012686423495368075, + -0.03711819338142315, + 1.0 + ], + [ + -0.02353115866667434, + -0.029189918193288353, + 0.025775245356878498, + 0.06479788091052188, + -0.062100141351190526, + 0.03235580550564914, + 1.0 + ], + [ + -0.016556964631571785, + -0.00934721913205982, + 0.02334472314515804, + 0.01875007242944588, + -0.033341289403090044, + 0.015943191967105048, + 1.0 + ], + [ + -0.006824252781431227, + -0.0031466649384054063, + 0.02724731691109575, + -0.01831065274175115, + 0.017039292809836556, + -0.045572192229290126, + 1.0 + ], + [ + 0.005267393431025107, + -0.006206254635573728, + 0.025711605613301353, + -0.001257736972727571, + -0.02098977968471931, + -0.06145521332826703, + 1.0 + ], + [ + 0.004013026279089968, + -0.0009391946504848966, + 0.02915351003907828, + -0.00018603916512051919, + -0.06453266373605251, + -0.07189184020287998, + 1.0 + ], + [ + 0.002444933309184406, + 0.0023725501442275723, + 0.013340522288985196, + -0.0173047941293707, + -0.0399892775312111, + -0.017640888517836184, + 1.0 + ], + [ + 0.0009848170585928327, + 0.002292158492633335, + 0.0029137279358270483, + 0.006758139732747074, + -0.004539830753540838, + 0.0016436473877632768, + 1.0 + ], + [ + -0.0003076204573797551, + 0.002841057107913237, + 0.007789133972427803, + -0.0032917106593354376, + -0.01622181620497077, + 0.0021200434594497043, + 1.0 + ], + [ + -0.0019242456635517856, + 0.0015550688768699319, + 0.010692665381356624, + -0.008374541938381464, + -0.03321354975981488, + -0.004936739765681081, + 1.0 + ], + [ + 0.005460751823576237, + 0.0010328054569668898, + 0.005863766031701947, + -0.007473739140116759, + -0.019410037891678104, + 0.001802618516930251, + 1.0 + ], + [ + 0.003876118413009516, + 0.0004955080537651188, + 0.00032162548611434433, + 0.0029117574564649067, + -0.0015562170324097218, + 0.0017050003175948624, + 1.0 + ], + [ + 0.0009556287677883454, + 0.003669179294785857, + 0.0003868710169717776, + 0.005116706397242168, + 0.00034150093670144065, + 0.0059353477769179975, + 1.0 + ], + [ + -0.0018066326360918214, + 0.0032143486619684723, + -0.0012526608744181404, + 0.015142469171673336, + 0.007998164707190388, + 0.003027151423863676, + 0.0 + ], + [ + -0.004683316469356071, + 0.0005125025276765383, + -0.002621812715178255, + 0.012593402342650521, + 0.011075252918716971, + -0.005501669497100587, + 0.0 + ], + [ + -0.008084132749129912, + 0.0029604207385493784, + -0.04831202517037299, + -0.031123061845180162, + 0.10978808882469905, + -0.032751486182590106, + 0.0 + ], + [ + -0.004223666086329444, + 0.011225473766550222, + -0.04733314506990476, + -0.018734266357379476, + 0.09758521365495089, + -0.0022143035865442536, + 0.0 + ], + [ + 0.011074731572871603, + 0.03505465870294749, + -0.02862086317067188, + -0.011187438895642323, + 0.041399761441369656, + 0.050638103231249135, + 0.0 + ], + [ + 0.006138590897768001, + 0.045759385725329345, + 0.004773937088928971, + -0.033271005317538786, + -0.03140570735897268, + 0.09042012543428353, + 0.0 + ], + [ + -0.0007689769155491816, + 0.03512313809967359, + 0.016063601775093653, + 0.0005010189877261539, + -0.05992941509445275, + 0.044517725503614713, + 0.0 + ], + [ + 0.0007439130210424165, + 0.015802097655392006, + 0.02079028916584732, + 0.008439353388303662, + -0.0638070879415165, + -0.02255303750522344, + 0.0 + ], + [ + -0.0017140854226936522, + 0.0013631216718499406, + 0.02134370505752383, + 0.014931518822765761, + -0.06776054830912225, + -0.026250946933087466, + 0.0 + ], + [ + 0.002215263089695888, + -0.01767956602244627, + 0.013948999555021303, + 0.01758366910534439, + -0.03006715960576921, + -0.04795326514829787, + 0.0 + ], + [ + 0.002639045479518916, + -0.00987680730650274, + 0.016304923594508046, + 0.02000399651968155, + -0.03439366504369221, + -0.008095131765641542, + 0.0 + ], + [ + 0.0029336292921506436, + -0.005691647808501411, + 0.02047218995825814, + 0.029464630014333065, + -0.058881105177337044, + 0.01078636182791827, + 0.0 + ], + [ + 0.0006923292947237262, + 0.0005480557413684359, + 0.003428093544680996, + 0.0023444313016036094, + -0.013684562610115684, + 0.005806313423165902, + 0.0 + ], + [ + -0.0027001034234299054, + 0.0021587867248274695, + -0.0003944331817549124, + -0.010803192781479226, + -0.01703134662109063, + 0.024698262020804662, + 0.0 + ], + [ + -0.005927866769923042, + -0.004281858200155558, + -0.03575103293625964, + -0.014692093318297756, + 0.09127081563151439, + -0.014077346960191417, + 1.0 + ], + [ + -0.006919989351482379, + -0.018301279826987395, + -0.05111150790256492, + -0.017376848245073656, + 0.1365835445400256, + -0.0312255828620074, + 1.0 + ], + [ + -0.006952926368654848, + -0.032035116523677375, + -0.051117600215813394, + -0.008844235464188669, + 0.1391888182836643, + -0.06524326623407829, + 1.0 + ], + [ + -0.0007192259988844705, + -0.002843568208135775, + -0.006943459043688039, + -0.01644444304350203, + 0.017296108548571686, + 0.017195857954640154, + 1.0 + ], + [ + 0.0014943360027687876, + -0.0007811974476516926, + -0.0006728902145099638, + -0.019958780255255205, + -0.003726536813910712, + 0.033305251772441, + 1.0 + ], + [ + 0.004231306547402079, + 0.0008918746187417966, + 0.009361036841699106, + -0.022377656220676685, + -0.051007665617752905, + 0.0533457685541191, + 1.0 + ], + [ + 0.0005365671200290449, + -0.0012731986374398543, + -0.0007193355075648725, + 0.00047477586410564346, + 0.001517024896629175, + 0.0030733067579097805, + 1.0 + ] + ], + "state": [ + [ + 0.29339799284935, + -0.020846009254455566, + 0.1701558232307434, + 3.0676277076178273, + -0.16820652782917025, + -0.11457711458206178, + 1.0 + ], + [ + 0.29315775632858276, + -0.020847495645284653, + 0.17011767625808716, + 3.0672063549333295, + -0.1665738821029663, + -0.11314014345407486, + 1.0 + ], + [ + 0.29326874017715454, + -0.020863980054855347, + 0.16291597485542297, + 3.0635782574587545, + -0.13849811255931854, + -0.10531193763017654, + 1.0 + ], + [ + 0.2977606952190399, + -0.020104236900806427, + 0.17774467170238495, + 3.0899156165593347, + -0.15028338134288788, + -0.05876191332936287, + 1.0 + ], + [ + 0.2962230145931244, + -0.005555189214646816, + 0.18299983441829681, + 3.088099157559224, + -0.15088106691837308, + -0.017774192616343498, + 1.0 + ], + [ + 0.2812888026237488, + 0.0323704332113266, + 0.1797877997159958, + -3.1372080986672124, + -0.1614567339420319, + 0.020464232191443443, + 1.0 + ], + [ + 0.26159098744392395, + 0.061276063323020935, + 0.15069156885147095, + -3.067221889393874, + -0.09913237392902374, + -0.011714665219187737, + 1.0 + ], + [ + 0.247481107711792, + 0.07249806821346283, + 0.12657813727855682, + -3.0471060668402394, + -0.0646897703409195, + -0.025155922397971153, + 1.0 + ], + [ + 0.2425505369901657, + 0.0783272385597229, + 0.09936419874429703, + -3.068332316475459, + -0.08588917553424835, + 0.018759137019515038, + 1.0 + ], + [ + 0.24980655312538147, + 0.08653635531663895, + 0.07472053170204163, + -3.0751174335652074, + -0.06928125768899918, + 0.08172623068094254, + 1.0 + ], + [ + 0.25556468963623047, + 0.08989129960536957, + 0.04604123905301094, + -3.080614572512456, + -0.009462402202188969, + 0.15760821104049683, + 1.0 + ], + [ + 0.25834909081459045, + 0.08875913172960281, + 0.03260466456413269, + -3.0980725419991693, + 0.029379453510046005, + 0.1776476204395294, + 1.0 + ], + [ + 0.2596132159233093, + 0.08678828179836273, + 0.029566342011094093, + -3.0913564582639417, + 0.03398646414279938, + 0.1762022227048874, + 1.0 + ], + [ + 0.25947433710098267, + 0.08427873998880386, + 0.021659398451447487, + -3.0946859178417405, + 0.050294242799282074, + 0.17489802837371826, + 1.0 + ], + [ + 0.25723251700401306, + 0.08281432092189789, + 0.01101591344922781, + -3.1027081814878663, + 0.08323870599269867, + 0.18140625953674316, + 1.0 + ], + [ + 0.2622476816177368, + 0.0829167291522026, + 0.004682834725826979, + -3.1102620904617986, + 0.10270410031080249, + 0.1803543120622635, + 1.0 + ], + [ + 0.2660938799381256, + 0.08312483876943588, + 0.003950227051973343, + -3.1075209846072873, + 0.10431282222270966, + 0.17868985235691068, + 1.0 + ], + [ + 0.26762619614601135, + 0.07968860864639282, + 0.003341867122799158, + -3.1030271110408982, + 0.10417185723781586, + 0.17271392047405243, + 1.0 + ], + [ + 0.26653191447257996, + 0.07618821412324905, + 0.0046514105051755905, + -3.0882318412237844, + 0.09629577398300171, + 0.16936522722244265, + 0.0 + ], + [ + 0.26229235529899597, + 0.07480216771364212, + 0.007680441252887249, + -3.0751626809411725, + 0.08494169265031813, + 0.17428576946258548, + 0.0 + ], + [ + 0.259439080953598, + 0.06804411858320236, + 0.056202154606580734, + -3.1037518588178834, + -0.02680429071187973, + 0.19950096309185028, + 0.0 + ], + [ + 0.2566472589969635, + 0.05420827493071556, + 0.1029466986656189, + -3.1222649180614432, + -0.12440316379070282, + 0.19800563156604764, + 0.0 + ], + [ + 0.271026074886322, + 0.020782427862286568, + 0.1320430040359497, + -3.126995340111204, + -0.1646507978439331, + 0.14591436088085175, + 0.0 + ], + [ + 0.28454214334487915, + -0.023406783118844032, + 0.12768138945102692, + 3.1377196860318115, + -0.13126224279403687, + 0.05522655323147774, + 0.0 + ], + [ + 0.28780460357666016, + -0.05846523866057396, + 0.11179030686616898, + -3.1390975866285196, + -0.07137450575828551, + 0.010442839004099369, + 0.0 + ], + [ + 0.29019641876220703, + -0.07419129461050034, + 0.09106674045324326, + -3.1322734049805483, + -0.007605527061969042, + 0.033109694719314575, + 0.0 + ], + [ + 0.2886841893196106, + -0.07540617883205414, + 0.06969884037971497, + -3.1175286175035914, + 0.05991021543741226, + 0.05997867137193679, + 0.0 + ], + [ + 0.2890039086341858, + -0.057344451546669006, + 0.05607089772820473, + -3.097038587676831, + 0.0887441635131836, + 0.1088128834962845, + 0.0 + ], + [ + 0.2890702784061432, + -0.046680960804224014, + 0.04005053639411926, + -3.076151268678256, + 0.12273900955915452, + 0.11849970370531082, + 0.0 + ], + [ + 0.2886934280395508, + -0.03965802490711212, + 0.019786085933446884, + -3.04743446608121, + 0.18219633400440216, + 0.11148745566606522, + 0.0 + ], + [ + 0.2887710928916931, + -0.03987404704093933, + 0.016253549605607986, + -3.0459123497181615, + 0.19636431336402893, + 0.10690594464540482, + 0.0 + ], + [ + 0.286407470703125, + -0.042326848953962326, + 0.016963161528110504, + -3.06131203671033, + 0.21562446653842926, + 0.0834074467420578, + 0.0 + ], + [ + 0.288191556930542, + -0.04077177494764328, + 0.05337756872177124, + -3.074226813512393, + 0.12351470440626144, + 0.0901225432753563, + 1.0 + ], + [ + 0.2864267826080322, + -0.026051664724946022, + 0.10605975985527039, + -3.0882869270914277, + -0.01488820184022188, + 0.11182069778442383, + 1.0 + ], + [ + 0.27547186613082886, + 0.0021681878715753555, + 0.15870223939418793, + -3.0975690205865583, + -0.15732768177986142, + 0.1696493625640869, + 1.0 + ], + [ + 0.27325311303138733, + 0.0043602860532701015, + 0.16556420922279358, + -3.1111602225625, + -0.17382469773292542, + 0.15143698453903198, + 1.0 + ], + [ + 0.2744743227958679, + 0.005315813235938549, + 0.1665085107088089, + -3.125315761315175, + -0.1689901202917099, + 0.11778124421834946, + 1.0 + ], + [ + 0.280269056558609, + 0.005256944801658392, + 0.15797938406467438, + -3.1388066598498305, + -0.11688825488090515, + 0.06498238444328308, + 1.0 + ], + [ + 0.28063416481018066, + 0.00655458215624094, + 0.15875990688800812, + -3.13797045674222, + -0.11839615553617476, + 0.06188317015767097, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0446895956993103, + 0.327828049659729, + 0.5643518269062042, + 0.5761673152446747, + 0.5761673152446747, + 0.5761673152446747, + 0.5761673152446747, + 0.5761673152446747, + 0.5761673152446747, + 0.5761673152446747, + 0.5761673152446747, + 0.5761673152446747, + 0.5761673152446747, + 0.5761673152446747, + 0.5014694333076477, + 0.18600207567214966, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "1637", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1637/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1655.json b/annotation/test/1655.json new file mode 100644 index 0000000000000000000000000000000000000000..975b1ea86382b38c9695c610f83e682377b9c60d --- /dev/null +++ b/annotation/test/1655.json @@ -0,0 +1,945 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the metal bowl to the left edge of the table." + ], + "videos": [ + { + "video_path": "videos/test/1655/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 5.940198157648016e-18, + 9.197885662272057e-18, + -3.979578763288546e-17, + 1.0 + ], + [ + -0.004410749904440485, + 0.0008624720347267789, + 0.004940295546043947, + -0.008735852148859436, + -0.019545456950174914, + -0.001266065867724123, + 1.0 + ], + [ + -0.01034490208045174, + 0.012586892054704502, + 0.012534300008590142, + -0.10268625015468541, + -0.003405050271853328, + -0.008828099850959467, + 1.0 + ], + [ + -0.0037542602622858178, + 0.009055812266798057, + 0.012821386457343915, + -0.09533752304588365, + 0.031795892172072855, + 0.025367350480837967, + 1.0 + ], + [ + -0.0077684619281689375, + -0.001793575428020108, + 0.01711872855037386, + -0.04390680601652626, + -0.027758442445474846, + -0.04367498725946685, + 1.0 + ], + [ + -0.009962272535340155, + -0.01157934341858535, + 0.01971010089977519, + -0.009391015217638873, + -0.03480446549306679, + -0.007450328490456874, + 1.0 + ], + [ + -0.006787810951715873, + -0.010482511666552733, + 0.015955599899103636, + 0.031809052403267195, + -0.04967119651516131, + 0.012062585398837306, + 1.0 + ], + [ + -0.0047156053627511905, + -0.0042180014500290625, + 0.017297039964880946, + -0.013031462901640836, + -0.008968083722239428, + 0.010944665417822345, + 1.0 + ], + [ + -0.001892117644192345, + 0.007189449190821257, + 0.01938880938875324, + -0.047225535910953444, + -0.009687306388986407, + -0.004024834231561782, + 1.0 + ], + [ + -0.002463511383779477, + 0.0054870699033817355, + 0.012897811864385832, + -0.013800415668564337, + -0.014064770451819504, + 0.002342161150299876, + 1.0 + ], + [ + 0.0036095798325682838, + 0.010544093407772117, + 0.010613233297165816, + -0.026256872302339942, + -0.009246175437340156, + 0.023191570848174827, + 1.0 + ], + [ + -0.0004887047460036871, + 0.00906606021125994, + 0.007968261593203737, + -0.01913772696569286, + -0.008189128256148736, + 0.017779158133290212, + 1.0 + ], + [ + 0.0006275189591033711, + 0.003920242298750729, + 0.0015294683641759825, + -0.0012018493083782301, + 0.011675092900111773, + 0.005489330907971005, + 0.0 + ], + [ + -0.0027758313721577724, + 0.00021539324441701888, + 0.0007574894480625731, + 0.008408633508750176, + -0.011688702387236146, + 0.007777429361854262, + 0.0 + ], + [ + -0.003382752349441301, + -0.00039843798562824603, + 0.0007079302335983569, + 0.009623111009254523, + -0.01396901689402813, + 0.0026360311772596827, + 0.0 + ], + [ + -0.0019787692360843136, + 0.0006487187211574758, + 4.432928939495789e-05, + 0.008300023264763711, + -0.009056654653049714, + 0.001439395280952632, + 0.0 + ], + [ + -0.0005226416359281785, + 0.0027414436844317024, + -0.0037390840678023928, + 0.008458623925652997, + 0.00041695096636736197, + 0.016381491853982532, + 0.0 + ], + [ + 0.006914878690278707, + 0.006455968721346228, + -0.01572874005574436, + -0.007009284503529615, + 0.0436198637205345, + 0.005231917782338385, + 0.0 + ], + [ + 0.010272227057752333, + -0.005365846966654944, + -0.023123387268230048, + 0.007888515907207157, + 0.05734784522087544, + -0.02796116475806386, + 0.0 + ], + [ + 0.006779010923141391, + -0.011802325293641813, + -0.02367625163313484, + 0.03470358757797021, + 0.03680464316912026, + -0.05579073241675751, + 0.0 + ], + [ + 0.005569481803116921, + -0.02075098877495162, + -0.017489818595814187, + 0.07445946431000003, + 0.016323632893947865, + -0.08308393082914305, + 0.0 + ], + [ + 0.012690664976192227, + -0.014615405349488067, + -0.01191333490914107, + 0.045714756505853514, + 0.03847872419525848, + -0.08705656000295509, + 0.0 + ], + [ + 0.013508192091213966, + -0.018516674026433262, + -0.0064104920244706124, + 0.07800101308066193, + 0.04944499502298982, + -0.13613344503748265, + 0.0 + ], + [ + 0.014296404795495729, + -0.011149541665484616, + -0.0015127925170149662, + 0.08476552387070191, + 0.0631698909139785, + -0.11980094276371024, + 0.0 + ], + [ + 0.012979944205718989, + -0.005622233561415542, + 0.006000403680446591, + 0.018563687204672885, + 0.069081553204969, + -0.12366342442154796, + 0.0 + ], + [ + 0.014355527668714696, + -0.012830480782615781, + 0.005833588734256169, + 0.031561623296226596, + 0.05828121072705222, + -0.10839129738620805, + 0.0 + ], + [ + 0.011286863525299007, + -0.008225578030176334, + 0.007787866907259277, + 0.0022503710143387725, + 0.04670308151040871, + -0.062440247923317004, + 0.0 + ], + [ + 0.009123890831807346, + -0.006751667677057947, + 0.00910060431877804, + 0.011718159836578857, + 0.0324309840561941, + -0.05444954372092776, + 0.0 + ], + [ + 0.016875317521029116, + -0.00596399706683937, + 0.022997345314549094, + -0.008453149433294588, + 0.016997581839720263, + -0.07517171530559262, + 0.0 + ], + [ + -0.0017205874148716693, + 0.004083634646715442, + 0.012601370386469028, + -0.015902635391105733, + 0.022238517363674243, + -0.021864455131228852, + 0.0 + ], + [ + -0.010278796103964606, + 0.005941666030562867, + 0.013514101044200966, + -0.01932494418530382, + 0.0022879089539763853, + -0.008132153217896872, + 0.0 + ], + [ + -0.00856607715727526, + 0.003827702276935089, + 0.006773388339820335, + -0.012417141739960212, + 0.0006176038188012875, + 0.0006275561607690705, + 0.0 + ], + [ + -0.01272150606230129, + -0.00012098693820711958, + 0.007837006202973758, + 0.00018106523859247946, + -0.01027069365008416, + -0.00440965814273758, + 0.0 + ], + [ + -0.003368743099238599, + 0.00040519479295633487, + 0.0007062347901484062, + 0.0021978119260099805, + 0.0033000944468727362, + 0.002015750289307347, + 0.0 + ], + [ + -0.0043484481606704236, + -0.0005744976603081842, + 0.006160450761970399, + -0.0042090512834817035, + -0.01984172712825756, + -0.011649911894534216, + 0.0 + ], + [ + -0.000320439149001473, + 0.0024567363381626426, + -0.00013507954764866882, + 0.002333750098322859, + -0.014178842434361343, + 0.016912622257766317, + 0.0 + ], + [ + -0.004078955854237493, + -0.0013719678994431512, + -0.00046432921600602614, + 0.028714545704393517, + -0.046798261045207096, + 0.02323669814128683, + 0.0 + ], + [ + -0.002098533330060321, + 0.00048246211159790053, + -0.000710277178719444, + 0.00043035893091398917, + -0.007344876187010462, + -0.017230033850839748, + 1.0 + ], + [ + -1.8223436372210818e-05, + 0.0006350768091715126, + -0.002868371674813655, + 0.004144105514780317, + -0.003915779128980797, + -0.008070143025401376, + 1.0 + ], + [ + 0.0004766992912026007, + 0.0010301045263621097, + -0.0016025416290809328, + 0.003015310510170224, + -0.0012770085455933746, + 0.01637478013849069, + 1.0 + ], + [ + 0.00017114050162704938, + 0.004093936466357351, + -0.007917467480023718, + -0.008939475154953472, + -0.0024155470014428923, + 0.0001542488236592366, + 1.0 + ], + [ + 0.0012230146538414577, + 0.007982810157507254, + -0.014290889432613392, + -0.0241191877856636, + -0.0014255064175647159, + 0.0016079777115577802, + 1.0 + ], + [ + 0.006417328373669345, + 0.013755583473229955, + -0.02456346488521678, + -0.04939324405800793, + 0.01161116209141127, + 0.00453332695423721, + 1.0 + ], + [ + 0.0004814048353684881, + 0.007382093141233879, + -0.02341265489052587, + -0.027617990050537656, + -0.012499739981630618, + 0.016757052232593436, + 1.0 + ], + [ + 0.00644585808479099, + 0.004347083020543744, + -0.02093990357016145, + -0.029770231290870162, + 0.020081979725747514, + 0.015025114972746906, + 1.0 + ], + [ + 0.0005287759022411186, + -2.4834011114289956e-05, + -0.0007638594754292429, + -0.0007205161635957403, + 0.001624783691324175, + 0.004978129659283575, + 1.0 + ], + [ + -0.0001577638159588005, + -0.00018516683083585358, + -1.9135639566485743e-07, + 0.001167674005263044, + -0.0009948058385981008, + -5.499530804402576e-07, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -3.200692075033986e-17, + 9.02531319565772e-18, + 4.986892666235586e-17, + 1.0 + ] + ], + "state": [ + [ + 0.23648998141288757, + 0.052559319883584976, + 0.16232408583164215, + 2.9961454590135297, + -0.3858427107334137, + 0.5316179990768433, + 1.0 + ], + [ + 0.23648998141288757, + 0.052559319883584976, + 0.16232408583164215, + 2.9961454590135297, + -0.3858427107334137, + 0.5316179990768433, + 1.0 + ], + [ + 0.2353082150220871, + 0.05004367232322693, + 0.1562511920928955, + 2.9880188723378858, + -0.36631965637207037, + 0.529925525188446, + 1.0 + ], + [ + 0.23746411502361298, + 0.034668490290641785, + 0.14277857542037964, + 2.882195534306117, + -0.36159136891365046, + 0.5386959314346313, + 1.0 + ], + [ + 0.24368520081043243, + 0.024358371272683144, + 0.13203196227550507, + 2.7930400391393384, + -0.3987782895565033, + 0.5209534764289856, + 1.0 + ], + [ + 0.24517183005809784, + 0.02041407860815525, + 0.11362410336732864, + 2.7360891123586377, + -0.35756829380989075, + 0.5546299815177919, + 1.0 + ], + [ + 0.2424776554107666, + 0.022115303203463554, + 0.08889227360486984, + 2.728990526991435, + -0.32263973355293274, + 0.5473703145980835, + 1.0 + ], + [ + 0.24040821194648743, + 0.024607045575976372, + 0.06889109313488007, + 2.770692976313182, + -0.2818171381950379, + 0.5151477456092834, + 1.0 + ], + [ + 0.2418898195028305, + 0.022758932784199715, + 0.050626225769519806, + 2.7615703364186963, + -0.27739951014518743, + 0.5011623501777649, + 1.0 + ], + [ + 0.25064095854759216, + 0.011739639565348625, + 0.035355765372514725, + 2.714285137253352, + -0.2669103741645813, + 0.5013117790222168, + 1.0 + ], + [ + 0.2557147145271301, + 0.0027305944822728634, + 0.025576988235116005, + 2.7026239057355603, + -0.255072295665741, + 0.4930856227874756, + 1.0 + ], + [ + 0.2665835916996002, + -0.007384740747511387, + 0.021527890115976334, + 2.6829930563741407, + -0.2564771175384522, + 0.46732044219970703, + 1.0 + ], + [ + 0.2721220850944519, + -0.01764676906168461, + 0.01837490126490593, + 2.6690651794248303, + -0.25695404410362244, + 0.44708892703056335, + 1.0 + ], + [ + 0.27438268065452576, + -0.021206045523285866, + 0.01894289068877697, + 2.667716147499629, + -0.26984810829162603, + 0.4475311338901519, + 0.0 + ], + [ + 0.27234166860580444, + -0.02278178744018078, + 0.01764800399541855, + 2.679511310654231, + -0.26297575235366827, + 0.4348407685756684, + 0.0 + ], + [ + 0.26955318450927734, + -0.024031758308410645, + 0.015985216945409775, + 2.691409083204814, + -0.2516370415687561, + 0.4259747266769409, + 0.0 + ], + [ + 0.26800236105918884, + -0.025398042052984238, + 0.01572725549340248, + 2.701039673882075, + -0.2441055476665497, + 0.4205780029296875, + 0.0 + ], + [ + 0.26689672470092773, + -0.02686224691569805, + 0.020017137750983238, + 2.713201793032237, + -0.25144141912460327, + 0.405463308095932, + 0.0 + ], + [ + 0.2689060866832733, + -0.025280125439167023, + 0.03819260746240616, + 2.7023233493142804, + -0.29326730966567993, + 0.41941928863525396, + 0.0 + ], + [ + 0.2669820189476013, + -0.010053613223135471, + 0.05901214852929115, + 2.6948237140947064, + -0.3329053819179535, + 0.47196415066719055, + 0.0 + ], + [ + 0.2584679424762726, + 0.009035805240273476, + 0.07658825069665909, + 2.7073088606172284, + -0.34125465154647827, + 0.5422226190567017, + 0.0 + ], + [ + 0.24740619957447052, + 0.03293994814157486, + 0.08517581224441528, + 2.7543039341741284, + -0.319955438375473, + 0.6288653612136841, + 0.0 + ], + [ + 0.24513934552669525, + 0.053589168936014175, + 0.09439869970083237, + 2.770072789984294, + -0.32126301527023315, + 0.7291310429573059, + 0.0 + ], + [ + 0.2418290674686432, + 0.0768880695104599, + 0.0979534387588501, + 2.8037572522931775, + -0.3146332204341889, + 0.8814080953598022, + 0.0 + ], + [ + 0.24241861701011658, + 0.09492966532707214, + 0.10022087395191193, + 2.84726473887498, + -0.3317304849624634, + 1.0230342149734497, + 0.0 + ], + [ + 0.246953085064888, + 0.10935194045305252, + 0.09747681021690369, + 2.820037396746226, + -0.3587745726108551, + 1.1707273721694946, + 0.0 + ], + [ + 0.24398620426654816, + 0.12885630130767822, + 0.09353844821453094, + 2.8078048547082624, + -0.3771366477012634, + 1.3011019229888916, + 0.0 + ], + [ + 0.2427370697259903, + 0.14392973482608795, + 0.08834850043058395, + 2.780963035421916, + -0.39972472190856934, + 1.3817249536514282, + 0.0 + ], + [ + 0.2420630306005478, + 0.1569337695837021, + 0.08186065405607224, + 2.7667598148160657, + -0.4100453555583954, + 1.4497488737106323, + 0.0 + ], + [ + 0.24791593849658966, + 0.18128342926502228, + 0.0669589415192604, + 2.7264854927831372, + -0.39711603522300715, + 1.5323638916015625, + 0.0 + ], + [ + 0.2568141520023346, + 0.1831790953874588, + 0.05717838555574417, + 2.6984493752294263, + -0.4084728062152863, + 1.5639349222183228, + 0.0 + ], + [ + 0.2679378390312195, + 0.1775069534778595, + 0.04422931745648384, + 2.675537558394023, + -0.4070378541946411, + 1.5730035305023193, + 0.0 + ], + [ + 0.274414598941803, + 0.17136961221694946, + 0.036860980093479156, + 2.663242431479045, + -0.4078715741634369, + 1.5726951360702515, + 0.0 + ], + [ + 0.2779315710067749, + 0.16248011589050293, + 0.025377174839377403, + 2.6637460609250745, + -0.39672377705574036, + 1.5718134641647339, + 0.0 + ], + [ + 0.2786191403865814, + 0.15954403579235077, + 0.023668941110372543, + 2.66605535347993, + -0.4005811810493469, + 1.5715177059173584, + 0.0 + ], + [ + 0.2809300124645233, + 0.15777981281280518, + 0.016687709838151932, + 2.661211671429225, + -0.37760740518569946, + 1.5728858709335327, + 0.0 + ], + [ + 0.2830478549003601, + 0.157023623585701, + 0.01773623377084732, + 2.6721448620134076, + -0.3727562725543976, + 1.5497466325759888, + 0.0 + ], + [ + 0.28153619170188904, + 0.15333101153373718, + 0.016058357432484627, + 2.7169355769925794, + -0.3411916196346283, + 1.5053094625473022, + 0.0 + ], + [ + 0.28153491020202637, + 0.15106560289859772, + 0.016153370961546898, + 2.7129114886098584, + -0.32737198472023016, + 1.518692970275879, + 1.0 + ], + [ + 0.28087204694747925, + 0.1501578688621521, + 0.018867747858166695, + 2.7151242216401776, + -0.32045048475265503, + 1.5247114896774292, + 1.0 + ], + [ + 0.28114017844200134, + 0.15000398457050323, + 0.02080705761909485, + 2.7233259101682386, + -0.326021522283554, + 1.508416771888733, + 1.0 + ], + [ + 0.28149673342704773, + 0.14728884398937225, + 0.029290970414876938, + 2.714764507608958, + -0.32387664914131165, + 1.5072331428527832, + 1.0 + ], + [ + 0.28258827328681946, + 0.14317895472049713, + 0.04514555633068085, + 2.69133514364297, + -0.32324400544166565, + 1.5050671100616455, + 1.0 + ], + [ + 0.28409266471862793, + 0.1402323991060257, + 0.07383033633232117, + 2.641582580404826, + -0.33567062020301824, + 1.506096363067627, + 1.0 + ], + [ + 0.278872549533844, + 0.13307559490203857, + 0.09673033654689789, + 2.6212519129090985, + -0.33265966176986694, + 1.484197735786438, + 1.0 + ], + [ + 0.27221110463142395, + 0.13310548663139343, + 0.11805051565170288, + 2.592432292299815, + -0.3575519025325775, + 1.4809420108795166, + 1.0 + ], + [ + 0.27181729674339294, + 0.1334139108657837, + 0.11883377283811569, + 2.5929859598451337, + -0.361534059047699, + 1.4773091077804565, + 1.0 + ], + [ + 0.2716493010520935, + 0.13331569731235504, + 0.11868780106306076, + 2.594349356489726, + -0.36068490147590637, + 1.476755142211914, + 1.0 + ], + [ + 0.2716493010520935, + 0.13331569731235504, + 0.11868780106306076, + 2.594349356489726, + -0.36068490147590637, + 1.476755142211914, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.05465686321258545, + 0.2415439486503601, + 0.5514773726463318, + 0.7876514941453934, + 0.9103762283921242, + 0.9221144318580627, + 0.9221144318580627, + 0.9221144318580627, + 0.9221144318580627, + 0.9221144318580627, + 0.9221144318580627, + 0.9221144318580627, + 0.9224447533488274, + 0.9224447533488274, + 0.9224447533488274, + 0.9224447533488274, + 0.9224447533488274, + 0.9224447533488274, + 0.9224447533488274, + 0.9224447533488274, + 0.9224447533488274, + 0.9224447533488274, + 0.9224447533488274, + 0.9224447533488274, + 0.9224447533488274, + 0.8912533447146416, + 0.7034061849117279, + 0.43697023391723633, + 0.14553707838058472, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1655", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1655/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/166.json b/annotation/test/166.json new file mode 100644 index 0000000000000000000000000000000000000000..150b3eb580b82b30c1555454b12e60fc87b9e9a4 --- /dev/null +++ b/annotation/test/166.json @@ -0,0 +1,736 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "open oven" + ], + "videos": [ + { + "video_path": "videos/test/166/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -5.1257106880235946e-18, + -1.7805211513227168e-17, + -8.119440921007978e-17, + 1.0 + ], + [ + -0.0026031898719634625, + -0.002034495466744054, + 0.00495502933801251, + 0.006658069863210643, + -0.01885570546228532, + -0.01786309867804081, + 1.0 + ], + [ + 0.017139071497345188, + -0.02264001484290162, + -0.007350376518673264, + 0.010495984730137957, + 0.06592341343859343, + -0.2501790886844964, + 1.0 + ], + [ + 0.022227170976919806, + -0.01993940487599537, + -0.01102879474067404, + -0.0040085744180770036, + 0.05609892904789764, + -0.25298975514091876, + 1.0 + ], + [ + 0.021541099200876514, + -0.00958969743552128, + -0.009232220984516966, + -0.009239239284776575, + 0.061354876667096145, + -0.23525811546003841, + 1.0 + ], + [ + 0.020021700085093755, + 0.0003405832595924456, + -0.0018372075923901862, + 0.003155242852701963, + 0.01951700585938632, + -0.16063776641678373, + 1.0 + ], + [ + 0.01399727760180913, + 0.0044255430740054134, + -0.002243812312404724, + -0.02343899647411778, + 0.010304159756828012, + -0.09835627073949738, + 1.0 + ], + [ + 0.0052381355803817, + 0.0060807273266152, + 0.006656824910430597, + -0.03407687989382348, + 0.0016535709449149731, + -0.06559392155478154, + 1.0 + ], + [ + 0.0043741415226739855, + 0.01237781656873853, + -6.0251956815512125e-05, + -0.07682050151830218, + 0.02675517730407813, + -0.03461401178163079, + 1.0 + ], + [ + -0.004417776757060062, + 0.0032638127589539496, + 0.010099077057538814, + -0.018768030632771056, + 0.014990269826797199, + -0.005447355852186546, + 1.0 + ], + [ + -0.010507544190287597, + -0.001577716321290462, + 0.01092087832343593, + -0.02365192992546697, + -2.4813387646114353e-05, + 0.0013165011272416502, + 1.0 + ], + [ + -0.016752681873711477, + -0.002361246449931698, + 0.007185514123425276, + 0.0019000042040016555, + -0.011313486049509745, + 0.04494245435085065, + 1.0 + ], + [ + -0.017910996771555592, + -0.024198588818679097, + 0.0032402408621041317, + 0.010501600509126852, + -0.007440350261333226, + 0.04004353268841451, + 1.0 + ], + [ + -0.007293530065535317, + -0.005175130777940699, + -0.0051318480541019205, + -0.02235902029547703, + -0.015005603006990696, + 0.013182197222959035, + 1.0 + ], + [ + -0.0034203354258429113, + -0.0032473572103734185, + -0.013768993534695453, + -0.00785994863021105, + -0.03183316497009881, + 0.07615735981402222, + 1.0 + ], + [ + -0.0005738502526599248, + 0.000678413215257696, + -0.024769657996118258, + 0.011410462127711718, + -0.04276150535379667, + 0.16856351941719455, + 1.0 + ], + [ + -0.010306481542228395, + -0.022871349075236715, + -0.015404036608364192, + 0.051983417400232663, + -0.08123165846265713, + 0.13184771009631455, + 1.0 + ], + [ + -0.018167419139882287, + -0.030266912539406002, + 0.003358796802527513, + 0.047738242741694636, + -0.05188885577202797, + 0.10635940131582731, + 1.0 + ], + [ + -0.018675614605151148, + -0.004088883192147178, + 0.017322576003502364, + 0.02353668325308824, + -0.02091170449815712, + 0.1112438174069339, + 1.0 + ], + [ + 0.008553689050115547, + -0.0023215662598930964, + 0.02463620528367522, + 0.05795419907714442, + -0.011704949705062818, + -0.0329064454948292, + 1.0 + ], + [ + 0.01477035445812359, + -0.01702193484425461, + 0.010996447637721016, + 0.01616285296131532, + 0.008997711075740638, + -0.1448317305840392, + 1.0 + ], + [ + 0.020481929380206383, + -0.007504019112909933, + 0.011213495835226031, + 0.019894968266480857, + 0.026903096752818424, + -0.15316203359783997, + 1.0 + ], + [ + 0.03321059683090321, + -0.005244820937673781, + -0.0019530376217092916, + -0.02292667766452072, + 0.015179612850667426, + -0.20847638140324826, + 1.0 + ], + [ + 0.027745059282399717, + -0.010197914828557012, + -0.0019141801000518298, + -0.013586692546897084, + 0.034334876591168774, + -0.1451609018617939, + 1.0 + ], + [ + 0.015747217010414875, + 0.008775008913900168, + 0.009068467177497742, + 0.03503683953221205, + 0.008856957379802882, + -0.04793389274203621, + 1.0 + ], + [ + 0.012553619779527538, + 0.012558248324728542, + -0.005263133174051795, + -0.03880482263955322, + 0.002914678762364147, + -0.03783063176439627, + 1.0 + ], + [ + -0.0060307219095197045, + 0.012558219846542542, + 2.088252738447473e-05, + -0.025745736253885272, + -0.03137038474595106, + 0.1668321952543939, + 1.0 + ], + [ + -0.020460264837113183, + 0.008534378354860072, + 0.0024047275837523066, + -0.020626505321079694, + -0.004238562823298262, + 0.2595177774643549, + 1.0 + ], + [ + -0.01762371493030171, + -0.002199446520580971, + -0.0034777647097556145, + 0.004736020618675586, + -0.06512689962705454, + 0.2078098943881738, + 1.0 + ], + [ + -0.016495730238057966, + -0.00022058074885852936, + -0.00966856779778208, + -0.0222568500205255, + -0.07177827485865669, + 0.14104870035943942, + 1.0 + ], + [ + -0.02246659561933259, + 0.004061590205848446, + 0.0030402375636717676, + 0.010186611535920183, + -0.07575002739403672, + 0.12166175170278348, + 1.0 + ], + [ + -0.02541771486510611, + 0.025522494378384858, + 0.0050700416094757944, + -0.05368560836707064, + -0.08137452377783873, + 0.07819598568410144, + 1.0 + ], + [ + -0.015373047755824515, + 0.03681517642819934, + 0.0053228611072375165, + -0.04643715235167605, + -0.0010755525471919174, + 0.07171173795304185, + 1.0 + ], + [ + 0.0034407293718017, + 0.035643498157750725, + 0.010068675146677508, + -0.022532738703872346, + 0.02469010456722884, + 0.017144063257855845, + 1.0 + ], + [ + 0.004179356438173892, + 0.02096617774656405, + 0.011042601797992546, + 0.039919734145961984, + 0.044277637541589754, + 0.040290203639360596, + 1.0 + ], + [ + -0.0002795948206365773, + 0.0019771739974055124, + 0.0002757619701936497, + 0.0027237490774553157, + 0.0023651622500732825, + 0.007319276843976835, + 1.0 + ], + [ + 4.378501642098516e-06, + -0.0007477699537926123, + -7.671775627481955e-05, + 0.000376092677092138, + -0.0011431738144992154, + -0.00151079909551751, + 1.0 + ] + ], + "state": [ + [ + 0.2462063431739807, + 0.010641182772815228, + 0.11316041648387909, + 3.111693628253885, + -0.09538754075765608, + 0.2838684320449829, + 1.0 + ], + [ + 0.2462063431739807, + 0.010641182772815228, + 0.11316041648387909, + 3.111693628253885, + -0.09538754075765608, + 0.2838684320449829, + 1.0 + ], + [ + 0.24364903569221497, + 0.01185915619134903, + 0.10792163759469986, + 3.1166992784761867, + -0.07599200308322906, + 0.30120667815208435, + 1.0 + ], + [ + 0.2527084946632385, + 0.03856513276696205, + 0.11598780751228333, + 3.1088494454794606, + -0.13332417607307434, + 0.5547430515289307, + 1.0 + ], + [ + 0.25957581400871277, + 0.06668978184461594, + 0.12922054529190063, + 3.071825573342391, + -0.17684961855411532, + 0.8132051825523375, + 1.0 + ], + [ + 0.2656973600387573, + 0.08801949769258499, + 0.14141829311847687, + 3.0218072478943547, + -0.21670085191726685, + 1.0576567649841309, + 1.0 + ], + [ + 0.2752029299736023, + 0.10464707762002945, + 0.147544264793396, + 2.9910565485530576, + -0.2140917181968689, + 1.223280429840088, + 1.0 + ], + [ + 0.28345006704330444, + 0.11555589735507965, + 0.15333445370197296, + 2.946928994851657, + -0.20849446952342993, + 1.3242624998092651, + 1.0 + ], + [ + 0.2920054495334625, + 0.11983033269643784, + 0.14917978644371033, + 2.8996216674619397, + -0.19699612259864807, + 1.3902136087417603, + 1.0 + ], + [ + 0.30447715520858765, + 0.12131205946207047, + 0.1530018448829651, + 2.8148970325761518, + -0.21451988816261292, + 1.4311604499816895, + 1.0 + ], + [ + 0.31039923429489136, + 0.11795178055763245, + 0.14373911917209625, + 2.793929549055644, + -0.2269582897424698, + 1.4413920640945435, + 1.0 + ], + [ + 0.31161054968833923, + 0.10992153733968735, + 0.13084682822227478, + 2.7705657203965863, + -0.2273833155632019, + 1.4401129484176636, + 1.0 + ], + [ + 0.3101067841053009, + 0.09537459164857864, + 0.1197119951248169, + 2.78350284894044, + -0.23288334906101227, + 1.3928505182266235, + 1.0 + ], + [ + 0.28630438446998596, + 0.08464865386486053, + 0.10437332838773727, + 2.803822459774562, + -0.23975452780723572, + 1.3515578508377075, + 1.0 + ], + [ + 0.27817627787590027, + 0.078440360724926, + 0.10567885637283325, + 2.785722853737422, + -0.22992797195911407, + 1.3336783647537231, + 1.0 + ], + [ + 0.26914191246032715, + 0.07443661987781525, + 0.11636433750391006, + 2.798200847702571, + -0.22579427063465116, + 1.2490626573562622, + 1.0 + ], + [ + 0.25999215245246887, + 0.07133881747722626, + 0.13919000327587128, + 2.8543242831998548, + -0.23853017389774323, + 1.0708829164505005, + 1.0 + ], + [ + 0.23117214441299438, + 0.07343637198209763, + 0.14481262862682343, + 2.944468306499072, + -0.19514869153499603, + 0.9187673926353455, + 1.0 + ], + [ + 0.1983734518289566, + 0.07830248028039932, + 0.13224324584007263, + 3.015686588483401, + -0.16376152634620664, + 0.8028395175933838, + 1.0 + ], + [ + 0.18622487783432007, + 0.06843070685863495, + 0.11173643171787262, + 3.0586095099621495, + -0.15590204298496246, + 0.6884688138961793, + 1.0 + ], + [ + 0.19554445147514343, + 0.0764501541852951, + 0.08862081170082092, + 3.1116098334365567, + -0.14143086969852448, + 0.7206100821495055, + 1.0 + ], + [ + 0.19674113392829895, + 0.09970564395189285, + 0.07931588590145111, + 3.107497615861245, + -0.14460225403308868, + 0.8671835660934449, + 1.0 + ], + [ + 0.20549573004245758, + 0.12102460861206055, + 0.07092416286468506, + 3.105378510551997, + -0.16456127166748044, + 1.023253321647644, + 1.0 + ], + [ + 0.21786554157733917, + 0.15151594579219818, + 0.07810276746749878, + 3.04876912583644, + -0.16862459480762482, + 1.23517906665802, + 1.0 + ], + [ + 0.2170657068490982, + 0.1805919110774994, + 0.08370619267225266, + 3.0110011418634137, + -0.18754687905311584, + 1.3854963779449463, + 1.0 + ], + [ + 0.22989776730537415, + 0.1954159289598465, + 0.07893131673336029, + 3.0369497929983815, + -0.1898640543222427, + 1.4350661039352417, + 1.0 + ], + [ + 0.2432287484407425, + 0.2047909051179886, + 0.08772894740104675, + 2.990934418635913, + -0.18867407739162445, + 1.473679780960083, + 1.0 + ], + [ + 0.25498104095458984, + 0.1973429173231125, + 0.08842896670103073, + 2.999478967981883, + -0.1798391044139862, + 1.3012545108795166, + 1.0 + ], + [ + 0.2581479549407959, + 0.175801083445549, + 0.08361639827489853, + 3.030140021937438, + -0.20596429705619812, + 1.0381044149398804, + 1.0 + ], + [ + 0.24683713912963867, + 0.16168084740638733, + 0.08315583318471909, + 3.0811210108273706, + -0.15946623682975772, + 0.82185959815979, + 1.0 + ], + [ + 0.23411716520786285, + 0.1491793394088745, + 0.09005174040794373, + 3.0824098606878003, + -0.09464000910520554, + 0.6764011979103088, + 1.0 + ], + [ + 0.21953201293945312, + 0.13204167783260345, + 0.08514650166034698, + 3.1047669631713113, + -0.02545273303985596, + 0.5507521033287047, + 1.0 + ], + [ + 0.21141457557678223, + 0.09690631181001663, + 0.08037402480840683, + 3.053146192925521, + 0.05307438969612121, + 0.4697518944740295, + 1.0 + ], + [ + 0.2144416868686676, + 0.05678972974419594, + 0.07914231717586517, + 3.00314016838605, + 0.04768096283078194, + 0.3981442153453827, + 1.0 + ], + [ + 0.23161347210407257, + 0.02420680597424507, + 0.07393091917037964, + 2.9799307753616056, + 0.02085677906870842, + 0.3845739960670471, + 1.0 + ], + [ + 0.2437712848186493, + 0.004886597860604525, + 0.066321462392807, + 3.019096614914485, + -0.02933835797011852, + 0.3519635796546936, + 1.0 + ], + [ + 0.24419794976711273, + 0.0029168850742280483, + 0.06628116965293884, + 3.02202774037654, + -0.03257941827178002, + 0.34498447179794317, + 1.0 + ], + [ + 0.243948295712471, + 0.0036258080508559942, + 0.06626829504966736, + 3.022359425323554, + -0.03126416727900505, + 0.3463487923145294, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.003858029842376709, + 0.0018453598022460938, + 0.003858029842376709, + 0.004532158374786377, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.004532158374786377, + 0.003858029842376709, + 0.004532158374786377, + 0.003858029842376709, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543 + ], + "episode_id": "166", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/166/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1669.json b/annotation/test/1669.json new file mode 100644 index 0000000000000000000000000000000000000000..f7954618d5964715728d07a6f7dfabb38fb18dca --- /dev/null +++ b/annotation/test/1669.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "upright basil bottle cardboard fence" + ], + "videos": [ + { + "video_path": "videos/test/1669/rgb.mp4" + } + ], + "action": [ + [ + -9.793903136028313e-05, + 0.00016880292190291565, + -1.2178822382081134e-07, + -0.0010639459568760837, + -0.0006185445777297506, + -0.0009153464695268913, + 1.0 + ], + [ + -0.007777284909658334, + 0.002351589486628384, + 0.007832987880937564, + -0.002900290832504951, + -0.036240689552014316, + 0.008467726133387954, + 1.0 + ], + [ + -0.011327786997029502, + -0.019621461351351312, + -0.0037323840919781686, + -0.10287723923125128, + -0.05707431678455925, + -0.08604766842544423, + 1.0 + ], + [ + -0.003959911671296611, + -0.019995815860665865, + -0.00881005379408931, + -0.03942560148402997, + -0.0021600460988489725, + -0.084611346104888, + 1.0 + ], + [ + -0.010687704676842878, + -0.007043862174121931, + 0.002936642500476135, + -0.007735987335966076, + -0.05185293310247666, + -0.227492800863476, + 1.0 + ], + [ + -0.0014773006541092737, + -0.011264743096707096, + 0.004636453999715706, + 0.031628531161886575, + -0.003940718994777153, + -0.09866604964602049, + 1.0 + ], + [ + -0.01586463021247035, + -0.00020996570127456237, + 0.013004293107893727, + -0.002870137945353296, + 0.017099675393947838, + -0.0752698319913728, + 1.0 + ], + [ + -0.0032152964921166108, + 0.0010740727780940364, + 0.0015720617115726702, + 0.0018114629938972655, + 0.0253693737440171, + -0.013491622074812156, + 1.0 + ], + [ + -0.0004435377013486686, + -0.0008310518809919287, + 0.005196272833668298, + -0.02238194393461703, + 0.012821914608159521, + -0.038259067992630694, + 1.0 + ], + [ + 0.0017846232522353872, + -0.0007080687515898767, + 0.002630643828200022, + -0.007668771999999714, + 0.023982449520988568, + -0.011828242803398878, + 1.0 + ], + [ + 0.0019917930519198, + -0.001650005561811552, + 0.00886653848128565, + 0.014305301981046292, + 0.01872003643983894, + 0.0003281297606017298, + 1.0 + ], + [ + -0.0026915438039918343, + 0.0006729837038770543, + 0.012922854183364, + 0.028662204413941784, + -0.006839044644527354, + 0.014573082574757699, + 1.0 + ], + [ + -0.004051413202291285, + 0.0007603691787165761, + 0.005113876243664615, + 0.011444928842706452, + -0.017062684367364616, + -0.0006569103925164428, + 1.0 + ], + [ + -0.003370696787281016, + 0.0024110410934547097, + 0.007886132351885407, + 0.02043708329009784, + -0.048359466165951825, + 0.009259836497703337, + 1.0 + ], + [ + 0.00039516784735739213, + 0.0019716755339933127, + 0.00502556254244819, + 0.0005691649805845598, + -0.008814789144074924, + 0.020556207044841526, + 1.0 + ], + [ + 0.0029750906461762806, + 0.0031455629990636692, + 0.004507442620467467, + -0.007886705301037304, + -0.0005262403547325019, + 0.01061530144582137, + 1.0 + ], + [ + 0.0005464365149714195, + 0.0005474968180287526, + 0.00010529136673618158, + -0.007342056770906056, + 0.0003751622233176008, + 0.029350416870086535, + 0.0 + ], + [ + -0.00033784835846955663, + -0.004010860071359661, + -0.004862597964310987, + 0.023154360270984362, + -0.008257777774323844, + 0.07563229999956825, + 0.0 + ], + [ + 0.005809364270213144, + -0.001607641655637979, + -0.01706784319805426, + 0.007410962097936823, + 0.0035060458959898164, + 0.03185301552435654, + 0.0 + ], + [ + 0.000977097161000571, + -0.002228377911283488, + -0.01835560245408923, + -0.009868886101221507, + 0.001098637902173826, + -0.009516637576848874, + 0.0 + ], + [ + -0.002608977637015449, + -0.00405342247166859, + -0.013174761020434068, + 0.01443599922271839, + -0.0210882702412884, + -0.0038210011732075565, + 0.0 + ], + [ + -0.003940063348607593, + -0.00532276438049246, + -0.01528195511811818, + 0.0022960530797138177, + -0.030253473304275656, + -0.005521774110643114, + 0.0 + ], + [ + -0.0029760719726057102, + -0.005864921961762439, + -0.010662168667895974, + 0.008898427475124308, + -0.03418285257984303, + 0.008275316846333564, + 0.0 + ], + [ + 0.0036101699120755573, + -0.0014550486205216217, + -0.013691955426993646, + 0.00434865225471203, + -0.03310542025403858, + -0.009132218192760324, + 0.0 + ], + [ + 0.0024397824089793505, + 0.0015308911383465015, + 0.00025531840655741684, + 0.036524882189951445, + -0.14196948435239323, + -0.008627782794823628, + 0.0 + ], + [ + -0.0020098376892873503, + 0.000573807351088017, + 0.003721199312298849, + 0.004732373258270659, + -0.11886083491300273, + 0.020623702733559388, + 0.0 + ], + [ + -0.01299199671916158, + 0.001288668113370689, + 0.0008372114787307117, + -0.01551012971042778, + -0.1406480749031177, + 0.06361686258497914, + 0.0 + ], + [ + -0.007436598076839091, + 0.0024843687595370086, + 0.004395690100656177, + -0.020184390026406113, + -0.04557739176348225, + 0.0584048301233603, + 0.0 + ], + [ + -0.005956904180749329, + 0.0025273850165032285, + 0.010813754551705593, + -0.005209151561212281, + -0.06641040262307382, + 0.05321398910682544, + 0.0 + ], + [ + -0.000267752070862058, + 0.0009034533162777295, + 0.013537917309419549, + 0.00263481682072671, + -0.03289827609852399, + 0.02309396171778907, + 0.0 + ], + [ + 0.0027007873736721996, + -5.349061072695636e-05, + 0.003579437254837803, + -0.0032690916291697202, + 0.00893622928173961, + 0.012090061717053822, + 0.0 + ], + [ + 0.0029004794324790717, + -0.001277588791153409, + -0.00019320175136875164, + -0.0024590194077237456, + 0.00014084592451823677, + -0.011304750890867913, + 0.0 + ], + [ + 0.010840208804917841, + -0.00016095382974229546, + -0.005946971780853572, + -0.01781206580388565, + 0.04398080318042409, + -0.032792079465102784, + 0.0 + ], + [ + 0.013773870230917518, + 0.0007316796960105407, + -0.006324899950884545, + -0.015282704820914646, + 0.027056913043422764, + -0.038736753805623095, + 0.0 + ], + [ + 0.008812196786014194, + 0.0016466617913424432, + -0.003153542679742447, + -0.003412544187463172, + 0.04104082244717221, + -0.013045184607311513, + 0.0 + ], + [ + 0.0077683365591560945, + -0.0009305668976506836, + 0.0006447689948588034, + 0.02730710648723946, + 0.15470506726851982, + -0.0027797167058410434, + 1.0 + ], + [ + -0.0029424272467636022, + -0.0008416038344134914, + -0.02693401344877749, + 0.00961818008755851, + 0.22299801473305847, + 0.00689041558534712, + 1.0 + ], + [ + -0.0026202261354308105, + -0.006346018460588089, + -0.0352159342730679, + 0.013590491015562539, + 0.1205529332828504, + 0.0093544222468519, + 1.0 + ] + ], + "state": [ + [ + 0.33032140135765076, + 0.01356157474219799, + 0.07949286699295044, + -2.9004071076684674, + -0.2432537376880646, + 0.18783684074878693, + 1.0 + ], + [ + 0.33026814460754395, + 0.013384570367634296, + 0.07943025976419449, + -2.9017283638292035, + -0.24287159740924835, + 0.18890477716922757, + 1.0 + ], + [ + 0.32486215233802795, + 0.011919986456632614, + 0.06963219493627548, + -2.904563369350978, + -0.2056572288274765, + 0.1893011778593063, + 1.0 + ], + [ + 0.30889537930488586, + 0.02738822065293789, + 0.0753808543086052, + -3.028252052264758, + -0.1693755239248276, + 0.28766220808029175, + 1.0 + ], + [ + 0.29801809787750244, + 0.04384974017739296, + 0.08557073771953583, + -3.0825012271576604, + -0.17617911100387573, + 0.37330320477485657, + 1.0 + ], + [ + 0.286003440618515, + 0.04688190668821335, + 0.08122092485427856, + -3.132059726054319, + -0.13307352364063263, + 0.6053122282028199, + 1.0 + ], + [ + 0.2788587808609009, + 0.055689845234155655, + 0.07653609663248062, + -3.113662403198429, + -0.12942081689834595, + 0.7048459053039551, + 1.0 + ], + [ + 0.2677816152572632, + 0.04701985791325569, + 0.06160391867160797, + -3.126353665376552, + -0.14824943244457245, + 0.7804270386695862, + 1.0 + ], + [ + 0.26642730832099915, + 0.04420136287808418, + 0.05955817177891731, + -3.126503624143549, + -0.17380857467651367, + 0.7937265634536742, + 1.0 + ], + [ + 0.2661011517047882, + 0.04516660422086716, + 0.05437641963362694, + 3.1275925935530147, + -0.18707869946956637, + 0.8324607014656067, + 1.0 + ], + [ + 0.2671154737472534, + 0.04727838933467865, + 0.05211411044001579, + 3.117607472585984, + -0.2108791470527649, + 0.844895601272583, + 1.0 + ], + [ + 0.26857084035873413, + 0.051082730293273926, + 0.043824709951877594, + 3.1318825652175626, + -0.2296016663312912, + 0.8450198173522949, + 1.0 + ], + [ + 0.26937949657440186, + 0.05079108476638794, + 0.030635377392172813, + -3.119223702820488, + -0.22287943959236145, + 0.8300100564956666, + 1.0 + ], + [ + 0.2679547071456909, + 0.04827621951699257, + 0.02473713457584381, + -3.108010010915347, + -0.20583559572696686, + 0.8310707211494446, + 1.0 + ], + [ + 0.26841190457344055, + 0.04559527710080147, + 0.01625366136431694, + -3.0859557447307786, + -0.15718649327754974, + 0.823354959487915, + 1.0 + ], + [ + 0.27046170830726624, + 0.045321986079216, + 0.011251306161284447, + -3.0822253358834466, + -0.14721056818962097, + 0.8031025528907776, + 1.0 + ], + [ + 0.27504971623420715, + 0.04593907296657562, + 0.007052239961922169, + -3.0885489789121827, + -0.14604716002941132, + 0.7924234867095947, + 1.0 + ], + [ + 0.2758283317089081, + 0.04595797881484032, + 0.006999019533395767, + -3.091601116704293, + -0.14480264484882355, + 0.7627841830253601, + 0.0 + ], + [ + 0.2724592387676239, + 0.04794304072856903, + 0.011954293586313725, + -3.057660015421458, + -0.13236872851848605, + 0.686998724937439, + 0.0 + ], + [ + 0.2750536799430847, + 0.05029258877038956, + 0.029713600873947144, + -3.046026649075099, + -0.13312420248985288, + 0.6546779274940491, + 0.0 + ], + [ + 0.2735915184020996, + 0.04975856840610504, + 0.04816422238945961, + -3.057154582934924, + -0.13512001931667328, + 0.6641324758529663, + 0.0 + ], + [ + 0.26832231879234314, + 0.0493522472679615, + 0.06115967407822609, + -3.0434585382514676, + -0.11442703008651733, + 0.6697542071342468, + 0.0 + ], + [ + 0.26148664951324463, + 0.04878633841872215, + 0.07633687555789948, + -3.0420903732352933, + -0.08485605567693712, + 0.6782411932945251, + 0.0 + ], + [ + 0.25544190406799316, + 0.05005018785595894, + 0.08723641186952591, + -3.032724255817481, + -0.050019301474094384, + 0.6734006404876709, + 0.0 + ], + [ + 0.2577480375766754, + 0.051837269216775894, + 0.1011686846613884, + -3.0289583449536046, + -0.018098141998052597, + 0.6860724687576295, + 0.0 + ], + [ + 0.2605869472026825, + 0.05223270505666733, + 0.10078714042901993, + -2.9917675872617444, + 0.12200166285037994, + 0.7106476426124572, + 0.0 + ], + [ + 0.25873541831970215, + 0.05062343180179596, + 0.09729456156492233, + -2.9862846602969846, + 0.24260257184505463, + 0.7080234885215759, + 0.0 + ], + [ + 0.2497115135192871, + 0.04139258340001106, + 0.09941921383142471, + -3.0110089649730405, + 0.39116957783699036, + 0.6641957759857177, + 0.0 + ], + [ + 0.24405817687511444, + 0.03456553444266319, + 0.09792644530534744, + -3.0531652217083654, + 0.44339132308959966, + 0.6067283749580383, + 0.0 + ], + [ + 0.23665368556976318, + 0.027524376288056374, + 0.09055045247077942, + -3.081490622954913, + 0.5136938691139221, + 0.5527328848838806, + 0.0 + ], + [ + 0.23082739114761353, + 0.023826133459806442, + 0.0788654014468193, + -3.0909678397052964, + 0.5477920174598694, + 0.5280582308769225, + 0.0 + ], + [ + 0.23109377920627594, + 0.024253061041235924, + 0.0744093656539917, + -3.101842453824826, + 0.5394313931465149, + 0.5134586691856384, + 0.0 + ], + [ + 0.23274730145931244, + 0.026642244309186935, + 0.07312873750925064, + -3.0975476672225675, + 0.5388032793998718, + 0.5266125798225403, + 0.0 + ], + [ + 0.24348048865795135, + 0.03276536986231804, + 0.07267208397388458, + -3.097384715574332, + 0.49314507842063904, + 0.5615710616111755, + 0.0 + ], + [ + 0.2568068504333496, + 0.039955686777830124, + 0.07168890535831451, + -3.0928320606523236, + 0.4640309512615204, + 0.6034947037696838, + 0.0 + ], + [ + 0.2654469609260559, + 0.04372689500451088, + 0.07048989832401276, + -3.090795191126414, + 0.42237329483032227, + 0.615575134754181, + 0.0 + ], + [ + 0.27047672867774963, + 0.04846261069178581, + 0.06676120311021805, + -3.0650600736313542, + 0.2677226960659027, + 0.610306441783905, + 1.0 + ], + [ + 0.2746863067150116, + 0.04991770535707474, + 0.09350011497735977, + -3.059926899271556, + 0.04583947360515594, + 0.5866703391075134, + 1.0 + ], + [ + 0.27195459604263306, + 0.05224708095192909, + 0.12919901311397552, + -3.0466355328732213, + -0.07355514168739319, + 0.5675517320632935, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0349576473236084, + 0.12421530485153198, + 0.09925693273544312, + 0.09925693273544312, + 0.09925693273544312, + 0.09925693273544312, + 0.09925693273544312, + 0.09925693273544312, + 0.09925693273544312, + 0.09925693273544312, + 0.09925693273544312, + 0.09925693273544312, + 0.09925693273544312, + 0.09925693273544312, + 0.09925693273544312, + 0.09925693273544312, + 0.09925693273544312, + 0.09925693273544312, + 0.09925693273544312, + 0.06011873483657837, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926 + ], + "episode_id": "1669", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1669/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1681.json b/annotation/test/1681.json new file mode 100644 index 0000000000000000000000000000000000000000..d67ca838655bfcaa2395d5fc503f613c34202b4b --- /dev/null +++ b/annotation/test/1681.json @@ -0,0 +1,584 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "THE SPOON WAS MOVED NEAR BY THE POT" + ], + "videos": [ + { + "video_path": "videos/test/1681/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 3.2312862376109867e-09, + 2.1806440414580326e-09, + -0.0015339882815537846, + 1.0 + ], + [ + -0.007615363116413277, + 0.0042021367928628305, + 0.021488307990144364, + -0.019187331513086867, + -0.05099853442118664, + 0.0037877281625736067, + 1.0 + ], + [ + -0.021028260513748, + 0.0180671121048376, + 0.009214769937801742, + -0.06420422370989902, + 0.007309505956935436, + 0.09255879157394276, + 1.0 + ], + [ + -0.0011869575949968875, + 0.037253668103289846, + -0.018825544706400552, + -0.032930590293449045, + 0.07657790171867943, + 0.11956813670851567, + 1.0 + ], + [ + -0.00644584309710695, + 0.047235298773042285, + -0.00593897274616608, + -0.04017780793473341, + 0.025007221571652905, + 0.10944524424354307, + 1.0 + ], + [ + -0.0028161612488364156, + 0.04728790726415148, + 0.008541149609479123, + -0.018704020456567792, + -0.004638413757109775, + 0.09904658954969724, + 1.0 + ], + [ + 0.0009438021235556487, + 0.031939392244677296, + 0.013943555755967368, + 0.02829550316053728, + -0.00926977115103711, + 0.0809442733282832, + 1.0 + ], + [ + 0.005978024852195659, + 0.01642881872488069, + 0.010144471339157106, + 0.035872102416998654, + -0.005996678285491753, + 0.043154908850351927, + 1.0 + ], + [ + -0.0024331383401284467, + 0.008150768328151533, + 0.020429665086408973, + 0.005503358273089348, + -0.0486191287640986, + 0.004996574826092532, + 1.0 + ], + [ + 0.0025296572620120343, + 0.009025895890218861, + 0.010518597565520538, + 0.0059202946775780314, + -0.01915591040690646, + 0.009251627175552331, + 1.0 + ], + [ + 0.000808125230375914, + 0.0004297888137445045, + 0.010195905830313991, + 0.0076133808661478794, + -0.022885729046678616, + -0.009831464713782287, + 1.0 + ], + [ + -0.0001788136882163186, + 0.00037367779330749326, + -0.00029342465178266915, + -0.0027766088456861867, + -0.002633912602864384, + 0.0010208322553314979, + 1.0 + ], + [ + -0.0032846827312301968, + -0.0028799336594574074, + -9.548348653627361e-05, + -0.012355437151628014, + -0.015670276709734542, + -0.019431777652939693, + 0.0 + ], + [ + 0.004514121813409192, + -0.01318851181119068, + -0.02642744981332568, + 0.05094279392222141, + 0.0646836633610661, + -0.030555931111049477, + 0.0 + ], + [ + -0.00048849616019049, + -0.021991708739523382, + -0.031027754325400295, + 0.022168620575477766, + 0.05742552056509526, + -0.03326579780609668, + 0.0 + ], + [ + -0.030950438513502765, + -0.04396128956959744, + -0.024952787021428006, + 0.03354859664276819, + 0.0008448452031108651, + -0.008950059431004728, + 0.0 + ], + [ + -0.03603357478129447, + -0.023560885126926275, + 0.0022199900410199884, + -0.005688057375929044, + -0.05942207497301252, + -0.004568330914008509, + 0.0 + ], + [ + -0.03420886897429489, + -0.03010953936496283, + 0.0019753846775736575, + 0.015338259474641973, + -0.03577838669087797, + -0.07555835781213573, + 0.0 + ], + [ + -0.024778060179362623, + -0.007863528059316192, + 0.013248206352245597, + 0.02094285156149434, + -0.04150623950598622, + -0.050907109696890496, + 0.0 + ], + [ + -0.0215857385798209, + -0.03218661130557285, + 0.0045393166273244665, + 0.032143062145732364, + -0.021326498513704314, + -0.14823466141840727, + 0.0 + ], + [ + -0.00666306686712393, + 0.0009306005123824702, + 0.018063132555819733, + -0.04422392316904161, + -0.05891781963826098, + -0.02164321955349236, + 0.0 + ], + [ + -0.0032780360221894844, + -0.0015455130432915109, + 0.011536214827707385, + -0.0038439357015331325, + -0.036621455906411894, + 0.0005197153623191507, + 0.0 + ], + [ + 0.002061920231709231, + -0.0026534240512754263, + 0.0024394881800713455, + 0.003105172197795899, + -0.02057281724118466, + -0.00018114772886669952, + 0.0 + ], + [ + -4.902547200239195e-05, + 0.0005369546641223904, + 0.0030278423785400632, + -0.00728036924180151, + -0.01522770281729679, + -0.005933388444801497, + 0.0 + ], + [ + 0.0010594102022129757, + 0.0022643738168138003, + 0.0036849979804062516, + -0.01659508115954186, + 0.0006113322461651126, + -0.010975859714230096, + 1.0 + ], + [ + 0.0005189725409967244, + 0.0009830781735878742, + 4.939525512895942e-05, + -0.008771733335385206, + 0.004560024973785594, + 0.012509372811151276, + 1.0 + ], + [ + 0.0005787153084639053, + 0.0008922276605529894, + -0.009141136566155264, + -0.027571586116808364, + 0.053403488112890876, + 0.00015959841642339815, + 1.0 + ], + [ + 0.0005319159686523889, + -0.001830386917760435, + -0.001107854030644361, + -0.01327597563508675, + 0.018445958544085882, + 0.0019090930483662213, + 1.0 + ], + [ + -0.00022144162149249292, + -0.0004055454883747464, + 2.0546712472187763e-05, + 3.1417818431365174e-05, + -9.515657780877298e-05, + 0.004605203854173778, + 1.0 + ] + ], + "state": [ + [ + 0.4253997802734375, + 0.12162145227193832, + 0.09158040583133698, + -3.0569807087355336, + -0.12766392529010773, + 0.05984273925423622, + 1.0 + ], + [ + 0.4253997802734375, + 0.12162145227193832, + 0.09158040583133698, + -3.0571770091825208, + -0.12779341638088226, + 0.06138380616903305, + 1.0 + ], + [ + 0.42077523469924927, + 0.11895736306905746, + 0.06902125477790833, + -3.0763218720727643, + -0.0766572579741478, + 0.06191413849592209, + 1.0 + ], + [ + 0.4017201364040375, + 0.10031500458717346, + 0.057067763060331345, + -3.13368485041941, + -0.07759203016757965, + -0.031204307451844212, + 1.0 + ], + [ + 0.39793476462364197, + 0.06301357597112656, + 0.0754503682255745, + 3.1259376258873424, + -0.15266034007072446, + -0.15244275331497192, + 1.0 + ], + [ + 0.38347625732421875, + 0.017545312643051147, + 0.0810701847076416, + 3.102664863812276, + -0.17845691740512848, + -0.26321262121200567, + 1.0 + ], + [ + 0.369566947221756, + -0.02798841893672943, + 0.07398226857185364, + 3.102002577977725, + -0.1767846643924713, + -0.3639393746852875, + 1.0 + ], + [ + 0.36096057295799255, + -0.059451960027217865, + 0.061677221208810806, + -3.1382758858432105, + -0.17013372480869293, + -0.44637757539749146, + 1.0 + ], + [ + 0.3607548475265503, + -0.07752952724695206, + 0.052637729793787, + -3.0950065796547612, + -0.1638343632221222, + -0.49009737372398376, + 1.0 + ], + [ + 0.35824352502822876, + -0.08433958142995834, + 0.03173216059803963, + -3.089000793295451, + -0.11503472924232482, + -0.4928374588489533, + 1.0 + ], + [ + 0.35756468772888184, + -0.09357835352420807, + 0.021116552874445915, + -3.082123464094945, + -0.09541507065296174, + -0.5011052489280701, + 1.0 + ], + [ + 0.35920780897140503, + -0.09427659213542938, + 0.011036528274416924, + -3.075565630691596, + -0.07314815372228624, + -0.48990362882614136, + 1.0 + ], + [ + 0.35884860157966614, + -0.09452954679727554, + 0.011290873400866985, + -3.078280137973376, + -0.07045260071754456, + -0.4907505512237549, + 1.0 + ], + [ + 0.3572932481765747, + -0.09044652432203293, + 0.011336468160152435, + -3.092078050720044, + -0.05602844059467315, + -0.47033643722534174, + 0.0 + ], + [ + 0.36533746123313904, + -0.08122657239437103, + 0.03859462961554527, + -3.0425907616787633, + -0.12212389707565308, + -0.4428778290748597, + 0.0 + ], + [ + 0.3693256676197052, + -0.06229165196418762, + 0.0713384598493576, + -3.0236922224336347, + -0.18250907957553866, + -0.41504257917404175, + 0.0 + ], + [ + 0.3529187738895416, + -0.010563157498836517, + 0.09517420828342438, + -2.9917707463079175, + -0.18439368903636935, + -0.40610247850418096, + 0.0 + ], + [ + 0.3294883966445923, + 0.0252322256565094, + 0.08986665308475494, + -2.999681355553218, + -0.1263033300638199, + -0.39262127876281744, + 0.0 + ], + [ + 0.3093775808811188, + 0.06612464040517807, + 0.08784212172031403, + -2.9948065300756177, + -0.10115596652030945, + -0.3123864233493805, + 0.0 + ], + [ + 0.2900543510913849, + 0.08257610350847244, + 0.07344543933868408, + -2.9796797205978116, + -0.06737656891345976, + -0.25586465001106257, + 0.0 + ], + [ + 0.2773970663547516, + 0.11947818845510483, + 0.07269930094480515, + -2.959394173818179, + -0.06937909126281738, + -0.1057768389582634, + 0.0 + ], + [ + 0.2722723186016083, + 0.12239325046539307, + 0.054347772151231766, + -3.0056081434064588, + -0.01532284077256918, + -0.07385201752185823, + 0.0 + ], + [ + 0.2694034278392792, + 0.12570913136005402, + 0.04307866469025612, + -3.009429859119006, + 0.021030995994806293, + -0.06940208375453949, + 0.0 + ], + [ + 0.2716212272644043, + 0.12851384282112122, + 0.04096721112728119, + -3.006236257153102, + 0.04140041768550873, + -0.06650920957326889, + 0.0 + ], + [ + 0.27143725752830505, + 0.12840236723423004, + 0.03789926692843437, + -3.0131762345605573, + 0.05568686127662659, + -0.05856360867619514, + 0.0 + ], + [ + 0.27217021584510803, + 0.126582533121109, + 0.03390177711844444, + -3.02917646815116, + 0.05367172509431839, + -0.047740839421749115, + 1.0 + ], + [ + 0.2726329565048218, + 0.12558798491954803, + 0.03371480107307434, + -3.038651632266589, + 0.05053924024105072, + -0.06069924682378768, + 1.0 + ], + [ + 0.27355292439460754, + 0.12370186299085617, + 0.04267513379454613, + -3.066362889605113, + -0.00256568193435669, + -0.06634292006492615, + 1.0 + ], + [ + 0.27419596910476685, + 0.12540492415428162, + 0.04391878470778465, + -3.079618005203553, + -0.020815962925553322, + -0.06963330507278442, + 1.0 + ], + [ + 0.274003267288208, + 0.12582539021968842, + 0.04391878470778465, + -3.0794916731589517, + -0.020435547456145287, + -0.07422473281621934, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.04317682981491089, + 0.33786332607269287, + 0.5014694333076477, + 0.5689124763011932, + 0.5905163884162903, + 0.5914059281349182, + 0.5922945439815521, + 0.5922945439815521, + 0.5922945439815521, + 0.5922945439815521, + 0.5922945439815521, + 0.5922945439815521, + 0.5412575602531433, + 0.32381725311279297, + 0.05002796649932861, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1681", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1681/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1686.json b/annotation/test/1686.json new file mode 100644 index 0000000000000000000000000000000000000000..17f21f7e5e1151960a4ec18ae58333e3f1a2e376 --- /dev/null +++ b/annotation/test/1686.json @@ -0,0 +1,888 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Pick the knife from left corner and put it on right corner" + ], + "videos": [ + { + "video_path": "videos/test/1686/rgb.mp4" + } + ], + "action": [ + [ + 5.7833551943915845e-06, + -0.0005892678051741266, + 0.0005242602445446204, + -7.947511378364716e-06, + -0.0014420247884209627, + -0.0031546640267874, + 1.0 + ], + [ + -0.0031633798678917546, + -9.953925616155205e-05, + 0.015676918134089102, + -0.00513777513332862, + -0.04263457882456576, + 0.001369945767676446, + 1.0 + ], + [ + -0.01425489586321308, + -0.013228510998866823, + 0.02161753147833621, + 0.007407883950899177, + -0.042096294866036374, + -0.017812100021629924, + 1.0 + ], + [ + -0.011234878909277102, + -0.03197027013561054, + 0.001543357782688959, + 0.010487286790771443, + 0.021952355734845455, + -0.050757354115095105, + 1.0 + ], + [ + -0.01994149607714146, + -0.03964153698894499, + 0.023358630944016644, + 0.03057685115922275, + -0.023127555251221836, + -0.036628018615839475, + 1.0 + ], + [ + -0.025415322650649413, + -0.04080028950979864, + 0.018358625974220506, + 0.042841564869971545, + 0.0014984886081795877, + -0.07097846956664103, + 1.0 + ], + [ + -0.01013249369417358, + -0.011368385011046978, + 0.022060717840463744, + 0.026890968083705533, + -0.01737442388473203, + -0.00905538849132296, + 1.0 + ], + [ + -0.008023177793383315, + -0.02067435332932331, + 0.018498042553138444, + 0.005707603048854675, + 0.0023812448162234753, + -0.06068685921262374, + 1.0 + ], + [ + -0.0022157549045984525, + -0.007060704623307377, + 0.02924175735459305, + -0.02472908021681175, + -0.04231364527848768, + -0.03918820174500494, + 1.0 + ], + [ + 0.008423823238344301, + -0.008400884571056512, + 0.00500157592692286, + -0.002238117587617604, + 0.006297844539507266, + -0.010371184102705181, + 1.0 + ], + [ + 0.003396801291077201, + -0.0026427708783137984, + 0.0023963614789004966, + 0.01284425012520637, + -0.0007004862932529297, + -0.006392281113425183, + 1.0 + ], + [ + -0.0003852502864431411, + 0.0007142021675328529, + 0.01054868695572824, + -0.009654780152743053, + -0.029077167823580524, + -0.009114207551714345, + 1.0 + ], + [ + 0.002018314616362234, + 0.005918378862024887, + 0.0008015561134457173, + 0.008294507868136833, + -0.005907556772316347, + 0.01857106367855522, + 1.0 + ], + [ + 0.0030839380689462047, + 0.005611447187996886, + 0.002579543871937523, + 0.01101586067213089, + 0.00014726063286377204, + 0.009217523373707822, + 1.0 + ], + [ + 7.976235604228806e-05, + 0.001106463293157367, + 0.000733299289104483, + 0.010222328846359704, + -0.00036932010638505015, + -0.0001277544619603176, + 1.0 + ], + [ + -0.00023403472526692905, + 0.0025666997708016534, + 0.0003154703331479342, + 0.006635868903235699, + -0.0054305884427390885, + 0.010229202818014258, + 0.0 + ], + [ + -0.0012843395829428151, + 0.0014902751920334303, + -0.0014019365393572118, + -0.0012584441957148133, + -0.0010185112574329755, + 0.0020154332789166438, + 0.0 + ], + [ + -0.0047508728613653165, + 0.005034941841151246, + -0.028649597988438268, + -0.023103930048042065, + 0.009100438663111825, + 0.005875693982106634, + 0.0 + ], + [ + -0.0004865479855790803, + 0.019701337569639373, + -0.0333634722582346, + -0.045483579168471025, + -0.002252591389940429, + 0.04123240544531365, + 0.0 + ], + [ + -0.006760826546117379, + 0.04230680504220652, + -0.02738470029703182, + -0.02549937370491507, + 0.037412573050061335, + 0.0840723132239752, + 0.0 + ], + [ + -0.011938593719182933, + 0.04964893613596953, + -0.00017433225921442385, + -0.023733556124255154, + -0.00901624412779412, + 0.09544788099358019, + 0.0 + ], + [ + -0.01907639576866892, + 0.04877461415329176, + 0.014916951166030425, + 0.027706510342530518, + -0.017743396611341788, + 0.0718008933661363, + 0.0 + ], + [ + -0.011103956584934151, + 0.02684040527589676, + 0.010703203278525484, + 0.03637696280182522, + 0.02454031329980498, + -0.04568771644755619, + 0.0 + ], + [ + -0.006054258082891444, + 0.031459591092445685, + 0.00697943253008705, + -0.011978919912500881, + 0.04023136164498491, + -0.04162505925462584, + 0.0 + ], + [ + -0.001736496708713847, + 0.0216770875785452, + 0.0035009171266692876, + 0.029317039269078714, + 0.03164506962980981, + -0.058337507971805494, + 0.0 + ], + [ + -0.0016664455540440588, + 0.011972013293539759, + 0.0013051105581880077, + 0.0013151772187190629, + 0.019181717446469834, + -0.013812046429737126, + 0.0 + ], + [ + -0.004054519813591128, + 0.009237807506538338, + 0.01266311826700991, + 0.01214408784625406, + -0.02939017323128581, + 0.036256975767944156, + 0.0 + ], + [ + 0.0038562681666215225, + 0.009874888903537528, + 0.01151236779179074, + -0.008718942704516487, + -0.01872603356030292, + 0.06414563505438246, + 0.0 + ], + [ + -0.0002397666082594334, + 0.004173942183848021, + 0.012053140841157464, + 0.006211468310735964, + -0.025337180798924035, + 0.03690853757703773, + 0.0 + ], + [ + 0.0013433344927330192, + 0.004925711364111142, + 0.010433147609354728, + 0.006194348977880968, + -0.02033807198311473, + 0.002127263800590136, + 0.0 + ], + [ + 4.708606000370242e-05, + 0.005732055938873152, + 0.009185286832195282, + -0.001519384678262249, + -0.020823819766055813, + -0.011358826712461998, + 0.0 + ], + [ + 0.00019440949380609813, + 0.0023642447809601496, + 0.002735353100876239, + -0.008077003232769131, + -0.012509975437245047, + -0.010986627363215932, + 0.0 + ], + [ + -0.0007683061685046547, + -0.0007847354611716388, + -0.001634916017045272, + 0.012064639330168615, + -0.014713121532620183, + 0.02528257945862924, + 0.0 + ], + [ + 0.0010254833465768464, + -0.0008172364440639042, + -0.016175408233736272, + -0.010567640528699357, + 0.040584215514181995, + 0.019110742551125347, + 1.0 + ], + [ + 0.002692954764019138, + -0.016873719841811324, + -0.040791577883104564, + -0.018510660793244465, + 0.07892168729565203, + -0.0038725772882676865, + 1.0 + ], + [ + 0.00813294342667344, + -0.023905103901186178, + -0.04883460674730044, + -0.036106653610739343, + 0.05547261895625911, + -0.004796884622405207, + 1.0 + ], + [ + 0.00839239834166692, + -0.03635912856611005, + -0.03998667350598988, + -0.0543415689707727, + 0.020718901715640902, + -0.05899069247190557, + 1.0 + ], + [ + 0.008046601881350987, + -0.029973391538824824, + -0.015505962250341976, + -0.01586280878186255, + -0.012936617496229586, + -0.03564701404146195, + 1.0 + ], + [ + 0.008589316031714428, + -0.013693454360491915, + 0.0006320027210844675, + -0.007551927466537505, + -0.04296547396813841, + 0.0012192371378786716, + 1.0 + ], + [ + -0.00025714024682036405, + -0.003097587560317223, + -0.0005407283891156387, + -0.011147432677705616, + 2.520507412857161e-05, + 0.016046966598437813, + 1.0 + ], + [ + 0.0005038394180991678, + -0.0046485155518906215, + -3.2299011938632276e-05, + 0.03193755196718709, + 0.002145212608025276, + 0.026589720495954445, + 1.0 + ], + [ + 0.0014900583761772415, + -0.0012458612241555977, + 0.00038165156022571423, + 0.04902021181986119, + 0.0031217005993496045, + 0.056872876634377276, + 1.0 + ], + [ + 0.0012379129590841564, + -0.0005805642131899797, + -0.0014996848362902636, + 0.003750215232643582, + 0.005672436961443998, + -0.0006171045073550528, + 1.0 + ], + [ + -0.0004155372353185503, + -0.0001834788319977718, + -5.7913157842915326e-05, + 0.0014822376515168086, + -0.0002038541577098309, + 0.0003382416883661986, + 1.0 + ], + [ + 0.00041561106893950734, + 0.00018342378354136617, + 5.7556620688843044e-05, + -0.0014823065493483286, + 0.0002033525677289228, + -0.0003385434839979667, + 1.0 + ] + ], + "state": [ + [ + 0.35705000162124634, + 0.031052637845277786, + 0.1880098283290863, + 3.0904165675216397, + -0.11136609315872192, + -0.0037295788060873747, + 1.0 + ], + [ + 0.3571193814277649, + 0.03161406144499779, + 0.18746018409729004, + 3.090064799534627, + -0.10976405441761017, + -0.0006341852713376284, + 1.0 + ], + [ + 0.3556901812553406, + 0.030906934291124344, + 0.17154666781425476, + 3.0852718894653997, + -0.06725595891475677, + -0.004204379394650459, + 1.0 + ], + [ + 0.3430185914039612, + 0.04295098036527634, + 0.14831124246120453, + 3.091600379096814, + -0.024215847253799435, + 0.011198965832591057, + 1.0 + ], + [ + 0.33150699734687805, + 0.07467725872993469, + 0.1449010968208313, + 3.100888067977973, + -0.04357302188873291, + 0.06302820891141891, + 1.0 + ], + [ + 0.31027379631996155, + 0.11207226663827896, + 0.11910371482372284, + 3.1299267775663218, + -0.018946733325719837, + 0.09868081659078598, + 1.0 + ], + [ + 0.2813434302806854, + 0.14998984336853027, + 0.0997922495007515, + -3.1117316895448646, + -0.01957007870078087, + 0.1696855127811432, + 1.0 + ], + [ + 0.26974695920944214, + 0.16020013391971588, + 0.077886663377285, + -3.0850248542898377, + -0.002472863299772143, + 0.17925426363945005, + 1.0 + ], + [ + 0.25802773237228394, + 0.18011689186096191, + 0.06056730076670647, + -3.0795699564092835, + -0.008274788036942482, + 0.2397109568119049, + 1.0 + ], + [ + 0.25400301814079285, + 0.18825361132621765, + 0.031802061945199966, + -3.104642940806695, + 0.03153640404343605, + 0.2814335823059082, + 1.0 + ], + [ + 0.2595664858818054, + 0.19879333674907684, + 0.026850957423448563, + -3.1065626723044595, + 0.02485812082886696, + 0.29156795144081116, + 1.0 + ], + [ + 0.2619807720184326, + 0.20236307382583618, + 0.024464905261993408, + -3.0935596880787095, + 0.02533379197120666, + 0.2979829013347626, + 1.0 + ], + [ + 0.2614173889160156, + 0.20197361707687378, + 0.013907243497669697, + -3.1029304285817823, + 0.05393841117620468, + 0.30849403142929077, + 1.0 + ], + [ + 0.26507094502449036, + 0.19696342945098877, + 0.012770211324095726, + -3.0956316535645207, + 0.0605502612888813, + 0.2901318967342377, + 1.0 + ], + [ + 0.2694259285926819, + 0.1925373077392578, + 0.009754150174558163, + -3.085176373022147, + 0.06082407385110855, + 0.2809002697467804, + 1.0 + ], + [ + 0.26975080370903015, + 0.19152431190013885, + 0.008956248871982098, + -3.074945004778453, + 0.06118560209870338, + 0.2810489237308502, + 1.0 + ], + [ + 0.2702023386955261, + 0.18901094794273376, + 0.008485760539770126, + -3.0689147283607205, + 0.06728240102529526, + 0.2711819410324097, + 0.0 + ], + [ + 0.2694767117500305, + 0.18716081976890564, + 0.009859210811555386, + -3.0703037475519857, + 0.06844444572925566, + 0.26924124360084534, + 0.0 + ], + [ + 0.268646776676178, + 0.17960502207279205, + 0.03833625465631485, + -3.0938521829717835, + 0.059784185141325, + 0.2627208530902862, + 0.0 + ], + [ + 0.2755706310272217, + 0.15944021940231323, + 0.07069273293018341, + 3.1413506677832963, + 0.06395085901021957, + 0.22155895829200745, + 0.0 + ], + [ + 0.2799919843673706, + 0.1170760914683342, + 0.09846373647451401, + 3.110484168055006, + 0.026292374357581135, + 0.13752558827400208, + 0.0 + ], + [ + 0.2750174105167389, + 0.06629516184329987, + 0.10049550235271454, + 3.084378821896859, + 0.03221973031759263, + 0.04179636389017105, + 0.0 + ], + [ + 0.2576483190059662, + 0.01597766764461994, + 0.08901283144950867, + 3.109885389106818, + 0.045746829360723495, + -0.030969010666012764, + 0.0 + ], + [ + 0.2452700287103653, + -0.010818125680088997, + 0.07968399673700333, + -3.134774680370935, + 0.022617405280470845, + 0.015472576022148132, + 0.0 + ], + [ + 0.23954136669635773, + -0.04232180491089821, + 0.07262899726629257, + 3.137366426764526, + -0.017916055396199226, + 0.0567951463162899, + 0.0 + ], + [ + 0.23910024762153625, + -0.0640736073255539, + 0.0691891610622406, + -3.117544913786002, + -0.04928379878401756, + 0.11530796438455582, + 0.0 + ], + [ + 0.23889821767807007, + -0.0761139765381813, + 0.06751639395952225, + -3.116886507841297, + -0.06878767907619476, + 0.12868386507034302, + 0.0 + ], + [ + 0.23691017925739288, + -0.08536777645349503, + 0.05438072979450226, + -3.102304620789834, + -0.038467615842819214, + 0.09315373003482817, + 0.0 + ], + [ + 0.2420780062675476, + -0.09434106200933456, + 0.04264648258686066, + -3.1086600442701062, + -0.01716102473437786, + 0.029796546325087547, + 0.0 + ], + [ + 0.24215982854366302, + -0.09811510890722275, + 0.030460122972726822, + -3.101840818422385, + 0.009388580918312073, + -0.006246978882700205, + 0.0 + ], + [ + 0.24337521195411682, + -0.10262998193502426, + 0.01982731930911541, + -3.0956506488197526, + 0.029795115813612938, + -0.007564499042928219, + 0.0 + ], + [ + 0.24310097098350525, + -0.10793222486972809, + 0.01039126142859459, + -3.0967965704673013, + 0.0500730536878109, + 0.004751668777316809, + 0.0 + ], + [ + 0.24316370487213135, + -0.11017133295536041, + 0.007546606007963419, + -3.104294555383273, + 0.062075160443782806, + 0.016308907419443127, + 0.0 + ], + [ + 0.2424883395433426, + -0.1094590276479721, + 0.00925410632044077, + -3.093775054561444, + 0.07770172506570816, + -0.008479361422359942, + 0.0 + ], + [ + 0.2447682023048401, + -0.10943523049354553, + 0.02532161958515644, + -3.1059472916000566, + 0.03806016966700554, + -0.029507525265216827, + 1.0 + ], + [ + 0.2494860291481018, + -0.09415849298238754, + 0.06655620038509369, + -3.124306574585386, + -0.04094931110739708, + -0.028458261862397194, + 1.0 + ], + [ + 0.25624996423721313, + -0.07128427922725677, + 0.1160883828997612, + 3.122640799852558, + -0.09649624675512314, + -0.024609941989183426, + 1.0 + ], + [ + 0.2617296278476715, + -0.03429754450917244, + 0.1560046374797821, + 3.0625729655199727, + -0.11592329293489458, + 0.03515234217047691, + 1.0 + ], + [ + 0.2671108543872833, + -0.002985213417559862, + 0.16993902623653412, + 3.042739214497157, + -0.10014447569847107, + 0.06983716785907745, + 1.0 + ], + [ + 0.2748872935771942, + 0.011156129650771618, + 0.16882732510566711, + 3.0356435497575482, + -0.057507727295160294, + 0.06437688320875168, + 1.0 + ], + [ + 0.2744172215461731, + 0.014269739389419556, + 0.1690223217010498, + 3.0254282151632985, + -0.05922237411141395, + 0.04839454963803291, + 1.0 + ], + [ + 0.274726003408432, + 0.01891104131937027, + 0.16854633390903473, + 3.0589569454365453, + -0.06441432237625122, + 0.02217847481369972, + 1.0 + ], + [ + 0.27621686458587646, + 0.020154517143964767, + 0.1681600660085678, + 3.1117479616128882, + -0.07211457937955858, + -0.03438894450664521, + 1.0 + ], + [ + 0.27736562490463257, + 0.02074042335152626, + 0.16972710192203522, + 3.1154408940398177, + -0.077766053378582, + -0.03360047563910485, + 1.0 + ], + [ + 0.27695366740226746, + 0.020939305424690247, + 0.1697477549314499, + 3.1169498955183705, + -0.07757110893726347, + -0.03394496813416481, + 1.0 + ], + [ + 0.27736562490463257, + 0.02074042335152626, + 0.16972710192203522, + 3.1154408940398177, + -0.077766053378582, + -0.03360047563910485, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.06564539670944214, + 0.3479069471359253, + 0.4928007125854492, + 0.4928007125854492, + 0.4928007125854492, + 0.4928007125854492, + 0.4928007125854492, + 0.4928007125854492, + 0.4928007125854492, + 0.4928007125854492, + 0.4928007125854492, + 0.4928007125854492, + 0.4928007125854492, + 0.4928007125854492, + 0.4928007125854492, + 0.4928007125854492, + 0.4928007125854492, + 0.4928007125854492, + 0.41907817125320435, + 0.1374746561050415, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1686", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1686/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1696.json b/annotation/test/1696.json new file mode 100644 index 0000000000000000000000000000000000000000..b8bd94c2a18e2a29d60f0f217024897f59b6e288 --- /dev/null +++ b/annotation/test/1696.json @@ -0,0 +1,945 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Put pot on top of orange toewl" + ], + "videos": [ + { + "video_path": "videos/test/1696/rgb.mp4" + } + ], + "action": [ + [ + 2.236823056009267e-06, + 0.0005399808962729365, + 4.5991050674569515e-05, + -0.0003833988052195001, + -0.00012475700221842209, + -5.390107903085388e-05, + 1.0 + ], + [ + -0.004691009682347348, + -0.0007234299309971161, + 0.009883443118277263, + -0.0013058721756553017, + -0.03357138900970365, + -0.010730873921229237, + 1.0 + ], + [ + -0.0039428590590895075, + -0.0003592326037018032, + 0.0030669999859619644, + 0.0022374689488073186, + -0.029169892428393768, + -0.06980376570936236, + 1.0 + ], + [ + -7.837975850176993e-05, + -0.0069906502780982425, + 0.0019321202016067446, + 0.043096511655965536, + 0.0013355733897920984, + -0.11899581080761809, + 1.0 + ], + [ + -0.002816525450045036, + -0.005808606009933223, + 0.013038109427919081, + 0.04906613716379838, + -0.040848816807004, + -0.13744146420652154, + 1.0 + ], + [ + 0.003318293645330486, + 0.013190773529533037, + 0.0005617328891706002, + -0.005555079294387248, + 0.01082995502018227, + 0.09111413029746036, + 1.0 + ], + [ + -0.0014385582612599268, + 0.00925831541992996, + 0.008126529595019659, + 0.005688476158178079, + -0.005901043164514827, + 0.13405035828680503, + 1.0 + ], + [ + 0.007871757744895421, + 0.008970317504644472, + 0.005232666240790644, + 0.016660222404818698, + 0.007273685588157036, + 0.17724597870786504, + 1.0 + ], + [ + 0.0020308078598469262, + 0.008528546719820248, + 0.00993749505689849, + 0.0017869455035440678, + -0.013705508907393006, + 0.16018878820246585, + 1.0 + ], + [ + -0.0038691492436710604, + 0.0097479172996497, + 0.010263889851877327, + 0.0050335570610186555, + -0.04931519404181306, + 0.14685628881217985, + 1.0 + ], + [ + -0.003300076685689201, + 0.0039039169500747917, + 0.005243747264568454, + -0.00878386071424896, + 0.004950723130877969, + 0.10407412080960032, + 1.0 + ], + [ + 0.0003102475663177096, + -0.0001621063932913675, + 0.0005886125481973455, + 0.008483848999044032, + 0.0017186748696485566, + 0.03754071445451738, + 1.0 + ], + [ + 0.0010395472552981006, + 0.0049797270509316085, + 0.0067286062792705085, + 0.009676022326401492, + 0.0035577145818489076, + 0.03600658736991623, + 1.0 + ], + [ + 0.0008441705438540808, + 0.0016674144063286438, + 0.007920768469065035, + 0.009211283022996765, + 0.0016374223656498543, + 0.027393836001486153, + 1.0 + ], + [ + 0.0009330713317066415, + 0.00044041407077857194, + 0.012429707718526452, + -0.0024163805352941403, + -0.003830802584965736, + 0.04757360721331703, + 1.0 + ], + [ + 0.0015388941163202983, + -0.0012274428478034679, + 0.0057268885439421486, + 0.005976725737153725, + 0.00900477036642901, + -2.2376980965330464e-06, + 1.0 + ], + [ + 0.0012450619921492271, + -0.0035625873724392464, + 0.001179956234941006, + -0.020936704202354002, + 0.033372839150251, + -0.0010343683709720386, + 0.0 + ], + [ + -0.0031389468240169464, + 0.00014853538662804036, + 0.0025660571131410374, + -0.0012926077553818173, + 0.005848377089230547, + 0.013023922717111114, + 0.0 + ], + [ + -0.001276102808298654, + -0.0030815554683184324, + -0.007546421839606274, + 0.042713196052875164, + 0.013678755829884433, + -0.0022846734162294347, + 0.0 + ], + [ + -0.0035395986492645173, + 0.000720862665513532, + -0.011083436364681747, + 0.031178868749469096, + 0.014386591486137298, + -0.011141974958260706, + 0.0 + ], + [ + 0.0037562183597040404, + 0.00024743117997151685, + -0.016863533587657742, + 0.046253571294736465, + 0.009084939787413366, + -0.02416050303933831, + 0.0 + ], + [ + -0.0012221539499448068, + 0.006234724639075698, + -0.010979610265661816, + 0.024854345672068467, + -0.01628395760274863, + -0.04532075644092371, + 0.0 + ], + [ + -0.007545159358305122, + 0.008326807628936108, + -0.0074311493242740665, + -0.0031687374139283235, + -0.03448028562245732, + -0.044489121666450845, + 0.0 + ], + [ + -0.010218641102683307, + 0.007108139248051854, + -0.0015372147297232402, + -0.007638198038884914, + -0.051765181773522455, + -0.04419957961098289, + 0.0 + ], + [ + -0.009795675097978821, + 0.011992750901151957, + -0.003109549407710219, + 0.011496174767857966, + -0.04589399379272815, + -0.0630626475733875, + 0.0 + ], + [ + -0.008078203550289764, + 0.006283413443605124, + -0.0005414504664243919, + -0.008506057600846472, + -0.04415221365703162, + -0.07591004159729169, + 0.0 + ], + [ + -0.011257310884321553, + 0.013054860939051883, + 0.005281414963723245, + 0.011804982196710912, + -0.03689511981903086, + -0.10930547990692754, + 0.0 + ], + [ + -0.0020336616383533498, + 0.004391243983442849, + -0.0002508428258859262, + 0.0016606734285151852, + -0.006098756808457111, + -0.12477497517518202, + 0.0 + ], + [ + -0.0009447021064310754, + 0.0061440636650208795, + -0.0011420979341609271, + -0.0035229001685379334, + 0.004044630646776893, + -0.06489605926740119, + 0.0 + ], + [ + -0.0051429130646466715, + 0.0017680586012785928, + 0.009132554767990133, + 0.006687082684019911, + -0.026519141119365958, + -0.06476140869232963, + 0.0 + ], + [ + -0.006502823506854925, + -0.00011837465503567712, + 0.0068693432560678735, + -0.004031293987888905, + -0.010669506511395066, + -0.014134194318614186, + 0.0 + ], + [ + -0.003908672548875595, + -0.000985488603699599, + 0.0046312750201006345, + 0.0020082076228077925, + -0.0035518285131852217, + -0.006496159513698373, + 0.0 + ], + [ + -0.0017248567724008471, + -0.0006659942537684172, + 0.002219796668278719, + -0.0003889980523606275, + -0.002099246422497018, + -0.010358508511911061, + 0.0 + ], + [ + -0.00206548086963525, + 0.0008261699534869813, + 0.007449807675293474, + 0.01078207194485929, + -0.027043723977919414, + 0.010283933886935362, + 0.0 + ], + [ + 0.0019825302722792826, + 8.036157731478352e-05, + -0.0024388304706560258, + -0.01397990952749625, + -0.0053104793332022626, + 0.007316726854594441, + 0.0 + ], + [ + 0.00046386104468601816, + -0.0010730662546914803, + -0.0016269299944180276, + -0.01155246682465314, + -0.016205275619196418, + -0.0011229497075209793, + 1.0 + ], + [ + -0.00045614505807194453, + -0.0016492088068009328, + -0.005773869250747046, + -0.010759950455264228, + 0.0032102328290419726, + -0.0011565487575613416, + 1.0 + ], + [ + -0.0007338913949145677, + -0.001594197888561763, + -0.013470439029412834, + -0.02534101176626144, + 0.017727232580859335, + -0.011013182884446233, + 1.0 + ], + [ + 0.007898766835716498, + -0.008324031658916662, + -0.01361595471657312, + -0.07051921042058794, + 0.04037422780838372, + -0.01385293450278823, + 1.0 + ], + [ + 0.009321103480996368, + -0.004284068686426102, + -0.010165040716231418, + -0.0556784209492382, + 0.03127071440638049, + 0.0028948457316262314, + 1.0 + ], + [ + 0.01316481946915536, + -0.005328330547745103, + -0.007852073510981395, + -0.035684041957169475, + 0.027595494378672314, + -0.01665863652867558, + 1.0 + ], + [ + 0.012467632212081508, + -0.007142499866030433, + -0.002900218238260312, + 0.024120309441304163, + 0.061352196177603416, + 0.006084283846845074, + 1.0 + ], + [ + 0.009427360283829993, + -0.007825397136915041, + -0.0017625742986801171, + 0.013094514896438637, + 0.04112827926722056, + 0.0017839659068033728, + 1.0 + ], + [ + 0.005427677574050859, + -0.011809381674011384, + -0.0011079031986632524, + 0.034655998368124295, + 0.019322717742236706, + 0.044846785169429984, + 1.0 + ], + [ + -6.444178670131918e-05, + -0.021371072115515945, + 0.0009444524575869296, + 0.010803598402380356, + -0.019584950141701384, + 0.07178759128268306, + 1.0 + ], + [ + -0.005866050707313665, + -0.02223252746996201, + 0.0018985002861903748, + -0.008127816821616857, + -0.03648695248976412, + 0.063660027073576, + 1.0 + ], + [ + -0.003097034584657711, + -0.024363306382630227, + 0.001704021670079956, + 0.0258448421648913, + -0.0014132400850350917, + 0.027936413093240957, + 1.0 + ], + [ + -0.002721519076935824, + -0.014111217300395648, + 0.006565420921746722, + 0.018369556177768583, + 0.025515431088915894, + -0.01350054375913473, + 1.0 + ] + ], + "state": [ + [ + 0.3303837180137634, + 0.1251225471496582, + 0.1166667714715004, + 3.0576917995982846, + -0.25268131494522095, + 0.3570341169834137, + 1.0 + ], + [ + 0.33057528734207153, + 0.12461559474468231, + 0.1166667714715004, + 3.0572972317510327, + -0.25255247950553894, + 0.35707879066467285, + 1.0 + ], + [ + 0.3286783993244171, + 0.12378914654254913, + 0.10589968413114548, + 3.0539332946115216, + -0.21818894147872928, + 0.3651302754878998, + 1.0 + ], + [ + 0.32567498087882996, + 0.12273667752742767, + 0.10203271359205246, + 3.0415957813435277, + -0.1825309544801712, + 0.4332093000411988, + 1.0 + ], + [ + 0.32319778203964233, + 0.1290421038866043, + 0.09944166988134384, + 3.063611092167445, + -0.17071561515331268, + 0.5534989237785339, + 1.0 + ], + [ + 0.3202703893184662, + 0.13284656405448914, + 0.08570771664381027, + 3.090475993352481, + -0.11778635531663892, + 0.6881328225135803, + 1.0 + ], + [ + 0.33119022846221924, + 0.12473311275243759, + 0.08620985597372055, + 3.0958355275266847, + -0.1327667385339737, + 0.596893846988678, + 1.0 + ], + [ + 0.33626070618629456, + 0.11654732376337051, + 0.07839260250329971, + 3.11979963270063, + -0.13178469240665436, + 0.461533784866333, + 1.0 + ], + [ + 0.34788474440574646, + 0.11218513548374176, + 0.07443469762802124, + -3.1230082867019853, + -0.14082409441471097, + 0.282707005739212, + 1.0 + ], + [ + 0.35350337624549866, + 0.10513002425432205, + 0.06472539901733398, + -3.098937204229184, + -0.12235257029533385, + 0.12160450220108032, + 1.0 + ], + [ + 0.35211247205734253, + 0.09558947384357452, + 0.05366271734237671, + -3.0766674374514302, + -0.06556614488363266, + -0.02312622219324112, + 1.0 + ], + [ + 0.34909749031066895, + 0.0921027809381485, + 0.04797230288386345, + -3.0789760296517095, + -0.06341046839952467, + -0.12751249969005582, + 1.0 + ], + [ + 0.34946614503860474, + 0.09225576370954514, + 0.04741580784320831, + -3.0681511779599866, + -0.06273237615823746, + -0.16516126692295077, + 1.0 + ], + [ + 0.35019174218177795, + 0.08760052919387817, + 0.04041903838515282, + -3.0562511404329022, + -0.06359799206256866, + -0.20140504837036136, + 1.0 + ], + [ + 0.35132017731666565, + 0.08636359125375748, + 0.03245486319065094, + -3.045325147109576, + -0.06287079304456711, + -0.22889307141304016, + 1.0 + ], + [ + 0.3531583845615387, + 0.08671194314956665, + 0.020123526453971863, + -3.044892007606574, + -0.05441723391413689, + -0.27594697475433355, + 1.0 + ], + [ + 0.35541248321533203, + 0.08791806548833847, + 0.014633866026997566, + -3.0388641228252133, + -0.063380129635334, + -0.2768158912658692, + 1.0 + ], + [ + 0.3576585650444031, + 0.09108977764844894, + 0.013905948959290981, + -3.0595913027697286, + -0.09668285399675368, + -0.27922046184539795, + 0.0 + ], + [ + 0.35491085052490234, + 0.09194222837686539, + 0.011045338585972786, + -3.059584031003066, + -0.1014360412955284, + -0.2927490174770355, + 0.0 + ], + [ + 0.3536495566368103, + 0.09488441795110703, + 0.018649650737643242, + -3.016981082158633, + -0.11525590717792511, + -0.2915849983692169, + 0.0 + ], + [ + 0.348478764295578, + 0.09425131976604462, + 0.029078124091029167, + -2.9868695755773267, + -0.1309107691049576, + -0.2822387218475342, + 0.0 + ], + [ + 0.3491794466972351, + 0.09108775109052658, + 0.04605016112327576, + -2.94361266692216, + -0.14357687532901767, + -0.259534627199173, + 0.0 + ], + [ + 0.34456825256347656, + 0.08375297486782074, + 0.05531597137451172, + -2.9258366246991834, + -0.13635769486427307, + -0.21145287156105044, + 0.0 + ], + [ + 0.3344907760620117, + 0.07597003877162933, + 0.05971568822860718, + -2.9361091574006757, + -0.11202020198106766, + -0.16031242907047272, + 0.0 + ], + [ + 0.3232995271682739, + 0.07041294872760773, + 0.058627571910619736, + -2.9497992565208158, + -0.07019593566656113, + -0.10639842599630356, + 0.0 + ], + [ + 0.312216579914093, + 0.059160709381103516, + 0.05870511010289192, + -2.943537267046519, + -0.036978665739297874, + -0.0357460081577301, + 0.0 + ], + [ + 0.3039511442184448, + 0.05318516865372658, + 0.057701461017131805, + -2.9556093235784253, + -0.008479733020067217, + 0.04731933027505875, + 0.0 + ], + [ + 0.29333192110061646, + 0.040815889835357666, + 0.050001926720142365, + -2.945869358378001, + 0.007668789010494947, + 0.16152538359165192, + 0.0 + ], + [ + 0.2920207679271698, + 0.036188606172800064, + 0.04940960183739662, + -2.9447716941409787, + -0.010610813274979591, + 0.2851057648658753, + 0.0 + ], + [ + 0.2928726077079773, + 0.02992662787437439, + 0.04931814223527908, + -2.949353503184863, + -0.027238741517066956, + 0.3479774892330169, + 0.0 + ], + [ + 0.28827470541000366, + 0.028268741443753242, + 0.03987940028309822, + -2.9449241032176694, + -0.01350677013397217, + 0.4166053533554077, + 0.0 + ], + [ + 0.2818213999271393, + 0.027007898315787315, + 0.0330783911049366, + -2.949184762435504, + -0.005802962463349105, + 0.43255159258842474, + 0.0 + ], + [ + 0.27751901745796204, + 0.0270623080432415, + 0.02869841828942299, + -2.947221117215701, + -0.0035587360616773367, + 0.43960708379745483, + 0.0 + ], + [ + 0.2755042016506195, + 0.027310654520988464, + 0.02664293348789215, + -2.947658287482806, + -0.0034995279274880886, + 0.4501760601997375, + 0.0 + ], + [ + 0.2733960747718811, + 0.026986071839928627, + 0.019166380167007446, + -2.936789633827754, + 0.02501906640827656, + 0.44529849290847784, + 0.0 + ], + [ + 0.2754857838153839, + 0.027346652001142502, + 0.021487560123205185, + -2.950922729569026, + 0.03170612454414368, + 0.439211755990982, + 0.0 + ], + [ + 0.2756401598453522, + 0.028242625296115875, + 0.023272760212421417, + -2.9623190631442746, + 0.04740460216999054, + 0.4433899521827698, + 1.0 + ], + [ + 0.27522987127304077, + 0.028704481199383736, + 0.029263075441122055, + -2.973051281767436, + 0.04403958097100258, + 0.44395607709884644, + 1.0 + ], + [ + 0.27540186047554016, + 0.028024446219205856, + 0.0428292378783226, + -2.998023675876208, + 0.02471480518579483, + 0.45184028148651123, + 1.0 + ], + [ + 0.28008538484573364, + 0.03728943318128586, + 0.057296402752399445, + -3.068233514326163, + -0.017226602882146832, + 0.4597653150558472, + 1.0 + ], + [ + 0.2867106795310974, + 0.0445062629878521, + 0.06790710985660553, + -3.123787647234746, + -0.048200782388448715, + 0.4545820653438568, + 1.0 + ], + [ + 0.2959029972553253, + 0.05477279797196388, + 0.07647788524627686, + 3.122937001409479, + -0.07608217000961304, + 0.4707872867584229, + 1.0 + ], + [ + 0.3035310208797455, + 0.06672881543636322, + 0.08018400520086288, + -3.1357840840988835, + -0.13753624260425568, + 0.46581232547760004, + 1.0 + ], + [ + 0.30814284086227417, + 0.07779417186975479, + 0.0832674503326416, + -3.122402824583002, + -0.17865318059921265, + 0.4637583792209625, + 1.0 + ], + [ + 0.30743589997291565, + 0.09061842411756516, + 0.08554504066705704, + -3.0795733874016484, + -0.19692696630954742, + 0.4176656305789948, + 1.0 + ], + [ + 0.29863405227661133, + 0.11011240631341934, + 0.085906982421875, + -3.0549336691671094, + -0.17244155704975128, + 0.34618499875068665, + 1.0 + ], + [ + 0.2856213450431824, + 0.129139244556427, + 0.08493281155824661, + -3.0527379160099706, + -0.13027101755142212, + 0.28545454144477844, + 1.0 + ], + [ + 0.2757408320903778, + 0.15168781578540802, + 0.0849912092089653, + -3.0233002846413335, + -0.12633441388607025, + 0.2575312554836273, + 1.0 + ], + [ + 0.26995521783828735, + 0.16545572876930237, + 0.07983280718326569, + -3.006223650770732, + -0.15325787663459778, + 0.2680451869964599, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05002796649932861, + 0.3298342227935791, + 0.6279491484165192, + 0.8221043199300766, + 0.9085652902722359, + 0.9234305396676064, + 0.926342710852623, + 0.926342710852623, + 0.926342710852623, + 0.926342710852623, + 0.926342710852623, + 0.926342710852623, + 0.926342710852623, + 0.926342710852623, + 0.926342710852623, + 0.926342710852623, + 0.926342710852623, + 0.926342710852623, + 0.926342710852623, + 0.8952606022357941, + 0.7262243926525116, + 0.45573753118515015, + 0.16097313165664673, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1696", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1696/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1698.json b/annotation/test/1698.json new file mode 100644 index 0000000000000000000000000000000000000000..9a5eb2b0d69352e6e031a07f2d423367c4daa228 --- /dev/null +++ b/annotation/test/1698.json @@ -0,0 +1,565 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put lid on pot or pan" + ], + "videos": [ + { + "video_path": "videos/test/1698/rgb.mp4" + } + ], + "action": [ + [ + -0.000701963244719616, + 0.0006807454424187726, + 0.0035505317813803935, + 0.0005912679773511461, + -0.010507150489591876, + 0.0021304407053152888, + 1.0 + ], + [ + -0.022462510473541118, + -0.005270757808013467, + 0.011428546503119136, + 0.02245757701592335, + -0.0728767164171278, + 0.002862504869503536, + 1.0 + ], + [ + -0.028245782085504906, + -0.02908413283241498, + -0.0036484037515884978, + 0.01802529322018028, + -0.012999753075704262, + -0.073077597929625, + 1.0 + ], + [ + -0.020525604710845084, + -0.025047980851471502, + 0.014854965998309029, + 0.007930282835718791, + 0.009189796853046057, + -0.038046673041393864, + 1.0 + ], + [ + -0.008677473347745511, + -0.021556482897695625, + 0.022808178795759953, + 0.012605508240411997, + 0.046875342154636006, + -0.0034824840851186245, + 1.0 + ], + [ + -0.0021467736646685882, + -0.012455000175521232, + 0.02666109848617517, + -0.010537339966091106, + 0.015086419214586238, + -0.010544035244486983, + 1.0 + ], + [ + -0.005023031737631373, + -0.0005777486260041474, + 0.02388956624856831, + -0.028241983985726183, + 0.005841631117775526, + -0.011485557298419661, + 1.0 + ], + [ + -0.0005942980365779389, + 0.003098407082351135, + 0.013804223612444617, + -0.026731906619677944, + 0.019840094594295962, + -0.0055753562949947605, + 1.0 + ], + [ + -0.0005765977747407417, + 0.0020544473148400564, + 0.011122506233436412, + -0.025849819276817853, + 0.006979300018983685, + 0.015938869483355256, + 1.0 + ], + [ + -0.0024018483414142127, + -1.047612375792438e-05, + 0.009242977578516977, + -0.021440033076472114, + -0.004999189149167406, + -0.0033309990686661677, + 1.0 + ], + [ + 0.0038747058050353322, + 0.0021190578857069368, + 0.005263509206061824, + -0.01642552295857983, + 0.0034606697677021336, + 0.008352169082290884, + 1.0 + ], + [ + 0.0011121956929960096, + 0.0016289660763669802, + 0.004294618388034625, + -0.013415203172854535, + -0.0011758955990131587, + 0.004588680861791017, + 1.0 + ], + [ + 0.00501331830634892, + 0.00017780068802288485, + 0.005252669067827709, + -0.013626053097657388, + 0.010258022589779257, + 0.018644214045637653, + 1.0 + ], + [ + 0.0014340745868401757, + -0.003943469820388143, + 0.006800781162006061, + -0.022271284941728437, + -0.004458760836147792, + 0.005305556101090469, + 1.0 + ], + [ + 0.0013025291345525845, + -0.0027024985929175816, + 0.005110954288489121, + -0.0205180924673395, + -0.002482428192773706, + 0.0029412854352639153, + 1.0 + ], + [ + -0.0009123930621611502, + -0.000467147908442754, + 0.007468365120886029, + -0.00905799447984553, + 0.008868684454033797, + -0.019099351655042902, + 1.0 + ], + [ + 2.481237855607424e-05, + 9.476383327577782e-05, + 0.0021578759145541204, + 0.020925338038482583, + 0.03602258098936624, + 0.0006490812201225964, + 0.0 + ], + [ + 0.00251773829424446, + -0.0010467841072184017, + -0.0005156572391762732, + 0.018418544144863592, + 0.01746603402828144, + 0.0029522635129213145, + 0.0 + ], + [ + -0.005941102242044262, + -0.0002769474185790191, + -0.0061162380067734026, + -0.001876435877598565, + -0.08166713768699933, + 0.020163656470018002, + 0.0 + ], + [ + 0.004586543679449911, + -0.01430984658756689, + -0.03546114312408959, + 0.03748844287687992, + -0.0869386875727161, + 0.028289012928088532, + 0.0 + ], + [ + 0.00379916032744887, + -0.012091653450305377, + -0.047137667226457264, + 0.058744430102038996, + -0.033461101815803716, + -0.0016803556901501349, + 0.0 + ], + [ + -0.0052248093629004965, + 0.020049728346099454, + -0.05208419297152869, + 0.05127153926475378, + -0.009979671986859746, + -0.0872301120533311, + 0.0 + ], + [ + -0.012092884015315138, + 0.03568018255522084, + -0.04070205067679193, + 0.00793251287309304, + -0.02024051491197032, + -0.07241446882612995, + 0.0 + ], + [ + -0.005090146214709845, + 0.034824929302308065, + -0.03651155729209178, + -0.007559849919066537, + -0.018701709447388224, + -0.03634641076105916, + 0.0 + ], + [ + -0.01059537131419876, + 0.043126051957305137, + -0.02904093568634377, + -0.04061609814407684, + -0.007708868886261321, + -0.05101481156906455, + 0.0 + ], + [ + -0.01620224616594671, + 0.031283805964548626, + 0.004526244909708926, + -0.036376658351273676, + 0.009150107331113506, + -0.029720682465926348, + 0.0 + ], + [ + -0.014963497375363743, + 0.009820310679948267, + 0.02061565622476432, + -0.03079260894452651, + 0.014582455253121074, + -0.020694267219733865, + 0.0 + ], + [ + -0.007101707621868719, + -0.0004224695486310032, + 0.0112905637874805, + -0.02637477841873561, + 0.018903013522656047, + -0.01876104904196532, + 0.0 + ] + ], + "state": [ + [ + 0.3438701927661896, + -0.0016804513288661838, + 0.09140757471323013, + -2.948618011670657, + -0.13037820160388947, + -0.04002520069479942, + 1.0 + ], + [ + 0.3436448872089386, + -0.0016586098354309797, + 0.08773181587457657, + -2.948006035881587, + -0.11965751647949217, + -0.040101509541273124, + 1.0 + ], + [ + 0.32287317514419556, + 0.006551668513566256, + 0.07492227852344513, + -2.9263817836814603, + -0.04758627712726593, + -0.02888255193829536, + 1.0 + ], + [ + 0.29500436782836914, + 0.035002417862415314, + 0.08334286510944366, + -2.912468196945735, + -0.050346605479717255, + 0.04537800326943398, + 1.0 + ], + [ + 0.2737075686454773, + 0.061831261962652206, + 0.07354331016540527, + -2.9064340760284146, + -0.06790508329868317, + 0.08042056113481522, + 1.0 + ], + [ + 0.26412755250930786, + 0.08742180466651917, + 0.05583622306585312, + -2.8930567373805722, + -0.11429882049560548, + 0.07283608615398407, + 1.0 + ], + [ + 0.2632356286048889, + 0.10603678971529007, + 0.032961856573820114, + -2.9043193628364286, + -0.1315128803253174, + 0.07940062880516052, + 1.0 + ], + [ + 0.2607993483543396, + 0.11203934252262115, + 0.009418069384992123, + -2.9338653554492673, + -0.13988417387008667, + 0.08928760141134262, + 1.0 + ], + [ + 0.2621942460536957, + 0.11197862029075623, + -0.004673079587519169, + -2.9607485105567655, + -0.1604474037885666, + 0.09066824615001678, + 1.0 + ], + [ + 0.26342880725860596, + 0.11207032948732376, + -0.015930557623505592, + -2.9838778396421155, + -0.1644230484962463, + 0.07350271940231323, + 1.0 + ], + [ + 0.2624482214450836, + 0.11346414685249329, + -0.025327224284410477, + -3.005992816882678, + -0.16000770032405853, + 0.07763024419546129, + 1.0 + ], + [ + 0.26724347472190857, + 0.11244489997625351, + -0.030141262337565422, + -3.0210111682587346, + -0.16230136156082153, + 0.06877051293849945, + 1.0 + ], + [ + 0.26913297176361084, + 0.11147189885377884, + -0.034362319856882095, + -3.0337049310379705, + -0.16058044135570526, + 0.064299076795578, + 1.0 + ], + [ + 0.27488288283348083, + 0.11223176121711731, + -0.03873457759618759, + -3.0441608299785337, + -0.16874009370803833, + 0.04437650740146637, + 1.0 + ], + [ + 0.27716296911239624, + 0.11692386120557785, + -0.044787969440221786, + -3.065607303875037, + -0.16378436982631683, + 0.03946416825056076, + 1.0 + ], + [ + 0.27912232279777527, + 0.12008631229400635, + -0.049401186406612396, + -3.085672104852744, + -0.16108520328998566, + 0.036683831363916404, + 1.0 + ], + [ + 0.2793809175491333, + 0.12098023295402527, + -0.05688190832734108, + -3.097760522859641, + -0.17097938060760498, + 0.05553166940808296, + 1.0 + ], + [ + 0.2797722816467285, + 0.12100186944007874, + -0.05900614708662033, + -3.0764195417338094, + -0.2069384753704071, + 0.05325699970126152, + 0.0 + ], + [ + 0.2820594310760498, + 0.1221362054347992, + -0.05791853740811348, + -3.057131016748496, + -0.22417339682579038, + 0.04906920716166496, + 0.0 + ], + [ + 0.27492737770080566, + 0.12154565751552582, + -0.053274527192115784, + -3.055770808952399, + -0.14107757806777954, + 0.03579537570476532, + 0.0 + ], + [ + 0.2739269733428955, + 0.13273459672927856, + -0.016435585916042328, + -3.0150581767135343, + -0.052004873752593994, + 0.015133969485759735, + 0.0 + ], + [ + 0.2751193344593048, + 0.13879968225955963, + 0.03198336064815521, + -2.9565509875589093, + -0.019022537395358086, + 0.021022962406277653, + 0.0 + ], + [ + 0.26960891485214233, + 0.10938705503940582, + 0.07938152551651001, + -2.907651739316531, + -0.025168620049953457, + 0.10862679779529572, + 0.0 + ], + [ + 0.2615932524204254, + 0.06410764157772064, + 0.11038949340581894, + -2.9022320826822003, + -0.02217828668653965, + 0.18377362191677094, + 0.0 + ], + [ + 0.263761043548584, + 0.02129458449780941, + 0.13748417794704437, + -2.9108231534534177, + -0.012606826610863209, + 0.22351703047752378, + 0.0 + ], + [ + 0.2639820873737335, + -0.02852088026702404, + 0.1557561457157135, + -2.9523909856849393, + -0.01674877479672432, + 0.2749495506286621, + 0.0 + ], + [ + 0.2566679120063782, + -0.06162433326244354, + 0.1451570689678192, + -2.9892921169572553, + -0.03131832182407379, + 0.3024303913116455, + 0.0 + ], + [ + 0.24500367045402527, + -0.07215535640716553, + 0.12283235043287277, + -3.020665833848067, + -0.048866175115108504, + 0.3206920325756073, + 0.0 + ], + [ + 0.2382277399301529, + -0.07252894341945648, + 0.11134162545204163, + -3.047835389273711, + -0.0698876902461052, + 0.3370721936225891, + 0.0 + ] + ], + "continuous_gripper_state": [ + 0.0356978178024292, + 0.03643929958343506, + 0.0356978178024292, + 0.0356978178024292, + 0.0356978178024292, + 0.0356978178024292, + 0.03643929958343506, + 0.0356978178024292, + 0.03643929958343506, + 0.0356978178024292, + 0.0356978178024292, + 0.0356978178024292, + 0.0356978178024292, + 0.0356978178024292, + 0.03643929958343506, + 0.03643929958343506, + 0.21158844232559204, + 0.45081204175949097, + 0.6279491484165192, + 0.683460533618927, + 0.683460533618927, + 0.683460533618927, + 0.683460533618927, + 0.683460533618927, + 0.683460533618927, + 0.683460533618927, + 0.683460533618927, + 0.683460533618927, + 0.683460533618927 + ], + "episode_id": "1698", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1698/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/170.json b/annotation/test/170.json new file mode 100644 index 0000000000000000000000000000000000000000..ddc104c98b830f957507d4dc793b2fecbd4be38e --- /dev/null +++ b/annotation/test/170.json @@ -0,0 +1,774 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Remove the spoon from the bowl and put it on the blue cloth." + ], + "videos": [ + { + "video_path": "videos/test/170/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -3.127850738410011e-10, + -2.764399387039371e-09, + -0.0015339830526327066, + 1.0 + ], + [ + -0.002218976638076502, + 0.00011928023499953786, + 0.004006182511184575, + -0.0008396837533603403, + -0.01224179090629536, + -0.007898641560888731, + 1.0 + ], + [ + -0.0023251270770843213, + 0.006283690917882799, + 0.015547418230233244, + -0.0029570024526783265, + -0.023268954956304422, + 0.007866264585138859, + 1.0 + ], + [ + -0.0015825233349906626, + 0.0031777187583050637, + 0.01431143869579124, + 0.0016880513735010273, + -0.02945340380986014, + 0.02366855433078619, + 1.0 + ], + [ + -0.0006302037218518158, + 0.004999899334413874, + 0.022378367294615335, + -0.013744165498151559, + -0.02243440732199718, + 0.011837287354623529, + 1.0 + ], + [ + 0.001704188073613461, + 0.0028179500481989657, + 0.015301218429760136, + 0.0011822867757916831, + -0.018754070270390638, + 0.012923880762439567, + 1.0 + ], + [ + 0.0021347237603431823, + 0.001018200438232184, + 0.013234014770263432, + 0.021547932188070277, + -0.01886028533372035, + -0.005170799127432366, + 1.0 + ], + [ + -0.0018375448745929339, + 2.046285436111984e-05, + 0.005370657839633455, + 0.0021969027751651874, + -0.015296324992589773, + -0.0069187379083992025, + 1.0 + ], + [ + -0.0013313929883214915, + -9.613831168451302e-05, + 0.0056878069543458126, + 0.0010259382687452371, + -0.01992790061394615, + 0.002914968488909106, + 1.0 + ], + [ + -0.0007218968701851658, + 0.0009036953520113909, + -0.0009254390294948184, + -0.0057569190935508096, + 0.0030440149047304926, + 0.004112486451779015, + 1.0 + ], + [ + -0.00312540476801311, + -0.00045048182890160553, + -0.006251692559088261, + 0.0026264817634040335, + -0.0030524217073086388, + -0.004473387387899885, + 0.0 + ], + [ + 7.775323374368139e-05, + -1.343576990662166e-05, + -0.0076497833634918645, + -0.0020541916893063315, + 0.026062270865858113, + 0.006882965018279401, + 0.0 + ], + [ + 0.0008046664367938991, + -0.001227993283370185, + -0.01179989179885296, + -0.0012223588389173663, + 0.029117515605012616, + 0.013021152968160707, + 0.0 + ], + [ + 0.0004476571175348852, + 0.0002578998415246946, + -0.016296351326628093, + -0.0013532514466941207, + 0.03685581603142698, + -0.0037389081994256396, + 0.0 + ], + [ + -0.002152914883114909, + -0.00454074153510389, + -0.01790089660388784, + 0.0022120175504502055, + 0.055104789081656495, + -0.007807255578122912, + 0.0 + ], + [ + 0.005851829841707959, + -0.014348003203171217, + -0.00019266528980727495, + 0.0011358429658443578, + 0.018762208687939153, + -0.05238865192613521, + 0.0 + ], + [ + 0.012534185309914667, + -0.028962761972351942, + 0.0019552841206561043, + 0.04719383984356574, + 0.02692921495665522, + -0.0871596387350581, + 0.0 + ], + [ + 0.008496236849208132, + -0.03262992896611629, + 0.004926029902163464, + 0.016277272958503192, + 0.039010220647241405, + -0.09282770801951602, + 0.0 + ], + [ + 0.0071131342055181365, + -0.015553162277268509, + 0.01092644084174499, + 0.03807427729377876, + 0.00327167679630182, + -0.020462628540737608, + 0.0 + ], + [ + 0.007566211848042112, + -0.019539646674843345, + 0.018476971219630198, + 0.02406041932709419, + 0.01699910217937314, + -0.013129536805706138, + 0.0 + ], + [ + 0.006789269974944202, + -0.012017583326704648, + 0.013824530136998362, + -0.0037515737405682498, + 0.023481433467692128, + 0.0019029554256669507, + 0.0 + ], + [ + 0.002547451691850951, + -0.011795571676956568, + 0.02196747884956569, + -0.03224861463274324, + 0.019805426339076535, + 0.008985910272717052, + 0.0 + ], + [ + 0.0064326203154841536, + -0.0030403753633238056, + 0.015465060782614316, + -0.012392177118373733, + 0.0472787599565709, + 0.030397594289984464, + 0.0 + ], + [ + 0.001923329385418196, + -0.004602364651987195, + 0.010233498251101817, + -0.00040163004320087716, + 0.050563382150087655, + 0.019671360946857015, + 0.0 + ], + [ + -0.0035304342192659243, + -0.004696135906353569, + 0.0028880865884793262, + 0.007569454249616559, + 0.06854516858974252, + 0.032463645974544326, + 0.0 + ], + [ + -0.0011265236274055855, + -0.0014669946282981515, + -0.0007103476848815373, + -0.007338557764668145, + -0.005900551121246372, + -0.007410439227182766, + 0.0 + ], + [ + -0.00450949765281199, + -0.0035726729352656143, + 0.006671644298840054, + -0.004603072173198726, + -0.0677106296719278, + -0.0077791095767751235, + 0.0 + ], + [ + -0.0009333429849579841, + 2.1871411388729995e-05, + -0.001273332345577877, + -0.01151948406086083, + -0.022980244035945993, + 0.01312262531223655, + 1.0 + ], + [ + -0.000831408287146939, + -0.0027981560730153555, + -0.005615612887954685, + -0.01722636739087577, + -0.013340298580260715, + -0.013413887020262341, + 1.0 + ], + [ + 0.002359757857323101, + -0.0021930107517872423, + -0.012893301110708607, + 0.010060809188636922, + -0.016418198545180146, + -0.02463098429836636, + 1.0 + ], + [ + 0.0077086874252902966, + 0.007138110134413223, + -0.023946186397553502, + 0.015820083586905426, + -0.03693542230234858, + 0.0024823066533011754, + 1.0 + ], + [ + 0.001327256104908203, + 0.01434765111481749, + -0.013127110582758481, + -0.027583671475376288, + -0.11844510442227929, + 0.043182142057576, + 1.0 + ], + [ + 0.004859149803724668, + 0.02480368808255343, + -0.013950155953049721, + -0.021405803946690588, + -0.00936996843870765, + 0.034669776576894414, + 1.0 + ], + [ + 0.01766923380129031, + 0.04547374819201999, + -0.008409596994080715, + 0.000674288526258774, + 0.025179200276029382, + 0.08547490855228664, + 1.0 + ], + [ + 0.028203316089565108, + 0.04684853350661646, + -0.009037965599545743, + -0.035806913641166074, + 0.036420238361478174, + 0.046087268038146445, + 1.0 + ], + [ + 0.03067847122544733, + 0.04154006051629955, + 0.011390964259360708, + -0.02854135519563073, + -0.027404913195461903, + 0.010371472700886715, + 1.0 + ], + [ + 0.024163126041774445, + 0.02938775542966123, + 0.012766608028632491, + -0.016467087872913906, + 0.021772436911058467, + -0.01965062463414705, + 1.0 + ], + [ + 0.021946883089550732, + 0.006927907661643567, + 0.0008113682988612079, + -0.016889585175002948, + 0.04749621151909803, + -0.0301053374681311, + 1.0 + ], + [ + 0.0024929957050170977, + -0.002100649735771447, + -0.000854023876931513, + 0.02797826765471074, + 0.018851499308386553, + -0.0791591143918898, + 1.0 + ] + ], + "state": [ + [ + 0.19393254816532135, + -0.011547097004950047, + 0.13758711516857147, + 3.1413540599220475, + -0.15395438671112058, + -0.1305881291627884, + 1.0 + ], + [ + 0.19393254816532135, + -0.011547097004950047, + 0.13758711516857147, + 3.1411160128824456, + -0.15395383536815646, + -0.12903578579425812, + 1.0 + ], + [ + 0.19235166907310486, + -0.011464172974228859, + 0.13328810036182404, + 3.139053733209618, + -0.14170345664024353, + -0.12106366455554961, + 1.0 + ], + [ + 0.19148050248622894, + -0.01772795431315899, + 0.1175839826464653, + 3.137223301111259, + -0.11845008283853531, + -0.12904275953769687, + 1.0 + ], + [ + 0.19118069112300873, + -0.020956436172127724, + 0.10319973528385162, + -3.141451511988304, + -0.08906678855419159, + -0.15292420983314517, + 1.0 + ], + [ + 0.19176653027534485, + -0.026102472096681595, + 0.08085331320762634, + 3.1290446055405816, + -0.0666244700551033, + -0.16478165984153748, + 1.0 + ], + [ + 0.19395267963409424, + -0.02951705828309059, + 0.06573598086833954, + 3.131102766963192, + -0.04802826792001724, + -0.17795276641845703, + 1.0 + ], + [ + 0.19647125899791718, + -0.031145567074418068, + 0.052631109952926636, + -3.130775180766829, + -0.029114186763763428, + -0.1729788929224014, + 1.0 + ], + [ + 0.19482238590717316, + -0.03081926330924034, + 0.04720932990312576, + -3.128783512050756, + -0.013892867602407932, + -0.1658952236175537, + 1.0 + ], + [ + 0.19361521303653717, + -0.030445804819464684, + 0.041505273431539536, + -3.1277181283854922, + 0.006070784293115139, + -0.1685541868209839, + 1.0 + ], + [ + 0.19275528192520142, + -0.031229093670845032, + 0.042422451078891754, + -3.1335003228210887, + 0.003084066789597273, + -0.17270851135253906, + 1.0 + ], + [ + 0.1897641122341156, + -0.030301379039883614, + 0.04868719354271889, + -3.1308600130775055, + 0.006100157741457223, + -0.16821050643920898, + 0.0 + ], + [ + 0.1898752748966217, + -0.030389904975891113, + 0.056336063891649246, + -3.1329545333334288, + -0.01988689787685871, + -0.17537184059619904, + 0.0 + ], + [ + 0.1906326562166214, + -0.029380546882748604, + 0.0681597888469696, + -3.1339097559736153, + -0.048889100551605225, + -0.188654363155365, + 0.0 + ], + [ + 0.19021785259246826, + -0.029691364616155624, + 0.08445608615875244, + -3.135427324688532, + -0.08577226102352144, + -0.1851884573698044, + 0.0 + ], + [ + 0.18741565942764282, + -0.024659056216478348, + 0.10213429480791092, + -3.1338521848716816, + -0.1409217268228531, + -0.17765812575817108, + 0.0 + ], + [ + 0.1956116110086441, + -0.011555152013897896, + 0.10325692594051361, + -3.1401547337933486, + -0.15989463031291962, + -0.12475018203258516, + 0.0 + ], + [ + 0.21179614961147308, + 0.015607688575983047, + 0.10336332023143768, + -3.1070636754208287, + -0.1863346993923187, + -0.03612310811877251, + 0.0 + ], + [ + 0.22202664613723755, + 0.04803990572690964, + 0.10120639950037003, + -3.108268393325158, + -0.22772818803787231, + 0.0576542392373085, + 0.0 + ], + [ + 0.23037247359752655, + 0.06445666402578354, + 0.09267868846654892, + -3.074919121461459, + -0.2316317856311798, + 0.07855463027954102, + 0.0 + ], + [ + 0.2400086373090744, + 0.08600655198097229, + 0.07773912698030472, + -3.053688923018523, + -0.2494508773088455, + 0.09090273082256319, + 0.0 + ], + [ + 0.24849000573158264, + 0.100019171833992, + 0.06709267199039459, + -3.0564024319225034, + -0.272672563791275, + 0.08679459989070894, + 0.0 + ], + [ + 0.2553563416004181, + 0.11429005116224289, + 0.04766612872481346, + -3.085647827135869, + -0.2916256785392762, + 0.07568895071744919, + 0.0 + ], + [ + 0.26558274030685425, + 0.11897711455821991, + 0.034889478236436844, + -3.0879580957167825, + -0.336965411901474, + 0.04076406359672547, + 0.0 + ], + [ + 0.27048102021217346, + 0.12432552874088287, + 0.026114128530025482, + -3.0803257656567773, + -0.38631248474121094, + 0.01665930077433586, + 0.0 + ], + [ + 0.2681078314781189, + 0.12915082275867462, + 0.02238006703555584, + -3.0573216026001653, + -0.4524616301059723, + -0.023951899260282516, + 0.0 + ], + [ + 0.26676520705223083, + 0.13058538734912872, + 0.02263522706925869, + -3.06848235626752, + -0.4471907019615173, + -0.015211739577353, + 0.0 + ], + [ + 0.2655254006385803, + 0.1346551775932312, + 0.014920949004590511, + -3.078842582302638, + -0.38019189238548273, + -0.0015534223057329653, + 0.0 + ], + [ + 0.26418745517730713, + 0.13455557823181152, + 0.01575339399278164, + -3.085734410332986, + -0.3564071059226989, + -0.01398712582886219, + 1.0 + ], + [ + 0.2614324688911438, + 0.13707463443279266, + 0.020864209160208702, + -3.1082006265693387, + -0.3437994420528412, + 0.001028220052830875, + 1.0 + ], + [ + 0.2592841684818268, + 0.13883376121520996, + 0.03386056423187256, + -3.107105417298623, + -0.32809990644454956, + 0.027608636766672134, + 1.0 + ], + [ + 0.2591688632965088, + 0.13086800277233124, + 0.058766983449459076, + -3.0908558798306665, + -0.2911006212234497, + 0.026349797844886776, + 1.0 + ], + [ + 0.2572822570800781, + 0.11581814289093018, + 0.07100953906774521, + -3.1073155273967465, + -0.17042019963264468, + -0.011018295772373676, + 1.0 + ], + [ + 0.2595721185207367, + 0.09052418172359467, + 0.08473590761423111, + -3.1228440591418227, + -0.15976661443710327, + -0.04578786343336106, + 1.0 + ], + [ + 0.2737090289592743, + 0.04420514777302742, + 0.09500624239444733, + -3.1083477308326444, + -0.1827441304922104, + -0.13315264880657193, + 1.0 + ], + [ + 0.2935946583747864, + -0.006002340000122786, + 0.1074828952550888, + -3.135375216724821, + -0.21740515530109408, + -0.18153524398803708, + 1.0 + ], + [ + 0.31804338097572327, + -0.0526512935757637, + 0.10272533446550369, + 3.121511288108774, + -0.18992486596107483, + -0.1919189691543579, + 1.0 + ], + [ + 0.33793914318084717, + -0.08670976758003235, + 0.09533195197582245, + 3.1011660007112702, + -0.21125942468643188, + -0.17138309776782987, + 1.0 + ], + [ + 0.3580072224140167, + -0.09724161773920059, + 0.0994151160120964, + 3.07731373061473, + -0.2573893964290619, + -0.13832719624042508, + 1.0 + ], + [ + 0.36051082611083984, + -0.09541824460029602, + 0.10074342042207718, + 3.0843232107632836, + -0.27027359604835516, + -0.05510345846414567, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.06090432405471802, + 0.3268251419067383, + 0.5468431115150452, + 0.5514773726463318, + 0.5514773726463318, + 0.5514773726463318, + 0.5514773726463318, + 0.5514773726463318, + 0.5514773726463318, + 0.5514773726463318, + 0.5514773726463318, + 0.5514773726463318, + 0.5514773726463318, + 0.5514773726463318, + 0.5514773726463318, + 0.5514773726463318, + 0.5514773726463318, + 0.4831165075302124, + 0.17387640476226807, + 0.0018453598022460938, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "170", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/170/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1702.json b/annotation/test/1702.json new file mode 100644 index 0000000000000000000000000000000000000000..e44c20e3c24ae9e17dc2a21318b9c7f612f8d043 --- /dev/null +++ b/annotation/test/1702.json @@ -0,0 +1,432 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "unzip zipper bag" + ], + "videos": [ + { + "video_path": "videos/test/1702/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -2.4669997595696377e-17, + -5.638976864595041e-18, + -3.2288974271504593e-19, + 1.0 + ], + [ + 0.0024568133974782903, + -0.001756511384610281, + 0.009543375831108753, + 0.010286125135054279, + 0.0035095234798583857, + -0.01745331302740684, + 1.0 + ], + [ + 0.01620658983899659, + -0.0036562762331286184, + 0.032683951781191024, + 0.033049529339087266, + 0.017947648386966136, + -0.05045023367143292, + 1.0 + ], + [ + 0.013065538969057548, + -0.00603587350899499, + 0.025080587166462057, + 0.02988730381047166, + 0.05572346589407639, + -0.034833407760996984, + 1.0 + ], + [ + 0.011304405420551746, + -0.0009610201572859312, + 0.024148406281663072, + 0.031272850118560055, + 0.026616164306921423, + -0.006799385810999621, + 1.0 + ], + [ + 0.011230886120510401, + 0.007698958315254463, + 0.012784795553884535, + 0.023865925582187968, + 0.02709900454130196, + -0.01724140338651762, + 1.0 + ], + [ + 0.008428718085754325, + 0.004085369909666039, + 0.012660862513662623, + 0.023432028886787713, + -0.017467067188425695, + -0.03300877952960486, + 1.0 + ], + [ + 0.009446727738754934, + -0.0006201062896671331, + 0.009976187994943623, + 0.02736865020589678, + 0.00581839957052063, + -0.017917480103166065, + 1.0 + ], + [ + 0.008947123124245622, + 0.0034178461656536726, + 0.006718311192847111, + -0.0006055212215585985, + 0.037055379236521864, + 0.0020173636458980897, + 1.0 + ], + [ + 0.006236944751001912, + -0.0001166163645571919, + 0.0030746310126287413, + -0.027223643638003083, + 0.043834902308073964, + 0.03721095106445124, + 1.0 + ], + [ + 0.004233844212061146, + 0.0001900331940446169, + 0.0023510089040881693, + 0.0013337489987444162, + 0.02299378352428566, + 0.026061689831060438, + 1.0 + ], + [ + 0.0005857237484582943, + -0.00015408900405617618, + 0.004753357495069383, + 0.013760034331575102, + -0.0029852969075659227, + 0.022870939097545777, + 1.0 + ], + [ + -0.0010456547115258578, + 0.0013639164700650203, + 0.00476428468685348, + 0.006697310682213857, + -0.014530603541274653, + 0.01491718628660697, + 1.0 + ], + [ + 0.0011948018898709706, + 0.001089784801191004, + 0.00023029086756731296, + -0.001310558894037321, + 0.008120571296425731, + -0.005407573417471185, + 0.0 + ], + [ + 0.000499649746107246, + 0.0012902788854231874, + -0.000691449691683792, + -0.00353245412569634, + 0.005713827879764092, + -0.00298252508926842, + 0.0 + ], + [ + -0.0008937217389584948, + -0.0002069735914209285, + -0.004972583720350481, + -0.0022270170048882326, + -0.009243720596310888, + -0.011244978574304277, + 0.0 + ], + [ + 0.005714783417462225, + 0.004605475949713945, + -0.01630856659539209, + -0.032821840226385054, + -0.02280335171481535, + -0.04750368605221499, + 0.0 + ], + [ + 0.01763281686606817, + 0.0052634565645705835, + -0.02457687145703222, + -0.049827313416735367, + 0.025776408313658124, + -0.04465306069214248, + 0.0 + ], + [ + 0.03289041245637553, + 0.0102058611177651, + -0.029122242328591067, + -0.03800498444390889, + 0.09883357105679645, + -0.049450716443203376, + 0.0 + ], + [ + 0.007317889571393619, + 0.00392022677702906, + -0.0034237135677075213, + 0.009757627259798616, + -0.03421636880889241, + -0.04995029208720758, + 0.0 + ], + [ + -0.0032378721029738666, + 0.00014083075034215014, + -0.001686087026991392, + -0.01049179067354934, + -0.019435912851652692, + -0.01308431107465242, + 0.0 + ] + ], + "state": [ + [ + 0.11337652057409286, + -0.017145488411188126, + 0.201593279838562, + 3.0023034532838544, + 0.026286019012331966, + -0.0002854948106687516, + 1.0 + ], + [ + 0.11337652057409286, + -0.017145488411188126, + 0.201593279838562, + 3.0023034532838544, + 0.026286019012331966, + -0.0002854948106687516, + 1.0 + ], + [ + 0.11557779461145401, + -0.016731612384319305, + 0.19183723628520966, + 3.013078065710612, + 0.025229407474398613, + 0.017491649836301804, + 1.0 + ], + [ + 0.13095718622207642, + -0.01702534779906273, + 0.15855585038661957, + 3.047603415446826, + 0.013857917860150337, + 0.06982553750276566, + 1.0 + ], + [ + 0.14338159561157227, + -0.012492068111896515, + 0.13284088671207428, + 3.0779726823144635, + -0.03836222365498542, + 0.10971127450466156, + 1.0 + ], + [ + 0.15559391677379608, + -0.011726531200110912, + 0.10913156718015671, + 3.108899416523524, + -0.06449086964130403, + 0.11820418387651443, + 1.0 + ], + [ + 0.16848161816596985, + -0.0183657705783844, + 0.09735509008169174, + 3.1315862723910293, + -0.09100122749805449, + 0.13639113306999207, + 1.0 + ], + [ + 0.17850632965564728, + -0.021241281181573868, + 0.08555392175912857, + -3.1311542765521487, + -0.07315570116043092, + 0.1693064272403717, + 1.0 + ], + [ + 0.18838928639888763, + -0.018817149102687836, + 0.07630188018083572, + -3.1050962304049214, + -0.07914911210536957, + 0.18721796572208405, + 1.0 + ], + [ + 0.1982738971710205, + -0.020171459764242172, + 0.07019215822219849, + -3.1054087189310273, + -0.116105742752552, + 0.18382872641086576, + 1.0 + ], + [ + 0.20467230677604675, + -0.0187501460313797, + 0.06786693632602692, + -3.128077342296489, + -0.15847805142402652, + 0.14459963142871857, + 1.0 + ], + [ + 0.20919978618621826, + -0.018250783905386925, + 0.06621123105287552, + -3.1225144398682794, + -0.181061789393425, + 0.11779814958572388, + 1.0 + ], + [ + 0.21059252321720123, + -0.01783950999379158, + 0.061644792556762695, + -3.104586536186286, + -0.17759317159652707, + 0.09462388604879379, + 1.0 + ], + [ + 0.210526242852211, + -0.019037848338484764, + 0.05672425776720047, + -3.095316821830817, + -0.16250215470790863, + 0.08006429672241211, + 1.0 + ], + [ + 0.21183297038078308, + -0.020014431327581406, + 0.05664080008864403, + -3.0974516180628022, + -0.1708621084690094, + 0.08516451716423035, + 0.0 + ], + [ + 0.21232841908931732, + -0.021296467632055283, + 0.057350367307662964, + -3.101454610126563, + -0.17670133709907532, + 0.08793509751558304, + 0.0 + ], + [ + 0.21057990193367004, + -0.02144332230091095, + 0.062092654407024384, + -3.105751959728547, + -0.16790427267551422, + 0.09970703721046449, + 0.0 + ], + [ + 0.21401993930339813, + -0.026311978697776794, + 0.07895387709140778, + 3.1364246016652366, + -0.14662021398544312, + 0.14850986003875732, + 0.0 + ], + [ + 0.2284766286611557, + -0.029342632740736008, + 0.10586971044540405, + 3.079961946355649, + -0.17201694846153262, + 0.19395191967487338, + 0.0 + ], + [ + 0.2569039762020111, + -0.032312069088220596, + 0.14075684547424316, + 3.031912716227122, + -0.26734668016433716, + 0.2511887550354004, + 0.0 + ], + [ + 0.26363518834114075, + -0.034220799803733826, + 0.14638614654541016, + 3.029277393715926, + -0.22758471965789795, + 0.2982757389545441, + 0.0 + ], + [ + 0.26024094223976135, + -0.035213056951761246, + 0.1473032385110855, + 3.0162757654958448, + -0.20679132640361783, + 0.30933234095573425, + 0.0 + ] + ], + "continuous_gripper_state": [ + 0.0072438716888427734, + 0.0072438716888427734, + 0.0072438716888427734, + 0.0072438716888427734, + 0.0072438716888427734, + 0.0072438716888427734, + 0.0072438716888427734, + 0.0072438716888427734, + 0.0072438716888427734, + 0.0072438716888427734, + 0.0072438716888427734, + 0.0072438716888427734, + 0.0908706784248352, + 0.39409196376800537, + 0.6619860827922821, + 0.8091262727975845, + 0.8547680824995041, + 0.8756047412753105, + 0.8675124049186707, + 0.8633458614349365, + 0.8633458614349365, + 0.8633458614349365 + ], + "episode_id": "1702", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1702/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1722.json b/annotation/test/1722.json new file mode 100644 index 0000000000000000000000000000000000000000..ad5f69cf55dbf2d8ef026a4e49611792a765fcd6 --- /dev/null +++ b/annotation/test/1722.json @@ -0,0 +1,945 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Pick up the grey bear and place it on the left of the red spoon" + ], + "videos": [ + { + "video_path": "videos/test/1722/rgb.mp4" + } + ], + "action": [ + [ + -0.00028979799344982377, + 0.00016561051187954828, + -0.0005355709298435646, + -0.0006980116195131729, + -0.0013686086662090626, + -0.0014749541289030943, + 1.0 + ], + [ + -0.005871468941228921, + 0.0016314267846155434, + 0.008525768929877345, + -0.01157528255282802, + -0.028337008555938216, + -0.008551531342664339, + 1.0 + ], + [ + -0.012502854222979143, + -0.0028901432508378886, + -0.003395807833901844, + 0.011185345389295791, + -0.014017825453375649, + -0.035577523650554076, + 1.0 + ], + [ + -0.014161175286655317, + -0.016826569999217514, + -0.011893554875992711, + 0.028959341200479452, + 0.014381383380379665, + -0.07431269573451811, + 1.0 + ], + [ + -0.020972560464109863, + -0.02137957209708345, + 0.0008565854391285596, + 0.018575533965149493, + -0.014171647016358285, + -0.07466367630474986, + 1.0 + ], + [ + -0.01034322359073355, + -0.007897531668169923, + 0.0055003714018982556, + 0.005700498712368845, + -0.013734282397097206, + -0.016971519873133487, + 1.0 + ], + [ + -0.005408860368804412, + -0.007363821268117421, + 0.011280461207498564, + 0.004884059365990276, + -0.017473579199021382, + -0.020754722795923997, + 1.0 + ], + [ + -0.0014372210364841556, + -0.0009055270403600542, + 0.014196332131378145, + -0.0009474880011543014, + -0.02150796254319704, + -0.009799940226284765, + 1.0 + ], + [ + -0.0006296494961306815, + 0.006751093847591677, + 0.02462481157271987, + -0.010127286450943958, + -0.033448698461567505, + -0.0005487776070784718, + 1.0 + ], + [ + -0.000555534297067986, + 0.007011694353579234, + 0.02718751615740382, + -0.006587097212206252, + -0.03761961645855203, + -0.002226722488220701, + 1.0 + ], + [ + 0.006408418453262983, + 0.0029275496267667975, + 0.019004915894809748, + -0.001500560177991606, + -0.015872487543703764, + -0.01028710056612078, + 1.0 + ], + [ + 0.0029108576036630477, + -0.0009371522254794102, + 0.023737494361239807, + 7.438424986043766e-05, + -0.030429612569941134, + -0.017575316617215373, + 1.0 + ], + [ + 0.0065576726005174436, + -0.0026675490170988496, + 0.011926909742756056, + 0.003757964009643627, + -0.004236616751061735, + -0.00626331298034105, + 1.0 + ], + [ + 0.004488244587538859, + -0.0003860944877496304, + 0.0038109427517251503, + 0.007446927467170923, + 0.00914738790944993, + 0.010157856818156973, + 1.0 + ], + [ + -0.0013386638296118702, + -0.0002687321323344937, + 0.0021207741043918087, + 0.009812359282600982, + 0.007055052817020105, + -0.013396823911072114, + 1.0 + ], + [ + -0.003347368836388903, + 0.0014350850859632719, + 0.0013144571096458963, + -0.0016661283380967847, + -0.007427864579455568, + 0.006055936381099484, + 0.0 + ], + [ + -0.004760113137298583, + 0.0016876704815318095, + -0.0006554739520095138, + -0.0032744544584155746, + -0.003902938643026879, + 0.003963168031717539, + 0.0 + ], + [ + -0.0005881493288174569, + 0.0006914483242151206, + -0.011011553556431257, + -0.0017899061371458229, + 0.022591044570610615, + -0.0052767689735856065, + 0.0 + ], + [ + 0.009056956948907865, + -0.004607059320607309, + -0.02731769703355201, + 0.023316837703552175, + 0.06213856595236755, + -0.01790838212109853, + 0.0 + ], + [ + 0.008131400559018313, + -0.006118998261974809, + -0.02625634999560322, + 0.03626828265346419, + 0.05787311165789718, + -0.006663363615157643, + 0.0 + ], + [ + 0.008087927746758839, + -0.0013466752118485724, + -0.022661402293720143, + 0.01989133886337695, + 0.05128219721042235, + -0.006826056437370341, + 0.0 + ], + [ + 0.0038093568111471007, + 0.004749846711949288, + -0.008929471929959479, + -0.022200006399400906, + 0.020271574921094826, + -0.0008847304365951411, + 0.0 + ], + [ + 0.017517836733597584, + 0.023155771160735, + -0.008898438425877498, + -0.026550685403129503, + 0.029870003210563857, + 0.06335791006876068, + 0.0 + ], + [ + 0.015098634294300127, + 0.02910862228470678, + -0.004948050186006251, + -0.03143077938821114, + 0.029547569798476184, + 0.05398413949957981, + 0.0 + ], + [ + 0.002689194207727086, + 0.028791429308150766, + 0.007782348790589736, + -0.053706625539110146, + -0.012419395843161754, + 0.02927466735581726, + 0.0 + ], + [ + 0.006176580565299747, + 0.038689780729201366, + 0.006469496685012993, + -0.046404650682290216, + -0.0018003534315469976, + 0.0625657295536481, + 0.0 + ], + [ + 0.00032434485828117666, + 0.018653893987510085, + 0.011262092035521414, + -0.01946679689629092, + -0.00844102601703744, + 0.03244727439899969, + 0.0 + ], + [ + -0.007009360962094989, + 0.016931914783287944, + 0.016373378579198943, + -0.02764498984983462, + -0.01977413080234697, + 0.04486361614603233, + 0.0 + ], + [ + -0.011583262286597227, + 0.006281948177927811, + 0.019384734869933255, + 0.002266824309553595, + -0.047956930665505215, + 0.021096773819165, + 0.0 + ], + [ + -0.006081163136378426, + 0.0020772473317470018, + 0.010165180744237355, + 0.015471648304778101, + -0.024631771683093315, + 0.03196904774531341, + 0.0 + ], + [ + -0.017831411128062927, + 0.0014174975927083281, + 0.019169080388968338, + 0.015036762930446623, + -0.07336992240465066, + 0.03024491373530676, + 0.0 + ], + [ + -0.00513492019139795, + 0.0020665592583608288, + 0.006980770130116117, + -0.00023822084436387348, + -0.01785585767333317, + 0.01266868183497396, + 0.0 + ], + [ + 0.0004842333808710943, + 0.000966574549339506, + 0.0007193273752536729, + -0.005258699029835412, + 0.005143090512514527, + -0.0011061376784642825, + 0.0 + ], + [ + -0.0017220341284608753, + -0.0001205994774953387, + -9.39680833634501e-06, + 0.0009333407620406005, + -0.01084617096107552, + -0.015922227063130963, + 0.0 + ], + [ + -0.0014773072657596753, + -0.00017489059089088126, + -6.975210249136341e-06, + 0.0010369698783136727, + -0.00932390744865772, + 0.0070697296768523436, + 1.0 + ], + [ + -0.00048483327382434915, + 4.02496397723599e-05, + -7.465812286330091e-07, + -0.00023508005744714609, + -0.003058949379028653, + -0.0061355579078806325, + 1.0 + ], + [ + -0.00018456015618656534, + 0.00015987617149259073, + -0.001004927815459098, + -0.0016157129246860452, + -0.0014400516487426166, + 0.0018898149838533628, + 1.0 + ], + [ + 0.005631720123697588, + -0.003239139883217894, + -0.01871018174440132, + 0.009387172395776749, + 0.03420288251326539, + -0.0203451942192082, + 1.0 + ], + [ + 0.010048228078986405, + -0.0023478232345329336, + -0.02323040303910007, + 0.019964862397374303, + 0.06233967946885507, + -0.005665583453471799, + 1.0 + ], + [ + 0.004459040368713376, + -4.6363796830770275e-07, + -0.018213981261641216, + 0.020474838884563196, + 0.03941471996943865, + -3.572938222510363e-05, + 1.0 + ], + [ + 0.0005015719547218921, + -0.004017967495795557, + -0.020108834445975984, + 0.03371684153879509, + 0.024294285826776785, + -0.002968574663378563, + 1.0 + ], + [ + 0.0008018441702679268, + -0.001755719509684171, + -0.013740454251858625, + 0.056237491653588934, + 0.031036701304222307, + 0.023100253366739334, + 1.0 + ], + [ + -0.0014483859751732487, + -0.0011517851811232466, + -0.006646662099589584, + 0.04096120879833032, + 0.013349035968303013, + 0.01622000792170214, + 1.0 + ], + [ + -0.00011916999653570771, + -0.0010212358439156586, + -0.0003558055906888288, + 0.003097270023060381, + -0.00016984061773694267, + -0.004023265944403335, + 1.0 + ], + [ + 0.00013284227111838982, + 0.0005071028271482802, + -0.00011221361442623159, + -0.0006278581285995901, + 0.000457655597221815, + 0.0013225263719697006, + 1.0 + ], + [ + -0.00023992886407686001, + -4.011716290263423e-05, + -1.89407889860706e-07, + 0.0002529664923424892, + -0.0015129842126842957, + -1.8757835178797264e-07, + 1.0 + ], + [ + 0.00021350865761459486, + 0.00019877407468625951, + -2.568348264934456e-07, + -0.0012550935860768577, + 0.0013448299065132196, + -0.0011507717186391736, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 5.4422985316776073e-17, + 3.5713817254001525e-18, + 6.579689592415175e-17, + 1.0 + ] + ], + "state": [ + [ + 0.35980847477912903, + 0.0049917688593268394, + 0.1629626452922821, + -2.994139628606387, + -0.4022718667984009, + -0.42413234710693354, + 1.0 + ], + [ + 0.35928529500961304, + 0.004961930215358734, + 0.16331426799297333, + -2.995543660717555, + -0.4011342227458954, + -0.4223291873931885, + 1.0 + ], + [ + 0.3572905659675598, + 0.0054490407928824425, + 0.1530376821756363, + -3.012351008253642, + -0.3743102252483368, + -0.40881258249282837, + 1.0 + ], + [ + 0.3463229537010193, + 0.012846898287534714, + 0.1519472748041153, + -3.0157541950517377, + -0.36472439765930176, + -0.3691151440143585, + 1.0 + ], + [ + 0.3348407745361328, + 0.03358728438615799, + 0.15989239513874054, + -3.0147966613345822, + -0.38731497526168823, + -0.29144480824470526, + 1.0 + ], + [ + 0.32169488072395325, + 0.0597856305539608, + 0.15368753671646118, + -3.027419941621371, + -0.38151904940605164, + -0.20970302820205688, + 1.0 + ], + [ + 0.31573179364204407, + 0.06971728056669235, + 0.14559981226921082, + -3.029085362451621, + -0.3697397708892822, + -0.18994323909282684, + 1.0 + ], + [ + 0.31608423590660095, + 0.0783904492855072, + 0.1339644193649292, + -3.0329153334074697, + -0.35460832715034485, + -0.1658622622489929, + 1.0 + ], + [ + 0.31995710730552673, + 0.08021605014801025, + 0.12032295763492584, + -3.038283871608325, + -0.3342633843421936, + -0.1530822217464447, + 1.0 + ], + [ + 0.3268999755382538, + 0.07491976767778397, + 0.09632085263729095, + -3.049726853268691, + -0.30104693770408636, + -0.14889980852603912, + 1.0 + ], + [ + 0.33383694291114807, + 0.06934089958667755, + 0.06968650966882706, + -3.0579917078190526, + -0.26378536224365234, + -0.1430307179689407, + 1.0 + ], + [ + 0.3447215259075165, + 0.06642929464578629, + 0.05283796042203903, + -3.062601613002368, + -0.24880927801132202, + -0.1310876160860062, + 1.0 + ], + [ + 0.35364457964897156, + 0.0680844709277153, + 0.030691640451550484, + -3.067532705264636, + -0.21981127560138702, + -0.11068297177553177, + 1.0 + ], + [ + 0.3629314601421356, + 0.07061690092086792, + 0.020706115290522575, + -3.0652399977021894, + -0.21604490280151367, + -0.10396727919578552, + 1.0 + ], + [ + 0.3681657016277313, + 0.07075007259845734, + 0.01798551343381405, + -3.0554139782958707, + -0.22437794506549832, + -0.11507125198841094, + 1.0 + ], + [ + 0.36738282442092896, + 0.07129383087158203, + 0.015650272369384766, + -3.048519441979476, + -0.23254132270812988, + -0.10197936743497849, + 1.0 + ], + [ + 0.36434006690979004, + 0.0702916756272316, + 0.013475541025400162, + -3.0489221682124814, + -0.22457940876483914, + -0.10745611786842346, + 0.0 + ], + [ + 0.35942959785461426, + 0.06907019019126892, + 0.012899501249194145, + -3.051378371315547, + -0.22032500803470612, + -0.11112988740205765, + 0.0 + ], + [ + 0.3563043773174286, + 0.06772781163454056, + 0.023411843925714493, + -3.053870665031024, + -0.24329839646816254, + -0.10781335830688477, + 0.0 + ], + [ + 0.3586655855178833, + 0.06968113034963608, + 0.05239665508270264, + -3.0335211550169667, + -0.3067472875118255, + -0.09484389424324036, + 0.0 + ], + [ + 0.35864540934562683, + 0.07294898480176926, + 0.08036589622497559, + -2.997192220883914, + -0.3650010824203491, + -0.0944429114460945, + 0.0 + ], + [ + 0.3579470217227936, + 0.07107821106910706, + 0.10438213497400284, + -2.9768631776147565, + -0.41673126816749567, + -0.09513203799724579, + 0.0 + ], + [ + 0.35759493708610535, + 0.06493402272462845, + 0.11326654255390167, + -2.9979341646009168, + -0.43687212467193604, + -0.09783758968114854, + 0.0 + ], + [ + 0.3687160909175873, + 0.039535041898489, + 0.12565436959266663, + -2.993195505934306, + -0.45631417632102966, + -0.17244431376457214, + 0.0 + ], + [ + 0.37674736976623535, + 0.008171488530933857, + 0.1328369826078415, + -2.996179448562213, + -0.4767330884933471, + -0.2374419420957565, + 0.0 + ], + [ + 0.3779291808605194, + -0.020264213904738426, + 0.12352262437343597, + -3.0360175242000302, + -0.4600143730640411, + -0.2677572965621948, + 0.0 + ], + [ + 0.3777677118778229, + -0.05940896272659302, + 0.11684682965278625, + -3.052047448354312, + -0.45068642497062683, + -0.33667489886283875, + 0.0 + ], + [ + 0.37753579020500183, + -0.0779450312256813, + 0.10538960248231888, + -3.0563682337575635, + -0.4391383826732636, + -0.3715454936027527, + 0.0 + ], + [ + 0.373039186000824, + -0.09280305355787277, + 0.08633892983198166, + -3.0640922134094914, + -0.4151885211467743, + -0.41854867339134216, + 0.0 + ], + [ + 0.3687213361263275, + -0.0960945188999176, + 0.06353706121444702, + -3.0542678852849683, + -0.3656776547431946, + -0.4370704591274262, + 0.0 + ], + [ + 0.36641478538513184, + -0.09632239490747452, + 0.05173645541071892, + -3.0275520106130323, + -0.3381848931312561, + -0.4685420989990235, + 0.0 + ], + [ + 0.35744065046310425, + -0.09091388434171677, + 0.027702415362000465, + -3.004785033064433, + -0.2617703974246979, + -0.49092802405357355, + 0.0 + ], + [ + 0.3541927635669708, + -0.09041950106620789, + 0.019421350210905075, + -3.0023119320445737, + -0.24234001338481903, + -0.5013455152511597, + 0.0 + ], + [ + 0.3543711006641388, + -0.09149490296840668, + 0.018715739250183105, + -3.0076631923490247, + -0.24758684635162354, + -0.5009521245956421, + 0.0 + ], + [ + 0.3529580533504486, + -0.09058637171983719, + 0.01831836998462677, + -3.01108709176118, + -0.23892635107040405, + -0.48322123289108276, + 0.0 + ], + [ + 0.35176098346710205, + -0.08976345509290695, + 0.017997583374381065, + -3.0086382051282605, + -0.22875763475894925, + -0.48917219042778015, + 1.0 + ], + [ + 0.3513262867927551, + -0.08957736194133759, + 0.017883162945508957, + -3.010385053353854, + -0.22653412818908691, + -0.4825152158737182, + 1.0 + ], + [ + 0.3508383631706238, + -0.08964913338422775, + 0.01879216358065605, + -3.0116125514083585, + -0.22485888004302979, + -0.48424389958381653, + 1.0 + ], + [ + 0.35231950879096985, + -0.08953933417797089, + 0.03854243829846382, + -3.0057976861768445, + -0.26138150691986084, + -0.4679621160030365, + 1.0 + ], + [ + 0.3552318811416626, + -0.09192855656147003, + 0.06368086487054825, + -2.984794097142764, + -0.32391244173049927, + -0.4709489047527313, + 1.0 + ], + [ + 0.3526058793067932, + -0.09378267824649811, + 0.08215513080358505, + -2.962114917235919, + -0.3628425896167755, + -0.47749304771423345, + 1.0 + ], + [ + 0.3467262089252472, + -0.09033088386058807, + 0.10150133073329926, + -2.9278015812211713, + -0.38727611303329473, + -0.47902280092239385, + 1.0 + ], + [ + 0.3422069847583771, + -0.0893353819847107, + 0.11458227783441544, + -2.859532417851039, + -0.4125306010246277, + -0.5108424425125122, + 1.0 + ], + [ + 0.33834099769592285, + -0.08802120387554169, + 0.12014371901750565, + -2.8101249655061444, + -0.42075610160827637, + -0.5319798588752747, + 1.0 + ], + [ + 0.33844292163848877, + -0.08709505945444107, + 0.1207054927945137, + -2.8087582011991223, + -0.4219014644622802, + -0.5277493596076964, + 1.0 + ], + [ + 0.3383089005947113, + -0.08761412650346756, + 0.1207054927945137, + -2.8087582011991223, + -0.4219014644622803, + -0.5292833447456359, + 1.0 + ], + [ + 0.33813437819480896, + -0.08746818453073502, + 0.12061936408281326, + -2.8087267001443585, + -0.4204715192317962, + -0.5287416577339172, + 1.0 + ], + [ + 0.3382306694984436, + -0.08774211257696152, + 0.12064744532108307, + -2.810271592932292, + -0.4221184551715851, + -0.5280311107635498, + 1.0 + ], + [ + 0.3382306694984436, + -0.08774211257696152, + 0.12064744532108307, + -2.810271592932292, + -0.4221184551715851, + -0.5280311107635498, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.003185570240020752, + 0.061691224575042725, + 0.3328443169593811, + 0.47338050603866577, + 0.479228138923645, + 0.48020100593566895, + 0.48020100593566895, + 0.48020100593566895, + 0.48020100593566895, + 0.48020100593566895, + 0.48020100593566895, + 0.48020100593566895, + 0.48020100593566895, + 0.48020100593566895, + 0.48020100593566895, + 0.48020100593566895, + 0.48020100593566895, + 0.48020100593566895, + 0.48020100593566895, + 0.48020100593566895, + 0.40510207414627075, + 0.10775846242904663, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "1722", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1722/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1764.json b/annotation/test/1764.json new file mode 100644 index 0000000000000000000000000000000000000000..70a59118a7151d01182a47b44cc0cce711b9c2ad --- /dev/null +++ b/annotation/test/1764.json @@ -0,0 +1,337 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put sweet potato in pot which is in sink distractors" + ], + "videos": [ + { + "video_path": "videos/test/1764/rgb.mp4" + } + ], + "action": [ + [ + -0.0022618689863765588, + 0.0012240047335577184, + 0.0037499519431976073, + -0.004556516710012648, + -0.009714419269340767, + -0.0010990443891895597, + 1.0 + ], + [ + -0.005039678987288393, + 0.00325845771582387, + 0.014088497424955116, + -0.007512697773784568, + -0.011733699123668229, + 0.009271240959829102, + 1.0 + ], + [ + 0.00928237071579063, + -0.0019225847526118068, + 0.010089801314708173, + 0.008872385732484667, + 0.036399579984092115, + 0.021579050376262263, + 1.0 + ], + [ + 0.008475006779242539, + 0.0015771910668436113, + 0.006437438181237859, + -0.012379370856904947, + 0.03696344981839788, + 0.019901637891725967, + 1.0 + ], + [ + 0.004961084130034684, + 0.004020274524343663, + 0.009378580452307269, + -0.028137666040518105, + 0.03311584382001615, + 0.012192359708663208, + 1.0 + ], + [ + 0.003232694268800821, + 0.0022791942406543597, + 0.007996911674517103, + -0.02529449850549685, + 0.035057620368755246, + -0.00603217774086357, + 1.0 + ], + [ + -0.0025263255696226735, + -0.002734782733717571, + 0.005109122170246267, + -0.006969464769167688, + 0.013910422955527439, + -0.02524081657654474, + 0.0 + ], + [ + -0.0021008265473905514, + -0.0022196687887522295, + -0.0003818541712345215, + 0.008882880037112748, + -0.023773415514890296, + -0.010326813412011415, + 0.0 + ], + [ + -0.009204480055089169, + -0.0003805565490452159, + -0.015240174175347409, + 0.005916573150057259, + -0.09819203378921941, + 0.006747723604232047, + 0.0 + ], + [ + -0.00010124940096264767, + -0.0015737877038843105, + -0.03495769315791588, + 0.039954918601115254, + -0.0469736512434146, + 0.011887251106715794, + 0.0 + ], + [ + -0.014205293497642922, + 0.008678782033238052, + -0.01844316858621775, + 0.020215696143606247, + -0.03866124036786241, + -0.026403250661027458, + 0.0 + ], + [ + -0.017504127093976803, + 0.010597145593030773, + -0.0018101728731115148, + 0.011799004156248762, + -0.014351797823080025, + -0.06348953673521429, + 0.0 + ], + [ + -0.01916776175025646, + 0.01866547626289026, + 0.0007082053729454604, + 0.003502767097190683, + -0.008007286055847931, + -0.04046360115682083, + 0.0 + ], + [ + -0.016147717272739615, + 0.003892272392273244, + 0.0011617432875913175, + 0.0043390838304271685, + -0.015336390935427845, + -0.0322655261027071, + 1.0 + ], + [ + 0.00037142032974923705, + -0.0006486087910952601, + -0.005889244842275227, + 0.005647044530641242, + 0.018373609122469978, + -0.01627137003263177, + 1.0 + ], + [ + 0.000272343709848615, + -0.00012322826739110502, + -0.00044855519467065384, + 0.00034022820857851967, + 0.001482279285074999, + -0.00020028681760950515, + 1.0 + ] + ], + "state": [ + [ + 0.4160672426223755, + 0.05551343038678169, + 0.05435413494706154, + -2.899744229512759, + -0.39860320091247564, + -0.36182370781898504, + 1.0 + ], + [ + 0.41544294357299805, + 0.05543934553861618, + 0.04985067620873451, + -2.9057143350415906, + -0.38943231105804443, + -0.3581554889678955, + 1.0 + ], + [ + 0.4162615239620209, + 0.055265579372644424, + 0.03456011041998863, + -2.9106551577621183, + -0.3758488595485687, + -0.36489787697792053, + 1.0 + ], + [ + 0.4290364682674408, + 0.0548611655831337, + 0.029240328818559647, + -2.8900069018178662, + -0.40617156028747564, + -0.3968203663825989, + 1.0 + ], + [ + 0.43866094946861267, + 0.050909340381622314, + 0.026500562205910683, + -2.8898987491899213, + -0.4368407726287842, + -0.42823541164398193, + 1.0 + ], + [ + 0.44598448276519775, + 0.04585368186235428, + 0.01946217380464077, + -2.908450113730975, + -0.46578150987625117, + -0.4506748020648956, + 1.0 + ], + [ + 0.45178166031837463, + 0.04263750836253166, + 0.013491864316165447, + -2.9324551095538816, + -0.5012826323509216, + -0.4532206058502197, + 1.0 + ], + [ + 0.4533395767211914, + 0.04603420943021774, + 0.008392863906919956, + -2.95152738888795, + -0.5199983716011047, + -0.42809998989105225, + 0.0 + ], + [ + 0.4521968364715576, + 0.04887228459119797, + 0.008038338273763657, + -2.9508887847238263, + -0.49854347109794617, + -0.4114431142807007, + 0.0 + ], + [ + 0.43719208240509033, + 0.05267544835805893, + 0.016843080520629883, + -2.950307609634944, + -0.40082076191902166, + -0.3984217345714569, + 0.0 + ], + [ + 0.42267754673957825, + 0.0532505139708519, + 0.048678986728191376, + -2.909003334241458, + -0.3524429500102996, + -0.40133044123649597, + 0.0 + ], + [ + 0.4003779888153076, + 0.04892151802778244, + 0.05874137207865715, + -2.9013366868072232, + -0.3206898868083954, + -0.36488553881645197, + 0.0 + ], + [ + 0.381258100271225, + 0.044745903462171555, + 0.0524991936981678, + -2.9116371144824704, + -0.32114318013191223, + -0.2962947487831116, + 0.0 + ], + [ + 0.3600960969924927, + 0.03237288445234299, + 0.04175756126642227, + -2.9220407625013074, + -0.3222842514514923, + -0.25283253192901617, + 0.0 + ], + [ + 0.3449873924255371, + 0.03261413797736168, + 0.03476348891854286, + -2.9294081946187696, + -0.3141396641731262, + -0.21621072292327878, + 1.0 + ], + [ + 0.34342360496520996, + 0.03233697637915611, + 0.04048359394073486, + -2.9276793171935758, + -0.33550408482551575, + -0.20346592366695404, + 1.0 + ], + [ + 0.3435307741165161, + 0.03234059363603592, + 0.04101185500621796, + -2.927297355728694, + -0.3369950950145721, + -0.20359195768833158, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.1374746561050415, + 0.1850646734237671, + 0.1850646734237671, + 0.1850646734237671, + 0.1850646734237671, + 0.1850646734237671, + 0.1850646734237671, + 0.03348183631896973, + 0.009980499744415283, + 0.009293973445892334 + ], + "episode_id": "1764", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1764/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1765.json b/annotation/test/1765.json new file mode 100644 index 0000000000000000000000000000000000000000..7d5eead4eb87c70f96122b95931b20008f09e7f9 --- /dev/null +++ b/annotation/test/1765.json @@ -0,0 +1,869 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Take the spoon and place it on the orange color cloth," + ], + "videos": [ + { + "video_path": "videos/test/1765/rgb.mp4" + } + ], + "action": [ + [ + 0.00048199272017629185, + 3.5170927706902845e-05, + -0.0003467780943652012, + 0.00021429325819252238, + 0.002097695188100975, + 0.0005100882954177983, + 1.0 + ], + [ + -0.0037245210804510453, + -0.0010177370370899714, + 0.0074779944426864075, + 0.013868250148759347, + -0.026038523492861166, + -0.011856562487709553, + 1.0 + ], + [ + 0.0009502248938252095, + -0.009026349614903999, + 0.005225570322601308, + 0.003626955633367822, + -0.015859682084726684, + -0.11560436350969594, + 1.0 + ], + [ + 0.0035367335146539156, + -0.013300430233004548, + 0.008805423283518786, + -0.006218866010629813, + -0.020587504225363377, + -0.10165249859915992, + 1.0 + ], + [ + 0.005669562485386092, + -0.005922206906027753, + 0.00359648600449004, + 0.0029789939238122273, + 0.006010208519601745, + -0.06779647556829824, + 1.0 + ], + [ + -0.0008686191305353926, + -0.0025123557947704742, + 0.008537686561564293, + 0.023192951009180975, + 0.003659863991274664, + -0.038163917972848425, + 1.0 + ], + [ + -0.01012928872436163, + 0.003946506111185673, + 0.015025941586806365, + 0.03666384548561622, + -6.971097592151426e-05, + -0.03181396810800618, + 1.0 + ], + [ + -0.006563286812977615, + -0.006013427528576311, + 0.016673476027861033, + 0.039606657429800705, + -0.009085447361676527, + -0.02258422487423564, + 1.0 + ], + [ + -0.006888954463129604, + -0.005981025873798887, + 0.012003996401678688, + 0.027986521579296094, + -0.006451260014347453, + -0.00457452369739473, + 1.0 + ], + [ + -0.00431399082858486, + -0.008504571706195695, + 0.014300839743574763, + 0.03571667786692663, + -0.007763330005666062, + 0.0011167715660058378, + 1.0 + ], + [ + 0.0015720165275124839, + -0.007391030211493968, + 0.016821018580024397, + 0.030328420223995314, + -0.006998157181718467, + -0.009632112844327545, + 1.0 + ], + [ + 0.0038608209046458765, + 0.0020321819139193244, + 0.009291428616839403, + 0.009273863089468483, + 0.0189731673338438, + 0.004447056491881631, + 1.0 + ], + [ + 0.00122938368851397, + 0.0007689612977277255, + 0.008715278972126471, + 0.012877428147882364, + 0.0033068326865301244, + -0.014120890656921393, + 1.0 + ], + [ + -0.0020387390848638403, + 0.0024307181943133437, + 0.012249754333425912, + 0.011782894867282763, + -0.015212507134594004, + -0.0052304469667774, + 1.0 + ], + [ + 0.00025917973391227243, + 0.006964740438329154, + 0.008848781797874773, + -0.012624653160068219, + -0.0113363443405446, + 0.00011839231646891822, + 1.0 + ], + [ + 0.0008477121643110967, + 5.75962665072702e-05, + 0.007755899582223759, + 0.026244126699290427, + -0.0037787208719766213, + -0.0022790647588531903, + 1.0 + ], + [ + 0.0008947238885934563, + 0.001007684907414174, + 0.0016663211763637757, + 0.00021208363024133949, + 0.00018691690603829417, + -0.0027408784109521443, + 1.0 + ], + [ + 0.00044464504009092447, + 0.001357542788147089, + 0.0003277501690860297, + -0.006511985114491577, + 0.004937162415600059, + 0.0009096099505682486, + 1.0 + ], + [ + -0.001059463092157875, + -0.00027166134921263995, + 0.0012561596791911434, + -0.0008458992708887632, + 0.008893077496510698, + 0.005436171399358541, + 1.0 + ], + [ + -0.0018107844912623396, + -0.0026054795482122555, + 0.00010381707876915336, + 0.005768590710835385, + -0.0010751644230893496, + -0.003120951592417681, + 0.0 + ], + [ + -0.0030310464685485397, + -0.0020272420075644806, + -0.0016118882562033763, + 0.013497076754488945, + -0.0037581519269275607, + 0.01424458415090967, + 0.0 + ], + [ + 0.0013450164911996208, + 0.0024893808716623753, + -0.009865876573487652, + -0.031116551072782942, + 0.011359505213222657, + -0.009478221505163182, + 0.0 + ], + [ + -1.9620300562483185e-05, + -0.0009615837430238272, + -0.014517085106121852, + -0.016155587589054676, + 0.007665125107228244, + -0.007475451066476574, + 0.0 + ], + [ + 0.00475888919513937, + 0.0043386857774592325, + -0.018978753332392028, + -0.03540335577694117, + 0.01944782170915645, + -0.02098431528193088, + 0.0 + ], + [ + 0.007635560848793651, + 0.020464917511919783, + -0.015186978398141078, + -0.05583051227828954, + 0.021504259558839445, + 0.007749429936939505, + 0.0 + ], + [ + 0.009647277929010628, + 0.017018161410239076, + -0.00796223375224591, + -0.02070805915817878, + 0.014382436074412001, + -0.00041072913520155755, + 0.0 + ], + [ + 0.00432651246079103, + 0.02139865304242589, + 0.003349928806235756, + -0.013466050309493193, + 0.004597369936861882, + 0.010804062941181372, + 0.0 + ], + [ + 0.0035825767235277087, + 0.01591863868236527, + 0.013326001732927204, + 0.010148171535981338, + -0.006521433531775811, + 0.007454844749164408, + 0.0 + ], + [ + -0.005678458254930454, + 0.018829562783829985, + 0.020588263675155434, + 0.016199706429397883, + -0.016538148993971935, + 0.03537016950384293, + 0.0 + ], + [ + -0.001150752572447752, + 0.009897039115238305, + 0.011498569045541676, + 0.008645058792255649, + -0.004791987755257708, + 0.013294757349717698, + 0.0 + ], + [ + 0.001081865119805777, + 0.005891815735888281, + 0.013690930333326273, + 0.014089746598683882, + 0.00036424506174439537, + 0.02074211264263277, + 0.0 + ], + [ + 0.0008921107759288383, + 0.0022274212928165933, + 0.005491759301532143, + 0.008956171268874583, + 0.002336527041517, + 0.02101439224043368, + 0.0 + ], + [ + -0.000313328253588353, + 0.0011268369635981266, + 0.0003502137209753481, + -0.007304172037615037, + -0.005528115311354323, + 0.006924405845731417, + 0.0 + ], + [ + -0.0032592139512426137, + -0.0019751301522874117, + -0.0009233476961235296, + 0.01560395232462359, + -0.02413047780492628, + 0.014003066042939811, + 0.0 + ], + [ + 0.00016119764521146406, + -0.002252049162394191, + -1.6075757755304804e-05, + 0.01419530069992549, + 0.0011097543547788431, + -0.006556961119062619, + 1.0 + ], + [ + -0.0011377923363457899, + -0.001921173419009049, + 0.0005543328486642725, + 0.0016230910726994711, + -0.008027341907753177, + 0.005256966447792134, + 1.0 + ], + [ + 0.007428683635565809, + -0.0033367642312715205, + -0.014454270372480846, + -0.028743577535908168, + 0.016985112886613536, + -0.0041377488530283104, + 1.0 + ], + [ + 0.0027351616946265783, + -0.0036359386167089157, + -0.027050399689611808, + -0.032861384831414354, + 0.019922194191631666, + 0.0014976172405481857, + 1.0 + ], + [ + 0.0019619970389588948, + -0.0011268920731826858, + -0.02728440566958699, + -0.04261054052780103, + 0.015743187660848087, + 0.0011734363906780918, + 1.0 + ], + [ + -0.004404725994690443, + -0.0090145843359223, + -0.026044400062057715, + -0.03120634318528083, + -0.0043172293830367765, + -0.009224304834597259, + 1.0 + ], + [ + -0.0008000268343999494, + -0.009570006271669106, + -0.023517969889961965, + 0.015140547702943583, + 0.006172454967145337, + -0.016259664909207116, + 1.0 + ], + [ + -0.00021523061119548752, + -7.982348555316789e-05, + -0.0005030152566412153, + -0.0006218194606059364, + -0.0010854301806881334, + -0.0009154195821560801, + 1.0 + ], + [ + 0.0003685229665723987, + -0.0006523706759242716, + 0.0005613352761121565, + 0.003595028368646137, + -0.00033545466683148576, + -0.0005783129590199625, + 1.0 + ], + [ + -0.0005515829497360316, + 0.00019943682979974968, + 0.00027529105741381696, + -0.0003983837172693449, + -0.00021728639523917518, + 0.0016909519810116198, + 1.0 + ] + ], + "state": [ + [ + 0.26270341873168945, + 0.09374994784593582, + 0.17016443610191345, + 3.0559090693765363, + -0.26472991704940796, + 0.934914231300354, + 1.0 + ], + [ + 0.26292985677719116, + 0.0940476730465889, + 0.1706269234418869, + 3.0562123378091535, + -0.2668635547161102, + 0.9345734715461731, + 1.0 + ], + [ + 0.26167353987693787, + 0.09298031777143478, + 0.16237400472164154, + 3.067451352375098, + -0.23989634215831757, + 0.9444451928138732, + 1.0 + ], + [ + 0.2560543417930603, + 0.0999097153544426, + 0.15688833594322205, + 3.0438604672723493, + -0.21395397186279297, + 1.0612075328826904, + 1.0 + ], + [ + 0.24797728657722473, + 0.11082962155342102, + 0.14780746400356293, + 3.016723910468169, + -0.18250125646591187, + 1.1620125770568848, + 1.0 + ], + [ + 0.24552319943904877, + 0.118820421397686, + 0.14460188150405884, + 3.0074540098481854, + -0.1796010434627533, + 1.2311431169509888, + 1.0 + ], + [ + 0.24449104070663452, + 0.11994538456201553, + 0.13579122722148895, + 3.0237931852513036, + -0.17799219489097598, + 1.270068883895874, + 1.0 + ], + [ + 0.2477262318134308, + 0.11118447780609131, + 0.11976823210716248, + 3.05483881582553, + -0.17409491539001462, + 1.3021390438079834, + 1.0 + ], + [ + 0.24241505563259125, + 0.10902006179094315, + 0.10175852477550507, + 3.0906511937552175, + -0.16304560005664825, + 1.3241418600082397, + 1.0 + ], + [ + 0.2360428124666214, + 0.1056724563241005, + 0.08851034194231033, + 3.117940344037958, + -0.15636830031871796, + 1.3284342288970947, + 1.0 + ], + [ + 0.22763659060001373, + 0.10568677634000778, + 0.07351742684841156, + -3.129324259357997, + -0.1486334204673767, + 1.3271197080612183, + 1.0 + ], + [ + 0.22123700380325317, + 0.11143260449171066, + 0.05720559135079384, + -3.1004496683650693, + -0.1417468935251236, + 1.3369351625442505, + 1.0 + ], + [ + 0.22403280436992645, + 0.11605599522590637, + 0.048477813601493835, + -3.0904213731461248, + -0.16051913797855377, + 1.3316442966461182, + 1.0 + ], + [ + 0.22496430575847626, + 0.11851637810468674, + 0.04004350304603577, + -3.079806016879626, + -0.16452816128730777, + 1.3457682132720947, + 1.0 + ], + [ + 0.2265954464673996, + 0.11815930902957916, + 0.027500249445438385, + -3.069037439423152, + -0.149664506316185, + 1.3519970178604126, + 1.0 + ], + [ + 0.23310768604278564, + 0.1183989942073822, + 0.018312811851501465, + -3.081763384985276, + -0.13834936916828156, + 1.3527075052261353, + 1.0 + ], + [ + 0.23312382400035858, + 0.12034948170185089, + 0.010758260264992714, + -3.0558670704537114, + -0.13471324741840363, + 1.3552312850952148, + 1.0 + ], + [ + 0.23420502245426178, + 0.12126047909259796, + 0.009147769771516323, + -3.056023271875926, + -0.13513365387916565, + 1.3579710721969604, + 1.0 + ], + [ + 0.2356053590774536, + 0.12146963179111481, + 0.008769134990870953, + -3.0623535757237157, + -0.13997489213943481, + 1.356629729270935, + 1.0 + ], + [ + 0.23505710065364838, + 0.1206909716129303, + 0.007402643095701933, + -3.0623340552025518, + -0.14840711653232572, + 1.3504388332366943, + 1.0 + ], + [ + 0.23211981356143951, + 0.11949807405471802, + 0.00723656453192234, + -3.0570436288886746, + -0.14758166670799258, + 1.3536702394485474, + 0.0 + ], + [ + 0.22957800328731537, + 0.11672098934650421, + 0.008548866957426071, + -3.0414927770667752, + -0.14261974394321442, + 1.3396517038345337, + 0.0 + ], + [ + 0.23294220864772797, + 0.11589987576007843, + 0.018210621550679207, + -3.073799679177352, + -0.1548646092414856, + 1.348047137260437, + 0.0 + ], + [ + 0.23246560990810394, + 0.11368699371814728, + 0.0325823575258255, + -3.0910395999723157, + -0.163014754652977, + 1.355079174041748, + 0.0 + ], + [ + 0.2379894107580185, + 0.11417103558778763, + 0.051841579377651215, + -3.129740396636077, + -0.18346510827541354, + 1.3753907680511475, + 0.0 + ], + [ + 0.2591683566570282, + 0.11485300213098526, + 0.06792716681957245, + 3.099108124273368, + -0.2048700451850891, + 1.3672178983688354, + 0.0 + ], + [ + 0.27704158425331116, + 0.11900533735752106, + 0.07838617265224457, + 3.0781828333907804, + -0.21922194957733154, + 1.368264079093933, + 0.0 + ], + [ + 0.29910504817962646, + 0.11922691762447357, + 0.07738739997148514, + 3.0670597722106656, + -0.22448241710662845, + 1.3575031757354736, + 0.0 + ], + [ + 0.31689924001693726, + 0.12170334905385971, + 0.0663849338889122, + 3.079014578955718, + -0.21852704882621765, + 1.3493906259536743, + 0.0 + ], + [ + 0.33619415760040283, + 0.11598245054483414, + 0.046244144439697266, + 3.103289397554942, + -0.20408661663532257, + 1.3122893571853638, + 0.0 + ], + [ + 0.34646862745285034, + 0.11442936211824417, + 0.035130374133586884, + 3.1147225090586623, + -0.19978848099708554, + 1.298547625541687, + 0.0 + ], + [ + 0.35350272059440613, + 0.11635386943817139, + 0.022086475044488907, + 3.13301505533094, + -0.20066633820533755, + 1.2773983478546143, + 0.0 + ], + [ + 0.35624825954437256, + 0.11757710576057434, + 0.01690165139734745, + -3.1369401781172535, + -0.20313817262649536, + 1.2559640407562256, + 0.0 + ], + [ + 0.3572453260421753, + 0.11700506508350372, + 0.01649029552936554, + 3.1403602724946147, + -0.1975730061531067, + 1.2489286661148071, + 0.0 + ], + [ + 0.35430240631103516, + 0.11442705988883972, + 0.0167535413056612, + -3.1244249531352004, + -0.17344018816947937, + 1.234686255455017, + 0.0 + ], + [ + 0.352226197719574, + 0.11531060189008713, + 0.016835272312164307, + -3.111375521990009, + -0.1746585965156555, + 1.2413241863250732, + 1.0 + ], + [ + 0.3500587046146393, + 0.11495866626501083, + 0.016149066388607025, + -3.1088686791532716, + -0.1664738804101944, + 1.2362420558929443, + 1.0 + ], + [ + 0.34896883368492126, + 0.12053998559713364, + 0.03173451870679855, + -3.138211069284477, + -0.18358419835567474, + 1.239882469177246, + 1.0 + ], + [ + 0.3448852598667145, + 0.1195625439286232, + 0.058841608464717865, + 3.1124052350693425, + -0.2035009860992432, + 1.2382848262786865, + 1.0 + ], + [ + 0.3418981432914734, + 0.11680277436971664, + 0.0859159305691719, + 3.0699388106637677, + -0.2192716598510742, + 1.2375539541244507, + 1.0 + ], + [ + 0.32843056321144104, + 0.11108404397964478, + 0.10968346148729324, + 3.0367553030424794, + -0.21429632604122162, + 1.2466535568237305, + 1.0 + ], + [ + 0.315310537815094, + 0.10964516550302505, + 0.13138863444328308, + 3.048245484130927, + -0.2187026739120483, + 1.2638800144195557, + 1.0 + ], + [ + 0.3150942623615265, + 0.10938101261854172, + 0.1318235695362091, + 3.047443600493022, + -0.21753656864166257, + 1.2647098302841187, + 1.0 + ], + [ + 0.31467404961586, + 0.11003156006336212, + 0.1312975436449051, + 3.0509183575683316, + -0.21714819967746735, + 1.2652671337127686, + 1.0 + ], + [ + 0.3147418200969696, + 0.10950325429439545, + 0.1309286206960678, + 3.0508959760242185, + -0.21708460152149203, + 1.2635225057601929, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.05933445692062378, + 0.34188002347946167, + 0.589625895023346, + 0.6116192042827606, + 0.6116192042827606, + 0.6116192042827606, + 0.6124871075153351, + 0.6116192042827606, + 0.6124871075153351, + 0.6116192042827606, + 0.6124871075153351, + 0.6124871075153351, + 0.6124871075153351, + 0.6124871075153351, + 0.6124871075153351, + 0.5119999349117279, + 0.23570340871810913, + 0.003185570240020752, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1765", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1765/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1766.json b/annotation/test/1766.json new file mode 100644 index 0000000000000000000000000000000000000000..931235fdba75b05c486042d687b71f87dfd1b410 --- /dev/null +++ b/annotation/test/1766.json @@ -0,0 +1,375 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "turn lever vertical to front" + ], + "videos": [ + { + "video_path": "videos/test/1766/rgb.mp4" + } + ], + "action": [ + [ + -0.0005573583214850742, + -0.00031207555285064307, + 0.0022820680215961922, + 0.005174159472043229, + -0.005846433696010574, + 0.0004625284629986701, + 1.0 + ], + [ + 0.00340903066039212, + 0.0025663009390044845, + 0.006210512609112597, + -3.070171220295952e-05, + 0.018060183145722445, + 0.03750546813897198, + 1.0 + ], + [ + 0.015104606852806476, + 0.009023182646834695, + 0.0010430855387068784, + -0.010945208669976935, + 0.028695761663020927, + 0.0668093866521686, + 1.0 + ], + [ + 0.012152666936162439, + 0.001208274657670312, + 0.0038326093322816825, + -0.005352835256324287, + 0.008803639598349716, + 0.02049819701740325, + 1.0 + ], + [ + 0.003418733147661596, + 0.0030313801020632218, + 0.000447484914436317, + -0.017544895764449932, + 0.02146324843549909, + 0.017848668191756165, + 1.0 + ], + [ + -0.00013255967911132363, + -0.0015248686228860177, + 0.006923329685406877, + 0.006039799590523323, + -0.013563608281014597, + 0.0001811254014325308, + 1.0 + ], + [ + 0.0010475216365261298, + -0.0034690070113944224, + 0.0035433971128075504, + 0.005467374827859848, + -0.0060688971383270575, + -0.021391392422098726, + 1.0 + ], + [ + 0.00045493387753058414, + -0.003031341425297855, + 0.0007468920785130139, + 0.0022024476834258005, + -0.005862960909963342, + -0.022074771362904606, + 0.0 + ], + [ + -0.0002682268569200507, + -0.001898911372291514, + 0.0008403837387260006, + 0.0068202824142807195, + -0.0014509902749356726, + -0.01811039347523334, + 0.0 + ], + [ + -0.00619048087839694, + -0.004897862480227154, + -0.0017033129291409927, + 0.007986074611922885, + -0.0027807023051826, + -0.05944156639262743, + 0.0 + ], + [ + -0.008881473744126548, + -0.0030766307387488016, + -0.0005529408044196563, + -0.0058964205537344215, + -0.0126742224158964, + -0.03529720231430756, + 0.0 + ], + [ + -0.008433255488576735, + -0.0036108116579217104, + -0.00041087133859474967, + -0.01717406822745184, + -0.006599533969715732, + -0.030457176183373427, + 0.0 + ], + [ + -0.023748346437625946, + -0.00949338048274946, + 0.0029888149173978432, + 0.005376623177046036, + -0.0839735316665223, + -0.04367457494132986, + 0.0 + ], + [ + -0.008476487717383607, + -0.004860498250524755, + 0.009139087675264038, + -0.006534650270078769, + -0.04496381740351032, + -0.05075236556539429, + 0.0 + ], + [ + -0.007981733238599737, + -0.002624920407134365, + 0.006999886956758451, + 0.0004281968186772771, + -0.02634948260055057, + -0.025077630547037738, + 0.0 + ], + [ + -0.0020364236237205144, + -0.0021891935609565944, + 0.0008727634277123673, + 0.00824770650132308, + -0.009370544493732608, + -0.007987787443876092, + 0.0 + ], + [ + -0.001357131861418576, + -0.0007518719038499965, + 0.00038056414753091593, + 0.007480591229495312, + -0.007440319143022785, + -0.006045626199291917, + 0.0 + ], + [ + 8.173853700613296e-05, + 1.3695158940662405e-05, + -0.0004289417458665779, + -0.0010534602822520145, + 0.0011026615769296304, + -0.00016609149153323885, + 1.0 + ] + ], + "state": [ + [ + 0.29349055886268616, + -0.09233572334051132, + 0.18022802472114563, + 3.1401685429788238, + -0.3931784927845001, + 0.2725705206394195, + 1.0 + ], + [ + 0.29375380277633667, + -0.0919414758682251, + 0.17790614068508148, + -3.1376477993377527, + -0.3873326778411865, + 0.2720620036125183, + 1.0 + ], + [ + 0.29974043369293213, + -0.09291017055511475, + 0.1734340339899063, + -3.1222413406991443, + -0.40495473146438593, + 0.23118381202220917, + 1.0 + ], + [ + 0.31578341126441956, + -0.09838110208511353, + 0.17826588451862335, + -3.104029743122407, + -0.43137016892433167, + 0.1570567488670349, + 1.0 + ], + [ + 0.3284536600112915, + -0.09745137393474579, + 0.17982682585716248, + -3.099774008738347, + -0.43929779529571533, + 0.13405919075012207, + 1.0 + ], + [ + 0.3321641981601715, + -0.09998821467161179, + 0.18076148629188538, + -3.10842718382413, + -0.4599128961563111, + 0.11316108703613281, + 1.0 + ], + [ + 0.3348775804042816, + -0.09791495651006699, + 0.17454743385314941, + -3.102516586082526, + -0.44635072350502014, + 0.11345901340246202, + 1.0 + ], + [ + 0.3368687629699707, + -0.09405995160341263, + 0.1719280630350113, + -3.1073735189908227, + -0.4410105943679809, + 0.13735781610012052, + 1.0 + ], + [ + 0.33712974190711975, + -0.0909397080540657, + 0.1715410053730011, + -3.115660799788781, + -0.435789555311203, + 0.1619155555963516, + 0.0 + ], + [ + 0.3369097113609314, + -0.08903013914823532, + 0.17071083188056946, + -3.1172879749261817, + -0.4347320199012757, + 0.18191827833652496, + 0.0 + ], + [ + 0.32975471019744873, + -0.08540983498096466, + 0.1697559803724289, + -3.1369299833946904, + -0.43257501721382136, + 0.24745374917984006, + 0.0 + ], + [ + 0.3209534287452698, + -0.0844627171754837, + 0.16654780507087708, + 3.1241283306204757, + -0.4197785854339599, + 0.2861696779727935, + 0.0 + ], + [ + 0.312408447265625, + -0.08320625871419907, + 0.16342832148075104, + 3.093467632430144, + -0.4124435484409332, + 0.31928396224975586, + 0.0 + ], + [ + 0.2901298701763153, + -0.08073574304580688, + 0.1507554054260254, + 3.081967746960469, + -0.3261367678642273, + 0.36091119050979614, + 0.0 + ], + [ + 0.2839178442955017, + -0.07847656309604645, + 0.13912333548069, + 3.0594603588157376, + -0.27784663438796997, + 0.4107533395290375, + 0.0 + ], + [ + 0.2778738737106323, + -0.07888182997703552, + 0.1300182342529297, + 3.0534195770793637, + -0.24945504963397977, + 0.4343047738075256, + 0.0 + ], + [ + 0.27543631196022034, + -0.07769333571195602, + 0.12848621606826782, + 3.0598533545904836, + -0.23941105604171753, + 0.44164538383483887, + 0.0 + ], + [ + 0.2740318477153778, + -0.0775628313422203, + 0.12773628532886505, + 3.0660129134827336, + -0.23149839043617246, + 0.4472116529941559, + 0.0 + ], + [ + 0.27400678396224976, + -0.07755407691001892, + 0.1281723529100418, + 3.064900728064128, + -0.2325853556394577, + 0.44746741652488703, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0018453598022460938, + 0.0025147199630737305, + 0.0018453598022460938, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.17759305238723755, + 0.44686460494995117, + 0.7167842090129852, + 0.8693383634090424, + 0.9156777262687683, + 0.9160242155194283, + 0.9160242155194283, + 0.9207848757505417, + 0.9373273998498917, + 0.939627431333065, + 0.8586209267377853, + 0.6439311802387238, + 0.35293054580688477 + ], + "episode_id": "1766", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1766/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1769.json b/annotation/test/1769.json new file mode 100644 index 0000000000000000000000000000000000000000..5ac000abadb893dd1f2cc2e48504573a76b030a5 --- /dev/null +++ b/annotation/test/1769.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "fold cloth in half" + ], + "videos": [ + { + "video_path": "videos/test/1769/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 1.1822734337216767e-17, + 3.0184334124728553e-18, + 8.127383176312741e-18, + 1.0 + ], + [ + -0.005745862626362374, + -0.00809221879113454, + 0.01386413901051142, + 0.03421316765559467, + -0.035868691722126186, + 0.006675911916885728, + 1.0 + ], + [ + -0.0008617894045737524, + -0.018225778506179624, + 0.005156332532833984, + 0.045428155800781744, + -0.0010223085182969533, + 0.03552473360671263, + 1.0 + ], + [ + 0.0020341835233733995, + -0.018123440830101253, + 0.0005764933048707236, + 0.008168706190615514, + 0.019013116548118467, + 0.024902718525027578, + 1.0 + ], + [ + -0.002139441398092655, + -0.012543462761751547, + 0.011286796646847968, + 0.036006204980423805, + 0.02686146813156475, + 0.019558086993088575, + 1.0 + ], + [ + -0.0006617767625397974, + -0.0006629349927294422, + 0.005658622191041539, + 0.03488537089659562, + 0.03337096215629142, + 0.031718610265754274, + 1.0 + ], + [ + 0.0014828379016036163, + -0.0006936816562488742, + 0.01183052259765316, + 0.028730743210777954, + 0.013926916972040784, + 0.015487246843229522, + 1.0 + ], + [ + 0.005244720355557537, + 0.0032736064393493708, + 0.009643196860229167, + 0.03638084212006655, + 0.018457110857983967, + 0.003381545308578639, + 1.0 + ], + [ + 0.011661407809140665, + -0.003324388965158559, + 0.0018038832396501123, + 0.010199137608787006, + 0.013417236320597666, + -0.0034066756515428445, + 1.0 + ], + [ + 0.005047578587374481, + -0.0036897253817899317, + 0.0019318769576856332, + 0.010487081124287988, + 0.02405757432232895, + 0.020265594613521055, + 0.0 + ], + [ + -0.0025297108411304445, + -0.003926335178169342, + 0.00010904422937913146, + 0.002138418560521845, + 0.0018046846679730046, + 0.010477974330070564, + 0.0 + ], + [ + -0.009599119503839923, + -0.005939342019993244, + -0.0035395025820783668, + -0.029486845392768704, + -0.03205370052998246, + 0.007932782303217659, + 0.0 + ], + [ + -0.003701506410672462, + -0.005465975839382608, + -0.017150921320866295, + -0.05667281509190412, + -0.017751435217357923, + -0.019133662403934017, + 0.0 + ], + [ + 0.002767532094706875, + -0.008884280670319562, + -0.03797544884513785, + -0.0863237688334111, + 0.012219514424915723, + -0.0325063685128409, + 0.0 + ], + [ + -0.002775385570908314, + -0.015608497068453485, + -0.03931370439960691, + -0.08302639646702405, + 0.018426304637370206, + -0.03397468027146419, + 0.0 + ], + [ + -0.00312110503158407, + -0.022165428617802088, + -0.015745420672802095, + -0.04429386507794216, + -0.030766830208114937, + -0.0144094587352923, + 0.0 + ], + [ + 0.0006415967693202295, + -0.031364635722662, + -0.012262747358951857, + -0.017762769859544062, + -0.005457524180169559, + 0.02159654109713775, + 0.0 + ], + [ + 0.007254769051091612, + -0.035879611529041434, + -0.016071825956181677, + 0.025131394958704995, + 0.045060830114017666, + -0.03247460286514968, + 0.0 + ], + [ + 0.017721949083051174, + -0.0408139654641122, + -0.009915304747064329, + 0.022009654053713926, + 0.010558137690521396, + -0.058404775333985415, + 0.0 + ], + [ + 0.008189820898485358, + -0.023700268314760034, + -0.005817840051419241, + 0.024300073596574275, + -0.029528809228451896, + 0.02095796527872813, + 0.0 + ], + [ + -0.0029091834981332834, + -0.025221388377370844, + 0.011849340496403238, + 0.08639059967625085, + -0.06317509205905225, + -0.016966507991080206, + 0.0 + ], + [ + 0.0037082193955011995, + -0.019615509226406626, + -0.004944432418479036, + 0.06262893561569477, + 0.013054360685545524, + 0.03814607504862859, + 1.0 + ], + [ + -0.0006293642994849555, + -0.0026730607606473833, + -0.00045449483392676304, + 0.0006305394968411115, + 0.0016650372380094954, + -0.004547964933601695, + 1.0 + ] + ], + "state": [ + [ + 0.3182682394981384, + -0.15745212137699127, + 0.06070982664823532, + 2.9714760204129895, + 0.018925173208117485, + 0.13126403093338013, + 1.0 + ], + [ + 0.3182682394981384, + -0.15745212137699127, + 0.06070982664823532, + 2.9714760204129895, + 0.018925173208117485, + 0.13126403093338013, + 1.0 + ], + [ + 0.31155410408973694, + -0.15266145765781403, + 0.045787252485752106, + 3.0053525884919843, + 0.05314420536160469, + 0.11859937757253647, + 1.0 + ], + [ + 0.3082458972930908, + -0.1355763077735901, + 0.038259778171777725, + 3.048987405496188, + 0.04929991811513901, + 0.08322204649448395, + 1.0 + ], + [ + 0.3086644411087036, + -0.11748643219470978, + 0.03591231629252434, + 3.0560283084684094, + 0.028052560985088352, + 0.060180064290761955, + 1.0 + ], + [ + 0.30549120903015137, + -0.10612370818853378, + 0.023659702390432358, + 3.0915340801053723, + -0.0003861173754557967, + 0.04299625754356384, + 1.0 + ], + [ + 0.30481594800949097, + -0.1057734489440918, + 0.017974741756916046, + 3.126425704109021, + -0.03530198708176613, + 0.012986622750759125, + 1.0 + ], + [ + 0.3067089021205902, + -0.10523464530706406, + 0.006194772198796272, + -3.1274888227977833, + -0.049458056688308716, + -0.002304801717400551, + 1.0 + ], + [ + 0.31241893768310547, + -0.10838509351015091, + -0.003222499508410692, + -3.0909252261095723, + -0.06786531209945677, + -0.005954129621386527, + 1.0 + ], + [ + 0.3241843581199646, + -0.10504360496997833, + -0.004061144310981035, + -3.0809069630974015, + -0.08143761008977889, + -0.0032225879840552807, + 1.0 + ], + [ + 0.3293660879135132, + -0.10126018524169922, + -0.005349431186914444, + -3.068642893927642, + -0.10420268774032594, + -0.025022517889738086, + 0.0 + ], + [ + 0.32693061232566833, + -0.09727416187524796, + -0.005436102394014597, + -3.065401705103465, + -0.1052330434322357, + -0.03566301241517067, + 0.0 + ], + [ + 0.3171742856502533, + -0.09126978367567062, + -0.002485087374225259, + -3.0942744707041463, + -0.07266697287559509, + -0.04114370420575142, + 0.0 + ], + [ + 0.31241536140441895, + -0.08642132580280304, + 0.014590545557439327, + 3.1307853293889245, + -0.05582590773701667, + -0.0211635734885931, + 0.0 + ], + [ + 0.3132616877555847, + -0.07714299112558365, + 0.052563175559043884, + 3.0426416416936597, + -0.06766369193792342, + 0.011545468121767042, + 0.0 + ], + [ + 0.30772802233695984, + -0.05778965726494789, + 0.08986897021532059, + 2.957244785624095, + -0.08260120451450349, + 0.047291401773691184, + 0.0 + ], + [ + 0.3025136888027191, + -0.03333273530006409, + 0.10098811984062195, + 2.912165256338664, + -0.04971154034137726, + 0.055821314454078674, + 0.0 + ], + [ + 0.30105528235435486, + -3.0657021852675825e-05, + 0.10582254081964493, + 2.8955648859315595, + -0.04929573833942413, + 0.03352254256606102, + 0.0 + ], + [ + 0.30666232109069824, + 0.03889267146587372, + 0.11302097141742706, + 2.9185680766874036, + -0.0850480869412422, + 0.07611954957246779, + 0.0 + ], + [ + 0.32102102041244507, + 0.08210591971874237, + 0.11516653746366501, + 2.9359128197007855, + -0.0822848305106163, + 0.13561373949050903, + 0.0 + ], + [ + 0.3257412314414978, + 0.10736491531133652, + 0.11669162660837173, + 2.962380753951617, + -0.05762925371527672, + 0.10903083533048628, + 0.0 + ], + [ + 0.321308434009552, + 0.1297205686569214, + 0.10039550065994263, + 3.0480998029285153, + 0.007557886652648449, + 0.11443796008825302, + 0.0 + ], + [ + 0.32273271679878235, + 0.15000733733177185, + 0.10345898568630219, + 3.1105063186311206, + -0.009004980325698853, + 0.0776798352599144, + 1.0 + ], + [ + 0.32189351320266724, + 0.15263603627681732, + 0.10382449626922607, + 3.111095741512724, + -0.01052776165306568, + 0.08227760344743729, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.10264396667480469, + 0.4001001715660095, + 0.6811123192310333, + 0.8552532643079758, + 0.9048766940832138, + 0.8960509598255157, + 0.8867373988032341, + 0.8833810612559319, + 0.882106713950634, + 0.8816799819469452, + 0.8816799819469452, + 0.8091262727975845, + 0.561605840921402, + 0.2415439486503601, + 0.003185570240020752 + ], + "episode_id": "1769", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1769/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1787.json b/annotation/test/1787.json new file mode 100644 index 0000000000000000000000000000000000000000..cadcf95b0759690ea5a5e8e5437a04e12fc4abe6 --- /dev/null +++ b/annotation/test/1787.json @@ -0,0 +1,660 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Place the colander to the right of the orange" + ], + "videos": [ + { + "video_path": "videos/test/1787/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 1.3032604711431096e-09, + 1.3195890967051416e-09, + -0.0015339826539894814, + 1.0 + ], + [ + -0.0017544771638777202, + 0.0006978516848558276, + 0.009812825535237315, + -0.010634622788372322, + -0.02548165761866807, + -0.006146154092760456, + 1.0 + ], + [ + -0.003952974886211521, + -0.0025582997754241958, + 0.028263996414260473, + 0.014659343397253645, + -0.02724623514902895, + -0.015340857645484936, + 1.0 + ], + [ + -0.00041854264706797645, + -0.001010154860405706, + 0.023669680364687102, + 0.007407769482836125, + -0.007796650572176699, + 0.004736445605862607, + 1.0 + ], + [ + 9.681256623235524e-05, + -0.0054455561754702345, + 0.02452284619090477, + 0.02805445055445275, + -0.0027902355846915203, + 0.012175002128939627, + 1.0 + ], + [ + 0.0002674509391670404, + -0.006198688919944198, + 0.013409732467703158, + 0.023620204875345868, + -0.015311244448757887, + -0.007525919164314345, + 1.0 + ], + [ + 0.003739463102213432, + -0.0013414389025962951, + 0.010619303360207055, + -0.002028856771982621, + -0.015395551669179787, + 0.005888742342156706, + 1.0 + ], + [ + 0.0005880258180112602, + -0.004462447874699023, + 0.002797193254668234, + -0.0030764777435152205, + -0.00011185566646510993, + 0.007623698195646877, + 1.0 + ], + [ + 0.001469809229887386, + -0.0009305007119256336, + -0.0009545361848183796, + -0.0008674156964081516, + 0.0034336969885659764, + 0.0006568598728567166, + 0.0 + ], + [ + 0.001366927678455978, + 0.00022963317075870134, + -0.005388609072795492, + 0.0008611140171098595, + 0.0128382419327846, + -0.0020741579298378036, + 0.0 + ], + [ + -0.0009783362844472303, + 0.003773046328415382, + -0.009834501364870827, + 0.0008646837031546696, + 0.029634181705885443, + -0.0007735834787370707, + 0.0 + ], + [ + -0.006179834191392756, + 0.011910843378549966, + -0.01948089821929614, + -0.006164653767851536, + 0.027749423356975934, + -0.03785632002679408, + 0.0 + ], + [ + -0.002898326739676842, + 0.0036460556226755154, + -0.040761436496632136, + 0.021588625620692616, + 0.09843837375901654, + 0.02580228274174445, + 0.0 + ], + [ + 0.010818418970929541, + 0.015246823677114598, + -0.022225197054103567, + -8.206207354533503e-05, + 0.05005398144983622, + 0.13056000005703897, + 0.0 + ], + [ + 0.03221229879760636, + 0.017840348853216042, + -0.009045952792119198, + 0.009993609697228322, + 0.02989997462494972, + 0.1711273951630026, + 0.0 + ], + [ + 0.026843524586758538, + 0.01233650250428466, + 0.014557599506947433, + -0.0012575795357436005, + -0.017986745700441276, + 0.10565939826538268, + 0.0 + ], + [ + 0.013541556074082424, + 0.013012465466133086, + 0.01978028872872065, + -0.035159619408600726, + -0.02742669820672999, + 0.033428439163820683, + 0.0 + ], + [ + 0.003184520573593286, + 0.00977207674984587, + 0.019020493147989866, + -0.03492159799487471, + -0.025109879871450833, + -0.0077981073639950185, + 0.0 + ], + [ + -0.004240917029264641, + 0.009485499912826526, + 0.02229452413282031, + -0.034499085106196335, + -0.04700403353382643, + 0.0030512850487343962, + 0.0 + ], + [ + 0.004873596780079154, + 0.003559502501317004, + 0.011638719134205635, + -0.026070153061625734, + -0.001823373294443429, + -0.013973153191431846, + 0.0 + ], + [ + 0.00672084602990964, + -0.0006508317006569746, + 0.004374594527833491, + -0.01054593681236954, + 0.007267106030070715, + -0.007194056523378314, + 0.0 + ], + [ + 0.00486428877120062, + 0.004234799726229959, + 0.014697113099594612, + -0.014978516894718791, + -0.023434589802288908, + -0.01852064658436313, + 0.0 + ], + [ + 0.0021907154302039807, + 0.00429731823140597, + 0.008208904403220278, + -0.022100333204234685, + -0.008063491640960143, + -0.0022728596150753855, + 1.0 + ], + [ + 0.003364287905257288, + 0.004957996514548709, + 9.260353424025478e-05, + -0.025239434872873258, + 0.009028719666409082, + 0.0001283088074626782, + 1.0 + ], + [ + 0.002528217109569203, + 0.005200163366296012, + -0.0016187068806637033, + -0.03386990741277908, + 0.012632230699995499, + 0.0022045745154883082, + 1.0 + ], + [ + 0.0058870149302139045, + 0.0013928330087419121, + -0.02922533326652064, + 0.0001383561817580395, + 0.07661681491516531, + 0.011799113565134366, + 1.0 + ], + [ + -0.001652573251510691, + -0.013798700266541432, + -0.04148825361626043, + 0.03662868931827718, + 0.07897348870051212, + -0.02208359202295412, + 1.0 + ], + [ + -0.004306821019950458, + -0.00683999340945907, + -0.03534577847407897, + 0.037079758190821197, + 0.034943411445146996, + -0.04051808619735361, + 1.0 + ], + [ + -0.007713493128184424, + -0.007882979317142757, + -0.0216713814715905, + 0.05999445637759799, + -0.0336020843865696, + -0.0955404504102765, + 1.0 + ], + [ + -0.014791005601451168, + -0.005862561319420912, + -0.003118055489455169, + 0.04277507676860894, + -0.08554207934390916, + -0.121865215238011, + 1.0 + ], + [ + -0.01198521190085704, + -0.009319987013616986, + 0.0030278492348992892, + -0.006854298259167654, + -0.052457990329116855, + -0.07770634741992317, + 1.0 + ], + [ + -0.004674988767899946, + -0.0028934598776259534, + -0.004986328680206692, + -0.027257447069857735, + -0.031034081943633572, + 0.04688764821344049, + 1.0 + ], + [ + -0.00027994954655700927, + -0.0009937021084521355, + -3.2077208831857925e-08, + 5.88075506146878e-05, + -1.6857493892243958e-05, + 0.004602578937677356, + 1.0 + ] + ], + "state": [ + [ + 0.30280110239982605, + 0.09930995851755142, + 0.12368785589933395, + -3.125077210488268, + -0.04966561868786812, + -0.08484900742769241, + 1.0 + ], + [ + 0.30280110239982605, + 0.09930995851755142, + 0.12368785589933395, + -3.1251534671806773, + -0.04969089478254318, + -0.08331333845853807, + 1.0 + ], + [ + 0.3014964461326599, + 0.0988805890083313, + 0.113789863884449, + -3.1361092502535364, + -0.024312643334269524, + -0.07674922794103622, + 1.0 + ], + [ + 0.2984490394592285, + 0.1018361896276474, + 0.08545257151126862, + -3.1218250823491296, + 0.0028519812040030956, + -0.06126483157277108, + 1.0 + ], + [ + 0.29805445671081543, + 0.1033409908413887, + 0.06180877238512039, + -3.114429986225911, + 0.010740700177848339, + -0.06584636121988295, + 1.0 + ], + [ + 0.2982919216156006, + 0.10944817215204239, + 0.03744323551654816, + -3.0865073298388204, + 0.013859777711331844, + -0.07794220000505447, + 1.0 + ], + [ + 0.29891765117645264, + 0.11634799093008041, + 0.02439267374575138, + -3.062766710417815, + 0.028732959181070328, + -0.06958213448524475, + 1.0 + ], + [ + 0.3024972677230835, + 0.11827726662158966, + 0.013808870688080788, + -3.0649210159950933, + 0.04454409331083298, + -0.07424423843622206, + 1.0 + ], + [ + 0.30332034826278687, + 0.12289252132177353, + 0.01133794616907835, + -3.0683381502800664, + 0.04523827880620957, + -0.0818447470664978, + 1.0 + ], + [ + 0.3048998713493347, + 0.12362398207187653, + 0.012290512211620808, + -3.0692461897903165, + 0.041861847043037415, + -0.08275194466114044, + 0.0 + ], + [ + 0.3064332604408264, + 0.1228761374950409, + 0.01758652739226818, + -3.068331392603465, + 0.028907235711812976, + -0.08161087334156036, + 0.0 + ], + [ + 0.30536773800849915, + 0.11846555024385452, + 0.02714277245104313, + -3.067474955814429, + -0.0007040830678306519, + -0.08300848305225371, + 0.0 + ], + [ + 0.29809170961380005, + 0.10570418834686279, + 0.045683834701776505, + -3.0736834799223622, + -0.03117954544723034, + -0.047309290617704385, + 0.0 + ], + [ + 0.2936365306377411, + 0.09950434416532516, + 0.08599390834569931, + -3.0507805069261273, + -0.12762334942817688, + -0.07986404746770859, + 0.0 + ], + [ + 0.3003278970718384, + 0.08171426504850388, + 0.10795300453901291, + -3.034266660111495, + -0.16450266540050504, + -0.21614760160446167, + 0.0 + ], + [ + 0.3262209892272949, + 0.05687635764479637, + 0.12021537125110626, + -2.997164251404353, + -0.17350147664546967, + -0.39212313294410706, + 0.0 + ], + [ + 0.34937146306037903, + 0.03635929524898529, + 0.10891079157590866, + -2.98140403826768, + -0.1396150141954422, + -0.4950640797615051, + 0.0 + ], + [ + 0.35921257734298706, + 0.02003289759159088, + 0.08940286934375763, + -3.0125629027658185, + -0.10715087503194808, + -0.5238408446311951, + 0.0 + ], + [ + 0.36019420623779297, + 0.011100665666162968, + 0.06973905861377716, + -3.048628071444579, + -0.08324669301509859, + -0.5128411650657654, + 0.0 + ], + [ + 0.35456526279449463, + 0.005806542932987213, + 0.04638754576444626, + -3.083134690421172, + -0.03616245090961456, + -0.5115132331848145, + 0.0 + ], + [ + 0.3577786087989807, + 0.0007075362373143435, + 0.03474467992782593, + -3.109719006466218, + -0.03515496850013732, + -0.49744874238967896, + 0.0 + ], + [ + 0.3641926050186157, + -0.0018763780826702714, + 0.030631959438323975, + -3.1205096804820975, + -0.04264679178595542, + -0.4904837906360626, + 0.0 + ], + [ + 0.3671870529651642, + -0.007923917844891548, + 0.01606966182589531, + -3.1362968181544026, + -0.019600125029683113, + -0.47147461771965027, + 0.0 + ], + [ + 0.3673500418663025, + -0.012781721539795399, + 0.00788263138383627, + 3.124742929013916, + -0.011548730544745922, + -0.4691590070724488, + 1.0 + ], + [ + 0.3681086301803589, + -0.01872582733631134, + 0.00791243091225624, + 3.099502531933137, + -0.020578330382704735, + -0.46913516521453863, + 1.0 + ], + [ + 0.36801132559776306, + -0.024425024166703224, + 0.009800149127840996, + 3.0656637271218976, + -0.03329210728406907, + -0.47080701589584345, + 1.0 + ], + [ + 0.3727629780769348, + -0.02591433748602867, + 0.039226680994033813, + 3.0657785927229604, + -0.11058218032121658, + -0.4767676293849945, + 1.0 + ], + [ + 0.3751061260700226, + -0.008101782761514187, + 0.07912195473909378, + 3.099053567396947, + -0.18761204183101654, + -0.44833993911743164, + 1.0 + ], + [ + 0.3690202236175537, + 0.004076842218637466, + 0.11272703111171722, + 3.128125271881469, + -0.22063305974006656, + -0.40535363554954534, + 1.0 + ], + [ + 0.36099040508270264, + 0.01641751453280449, + 0.13207949697971344, + -3.116150500374385, + -0.1847442239522934, + -0.30868038535118103, + 1.0 + ], + [ + 0.3483230471611023, + 0.026524946093559265, + 0.13257306814193726, + -3.096314462023326, + -0.1009092628955841, + -0.18447750806808472, + 1.0 + ], + [ + 0.33859187364578247, + 0.03795132786035538, + 0.12877604365348816, + -3.1113123541050633, + -0.05169621482491493, + -0.10447017103433609, + 1.0 + ], + [ + 0.33397379517555237, + 0.04119173809885979, + 0.13359934091567993, + -3.136214348609098, + -0.019202828407287598, + -0.15038175880908963, + 1.0 + ], + [ + 0.3338458240032196, + 0.04221615940332413, + 0.13359934091567993, + -3.136067208024212, + -0.019161013886332512, + -0.15498502552509305, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.04849565029144287, + 0.33987146615982056, + 0.609009861946106, + 0.7333587110042572, + 0.8376581221818924, + 0.9177437350153923, + 0.9266620799899101, + 0.9272984340786934, + 0.9272984340786934, + 0.9272984340786934, + 0.9272984340786934, + 0.9272984340786934, + 0.9272984340786934, + 0.9272984340786934, + 0.8964446857571602, + 0.6803275644779205, + 0.3539353609085083, + 0.06723624467849731, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1787", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1787/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1792.json b/annotation/test/1792.json new file mode 100644 index 0000000000000000000000000000000000000000..c7a51aee03700c1ebde7991d2975b550ef508f2c --- /dev/null +++ b/annotation/test/1792.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "pour almonds in pot" + ], + "videos": [ + { + "video_path": "videos/test/1792/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -2.0638389454026813e-18, + 1.8233979038649087e-17, + 8.310621926567665e-18, + 1.0 + ], + [ + -0.003050155506127036, + 0.0018662750117002579, + 0.0031382010812685407, + -0.03216492664747433, + -0.03062723423674226, + -0.03436978998516658, + 1.0 + ], + [ + 0.01170777616502841, + -0.009471234430100717, + -0.012902997464676, + -0.1220622634524114, + -0.03169236626996305, + -0.19263312772589453, + 1.0 + ], + [ + 0.01936624406281261, + -0.008048513315470364, + -0.012994190239415088, + -0.10034331730042376, + -0.04294616619885995, + -0.14516645204767004, + 1.0 + ], + [ + 0.028009900037281512, + -0.008985589928563274, + -0.015498790073056627, + -0.10031943111179514, + -0.06577141058950171, + -0.20631775368570035, + 1.0 + ], + [ + 0.023412662854889854, + -0.005046703723462135, + -0.0014435812811646883, + -0.018846576509601767, + -0.07343527200220519, + -0.2017792893972282, + 1.0 + ], + [ + 0.027362869547299346, + -0.009328824930426213, + 0.010803217204548937, + 0.05790546020670244, + -0.12160398632888444, + -0.16914359520811942, + 1.0 + ], + [ + 0.01979630832592326, + -0.0042494794824252825, + 0.012753600884729358, + 0.06218722539217916, + -0.06190354245314108, + -0.05331043280010553, + 1.0 + ], + [ + 0.020239953329721286, + -0.003767930978011984, + 0.01608611462209277, + 0.05832027141149627, + -0.015414068084263585, + -0.05178570441003864, + 1.0 + ], + [ + 0.01309728410165387, + 0.004453464078490795, + 0.010844336048617655, + 0.030216767412752837, + -0.01637547463965196, + -0.01617337157265406, + 1.0 + ], + [ + 0.007427697265658395, + 0.0032111654967265507, + 0.010440952343052841, + 0.020730779376401862, + -0.027664059188376187, + -0.03537080330611727, + 1.0 + ], + [ + -0.004012790159920141, + 0.0046003239370357015, + 0.01059274617086018, + 0.027407971902417085, + -0.032554133368977056, + -0.01585287184742824, + 1.0 + ], + [ + -0.007445082645752493, + -0.0022641938865322173, + 0.014441892740264646, + 0.03132443736166346, + -0.035095929664314476, + -0.009120871973242215, + 1.0 + ], + [ + -0.0050072364201755116, + -0.000304859532790855, + 0.010822195277690584, + 0.013263240396682767, + -0.023644229599594817, + -0.012496184478526509, + 1.0 + ], + [ + -0.005444484724263119, + 0.0008359718681596932, + 0.012974228278784956, + 0.013207929757694917, + -0.0166083623642608, + -0.012678182140269277, + 1.0 + ], + [ + -0.0045882122630626415, + 0.008147150473931771, + 0.0041812184446627584, + -0.018354686989658354, + -0.004866545784275651, + -0.025626826308603586, + 1.0 + ], + [ + -0.006753573202040475, + 0.0022478470972194303, + 0.006943491893221374, + 0.004386044767185787, + -0.02585634443640776, + -0.028293049573860165, + 1.0 + ], + [ + -0.003361519960423064, + -0.005692623261397283, + 0.009049464106711898, + 0.0213039556813359, + -0.025595201942142633, + -0.0145977464120668, + 1.0 + ], + [ + -0.004161294240547107, + -0.0007029522465257144, + 4.879773900927089e-06, + -0.011503509452700249, + 0.014956529139749057, + -0.0030842315690957963, + 0.0 + ], + [ + -0.0009157715156115631, + 0.003284496202609948, + -0.0013984176471551167, + -0.025392988634825756, + 0.005111773943869611, + -0.03194553196434661, + 0.0 + ], + [ + -0.005643343412204761, + 0.007986145505331822, + -0.020489968523153216, + -0.08645380879463538, + 0.12476399659480897, + 0.0216516987371144, + 0.0 + ], + [ + -0.005051583029243304, + 0.008707605028563931, + -0.005204312322923893, + -0.01632256138695524, + 0.0857554356332636, + 0.04225808891552264, + 0.0 + ], + [ + -0.008448293770283253, + 0.012004446947005197, + -0.009907602159803974, + -0.034146730948462545, + 0.19168874542993378, + 0.12236859774454596, + 0.0 + ], + [ + -0.01145424188453616, + 0.007086656237310878, + -0.004529521536144656, + -0.02108918416769933, + 0.17676542597556455, + 0.1607978555548615, + 0.0 + ], + [ + -0.004343157081078435, + 0.0065183855424059646, + -0.00052392924709694, + -0.03563178500668315, + 0.13881501330407134, + 0.1136895526088496, + 0.0 + ], + [ + -0.0018232507130979923, + 0.006979571692685518, + 0.0009812433025929556, + -0.06378506521979051, + 0.17147039256721075, + 0.09591118498968387, + 0.0 + ], + [ + 0.0015399056372755041, + 0.005841779553748718, + 0.007903485810642312, + -0.03238997684192742, + 0.11946483551483711, + 0.04699715446344542, + 0.0 + ], + [ + 0.0011916665794510209, + 0.003942186827476394, + 0.004936247706365407, + -0.026795264171320644, + 0.09701976826667368, + 0.009897177093052718, + 0.0 + ], + [ + -0.0012163926726789908, + 0.006905039251201432, + 0.002794164457357159, + -0.04179453624916169, + 0.10088692098808624, + 0.025414793510094392, + 0.0 + ], + [ + 0.0014166696518434737, + 0.008068342734460332, + 0.0013108708266160146, + -0.04602806204151429, + 0.07756394539412727, + 0.015435155758130672, + 0.0 + ], + [ + -0.007821171518735577, + 0.008936022793641984, + 0.0006444928648484824, + -0.05188021325354306, + 0.05012475893172019, + 0.03113345130136291, + 0.0 + ], + [ + -0.008272053329028493, + -0.003387040653156431, + -0.0007145713746800705, + -0.02961663563843396, + 0.023301674889581347, + 0.043842903574999884, + 0.0 + ], + [ + -0.0035493425126796032, + -0.0029323518170469636, + -0.005525376667322407, + -0.020783052432568068, + 0.006508671879072002, + 0.0268616362857835, + 0.0 + ], + [ + -0.0040180982960648865, + 0.004484386930325103, + -0.005101795112677092, + -0.02810860060693468, + 0.0037041650523749947, + 0.020489640539373185, + 0.0 + ], + [ + -0.0009602393419608921, + 0.006848585022806469, + -0.00992680762681299, + -0.03491760350233536, + 0.016219246907665075, + 0.037332834326512666, + 0.0 + ], + [ + 0.002975373835783627, + -0.0019144057796798416, + -0.0005728919177935849, + 0.0031304687145304573, + 0.028468099588286784, + 0.012106554512623213, + 0.0 + ], + [ + 0.01344315452073141, + 0.004284867306734655, + -0.005522571646889016, + -0.019220969009203906, + 0.06407531393531628, + -0.018615293112676554, + 0.0 + ], + [ + 0.008427982829835834, + 0.00401227769591195, + -0.0004444199726455683, + -0.022954419848114208, + 0.055338960625026294, + -0.00796143018588832, + 0.0 + ] + ], + "state": [ + [ + 0.20756332576274872, + -0.021421929821372032, + 0.1291307657957077, + 3.109779255586215, + -0.07621055096387863, + 0.130648672580719, + 1.0 + ], + [ + 0.20756332576274872, + -0.021421929821372032, + 0.1291307657957077, + 3.109779255586215, + -0.07621055096387863, + 0.130648672580719, + 1.0 + ], + [ + 0.2050362527370453, + -0.023736022412776947, + 0.12583021819591522, + 3.0750737582617482, + -0.044463351368904114, + 0.1640433669090271, + 1.0 + ], + [ + 0.21435509622097015, + -0.011745250783860683, + 0.13858342170715332, + 2.945778178172656, + 0.0006873763049952686, + 0.3540022075176239, + 1.0 + ], + [ + 0.2289145439863205, + 0.004747437313199043, + 0.1497500091791153, + 2.8471272607618054, + 0.07097090035676956, + 0.48814943432807917, + 1.0 + ], + [ + 0.24821384251117706, + 0.0298246331512928, + 0.15995682775974274, + 2.76384553511674, + 0.19235557317733762, + 0.6689914464950562, + 1.0 + ], + [ + 0.2629237174987793, + 0.048113077878952026, + 0.15497101843357086, + 2.781502517061778, + 0.3321602046489715, + 0.837688386440277, + 1.0 + ], + [ + 0.2736511826515198, + 0.06738357245922089, + 0.13338322937488556, + 2.8820884843641004, + 0.5029785633087158, + 0.9677537083625793, + 1.0 + ], + [ + 0.2791327238082886, + 0.0768154114484787, + 0.11208535730838776, + 2.964414121704646, + 0.5761203169822693, + 1.010133147239685, + 1.0 + ], + [ + 0.2826387584209442, + 0.0840424969792366, + 0.08722387999296188, + 3.0547633339935025, + 0.5996487140655518, + 1.0685886144638062, + 1.0 + ], + [ + 0.289726585149765, + 0.08577825129032135, + 0.07123257964849472, + 3.095145871984311, + 0.6172903180122375, + 1.0866036415100098, + 1.0 + ], + [ + 0.2930440604686737, + 0.0841534361243248, + 0.0585499107837677, + 3.1405679899086287, + 0.6461464166641235, + 1.1292356252670288, + 1.0 + ], + [ + 0.293119341135025, + 0.07352256029844284, + 0.052512481808662415, + -3.1029737648838243, + 0.6786200404167175, + 1.1495474576950073, + 1.0 + ], + [ + 0.2844943106174469, + 0.06117010489106178, + 0.04602019488811493, + -3.0629370530420026, + 0.7132921814918518, + 1.1633840799331665, + 1.0 + ], + [ + 0.27914321422576904, + 0.051683709025382996, + 0.0411561094224453, + -3.037023978429385, + 0.735791027545929, + 1.1826910972595215, + 1.0 + ], + [ + 0.2738323509693146, + 0.04007522016763687, + 0.035180360078811646, + -3.01064524252946, + 0.7508909702301025, + 1.2023075819015503, + 1.0 + ], + [ + 0.2783697247505188, + 0.030917542055249214, + 0.03450248762965202, + -3.0047122557931623, + 0.7520532011985779, + 1.2379720211029053, + 1.0 + ], + [ + 0.2763638198375702, + 0.021198980510234833, + 0.033868804574012756, + -2.9702242483669004, + 0.773332417011261, + 1.2820663452148438, + 1.0 + ], + [ + 0.26724207401275635, + 0.0156088350340724, + 0.03053075075149536, + -2.9301752765947064, + 0.7958880066871644, + 1.3088586330413818, + 1.0 + ], + [ + 0.2658497095108032, + 0.013073443435132504, + 0.03360380232334137, + -2.9417787214093885, + 0.7806172966957092, + 1.3086851835250854, + 0.0 + ], + [ + 0.2691894471645355, + 0.012027423828840256, + 0.03475884348154068, + -2.937598930793353, + 0.7688180208206178, + 1.35084068775177, + 0.0 + ], + [ + 0.28278598189353943, + 0.017974194139242172, + 0.051941242069005966, + -3.063344331579753, + 0.6500959992408752, + 1.2927122116088867, + 0.0 + ], + [ + 0.2911697328090668, + 0.014236310496926308, + 0.05858704447746277, + -3.114511588709899, + 0.5670523047447205, + 1.2349951267242432, + 0.0 + ], + [ + 0.30210012197494507, + 0.00832347571849823, + 0.07120472937822342, + 3.061344528692313, + 0.37413069605827326, + 1.1003611087799072, + 0.0 + ], + [ + 0.3040822446346283, + -0.00256165093742311, + 0.08012224733829498, + 2.9857288171821317, + 0.18120165169239044, + 0.9544560909271239, + 0.0 + ], + [ + 0.30696025490760803, + -0.009498012252151966, + 0.0824093446135521, + 2.932890849309512, + 0.02571897581219673, + 0.8647944331169128, + 0.0 + ], + [ + 0.31113648414611816, + -0.015437427908182144, + 0.08294221758842468, + 2.864803733425685, + -0.1619013398885727, + 0.8070484399795532, + 0.0 + ], + [ + 0.31847575306892395, + -0.019020861014723778, + 0.07726269960403442, + 2.832481952505656, + -0.289626806974411, + 0.7942122220993042, + 0.0 + ], + [ + 0.32372719049453735, + -0.021176962181925774, + 0.07424589991569519, + 2.798025371628352, + -0.38498225808143616, + 0.8158847689628601, + 0.0 + ], + [ + 0.328453928232193, + -0.027014577761292458, + 0.07350648939609528, + 2.7500931342416486, + -0.48849162459373474, + 0.82734614610672, + 0.0 + ], + [ + 0.3345658481121063, + -0.03212494030594826, + 0.0758199542760849, + 2.6943123956495008, + -0.565998911857605, + 0.8455248475074768, + 0.0 + ], + [ + 0.3352564573287964, + -0.04391215369105339, + 0.07439754158258438, + 2.646050604181834, + -0.6246406435966492, + 0.8376838564872742, + 0.0 + ], + [ + 0.3286838233470917, + -0.0462503544986248, + 0.06876346468925476, + 2.6369341929727277, + -0.6657038331031799, + 0.8027527332305908, + 0.0 + ], + [ + 0.32150977849960327, + -0.04613766819238663, + 0.0692601427435875, + 2.6324869116121015, + -0.6842228770256042, + 0.7764721512794495, + 0.0 + ], + [ + 0.31729570031166077, + -0.05228040739893913, + 0.07186618447303772, + 2.6177108009629926, + -0.6973367929458618, + 0.7554879188537598, + 0.0 + ], + [ + 0.31180140376091003, + -0.05878010764718056, + 0.08046463131904602, + 2.6037515123658856, + -0.7298022508621216, + 0.7230111360549928, + 0.0 + ], + [ + 0.31242647767066956, + -0.055644430220127106, + 0.08208414167165756, + 2.602788897352763, + -0.7604438662528993, + 0.7287927269935608, + 0.0 + ], + [ + 0.31668680906295776, + -0.052972592413425446, + 0.09637708216905594, + 2.534472497301646, + -0.8047013282775879, + 0.7992354035377501, + 0.0 + ], + [ + 0.32160794734954834, + -0.05227576196193695, + 0.10429058969020844, + 2.4695726950936994, + -0.8448156118392944, + 0.8566330671310425, + 0.0 + ] + ], + "continuous_gripper_state": [ + 0.010668635368347168, + 0.010668635368347168, + 0.010668635368347168, + 0.010668635368347168, + 0.010668635368347168, + 0.010668635368347168, + 0.010668635368347168, + 0.010668635368347168, + 0.010668635368347168, + 0.010668635368347168, + 0.010668635368347168, + 0.010668635368347168, + 0.010668635368347168, + 0.010668635368347168, + 0.010668635368347168, + 0.010668635368347168, + 0.010668635368347168, + 0.010668635368347168, + 0.010668635368347168, + 0.11119049787521362, + 0.17294937372207642, + 0.15004962682724, + 0.14733940362930298, + 0.1482418179512024, + 0.14733940362930298, + 0.14733940362930298, + 0.14733940362930298, + 0.14733940362930298, + 0.14733940362930298, + 0.1482418179512024, + 0.14733940362930298, + 0.14733940362930298, + 0.14733940362930298, + 0.14733940362930298, + 0.14733940362930298, + 0.14733940362930298, + 0.14733940362930298, + 0.14733940362930298, + 0.14733940362930298 + ], + "episode_id": "1792", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1792/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1810.json b/annotation/test/1810.json new file mode 100644 index 0000000000000000000000000000000000000000..2ceadf16e16bd59850c870ea2036d5d1190e4aca --- /dev/null +++ b/annotation/test/1810.json @@ -0,0 +1,375 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "pick up pan from stove distractors" + ], + "videos": [ + { + "video_path": "videos/test/1810/rgb.mp4" + } + ], + "action": [ + [ + -0.0013498809500842037, + 0.0019633662466714955, + 0.005033124762531665, + -0.009397885146216143, + -0.011935077729828502, + 0.00065434558408552, + 1.0 + ], + [ + -0.002411864212970392, + 0.004056590068192587, + 0.0069726325659027555, + -0.014044582581186425, + -0.010790112461672958, + -0.008605085969557497, + 1.0 + ], + [ + -0.0007485329729175506, + 0.0002428021974850449, + 0.0035552258610708847, + -0.008794155290256575, + 0.007529068057976831, + -0.017732438811914046, + 1.0 + ], + [ + -0.004951820611719026, + -0.004379451291304983, + 0.006362732918512337, + -0.006968793777384577, + -0.00979955815294533, + -0.020624243813486483, + 1.0 + ], + [ + -6.3558956426678e-05, + -0.00047084927116987086, + 0.0030892939053441698, + -0.002710450435810464, + 0.004551847433477079, + -0.010707790717935605, + 1.0 + ], + [ + -0.0026339800000904252, + -0.002470997694943462, + 0.005451512438673304, + 0.0068165191576848964, + 0.003654306528150368, + -0.02538569013311155, + 1.0 + ], + [ + 0.00012377327767654594, + 0.002676543426335874, + 0.0023555242694793766, + -0.012708127339680407, + 0.0035334482035906585, + -0.01717959986205035, + 1.0 + ], + [ + -0.0046147133084610895, + -0.0005735086711124575, + 0.004387934689576079, + -0.021972928168671732, + -0.014195291083070504, + -0.01111571447833163, + 1.0 + ], + [ + 0.0003070934832690559, + -0.0002606758743777643, + 0.0007347955955560472, + 0.003543638152390802, + -0.0017468475781036309, + -0.015501801898358576, + 0.0 + ], + [ + 0.0029383646308362345, + -0.0006630789214449082, + -0.00016838972619930307, + 0.012105971173508605, + 0.01327844048777764, + -0.01142361556499268, + 0.0 + ], + [ + 0.0004173657354336553, + -0.0009423070951019975, + 0.0010178229532553382, + 0.024947588247291468, + 0.000573485065409937, + 0.009345672694232369, + 0.0 + ], + [ + 0.0011528863334512108, + 0.003550721194240846, + -0.001118932503670813, + 0.03429368821339151, + 0.0005123821707893674, + 0.015396835310035354, + 0.0 + ], + [ + -0.0022539005130857905, + 0.0030535462626495352, + -0.0019964161091549234, + 0.018594784031706665, + -0.01713723175175124, + 0.012353564180791445, + 0.0 + ], + [ + 0.0007869299990049863, + 0.002300670458468936, + -0.012940738846540201, + 0.04668714620628712, + 0.015427230054762141, + 0.024828367063561636, + 0.0 + ], + [ + -0.0018064706538362383, + -0.0030634419125623188, + -0.006329986255836865, + 0.01566058991425586, + 0.004557996128801398, + 0.016222547358137027, + 0.0 + ], + [ + -0.002024063319820507, + -0.0039613805350611235, + -0.005272080353753217, + -0.009545070146285955, + -0.015418623097868733, + 0.0327062065195369, + 0.0 + ], + [ + 0.0003481989960129396, + -0.009239327556227236, + -0.006655876442745402, + -0.003445856586295202, + -0.0009661661983043272, + 0.013589082895072484, + 0.0 + ], + [ + 0.0010393119695380273, + -0.007845293325762207, + -0.005301111996364228, + -0.008902965835431532, + 0.0017763152872485412, + 0.0321975595043515, + 0.0 + ] + ], + "state": [ + [ + 0.3690669536590576, + 0.010160107165575027, + 0.06877461820840836, + -2.8878882845216474, + -0.09864534437656404, + -0.6958405375480652, + 1.0 + ], + [ + 0.36803296208381653, + 0.01019342802464962, + 0.06330295652151108, + -2.8975019623809537, + -0.08692782372236252, + -0.6934694051742554, + 1.0 + ], + [ + 0.36526334285736084, + 0.009568133391439915, + 0.05537649244070053, + -2.912501247721263, + -0.078531913459301, + -0.6824782490730287, + 1.0 + ], + [ + 0.36525848507881165, + 0.010307775810360909, + 0.051811132580041885, + -2.9225425889068326, + -0.08988149464130402, + -0.666856586933136, + 1.0 + ], + [ + 0.36525335907936096, + 0.017511678859591484, + 0.046128857880830765, + -2.9315610100799283, + -0.08477508276700974, + -0.6445160508155823, + 1.0 + ], + [ + 0.36606425046920776, + 0.018284015357494354, + 0.04321073740720749, + -2.9350886811786374, + -0.09145548939704896, + -0.6349527835845947, + 1.0 + ], + [ + 0.36640506982803345, + 0.022425265982747078, + 0.038161326199769974, + -2.9305432458692273, + -0.10021008551120757, + -0.6107347011566162, + 1.0 + ], + [ + 0.3655228018760681, + 0.020450536161661148, + 0.03532411903142929, + -2.944893391924449, + -0.10725089907646179, + -0.5945839285850524, + 1.0 + ], + [ + 0.3628891110420227, + 0.023945661261677742, + 0.030662978067994118, + -2.968335436778613, + -0.09549159556627274, + -0.5808467268943787, + 1.0 + ], + [ + 0.3634091913700104, + 0.024062959477305412, + 0.030016494914889336, + -2.9663042445951184, + -0.09643156081438065, + -0.5652031898498535, + 0.0 + ], + [ + 0.3661901354789734, + 0.023037610575556755, + 0.030579544603824615, + -2.9550551642947873, + -0.11149481683969496, + -0.556215524673462, + 0.0 + ], + [ + 0.36720892786979675, + 0.023716820403933525, + 0.029805699363350868, + -2.929075749712535, + -0.11032032221555708, + -0.5655622482299805, + 0.0 + ], + [ + 0.3661578595638275, + 0.019993456080555916, + 0.0302753709256649, + -2.893128277855464, + -0.10756106674671174, + -0.5808088779449463, + 0.0 + ], + [ + 0.36228474974632263, + 0.018407907336950302, + 0.031210755929350853, + -2.8736676295572003, + -0.08790899068117142, + -0.5885970592498779, + 0.0 + ], + [ + 0.35893622040748596, + 0.013856717385351658, + 0.04310399293899536, + -2.8245839794450482, + -0.09617929905653001, + -0.616752028465271, + 0.0 + ], + [ + 0.3574656844139099, + 0.016048680990934372, + 0.04986783489584923, + -2.8073424716764173, + -0.09543978422880174, + -0.6336640119552612, + 0.0 + ], + [ + 0.3565513789653778, + 0.019217880442738533, + 0.05592625215649605, + -2.8144939859681806, + -0.07011403888463974, + -0.659559428691864, + 0.0 + ], + [ + 0.36036354303359985, + 0.02462742291390896, + 0.06519940495491028, + -2.8170848210626325, + -0.06482754647731781, + -0.6721439361572266, + 0.0 + ], + [ + 0.3643711805343628, + 0.028781088069081306, + 0.07277677208185196, + -2.824133189516612, + -0.056215547025203705, + -0.70327627658844, + 0.0 + ] + ], + "continuous_gripper_state": [ + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.17109763622283936, + 0.47825467586517334, + 0.7354772686958313, + 0.8812523186206818, + 0.9114522784948349, + 0.9114522784948349, + 0.9114522784948349, + 0.9114522784948349, + 0.9114522784948349, + 0.9114522784948349, + 0.9114522784948349, + 0.9114522784948349 + ], + "episode_id": "1810", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1810/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1831.json b/annotation/test/1831.json new file mode 100644 index 0000000000000000000000000000000000000000..2cd76b74b00c9118649f67b1c90adb9d47ae02ca --- /dev/null +++ b/annotation/test/1831.json @@ -0,0 +1,926 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the bowl behind the red fork" + ], + "videos": [ + { + "video_path": "videos/test/1831/rgb.mp4" + } + ], + "action": [ + [ + -0.0005697739691314031, + 0.0002569727656812443, + 0.00022155296606738768, + -0.001080369624205172, + -0.0016963885834794913, + -0.0008123116242861588, + 1.0 + ], + [ + -0.007866698861520305, + 0.002109430183891656, + 0.0071239819559872864, + -0.00028415085637025254, + -0.03362958619279328, + 0.0026940061810154284, + 1.0 + ], + [ + -0.013158643736012271, + -0.005245265865382863, + -0.0032478290555058276, + 0.035252435747197775, + -0.024414996891620286, + 0.01188302136510155, + 1.0 + ], + [ + -0.01566511424774525, + -0.012243450569050199, + -0.005257251098418668, + 0.03387861628254649, + -0.009415441009687825, + 0.038142545451679055, + 1.0 + ], + [ + -0.013888347273525198, + -0.01711684867300763, + 0.0007589225520735854, + 0.036538933838247245, + -0.03134306384097243, + 0.020131574638059636, + 1.0 + ], + [ + -0.012250488246576005, + -0.011489762356646093, + 0.005552327406663847, + -0.0004218925704905616, + -0.037006240627967535, + 0.08964604367274451, + 1.0 + ], + [ + -0.007439548336991313, + -0.00882672908134205, + 0.00783636894830449, + -0.01633771761370637, + -0.017929667348865443, + 0.08335913841945784, + 1.0 + ], + [ + -0.012652079151900123, + -0.003173696982632885, + 0.018457418888698646, + -0.010103933660697222, + -0.05612522413514127, + 0.08023289256433566, + 1.0 + ], + [ + -0.006881232521935022, + -0.00045801386290678683, + 0.02074370894948716, + -0.011966848879785417, + -0.04646827602986342, + 0.06210433382892431, + 1.0 + ], + [ + -0.004788504918004, + -0.001133957978665471, + 0.016930731443370428, + -0.03134391779425586, + -0.014771767422661017, + 0.02634852488726253, + 1.0 + ], + [ + 0.0033016938104232824, + -0.0019629512057619458, + 0.013676604773375942, + -0.0037094801949089295, + -0.016114843250185126, + 0.04031391727155509, + 1.0 + ], + [ + -0.00014848463682072712, + -0.0021949741183569286, + 0.014126140273156248, + -0.012571505639273733, + -0.0258796992365856, + 0.01844520026934426, + 1.0 + ], + [ + -0.0024410465725246385, + 0.002752864489947076, + 0.011220187140361718, + -0.019782091996557494, + -0.0279892519273671, + 0.008157235644388156, + 1.0 + ], + [ + -0.00018946973105013284, + 0.0033584221173540026, + 0.011637647088826603, + -0.019437802425759838, + -0.02567091543972712, + 0.007494054910647826, + 1.0 + ], + [ + 0.002135439640864557, + 0.0028268686610657596, + 0.006836744114567048, + -0.022598084827753436, + -0.0066154300175252255, + 0.012314109333808528, + 1.0 + ], + [ + 0.003088772439340742, + -0.0002280363673190138, + -3.0250894113775402e-05, + 0.001713937165356468, + 0.019457272936929556, + 0.014171937642391318, + 1.0 + ], + [ + 0.000256048207464431, + 3.104511657030534e-05, + 0.00017916924868237555, + 0.0015247645198899066, + 0.002853761742916932, + -0.010605262356421301, + 0.0 + ], + [ + -0.0023194581919402492, + 0.002073447048747178, + -0.0015384678150340602, + -0.0002066082298073225, + 0.0004476505163128677, + 0.005089740245636163, + 0.0 + ], + [ + -0.00037548916453704475, + 0.001792163944292003, + 0.00011586130212236389, + -0.006599566495136471, + 0.0017425426247968487, + 0.008380709948323493, + 0.0 + ], + [ + -0.0003394435735042451, + 0.0019089570687666321, + -0.001490180882207364, + -0.002989075102628981, + 0.005382054974877438, + 0.005806104656092545, + 0.0 + ], + [ + 0.0026029045084276113, + -0.004831940170596407, + -0.01198699441380792, + 0.020886902837227564, + 0.034537730599290675, + -0.009765292284689428, + 0.0 + ], + [ + 0.004882785830241508, + -0.010276146984506084, + -0.025776077822492294, + 0.029086570519739816, + 0.08177923592339388, + -0.037359467886207386, + 0.0 + ], + [ + 0.005541283013061222, + -0.004773490830689352, + -0.016885471145878198, + 0.04382469631155812, + 0.04275642768704044, + -0.00969413860938287, + 0.0 + ], + [ + 0.019800482515465786, + 0.0174965281543247, + -0.018107120799245143, + 0.011469782491891792, + 0.06552922172721819, + 0.053298062143027826, + 0.0 + ], + [ + 0.020140327149254005, + 0.022655874112191315, + -0.015765642075587383, + 0.014908678376506194, + 0.0509685657218444, + 0.0696169212668007, + 0.0 + ], + [ + 0.017829047667673015, + 0.028265310906567805, + -0.005696141531587198, + -0.028273972010464464, + 0.04014146658040214, + 0.04932059377589285, + 0.0 + ], + [ + 0.01791023307249389, + 0.025374402725762267, + -0.004291118581649033, + -0.016635963450973106, + 0.035385189216252666, + 0.06376730700820277, + 0.0 + ], + [ + 0.017433767123267725, + 0.03016045176860926, + 0.009161528526975292, + -0.048331603761285334, + 0.012579052991884767, + 0.09241032566525342, + 0.0 + ], + [ + 0.0172494014170532, + 0.009355120388100683, + 0.009739539898259313, + -0.028358313140941043, + 0.02183357690042487, + 0.052363480331501955, + 0.0 + ], + [ + 0.009186334749873211, + 0.009568857404511043, + 0.012710728250309881, + -0.03951937687940202, + -0.004583864931958859, + 0.04932962737148827, + 0.0 + ], + [ + 0.0075691815390953885, + -0.0005257682856611449, + 0.007607503470028103, + -0.02448773320267124, + -0.006197949748520109, + 0.023873981629711855, + 0.0 + ], + [ + 0.004237006040908544, + 0.000856544141726267, + 0.004213040698525676, + -0.03685035615564884, + -0.018304391039482636, + 0.008452541420432615, + 0.0 + ], + [ + 0.002150805949349098, + 0.0013721445533742681, + 0.0022817158205704745, + -0.02984335313256629, + 0.0014038725216284984, + 0.01614885524836012, + 0.0 + ], + [ + -0.0025016667157851625, + -0.004562025838238342, + 0.0037956041832777135, + -0.03789329279746004, + -0.010631769936517481, + -0.005837111431770198, + 0.0 + ], + [ + -0.0018713153606129814, + 0.0006433421728522534, + 0.006330022475047735, + -0.012336950799589583, + -0.004575318888795872, + -0.0009569665414534358, + 0.0 + ], + [ + -0.0010015662296439683, + 0.001827511046784133, + 0.004730933147455057, + -0.010378148316633997, + -0.002643911158147094, + 0.0006489997212393335, + 0.0 + ], + [ + -0.0002329155741858077, + 0.0003016984210352026, + 0.0035009834429413846, + -0.006538231950531253, + 0.0017718047660555444, + -0.0014782759912825671, + 0.0 + ], + [ + -0.0011479370530217035, + -0.0015513999140164202, + 0.00048531252763354537, + 0.008234448923432832, + -0.005341147971891619, + -0.014793078844135886, + 0.0 + ], + [ + -0.00489907130644683, + -0.004208535061490261, + -0.00013157529023771858, + 0.028676194275083892, + -0.0289420390174634, + -0.07126944006746189, + 0.0 + ], + [ + -0.002126218980673141, + -0.0015877028391994975, + 0.0005191019476659149, + 0.022406526938632373, + -0.012019012616782641, + -0.02128762382635252, + 1.0 + ], + [ + 0.0013136294969637117, + 0.0005883205998607403, + -0.0032737256241867473, + 0.004746947637731527, + 0.0031188989065780853, + -0.0075526534953618265, + 1.0 + ], + [ + 0.007433311430771865, + -0.000860739923299479, + -0.022049227680319177, + 0.019205884882875796, + 0.05138921254532423, + 0.007265044891209259, + 1.0 + ], + [ + 0.0064566388847108564, + -0.0004600503708508185, + -0.028191415046371196, + 0.023431391409269284, + 0.07665639147033512, + 0.0008627357488208503, + 1.0 + ], + [ + 0.0023923236171664018, + -0.0004580013962413239, + -0.029321455422001715, + 0.047579476093850305, + 0.06778966107371301, + 0.005856802689225785, + 1.0 + ], + [ + 0.00023306942536500987, + -0.0003141724866454509, + -0.001031289632349458, + 0.0023167891495372243, + 0.003881265800624888, + -0.0020586692646485925, + 1.0 + ], + [ + 0.0003082388533406889, + 0.00036316197015531424, + -6.238125081149137e-05, + -0.0004731834191849583, + 0.0006284899834317363, + 0.0013167447378514153, + 1.0 + ], + [ + -9.518317066771984e-05, + -0.00025230853850758306, + -2.3013155904452167e-07, + 0.0015895371800854587, + -0.0006042821952321083, + 0.0025530982911649374, + 1.0 + ] + ], + "state": [ + [ + 0.3288208842277527, + 0.013037477619946003, + 0.15878744423389435, + -2.830774249630519, + -0.577280342578888, + -0.18933890759944913, + 1.0 + ], + [ + 0.32847386598587036, + 0.012923859059810638, + 0.1582338809967041, + -2.8326952775293073, + -0.57591313123703, + -0.1877981722354889, + 1.0 + ], + [ + 0.32599547505378723, + 0.01355380192399025, + 0.14771977066993713, + -2.8376814146810254, + -0.5430381894111633, + -0.17885479331016543, + 1.0 + ], + [ + 0.3132529854774475, + 0.019955815747380257, + 0.14491721987724304, + -2.7999431808763227, + -0.5161814093589783, + -0.18348766863346097, + 1.0 + ], + [ + 0.2972466051578522, + 0.03286750242114067, + 0.14506113529205322, + -2.7478601356321057, + -0.4942316412925721, + -0.2207244485616684, + 1.0 + ], + [ + 0.28612637519836426, + 0.05186121165752411, + 0.14363700151443481, + -2.707655968266078, + -0.4575530588626862, + -0.2280348539352417, + 1.0 + ], + [ + 0.2783939838409424, + 0.06675408035516739, + 0.13803967833518982, + -2.677400292950221, + -0.38527879118919367, + -0.29890218377113337, + 1.0 + ], + [ + 0.2762601375579834, + 0.07934162765741348, + 0.13241232931613922, + -2.6683327575498303, + -0.33107244968414307, + -0.3691871762275696, + 1.0 + ], + [ + 0.2736984193325043, + 0.0923822894692421, + 0.11413112282752991, + -2.662814827757426, + -0.24421115219593048, + -0.41625815629959106, + 1.0 + ], + [ + 0.27564486861228943, + 0.10241500288248062, + 0.09480708092451096, + -2.666240247088023, + -0.17422482371330258, + -0.45040804147720337, + 1.0 + ], + [ + 0.27747946977615356, + 0.11125452816486359, + 0.07966236770153046, + -2.6946779509359082, + -0.14900851249694821, + -0.4672574996948242, + 1.0 + ], + [ + 0.2853766679763794, + 0.11587341874837875, + 0.06879480183124542, + -2.6941389461332044, + -0.11699093878269196, + -0.4968396127223968, + 1.0 + ], + [ + 0.29031288623809814, + 0.12240061163902283, + 0.057072289288043976, + -2.705920698242732, + -0.08567722886800766, + -0.5022862553596497, + 1.0 + ], + [ + 0.29010939598083496, + 0.12506739795207977, + 0.04557114094495773, + -2.725903781252452, + -0.056859906762838364, + -0.4978608787059784, + 1.0 + ], + [ + 0.29131951928138733, + 0.12626157701015472, + 0.03357700631022453, + -2.7453985532098493, + -0.030349066480994225, + -0.494347482919693, + 1.0 + ], + [ + 0.2934105098247528, + 0.12516918778419495, + 0.02624714933335781, + -2.767736407118388, + -0.019492831081151962, + -0.5031560063362122, + 1.0 + ], + [ + 0.2962110936641693, + 0.12385743111371994, + 0.0264187753200531, + -2.7656331976228437, + -0.03242675960063934, + -0.5234636664390564, + 1.0 + ], + [ + 0.2964561879634857, + 0.12375858426094055, + 0.0262491162866354, + -2.764408232765742, + -0.03897377848625183, + -0.5146403312683105, + 0.0 + ], + [ + 0.29318833351135254, + 0.1227409616112709, + 0.026824897155165672, + -2.7644286175542554, + -0.037514928728342056, + -0.5195406079292297, + 0.0 + ], + [ + 0.2920815646648407, + 0.12150365859270096, + 0.026043608784675598, + -2.7707251628213605, + -0.036047205328941345, + -0.5279794931411743, + 0.0 + ], + [ + 0.29059842228889465, + 0.11968377977609634, + 0.026727939024567604, + -2.773453625040599, + -0.038958124816417694, + -0.5353469848632814, + 0.0 + ], + [ + 0.29250168800354004, + 0.11878083646297455, + 0.039742279797792435, + -2.752208860712596, + -0.07469494640827178, + -0.5386778116226196, + 0.0 + ], + [ + 0.29476118087768555, + 0.11710643023252487, + 0.0677768662571907, + -2.7220088263326367, + -0.1645200997591019, + -0.5352018475532532, + 0.0 + ], + [ + 0.29573193192481995, + 0.11360190063714981, + 0.08581535518169403, + -2.676357152062007, + -0.20750850439071655, + -0.5439575910568238, + 0.0 + ], + [ + 0.2985454499721527, + 0.08413197100162506, + 0.09804902970790863, + -2.648974062996455, + -0.24156087636947632, + -0.6232258081436157, + 0.0 + ], + [ + 0.2978047728538513, + 0.05089816078543663, + 0.10595106333494186, + -2.6142475326829633, + -0.252694308757782, + -0.7114426493644714, + 0.0 + ], + [ + 0.2948218584060669, + 0.017436882480978966, + 0.10140201449394226, + -2.626952977972575, + -0.2620727419853211, + -0.7764713168144226, + 0.0 + ], + [ + 0.291822224855423, + -0.01353884395211935, + 0.09758664667606354, + -2.6252019723230084, + -0.2608087956905365, + -0.851941704750061, + 0.0 + ], + [ + 0.29046228528022766, + -0.044943731278181076, + 0.07999669760465622, + -2.6527303477102, + -0.22519071400165558, + -0.9407483339309693, + 0.0 + ], + [ + 0.2991001605987549, + -0.06304476410150528, + 0.07118429243564606, + -2.6688946803384503, + -0.21952654421329498, + -0.998619318008423, + 0.0 + ], + [ + 0.30350568890571594, + -0.07493168115615845, + 0.05788741633296013, + -2.6995749493413648, + -0.19279815256595614, + -1.0412366390228271, + 0.0 + ], + [ + 0.311120867729187, + -0.08055902272462845, + 0.05280951038002968, + -2.7204540987783155, + -0.1769491285085678, + -1.060463786125183, + 0.0 + ], + [ + 0.31433963775634766, + -0.08438333868980408, + 0.04942576587200165, + -2.757188381748744, + -0.1567888855934143, + -1.0606968402862549, + 0.0 + ], + [ + 0.315214067697525, + -0.08679895848035812, + 0.04716410115361214, + -2.7846319695287427, + -0.15201565623283386, + -1.0763744115829468, + 0.0 + ], + [ + 0.3191116750240326, + -0.08222615718841553, + 0.04484565928578377, + -2.8239252289109906, + -0.14408725500106812, + -1.067094326019287, + 0.0 + ], + [ + 0.3198448717594147, + -0.08072637021541595, + 0.038427095860242844, + -2.8365986963086804, + -0.1400393694639206, + -1.0647330284118652, + 0.0 + ], + [ + 0.31942448019981384, + -0.08063318580389023, + 0.03327547013759613, + -2.847000392275401, + -0.1373225897550583, + -1.0645564794540405, + 0.0 + ], + [ + 0.3201773166656494, + -0.08049006760120392, + 0.029838187620043755, + -2.8536627014451703, + -0.13944722712039948, + -1.0636475086212158, + 0.0 + ], + [ + 0.3210476338863373, + -0.07870995998382568, + 0.029654083773493767, + -2.8476638813787183, + -0.13850922882556915, + -1.0477949380874634, + 0.0 + ], + [ + 0.3219878673553467, + -0.07235262542963028, + 0.03031000867486, + -2.8304038067632398, + -0.13102570176124576, + -0.9705462455749512, + 0.0 + ], + [ + 0.32217615842819214, + -0.06967046856880188, + 0.030024254694581032, + -2.8112193961911878, + -0.12606357038021088, + -0.9464101791381836, + 1.0 + ], + [ + 0.3214113116264343, + -0.07137753814458847, + 0.03307219594717026, + -2.807254972057887, + -0.13146145641803741, + -0.9402244091033936, + 1.0 + ], + [ + 0.3189374506473541, + -0.07888104766607285, + 0.05497518181800842, + -2.7845269461446485, + -0.17758187651634216, + -0.9643148183822632, + 1.0 + ], + [ + 0.31214189529418945, + -0.0856163501739502, + 0.08227191865444183, + -2.755100878077098, + -0.24902375042438504, + -0.9927694201469421, + 1.0 + ], + [ + 0.30082669854164124, + -0.087723508477211, + 0.10934971272945404, + -2.6987585445218762, + -0.30947527289390564, + -1.025264024734497, + 1.0 + ], + [ + 0.30063825845718384, + -0.08771763741970062, + 0.11043646931648254, + -2.6965012570195874, + -0.3138642907142639, + -1.0250569581985474, + 1.0 + ], + [ + 0.30050334334373474, + -0.08817870914936066, + 0.11043646931648254, + -2.6965012570195874, + -0.3138642907142639, + -1.0265909433364868, + 1.0 + ], + [ + 0.30063381791114807, + -0.08795465528964996, + 0.11051060259342194, + -2.694249453144618, + -0.3122189939022064, + -1.0287389755249023, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05002796649932861, + 0.3479069471359253, + 0.6380844116210938, + 0.8463630080223083, + 0.9160242155194283, + 0.9167146235704422, + 0.9167146235704422, + 0.9167146235704422, + 0.9167146235704422, + 0.9167146235704422, + 0.9167146235704422, + 0.9167146235704422, + 0.9167146235704422, + 0.9167146235704422, + 0.9170585051178932, + 0.9170585051178932, + 0.9170585051178932, + 0.9167146235704422, + 0.9170585051178932, + 0.9170585051178932, + 0.9167146235704422, + 0.9170585051178932, + 0.9170585051178932, + 0.8825324028730392, + 0.7026524841785431, + 0.3820592164993286, + 0.10519623756408691, + 0.0, + 0.0, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0005114078521728516, + 0.0011776089668273926 + ], + "episode_id": "1831", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1831/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1842.json b/annotation/test/1842.json new file mode 100644 index 0000000000000000000000000000000000000000..b63761d4c1b2c48a46f7ed5be4df5a2fa6881856 --- /dev/null +++ b/annotation/test/1842.json @@ -0,0 +1,622 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put blueberries on plate sink" + ], + "videos": [ + { + "video_path": "videos/test/1842/rgb.mp4" + } + ], + "action": [ + [ + -0.0004398387081531018, + -0.00010437684616092727, + 0.0003156810058366471, + 0.0005389669864936438, + -0.0014074518403318428, + 0.00028552413904542253, + 1.0 + ], + [ + -0.007242557905345321, + -0.0006629863734543466, + 0.00971302419660965, + 0.014343040433660314, + -0.03254106030955462, + -0.00010985339075309134, + 1.0 + ], + [ + -0.017108806255168255, + 0.005137287887517185, + 0.014136872307061678, + 0.02297431824553971, + -0.007008320094754686, + 0.006904866209142317, + 1.0 + ], + [ + -0.007773919406308262, + 0.009252563178597368, + 0.014540713827541471, + -0.03749683175747942, + -0.029467262018316655, + 0.06805150820150377, + 1.0 + ], + [ + -0.004963614063482948, + 0.004189019413211448, + 0.019195674586948114, + -0.04379345288092755, + -0.0440971954441079, + 0.029843547861872596, + 1.0 + ], + [ + -0.0014493762610517616, + 0.004761495871687578, + 0.01982827229543224, + -0.04050168880222445, + -0.02726269432452751, + 0.0066815514969541115, + 1.0 + ], + [ + -0.0038158305112130425, + 0.005072382173299375, + 0.016712238270289625, + -0.038114375077945635, + -0.04308772730035812, + 0.011908990260640075, + 1.0 + ], + [ + -0.002668663798864872, + 0.006626120640754577, + 0.008196390864428171, + -0.007021143652753595, + -0.016117606588066873, + 0.004864668588642961, + 1.0 + ], + [ + -0.005966998915508741, + 0.00619316703096342, + 0.014749993081596437, + 0.04882528958730272, + 0.015505566711527766, + 0.0031860739604896095, + 1.0 + ], + [ + -0.0024600009647712828, + 0.005751338385063498, + 0.015815451820572146, + 0.044250403087453545, + 0.013628478818916817, + 0.009468302956825457, + 1.0 + ], + [ + -0.00221304850749043, + 2.358528783243105e-05, + 0.010264996023902006, + 0.008797469946568161, + -0.0018428067855933137, + -0.002348604575694892, + 1.0 + ], + [ + -0.0002408988944265586, + 0.0003834417296689011, + 0.002069861711016168, + -0.0031781002180949133, + -0.0021098112895955473, + -0.010585595797913783, + 1.0 + ], + [ + 0.0002485914034170803, + -0.0014128757882901025, + -0.0005068161267422779, + -0.026096025761688832, + -0.02994748774726824, + -0.0019375943644585388, + 1.0 + ], + [ + 0.003832617300865427, + -0.001256171237529099, + 0.00020117604732163266, + -0.003158490898926865, + 0.002347752368170412, + -0.0009274858613972823, + 0.0 + ], + [ + 8.284633203870687e-05, + -0.003118233769466986, + 0.0005194034779642674, + -0.0038095058780653404, + -0.010270730195882418, + -0.007760670154844689, + 0.0 + ], + [ + -0.0003925029547479673, + -0.005996493491605613, + -0.004974209027569664, + -0.0014613509756409222, + -0.014643572126949863, + -0.011422691865729194, + 0.0 + ], + [ + 0.018446056025791326, + -0.00881974789094695, + -0.022144723882747824, + -0.02491083961404763, + 0.05197210328751355, + -0.07573745466823892, + 0.0 + ], + [ + 0.024750567734566492, + -0.010325677917572629, + -0.012259884293350298, + 0.007070198044543915, + 0.026776070934171194, + -0.06713284976717111, + 0.0 + ], + [ + 0.0233860798844356, + -0.010429337836234174, + 0.007009632964700495, + 0.023057283147563327, + -0.002836662908001561, + -0.06433540862234448, + 0.0 + ], + [ + 0.016487172397394455, + -0.011277474213634212, + 0.0018392118575019472, + 0.009632023443734714, + 0.0036999529835584277, + -0.03987870231334888, + 0.0 + ], + [ + 0.005199734506409029, + -0.010935492923781114, + 0.0021703173335065897, + 0.023437214203285938, + -0.01904814813625473, + -0.008201034944457725, + 0.0 + ], + [ + 0.002236090460066529, + -0.010281814423845832, + 0.006130235212445985, + 0.0258795801540295, + -0.007068663087125596, + -0.007880764804666845, + 0.0 + ], + [ + 0.007460879356481477, + -0.007023624898037826, + 0.006168610514524503, + 0.023244923632535205, + 0.003858726767781849, + -0.009676137196881695, + 0.0 + ], + [ + 0.00202877720436653, + -0.0029869096446785955, + 0.0028841060989069195, + 0.006174750453748347, + 0.007066680983448466, + 0.00815462301870426, + 0.0 + ], + [ + -0.0019870726561516594, + 0.00086118520663027, + 0.001837720642671786, + -0.006902622991544291, + 0.0074440161486353735, + 0.019087822802389402, + 1.0 + ], + [ + 0.0028935058558751557, + -0.0016273597806046093, + -0.013398455591832111, + -0.008596777066474982, + 0.03956070863756796, + -0.015772764477021934, + 1.0 + ], + [ + -0.0003784468009647016, + 0.0020002024977214526, + -0.015228895034488665, + -0.0216209406422896, + 0.013402652797042506, + -0.0026657729884710843, + 1.0 + ], + [ + 0.0005019851913753495, + 0.0037967577734644336, + -0.023229180947067177, + -0.03459758027656861, + 0.028372045886081814, + 0.0028205847183315367, + 1.0 + ], + [ + -0.001280043896731335, + 0.002382388300501684, + -0.021752539039868124, + -0.021436337140841956, + 0.016362013356015188, + 0.010484700933788019, + 1.0 + ], + [ + -0.00390760431159566, + -0.0018640613985488462, + -0.009895031577177598, + -0.004989967419642264, + 0.011100136425346364, + 0.02841206268787326, + 1.0 + ], + [ + -0.0005469030838832444, + -0.00019520961978228884, + -0.00019767487282431316, + 0.0005278502705054673, + -0.0014403016236186495, + 0.0046015413502136825, + 1.0 + ] + ], + "state": [ + [ + 0.2923212945461273, + 0.016570698469877243, + 0.14493702352046967, + -3.0722130333357534, + -0.33490973711013794, + 0.3368485569953918, + 1.0 + ], + [ + 0.291983038187027, + 0.016585756093263626, + 0.14450186491012573, + -3.071608858304568, + -0.333485871553421, + 0.3366503715515137, + 1.0 + ], + [ + 0.28806012868881226, + 0.016633134335279465, + 0.13301946222782135, + -3.0580466484003743, + -0.3010312020778656, + 0.33914726972579956, + 1.0 + ], + [ + 0.27802103757858276, + 0.008913939818739891, + 0.11408312618732452, + -3.0331217889958104, + -0.29346498847007746, + 0.33257031440734863, + 1.0 + ], + [ + 0.2777025103569031, + 0.0007379237795248628, + 0.09703826159238815, + -3.051531823473521, + -0.25618785619735723, + 0.2659686207771301, + 1.0 + ], + [ + 0.2784786820411682, + -0.0015853545628488064, + 0.07692211866378784, + -3.0885959212952336, + -0.2094998210668564, + 0.23966602981090548, + 1.0 + ], + [ + 0.2820320427417755, + -0.004530513659119606, + 0.057006482034921646, + -3.1279731757291636, + -0.18191859126091003, + 0.23435266315937042, + 1.0 + ], + [ + 0.28245943784713745, + -0.009408925659954548, + 0.03981325775384903, + 3.1191774552040776, + -0.13866098225116733, + 0.2229328900575638, + 1.0 + ], + [ + 0.28247156739234924, + -0.0163870956748724, + 0.03147580847144127, + 3.11288131413097, + -0.12265455722808838, + 0.21766929328441623, + 1.0 + ], + [ + 0.2798575460910797, + -0.02373913675546646, + 0.01628906838595867, + -3.1211436373465737, + -0.13824473321437836, + 0.2149036377668381, + 1.0 + ], + [ + 0.28077903389930725, + -0.029092518612742424, + 0.0001723014283925295, + -3.0755338241630277, + -0.15167014300823212, + 0.2050463557243347, + 1.0 + ], + [ + 0.2800194025039673, + -0.028582436963915825, + -0.010288628749549389, + -3.06711312581832, + -0.14998592436313626, + 0.20753946900367737, + 1.0 + ], + [ + 0.28013935685157776, + -0.028790544718503952, + -0.012393786571919918, + -3.071913981931754, + -0.14866095781326294, + 0.21837218105793, + 1.0 + ], + [ + 0.27999433875083923, + -0.027415135875344276, + -0.011759674176573753, + -3.098578693466731, + -0.11891985684633255, + 0.22241748869419098, + 1.0 + ], + [ + 0.2834444046020508, + -0.025339297950267792, + -0.011450909078121185, + -3.10183576320345, + -0.12130527943372726, + 0.22324927151203153, + 0.0 + ], + [ + 0.2828768193721771, + -0.022251928225159645, + -0.01183303538709879, + -3.1066384000056466, + -0.11134706437587737, + 0.2314624935388565, + 0.0 + ], + [ + 0.28060194849967957, + -0.016809655353426933, + -0.0067280009388923645, + -3.1094300766759595, + -0.09710367769002914, + 0.24344520270824432, + 0.0 + ], + [ + 0.2943572700023651, + -0.005043957382440567, + 0.01737165078520775, + 3.1415460530821626, + -0.15121397376060483, + 0.3182206451892853, + 0.0 + ], + [ + 0.3126120865345001, + 0.011841565370559692, + 0.03321954607963562, + 3.138349213293292, + -0.1776422709226608, + 0.3864052891731263, + 0.0 + ], + [ + 0.33116406202316284, + 0.030624503269791603, + 0.03041950613260269, + -3.1333061355450234, + -0.17422600090503695, + 0.45172107219696045, + 0.0 + ], + [ + 0.34111595153808594, + 0.048004209995269775, + 0.03155821934342384, + -3.1306971312784633, + -0.17811638116836548, + 0.492208331823349, + 0.0 + ], + [ + 0.340767502784729, + 0.06025194376707077, + 0.030460894107818604, + -3.1087670904868325, + -0.1591523736715317, + 0.5007225275039673, + 0.0 + ], + [ + 0.3384793698787689, + 0.07094351202249527, + 0.025098953396081924, + -3.0841878597908696, + -0.15234088897705078, + 0.5089258551597595, + 0.0 + ], + [ + 0.34209299087524414, + 0.08139467239379883, + 0.020542334765195847, + -3.0623951872163495, + -0.15674155950546267, + 0.5184817314147949, + 0.0 + ], + [ + 0.3426026701927185, + 0.08537626266479492, + 0.018252618610858917, + -3.0548469965630254, + -0.16313497722148892, + 0.5096768736839294, + 0.0 + ], + [ + 0.34150221943855286, + 0.08396071195602417, + 0.016049770638346672, + -3.058524975674697, + -0.16886556148529053, + 0.4897325932979584, + 1.0 + ], + [ + 0.34177908301353455, + 0.084686279296875, + 0.029831504449248314, + -3.069199489551135, + -0.20958518981933594, + 0.5024347305297852, + 1.0 + ], + [ + 0.34020259976387024, + 0.08028693497180939, + 0.04446788877248764, + -3.0911744256787976, + -0.2231452465057373, + 0.504166841506958, + 1.0 + ], + [ + 0.33857038617134094, + 0.0737185850739479, + 0.0670168325304985, + -3.1247817539894065, + -0.2513370215892792, + 0.4997835755348206, + 1.0 + ], + [ + 0.33406028151512146, + 0.06812533736228943, + 0.08772581070661545, + 3.1397426890959075, + -0.2675055563449859, + 0.48862999677658076, + 1.0 + ], + [ + 0.32754042744636536, + 0.06679102778434753, + 0.09623268246650696, + -3.1406274443194313, + -0.2785474359989166, + 0.4591018259525299, + 1.0 + ], + [ + 0.3269338607788086, + 0.06670872867107391, + 0.0962725430727005, + -3.1387845893674573, + -0.2770996689796448, + 0.45431923866271967, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.009980499744415283, + 0.07851552963256836, + 0.2493598461151123, + 0.23279041051864624, + 0.2269795536994934, + 0.2269795536994934, + 0.2269795536994934, + 0.2269795536994934, + 0.22601306438446045, + 0.2269795536994934, + 0.2269795536994934, + 0.2483811378479004, + 0.21542131900787354, + 0.011358082294464111, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242 + ], + "episode_id": "1842", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1842/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1855.json b/annotation/test/1855.json new file mode 100644 index 0000000000000000000000000000000000000000..841db5ba47c17c41fa6eaa96d3a32216677ee486 --- /dev/null +++ b/annotation/test/1855.json @@ -0,0 +1,888 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Put the silver pan on top of the purple rag." + ], + "videos": [ + { + "video_path": "videos/test/1855/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -3.2456283719673176e-09, + 1.5659763972365202e-09, + -0.001533985251636154, + 1.0 + ], + [ + -0.00010397068982769527, + 0.0018520463911849945, + 0.00846599140447739, + -0.008989881770133308, + -0.02480185172619674, + 0.0012751949911016895, + 1.0 + ], + [ + -0.00010491756334226117, + 0.02839946128764601, + 0.007205449718989175, + -0.028832926541951635, + -0.0044810820557675875, + 0.06879036353307853, + 1.0 + ], + [ + 0.0016878292284924423, + 0.03745508992888767, + -0.007165550845910971, + -0.022643338390969613, + 0.03898547663083839, + 0.09309588911194627, + 1.0 + ], + [ + 0.001548030757366394, + 0.04553394264107869, + 0.011220332998022262, + -0.03785135411716033, + 0.011476537441359307, + 0.11767815961297383, + 1.0 + ], + [ + 0.00608413891150827, + 0.040682747594177754, + 0.015669186988441896, + -0.0037443118427686168, + 0.044737530214241, + 0.11711030571702503, + 1.0 + ], + [ + 0.010076347454589228, + 0.022473457026989427, + 0.028688384402329216, + -0.01311192727804728, + 0.026386486510651484, + 0.07551177958264897, + 1.0 + ], + [ + 0.005987035342695639, + 0.016353951518988167, + 0.02338364733705983, + 0.036477453903565486, + 0.01032741622834887, + 0.05708321431584128, + 1.0 + ], + [ + -0.0017584484744610058, + 0.0015506388174446014, + 0.025596317177176683, + 0.018989841297538647, + -0.018279436699554463, + 0.014505156759666094, + 1.0 + ], + [ + -0.0026203888691704686, + 0.0018657915993588589, + 0.022093674287966172, + -0.007525754108487133, + -0.0407651306729114, + 0.004184738371567587, + 1.0 + ], + [ + -0.004628726072982467, + 0.0018349516468307739, + 0.020669231734617696, + -0.00453979861929118, + -0.05482109466156714, + -0.005623886469043851, + 1.0 + ], + [ + -0.004492686684200839, + 0.0024196994447470547, + 0.015391589237897924, + -0.004789996039693575, + -0.04400002632402893, + -0.011266237637827173, + 1.0 + ], + [ + -0.0005434364562678185, + 0.004053705376668551, + 0.00480246340808339, + -0.017971275403408152, + -0.011193873212884394, + -0.012591103029117322, + 1.0 + ], + [ + 0.002655641154969148, + 0.0049629460293331915, + 0.00011131459939188091, + -0.0015082906735075475, + 0.01595672982817116, + 0.014983816354162346, + 1.0 + ], + [ + -0.0024918243700954865, + -0.00028725077214203116, + -0.0004759243543343741, + 0.007382209202414089, + 0.013542058694158799, + -0.009046195287103813, + 1.0 + ], + [ + 0.001916982423665753, + 0.00039039311202393207, + -0.008912266453823484, + -0.020055108951824444, + 0.0237789538709439, + -0.007638155087981576, + 0.0 + ], + [ + 0.00010005902964523336, + -0.005810879335387002, + -0.010248578891891113, + 0.0010410001196958182, + 0.010379214172955993, + 0.0015726982624120474, + 0.0 + ], + [ + -0.0014638400016802969, + -0.006726032997017749, + -0.015218758414938175, + -0.02145784199218733, + 0.006448034191450534, + -0.016023778532229485, + 0.0 + ], + [ + 0.008492358434915333, + -0.007112319905851758, + -0.05193337930580666, + -0.028843458825917746, + 0.10428686577917255, + -0.012897163100482114, + 0.0 + ], + [ + 0.005438905669296276, + -0.00867994895947165, + -0.04674263992776838, + -0.03299538935021112, + 0.10230988117389189, + -0.03385022653962807, + 0.0 + ], + [ + -0.009176941063317786, + -0.016385475368986914, + -0.04127102909889059, + -0.023655849570821685, + 0.06762990775688951, + -0.05569015973253288, + 0.0 + ], + [ + -0.03475455575258014, + -0.015361225074631177, + -0.010197243230515242, + 0.026467437190279705, + -0.044253123317092545, + -0.04608298782720791, + 0.0 + ], + [ + -0.03474046464393465, + -0.011527821254645335, + 0.014422291316894655, + 0.046333046121302145, + -0.07928709172952227, + -0.0228660622933807, + 0.0 + ], + [ + -0.021375675403147467, + -0.005867203387058548, + 0.01772135627645902, + 0.029952704703111507, + -0.05359241227420211, + 0.004997416349151355, + 0.0 + ], + [ + -0.011579479072499866, + -0.00876398073184837, + 0.023483482331821442, + 0.05441801612044248, + -0.058254671191152164, + -0.009889921794429971, + 0.0 + ], + [ + 0.0020143020191752932, + -0.007712829079846991, + 0.02021377525216716, + 0.03692213509799903, + -0.047721754615051105, + 0.00986763292933252, + 0.0 + ], + [ + 0.0006095564861305951, + -0.01035086308994734, + 0.0156442110304989, + 0.006987878545964655, + -0.0439927133204444, + -0.01774680122520086, + 0.0 + ], + [ + -0.0010112069064112225, + -0.0024874142622557023, + 0.016608219733291976, + -0.0026391127223993655, + -0.046862351482761, + -0.0051175482556898985, + 0.0 + ], + [ + -0.0017390847701802962, + 0.00047974209827013624, + 0.010957201563204398, + -0.004331618863957181, + -0.027200832798983263, + 0.0016579402232410128, + 0.0 + ], + [ + -0.0013501598734636528, + 0.00573830482082499, + 0.0049670818045546225, + -0.0001537310639975154, + -0.020023507631042665, + 0.010630510242432247, + 0.0 + ], + [ + -0.0019279355692415432, + 0.008908985937576273, + 0.002520592934279412, + -0.039620681584128285, + -0.029269221700673396, + 0.042598500223863765, + 0.0 + ], + [ + 0.0025995835676062033, + 0.011869180359012544, + -0.012463490745631422, + -0.007233858518544732, + 0.03538926896236943, + 0.049002274913726745, + 1.0 + ], + [ + 0.00962138108880043, + 0.00648746027374939, + -0.03651193694274079, + -0.03119701208716296, + 0.12764722156689562, + 0.023589415359002684, + 1.0 + ], + [ + 0.009213849057844774, + -0.004112711579766224, + -0.0524508443272543, + 0.0006140552792227462, + 0.14963853054170656, + -0.028270362173552988, + 1.0 + ], + [ + 0.007602267641838442, + -0.004282221790838844, + -0.03212443628543989, + 0.04236123097611961, + 0.05355690397595528, + -0.028338032982496864, + 1.0 + ], + [ + 0.005249913186007593, + -0.004701336175461469, + -0.013046477746582153, + 0.03300916501469004, + -0.0045599051913130075, + -0.03086743178018758, + 1.0 + ], + [ + -0.0005687829402723723, + 0.0017371625070446844, + 0.002435617813126421, + 0.05590014784195995, + -0.03979088473149744, + -0.027339572599342207, + 1.0 + ], + [ + -0.0011865117436635497, + -0.0007290394394933756, + 0.0019168092560542126, + 0.005283919946679257, + -0.023784106201783704, + -0.022829638937459852, + 1.0 + ], + [ + 0.0007735421276485647, + 9.088167004783692e-05, + 0.0007114171752563556, + 0.00015571109727182818, + -0.009177200983038751, + -0.01632786249412479, + 1.0 + ], + [ + -0.00012299915311834926, + 0.0035962724582864073, + 0.0027636250273876065, + -0.05693387998015159, + -0.028437172368270085, + 0.01148443615974419, + 1.0 + ], + [ + 0.00040180954044001803, + -0.0014333582734617455, + 0.004846861975725918, + -0.056310017735313474, + -0.055885767798149945, + 0.006678332429540175, + 1.0 + ], + [ + -0.0004274287887253891, + 0.0003315494932371644, + -9.202592634637452e-07, + -0.002098102624065883, + -0.0026897288137629266, + 0.002711759830884748, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -6.563861181905306e-18, + 2.5203292592182333e-18, + -2.3648853861467213e-17, + 1.0 + ], + [ + -0.00023788259047456272, + 5.074147817577016e-05, + -1.8801002408209436e-07, + -0.00031998429344735695, + -0.001500121503491263, + 2.4798548965859827e-07, + 1.0 + ], + [ + 0.00023788259226797224, + -5.074148054243681e-05, + -1.8507931002068957e-07, + 0.0003199842814797061, + 0.0015001215060440516, + 2.3202991523330258e-07, + 1.0 + ] + ], + "state": [ + [ + 0.31145668029785156, + 0.10107306391000748, + 0.18832483887672424, + -3.0582883973890027, + -0.08093592524528505, + 0.10976333916187286, + 1.0 + ], + [ + 0.31145668029785156, + 0.10107306391000748, + 0.18832483887672424, + -3.058412494259425, + -0.08106347173452377, + 0.11129704117774962, + 1.0 + ], + [ + 0.3121718764305115, + 0.10000362992286682, + 0.17975403368473053, + -3.0674408470564565, + -0.05624141544103624, + 0.11208833009004594, + 1.0 + ], + [ + 0.3156948387622833, + 0.07243708521127701, + 0.17047323286533356, + -3.0926072803610047, + -0.046549245715141296, + 0.04374659806489945, + 1.0 + ], + [ + 0.318783164024353, + 0.034775085747241974, + 0.1758689433336258, + -3.1110109520428857, + -0.08072651922702788, + -0.05139411985874175, + 1.0 + ], + [ + 0.31901898980140686, + -0.010466333478689194, + 0.1634274572134018, + -3.1395447944575032, + -0.0880451500415802, + -0.16982345283031464, + 1.0 + ], + [ + 0.3194873034954071, + -0.051790520548820496, + 0.14827099442481995, + -3.132928703101822, + -0.13193537294864655, + -0.28793928027153015, + 1.0 + ], + [ + 0.3263968229293823, + -0.07701519876718521, + 0.12096556276082993, + -3.1359839855046054, + -0.15728555619716644, + -0.36459922790527344, + 1.0 + ], + [ + 0.32957208156585693, + -0.09559100866317749, + 0.09871812909841537, + -3.0904435647004327, + -0.16703358292579654, + -0.4225438535213471, + 1.0 + ], + [ + 0.33178046345710754, + -0.0968470498919487, + 0.07314053177833557, + -3.06917196710641, + -0.14802104234695435, + -0.43624281883239746, + 1.0 + ], + [ + 0.33228418231010437, + -0.09737124294042587, + 0.05082574859261513, + -3.0764561240845403, + -0.10705991834402084, + -0.4374713003635406, + 1.0 + ], + [ + 0.3299175500869751, + -0.09680056571960449, + 0.029705079272389412, + -3.081883220123597, + -0.05271674320101738, + -0.42828837037086487, + 1.0 + ], + [ + 0.3259580135345459, + -0.09663837403059006, + 0.013981340453028679, + -3.08735208411748, + -0.009462387301027777, + -0.4144274592399598, + 1.0 + ], + [ + 0.323978990316391, + -0.09990543872117996, + 0.008961254730820656, + -3.1054493767493447, + 0.001033251523040235, + -0.4012487530708313, + 1.0 + ], + [ + 0.3244878947734833, + -0.1055046021938324, + 0.008667930960655212, + -3.1069735047691545, + -0.01437175739556551, + -0.4167991280555725, + 1.0 + ], + [ + 0.3223128020763397, + -0.10424566268920898, + 0.009117651730775833, + -3.0997126308553895, + -0.028218278661370274, + -0.408224493265152, + 1.0 + ], + [ + 0.3235384225845337, + -0.1056072860956192, + 0.01805630698800087, + -3.119944291310855, + -0.052295546978712075, + -0.4015816152095795, + 0.0 + ], + [ + 0.3253154456615448, + -0.10029128938913345, + 0.02841932140290737, + -3.118808042379566, + -0.06263820081949233, + -0.40338206291198736, + 0.0 + ], + [ + 0.3255903422832489, + -0.09347450733184814, + 0.04366559535264969, + -3.141264229552359, + -0.06944170594215393, + -0.3874713480472565, + 0.0 + ], + [ + 0.332778662443161, + -0.08874470740556717, + 0.09606538712978363, + 3.1121732742809733, + -0.17372700572013852, + -0.3744829297065735, + 0.0 + ], + [ + 0.3339656591415405, + -0.07841165363788605, + 0.14277316629886627, + 3.0724259560280522, + -0.274875670671463, + -0.33638748526573176, + 0.0 + ], + [ + 0.32170650362968445, + -0.053786393254995346, + 0.17881907522678375, + 3.0314185192161283, + -0.33797663450241083, + -0.2726703882217407, + 0.0 + ], + [ + 0.29184597730636597, + -0.028418321162462234, + 0.17526379227638245, + 3.0437134971194943, + -0.2886368930339814, + -0.23001500964164734, + 0.0 + ], + [ + 0.2660042941570282, + -0.012031791731715202, + 0.15053562819957733, + 3.08538709779317, + -0.20746302604675296, + -0.21474386751651764, + 0.0 + ], + [ + 0.25023066997528076, + -0.0036147211212664843, + 0.1284962147474289, + 3.116928920271345, + -0.15422938764095306, + -0.22283145785331726, + 0.0 + ], + [ + 0.244429349899292, + 0.006089436821639538, + 0.10330614447593689, + -3.1131832414590797, + -0.09574306011199951, + -0.214358389377594, + 0.0 + ], + [ + 0.25001761317253113, + 0.013350789435207844, + 0.08360370993614197, + -3.075415575998374, + -0.04775682464241981, + -0.22286540269851685, + 0.0 + ], + [ + 0.25381776690483093, + 0.02414044737815857, + 0.06872434914112091, + -3.069361852603503, + -0.005023809149861336, + -0.20226554572582248, + 0.0 + ], + [ + 0.25364699959754944, + 0.02793154865503311, + 0.052334073930978775, + -3.0719667320423802, + 0.04134712368249893, + -0.1937788873910904, + 0.0 + ], + [ + 0.2515518367290497, + 0.028631826862692833, + 0.04145130142569542, + -3.0762626474075994, + 0.06859737634658812, + -0.19353951513767242, + 0.0 + ], + [ + 0.24883246421813965, + 0.023660236969590187, + 0.03622528165578842, + -3.0770461206608495, + 0.08926917612552643, + -0.20287521183490753, + 0.0 + ], + [ + 0.24492321908473969, + 0.01555379293859005, + 0.03331947326660156, + -3.1203397662662944, + 0.12115032970905303, + -0.24377742409706116, + 0.0 + ], + [ + 0.24593111872673035, + 0.002802124246954918, + 0.04512425884604454, + -3.133618419180163, + 0.0866600200533867, + -0.2936781644821167, + 1.0 + ], + [ + 0.2561643123626709, + -0.007374227978289127, + 0.08061373978853226, + 3.1163010989599904, + -0.04082105681300163, + -0.3181106448173523, + 1.0 + ], + [ + 0.26458096504211426, + -0.00442072469741106, + 0.13327622413635254, + 3.1153098960691175, + -0.1896754503250122, + -0.28581404685974127, + 1.0 + ], + [ + 0.26740026473999023, + 9.245915134670213e-05, + 0.16613644361495972, + -3.1313148039677223, + -0.24238349497318268, + -0.2552246153354645, + 1.0 + ], + [ + 0.2704436182975769, + 0.004018297418951988, + 0.18010786175727844, + -3.1059441213780126, + -0.2380230277776718, + -0.22341512143611908, + 1.0 + ], + [ + 0.270113080739975, + 0.0024021128192543983, + 0.1775481402873993, + -3.056942680972167, + -0.19913244247436523, + -0.1941170543432236, + 1.0 + ], + [ + 0.26950201392173767, + 0.003427743911743164, + 0.17550164461135864, + -3.056636007624217, + -0.17730194330215454, + -0.16897000372409818, + 1.0 + ], + [ + 0.27037209272384644, + 0.0032486882992088795, + 0.17493274807929993, + -3.059539431827613, + -0.16951726377010348, + -0.15167497098445892, + 1.0 + ], + [ + 0.27025341987609863, + -0.00012983132910449058, + 0.17190662026405334, + -3.1148905643546065, + -0.14022745192050934, + -0.16087590157985687, + 1.0 + ], + [ + 0.27155956625938416, + 0.0012408994371071458, + 0.16720309853553772, + 3.1127530244463166, + -0.08418144285678864, + -0.16606847941875458, + 1.0 + ], + [ + 0.27108386158943176, + 0.0009846255416050553, + 0.16717760264873505, + 3.110890148329087, + -0.08157069981098176, + -0.16886596381664276, + 1.0 + ], + [ + 0.27108386158943176, + 0.0009846255416050553, + 0.16717760264873505, + 3.110890148329087, + -0.08157069981098176, + -0.16886596381664276, + 1.0 + ], + [ + 0.27084147930145264, + 0.0009745056740939617, + 0.16715995967388153, + 3.110573914023586, + -0.08007129281759262, + -0.16891241073608398, + 1.0 + ], + [ + 0.27108386158943176, + 0.0009846255416050553, + 0.16717760264873505, + 3.110890148329087, + -0.08157069981098176, + -0.16886596381664276, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05621075630187988, + 0.36498814821243286, + 0.6279491484165192, + 0.8062288165092468, + 0.9071005806326866, + 0.9217833653092384, + 0.9217833653092384, + 0.9221144318580627, + 0.9224447533488274, + 0.9224447533488274, + 0.9227741435170174, + 0.9224447533488274, + 0.9224447533488274, + 0.9227741435170174, + 0.9224447533488274, + 0.9227741435170174, + 0.8871526569128036, + 0.6912181377410889, + 0.391085684299469, + 0.07851552963256836, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1855", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1855/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/186.json b/annotation/test/186.json new file mode 100644 index 0000000000000000000000000000000000000000..875862dbcb78d8d04347c8ca6b41860b9176608a --- /dev/null +++ b/annotation/test/186.json @@ -0,0 +1,546 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "take sushi out of pan" + ], + "videos": [ + { + "video_path": "videos/test/186/rgb.mp4" + } + ], + "action": [ + [ + -0.0008511011325794735, + 0.0006018188331125775, + 0.004051963148320699, + -0.003127549550526448, + -0.010235847609657818, + 0.0008805085071894736, + 1.0 + ], + [ + -0.019601082650757187, + 0.011823379760250646, + 0.0131241814076045, + -0.018844918402577175, + -0.08386723552389795, + -0.04147205896213526, + 1.0 + ], + [ + -0.01431319572481343, + 0.021614026959707197, + -0.017881948176441873, + -0.0020921559711611633, + -0.028750673854634073, + -0.11674211363160736, + 1.0 + ], + [ + -0.010086656392702033, + 0.026876036653610644, + -0.015157542524219313, + 0.003137319463666719, + -0.021574614710423698, + -0.1658850979739101, + 1.0 + ], + [ + -0.01879031077687118, + 0.0478512547142253, + -0.012999062715067306, + -0.004328765353838196, + -0.026183418621629605, + -0.2521289999320175, + 1.0 + ], + [ + -0.005737376258532953, + 0.031899687751829955, + -0.00639701800629692, + -0.002961365964209338, + -0.012732649788551582, + -0.2559886479135504, + 1.0 + ], + [ + -0.013095575065754192, + 0.02652527619214139, + 0.005613642555201587, + -0.043720878400747246, + 0.007219633191263048, + -0.26257445595897994, + 1.0 + ], + [ + -0.021998160021623143, + 0.0027458261163674823, + 0.02003143123887768, + -0.029307101358748158, + 0.0005382812685916014, + -0.17124211975606188, + 1.0 + ], + [ + -0.01662654123626929, + -0.008877013381586838, + 0.0127913903195787, + 0.013197672633493215, + 0.012299103882584648, + -0.06998262488006707, + 1.0 + ], + [ + -0.005861730377106897, + -0.010087580606994774, + 0.0047485926115050404, + 0.010283640861072576, + 0.01440452118061173, + -0.023128308734206463, + 1.0 + ], + [ + -0.0005404764502696802, + -0.006454798967508369, + 0.005236002528565911, + -0.011347323725909183, + 0.0006444666922665792, + -0.007239120459861348, + 1.0 + ], + [ + -0.00199323241658109, + -0.004297626751492362, + 0.009931087086545793, + -0.013599238426447271, + -0.021047574327936885, + -0.010713007710055232, + 1.0 + ], + [ + 0.005582253549057201, + -0.0006818718084842473, + 0.004234936190799145, + -0.006462895110873189, + -0.028902971609451072, + -0.027773662825362616, + 1.0 + ], + [ + 0.0028728230984541928, + -0.0001275680183198419, + -9.84788197335075e-05, + 0.015622850788683165, + 0.001032050336687152, + 0.006621851169727519, + 0.0 + ], + [ + 0.0002445543307394341, + -0.0005137890477571489, + -0.0015163947785736401, + 0.005637642379568247, + 0.016764322282414937, + 0.013076902241062033, + 0.0 + ], + [ + 0.0020136656080263085, + -0.004627633222004378, + 0.00028049719548192627, + 0.028922569333422632, + 0.02513473300067442, + -9.081536947949125e-06, + 0.0 + ], + [ + -0.00293283037522753, + -0.010890658464178986, + -0.016375480083890365, + 0.09126525730251044, + 0.0729937809701271, + -0.01742638296880757, + 0.0 + ], + [ + -0.005480928164855957, + -0.012089265533522965, + -0.03684447217764788, + -0.00510706902059696, + 0.07050469554513746, + -0.07837152281481681, + 0.0 + ], + [ + -0.00863287547414707, + -0.022943974894846543, + 0.00688547744115113, + 0.04027608192011803, + 0.030608635967812513, + -0.055392995769192155, + 0.0 + ], + [ + 0.0009557341686089375, + -0.01824993619074463, + 0.002825495981621832, + -0.012011695684189362, + -0.04175874864889702, + -0.05094805354195436, + 0.0 + ], + [ + -0.006579807957653362, + -0.013053001411071949, + 0.014238674575463336, + -0.020705820489801602, + -0.06405646784429227, + -0.03986652693376095, + 0.0 + ], + [ + -0.009230453515307864, + -0.006402615275511993, + 0.018464556955449025, + -0.03268624918619499, + -0.06372121662166591, + -0.014229127923477695, + 0.0 + ], + [ + -0.004443944157670068, + 0.000469171602674137, + 0.012532028254792793, + -0.025535285416613575, + -0.06450700090208175, + 0.01847418640901202, + 0.0 + ], + [ + 0.002182060977425473, + 0.001505036672974317, + 0.007560995251063995, + 0.014524482292888493, + -0.025682175987429445, + 0.016614373736828978, + 0.0 + ], + [ + -0.0017631804959319672, + -0.002338023270814603, + 0.005978350606542746, + 0.0024425330550436244, + -0.01971573983636236, + 0.021884692776296094, + 0.0 + ], + [ + 0.00013134633577071563, + -0.00023256940682014708, + 0.002740200833597026, + -0.002818140833884895, + -0.009220481634467642, + 0.015215951442385344, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.2839969656947035e-19, + 1.4832441100966547e-18, + 4.352973125433492e-18, + 1.0 + ] + ], + "state": [ + [ + 0.361345112323761, + 0.14475210011005402, + 0.0891873762011528, + -3.0122977962070188, + -0.14707455039024353, + 0.04978741705417634, + 1.0 + ], + [ + 0.36110740900039673, + 0.14466580748558044, + 0.08501113206148148, + -3.01548461814458, + -0.13681060075759888, + 0.05023825168609619, + 1.0 + ], + [ + 0.3441961407661438, + 0.13372395932674408, + 0.06796637177467346, + -3.0411128123574933, + -0.058642115443944924, + 0.10187223553657532, + 1.0 + ], + [ + 0.3314400911331177, + 0.10899977385997772, + 0.08272427320480347, + -3.0508421530299863, + -0.04130373150110245, + 0.22098034620285034, + 1.0 + ], + [ + 0.32726478576660156, + 0.07922137528657913, + 0.09495647996664047, + -3.0558257197313985, + -0.03420490771532059, + 0.38821884989738464, + 1.0 + ], + [ + 0.3280712962150574, + 0.02683979459106922, + 0.10316096246242523, + -3.0714489464932164, + -0.028390444815158847, + 0.6417334675788879, + 1.0 + ], + [ + 0.34269899129867554, + -0.0025134230963885784, + 0.10714198648929596, + -3.0838973467522344, + -0.03250660374760628, + 0.898118257522583, + 1.0 + ], + [ + 0.3551473319530487, + -0.028867697343230247, + 0.09958630055189133, + -3.1380067447950175, + -0.05357469618320465, + 1.1601923704147339, + 1.0 + ], + [ + 0.3492591679096222, + -0.049091801047325134, + 0.07839592546224594, + 3.1066806485229215, + -0.053939688950777054, + 1.3316832780838013, + 1.0 + ], + [ + 0.3373088240623474, + -0.06254055351018906, + 0.06442512571811676, + 3.1161637419187507, + -0.06365689635276794, + 1.4021912813186646, + 1.0 + ], + [ + 0.32655829191207886, + -0.0663217157125473, + 0.05905882641673088, + 3.1249533036076507, + -0.07745115458965302, + 1.4257466793060303, + 1.0 + ], + [ + 0.32024022936820984, + -0.0655256062746048, + 0.0536903478205204, + 3.113043839233466, + -0.07797304540872574, + 1.433017611503601, + 1.0 + ], + [ + 0.31610044836997986, + -0.06616748124361038, + 0.04351590573787689, + 3.0986511466377458, + -0.056624267250299454, + 1.4431393146514893, + 1.0 + ], + [ + 0.31634530425071716, + -0.06033679470419884, + 0.03957835212349892, + 3.0906848852806768, + -0.026535924524068832, + 1.4696440696716309, + 1.0 + ], + [ + 0.3165033161640167, + -0.0574687160551548, + 0.03974640369415283, + 3.106482947366782, + -0.027903022244572643, + 1.4630807638168335, + 0.0 + ], + [ + 0.31596168875694275, + -0.05720628425478935, + 0.041250068694353104, + 3.1124669296019754, + -0.045113857835531235, + 1.4505895376205444, + 0.0 + ], + [ + 0.3116209805011749, + -0.0546368770301342, + 0.04092616215348244, + 3.141346792288129, + -0.07023765146732329, + 1.4513323307037354, + 0.0 + ], + [ + 0.30031833052635193, + -0.05738404765725136, + 0.057052768766880035, + -3.051810721057006, + -0.14321638643741608, + 1.4689102172851562, + 0.0 + ], + [ + 0.2905263900756836, + -0.06725636124610901, + 0.09366371482610703, + -3.0674094279580792, + -0.22008289396762848, + 1.542208194732666, + 0.0 + ], + [ + 0.26693618297576904, + -0.0738816037774086, + 0.08673763275146484, + -3.0391470735245427, + -0.25439468026161194, + 1.5969135761260986, + 0.0 + ], + [ + 0.24846890568733215, + -0.0732010081410408, + 0.08606421947479248, + -3.0653801058703145, + -0.2176736742258072, + 1.6531537771224976, + 0.0 + ], + [ + 0.2347114086151123, + -0.07792188972234726, + 0.07175131887197495, + -3.095759770023175, + -0.1566203534603119, + 1.6982535123825073, + 0.0 + ], + [ + 0.22832731902599335, + -0.08507756888866425, + 0.05238190293312073, + -3.1310441960864743, + -0.09359508007764816, + 1.7154319286346436, + 0.0 + ], + [ + 0.2291295975446701, + -0.08824791014194489, + 0.03948516771197319, + 3.1282895478704056, + -0.028882045298814774, + 1.6976698637008667, + 0.0 + ], + [ + 0.2304186373949051, + -0.08566514402627945, + 0.03201102092862129, + -3.1398841588576367, + -0.0034189985599368806, + 1.6807206869125366, + 0.0 + ], + [ + 0.22827576100826263, + -0.0876549780368805, + 0.026030680164694786, + -3.137366989283361, + 0.016334915533661842, + 1.658871054649353, + 0.0 + ], + [ + 0.2280249446630478, + -0.08759020268917084, + 0.02328970655798912, + -3.140433410653383, + 0.025617728009819984, + 1.6436898708343506, + 1.0 + ], + [ + 0.2280249446630478, + -0.08759020268917084, + 0.02328970655798912, + -3.140433410653383, + 0.025617728009819984, + 1.6436898708343506, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.1618891954421997, + 0.40410202741622925, + 0.40510207414627075, + 0.4061017632484436, + 0.4061017632484436, + 0.4061017632484436, + 0.4061017632484436, + 0.4061017632484436, + 0.4061017632484436, + 0.4061017632484436, + 0.4061017632484436, + 0.4061017632484436, + 0.16648274660110474, + 0.0, + 0.0018453598022460938 + ], + "episode_id": "186", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/186/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1864.json b/annotation/test/1864.json new file mode 100644 index 0000000000000000000000000000000000000000..0f46fface760c4ea62571377bf1e287516479d5b --- /dev/null +++ b/annotation/test/1864.json @@ -0,0 +1,1192 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put pot or pan on stove and put potato in pot or pan" + ], + "videos": [ + { + "video_path": "videos/test/1864/rgb.mp4" + } + ], + "action": [ + [ + -0.0005428413463602985, + 9.478727874412214e-05, + 0.0006999231958362681, + -8.473999175533907e-05, + -0.0015158006707808565, + 0.00034557701243011, + 1.0 + ], + [ + -0.005121693371015639, + 0.0015257174690854012, + 0.012520882586972508, + -0.0007815827737317512, + -0.033480443843374834, + 0.004839458706103573, + 1.0 + ], + [ + -0.010764318055252556, + 0.0015490204468947748, + 0.02244329701507332, + 0.0001986836356989308, + 0.0004339315135672303, + 0.009359627192615216, + 1.0 + ], + [ + -0.0017470458959191718, + -0.0038027954153648045, + 0.013357128951205001, + -0.010137246314793756, + 0.039220922483620656, + 0.0075867557945115335, + 1.0 + ], + [ + -0.0016578923202102667, + -0.006179009498388926, + 0.012243394269776935, + -0.006621513691894598, + 0.04823460233750938, + 0.0045164085662593775, + 1.0 + ], + [ + 0.002383771836610365, + -0.006486634739782388, + 0.008102500026737444, + -0.005084783108365044, + 0.04411598509506158, + 0.005852047654477397, + 1.0 + ], + [ + 9.961783603090433e-06, + -0.0008972641805683894, + 0.006154044754803732, + 0.008050421726689155, + -0.0018416226778599231, + 0.0005713492778342845, + 1.0 + ], + [ + -0.0032918799230266444, + 0.00250144485106965, + 0.0016522965044437914, + 0.025726451666832552, + -0.034244359399945835, + -0.03275502676160185, + 1.0 + ], + [ + 0.0014328184373301697, + 0.0037017634454392418, + -0.0018097701617910862, + -1.355375832668911e-05, + -0.004673735338318386, + -0.012536315004365212, + 0.0 + ], + [ + -2.2070864352205384e-05, + 0.0012087456619892282, + -0.0007404905938124367, + 0.004569542342593476, + -0.0003856460892835901, + -0.008815384087294185, + 0.0 + ], + [ + -0.0007646742282272679, + 0.003252402071798237, + 0.00021752852355184902, + -0.0045225616642784435, + -0.005430471800732598, + 0.012140310549354544, + 0.0 + ], + [ + -0.0004107249805555324, + 0.004099310891417241, + -0.0010874812790863365, + -0.010821184528044692, + -0.004383986615665899, + 0.008411297955123662, + 0.0 + ], + [ + -0.005065879211203427, + 0.011711826084479541, + -0.013937447538668442, + 0.005679476625933743, + -0.059333596601611076, + -0.0013757958664834188, + 0.0 + ], + [ + -0.004195139424418988, + 0.025783916210523783, + -0.034471289129182556, + 0.03512854158134252, + -0.029102943878148137, + -0.013771719776155877, + 0.0 + ], + [ + -0.006252543601299123, + 0.024501310172518286, + -0.01909414766615418, + 0.028511171111264524, + -0.022872234565575723, + 0.0010873821775432295, + 0.0 + ], + [ + -0.002032182284731839, + 0.018332575481807355, + -0.01535889209836337, + 0.03607782885833626, + 0.006794783183503959, + -0.027997286751283216, + 0.0 + ], + [ + -0.0005690651677524932, + 0.01919826285516286, + -0.012903884829720644, + 0.015234680908358722, + 0.03262980507886822, + -0.03523391813888637, + 0.0 + ], + [ + 0.0004071394053703067, + 0.025641197730425634, + 0.009353645839805793, + 0.018334715884461707, + 0.025362117907451916, + -0.004118377129596729, + 0.0 + ], + [ + 0.006526972088160209, + 0.014487589038796784, + 0.011331158542559954, + -0.014625753002048627, + 0.03633289967541509, + -0.009746403044828435, + 0.0 + ], + [ + 0.003663038028166064, + 0.007415191443905799, + 0.015747626209909823, + -0.005164178822376936, + 0.01268161405527915, + 0.0023182413800285962, + 0.0 + ], + [ + 0.005269430870847802, + 0.007510813172754626, + 0.015836865497702527, + -0.00709835557220417, + 0.025399469722668266, + -0.0023731121621531166, + 0.0 + ], + [ + 0.009386504789037195, + -0.0006328913036714748, + 0.004562104826902108, + -0.024566693671446847, + 0.03867640632583686, + 0.0020645208754093212, + 0.0 + ], + [ + 0.0018599915717824901, + -0.00013506773222961616, + 0.0003214169125030802, + -0.004890968838721781, + 0.008606033698183708, + 0.02245305742615963, + 0.0 + ], + [ + -0.0033384403465904528, + -0.0012284775885766396, + 0.0005960040057519461, + -0.004550656901671321, + -0.027129334161976132, + 0.008607506003317712, + 1.0 + ], + [ + -0.00710741882242432, + -0.005891147953608248, + -0.001370013743909454, + 0.007293946425772956, + -0.06721511361801721, + 0.02642191691794771, + 1.0 + ], + [ + -0.006526653418100723, + -0.01140007780321685, + -0.024306194994472886, + -0.01707287499476876, + -0.04078238575657122, + 0.027935904388235556, + 1.0 + ], + [ + -0.001242315535951246, + -0.005914629693497923, + -0.013165440233777255, + 0.008881825971547602, + -0.018833996108127585, + 0.044520769225426894, + 1.0 + ], + [ + -0.0002765754199048256, + -0.00021171105927854595, + 0.00012189964470564784, + -0.0018317614497298839, + -0.002921601908574116, + 0.0021002280760987037, + 1.0 + ], + [ + -0.0003714140161115149, + -5.271258902589412e-05, + 0.0003519156494435769, + 0.0005201448701952304, + -0.0014026909173912644, + 0.000338758795330065, + 1.0 + ], + [ + -0.0001914109747496425, + 0.000365849500109969, + 0.00023064886632369463, + 0.001034400988143665, + 0.0009191473475214155, + -0.009931117628156903, + 1.0 + ], + [ + -0.024877037011461735, + 0.0026790969167184444, + -0.007896191929672676, + 0.020379312106414357, + 0.025838992158420563, + -0.054318018511250586, + 1.0 + ], + [ + -0.026303087713906492, + 0.008496408751592553, + -0.004588507088894628, + 0.028296520485322375, + 0.02257243232897414, + -0.037582412263192325, + 1.0 + ], + [ + -0.013043308603576656, + 0.006753796247136754, + 0.00035221989449443487, + 0.01186971532282767, + 0.03523897044504147, + -0.023475549379540512, + 1.0 + ], + [ + -0.01821274512633198, + 0.003628437286246392, + 0.014623369433947547, + 0.031484961301851, + 0.025394605961101206, + -0.03277690960747897, + 1.0 + ], + [ + -0.013497820454002451, + 0.00753204915368746, + 0.009052085087053654, + -0.0015259185462830865, + 0.04265960734462673, + -0.014699153795031858, + 1.0 + ], + [ + -0.004442369325631285, + 0.007292602366088273, + 0.0004877898736582439, + -0.015217881496946186, + 0.03663311627996772, + -0.022184214913833017, + 1.0 + ], + [ + -0.004500473911305667, + 0.0064533981861528335, + 0.0031688088822537765, + -0.005914450064172685, + 0.015285283715125452, + -0.008143248731150651, + 1.0 + ], + [ + -0.0013558261873221756, + 0.005752189073370998, + 0.007589451648549135, + -0.003945826055405468, + 0.011642832999318311, + -0.013403887308635759, + 1.0 + ], + [ + 0.0005558690969459511, + 0.003861472569489494, + 0.009630556247421405, + -0.0025953553593371687, + 0.021668576615890008, + 0.008291061472241205, + 1.0 + ], + [ + -0.0010395752796864036, + -0.0004036139026394994, + 0.008195099113035658, + -0.0030738102590571496, + 0.021826192198124785, + 0.0012161057114633332, + 1.0 + ], + [ + -0.004227764554231286, + -0.0011104745225256013, + 0.010174225914179217, + -0.001822864382312193, + 0.017867931365859343, + 0.005321088394419645, + 1.0 + ], + [ + -0.0018752706026693424, + 0.0008788513176953896, + 0.004794858544923189, + -0.015046105000912269, + 0.016345011947054445, + -0.0072178924442896095, + 1.0 + ], + [ + -0.00027553072555878743, + 0.000419445554567237, + 0.0037595321560554436, + 0.006187775969726685, + 0.006578739396307094, + -0.0095628014951316, + 0.0 + ], + [ + 0.0029381522947925756, + 0.005417669229895422, + 0.00024467620502549434, + 0.024890979762689187, + -0.02833404487581318, + -0.032186768793724604, + 0.0 + ], + [ + 0.00014246010463676699, + -0.004966837727345152, + -0.007112542656288395, + 0.04027125979791488, + -0.06304213621437076, + 0.025230999085134754, + 0.0 + ], + [ + 0.011657397722739398, + -0.004241773747830385, + -0.026580239154557546, + -0.00618702925313074, + -0.038045899014231284, + -0.008333650699752594, + 0.0 + ], + [ + 0.010296220878297091, + -0.009054115177469142, + -0.012788203984399057, + 0.015708580008129424, + -0.04488813706406198, + 0.014240021440879892, + 0.0 + ], + [ + 0.021216390496742562, + -0.009404007848852005, + -0.006604824516626421, + -0.004253036021743607, + -0.0179817085261357, + 0.006892062019306258, + 0.0 + ], + [ + 0.025842102518551884, + -0.013674153413690913, + -0.0025947879587852173, + -0.018818791547440563, + 0.007077161548060614, + 0.007558559272229098, + 0.0 + ], + [ + 0.023441850156509642, + -0.012061174104395353, + 0.005295572956370791, + -0.016643707412099664, + 0.015304541985907668, + -0.011752424387044012, + 0.0 + ], + [ + 0.01664594855982976, + -0.00813422907458727, + 0.016328650870113547, + -0.00508538468526292, + 0.006355229688871981, + -0.00026978508463875074, + 0.0 + ], + [ + 0.012827844159454689, + -0.006285577294347039, + 0.016741693494865144, + -0.019670929819068803, + 0.01757011315184362, + 0.0056046811283651755, + 0.0 + ], + [ + 0.008043322140654258, + -0.001816785736634229, + 0.011075111639043669, + -0.025346417498430144, + 0.023256886199964955, + 0.010515915885089676, + 0.0 + ], + [ + -0.0006016979832228493, + 0.00197848488175174, + 0.0014301976715321318, + -0.018611303734582682, + 0.0003267347919165366, + 0.010265492032826293, + 1.0 + ], + [ + -0.005620669597765231, + 0.0013909282366658161, + 0.0008191376426551502, + 0.006440871122250503, + -0.022278470983886356, + -0.009067897969991735, + 1.0 + ], + [ + -0.00721381929772154, + -0.0015815808073492274, + -0.0017306083972230685, + 0.00607327051396107, + -0.04577898281607471, + 0.013794971834364627, + 1.0 + ], + [ + 0.005116777893561454, + -0.015903891873208093, + -0.015440335933948255, + -0.034689226178739964, + 0.00044076192876661994, + 0.047304861164668775, + 1.0 + ], + [ + 0.01135057342112088, + -0.03129686984162193, + 0.0010379348126952652, + -0.024905689259558085, + -0.00661059942602653, + 0.04359420719271416, + 1.0 + ], + [ + 0.015072931484864167, + -0.03244197297894842, + -0.0031470523679291546, + -0.03085562487524675, + 0.023767424661261617, + 0.033787637315315006, + 1.0 + ], + [ + 0.007275197924324353, + -0.017300360874392705, + 0.01128206082784129, + -0.049754646278170875, + -0.003880093244352071, + 0.041965627480589955, + 1.0 + ], + [ + 0.006487662175240806, + -0.008371271033668365, + -0.011801884370274955, + -0.03337954918882965, + -0.03427553598619755, + 0.003062482544601127, + 1.0 + ] + ], + "state": [ + [ + 0.36609774827957153, + 0.0038311341777443886, + 0.12350404262542725, + -3.027731979387351, + -0.14154863357543945, + -0.04516586288809776, + 1.0 + ], + [ + 0.3656597435474396, + 0.003836263669654727, + 0.1227283626794815, + -3.0277922098808965, + -0.14000338315963745, + -0.04533867537975311, + 1.0 + ], + [ + 0.36234742403030396, + 0.003892405889928341, + 0.10952391475439072, + -3.028368743258067, + -0.10618996620178224, + -0.046348646283149726, + 1.0 + ], + [ + 0.3540809452533722, + 0.005273481830954552, + 0.08603499084711075, + -3.027178609865256, + -0.10555900633335114, + -0.05574969947338104, + 1.0 + ], + [ + 0.3539921045303345, + 0.010589534416794777, + 0.0730867087841034, + -3.0359564443402967, + -0.14364957809448242, + -0.06788273900747298, + 1.0 + ], + [ + 0.3545053005218506, + 0.018007315695285797, + 0.06144443154335022, + -3.041062394278594, + -0.19113221764564514, + -0.07763026654720306, + 1.0 + ], + [ + 0.35880574584007263, + 0.024961810559034348, + 0.05462164059281349, + -3.0440517981820783, + -0.23442776501178741, + -0.088161401450634, + 1.0 + ], + [ + 0.3603437542915344, + 0.02632400207221508, + 0.04875168204307556, + -3.0359082912378987, + -0.23253923654556277, + -0.08856145292520524, + 1.0 + ], + [ + 0.35738617181777954, + 0.024264324456453323, + 0.04613744840025902, + -3.0186985601955136, + -0.201786532998085, + -0.051645200699567795, + 1.0 + ], + [ + 0.3583182692527771, + 0.020315246656537056, + 0.04773971810936928, + -3.0213818867974958, + -0.19866745173931122, + -0.03836945816874504, + 0.0 + ], + [ + 0.3581308126449585, + 0.019032670184969902, + 0.04831394553184509, + -3.0185884704166135, + -0.19933393597602844, + -0.02939370833337307, + 0.0 + ], + [ + 0.3574092388153076, + 0.01585136353969574, + 0.047559767961502075, + -3.0208209847384175, + -0.19244191050529477, + -0.04098985344171524, + 0.0 + ], + [ + 0.3567223846912384, + 0.011675532907247543, + 0.04805608466267586, + -3.030122185247489, + -0.18707053363323212, + -0.048950500786304474, + 0.0 + ], + [ + 0.3487745523452759, + -0.0011404596734791994, + 0.05944312736392021, + -3.0257444401555738, + -0.12825269997119904, + -0.04092325270175934, + 0.0 + ], + [ + 0.3394117057323456, + -0.03037748672068119, + 0.08990970999002457, + -2.992774488525935, + -0.10091798752546309, + -0.02379859425127506, + 0.0 + ], + [ + 0.3310127854347229, + -0.05724680796265602, + 0.10445249825716019, + -2.9644585867696485, + -0.07813710719347, + -0.021475628018379215, + 0.0 + ], + [ + 0.327613890171051, + -0.07793068885803223, + 0.1161457970738411, + -2.930504696565219, + -0.08973117172718048, + 0.004991606343537568, + 0.0 + ], + [ + 0.32638412714004517, + -0.09941289573907852, + 0.12465519458055496, + -2.9177327175908765, + -0.12898361682891843, + 0.032817188650369644, + 0.0 + ], + [ + 0.32944411039352417, + -0.12224972248077393, + 0.11001814156770706, + -2.8991147001558026, + -0.15462684631347653, + 0.031182337552309036, + 0.0 + ], + [ + 0.338472455739975, + -0.13331668078899384, + 0.09671783447265625, + -2.9136922528320035, + -0.1922365427017212, + 0.031929049640893936, + 0.0 + ], + [ + 0.34543249011039734, + -0.13676179945468903, + 0.08071534335613251, + -2.9178411980443677, + -0.20406390726566315, + 0.026697242632508274, + 0.0 + ], + [ + 0.35415828227996826, + -0.1403397023677826, + 0.06502953171730042, + -2.9241758455806455, + -0.22935549914836884, + 0.023285849019885063, + 0.0 + ], + [ + 0.3642406761646271, + -0.13850237429141998, + 0.06295844912528992, + -2.9461468776040753, + -0.26666298508644104, + 0.012551099061965942, + 0.0 + ], + [ + 0.3661085069179535, + -0.13828399777412415, + 0.06316973268985748, + -2.9446063359552106, + -0.2706683576107025, + -0.012040838599205017, + 0.0 + ], + [ + 0.36299973726272583, + -0.1369251012802124, + 0.0619455948472023, + -2.9482223858409604, + -0.24237784743309024, + -0.015263927169144154, + 1.0 + ], + [ + 0.3555907607078552, + -0.13129328191280365, + 0.06264390796422958, + -2.937336804466792, + -0.17131951451301575, + -0.02841794304549694, + 1.0 + ], + [ + 0.3448892831802368, + -0.12475370615720749, + 0.08726224303245544, + -2.9509965648227414, + -0.12568789720535278, + -0.04762959480285644, + 1.0 + ], + [ + 0.3420569598674774, + -0.12130153179168701, + 0.1010432243347168, + -2.937179686623164, + -0.0986613929271698, + -0.08796120434999466, + 1.0 + ], + [ + 0.3418106734752655, + -0.12104686349630356, + 0.10093996673822403, + -2.938865976529666, + -0.09537418186664583, + -0.0894313156604767, + 1.0 + ], + [ + 0.34148505330085754, + -0.12089468538761139, + 0.10057201981544495, + -2.9383409043126782, + -0.09393201023340225, + -0.08948093652725221, + 1.0 + ], + [ + 0.34129539132118225, + -0.12119068205356598, + 0.10025563836097717, + -2.938214900093623, + -0.09683256596326828, + -0.07989489287137985, + 1.0 + ], + [ + 0.3155840337276459, + -0.12336433678865433, + 0.10500913113355637, + -2.922683121758052, + -0.13299396634101865, + -0.03151266649365425, + 1.0 + ], + [ + 0.28888437151908875, + -0.13181740045547485, + 0.10413189977407455, + -2.8987131883674344, + -0.1631201654672623, + 0.0006862418376840652, + 1.0 + ], + [ + 0.27633795142173767, + -0.13829687237739563, + 0.10007363557815552, + -2.889087291555949, + -0.20295317471027371, + 0.015283472836017609, + 1.0 + ], + [ + 0.2615353763103485, + -0.13838312029838562, + 0.08164569735527039, + -2.862865837412425, + -0.23566350340843198, + 0.04138578847050666, + 1.0 + ], + [ + 0.25113213062286377, + -0.14356882870197296, + 0.0680169016122818, + -2.864712121086665, + -0.28071922063827515, + 0.04386799409985542, + 1.0 + ], + [ + 0.24785116314888, + -0.15060098469257355, + 0.06441986560821533, + -2.8830638845735272, + -0.3220018744468689, + 0.05579270794987679, + 1.0 + ], + [ + 0.24538066983222961, + -0.15617622435092926, + 0.05852450057864189, + -2.8902798016839704, + -0.33885839581489563, + 0.059995681047439575, + 1.0 + ], + [ + 0.24723894894123077, + -0.1597554236650467, + 0.04979169741272926, + -2.897795396047183, + -0.35345062613487244, + 0.07074680179357529, + 1.0 + ], + [ + 0.2514083683490753, + -0.16088609397411346, + 0.040341559797525406, + -2.8954205234819135, + -0.3724443018436432, + 0.05649521946907043, + 1.0 + ], + [ + 0.2531586289405823, + -0.15839475393295288, + 0.03265175595879555, + -2.895879315333911, + -0.39330771565437317, + 0.04946039617061616, + 1.0 + ], + [ + 0.25275692343711853, + -0.1548583060503006, + 0.022165851667523384, + -2.8937015404277524, + -0.4093257188796997, + 0.0390976220369339, + 1.0 + ], + [ + 0.2529595196247101, + -0.15452565252780914, + 0.016957398504018784, + -2.9100207706266126, + -0.4269400835037232, + 0.042378120124340064, + 1.0 + ], + [ + 0.2542433738708496, + -0.15401621162891388, + 0.01342495996505022, + -2.9073964228206357, + -0.435524046421051, + 0.0509783960878849, + 0.0 + ], + [ + 0.2577994167804718, + -0.15905454754829407, + 0.013308877125382423, + -2.9000422825389585, + -0.41510012745857244, + 0.0923687368631363, + 0.0 + ], + [ + 0.25439101457595825, + -0.15623565018177032, + 0.02077310159802437, + -2.8552599271112165, + -0.34783634543418884, + 0.08239420503377914, + 0.0 + ], + [ + 0.2565271854400635, + -0.1595090925693512, + 0.04984401538968086, + -2.8680017610364636, + -0.31363070011138916, + 0.10208748281002046, + 0.0 + ], + [ + 0.2612042725086212, + -0.1537403017282486, + 0.06705950945615768, + -2.851507308083125, + -0.26656532287597656, + 0.1004580929875374, + 0.0 + ], + [ + 0.2784901559352875, + -0.14483994245529175, + 0.08134853094816208, + -2.855315687256404, + -0.24736332893371582, + 0.09895237535238266, + 0.0 + ], + [ + 0.30065226554870605, + -0.13019396364688873, + 0.09383315593004227, + -2.8718011697107038, + -0.25200727581977844, + 0.08940141648054123, + 0.0 + ], + [ + 0.3225683271884918, + -0.11514081805944443, + 0.09784867614507675, + -2.8902948816590985, + -0.2698837220668793, + 0.09692040085792543, + 0.0 + ], + [ + 0.34104135632514954, + -0.10134944319725037, + 0.08899298310279846, + -2.8950097878747663, + -0.27610617876052856, + 0.09554949402809142, + 0.0 + ], + [ + 0.3563450276851654, + -0.0896541029214859, + 0.07834577560424805, + -2.911885919170924, + -0.2917633056640625, + 0.08539750427007675, + 0.0 + ], + [ + 0.366626501083374, + -0.08446747809648514, + 0.07072710990905762, + -2.932502182322093, + -0.3119784891605377, + 0.06907734274864197, + 0.0 + ], + [ + 0.3667224645614624, + -0.08610328286886215, + 0.068820059299469, + -2.9478657861524304, + -0.3101508617401123, + 0.05846107006072999, + 1.0 + ], + [ + 0.3617761433124542, + -0.08760205656290054, + 0.06608415395021439, + -2.945593463378497, + -0.29000717401504517, + 0.07222063839435577, + 1.0 + ], + [ + 0.35422196984291077, + -0.08693113178014755, + 0.06594303250312805, + -2.937956305342265, + -0.24241566658020017, + 0.06747789680957794, + 1.0 + ], + [ + 0.3539462983608246, + -0.07446860522031784, + 0.08497270941734314, + -2.9614197482639035, + -0.23301847279071808, + 0.01977168768644333, + 1.0 + ], + [ + 0.36331647634506226, + -0.04330100491642952, + 0.0920570120215416, + -2.9766174872689923, + -0.2184993475675583, + -0.022946065291762352, + 1.0 + ], + [ + 0.37692221999168396, + -0.01212031114846468, + 0.10355600714683533, + -2.999242456751414, + -0.2362420856952667, + -0.06123468652367592, + 1.0 + ], + [ + 0.3871636390686035, + 0.00601289514452219, + 0.09678725153207779, + -3.0392739941650113, + -0.2262474745512009, + -0.10329691320657731, + 1.0 + ], + [ + 0.3913763165473938, + 0.012736393138766289, + 0.11051679402589798, + -3.0726973732286176, + -0.19183844327926633, + -0.1028328463435173, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.05002796649932861, + 0.3438887596130371, + 0.652198851108551, + 0.8605230152606964, + 0.9298108816146851, + 0.9291876778006554, + 0.9221144318580627, + 0.9207848757505417, + 0.9207848757505417, + 0.9207848757505417, + 0.9207848757505417, + 0.9207848757505417, + 0.9207848757505417, + 0.9207848757505417, + 0.9207848757505417, + 0.8916582837700844, + 0.7079049050807953, + 0.42007458209991455, + 0.11033087968826294, + 0.0, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.06011873483657837, + 0.31280064582824707, + 0.3288310766220093, + 0.3018075227737427, + 0.3018075227737427, + 0.3018075227737427, + 0.3018075227737427, + 0.3018075227737427, + 0.3018075227737427, + 0.3018075227737427, + 0.33786332607269287, + 0.2640954852104187, + 0.010668635368347168, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1864", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1864/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1865.json b/annotation/test/1865.json new file mode 100644 index 0000000000000000000000000000000000000000..6f9758ac42957e090486e0af108625c2a7c0e38c --- /dev/null +++ b/annotation/test/1865.json @@ -0,0 +1,850 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the yellow cloth closer to the left of the red utensil." + ], + "videos": [ + { + "video_path": "videos/test/1865/rgb.mp4" + } + ], + "action": [ + [ + -0.00047255622627471436, + -2.6382964124835112e-05, + 0.00030590848474825366, + 2.2025445578853104e-05, + -0.0015304517032321315, + -0.0016357074720422654, + 1.0 + ], + [ + -0.0024090602582962973, + -0.000908976193940032, + 0.006535987689280053, + 0.0007356138692315421, + -0.024381989930581202, + -0.0031273167281549463, + 1.0 + ], + [ + -0.0013925450643689752, + -0.014958387506521302, + 0.008534441295495744, + 0.01968185005952729, + -0.02631117452997585, + -0.03693904742697336, + 1.0 + ], + [ + -0.00048645096194010676, + -0.021171603678878572, + 0.008628502062870703, + 0.044468501036488764, + -0.029595350556489722, + -0.023404462273046003, + 1.0 + ], + [ + 0.0014060194690195343, + -0.03273254809865248, + 0.0009793870511916145, + 0.07812959373077713, + 0.01780805120759428, + -0.03784185537360101, + 1.0 + ], + [ + -0.002763516441650129, + -0.023167967103570625, + 0.01075001314125229, + 0.055094423663957136, + -0.026732093980182448, + -0.011367649397112592, + 1.0 + ], + [ + -0.010885650205298377, + -0.03271824688610868, + 0.006308915392435806, + 0.0089288146214102, + -0.01256114224603841, + -0.019140208277317185, + 1.0 + ], + [ + -0.014827816283137849, + -0.027744440813075345, + 0.008902320490714223, + -0.010186034655685395, + -0.010876279316051327, + -0.009513808453307902, + 1.0 + ], + [ + -0.014187556355586954, + -0.027731593488142213, + 0.012532858251035096, + -0.020846276482820985, + -0.028848245701627764, + -0.043150128731626027, + 1.0 + ], + [ + -0.005646599849799185, + -0.012179171512935105, + 0.011021981590984125, + -0.014781222144111142, + -0.01033331810258853, + -0.013559505898536795, + 1.0 + ], + [ + -0.0026708311909246396, + -0.004043521604877246, + 0.010798400025323205, + -0.015368654512084818, + -0.018410139527624145, + 0.0083762023174351, + 0.0 + ], + [ + 0.006502888897618375, + -0.00037575419165357887, + 0.0018437569114130108, + -0.008828364364532874, + 0.02388932398068466, + 0.019956950000224582, + 0.0 + ], + [ + 0.004035111758223586, + -0.004764020839799514, + 0.0024881598408583974, + 0.04029697488046017, + 0.01731746645149403, + -0.010893864475610533, + 0.0 + ], + [ + 0.003924351006718722, + 0.0026584067023690977, + 0.003009564059860863, + -0.005407957892778089, + 0.016488616564121275, + 0.0055611682930560005, + 0.0 + ], + [ + 0.009199455679621918, + 0.008366497020189803, + 0.0027122075839973053, + 0.01612836776831374, + 0.02511322041843687, + 0.020585945035707806, + 0.0 + ], + [ + 0.0022852012585265376, + 0.005360723393955931, + 0.0047705495256005525, + -0.012051413102481656, + 0.0022259245456362716, + -0.006149570536562572, + 0.0 + ], + [ + 0.0013640063818724625, + 0.0062193150754623165, + 0.0034708923128329945, + -0.0022044213259864217, + -0.00881885909333195, + 0.0010256101001970015, + 0.0 + ], + [ + -0.0002142524773619629, + 0.0025479493337112412, + 0.0011219622317647424, + 0.0018476949964200114, + 0.005986386875883924, + -0.0033628095022773708, + 0.0 + ], + [ + -0.0011880716516280599, + 0.00910958300804113, + 0.0014562469721861018, + -0.023186280615128372, + -0.002392811893140409, + -0.00976564718651457, + 0.0 + ], + [ + 0.0014482439189444358, + 0.016503311065791795, + 5.096130088172871e-05, + -0.0070461152261754294, + -0.012349825791115425, + 0.0034576121949590516, + 0.0 + ], + [ + 0.00048429443710656684, + 0.021043055290391147, + 6.902803222320016e-05, + 0.00024936079455711727, + -0.001147166724684858, + 0.04458065525116959, + 0.0 + ], + [ + 0.00130273444056572, + 0.007915036436073497, + -0.0002428643882556077, + -0.012131912192362577, + 0.008166121826524564, + -0.006087137631852119, + 0.0 + ], + [ + 0.0019870723480119403, + 0.014216148667133647, + -4.423792442977721e-05, + -0.00810796304121931, + -0.0027172794670959457, + 0.004077773711092967, + 0.0 + ], + [ + 0.002357527945793603, + 0.021226277053814906, + 0.00011326023738439111, + -0.013372513695785659, + -0.0002595148498427474, + 0.035378509452004374, + 0.0 + ], + [ + -0.0026026197772276234, + 0.017731164628733698, + -0.0004627024969293117, + -0.006213688649401165, + -0.00045441841423978847, + 0.032294944679489804, + 0.0 + ], + [ + -0.0007207927144769232, + 0.009176129599780217, + -0.0009751794988621568, + 0.0010177239057339886, + -0.0015079530396814502, + -0.0007397735012460364, + 0.0 + ], + [ + -0.0016187419111777664, + 0.006364182207942612, + 1.3573454574763521e-05, + -0.004350016738955669, + -0.005600050475903651, + -0.004492673452156496, + 0.0 + ], + [ + -0.0009392553552518899, + 0.0031991857137278865, + -2.6561670065920042e-05, + -0.01499188689864346, + -0.006822689728929452, + -0.03074684277451342, + 0.0 + ], + [ + -0.000296657155571255, + 0.006414558116141031, + -0.00016386875495568332, + -0.012863060838649092, + -0.0013134171267951908, + -0.02737308769525717, + 0.0 + ], + [ + 0.0006282375332449982, + 0.0046922745821996814, + -0.000315203336446973, + 0.0029004368326389124, + 0.004157729340146923, + 0.0012246092550660082, + 0.0 + ], + [ + 5.761573290458284e-05, + -0.0011062474052112082, + -0.0009883807940753385, + 0.011982095853294, + 0.00317642212631025, + -0.011629508691044005, + 0.0 + ], + [ + -0.004472199291505254, + 0.0008020675692177293, + -0.0038350535014375397, + -0.01041416733737103, + -0.009274275152911293, + 0.0036366182404809506, + 0.0 + ], + [ + 0.0024451386959888034, + -0.004613340442297468, + -0.007592954687959741, + -0.0021495517677157174, + -0.010420357222490602, + -0.010286008634111025, + 0.0 + ], + [ + 0.002251283927811785, + -0.0009615880914454289, + -0.007303194675962376, + -0.0005785826655296706, + 0.0215701048653388, + 0.002383655077831042, + 1.0 + ], + [ + 0.00563304687307577, + -0.0030347648789838854, + -0.011614604856881396, + 0.0028389830041459082, + 0.02316710964199657, + -0.012002535518558913, + 1.0 + ], + [ + 0.0075536072326109205, + -0.0007519436386639951, + -0.0149316688003025, + -0.008748995734037245, + 0.026456730220829915, + -0.005713315499070376, + 1.0 + ], + [ + 0.0010466175809546413, + -0.007657909863835663, + -0.009804789974693666, + 0.012909328417990345, + -0.008574562047185336, + -0.039592492575091155, + 1.0 + ], + [ + 0.006689872057835241, + -0.0006322545245096196, + -0.007068101351155859, + 0.01554220554519592, + 0.0017729718836622004, + -0.01025971230766026, + 1.0 + ], + [ + 0.012877494496302752, + 0.0038815851322421963, + -0.010686507077194153, + -0.01992274642616763, + 0.025676983028764724, + 0.004282585847288062, + 1.0 + ], + [ + 0.01211878043971553, + -0.007733786151169649, + -0.011049689592558923, + 0.008489670856466935, + 0.022223878142195487, + -0.026737643836060296, + 1.0 + ], + [ + 0.013276351159862894, + -0.01205255380672718, + -0.013924803322034444, + 0.013207152657156312, + 0.020993155962619733, + -0.03332731427847168, + 1.0 + ], + [ + 0.009219568212101905, + -0.009842548621723245, + -0.004190936149755566, + -0.028650300868238273, + 0.013614975020660119, + -0.02882335874961595, + 1.0 + ], + [ + 0.0008705600091494815, + -0.0019984679810542507, + -0.000233360589363394, + 0.0015428281566368953, + 0.0018433505839255005, + 0.00028717218644491965, + 1.0 + ] + ], + "state": [ + [ + 0.2856329381465912, + -0.03338055685162544, + 0.11379405856132507, + 3.072083504992076, + -0.24161295592784884, + -0.06660695374011995, + 1.0 + ], + [ + 0.2852487564086914, + -0.03334984555840492, + 0.11338290572166443, + 3.071729766326495, + -0.2399723082780838, + -0.06503649055957793, + 1.0 + ], + [ + 0.28450438380241394, + -0.03284990414977074, + 0.10641548782587051, + 3.072099806862422, + -0.2154312580823898, + -0.0635860487818718, + 1.0 + ], + [ + 0.2860952317714691, + -0.018592501059174538, + 0.09678611159324646, + 3.084182670461484, + -0.18648581206798556, + -0.027958933264017105, + 1.0 + ], + [ + 0.28801611065864563, + 0.002003483008593321, + 0.08703725785017014, + 3.1245733631127557, + -0.15555238723754883, + -0.006036862265318633, + 1.0 + ], + [ + 0.28984060883522034, + 0.03470420464873314, + 0.08573733270168304, + -3.0864691269868096, + -0.172599658370018, + 0.0326722115278244, + 1.0 + ], + [ + 0.2879679501056671, + 0.058380722999572754, + 0.07594600319862366, + -3.033585662143775, + -0.14652019739151004, + 0.04563014209270478, + 1.0 + ], + [ + 0.27609577775001526, + 0.09108089655637741, + 0.07164093106985092, + -3.027674155431338, + -0.13606475293636322, + 0.06620174646377563, + 1.0 + ], + [ + 0.26031699776649475, + 0.11867407709360123, + 0.06399136036634445, + -3.0393214171105107, + -0.1263325959444046, + 0.07697556167840958, + 1.0 + ], + [ + 0.24527491629123688, + 0.14646585285663605, + 0.05264439806342125, + -3.066040301817008, + -0.10190563648939133, + 0.12306921184062958, + 1.0 + ], + [ + 0.23912392556667328, + 0.1587802767753601, + 0.04205097258090973, + -3.082286240654536, + -0.09261479228734971, + 0.1374308913946152, + 1.0 + ], + [ + 0.2368144989013672, + 0.1631818413734436, + 0.03130938857793808, + -3.096972210454293, + -0.07373810559511186, + 0.1301421970129013, + 0.0 + ], + [ + 0.2433188110589981, + 0.16449466347694397, + 0.02996826358139515, + -3.1042432395094117, + -0.09669720381498335, + 0.10904651880264282, + 0.0 + ], + [ + 0.24700455367565155, + 0.16978079080581665, + 0.02806009165942669, + -3.0649377052956304, + -0.11440427601337433, + 0.11935187131166458, + 0.0 + ], + [ + 0.2515268623828888, + 0.1678856462240219, + 0.025324715301394463, + -3.0695532282167157, + -0.13041593134403232, + 0.11248682439327241, + 0.0 + ], + [ + 0.26193273067474365, + 0.16085971891880035, + 0.023241790011525154, + -3.050480330484458, + -0.1539495885372162, + 0.08988560736179352, + 0.0 + ], + [ + 0.2654220759868622, + 0.15624989569187164, + 0.018415648490190506, + -3.063452402251311, + -0.15672308206558228, + 0.09588059782981871, + 0.0 + ], + [ + 0.2679438591003418, + 0.1505356729030609, + 0.014731119386851788, + -3.0656010677390775, + -0.1478510648012161, + 0.09554287046194075, + 0.0 + ], + [ + 0.26815956830978394, + 0.1480896770954132, + 0.013401712290942669, + -3.0641844515972814, + -0.15407484769821167, + 0.09847618639469145, + 0.0 + ], + [ + 0.26820245385169983, + 0.13908055424690247, + 0.011088589206337929, + -3.088914768891879, + -0.15243673324584958, + 0.10851401090621948, + 0.0 + ], + [ + 0.27154889702796936, + 0.12286989390850067, + 0.010399319231510162, + -3.0955273156338414, + -0.1399213820695877, + 0.10568404942750931, + 0.0 + ], + [ + 0.27438682317733765, + 0.10203546285629272, + 0.00943903811275959, + -3.0890637208991727, + -0.13658396899700165, + 0.0607852004468441, + 0.0 + ], + [ + 0.2761794924736023, + 0.09421304613351822, + 0.009444981813430786, + -3.1019721796088895, + -0.14505623281002047, + 0.06649494171142578, + 0.0 + ], + [ + 0.27916017174720764, + 0.08017332851886749, + 0.009218758903443813, + -3.109501050906726, + -0.14217841625213623, + 0.06248757988214493, + 0.0 + ], + [ + 0.2829262912273407, + 0.05915577709674835, + 0.008766564540565014, + -3.1178352889888963, + -0.14069469273090363, + 0.026782672852277756, + 0.0 + ], + [ + 0.28081950545310974, + 0.04135582223534584, + 0.00844255369156599, + -3.119491832452365, + -0.13939961791038513, + -0.0058086104691028595, + 0.0 + ], + [ + 0.2799450159072876, + 0.03216530755162239, + 0.009107068181037903, + -3.1185825151675424, + -0.13790833950042722, + -0.005028285551816226, + 0.0 + ], + [ + 0.2783316671848297, + 0.025811154395341873, + 0.008726058527827263, + -3.123573187860199, + -0.1324116587638855, + -0.0003672231396194547, + 0.0 + ], + [ + 0.2774035632610321, + 0.022612350061535835, + 0.00857123825699091, + 3.1405051865200555, + -0.12608061730861664, + 0.030743930488824844, + 0.0 + ], + [ + 0.277285099029541, + 0.01619129814207554, + 0.008703422732651234, + 3.124174129339405, + -0.1246899664402008, + 0.05832977220416069, + 0.0 + ], + [ + 0.27813130617141724, + 0.011546657420694828, + 0.009175357408821583, + 3.12721889664466, + -0.12886831164360046, + 0.0571681447327137, + 0.0 + ], + [ + 0.2779995799064636, + 0.012661291286349297, + 0.010147077031433582, + 3.1376885509868195, + -0.1318684220314026, + 0.0689442977309227, + 0.0 + ], + [ + 0.2731274962425232, + 0.011535892263054848, + 0.013363875448703766, + 3.127760817418345, + -0.12260752171278, + 0.06524387747049332, + 0.0 + ], + [ + 0.2743227481842041, + 0.01634196564555168, + 0.021134821698069572, + 3.1243631840967616, + -0.11203956604003906, + 0.07544819265604019, + 0.0 + ], + [ + 0.27565935254096985, + 0.017533373087644577, + 0.028626391664147377, + 3.12400756043429, + -0.13364730775356293, + 0.07341894507408142, + 1.0 + ], + [ + 0.27945342659950256, + 0.021059708669781685, + 0.040833357721567154, + 3.125169362994381, + -0.15658940374851224, + 0.0859774351119995, + 1.0 + ], + [ + 0.2844836711883545, + 0.02249401994049549, + 0.05674613639712334, + 3.1154400185965976, + -0.18294574320316312, + 0.09222671389579773, + 1.0 + ], + [ + 0.28304052352905273, + 0.030305994674563408, + 0.06637750566005707, + 3.121101990463682, + -0.17319604754447937, + 0.13217782974243164, + 1.0 + ], + [ + 0.2882654666900635, + 0.03178444504737854, + 0.07447851449251175, + 3.1348438855544707, + -0.17474916577339175, + 0.14263090491294858, + 1.0 + ], + [ + 0.2995159924030304, + 0.029551632702350616, + 0.0872667208313942, + 3.11564799037809, + -0.20045296847820285, + 0.13843916356563568, + 1.0 + ], + [ + 0.3080332577228546, + 0.038833629339933395, + 0.10030791163444519, + 3.1185681374096355, + -0.22189976274967194, + 0.16642422974109652, + 1.0 + ], + [ + 0.3157947361469269, + 0.05268063396215439, + 0.11653891950845718, + 3.12412233104045, + -0.24199075996875766, + 0.2012335509061813, + 1.0 + ], + [ + 0.32163989543914795, + 0.06399145722389221, + 0.12264952808618546, + 3.0882830267124852, + -0.2549956738948822, + 0.23125894367694858, + 1.0 + ], + [ + 0.32196855545043945, + 0.0661318302154541, + 0.12299156934022903, + 3.0898749363892755, + -0.2568517029285431, + 0.2310640066862106, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.02763611078262329, + 0.2631101608276367, + 0.589625895023346, + 0.8079705387353897, + 0.9247331991791725, + 0.9475481435656548, + 0.9488488659262657, + 0.9488488659262657, + 0.9488488659262657, + 0.9491068050265312, + 0.9491068050265312, + 0.9491068050265312, + 0.9491068050265312, + 0.9491068050265312, + 0.9491068050265312, + 0.9491068050265312, + 0.9491068050265312, + 0.9491068050265312, + 0.9491068050265312, + 0.9491068050265312, + 0.9491068050265312, + 0.9491068050265312, + 0.928561195731163, + 0.78205905854702, + 0.5707310736179352, + 0.2749616503715515, + 0.015527725219726562, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1865", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1865/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1870.json b/annotation/test/1870.json new file mode 100644 index 0000000000000000000000000000000000000000..4796eef369ba9968ff2f5add0bd7bc7c8a402ae6 --- /dev/null +++ b/annotation/test/1870.json @@ -0,0 +1,736 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the bowl to the upper right side of the table" + ], + "videos": [ + { + "video_path": "videos/test/1870/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 3.344434640429117e-17, + -8.413718981537905e-18, + -7.667613060383567e-18, + 1.0 + ], + [ + -0.006684454997475142, + -0.0026178436063717574, + 0.008339513236509008, + 0.012434083878700921, + -0.03920394323193702, + -0.0015157852811914457, + 1.0 + ], + [ + -0.004041547143406772, + -0.00941010522353794, + 0.00540269674019794, + -0.03604688542195549, + -0.08201061620427473, + -0.061892130594003454, + 1.0 + ], + [ + -0.004830196289910968, + -0.009112367646595487, + 0.004648220524252316, + -0.03332932615820627, + -0.07572909408638569, + -0.010417301864762689, + 1.0 + ], + [ + -0.006128772161257723, + -0.008127991713749793, + 0.00034795797953740326, + -0.02454237029046707, + -0.056875945939681566, + 0.012328019065609902, + 1.0 + ], + [ + -0.011064055344522733, + -0.013197526475041955, + 0.005493772595494835, + -0.011951237473578161, + -0.05538273643237317, + 0.023951322280476712, + 1.0 + ], + [ + -0.007134071452069151, + -0.007825331058768028, + 0.010281113905899784, + 0.0037717849776037035, + -0.01430670592198207, + 0.0443461395482175, + 1.0 + ], + [ + -0.0034046361119668494, + -0.005177146115308421, + 0.012418060527582007, + -0.016909638330682694, + -0.03668928998008296, + 0.008774572666993309, + 1.0 + ], + [ + -0.0006590627694551677, + 0.00129978267062552, + 0.008282635742413584, + -0.04221390057336891, + -0.0335772199943976, + 0.0057522378896333074, + 1.0 + ], + [ + -0.0018040091772504679, + 0.000508030069677049, + 0.005192812536915073, + -0.03980333742807573, + -0.022798568638069172, + 0.0008274535300329353, + 1.0 + ], + [ + -0.00043302556829698013, + -0.003829980854249631, + 0.001203752604832819, + -0.019440976026637895, + 0.007963121978163944, + -0.002310941222073024, + 1.0 + ], + [ + -0.001716691081536143, + -0.0029202834953616003, + 0.000694096049944526, + -0.0005540120639884745, + -0.0019425148385355286, + 0.006430022299764346, + 0.0 + ], + [ + 0.0009779402976136773, + -0.0038865494884606374, + -0.002131377158716921, + -0.002292900756232414, + 0.001175175041527799, + -0.024871763905029355, + 0.0 + ], + [ + 0.0010220435442302826, + -0.0009919583055323416, + -0.004726902241634354, + -0.002146043102326132, + 0.012148501112615064, + -0.014657699666058337, + 0.0 + ], + [ + 0.0010532859106267916, + 0.0002593713111040269, + -0.0013155276944625208, + -0.0014579087592705405, + 0.0019359179497564411, + -0.015897793384420367, + 0.0 + ], + [ + 0.002897958558514174, + 0.008499272082100537, + -0.009347590773636115, + -0.025383796326536312, + 0.03241523398166169, + -0.01693552812511472, + 0.0 + ], + [ + -0.0016770329374360805, + 0.027918054970355297, + -0.009905325171024635, + -0.05849613888258946, + 0.018653016667015063, + -0.0017993910704083799, + 0.0 + ], + [ + -0.008480428695905274, + 0.030742619146765123, + 0.0015951219681051092, + -0.040588091909612156, + 0.002963134710355067, + 0.01842693671896698, + 0.0 + ], + [ + -0.013218557076294712, + 0.028164829993298852, + 0.012978609339276356, + -0.01208591162984846, + -0.013110496277038967, + 0.0482536586760428, + 0.0 + ], + [ + -0.013433366366759259, + 0.02601053810416711, + 0.015561300984348742, + 0.000738521713412483, + 0.017143589893053077, + 0.09721268877971297, + 0.0 + ], + [ + -0.005284621705694638, + 0.031601767472690584, + 0.017198871210694192, + -0.02402722423978872, + 0.0144783284624087, + 0.04057851256490614, + 0.0 + ], + [ + 0.00020754009580951864, + 0.016275244420734677, + 0.02189326996017534, + 0.0022452246862681986, + 0.0019578172332937057, + 0.01642640662565086, + 0.0 + ], + [ + 0.00040258548613140803, + 0.0024451285166633566, + 0.015404581364189944, + 0.02242275366643318, + -0.0022419364960725315, + 0.0075557817747138115, + 0.0 + ], + [ + 0.000919019990619436, + -0.007497680521887691, + 0.017653588496523227, + 0.01638515824208954, + -0.01377235722185496, + -0.014213109858710446, + 0.0 + ], + [ + -0.000849065951687087, + -0.004493378961612277, + 0.016241700869155815, + 0.017237809995952785, + -0.022236237009620678, + 0.0016830728553346185, + 0.0 + ], + [ + -0.000774657750158743, + -0.0009324303925339443, + 0.011375209604059328, + 0.005413111808863779, + -0.014861617213971567, + 0.022267143316793837, + 0.0 + ], + [ + 3.1908341748432606e-05, + -0.0002683557283420039, + 0.0002752703044416634, + 0.002378238532076662, + -0.0014129576319590483, + 0.00398311419533279, + 0.0 + ], + [ + -0.0012734989678166958, + -0.004330823875394715, + 9.256682200681715e-05, + 0.029123788275934374, + -0.006058910610094717, + -0.00343128965654346, + 0.0 + ], + [ + -0.0002598550136335596, + -0.0015169200625115003, + 0.0012332251464126287, + -0.00254305979341734, + 0.005936560161679115, + -0.0015134750074294343, + 1.0 + ], + [ + 0.0003182345833883404, + -0.0002830623289338987, + -0.0008163211476938614, + 0.003983137145748186, + 0.0025638602286016236, + 0.0025303115976403343, + 1.0 + ], + [ + 0.0026375020679266954, + 0.004890924029087093, + -0.00864570919913025, + -0.012836471505534856, + 0.027521706910042777, + 0.012395516508092438, + 1.0 + ], + [ + -0.00028101864666141003, + 0.004085923427664685, + -0.020785051424930267, + -0.03508804693956327, + 0.04928060785205463, + 0.009975025517172413, + 1.0 + ], + [ + 0.014366219656414587, + 0.003518525534537888, + -0.03632721330615116, + -0.017871365315049667, + 0.10094476878217772, + -0.00411236364733309, + 1.0 + ], + [ + 0.01093494858428663, + 0.006876303587588882, + -0.031009057745977824, + -0.03205311548971786, + 0.07915077435624118, + 0.03254946653779874, + 1.0 + ], + [ + 0.011089356362685675, + 0.002369823713137871, + -0.02045078036050119, + -0.026291810433624333, + 0.04601945967455707, + 0.018751164797842536, + 1.0 + ], + [ + 0.0011000566338619326, + -0.0004879609185245896, + -0.001098550996754616, + -0.0002150744805852925, + 0.0033525996479987757, + 0.005079086115379917, + 1.0 + ], + [ + -0.0005998294478855345, + 0.0002874000090466582, + 0.00010119325944325999, + -0.0002134544663093713, + -0.0023921452123904724, + 0.0011592946646250112, + 1.0 + ] + ], + "state": [ + [ + 0.2644120156764984, + 0.12176819145679474, + 0.10435394197702408, + 2.9152528961473188, + -0.26558488607406616, + 1.0729916095733643, + 1.0 + ], + [ + 0.2644120156764984, + 0.12176819145679474, + 0.10435394197702408, + 2.9152528961473188, + -0.26558488607406616, + 1.0729916095733643, + 1.0 + ], + [ + 0.26182717084884644, + 0.1184350997209549, + 0.09419069439172745, + 2.9294893463426313, + -0.22703398764133453, + 1.0654791593551636, + 1.0 + ], + [ + 0.2536579668521881, + 0.12032246589660645, + 0.08620475232601166, + 2.8831052799993238, + -0.1336278021335602, + 1.1088978052139282, + 1.0 + ], + [ + 0.24510690569877625, + 0.1202472597360611, + 0.07879896461963654, + 2.8502717335992536, + -0.05775082856416702, + 1.0995850563049316, + 1.0 + ], + [ + 0.23555119335651398, + 0.11842170357704163, + 0.07578186690807343, + 2.82698771555955, + -0.0067908382043242455, + 1.0714645385742188, + 1.0 + ], + [ + 0.22075863182544708, + 0.11395955085754395, + 0.06639896333217621, + 2.815067621069499, + 0.0384681299328804, + 1.0315568447113037, + 1.0 + ], + [ + 0.2133258879184723, + 0.10955069214105606, + 0.05443450063467026, + 2.817379804449626, + 0.037758614867925644, + 0.9849330186843872, + 1.0 + ], + [ + 0.21037180721759796, + 0.10681982338428497, + 0.041152242571115494, + 2.7995540519529065, + 0.06973320245742799, + 0.9648860096931458, + 1.0 + ], + [ + 0.21299508213996887, + 0.10357797890901566, + 0.03384917974472046, + 2.756020726757594, + 0.09942582249641418, + 0.9481265544891356, + 1.0 + ], + [ + 0.21364951133728027, + 0.10033369809389114, + 0.029430558905005455, + 2.7151955385976514, + 0.12023479491472246, + 0.9387184381484985, + 1.0 + ], + [ + 0.21079391241073608, + 0.10149358212947845, + 0.026821821928024292, + 2.6963984092050275, + 0.11393871158361434, + 0.9441511034965514, + 1.0 + ], + [ + 0.20777535438537598, + 0.1013089120388031, + 0.02514520101249218, + 2.6950942893796643, + 0.1129204034805298, + 0.9374687671661378, + 0.0 + ], + [ + 0.20479919016361237, + 0.10473372042179108, + 0.025277627632021904, + 2.695531429844447, + 0.12256947159767151, + 0.9605827927589417, + 0.0 + ], + [ + 0.2032446414232254, + 0.10763082653284073, + 0.02896033227443695, + 2.695704760151454, + 0.11791179329156877, + 0.9791759252548217, + 0.0 + ], + [ + 0.2036365270614624, + 0.10881173610687256, + 0.030126169323921204, + 2.696100117760249, + 0.12300729006528854, + 0.9944697618484497, + 0.0 + ], + [ + 0.20906628668308258, + 0.11048319935798645, + 0.04177679866552353, + 2.6742765327268323, + 0.10099982470273972, + 1.0238629579544067, + 0.0 + ], + [ + 0.22679921984672546, + 0.1002608984708786, + 0.06325686722993851, + 2.6167308409982404, + 0.08515247702598572, + 1.0339082479476929, + 0.0 + ], + [ + 0.24663573503494263, + 0.08000894635915756, + 0.0779518261551857, + 2.574967475729533, + 0.07334595918655394, + 1.0194079875946045, + 0.0 + ], + [ + 0.26606523990631104, + 0.052941370755434036, + 0.08307753503322601, + 2.5600480159097394, + 0.05843328312039375, + 0.9715776443481444, + 0.0 + ], + [ + 0.2835509777069092, + 0.024849845096468925, + 0.08514457941055298, + 2.5581922252946576, + -0.009402200579643248, + 0.8998371362686158, + 0.0 + ], + [ + 0.3083254098892212, + -0.0016001291805878282, + 0.08814898878335953, + 2.5345608313852033, + -0.04383376985788345, + 0.8739309310913086, + 0.0 + ], + [ + 0.3285311460494995, + -0.017743801698088646, + 0.07946843653917313, + 2.5374009927087506, + -0.0548083819448948, + 0.8615376949310303, + 0.0 + ], + [ + 0.3373635411262512, + -0.023979490622878075, + 0.0682191327214241, + 2.560252459841319, + -0.05725418403744698, + 0.854033648967743, + 0.0 + ], + [ + 0.34126046299934387, + -0.02472585439682007, + 0.04943174496293068, + 2.5763343294435224, + -0.03793882951140404, + 0.8583507537841797, + 0.0 + ], + [ + 0.3448176383972168, + -0.028111612424254417, + 0.03328902646899223, + 2.5939774831109723, + -0.020059945061802864, + 0.8450172543525696, + 0.0 + ], + [ + 0.3482738435268402, + -0.03194045275449753, + 0.023078270256519318, + 2.6000779588990888, + -0.01895606145262718, + 0.8182644844055175, + 0.0 + ], + [ + 0.34823620319366455, + -0.031851787120103836, + 0.02270473539829254, + 2.6025392731004438, + -0.01979812234640121, + 0.8141221404075623, + 0.0 + ], + [ + 0.34472545981407166, + -0.030225537717342377, + 0.020377419888973236, + 2.63165536721284, + -0.012837043963372706, + 0.813956618309021, + 0.0 + ], + [ + 0.344038188457489, + -0.029901763424277306, + 0.018557462841272354, + 2.6290532668405255, + -0.017279447987675667, + 0.8181759119033815, + 1.0 + ], + [ + 0.343776673078537, + -0.029234476387500763, + 0.0191354900598526, + 2.63305118878419, + -0.02075469307601452, + 0.8172278404235841, + 1.0 + ], + [ + 0.3454854190349579, + -0.02750449813902378, + 0.029121140018105507, + 2.6199518163972577, + -0.05082809552550316, + 0.8198073506355285, + 1.0 + ], + [ + 0.33961689472198486, + -0.02380443923175335, + 0.04913768544793129, + 2.583424897986003, + -0.09851330518722534, + 0.8357945680618286, + 1.0 + ], + [ + 0.33498990535736084, + -0.004682215396314859, + 0.08306947350502014, + 2.5576747973733625, + -0.1817595064640045, + 0.8936222195625305, + 1.0 + ], + [ + 0.3295171856880188, + 0.006637869868427515, + 0.11421948671340942, + 2.5205298980050763, + -0.2656847834587098, + 0.9107474088668823, + 1.0 + ], + [ + 0.3253001272678375, + 0.017469875514507294, + 0.1345100849866867, + 2.4903387149148664, + -0.3139969110488891, + 0.9228774905204773, + 1.0 + ], + [ + 0.3249834477901459, + 0.018797915428876877, + 0.13539950549602509, + 2.4907739480310163, + -0.31974151730537415, + 0.9207631349563598, + 1.0 + ], + [ + 0.3248518407344818, + 0.01814570464193821, + 0.13529983162879944, + 2.491345377760478, + -0.3185397684574127, + 0.9182659387588501, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.057769834995269775, + 0.3539353609085083, + 0.657110869884491, + 0.8670534491539001, + 0.9298108816146851, + 0.9328778758645058, + 0.9334815964102745, + 0.9367445036768913, + 0.9367445036768913, + 0.9370363429188728, + 0.9370363429188728, + 0.9370363429188728, + 0.9370363429188728, + 0.9370363429188728, + 0.9370363429188728, + 0.9370363429188728, + 0.9370363429188728, + 0.9103762283921242, + 0.7493449747562408, + 0.4811733365058899, + 0.1850646734237671, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1870", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1870/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1876.json b/annotation/test/1876.json new file mode 100644 index 0000000000000000000000000000000000000000..d28bbd795ca2539c38141b50587d8747e95a7eb5 --- /dev/null +++ b/annotation/test/1876.json @@ -0,0 +1,622 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Put the mushroom between the spoon and cloth" + ], + "videos": [ + { + "video_path": "videos/test/1876/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 4.089367193370084e-10, + 8.443038961778119e-09, + -0.001533983066826248, + 1.0 + ], + [ + -0.0058122712542445585, + 0.004294748823452637, + 0.018653688099710627, + -0.02409099730884047, + -0.04474758892795706, + 0.004256768028888944, + 1.0 + ], + [ + -0.010145943830697817, + 0.03394877795118116, + 0.008297199068437122, + -0.030626709126104372, + -0.026908209112141455, + 0.0844998028625207, + 1.0 + ], + [ + -0.004205655223294792, + 0.04040185710927649, + -0.01264738811271286, + 0.012819547885140805, + 0.007545302401201341, + 0.09277351999188982, + 1.0 + ], + [ + -0.014599884426573671, + 0.029027597221568145, + -0.006034655802780252, + -0.032810262953068756, + -0.0004960047628343351, + 0.06749599994674887, + 1.0 + ], + [ + -0.004599887425123325, + 0.04453785150253474, + 0.0009310806606805907, + -0.03221603422867791, + 0.0008793496263805207, + 0.12664517170936568, + 1.0 + ], + [ + -0.0070251030288180855, + 0.021302002153526442, + 0.003490106638909116, + 0.0011925201901885208, + -0.022253167168811983, + 0.05361323320100611, + 1.0 + ], + [ + -0.0005842017693121341, + 0.018814804820994933, + 0.00843230691320725, + -0.020598802972321903, + -0.015927977290303246, + 0.04506933907040478, + 1.0 + ], + [ + -0.001210998547276948, + 0.0005481680744507707, + 0.006935238662987605, + -0.005527430619122432, + -0.02455570999071266, + -0.004816577960250219, + 1.0 + ], + [ + -0.0006665046615948918, + 0.0012107724356064857, + 0.006336575345263255, + -0.01062596421690094, + -0.01707931390201515, + -0.00473627988357506, + 1.0 + ], + [ + -0.002594918056806819, + 0.0010781604102387881, + 0.007412944929195274, + -0.011890081293896742, + -0.02660857204721755, + -0.004755874413066639, + 1.0 + ], + [ + -0.0004503564565023925, + 0.003128985992912312, + 0.0067861257193173406, + -0.007087799613554346, + -0.023856844185920115, + 0.005946692827519825, + 1.0 + ], + [ + 0.0009999111769106092, + 0.0028921625843928113, + 0.00659072553182592, + -0.02612476229953334, + -0.0032136858902915193, + 0.00035120081894772043, + 1.0 + ], + [ + 0.0006999236243060205, + -0.000700005762939483, + 0.0009605662035535195, + -0.016967205845740553, + 0.015505640280187463, + -0.00047845006013068174, + 1.0 + ], + [ + -0.00247014707470403, + -0.000927277804756997, + 0.0007268721751016307, + -0.005338992030398866, + -0.0037427401855249613, + -0.0017746579986171462, + 0.0 + ], + [ + -0.0031451390361429098, + 0.00068941359903711, + -0.005070949814182911, + -0.002899757895520684, + -0.006984213151739086, + -0.005946455086147693, + 0.0 + ], + [ + -0.0019764660148765436, + -0.007580938517768371, + -0.03063716065017813, + -0.006850569784313236, + 0.06015598424573097, + -0.05758323139643647, + 0.0 + ], + [ + 0.018062239205547146, + -0.014742043785507931, + -0.03590043075883523, + 0.002977820218997576, + 0.04951592123593558, + -0.07646877102614213, + 0.0 + ], + [ + 0.032814851573024266, + -0.01595785432340375, + 0.002551128162776729, + 0.0025659076938508232, + 0.017862408097246603, + -0.032201324404448804, + 0.0 + ], + [ + 0.021840493360800448, + -0.009406108172969482, + 0.011055849335196186, + 0.006174348455719754, + 0.0006844792791273347, + -0.007943735701722392, + 0.0 + ], + [ + 0.010329423902797013, + -0.016619483221766655, + 0.00939863932014306, + 0.07172798863366281, + -0.011546345513273389, + -0.005840662503878794, + 0.0 + ], + [ + 0.01175718588650213, + -0.013806766592008418, + 0.002632532878185932, + 0.03797896260839082, + 0.025136630800438747, + 0.020581837092666, + 0.0 + ], + [ + -0.002296499301157879, + -0.017148159351601314, + 0.002147513338143422, + 0.012975825959247194, + -0.002143434675226681, + -0.0070183210924843874, + 0.0 + ], + [ + -0.001523755941161498, + 0.0006926215057545661, + 0.004127589092384302, + -0.0062038709528615885, + -0.0140281470341169, + 0.024742171473270437, + 0.0 + ], + [ + -0.0017698193617940784, + 0.003818693282388121, + 0.004296582186321722, + 0.013212538132561364, + -0.013959002679038834, + 0.01946072362531635, + 1.0 + ], + [ + -0.003687169037730824, + 0.002136068465532415, + 0.006652096113108225, + 0.01238073357172233, + -0.01645704189018183, + -0.005572249829597233, + 1.0 + ], + [ + -0.004426094981679318, + -0.000146988551670702, + -0.0020635998144884265, + 0.01768372552902754, + 0.0031430096622518493, + -0.016129581687324104, + 1.0 + ], + [ + -0.003472326297469028, + 0.0004346732611364774, + -0.015562168267138314, + 0.015839335943909228, + 0.04315426386380142, + -0.027158067569254613, + 1.0 + ], + [ + -0.0030935787531547573, + 0.0014288391741287716, + 0.007127975007158966, + 0.002939393789028113, + 0.004047529133778957, + -0.06240877123801388, + 1.0 + ], + [ + -0.0033436567290959897, + -0.003932399382532507, + -0.00987356282806081, + 0.040605173169121773, + 0.054114585427340434, + -0.055935417640117314, + 1.0 + ], + [ + 0.000995823044834454, + -0.0005262733121732777, + -0.0031840310152863025, + 0.002781450093706607, + 0.01191413244723356, + -0.005299036410256499, + 1.0 + ] + ], + "state": [ + [ + 0.3929700553417206, + 0.1324481964111328, + 0.10977274924516678, + -3.052886875467845, + -0.15580102801322937, + -0.09183102846145631, + 1.0 + ], + [ + 0.3929700553417206, + 0.1324481964111328, + 0.10977274924516678, + -3.053126985328742, + -0.1559367477893829, + -0.0902843102812767, + 1.0 + ], + [ + 0.38994720578193665, + 0.1300812065601349, + 0.09013994038105011, + -3.0770847295695027, + -0.11098816990852355, + -0.09056978672742844, + 1.0 + ], + [ + 0.3780439794063568, + 0.09768170863389969, + 0.07861219346523285, + -3.0987421741061887, + -0.07831631600856782, + -0.17337678372859958, + 1.0 + ], + [ + 0.3660169243812561, + 0.05825890600681305, + 0.08915480226278305, + -3.0788161252909383, + -0.08154696971178055, + -0.266697883605957, + 1.0 + ], + [ + 0.3439149856567383, + 0.03387267142534256, + 0.09215329587459564, + -3.106272129463502, + -0.07663563638925554, + -0.3342280387878418, + 1.0 + ], + [ + 0.32517313957214355, + -0.006701675709336996, + 0.08930519968271255, + -3.12907881767536, + -0.07243981212377548, + -0.4611597359180451, + 1.0 + ], + [ + 0.3096829354763031, + -0.02274090237915516, + 0.08505020290613174, + -3.1240381953590592, + -0.04941481351852417, + -0.5145418643951416, + 1.0 + ], + [ + 0.3003665506839752, + -0.03891398012638092, + 0.07627076655626297, + 3.1407454201304397, + -0.03264888375997544, + -0.5593425631523132, + 1.0 + ], + [ + 0.29923853278160095, + -0.038861460983753204, + 0.06930015981197357, + 3.1350611905851444, + -0.008088726550340652, + -0.5545480847358705, + 1.0 + ], + [ + 0.29805612564086914, + -0.03960195928812027, + 0.06296644359827042, + 3.1243969352268657, + 0.009021244011819363, + -0.5499239563941954, + 1.0 + ], + [ + 0.2951570153236389, + -0.03923873230814934, + 0.05559684336185455, + 3.112539716186472, + 0.03570757433772087, + -0.5456252098083496, + 1.0 + ], + [ + 0.29284265637397766, + -0.04172322526574135, + 0.04892481863498688, + 3.1052069162302693, + 0.05938081815838814, + -0.552272379398346, + 1.0 + ], + [ + 0.2917228937149048, + -0.04470977187156677, + 0.04239574819803238, + 3.079054148989268, + 0.06257959455251692, + -0.5527411699295044, + 1.0 + ], + [ + 0.2925993502140045, + -0.04450010508298874, + 0.041351500898599625, + 3.0621700530224523, + 0.04713410511612892, + -0.5512930750846863, + 1.0 + ], + [ + 0.2909194231033325, + -0.042449723929166794, + 0.040670622140169144, + 3.0569000412994107, + 0.0510057955980301, + -0.5498190522193909, + 0.0 + ], + [ + 0.2883286774158478, + -0.041164547204971313, + 0.04593541845679283, + 3.054271848993846, + 0.05846726521849632, + -0.5444757342338562, + 0.0 + ], + [ + 0.29342907667160034, + -0.03230077028274536, + 0.0758591890335083, + 3.05109045852954, + 0.0034446916542947297, + -0.481963187456131, + 0.0 + ], + [ + 0.31784796714782715, + -0.02484358660876751, + 0.11021790653467178, + 3.054529668884822, + -0.038976382464170456, + -0.40135303139686584, + 0.0 + ], + [ + 0.354297012090683, + -0.023283353075385094, + 0.10757052153348923, + 3.055818835394927, + -0.053949613124132156, + -0.36767587065696716, + 0.0 + ], + [ + 0.37827110290527344, + -0.023490220308303833, + 0.0969444215297699, + 3.0615653340988835, + -0.05394933745265007, + -0.35969108343124395, + 0.0 + ], + [ + 0.39403197169303894, + -0.012520887888967991, + 0.08681982755661011, + 3.1330245427140078, + -0.041972387582063675, + -0.3547882139682769, + 0.0 + ], + [ + 0.4099437892436981, + -0.003716480452567339, + 0.08456484973430634, + -3.1113263071798762, + -0.06727571040391922, + -0.3751935660839081, + 0.0 + ], + [ + 0.41421860456466675, + 0.013091514818370342, + 0.08278655260801315, + -3.0988281351798257, + -0.0653439536690712, + -0.3680984675884246, + 0.0 + ], + [ + 0.4128674864768982, + 0.013060069642961025, + 0.07854249328374863, + -3.1034634319418153, + -0.050251953303813934, + -0.39224618673324585, + 0.0 + ], + [ + 0.4100441038608551, + 0.010275756940245628, + 0.07402016967535019, + -3.0893033650987825, + -0.03555230796337128, + -0.41117063164711, + 1.0 + ], + [ + 0.40617284178733826, + 0.010015901178121567, + 0.06713873147964478, + -3.0771450345688542, + -0.019408261403441426, + -0.4047454297542572, + 1.0 + ], + [ + 0.4020736515522003, + 0.011786979623138905, + 0.06912122666835785, + -3.0597776641421994, + -0.023581044748425484, + -0.38884744048118586, + 1.0 + ], + [ + 0.39787739515304565, + 0.011663648299872875, + 0.08450964093208313, + -3.044440949457236, + -0.06880360841751099, + -0.36527642607688904, + 1.0 + ], + [ + 0.39519819617271423, + 0.011905970051884651, + 0.0770811140537262, + -3.0459402893954, + -0.07875049859285355, + -0.30336406826972967, + 1.0 + ], + [ + 0.39213868975639343, + 0.01597728580236435, + 0.08699044585227966, + -3.009327234821864, + -0.13785648345947263, + -0.25245586037635803, + 1.0 + ], + [ + 0.3926900029182434, + 0.015940167009830475, + 0.09032231569290161, + -3.0070489217811307, + -0.1503644436597824, + -0.24873268604278564, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.010668635368347168, + 0.07526767253875732, + 0.36297857761383057, + 0.6447625160217285, + 0.8033039718866348, + 0.8576638251543045, + 0.879532054066658, + 0.8854858502745628, + 0.8859040141105652, + 0.8859040141105652, + 0.886321172118187, + 0.8614679723978043, + 0.634721577167511, + 0.3268251419067383, + 0.04696917533874512, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1876", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1876/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1882.json b/annotation/test/1882.json new file mode 100644 index 0000000000000000000000000000000000000000..faef22d06dac5cc328ca784476e5867db168a7a9 --- /dev/null +++ b/annotation/test/1882.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "pick up bowl and put in small4fbox" + ], + "videos": [ + { + "video_path": "videos/test/1882/rgb.mp4" + } + ], + "action": [ + [ + -0.0006351425086520272, + 0.0002603117150103958, + 0.0003127876571308753, + -0.0007713274067385948, + -0.0029182382071750927, + 0.00035472886532137294, + 1.0 + ], + [ + -0.016935932210333498, + 0.014354109463664241, + 0.02272097494617369, + -0.03325429107459944, + -0.07448162131543651, + -0.014279804437117216, + 1.0 + ], + [ + -0.030889925099696007, + 0.02565281754628277, + 0.026013409054433296, + -0.03721329312293156, + -0.08028696337391339, + -0.08850482842451164, + 1.0 + ], + [ + -0.020424517961502374, + 0.004683142237616802, + 0.015514976507836384, + -0.021970920630901624, + 0.02343442227888198, + -0.07076144920542439, + 1.0 + ], + [ + -0.017225107287631904, + -0.0018139114033794423, + 0.015221127835872305, + -0.030024063866087723, + -0.01066869704726161, + -0.048888248777190606, + 1.0 + ], + [ + -0.00608567012872241, + -0.005155072473494391, + 0.00884442699431697, + -0.04586937426171599, + 0.013515650260137468, + -0.04674733132294422, + 1.0 + ], + [ + -0.006246456968707729, + 0.005269962554926994, + 0.011535049517051173, + -0.031309459316212304, + -0.0010355919795082482, + -0.03433097537575006, + 1.0 + ], + [ + -0.005230784471892176, + 0.005509269513089918, + 0.004510933196837082, + -0.024012129696116092, + 0.007420709280644604, + -0.019330172293202722, + 1.0 + ], + [ + -0.004886379512435953, + 0.0039975416755347595, + 0.01072203157961728, + -0.02342095022811759, + 0.00917653918996398, + -0.007843972626564803, + 1.0 + ], + [ + -0.001259351482642148, + 1.8691539030546528e-05, + 0.010986042125922468, + -0.00955981228162431, + 0.024564159342610043, + -0.017073605484214258, + 1.0 + ], + [ + -0.00044821634933752346, + -4.789133982625119e-05, + 0.009388269050836258, + -0.0019482856210248972, + 0.00617540052532051, + -0.0009343233825349935, + 1.0 + ], + [ + -0.0017178703239200416, + -0.0005736142406597846, + 0.00044193982127737995, + 0.015445723548921734, + -0.004621285524810827, + 0.0025839525134117277, + 0.0 + ], + [ + -0.0077271397560966714, + 0.0023702223993835344, + -0.002108793861530088, + 0.014075870226138905, + -0.03575971727660468, + -0.001991096945822726, + 0.0 + ], + [ + 0.0016956860824661698, + 0.007697547038845035, + -0.017398790097303597, + 0.010420922819832704, + 0.00870096542556424, + -0.01251111850821417, + 0.0 + ], + [ + 0.006137266503676527, + 0.014451135333703532, + -0.02822188775637643, + -0.004462094750577279, + 0.026763132782572214, + 0.01724543297774402, + 0.0 + ], + [ + 0.01626356562659147, + 0.032808495447503846, + -0.053916454354630876, + -0.016172544046926633, + 0.07365195343703669, + 0.056204482829145246, + 0.0 + ], + [ + 0.020341167081691057, + 0.038215054865174444, + -0.046134335879075825, + 0.028678535202711956, + 0.06761391095300216, + 0.0802246402493494, + 0.0 + ], + [ + 0.020240429977670834, + 0.044476245915882076, + -0.03389911828183688, + -0.03398015462934877, + 0.03878301948029667, + 0.029497912007273287, + 0.0 + ], + [ + 0.017343646529441682, + 0.03968550307874442, + -0.03387526456258334, + -0.010352112653773289, + 0.06821465036377931, + 0.014901878745984323, + 0.0 + ], + [ + 0.01974034477597957, + 0.03217023036182122, + -0.030510813098555162, + 0.012035516422839261, + 0.057793321427153536, + 0.009516239286534618, + 0.0 + ], + [ + 0.002097378285802525, + 0.027861781867408914, + 0.00029804005972630226, + -0.06971582471400878, + -0.01035716760832055, + -0.08491137186403097, + 0.0 + ], + [ + 0.004118409012113398, + 0.014583212574804874, + 0.0010880799425244288, + -0.043475293002508276, + 0.05048650862983376, + -0.05774274911316985, + 0.0 + ], + [ + 0.00032350072089813416, + -7.018042993694175e-06, + -3.2368620301150366e-07, + 4.585139756247347e-05, + 0.002039999518503655, + 0.0007366058595179235, + 1.0 + ] + ], + "state": [ + [ + 0.3938252627849579, + 0.15629231929779053, + 0.08369391411542892, + -2.846263291435786, + -0.14739568531513214, + -0.03597692027688026, + 1.0 + ], + [ + 0.39324676990509033, + 0.1561550348997116, + 0.08322969079017639, + -2.8471090515428266, + -0.1445005238056183, + -0.03546155244112015, + 1.0 + ], + [ + 0.3799732029438019, + 0.1494799107313156, + 0.05515186861157417, + -2.8848086317353925, + -0.0772838443517685, + -0.00012401078129187226, + 1.0 + ], + [ + 0.35161879658699036, + 0.1312783807516098, + 0.021185945719480515, + -2.9308165927701673, + -0.021628404036164284, + 0.10568249225616455, + 1.0 + ], + [ + 0.33180099725723267, + 0.1278351992368698, + 0.004596594255417585, + -2.954563306766101, + -0.059294503182172775, + 0.17005622386932373, + 1.0 + ], + [ + 0.3149273693561554, + 0.12961776554584503, + -0.011016876436769962, + -2.9877810945087155, + -0.0578240044414997, + 0.22015841305255887, + 1.0 + ], + [ + 0.30803847312927246, + 0.13468487560749054, + -0.0193055160343647, + -3.0363444482260427, + -0.07828340679407121, + 0.2644121348857879, + 1.0 + ], + [ + 0.3039882183074951, + 0.12941420078277588, + -0.031782034784555435, + -3.0704025124483785, + -0.08081343024969101, + 0.2987740933895111, + 1.0 + ], + [ + 0.3009059429168701, + 0.12305056303739548, + -0.03707971051335335, + -3.095945106940814, + -0.08957596868276596, + 0.31760233640670776, + 1.0 + ], + [ + 0.2983025908470154, + 0.11850617080926895, + -0.04836643114686012, + -3.1200321578704795, + -0.09909840673208237, + 0.32505562901496887, + 1.0 + ], + [ + 0.2980751693248749, + 0.11865974217653275, + -0.059421028941869736, + -3.1312374119930944, + -0.12401129305362701, + 0.3417184948921204, + 1.0 + ], + [ + 0.2987014949321747, + 0.11903651803731918, + -0.06879165023565292, + -3.1332940767803272, + -0.1301959902048111, + 0.3425962328910827, + 1.0 + ], + [ + 0.2969566881656647, + 0.11902709305286407, + -0.06944814324378967, + -3.1175151896947106, + -0.12555299699306488, + 0.3400305509567261, + 0.0 + ], + [ + 0.2902943789958954, + 0.11410286277532578, + -0.06838078796863556, + -3.103782570111104, + -0.08985107392072678, + 0.34289208054542536, + 0.0 + ], + [ + 0.2932475209236145, + 0.106291264295578, + -0.05120221525430679, + -3.094460679339715, + -0.0990120619535446, + 0.35512477159500117, + 0.0 + ], + [ + 0.3019055128097534, + 0.0926881730556488, + -0.023220589384436607, + -3.0970722158723554, + -0.12491598725318909, + 0.33649852871894836, + 0.0 + ], + [ + 0.3225889801979065, + 0.06265773624181747, + 0.030800258740782738, + -3.1056586002283773, + -0.19577130675315857, + 0.2760660052299499, + 0.0 + ], + [ + 0.34427565336227417, + 0.027385534718632698, + 0.07863424718379974, + -3.0604137425595006, + -0.25977787375450134, + 0.1907731145620346, + 0.0 + ], + [ + 0.3647972345352173, + -0.016599837690591812, + 0.11300157755613327, + -3.0856375267081937, + -0.29589948058128357, + 0.15677058696746826, + 0.0 + ], + [ + 0.37856346368789673, + -0.05645721033215523, + 0.14828833937644958, + -3.0900362638109407, + -0.3631194531917572, + 0.13681253790855408, + 0.0 + ], + [ + 0.39130204916000366, + -0.0887211412191391, + 0.18223361670970917, + -3.0730612372332295, + -0.4203152358531952, + 0.12315957993268967, + 0.0 + ], + [ + 0.3975076377391815, + -0.11594094336032867, + 0.18107613921165466, + 3.1021243316405496, + -0.41416406631469727, + 0.2164892852306366, + 0.0 + ], + [ + 0.40453028678894043, + -0.12936049699783325, + 0.18226495385169983, + 3.0318549071722707, + -0.4615345895290375, + 0.2830847203731537, + 0.0 + ], + [ + 0.40480664372444153, + -0.12927280366420746, + 0.18240861594676971, + 3.032153846817561, + -0.4636429250240326, + 0.28251591324806213, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.12159121036529541, + 0.43597882986068726, + 0.7218906283378601, + 0.8904407843947411, + 0.926342710852623, + 0.9224447533488274, + 0.9184255003929138, + 0.9170585051178932, + 0.9170585051178932, + 0.9170585051178932, + 0.8586209267377853, + 0.6480775773525238, + 0.3258223533630371 + ], + "episode_id": "1882", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1882/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1885.json b/annotation/test/1885.json new file mode 100644 index 0000000000000000000000000000000000000000..2e1a11f244174398d68183ce6d7917042cabef9e --- /dev/null +++ b/annotation/test/1885.json @@ -0,0 +1,831 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the mushroom to the right edge of the counter." + ], + "videos": [ + { + "video_path": "videos/test/1885/rgb.mp4" + } + ], + "action": [ + [ + -9.18581011693805e-05, + -9.819543266709829e-05, + 0.0003853874951538889, + 0.0014779231761643252, + 0.0001372671798271693, + 0.0003874013918727036, + 1.0 + ], + [ + -0.0013444106236348494, + -0.003567415152009363, + 0.005656679036502837, + 0.024004352763088252, + 0.0008109725509264648, + 0.011425987315055298, + 1.0 + ], + [ + 0.026991846480248567, + -0.0019281899558867177, + 0.006573920282212472, + 0.01918709780107942, + 0.023037655014432945, + 0.0004570961558851401, + 1.0 + ], + [ + 0.013366700707545672, + -0.0018997176730010563, + 0.00662108632732563, + 0.022903937711189513, + 0.015113630549016877, + 0.05409080409974568, + 1.0 + ], + [ + 0.020987958271669653, + -0.00029951875249765693, + 0.005091483175875956, + 0.003489814973585714, + 0.01898080627804578, + 0.02243411710646989, + 1.0 + ], + [ + 0.015757024754272212, + 0.00998440069587872, + 0.008672071546623085, + -0.006008878460061736, + 0.03092663398360792, + 0.08632278334342373, + 1.0 + ], + [ + 0.01793460289834927, + 0.010033627713436279, + 0.00985907367108511, + -0.011303592196783013, + 0.01684115695330701, + 0.037981067641844134, + 1.0 + ], + [ + 0.013135531803153442, + 0.006773301664478402, + 0.013758006429759235, + -0.019036080377551924, + 0.0192576950409869, + 0.003956588885705483, + 1.0 + ], + [ + 0.008855467070241565, + 0.009385178381059848, + 0.009629781659138184, + 0.0010992745464937367, + 0.013476178840533627, + 0.009848225072350718, + 1.0 + ], + [ + 0.002269594403585841, + 0.007394671069377497, + 0.014626521502191757, + 0.007669465332458002, + -0.006029267754513149, + -0.0033754316965320936, + 1.0 + ], + [ + 0.009216998651885893, + 0.006847133156481214, + 0.014861313279516184, + 0.014212917709936535, + 0.00481177211685751, + 0.0019578789526101524, + 1.0 + ], + [ + 0.007758021512262104, + 0.006045753930211529, + 0.013833326940037706, + 0.014539259201848358, + 0.004249038999127158, + 0.01606915559199584, + 1.0 + ], + [ + 0.0033991516516596143, + 0.0020691251601819955, + 0.011721008328849598, + 0.015570063174815966, + 0.0008667340977699918, + 0.023564807380182632, + 1.0 + ], + [ + 0.0039170414961333215, + -0.0004560676622411973, + 0.0025493583344470545, + -0.0062760800232731775, + 0.015960199202893637, + -0.004782305259005816, + 1.0 + ], + [ + -0.0019264433322539083, + 0.0007094705419600534, + -0.0005281040841597113, + -0.004837968166073494, + -0.013169436489511596, + -0.0009600552285590068, + 0.0 + ], + [ + -0.005232592566666864, + 0.002865491086099043, + -0.0011895883735662124, + -0.00042699513373814133, + 0.0027434462127485775, + 0.010778778531804985, + 0.0 + ], + [ + -0.006351881304514386, + 0.0015616920163877158, + -0.0029471017241833627, + 0.016136547617358426, + -0.0017427859144783947, + 0.006188765806275374, + 0.0 + ], + [ + -0.00383275629560588, + 0.001977077918173491, + -0.014411439419918685, + -0.00863874762768567, + 0.007156347241872577, + -0.0019286512017724446, + 0.0 + ], + [ + 0.003033134212861986, + 0.003075568801870387, + -0.021574257701858685, + -0.034844909426424, + 0.020859344353329354, + -0.022696288310789677, + 0.0 + ], + [ + 0.00982569324932081, + 0.002233709054551151, + -0.03404309747184372, + -0.04609066770097539, + 0.04847128443419393, + -0.03965028401637844, + 0.0 + ], + [ + -0.001227612537766779, + 0.0017072487282769385, + -0.020966406419149472, + -0.03285206433466281, + 0.011220059008126367, + -0.015813704936368266, + 0.0 + ], + [ + -0.016852846407721875, + 0.008643873697990488, + -0.00663536265672389, + -0.02439690804016322, + -0.036136504361439364, + 0.03869876721707557, + 0.0 + ], + [ + -0.02602848401915507, + 0.015413241777883523, + -0.006816040038029058, + -0.050618296765241926, + -0.04800637682232687, + 0.058698642007175526, + 0.0 + ], + [ + -0.02235922100191357, + 0.006624261216628205, + -0.0009055478574140472, + -0.02754484545590562, + -0.02921597329043521, + 0.08267053848169746, + 0.0 + ], + [ + -0.025585960975307225, + -0.005374443041421651, + 0.007205405241811852, + 0.007861494140637713, + -0.04264509872998531, + 0.05061050315213488, + 0.0 + ], + [ + -0.016215598639399184, + 0.012580243535413855, + -0.003142547132671593, + -0.04403703657790967, + -0.024468968968637105, + 0.05066548970441188, + 0.0 + ], + [ + -0.010385859026099774, + 0.013153347573742362, + 0.0095229061760917, + -0.06887305464367309, + -0.04381579891924056, + 0.040815338639499925, + 0.0 + ], + [ + -0.008941034281558074, + 0.011039750592627047, + 0.009796784173638592, + -0.06672778451926095, + -0.04433429423680471, + 0.029743603578609445, + 0.0 + ], + [ + -0.004666693365246085, + 0.00469705946021792, + 0.01870020944073845, + 0.016572003608499197, + -0.021059631683671563, + 0.015344037851851393, + 0.0 + ], + [ + -0.010645830950728088, + 0.015808589463106388, + 0.01473783520047656, + -0.0036880647515390034, + -0.027862692770464048, + 0.020142810184409183, + 0.0 + ], + [ + -0.007575368834665567, + 0.011107059438106501, + 0.010834060916619054, + -0.011132364159856557, + -0.023832559330096672, + 0.012316488639379088, + 0.0 + ], + [ + -0.0038090047947345112, + 0.008106417547459175, + 0.002137344852574346, + -0.008355983995041174, + -0.010049491201836446, + 0.011608407968882727, + 0.0 + ], + [ + -0.0013811631521389199, + -0.0007735689554290532, + -0.0014064268191596513, + 0.03330887174977409, + 0.013412344499535869, + -0.019157643337591023, + 0.0 + ], + [ + -0.0007900011453779751, + 2.5229139365845943e-05, + -0.000736373641537072, + 0.006655970992666274, + 0.006313435831047395, + -0.014715601994983469, + 1.0 + ], + [ + -0.0012694592578374258, + -0.004706958417478737, + 0.0024515729071980345, + 0.013191712057820382, + -0.00481057167799277, + -0.009534331822480526, + 1.0 + ], + [ + 0.0009481054520423186, + -0.005075102692395185, + -0.0005614670018640178, + 0.03065072630291433, + 0.002481948646673724, + 0.0018163069557089195, + 1.0 + ], + [ + 0.005359794103829306, + -0.0006247699365112134, + -0.01681951926894968, + 0.009497832474599552, + 0.020766046518736595, + -0.010536819563008533, + 1.0 + ], + [ + 0.017560413612441587, + -0.0010705788353503306, + -0.0346358485052997, + 0.06279734577370594, + 0.049233458916300085, + -0.03254867424777318, + 1.0 + ], + [ + 0.01064265927546228, + -0.006195377608896349, + -0.03983731043825082, + -0.031524361153586304, + 0.03664378453394766, + -0.10438728673295726, + 1.0 + ], + [ + 0.0007578495501630016, + -0.013853332751137565, + -0.02853124006712339, + 0.004195436778446121, + 0.043323845062852216, + -0.09458013732024292, + 1.0 + ], + [ + -0.0009030933754200751, + 0.0007343384267149283, + -0.0025816347804126123, + -0.0061159789723485986, + 0.0023133441891976924, + -0.0007381384763947558, + 1.0 + ], + [ + -0.00038092287378343467, + -6.169612850863449e-05, + 0.0005128216930309548, + 0.0013747788405483322, + -0.0016420340462859927, + -0.0003472394146954816, + 1.0 + ] + ], + "state": [ + [ + 0.2684948444366455, + -0.017585579305887222, + 0.10771527886390686, + 2.904092313843318, + -0.22873665392398831, + 1.5031201839447021, + 1.0 + ], + [ + 0.26849013566970825, + -0.017584552988409996, + 0.10730713605880737, + 2.905650394158908, + -0.22896119952201843, + 1.502766728401184, + 1.0 + ], + [ + 0.26635754108428955, + -0.017310703173279762, + 0.10083342343568802, + 2.9322158714109143, + -0.2324066758155823, + 1.4915452003479004, + 1.0 + ], + [ + 0.26804348826408386, + 0.010482572950422764, + 0.10040272027254105, + 2.950315075116702, + -0.2550338804721833, + 1.4960312843322754, + 1.0 + ], + [ + 0.2685343027114868, + 0.02515224926173687, + 0.09713529050350189, + 2.9866224100166043, + -0.27982008457183843, + 1.4437768459320068, + 1.0 + ], + [ + 0.2717532217502594, + 0.04649011418223381, + 0.09805256128311157, + 2.9956770708137235, + -0.301982432603836, + 1.4236341714859009, + 1.0 + ], + [ + 0.28528881072998047, + 0.06183525547385216, + 0.09593327343463898, + 3.0156211127811154, + -0.34408533573150635, + 1.3377372026443481, + 1.0 + ], + [ + 0.30074211955070496, + 0.07847363501787186, + 0.09396234154701233, + 3.0172225927286824, + -0.365335613489151, + 1.299666166305542, + 1.0 + ], + [ + 0.31337353587150574, + 0.09244685620069504, + 0.08668917417526245, + 2.9987558742337903, + -0.3849349021911621, + 1.2980083227157593, + 1.0 + ], + [ + 0.32668012380599976, + 0.10044240951538086, + 0.08241841197013855, + 3.0030379613214215, + -0.3996632397174835, + 1.289509892463684, + 1.0 + ], + [ + 0.3376915752887726, + 0.10489063709974289, + 0.07089762389659882, + 3.0096478184037885, + -0.3932242393493653, + 1.2922276258468628, + 1.0 + ], + [ + 0.349895715713501, + 0.11576730757951736, + 0.06165360286831856, + 3.024402970569678, + -0.39825141429901123, + 1.2908087968826294, + 1.0 + ], + [ + 0.3605932891368866, + 0.1253904551267624, + 0.05265049636363983, + 3.0454772134595594, + -0.4042996466159821, + 1.2739908695220947, + 1.0 + ], + [ + 0.3658718764781952, + 0.13176168501377106, + 0.04344389587640762, + 3.071086349087306, + -0.40730661153793335, + 1.24853515625, + 1.0 + ], + [ + 0.3670728802680969, + 0.13622793555259705, + 0.04263110086321831, + 3.062241757410117, + -0.42288270592689514, + 1.2549986839294434, + 1.0 + ], + [ + 0.3670854866504669, + 0.13412411510944366, + 0.04237185791134834, + 3.0574357901983937, + -0.4096786081790924, + 1.2549039125442505, + 0.0 + ], + [ + 0.3680369555950165, + 0.12816603481769562, + 0.041595861315727234, + 3.061584251123019, + -0.41329434514045715, + 1.2434276342391968, + 0.0 + ], + [ + 0.36702194809913635, + 0.12106841802597046, + 0.04184940084815025, + 3.080487249540635, + -0.412043035030365, + 1.2365431785583496, + 0.0 + ], + [ + 0.36499685049057007, + 0.11190453171730042, + 0.05360570177435875, + 3.070811526971408, + -0.41906702518463135, + 1.2391289472579956, + 0.0 + ], + [ + 0.36447688937187195, + 0.10565885901451111, + 0.07469666749238968, + 3.0251367335491857, + -0.4381385445594787, + 1.2657544612884521, + 0.0 + ], + [ + 0.36115095019340515, + 0.10087946802377701, + 0.10971897095441818, + 2.9574894924932202, + -0.4811915755271911, + 1.3164900541305542, + 0.0 + ], + [ + 0.3563504219055176, + 0.09099642187356949, + 0.12769930064678192, + 2.9154262115531644, + -0.4892460405826568, + 1.3364291191101074, + 0.0 + ], + [ + 0.35872477293014526, + 0.0710747241973877, + 0.12719786167144775, + 2.915168123441287, + -0.46215370297431946, + 1.2852604389190674, + 0.0 + ], + [ + 0.3638371229171753, + 0.04059845209121704, + 0.12463483214378357, + 2.8980968465381345, + -0.4274082779884338, + 1.2106070518493652, + 0.0 + ], + [ + 0.3621157705783844, + 0.018406961113214493, + 0.1176198273897171, + 2.910917507606097, + -0.4172326624393463, + 1.1151351928710938, + 0.0 + ], + [ + 0.3500734567642212, + 0.0019795994739979506, + 0.09971540421247482, + 2.944780619936534, + -0.38651975989341736, + 1.0514453649520874, + 0.0 + ], + [ + 0.3517593741416931, + -0.01869119144976139, + 0.09873568266630173, + 2.923009144263812, + -0.3718251585960388, + 0.9929838776588441, + 0.0 + ], + [ + 0.3602387309074402, + -0.03297657147049904, + 0.08895862847566605, + 2.8731846531205854, + -0.337430477142334, + 0.9407210946083069, + 0.0 + ], + [ + 0.36723893880844116, + -0.04585236683487892, + 0.07984785735607147, + 2.8204304595761975, + -0.3022862374782563, + 0.8983899950981141, + 0.0 + ], + [ + 0.375584214925766, + -0.052003346383571625, + 0.06293454766273499, + 2.843585880594798, + -0.28707689046859736, + 0.8762803673744202, + 0.0 + ], + [ + 0.38569775223731995, + -0.0702344998717308, + 0.05086017772555351, + 2.8479453047090253, + -0.26624536514282227, + 0.8478488326072693, + 0.0 + ], + [ + 0.39243173599243164, + -0.08341161161661148, + 0.041963715106248856, + 2.841850372152873, + -0.24695041775703433, + 0.8285799026489258, + 0.0 + ], + [ + 0.3960500955581665, + -0.09185849875211716, + 0.041373513638973236, + 2.837047727900096, + -0.2407516688108444, + 0.8141046166419983, + 0.0 + ], + [ + 0.39410436153411865, + -0.09223002940416336, + 0.04212193936109543, + 2.864923032122203, + -0.24774163961410525, + 0.8371037840843201, + 0.0 + ], + [ + 0.3933427035808563, + -0.09281068295240402, + 0.04262164235115051, + 2.8675904889875135, + -0.24976363778114324, + 0.8534927368164064, + 1.0 + ], + [ + 0.3902096748352051, + -0.09051813930273056, + 0.038786858320236206, + 2.8787819762998303, + -0.24254478514194489, + 0.8616070747375488, + 1.0 + ], + [ + 0.38710054755210876, + -0.08639168739318848, + 0.038260988891124725, + 2.9097066541486463, + -0.24541322886943814, + 0.8604636788368225, + 1.0 + ], + [ + 0.3845287561416626, + -0.08252163231372833, + 0.05530277639627457, + 2.9153991808467588, + -0.2631736099720001, + 0.8760244250297546, + 1.0 + ], + [ + 0.38303375244140625, + -0.07055272907018661, + 0.09223063290119171, + 2.9664739688211164, + -0.3036062419414521, + 0.9207991361618042, + 1.0 + ], + [ + 0.37189581990242004, + -0.06365477293729782, + 0.1318162977695465, + 2.901571901636668, + -0.3196663856506348, + 1.0357826948165894, + 1.0 + ], + [ + 0.35093942284584045, + -0.05931873619556427, + 0.15523742139339447, + 2.8728496452146253, + -0.3375711739063263, + 1.1440331935882568, + 1.0 + ], + [ + 0.35023924708366394, + -0.06091293692588806, + 0.15747079253196716, + 2.866267444687434, + -0.3396051824092865, + 1.1454393863677979, + 1.0 + ], + [ + 0.35023409128189087, + -0.061118293553590775, + 0.1568627655506134, + 2.867681475477763, + -0.33793058991432195, + 1.1453204154968262, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05002796649932861, + 0.342884361743927, + 0.561605840921402, + 0.5670906603336334, + 0.5698221921920776, + 0.6116192042827606, + 0.6124871075153351, + 0.6124871075153351, + 0.6124871075153351, + 0.6124871075153351, + 0.6124871075153351, + 0.6124871075153351, + 0.6124871075153351, + 0.6124871075153351, + 0.6124871075153351, + 0.6124871075153351, + 0.6124871075153351, + 0.6124871075153351, + 0.6124871075153351, + 0.5403240621089935, + 0.23085123300552368, + 0.0018453598022460938, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1885", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1885/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1902.json b/annotation/test/1902.json new file mode 100644 index 0000000000000000000000000000000000000000..618a05590c5e0cc6a9c76d871728d136c3b450e3 --- /dev/null +++ b/annotation/test/1902.json @@ -0,0 +1,679 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "MOVE THE BLENDER INSIDE THE VESSEL" + ], + "videos": [ + { + "video_path": "videos/test/1902/rgb.mp4" + } + ], + "action": [ + [ + -0.00048901810689, + -0.00011453334808853556, + 7.398937965095564e-05, + -0.0010418577223938626, + -0.0015132440443283892, + -0.0030365342865613714, + 1.0 + ], + [ + 0.0012392385607889122, + 0.0029957321227600067, + 0.0072591942451156926, + -0.02804845959423172, + -0.020240551001221834, + -0.0013936357033309994, + 1.0 + ], + [ + 0.021434065591523808, + -0.009274730250191364, + 0.0009562771831432773, + -0.0513325894941009, + -0.003930157829599417, + -0.035916176357886645, + 1.0 + ], + [ + 0.027706510614597942, + -0.008942281840798027, + 0.0006119603059360817, + -0.02259042954349257, + -0.00015773851467390114, + -0.021556234814844945, + 1.0 + ], + [ + 0.026525460098471558, + -0.007315869462888864, + 0.002336494763039055, + -0.00786964177375917, + 0.02719066002459071, + -0.0007255293337614886, + 1.0 + ], + [ + 0.02513605300945918, + -0.008778939689263103, + 0.007063581182406545, + -0.019650204443092862, + 0.0237574074610036, + -0.0042159336827591945, + 1.0 + ], + [ + 0.020354649712239197, + -0.006980395377480133, + 0.00846141108136736, + 0.0019005115625776057, + 0.007159241082009779, + 0.011843103536952178, + 1.0 + ], + [ + 0.017042229424868677, + -0.004508039976654851, + 0.012597286949323046, + -0.011700893936635844, + -0.002547023493887106, + 0.013513629406317614, + 1.0 + ], + [ + 0.020340477257175162, + -0.0011687784237729205, + 0.01791824618326088, + -0.05175347425411451, + 0.02914308993673764, + 0.026737910902497754, + 1.0 + ], + [ + 0.012752374651108124, + -0.003353162072853203, + 0.00490242579895798, + -0.02788940195970908, + 0.06610355971785577, + 0.03158598067060239, + 1.0 + ], + [ + 0.0028499513317061117, + -0.005898733666530652, + 0.005671695186004756, + 0.011097718220003622, + 0.06065496985576536, + -0.00836409176637419, + 1.0 + ], + [ + -0.0035979453755967325, + -0.0023148289419396874, + 0.009789582356366188, + 0.0377046413697213, + 0.00793588629979786, + -0.0006301764071373724, + 1.0 + ], + [ + -0.003211547914188837, + -0.00043025368494920116, + 0.0016068460740123402, + 0.058533386442502416, + 0.006510200816002999, + 0.0042943369619477595, + 1.0 + ], + [ + -0.006885108007180307, + -0.004965481361871604, + -0.0009545940678900106, + 0.08856742613451107, + -0.03842710833811918, + -0.027331428499060756, + 1.0 + ], + [ + -0.011695878998585285, + -0.0031262593808099332, + -0.0003261994661300545, + 0.017350588095367124, + -0.012032733612262146, + -0.020036035468096125, + 1.0 + ], + [ + -0.022424744600422084, + -0.020747963925070556, + 0.0023384589398328832, + -0.0031222183888511956, + -0.01611819535401028, + -0.07402230333611162, + 1.0 + ], + [ + -0.013355185599551388, + -0.024802783627022408, + -0.001398700692199051, + 0.013027864239263439, + -0.01548267504045648, + -0.05800731950894419, + 1.0 + ], + [ + -0.018966329727509293, + -0.027846253212832194, + 0.0018335409116829772, + 0.02436008351500064, + -0.02376489990805524, + -0.0743731619500201, + 1.0 + ], + [ + -0.014553097491499536, + -0.015074733276618445, + 0.0027364761582519583, + 0.010565320843545563, + -0.023263572536220144, + -0.05848164349215958, + 1.0 + ], + [ + -0.019004918671237003, + -0.01728643732594609, + 0.003410125208986853, + -0.0012317041417845142, + -0.031615082467626746, + -0.0829159667651175, + 1.0 + ], + [ + -0.011357703342865033, + -0.022245588299428784, + -0.001342302536734057, + 0.019081986864816602, + -0.01372018225516515, + -0.06893987144396188, + 1.0 + ], + [ + -0.002731497605746432, + -0.02283342226027244, + 0.005267589768378875, + 0.023197031603179222, + -0.017570320668402525, + -0.05684896409645775, + 1.0 + ], + [ + 0.0006579268787824831, + -0.019415547645183932, + 0.00518462816883681, + 0.009683891422046603, + -0.011174960681795826, + -0.05490368489293507, + 1.0 + ], + [ + -0.0049483332771992706, + -0.014567204651774454, + 0.0026735653325824457, + 0.00810603134562684, + -0.007739400841957898, + -0.04633208502207, + 1.0 + ], + [ + -0.003189301430616812, + -0.0028355014999142474, + 0.0007006196171690387, + 0.007353564832305323, + -0.015472891575586189, + -0.016054503249682626, + 1.0 + ], + [ + -0.004093093845088666, + -0.00649714544797799, + 0.0007722507573957499, + 0.005339968862291774, + -0.00580528400415339, + -0.027516314828453882, + 1.0 + ], + [ + -0.005737583993807855, + -0.006592555219897294, + 0.0019756743947372574, + -0.015516824960036733, + -0.0070137383223735535, + -0.0261613553909883, + 1.0 + ], + [ + 0.0006179113409850111, + 0.0020287473348865105, + -0.0032748307746695614, + -0.033845270807343904, + 0.00042303710379055674, + 0.00627561382373536, + 1.0 + ], + [ + 0.0039957897248343865, + 0.005832274728697362, + -0.004191020460747699, + -0.04591916628338952, + 0.017954328489661657, + 0.0034696715971458793, + 1.0 + ], + [ + 0.0051310735145830896, + -0.0010994040569665795, + -0.021844354770666236, + -0.0011248682099082215, + 0.05586466323010805, + 0.0019451798828906293, + 1.0 + ], + [ + -0.0015045623961074566, + 0.0005963229873341052, + -0.02022847084757161, + 0.015159624575912663, + 0.04386598734621606, + 0.012878763403015877, + 1.0 + ], + [ + -0.002506167657437883, + -0.0009465700366022593, + -0.0208355768530521, + 0.026354279596955743, + 0.03828223050000915, + 0.002309698466320829, + 1.0 + ], + [ + 0.0010947313190803163, + -0.0004842111801470454, + -0.003564113273253904, + 0.006112880753017715, + 0.009085536779635141, + 0.0014672904605611047, + 1.0 + ], + [ + -0.00012294110803974433, + 0.0002988071589287816, + -3.3088636189030527e-07, + -0.0018836971815816865, + -0.0007766393876572578, + -0.0007440809534485344, + 1.0 + ] + ], + "state": [ + [ + 0.2583322823047638, + 0.0019186233403161168, + 0.10398793965578079, + -2.9649777730279645, + 0.09517358988523483, + -0.8254995346069336, + 1.0 + ], + [ + 0.25809115171432495, + 0.0023653346579521894, + 0.10398193448781967, + -2.9657095988565167, + 0.09612927585840227, + -0.822229266166687, + 1.0 + ], + [ + 0.25719916820526123, + 0.0008581215515732765, + 0.0962270200252533, + -2.993248941498347, + 0.11581250280141829, + -0.8172828555107117, + 1.0 + ], + [ + 0.278592586517334, + -0.008331792429089546, + 0.0941724181175232, + -3.0404794608526906, + 0.11431645601987839, + -0.7809430360794067, + 1.0 + ], + [ + 0.30447274446487427, + -0.02136937715113163, + 0.09130389243364334, + -3.060629801946231, + 0.11227121204137802, + -0.7593449950218201, + 1.0 + ], + [ + 0.328599214553833, + -0.033956002444028854, + 0.08660586178302765, + -3.0686355402045926, + 0.08511084318161011, + -0.7608262300491332, + 1.0 + ], + [ + 0.35273635387420654, + -0.04413536936044693, + 0.07808740437030792, + -3.088054748373576, + 0.06110907718539237, + -0.7583496570587158, + 1.0 + ], + [ + 0.37223273515701294, + -0.05237942188978195, + 0.06878364831209183, + -3.086903581517287, + 0.05458927154541015, + -0.77057683467865, + 1.0 + ], + [ + 0.387574702501297, + -0.06004001572728157, + 0.05554012209177017, + -3.099339014040776, + 0.057866271585226066, + -0.7839533686637877, + 1.0 + ], + [ + 0.402582049369812, + -0.07228615880012512, + 0.03654075041413307, + 3.1304775859513363, + 0.02985590323805809, + -0.8118998408317565, + 1.0 + ], + [ + 0.4136452078819275, + -0.07915837317705154, + 0.031222881749272346, + 3.1016478074067315, + -0.036608766764402396, + -0.8427009582519531, + 1.0 + ], + [ + 0.41991469264030457, + -0.07767408341169357, + 0.025428414344787598, + 3.1122777258330068, + -0.09687915444374083, + -0.8318873643875122, + 1.0 + ], + [ + 0.4196430742740631, + -0.07436638325452805, + 0.015273370780050755, + -3.1332877419241747, + -0.10479312390089034, + -0.8310201168060303, + 1.0 + ], + [ + 0.4179306626319885, + -0.07183212041854858, + 0.013343015685677528, + -3.0742965956502637, + -0.11126644164323807, + -0.835395336151123, + 1.0 + ], + [ + 0.4168705642223358, + -0.06337138265371323, + 0.013856898061931133, + -2.9890330900722226, + -0.07471438497304918, + -0.8054779767990112, + 1.0 + ], + [ + 0.410942018032074, + -0.052811089903116226, + 0.013779139146208763, + -2.973325418429919, + -0.06584849953651428, + -0.7838001847267151, + 1.0 + ], + [ + 0.4097571074962616, + -0.022195469588041306, + 0.013470355421304703, + -2.9818959852033338, + -0.06215386465191841, + -0.707981288433075, + 1.0 + ], + [ + 0.4151592254638672, + 0.005121112335473299, + 0.017955541610717773, + -2.972849669056483, + -0.05597580969333647, + -0.6481598019599915, + 1.0 + ], + [ + 0.4166935384273529, + 0.03877955302596092, + 0.01975904032588005, + -2.953275116282054, + -0.044858649373054504, + -0.5707855224609375, + 1.0 + ], + [ + 0.4127322733402252, + 0.059529680758714676, + 0.019240282475948334, + -2.9457930644326886, + -0.032861441373825066, + -0.5089586377143859, + 1.0 + ], + [ + 0.40473008155822754, + 0.08417180180549622, + 0.01863398216664791, + -2.95055481989915, + -0.017834296450018883, + -0.42148563265800476, + 1.0 + ], + [ + 0.40310904383659363, + 0.10855497419834137, + 0.02397238463163376, + -2.9331848343187055, + -0.017398661002516747, + -0.3511863052845001, + 1.0 + ], + [ + 0.40861159563064575, + 0.13149115443229675, + 0.023495610803365707, + -2.9113566150241574, + -0.011932900175452232, + -0.29193195700645447, + 1.0 + ], + [ + 0.4150296151638031, + 0.15053622424602509, + 0.022886456921696663, + -2.902693571644374, + -0.01355668343603611, + -0.23592264950275424, + 1.0 + ], + [ + 0.41366371512413025, + 0.16607198119163513, + 0.023668747395277023, + -2.8954823931031903, + -0.016981750726699826, + -0.18906861543655396, + 1.0 + ], + [ + 0.4110804498195648, + 0.16954004764556885, + 0.023625902831554413, + -2.8884741385751447, + -0.005883067846298217, + -0.1697293072938919, + 1.0 + ], + [ + 0.4081363081932068, + 0.1766226440668106, + 0.024481207132339478, + -2.8833971341424665, + -0.0071502416394650945, + -0.14163538813591006, + 1.0 + ], + [ + 0.40342891216278076, + 0.18424193561077118, + 0.02421332150697708, + -2.899197967844554, + -0.007045443169772625, + -0.1145498976111412, + 1.0 + ], + [ + 0.40370896458625793, + 0.18143604695796967, + 0.02690974622964859, + -2.933004321652003, + -0.005949664860963821, + -0.12074369937181471, + 1.0 + ], + [ + 0.4068666994571686, + 0.1744309663772583, + 0.029825903475284576, + -2.978852393227168, + -0.0227961428463459, + -0.12785728275775907, + 1.0 + ], + [ + 0.4111502468585968, + 0.17140567302703857, + 0.051671069115400314, + -2.9794795980029782, + -0.07760538905858995, + -0.13885372877120972, + 1.0 + ], + [ + 0.4076058864593506, + 0.16801010072231293, + 0.07136162370443344, + -2.962649243074008, + -0.11880210041999816, + -0.15877062082290647, + 1.0 + ], + [ + 0.402290403842926, + 0.16604876518249512, + 0.09159024059772491, + -2.9350792338424405, + -0.1560567170381546, + -0.167965829372406, + 1.0 + ], + [ + 0.40276390314102173, + 0.16570791602134705, + 0.0953044593334198, + -2.928439052897044, + -0.16464747488498685, + -0.17131006717681882, + 1.0 + ], + [ + 0.40260475873947144, + 0.16543899476528168, + 0.09522227197885513, + -2.93047088583047, + -0.16404575109481812, + -0.17040640115737915, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0025147199630737305, + 0.0005114078521728516, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0025147199630737305, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "1902", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1902/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1906.json b/annotation/test/1906.json new file mode 100644 index 0000000000000000000000000000000000000000..2429080a09b4c84c9c241201a02f5305d527900d --- /dev/null +++ b/annotation/test/1906.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "move drying rack out of sink" + ], + "videos": [ + { + "video_path": "videos/test/1906/rgb.mp4" + } + ], + "action": [ + [ + -0.00029123272167102333, + 6.339065876821354e-05, + 0.0003780353608115715, + -0.00048790788104631174, + -0.0014480444759662463, + -0.0016686056049006353, + 1.0 + ], + [ + -0.0012524498431051455, + -0.0017207370578212126, + 0.021657969666341387, + -0.008396300300783383, + -0.027605374975155104, + -0.005340435856347705, + 1.0 + ], + [ + 0.0005265313112823326, + -0.0044719725184681185, + 0.03238065002299919, + 0.026151234757598358, + 0.056431447376419856, + -0.011223110290366196, + 1.0 + ], + [ + -0.00362248574442123, + -0.00024793609389862827, + 0.024053021886573107, + 0.0014421759613944217, + 0.01777805808500345, + -0.012074829100050973, + 1.0 + ], + [ + -0.0018032835796181826, + -0.0025839935858254083, + 0.014241295972795814, + 0.02084610195462488, + 0.03214106350851217, + -0.015967213549679945, + 1.0 + ], + [ + 0.0024269471250840803, + -0.001540535621935792, + 0.014868713102890585, + 0.03513532223946527, + -0.0145805932637346, + -0.013523060045956957, + 1.0 + ], + [ + 0.0026424263599992433, + 0.002729811041002607, + 0.015097941667170956, + 0.028102024609583172, + -0.015201823933720484, + -0.003405668376403948, + 1.0 + ], + [ + -0.0016317456099852047, + 0.003431457564752688, + 0.01032052613066785, + 0.013728261686737768, + -0.002575181417561689, + -0.007826039798544777, + 1.0 + ], + [ + -0.0016317881499656435, + -0.0002143478762977702, + 0.005062359649035735, + -0.0002964729692550837, + -0.023240830523175538, + -0.018252111046722717, + 0.0 + ], + [ + 0.007848429955423468, + -0.004618238346326622, + 0.00229873662130272, + 0.01696751541088461, + -0.006476884175325111, + -0.04046373186413199, + 0.0 + ], + [ + 0.0006794786882652055, + -0.001074730329738062, + -5.876969243814305e-05, + 7.53812695230485e-05, + 0.0014384067472500697, + -0.003112965976691174, + 0.0 + ], + [ + -0.0006194373757846156, + -0.0009631184157974995, + -0.0005557359619551098, + -0.0006522154280629864, + -0.006198450394939885, + -0.001625451373538795, + 0.0 + ], + [ + 0.0005901987055716306, + -0.001507171512871004, + -0.0020921248625639065, + -0.01274550276176762, + -0.017418739396925252, + -0.0058955015902589485, + 0.0 + ], + [ + -0.0015142423735858917, + 0.00012362735223945854, + -0.0034978388196937, + -0.014008838970850361, + -0.027510544936533786, + 0.023248854905707605, + 0.0 + ], + [ + -0.00413214735772164, + -0.0016070958602904686, + -0.020455381663934125, + -0.011632980396163242, + -0.024442427346570116, + 0.02911457676685746, + 0.0 + ], + [ + -0.004069518894872823, + 0.005385813526573203, + -0.0201687175301742, + 0.03987898803793443, + 0.005192319211993359, + 0.03181153379742258, + 0.0 + ], + [ + -0.00862036877185476, + 0.0033276419754354556, + -0.026350642350361803, + -0.01222092384512887, + -0.024246031361759172, + -0.0029524439682153004, + 0.0 + ], + [ + 0.0030672099175876036, + 0.015843614398774068, + -0.03264875976904757, + -0.0073264894049878985, + 0.011857509748051725, + 0.028431335647889886, + 0.0 + ], + [ + 0.0011424436730909375, + 0.03057494098263709, + -0.019458160040252977, + -0.01133486214658261, + -0.023990086153071775, + 0.01967856826455124, + 0.0 + ], + [ + -0.007933401400774844, + 0.023402320056184197, + -0.0072594180903923205, + 0.008174594786402936, + -0.028367338000308388, + 0.0034702697255706958, + 0.0 + ], + [ + -0.00615438237390656, + 0.0319146861542229, + -0.005233050776321357, + 0.02211604205609686, + -0.028821798809362857, + -0.002030112053490295, + 0.0 + ], + [ + -0.004733795470294484, + 0.03778448063211549, + -0.007362848556885456, + 0.010774879982215246, + -0.02139545338393758, + 0.006762112598621787, + 0.0 + ], + [ + 0.0007842118228110702, + 0.03230929951602521, + 0.011912489464813486, + -0.004288937841201155, + -0.059208636639603025, + -0.0008554705240201514, + 0.0 + ] + ], + "state": [ + [ + 0.3052617907524109, + 0.09336616098880768, + 0.13775792717933655, + 3.032302053766795, + 0.04828384518623352, + 0.014865412376821043, + 1.0 + ], + [ + 0.3049546778202057, + 0.09325733780860901, + 0.13740354776382446, + 3.031886676447936, + 0.04990519583225251, + 0.016367988660931587, + 1.0 + ], + [ + 0.3026316165924072, + 0.0925583690404892, + 0.1157768964767456, + 3.0235630219155034, + 0.07792914658784866, + 0.01865920796990395, + 1.0 + ], + [ + 0.30060088634490967, + 0.09314843267202377, + 0.0831531286239624, + 3.0509297420554837, + 0.0231998972594738, + 0.03643358126282691, + 1.0 + ], + [ + 0.29649627208709717, + 0.09106672555208206, + 0.05926693230867386, + 3.0526822974258145, + 0.006585908122360706, + 0.05006686225533485, + 1.0 + ], + [ + 0.29453495144844055, + 0.0922793447971344, + 0.04486463591456413, + 3.073621595399924, + -0.0240116324275732, + 0.06882204115390779, + 1.0 + ], + [ + 0.29727703332901, + 0.09299672394990921, + 0.029988201335072517, + 3.108454844104596, + -0.00854438729584217, + 0.0813225507736206, + 1.0 + ], + [ + 0.30030062794685364, + 0.09000391513109207, + 0.015012117102742195, + 3.1365283975661775, + 0.006761961616575718, + 0.08422237634658812, + 1.0 + ], + [ + 0.2988983392715454, + 0.08638945966959, + 0.004720370285212994, + -3.132875678251036, + 0.009376536123454569, + 0.09203559160232544, + 1.0 + ], + [ + 0.29720252752304077, + 0.08649250864982605, + -0.00032440584618598223, + -3.1329981676586947, + 0.03245579451322556, + 0.11049440503120424, + 0.0 + ], + [ + 0.3044147193431854, + 0.09195895493030548, + -0.002836859319359064, + -3.1147220992767295, + 0.038558121770620346, + 0.1510416567325592, + 0.0 + ], + [ + 0.30492788553237915, + 0.09312217682600021, + -0.0027754937764257193, + -3.1145282686972102, + 0.03703641518950462, + 0.15411695837974548, + 0.0 + ], + [ + 0.3041920065879822, + 0.09396695345640182, + -0.002171360654756427, + -3.115113569545098, + 0.04318854957818985, + 0.15591119229793549, + 0.0 + ], + [ + 0.3046400547027588, + 0.095506452023983, + -6.753462366759777e-05, + -3.1275807257094463, + 0.060444220900535583, + 0.16227652132511142, + 0.0 + ], + [ + 0.3033847212791443, + 0.09512601047754288, + 0.0035133161582052708, + 3.14021112665581, + 0.08826194703578949, + 0.13933494687080383, + 0.0 + ], + [ + 0.30086684226989746, + 0.09642425179481506, + 0.02425108104944229, + 3.125992953898855, + 0.11262646317481995, + 0.11000946909189223, + 0.0 + ], + [ + 0.2996663749217987, + 0.09119027107954025, + 0.04483042657375336, + -3.120891312258788, + 0.10688174515962601, + 0.07810112833976746, + 0.0 + ], + [ + 0.2942180037498474, + 0.0868796557188034, + 0.07187620550394058, + -3.1327346406229815, + 0.13106082379817963, + 0.08158378303050993, + 0.0 + ], + [ + 0.3027975559234619, + 0.0713951364159584, + 0.10370371490716934, + 3.139365801010751, + 0.11940200626850128, + 0.05284582078456878, + 0.0 + ], + [ + 0.3078656792640686, + 0.041088998317718506, + 0.12295480072498322, + 3.1256560945236167, + 0.14332479238510132, + 0.03291515260934829, + 0.0 + ], + [ + 0.3018735647201538, + 0.017595414072275162, + 0.13164114952087402, + 3.133255846919962, + 0.1716321110725403, + 0.028936257585883137, + 0.0 + ], + [ + 0.29767298698425293, + -0.01440946664661169, + 0.13811039924621582, + -3.127504958892711, + 0.20046955347061157, + 0.03076176904141903, + 0.0 + ], + [ + 0.2955607771873474, + -0.052376847714185715, + 0.14574609696865082, + -3.118045864748307, + 0.22195388376712802, + 0.02414084225893021, + 0.0 + ], + [ + 0.29431015253067017, + -0.08443624526262283, + 0.13321436941623688, + -3.121777769299694, + 0.2811253666877747, + 0.026479620486497882, + 0.0 + ] + ], + "continuous_gripper_state": [ + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.11550527811050415, + 0.4250529408454895, + 0.6818961203098297, + 0.8586209267377853, + 0.9194417595863342, + 0.9174014925956726, + 0.9125204309821129, + 0.9114522784948349, + 0.9114522784948349, + 0.9110944643616676, + 0.9114522784948349, + 0.9110944643616676, + 0.9110944643616676, + 0.9110944643616676, + 0.9110944643616676, + 0.9110944643616676 + ], + "episode_id": "1906", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1906/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/192.json b/annotation/test/192.json new file mode 100644 index 0000000000000000000000000000000000000000..3ca33af241175876129e60134ddf1f5bf1f4ca36 --- /dev/null +++ b/annotation/test/192.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "close microwave" + ], + "videos": [ + { + "video_path": "videos/test/192/rgb.mp4" + } + ], + "action": [ + [ + 1.2129180058455501e-05, + 0.0005760237824491726, + 0.0005358266754826292, + -0.0005997156227656852, + -0.001413415970451815, + -9.889731451574307e-07, + 1.0 + ], + [ + -0.005610110539660005, + 0.0009140511025761352, + 0.00892831857713497, + -0.005358443104355076, + -0.03803777367593054, + 0.0006644444987276961, + 1.0 + ], + [ + -0.00021246027080426693, + -0.007688252087921109, + -0.01003618872951649, + 0.03896915587017095, + -0.02364334297178164, + 0.009885854009697402, + 1.0 + ], + [ + -0.0008852037121477767, + -0.007671818071460365, + -0.02979131391926739, + 0.043763489472593314, + 0.05510765121953615, + 0.0011996715433576868, + 1.0 + ], + [ + -0.004701606247141722, + -0.0077888433276485465, + -0.02096407929715258, + -0.026375943509442307, + 0.023072703688488207, + 0.0018836461226095066, + 1.0 + ], + [ + -0.007054864212738532, + -0.00738687788304463, + -0.029427554289854017, + 0.017367842131578992, + 0.03839624617917941, + -0.0006912854190600844, + 1.0 + ], + [ + -0.0029312520935289095, + -0.006575676108937705, + -0.031166575454140033, + 0.01893496559732652, + -0.026714967384411828, + 0.001571575166300993, + 1.0 + ], + [ + -0.011834692180752464, + -0.0015808683146283414, + -0.017780316282488325, + 0.014306976181495233, + -0.031208553749962096, + -0.012328914707624731, + 1.0 + ], + [ + -0.02405882697143197, + -9.022412306608465e-05, + -0.00899858999230642, + 0.006043139522449474, + -0.005089457256028286, + -0.037026896647359066, + 1.0 + ], + [ + -0.02522625011723314, + 0.0008610646202844724, + 0.008855340421707497, + 0.0051822541169164495, + -0.01919132522698966, + -0.013108613857172852, + 1.0 + ], + [ + -0.025170823061428767, + 0.006734848730789231, + 0.011758470944431, + -0.0038134206062606915, + -0.012247087808808304, + -0.042955490706459244, + 1.0 + ], + [ + -0.01597461166268687, + 0.006917145978147904, + 0.012642269658745812, + -0.00796784349967026, + 0.014143262570938337, + -0.036571232492826115, + 1.0 + ], + [ + -0.004934948019425266, + 0.004723673424734314, + 0.01749971401527388, + -0.015667705053137335, + 0.003975981088732938, + -0.01949348514535143, + 1.0 + ], + [ + 0.0003049153674146118, + 0.0022143523754176828, + 0.018481693757290047, + -0.040108673980172094, + 0.011206127343438163, + -0.008998608068733822, + 1.0 + ], + [ + 0.008530933392672633, + 0.00033111169609781034, + 0.013298062740505432, + -0.029704053155668632, + 0.0062975294323019786, + 0.017162623952400844, + 1.0 + ], + [ + 0.020576379122692817, + -0.0006531258785235076, + 0.011241698859367733, + -0.011035151451623747, + -0.00181917112178269, + 0.035129798871129374, + 1.0 + ], + [ + 0.028782319387978206, + 0.004028149002324944, + 0.0074204591981174295, + -0.011019954864135113, + 0.027076564704057407, + 0.05494235798344937, + 1.0 + ], + [ + 0.030369360882462074, + -0.0017926640159888873, + 0.00642865221980411, + -0.02671946976374124, + 0.0036980119100115086, + 0.0845351481616057, + 1.0 + ], + [ + 0.025801471018835943, + 0.0004006692924655195, + -0.000691368438694316, + 0.004915465250689778, + 0.016442661198370387, + 0.049985065061729464, + 1.0 + ], + [ + 0.021326413573907396, + 0.0017280619280824958, + 0.001121533601894281, + 0.008173569648613372, + 0.035429742756567344, + 0.037058791663364066, + 1.0 + ], + [ + 0.011073031993677021, + 0.0038281898560717097, + -0.0020713267513486544, + 0.015449988581202879, + 0.030725346178409503, + 0.012701251920122253, + 1.0 + ], + [ + 0.00633781538310137, + 0.0009603117598669324, + 0.0005481431713052835, + 0.00726113405895918, + 0.02158086345474813, + 0.008150427001737964, + 1.0 + ], + [ + 0.0038761969169575903, + -0.0002353850946528533, + 0.0005967220803199415, + 0.01906213868552701, + 0.01680086583491913, + 0.008554554615088281, + 1.0 + ], + [ + 0.002426543504360817, + 0.0010986943420350766, + 0.0030457643554657595, + -0.0004583148835789947, + -0.011478341014634356, + 0.0051923221699926424, + 1.0 + ], + [ + 0.0013747420335788226, + 0.0008410849439862877, + -2.9339267053816457e-06, + 0.01573972168564227, + 0.0006334240206854265, + -0.002949669561900557, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -3.7280318480930455e-18, + 5.024987547417199e-17, + 4.0846974673002866e-17, + 1.0 + ], + [ + -0.0005600490433145265, + -0.0002008543800470765, + 0.0003287489578784653, + -0.0012653097254494415, + -0.0011916357260254207, + -0.002248451878069682, + 1.0 + ], + [ + 0.0005592038703912922, + 0.0002025297654030417, + -0.00032915955959530703, + 0.0012679867557074383, + 0.0011887867730518123, + 0.002249959455527629, + 1.0 + ], + [ + -0.00041972529834283587, + 0.0001613808637178119, + 0.0003229925711061166, + -0.0005384930988008146, + -0.0014362712778681129, + 1.8253783671497832e-05, + 1.0 + ], + [ + 0.0002078145484976886, + -0.0007163452373248032, + -0.0003178923652718877, + 0.0010228913060465817, + 0.0012371458737177148, + -0.0014586336694840784, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0149755959721409e-17, + -5.2612757570858235e-18, + -7.8638875044049505e-19, + 1.0 + ], + [ + 0.00021064051020079527, + 0.0005554328709388407, + -6.09712913054237e-06, + -0.00048620574347272135, + 0.00020061034667854667, + 0.0014409473858930592, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -3.7280318480930455e-18, + 5.024987547417199e-17, + 4.0846974673002866e-17, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -3.7280318480930455e-18, + 5.024987547417199e-17, + 4.0846974673002866e-17, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -3.7280318480930455e-18, + 5.024987547417199e-17, + 4.0846974673002866e-17, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -3.7280318480930455e-18, + 5.024987547417199e-17, + 4.0846974673002866e-17, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -3.7280318480930455e-18, + 5.024987547417199e-17, + 4.0846974673002866e-17, + 1.0 + ], + [ + -0.00041972529834283587, + 0.0001613808637178119, + 0.0003229925711061166, + -0.0005384930988008146, + -0.0014362712778681129, + 1.8253783671497832e-05, + 1.0 + ] + ], + "state": [ + [ + 0.36261186003685, + 0.007723892107605934, + 0.10550691187381744, + -3.0842365083568772, + -0.18234951794147491, + -0.2024901807308197, + 1.0 + ], + [ + 0.3626149594783783, + 0.0071675414219498634, + 0.10495056211948395, + -3.084851285564252, + -0.18093848228454587, + -0.20240680873394012, + 1.0 + ], + [ + 0.35870790481567383, + 0.007554622367024422, + 0.0951215848326683, + -3.0904404429071626, + -0.14292407035827637, + -0.200897678732872, + 1.0 + ], + [ + 0.35847780108451843, + 0.014913590624928474, + 0.10540127754211426, + -3.0502160881930074, + -0.1188008189201355, + -0.20962050557136536, + 1.0 + ], + [ + 0.35512179136276245, + 0.020659077912569046, + 0.1354493945837021, + -3.0055656303935727, + -0.173566535115242, + -0.21593426167964935, + 1.0 + ], + [ + 0.34796082973480225, + 0.0272197462618351, + 0.156136155128479, + -3.031027251976081, + -0.1961684376001358, + -0.2210262566804886, + 1.0 + ], + [ + 0.3363901972770691, + 0.03401646018028259, + 0.18424741923809052, + -3.012866499023982, + -0.23440513014793396, + -0.22467510402202606, + 1.0 + ], + [ + 0.3269825875759125, + 0.03875178098678589, + 0.21445107460021973, + -2.9943298270278653, + -0.20770908892154696, + -0.22276300191879272, + 1.0 + ], + [ + 0.31187352538108826, + 0.04110267385840416, + 0.2294473499059677, + -2.983486684160777, + -0.17861787974834445, + -0.2057233452796936, + 1.0 + ], + [ + 0.28687748312950134, + 0.04496242478489876, + 0.2339317798614502, + -2.9842982610040387, + -0.17929428815841672, + -0.1677480489015579, + 1.0 + ], + [ + 0.26405519247055054, + 0.04937150329351425, + 0.22069451212882996, + -2.981989773111888, + -0.16237023472785952, + -0.151584655046463, + 1.0 + ], + [ + 0.24080461263656616, + 0.04808720201253891, + 0.20411285758018494, + -2.993206652002879, + -0.15694224834442141, + -0.10667818039655687, + 1.0 + ], + [ + 0.2266886979341507, + 0.0445983000099659, + 0.18825629353523254, + -3.0066557695441922, + -0.17624369263648987, + -0.07206847518682478, + 1.0 + ], + [ + 0.2248189002275467, + 0.04240069538354874, + 0.16969339549541473, + -3.025694953399249, + -0.1827743500471115, + -0.05296916887164116, + 1.0 + ], + [ + 0.22849348187446594, + 0.042143482714891434, + 0.15144509077072144, + -3.067215586202689, + -0.1949404627084732, + -0.0451798290014267, + 1.0 + ], + [ + 0.2394549697637558, + 0.04230654239654541, + 0.1400633454322815, + -3.0934546535187444, + -0.1999147683382034, + -0.0631200298666954, + 1.0 + ], + [ + 0.26187583804130554, + 0.04208514839410782, + 0.13317528367042542, + -3.097433706867047, + -0.19628360867500302, + -0.09880700707435608, + 1.0 + ], + [ + 0.2910763621330261, + 0.03547573834657669, + 0.1313432902097702, + -3.097303422289439, + -0.22059550881385803, + -0.1562664657831192, + 1.0 + ], + [ + 0.3220427334308624, + 0.03269809111952782, + 0.13179916143417358, + -3.105231588827916, + -0.21974937617778778, + -0.24297240376472473, + 1.0 + ], + [ + 0.3462386131286621, + 0.026262257248163223, + 0.1380835771560669, + -3.089034380512782, + -0.23407861590385437, + -0.2949344217777252, + 1.0 + ], + [ + 0.3658719062805176, + 0.018555795773863792, + 0.14185242354869843, + -3.0715223421626767, + -0.2673315405845642, + -0.33521243929862976, + 1.0 + ], + [ + 0.3742046356201172, + 0.011455568484961987, + 0.14651180803775787, + -3.05195243855054, + -0.2970619201660156, + -0.3507062494754791, + 1.0 + ], + [ + 0.37975794076919556, + 0.008457809686660767, + 0.147762730717659, + -3.0415781681709966, + -0.3178109526634217, + -0.36128363013267517, + 1.0 + ], + [ + 0.38347285985946655, + 0.007368121761828661, + 0.14843231439590454, + -3.0191372131281575, + -0.3336565494537354, + -0.3720664381980896, + 1.0 + ], + [ + 0.38631075620651245, + 0.005489459726959467, + 0.14624395966529846, + -3.0182933305674275, + -0.3216274976730346, + -0.376020222902298, + 1.0 + ], + [ + 0.3872467875480652, + 0.004222123883664608, + 0.14658315479755402, + -3.0035038014226636, + -0.3226175308227539, + -0.3730158507823944, + 1.0 + ], + [ + 0.3872467875480652, + 0.004222123883664608, + 0.14658315479755402, + -3.0035038014226636, + -0.3226175308227539, + -0.3730158507823944, + 1.0 + ], + [ + 0.38692912459373474, + 0.004608664661645889, + 0.1461229920387268, + -3.005568506317683, + -0.32174578309059143, + -0.37049543857574463, + 1.0 + ], + [ + 0.3872467875480652, + 0.004222123883664608, + 0.14658315479755402, + -3.0035038014226636, + -0.3226175308227539, + -0.3730158507823944, + 1.0 + ], + [ + 0.3869350552558899, + 0.004220210947096348, + 0.14612559974193573, + -3.0041021724515637, + -0.3211924135684967, + -0.3728265464305878, + 1.0 + ], + [ + 0.38723984360694885, + 0.004816147498786449, + 0.14658315479755402, + -3.0035038014226636, + -0.3226175308227539, + -0.37148186564445496, + 1.0 + ], + [ + 0.38723984360694885, + 0.004816147498786449, + 0.14658315479755402, + -3.0035038014226636, + -0.3226175308227539, + -0.37148186564445496, + 1.0 + ], + [ + 0.3872467875480652, + 0.004222123883664608, + 0.14658315479755402, + -3.0035038014226636, + -0.3226175308227539, + -0.3730158507823944, + 1.0 + ], + [ + 0.3872467875480652, + 0.004222123883664608, + 0.14658315479755402, + -3.0035038014226636, + -0.3226175308227539, + -0.3730158507823944, + 1.0 + ], + [ + 0.3872467875480652, + 0.004222123883664608, + 0.14658315479755402, + -3.0035038014226636, + -0.3226175308227539, + -0.3730158507823944, + 1.0 + ], + [ + 0.3872467875480652, + 0.004222123883664608, + 0.14658315479755402, + -3.0035038014226636, + -0.3226175308227539, + -0.3730158507823944, + 1.0 + ], + [ + 0.3872467875480652, + 0.004222123883664608, + 0.14658315479755402, + -3.0035038014226636, + -0.3226175308227539, + -0.3730158507823944, + 1.0 + ], + [ + 0.3872467875480652, + 0.004222123883664608, + 0.14658315479755402, + -3.0035038014226636, + -0.3226175308227539, + -0.3730158507823944, + 1.0 + ], + [ + 0.3869350552558899, + 0.004220210947096348, + 0.14612559974193573, + -3.0041021724515637, + -0.3211924135684967, + -0.3728265464305878, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "192", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/192/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1935.json b/annotation/test/1935.json new file mode 100644 index 0000000000000000000000000000000000000000..f21297e824a618f5e865f152ec3aea6481bac944 --- /dev/null +++ b/annotation/test/1935.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "flip cup upright" + ], + "videos": [ + { + "video_path": "videos/test/1935/rgb.mp4" + } + ], + "action": [ + [ + -0.00042794030504638916, + -0.0002911427614926356, + 0.001151901554880801, + 0.003173116560949755, + -0.00331554737641464, + 0.00033589735042405445, + 1.0 + ], + [ + -0.007091201037310148, + 0.00010905276418007662, + 0.015137476721528074, + -0.059533564204704084, + -0.017364271914268915, + 0.02270072058891789, + 1.0 + ], + [ + 0.005601396217158882, + 0.00029151340942015324, + 0.005119692611703776, + -0.11637456814397036, + 0.03892371928509041, + 0.011285620564655553, + 1.0 + ], + [ + 0.004890037475428231, + 0.0015769141240020695, + 0.004582205435485971, + -0.05711792323682603, + 0.035447709473149486, + 0.01856803369736533, + 1.0 + ], + [ + 0.003505636408617785, + -0.0004543495151253344, + 0.003553697232402939, + -0.03237033204362177, + 0.025035047328816302, + 0.011997398814265406, + 1.0 + ], + [ + -0.0006821378174293129, + -0.005130961956803604, + 0.009371951762051942, + -0.03649629528203064, + -0.005720504676357436, + -0.026610213427601843, + 1.0 + ], + [ + -0.0014350111659202519, + -0.003041563240069994, + 0.005170896225189132, + -0.03294310249637788, + -0.01337359091171022, + -0.031588678837000415, + 1.0 + ], + [ + 0.0017135593753435133, + 0.0023456916391276644, + 0.005173589907684093, + -0.05185326800663686, + -0.014057698942221883, + -0.030085795861394888, + 1.0 + ], + [ + 0.0003710018043332899, + 0.003571349064094799, + 0.0062062427756266825, + -0.08474873063974428, + -0.008037525409189717, + -0.030563969634643195, + 1.0 + ], + [ + 0.005147922457472305, + 0.0035617441072525154, + 0.003583508813515088, + -0.07361682078278708, + 0.016658762000391004, + -0.01016136250525066, + 1.0 + ], + [ + -0.0012982212107416, + 0.00046313031161964385, + 0.0028219064745379505, + -0.02001674955203005, + -0.014556805237094066, + -0.0006503416452300295, + 1.0 + ], + [ + 0.0014079505323882097, + 0.002197356274164835, + -0.0002831269278808682, + -0.011157493900516947, + -0.010011585684189294, + 0.0024037829775435146, + 0.0 + ], + [ + 0.006689646539490215, + 0.0007926887655873146, + -0.005503961334748507, + 0.062263273135732475, + 0.0033673532632831084, + 0.03535875095642081, + 0.0 + ], + [ + -0.0021557159720894574, + 0.003033776544769447, + -0.007227485000114066, + 0.17869524059103403, + -0.050101489197191935, + 0.10942186229197731, + 0.0 + ], + [ + 0.009006682836027558, + 0.00809087030421542, + -0.014255208298829447, + 0.19090484762486237, + -0.0062098985918492946, + 0.10056199589585939, + 0.0 + ], + [ + 0.0011026021253486248, + 8.806043457580411e-05, + -0.0036803642642878076, + 0.11892659180205109, + -0.028049236738989868, + 0.05477046773917274, + 0.0 + ], + [ + -0.003952693911747478, + -0.0033657253162483313, + 0.004168031193314259, + 0.04170129135616916, + -0.031176590578261935, + -0.0021968526923491797, + 0.0 + ], + [ + -0.0027663253518512, + 0.00030245172957875274, + 0.007766115703138822, + -0.004449784947422881, + -0.008169174947699438, + -0.004216275139629962, + 0.0 + ], + [ + -0.0052456054369736296, + -0.0045116399331574545, + 0.007285524224702414, + 0.009915121556650818, + -0.006774078009208443, + 0.004566550571973434, + 0.0 + ], + [ + -0.002296540152542794, + -0.0010952754079539715, + 0.0011930979999566016, + 0.007116455793695589, + -0.007987917595108422, + 0.005363967974993426, + 0.0 + ], + [ + -0.00030811843910221354, + -0.00042596852750397034, + -8.615347793706095e-07, + 0.0026756064440681235, + -0.001957872988416156, + 0.005478784062498056, + 0.0 + ], + [ + 0.00018452063456911915, + -0.0004041955321789833, + 3.989326134347521e-05, + 0.00027895076135165276, + -2.1314220357876524e-05, + -0.0015082611055637037, + 1.0 + ], + [ + -0.00039223303840447645, + 0.0002763005185565612, + -4.0154680651210066e-05, + 0.0005237941703492044, + -0.001285476288889073, + 0.0015080734420664865, + 1.0 + ] + ], + "state": [ + [ + 0.2674606442451477, + -0.010821153409779072, + 0.13517199456691742, + 3.060876028733798, + -0.18908227980136869, + 0.6940456032752991, + 1.0 + ], + [ + 0.2671806216239929, + -0.010797474533319473, + 0.13394081592559814, + 3.0641638730936727, + -0.18580457568168637, + 0.6934329271316528, + 1.0 + ], + [ + 0.2647818624973297, + -0.01445503905415535, + 0.11780674010515213, + 3.0091346224122724, + -0.17019422352313995, + 0.6691086888313293, + 1.0 + ], + [ + 0.2703797221183777, + -0.011258662678301334, + 0.11379189044237137, + 2.8937081565433225, + -0.2102641463279724, + 0.6629340052604676, + 1.0 + ], + [ + 0.27644896507263184, + -0.009885602630674839, + 0.11084660142660141, + 2.8384449799829206, + -0.24917428195476535, + 0.653344988822937, + 1.0 + ], + [ + 0.28021863102912903, + -0.007789856754243374, + 0.10829275101423264, + 2.8069981058412274, + -0.2766470313072205, + 0.6492142677307129, + 1.0 + ], + [ + 0.2809191048145294, + -0.005037674214690924, + 0.09796994179487228, + 2.764013262587138, + -0.26242959499359136, + 0.6732935309410095, + 1.0 + ], + [ + 0.28046366572380066, + -0.004222913179546595, + 0.09187262505292892, + 2.724630208807536, + -0.23827354609966278, + 0.6984320878982544, + 1.0 + ], + [ + 0.28514862060546875, + -0.005825623869895935, + 0.08860351145267487, + 2.6675703843408307, + -0.21317936480045319, + 0.7207473516464235, + 1.0 + ], + [ + 0.29000627994537354, + -0.009558731690049171, + 0.08487837016582489, + 2.5778766592317304, + -0.19201806187629697, + 0.7447100281715393, + 1.0 + ], + [ + 0.2972181439399719, + -0.009609774686396122, + 0.08475559204816818, + 2.500862809019633, + -0.20064029097557068, + 0.7625576853752136, + 1.0 + ], + [ + 0.2980060875415802, + -0.011703431606292725, + 0.08255133032798767, + 2.4824518283181867, + -0.18857529759407043, + 0.7542297840118409, + 1.0 + ], + [ + 0.29987025260925293, + -0.012097516097128391, + 0.08435700088739395, + 2.4728114326768598, + -0.18212698400020602, + 0.7460631132125854, + 0.0 + ], + [ + 0.30216771364212036, + -0.006173902656883001, + 0.09029886871576309, + 2.5400781353288373, + -0.20662930607795718, + 0.7198547720909119, + 0.0 + ], + [ + 0.29834985733032227, + -0.007408547215163708, + 0.09736902266740799, + 2.747632088261195, + -0.2255824953317642, + 0.5982174873352051, + 0.0 + ], + [ + 0.3037227988243103, + -0.006166147533804178, + 0.11524026840925217, + 2.9624192883544644, + -0.2573404014110565, + 0.4997366964817047, + 0.0 + ], + [ + 0.3035734295845032, + -0.005599133670330048, + 0.11903826147317886, + 3.0970063154869756, + -0.23904111981391907, + 0.43913373351097107, + 0.0 + ], + [ + 0.2996714413166046, + -0.003922392148524523, + 0.11391113698482513, + 3.1384912281115582, + -0.20779752731323242, + 0.4399556517601013, + 0.0 + ], + [ + 0.2988108992576599, + -0.004688377026468515, + 0.10574233531951904, + 3.1331592445545873, + -0.19961346685886386, + 0.4442313313484192, + 0.0 + ], + [ + 0.2935672104358673, + -0.0022557824850082397, + 0.09752428531646729, + -3.1391769269299736, + -0.19287598133087158, + 0.4395205676555634, + 0.0 + ], + [ + 0.29126670956611633, + -0.0021239768248051405, + 0.09591570496559143, + -3.1310181972854814, + -0.18487234413623807, + 0.4340834319591522, + 0.0 + ], + [ + 0.2908118963241577, + -0.0018653389997780323, + 0.09586434066295624, + -3.1273224699595055, + -0.18285386264324185, + 0.42853313684463495, + 0.0 + ], + [ + 0.2908143997192383, + -0.00141923688352108, + 0.09586434066295624, + -3.1273224699595055, + -0.18285386264324188, + 0.4300671219825745, + 1.0 + ], + [ + 0.29057326912879944, + -0.0018344252603128552, + 0.09582862257957458, + -3.1265232946076473, + -0.18154679238796234, + 0.42855265736579895, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.16556233167648315, + 0.4753316640853882, + 0.688127875328064, + 0.7864164561033249, + 0.8764842823147774, + 0.9052495956420898, + 0.9052495956420898, + 0.9052495956420898, + 0.9052495956420898, + 0.8816799819469452, + 0.768008828163147, + 0.5129536092281342, + 0.21830260753631592, + 0.009293973445892334 + ], + "episode_id": "1935", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1935/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1942.json b/annotation/test/1942.json new file mode 100644 index 0000000000000000000000000000000000000000..02ceb11409a92aba5eb4c5fc731fa5645c82b4dd --- /dev/null +++ b/annotation/test/1942.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "pick up bowl and put in small4fbox" + ], + "videos": [ + { + "video_path": "videos/test/1942/rgb.mp4" + } + ], + "action": [ + [ + -0.00038481375944673766, + -5.7531892461890056e-05, + 0.0003460412286454976, + 0.0005230020184891286, + -0.0013991404993375668, + 0.0003488907833655136, + 1.0 + ], + [ + -0.001709789302768543, + 0.004344832275950591, + 0.017740760512322862, + 0.006100345318469613, + -0.029138675948214007, + 0.04453106506824181, + 1.0 + ], + [ + 0.019634900364358696, + 0.0026684265050105744, + 0.004058549857295499, + -0.021161775640241538, + 0.06342805632795333, + 0.12279208401629918, + 1.0 + ], + [ + 0.013396310834532837, + -0.00848762289259514, + 0.011887434293390954, + -0.030553095094770465, + 0.021187623418375927, + 0.0704473642205431, + 1.0 + ], + [ + 0.010575201623169406, + -0.007869754067457158, + 0.007331774080355253, + -0.03856511239594248, + 0.043438627425800076, + 0.05983748169473638, + 1.0 + ], + [ + 0.0029713543035893198, + 0.0046267598823643554, + 0.016416009173333433, + -0.03890793051702479, + 0.00912783877266758, + -0.013447962055727826, + 1.0 + ], + [ + 0.007685686147513738, + 0.0010439181864388873, + 0.00789298051453795, + -0.01754758776547388, + 0.035149059091060544, + 0.018194412017028757, + 1.0 + ], + [ + 0.0036220029755922446, + -0.004489587616576556, + 0.009618855589360594, + -0.004468840286524583, + 0.03906202245552408, + 0.009413704553808508, + 1.0 + ], + [ + -0.005027528086376292, + -0.007475684786700627, + 0.01672560609798985, + -0.007497536215133606, + -0.014775763128174803, + 0.003120735161086719, + 1.0 + ], + [ + -0.003087255037131276, + -0.0032762456428090826, + 0.008390231176056258, + -0.011138320362257535, + -0.011976632332759767, + -0.013194957193602237, + 1.0 + ], + [ + 0.00043181180511186595, + -0.0003938703805090824, + -0.00025938164533884783, + -0.0016963964785998294, + 0.0016516982599228715, + -0.0020931522814100637, + 0.0 + ], + [ + -0.0031033565324028634, + -0.0037974356108524667, + -0.0021801669269359797, + 0.026085112782051337, + -0.028678086864975562, + 0.004660326454903644, + 0.0 + ], + [ + -0.008170107685879308, + 0.003193995636353998, + -0.008515159374731086, + 0.035453316159525634, + -0.06962463625752803, + -0.026215575469924004, + 0.0 + ], + [ + 0.0015398506124943466, + 0.007519393378230634, + -0.034461609107852, + 0.06575829858860988, + 0.011487890929127042, + -0.00480530126194586, + 0.0 + ], + [ + -0.006985490251363799, + 0.002002472103336946, + -0.01884145845366939, + 0.0452803530855506, + -0.0313490084641546, + -0.037704426301124444, + 0.0 + ], + [ + -0.009342799421100844, + -0.009204360398505753, + -0.022765858424682393, + 0.0474400421045926, + -0.019731440745100963, + -0.06805454888152403, + 0.0 + ], + [ + -0.018470102979090085, + -0.009670430109763647, + -0.008548613412510769, + 0.0384547541583923, + -0.024860112040684133, + -0.023819975963535796, + 0.0 + ], + [ + -0.023108110247274924, + -0.030182703940454005, + 0.0001889527987606273, + 0.010571165181869546, + -0.049121974593343026, + -0.06221663522141903, + 0.0 + ], + [ + -0.01925193197488319, + -0.02881217578105419, + 0.006900822360193884, + 0.031847807210017814, + -0.052893907087232524, + -0.021578989498609143, + 0.0 + ], + [ + -0.016440389486535204, + -0.024040213199822687, + 0.01877992168241156, + 0.011901310412441671, + -0.0912871772646777, + 0.0027556292209368694, + 0.0 + ], + [ + -0.0008515792679512455, + -0.014108731335497162, + 0.010830446966308156, + -0.04864428966945413, + -0.006085159383715582, + 0.019476085346602133, + 0.0 + ], + [ + 0.00047665398246697627, + 0.003772680630435384, + -0.0010577791600447565, + -0.0020318231815752686, + 0.002856740184714305, + 0.009230932097317823, + 1.0 + ], + [ + -0.00015419363350811148, + -0.0009470418602679842, + 0.0002995509840624741, + -0.00023873328989945045, + -0.0008871405798423523, + -0.0029270724551940827, + 1.0 + ] + ], + "state": [ + [ + 0.3641434609889984, + -0.0919468030333519, + 0.09531882405281067, + -2.9444546570354184, + -0.1301151067018509, + 0.0075742267072200775, + 1.0 + ], + [ + 0.36380353569984436, + -0.09182517975568771, + 0.09494359791278839, + -2.9439225514703473, + -0.12867473065853116, + 0.007505566813051701, + 1.0 + ], + [ + 0.36445534229278564, + -0.09259650856256485, + 0.07662650942802429, + -2.9329931010776242, + -0.09126752614974976, + -0.03057141602039337, + 1.0 + ], + [ + 0.3843573331832886, + -0.09497605264186859, + 0.07391170412302017, + -2.9434042294793805, + -0.1271597146987915, + -0.16476815938949585, + 1.0 + ], + [ + 0.4004632830619812, + -0.08684565871953964, + 0.06570761650800705, + -2.965087818103381, + -0.13373205065727234, + -0.23866170644760132, + 1.0 + ], + [ + 0.41353893280029297, + -0.08072851598262787, + 0.06133374199271202, + -2.9948926289849958, + -0.16569837927818298, + -0.3060775399208069, + 1.0 + ], + [ + 0.41833773255348206, + -0.08452857285737991, + 0.04513953626155853, + -3.0358103980594358, + -0.17668187618255615, + -0.2939196527004242, + 1.0 + ], + [ + 0.42685893177986145, + -0.0873216986656189, + 0.038655225187540054, + -3.0493996386700353, + -0.20967081189155576, + -0.3162004053592682, + 1.0 + ], + [ + 0.4337044358253479, + -0.08392595499753952, + 0.030445128679275513, + -3.0510209297114095, + -0.24768219888210297, + -0.32957047224044805, + 1.0 + ], + [ + 0.4356987178325653, + -0.07514072954654694, + 0.013719386421144009, + -3.0580623914771756, + -0.2326843440532684, + -0.33139073848724365, + 1.0 + ], + [ + 0.4359115660190582, + -0.07102098315954208, + 0.005137819331139326, + -3.0725473557882985, + -0.2218266725540161, + -0.3168880343437195, + 1.0 + ], + [ + 0.4363689124584198, + -0.07077627629041672, + 0.005511753726750612, + -3.074689233797141, + -0.22361840307712555, + -0.31486341357231135, + 0.0 + ], + [ + 0.43410763144493103, + -0.06620822846889496, + 0.007192234043031931, + -3.0479592626267156, + -0.19469209015369415, + -0.3176470100879669, + 0.0 + ], + [ + 0.4237477779388428, + -0.06698764860630035, + 0.013636312447488308, + -3.0186890234523496, + -0.12771993875503537, + -0.28483498096466064, + 0.0 + ], + [ + 0.4178612232208252, + -0.0774422436952591, + 0.046841204166412354, + -2.953355537849017, + -0.13970954716205597, + -0.28144150972366333, + 0.0 + ], + [ + 0.40726447105407715, + -0.08009637147188187, + 0.06382566690444946, + -2.914169745641299, + -0.11583854258060457, + -0.23826207220554352, + 0.0 + ], + [ + 0.3964272439479828, + -0.07351841032505035, + 0.08683821558952332, + -2.8754849155717572, + -0.11165474355220796, + -0.1670724004507065, + 0.0 + ], + [ + 0.3783198297023773, + -0.06328274309635162, + 0.09550385922193527, + -2.84036776621873, + -0.09388406574726103, + -0.13742825388908386, + 0.0 + ], + [ + 0.35867199301719666, + -0.031410813331604004, + 0.10207338631153107, + -2.837214918928691, + -0.065156988799572, + -0.06332992017269135, + 0.0 + ], + [ + 0.3412366509437561, + -0.0006898288847878575, + 0.10286690294742584, + -2.8075090070539197, + -0.021118221804499626, + -0.026912167668342594, + 0.0 + ], + [ + 0.3257908225059509, + 0.028605472296476364, + 0.09266320616006851, + -2.7948669513040265, + 0.06602000445127486, + 0.0004502568044699728, + 0.0 + ], + [ + 0.32457777857780457, + 0.04555445909500122, + 0.08733963221311569, + -2.8446275313668927, + 0.07835240662097932, + -0.01584819331765175, + 0.0 + ], + [ + 0.3249835968017578, + 0.04163046181201935, + 0.08721012622117996, + -2.8474310358339032, + 0.07831814885139467, + -0.025540715083479885, + 1.0 + ], + [ + 0.3248543441295624, + 0.042627301067113876, + 0.08721012622117996, + -2.8474310358339032, + 0.07831814885139465, + -0.02247275412082672, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.11984705924987793, + 0.4310172200202942, + 0.7160503268241882, + 0.8842258453369141, + 0.9253794625401497, + 0.9244087263941765, + 0.9197788238525391, + 0.9187651351094246, + 0.9187651351094246, + 0.9187651351094246, + 0.9187651351094246, + 0.8605230152606964, + 0.6505534052848816, + 0.3268251419067383, + 0.04544806480407715 + ], + "episode_id": "1942", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1942/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1944.json b/annotation/test/1944.json new file mode 100644 index 0000000000000000000000000000000000000000..c8400878ab50667e3f113b339090b807ea6ca3ca --- /dev/null +++ b/annotation/test/1944.json @@ -0,0 +1,641 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put knife on cutting board cardboard fence" + ], + "videos": [ + { + "video_path": "videos/test/1944/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -5.931359757525029e-18, + 7.303410917258275e-18, + 5.101504482426524e-17, + 1.0 + ], + [ + -0.005631089561610826, + -0.0019792042818535583, + 0.010133929402238746, + 0.002708535786722633, + -0.04248139659114193, + 0.020080636254778635, + 1.0 + ], + [ + 0.004785914076393785, + -0.015666802991915012, + 0.00355696412717604, + -0.0925936245142429, + -0.023303466140068108, + 0.19086428436027084, + 1.0 + ], + [ + -0.004180766904372019, + -0.023857890758103597, + 0.00359278320452203, + -0.049409238723711654, + -0.02377102251995489, + 0.18367167622200117, + 1.0 + ], + [ + -0.007994228446878925, + -0.009685573215393484, + 0.008065373736231974, + -0.010478753172526898, + -0.008285993773145962, + 0.10691088171325065, + 1.0 + ], + [ + -0.00845116438425212, + -0.02021141828892695, + 0.014452743169788205, + 0.0006012571312468284, + -0.0020894423202055196, + 0.06408858295974373, + 1.0 + ], + [ + -0.0036065051322602716, + -0.014483966219594989, + 0.013300465972611851, + 0.026629131904313104, + -0.0013333327148598456, + 0.0012518434353107686, + 1.0 + ], + [ + -0.0017867746032672153, + -0.00609041748995462, + 0.017033370317429703, + 0.014556237624911312, + -0.0017773502085403803, + 0.030638822414832557, + 1.0 + ], + [ + -0.002638915013280124, + -0.01019994323186939, + 0.009588905096770413, + 0.006801550096689779, + -0.0018857400563292524, + -0.015209343255308915, + 1.0 + ], + [ + 0.0009525642507176389, + -0.006391511427632279, + 0.017735165466810237, + 0.021886081700456122, + -0.013187581340116621, + 0.012814640259220024, + 1.0 + ], + [ + 3.34897388218101e-05, + -0.004869646234028382, + 0.012807022456116318, + 0.036895427651423826, + -0.0017873511993608724, + -0.0002547808665361518, + 1.0 + ], + [ + 0.00032034012017740195, + -0.0007564816349991687, + 0.008942278489017227, + 0.007612373045779105, + -0.007829303034795414, + -0.009489626875314376, + 1.0 + ], + [ + 0.0005798519158082861, + 0.0035412495919064, + 0.0011343532100712454, + -0.03387765903242751, + 0.030869107358851167, + 0.019772135109224296, + 1.0 + ], + [ + -0.004820623040287097, + 0.0049913090127876895, + -0.0037793032868698646, + -0.059481202854935855, + 0.0001705288967441521, + 0.042452817833073156, + 0.0 + ], + [ + 0.008457908974593004, + 0.0030350266157233284, + -0.0218115633219125, + -0.015247659629583023, + 0.04280359988548536, + 0.03962030478271586, + 0.0 + ], + [ + 0.016386982010540597, + 0.008507644291464457, + -0.022699498644180156, + -0.05881241897671164, + 0.03644887955183707, + 0.01225688214263626, + 0.0 + ], + [ + 0.013997167442989495, + 0.0139175624707416, + -0.014956874812673856, + -0.0314696065126911, + 0.020904051852039286, + 0.02339180818180171, + 0.0 + ], + [ + 0.015545001716263017, + 0.02067236859934452, + -0.000983657571035061, + -0.018792142649377012, + -0.02191562195497636, + 0.03776244972851752, + 0.0 + ], + [ + 0.009738458133806195, + 0.02328835387199561, + 0.01444234218764331, + -0.011727656428640154, + -0.04977237188605753, + 0.09720737327522286, + 0.0 + ], + [ + 0.002795453810142347, + 0.014171469069924359, + 0.015097955570851853, + 0.014916010829490418, + -0.044901190052131015, + 0.10019856458928161, + 0.0 + ], + [ + 0.010040543764498658, + 0.0075158398554822856, + 0.02196466099468687, + 0.01392448948881779, + -0.023873819969879126, + -0.021107102360305195, + 0.0 + ], + [ + 0.0079619747680546, + 0.0016461842011421038, + 0.014818184886557388, + 0.03832290131626696, + 0.03127528229256656, + -0.11749490255600491, + 0.0 + ], + [ + 0.0027509741451668306, + 0.003126515702044755, + 0.007501846362846584, + 0.03957314608516779, + -0.014898905218341191, + -0.025770089583231664, + 0.0 + ], + [ + -0.002608287656630651, + 0.005592846959340174, + 0.0016485275704863503, + -0.0024663073702436947, + 0.0024561455257960255, + 0.022354611244251733, + 0.0 + ], + [ + -0.004882907148708182, + 0.008326574593798243, + -0.006634401456978608, + -0.04112090109928564, + -0.0069920326880073234, + 0.008676259235936748, + 1.0 + ], + [ + -0.0006261223569058282, + 0.0017859038247749967, + -0.023776950411255587, + -0.026283583519830817, + 0.042311994344146314, + -0.0026632368573451, + 1.0 + ], + [ + -0.0009388190249485526, + 4.277740574221726e-05, + -0.023113646455484332, + -0.0015769312183902197, + 0.03687872729596271, + -0.05711425208996895, + 1.0 + ], + [ + 0.00920325497344987, + -0.017027147804815426, + -0.033993638266267674, + 0.0954927762508419, + 0.1146407767816554, + -0.18820870270995188, + 1.0 + ], + [ + 0.00990426330275707, + -0.028033542105037175, + -0.017712891447502124, + 0.07626526659101206, + 0.03567533331696064, + -0.15059809805582364, + 1.0 + ], + [ + 0.01135157865086428, + -0.03257860653577869, + -0.013536682396927714, + 0.08153205240544724, + 0.018839317834624707, + -0.12701440617417845, + 1.0 + ], + [ + -0.0005264867859461545, + -0.016835583904018646, + 0.007178920492086771, + 0.048983840575160066, + -0.05448726943313511, + -0.04423122562896762, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 5.113409973088333e-09, + -1.0957429499546448e-08, + -0.0030679616249797885, + 1.0 + ] + ], + "state": [ + [ + 0.2970219552516937, + -0.01049127709120512, + 0.1232459768652916, + -3.079353453713008, + -0.1632484346628189, + 0.32328093051910395, + 1.0 + ], + [ + 0.2970219552516937, + -0.01049127709120512, + 0.1232459768652916, + -3.079353453713008, + -0.1632484346628189, + 0.32328093051910395, + 1.0 + ], + [ + 0.292465478181839, + -0.009269808419048786, + 0.11247242242097855, + -3.0737502445750913, + -0.11957564949989319, + 0.3057742118835449, + 1.0 + ], + [ + 0.2925017476081848, + 0.007385574281215668, + 0.11057437211275101, + 3.138125692150094, + -0.08133570104837419, + 0.11638146638870239, + 1.0 + ], + [ + 0.28589069843292236, + 0.030620373785495758, + 0.10657137632369995, + 3.1036436316841325, + -0.05682835727930068, + -0.0676208510994911, + 1.0 + ], + [ + 0.2790384590625763, + 0.040478505194187164, + 0.09770388901233673, + 3.0994637367599687, + -0.05227057263255119, + -0.17491406202316284, + 1.0 + ], + [ + 0.27492254972457886, + 0.061094120144844055, + 0.08199207484722137, + 3.1035039519243917, + -0.05277280136942864, + -0.23912325501441958, + 1.0 + ], + [ + 0.2754410207271576, + 0.07534376531839371, + 0.06797874718904495, + 3.130201836238154, + -0.051488060504198074, + -0.2404266893863678, + 1.0 + ], + [ + 0.27596670389175415, + 0.0812854990363121, + 0.05080781504511833, + -3.136842392506548, + -0.05003555119037629, + -0.2711221575736999, + 1.0 + ], + [ + 0.2766309380531311, + 0.09173468500375748, + 0.04114742577075958, + -3.1308033700385174, + -0.04821627959609031, + -0.2558863461017608, + 1.0 + ], + [ + 0.2800411581993103, + 0.09764652699232101, + 0.02354869246482849, + -3.1083061193400106, + -0.03488733991980553, + -0.26856455206871027, + 1.0 + ], + [ + 0.2819029688835144, + 0.10262410342693329, + 0.010919686406850815, + -3.0714216028624257, + -0.033109456300735474, + -0.2682502567768097, + 1.0 + ], + [ + 0.2828609049320221, + 0.10379362851381302, + 0.002067918423563242, + -3.0641422440582, + -0.025963099673390385, + -0.25823193788528437, + 1.0 + ], + [ + 0.28257739543914795, + 0.10030757635831833, + 0.0006784952129237354, + -3.097427288191863, + -0.055203601717948914, + -0.28035768866539007, + 1.0 + ], + [ + 0.2763376235961914, + 0.09674158692359924, + 0.0039623454213142395, + 3.128580200607427, + -0.05345048755407334, + -0.32283732295036316, + 0.0 + ], + [ + 0.28236737847328186, + 0.09182357043027878, + 0.026232214644551277, + 3.1154266001009425, + -0.0967249721288681, + -0.362044095993042, + 0.0 + ], + [ + 0.2927490472793579, + 0.0794324204325676, + 0.05062198266386986, + 3.057699391739913, + -0.1334758251905441, + -0.37343651056289673, + 0.0 + ], + [ + 0.2990720570087433, + 0.06340580433607101, + 0.06841227412223816, + 3.029135050373622, + -0.15623502433300016, + -0.3952547609806061, + 0.0 + ], + [ + 0.3049032986164093, + 0.038834650069475174, + 0.07408823072910309, + 3.016685838001319, + -0.1385688483715057, + -0.43561768531799316, + 0.0 + ], + [ + 0.3045691251754761, + 0.011518404819071293, + 0.06411439925432205, + 3.019687036173888, + -0.10054227709770201, + -0.5386969447135925, + 0.0 + ], + [ + 0.2999410927295685, + -0.004241559654474258, + 0.05119936168193817, + 3.0456869547539434, + -0.06758284568786622, + -0.643776535987854, + 0.0 + ], + [ + 0.3033427298069, + -0.01877748966217041, + 0.030781665816903114, + 3.0583354031019887, + -0.041785828769207, + -0.62504243850708, + 0.0 + ], + [ + 0.30860841274261475, + -0.026119474321603775, + 0.01649707928299904, + 3.0922173914783677, + -0.06290625035762787, + -0.5051568746566772, + 0.0 + ], + [ + 0.3097243309020996, + -0.03072810173034668, + 0.00934613961726427, + 3.1302271039509257, + -0.046734075993299484, + -0.4801292717456818, + 0.0 + ], + [ + 0.3048873543739319, + -0.03453565388917923, + 0.007641161791980267, + 3.128807754377373, + -0.049432452768087394, + -0.5024817585945129, + 0.0 + ], + [ + 0.29635244607925415, + -0.03924890607595444, + 0.01413196325302124, + 3.088120514648505, + -0.04255001246929169, + -0.5112544298171998, + 1.0 + ], + [ + 0.2946717441082001, + -0.038893721997737885, + 0.037922170013189316, + 3.061579505103179, + -0.0846586376428604, + -0.5063189268112183, + 1.0 + ], + [ + 0.2930248975753784, + -0.035916782915592194, + 0.0608033761382103, + 3.0549972151690206, + -0.11670468747615813, + -0.4460639953613281, + 1.0 + ], + [ + 0.30645498633384705, + -0.02027709223330021, + 0.09404828399419785, + 3.1282610689573964, + -0.21244725584983826, + -0.24516062438488007, + 1.0 + ], + [ + 0.3191615045070648, + 0.005682294722646475, + 0.11308443546295166, + -3.111216466995426, + -0.243645966053009, + -0.08956014364957811, + 1.0 + ], + [ + 0.3295206129550934, + 0.037033870816230774, + 0.12991397082805634, + -3.061430061357566, + -0.2643304765224457, + 0.041368190199136734, + 1.0 + ], + [ + 0.32981109619140625, + 0.054417140781879425, + 0.12417040765285492, + -3.0253685658150395, + -0.21324540674686432, + 0.09087984263896942, + 1.0 + ], + [ + 0.32981109619140625, + 0.054417140781879425, + 0.12417040765285492, + -3.026029000180312, + -0.21360015869140625, + 0.09399797022342682, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.012741804122924805, + 0.012741804122924805, + 0.012741804122924805, + 0.012741804122924805, + 0.012741804122924805, + 0.012741804122924805, + 0.012741804122924805, + 0.012741804122924805, + 0.012741804122924805, + 0.012741804122924805, + 0.012741804122924805, + 0.012741804122924805, + 0.061691224575042725, + 0.327828049659729, + 0.6020113825798035, + 0.6489039063453674, + 0.622829258441925, + 0.6219725906848907, + 0.6219725906848907, + 0.6219725906848907, + 0.6219725906848907, + 0.6219725906848907, + 0.6219725906848907, + 0.561605840921402, + 0.2799156904220581, + 0.04016828536987305, + 0.012741804122924805, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105 + ], + "episode_id": "1944", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1944/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1950.json b/annotation/test/1950.json new file mode 100644 index 0000000000000000000000000000000000000000..bb5aa6e1c7eda2a1bd894755b0eb06050ddf8d56 --- /dev/null +++ b/annotation/test/1950.json @@ -0,0 +1,622 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Place the green scoop on top of the purple towel." + ], + "videos": [ + { + "video_path": "videos/test/1950/rgb.mp4" + } + ], + "action": [ + [ + -0.0003851321620400097, + 5.471953207360358e-05, + 0.0003532256015312985, + -0.00033506623125943567, + -0.001490621713756883, + -0.0016708261498727625, + 1.0 + ], + [ + -0.0014364163957705182, + 3.086324049453222e-05, + 0.005217361874779264, + -0.0027567377501378667, + -0.018348649760992715, + -0.0073293736340402475, + 1.0 + ], + [ + -0.003892813262021978, + 0.02314126508221581, + 0.01204868721899114, + -0.0022273514862637075, + -0.009152882162119243, + 0.02532444557876704, + 1.0 + ], + [ + -0.002751819504058261, + 0.027531878429170428, + 0.01028596502664121, + -0.08031204484420047, + 0.03827208375884101, + 0.0698222716363779, + 1.0 + ], + [ + -0.00735027107791166, + 0.03897228954531334, + 0.019029181737785686, + -0.006328455652018925, + -0.007933960536225507, + 0.06034488806564825, + 1.0 + ], + [ + -0.006499946548087237, + 0.00799231890601948, + 0.035927903211786016, + 0.01601862048017521, + -0.04921537080457602, + 0.0031864864193996514, + 1.0 + ], + [ + 0.002992526572286287, + 0.005706052211446026, + 0.02306477619079801, + 0.05852241578651032, + -0.017450109661021576, + -0.012325171321544415, + 1.0 + ], + [ + 0.0019074802505585997, + -0.0008773422293797354, + 0.01690598323672118, + 0.0318945752651948, + -0.005864700184917551, + -0.01569767015723619, + 1.0 + ], + [ + -0.002202235294010469, + -0.001341436845906872, + 0.01804283356397644, + 0.017714385247859232, + -0.03283270073208649, + -0.012093620514290868, + 1.0 + ], + [ + 0.000972149992136934, + 0.000181921504544861, + 0.008628081747615054, + 0.008131393695066299, + -0.014037619353553316, + 0.0028245717541877176, + 1.0 + ], + [ + -0.0007496180333365085, + 0.001739575052559603, + 0.010057903310949986, + -0.0067389105706113905, + -0.021263618203931557, + 0.008897849171464562, + 1.0 + ], + [ + 0.0023864577657275667, + 0.0008512687005798512, + 0.00039164197933826226, + -0.005110255096545614, + 0.01475894855628033, + 0.010220873949311912, + 1.0 + ], + [ + -0.0006483406361153038, + 0.0011329526727781973, + -5.373754829646743e-06, + -0.007168023339817569, + -0.004047465089304959, + 0.005749688636159468, + 0.0 + ], + [ + 0.004326597029055733, + -0.0052988821888262806, + -0.018734834548254774, + -0.01787866133449928, + 0.012128214190696006, + 0.010117395664074724, + 0.0 + ], + [ + 0.0281532583155849, + -0.003551229142225568, + -0.04445836983702809, + -0.023181391411011654, + 0.07548129376283966, + 0.02362176155379156, + 0.0 + ], + [ + 0.03333142567804083, + -0.015411634288075547, + -0.019554339388496066, + -0.011231119138888471, + 0.04569339383742514, + -0.04173698113789015, + 0.0 + ], + [ + 0.01709128224002627, + -0.023700279598613948, + 0.01740054046162604, + 0.01618105630849806, + -0.03183308689356653, + -0.055319075755572225, + 0.0 + ], + [ + 0.007101162603829775, + -0.020037423869755898, + 0.016910289257462702, + 0.019275152598331124, + -0.030277902140986388, + -0.042018301056338664, + 0.0 + ], + [ + -0.0027844093451595835, + -0.01716196812878049, + 0.012092334098867199, + 0.019633080125394473, + -0.027909394473549, + -0.04955777475806318, + 0.0 + ], + [ + 0.00552697947810547, + -0.012846953868837954, + 0.004111189458614285, + 0.00865729917299975, + -0.004018079272325474, + -0.016146085894879026, + 0.0 + ], + [ + 0.004958195071534669, + -0.007311371102515453, + -0.002733019345142999, + 0.001056709899628245, + 0.006541556099487514, + -0.011083951818415035, + 0.0 + ], + [ + -0.0007269118097079572, + -0.000438225725978878, + 0.0005869501198380601, + -0.02546602030675242, + -0.021237442306618202, + -0.007294621847823681, + 0.0 + ], + [ + -0.0015843070855170575, + 0.010657608061966447, + -0.00027572336563028214, + -0.022238359163847442, + -0.010064081065346439, + 0.022992135999183712, + 1.0 + ], + [ + -0.0022373951855436188, + 0.011348703153645183, + -0.008941726916866215, + -0.029596201992391342, + -0.004274176508795087, + 0.03523801958416875, + 1.0 + ], + [ + -0.0020852196268878217, + 0.0034946170251355466, + -0.042215301933766054, + 0.0029507380950347735, + 0.07092635004256821, + 0.06583984560100146, + 1.0 + ], + [ + -0.01952662338658282, + -0.005563932671878446, + -0.012870730526220913, + -0.011524747111587871, + 0.012625388175627895, + -0.015649686398083118, + 1.0 + ], + [ + -0.01705951088734725, + -0.0015001229539842896, + 0.0013828129382886705, + 0.010761416630108447, + -0.025126889949422384, + 0.011613308025230185, + 1.0 + ], + [ + -0.014877382977168625, + -0.003411076953921069, + 0.004130821234096709, + 0.023700846562872763, + -0.02919392895626536, + -0.01919948172680413, + 1.0 + ], + [ + -0.0051887966563663466, + -0.005523184245002593, + -0.004368826886838039, + 0.04516051422127342, + 0.005141285724242095, + -0.01929462787593088, + 1.0 + ], + [ + -0.0015700013362742972, + -0.001384006899168144, + -0.0031866018017068995, + 0.0009056090114708334, + 0.010948138479646034, + -0.0004210898565296526, + 1.0 + ], + [ + -0.00013824219406267815, + -0.0011432240239625795, + -3.198281194959141e-05, + 0.0017407694894768706, + -0.00014457581649669296, + -0.002284711453592293, + 1.0 + ] + ], + "state": [ + [ + 0.26835155487060547, + 0.04360172525048256, + 0.16129063069820404, + 3.0968309362703046, + -0.20531941950321198, + -0.013422451913356781, + 1.0 + ], + [ + 0.268045037984848, + 0.04353536292910576, + 0.1608690470457077, + 3.0961622690134725, + -0.20375525951385498, + -0.011786152608692646, + 1.0 + ], + [ + 0.2676895558834076, + 0.043271757662296295, + 0.15547560155391693, + 3.0920631048553666, + -0.18508835136890414, + -0.005186116322875023, + 1.0 + ], + [ + 0.26574409008026123, + 0.019572120159864426, + 0.14405696094036102, + 3.0946631153398236, + -0.17713838815689087, + -0.03134109824895859, + 1.0 + ], + [ + 0.2637419104576111, + -0.008362962864339352, + 0.1347295641899109, + 3.026681201654025, + -0.2182251513004303, + -0.1008879616856575, + 1.0 + ], + [ + 0.2555927038192749, + -0.04864415153861046, + 0.1190454363822937, + 3.0340459515624723, + -0.21684785187244413, + -0.1632051169872284, + 1.0 + ], + [ + 0.25481268763542175, + -0.06047728285193443, + 0.0836009830236435, + 3.0517826845222196, + -0.16825129091739655, + -0.17177103459835052, + 1.0 + ], + [ + 0.2601003348827362, + -0.06926208734512329, + 0.06195921450853348, + 3.1084827465289315, + -0.14975638687610626, + -0.16094130277633667, + 1.0 + ], + [ + 0.2645055651664734, + -0.0696558952331543, + 0.045507486909627914, + 3.138045056146108, + -0.14335717260837555, + -0.14528606832027435, + 1.0 + ], + [ + 0.26508504152297974, + -0.06844966113567352, + 0.027330514043569565, + -3.1291490971394857, + -0.11047147214412689, + -0.13324208557605746, + 1.0 + ], + [ + 0.2669757604598999, + -0.06877829879522324, + 0.01886061765253544, + -3.1207230408960065, + -0.09639940410852432, + -0.13590385019779208, + 1.0 + ], + [ + 0.2669917047023773, + -0.07032401859760284, + 0.008743307553231716, + -3.126642177934297, + -0.07495129108428955, + -0.14437782764434814, + 1.0 + ], + [ + 0.26925504207611084, + -0.0715072900056839, + 0.008518818765878677, + -3.1309667007350406, + -0.08955169469118118, + -0.1548590958118439, + 1.0 + ], + [ + 0.26844286918640137, + -0.07252717018127441, + 0.008454198017716408, + -3.137622613115706, + -0.08544190227985382, + -0.16058629751205444, + 0.0 + ], + [ + 0.27195361256599426, + -0.0678032860159874, + 0.02751072496175766, + 3.1285557468705854, + -0.09752542525529861, + -0.17079955339431765, + 0.0 + ], + [ + 0.29600629210472107, + -0.0677603930234909, + 0.07444930821657181, + 3.107577698426791, + -0.17328296601772306, + -0.19371189177036285, + 0.0 + ], + [ + 0.32809969782829285, + -0.057682231068611145, + 0.09893029183149338, + 3.0887055677645883, + -0.21736587584018704, + -0.1494455188512802, + 0.0 + ], + [ + 0.3519623577594757, + -0.038271475583314896, + 0.08442546427249908, + 3.0931955111497125, + -0.18234007060527802, + -0.09501362591981888, + 0.0 + ], + [ + 0.3639593720436096, + -0.020131953060626984, + 0.06814934313297272, + 3.105061998712369, + -0.14991505444049832, + -0.054070129990577705, + 0.0 + ], + [ + 0.36400890350341797, + -0.0034013036638498306, + 0.05516498535871506, + 3.1174295024299106, + -0.12003813683986662, + -0.005233460571616888, + 0.0 + ], + [ + 0.3700920641422272, + 0.009310908615589142, + 0.05143826827406883, + 3.124155579256364, + -0.11561562865972519, + 0.010918529704213142, + 0.0 + ], + [ + 0.3746360242366791, + 0.016718875616788864, + 0.054597966372966766, + 3.1239117832207164, + -0.12195564806461333, + 0.022198408842086792, + 0.0 + ], + [ + 0.37397751212120056, + 0.017132140696048737, + 0.05391934514045715, + 3.0975963344150266, + -0.10058963298797607, + 0.02914992719888687, + 0.0 + ], + [ + 0.37263715267181396, + 0.006453370209783316, + 0.05450068786740303, + 3.0777285565906247, + -0.09151880443096161, + 0.0056400513276457795, + 1.0 + ], + [ + 0.36958810687065125, + -0.00431889807805419, + 0.06390361487865448, + 3.051423044996806, + -0.08944416791200639, + -0.029941024258732796, + 1.0 + ], + [ + 0.3637397885322571, + -0.003822636092081666, + 0.10590650886297226, + 3.059661904471465, + -0.16584935784339905, + -0.08977613598108292, + 1.0 + ], + [ + 0.3431159555912018, + 0.004659161437302828, + 0.11488530039787292, + 3.0453529452257833, + -0.17712850868701938, + -0.0728824883699417, + 1.0 + ], + [ + 0.3267342150211334, + 0.007219147868454456, + 0.110382579267025, + 3.0585847442322454, + -0.15321640670299527, + -0.08701843023300171, + 1.0 + ], + [ + 0.31302130222320557, + 0.011483890004456043, + 0.10376414656639099, + 3.0796919820183, + -0.12250974774360658, + -0.07018765062093735, + 1.0 + ], + [ + 0.30779972672462463, + 0.0176481232047081, + 0.10711872577667236, + 3.1224522424214562, + -0.12642407417297363, + -0.050454623997211456, + 1.0 + ], + [ + 0.30591922998428345, + 0.01918966695666313, + 0.11005508154630661, + 3.1232764461361846, + -0.13736212253570557, + -0.04981810599565506, + 1.0 + ], + [ + 0.3058378994464874, + 0.020338760688900948, + 0.11004708707332611, + 3.1247018688642463, + -0.13717536628246305, + -0.047514788806438446, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.03274601697921753, + 0.31480199098587036, + 0.5922945439815521, + 0.6098805367946625, + 0.6098805367946625, + 0.6098805367946625, + 0.6098805367946625, + 0.6098805367946625, + 0.6098805367946625, + 0.6107503175735474, + 0.5887347459793091, + 0.2483811378479004, + 0.005884885787963867, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1950", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1950/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1952.json b/annotation/test/1952.json new file mode 100644 index 0000000000000000000000000000000000000000..48136c2a000f7c7b4bc546b58477896126abbbe1 --- /dev/null +++ b/annotation/test/1952.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "pour almonds in pot" + ], + "videos": [ + { + "video_path": "videos/test/1952/rgb.mp4" + } + ], + "action": [ + [ + -0.00036553237918161163, + 1.7871985862997136e-05, + 0.0003625128435346759, + -0.00016939153537912888, + -0.0015215879081678894, + -9.572654471181438e-05, + 1.0 + ], + [ + -0.004371695335258278, + 0.003405389468157501, + 0.004736433585198367, + 0.03279049921022591, + -0.053854200689209174, + 0.0532337405677197, + 1.0 + ], + [ + 0.005916278985978959, + 0.025168998503071572, + -0.001986473904910384, + 0.12275335460989194, + -0.1189331179070189, + 0.24944492101307159, + 1.0 + ], + [ + 0.004992425710868558, + 0.006291415839949795, + 0.0001524236149947075, + 0.07817886617380541, + -0.13999742795411793, + 0.15746589443584322, + 1.0 + ], + [ + 0.015671120644368052, + 0.018651495000844138, + -0.02141694890585813, + 0.1494607987173002, + -0.11000634578283934, + 0.24568369907915744, + 1.0 + ], + [ + 0.012010125307471189, + 0.008866745877665911, + -0.013215394035380171, + 0.12131328009507668, + -0.08918098675080825, + 0.20339940078547988, + 1.0 + ], + [ + 0.011872970499676961, + 7.01848718442044e-05, + -0.004612478076550505, + 0.07257894143428881, + -0.06475228480124554, + 0.12599508039053292, + 1.0 + ], + [ + 0.01757172800540298, + 0.00029381664909970575, + 0.008267461452816, + 0.027901570938166458, + -0.14416422821204453, + 0.10360966111452403, + 1.0 + ], + [ + 0.014931683270421766, + -0.00462344822487079, + 0.008262838902748357, + -0.0321104100337814, + -0.04928426871312825, + 0.10649525909136735, + 1.0 + ], + [ + 0.0029417290540098592, + -0.010226553115359447, + 0.0011274336428524984, + -0.018079629990585887, + -0.003617898792150014, + 0.01601538747397077, + 1.0 + ], + [ + 0.007855058957746618, + -0.011489319871972482, + 0.00566536821420924, + -0.001030457161809673, + -0.039987402432775945, + 0.0018781841408703687, + 1.0 + ], + [ + 0.009914861222278616, + -0.011741830911982064, + 0.020319501674070067, + -0.007000483301511276, + -0.07148480010756542, + -0.013123089679262078, + 1.0 + ], + [ + 0.006394560318287426, + -0.009932589469040635, + 0.013634673582580867, + -0.01828198987871875, + -0.03635213212397354, + -0.011918201981197902, + 1.0 + ], + [ + 0.0035133577617000532, + -0.00219773708110433, + 0.00780584464039064, + -0.013468113043279809, + -0.02047327384632679, + -0.005113709470746974, + 1.0 + ], + [ + -0.0006033488709362804, + 0.0031825331376978735, + 0.007109589781995694, + 0.0060660193757061335, + -0.023376506546420563, + -0.00891214402081138, + 1.0 + ], + [ + -0.00013633389066416315, + 0.0032559744164245355, + 0.008296782223590825, + 0.0040581188693237305, + -0.01910068442222929, + 0.006064020773862153, + 1.0 + ], + [ + 0.0011224099427394512, + 0.0011535214901860038, + 0.007965586814799126, + 0.006595334850705726, + -0.004277136431016549, + -0.015850518943333614, + 1.0 + ], + [ + 0.003228673251194633, + -0.000563592538292345, + 0.005717938594003377, + -0.008177952237388918, + 0.004107067505305638, + -0.023568586433992206, + 1.0 + ], + [ + 0.0003402795412856154, + 0.00043216072543077693, + 0.0005429908998001948, + -0.011684132527343393, + 0.016531301301423402, + 0.007123311179597777, + 0.0 + ], + [ + -0.014051897457594617, + 0.005420555517679611, + -0.009684597342517622, + -0.03727213269793843, + 0.18619761050756944, + 0.09534540281203069, + 0.0 + ], + [ + -0.01874926202964827, + 0.0087109881743379, + -0.015826118473704694, + -0.06224656694324798, + 0.22009846297573535, + 0.15062440681971853, + 0.0 + ], + [ + -0.004296497652231707, + 0.0013274259056032494, + 0.0016631123033748047, + -0.05908126240291467, + 0.2240535535577378, + 0.07292080223757662, + 0.0 + ], + [ + -0.00748641967822198, + -0.004895947614608666, + -0.0046763939389552625, + -0.06897038889415925, + 0.2182215083349878, + 0.11717195389004852, + 0.0 + ], + [ + -0.004884304306331542, + 0.00034657097825429385, + -0.004962482122393228, + -0.03266065703631838, + 0.1919961067807741, + 0.07304623991648182, + 0.0 + ], + [ + 0.0029271164753790573, + 0.001223728433062032, + -0.008053181331562066, + -0.038335184603536535, + 0.10165693291986413, + 0.08252589208863967, + 0.0 + ], + [ + 0.0002624203572646026, + 0.0021168060345290477, + -0.0027469348290105025, + 0.0003029191467684778, + 0.08926581819114705, + 0.07818585240081997, + 0.0 + ], + [ + 0.0015437199880588076, + 0.004108323632361733, + -0.002850878560292477, + -0.007640360075149261, + 0.08436861126047855, + 0.07878107824030392, + 0.0 + ], + [ + 0.0007605595492359109, + -0.0009185062727276327, + 0.005352058676892348, + -0.02370692359322888, + 0.033455375895600166, + 0.0603737350990755, + 0.0 + ], + [ + 0.001652674405549316, + 0.0009773907913094967, + 0.004937618737878839, + -0.07182901706560334, + 0.07749643825840691, + 0.06803541305273343, + 0.0 + ], + [ + -0.0015202412964401447, + -0.0037980073068172434, + -0.004858759870565428, + -0.056636177459111633, + 0.07037504296947762, + 0.041448545804878334, + 0.0 + ], + [ + 0.004381575433870277, + 0.0002499282262792309, + -0.0038070999349068594, + -0.030055612491616524, + 0.04656031154053659, + 0.03357657725553036, + 0.0 + ], + [ + 6.592040751136274e-05, + 0.00037299705627801715, + 0.0003360162097456269, + -0.0025053382727238667, + 0.0015653358885245184, + 0.000967223694732821, + 0.0 + ], + [ + -0.0031926767026233907, + 0.0004220523145426626, + 0.0012664698326029051, + 0.010760551015904164, + -0.02424919454707267, + -0.054258199156450714, + 0.0 + ], + [ + 0.0014945756782369392, + -0.0013135890095710354, + -0.002006002392754073, + 0.16385568558925565, + -0.12340561189682255, + -0.24616139196262582, + 0.0 + ], + [ + -0.007855799398709173, + 0.0005624581504337169, + -0.010716275446386798, + 0.2520129172845835, + -0.07814308414074848, + -0.29659055249997857, + 0.0 + ], + [ + -0.023609238795426153, + -0.0015181646616298837, + -0.0343380579763181, + 0.2865288962568132, + -0.06439264025934331, + -0.2917912149043407, + 0.0 + ], + [ + 0.002539978199146202, + -0.002351081303332042, + -0.008919606190225993, + 0.028638819414514894, + -0.24706490457079602, + -0.17825704104265877, + 0.0 + ], + [ + 0.00946409723439434, + 0.009434449117007781, + -0.000524236366462461, + 0.06621108243981212, + -0.09067079430768066, + 0.02787712155779317, + 0.0 + ] + ], + "state": [ + [ + 0.18374748528003693, + 0.02877054363489151, + 0.11822168529033661, + 3.0769748782091817, + 0.015298893675208092, + 0.09790991991758347, + 1.0 + ], + [ + 0.1833822876214981, + 0.02869323082268238, + 0.11786671727895737, + 3.076805370050021, + 0.016823487356305122, + 0.09790719300508499, + 1.0 + ], + [ + 0.1793188601732254, + 0.02457139641046524, + 0.11343487352132797, + 3.108651826279708, + 0.067093126475811, + 0.041244525462389, + 1.0 + ], + [ + 0.1864398568868637, + -0.0002460103714838624, + 0.11584623157978058, + -3.0680099373036107, + 0.17567795515060425, + -0.21431609988212583, + 1.0 + ], + [ + 0.1898059844970703, + -0.007388507016003132, + 0.11436860263347626, + -3.016882302361079, + 0.3248700201511383, + -0.36749884486198425, + 1.0 + ], + [ + 0.2016984224319458, + -0.03465232625603676, + 0.1273069977760315, + -2.9512538482719144, + 0.454998642206192, + -0.622077465057373, + 1.0 + ], + [ + 0.2079705446958542, + -0.05293992534279823, + 0.1321786642074585, + -2.927765416102954, + 0.5721495151519775, + -0.8387140631675719, + 1.0 + ], + [ + 0.21548964083194733, + -0.0628737211227417, + 0.12952721118927002, + -2.9308681805902204, + 0.6580276489257812, + -0.9766789674758911, + 1.0 + ], + [ + 0.22167828679084778, + -0.06945884227752686, + 0.1123359426856041, + -2.964825930195399, + 0.8184098601341248, + -1.0793452262878418, + 1.0 + ], + [ + 0.22926516830921173, + -0.07090947777032852, + 0.09643182903528214, + -3.107885295646735, + 0.8803195357322693, + -1.2304089069366455, + 1.0 + ], + [ + 0.239359512925148, + -0.06868228316307068, + 0.09366577118635178, + 3.1378949346304914, + 0.884321630001068, + -1.2554718255996704, + 1.0 + ], + [ + 0.2504372000694275, + -0.06566162407398224, + 0.08397230505943298, + 3.1342599607356867, + 0.9242991805076599, + -1.258832573890686, + 1.0 + ], + [ + 0.25830432772636414, + -0.0522867776453495, + 0.06376639008522034, + -3.1374544823826334, + 0.9957621097564697, + -1.235727071762085, + 1.0 + ], + [ + 0.26513025164604187, + -0.04151355102658272, + 0.051007259637117386, + -3.1359970151730856, + 1.0319455862045288, + -1.2122223377227783, + 1.0 + ], + [ + 0.2655143141746521, + -0.036151524633169174, + 0.043992552906274796, + -3.1404080309490716, + 1.0523662567138672, + -1.2016733884811401, + 1.0 + ], + [ + 0.2602168917655945, + -0.03125542402267456, + 0.040991831570863724, + -3.1179988385462245, + 1.075659155845642, + -1.1828629970550537, + 1.0 + ], + [ + 0.2545740306377411, + -0.025534147396683693, + 0.03713415563106537, + -3.124714134382554, + 1.0948673486709595, + -1.1951091289520264, + 1.0 + ], + [ + 0.251211017370224, + -0.019784685224294662, + 0.03247853368520737, + -3.0870031659775456, + 1.0986286401748657, + -1.160099744796753, + 1.0 + ], + [ + 0.25058016180992126, + -0.01614501141011715, + 0.027020366862416267, + -3.0500633512907704, + 1.0927157402038574, + -1.1094189882278442, + 1.0 + ], + [ + 0.25007960200309753, + -0.01599338836967945, + 0.026451295241713524, + -3.077852616208144, + 1.0768353939056396, + -1.1275660991668701, + 0.0 + ], + [ + 0.2452973872423172, + -0.01997210644185543, + 0.043242063373327255, + 3.0188941975408277, + 0.8891662955284119, + -1.2952513694763184, + 0.0 + ], + [ + 0.23917169868946075, + -0.022963665425777435, + 0.06836991012096405, + 2.8356635888391217, + 0.645273268222809, + -1.4442667961120605, + 0.0 + ], + [ + 0.23689594864845276, + -0.019073788076639175, + 0.07000628113746643, + 2.7679222544007978, + 0.40984272956848145, + -1.4451605081558228, + 0.0 + ], + [ + 0.24237945675849915, + -0.012491030618548393, + 0.0753433108329773, + 2.678230347233363, + 0.16400805115699768, + -1.4727623462677002, + 0.0 + ], + [ + 0.24388006329536438, + -0.008255154825747013, + 0.08067325502634048, + 2.6398527940087995, + -0.04016222059726716, + -1.451541781425476, + 0.0 + ], + [ + 0.24697189033031464, + -0.010521038435399532, + 0.08843377232551575, + 2.5997667630487165, + -0.16892209649086, + -1.4749685525894165, + 0.0 + ], + [ + 0.24654603004455566, + -0.010239986702799797, + 0.09187398105859756, + 2.6014412363343915, + -0.2856472134590149, + -1.4965226650238037, + 0.0 + ], + [ + 0.2445089966058731, + -0.010588993318378925, + 0.09668205678462982, + 2.5991929491334638, + -0.3983983695507049, + -1.5224766731262207, + 0.0 + ], + [ + 0.2426639199256897, + -0.013344543986022472, + 0.09231521934270859, + 2.590404065447398, + -0.4579542279243469, + -1.5608177185058594, + 0.0 + ], + [ + 0.2392767071723938, + -0.016494276002049446, + 0.08973206579685211, + 2.5258330424600324, + -0.5595006942749023, + -1.5811097621917725, + 0.0 + ], + [ + 0.24520614743232727, + -0.01432597916573286, + 0.09042759984731674, + 2.4628922065072736, + -0.6408506631851196, + -1.5725377798080444, + 0.0 + ], + [ + 0.2473987638950348, + -0.015976455062627792, + 0.09554844349622726, + 2.4295286258035382, + -0.6981591582298278, + -1.5684690475463867, + 0.0 + ], + [ + 0.24689698219299316, + -0.016034968197345734, + 0.09558265656232834, + 2.4267780502610883, + -0.6999760866165161, + -1.5680891275405884, + 0.0 + ], + [ + 0.24574267864227295, + -0.01403407659381628, + 0.09300597757101059, + 2.4173177798562726, + -0.6458477973937988, + -1.5367146730422974, + 0.0 + ], + [ + 0.24808205664157867, + -0.014767906628549099, + 0.09441030025482178, + 2.512188049154826, + -0.3873176872730255, + -1.4289757013320923, + 0.0 + ], + [ + 0.25236859917640686, + -0.0033767211716622114, + 0.09977079927921295, + 2.701452465849467, + -0.14335933327674866, + -1.2362360954284668, + 0.0 + ], + [ + 0.25838539004325867, + 0.028054531663656235, + 0.12650425732135773, + 2.9665399511628827, + 0.04214135184884072, + -1.001587152481079, + 0.0 + ], + [ + 0.26320189237594604, + 0.027704820036888123, + 0.13476364314556122, + 2.997059794264384, + 0.315957635641098, + -0.8678799271583557, + 0.0 + ], + [ + 0.26232877373695374, + 0.014409936033189297, + 0.13360756635665894, + 3.0490658228569707, + 0.4013887643814087, + -0.9119030237197877, + 0.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.07688909769058228, + 0.14284104108810425, + 0.11377614736557007, + 0.11377614736557007, + 0.11377614736557007, + 0.11377614736557007, + 0.11377614736557007, + 0.11377614736557007, + 0.11377614736557007, + 0.11377614736557007, + 0.11377614736557007, + 0.11377614736557007, + 0.11377614736557007, + 0.11377614736557007, + 0.11377614736557007, + 0.11377614736557007, + 0.11377614736557007, + 0.11377614736557007, + 0.11377614736557007, + 0.11377614736557007, + 0.11377614736557007 + ], + "episode_id": "1952", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1952/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1967.json b/annotation/test/1967.json new file mode 100644 index 0000000000000000000000000000000000000000..a2ccf087f926573096449b22174f940ca7f64000 --- /dev/null +++ b/annotation/test/1967.json @@ -0,0 +1,812 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the cloth under the pan." + ], + "videos": [ + { + "video_path": "videos/test/1967/rgb.mp4" + } + ], + "action": [ + [ + 1.8156890384872582e-05, + 6.546768519076948e-05, + -0.0003505323077581374, + -0.0015178798482485616, + -0.00019023182446389366, + -0.00011396561258906831, + 1.0 + ], + [ + 0.0007080014144741448, + -0.0031053530596841256, + 0.0037167669555781798, + 0.01776133809203141, + -0.001190728349452959, + 0.0027444456025315506, + 1.0 + ], + [ + 0.025143373560618576, + 0.001890805209326508, + 0.0022064435154504998, + 0.0015415032528641687, + 0.01780450126834051, + -0.033573144258085906, + 1.0 + ], + [ + 0.02519336546052993, + 0.0008145106574198742, + 0.003987879563517237, + 0.005236816945997076, + 0.010395097015334627, + -0.027129193482158916, + 1.0 + ], + [ + 0.023201386296421093, + -0.0011933175776157438, + 0.007746023928438339, + 0.021431866108724662, + 0.014096253353010966, + -0.03447429913950902, + 1.0 + ], + [ + 0.02702066156222924, + 0.006117425118849511, + 0.009484125710198516, + 0.021553627066811538, + 0.016356713439201087, + -0.030470707061264257, + 1.0 + ], + [ + 0.02070016713709168, + 0.010965805437018738, + 0.012583137247146197, + 0.014468862783998532, + 0.011199662693683296, + -0.046592381024638696, + 1.0 + ], + [ + 0.015601810713607838, + 0.009345441235502322, + 0.011584473624872717, + 0.011569936721074656, + 0.011074900643904324, + -0.041318076502472836, + 1.0 + ], + [ + 0.018556376544135337, + 0.010969854530082155, + 0.010448297393632901, + 0.006442061953069039, + 0.015292696821344685, + -0.03917142474710675, + 1.0 + ], + [ + 0.016933252302219457, + 0.006450774880421267, + 0.013374688506804337, + 0.022614733684638195, + 0.01915348774823256, + -0.004059860480347569, + 1.0 + ], + [ + 0.00926426498796283, + 0.00023029638810240157, + 0.01641930156596855, + 0.02530112207558214, + 0.009097864485046367, + 0.001060324171865589, + 1.0 + ], + [ + 0.006349303419284698, + -0.0010141554129391242, + 0.01694206776788778, + 0.01399186361242374, + 0.001755244145461338, + 0.012791129767358711, + 1.0 + ], + [ + 0.0066338561964010175, + 0.0006423627658603974, + 0.013932540695530335, + 0.017068274721988033, + 0.006422473473908208, + 0.0036782532371957247, + 1.0 + ], + [ + 0.0015460634839888406, + 0.0018875280692951506, + 0.01240036112815415, + -0.0075195176919956525, + -0.004381403747002735, + -0.006734705846516806, + 1.0 + ], + [ + -0.0007429077380647765, + -0.0024019114230618885, + 0.010088524689109063, + 0.022773015567189654, + 0.007525328843409055, + -0.0018432023206028912, + 1.0 + ], + [ + -0.004185643186093637, + 0.0010895580470842282, + 0.007094433504141586, + 0.0033944199862798647, + -0.0021628715195913147, + -0.0013407414391023258, + 1.0 + ], + [ + -0.0007833800807140304, + -0.001199045395718219, + 0.0007368158380723311, + 0.002374342011422445, + -0.0029492376689451627, + -0.005199331284210438, + 1.0 + ], + [ + -0.004385832166903009, + -0.003361926282532371, + 0.0015731855826114833, + 0.010796227133760952, + -0.005031624673658881, + 0.011173005037581781, + 1.0 + ], + [ + -0.007376535053821571, + -0.00812738643987186, + -0.00143934553132059, + -0.020843393273143336, + -0.02323332911111361, + -0.007822607847644244, + 1.0 + ], + [ + -0.013826337218363684, + -0.007144477876050036, + -0.0014093259060126587, + 0.004283544149746144, + -0.016081668930718124, + 0.012265839844478415, + 1.0 + ], + [ + -0.013751837684788576, + -0.001659914208818954, + -0.0002394558076104802, + 0.0037413739116762, + -0.013503527714965234, + 0.021792201448907166, + 1.0 + ], + [ + -0.01388355415900162, + 0.001215132667945121, + -0.00022781000863416413, + 0.0014978665713950479, + -0.011216566139642704, + 0.031862264575004774, + 1.0 + ], + [ + -0.0128097665898846, + -0.0016432405628585313, + 0.0001798427727716041, + -0.0019567842181745895, + -0.01368671528441187, + 0.016546846447471057, + 1.0 + ], + [ + -0.015211794701940517, + -0.0012627485173367897, + -0.0001249048483381132, + -0.002510374570604765, + -0.011877043099645114, + 0.029214199571453162, + 1.0 + ], + [ + -0.018760730526412146, + -0.0006042067482502621, + 0.0001505559704111903, + 0.0067194408189974065, + -0.009724691061881017, + 0.034635281709793006, + 1.0 + ], + [ + -0.021825946288052442, + -0.0022433331403359205, + -0.0005364297884262254, + 0.002459991737634347, + -0.01799548245740918, + 0.02375099691362911, + 1.0 + ], + [ + -0.024263599651631843, + -0.0011194168982180674, + 0.0006379639825494947, + 0.006445961083678427, + -0.012623925693440634, + 0.04581961182890211, + 1.0 + ], + [ + -0.021962701882140473, + -0.0022412700076851902, + 6.20982015171144e-05, + 0.005067460512814342, + -0.0142942644362709, + 0.03486287063000657, + 1.0 + ], + [ + -0.01773625467114625, + -0.0007056922917259556, + -0.00032961970050195464, + 0.008663252537974033, + -0.012189535259345874, + 0.03494893109635815, + 1.0 + ], + [ + -0.0034932735450583893, + -0.0013991807510529434, + -0.00021648103057291803, + 0.0010248278713897337, + -0.009064298009086539, + -0.012700935283361003, + 1.0 + ], + [ + 0.003169367071708813, + -0.0047938728219892035, + -0.005938713085652326, + -0.004663968963150899, + -0.028297088216193544, + -0.050009389798133214, + 1.0 + ], + [ + 0.013867708714455248, + -0.0020490374144539183, + -0.01193268676877861, + -0.012430165523205833, + 0.011806997577904207, + -0.05821844207987894, + 1.0 + ], + [ + 0.003737320587273971, + 0.0006456292009729313, + -0.0137359585576691, + -0.03190118020997028, + 0.0004546304199247318, + -0.051698899914847336, + 1.0 + ], + [ + 0.0005872429401411652, + -0.0006261664983240768, + -0.006999031520590283, + -0.0011188352393453822, + 0.0068096745452158785, + -0.01825646089802684, + 1.0 + ], + [ + -0.001511176540008766, + 0.003044590703440511, + -0.011196919981250407, + -0.010517145723015939, + -0.004675855110050819, + -0.022165105293206273, + 1.0 + ], + [ + -0.005325058955392159, + 0.005462262684311339, + -0.02353953985314689, + -0.018431745295921228, + 0.01720273962132117, + -0.010857915228484174, + 1.0 + ], + [ + -0.00631597276793707, + 0.005039188353896064, + -0.02074291115308337, + -0.02943239401508929, + -0.0014478010679057727, + -0.009512744742473149, + 1.0 + ], + [ + -0.0071356461868257535, + 0.00158018832029196, + -0.01601613277105712, + -0.0250090168650963, + 0.0003826648865101302, + 0.009913932150986073, + 1.0 + ], + [ + -0.0008171147931170674, + -6.508974921860854e-05, + -0.017035525267839604, + -0.04207184175585384, + -0.008825764542307298, + -0.00928215443275427, + 1.0 + ], + [ + 0.0012591332129124023, + -0.001763016444118254, + -0.00931062237265691, + -0.0009459322727749026, + 0.024989601832696523, + -0.012308134130614788, + 1.0 + ], + [ + 1.9890229921203886e-05, + -0.00012929358460676433, + -0.0007917751694185325, + -0.0015035070354988786, + -0.0003042030237640485, + -0.006119420509118644, + 1.0 + ] + ], + "state": [ + [ + 0.22587847709655762, + -0.04843112826347351, + 0.14148053526878357, + 2.8245048244767865, + -0.03237658739089966, + 1.449927568435669, + 1.0 + ], + [ + 0.22583253681659698, + -0.0484187938272953, + 0.14183440804481506, + 2.82298535306985, + -0.032160304486751556, + 1.4499765634536743, + 1.0 + ], + [ + 0.2241634726524353, + -0.047357480973005295, + 0.13735705614089966, + 2.840843768911906, + -0.03188904002308846, + 1.446995735168457, + 1.0 + ], + [ + 0.2297135442495346, + -0.022673990577459335, + 0.13661222159862518, + 2.8413611968332013, + -0.03892919048666955, + 1.4843618869781494, + 1.0 + ], + [ + 0.23384889960289001, + 0.002375696785748005, + 0.13402682542800903, + 2.8455823381715497, + -0.040820945054292686, + 1.5133754014968872, + 1.0 + ], + [ + 0.23631377518177032, + 0.025771426036953926, + 0.12722289562225342, + 2.8656790276342115, + -0.044222213327884674, + 1.5504971742630005, + 1.0 + ], + [ + 0.2453364133834839, + 0.05291786417365074, + 0.1209658533334732, + 2.8858615179830274, + -0.05163576453924179, + 1.584314227104187, + 1.0 + ], + [ + 0.25884127616882324, + 0.07426010817289352, + 0.1126466915011406, + 2.8981390317254743, + -0.050631001591682434, + 1.6322849988937378, + 1.0 + ], + [ + 0.2696957588195801, + 0.09099554270505905, + 0.10445772111415863, + 2.907754184799739, + -0.05137623846530915, + 1.6751099824905396, + 1.0 + ], + [ + 0.2807465195655823, + 0.11117922514677048, + 0.09779863804578781, + 2.9122333397441587, + -0.057134427130222314, + 1.7168246507644653, + 1.0 + ], + [ + 0.28741395473480225, + 0.12991441786289215, + 0.08722661435604095, + 2.9343375285440167, + -0.0748612880706787, + 1.725155234336853, + 1.0 + ], + [ + 0.2893705666065216, + 0.1407809555530548, + 0.07194384187459946, + 2.9595673849158963, + -0.08398260921239854, + 1.7259926795959473, + 1.0 + ], + [ + 0.2902187705039978, + 0.14874783158302307, + 0.055690065026283264, + 2.974605368571826, + -0.08801794052124022, + 1.713683009147644, + 1.0 + ], + [ + 0.29202625155448914, + 0.1568947285413742, + 0.042694009840488434, + 2.9918967356258115, + -0.09496215730905533, + 1.7111119031906128, + 1.0 + ], + [ + 0.2953313887119293, + 0.16006316244602203, + 0.03091440349817276, + 2.9838067163997373, + -0.08962364494800569, + 1.7171419858932495, + 1.0 + ], + [ + 0.2945258915424347, + 0.16013203561306, + 0.02054879441857338, + 3.006305920081683, + -0.09676545858383179, + 1.7201588153839111, + 1.0 + ], + [ + 0.29706066846847534, + 0.1569729596376419, + 0.01329394243657589, + 3.0095994790368756, + -0.09444146603345871, + 1.7212002277374268, + 1.0 + ], + [ + 0.2960856556892395, + 0.1561211198568344, + 0.012335813604295254, + 3.0115234573655805, + -0.09083252400159836, + 1.7259858846664429, + 1.0 + ], + [ + 0.2936409115791321, + 0.15150101482868195, + 0.009950265288352966, + 3.0233951826863965, + -0.08728627115488052, + 1.7142099142074585, + 1.0 + ], + [ + 0.286541223526001, + 0.14300963282585144, + 0.009776321239769459, + 3.002082051830836, + -0.0632915124297142, + 1.7192463874816895, + 1.0 + ], + [ + 0.2813948094844818, + 0.12826216220855713, + 0.009303143247961998, + 3.0072727372222623, + -0.049065154045820236, + 1.7048475742340088, + 1.0 + ], + [ + 0.28156864643096924, + 0.11442523449659348, + 0.008643669076263905, + 3.0121874084048947, + -0.038587868213653564, + 1.6814274787902832, + 1.0 + ], + [ + 0.28427034616470337, + 0.10075194388628006, + 0.008490491658449173, + 3.015023263292857, + -0.03155488520860671, + 1.6483690738677979, + 1.0 + ], + [ + 0.28365904092788696, + 0.0878746286034584, + 0.007700706832110882, + 3.013647960620471, + -0.0200610775500536, + 1.630224585533142, + 1.0 + ], + [ + 0.2832961678504944, + 0.07261815667152405, + 0.00735833216458559, + 3.0117998888068875, + -0.011998799629509449, + 1.5997329950332642, + 1.0 + ], + [ + 0.28325945138931274, + 0.053852587938308716, + 0.006905756425112486, + 3.0190229659252843, + -0.006830120924860239, + 1.5641305446624756, + 1.0 + ], + [ + 0.28082191944122314, + 0.03204115107655525, + 0.007014806382358074, + 3.021679939823695, + 0.008129091002047062, + 1.5383599996566772, + 1.0 + ], + [ + 0.27900034189224243, + 0.007818449288606644, + 0.006444776896387339, + 3.0278674011402806, + 0.015174271538853644, + 1.4913561344146729, + 1.0 + ], + [ + 0.2750445306301117, + -0.013901096768677235, + 0.00646203150972724, + 3.0324480329924306, + 0.025410875678062446, + 1.4550873041152954, + 1.0 + ], + [ + 0.27226579189300537, + -0.03142160177230835, + 0.007163384463638067, + 3.0402576719694814, + 0.03370527923107147, + 1.4189999103546143, + 1.0 + ], + [ + 0.27034059166908264, + -0.03465648368000984, + 0.007354889065027237, + 3.0416805913024625, + 0.044005580246448524, + 1.4307295083999634, + 1.0 + ], + [ + 0.26550617814064026, + -0.030535988509655, + 0.01264113374054432, + 3.0391572957211217, + 0.07709944248199463, + 1.4777837991714478, + 1.0 + ], + [ + 0.26362937688827515, + -0.01557234488427639, + 0.023198969662189484, + 3.0314620231562337, + 0.07116910070180893, + 1.5370522737503052, + 1.0 + ], + [ + 0.2629205882549286, + -0.010842000134289265, + 0.036622174084186554, + 3.0033737142854413, + 0.07630252838134766, + 1.5886379480361938, + 1.0 + ], + [ + 0.26131656765937805, + -0.009763049893081188, + 0.0434034988284111, + 3.0037304033809384, + 0.07205917686223984, + 1.6077077388763428, + 1.0 + ], + [ + 0.2628175616264343, + -0.010386720299720764, + 0.05499152094125748, + 2.9947824497991284, + 0.07972010225057603, + 1.6290874481201172, + 1.0 + ], + [ + 0.2649717926979065, + -0.013656865805387497, + 0.07942444831132889, + 2.9773997535281858, + 0.06428369879722595, + 1.6423709392547607, + 1.0 + ], + [ + 0.26690155267715454, + -0.01846659928560257, + 0.10107383131980896, + 2.948563115792819, + 0.06726422905921936, + 1.6515398025512695, + 1.0 + ], + [ + 0.2658722996711731, + -0.024612264707684517, + 0.11753901839256287, + 2.9229127933555326, + 0.06498374044895171, + 1.6418629884719849, + 1.0 + ], + [ + 0.2621038258075714, + -0.024616261944174767, + 0.1341727077960968, + 2.881303371983119, + 0.07561131566762923, + 1.6490294933319092, + 1.0 + ], + [ + 0.2578679919242859, + -0.023041602224111557, + 0.14259645342826843, + 2.881705256300517, + 0.05461830273270608, + 1.6673780679702759, + 1.0 + ], + [ + 0.25753533840179443, + -0.023013731464743614, + 0.14332623779773712, + 2.8805253525548657, + 0.05648386850953101, + 1.6732231378555298, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "1967", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1967/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1968.json b/annotation/test/1968.json new file mode 100644 index 0000000000000000000000000000000000000000..ff8c48a8eb5d5db9792057e5d5ee1cfaa133c35a --- /dev/null +++ b/annotation/test/1968.json @@ -0,0 +1,698 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put spatula on plate sink" + ], + "videos": [ + { + "video_path": "videos/test/1968/rgb.mp4" + } + ], + "action": [ + [ + -6.416538842998836e-05, + -0.00013020985310431272, + -0.0004074332356238414, + 0.00011787242731083897, + 8.07902189154418e-05, + -0.0001716545422357775, + 1.0 + ], + [ + -0.002696337002505622, + -0.0024647457995777672, + 0.006082705750829178, + 0.009621101623990373, + -0.014337136021225112, + 0.00749577930530076, + 1.0 + ], + [ + 0.018384761701710068, + -0.01292329201695175, + 0.003141818890316134, + -0.026095676456540443, + 0.05847943332872684, + 0.040620279929071884, + 1.0 + ], + [ + 0.02000247942916138, + -0.010950485338472432, + 0.006098299000643242, + -0.016243149769461715, + -0.03775383070331644, + 0.08581395980474582, + 1.0 + ], + [ + 0.011490497313902656, + -0.010535457142065508, + 0.009826566386245168, + -0.03004602223293929, + -0.014672433400675639, + 0.2048714007454481, + 1.0 + ], + [ + 0.008202952648682486, + -0.01673886310187011, + 0.013776877325835046, + 0.041736939366206476, + -0.03585642723825492, + 0.1847388142378082, + 1.0 + ], + [ + -0.0015531917093721272, + -0.022413042010968637, + 0.008031567942930331, + 0.03907054704500323, + 0.05332490459188531, + 0.15171151947890932, + 1.0 + ], + [ + 0.00046032641587804977, + -0.022598519351931756, + 0.011447728799211594, + 7.629221766052329e-05, + -0.03883771941828744, + 0.023865943754674025, + 1.0 + ], + [ + 0.007334263434267272, + -0.01558837567668079, + 0.004842650588603384, + 0.08207278306210593, + 0.06131836669300669, + -0.0028600701462194135, + 1.0 + ], + [ + -0.004214129822558214, + -0.0031404274942764348, + 0.021081678300188457, + 0.0012077662556279096, + -0.04950008338706365, + 0.009865752670039796, + 1.0 + ], + [ + -0.003022779752513909, + -0.0028493362042390884, + 0.01067747975031526, + 0.011191434813979084, + -0.018791425273486793, + 0.029847303289650823, + 1.0 + ], + [ + 0.0031444253705186125, + -0.009884814546365483, + 0.008967867476428387, + 0.036050484183737894, + -0.010823661633502044, + 0.007481053580111186, + 1.0 + ], + [ + -0.0008691041526186705, + -0.004465388569846683, + 0.0032550597555930693, + -0.008094851548739849, + -0.034363519047262536, + -0.011850167059956247, + 1.0 + ], + [ + -0.00021305603779853943, + -0.0020586919259151406, + 0.002635484430929376, + 0.013003325029691148, + -0.008047853952667978, + 0.0031589129007905947, + 1.0 + ], + [ + -0.0006654256692775148, + -0.003190070564875996, + 0.0013539127991561216, + -0.006479808253757185, + -0.0063999407470001005, + -0.028993815582484792, + 1.0 + ], + [ + -0.00034154056199958564, + -0.0006596502874590759, + 0.00022686557961763146, + -0.0013657468475435587, + 0.0011285402584273756, + -0.006897235585304473, + 0.0 + ], + [ + 0.0017515015229607551, + -0.00090127380150614, + -0.0023338726716819074, + 0.0026900202700799714, + 0.013154051516671724, + -0.032856311230512955, + 0.0 + ], + [ + 0.005157816865594999, + -0.003037650883289105, + -0.015956398182141583, + 0.004218623807498038, + 0.04566237479189383, + -0.02751623415657978, + 0.0 + ], + [ + 0.00297523106561741, + 0.007364972929018299, + -0.018151112194332315, + 0.0056533218164147485, + 0.06771679260235597, + -0.029326676623434182, + 0.0 + ], + [ + 0.00014410654544587664, + 0.015681428049564104, + -0.01816688448525422, + -0.023967615976085876, + 0.03810740769938435, + -0.012794615751987466, + 0.0 + ], + [ + -0.00370331236108187, + 0.02168018880207172, + -0.01079485378842699, + -0.02723686057200704, + 0.0025216730706141607, + -0.007618336361599911, + 0.0 + ], + [ + -0.009201218325582008, + 0.025616470344890153, + -0.005120326904971062, + -0.04130596745463026, + 0.009624871694839773, + -0.022379125388472674, + 0.0 + ], + [ + 0.00738053438509437, + 0.019061146624984853, + -0.0022449646329868785, + -0.02289531052607048, + 0.019618864421119635, + -0.0573465995649863, + 0.0 + ], + [ + 0.006364562269295539, + 0.01407371830486982, + 0.011623947685053954, + 0.014887958089243477, + -0.028399972861021278, + -0.1109604575126935, + 0.0 + ], + [ + 0.004080540590661073, + 0.008116609192414356, + 0.009882789498395392, + 0.019444017507640195, + -0.03932619314581649, + -0.037507443061516474, + 0.0 + ], + [ + 0.0018489930595235113, + 0.00227458193782023, + 0.010425793319525053, + 0.020497349137558702, + -0.01346270453096095, + -0.03899755350264845, + 0.0 + ], + [ + -0.00027007611481628306, + 0.003959885720813621, + 0.001153050608036785, + -0.014624534270310977, + 0.00020020162260530477, + -0.006308232394536578, + 0.0 + ], + [ + -0.002656255440767393, + 0.002321113023931988, + 0.005611593055485527, + -0.005853443635025231, + -0.01312117579595039, + -0.024225106807112484, + 0.0 + ], + [ + -0.001542380266590877, + -8.577868886244811e-05, + -0.0011024924199575555, + 0.001856395484897569, + -0.01968236567955586, + -0.029248425013588857, + 0.0 + ], + [ + -0.003333919595417239, + -0.0036506649496526084, + -0.004352143484173505, + 0.005242561480765687, + -0.016049803001392932, + -0.007637744654259712, + 1.0 + ], + [ + 0.0026374842450517513, + -0.006626084942096222, + -0.013961776863342148, + -0.014921642946660707, + -0.015799955387056433, + -0.031027932864558017, + 1.0 + ], + [ + 0.007898568794004517, + -0.0045347757642508766, + -0.01191382707688403, + -0.023981971455089054, + 0.01262400158375522, + -0.01817549732051102, + 1.0 + ], + [ + 0.00995474123126539, + -0.007374398202943982, + -0.008780980939206755, + -0.0266473088634802, + -0.012029036030486415, + -0.027695774893815334, + 1.0 + ], + [ + 0.0013866195160425095, + -0.005229641261184803, + -0.0033814825803708455, + -0.016478657268979843, + -0.00761282991304132, + 0.006025976864768842, + 1.0 + ], + [ + 0.0028913699552312174, + -0.00044365468981293673, + -0.007417165417475589, + -0.003337315702106015, + 0.021105268295292003, + 0.001835839789248792, + 1.0 + ] + ], + "state": [ + [ + 0.25553083419799805, + -0.10077580064535141, + 0.06692800670862198, + -3.1172823460125407, + -0.15794830024242404, + 0.18571022152900696, + 1.0 + ], + [ + 0.2553828954696655, + -0.10068122297525406, + 0.06732328236103058, + -3.117191493632742, + -0.15803323686122894, + 0.18588200211524963, + 1.0 + ], + [ + 0.25321441888809204, + -0.09843079745769501, + 0.06095321103930473, + -3.106432585167237, + -0.14351342618465424, + 0.17866483330726624, + 1.0 + ], + [ + 0.2691836357116699, + -0.08231046050786972, + 0.06092464551329613, + -3.1262772932001432, + -0.20039670169353485, + 0.13521267473697662, + 1.0 + ], + [ + 0.2882879674434662, + -0.06856714189052582, + 0.05909509211778641, + -3.1253986974530896, + -0.16060324013233188, + 0.04893727973103524, + 1.0 + ], + [ + 0.3006359934806824, + -0.057256363332271576, + 0.051402151584625244, + -3.1229647529595574, + -0.13926956057548523, + -0.15767084062099454, + 1.0 + ], + [ + 0.3131726086139679, + -0.04204355925321579, + 0.039208538830280304, + -3.056000458198138, + -0.09764330089092256, + -0.3424682319164276, + 1.0 + ], + [ + 0.32000505924224854, + -0.020042777061462402, + 0.03299998492002487, + -3.0025888850265225, + -0.1366681307554245, + -0.49949023127555847, + 1.0 + ], + [ + 0.3328663408756256, + 0.00024189695250242949, + 0.02493308298289776, + -2.999932425218173, + -0.09487579017877579, + -0.5178094506263733, + 1.0 + ], + [ + 0.347400963306427, + 0.010509558022022247, + 0.023046279326081276, + -2.9170338084274015, + -0.15598133206367493, + -0.5237069129943848, + 1.0 + ], + [ + 0.3503454625606537, + 0.017765507102012634, + 0.002779571106657386, + -2.9157669862085065, + -0.1055280789732933, + -0.522287130355835, + 1.0 + ], + [ + 0.3512100279331207, + 0.02323060855269432, + -0.007252860348671675, + -2.9019768853955945, + -0.08049857616424562, + -0.5472431778907776, + 1.0 + ], + [ + 0.360427588224411, + 0.031351011246442795, + -0.013345089741051197, + -2.86553609569604, + -0.06820780783891676, + -0.5519522428512573, + 1.0 + ], + [ + 0.3625183701515198, + 0.03615102916955948, + -0.015314584597945213, + -2.8749412318044385, + -0.038360688835382455, + -0.5311765670776366, + 1.0 + ], + [ + 0.3637586832046509, + 0.03853108733892441, + -0.017321156337857246, + -2.8618936260514936, + -0.029764864593744278, + -0.5321035385131836, + 1.0 + ], + [ + 0.3649415075778961, + 0.04182646796107292, + -0.01776139996945858, + -2.8693758865171155, + -0.03160353749990463, + -0.5024549961090088, + 1.0 + ], + [ + 0.3649788200855255, + 0.04260052740573883, + -0.01781332492828369, + -2.8709475119882306, + -0.03454431518912315, + -0.4961113929748535, + 0.0 + ], + [ + 0.3665589988231659, + 0.042023248970508575, + -0.01526444312185049, + -2.8693168481164655, + -0.055989023298025124, + -0.46792832016944885, + 0.0 + ], + [ + 0.36973097920417786, + 0.038890495896339417, + 0.0011843087850138545, + -2.865635188417979, + -0.10736203193664552, + -0.4536494612693787, + 0.0 + ], + [ + 0.36562806367874146, + 0.02750508114695549, + 0.016871759667992592, + -2.860405447083064, + -0.1804981380701065, + -0.4437771141529083, + 0.0 + ], + [ + 0.35499894618988037, + 0.010294878855347633, + 0.029786651954054832, + -2.8844786306195935, + -0.2206583917140961, + -0.44202384352684027, + 0.0 + ], + [ + 0.3406144976615906, + -0.00913155172020197, + 0.033783577382564545, + -2.9132309575849256, + -0.22502934932708737, + -0.43512323498725886, + 0.0 + ], + [ + 0.3216390907764435, + -0.02910471521317959, + 0.030939215794205666, + -2.959077017503329, + -0.23942607641220096, + -0.41492941975593567, + 0.0 + ], + [ + 0.32075172662734985, + -0.0496416799724102, + 0.03147318959236145, + -2.995186062651225, + -0.2687799632549286, + -0.360144317150116, + 0.0 + ], + [ + 0.32555317878723145, + -0.0645153671503067, + 0.020097212865948677, + -3.0123901834064206, + -0.2550564408302307, + -0.2424265146255493, + 0.0 + ], + [ + 0.33041617274284363, + -0.07269766181707382, + 0.010631430894136429, + -3.003885882096835, + -0.22065842151641843, + -0.19914084672927856, + 0.0 + ], + [ + 0.33430472016334534, + -0.07432088255882263, + 0.0006547571974806488, + -2.9925499131255826, + -0.21249152719974515, + -0.15773491561412809, + 0.0 + ], + [ + 0.33381572365760803, + -0.07803494483232498, + -0.0010916063329204917, + -3.0085171480947217, + -0.2136220633983612, + -0.15138193964958188, + 0.0 + ], + [ + 0.3322450816631317, + -0.07936937361955643, + -0.007391258608549833, + -3.019977534311362, + -0.2037590146064758, + -0.12508760392665863, + 0.0 + ], + [ + 0.33051854372024536, + -0.07920125871896744, + -0.006621460895985365, + -3.024628186719962, + -0.1876680552959442, + -0.09311053901910782, + 0.0 + ], + [ + 0.32666516304016113, + -0.07571002840995789, + -0.002578405663371086, + -3.021167019503661, + -0.17261074483394623, + -0.08351032435894012, + 1.0 + ], + [ + 0.32715460658073425, + -0.07083305716514587, + 0.012313475832343102, + -3.0418269505077085, + -0.16055904328823092, + -0.05038582533597947, + 1.0 + ], + [ + 0.33314427733421326, + -0.06780527532100677, + 0.02572418935596943, + -3.068546952801295, + -0.17490749061107635, + -0.03329894319176674, + 1.0 + ], + [ + 0.34154850244522095, + -0.061367616057395935, + 0.03661040961742401, + -3.1002455969625196, + -0.16485987603664398, + -0.004409013316035271, + 1.0 + ], + [ + 0.34234878420829773, + -0.05628569796681404, + 0.040383994579315186, + -3.1157756132357797, + -0.15700176358222961, + -0.010186039842665195, + 1.0 + ], + [ + 0.3440459370613098, + -0.05605093389749527, + 0.04817089065909386, + -3.118729122104593, + -0.17805215716362, + -0.012603859417140484, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.055433034896850586, + 0.350921094417572, + 0.6579259634017944, + 0.8624088764190674, + 0.943258099257946, + 0.9475481435656548, + 0.9448897764086723, + 0.9440774396061897, + 0.9440774396061897, + 0.9440774396061897, + 0.9440774396061897, + 0.9440774396061897, + 0.9440774396061897, + 0.9440774396061897, + 0.9221144318580627, + 0.7693084329366684, + 0.5033895373344421, + 0.1850646734237671, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1968", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1968/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1978.json b/annotation/test/1978.json new file mode 100644 index 0000000000000000000000000000000000000000..1ea6bcb760af71786aa4d66734d9117d5b1f055a --- /dev/null +++ b/annotation/test/1978.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "open book" + ], + "videos": [ + { + "video_path": "videos/test/1978/rgb.mp4" + } + ], + "action": [ + [ + -0.0001575452601866715, + -0.00012889103568971606, + 0.001220991845358829, + 0.0007683691247211191, + -0.002962500764402702, + -0.0002147894923397513, + 1.0 + ], + [ + -0.009087777585073285, + -0.001927791699736616, + 0.016221347262206375, + -0.001453077853506224, + -0.061388181262182435, + -0.013920694853428572, + 1.0 + ], + [ + -0.010368769155472597, + -0.0014878776400981699, + -0.022511510500573217, + -0.07468089781216683, + 0.0035041688061781145, + -0.02814409108034608, + 1.0 + ], + [ + -0.013652739924713381, + 0.008192754067828411, + -0.04536016047988668, + -0.06448889251498903, + 0.08932940943822791, + 0.025325252060717295, + 1.0 + ], + [ + -0.014468455588573704, + 0.012883395063147238, + -0.025989153415782625, + -0.051403130776921845, + 0.029801132038584806, + 0.050896979076234486, + 1.0 + ], + [ + -0.01191605954553799, + 0.011286101267519517, + -0.014020923284630449, + -0.014024214108062377, + -0.002277212185356869, + 0.05399264660549963, + 1.0 + ], + [ + -0.01792222333985675, + 0.02503042767659204, + 0.025705615705946937, + 0.09455235476127229, + -0.029662080251776572, + 0.045142659864254114, + 1.0 + ], + [ + -0.0009748326968751506, + 0.01066386457080732, + 0.038346152065944286, + 0.1272802923051581, + -0.03246990108690142, + -0.019622639331487043, + 1.0 + ], + [ + 0.0034349321998641247, + 0.017561999310496505, + 0.02784009000724361, + 0.13928627572058863, + 0.014314288494222014, + 0.023613325564312435, + 1.0 + ], + [ + -0.0034460048806484902, + 0.009484009836380671, + 0.02612472595233991, + 0.1896154788995533, + 0.016236867330931364, + 0.039383712502053435, + 1.0 + ], + [ + 0.005442950543127798, + -0.004311422732214508, + 0.0187518141640394, + 0.09797953418468482, + 0.005551672577964165, + -0.012662866656319714, + 1.0 + ], + [ + 0.004883220023304065, + 0.0026336741452017325, + 0.008662255296394994, + 0.06867554826926581, + 0.048872600334363324, + -0.0221175920705601, + 1.0 + ], + [ + 0.0014007882466958517, + -0.014002572969794276, + 0.00809573916651111, + 0.027287434539676626, + -0.01906267039260968, + -0.019844891746875547, + 1.0 + ], + [ + -0.004364385939398026, + -0.01250761104860105, + 0.00042736439815339346, + 0.010803772894117745, + -0.01326020072953938, + 0.0009498830852062807, + 1.0 + ], + [ + -0.0012252513819307664, + -0.015057569884736317, + -0.007843734784314724, + -0.019060238772471972, + -0.01918037793896473, + 0.009809972985033286, + 1.0 + ], + [ + -0.0037395525017421246, + -0.030392069662816566, + -0.019409430099588454, + -0.03048205703835407, + 0.024719830960028118, + 0.0003063227020251172, + 1.0 + ], + [ + -0.0009429009267638658, + -0.023609570236881296, + -0.01398347887409218, + -0.010751795312075709, + 0.005586306530568353, + 0.03787808459657773, + 1.0 + ], + [ + 0.00023342157122394533, + -0.03312974854413826, + -0.007762744539947658, + -0.01777111658976727, + -0.09507852431002121, + 0.06493208696207321, + 1.0 + ], + [ + -0.00997148991020198, + -0.07223769954357659, + -0.0035638553480671973, + -0.03596993615508611, + -0.03866230357483533, + -0.027719546769794955, + 1.0 + ], + [ + -0.009819058449580313, + -0.06334226850071221, + 0.02167870716404455, + -0.008217703951375398, + -0.0656910294478489, + -0.027111061862773123, + 1.0 + ], + [ + -0.005376977078385301, + -0.03319072859234646, + 0.015972077142393903, + 0.022008206971431514, + 0.007873464779390382, + 0.04311427900312756, + 1.0 + ], + [ + -0.012764085753283383, + -0.03992791442307932, + 0.014842331563681609, + 0.005927756312640523, + -0.011309204237507359, + -0.034810428610598985, + 1.0 + ], + [ + 0.004380452898753544, + -0.015920575006875985, + -0.01308657135585062, + -0.004488011100949787, + 0.03596766749723717, + -0.050298092960949475, + 1.0 + ] + ], + "state": [ + [ + 0.38724377751350403, + -0.09827660769224167, + 0.05324459448456764, + 3.072721818583556, + 0.012071019038558008, + 0.03216113895177842, + 1.0 + ], + [ + 0.38707008957862854, + -0.09823761135339737, + 0.052019618451595306, + 3.073490010696002, + 0.01504127774387598, + 0.03217155113816261, + 1.0 + ], + [ + 0.37771642208099365, + -0.0977187529206276, + 0.035843219608068466, + 3.0720578451925, + 0.07723356038331985, + 0.04188764095306396, + 1.0 + ], + [ + 0.3689832091331482, + -0.09503374993801117, + 0.05893033742904663, + 2.9995954652600965, + 0.07566198706626892, + 0.07028836756944656, + 1.0 + ], + [ + 0.3589951992034912, + -0.09743203967809677, + 0.10589362680912018, + 2.9336082210117063, + -0.016355719417333603, + 0.057943806052207954, + 1.0 + ], + [ + 0.34451356530189514, + -0.10552356392145157, + 0.1337425708770752, + 2.883027287321635, + -0.05600552633404732, + 0.014257607050240042, + 1.0 + ], + [ + 0.3318016529083252, + -0.11303142458200455, + 0.14949040114879608, + 2.872330667572566, + -0.0675249919295311, + -0.03864214941859245, + 1.0 + ], + [ + 0.3139590620994568, + -0.14333146810531616, + 0.13020163774490356, + 2.970597418146678, + -0.050845418125391006, + -0.09010303020477294, + 1.0 + ], + [ + 0.31327757239341736, + -0.16037271916866302, + 0.09422627091407776, + 3.0971011874550065, + -0.015505410730838774, + -0.07630011439323425, + 1.0 + ], + [ + 0.31568825244903564, + -0.1793946772813797, + 0.06725133955478668, + -3.046434650319167, + -0.03085160255432129, + -0.0992617756128311, + 1.0 + ], + [ + 0.31239715218544006, + -0.18606022000312805, + 0.04025019332766533, + -2.8556280751996717, + -0.043248433619737625, + -0.1400441080331802, + 1.0 + ], + [ + 0.31981563568115234, + -0.1775868833065033, + 0.02372707985341549, + -2.7581186314397534, + -0.05214414745569229, + -0.129447415471077, + 1.0 + ], + [ + 0.32522061467170715, + -0.17748519778251648, + 0.014975359663367271, + -2.6890775581174573, + -0.10573925822973251, + -0.12722811102867126, + 1.0 + ], + [ + 0.32877063751220703, + -0.16167494654655457, + 0.013971096836030483, + -2.6646444519334516, + -0.09723445028066635, + -0.10092350095510483, + 1.0 + ], + [ + 0.3250703513622284, + -0.14993444085121155, + 0.018884267657995224, + -2.6543132682615003, + -0.08501676470041275, + -0.09566108882427216, + 1.0 + ], + [ + 0.3235933780670166, + -0.14011608064174652, + 0.03271084278821945, + -2.6733027418428144, + -0.06347581744194031, + -0.09534675627946854, + 1.0 + ], + [ + 0.3196662962436676, + -0.12129729241132736, + 0.06344875693321228, + -2.702935429411479, + -0.08539147675037385, + -0.10681849718093873, + 1.0 + ], + [ + 0.31845390796661377, + -0.10564365237951279, + 0.08597279340028763, + -2.710860075550624, + -0.07430751621723175, + -0.1435839980840683, + 1.0 + ], + [ + 0.32099342346191406, + -0.0788690596818924, + 0.10681906342506409, + -2.725205512838908, + 0.03918351233005524, + -0.16265426576137543, + 1.0 + ], + [ + 0.3228816092014313, + -0.013690533116459846, + 0.1396612823009491, + -2.7596080621057233, + 0.06330133974552155, + -0.1215982139110565, + 1.0 + ], + [ + 0.321483850479126, + 0.05383561924099922, + 0.14377081394195557, + -2.764293285208293, + 0.11407454311847687, + -0.07168390601873398, + 1.0 + ], + [ + 0.3184894323348999, + 0.0908857211470604, + 0.1417790800333023, + -2.747566970186778, + 0.12252749502658844, + -0.11499074846506119, + 1.0 + ], + [ + 0.310985803604126, + 0.13460175693035126, + 0.14495064318180084, + -2.7373991032415113, + 0.11952746659517287, + -0.07824435085058211, + 1.0 + ], + [ + 0.318238228559494, + 0.14355330169200897, + 0.16259104013442993, + -2.737994821863719, + 0.06661914288997652, + -0.04611411318182945, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1978", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1978/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1987.json b/annotation/test/1987.json new file mode 100644 index 0000000000000000000000000000000000000000..8997afca6d5447ba2c2cee2bcbbbe591e0f8dcd5 --- /dev/null +++ b/annotation/test/1987.json @@ -0,0 +1,565 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "pick up scissors and put into drawer" + ], + "videos": [ + { + "video_path": "videos/test/1987/rgb.mp4" + } + ], + "action": [ + [ + -0.00028768408116163597, + -0.00017190669078399003, + 0.0003705438368475753, + 0.0009212871704173291, + -0.0012172238948903948, + 0.00015011715485265496, + 1.0 + ], + [ + -0.003909996832096097, + -0.012444576794426279, + 0.0028536503540185477, + 0.031400601160208964, + -0.07156830484687315, + 0.07713021063407352, + 1.0 + ], + [ + 0.006837542870877863, + -0.057009951848390444, + -0.01833374270241433, + 0.0022160616376100486, + -0.0729537066515283, + 0.1860835562132513, + 1.0 + ], + [ + -0.006931834246379761, + -0.04341856734393822, + 0.007473031012759628, + 0.013763511199266647, + -0.0028931800215780735, + 0.14645310805365988, + 1.0 + ], + [ + -0.006600095849704484, + -0.04459794948807616, + 0.021069962353565643, + 0.0014196402956411633, + 0.04967887601188681, + 0.06620762853022168, + 1.0 + ], + [ + 0.00457296888025612, + -0.009711887617733974, + 0.025417651847302762, + -0.02149647186937012, + 0.04319407310083871, + 0.01296672599916756, + 1.0 + ], + [ + 0.0062952430616257295, + 0.0017070985876052327, + 0.014835115608370393, + -0.033077582699737186, + 0.03532687191444153, + 0.014268263138880554, + 1.0 + ], + [ + -0.0016801850661774802, + 0.0012140434841709693, + 0.017531005573534923, + -0.04229492055256414, + 0.0061399280852584654, + 0.011648663130917242, + 1.0 + ], + [ + -0.003699527588108355, + 0.0007334124270462122, + 0.013621098570618143, + -0.0065984857000087015, + 0.001095964393569883, + -0.012377283718696851, + 1.0 + ], + [ + 0.0001573346185916621, + 0.0012183054373087906, + 0.007483080966610302, + -0.020711737983655807, + -0.017545018840829832, + -0.0327331296389774, + 1.0 + ], + [ + -0.0012414537641212565, + -0.0014004711995371836, + 0.005825959007753935, + -0.031020743485797288, + -0.006188645108945971, + -0.02902313546299255, + 1.0 + ], + [ + -0.0011884305746245481, + -0.004200270005544169, + 0.015681388638536707, + -0.01442559855890389, + 0.02378344345446567, + -0.010900793876689205, + 1.0 + ], + [ + -0.0030323623193042005, + -0.00544919080060292, + 0.011077909687684333, + -0.006420743908624999, + 0.016280687804992037, + 2.3701267731433414e-05, + 1.0 + ], + [ + 0.0004702138158994428, + 0.0014859748022960071, + 0.002099787321296242, + -0.010873919056203041, + 0.002854985271465145, + -0.0138918412598482, + 1.0 + ], + [ + -0.0029989609197781926, + 0.005502071863580245, + -0.002526467712451461, + -0.02104668028559827, + -0.04406120887260383, + 0.008289108524735106, + 0.0 + ], + [ + -0.0011740264801668424, + 0.004022855960439669, + -0.007420416767498878, + -0.014603477593159352, + -0.053537036149832275, + 0.03552445274863697, + 0.0 + ], + [ + -0.0034809751216995028, + 0.006296330900852685, + -0.020799010192883088, + 0.0047004677595677245, + -0.07342095070368099, + 0.08411284708965762, + 0.0 + ], + [ + -0.003711044900164347, + 0.01222383559244361, + -0.03850129633231351, + 0.021386644842640558, + -0.04577275439378494, + 0.10089933281666576, + 0.0 + ], + [ + 0.003931469988175682, + 0.02949241986996735, + -0.02188959055528308, + 0.038966362798537074, + 0.014307417760815474, + 0.030558102615572517, + 0.0 + ], + [ + 0.013457476770941052, + 0.02811798720887862, + -0.0184042790576522, + 0.05943905099579114, + 0.08565092474601142, + 0.015982086660463593, + 0.0 + ], + [ + 0.02901701055150888, + 0.020261059255608633, + -0.006003696913213894, + -0.007812953355804078, + 0.054823720044563186, + 0.019520515585056554, + 0.0 + ], + [ + 0.033980057158592265, + 0.019243325166979325, + 0.01096966643401294, + 0.006858980023351436, + 0.002707598237793264, + -0.05554724388949209, + 0.0 + ], + [ + 0.021530428035534992, + 0.00836676968191365, + 0.012585796146468108, + -0.005284226116378176, + 0.014899404876030645, + -0.04788346563809861, + 0.0 + ], + [ + 0.004758408816066277, + 0.010066749057700792, + 0.016799412171638457, + 0.012136852584039997, + 0.051414828876416546, + -0.06461537948610474, + 0.0 + ], + [ + 0.0022641387839556332, + -0.0013487992603345297, + 0.011287568609399813, + -0.014474696268880916, + 0.04700460598070365, + -0.024398527515917968, + 0.0 + ], + [ + 1.1557797996477001e-05, + -0.0002282264352634698, + -1.8629935036833507e-05, + -0.0011632098865775812, + 0.00011885445096454626, + -0.005305382643967111, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.97087734855141e-17, + -1.1739381270325995e-17, + -4.594531641712195e-20, + 1.0 + ], + [ + -8.495664278538764e-06, + -0.000214887892654901, + -1.4207032206761396e-07, + 0.001355067211896498, + -5.4552986130712647e-05, + 0.0007168513674080568, + 1.0 + ] + ], + "state": [ + [ + 0.21433694660663605, + -0.14499957859516144, + 0.15627552568912506, + -3.0822920111292085, + -0.08475312590599059, + -0.007996127009391785, + 1.0 + ], + [ + 0.21408230066299438, + -0.1448039710521698, + 0.1558927595615387, + -3.0813640785687646, + -0.08352914452552794, + -0.008074112236499786, + 1.0 + ], + [ + 0.21046289801597595, + -0.13218055665493011, + 0.15347445011138916, + -3.043909067409583, + -0.007232377771288157, + -0.08055242151021957, + 1.0 + ], + [ + 0.2215280532836914, + -0.07794494181871414, + 0.17732970416545868, + -3.0417010580473622, + 0.08354362100362779, + -0.2586411237716674, + 1.0 + ], + [ + 0.22583989799022675, + -0.03362628445029259, + 0.1748131364583969, + -3.04115084012086, + 0.10009071975946428, + -0.40480345487594604, + 1.0 + ], + [ + 0.23659677803516388, + 0.012338011525571346, + 0.15906338393688202, + -3.046944910781928, + 0.05704444274306297, + -0.47570207715034485, + 1.0 + ], + [ + 0.24494729936122894, + 0.02161426655948162, + 0.13445627689361572, + -3.0693353583389005, + 0.015260953456163408, + -0.49268200993537903, + 1.0 + ], + [ + 0.24999383091926575, + 0.018188202753663063, + 0.11944229900836945, + -3.10263408546383, + -0.018945813179016113, + -0.5094573497772217, + 1.0 + ], + [ + 0.2485591471195221, + 0.018382230773568153, + 0.10184863209724426, + 3.138479391700127, + -0.024626055732369423, + -0.5213397145271301, + 1.0 + ], + [ + 0.2452564686536789, + 0.01938442885875702, + 0.08814291656017303, + 3.1315761945494494, + -0.025681594386696812, + -0.5089550018310547, + 1.0 + ], + [ + 0.2449312061071396, + 0.018085027113556862, + 0.08067891746759415, + 3.1100323518090924, + -0.007796043530106544, + -0.4764033854007721, + 1.0 + ], + [ + 0.24442628026008606, + 0.019713887944817543, + 0.07480216771364212, + 3.078799510496207, + -0.0006915434496477246, + -0.44759061932563776, + 1.0 + ], + [ + 0.24475322663784027, + 0.02311541885137558, + 0.0588872916996479, + 3.0643523802333554, + -0.023744026198983192, + -0.43521848320961, + 1.0 + ], + [ + 0.2441813349723816, + 0.028430113568902016, + 0.047353170812129974, + 3.057892145710536, + -0.03997797891497612, + -0.4339849054813385, + 1.0 + ], + [ + 0.24398252367973328, + 0.026696698740124702, + 0.04540533199906349, + 3.0464629178219518, + -0.041657645255327225, + -0.419890820980072, + 1.0 + ], + [ + 0.23899592459201813, + 0.023187492042779922, + 0.048315469175577164, + 3.0258489569001874, + 0.001420112675987184, + -0.4323185384273529, + 0.0 + ], + [ + 0.2366248518228531, + 0.020824527367949486, + 0.056152477860450745, + 3.0111198147111615, + 0.05049620196223259, + -0.47379186749458313, + 0.0 + ], + [ + 0.2328805923461914, + 0.018769750371575356, + 0.07774224877357483, + 3.011320026712962, + 0.11214745044708252, + -0.567131757736206, + 0.0 + ], + [ + 0.22969919443130493, + 0.012355971150100231, + 0.11767075955867767, + 3.021344283717223, + 0.1438167840242386, + -0.6741527915000917, + 0.0 + ], + [ + 0.21893012523651123, + -0.013156374916434288, + 0.14211581647396088, + 3.056213477747985, + 0.12588828802108765, + -0.702998399734497, + 0.0 + ], + [ + 0.21400420367717743, + -0.043646957725286484, + 0.16099707782268524, + 3.114259922998496, + 0.0391826182603836, + -0.711574912071228, + 0.0 + ], + [ + 0.223038449883461, + -0.07796340435743332, + 0.16641055047512054, + 3.105704577761241, + -0.016160406172275543, + -0.7295633554458618, + 0.0 + ], + [ + 0.2354092299938202, + -0.11534970998764038, + 0.15668885409832, + 3.1117206421964845, + -0.016849251464009285, + -0.6739469170570375, + 0.0 + ], + [ + 0.2469385266304016, + -0.13574235141277313, + 0.1447230726480484, + 3.1056540106707295, + -0.030292745679616928, + -0.6256224513053894, + 0.0 + ], + [ + 0.24495244026184082, + -0.14746308326721191, + 0.12844787538051605, + 3.1158061140500983, + -0.07928749918937683, + -0.5590744018554688, + 0.0 + ], + [ + 0.2481866180896759, + -0.1482393741607666, + 0.11734417080879211, + 3.099267615126916, + -0.12562131881713867, + -0.5332958698272705, + 0.0 + ], + [ + 0.248311847448349, + -0.14804759621620178, + 0.11735450476408005, + 3.0974349809163293, + -0.12551380693912506, + -0.5279481410980225, + 1.0 + ], + [ + 0.248311847448349, + -0.14804759621620178, + 0.11735450476408005, + 3.0974349809163293, + -0.12551380693912506, + -0.5279481410980225, + 1.0 + ], + [ + 0.24841372668743134, + -0.14785848557949066, + 0.11734417080879211, + 3.098880725102969, + -0.1254909187555313, + -0.5286723971366882, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.11550527811050415, + 0.4250529408454895, + 0.6202564239501953, + 0.6279491484165192, + 0.6279491484165192, + 0.6279491484165192, + 0.6279491484165192, + 0.6279491484165192, + 0.6279491484165192, + 0.6279491484165192, + 0.6279491484165192, + 0.6279491484165192, + 0.49858492612838745, + 0.16464275121688843, + 0.007925748825073242, + 0.007925748825073242 + ], + "episode_id": "1987", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1987/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1992.json b/annotation/test/1992.json new file mode 100644 index 0000000000000000000000000000000000000000..12be34932e3dc4f436a1068a42e9f55aefa8d230 --- /dev/null +++ b/annotation/test/1992.json @@ -0,0 +1,812 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "PICK UP THE FRUIT AND PUT ON THE ANOTHER SIDE OF THE TABLE" + ], + "videos": [ + { + "video_path": "videos/test/1992/rgb.mp4" + } + ], + "action": [ + [ + -0.00012643050817755353, + -0.00042329454664123716, + 0.00041726939924969294, + -0.00034921947811184314, + -0.0014491613254007936, + -0.0031098672531095625, + 1.0 + ], + [ + -0.0013027045798831378, + 0.0001524550806651461, + 0.00848567899395028, + -0.008046050857316767, + -0.02153736359352883, + 0.0035633015145573235, + 1.0 + ], + [ + -0.00033197040965931716, + -0.010967044296999698, + 0.018708215856358346, + 0.007924693752454404, + 0.001305567502121815, + -0.0027021435481776345, + 1.0 + ], + [ + 0.00608882932124355, + -0.011797044460361991, + 0.01734850359784982, + 0.023321483757493995, + 0.020411118567134526, + 0.011044540503773077, + 1.0 + ], + [ + 0.004397740579808235, + -0.008099939636198957, + 0.018085228934910894, + 0.04680588627860259, + 0.02450673506780687, + -0.005698538435839425, + 1.0 + ], + [ + 0.00405476554277955, + -0.00031262394947258415, + 0.02292877807811462, + -0.0032909097784102797, + 0.009622686514554063, + -0.023844794832439464, + 1.0 + ], + [ + 0.0036919719512868232, + -0.0020934637309519737, + 0.021398721931531008, + -0.009288328437918601, + -0.0276561287315529, + -0.02760382583467036, + 1.0 + ], + [ + 0.005670503738640453, + -0.01319579678904268, + 0.012554648130727968, + 0.0030900529678060847, + -0.01612095737374383, + -0.024631618749982515, + 1.0 + ], + [ + 0.006662073045786297, + -0.007390829690411198, + 0.009616490393217084, + 0.0016530526760813232, + -0.015513117167763183, + -0.008510510482134543, + 1.0 + ], + [ + 0.0004770855957719674, + -0.0014743606951462928, + 0.003371981051350939, + 0.0017076288995768994, + -0.008833781007207973, + -0.0034726373257420416, + 1.0 + ], + [ + -0.003670983990216383, + 0.0005080578659493074, + 0.01091372646479094, + -0.0011680031820669996, + -0.03052415461450894, + 0.003967311624373795, + 1.0 + ], + [ + -0.005027603363651704, + 0.0018518339576702207, + 0.01300337796969687, + -0.00602912950291601, + -0.033529416613250415, + -0.0029556239517958016, + 1.0 + ], + [ + -0.00048636836195439304, + -0.00043194018809560145, + 0.0014054998385055308, + 0.005957083965638503, + 0.004482716156240583, + -0.004713945296477932, + 1.0 + ], + [ + -0.005518061081171992, + 0.004275015681475125, + -0.0025066623644851562, + -0.017955797511978337, + -0.0006798142808796162, + -0.017093402793003296, + 0.0 + ], + [ + -0.003282952067838648, + 0.003883603364083989, + -0.031490554316688346, + -0.004153739430354665, + 0.05018649335195644, + 0.003654591674035341, + 0.0 + ], + [ + -0.010302957139772986, + -0.0027289674508455923, + -0.057630712873816436, + 0.06964183495827209, + 0.09408952939455593, + -0.032988074571356565, + 0.0 + ], + [ + 0.005004067814367051, + 0.0244594478051949, + -0.04569468252896632, + -0.03105514519865232, + 0.09395091682096231, + 0.017013278842965916, + 0.0 + ], + [ + 0.01618332252204561, + 0.04849888131142343, + -0.008162554295275595, + -0.11288786421928666, + 0.04943642759916049, + 0.0724002153485332, + 0.0 + ], + [ + 0.004950180059594411, + 0.0501554109196609, + 0.017891455198120586, + -0.003504769868321027, + -0.08975051384455597, + 0.04570643259672627, + 0.0 + ], + [ + 0.011026008222199284, + 0.03497603227874116, + 0.025739071373045288, + 0.020034982238344684, + -0.047510536026226825, + 0.013954730811113794, + 0.0 + ], + [ + 0.007384601796736385, + 0.017918710567203896, + 0.020527019260133866, + 0.015855152577993026, + -0.038843632670290694, + -0.01465476372340041, + 0.0 + ], + [ + 0.0014721308615235028, + 0.00972185613782494, + 0.018175696528684594, + 0.0028833584771339135, + -0.026042698175422225, + -0.03279451417805671, + 0.0 + ], + [ + 0.005046986613249029, + 0.002314842805901928, + 0.007134498678259091, + -0.011251669997084122, + 0.02092311110478808, + -0.04091124657656634, + 0.0 + ], + [ + 0.0024181379298687483, + 0.0017687134311203147, + 0.009343866033394021, + -0.009318229003491807, + 0.0038182590952518186, + -0.018194256620207294, + 0.0 + ], + [ + 0.004771171183857698, + -0.0037771273406653158, + 0.00011481836238196631, + -0.004507819043172364, + 0.02365198733351477, + -0.019836697875440266, + 0.0 + ], + [ + -0.0010598959757529146, + -0.0033734887508600465, + 0.0027963357266418813, + -0.005977885711666939, + 0.0011928004989633359, + 0.005474589480992206, + 0.0 + ], + [ + 0.0014815691277152388, + -0.004962382475736897, + 0.001003924418059427, + -0.04992871699321985, + -0.0026958557913535526, + -0.008805586920035474, + 0.0 + ], + [ + -0.0022446717459677985, + -0.002874895229180423, + 0.00017738560918270833, + -0.022046574196286122, + -0.025026428177653173, + 0.016700049500015225, + 0.0 + ], + [ + 0.001403131656305505, + -0.007444655997815272, + 0.004752333913074909, + -0.03499987246748724, + -0.022256744833671085, + 0.03369376251047849, + 0.0 + ], + [ + 0.0050110049761429125, + -0.0032919469855576147, + -0.0008559305554295151, + 0.007398628843628883, + -0.010577700144031373, + 0.06348856994380057, + 0.0 + ], + [ + 0.0018624760495269197, + -0.00017345376204803858, + -0.0024902701086699005, + -0.0006786223065355429, + 0.00013242436309733824, + 0.024170392398678478, + 0.0 + ], + [ + -0.002453825369236081, + 8.466945540844325e-05, + -0.0003295106538065229, + -0.0004260776078213696, + -0.01691709030269212, + 0.0025798760981220097, + 0.0 + ], + [ + -0.0040006373781732284, + -0.001049602160549673, + -5.3948498868677514e-05, + 0.006931155060060864, + -0.025147990974618426, + -0.012392534899389667, + 1.0 + ], + [ + -0.004719405478057954, + -0.00916398200777738, + -0.019862236993660517, + -0.0020388905605900425, + 0.0014095171969490724, + -0.02485061317541391, + 1.0 + ], + [ + -0.00812131970831187, + -0.020395162559709447, + -0.06831433401876498, + 0.03080055622205068, + 0.12028498264586386, + -0.0450861832643392, + 1.0 + ], + [ + -0.018410626598943262, + -0.03587051742545312, + -0.04192272469460267, + 0.028518401905938125, + 0.04377501362593714, + -0.048499216193053245, + 1.0 + ], + [ + -0.018903774087791397, + -0.015311404249017757, + 0.005407819451451064, + 0.034251273944152526, + -0.0617773284589842, + 0.061781499197565884, + 1.0 + ], + [ + -0.014329274219306883, + -0.018394465223746822, + 0.009329195788482398, + -0.022277475673840735, + -0.027400006612455115, + 0.015159305968307987, + 1.0 + ], + [ + -0.0006875673764352364, + -0.0013967048155583714, + 0.005004671792091366, + -0.018143956753511124, + -0.01147295679047979, + 0.044174524807944746, + 1.0 + ], + [ + 9.836829817863835e-05, + -0.0016583188558489876, + -0.00047934125729143576, + 0.0006558181533033553, + 0.0035591331024441473, + -0.001909487776810244, + 1.0 + ], + [ + -0.00037456426735711423, + 8.402076529852786e-05, + 0.0007979918356753582, + -0.0011243575122876518, + -0.002845327016826463, + -0.0002267459701814334, + 1.0 + ] + ], + "state": [ + [ + 0.26500916481018066, + 0.08260135352611542, + 0.1586650013923645, + -3.1324813795560082, + -0.1230243220925331, + -0.04027550294995308, + 1.0 + ], + [ + 0.2649516761302948, + 0.08303109556436539, + 0.1582392156124115, + -3.133216713676699, + -0.12160295248031613, + -0.037129331380128854, + 1.0 + ], + [ + 0.2646852135658264, + 0.08295956254005432, + 0.1496572047472, + -3.140848468353976, + -0.10003580152988434, + -0.04052829369902611, + 1.0 + ], + [ + 0.26666611433029175, + 0.09386922419071198, + 0.13101749122142792, + -3.1331949309730014, + -0.10134301334619521, + -0.0378131940960884, + 1.0 + ], + [ + 0.2749146521091461, + 0.10550802946090698, + 0.11447317153215408, + -3.108729126053401, + -0.12165425717830658, + -0.04910994321107864, + 1.0 + ], + [ + 0.2818598449230194, + 0.11386696994304657, + 0.09732916206121445, + -3.0625135992937764, + -0.14633353054523468, + -0.04416854307055473, + 1.0 + ], + [ + 0.28928709030151367, + 0.11566372215747833, + 0.07533199340105057, + -3.06921889831359, + -0.15777055919170377, + -0.020870322361588478, + 1.0 + ], + [ + 0.2963370680809021, + 0.11915269494056702, + 0.05498393625020981, + -3.083191068964549, + -0.13211350142955777, + 0.008910678327083588, + 1.0 + ], + [ + 0.3033834993839264, + 0.13312213122844696, + 0.04407038912177086, + -3.0834985320740422, + -0.11741435527801514, + 0.034615326672792435, + 1.0 + ], + [ + 0.31079477071762085, + 0.14132024347782135, + 0.03574281558394432, + -3.082947628694125, + -0.10241633653640748, + 0.04406066611409187, + 1.0 + ], + [ + 0.31153035163879395, + 0.1430237591266632, + 0.03252900764346123, + -3.081647331016608, + -0.09380046278238298, + 0.04806254804134369, + 1.0 + ], + [ + 0.30889472365379333, + 0.14304384589195251, + 0.02130863629281521, + -3.0825875123315534, + -0.06309325993061067, + 0.04592837020754814, + 1.0 + ], + [ + 0.3047565519809723, + 0.14177072048187256, + 0.007927731610834599, + -3.088895021128007, + -0.029795745387673378, + 0.05085628479719161, + 1.0 + ], + [ + 0.3042864203453064, + 0.1422528177499771, + 0.0065330578945577145, + -3.083071218925067, + -0.034520238637924194, + 0.05533018335700035, + 1.0 + ], + [ + 0.2989465892314911, + 0.13753598928451538, + 0.008593603037297726, + -3.1016262156241616, + -0.03483624756336212, + 0.07244446873664855, + 0.0 + ], + [ + 0.29495853185653687, + 0.13209432363510132, + 0.039770498871803284, + -3.1055323911183557, + -0.08483605086803436, + 0.06677257269620895, + 0.0 + ], + [ + 0.2797946035861969, + 0.13173119723796844, + 0.09638163447380066, + -3.0382921417527875, + -0.18001590669155118, + 0.09668807685375214, + 0.0 + ], + [ + 0.27984803915023804, + 0.1025591492652893, + 0.1395128071308136, + -3.0639750008755406, + -0.27164483070373535, + 0.06915426254272461, + 0.0 + ], + [ + 0.29761382937431335, + 0.054686538875103, + 0.14807192981243134, + 3.1276200219341597, + -0.3145101070404053, + -0.010706576518714428, + 0.0 + ], + [ + 0.3070984184741974, + 0.004181601107120514, + 0.13325749337673187, + 3.138971624551811, + -0.22505830228328705, + -0.058689095079898834, + 0.0 + ], + [ + 0.32148605585098267, + -0.0317675806581974, + 0.11071757972240448, + -3.120989332097121, + -0.17756205797195432, + -0.07297718524932861, + 0.0 + ], + [ + 0.3311401307582855, + -0.05001205578446388, + 0.09145858138799667, + -3.107876895117112, + -0.1390073001384735, + -0.057386040687561035, + 0.0 + ], + [ + 0.33463171124458313, + -0.059331294149160385, + 0.07334785908460617, + -3.1096938272290906, + -0.11400572955608367, + -0.023523112758994102, + 0.0 + ], + [ + 0.3404148519039154, + -0.06155405566096306, + 0.06676407158374786, + -3.12558161851997, + -0.13612979650497437, + 0.01706625521183014, + 0.0 + ], + [ + 0.344109445810318, + -0.0631101205945015, + 0.05780794471502304, + -3.137387143103876, + -0.1402163207530975, + 0.035376626998186105, + 0.0 + ], + [ + 0.3487110435962677, + -0.059167321771383286, + 0.05837678909301758, + 3.138495002296292, + -0.16392393410205844, + 0.055376261472702026, + 0.0 + ], + [ + 0.34793806076049805, + -0.05584019422531128, + 0.05543467774987221, + 3.1334222640194973, + -0.16513121128082275, + 0.04982994869351387, + 0.0 + ], + [ + 0.3493223786354065, + -0.05081098526716232, + 0.05464799329638481, + 3.082030801224061, + -0.16235707700252533, + 0.058730233460664756, + 0.0 + ], + [ + 0.3469994068145752, + -0.04808339476585388, + 0.053941529244184494, + 3.0629390497976026, + -0.13834217190742493, + 0.04040006548166275, + 0.0 + ], + [ + 0.3488367199897766, + -0.040955133736133575, + 0.04886328801512718, + 3.0328755175047597, + -0.11871438473463057, + 0.0048186322674155235, + 0.0 + ], + [ + 0.3537377119064331, + -0.03756609559059143, + 0.04994698613882065, + 3.04814928968484, + -0.11483694612979888, + -0.0598677434027195, + 0.0 + ], + [ + 0.3553270995616913, + -0.037255577743053436, + 0.05260739475488663, + 3.0502726082974156, + -0.11719048023223877, + -0.08408645540475847, + 0.0 + ], + [ + 0.35285502672195435, + -0.03710167855024338, + 0.05265404284000397, + 3.050317423539706, + -0.10057815909385683, + -0.08821875602006912, + 0.0 + ], + [ + 0.34898680448532104, + -0.035705290734767914, + 0.05221061035990715, + 3.0562125240736684, + -0.07440024614334106, + -0.07814595103263855, + 1.0 + ], + [ + 0.34373122453689575, + -0.024436233565211296, + 0.07081563770771027, + 3.0523458068543157, + -0.07366260886192322, + -0.053197998553514474, + 1.0 + ], + [ + 0.33218032121658325, + 0.0026189773343503475, + 0.13626301288604736, + 3.078465672331401, + -0.18933537602424622, + 0.0030994103290140633, + 1.0 + ], + [ + 0.30653116106987, + 0.04098343104124069, + 0.17166709899902344, + 3.097121549891778, + -0.22971226274967194, + 0.05559993535280228, + 1.0 + ], + [ + 0.2886987030506134, + 0.05507007986307144, + 0.16143938899040222, + -3.1369208731972655, + -0.17026160657405853, + -0.009698117151856422, + 1.0 + ], + [ + 0.2763221859931946, + 0.07362882792949677, + 0.14990192651748657, + 3.126561145419725, + -0.14277175068855286, + -0.02487802319228649, + 1.0 + ], + [ + 0.276389479637146, + 0.07494888454675674, + 0.144830122590065, + 3.114793427410074, + -0.13182277977466583, + -0.06960557401180267, + 1.0 + ], + [ + 0.2765459418296814, + 0.07661259919404984, + 0.14527401328086853, + 3.1151832678639373, + -0.1353292018175125, + -0.06758292019367218, + 1.0 + ], + [ + 0.276275634765625, + 0.07652559131383896, + 0.14443525671958923, + 3.1140381788187703, + -0.13247887790203097, + -0.0674300491809845, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.06963235139846802, + 0.34991633892059326, + 0.565265566110611, + 0.5661784112453461, + 0.5661784112453461, + 0.5661784112453461, + 0.5661784112453461, + 0.5661784112453461, + 0.5661784112453461, + 0.5661784112453461, + 0.5661784112453461, + 0.5661784112453461, + 0.5661784112453461, + 0.5661784112453461, + 0.5661784112453461, + 0.5661784112453461, + 0.5661784112453461, + 0.5661784112453461, + 0.5661784112453461, + 0.4831165075302124, + 0.17017298936843872, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "1992", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1992/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/1994.json b/annotation/test/1994.json new file mode 100644 index 0000000000000000000000000000000000000000..6e90139455622bca8106052eee493248bfb105b1 --- /dev/null +++ b/annotation/test/1994.json @@ -0,0 +1,850 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the spoon to the front right of the table." + ], + "videos": [ + { + "video_path": "videos/test/1994/rgb.mp4" + } + ], + "action": [ + [ + -0.00016955063714794077, + -3.3591710249161524e-05, + 0.000376702122581412, + 0.00023852166887588833, + -0.0015150712215885843, + -2.793233638229197e-05, + 1.0 + ], + [ + -6.931698705696683e-05, + -3.832085372308657e-05, + 0.0016761784162003042, + -2.044280556915534e-05, + -1.919718230059161e-06, + 0.013694756639269693, + 1.0 + ], + [ + 0.023071025178047707, + -0.03117559686924729, + 0.011725340145528972, + 0.05649328439411701, + 0.03684703358258713, + -0.030218890938341143, + 1.0 + ], + [ + 0.026646030424428296, + -0.028755613978317496, + 0.021019501273570714, + 0.029352556431943386, + -0.002251324606769274, + -0.0009442715016762823, + 1.0 + ], + [ + 0.029039886660615664, + -0.015328579357920667, + 0.016705757719386996, + 0.03834165950296856, + 0.0014222046343460263, + 0.037453173625642544, + 1.0 + ], + [ + 0.027190390896518753, + -0.02213141996180024, + 0.03063852879644517, + 0.10061458375316251, + -0.00994798607499675, + -0.011291723335216226, + 1.0 + ], + [ + 0.036005378133693644, + -0.014104113882947812, + 0.025870744749865487, + 0.05759878324591827, + -0.01034954453595519, + 0.03059272655263731, + 1.0 + ], + [ + 0.03237737863684078, + -0.005384914495156813, + 0.031523834778314275, + 0.024146572920888423, + -0.0017818549014955414, + 0.018193476831760036, + 1.0 + ], + [ + 0.01694296051302457, + -0.0007329450989359895, + 0.037325260377887484, + 0.028560084834747406, + -0.0804013373576777, + 0.007919515408022116, + 1.0 + ], + [ + 0.017911127457443412, + 0.012848429607868639, + 0.02868784550832169, + -0.0701800872625214, + -0.027713648238579174, + 0.04825753672493532, + 1.0 + ], + [ + 0.012497149749811831, + 0.008846337177873769, + 0.02097971701403713, + -0.06538394466384152, + -0.011994332876041099, + 0.049469868861073615, + 1.0 + ], + [ + 0.010453357037965127, + 0.006400908120359288, + 0.009403200248271681, + -0.050796588667386185, + -0.00011642079388438575, + 0.057179190494181166, + 1.0 + ], + [ + 0.008611935490372842, + 0.005220470792873891, + 0.015108801649469683, + -0.04218185474306035, + -0.013911839913561081, + 0.036386527053023636, + 1.0 + ], + [ + 0.006336451950172175, + 0.00020888573827250673, + 0.009083132289894557, + -0.011078511939859093, + 0.006693828142950709, + 0.028531925928546385, + 1.0 + ], + [ + 0.00525325212041426, + 0.004985320622002157, + 0.0035071841551769646, + -0.041701511366616616, + 0.017699079570136826, + 0.035067660060112874, + 1.0 + ], + [ + -0.0002036070573882896, + 0.0036167981794936613, + 0.0018841473900824517, + -0.0009760645854465443, + 0.021530415292693644, + 0.010054683272887834, + 1.0 + ], + [ + -0.003945268449990471, + 0.005557384595396423, + 0.0014588507817572063, + 0.011005945900398741, + -0.012620193031506776, + 0.01872315057527644, + 0.0 + ], + [ + -0.0029461329947776545, + 0.0010021415824946745, + -0.0015514785697682554, + 0.031311152025430875, + 0.018540775790518795, + 0.0023066589818388195, + 0.0 + ], + [ + -0.005201553850603826, + 0.007539989755545571, + -0.005568195297167688, + 0.007135775081530131, + -0.014101756974516098, + -0.02081061176160396, + 0.0 + ], + [ + 0.0034315114817069776, + -0.0002596091888649767, + -0.03906241138231319, + 0.012437875896003744, + 0.07098587110071441, + -0.053463390179893, + 0.0 + ], + [ + -0.0014334297220818916, + 0.0045626047498597225, + -0.043001843414472246, + 0.04670071014889737, + 0.049154417067624114, + -0.04705064625079516, + 0.0 + ], + [ + -0.018252480714108486, + 0.014586998983827652, + -0.037115684104012114, + 0.028257125281545132, + -0.006880182495407897, + -0.1557230244430705, + 0.0 + ], + [ + -0.027803347580438932, + 0.018909142545123537, + -0.015573103616533687, + 0.0016775356215565913, + -0.06337110298780693, + -0.2167264530913289, + 0.0 + ], + [ + -0.02778487000722611, + 0.02532809922276147, + -0.01088407469044935, + 0.02477973647676446, + -0.027307723022595924, + -0.19078496158438654, + 0.0 + ], + [ + -0.023181080063763782, + 0.012774601453549623, + -0.0010335366567542294, + -0.0011059354314345688, + -0.03214645827740389, + -0.18967211821171262, + 0.0 + ], + [ + -0.02273061484783101, + 0.011628982497385504, + 0.01169443680872497, + 0.012348407529841083, + -0.019282767489345105, + -0.10952833124213475, + 0.0 + ], + [ + -0.008400425531970087, + 0.005091461629903746, + 0.012426388814794888, + -0.03530498957917206, + -0.02899115881035113, + -0.16434640931379688, + 0.0 + ], + [ + -0.0034900221701226765, + 0.007763814393937057, + 0.008769588367935443, + -0.06687728495860865, + -0.029787868860364337, + -0.08083001263754201, + 0.0 + ], + [ + 0.005835136573279571, + 0.0017646253880714642, + 0.017166878625876077, + -0.03860828058143246, + -0.04527231009034684, + -0.10578241467822803, + 0.0 + ], + [ + -0.002637796209059488, + 0.001234915439933778, + 0.009299406012699307, + -0.043798045291378894, + -0.016944772172748663, + -0.088716179515886, + 0.0 + ], + [ + -0.0011055390380425285, + -0.005233412404030203, + 0.010765783213000927, + -0.0014170677218469964, + 0.030767655953537816, + -0.06400839877139257, + 0.0 + ], + [ + -0.004768462818813721, + -0.012306908997988163, + 0.02408079598005653, + 0.055057894666382855, + 0.02484096848964123, + -0.007186997774941361, + 0.0 + ], + [ + 0.002741764601469094, + -0.005063550468530773, + 0.020086376484026877, + 0.020378485606491487, + 0.02042569653834378, + -0.009961380635731314, + 0.0 + ], + [ + 0.00044466163077024046, + 0.0021644721650459593, + 0.013812816876621819, + 0.0005626406954271102, + 0.016442351295427607, + 0.007905937711296204, + 0.0 + ], + [ + -6.433846548768737e-06, + 0.0018665114262284544, + 0.0019427365365162585, + -0.00929512957379085, + -3.246494849206119e-05, + 0.005190562630606871, + 0.0 + ], + [ + -0.000355655855716271, + 0.0016187428944847901, + -0.0008789769180030897, + 0.05841734239462309, + -0.0196677023937916, + 0.096451731107841, + 0.0 + ], + [ + -0.0015624996869281038, + -0.009128403224732077, + -0.0037721791831194606, + 0.0560869332480286, + -0.002564392164566458, + 0.00890131819021488, + 1.0 + ], + [ + -0.00025765464089978215, + 0.004480683903704653, + -0.021625381946443926, + 0.015499180572553964, + 0.08193670169521351, + 0.05311349620619521, + 1.0 + ], + [ + -0.00222834767597055, + 0.002152476558153067, + -0.026802623931190525, + 0.025243816369478686, + 0.04375447025273295, + 0.0400168236576391, + 1.0 + ], + [ + 0.0019595394582594973, + -0.0021129952142649377, + -0.03866278825138211, + -0.06789520673190641, + 0.05205442032319081, + -5.291507097088052e-05, + 1.0 + ], + [ + -0.0005052552769083218, + 0.00020458169557615295, + -0.003320229419540394, + -0.009531154267247223, + 0.002567368100219015, + 0.0021771076162089556, + 1.0 + ], + [ + 0.0005165869218815266, + -0.000155487365664725, + 0.0004685823999741263, + 0.001946607706404115, + 0.0009660473348638822, + -0.0005994432087742037, + 1.0 + ], + [ + -0.0003714019375830534, + 0.00013350109079063156, + -7.70590135026908e-05, + -0.0002805506609319252, + 8.853554323582539e-05, + 0.0015054985252127727, + 1.0 + ] + ], + "state": [ + [ + 0.11932938545942307, + -0.017981242388486862, + 0.24508272111415863, + 3.103832421945878, + -0.12292083352804184, + 0.031521037220954895, + 1.0 + ], + [ + 0.11920687556266785, + -0.01796574890613556, + 0.24468708038330078, + 3.104074517386504, + -0.12140578776597975, + 0.031491536647081375, + 1.0 + ], + [ + 0.11934180557727814, + -0.01798608899116516, + 0.24301458895206451, + 3.1057273132079324, + -0.12190610915422441, + 0.017704017460346222, + 1.0 + ], + [ + 0.14325454831123352, + 0.013177229091525078, + 0.2330797016620636, + -3.1248517540567597, + -0.15758492052555087, + 0.049599889665842056, + 1.0 + ], + [ + 0.1713138073682785, + 0.043709397315979004, + 0.21698062121868134, + -3.095655122893401, + -0.15534964203834534, + 0.05059368163347245, + 1.0 + ], + [ + 0.2016240954399109, + 0.06134437769651413, + 0.20568209886550903, + -3.051477776961871, + -0.1549408733844757, + 0.012660086154937744, + 1.0 + ], + [ + 0.2325739562511444, + 0.08653708547353745, + 0.1816973090171814, + -2.9527591337733945, + -0.14603790640830994, + 0.02493135817348957, + 1.0 + ], + [ + 0.271030068397522, + 0.10621154308319092, + 0.16441576182842255, + -2.8911011536889752, + -0.13007242977619174, + -0.003411730518564582, + 1.0 + ], + [ + 0.30696627497673035, + 0.11912000179290771, + 0.13965682685375214, + -2.8647459765248975, + -0.12381730228662492, + -0.02072814106941223, + 1.0 + ], + [ + 0.32841047644615173, + 0.12958469986915588, + 0.10631897300481796, + -2.8370751460366925, + -0.04430670663714409, + -0.006354881916195155, + 1.0 + ], + [ + 0.3476632237434387, + 0.1258065402507782, + 0.07592258602380753, + -2.905687378840991, + -0.003370562335476279, + -0.04405738040804862, + 1.0 + ], + [ + 0.3600609600543976, + 0.12155850976705551, + 0.05349859595298767, + -2.971147986250468, + 0.019853543490171432, + -0.08935514092445372, + 1.0 + ], + [ + 0.36984527111053467, + 0.1159498393535614, + 0.042940445244312286, + -3.0233358164602, + 0.029630415141582492, + -0.1457098722457886, + 1.0 + ], + [ + 0.37741050124168396, + 0.1114017590880394, + 0.0270729660987854, + -3.0665996765070638, + 0.047719568014144904, + -0.1802356690168381, + 1.0 + ], + [ + 0.38329607248306274, + 0.1108093410730362, + 0.017707783728837967, + -3.079090194898196, + 0.04316192865371704, + -0.20921546220779416, + 1.0 + ], + [ + 0.387281209230423, + 0.10510065406560898, + 0.013672935776412487, + -3.122380793216177, + 0.02765918336808682, + -0.2453291118144989, + 1.0 + ], + [ + 0.3861618936061859, + 0.10169046372175217, + 0.011726032942533493, + -3.123642914118715, + 0.006324381101876497, + -0.25579342246055603, + 1.0 + ], + [ + 0.38093629479408264, + 0.09734077751636505, + 0.01019265130162239, + -3.1127555837207517, + 0.019277498126029965, + -0.27428895235061646, + 0.0 + ], + [ + 0.3778456151485443, + 0.09712333977222443, + 0.011771097779273987, + -3.081494340794631, + 0.0008108619367703795, + -0.27712881565094, + 0.0 + ], + [ + 0.3706958293914795, + 0.09098444133996964, + 0.016880588605999947, + -3.0743491147928914, + 0.013637140393257141, + -0.25550869107246404, + 0.0 + ], + [ + 0.3739321827888489, + 0.08769397437572479, + 0.055821742862463, + -3.0611575191193303, + -0.060795173048973083, + -0.20698289573192596, + 0.0 + ], + [ + 0.36836040019989014, + 0.08068646490573883, + 0.09815235435962677, + -3.017059380310126, + -0.11351360380649565, + -0.16381505131721497, + 0.0 + ], + [ + 0.3434426486492157, + 0.06546208262443542, + 0.13087591528892517, + -3.0079743434959134, + -0.12457588315010071, + -0.00722303008660674, + 0.0 + ], + [ + 0.3141004145145416, + 0.04485822468996048, + 0.14023634791374207, + -3.0369644184880933, + -0.08730464428663252, + 0.2166128307580948, + 0.0 + ], + [ + 0.29202979803085327, + 0.013045006431639194, + 0.14596188068389893, + -3.0308262427621564, + -0.0783299282193184, + 0.4097743332386017, + 0.0 + ], + [ + 0.2759644389152527, + -0.007900058291852474, + 0.14376424252986908, + -3.04888670344884, + -0.06577447801828384, + 0.6022109389305115, + 0.0 + ], + [ + 0.26390787959098816, + -0.02892468497157097, + 0.12957698106765747, + -3.044373208778449, + -0.056288894265890115, + 0.7132190465927123, + 0.0 + ], + [ + 0.260638564825058, + -0.036858804523944855, + 0.11626283079385757, + -3.090308902906724, + -0.04253506660461426, + 0.8797174096107483, + 0.0 + ], + [ + 0.26429250836372375, + -0.04390101879835129, + 0.10696666687726974, + 3.1223544535511216, + -0.01678135059773922, + 0.9619484543800354, + 0.0 + ], + [ + 0.2695118486881256, + -0.04007720574736595, + 0.0899372398853302, + 3.082074487703391, + 0.030605990439653393, + 1.0667762756347656, + 0.0 + ], + [ + 0.26966622471809387, + -0.04349517449736595, + 0.08081278949975967, + 3.0411757846646985, + 0.05267384648323059, + 1.1544322967529297, + 0.0 + ], + [ + 0.2652053236961365, + -0.043376460671424866, + 0.06965038925409317, + 3.043449567752429, + 0.02835564687848091, + 1.2212049961090088, + 0.0 + ], + [ + 0.2540382742881775, + -0.04513834789395332, + 0.04462488740682602, + 3.0987534058564385, + 0.004337147343903781, + 1.2307891845703125, + 0.0 + ], + [ + 0.2509649693965912, + -0.0412362739443779, + 0.024328386411070824, + 3.1191724241995296, + -0.015643462538719177, + 1.2416154146194458, + 0.0 + ], + [ + 0.25351905822753906, + -0.041411470621824265, + 0.010576204396784306, + 3.119850603985139, + -0.03225847333669663, + 1.2340772151947021, + 0.0 + ], + [ + 0.2553383409976959, + -0.041990138590335846, + 0.0086752874776721, + 3.1107232478731355, + -0.032338425517082214, + 1.2288844585418701, + 0.0 + ], + [ + 0.2567078471183777, + -0.04288670793175697, + 0.009591822512447834, + -3.1107733958684882, + -0.015500312671065332, + 1.131875991821289, + 0.0 + ], + [ + 0.24786324799060822, + -0.04052978754043579, + 0.013618791475892067, + -3.0545508732372006, + -0.01266225054860115, + 1.123057246208191, + 1.0 + ], + [ + 0.25335410237312317, + -0.04374982416629791, + 0.03476783260703087, + -3.038152890401431, + -0.08965111523866653, + 1.0629547834396362, + 1.0 + ], + [ + 0.2554128170013428, + -0.05014431104063988, + 0.06089926138520241, + -3.008911760645457, + -0.1289525330066681, + 1.018298625946045, + 1.0 + ], + [ + 0.25639840960502625, + -0.05430082231760025, + 0.09943324327468872, + -3.0757349376850804, + -0.18055297434329987, + 1.0113548040390015, + 1.0 + ], + [ + 0.2561783790588379, + -0.05544858053326607, + 0.10258844494819641, + -3.0848384742909154, + -0.18297100067138672, + 1.0089737176895142, + 1.0 + ], + [ + 0.2563396096229553, + -0.05485115945339203, + 0.10223109275102615, + -3.0829924700134477, + -0.18396946787834165, + 1.0095267295837402, + 1.0 + ], + [ + 0.256255179643631, + -0.055244315415620804, + 0.10223109275102615, + -3.0829924700134477, + -0.18396946787834167, + 1.0079927444458008, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.024030208587646484, + 0.28885406255722046, + 0.5588528513908386, + 0.5940692126750946, + 0.5940692126750946, + 0.5940692126750946, + 0.5940692126750946, + 0.5940692126750946, + 0.5940692126750946, + 0.5940692126750946, + 0.5940692126750946, + 0.5940692126750946, + 0.5940692126750946, + 0.5940692126750946, + 0.5949552357196808, + 0.5940692126750946, + 0.5940692126750946, + 0.5940692126750946, + 0.5940692126750946, + 0.5949552357196808, + 0.5459140241146088, + 0.2503390312194824, + 0.00520777702331543, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "1994", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/1994/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2015.json b/annotation/test/2015.json new file mode 100644 index 0000000000000000000000000000000000000000..ab3da3bb119890cd256d0807e1a98b9c3443d8cf --- /dev/null +++ b/annotation/test/2015.json @@ -0,0 +1,565 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "take broccoli out of pan" + ], + "videos": [ + { + "video_path": "videos/test/2015/rgb.mp4" + } + ], + "action": [ + [ + -0.0002557470301787482, + 5.903526821479072e-05, + 0.0007409971025626864, + -0.0006394082201409697, + -0.0030005400590424115, + 1.9339345594845468e-05, + 1.0 + ], + [ + 0.0004310871154740434, + 0.004947077082571037, + 0.0058225438159092945, + 0.004780280924508046, + -0.025394840067239983, + -0.018726022705350422, + 1.0 + ], + [ + 0.009934391420659824, + 0.011489275462107242, + 0.0018854242074441427, + 0.0060707192203532405, + -0.011409320393652278, + -0.02959826967712413, + 1.0 + ], + [ + 0.010074106951449403, + 0.0077507122418690256, + 0.0003037019123931562, + 0.004746435689128377, + -0.00033245612840972655, + -0.02144375680671887, + 1.0 + ], + [ + 0.016710976050771625, + 0.013775406100349644, + 0.0026215400806913953, + 0.010412470704722098, + 0.01741710246847329, + -0.040435337634842416, + 1.0 + ], + [ + 0.031781960548329644, + 0.02710145281435314, + 0.010942816398141342, + 0.010157922449885115, + 0.020420890757335605, + -0.03740014327289219, + 1.0 + ], + [ + 0.034063420595358246, + 0.025923857254724493, + 0.016981918531688785, + 0.017614450156988804, + 0.015927331681466685, + -0.01642068391196229, + 1.0 + ], + [ + 0.02665929164791944, + 0.01818710788952077, + 0.022639787733799054, + 0.004465729831764076, + 0.016022393162252645, + 0.004185574167839542, + 1.0 + ], + [ + 0.016485507757062007, + 0.009184069344099545, + 0.022921826403745557, + 0.001300922834347253, + 0.021354248720276522, + -0.004536969889385797, + 1.0 + ], + [ + 0.010058274265061415, + 0.012239289828365961, + 0.024143399373803238, + 0.0023237418449203033, + 0.039398961134972516, + 0.003228268544333351, + 1.0 + ], + [ + 0.0062399936263482485, + 0.0067835632120855065, + 0.02166440933977062, + -0.020360275871998484, + 0.009632865433613436, + -0.005639300740203212, + 1.0 + ], + [ + 0.005664060690780151, + 0.0005989297518927753, + 0.013125361731865147, + 0.005709061383085298, + 0.01574021835005433, + -0.002444025804037127, + 1.0 + ], + [ + 0.0008437549030834742, + 0.0033636384764620295, + 0.00772563309519239, + 0.005786569674156654, + 0.007571711078067271, + -0.0008419620188054416, + 1.0 + ], + [ + 0.0031351563500597096, + 0.0008712868590042139, + -0.0008652290024785509, + -0.008607651311020694, + 0.014258189089439974, + -0.0024281644828407995, + 1.0 + ], + [ + -0.0035463569189265443, + -0.0010937183486225523, + 0.005649869465789423, + -0.004344049058728702, + 0.001280661819301256, + -9.502773558440217e-05, + 1.0 + ], + [ + -0.0036045250508241777, + -0.001327146318344716, + 0.006104778601147608, + -0.003840745497523427, + 0.004957350908540862, + 0.0020743518858703006, + 1.0 + ], + [ + -0.002103075743183601, + 0.000944314243308038, + 0.0052447070817984555, + -0.014504040350804593, + 0.01372512469177488, + -0.0020630902381322484, + 1.0 + ], + [ + -0.002454177146893195, + 0.0029447093805778043, + 0.00591146053020847, + -0.036442879640858676, + 0.014550629805206468, + -0.024585168388859456, + 1.0 + ], + [ + -0.0005853232237662962, + -0.0004279010978733647, + 0.0026642502647345654, + -0.022600360191759445, + 0.003484352518607666, + -0.028821386778975423, + 1.0 + ], + [ + -0.001820568841164762, + -0.0003641952317730494, + -0.00042831638217814957, + -0.00686302686035301, + -0.018976152729873588, + -0.019736591348861018, + 0.0 + ], + [ + -0.003002557903296216, + -0.0031546803231822075, + -0.008168202152730382, + 0.021355895997442986, + -0.07167194323929518, + -6.361122269128693e-05, + 0.0 + ], + [ + 0.006028309597740451, + -0.0013317779030246279, + -0.024921771672026454, + 0.035047941507086094, + -0.02010502299603686, + 0.019778981893102874, + 0.0 + ], + [ + -0.004251424268941184, + 0.0011520407537831386, + -0.032355381679639784, + 0.030793665885308345, + -0.007805155136704212, + -0.0008300029705222873, + 0.0 + ], + [ + -0.01737899601815121, + -0.008441273666968454, + -0.022090000465112374, + 0.021400087276729998, + 0.007837467079145642, + -0.04555480031100055, + 0.0 + ], + [ + -0.02911106195079938, + -0.010183516286941937, + 0.012281068563533117, + 0.008232803856767362, + 0.004488702781247064, + -0.025104504416932866, + 0.0 + ], + [ + -0.025588836673679973, + -0.006858630226208088, + 0.013527792021555456, + -0.03360746483696075, + 0.012761328190766903, + -0.007880687854475191, + 0.0 + ], + [ + -0.0027785297364348246, + 0.00149375632281223, + 0.012274912848245306, + -0.03681627177598964, + 0.04808251424200013, + -0.0005733908009746183, + 0.0 + ], + [ + 8.479568788629838e-05, + 0.0019436728286796063, + 0.008589118446177624, + -0.03007535660577786, + 0.04121290476846138, + -0.0032134809332537736, + 1.0 + ] + ], + "state": [ + [ + 0.2327926605939865, + 0.013820121064782143, + 0.17940042912960052, + -3.1123045814507684, + -0.10826745629310607, + -0.15597546100616455, + 1.0 + ], + [ + 0.23261494934558868, + 0.013810297474265099, + 0.17863473296165466, + -3.1129513048850974, + -0.10526763647794724, + -0.15590654313564298, + 1.0 + ], + [ + 0.23291532695293427, + 0.00892611127346754, + 0.17275120317935944, + -3.110216910141059, + -0.08039952069520952, + -0.13640393316745758, + 1.0 + ], + [ + 0.24135075509548187, + -0.003763290122151375, + 0.1713113933801651, + -3.106568431603261, + -0.06988810747861862, + -0.1063908040523529, + 1.0 + ], + [ + 0.2505619525909424, + -0.012526300735771656, + 0.17144136130809784, + -3.1033309792452535, + -0.07029060274362563, + -0.08489546924829483, + 1.0 + ], + [ + 0.2662331163883209, + -0.02757435292005539, + 0.1694762259721756, + -3.095744380848952, + -0.08918564021587372, + -0.045003991574048996, + 1.0 + ], + [ + 0.2977444529533386, + -0.05559181794524193, + 0.1601819097995758, + -3.0888711122148713, + -0.11123939603567123, + -0.008360886946320532, + 1.0 + ], + [ + 0.3334213197231293, + -0.0808839276432991, + 0.14575211703777313, + -3.0729976912313184, + -0.12799634039402008, + 0.007323819678276777, + 1.0 + ], + [ + 0.3630254864692688, + -0.09726013243198395, + 0.12551695108413696, + -3.0678438787632665, + -0.14369237422943115, + 0.001995552098378539, + 1.0 + ], + [ + 0.3827263116836548, + -0.10469101369380951, + 0.1045839935541153, + -3.066954845684119, + -0.1653222292661667, + 0.004986626096069813, + 1.0 + ], + [ + 0.3968115746974945, + -0.11502578109502792, + 0.0815911516547203, + -3.0635393803291997, + -0.20436753332614901, + -0.0012981427134945989, + 1.0 + ], + [ + 0.407405823469162, + -0.12011318653821945, + 0.061190634965896606, + -3.08490867738659, + -0.21440832316875458, + 0.00368675822392106, + 1.0 + ], + [ + 0.41573500633239746, + -0.11993684619665146, + 0.04955839365720749, + -3.0795310122245034, + -0.23026145994663239, + 0.005276817828416824, + 1.0 + ], + [ + 0.4183790981769562, + -0.12280093878507614, + 0.04204060509800911, + -3.0738297273688993, + -0.2378707975149155, + 0.005658268928527832, + 1.0 + ], + [ + 0.4212416708469391, + -0.12371262907981873, + 0.04356095567345619, + -3.0827851129048547, + -0.2522604167461395, + 0.007162826135754585, + 1.0 + ], + [ + 0.41918909549713135, + -0.12230340391397476, + 0.037276457995176315, + -3.087134165810891, + -0.2535444498062134, + 0.007183067500591277, + 1.0 + ], + [ + 0.41719886660575867, + -0.12066018581390381, + 0.030541395768523216, + -3.090366991358348, + -0.25838083028793335, + 0.0047615994699299335, + 1.0 + ], + [ + 0.41651952266693115, + -0.12133795768022537, + 0.024893322959542274, + -3.1052263883226594, + -0.27219334244728094, + 0.006170925684273243, + 1.0 + ], + [ + 0.41578954458236694, + -0.12407034635543823, + 0.018440350890159607, + 3.1347702319086572, + -0.28754714131355286, + 0.03123743459582329, + 1.0 + ], + [ + 0.4159717559814453, + -0.12365473806858063, + 0.01571675017476082, + 3.103635149198123, + -0.29071167111396795, + 0.06134544312953949, + 1.0 + ], + [ + 0.41408905386924744, + -0.12338947504758835, + 0.015591721050441265, + 3.091119511174508, + -0.27094656229019165, + 0.08106350153684616, + 0.0 + ], + [ + 0.40878328680992126, + -0.120246022939682, + 0.02249494008719921, + 3.1133173910253724, + -0.199361115694046, + 0.07744225859642029, + 0.0 + ], + [ + 0.40960559248924255, + -0.11814027279615402, + 0.04807028919458389, + -3.130726040462502, + -0.17978164553642276, + 0.056773535907268524, + 0.0 + ], + [ + 0.3997410237789154, + -0.12020690739154816, + 0.07912977784872055, + -3.10009807174141, + -0.17198589444160461, + 0.057701975107192986, + 0.0 + ], + [ + 0.3783826231956482, + -0.11391051113605499, + 0.09824591875076294, + -3.0865996313565454, + -0.1815280765295029, + 0.10364611446857454, + 0.0 + ], + [ + 0.3508830964565277, + -0.10586932301521301, + 0.08147994428873062, + -3.0829433744126042, + -0.1873331367969513, + 0.12890766561031342, + 0.0 + ], + [ + 0.3273884057998657, + -0.10121116042137146, + 0.06384102255105972, + -3.117900503920861, + -0.2005296349525452, + 0.13617171347141266, + 0.0 + ], + [ + 0.32728269696235657, + -0.10243942588567734, + 0.05122733116149902, + 3.1286124113299927, + -0.2486121952533722, + 0.1355876922607422, + 0.0 + ], + [ + 0.3297296166419983, + -0.10417963564395905, + 0.04294830560684204, + 3.097563648717948, + -0.28977811336517334, + 0.13949590921401978, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.030547380447387695, + 0.030547380447387695, + 0.030547380447387695, + 0.030547380447387695, + 0.030547380447387695, + 0.030547380447387695, + 0.030547380447387695, + 0.030547380447387695, + 0.030547380447387695, + 0.030547380447387695, + 0.030547380447387695, + 0.030547380447387695, + 0.030547380447387695, + 0.030547380447387695, + 0.030547380447387695, + 0.030547380447387695, + 0.030547380447387695, + 0.030547380447387695, + 0.030547380447387695, + 0.19258534908294678, + 0.3368593454360962, + 0.34188002347946167, + 0.36297857761383057, + 0.3830626606941223, + 0.38908064365386963, + 0.38908064365386963, + 0.38908064365386963, + 0.38908064365386963, + 0.38908064365386963 + ], + "episode_id": "2015", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2015/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2019.json b/annotation/test/2019.json new file mode 100644 index 0000000000000000000000000000000000000000..e8e053ecc271b33e949ddb222999756e16bb0139 --- /dev/null +++ b/annotation/test/2019.json @@ -0,0 +1,565 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put lid on pot or pan" + ], + "videos": [ + { + "video_path": "videos/test/2019/rgb.mp4" + } + ], + "action": [ + [ + -0.000577225192740376, + 1.2155774701327441e-05, + 0.000759316472537164, + 0.0011313213565160754, + -0.0043910864493587835, + 0.0006277261077101074, + 1.0 + ], + [ + 0.011405068737038645, + 0.003822913654811819, + 0.00884946528510462, + 0.015749665427240635, + -0.02273751700026912, + 0.01019981815042306, + 1.0 + ], + [ + 0.032767016999565364, + 0.0035940384828140708, + -0.003313098836859875, + 0.006929714435042291, + 0.08297272045601913, + -0.018680438502851927, + 1.0 + ], + [ + 0.026162960603325052, + 0.00602176305075176, + 0.0014290362214201525, + -0.01030072471639718, + 0.06319974385218993, + -0.0396083736792298, + 1.0 + ], + [ + 0.027166260154110153, + 0.00820424319404663, + 0.008947056970621706, + -0.00775478937760732, + 0.054919756440818666, + -0.03619605239777446, + 1.0 + ], + [ + 0.01758609206745412, + 0.010213184601375812, + 0.01860308515916836, + -0.017218998889133096, + 0.05646196027729676, + -0.01986068980651136, + 1.0 + ], + [ + 0.012970172844884244, + 0.003849264611904879, + 0.021929128722015346, + -0.016293760117027666, + 0.05641544070715314, + -0.001923424438383807, + 1.0 + ], + [ + 0.013247791303998153, + -0.004303618518866609, + 0.01820258820042601, + -0.01970091328811827, + 0.07288084660257531, + -0.017190455703814028, + 1.0 + ], + [ + 0.004263306837788576, + -0.008669158171483048, + 0.017012632729685815, + -0.005293718486491195, + 0.023732766910005514, + -0.015052536149592158, + 1.0 + ], + [ + 0.004618521379458148, + 0.0018366826644408128, + 0.015321448867689342, + -0.019579757070081708, + 0.009328649389053834, + -0.0016987007313600691, + 1.0 + ], + [ + 0.002711199145112036, + -0.0014784074396302618, + 0.010919983782776806, + -0.013865295734687975, + 0.011920473188101188, + 0.005224968528577309, + 1.0 + ], + [ + 0.0002328208154423343, + -0.004358017795855241, + 0.012852358295956117, + -0.011135109815659707, + -0.001183732168977729, + 0.012382899714274597, + 1.0 + ], + [ + 0.007145529914069766, + -0.0028912497573907563, + 0.005963231063926269, + -0.013644505486710467, + 0.006936581084918188, + 0.011077075925227007, + 1.0 + ], + [ + 0.0060731758825863, + -0.0025587794190522913, + 0.0038548394412814334, + -0.008887918506543946, + 0.007049377764660742, + -0.009618255720880061, + 1.0 + ], + [ + 0.004270739844746156, + 0.0017565364812475153, + 0.0022380359387281475, + -0.011221439511241587, + 0.005725290071819847, + -0.01581396921771343, + 0.0 + ], + [ + 6.856234543818985e-05, + -0.0035185760976879513, + 0.00011772585137320646, + -0.0073946803576554, + -0.0187022858529686, + -0.011722974967358878, + 0.0 + ], + [ + -0.005852252490967428, + 0.002199698533378153, + -0.003952837862549126, + 0.010196780554260279, + -0.0611549812898425, + 0.007065630764607725, + 0.0 + ], + [ + -0.014499062958097306, + 0.002579746680364861, + -0.014258504530452703, + 0.060438358267878585, + -0.12545913418909005, + 0.025809170808569145, + 0.0 + ], + [ + -0.013038092367763796, + -0.005605135853085545, + -0.016101255768278668, + 0.07634419216444038, + -0.09470626377028225, + -0.02044128329764591, + 0.0 + ], + [ + -0.010359596525546078, + -0.009938478468628767, + -0.0035861409510717737, + 0.06383200199530398, + -0.06085261340410955, + -0.03154693085393801, + 0.0 + ], + [ + -0.011150491016738982, + -0.00976825317784132, + -0.0058874857300616375, + 0.05872829109823598, + -0.014249174508182529, + -0.030252395262697195, + 0.0 + ], + [ + -0.0102951827351323, + -0.0014407130894894995, + -0.05614104649140793, + -0.011494962866037893, + 0.13358397945727116, + -0.01625376034206342, + 0.0 + ], + [ + -0.0015866093982988606, + -0.014269139546473682, + -0.024304629437018353, + 0.014927798634615347, + 0.07951527127281995, + -0.025956667104483747, + 0.0 + ], + [ + -0.00439360723295175, + -0.006199630092361959, + -0.0014185078895686525, + 0.04872547116908169, + -0.010870796170546869, + 0.00955998056967516, + 0.0 + ], + [ + -0.0021196895208415475, + -0.007822805703379421, + -0.013988411113284352, + 0.011574236223549432, + -0.003288284635059856, + -0.019966655892433037, + 0.0 + ], + [ + -0.020729002800949067, + 0.0005087047952562282, + -0.007442573280980512, + -0.021958496453770356, + -0.022571263687368438, + -0.04935134153551729, + 0.0 + ], + [ + -0.028893343872373665, + 0.00745453228578711, + 0.0025169093333349325, + -0.07038617166793491, + -0.04700327943840424, + -0.04950772670622178, + 0.0 + ], + [ + -0.017594387470662203, + 0.0007525413851189669, + 0.008806640558436505, + -0.01904863487191333, + -0.020256692637799667, + -0.020946006113627427, + 0.0 + ] + ], + "state": [ + [ + 0.26819634437561035, + -0.029376128688454628, + 0.137920543551445, + -2.942952560382434, + -0.05942649021744728, + -0.003870516549795866, + 1.0 + ], + [ + 0.2676650285720825, + -0.029236147180199623, + 0.13714079558849335, + -2.9418342431359967, + -0.05499787628650665, + -0.0036189944949001074, + 1.0 + ], + [ + 0.2795640528202057, + -0.031270094215869904, + 0.1283499151468277, + -2.925733657675334, + -0.03068778663873673, + -0.009104362688958645, + 1.0 + ], + [ + 0.3122001886367798, + -0.035787660628557205, + 0.13182055950164795, + -2.9180603196197232, + -0.11573155224323274, + -0.008669626899063587, + 1.0 + ], + [ + 0.3384540379047394, + -0.041570648550987244, + 0.13213157653808594, + -2.9308652897649488, + -0.18610097467899323, + 0.016299301758408546, + 1.0 + ], + [ + 0.367184042930603, + -0.04725443571805954, + 0.12687358260154724, + -2.9429187198453626, + -0.24732090532779696, + 0.0409027673304081, + 1.0 + ], + [ + 0.38943395018577576, + -0.05268975347280502, + 0.11154212802648544, + -2.9619583060317716, + -0.30658203363418585, + 0.049608577042818076, + 1.0 + ], + [ + 0.4084886908531189, + -0.051612790673971176, + 0.09423068910837173, + -2.9753228445821485, + -0.3624215722084045, + 0.040854915976524346, + 1.0 + ], + [ + 0.42667609453201294, + -0.043606389313936234, + 0.08280811458826065, + -2.9964847435527524, + -0.4371359944343567, + 0.046215057373046875, + 1.0 + ], + [ + 0.4366132616996765, + -0.03209695592522621, + 0.07049773633480072, + -3.0071696509891233, + -0.46276476979255676, + 0.059020377695560455, + 1.0 + ], + [ + 0.4476011097431183, + -0.031214043498039246, + 0.058753009885549545, + -3.0269606580310544, + -0.47223687171936035, + 0.05950671434402466, + 1.0 + ], + [ + 0.4546988308429718, + -0.02806861884891987, + 0.05047587305307388, + -3.037452960508414, + -0.48347043991088867, + 0.05210454016923904, + 1.0 + ], + [ + 0.46033310890197754, + -0.022096645087003708, + 0.03966753929853439, + -3.042202690737792, + -0.48096695542335505, + 0.0383513942360878, + 1.0 + ], + [ + 0.4691408574581146, + -0.018287446349859238, + 0.03796706348657608, + -3.049722084897109, + -0.4867343008518219, + 0.025102145969867706, + 1.0 + ], + [ + 0.47611933946609497, + -0.01520968321710825, + 0.03762243688106537, + -3.0633575712614736, + -0.4946151375770569, + 0.035248976200819016, + 1.0 + ], + [ + 0.48105505108833313, + -0.016612861305475235, + 0.03756511211395264, + -3.0828792360895356, + -0.5014953017234803, + 0.052718035876750946, + 0.0 + ], + [ + 0.48088693618774414, + -0.013097414746880531, + 0.037676066160202026, + -3.097218448417731, + -0.4834686517715454, + 0.06717304140329361, + 0.0 + ], + [ + 0.4740900993347168, + -0.01593291014432907, + 0.03836558386683464, + -3.0847261307113847, + -0.422055721282959, + 0.06242179870605469, + 0.0 + ], + [ + 0.45534026622772217, + -0.020497409626841545, + 0.04527875781059265, + -3.015883045392581, + -0.2952601611614227, + 0.043135885149240494, + 0.0 + ], + [ + 0.43787693977355957, + -0.017705725505948067, + 0.05744011327624321, + -2.948597105341502, + -0.20371244847774506, + 0.07586242258548737, + 0.0 + ], + [ + 0.4259791076183319, + -0.00951776746660471, + 0.060657866299152374, + -2.893301697569438, + -0.14985351264476773, + 0.11892125010490417, + 0.0 + ], + [ + 0.4128778874874115, + -0.003004245227202773, + 0.06700977683067322, + -2.839634807901927, + -0.14339303970336914, + 0.15208645164966583, + 0.0 + ], + [ + 0.39749521017074585, + -0.02086111158132553, + 0.11901351809501648, + -2.8447925468259534, + -0.2756865620613098, + 0.1269039064645767, + 0.0 + ], + [ + 0.3877508342266083, + -0.015514318831264973, + 0.14496153593063354, + -2.8293361385637006, + -0.3593086898326874, + 0.1285167932510376, + 0.0 + ], + [ + 0.38183650374412537, + -0.010769127868115902, + 0.1464632749557495, + -2.7784447093778333, + -0.346020519733429, + 0.12239651381969452, + 0.0 + ], + [ + 0.374234139919281, + -0.009342956356704235, + 0.1606595814228058, + -2.7741031666570386, + -0.34996771812438965, + 0.14350895583629605, + 0.0 + ], + [ + 0.3531171977519989, + -0.015575767494738102, + 0.15990522503852844, + -2.816260429220744, + -0.34608969092369085, + 0.2010873258113861, + 0.0 + ], + [ + 0.3293195366859436, + -0.02681448869407177, + 0.14561912417411804, + -2.9090132435136518, + -0.316680371761322, + 0.2662279009819031, + 0.0 + ], + [ + 0.3154744505882263, + -0.029245132580399513, + 0.13183176517486572, + -2.9362568726115903, + -0.3016940355300903, + 0.292460560798645, + 0.0 + ] + ], + "continuous_gripper_state": [ + 0.028361797332763672, + 0.028361797332763672, + 0.028361797332763672, + 0.028361797332763672, + 0.028361797332763672, + 0.028361797332763672, + 0.028361797332763672, + 0.028361797332763672, + 0.028361797332763672, + 0.028361797332763672, + 0.028361797332763672, + 0.028361797332763672, + 0.028361797332763672, + 0.028361797332763672, + 0.20776593685150146, + 0.4458767771720886, + 0.6546594798564911, + 0.6818961203098297, + 0.6818961203098297, + 0.6826788187026978, + 0.6826788187026978, + 0.6826788187026978, + 0.6850205361843109, + 0.6850205361843109, + 0.6850205361843109, + 0.6850205361843109, + 0.6850205361843109, + 0.6850205361843109, + 0.6850205361843109 + ], + "episode_id": "2019", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2019/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2025.json b/annotation/test/2025.json new file mode 100644 index 0000000000000000000000000000000000000000..552a47f6f1a821f08ff5fdfa24a8544a08dad632 --- /dev/null +++ b/annotation/test/2025.json @@ -0,0 +1,641 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the orange cloth left and closer to the red-handled fork." + ], + "videos": [ + { + "video_path": "videos/test/2025/rgb.mp4" + } + ], + "action": [ + [ + -3.1237167334070515e-05, + 4.677512910094254e-05, + 0.0005753915339635728, + 6.533388709593262e-05, + -0.0015272540335927829, + 0.0016617437280119912, + 1.0 + ], + [ + -0.004135560081311479, + 0.0017332725172770748, + 0.01549498376233887, + 0.0016847747819983888, + -0.03955374400554974, + -0.0036234293936346956, + 1.0 + ], + [ + -0.024702340676317245, + 0.01874066748863252, + 0.011288531681585013, + 0.02482425878551803, + -0.014499320006500253, + 0.033616540282811434, + 1.0 + ], + [ + -0.025517110693269462, + 0.025358109083041095, + 0.0008973408459847457, + 0.03264091200446324, + 0.0205766395679921, + 0.07037759377569117, + 1.0 + ], + [ + -0.030095952845693583, + 0.023148618699474374, + 0.002973339900963878, + -7.160349950307089e-05, + 0.018478760836799522, + 0.06849199711041722, + 1.0 + ], + [ + -0.025331044054851794, + 0.02748646765171414, + 0.013340701297461052, + -0.06891302538039115, + -0.0007469837355389661, + 0.08759214320188763, + 1.0 + ], + [ + -0.0024386467950371533, + 0.03921013966717506, + 0.011204889657595172, + -0.046911851205601554, + 0.029599626978316806, + 0.2000766965262358, + 1.0 + ], + [ + 0.005806585191395818, + 0.015257988678276118, + 0.011686430505858426, + 0.009162275069897493, + 0.02566271642074957, + 0.054546509676723975, + 1.0 + ], + [ + 0.0043433811857607595, + 0.0017999458832654203, + 0.011388353521495401, + 0.023705033459182758, + -0.0020507826532131066, + 0.04428303476421248, + 1.0 + ], + [ + 0.0019138074134487652, + -0.002758040505870663, + 0.003670913427456094, + 0.004324785682077752, + -0.007883370043594715, + -0.0029435253670733793, + 1.0 + ], + [ + -0.004625155104919986, + -0.009378748094543778, + 0.0018933934425827397, + -0.022155267382122257, + -0.012487172168228037, + -0.06218655383505322, + 1.0 + ], + [ + -0.009052956543929668, + -0.01606801122633133, + 0.0014788026170867007, + -0.010988328486478998, + -0.008183450698173575, + -0.056496259414103446, + 1.0 + ], + [ + -0.003324921201693669, + -0.024695904618734624, + 0.000676792293327993, + -0.001733366130616043, + -0.0046856345131665875, + -0.05624828986204525, + 1.0 + ], + [ + -0.0032105724974366883, + -0.027802727068003935, + -2.4626341854858373e-05, + 0.025690597108558526, + -0.011952097500920897, + -0.04804684647402095, + 1.0 + ], + [ + 0.0027542988520104653, + -0.026961304867960834, + 0.0010690130782461658, + 0.03255534266035856, + -0.012961969184773048, + -0.03497244011036563, + 1.0 + ], + [ + 0.0008452771441284809, + -0.026255401370582, + 0.0024843762507765817, + 0.018779090098185108, + -0.018307875587488944, + -0.040624570660565726, + 1.0 + ], + [ + 0.0028800673412516706, + -0.029614596416645825, + 0.0027284601698492734, + 0.027548530864149087, + -0.0059675846360554355, + -0.04802824956958741, + 1.0 + ], + [ + -9.670166782269284e-05, + -0.023589658379477244, + 0.0031772449068643237, + 0.00045233979369299865, + -0.008491344707957843, + -0.06486570464073507, + 1.0 + ], + [ + -0.0023471716959066885, + -0.014354431614191612, + 0.0014463559955970368, + 0.00974372944428594, + -0.008227285093093352, + -0.00547794402453629, + 1.0 + ], + [ + -0.0001631509816967127, + -0.0006260739452457479, + 7.038175604111173e-05, + 0.0010551242835163822, + -0.0003563860805043563, + 0.020968029074397886, + 1.0 + ], + [ + -0.0014554824881405574, + 0.0016828500925398018, + -0.000952135213851847, + -0.011424464401836209, + -0.0075267306449217225, + 0.030464265762679084, + 1.0 + ], + [ + -0.007932856873364801, + -0.0017198272064069618, + -0.008137119344924315, + -0.0023969099892457765, + -0.036542844716080464, + 0.007795219108474208, + 1.0 + ], + [ + 0.012796484208532544, + -0.004015165105641972, + -0.0263372611200714, + 0.018935647420531054, + 0.04411840902447666, + -0.03428606665012417, + 1.0 + ], + [ + 0.015354269412290277, + 0.0010500385686209388, + -0.024298398459791773, + 0.005100032299467102, + 0.04459963515027129, + 0.012908947246703472, + 1.0 + ], + [ + 0.009845328680385648, + 0.005139795016694147, + -0.014782879310299086, + -0.02625343002164059, + 0.01072056067210968, + 0.01176078399942143, + 1.0 + ], + [ + -0.0011871581406139521, + 0.008749121666928672, + -0.016508929478588022, + 0.0366551694250692, + 0.00534998359264689, + -0.004421901241410852, + 1.0 + ], + [ + 0.005301524924944293, + 0.02669371922038411, + -0.009948346864670547, + -0.0021373955028916123, + -0.001948856100654647, + 0.0002294637121182572, + 1.0 + ], + [ + -0.008950789636460347, + 0.03264738817234554, + -0.014838578281370664, + -0.035820627176985226, + 0.019055174475665494, + 0.019504202126070843, + 1.0 + ], + [ + -0.008153167306807338, + 0.045168916537721815, + -0.004638860160758567, + -0.014138429288093423, + 0.006779828163346373, + 0.06437661540640638, + 1.0 + ], + [ + -0.010286665801693047, + 0.03145438638654177, + -0.011802639688644858, + -0.009339740817428983, + 0.016398179835093882, + 0.05513295852529925, + 1.0 + ], + [ + -0.017680902231982855, + 0.021708030473699937, + -0.004161207626219839, + -0.0031533259487246243, + -0.0015242601848325888, + 0.03747203060076282, + 1.0 + ], + [ + 0.0006867004654217174, + 0.0005093048120199243, + -0.0004762596864066426, + -0.0009959188440544062, + 0.006197706203292045, + -0.0016936955688180214, + 1.0 + ] + ], + "state": [ + [ + 0.36225828528404236, + 0.10436302423477173, + 0.10102495551109314, + -3.059314379590102, + -0.027774734422564513, + 0.2896513044834137, + 1.0 + ], + [ + 0.36224353313446045, + 0.10435932874679565, + 0.10044702142477036, + -3.059206524985381, + -0.026116043329238895, + 0.2881201803684235, + 1.0 + ], + [ + 0.3587985038757324, + 0.10286662727594376, + 0.08475928008556366, + -3.0576384161883077, + 0.013005908578634262, + 0.2949832677841186, + 1.0 + ], + [ + 0.3401595652103424, + 0.07867487519979477, + 0.07226134836673737, + -3.033269139128276, + 0.03026584349572659, + 0.2626903653144837, + 1.0 + ], + [ + 0.32194411754608154, + 0.047772105783224106, + 0.06940159946680069, + -3.0030713250213346, + 0.01733284443616867, + 0.19049987196922302, + 1.0 + ], + [ + 0.2965559959411621, + 0.019945144653320312, + 0.0637829527258873, + -3.0046832730346402, + 0.008437384851276875, + 0.12011656165122986, + 1.0 + ], + [ + 0.2743108868598938, + -0.008332689292728901, + 0.0470300056040287, + -3.0748439749055585, + 0.02108551375567913, + 0.033429171890020364, + 1.0 + ], + [ + 0.27286607027053833, + -0.04677792638540268, + 0.03328926861286163, + -3.1273020013519606, + 0.004378813318908215, + -0.16812364757061005, + 1.0 + ], + [ + 0.27601438760757446, + -0.06261750310659409, + 0.02136068046092987, + -3.118396921204873, + -0.02050879597663879, + -0.2230253964662552, + 1.0 + ], + [ + 0.2801382541656494, + -0.06512710452079773, + 0.010025117546319962, + -3.0938077700608453, + -0.017411760985851288, + -0.2672555148601532, + 1.0 + ], + [ + 0.2828170359134674, + -0.06282247602939606, + 0.006523993797600269, + -3.089539511250802, + -0.009677896276116373, + -0.2639387249946594, + 1.0 + ], + [ + 0.28083452582359314, + -0.052482642233371735, + 0.005076442379504442, + -3.1124001574986657, + -0.0004219901456963271, + -0.20119039714336392, + 1.0 + ], + [ + 0.2751828134059906, + -0.034894127398729324, + 0.004063448403030634, + -3.123458372550555, + 0.006110507063567638, + -0.14447982609272003, + 1.0 + ], + [ + 0.2754480540752411, + -0.009968497790396214, + 0.0038549064192920923, + -3.1248762999945363, + 0.00976625457406044, + -0.08815362304449081, + 1.0 + ], + [ + 0.2747022211551666, + 0.018004214391112328, + 0.0043755993247032166, + -3.0987329242103776, + 0.020902501419186592, + -0.039906367659568794, + 1.0 + ], + [ + 0.2785320281982422, + 0.04485514760017395, + 0.004405181854963303, + -3.065458873408385, + 0.032341264188289635, + -0.004394710063934327, + 1.0 + ], + [ + 0.27947720885276794, + 0.0712195560336113, + 0.0038979132659733295, + -3.0453780089789113, + 0.04747871309518815, + 0.037546221166849136, + 1.0 + ], + [ + 0.281241774559021, + 0.10104655474424362, + 0.003890200052410364, + -3.0156427343660077, + 0.04875102639198304, + 0.08598285168409349, + 1.0 + ], + [ + 0.27909234166145325, + 0.12475145608186722, + 0.0037063260097056627, + -3.012267204123088, + 0.048928406089544296, + 0.15147909522056582, + 1.0 + ], + [ + 0.27461883425712585, + 0.13865672051906586, + 0.004237569868564606, + -3.002203734713145, + 0.056379493325948715, + 0.1579824835062027, + 1.0 + ], + [ + 0.2743598520755768, + 0.1392531841993332, + 0.004264022223651409, + -3.002347992854663, + 0.05963335931301117, + 0.13723048567771912, + 1.0 + ], + [ + 0.2732085585594177, + 0.13727840781211853, + 0.005058853421360254, + -3.0155679156356534, + 0.07128961384296417, + 0.10803296416997908, + 1.0 + ], + [ + 0.26585525274276733, + 0.13716833293437958, + 0.013891605660319328, + -3.0181056653433522, + 0.1085219606757164, + 0.10487834364175798, + 1.0 + ], + [ + 0.28129759430885315, + 0.1395384967327118, + 0.038980234414339066, + -2.995998131232806, + 0.060472786426544196, + 0.1334872990846634, + 1.0 + ], + [ + 0.2985258102416992, + 0.13724687695503235, + 0.06189759448170662, + -2.991942601399966, + 0.018206818029284477, + 0.11425521224737166, + 1.0 + ], + [ + 0.30938655138015747, + 0.13115902245044708, + 0.07556740939617157, + -3.018441381054469, + 0.009357871487736704, + 0.10102752596139908, + 1.0 + ], + [ + 0.30942827463150024, + 0.12039753794670105, + 0.09088700264692307, + -2.9817503859573087, + 0.0035051552113145594, + 0.10475870221853258, + 1.0 + ], + [ + 0.31764140725135803, + 0.09317025542259216, + 0.09644127637147903, + -2.983887182670184, + 0.005465690046548843, + 0.10484234988689423, + 1.0 + ], + [ + 0.31240972876548767, + 0.05785617232322693, + 0.10601713508367538, + -3.0198399518900594, + -0.010291446000337602, + 0.08258941024541855, + 1.0 + ], + [ + 0.30803894996643066, + 0.01194115448743105, + 0.1050519347190857, + -3.033566119270869, + -0.009186387062072754, + 0.017863620072603222, + 1.0 + ], + [ + 0.29825904965400696, + -0.020782314240932465, + 0.11329962313175201, + -3.0425452684336385, + -0.019533297047019005, + -0.038721725344657905, + 1.0 + ], + [ + 0.27970367670059204, + -0.04209309071302414, + 0.1149481013417244, + -3.045041712122508, + -0.014298445545136929, + -0.07586293667554854, + 1.0 + ], + [ + 0.28034037351608276, + -0.04269592463970184, + 0.11538282036781311, + -3.0460513924532613, + -0.020630551502108574, + -0.07477439194917679, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0005114078521728516, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2025", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2025/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2027.json b/annotation/test/2027.json new file mode 100644 index 0000000000000000000000000000000000000000..b8e955ab747148b274f30b1b782a7c203a45551c --- /dev/null +++ b/annotation/test/2027.json @@ -0,0 +1,565 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put banana on plate" + ], + "videos": [ + { + "video_path": "videos/test/2027/rgb.mp4" + } + ], + "action": [ + [ + -0.0003203266568627565, + -0.0001851781651059991, + 0.00037407037424162364, + 0.0018227566007181447, + -0.0024430404305413596, + 0.00020275261769568803, + 1.0 + ], + [ + -0.00672060577064934, + -0.012001794950964944, + 0.0086618577745587, + 0.015533703022039729, + -0.029281514170226876, + 0.08405665162704885, + 1.0 + ], + [ + 0.004999090861680889, + -0.024898081731780066, + -0.0012812512721495015, + 0.005364781302037577, + -0.013319359308161735, + 0.14076703576972752, + 1.0 + ], + [ + 0.022741961707194405, + -0.04340493429556556, + -0.013274235196329373, + -0.009189560582465802, + 0.012808456830999826, + 0.1687361398569569, + 1.0 + ], + [ + 0.016041482410253716, + -0.03954782108251872, + -0.0025005889577072874, + 0.015138136883557923, + 0.03115326269325147, + 0.10425965198208681, + 1.0 + ], + [ + 0.01879592736063513, + -0.026755967693765197, + 0.005225957817601586, + 0.033173903780423154, + 0.05825922834076091, + 0.11622367094969033, + 1.0 + ], + [ + 0.01503691955081596, + -0.022534601275631925, + 0.012041899581972583, + 0.015525781213214776, + 0.06146361622290625, + 0.10159081030848013, + 1.0 + ], + [ + 0.013263533623410711, + -0.022582434727722835, + 0.008713783064638617, + -0.006222944323891735, + 0.04040479926034532, + 0.0864342494542641, + 1.0 + ], + [ + 0.009306935652564787, + -0.028939721863096377, + 0.00930772254230685, + -0.0023330402161833258, + 0.0385971394738748, + 0.06619476179349965, + 1.0 + ], + [ + 0.01141499825894458, + -0.024885358287217756, + 0.013705126452211057, + 0.021644817094200155, + 0.04637118995791646, + 0.05835340437015744, + 1.0 + ], + [ + 0.0001064909011917351, + -0.009494508785095388, + 0.016796183982069158, + 0.009518831264603421, + 0.03705591267961158, + 0.014571366852364159, + 1.0 + ], + [ + 0.005511695977938837, + -0.005092740160458013, + 0.0045110423472724485, + 0.03367223864971104, + 0.04746153565540171, + 0.012698237228732489, + 1.0 + ], + [ + -0.004065740834557814, + 0.002854547052513925, + 0.013880697511119621, + -0.01643033390080063, + 0.015552998093182087, + 0.009685709284700786, + 1.0 + ], + [ + -0.00036505455601717075, + -0.006944429404879585, + 0.01075739332189355, + -0.009293996278252949, + 0.027572873263410957, + -0.0009163309156352568, + 1.0 + ], + [ + 0.0011521011226500618, + -0.00019271062692274575, + 0.004344848769287229, + -0.02598387070877975, + 0.009171881202524537, + -0.0031801920748290562, + 1.0 + ], + [ + 0.0012214892708553087, + 0.004940446114362603, + -0.0014775216033525752, + -0.0371554907867442, + -0.019556744355642832, + 0.0004874310899787916, + 0.0 + ], + [ + -0.005343324105879017, + 0.006705355667527423, + -0.01289760279431388, + -0.0330480206390944, + -0.08954900814880416, + -0.01487018566774147, + 0.0 + ], + [ + -0.0005700356805465117, + 0.0017872704241744025, + -0.034233146942051415, + 0.041977913681176086, + -0.06886816866772119, + -0.02647454657473672, + 0.0 + ], + [ + -0.013466557911840326, + 0.01662810948642911, + -0.024834535266607553, + 0.02089291093424327, + -0.06441273950413823, + -0.08564934962737793, + 0.0 + ], + [ + -0.01399878042992683, + 0.03612080334509695, + -0.015736917592342393, + 0.013382690932641673, + -0.032380936097084284, + -0.10753420867879425, + 0.0 + ], + [ + -0.016803008649868615, + 0.026052081068864037, + -0.004606550485982833, + 0.002214776022711397, + -0.02270600308426225, + -0.06159244440600806, + 0.0 + ], + [ + -0.01786989163381196, + 0.016172108444830902, + -0.003819335013575678, + -0.016643969820563084, + -0.014351090666390282, + -0.03635072213998225, + 0.0 + ], + [ + -0.018007254803712253, + 0.015724387863420224, + 0.003277457675032135, + -0.03981568165114527, + -0.005272945000897495, + -0.03951063705809564, + 0.0 + ], + [ + -0.01655412481613485, + 0.01041867009897252, + 0.006689285055834565, + -0.03963847969574207, + 0.021929441408418127, + -0.01855426409174957, + 0.0 + ], + [ + -0.007461246057169368, + 0.006721049912013003, + 0.010928932697644231, + -0.02590445166727572, + 0.04989049336410953, + -0.002070002505380195, + 0.0 + ], + [ + 0.0018417676393460828, + 0.0003176757834620273, + 0.00585218426400035, + 0.008972493188578965, + 0.06297440003858115, + -0.005991423907810074, + 0.0 + ], + [ + 0.004527846631181075, + 0.00021424842020818197, + 0.007295849528806293, + -0.005930708808461791, + 0.04527987622619601, + -0.009649828858934376, + 1.0 + ], + [ + 0.00021530279886057413, + -0.001634688356087548, + 0.00337625255170028, + -0.0054791323506667294, + 0.011621196313200728, + -0.009137255946388473, + 1.0 + ] + ], + "state": [ + [ + 0.23349210619926453, + -0.09816151857376099, + 0.04739959165453911, + -3.0733009224110326, + -0.14057837426662445, + 0.09636323153972627, + 1.0 + ], + [ + 0.23320646584033966, + -0.09797787666320801, + 0.04699770361185074, + -3.071472929912158, + -0.1381271928548813, + 0.09632731974124908, + 1.0 + ], + [ + 0.22643983364105225, + -0.08599395304918289, + 0.03834694251418114, + -3.0448332523279866, + -0.1025722399353981, + 0.014139085076749323, + 1.0 + ], + [ + 0.23068669438362122, + -0.06127359718084335, + 0.04252009093761444, + -3.026182958977767, + -0.07477135956287384, + -0.12504471838474274, + 1.0 + ], + [ + 0.2570270299911499, + -0.022669710218906403, + 0.062352314591407776, + -3.024416448669978, + -0.0670895129442215, + -0.29451480507850647, + 1.0 + ], + [ + 0.2832035422325134, + 0.010128362104296684, + 0.07051864266395569, + -3.0026995112472257, + -0.08547842502593994, + -0.402062475681305, + 1.0 + ], + [ + 0.3112054169178009, + 0.027801932767033577, + 0.07065735757350922, + -2.959777968125888, + -0.12647761404514316, + -0.5260800719261169, + 1.0 + ], + [ + 0.337175190448761, + 0.04086865484714508, + 0.06484735012054443, + -2.9308666457706174, + -0.16781309247016907, + -0.6385564804077147, + 1.0 + ], + [ + 0.362433522939682, + 0.05189123377203941, + 0.06331859529018402, + -2.9220554401450833, + -0.18853886425495148, + -0.7331690192222595, + 1.0 + ], + [ + 0.3898729383945465, + 0.06791815161705017, + 0.062330346554517746, + -2.9108358939462384, + -0.2112974524497986, + -0.8078110814094543, + 1.0 + ], + [ + 0.4184703826904297, + 0.07759969681501389, + 0.057244326919317245, + -2.8749204893880567, + -0.2426140010356903, + -0.8772130608558655, + 1.0 + ], + [ + 0.43108704686164856, + 0.08367414027452469, + 0.04397067800164223, + -2.8593462129407605, + -0.27444943785667414, + -0.9019502997398376, + 1.0 + ], + [ + 0.43968960642814636, + 0.08270424604415894, + 0.04265935346484184, + -2.8181922753625592, + -0.3164036870002747, + -0.9286754131317139, + 1.0 + ], + [ + 0.441362202167511, + 0.0833139568567276, + 0.028024356812238693, + -2.8299726863675794, + -0.32803967595100403, + -0.943596363067627, + 1.0 + ], + [ + 0.4507153034210205, + 0.08729302883148193, + 0.020229078829288483, + -2.8365480621629438, + -0.3545553386211395, + -0.9516801834106445, + 1.0 + ], + [ + 0.45337799191474915, + 0.08612169325351715, + 0.016796842217445374, + -2.862622233229228, + -0.36425888538360596, + -0.9513819813728331, + 1.0 + ], + [ + 0.4498298466205597, + 0.08221624791622162, + 0.01728804036974907, + -2.901588129001208, + -0.3453195095062256, + -0.9461570978164673, + 0.0 + ], + [ + 0.4369548261165619, + 0.08369515836238861, + 0.02576788328588009, + -2.946343096094676, + -0.2616536617279053, + -0.9092492461204529, + 0.0 + ], + [ + 0.42471086978912354, + 0.08575603365898132, + 0.05772513523697853, + -2.9144286533170423, + -0.1990266591310501, + -0.8691903948783875, + 0.0 + ], + [ + 0.3969341814517975, + 0.08486050367355347, + 0.07511047273874283, + -2.9137287010722837, + -0.1545667201280594, + -0.7701794505119323, + 0.0 + ], + [ + 0.35923877358436584, + 0.06745128333568573, + 0.08004039525985718, + -2.9190798868709287, + -0.1462845355272293, + -0.6569188833236694, + 0.0 + ], + [ + 0.33008190989494324, + 0.05656467378139496, + 0.07634832710027695, + -2.926855655508586, + -0.13740882277488708, + -0.5912219882011414, + 0.0 + ], + [ + 0.3060920834541321, + 0.05265844613313675, + 0.07418336719274521, + -2.9489673544936856, + -0.13102850317955017, + -0.552316427230835, + 0.0 + ], + [ + 0.2838181257247925, + 0.048993661999702454, + 0.06565696746110916, + -2.994178505735942, + -0.133310467004776, + -0.5121708512306212, + 0.0 + ], + [ + 0.2658911347389221, + 0.048376865684986115, + 0.055381909012794495, + -3.0358347465568265, + -0.15771180391311646, + -0.4968533515930176, + 0.0 + ], + [ + 0.2583760619163513, + 0.046161290258169174, + 0.04277638718485832, + -3.0610918944054326, + -0.20754100382328033, + -0.500132143497467, + 0.0 + ], + [ + 0.2610907554626465, + 0.04485321789979935, + 0.03742283955216408, + -3.052151935296603, + -0.2707929015159607, + -0.4991986453533173, + 0.0 + ], + [ + 0.2668420970439911, + 0.042216431349515915, + 0.03161369636654854, + -3.059558296697684, + -0.31674924492836, + -0.4933494627475738, + 1.0 + ], + [ + 0.2688112258911133, + 0.04332152381539345, + 0.02861054055392742, + -3.067718470590659, + -0.3290691375732422, + -0.48473352193832403, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.003185570240020752, + 0.04696917533874512, + 0.23376083374023438, + 0.43201011419296265, + 0.45081204175949097, + 0.4517979621887207, + 0.4517979621887207, + 0.4517979621887207, + 0.4517979621887207, + 0.4517979621887207, + 0.4517979621887207, + 0.4517979621887207, + 0.4517979621887207, + 0.21063190698623657, + 0.003858029842376709, + 0.003185570240020752 + ], + "episode_id": "2027", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2027/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/203.json b/annotation/test/203.json new file mode 100644 index 0000000000000000000000000000000000000000..0212ebf0011ec1926a268c5c0f885e6827524be1 --- /dev/null +++ b/annotation/test/203.json @@ -0,0 +1,603 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Place the lobster to the right of the green cloth." + ], + "videos": [ + { + "video_path": "videos/test/203/rgb.mp4" + } + ], + "action": [ + [ + 0.0001580392783139475, + 0.0005436490186804141, + -1.3465666807089836e-05, + -0.0001282393964342243, + 7.475388042079641e-05, + -0.0015411550622437507, + 1.0 + ], + [ + -0.007335926192967598, + 0.00224175729469165, + 0.012491156149993623, + -0.012580936625104825, + -0.034767026698923495, + 0.002978784079861415, + 1.0 + ], + [ + -0.02829072040306942, + -0.006014252345565322, + -0.009663708490455154, + -0.003510769287783689, + 0.01769892139957351, + -0.017665248661486072, + 1.0 + ], + [ + -0.028055632042586917, + -0.02433233899877856, + -0.022432022855584714, + 0.008208741638728105, + 0.07770161856578876, + -0.07277989998811642, + 1.0 + ], + [ + -0.016018194357320253, + -0.020027737015347956, + 0.002745305180656238, + 0.008917572836144461, + -6.621677508039695e-05, + -0.03264656475036393, + 1.0 + ], + [ + -0.0036437013581762886, + -0.013242814121808534, + 0.013033850690295766, + 0.03783795185035029, + -0.026692143801796946, + -0.014832166778887131, + 1.0 + ], + [ + -0.005462753576462723, + -0.000498182824006215, + 0.030111704497288123, + 0.0151281728803129, + -0.07562097290208432, + 0.014362789197308434, + 1.0 + ], + [ + -0.005015031437125979, + 0.009578020752040072, + 0.019472781297873103, + 0.01717047824622186, + -0.03918577662232845, + 0.01647696539975116, + 1.0 + ], + [ + -0.009695395965927157, + 0.00500638094637207, + 0.02277229398772363, + 0.011560661233796827, + -0.05308031362158675, + 0.008342008850635805, + 1.0 + ], + [ + -0.0009883397899419415, + -0.0014672343876230886, + 0.004944733014324403, + 0.011100429329650678, + -0.013227839211277462, + -0.010894386772577657, + 1.0 + ], + [ + 0.0011574646421514691, + -0.002037852181722857, + 0.002473092725092851, + 0.007300946948700729, + -0.006241698543516569, + -0.01863320716928878, + 1.0 + ], + [ + 0.0004211286311100772, + 0.00037726635485908826, + 0.0004527699115583593, + -0.00214569038102574, + 0.001991352388453934, + -0.006448003844009032, + 1.0 + ], + [ + -0.0030701977331068077, + 0.0034919267478269035, + -0.0032511381614324163, + -0.012771906268784428, + 0.008798867448980516, + -0.004859338349068116, + 0.0 + ], + [ + -0.005686271972319592, + 0.004884600115238427, + -0.01142714033092473, + -0.022417320467118345, + 0.0028142109325911113, + -0.007728545275829442, + 0.0 + ], + [ + 0.0026703825307609857, + 0.007964921599083763, + -0.04554795807917891, + -0.024558522496551907, + 0.10194691147696569, + -0.012662533380118579, + 0.0 + ], + [ + 0.005031866229449989, + 0.025760694476160667, + -0.02617186018268094, + -0.036821197927281425, + 0.0569826074503821, + 0.06215363777452585, + 0.0 + ], + [ + 0.019474164686473498, + 0.029159452697249996, + 0.0005071164635279219, + -0.030601596351800913, + 0.0045611165849984096, + 0.09831829624335729, + 0.0 + ], + [ + 0.025448109847194006, + 0.026000836400211915, + 0.02030145581562712, + 0.01422341554275793, + -0.04643693232471953, + 0.0687399140462914, + 0.0 + ], + [ + 0.0209954393098018, + 0.015211322128721073, + 0.03102425756961531, + 0.041045913857373904, + -0.054457969944423264, + -0.009243528835993338, + 0.0 + ], + [ + 0.01888277705061646, + 0.006103159874402172, + 0.027241150610027565, + 0.04866028801693366, + -0.019353596598126306, + -0.007457068622486781, + 0.0 + ], + [ + 0.010553458501725194, + 0.0024222918039586696, + 5.848559734724948e-05, + 0.02032600372167708, + 0.019150465199720475, + 0.02668526639956458, + 0.0 + ], + [ + 0.004372063472094739, + 0.0014336910188850478, + -0.000775020890912322, + -0.010536802052395568, + 0.018285760459115348, + 0.009285949430599464, + 0.0 + ], + [ + -0.0007547389998503041, + 0.002581884950135027, + 0.0014786472303670761, + -0.029625667295706263, + 0.018692752595425466, + 0.02052738121317149, + 0.0 + ], + [ + -0.0072996704771432375, + -0.006532187245699375, + 0.000770212536241611, + -0.06507883711292305, + 0.008946688037823381, + 0.0009470042768922799, + 1.0 + ], + [ + -0.0034196440276265823, + 0.002347916774204066, + -0.012338338732823317, + -0.0075885680782245635, + 0.013980718508377125, + 0.028696409069083138, + 1.0 + ], + [ + -0.0008842741396535865, + -0.00891625507917025, + -0.02399895318515666, + -0.013610614706527932, + 0.042577804576832926, + -0.024337987877345677, + 1.0 + ], + [ + -0.004683332516128719, + -0.0017003919679260588, + -0.012905639481612668, + -0.0053118976690275255, + 0.0044315741517675904, + 0.012884717416649224, + 1.0 + ], + [ + -0.004292113108373718, + -0.002268899831288349, + -0.0068261458199034095, + -0.003662221826232584, + 0.005746875329818743, + -0.004302242317437504, + 1.0 + ], + [ + -0.002445064125253372, + -0.002791673882589691, + 0.0009259136924759688, + 0.00636285871490937, + -0.00804921659635844, + -0.0039766337582476385, + 1.0 + ], + [ + 0.0004442695279532092, + -0.00012094557575695344, + -0.00031625043848033685, + 0.0003935356393356864, + 0.001482639774557728, + -0.004605511763341034, + 1.0 + ] + ], + "state": [ + [ + 0.345066100358963, + 0.13123472034931183, + 0.08672567456960678, + -3.0924791303747377, + -0.08358370512723923, + 0.07880187034606934, + 1.0 + ], + [ + 0.34526699781417847, + 0.13070523738861084, + 0.08672567456960678, + -3.092736082273074, + -0.08373393118381502, + 0.0803428962826729, + 1.0 + ], + [ + 0.33916032314300537, + 0.12857922911643982, + 0.07357048988342285, + -3.1051805933290204, + -0.048862863332033164, + 0.0790655240416527, + 1.0 + ], + [ + 0.31006383895874023, + 0.13195009529590607, + 0.08205313235521317, + -3.109523555385419, + -0.06718602776527405, + 0.09611038118600845, + 1.0 + ], + [ + 0.2783855199813843, + 0.1526060700416565, + 0.10331793129444122, + -3.1060610507899007, + -0.14701247215270996, + 0.16690258681774142, + 1.0 + ], + [ + 0.2597125470638275, + 0.16985628008842468, + 0.09896134585142136, + -3.101993916677781, + -0.14802700281143188, + 0.19989179074764252, + 1.0 + ], + [ + 0.2552573084831238, + 0.18298140168190002, + 0.0860612690448761, + -3.0665059631043157, + -0.12192422151565552, + 0.21588246524333957, + 1.0 + ], + [ + 0.25293341279029846, + 0.18529289960861206, + 0.05563001707196236, + -3.0501132403784474, + -0.045434769243001945, + 0.2072599530220032, + 1.0 + ], + [ + 0.2505282163619995, + 0.1768583506345749, + 0.03515682369470596, + -3.0322972630434712, + -0.004904022440314292, + 0.19444349408149716, + 1.0 + ], + [ + 0.24160879850387573, + 0.1725614070892334, + 0.011927054263651371, + -3.0205699150734624, + 0.04876921698451042, + 0.19194723665714264, + 1.0 + ], + [ + 0.24002160131931305, + 0.17434483766555786, + 0.0072494312189519405, + -3.0088620503717145, + 0.06058132275938988, + 0.2043808251619339, + 1.0 + ], + [ + 0.24054716527462006, + 0.17685088515281677, + 0.0050017074681818485, + -3.000412793951579, + 0.0642910450696945, + 0.2237158864736557, + 1.0 + ], + [ + 0.24099427461624146, + 0.17663489282131195, + 0.0044743362814188, + -3.00216797192628, + 0.06141100451350212, + 0.22983103990554807, + 1.0 + ], + [ + 0.239064559340477, + 0.17216795682907104, + 0.007391911931335926, + -3.014714764552661, + 0.0520218089222908, + 0.23342509567737577, + 0.0 + ], + [ + 0.23553739488124847, + 0.16486266255378723, + 0.018390290439128876, + -3.036754423873969, + 0.048250883817672736, + 0.24074389040470123, + 0.0 + ], + [ + 0.24323555827140808, + 0.1536882221698761, + 0.06267412006855011, + -3.0606727694445333, + -0.05445950850844383, + 0.24262407422065735, + 0.0 + ], + [ + 0.25352150201797485, + 0.12760351598262787, + 0.08691637217998505, + -3.0939015579693994, + -0.1061144396662712, + 0.17578524351119992, + 0.0 + ], + [ + 0.2778749167919159, + 0.10237151384353638, + 0.08709299564361572, + -3.114267535629221, + -0.10547534376382826, + 0.07680979371070862, + 0.0 + ], + [ + 0.30726364254951477, + 0.07912162691354752, + 0.06888463348150253, + -3.0929697697334966, + -0.05693957582116128, + 0.009331468492746355, + 0.0 + ], + [ + 0.3301573097705841, + 0.06564921885728836, + 0.0384039580821991, + -3.0525312220030507, + -0.0029912763275206085, + 0.021196138113737106, + 0.0 + ], + [ + 0.34919601678848267, + 0.062395963817834854, + 0.010784543119370937, + -3.0038853158527097, + 0.015622482635080814, + 0.030344709753990173, + 0.0 + ], + [ + 0.3598097860813141, + 0.06032570078969002, + 0.010229280218482018, + -2.9840463419728955, + 0.0003093225823249668, + 0.0012872853549197316, + 0.0 + ], + [ + 0.3641839921474457, + 0.058793798089027405, + 0.010768410749733448, + -2.9945718218856534, + -0.016293093562126156, + -0.010752675123512745, + 0.0 + ], + [ + 0.3634342551231384, + 0.0564643032848835, + 0.008915438316762447, + -3.023835340636321, + -0.03177304565906524, + -0.033805482089519494, + 0.0 + ], + [ + 0.3563646674156189, + 0.06328458338975906, + 0.00868610106408596, + -3.088846357660838, + -0.04054645076394082, + -0.03579862043261528, + 1.0 + ], + [ + 0.3523487150669098, + 0.0604313388466835, + 0.02073485217988491, + -3.0952596013718328, + -0.05297748744487763, + -0.06523098796606064, + 1.0 + ], + [ + 0.3506871163845062, + 0.0683516338467598, + 0.045039981603622437, + -3.1100280975275716, + -0.09662347286939622, + -0.04280855134129524, + 1.0 + ], + [ + 0.3448367416858673, + 0.0698956698179245, + 0.057480622082948685, + -3.1140801069610795, + -0.1006380021572113, + -0.05589279904961587, + 1.0 + ], + [ + 0.3399984836578369, + 0.0722498893737793, + 0.06390053778886795, + -3.1181606726073703, + -0.10650018602609634, + -0.05172674357891082, + 1.0 + ], + [ + 0.3378072679042816, + 0.07517970353364944, + 0.06278525292873383, + -3.112242058041044, + -0.09854542464017867, + -0.04754243791103363, + 1.0 + ], + [ + 0.33822277188301086, + 0.07527167350053787, + 0.06314707547426224, + -3.112299695732542, + -0.10016155242919922, + -0.04295945540070533, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.06723624467849731, + 0.32481974363327026, + 0.5262376368045807, + 0.5375194549560547, + 0.5375194549560547, + 0.5384550094604492, + 0.5384550094604492, + 0.5384550094604492, + 0.5375194549560547, + 0.5393899083137512, + 0.5393899083137512, + 0.5393899083137512, + 0.45672130584716797, + 0.13836663961410522, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "203", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/203/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2031.json b/annotation/test/2031.json new file mode 100644 index 0000000000000000000000000000000000000000..c819a44227d318804767290eb71548f211eb6eb2 --- /dev/null +++ b/annotation/test/2031.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "turn faucet front to right" + ], + "videos": [ + { + "video_path": "videos/test/2031/rgb.mp4" + } + ], + "action": [ + [ + -0.0002678491627901187, + -0.0002643132138561411, + 0.0007442293983479813, + 0.00196964481342497, + -0.002793838412769056, + -0.00028634646254365397, + 1.0 + ], + [ + 0.010962705704981701, + -0.008588293088657443, + 0.006683933971922726, + 0.003298521529635272, + -0.028834702437997805, + -0.02423424187057703, + 1.0 + ], + [ + 0.01748244101109399, + -0.019853424818409803, + -0.0025651482515902583, + 0.005222094379526475, + 0.009356512712253984, + -0.052560090463222624, + 1.0 + ], + [ + 0.015545348563381247, + -0.005160342770940097, + 0.0008214486846285458, + 0.005691874338306625, + -0.0039177578561994655, + -0.004045304156057723, + 1.0 + ], + [ + 0.018776043391317856, + 0.0019729406959815175, + 0.0008069961218740123, + -0.005698441174350043, + -0.009824122122338325, + 0.0049795282592370186, + 1.0 + ], + [ + 0.02157980047600106, + 0.004477275901175549, + 0.0006245715907855033, + 0.002657558665739475, + -0.01310980139937423, + 0.007655232261425437, + 1.0 + ], + [ + 0.015150356733580797, + -0.0005630705455193894, + -0.0011598463354721474, + 0.005270330324789751, + 0.00022022098587685265, + -0.007995517481758576, + 1.0 + ], + [ + 0.01380699961585378, + -0.008310697185594199, + 0.004087096001325097, + 0.0019095199103280078, + -0.017185439727464596, + -0.029545415582595193, + 1.0 + ], + [ + 0.011924239629788783, + 8.990504271489002e-05, + 0.0017680971066482887, + 0.007759621918214036, + -0.004004715027965629, + -0.001967037743188927, + 1.0 + ], + [ + 0.006686916278367048, + 0.013654422978592736, + -0.0007932732397944913, + 0.008822176114560794, + -0.0071617500122629265, + 0.04128643575171112, + 1.0 + ], + [ + -0.00084955517956407, + 0.02020068328242644, + -0.0009736722077268826, + 0.015870172545126827, + -0.005068037906989339, + 0.06063285447376742, + 1.0 + ], + [ + -0.013047977324278868, + 0.0349900582413202, + 0.004310871301647808, + 0.03875675083959451, + -0.016681219767626182, + 0.11116111363538941, + 1.0 + ], + [ + -0.0073074327617819205, + 0.01949123982899555, + -0.0005111015093157385, + 0.025372577282282472, + 0.0030748901124885803, + 0.06216020364570709, + 1.0 + ], + [ + -0.007215170630789842, + -0.0012575069971784247, + 0.00010948896813957211, + 0.00988681398990478, + 0.0001871184848333785, + -0.05880318864294492, + 1.0 + ], + [ + -0.023482996835903307, + -0.02798051543229263, + -0.001231122893252684, + 0.020654388433654528, + 0.02743305006083871, + -0.2010164610143932, + 1.0 + ], + [ + -0.00816754451284958, + -0.04236770692413202, + 0.010206427422344408, + 0.01990576619608773, + -0.0031894817617733142, + -0.16034845309936527, + 1.0 + ], + [ + -0.010714405252157356, + -0.020952608054892425, + 0.009666070583473654, + -0.0024816246408276895, + -0.017892303827003853, + -0.06328953841741694, + 1.0 + ], + [ + -0.022226303291609906, + 0.01641179088931886, + -0.0015294728973374752, + -0.029292384193818344, + 0.013251801770098394, + 0.07497037455649774, + 1.0 + ], + [ + -0.020465914192535642, + 0.018214956212794883, + -0.006067589697996743, + -0.04278539238937353, + 0.02101654239393925, + 0.08490411319389397, + 1.0 + ], + [ + -0.0180535009754185, + 0.012136381645471036, + -0.009222059185399343, + -0.01807986093999164, + 0.03887669786068327, + 0.07103347955740145, + 1.0 + ], + [ + -0.01269565890533923, + -0.0016236939831052336, + -0.0028910899253191827, + -0.008604665224494178, + 0.010910422621446283, + 0.011179539116368153, + 1.0 + ], + [ + -0.0031263834740691376, + -0.0006526116290024754, + -0.00183067735243307, + -0.022360955765520704, + 0.008073178478782774, + 0.07365295819310334, + 1.0 + ], + [ + -0.00022283925109931068, + -0.006736227797724827, + -0.000165904465791254, + 0.009367044250534608, + -0.01173295416313536, + 0.12473769192249287, + 1.0 + ] + ], + "state": [ + [ + 0.19761346280574799, + -0.0029555310029536486, + 0.2301720380783081, + -3.0925854874127587, + 0.1412823498249054, + 0.12896534800529477, + 1.0 + ], + [ + 0.19720984995365143, + -0.0027049037162214518, + 0.2294866442680359, + -3.0905554873221597, + 0.14405879378318784, + 0.12939263880252835, + 1.0 + ], + [ + 0.20592966675758362, + 0.007422986440360546, + 0.22174033522605896, + -3.0835123119228562, + 0.1715717762708664, + 0.15543901920318604, + 1.0 + ], + [ + 0.2205287218093872, + 0.029621805995702744, + 0.2224142849445343, + -3.0693908428126058, + 0.15894833207130435, + 0.20802776515483856, + 1.0 + ], + [ + 0.23440271615982056, + 0.03787122294306755, + 0.21951235830783844, + -3.063006604211875, + 0.1625625640153885, + 0.21240280568599704, + 1.0 + ], + [ + 0.2527643144130707, + 0.039883747696876526, + 0.2155267596244812, + -3.069390798109122, + 0.17274583876132965, + 0.20814678072929382, + 1.0 + ], + [ + 0.27431848645210266, + 0.03991803899407387, + 0.21088559925556183, + -3.067898744838782, + 0.18636980652809143, + 0.20134000480175018, + 1.0 + ], + [ + 0.2890280485153198, + 0.043406303972005844, + 0.20925575494766235, + -3.0611305256658277, + 0.18555553257465363, + 0.2094365954399109, + 1.0 + ], + [ + 0.2998962998390198, + 0.0545210987329483, + 0.20336103439331055, + -3.0534443353586873, + 0.20022158324718475, + 0.24089249968528748, + 1.0 + ], + [ + 0.3108874261379242, + 0.05728927254676819, + 0.19925566017627716, + -3.045214684801646, + 0.20403704047203064, + 0.2432534098625183, + 1.0 + ], + [ + 0.3204316794872284, + 0.04557587578892708, + 0.19738724827766418, + -3.0448469688468656, + 0.21496815979480743, + 0.2018970549106598, + 1.0 + ], + [ + 0.3234640061855316, + 0.02557746134698391, + 0.19660891592502594, + -3.0422429387741765, + 0.2254738509654999, + 0.1404829025268555, + 1.0 + ], + [ + 0.31396907567977905, + -0.010497360490262508, + 0.19196230173110962, + -3.029171982901641, + 0.2517080008983612, + 0.027993083000183105, + 1.0 + ], + [ + 0.3070204555988312, + -0.030125075951218605, + 0.19215644896030426, + -3.0199942608648023, + 0.2551250159740448, + -0.03620009496808052, + 1.0 + ], + [ + 0.3001001179218292, + -0.02861212007701397, + 0.19401974976062775, + -2.9951362331681928, + 0.24736760556697845, + 0.02397962473332882, + 1.0 + ], + [ + 0.27797672152519226, + -0.0016335180262103677, + 0.20490948855876923, + -2.928925546007701, + 0.18635854125022885, + 0.2221330255270004, + 1.0 + ], + [ + 0.26036253571510315, + 0.03905303776264191, + 0.20540665090084076, + -2.882285388308116, + 0.1534532606601715, + 0.38140693306922907, + 1.0 + ], + [ + 0.24151068925857544, + 0.0559830404818058, + 0.20312058925628662, + -2.8751331885629376, + 0.15419742465019226, + 0.4479556083679199, + 1.0 + ], + [ + 0.22835297882556915, + 0.03164772316813469, + 0.2037220150232315, + -2.9169706871085843, + 0.16068756580352783, + 0.37115180492401123, + 1.0 + ], + [ + 0.2167338877916336, + 0.006620670668780804, + 0.2088305652141571, + -2.974729748564311, + 0.15846584737300873, + 0.2825936079025269, + 1.0 + ], + [ + 0.20445066690444946, + -0.011003011837601662, + 0.21866902709007263, + -3.005339281755038, + 0.13144946098327637, + 0.20546190440654755, + 1.0 + ], + [ + 0.19227701425552368, + -0.012297967448830605, + 0.22339129447937012, + -3.0156048854165753, + 0.12214824557304382, + 0.19281031191349027, + 1.0 + ], + [ + 0.18937844038009644, + -0.012438585981726646, + 0.22565625607967377, + -3.0473963265591344, + 0.12304855883121492, + 0.1181619316339493, + 1.0 + ], + [ + 0.18846742808818817, + -0.005808994174003601, + 0.22647632658481598, + -3.053969534235545, + 0.14549417793750763, + -0.006220172159373759, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.02474844455718994, + 0.02474844455718994, + 0.02474844455718994, + 0.02474844455718994, + 0.02474844455718994, + 0.02474844455718994, + 0.02474844455718994, + 0.02474844455718994, + 0.02474844455718994, + 0.02474844455718994, + 0.02474844455718994, + 0.02474844455718994, + 0.02474844455718994, + 0.02474844455718994, + 0.02474844455718994, + 0.02474844455718994, + 0.02474844455718994, + 0.02474844455718994, + 0.02474844455718994, + 0.02474844455718994, + 0.02474844455718994, + 0.02474844455718994, + 0.02474844455718994, + 0.02474844455718994 + ], + "episode_id": "2031", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2031/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2032.json b/annotation/test/2032.json new file mode 100644 index 0000000000000000000000000000000000000000..4e3963851426ef3811180495e7218cd175e170be --- /dev/null +++ b/annotation/test/2032.json @@ -0,0 +1,679 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "upright basil bottle cardboard fence" + ], + "videos": [ + { + "video_path": "videos/test/2032/rgb.mp4" + } + ], + "action": [ + [ + -3.4068763362880326e-05, + 0.0002365254884081426, + -0.0005070838309680439, + 0.0001041208746096792, + 0.0021283921544059314, + 0.0021521163736634677, + 1.0 + ], + [ + -0.005043320522205241, + -0.0027992390176475373, + 0.008876046117418155, + 0.01600491470345736, + -0.02617665652768617, + 0.01831904019644262, + 1.0 + ], + [ + -0.011960341955745066, + -0.025624368438580476, + 0.004433624789967377, + 0.02328853495329228, + 0.011396526973419537, + 0.21797660116551074, + 1.0 + ], + [ + -0.006411597319590163, + -0.029510979320974576, + -0.005150783840045875, + -0.019400493271910242, + 0.036547136133641606, + 0.17754557764738338, + 1.0 + ], + [ + -0.009013299482997034, + -0.030638194010235216, + -0.0014149954933428935, + 0.009031589377575169, + -0.041771793553911515, + 0.24077106567799902, + 1.0 + ], + [ + -0.004971050849570055, + -0.012958968376916402, + 0.003426900722632997, + -0.02200307048854239, + 0.039357822274596624, + 0.1696641922723601, + 1.0 + ], + [ + -0.007584807052678095, + -0.0064323741823226685, + 0.0030000339118488725, + 0.024451080045240613, + -0.00731298892278776, + 0.0893088599488249, + 1.0 + ], + [ + -0.00466390892237779, + -0.0008621369769334769, + 0.004769274121789913, + 0.00125351513283803, + 0.04329832198959404, + -0.003928995587274625, + 1.0 + ], + [ + -0.0030284023452833058, + -0.0032940578149709293, + 0.006301914970195959, + 0.020879724089388717, + 0.023310492577397778, + -0.037924629789845996, + 1.0 + ], + [ + -0.00025551329774397955, + -0.0021253438815422724, + 0.013367919750576149, + 0.015829604253546306, + -0.00437398021562464, + -0.013679910264071612, + 1.0 + ], + [ + -0.0010959175405806797, + 0.0019581226761907523, + 0.011905958326417526, + 0.02052438322831082, + -0.024938663690300285, + 0.000989770086655914, + 1.0 + ], + [ + -0.0006776190623142103, + 0.002191900479323354, + 0.007388214025643903, + 0.006879697031888901, + -0.022008072175597047, + 0.02815661547847563, + 1.0 + ], + [ + -0.00015925282198545515, + 0.002154091633007119, + 0.004396320191023501, + 0.003551396302722305, + -0.010845458371755606, + 0.016083103127048994, + 1.0 + ], + [ + 0.0008076195025993727, + 0.005009478261737105, + 0.00765479603573327, + 0.0026153171576413082, + -0.014438125562119253, + 0.015207285177183788, + 1.0 + ], + [ + 0.00013403412055248024, + 0.002782874121369216, + 0.004928746535785366, + 0.007257360299197195, + -0.009141556291386596, + 0.01164369267998698, + 1.0 + ], + [ + -9.503977907251075e-05, + 0.001835980871353725, + 0.005606013136446339, + 0.013096474276973163, + -0.0015815040840847176, + 0.002923287586010074, + 1.0 + ], + [ + -8.179075030641986e-05, + 0.0009516453637719075, + -2.874169293234058e-06, + -0.006002926013547988, + -0.0004970718694552889, + 0.0031339608343657972, + 0.0 + ], + [ + -0.002233630746749083, + 0.0036451520219072902, + -0.0010068658779461548, + -0.03296233100320283, + -0.010669707886436832, + -0.013720105346654032, + 0.0 + ], + [ + -0.0012558329975147877, + -0.003517487818423182, + -0.02038956927202049, + -0.020828876943019513, + -0.00229972537818185, + -0.031551411324097195, + 0.0 + ], + [ + 0.0034674359878777697, + -0.0076520326838992484, + -0.026218652083487896, + 0.006043027495038889, + 0.0031440933415491533, + -0.05247959442771137, + 0.0 + ], + [ + 0.0021652928696309047, + -0.0027952443398600157, + -0.017520934304762686, + 0.01922153235625577, + -0.05504772373725111, + -0.0463126243720441, + 0.0 + ], + [ + 0.0006039042808291772, + -2.6381096594262588e-05, + -0.01490174320427203, + -0.007557764376165588, + -0.01593595439655167, + -0.022632933180696035, + 0.0 + ], + [ + 0.005800085238822044, + -0.0028544483246788514, + -0.01605423611009532, + -0.018232549256293726, + -0.02732752836773093, + -0.028960689214886568, + 0.0 + ], + [ + 0.004249563062018962, + 0.003254724643927626, + -0.0019398697744584107, + -0.014601193843157568, + -0.13158285197197273, + -0.030636807235996218, + 0.0 + ], + [ + 0.0011297579272836079, + 0.004386502465837025, + 0.0025007236678777182, + -0.01196275920737346, + -0.08886114396006904, + -0.02364723677228793, + 0.0 + ], + [ + -0.0009682138134059112, + 0.007684772856151572, + 0.005785050905713809, + -0.03697776050976123, + -0.06278306143655654, + -0.0005137611531977671, + 0.0 + ], + [ + 0.0036832940444446955, + 0.005942278759878551, + 0.008582710217221158, + -0.0019167423106886878, + -0.04218794439132066, + -0.005568835762315711, + 0.0 + ], + [ + 0.005570904665721452, + -0.0007546662896663432, + -0.0022133857792545654, + -0.004094673499897933, + 0.009949476683388733, + -0.016395881297828124, + 1.0 + ], + [ + 0.0059989938795441166, + 0.0011290395921796197, + -0.0044926086281615995, + -0.017221255074865528, + 0.033671960903974466, + -0.01419987206263189, + 1.0 + ], + [ + 0.004685352424959365, + -0.0038688478135647467, + -0.01553327451584951, + -0.026949534382867023, + 0.15089427210544834, + 0.023456280604381197, + 1.0 + ], + [ + 0.0012817075265782023, + -0.004837272116635129, + -0.033120620372773024, + -0.06742758250181954, + 0.23121827401580447, + -0.01093812942592242, + 1.0 + ], + [ + 0.008744081877569665, + -0.00706301047915334, + -0.017945177603705943, + 0.00977844617655576, + 0.1746478085671471, + -0.10005764264706712, + 1.0 + ], + [ + 0.000912915655765275, + 0.0004439381139844499, + -0.00044020499329255284, + 0.00022768456363151494, + 0.006278856532797526, + 0.0009553662383109151, + 1.0 + ], + [ + 0.000695832947230779, + 0.0016998456963146248, + 9.67400682598251e-05, + -0.0008375467762716169, + 0.0014786984745745945, + 0.005991398482841226, + 1.0 + ] + ], + "state": [ + [ + 0.2936670780181885, + -0.09109477698802948, + 0.08425356447696686, + -3.0979135801368436, + -0.0965968891978264, + 0.22676062583923337, + 1.0 + ], + [ + 0.2936455011367798, + -0.09136498719453812, + 0.08474423736333847, + -3.097592083858796, + -0.09862903505563737, + 0.22450667619705203, + 1.0 + ], + [ + 0.2888825833797455, + -0.08918363600969315, + 0.0755457952618599, + -3.0798855667286595, + -0.0716574564576149, + 0.2073189914226532, + 1.0 + ], + [ + 0.272087037563324, + -0.06630178540945053, + 0.07185179740190506, + -3.0425194819741925, + -0.06799432635307312, + -0.01145523227751255, + 1.0 + ], + [ + 0.26547470688819885, + -0.03736734762787819, + 0.0794420838356018, + -3.0512392093711576, + -0.08579314500093459, + -0.19234678149223328, + 1.0 + ], + [ + 0.2621177136898041, + -0.005757127422839403, + 0.08282812684774399, + -3.0245912988954267, + -0.02029089815914631, + -0.42807567119598394, + 1.0 + ], + [ + 0.26313987374305725, + 0.008363079279661179, + 0.0808369442820549, + -3.044763686256953, + -0.03937198966741562, + -0.6012335419654846, + 1.0 + ], + [ + 0.26075229048728943, + 0.01811625063419342, + 0.0781761109828949, + -3.017219768958636, + -0.023317191749811172, + -0.689434826374054, + 1.0 + ], + [ + 0.25815829634666443, + 0.022130167111754417, + 0.07344314455986023, + -3.0158146192603787, + -0.06676822900772096, + -0.6909127235412598, + 1.0 + ], + [ + 0.2587161362171173, + 0.026935255154967308, + 0.06741520017385483, + -2.997301908331462, + -0.09461084753274918, + -0.6560680270195007, + 1.0 + ], + [ + 0.26193752884864807, + 0.029535429552197456, + 0.0545254610478878, + -2.9828294833474835, + -0.09223977476358414, + -0.641840934753418, + 1.0 + ], + [ + 0.2619229853153229, + 0.02948237955570221, + 0.04241001233458519, + -2.9625298400693616, + -0.06745792925357817, + -0.6388688683509827, + 1.0 + ], + [ + 0.26129332184791565, + 0.028902515769004822, + 0.03472128137946129, + -2.954052912192889, + -0.040768224745988846, + -0.662667453289032, + 1.0 + ], + [ + 0.2605218291282654, + 0.02785980887711048, + 0.029997864738106728, + -2.9499465843015393, + -0.02711058035492897, + -0.6764504313468933, + 1.0 + ], + [ + 0.2591645121574402, + 0.024512799456715584, + 0.02155403606593609, + -2.9469952901178083, + -0.01003824546933174, + -0.688628077507019, + 1.0 + ], + [ + 0.2581802308559418, + 0.023021085187792778, + 0.01618180423974991, + -2.9396419544988355, + 0.0011827615089714525, + -0.6982837319374084, + 1.0 + ], + [ + 0.257668673992157, + 0.022570233792066574, + 0.010321575216948986, + -2.9265489002042493, + 0.003318475792184471, + -0.7008303999900818, + 1.0 + ], + [ + 0.2570057213306427, + 0.021912340074777603, + 0.010121583938598633, + -2.9325625618272504, + 0.004472839646041392, + -0.7037861347198486, + 0.0 + ], + [ + 0.2528609335422516, + 0.02047921158373356, + 0.010360111482441425, + -2.9654688109927854, + 0.012062800116837028, + -0.6881500482559204, + 0.0 + ], + [ + 0.2520142197608948, + 0.021033670753240585, + 0.031064217910170555, + -2.986005799966403, + 0.008793630637228489, + -0.6566826105117799, + 0.0 + ], + [ + 0.25708380341529846, + 0.02154100313782692, + 0.05812038853764534, + -2.9797173907333097, + -0.002452770248055458, + -0.60532546043396, + 0.0 + ], + [ + 0.2587915062904358, + 0.02028009295463562, + 0.07586803287267685, + -2.960625561075755, + 0.04441847652196884, + -0.5507554411888123, + 0.0 + ], + [ + 0.25847041606903076, + 0.017360297963023186, + 0.09048990160226822, + -2.9671003242307386, + 0.05600712075829506, + -0.5255866646766661, + 0.0 + ], + [ + 0.26428139209747314, + 0.014017603360116482, + 0.10644566267728806, + -2.983497219281741, + 0.07786178588867188, + -0.4922294616699219, + 0.0 + ], + [ + 0.2664479911327362, + 0.0088620875030756, + 0.10751412808895111, + -2.992864268022128, + 0.20287150144577026, + -0.4405011534690857, + 0.0 + ], + [ + 0.2651880383491516, + 0.005069783888757229, + 0.10422743856906891, + -2.996650921302386, + 0.28710615634918213, + -0.40249475836753845, + 0.0 + ], + [ + 0.25990161299705505, + -3.610322892200202e-05, + 0.09794702380895615, + -3.0304578264527997, + 0.34914201498031616, + -0.3923106789588928, + 0.0 + ], + [ + 0.2583011984825134, + -0.004734950140118599, + 0.08805259317159653, + -3.0285018776827535, + 0.39043265581130987, + -0.38127276301383967, + 0.0 + ], + [ + 0.26407599449157715, + -0.006511251907795668, + 0.08804486691951752, + -3.0263911505513867, + 0.3786494135856628, + -0.364948958158493, + 1.0 + ], + [ + 0.2701946496963501, + -0.01060241274535656, + 0.08985336124897003, + -3.0395349507504186, + 0.34354797005653376, + -0.3540864884853363, + 1.0 + ], + [ + 0.2801247835159302, + -0.011857189238071442, + 0.10319581627845764, + -3.078710274892398, + 0.19557781517505646, + -0.3932243287563324, + 1.0 + ], + [ + 0.2883264422416687, + -0.012286167591810226, + 0.13566990196704865, + 3.1380143052716782, + -0.03586392477154732, + -0.39700183272361755, + 1.0 + ], + [ + 0.29854846000671387, + -0.008843638934195042, + 0.1538916975259781, + -3.139114466617354, + -0.20997031033039093, + -0.29561287164688116, + 1.0 + ], + [ + 0.2991853952407837, + -0.009502815082669258, + 0.1545114368200302, + -3.1386795382765165, + -0.21624667942523956, + -0.2966069281101227, + 1.0 + ], + [ + 0.2993594706058502, + -0.011333175003528595, + 0.15456141531467438, + -3.1381995772295674, + -0.2177039682865143, + -0.30274754762649536, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.028361797332763672, + 0.1277288794517517, + 0.10349345207214355, + 0.101795494556427, + 0.101795494556427, + 0.101795494556427, + 0.101795494556427, + 0.101795494556427, + 0.101795494556427, + 0.101795494556427, + 0.101795494556427, + 0.07284492254257202, + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016 + ], + "episode_id": "2032", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2032/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2035.json b/annotation/test/2035.json new file mode 100644 index 0000000000000000000000000000000000000000..e3eabb69e28fdf0d4665b8ceef09ffb89daf2d7c --- /dev/null +++ b/annotation/test/2035.json @@ -0,0 +1,394 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put sweet potato in pot which is in sink distractors" + ], + "videos": [ + { + "video_path": "videos/test/2035/rgb.mp4" + } + ], + "action": [ + [ + -0.00023023783394557706, + -4.800764626123169e-05, + 0.0007938365753516009, + 0.0018188696343574872, + -0.0024412552950274064, + 0.00037781805202261043, + 1.0 + ], + [ + -0.0032437929104513867, + -0.0007041248844756774, + 0.010736425832422188, + 0.002226693782485189, + -0.01634098962205807, + 0.027708740307021213, + 1.0 + ], + [ + 0.005043687225211596, + -0.0036108969194874785, + 0.006289145229979219, + -0.04707614100602998, + 0.017183080505869378, + -0.005393129505419751, + 1.0 + ], + [ + 0.001938311160764699, + -0.0017155386752001167, + 0.010612864264788486, + -0.045210558661365356, + 0.00802071493810418, + -0.00982253070187553, + 1.0 + ], + [ + -0.00048575675293193235, + 0.0011911878614680558, + 0.006984783254560818, + -0.03387814876622933, + 0.012091708983523379, + -0.012772898424187593, + 1.0 + ], + [ + -0.0006858030897435994, + -0.001090664555577426, + 0.007404367630073427, + -0.017450655225590146, + 0.01967399446940308, + -0.007242567698068963, + 1.0 + ], + [ + -0.0014993211085254263, + 0.00044986918587018896, + 0.007647999631621612, + -0.020786955676141926, + 0.021356163954545048, + -0.005972087393199809, + 1.0 + ], + [ + -0.0036377595133319594, + -0.0017314148257590878, + 0.008679224825920064, + -0.014903587576177, + 0.019604525947739728, + -0.013339964960225287, + 1.0 + ], + [ + 0.0012747862139375768, + -0.001172952415976914, + 0.0017447137586628439, + -0.001106986429174648, + 0.021424996270325864, + -0.008307319868053498, + 0.0 + ], + [ + -0.0010274608010955426, + -0.004399932312088874, + -0.002794095091705666, + 0.05925092565213987, + -0.024061433176637132, + 0.010676514447010657, + 0.0 + ], + [ + 0.00874294132211158, + -0.005633213889714796, + -0.01855436006125015, + 0.07455815607850527, + -0.009046200611975582, + 0.052090871994733584, + 0.0 + ], + [ + 0.022731520789321974, + -0.016860216175083168, + -0.01948149431244668, + 0.06676449464453933, + 0.005526231827057, + 0.06654396218260085, + 0.0 + ], + [ + 0.031000109722169048, + -0.028760179191888686, + -0.007410730968951272, + 0.029737448797494837, + 0.03867251035544418, + 0.06448775365137173, + 0.0 + ], + [ + 0.02017554484298009, + -0.029050497128931926, + 0.013751887290537466, + 0.012938853747467198, + 0.04045487839200975, + 0.05430621243652798, + 0.0 + ], + [ + 0.01303779161336092, + -0.022895247979494205, + 0.01903513923314184, + 0.0091630357810289, + 0.04700017339549292, + 0.054370977547489784, + 0.0 + ], + [ + 0.009041405582715092, + -0.0172882630177572, + 0.015026233678561846, + 0.0038117224173218095, + 0.038175552344046786, + 0.0555923592505638, + 0.0 + ], + [ + 0.0013281735590609215, + -0.016090772216384545, + 0.010209926902776454, + -0.012444746945361239, + 0.007621931613141029, + 0.06691230980723209, + 1.0 + ], + [ + -0.0019175321253091092, + -0.010420872167904388, + 0.001974160137109746, + -0.00041829073963812086, + -0.00020584426669183344, + 0.021416073232546056, + 1.0 + ], + [ + 5.943167716017269e-05, + 0.00022286071421591703, + -1.6487580746584288e-07, + -0.0014069766146420156, + 0.00036881518384907587, + -0.004235500590811416, + 1.0 + ] + ], + "state": [ + [ + 0.21835608780384064, + -0.15326082706451416, + 0.06542300432920456, + -3.0962558073275765, + -0.1468070596456528, + -0.04286777600646019, + 1.0 + ], + [ + 0.21824771165847778, + -0.15317216515541077, + 0.06460698693990707, + -3.0943973680310926, + -0.14435118436813354, + -0.04313736781477929, + 1.0 + ], + [ + 0.21662932634353638, + -0.1518913209438324, + 0.05356030911207199, + -3.0882800576561174, + -0.12666882574558255, + -0.07025770097970963, + 1.0 + ], + [ + 0.22266408801078796, + -0.14836536347866058, + 0.04815845936536789, + -3.1359194304146847, + -0.14411360025405884, + -0.06574182212352754, + 1.0 + ], + [ + 0.22621427476406097, + -0.14681953191757202, + 0.03794378414750099, + 3.1006347258859357, + -0.15218296647071836, + -0.055850952863693244, + 1.0 + ], + [ + 0.22670142352581024, + -0.14832526445388794, + 0.031020089983940125, + 3.064720245199748, + -0.1637280434370041, + -0.042414858937263496, + 1.0 + ], + [ + 0.22726328670978546, + -0.1478298306465149, + 0.023541895672678947, + 3.045810194807597, + -0.1827814131975174, + -0.03353632614016533, + 1.0 + ], + [ + 0.2271254062652588, + -0.14900510013103485, + 0.015825551003217697, + 3.0235219990187368, + -0.203462615609169, + -0.02538245916366577, + 1.0 + ], + [ + 0.22536368668079376, + -0.14826317131519318, + 0.0064497352577745914, + 3.0053881277614316, + -0.22133424878120422, + -0.009439531713724136, + 1.0 + ], + [ + 0.22703047096729279, + -0.14735367894172668, + 0.004887820687144995, + 3.001739652948924, + -0.24141879379749298, + 0.002030694391578436, + 0.0 + ], + [ + 0.22550831735134125, + -0.14261029660701752, + 0.0067331986501812935, + 3.064374493556567, + -0.2190568000078201, + -0.01223344448953867, + 0.0 + ], + [ + 0.23020261526107788, + -0.13561946153640747, + 0.0262659452855587, + -3.132449877569922, + -0.21374610066413877, + -0.06609241664409636, + 0.0 + ], + [ + 0.24931415915489197, + -0.12016653269529343, + 0.050275806337594986, + -3.0512471218877515, + -0.21818257868289945, + -0.13430273532867432, + 0.0 + ], + [ + 0.28091275691986084, + -0.09620754420757294, + 0.06672479212284088, + -3.006533058481761, + -0.25037202239036566, + -0.20415629446506503, + 0.0 + ], + [ + 0.3086218535900116, + -0.07065706700086594, + 0.06231146305799484, + -2.9784422387653073, + -0.2826981246471405, + -0.2658287882804871, + 0.0 + ], + [ + 0.33150386810302734, + -0.05026921629905701, + 0.05148271098732948, + -2.9514116515689572, + -0.3196975290775299, + -0.330334335565567, + 0.0 + ], + [ + 0.349465936422348, + -0.03547864779829979, + 0.043419092893600464, + -2.9271930326991757, + -0.346045434474945, + -0.3960088193416595, + 0.0 + ], + [ + 0.3595718741416931, + -0.020308194682002068, + 0.03770533949136734, + -2.9160427918010434, + -0.3384605050086975, + -0.4670466184616089, + 1.0 + ], + [ + 0.36260831356048584, + -0.009969690814614296, + 0.037451986223459244, + -2.9091927727037152, + -0.33339446783065796, + -0.4890879690647125, + 1.0 + ], + [ + 0.36257076263427734, + -0.010195420123636723, + 0.037423085421323776, + -2.912000300484248, + -0.3347260355949402, + -0.4848140776157379, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.1618891954421997, + 0.18881899118423462, + 0.18881899118423462, + 0.18881899118423462, + 0.18881899118423462, + 0.18881899118423462, + 0.18881899118423462, + 0.18881899118423462, + 0.010668635368347168, + 0.0, + 0.0 + ], + "episode_id": "2035", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2035/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2047.json b/annotation/test/2047.json new file mode 100644 index 0000000000000000000000000000000000000000..d9ef1375d0a9fc06d034cb716177d9799262b670 --- /dev/null +++ b/annotation/test/2047.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put cup from anywhere into sink" + ], + "videos": [ + { + "video_path": "videos/test/2047/rgb.mp4" + } + ], + "action": [ + [ + -0.00068977972131854, + 6.478269524534413e-05, + 0.0006393041749987875, + 0.0019506607640404983, + -0.004082384399170487, + 0.0016744494287922937, + 1.0 + ], + [ + -0.003832119832973371, + -0.0010415786595132904, + 0.008384095847966608, + 0.002401883227480034, + -0.007265306822934297, + 0.0003399144451399026, + 1.0 + ], + [ + 0.0010855071148537824, + -0.0010859634581890244, + 0.004243973996439171, + -0.001985880129557325, + 0.015700008849279305, + -0.0011091387461144464, + 1.0 + ], + [ + 0.002767582341515697, + -0.002388036467729398, + 0.003530363576951741, + -0.0013914432873362312, + -0.0033050886801896003, + -0.005045186836476053, + 1.0 + ], + [ + 0.0039065414802744005, + 0.001892296492364787, + 0.007455065333801942, + -0.0027051245970079177, + -0.021131821967568947, + 0.031716144477897515, + 1.0 + ], + [ + 0.008937250673981812, + 0.0007999337064375038, + -0.0011993098443536098, + -0.0016592792636207407, + 0.0005586599744271284, + 0.029111987328471277, + 1.0 + ], + [ + 0.006917043255508859, + 0.0005176300150243493, + 0.0014036416633484842, + -0.0009892701660026372, + -0.016779465669665285, + 0.026020589965467775, + 1.0 + ], + [ + 0.0050060217867529564, + 0.0010093390868388522, + 0.0025567701878151114, + 0.007287280464680177, + -0.017070177179010604, + 0.020240050114954965, + 1.0 + ], + [ + 0.004374475765052441, + -0.00011236230861262442, + -0.0014157573437619175, + 0.006826249077272603, + 0.0017563394496385024, + 0.018388219838603392, + 0.0 + ], + [ + 0.006692076506502167, + -0.00031648366225791653, + -0.000622825524236849, + 0.012218994289779952, + -0.003632668039212145, + 0.04341287134000759, + 0.0 + ], + [ + 0.005921583608461754, + -0.0003010878372315684, + -0.001940420380435513, + 0.004961047048298259, + 0.003906072910750713, + 0.03575881526181162, + 0.0 + ], + [ + 0.00539321372959495, + 0.00031141409456552445, + -0.002537225908543475, + 0.0026757881258018127, + -0.005843209378091267, + 0.03350414038780851, + 0.0 + ], + [ + -0.0038724282239891556, + -0.0060419987845372666, + -0.009928580072067851, + 0.01725912275013194, + -0.06075349641926812, + 0.03290792049781016, + 0.0 + ], + [ + -0.013609999959207001, + -0.033052657486389726, + -0.04665954231214642, + 0.039982174656676125, + 0.00509480522961585, + -0.00774039624360523, + 0.0 + ], + [ + -0.0224446182266664, + -0.020485526811391243, + -0.037106946376136284, + 0.026290737053692136, + -0.02242602058820004, + -0.012612415395822219, + 0.0 + ], + [ + -0.002006739405619057, + -0.0072963759547847624, + -0.0188894429508775, + 0.00941913541321342, + 0.021138873529717, + -0.011096276980375375, + 0.0 + ], + [ + 0.02576374882361356, + -0.0024951662881833414, + -0.006722614971431753, + 0.0019733626447475416, + 0.01927756352562919, + 0.010766618080555328, + 0.0 + ], + [ + 0.04857592563098615, + -0.0035833903217363265, + -0.007524980700024974, + 0.01442665486006493, + 0.04213847963496975, + 0.02479809872136856, + 0.0 + ], + [ + 0.04263782840666779, + 0.002250831588010729, + 0.0008595768518036622, + 0.01352772537157849, + 0.0060604896082846645, + 0.04853311662325661, + 0.0 + ], + [ + 0.01290144107383806, + 0.004817987510298546, + 0.011074102943371878, + -0.014964010758414305, + -0.028937470841908897, + 0.02028658893844962, + 0.0 + ], + [ + 0.0018574410833637578, + 0.013424841252857147, + 0.011218349230906276, + -0.025799695910292696, + 0.0029781030234906757, + 0.003696350708279358, + 0.0 + ], + [ + -0.00904373248311908, + 0.008316432796816866, + 0.008339285575065707, + -0.01683783991882982, + -0.006871694996714306, + 0.006039376689962816, + 0.0 + ], + [ + -0.005172812684655747, + -0.0009072120952042226, + -0.007061289279843593, + 0.0036193793477000877, + 0.024090256403920384, + -0.0044190344282553865, + 1.0 + ] + ], + "state": [ + [ + 0.17938679456710815, + -0.07848275452852249, + 0.0900549590587616, + -3.047905424731322, + 0.08984002470970152, + -0.05426408722996712, + 1.0 + ], + [ + 0.17864298820495605, + -0.07844705134630203, + 0.08947687596082687, + -3.0460698773437223, + 0.09406107664108275, + -0.05555497854948043, + 1.0 + ], + [ + 0.17416232824325562, + -0.07635854929685593, + 0.08162672072649002, + -3.0436319952183446, + 0.10132567584514618, + -0.05519856512546539, + 1.0 + ], + [ + 0.17490729689598083, + -0.07490159571170807, + 0.07742062211036682, + -3.0456496124439916, + 0.08559245616197586, + -0.05563192814588546, + 1.0 + ], + [ + 0.17753103375434875, + -0.07232825458049774, + 0.07391069084405899, + -3.046583728986331, + 0.08839781582355499, + -0.05027242749929428, + 1.0 + ], + [ + 0.18068809807300568, + -0.07366511970758438, + 0.06599453091621399, + -3.051935875909873, + 0.11240386962890625, + -0.08002074062824249, + 1.0 + ], + [ + 0.18959380686283112, + -0.07528629153966904, + 0.0661078467965126, + -3.056911954777785, + 0.114406056702137, + -0.10925698280334471, + 1.0 + ], + [ + 0.19621768593788147, + -0.07641232758760452, + 0.06388525664806366, + -3.060737336175986, + 0.13329140841960907, + -0.1339804232120514, + 1.0 + ], + [ + 0.2006816565990448, + -0.077820785343647, + 0.06061336025595665, + -3.0559793656044683, + 0.15191671252250674, + -0.1529914736747742, + 1.0 + ], + [ + 0.2051662653684616, + -0.07852151244878769, + 0.06135518103837967, + -3.051995227234908, + 0.15171295404434204, + -0.17167717218399048, + 0.0 + ], + [ + 0.2118251472711563, + -0.07941269874572754, + 0.06098499149084091, + -3.0464250092678746, + 0.15907342731952667, + -0.215139240026474, + 0.0 + ], + [ + 0.21786515414714813, + -0.08061450719833374, + 0.061982493847608566, + -3.0472935308986386, + 0.1584784835577011, + -0.2515639662742615, + 0.0 + ], + [ + 0.22326812148094177, + -0.08256988972425461, + 0.0635967031121254, + -3.0499166940623006, + 0.16736379265785217, + -0.284833163022995, + 0.0 + ], + [ + 0.22270795702934265, + -0.07708375155925751, + 0.07453592866659164, + -3.0371762086921414, + 0.2308109998703003, + -0.3127211928367615, + 0.0 + ], + [ + 0.22956956923007965, + -0.049865152686834335, + 0.1261778622865677, + -2.995513381558009, + 0.22493116557598114, + -0.3053688704967499, + 0.0 + ], + [ + 0.22161561250686646, + -0.03177066892385483, + 0.16987760365009308, + -2.965584488707133, + 0.24525403976440432, + -0.289143979549408, + 0.0 + ], + [ + 0.2254803627729416, + -0.028876392170786858, + 0.18964530527591705, + -2.954332189755984, + 0.22249235212802884, + -0.2817403972148895, + 0.0 + ], + [ + 0.25145041942596436, + -0.0351438894867897, + 0.19085559248924255, + -2.9555359353595456, + 0.20553353428840637, + -0.2962103188037873, + 0.0 + ], + [ + 0.2991274893283844, + -0.04746789485216141, + 0.18883013725280762, + -2.947697566943713, + 0.16860195994377136, + -0.3288170397281647, + 0.0 + ], + [ + 0.33804622292518616, + -0.06290578842163086, + 0.1804162710905075, + -2.9427064677053174, + 0.17180003225803375, + -0.3783378303050995, + 0.0 + ], + [ + 0.34704655408859253, + -0.06921123713254929, + 0.1665767878293991, + -2.9600797464423856, + 0.20415747165679934, + -0.39279904961586004, + 0.0 + ], + [ + 0.341927170753479, + -0.07919088006019592, + 0.15302221477031708, + -2.986743854480334, + 0.20189374685287473, + -0.3970587849617005, + 0.0 + ], + [ + 0.3293153643608093, + -0.08141779899597168, + 0.14550696313381195, + -3.004585938649722, + 0.20961220562458036, + -0.40207573771476746, + 0.0 + ], + [ + 0.3259967565536499, + -0.08007799088954926, + 0.1535465270280838, + -3.0006965567641934, + 0.1851440668106079, + -0.4009703993797302, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.19730991125106812, + 0.4577047824859619, + 0.7396844625473022, + 0.8547680824995041, + 0.8892147168517113, + 0.8892147168517113, + 0.8892147168517113, + 0.8892147168517113, + 0.8892147168517113, + 0.8892147168517113, + 0.8892147168517113, + 0.8892147168517113, + 0.8892147168517113, + 0.8892147168517113, + 0.7527420669794083, + 0.44686460494995117 + ], + "episode_id": "2047", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2047/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2048.json b/annotation/test/2048.json new file mode 100644 index 0000000000000000000000000000000000000000..b5d01e1a0b144be22d62d4224174c9a8fd117c5b --- /dev/null +++ b/annotation/test/2048.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put eggplant in pot or pan" + ], + "videos": [ + { + "video_path": "videos/test/2048/rgb.mp4" + } + ], + "action": [ + [ + -0.0010175222981723521, + -0.0006712953930305756, + 0.001687450839002554, + 0.0035867562231007774, + -0.006970099482716195, + -0.00041846913395914476, + 1.0 + ], + [ + -0.005906597040993112, + -0.002535350141913572, + 0.0070830714981507635, + 0.031002000620717705, + -0.043008646470265144, + -0.06388287088943222, + 1.0 + ], + [ + 0.003888586689977691, + 0.0017196539345027224, + -0.0021123736374507804, + 0.012330188613570952, + -0.020553888170125274, + -0.09252021706650529, + 1.0 + ], + [ + 0.004211239336321835, + 0.003982884155163698, + 0.006698744427651444, + 0.006456872677255805, + -0.03344022990992132, + -0.11295676589543088, + 1.0 + ], + [ + 0.0033310488504447212, + -0.001862708700028653, + 0.012193744589137832, + 0.03255779335253847, + -0.005754632435270669, + -0.1564847218110562, + 1.0 + ], + [ + -0.00019150497092744093, + 0.0049661519397302826, + 0.006240350586437364, + 0.011343873752882096, + 0.037279195762045685, + -0.11363722707663594, + 1.0 + ], + [ + -0.0008644034417256469, + -0.0023566436244486406, + 0.00816530771829089, + 0.002611337920635741, + 0.016399852645404046, + -0.0656221247157448, + 1.0 + ], + [ + -0.004581203154600487, + -0.004710793232072167, + 0.010007495783415685, + 0.0030461311161631087, + -0.008969118359524943, + -0.0464725331447538, + 1.0 + ], + [ + -0.0030026852457034343, + -0.008303318854695686, + 0.009046766310797939, + 0.0037592385996890717, + 0.005753371070198931, + -0.049446730793840744, + 1.0 + ], + [ + 0.00021139862825991437, + -0.0016338209672150743, + 0.005327803563261707, + -0.0286581603399963, + 0.01586346217186572, + -0.019703037249902907, + 1.0 + ], + [ + 0.005734214334926922, + 0.004194399053504357, + 0.005228510086383945, + -0.049947788715695156, + 0.004892765179664912, + -0.02613839745352427, + 1.0 + ], + [ + 0.008751424285746578, + -0.00576591022637907, + 0.007420995146097847, + 0.0027690811105201252, + 0.001537050814141211, + -0.04460864790018689, + 0.0 + ], + [ + 0.000150157486513434, + -0.0037181388176830673, + -0.0022338634642546503, + 0.04138069568382913, + 0.0017527617037231857, + 5.624167365721241e-05, + 0.0 + ], + [ + 0.0043759908647814415, + -0.006295459872256082, + -0.014220869537994282, + 0.07785310214631277, + 0.016162008587238492, + 0.04364654037079054, + 0.0 + ], + [ + 0.016818292634207938, + 0.0003385647930470738, + -0.02467728922727275, + 0.01047103254031301, + 0.043439343817910606, + 0.013374269844393381, + 0.0 + ], + [ + 0.01902787052461544, + 0.004817951954982899, + -0.01632737491156523, + -0.0020865101722999336, + 0.06487419399611737, + 0.0244030533171879, + 0.0 + ], + [ + 0.024796162675082393, + 0.012263843482709745, + -0.012974559608762688, + -0.04967867208665405, + 0.07989671121815398, + 0.04003374209251247, + 0.0 + ], + [ + 0.02571747223093073, + 0.018903016543673757, + 0.013998188750968265, + -0.05325182467002008, + 0.07981989865175336, + 0.03572037161394941, + 0.0 + ], + [ + 0.012326183899583296, + 0.019188374400882648, + 0.015326673213538271, + -0.05531014772813219, + 0.03695381406309285, + 0.02564506021619751, + 0.0 + ], + [ + 0.011461754301485022, + 0.0013835294460109405, + 0.015241445317458443, + -0.02912282403576211, + 0.023391267448009807, + 0.007650128185023194, + 0.0 + ], + [ + 0.003659830827272368, + 0.0026383128976561025, + -0.0003548701725413796, + -0.019560902259970644, + 0.01966113478429162, + 0.001486119849921608, + 0.0 + ], + [ + -0.0007317664351204071, + 0.0004580922895408816, + 0.0002921006282174761, + 2.8218833438591192e-05, + -0.001130851028626036, + 0.0033850618621976054, + 1.0 + ], + [ + -6.877449042711967e-05, + 0.0002812477957665079, + -2.7002352559336856e-07, + -0.0017731145965586793, + -0.00043574841289203584, + -0.0011711110217838988, + 1.0 + ] + ], + "state": [ + [ + 0.30838915705680847, + 0.009322386234998703, + 0.08119481801986694, + -3.061416449146815, + -0.25641512870788574, + 0.3538740277290344, + 1.0 + ], + [ + 0.3075745403766632, + 0.009878861717879772, + 0.07936172932386398, + -3.058083051937171, + -0.2495008111000061, + 0.35488054156303406, + 1.0 + ], + [ + 0.30270957946777344, + 0.011400544084608555, + 0.07126837223768234, + -3.0441624914580068, + -0.21139617264270785, + 0.42360785603523254, + 1.0 + ], + [ + 0.3065933883190155, + 0.011048931628465652, + 0.0739762932062149, + -3.052352177100726, + -0.1989797204732895, + 0.5195757150650024, + 1.0 + ], + [ + 0.31305572390556335, + 0.010862990282475948, + 0.06792032718658447, + -3.069568956392356, + -0.1743801385164261, + 0.636802911758423, + 1.0 + ], + [ + 0.3157445788383484, + 0.016253814101219177, + 0.05665258318185806, + -3.0653684978657445, + -0.17770075798034668, + 0.7958201169967652, + 1.0 + ], + [ + 0.3196272552013397, + 0.013820487074553967, + 0.05012226477265358, + -3.074421802657195, + -0.22240398824214935, + 0.9089897871017455, + 1.0 + ], + [ + 0.3179047405719757, + 0.0163272675126791, + 0.04213964566588402, + -3.086559647815772, + -0.24269782006740567, + 0.9752978682518005, + 1.0 + ], + [ + 0.31237268447875977, + 0.017529411241412163, + 0.03159070387482643, + -3.0951591824465474, + -0.2360258251428604, + 1.0235302448272705, + 1.0 + ], + [ + 0.3044646978378296, + 0.021298501640558243, + 0.022476818412542343, + -3.1032885891669473, + -0.24377651512622833, + 1.0741534233093262, + 1.0 + ], + [ + 0.3035527765750885, + 0.02347048558294773, + 0.01742207445204258, + -3.1367148436890027, + -0.26033735275268555, + 1.0938973426818848, + 1.0 + ], + [ + 0.31042012572288513, + 0.027679966762661934, + 0.01382606290280819, + 3.0895561931007585, + -0.2652665972709656, + 1.1209579706192017, + 1.0 + ], + [ + 0.3101336359977722, + 0.03944145143032074, + 0.00867924652993679, + 3.080260170745202, + -0.2642116844654083, + 1.1671916246414185, + 0.0 + ], + [ + 0.306446373462677, + 0.040605273097753525, + 0.010650759562849998, + 3.1216268875920257, + -0.2659645974636078, + 1.167244791984558, + 0.0 + ], + [ + 0.3006001114845276, + 0.04366489127278328, + 0.025397799909114838, + -3.0718368535214147, + -0.2827377915382385, + 1.1221437454223633, + 0.0 + ], + [ + 0.3064834177494049, + 0.05114225298166275, + 0.053707055747509, + -3.0564896931224546, + -0.32509988546371466, + 1.1048833131790161, + 0.0 + ], + [ + 0.3178369104862213, + 0.059946030378341675, + 0.07481268048286438, + -3.0481433813744268, + -0.38751184940338135, + 1.0727218389511108, + 0.0 + ], + [ + 0.3384695053100586, + 0.06979414075613022, + 0.09508338570594788, + -3.0776482467823705, + -0.4628536999225617, + 1.0199819803237915, + 0.0 + ], + [ + 0.36937227845191956, + 0.08577163517475128, + 0.09298577159643173, + -3.109539820002862, + -0.539797306060791, + 0.9726095795631408, + 0.0 + ], + [ + 0.3953809440135956, + 0.09075282514095306, + 0.08565279841423035, + 3.1347754240320107, + -0.5756902098655701, + 0.9406596422195435, + 0.0 + ], + [ + 0.4071342647075653, + 0.10434398055076599, + 0.07911616563796997, + 3.1105888244980058, + -0.5991145968437195, + 0.9315919280052185, + 0.0 + ], + [ + 0.4108980596065521, + 0.10500555485486984, + 0.08154045045375824, + 3.0916282777958592, + -0.618812084197998, + 0.9305168986320496, + 0.0 + ], + [ + 0.41101372241973877, + 0.10437056422233582, + 0.08089697360992432, + 3.0941028503053865, + -0.6178475022315978, + 0.9262999892234802, + 1.0 + ], + [ + 0.4111998677253723, + 0.1041506677865982, + 0.08086823672056198, + 3.091513419645377, + -0.6173561811447144, + 0.9277092218399048, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.16556233167648315, + 0.2779330015182495, + 0.2779330015182495, + 0.2779330015182495, + 0.2779330015182495, + 0.2779330015182495, + 0.2779330015182495, + 0.2779330015182495, + 0.2779330015182495, + 0.25131863355636597, + 0.06011873483657837, + 0.0, + 0.0 + ], + "episode_id": "2048", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2048/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2050.json b/annotation/test/2050.json new file mode 100644 index 0000000000000000000000000000000000000000..79fd3865c54b2da6ab4d191605d1d0ae1015b422 --- /dev/null +++ b/annotation/test/2050.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "PLACE THE KNIFE ON THE BLUE CLOTH" + ], + "videos": [ + { + "video_path": "videos/test/2050/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 1.4567275075475183e-09, + 8.43331073118427e-09, + -0.0015339793326247595, + 1.0 + ], + [ + -0.007636528303461104, + 0.0017533390101115104, + 0.013150171246593236, + -0.008013779059829694, + -0.04222483604569343, + 0.0019558080919758795, + 1.0 + ], + [ + -0.02377891792594431, + 0.0050379592705322804, + 0.008520352934276174, + -0.015408267840152454, + -0.05034694060061104, + 0.014500877281858317, + 1.0 + ], + [ + -0.026613734666002465, + 0.0010341000147259666, + -0.01566130166815745, + -0.012757690065178073, + 0.003834287865040264, + 0.019062461576971834, + 1.0 + ], + [ + -0.03243486420230876, + -0.0005514163647598777, + -0.003713977082489107, + 0.006810976437221591, + -0.022422856016403918, + 0.03635254486671455, + 1.0 + ], + [ + -0.024060717871815115, + 0.0007011789972100553, + 0.010093816255105895, + 0.033182545256703014, + -0.031156481971180133, + 0.0324187006693498, + 1.0 + ], + [ + -0.0122948641029889, + 0.0030147680746598284, + 0.012748646708116153, + 0.025316465726451024, + -0.021127126498410618, + 0.029193660816516233, + 1.0 + ], + [ + -0.01668358195870442, + 0.007643305817056259, + 0.00800459822292875, + 0.015786858641404184, + -0.015831449094329736, + 0.04752653050227116, + 1.0 + ], + [ + -0.013380171359829116, + 0.009077640201159531, + 0.0016625934235903366, + 0.0026040336671911365, + 0.011101865234812148, + 0.044359223636074634, + 1.0 + ], + [ + -0.0061582535563729675, + 0.0026848741062253092, + 0.00030474150008141516, + 0.0014979008516888526, + 0.009238669949531781, + 0.01324596491428373, + 1.0 + ], + [ + 0.0017473245803611259, + -0.002816874065818968, + 0.002168352877976692, + 0.01586362945654244, + 0.0025036163235020513, + -0.012972192919001388, + 1.0 + ], + [ + -0.0027087724028120774, + -0.0017314153477593654, + 0.012621936539219648, + 0.0076977550650343726, + -0.04783977971063974, + -0.010519256583688099, + 1.0 + ], + [ + 0.0035167886615785535, + -0.002891387318511768, + 0.000717382027145858, + 0.012270841759523374, + 0.0040970966242377055, + -0.013601962902140708, + 1.0 + ], + [ + 0.002912312697745083, + 0.0001321306521950322, + 0.0006379513251474358, + 0.01661444570675882, + -0.0014088296613533355, + 0.0026969662292324593, + 1.0 + ], + [ + 0.0032879377962946894, + -0.001099241104894562, + 0.0012866054895842823, + 0.010502929211664349, + -0.001608461776423949, + -0.002405998938920097, + 1.0 + ], + [ + 0.007720136804453132, + -0.0011023675515636803, + 0.002981720830282192, + -0.00035294232196921824, + 0.014199984399539503, + 0.021406839267089642, + 1.0 + ], + [ + 0.011775609563213956, + -0.012587827814947, + 0.014281848349039035, + -0.018200601863628447, + 0.010624260373658378, + 0.02349982499985453, + 1.0 + ], + [ + 0.01602713959278397, + -0.012043275253492582, + 0.004364870283011512, + 0.0013271006894502043, + -0.005367095626042491, + -0.02542443946288133, + 1.0 + ], + [ + 0.0006397189348988777, + -0.0013290676004561967, + 0.0006054286832595224, + 0.003883480295233832, + -0.0010550526245710708, + -0.01982203442331708, + 1.0 + ], + [ + 0.00028861893888614286, + 0.0024259241365518773, + 0.0008839912384160395, + -0.017199347790296235, + 0.0017779371374202545, + -0.010332560675348582, + 1.0 + ], + [ + 0.0008447327194283103, + 0.000924411881279831, + -0.0003009562148460299, + -0.004230954820998673, + 0.0027571118007734922, + 0.015358608449789235, + 0.0 + ], + [ + -0.0030341763506609326, + 0.006491431385148961, + -0.0012470001279260676, + -0.05640163655900613, + -0.0024382278322083745, + 0.04420258423072946, + 0.0 + ], + [ + -0.011738235086523486, + 0.023535072154521275, + -0.014462631373374219, + -0.1967740078958252, + 0.006310516466841757, + 0.12389217069869193, + 0.0 + ], + [ + 0.00985282158435658, + 0.014690492700425224, + -0.03799811342393987, + -0.18294934993055567, + 0.0778580498869979, + 0.09833389921876304, + 0.0 + ], + [ + 0.026543740359578887, + -0.0075689648456064, + -0.029193405864351145, + -0.012000139703229442, + 0.08138692353620788, + -0.02731173498974978, + 0.0 + ], + [ + 0.03190377451811437, + -0.0355652270456846, + -0.0011125307154912106, + 0.10996344036839474, + 0.0810864071168626, + -0.1313410558977664, + 0.0 + ], + [ + 0.035182575012201726, + -0.02114119962284514, + 0.015019587581793847, + 0.1350267512829466, + 0.08000803575024583, + -0.07559577444817843, + 0.0 + ], + [ + 0.00985649275625475, + -0.008264059906519315, + 0.014404166611360049, + 0.10993625099958382, + 0.00977222957609477, + -0.050174883199381654, + 0.0 + ], + [ + -0.00023832745701928218, + -0.004324712014108726, + 0.0034888443313512625, + 0.048637570652687465, + -0.00804908109612066, + -0.007967268641978553, + 0.0 + ], + [ + -0.0021929722721100685, + -0.0036178302046066904, + 0.00021927016802862065, + 0.024152380242779048, + -0.0090875116083724, + 0.002524040728119607, + 0.0 + ], + [ + -0.009179650195077473, + 0.0019020255827774297, + 0.004612477441535845, + -0.0076524186091119105, + -0.03290190348822375, + -0.01567236270758033, + 0.0 + ], + [ + -0.004605727850020386, + -0.002029047731977268, + -0.0009092900913313924, + 0.0064961975604405035, + -0.028525917203506394, + -0.02406116351670187, + 0.0 + ], + [ + 0.0042901004994587155, + -0.005140736321997777, + -0.006445487888122519, + 0.0025866954288693207, + -0.003861985147635765, + -0.028467922077714446, + 1.0 + ], + [ + -0.005017795677281546, + 0.0002843957656592167, + -0.002793123550056512, + -0.03460380284262712, + -0.0343220825404141, + -0.003729039069489531, + 1.0 + ], + [ + -0.009062884563535283, + 0.008460615351414416, + -0.023945222492430775, + -0.05912939244041021, + 0.021201717330043397, + 0.05639860287216096, + 1.0 + ], + [ + -0.012199306539359064, + 0.006074467747446601, + -0.008383027375529326, + -0.013998772271636976, + -0.012327664439524108, + 0.04600707444278028, + 1.0 + ], + [ + -0.007345120023075764, + -0.0006837670235454027, + 0.005593452880100246, + 0.0163110925600748, + -0.014107145808477823, + 0.017611693759740362, + 1.0 + ], + [ + 0.0009560071899300806, + 0.00024615851601848625, + -0.0008090654634840729, + 0.0015221532856089643, + 0.004228940772167981, + 0.0017243604041411631, + 1.0 + ] + ], + "state": [ + [ + 0.36063748598098755, + 0.14605943858623505, + 0.09428919106721878, + -3.081355234729596, + -0.21124078333377838, + 0.213027149438858, + 1.0 + ], + [ + 0.36063748598098755, + 0.14605943858623505, + 0.09428919106721878, + -3.0816836600475987, + -0.21133288741111755, + 0.21459318697452545, + 1.0 + ], + [ + 0.35625898838043213, + 0.14411969482898712, + 0.07975014299154282, + -3.0897667949372014, + -0.16906671226024628, + 0.21517835557460785, + 1.0 + ], + [ + 0.3357813060283661, + 0.13494588434696198, + 0.06710419058799744, + -3.103101471560546, + -0.11802433431148529, + 0.20323947072029114, + 1.0 + ], + [ + 0.3084266483783722, + 0.12763811647891998, + 0.07947172224521637, + -3.113589111837097, + -0.12110041826963426, + 0.18390205502510074, + 1.0 + ], + [ + 0.27624770998954773, + 0.122107595205307, + 0.07925409823656082, + -3.102455211924859, + -0.097591333091259, + 0.1480303406715393, + 1.0 + ], + [ + 0.2535831034183502, + 0.11841874569654465, + 0.06684430688619614, + -3.066229136782237, + -0.06514303386211395, + 0.11680544167757034, + 1.0 + ], + [ + 0.24247297644615173, + 0.11505471169948578, + 0.05313194543123245, + -3.0391315688663205, + -0.04185342788696289, + 0.0892682746052742, + 1.0 + ], + [ + 0.22683963179588318, + 0.10684381425380707, + 0.04369715228676796, + -3.0215287675433835, + -0.021201932802796364, + 0.04360779747366906, + 1.0 + ], + [ + 0.21391737461090088, + 0.09745840728282928, + 0.04067619889974594, + -3.0180795957618436, + -0.026890773326158524, + -0.001776615157723427, + 1.0 + ], + [ + 0.20777371525764465, + 0.09484244138002396, + 0.03987765312194824, + -3.0162048061662396, + -0.03442448377609253, + -0.016067860648036007, + 1.0 + ], + [ + 0.20963095128536224, + 0.09787892550230026, + 0.03813980519771576, + -3.000783221917697, + -0.038527984172105796, + -0.0035013551823794846, + 1.0 + ], + [ + 0.20740841329097748, + 0.10137242823839188, + 0.025790542364120483, + -2.9936038722568235, + 0.007367394398897886, + 0.013614474795758722, + 1.0 + ], + [ + 0.21088232100009918, + 0.10438556224107742, + 0.025481432676315308, + -2.9812494238191327, + 0.0013089268468320372, + 0.02646348811686039, + 1.0 + ], + [ + 0.21379351615905762, + 0.10443402826786041, + 0.024826757609844208, + -2.964638488488742, + 0.003130270168185234, + 0.024026038125157356, + 1.0 + ], + [ + 0.21704569458961487, + 0.10582111775875092, + 0.023743458092212677, + -2.9541276564174375, + 0.004290071316063405, + 0.026677628979086876, + 1.0 + ], + [ + 0.22470761835575104, + 0.10766490548849106, + 0.02098632976412773, + -2.9546162207895, + -0.005673163104802369, + 0.003000627737492323, + 1.0 + ], + [ + 0.23650424182415009, + 0.12272363901138306, + 0.00936033297330141, + -2.9727233817153653, + -0.011742602102458477, + -0.022065432742238045, + 1.0 + ], + [ + 0.25283125042915344, + 0.13497194647789001, + 0.007269991096109152, + -2.971756162243434, + -0.010720426216721535, + 0.0039007356390357018, + 1.0 + ], + [ + 0.25346940755844116, + 0.1363867223262787, + 0.006904792971909046, + -2.968117268877574, + -0.01302859466522932, + 0.023617565631866455, + 1.0 + ], + [ + 0.2538275420665741, + 0.13415762782096863, + 0.0056192087940871716, + -2.985453488426753, + -0.016562651842832565, + 0.03348947688937187, + 1.0 + ], + [ + 0.25470128655433655, + 0.1332263946533203, + 0.005786722060292959, + -2.989444600539752, + -0.0168959591537714, + 0.017886754125356678, + 0.0 + ], + [ + 0.25178197026252747, + 0.12656767666339874, + 0.005984165705740452, + -3.045257905619689, + -0.007772703655064106, + -0.025436153635382652, + 0.0 + ], + [ + 0.23932243883609772, + 0.10205958783626556, + 0.018024396151304245, + 3.0413750131898603, + -0.002108311746269464, + -0.14936040341854095, + 0.0 + ], + [ + 0.24737431108951569, + 0.0899110957980156, + 0.057322319597005844, + 2.8587193508916577, + -0.08939243108034134, + -0.23944656550884244, + 0.0 + ], + [ + 0.27446603775024414, + 0.09916644543409348, + 0.0855090394616127, + 2.8416771312528333, + -0.15981194376945496, + -0.18996860086917877, + 0.0 + ], + [ + 0.31335052847862244, + 0.12662425637245178, + 0.08126181364059448, + 2.929932730393954, + -0.19683475792407987, + -0.03781912475824356, + 0.0 + ], + [ + 0.35222896933555603, + 0.14267978072166443, + 0.0693858340382576, + 3.0468345527821263, + -0.25836896896362305, + 0.05581351742148399, + 0.0 + ], + [ + 0.3652181327342987, + 0.15028032660484314, + 0.057284656912088394, + -3.1397519953367343, + -0.2630097270011902, + 0.10849988460540771, + 0.0 + ], + [ + 0.36542001366615295, + 0.15465906262397766, + 0.05386151745915413, + -3.093258975195237, + -0.25496676564216614, + 0.11674836277961731, + 0.0 + ], + [ + 0.3629013001918793, + 0.15801270306110382, + 0.05326563119888306, + -3.0685633217268666, + -0.24576735496520996, + 0.11460193246603012, + 0.0 + ], + [ + 0.35537976026535034, + 0.1555762141942978, + 0.046435654163360596, + -3.080677395808049, + -0.21405617892742157, + 0.13304561376571658, + 0.0 + ], + [ + 0.35044050216674805, + 0.15690265595912933, + 0.04646487534046173, + -3.07974365552003, + -0.1869761347770691, + 0.15924601256847382, + 0.0 + ], + [ + 0.35261300206184387, + 0.1620447337627411, + 0.053895603865385056, + -3.082599567370959, + -0.18480326235294342, + 0.1883945465087891, + 1.0 + ], + [ + 0.34735167026519775, + 0.1605849713087082, + 0.05569787323474884, + -3.1182376631819686, + -0.15075770020484924, + 0.19420401751995087, + 1.0 + ], + [ + 0.336801677942276, + 0.14931970834732056, + 0.07780857384204865, + 3.1144489777558526, + -0.17039088904857638, + 0.13650108873844147, + 1.0 + ], + [ + 0.3242507576942444, + 0.14169618487358093, + 0.08416102826595306, + 3.108430141704627, + -0.15913173556327823, + 0.08958636224269867, + 1.0 + ], + [ + 0.3178688585758209, + 0.141622856259346, + 0.07745498418807983, + 3.1276371564068874, + -0.14559011161327365, + 0.07132508605718613, + 1.0 + ], + [ + 0.318711519241333, + 0.14144761860370636, + 0.07839750498533249, + 3.1294035195657095, + -0.1498425006866455, + 0.06964105367660521, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0005114078521728516, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0, + 0.0025147199630737305, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.06723624467849731, + 0.3328443169593811, + 0.4831165075302124, + 0.4840872883796692, + 0.4840872883796692, + 0.4840872883796692, + 0.4840872883796692, + 0.4840872883796692, + 0.4840872883796692, + 0.4840872883796692, + 0.4840872883796692, + 0.4840872883796692, + 0.3970968723297119, + 0.09925693273544312, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2050", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2050/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2082.json b/annotation/test/2082.json new file mode 100644 index 0000000000000000000000000000000000000000..80c02c035cbfd84e21bed55324d08b55d3a805c8 --- /dev/null +++ b/annotation/test/2082.json @@ -0,0 +1,394 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "flip pot upright in sink distractors" + ], + "videos": [ + { + "video_path": "videos/test/2082/rgb.mp4" + } + ], + "action": [ + [ + -0.0019466260605644332, + -0.0003875503952061157, + 0.0022347226091940027, + 0.0038143536694092875, + -0.009913532200058254, + 0.0013359433205621188, + 1.0 + ], + [ + -0.004360397885998341, + -0.0006339716482773567, + 0.006455460380297622, + 0.061074483752424746, + 0.0055399925039239855, + 0.026924020801960807, + 1.0 + ], + [ + -0.0007834933317312011, + 0.004734791064520919, + 0.002059184299633117, + 0.07649448262467683, + 0.047270900394797505, + 0.04473849992375096, + 1.0 + ], + [ + -0.0015908703695734709, + 0.0025164383317831914, + 0.005769489087718267, + 0.073804031717638, + 0.02408248531744974, + 0.014827023870666443, + 1.0 + ], + [ + -0.0054892661966836325, + -0.0004383245504469914, + 0.01082225414924906, + 0.13681987896624845, + -0.0018083759387259645, + 0.025098110357713904, + 1.0 + ], + [ + -0.0015855456413736417, + 0.0005778109809967446, + 0.007004923646155779, + 0.07141184125447674, + -0.010479228992722692, + 0.029492275540604122, + 1.0 + ], + [ + -0.0005919017271689796, + -0.0009872103256887334, + 0.004223916108463368, + 0.035206110963654225, + -0.022005018829673425, + 0.026103901970538503, + 1.0 + ], + [ + -0.0016861370784142077, + -0.006492628073998865, + 0.008206476403837542, + 0.034868252334175315, + -0.037343610597586695, + 0.055697519391536804, + 1.0 + ], + [ + 0.0019247165778177036, + -0.008975145830124926, + 0.003947882765490373, + 0.017883212788359894, + -0.011116761068527273, + 0.016482165911175073, + 1.0 + ], + [ + 0.0012135895057152279, + -0.004531454550206544, + 0.0007118696152022109, + 0.012106036877845889, + -0.008328244335122251, + 0.0100109392873139, + 1.0 + ], + [ + 0.00044667048261721933, + -0.003868200902991773, + 0.0035000810058073576, + -0.003239373785214253, + -0.008089694995671658, + 0.005648170814125276, + 1.0 + ], + [ + 0.0014838308258377146, + -0.008329304336554065, + 0.005402239724445375, + -0.05842849310496933, + 0.011335688129597453, + -0.032113444095085715, + 0.0 + ], + [ + -0.002326544289204837, + -0.005946277606610706, + 0.012000100589404306, + -0.11481325841886984, + -0.005323421498799027, + -0.0508827170802589, + 0.0 + ], + [ + -0.0025527116431857716, + 0.004658043804878762, + 0.00431599646559567, + -0.11097906764436212, + -0.018200735680469798, + -0.01983165627813458, + 0.0 + ], + [ + -0.0035347100062025844, + -0.0039030953749901493, + 0.005780187852918895, + -0.1092715140433449, + -0.044455223132111185, + -0.01470820766613157, + 0.0 + ], + [ + 0.0017510800739104645, + -0.000549678744356867, + 0.0019016591559604785, + -0.03485528015745623, + 0.010826086010219626, + 0.01777548828334784, + 0.0 + ], + [ + 0.002719010053332539, + -0.0011331141624668897, + -0.0028455455985106678, + 4.6646524737367734e-05, + 0.025515850268091996, + 0.009832178693042757, + 0.0 + ], + [ + 0.00014056605518506253, + -0.00021806263258955367, + -0.0010371007668060314, + -0.00021233702331755201, + 0.002989014450630327, + 0.0024093875651640543, + 1.0 + ], + [ + -0.0002786720338551788, + 4.2016318181841354e-05, + -2.489488366838877e-07, + -0.00026278956298044946, + -0.0017577844577421706, + -0.0012436836423654488, + 1.0 + ] + ], + "state": [ + [ + 0.28482165932655334, + -0.08829136192798615, + 0.04294521361589432, + -3.0519095977121076, + -0.186238095164299, + -0.030884472653269764, + 1.0 + ], + [ + 0.2833332121372223, + -0.08765895664691925, + 0.04043162614107132, + -3.0480075796418866, + -0.1762447357177734, + -0.03133407607674599, + 1.0 + ], + [ + 0.2801971137523651, + -0.08632560074329376, + 0.03339777886867523, + -2.982098551588603, + -0.17917828261852264, + -0.05910240113735199, + 1.0 + ], + [ + 0.2796661853790283, + -0.09064944833517075, + 0.030517708510160446, + -2.8962093611531934, + -0.2185036391019821, + -0.11199543625116347, + 1.0 + ], + [ + 0.27934396266937256, + -0.09165924787521362, + 0.024112490937113762, + -2.817870857315608, + -0.23821736872196198, + -0.13281269371509552, + 1.0 + ], + [ + 0.27693474292755127, + -0.08744501322507858, + 0.012982295826077461, + -2.675515981512614, + -0.22845467925071716, + -0.15665096044540405, + 1.0 + ], + [ + 0.2772778272628784, + -0.08483485132455826, + 0.0062751262448728085, + -2.5991882999711713, + -0.20578654110431668, + -0.17875121533870694, + 1.0 + ], + [ + 0.27787062525749207, + -0.08186707645654678, + 0.0031116942409425974, + -2.5615913589769086, + -0.17345330119132996, + -0.1899101436138153, + 1.0 + ], + [ + 0.2786741554737091, + -0.07191158086061478, + -0.0004359781160019338, + -2.5219532569223126, + -0.11163907498121263, + -0.21614830195903778, + 1.0 + ], + [ + 0.28238368034362793, + -0.0628981664776802, + 0.001764326705597341, + -2.5032642801576337, + -0.09301459789276122, + -0.22313924133777616, + 1.0 + ], + [ + 0.28426846861839294, + -0.059159208089113235, + 0.003996232058852911, + -2.4908492883020124, + -0.0803607925772667, + -0.2262261509895325, + 1.0 + ], + [ + 0.28590279817581177, + -0.05420152470469475, + 0.0035920017398893833, + -2.4940965493493756, + -0.0705028548836708, + -0.22581833600997925, + 1.0 + ], + [ + 0.28951334953308105, + -0.04487104341387749, + 0.004410107154399157, + -2.553939076262065, + -0.09890128672122955, + -0.2069549560546875, + 0.0 + ], + [ + 0.29027801752090454, + -0.03317690268158913, + -0.0024772577453404665, + -2.673932345705577, + -0.12256839871406555, + -0.16131755709648132, + 0.0 + ], + [ + 0.28814032673835754, + -0.035070374608039856, + -0.008697111159563065, + -2.7881853600316724, + -0.11521951854228973, + -0.1352391391992569, + 0.0 + ], + [ + 0.2858884334564209, + -0.029049398377537727, + -0.0131485965102911, + -2.900615023570605, + -0.07855338603258133, + -0.10597892105579378, + 0.0 + ], + [ + 0.2878626585006714, + -0.02826620824635029, + -0.014721423387527466, + -2.9339414705806455, + -0.08480929583311081, + -0.12589538097381595, + 0.0 + ], + [ + 0.2903623878955841, + -0.028056291863322258, + -0.011483927257359028, + -2.9325816353135785, + -0.10774055123329163, + -0.14086021482944489, + 0.0 + ], + [ + 0.29038766026496887, + -0.028061768040060997, + -0.010415180586278439, + -2.9324718733602246, + -0.11016410589218141, + -0.14385551214218142, + 1.0 + ], + [ + 0.2901085615158081, + -0.02806292101740837, + -0.01045424584299326, + -2.9329095055633267, + -0.10870266705751419, + -0.14226461946964264, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.052336275577545166, + 0.25229883193969727, + 0.5670906603336334, + 0.7389860451221466, + 0.8799635544419289, + 0.9404769465327263, + 0.9438050836324692, + 0.8571837097406387, + 0.6447625160217285, + 0.3097999095916748, + 0.023313462734222412 + ], + "episode_id": "2082", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2082/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2084.json b/annotation/test/2084.json new file mode 100644 index 0000000000000000000000000000000000000000..006b6d5e703e050834f10288f653cb5f02ce122a --- /dev/null +++ b/annotation/test/2084.json @@ -0,0 +1,432 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put sweet potato in pot which is in sink distractors" + ], + "videos": [ + { + "video_path": "videos/test/2084/rgb.mp4" + } + ], + "action": [ + [ + -0.001778998445303609, + 0.0003623659730490946, + 0.0045683953446733925, + 0.0066560937132369505, + -0.011605327430104496, + 0.003114765582188073, + 1.0 + ], + [ + -0.008033749431682715, + 0.0015123629592125203, + 0.016107436633518074, + 0.0014026440938189138, + -0.014808607417221197, + 0.008702670458844064, + 1.0 + ], + [ + -0.0008539901810615135, + 0.0014255882905030062, + 0.006398250715232871, + -0.01312019705062783, + 0.02473904713655409, + 0.00859434594207023, + 1.0 + ], + [ + -0.00029815194290350806, + 0.0025620680300978632, + 0.006313129661157645, + -0.031718361918433476, + 0.01979301171208533, + 0.01125972034300787, + 1.0 + ], + [ + 0.004481810418395989, + -0.008212345867552508, + 0.005209930667761708, + -0.011569515875950802, + 0.019297195545395912, + -0.012310916383925107, + 1.0 + ], + [ + -0.0006436668298538824, + -0.000738690263540938, + 0.004963890578505448, + -0.003250028750116087, + 0.02172507888166341, + 0.002155466974023815, + 1.0 + ], + [ + -0.004730902190010514, + 0.0005271389488166019, + 0.006121613176078233, + -0.0050864729045974, + 0.004604759728172805, + 0.006113686910733649, + 1.0 + ], + [ + -0.005387316802717378, + 0.001300783142220393, + 0.00632749921965252, + -0.019072494797694944, + 0.013157780071189925, + -0.0001542319153289619, + 1.0 + ], + [ + -0.0024277744993717754, + 0.0004637003423481646, + 0.004979151371722072, + -0.019162879925447157, + 0.021358081100862535, + -0.00631231233329399, + 1.0 + ], + [ + -0.001986375289321104, + -0.00028053782700246865, + 0.0037856584432897807, + -0.013546980076975256, + 0.01773481775628634, + -0.007929832056293506, + 1.0 + ], + [ + -0.00031152031111080576, + 0.0003846776981909349, + 0.0015863562130250804, + -0.012497225410661391, + 0.009238617690560553, + -0.005152413690362149, + 0.0 + ], + [ + -0.00274131887779774, + -0.001415748917417784, + -0.0005363991912439646, + 0.0075951797168383505, + -0.024630864318855836, + 0.008837943779256016, + 0.0 + ], + [ + -0.0027216052988708684, + -0.012084989465654682, + -0.005016171900531778, + 0.034177617832097835, + -0.08259674911508826, + 0.054668313959052715, + 0.0 + ], + [ + 0.009735372737631792, + -0.030392421704854993, + -0.022061806019395506, + 0.01913261334995836, + -0.058694400152920045, + 0.03867674498405864, + 0.0 + ], + [ + 0.0022728499608968334, + -0.013381114564930657, + -0.01550772146987106, + 0.010207177755320516, + 0.004470653692706727, + 0.07198184372293805, + 0.0 + ], + [ + -0.006477343335767707, + -0.031123909278956093, + 0.0016707858490436396, + -0.009670192394484146, + 0.0038451890300718774, + 0.01895566110217841, + 0.0 + ], + [ + -0.0069909337084218945, + -0.014750933996596695, + 0.006847108052858245, + -0.02587215068719035, + 0.01324990110048558, + 0.014310390058328537, + 0.0 + ], + [ + -0.001798189649037119, + -0.006031127744095426, + 0.0052094691051826425, + -0.009842108274292993, + 0.02265601268633713, + 0.0006594188582151341, + 1.0 + ], + [ + -9.115301704882973e-05, + -0.0002718988878890556, + 0.0016769211190344653, + -0.0061437767313501914, + 0.007009642424135061, + -0.012057808562986282, + 1.0 + ], + [ + 0.00024797682959834457, + -0.00015591774541149906, + -2.756460989159655e-07, + 0.0009850396602374975, + 0.0015627727366957288, + 0.0011381547810685785, + 1.0 + ], + [ + -1.9696849812410294e-05, + 9.443952632662778e-05, + -0.0005096812985126539, + -0.000878022572233734, + -3.963932975507157e-05, + -0.001273546480219843, + 1.0 + ] + ], + "state": [ + [ + 0.3658457100391388, + -0.15556076169013977, + 0.08175960928201675, + -2.9897752573066434, + -0.26318225264549255, + 0.0007974884938448668, + 1.0 + ], + [ + 0.365316778421402, + -0.15522848069667816, + 0.07688352465629578, + -2.9827534576230725, + -0.2512391209602356, + -0.0005690502002835274, + 1.0 + ], + [ + 0.3615492880344391, + -0.1541719138622284, + 0.05924925208091736, + -2.9797384311729154, + -0.23523543775081635, + -0.0069959363900125035, + 1.0 + ], + [ + 0.3622414767742157, + -0.1545526534318924, + 0.05268608778715134, + -2.989815520244189, + -0.258247435092926, + -0.019889414310455322, + 1.0 + ], + [ + 0.3636142313480377, + -0.15615837275981903, + 0.046201806515455246, + -3.0177705009751996, + -0.2760840654373169, + -0.03456599265336991, + 1.0 + ], + [ + 0.3693597614765167, + -0.14755886793136597, + 0.04342511296272278, + -3.0321257432275495, + -0.29674017429351807, + -0.024285605177283287, + 1.0 + ], + [ + 0.3701941668987274, + -0.14630219340324402, + 0.038595546036958694, + -3.0339606051617345, + -0.3180965781211853, + -0.02903941087424755, + 1.0 + ], + [ + 0.36762678623199463, + -0.14609403908252716, + 0.03128126636147499, + -3.036881135898181, + -0.32201081514358526, + -0.03596847876906394, + 1.0 + ], + [ + 0.36453017592430115, + -0.14661532640457153, + 0.02347795106470585, + -3.055535117285796, + -0.3351123929023742, + -0.037262290716171265, + 1.0 + ], + [ + 0.3638812005519867, + -0.14662517607212067, + 0.01795710064470768, + -3.076242135959216, + -0.3569304943084716, + -0.03251095488667488, + 1.0 + ], + [ + 0.36335092782974243, + -0.14608049392700195, + 0.013740736059844494, + -3.0923167673223695, + -0.37513673305511475, + -0.025252651423215863, + 1.0 + ], + [ + 0.3636407256126404, + -0.14639398455619812, + 0.012134719640016556, + -3.1066667084866246, + -0.3846135735511779, + -0.020192055031657215, + 0.0 + ], + [ + 0.36090874671936035, + -0.14494237303733826, + 0.011648907326161861, + -3.095866350578614, + -0.35967639088630676, + -0.028706766664981842, + 0.0 + ], + [ + 0.3567449450492859, + -0.13297486305236816, + 0.01589832454919815, + -3.0430127178602895, + -0.27419766783714294, + -0.0813223570585251, + 0.0 + ], + [ + 0.3616337478160858, + -0.1052066907286644, + 0.04254843294620514, + -3.0147047658735, + -0.21183469891548157, + -0.11471454799175262, + 0.0 + ], + [ + 0.3615691065788269, + -0.09381333738565445, + 0.05972099304199219, + -2.9893786032968244, + -0.20661206543445584, + -0.18824991583824155, + 0.0 + ], + [ + 0.360527902841568, + -0.06203976646065712, + 0.06139470636844635, + -2.9950263520055493, + -0.20749966800212863, + -0.20799294114112854, + 0.0 + ], + [ + 0.35798537731170654, + -0.04556696489453316, + 0.055434130132198334, + -3.0175089110904416, + -0.21849036216735843, + -0.2244757562875748, + 0.0 + ], + [ + 0.35868433117866516, + -0.03892643377184868, + 0.05072654411196709, + -3.0265477319532117, + -0.24088920652866364, + -0.2280365526676178, + 1.0 + ], + [ + 0.35908254981040955, + -0.038543958216905594, + 0.04911737143993378, + -3.0354464297466954, + -0.2492212504148483, + -0.216507226228714, + 1.0 + ], + [ + 0.35934650897979736, + -0.03844330087304115, + 0.049194809049367905, + -3.0341310446434697, + -0.2506544291973114, + -0.21784639358520508, + 1.0 + ], + [ + 0.35917550325393677, + -0.03855760395526886, + 0.04967101663351059, + -3.0353344475203237, + -0.25075140595436096, + -0.21653492748737335, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.1720229983329773, + 0.21350353956222534, + 0.21350353956222534, + 0.21350353956222534, + 0.21350353956222534, + 0.21350353956222534, + 0.20585864782333374, + 0.03867250680923462, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2084", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2084/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2094.json b/annotation/test/2094.json new file mode 100644 index 0000000000000000000000000000000000000000..76bfd1672f86c2ce909efaefee4dba982dad4d5c --- /dev/null +++ b/annotation/test/2094.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "upright hot sauce bottle cardboard fence" + ], + "videos": [ + { + "video_path": "videos/test/2094/rgb.mp4" + } + ], + "action": [ + [ + 0.00022147072117708607, + 0.00010061898212724625, + -1.8778582333375113e-07, + -0.00063451862050729, + 0.001396604549496494, + -4.39313815505405e-07, + 1.0 + ], + [ + -0.004620267475070001, + -0.0014724374761739545, + 0.005848947858884236, + 0.012444809892015457, + -0.02945964228045822, + 0.011690873500825394, + 1.0 + ], + [ + -0.0005770641394167411, + -0.016113454146232963, + -0.0008675552764488829, + 0.062292415112203355, + -0.046135154533317145, + 0.10082859057432819, + 1.0 + ], + [ + 0.004701178261420213, + -0.021509519265401712, + -0.007933185130588369, + 0.062400043441962365, + -0.03484809114717716, + 0.17447379609317745, + 1.0 + ], + [ + 0.0004953671625800011, + -0.02217624508514269, + -0.003984636224271, + 0.03405601295793774, + -0.02790803892080482, + 0.20792171545221214, + 1.0 + ], + [ + 0.004682002917613728, + -0.014061734342893083, + 0.010132958322657013, + 0.05432163696537387, + 0.06390613185608358, + 0.1832102740177033, + 1.0 + ], + [ + 0.005801397373293924, + -0.011987034082081969, + 0.01620493164320817, + 0.007208456813886792, + -0.0012133998200492802, + 0.15067143828721874, + 1.0 + ], + [ + 0.003176062742124352, + -0.004738340708690238, + 0.014957175617454547, + -0.0014353293603766191, + -0.09367149204772617, + 0.07894340676685437, + 1.0 + ], + [ + 0.001630659839392732, + 0.0025476495582655028, + 0.012157663572511381, + -0.016873249759472957, + -0.04327676505734937, + 0.054687904587253845, + 1.0 + ], + [ + 0.00265126208248208, + 0.00038237919007739514, + 0.008444202188676407, + 0.0024935949127912944, + -0.011144040692915474, + 0.05297304566042796, + 1.0 + ], + [ + 0.0014043978067953228, + 0.004316009641310207, + 0.0067498677393725524, + 0.022195947116387723, + 0.011838443469990072, + 0.024469436521696503, + 1.0 + ], + [ + 0.005048854744019243, + 0.0018256443903585824, + 0.009549219651939922, + 0.008353797441650343, + -0.0006646060561217798, + 0.019012703577668395, + 1.0 + ], + [ + -0.00036973988826875, + 0.0029039421750833637, + 0.005861132639955604, + -0.017351758380931212, + -0.023284807760866423, + 0.019386088385147437, + 1.0 + ], + [ + 0.0022125475257094513, + -0.004409723136663644, + 0.001889746409548412, + -0.003058341757740107, + -0.017103769655882464, + 0.0001863503960020221, + 1.0 + ], + [ + 0.0017955651046259302, + -0.0003687745442372344, + 0.001868713165037017, + -0.005068333194061777, + -0.0017351755248826658, + 0.0194310409924729, + 1.0 + ], + [ + -0.0005169805637564596, + 0.00015536468990829104, + 0.0008707332224150043, + -0.02268685894839507, + 0.018792557526287203, + 0.0031020955253331295, + 0.0 + ], + [ + -0.0015516622322539306, + -0.002098051997313366, + -0.0012201945204960499, + -0.020549311079740906, + 0.05794629467938559, + 0.044068456121226396, + 0.0 + ], + [ + -0.005365139775655085, + 0.0013325765974836624, + -0.008871944578524606, + 0.004128186576300911, + 0.06640094616018011, + 0.02820289570759931, + 0.0 + ], + [ + -0.0017006352968462791, + -0.0032321658951438045, + -0.017620350322254823, + 0.012508143285451887, + 0.10146570146691863, + 0.003233510288651198, + 0.0 + ], + [ + 0.002368592553056907, + 0.002912296560864189, + -0.024257216579327712, + -0.010385461183990771, + 0.10546005197860095, + 0.009382097695040947, + 0.0 + ], + [ + 0.01115842172652236, + 0.01045825439914738, + -0.02703212682043595, + -0.005146598860584226, + 0.08762616805968734, + 0.02515930510000777, + 0.0 + ], + [ + 0.01860287488263613, + 0.01601405944808477, + -0.01799355114750549, + -0.015883457609900377, + 0.09174148614148397, + 0.05926229833242738, + 0.0 + ], + [ + 0.016501426694226384, + 0.014448700885419115, + -0.02192526035914925, + 0.030323843520133426, + 0.11648226423417708, + 0.032365783563347586, + 0.0 + ], + [ + 0.01978330406945798, + 0.013715301209690516, + -0.011656446157256601, + 0.008927136788365615, + 0.11460057161453027, + 0.0048570966315994194, + 0.0 + ], + [ + 0.014590380490796698, + 0.010063065670359861, + 0.00704769765946171, + -0.02379977930703151, + 0.1211892967269109, + -0.02586460730403736, + 0.0 + ], + [ + 0.010262256600900875, + 0.004940164920418435, + 0.0015727725096059025, + -0.020523137633658404, + 0.07958544412025143, + -0.01579186454127612, + 0.0 + ], + [ + 0.0011048588815427611, + 0.008508180792961565, + 0.007042149330718067, + -0.020822526347060895, + 0.08837668674723101, + -0.03476112595616627, + 0.0 + ], + [ + -0.0005878181653289326, + 0.003746890686974258, + 0.008388164187832609, + 0.03975784150921631, + 0.10701463286141077, + -0.018322062411533075, + 0.0 + ], + [ + -0.005310243964392979, + -0.002614113208426039, + 0.005921003430603152, + 0.041575292770576235, + 0.1287437626316841, + -0.06015786072463253, + 0.0 + ], + [ + -0.0025020166942906997, + 0.0011442255952992073, + -0.002989581239984421, + 0.01670477738328964, + 0.12934425571431407, + -0.0504170639047343, + 0.0 + ], + [ + -0.0018141513543858602, + -0.000959895846362879, + -0.0006860793418737666, + 0.0462985443788199, + 0.05689987571474604, + -0.03560247311894184, + 0.0 + ], + [ + -0.006744653136619149, + -0.002537686175077077, + 0.005327859802305961, + 0.04908384626184936, + -0.015847573797646865, + -0.035847067940456896, + 0.0 + ], + [ + -0.005428266275199084, + 0.0017772921948368459, + 0.00447833876610484, + 0.0104154093863715, + -0.0508911908340632, + -0.017945066044708344, + 0.0 + ], + [ + -0.004473395019494389, + 0.0020119831932074155, + 0.0018438591906708762, + 0.032259808153024455, + -0.02560607784623684, + -0.019744609332366627, + 1.0 + ], + [ + 0.00709259438636437, + -0.0019430236305674512, + -0.00748890154505868, + 0.02768678359866486, + -0.016310419329192756, + -0.09187498803458288, + 1.0 + ], + [ + 0.017153122238663488, + -0.004409938712527521, + -0.009349208154845079, + 0.021744213258215017, + -0.006234800110227049, + -0.014239212259741075, + 1.0 + ], + [ + 0.006215286844699677, + -0.004010041801687411, + -0.008410044044970798, + -0.01518603791910065, + -0.02532516262763564, + -0.02422012875861322, + 1.0 + ], + [ + -0.0010061968001568826, + -0.0005758801138015202, + -0.0003322784054406873, + 0.0015394095125515531, + -0.00485766387332139, + -0.003816143889683338, + 1.0 + ] + ], + "state": [ + [ + 0.270139217376709, + 0.0041248551569879055, + 0.06205429509282112, + -3.0168650170140943, + -0.11950093507766724, + 0.22561571002006528, + 1.0 + ], + [ + 0.2703773081302643, + 0.004077045246958733, + 0.062068454921245575, + -3.0174786021285733, + -0.1208867430686951, + 0.2254411280155182, + 1.0 + ], + [ + 0.2660791277885437, + 0.005333217792212963, + 0.05593063682317734, + -3.0040206034951886, + -0.09020268172025679, + 0.21745939552783963, + 1.0 + ], + [ + 0.26183003187179565, + 0.020618706941604614, + 0.05893531069159508, + -2.933765875297137, + -0.030301528051495552, + 0.12400452792644501, + 1.0 + ], + [ + 0.2637254297733307, + 0.04041493684053421, + 0.07127276062965393, + -2.8691163082891187, + 0.04004687815904618, + -0.03941488265991211, + 1.0 + ], + [ + 0.2654116451740265, + 0.06064997985959053, + 0.08105070888996124, + -2.847881319122859, + 0.12179981917142868, + -0.23327840864658356, + 1.0 + ], + [ + 0.27305737137794495, + 0.07568282634019852, + 0.07489548623561859, + -2.8221457322412213, + 0.11102133989334108, + -0.4282211363315583, + 1.0 + ], + [ + 0.28397026658058167, + 0.08880575746297836, + 0.06270358711481094, + -2.834266098337718, + 0.1581899672746658, + -0.5726467967033387, + 1.0 + ], + [ + 0.28980752825737, + 0.09579955786466599, + 0.04954040050506592, + -2.8423124869638166, + 0.2711568772792816, + -0.6209722757339478, + 1.0 + ], + [ + 0.2890600860118866, + 0.09774831682443619, + 0.037187181413173676, + -2.8703126927190503, + 0.32840892672538763, + -0.6626369953155516, + 1.0 + ], + [ + 0.290109246969223, + 0.09933248162269592, + 0.028534457087516785, + -2.884635331230708, + 0.3529384434223175, + -0.7138364315032958, + 1.0 + ], + [ + 0.2875032126903534, + 0.09833674877882004, + 0.020893901586532593, + -2.8723199387365064, + 0.3475757241249084, + -0.7422071099281311, + 1.0 + ], + [ + 0.28909650444984436, + 0.09793455898761749, + 0.010062873363494873, + -2.8706005831533155, + 0.3532142639160156, + -0.7615521550178528, + 1.0 + ], + [ + 0.2863888740539551, + 0.09881795942783356, + 0.004162805154919624, + -2.8925355096631726, + 0.38080963492393494, + -0.7749523520469666, + 1.0 + ], + [ + 0.29097482562065125, + 0.10096051543951035, + 0.0026493098121136427, + -2.893931971984454, + 0.39742827415466314, + -0.7705761194229126, + 1.0 + ], + [ + 0.2922528386116028, + 0.10085656493902206, + 0.0003672023012768477, + -2.906792463856288, + 0.40380215644836426, + -0.7905993461608887, + 1.0 + ], + [ + 0.2917109727859497, + 0.10147727280855179, + -0.00024163807393051684, + -2.9325779249244412, + 0.38623541593551636, + -0.7985752224922179, + 0.0 + ], + [ + 0.29242512583732605, + 0.10332270711660385, + 0.001851854263804853, + -2.975097956257411, + 0.33808377385139465, + -0.8569509983062744, + 0.0 + ], + [ + 0.2888586223125458, + 0.103187195956707, + 0.011677004396915436, + -2.9841107000880918, + 0.2770153284072876, + -0.8972417712211609, + 0.0 + ], + [ + 0.2912285327911377, + 0.1009049266576767, + 0.02936854399740696, + -2.976133721070834, + 0.17726577818393707, + -0.9166092872619629, + 0.0 + ], + [ + 0.2897132635116577, + 0.09159474819898605, + 0.05202971771359444, + -2.9903638829761228, + 0.07473354041576385, + -0.9432267546653749, + 0.0 + ], + [ + 0.28568410873413086, + 0.07260576635599136, + 0.07627442479133606, + -2.9978785087638578, + -0.008155018091201782, + -0.9811955094337463, + 0.0 + ], + [ + 0.28064215183258057, + 0.04700402542948723, + 0.09194013476371765, + -3.012937830882617, + -0.09044841676950455, + -1.0530420541763306, + 0.0 + ], + [ + 0.2729911208152771, + 0.025800883769989014, + 0.11323960870504379, + -2.9775354136996945, + -0.2017117291688919, + -1.1008145809173584, + 0.0 + ], + [ + 0.26716718077659607, + 0.0031842130701988935, + 0.12627530097961426, + -2.9625935574346265, + -0.31391558051109314, + -1.125457525253296, + 0.0 + ], + [ + 0.266501784324646, + -0.015496516600251198, + 0.12248028814792633, + -2.9863416870408734, + -0.4377616047859192, + -1.1213308572769165, + 0.0 + ], + [ + 0.2667900621891022, + -0.02676781266927719, + 0.1247314065694809, + -3.00796468754346, + -0.5188270807266235, + -1.1175782680511475, + 0.0 + ], + [ + 0.2622341215610504, + -0.03452853113412857, + 0.11823399364948273, + -3.0420047884159764, + -0.6108902096748352, + -1.0900449752807617, + 0.0 + ], + [ + 0.2617579996585846, + -0.039874445647001266, + 0.11075465381145477, + -3.007431687908717, + -0.7191725969314575, + -1.0800673961639404, + 0.0 + ], + [ + 0.26457175612449646, + -0.037962786853313446, + 0.10310488939285278, + -3.0072789212041577, + -0.8539081811904908, + -1.0162303447723389, + 0.0 + ], + [ + 0.26128655672073364, + -0.03557264432311058, + 0.1030646488070488, + -3.0341130589419087, + -0.9881118535995483, + -0.95758455991745, + 0.0 + ], + [ + 0.2610550820827484, + -0.03371327742934227, + 0.10198186337947845, + -3.0366609488898, + -1.0477856397628784, + -0.899027943611145, + 0.0 + ], + [ + 0.2640840709209442, + -0.03257102146744728, + 0.0936250239610672, + -3.0509319846802434, + -1.0345977544784546, + -0.8259552121162415, + 0.0 + ], + [ + 0.2638937532901764, + -0.034377630800008774, + 0.08659791201353073, + -3.0753909443789205, + -0.9851475954055786, + -0.7853231430053712, + 0.0 + ], + [ + 0.26197466254234314, + -0.03512526676058769, + 0.08177947998046875, + -3.074241029220172, + -0.9605708718299866, + -0.7479926347732544, + 1.0 + ], + [ + 0.26136255264282227, + -0.032600291073322296, + 0.0919487327337265, + 3.1064895299547395, + -0.9444364309310913, + -0.5893213152885437, + 1.0 + ], + [ + 0.2661648392677307, + -0.030114786699414253, + 0.11123201996088028, + 3.1090524961524686, + -0.9375713467597961, + -0.5656419992446899, + 1.0 + ], + [ + 0.2659328281879425, + -0.024896059185266495, + 0.12113909423351288, + 3.063105935352393, + -0.9111121296882629, + -0.5274950861930847, + 1.0 + ], + [ + 0.2655067443847656, + -0.0239532683044672, + 0.12051935493946075, + 3.060259888070174, + -0.9059627056121826, + -0.5219458341598511, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0446895956993103, + 0.28090745210647583, + 0.5625219643115997, + 0.7182486951351166, + 0.711623877286911, + 0.6927566826343536, + 0.6919880211353302, + 0.6919880211353302, + 0.6919880211353302, + 0.6912181377410889, + 0.6912181377410889, + 0.6919880211353302, + 0.6919880211353302, + 0.6912181377410889, + 0.6919880211353302, + 0.6919880211353302, + 0.6912181377410889, + 0.6912181377410889, + 0.6338784694671631, + 0.351925790309906, + 0.07688909769058228, + 0.005884885787963867, + 0.006563663482666016, + 0.006563663482666016, + 0.005884885787963867 + ], + "episode_id": "2094", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2094/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2099.json b/annotation/test/2099.json new file mode 100644 index 0000000000000000000000000000000000000000..39d5adf09925b7752e339784e04e842d46dc6222 --- /dev/null +++ b/annotation/test/2099.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put lid on pot cardboardfence" + ], + "videos": [ + { + "video_path": "videos/test/2099/rgb.mp4" + } + ], + "action": [ + [ + 0.0004101477615661532, + 0.00012355805441256786, + -0.00033200074871920447, + -0.00025481818374954653, + 0.0014933832863080526, + 0.0002405124892795583, + 1.0 + ], + [ + -0.005700687198282684, + -0.0029577770382188443, + 0.010839130358540077, + 0.007942876188114872, + -0.03717131040864349, + -0.005645234565865866, + 1.0 + ], + [ + -0.01676241074550129, + -0.004615857618890295, + 0.012898042965534987, + 0.03959500072984865, + -0.011476328311274908, + 0.029373756432424913, + 1.0 + ], + [ + -0.01773496136739615, + -0.0018916363489182237, + -0.003001391647183311, + 0.030099879099701222, + 0.026370205304780688, + 0.030937575104919034, + 1.0 + ], + [ + -0.013453297652187014, + -0.0016067131370497423, + -0.0012660760959564722, + -0.006234184279793971, + 0.012057538740256524, + 0.011099893225114309, + 1.0 + ], + [ + -0.010858880670059733, + -0.00397447428229828, + 0.003175395503157936, + 0.011992529398456341, + 0.01468547418451454, + 0.016748155489852496, + 1.0 + ], + [ + -0.004388117369503818, + -0.004336033918933389, + 0.002893638684324606, + 0.003289703545374463, + 0.01495676175387629, + -0.005699416281113077, + 1.0 + ], + [ + -0.007412527477703826, + -0.00469269621735783, + 0.00478917715480487, + 0.010555682249703598, + -0.0064835725008411125, + 0.003560546985026922, + 1.0 + ], + [ + -0.0018768517889299608, + -0.00256069411279578, + 0.0036061313105186614, + 0.005472489130904585, + 0.008282864553404285, + 0.0029985237776933666, + 1.0 + ], + [ + -0.004091764688927984, + -0.0021921312982916886, + 0.00464000394847585, + 0.004766526944063914, + 0.0019667341951848803, + 0.0064146814170490275, + 1.0 + ], + [ + 0.002174313266380755, + -0.0003457790688763365, + 0.0010370540674755817, + -0.007247825722780423, + 0.010895099985684232, + 0.0013203961125838194, + 1.0 + ], + [ + 0.0005192930169346583, + -0.0013109862855948651, + 0.005429223627674904, + 0.006647745159451694, + -0.0013137438106158375, + 0.00274382993380947, + 1.0 + ], + [ + -0.00016508501976521993, + 0.0010382886158044069, + 0.003772563795076987, + 0.006498444289465791, + -0.003363453913963686, + 0.010575639462364523, + 1.0 + ], + [ + -0.008173912194914906, + 0.003881665213224083, + 0.010021381389061956, + 0.011278026722829087, + -0.016020605626620065, + 0.013985959572911395, + 1.0 + ], + [ + -0.00031510895854623076, + 0.004669998515058069, + 0.0033489411962924617, + -0.0008310905760819107, + 0.0054261397747059695, + -0.0005407318422201801, + 1.0 + ], + [ + 0.0009332174100832281, + 0.002324087548591424, + 0.0009342396708637718, + -0.0007973509765770811, + 0.004238705305896735, + -0.009325105026949282, + 1.0 + ], + [ + 0.0016459360406739394, + 0.0016654351920997767, + -0.0015789081010122142, + -0.024780837831138908, + -0.0033498791283439106, + -0.022815319868028656, + 0.0 + ], + [ + -0.0022545393071658907, + -0.0029442484515107897, + -0.0013742506813167136, + -0.006133164507156201, + -0.01630551311426514, + -0.018213414920970443, + 0.0 + ], + [ + -0.0023243276892672693, + -0.006244913096271964, + -0.006370190012177468, + 0.02161192664282447, + -0.019296348110713627, + 0.0008127214030015857, + 0.0 + ], + [ + 0.004638729579031767, + -0.008262022274705991, + -0.025755554389840014, + -0.000677832215125422, + 0.052422457136208606, + -0.05382348650094134, + 0.0 + ], + [ + 0.013651455396313126, + -0.011354497897822785, + -0.025559502649062135, + -0.004021596655416911, + 0.04526311654466756, + -0.05516550804667263, + 0.0 + ], + [ + 0.024821757330809248, + -0.018657906737685446, + -0.010649812087696836, + -0.021179334420280933, + 0.0019275070144043115, + -0.0836475426212286, + 0.0 + ], + [ + 0.021015959577418936, + -0.008532265506331361, + 0.011647947666927278, + 0.011648862034435676, + -0.025505661386298527, + -0.03750131325563105, + 0.0 + ], + [ + 0.020683070272855084, + -0.009578969276350423, + 0.009314726144280713, + 0.0334693149253082, + -0.008416650288466753, + -0.040767758322150814, + 0.0 + ], + [ + 0.010453306523632822, + -0.0016556866184000633, + 0.006942807978650584, + 0.0034008102065732726, + -0.0208027708808921, + -0.013880593805475926, + 0.0 + ], + [ + 0.010391069848365445, + -0.0014618977143479412, + 0.0014026254569951763, + 0.01203144286852076, + 0.022113362458580327, + -0.021701743339972265, + 0.0 + ], + [ + 0.005983844229654012, + 0.0006141777240173288, + 0.00158793048019123, + 0.0014343701737537374, + 0.006456443052113447, + -0.004311350753496993, + 0.0 + ], + [ + 0.007046236593995308, + -2.200142380900414e-05, + 0.0015568279795185346, + 0.0013364248374581784, + 0.00030890043692278205, + -0.009663556686201854, + 0.0 + ], + [ + 0.0015709227755564973, + -0.0009305279718305105, + 0.000297633342697945, + 0.008884251683315468, + -0.00622791408954475, + 0.0019887443832952777, + 0.0 + ], + [ + -0.0022281108253728375, + 0.0011282597621703398, + -0.0005094388125166871, + -0.005680544520413375, + -0.027072488767797123, + 0.04059414452386458, + 0.0 + ], + [ + -0.0029579347747179675, + 0.0002996880090713123, + -0.0059429038489561175, + -0.038215566849466164, + -0.01585386776531075, + -0.00033269633803617745, + 1.0 + ], + [ + -0.004561102780039602, + -0.00045398241246934787, + -0.024381726505827896, + -0.012733785628595307, + 0.04699398069197234, + 0.00348999433092954, + 1.0 + ], + [ + -0.015507549000989326, + 0.0029251997046720723, + -0.01712835103960118, + -0.03377018307110878, + -0.008594056310752732, + 0.032899467206630444, + 1.0 + ], + [ + -0.02012979856130257, + 0.0006102948535199741, + -0.010273846688887046, + -0.01564744551196864, + -0.0019472400274521788, + 0.06621686643562355, + 1.0 + ], + [ + -0.013223745038433314, + -0.0009528236905894913, + 0.00024920579799368037, + 0.004297423624486932, + -0.023348938251390117, + 0.03782160214264344, + 1.0 + ], + [ + 0.00022377342068584147, + -0.00024148526740905404, + -3.450617815581904e-07, + 0.0015237456072833935, + 0.0014101562677674613, + 0.0006302229888190369, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -1.5646426623132002e-17, + 1.258048398279743e-17, + 9.300671735152883e-19, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -1.5646426623132002e-17, + 1.258048398279743e-17, + 9.300671735152883e-19, + 1.0 + ] + ], + "state": [ + [ + 0.3270023763179779, + -0.06540336459875107, + 0.07900863885879517, + 2.9779626746946057, + -0.022660210728645325, + 0.04433473944664002, + 1.0 + ], + [ + 0.3274071514606476, + -0.06545329838991165, + 0.07936553657054901, + 2.9777075370126447, + -0.02417282573878765, + 0.044340714812278754, + 1.0 + ], + [ + 0.3219326436519623, + -0.06454535573720932, + 0.06805454939603806, + 2.9855481555038175, + 0.013421227224171162, + 0.043843191117048264, + 1.0 + ], + [ + 0.30489540100097656, + -0.06273508071899414, + 0.05482203885912895, + 3.0247940366440496, + 0.020187474787235257, + 0.013037748634815216, + 1.0 + ], + [ + 0.2871922254562378, + -0.06073720380663872, + 0.057939980179071426, + 3.05433979828889, + -0.009615580551326275, + -0.014605608768761156, + 1.0 + ], + [ + 0.27375519275665283, + -0.05882982164621353, + 0.05893181636929512, + 3.0481998791270932, + -0.022594021633267403, + -0.024614272639155388, + 1.0 + ], + [ + 0.26307225227355957, + -0.05490468069911003, + 0.0551551878452301, + 3.060539314644881, + -0.038774672895669944, + -0.039929497987031944, + 1.0 + ], + [ + 0.2589794099330902, + -0.05065039172768593, + 0.05175231024622917, + 3.063554326193877, + -0.053219959139823914, + -0.03302871063351631, + 1.0 + ], + [ + 0.25199687480926514, + -0.04611228033900261, + 0.046224839985370636, + 3.074324960010596, + -0.04703325778245926, + -0.03708828985691071, + 1.0 + ], + [ + 0.2503862679004669, + -0.04373841732740402, + 0.042370669543743134, + 3.079909997182437, + -0.055498801171779626, + -0.03952693939208984, + 1.0 + ], + [ + 0.2466433346271515, + -0.04168697074055672, + 0.037384726107120514, + 3.08502662752802, + -0.05785612016916274, + -0.045818697661161416, + 1.0 + ], + [ + 0.24888579547405243, + -0.04150289297103882, + 0.03645727410912514, + 3.0778161605172834, + -0.0688084289431572, + -0.04652261734008789, + 1.0 + ], + [ + 0.24982590973377228, + -0.04058331996202469, + 0.03100425750017166, + 3.084658572571822, + -0.06767195463180542, + -0.04935107007622719, + 1.0 + ], + [ + 0.2498500645160675, + -0.04183731600642204, + 0.027294211089611053, + 3.091888418542691, + -0.06491181254386902, + -0.06012360379099846, + 1.0 + ], + [ + 0.24208082258701324, + -0.045752327889204025, + 0.01696852408349514, + 3.104124354320117, + -0.04959876462817192, + -0.07490468770265579, + 1.0 + ], + [ + 0.24156516790390015, + -0.05051927641034126, + 0.013785147108137608, + 3.10325579916174, + -0.05500082671642304, + -0.07415995746850967, + 1.0 + ], + [ + 0.2423659861087799, + -0.05294346064329147, + 0.012993249110877514, + 3.101937746750661, + -0.05887654051184654, + -0.064662866294384, + 1.0 + ], + [ + 0.2438056319952011, + -0.054641567170619965, + 0.01473094429820776, + 3.0758313556485852, + -0.05460973456501961, + -0.04196460917592048, + 0.0 + ], + [ + 0.24161924421787262, + -0.05151890218257904, + 0.01578393206000328, + 3.068764964240142, + -0.03713466227054596, + -0.024852802976965904, + 0.0 + ], + [ + 0.23924459517002106, + -0.044765930622816086, + 0.021592475473880768, + 3.090445725368806, + -0.017948515713214874, + -0.02706755697727203, + 0.0 + ], + [ + 0.24368593096733093, + -0.035314708948135376, + 0.04697113484144211, + 3.088764490681239, + -0.06752358376979828, + 0.029423344880342487, + 0.0 + ], + [ + 0.2552461326122284, + -0.022280685603618622, + 0.0727597177028656, + 3.0808767062895974, + -0.10970025509595871, + 0.08719601482152937, + 0.0 + ], + [ + 0.2771109342575073, + -0.001026084297336638, + 0.08491817116737366, + 3.050714651244231, + -0.10616988688707353, + 0.1712808459997177, + 0.0 + ], + [ + 0.2977267801761627, + 0.010090410709381104, + 0.07484070956707001, + 3.0586669762902936, + -0.07730160653591156, + 0.20640413463115692, + 0.0 + ], + [ + 0.3168737292289734, + 0.023064307868480682, + 0.06639189273118973, + 3.0891101268404206, + -0.06547625362873077, + 0.24641835689544678, + 0.0 + ], + [ + 0.32712051272392273, + 0.026971038430929184, + 0.060070786625146866, + 3.0916675237291535, + -0.04396865516901016, + 0.2591978907585144, + 0.0 + ], + [ + 0.33686110377311707, + 0.030991999432444572, + 0.059055112302303314, + 3.102696480351039, + -0.06496012210845949, + 0.28201916813850403, + 0.0 + ], + [ + 0.34288185834884644, + 0.03203321993350983, + 0.05788400024175644, + 3.1038337369733533, + -0.07124335318803789, + 0.28658983111381536, + 0.0 + ], + [ + 0.34974023699760437, + 0.03401605412364006, + 0.056832972913980484, + 3.104481967287608, + -0.07118390500545502, + 0.29628270864486694, + 0.0 + ], + [ + 0.35099321603775024, + 0.035359252244234085, + 0.05661359056830406, + 3.113523708777972, + -0.06503389030694962, + 0.2940596044063568, + 0.0 + ], + [ + 0.34915435314178467, + 0.03363891318440437, + 0.05700854957103729, + 3.1105445978515824, + -0.0390554815530777, + 0.2527044415473938, + 0.0 + ], + [ + 0.346096396446228, + 0.03273044154047966, + 0.0628378614783287, + 3.0723313634567937, + -0.02319892682135105, + 0.2525447607040405, + 1.0 + ], + [ + 0.34060075879096985, + 0.03352263569831848, + 0.08701737225055695, + 3.0595261846953115, + -0.07032167911529541, + 0.25231748819351196, + 1.0 + ], + [ + 0.3248208463191986, + 0.02789369970560074, + 0.10319546610116959, + 3.0281568859987935, + -0.06441345810890198, + 0.21875549852848053, + 1.0 + ], + [ + 0.3044449985027313, + 0.023934021592140198, + 0.11215531826019287, + 3.017013805108615, + -0.06982799619436264, + 0.1525825560092926, + 1.0 + ], + [ + 0.2912929654121399, + 0.022836754098534584, + 0.11086790263652802, + 3.0242031161957463, + -0.05130118131637573, + 0.11210795491933824, + 1.0 + ], + [ + 0.2914896309375763, + 0.023100273683667183, + 0.1108514741063118, + 3.0257504155212125, + -0.05277543887495995, + 0.11164658516645432, + 1.0 + ], + [ + 0.2914896309375763, + 0.023100273683667183, + 0.1108514741063118, + 3.0257504155212125, + -0.05277543887495995, + 0.11164658516645432, + 1.0 + ], + [ + 0.2914896309375763, + 0.023100273683667183, + 0.1108514741063118, + 3.0257504155212125, + -0.05277543887495995, + 0.11164658516645432, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.003858029842376709, + 0.003858029842376709, + 0.004532158374786377, + 0.004532158374786377, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.004532158374786377, + 0.003858029842376709, + 0.003858029842376709, + 0.004532158374786377, + 0.003858029842376709, + 0.003858029842376709, + 0.057769834995269775, + 0.33786332607269287, + 0.5661784112453461, + 0.6142202019691467, + 0.5887347459793091, + 0.5878426134586334, + 0.5878426134586334, + 0.5878426134586334, + 0.5878426134586334, + 0.5878426134586334, + 0.5878426134586334, + 0.5878426134586334, + 0.5878426134586334, + 0.5878426134586334, + 0.5158107578754425, + 0.20300281047821045, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2099", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2099/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2101.json b/annotation/test/2101.json new file mode 100644 index 0000000000000000000000000000000000000000..b941dd804deb1f995dfadd5c6b0ea66415a99653 --- /dev/null +++ b/annotation/test/2101.json @@ -0,0 +1,489 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put banana in pot or pan" + ], + "videos": [ + { + "video_path": "videos/test/2101/rgb.mp4" + } + ], + "action": [ + [ + -0.00010030094418060012, + -0.00013573291690723325, + -0.0004079674937417274, + 8.214072274292278e-05, + 5.3822923201797426e-05, + -0.0001408271878070518, + 1.0 + ], + [ + -0.005282276934038041, + -0.008334811275579343, + 0.007328924904588153, + 0.06710330354061075, + -0.006462023049160207, + -0.04711338426955502, + 1.0 + ], + [ + -0.0029431789980981188, + -0.020516717382486203, + -0.005089805040480465, + 0.16167153204725515, + 0.12067298039549447, + -0.20557651124767137, + 1.0 + ], + [ + 0.013870849708055723, + -0.04377806954054234, + -0.009305864659477256, + 0.010706440869064027, + -0.08281722075067147, + 0.0383905760396285, + 1.0 + ], + [ + -0.00017871251211517213, + -0.02499905470943483, + -0.00980447928861381, + -0.03878816949600528, + 0.02131581710029171, + 0.004980927837334923, + 1.0 + ], + [ + 0.006347690860699535, + -0.030773599277434276, + -0.005547299414190904, + -0.008314073751144504, + 0.0029257951460838713, + 0.012074282680279836, + 1.0 + ], + [ + 0.00670778999886187, + -0.01894610343881287, + 0.011327456116749832, + 0.032986999641181326, + 0.02327461077455036, + -0.039513880042205664, + 1.0 + ], + [ + -0.0019297126522964457, + -0.010933839480495635, + 0.019626432664999974, + -0.0777020322330222, + 0.03883067266727815, + 0.020086165015039723, + 1.0 + ], + [ + -0.005609066602731139, + -0.0049511456438020695, + 0.022834018779314895, + 0.0019418434790898986, + 0.012176259947544628, + 0.009688797659991732, + 1.0 + ], + [ + -0.006895537228017454, + -0.01604502204073978, + 0.012334351363656598, + -7.236244286641981e-06, + -0.005929942528783059, + 0.04240099844895996, + 1.0 + ], + [ + 0.004981972123406573, + -0.012618367164307705, + 0.009337193585854154, + -0.035313981241507635, + 0.016515766299246528, + -0.021835560531570236, + 1.0 + ], + [ + 0.0015764494419946036, + 0.0029084191308099768, + 0.009473011665415424, + -0.020203443960262052, + 0.020742740452194725, + -0.005540250783979353, + 1.0 + ], + [ + -0.00033662584021856655, + 0.003336627863954255, + 0.008855859153605995, + -0.010760951421301916, + 0.0036975132776194295, + -0.0488871370545015, + 1.0 + ], + [ + -0.0017070761852509412, + 0.006025877793385792, + 0.01028052082771685, + 0.024287387465162003, + -0.03176698032119209, + -0.0258457503767585, + 1.0 + ], + [ + 0.0010364100388525993, + -0.0018552591997416784, + 0.0012952002987508108, + -0.015195319636773747, + -0.0007295792587179517, + -0.031026565624647146, + 1.0 + ], + [ + -0.005049277543021107, + 0.002636694118492382, + -0.018472434349201046, + 0.008766845123488506, + -0.06957288129355878, + 0.009994145182670415, + 0.0 + ], + [ + -0.00881153098322445, + 0.015819768965369914, + -0.03752046043069172, + 0.0601870038285243, + -0.05962355753777566, + 0.0034712421339276075, + 0.0 + ], + [ + 0.0020514598551835597, + -0.018636579099894215, + -0.018175321169450524, + 0.07152229628592686, + -0.05015875253004305, + 0.04994592160230906, + 0.0 + ], + [ + 0.010219724568082894, + -0.04462884489175219, + -0.0003890004258993503, + 0.02434743633101064, + 0.05193450722760378, + 0.08243726685431849, + 0.0 + ], + [ + 0.011725180835829204, + -0.03258547689396482, + 0.0021615399614922015, + 0.02767257323576015, + 0.04216750039918071, + 0.053326333335680896, + 0.0 + ], + [ + 0.010115331755973506, + -0.03603628781380562, + 0.009637186694581076, + 0.013906497881973547, + 0.062238806047173856, + 0.07968841926811035, + 0.0 + ], + [ + 0.0030032323255199775, + -0.014170978443223632, + 0.01950242362987979, + -0.02846823438271022, + 0.04191269704034109, + 0.018067938758150087, + 0.0 + ], + [ + 0.012867684280778745, + -0.0011817036953712633, + 0.010736623537739881, + -0.012753406460160438, + 0.021107627320796653, + 0.01702255959077226, + 0.0 + ], + [ + 0.008610443728165065, + 0.017778532406146446, + -0.0007422635111527367, + 0.012408759912777248, + 0.005132473113331605, + -0.035208155783690846, + 1.0 + ] + ], + "state": [ + [ + 0.23453804850578308, + -0.1269477754831314, + 0.05249048396945, + -3.057528430717536, + -0.04022645205259323, + 0.06082064285874367, + 1.0 + ], + [ + 0.23441509902477264, + -0.1268540769815445, + 0.05290403589606285, + -3.057451756792613, + -0.040291909128427505, + 0.06095656380057335, + 1.0 + ], + [ + 0.22886890172958374, + -0.11825471371412277, + 0.04609409347176552, + -2.9923553486638745, + -0.03776528313755989, + 0.10847976058721542, + 1.0 + ], + [ + 0.22352702915668488, + -0.09918909519910812, + 0.05406094342470169, + -2.8392759283357343, + -0.18684402108192444, + 0.295293003320694, + 1.0 + ], + [ + 0.22131510078907013, + -0.059074483811855316, + 0.07817409932613373, + -2.8252917249971112, + -0.09634815901517868, + 0.2833516001701355, + 1.0 + ], + [ + 0.2137756645679474, + -0.03970056399703026, + 0.09517176449298859, + -2.8629261275106153, + -0.11505088210105897, + 0.2719131410121918, + 1.0 + ], + [ + 0.2107875496149063, + -0.011402874253690243, + 0.10960755497217178, + -2.8698266466432294, + -0.11453367769718169, + 0.25941798090934753, + 1.0 + ], + [ + 0.2124103158712387, + 0.011056304909288883, + 0.10458635538816452, + -2.840580942230769, + -0.14750079810619351, + 0.29156890511512756, + 1.0 + ], + [ + 0.2080899029970169, + 0.026737410575151443, + 0.08896885067224503, + -2.9136115481429776, + -0.17856052517890927, + 0.2603910565376282, + 1.0 + ], + [ + 0.2038111388683319, + 0.03592945635318756, + 0.06718430668115616, + -2.9094657619767865, + -0.18821856379508972, + 0.24798244237899783, + 1.0 + ], + [ + 0.1942232847213745, + 0.052536316215991974, + 0.05772848054766655, + -2.902080388861247, + -0.17254474759101868, + 0.20748364925384521, + 1.0 + ], + [ + 0.1970655769109726, + 0.06792508810758591, + 0.052596863359212875, + -2.9404233564906797, + -0.19374266266822815, + 0.225104033946991, + 1.0 + ], + [ + 0.20063816010951996, + 0.06776147335767746, + 0.043221794068813324, + -2.9608359803729734, + -0.2151739001274109, + 0.22641722857952118, + 1.0 + ], + [ + 0.2026345282793045, + 0.0664868876338005, + 0.03405322879552841, + -2.9821916242414197, + -0.2273501306772232, + 0.27509504556655884, + 1.0 + ], + [ + 0.20461603999137878, + 0.06255979090929031, + 0.022847607731819153, + -2.964925320940562, + -0.19998031854629517, + 0.3062649965286255, + 1.0 + ], + [ + 0.2051449865102768, + 0.06488130986690521, + 0.0221234243363142, + -2.9864264597469052, + -0.20461872220039368, + 0.33759045600891113, + 1.0 + ], + [ + 0.198867529630661, + 0.0568913072347641, + 0.03856822848320007, + -2.97746396263177, + -0.13433843851089478, + 0.3384919762611389, + 0.0 + ], + [ + 0.1934993416070938, + 0.03195606544613838, + 0.0715092271566391, + -2.9178355058007917, + -0.07494724541902542, + 0.34482759237289423, + 0.0 + ], + [ + 0.1891048699617386, + 0.045401010662317276, + 0.09345905482769012, + -2.8433746119313916, + -0.014906507916748524, + 0.3073205947875977, + 0.0 + ], + [ + 0.18578308820724487, + 0.08898276835680008, + 0.10709445178508759, + -2.818571003275462, + -0.04030181840062142, + 0.21324996650218966, + 0.0 + ], + [ + 0.19022192060947418, + 0.12226235121488571, + 0.11585410684347153, + -2.788705589371272, + -0.06329166144132614, + 0.14919717609882355, + 0.0 + ], + [ + 0.1944698989391327, + 0.1604645699262619, + 0.11989817768335342, + -2.7696872373395642, + -0.09391000866889954, + 0.052571240812540054, + 0.0 + ], + [ + 0.1976088136434555, + 0.18094702064990997, + 0.10721760243177414, + -2.7949827929311475, + -0.1263435184955597, + 0.020264856517314914, + 0.0 + ], + [ + 0.2114964872598648, + 0.18598824739456177, + 0.09921964257955551, + -2.8048031349950513, + -0.1403794884681702, + -0.0031433783005923033, + 0.0 + ], + [ + 0.2206926792860031, + 0.16893422603607178, + 0.09530080109834671, + -2.7970304508977613, + -0.15678620338439941, + 0.028780359774827957, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.14373880624771118, + 0.4310172200202942, + 0.4577047824859619, + 0.4577047824859619, + 0.4577047824859619, + 0.4577047824859619, + 0.4577047824859619, + 0.4577047824859619, + 0.4577047824859619, + 0.34188002347946167, + 0.052336275577545166 + ], + "episode_id": "2101", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2101/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2103.json b/annotation/test/2103.json new file mode 100644 index 0000000000000000000000000000000000000000..fbbb0126862fdd719c18bf5977885b7eeb2f93ea --- /dev/null +++ b/annotation/test/2103.json @@ -0,0 +1,641 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the pan to the front of the microwave" + ], + "videos": [ + { + "video_path": "videos/test/2103/rgb.mp4" + } + ], + "action": [ + [ + -0.0005230943861826345, + 2.866096567192658e-05, + 0.0007137611311641148, + -0.00024329827906397245, + -0.0030577250563933152, + -0.0015926653493849295, + 1.0 + ], + [ + -0.0024312346205797963, + -0.00013474004918184832, + 0.006428163304898189, + -0.0007667700938246327, + -0.02610909516840031, + -0.0011687255130908216, + 1.0 + ], + [ + -0.0011229892941962902, + -0.014156732966231888, + 0.005723887068006048, + 0.01490157834726634, + -0.017274741793412627, + -0.0493525398073631, + 1.0 + ], + [ + 0.0061378721138205476, + -0.020333565106434304, + 0.006646167503922152, + 0.004576806828847, + -0.015419266915998025, + -0.06653672643191803, + 1.0 + ], + [ + 0.004501906099324379, + -0.01811978841111352, + 0.004592548803311966, + 0.013888946687205087, + -0.010328186262396986, + -0.05350325912292493, + 1.0 + ], + [ + 0.00204964036892222, + -0.008170599293230434, + 0.008918530945401081, + 0.014577088045081307, + -0.021362206101428017, + -0.014401677025298284, + 1.0 + ], + [ + 0.0015046211554962123, + -0.00211567758247304, + 0.010215999785957315, + 0.017711505801801072, + -0.022617800706497056, + 0.010609442927625565, + 1.0 + ], + [ + 0.0027994015328593465, + 0.0010232078471621618, + 0.007337582334503383, + 0.012782068317234541, + -0.010630222527602113, + -0.008833075851980426, + 1.0 + ], + [ + 0.002036371498488048, + 0.0018494603470999972, + 0.0024874662542514834, + -9.385408475638088e-05, + 0.0065373566680318376, + -0.020915179196714526, + 1.0 + ], + [ + 0.0017860992861013889, + 0.004036694433069795, + -0.001226742469424173, + 0.004653580989503439, + 0.00560895355189982, + 0.013165154869749009, + 0.0 + ], + [ + 0.0004574295807492523, + 0.0010429336799573834, + -0.001258254869964266, + -0.004606411910269837, + -0.002941727441613921, + 0.01282842666012229, + 0.0 + ], + [ + 0.00011759933465716405, + 0.002096446385245488, + -0.008090844539871793, + -0.034771610240172175, + 0.01774723339910707, + 0.00758677637112319, + 0.0 + ], + [ + 2.289350258583063e-05, + 0.0074460713213040566, + -0.01634597576292473, + -0.07003217413745988, + 0.01745648205865121, + 0.04693042581990618, + 0.0 + ], + [ + 0.007859297440362246, + 0.005727362896096996, + -0.020957316273503432, + -0.03734214317954634, + 0.047508765801294164, + 0.03675813881496804, + 0.0 + ], + [ + 0.01789998403203689, + -0.004703148936514698, + -0.02071401482481745, + -0.00939464652160015, + 0.0590663884723949, + -0.00774152376076366, + 0.0 + ], + [ + 0.02828280657513011, + -0.01364422756259091, + -0.011466442224014071, + 0.008422952702466631, + 0.0528710564664637, + -0.04746707475873032, + 0.0 + ], + [ + 0.03522603693330143, + -0.019844358488582164, + 0.009759426388897322, + 0.029785896588381156, + 0.005781336314226418, + -0.08064274845134717, + 0.0 + ], + [ + 0.02657322114276456, + -0.013973211623093933, + 0.017171947302192354, + 0.04566746302262004, + -0.009725043862660819, + -0.04858463864327, + 0.0 + ], + [ + 0.014754793288590608, + -0.007490038828541821, + 0.013957307674517092, + 0.03724520687405563, + -0.01714484613903299, + -0.022244375836502607, + 0.0 + ], + [ + 0.003915833456456347, + -0.00474023528206071, + 0.013801124131734642, + 0.027650839872805127, + -0.02990364960468842, + -0.0073270897737839165, + 0.0 + ], + [ + 0.003130836610993935, + -0.0018318172543515087, + 0.0056412168615386235, + 0.02377750708784274, + -0.006457865109068181, + 0.006372743116441193, + 0.0 + ], + [ + -0.004722878547307321, + 0.002632879693362786, + 0.004900235414522004, + 0.012704060987370527, + -0.03646799302212751, + 0.01650617192883534, + 0.0 + ], + [ + -0.002047815630988394, + 0.0014748996062793774, + 0.0014220271557866112, + -0.0005243662510931513, + -0.007442119291798127, + 0.020422528217398435, + 1.0 + ], + [ + -0.010016128295716305, + 0.006806313421234075, + 0.008868170845247176, + -0.014683471450263488, + -0.03226156228866225, + 0.0369391564440671, + 1.0 + ], + [ + -0.005036022255552915, + 0.006370246925477201, + -0.023363229448617684, + -0.02758095078208384, + 0.05659460920174835, + 0.02690292122594684, + 1.0 + ], + [ + -0.02004215928495633, + 0.008397657537452467, + -0.023845159438968155, + -0.03225589214561078, + 0.05495412412065527, + 0.0916852151100775, + 1.0 + ], + [ + -0.02060868426071141, + 0.009564172757081782, + -0.014314544104420013, + -0.018904611435036356, + 0.02365568669204797, + 0.09823665222182673, + 1.0 + ], + [ + -0.017285961568554768, + 0.014704234412454761, + 0.003016694895913093, + -0.020396207233577417, + -0.016604671283827567, + 0.043637844051211246, + 1.0 + ], + [ + -0.0137681373407093, + 0.010717583931078693, + 0.0032250928134483783, + 0.017054249538183946, + -0.019201054760541087, + 0.024635927038895014, + 1.0 + ], + [ + -0.005603217282839182, + -0.0006058633544487465, + 0.0012645150750055154, + 0.02001410722897708, + -0.003378731845383195, + -0.006152308034275634, + 1.0 + ], + [ + -0.003300125442733787, + -0.0003056186749519075, + 0.0007829348590489011, + 0.07687027481104393, + -0.00598757142745042, + -0.0383641801540107, + 1.0 + ], + [ + -7.136810182317912e-06, + -0.0004597185863100478, + -0.00048594829257900545, + 0.0029337775655999647, + 0.0010075139040336177, + -0.0031364347153274973, + 1.0 + ] + ], + "state": [ + [ + 0.25735631585121155, + 0.03428453579545021, + 0.08453255891799927, + 3.1283826372870287, + -0.07506706565618516, + 0.06301572173833847, + 1.0 + ], + [ + 0.25689151883125305, + 0.034217044711112976, + 0.08378201723098755, + 3.128022586117037, + -0.07198847830295564, + 0.06457187980413437, + 1.0 + ], + [ + 0.2549300491809845, + 0.03413781151175499, + 0.07719440013170242, + 3.1271925662928304, + -0.045865904539823525, + 0.06538670510053636, + 1.0 + ], + [ + 0.25316229462623596, + 0.04812503978610039, + 0.07122199982404709, + 3.1398582054586193, + -0.02782731503248215, + 0.11449674516916276, + 1.0 + ], + [ + 0.2571205794811249, + 0.06903618574142456, + 0.06471394002437592, + -3.140595995360524, + -0.012231237255036831, + 0.1810036301612854, + 1.0 + ], + [ + 0.2583409547805786, + 0.08768488466739655, + 0.06019485741853714, + -3.1273626313828906, + -0.0019388473592698574, + 0.23451441526412964, + 1.0 + ], + [ + 0.25842317938804626, + 0.09623470157384872, + 0.05139748379588127, + -3.1128123478316745, + 0.01921648345887661, + 0.24921804666519165, + 1.0 + ], + [ + 0.2590979039669037, + 0.09889199584722519, + 0.0412195585668087, + -3.095286341505595, + 0.0421292595565319, + 0.23925770819187167, + 1.0 + ], + [ + 0.26167502999305725, + 0.09881816804409027, + 0.0337311215698719, + -3.082110786932059, + 0.05233738198876382, + 0.24858567118644714, + 1.0 + ], + [ + 0.263932466506958, + 0.09763900935649872, + 0.031035130843520164, + -3.081142993765422, + 0.04455734044313431, + 0.2690950632095337, + 1.0 + ], + [ + 0.2667856216430664, + 0.0941692441701889, + 0.03193523362278938, + -3.0770948474579534, + 0.03974990174174309, + 0.25560462474823, + 0.0 + ], + [ + 0.26755717396736145, + 0.093211330473423, + 0.033104535192251205, + -3.08220777859027, + 0.043509159237146385, + 0.24298059940338138, + 0.0 + ], + [ + 0.26862597465515137, + 0.09082545340061188, + 0.04104405269026756, + -3.1173475870215377, + 0.026241863146424294, + 0.23435214161872864, + 0.0 + ], + [ + 0.2708812654018402, + 0.08330339193344116, + 0.05719854682683945, + 3.0945403409474572, + 0.00989841017872095, + 0.18701671063899994, + 0.0 + ], + [ + 0.2796897888183594, + 0.08015087991952896, + 0.07832322269678116, + 3.056831518309661, + -0.03929221257567406, + 0.15254925191402435, + 0.0 + ], + [ + 0.29560375213623047, + 0.08911312371492386, + 0.09925223141908646, + 3.046793298917361, + -0.09748774766921996, + 0.16530801355838773, + 0.0 + ], + [ + 0.3199828565120697, + 0.1080513745546341, + 0.11208045482635498, + 3.0500748475366315, + -0.14549620449543, + 0.2180621176958084, + 0.0 + ], + [ + 0.3515615165233612, + 0.13437584042549133, + 0.1057773306965828, + 3.068330431478568, + -0.14341314136981964, + 0.2997356951236725, + 0.0 + ], + [ + 0.3754238784313202, + 0.15502089262008667, + 0.09161286801099777, + 3.1071989630633077, + -0.12999504804611206, + 0.3478814959526062, + 0.0 + ], + [ + 0.3885207772254944, + 0.1672222763299942, + 0.07943877577781677, + -3.1415610312702817, + -0.11206494271755219, + 0.36965638399124146, + 0.0 + ], + [ + 0.3918755352497101, + 0.17360623180866241, + 0.06616228073835373, + -3.114732442545243, + -0.08215851336717606, + 0.377005934715271, + 0.0 + ], + [ + 0.3944733142852783, + 0.1767672300338745, + 0.060848087072372437, + -3.0904448760026177, + -0.0755302459001541, + 0.37079134583473206, + 0.0 + ], + [ + 0.39129960536956787, + 0.17298100888729095, + 0.05547760799527168, + -3.076608294742652, + -0.03825804218649864, + 0.35617128014564514, + 0.0 + ], + [ + 0.3899170160293579, + 0.1709948182106018, + 0.05388558655977249, + -3.076382452743598, + -0.02949793264269829, + 0.3362671434879303, + 1.0 + ], + [ + 0.38277509808540344, + 0.16191577911376953, + 0.04430136829614639, + -3.090046415227004, + 0.005119486711919308, + 0.30152854323387146, + 1.0 + ], + [ + 0.3803256154060364, + 0.1532309651374817, + 0.06733082979917526, + -3.117720203595706, + -0.050016239285469055, + 0.2717515826225281, + 1.0 + ], + [ + 0.36231091618537903, + 0.13890530169010162, + 0.08993716537952423, + 3.13780778914737, + -0.10255260765552522, + 0.17842286825180054, + 1.0 + ], + [ + 0.3423779606819153, + 0.12564724683761597, + 0.10210263729095459, + 3.1290322338515004, + -0.12608285248279572, + 0.07951680570840837, + 1.0 + ], + [ + 0.326809287071228, + 0.10961896926164627, + 0.09711965173482895, + 3.114191273348876, + -0.10990585386753082, + 0.035413406789302826, + 1.0 + ], + [ + 0.3138364553451538, + 0.09835066646337509, + 0.09269693493843079, + 3.1340192655385515, + -0.09135207533836365, + 0.010159747675061226, + 1.0 + ], + [ + 0.308366596698761, + 0.09889139235019684, + 0.09092200547456741, + -3.129712893749126, + -0.08792512863874434, + 0.016310013830661774, + 1.0 + ], + [ + 0.30514293909072876, + 0.09915374964475632, + 0.08985597640275955, + -3.056236656504222, + -0.08232855051755907, + 0.05487265810370446, + 1.0 + ], + [ + 0.30507001280784607, + 0.0995669886469841, + 0.09037698805332184, + -3.053554030256816, + -0.08359940350055695, + 0.057922430336475365, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.061691224575042725, + 0.37001103162765503, + 0.670827180147171, + 0.8443419635295868, + 0.9052495956420898, + 0.9201150313019753, + 0.933180145919323, + 0.9370363429188728, + 0.9376176372170448, + 0.9376176372170448, + 0.9376176372170448, + 0.9376176372170448, + 0.9376176372170448, + 0.9018614068627357, + 0.7540930807590485, + 0.45868784189224243, + 0.17573308944702148, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "2103", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2103/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2108.json b/annotation/test/2108.json new file mode 100644 index 0000000000000000000000000000000000000000..a9d65f7e72c063d4f65bd728b8c93edf798a87d9 --- /dev/null +++ b/annotation/test/2108.json @@ -0,0 +1,736 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the green cloth to the left edge of the table." + ], + "videos": [ + { + "video_path": "videos/test/2108/rgb.mp4" + } + ], + "action": [ + [ + 0.00037054607385358484, + -0.0005250513418016699, + 5.96914835671408e-06, + 0.0016248508127448987, + -0.0003318807836812698, + -0.0014265634636143917, + 1.0 + ], + [ + -0.00566029283655702, + -0.008986451871288431, + 0.012840941102348371, + 0.039700206606000175, + -0.02326707461898292, + -0.009479013998119472, + 1.0 + ], + [ + -0.008264319255672711, + -0.017511059570011624, + 0.008666958672843887, + 0.056155801881412226, + -0.012193045831765028, + -0.029305068119466385, + 1.0 + ], + [ + -0.0014273086560171924, + -0.009481753495035985, + -0.004681012135798092, + 0.03707118032461524, + 0.014375142567340238, + -0.02748832117746364, + 1.0 + ], + [ + -0.0060213650181688665, + -0.00848707512685596, + -0.005770522379620815, + 0.016073312021698268, + 0.00954865283779441, + -0.006359545859794323, + 1.0 + ], + [ + -0.010998821398574393, + -0.010312248498064485, + -0.007027548965739279, + 0.03377892286119451, + 0.003869696741396213, + -0.01908621087035673, + 1.0 + ], + [ + -0.014716079459295494, + -0.011907152984373762, + 0.006065778384282569, + 0.04774749644979427, + -0.02133121251137264, + -0.04710214189761717, + 1.0 + ], + [ + -0.010498817508493746, + -0.020061150670763202, + 0.011613655530510816, + 0.06343896043863495, + -0.024041339851800823, + -0.07815069073645071, + 1.0 + ], + [ + -0.006678752649155205, + -0.017073666076191197, + 0.010512716171052039, + 0.031042866216232496, + -0.0199769050657794, + -0.02365547366142301, + 1.0 + ], + [ + 0.005597877205226264, + -0.013542544145863818, + -0.00024302308523594561, + -0.005551492301736718, + 0.010464525747897614, + -0.041012051374860053, + 1.0 + ], + [ + 0.00848494324243296, + -0.0077161585974919, + 0.005019092263697245, + -0.006196191993781222, + 0.009494798951282135, + -0.023958384515897824, + 1.0 + ], + [ + 0.00933961555864445, + 0.008720532377002118, + 0.003170035683832581, + -0.06603852536999354, + 0.01611669338816426, + -0.012333443996149947, + 1.0 + ], + [ + 0.0004782602488044493, + 0.00022195167766726485, + 0.01445279057543294, + 0.013841618025985094, + 0.00343671497378603, + -0.0075554459156237175, + 1.0 + ], + [ + 0.0004444545631378095, + 0.005047323398891927, + 0.004364434503834268, + -0.010960914707498786, + -0.0021762697215423703, + -0.013647036283882323, + 1.0 + ], + [ + 0.002901598291586041, + 0.004929564115193594, + 0.0019644367144542236, + -0.005541047442156295, + -0.012666979369268328, + -0.021369989640339385, + 1.0 + ], + [ + 0.00381622348190639, + -0.00065557662077396, + -0.00021261967445014766, + 0.000494229732135239, + 0.009238668616937057, + 0.006768789885824178, + 1.0 + ], + [ + 0.011231243722234597, + 0.0005695486135567827, + 0.0006210450215049986, + -0.003013302608762832, + 0.0024576920444074977, + -0.012542353360618442, + 1.0 + ], + [ + 0.015190573352976026, + -9.215197863026445e-05, + 0.0003571238199443242, + -0.002290870770884947, + 0.01065503779877043, + -0.022182161118775443, + 1.0 + ], + [ + 0.023765602629229932, + -0.0013064364322708001, + 0.001913279360490834, + -0.005182386773288399, + 0.008427147933800668, + -0.029663944080452437, + 1.0 + ], + [ + 0.02385554139376081, + 0.0008570685549407364, + 0.0012735858383788508, + -0.0036184785247304436, + 0.011158108181153306, + -0.021647688996417214, + 1.0 + ], + [ + 0.019161798898311076, + -0.000394693106451776, + 0.004069756378836346, + 0.006408819241679956, + -0.003709172685144263, + -0.03345769581795855, + 1.0 + ], + [ + 0.019436675654219793, + 0.008344670732303654, + 0.003529861542945863, + -0.012393179395986796, + -0.008385120064740252, + -0.018546688656690645, + 1.0 + ], + [ + 0.01795664276893132, + 6.955490376891393e-05, + 0.0003471197082432966, + 0.006370815683602886, + 0.004597156074531996, + -0.023316898058482763, + 1.0 + ], + [ + 0.006100124985672483, + -0.0014481673362092271, + -0.0010389407193094192, + 0.008999718785171515, + 0.01057682179220952, + -0.008395217608958875, + 1.0 + ], + [ + 0.0027583489655795485, + 0.0029955071164266046, + -0.0024674604454323875, + -0.00456970677294318, + 0.01232400182225055, + 0.002236662538666489, + 1.0 + ], + [ + -0.006166426360616658, + 0.006850791067295465, + -0.0019506875255247767, + -0.010741227052724652, + -0.0008194907796107571, + 0.020711145561282795, + 1.0 + ], + [ + -0.005173161411542329, + 0.0061127323086442925, + -0.0071930588092022595, + -0.013569933508363498, + 0.0036213512330878633, + 0.009938738508462346, + 1.0 + ], + [ + -0.0005488859683336521, + 0.008155044525824587, + -0.024155966304855662, + -0.05710774871192483, + 0.03928107494015239, + -0.008944454393653645, + 1.0 + ], + [ + -0.007772801824233636, + -9.965739671349334e-05, + -0.016812260845275054, + -0.02636052321998328, + 0.01659584764420127, + 0.014563948158520192, + 1.0 + ], + [ + -0.007594539238060258, + 0.0002750541204970915, + -0.0171733490349726, + -0.015330212432112389, + 0.028219042051032626, + 0.016355879730661518, + 1.0 + ], + [ + -0.0004142032821044262, + 0.0007069368600676538, + -0.001518837373004533, + -0.0031535260445107126, + 0.0016149338513154774, + -0.001133476348611196, + 1.0 + ], + [ + -7.23673180034883e-05, + 6.253906437132005e-05, + 0.0004708328115872092, + -8.453946798406696e-05, + -0.00019797362860514328, + 0.0001857615940393779, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -8.521203848635057e-18, + -1.1551084504209031e-18, + 1.233914603446903e-17, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -8.521203848635057e-18, + -1.1551084504209031e-18, + 1.233914603446903e-17, + 1.0 + ], + [ + 7.226248550115883e-05, + -6.251270097147227e-05, + -0.0004708524133537181, + 8.450269228529715e-05, + 0.00019798932866845804, + -0.00018574486043101867, + 1.0 + ], + [ + -7.23673180034883e-05, + 6.253906437132005e-05, + 0.0004708328115872092, + -8.453946798406696e-05, + -0.00019797362860514328, + 0.0001857615940393779, + 1.0 + ], + [ + 0.0002456383544436792, + 0.00047401987401875673, + -0.00024747193789781906, + -0.0013894626837513487, + 0.0006229715356780194, + -0.00018599802158301344, + 1.0 + ] + ], + "state": [ + [ + 0.3825817406177521, + 0.04325425252318382, + 0.09183063358068466, + 2.8240665217214307, + -0.20799227058887484, + 1.1514508724212646, + 1.0 + ], + [ + 0.38228973746299744, + 0.043819721788167953, + 0.09174120426177979, + 2.8254275043779096, + -0.20723141729831698, + 1.152729868888855, + 1.0 + ], + [ + 0.3771370053291321, + 0.04342444986104965, + 0.0758989155292511, + 2.864668609695979, + -0.18217021226882935, + 1.1545326709747314, + 1.0 + ], + [ + 0.3615736961364746, + 0.04401819035410881, + 0.06149463728070259, + 2.9163284321599683, + -0.16237381100654602, + 1.1797155141830444, + 1.0 + ], + [ + 0.35137510299682617, + 0.04627217724919319, + 0.06367660313844681, + 2.9485582431131085, + -0.1701730489730835, + 1.210158348083496, + 1.0 + ], + [ + 0.3402104675769806, + 0.04340997338294983, + 0.06663378328084946, + 2.96323977609212, + -0.17831875383853912, + 1.2183613777160645, + 1.0 + ], + [ + 0.32546761631965637, + 0.03633761778473854, + 0.06968879699707031, + 2.9935423602634152, + -0.17870706319808963, + 1.238146424293518, + 1.0 + ], + [ + 0.31090325117111206, + 0.02750641293823719, + 0.059440575540065765, + 3.0335883667045316, + -0.15049366652965546, + 1.2820695638656616, + 1.0 + ], + [ + 0.2906142473220825, + 0.02484842576086521, + 0.04431300610303879, + 3.0859723707013806, + -0.11775041371583939, + 1.357667088508606, + 1.0 + ], + [ + 0.27340540289878845, + 0.023162389174103737, + 0.03216204047203064, + 3.1143618394904813, + -0.0964595749974251, + 1.3802756071090698, + 1.0 + ], + [ + 0.26116377115249634, + 0.03121017850935459, + 0.03257596120238304, + 3.104835035400935, + -0.10572137683629991, + 1.4217872619628906, + 1.0 + ], + [ + 0.25505632162094116, + 0.04122462496161461, + 0.028201652690768242, + 3.096068149554082, + -0.11429806053638457, + 1.4462369680404663, + 1.0 + ], + [ + 0.265035480260849, + 0.049644652754068375, + 0.026515012606978416, + 3.0285261814766606, + -0.12982699275016785, + 1.4594002962112427, + 1.0 + ], + [ + 0.2671342194080353, + 0.05175456404685974, + 0.012362107634544373, + 3.0413395558767995, + -0.13238525390625, + 1.4673649072647095, + 1.0 + ], + [ + 0.27266162633895874, + 0.0521329902112484, + 0.008616995066404343, + 3.028609091537543, + -0.12884220480918884, + 1.4808372259140015, + 1.0 + ], + [ + 0.27803516387939453, + 0.05471762642264366, + 0.007605245802551508, + 3.020520011084624, + -0.11382145434617996, + 1.500769853591919, + 1.0 + ], + [ + 0.27762460708618164, + 0.05853225290775299, + 0.008169707842171192, + 3.0216522758179387, + -0.12380820512771605, + 1.4951235055923462, + 1.0 + ], + [ + 0.27911025285720825, + 0.06966479867696762, + 0.009012441150844097, + 3.01706204761798, + -0.1247374415397644, + 1.507969617843628, + 1.0 + ], + [ + 0.28001245856285095, + 0.08475598692893982, + 0.0105394022539258, + 3.0118697007470807, + -0.13252083957195282, + 1.5315089225769043, + 1.0 + ], + [ + 0.27990129590034485, + 0.10860899835824966, + 0.011631542816758156, + 3.0026752223544797, + -0.13697843253612518, + 1.5623016357421875, + 1.0 + ], + [ + 0.28112849593162537, + 0.13238754868507385, + 0.01375709380954504, + 2.995913492637225, + -0.1449953019618988, + 1.5855286121368408, + 1.0 + ], + [ + 0.2810407280921936, + 0.15193918347358704, + 0.012484651058912277, + 2.9976505060964307, + -0.1363920718431473, + 1.6183981895446777, + 1.0 + ], + [ + 0.2888643741607666, + 0.17190247774124146, + 0.012852423824369907, + 2.9829230179362973, + -0.1254131942987442, + 1.6356852054595947, + 1.0 + ], + [ + 0.287829726934433, + 0.18973001837730408, + 0.014769361354410648, + 2.9863429238372525, + -0.12623322010040283, + 1.6596260070800781, + 1.0 + ], + [ + 0.285716712474823, + 0.1955159306526184, + 0.01633349061012268, + 2.9940799494558057, + -0.13537846505641937, + 1.669646978378296, + 1.0 + ], + [ + 0.28807297348976135, + 0.19810539484024048, + 0.019560350105166435, + 2.989553677039691, + -0.14789734780788422, + 1.6692416667938232, + 1.0 + ], + [ + 0.29516035318374634, + 0.19223743677139282, + 0.02158506028354168, + 2.981914298730441, + -0.15019226074218753, + 1.6484107971191406, + 1.0 + ], + [ + 0.3005271553993225, + 0.18631277978420258, + 0.02879360131919384, + 2.9697490503364286, + -0.15534132719039917, + 1.6390618085861206, + 1.0 + ], + [ + 0.3047252297401428, + 0.18214911222457886, + 0.05359998717904091, + 2.910080002742358, + -0.19249515235424045, + 1.654875636100769, + 1.0 + ], + [ + 0.3016878664493561, + 0.17109961807727814, + 0.06815201789140701, + 2.885728420811244, + -0.21197932958602902, + 1.6442729234695435, + 1.0 + ], + [ + 0.2984214425086975, + 0.15989483892917633, + 0.08286459743976593, + 2.8721855600648603, + -0.2434106320142746, + 1.6353336572647095, + 1.0 + ], + [ + 0.2987496554851532, + 0.15911418199539185, + 0.0843682736158371, + 2.868653806047984, + -0.24466533958911896, + 1.6369028091430664, + 1.0 + ], + [ + 0.29893404245376587, + 0.1591619998216629, + 0.0839271992444992, + 2.8686272521787366, + -0.2445247620344162, + 1.6366634368896484, + 1.0 + ], + [ + 0.29893404245376587, + 0.1591619998216629, + 0.0839271992444992, + 2.8686272521787366, + -0.2445247620344162, + 1.6366634368896484, + 1.0 + ], + [ + 0.29893404245376587, + 0.1591619998216629, + 0.0839271992444992, + 2.8686272521787366, + -0.2445247620344162, + 1.6366634368896484, + 1.0 + ], + [ + 0.2987496554851532, + 0.15911418199539185, + 0.0843682736158371, + 2.868653806047984, + -0.24466533958911896, + 1.6369028091430664, + 1.0 + ], + [ + 0.29893404245376587, + 0.1591619998216629, + 0.0839271992444992, + 2.8686272521787366, + -0.2445247620344162, + 1.6366634368896484, + 1.0 + ], + [ + 0.29931309819221497, + 0.15933702886104584, + 0.0843418762087822, + 2.867151143150874, + -0.24507451057434082, + 1.6370211839675903, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "2108", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2108/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2110.json b/annotation/test/2110.json new file mode 100644 index 0000000000000000000000000000000000000000..7dc5298a4090d99e8fe3933baaed3de04a05cf59 --- /dev/null +++ b/annotation/test/2110.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "take carrot off plate cardboardfence" + ], + "videos": [ + { + "video_path": "videos/test/2110/rgb.mp4" + } + ], + "action": [ + [ + 0.00044563420570133935, + -0.0001041478346950775, + -0.0003179640398579518, + 0.0003108258755219288, + 0.0015012339701101212, + -0.0015863997606469164, + 1.0 + ], + [ + -0.004153753379087456, + 0.001570583847612695, + 0.0049330644994241436, + -0.0075190079147583995, + -0.034452356503051805, + -0.021484819029498097, + 1.0 + ], + [ + 0.017193966717547395, + 0.0117068610281029, + -0.00803125128120966, + -0.0014328875984170473, + -0.05804837236629669, + -0.20662678436161136, + 1.0 + ], + [ + 0.010898361968686895, + 0.010012597204064317, + -0.0008083156198004303, + 0.0350502942209916, + -0.019990499379754015, + -0.2316224402693267, + 1.0 + ], + [ + 0.014067776105426814, + 0.009246124904568845, + -0.002601286737824093, + -0.016680104631146733, + -0.012035396115077422, + -0.23281609614910623, + 1.0 + ], + [ + 0.008755045467251529, + 0.012508191618679599, + -0.003616017441122777, + -0.047396274013892195, + 0.04725711310197721, + -0.2024148313615896, + 1.0 + ], + [ + 0.007139920090241574, + 0.014410431207011484, + 0.011588052532294297, + -0.02430341480718307, + 0.0003619805557727542, + -0.1218533818177184, + 1.0 + ], + [ + -0.00030021433814314194, + 0.006992176787106335, + 0.013635672583519921, + -0.014620454433550333, + -0.019735932911772162, + -0.09723451419857118, + 1.0 + ], + [ + 0.006089551256294178, + 0.005204860521974476, + 0.006049525457859648, + -0.06316785636098611, + 0.005820193920807312, + -0.04655574063067739, + 1.0 + ], + [ + 0.0011693497541421013, + 0.0003239995901570696, + 0.011670748882960423, + -0.03417711884815215, + -0.05129270935249637, + -0.07743033967974293, + 1.0 + ], + [ + -0.0003322730601454794, + -0.0019724716983650207, + 0.01588664217082535, + 0.01746456501511927, + -0.04387107051751458, + -0.10819653455064543, + 1.0 + ], + [ + 0.0021074699256925363, + -0.00043071294461061437, + 0.00903814519474308, + 0.04078916917507482, + -0.04341008798687421, + -0.042809196653828444, + 1.0 + ], + [ + 0.0005788298408391886, + 0.0006481612585760372, + 0.0038270811746273213, + -0.0026853941230179125, + -0.007543341939333637, + -0.03239664468914431, + 1.0 + ], + [ + 0.0008514913358214396, + -0.0031588190210843892, + 0.004806514561979904, + -0.008446912102326419, + 0.0026184628541542827, + -0.024918502627074707, + 1.0 + ], + [ + 0.0006808786222017905, + -0.004328515041203712, + 0.00466965921270287, + 0.006924364021933994, + 0.0054222447899365854, + -0.008847959076089472, + 1.0 + ], + [ + -0.00048792576447176936, + -0.005268339361611301, + 0.005103246346647728, + 0.004409292970296376, + 0.003319240211262019, + -0.015488665458771941, + 1.0 + ], + [ + -0.0012936842833204778, + 0.003174922924454076, + 0.0030039534799513115, + -0.04156951274015509, + -0.012187459638872356, + -0.014053273549064708, + 1.0 + ], + [ + -0.002782859240768995, + 0.0021732487110832197, + 0.003925379699214071, + -0.04587447763358458, + -0.02390748687143953, + -0.014846758308699004, + 1.0 + ], + [ + -0.0030663562662471906, + -0.00025962778590362566, + 0.00214441461352986, + -0.023738635462129974, + -0.03544526859203899, + -0.03755528917709423, + 1.0 + ], + [ + -0.002580584510397228, + -0.005062750387131223, + 0.003256350135987036, + -0.03157406820378622, + -0.0101562647358206, + -0.04276666058826616, + 1.0 + ], + [ + -0.0011155911374279447, + -0.005529739110519718, + -0.0006414698501714196, + 0.046752125601974164, + 0.00831027697058288, + -0.0321516235695389, + 1.0 + ], + [ + -0.00430831614350806, + -0.0020713685182687743, + 0.0030478405360941942, + 0.16233150000793023, + -0.04822008923354715, + -0.03762430563367441, + 1.0 + ], + [ + -0.0019875444163073657, + 0.00010863465899486275, + -0.0005896382492116384, + 0.12546608800399686, + 0.024111719939067872, + 0.02888418671426637, + 1.0 + ], + [ + 0.0017083337687946892, + 0.0009686404590655387, + -0.004693462486292196, + 0.10854596754467959, + 0.042264641631391674, + 0.052522223904524934, + 1.0 + ], + [ + 0.0034323934420794995, + 0.002561357736360897, + -0.000424267167851733, + -0.010845886658665593, + 0.03536188139413909, + 0.014188535026112897, + 1.0 + ], + [ + 0.0017098616234329901, + 0.0014170795466289894, + 0.0006943545121257037, + -0.00021803960795464637, + 0.04724392824561579, + 0.019771121662652442, + 0.0 + ], + [ + -0.00017791981589048805, + 0.0035325134363397618, + -0.0005399180812535476, + -0.06590841953748061, + 0.06815504706045218, + 0.01189922809415344, + 0.0 + ], + [ + 0.0021888812576213662, + -7.534217453909653e-05, + -0.007104751737793161, + -0.0726615134534176, + 0.07735953279585775, + 0.0011850513025216652, + 0.0 + ], + [ + 0.00673887111298421, + 0.003897288050183312, + -0.02804404313154734, + -0.08758697201408977, + 0.09625502309318176, + -0.01350827633654232, + 0.0 + ], + [ + 0.0012909603995459168, + -0.00402360450307029, + -0.031050960784439727, + -0.04831987650700234, + 0.07513356892883935, + -0.048489319800182784, + 0.0 + ], + [ + -0.0031191874439395165, + -0.007452276176360675, + -0.016615688734610425, + -0.0269591416700588, + -0.03183999246661684, + -0.0316255921972702, + 0.0 + ], + [ + -0.0086081613347526, + -0.020502184368709188, + -0.018496642404905478, + 0.026394839538902058, + -0.06037257428991181, + -0.039773847973881095, + 0.0 + ], + [ + -0.014524077889301386, + -0.027870478652945587, + -0.019012377017292074, + 0.048897733835806166, + -0.06592434046255584, + -0.03124742378636111, + 0.0 + ], + [ + -0.010252410763760302, + -0.029821820866223273, + 0.008274939610918457, + 0.06671301135984516, + -0.03286818802577533, + -0.048774647964030915, + 0.0 + ], + [ + -0.0037738869097351255, + -0.020344832189366252, + 0.023235118258276344, + 0.022131723450002673, + -0.03919345735893624, + 0.030541672657476957, + 0.0 + ], + [ + -0.004890824782555279, + -0.015982445038631554, + 0.019879142654779535, + 0.028429220004837295, + -0.04696633570107057, + 0.028274493677957688, + 0.0 + ], + [ + 0.004772469895294389, + -0.017101742385394834, + 0.02203466696674978, + 0.0073686518048850765, + 0.013464928240295146, + -0.008901911464889485, + 0.0 + ], + [ + 0.005501850500097248, + -0.01043959604264706, + 0.00965345978774805, + -0.09285756864243153, + 0.057796742251328546, + -0.012905293454887041, + 0.0 + ] + ], + "state": [ + [ + 0.23103322088718414, + 0.08523621410131454, + 0.10349608957767487, + -3.075422929721423, + -0.14802713692188263, + 0.12343499064445496, + 1.0 + ], + [ + 0.23141297698020935, + 0.0853668600320816, + 0.10388242453336716, + -3.07533339609439, + -0.14962981641292572, + 0.12493541836738586, + 1.0 + ], + [ + 0.22823566198349, + 0.08371756225824356, + 0.09829314798116684, + -3.0863913913541516, + -0.11663327366113661, + 0.14880380034446716, + 1.0 + ], + [ + 0.24607422947883606, + 0.07412406802177429, + 0.10761701315641403, + -3.1131947879963597, + -0.06744258850812913, + 0.35851380228996277, + 1.0 + ], + [ + 0.2597433030605316, + 0.06853333860635757, + 0.10887397080659866, + -3.0944227894120893, + -0.05216860398650169, + 0.5908991694450377, + 1.0 + ], + [ + 0.2765299081802368, + 0.06852545589208603, + 0.1117670089006424, + -3.1244376750015697, + -0.049612753093242645, + 0.8243101239204407, + 1.0 + ], + [ + 0.2915794849395752, + 0.06628590822219849, + 0.1155979260802269, + 3.101043576496192, + -0.09930377453565598, + 1.0266491174697878, + 1.0 + ], + [ + 0.3085426986217499, + 0.06559989601373672, + 0.10536558926105499, + 3.064944455521651, + -0.09400059282779692, + 1.1489592790603638, + 1.0 + ], + [ + 0.31623533368110657, + 0.0631636530160904, + 0.09233484417200089, + 3.0416935478621205, + -0.06646016985177995, + 1.2445820569992065, + 1.0 + ], + [ + 0.32377684116363525, + 0.0674123615026474, + 0.08725113421678543, + 2.9755133112245282, + -0.06753671914339066, + 1.291593074798584, + 1.0 + ], + [ + 0.32647326588630676, + 0.0686573013663292, + 0.07589956372976303, + 2.9369233717494687, + -0.00400338927283883, + 1.3593579530715942, + 1.0 + ], + [ + 0.3276855945587158, + 0.06812257319688797, + 0.05994240939617157, + 2.954777406650134, + 0.06092888861894608, + 1.4564063549041748, + 1.0 + ], + [ + 0.32911065220832825, + 0.06952701508998871, + 0.05086982622742653, + 2.997580649452754, + 0.11149755865335464, + 1.490576982498169, + 1.0 + ], + [ + 0.3303106725215912, + 0.06959524005651474, + 0.047133918851614, + 2.998433621721812, + 0.12355769425630571, + 1.5217921733856201, + 1.0 + ], + [ + 0.3278827965259552, + 0.0699177011847496, + 0.0418606661260128, + 2.9931408037715634, + 0.12448184937238693, + 1.5470246076583862, + 1.0 + ], + [ + 0.3242941200733185, + 0.0700257420539856, + 0.036558300256729126, + 3.0012644847207746, + 0.12042219191789628, + 1.5566468238830566, + 1.0 + ], + [ + 0.3197751045227051, + 0.06890962272882462, + 0.03086889162659645, + 3.0076022913032254, + 0.11928675323724748, + 1.5725605487823486, + 1.0 + ], + [ + 0.32332566380500793, + 0.0673275887966156, + 0.028488095849752426, + 2.9675096740298947, + 0.1332332193851471, + 1.5849685668945312, + 1.0 + ], + [ + 0.32619133591651917, + 0.06414612382650375, + 0.025399062782526016, + 2.923004703717776, + 0.15934340655803683, + 1.5955803394317627, + 1.0 + ], + [ + 0.3264863193035126, + 0.06078379973769188, + 0.023763146251440048, + 2.903912143903323, + 0.2020199745893478, + 1.6251307725906372, + 1.0 + ], + [ + 0.3225235044956207, + 0.05716094747185707, + 0.020012717694044113, + 2.8805675228410443, + 0.2217998504638672, + 1.665283203125, + 1.0 + ], + [ + 0.3171595335006714, + 0.05538107454776764, + 0.019470583647489548, + 2.9349450935893735, + 0.2219425290822983, + 1.6993253231048584, + 1.0 + ], + [ + 0.31640398502349854, + 0.05028940737247467, + 0.01709454506635666, + 3.1032696311646184, + 0.276772141456604, + 1.7272748947143555, + 1.0 + ], + [ + 0.3167615830898285, + 0.04857441782951355, + 0.01820843107998371, + -3.0623272155695638, + 0.25146153569221497, + 1.698437213897705, + 1.0 + ], + [ + 0.3177315592765808, + 0.05152154713869095, + 0.0222406554967165, + -2.968006955581256, + 0.21309167146682736, + 1.6414868831634521, + 1.0 + ], + [ + 0.3200846314430237, + 0.05504612997174263, + 0.021490823477506638, + -2.9830960055165967, + 0.180668443441391, + 1.621080994606018, + 1.0 + ], + [ + 0.3212963938713074, + 0.056627675890922546, + 0.020289069041609764, + -2.9880875815921506, + 0.13707119226455688, + 1.5938682556152344, + 0.0 + ], + [ + 0.32487305998802185, + 0.05653301626443863, + 0.02030687965452671, + -3.0567143355780324, + 0.07150429487228395, + 1.5716649293899536, + 0.0 + ], + [ + 0.32539796829223633, + 0.059222977608442307, + 0.027217954397201538, + -3.129677018272229, + -0.005477868020534515, + 1.5639357566833496, + 0.0 + ], + [ + 0.32967421412467957, + 0.06577920913696289, + 0.05525006353855133, + 3.0659077783399304, + -0.1018865704536438, + 1.5762994289398193, + 0.0 + ], + [ + 0.3233244717121124, + 0.06391028314828873, + 0.08588021248579025, + 3.011907922225543, + -0.1729899197816849, + 1.6310138702392578, + 0.0 + ], + [ + 0.3141489028930664, + 0.05760389566421509, + 0.1006242036819458, + 2.980197863774844, + -0.13726352155208588, + 1.6584978103637695, + 0.0 + ], + [ + 0.29195624589920044, + 0.045037321746349335, + 0.1142672598361969, + 3.0023138989978513, + -0.07122599333524703, + 1.688056468963623, + 0.0 + ], + [ + 0.2637432813644409, + 0.026054460555315018, + 0.12815475463867188, + 3.0493897964530667, + -0.0015863259322941303, + 1.7097852230072021, + 0.0 + ], + [ + 0.23650701344013214, + 0.011909723281860352, + 0.11715295165777206, + 3.1160765030705413, + 0.03563318029046059, + 1.7553261518478394, + 0.0 + ], + [ + 0.21794407069683075, + 0.0037476634606719017, + 0.09355585277080536, + 3.137075072741606, + 0.07401704043149947, + 1.7237311601638794, + 0.0 + ], + [ + 0.20320487022399902, + -0.004952047951519489, + 0.07402101159095764, + -3.119805909814783, + 0.12082499265670776, + 1.6950669288635254, + 0.0 + ], + [ + 0.18549902737140656, + -0.005019881296902895, + 0.051946792751550674, + -3.111392770084091, + 0.10716484487056732, + 1.7037222385406494, + 0.0 + ], + [ + 0.17427463829517365, + -0.002008999465033412, + 0.04207802936434746, + 3.080177879082509, + 0.04899816587567331, + 1.7148691415786743, + 0.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.03127884864807129, + 0.34690237045288086, + 0.4908682107925415, + 0.45672130584716797, + 0.45573753118515015, + 0.45573753118515015, + 0.45573753118515015, + 0.45573753118515015, + 0.45573753118515015, + 0.45573753118515015, + 0.45573753118515015, + 0.45573753118515015, + 0.45573753118515015, + 0.45573753118515015, + 0.45573753118515015 + ], + "episode_id": "2110", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2110/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2113.json b/annotation/test/2113.json new file mode 100644 index 0000000000000000000000000000000000000000..9b5e28b97d85894d235fea51cd6abe9e346cbddd --- /dev/null +++ b/annotation/test/2113.json @@ -0,0 +1,660 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Pick up the spatula and put it in front of the cans." + ], + "videos": [ + { + "video_path": "videos/test/2113/rgb.mp4" + } + ], + "action": [ + [ + -3.599676879661564e-05, + -0.0002078170127797708, + -1.433030764217929e-07, + 0.0013107050562268304, + -0.00022587311521439897, + -0.0007698667436853306, + 1.0 + ], + [ + -0.005932343823566214, + 4.422047255346263e-05, + 0.010536009708539738, + -0.007586573315324458, + -0.035702250339414425, + -0.0020804162014095894, + 1.0 + ], + [ + -0.018510461647659723, + -0.021211384326790695, + 0.005625797183717335, + 0.006973443263245719, + 0.0002630801609463196, + -0.030825409648321603, + 1.0 + ], + [ + -0.019681180881520485, + -0.03242415338121407, + -0.004520888258394994, + 0.08017541831955514, + -0.0005767899790643436, + 0.06432779062095736, + 1.0 + ], + [ + -0.02385291167033354, + -0.02957905727012806, + 0.003624868155879873, + 0.06814573346117571, + -0.007669829245969312, + 0.0021597509918510386, + 1.0 + ], + [ + -0.0033882848824442215, + -0.014693689361366847, + 0.005882953104943017, + 0.03376062778052126, + -0.0008212868280596631, + -0.03287213118369992, + 1.0 + ], + [ + -0.008009105103560262, + -0.016708286726812797, + 0.020717154557557307, + 0.007989087254176911, + -0.030439780028415166, + -0.060944889531668094, + 1.0 + ], + [ + 0.000504349843379807, + -0.0024939250143596226, + 0.014946622288416112, + 0.006524470803840302, + -0.013399022161594196, + -0.03899485266276825, + 1.0 + ], + [ + 2.0068746486840087e-05, + 0.00024351756260513108, + 0.012238806815105831, + -0.0035311335224924283, + -0.02108396099234084, + -0.022138035013542823, + 1.0 + ], + [ + 0.000910025781454018, + 0.002544873254214771, + 0.00842766657767734, + -0.018812651204763116, + -0.013828359521209583, + -0.006880489863534395, + 1.0 + ], + [ + 0.00408954280064262, + 0.0005341958152211883, + 0.0015719253395971302, + -0.019758273675522624, + 0.0099738310577359, + -0.014503774633436025, + 1.0 + ], + [ + 0.0020678695924381952, + -0.004494839815203714, + 0.0007318066950954155, + -0.0183046366424549, + 0.011289520099744318, + -0.016189590375236162, + 1.0 + ], + [ + 0.0010099438495065729, + -0.0014288619897611075, + -0.00025035518248908207, + 0.0050150213529292845, + -0.004942190894579123, + 0.011265778835620304, + 0.0 + ], + [ + -0.00020638087488960479, + 2.437843655441672e-05, + -0.00017416563325560875, + -0.002768522813688399, + -0.008779449093806709, + -0.010790291857807206, + 0.0 + ], + [ + 0.0009549708924408603, + 0.007887854702447806, + -0.0026860780094380052, + -0.04635254513202457, + -0.04060533874470122, + -0.03587474885405991, + 0.0 + ], + [ + 0.027577014310483067, + 0.03124733587090935, + -0.012983278300031162, + -0.04156398798585937, + 0.06304646709671939, + -0.036547121369108225, + 0.0 + ], + [ + 0.025221560339880676, + 0.037836520800694766, + -0.014820752546367381, + -0.03251177775487912, + 0.052113170927463745, + 0.005139835687050491, + 0.0 + ], + [ + 0.021193490668249885, + 0.034352128990238776, + 0.0015780987360595258, + 0.02777017774492537, + -0.0068603846611320065, + 0.05951197381160799, + 0.0 + ], + [ + 0.021686507470830334, + 0.03439237605121437, + 0.018089708263269586, + 0.013548980322923463, + -0.03690250039206559, + 0.0016734374495496465, + 0.0 + ], + [ + 0.02165537581038328, + 0.02806253142317867, + 0.009383288346746477, + 0.0062906596624848175, + 0.013612967318985425, + 0.04163543051110456, + 0.0 + ], + [ + 0.010596976767154346, + 0.019527915596156104, + 0.008365927279306226, + 0.017788557893611244, + -0.014089657570746634, + 0.02737589825073536, + 0.0 + ], + [ + 0.002919013522410562, + 0.013244301542123417, + -0.0002411561231992893, + 0.007394085591862723, + 0.00871816192532102, + 0.039757371658716664, + 0.0 + ], + [ + -0.0030486151908435282, + 0.0002243141174472963, + 0.0027918017820881386, + -0.0008346199161102954, + 0.004537740810988305, + 0.007769979188121241, + 0.0 + ], + [ + -0.0041646214157001005, + -0.002548629762661626, + -0.0031775762735257603, + -0.00020127905344363071, + 0.0030532024061633817, + -0.027558587592024515, + 0.0 + ], + [ + -0.0016922492648795088, + -0.0016041034196308708, + -0.0028035810934679646, + -0.0016568725071564564, + -0.00975920793713637, + -0.03918159530327195, + 0.0 + ], + [ + -0.003124417680186, + 0.0008653843627358127, + 0.0016686228274762059, + -0.007215174479338331, + -0.010859349028227184, + -0.0023728852567571745, + 1.0 + ], + [ + 0.0020409303169748516, + 0.0023033740665064305, + -0.02132066734917235, + -0.01856991273753184, + 0.04349894335609015, + 0.024655889521923772, + 1.0 + ], + [ + -0.004100382537282041, + 0.0007999756662189798, + -0.03686982265746472, + -0.016763362695081042, + 0.06722323532961025, + 0.009979983167028765, + 1.0 + ], + [ + -0.01393861112490691, + -0.003997273167713337, + -0.029477249101457235, + -0.024506954731398762, + 0.019447203822373093, + -0.040753597312465514, + 1.0 + ], + [ + -0.017230485864844994, + -0.015084120772284099, + -0.010432022296309146, + -0.004753227581602082, + -0.004825720199136281, + -0.0367276873999541, + 1.0 + ], + [ + -0.00616586502478914, + -0.009161106475024251, + -0.0006770564844623542, + -0.008250391736915713, + -0.018838424228888675, + 0.02449348566172865, + 1.0 + ], + [ + 0.003969294458102999, + -0.006650217133167188, + -0.0038375649294525404, + 0.00511320524731262, + -0.0061478084090288735, + 0.0922667513274258, + 1.0 + ], + [ + -8.918939840716498e-05, + -4.291737176703457e-05, + 0.0005420602842367322, + 3.487266398373515e-05, + -0.0015293329459658252, + 0.004487727112752704, + 1.0 + ] + ], + "state": [ + [ + 0.31893104314804077, + 0.015414823777973652, + 0.09683932363986969, + 3.040729971724101, + -0.11938397586345673, + -0.002334187272936106, + 1.0 + ], + [ + 0.3188982605934143, + 0.015621676109731197, + 0.09681440144777298, + 3.0419515540176114, + -0.11908169835805893, + -0.0015856759855523705, + 1.0 + ], + [ + 0.3142511546611786, + 0.014536959119141102, + 0.0857044979929924, + 3.0344781299405774, + -0.08334952592849731, + -0.0030728362035006285, + 1.0 + ], + [ + 0.29652246832847595, + 0.035079896450042725, + 0.07632947713136673, + 3.038940357165881, + -0.08027677983045578, + 0.027703130617737774, + 1.0 + ], + [ + 0.275911808013916, + 0.06723806262016296, + 0.07592196762561798, + 3.124478720250078, + -0.08612528443336487, + -0.03658338636159897, + 1.0 + ], + [ + 0.2535977065563202, + 0.0975872054696083, + 0.0697549507021904, + -3.090363660948821, + -0.07849331200122833, + -0.0388810858130455, + 1.0 + ], + [ + 0.2512059211730957, + 0.11266723275184631, + 0.06438221782445908, + -3.0592158903651914, + -0.07931357622146605, + -0.005906329490244389, + 1.0 + ], + [ + 0.24485746026039124, + 0.1310613602399826, + 0.044536154717206955, + -3.0563680698447904, + -0.053829781711101525, + 0.05740441754460335, + 1.0 + ], + [ + 0.24593323469161987, + 0.13488653302192688, + 0.02990446612238884, + -3.052057521539279, + -0.04375471919775009, + 0.0974339097738266, + 1.0 + ], + [ + 0.24640193581581116, + 0.1357882022857666, + 0.01770547404885292, + -3.0566415434056005, + -0.02472197450697422, + 0.12137126177549362, + 1.0 + ], + [ + 0.24773676693439484, + 0.13411690294742584, + 0.009117396548390388, + -3.0756472816043576, + -0.011526484042406082, + 0.1294001340866089, + 1.0 + ], + [ + 0.25186559557914734, + 0.13422110676765442, + 0.007560929283499718, + -3.0955678430669984, + -0.022433269768953323, + 0.14321783185005188, + 1.0 + ], + [ + 0.2532777488231659, + 0.13899528980255127, + 0.0070832157507538795, + -3.1142265015565833, + -0.03445291519165039, + 0.15887907147407532, + 1.0 + ], + [ + 0.2540396451950073, + 0.14055697619915009, + 0.007407191675156355, + -3.1088294257693967, + -0.029202185571193695, + 0.14774814248085022, + 0.0 + ], + [ + 0.2538350224494934, + 0.1404961198568344, + 0.007574365474283695, + -3.111922040703245, + -0.020779112353920937, + 0.1588222235441208, + 0.0 + ], + [ + 0.2559870481491089, + 0.1327752321958542, + 0.01004457101225853, + 3.1241447572880467, + 0.01875858753919601, + 0.19586320221424103, + 0.0 + ], + [ + 0.2893170416355133, + 0.1077674850821495, + 0.023051390424370766, + 3.083264997350522, + -0.04365406185388566, + 0.2334679663181305, + 0.0 + ], + [ + 0.321647971868515, + 0.07751847058534622, + 0.041137080639600754, + 3.050765613215514, + -0.09597805887460709, + 0.231370747089386, + 0.0 + ], + [ + 0.34991544485092163, + 0.048883844166994095, + 0.04470518231391907, + 3.0844583195918283, + -0.09436798840761185, + 0.17121443152427673, + 0.0 + ], + [ + 0.3787105083465576, + 0.017968660220503807, + 0.030724002048373222, + 3.0983254109793386, + -0.05762061476707459, + 0.16743180155754092, + 0.0 + ], + [ + 0.40523090958595276, + -0.006394523661583662, + 0.023823954164981842, + 3.1070157085829457, + -0.07297269254922867, + 0.1263190358877182, + 0.0 + ], + [ + 0.4187665283679962, + -0.02464008890092373, + 0.016931166872382164, + 3.1268478484177074, + -0.05980940535664558, + 0.09842508286237717, + 0.0 + ], + [ + 0.4229412376880646, + -0.03753155469894409, + 0.017541274428367615, + 3.1366265016892036, + -0.06906563043594362, + 0.058707449585199356, + 0.0 + ], + [ + 0.42011135816574097, + -0.03793646767735481, + 0.014546887017786503, + 3.1363280775309583, + -0.07363982498645782, + 0.050939127802848816, + 0.0 + ], + [ + 0.4156002998352051, + -0.035597801208496094, + 0.017396021634340286, + 3.1340943478331944, + -0.07651986926794052, + 0.07859423011541367, + 0.0 + ], + [ + 0.4135778844356537, + -0.03412696719169617, + 0.020049963146448135, + 3.129447435150393, + -0.0664086416363716, + 0.11778605729341507, + 0.0 + ], + [ + 0.41069528460502625, + -0.03535984084010124, + 0.018188292160630226, + 3.122082645195075, + -0.05552110821008682, + 0.1200302019715309, + 1.0 + ], + [ + 0.41176748275756836, + -0.03713119402527809, + 0.03963017836213112, + 3.1048270781808576, + -0.09947694838047026, + 0.096132755279541, + 1.0 + ], + [ + 0.4040076732635498, + -0.037321094423532486, + 0.07591497153043747, + 3.0887367000156125, + -0.16701869666576385, + 0.08854564279317856, + 1.0 + ], + [ + 0.3849867582321167, + -0.03343889117240906, + 0.10241600126028061, + 3.0572122653299054, + -0.1841391623020172, + 0.13098064064979553, + 1.0 + ], + [ + 0.36445853114128113, + -0.020096052438020706, + 0.10823046416044235, + 3.045784222083636, + -0.17611408233642578, + 0.16773901879787445, + 1.0 + ], + [ + 0.35697492957115173, + -0.012048657983541489, + 0.10695088654756546, + 3.0421956722908696, + -0.15964405238628387, + 0.14122235774993896, + 1.0 + ], + [ + 0.3593725860118866, + -0.004639208782464266, + 0.11070040613412857, + 3.0625987743311605, + -0.16198194026947021, + 0.04757193475961685, + 1.0 + ], + [ + 0.35937225818634033, + -0.0046392157673835754, + 0.11014938354492188, + 3.063385034101554, + -0.16080978512763977, + 0.04291747137904167, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.05855154991149902, + 0.35795462131500244, + 0.5914059281349182, + 0.5967245995998383, + 0.5967245995998383, + 0.5967245995998383, + 0.5967245995998383, + 0.5967245995998383, + 0.5967245995998383, + 0.5967245995998383, + 0.5967245995998383, + 0.5967245995998383, + 0.5967245995998383, + 0.5091352760791779, + 0.2173416018486023, + 0.006563663482666016, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2113", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2113/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/212.json b/annotation/test/212.json new file mode 100644 index 0000000000000000000000000000000000000000..5441c5acebfca1d2020027a323ee7560f72c9b04 --- /dev/null +++ b/annotation/test/212.json @@ -0,0 +1,603 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put knife in pot cardboard fence" + ], + "videos": [ + { + "video_path": "videos/test/212/rgb.mp4" + } + ], + "action": [ + [ + 0.00020505012716907494, + -0.00043035516287261394, + -3.921464266337022e-06, + 2.0107762953630238e-05, + 2.357978985401317e-05, + -0.0015336718514129847, + 1.0 + ], + [ + -0.004866046811034604, + -0.0023740822725848926, + 0.008311934979352984, + 0.01326936134161639, + -0.02935338338946323, + 0.016411979541912185, + 1.0 + ], + [ + -0.01496711022496959, + -0.01617167452049206, + 0.004599641213784961, + 2.413571936982153e-05, + -0.03123880376868209, + 0.15269301091104398, + 1.0 + ], + [ + -0.007699293824829183, + -0.0214555319339245, + -0.0012564757728178468, + -0.028392888405155595, + -0.02228292318858291, + 0.12800959344029825, + 1.0 + ], + [ + -0.005873476695649388, + -0.017638732835975203, + 0.022234395152174607, + 0.004717466918307342, + 0.040378064746031506, + 0.07519308127396346, + 1.0 + ], + [ + 1.9892236942436278e-05, + -0.00755077780191312, + 0.010036577099513428, + -0.009402019333220756, + 0.04884372571401183, + 0.03221328013844579, + 1.0 + ], + [ + -0.0002331148478234876, + -0.010635474576111794, + 0.011582835077936778, + 0.024725560537735492, + 0.030564658183772242, + -0.017984011613302497, + 1.0 + ], + [ + 0.002447921182898069, + -0.005833680499693384, + 0.0010209683992634306, + 0.009795790725244845, + 0.02519961309270421, + -0.018272552168010766, + 1.0 + ], + [ + -0.0005827655453899071, + -0.0074838835285835565, + 0.0025608626817461787, + -0.008337725645007862, + 0.0031852436872992955, + -0.015468935164117136, + 1.0 + ], + [ + -0.002801407174064857, + -0.006186000679371139, + 0.013841096321878845, + 0.04332105755910698, + -0.002763603628639612, + -0.01267747474611431, + 1.0 + ], + [ + -0.0033267682371382226, + 0.0012029011112066831, + 0.013912549322867208, + 0.04191270096214966, + -0.0152005316622825, + -0.010874672308926485, + 1.0 + ], + [ + 0.005060715751172994, + 6.19042707898643e-05, + 0.0027171408358887946, + -0.005047495080800782, + -0.007357632535548902, + -0.015359825556713953, + 1.0 + ], + [ + 0.0006921790178486371, + 0.001469248072635959, + -0.00030059051686110946, + -0.050466355198285025, + -0.016440447303622742, + -0.03281851908515894, + 1.0 + ], + [ + -0.0038148771182205067, + -0.0005526215213003083, + -0.0018663307281576484, + -0.005831212868474664, + -0.019392835725796614, + -0.024537955144999856, + 0.0 + ], + [ + -0.000675104768495853, + -0.005046561788142308, + -0.013301329099720543, + 0.06341681951579567, + 0.061941994290323855, + -0.0869000932280475, + 0.0 + ], + [ + 0.004149877890286089, + -0.0034465658963882735, + -0.016630657176637857, + 0.023491787461790727, + -0.0293611352923913, + -0.06007945480681909, + 0.0 + ], + [ + -0.00327867063256865, + 0.01029274910403619, + -0.025305183245863436, + -0.04088847988644027, + 0.05864908337996699, + -0.07195899569943251, + 0.0 + ], + [ + -0.018842239654731523, + 0.020083862018124024, + -0.0021304326870501718, + -0.03987027849199404, + -0.08140143461027105, + -0.05292546448105307, + 0.0 + ], + [ + -0.020653317681985466, + 0.014636651997992982, + -0.00953096538483604, + -0.026966577594928046, + -0.02128207728195915, + -0.009413364472625155, + 0.0 + ], + [ + -0.01670004179258459, + 0.020231365437445952, + 0.002882263032584732, + 0.008620088124148086, + -0.03565343825048248, + -0.006431182795573383, + 0.0 + ], + [ + -0.010396846028063764, + 0.015155951868204454, + 0.005169022115667271, + -0.01245368678654372, + 0.01576139475212201, + 0.005302234549592441, + 0.0 + ], + [ + 0.00047949608714444345, + 0.007282271125712021, + 0.0037723168183912666, + 0.013408835073513236, + 0.0349849783607348, + 0.001970340959426618, + 0.0 + ], + [ + -0.0035869219045723015, + -0.0001451952172272517, + 0.007700200460210935, + 0.02310010056016462, + 0.029738947103960404, + 0.035886596627549644, + 0.0 + ], + [ + -0.0009928392820558293, + -0.0010821615546558673, + 0.0027622152059784007, + -0.0019675415961175917, + 0.007974551434908866, + 0.0036029127910881024, + 1.0 + ], + [ + -0.001978122515383419, + -0.0009693669421383332, + -0.0002834360987851129, + 0.0052526642400049705, + -0.015075456642629912, + -0.0028177962748828843, + 1.0 + ], + [ + 0.005846083409384238, + 0.002807805328006556, + -0.007574638368909437, + -0.011068835528040841, + -0.011514265418300449, + -0.008439771081543387, + 1.0 + ], + [ + 0.01144293971299311, + -0.0006273555810609743, + -0.015350608520863498, + -0.03821010831091341, + -0.01057885087006847, + -0.024159380552872804, + 1.0 + ], + [ + 0.007093465061858536, + -0.002298665121764052, + -0.01285002807034785, + -0.0340669043012844, + 0.01696497660685031, + 0.004874025511616991, + 1.0 + ], + [ + -0.00020801158464249931, + -0.0005670161404337394, + 0.0002889022008573876, + 0.00081416496734019, + -0.0012013299995044626, + 0.0029889482962018113, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 3.2688288001241458e-18, + 5.029586385334544e-18, + 2.5954951962044114e-17, + 1.0 + ] + ], + "state": [ + [ + 0.30999529361724854, + 0.022026540711522102, + 0.08943487703800201, + 3.1262291922518095, + -0.013120347633957863, + 0.5163729786872864, + 1.0 + ], + [ + 0.30996114015579224, + 0.02250204049050808, + 0.08943487703800201, + 3.1262291922518095, + -0.013120347633957863, + 0.5179069638252258, + 1.0 + ], + [ + 0.3047167956829071, + 0.02209901437163353, + 0.08102432638406754, + 3.139715351285883, + 0.015979312360286713, + 0.5010508894920349, + 1.0 + ], + [ + 0.2837623953819275, + 0.02905120700597763, + 0.07663407921791077, + 3.137326511675962, + 0.04674635827541351, + 0.3482056260108947, + 1.0 + ], + [ + 0.26926159858703613, + 0.046618327498435974, + 0.07815752178430557, + 3.1029838268929204, + 0.06810076534748079, + 0.2198341190814972, + 1.0 + ], + [ + 0.2583656311035156, + 0.061364512890577316, + 0.05571161210536957, + 3.1027702448242387, + 0.02466895803809166, + 0.1462985724210739, + 1.0 + ], + [ + 0.257090300321579, + 0.06840939819812775, + 0.04539218172430992, + 3.0925923493974885, + -0.02539934404194355, + 0.11603413522243501, + 1.0 + ], + [ + 0.2559996545314789, + 0.0784057229757309, + 0.03330029547214508, + 3.1168093552165708, + -0.055041681975126266, + 0.13551478087902066, + 1.0 + ], + [ + 0.25770050287246704, + 0.08449795097112656, + 0.03227151185274124, + 3.125559153156825, + -0.07977093011140823, + 0.15446068346500397, + 1.0 + ], + [ + 0.2561926543712616, + 0.0917947068810463, + 0.02955307625234127, + 3.115982512133666, + -0.08269813656806946, + 0.17003184556961057, + 1.0 + ], + [ + 0.2535940110683441, + 0.0972633808851242, + 0.015374532900750637, + -3.124924101057001, + -0.07960423082113266, + 0.18267437815666202, + 1.0 + ], + [ + 0.25159865617752075, + 0.09590750187635422, + 0.001223436207510531, + -3.083897119509526, + -0.06458213180303574, + 0.19382289052009583, + 1.0 + ], + [ + 0.2567079961299896, + 0.09700708836317062, + -0.0011604860192164779, + -3.0899689105623445, + -0.05811437964439392, + 0.20960770547389984, + 1.0 + ], + [ + 0.25767967104911804, + 0.0956978127360344, + -0.0008962862193584442, + 3.140773481345274, + -0.04335611686110496, + 0.243258461356163, + 1.0 + ], + [ + 0.2537686228752136, + 0.0952981561422348, + 0.0008024913258850574, + 3.13387931429828, + -0.023930156603455544, + 0.2677829265594482, + 0.0 + ], + [ + 0.2514493465423584, + 0.10000111162662506, + 0.014044548384845257, + -3.0879701172285756, + -0.08510944247245789, + 0.35531026124954224, + 0.0 + ], + [ + 0.25310051441192627, + 0.1033339574933052, + 0.031128015369176865, + -3.0697960947924336, + -0.05884723365306854, + 0.41696056723594666, + 0.0 + ], + [ + 0.2536831796169281, + 0.09037845581769943, + 0.05539441481232643, + -3.114726139354058, + -0.12236836552619935, + 0.48490411043167114, + 0.0 + ], + [ + 0.24635086953639984, + 0.06375803798437119, + 0.0546727254986763, + 3.1219095831089696, + -0.04223259165883064, + 0.5398716330528259, + 0.0 + ], + [ + 0.23572097718715668, + 0.04054649919271469, + 0.06360918283462524, + 3.09455959697301, + -0.02076766081154346, + 0.5488641262054442, + 0.0 + ], + [ + 0.2321252077817917, + 0.014500287361443043, + 0.061334919184446335, + 3.103051694231578, + 0.01514893304556608, + 0.5536087155342102, + 0.0 + ], + [ + 0.23129048943519592, + -0.004053816664963961, + 0.056911736726760864, + 3.0905225818329534, + -0.0008052247576415538, + 0.5489183664321899, + 0.0 + ], + [ + 0.23559702932834625, + -0.010170812718570232, + 0.05351646989583969, + 3.1039002669327935, + -0.03584515303373337, + 0.5487372279167175, + 0.0 + ], + [ + 0.23284980654716492, + -0.012020423077046871, + 0.04569266736507416, + 3.128254013257571, + -0.06689337641000748, + 0.5139353275299072, + 0.0 + ], + [ + 0.2316349297761917, + -0.011505987495183945, + 0.04285610839724541, + 3.1265204857387623, + -0.07491486519575119, + 0.5104293823242188, + 1.0 + ], + [ + 0.22942061722278595, + -0.011630083434283733, + 0.04297609627246857, + 3.1315772739523133, + -0.05979840084910393, + 0.5130239725112915, + 1.0 + ], + [ + 0.23544995486736298, + -0.011368989944458008, + 0.05091426521539688, + 3.120010081800171, + -0.048198115080595016, + 0.5213571190834045, + 1.0 + ], + [ + 0.24424311518669128, + -0.005213163793087006, + 0.06678126752376556, + 3.080651542293378, + -0.037086598575115204, + 0.5452976226806641, + 1.0 + ], + [ + 0.248305544257164, + 0.0008502781856805086, + 0.07972173392772675, + 3.046718584495135, + -0.054316651076078415, + 0.5414608716964722, + 1.0 + ], + [ + 0.24786661565303802, + 0.0012130493996664882, + 0.07936962693929672, + 3.0477010925584516, + -0.05340361222624779, + 0.5383671522140503, + 1.0 + ], + [ + 0.24786661565303802, + 0.0012130493996664882, + 0.07936962693929672, + 3.0477010925584516, + -0.05340361222624779, + 0.5383671522140503, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0, + 0.04620790481567383, + 0.28090745210647583, + 0.5403240621089935, + 0.5734528601169586, + 0.5440536141395569, + 0.5440536141395569, + 0.5440536141395569, + 0.5440536141395569, + 0.5440536141395569, + 0.5440536141395569, + 0.479228138923645, + 0.18881899118423462, + 0.0072438716888427734, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242 + ], + "episode_id": "212", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/212/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2130.json b/annotation/test/2130.json new file mode 100644 index 0000000000000000000000000000000000000000..3443c109f1ff5a38c515f7e230d7234b0d5d641f --- /dev/null +++ b/annotation/test/2130.json @@ -0,0 +1,508 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "take sushi out of pan" + ], + "videos": [ + { + "video_path": "videos/test/2130/rgb.mp4" + } + ], + "action": [ + [ + -0.0006251111574310349, + 0.0005091249162739147, + 0.0006959843831395877, + -0.002012275527897622, + -0.002312972762578816, + -0.00011324595411166434, + 1.0 + ], + [ + 0.004624661723999578, + 0.012068666885510742, + 0.009746206279043249, + 0.0009663705478068466, + -0.009483176759043442, + -0.011990406035469196, + 1.0 + ], + [ + 0.020909083335651113, + 0.025982947588763575, + 0.005779991935204814, + 0.02880066748081292, + 0.026433131880172704, + -0.040526864461945436, + 1.0 + ], + [ + 0.02423401685676316, + 0.0399554882559747, + 0.012554324944668505, + 0.0025891852314941094, + 0.020298706626668186, + -0.028063303952339157, + 1.0 + ], + [ + 0.011040182107302322, + 0.04988883889379369, + 0.012930778260996022, + -0.018478247870339894, + -0.009614524831899422, + 0.0192935640477723, + 1.0 + ], + [ + 0.005065108915102615, + 0.030332003891450424, + 0.007737467572239466, + -0.007324608942799956, + -0.0025598831470111756, + 0.04619767085302416, + 1.0 + ], + [ + -0.0013664097953647225, + 0.011013553274486599, + 0.0110948605680605, + -0.013092656028299954, + 0.018078432343819097, + 0.027125386378945664, + 1.0 + ], + [ + -0.0066275234850134805, + -0.0012305089498528949, + 0.009604543580825875, + -0.004377268445191511, + 0.00989701216091277, + 0.020527077176902008, + 1.0 + ], + [ + -0.005377221846260932, + 0.000941096830971714, + 0.01098279172894066, + 0.025853136276247163, + -0.008379763739431789, + 0.031025546438065994, + 1.0 + ], + [ + -0.006836326253265276, + 0.000330478455635669, + 0.009916981226278106, + 0.029087763471891615, + 0.010632839645419096, + 0.008073561547522805, + 1.0 + ], + [ + -0.005670700072087487, + -0.0003808038193012307, + 0.007170882367899926, + 0.036233702922940994, + 0.03221875685856554, + -0.0189846567367153, + 1.0 + ], + [ + -0.008476134564908585, + 0.004144917382047596, + 0.007017078858941594, + 0.0013023105656090126, + 0.006502798787330488, + -0.010016329761768776, + 1.0 + ], + [ + -0.0028197705632180834, + -0.0028490105319802753, + 0.0033700001080237663, + -0.022153704698448032, + 0.004306558456642543, + -0.01588788195070757, + 1.0 + ], + [ + -0.000991133815818776, + -0.00022184359252012625, + 0.0007833217792679823, + -0.002767773924284254, + 0.0018512860355527848, + -0.0034748216645028706, + 0.0 + ], + [ + -0.0018057560637270594, + -0.0009985262287045562, + -0.00037078602759256344, + 0.006587195303743298, + -0.015679201751784697, + -0.0018260535783259642, + 0.0 + ], + [ + 0.004688337861294443, + -0.002409684775504492, + -0.00853077387372073, + 0.0320503073082404, + -0.0454597396356485, + -0.0023918838381151762, + 0.0 + ], + [ + 0.01401625452344089, + -0.0014561152286898423, + -0.03046194129299954, + 0.02108062273457184, + -0.025897634889031962, + 0.035628353148862625, + 0.0 + ], + [ + 0.023513210494046873, + -0.009284969341259995, + -0.028494676433592485, + 0.010578504435239427, + 0.023281391532825955, + 0.043568244547432536, + 0.0 + ], + [ + 0.031822644633178944, + -0.00020167822336677216, + 0.0037197536245639324, + -0.01420166093268027, + 0.04423946968039459, + 0.019687150110430856, + 0.0 + ], + [ + 0.027903731400079807, + 0.00023168198550650897, + 0.026203139088548284, + -0.017345357857924425, + 0.03835342731997281, + -0.005885258761387415, + 0.0 + ], + [ + 0.013973707217766427, + 0.007525330734951394, + 0.027450945765877928, + -0.022051378774181764, + 0.0479774614808195, + -0.0031083336811135814, + 0.0 + ], + [ + 0.0016632918741848494, + 0.0015734963871590624, + 0.008811605722608189, + -0.002824680670313531, + 0.03980345548635467, + -0.02629591548810219, + 0.0 + ], + [ + -0.0014672523619411668, + 0.0016487660708647805, + 0.0019694391589600083, + 0.002369244910893926, + 0.013451455472194921, + -0.004232855216040402, + 0.0 + ], + [ + -1.0844945171573354e-05, + 0.0006441398229679745, + -6.34102131065327e-05, + -0.00127188507470176, + -7.384609932439973e-06, + 0.0001412626692858221, + 1.0 + ], + [ + -0.0005592282861428676, + -0.0006284833234927671, + 0.00025799415117988767, + 0.0013036784902055523, + -0.001510954049829407, + 7.354103783867418e-05, + 1.0 + ] + ], + "state": [ + [ + 0.1842145323753357, + 0.12493710964918137, + 0.1299927830696106, + -3.0908874442153653, + -0.11509646475315094, + -0.09843389689922333, + 1.0 + ], + [ + 0.18363244831562042, + 0.12451909482479095, + 0.1292048692703247, + -3.0929262061887464, + -0.11279220134019852, + -0.09820209443569183, + 1.0 + ], + [ + 0.1882263571023941, + 0.11243019253015518, + 0.11946920305490494, + -3.0933688489073, + -0.10389478504657747, + -0.08569763600826263, + 1.0 + ], + [ + 0.20747481286525726, + 0.0850079134106636, + 0.11464974284172058, + -3.068689154582568, + -0.13216993212699887, + -0.04616213962435722, + 1.0 + ], + [ + 0.2317066490650177, + 0.04491209238767624, + 0.10254672914743423, + -3.069645958142825, + -0.1544117331504822, + -0.01933893747627735, + 1.0 + ], + [ + 0.2442038506269455, + -0.004169002640992403, + 0.08795724809169769, + -3.085250472771474, + -0.14340850710868835, + -0.03808287903666496, + 1.0 + ], + [ + 0.24942409992218018, + -0.03423771634697914, + 0.0793447196483612, + -3.086002221452542, + -0.13809959590435028, + -0.08450501412153244, + 1.0 + ], + [ + 0.24880287051200867, + -0.04460235685110092, + 0.0675782561302185, + -3.0951949936621865, + -0.1545882225036621, + -0.1129278913140297, + 1.0 + ], + [ + 0.24394391477108002, + -0.042365912348032, + 0.057134389877319336, + -3.0963089150660714, + -0.16348829865455627, + -0.13417434692382812, + 1.0 + ], + [ + 0.24040338397026062, + -0.04233497008681297, + 0.04539192095398903, + -3.0654339363151273, + -0.15363569557666776, + -0.16515247523784637, + 1.0 + ], + [ + 0.2353058010339737, + -0.04105447605252266, + 0.034549131989479065, + -3.034970784681388, + -0.1636173576116562, + -0.1741311103105545, + 1.0 + ], + [ + 0.23113061487674713, + -0.03916070982813835, + 0.026630491018295288, + -3.0012603421979627, + -0.19765356183052063, + -0.15838612616062164, + 1.0 + ], + [ + 0.2238907516002655, + -0.04116658866405487, + 0.017584750428795815, + -3.001767726736613, + -0.2054852843284607, + -0.1491844803094864, + 1.0 + ], + [ + 0.2222433239221573, + -0.03759113326668739, + 0.014131206087768078, + -3.027094507711478, + -0.211940124630928, + -0.1337057203054428, + 1.0 + ], + [ + 0.22148127853870392, + -0.03717595711350441, + 0.013186711817979813, + -3.03056030173833, + -0.21417514979839322, + -0.13038939237594604, + 0.0 + ], + [ + 0.21975447237491608, + -0.03599007800221443, + 0.013271110132336617, + -3.024730274575301, + -0.1987934708595276, + -0.12676618993282315, + 0.0 + ], + [ + 0.22277557849884033, + -0.034965213388204575, + 0.02277814783155918, + -2.9940967579656323, + -0.15391699969768524, + -0.11900259554386139, + 0.0 + ], + [ + 0.23154836893081665, + -0.03907221555709839, + 0.05491342768073082, + -2.9681842495971402, + -0.12298909574747086, + -0.15066370368003845, + 0.0 + ], + [ + 0.25165581703186035, + -0.0378471240401268, + 0.08724325895309448, + -2.951940568285533, + -0.13827063143253326, + -0.1980396658182144, + 0.0 + ], + [ + 0.2832241356372833, + -0.043264709413051605, + 0.08804885298013687, + -2.962152423458644, + -0.17795208096504211, + -0.2261382043361664, + 0.0 + ], + [ + 0.31544026732444763, + -0.0461118184030056, + 0.06757225096225739, + -2.979172634082385, + -0.216739684343338, + -0.2272206544876099, + 0.0 + ], + [ + 0.3339940905570984, + -0.05346780642867088, + 0.042932961136102676, + -2.9999905993514737, + -0.26458540558814997, + -0.23208123445510864, + 0.0 + ], + [ + 0.3377608060836792, + -0.05468085780739784, + 0.034733742475509644, + -3.0083329548412046, + -0.3076440691947937, + -0.21068181097507477, + 0.0 + ], + [ + 0.33674922585487366, + -0.055868037045001984, + 0.032220326364040375, + -3.0067205299907407, + -0.3215377330780029, + -0.20814399421215057, + 0.0 + ], + [ + 0.33661285042762756, + -0.05650031939148903, + 0.032194338738918304, + -3.0079461206966123, + -0.3215114176273346, + -0.2082904875278473, + 1.0 + ], + [ + 0.3362828195095062, + -0.05575878918170929, + 0.03185448423027992, + -3.006685050325938, + -0.3200041353702545, + -0.20815517008304596, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.024030208587646484, + 0.024030208587646484, + 0.024030208587646484, + 0.024030208587646484, + 0.024030208587646484, + 0.024030208587646484, + 0.024030208587646484, + 0.024030208587646484, + 0.024030208587646484, + 0.024030208587646484, + 0.024030208587646484, + 0.024030208587646484, + 0.024030208587646484, + 0.14104825258255005, + 0.36096906661987305, + 0.3950936794281006, + 0.3950936794281006, + 0.3950936794281006, + 0.3950936794281006, + 0.3950936794281006, + 0.3950936794281006, + 0.3950936794281006, + 0.2601563334465027, + 0.05933445692062378, + 0.007925748825073242, + 0.007925748825073242 + ], + "episode_id": "2130", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2130/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2132.json b/annotation/test/2132.json new file mode 100644 index 0000000000000000000000000000000000000000..e520390da8ccbe1e365c0367fdac0a3046529b39 --- /dev/null +++ b/annotation/test/2132.json @@ -0,0 +1,679 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "place fork next to pot with red pepper" + ], + "videos": [ + { + "video_path": "videos/test/2132/rgb.mp4" + } + ], + "action": [ + [ + -5.170765090809634e-06, + -0.00047978884590234273, + 7.874240392849627e-05, + -0.00025478668797542604, + -0.0013947387505180312, + -0.0030372231720282097, + 1.0 + ], + [ + -0.0035234858626661215, + 0.0005735647697207442, + 0.006771569626456409, + -0.007820646489460582, + -0.023163571207081356, + -0.0021597031489128046, + 1.0 + ], + [ + -0.022798372278750888, + -0.02636968933475834, + 0.009819302837470843, + 0.03315627003386878, + -0.041329112682160954, + -0.04571728344292044, + 1.0 + ], + [ + -0.023564875438588487, + -0.02819351260589888, + 0.0018200525158468712, + 0.028941242510811017, + -0.009703180466364043, + -0.05135870995281414, + 1.0 + ], + [ + -0.02373905946558454, + -0.03475731519216325, + 0.010020384944545529, + 0.026234425064567808, + 0.012192619479625313, + -0.054396726374954886, + 1.0 + ], + [ + 0.0016894212486439292, + -0.007310421269604406, + 0.01870320390197862, + 0.021543987963867847, + -0.026325573556055932, + 0.010956526344173063, + 1.0 + ], + [ + 0.0105321457130745, + -0.008755979261911354, + 0.011308025944164465, + 0.01598464189908323, + 0.0025847515949603494, + 0.017090225163513127, + 1.0 + ], + [ + 0.007358932278526884, + -0.004780652193794584, + 0.01112054821721365, + -0.0007268152121661806, + -0.003153460637125369, + -0.008044872105631349, + 1.0 + ], + [ + 6.678430033955535e-05, + -0.004092036785129116, + 0.006757050370576446, + 0.0021415631352506796, + -0.03335769857897848, + -0.010115326331858257, + 1.0 + ], + [ + -0.003712788535950743, + -0.004245672078881902, + 0.0011789008573585146, + 0.0035564217302271636, + -0.013118741612691177, + -0.012987174019225254, + 1.0 + ], + [ + -0.003368320955316417, + -0.002482935745148197, + 0.003217965511481182, + 0.009227291943885982, + -0.022638899722982463, + -0.01482791119212451, + 1.0 + ], + [ + -0.003361201914600163, + -0.0010751579604705078, + 0.008649575369849066, + 0.004926579166683779, + -0.04183334128418853, + -0.005744032910498151, + 1.0 + ], + [ + 0.0019069540860824166, + -0.0018734796901666657, + 0.009567693368542988, + -0.0012353650063257622, + -0.02633209796060186, + -0.006761146610534253, + 1.0 + ], + [ + 0.0028601671660264654, + 0.0006315173072922732, + 0.006471565035615654, + 0.0012321280750224935, + -0.022973307027183008, + 0.004802585053500895, + 1.0 + ], + [ + 0.0015580226438635452, + 0.0012887852144770147, + 0.0005748600935494986, + 0.0029458911236587607, + -0.0021149769469127103, + 0.004492107855479814, + 1.0 + ], + [ + 0.0019229115289494613, + 0.0022735325821821497, + 0.0031930495497570328, + -3.9192554214576975e-05, + -0.010368412419338044, + 0.009331490388121796, + 1.0 + ], + [ + 0.00034943840855040736, + 0.0016002696121589354, + 0.0026897697048435193, + -0.0024019387089167414, + -0.006664083201274774, + 0.00809607278239931, + 1.0 + ], + [ + 0.0011780948910568253, + 0.0013275177255502632, + 0.0010334797307440576, + 0.002875486855415626, + -0.005321485366646688, + 0.008681907241990134, + 1.0 + ], + [ + 0.001139003634361857, + 0.0001134925443011924, + 4.1031438957485973e-07, + -0.0008706168900708262, + 0.0005498181727686462, + -0.002669947386157333, + 0.0 + ], + [ + -0.0004816447109852627, + 0.002482371723733713, + -0.0015542383529233506, + -0.010279111418848736, + -0.003558601772529012, + 0.0021260865606018155, + 0.0 + ], + [ + 0.0013656723850443394, + 0.0006926078112970349, + -0.04425130473892736, + 0.031494049848659354, + 0.09015540163642773, + -0.03792266750480826, + 0.0 + ], + [ + 0.00765890641929977, + 0.016994747846912645, + -0.02571875129790228, + -0.00505889800562727, + 0.04527519731369159, + 0.008622189129479478, + 0.0 + ], + [ + 0.026400104527316958, + 0.02854000841964756, + 0.002415263844901775, + -0.03790491788737309, + 0.01633852724616757, + 0.04152294891389987, + 0.0 + ], + [ + 0.03041282829509426, + 0.034715570158455174, + 0.030879498372424177, + -0.05761335176120735, + -0.05625957843054255, + 0.003450899336940808, + 0.0 + ], + [ + 0.02784230359825562, + 0.0266336518103254, + 0.02669923957999569, + -0.03127304975321952, + -0.0434825278649165, + -0.0075601218684713326, + 0.0 + ], + [ + 0.01136314231583014, + 0.0019983869401334537, + 0.007391806828801665, + -0.0003818638256880586, + -0.013986382130334459, + -0.008412800648855912, + 0.0 + ], + [ + 0.00209670571902661, + 0.0032308071636461587, + 0.0015261057175590422, + -0.0025133848612911174, + -0.019850410975648262, + 0.00926712235973669, + 0.0 + ], + [ + 0.0027349230425697795, + 0.0036911651359557746, + -0.0020423482064814056, + 0.005955939760318396, + 0.0067995412474486415, + 0.011266482920907473, + 0.0 + ], + [ + -0.007048246727349274, + 0.0012141200830755906, + -0.00877318081631393, + 0.02307829449559106, + 0.01029418600222619, + 0.028668145238587604, + 1.0 + ], + [ + -0.005924590822850413, + -0.00131284927439694, + -0.04137109050232227, + 0.025988934797543575, + 0.09524661109688275, + 0.008629850950132946, + 1.0 + ], + [ + -0.015534606047403355, + -0.0040496276457907005, + -0.03914059080080211, + 0.04316378138890236, + 0.05162662830676441, + -0.022651684598339147, + 1.0 + ], + [ + -0.01736271052542393, + -0.002539419862385799, + -0.01634396997108562, + -0.02710523147128309, + 0.03506095155898501, + -1.0239977788279031e-05, + 1.0 + ], + [ + -0.01219607112453641, + -0.010941847331309769, + 0.00027439025006272477, + -0.050454723795441116, + 0.005931023999271454, + -0.04477706383706152, + 1.0 + ], + [ + 0.00023546836304576512, + 0.001128715615415194, + 1.4474020756198705e-05, + -0.004231945284843286, + 0.00090216869819585, + 0.002521261426833144, + 1.0 + ] + ], + "state": [ + [ + 0.2973063588142395, + 0.025191644206643105, + 0.1380598545074463, + 3.119506962718912, + -0.19945846498012546, + -0.20612388849258423, + 1.0 + ], + [ + 0.2974165380001068, + 0.02565687522292137, + 0.13797128200531006, + 3.1186448467248162, + -0.19799607992172244, + -0.20305831730365753, + 1.0 + ], + [ + 0.29518765211105347, + 0.025371713563799858, + 0.13065357506275177, + 3.1104929746412715, + -0.17478878796100614, + -0.20140604674816132, + 1.0 + ], + [ + 0.28021398186683655, + 0.05501802638173103, + 0.11621645838022232, + 3.135865167370536, + -0.13188575208187103, + -0.15664702653884888, + 1.0 + ], + [ + 0.261793851852417, + 0.08645929396152496, + 0.11115329712629318, + -3.1251654384010514, + -0.12171440571546553, + -0.10496453940868378, + 1.0 + ], + [ + 0.24315926432609558, + 0.12353294342756271, + 0.09889284521341324, + -3.105590136843272, + -0.13461865484714508, + -0.050284579396247864, + 1.0 + ], + [ + 0.2477024644613266, + 0.13129329681396484, + 0.08085836470127106, + -3.082685286300727, + -0.10790902376174928, + -0.06034118309617043, + 1.0 + ], + [ + 0.2598796784877777, + 0.13998129963874817, + 0.07128241658210754, + -3.0648443048172673, + -0.10946713387966155, + -0.0776575580239296, + 1.0 + ], + [ + 0.26877620816230774, + 0.14492523670196533, + 0.06142927706241608, + -3.0664812569790563, + -0.1069360226392746, + -0.06934714317321777, + 1.0 + ], + [ + 0.26984506845474243, + 0.14944960176944733, + 0.05504221096634865, + -3.0656513070040425, + -0.07442297041416167, + -0.05672813206911087, + 1.0 + ], + [ + 0.2664569616317749, + 0.1539718508720398, + 0.0539151206612587, + -3.063134590285369, + -0.062320079654455185, + -0.04275702312588692, + 1.0 + ], + [ + 0.2634023427963257, + 0.15683254599571228, + 0.05069773271679878, + -3.0549298917227468, + -0.04090441018342972, + -0.02619021013379097, + 1.0 + ], + [ + 0.26044121384620667, + 0.15873052179813385, + 0.04204335808753967, + -3.0503131841593465, + 0.00027646939270198345, + -0.016852835193276402, + 1.0 + ], + [ + 0.26239144802093506, + 0.16143584251403809, + 0.032685741782188416, + -3.0515180995040616, + 0.025882622227072716, + -0.007719068787992001, + 1.0 + ], + [ + 0.2650819420814514, + 0.1613682508468628, + 0.02611176297068596, + -3.0503328462415418, + 0.049194689840078354, + -0.010437864810228348, + 1.0 + ], + [ + 0.26659122109413147, + 0.1601213961839676, + 0.0253460630774498, + -3.0475983714037618, + 0.051709793508052826, + -0.014724252745509148, + 1.0 + ], + [ + 0.2683071196079254, + 0.15813210606575012, + 0.02185886912047863, + -3.0480664913826665, + 0.062906451523304, + -0.023057376965880394, + 1.0 + ], + [ + 0.2684471309185028, + 0.15678644180297852, + 0.019015030935406685, + -3.050937706726142, + 0.07029575109481812, + -0.030513931065797802, + 1.0 + ], + [ + 0.2695035934448242, + 0.1555251181125641, + 0.017785705626010895, + -3.048639090853282, + 0.0763790085911751, + -0.038702163845300674, + 1.0 + ], + [ + 0.2706332206726074, + 0.15536832809448242, + 0.017687883228063583, + -3.0493104850226125, + 0.07558348029851915, + -0.03608731180429459, + 0.0 + ], + [ + 0.27015843987464905, + 0.15276873111724854, + 0.01903935894370079, + -3.0597246830635747, + 0.07932274043560027, + -0.03788205236196518, + 0.0 + ], + [ + 0.27484336495399475, + 0.148279070854187, + 0.0628390982747078, + -3.0255248715453824, + -0.013667154125869272, + -0.007604079786688088, + 0.0 + ], + [ + 0.28202810883522034, + 0.12836503982543945, + 0.08651915937662125, + -3.030286247032233, + -0.05763775110244751, + -0.021424172446131706, + 0.0 + ], + [ + 0.3080972731113434, + 0.09970487654209137, + 0.08247876167297363, + -3.065793128805705, + -0.06921084970235825, + -0.06460431963205338, + 0.0 + ], + [ + 0.33859652280807495, + 0.06538679450750351, + 0.05124225467443466, + -3.123343140008398, + -0.012851636856794357, + -0.06378167122602463, + 0.0 + ], + [ + 0.36506226658821106, + 0.03750121220946312, + 0.024421490728855133, + 3.1284783548959574, + 0.030486134812235836, + -0.05543280765414237, + 0.0 + ], + [ + 0.37606245279312134, + 0.03479244187474251, + 0.0167135838419199, + 3.128346719900616, + 0.04458060488104821, + -0.04719678685069085, + 0.0 + ], + [ + 0.37793534994125366, + 0.03144961968064308, + 0.01513843797147274, + 3.1254057736420116, + 0.06430450081825255, + -0.05674392729997634, + 0.0 + ], + [ + 0.380587637424469, + 0.02763543650507927, + 0.0170601736754179, + 3.1306443625413856, + 0.057319488376379006, + -0.06791695952415466, + 0.0 + ], + [ + 0.37399348616600037, + 0.026963399723172188, + 0.026235472410917282, + -3.1310961210452994, + 0.04668872430920601, + -0.09650027751922607, + 1.0 + ], + [ + 0.3701099455356598, + 0.028221968561410904, + 0.06784947961568832, + -3.1055099499695977, + -0.048464201390743256, + -0.10610008239746094, + 1.0 + ], + [ + 0.3530685603618622, + 0.03268677741289139, + 0.10631200671195984, + -3.0633172412687024, + -0.10086380690336227, + -0.08524935692548752, + 1.0 + ], + [ + 0.334308922290802, + 0.035548098385334015, + 0.12097238004207611, + -3.090096829580613, + -0.1358177810907364, + -0.08800558745861053, + 1.0 + ], + [ + 0.32319459319114685, + 0.0475127287209034, + 0.11960754543542862, + 3.1365094637782356, + -0.14391009509563446, + -0.04313010349869729, + 1.0 + ], + [ + 0.3233799934387207, + 0.04637490212917328, + 0.11963266879320145, + 3.132642272050031, + -0.14482460916042328, + -0.045673370361328125, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.04544806480407715, + 0.20015323162078857, + 0.5139066278934479, + 0.6313431262969971, + 0.6505534052848816, + 0.6513766944408417, + 0.6513766944408417, + 0.6513766944408417, + 0.6513766944408417, + 0.6513766944408417, + 0.6513766944408417, + 0.6513766944408417, + 0.5824717879295349, + 0.2858717441558838, + 0.026911914348602295, + 0.0, + 0.0005114078521728516, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "2132", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2132/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2134.json b/annotation/test/2134.json new file mode 100644 index 0000000000000000000000000000000000000000..80578efa0656158cb966b26548bc4042ec332d07 --- /dev/null +++ b/annotation/test/2134.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "take cup off plate" + ], + "videos": [ + { + "video_path": "videos/test/2134/rgb.mp4" + } + ], + "action": [ + [ + 2.5932872003398398e-05, + -0.00018813476432687074, + -1.1277328898101241e-07, + 0.0011865708829374938, + 0.00016242711071647883, + 0.0009586193580854251, + 1.0 + ], + [ + -0.007111243595457545, + 5.495778636421951e-05, + 0.006697188669097713, + -0.002106651545024303, + -0.03738478250612665, + 0.011900436460316341, + 1.0 + ], + [ + -0.019783965893032416, + -0.023564099635844524, + -0.008782797934248486, + -0.027161548494473567, + -0.05527804059275595, + 0.07844717225639797, + 1.0 + ], + [ + -0.022538973006821, + -0.02006402815711285, + -0.02813699872220741, + -0.04453894225201935, + 0.016887862394945243, + 0.06131862028115827, + 1.0 + ], + [ + -0.016588079791545696, + -0.012035562237502686, + -0.010012659176066401, + -0.03297625528208282, + -0.058816521485476544, + 0.03947867073835294, + 1.0 + ], + [ + -0.002355318627754421, + -0.023466146549068246, + -0.006639782623968033, + 0.06691118747175302, + 0.050574527100577096, + 0.02944572926889138, + 1.0 + ], + [ + -0.012996539682909291, + -0.024801254723968172, + 0.0030364102494917196, + 0.02432872477539769, + -0.023291294329918655, + 0.03782800369292852, + 1.0 + ], + [ + -0.0027032278461465047, + -0.018756110885507094, + -0.009864050066581398, + 0.015527077364849942, + 0.024283230628479216, + 0.028205920746300715, + 1.0 + ], + [ + -0.00456220640856394, + -0.025221100815856146, + 0.003389745898622913, + 0.012063336433428577, + -0.020909362793567678, + -0.02339939794846659, + 1.0 + ], + [ + -0.003103815973843669, + -0.02540388247269079, + 0.01283556764108152, + 0.020288785523846678, + -0.011941485993448917, + -0.051587027748644515, + 1.0 + ], + [ + -0.0011468333050849706, + -0.011164068882814402, + 0.013104823135460745, + 0.024160180455076466, + -0.004049875657315749, + -0.018089458525082272, + 1.0 + ], + [ + -0.0053358975464782065, + -0.0014611229879758936, + 0.009371733577232122, + -0.007455871503751049, + -0.0448677705747624, + 0.0034195550217171414, + 1.0 + ], + [ + -0.0014706121502130376, + 0.0028828290614235606, + 0.01469585556035971, + -0.01111160841276463, + -0.03807087706746909, + 0.0030750445601117906, + 1.0 + ], + [ + 0.0025568480575678615, + 0.007859862437608046, + 0.008122507645309782, + -0.02935398830733219, + 0.007027898591312077, + -0.0027698910749092763, + 1.0 + ], + [ + 0.0009748893793544036, + 0.008646801289932029, + 0.00918982173532697, + -0.0018404873844633297, + 0.010159010771190498, + -0.004305906283138835, + 1.0 + ], + [ + 0.0036249252160877174, + 0.0032944333933481347, + 0.0074171082997505884, + 0.030567450310133047, + 0.02017043074189311, + 0.002024692808649385, + 1.0 + ], + [ + -0.001974143656655857, + 0.0043957714169318065, + 0.012745399078877534, + 0.019216091303896368, + 0.004220664866257793, + 0.0035490096391373282, + 1.0 + ], + [ + 0.003105734575281751, + 0.0003832828159907076, + 0.0005116059827900502, + -0.00015931414374011118, + 0.022084872742043165, + -0.0001480080917350754, + 1.0 + ], + [ + -0.003148380822418846, + 0.004052065424384077, + 0.00034479486090310596, + -0.0256632752603422, + -0.020560009134734682, + -0.01075664416484711, + 0.0 + ], + [ + 0.002309856218598968, + 0.0020569885418749156, + -0.0028502325690143017, + -0.023656174094857898, + 0.00172054543680518, + -0.011435209473602805, + 0.0 + ], + [ + 0.000662912076271599, + 0.0008831370852902152, + -0.004694540900433961, + 0.011798175931102908, + 7.636399240456541e-05, + -0.004545004194203697, + 0.0 + ], + [ + 0.008711462996196304, + 0.0025770926278565346, + -0.025555091477813832, + 0.01414796678682856, + 0.04315774358519343, + -0.010013397766873164, + 0.0 + ], + [ + 0.008028929872435843, + 0.01656213104867946, + -0.012952209861380615, + -0.01588711313075751, + -0.001130841844850184, + 0.02071273926298694, + 0.0 + ], + [ + 0.008222191009694547, + 0.034785879322899886, + -0.011445813810770165, + -0.005066904540249658, + 0.01988737482351767, + 0.08660103386304455, + 0.0 + ], + [ + -0.002527892422856389, + 0.03742976764681194, + -0.005165815996711387, + -0.014868241329566568, + 0.01566366413064774, + 0.09929678776470376, + 0.0 + ], + [ + 0.001048200014997754, + 0.024986259429182523, + 0.0023549131660170323, + -0.03227142948650456, + -0.022869744293577486, + 0.06031479021411837, + 0.0 + ], + [ + 0.004887325639245342, + 0.022081194796841338, + 0.007485219475382769, + -0.018277559005890724, + -0.017594502903814292, + 0.029789768813996323, + 0.0 + ], + [ + 0.004188342359629916, + 0.010083142583550805, + 0.019134988654742027, + -0.0167686156231489, + -0.033254974479335356, + 0.004994294014305709, + 0.0 + ], + [ + -0.002169862142957584, + 0.006024431469867892, + 0.021160584879864514, + -0.0007326414616472024, + 0.026777705247784, + -0.01762834634433033, + 0.0 + ], + [ + -0.003952538000790922, + 0.0032198085883434913, + 0.012466707470206694, + 0.024911156154924896, + 0.055981020740889655, + -0.01542887452725986, + 0.0 + ], + [ + 0.002790133406539598, + -0.00039542594426317625, + -0.007017494464859937, + -0.038020656322934034, + 0.0509206826087011, + -0.031256499552373605, + 0.0 + ], + [ + -0.001228987028537743, + -3.213415375283644e-05, + -0.004563132689175277, + -0.023227437331760997, + -0.0032972654008754636, + 0.0037977518171545977, + 1.0 + ], + [ + 0.004083085542533492, + -0.000619784498856428, + -0.00812980699915326, + -0.0006445602139843333, + -0.014547747809651082, + -0.0019240778970610922, + 1.0 + ], + [ + 0.006138473130118139, + -0.0010462975070053664, + -0.01581122392042162, + 0.005390547851324774, + -0.01065730985904721, + -0.008318478710889686, + 1.0 + ], + [ + 0.008416150720513155, + -0.005143204389439225, + -0.02563678432509439, + 0.011153117082430247, + 0.033100468032883267, + -0.028739373367436226, + 1.0 + ], + [ + 0.018045757916702685, + -0.01100613093458086, + -0.020771782434660303, + -0.01701684739256375, + 0.06768858809354002, + -0.03079167547692174, + 1.0 + ], + [ + -0.0004910048555077486, + -0.002480240836522913, + -0.0006368361834485378, + 0.0017735713429458545, + 0.0009329141713140172, + -0.0047774824607599445, + 1.0 + ], + [ + 9.561612925552328e-06, + 0.000865059875415531, + 9.04708154747822e-05, + -0.0015607176806867662, + -0.0014605091847388163, + 0.0029408654984641727, + 1.0 + ] + ], + "state": [ + [ + 0.31023815274238586, + -0.02407674305140972, + 0.10522617399692535, + -3.120484858872839, + -0.2542751431465149, + 0.00106413708999753, + 1.0 + ], + [ + 0.3102620244026184, + -0.02388862706720829, + 0.10523664951324463, + -3.1190483068400106, + -0.25441718101501465, + 7.031196582829578e-05, + 1.0 + ], + [ + 0.3050651252269745, + -0.023792965337634087, + 0.0969657227396965, + -3.1182917935126504, + -0.21675790846347812, + -0.011240878142416477, + 1.0 + ], + [ + 0.28400152921676636, + -0.00020163168665021658, + 0.10182201117277145, + -3.128700771490582, + -0.1590222269296646, + -0.089241661131382, + 1.0 + ], + [ + 0.2591129243373871, + 0.02180372178554535, + 0.12628796696662903, + 3.119811337562748, + -0.17481441795825958, + -0.15171796083450317, + 1.0 + ], + [ + 0.24314087629318237, + 0.03663887456059456, + 0.13300246000289917, + 3.093949696170636, + -0.11672630906105042, + -0.19267915189266202, + 1.0 + ], + [ + 0.24476347863674164, + 0.060525938868522644, + 0.13820530474185944, + -3.1191784554445228, + -0.1686025857925415, + -0.22003327310085297, + 1.0 + ], + [ + 0.23809288442134857, + 0.08749517798423767, + 0.1335797905921936, + -3.0885363091998776, + -0.1443516314029694, + -0.25771123170852667, + 1.0 + ], + [ + 0.23863787949085236, + 0.10617993772029877, + 0.14392296969890594, + -3.068720469372817, + -0.16704185307025907, + -0.28757309913635254, + 1.0 + ], + [ + 0.2417745292186737, + 0.13174092769622803, + 0.14164146780967712, + -3.060842180746146, + -0.1478395313024521, + -0.2624440491199493, + 1.0 + ], + [ + 0.2471761554479599, + 0.15758076310157776, + 0.1305568814277649, + -3.0484470968418798, + -0.13989214599132538, + -0.20954720675945282, + 1.0 + ], + [ + 0.2502691149711609, + 0.1695334017276764, + 0.11850465834140778, + -3.026890145736285, + -0.13751845061779022, + -0.190984308719635, + 1.0 + ], + [ + 0.24678941071033478, + 0.17277704179286957, + 0.10871657729148865, + -3.034469897049018, + -0.09255412966012955, + -0.18923704326152802, + 1.0 + ], + [ + 0.2464619278907776, + 0.1715211719274521, + 0.09372467547655106, + -3.045597532885619, + -0.054372761398553855, + -0.1882212609052658, + 1.0 + ], + [ + 0.24812352657318115, + 0.16403286159038544, + 0.08503822982311249, + -3.07506279845769, + -0.061633672565221786, + -0.18613383173942566, + 1.0 + ], + [ + 0.24818600714206696, + 0.1558634638786316, + 0.07537244260311127, + -3.0771238972717008, + -0.07205606251955032, + -0.1825036257505417, + 1.0 + ], + [ + 0.25177058577537537, + 0.1523447036743164, + 0.06803923100233078, + -3.0463036244087895, + -0.09205374866724014, + -0.18583719432353973, + 1.0 + ], + [ + 0.2504381835460663, + 0.14937661588191986, + 0.05480743572115898, + -3.0267240797453603, + -0.09591688215732574, + -0.189789816737175, + 1.0 + ], + [ + 0.25346529483795166, + 0.14846709370613098, + 0.054555244743824005, + -3.0266256054216107, + -0.11787287890911102, + -0.19219055771827698, + 1.0 + ], + [ + 0.24972820281982422, + 0.14513377845287323, + 0.053383249789476395, + -3.053815761702605, + -0.09867245703935626, + -0.179084911942482, + 0.0 + ], + [ + 0.25132280588150024, + 0.14250881969928741, + 0.05625680088996887, + -3.0785903726988515, + -0.10138256102800369, + -0.167786568403244, + 0.0 + ], + [ + 0.25131452083587646, + 0.1413165032863617, + 0.06092974543571472, + -3.0672538225823125, + -0.10174388438463211, + -0.16323183476924896, + 0.0 + ], + [ + 0.2566048204898834, + 0.1359170526266098, + 0.08697686344385147, + -3.0537339841299733, + -0.14552369713783264, + -0.15638750791549683, + 0.0 + ], + [ + 0.26006534695625305, + 0.11751879751682281, + 0.0994691252708435, + -3.06663170655305, + -0.14254900813102722, + -0.17713151872158048, + 0.0 + ], + [ + 0.2605816423892975, + 0.08131598681211472, + 0.10935641080141068, + -3.059357615309306, + -0.1553489714860916, + -0.266040027141571, + 0.0 + ], + [ + 0.24794340133666992, + 0.04565662145614624, + 0.11101409792900085, + -3.058939168351241, + -0.162029966711998, + -0.3676159381866455, + 0.0 + ], + [ + 0.24069328606128693, + 0.02197335846722126, + 0.10683123022317886, + -3.081856785463639, + -0.13398574292659757, + -0.4263445436954498, + 0.0 + ], + [ + 0.23724186420440674, + -0.00017709161329548806, + 0.09877276420593262, + -3.0962928143614015, + -0.11458908766508102, + -0.4552151560783387, + 0.0 + ], + [ + 0.23894137144088745, + -0.011259092018008232, + 0.07980804145336151, + -3.1126371083133897, + -0.08114138245582582, + -0.45870739221572876, + 0.0 + ], + [ + 0.2361568957567215, + -0.015916932374238968, + 0.05837620422244072, + -3.1147368495636663, + -0.10840664058923723, + -0.44176858663558966, + 0.0 + ], + [ + 0.2325991690158844, + -0.017424479126930237, + 0.045473553240299225, + -3.091312701004096, + -0.1647711396217346, + -0.42768123745918274, + 0.0 + ], + [ + 0.23407210409641266, + -0.0180494524538517, + 0.05286451429128647, + -3.1341015655831477, + -0.21712926030158997, + -0.3983756899833679, + 0.0 + ], + [ + 0.23205909132957458, + -0.017204439267516136, + 0.05705585703253746, + 3.1266880222880324, + -0.2138020694255829, + -0.4022365212440491, + 1.0 + ], + [ + 0.23443548381328583, + -0.017410289496183395, + 0.06585698574781418, + 3.1256724057071885, + -0.19922694563865662, + -0.4004952311515808, + 1.0 + ], + [ + 0.23760420083999634, + -0.017342450097203255, + 0.08255204558372498, + 3.129421000490435, + -0.18843187391757965, + -0.39220112562179565, + 1.0 + ], + [ + 0.24290217459201813, + -0.01363077387213707, + 0.10924818366765976, + 3.1349787014820656, + -0.22109867632389069, + -0.3623497784137726, + 1.0 + ], + [ + 0.25907090306282043, + -0.00784305203706026, + 0.1334003210067749, + 3.110804934176155, + -0.2884708046913147, + -0.3298379182815552, + 1.0 + ], + [ + 0.2592840790748596, + -0.005274997092783451, + 0.13379767537117004, + 3.111152961971708, + -0.28925278782844543, + -0.3248257637023926, + 1.0 + ], + [ + 0.2590332627296448, + -0.006105809472501278, + 0.13373896479606628, + 3.1104800069057426, + -0.2878811359405518, + -0.3279377818107605, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016, + 0.05310845375061035, + 0.3258223533630371, + 0.6202564239501953, + 0.7808040380477905, + 0.7925471663475037, + 0.7667048275470734, + 0.7634250819683075, + 0.7634250819683075, + 0.7634250819683075, + 0.7634250819683075, + 0.7634250819683075, + 0.7634250819683075, + 0.7634250819683075, + 0.7153154015541077, + 0.45278340578079224, + 0.15823012590408325, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2134", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2134/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/216.json b/annotation/test/216.json new file mode 100644 index 0000000000000000000000000000000000000000..c3e63f38dfa46a079ecfbb1f8ff63b2a6f04baf8 --- /dev/null +++ b/annotation/test/216.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the fish to the right front of the table." + ], + "videos": [ + { + "video_path": "videos/test/216/rgb.mp4" + } + ], + "action": [ + [ + 0.0003748664967984818, + -9.426105692501541e-05, + 5.901910650602513e-05, + -1.6095642510304828e-10, + 1.8349658471455586e-09, + -0.0015339833291800032, + 1.0 + ], + [ + -0.0018238056150649126, + 0.0001033344638319047, + 0.007312654274492351, + -0.005983812305781229, + -0.025354559235571967, + -0.004260550082315004, + 1.0 + ], + [ + 0.009727529464556123, + -0.001979202080457202, + 0.011863438371896306, + -0.003634153358134779, + 0.008826365877559842, + -0.024133156426358607, + 1.0 + ], + [ + 0.02091328498881296, + -0.001969448165458741, + 0.006622217985978204, + -0.03883629636032147, + 0.03229593853639781, + 0.0005778751411736694, + 1.0 + ], + [ + 0.01900932248973185, + -0.007224785308314459, + 0.011450321269165595, + -0.027882130350742346, + 0.014178324700150468, + -0.020826881583688638, + 1.0 + ], + [ + 0.018074512399233984, + -0.00748628993134275, + 0.012978886452552824, + 0.010096773897756539, + -0.001199654369452141, + -0.023281622915421053, + 1.0 + ], + [ + 0.010944874254025502, + -0.0021591914721087436, + 0.019385424799442778, + 0.0015156876049700649, + -0.01859941328162723, + -0.021564288176601432, + 1.0 + ], + [ + 0.011474985696569679, + 0.0071204676611834935, + 0.006160978748335539, + 0.007591659772426277, + 0.007217331998013862, + 0.0101170897940051, + 1.0 + ], + [ + 0.013514446296685351, + 0.005530831631425772, + 0.000315820563979401, + 0.01714482865806566, + 0.013545788603958029, + 0.019580134706343715, + 1.0 + ], + [ + 0.0002559454357229853, + -0.0008767181118972604, + -0.0035349177784827473, + 0.02565878844636763, + -0.018128662691918578, + -0.0009134167427932793, + 1.0 + ], + [ + -0.0018501638757090373, + -0.001339762482230881, + -0.00442705779811764, + 0.005987774885025207, + -0.015044724280273333, + 0.008187370743228796, + 1.0 + ], + [ + 0.005481589472231452, + 0.0034661129726855045, + -0.009670574266477315, + -0.022263365446247494, + 0.03534265874155154, + -0.00035523573485635895, + 1.0 + ], + [ + 0.013688087835682613, + 0.012177646703892408, + -0.00971665531736173, + -0.0029878472949492834, + 0.036968543169054326, + 0.04477925750639516, + 1.0 + ], + [ + 0.009308854831426372, + 0.015168583332990327, + 0.0052439652929727265, + -0.005372330740229604, + 0.002067685129024764, + 0.046010549942074264, + 1.0 + ], + [ + -0.001856472859871838, + 0.0015987123216564237, + 0.016017621723591058, + -0.001444859732139358, + -0.041121934956376005, + 0.010369605303077845, + 1.0 + ], + [ + -0.0016823990521849968, + -0.00042338482965783095, + 0.0012032589234456294, + 0.00542864854323978, + -0.012256652880001283, + 0.007565804173364028, + 1.0 + ], + [ + -0.003702282026951316, + -0.0029472674758364275, + 0.0036973832791952614, + 0.015884677907695485, + -0.02845596100054477, + 0.007094531569383258, + 1.0 + ], + [ + -0.0032763712063246077, + -0.004177399282983195, + 0.005766416760651177, + 0.023420590631200396, + -0.02663047331350299, + 0.0029472699473799043, + 1.0 + ], + [ + -0.004668077862306458, + -0.001009804142525661, + 0.01277495251653303, + 0.023539763319801947, + -0.046783342270110044, + 0.012838955709504734, + 1.0 + ], + [ + -0.0012206254686647027, + 0.00717696903679759, + 0.00860669752462426, + 0.011363737521346355, + -0.02813846448005502, + 0.0230759394496108, + 1.0 + ], + [ + 0.0011164016498805612, + 0.0021301976528714725, + 5.5338948844250984e-05, + -0.00927399360984724, + 0.009337930430885176, + -0.006025549983827322, + 1.0 + ], + [ + -0.0023677442143189313, + 0.004492694743358547, + -0.014572562253384953, + -0.022846496669877325, + 0.04606949892151234, + -0.0014422017404099744, + 0.0 + ], + [ + -0.0036841911217020797, + -0.008530948782730832, + -0.04902968720771031, + 0.030653180526903755, + 0.11958436077606911, + -0.03387821034744178, + 0.0 + ], + [ + -0.01057481414317039, + 0.009882207221071823, + -0.02719567086448162, + 0.012181105479777452, + 0.029303888473974637, + 0.0021473928276990522, + 0.0 + ], + [ + -0.029786998518068562, + 0.01888192674055986, + -0.014415976944090983, + -0.019361976729076056, + -0.004890755686735629, + 0.02481337661643805, + 0.0 + ], + [ + -0.03679776709711916, + 0.01710934220945434, + 0.011459410284617276, + -0.014394852302979811, + -0.06329177117914647, + 0.0189901967642266, + 0.0 + ], + [ + -0.02077646084894695, + 0.00033491260060958706, + 0.016544663367513264, + 0.02497010601732933, + -0.0618364763277099, + -0.004839145459366971, + 0.0 + ], + [ + -0.007524727117554508, + 0.00011685144642811999, + 0.01935031374494075, + 0.003928395184049033, + -0.026377373500739085, + 0.013838059975336334, + 0.0 + ], + [ + 0.0013348961100241345, + 0.0018971111459348425, + 0.010648490818722841, + -0.007527882655852458, + -0.020816276546609298, + 0.011456467828310864, + 0.0 + ], + [ + 0.008640812993414761, + 0.011732776851152335, + 0.008174031588716723, + -0.015908064619576067, + -0.0128232952533961, + 0.04923521948043519, + 0.0 + ], + [ + 0.0051392929959353075, + 0.0045450161867276115, + -0.005590595309344076, + -0.0050774150275159, + 0.003919227913985508, + 0.03344920522802578, + 1.0 + ], + [ + -0.0004988453244747545, + 0.0005910409795798418, + -0.011434953083888488, + 0.002191209343862274, + 0.02293712192223208, + 0.014188028889454873, + 1.0 + ], + [ + -0.005650529847433171, + -0.012090634560822076, + -0.03829119469068079, + 0.014700623008340977, + 0.08590030232015096, + -0.02327907159309746, + 1.0 + ], + [ + -0.012558271141471188, + -0.024545163685357734, + -0.03824330244356601, + 0.021709228573472326, + 0.07521309367137731, + -0.06825112572465138, + 1.0 + ], + [ + -0.010799218295196528, + -0.025146428216680557, + -0.022394583864453203, + 0.003458631663576803, + 0.05837179668700979, + -0.09497106712923915, + 1.0 + ], + [ + -0.005685818611029976, + -0.007597105036073566, + 0.00027627195635307103, + -0.03448534455763574, + -0.0011832936064457846, + -0.010924870884717925, + 1.0 + ], + [ + -0.0011496546085941078, + -0.002217751770253351, + 0.00010592315724967091, + -0.00866497044339579, + -0.0020892035316788186, + -0.005040537524015304, + 1.0 + ], + [ + 0.00018266930988763104, + -0.00026850084033003924, + 0.0003567537349820807, + -0.0009106992854576886, + 0.0004691408843514489, + 0.0007754586934942477, + 1.0 + ] + ], + "state": [ + [ + 0.2592037618160248, + 0.03146703168749809, + 0.1051100343465805, + 3.1139667221629104, + -0.07042386382818222, + -0.09280240535736084, + 1.0 + ], + [ + 0.25958898663520813, + 0.0315241739153862, + 0.10507496446371078, + 3.113858588161417, + -0.07038141041994095, + -0.09126520156860352, + 1.0 + ], + [ + 0.2582610845565796, + 0.031338345259428024, + 0.09765782207250595, + 3.1076157336407384, + -0.044918011873960495, + -0.08770709484815598, + 1.0 + ], + [ + 0.2686127722263336, + 0.032009225338697433, + 0.08618281781673431, + 3.102892479049512, + -0.052906148135662086, + -0.06325466930866241, + 1.0 + ], + [ + 0.2899164855480194, + 0.03237505257129669, + 0.08060465008020401, + 3.064000295596667, + -0.0852002426981926, + -0.06258003413677216, + 1.0 + ], + [ + 0.31023186445236206, + 0.037429921329021454, + 0.07028983533382416, + 3.0342596789174756, + -0.09770122170448305, + -0.04061390087008476, + 1.0 + ], + [ + 0.3297869861125946, + 0.042693089693784714, + 0.058412112295627594, + 3.042129734652587, + -0.09398864209651948, + -0.017492778599262238, + 1.0 + ], + [ + 0.3425159752368927, + 0.04269400238990784, + 0.04002135619521141, + 3.0418020134144506, + -0.0733218863606453, + 0.002166845602914691, + 1.0 + ], + [ + 0.35437390208244324, + 0.035020846873521805, + 0.03545558452606201, + 3.050082491832324, + -0.08150800317525864, + -0.007211730349808931, + 1.0 + ], + [ + 0.3677876591682434, + 0.02938741445541382, + 0.03674618899822235, + 3.0687278379970273, + -0.09677266329526901, + -0.025555947795510292, + 1.0 + ], + [ + 0.3677368760108948, + 0.030520817264914513, + 0.04021643474698067, + 3.0944142696731767, + -0.0786256045103073, + -0.025966072455048558, + 1.0 + ], + [ + 0.3655909597873688, + 0.03212412819266319, + 0.04441659525036812, + 3.1010980774932584, + -0.06398063153028488, + -0.034871149808168404, + 1.0 + ], + [ + 0.3703245222568512, + 0.028885355219244957, + 0.05454998090863228, + 3.0786946808272084, + -0.09927982091903685, + -0.03307709470391274, + 1.0 + ], + [ + 0.38251954317092896, + 0.01693270355463028, + 0.06631806492805481, + 3.0799593051248273, + -0.13889935612678525, + -0.07582374662160873, + 1.0 + ], + [ + 0.3911345303058624, + 0.000770891085267067, + 0.06334860622882843, + 3.081055948632308, + -0.1436494439840317, + -0.1220962181687355, + 1.0 + ], + [ + 0.39125651121139526, + -0.0018281596712768078, + 0.047354962676763535, + 3.0814126675301274, + -0.10321836173534392, + -0.1349940598011017, + 1.0 + ], + [ + 0.38977065682411194, + -0.0012728850124403834, + 0.04596159979701042, + 3.0876965207331857, + -0.09143537282943724, + -0.1433175355195999, + 1.0 + ], + [ + 0.38686153292655945, + 0.0019191533792763948, + 0.04178885370492935, + 3.104349775361367, + -0.06339952349662782, + -0.15194900333881378, + 1.0 + ], + [ + 0.3845994174480438, + 0.00627150060608983, + 0.03567520156502724, + 3.128007046068557, + -0.03689676895737648, + -0.15588732063770294, + 1.0 + ], + [ + 0.3805868923664093, + 0.007748543284833431, + 0.0227242149412632, + -3.131155111948498, + 0.009711183607578278, + -0.16934706270694733, + 1.0 + ], + [ + 0.3781062960624695, + 0.000983093399554491, + 0.014055340550839901, + -3.12001131859655, + 0.0380864255130291, + -0.19213540852069855, + 1.0 + ], + [ + 0.37879112362861633, + -0.001318538561463356, + 0.013911609537899494, + -3.1290629376941403, + 0.02861999534070492, + -0.18631064891815188, + 1.0 + ], + [ + 0.3760075271129608, + -0.005551094654947519, + 0.02848854847252369, + 3.131313918279954, + -0.01746396534144878, + -0.18544697761535645, + 0.0 + ], + [ + 0.37321290373802185, + 0.004165243823081255, + 0.07735615968704224, + -3.1219045521044215, + -0.13668304681777954, + -0.15025730431079865, + 0.0 + ], + [ + 0.35765865445137024, + -0.004014251288026571, + 0.10265932977199554, + -3.1093387213819703, + -0.16593846678733826, + -0.15301810204982758, + 0.0 + ], + [ + 0.32342395186424255, + -0.01830006018280983, + 0.1113491877913475, + -3.12458726962144, + -0.1601993441581726, + -0.1779801994562149, + 0.0 + ], + [ + 0.2865215539932251, + -0.028845371678471565, + 0.09388113766908646, + -3.136080607427754, + -0.09656818211078642, + -0.19593758881092072, + 0.0 + ], + [ + 0.2677549719810486, + -0.02536896988749504, + 0.07540874183177948, + -3.111599799367138, + -0.03475802764296531, + -0.19076400995254517, + 0.0 + ], + [ + 0.26111915707588196, + -0.023615464568138123, + 0.05581381916999817, + -3.107210336374589, + -0.007974596694111824, + -0.20380045473575595, + 0.0 + ], + [ + 0.26220035552978516, + -0.025401189923286438, + 0.045117393136024475, + -3.114647142710634, + 0.013223649933934212, + -0.21453304588794708, + 0.0 + ], + [ + 0.2680826783180237, + -0.03846116364002228, + 0.0365167036652565, + -3.1312314105504235, + 0.027352480217814445, + -0.2634187340736389, + 0.0 + ], + [ + 0.27199074625968933, + -0.044282250106334686, + 0.04191727936267853, + -3.137230508616664, + 0.023764628916978836, + -0.2969159781932831, + 1.0 + ], + [ + 0.2715861201286316, + -0.04482869431376457, + 0.05335817113518715, + -3.135378101496496, + 0.0008871883619576694, + -0.311200201511383, + 1.0 + ], + [ + 0.2698686420917511, + -0.03182578831911087, + 0.09172876179218292, + -3.1206358430259904, + -0.08515633642673494, + -0.28845831751823425, + 1.0 + ], + [ + 0.26146623492240906, + -0.004571075085550547, + 0.12926948070526123, + -3.104654202359267, + -0.16159123182296753, + -0.22111499309539792, + 1.0 + ], + [ + 0.25273841619491577, + 0.02229953557252884, + 0.15053632855415344, + -3.1165719648175916, + -0.22271767258644104, + -0.126183420419693, + 1.0 + ], + [ + 0.24821265041828156, + 0.030536223202943802, + 0.14919644594192505, + 3.1296469421410045, + -0.22179448604583743, + -0.11495736986398698, + 1.0 + ], + [ + 0.24738171696662903, + 0.03286322206258774, + 0.1488143801689148, + 3.119851691769906, + -0.21964238584041595, + -0.10981870442628859, + 1.0 + ], + [ + 0.24766600131988525, + 0.0330941379070282, + 0.14850038290023804, + 3.1191118137263736, + -0.22012820839881897, + -0.11060269922018051, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0025147199630737305, + 0.05388200283050537, + 0.36498814821243286, + 0.5570135116577148, + 0.5716392397880554, + 0.5761673152446747, + 0.5770704746246338, + 0.5779728293418884, + 0.5779728293418884, + 0.5779728293418884, + 0.5779728293418884, + 0.48796534538269043, + 0.17480432987213135, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "216", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/216/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2184.json b/annotation/test/2184.json new file mode 100644 index 0000000000000000000000000000000000000000..e4305660e431f9178954f86d8632a6d42bb9cab7 --- /dev/null +++ b/annotation/test/2184.json @@ -0,0 +1,546 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "upright basil bottle cardboard fence" + ], + "videos": [ + { + "video_path": "videos/test/2184/rgb.mp4" + } + ], + "action": [ + [ + 0.0001588891455503738, + 0.000689960513158496, + -7.550681158662605e-05, + -0.0019454626031422616, + 0.0013721324784726268, + 0.0006577906014897189, + 1.0 + ], + [ + -0.005853727519022581, + 0.0032804022257956816, + 0.007197294024152445, + -0.011173853127641133, + -0.04949902945082724, + -0.022431572924526865, + 1.0 + ], + [ + 0.016526487824960075, + 0.011462305798936428, + -7.443187442198638e-05, + -0.1027141967327009, + -0.1357253179476729, + -0.2523162696844914, + 1.0 + ], + [ + 0.01770127991586497, + 0.010070079947312842, + 0.007865523671177994, + -0.001959827918323519, + -0.06272701450375329, + -0.25358137119696444, + 1.0 + ], + [ + 0.015435319538368061, + 0.00829177290130215, + 0.011289350571059526, + 0.007435037109850311, + 0.012517115596457814, + -0.19210759321250792, + 1.0 + ], + [ + 0.009354867249065266, + 0.006512564911389505, + 0.009804365416904558, + -0.022972044823419732, + 0.0643306402339415, + -0.0503036469768647, + 1.0 + ], + [ + 0.0026354794377023857, + 0.003791801118700942, + 0.00971940300926819, + -0.049138588727614056, + 0.0341843882941691, + -0.06934826382954776, + 1.0 + ], + [ + 0.00034339266357423834, + 0.00274445642410244, + 0.011335497960184166, + -0.009500185990139196, + 0.014224596283916152, + -0.03550411864483146, + 1.0 + ], + [ + -0.00430507298244177, + -0.0018809462335844546, + 0.007445443787444226, + 0.011678337626562984, + 0.009519956658398618, + -0.01750033463765992, + 1.0 + ], + [ + -0.006275271914044476, + -0.0038479095385029944, + 0.015161552692861848, + 0.05400898294941539, + -0.013537948958321205, + -0.004127240125048249, + 1.0 + ], + [ + -0.000965795590779265, + -0.0006459234834981486, + 0.009142963952585098, + -0.005256287483723957, + 0.026282466728846106, + 0.005464914503758345, + 1.0 + ], + [ + 0.0006293448214216077, + -0.001188717341771788, + 0.005204847038245363, + 0.018555923731560925, + 0.012109920161411125, + 0.010870288937691402, + 1.0 + ], + [ + -0.0023313597124596484, + -0.0027380579606152335, + -0.0005644388685115436, + 0.017493400955821782, + -0.020161069531970482, + 0.03948531962583556, + 0.0 + ], + [ + 0.0003481995565296341, + -0.0024204741183196142, + -0.00036808636440971405, + 0.00933435286327284, + -0.0063084427820646015, + 0.034134506459365256, + 0.0 + ], + [ + -0.0014228367357369896, + -0.005566680732898679, + -0.02343862172153903, + 0.0040802552291951105, + -0.006133347406717455, + 0.03086949210017027, + 0.0 + ], + [ + -0.0007611853924568831, + -0.0019051883703062925, + -0.01906531595620175, + 0.028472299898870033, + -0.07609138704068892, + 0.001304210372425344, + 0.0 + ], + [ + -0.0029388509258583173, + -0.000342538612242095, + -0.022759950755857232, + 0.028691342155402585, + -0.08926268386304241, + -0.012640660574285624, + 0.0 + ], + [ + -0.003323410141771203, + -0.001064718134036533, + -0.011615951798684371, + 0.01480270230355265, + -0.04396868122307391, + -0.0078045299241481505, + 0.0 + ], + [ + 0.0003715989978033316, + -0.0003173307656085257, + -0.01081050955012031, + -0.011747202290442045, + -0.036936370369819414, + -0.010017966130773463, + 0.0 + ], + [ + 0.010056086720086472, + 0.001441213498275762, + -0.011411321360526878, + -0.028054794030809894, + 0.02066594634450638, + -0.021608493945465213, + 0.0 + ], + [ + 0.009903319872453308, + 0.0005726607653229149, + 0.012634574093486775, + 0.0014460505488930943, + 0.048078369397454655, + -0.015907302211097343, + 0.0 + ], + [ + -0.00869564960533449, + -0.004325760263334986, + 0.014552789910249582, + 0.030039467178571005, + 0.008821921094766155, + 0.02664460694149557, + 1.0 + ], + [ + -0.00431696003216126, + -0.0005480886192933403, + -0.01622664914878859, + -0.05329593898071076, + 0.09412643468962652, + 0.021184366279624823, + 1.0 + ], + [ + -0.007557118080927213, + -0.0007947237287540357, + -0.02200027177285067, + -0.051131819680991605, + 0.11817556669151422, + 0.047993060586926255, + 1.0 + ], + [ + 0.0005417089815481893, + 0.0008698611188221708, + -0.018132124523999, + -0.03251539922412503, + 0.03724160169778097, + 0.04985765007064582, + 1.0 + ], + [ + 5.9492796730325796e-05, + -2.2260759205493815e-05, + -0.0004987940511194695, + -0.001166781982771308, + 0.0009788444936789566, + 0.005952026308462025, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -5.420680248722061e-18, + -7.614714503346286e-18, + -1.0737477657610156e-17, + 1.0 + ] + ], + "state": [ + [ + 0.2699752151966095, + 0.08324258774518967, + 0.10794635862112045, + -2.975603224831172, + -0.18630163371562958, + 0.3429883420467377, + 1.0 + ], + [ + 0.2703621983528137, + 0.08264496922492981, + 0.10793694108724594, + -2.977383541064807, + -0.18754614889621735, + 0.3420972526073456, + 1.0 + ], + [ + 0.2669766843318939, + 0.07925298064947128, + 0.0993427038192749, + -2.994122015433856, + -0.1422937661409378, + 0.37259948253631586, + 1.0 + ], + [ + 0.28655776381492615, + 0.07472147047519684, + 0.10009206086397171, + -3.1385847987891218, + -0.03956124559044838, + 0.6405502557754518, + 1.0 + ], + [ + 0.30699342489242554, + 0.07742390781641006, + 0.09290256351232529, + 3.1326179477670273, + 0.023675456643104553, + 0.8938881158828735, + 1.0 + ], + [ + 0.3230351507663727, + 0.08398851752281189, + 0.08132582157850266, + -3.138445092719518, + 0.012436361983418463, + 1.0861021280288696, + 1.0 + ], + [ + 0.333071768283844, + 0.08913706243038177, + 0.07138542830944061, + 3.1223943774872502, + -0.052067819982767105, + 1.1361666917800903, + 1.0 + ], + [ + 0.33799922466278076, + 0.0903046578168869, + 0.06189084053039551, + 3.069638842838355, + -0.08478790521621704, + 1.2063719034194946, + 1.0 + ], + [ + 0.34177547693252563, + 0.09023725986480713, + 0.050850965082645416, + 3.0570800100737294, + -0.09636735916137695, + 1.2429736852645874, + 1.0 + ], + [ + 0.3394511044025421, + 0.08727174997329712, + 0.04289425164461136, + 3.067003945010253, + -0.10436008870601654, + 1.2613142728805542, + 1.0 + ], + [ + 0.3354603052139282, + 0.08368032425642014, + 0.026918228715658188, + 3.1206814647936305, + -0.0905517190694809, + 1.2644336223602295, + 1.0 + ], + [ + 0.33498644828796387, + 0.08368965238332748, + 0.01771392859518528, + 3.1158656255626163, + -0.11694160848855971, + 1.259487509727478, + 1.0 + ], + [ + 0.33436119556427, + 0.08518892526626587, + 0.012589399702847004, + 3.1356629711859902, + -0.12932059168815613, + 1.2488442659378052, + 1.0 + ], + [ + 0.331006795167923, + 0.0837961733341217, + 0.012832362204790115, + -3.124888792755552, + -0.10929223895072937, + 1.2090102434158325, + 0.0 + ], + [ + 0.32885581254959106, + 0.08493264019489288, + 0.01327636931091547, + -3.111833755048462, + -0.10235117375850677, + 1.1748075485229492, + 0.0 + ], + [ + 0.3228898346424103, + 0.08327990770339966, + 0.03660139814019203, + -3.104619177179881, + -0.09525389969348909, + 1.1439951658248901, + 0.0 + ], + [ + 0.3207316994667053, + 0.08143093436956406, + 0.05556502565741539, + -3.0761836787038526, + -0.019166298210620877, + 1.1455059051513672, + 0.0 + ], + [ + 0.3203833997249603, + 0.0778847336769104, + 0.07823819667100906, + -3.0475963820987424, + 0.0690821036696434, + 1.163940668106079, + 0.0 + ], + [ + 0.3194177746772766, + 0.07556737959384918, + 0.09010438621044159, + -3.0318826158815106, + 0.112119160592556, + 1.1759040355682373, + 0.0 + ], + [ + 0.3208252489566803, + 0.0766875296831131, + 0.10077538341283798, + -3.0419814829998693, + 0.14772546291351318, + 1.1900526285171509, + 0.0 + ], + [ + 0.32751965522766113, + 0.08649919927120209, + 0.11038456112146378, + -3.0671492238813123, + 0.12498516589403152, + 1.2096468210220337, + 0.0 + ], + [ + 0.3300899863243103, + 0.09434734284877777, + 0.09660645574331284, + -3.0640867074304303, + 0.0758475586771965, + 1.2219523191452026, + 0.0 + ], + [ + 0.32164719700813293, + 0.08704889565706253, + 0.08313195407390594, + -3.0361424033814153, + 0.0690867155790329, + 1.1946402788162231, + 1.0 + ], + [ + 0.3215574026107788, + 0.08365590870380402, + 0.09958553314208984, + -3.091158891218253, + -0.022319119423627857, + 1.163763165473938, + 1.0 + ], + [ + 0.31866151094436646, + 0.07614196836948395, + 0.12142375856637955, + -3.1407959852418905, + -0.13789308071136475, + 1.1097007989883423, + 1.0 + ], + [ + 0.31858330965042114, + 0.07399704307317734, + 0.13945753872394562, + 3.1168342457437, + -0.1749214231967926, + 1.059074878692627, + 1.0 + ], + [ + 0.3185393810272217, + 0.07398948818445206, + 0.13995838165283203, + 3.116715371730276, + -0.17604421079158783, + 1.0530558824539185, + 1.0 + ], + [ + 0.3185393810272217, + 0.07398948818445206, + 0.13995838165283203, + 3.116715371730276, + -0.17604421079158783, + 1.0530558824539185, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.04773181676864624, + 0.12860965728759766, + 0.10434430837631226, + 0.10264396667480469, + 0.10264396667480469, + 0.10264396667480469, + 0.10264396667480469, + 0.10434430837631226, + 0.10519623756408691, + 0.07851552963256836, + 0.006563663482666016, + 0.0072438716888427734, + 0.0072438716888427734, + 0.0072438716888427734, + 0.0072438716888427734, + 0.0072438716888427734 + ], + "episode_id": "2184", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2184/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2197.json b/annotation/test/2197.json new file mode 100644 index 0000000000000000000000000000000000000000..d7ed6c60e11c91a055d2171dc60d5c7b57c123d6 --- /dev/null +++ b/annotation/test/2197.json @@ -0,0 +1,660 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "open microwave" + ], + "videos": [ + { + "video_path": "videos/test/2197/rgb.mp4" + } + ], + "action": [ + [ + 0.0003675151272627515, + 0.00015844530460931822, + -0.0003497632254331475, + -0.0006613846677032199, + 0.0013823762721688702, + -6.91352117698003e-05, + 1.0 + ], + [ + -0.00019612326327403154, + -0.0019712745067519077, + 0.004373435013728912, + 0.00869799377263627, + -0.011377269140367182, + -0.0009940288708547033, + 1.0 + ], + [ + 0.029655472956669385, + -0.018124851191897263, + 0.0037185825858035058, + 0.021355776625592158, + 0.060498664352735446, + -0.036410546906757726, + 1.0 + ], + [ + 0.03796042490958049, + -0.012803215115559546, + -0.0043638105724152386, + -0.018092596190244403, + 0.07514016029280592, + -0.03597254929035919, + 1.0 + ], + [ + 0.023571021287566593, + -0.0017798404700687003, + 0.010054002992791298, + -0.00022921188019381171, + 0.019607976051804962, + 0.014642668475425401, + 1.0 + ], + [ + 0.013798156108622858, + -0.00024513009725176017, + 0.00451053453973595, + -0.0067175219360220886, + 0.03355031394349378, + 0.01362070914400918, + 1.0 + ], + [ + 0.004693784018679169, + 0.0007170980478675029, + 0.0068467327355569785, + 0.001330008606351436, + 0.009997711621786568, + 0.008256945626923628, + 1.0 + ], + [ + 0.004624577908206075, + 0.0020448880097787506, + 0.0016164885258674732, + 0.008617471872345277, + 0.03142857757328253, + 0.006850666651699178, + 1.0 + ], + [ + 0.0006848459147096822, + 0.00217523069973562, + 0.0007815592254537705, + -0.013274020876696433, + 0.005622768444567359, + 0.0239231760766158, + 1.0 + ], + [ + 2.8360109859871857e-05, + 0.0016686000777513625, + 0.0013482421501169947, + -0.025142950434873107, + 0.0034540944637503016, + 0.006513475422290358, + 0.0 + ], + [ + -0.0020960175224477165, + 0.0001957464440733103, + 0.001430738497178795, + -0.003958297252551051, + 0.0038208598282100086, + 0.018676473503307662, + 0.0 + ], + [ + -0.007290102015932077, + -0.0015890779391721191, + -0.002577767124159429, + 1.345616373545124e-05, + 0.0031807910163133032, + 0.010709123906494714, + 0.0 + ], + [ + -0.01813439920137265, + -0.004912077257600487, + -0.006892577754363917, + -0.0022641245613301206, + -0.038547779175493894, + 0.033472948371967966, + 0.0 + ], + [ + -0.02601196057888027, + -0.009461214485924841, + -0.01016116612844601, + 0.0020950235022835113, + -0.08921137334582303, + 0.04487370746560422, + 0.0 + ], + [ + -0.015931068445242613, + -0.007574202136275093, + -0.027960621196518026, + 0.012867119840002819, + -0.012170039109932449, + 0.003340601091737498, + 0.0 + ], + [ + -0.025763912516389063, + 0.012770740214199995, + -0.002723290685733324, + 0.047017106821199854, + -0.12390950579438888, + 0.05426679009842827, + 1.0 + ], + [ + -0.017983463359442863, + 0.04060925864230964, + 0.005237004596107563, + -0.023736984171932315, + -0.12052436714751123, + 0.056609737379976044, + 1.0 + ], + [ + 0.010793778518629152, + 0.04360712460017683, + 0.004378198874435591, + -0.05651199233630991, + -0.029642518598247614, + 0.007322870773656858, + 1.0 + ], + [ + 0.02425184648885899, + 0.021694290879293015, + -0.0007618905142231527, + -0.03782400806222056, + 0.034891864104195515, + -0.007052321392505926, + 1.0 + ], + [ + 0.03958027760811811, + -0.0022097416217607743, + -0.007995172621782383, + -0.06014218208539223, + 0.08624239845858869, + -0.04400465653961446, + 1.0 + ], + [ + 0.029159024629326732, + -0.019011999959219043, + -0.0018645462642642554, + -0.004334376472534854, + 0.06788905698736235, + -0.04864619539068158, + 1.0 + ], + [ + 0.016128724987420066, + -0.02163513311709195, + 0.004184306943646166, + 0.019387063176681787, + 0.03402803491167558, + -0.026646643489113355, + 1.0 + ], + [ + 0.0011535582815378012, + -0.0219082879145595, + 0.006168401440357773, + -0.009132236576839356, + -0.007140086383432612, + -0.00011635885188371137, + 1.0 + ], + [ + -0.00552507908229891, + -0.022065164099003904, + 0.005757184646659828, + 0.014848541053422586, + 0.018461544407549643, + 0.012138142594020693, + 1.0 + ], + [ + -0.018410025534812496, + -0.026649211484298205, + 0.00017832636907252496, + 0.012900447806744073, + 0.02342368866242899, + 0.004139488835383643, + 1.0 + ], + [ + -0.015729911293485204, + -0.022473879662521082, + -0.006845400107159223, + 0.010674376044818383, + 0.026560128033395587, + 0.01764608928815045, + 1.0 + ], + [ + -0.023229087358729177, + -0.023205765968917696, + -0.009258938958437135, + 0.001149503795417082, + 0.00971030218986879, + 0.020154877332637117, + 1.0 + ], + [ + -0.01714523045364961, + -0.018625751015343812, + -0.012250075085182454, + 0.010415429456879552, + 0.033974143222141234, + 0.011353922009790468, + 1.0 + ], + [ + -0.006644151500009926, + 0.0012990785021017338, + -0.009799131873176587, + -0.0313003410926353, + 0.021564513485120285, + 0.024667317140763107, + 1.0 + ], + [ + 0.008552489205991679, + 0.027176594088777185, + -0.030236401264427466, + -0.09476759494897789, + 0.0020268744217800906, + -0.029840740148214043, + 1.0 + ], + [ + 0.012474643114735891, + 0.01524758979994958, + -0.025025987210866085, + -0.029462987421120686, + 0.0032223504233619828, + -0.035855590262376384, + 1.0 + ], + [ + 0.008982762502591269, + -0.00432423730477597, + -0.0075836996420496966, + 0.047495469196394496, + -0.008924154758270004, + -0.04241932982729314, + 1.0 + ], + [ + -0.00024310076190410033, + 0.0008079212021919006, + 0.00010250376568854193, + -0.0008264646540269401, + -0.0019153376146878263, + 0.0029797626195727047, + 1.0 + ] + ], + "state": [ + [ + 0.23229756951332092, + -0.05388536676764488, + 0.1159079372882843, + -3.1219248437606772, + -0.06262470036745071, + 0.18896853923797607, + 1.0 + ], + [ + 0.23266758024692535, + -0.05398289114236832, + 0.11627683788537979, + -3.122588839503475, + -0.06400816887617111, + 0.18901056051254272, + 1.0 + ], + [ + 0.2323617786169052, + -0.0519501194357872, + 0.1119379848241806, + -3.1139671375327787, + -0.052651796489953995, + 0.19022221863269806, + 1.0 + ], + [ + 0.25816309452056885, + -0.028426721692085266, + 0.11028661578893661, + -3.094416460143872, + -0.11410101503133774, + 0.22510805726051328, + 1.0 + ], + [ + 0.2915656864643097, + -0.007869022898375988, + 0.11953901499509811, + -3.1161548403375825, + -0.19079294800758365, + 0.2579938471317291, + 1.0 + ], + [ + 0.3152584433555603, + 0.00048753764713183045, + 0.11418504267930984, + -3.1134472248428544, + -0.20999994874000547, + 0.24252000451087952, + 1.0 + ], + [ + 0.32918021082878113, + 0.004314814228564501, + 0.11265845596790314, + -3.1170248949253043, + -0.24313092231750488, + 0.2275272905826569, + 1.0 + ], + [ + 0.33535176515579224, + 0.005180549807846546, + 0.10712799429893494, + -3.1135810074680528, + -0.25291380286216736, + 0.21874836087226868, + 1.0 + ], + [ + 0.3405649662017822, + 0.00429186737164855, + 0.10666528344154358, + -3.1029359010332307, + -0.28413039445877075, + 0.21070097386837008, + 1.0 + ], + [ + 0.3418932259082794, + 0.0023840744979679585, + 0.10602690279483795, + -3.109167071180888, + -0.288739413022995, + 0.18553677201271057, + 1.0 + ], + [ + 0.34261178970336914, + 0.0008665735367685556, + 0.10469137132167816, + -3.1323416392603, + -0.29197400808334345, + 0.17862212657928467, + 0.0 + ], + [ + 0.3410746157169342, + 0.0004035891906823963, + 0.10271618515253067, + -3.13067181234295, + -0.29556927084922785, + 0.15906298160552976, + 0.0 + ], + [ + 0.33319512009620667, + 0.0007203628192655742, + 0.10307513177394867, + -3.1273847530880055, + -0.29861533641815186, + 0.1478223353624344, + 0.0 + ], + [ + 0.31331753730773926, + 0.002627152483910322, + 0.1043936237692833, + -3.119626786681362, + -0.2594311535358429, + 0.11378606408834457, + 0.0 + ], + [ + 0.2846478521823883, + 0.008646653965115547, + 0.1077403724193573, + -3.1063032691651067, + -0.16901756823062897, + 0.07044243067502975, + 0.0 + ], + [ + 0.26378577947616577, + 0.013773988001048565, + 0.13286900520324707, + -3.092938257502862, + -0.1567365229129791, + 0.06749743223190308, + 0.0 + ], + [ + 0.23893798887729645, + -0.000823215174023062, + 0.13092060387134552, + -3.0380848740511617, + -0.030156467109918598, + 0.019707871600985527, + 1.0 + ], + [ + 0.22203503549098969, + -0.04101492837071419, + 0.12097779661417007, + -3.059836695092269, + 0.09559614956378937, + -0.023950891569256783, + 1.0 + ], + [ + 0.23098796606063843, + -0.08434569090604782, + 0.11205895990133286, + -3.1167828628146133, + 0.12573650479316711, + -0.028864441439509392, + 1.0 + ], + [ + 0.2544398903846741, + -0.1067383661866188, + 0.109239362180233, + 3.1293718071007213, + 0.09067802876234055, + -0.022658498957753185, + 1.0 + ], + [ + 0.2946210205554962, + -0.10534109175205231, + 0.1135900542140007, + 3.0732752328091344, + 0.004888094961643218, + 0.02223342657089233, + 1.0 + ], + [ + 0.323350727558136, + -0.08560257405042648, + 0.11400987207889557, + 3.0691400115662297, + -0.059530172497034066, + 0.07538522034883499, + 1.0 + ], + [ + 0.33814331889152527, + -0.06314924359321594, + 0.10924013704061508, + 3.0867809039824685, + -0.09151508659124374, + 0.10453229397535324, + 1.0 + ], + [ + 0.33770740032196045, + -0.04153931513428688, + 0.10201698541641235, + 3.077672490971633, + -0.08437934517860413, + 0.1042563319206238, + 1.0 + ], + [ + 0.3305782973766327, + -0.02051471173763275, + 0.09442191570997238, + 3.093440408008643, + -0.10357344895601273, + 0.09326541423797607, + 1.0 + ], + [ + 0.31001871824264526, + 0.004288102965801954, + 0.09106551855802536, + 3.1066412722044667, + -0.12716875970363617, + 0.09023475646972656, + 1.0 + ], + [ + 0.2916688919067383, + 0.025419890880584717, + 0.09507753700017929, + 3.1194524747603616, + -0.15431135892868042, + 0.07333296537399292, + 1.0 + ], + [ + 0.26572251319885254, + 0.04698187857866287, + 0.10014627873897552, + 3.1237110329144677, + -0.16443449258804319, + 0.05312638729810715, + 1.0 + ], + [ + 0.24588420987129211, + 0.06479538232088089, + 0.1090940535068512, + 3.1359112026453992, + -0.1985965818166733, + 0.04217292740941048, + 1.0 + ], + [ + 0.23749585449695587, + 0.06319691985845566, + 0.11739680916070938, + 3.109573098021098, + -0.2202399969100952, + 0.017026761546730995, + 1.0 + ], + [ + 0.23949527740478516, + 0.03703249618411064, + 0.1496051549911499, + 3.0081276466422757, + -0.2212106287479401, + 0.04766383022069931, + 1.0 + ], + [ + 0.24633283913135529, + 0.025563448667526245, + 0.1785207986831665, + 2.9706672449880323, + -0.21948871016502378, + 0.08451375365257263, + 1.0 + ], + [ + 0.2531384527683258, + 0.031711041927337646, + 0.1870526373386383, + 3.009342448907443, + -0.20330084860324857, + 0.12564116716384888, + 1.0 + ], + [ + 0.2530032992362976, + 0.030873117968440056, + 0.18700838088989258, + 3.009177195029803, + -0.20179410278797147, + 0.1223684549331665, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.008609116077423096, + 0.008609116077423096, + 0.008609116077423096, + 0.008609116077423096, + 0.008609116077423096, + 0.008609116077423096, + 0.008609116077423096, + 0.008609116077423096, + 0.042422711849212646, + 0.3068010210990906, + 0.6020113825798035, + 0.7500266283750534, + 0.7410779595375061, + 0.7211644947528839, + 0.670827180147171, + 0.40410202741622925, + 0.11550527811050415, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "2197", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2197/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2198.json b/annotation/test/2198.json new file mode 100644 index 0000000000000000000000000000000000000000..7581ba9ee34e2c64e893a9957aad005593524f24 --- /dev/null +++ b/annotation/test/2198.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put spatula in pan" + ], + "videos": [ + { + "video_path": "videos/test/2198/rgb.mp4" + } + ], + "action": [ + [ + -0.0014410970734608185, + 0.000295576584481148, + 0.002111118742403805, + 0.0002798930440885982, + -0.006004922418120559, + 0.001669711619725394, + 1.0 + ], + [ + -5.8913255069502856e-05, + 0.00016018935864021744, + 0.008495748455734427, + -0.018876380931046464, + -0.010132474789041888, + -0.033312253014254056, + 1.0 + ], + [ + 0.0030827601877331467, + -0.00557599646745974, + 0.007456007029069035, + -0.014825295038325711, + 0.02599517434406313, + -0.06421046036641476, + 1.0 + ], + [ + -0.00023919024483871104, + -0.00262976718339047, + 0.01058374411841322, + -0.008881418932807241, + 0.020776355601449442, + -0.0474182358100751, + 1.0 + ], + [ + 0.000886532388162508, + -0.0004905681342003925, + 0.006319831022861183, + -0.019001508038978356, + -9.466031440466133e-05, + -0.02410232443940045, + 1.0 + ], + [ + 0.004588316404326599, + -0.0003589769688998607, + 0.007593035713114521, + -0.021343614162244735, + -0.013640508463513931, + -0.021849970089305847, + 1.0 + ], + [ + 0.002345459837327254, + 0.0002023969549765162, + 0.00511599237363232, + -0.018322322050503107, + -0.0078030734436779796, + -0.011346326245536017, + 1.0 + ], + [ + 0.0012760966045613114, + 1.6406408905077098e-06, + 0.004948225131440155, + -0.012415115060697618, + -0.0007346040888851403, + -0.01817593210630521, + 1.0 + ], + [ + -0.002507239951588942, + -0.0004868497407016503, + 0.004003333748859844, + 0.0021802507508725958, + 0.01033391242847418, + -0.011949168107044886, + 1.0 + ], + [ + -0.006051952471927361, + -0.000307251215076061, + 0.0056868327567382825, + -0.0036713670268846807, + 0.0007066229596033093, + -0.005150373287735266, + 1.0 + ], + [ + -0.004001686436231773, + 0.001178403679894678, + 0.004714562722243416, + -0.012920506401138314, + 0.009133409968874993, + -0.010853488951681972, + 1.0 + ], + [ + -0.001564710189087134, + -0.0006597017438269892, + 0.003723851535769388, + -0.0005084981471698201, + 0.015962558176953752, + -0.011506796839371123, + 1.0 + ], + [ + -0.0004538520044680295, + 0.0029708286806770516, + 0.0021128730776344496, + -0.001118924676301449, + 0.0020256712970119937, + 0.007409234371421601, + 1.0 + ], + [ + -0.0002053127976418844, + -2.548241946699843e-05, + 0.00040692246020741215, + 0.0003301468044878062, + -0.0014957027182865871, + 0.0138891917821021, + 0.0 + ], + [ + -0.0042057900119712765, + -0.004635967952187463, + -0.004388982375577301, + 0.033528187028690024, + -0.06422722618103041, + 0.03679283773407345, + 0.0 + ], + [ + 0.0023570888357043827, + -0.010159832749007992, + -0.012503581652355588, + 0.06338517898383993, + -0.061782383592350526, + 0.052056131542706614, + 0.0 + ], + [ + 0.004156120046669344, + -0.0074983465274173, + -0.02663555194142092, + 0.0757087008879459, + -0.003556812142282621, + 0.03706032080472949, + 0.0 + ], + [ + 0.0014367579483868032, + 0.008434376212962454, + -0.020947315800749076, + 0.06224322910620605, + 0.01012969611635141, + 0.047737121816041506, + 0.0 + ], + [ + 0.004599504036565633, + 0.015681577786998867, + -0.015284263759760554, + 0.01950667374734872, + 0.036166811892566285, + 0.06295287787612053, + 0.0 + ], + [ + 0.015930597571519912, + 0.007645343358688183, + -0.01664161740745931, + -0.020780268477339093, + 0.06540837649991701, + 0.03311478861103808, + 0.0 + ], + [ + 0.018420470265636767, + 0.007489586807599409, + -0.015191728332183954, + -0.01873125959217513, + 0.07388496458389852, + 0.01760227943777246, + 0.0 + ], + [ + 0.021885074868825554, + 0.009346521882575598, + 0.002566250398543006, + -0.016576169613108677, + 0.04798884897327592, + 0.017483802388711726, + 0.0 + ], + [ + 0.020109501134978815, + 0.007237732899166724, + 0.009613094682737834, + -0.03513672638579496, + 0.037326578169118683, + 0.017835324926008034, + 0.0 + ] + ], + "state": [ + [ + 0.2790379226207733, + 0.006595148704946041, + 0.09175460040569305, + -2.967370020347186, + -0.09154167026281357, + 0.023109877482056618, + 1.0 + ], + [ + 0.27779620885849, + 0.006641312502324581, + 0.08950138837099075, + -2.9670316149764737, + -0.08533820509910583, + 0.022504171356558796, + 1.0 + ], + [ + 0.2784231901168823, + 0.007973509840667248, + 0.08113245666027069, + -2.988959567742892, + -0.0810929611325264, + 0.057183049619197845, + 1.0 + ], + [ + 0.2816384434700012, + 0.014813237823545933, + 0.07488206028938293, + -3.0088566859536847, + -0.11639875173568726, + 0.11707088351249695, + 1.0 + ], + [ + 0.2821042835712433, + 0.01890300028026104, + 0.06478030979633331, + -3.023030998306819, + -0.143151193857193, + 0.1617666780948639, + 1.0 + ], + [ + 0.2836468517780304, + 0.020405728369951248, + 0.05875294283032417, + -3.0455189665132245, + -0.14586651325225833, + 0.18596802651882172, + 1.0 + ], + [ + 0.2889821231365204, + 0.022514255717396736, + 0.05197616666555405, + -3.0702608098560056, + -0.13434571027755737, + 0.20923364162445068, + 1.0 + ], + [ + 0.2918924391269684, + 0.023298606276512146, + 0.04721902683377266, + -3.0901893136375627, + -0.12736161053180692, + 0.22120389342308044, + 1.0 + ], + [ + 0.29368433356285095, + 0.02396048791706562, + 0.042479366064071655, + -3.104942126321145, + -0.12754063308238983, + 0.23954252898693085, + 1.0 + ], + [ + 0.29161036014556885, + 0.02410578355193138, + 0.03821000084280968, + -3.1042472069435796, + -0.13829685747623444, + 0.2512158155441284, + 1.0 + ], + [ + 0.28643253445625305, + 0.02331315539777279, + 0.03175845369696617, + -3.1086318251960954, + -0.13919346034526825, + 0.25638622045516973, + 1.0 + ], + [ + 0.2834959626197815, + 0.021486371755599976, + 0.026498354971408844, + -3.1230323688411197, + -0.1486717760562897, + 0.26704999804496765, + 1.0 + ], + [ + 0.28234127163887024, + 0.021925944834947586, + 0.022596552968025208, + -3.1252227110141, + -0.16483570635318753, + 0.2784110903739929, + 1.0 + ], + [ + 0.28305864334106445, + 0.019077572971582413, + 0.020390154793858528, + -3.1251038332753858, + -0.1667352169752121, + 0.2708650529384613, + 1.0 + ], + [ + 0.2829199433326721, + 0.019072463735938072, + 0.019955269992351532, + -3.122442953410097, + -0.164994552731514, + 0.2568115592002869, + 0.0 + ], + [ + 0.27704015374183655, + 0.022233759984374046, + 0.023680631071329117, + -3.083019370334693, + -0.09997062385082243, + 0.22115305066108704, + 0.0 + ], + [ + 0.2759907841682434, + 0.03164319321513176, + 0.036927480250597, + -3.014764117198535, + -0.03513161465525627, + 0.1728746592998505, + 0.0 + ], + [ + 0.27843546867370605, + 0.036200668662786484, + 0.06442664563655853, + -2.9378630091720304, + -0.026893509551882747, + 0.1365494281053543, + 0.0 + ], + [ + 0.2810586094856262, + 0.023945597931742668, + 0.08326610922813416, + -2.8745429535680493, + -0.027127353474497795, + 0.0877329409122467, + 0.0 + ], + [ + 0.2870309352874756, + 0.00523790530860424, + 0.09399129450321198, + -2.8536265810304364, + -0.04534802213311196, + 0.017419278621673584, + 0.0 + ], + [ + 0.30252793431282043, + -0.0065507483668625355, + 0.10848437249660492, + -2.8718561251931867, + -0.09860318154096603, + -0.03308787941932678, + 0.0 + ], + [ + 0.31923186779022217, + -0.018376844003796577, + 0.12288292497396469, + -2.8863577266507825, + -0.1650562733411789, + -0.0701899379491806, + 0.0 + ], + [ + 0.34097129106521606, + -0.02832179144024849, + 0.12170177698135376, + -2.8978686948590955, + -0.2070054262876511, + -0.09983538091182709, + 0.0 + ], + [ + 0.36234965920448303, + -0.03519078344106674, + 0.11499575525522232, + -2.9273518492751798, + -0.2388518899679184, + -0.1269079148769379, + 0.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.1982569694519043, + 0.524347722530365, + 0.7056604325771332, + 0.7079049050807953, + 0.7079049050807953, + 0.7079049050807953, + 0.7079049050807953, + 0.7079049050807953, + 0.7079049050807953, + 0.7079049050807953, + 0.7079049050807953, + 0.7079049050807953 + ], + "episode_id": "2198", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2198/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2201.json b/annotation/test/2201.json new file mode 100644 index 0000000000000000000000000000000000000000..d1758d616aea1ee83e9fe5f81ac8d0dfeb34436d --- /dev/null +++ b/annotation/test/2201.json @@ -0,0 +1,660 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the pot onto the towel." + ], + "videos": [ + { + "video_path": "videos/test/2201/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -1.6187070626742973e-09, + -3.3827032213406357e-10, + -0.001533982122395746, + 1.0 + ], + [ + -0.0021234611563701877, + 0.0026084652878501174, + 0.00698001144040252, + -0.01483470444633575, + -0.021707843560877352, + -0.0037876756394942808, + 1.0 + ], + [ + 0.010319888794712078, + 0.030553353037067545, + -0.011325866874341745, + -0.003999240535124336, + 0.04222548263841006, + 0.05717522926804597, + 1.0 + ], + [ + 0.013094816645179622, + 0.03826668330241246, + -0.004073586954300546, + -0.04683636676205839, + 0.027516808831972845, + 0.11104817464093326, + 1.0 + ], + [ + 0.010258172139801415, + 0.03785310053513427, + 0.014744219303395381, + 0.03999297865338679, + -0.011335754653092625, + 0.1188003409406765, + 1.0 + ], + [ + 0.0032859745214490186, + 0.00841550624056823, + 0.031117538873486884, + 0.034253812968109774, + -0.05863342892134683, + 0.05130117985205612, + 1.0 + ], + [ + 0.0008391132134809277, + 0.01988978890170027, + 0.02276958859373359, + 0.014665201700383174, + -0.030656360573787667, + 0.07778978814236848, + 1.0 + ], + [ + 0.0025653931608203328, + 0.012489140189079241, + 0.0038372175823941203, + 0.019354374483488056, + 0.010074911993999989, + 0.019790297654854936, + 1.0 + ], + [ + -0.002626526236802506, + -0.00011790577323033809, + -0.00047991846671656364, + 0.017695923780460865, + 0.0001733728862829641, + -0.0230694254750981, + 1.0 + ], + [ + 0.00019520423513029114, + -0.01714882787058618, + -0.018623327868322402, + 0.018566088233189122, + 0.035699721639736864, + -0.08587503585150401, + 1.0 + ], + [ + 0.005532215237443458, + 0.0016790254195344523, + -0.020878194848220847, + 0.004297377410337018, + 0.031226263449809027, + -0.0200475516115042, + 1.0 + ], + [ + 0.004031543194248769, + 0.034645324211691926, + -0.003048216944438428, + -0.04664988912899788, + -0.007475029104793196, + 0.10139605898573952, + 1.0 + ], + [ + 0.0017804029087564466, + 0.028929524286543946, + 0.011178260409849455, + -0.0024581073172620428, + -0.04646200965724347, + 0.04367597744001642, + 1.0 + ], + [ + -0.00026438280036596715, + 0.006267715676657424, + 0.010926163336872984, + 0.02061324405401995, + -0.01923138438718845, + -0.005730768876651624, + 1.0 + ], + [ + 0.0008299307748249394, + -0.0012822978263225928, + 0.0179985187690848, + 0.01604112835928078, + -0.04432339969769356, + -0.01048622446549491, + 1.0 + ], + [ + 0.005788680880958222, + -0.0056595640820168176, + 0.003116034835351879, + -0.0052082805620669165, + -0.0006177188505360757, + -0.02087036057982163, + 1.0 + ], + [ + -0.0008121566211904649, + -0.005402739957914033, + 0.000827882735325481, + 0.0020048590529835593, + -0.004999421368559431, + -0.013056239040169334, + 0.0 + ], + [ + -0.004747128300520544, + -0.003556487083978809, + -0.0015784740589094546, + -0.0075871502467669055, + -0.006150503658018753, + -0.004756034080220629, + 0.0 + ], + [ + -0.0005226664733535308, + -0.001862300407057181, + -0.015684297103238584, + -0.005735971556662797, + 0.0300513678225875, + 0.009541072620218173, + 0.0 + ], + [ + -0.0003341764885953902, + -0.0009584825419867936, + -0.01607577764554291, + -0.002376054257561717, + 0.02744027336040243, + 0.016424394941697132, + 0.0 + ], + [ + 0.016989700791789006, + -0.0027571826657277494, + -0.017350837784870347, + -0.009395017494613528, + 0.017528632852252243, + -0.03255149024545173, + 0.0 + ], + [ + 0.03373158442814977, + -0.012252145478408758, + 0.0016590325746221439, + -0.03463038115579653, + -0.026568867378582595, + -0.054104352686700816, + 0.0 + ], + [ + 0.03366984134474329, + -0.015105263186104473, + 0.006567780924336919, + -0.007554236731604938, + -0.006479677085810115, + -0.05750953081134296, + 0.0 + ], + [ + 0.02158383365173024, + -0.009945995744405068, + 0.01617277602591559, + -0.006273147602096275, + -0.03693317791998078, + -0.03922626049532226, + 0.0 + ], + [ + 0.008078283609627448, + -0.002577493355779974, + 0.010562516813864034, + -0.003718247251279793, + -0.010585351679547828, + -0.010395262136030075, + 0.0 + ], + [ + -0.004994748249820243, + 0.000708727331915749, + 0.0058904376119573824, + 0.005765820574392684, + -0.011162885667458875, + -0.002210124496074888, + 0.0 + ], + [ + -0.009633754045544514, + -0.001186231943237247, + 0.00455501899778009, + 0.03164743379095106, + -0.006335520570724594, + 0.001587347226750032, + 0.0 + ], + [ + -0.003611704937632111, + -0.005331651525285596, + -0.031403693244996006, + 0.02794914242990051, + 0.06836329676321451, + -0.030379918827343234, + 1.0 + ], + [ + -0.015701390463675188, + -0.018646505363160044, + -0.03473098374849897, + 0.039229665228638126, + 0.06760034598360681, + -0.10321723981563344, + 1.0 + ], + [ + -0.017721176092979414, + -0.024590271720853932, + -0.014713947256847439, + 0.01657759174480872, + 0.0016736598597883396, + -0.08825465034624919, + 1.0 + ], + [ + -0.011805473061963001, + -0.013543356163398258, + 0.009019879576967565, + 0.004452786443771851, + -0.046587482871989036, + 0.0012108630951152453, + 1.0 + ], + [ + 0.0004993985119623772, + -0.002564323967085571, + -2.5377209071069242e-05, + 0.0005533022325444896, + 0.0020776265796505116, + -0.00317252965389854, + 1.0 + ], + [ + -0.0004199321710202235, + 4.492655064878869e-05, + 0.00033628323914299067, + -6.346325673436476e-06, + -0.0015214605408325028, + 0.00019550658597424829, + 1.0 + ] + ], + "state": [ + [ + 0.21970388293266296, + 0.1891513615846634, + 0.06811407953500748, + 3.1241990589820823, + -0.08223357051610945, + 0.1912240386009216, + 1.0 + ], + [ + 0.21970388293266296, + 0.1891513615846634, + 0.06811407953500748, + 3.124072667332836, + -0.08220679312944412, + 0.19276298582553864, + 1.0 + ], + [ + 0.21870861947536469, + 0.18617522716522217, + 0.061029884964227676, + 3.108953682827302, + -0.060435447841882706, + 0.19617514312267303, + 1.0 + ], + [ + 0.23396265506744385, + 0.15844924747943878, + 0.07394759356975555, + 3.1083611381524285, + -0.10440897196531296, + 0.14015574753284457, + 1.0 + ], + [ + 0.2516309916973114, + 0.12245430052280426, + 0.0806259959936142, + 3.0732679312401494, + -0.13495652377605435, + 0.029117310419678685, + 1.0 + ], + [ + 0.2645511031150818, + 0.08404277265071869, + 0.06999093294143677, + 3.1298941561305007, + -0.13077402114868164, + -0.09120863676071167, + 1.0 + ], + [ + 0.2710237205028534, + 0.07463517785072327, + 0.03966731205582619, + -3.1122480427199086, + -0.0725681483745575, + -0.14324156939983368, + 1.0 + ], + [ + 0.27078449726104736, + 0.05525771528482437, + 0.016446229070425034, + -3.0920842198007783, + -0.03943072631955146, + -0.22011904418468475, + 1.0 + ], + [ + 0.27077510952949524, + 0.04267215356230736, + 0.012100236490368843, + -3.0719377790861806, + -0.04850587248802185, + -0.24040663242340088, + 1.0 + ], + [ + 0.26822423934936523, + 0.04338420554995537, + 0.012459272518754005, + -3.055376889305659, + -0.05027144029736518, + -0.2173761278390884, + 1.0 + ], + [ + 0.2707706093788147, + 0.05867640674114227, + 0.03247459977865219, + -3.0412083735042295, + -0.09305357187986375, + -0.13460083305835724, + 1.0 + ], + [ + 0.27382683753967285, + 0.054465290158987045, + 0.053504329174757004, + -3.038451152043887, + -0.12611834704875946, + -0.11765875667333603, + 1.0 + ], + [ + 0.2737833857536316, + 0.019453277811408043, + 0.053480662405490875, + -3.072973387437411, + -0.10762754827737808, + -0.21832220256328583, + 1.0 + ], + [ + 0.270803838968277, + -0.008663813583552837, + 0.04061239957809448, + -3.071068698661872, + -0.0581934116780758, + -0.2587293684482574, + 1.0 + ], + [ + 0.2697836756706238, + -0.014064786955714226, + 0.0292755588889122, + -3.0508557726913175, + -0.03941220045089721, + -0.2516533136367798, + 1.0 + ], + [ + 0.27199050784111023, + -0.011629687622189522, + 0.011513804085552692, + -3.035304518538066, + 0.0037827233318239446, + -0.2372051328420639, + 1.0 + ], + [ + 0.2790079712867737, + -0.007196360267698765, + 0.008993887342512608, + -3.0404571538143834, + 0.002182199619710446, + -0.21638697385787964, + 1.0 + ], + [ + 0.27938616275787354, + -0.0016904397634789348, + 0.008717485703527927, + -3.038430819409438, + 0.005837718024849891, + -0.20289258658885953, + 0.0 + ], + [ + 0.2754276394844055, + 0.0025696291122585535, + 0.010681490413844585, + -3.045986184971877, + 0.011465669609606268, + -0.19752819836139682, + 0.0 + ], + [ + 0.2751626670360565, + 0.002986289793625474, + 0.026476891711354256, + -3.051827984052249, + -0.01753852516412735, + -0.20989178121089935, + 0.0 + ], + [ + 0.2744584083557129, + 0.0026389253325760365, + 0.04256553202867508, + -3.05385576386983, + -0.04339293390512467, + -0.22872154414653778, + 0.0 + ], + [ + 0.2905276417732239, + 0.00015709408035036176, + 0.06081173196434975, + -3.064621778326579, + -0.06368527561426164, + -0.19777415692806244, + 0.0 + ], + [ + 0.32600438594818115, + 0.005636618472635746, + 0.06224793568253517, + -3.102909980463334, + -0.04125341400504113, + -0.14175564050674438, + 0.0 + ], + [ + 0.36172062158584595, + 0.0160429198294878, + 0.05766292288899422, + -3.1129084938489875, + -0.03693269193172455, + -0.08399995416402817, + 0.0 + ], + [ + 0.38467106223106384, + 0.024553099647164345, + 0.04258985072374344, + -3.1206718423687896, + -0.0011095047229900956, + -0.043756719678640366, + 0.0 + ], + [ + 0.39287564158439636, + 0.026994435116648674, + 0.03209253400564194, + -3.1244018730991563, + 0.009256135672330856, + -0.03314241394400597, + 0.0 + ], + [ + 0.3878091275691986, + 0.026554713025689125, + 0.02623726800084114, + -3.1186127961897334, + 0.020379353314638138, + -0.03074036911129951, + 0.0 + ], + [ + 0.37812939286231995, + 0.028143558651208878, + 0.02190796472132206, + -3.086994307237216, + 0.026749653741717342, + -0.032182205468416214, + 0.0 + ], + [ + 0.37548303604125977, + 0.03184059262275696, + 0.053641095757484436, + -3.0582245608144483, + -0.043178759515285485, + -0.0056229582987725735, + 1.0 + ], + [ + 0.3583237826824188, + 0.04762696847319603, + 0.08909271657466888, + -3.0234203730993947, + -0.11892140656709672, + 0.092037670314312, + 1.0 + ], + [ + 0.33664873242378235, + 0.0684068500995636, + 0.10437703877687454, + -3.017746778326579, + -0.13051797449588776, + 0.180229052901268, + 1.0 + ], + [ + 0.3234562575817108, + 0.08079656213521957, + 0.09562469273805618, + -3.0137553234868726, + -0.08413663506507874, + 0.1847977936267853, + 1.0 + ], + [ + 0.32344958186149597, + 0.08337947726249695, + 0.0960175096988678, + -3.0134453644328794, + -0.08660142123699188, + 0.1876903921365738, + 1.0 + ], + [ + 0.32306769490242004, + 0.08330533653497696, + 0.09564319252967834, + -3.0134516080194196, + -0.08506745100021362, + 0.18769092857837677, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0446895956993103, + 0.21158844232559204, + 0.5091352760791779, + 0.7621053606271744, + 0.9022414609789848, + 0.9294997081160545, + 0.9304307699203491, + 0.9304307699203491, + 0.9307394847273827, + 0.9307394847273827, + 0.9307394847273827, + 0.9041282460093498, + 0.734065979719162, + 0.4577047824859619, + 0.15640592575073242, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2201", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2201/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2203.json b/annotation/test/2203.json new file mode 100644 index 0000000000000000000000000000000000000000..9c8723f280ff089564ff040e4688877b4eb18230 --- /dev/null +++ b/annotation/test/2203.json @@ -0,0 +1,945 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put the bird on the fork" + ], + "videos": [ + { + "video_path": "videos/test/2203/rgb.mp4" + } + ], + "action": [ + [ + -0.0002140056507293966, + 0.00011565659208238947, + -1.9361923397579988e-07, + -0.0007251854770736338, + -0.001351760174041124, + -0.0030674549510584085, + 1.0 + ], + [ + -0.0029931861103511554, + 0.0023607604080895174, + 0.006353054079782126, + -0.017789061643123646, + -0.01637021577494672, + -0.006595356429949707, + 1.0 + ], + [ + -0.005222146531312166, + 0.01744133438973322, + 0.009665510828237326, + -0.09591866839812102, + 0.012299679335576868, + -0.06363461872361248, + 1.0 + ], + [ + 0.003945408053995367, + 0.01854652398150552, + 0.008691762491746084, + -0.1284227083126245, + 0.047005659806982035, + -0.06828843568239983, + 1.0 + ], + [ + 0.004706267254831523, + 0.010265332299571965, + 0.0048539862840607535, + -0.018819695124016496, + 0.027614319645860246, + -0.11072360880434043, + 1.0 + ], + [ + 0.0010336600222925517, + 0.016178990301484654, + 0.007714230054285813, + 0.029812417222916946, + -0.003410895601319766, + -0.1728104327964795, + 1.0 + ], + [ + 0.00355914632969241, + 0.002092743668472702, + 0.016671339162720643, + 0.03368156640423452, + -0.05939370757641968, + -0.01841422525131507, + 1.0 + ], + [ + 0.004438256564838839, + 0.0031029495816097905, + 0.015363361216482862, + 0.09596238480238183, + -0.04351423346925196, + 0.0688433126775643, + 1.0 + ], + [ + -0.00015492609179097003, + -0.00239636629918895, + 0.01666685231224718, + 0.06340659266068975, + -0.03645607879930798, + 0.007769022415102875, + 1.0 + ], + [ + -0.0012064825408273552, + 0.005391807137557004, + 0.017456198364437885, + 0.029932545519534212, + -0.03114029958838235, + 0.023608643599266097, + 1.0 + ], + [ + -0.0027014282324621347, + 0.00031472156916560545, + 0.00932837178547623, + 0.03527510363087561, + -0.021649613329746877, + 0.023441086670332362, + 1.0 + ], + [ + -0.0006718825750330575, + 0.0030563176573792433, + 0.006855809989227313, + 0.011001799375102603, + -0.004160527713641761, + 0.011169725952835356, + 1.0 + ], + [ + -0.0022420751901378617, + -0.00044095551376791497, + 0.005987081222407118, + 0.0027585371445060947, + -0.010399109079777858, + -0.0031956254521855556, + 1.0 + ], + [ + -0.0030068543689294558, + -7.471227112830935e-05, + 0.014199389426648832, + 0.002908612665624625, + -0.02596495978125506, + 0.010293338141903788, + 1.0 + ], + [ + -0.0004093450537928062, + -0.0016098925931999895, + 0.0068725776656668415, + 0.011242724182188892, + -0.005821287325116203, + 0.013080886777699577, + 1.0 + ], + [ + 0.0010092652496106694, + 0.0005721725145066228, + 0.002616395399805189, + 0.012384871866131904, + 0.005646071792175192, + 0.01138652179309859, + 1.0 + ], + [ + 0.0027820375740368526, + -0.000290653604669313, + -0.00017207346945815336, + 0.01571985041683006, + 0.007962043962266414, + 0.017501493355145375, + 1.0 + ], + [ + -8.0829906247876e-06, + -0.0011737732851421765, + -4.343175505663573e-06, + 0.007401583338278664, + -9.836337004853222e-05, + 0.00639422364788333, + 0.0 + ], + [ + 0.0001618034567572815, + 0.0017020561763626894, + -9.217033380025525e-06, + -0.01069393702746413, + 0.0013755112058340252, + 0.0331435770143081, + 0.0 + ], + [ + 0.0007344107759912739, + 0.0030006231733210992, + -0.0010214423796554596, + -0.018982729050656094, + 0.006007591829117839, + 0.05603251381035551, + 0.0 + ], + [ + 0.005103942620328325, + -0.002662060336529872, + -0.025659030350399695, + 0.01023683353189227, + 0.03988982303152332, + 0.06007679891502256, + 0.0 + ], + [ + 0.003790193924642905, + -0.003809794528448495, + -0.02901014479793313, + -0.012052850829525702, + 0.02750103226036517, + 0.052849768282683326, + 0.0 + ], + [ + -0.003850150500119935, + -0.016069683405087163, + -0.012852141921517422, + -0.006335358814898371, + 0.001179766518595456, + 0.014542271567218821, + 0.0 + ], + [ + -0.015245812542276074, + -0.020610977491335804, + -0.013290740971411613, + 0.00627932002741374, + -0.006073323282859733, + -0.010387035297772405, + 0.0 + ], + [ + -0.0279565228292024, + -0.0198369033575989, + 0.0006563652092578551, + 0.028714439065349016, + -0.06300026581836675, + -0.05275715859951022, + 0.0 + ], + [ + -0.021529394230382807, + -0.019901760441284277, + 0.003143164572196655, + 0.031465351284962986, + -0.03422360912624296, + -0.0539270315587125, + 0.0 + ], + [ + -0.005957373315512017, + -0.012212351195772742, + 0.004246786768740973, + 0.011982128563303674, + -0.0006590164852388132, + -0.018409051753056637, + 0.0 + ], + [ + -0.008359486141562171, + -0.013190328093179661, + 0.011123369095659658, + 0.003919576123110907, + -0.021799498891882357, + -0.018609164330635006, + 0.0 + ], + [ + -0.008803542958268924, + -0.005562416170622666, + 0.021916179673779325, + -0.025367518834043756, + -0.034636822413881864, + 0.0030101602619112405, + 0.0 + ], + [ + -0.00043338357227085025, + -0.0009859550210820443, + 0.01600275384807067, + -0.015199968552067067, + -0.017580317248373, + 0.03453263957689857, + 0.0 + ], + [ + 0.001222981849588427, + 0.0008064303691207095, + 0.00721511607713088, + -0.007573414335642605, + -0.0017595005119478177, + 0.027679916242456987, + 0.0 + ], + [ + -0.0003648604330690184, + 0.0012239206289735994, + 0.0029516526140851945, + -0.004029552996929834, + -0.008178074469404023, + 0.001846111862988955, + 0.0 + ], + [ + -0.002564422299094721, + 0.002463018220316998, + -0.0003483757228909309, + -0.009089232130770283, + -0.02099126133072394, + 0.0015789128353421063, + 0.0 + ], + [ + 0.000951933691557881, + 0.0011001718849890981, + -0.002008210006516589, + -0.002330881217325485, + -0.008805868350981245, + -0.0008017533734895917, + 1.0 + ], + [ + 0.0008125210696854215, + 0.0030936296107884178, + -0.0008195255300836854, + -0.00300668364087814, + -0.009956294841893506, + 0.0070247877440412065, + 1.0 + ], + [ + 0.0012617932373415847, + 0.0003701990829684399, + -0.0016685323536412052, + 0.009841262371903404, + -0.0036194713442320565, + 0.008809158510326853, + 1.0 + ], + [ + 0.0012886758200633768, + -0.0009396084583547263, + -0.0034758407052533887, + 0.0049319415715099735, + 0.0013292834391899259, + 0.01766150317969303, + 1.0 + ], + [ + 0.01332885577771017, + -0.003981500576876377, + -0.037092155963859376, + 0.05913699426111483, + 0.09477557318117759, + 0.07209139093105554, + 1.0 + ], + [ + 0.011353699351612354, + -0.004444831633069759, + -0.03256528521807758, + 0.05285483106154801, + 0.05491059175332719, + 0.05743527373134646, + 1.0 + ], + [ + 0.01299280686824171, + 0.0014517202282186353, + -0.023069416870634043, + 0.043713277066553764, + 0.04616342169562308, + 0.07609148749982018, + 1.0 + ], + [ + 0.0007107528690342523, + -0.0003278594748975431, + -0.0017414335520888392, + 0.004161366125732219, + 0.004853283280755462, + 0.006350462007307466, + 1.0 + ], + [ + -0.00021275198298308275, + 0.0001179487201631923, + -1.9045796629109545e-07, + -0.0007437766840178041, + -0.0013415935759237957, + 4.931983987945584e-07, + 1.0 + ], + [ + 0.00015708365737805921, + -2.8165433309688717e-05, + 0.0004614805516084902, + -8.335196011275275e-05, + 5.8450378030493916e-05, + 0.0001497730533331249, + 1.0 + ], + [ + 0.00015345113877997813, + 8.634742384556e-05, + -0.0004617782788097823, + -0.0002851338015114668, + 0.0018992817562264155, + -0.0010090322457979042, + 1.0 + ], + [ + -0.0001542407032624386, + -8.663379879568377e-05, + 0.00046146148131940467, + 0.0002832177322751495, + -0.001899568421811477, + 0.001008492475188036, + 1.0 + ], + [ + 5.568186804144781e-05, + -8.975314455369721e-05, + -0.00046166747676185143, + 0.000827137444303171, + 0.0012831556316423825, + -0.00014916144098506696, + 1.0 + ], + [ + -0.00021275198298308275, + 0.0001179487201631923, + -1.9045796629109545e-07, + -0.0007437766840178041, + -0.0013415935759237957, + 4.931983987945584e-07, + 1.0 + ], + [ + 0.00021275198886481613, + -0.00011794872183172592, + -1.8269628673255492e-07, + 0.0007437766916980768, + 0.0013415935716658963, + 5.04647821612321e-07, + 1.0 + ] + ], + "state": [ + [ + 0.30531880259513855, + 0.0387885682284832, + 0.15068216621875763, + -3.0653628279739102, + -0.37848150730133057, + -0.28178492188453674, + 1.0 + ], + [ + 0.3050987720489502, + 0.038732193410396576, + 0.15059508383274078, + -3.067344943183013, + -0.3773652911186218, + -0.27838414907455444, + 1.0 + ], + [ + 0.3042125105857849, + 0.03702710568904877, + 0.14343960583209991, + -3.0881956574791154, + -0.3615174591541291, + -0.27005514502525335, + 1.0 + ], + [ + 0.29860347509384155, + 0.021043594926595688, + 0.1316940039396286, + 3.0750646014981946, + -0.3764418065547943, + -0.20243237912654874, + 1.0 + ], + [ + 0.30103999376296997, + 0.0010624038986861706, + 0.12622573971748352, + 2.9180976172261914, + -0.41778767108917236, + -0.12452664971351625, + 1.0 + ], + [ + 0.30492085218429565, + -0.010595746338367462, + 0.1258886158466339, + 2.8501265068822583, + -0.41734397411346436, + 0.0003125088405795395, + 1.0 + ], + [ + 0.3069818317890167, + -0.028308458626270294, + 0.1238030195236206, + 2.8129623552137097, + -0.35878562927246094, + 0.17606805264949799, + 1.0 + ], + [ + 0.31677374243736267, + -0.03404334560036659, + 0.11091076582670212, + 2.846689822273799, + -0.2966305017471313, + 0.17422685027122498, + 1.0 + ], + [ + 0.3262147903442383, + -0.039930202066898346, + 0.09901241213083267, + 2.9671131541305265, + -0.2740456461906433, + 0.09269722551107407, + 1.0 + ], + [ + 0.3306507170200348, + -0.04005343094468117, + 0.08276870846748352, + 3.034314716356345, + -0.23946470022201538, + 0.0783131793141365, + 1.0 + ], + [ + 0.33401525020599365, + -0.04704151675105095, + 0.06618279218673706, + 3.0707353224330625, + -0.2109438478946686, + 0.05090929567813874, + 1.0 + ], + [ + 0.33336782455444336, + -0.048050131648778915, + 0.05654023960232735, + 3.1113285963707646, + -0.19094179570674896, + 0.025538252666592598, + 1.0 + ], + [ + 0.3340742290019989, + -0.05129552260041237, + 0.04977539926767349, + 3.1245128345959863, + -0.18710884451866153, + 0.01404726505279541, + 1.0 + ], + [ + 0.33298158645629883, + -0.05097220093011856, + 0.043469205498695374, + 3.126700331578501, + -0.1766558140516281, + 0.017112350091338154, + 1.0 + ], + [ + 0.3325192332267761, + -0.051116883754730225, + 0.028962837532162666, + 3.1315029879384717, + -0.15083688497543338, + 0.006314372178167105, + 1.0 + ], + [ + 0.33313989639282227, + -0.04957246407866478, + 0.02209107019007206, + -3.1384436414861163, + -0.14513476192951202, + -0.0069639766588807115, + 1.0 + ], + [ + 0.33451324701309204, + -0.05014597252011299, + 0.019646378234028816, + -3.1243906953656158, + -0.15073543787002563, + -0.01849884167313576, + 1.0 + ], + [ + 0.3372420072555542, + -0.04990875720977783, + 0.02023918367922306, + -3.105991257476159, + -0.15837162733078003, + -0.036357685923576355, + 1.0 + ], + [ + 0.3372693955898285, + -0.048736102879047394, + 0.020283451303839684, + -3.097570451098033, + -0.15804247558116913, + -0.04282495751976967, + 0.0 + ], + [ + 0.3373665511608124, + -0.050442639738321304, + 0.020244039595127106, + -3.1030029972367963, + -0.15787066519260406, + -0.07641481608152388, + 0.0 + ], + [ + 0.3377159535884857, + -0.05351607874035835, + 0.02125316485762596, + -3.11309512344236, + -0.1614615023136139, + -0.13337838649749756, + 0.0 + ], + [ + 0.338866651058197, + -0.05172332003712654, + 0.0474635548889637, + -3.0928598326914987, + -0.19931769371032715, + -0.19575788080692294, + 0.0 + ], + [ + 0.3373124599456787, + -0.04897646605968475, + 0.0767979696393013, + -3.0939796177023133, + -0.22391556203365323, + -0.25125306844711304, + 0.0 + ], + [ + 0.3345893323421478, + -0.03233722969889641, + 0.08920588344335556, + -3.0969989617639264, + -0.22437766194343567, + -0.2662099599838257, + 0.0 + ], + [ + 0.32246285676956177, + -0.00830240547657013, + 0.0996541753411293, + -3.0931481962376317, + -0.2187604904174805, + -0.2553027272224426, + 0.0 + ], + [ + 0.3010048568248749, + 0.017808306962251663, + 0.09388480335474014, + -3.076657371717044, + -0.15804687142372134, + -0.19895587861537936, + 0.0 + ], + [ + 0.2844133973121643, + 0.04162105917930603, + 0.08867417275905609, + -3.0541420822315892, + -0.12714391946792603, + -0.14249424636363983, + 0.0 + ], + [ + 0.28074148297309875, + 0.05481281131505966, + 0.08478036522865295, + -3.0445265789800366, + -0.12807352840900424, + -0.12394605576992035, + 0.0 + ], + [ + 0.2755115330219269, + 0.06978045403957367, + 0.07400017976760864, + -3.04325536836917, + -0.10815265774726868, + -0.10319472849369048, + 0.0 + ], + [ + 0.2698809504508972, + 0.07809193432331085, + 0.05190996453166008, + -3.0686076675825795, + -0.07338769733905791, + -0.10278752446174622, + 0.0 + ], + [ + 0.2708304524421692, + 0.08015565574169159, + 0.036032699048519135, + -3.08140221436555, + -0.05329614877700806, + -0.13598740100860593, + 0.0 + ], + [ + 0.2723728120326996, + 0.07957020401954651, + 0.028857583180069923, + -3.087530491995164, + -0.04985478147864342, + -0.16354550421237946, + 0.0 + ], + [ + 0.2719884216785431, + 0.07855662703514099, + 0.02582966908812523, + -3.0914883856945714, + -0.04158885031938553, + -0.16494816541671753, + 0.0 + ], + [ + 0.26904499530792236, + 0.07653512805700302, + 0.025947436690330505, + -3.100544722872325, + -0.020544853061437607, + -0.16547362506389618, + 0.0 + ], + [ + 0.26974934339523315, + 0.07521948218345642, + 0.027927950024604797, + -3.102897921698638, + -0.011779289692640303, + -0.16431114077568054, + 1.0 + ], + [ + 0.2700318992137909, + 0.07200697809457779, + 0.028636706992983818, + -3.1058253926509103, + -0.001558436080813408, + -0.17094516754150393, + 1.0 + ], + [ + 0.27119967341423035, + 0.07136940211057663, + 0.030292898416519165, + -3.0959717241399964, + 0.0023737873416394, + -0.17961922287940976, + 1.0 + ], + [ + 0.2726151943206787, + 0.07190524786710739, + 0.03380490466952324, + -3.091088919090577, + 0.0018509274814277887, + -0.1973229944705963, + 1.0 + ], + [ + 0.2861654460430145, + 0.07134178280830383, + 0.0710260272026062, + -3.032016212242194, + -0.08917336910963058, + -0.27409473061561584, + 1.0 + ], + [ + 0.2944670617580414, + 0.06989775598049164, + 0.10476263612508774, + -2.973546328144618, + -0.1372992843389511, + -0.33771118521690374, + 1.0 + ], + [ + 0.30195215344429016, + 0.06166280433535576, + 0.12883082032203674, + -2.9187584837251386, + -0.16962653398513794, + -0.4215978682041168, + 1.0 + ], + [ + 0.30229195952415466, + 0.061439063400030136, + 0.13069622218608856, + -2.9133552630716046, + -0.17295189201831818, + -0.42897385358810425, + 1.0 + ], + [ + 0.3020577132701874, + 0.06141981855034828, + 0.13063350319862366, + -2.9141517748408994, + -0.17164497077465057, + -0.42866626381874084, + 1.0 + ], + [ + 0.30232200026512146, + 0.06144361570477486, + 0.1302236020565033, + -2.914207549887248, + -0.171668142080307, + -0.4288277328014374, + 1.0 + ], + [ + 0.3023143708705902, + 0.06124014034867287, + 0.13067391514778137, + -2.9145885427766522, + -0.17374597489833832, + -0.42826434969902044, + 1.0 + ], + [ + 0.30232200026512146, + 0.06144361570477486, + 0.1302236020565033, + -2.914207549887248, + -0.171668142080307, + -0.4288277328014374, + 1.0 + ], + [ + 0.30229195952415466, + 0.061439063400030136, + 0.13069622218608856, + -2.9133552630716046, + -0.17295189201831818, + -0.42897385358810425, + 1.0 + ], + [ + 0.3020577132701874, + 0.06141981855034828, + 0.13063350319862366, + -2.9141517748408994, + -0.17164497077465057, + -0.42866626381874084, + 1.0 + ], + [ + 0.30229195952415466, + 0.061439063400030136, + 0.13069622218608856, + -2.9133552630716046, + -0.17295189201831818, + -0.42897385358810425, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.06485205888748169, + 0.34891170263290405, + 0.599371999502182, + 0.7445420324802399, + 0.7751014083623886, + 0.7751014083623886, + 0.7751014083623886, + 0.7751014083623886, + 0.7751014083623886, + 0.7757394760847092, + 0.7751014083623886, + 0.7757394760847092, + 0.7757394760847092, + 0.7757394760847092, + 0.7757394760847092, + 0.7757394760847092, + 0.7211644947528839, + 0.4429110884666443, + 0.14463752508163452, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2203", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2203/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2216.json b/annotation/test/2216.json new file mode 100644 index 0000000000000000000000000000000000000000..a9130294b4fdce0944d2163e6dbdc635636786d6 --- /dev/null +++ b/annotation/test/2216.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "open brown1fbox flap" + ], + "videos": [ + { + "video_path": "videos/test/2216/rgb.mp4" + } + ], + "action": [ + [ + -0.0006082424072493586, + 0.00011811850159414123, + 0.00035548285587476457, + -0.00034364200216629656, + -0.003035170806978289, + 0.0001963827480952508, + 1.0 + ], + [ + -0.0036548421611118068, + 0.005515771772554441, + 0.013510466659346503, + -0.027433513933491055, + -0.026499039666098782, + 0.0033476618294407566, + 1.0 + ], + [ + -0.0031200110720709636, + 0.0035144467476261646, + 0.010045440898230094, + -0.06848067119101965, + 0.012963559522610326, + 0.0016875169566234307, + 1.0 + ], + [ + 0.0007489215227456325, + -0.00016152833875773365, + -0.0005170251513980763, + -0.05208071627551526, + 0.014210075851431383, + -0.025825761718436757, + 1.0 + ], + [ + 0.0007825149812902774, + -0.0026006862511747148, + 0.0006691065080381206, + -0.040358658110715685, + 0.012249486587948347, + -0.01640463998783723, + 1.0 + ], + [ + 0.0019990932590189196, + -0.0035890001004841555, + 0.0062774228997365365, + -0.035148649416327685, + -0.03573059753632531, + -0.010974954120964763, + 1.0 + ], + [ + 0.0035909660608732627, + -0.0020510222788783206, + 0.0017609493150698438, + -0.014247019043365233, + -0.0258728751542873, + -0.020493927213231466, + 1.0 + ], + [ + 0.000763822245317313, + 0.00019412820917571785, + 0.0027885340960593485, + -0.027944131680606984, + 0.001195786194995816, + -0.02552525036341613, + 1.0 + ], + [ + -0.0017036617115187096, + -0.0005769221089002331, + 0.005438483651902919, + -0.022186157916522325, + 0.008465679413188648, + -0.0200590068252484, + 1.0 + ], + [ + -0.0030702780633277004, + -0.002424172694411653, + 0.005220665919036756, + -0.0010616126020746416, + -0.0014295598134056009, + -0.020493770199178335, + 1.0 + ], + [ + -0.0005301834848336511, + -0.0015210554650377489, + 0.0010325112826952987, + 0.008916898479448196, + -9.372810498570402e-05, + -0.02317356808382106, + 1.0 + ], + [ + -0.002425517329345917, + 0.0016243139868007005, + 0.0035988483949340225, + -0.019172965670180755, + -0.003341180570979614, + -0.009881131742491346, + 1.0 + ], + [ + 0.00018519311141274313, + 0.0052884501561710285, + 0.0007037312770212054, + -0.030711935654278627, + 0.0023982809850649437, + -0.015962947601195588, + 1.0 + ], + [ + -0.000762887465288812, + 0.006109936895858081, + 0.0034457779946623058, + -0.018920942434841444, + 0.0015097875869662285, + -0.005688699490175984, + 1.0 + ], + [ + -0.0015340416231968317, + 0.006752490075123242, + -0.0026220220719089015, + -0.01536480187702556, + -0.0224373869710115, + -0.03005659040527748, + 1.0 + ], + [ + -0.0016620662008325821, + 0.011653673849495338, + -0.005901844180401028, + -0.0035504979640985307, + -0.021265518069269185, + 0.0034223322442301918, + 1.0 + ], + [ + -0.0003628315265190735, + 0.006418707370041843, + -0.009808769414468949, + 0.014759107130593536, + -0.029167524208644505, + 0.020843216907900912, + 1.0 + ], + [ + -0.0009716090254717536, + 0.007890404801089868, + -0.00924497951938285, + 0.04557673211817605, + 0.011817946766772119, + -0.006942809421951499, + 1.0 + ], + [ + -0.0011918976260160577, + 0.01070063707821791, + -0.012120773651612434, + 0.04800185562369479, + -0.01293610820128562, + -0.02443909866363491, + 1.0 + ], + [ + -0.006702489798907815, + 0.01473035353416108, + -0.018294684058163185, + 0.041725409028107105, + 0.019820034518848298, + -0.025809780888898872, + 1.0 + ], + [ + -0.008724719237125698, + 0.01374125352232022, + -0.01297717135101707, + 0.04709217283044095, + 0.029586165228801486, + -0.016620872475410945, + 1.0 + ], + [ + -0.004348654191629472, + 0.013602758129177064, + -0.005265494796568091, + 0.05685627167106401, + 0.017023619489989122, + -0.0226343959600167, + 1.0 + ], + [ + -0.005183698502947226, + 0.017910314007955418, + -0.009553989665927477, + 0.061963382099672754, + 0.03496450043768323, + 0.003980411212688011, + 1.0 + ] + ], + "state": [ + [ + 0.34601855278015137, + 0.07452916353940964, + 0.150791734457016, + -2.9916233142190656, + -0.15130268037319183, + 0.017878321930766106, + 1.0 + ], + [ + 0.34547412395477295, + 0.07445573806762695, + 0.1503351330757141, + -2.992005782323428, + -0.14827223122119904, + 0.01814049854874611, + 1.0 + ], + [ + 0.3440170884132385, + 0.07098802179098129, + 0.13576920330524445, + -3.0194816162162503, + -0.12157025188207626, + 0.01878482475876808, + 1.0 + ], + [ + 0.34222403168678284, + 0.0686892718076706, + 0.12506885826587677, + -3.0875544158094606, + -0.1342310756444931, + 0.015501455403864385, + 1.0 + ], + [ + 0.3428938090801239, + 0.06883303821086884, + 0.12568935751914978, + 3.1401526544992855, + -0.14977280795574188, + 0.040802475064992905, + 1.0 + ], + [ + 0.34366118907928467, + 0.07146625220775604, + 0.12514080107212067, + 3.0973112677508077, + -0.16197827458381653, + 0.0574413277208805, + 1.0 + ], + [ + 0.3464762568473816, + 0.07494119554758072, + 0.11911722272634506, + 3.0606112127476415, + -0.1257897466421127, + 0.06689176708459854, + 1.0 + ], + [ + 0.35014423727989197, + 0.07709303498268127, + 0.11766182631254196, + 3.044039512174674, + -0.09832277148962021, + 0.0853075459599495, + 1.0 + ], + [ + 0.3512108027935028, + 0.07671774178743362, + 0.11499375104904175, + 3.0136104245954236, + -0.09699490666389467, + 0.11094844341278076, + 1.0 + ], + [ + 0.35006532073020935, + 0.07646744698286057, + 0.10938682407140732, + 2.989406021433421, + -0.10280993580818175, + 0.13203473389148712, + 1.0 + ], + [ + 0.34738895297050476, + 0.07773079723119736, + 0.10357308387756348, + 2.9863085021548947, + -0.09826954454183578, + 0.15217198431491852, + 1.0 + ], + [ + 0.3467855751514435, + 0.07899703085422516, + 0.10227178782224655, + 2.9930116703086576, + -0.0945674180984497, + 0.1751548796892166, + 1.0 + ], + [ + 0.3450891971588135, + 0.07652441412210464, + 0.09873884171247482, + 2.972964720922061, + -0.08979623764753343, + 0.18446998298168182, + 1.0 + ], + [ + 0.3462313711643219, + 0.07131396979093552, + 0.09894847869873047, + 2.9408214410119733, + -0.08946983516216278, + 0.20067381858825684, + 1.0 + ], + [ + 0.3470061421394348, + 0.06466050446033478, + 0.09673085808753967, + 2.9213766773515424, + -0.08981328457593918, + 0.20657311379909515, + 1.0 + ], + [ + 0.3463907241821289, + 0.05838417634367943, + 0.10061072558164597, + 2.903827192383357, + -0.06132601201534271, + 0.23103965818881989, + 1.0 + ], + [ + 0.34654510021209717, + 0.04821353405714035, + 0.10897353291511536, + 2.9007415940337857, + -0.041462767869234085, + 0.22269877791404724, + 1.0 + ], + [ + 0.34660452604293823, + 0.04423464462161064, + 0.12000568211078644, + 2.916614519553729, + -0.018092960119247437, + 0.1955031454563141, + 1.0 + ], + [ + 0.3465539216995239, + 0.038486164063215256, + 0.13075856864452362, + 2.9620151837640485, + -0.028063463047146797, + 0.20491065084934232, + 1.0 + ], + [ + 0.34670910239219666, + 0.029976077377796173, + 0.14455682039260864, + 3.009434836106845, + -0.01096391025930643, + 0.22664485871791842, + 1.0 + ], + [ + 0.3427034020423889, + 0.016541223973035812, + 0.16455835103988647, + 3.05087777425582, + -0.0272061824798584, + 0.2548474669456482, + 1.0 + ], + [ + 0.3370441496372223, + 0.0021402693819254637, + 0.17848441004753113, + 3.097422992932149, + -0.0551600381731987, + 0.2741023004055023, + 1.0 + ], + [ + 0.33616864681243896, + -0.011980867944657803, + 0.18409673869609833, + -3.1301916326680264, + -0.07115263491868973, + 0.2975224554538726, + 1.0 + ], + [ + 0.3358718156814575, + -0.030917944386601448, + 0.193053737282753, + -3.0679083188348493, + -0.10606879740953445, + 0.2931214570999145, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2216", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2216/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2223.json b/annotation/test/2223.json new file mode 100644 index 0000000000000000000000000000000000000000..4562b43f8ff7053c5d770bd2085b5f4afb40e60c --- /dev/null +++ b/annotation/test/2223.json @@ -0,0 +1,698 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Place the carrot in the bowl" + ], + "videos": [ + { + "video_path": "videos/test/2223/rgb.mp4" + } + ], + "action": [ + [ + 0.0004409310774339047, + -1.6925978527624846e-05, + -0.00032840763642970973, + 1.980703874759248e-05, + 0.0015329600720466996, + -5.235234304763046e-05, + 1.0 + ], + [ + -0.0026873130475949373, + 0.0019002285385082494, + 0.011822561075567275, + -0.009538080951513405, + -0.03380741826382448, + -0.0028184144906723977, + 1.0 + ], + [ + 0.020833484073251078, + 0.009574138686566763, + 0.018989714894311158, + -0.05856609435683721, + 0.0030614765059326417, + -0.012082688879805965, + 1.0 + ], + [ + 0.02799575218443692, + -0.0018558463745491547, + 0.009489653183430206, + -0.01929319215488071, + 0.0024321967404238457, + -0.01009112187850706, + 1.0 + ], + [ + 0.015672190888377003, + -0.004254326224366063, + 0.01113366490558549, + 0.01929342309946381, + -0.01879522933419613, + -0.00330526269918769, + 1.0 + ], + [ + -0.007548741993435304, + -0.0024617671127490433, + 0.010549438486853396, + 0.00462418893769508, + -0.047607743710077255, + 0.015524172620334287, + 1.0 + ], + [ + -0.008247769518062666, + 0.005872715148087686, + -0.0009939380011017968, + -0.03560551744094971, + 0.007232713834183466, + 0.028503803753743447, + 1.0 + ], + [ + -0.0010295513001642072, + 0.00243164114703302, + -0.028190296153889054, + 0.0016986632074568262, + 0.07216926062688103, + 0.02435715372413554, + 1.0 + ], + [ + -0.010531425362859519, + -0.006947835204225823, + -0.01760054835951325, + 0.022699816527029227, + 0.042166153287056, + -0.023879841563818255, + 1.0 + ], + [ + -0.01582674060505267, + -0.011526447305488675, + -0.03138346093882494, + 0.06182186106744261, + 0.046395713930387335, + 0.0022043874107999795, + 1.0 + ], + [ + -0.022935671325603223, + -0.015340676632131093, + 0.005877080959865502, + 0.07870781505303026, + -0.06131653986036058, + -0.015157361379919725, + 1.0 + ], + [ + -0.008945826678616431, + -0.012921553127237475, + 0.018453764554214755, + 0.009386194059602828, + -0.061625532206528714, + -0.05756166163317036, + 1.0 + ], + [ + -0.0029346560215470123, + -0.0005113741775821264, + 0.019603764964859202, + 0.007290008675309331, + -0.04885349575121025, + -0.01048967449979739, + 1.0 + ], + [ + -0.004424126966886441, + -0.002427635348267764, + 0.008056876998766754, + -0.007685753751491635, + -0.004414574002122284, + -0.003927568338847358, + 1.0 + ], + [ + -0.004775013497128952, + 0.0001434088869753948, + 0.011031504684002148, + -0.012925824362757231, + -0.01780605481274972, + -0.013357175334109897, + 1.0 + ], + [ + -0.0012512745785126175, + -0.00015921234389758103, + 0.005048491913858508, + 0.0033006070302607263, + -0.01518734729224588, + -0.0038298456922891346, + 1.0 + ], + [ + -0.00046336703461323227, + 0.00036632566762562815, + 0.00326748953623061, + -0.004073131823741884, + -0.009367507564948932, + 0.005782622734478999, + 1.0 + ], + [ + -0.00016403193766600333, + -0.0012309942108152134, + 0.00015537295993856825, + -0.004957175387018914, + -0.0005726959221210363, + -0.008108079676933578, + 0.0 + ], + [ + 0.0013876490963609372, + 0.0008418725678342085, + -0.001422465252938341, + -0.022224245752159404, + 0.002543146548163731, + 0.0036431761239339527, + 0.0 + ], + [ + 0.015466529922977312, + -0.004323997946159952, + -0.028865977660646427, + -0.05553041421794602, + 0.07623314898701022, + -0.019228960906009698, + 0.0 + ], + [ + 0.016483319323491084, + -0.021294563152629172, + -0.024447666044335594, + 0.007091141783246626, + 0.05714780538648598, + -0.05586248115400423, + 0.0 + ], + [ + 0.0031023662210869062, + -0.03837012980223685, + -0.007324905107393752, + 0.04326237357038247, + 0.016372978149505443, + -0.1015169882477263, + 0.0 + ], + [ + -0.0011535861773660622, + -0.024288010379009593, + 0.012186012168255574, + 0.03589283576735611, + -0.030489359147916374, + -0.07230403108426812, + 0.0 + ], + [ + 0.0035123909295213893, + -0.008676411996592156, + 0.014477757632394754, + 0.009349156386428345, + -0.025333801595416813, + -0.0455296768243901, + 0.0 + ], + [ + 0.00521816702763474, + 0.0006532727040478622, + 0.015979671858760744, + -0.006095380262439461, + -0.02948455954818816, + -0.01317683783174287, + 0.0 + ], + [ + 0.0071560157070269595, + 0.002605325950823111, + 0.010905147224095317, + -0.009188032790623895, + -0.015571303004423331, + -0.0032705868561804094, + 0.0 + ], + [ + 0.004417412188500683, + 0.004676440793806331, + 0.0033649340604609583, + -0.005733349365520112, + -0.005961580494932347, + 0.009197813056565854, + 0.0 + ], + [ + -0.0007923357005665857, + 0.0036030282929804813, + 0.004071329384857896, + -0.00301537214655944, + -0.012093731265389264, + 0.011112704102162231, + 0.0 + ], + [ + -0.0003719595244743847, + -4.05070043572315e-05, + -0.0006799578844931018, + 0.00010959687471227926, + -0.004602480285226614, + 0.0091160760122409, + 0.0 + ], + [ + 0.00035012438491240967, + 0.004862822332950875, + -0.02825538061076997, + 0.009939003030468857, + 0.0773593895839279, + 0.019569379499046417, + 1.0 + ], + [ + -0.008311110304257529, + 0.014772224775952334, + -0.0382105151651842, + -0.007631331564046796, + 0.07234124661827417, + 0.0673771533029412, + 1.0 + ], + [ + -0.012495227292586189, + 0.02313453944825307, + -0.0021176895538269147, + -0.04075174070760906, + -0.029577333816361795, + 0.12000777310516629, + 1.0 + ], + [ + -0.004060661969890547, + 0.011792838092897653, + 0.0036124662302230706, + -0.007224765174200962, + -0.018919885981532197, + 0.05660366275316631, + 1.0 + ], + [ + -0.003486422350992189, + 0.0006971287023437243, + 0.003045358926515993, + -0.0030139797157960647, + -0.01197754747247648, + 0.0039825453905779325, + 1.0 + ], + [ + -2.8667970711547698e-05, + -0.0002141812659482547, + -1.4633704301212744e-07, + 0.0013502429299372973, + -0.00018387039402457446, + 0.002238230195118121, + 1.0 + ] + ], + "state": [ + [ + 0.3480854332447052, + -0.011680521070957184, + 0.09325855225324631, + -3.105568440752574, + -0.14409199357032776, + -0.062162529677152634, + 1.0 + ], + [ + 0.3484741449356079, + -0.011699618771672249, + 0.09364726394414902, + -3.10554817144806, + -0.14562584459781644, + -0.062165454030036926, + 1.0 + ], + [ + 0.34744998812675476, + -0.013111668638885021, + 0.08149972558021545, + -3.1156551913642367, + -0.11194077134132387, + -0.058106996119022376, + 1.0 + ], + [ + 0.36973559856414795, + -0.02350185438990593, + 0.06471571326255798, + 3.107612947123595, + -0.11530647426843646, + -0.046027615666389465, + 1.0 + ], + [ + 0.3986837565898895, + -0.023301204666495323, + 0.05845282971858978, + 3.0871434939377984, + -0.11738845705986024, + -0.03578925132751465, + 1.0 + ], + [ + 0.41569674015045166, + -0.020265910774469376, + 0.04901774972677231, + 3.106159409629651, + -0.09844090044498444, + -0.033501215279102325, + 1.0 + ], + [ + 0.40930280089378357, + -0.01796395517885685, + 0.03769728168845177, + 3.112441439303108, + -0.05139844492077827, + -0.05070691928267479, + 1.0 + ], + [ + 0.4007206857204437, + -0.023377176374197006, + 0.03843669593334198, + 3.07830215443904, + -0.05943819880485535, + -0.07903701066970827, + 1.0 + ], + [ + 0.39797019958496094, + -0.023805133998394012, + 0.06661323457956314, + 3.081030586855956, + -0.13299153745174408, + -0.09889575839042662, + 1.0 + ], + [ + 0.38611000776290894, + -0.014588717371225357, + 0.08221311122179031, + 3.100145449983426, + -0.173588365316391, + -0.07212633639574051, + 1.0 + ], + [ + 0.36616581678390503, + -0.00029737313161604106, + 0.10989438742399216, + -3.1212133449786386, + -0.22003553807735443, + -0.07241160422563553, + 1.0 + ], + [ + 0.34617117047309875, + 0.01665087416768074, + 0.09945923089981079, + -3.046096148090907, + -0.15901091694831848, + -0.05582776293158531, + 1.0 + ], + [ + 0.3408772349357605, + 0.03159181773662567, + 0.08112134039402008, + -3.046768555539199, + -0.10283406078815459, + 0.007580877747386693, + 1.0 + ], + [ + 0.33993855118751526, + 0.033949971199035645, + 0.06145565211772919, + -3.040925162034579, + -0.055181678384542465, + 0.022658007219433784, + 1.0 + ], + [ + 0.33587777614593506, + 0.03708381578326225, + 0.053451359272003174, + -3.048851193981715, + -0.051183640956878655, + 0.027015015482902523, + 1.0 + ], + [ + 0.33164945244789124, + 0.03784869983792305, + 0.042224086821079254, + -3.062537895637103, + -0.034685332328081124, + 0.04197074472904205, + 1.0 + ], + [ + 0.33055058121681213, + 0.03836045041680336, + 0.03716356307268143, + -3.0594031756096562, + -0.019847435876727104, + 0.04698852449655533, + 1.0 + ], + [ + 0.3301575183868408, + 0.03824502229690552, + 0.03386848047375679, + -3.063374603288718, + -0.010036569088697433, + 0.04199446737766266, + 1.0 + ], + [ + 0.3299421966075897, + 0.039476439356803894, + 0.03380812704563141, + -3.0684159343414983, + -0.010098837316036224, + 0.05012292042374611, + 0.0 + ], + [ + 0.3313616216182709, + 0.03860284015536308, + 0.03517917916178703, + -3.0906019044392785, + -0.012368747033178806, + 0.04630327969789505, + 0.0 + ], + [ + 0.34631970524787903, + 0.042146116495132446, + 0.06441710144281387, + 3.1370055131898305, + -0.08948121219873428, + 0.061630472540855415, + 0.0 + ], + [ + 0.359215646982193, + 0.06438910961151123, + 0.0901423916220665, + 3.1390295872748872, + -0.1462303102016449, + 0.11826860159635545, + 0.0 + ], + [ + 0.3566882312297821, + 0.10274762660264969, + 0.09774384647607803, + -3.11584863265092, + -0.16158284246921542, + 0.22115869820117953, + 0.0 + ], + [ + 0.351996511220932, + 0.12690035998821259, + 0.08615202456712723, + -3.091860717284032, + -0.1325302571058273, + 0.2948391437530518, + 0.0 + ], + [ + 0.35437437891960144, + 0.13743114471435547, + 0.07271064072847366, + -3.0887600762122354, + -0.10934519022703171, + 0.34183937311172485, + 0.0 + ], + [ + 0.3608412444591522, + 0.13993535935878754, + 0.05738371983170509, + -3.096449254202195, + -0.08058574795722963, + 0.3565969467163086, + 0.0 + ], + [ + 0.369092732667923, + 0.1407569944858551, + 0.04698389396071434, + -3.105952425050088, + -0.06517726927995682, + 0.3605749309062958, + 0.0 + ], + [ + 0.3750389516353607, + 0.13813255727291107, + 0.04374966770410538, + -3.111100722225853, + -0.058889105916023254, + 0.35157996416091924, + 0.0 + ], + [ + 0.37572479248046875, + 0.1346803456544876, + 0.03953099623322487, + -3.113482916849204, + -0.046458810567855835, + 0.3408303558826446, + 0.0 + ], + [ + 0.3753376603126526, + 0.13456572592258453, + 0.040193814784288406, + -3.112956605973192, + -0.0416000597178936, + 0.3318395614624024, + 0.0 + ], + [ + 0.37641048431396484, + 0.12893839180469513, + 0.06828862428665161, + -3.1020263863080224, + -0.11835750192403793, + 0.30997046828269964, + 1.0 + ], + [ + 0.3692864775657654, + 0.10957019776105881, + 0.10464049130678177, + -3.101222878443547, + -0.18768395483493802, + 0.23870311677455902, + 1.0 + ], + [ + 0.362630158662796, + 0.08407221734523773, + 0.10347060114145279, + -3.1198816300653895, + -0.15197047591209412, + 0.11865823715925217, + 1.0 + ], + [ + 0.36061233282089233, + 0.07203708589076996, + 0.09903281927108765, + -3.1185621061646422, + -0.1315859854221344, + 0.06199910119175911, + 1.0 + ], + [ + 0.3576023280620575, + 0.0712222084403038, + 0.09554123133420944, + -3.1210848932438573, + -0.11951899528503418, + 0.05826709419488907, + 1.0 + ], + [ + 0.3575609028339386, + 0.07143428921699524, + 0.09554231911897659, + -3.1194664259725293, + -0.11928896605968477, + 0.05601711571216583, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.04620790481567383, + 0.32481974363327026, + 0.4031018614768982, + 0.4031018614768982, + 0.4031018614768982, + 0.4031018614768982, + 0.4031018614768982, + 0.4031018614768982, + 0.4031018614768982, + 0.4031018614768982, + 0.4031018614768982, + 0.4031018614768982, + 0.30480295419692993, + 0.05388200283050537, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2223", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2223/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2229.json b/annotation/test/2229.json new file mode 100644 index 0000000000000000000000000000000000000000..2b79dd2e8c5f80669d5cd8b6bc8bfd876fb6735d --- /dev/null +++ b/annotation/test/2229.json @@ -0,0 +1,736 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "upright metal pot cardboard fence" + ], + "videos": [ + { + "video_path": "videos/test/2229/rgb.mp4" + } + ], + "action": [ + [ + -0.0006097002992280843, + -5.792869682807433e-06, + -0.00013642886745145644, + 2.824284070694771e-05, + -0.0015337191901529995, + -4.086390533235812e-08, + 1.0 + ], + [ + -0.0038995864870103756, + 0.0024483267255619697, + 0.007757512860928348, + -0.010986527299411469, + -0.01976106574463193, + 0.019303355635020083, + 1.0 + ], + [ + 0.005891045376435416, + 0.010918503791522085, + -0.0012131656951651784, + -0.046340722198321825, + 0.10365286496200768, + 0.203707721734634, + 1.0 + ], + [ + 0.00425753310005149, + 0.011327425347385171, + -0.00848712486351054, + -0.007214609599188364, + 0.11231519870281434, + 0.2376133998462721, + 1.0 + ], + [ + 0.0008786199843720126, + 0.01902489745045883, + -0.010155035048644592, + -0.07096817766458158, + 0.07355866133550953, + 0.23394671828188968, + 1.0 + ], + [ + -0.0029721024242073592, + 0.02629835842443538, + -0.0019467072087716493, + -0.037668342074927134, + 0.06018540127459293, + 0.24643975508176835, + 1.0 + ], + [ + 0.005041118262034881, + 0.023583878520949616, + 0.009856913338356511, + 0.0007501343529328233, + 0.07678772853080436, + 0.2564213018475984, + 1.0 + ], + [ + 0.012304090841908373, + 0.02160193984833792, + 0.008792110588700776, + -0.0044489440960882145, + 0.08165584101752765, + 0.2361171851799499, + 1.0 + ], + [ + 0.00898925308147416, + 0.010847162882781066, + 0.00876676202930955, + -0.001222829366342635, + 0.03630412609186401, + 0.11975684885710212, + 1.0 + ], + [ + 0.004205097165083184, + 0.009498313762866525, + 0.009020127808304875, + 0.00799354878997687, + 0.009964190242088708, + 0.013171793868419737, + 1.0 + ], + [ + 0.002778183258087711, + 0.009283605166092713, + 0.010041755140065335, + 0.006867711212094257, + 0.004864085769584421, + 0.012241383646519001, + 1.0 + ], + [ + 0.0011914241726534956, + 0.0033580921086370464, + 0.010777776729534587, + 0.0057717453653251104, + -0.009639832984596574, + 0.009274945621029686, + 1.0 + ], + [ + 0.001218853041793776, + 0.00028360092257358947, + 0.00993605300847771, + 0.013996825332930002, + -0.01387863517911737, + 0.008806869620025252, + 1.0 + ], + [ + -0.001774188442737979, + -0.0010913011380336592, + 0.00689288785243137, + 0.012643777898926442, + -0.019689045467393987, + -0.012477747764728698, + 1.0 + ], + [ + -0.0008828132231655801, + 0.00019459868739422496, + 0.0020819169878293765, + 0.028299180849055104, + -0.01958978264952378, + -0.03256817402813416, + 1.0 + ], + [ + -0.002000854008613, + 0.0041733449542971455, + 0.004101093800705723, + 0.031192738670342897, + -0.026031659428408002, + -0.029651100670935068, + 1.0 + ], + [ + -0.00041542045763307147, + -7.850669019162865e-05, + 0.0007310452531890699, + 0.016072211724283383, + -0.03301652622078996, + -0.05183205255257141, + 1.0 + ], + [ + 0.0006507069783430685, + -0.00121430602590828, + 0.0003604943426034648, + 0.01975575895516937, + -0.020168676370414355, + -0.055162528718297896, + 0.0 + ], + [ + -0.0027480164349394484, + 0.0005286912933045, + 0.00149412732996843, + -0.01744108038328315, + -0.04762706114886865, + -0.06591301579716383, + 0.0 + ], + [ + 0.0018125540212535242, + -0.010613832066561956, + -0.0026978877422074547, + -0.03140784052036252, + -0.07842486408532799, + -0.0820146669816026, + 0.0 + ], + [ + -0.0006793950233472008, + -0.008472140233384592, + -0.0059758400937385886, + -0.025156592067965278, + -0.08674551668637127, + -0.10863088162910625, + 0.0 + ], + [ + -0.0038300016586157466, + -0.009854241025816132, + 0.0030733059619386656, + 0.007600878772123496, + -0.07574587335058068, + -0.08800866709927327, + 0.0 + ], + [ + -0.001797535930511659, + -0.012384732151686713, + 0.005623484358389052, + -0.015802428217317394, + -0.07590310687047641, + -0.07932080395903159, + 0.0 + ], + [ + -0.010599741781803078, + -0.006251876228070737, + 0.010203317547855134, + -0.038818047252064704, + -0.08999039752898912, + -0.060084125765978914, + 0.0 + ], + [ + -0.01163160344381415, + -0.0022448352716317272, + 0.009460512845296636, + -0.039279142593172285, + -0.06758597256118166, + -0.026680152336918346, + 0.0 + ], + [ + -0.0020762401070245897, + -0.005639137836894172, + 0.0016947828099258555, + 0.017569496062085483, + -0.0012699334730133349, + -0.019521978982049267, + 0.0 + ], + [ + -0.0025808295821903027, + -0.003532215166601918, + 0.006772727521380877, + -0.004459512016574428, + -0.016397688924680832, + -0.03509426130796065, + 0.0 + ], + [ + -0.0005465930709591546, + -0.002562964897530619, + 0.008233281597550695, + 0.013571165194034026, + -0.006210857704918122, + -0.019247229500300063, + 0.0 + ], + [ + 0.0005226799773767309, + -0.0035515948897501203, + 0.005016323027631789, + 0.017440277566293207, + -0.0022190243550037026, + -0.009316850489671446, + 1.0 + ], + [ + 0.0013371992548991498, + -0.0025579377071596647, + 0.00024406330848041652, + 0.009235873130575771, + 0.012274609198667248, + -0.01566661779945977, + 1.0 + ], + [ + 9.115613862223352e-06, + -0.0018831783230200028, + 0.0001731654397698862, + 0.0037244714222070016, + 0.00697201312160808, + -0.003215171765284222, + 1.0 + ], + [ + 0.002326367710808476, + -0.0009405221810106382, + -0.02011363630718208, + -0.023496118285174245, + 0.06085747479978648, + -0.002217438344996915, + 1.0 + ], + [ + 0.0009462854509864563, + -0.00021398381130018835, + -0.026746107395772725, + -0.014904028896645964, + 0.04741548399008598, + 0.0003667852222860245, + 1.0 + ], + [ + 0.005955187701400385, + -0.0023364034424685513, + -0.023825956161244125, + -0.035063757261121146, + 0.027579667528376126, + -0.0032203361896139516, + 1.0 + ], + [ + 0.009100188684969436, + -0.002583042768611908, + -0.045089269122893925, + -0.04452494501364626, + 0.09116854128249896, + 0.0045786857070888205, + 1.0 + ], + [ + 0.004622340594922578, + -0.004697872796908428, + -0.029520767354248106, + -0.038914085909381946, + 0.05261268273882608, + -0.005677920792628925, + 1.0 + ], + [ + -0.0004506008449078251, + -0.000625207234162034, + -0.000867580745691212, + 0.0009022914065462186, + -0.00031147695546626946, + 0.0020375849543978882, + 1.0 + ] + ], + "state": [ + [ + 0.27338242530822754, + 0.14645996689796448, + 0.1512278914451599, + -3.0387261902266225, + -0.24314966797828672, + 0.4107253849506378, + 1.0 + ], + [ + 0.272813081741333, + 0.14620302617549896, + 0.1512133926153183, + -3.0387368892603597, + -0.24162405729293823, + 0.41088762879371643, + 1.0 + ], + [ + 0.27174440026283264, + 0.1439497321844101, + 0.14254386723041534, + -3.0455082227760037, + -0.21994942426681519, + 0.3932953476905822, + 1.0 + ], + [ + 0.28123196959495544, + 0.13599373400211334, + 0.14398540556430817, + -3.045333596067973, + -0.29861021041870117, + 0.17153450846672058, + 1.0 + ], + [ + 0.2851719558238983, + 0.12440551072359085, + 0.15227141976356506, + -2.977388935285159, + -0.37821534276008606, + -0.09367844462394716, + 1.0 + ], + [ + 0.2815340757369995, + 0.10422833263874054, + 0.15901610255241394, + -2.956260087090083, + -0.40116432309150696, + -0.35753047466278076, + 1.0 + ], + [ + 0.2708723843097687, + 0.08023558557033539, + 0.15515564382076263, + -2.8931068946891507, + -0.40185073018074036, + -0.633105993270874, + 1.0 + ], + [ + 0.26736366748809814, + 0.05746263638138771, + 0.1429961770772934, + -2.7883391698175153, + -0.39891150593757624, + -0.9236408472061158, + 1.0 + ], + [ + 0.26413825154304504, + 0.03315893933176994, + 0.13328728079795837, + -2.699441047506877, + -0.3817815482616424, + -1.1930187940597534, + 1.0 + ], + [ + 0.26331597566604614, + 0.01882117986679077, + 0.12497606873512268, + -2.6547959466748914, + -0.36045265197753906, + -1.3253229856491089, + 1.0 + ], + [ + 0.2612861692905426, + 0.009741910733282566, + 0.11484146118164062, + -2.6406958421045026, + -0.36304783821105957, + -1.3427624702453613, + 1.0 + ], + [ + 0.25970330834388733, + 0.0018720808438956738, + 0.10342652350664139, + -2.6289052685075482, + -0.36140367388725275, + -1.3567386865615845, + 1.0 + ], + [ + 0.26307573914527893, + -0.002529803430661559, + 0.09352163225412369, + -2.621848853426524, + -0.3484516143798828, + -1.3603066205978394, + 1.0 + ], + [ + 0.2685255706310272, + -0.005597108043730259, + 0.08569972962141037, + -2.607526036100932, + -0.3320317268371582, + -1.3611003160476685, + 1.0 + ], + [ + 0.27289193868637085, + -0.004745117854326963, + 0.08003761619329453, + -2.602027567225047, + -0.32136160135269165, + -1.3392188549041748, + 1.0 + ], + [ + 0.27371498942375183, + -0.004302531480789185, + 0.07796920835971832, + -2.586693437891551, + -0.3210417628288269, + -1.299167513847351, + 1.0 + ], + [ + 0.2723512351512909, + -0.004573511891067028, + 0.07194376736879349, + -2.5686690529161176, + -0.31428164243698126, + -1.2582491636276245, + 1.0 + ], + [ + 0.2727239727973938, + -0.004223626106977463, + 0.07127159833908081, + -2.573423059778758, + -0.31399860978126526, + -1.1936404705047607, + 1.0 + ], + [ + 0.27404406666755676, + -0.004250265192240477, + 0.07180503755807877, + -2.5732769687944135, + -0.32612544298171997, + -1.1330997943878174, + 0.0 + ], + [ + 0.27347511053085327, + -0.0021884848829358816, + 0.06946220248937607, + -2.6194662173562726, + -0.3202981352806092, + -1.0475786924362183, + 0.0 + ], + [ + 0.2799374759197235, + 0.002327187918126583, + 0.07727654278278351, + -2.688725920515605, + -0.29112929105758667, + -0.9326382875442504, + 0.0 + ], + [ + 0.2820158302783966, + 0.007923967204988003, + 0.0857798308134079, + -2.756633611517497, + -0.2577592730522156, + -0.7925376892089844, + 0.0 + ], + [ + 0.28658920526504517, + 0.01793801784515381, + 0.08562745153903961, + -2.778978319960185, + -0.21895137429237366, + -0.6799725890159607, + 0.0 + ], + [ + 0.29390591382980347, + 0.029478300362825394, + 0.0843929648399353, + -2.8178749104314527, + -0.17494133114814756, + -0.5774610042572023, + 0.0 + ], + [ + 0.29128849506378174, + 0.04213162139058113, + 0.07498069852590561, + -2.8715270479493817, + -0.10807608067989351, + -0.49156948924064636, + 0.0 + ], + [ + 0.28411659598350525, + 0.051288556307554245, + 0.06525705754756927, + -2.9151625504070005, + -0.04995473101735116, + -0.44783180952072144, + 0.0 + ], + [ + 0.28480902314186096, + 0.057474397122859955, + 0.06476832926273346, + -2.8986012806468686, + -0.053090304136276245, + -0.4284958243370056, + 0.0 + ], + [ + 0.28484272956848145, + 0.0630197525024414, + 0.058915555477142334, + -2.9052249809079846, + -0.04557768255472183, + -0.39045020937919617, + 0.0 + ], + [ + 0.2863319218158722, + 0.06718625128269196, + 0.051494162529706955, + -2.892617793875285, + -0.044037096202373505, + -0.37026432156562805, + 0.0 + ], + [ + 0.2886751592159271, + 0.07129491865634918, + 0.04753454029560089, + -2.8756105323606214, + -0.04418020695447922, + -0.3606786131858825, + 1.0 + ], + [ + 0.29080066084861755, + 0.07319949567317963, + 0.0480300635099411, + -2.8668994327359876, + -0.0601380318403244, + -0.34876924753189087, + 1.0 + ], + [ + 0.29142525792121887, + 0.07495104521512985, + 0.04837413132190704, + -2.863240810232707, + -0.0677207261323929, + -0.3475630879402161, + 1.0 + ], + [ + 0.2907862365245819, + 0.0702662467956543, + 0.06808451563119888, + -2.8852408548169812, + -0.12683498859405518, + -0.36226513981819153, + 1.0 + ], + [ + 0.28626731038093567, + 0.06494797766208649, + 0.09392229467630386, + -2.89827977319295, + -0.17259706556797025, + -0.37482431530952454, + 1.0 + ], + [ + 0.2866697609424591, + 0.06105801835656166, + 0.11828015744686127, + -2.9326336701684674, + -0.20013892650604248, + -0.3784153461456299, + 1.0 + ], + [ + 0.2841876745223999, + 0.05469856038689613, + 0.16384246945381165, + -2.9714725633435926, + -0.2883126437664032, + -0.4027692973613739, + 1.0 + ], + [ + 0.2803017497062683, + 0.055954378098249435, + 0.1938130259513855, + -3.0091479440503797, + -0.3411247432231903, + -0.40628707408905035, + 1.0 + ], + [ + 0.2798216640949249, + 0.056710850447416306, + 0.1945505142211914, + -3.0075436403327664, + -0.34054622054100037, + -0.40838623046875, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.04696917533874512, + 0.19920474290847778, + 0.4850575923919678, + 0.6942910552024841, + 0.8221043199300766, + 0.9269806668162346, + 0.9370363429188728, + 0.9310474172234535, + 0.928561195731163, + 0.9282467439770699, + 0.9282467439770699, + 0.9282467439770699, + 0.8995618224143982, + 0.7361812889575958, + 0.4606526494026184, + 0.16740405559539795, + 0.0, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938 + ], + "episode_id": "2229", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2229/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2235.json b/annotation/test/2235.json new file mode 100644 index 0000000000000000000000000000000000000000..baa513777384c46121a48adce5bfdf28df0fff18 --- /dev/null +++ b/annotation/test/2235.json @@ -0,0 +1,850 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Place the metal bowl in front of the knife, near the far edge of the table." + ], + "videos": [ + { + "video_path": "videos/test/2235/rgb.mp4" + } + ], + "action": [ + [ + -0.00011731516495612921, + 0.00016138476421927964, + -1.285745103741567e-07, + -0.0010171330779629477, + -0.000740616335978435, + -0.0008771349138232389, + 1.0 + ], + [ + -0.005264625503610736, + 0.0002970664339519498, + 0.008081986834783119, + 0.011933396677388535, + -0.0293183308455581, + 0.00738476165030296, + 1.0 + ], + [ + -0.017824710636237473, + 0.024952142222899737, + -0.001289457464919394, + -0.041973480024370555, + -0.024402363558394972, + 0.08375413346747759, + 1.0 + ], + [ + -0.022934647787996497, + 0.020494299166824253, + 0.0012017490313966982, + -0.024150918127074882, + -0.021164175185931753, + 0.08668111615227604, + 1.0 + ], + [ + -0.018673464535916267, + 0.014992445598862933, + -0.0031348224406429225, + -0.039019790083634764, + 0.009614183358035005, + 0.05890957780608878, + 1.0 + ], + [ + -0.030484959607426712, + 0.01076343416913766, + 0.011919141577243938, + -0.013381206867962712, + -0.046605642276630235, + 0.06123340720892934, + 1.0 + ], + [ + -0.028777907398509436, + 0.011668477260992958, + 0.014042087908916541, + -0.013510264235103151, + -0.019667375380190134, + 0.03480785692988148, + 1.0 + ], + [ + -0.026282882982556967, + 0.003276990110263705, + 0.01017573452124177, + -0.019032469650509445, + -0.05053968032659691, + -0.014167799645784978, + 1.0 + ], + [ + -0.022703840150483108, + 0.001360036091519705, + 0.011570959462300023, + -0.04342464833687447, + -0.05832580382020396, + -0.022600019539323505, + 1.0 + ], + [ + -0.01435328253989595, + 0.0029995377274310443, + 0.009470321246190386, + -0.019340134903303538, + 0.00471149683936738, + 0.024565284859490243, + 1.0 + ], + [ + 0.0004397075983157601, + 0.00882805073631059, + 0.008050499376885532, + -0.01605853080963363, + 0.041490339816860546, + -0.0010927710436999358, + 1.0 + ], + [ + -0.0015189758218033468, + 0.0038072810177130125, + 0.006997407750097773, + 0.011709216420137308, + -0.007975709571937583, + -0.0009703667571247224, + 1.0 + ], + [ + 0.0014090509607456454, + 0.005287342545490767, + 0.005447339178801835, + 0.01403741348540246, + -0.00259020152743542, + 0.0018949915265948545, + 1.0 + ], + [ + 0.004903968100822028, + 0.0029081137399161886, + 0.005426369704385244, + 0.008893493518841313, + 0.004258390564274245, + 0.001519481300982057, + 1.0 + ], + [ + 0.0030115558249606826, + -0.005103401548893816, + -0.000387364247279647, + 0.03809644462139532, + 0.014591755472924312, + 0.01804630870954707, + 1.0 + ], + [ + 0.0002792503649345943, + -0.0008362454683177899, + -0.0016875355410341508, + 0.03685535677965557, + 0.02444199053651997, + 0.02311995518897252, + 0.0 + ], + [ + 0.0016126986718226928, + -0.0006769635114798199, + -0.0033306790751233446, + 0.00620612944365191, + 0.014390080097934927, + -0.0020130161160829916, + 0.0 + ], + [ + 0.001908404055077837, + 5.587271098576228e-05, + -0.004269173705635655, + -0.002124036727719046, + 0.014474829418342005, + -0.013808646936968946, + 0.0 + ], + [ + 0.0032327009153276594, + 0.0006680866951159149, + -0.004174872862301073, + -0.005202542323442316, + 0.012115164299195555, + -0.002156901478784803, + 0.0 + ], + [ + 0.0032058839569859424, + 0.0021784765148404536, + -0.0038596330931792147, + -6.363842266521883e-05, + -0.00448051861570441, + -0.0020514612547212828, + 0.0 + ], + [ + 0.01699441960405917, + -3.8713695235568206e-05, + -0.006785054902846369, + -0.004627593708020506, + 0.014481290921384046, + -0.01937031397621478, + 0.0 + ], + [ + 0.02355533152181601, + -0.009374241437714715, + -0.01305828060400134, + -0.011547796111569716, + 0.045456445505241874, + -0.03328742124774342, + 0.0 + ], + [ + 0.02320780807320876, + -0.028184169066266206, + -0.008477064394479655, + 0.0007233109112584574, + 0.01634940836755379, + -0.08704096382718134, + 0.0 + ], + [ + 0.024155390009452493, + -0.03133666482446446, + -0.005265585379526253, + 0.035578846143984114, + 0.017239130247016336, + -0.0716771439095085, + 0.0 + ], + [ + 0.01834386987882436, + -0.03825474842278424, + 0.004167844021126241, + 0.02411356904796769, + 0.01185915007680995, + -0.10174327573226898, + 0.0 + ], + [ + 0.014884236273455401, + -0.033760461439639906, + 0.004447316083829381, + 0.04299280056740618, + 0.021241943307726028, + -0.07140683084981045, + 0.0 + ], + [ + 0.007594027772246461, + -0.02204038076904722, + 0.01505869728774251, + 0.041455509225765685, + -0.015146853902536632, + -0.05916243348881687, + 0.0 + ], + [ + 0.0012162718486412954, + -0.0062302914533378315, + 0.014931622279813967, + 0.02323477449873733, + -0.020320394869445608, + -0.015131983140357188, + 0.0 + ], + [ + 0.0038725992036627915, + -0.004620814025704211, + 0.01775768689024239, + 0.06138192171694831, + -0.012541781798861977, + 0.003557775278016939, + 0.0 + ], + [ + 0.0024093732870758442, + -0.004991629885911911, + 0.019615988012277354, + 0.0035501804246621154, + -0.013260952567847827, + -0.02773601441367941, + 0.0 + ], + [ + 0.0020892929209257644, + -0.0018684873585172836, + 0.00967856887804499, + -0.002479473596641252, + -0.017732213326373685, + -0.02930548056268542, + 0.0 + ], + [ + -0.0016678084622932144, + 0.00023713297550491473, + -0.0006859613364944405, + 0.002872350670132038, + -0.015378506708798053, + -0.007575078789460792, + 0.0 + ], + [ + -0.005375421500998469, + -0.003557411051779427, + 0.00020445797140633486, + 0.031661599002215816, + -0.02743744562795663, + 9.477451851969314e-05, + 0.0 + ], + [ + -0.0030744260953462148, + 0.007862046805912083, + -0.0016168060755019447, + -0.002953365157707189, + 0.0033187384289345336, + 0.033556418336333736, + 1.0 + ], + [ + -0.0039730096240672644, + -0.0009449653860233525, + 0.0010745150048105682, + 0.011672984566134657, + -0.002657378851967409, + 0.013534501115208736, + 1.0 + ], + [ + -0.0020920931548852, + 0.004580028797325044, + -0.0013039635914701437, + 0.005840889936824412, + 0.00302431744106725, + 0.018560738508555615, + 1.0 + ], + [ + 9.359841327968755e-05, + 8.906041576705172e-05, + -0.00575454100704361, + -0.0053777736881576955, + -0.001972539246887472, + 0.005208308928895121, + 1.0 + ], + [ + 0.014074947696281712, + 0.0020066305317497715, + -0.02563875552769769, + -0.05865780830338462, + 0.03943349388336782, + -0.02070396173211395, + 1.0 + ], + [ + 0.014707920053724045, + 0.002619155009421266, + -0.028178640042973536, + -0.04560752822823452, + -0.009388964986299294, + -0.00770031605062706, + 1.0 + ], + [ + 0.005511388698783456, + 0.005310275443147618, + -0.02331714245984651, + -0.01413451394174781, + 0.010891260844307612, + 0.016480561359642074, + 1.0 + ], + [ + -0.00420410908725481, + 0.011728316048469257, + -0.011677008501038274, + -0.08494704566863376, + -0.020589326023516895, + 0.052558857049098795, + 1.0 + ], + [ + 0.0004752247866315284, + -0.0006682032705441908, + -0.00027691644527789826, + -0.00012166848203797459, + -0.00017011311922508567, + 0.0037786350465833017, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 4.91335200451708e-17, + -2.2341749691892158e-17, + 4.538906268448241e-17, + 1.0 + ] + ], + "state": [ + [ + 0.30827102065086365, + 0.114410400390625, + 0.16281165182590485, + -3.1306259679892143, + -0.4467911422252655, + 0.7603947520256042, + 1.0 + ], + [ + 0.30830609798431396, + 0.11422104388475418, + 0.16275948286056519, + -3.1320670583569488, + -0.4460600018501281, + 0.7613759636878967, + 1.0 + ], + [ + 0.3075445592403412, + 0.11319123208522797, + 0.1531948298215866, + -3.1167778131836137, + -0.41666075587272644, + 0.7536094784736633, + 1.0 + ], + [ + 0.31255146861076355, + 0.08363877981901169, + 0.1465936303138733, + -3.122510492923208, + -0.3886801600456237, + 0.6637986302375793, + 1.0 + ], + [ + 0.3089200258255005, + 0.054812777787446976, + 0.1364283561706543, + -3.1117766351723155, + -0.3643597364425659, + 0.5714821219444276, + 1.0 + ], + [ + 0.30159568786621094, + 0.032174788415431976, + 0.13228416442871094, + -3.128229323896118, + -0.3715451359748841, + 0.5079759359359741, + 1.0 + ], + [ + 0.28576114773750305, + 0.011224087327718735, + 0.10997753590345383, + -3.1184262075745544, + -0.32342359423637385, + 0.4441235661506653, + 1.0 + ], + [ + 0.2701011300086975, + -0.008785774931311607, + 0.08726474642753601, + -3.120512817176529, + -0.30275905132293707, + 0.4081508219242096, + 1.0 + ], + [ + 0.25109270215034485, + -0.02034146338701248, + 0.06965168565511703, + 3.138974872306459, + -0.25249356031417847, + 0.42386049032211304, + 1.0 + ], + [ + 0.23425999283790588, + -0.02946186438202858, + 0.052779242396354675, + 3.089831894385167, + -0.19404476881027222, + 0.4466980397701264, + 1.0 + ], + [ + 0.22468149662017822, + -0.03791456297039986, + 0.04088364541530609, + 3.0752848108583173, + -0.19996275007724762, + 0.42191585898399353, + 1.0 + ], + [ + 0.23024997115135193, + -0.04565509036183357, + 0.03367152437567711, + 3.0583838542276105, + -0.2412879467010498, + 0.42586812376976013, + 1.0 + ], + [ + 0.2321629673242569, + -0.04959214851260185, + 0.026844635605812073, + 3.0700157304578504, + -0.2332591712474823, + 0.4261806905269622, + 1.0 + ], + [ + 0.23681645095348358, + -0.05369915813207626, + 0.022251980379223824, + 3.084545849012681, + -0.23081061244010925, + 0.4240487813949585, + 1.0 + ], + [ + 0.24358446896076202, + -0.05416879802942276, + 0.0182613804936409, + 3.093738617497035, + -0.23514851927757263, + 0.4227385222911834, + 1.0 + ], + [ + 0.2441260665655136, + -0.04831521585583687, + 0.019101900979876518, + 3.1360042115026197, + -0.25055068731307983, + 0.40485441684722895, + 1.0 + ], + [ + 0.2436581254005432, + -0.04759570211172104, + 0.020801428705453873, + -3.104405505704232, + -0.27505347132682795, + 0.3809807896614074, + 0.0 + ], + [ + 0.24404790997505188, + -0.04684422165155411, + 0.024466922506690025, + -3.098614016669341, + -0.2895081341266632, + 0.3825213313102722, + 0.0 + ], + [ + 0.24470500648021698, + -0.04683773219585419, + 0.029097165912389755, + -3.104679500805684, + -0.304536908864975, + 0.39632922410964966, + 0.0 + ], + [ + 0.24671991169452667, + -0.04688530042767525, + 0.03402303159236908, + -3.1104184353076896, + -0.31672295928001404, + 0.39812681078910833, + 0.0 + ], + [ + 0.24933083355426788, + -0.04827985540032387, + 0.03862287104129791, + -3.111198630305477, + -0.31230777502059937, + 0.40042823553085327, + 0.0 + ], + [ + 0.26236987113952637, + -0.042942341417074203, + 0.05029948055744171, + -3.1219677944951734, + -0.3273129165172577, + 0.4204083085060119, + 0.0 + ], + [ + 0.2751258611679077, + -0.027253899723291397, + 0.07040933519601822, + 3.138498516642027, + -0.3732328116893768, + 0.4551558494567871, + 0.0 + ], + [ + 0.27938681840896606, + 0.006239353679120541, + 0.08668375015258789, + 3.1049665120714387, + -0.38782009482383734, + 0.5492411255836487, + 0.0 + ], + [ + 0.28068357706069946, + 0.04397488385438919, + 0.09962762892246246, + 3.1109717843406877, + -0.401353120803833, + 0.6277418732643129, + 0.0 + ], + [ + 0.2736557424068451, + 0.08596090972423553, + 0.10188094526529312, + 3.091871155547448, + -0.4078817665576935, + 0.7389516234397887, + 0.0 + ], + [ + 0.262988418340683, + 0.12155885994434357, + 0.10216730833053589, + 3.1035029498213014, + -0.42441204190254217, + 0.8183712959289551, + 0.0 + ], + [ + 0.2565288245677948, + 0.14604665338993073, + 0.09081681817770004, + 3.1187878662073096, + -0.40625652670860285, + 0.882099449634552, + 0.0 + ], + [ + 0.2564774751663208, + 0.15524925291538239, + 0.07745423167943954, + 3.135766368480869, + -0.3855505287647248, + 0.8979226350784302, + 0.0 + ], + [ + 0.2593494653701782, + 0.1661011129617691, + 0.062431808561086655, + -3.08457117353613, + -0.3730270266532898, + 0.8940240144729614, + 0.0 + ], + [ + 0.2604028880596161, + 0.1771547794342041, + 0.045337505638599396, + -3.092119837301322, + -0.3612104952335357, + 0.9244312644004822, + 0.0 + ], + [ + 0.2617461383342743, + 0.18282833695411682, + 0.03711938485503197, + -3.1059326251321515, + -0.3447783887386322, + 0.9564589262008668, + 0.0 + ], + [ + 0.2609230875968933, + 0.18120798468589783, + 0.03719291090965271, + -3.105957357334443, + -0.32966795563697815, + 0.9650385975837708, + 0.0 + ], + [ + 0.2551129460334778, + 0.17907601594924927, + 0.0353793241083622, + -3.0745817964249333, + -0.30224442481994634, + 0.9659632444381713, + 0.0 + ], + [ + 0.2598018944263458, + 0.17187346518039703, + 0.03550164774060249, + -3.067063206928321, + -0.30313205718994146, + 0.9306492805480957, + 1.0 + ], + [ + 0.2568955421447754, + 0.16968271136283875, + 0.03336013853549957, + -3.05124186177785, + -0.2994466722011566, + 0.9167308807373047, + 1.0 + ], + [ + 0.2592337429523468, + 0.1650422066450119, + 0.03358898684382439, + -3.0396233816915235, + -0.3007297217845917, + 0.8970915079116821, + 1.0 + ], + [ + 0.2587602734565735, + 0.16336819529533386, + 0.039075784385204315, + -3.0434587990217885, + -0.29823341965675354, + 0.8918810486793518, + 1.0 + ], + [ + 0.2660459876060486, + 0.1652173399925232, + 0.0674126073718071, + -3.1072698218100747, + -0.33946189284324646, + 0.9096184372901918, + 1.0 + ], + [ + 0.27165138721466064, + 0.16658462584018707, + 0.09878024458885193, + 3.1274859766759953, + -0.33033138513565063, + 0.9180943369865417, + 1.0 + ], + [ + 0.2741670608520508, + 0.16167421638965607, + 0.12269306182861328, + 3.1189718415313443, + -0.3414081633090973, + 0.9007700681686401, + 1.0 + ], + [ + 0.2782078683376312, + 0.14831849932670593, + 0.1325356811285019, + 3.052751423912593, + -0.3215166926383972, + 0.8449040055274963, + 1.0 + ], + [ + 0.2779455780982971, + 0.1490626484155655, + 0.13289129734039307, + 3.0538890828662595, + -0.32168012857437134, + 0.8409208655357361, + 1.0 + ], + [ + 0.2779455780982971, + 0.1490626484155655, + 0.13289129734039307, + 3.0538890828662595, + -0.32168012857437134, + 0.8409208655357361, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.05002796649932861, + 0.342884361743927, + 0.6405960619449615, + 0.799163207411766, + 0.8609960228204727, + 0.8987880796194077, + 0.9149821773171425, + 0.9170585051178932, + 0.9282467439770699, + 0.9304307699203491, + 0.9304307699203491, + 0.9304307699203491, + 0.9304307699203491, + 0.9304307699203491, + 0.9304307699203491, + 0.9304307699203491, + 0.9304307699203491, + 0.9307394847273827, + 0.896837517619133, + 0.7086509466171265, + 0.433002769947052, + 0.12071859836578369, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2235", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2235/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2239.json b/annotation/test/2239.json new file mode 100644 index 0000000000000000000000000000000000000000..30e238106e5de02d7079d77f5ba42ae1264e74ce --- /dev/null +++ b/annotation/test/2239.json @@ -0,0 +1,660 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put pear in bowl cardboardfence" + ], + "videos": [ + { + "video_path": "videos/test/2239/rgb.mp4" + } + ], + "action": [ + [ + 8.577193347971994e-06, + 0.00021951302381236726, + -0.0007750674195943986, + -0.0016858776993985667, + 0.0012903445264119922, + -0.00045020430671508297, + 1.0 + ], + [ + -0.0022647833623812836, + 0.0020962843473838234, + 0.007715258645407635, + 0.0026022141655365223, + -0.02890689710403019, + 0.007913782121469171, + 1.0 + ], + [ + -0.0002969626178073923, + 0.03604371042158079, + 0.006609936823742337, + -0.03871169578831076, + 0.002132308585736932, + 0.09534498461946964, + 1.0 + ], + [ + 0.007659176216799002, + 0.024391341241667083, + 0.01538155810819635, + -0.10792015810509312, + -0.13666990881417787, + 0.09257648207277588, + 1.0 + ], + [ + 0.007940273275122978, + 0.02670622601785798, + 0.01815741848521415, + -0.07671973389608527, + -0.014272599955891781, + 0.023888344669599007, + 1.0 + ], + [ + 0.0025516864102449674, + 0.01372933841852733, + 0.024017780495540576, + 0.009067430211057414, + 0.0208285525409352, + 0.07946484875891742, + 1.0 + ], + [ + -0.006794344179032374, + 0.00945357233225859, + 0.015597944536412157, + 0.01003387070624885, + 0.00030255896953989615, + 0.07593253737101158, + 1.0 + ], + [ + -0.005477289846542218, + 0.006963441026869152, + 0.0097688412417957, + 0.016709271762737628, + -0.002980611636961765, + 0.03827869172881976, + 1.0 + ], + [ + -0.003601925170819876, + 0.000588482682415466, + 0.017577971624538252, + 0.04366725076382453, + 0.007089815802672271, + 0.03550693937676617, + 1.0 + ], + [ + 0.0036862471074264815, + -0.0006541227261343447, + 0.013282649999857083, + 0.022118665067843036, + -0.00460184769871535, + -0.002048687361891469, + 1.0 + ], + [ + 0.0025764545067650307, + 0.004298741987126851, + 0.007586793924615657, + 0.013737035446787392, + 0.0069444458095753005, + -0.013019629526585584, + 1.0 + ], + [ + 0.0010785174385869699, + 0.004420639100984656, + 0.012527649776629705, + 0.01947617622453898, + -0.03139799251346079, + -0.03781263829808827, + 1.0 + ], + [ + -0.0005433030216268467, + 0.004144246560855125, + 0.004998318847638317, + 0.01449900469123774, + 0.0012637953601124456, + 0.003324471667283112, + 1.0 + ], + [ + 0.0007204235050479219, + 0.002108616584918692, + 0.0004192740621821948, + 0.0027778139327170478, + 0.012030134582535993, + -0.00814951205614778, + 1.0 + ], + [ + -0.0032252543576576295, + 0.0018177069234125802, + 0.0023118509718934154, + -0.0009948370231317484, + -0.007007007169509385, + -0.00544955592832475, + 0.0 + ], + [ + -0.0019483854769572837, + 0.00020631454360184708, + -5.97685234502491e-05, + -0.004031875748916705, + -0.013019282848628223, + -0.006184792693511986, + 0.0 + ], + [ + -0.004487540823835781, + 1.7035058406644642e-06, + -0.007937979516607328, + -0.015133818939317317, + -0.01763797307363669, + -0.018398819571957128, + 0.0 + ], + [ + -0.006735920989974904, + -0.011471147735360197, + -0.04127301968573349, + -0.0376688433453229, + 0.05888141554006343, + -0.06463177452218359, + 0.0 + ], + [ + -0.0010749613510554457, + -0.028926635822100016, + -0.029508610293180845, + -0.03245338561864625, + -0.020983015260121887, + -0.11601151012064827, + 0.0 + ], + [ + 0.008404725997899263, + -0.02212160224529181, + -0.01686925349726519, + -0.0011108055984291316, + 0.011622330846684382, + -0.044588265610398484, + 0.0 + ], + [ + 0.011118361297048506, + -0.03331155864351796, + -0.005896127240865091, + 0.028509743899576185, + -0.0029262251298461583, + -0.05560777787679166, + 0.0 + ], + [ + 0.0032659111425797234, + -0.021975865290823907, + 0.006804280722833205, + 0.03521366720229827, + -0.027579141836189276, + 0.02238315082774559, + 0.0 + ], + [ + 0.0029227822015605418, + -0.02457026099952231, + -0.0011606298977179647, + 0.02999720910360356, + 0.010929783891957865, + 0.037086722636278664, + 0.0 + ], + [ + -0.0008696970873692812, + -0.007764871008974439, + 0.004868151491468, + 0.03128687744456416, + 0.00528935871098945, + 0.03864358549400338, + 0.0 + ], + [ + -0.0032459588455150336, + -0.0022127124723389457, + 0.005343989038705422, + 0.009063931968837072, + -0.006961985539091036, + 0.006837284252050967, + 0.0 + ], + [ + -0.0016717252652999842, + -0.0024394589913719175, + 0.01583768299762126, + 0.02478709298293131, + -0.028508627132089483, + 0.016308182779105448, + 0.0 + ], + [ + -0.0009665025933140942, + 0.003255867419581583, + 0.0020265029331318664, + 0.02695232967793658, + -0.012512975184924271, + 0.030205351896372513, + 0.0 + ], + [ + -0.0027399721565910776, + 0.003736047107453027, + 0.004066681695586199, + 0.000916282896915388, + -0.010239285175265452, + 0.006879888398720094, + 1.0 + ], + [ + -0.002815982370490354, + 0.0036647169241780454, + -0.009121403906673983, + -0.02328150227964262, + 0.043086870829336626, + -0.012161939667676671, + 1.0 + ], + [ + -0.0014442124769117567, + -0.0012162482644000995, + -0.013324558074390038, + -0.03776222198727217, + -0.005122649190946072, + -0.025071430043666167, + 1.0 + ], + [ + 0.0022842384227076684, + 0.000644755707695263, + -0.024586775683187224, + -0.018835650400117827, + 0.02330645761309325, + -0.013903420387847445, + 1.0 + ], + [ + 0.002739724301829843, + -0.00204399971987647, + -0.017118952483431326, + -0.018422738578875907, + 0.009956765154400873, + -0.012443170701113077, + 1.0 + ], + [ + -0.0004840876603413985, + 4.84264119306978e-05, + -7.45313482692249e-07, + -0.0003053983848608774, + -0.0030527314210517013, + 4.6618499963591833e-07, + 1.0 + ] + ], + "state": [ + [ + 0.2531360387802124, + 0.06812336295843124, + 0.15035896003246307, + -3.121458014594861, + -0.026322335004806522, + 0.39583814144134516, + 1.0 + ], + [ + 0.25321587920188904, + 0.06790195405483246, + 0.15112940967082977, + -3.123155044513293, + -0.02762147970497608, + 0.3962624371051788, + 1.0 + ], + [ + 0.25207898020744324, + 0.06530848890542984, + 0.14331722259521484, + -3.1203418244891843, + 0.0014271561522036789, + 0.3888861835002899, + 1.0 + ], + [ + 0.2654043734073639, + 0.031977005302906036, + 0.13594330847263336, + 3.1238993537896356, + 0.0013117800699546933, + 0.29351741075515747, + 1.0 + ], + [ + 0.2798517644405365, + 0.010582271963357925, + 0.12098566442728043, + 3.0157675762944898, + 0.1363188773393631, + 0.1985161304473877, + 1.0 + ], + [ + 0.29128503799438477, + -0.016467908397316933, + 0.10538020730018616, + 2.935574384527751, + 0.14743652939796448, + 0.17274786531925201, + 1.0 + ], + [ + 0.29393020272254944, + -0.034635819494724274, + 0.0845285952091217, + 2.9343014677339276, + 0.11040745675563811, + 0.09880543500185013, + 1.0 + ], + [ + 0.2869791090488434, + -0.04784734547138214, + 0.07203992456197739, + 2.9367045929008206, + 0.09419314563274384, + 0.024232754483819004, + 1.0 + ], + [ + 0.28097495436668396, + -0.05680079385638237, + 0.06444345414638519, + 2.949968146281787, + 0.08925676345825195, + -0.014003889635205269, + 1.0 + ], + [ + 0.27580469846725464, + -0.06065427511930466, + 0.047688622027635574, + 2.9907446076446256, + 0.07548532634973526, + -0.047604430466890335, + 1.0 + ], + [ + 0.2784154713153839, + -0.062129560858011246, + 0.0342181921005249, + 3.0129627158218106, + 0.08034271746873856, + -0.046266261488199234, + 1.0 + ], + [ + 0.2801796793937683, + -0.0674532800912857, + 0.027061214670538902, + 3.027819814282008, + 0.07511802017688751, + -0.03242459893226623, + 1.0 + ], + [ + 0.28017014265060425, + -0.07327032089233398, + 0.015069167129695415, + 3.0498728846483907, + 0.11056135594844818, + 0.0017675473354756834, + 1.0 + ], + [ + 0.2791309654712677, + -0.07785679399967194, + 0.010559452697634697, + 3.0640176852517804, + 0.10899781435728072, + -0.0014462667750194669, + 1.0 + ], + [ + 0.27981632947921753, + -0.07999255508184433, + 0.010227993130683899, + 3.067783037322112, + 0.09763093292713164, + 0.007653797976672649, + 1.0 + ], + [ + 0.2764100432395935, + -0.08200192451477051, + 0.008381204679608345, + 3.067269319789954, + 0.10501953959465027, + 0.012598910368978977, + 0.0 + ], + [ + 0.27448293566703796, + -0.08222752809524536, + 0.00865995790809393, + 3.0637811814718923, + 0.11846069991588593, + 0.0178360752761364, + 0.0 + ], + [ + 0.2709517478942871, + -0.08167507499456406, + 0.017048941925168037, + 3.0506713037663182, + 0.13745824992656708, + 0.03496677055954933, + 0.0 + ], + [ + 0.2692390978336334, + -0.06655450910329819, + 0.05765506625175476, + 3.0226438288860997, + 0.08435001224279404, + 0.10482339560985565, + 0.0 + ], + [ + 0.26696956157684326, + -0.03439145162701607, + 0.08352108299732208, + 3.0004666318469724, + 0.11838497966527939, + 0.21827743947505954, + 0.0 + ], + [ + 0.27142783999443054, + -0.008538098074495792, + 0.09602325409650803, + 3.004934789734431, + 0.11302309483289719, + 0.2643496990203857, + 0.0 + ], + [ + 0.2734009325504303, + 0.02701675333082676, + 0.0960640087723732, + 3.0398620535903653, + 0.12332397699356079, + 0.3194579780101776, + 0.0 + ], + [ + 0.268777996301651, + 0.047787003219127655, + 0.0867297574877739, + 3.0719513316922864, + 0.14844857156276706, + 0.29411906003952026, + 0.0 + ], + [ + 0.2643373906612396, + 0.0721367821097374, + 0.08575163036584854, + 3.096582641946622, + 0.13486717641353607, + 0.2575533390045166, + 0.0 + ], + [ + 0.2609062194824219, + 0.07902807742357254, + 0.08070330321788788, + 3.1227021758728704, + 0.12774507701396942, + 0.2188722789287567, + 0.0 + ], + [ + 0.2566354274749756, + 0.08024107664823532, + 0.0757758766412735, + 3.130870362865277, + 0.1345735490322113, + 0.21184130012989044, + 0.0 + ], + [ + 0.25245794653892517, + 0.08166403323411942, + 0.06028066202998161, + -3.1297894503274044, + 0.1628869324922562, + 0.19501222670078278, + 0.0 + ], + [ + 0.25182005763053894, + 0.07824387401342392, + 0.05839993804693222, + -3.107791045802184, + 0.17568111419677732, + 0.16448913514614108, + 0.0 + ], + [ + 0.24902504682540894, + 0.07413424551486969, + 0.054752711206674576, + -3.1080350560420236, + 0.18614326417446136, + 0.15784479677677155, + 1.0 + ], + [ + 0.24855965375900269, + 0.07004152238368988, + 0.06411182135343552, + -3.1292851428785404, + 0.142661914229393, + 0.16865314543247223, + 1.0 + ], + [ + 0.24884332716464996, + 0.07115713506937027, + 0.07752016931772232, + 3.1197463424229106, + 0.14743025600910187, + 0.19406110048294067, + 1.0 + ], + [ + 0.25462621450424194, + 0.07218410074710846, + 0.10151280462741852, + 3.10304011602933, + 0.12441769987344742, + 0.2085787802934647, + 1.0 + ], + [ + 0.25879353284835815, + 0.07582830637693405, + 0.1180686429142952, + 3.0862197895818433, + 0.1149376556277275, + 0.2214810103178024, + 1.0 + ], + [ + 0.2583353817462921, + 0.07567562162876129, + 0.11812756210565567, + 3.0858945680134973, + 0.11798568069934845, + 0.2213104069232941, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0, + 0.0, + 0.057769834995269775, + 0.30080950260162354, + 0.2968200445175171, + 0.2789241671562195, + 0.2789241671562195, + 0.2789241671562195, + 0.2789241671562195, + 0.2789241671562195, + 0.2789241671562195, + 0.2789241671562195, + 0.2789241671562195, + 0.2789241671562195, + 0.2789241671562195, + 0.22601306438446045, + 0.00520777702331543, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2239", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2239/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2241.json b/annotation/test/2241.json new file mode 100644 index 0000000000000000000000000000000000000000..01a1684a6d299b87d6fc0fa55a5271eb3ce38a50 --- /dev/null +++ b/annotation/test/2241.json @@ -0,0 +1,717 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "take carrot out of pot cardboard fence" + ], + "videos": [ + { + "video_path": "videos/test/2241/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -1.5007437696359067e-17, + -1.4224743086299664e-17, + 6.472382286702821e-18, + 1.0 + ], + [ + -0.0020036639866118015, + -0.0019553898772648186, + 0.002351454735931373, + 0.006227492000780752, + -0.011121463056234198, + 0.012038775855809104, + 1.0 + ], + [ + 0.007311914710465525, + -0.03271017279899149, + -0.021744928022251763, + 0.003909589857220857, + 0.06629029291966163, + 0.11681085607316206, + 1.0 + ], + [ + -0.0018280955800191027, + -0.03449177437024296, + -0.0025313864860336405, + 0.005758293903791224, + -0.04507665452823506, + 0.13786124037122613, + 1.0 + ], + [ + 0.0012175748909480102, + -0.030521685828110264, + -0.00852329914060812, + -0.04319523292833345, + -0.0018882410719986743, + 0.06414644281021958, + 1.0 + ], + [ + -0.003374943259325279, + -0.02626933984317498, + 0.005265992388942177, + -0.02999562940958314, + -0.018716529749238514, + 0.0574480457123664, + 1.0 + ], + [ + -0.001237146654956645, + -0.017600958511975413, + 0.015285157731387989, + -0.052572783310521065, + -0.016012171075339168, + 0.019335422021685342, + 1.0 + ], + [ + 0.0005216092146588798, + -0.015221837901826258, + 0.01433258560681429, + 0.007596730175284861, + 0.01975741662291066, + -0.0032438743356551177, + 1.0 + ], + [ + 0.002319021786975908, + -0.004219058305771033, + 0.015743231438271433, + 0.0005329838452457816, + 0.001367115130662402, + -0.0067038814667009314, + 1.0 + ], + [ + 0.000928611320507943, + 0.00042298034128052515, + 0.017109404172067445, + -0.0023948713981348933, + -0.003883554953775394, + -0.014894297844664313, + 1.0 + ], + [ + 0.003557890041514267, + 0.0014240016702690944, + 0.012762591891141165, + 0.022652816280381894, + -0.007275873234394611, + -0.005458708453319446, + 1.0 + ], + [ + 0.001083710643224641, + 0.0021259871595111666, + 0.006005448461255273, + 0.02070739666320935, + -0.00781795002373858, + -0.001329090185750019, + 1.0 + ], + [ + -0.001033100921833003, + -0.0015689779395306096, + 0.008047573980812723, + 0.0075241097654081155, + -0.019864210539953492, + -0.004087226603392686, + 1.0 + ], + [ + -4.365027431996701e-05, + -0.0039956162855707845, + 0.007919164903174427, + 0.025469698961853453, + -0.011196712789447215, + -0.0034720412182677723, + 1.0 + ], + [ + -0.0017754550465808473, + -0.0012748404560918854, + 0.0025509889656473252, + 0.010217276389714425, + -0.006635893423596294, + -0.010105303082521175, + 1.0 + ], + [ + -0.0015759158445983515, + -8.859288490075725e-05, + 0.00472345318169492, + 0.004562452827283199, + -0.01017882213014074, + -0.0002342648113066212, + 1.0 + ], + [ + -0.0025752824338844058, + 0.0015948553124168789, + 0.0017847300999017564, + -0.0038835656068323633, + -0.0049895714321967245, + -0.009369973625937363, + 1.0 + ], + [ + -0.00438849341261128, + -0.00014944489896813584, + -0.0009005802420853148, + 0.0021782267168242784, + -0.024441148966190665, + -0.00018353048426563242, + 0.0 + ], + [ + -0.0015303333946754827, + -0.0007262029347991857, + -0.0236684722059366, + 0.0214754508298333, + 0.02691350119067551, + -0.002542329561765174, + 0.0 + ], + [ + 0.008048135126843074, + -0.006005048303472639, + -0.041577061229602856, + 0.006624869176096723, + 0.08102459957576555, + -0.03409613598375054, + 0.0 + ], + [ + 0.019272430218247004, + -0.0013103131191192275, + -0.03299932905290582, + -0.010238695887967431, + 0.05118440357883961, + -0.0557122244522171, + 0.0 + ], + [ + 0.023618965543473067, + 0.001069162175453795, + -0.0051208935065602664, + -0.008402307453516968, + -0.0017515008485729567, + -0.04406600078409428, + 0.0 + ], + [ + 0.02275109724737463, + 0.003500437164822676, + 0.017291987293103217, + 0.004421191206036159, + -0.026969301939322586, + -0.0453234264475833, + 0.0 + ], + [ + 0.009654976649041129, + 0.012407851655642706, + 0.02472693098182064, + -0.00018008885994784645, + -0.04428951732651677, + -0.002792695086467293, + 0.0 + ], + [ + 0.016232780070063624, + 0.02042605293084259, + 0.00945935107654476, + -0.02248376110563875, + -0.003213452468352259, + -0.003237403120691471, + 0.0 + ], + [ + 0.010218938810709066, + 0.019983294531062807, + 0.011144493462415951, + -0.00880737470295322, + -0.0064022550927739195, + -0.014605378182270267, + 0.0 + ], + [ + 0.004507732580225767, + 0.012660464038613777, + 0.013450435424379173, + 0.011790280298368181, + -0.0005171131612680811, + 0.0034148869943572196, + 0.0 + ], + [ + 0.001057060708286047, + 0.005415716548667629, + 0.015656886839425847, + 0.0006379020044315845, + -0.013744689905104343, + -0.0017336877917074052, + 0.0 + ], + [ + 0.001952001123456089, + 0.0024970864912434157, + 0.008336652910233756, + 0.012197294476252927, + 0.014464428399633479, + -0.0012804229842276376, + 0.0 + ], + [ + -0.0014318449218062514, + 0.0033445895689162364, + 0.0017204571180922743, + -0.019704571634966077, + 0.00010920656434314615, + -0.00863585267288826, + 0.0 + ], + [ + -0.005784744849379724, + -0.00035521538061529935, + -0.003231070349681647, + -0.033711688149880015, + 0.02143451494853026, + -0.009518203625946053, + 1.0 + ], + [ + -0.002832336915624265, + -0.001668215134767874, + -0.013950897052770327, + -0.022062794068343404, + -0.004406175995186245, + -0.012178069003283165, + 1.0 + ], + [ + 0.001782630860198447, + 0.0013040439410645815, + -0.024303350623309572, + -0.013139014575537329, + 0.042796806283187695, + -0.006122616405720553, + 1.0 + ], + [ + 0.009220949758678591, + 0.002897076208884709, + -0.03770619337460523, + -0.027643495132291914, + 0.04861484376873896, + -0.027025148123386158, + 1.0 + ], + [ + 0.0074712381627653505, + 3.341122453372225e-05, + -0.034564507882253674, + -0.040902718350228275, + 0.04688535525969558, + -0.009420453408554531, + 1.0 + ], + [ + -0.00011140559997284672, + -0.00015772110917738517, + -0.001018822462230844, + 0.0013262001249132558, + 0.0014886322497930857, + 0.003932713864375778, + 1.0 + ] + ], + "state": [ + [ + 0.20365534722805023, + -0.0692574679851532, + 0.07340674102306366, + -3.0373776649409017, + -0.06258580833673477, + 0.09543675184249878, + 1.0 + ], + [ + 0.20365534722805023, + -0.0692574679851532, + 0.07340674102306366, + -3.0373776649409017, + -0.06258580833673477, + 0.09543675184249878, + 1.0 + ], + [ + 0.20158901810646057, + -0.06725586950778961, + 0.07115031778812408, + -3.030472459393092, + -0.05026869475841522, + 0.08460733294487, + 1.0 + ], + [ + 0.20505855977535248, + -0.036756470799446106, + 0.09672394394874573, + -3.0209497307711324, + -0.10284752398729324, + -0.039280153810977936, + 1.0 + ], + [ + 0.20389056205749512, + -0.002747954335063696, + 0.10316513478755951, + -3.002643497782298, + -0.04066760465502739, + -0.17063015699386597, + 1.0 + ], + [ + 0.20951417088508606, + 0.025758126750588417, + 0.11587264388799667, + -3.043546574311801, + -0.02983764559030533, + -0.23392356932163239, + 1.0 + ], + [ + 0.21248944103717804, + 0.05245421454310417, + 0.11310392618179321, + -3.0720253457599362, + -0.005544594954699278, + -0.28925129771232605, + 1.0 + ], + [ + 0.2166895568370819, + 0.07063222676515579, + 0.09907256066799164, + -3.1244999283277473, + 0.011773716658353806, + -0.3074255585670471, + 1.0 + ], + [ + 0.22170846164226532, + 0.08526406437158585, + 0.08499707281589508, + -3.116865722584077, + -0.00803630705922842, + -0.3045203685760498, + 1.0 + ], + [ + 0.22542192041873932, + 0.08892613649368286, + 0.06938210874795914, + -3.116386853280016, + -0.009568573907017708, + -0.29785203933715826, + 1.0 + ], + [ + 0.22646860778331757, + 0.08861356973648071, + 0.05227714776992798, + -3.1189277694844684, + -0.006060546729713679, + -0.28286442160606384, + 1.0 + ], + [ + 0.2296428680419922, + 0.0865096002817154, + 0.03950735926628113, + -3.096308784680911, + 0.001089843804948032, + -0.27724236249923706, + 1.0 + ], + [ + 0.23017191886901855, + 0.08443357050418854, + 0.03341064974665642, + -3.075598234432288, + 0.008839611895382403, + -0.2755607068538665, + 1.0 + ], + [ + 0.22968077659606934, + 0.08675090223550797, + 0.025493504479527473, + -3.0680143927508077, + 0.028390910476446148, + -0.2701711058616638, + 1.0 + ], + [ + 0.23064960539340973, + 0.09122145175933838, + 0.017893794924020767, + -3.042418995993682, + 0.039301831275224686, + -0.26588228344917303, + 1.0 + ], + [ + 0.2292461097240448, + 0.09318021684885025, + 0.01555318757891655, + -3.031783903139182, + 0.04490234330296517, + -0.2551589906215668, + 1.0 + ], + [ + 0.22767212986946106, + 0.0942167416214943, + 0.010943353176116943, + -3.0271552224927625, + 0.054994143545627594, + -0.2538086473941803, + 1.0 + ], + [ + 0.2247324287891388, + 0.09355298429727554, + 0.009132693521678448, + -3.0304990505152425, + 0.058878473937511444, + -0.24391315877437592, + 1.0 + ], + [ + 0.22054502367973328, + 0.09464526176452637, + 0.010300949215888977, + -3.0281171595030507, + 0.08314833045005798, + -0.241011381149292, + 0.0 + ], + [ + 0.22049985826015472, + 0.09263957291841507, + 0.0339449979364872, + -3.0066438784175595, + 0.05612007901072502, + -0.2415342479944229, + 0.0 + ], + [ + 0.23067519068717957, + 0.09050030261278152, + 0.07543440908193588, + -2.998324828343936, + -0.028767861425876617, + -0.21874316036701202, + 0.0 + ], + [ + 0.247817263007164, + 0.08319156616926193, + 0.1088234931230545, + -3.009920286136218, + -0.08734629303216933, + -0.17080621421337128, + 0.0 + ], + [ + 0.2702850103378296, + 0.07755835354328156, + 0.11580127477645874, + -3.0222957899146756, + -0.09130915254354477, + -0.12670797109603882, + 0.0 + ], + [ + 0.29417121410369873, + 0.0730864554643631, + 0.1003633439540863, + -3.022375116246291, + -0.06981729716062546, + -0.07839264720678328, + 0.0 + ], + [ + 0.30484870076179504, + 0.06283993273973465, + 0.07507313787937164, + -3.023002827661582, + -0.02617223747074604, + -0.07035379111766815, + 0.0 + ], + [ + 0.3199969530105591, + 0.042561475187540054, + 0.06369242072105408, + -3.045580843585082, + -0.02336420863866806, + -0.06675796955823898, + 0.0 + ], + [ + 0.3292379379272461, + 0.02307872660458088, + 0.050925854593515396, + -3.0547513236575803, + -0.018388837575912476, + -0.051603786647319794, + 0.0 + ], + [ + 0.3334147334098816, + 0.011401570402085781, + 0.036513373255729675, + -3.0428997819596013, + -0.017577389255166057, + -0.05496147274971009, + 0.0 + ], + [ + 0.33454152941703796, + 0.0074871135875582695, + 0.020420119166374207, + -3.042307125526019, + -0.004070329014211893, + -0.05188209563493729, + 0.0 + ], + [ + 0.3364396095275879, + 0.005727875046432018, + 0.01188502088189125, + -3.030098760622092, + -0.01859043724834919, + -0.05204183980822563, + 0.0 + ], + [ + 0.3348856568336487, + 0.0026721723843365908, + 0.009776859544217587, + -3.0499667843156537, + -0.019659122452139854, + -0.0434701032936573, + 0.0 + ], + [ + 0.32904618978500366, + 0.0029843193478882313, + 0.012912534177303314, + -3.083807850378104, + -0.04187404364347457, + -0.03594854101538658, + 1.0 + ], + [ + 0.32566237449645996, + 0.003966300282627344, + 0.026805629953742027, + -3.106394501524516, + -0.038175292313098914, + -0.02352738007903099, + 1.0 + ], + [ + 0.32646745443344116, + 0.0017882651882246137, + 0.05109841004014015, + -3.1196782161765775, + -0.08116062730550766, + -0.018904561176896095, + 1.0 + ], + [ + 0.3325355648994446, + -0.0020497532095760107, + 0.08935574442148209, + 3.1337603303887924, + -0.13032841682434082, + 0.007238695863634348, + 1.0 + ], + [ + 0.335449755191803, + -0.0017913442570716143, + 0.12459728866815567, + 3.0915571731799325, + -0.1771322339773178, + 0.01717102341353893, + 1.0 + ], + [ + 0.33515864610671997, + -0.00158783292863518, + 0.12557151913642883, + 3.0935736765437802, + -0.1788143664598465, + 0.013255253434181215, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.05698961019515991, + 0.33485156297683716, + 0.4635966420173645, + 0.4339951276779175, + 0.43201011419296265, + 0.43201011419296265, + 0.43201011419296265, + 0.43201011419296265, + 0.43201011419296265, + 0.43201011419296265, + 0.43201011419296265, + 0.43201011419296265, + 0.4577047824859619, + 0.41209590435028076, + 0.11550527811050415, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "2241", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2241/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2243.json b/annotation/test/2243.json new file mode 100644 index 0000000000000000000000000000000000000000..02f0b58379a1f1715302cdba06616eefeb736694 --- /dev/null +++ b/annotation/test/2243.json @@ -0,0 +1,584 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "pick up scissors and put into drawer" + ], + "videos": [ + { + "video_path": "videos/test/2243/rgb.mp4" + } + ], + "action": [ + [ + -0.000168388076814608, + 0.0002826587509729907, + -6.017648694542557e-05, + -0.00013935055452268095, + -0.001183056402517562, + 0.0014906137091573355, + 1.0 + ], + [ + -0.003348525207893876, + -0.005512402511330624, + 0.005646811324503719, + -0.0035859304672079748, + -0.027829718860639015, + 0.07581476621146167, + 1.0 + ], + [ + -0.006581428946555741, + -0.03630139253440904, + 0.005920999700434977, + 0.00818230788186424, + -0.029062905074325428, + 0.27580913963651044, + 1.0 + ], + [ + -0.006105763424033176, + -0.041453139014888424, + 0.016255256888721245, + 0.022127082117986058, + -0.0012975251411328607, + 0.24038100850834856, + 1.0 + ], + [ + 0.0009716464452720452, + -0.03109501523658286, + 0.017716100463972494, + 0.05118041810555962, + 0.04119837249987378, + 0.24759487157871748, + 1.0 + ], + [ + 0.0030530461157148208, + -0.019098901105478776, + 0.012953053628561124, + 0.09836217379001329, + 0.1116153633018041, + 0.20211556736279904, + 1.0 + ], + [ + 0.006710849194517145, + -0.013000481188822745, + 0.011143248400971, + 0.07323707556303209, + 0.12326403814434517, + 0.1624857769378166, + 1.0 + ], + [ + -0.008494887661369748, + -0.010595263442047392, + 0.010659304755484133, + 0.010180887668283551, + 0.0728237964143049, + 0.07268684191055534, + 1.0 + ], + [ + -0.01170850298874812, + -0.0028776984472889816, + 0.015771193179996007, + -0.052671074284495134, + 0.02740566986806241, + 0.05264038094962449, + 1.0 + ], + [ + -0.009604149810443302, + 0.002030405295896338, + 0.01339981789277216, + -0.05275922854229205, + -0.014824672262377103, + 0.03936505267613921, + 1.0 + ], + [ + -0.005226052745601042, + -0.0047183988721285226, + 0.012589146718938335, + -0.11725804330431305, + 0.0036520436046410527, + 0.0028973114576646706, + 1.0 + ], + [ + -0.004710763336638998, + -0.0034378039836988916, + 0.012955346344066922, + -0.088129139725312, + 0.04858499719036292, + -0.025344748462160293, + 1.0 + ], + [ + -0.00198731216360715, + -0.0026843559821613846, + 0.013395060490338064, + -0.06167745663796403, + 0.045615435858092565, + -0.03696356561908503, + 1.0 + ], + [ + 0.0019016892450854552, + -0.000943453281802622, + 0.0012277415460362738, + 0.010144220969936307, + 0.022702197478373584, + -0.014152934216237166, + 1.0 + ], + [ + -0.0003490830271554611, + 0.006059713018457016, + 0.008919747367658923, + 0.00842019065295446, + 0.022253532454956516, + -0.031923140616862605, + 1.0 + ], + [ + 0.0024115047626772773, + 0.0055851486351171644, + 0.0009965399395619275, + 0.014276747026832189, + -0.012287908447455594, + -0.023775115490191442, + 1.0 + ], + [ + 0.006104632286015765, + 0.0063709321153557355, + -0.0019547224761101213, + -0.0290705247822713, + 0.01016576546880388, + -0.02974467114005716, + 0.0 + ], + [ + 0.011809723825762623, + 0.007053622211429838, + -0.002635816402892809, + -0.06645283622166803, + -0.006754066817754809, + -0.000870870615542671, + 0.0 + ], + [ + 0.012896331115822803, + 0.0067507909647444965, + -0.04115606970969673, + -0.012768594777358542, + -0.02125778159785974, + -0.032977852439129186, + 0.0 + ], + [ + 0.03223206982419764, + 0.014501871667866525, + -0.03650670466836217, + 0.016840726443066285, + -0.021676237200491638, + -0.04005829090626568, + 0.0 + ], + [ + 0.04112413492362425, + 0.023187679944376236, + -0.018838870287316126, + 0.011244153780643643, + 0.0047231465955349695, + -0.05873853584836702, + 0.0 + ], + [ + 0.047194961831981706, + 0.026292174380524558, + -0.005682454686686985, + 0.02229415666565506, + -0.00258165662292262, + 0.05456264063920932, + 0.0 + ], + [ + 0.04738856616668354, + 0.015548373476007474, + -0.001095576771617284, + -0.05811837659108369, + -0.06132761407018327, + 0.0384426543447269, + 0.0 + ], + [ + 0.05101867146250622, + -0.0013672797543917833, + -0.00874936851852619, + 0.02802664929840135, + -0.04001258544494482, + -0.10931641076068714, + 0.0 + ], + [ + 0.048474859279016284, + 0.006954956197794024, + 0.011516820447224192, + 0.06645746793929652, + 0.03113055662047914, + -0.12438561055303357, + 0.0 + ], + [ + 0.020970666284468753, + 0.01578196659640234, + 0.02394786319684625, + 0.056803531665159473, + 0.02506252607314155, + -0.07475990029085719, + 0.0 + ], + [ + -0.0012285780465845597, + -0.0036783709009843148, + 0.017077351852983227, + 0.025491835124697083, + 0.022878846636621264, + -0.08104393044615268, + 0.0 + ], + [ + 7.386397512363176e-05, + -0.0017270839737642493, + 0.00555729652871918, + 0.023698395869904614, + 0.07148991949291077, + -0.0675755760238927, + 1.0 + ], + [ + -0.0005501241339727582, + -0.00023187145480103977, + 0.0003577736515209652, + -0.0004276254608763456, + -0.0015197573386559868, + -0.003021510439511338, + 1.0 + ] + ], + "state": [ + [ + 0.18647749722003937, + 0.038634318858385086, + 0.17051097750663757, + -2.910811813669749, + -0.0619126483798027, + -0.055835608392953866, + 1.0 + ], + [ + 0.18629394471645355, + 0.03835519775748253, + 0.17049449682235718, + -2.910877989726611, + -0.0604199543595314, + -0.05701825022697449, + 1.0 + ], + [ + 0.18359176814556122, + 0.0451778918504715, + 0.16606338322162628, + -2.910836460190364, + -0.015865791589021686, + -0.12442134320735931, + 1.0 + ], + [ + 0.181575745344162, + 0.08240928500890732, + 0.1684972196817398, + -2.9064665754609784, + 0.07534769177436829, + -0.38649529218673706, + 1.0 + ], + [ + 0.19213061034679413, + 0.12572532892227173, + 0.16282345354557037, + -2.90842995245988, + 0.13004174828529358, + -0.6218506693840027, + 1.0 + ], + [ + 0.2118627279996872, + 0.15384073555469513, + 0.1527303010225296, + -2.896920906501361, + 0.1424616277217865, + -0.87483149766922, + 1.0 + ], + [ + 0.22970609366893768, + 0.16627848148345947, + 0.14443647861480713, + -2.8346718569570264, + 0.07917089015245436, + -1.0979028940200806, + 1.0 + ], + [ + 0.24654196202754974, + 0.167972132563591, + 0.1372319608926773, + -2.779945286112376, + 0.008967660367488861, + -1.2892650365829468, + 1.0 + ], + [ + 0.2573091685771942, + 0.1799868941307068, + 0.13108734786510468, + -2.771262766914912, + -0.03351043909788132, + -1.3829431533813477, + 1.0 + ], + [ + 0.2634522616863251, + 0.19260026514530182, + 0.11704220622777939, + -2.8224867304139813, + -0.03996094688773156, + -1.4419727325439453, + 1.0 + ], + [ + 0.2645449936389923, + 0.20188027620315552, + 0.10330886393785477, + -2.8740791400247296, + -0.013515758328139782, + -1.4746949672698975, + 1.0 + ], + [ + 0.27189967036247253, + 0.20769113302230835, + 0.09234509617090225, + -2.9912864734702787, + -0.01627195067703724, + -1.4784550666809082, + 1.0 + ], + [ + 0.2768000364303589, + 0.2126743197441101, + 0.07997557520866394, + -3.0795505998008927, + -0.06810116022825241, + -1.4606584310531616, + 1.0 + ], + [ + 0.2801693081855774, + 0.21413779258728027, + 0.06666809320449829, + 3.139652660238095, + -0.11588048934936523, + -1.4264036417007446, + 1.0 + ], + [ + 0.2813928425312042, + 0.21226324141025543, + 0.06566664576530457, + -3.1350460263253233, + -0.13854342699050903, + -1.412073016166687, + 1.0 + ], + [ + 0.27560800313949585, + 0.21043437719345093, + 0.05674505606293678, + -3.1310726358839354, + -0.16093482077121735, + -1.3798881769180298, + 1.0 + ], + [ + 0.2706186771392822, + 0.20687352120876312, + 0.05608987435698509, + -3.1206708160513124, + -0.14885139465332028, + -1.3557195663452148, + 1.0 + ], + [ + 0.2655867636203766, + 0.19987119734287262, + 0.05879608169198036, + 3.1290014992752155, + -0.15957164764404294, + -1.3258156776428223, + 0.0 + ], + [ + 0.26149940490722656, + 0.18727703392505646, + 0.06336239725351334, + 3.062422054009982, + -0.1528071016073227, + -1.325020670890808, + 0.0 + ], + [ + 0.25969114899635315, + 0.1802046149969101, + 0.10640216618776321, + 3.0448870231681546, + -0.12893351912498474, + -1.2935744524002075, + 0.0 + ], + [ + 0.2566187381744385, + 0.15114158391952515, + 0.147969588637352, + 3.0568916891985616, + -0.10339941084384918, + -1.2556042671203613, + 0.0 + ], + [ + 0.24818460643291473, + 0.10761839151382446, + 0.17283649742603302, + 3.062171185510703, + -0.10295914858579634, + -1.196362853050232, + 0.0 + ], + [ + 0.24108940362930298, + 0.05524629354476929, + 0.18539653718471527, + 3.090222882228442, + -0.10455838590860367, + -1.251258373260498, + 0.0 + ], + [ + 0.24114368855953217, + 0.005829659290611744, + 0.19222454726696014, + 3.036390984552451, + -0.04519510269165039, + -1.2927700281143188, + 0.0 + ], + [ + 0.25721675157546997, + -0.04218262806534767, + 0.2030782401561737, + 3.060195507603236, + 0.006301445420831442, + -1.1883701086044312, + 0.0 + ], + [ + 0.26798027753829956, + -0.09002730995416641, + 0.19185979664325714, + 3.128060493739792, + -0.01469038613140583, + -1.061894416809082, + 0.0 + ], + [ + 0.264302521944046, + -0.11648949235677719, + 0.16843830049037933, + -3.0993902554088315, + -0.03869852423667908, + -0.9867684841156005, + 0.0 + ], + [ + 0.26765328645706177, + -0.11358733475208282, + 0.15149646997451782, + -3.077121192710944, + -0.0648486390709877, + -0.9066175818443298, + 0.0 + ], + [ + 0.26955485343933105, + -0.11263959854841232, + 0.1460781991481781, + -3.057494605081626, + -0.14041201770305634, + -0.8433432579040527, + 1.0 + ], + [ + 0.26941901445388794, + -0.11209437251091003, + 0.14566749334335327, + -3.0583660696917256, + -0.13915073871612552, + -0.8401741385459899, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.0072438716888427734, + 0.007925748825073242, + 0.0072438716888427734, + 0.007925748825073242, + 0.007925748825073242, + 0.0072438716888427734, + 0.0072438716888427734, + 0.007925748825073242, + 0.007925748825073242, + 0.0072438716888427734, + 0.007925748825073242, + 0.0072438716888427734, + 0.11464011669158936, + 0.3900832533836365, + 0.6372451782226562, + 0.6439311802387238, + 0.6439311802387238, + 0.6439311802387238, + 0.6439311802387238, + 0.6439311802387238, + 0.6439311802387238, + 0.6439311802387238, + 0.6439311802387238, + 0.6439311802387238, + 0.4714275002479553, + 0.1637241244316101, + 0.005884885787963867 + ], + "episode_id": "2243", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2243/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2252.json b/annotation/test/2252.json new file mode 100644 index 0000000000000000000000000000000000000000..ffdd19c3afcd87c05b934481bc2dd7b8f3d3645c --- /dev/null +++ b/annotation/test/2252.json @@ -0,0 +1,280 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "pick up pot from sink distractors" + ], + "videos": [ + { + "video_path": "videos/test/2252/rgb.mp4" + } + ], + "action": [ + [ + 9.379594444348523e-05, + 0.00018121261724315043, + 0.0019139734217693484, + -0.000594217995556063, + -0.004540242263401158, + -0.0010734307386297665, + 1.0 + ], + [ + -0.005940950788841871, + 0.006616933051455149, + 0.02277725132187255, + -0.024421140765296574, + -0.01591098573224013, + 0.00405931143349979, + 1.0 + ], + [ + -0.0001045237311961396, + 0.002225774237957306, + 0.013379141490182309, + -0.011249867707454156, + 0.050175545514701055, + -0.0041018951175705465, + 1.0 + ], + [ + -0.002140454422561633, + -0.00042498366866841933, + 0.013933489421395296, + -0.00012172815045818387, + 0.03210784012884739, + -0.020972322514271623, + 1.0 + ], + [ + 0.00038953231276886045, + -0.0003999437393458627, + 0.005401289563167082, + -0.007551655397092237, + 0.0200844050543953, + -0.029067057908616523, + 1.0 + ], + [ + -0.00126214324049644, + -0.0021105851696267236, + 0.006127533572705538, + -0.007550738475996581, + 0.0029891989445007903, + -0.018782876475783132, + 0.0 + ], + [ + -0.002095623434973316, + 0.00119871443040473, + -3.578011332671697e-05, + -0.003874239046474532, + -0.01362672258517151, + -0.024661702328332986, + 0.0 + ], + [ + -0.00152952140917522, + 0.00442647989611126, + -0.0075273376441714656, + 0.020485219171969975, + -0.04937731969427223, + -0.024907127908860738, + 0.0 + ], + [ + 0.0026197636692740865, + 0.012783059832762563, + -0.0244257605986139, + 0.01224411983645103, + -0.04118841616772051, + -0.021332693756611648, + 0.0 + ], + [ + 0.004172510470667568, + 0.003321737705525081, + -0.02545182869918369, + 0.0005110971855595857, + -0.025713864985420946, + -0.038073030365061135, + 0.0 + ], + [ + 0.003599186787165837, + 0.005837733000946378, + -0.023813584081480908, + 0.0033359595563574114, + -0.028024111441509753, + -0.011277706701328924, + 0.0 + ], + [ + 0.0011380904450246662, + 0.00022313121290573308, + -0.026633658968010517, + 0.0010799278279358304, + -0.030992075540010364, + -0.0219642008181635, + 0.0 + ], + [ + -0.00648993713605524, + 0.007889859919868214, + -0.008864711672459441, + 0.0256497522192309, + -0.03396717637108601, + 0.016995651642092515, + 0.0 + ] + ], + "state": [ + [ + 0.3686615526676178, + 0.03793319687247276, + 0.0597817562520504, + -3.041391657786914, + 0.004660114645957948, + -0.07095772027969362, + 1.0 + ], + [ + 0.36874696612358093, + 0.03793831169605255, + 0.05785883963108063, + -3.041977862017699, + 0.009070198982954027, + -0.06943544745445251, + 1.0 + ], + [ + 0.36230990290641785, + 0.03405662998557091, + 0.03459129482507706, + -3.0664089416437825, + 0.02530597150325775, + -0.0718926191329956, + 1.0 + ], + [ + 0.36177751421928406, + 0.03287728503346443, + 0.021089734509587288, + -3.077555837231227, + -0.025035817176103592, + -0.0715746209025383, + 1.0 + ], + [ + 0.36008381843566895, + 0.034317854791879654, + 0.00716276653110981, + -3.0781291892104825, + -0.05841537192463874, + -0.05267857760190964, + 1.0 + ], + [ + 0.36082398891448975, + 0.035021550953388214, + 0.0018296081107109785, + -3.087316731112548, + -0.08028005063533784, + -0.024860484525561336, + 1.0 + ], + [ + 0.36010828614234924, + 0.03747999295592308, + -0.004256283398717642, + -3.096372893201657, + -0.08426983654499054, + -0.00620132265612483, + 0.0 + ], + [ + 0.3580142557621002, + 0.03629384934902191, + -0.0044510504230856895, + -3.1023881082707128, + -0.07174483686685562, + 0.01911417581140995, + 0.0 + ], + [ + 0.3560524880886078, + 0.03153737634420395, + 0.0027684650849550962, + -3.0837922935658177, + -0.023355821147561073, + 0.04591431096196175, + 0.0 + ], + [ + 0.35876762866973877, + 0.017474431544542313, + 0.02646971307694912, + -3.0720682611041745, + 0.016538091003894806, + 0.06957585364580153, + 0.0 + ], + [ + 0.3636978268623352, + 0.012723873369395733, + 0.05155685544013977, + -3.0709312354498586, + 0.03953259810805321, + 0.109362855553627, + 0.0 + ], + [ + 0.3690088093280792, + 0.005757455248385668, + 0.07473836839199066, + -3.0670496990256986, + 0.06668708473443984, + 0.12261592596769331, + 0.0 + ], + [ + 0.3721611499786377, + 0.003923218231648207, + 0.10114660859107971, + -3.064335102336951, + 0.09593787044286728, + 0.14692877233028412, + 0.0 + ], + [ + 0.3678022623062134, + -0.005365518853068352, + 0.10995976626873016, + -3.0400324185662946, + 0.1311054825782776, + 0.1324911117553711, + 0.0 + ] + ], + "continuous_gripper_state": [ + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.18038904666900635, + 0.4655569791793823, + 0.7226157188415527, + 0.8944665566086769, + 0.9316608235239983, + 0.9316608235239983, + 0.9313545674085617, + 0.9316608235239983, + 0.9316608235239983, + 0.9316608235239983 + ], + "episode_id": "2252", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2252/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2254.json b/annotation/test/2254.json new file mode 100644 index 0000000000000000000000000000000000000000..d2dcede2170f828bd1e66c7fe1413a2f02dced49 --- /dev/null +++ b/annotation/test/2254.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "turn lever vertical to front distractors" + ], + "videos": [ + { + "video_path": "videos/test/2254/rgb.mp4" + } + ], + "action": [ + [ + -0.0009040914250198694, + 0.0005280559190808245, + 0.0017511168315966948, + -0.0003403551301846649, + -0.004817881681278859, + -0.0005075172963923385, + 1.0 + ], + [ + -0.003379572027591018, + 0.0035018790473560074, + 0.019186269767377823, + 0.03223217223301383, + -0.06301572059311193, + 0.006217940850971795, + 1.0 + ], + [ + 0.01874053079089174, + 0.0018685244037692044, + -0.01606751074610005, + 0.028205340477024204, + 0.03900575207250862, + -0.011071120337964422, + 1.0 + ], + [ + 0.009938822419372318, + 0.003262856340778136, + -0.005443744006894207, + 0.012901833868536335, + -0.0022518420264315323, + -0.005427896256731628, + 1.0 + ], + [ + 0.008018705115136221, + 0.0004965254327601015, + -0.004838559500529992, + 0.00567116764319706, + 0.029446701822171184, + 0.0005031603654330921, + 1.0 + ], + [ + 0.004469971776616198, + -0.0005920121181960097, + 0.006533825611177533, + 0.04868636115295548, + 0.048243915353102844, + 0.000844982918883908, + 1.0 + ], + [ + -0.005682877041581925, + -0.0011902736947941117, + 0.01892155166358273, + 0.07351346947366619, + 0.05687928910983108, + 6.477503087457635e-05, + 1.0 + ], + [ + -0.0035187686977599256, + -0.001667573906839157, + 0.009636036386777536, + 0.028184124774936238, + 0.0467817816653415, + -0.0044030653393107725, + 1.0 + ], + [ + 0.0023831680217041525, + -0.0024376224585468294, + -0.0006906727734889306, + 0.0069076481182693775, + 0.019554497917699844, + 0.003972996700681057, + 1.0 + ], + [ + 0.007231574133257611, + -0.0028753210701101145, + -0.005536303892073802, + -0.0020557515020098, + 0.0065758010629062115, + 0.0003952750877593664, + 1.0 + ], + [ + 0.006302505392239547, + -0.004186718035513328, + -0.009196046945169341, + -0.015037500599405031, + -0.025154266637167647, + -0.00980474914856244, + 1.0 + ], + [ + 0.0005274578740260815, + -0.0011834390005114532, + -0.0016937217949402402, + -0.007869093713590364, + -0.012592625745116971, + -0.013997221469595164, + 1.0 + ], + [ + -0.001316997945008817, + 0.003488163133752652, + 0.003465854782152188, + -0.0144562256664865, + 0.008582127138057866, + -0.026057551730407965, + 0.0 + ], + [ + -0.0035395502369787025, + 0.0004250614379031692, + -0.003598400260942416, + -0.05207739680048752, + -0.019646281593457236, + -0.03657528336196507, + 0.0 + ], + [ + -0.01096736505819575, + 0.0012844276263394587, + -0.004854179489377466, + -0.08114400562128321, + -0.06748848699973048, + -0.04024214496885952, + 0.0 + ], + [ + -0.016595953067879064, + 0.00029925079330728904, + -0.0011541857809169822, + -0.05412760059964716, + -0.06649945459979352, + -0.03468976422574047, + 0.0 + ], + [ + -0.014639341691484972, + -0.002464957101443542, + -0.0024447772946754385, + -0.019750213333545003, + -0.02319389467234747, + 0.012707177713081132, + 0.0 + ], + [ + -0.003990692031435497, + -0.000600880677515619, + 0.0011620932794237147, + -0.03607592440256156, + 0.010668145616732327, + 0.0005355090182328562, + 0.0 + ], + [ + -0.0006963270083276966, + 0.0018602279844413335, + 0.006802285339097482, + -0.025403675309729486, + 0.016760681129803955, + -0.010876546793655477, + 0.0 + ], + [ + 0.006141961925877951, + -0.002434550005908663, + 0.00376719137288587, + -0.019743546362937188, + 0.03071182442698658, + 0.01655154476920651, + 0.0 + ], + [ + 0.002925408380364771, + -0.001532648867137375, + 0.007312454032192863, + -0.01752666572450382, + -0.0016871423475672083, + 0.02273656442864414, + 0.0 + ], + [ + 0.0008319523035646635, + -0.0014589153729460415, + 0.0019945685265104272, + -0.011871782820119128, + -0.0005721546657400416, + -0.0005972036476724488, + 0.0 + ], + [ + -0.0028135466599753366, + -0.0018771558554252158, + 0.003605923629990471, + 0.010619860728293188, + -0.025898227748859484, + 0.007242700451914249, + 0.0 + ] + ], + "state": [ + [ + 0.37020549178123474, + -0.0448928065598011, + 0.0872061550617218, + -2.892738776403018, + -0.13488267362117765, + 0.01791879720985889, + 1.0 + ], + [ + 0.36955687403678894, + -0.04498494416475296, + 0.08527394384145737, + -2.8933041860633573, + -0.13033801317214966, + 0.019611641764640808, + 1.0 + ], + [ + 0.3687092363834381, + -0.04368087276816368, + 0.06554126739501953, + -2.8618139942460736, + -0.06772340089082718, + 0.02909382618963718, + 1.0 + ], + [ + 0.3865705132484436, + -0.04939651116728783, + 0.08170202374458313, + -2.8333806713395795, + -0.1082689017057419, + 0.02895691990852356, + 1.0 + ], + [ + 0.3961314558982849, + -0.053882066160440445, + 0.08694882690906525, + -2.821119876699992, + -0.10776787996292114, + 0.034846309572458274, + 1.0 + ], + [ + 0.40369150042533875, + -0.055615197867155075, + 0.09222137928009033, + -2.814261498051234, + -0.13555128872394562, + 0.025003708899021152, + 1.0 + ], + [ + 0.4088626503944397, + -0.05282372608780861, + 0.08688388019800186, + -2.762982668476649, + -0.1809418797492981, + 0.008427945896983147, + 1.0 + ], + [ + 0.40628910064697266, + -0.04474519193172455, + 0.06899949908256531, + -2.6850098391347608, + -0.2337239682674408, + -0.0132357282564044, + 1.0 + ], + [ + 0.4047750234603882, + -0.03897952288389206, + 0.06048595905303955, + -2.6523377021127423, + -0.27761805057525635, + -0.030570387840270993, + 1.0 + ], + [ + 0.406640887260437, + -0.0372086726129055, + 0.06282714754343033, + -2.6417364199929914, + -0.2929880917072296, + -0.04383150860667228, + 1.0 + ], + [ + 0.411752313375473, + -0.03756299987435341, + 0.0708870217204094, + -2.6427264531427106, + -0.2985680401325225, + -0.0474921278655529, + 1.0 + ], + [ + 0.4147736430168152, + -0.03843061625957489, + 0.08237337321043015, + -2.6640280803018292, + -0.2811049818992615, + -0.026007005944848057, + 1.0 + ], + [ + 0.4147193133831024, + -0.03815654292702675, + 0.08448746055364609, + -2.677195193367549, + -0.2763063311576843, + -0.007070221006870269, + 1.0 + ], + [ + 0.4147127568721771, + -0.03972297161817551, + 0.07964389026165009, + -2.697275610762187, + -0.2955957055091858, + 0.01326361484825611, + 0.0 + ], + [ + 0.4104594588279724, + -0.04171008989214897, + 0.08154609799385071, + -2.7622856219583234, + -0.29331156611442566, + 0.05658109113574028, + 0.0 + ], + [ + 0.39898207783699036, + -0.045355502516031265, + 0.08223646134138107, + -2.861872973042079, + -0.24493342638015747, + 0.12079762667417526, + 0.0 + ], + [ + 0.38282468914985657, + -0.047927550971508026, + 0.079208143055439, + -2.9285124858194074, + -0.19026368856430056, + 0.1733774095773697, + 0.0 + ], + [ + 0.367796391248703, + -0.04863853380084038, + 0.07929781079292297, + -2.9467699994617185, + -0.16490183770656586, + 0.16576232016086578, + 0.0 + ], + [ + 0.3639451563358307, + -0.048457030206918716, + 0.07763282209634781, + -2.9824034591489514, + -0.1752639263868332, + 0.16313143074512482, + 0.0 + ], + [ + 0.3645980656147003, + -0.04911819472908974, + 0.07060765475034714, + -3.0092258622222623, + -0.19353097677230838, + 0.17136581242084503, + 0.0 + ], + [ + 0.3706875443458557, + -0.04511061683297157, + 0.06843969970941544, + -3.02490088542039, + -0.22174851596355438, + 0.15039995312690735, + 0.0 + ], + [ + 0.37469395995140076, + -0.04210277274250984, + 0.06217228248715401, + -3.037415111558982, + -0.217369481921196, + 0.12747499346733093, + 0.0 + ], + [ + 0.3756808042526245, + -0.04030430316925049, + 0.06056277081370354, + -3.0494312067800244, + -0.2168624848127365, + 0.12814413011074066, + 0.0 + ], + [ + 0.37340378761291504, + -0.038378454744815826, + 0.05661958083510399, + -3.0377234761887273, + -0.19040508568286896, + 0.12322897464036942, + 0.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.182256817817688, + 0.48214519023895264, + 0.5542488992214203, + 0.565265566110611, + 0.5984903872013092, + 0.6611760556697845, + 0.8702453970909119, + 0.949363961815834, + 0.949363961815834, + 0.949363961815834, + 0.949363961815834, + 0.949363961815834 + ], + "episode_id": "2254", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2254/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2259.json b/annotation/test/2259.json new file mode 100644 index 0000000000000000000000000000000000000000..10a42a97cabef53302d948da58234329a80b39ae --- /dev/null +++ b/annotation/test/2259.json @@ -0,0 +1,888 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Put the blue spoon on top of the purple towel." + ], + "videos": [ + { + "video_path": "videos/test/2259/rgb.mp4" + } + ], + "action": [ + [ + -3.819978649635642e-05, + 0.0007637166420648264, + -1.3373441326787368e-05, + -0.0019458119604784303, + -0.0010221039043140849, + -0.00014411661312590206, + 1.0 + ], + [ + 0.0006357937657730318, + 0.0018854982525885664, + 0.010857609351921852, + -0.009204523885026373, + -0.029187769645659337, + -0.012894156626581435, + 1.0 + ], + [ + 0.001636857214107232, + 0.0385786471136213, + 0.013917059105306592, + -0.009031882893096888, + -0.014460279524339108, + -0.019109259282311976, + 1.0 + ], + [ + 0.0010172074707383825, + 0.055412136400502306, + 0.006876983600155942, + 0.05607864169770379, + 0.007976865579336974, + 0.04001393935650713, + 1.0 + ], + [ + -0.0005017673972670458, + 0.05001198012992852, + 0.006615703613908629, + 0.014318531737233043, + 0.04820590534221507, + 0.08195691361305305, + 1.0 + ], + [ + 0.0027493495275385813, + 0.050553888531509175, + 0.030367552565658065, + 0.02119393622804903, + -0.009600259952576774, + 0.08836228010335292, + 1.0 + ], + [ + 0.003806202701338635, + 0.023487168268158866, + 0.033745843909836565, + 0.030129265582737933, + -0.024546009915966695, + 0.022937448068783395, + 1.0 + ], + [ + -0.0021055700200440374, + 0.00799690126733394, + 0.014715979816890856, + 0.0010270292191871004, + -0.011050545348588368, + -0.010897391144543033, + 1.0 + ], + [ + -0.005200444379786461, + 0.0010761786036516474, + 0.013412027153490165, + 0.011425562017905365, + -0.03911144219233975, + -0.0029110909898819952, + 1.0 + ], + [ + -0.010621455512352038, + -0.002143666902480698, + 0.009478328439653239, + -0.00024213614699411014, + -0.03650342080526653, + -0.0033309158207091077, + 1.0 + ], + [ + -0.0064261920808489715, + -0.0032222140992547404, + 0.005404749897089622, + 0.003048869991942179, + -0.022578870136944526, + -0.01494245903409855, + 1.0 + ], + [ + -0.010218107450541553, + -0.002749218104773373, + -0.004168031472983827, + -0.012936954434455417, + 0.00956719890165968, + -0.008598878739674715, + 1.0 + ], + [ + -0.00813271720753052, + -0.001177461573552235, + 0.006374558355556271, + 0.001101624194543343, + -0.01573451297952534, + 0.0008240118403191013, + 1.0 + ], + [ + -0.0015877275493103738, + -0.002009013511856909, + 0.0025585978608420263, + 0.0004028460606328195, + -0.005380922684776674, + -0.003255838898050438, + 1.0 + ], + [ + -0.0028542723777037747, + -0.0034876051951533422, + 0.0033112875400315234, + 0.003894089755629763, + -0.012563338536335506, + -0.006721807256777388, + 1.0 + ], + [ + 0.0004061731562544064, + -0.0017980671869706705, + 0.0020009777380065293, + 0.0001784937403647466, + 0.00274816641836369, + -0.006697186650492459, + 1.0 + ], + [ + -0.0005611917122275681, + 0.002996836948329596, + 0.01676426124695625, + 0.005578812305637251, + -0.04002388203819104, + 0.012605182599663905, + 1.0 + ], + [ + 0.0038372963274858228, + 0.0014968835921382968, + 0.004809116831833352, + -0.00814896820692984, + -0.01013551349553022, + 0.0020601965128079426, + 1.0 + ], + [ + 0.00572323550476929, + -2.01264802376517e-05, + -9.757017315065078e-05, + -0.01311814428135432, + 0.0040368150710367425, + 0.00016007465618640172, + 1.0 + ], + [ + -0.0003949398117717109, + 0.0017869093560133177, + 0.0017656487071894846, + -0.009980533478422197, + 0.00807389972193452, + 0.0013861808257395248, + 1.0 + ], + [ + -0.0015424998894166657, + 0.0011297396758356561, + -0.000974857676143874, + -0.0025013401411203666, + 0.00599201229957987, + 0.011362623272954972, + 0.0 + ], + [ + -0.005484460652938175, + -0.0023764692533923978, + -0.001879421313197892, + -0.02436134531017507, + 0.014056595640621351, + 0.012577349143951613, + 0.0 + ], + [ + -0.011506539455319537, + -0.011017252482950405, + -0.02323495735496176, + -0.01210078171294189, + 0.03797007890286972, + 0.006889588281338264, + 0.0 + ], + [ + -0.01078500491998084, + -0.01793127328566197, + -0.05303029101857156, + -0.021988906315685647, + 0.12529306908878826, + 0.0016029693084311407, + 0.0 + ], + [ + -0.015086003001718074, + -0.04568446123389745, + -0.03303476497480504, + -0.017597925377136846, + 0.049527355505439595, + -0.04678174272571473, + 0.0 + ], + [ + -0.011175887054290231, + -0.04560795691867976, + -0.0029051066816238986, + 0.011409561705642854, + -0.01707219468240234, + -0.05518033153919545, + 0.0 + ], + [ + -0.014300367666725001, + -0.049092206033875055, + 0.007769594746618131, + 0.007734302707835084, + -0.03383686856038488, + -0.11403805395400013, + 0.0 + ], + [ + -0.0033890483367097044, + -0.044731109675152994, + 0.026780600727541504, + -0.0027463291935849827, + -0.06476547678661199, + -0.05633140122962259, + 0.0 + ], + [ + 0.024098151574373505, + -0.04553809107738349, + 0.01345348953406928, + 0.006045281350392566, + -0.007779951097962201, + -0.041793167090512076, + 0.0 + ], + [ + 0.025346196091323592, + -0.02134630724170849, + 0.01009002542705207, + 0.007396781312040746, + -0.007953370838445347, + -0.032639005022778, + 0.0 + ], + [ + 0.020365864883504444, + -0.006462887668753724, + 0.005848637714226299, + 0.0034217380861821145, + 0.0040003426166761585, + -0.01880336291008067, + 0.0 + ], + [ + 0.01943051055898272, + 0.0312181332517324, + 0.007628052382598207, + -0.00519824243254302, + 0.005865762730372317, + 0.027027055543834885, + 0.0 + ], + [ + 0.01091186008427018, + 0.03151507857735658, + 0.00806882220464995, + -0.004735868331872007, + -0.009828214117517865, + 0.053898916029220104, + 0.0 + ], + [ + 0.004941711366067485, + 0.005447210478361266, + 0.00664011567689708, + -0.0016629967494159663, + -0.00790093233021362, + -0.0006629473276831595, + 0.0 + ], + [ + 0.00529968550911366, + 0.002511956164919436, + 0.007438246223818062, + 0.019243753504705873, + -0.016687635875176618, + 0.013265213333919695, + 0.0 + ], + [ + 2.741280939424922e-05, + -0.008826539624843794, + -0.004535702448709606, + 0.015111307091969112, + -0.00289806523419272, + -0.008382148951420344, + 0.0 + ], + [ + -0.0010891304713103766, + -0.015252547218424332, + -0.0020182679515089257, + -3.138963747238861e-06, + 0.005133616059804308, + -0.02144570064833787, + 0.0 + ], + [ + 0.0013036344235601875, + -0.009935733653181712, + -0.00031122738221656945, + 0.0013176266556773465, + -0.0059765842669690745, + -0.010946857343591439, + 0.0 + ], + [ + -0.0015853993824466416, + 0.0008011384258742892, + -0.00011622877524255483, + -0.012286894558481044, + -0.01913762615460458, + 0.03343370034271539, + 0.0 + ], + [ + 0.001840510081165718, + 0.012030527213310969, + -0.001109500438468725, + -0.014815726902192187, + -0.001034113383918838, + 0.039592077741042175, + 1.0 + ], + [ + -0.0012503888681353699, + 0.01212216847855577, + -0.040392692789592226, + -0.006488762525462247, + 0.08703860228217734, + 0.020014935519948707, + 1.0 + ], + [ + -0.011464301626913552, + 0.01122477695938061, + -0.052829221004332565, + 0.02439415394396525, + 0.08839634334136072, + 0.014238375460500408, + 1.0 + ], + [ + -0.009199525480045835, + 0.004006262770188769, + -0.015059365251597071, + 0.0017745845794016057, + 0.02041357950158803, + -0.0013724980556856022, + 1.0 + ], + [ + -0.0008034779211578352, + 0.00026568637108369844, + 0.00036325697303229233, + -0.0014165197333679367, + -0.004376868172785375, + 0.013876210180329696, + 1.0 + ], + [ + -0.0005163240503348854, + -0.00038436589463089905, + -0.00013765021690627241, + 0.00014657503411783708, + -0.00011898695118446996, + -0.0030563184662396156, + 1.0 + ] + ], + "state": [ + [ + 0.3092595934867859, + 0.06794038414955139, + 0.1914566308259964, + -3.1001144630187234, + -0.04755213484168052, + -0.06414542347192763, + 1.0 + ], + [ + 0.30917343497276306, + 0.06718073040246964, + 0.1914365291595459, + -3.1020691228383264, + -0.04653688520193099, + -0.06395884603261948, + 1.0 + ], + [ + 0.3102213740348816, + 0.06565562635660172, + 0.18055430054664612, + -3.1119138078116855, + -0.01787680573761463, + -0.049924761056900024, + 1.0 + ], + [ + 0.31022095680236816, + 0.02745937928557396, + 0.1655302345752716, + -3.1212973428242883, + -0.003986506722867489, + -0.030396593734622, + 1.0 + ], + [ + 0.30959007143974304, + -0.027808140963315964, + 0.15753425657749176, + -3.0650743340426168, + -0.011146693490445614, + -0.07056552171707153, + 1.0 + ], + [ + 0.30572521686553955, + -0.07701802253723145, + 0.14710986614227295, + -3.0499943142109593, + -0.052913665771484375, + -0.15600329637527466, + 1.0 + ], + [ + 0.3028688132762909, + -0.12471770495176315, + 0.11243964731693268, + -3.0245398600869855, + -0.035080574452877045, + -0.2431623786687851, + 1.0 + ], + [ + 0.30312755703926086, + -0.14475488662719727, + 0.07633756101131439, + -2.9937000592523297, + -0.00801700074225664, + -0.26306962966918945, + 1.0 + ], + [ + 0.2997233271598816, + -0.14978379011154175, + 0.06058747321367264, + -2.992774861054965, + 0.0013077993644401429, + -0.2506634294986725, + 1.0 + ], + [ + 0.2948976755142212, + -0.14759406447410583, + 0.047170937061309814, + -2.981228845315524, + 0.03955506533384324, + -0.24198228120803836, + 1.0 + ], + [ + 0.28511741757392883, + -0.14144155383110046, + 0.03858359158039093, + -2.9810082485252103, + 0.07505641132593154, + -0.2328429669141769, + 1.0 + ], + [ + 0.27946391701698303, + -0.1359437257051468, + 0.03425903990864754, + -2.9765624572807035, + 0.09494297951459885, + -0.2144030332565308, + 1.0 + ], + [ + 0.2703787088394165, + -0.13189078867435455, + 0.0397702194750309, + -2.9888383467965802, + 0.08409086614847185, + -0.20746861398220062, + 1.0 + ], + [ + 0.26238492131233215, + -0.12802764773368835, + 0.03435376286506653, + -2.987584488587924, + 0.09976742416620255, + -0.20588095486164093, + 1.0 + ], + [ + 0.26110807061195374, + -0.12533196806907654, + 0.03230281174182892, + -2.9867757876687726, + 0.10458439588546753, + -0.20181605219841003, + 1.0 + ], + [ + 0.2588404715061188, + -0.12082955986261368, + 0.02988182008266449, + -2.9819735159450254, + 0.1159571185708046, + -0.1931799054145813, + 1.0 + ], + [ + 0.2594464123249054, + -0.11881516873836517, + 0.028156422078609467, + -2.9810785075002393, + 0.11217720806598663, + -0.1869656294584274, + 1.0 + ], + [ + 0.2569737136363983, + -0.11863129585981369, + 0.011298534460365772, + -2.9760574122243604, + 0.1536988765001297, + -0.19307540357112885, + 1.0 + ], + [ + 0.2598143219947815, + -0.11988358944654465, + 0.005779855884611607, + -2.9842539598518094, + 0.16403530538082123, + -0.19344215095043182, + 1.0 + ], + [ + 0.26537224650382996, + -0.12096766382455826, + 0.004943430423736572, + -2.997501643496104, + 0.160073384642601, + -0.1942430138587952, + 1.0 + ], + [ + 0.26438388228416443, + -0.1223171204328537, + 0.0030280607752501965, + -3.0078860839181623, + 0.15228168666362762, + -0.1968037635087967, + 1.0 + ], + [ + 0.26276564598083496, + -0.12326867878437042, + 0.004068163223564625, + -3.0122443457418164, + 0.14784669876098633, + -0.20899662375450134, + 0.0 + ], + [ + 0.2582104504108429, + -0.12014132738113403, + 0.007022652309387922, + -3.0387298708134374, + 0.13551463186740875, + -0.22341307997703552, + 0.0 + ], + [ + 0.252186119556427, + -0.10998084396123886, + 0.032598335295915604, + -3.052222030358859, + 0.09844491630792618, + -0.23421163856983185, + 0.0 + ], + [ + 0.24999535083770752, + -0.09596303105354309, + 0.08781391382217407, + -3.074772501485892, + -0.026210485026240345, + -0.2469538003206253, + 0.0 + ], + [ + 0.24506042897701263, + -0.049985017627477646, + 0.12341759353876114, + -3.0934910905831536, + -0.07872526347637177, + -0.20350812375545502, + 0.0 + ], + [ + 0.2429354339838028, + -0.003174013923853636, + 0.12761761248111725, + -3.086555665480443, + -0.06420140713453294, + -0.14746202528476718, + 0.0 + ], + [ + 0.23640525341033936, + 0.04778376221656799, + 0.121653251349926, + -3.0865708981924733, + -0.03624552860856056, + -0.03171318769454956, + 0.0 + ], + [ + 0.23536242544651031, + 0.09397624433040619, + 0.09726625680923462, + -3.091466849791356, + 0.02539056167006493, + 0.027999300509691242, + 0.0 + ], + [ + 0.2578681409358978, + 0.14077962934970856, + 0.08550313860177994, + -3.084394773589917, + 0.031044788658618927, + 0.07014915347099304, + 0.0 + ], + [ + 0.28133150935173035, + 0.16437044739723206, + 0.0758674368262291, + -3.0760013555460652, + 0.037102680653333664, + 0.1032114028930664, + 0.0 + ], + [ + 0.30067142844200134, + 0.17324255406856537, + 0.06970325112342834, + -3.0719037522845944, + 0.031872205436229706, + 0.12172133475542068, + 0.0 + ], + [ + 0.3233557641506195, + 0.14517806470394135, + 0.05930569767951965, + -3.0779993553930005, + 0.027890464290976524, + 0.09434111416339876, + 0.0 + ], + [ + 0.3368501663208008, + 0.11537814140319824, + 0.04895000159740448, + -3.084305329369851, + 0.04108308255672454, + 0.041134387254714966, + 0.0 + ], + [ + 0.34170669317245483, + 0.11051565408706665, + 0.04181178659200668, + -3.085920753079005, + 0.04893307015299797, + 0.04224993288516999, + 0.0 + ], + [ + 0.34671398997306824, + 0.10863129049539566, + 0.033995121717453, + -3.0672772025042256, + 0.0663292333483696, + 0.029908562079072002, + 0.0 + ], + [ + 0.3468312621116638, + 0.11710400134325027, + 0.03916044533252716, + -3.051598684983798, + 0.06859451532363892, + 0.03850293159484863, + 0.0 + ], + [ + 0.34539929032325745, + 0.1320694088935852, + 0.04260803014039993, + -3.0501853843503675, + 0.0615394376218319, + 0.05943971872329712, + 0.0 + ], + [ + 0.3461867868900299, + 0.14199957251548767, + 0.04374241456389427, + -3.0481666048341474, + 0.0664878264069557, + 0.07091160118579865, + 0.0 + ], + [ + 0.3446688652038574, + 0.14108122885227203, + 0.0438886396586895, + -3.0625837837629994, + 0.0886274427175522, + 0.03929189592599869, + 0.0 + ], + [ + 0.34698912501335144, + 0.1290825456380844, + 0.043881628662347794, + -3.080961225675889, + 0.09271345287561417, + -0.0002648803638294339, + 1.0 + ], + [ + 0.3494049608707428, + 0.11453444510698318, + 0.0834113210439682, + -3.089577520387717, + 0.007018382661044598, + -0.02543674595654011, + 1.0 + ], + [ + 0.3379557430744171, + 0.1008649468421936, + 0.1356646716594696, + -3.0651211087876042, + -0.08051911741495132, + -0.04425182566046714, + 1.0 + ], + [ + 0.32738545536994934, + 0.0961829200387001, + 0.14958636462688446, + -3.0633150955014905, + -0.10097788274288177, + -0.04444403201341628, + 1.0 + ], + [ + 0.3266149163246155, + 0.09598048776388168, + 0.1491243988275528, + -3.0633717869692525, + -0.09552014619112015, + -0.05799711123108864, + 1.0 + ], + [ + 0.3261074721813202, + 0.09638301283121109, + 0.14924165606498718, + -3.0635184069448194, + -0.0956398993730545, + -0.054926808923482895, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0018453598022460938, + 0.05621075630187988, + 0.3408757448196411, + 0.5707310736179352, + 0.5779728293418884, + 0.5788743495941162, + 0.5788743495941162, + 0.5788743495941162, + 0.5788743495941162, + 0.5788743495941162, + 0.5788743495941162, + 0.5788743495941162, + 0.5788743495941162, + 0.5788743495941162, + 0.5788743495941162, + 0.5788743495941162, + 0.5788743495941162, + 0.5788743495941162, + 0.5788743495941162, + 0.5788743495941162, + 0.5062650740146637, + 0.19258534908294678, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2259", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2259/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2262.json b/annotation/test/2262.json new file mode 100644 index 0000000000000000000000000000000000000000..cc640e40f7558c6e33578bd8eaa2d0455cfd55da --- /dev/null +++ b/annotation/test/2262.json @@ -0,0 +1,774 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Take the chicken leg piece from the purple cloth and place it in the vessel." + ], + "videos": [ + { + "video_path": "videos/test/2262/rgb.mp4" + } + ], + "action": [ + [ + -0.00013771557119727926, + 5.247386754879565e-05, + -1.85701513000769e-05, + 0.0005034617255446545, + 0.0014489855734635946, + -0.001533614324290375, + 1.0 + ], + [ + -0.0006046856671470763, + 0.0008473306446931589, + 0.006012930174252472, + -0.00839118128133883, + -0.022990416379938865, + -0.005167595638620512, + 1.0 + ], + [ + 0.019282385343460596, + 0.0014729727491285072, + 0.020601395127591723, + -0.00024339080617280157, + -0.039820628247093336, + -0.001353694620474902, + 1.0 + ], + [ + 0.022132937910532915, + -0.004955491664739645, + 0.005670468871623403, + 0.0028329410918146803, + 0.03579009598208573, + -0.029290728639926635, + 1.0 + ], + [ + 0.03264976155688357, + -0.013339215760182372, + 0.020358206478301305, + 0.037936506623185436, + -0.030539717269378767, + -0.03849847907867638, + 1.0 + ], + [ + 0.0323397595792076, + -0.0017420215975457825, + 0.026360318061648423, + -0.012694701691035414, + 0.0026951894203617066, + -0.008162099935544266, + 1.0 + ], + [ + 0.02490925308609355, + 0.003461809701810497, + 0.018472840094019564, + 0.018139247649992064, + -0.0034379503973456286, + 0.008521639241300958, + 1.0 + ], + [ + 0.011420624685772911, + 0.0007739803236501509, + 0.01812637386155348, + 0.01768391684770733, + -0.027034518600587133, + -0.00030256996729212133, + 1.0 + ], + [ + 0.004108458144034162, + -0.002331807840364541, + 0.012613821111643239, + 0.006952149220035926, + -0.028918897371700326, + 0.0040236270766121915, + 1.0 + ], + [ + 0.0032010596069479164, + -0.003588810530850557, + 0.016552988336818633, + 0.004782451359075023, + -0.04628166167195927, + 0.0013678823901695659, + 1.0 + ], + [ + 0.0069953979505554265, + -0.003570005162263374, + 0.0064201091286312855, + -0.006344059940252672, + -0.009909067375138882, + 0.01146569238248253, + 1.0 + ], + [ + 0.0025607617654856553, + -0.00131610265107847, + 0.007944868480737175, + 0.003811883569970743, + -0.020879864816634817, + 0.0020464612624028957, + 1.0 + ], + [ + 6.9624606056759e-05, + -5.705293087630465e-05, + -9.906873541759203e-05, + 0.004290395171187271, + -0.00038018510995685146, + 0.00016875219488955386, + 1.0 + ], + [ + -0.0013650748049657466, + 0.001444616475316595, + 0.002413374326225826, + -0.0008912425180658311, + -0.0010121641690663847, + -0.004247182911033265, + 0.0 + ], + [ + -0.002826760294997139, + 0.0006988699909194672, + -0.0014488299420040306, + 0.00038888973518246374, + -0.00752487129132792, + -0.002264314007222243, + 0.0 + ], + [ + -0.004030118497284003, + -0.00188640703514441, + -0.012522190667745379, + 0.014013462105915326, + 0.009385876324383676, + -0.014228656726629573, + 0.0 + ], + [ + -0.005363988768592673, + -0.0053409904465079395, + -0.025362761158731605, + 0.02044886289336885, + 0.054475761371177926, + -0.02784529356011878, + 0.0 + ], + [ + -0.007608846430958115, + 0.002281382255502279, + -0.020621137298297853, + 0.027177321287967345, + 0.026365498519040475, + -0.0031525437259366544, + 0.0 + ], + [ + -0.026222864176934212, + 0.014938060877287348, + -0.011390492970264818, + 0.00477083401170408, + -0.06292164740357754, + -0.007762159012927373, + 0.0 + ], + [ + -0.042769814015242213, + 0.018104245108772902, + -0.011135002244742289, + -0.04071088699615698, + -0.022339074929198635, + -0.06959639773753289, + 0.0 + ], + [ + -0.04087961712153111, + 0.009516386303191227, + 0.00985971503613704, + -0.049321580251855006, + -0.04946578397657736, + -0.05419427719090433, + 0.0 + ], + [ + -0.020072081486053196, + 0.0033720887989684293, + 0.011543956636456862, + -0.0006885594096749164, + -0.01680061366963173, + -0.017819313914433064, + 0.0 + ], + [ + -0.006949576466677353, + 0.006749111941353076, + 0.010603018558097223, + 0.0025804699013917205, + -0.02299382115824068, + 0.014049205108090103, + 0.0 + ], + [ + 0.0015076763483576302, + 0.002672996553388522, + 0.010910661053495503, + 0.0013474915084126901, + -0.025582212980554825, + 0.011902886825406482, + 0.0 + ], + [ + 0.0009823252216337786, + 0.0006341472689726694, + 0.01331615880142786, + 0.011946793412744471, + -0.04414583692569588, + 0.013784186874300015, + 0.0 + ], + [ + 0.0018506435712041859, + -0.0018456229224748742, + 0.008021792615656729, + 0.018143429481695686, + -0.013600302717663914, + 0.005419238296429974, + 0.0 + ], + [ + -0.00751681381672928, + -0.004244602315462767, + 0.0030526216039398466, + 0.00924779222371928, + -0.01310034742997682, + -0.018634724328262707, + 0.0 + ], + [ + -0.003085807871481159, + -0.010093621493076977, + -0.001163310588903971, + -0.017946948520031026, + -0.005028186957934989, + -0.03570550830247006, + 0.0 + ], + [ + -0.003884690076258978, + -0.001971668561924853, + -0.003938633477989865, + -0.0034820697122667893, + -0.013944758490463267, + 0.025841484330317445, + 1.0 + ], + [ + 0.001044454001233871, + -0.0017186203403686876, + -0.013739900250910674, + 0.001727872767950526, + 0.03266244705859048, + -0.009595113879773647, + 1.0 + ], + [ + 0.005420640249410866, + 0.0004282269873574872, + -0.020906304486713236, + 0.020092552274335224, + 0.05847054579942119, + 0.00999865047681402, + 1.0 + ], + [ + 0.013279671579839367, + -0.005653238176952755, + -0.014713828688374037, + 0.03138318360906487, + 0.05643177218347188, + 0.039296802709925284, + 1.0 + ], + [ + 0.016781296075676713, + -0.0038493536818207078, + -0.01837925971186849, + 0.002154803977281461, + 0.11093504887837011, + 0.02486375048352317, + 1.0 + ], + [ + 0.02882149856743883, + 0.00690367210204299, + -0.019608395600679653, + -0.03936920660125429, + 0.11880928011427483, + -0.014071324531466135, + 1.0 + ], + [ + 0.02286299923777399, + 0.025191034220256335, + 0.005417265379852667, + -0.027279931061231943, + 0.0022858215145037594, + 0.01127198021723524, + 1.0 + ], + [ + 0.015016630772088124, + 0.01362419868730253, + -0.0013899052258517987, + -0.04342677370091928, + 0.009671509120535176, + -0.047952232388172, + 1.0 + ], + [ + 0.012538815003231545, + 0.01721116638107872, + -0.0040353660403469925, + -0.01907996061707383, + -0.0076738244160368336, + 0.010748164932846386, + 1.0 + ], + [ + 0.007794825477079119, + 0.013741354821462355, + 0.006490380203814657, + 0.013203799204009348, + -0.005608224560252, + 0.015842097098877454, + 1.0 + ], + [ + -4.681820522152996e-06, + 0.0011152017696853891, + -0.00047293561638266074, + -0.0003900310861057953, + 0.0002624688112914971, + 0.002852806916548452, + 1.0 + ] + ], + "state": [ + [ + 0.2359267920255661, + 0.05849860981106758, + 0.16701790690422058, + -3.0510494132810315, + -0.14205084741115573, + -0.13235069811344147, + 1.0 + ], + [ + 0.23578260838985443, + 0.05846339091658592, + 0.167012020945549, + -3.0507456829124173, + -0.1436324268579483, + -0.13093985617160797, + 1.0 + ], + [ + 0.23601102828979492, + 0.05813240259885788, + 0.16092291474342346, + -3.060158038633414, + -0.12120187282562256, + -0.12365590035915373, + 1.0 + ], + [ + 0.25750941038131714, + 0.05566968768835068, + 0.14275282621383667, + -3.0608943571620664, + -0.08162211626768112, + -0.11905408650636673, + 1.0 + ], + [ + 0.28047868609428406, + 0.05835704505443573, + 0.13932229578495026, + -3.0601978992396077, + -0.1196281909942627, + -0.09257367253303528, + 1.0 + ], + [ + 0.31642064452171326, + 0.07003479450941086, + 0.12414982169866562, + -3.0271864031725606, + -0.09221883863210678, + -0.051561661064624786, + 1.0 + ], + [ + 0.35121458768844604, + 0.07298532128334045, + 0.10124923288822174, + -3.0406058748536786, + -0.09582534432411194, + -0.043724678456783295, + 1.0 + ], + [ + 0.3777068555355072, + 0.07024287432432175, + 0.08499071002006531, + -3.021688090758868, + -0.09154263138771056, + -0.051890432834625244, + 1.0 + ], + [ + 0.39078831672668457, + 0.07096515595912933, + 0.06802165508270264, + -3.0042847116761884, + -0.06473788619041443, + -0.04834931343793869, + 1.0 + ], + [ + 0.39586523175239563, + 0.07476062327623367, + 0.05613701790571213, + -2.9972730596833905, + -0.03554050624370575, + -0.048375632613897324, + 1.0 + ], + [ + 0.39991044998168945, + 0.08050386607646942, + 0.04039601609110832, + -2.9925254603200635, + 0.010456896387040615, + -0.04307371750473976, + 1.0 + ], + [ + 0.40703126788139343, + 0.08468502014875412, + 0.0345044769346714, + -2.9989726563268384, + 0.021958371624350548, + -0.05294236168265343, + 1.0 + ], + [ + 0.40954819321632385, + 0.08698705583810806, + 0.026772964745759964, + -2.995108815031596, + 0.04291708022356034, + -0.051999147981405265, + 1.0 + ], + [ + 0.4096243977546692, + 0.08702512830495834, + 0.026876214891672134, + -2.990823196368762, + 0.043317824602127075, + -0.05211070552468299, + 1.0 + ], + [ + 0.4080943763256073, + 0.08603774011135101, + 0.024334793910384178, + -2.9915272017293653, + 0.04368017613887786, + -0.04775552451610565, + 0.0 + ], + [ + 0.40528813004493713, + 0.0852632001042366, + 0.02578502520918846, + -2.9909878094964704, + 0.05078170821070671, + -0.044387396425008774, + 0.0 + ], + [ + 0.4019087255001068, + 0.0853995606303215, + 0.038636744022369385, + -2.9763367493921002, + 0.03936324641108513, + -0.031718943268060684, + 0.0 + ], + [ + 0.39760491251945496, + 0.08663260191679001, + 0.06472361832857132, + -2.954940678673335, + -0.018956841900944713, + -0.013250015676021576, + 0.0 + ], + [ + 0.3895416557788849, + 0.08067049086093903, + 0.08441543579101562, + -2.9276639242940625, + -0.04544927924871445, + -0.015047247521579267, + 0.0 + ], + [ + 0.3627312183380127, + 0.06405626982450485, + 0.09117529541254044, + -2.923462363081523, + 0.014398495666682718, + 0.005876074079424142, + 0.0 + ], + [ + 0.32018470764160156, + 0.04372100532054901, + 0.09874367713928223, + -2.963657634454318, + 0.02112326771020889, + 0.07866588234901428, + 0.0 + ], + [ + 0.2797996997833252, + 0.03289288282394409, + 0.0882212445139885, + -3.011792989569255, + 0.060181587934494025, + 0.14081738889217377, + 0.0 + ], + [ + 0.2595142126083374, + 0.028149286285042763, + 0.07756668329238892, + -3.0112920721345624, + 0.0745227038860321, + 0.16071440279483795, + 0.0 + ], + [ + 0.2526865303516388, + 0.02165883034467697, + 0.06672565639019012, + -3.009503485756465, + 0.09914250671863556, + 0.14972160756587982, + 0.0 + ], + [ + 0.2532579004764557, + 0.020518582314252853, + 0.055463600903749466, + -3.0089582224660596, + 0.12606593966484067, + 0.1412279903888702, + 0.0 + ], + [ + 0.25240984559059143, + 0.02154182828962803, + 0.04216243699193001, + -2.997883455949374, + 0.17164278030395508, + 0.13329821825027466, + 0.0 + ], + [ + 0.25252243876457214, + 0.02455899678170681, + 0.03428434208035469, + -2.980321081476756, + 0.1858779788017273, + 0.1298232078552246, + 0.0 + ], + [ + 0.24416419863700867, + 0.02818717435002327, + 0.03338224068284035, + -2.9672320951991757, + 0.19577674567699432, + 0.150717630982399, + 0.0 + ], + [ + 0.24026650190353394, + 0.03744567185640335, + 0.036823879927396774, + -2.9781479855352124, + 0.1944072097539902, + 0.18744610249996185, + 0.0 + ], + [ + 0.23707714676856995, + 0.03816850110888481, + 0.041702061891555786, + -2.9862486143880567, + 0.2123173326253891, + 0.16368764638900754, + 1.0 + ], + [ + 0.24103176593780518, + 0.0383879579603672, + 0.05501154065132141, + -2.9834913333230695, + 0.17856168746948242, + 0.16818083822727206, + 1.0 + ], + [ + 0.2505161166191101, + 0.036230649799108505, + 0.07429970800876617, + -2.966570722060748, + 0.12236271053552628, + 0.14897862076759338, + 1.0 + ], + [ + 0.2649722397327423, + 0.041438791900873184, + 0.08803656697273254, + -2.9410503675513944, + 0.0734894797205925, + 0.1003822311758995, + 1.0 + ], + [ + 0.2829846441745758, + 0.043364621698856354, + 0.10553145408630371, + -2.941276567178317, + -0.03034265153110027, + 0.054078150540590286, + 1.0 + ], + [ + 0.31178683042526245, + 0.034240808337926865, + 0.12424024194478989, + -2.9789085408025464, + -0.1495632529258728, + 0.044073596596717834, + 1.0 + ], + [ + 0.3368323743343353, + 0.011341067031025887, + 0.118326336145401, + -3.0044668932729444, + -0.14998328685760498, + 0.03244973346590996, + 1.0 + ], + [ + 0.35218915343284607, + -0.0018539467127993703, + 0.1200900748372078, + -3.0550286417179784, + -0.16595512628555298, + 0.07926949858665468, + 1.0 + ], + [ + 0.365485280752182, + -0.01834847219288349, + 0.12465887516736984, + -3.072430396574088, + -0.15737237036228177, + 0.06909969449043274, + 1.0 + ], + [ + 0.375241756439209, + -0.030964918434619904, + 0.11854776740074158, + -3.0567899887734136, + -0.15066395699977875, + 0.05350667983293533, + 1.0 + ], + [ + 0.3752422332763672, + -0.03211779519915581, + 0.11891957372426987, + -3.056745449202605, + -0.15068322420120242, + 0.05060905963182449, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.04544806480407715, + 0.3208107352256775, + 0.6063922345638275, + 0.6652155518531799, + 0.6652155518531799, + 0.6652155518531799, + 0.6660203635692596, + 0.6660203635692596, + 0.6660203635692596, + 0.6660203635692596, + 0.6660203635692596, + 0.6660203635692596, + 0.6660203635692596, + 0.6660203635692596, + 0.6660203635692596, + 0.6185365319252014, + 0.31880712509155273, + 0.04091840982437134, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2262", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2262/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2266.json b/annotation/test/2266.json new file mode 100644 index 0000000000000000000000000000000000000000..a1f0eef79140800189f3c3ce09f36d7e659b8276 --- /dev/null +++ b/annotation/test/2266.json @@ -0,0 +1,584 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "take banana out of colander" + ], + "videos": [ + { + "video_path": "videos/test/2266/rgb.mp4" + } + ], + "action": [ + [ + -0.00026785372471750093, + 0.00017740637630653448, + -3.2907990642320573e-07, + -0.0011174054422861857, + -0.0016899463747514886, + -0.0007745390353356796, + 1.0 + ], + [ + -0.004135576401431125, + 0.0022630053848045786, + 0.010573736696186801, + 0.0005522604212824995, + -0.03516137480567742, + -0.01167119366725816, + 1.0 + ], + [ + -0.00023136567413305502, + 0.029240907936742826, + 0.004768482172235895, + -0.027161427512156024, + -0.01883666713849772, + -0.12308787967936276, + 1.0 + ], + [ + 0.005798086243462026, + 0.03409790002622766, + -0.000576880043082481, + -0.02436049059220044, + 0.0071394846107188685, + -0.04714544653458192, + 1.0 + ], + [ + 0.007860072512925979, + 0.03415200959153161, + 0.0019852452709337646, + -0.022772233582579328, + 0.022067263986031635, + -0.08875475558162763, + 1.0 + ], + [ + 0.0004890906652660265, + 0.01936896656289684, + 0.006208570581354209, + -0.004267367629558948, + 0.001878953748931469, + -0.04036964002106978, + 1.0 + ], + [ + 0.002250965736635571, + 0.005529774236614881, + 0.00815565163971711, + 0.015367885777901167, + 0.02279853005492678, + -0.01472325362065395, + 1.0 + ], + [ + 0.0033976599576369033, + -5.937435582772224e-05, + 0.004183159851071298, + 0.0036459588741974687, + 0.030993972022366718, + 0.0009638312472959785, + 1.0 + ], + [ + -0.0007035925005493033, + -0.000243246391766492, + 0.016018999708130612, + 0.024181881085035998, + 0.014897887551640565, + -0.0049457335213885225, + 1.0 + ], + [ + -0.0037149242001885846, + 0.000170972210413011, + 0.006657116092222266, + 0.0024510967896302447, + 0.006708643995377687, + -0.0204068739348695, + 1.0 + ], + [ + -0.0056973363398101695, + -0.0013029325918860718, + 0.01043168416609296, + 0.006559462633942132, + -0.012294499898567898, + -0.00898064715565679, + 1.0 + ], + [ + -0.0020634085069073087, + 0.0008085520620028982, + 0.002368814916648174, + 0.0038123295828166788, + 0.0010212268613593505, + 0.0001447862128195783, + 1.0 + ], + [ + -0.003473632413023535, + 0.0017287913670100017, + 0.004624296588720315, + 0.0066701416726716945, + 0.011467187166088102, + -0.007243223721170409, + 0.0 + ], + [ + -0.002234798121742722, + -8.119002059061075e-05, + -1.5771065186638072e-05, + 0.0003757649900615957, + -0.014097724064969511, + 0.00966308119302117, + 0.0 + ], + [ + 0.0007064728859806436, + -0.0046192832638883565, + -0.005079263952216601, + 0.03347376297921199, + -0.0003773133365952711, + 0.006658065911762541, + 0.0 + ], + [ + 0.0018255783760247506, + -0.0004955725992777296, + -0.024010499958962907, + -0.04598587772554516, + -0.01111167802408135, + -0.015257024779149926, + 0.0 + ], + [ + 0.004125061525544784, + -0.0037071920335832163, + -0.026804810982800777, + -0.07613136977200054, + 0.007075015969678645, + 0.03455679992962256, + 0.0 + ], + [ + -0.007733504585318413, + -0.02109389599832303, + -0.010875815812453438, + -0.034471728978947534, + -0.005094473757388274, + 0.04899294712467204, + 0.0 + ], + [ + -0.012801275648775182, + -0.037354170547384415, + 0.003322313334053194, + 0.0011233922653908347, + -0.014677219342432187, + 0.06842869877488973, + 0.0 + ], + [ + -0.012906548138217882, + -0.0376523616182838, + 0.008703187783233868, + 0.02163122646520309, + -0.009387966401394636, + 0.11311464952431885, + 0.0 + ], + [ + -0.013455290392508625, + -0.0294097871765414, + 0.014017834399870777, + 0.008966128386793875, + -0.010874176145637782, + 0.06751088621029337, + 0.0 + ], + [ + -0.008222694158955601, + -0.022030825938236492, + 0.009889982047136066, + 0.026655041207130397, + 0.01528605288112054, + 0.0482870999488315, + 0.0 + ], + [ + -0.00878394681000621, + -0.0132012090106788, + 0.012143274001477286, + 0.02297463504381035, + 0.0003789125146110093, + 0.03225296467934296, + 0.0 + ], + [ + -0.005496668463609071, + -0.006228657160577348, + 0.005728583686233239, + 0.013872570463135914, + 0.019969825811475515, + 0.03522360474638317, + 0.0 + ], + [ + 0.0023135295030032393, + -0.0013872090128410816, + 0.0008297120085327568, + 0.020056094289045246, + -0.01405045604490214, + -0.03253399818053665, + 0.0 + ], + [ + 0.0008293394913294224, + 0.0019492681143541098, + -0.0037993241599890465, + 0.001739535131027573, + -0.028591602598435985, + -0.02923340566763134, + 1.0 + ], + [ + 0.012359726452055148, + 0.005438275414664811, + -0.025095589449797964, + 0.006228802674845293, + 0.03609818981356648, + -0.04088135289627768, + 1.0 + ], + [ + 0.007867840978413617, + 0.006673375177546047, + -0.02311110852339553, + -0.04554377984329738, + 0.019978012723643475, + -0.02357731245775009, + 1.0 + ], + [ + 0.0002598714637136241, + -0.0004477152293245502, + -0.0012307802068469607, + 0.00017283232396225732, + 0.003056964392660841, + -4.3657234082365916e-05, + 1.0 + ] + ], + "state": [ + [ + 0.29805663228034973, + 0.15403789281845093, + 0.0953105092048645, + -3.0884045903855046, + -0.13228583335876468, + 0.5362069606781007, + 1.0 + ], + [ + 0.2979199290275574, + 0.15375055372714996, + 0.09526615589857101, + -3.0896367860310754, + -0.13063940405845642, + 0.5370776653289795, + 1.0 + ], + [ + 0.29646724462509155, + 0.15089435875415802, + 0.08414141088724136, + -3.0908214655988893, + -0.09611970186233519, + 0.5506141781806946, + 1.0 + ], + [ + 0.3119346797466278, + 0.12640665471553802, + 0.07790174335241318, + -3.1302629580074033, + -0.08279990404844284, + 0.6749119758605957, + 1.0 + ], + [ + 0.3377418518066406, + 0.10338146984577179, + 0.07857115566730499, + 3.1246428360515317, + -0.09038092195987701, + 0.7221652269363403, + 1.0 + ], + [ + 0.366304874420166, + 0.08299132436513901, + 0.07788021117448807, + 3.0938516390794, + -0.11058242619037628, + 0.8118100166320801, + 1.0 + ], + [ + 0.3812919855117798, + 0.07024836540222168, + 0.07268926501274109, + 3.085137168067046, + -0.11044254899024963, + 0.8524711728096008, + 1.0 + ], + [ + 0.38783565163612366, + 0.06864628940820694, + 0.06515443325042725, + 3.098720135288783, + -0.1323598176240921, + 0.8685946464538574, + 1.0 + ], + [ + 0.3904590606689453, + 0.0715612918138504, + 0.0614575520157814, + 3.102296548085757, + -0.16336660087108612, + 0.8689652681350708, + 1.0 + ], + [ + 0.3919875919818878, + 0.07277101278305054, + 0.045540180057287216, + 3.125561276572295, + -0.17805616557598114, + 0.8745806813240051, + 1.0 + ], + [ + 0.3906116187572479, + 0.07069183140993118, + 0.03833387792110443, + 3.124320002394267, + -0.18439893424510956, + 0.8954458236694336, + 1.0 + ], + [ + 0.3874322175979614, + 0.06851815432310104, + 0.027013814076781273, + 3.129247313486882, + -0.17194400727748868, + 0.90434330701828, + 1.0 + ], + [ + 0.38708338141441345, + 0.06671950966119766, + 0.02433689683675766, + 3.133082592981406, + -0.17296694219112396, + 0.9042091369628907, + 1.0 + ], + [ + 0.38684776425361633, + 0.06356046348810196, + 0.019198426976799965, + 3.138467284972318, + -0.1843673586845398, + 0.911675751209259, + 0.0 + ], + [ + 0.38543635606765747, + 0.061871230602264404, + 0.01880398765206337, + 3.1406485272506295, + -0.1702911406755447, + 0.9018271565437317, + 0.0 + ], + [ + 0.3817073702812195, + 0.06461049616336823, + 0.023925207555294037, + -3.107918119179555, + -0.16991630196571353, + 0.8950714468955994, + 0.0 + ], + [ + 0.3805372416973114, + 0.06265019625425339, + 0.047901663929224014, + 3.126603750633546, + -0.159303680062294, + 0.9108933806419373, + 0.0 + ], + [ + 0.3771871030330658, + 0.06503462791442871, + 0.07496359944343567, + 3.0560210814052304, + -0.166800320148468, + 0.8759624361991882, + 0.0 + ], + [ + 0.3544859290122986, + 0.07207570225000381, + 0.08258743584156036, + 3.0299392362409314, + -0.16570596396923065, + 0.8260290622711182, + 0.0 + ], + [ + 0.31974121928215027, + 0.08860784769058228, + 0.07311443239450455, + 3.04294494737918, + -0.15833343565464017, + 0.7555117607116699, + 0.0 + ], + [ + 0.28677991032600403, + 0.10785699635744095, + 0.05886496976017952, + 3.0832933877878865, + -0.1590800881385803, + 0.6405661702156067, + 0.0 + ], + [ + 0.26106446981430054, + 0.12428869307041168, + 0.04122423380613327, + 3.1032846478098115, + -0.15178425610065457, + 0.5717466473579407, + 0.0 + ], + [ + 0.24388574063777924, + 0.138962984085083, + 0.02937779203057289, + 3.1372872154512486, + -0.16873353719711304, + 0.5233995914459229, + 0.0 + ], + [ + 0.23158816993236542, + 0.14704743027687073, + 0.015875931829214096, + -3.1174276695870837, + -0.16916269063949585, + 0.49068138003349304, + 0.0 + ], + [ + 0.22463782131671906, + 0.15055085718631744, + 0.00945371575653553, + -3.0974493493610105, + -0.188166618347168, + 0.45435073971748346, + 0.0 + ], + [ + 0.22618468105793, + 0.15288947522640228, + 0.009132343344390392, + -3.0837043804400643, + -0.175461083650589, + 0.48798680305480957, + 0.0 + ], + [ + 0.22735397517681122, + 0.1510581225156784, + 0.012900792993605137, + -3.0874110107594213, + -0.14852453768253326, + 0.5191572904586792, + 1.0 + ], + [ + 0.23815380036830902, + 0.1494099199771881, + 0.0392213836312294, + -3.087039606767245, + -0.1866694837808609, + 0.5586829781532288, + 1.0 + ], + [ + 0.24533522129058838, + 0.1445547640323639, + 0.06299983710050583, + -3.136844575992324, + -0.2078554481267929, + 0.5816248655319213, + 1.0 + ], + [ + 0.24509234726428986, + 0.14492389559745789, + 0.06425981968641281, + -3.1366778715797743, + -0.21091258525848386, + 0.5816546678543091, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.04620790481567383, + 0.33384793996810913, + 0.6236849725246429, + 0.6405960619449615, + 0.6142202019691467, + 0.6116192042827606, + 0.6116192042827606, + 0.6116192042827606, + 0.6116192042827606, + 0.6116192042827606, + 0.6116192042827606, + 0.6116192042827606, + 0.6116192042827606, + 0.5440536141395569, + 0.22794663906097412, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2266", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2266/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2267.json b/annotation/test/2267.json new file mode 100644 index 0000000000000000000000000000000000000000..db0401eefb41cc9acce5dab2210a0b975e60eb7c --- /dev/null +++ b/annotation/test/2267.json @@ -0,0 +1,432 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "open small4fbox flaps" + ], + "videos": [ + { + "video_path": "videos/test/2267/rgb.mp4" + } + ], + "action": [ + [ + -6.746889259408686e-05, + 5.786874176640496e-06, + 0.00044610285021435446, + 6.890265906707832e-05, + -0.0015321420851904517, + 3.0247177234634263e-05, + 1.0 + ], + [ + -0.00316735584076851, + 0.0016356016020043528, + 0.009833428899992055, + -0.016027912459030316, + -0.03753216062808397, + 0.009765284836733657, + 1.0 + ], + [ + 0.01155334831063685, + -0.003921387376004585, + 0.01022483765134925, + -0.03913938243204145, + -0.03610109336341147, + 0.034101218760940216, + 1.0 + ], + [ + 0.007259331981696803, + 0.0029039007370405046, + -0.001152631518286711, + -0.006647066831180781, + -0.009162647572699809, + 0.010736937163419594, + 1.0 + ], + [ + -0.0018041428372578409, + 0.006658737415120823, + 0.010877007797136216, + -0.009013305332972212, + 0.025562581322760472, + -0.007783761166989894, + 1.0 + ], + [ + -0.006038006983148887, + 0.007802903751985758, + 0.012820106827402575, + 0.00501162951552606, + 0.014981493638583887, + -0.007585179563422476, + 1.0 + ], + [ + -0.008018023883551233, + 0.0005551323537550219, + 0.010141008136627884, + 0.002660327095138814, + 0.002857243529953167, + -0.006537545876740669, + 1.0 + ], + [ + -0.00717170515046748, + -4.181437469661069e-05, + 0.010508184086950685, + -0.01781398988412712, + 0.02981570635478607, + -0.0037744470842183586, + 1.0 + ], + [ + -0.001005811801543523, + -1.3882681393503772e-05, + -0.0001637666038443341, + -0.0005110251332969585, + 0.012303027076924326, + 0.0017052591362263793, + 1.0 + ], + [ + -0.0016647694017728652, + -0.00019430101028674302, + -0.003210611755696286, + -0.00238223112242603, + -0.027374707492701492, + 0.013870599321448822, + 1.0 + ], + [ + 0.00037226369388645357, + -0.00014672135933149944, + -0.01401460503205385, + -0.0061951657042104, + -0.07308489476524613, + 0.011251395346521791, + 1.0 + ], + [ + -0.0020919316945737436, + -0.0016657811283335784, + -0.012792848381828101, + 0.016236041532911742, + -0.06522321981742198, + -0.010074482496337585, + 1.0 + ], + [ + -0.00747154985695223, + -0.0008796446326514223, + -0.011541922855110428, + 0.016630344213988815, + -0.04073004148340863, + 0.012426711743176604, + 1.0 + ], + [ + -0.010933640731786117, + -0.0022359819623769834, + -0.007379067302236524, + 0.02794444365593601, + -0.04409379113397671, + 0.017716832128632162, + 1.0 + ], + [ + -0.013901872062878047, + -0.0014722115221837517, + -0.011416463047436869, + 0.011547775904212373, + -0.004907923063713826, + 0.0037487864215644674, + 1.0 + ], + [ + -0.02797692686766252, + -0.001960867535062177, + -0.0029256335266857566, + 0.01506983609162769, + 0.010329422337990526, + 0.0027563090634719297, + 1.0 + ], + [ + -0.01777067359550213, + -0.0040648560826482315, + 0.00264384723787382, + 0.003553326864570095, + 0.03934732859031332, + -0.011669242931304249, + 1.0 + ], + [ + -0.013320362276020414, + -0.004459621514401784, + 0.014531796943558417, + 0.002955485440183373, + 0.02384305230412173, + -0.004805981942741792, + 1.0 + ], + [ + -0.0035125877972547737, + -0.0014261684365484413, + 0.009474558490706919, + -0.0005798900497666718, + 0.02436036255903622, + -0.012737858881549302, + 1.0 + ], + [ + -0.0022874623832882623, + 0.0016905791118736985, + 0.008992374078201765, + 0.012468638740955057, + 0.033930973037627626, + -0.015281749206721913, + 1.0 + ], + [ + 5.4925593276295794e-05, + 0.0022968648451866256, + 0.0013850307874816196, + 0.01673875269425834, + 0.024533120291101163, + -0.0014164816134414292, + 1.0 + ] + ], + "state": [ + [ + 0.29057008028030396, + -0.026370668783783913, + 0.14809247851371765, + -3.134598933747508, + -0.27683436870574946, + -0.05451444163918496, + 1.0 + ], + [ + 0.2906268835067749, + -0.02637643925845623, + 0.14764489233493805, + -3.1345244759046516, + -0.27530205249786377, + -0.05453473702073097, + 1.0 + ], + [ + 0.29017016291618347, + -0.027919895946979523, + 0.13730986416339874, + 3.1352946098246655, + -0.23768919706344604, + -0.06430229544639589, + 1.0 + ], + [ + 0.3040316104888916, + -0.024947548285126686, + 0.13006901741027832, + 3.104403244453021, + -0.20166204869747162, + -0.09931793063879013, + 1.0 + ], + [ + 0.3105742037296295, + -0.02847268618643284, + 0.13275732100009918, + 3.1000160855525216, + -0.1928924322128296, + -0.1105968728661537, + 1.0 + ], + [ + 0.31004798412323, + -0.03556300699710846, + 0.12201704829931259, + 3.0892551523917398, + -0.2181017249822616, + -0.10154552757740021, + 1.0 + ], + [ + 0.30599352717399597, + -0.04365658015012741, + 0.10860983282327652, + 3.0924040769510945, + -0.23265813291072848, + -0.09295643121004105, + 1.0 + ], + [ + 0.30044645071029663, + -0.04419710114598274, + 0.09693187475204468, + 3.093483878421136, + -0.23518520593643188, + -0.08609750866889954, + 1.0 + ], + [ + 0.29589536786079407, + -0.04426959156990051, + 0.08505166321992874, + 3.074392618732997, + -0.2647816240787506, + -0.08070761710405348, + 1.0 + ], + [ + 0.29488739371299744, + -0.04416313394904137, + 0.08494524657726288, + 3.0741146599226674, + -0.2771712839603424, + -0.08161750435829164, + 1.0 + ], + [ + 0.29245489835739136, + -0.043552447110414505, + 0.08755815029144287, + 3.076145814853259, + -0.2507593631744385, + -0.09780337661504745, + 1.0 + ], + [ + 0.28946641087532043, + -0.04219115898013115, + 0.10118845105171204, + 3.0738216285877904, + -0.17853476107120514, + -0.11403468251228333, + 1.0 + ], + [ + 0.28547677397727966, + -0.039189413189888, + 0.11326654255390167, + 3.0889082198315343, + -0.11277642101049425, + -0.10838266462087631, + 1.0 + ], + [ + 0.2769727110862732, + -0.03676909953355789, + 0.12383237481117249, + 3.107142685102769, + -0.07274534553289415, + -0.12296485900878905, + 1.0 + ], + [ + 0.2659291923046112, + -0.0328965000808239, + 0.13031607866287231, + 3.136457838239618, + -0.029274491593241695, + -0.1421806961297989, + 1.0 + ], + [ + 0.25205984711647034, + -0.029364733025431633, + 0.14131303131580353, + -3.1350692213797053, + -0.024385673925280574, + -0.14595571160316467, + 1.0 + ], + [ + 0.22460013628005981, + -0.02336551807820797, + 0.14356835186481476, + -3.1199301724606237, + -0.034696798771619804, + -0.14878089725971225, + 1.0 + ], + [ + 0.20773491263389587, + -0.016670407727360725, + 0.14039824903011322, + -3.116737490641423, + -0.07428561896085739, + -0.1379456669092178, + 1.0 + ], + [ + 0.1962999701499939, + -0.010217307135462761, + 0.1250329315662384, + -3.114089261861988, + -0.09824008494615553, + -0.13371464610099792, + 1.0 + ], + [ + 0.19397714734077454, + -0.008203481324017048, + 0.11530213057994843, + -3.115855127694555, + -0.12293432652950285, + -0.12156356871128082, + 1.0 + ], + [ + 0.1926463097333908, + -0.009510345757007599, + 0.10605689883232117, + -3.105162529396363, + -0.15723444521427152, + -0.10698900371789932, + 1.0 + ], + [ + 0.19268904626369476, + -0.011772740632295609, + 0.10461583733558655, + -3.0884958898001393, + -0.1818028539419174, + -0.1064586043357849, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.012741804122924805, + 0.012741804122924805, + 0.012741804122924805 + ], + "episode_id": "2267", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2267/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2281.json b/annotation/test/2281.json new file mode 100644 index 0000000000000000000000000000000000000000..76ce1400c77924166919de215fb3792681d686d0 --- /dev/null +++ b/annotation/test/2281.json @@ -0,0 +1,451 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put pan from drying rack into sink" + ], + "videos": [ + { + "video_path": "videos/test/2281/rgb.mp4" + } + ], + "action": [ + [ + -0.00035908695157149754, + -5.244914333705265e-05, + 0.002133804853634216, + 0.0023959024120266755, + -0.006018657884139749, + -0.0006257135082581121, + 1.0 + ], + [ + -0.0007452963330210524, + 0.00042288807133555113, + 0.008640966177751744, + 0.035918150631508994, + -0.0434911520158094, + -0.029316848599350458, + 1.0 + ], + [ + 0.010047200998473137, + 0.003777171540728904, + -0.0018914451666833343, + 0.038213693945807405, + -0.00304548019306891, + -0.09059709161440013, + 1.0 + ], + [ + 0.004548818563296012, + 0.006875034528867164, + 0.0013846174549354542, + 0.0018289167556011772, + -0.0059070499349216975, + -0.08985613117853357, + 1.0 + ], + [ + -0.0021937768569864425, + 0.006210104259326316, + 0.0020798636538339388, + -0.01666874799489733, + 0.011706755539819983, + -0.031860635036923, + 1.0 + ], + [ + -0.01180461757234882, + 0.004559431322876045, + 0.012260615914597098, + 0.0056170971320378535, + 0.0032505099672447435, + -0.02528561285903863, + 1.0 + ], + [ + -0.009233575200134377, + 0.0034755545684283947, + 0.013691155508996, + -0.010731397589976991, + 0.0014785651276506572, + -0.01576624200778244, + 1.0 + ], + [ + -0.0033586484022388005, + -1.6158112714751083e-05, + 0.009952310090115156, + -0.01083347605659152, + 0.0015916975631778609, + 2.7029047166847527e-05, + 1.0 + ], + [ + -0.004122218139750474, + -0.003053116121847735, + 0.006700730122564799, + -0.011682296354806488, + 0.005731398231342457, + 0.0022607388509145497, + 1.0 + ], + [ + -0.001783101225565602, + -0.0022832856578515817, + 0.003614069144475218, + -0.005952551281556725, + 0.005177053720853187, + 9.169342992066954e-05, + 1.0 + ], + [ + 0.0011283682225888675, + -0.0011293639533855198, + 0.0009998880770683645, + -0.00022478973582008884, + 0.00042578401849355024, + -0.006957787817012471, + 0.0 + ], + [ + 0.0015207576331780668, + -0.001292495395617421, + 0.00031641753282381615, + 0.002003793431794812, + 0.0010360317682948145, + 0.0007840332869443876, + 0.0 + ], + [ + 0.0018373359451416198, + -0.0017280397067413423, + -0.010218071621843988, + 0.0336120981955114, + -0.009692712235893654, + -0.00041102111852766665, + 0.0 + ], + [ + 0.006923719059089276, + 0.002087596907416698, + -0.02699593838264994, + 0.040069329680345545, + -0.008141347657250744, + -0.0008536930165902568, + 0.0 + ], + [ + 0.0033229854945015158, + -0.006474698039370333, + -0.021944220195002737, + 0.056659234953522875, + -0.00903988049824534, + 0.006360569932836436, + 0.0 + ], + [ + -0.001864852972366523, + -0.013913822034686133, + -0.0009448506252829774, + 0.0651418657073153, + 0.016770121364277656, + 0.04750617797965841, + 0.0 + ], + [ + -0.0068062317213529, + -0.031238819780568167, + 0.012376013613128442, + 0.006992314874466477, + 0.05167407339147593, + 0.06905006262291029, + 0.0 + ], + [ + -0.002240375974754274, + -0.02898937313662938, + 0.02371696501564909, + -0.010691621282965434, + 0.03037762019222735, + 0.05976578907329957, + 0.0 + ], + [ + -0.006527171521402241, + -0.02877374904495078, + 0.023546709885514674, + -0.03365410283518417, + 0.02882661960711486, + 0.03263363409854131, + 0.0 + ], + [ + -0.007229928833119764, + -0.010381336817562778, + 0.021317956262939686, + -0.016196392524023436, + 0.04705386623526152, + 0.029263010496077827, + 0.0 + ], + [ + 0.00017712027153791597, + -0.0020853659169880294, + 0.015432629649980502, + -0.038315904667414864, + 0.046189849335895275, + 0.0376788244000227, + 0.0 + ], + [ + 0.003978860933646773, + 0.001077891237215281, + 0.0042905352254008315, + -0.024552479883805236, + 0.011319804501196403, + 0.012191691291351132, + 1.0 + ] + ], + "state": [ + [ + 0.2541143596172333, + -0.13341990113258362, + 0.18802078068256378, + -3.090225299941846, + -0.2182711660861969, + 0.017021341249346733, + 1.0 + ], + [ + 0.2542218863964081, + -0.13325610756874084, + 0.18586522340774536, + -3.088035365688153, + -0.21229247748851773, + 0.01797669008374214, + 1.0 + ], + [ + 0.25531524419784546, + -0.133196160197258, + 0.1772511899471283, + -3.0588488300615033, + -0.17032615840435025, + 0.05001607909798622, + 1.0 + ], + [ + 0.26513442397117615, + -0.136630117893219, + 0.18050426244735718, + -3.036536032455512, + -0.17406368255615237, + 0.14194768667221072, + 1.0 + ], + [ + 0.27087584137916565, + -0.14256954193115234, + 0.1792258322238922, + -3.0509415065222463, + -0.17688725888729093, + 0.23335768282413483, + 1.0 + ], + [ + 0.27061229944229126, + -0.14879556000232697, + 0.17624738812446594, + -3.073143260675021, + -0.1913454681634903, + 0.26459529995918274, + 1.0 + ], + [ + 0.26269927620887756, + -0.15478353202342987, + 0.16168756783008575, + -3.072395110624381, + -0.19625701010227203, + 0.2900886535644531, + 1.0 + ], + [ + 0.25733932852745056, + -0.159014031291008, + 0.14625513553619385, + -3.086243113624402, + -0.1987978219985962, + 0.3060288727283478, + 1.0 + ], + [ + 0.25590020418167114, + -0.15887440741062164, + 0.13585135340690613, + -3.0970533361011228, + -0.20038558542728427, + 0.3059114813804626, + 1.0 + ], + [ + 0.25228437781333923, + -0.15650491416454315, + 0.12860392034053802, + -3.1082238910072526, + -0.20600999891757965, + 0.30334353446960444, + 1.0 + ], + [ + 0.2505912482738495, + -0.15451733767986298, + 0.12477806210517883, + -3.114120690273591, + -0.21118110418319702, + 0.3030731678009033, + 1.0 + ], + [ + 0.2514928877353668, + -0.15302376449108124, + 0.12406761199235916, + -3.1158348472141704, + -0.21179267764091497, + 0.3101753294467926, + 0.0 + ], + [ + 0.2525685131549835, + -0.1513136327266693, + 0.12411059439182281, + -3.113656748207756, + -0.21280810236930847, + 0.30934616923332214, + 0.0 + ], + [ + 0.2517755925655365, + -0.1500532478094101, + 0.1345295011997223, + -3.080190325277396, + -0.2031306028366089, + 0.31004205346107483, + 0.0 + ], + [ + 0.2542227506637573, + -0.15319673717021942, + 0.16219186782836914, + -3.0403969680243215, + -0.19505679607391357, + 0.31141981482505793, + 0.0 + ], + [ + 0.25188276171684265, + -0.14951178431510925, + 0.1848955750465393, + -2.9826672693067273, + -0.1854177117347717, + 0.30591085553169245, + 0.0 + ], + [ + 0.2454913854598999, + -0.13727977871894836, + 0.1876329481601715, + -2.908391626673289, + -0.1942308396100998, + 0.25540292263031006, + 0.0 + ], + [ + 0.2315293252468109, + -0.10655725002288818, + 0.18158799409866333, + -2.8861679454618177, + -0.22794826328754425, + 0.17424248158931732, + 0.0 + ], + [ + 0.2269555628299713, + -0.07279790192842484, + 0.16586270928382874, + -2.8820660432153424, + -0.24175305664539334, + 0.10679176449775696, + 0.0 + ], + [ + 0.22070565819740295, + -0.039421141147613525, + 0.14937299489974976, + -2.906165050464221, + -0.2610543370246887, + 0.06649735569953918, + 0.0 + ], + [ + 0.2174498438835144, + -0.024537023156881332, + 0.12981891632080078, + -2.9116324355178556, + -0.29977598786354065, + 0.02525497786700726, + 0.0 + ], + [ + 0.22177454829216003, + -0.018877845257520676, + 0.11596912145614624, + -2.93519742985303, + -0.335816353559494, + -0.024720046669244766, + 0.0 + ], + [ + 0.22698190808296204, + -0.019182393327355385, + 0.1131068617105484, + -2.9547681530290326, + -0.34436196088790894, + -0.03986113518476486, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.17945623397827148, + 0.5100907981395721, + 0.7789131253957748, + 0.9156777262687683, + 0.9429835081100464, + 0.9435319826006889, + 0.9435319826006889, + 0.9435319826006889, + 0.9435319826006889, + 0.9435319826006889, + 0.9435319826006889, + 0.847867950797081, + 0.6279491484165192 + ], + "episode_id": "2281", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2281/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2288.json b/annotation/test/2288.json new file mode 100644 index 0000000000000000000000000000000000000000..8b88a2434c3556888c7378d6d06b7b41a98034e0 --- /dev/null +++ b/annotation/test/2288.json @@ -0,0 +1,375 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "flip pot upright in sink distractors" + ], + "videos": [ + { + "video_path": "videos/test/2288/rgb.mp4" + } + ], + "action": [ + [ + -0.0022067497292640923, + -0.0003254087155926502, + 0.007500244829694442, + 0.013686044360315145, + -0.01409471446757492, + 0.0033267061347401726, + 1.0 + ], + [ + -0.007715822278003782, + -0.0019065712613374683, + 0.014097675923428341, + 0.0789387471391505, + -0.024359818202964737, + 0.029347518952352852, + 1.0 + ], + [ + 0.0035105105139336184, + 0.002311934366860662, + 0.0014299331104196606, + 0.0846012837999384, + 0.027351993996113808, + 0.03432559744796216, + 1.0 + ], + [ + -0.0006580552877133689, + 0.002666091216218444, + 0.006351692736133471, + 0.0999370161715655, + 0.013149794624134892, + 0.050847147560482676, + 1.0 + ], + [ + -0.0012658526757455104, + -0.002375649971980073, + 0.005374801247352393, + 0.062144491795849896, + -0.0073022143332152276, + 0.037266348198481264, + 1.0 + ], + [ + 0.0011576251435740132, + -0.003499816509509744, + 0.0038478052994018255, + 0.017005424164891318, + -0.005030641852711774, + 0.03520735744956515, + 1.0 + ], + [ + -0.0036385733414509283, + -0.004578390419024323, + 0.011044649052253528, + 0.02093867616304923, + -0.008404331621646981, + 0.031105572929387103, + 1.0 + ], + [ + 0.0010381965783034719, + -0.005734537142974649, + 0.006550594230267138, + 0.013808893616229903, + 0.0009342573454009836, + 0.00025181570891811205, + 1.0 + ], + [ + 0.0017146882172632575, + -0.005151606406585637, + 0.0010475238428490474, + -0.009398977773826383, + 0.01095026574333571, + -0.009657651405485967, + 0.0 + ], + [ + 0.0021532294166447872, + -0.011229659953698288, + 0.0002773321116443024, + -0.04046077898254941, + 0.014871996883863968, + -0.020199548609642078, + 0.0 + ], + [ + 0.002109864684988283, + -0.009624816573780032, + 0.002707666416897855, + -0.0497959303123854, + -0.015944134669340512, + -0.026230620952022318, + 0.0 + ], + [ + -0.0031874597734112063, + 0.002159529134605532, + 0.007066454231471368, + -0.0701421420315079, + -0.012679085275910289, + 0.00622605807285586, + 0.0 + ], + [ + -0.002277755738946233, + 0.0020909880557207494, + 0.009858495829592733, + -0.08030846155155474, + -0.014921644164178497, + -0.013903791758880051, + 0.0 + ], + [ + -0.0018801987707361568, + -0.000643277047125586, + 0.003171692886121957, + -0.061985474806606544, + 0.020295823374448685, + -0.0018773495458996303, + 0.0 + ], + [ + -0.003647901919793939, + -0.0025709433654111206, + 0.0050394288045717325, + -0.04115322359682133, + 0.049534368675504786, + 0.015680893831601806, + 0.0 + ], + [ + 0.0016121990566622508, + -0.00016015337318540213, + 0.0005919037958919804, + -0.021364685307206924, + 0.031484788105605344, + -0.004521347852364204, + 0.0 + ], + [ + -0.00010887638998951347, + 0.0001345087769007242, + -9.275308716102166e-08, + -0.0008464140475090788, + -0.0006889019863017558, + -0.002611690741626492, + 1.0 + ], + [ + -7.933862820238066e-05, + -0.00028787597726615357, + -2.8083616723035165e-07, + 0.001814847381516751, + -0.0005022634460037259, + 0.0010766973618651988, + 1.0 + ] + ], + "state": [ + [ + 0.38400885462760925, + -0.10913970321416855, + 0.053277984261512756, + -3.0437830557399472, + -0.14718860387802127, + 0.4232444167137146, + 1.0 + ], + [ + 0.38257861137390137, + -0.10862547904253006, + 0.04560209438204765, + -3.029801244037696, + -0.13283611834049222, + 0.4212931096553802, + 1.0 + ], + [ + 0.3758490979671478, + -0.10784151405096054, + 0.030904732644557953, + -2.9473465104871472, + -0.10530820488929747, + 0.394708514213562, + 1.0 + ], + [ + 0.38001734018325806, + -0.10826355218887329, + 0.029434673488140106, + -2.858694555359431, + -0.12544147670269012, + 0.35545018315315247, + 1.0 + ], + [ + 0.38048186898231506, + -0.10893069952726364, + 0.02256268635392189, + -2.752517433958598, + -0.12370841205120088, + 0.30255016684532166, + 1.0 + ], + [ + 0.37849995493888855, + -0.1051107868552208, + 0.018365679308772087, + -2.6866347213559827, + -0.10275543481111525, + 0.27067443728446955, + 1.0 + ], + [ + 0.37850648164749146, + -0.10009166598320007, + 0.016576042398810387, + -2.666807236271449, + -0.08272308856248857, + 0.2411607056856155, + 1.0 + ], + [ + 0.373427152633667, + -0.09194808453321457, + 0.008571815676987171, + -2.644024135666438, + -0.061006207019090646, + 0.21729645133018494, + 1.0 + ], + [ + 0.37285834550857544, + -0.08371128141880035, + 0.005621462129056454, + -2.630174370604106, + -0.06170697882771492, + 0.2166279852390289, + 1.0 + ], + [ + 0.3733571469783783, + -0.07847658544778824, + 0.007331919856369495, + -2.6397317369752606, + -0.07598241418600082, + 0.21969906985759735, + 0.0 + ], + [ + 0.3728957176208496, + -0.06835553795099258, + 0.012639466673135757, + -2.680967481928416, + -0.09873317927122116, + 0.23030243813991547, + 0.0 + ], + [ + 0.37251922488212585, + -0.058352116495370865, + 0.014691269025206566, + -2.7339605410867414, + -0.09606202691793442, + 0.26102694869041443, + 0.0 + ], + [ + 0.36992311477661133, + -0.05819806456565857, + 0.007075842469930649, + -2.804001750546046, + -0.08195363730192183, + 0.2603355348110199, + 0.0 + ], + [ + 0.36818745732307434, + -0.05732302740216255, + -0.003071676706895232, + -2.8858107050233563, + -0.07246571779251099, + 0.27844324707984924, + 0.0 + ], + [ + 0.36619508266448975, + -0.05641071870923042, + -0.006105935201048851, + -2.947502391534396, + -0.09257571399211884, + 0.2751103341579437, + 0.0 + ], + [ + 0.36214587092399597, + -0.05392248556017876, + -0.010873047634959221, + -2.986147465305873, + -0.13812629878520966, + 0.2499511390924454, + 0.0 + ], + [ + 0.36370599269866943, + -0.05326632782816887, + -0.011205706745386124, + -3.0073772837691983, + -0.1699313223361969, + 0.24953609704971316, + 0.0 + ], + [ + 0.36363786458969116, + -0.0534212626516819, + -0.01124176848679781, + -3.008684041100093, + -0.16959747672080994, + 0.25225549936294556, + 1.0 + ], + [ + 0.363484650850296, + -0.05316612869501114, + -0.011217284016311169, + -3.0066979100280484, + -0.16895687580108643, + 0.25124040246009827, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.17109763622283936, + 0.42803627252578735, + 0.5949552357196808, + 0.7131037712097168, + 0.8638128638267517, + 0.9399113729596138, + 0.9440774396061897, + 0.8571837097406387, + 0.6380844116210938, + 0.3288310766220093, + 0.026911914348602295 + ], + "episode_id": "2288", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2288/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2291.json b/annotation/test/2291.json new file mode 100644 index 0000000000000000000000000000000000000000..480564ea33ca5a0424c1ccf3cb17a835c0ad0367 --- /dev/null +++ b/annotation/test/2291.json @@ -0,0 +1,926 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the pepper and place on towel" + ], + "videos": [ + { + "video_path": "videos/test/2291/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -1.8052040000388682e-19, + 2.0368349294564818e-17, + 2.1793174650964448e-18, + 1.0 + ], + [ + -0.0030766978319509875, + -0.0018922536769149882, + 0.006598785362473603, + 0.00956631867793862, + -0.02334213238632808, + 0.0024733841385970834, + 1.0 + ], + [ + 0.031346977811950505, + -0.03572433597169683, + 0.0033630362231750525, + 0.03424164399870152, + 0.02199847002457784, + -0.052078912115464636, + 1.0 + ], + [ + 0.023829223409986187, + -0.037650152883833304, + 0.003938845701015804, + 0.03264467506797594, + 0.006687840596217134, + -0.0870935303222833, + 1.0 + ], + [ + 0.014780238634884405, + -0.030375651284669576, + 0.010255632561598942, + 0.03485060884216165, + -0.007697250136275268, + -0.08164213944502831, + 1.0 + ], + [ + 0.00828960640385232, + -0.024154877011601957, + 0.014909560246692887, + 0.017174812433050968, + -0.030791267954772508, + -0.09425697159037535, + 1.0 + ], + [ + 0.006661240841078645, + -0.02443076747123728, + 0.011834636798396832, + 0.047970791372800935, + 4.723288806881489e-05, + -0.07145428119556575, + 1.0 + ], + [ + 0.005329989694513725, + -0.012243512998112317, + 0.011012355695574188, + -0.006856741200781782, + -0.004467192508930104, + -0.08688408276897747, + 1.0 + ], + [ + 0.005471703909976592, + -0.0061288901480186335, + 0.009917643768011953, + 0.017243823131325636, + 0.021244826314309614, + -0.028880046882265774, + 1.0 + ], + [ + 0.004299494199011379, + -0.002010197668998957, + 0.011581859835865549, + 0.02311019624875938, + -0.002626878933170767, + -0.008722927263145667, + 1.0 + ], + [ + 0.0016458357448840496, + -0.004577579287576312, + 0.013850505156541706, + 0.03580855125369419, + -0.014616280737718276, + -0.0026514805222429753, + 1.0 + ], + [ + -0.0018330589898103136, + -0.00509905427063946, + 0.01218833956355498, + 0.0262338056413657, + -0.019313010632226537, + -0.006608024856831047, + 1.0 + ], + [ + -0.0016761187010016366, + -0.002336372839536285, + 0.009565138533656316, + 0.020063666535377448, + -0.013296258567592534, + 0.005887949161507348, + 1.0 + ], + [ + 0.0005574911527883871, + -0.000981273801653814, + 0.002585523330091661, + 0.007277774064097202, + 0.004135039018967496, + 0.007965637383835003, + 1.0 + ], + [ + -0.002475354307485224, + -0.0005599622364468887, + 0.0027173190447578495, + 0.0024682377487990647, + -0.0017963982289730086, + -0.0015227071026372183, + 1.0 + ], + [ + -0.0028231735006046354, + -0.0020146959748073546, + 0.004199678551454008, + 0.00626161250128673, + 0.0021976370658963844, + -0.008926136324421822, + 0.0 + ], + [ + 0.00037759266276355053, + -0.0008951298417518152, + 0.0007100714054992141, + 0.0036477792857302796, + 0.007713054575755024, + -0.002259135324177686, + 0.0 + ], + [ + -9.048244325022174e-05, + 5.1084359994263844e-05, + 0.00023570936670603936, + -0.0009846839691012516, + 0.0012165677563095465, + -0.0013829393432590962, + 0.0 + ], + [ + -0.0018812762680538604, + 0.0006034603338796241, + -0.00047603010330221304, + -0.006812626833039961, + -0.013462056948743402, + -0.004535772226242331, + 0.0 + ], + [ + 0.007452783428124636, + 0.0032797699726657705, + -0.01939482623023026, + -0.007210699875784708, + 0.0002250023744134222, + -0.04311928573065859, + 0.0 + ], + [ + 0.012594142323880658, + 0.01312893775291343, + -0.031062866081348166, + -0.03362635432706049, + 0.024581863717779904, + -0.03462335469100007, + 0.0 + ], + [ + 0.004857178335602684, + 0.018550996853643708, + -0.03662159671134896, + -0.04447029132711296, + 0.04366787529228791, + -0.0008925295032530672, + 0.0 + ], + [ + -0.011782950037054611, + 0.01670648219253423, + -0.022474545110669618, + -0.05380575121487268, + -0.007265736819795871, + 0.030414741892543676, + 0.0 + ], + [ + -0.032402886673791924, + 0.022217353171765562, + -0.01327570755479366, + -0.0429554622983659, + -0.03261393395037187, + 0.11028735095468745, + 0.0 + ], + [ + -0.02529653979012269, + 0.020993891413783168, + -0.011665441695909594, + -0.027346929723483914, + -0.001129931910528132, + 0.0864009884792963, + 0.0 + ], + [ + -0.02760978938580894, + 0.024846214436385333, + -0.005318556898476658, + -0.031947952754821846, + -0.005192130104980658, + 0.10778652808723689, + 0.0 + ], + [ + -0.02797229254356442, + 0.019853948421016013, + 0.006148830402084847, + -0.0202209528134752, + -0.037794691934963036, + 0.09112803765120343, + 0.0 + ], + [ + -0.020587217675120385, + 0.01056812801177986, + 0.009295187475969077, + -0.011995991010852759, + -0.028075150663665577, + 0.061378030458296685, + 0.0 + ], + [ + -0.0185370429754302, + 0.008442339953720056, + 0.011428060269761078, + -0.005468446001212277, + -0.015250983062234288, + 0.052392404878933166, + 0.0 + ], + [ + -0.01660026462236626, + 0.006766590003891596, + 0.01589502466119018, + 0.006702638386103744, + -0.038625587958806044, + 0.05333803466946324, + 0.0 + ], + [ + -0.012879097907032238, + 0.00782058529119576, + 0.016438053377712793, + 0.0044535229997773795, + -0.02376339815153347, + 0.044565060303865506, + 0.0 + ], + [ + -0.005899073799082165, + 0.0013310244399898062, + 0.021254559955121113, + 0.0018454458261914922, + -0.014746121520165965, + -0.0014813594415717356, + 0.0 + ], + [ + -0.0016797683648733376, + 0.006816930925250909, + 0.016429423065897345, + 0.01573767160509793, + 0.01563126487472409, + 0.030098326982960326, + 0.0 + ], + [ + 0.0035858800232933786, + 0.00308758248377179, + 0.006199697942849013, + 0.008000260275863261, + 0.023602874447725585, + 0.005087048766981985, + 0.0 + ], + [ + 0.001934809086373141, + 0.0004847827243450082, + 0.0035260342529064687, + 0.017293419011382212, + 0.008912927825345451, + -0.027693781451179157, + 0.0 + ], + [ + -0.0061813322598059115, + -0.005358169999594828, + 0.00918348910295106, + 0.043283427815979464, + -0.0212798418299757, + -0.015677599900633755, + 1.0 + ], + [ + -0.0007303797174626919, + -0.0011785893125576686, + -0.0003832829926353212, + 0.004964434343428102, + -0.0063426429694508155, + -0.001138743038068636, + 1.0 + ], + [ + 0.0032224924666830823, + -0.005223383196508172, + -0.008317393261887468, + -0.004311495218947138, + -0.008712295493979066, + -0.03554481641354108, + 1.0 + ], + [ + 0.008160957120396616, + -0.00871253925926788, + -0.011094878573758097, + -0.01508417299518838, + 0.005877189598290796, + -0.04709255324797274, + 1.0 + ], + [ + 0.020259334902764728, + -0.007119895372123468, + -0.03050433703108495, + -0.04557827374987076, + 0.03876940663396113, + -0.07936090775045723, + 1.0 + ], + [ + 0.02119169353320885, + -0.005508880263971686, + -0.031042749482112098, + -0.034157521568046294, + 0.042742063363709774, + -0.05766715301035621, + 1.0 + ], + [ + 0.012646393641843109, + -0.00705784125449632, + -0.02538719496782183, + -0.03286166325430821, + 0.028263840014572588, + -0.04261187773658907, + 1.0 + ], + [ + 0.011531133040453544, + -0.010374250779302574, + -0.025744530241439887, + -0.02369086941769974, + 0.05939896940553194, + -0.031888215979855104, + 1.0 + ], + [ + -0.0001043948738071004, + -0.0002504488588089296, + -0.0009109108687748482, + -0.0012342870551903546, + -0.0010389634064166397, + -0.00036040570127104124, + 1.0 + ], + [ + 0.00011494179835303044, + 6.889659429453473e-05, + -0.0004608583493966015, + -0.0009128489927907432, + 0.001232053522566969, + -4.401626355591611e-05, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -3.351578670461346e-17, + 4.4906665611084964e-17, + -6.1924381200638766e-18, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -3.351578670461346e-17, + 4.4906665611084964e-17, + -6.1924381200638766e-18, + 1.0 + ] + ], + "state": [ + [ + 0.29940176010131836, + -0.04519951716065407, + 0.14017513394355774, + 2.9939329793029508, + -0.40099281072616577, + 0.35585463047027593, + 1.0 + ], + [ + 0.29940176010131836, + -0.04519951716065407, + 0.14017513394355774, + 2.9939329793029508, + -0.40099281072616577, + 0.35585463047027593, + 1.0 + ], + [ + 0.29892268776893616, + -0.04441654309630394, + 0.13270866870880127, + 3.0059315880113324, + -0.37826135754585266, + 0.34952765703201294, + 1.0 + ], + [ + 0.31715908646583557, + -0.0005795190227217972, + 0.13669869303703308, + 3.018540570633956, + -0.3924229145050048, + 0.4085884392261505, + 1.0 + ], + [ + 0.325704425573349, + 0.04331059381365776, + 0.1379297822713852, + 3.015659602480479, + -0.38681238889694214, + 0.5028247833251953, + 1.0 + ], + [ + 0.32842114567756653, + 0.07772663235664368, + 0.13054944574832916, + 3.018586540716239, + -0.3676384687423706, + 0.5885903239250183, + 1.0 + ], + [ + 0.32787075638771057, + 0.10398227721452713, + 0.11695500463247299, + 3.002199100452014, + -0.324003666639328, + 0.6832333207130433, + 1.0 + ], + [ + 0.3222641944885254, + 0.12849439680576324, + 0.10474780946969986, + 3.0268551429086408, + -0.313292920589447, + 0.7576273679733276, + 1.0 + ], + [ + 0.32121896743774414, + 0.14251285791397095, + 0.09464956074953079, + 2.9927898069196424, + -0.2977340817451477, + 0.847383439540863, + 1.0 + ], + [ + 0.32332155108451843, + 0.1518290489912033, + 0.08600952476263046, + 3.0002952982955655, + -0.3143082559108734, + 0.880722463130951, + 1.0 + ], + [ + 0.32795995473861694, + 0.15801234543323517, + 0.07616482675075531, + 3.0207260494404515, + -0.31046804785728455, + 0.8894035220146178, + 1.0 + ], + [ + 0.32946670055389404, + 0.16443341970443726, + 0.06304998695850372, + 3.0562439282708844, + -0.2956385910511017, + 0.8903125524520874, + 1.0 + ], + [ + 0.32752788066864014, + 0.16846176981925964, + 0.050482988357543945, + 3.080967782186814, + -0.27582889795303345, + 0.8954429626464843, + 1.0 + ], + [ + 0.32680147886276245, + 0.17035821080207825, + 0.04070363566279411, + 3.102912200736352, + -0.26290750503540034, + 0.888522982597351, + 1.0 + ], + [ + 0.3268871009349823, + 0.17186006903648376, + 0.03831706568598747, + 3.1122925394498786, + -0.267339289188385, + 0.8804360032081603, + 1.0 + ], + [ + 0.32545626163482666, + 0.17088162899017334, + 0.03502767160534859, + 3.1143584941797933, + -0.2654987573623657, + 0.8819587826728821, + 1.0 + ], + [ + 0.3229674994945526, + 0.17084749042987823, + 0.030182931572198868, + 3.1181773246550044, + -0.2674415409564972, + 0.8912725448608398, + 0.0 + ], + [ + 0.3226345479488373, + 0.17183291912078857, + 0.029577862471342087, + 3.121154723810502, + -0.2750987708568573, + 0.8938068747520447, + 0.0 + ], + [ + 0.32266348600387573, + 0.17177970707416534, + 0.02932748943567276, + 3.119772633659192, + -0.2762865424156189, + 0.8952698707580565, + 0.0 + ], + [ + 0.3219110071659088, + 0.16989240050315857, + 0.02928484044969082, + 3.111760251345583, + -0.2627261877059936, + 0.899661123752594, + 0.0 + ], + [ + 0.32535406947135925, + 0.16988679766654968, + 0.05003587529063225, + 3.09299140621955, + -0.26141557097435, + 0.944284975528717, + 0.0 + ], + [ + 0.3370896577835083, + 0.16630925238132477, + 0.08387904614210129, + 3.0497509260945996, + -0.28411445021629333, + 0.9815462827682495, + 0.0 + ], + [ + 0.3463002145290375, + 0.15289126336574554, + 0.12187899649143219, + 3.0037443806701383, + -0.3275127708911895, + 0.9867124557495117, + 0.0 + ], + [ + 0.3470202088356018, + 0.12957194447517395, + 0.1413402557373047, + 2.9605637212568006, + -0.3243302404880524, + 0.9538757205009459, + 0.0 + ], + [ + 0.34198281168937683, + 0.08882540464401245, + 0.14718374609947205, + 2.956890570121356, + -0.30987483263015747, + 0.8338037133216858, + 0.0 + ], + [ + 0.33634641766548157, + 0.055096302181482315, + 0.1540626734495163, + 2.957574801641055, + -0.32344755530357366, + 0.7439993023872375, + 0.0 + ], + [ + 0.3306830823421478, + 0.018007144331932068, + 0.1545555144548416, + 2.962625490623065, + -0.3361048698425293, + 0.6307222247123718, + 0.0 + ], + [ + 0.32219380140304565, + -0.013738431967794895, + 0.14295434951782227, + 2.976486327248164, + -0.31349995732307434, + 0.5294085144996643, + 0.0 + ], + [ + 0.31330516934394836, + -0.032787200063467026, + 0.12953585386276245, + 2.985765429335185, + -0.2952031195163727, + 0.46131753921508784, + 0.0 + ], + [ + 0.30452561378479004, + -0.04844571650028229, + 0.11459510773420334, + 2.9969230612092694, + -0.2878196537494659, + 0.4048722088336945, + 0.0 + ], + [ + 0.2972846031188965, + -0.0613267756998539, + 0.09573633223772049, + 3.0208791961246213, + -0.25678327679634094, + 0.34457632899284363, + 0.0 + ], + [ + 0.29252690076828003, + -0.07338592410087585, + 0.07759291678667068, + 3.037738623219081, + -0.2382674664258957, + 0.2961137890815735, + 0.0 + ], + [ + 0.2928144037723541, + -0.07698597013950348, + 0.055791907012462616, + 3.0395861511402806, + -0.22344723343849182, + 0.29605695605278015, + 0.0 + ], + [ + 0.2970312833786011, + -0.0845387801527977, + 0.040158893913030624, + 3.0618224536352834, + -0.24197004735469818, + 0.26686033606529236, + 0.0 + ], + [ + 0.3027029037475586, + -0.08669112622737885, + 0.03525704890489578, + 3.0705929939919194, + -0.26590195298194885, + 0.2635553777217865, + 0.0 + ], + [ + 0.3055799901485443, + -0.08667473495006561, + 0.03240511566400528, + 3.08020285342867, + -0.2727191746234894, + 0.2928954362869263, + 0.0 + ], + [ + 0.30094772577285767, + -0.083074189722538, + 0.021596159785985947, + 3.1194912047409495, + -0.2504890263080597, + 0.3076963126659393, + 1.0 + ], + [ + 0.2998295724391937, + -0.08218427002429962, + 0.021761111915111542, + 3.124200189607688, + -0.244122639298439, + 0.3087250888347625, + 1.0 + ], + [ + 0.2992837727069855, + -0.07672474533319473, + 0.030521415174007416, + 3.111106203990527, + -0.23463802039623263, + 0.3451089560985566, + 1.0 + ], + [ + 0.3013244867324829, + -0.06637760996818542, + 0.04294631630182266, + 3.0847535264962396, + -0.2388104945421219, + 0.39373931288719183, + 1.0 + ], + [ + 0.30954626202583313, + -0.05338812619447708, + 0.07693637162446976, + 3.01934369106824, + -0.2722006142139435, + 0.47823929786682134, + 1.0 + ], + [ + 0.31621527671813965, + -0.03950846195220947, + 0.11166340857744217, + 2.9677124490314206, + -0.30704689025878906, + 0.5437092781066895, + 1.0 + ], + [ + 0.31451186537742615, + -0.027283187955617905, + 0.1381567120552063, + 2.9200231303744992, + -0.32716509699821467, + 0.5931815505027771, + 1.0 + ], + [ + 0.3086611330509186, + -0.012198503129184246, + 0.16348642110824585, + 2.880888821678706, + -0.37776896357536316, + 0.6406387686729431, + 1.0 + ], + [ + 0.30805718898773193, + -0.012054061517119408, + 0.16420598328113556, + 2.8796224911981305, + -0.3766722083091736, + 0.6407252550125121, + 1.0 + ], + [ + 0.30797478556632996, + -0.012049633078277111, + 0.16467878222465515, + 2.8785663564973554, + -0.3778508007526397, + 0.6411142945289613, + 1.0 + ], + [ + 0.30797478556632996, + -0.012049633078277111, + 0.16467878222465515, + 2.8785663564973554, + -0.3778508007526397, + 0.6411142945289613, + 1.0 + ], + [ + 0.30797478556632996, + -0.012049633078277111, + 0.16467878222465515, + 2.8785663564973554, + -0.3778508007526397, + 0.6411142945289613, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.05310845375061035, + 0.2978169918060303, + 0.30280572175979614, + 0.30280572175979614, + 0.30280572175979614, + 0.30280572175979614, + 0.30280572175979614, + 0.30280572175979614, + 0.30280572175979614, + 0.30280572175979614, + 0.30280572175979614, + 0.30280572175979614, + 0.30280572175979614, + 0.30280572175979614, + 0.30280572175979614, + 0.30280572175979614, + 0.30280572175979614, + 0.3038042187690735, + 0.30280572175979614, + 0.30280572175979614, + 0.20585864782333374, + 0.0018453598022460938, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "2291", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2291/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/23.json b/annotation/test/23.json new file mode 100644 index 0000000000000000000000000000000000000000..d61e7abf594b952911fe35f7a3e0d13f3f8f2095 --- /dev/null +++ b/annotation/test/23.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put lid on stove" + ], + "videos": [ + { + "video_path": "videos/test/23/rgb.mp4" + } + ], + "action": [ + [ + -0.0022265889085298, + -9.353681828833907e-05, + 0.0031100743328939247, + -0.0010486887019364804, + -0.009224304025786957, + -0.0024656935663201437, + 1.0 + ], + [ + -0.010240010435370088, + 0.006438282238070163, + 0.01460724311602749, + -0.03591277937341978, + -0.056335971939522535, + 0.02694561263773688, + 1.0 + ], + [ + 0.01153332157046866, + 0.0021989271276772245, + -0.00603965624511774, + -0.021366123741529915, + 0.03376118509158687, + 0.05476943643975853, + 1.0 + ], + [ + 0.009050102195020846, + 0.000626082663345817, + 0.0014838062755353446, + -0.013235851847969465, + 0.019009430848224398, + 0.05309710635208152, + 1.0 + ], + [ + 0.0053435075557158995, + -0.00023083506379533046, + 0.0055399218479651995, + -0.010550243649449691, + -0.0009203376069020149, + 0.023762549497528193, + 1.0 + ], + [ + 0.0034762355371024166, + -4.327900462969005e-05, + 0.007170326366494817, + -0.012762373908271377, + 0.0002301369184810648, + 0.004999594697355844, + 1.0 + ], + [ + 0.000836564044114352, + 0.0018347367371500884, + 0.00535121876856098, + -0.013548807461306807, + 0.004041218120530645, + 0.0005971792095168602, + 1.0 + ], + [ + -0.0007781558866965644, + -0.0012373637904674547, + 0.0059106537097124694, + -0.014508798085624625, + 0.007277181418450321, + -0.010821882337805146, + 1.0 + ], + [ + -0.004057371642176241, + 6.481878556986768e-05, + 0.009275051280400496, + -0.01650355016633568, + -0.011728168443396548, + -0.00659026677731535, + 1.0 + ], + [ + 0.0047170597900677924, + -0.000995952335038547, + 0.0006164599069484606, + 0.002725576974852664, + 0.020762552294290065, + 0.0011814124097907495, + 1.0 + ], + [ + -0.002539861991163894, + -0.0004142675659341944, + 0.00420625813258042, + 0.0023065723738443958, + -0.009462055649225072, + -0.005904645062942368, + 1.0 + ], + [ + -0.0007853864057518815, + 0.0002579265699907087, + 5.114522552205515e-05, + 0.00207950463565757, + -0.0061925938833471165, + -0.011161880999505824, + 0.0 + ], + [ + -0.0007332322882932905, + -0.0011629901766040233, + -0.00025515905266573855, + 0.006917355694979395, + -0.006366680121436461, + -0.006325224809549554, + 0.0 + ], + [ + -0.0026759821155868846, + -0.004911673929999894, + -0.00260648828159886, + 0.037104829707584254, + -0.03857758196001053, + 0.01078578389893167, + 0.0 + ], + [ + 0.00456405316498759, + -0.008448242248772494, + -0.00823076733905476, + 0.048182711325717144, + -0.02655955963170843, + 0.040559444418270175, + 0.0 + ], + [ + 0.020174532087740227, + -0.013737563637413117, + -0.016929422637453298, + 0.04159518131961812, + 0.044387195646600985, + 0.04060830176462635, + 0.0 + ], + [ + 0.010994222447279994, + -0.014664789684905557, + -0.0007437543259263645, + 0.015403160930458083, + 0.01552194492568425, + 0.01939841092760432, + 0.0 + ], + [ + 0.0073278860195967015, + -0.00969960326474548, + 0.007954690701086462, + 0.013666637591541693, + 0.018151746588535852, + 0.02680849900113206, + 0.0 + ], + [ + -0.0004967853853226834, + -0.016857268720129333, + 0.007234987291126022, + 0.02869005255898267, + 0.02624768476784212, + 0.02187840818698246, + 0.0 + ], + [ + -0.0004775401436817332, + -0.017402014868032716, + 0.0013368735068226508, + 0.04779776514678592, + 0.03268874318520515, + 0.0136637169561972, + 0.0 + ], + [ + 0.0021623469817019713, + -0.0071236488140677115, + 0.009389008629284289, + 0.04477223393818179, + 0.05109424013303566, + 0.026898153439969406, + 0.0 + ], + [ + -0.0014694858648757968, + -0.002109096124950235, + 0.00826712127981467, + -0.003892328213371351, + 0.03457473496518654, + 0.02293200585729037, + 0.0 + ], + [ + -0.007223352594654941, + -0.0018532060683921427, + 0.006846680656771062, + -0.014336244148239249, + -0.003328458362297933, + 0.0033563797649401586, + 1.0 + ] + ], + "state": [ + [ + 0.3835287392139435, + 0.18311771750450134, + 0.06811540573835373, + -3.012881638603755, + -0.3979072570800781, + 0.2301160842180252, + 1.0 + ], + [ + 0.382577121257782, + 0.18340006470680237, + 0.06442031264305115, + -3.015445592003413, + -0.389072984457016, + 0.23403841257095337, + 1.0 + ], + [ + 0.3800617456436157, + 0.17812353372573853, + 0.04637836292386055, + -3.043308528261729, + -0.3297180235385895, + 0.21331910789012906, + 1.0 + ], + [ + 0.3894815444946289, + 0.1773185431957245, + 0.05559517443180084, + -3.0448117797547063, + -0.3573678135871887, + 0.1516256630420685, + 1.0 + ], + [ + 0.39846667647361755, + 0.17820611596107483, + 0.05732075497508049, + -3.037661986547061, + -0.3705991804599762, + 0.09296052902936935, + 1.0 + ], + [ + 0.4053295850753784, + 0.17965374886989594, + 0.05414240062236786, + -3.039108010130473, + -0.36711132526397705, + 0.06774099171161653, + 1.0 + ], + [ + 0.41106680035591125, + 0.18082138895988464, + 0.04873678833246231, + -3.0499503557854375, + -0.3668239712715149, + 0.06238795071840286, + 1.0 + ], + [ + 0.4138971269130707, + 0.17965826392173767, + 0.043905843049287796, + -3.0631273110681256, + -0.3707934021949768, + 0.06135312840342522, + 1.0 + ], + [ + 0.4151652455329895, + 0.181436225771904, + 0.03822225704789162, + -3.081623314070054, + -0.37887609004974365, + 0.07235096395015717, + 1.0 + ], + [ + 0.4147869050502777, + 0.18190127611160278, + 0.02811613865196705, + -3.1010102574997624, + -0.3675534725189209, + 0.08015295118093489, + 1.0 + ], + [ + 0.41929924488067627, + 0.18328715860843658, + 0.02927403151988983, + -3.09749065537984, + -0.3882502019405365, + 0.07796783000230788, + 1.0 + ], + [ + 0.4184879660606384, + 0.18382491171360016, + 0.024440009146928787, + -3.0977567379646977, + -0.37904953956604004, + 0.08476620912551881, + 1.0 + ], + [ + 0.41780558228492737, + 0.18351057171821594, + 0.024091416969895363, + -3.1002186109595975, + -0.3733260929584503, + 0.09703356027603151, + 0.0 + ], + [ + 0.4169045090675354, + 0.1845797449350357, + 0.024106167256832123, + -3.095873775082179, + -0.367218017578125, + 0.10408683866262436, + 0.0 + ], + [ + 0.41291314363479614, + 0.1889762580394745, + 0.025785118341445923, + -3.0553194155269345, + -0.3281724452972412, + 0.09457549452781677, + 0.0 + ], + [ + 0.4136216640472412, + 0.19678567349910736, + 0.03570781648159027, + -2.9943183829360684, + -0.29797276854515076, + 0.05471384525299072, + 0.0 + ], + [ + 0.4267710745334625, + 0.20862707495689392, + 0.05956597998738289, + -2.9382293840223035, + -0.33558422327041626, + 0.005309542641043663, + 0.0 + ], + [ + 0.43586117029190063, + 0.22288791835308075, + 0.06667095422744751, + -2.915102170901843, + -0.3467831015586853, + -0.01822333037853241, + 0.0 + ], + [ + 0.4448504149913788, + 0.23396413028240204, + 0.06391989439725876, + -2.890544297295161, + -0.35828670859336853, + -0.05046846717596055, + 0.0 + ], + [ + 0.44628798961639404, + 0.2520407736301422, + 0.06110427901148796, + -2.8514089306169232, + -0.37813243269920344, + -0.08028200268745422, + 0.0 + ], + [ + 0.4458525776863098, + 0.26918789744377136, + 0.0643649473786354, + -2.7945092638307294, + -0.4054438173770904, + -0.10470046103000642, + 0.0 + ], + [ + 0.45137545466423035, + 0.2785545885562897, + 0.05933120846748352, + -2.7309593876176557, + -0.44394621253013616, + -0.15192465484142303, + 0.0 + ], + [ + 0.4537164568901062, + 0.2834910750389099, + 0.052615273743867874, + -2.7181130071454724, + -0.46620282530784607, + -0.19090360403060916, + 0.0 + ], + [ + 0.4506542682647705, + 0.288669228553772, + 0.044472917914390564, + -2.731597812967845, + -0.4617884159088134, + -0.19279366731643674, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.003858029842376709, + 0.1766626238822937, + 0.4840872883796692, + 0.688127875328064, + 0.6950566172599792, + 0.6950566172599792, + 0.6950566172599792, + 0.6950566172599792, + 0.6950566172599792, + 0.6950566172599792, + 0.6950566172599792, + 0.6950566172599792, + 0.4995471239089966, + 0.20872056484222412 + ], + "episode_id": "23", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/23/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2326.json b/annotation/test/2326.json new file mode 100644 index 0000000000000000000000000000000000000000..e761d8ba7dd919f692ef742f31a2c1fea20a5806 --- /dev/null +++ b/annotation/test/2326.json @@ -0,0 +1,394 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put corn in pan which is on stove distractors" + ], + "videos": [ + { + "video_path": "videos/test/2326/rgb.mp4" + } + ], + "action": [ + [ + -0.0008237303324991731, + -7.246721863530533e-05, + 0.001471998515106042, + 0.0021468048524608866, + -0.005673436402786506, + 0.0009174584817683904, + 1.0 + ], + [ + -0.00411216975164527, + 0.00016178853177607348, + 0.013523343071849216, + -0.008292563739633432, + -0.004313482539999907, + 0.010154155191255981, + 1.0 + ], + [ + 0.0023530389027624676, + -0.002470619812141831, + 0.011489319517751147, + -0.029107838401964504, + 0.011777047789108666, + -0.019955451497049505, + 1.0 + ], + [ + -0.002630943532694878, + -0.003017960231424989, + 0.015519761418531886, + -0.01144031189921201, + 0.01153860455260202, + -0.02163714034563175, + 1.0 + ], + [ + -0.001836985944097279, + 0.0006616150898672288, + 0.008933637304042848, + -0.012154149195225351, + 0.02916028692558387, + -0.013510086968141655, + 1.0 + ], + [ + -0.0012840762743430434, + 0.0006297709774400526, + 0.00687728574839519, + -0.007153553810598392, + 0.014341878585800398, + -0.004339974299793166, + 1.0 + ], + [ + -0.002120044367699261, + -0.00133654474996263, + 0.001080057695750207, + -0.001452030730219479, + -0.010372342291484489, + -0.011323338074933806, + 1.0 + ], + [ + -0.001687390834300303, + -0.005025354185088455, + -0.0017350534521350435, + 0.026130412258034665, + -0.032530328494345916, + 0.004765190113634032, + 0.0 + ], + [ + 0.0023383856834084285, + -0.005349942254982008, + -0.019915194191853707, + 0.07142000666599882, + -0.03469549883043286, + 0.014198169133701496, + 0.0 + ], + [ + 0.007537661547039887, + -0.00502138290011852, + -0.0344319336265146, + 0.0858602826787035, + 0.002100968575941449, + 0.019190073857919356, + 0.0 + ], + [ + 0.00836788279907042, + -0.006329131683311981, + -0.023241223392078098, + 0.0601874571221826, + 0.02036376645719696, + 0.013653380101834707, + 0.0 + ], + [ + 0.01728161324106374, + -0.0018363210116315925, + -0.00858978014469819, + 0.0019711884698012066, + 0.0649240351345546, + 0.0699738301959213, + 0.0 + ], + [ + 0.022858208134958112, + -0.00662036860746784, + 0.015635461219317335, + -0.03721020490229362, + 0.0466909622951749, + 0.07410134299696662, + 0.0 + ], + [ + 0.019119825464881786, + -0.003821494198216913, + 0.021544301846577362, + -0.07114601096944526, + -0.00014193037457365255, + 0.07329734287451921, + 0.0 + ], + [ + 0.011914395613103278, + -0.006702848888133109, + 0.015288412448678576, + -0.05361763323452762, + -0.008375720833315932, + 0.036050579187991615, + 0.0 + ], + [ + 0.0033777221328223925, + -0.0015911490783169606, + 0.006513797005524534, + -0.019319573294852066, + 0.008830080943089041, + 0.019400292224018085, + 0.0 + ], + [ + 0.0007420893696810261, + -0.0007127912741264614, + 0.0012338796606118044, + 0.0005637489413826453, + 0.011907498520991761, + 0.0146498746894567, + 0.0 + ], + [ + 0.0007332390796148763, + -0.00013434615027914048, + -0.0002783843118154492, + 0.0003505164837563497, + 0.003031320372376694, + -0.0001866448637339844, + 1.0 + ], + [ + -0.0004912822504343795, + 0.00012017313578357525, + 0.000276666658061644, + -0.00026171633620167577, + -0.0014998710130620205, + 0.00018723870544659754, + 1.0 + ] + ], + "state": [ + [ + 0.2641884982585907, + 0.02873564325273037, + 0.06819126754999161, + -3.033819096284457, + -0.14234215021133423, + 0.3801202178001404, + 1.0 + ], + [ + 0.26353758573532104, + 0.028723660856485367, + 0.06663347035646439, + -3.0316273291879376, + -0.1366029381752014, + 0.37981551885604853, + 1.0 + ], + [ + 0.2609657049179077, + 0.029121804982423782, + 0.052739448845386505, + -3.0386026745014867, + -0.1311948150396347, + 0.370112806558609, + 1.0 + ], + [ + 0.2631871998310089, + 0.03388673812150955, + 0.04196885973215103, + -3.0701853429251393, + -0.14493796229362488, + 0.38894766569137573, + 1.0 + ], + [ + 0.2612569034099579, + 0.0375455766916275, + 0.026484034955501556, + -3.0846721214526376, + -0.15795928239822385, + 0.40996652841567993, + 1.0 + ], + [ + 0.26094600558280945, + 0.037244390696287155, + 0.01734977215528488, + -3.0987000224464616, + -0.18782970309257505, + 0.42200186848640436, + 1.0 + ], + [ + 0.2611071467399597, + 0.03695029392838478, + 0.010333358310163021, + -3.106558734672614, + -0.20234316587448117, + 0.42579993605613703, + 1.0 + ], + [ + 0.25883743166923523, + 0.037429098039865494, + 0.00889578927308321, + -3.1104025357686957, + -0.19235983490943911, + 0.43769851326942444, + 1.0 + ], + [ + 0.2549038231372833, + 0.0410742461681366, + 0.010429250076413155, + -3.083530055480548, + -0.15969537198543549, + 0.43390417098999023, + 0.0 + ], + [ + 0.2523256242275238, + 0.04449232667684555, + 0.030736256390810013, + -3.010130690532275, + -0.12422262132167816, + 0.42165723443031305, + 0.0 + ], + [ + 0.25502654910087585, + 0.046213049441576004, + 0.06619514524936676, + -2.921885134773799, + -0.12376686185598375, + 0.4022085666656494, + 0.0 + ], + [ + 0.2594991624355316, + 0.04932380095124245, + 0.09110604226589203, + -2.859471948938914, + -0.14064590632915494, + 0.38427063822746277, + 0.0 + ], + [ + 0.2744589149951935, + 0.05469614267349243, + 0.10220353305339813, + -2.8458039184385022, + -0.18303200602531433, + 0.2976441979408264, + 0.0 + ], + [ + 0.2950199246406555, + 0.07239476591348648, + 0.09355493634939194, + -2.8680825253301343, + -0.2054615169763565, + 0.21137857437133792, + 0.0 + ], + [ + 0.31526002287864685, + 0.08645303547382355, + 0.07815909385681152, + -2.925295652943202, + -0.18502655625343326, + 0.13962200284004211, + 0.0 + ], + [ + 0.3279476761817932, + 0.09816046804189682, + 0.06708768755197525, + -2.9727931340509137, + -0.16900622844696042, + 0.10572853684425354, + 0.0 + ], + [ + 0.3320069909095764, + 0.10126905888319016, + 0.06158960238099098, + -2.988622801499911, + -0.17441555857658386, + 0.0848035216331482, + 0.0 + ], + [ + 0.33285167813301086, + 0.1022365614771843, + 0.0606243722140789, + -2.985192822413989, + -0.18392843008041385, + 0.06823164224624634, + 0.0 + ], + [ + 0.33351078629493713, + 0.10237115621566772, + 0.06104939803481102, + -2.984788017468997, + -0.18695181608200073, + 0.06793873757123947, + 1.0 + ], + [ + 0.3330884575843811, + 0.10226675122976303, + 0.060671135783195496, + -2.9850588758760175, + -0.18544110655784607, + 0.06798887997865677, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.18600207567214966, + 0.36498814821243286, + 0.36498814821243286, + 0.36498814821243286, + 0.36498814821243286, + 0.36498814821243286, + 0.36498814821243286, + 0.36498814821243286, + 0.36498814821243286, + 0.30480295419692993, + 0.10264396667480469, + 0.0, + 0.0 + ], + "episode_id": "2326", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2326/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2329.json b/annotation/test/2329.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e0668cbf23ec5ad20bca0e1caec652b257c28c --- /dev/null +++ b/annotation/test/2329.json @@ -0,0 +1,565 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "pick up sponge and wipe plate" + ], + "videos": [ + { + "video_path": "videos/test/2329/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -2.149181292374549e-18, + -1.033072861043599e-17, + 1.4910126683243355e-18, + 1.0 + ], + [ + -0.0023076986694904105, + 0.008428139427740027, + 0.005356694153318379, + -0.017843905782029726, + -0.03354365963063019, + 0.04641838286464637, + 1.0 + ], + [ + -0.002092057192038622, + 0.0390890520093433, + 0.003914963546250088, + -0.06954931172692522, + -0.029805542725726445, + 0.24368790064111692, + 1.0 + ], + [ + 0.0021875849359741764, + 0.022793206680773635, + 0.010211884021724198, + -0.06236370885796461, + 0.02904050747245578, + 0.12379034527824198, + 1.0 + ], + [ + 0.0072719075159555615, + 0.014626004865274319, + 0.006246667421231415, + -0.04120008583249486, + 0.04009809659935293, + 0.016603622215393396, + 1.0 + ], + [ + 0.0074335915347385345, + 0.006156701450072337, + 0.01790715254212655, + 0.02418930684989226, + -0.04610126101674041, + 0.01301074903840246, + 1.0 + ], + [ + 0.004784412869251172, + 0.0032410830810550044, + 0.015164637159472232, + 0.01071182112366892, + -0.018833910679097385, + 0.036386056570453136, + 1.0 + ], + [ + 0.003805408365365235, + -0.0014028999780815819, + 0.009238975772218728, + -0.006159748761807133, + -0.022904188091821407, + 0.05196591158821304, + 1.0 + ], + [ + 0.003151861490230698, + 0.0021980689181036192, + 0.004379101749409361, + 0.009257480685788869, + 0.018558995346711026, + 0.03579607457465704, + 1.0 + ], + [ + -0.0023732677431948595, + 0.0037692397794429518, + 0.015956530142605212, + 0.009807402320495056, + -0.015252576393330941, + 0.02028778819930716, + 1.0 + ], + [ + -0.006000865720052629, + 0.004306459199871283, + 0.0113859393132565, + 0.01474720011906255, + -0.007974397941337303, + 0.014901283908470817, + 1.0 + ], + [ + -0.0017902897785285474, + 0.0036834533035914924, + 0.004429974831516998, + -0.0013000711501242757, + -0.014586754048368759, + -0.011811561009094754, + 1.0 + ], + [ + 0.00010373820059762322, + -0.0016006579696468829, + 0.0054555418828530836, + 0.01205766059885712, + -0.011444734800409993, + -0.025099613933427224, + 1.0 + ], + [ + 0.0018237588936642034, + -0.0015613498495625007, + -0.0032682981353022345, + -0.008785015720694678, + -0.019043501880611966, + -0.017593394039559, + 0.0 + ], + [ + 0.007189797685644102, + -0.0034638067679385784, + -0.01637659775621436, + -0.044171648279073515, + -0.003009194196325042, + -0.01658807244331552, + 0.0 + ], + [ + 0.01692035535430984, + -0.010030304311148595, + -0.038311444337617184, + -0.09781947631248995, + 0.06809987450321914, + -0.00374586905178256, + 0.0 + ], + [ + 0.02024063474248308, + -0.01358553120707342, + -0.007479838885546096, + -0.004953182042406798, + 0.028902924763652086, + -0.027444136242132922, + 0.0 + ], + [ + 0.001583211722488982, + -0.0180290099406082, + 0.026550404177228634, + 0.038023136593457414, + -0.06178684049775492, + -0.0320981719303416, + 0.0 + ], + [ + 0.00549783427854017, + -0.01724810217592964, + 0.013772167149536607, + 0.044719687290457354, + -0.01864421883675543, + -0.03445403871393406, + 0.0 + ], + [ + 0.0029542506606688, + -0.01060810988861182, + 0.001708585298355416, + 0.009926922917147148, + -0.014338108685667266, + -0.023933032633093713, + 0.0 + ], + [ + 0.00999443422035112, + -0.015635048161530843, + -0.0037061036063754044, + -0.010501968787136527, + -0.008398784263958566, + -0.048220237087721045, + 0.0 + ], + [ + 0.012748425168115626, + -0.020661661469490552, + -0.01002479353113109, + 0.001823106785229179, + 0.012593762431985173, + -0.06679612583114422, + 0.0 + ], + [ + 0.006951097285678095, + -0.01606134267037639, + -0.008842759211624491, + 0.000989937087718617, + 0.010227801693092823, + -0.049370653776103744, + 0.0 + ], + [ + 0.004988681585277528, + -0.016046084297154203, + 0.0009514121569452963, + -0.001980502286535941, + -0.011842198373273466, + -0.034955133892442904, + 0.0 + ], + [ + 0.0005859428803613203, + -0.012522253593970694, + 0.0003917969908548412, + 0.0043007934803038494, + -0.008748554254429133, + -0.033802112386368675, + 0.0 + ], + [ + -0.0019525806303090673, + -0.012331387323063107, + 0.0012602413873939076, + 0.020854212228998366, + 0.011385989836212262, + -0.05056283761979184, + 0.0 + ], + [ + -0.004429449315780517, + -0.013973781223701756, + -0.006405695605216064, + -0.008064785945469409, + -0.005346433126703371, + -0.06856123570870767, + 0.0 + ], + [ + -0.0003968392555184184, + -0.021834564517665696, + -0.006849944113295953, + 0.03399384486524471, + 0.01595303658213656, + -0.07910771738573298, + 0.0 + ] + ], + "state": [ + [ + 0.22581464052200317, + 0.06192656606435776, + 0.17142707109451294, + 3.1204942894452294, + -0.14078082144260406, + 0.09932008385658264, + 1.0 + ], + [ + 0.22581464052200317, + 0.06192656606435776, + 0.17142707109451294, + 3.1204942894452294, + -0.14078082144260406, + 0.09932008385658264, + 1.0 + ], + [ + 0.22511069476604462, + 0.05327485501766205, + 0.16597679257392883, + 3.109309347467967, + -0.10806699842214586, + 0.05195333808660507, + 1.0 + ], + [ + 0.2253546118736267, + 0.014039532281458378, + 0.16311539709568024, + 3.0669084211164197, + -0.08284571766853334, + -0.19334441423416138, + 1.0 + ], + [ + 0.22366921603679657, + -0.009568138048052788, + 0.154842808842659, + 3.0151491930061063, + -0.12040758877992631, + -0.3154411315917969, + 1.0 + ], + [ + 0.22628359496593475, + -0.026512227952480316, + 0.15139544010162354, + 2.9752441217475614, + -0.16227127611637115, + -0.32699495553970337, + 1.0 + ], + [ + 0.23287418484687805, + -0.03829002380371094, + 0.1361744999885559, + 3.002620266871997, + -0.11892691254615784, + -0.34758988022804255, + 1.0 + ], + [ + 0.23715700209140778, + -0.045490000396966934, + 0.12227560579776764, + 3.0180209447913846, + -0.1052245944738388, + -0.386444240808487, + 1.0 + ], + [ + 0.24166658520698547, + -0.047051362693309784, + 0.11338551342487335, + 3.017744692164012, + -0.08874103426933289, + -0.44104188680648804, + 1.0 + ], + [ + 0.24367007613182068, + -0.05100736767053604, + 0.10960684716701508, + 3.0300123785906514, + -0.11152982711791992, + -0.47447147965431213, + 1.0 + ], + [ + 0.24057739973068237, + -0.055627308785915375, + 0.09400101751089096, + 3.0422781651192388, + -0.098604217171669, + -0.4964361190795898, + 1.0 + ], + [ + 0.23369157314300537, + -0.05805483087897301, + 0.08256038278341293, + 3.058578388886996, + -0.0921344757080078, + -0.51212078332901, + 1.0 + ], + [ + 0.2304883748292923, + -0.06088656559586525, + 0.07830380648374557, + 3.056299576657363, + -0.0766134262084961, + -0.5015296339988708, + 1.0 + ], + [ + 0.23149633407592773, + -0.06015041843056679, + 0.07275602221488953, + 3.0665333439880094, + -0.06305012106895447, + -0.47745031118392944, + 1.0 + ], + [ + 0.2337651550769806, + -0.05929531157016754, + 0.0760067030787468, + 3.0567281415038785, + -0.04273280128836631, + -0.461323082447052, + 0.0 + ], + [ + 0.2417387068271637, + -0.05785452574491501, + 0.09232328087091446, + 3.0118716975026807, + -0.0383227877318859, + -0.4450379312038422, + 0.0 + ], + [ + 0.26214599609375, + -0.051077701151371, + 0.12963667511940002, + 2.913276421027728, + -0.10536206513643265, + -0.43245965242385864, + 0.0 + ], + [ + 0.286274790763855, + -0.04577619582414627, + 0.13595278561115265, + 2.9048277606540402, + -0.12724582850933075, + -0.3989239633083344, + 0.0 + ], + [ + 0.29562315344810486, + -0.037455618381500244, + 0.10635799169540405, + 2.940301152067729, + -0.059638552367687225, + -0.3822391629219055, + 0.0 + ], + [ + 0.3069286644458771, + -0.026753928512334824, + 0.08977320790290833, + 2.983286576467105, + -0.0344562903046608, + -0.35219839215278625, + 0.0 + ], + [ + 0.31332927942276, + -0.01823272556066513, + 0.08651743084192276, + 2.9924971928172788, + -0.01651693321764469, + -0.33082503080368036, + 0.0 + ], + [ + 0.3279606103897095, + -0.006327659823000431, + 0.0880248174071312, + 2.9813851435952863, + -0.0010332190431654453, + -0.28439077734947205, + 0.0 + ], + [ + 0.3463619649410248, + 0.011210124008357525, + 0.094638392329216, + 2.9834981878572187, + -0.002816240070387721, + -0.2164427936077118, + 0.0 + ], + [ + 0.35683903098106384, + 0.026571745052933693, + 0.10086178034543991, + 2.9845401664548596, + -0.005143556278198958, + -0.16607803106307986, + 0.0 + ], + [ + 0.3643719255924225, + 0.04122788831591606, + 0.09743805229663849, + 2.9824650456481656, + 0.012021963484585285, + -0.13340654969215396, + 0.0 + ], + [ + 0.3665606677532196, + 0.05334640294313431, + 0.09506009519100189, + 2.987226443486758, + 0.02600913494825363, + -0.10140909999608995, + 0.0 + ], + [ + 0.3657514154911041, + 0.06548166275024414, + 0.09197068214416504, + 3.0096231271796903, + 0.022494414821267128, + -0.0496852770447731, + 0.0 + ], + [ + 0.36215972900390625, + 0.0803736001253128, + 0.0965804010629654, + 3.003369467454501, + 0.036758486181497574, + 0.01761830411851406, + 0.0 + ], + [ + 0.36150434613227844, + 0.10293567925691605, + 0.10036860406398773, + 3.040755109983035, + 0.03172602877020835, + 0.09820554405450821, + 0.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.10434430837631226, + 0.4071013331413269, + 0.6211150288581848, + 0.7547669112682343, + 0.8323958069086075, + 0.8756047412753105, + 0.8912533447146416, + 0.8825324028730392, + 0.8684274107217789, + 0.8656706213951111, + 0.8656706213951111, + 0.8656706213951111, + 0.8656706213951111, + 0.8656706213951111, + 0.8656706213951111, + 0.8656706213951111, + 0.8656706213951111 + ], + "episode_id": "2329", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2329/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/233.json b/annotation/test/233.json new file mode 100644 index 0000000000000000000000000000000000000000..c1a7609d8a5b10a5bfdf0ce0c90cbebc0ce9c487 --- /dev/null +++ b/annotation/test/233.json @@ -0,0 +1,603 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put pan in front of towel" + ], + "videos": [ + { + "video_path": "videos/test/233/rgb.mp4" + } + ], + "action": [ + [ + 0.00024082472267615917, + -3.4214650625713666e-05, + -1.831956032061387e-07, + 0.00021110919033162314, + 0.0015193885843477822, + -0.0030677992192475493, + 1.0 + ], + [ + -0.0021147530712942115, + 0.0008817446891286415, + 0.007310908108046505, + -0.0034439963005597945, + -0.02747588556071422, + -0.00077706766091412, + 1.0 + ], + [ + 0.020690493668391468, + 0.009717636833147587, + 0.010881981087969114, + -0.004112836155522725, + -0.006925596854538134, + 0.018524456836235298, + 1.0 + ], + [ + 0.03158484712516675, + 0.01121818954383582, + 0.009123554650673417, + -0.02579188172182112, + 0.006378544238168328, + 0.018102605762320527, + 1.0 + ], + [ + 0.02697610804289349, + 0.008166540774267596, + 0.0022417371864802815, + 0.02714874416126325, + -0.006686935000730482, + 0.038013559176162746, + 1.0 + ], + [ + 0.01978251477786833, + -0.0056670014279603335, + -0.0007026557982257136, + 0.026264745409152856, + -0.0038826953139595886, + 0.0077255393888525665, + 1.0 + ], + [ + 0.013866235254167915, + -0.009894358282610705, + 0.0007932258598737358, + 0.01491032034383842, + 0.001817110047565435, + -0.011727828853389357, + 1.0 + ], + [ + 0.004763942066818245, + -0.00479537228656029, + 0.012281051489916622, + 0.023241638415610534, + -0.02165151345144574, + -0.004622023828679267, + 1.0 + ], + [ + -0.002965389844803272, + -0.0087368346111138, + 0.023644025083387744, + 0.0019062844703904732, + -0.05477481502320223, + -0.02421932027083458, + 1.0 + ], + [ + -0.0007361664277258014, + -0.0019805870547190724, + 0.004560133911332761, + 0.001799221756938643, + -0.011053339472008018, + -0.00430247183771956, + 1.0 + ], + [ + 0.000941970931648916, + -0.0011589733617796217, + 0.003342370106982648, + -0.021312701131629908, + 0.02072833249140079, + -0.012231077036742581, + 1.0 + ], + [ + -0.0071741997027191156, + -0.005865510869632586, + -0.015436582010820387, + -0.007514927461544435, + 0.09216737057170582, + -0.027974833603034148, + 0.0 + ], + [ + -0.0022167240056822045, + -0.005416282372389679, + -0.020504097395073546, + -0.02293785240828884, + 0.1072888510890237, + 0.0011395798822969386, + 0.0 + ], + [ + -0.0025348865729306574, + -0.0029974370675984407, + -0.01255500250919072, + -0.025402716518556284, + 0.04299889098960542, + 0.018146437409449958, + 0.0 + ], + [ + -0.006855874127601048, + 0.002530138900271845, + -0.017366089914401438, + 0.0008158381166197014, + 0.021702979033964943, + 0.013584441736942163, + 0.0 + ], + [ + -0.014644759087353762, + -0.0013582147705591097, + -0.01906109048672486, + -0.009352036294607284, + -0.005746176655003802, + 0.00039294151173396234, + 0.0 + ], + [ + -0.02316146397228575, + -0.008162503407416706, + -0.014389723185049969, + -0.010535227137311509, + -0.009491447555552996, + -0.008369879121273066, + 0.0 + ], + [ + -0.028853590022176096, + -0.0003224962820578424, + 0.004046852119737176, + -0.005249988382353203, + -0.05100643139706468, + 0.03604194689012056, + 0.0 + ], + [ + -0.021816777105563432, + 0.0027113512193314903, + 0.014105557473425857, + -0.014439583082635769, + -0.05108476099486703, + 0.057314804988543605, + 0.0 + ], + [ + -0.015637549731680828, + 0.00643474890869045, + 0.018437772097603285, + -0.024066642666911265, + -0.024912911684392143, + 0.05323387384022361, + 0.0 + ], + [ + -0.0022545366212145556, + 0.009391483311884103, + 0.011697530164338063, + 0.015458172095585556, + -0.015230805288177803, + 0.04564673935432371, + 0.0 + ], + [ + 0.00043995657800810625, + 0.007521363107463609, + 0.004003664013184796, + 0.019540133110541872, + -0.017107830277145807, + 0.043494475913416465, + 0.0 + ], + [ + -0.0019172106451600696, + 0.003032924096203224, + -0.005464161989065758, + 0.023075849610787968, + 0.005238383789420786, + 0.010136536403540813, + 0.0 + ], + [ + -0.0021288445035361103, + 0.0002722177107955476, + -0.023100613258967815, + 0.013501457217218864, + 0.04605885601149543, + -0.02913159564186862, + 1.0 + ], + [ + -0.0066116875322351715, + -0.00986715301891712, + -0.017023791792050297, + -0.03137753052942541, + -0.02818769388020684, + -0.12664064037489814, + 1.0 + ], + [ + -0.004431780736349856, + -0.019368329754329245, + -0.021166590845904873, + -0.014685207296255439, + 0.0003718334420875067, + -0.17051461682857064, + 1.0 + ], + [ + 0.002794910391518154, + -0.011510907332885931, + -0.009919943949300592, + 0.04820396836061985, + -0.007488943371880526, + -0.07743141605721554, + 1.0 + ], + [ + 0.002351609569946957, + -0.004144955416486062, + -0.0011071040885603592, + 0.013045439591624903, + -0.007082839572351326, + -0.00068503433424437, + 1.0 + ], + [ + 0.003949272472793548, + -0.002580920097437964, + -6.523672658398244e-05, + 0.01888029519966449, + 0.024241522760662566, + 0.013275998599971668, + 1.0 + ], + [ + -0.0002725693507067275, + 5.038972255722755e-05, + 0.0003930983205601751, + -0.0006119440866513079, + -0.0030061903318788497, + 0.0030501144079450753, + 1.0 + ] + ], + "state": [ + [ + 0.27517443895339966, + 0.010515646077692509, + 0.08557493984699249, + 3.1223671605163297, + -0.08609671145677567, + -0.06705904006958009, + 1.0 + ], + [ + 0.27541616559028625, + 0.010533700697124004, + 0.08559517562389374, + 3.1223110520564994, + -0.08755642920732498, + -0.06395069509744643, + 1.0 + ], + [ + 0.2738848626613617, + 0.009607129730284214, + 0.07814563810825348, + 3.118838133411952, + -0.060070667415857315, + -0.0637032985687256, + 1.0 + ], + [ + 0.294500470161438, + -0.0016908950638026, + 0.06874894350767136, + 3.115851543965288, + -0.05355783179402351, + -0.08240693807601929, + 1.0 + ], + [ + 0.325461745262146, + -0.015736393630504608, + 0.061620619148015976, + 3.0910249446802815, + -0.060391545295715325, + -0.10037173330783844, + 1.0 + ], + [ + 0.3515341877937317, + -0.026673397049307823, + 0.06142600253224373, + 3.120524449395486, + -0.05558978766202926, + -0.13873335719108582, + 1.0 + ], + [ + 0.37184983491897583, + -0.023774422705173492, + 0.06310735642910004, + -3.135961360419639, + -0.05186900869011878, + -0.14654943346977234, + 1.0 + ], + [ + 0.38703227043151855, + -0.01600954309105873, + 0.0630897581577301, + -3.121659780042716, + -0.05374856665730477, + -0.1348150968551636, + 1.0 + ], + [ + 0.3930720388889313, + -0.011743420735001564, + 0.05118025094270706, + -3.0986853075497827, + -0.03219279274344444, + -0.12976093590259552, + 1.0 + ], + [ + 0.3921357989311218, + -0.0017956572119146585, + 0.027849344536662102, + -3.097584294276782, + 0.021504152566194534, + -0.10324497520923613, + 1.0 + ], + [ + 0.3915327489376068, + 0.00045778241474181414, + 0.023397622630000114, + -3.0956799519532403, + 0.03235726058483123, + -0.09845814853906631, + 1.0 + ], + [ + 0.39249277114868164, + 0.0016804900951683521, + 0.020083213225007057, + -3.11662118521566, + 0.011087368242442606, + -0.08719325065612793, + 1.0 + ], + [ + 0.38599538803100586, + 0.007747597061097622, + 0.035740021616220474, + -3.12375249912078, + -0.08175326138734819, + -0.06155911460518838, + 0.0 + ], + [ + 0.3824220597743988, + 0.013027072884142399, + 0.056087661534547806, + 3.1368525318154177, + -0.18900425732135773, + -0.06465741991996764, + 0.0 + ], + [ + 0.37778380513191223, + 0.016390705481171608, + 0.0679287314414978, + 3.1149098837100944, + -0.23205763101577756, + -0.08307687193155289, + 0.0 + ], + [ + 0.36696913838386536, + 0.015218159183859825, + 0.08331228792667389, + 3.118810664983936, + -0.2540952265262604, + -0.09650544822216033, + 0.0 + ], + [ + 0.3482731282711029, + 0.01882850006222725, + 0.09804536402225494, + 3.1095940751307687, + -0.24835945665836334, + -0.09704575687646867, + 0.0 + ], + [ + 0.32330819964408875, + 0.02991831675171852, + 0.10603988170623779, + 3.097018951671668, + -0.23859687149524691, + -0.08874916285276413, + 0.0 + ], + [ + 0.29635003209114075, + 0.03245954588055611, + 0.09527837485074997, + 3.1009525304012975, + -0.1890706568956375, + -0.12767586112022397, + 0.0 + ], + [ + 0.2772853374481201, + 0.031597819179296494, + 0.0774434432387352, + 3.0977883247011384, + -0.14002163708209994, + -0.18753315508365634, + 0.0 + ], + [ + 0.26321035623550415, + 0.026903625577688217, + 0.05730020999908447, + 3.08139584784443, + -0.11725572496652605, + -0.24216732382774353, + 0.0 + ], + [ + 0.25988176465034485, + 0.017344720661640167, + 0.046001408249139786, + 3.1023776215785226, + -0.10467059910297394, + -0.2888992130756378, + 0.0 + ], + [ + 0.25848641991615295, + 0.009755181148648262, + 0.042361944913864136, + 3.126577937165745, + -0.0891784429550171, + -0.3332013487815857, + 0.0 + ], + [ + 0.2552531659603119, + 0.007751962170004845, + 0.0476783886551857, + -3.132631305726715, + -0.09456390142440796, + -0.3433030843734741, + 0.0 + ], + [ + 0.25104254484176636, + 0.008748168125748634, + 0.07047142833471298, + -3.1218623780929526, + -0.14084264636039734, + -0.3143293559551239, + 1.0 + ], + [ + 0.24546512961387634, + 0.02058175578713417, + 0.08658798038959503, + 3.111873086663433, + -0.11401152610778809, + -0.18636824190616608, + 1.0 + ], + [ + 0.24254117906093597, + 0.04147406294941902, + 0.10653188824653625, + 3.078207427757331, + -0.10768243670463562, + -0.01491562183946371, + 1.0 + ], + [ + 0.24451477825641632, + 0.05356211960315704, + 0.11595004051923752, + 3.118312981101223, + -0.09499035775661469, + 0.062230516225099564, + 1.0 + ], + [ + 0.2464963048696518, + 0.057863280177116394, + 0.11717884987592697, + 3.131308330344506, + -0.08789347857236862, + 0.06275249272584915, + 1.0 + ], + [ + 0.25025731325149536, + 0.0606861487030983, + 0.11756405979394913, + -3.1318481966205916, + -0.11226275563240051, + 0.049647901207208626, + 1.0 + ], + [ + 0.2500331401824951, + 0.06062839552760124, + 0.11714243143796921, + -3.1321197153353175, + -0.10922647267580032, + 0.04660912975668907, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.03792673349380493, + 0.31480199098587036, + 0.6142202019691467, + 0.8318637311458588, + 0.9322709515690804, + 0.9424319416284561, + 0.9427080601453781, + 0.9427080601453781, + 0.9451590031385422, + 0.9454275593161583, + 0.9454275593161583, + 0.9454275593161583, + 0.9234305396676064, + 0.7706035673618317, + 0.5081791281700134, + 0.19920474290847778, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "233", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/233/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2335.json b/annotation/test/2335.json new file mode 100644 index 0000000000000000000000000000000000000000..04cb4c2b4ec9821cf41d5bd9894394271bb2bb2b --- /dev/null +++ b/annotation/test/2335.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the red pot to the back of the table" + ], + "videos": [ + { + "video_path": "videos/test/2335/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 1.1356264164614466e-09, + 1.567434557810054e-09, + -0.0030679420444367947, + 1.0 + ], + [ + -0.00651719910733904, + 0.0036627327781933905, + 0.011394530710438017, + -0.011090935099599112, + -0.0366730959512627, + 0.000697424082173907, + 1.0 + ], + [ + -0.015683046028672976, + 0.030359096977914505, + 0.011536584098476112, + 0.014721688328809884, + -0.03214489733685887, + 0.11373641363032258, + 1.0 + ], + [ + -0.012455467087193825, + 0.014081869241853407, + 0.0029754553631093188, + 0.03523023976376169, + 0.013140008515996159, + 0.024275246531177082, + 1.0 + ], + [ + -0.004523034692610221, + 0.023886804636684775, + 0.01179371163815834, + 0.025076887533571682, + -0.008853386953844931, + 0.068076802316756, + 1.0 + ], + [ + -0.006497569689932066, + 0.0024086626620495144, + 0.011704932439864873, + 0.019151405985125148, + 0.0110333164087205, + 0.032286591906605454, + 1.0 + ], + [ + -0.004041084319251503, + 0.0056464870303701, + 0.008784183823439514, + -0.005780524827991277, + 0.02016833797017305, + 0.0327190645996456, + 1.0 + ], + [ + -0.004889039324459285, + 0.011214165945339598, + 0.009210435553472772, + -0.00740254938347041, + 0.017407840431471897, + 0.04713371605031591, + 1.0 + ], + [ + 0.00047492280428590856, + 0.0025666611586835767, + 0.002263512864181083, + -0.011919780594855307, + 0.01956611632978224, + 0.01948488571719729, + 1.0 + ], + [ + -0.00032800593236195297, + -0.0029574753100491255, + 0.005371175562410284, + 0.0015905293838995138, + 0.00608899990058844, + 0.006941004792205984, + 1.0 + ], + [ + -0.0008234860177743956, + -9.391418432979539e-05, + 0.007110908695357717, + 0.001819692613178674, + -0.011636256515458373, + 0.013496380178265942, + 1.0 + ], + [ + -0.0032057457285318077, + -0.0008871998677112109, + 0.005749902262915649, + -0.013638293173961025, + -0.016111556544672414, + 0.006099411314963425, + 1.0 + ], + [ + 0.0008692243962871091, + -0.0022542606407152063, + 0.002484479269539272, + -0.020474166457875396, + 0.004675234491213453, + 0.004950609439953961, + 0.0 + ], + [ + 0.0014312456042119895, + -0.0057143196505173004, + -0.00042084005967139875, + -0.0034870663448896715, + 3.2190149440243093e-05, + 0.03230909375774051, + 0.0 + ], + [ + -0.0024579575143775655, + -0.004495551924220555, + -0.001843982145280081, + 0.01229860849916087, + -0.025264271849689518, + 0.056058303371119854, + 0.0 + ], + [ + 0.0003645156161119905, + -0.009943457271198454, + -0.013679230011507613, + 0.03715825665302123, + 0.006999046710063599, + 0.0021289779990229228, + 0.0 + ], + [ + 0.010110285117555923, + -0.00673478725860005, + -0.011757228746290623, + -0.011126688504755572, + 0.008454936061558435, + -0.020113723462318857, + 0.0 + ], + [ + 0.0201281955049742, + -0.004133214890951029, + -0.015911755352393253, + 0.0034694449837525143, + 0.02844856939322528, + -0.034678361315349106, + 0.0 + ], + [ + 0.02398821947091158, + -0.006795673753963584, + 0.0019144331871588233, + -0.022449140817276014, + 0.004097063177605824, + -0.12882964696441204, + 0.0 + ], + [ + 0.02687732245680784, + 0.0025994518113374447, + 0.005754031880419378, + 0.011086205441238861, + 0.013993674587863493, + -0.13274651706176718, + 0.0 + ], + [ + 0.02056117571531187, + 0.005967359186240324, + 0.010001741207962858, + 0.06679930480962376, + -0.0036308225931950514, + -0.13724481030213848, + 0.0 + ], + [ + 0.011868314387471207, + 0.00718615506656471, + 0.009433976496865564, + -0.018425901984092854, + -0.008307800062301293, + -0.02677711840406268, + 0.0 + ], + [ + 0.010587165772949297, + 0.0059464451286435, + 0.013509515377031083, + 0.013812950011154979, + -0.029385011244719112, + -0.00761772731929819, + 0.0 + ], + [ + 0.008120784695050835, + 0.004074243182319089, + 0.003017493013972068, + 0.004228338570566536, + -0.0009153103409546173, + 0.01742328245746588, + 0.0 + ], + [ + 0.0013099924887180446, + 0.0012802586947930424, + -4.407936166687094e-05, + -0.00801849604869177, + 0.005097656048351666, + 0.0050776402655754865, + 0.0 + ], + [ + 0.0009773938405633438, + 0.002308910530025743, + 0.00025268642565671963, + -0.014188463927036927, + 0.00465751318117769, + 0.017610060128605592, + 0.0 + ], + [ + 0.005568185934584536, + 0.005130710431128012, + 0.00785479208603453, + -0.026732274487035874, + -0.029000426852423114, + 0.04340637170031847, + 0.0 + ], + [ + 0.00269323945466786, + 0.0012647194454679387, + -0.0017600272221343066, + -0.010336500821393176, + -0.00475295437779452, + 0.030542700144834633, + 0.0 + ], + [ + 0.00031412735479649636, + 0.0010901151724922347, + 0.0005949256868442967, + -0.006475828598526896, + 0.0016915700820491983, + 0.017414058274665262, + 1.0 + ], + [ + -0.002545116963433022, + -0.0076901568967320125, + -0.00034734118345817165, + -0.02175487425883856, + -0.0006425974745460668, + -0.025025255488547546, + 1.0 + ], + [ + -0.0006514932552662356, + -0.013199917260056884, + -0.03308252691382467, + 0.0028739252962144274, + 0.0971250022099174, + -0.030369988120989184, + 1.0 + ], + [ + -0.0033216611072078455, + -0.014289607673073227, + -0.021991422279030122, + -0.006824675104000703, + 0.01605634387625316, + -0.03762407351221029, + 1.0 + ], + [ + -0.011688529149415445, + -0.019779086205394304, + -0.016517254286689258, + -0.003140877010884004, + -0.03638419625069153, + -0.009499627959798364, + 1.0 + ], + [ + -0.02476197743240226, + -0.018544473122036317, + -0.015485646269427488, + 0.039740652902823394, + -0.055675166756434975, + -0.010586319173840973, + 1.0 + ], + [ + -0.026060832352573348, + -0.01356163665238756, + -0.015730151462777665, + 0.014184780443186364, + -0.04223587305909693, + 0.012032292969995955, + 1.0 + ], + [ + -0.02939242293785061, + -0.02031271928979349, + -0.0076849334167431215, + -0.0034866155858940266, + -0.007896903691479733, + -0.014581880205358956, + 1.0 + ], + [ + -0.028644010834380656, + -0.02081684426362399, + -0.005212817292095262, + 0.003982852689196132, + 0.04725600975909235, + -0.036015561472429104, + 1.0 + ], + [ + 0.0011459298950980158, + 0.0013515026931132789, + -0.0018495212237970775, + -0.0022782064817200116, + 0.010844774230603978, + 0.0077768922326794145, + 1.0 + ] + ], + "state": [ + [ + 0.29237350821495056, + 0.1428908258676529, + 0.12063843011856079, + -3.0779968445473394, + -0.13196760416030884, + 0.09109848737716675, + 1.0 + ], + [ + 0.29237350821495056, + 0.1428908258676529, + 0.12063843011856079, + -3.078403564291545, + -0.1321619600057602, + 0.09418716281652452, + 1.0 + ], + [ + 0.28774014115333557, + 0.13950416445732117, + 0.10827771574258804, + -3.089666573452302, + -0.09551787376403809, + 0.0958142951130867, + 1.0 + ], + [ + 0.2762867212295532, + 0.10854705423116684, + 0.0937449261546135, + -3.0645735060148915, + -0.05692791193723678, + -0.016212696209549904, + 1.0 + ], + [ + 0.2638595700263977, + 0.09493555128574371, + 0.08899267017841339, + -3.0279233400994023, + -0.06814323365688324, + -0.04148384928703308, + 1.0 + ], + [ + 0.25940364599227905, + 0.07270626723766327, + 0.07429122179746628, + -2.9985553493076047, + -0.051479719579219825, + -0.10820006579160689, + 1.0 + ], + [ + 0.2534855902194977, + 0.07262937724590302, + 0.0620439276099205, + -2.9777482618861875, + -0.057769834995269775, + -0.14178453385829928, + 1.0 + ], + [ + 0.24945499002933502, + 0.0690247118473053, + 0.05223904550075531, + -2.9815411140495023, + -0.07229577749967575, + -0.17744325101375583, + 1.0 + ], + [ + 0.24373377859592438, + 0.06029452383518219, + 0.041034407913684845, + -2.9855435361438474, + -0.08188460767269133, + -0.22691026329994202, + 1.0 + ], + [ + 0.2439137101173401, + 0.058011844754219055, + 0.038447171449661255, + -2.9956405480676374, + -0.09816455096006393, + -0.24930386245250705, + 1.0 + ], + [ + 0.24497590959072113, + 0.06156685948371887, + 0.03355458751320839, + -2.993287833529063, + -0.10317640006542206, + -0.2570979595184326, + 1.0 + ], + [ + 0.24517366290092468, + 0.06269733607769012, + 0.026488125324249268, + -2.9902656247192105, + -0.08966667950153351, + -0.268772691488266, + 1.0 + ], + [ + 0.24303768575191498, + 0.0650944635272026, + 0.020672913640737534, + -3.0035618265443524, + -0.07281919568777084, + -0.2723824381828308, + 1.0 + ], + [ + 0.24471600353717804, + 0.06729888916015625, + 0.018591174855828285, + -3.023631865280219, + -0.07676767557859421, + -0.2779455780982971, + 0.0 + ], + [ + 0.24755126237869263, + 0.0723394826054573, + 0.019788147881627083, + -3.0247128551178655, + -0.0729583352804184, + -0.31011947989463806, + 0.0 + ], + [ + 0.24635019898414612, + 0.07718710601329803, + 0.021958356723189354, + -3.008694576221057, + -0.04123079776763916, + -0.36287182569503784, + 0.0 + ], + [ + 0.24897244572639465, + 0.08479490131139755, + 0.03683692589402199, + -2.9714083095365247, + -0.04788583144545554, + -0.36591288447380066, + 0.0 + ], + [ + 0.2594960927963257, + 0.08573821187019348, + 0.050034299492836, + -2.9834397902065, + -0.059616874903440475, + -0.34748995304107666, + 0.0 + ], + [ + 0.278007447719574, + 0.08070942759513855, + 0.06756862998008728, + -2.9817574342065534, + -0.09314475953578948, + -0.3176110386848449, + 0.0 + ], + [ + 0.3029589056968689, + 0.07988989353179932, + 0.06899482011795044, + -3.01731517364318, + -0.11689034849405289, + -0.19021689891815186, + 0.0 + ], + [ + 0.32950928807258606, + 0.07287733256816864, + 0.06613865494728088, + -3.022554861503192, + -0.1461908221244812, + -0.05885344743728638, + 0.0 + ], + [ + 0.35108447074890137, + 0.06686051934957504, + 0.05860767886042595, + -2.9769737740331372, + -0.15745730698108676, + 0.07957162708044052, + 0.0 + ], + [ + 0.364848256111145, + 0.06239745020866394, + 0.05011433735489845, + -2.9998648782544812, + -0.1535881608724594, + 0.10767862945795059, + 0.0 + ], + [ + 0.37783971428871155, + 0.059800054877996445, + 0.03768731653690338, + -2.9878030737214765, + -0.1255633234977722, + 0.11945981532335281, + 0.0 + ], + [ + 0.3867122530937195, + 0.05727552995085716, + 0.035126712173223495, + -2.981442691879817, + -0.12197157740592957, + 0.10225459188222885, + 0.0 + ], + [ + 0.38815489411354065, + 0.056145984679460526, + 0.03512664884328842, + -2.9887473603063306, + -0.12619221210479736, + 0.09638238698244095, + 0.0 + ], + [ + 0.38941124081611633, + 0.05401346832513809, + 0.03465316817164421, + -3.0006609578901013, + -0.12809361517429352, + 0.07811897248029709, + 0.0 + ], + [ + 0.396309494972229, + 0.05056477338075638, + 0.02693648263812065, + -3.0224506874852857, + -0.09318805485963821, + 0.03906818479299545, + 0.0 + ], + [ + 0.3988977074623108, + 0.049199871718883514, + 0.028777392581105232, + -3.030059853690215, + -0.08479765057563782, + 0.009200249798595905, + 0.0 + ], + [ + 0.3992803990840912, + 0.048186223953962326, + 0.02809399738907814, + -3.0350657423310956, + -0.0845275893807411, + -0.008356566540896893, + 1.0 + ], + [ + 0.3967098593711853, + 0.055817604064941406, + 0.029038000851869583, + -3.058968173461505, + -0.08652280271053314, + 0.01668884977698326, + 1.0 + ], + [ + 0.3929441273212433, + 0.0661807730793953, + 0.06291335821151733, + -3.057676898437091, + -0.18580010533332827, + 0.03919398784637451, + 1.0 + ], + [ + 0.38493019342422485, + 0.07827210426330566, + 0.08501370996236801, + -3.071364315348216, + -0.204829603433609, + 0.07610607892274857, + 1.0 + ], + [ + 0.3684839904308319, + 0.09564324468374252, + 0.10012726485729218, + -3.0769460444622716, + -0.1691867858171463, + 0.0883028581738472, + 1.0 + ], + [ + 0.339834064245224, + 0.11068058758974075, + 0.11237137764692307, + -3.0395120104127606, + -0.11429492384195326, + 0.10253870487213135, + 1.0 + ], + [ + 0.31093037128448486, + 0.11965726315975189, + 0.12631836533546448, + -3.024362640576907, + -0.07104957103729247, + 0.09486327320337296, + 1.0 + ], + [ + 0.2792109549045563, + 0.13600070774555206, + 0.13421455025672913, + -3.0289554466777524, + -0.0649038776755333, + 0.11030084639787674, + 1.0 + ], + [ + 0.2481037676334381, + 0.15277747809886932, + 0.13986049592494965, + -3.0268883128934583, + -0.11587751656770706, + 0.14094118773937225, + 1.0 + ], + [ + 0.2492564469575882, + 0.15137115120887756, + 0.14166438579559326, + -3.028119387226649, + -0.12575626373291016, + 0.1319032460451126, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05002796649932861, + 0.3298342227935791, + 0.6270982325077057, + 0.8102775663137436, + 0.8670534491539001, + 0.8871526569128036, + 0.8896243497729301, + 0.8896243497729301, + 0.8896243497729301, + 0.8896243497729301, + 0.8896243497729301, + 0.8896243497729301, + 0.8896243497729301, + 0.8896243497729301, + 0.8896243497729301, + 0.8896243497729301, + 0.852326825261116, + 0.6505534052848816, + 0.35594499111175537, + 0.05002796649932861, + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0011776089668273926 + ], + "episode_id": "2335", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2335/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2339.json b/annotation/test/2339.json new file mode 100644 index 0000000000000000000000000000000000000000..27eb58ec7560ea822d3ae891f622aad6a638c7c0 --- /dev/null +++ b/annotation/test/2339.json @@ -0,0 +1,679 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "pour almonds in pot" + ], + "videos": [ + { + "video_path": "videos/test/2339/rgb.mp4" + } + ], + "action": [ + [ + 0.00022010411703521032, + 0.0003246570767640247, + -1.121392048994546e-05, + -0.00035129879662205386, + 0.0015677607073460475, + 0.0015241701831524928, + 1.0 + ], + [ + -0.00617761402766179, + -0.0009062213915521042, + 0.003596372299368866, + -0.03626795553077592, + -0.05664896989733945, + -0.03985686801001088, + 1.0 + ], + [ + 0.009143889952063793, + -0.013335492939323372, + -0.012259991372904209, + -0.13413972935441382, + -0.07532839429102152, + -0.1550127986570297, + 1.0 + ], + [ + 0.02105976660468297, + -0.00908137190915217, + -0.015722752418114747, + -0.15168104777166885, + -0.09801465363210551, + -0.18426673849604946, + 1.0 + ], + [ + 0.026746101174631, + -0.005122079795995338, + -0.0155911206020644, + -0.10976169672660083, + -0.06249873599178232, + -0.20196038093470886, + 1.0 + ], + [ + 0.02178484767108365, + 0.0022888645612265507, + 0.0005929358669045761, + -0.024872674976981774, + -0.06438531225656662, + -0.19515294834473487, + 1.0 + ], + [ + 0.0160410035132419, + 0.005151123156323537, + 0.000455930015251462, + -0.012566355186771887, + -0.04212531170254481, + -0.12637385866079903, + 1.0 + ], + [ + 0.015124219296437862, + 0.0017622581845698842, + 0.0165186459121012, + 0.051271357818428974, + -0.04599788798712735, + -0.14974929668309184, + 1.0 + ], + [ + 0.00951810508485552, + -0.0008109487599194371, + 0.016616153431734903, + 0.04937598027584275, + -0.021027336974782748, + -0.0713571874432911, + 1.0 + ], + [ + 0.0058802434716861635, + 0.0028904073493760075, + 0.017148043391653538, + 0.05301302175151061, + -0.0007547091805034807, + -0.043697793559753756, + 1.0 + ], + [ + 0.002332017583676991, + 0.0026782259956690292, + 0.01836881719332995, + 0.04176491325010762, + -0.01840221141909956, + -0.015139902829095277, + 1.0 + ], + [ + 0.003160185956027631, + 0.0038106739168203563, + 0.015304343452812176, + 0.022628784458991948, + -0.04366101251375063, + -0.019945719657633, + 1.0 + ], + [ + -0.004760039029774192, + 0.006831351288663325, + 0.014611587238973038, + 0.03241397251059552, + -0.02939938852646342, + 0.01459631481601057, + 1.0 + ], + [ + -0.007062061436920421, + 0.004645601758034787, + 0.010558202146409547, + 0.01828282401081929, + -0.027975233080037028, + 0.00912987074450914, + 1.0 + ], + [ + -0.0040192701958198865, + 0.0026739672540875403, + 0.008050810831902582, + 0.011218361275558085, + -0.05549451551800842, + -0.022209587605229793, + 1.0 + ], + [ + -0.0056517483432212525, + 0.0024718846548936373, + 0.007610725575704131, + 0.021956134548059756, + -0.03003378792424912, + -0.005229921713312324, + 1.0 + ], + [ + 0.0010410150473470882, + -0.003909147787003142, + 0.013748349046205949, + 0.034982088135993815, + -0.059225058176017024, + -0.04022638885151929, + 1.0 + ], + [ + -0.0041746074292651324, + -0.001413338850835716, + 0.0060775605360919955, + 0.011220122979692949, + -0.010106157806125586, + 0.0030823982388341093, + 0.0 + ], + [ + -0.006388325608420058, + -0.000682613611439536, + -0.0004559249744404732, + 0.0011042842788692151, + 0.07622731068445619, + 0.0356288665386623, + 0.0 + ], + [ + -0.010273743351648055, + 0.0052433756856355524, + -0.018411352248942574, + -0.03896549569627762, + 0.148648163995686, + 0.0622677510332372, + 0.0 + ], + [ + -0.012816610906183551, + 0.012744349885701979, + -0.010425137647595194, + 0.001542223538220884, + 0.20763802919870897, + 0.0998978687103473, + 0.0 + ], + [ + 0.0006004787348801813, + 0.0039038706834647868, + -0.01312864322677735, + -0.03777845950718805, + 0.2109506310951179, + 0.052449836461412595, + 0.0 + ], + [ + -4.679088159772824e-05, + 0.01132181960831095, + -0.0018959521219282728, + -0.02792266219308196, + 0.2158868999565304, + 0.07173427726606302, + 0.0 + ], + [ + 0.0066607351332830115, + 0.00481337323262727, + -0.001137686451101048, + -0.029052923322199366, + 0.16517050788274615, + 0.06240044056111928, + 0.0 + ], + [ + 0.001263479749203459, + 0.009987288266824705, + 0.002369202225605228, + -0.02559537247447043, + 0.12005679392799899, + 0.020214023507097133, + 0.0 + ], + [ + -0.0033468171738651378, + 0.0066053261377718485, + -0.003907998141062391, + -0.04476788154698932, + 0.12714463553307773, + 0.03467832114529388, + 0.0 + ], + [ + -0.014134428176077728, + 0.009157520833867432, + 0.001239461384913048, + -0.04194241308475589, + 0.08953965035710335, + 0.029777009897782803, + 0.0 + ], + [ + -0.0016753144497665625, + 0.003686688381527343, + 0.0005786492230400221, + -0.03618621904717488, + 0.10989839745769378, + 0.01194346405732647, + 0.0 + ], + [ + 0.00019568350003467923, + 0.005392792209022544, + -0.0012907855454730064, + -0.06013889914681091, + 0.1050274681556421, + 0.010695312181951046, + 0.0 + ], + [ + -0.001597825188624751, + 0.0025244735110522155, + -0.00224400771330237, + -0.05284287501817431, + 0.08814353560319357, + 0.033808215465367775, + 0.0 + ], + [ + -0.005175408139552479, + 0.004712229671653377, + -0.004470901523276757, + -0.04707646019280288, + 0.04709835070187541, + 0.02253320843545813, + 0.0 + ], + [ + -0.006662708999443809, + 0.0005392130121143358, + -0.005139436419588258, + -0.02343668866245894, + 0.017932027069497314, + 0.03235572587402777, + 0.0 + ], + [ + -0.0013838779465144006, + -0.0010987970003897508, + -0.007471324978271997, + 0.0005281774322532089, + -0.017882735923256725, + -0.0025214098174692772, + 0.0 + ], + [ + -0.00286194534712916, + 0.0005199406134123607, + 0.0025369950933087815, + 0.04481407454722712, + -0.11723497959991104, + -0.011821400875883889, + 0.0 + ] + ], + "state": [ + [ + 0.19249729812145233, + 0.0070375707000494, + 0.12308385968208313, + -3.111959619569131, + -0.10682570934295654, + 0.10826414823532104, + 1.0 + ], + [ + 0.19274979829788208, + 0.006738254800438881, + 0.12310890853404999, + -3.112142538773366, + -0.10834749042987823, + 0.10668493807315828, + 1.0 + ], + [ + 0.18691924214363098, + 0.0071313632652163506, + 0.11889368295669556, + 3.130303243296691, + -0.052803251892328255, + 0.14818701148033142, + 1.0 + ], + [ + 0.19332900643348694, + 0.02171056531369686, + 0.13146807253360748, + 2.9881588389449796, + 0.02488766424357891, + 0.30193495750427246, + 1.0 + ], + [ + 0.21038271486759186, + 0.03893878310918808, + 0.14508973062038422, + 2.8420933206849774, + 0.14944003522396088, + 0.4698334932327271, + 1.0 + ], + [ + 0.23144356906414032, + 0.06028043106198311, + 0.15434430539608002, + 2.763317825394221, + 0.26612499356269836, + 0.6499722003936768, + 1.0 + ], + [ + 0.24965733289718628, + 0.07117891311645508, + 0.14889894425868988, + 2.787442239122935, + 0.39424145221710205, + 0.8198267221450806, + 1.0 + ], + [ + 0.2637668550014496, + 0.07898268103599548, + 0.14399197697639465, + 2.821430416899272, + 0.4751776456832885, + 0.936493992805481, + 1.0 + ], + [ + 0.27317100763320923, + 0.0801696926355362, + 0.12362371385097504, + 2.944029750423976, + 0.561450719833374, + 1.0870805978775024, + 1.0 + ], + [ + 0.27502763271331787, + 0.0784008726477623, + 0.10462969541549683, + 3.036105731623717, + 0.5946723818778992, + 1.1665616035461426, + 1.0 + ], + [ + 0.27755558490753174, + 0.07241159677505493, + 0.08746213465929031, + 3.1186444145911416, + 0.5993841290473938, + 1.2191017866134644, + 1.0 + ], + [ + 0.27757135033607483, + 0.06345858424901962, + 0.07103447616100311, + -3.112593038129159, + 0.6180539727211, + 1.237152338027954, + 1.0 + ], + [ + 0.27867060899734497, + 0.05635398253798485, + 0.05664534121751785, + -3.0743793566995343, + 0.660953462123871, + 1.2639890909194946, + 1.0 + ], + [ + 0.2803099453449249, + 0.04220975935459137, + 0.04769674688577652, + -3.051971176760741, + 0.6912036538124084, + 1.2476578950881958, + 1.0 + ], + [ + 0.2798607349395752, + 0.029273154214024544, + 0.043775979429483414, + -3.0392411818080625, + 0.7198653221130371, + 1.238898515701294, + 1.0 + ], + [ + 0.2788340449333191, + 0.02065519243478775, + 0.040198713541030884, + -3.0023443718724927, + 0.7724458575248717, + 1.277618646621704, + 1.0 + ], + [ + 0.27740713953971863, + 0.011113117448985577, + 0.038499195128679276, + -2.9709525128179273, + 0.8014191389083862, + 1.2910517454147339, + 1.0 + ], + [ + 0.2691049873828888, + 0.004621540661901236, + 0.028787555173039436, + -2.8816827555471143, + 0.8516098856925964, + 1.3664348125457764, + 1.0 + ], + [ + 0.26483872532844543, + -0.0015364834107458591, + 0.028298307210206985, + -2.8708901723199567, + 0.8621686697006227, + 1.3658485412597656, + 0.0 + ], + [ + 0.2635640799999237, + -0.005035628564655781, + 0.03355338051915169, + -2.928834008174487, + 0.7966187000274657, + 1.287688136100769, + 0.0 + ], + [ + 0.27358493208885193, + -0.0028551321011036634, + 0.05270667374134064, + -3.0499348660283765, + 0.6606356501579285, + 1.1716400384902954, + 0.0 + ], + [ + 0.2844218313694, + -0.012272713705897331, + 0.06784728914499283, + -3.128103118511387, + 0.4582791328430176, + 1.0418752431869507, + 0.0 + ], + [ + 0.29113537073135376, + -0.008872929960489273, + 0.07930730283260345, + 3.092352198558398, + 0.24737216532230377, + 0.9860647916793823, + 0.0 + ], + [ + 0.3007931411266327, + -0.014600621536374092, + 0.0816950723528862, + 3.0484495257311544, + 0.027779281139373776, + 0.926626443862915, + 0.0 + ], + [ + 0.3085654377937317, + -0.012056184932589531, + 0.08308989554643631, + 3.0169023295217237, + -0.14250093698501587, + 0.8801870942115784, + 0.0 + ], + [ + 0.3173285722732544, + -0.017470989376306534, + 0.08217185735702515, + 2.991143213706561, + -0.2641332149505615, + 0.8749908208847046, + 0.0 + ], + [ + 0.31900835037231445, + -0.024734092876315117, + 0.08598363399505615, + 2.9494377990537366, + -0.39499926567077637, + 0.8587413430213928, + 0.0 + ], + [ + 0.3173344135284424, + -0.040793221443891525, + 0.08103582262992859, + 2.911992909508296, + -0.4885413944721222, + 0.8451164960861206, + 0.0 + ], + [ + 0.31905078887939453, + -0.04446642845869064, + 0.08049287647008896, + 2.8667514642053327, + -0.5982109308242798, + 0.8613351583480835, + 0.0 + ], + [ + 0.3218356668949127, + -0.048652876168489456, + 0.08283909410238266, + 2.791589083271571, + -0.7020615935325623, + 0.8851935863494873, + 0.0 + ], + [ + 0.32108739018440247, + -0.05209783464670181, + 0.0840776115655899, + 2.7386629303270063, + -0.7964386940002443, + 0.8831288814544678, + 0.0 + ], + [ + 0.3180806636810303, + -0.05982565879821777, + 0.08454585075378418, + 2.69354301889474, + -0.8485952019691468, + 0.879736065864563, + 0.0 + ], + [ + 0.31160542368888855, + -0.06492356210947037, + 0.08276290446519852, + 2.695291372137614, + -0.8785040378570557, + 0.8462279438972473, + 0.0 + ], + [ + 0.3046663701534271, + -0.06640185415744781, + 0.0856967344880104, + 2.7021840830617627, + -0.8612672686576843, + 0.8378710150718689, + 0.0 + ], + [ + 0.3056239187717438, + -0.0676545724272728, + 0.08217377960681915, + 2.784930558996745, + -0.7493905425071717, + 0.784392237663269, + 0.0 + ] + ], + "continuous_gripper_state": [ + 0.010668635368347168, + 0.010668635368347168, + 0.010668635368347168, + 0.010668635368347168, + 0.010668635368347168, + 0.010668635368347168, + 0.010668635368347168, + 0.010668635368347168, + 0.010668635368347168, + 0.010668635368347168, + 0.010668635368347168, + 0.010668635368347168, + 0.010668635368347168, + 0.010668635368347168, + 0.010668635368347168, + 0.010668635368347168, + 0.010668635368347168, + 0.010668635368347168, + 0.10861486196517944, + 0.16556233167648315, + 0.14194411039352417, + 0.14104825258255005, + 0.14015346765518188, + 0.14104825258255005, + 0.14015346765518188, + 0.14015346765518188, + 0.14104825258255005, + 0.14015346765518188, + 0.14104825258255005, + 0.14104825258255005, + 0.14104825258255005, + 0.14015346765518188, + 0.14104825258255005, + 0.14015346765518188, + 0.14015346765518188 + ], + "episode_id": "2339", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2339/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2340.json b/annotation/test/2340.json new file mode 100644 index 0000000000000000000000000000000000000000..7ee02f0d4f6408b2a2553f5c724001186a8e2d97 --- /dev/null +++ b/annotation/test/2340.json @@ -0,0 +1,945 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "move the brush to the left edge of table" + ], + "videos": [ + { + "video_path": "videos/test/2340/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -2.8382090753005454e-19, + 2.00198316134542e-17, + -2.3756514031437507e-18, + 1.0 + ], + [ + -0.0007560695348427695, + 0.00020477208104727136, + 0.008492023290545091, + 0.0017141172850015818, + -0.02754599899307653, + 0.0008301971029341926, + 1.0 + ], + [ + 0.01756508394463578, + -0.0011089880358133184, + 0.021476229679455977, + 0.024210583745894226, + -0.015393958199493147, + 0.031004843767778945, + 1.0 + ], + [ + 0.026814964837487406, + 0.007997146712589541, + 0.009636816968576198, + 0.03531840008071803, + 0.06145564422603838, + 0.08586783694734075, + 1.0 + ], + [ + 0.025966392836617568, + 0.0021688285595473796, + 0.017702095156134936, + -0.003128839537791848, + -0.004385586837147283, + 0.053903013127414315, + 1.0 + ], + [ + 0.02279970137581678, + 0.007437722497838107, + 0.017964210629925197, + -0.028047123563391178, + -0.02824623059436491, + 0.0447175638356645, + 1.0 + ], + [ + 0.009150917521326926, + 0.011883513651748629, + 0.008070357994857863, + -0.03604943945140854, + 0.00282101639375428, + 0.02920749084451002, + 1.0 + ], + [ + 0.004700317529781194, + 0.006738799812055072, + 0.00013202261003062538, + -0.027476121990283996, + 0.0292336625091087, + 0.002994191514268657, + 1.0 + ], + [ + -0.0012656209953406184, + 0.009804789992019046, + 0.0028792062620269115, + -0.005739204697242714, + -0.0054542881060400785, + 0.0173719965368545, + 1.0 + ], + [ + -0.0037584314691861123, + 0.0022721589985132554, + 0.0010139863512316839, + -0.002647941690611539, + -0.018222808298412017, + 0.00304852614028067, + 1.0 + ], + [ + -0.006511403030024371, + 0.003925065075559442, + 0.0157413619955538, + -0.0269271308251727, + -0.055399278293568596, + 0.013721169216168052, + 1.0 + ], + [ + -0.00472186253503596, + 0.0018814736120213616, + 0.012124658592145919, + -0.016278563066304298, + -0.045588706631477016, + 0.022229964735587103, + 1.0 + ], + [ + 0.003147283460280944, + -0.005340767770732381, + 0.0068023050332463786, + -0.006341829226695251, + -0.00779539039534803, + 0.0062156026877429535, + 1.0 + ], + [ + 0.00518299818655598, + -0.0013668422871318572, + 0.007962066469855818, + -0.01481489739469375, + -0.02502475528816116, + 0.01245105359064994, + 1.0 + ], + [ + 0.004549425114007983, + 0.0011436821055003028, + 0.0014942599685149889, + -0.009353441959866322, + -0.0028235306966950583, + 0.005827372492610064, + 1.0 + ], + [ + -0.0006460725426602987, + 0.0014613205827336924, + 0.008057320973290105, + -0.010600042737395095, + -0.018161819081555185, + 0.0036170652806706985, + 1.0 + ], + [ + 0.0016281045355857847, + 0.0005958487063257965, + 5.2089843831584606e-05, + -0.0021704076494606923, + -0.0027715291131831885, + 0.002810378077818974, + 1.0 + ], + [ + -0.0013789380729741195, + 0.0016127210410765288, + 0.0010719583674274973, + -0.008664634774210127, + -0.01855517040307757, + 0.013688010070901981, + 0.0 + ], + [ + 0.00035749533490852706, + 0.0008687712368242142, + -0.0008396835447474029, + -0.004044125676546983, + 0.007295463005704507, + 0.0067976058275659714, + 0.0 + ], + [ + 0.0018908640366836157, + 0.004126351692784284, + -0.021992974072590515, + 0.005399878548160408, + 0.07260186715501125, + 0.007207500336135774, + 0.0 + ], + [ + 0.0013628857802469281, + 0.00501011091987183, + -0.012903232740478714, + 0.002348377595168224, + 0.04139949160742196, + 0.012313756066850808, + 0.0 + ], + [ + 0.0025487805189480586, + 0.002453851262963211, + -0.019700556528137184, + 0.0036840824604886936, + 0.05580387034451301, + -0.004981935109806331, + 0.0 + ], + [ + -0.002383082499979401, + 0.003585203680835091, + 0.0012314497156636795, + -0.023618088782402496, + 0.0029841647685855716, + -0.010979734094637116, + 0.0 + ], + [ + -0.003858335058296212, + -0.001582443513065016, + 0.004974525311532116, + -0.017510674677958922, + -0.008061958276933954, + -0.013373672056079961, + 0.0 + ], + [ + -0.00971417267832476, + -0.010132511093199629, + 0.026593996391449194, + -0.02982662481358769, + -0.06605959551149157, + -0.020777083638784707, + 0.0 + ], + [ + -0.0011645295828028323, + -0.0031206104724190607, + 0.00503868212963905, + -0.004351148820543909, + -0.021593121329208837, + 0.0027078439350909957, + 0.0 + ], + [ + -0.00015243188635897785, + -0.0017362973641439953, + 0.0024002517338403986, + 0.005290543589453262, + -0.015962997989302462, + -0.005974157171605481, + 0.0 + ], + [ + -0.002386795009685696, + -0.0033916036139189864, + -0.0003229171950349341, + 0.025393641385386367, + -0.016715922186132794, + -0.010501890794639483, + 0.0 + ], + [ + 0.0001239184050881344, + 0.004467954778868042, + -0.0007622033722525465, + 0.024583095448070635, + -0.015477899559282846, + 0.02582406451057122, + 1.0 + ], + [ + -0.001553802531796508, + 0.0024632852208881597, + -0.0004313038795177754, + 0.003217715375905388, + -0.01580734408385647, + 0.009506699247082391, + 1.0 + ], + [ + -0.0008688373637285216, + -0.0001727411616576603, + -0.0010049177551510408, + 0.004802334834620503, + -0.009274228896634491, + 0.0018702100886792599, + 1.0 + ], + [ + -0.00207206558819832, + 0.0012152670222462148, + 0.00012596029931647207, + 0.003611977804645085, + -0.015504623344869295, + 0.0059842234755565285, + 1.0 + ], + [ + 0.0025825200568167462, + 0.0006806001754895005, + -0.00023260012268796684, + 7.99439105455882e-05, + 0.017272709626192016, + 0.0043468844853982655, + 1.0 + ], + [ + -8.316064203676583e-05, + 0.0016367572070779702, + -8.468690651158601e-06, + -0.01032504935813545, + -0.0004572702239323766, + 0.006509585272345138, + 0.0 + ], + [ + -0.0004280846570356954, + 0.0003235020788880407, + 0.0006463749395853632, + -0.005760304859375314, + 0.00011693813397249108, + 0.0019235289490879923, + 0.0 + ], + [ + -0.0032094341161783267, + -0.001199785455387666, + 0.002791143988000062, + -0.014714147759179994, + -0.006079196990771251, + -0.0036420202073956117, + 0.0 + ], + [ + -0.005279509303480339, + -0.0022433733586263802, + -0.01259640721913243, + 0.00941866039873211, + 0.027049635349396407, + -0.0046755899313625756, + 0.0 + ], + [ + -0.014065681746573987, + -0.008272753622737765, + -0.02832964159515084, + 0.037289548855377365, + 0.07358941826191788, + -0.026931264589921733, + 0.0 + ], + [ + -0.032287003427155354, + -0.014144613790513145, + -0.029863995860500297, + 0.03191065394631756, + 0.06005845152427746, + -0.052218907154733464, + 0.0 + ], + [ + -0.03434686037009095, + -0.021399741364842302, + -0.006906143454392698, + 0.030174292488190098, + -0.02344067309284255, + -0.015302429807624238, + 0.0 + ], + [ + -0.030850330851699623, + -0.030555841602261553, + -0.002330988807327123, + 0.03208420602953057, + -0.02988632980356213, + -0.015331039079722796, + 0.0 + ], + [ + -0.03746890148604958, + -0.04037224716100677, + 0.007005100199178644, + -0.004718038073756001, + -0.030408995181169563, + -0.10363980280770757, + 0.0 + ], + [ + -0.021049926530205352, + -0.02979384692465206, + -0.0033087800697363477, + 0.017868620489197615, + -0.042330456819169686, + -0.051545781035689915, + 0.0 + ], + [ + -0.007900805468692023, + -0.020656378673455884, + -0.0011443913325574818, + 0.03611382189831117, + 0.004977041472172842, + -0.017690605440956835, + 0.0 + ], + [ + 0.0071432668288651194, + -0.015960504407665797, + 0.0001715106344332999, + 0.026851876343439048, + 0.025073546417544536, + -0.0155043459668345, + 0.0 + ], + [ + 0.011718750042944722, + -0.00606418220196412, + 0.008475666151011748, + 0.0003446616060086929, + 0.0018192440244835031, + -0.003888118837670685, + 0.0 + ], + [ + 0.010698812386245924, + -0.004330186060880072, + 0.00906398026042756, + 0.006755492002264113, + 0.0037772222219207155, + -0.032670507933818885, + 0.0 + ], + [ + 0.0014129519426251645, + 0.002237072142884146, + 0.0009226839197909738, + -0.009223541452413048, + 0.010496601193485174, + -0.003548723492105747, + 1.0 + ] + ], + "state": [ + [ + 0.2936842441558838, + -0.019267434254288673, + 0.14210188388824463, + -3.122736832248517, + -0.16432327032089233, + -0.017137255519628525, + 1.0 + ], + [ + 0.2936842441558838, + -0.019267434254288673, + 0.14210188388824463, + -3.122736832248517, + -0.16432327032089233, + -0.017137255519628525, + 1.0 + ], + [ + 0.294327050447464, + -0.0193230789154768, + 0.13359825313091278, + -3.120964279519864, + -0.13676650822162628, + -0.017450610175728798, + 1.0 + ], + [ + 0.314676433801651, + -0.018126247450709343, + 0.11474458873271942, + -3.0925479253106793, + -0.12067176401615141, + -0.04835230112075806, + 1.0 + ], + [ + 0.34210652112960815, + -0.02697746828198433, + 0.1080281063914299, + -3.046487996476241, + -0.1773686856031418, + -0.1383931189775467, + 1.0 + ], + [ + 0.37047073245048523, + -0.031410761177539825, + 0.09506126493215561, + -3.0402275194698056, + -0.16763302683830258, + -0.19239239394664762, + 1.0 + ], + [ + 0.39451897144317627, + -0.041782040148973465, + 0.08050180971622467, + -3.061314324038573, + -0.13486218452453613, + -0.2343834638595581, + 1.0 + ], + [ + 0.4019148349761963, + -0.05506081506609917, + 0.07281655073165894, + -3.0934174378686627, + -0.13527384400367737, + -0.26399365067481995, + 1.0 + ], + [ + 0.40471556782722473, + -0.06278381496667862, + 0.07299822568893433, + -3.120272075878926, + -0.16432806849479675, + -0.2684507369995117, + 1.0 + ], + [ + 0.40141499042510986, + -0.07197889685630798, + 0.06974519789218903, + -3.1231562477820596, + -0.15848003327846527, + -0.285921186208725, + 1.0 + ], + [ + 0.39737871289253235, + -0.07314074784517288, + 0.06810957938432693, + -3.1253689491474113, + -0.1402035355567932, + -0.28865963220596313, + 1.0 + ], + [ + 0.3922704756259918, + -0.07545137405395508, + 0.05155174434185028, + 3.1327106953882655, + -0.08457745611667633, + -0.3015055060386658, + 1.0 + ], + [ + 0.3881637156009674, + -0.07625728100538254, + 0.039088666439056396, + 3.1183385365926704, + -0.039166342467069626, + -0.3241337239742279, + 1.0 + ], + [ + 0.39305198192596436, + -0.07243388146162033, + 0.03229256346821785, + 3.112247010814496, + -0.03151678293943405, + -0.33053189516067505, + 1.0 + ], + [ + 0.39855799078941345, + -0.07312564551830292, + 0.024461116641759872, + 3.097840791689702, + -0.006865388713777065, + -0.34370824694633484, + 1.0 + ], + [ + 0.4024434983730316, + -0.07579930871725082, + 0.023049576207995415, + 3.0885287654870233, + -0.004299314226955175, + -0.34965357184410095, + 1.0 + ], + [ + 0.4012224078178406, + -0.07736217975616455, + 0.015078399330377579, + 3.0779401903324803, + 0.013645138591527937, + -0.3542286157608032, + 1.0 + ], + [ + 0.4025416970252991, + -0.07848762720823288, + 0.01504210289567709, + 3.075729141133376, + 0.01623222790658474, + -0.3572099804878235, + 1.0 + ], + [ + 0.40064796805381775, + -0.07957380264997482, + 0.0141011206433177, + 3.066818805533, + 0.033844511955976486, + -0.3720957636833191, + 0.0 + ], + [ + 0.4007170796394348, + -0.08046342432498932, + 0.014990745112299919, + 3.0625631382041654, + 0.02606097050011158, + -0.37833130359649664, + 0.0 + ], + [ + 0.40213435888290405, + -0.08358485251665115, + 0.037184011191129684, + 3.067716272669383, + -0.046882931143045425, + -0.37977221608161926, + 0.0 + ], + [ + 0.4013233780860901, + -0.087615467607975, + 0.050471168011426926, + 3.0704382826858243, + -0.08907629549503326, + -0.3890235722064972, + 0.0 + ], + [ + 0.40164339542388916, + -0.08887824416160583, + 0.07044446468353271, + 3.07321039785678, + -0.14438104629516602, + -0.3800027370452881, + 0.0 + ], + [ + 0.3982268273830414, + -0.09145580232143402, + 0.06912822276353836, + 3.047973485785075, + -0.14659896492958072, + -0.3687238097190857, + 0.0 + ], + [ + 0.3957616686820984, + -0.08931277692317963, + 0.06351865828037262, + 3.028614865737506, + -0.13731050491333008, + -0.35604348778724676, + 0.0 + ], + [ + 0.39274340867996216, + -0.08064747601747513, + 0.03488168492913246, + 2.9967407902055463, + -0.06931845098733902, + -0.342855304479599, + 0.0 + ], + [ + 0.3927974998950958, + -0.07816028594970703, + 0.02937772125005722, + 2.9927600493007382, + -0.04834119975566864, + -0.34865760803222656, + 0.0 + ], + [ + 0.39323893189430237, + -0.07687242329120636, + 0.026742247864603996, + 2.997861238318034, + -0.031668517738580704, + -0.34511545300483704, + 0.0 + ], + [ + 0.3921501636505127, + -0.07286490499973297, + 0.02650054171681404, + 3.022985989349433, + -0.013619719073176384, + -0.33711689710617065, + 0.0 + ], + [ + 0.3908129334449768, + -0.07700182497501373, + 0.027787646278738976, + 3.047973910468169, + -0.0013007475063204765, + -0.3645884990692138, + 1.0 + ], + [ + 0.3885003626346588, + -0.07870111614465714, + 0.02844531275331974, + 3.0511997510963162, + 0.013548762537539004, + -0.3755311071872711, + 1.0 + ], + [ + 0.387800931930542, + -0.07814294099807739, + 0.029442215338349342, + 3.0559619312458715, + 0.022616254165768623, + -0.3782314658164978, + 1.0 + ], + [ + 0.38542425632476807, + -0.07851303368806839, + 0.029467517510056496, + 3.0594009329848966, + 0.037551660090684884, + -0.38552421331405634, + 1.0 + ], + [ + 0.3875776529312134, + -0.08009837567806244, + 0.02965805120766163, + 3.0593595152073583, + 0.019980231299996376, + -0.38843834400177, + 1.0 + ], + [ + 0.38688579201698303, + -0.08157702535390854, + 0.02980256825685501, + 3.0489058216386518, + 0.01990083418786526, + -0.3949647843837738, + 0.0 + ], + [ + 0.38633251190185547, + -0.08176017552614212, + 0.02919754944741726, + 3.0431077798181256, + 0.019606331363320354, + -0.39686959981918335, + 0.0 + ], + [ + 0.3836761713027954, + -0.07964985817670822, + 0.026365438476204872, + 3.0284516160660466, + 0.026014083996415138, + -0.39384201169013977, + 0.0 + ], + [ + 0.38049814105033875, + -0.07437535375356674, + 0.038761209696531296, + 3.038032354908534, + -0.00033547019120305777, + -0.3861444294452667, + 0.0 + ], + [ + 0.37166160345077515, + -0.058738987892866135, + 0.06607915461063385, + 3.0750899483733853, + -0.07074639201164246, + -0.35173988342285156, + 0.0 + ], + [ + 0.3450584411621094, + -0.031827788800001144, + 0.09258270263671875, + 3.102989999698945, + -0.12709183990955353, + -0.2952801585197449, + 0.0 + ], + [ + 0.3180268406867981, + -0.0009757975349202752, + 0.09425535798072815, + 3.1313245465331754, + -0.10306490212678909, + -0.2808212637901306, + 0.0 + ], + [ + 0.29681745171546936, + 0.0369667187333107, + 0.0930878147482872, + -3.12132968951995, + -0.07301110029220581, + -0.26576462388038635, + 0.0 + ], + [ + 0.27183446288108826, + 0.0857468992471695, + 0.08418542146682739, + -3.1337454692744693, + -0.04430830478668213, + -0.1614721417427063, + 0.0 + ], + [ + 0.25570955872535706, + 0.11853277683258057, + 0.08679203689098358, + -3.1181771477037152, + -0.0023239199072122574, + -0.10964150726795197, + 0.0 + ], + [ + 0.25010916590690613, + 0.13989779353141785, + 0.08840138465166092, + -3.082107478874274, + -0.007713413797318935, + -0.09207199513912201, + 0.0 + ], + [ + 0.2586817741394043, + 0.15511654317378998, + 0.08923410624265671, + -3.0553506409102162, + -0.0336635559797287, + -0.0780826434493065, + 0.0 + ], + [ + 0.27115222811698914, + 0.1609332263469696, + 0.08171118795871735, + -3.0551316161924085, + -0.03581070899963379, + -0.07436329871416093, + 0.0 + ], + [ + 0.28250235319137573, + 0.16519847512245178, + 0.07344359159469604, + -3.049575002985545, + -0.042375944554805756, + -0.04211248829960823, + 0.0 + ], + [ + 0.2838701605796814, + 0.1629961133003235, + 0.07238011807203293, + -3.058902757363864, + -0.05315408110618592, + -0.03953983634710312, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.07688909769058228, + 0.34188002347946167, + 0.6159495413303375, + 0.7967727929353714, + 0.8803941234946251, + 0.8892147168517113, + 0.8896243497729301, + 0.8896243497729301, + 0.8904407843947411, + 0.8904407843947411, + 0.8904407843947411, + 0.8493635356426239, + 0.6372451782226562, + 0.3328443169593811, + 0.04926097393035889, + 0.0, + 0.062479496002197266, + 0.3539353609085083, + 0.6414313614368439, + 0.8518355339765549, + 0.9370363429188728, + 0.943258099257946, + 0.9440774396061897, + 0.9440774396061897, + 0.9440774396061897, + 0.9440774396061897, + 0.9440774396061897, + 0.9440774396061897, + 0.9440774396061897, + 0.9440774396061897, + 0.9316608235239983, + 0.8729427605867386, + 0.6676268577575684 + ], + "episode_id": "2340", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2340/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2358.json b/annotation/test/2358.json new file mode 100644 index 0000000000000000000000000000000000000000..7cf1e2e379b180bc1ea66ca3d293970d177d8e75 --- /dev/null +++ b/annotation/test/2358.json @@ -0,0 +1,375 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "pick up glass cup" + ], + "videos": [ + { + "video_path": "videos/test/2358/rgb.mp4" + } + ], + "action": [ + [ + -0.00012049771984283644, + 0.00014249062247383292, + -1.1008377216576063e-07, + -0.0008977267522796106, + -0.0007608425745668792, + -0.0009836804256478007, + 1.0 + ], + [ + -0.002237091137622717, + -0.003136717338333807, + 0.013281818508717753, + 0.019421899624345287, + -0.005378755208605632, + -0.011157529272547309, + 1.0 + ], + [ + 0.005514194141447298, + 0.0005050048590470225, + 0.021905313267005257, + -0.007173845153786274, + 0.061611163053235454, + -0.048473318469669305, + 1.0 + ], + [ + 0.0012108992857840734, + -0.005640289734741356, + 0.022713996033583744, + 0.011185320087875407, + 0.04213578626074476, + -0.027313285049137992, + 1.0 + ], + [ + -0.0037013400371253354, + -0.006131693226437262, + 0.022706317056488606, + 0.01553943693277092, + 0.037614793641468226, + -0.007466178439492262, + 1.0 + ], + [ + -0.00529653502731725, + -0.0011643716977430669, + 0.011919273779295926, + -0.022427057640589897, + 0.011031811206061047, + -0.009622455029630623, + 1.0 + ], + [ + -0.0008780461531805004, + 0.0038493350152283066, + 0.011196039291126319, + -0.02768755560889604, + 0.008864225887372814, + -0.013850442245523458, + 1.0 + ], + [ + -0.0015508663494105258, + 0.0002759362345916583, + 0.011377276738329401, + -0.008318947425739406, + 0.006636115026794748, + -0.00872614923590316, + 1.0 + ], + [ + 0.005895626675639024, + 0.005534889464374928, + 0.008062643589903768, + 0.004690477431614158, + 0.015817761823346172, + -0.006668140636726681, + 1.0 + ], + [ + 0.005957269438550154, + 0.009577155995799341, + 0.0034229787390186593, + 0.014760253182005913, + 0.003475850433438116, + -0.017390165987484156, + 0.0 + ], + [ + 0.0005242652914087527, + 0.0024869228844665503, + -0.0009845624379438635, + 0.004860161828902174, + 0.002578954677478216, + -0.0001532970121814141, + 0.0 + ], + [ + -0.0012319360953174034, + -8.705589216030363e-05, + 0.0003174040513272106, + 0.0033802923028840304, + 0.0006837672853045737, + -0.00940642698694782, + 0.0 + ], + [ + -0.0012881971270933869, + -0.0027269846568968967, + -2.8684844768749617e-05, + 0.017191983920960607, + -0.008136822578238658, + 0.0006962053945541594, + 0.0 + ], + [ + -0.004088523053989729, + -0.004854898988013028, + -0.003964243245375512, + 0.053610893592397624, + -0.03354383752137608, + 0.02964494831976078, + 0.0 + ], + [ + -0.002019404960425652, + -0.0037968889883847052, + -0.024446442573329782, + 0.06185941601018184, + -0.043230526300881644, + -0.0007661156933724441, + 0.0 + ], + [ + -0.002902457076078505, + -0.0038205371952290657, + -0.033987073500790846, + 0.028953941201711568, + -0.0028102386954614155, + 0.02484702269851854, + 0.0 + ], + [ + -0.005316817121239193, + -0.007685149393796451, + -0.033943345957542184, + 0.0342878472924268, + -0.024997291460932176, + 0.001475386407785876, + 0.0 + ], + [ + 0.004837076743963545, + -0.000766984029539389, + -0.033734095652106784, + 0.026283930577757506, + -0.010123844502592894, + 0.02984127578809617, + 0.0 + ] + ], + "state": [ + [ + 0.2800593674182892, + 0.03037620522081852, + 0.05716954916715622, + 3.084975691633769, + -0.06867934763431548, + 0.8109557628631592, + 1.0 + ], + [ + 0.28007930517196655, + 0.030190663412213326, + 0.05716943368315697, + 3.084013382094451, + -0.06786403059959412, + 0.8118969798088074, + 1.0 + ], + [ + 0.2774530053138733, + 0.03086141124367714, + 0.04360835254192352, + 3.1027020645611962, + -0.06184813007712365, + 0.8227470517158508, + 1.0 + ], + [ + 0.28311029076576233, + 0.03496392071247101, + 0.02212187647819519, + 3.0923407805436334, + -0.12144853174686432, + 0.8738654851913452, + 1.0 + ], + [ + 0.2822052240371704, + 0.04091713950037956, + -0.0005264082574285567, + 3.0999004562669477, + -0.16213586926460263, + 0.9035859704017639, + 1.0 + ], + [ + 0.2781674563884735, + 0.044162292033433914, + -0.023765165358781815, + 3.113925241055437, + -0.19940006732940677, + 0.9127902388572693, + 1.0 + ], + [ + 0.27577975392341614, + 0.04243715852499008, + -0.036524511873722076, + 3.089487923430749, + -0.21015149354934692, + 0.9229368567466735, + 1.0 + ], + [ + 0.28017401695251465, + 0.040907155722379684, + -0.04744647070765495, + 3.058749595778533, + -0.21826054155826569, + 0.9375770092010499, + 1.0 + ], + [ + 0.2817085385322571, + 0.040941931307315826, + -0.058829255402088165, + 3.048379125195094, + -0.22414234280586243, + 0.9470593929290771, + 1.0 + ], + [ + 0.29112347960472107, + 0.04330602288246155, + -0.06484337151050568, + 3.051205175118991, + -0.23926325142383578, + 0.9554078578948975, + 1.0 + ], + [ + 0.30285319685935974, + 0.04283979535102844, + -0.06590361893177032, + 3.0616759305172643, + -0.24111734330654144, + 0.9735660552978516, + 0.0 + ], + [ + 0.30496591329574585, + 0.041677914559841156, + -0.0646326094865799, + 3.0664475729041776, + -0.2436758130788803, + 0.9739356637001038, + 0.0 + ], + [ + 0.3042856752872467, + 0.04078894108533859, + -0.06524334102869034, + 3.067486496763774, + -0.24364042282104492, + 0.9836539030075073, + 0.0 + ], + [ + 0.3013504445552826, + 0.04129069671034813, + -0.0657222792506218, + 3.0849977937811097, + -0.2355772703886032, + 0.9823203682899475, + 0.0 + ], + [ + 0.2944481074810028, + 0.04008384421467781, + -0.06309501081705093, + -3.137075463431426, + -0.20364558696746826, + 0.9501771926879884, + 0.0 + ], + [ + 0.2874218821525574, + 0.03659389168024063, + -0.039545588195323944, + -3.075408810871192, + -0.16041886806488037, + 0.9511502981185913, + 0.0 + ], + [ + 0.28131505846977234, + 0.03072722628712654, + -0.006282532587647438, + -3.0424963032179555, + -0.15592272579669955, + 0.9262414574623109, + 0.0 + ], + [ + 0.27150800824165344, + 0.02481861039996147, + 0.02700997143983841, + -3.008334921794482, + -0.13090205192565915, + 0.9272552728652954, + 0.0 + ], + [ + 0.27473631501197815, + 0.022919904440641403, + 0.060891348868608475, + -2.9783876111083707, + -0.11685127764940262, + 0.8988319039344786, + 0.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.10010194778442383, + 0.41309410333633423, + 0.7003851234912872, + 0.8665934950113297, + 0.9092923179268837, + 0.9041282460093498, + 0.8944665566086769, + 0.8908475488424301, + 0.8896243497729301, + 0.8896243497729301 + ], + "episode_id": "2358", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2358/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2360.json b/annotation/test/2360.json new file mode 100644 index 0000000000000000000000000000000000000000..66da0ef8cab95ccc31d66b61a2380d6104b72cbe --- /dev/null +++ b/annotation/test/2360.json @@ -0,0 +1,717 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put pear in bowl cardboardfence" + ], + "videos": [ + { + "video_path": "videos/test/2360/rgb.mp4" + } + ], + "action": [ + [ + -0.00042468433692384455, + 0.0004891353523898168, + 0.00038012205127194073, + 0.0004536918379972619, + -0.0014713316918781537, + 0.0015278994555711963, + 1.0 + ], + [ + -0.0050176744310883046, + -0.0012200935364470287, + 0.017312583675916392, + 0.01141848705376185, + -0.04931786123519715, + 0.005765858822192954, + 1.0 + ], + [ + -0.018034627193052315, + -0.005048321375585574, + 0.011828977449628915, + -0.0031467007765189404, + 0.010431956028660979, + 0.09922483291814914, + 1.0 + ], + [ + -0.014573854185141928, + -0.005589056854265462, + -0.005376726665818255, + -0.008664874801518455, + 0.055561487423804845, + 0.13978061035148637, + 1.0 + ], + [ + -0.0195305909896336, + -0.001729628330082607, + 0.0029314680968454037, + -0.07869396046133348, + -0.001560569153680764, + 0.15898001132156608, + 1.0 + ], + [ + -0.014360646007244127, + -0.00046674735653286757, + 0.004229322203089253, + -0.057227746394099, + -0.05397709168922428, + 0.0749933078218965, + 1.0 + ], + [ + -0.015570954047838264, + 0.00034632019530895196, + 0.02010781959500004, + -0.012076647361096746, + -0.03376620746962466, + 0.10287071211129399, + 1.0 + ], + [ + -0.005887699838684157, + 0.0008539735120617368, + 0.00877643548443257, + 0.02426892012223672, + 0.03223728816295118, + 0.06195167165912675, + 1.0 + ], + [ + -0.004539307867209658, + 0.00021337456083426356, + 0.01259654095947524, + 0.024420403233754648, + 0.00013191357866627077, + 0.013227958798796355, + 1.0 + ], + [ + 0.002369116536419798, + 0.0051518168847666445, + 0.00538846403648744, + -0.002588889670048863, + 0.01808990948895617, + -0.016754265987165912, + 1.0 + ], + [ + 0.0019385990680103648, + 0.0083738503487739, + 0.0058206678185464536, + -0.01283824658839221, + 0.014077253087948507, + -0.010449721713397324, + 1.0 + ], + [ + 0.0043774706090558045, + 0.0022009216960919226, + 0.001081360543094801, + 0.008433198356126752, + 0.019861692599393826, + -0.016753395646739236, + 1.0 + ], + [ + 0.0021164546445151945, + -0.005158837700218358, + 0.008491131902040384, + 0.025945415859353983, + -0.0054687091590114095, + 0.0014612400476054477, + 1.0 + ], + [ + 0.0006522760573109814, + -0.006445980753634884, + 0.01509764521571042, + 0.02412222039019691, + -0.01716033817984148, + -0.00835847695382889, + 1.0 + ], + [ + -0.0009154175801817105, + -0.0030645596717438005, + 0.007761225422022817, + 0.01327980710615303, + -0.011344637466811055, + -0.009145210877949735, + 1.0 + ], + [ + -0.001657004435400034, + 0.0007173335525467488, + 0.004584518152649969, + 0.012665810978484855, + -0.0011445127577875695, + 0.0033725765428861162, + 1.0 + ], + [ + -0.000597968388664837, + 0.0017108242538045426, + 0.0008516476189680349, + -0.006839673224603489, + 0.006463188350167079, + -0.008487771056079186, + 0.0 + ], + [ + -0.004458262762914167, + 0.005303758708073444, + -0.002889882052509039, + -0.0536958941611098, + -0.03245956114790703, + -0.026969948946981053, + 0.0 + ], + [ + 0.0020939423045975925, + -0.004899333527493858, + -0.018917916309697694, + -0.025279583314666114, + 0.02081632841610609, + -0.09061662528632501, + 0.0 + ], + [ + 0.013935211200000219, + -0.02050933019414107, + -0.02678284169155016, + 0.004647061718878779, + 0.08640946575483859, + -0.14381465769720708, + 0.0 + ], + [ + 0.018055683428554768, + -0.02863829190216247, + -0.021007117402540975, + 0.014909634860894623, + 0.09093648461230927, + -0.10099232536008326, + 0.0 + ], + [ + 0.008274773233899786, + -0.02883505573102468, + -0.015525578851530141, + 0.009044444747945444, + 0.04633860700486033, + -0.09722508794768293, + 0.0 + ], + [ + -0.0034377354897089005, + -0.025991643147359328, + -0.005662545329886195, + -0.014734354060083558, + 0.010576884334815233, + -0.06352713229068527, + 0.0 + ], + [ + 0.0063380256987131955, + -0.02296840356046943, + -0.01628998818330165, + -0.016244469502730213, + 0.034883348387139156, + -0.031148321778358676, + 0.0 + ], + [ + 0.005091654954290469, + -0.018726561911689383, + 0.012397038979022938, + 0.013082528482257319, + -0.06562439288154492, + -0.030308873462598883, + 0.0 + ], + [ + 0.0030725488271138328, + -0.009145587567636962, + 0.01359655706456254, + 0.022897571474787, + -0.03291373394617324, + -0.007902062315123531, + 0.0 + ], + [ + 0.004565481431657545, + -0.007351000770105072, + 0.00393740384422601, + 0.009094188589840421, + -0.0032494824612362082, + -0.013803135328064651, + 0.0 + ], + [ + 0.002133566784061806, + -0.008629525156794531, + -0.0003462071115444666, + 0.020841038374535003, + 0.023975886492506506, + -0.008911976743110254, + 0.0 + ], + [ + -0.0012287871048910887, + -0.006435377085057788, + -0.0014850653318470998, + -0.009852912894668837, + 0.003953058570302099, + -0.02521655179946828, + 0.0 + ], + [ + 0.004972725114136984, + -0.005578534057874325, + -0.005515205624462158, + 0.025037864561567032, + -0.006895522089109564, + 0.015180122163378605, + 0.0 + ], + [ + -0.0013915954382473993, + 0.001057708076731448, + -0.0033103634800009047, + -0.006183278332100506, + -0.03868171282212116, + 0.0033992857324152345, + 1.0 + ], + [ + 0.002414370355110968, + 0.005589890232317838, + -0.008364813410614827, + -0.040627403709475624, + -0.003949316513056955, + 0.009750615613729214, + 1.0 + ], + [ + 0.0013194106593859601, + 0.004872550925978157, + -0.004237610079444654, + -0.023549715971286612, + -0.003734642053699377, + -0.0014320877751657763, + 1.0 + ], + [ + 0.0013940253528413212, + 0.01346412719674667, + -0.012025294989085503, + -0.0011872197112735429, + -0.015993065585876497, + 0.021357281747654677, + 1.0 + ], + [ + -0.003114216666643819, + 0.01772670381580032, + -0.003980735928692672, + -0.010405818098766546, + -0.036424191537920585, + 0.006470823504259006, + 1.0 + ], + [ + -6.605331367964247e-05, + -0.00022917904875831724, + -1.7565132501011003e-07, + 0.0014451191418535935, + -0.0004169072630194283, + 0.0003012719037969706, + 1.0 + ] + ], + "state": [ + [ + 0.37339383363723755, + -0.03412819653749466, + 0.1122569739818573, + -3.127792805554815, + 0.0645211711525917, + 0.1433783918619156, + 1.0 + ], + [ + 0.3730188310146332, + -0.03467119485139847, + 0.11189832538366318, + -3.127436521584638, + 0.06601337343454361, + 0.1418676525354385, + 1.0 + ], + [ + 0.3667259216308594, + -0.034090083092451096, + 0.09497340768575668, + -3.116337439166852, + 0.11540705710649492, + 0.13677334785461426, + 1.0 + ], + [ + 0.3469153046607971, + -0.03142085671424866, + 0.08543020486831665, + -3.1311070435964545, + 0.1069076657295227, + 0.03674798458814621, + 1.0 + ], + [ + 0.33281072974205017, + -0.026403294876217842, + 0.0923893004655838, + 3.1283788943016013, + 0.05176094919443131, + -0.10358500480651855, + 1.0 + ], + [ + 0.3134336471557617, + -0.022689055651426315, + 0.09044966101646423, + 3.0416499768667897, + 0.05057620629668236, + -0.2627770006656646, + 1.0 + ], + [ + 0.29938700795173645, + -0.018866607919335365, + 0.08692631125450134, + 2.980538385110446, + 0.09664742648601532, + -0.34306108951568604, + 1.0 + ], + [ + 0.28179362416267395, + -0.016369495540857315, + 0.06872916221618652, + 2.958932029204913, + 0.11295867711305617, + -0.45066946744918823, + 1.0 + ], + [ + 0.27460744976997375, + -0.015596192330121994, + 0.060971520841121674, + 2.977165179448672, + 0.06983854621648788, + -0.5058274865150452, + 1.0 + ], + [ + 0.26878878474235535, + -0.014970964752137661, + 0.04892677441239357, + 3.0006884952359876, + 0.06753728538751602, + -0.5188851952552795, + 1.0 + ], + [ + 0.2676663100719452, + -0.021075323224067688, + 0.04416585713624954, + 2.9993949254327497, + 0.05196709185838699, + -0.4997330605983734, + 1.0 + ], + [ + 0.26478949189186096, + -0.029888805001974106, + 0.039496149867773056, + 2.987194823222705, + 0.03950885310769081, + -0.4873851239681244, + 1.0 + ], + [ + 0.2675324082374573, + -0.03399219363927841, + 0.03859378769993782, + 2.9964018930965146, + 0.022452093660831448, + -0.4677746295928955, + 1.0 + ], + [ + 0.2709854245185852, + -0.03139399737119675, + 0.029400400817394257, + 3.022295246022292, + 0.027651792392134663, + -0.4700125455856323, + 1.0 + ], + [ + 0.273263156414032, + -0.02738783322274685, + 0.013630885630846024, + 3.0465753247314176, + 0.04568438604474068, + -0.46375045180320745, + 1.0 + ], + [ + 0.27315306663513184, + -0.024745069444179535, + 0.005664091091603041, + 3.0602192898565015, + 0.05784401297569275, + -0.4557099640369415, + 1.0 + ], + [ + 0.27095481753349304, + -0.024878881871700287, + 0.001256389543414116, + 3.072685482101985, + 0.058710258454084396, + -0.4591703712940216, + 1.0 + ], + [ + 0.2695987820625305, + -0.026177827268838882, + 0.0005609054351225495, + 3.0663707946711263, + 0.05284447222948075, + -0.4502454400062561, + 0.0 + ], + [ + 0.2635393440723419, + -0.028881913051009178, + 0.004072103649377823, + 3.0139541943841657, + 0.08722300082445143, + -0.4257124066352845, + 0.0 + ], + [ + 0.26987963914871216, + -0.02377704530954361, + 0.021961111575365067, + 2.997268634038516, + 0.07772017270326614, + -0.3329128921031952, + 0.0 + ], + [ + 0.2926299273967743, + -0.006092706695199013, + 0.044362716376781464, + 3.01507322688634, + 0.011880896985530853, + -0.17857760190963745, + 0.0 + ], + [ + 0.3161158263683319, + 0.02123011089861393, + 0.061372555792331696, + 3.031576344864913, + -0.06568666547536849, + -0.06704609841108322, + 0.0 + ], + [ + 0.3255852460861206, + 0.05102799832820892, + 0.0741550400853157, + 3.0343750586085996, + -0.10074878484010696, + 0.03511612489819526, + 0.0 + ], + [ + 0.3209521472454071, + 0.07732990384101868, + 0.0766434371471405, + 3.013359712558337, + -0.104262575507164, + 0.09976010769605637, + 0.0 + ], + [ + 0.3233792781829834, + 0.10256008803844452, + 0.09045027196407318, + 2.9934051503711423, + -0.13481144607067108, + 0.13541997969150543, + 0.0 + ], + [ + 0.3281262218952179, + 0.12005205452442169, + 0.07624487578868866, + 3.003465639548846, + -0.06540492922067642, + 0.1556900888681412, + 0.0 + ], + [ + 0.33099162578582764, + 0.12777619063854218, + 0.061750881373882294, + 3.0260732789807996, + -0.03171641752123833, + 0.15898321568965912, + 0.0 + ], + [ + 0.3345620930194855, + 0.13528430461883545, + 0.05713959410786629, + 3.0347541143470487, + -0.026894832029938698, + 0.1723245233297348, + 0.0 + ], + [ + 0.3352009356021881, + 0.144142284989357, + 0.05662119761109352, + 3.0552638863497457, + -0.049781925976276405, + 0.1837538629770279, + 0.0 + ], + [ + 0.3327541947364807, + 0.15033899247646332, + 0.057483572512865067, + 3.044169711070605, + -0.05153013765811921, + 0.20925109088420868, + 0.0 + ], + [ + 0.3360980153083801, + 0.15727339684963226, + 0.06267957389354706, + 3.0700309743457517, + -0.046137385070323944, + 0.19345571100711823, + 0.0 + ], + [ + 0.33473828434944153, + 0.15617315471172333, + 0.06598931550979614, + 3.0640793984108647, + -0.007796899881213905, + 0.18730236589908603, + 1.0 + ], + [ + 0.33796030282974243, + 0.15177075564861298, + 0.0747804269194603, + 3.023533472912856, + -0.004614082165062428, + 0.1772751659154892, + 1.0 + ], + [ + 0.34000256657600403, + 0.14772804081439972, + 0.07956849038600922, + 2.9999784549051007, + -0.000736755842808634, + 0.1782573908567429, + 1.0 + ], + [ + 0.34342703223228455, + 0.13652566075325012, + 0.09337477385997772, + 2.998829277353831, + 0.012082307599484919, + 0.15485718846321103, + 1.0 + ], + [ + 0.3430464267730713, + 0.119280606508255, + 0.09987430274486542, + 2.9881975372606, + 0.0472143404185772, + 0.14326205849647522, + 1.0 + ], + [ + 0.3429471552371979, + 0.11949514597654343, + 0.0998426154255867, + 2.989625575142451, + 0.04758031666278839, + 0.14290021359920502, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.003185570240020752, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003858029842376709, + 0.003185570240020752, + 0.003858029842376709, + 0.06090432405471802, + 0.2998116612434387, + 0.31079989671707153, + 0.2799156904220581, + 0.2759517431259155, + 0.2759517431259155, + 0.2739718556404114, + 0.27298253774642944, + 0.271004855632782, + 0.271004855632782, + 0.271004855632782, + 0.271004855632782, + 0.271004855632782, + 0.271004855632782, + 0.19920474290847778, + 0.0011776089668273926, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2360", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2360/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2386.json b/annotation/test/2386.json new file mode 100644 index 0000000000000000000000000000000000000000..4c46385d73043be2f988a18ea3cb838e0f0162b5 --- /dev/null +++ b/annotation/test/2386.json @@ -0,0 +1,698 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Place the silver bowl to the right of the purple towel." + ], + "videos": [ + { + "video_path": "videos/test/2386/rgb.mp4" + } + ], + "action": [ + [ + 0.00024177490783639573, + -2.681308424333603e-05, + -1.8421753613795612e-07, + 0.0001644026780982241, + 0.0015251488781227855, + -0.0030678317038181804, + 1.0 + ], + [ + -0.0011783665743631076, + -0.00134147187669277, + 0.007248857085768975, + -0.00018800441607866767, + -0.027414850401035903, + -0.00204399548430146, + 1.0 + ], + [ + 0.0139641599721231, + -0.022947139769127406, + 0.0031496858976830973, + 0.02767788164248584, + -0.017456518779665853, + -0.03097619358254772, + 1.0 + ], + [ + 0.015309189851574034, + -0.030091387452852152, + -0.011487957554443687, + 0.025216778937622076, + 0.026053668505965914, + -0.05342719880736376, + 1.0 + ], + [ + 0.013630832139668165, + -0.024331824103240317, + 0.0027928426113937336, + 0.012587661301598524, + 0.02678491662788716, + -0.03751691977335951, + 1.0 + ], + [ + 0.013722743714866625, + -0.005889507538588256, + 0.030601459168903153, + 0.03823633976521781, + -0.015514326186438419, + 0.03738340378168606, + 1.0 + ], + [ + 0.011509481060691181, + -0.003847675512476838, + 0.03429198790834726, + 0.05525021808047737, + -0.03156197614673017, + 0.061663527039704964, + 1.0 + ], + [ + 0.0041923722691386105, + -0.007075036768552956, + 0.018156313401114337, + 0.04107251074066486, + -0.016741992915152795, + 0.05403964507242312, + 1.0 + ], + [ + 0.0014506003112264524, + -0.0030682200431875815, + 0.004025350916677883, + 0.01836096686395232, + -0.003955524715327419, + 0.020959167399089627, + 1.0 + ], + [ + -0.002306665999804917, + 0.0022370447785800495, + 0.0041016946637068945, + -0.006359201368063141, + 0.0016116375992834575, + 0.01256792358636979, + 1.0 + ], + [ + -0.004660055984099496, + -0.003374944659540713, + -0.012397799055373148, + 0.0009156485058655267, + 0.04060981478424373, + -0.014755157486379136, + 0.0 + ], + [ + -0.0033398324581065367, + -0.004607771474530177, + -0.003098789917865986, + -0.008347998745637497, + 0.01433888261676035, + -0.003950805877817969, + 0.0 + ], + [ + -0.006706347777655593, + -0.006878901537800654, + -0.005434789755037687, + -0.009230891801926877, + 0.00022658712490161007, + -0.004994323768033964, + 0.0 + ], + [ + -0.008613192188824902, + -0.01093313578242629, + -0.00899388237619273, + -0.013028533977538325, + 0.021936582686192297, + -0.02174489212167893, + 0.0 + ], + [ + -0.007407479233273939, + -0.01292930848995424, + -0.026733524723913032, + 0.01540489905055684, + 0.04133703466211921, + -0.013527617655883045, + 0.0 + ], + [ + -0.007653607930390637, + 0.00027599883989494885, + -0.04209487834071988, + 0.031506424790710585, + 0.08619169190111045, + 0.005913594972799015, + 0.0 + ], + [ + -0.004527993129088808, + 0.04227505048609563, + -0.02443461053790541, + -0.039197230779378145, + 0.06226576860865698, + 0.06178212317399623, + 0.0 + ], + [ + -0.002392018267059689, + 0.052847300302859064, + -0.009466884593535079, + -0.08397551914288712, + 0.020952936364370973, + 0.11347671987218817, + 0.0 + ], + [ + -0.005274250006675873, + 0.04722512303011889, + 0.011665155965426121, + -0.07020536768618753, + -0.01883610326957848, + 0.045711434283445644, + 0.0 + ], + [ + 0.004761361457059704, + 0.05009531643976375, + 0.012802314362442028, + -0.016595128344866258, + -0.03833187318148201, + 0.052154757267646186, + 0.0 + ], + [ + -0.007255683451359724, + 0.012814294854628107, + 0.01321575783001029, + -0.005091906239597483, + -0.05000816942958349, + -0.01129084835746172, + 0.0 + ], + [ + -0.011125238932784073, + 0.00198529411189389, + 0.017536032644212433, + -0.008603151095585286, + -0.07793336426122582, + -0.018442191910772263, + 0.0 + ], + [ + -0.012561908812963454, + -0.0021627277679336717, + 0.010302667728059937, + 0.011703275328931327, + -0.047939766271945926, + -0.016939085451071038, + 0.0 + ], + [ + -0.01033957919571507, + -0.005218267520871068, + 0.006033509045478279, + 0.007692105652617135, + -0.033784998649956655, + -0.018118325915741064, + 0.0 + ], + [ + -0.0019094855101479415, + 0.005297356114448409, + 0.0018378742787995214, + -0.03807242586286413, + -0.006001769358482417, + 0.0030537779486334276, + 0.0 + ], + [ + 0.0032187838506455443, + 0.013587528486830973, + 0.0012267334599939505, + -0.01925912537535783, + 0.002325319037134178, + 0.031270143062185736, + 1.0 + ], + [ + 0.0028111855627026877, + 0.006493743166394266, + -0.004270489615989846, + -0.03714959762985041, + 0.026627494333940297, + -0.010203918668840304, + 1.0 + ], + [ + -0.00746348834894784, + 0.01212258999360517, + -0.04009468428596085, + 0.005954257075689091, + 0.08398693708103733, + -0.038466099783806766, + 1.0 + ], + [ + -0.004120493885864044, + -0.007151912255535107, + -0.04294413620273795, + 0.07314176311055384, + 0.0648965717161095, + -0.1168476605421473, + 1.0 + ], + [ + -0.004236413023360656, + -0.022453609462002984, + -0.030258231893815487, + 0.06608557366299525, + 0.0329404406819918, + -0.19511470915512233, + 1.0 + ], + [ + 0.002860629825017427, + -0.020099123587559248, + 0.005505646069925545, + -0.008565321652573558, + -0.053869950761840195, + -0.14839499416141788, + 1.0 + ], + [ + -0.0011544181448009218, + -0.00938232219490385, + 0.016100448661138553, + 0.007510351962463548, + -0.048805431789922464, + -0.019472542911120393, + 1.0 + ], + [ + 0.00047062124196940784, + -0.00798056396357558, + 0.010120432217398936, + -0.02745194058233205, + -0.004052830944416534, + 0.030448599138017642, + 1.0 + ], + [ + 0.007955760931042137, + -0.00129161445698059, + 0.01101247950760072, + -0.09006975252117046, + -0.016308098651920403, + 0.17562961004023625, + 1.0 + ], + [ + 0.00013529480377083791, + -0.0003379652122945261, + -0.00012886207999762613, + -0.003917297071291848, + 0.0008248792832358312, + 0.007629491690812392, + 1.0 + ] + ], + "state": [ + [ + 0.28500640392303467, + -0.023101940751075745, + 0.12084418535232544, + 3.0426974167400083, + -0.09320852160453796, + -0.08514095842838289, + 1.0 + ], + [ + 0.2852487564086914, + -0.02309582754969597, + 0.12086423486471176, + 3.042562725143977, + -0.09442283958196639, + -0.08192320168018341, + 1.0 + ], + [ + 0.28482043743133545, + -0.022440360859036446, + 0.1134398877620697, + 3.0424013828211507, + -0.06694023311138153, + -0.0826016217470169, + 1.0 + ], + [ + 0.30092450976371765, + -0.0011741267517209053, + 0.10897943377494812, + 3.0681581666045865, + -0.046474069356918335, + -0.0534803681075573, + 1.0 + ], + [ + 0.3174154758453369, + 0.028840405866503716, + 0.1189299076795578, + 3.0908932109647473, + -0.068468801677227, + 0.0018284424440935254, + 1.0 + ], + [ + 0.3312453627586365, + 0.05302475765347481, + 0.1158495545387268, + 3.10083373461897, + -0.09326674789190292, + 0.04081142321228981, + 1.0 + ], + [ + 0.34757542610168457, + 0.058333124965429306, + 0.08644548058509827, + -3.1405429131169846, + -0.07922083884477615, + 0.0027114320546388626, + 1.0 + ], + [ + 0.3617517054080963, + 0.06225524842739105, + 0.053175926208496094, + -3.0804144350164613, + -0.047443848103284836, + -0.058957602828741074, + 1.0 + ], + [ + 0.36725109815597534, + 0.07011674344539642, + 0.03570488095283508, + -3.0369097014241895, + -0.027364308014512062, + -0.11188329756259918, + 1.0 + ], + [ + 0.3691798746585846, + 0.07339392602443695, + 0.03206323832273483, + -3.018010737495967, + -0.02123481221497059, + -0.13231875002384186, + 1.0 + ], + [ + 0.36675918102264404, + 0.0719866156578064, + 0.027669072151184082, + -3.0241106544905385, + -0.021283278241753578, + -0.14499235153198245, + 1.0 + ], + [ + 0.3621557652950287, + 0.0745774358510971, + 0.04027494415640831, + -3.0233143140845975, + -0.06334143131971358, + -0.1350901424884796, + 0.0 + ], + [ + 0.3591928780078888, + 0.07922876626253128, + 0.04367714375257492, + -3.0317920466237744, + -0.07804617285728456, + -0.13285250961780548, + 0.0 + ], + [ + 0.352916955947876, + 0.08636490255594254, + 0.04929138347506523, + -3.0414105897122106, + -0.07881771773099898, + -0.127897709608078, + 0.0 + ], + [ + 0.34488919377326965, + 0.09745824337005615, + 0.05862429738044739, + -3.055972749488898, + -0.10280402004718779, + -0.10835815966129303, + 0.0 + ], + [ + 0.33587974309921265, + 0.10909666121006012, + 0.085458904504776, + -3.0415297393971166, + -0.14514122903347015, + -0.09832025319337845, + 0.0 + ], + [ + 0.3218788504600525, + 0.10597621649503708, + 0.12576858699321747, + -3.0075036754184445, + -0.2302944213151932, + -0.11317463964223863, + 0.0 + ], + [ + 0.30818799138069153, + 0.06207937002182007, + 0.14280854165554047, + -3.0302453880482396, + -0.2831747233867645, + -0.18550464510917664, + 0.0 + ], + [ + 0.29507866501808167, + 0.01003236509859562, + 0.14553537964820862, + -3.0814501364999494, + -0.2894877791404724, + -0.3056144416332245, + 0.0 + ], + [ + 0.2802283465862274, + -0.033977385610342026, + 0.13014981150627136, + -3.1385370717668017, + -0.2676461338996887, + -0.3517453670501709, + 0.0 + ], + [ + 0.2705093324184418, + -0.08373107016086578, + 0.11891494691371918, + -3.1410098524116954, + -0.2287878394126892, + -0.4051368236541748, + 0.0 + ], + [ + 0.2617233395576477, + -0.09389771521091461, + 0.10439072549343109, + 3.1344753681966147, + -0.178771510720253, + -0.39364784955978394, + 0.0 + ], + [ + 0.2536807954311371, + -0.09284224361181259, + 0.0851702094078064, + 3.1226551608466586, + -0.10068037360906601, + -0.3757255375385285, + 0.0 + ], + [ + 0.2437431812286377, + -0.08680743724107742, + 0.07361820340156555, + 3.132725993292876, + -0.05241554602980614, + -0.3596945106983185, + 0.0 + ], + [ + 0.23619458079338074, + -0.07845108211040497, + 0.06700530648231506, + 3.139480822375514, + -0.018462924286723137, + -0.34188374876976013, + 0.0 + ], + [ + 0.23265038430690765, + -0.08281673491001129, + 0.06514368206262589, + 3.101464985060044, + -0.01246753055602312, + -0.3449503779411316, + 0.0 + ], + [ + 0.23107974231243134, + -0.09673108905553818, + 0.06450320780277252, + 3.082613593088933, + -0.016039187088608745, + -0.37610593438148504, + 1.0 + ], + [ + 0.23133623600006104, + -0.1035313531756401, + 0.069193534553051, + 3.0452584271603307, + -0.04201781004667282, + -0.364343523979187, + 1.0 + ], + [ + 0.21983124315738678, + -0.10793033242225647, + 0.10991857200860977, + 3.0490131994062146, + -0.12187079340219498, + -0.3177691698074341, + 1.0 + ], + [ + 0.21454982459545135, + -0.094517283141613, + 0.151204451918602, + 3.1075914074950894, + -0.17479406297206881, + -0.19373254477977753, + 1.0 + ], + [ + 0.2099439948797226, + -0.06969697773456573, + 0.17949599027633667, + 3.1397452943543946, + -0.19772584736347198, + 0.006249831058084965, + 1.0 + ], + [ + 0.21371208131313324, + -0.04958411678671837, + 0.17462316155433655, + 3.1018761118226728, + -0.14140789210796356, + 0.1558312475681305, + 1.0 + ], + [ + 0.21351900696754456, + -0.040771663188934326, + 0.15816447138786316, + 3.106865922110625, + -0.09184614568948746, + 0.17340189218521118, + 1.0 + ], + [ + 0.2136039286851883, + -0.03301633521914482, + 0.14786002039909363, + 3.082244461523839, + -0.08880973607301712, + 0.1427101343870163, + 1.0 + ], + [ + 0.22232912480831146, + -0.031119951978325844, + 0.1375395655632019, + 3.008694039779254, + -0.08151426166296007, + -0.0341593399643898, + 1.0 + ], + [ + 0.22246916592121124, + -0.03077247180044651, + 0.13763324916362762, + 3.0053893645578107, + -0.0833405554294586, + -0.041638202965259545, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.04773181676864624, + 0.3068010210990906, + 0.6142202019691467, + 0.8323958069086075, + 0.9247331991791725, + 0.9319662973284721, + 0.9343810677528381, + 0.9379071295261383, + 0.9379071295261383, + 0.9379071295261383, + 0.940758541226387, + 0.9410393536090851, + 0.9410393536090851, + 0.9413194209337234, + 0.9413194209337234, + 0.9247331991791725, + 0.7744622230529785, + 0.5100907981395721, + 0.196363627910614, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2386", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2386/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2392.json b/annotation/test/2392.json new file mode 100644 index 0000000000000000000000000000000000000000..2b66d97f1878dabf06c476640937035743b6cd3b --- /dev/null +++ b/annotation/test/2392.json @@ -0,0 +1,888 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Put the blue cube to the right of the metal pot." + ], + "videos": [ + { + "video_path": "videos/test/2392/rgb.mp4" + } + ], + "action": [ + [ + -0.00046853578485969336, + -7.633217205825167e-05, + 0.0003022022385018154, + 0.00011014492367454792, + -0.001514768653983117, + -0.0017498002823044538, + 1.0 + ], + [ + -0.0047499675507947725, + -0.0019181280130691953, + 0.009681554293524379, + 0.0036795605935421327, + -0.03183738492190226, + -0.006720269490459483, + 1.0 + ], + [ + -0.011701731538447203, + -0.01969917023089103, + 0.00483190705963844, + 0.03942861855202729, + -0.02403843064213219, + -0.041072787243503564, + 1.0 + ], + [ + -0.006984677001147274, + -0.021885573827937974, + -0.00633841213765672, + 0.04878386272185933, + 0.027263356950551636, + -0.027770888749847632, + 1.0 + ], + [ + -0.008511373237414056, + -0.027501360499649546, + 0.0006331827350844363, + 0.04770654539406577, + 0.0004958863951992445, + -0.05126064286077239, + 1.0 + ], + [ + -0.009657188223649575, + -0.018560516766375112, + 0.008054729784131553, + 0.03416363472474808, + -0.0017642595295726895, + -0.029818758194427832, + 1.0 + ], + [ + -0.009339766330468376, + -0.011499182147741897, + 0.008545041394941461, + 0.018304721235019705, + 0.00912346870104599, + -0.03390222922808553, + 1.0 + ], + [ + -0.01162186831932246, + -0.0043567562621845655, + 0.008406173196216681, + -0.0009186470794916795, + 0.009764658659758745, + -0.037968651425963465, + 1.0 + ], + [ + -0.008908769466295385, + -0.011214335366954008, + 0.007951529741954228, + 0.004136881352231533, + 0.008233413101806192, + -0.05744402044687748, + 1.0 + ], + [ + 0.002736318861790351, + -0.005736088156662817, + 0.004071184852199672, + 0.004044592719391248, + 0.015098486074695936, + -0.03391452618567215, + 1.0 + ], + [ + -0.0010256266919556956, + -0.010375837001309476, + 0.009981220363804022, + 0.008622323437524278, + -0.011137418377271564, + -0.050010471714467084, + 1.0 + ], + [ + -0.0009820827521230576, + -0.004678675170890258, + 0.014429524256874578, + 0.02349176535612713, + -0.030592173561662078, + -0.010168806307129647, + 1.0 + ], + [ + 0.0040480060069613575, + -0.0002136264409653478, + 0.005868795446893603, + 0.00517606891194339, + 0.005121977012409205, + -0.02342830308544736, + 1.0 + ], + [ + -0.002663880893720624, + 0.010354788289567318, + 0.005581919958282301, + 0.004734965785913014, + -0.009305834464889532, + 0.025774932616118282, + 1.0 + ], + [ + -0.002836726611340991, + 0.00608680272468312, + 0.0011856823991661769, + -0.0021035163639410597, + -0.003447647209237168, + -0.0020137752763682605, + 1.0 + ], + [ + -0.006235845949648929, + 0.007719831222937951, + 0.0016672243873240588, + -0.0028975221511448102, + -0.011195585538646746, + 0.02849208497455351, + 1.0 + ], + [ + -0.002924015565604856, + 0.002005684370472111, + 0.0013101479446390343, + 0.006914703968105539, + -6.498134759332002e-05, + 0.022791554319413744, + 1.0 + ], + [ + -0.002028312330919441, + 0.0007497931861627993, + -0.0005369321918819096, + 0.007792479268361133, + 0.0019758751918854253, + -0.0015611022842711958, + 0.0 + ], + [ + -0.0002710123130625916, + 0.0008899425226891861, + -0.0010294432425411635, + -0.006133232566592074, + 0.0001958138797923221, + -8.85796061889361e-07, + 0.0 + ], + [ + 0.001551548021456552, + 0.0021406905703109753, + -0.008129148307425171, + -0.014543112332907284, + 0.009539304244302198, + 0.001483815130140951, + 0.0 + ], + [ + 0.011262376609412464, + 0.0036348771950769822, + -0.01866418893201031, + -0.017690139819217125, + 0.03410351946859068, + -0.008013904861800418, + 0.0 + ], + [ + 0.010988380716564786, + 0.01685668553276652, + -0.025894266671310482, + -0.03080269986333133, + 0.05658596599986411, + 0.02433408740820372, + 0.0 + ], + [ + 0.0010661388922034378, + 0.026764378592422304, + -0.016155176252507022, + -0.036688231855040054, + 0.027408656035875372, + 0.06923458957700254, + 0.0 + ], + [ + -0.0021619326512484706, + 0.03812129865145398, + -0.006246405759964851, + -0.04612991577215535, + 0.0023532878382302256, + 0.08834474714458079, + 0.0 + ], + [ + 0.0035944506921784776, + 0.03924614752268777, + -0.007576501107281312, + -0.04634931110220433, + 0.02714692724360314, + 0.08076314134888958, + 0.0 + ], + [ + -0.006999691672895435, + 0.03671734328057989, + 0.008977883022103306, + -0.029141224227915055, + -0.011778445022672893, + 0.11417236092329855, + 0.0 + ], + [ + -0.007937960544520128, + 0.0223069455363961, + 0.013326728479081656, + -0.026518234988488106, + -0.021277292764927055, + 0.05655476226115783, + 0.0 + ], + [ + -0.008270976000227196, + 0.02215450595979919, + 0.014751314407746983, + -0.02542944708371553, + -0.011218370423412637, + 0.06815011643186185, + 0.0 + ], + [ + -0.008110590786149776, + 0.012221543548619785, + 0.01597103023631635, + -0.018249321893999113, + -0.015758437135407265, + 0.05234684029480075, + 0.0 + ], + [ + -0.005116035796065792, + 0.0030571710448085996, + 0.013133324148225371, + 0.004977223455994764, + -0.018466841030511997, + 0.031814693915374094, + 0.0 + ], + [ + -0.003071788667072584, + 0.0013338663387769296, + 0.01215438494025419, + 0.0065350015015156, + -0.023168367171636037, + 0.013320291747860416, + 0.0 + ], + [ + -0.0027509511420110684, + -0.00038149588686377445, + 0.01419066287525012, + 0.006223228470871837, + -0.02041940752643913, + 0.02515692395601796, + 0.0 + ], + [ + 0.007082872955821159, + 0.0010103597982812035, + 0.007291172947045075, + 0.002976866395334588, + 0.005546136275861492, + 0.009687824688709894, + 0.0 + ], + [ + 0.0074791034295728425, + 0.00506425819871335, + 0.005225382136871921, + -0.0009560574647522327, + 0.0037229454522248327, + 0.01496439353317624, + 0.0 + ], + [ + 0.0004635939064657447, + 0.003646294891776751, + -0.002147879994574614, + 0.02190039600395865, + -0.02365468469642173, + -0.006329211784970745, + 0.0 + ], + [ + -0.003446754613410145, + -0.0008370356008210359, + 0.0012735248421433011, + 0.004272777115220313, + -0.013047389791722614, + -0.007356063271431329, + 1.0 + ], + [ + -0.006416411227976122, + -0.0006905572455721364, + 0.001642540173660338, + 0.0037129007932795266, + -0.0178486247225102, + -0.005083698178489063, + 1.0 + ], + [ + -0.0013941635855558336, + 0.0015151688726324176, + -0.011066865346900441, + -0.044906272733694214, + 0.025712265843155956, + -0.03584452696426202, + 1.0 + ], + [ + 0.010532413811167604, + -0.007349641931492976, + -0.033935811054765765, + -0.024791128961388253, + 0.0569336233255223, + -0.021502954511855788, + 1.0 + ], + [ + 0.004417435913652243, + -0.0056666481728702, + -0.0361632432191654, + -0.0067908788969282975, + 0.04224621806301623, + -0.015937790471516295, + 1.0 + ], + [ + 2.5734755261483333e-05, + -0.008147216133141146, + -0.029428437156177552, + 0.0075654464511897505, + 0.03795878698731938, + -0.022398214051064617, + 1.0 + ], + [ + -0.004669893690239635, + -0.0068073209488255385, + -0.022550428517970022, + 0.007295065611896384, + 0.02217365402834262, + -0.019596670817555655, + 1.0 + ], + [ + -0.0007605154570151904, + -0.0003612868098600586, + -0.00019282432689453062, + 0.001758041568550617, + -0.002713206288208354, + 0.0011436520390402701, + 1.0 + ], + [ + -0.0002761959368510801, + 9.576711894506829e-05, + -2.8439583410485157e-07, + -0.0006019179998720766, + -0.0017423927961687177, + -0.001143165529493077, + 1.0 + ], + [ + 4.097060685768947e-05, + -0.00015699280649451487, + -7.457921924822425e-08, + 0.000990316831282621, + 0.00025716139973340436, + 0.0011430326382168752, + 1.0 + ] + ], + "state": [ + [ + 0.3500766456127167, + 0.04524346441030502, + 0.14260932803153992, + 2.9741309752040586, + -0.3540238142013549, + 0.26663929224014277, + 1.0 + ], + [ + 0.3497500419616699, + 0.0451800599694252, + 0.1421554684638977, + 2.9736971129947385, + -0.3522381782531739, + 0.26820847392082214, + 1.0 + ], + [ + 0.34866073727607727, + 0.045164112001657486, + 0.13125652074813843, + 2.976817103224345, + -0.31972530484199524, + 0.26958101987838745, + 1.0 + ], + [ + 0.3354119062423706, + 0.060841578990221024, + 0.11998617649078369, + 3.004317732649394, + -0.2890574634075165, + 0.3077229857444764, + 1.0 + ], + [ + 0.3213101327419281, + 0.08001817017793655, + 0.12114283442497253, + 3.04376211960847, + -0.31211858987808233, + 0.34054040908813477, + 1.0 + ], + [ + 0.30551424622535706, + 0.10339271277189255, + 0.11537308990955353, + 3.07515228738124, + -0.3071874678134918, + 0.3941143751144409, + 1.0 + ], + [ + 0.2926967740058899, + 0.11754032224416733, + 0.10361765325069427, + 3.099956376599618, + -0.30330854654312134, + 0.4251680076122284, + 1.0 + ], + [ + 0.28243783116340637, + 0.12511685490608215, + 0.09222333878278732, + 3.107540289061614, + -0.310829222202301, + 0.46114405989646917, + 1.0 + ], + [ + 0.27306026220321655, + 0.12499991059303284, + 0.0805288776755333, + 3.0943178703361234, + -0.31905990839004517, + 0.501457154750824, + 1.0 + ], + [ + 0.2627688944339752, + 0.13170427083969116, + 0.06968943029642105, + 3.0794263948970517, + -0.3240189850330352, + 0.5623995661735535, + 1.0 + ], + [ + 0.2632358968257904, + 0.1384669691324234, + 0.06637091934680939, + 3.07176914264495, + -0.3367776870727539, + 0.5992544293403625, + 1.0 + ], + [ + 0.25990578532218933, + 0.14788369834423065, + 0.05595121532678604, + 3.063370408611842, + -0.32175973057746887, + 0.6510207056999205, + 1.0 + ], + [ + 0.2607320547103882, + 0.15295937657356262, + 0.04164665564894676, + 3.0842710380726537, + -0.290456622838974, + 0.6591019034385681, + 1.0 + ], + [ + 0.26520273089408875, + 0.15626713633537292, + 0.03718050196766853, + 3.082376042502471, + -0.29414418339729315, + 0.683847963809967, + 1.0 + ], + [ + 0.27108022570610046, + 0.14729632437229156, + 0.03166186809539795, + 3.095070542889186, + -0.2862755358219147, + 0.6564532518386841, + 1.0 + ], + [ + 0.27287063002586365, + 0.140930637717247, + 0.029996180906891823, + 3.092422453808137, + -0.2827374637126922, + 0.6583810448646545, + 1.0 + ], + [ + 0.27318546175956726, + 0.13132257759571075, + 0.0270217452198267, + 3.0979450439387044, + -0.2728337347507477, + 0.6282602548599243, + 1.0 + ], + [ + 0.2723848521709442, + 0.12819361686706543, + 0.025057628750801086, + 3.111244151490279, + -0.2736906409263611, + 0.6046070456504822, + 1.0 + ], + [ + 0.27107056975364685, + 0.12639442086219788, + 0.025048017501831055, + 3.1185814776741942, + -0.2756178677082062, + 0.6062909364700318, + 0.0 + ], + [ + 0.2711150050163269, + 0.12537138164043427, + 0.025984294712543488, + 3.112446719902106, + -0.27581360936164856, + 0.6062965393066407, + 0.0 + ], + [ + 0.27159371972084045, + 0.12338772416114807, + 0.03428542986512184, + 3.0982443449371537, + -0.2853918969631195, + 0.6050406098365785, + 0.0 + ], + [ + 0.2777334153652191, + 0.12420181930065155, + 0.055499736219644547, + 3.077718714373656, + -0.31910276412963867, + 0.6150239706039429, + 0.0 + ], + [ + 0.288110613822937, + 0.11295977234840393, + 0.08450552076101303, + 3.053800957398959, + -0.3770544230937958, + 0.592830002307892, + 0.0 + ], + [ + 0.2974065840244293, + 0.08878328651189804, + 0.10204236209392548, + 3.0439777617626866, + -0.40953487157821655, + 0.5202888250350952, + 0.0 + ], + [ + 0.3108128309249878, + 0.05344013869762421, + 0.11029217392206192, + 3.0364073162251195, + -0.4188005328178406, + 0.424276202917099, + 0.0 + ], + [ + 0.3252253532409668, + 0.01799694262444973, + 0.12240178138017654, + 3.0253477116399488, + -0.4529123604297638, + 0.33814650774002075, + 0.0 + ], + [ + 0.3336547613143921, + -0.018801366910338402, + 0.11514982581138611, + 3.0526781996064862, + -0.4512248635292053, + 0.21055075526237488, + 0.0 + ], + [ + 0.3363759517669678, + -0.04215048998594284, + 0.10152535140514374, + 3.0542630200558385, + -0.43423619866371155, + 0.14637714624404904, + 0.0 + ], + [ + 0.3376716375350952, + -0.06556861102581024, + 0.08646728843450546, + 3.0608607550435742, + -0.427903413772583, + 0.07067375630140305, + 0.0 + ], + [ + 0.3374432623386383, + -0.07908819615840912, + 0.069514699280262, + 3.0669512321525296, + -0.4157679677009582, + 0.012249134480953217, + 0.0 + ], + [ + 0.3380099833011627, + -0.08310959488153458, + 0.0556759312748909, + 3.0864671674841127, + -0.39948442578315735, + -0.02367931604385376, + 0.0 + ], + [ + 0.33982375264167786, + -0.08515463024377823, + 0.04336852580308914, + 3.099090865003415, + -0.3770407140254974, + -0.03935338929295539, + 0.0 + ], + [ + 0.3424810767173767, + -0.08548122644424438, + 0.029158664867281914, + 3.1155380719625434, + -0.3575756847858429, + -0.0671059861779213, + 0.0 + ], + [ + 0.3515566885471344, + -0.087293840944767, + 0.024834683164954185, + 3.122087974222847, + -0.36335527896881104, + -0.07731227576732635, + 0.0 + ], + [ + 0.3599439263343811, + -0.09312425553798676, + 0.022701885551214218, + 3.126803720491477, + -0.36732715368270874, + -0.09326540678739548, + 0.0 + ], + [ + 0.3592509329319, + -0.09668934345245361, + 0.02492307499051094, + -3.136765388427772, + -0.34357464313507075, + -0.08691744506359102, + 0.0 + ], + [ + 0.35651707649230957, + -0.09560475498437881, + 0.022566741332411766, + -3.1351344647170087, + -0.33055311441421503, + -0.07907450944185257, + 1.0 + ], + [ + 0.3510523736476898, + -0.0944683849811554, + 0.01893482357263565, + -3.133194009894975, + -0.31273308396339417, + -0.07361148297786714, + 1.0 + ], + [ + 0.34621956944465637, + -0.09572441875934601, + 0.02902349643409252, + 3.093463948118039, + -0.33853849768638605, + -0.035852011293172836, + 1.0 + ], + [ + 0.3453367054462433, + -0.08671319484710693, + 0.06416046619415283, + 3.059897707896777, + -0.39426639676094055, + -0.00966059882193804, + 1.0 + ], + [ + 0.33583128452301025, + -0.07802214473485947, + 0.09870778769254684, + 3.0448602010780057, + -0.43499204516410833, + 0.011640820652246475, + 1.0 + ], + [ + 0.32371628284454346, + -0.06721106171607971, + 0.1245681419968605, + 3.0401164834671697, + -0.47045111656188965, + 0.04074732586741448, + 1.0 + ], + [ + 0.3093397319316864, + -0.05873296037316322, + 0.14183388650417328, + 3.036239134269305, + -0.49040424823760975, + 0.06538968533277512, + 1.0 + ], + [ + 0.3085732161998749, + -0.05840278044342995, + 0.14161133766174316, + 3.038755403953143, + -0.48782581090927124, + 0.06377920508384705, + 1.0 + ], + [ + 0.30833107233047485, + -0.05851367115974426, + 0.14149081707000732, + 3.037645423906394, + -0.4859750270843506, + 0.0648629367351532, + 1.0 + ], + [ + 0.3083646595478058, + -0.05835500732064247, + 0.14149561524391174, + 3.0392223467403134, + -0.48634907603263855, + 0.06360714137554169, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.06011873483657837, + 0.34991633892059326, + 0.494731068611145, + 0.494731068611145, + 0.494731068611145, + 0.494731068611145, + 0.494731068611145, + 0.494731068611145, + 0.494731068611145, + 0.494731068611145, + 0.494731068611145, + 0.494731068611145, + 0.494731068611145, + 0.494731068611145, + 0.494731068611145, + 0.494731068611145, + 0.494731068611145, + 0.494731068611145, + 0.4140920639038086, + 0.11291307210922241, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2392", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2392/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2407.json b/annotation/test/2407.json new file mode 100644 index 0000000000000000000000000000000000000000..564050dfaec152d81a6cd6a6aa1ace70e99d8d88 --- /dev/null +++ b/annotation/test/2407.json @@ -0,0 +1,508 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put sushi in pot cardboard fence" + ], + "videos": [ + { + "video_path": "videos/test/2407/rgb.mp4" + } + ], + "action": [ + [ + -4.452906578374189e-05, + -6.67137445000269e-05, + 0.000514696152038071, + 0.0012533986170495718, + -0.0008843449449260547, + -6.70188282711328e-06, + 1.0 + ], + [ + -0.004256086014381141, + -0.005003354406370406, + 0.011573246939520216, + 0.03178240481305584, + -0.026844640031256774, + -0.010560127689557646, + 1.0 + ], + [ + -0.011689917187221097, + -0.004639707414433182, + 0.0065711901690583335, + 0.006516833379056629, + -0.05491337556035104, + -0.08383626688599966, + 1.0 + ], + [ + -0.00786441563906979, + -0.012554135262339897, + -0.0018305373274824094, + -0.030551951629974233, + 0.005159021966443827, + -0.06432155024612984, + 1.0 + ], + [ + -0.007649221490991616, + -0.014521072380755236, + 0.006640370081089671, + -0.0014341910529285101, + 0.03331034554847506, + -0.12242396266089674, + 1.0 + ], + [ + -0.008821493123716363, + -0.00916222666567206, + 0.007378011529091898, + 0.018408497587681878, + 0.027251151902749484, + -0.06354218834611494, + 1.0 + ], + [ + -0.0019048166587967853, + -0.005502884695070212, + 0.007753750407456712, + -0.041362468176488115, + 0.023762582313265865, + -0.04047915151067887, + 1.0 + ], + [ + 0.0014914138325930484, + 0.0016655676189742397, + 0.007515373755879426, + -0.02778453829406102, + 0.012691634276100063, + -0.014270829769370833, + 1.0 + ], + [ + -9.031033280980448e-05, + -0.0003052714009630998, + 0.012680578939861046, + -0.007896172076870905, + 0.01836463372935813, + -0.007525967298571997, + 1.0 + ], + [ + 0.0011066110741411528, + 0.0016547013792881972, + 0.0073884464844837915, + -0.004223045400413233, + 0.005627695944326468, + -0.007255846293348997, + 1.0 + ], + [ + -0.00016243184612763908, + -0.004619354551701603, + 0.004899019447015141, + 0.023119479412039623, + -0.02215545641716367, + 0.010609044769783771, + 0.0 + ], + [ + -0.003463712430973244, + -0.0059087408359474935, + -0.007654003188171013, + 0.018139320400725596, + -0.04359581772171588, + 0.0097928117497444, + 0.0 + ], + [ + -0.0033117350087562536, + 0.010073995005866419, + -0.03458049933816345, + -0.05481903407804841, + -0.04222601482046173, + -0.03433495157040004, + 0.0 + ], + [ + -0.0017795145134509103, + 0.01396194558890727, + -0.03707375771993947, + -0.041034884735035006, + -0.034067603786006026, + -0.0446357304602197, + 0.0 + ], + [ + 0.00995350577634119, + 0.007450438440594689, + -0.015667043529949756, + -0.00796991282149933, + -0.0036377549901166727, + -0.04471879019920891, + 0.0 + ], + [ + 0.02154016509152285, + 0.0063846601257538625, + 0.00867235381117705, + -0.007245184716636821, + 0.05988193464553437, + -0.016161724863238646, + 0.0 + ], + [ + 0.020790685772933897, + 0.006792969168116497, + 0.015070390045109627, + 0.008606151879652281, + 0.05026310343913271, + -0.008492273343577808, + 0.0 + ], + [ + 0.02064179722167829, + 0.004808310967050934, + 0.020057586213838765, + 0.016840062489983088, + 0.05255821677630613, + -0.005949544952813528, + 0.0 + ], + [ + 0.013306935301499458, + 0.0011860030100267786, + 0.018263539476677994, + 0.02179662666168414, + 0.05815878566145756, + 0.012835328527508707, + 0.0 + ], + [ + 0.007509857668239909, + -0.0035782587080188527, + 0.0051041419715449655, + 0.00342439464952094, + 0.05517331601098803, + 0.028727794308510857, + 1.0 + ], + [ + -0.003910327895456918, + -0.0051862364330357265, + 0.0005522953530800667, + 0.02813658597546531, + -0.02903774126980639, + -0.001052246158557451, + 1.0 + ], + [ + -0.0007176888168135437, + 0.0027062329173009715, + -0.023634946906665906, + -0.006279236566291636, + -0.051766361956403634, + -0.025051894834222425, + 1.0 + ], + [ + -0.002103562106626916, + 0.006328053044113895, + -0.029562593180684937, + -0.014992190288563275, + -0.033830793131410346, + -0.01263748274004503, + 1.0 + ], + [ + -0.0002785543412838614, + 0.0032811103473276747, + -0.022367709325714996, + -0.006807109851171982, + -0.01063415095163474, + 0.006529216621457398, + 1.0 + ], + [ + -0.00019794079474988593, + -0.0010894532250626376, + -0.0010000189049607035, + 0.004514214969109815, + -0.000903583497905928, + -9.07173971127164e-05, + 1.0 + ] + ], + "state": [ + [ + 0.33775264024734497, + -0.0037486026994884014, + 0.07570210844278336, + 3.0978926328294953, + -0.025883790105581284, + 0.9476085305213928, + 1.0 + ], + [ + 0.3376986086368561, + -0.0037481056060642004, + 0.07518400996923447, + 3.0991468412154397, + -0.02499999664723873, + 0.9475765824317932, + 1.0 + ], + [ + 0.3317267894744873, + -0.004333005286753178, + 0.06330616772174835, + 3.130680564912506, + 0.0022696582600474358, + 0.9569844007492065, + 1.0 + ], + [ + 0.3212509751319885, + -0.011270331218838692, + 0.056711290031671524, + 3.1374077718989035, + 0.058085665106773376, + 1.0402287244796753, + 1.0 + ], + [ + 0.30649563670158386, + -0.011596578173339367, + 0.058942828327417374, + 3.1106023975932082, + 0.05307538434863091, + 1.1046613454818726, + 1.0 + ], + [ + 0.29011183977127075, + -0.012325260788202286, + 0.05227148160338402, + 3.115917943539568, + 0.023161407560110092, + 1.228031039237976, + 1.0 + ], + [ + 0.2786405384540558, + -0.01778269186615944, + 0.044867031276226044, + 3.1358561260909816, + -0.0024983705952763557, + 1.2922297716140747, + 1.0 + ], + [ + 0.27287420630455017, + -0.018094457685947418, + 0.03707710653543472, + 3.0943952930443963, + -0.02602635696530342, + 1.332846999168396, + 1.0 + ], + [ + 0.27523261308670044, + -0.016933422535657883, + 0.029690010473132133, + 3.0662253518872937, + -0.03802771493792534, + 1.347710371017456, + 1.0 + ], + [ + 0.275953471660614, + -0.01669565588235855, + 0.017028167843818665, + 3.057981016235896, + -0.05577204003930091, + 1.3566102981567383, + 1.0 + ], + [ + 0.2784880995750427, + -0.015704136341810226, + 0.009876642376184464, + 3.053329089778014, + -0.06077245995402336, + 1.364324927330017, + 1.0 + ], + [ + 0.2744397222995758, + -0.014693745411932468, + 0.004589396994560957, + 3.077194819348403, + -0.039633646607398994, + 1.3517969846725464, + 0.0 + ], + [ + 0.26738888025283813, + -0.01696474477648735, + 0.011704344302415848, + 3.0957763512902936, + 0.0032447008416056633, + 1.339228868484497, + 0.0 + ], + [ + 0.274908185005188, + -0.02202361822128296, + 0.046720508486032486, + 3.041045555966445, + 0.04699696972966194, + 1.371598482131958, + 0.0 + ], + [ + 0.2848813235759735, + -0.024015311151742935, + 0.0850498154759407, + 3.001969205337115, + 0.08533214032649994, + 1.412710428237915, + 0.0 + ], + [ + 0.291797399520874, + -0.013646859675645828, + 0.10069272667169571, + 2.997879924374171, + 0.09507402777671815, + 1.4566854238510132, + 0.0 + ], + [ + 0.3016677796840668, + 0.006072415970265865, + 0.09101398289203644, + 2.9927534629874906, + 0.03809580579400062, + 1.4812425374984741, + 0.0 + ], + [ + 0.31239527463912964, + 0.025436943396925926, + 0.07633578032255173, + 3.001792835193225, + -0.010356673039495945, + 1.4970821142196655, + 0.0 + ], + [ + 0.3214658498764038, + 0.045663297176361084, + 0.057358697056770325, + 3.0183134471350392, + -0.06157176196575165, + 1.510311245918274, + 0.0 + ], + [ + 0.3257521390914917, + 0.05981810763478279, + 0.04023248702287674, + 3.04024791915948, + -0.12086602300405501, + 1.504701852798462, + 0.0 + ], + [ + 0.32325097918510437, + 0.06811238825321198, + 0.03573768213391304, + 3.046361306803771, + -0.17862984538078308, + 1.481374740600586, + 1.0 + ], + [ + 0.3178340792655945, + 0.0649205818772316, + 0.03401654586195946, + 3.074765810864516, + -0.14962339401245117, + 1.4796416759490967, + 1.0 + ], + [ + 0.3185642957687378, + 0.06058420240879059, + 0.05740697309374809, + 3.0651872401409825, + -0.09626521915197372, + 1.5012480020523071, + 1.0 + ], + [ + 0.3222619295120239, + 0.05534115433692932, + 0.08702544867992401, + 3.0491904114657125, + -0.06156371533870696, + 1.5112783908843994, + 1.0 + ], + [ + 0.32336387038230896, + 0.0536055825650692, + 0.10954058170318604, + 3.0428416301780423, + -0.05157565698027611, + 1.5037862062454224, + 1.0 + ], + [ + 0.3221674859523773, + 0.05344188213348389, + 0.11041693389415741, + 3.047355743246623, + -0.05066753178834915, + 1.5037873983383179, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.06011873483657837, + 0.31980884075164795, + 0.3740283250808716, + 0.34489333629608154, + 0.34489333629608154, + 0.34489333629608154, + 0.34489333629608154, + 0.34489333629608154, + 0.34489333629608154, + 0.2749616503715515, + 0.0356978178024292, + 0.011358082294464111, + 0.012049198150634766, + 0.012049198150634766, + 0.012049198150634766, + 0.012049198150634766 + ], + "episode_id": "2407", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2407/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/241.json b/annotation/test/241.json new file mode 100644 index 0000000000000000000000000000000000000000..cd75cb7112b7c3133a732977d3c9ade807d56c48 --- /dev/null +++ b/annotation/test/241.json @@ -0,0 +1,527 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put pear in bowl" + ], + "videos": [ + { + "video_path": "videos/test/241/rgb.mp4" + } + ], + "action": [ + [ + -0.0001071678148883747, + -1.0319699800428223e-05, + 0.0012104232380147492, + 0.0019595629632297115, + -0.004161614965166205, + 0.00013397034324942868, + 1.0 + ], + [ + 0.012671058400582462, + 0.010225449004775206, + 0.010386771434874122, + 0.04022628065546032, + -0.0337992191568772, + -0.060217527233505055, + 1.0 + ], + [ + 0.026648626754370117, + 0.032053412931307326, + 0.0002018390843235546, + 0.03233139842156036, + -0.005492844576074493, + -0.061322783537750336, + 1.0 + ], + [ + 0.025371054945010987, + 0.028181346183551104, + 0.0010274707608524765, + 0.01239063908117965, + -0.011648840370073162, + -0.004465191972836231, + 1.0 + ], + [ + 0.030192246769052994, + 0.02513357831795905, + 0.005232131483556713, + -0.006488771269080331, + 0.016629022411884926, + -0.0009596846954331438, + 1.0 + ], + [ + 0.02001414417779462, + 0.01716997614568002, + 0.015450956988604832, + 0.006477389396238919, + 0.042556589883180285, + 0.018727496047134265, + 1.0 + ], + [ + 0.014275841862985918, + 0.008127584791865712, + 0.018903474274592744, + 0.013491817880361462, + 0.031290123131619475, + 0.012689725775281631, + 1.0 + ], + [ + 0.016484240677212863, + -0.0021827144190477185, + 0.0078713642806389, + -0.017886155300389325, + 0.026971954644901253, + 0.02935453570647716, + 1.0 + ], + [ + 0.016564619364369728, + -0.015598664423475083, + 0.012008516461859211, + -0.011540164165524561, + 0.021669120244455185, + 0.0141375623039102, + 1.0 + ], + [ + 0.0072188461836850855, + -0.005878985533030609, + 0.011214842259598387, + -0.02930586097368205, + 0.03237197011970952, + 0.04718285173492907, + 1.0 + ], + [ + 0.003909247876881637, + -0.008129337782767122, + 0.019921152754646627, + -0.044131781204770584, + -0.0043342297187752895, + 0.03939602626428244, + 1.0 + ], + [ + 0.006377232699182392, + -0.01365048419495277, + 0.008915763846846775, + -0.03846384958502397, + 0.010755310214693293, + 0.0018498114778631868, + 1.0 + ], + [ + -0.010282430566979608, + -0.004118279897394213, + 0.015131182498883823, + -0.015089435867230933, + -0.00965707208359669, + 0.01127116635952197, + 1.0 + ], + [ + -0.0096688690609388, + -0.0006003746965431672, + 0.010926026300013495, + -0.013023292626986599, + -0.0021285201647378658, + 0.006272401093340423, + 1.0 + ], + [ + 0.001291303616866218, + 0.0004629597635422726, + 0.0022560442228145763, + -0.012091278651870646, + 0.04122772951253591, + 0.0092589644879713, + 1.0 + ], + [ + 0.0012862380811634161, + -0.00027489664914902946, + -0.000736666971425492, + 0.012840798219173073, + 0.013310205402484098, + -0.008898323360159617, + 0.0 + ], + [ + -0.015553698578695499, + -0.0018908570369745709, + -0.008898670672650788, + 0.05227987074096863, + -0.062361010530395306, + -0.01849129192235612, + 0.0 + ], + [ + -0.0210473037229896, + -0.007332295112303531, + -0.030549156523386436, + 0.09147844087174635, + -0.017535492764920665, + -0.010089481049103899, + 0.0 + ], + [ + -0.01820991109228725, + -0.01428710708212368, + -0.03818776930850285, + 0.03695385585319845, + 0.012862418151039471, + -0.012631847876090303, + 0.0 + ], + [ + -0.031825382372997875, + -0.017472814691259494, + -0.01874035463009102, + 0.003158406693666123, + -0.02165004602846125, + -0.008479515026087986, + 0.0 + ], + [ + -0.028267323094853632, + -0.017723030995201446, + 0.00161428692240614, + 0.003984969581262057, + -0.0013585490992502182, + -0.006535793060909121, + 0.0 + ], + [ + -0.02313247762372437, + -0.01400842058588851, + -0.0006277738224083488, + -0.008046095523387559, + 0.003229852593389616, + -0.003941320318614205, + 0.0 + ], + [ + -0.01282194537136772, + -0.008142038777381408, + 0.004094153177206342, + -0.01932256457270263, + 0.015902438092707756, + -0.0026597828139303063, + 0.0 + ], + [ + -0.0017787903190723687, + -0.0036848766221294314, + 0.0008111978208660945, + -0.011375109171086088, + 0.02293587082660369, + 0.00046196944276837194, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 4.584608114868285e-10, + -7.059113505308478e-09, + 0.0015339556265110627, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 9.492556429169166e-18, + -5.25984980620004e-18, + 7.054775281723489e-18, + 1.0 + ] + ], + "state": [ + [ + 0.2492816001176834, + -0.08586020022630692, + 0.12612147629261017, + 3.1087629330628594, + -0.13919125497341156, + 0.09477973729372025, + 1.0 + ], + [ + 0.24934586882591248, + -0.08588363975286484, + 0.1249082013964653, + 3.110760087268897, + -0.13503627479076385, + 0.09450675547122954, + 1.0 + ], + [ + 0.2641894221305847, + -0.0950646698474884, + 0.11663909256458282, + -3.1401602628226435, + -0.09916137903928757, + 0.15390975773334503, + 1.0 + ], + [ + 0.295331746339798, + -0.12266986817121506, + 0.11903074383735657, + -3.113926090421625, + -0.09356937557458876, + 0.21550923585891724, + 1.0 + ], + [ + 0.32619044184684753, + -0.14472317695617676, + 0.11960247904062271, + -3.1019825433665, + -0.08204744011163712, + 0.2203108072280884, + 1.0 + ], + [ + 0.3614944517612457, + -0.16234058141708374, + 0.1158745214343071, + -3.1084905733638486, + -0.09870141744613649, + 0.22061260044574735, + 1.0 + ], + [ + 0.3861112594604492, + -0.17388269305229187, + 0.10191391408443451, + -3.0999869910352906, + -0.14059478044509888, + 0.20030359923839566, + 1.0 + ], + [ + 0.4040631055831909, + -0.17772191762924194, + 0.08487894386053085, + -3.084490696089812, + -0.17131613194942474, + 0.1861220747232437, + 1.0 + ], + [ + 0.42083483934402466, + -0.17188920080661774, + 0.08006841689348221, + -3.097022360312291, + -0.1964864432811737, + 0.154681071639061, + 1.0 + ], + [ + 0.4365835189819336, + -0.15312057733535767, + 0.07221811264753342, + -3.105540422844239, + -0.21748140454292297, + 0.13923139870166779, + 1.0 + ], + [ + 0.445042222738266, + -0.14559443295001984, + 0.06303909420967102, + -3.1241191310160836, + -0.24787268042564392, + 0.0894121453166008, + 1.0 + ], + [ + 0.4528925120830536, + -0.13638047873973846, + 0.04482655227184296, + 3.124855237203189, + -0.24265563488006592, + 0.04891112819314004, + 1.0 + ], + [ + 0.4606097638607025, + -0.12248720228672028, + 0.037483762949705124, + 3.086804838972636, + -0.25344005227088934, + 0.04718659818172455, + 1.0 + ], + [ + 0.4543524980545044, + -0.11949551105499268, + 0.0200614295899868, + 3.074761504428931, + -0.24439673125743866, + 0.0350431390106678, + 1.0 + ], + [ + 0.4476272463798523, + -0.11986198276281357, + 0.007105264347046614, + 3.063334921496459, + -0.24268673360347748, + 0.028449378907680515, + 1.0 + ], + [ + 0.4494299292564392, + -0.12044885754585266, + 0.0052674817852675915, + 3.0526820590072354, + -0.28450754284858704, + 0.022197548300027844, + 1.0 + ], + [ + 0.4504575729370117, + -0.12008673697710037, + 0.006309341639280319, + 3.0625709538632115, + -0.29696026444435114, + 0.03270158916711807, + 0.0 + ], + [ + 0.4329572916030884, + -0.11807043105363846, + 0.010097993537783623, + 3.1106421706550798, + -0.23330707848072055, + 0.04655448719859123, + 0.0 + ], + [ + 0.405117928981781, + -0.11108429729938507, + 0.03471843898296356, + -3.083326297002383, + -0.2154569923877716, + 0.05632075667381287, + 0.0 + ], + [ + 0.3783644437789917, + -0.10053449124097824, + 0.06887953728437424, + -3.0489755441718778, + -0.22901771962642672, + 0.06849905848503114, + 0.0 + ], + [ + 0.3417782485485077, + -0.08734298497438431, + 0.08140110224485397, + -3.048224138217517, + -0.20823203027248383, + 0.07917307317256927, + 0.0 + ], + [ + 0.3127913773059845, + -0.07179050892591476, + 0.07560152560472488, + -3.045642638700553, + -0.20748409628868103, + 0.08595246076583864, + 0.0 + ], + [ + 0.2886430323123932, + -0.059935957193374634, + 0.07276101410388947, + -3.054450186091014, + -0.21107530593872068, + 0.08964822441339493, + 0.0 + ], + [ + 0.27610114216804504, + -0.05256173014640808, + 0.06677946448326111, + -3.074033910530158, + -0.22714871168136597, + 0.09094697237014772, + 0.0 + ], + [ + 0.27416205406188965, + -0.0489918552339077, + 0.06583268940448761, + -3.0849242900782308, + -0.2500005960464477, + 0.08887351304292679, + 1.0 + ], + [ + 0.27416205406188965, + -0.0489918552339077, + 0.06583268940448761, + -3.0845333096855363, + -0.24991340935230255, + 0.08729291707277298, + 1.0 + ], + [ + 0.27416205406188965, + -0.0489918552339077, + 0.06583268940448761, + -3.0845333096855363, + -0.24991340935230255, + 0.08729291707277298, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.16740405559539795, + 0.25720638036727905, + 0.25720638036727905, + 0.25720638036727905, + 0.25720638036727905, + 0.25818926095962524, + 0.25818926095962524, + 0.25818926095962524, + 0.25818926095962524, + 0.04849565029144287, + 0.0072438716888427734, + 0.0072438716888427734 + ], + "episode_id": "241", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/241/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2425.json b/annotation/test/2425.json new file mode 100644 index 0000000000000000000000000000000000000000..b113183fa7bd30ab0559f67140841eaba8f394d0 --- /dev/null +++ b/annotation/test/2425.json @@ -0,0 +1,1515 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put pan on stove and put stuffedduck in pan" + ], + "videos": [ + { + "video_path": "videos/test/2425/rgb.mp4" + } + ], + "action": [ + [ + 0.00019675638504275354, + 0.00026865322814219816, + -3.4293273938922085e-07, + -0.0016948409966665804, + 0.0012399171053573822, + -0.0005454333767055625, + 1.0 + ], + [ + -0.0038948735407034352, + 0.0012048330274511507, + 0.010478320106388335, + 0.0024028815179703393, + -0.030383288913057416, + 0.002690353665430112, + 1.0 + ], + [ + -0.002171003857860927, + 0.0033570321199196916, + 0.01812846957564753, + -0.010332278474007582, + 0.022208273777488734, + -0.0030829930138229953, + 1.0 + ], + [ + -0.0026417996896776668, + 0.0026852832817603825, + 0.018749018536096167, + -0.009369467087852676, + 0.03811809031764206, + -0.012667821373548185, + 1.0 + ], + [ + -0.0023653104635978747, + 0.0010220137159461951, + 0.00726847613559218, + -0.004505079344757698, + 0.011942597813800075, + -0.0011215139353294265, + 1.0 + ], + [ + -0.0034332815661270123, + 0.0013708077090563802, + 0.007209099707050731, + -0.008144146144661704, + 0.014256898456483983, + 0.0003131078285946569, + 1.0 + ], + [ + -0.0008132232727731418, + 0.0022890928079742, + 0.015315282859939008, + -0.003644877188276333, + 0.020609278711884157, + -0.002909872900458226, + 1.0 + ], + [ + 0.0012323218961962572, + 0.0015612977506611135, + 0.008616100399738608, + -0.0003793828834039082, + 0.03105790598900846, + 0.006650807775084139, + 1.0 + ], + [ + -5.001522088029921e-05, + -0.0004719112820866849, + 0.011137423314628976, + 0.012048698555371353, + 0.02047235391497412, + 0.0104441839784651, + 1.0 + ], + [ + 0.002201996811840155, + 0.00023974132175940156, + 0.0047921334875030185, + 0.004937285095766288, + 0.02308710997613396, + 0.014215159035615868, + 1.0 + ], + [ + -0.0013563346655374074, + 0.0010368096121411232, + 0.007202274171722465, + 0.0053294735271002735, + -5.4521431095700846e-05, + 0.0013581928045834927, + 1.0 + ], + [ + -0.0039583195670828825, + 0.0019132311991698202, + -0.0002845612605484884, + 0.017417890726505326, + -0.03816629674429911, + -0.001251835172065979, + 1.0 + ], + [ + -0.0042535579483889705, + 0.0005627569268039905, + -0.004335308485764428, + -0.0005940622716682587, + -0.05903127373037078, + 0.0015778845598837573, + 0.0 + ], + [ + 0.0013838559216611084, + 0.00015002422085152791, + -0.003448319425356398, + 0.0020318436538913076, + -0.014093253784522123, + -0.004133502812450812, + 0.0 + ], + [ + 0.0018889912918715803, + 0.0020584835676761373, + -0.007620538286163571, + -0.01693787200266442, + -0.03644801048565066, + 0.006700788439942618, + 0.0 + ], + [ + -0.0011105961402802843, + -0.00012302971609264273, + -0.0074307879861932255, + -0.0012991217055251922, + -0.0464848157193408, + 0.03161156764825495, + 0.0 + ], + [ + -0.0037200864850739147, + -0.0028295613554119056, + -0.011749666700911416, + 0.011268156365698114, + -0.05469337159669618, + 0.013684543268835865, + 0.0 + ], + [ + -0.0009210182176958572, + -0.0046465422627391655, + -0.02388628155014251, + 0.025456982031273664, + -0.007249849748773386, + -0.009374887121237912, + 0.0 + ], + [ + -0.0037572020340627755, + -0.005932894670025967, + -0.013287095168154319, + 0.023030257192589828, + -0.019750487767873432, + 0.012263503201128009, + 0.0 + ], + [ + 0.0025113704515957345, + -0.011792610488525698, + -0.006577890176165693, + 0.010139960177520729, + 0.028799156317427733, + 0.017357648745439925, + 0.0 + ], + [ + -0.0006960462048933486, + -0.018678874271378498, + 0.0035819787532781846, + 0.004909959229809392, + -0.011958409397680047, + 0.036456674213940055, + 0.0 + ], + [ + 0.004301810473620787, + -0.02757102304688497, + -0.003083908737135178, + -0.003067372440736077, + 0.017627021515607473, + 0.028673027398322608, + 0.0 + ], + [ + 0.002248719142014702, + -0.02520742390262721, + -0.0036573851686444586, + -0.00537624605815326, + 0.02550650029970273, + 0.02203383603519581, + 0.0 + ], + [ + 0.0012106144808207854, + -0.01932512379278828, + 0.0028776365570130167, + -0.004430939939410078, + 0.008724437701879185, + 0.016645487310730834, + 0.0 + ], + [ + 0.0005853536472990822, + -0.013368060232803517, + 0.013138368975841733, + -0.01213135397035694, + 0.006488499073610633, + 0.00259490346042537, + 0.0 + ], + [ + 0.0016312231241662337, + -0.008395433909846785, + 0.012024649161210448, + -0.00880701259329638, + 0.013881691302027278, + -0.0007908722199971416, + 0.0 + ], + [ + 0.001312102350929393, + 0.0006888816983040462, + 0.011436385702889683, + -0.0014762359910385338, + 0.032536459928857356, + -0.013614157461102717, + 0.0 + ], + [ + -0.0039587140206105475, + 0.005435881872750477, + 0.018059186286258657, + -0.020090374649929275, + 0.019605739300019954, + -0.011083717992747192, + 0.0 + ], + [ + -0.004584629587193257, + 0.0013572259827311314, + 0.009245009871105164, + -0.00264384002757903, + 0.012051901647503072, + 0.0026185382232234338, + 0.0 + ], + [ + 0.002005712874680763, + -0.00013760643796099987, + 0.0017736177929767302, + 0.001833362626325869, + 0.02212814850552865, + 0.00022959591218663848, + 0.0 + ], + [ + -0.0007846134968863984, + -0.005075683948135235, + 0.0005572311528386449, + -0.006414295710499023, + 0.013337088800327369, + 0.020465549870360564, + 1.0 + ], + [ + -0.006368832834808598, + -0.004219381525328194, + 9.461871989952571e-05, + -0.006433672259674834, + -0.024655809409479833, + 0.011400930421900065, + 1.0 + ], + [ + -0.010403668277973038, + 0.002687711550591411, + -0.0014788270119230568, + -0.0280036393746046, + -0.06331832598501849, + 0.012530722255673426, + 1.0 + ], + [ + -0.0011851846900180567, + -0.002929855140076441, + -0.01910235112035522, + 0.025168268626814927, + -0.02971225478093885, + -0.005799991232563206, + 1.0 + ], + [ + 0.005822320312217471, + 0.003744757552291231, + -0.008881762849350296, + 0.06853988730752218, + -0.02247254598650508, + 0.006318883047881987, + 1.0 + ], + [ + 0.0034579798639533693, + 0.006465917281480123, + -0.001647930491083533, + 0.0011338105100549352, + 0.004869632348518247, + 0.016049738570870685, + 1.0 + ], + [ + -0.00090139519971748, + -0.0015735867875507116, + 0.0007831722355449476, + 0.0011161677055599006, + -0.002756741330425855, + -0.005044455664201904, + 1.0 + ], + [ + -0.0012462696166042342, + -0.0028559466821358576, + 0.00047552717480743356, + 9.673367266871695e-05, + 2.0400595628121494e-06, + -0.012777364859477667, + 1.0 + ], + [ + -0.014800165503404851, + -0.0012497540480380176, + -0.0075930746199069366, + 0.012639993316613654, + 0.059954539735518536, + -0.04096448443545132, + 1.0 + ], + [ + -0.01775399251644227, + -0.002473393000025681, + -0.0014673619516386049, + 0.05893877418891546, + 0.044216083573029676, + -0.034178111177388934, + 1.0 + ], + [ + -0.00940780082870746, + -0.005158706569831542, + -0.002438101108511334, + 0.03662079384873502, + 0.02540281923102763, + -0.008918641694155627, + 1.0 + ], + [ + -0.017025712432039597, + -0.0017941167594875242, + 0.007194765150787937, + 0.01024790052336355, + 0.024374223615988573, + -0.0111808926556047, + 1.0 + ], + [ + -0.024795050235681584, + 0.0016505922542857157, + 0.007931327393506726, + 0.014255893995391214, + 0.0299689344290902, + -0.030725911430745087, + 1.0 + ], + [ + -0.019378358394654918, + 0.0015809650142081038, + -0.0034640191643426754, + 0.0038061142109609364, + 0.015148777166858128, + -0.017975718420657105, + 1.0 + ], + [ + -0.016329517236243075, + 0.004374084022262337, + -0.0036490347974241465, + 0.01260989243356993, + 0.01840517213902804, + -0.012272922664307382, + 1.0 + ], + [ + 0.0010658982433066008, + -0.00034320585395409013, + 0.0012141271711965632, + 0.011250741108662357, + 0.023773652373392583, + -0.010027622387520656, + 1.0 + ], + [ + -0.0010903456003045972, + 0.003451307321015993, + 0.012007132306390673, + -0.0029553620579135854, + 0.028711607697663122, + 0.002106110777245857, + 1.0 + ], + [ + -0.006578001105314533, + 0.003016373675940224, + 0.01051819050883396, + 0.004336052752272068, + 0.01774178832716263, + -0.014842202144353025, + 1.0 + ], + [ + -0.005628594953975364, + 0.0018013909396752373, + 0.0027686360467057925, + 0.013746280062251016, + 0.012977458609349712, + -0.017804932717592814, + 1.0 + ], + [ + -0.004135643260741734, + 4.096742677768542e-05, + 0.0009145723810629167, + 0.008514143780356727, + -0.008794355461199641, + -0.009174618617711463, + 1.0 + ], + [ + -0.00397064403745947, + 0.004687032292115236, + 0.007371426945436176, + -0.022355635380419778, + -0.025651888738050885, + -0.0016546628448841614, + 1.0 + ], + [ + 0.004823155048034183, + 0.002380386919395678, + 0.008987950923357475, + -0.022642743367345175, + -0.005789342054404552, + 0.00874403733811772, + 1.0 + ], + [ + 0.005047170413040908, + 0.002111924129096458, + 0.003988311188006285, + -0.024124228272515202, + 0.00034438577599882076, + 0.001193668871233131, + 1.0 + ], + [ + 0.005682135363504917, + -0.00013566713042177363, + 0.004085263858896863, + -0.00907280753339389, + -0.012685677492003772, + 0.0012850519379342638, + 1.0 + ], + [ + 0.0013142201560968428, + 0.0006206257651604967, + -0.0007096440419541449, + -0.000698853702065267, + -0.030192906154154295, + 0.00908393031102691, + 0.0 + ], + [ + -3.0502621969953192e-05, + -0.0015206970830086573, + -0.0036603747016532417, + 0.0004599202604978376, + -0.047812445305714664, + 0.0035832869490027928, + 0.0 + ], + [ + 0.010817518812172511, + -0.008103357022033287, + -0.019474987472057004, + 0.004047089642635927, + -0.0018459516083595233, + 0.009477281378650436, + 0.0 + ], + [ + 0.006312614075704762, + -0.01068294127768263, + -0.02010203131889055, + 0.010229086492462274, + -0.025008475845885378, + 0.02477366624160471, + 0.0 + ], + [ + 0.0054494229663227655, + -0.004787949950549402, + -0.017165255629688944, + -0.0007825938079941616, + -0.030475223339721098, + 0.009050720999413422, + 0.0 + ], + [ + 0.011164893547726013, + 0.002769524826328967, + -0.01419144655999135, + -0.021003662241518627, + -0.02159964987876161, + 0.0022275861791586885, + 0.0 + ], + [ + 0.023243057960537387, + 0.005307522642316877, + -0.013085295338925117, + -0.03812159106729936, + -0.0010092321923165844, + 0.02370220751939183, + 0.0 + ], + [ + 0.01754338438107822, + 0.007627464649873442, + 0.0015337894626888714, + -0.027081103073557548, + -0.024075683861629792, + 0.03387368940702262, + 0.0 + ], + [ + 0.018469147540768917, + 0.008435764358086222, + 4.204060791958446e-06, + -0.015621412834169913, + -0.0038326210481237338, + -0.005569544194926756, + 0.0 + ], + [ + 0.013812581137613208, + 0.013803059831699147, + 0.0008393802170707947, + -0.003296343659867401, + -0.00616874314095114, + -0.005367292734091931, + 0.0 + ], + [ + 0.011340865209600258, + 0.0074393981679275875, + 0.0023775458311611638, + -0.009067404219376957, + -0.0005390457622413236, + 0.0005545381842337802, + 0.0 + ], + [ + 0.008895621583965372, + 0.009082401945416159, + 0.008290556606545032, + -0.004198932300681988, + 0.012856588014293902, + 0.00010807636928068771, + 0.0 + ], + [ + 0.0022284969329185614, + -0.0010422901028651966, + 0.0007435229606917739, + 0.01943105100254733, + 0.009553882598364049, + 0.006040676585568408, + 0.0 + ], + [ + -0.00035579715927788156, + -0.0010058919907908262, + -3.584481627334135e-06, + 0.006341285351691998, + -0.0022496247264278887, + 0.00091334977835602, + 0.0 + ], + [ + 0.0001349074181796922, + 0.0007807846919151813, + -0.0002555486079549288, + 0.004172687112546078, + -0.0010790276466940793, + -0.004683053128385403, + 1.0 + ], + [ + 0.0010189406732635288, + 0.0022160084317435873, + -0.0021367830945229643, + 0.0012129107191596975, + -0.0030956841319462066, + 0.0028966018359375604, + 1.0 + ], + [ + 0.0010740528098810774, + 0.006674776658384333, + -0.007607923996738976, + -0.007979137116126992, + -0.023043856706015088, + 0.016286308606623376, + 1.0 + ], + [ + -0.0003306755109323852, + 0.00849901161672783, + -0.004438099996154185, + -0.012900921229988956, + -0.019289525318437344, + 0.011252589901286273, + 1.0 + ], + [ + 0.0008875457059870788, + 0.008341330357581075, + -0.001956877543587448, + 0.002545872844297871, + -0.0041450080163689795, + -0.010188737043443198, + 1.0 + ], + [ + 0.005096286900462541, + 0.003161650921924609, + -0.008713365718223596, + 0.005764195970023081, + 0.0073791954687977895, + -0.013622858908904236, + 1.0 + ], + [ + 0.0020006613612959354, + 0.005748864313092242, + 0.0014813031165857333, + 0.016878888624910184, + -0.002226503244929955, + -0.005755546510460772, + 1.0 + ], + [ + 0.003374255098706699, + 0.006103249468014718, + 0.004805082372755952, + -0.006939144327665271, + -0.004835564730128695, + -0.0011672220068214474, + 1.0 + ], + [ + 0.005221378572155505, + 0.0038276733654012234, + 0.0028750310804296735, + -0.025277771076459257, + 0.003589426206216742, + -0.00011913153672447721, + 1.0 + ], + [ + 0.0007665496934856879, + -0.0005801052969202335, + 0.005607728704810133, + -0.00038643294662109664, + -0.0036668602013126285, + -0.02622754093306195, + 1.0 + ] + ], + "state": [ + [ + 0.35340026021003723, + -0.018162228167057037, + 0.1543298363685608, + -3.0287783240252217, + -0.20311138033866882, + 0.0220918282866478, + 1.0 + ], + [ + 0.35360485315322876, + -0.018424756824970245, + 0.1543402373790741, + -3.0305559804015836, + -0.2044048011302948, + 0.02250276505947113, + 1.0 + ], + [ + 0.35193324089050293, + -0.01849871315062046, + 0.143221914768219, + -3.0282446687393865, + -0.17391051352024078, + 0.023207053542137146, + 1.0 + ], + [ + 0.3530069589614868, + -0.019759198650717735, + 0.12473184615373611, + -3.0386460815840444, + -0.19632492959499356, + 0.023768620565533638, + 1.0 + ], + [ + 0.354125052690506, + -0.020477155223488808, + 0.10565437376499176, + -3.0496859346800527, + -0.23553535342216494, + 0.03269007429480553, + 1.0 + ], + [ + 0.35354775190353394, + -0.020846839994192123, + 0.09797322750091553, + -3.0541894157701215, + -0.24753047525882724, + 0.032711390405893326, + 1.0 + ], + [ + 0.3520328998565674, + -0.021633083000779152, + 0.09005333483219147, + -3.0619299580627164, + -0.26170530915260315, + 0.031100176274776455, + 1.0 + ], + [ + 0.3552759289741516, + -0.02259577251970768, + 0.07492008805274963, + -3.065897489088126, + -0.2824805676937103, + 0.03241226449608803, + 1.0 + ], + [ + 0.3589145243167877, + -0.023383524268865585, + 0.06689926981925964, + -3.063612202303954, + -0.31293475627899164, + 0.022977076470851895, + 1.0 + ], + [ + 0.3622422516345978, + -0.021968597546219826, + 0.05635452643036842, + -3.0476421435647687, + -0.3325078189373017, + 0.010276302695274353, + 1.0 + ], + [ + 0.3658859431743622, + -0.021720264106988907, + 0.05254235491156578, + -3.0370135848694524, + -0.3541132807731628, + -0.0071176220662891865, + 1.0 + ], + [ + 0.36713308095932007, + -0.022008458152413368, + 0.04525202140212059, + -3.031186970072337, + -0.35391694307327265, + -0.008551576174795626, + 1.0 + ], + [ + 0.36337873339653015, + -0.02390935830771923, + 0.0439477302134037, + -3.0156777520948133, + -0.3161156475543976, + -0.0028200428932905197, + 1.0 + ], + [ + 0.3580177426338196, + -0.024996984750032425, + 0.04664609953761101, + -3.017935739951678, + -0.25734859704971313, + 0.0032254015095531945, + 0.0 + ], + [ + 0.3584916293621063, + -0.02556966058909893, + 0.05028971657156944, + -3.017425449686595, + -0.24386832118034363, + 0.009243251755833626, + 0.0 + ], + [ + 0.35858801007270813, + -0.02855532430112362, + 0.05783655494451523, + -3.033754365640231, + -0.20687060058116913, + 0.007065102458000183, + 0.0 + ], + [ + 0.3559858202934265, + -0.029251182451844215, + 0.06485150754451752, + -3.0294798781448087, + -0.1571815013885498, + -0.019654860720038414, + 0.0 + ], + [ + 0.3504648506641388, + -0.02764509804546833, + 0.07611381262540817, + -3.0168703590803823, + -0.10129646211862565, + -0.027155313640832904, + 0.0 + ], + [ + 0.3471391499042511, + -0.025915145874023438, + 0.10017498582601547, + -2.9924531449847898, + -0.09526384621858597, + -0.016905106604099274, + 0.0 + ], + [ + 0.3421318233013153, + -0.021937189623713493, + 0.11377517879009247, + -2.968523161607333, + -0.07390642166137695, + -0.026120614260435104, + 0.0 + ], + [ + 0.3442811071872711, + -0.011506084352731705, + 0.12244777381420135, + -2.956716554360934, + -0.0992683842778206, + -0.04828063026070594, + 0.0 + ], + [ + 0.3445158302783966, + 0.007523787207901478, + 0.1222919225692749, + -2.948554964857646, + -0.08075707405805586, + -0.08202370256185532, + 0.0 + ], + [ + 0.35028913617134094, + 0.03360575810074806, + 0.13092772662639618, + -2.949135797219821, + -0.09251677244901657, + -0.113677978515625, + 0.0 + ], + [ + 0.3544689416885376, + 0.057327210903167725, + 0.13951081037521362, + -2.9520529081397733, + -0.11330576986074449, + -0.14034850895404816, + 0.0 + ], + [ + 0.35829952359199524, + 0.07650108635425568, + 0.14045734703540802, + -2.954459162550517, + -0.11871959269046783, + -0.15846675634384155, + 0.0 + ], + [ + 0.3625508248806, + 0.09159835427999496, + 0.1301780790090561, + -2.9661394377523145, + -0.12461120635271074, + -0.16225279867649078, + 0.0 + ], + [ + 0.36709511280059814, + 0.10135794430971146, + 0.1200866848230362, + -2.9747232367568692, + -0.13841764628887174, + -0.16391305625438687, + 0.0 + ], + [ + 0.3701271116733551, + 0.10209326446056366, + 0.10898473113775253, + -2.9772388507896146, + -0.17275874316692355, + -0.15577755868434906, + 0.0 + ], + [ + 0.3690774738788605, + 0.09982071816921234, + 0.08987744897603989, + -2.9986557980352124, + -0.1939084678888321, + -0.14790549874305725, + 0.0 + ], + [ + 0.3664048910140991, + 0.10019219666719437, + 0.07982506603002548, + -3.0004424174600324, + -0.20546261966228485, + -0.1523064821958542, + 0.0 + ], + [ + 0.36875441670417786, + 0.10022182762622833, + 0.07853417843580246, + -2.997875454025813, + -0.22733719646930695, + -0.15573473274707791, + 0.0 + ], + [ + 0.3687517046928406, + 0.10538793355226517, + 0.07852829247713089, + -2.9991729726367673, + -0.23754894733428955, + -0.1785385012626648, + 1.0 + ], + [ + 0.3632872402667999, + 0.11063182353973389, + 0.07752061635255814, + -3.003693612413951, + -0.2115173041820526, + -0.18649855256080627, + 1.0 + ], + [ + 0.35253453254699707, + 0.10974472016096115, + 0.07640735059976578, + -3.0306350757652005, + -0.14707691967487332, + -0.19022731482982635, + 1.0 + ], + [ + 0.34875524044036865, + 0.11128371208906174, + 0.0953345000743866, + -3.0067584981494626, + -0.11818360537290573, + -0.18111230432987213, + 1.0 + ], + [ + 0.35259655117988586, + 0.10559403151273727, + 0.1042608767747879, + -2.9378012885623654, + -0.09506502002477646, + -0.18436627089977264, + 1.0 + ], + [ + 0.35473012924194336, + 0.09841561317443848, + 0.10489296913146973, + -2.935101019340106, + -0.09657253324985504, + -0.20114752650260923, + 1.0 + ], + [ + 0.3542327582836151, + 0.10025275498628616, + 0.10436421632766724, + -2.934520186977931, + -0.09490713477134703, + -0.1956201642751694, + 1.0 + ], + [ + 0.3535667061805725, + 0.10333368182182312, + 0.10436736792325974, + -2.935630442696162, + -0.0975285917520523, + -0.1830564886331558, + 1.0 + ], + [ + 0.3382868766784668, + 0.10582730919122696, + 0.11057785898447037, + -2.925441863136836, + -0.16455316543579102, + -0.1549110859632492, + 1.0 + ], + [ + 0.32098880410194397, + 0.11065521091222763, + 0.10960671305656433, + -2.8703574260049542, + -0.21502159535884857, + -0.1304824948310852, + 1.0 + ], + [ + 0.3116481304168701, + 0.11623486876487732, + 0.1112445592880249, + -2.834039630489894, + -0.2418846487998962, + -0.12864452600479126, + 1.0 + ], + [ + 0.2972533702850342, + 0.12201733887195587, + 0.10103611648082733, + -2.824512930708476, + -0.26849836111068726, + -0.12524797022342682, + 1.0 + ], + [ + 0.27576595544815063, + 0.12563452124595642, + 0.08669624477624893, + -2.815697105722972, + -0.30649781227111816, + -0.10444314032793045, + 1.0 + ], + [ + 0.25628674030303955, + 0.12505535781383514, + 0.08349555730819702, + -2.8157571276002606, + -0.3265804946422577, + -0.09158638119697571, + 1.0 + ], + [ + 0.2397422194480896, + 0.1212405115365982, + 0.08020512014627457, + -2.8050526698404035, + -0.3479400873184204, + -0.08548712730407716, + 1.0 + ], + [ + 0.2411532998085022, + 0.12184713035821915, + 0.07959774881601334, + -2.79429421027238, + -0.37369072437286377, + -0.08375520259141922, + 1.0 + ], + [ + 0.24474658071994781, + 0.12238991260528564, + 0.06759502738714218, + -2.792466642456599, + -0.3999435305595398, + -0.09651276469230652, + 1.0 + ], + [ + 0.24301981925964355, + 0.12332428246736526, + 0.05497971177101135, + -2.791446181135722, + -0.4216787815093994, + -0.08788120746612549, + 1.0 + ], + [ + 0.23915119469165802, + 0.12291991710662842, + 0.04973932355642319, + -2.783248486118861, + -0.43994230031967163, + -0.07431867718696596, + 1.0 + ], + [ + 0.2358105182647705, + 0.123451828956604, + 0.04719008505344391, + -2.7802284081750592, + -0.4348922371864319, + -0.06144420430064201, + 1.0 + ], + [ + 0.23570354282855988, + 0.12167689949274063, + 0.03776085376739502, + -2.807362051802226, + -0.41145646572113037, + -0.04986175149679184, + 1.0 + ], + [ + 0.2438569962978363, + 0.12197065353393555, + 0.031192198395729065, + -2.8272402604394635, + -0.4031102955341339, + -0.05677686631679534, + 1.0 + ], + [ + 0.2501893639564514, + 0.12083423882722855, + 0.029082586988806725, + -2.8508352061086377, + -0.40306839346885676, + -0.058126699179410934, + 1.0 + ], + [ + 0.25700023770332336, + 0.12174122780561447, + 0.02774699032306671, + -2.8609052916341504, + -0.39054557681083674, + -0.055525217205286026, + 1.0 + ], + [ + 0.2579757869243622, + 0.12089285999536514, + 0.02871885523200035, + -2.8613255639844617, + -0.3590182065963745, + -0.055911529809236526, + 0.0 + ], + [ + 0.2565908133983612, + 0.12141993641853333, + 0.032395243644714355, + -2.864165099459239, + -0.31206387281417847, + -0.04563403129577636, + 0.0 + ], + [ + 0.260562002658844, + 0.12370080500841141, + 0.055654339492321014, + -2.8573545833402356, + -0.3076809346675872, + -0.05466755107045173, + 0.0 + ], + [ + 0.2600806653499603, + 0.12835121154785156, + 0.07881050556898117, + -2.8417969961934766, + -0.27668493986129766, + -0.07208845019340517, + 0.0 + ], + [ + 0.2604200839996338, + 0.12783047556877136, + 0.09743522852659225, + -2.8425362428003034, + -0.2448965162038803, + -0.07172170281410217, + 0.0 + ], + [ + 0.2676524221897125, + 0.12046560645103455, + 0.11250752955675125, + -2.8645239790254315, + -0.2235971987247467, + -0.06737862527370453, + 0.0 + ], + [ + 0.2872174084186554, + 0.1104411780834198, + 0.12851867079734802, + -2.897604929404803, + -0.2160859853029251, + -0.0904368907213211, + 0.0 + ], + [ + 0.3043590486049652, + 0.10182681679725647, + 0.1290266215801239, + -2.918804573016711, + -0.18446153402328488, + -0.11794611066579817, + 0.0 + ], + [ + 0.32176095247268677, + 0.09148085862398148, + 0.13057789206504822, + -2.9355997314029416, + -0.18195053935050964, + -0.111562043428421, + 0.0 + ], + [ + 0.33443140983581543, + 0.07663842290639877, + 0.12949252128601074, + -2.94009421964223, + -0.17700612545013428, + -0.1049431413412094, + 0.0 + ], + [ + 0.34548863768577576, + 0.06862302869558334, + 0.12773077189922333, + -2.9490837325626096, + -0.17636698484420776, + -0.1053854376077652, + 0.0 + ], + [ + 0.3551498055458069, + 0.06023175269365311, + 0.11956965923309326, + -2.952808829145976, + -0.18896479904651642, + -0.10799769312143326, + 0.0 + ], + [ + 0.35755112767219543, + 0.06114152446389198, + 0.11946307122707367, + -2.931894766288348, + -0.19720961153507233, + -0.11587642878293991, + 0.0 + ], + [ + 0.3572767972946167, + 0.062163203954696655, + 0.11960212886333466, + -2.925468074279376, + -0.1948191225528717, + -0.11630967259407042, + 0.0 + ], + [ + 0.3572975993156433, + 0.06133779138326645, + 0.11970885843038559, + -2.9222460110955915, + -0.19476717710494995, + -0.11141156405210496, + 1.0 + ], + [ + 0.3576905131340027, + 0.05864958092570305, + 0.12147914618253708, + -2.920608015852519, + -0.19111493229866025, + -0.11360508948564528, + 1.0 + ], + [ + 0.3566861152648926, + 0.050531063228845596, + 0.12753452360630035, + -2.9264535178714475, + -0.16505049169063568, + -0.12458937615156174, + 1.0 + ], + [ + 0.35480186343193054, + 0.041444238275289536, + 0.1299673169851303, + -2.9381776322894773, + -0.1437995582818985, + -0.13153427839279178, + 1.0 + ], + [ + 0.35451647639274597, + 0.03284269571304321, + 0.13032357394695282, + -2.9372077157073697, + -0.1417897790670395, + -0.12060865759849548, + 1.0 + ], + [ + 0.35783278942108154, + 0.027540821582078934, + 0.13885487616062164, + -2.9331452419334134, + -0.15177026391029355, + -0.10862984508275984, + 1.0 + ], + [ + 0.3596188724040985, + 0.021996622905135155, + 0.13654877245426178, + -2.9172013123803815, + -0.15078017115592957, + -0.10246822983026505, + 1.0 + ], + [ + 0.36334097385406494, + 0.016707101836800575, + 0.1310815066099167, + -2.9244744946532926, + -0.14632518589496613, + -0.1002303957939148, + 1.0 + ], + [ + 0.3686954975128174, + 0.013034401461482048, + 0.12824954092502594, + -2.9496540298038205, + -0.14985597133636475, + -0.10089472681283951, + 1.0 + ], + [ + 0.37041592597961426, + 0.014507802203297615, + 0.12303034961223602, + -2.954100402193614, + -0.15120626986026764, + -0.07414407283067703, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.04544806480407715, + 0.3388673663139343, + 0.6513766944408417, + 0.8576638251543045, + 0.9237574338912964, + 0.9337822273373604, + 0.9421549662947655, + 0.9462284594774246, + 0.9462284594774246, + 0.9462284594774246, + 0.9462284594774246, + 0.9462284594774246, + 0.9462284594774246, + 0.9462284594774246, + 0.9462284594774246, + 0.9462284594774246, + 0.9462284594774246, + 0.9462284594774246, + 0.9301212355494499, + 0.7845557034015656, + 0.5205599963665009, + 0.19258534908294678, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.03792673349380493, + 0.3178056478500366, + 0.5110456645488739, + 0.5459140241146088, + 0.5459140241146088, + 0.5459140241146088, + 0.5459140241146088, + 0.5459140241146088, + 0.5459140241146088, + 0.5459140241146088, + 0.5459140241146088, + 0.5459140241146088, + 0.5459140241146088, + 0.5459140241146088, + 0.46849435567855835, + 0.15004962682724, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2425", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2425/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2429.json b/annotation/test/2429.json new file mode 100644 index 0000000000000000000000000000000000000000..ee17093a61d27f533caeaa6eefa50795288263ea --- /dev/null +++ b/annotation/test/2429.json @@ -0,0 +1,945 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Place the pan on the front edge of the table" + ], + "videos": [ + { + "video_path": "videos/test/2429/rgb.mp4" + } + ], + "action": [ + [ + 9.76878621515417e-05, + -0.0006233253889048958, + 0.00035095093371512485, + 0.0015443952294956203, + -0.0012770889800733578, + -0.002228130916474562, + 1.0 + ], + [ + -0.0037044675522817376, + -0.004325382768400729, + 0.008569685536705958, + 0.02601720761161368, + -0.014555129138099952, + 0.007889687169507423, + 1.0 + ], + [ + 0.011399515280447619, + -0.00887813181937788, + 0.005702573281259986, + -0.0036354905306191752, + -0.015699998411854862, + 0.01176489586950728, + 1.0 + ], + [ + 0.0006978092998165642, + -0.003925689330758274, + 0.0010562216261311638, + 0.008814562363654434, + -0.022742259030454202, + 0.007831276309186997, + 1.0 + ], + [ + 0.02407167282083235, + -0.015161886209597034, + -0.002181604582872081, + 0.04336382378760551, + -0.0029863222818872167, + 0.0975763224035219, + 1.0 + ], + [ + 0.018440621765912296, + -0.003320940653777058, + -0.0037983005091066224, + 0.035226846276870914, + 0.047006346601726416, + 0.20894224990465474, + 1.0 + ], + [ + 0.014841811338747912, + -0.010166277168709388, + 0.0010818127242422375, + 0.05888505908568868, + 0.052831589522915584, + 0.12334859905989139, + 1.0 + ], + [ + 0.00425872726322218, + -0.007702222097034514, + 0.0052396376028753106, + 0.05208540417785868, + 0.05766646191109145, + 0.12270936517106382, + 1.0 + ], + [ + -0.0011282701634127798, + -0.0029331586612115113, + 0.005453536698765111, + 0.04352138742730518, + 0.05348569636051281, + 0.06769811631758392, + 1.0 + ], + [ + -0.006343944316710122, + -0.004706964282520639, + 0.017233292201623816, + 0.05452053869440455, + 0.014209192537226089, + 0.0043745344199297865, + 1.0 + ], + [ + 0.0016108748808689088, + -0.002398921416133122, + 0.008288722573947617, + 0.015011202567453821, + 0.04751887779360241, + -0.0694972808454338, + 1.0 + ], + [ + 0.0006850611250953423, + -0.008957219835199523, + 0.017503060787636977, + 0.0662211560706738, + 0.018985423011156053, + -0.007959539163094144, + 1.0 + ], + [ + -0.0028507872170898843, + -0.0012055168628752168, + 0.014103892606063106, + 0.03950401647844974, + -0.0335843992238066, + 0.015427284293084015, + 1.0 + ], + [ + -0.0032103564206682708, + 0.0007834505459241968, + 0.010452317747261082, + 0.017666028933284172, + -0.028789654578174242, + 0.017280779973177302, + 1.0 + ], + [ + -0.0009884561875727334, + 0.007391025254816158, + 0.0028092903621353797, + -0.002320512334912257, + -0.016897034528638485, + 0.008677514098277567, + 1.0 + ], + [ + -0.0006296844008201923, + 0.013816467289493966, + -0.00574043863037402, + -0.022324426718903063, + -0.008900886940826051, + -0.0024310810532924207, + 0.0 + ], + [ + -0.0010644050643900617, + 0.0015969307487992109, + -0.001136964258197597, + -0.0020782392640363127, + -0.006870824949419584, + -0.007648396592300346, + 0.0 + ], + [ + -0.002503160051154199, + 0.0014959293343543866, + -0.00151688991351674, + -0.007423344998896771, + -0.029886147234329866, + 0.003610165314124626, + 0.0 + ], + [ + 0.0002453002877655877, + 0.0008051960653542614, + -0.0004589878979474026, + -0.006338668291572406, + 0.0007537747938361949, + 0.0007363805777778783, + 0.0 + ], + [ + -0.0009196423617116484, + 7.42579731092621e-05, + 0.0004531348399655674, + -0.005357605853528396, + -0.00861265928614283, + -0.009107291945384951, + 0.0 + ], + [ + 0.009560559168593594, + -0.012112767187918056, + -0.018719685685690997, + -0.016362264957613067, + 0.009477244754751283, + -0.06424450305278087, + 0.0 + ], + [ + 0.010993174727798073, + -0.014393078528290694, + -0.026549493842124128, + -0.05064912626673418, + 0.030961658516571188, + -0.06379812451178773, + 0.0 + ], + [ + 0.003148443841391892, + -0.016474135560222192, + -0.015073906127748402, + -0.039041360505294664, + 0.001876104581756082, + -0.032445059640087315, + 0.0 + ], + [ + -0.002512185020528699, + -0.005047641488962245, + -0.014827700860680698, + -0.036695405082832325, + 0.004524484696216956, + -0.002448841085068833, + 0.0 + ], + [ + -0.018161105750860516, + 0.011403521549434789, + -0.01885220646755331, + -0.06059031405434497, + 0.0019197052865209958, + 0.05396411464563039, + 0.0 + ], + [ + -0.014946388084205255, + 0.021247722539271544, + -0.013826428351319928, + -0.06344514580358807, + 0.007903446065645832, + 0.06318789408593914, + 0.0 + ], + [ + -0.018579506240779694, + 0.03896513153963, + -0.009832838030845541, + -0.06585600449099195, + 0.0018462310032510809, + 0.0954045528448414, + 0.0 + ], + [ + -0.011878347244547968, + 0.033018404390762, + 0.008264908116694572, + -0.028460908735785308, + -0.024678496194773004, + 0.0883548961243476, + 0.0 + ], + [ + -0.011650252855175973, + 0.026646739187291456, + 0.010791354927982595, + -0.0190066924462054, + -0.016922057000246855, + 0.09618054631609504, + 0.0 + ], + [ + -0.013170955208363635, + 0.017414073534390707, + 0.006362834392544854, + -0.010325976129591649, + -0.02544367654527297, + 0.06985770324441713, + 0.0 + ], + [ + -0.019708537528151583, + 0.009262505609709148, + 0.0019343538995538782, + 0.0011436844392621651, + -0.029389820067414044, + 0.03927225680697485, + 0.0 + ], + [ + -0.0208182672623493, + 0.0007255175418604955, + 0.0054508621045223195, + 0.022361601807199878, + -0.03648709619094082, + 0.029051777040753523, + 0.0 + ], + [ + -0.014360675871848904, + -0.004761096085200774, + 0.004609348475675933, + 0.016519947714740052, + -0.022947087327354107, + -0.005048739419087389, + 0.0 + ], + [ + -0.001733545296155404, + -0.0012687816122941592, + 0.0021510068164651715, + 0.004599699773485739, + -0.0033683031794336077, + -0.004325579903081388, + 0.0 + ], + [ + -0.0012044721118766508, + 0.0035664485687834655, + 0.01000319351975983, + 0.04305314388138885, + -0.018629314968710495, + 0.03416546287040674, + 0.0 + ], + [ + 0.00431946174035575, + 0.003991015890426919, + 0.009327777291048446, + 0.04579033553020088, + 0.006823891818665413, + 0.048396688717486994, + 0.0 + ], + [ + 0.006182517097381779, + -0.002070102169283453, + 0.00276304206117258, + 0.0314673997437418, + 0.028368278059334565, + -0.0007042529153130837, + 0.0 + ], + [ + 0.0026402691976531523, + -0.0021803564074499354, + -0.0007711690324657029, + 0.021623994090849096, + 0.022865687447421568, + -0.03338576593136402, + 0.0 + ], + [ + -0.00026586435749765733, + -0.0003970079425730756, + -0.00010443308552632582, + 0.0076816722695223424, + 0.006473793618968385, + -0.01583928407429989, + 1.0 + ], + [ + -0.0012768922785072292, + -0.0016237977133899675, + 0.0011335439359207353, + 0.007736914616817413, + 0.0013637613327196249, + -0.001664163908238651, + 1.0 + ], + [ + -0.002156371416597318, + -0.0006948475200943079, + 0.0002146250400171245, + 0.003887786232207357, + -0.011711416101568173, + -0.00046017313926249615, + 1.0 + ], + [ + 0.0018958385734833755, + -0.0010403717152148784, + -0.010963223962574133, + -0.04202326550939914, + -0.008838439529162898, + -0.026031295330081146, + 1.0 + ], + [ + 0.01049538936471179, + -0.0032216461073470153, + -0.025560706780217494, + -0.06327366649811032, + 0.0449866041542765, + -0.034514521044502616, + 1.0 + ], + [ + 0.009429880631872358, + -0.00901710207650632, + -0.025159583400547657, + -0.06688267915752719, + 0.019315229250948474, + -0.04821537278549844, + 1.0 + ], + [ + 0.011358684334600976, + -0.008819501177176536, + -0.02196428348546598, + -0.0575390539363452, + 0.05154220615965473, + -0.0693234214388164, + 1.0 + ], + [ + 0.0013974828358393275, + -0.0012947820728767753, + -0.0013099212165395384, + -0.0014145804761611243, + 0.0045581393626478875, + -0.006007385422181673, + 1.0 + ], + [ + 0.00019486827621570792, + -2.353579041348927e-05, + -0.00041487931511362676, + -0.0008694273667103327, + 0.001171269663563454, + -0.00047520783644515734, + 1.0 + ], + [ + -0.00040371052174792513, + 0.00042168039117633065, + 0.00029772503282049707, + 0.00017214934275284756, + -0.0011342600994910573, + 0.001841114929366415, + 1.0 + ] + ], + "state": [ + [ + 0.3444127142429352, + -0.04453530162572861, + 0.10443496704101562, + 2.8951365073495587, + -0.23733173310756683, + 1.0829389095306396, + 1.0 + ], + [ + 0.34405314922332764, + -0.044105950742959976, + 0.10397931933403015, + 2.896234007673808, + -0.2355492264032364, + 1.0848406553268433, + 1.0 + ], + [ + 0.3415219187736511, + -0.044371362775564194, + 0.09400966763496399, + 2.92491805751855, + -0.2233314514160156, + 1.0733675956726074, + 1.0 + ], + [ + 0.3410741984844208, + -0.02959432452917099, + 0.08924225717782974, + 2.924646245437213, + -0.2105026990175247, + 1.0581682920455933, + 1.0 + ], + [ + 0.33845844864845276, + -0.02688915841281414, + 0.08755302429199219, + 2.936090054112025, + -0.18996249139308927, + 1.0453977584838867, + 1.0 + ], + [ + 0.3371793031692505, + 0.0013855757424607873, + 0.09115730226039886, + 2.998934032517024, + -0.2060286998748779, + 0.9471855759620667, + 1.0 + ], + [ + 0.34422072768211365, + 0.017727650701999664, + 0.09814780950546265, + 3.079220263408967, + -0.2778274118900299, + 0.739370584487915, + 1.0 + ], + [ + 0.34832242131233215, + 0.03510891646146774, + 0.10057073831558228, + -3.109978662925311, + -0.33614620566368103, + 0.612622857093811, + 1.0 + ], + [ + 0.3484373390674591, + 0.04480168968439102, + 0.09726139903068542, + -3.0138510187440595, + -0.3871623575687409, + 0.4783526062965393, + 1.0 + ], + [ + 0.34753865003585815, + 0.048395395278930664, + 0.09217267483472824, + -2.939796807365962, + -0.43046146631240845, + 0.3970438539981842, + 1.0 + ], + [ + 0.34523728489875793, + 0.056176263839006424, + 0.07503939419984818, + -2.8819651325517377, + -0.44349378347396856, + 0.38914662599563604, + 1.0 + ], + [ + 0.3478325307369232, + 0.06204618141055107, + 0.06905095279216766, + -2.894026132422038, + -0.5065127015113831, + 0.4519065022468567, + 1.0 + ], + [ + 0.34915435314178467, + 0.07710859179496765, + 0.05646386370062828, + -2.8294802625947675, + -0.5268670320510864, + 0.45545050501823425, + 1.0 + ], + [ + 0.35042575001716614, + 0.08383128046989441, + 0.0437481626868248, + -2.787309380369731, + -0.4901631474494934, + 0.4505060315132141, + 1.0 + ], + [ + 0.35088682174682617, + 0.08726604282855988, + 0.033348117023706436, + -2.766235353546687, + -0.45715683698654175, + 0.4435811042785644, + 1.0 + ], + [ + 0.3547171950340271, + 0.08261310309171677, + 0.02813517116010189, + -2.767584743099757, + -0.4382542669773102, + 0.44150725007057195, + 1.0 + ], + [ + 0.36048007011413574, + 0.06879162788391113, + 0.02813577651977539, + -2.792475314932414, + -0.4308497905731201, + 0.4475767910480499, + 0.0 + ], + [ + 0.36022937297821045, + 0.0665753036737442, + 0.028165636584162712, + -2.7989375313096723, + -0.426988810300827, + 0.4580547511577607, + 0.0 + ], + [ + 0.3586902618408203, + 0.0636773407459259, + 0.027971941977739334, + -2.8091937025361737, + -0.3976176977157593, + 0.46525791287422175, + 0.0 + ], + [ + 0.3592418432235718, + 0.062935009598732, + 0.028224697336554527, + -2.8151367028527936, + -0.39808973670005804, + 0.4642359614372254, + 0.0 + ], + [ + 0.35860729217529297, + 0.06270112097263336, + 0.027450598776340485, + -2.825282337265559, + -0.3928252756595611, + 0.4765629768371582, + 0.0 + ], + [ + 0.3565126955509186, + 0.06802200525999069, + 0.0510270893573761, + -2.866549940901347, + -0.4210975766181946, + 0.5402286052703857, + 0.0 + ], + [ + 0.3513733446598053, + 0.07268417626619339, + 0.08240761607885361, + -2.9417230506711682, + -0.46757242083549494, + 0.5995483994483948, + 0.0 + ], + [ + 0.339557021856308, + 0.08054011315107346, + 0.09993448853492737, + -2.9967953731589994, + -0.47560146450996393, + 0.6348993182182313, + 0.0 + ], + [ + 0.3303878903388977, + 0.07733209431171417, + 0.11247586458921432, + -3.034403594332286, + -0.48043113946914673, + 0.6368956565856934, + 0.0 + ], + [ + 0.31887131929397583, + 0.05220118165016174, + 0.11962272226810455, + -3.0671570246391973, + -0.4758152663707733, + 0.5762978196144104, + 0.0 + ], + [ + 0.31514886021614075, + 0.023285282775759697, + 0.12362827360630035, + -3.0979572740667543, + -0.47795766592025757, + 0.5046584606170654, + 0.0 + ], + [ + 0.3164665997028351, + -0.020948776975274086, + 0.12229570001363754, + -3.1147690528356513, + -0.47329577803611755, + 0.39743965864181524, + 0.0 + ], + [ + 0.323252409696579, + -0.05365653336048126, + 0.10873936116695404, + -3.0991108437352857, + -0.4443206787109375, + 0.3003559112548828, + 0.0 + ], + [ + 0.3258368968963623, + -0.0802466943860054, + 0.09297502785921097, + -3.073433296876498, + -0.4211939871311188, + 0.1958339363336563, + 0.0 + ], + [ + 0.3203645646572113, + -0.09860267490148544, + 0.08071447163820267, + -3.0538687353306493, + -0.39003482460975647, + 0.12237194925546648, + 0.0 + ], + [ + 0.30441156029701233, + -0.1096903383731842, + 0.07068812847137451, + -3.037917086976119, + -0.35704720020294195, + 0.08338405936956407, + 0.0 + ], + [ + 0.286901593208313, + -0.11131184548139572, + 0.0582619346678257, + -3.0062781443172177, + -0.31763383746147156, + 0.056962158530950546, + 0.0 + ], + [ + 0.27420127391815186, + -0.1066880077123642, + 0.05004821717739105, + -2.9923708011680326, + -0.2955669164657593, + 0.06542585045099257, + 0.0 + ], + [ + 0.27300694584846497, + -0.10518841445446014, + 0.04768884927034378, + -2.989225687580653, + -0.29287564754486084, + 0.07041662186384201, + 0.0 + ], + [ + 0.2750011682510376, + -0.10705960541963577, + 0.03735657408833504, + -2.93695359130437, + -0.2691340446472168, + 0.03832625225186348, + 0.0 + ], + [ + 0.2818813621997833, + -0.1088094711303711, + 0.028918903321027756, + -2.877969952421733, + -0.265656977891922, + -0.012221687473356722, + 0.0 + ], + [ + 0.28843846917152405, + -0.10617083311080933, + 0.028488578274846077, + -2.8445586581998548, + -0.2932222783565521, + -0.01923254318535328, + 0.0 + ], + [ + 0.2906038165092468, + -0.10435297340154648, + 0.03056856244802475, + -2.830646904306956, + -0.3247601389884948, + 0.007379117421805859, + 0.0 + ], + [ + 0.290278822183609, + -0.10400934517383575, + 0.03069307655096054, + -2.8274128456884107, + -0.3357405364513397, + 0.021252173930406567, + 1.0 + ], + [ + 0.2892230451107025, + -0.10213673859834671, + 0.02972831018269062, + -2.8200813253694257, + -0.3375515937805176, + 0.022482873871922493, + 1.0 + ], + [ + 0.2871672511100769, + -0.10145571827888489, + 0.02902921289205551, + -2.817620279388972, + -0.3265827298164368, + 0.02685106731951237, + 1.0 + ], + [ + 0.2855903208255768, + -0.1040026992559433, + 0.039794668555259705, + -2.8690668662362775, + -0.3263616263866424, + 0.05587378889322281, + 1.0 + ], + [ + 0.2875695824623108, + -0.10767519474029541, + 0.06729879975318909, + -2.9394096751981458, + -0.3788995742797852, + 0.0785820260643959, + 1.0 + ], + [ + 0.2862502634525299, + -0.10398620367050171, + 0.09536810964345932, + -3.0239082520180425, + -0.40712210536003113, + 0.12578393518924713, + 1.0 + ], + [ + 0.286847323179245, + -0.09768188744783401, + 0.12084618210792542, + -3.109337521838494, + -0.4655698835849762, + 0.19595205783843994, + 1.0 + ], + [ + 0.28723353147506714, + -0.09632893651723862, + 0.12268076092004776, + -3.1137020868533334, + -0.47031074762344366, + 0.2025226503610611, + 1.0 + ], + [ + 0.2872169017791748, + -0.09632014483213425, + 0.12313934415578842, + -3.114796510087796, + -0.4714947640895844, + 0.20301918685436252, + 1.0 + ], + [ + 0.2870854437351227, + -0.09676942974328995, + 0.12268076092004776, + -3.1137020868533334, + -0.47031074762344366, + 0.20098866522312164, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05855154991149902, + 0.31680428981781006, + 0.652198851108551, + 0.853794664144516, + 0.9214513674378395, + 0.9237574338912964, + 0.9240835085511208, + 0.9288748651742935, + 0.934679314494133, + 0.9358641803264618, + 0.9358641803264618, + 0.9361584037542343, + 0.9361584037542343, + 0.9361584037542343, + 0.9361584037542343, + 0.9361584037542343, + 0.9361584037542343, + 0.9361584037542343, + 0.9361584037542343, + 0.9361584037542343, + 0.9361584037542343, + 0.9361584037542343, + 0.9361584037542343, + 0.9142832010984421, + 0.7410779595375061, + 0.4606526494026184, + 0.16280627250671387, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2429", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2429/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/243.json b/annotation/test/243.json new file mode 100644 index 0000000000000000000000000000000000000000..2054eda9d27e2a97f0c5096cae96d45fd43eb24b --- /dev/null +++ b/annotation/test/243.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "turn faucet right 55" + ], + "videos": [ + { + "video_path": "videos/test/243/rgb.mp4" + } + ], + "action": [ + [ + -3.796927221430163e-05, + 0.00039033916155608954, + 0.0009737837490276187, + 0.0022947692069869036, + -0.0017269858625765817, + 0.0013604389410082518, + 1.0 + ], + [ + 0.014806252917689755, + 0.016205572084952106, + 0.007553610134004442, + -0.02321597652255209, + -0.00852242812376843, + 0.09680124251157479, + 1.0 + ], + [ + 0.03737120339239592, + 0.0172080694434114, + 0.006587070454758564, + -0.03749256052822148, + -0.05074526039472992, + 0.10631079899789128, + 1.0 + ], + [ + 0.018227171176174423, + 0.02632007316906818, + 0.028548211755010572, + 0.06648254196769561, + -0.07894026663147531, + 0.048929654417857904, + 1.0 + ], + [ + -0.009340932750923455, + 0.02715248557158915, + 0.0038895124803720424, + -0.1205346713226207, + 0.05796751430851727, + 0.05253657350488541, + 1.0 + ], + [ + -0.02589543562588745, + 0.017341987971557483, + -0.013553216571498283, + -0.26629202177052896, + 0.11091314470222471, + 0.018933439756619326, + 1.0 + ], + [ + -0.025343078936477158, + 0.02327683662589227, + -0.0497988880344808, + -0.2211712123485841, + 0.23022533689716027, + 0.08251659424879228, + 1.0 + ], + [ + -0.010694528298544264, + 0.01918635576174406, + -0.026875830517450596, + -0.05378023914612375, + 0.10972419621524962, + 0.06479571583405398, + 1.0 + ], + [ + -0.009986915529591472, + 0.020544511759463705, + 0.008470527130849882, + 0.005400380669620674, + -0.024687736873985164, + 0.043310848743138355, + 1.0 + ], + [ + -0.004817815494165284, + 0.007540311462554279, + 0.002166421799426959, + 0.017256326461680828, + 0.002181092886060183, + 0.029084794877569185, + 1.0 + ], + [ + -0.013035106354446303, + -0.005199513099217036, + -0.00019625210989460725, + 0.19983969728171905, + -0.13513288781802482, + -0.11671888565444417, + 1.0 + ], + [ + -0.008683607798510868, + -0.020872128893349683, + -0.006778190232567944, + 0.27939391257677826, + -0.14814990342880158, + -0.1899747494814657, + 1.0 + ], + [ + 0.02642600206189518, + -0.03095791213060806, + 0.009592919259963733, + 0.19622469102699425, + 0.03445075669241555, + -0.2160676338551064, + 1.0 + ], + [ + 0.01632671288940897, + 0.007383016456376212, + 0.023716085762236508, + -0.0595939680695604, + 0.1633199284877309, + 0.03767081709729357, + 1.0 + ], + [ + 0.013380064082030652, + -0.010479006972602962, + 0.0012101192856975845, + -0.38363937407550447, + 0.17862383533984774, + 0.019364485077797415, + 1.0 + ], + [ + -0.0024770101011378507, + 0.015981532025805958, + 0.0036582985947118873, + -0.21397322225429333, + 0.15767108905334346, + 0.0446968067165649, + 1.0 + ], + [ + -0.01160794101682527, + 0.02083149239297968, + -0.004411248839706705, + -0.08405937580621203, + 0.06309094384008308, + 0.051367476659264756, + 1.0 + ], + [ + 0.0054396586352177265, + 0.011118996466020496, + 0.0007983361676865174, + 0.13423419685105592, + -0.08249355012698008, + -0.06687642199529188, + 1.0 + ], + [ + 0.00988592444843904, + 0.008711244361998084, + -0.0025874192289292667, + 0.24927861625515332, + -0.044004015110027876, + -0.03388437089870674, + 1.0 + ], + [ + 0.009532854844337964, + 0.0051936380598999925, + -0.005491945041418868, + 0.03898713356436108, + 0.0455573354366467, + 0.024998214945299312, + 1.0 + ], + [ + 0.005552098888444653, + 0.0022548364395911236, + -0.0007620401469759596, + -0.014180090211746496, + 0.03762820390602975, + 0.00949502797898183, + 1.0 + ], + [ + 0.003007882270694115, + 0.0036178837954021596, + -0.00046930495344484015, + -0.019134345150012277, + 0.018670102491246503, + 0.004395579472600462, + 1.0 + ], + [ + 0.0065488027624484085, + 0.0012390009415441552, + 0.002560163875333129, + -0.020256816690082103, + 0.03636005014275169, + 0.00492319927681561, + 1.0 + ] + ], + "state": [ + [ + 0.2513101398944855, + 0.0009529369999654591, + 0.17992426455020905, + -2.5927777608209333, + 0.09011051058769227, + 0.6446017622947693, + 1.0 + ], + [ + 0.2511003613471985, + 0.0010141539387404919, + 0.17889747023582458, + -2.5905055721574506, + 0.09229358285665512, + 0.6443409323692322, + 1.0 + ], + [ + 0.2677054703235626, + 0.0011679513845592737, + 0.16267558932304382, + -2.6228419860177716, + 0.14990851283073425, + 0.5654997229576111, + 1.0 + ], + [ + 0.30336540937423706, + 0.009967473335564137, + 0.1430019736289978, + -2.6712390204244336, + 0.2463046163320541, + 0.4964800179004669, + 1.0 + ], + [ + 0.31590819358825684, + 0.004793509375303984, + 0.10230940580368042, + -2.6051884611421308, + 0.3388208746910095, + 0.48828989267349243, + 1.0 + ], + [ + 0.31308960914611816, + -0.020880309864878654, + 0.08917360007762909, + -2.752497049170085, + 0.31483572721481323, + 0.4096800982952118, + 1.0 + ], + [ + 0.30063700675964355, + -0.04938646778464317, + 0.10286080092191696, + -3.0359186624460897, + 0.21885377168655398, + 0.3487926125526428, + 1.0 + ], + [ + 0.2966972291469574, + -0.08103848248720169, + 0.1543063074350357, + 3.0052395929866513, + -0.0025854995474219322, + 0.24473434686660764, + 1.0 + ], + [ + 0.2899685800075531, + -0.09854552149772644, + 0.18351295590400696, + 2.9509246965223035, + -0.12008902430534363, + 0.19548124074935913, + 1.0 + ], + [ + 0.2849923074245453, + -0.12173118442296982, + 0.17792484164237976, + 2.962164642410823, + -0.10391929745674133, + 0.1480296105146408, + 1.0 + ], + [ + 0.28148481249809265, + -0.13014642894268036, + 0.17664337158203125, + 2.982438879209109, + -0.11121378093957901, + 0.11962582916021347, + 1.0 + ], + [ + 0.2680758833885193, + -0.12655609846115112, + 0.17457030713558197, + -3.1120754351192197, + 0.04115928336977959, + 0.21242034435272217, + 1.0 + ], + [ + 0.25553563237190247, + -0.10812260210514069, + 0.18231259286403656, + -2.8248395939641675, + 0.18289466202259064, + 0.4079447090625763, + 1.0 + ], + [ + 0.26662033796310425, + -0.06802904605865479, + 0.17802469432353973, + -2.5992606600099286, + 0.07981635630130769, + 0.6026641130447388, + 1.0 + ], + [ + 0.2750893235206604, + -0.05501949042081833, + 0.15267610549926758, + -2.6641922910981854, + -0.041098177433013916, + 0.4865562915802002, + 1.0 + ], + [ + 0.28215882182121277, + -0.04012158513069153, + 0.15696267783641815, + -3.0379061867767057, + -0.19050432741642, + 0.38600948452949524, + 1.0 + ], + [ + 0.2866761386394501, + -0.055035270750522614, + 0.15129664540290833, + 3.0446491186791143, + -0.3423311114311218, + 0.32211905717849737, + 1.0 + ], + [ + 0.2806927263736725, + -0.07843997329473495, + 0.1534351408481598, + 2.9769652654700955, + -0.40972593426704407, + 0.2731482982635498, + 1.0 + ], + [ + 0.28809452056884766, + -0.08789319545030594, + 0.15655112266540527, + 3.088885160284587, + -0.3168203234672547, + 0.32810446619987493, + 1.0 + ], + [ + 0.29884928464889526, + -0.09327754378318787, + 0.16252237558364868, + -2.9552362283044538, + -0.27093216776847834, + 0.3607826828956604, + 1.0 + ], + [ + 0.3084934949874878, + -0.09618127346038818, + 0.16934646666049957, + -2.90687886078889, + -0.31091663241386414, + 0.3261398077011108, + 1.0 + ], + [ + 0.3141973316669464, + -0.09675426781177521, + 0.17125138640403748, + -2.915080191689082, + -0.34525206685066223, + 0.30703437328338623, + 1.0 + ], + [ + 0.3181073069572449, + -0.0993235632777214, + 0.17193512618541718, + -2.931114586191722, + -0.36244505643844604, + 0.29797014594078064, + 1.0 + ], + [ + 0.3250958323478699, + -0.09788525849580765, + 0.17167402803897858, + -2.9464740624004087, + -0.39694419503211975, + 0.2845174968242646, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "243", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/243/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2432.json b/annotation/test/2432.json new file mode 100644 index 0000000000000000000000000000000000000000..500e9edab1e8f005b041591b06bcd183d0a4e120 --- /dev/null +++ b/annotation/test/2432.json @@ -0,0 +1,926 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Put the napkin in the upper left hand corner." + ], + "videos": [ + { + "video_path": "videos/test/2432/rgb.mp4" + } + ], + "action": [ + [ + -0.00021028410830553135, + -0.0003138518639518462, + 7.405720955870845e-05, + 0.0005047449131496456, + -0.0006437738371746945, + -0.0012978135609336035, + 1.0 + ], + [ + -0.003759837262321511, + 0.003920593559756812, + 0.003204143751354389, + -0.014240514301179251, + -0.014708890788682183, + 0.006688660317906685, + 1.0 + ], + [ + -0.030998530697939942, + -0.012771628096935501, + -0.0018626782373273806, + -0.005326240616825289, + -0.02695847538882364, + -0.05348310201720539, + 1.0 + ], + [ + -0.023090421822200384, + -0.006470234017072415, + -0.002167033627003312, + 0.0011379500318507926, + 0.052239594474975275, + -0.12781861648264434, + 1.0 + ], + [ + -0.013390122612199108, + -0.008481254427798091, + 0.0156827314413315, + -0.018974800485952632, + -0.016240791649011092, + -0.14933171196427014, + 1.0 + ], + [ + -0.0041536015810587044, + -0.0123092954291408, + 0.011696372405969284, + 0.010747630461946234, + -0.017512730311945505, + -0.11242840356004456, + 1.0 + ], + [ + -0.0030823885318437784, + -0.01795929029034802, + 0.00740462428862505, + 0.02067873719119091, + -0.008904810165767938, + -0.1151237032457519, + 1.0 + ], + [ + -0.0032159643500505267, + -0.016606551719454094, + 0.00857199443133492, + 0.020603668083776946, + 0.004650146792621801, + -0.13196896371731773, + 1.0 + ], + [ + -0.006581388536435442, + -0.011241566860397782, + 0.009995081266669755, + -0.0008936262999775217, + -0.03219235662093805, + -0.13502102459660575, + 1.0 + ], + [ + 0.002280558676473112, + -0.0110884597457809, + 0.012428091347488096, + 0.004244573014009616, + -0.0158975770798006, + -0.06563629132373623, + 1.0 + ], + [ + -0.0023486066461102517, + -0.010798991872514029, + 0.012281437756410848, + 0.016642844630462717, + -0.019079278538694924, + -0.0194745606782683, + 1.0 + ], + [ + 0.008523081128521667, + -0.008592229136124735, + 0.00940067918994604, + 0.03610065646823285, + -0.00392181830171451, + 0.009257869989788592, + 1.0 + ], + [ + 0.0022752806933496765, + -0.0007959357835538294, + 0.011108599576908124, + 0.012475420275132345, + -0.015031478362885185, + 0.004786858555074402, + 1.0 + ], + [ + 0.0035086839110493673, + 0.0030253693861288793, + 0.01159142855610841, + 0.003397564058939116, + -0.010100347481937427, + -0.005925970762194225, + 1.0 + ], + [ + 0.002236167857466116, + 0.0020672478725182143, + 0.018623980023206976, + -0.01888925873717365, + -0.023245408966186133, + -0.046828696991831426, + 1.0 + ], + [ + 0.007385881169735352, + -0.0004503457834207083, + 0.014763802702474226, + -0.009335474919345435, + -0.007691849408409096, + -0.02109048019227548, + 1.0 + ], + [ + 0.008119869172483456, + 6.700416946859833e-05, + 0.010975843551504855, + -0.00983000827484749, + -0.004579457286339923, + -0.028851729436379987, + 1.0 + ], + [ + 5.309333253686418e-05, + 0.0009710201216957923, + 0.008183733602812208, + -0.008442533914853058, + -0.03755542527906974, + -0.025688105895081557, + 1.0 + ], + [ + -0.004331009613573703, + 0.012092860120959434, + 0.008129113201170692, + -0.012918599991856827, + -0.0661614849578703, + 0.024704650905955965, + 1.0 + ], + [ + 0.0007482979620558167, + 0.012892630740923401, + 0.006142671525130043, + -0.003664678390382291, + -0.045139015471429615, + 0.01601562797592038, + 1.0 + ], + [ + 0.003493532506484747, + 0.006793703369718976, + 0.003040684203347366, + 0.010351252395780934, + -0.0252026094049816, + 0.03613374866885234, + 1.0 + ], + [ + -0.00018726040770609804, + -7.530885215032938e-05, + -2.6767160720791063e-05, + 0.009005111193533632, + -0.0016712421227527369, + -0.006235506385409244, + 1.0 + ], + [ + 0.0023539966801815687, + -0.0005867808044641001, + 0.000740292880897718, + 0.0033776986749420174, + 0.009195219159494745, + -0.013254035871224087, + 1.0 + ], + [ + 0.008614440377510246, + -0.0008665119205584457, + 0.0032176452452388226, + 0.0008611421590590812, + 0.003004101883593182, + -0.01102922267147437, + 1.0 + ], + [ + 0.012663232917871007, + -0.004474125442176314, + 0.0022121981811689343, + 0.010422813899821696, + -0.006315008624553292, + -0.009130784393050666, + 1.0 + ], + [ + 0.014684264365721202, + -0.009442354706048942, + 0.00314079670951188, + 0.006268737653234779, + 0.012719960470746345, + -0.015300628378391226, + 1.0 + ], + [ + 0.007920502546646757, + -0.009646584439568302, + 0.0008339818107411624, + 0.009718254776420302, + 0.0005219926020788001, + -0.019450966955161023, + 1.0 + ], + [ + 0.005230939406372145, + -0.014500593460329614, + 0.001318964776766857, + 0.01011062675229443, + 0.0012527998259374165, + -0.023905865728947127, + 1.0 + ], + [ + 0.005186434578392585, + -0.012535259465667269, + 0.0002050238774904308, + 0.015839006824882908, + -0.0032676732887525965, + -0.007317678128514074, + 1.0 + ], + [ + 0.004071287729305218, + -0.009317394748395777, + -0.0021811122263472463, + 0.015703764427434118, + 0.010736265345028794, + -0.005161000896760808, + 1.0 + ], + [ + -0.00010207458115047574, + 0.0018337309822436174, + -6.725625928856532e-05, + -0.0047608139463596755, + -0.001230059459170293, + -0.0002224162762209646, + 1.0 + ], + [ + -0.000774666497990533, + 0.006160821687622304, + -0.00010090665788726516, + -0.0077846788299175155, + -0.0019486204550890973, + 0.007223542016328811, + 1.0 + ], + [ + -0.004477714334519173, + 0.0027288178927107856, + -0.00016594148806564724, + -0.0022181834985489967, + -0.010283019701623364, + -0.00432742654996654, + 1.0 + ], + [ + 0.0016140630432165384, + 0.0017234793045424511, + -0.011768096483831201, + -0.0036229309127703982, + 0.026322703833225606, + 5.650502567895375e-05, + 1.0 + ], + [ + 0.0054653388855883285, + 0.005292476689965799, + -0.019335151225237848, + -0.00870814992207191, + 0.04226463717167712, + 0.012212775730206439, + 1.0 + ], + [ + 0.0040384865619974, + 0.003241466803560764, + -0.018931784589250607, + -0.012445479165348827, + 0.025033200276523282, + -0.0004908881929276996, + 1.0 + ], + [ + 0.001588197437980305, + -0.0005424825133908674, + -0.029706888992482767, + 0.00016644288204252004, + 0.050574374783852974, + -0.006821224181670749, + 1.0 + ], + [ + -0.0009977065277649794, + 0.0001281279976108995, + -0.031087719863564872, + 0.0016071186000716164, + 0.027632403426067726, + -0.003946801628107108, + 1.0 + ], + [ + 0.0006647413108057664, + 0.0008605672077127017, + -0.03275793027072538, + -0.009198048539957463, + 0.03865134640736299, + 0.006304290345371932, + 1.0 + ], + [ + -0.0007092762791377885, + 2.0324949086468786e-05, + -0.0009630903596969947, + 2.1551475416938975e-05, + -1.2729507309986653e-06, + -2.4915633153052253e-05, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.5159581163403365e-18, + 3.7804364022901163e-17, + 1.824554052830086e-17, + 1.0 + ], + [ + -0.00024303455795649033, + 1.0077266229107438e-05, + -1.867972286194375e-07, + -6.352823233162943e-05, + -0.0015326557463906404, + 7.020608263310195e-08, + 1.0 + ], + [ + 0.000243034558096619, + -1.0077271474645674e-05, + -1.86331347304035e-07, + 6.352819934482341e-05, + 0.0015326557477580178, + 2.716082156932058e-08, + 1.0 + ], + [ + -0.00024303455795649033, + 1.0077266229107438e-05, + -1.867972286194375e-07, + -6.352823233162943e-05, + -0.0015326557463906404, + 7.020608263310195e-08, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -3.467059795096631e-17, + 6.323003314398946e-17, + -3.0584418913380984e-17, + 1.0 + ], + [ + 0.000243034558096619, + -1.0077271474645674e-05, + -1.86331347304035e-07, + 6.352819934482341e-05, + 0.0015326557477580178, + 2.716082156932058e-08, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.5159581163403365e-18, + 3.7804364022901163e-17, + 1.824554052830086e-17, + 1.0 + ] + ], + "state": [ + [ + 0.24377630650997162, + -0.05964265763759613, + 0.1702490597963333, + -2.680861773090907, + -0.33500003814697266, + -0.8558968901634216, + 1.0 + ], + [ + 0.24386750161647797, + -0.059268638491630554, + 0.1702490597963333, + -2.680861773090907, + -0.33500003814697266, + -0.8543629050254822, + 1.0 + ], + [ + 0.2409575879573822, + -0.05910523608326912, + 0.16465623676776886, + -2.695238711433955, + -0.31885114312171936, + -0.8537849187850951, + 1.0 + ], + [ + 0.22820992767810822, + -0.028175337240099907, + 0.1617698073387146, + -2.720991762476512, + -0.3170137405395508, + -0.7907664179801941, + 1.0 + ], + [ + 0.21533647179603577, + -0.008023022674024105, + 0.15896162390708923, + -2.7537758370214185, + -0.415275514125824, + -0.6868840456008912, + 1.0 + ], + [ + 0.218130961060524, + 0.007509375456720591, + 0.14321009814739227, + -2.8415592332654676, + -0.4518350958824157, + -0.5262965559959412, + 1.0 + ], + [ + 0.2253885418176651, + 0.020890789106488228, + 0.13461698591709137, + -2.887638034420558, + -0.46516451239585876, + -0.4002689719200134, + 1.0 + ], + [ + 0.23144686222076416, + 0.03922265022993088, + 0.1308612823486328, + -2.926089184480258, + -0.4821344316005707, + -0.27190646529197693, + 1.0 + ], + [ + 0.23570524156093597, + 0.05677946284413338, + 0.12509728968143463, + -2.975141840177127, + -0.51047283411026, + -0.1251976639032364, + 1.0 + ], + [ + 0.2354743778705597, + 0.06965125352144241, + 0.11490646749734879, + -3.054295251267501, + -0.4956985712051392, + 0.03235301002860069, + 1.0 + ], + [ + 0.24251320958137512, + 0.08201520889997482, + 0.10595103353261948, + -3.08610304643447, + -0.4843818247318268, + 0.10781437158584596, + 1.0 + ], + [ + 0.24461306631565094, + 0.09377294778823853, + 0.09453551471233368, + -3.080149648832627, + -0.46630236506462097, + 0.13076429069042209, + 1.0 + ], + [ + 0.25491493940353394, + 0.10435987263917923, + 0.09045746177434921, + -3.0395315532856664, + -0.46179914474487305, + 0.12071178108453752, + 1.0 + ], + [ + 0.26155751943588257, + 0.10710331052541733, + 0.08165058493614197, + -3.025449441867419, + -0.4463556110858917, + 0.11713096499443054, + 1.0 + ], + [ + 0.2699812948703766, + 0.1064213216304779, + 0.07246364653110504, + -3.025410922365733, + -0.4369981586933136, + 0.12491905689239502, + 1.0 + ], + [ + 0.2798469364643097, + 0.10776659846305847, + 0.05643286556005478, + -3.067197198169776, + -0.41877490282058716, + 0.17877441644668582, + 1.0 + ], + [ + 0.29209020733833313, + 0.11155049502849579, + 0.04601613059639931, + -3.08613686834509, + -0.41256821155548096, + 0.20235678553581238, + 1.0 + ], + [ + 0.3035741150379181, + 0.114459328353405, + 0.039229050278663635, + -3.108690498518296, + -0.40941017866134644, + 0.23403671383857727, + 1.0 + ], + [ + 0.30696365237236023, + 0.11454647779464722, + 0.03171755000948906, + -3.1286215299093207, + -0.3725653886795044, + 0.2629096508026123, + 1.0 + ], + [ + 0.3090957999229431, + 0.1027073860168457, + 0.022424152120947838, + -3.132414212571927, + -0.3059808015823364, + 0.23795983195304873, + 1.0 + ], + [ + 0.3146476447582245, + 0.09084612131118774, + 0.016679614782333374, + -3.13120724552358, + -0.26065880060195923, + 0.22183051705360413, + 1.0 + ], + [ + 0.3202102780342102, + 0.08516912162303925, + 0.014573974534869194, + -3.1113558431440076, + -0.2349119633436203, + 0.1849589496850967, + 1.0 + ], + [ + 0.3200109302997589, + 0.08520758152008057, + 0.014558622613549232, + -3.103854501741477, + -0.2334252744913101, + 0.19141727685928345, + 1.0 + ], + [ + 0.3223053514957428, + 0.08627793937921524, + 0.014404963701963425, + -3.103552023070403, + -0.24309417605400083, + 0.20470507442951202, + 1.0 + ], + [ + 0.3310410678386688, + 0.0891009196639061, + 0.013389725238084793, + -3.1054001470380506, + -0.24650079011917114, + 0.21595199406147003, + 1.0 + ], + [ + 0.3425493836402893, + 0.09628500044345856, + 0.014492783695459366, + -3.097328120964118, + -0.24050931632518763, + 0.22558233141899106, + 1.0 + ], + [ + 0.3549400866031647, + 0.10894943028688431, + 0.015348928049206734, + -3.09468353738124, + -0.25386717915534973, + 0.24079133570194242, + 1.0 + ], + [ + 0.3601711690425873, + 0.12019645422697067, + 0.01696963980793953, + -3.0900105853849134, + -0.25525176525115967, + 0.2608462870121002, + 1.0 + ], + [ + 0.36144810914993286, + 0.13559602200984955, + 0.017739277333021164, + -3.0861308706277093, + -0.2576613426208496, + 0.28546869754791254, + 1.0 + ], + [ + 0.3626127243041992, + 0.14899353682994843, + 0.019534865394234657, + -3.072264740365096, + -0.25479695200920105, + 0.29320603609085083, + 1.0 + ], + [ + 0.363060861825943, + 0.15868039429187775, + 0.023291252553462982, + -3.0577083100848874, + -0.26586240530014044, + 0.2977710068225861, + 1.0 + ], + [ + 0.36352622509002686, + 0.1569059193134308, + 0.023180855438113213, + -3.06255745341117, + -0.2646552920341492, + 0.29810741543769836, + 1.0 + ], + [ + 0.3647141754627228, + 0.15083763003349304, + 0.022605830803513527, + -3.0684353952580175, + -0.2621357142925262, + 0.29081103205680847, + 1.0 + ], + [ + 0.3613632619380951, + 0.14698125422000885, + 0.02141266129910946, + -3.0720067416601857, + -0.25219306349754333, + 0.2960437834262848, + 1.0 + ], + [ + 0.36082524061203003, + 0.14416420459747314, + 0.03306763619184494, + -3.075115921097346, + -0.2784476578235626, + 0.2940818667411805, + 1.0 + ], + [ + 0.3627748191356659, + 0.13789498805999756, + 0.05278119444847107, + -3.07943061565096, + -0.31977513432502747, + 0.27829986810684204, + 1.0 + ], + [ + 0.3620225787162781, + 0.1330922544002533, + 0.07179689407348633, + -3.091500735031911, + -0.3447902798652649, + 0.2771680951118469, + 1.0 + ], + [ + 0.35406461358070374, + 0.12984511256217957, + 0.10028272867202759, + -3.092837656038352, + -0.39563935995101923, + 0.28179848194122314, + 1.0 + ], + [ + 0.34214460849761963, + 0.12468371540307999, + 0.12854456901550293, + -3.0923090932243547, + -0.42342984676361084, + 0.28464385867118835, + 1.0 + ], + [ + 0.3305349051952362, + 0.11870985478162766, + 0.15860770642757416, + -3.097707877057143, + -0.4617082476615906, + 0.2754897177219391, + 1.0 + ], + [ + 0.3295287787914276, + 0.11836043745279312, + 0.15915235877037048, + -3.097698738920041, + -0.46170806884765625, + 0.2755175828933716, + 1.0 + ], + [ + 0.3295287787914276, + 0.11836043745279312, + 0.15915235877037048, + -3.097698738920041, + -0.46170806884765625, + 0.2755175828933716, + 1.0 + ], + [ + 0.3293222486972809, + 0.11829157918691635, + 0.15904386341571808, + -3.097795618819543, + -0.46017688512802124, + 0.2755925655364991, + 1.0 + ], + [ + 0.3295287787914276, + 0.11836043745279312, + 0.15915235877037048, + -3.097698738920041, + -0.46170806884765625, + 0.2755175828933716, + 1.0 + ], + [ + 0.3293222486972809, + 0.11829157918691635, + 0.15904386341571808, + -3.097795618819543, + -0.46017688512802124, + 0.2755925655364991, + 1.0 + ], + [ + 0.3293222486972809, + 0.11829157918691635, + 0.15904386341571808, + -3.097795618819543, + -0.46017688512802124, + 0.2755925655364991, + 1.0 + ], + [ + 0.3295287787914276, + 0.11836043745279312, + 0.15915235877037048, + -3.097698738920041, + -0.46170806884765625, + 0.2755175828933716, + 1.0 + ], + [ + 0.3295287787914276, + 0.11836043745279312, + 0.15915235877037048, + -3.097698738920041, + -0.46170806884765625, + 0.2755175828933716, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938 + ], + "episode_id": "2432", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2432/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2433.json b/annotation/test/2433.json new file mode 100644 index 0000000000000000000000000000000000000000..447bd841673143e33e877fe10d06c25426c82b6a --- /dev/null +++ b/annotation/test/2433.json @@ -0,0 +1,945 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Place the silver pot on the front right corner of the table." + ], + "videos": [ + { + "video_path": "videos/test/2433/rgb.mp4" + } + ], + "action": [ + [ + -0.00020316799971669745, + 1.7246050458426253e-05, + -1.3128767598828447e-07, + -0.00010780436908573023, + -0.0012813019864566036, + -0.0008364769919475057, + 1.0 + ], + [ + -0.001439837286784221, + -0.004339271291984381, + 0.007511541477957833, + 0.03305893034803438, + -0.0026345793440370685, + 0.019631770273724095, + 1.0 + ], + [ + 0.005132979568553646, + -0.007408159016248819, + -0.004113929706154707, + 0.055113421141473266, + 0.043468609620841946, + 0.22754266075418175, + 1.0 + ], + [ + 0.0020112721279138537, + -0.007895075241937935, + -0.005746322593906123, + 0.0009238114939020246, + 0.0030093685838889265, + 0.26048280838150084, + 1.0 + ], + [ + 0.01025387015495899, + -0.02458203328438208, + -0.0008429965689056504, + -0.032114745353276936, + -0.03927820483371827, + 0.1487263572092768, + 1.0 + ], + [ + 0.008246238114489346, + -0.01376368634495543, + 0.005661752309498241, + 0.0018259375508664264, + -0.0551894541334993, + 0.2240397662241652, + 1.0 + ], + [ + 0.009165260847055502, + -0.0093111822652883, + 0.009239975151072718, + 0.04348237730546646, + -0.02138214699096557, + 0.22134003031226976, + 1.0 + ], + [ + 0.007015956872310735, + -0.009097054800080776, + 0.007495739273963118, + 0.13498389794575538, + 0.045676848276864204, + 0.14132992125475716, + 1.0 + ], + [ + 0.007737622274857332, + 0.0037001105594501164, + 0.003587128096135392, + 0.06381485732221895, + 0.07514953055744902, + 0.09327841114809982, + 1.0 + ], + [ + 0.005695311919944877, + 0.0008584943287781151, + 0.010958883670027505, + 0.019339126648460443, + 0.012865519036411796, + 0.017572328604469098, + 1.0 + ], + [ + 0.0005392652104202504, + 0.004963590677388657, + 0.01838141310137618, + -0.00518557983592883, + -0.03134398949641816, + -5.4261123328190916e-05, + 1.0 + ], + [ + 0.006510563319895921, + -0.0049036541883868655, + 0.016052685093355282, + -0.00860373201674863, + -0.030149238933492032, + -0.023879023695052667, + 1.0 + ], + [ + 0.009152540862015415, + -0.0013826408920006947, + 0.012320004466023073, + 0.03652777244688476, + 0.00970809567130027, + 0.033710508111793464, + 1.0 + ], + [ + 0.004516405574745388, + 0.002007465720882158, + 0.00886518003557354, + 0.008007433757622655, + 0.00618636951418319, + 0.020646635448702853, + 1.0 + ], + [ + 0.00473934303858049, + 0.003898244930167581, + 0.007405622697411476, + -0.011095626857077323, + 0.008134435108238658, + 0.045137574683325424, + 1.0 + ], + [ + 0.0027533245094419905, + 0.003235353500017946, + 0.012178977712575666, + -0.01649797240998988, + -0.01648882509939247, + 0.03741980829853926, + 1.0 + ], + [ + 8.853885801189241e-05, + -0.006634879981236626, + 0.009927987202173479, + -0.03597266930813921, + -0.013564228222495438, + -0.014956318435777419, + 1.0 + ], + [ + 0.0005901494714967455, + -0.00143380409302549, + 0.009707886187105459, + -0.014528229985855876, + -0.03196566711598512, + 0.00386820997612183, + 1.0 + ], + [ + 0.0004771889691330131, + -0.0020781626116560836, + 0.001712292125002635, + -0.01273041594613095, + -0.011322495391800146, + 0.008062809080046428, + 1.0 + ], + [ + -0.0014237361293190194, + 0.0018090354527130301, + 0.002925281975251742, + -0.006977069001545964, + -0.014426448281695658, + 0.02429692250959113, + 1.0 + ], + [ + 0.0005277873168859473, + 0.002784863449214514, + -0.0004997913831081986, + -0.008987021464140965, + 0.00017743627560694273, + -0.002736693324421152, + 0.0 + ], + [ + -0.000322220243777598, + 0.004948103902746551, + 0.00041570203206872994, + -0.011442014500449292, + 0.0006188580844652571, + 0.014797206361256395, + 0.0 + ], + [ + -0.003787959242751397, + 0.0034307695106241196, + 0.00134198001429315, + 0.002095563328644268, + -0.005521450113904575, + 0.0031881949705858275, + 0.0 + ], + [ + -0.001986391861258726, + 0.0012466686929767294, + -0.0009567709413863424, + -0.005924493266596517, + -0.0012506653289944243, + 0.0073241144825883986, + 0.0 + ], + [ + 0.0012241963011649125, + -9.160153458604802e-05, + -0.009134462244559221, + -0.0280911294745874, + 0.021117096248436537, + -0.009871351411161652, + 0.0 + ], + [ + 0.0032347755034739826, + -0.009603983546887816, + -0.011502529288131585, + -0.007492916368836985, + 0.01861735407307484, + -0.01982546070474956, + 0.0 + ], + [ + 0.009851530640159228, + -0.0012486281059776586, + -0.027917067875820642, + 0.02016213775496422, + 0.06976608927366344, + 0.007560285785643949, + 0.0 + ], + [ + 0.01373998169503476, + 0.021434007824697524, + -0.03071640197252983, + 0.0064023981861735585, + 0.08590602907718617, + 0.062003777470537376, + 0.0 + ], + [ + 0.0038365774822676883, + 0.0215732176069469, + -0.014502700736215096, + -0.029470066707393508, + 0.03513046418173197, + 0.039080067130467674, + 0.0 + ], + [ + 0.007766525293066233, + 0.039918468167097126, + -0.015180678018944335, + -0.047030184265593286, + 0.04469944014311736, + 0.08166839987482274, + 0.0 + ], + [ + 0.0059750159178285425, + 0.03311731561912427, + -0.012443546797913251, + -0.019092797838875027, + 0.04142365131419163, + 0.08027740351678157, + 0.0 + ], + [ + -0.003923076658520284, + 0.03587107480298289, + -0.010030065067825292, + -0.02340017637891428, + 0.0184124826000859, + 0.0914524521694441, + 0.0 + ], + [ + -0.007066534149829478, + 0.034499018428539134, + -0.0062288565090275515, + -0.024262330487819044, + 0.01060458180978988, + 0.08890162493821685, + 0.0 + ], + [ + -0.008090517690968413, + 0.03209456442285548, + 0.003812411100189957, + -0.009019697622911741, + -0.013634728702796164, + 0.10445365038267111, + 0.0 + ], + [ + -0.00243585294967993, + 0.016082535117232455, + 0.00712114567011821, + -5.4990132346102394e-05, + 0.0056433896402008675, + 0.06127352891538435, + 0.0 + ], + [ + -0.000923241151395856, + 0.01691127883015393, + 0.015204379457345768, + -0.01624731237786073, + -0.02542464910738591, + 0.056552038717199535, + 0.0 + ], + [ + 0.002259462377800241, + 0.013124488165784575, + 0.01210878475934129, + -0.007336789775847527, + -0.02056725689621089, + 0.04381590952359331, + 0.0 + ], + [ + 0.003961326819668787, + 0.008801102023362083, + 0.011673428360869877, + -0.01481645208727802, + -0.019260418978637155, + 0.015949571104607166, + 0.0 + ], + [ + 0.0023949880760542525, + 0.003919366756518847, + 0.006446619100175456, + -0.0028951486280104953, + -0.016798505153027332, + 0.005657005648633907, + 0.0 + ], + [ + 0.000921829699257099, + 0.002652085250511758, + 0.0022123345701912213, + 0.007611726019466727, + -0.023453184567725566, + -0.013891238677929702, + 0.0 + ], + [ + -0.0010130082108465298, + -0.0015884369643747007, + -1.1196934858505127e-05, + 0.010191989527004593, + -0.006105738227439669, + -0.02797517298644737, + 0.0 + ], + [ + 0.001172048327778422, + -0.002490021890754783, + -0.0002484117388595651, + 0.014904437041745894, + 0.0056959922150177054, + -0.006121236424809077, + 1.0 + ], + [ + 6.55063201318973e-05, + 0.0012377676173125623, + -0.00011913852701336766, + -0.0069193462664814435, + 0.006657724127252318, + -0.000759258273139925, + 1.0 + ], + [ + 0.0016772928233079888, + -0.00025228706271133197, + -0.011096186087328779, + -0.015692512223475685, + 0.03384634222720161, + 0.0016212300490016688, + 1.0 + ], + [ + 0.0010705992177648313, + -0.0073155642007119446, + -0.017390880453248384, + -0.06196589937079019, + 0.05080670619633601, + -0.006810286154004211, + 1.0 + ], + [ + 7.329222988404225e-05, + -0.009531559516675827, + -0.024823482117499948, + -0.028404513527594415, + 0.05798789302723113, + -0.03918844596117321, + 1.0 + ], + [ + 0.0015022778597169148, + -0.008420001746564171, + -0.019796057419433112, + -0.0209429950565294, + 0.023941833137022632, + -0.05230444262815378, + 1.0 + ], + [ + 0.0013590353629931579, + -0.029759776559437984, + -0.02982748520244744, + -0.09364991565258382, + 0.04135632680748562, + -0.12904754708809993, + 1.0 + ] + ], + "state": [ + [ + 0.29121437668800354, + 0.054886870086193085, + 0.12949401140213013, + 2.9283795078569135, + -0.20781345665454865, + 1.5155490636825562, + 1.0 + ], + [ + 0.29122015833854675, + 0.05468666926026344, + 0.1294557899236679, + 2.928156377869197, + -0.20638413727283478, + 1.5161073207855225, + 1.0 + ], + [ + 0.2885898947715759, + 0.0551145076751709, + 0.12107579410076141, + 2.965391667681285, + -0.20792663097381592, + 1.4959282875061035, + 1.0 + ], + [ + 0.28093093633651733, + 0.060155898332595825, + 0.1248277872800827, + 3.070770250754901, + -0.28529003262519836, + 1.2707401514053345, + 1.0 + ], + [ + 0.2731591761112213, + 0.06305667757987976, + 0.13035796582698822, + -3.133484335737773, + -0.296640545129776, + 0.9989975690841675, + 1.0 + ], + [ + 0.2576354742050171, + 0.08434496074914932, + 0.13435202836990356, + -3.12102632609243, + -0.25284484028816223, + 0.8458062410354614, + 1.0 + ], + [ + 0.25343480706214905, + 0.10053034871816635, + 0.1312083750963211, + -3.063373291986533, + -0.18680742383003232, + 0.6193173527717591, + 1.0 + ], + [ + 0.2562435269355774, + 0.11481928825378418, + 0.12457402795553207, + -2.9809550811820706, + -0.14384956657886508, + 0.3981062173843384, + 1.0 + ], + [ + 0.2594834268093109, + 0.12722428143024445, + 0.11969700455665588, + -2.826291563110896, + -0.16485567390918732, + 0.24934391677379608, + 1.0 + ], + [ + 0.26819849014282227, + 0.12696142494678497, + 0.11647091060876846, + -2.744872601824351, + -0.20639561116695404, + 0.13509215414524076, + 1.0 + ], + [ + 0.27537837624549866, + 0.131411612033844, + 0.1074201762676239, + -2.7211540957265576, + -0.21142564713954928, + 0.11343177407979965, + 1.0 + ], + [ + 0.2794871926307678, + 0.13487017154693604, + 0.08914559334516525, + -2.72889834840829, + -0.1828167289495468, + 0.12649056315422058, + 1.0 + ], + [ + 0.2867565155029297, + 0.14681299030780792, + 0.07780328392982483, + -2.743813933926173, + -0.1646677553653717, + 0.1609155386686325, + 1.0 + ], + [ + 0.2964508831501007, + 0.15451282262802124, + 0.0686274990439415, + -2.701737167435237, + -0.16046155989170074, + 0.1256231814622879, + 1.0 + ], + [ + 0.30203574895858765, + 0.1571921706199646, + 0.06058700010180473, + -2.6903796811872205, + -0.15723155438899994, + 0.10404144972562791, + 1.0 + ], + [ + 0.3080229163169861, + 0.15753699839115143, + 0.05306796729564667, + -2.694944681721278, + -0.14472192525863647, + 0.05940813198685646, + 1.0 + ], + [ + 0.31238606572151184, + 0.16014333069324493, + 0.041212767362594604, + -2.7076823135190686, + -0.11363758146762848, + 0.03261762857437134, + 1.0 + ], + [ + 0.312846302986145, + 0.17035773396492004, + 0.03504441678524017, + -2.7458963712030133, + -0.10759668052196501, + 0.05200200155377387, + 1.0 + ], + [ + 0.31407037377357483, + 0.17549322545528412, + 0.026751317083835602, + -2.7611701508336743, + -0.07660675048828126, + 0.06077947467565537, + 1.0 + ], + [ + 0.3144519627094269, + 0.17808657884597778, + 0.02597200870513916, + -2.7736254056268415, + -0.06309952586889267, + 0.057491201907396317, + 1.0 + ], + [ + 0.31328272819519043, + 0.17738257348537445, + 0.02250874787569046, + -2.779518040018626, + -0.04088947176933289, + 0.03999907523393631, + 1.0 + ], + [ + 0.3139420747756958, + 0.17462539672851562, + 0.02201170288026333, + -2.7886083741956433, + -0.042024653404951096, + 0.0424976870417595, + 0.0 + ], + [ + 0.3138997554779053, + 0.1701202094554901, + 0.019899390637874603, + -2.799494208889552, + -0.037485960870981216, + 0.028388990089297295, + 0.0 + ], + [ + 0.31028541922569275, + 0.16723467409610748, + 0.017344007268548012, + -2.797350289421626, + -0.031214915215969086, + 0.027237273752689358, + 0.0 + ], + [ + 0.30832651257514954, + 0.16568432748317719, + 0.01776168681681156, + -2.8030799349122724, + -0.02756521850824356, + 0.020762495696544647, + 0.0 + ], + [ + 0.3093729019165039, + 0.16275840997695923, + 0.02643864043056965, + -2.8311568816476544, + -0.05076177790760994, + 0.023062240332365036, + 0.0 + ], + [ + 0.31176838278770447, + 0.1684463620185852, + 0.04047136381268501, + -2.8392932434850415, + -0.07454073429107666, + 0.036285869777202606, + 0.0 + ], + [ + 0.31983324885368347, + 0.16161508858203888, + 0.06815287470817566, + -2.816386880474635, + -0.1388588547706604, + 0.008056962862610815, + 0.0 + ], + [ + 0.3306025266647339, + 0.1315763294696808, + 0.09209857881069183, + -2.7978359182649335, + -0.1999530792236328, + -0.07971547544002533, + 0.0 + ], + [ + 0.33108022809028625, + 0.10625901818275452, + 0.09911690652370453, + -2.8176157792382917, + -0.21962268650531772, + -0.12953126430511475, + 0.0 + ], + [ + 0.3327208161354065, + 0.06301040202379227, + 0.10245182365179062, + -2.845221700268336, + -0.23510032892227176, + -0.2237396240234375, + 0.0 + ], + [ + 0.3300463557243347, + 0.027408774942159653, + 0.10601141303777695, + -2.8439209779077252, + -0.25035908818244934, + -0.3154468834400177, + 0.0 + ], + [ + 0.31510066986083984, + -0.006881727371364832, + 0.10413666814565659, + -2.844943644600459, + -0.24008171260356903, + -0.41102334856987, + 0.0 + ], + [ + 0.2957988381385803, + -0.036444924771785736, + 0.09844689816236496, + -2.8489124198728284, + -0.22332422435283658, + -0.5013889670372009, + 0.0 + ], + [ + 0.27714627981185913, + -0.0600099191069603, + 0.08406548202037811, + -2.8376915772729596, + -0.17913883924484253, + -0.5989900827407837, + 0.0 + ], + [ + 0.26942434906959534, + -0.07073865085840225, + 0.07220976054668427, + -2.8274468799405774, + -0.16587242484092712, + -0.6599814891815187, + 0.0 + ], + [ + 0.2642923891544342, + -0.08116774260997772, + 0.052641574293375015, + -2.836290808516093, + -0.1240473538637161, + -0.7062361836433411, + 0.0 + ], + [ + 0.26169517636299133, + -0.09062130749225616, + 0.03754638880491257, + -2.839337023096629, + -0.09118474274873732, + -0.7419780492782593, + 0.0 + ], + [ + 0.2621973752975464, + -0.09776601940393448, + 0.024200178682804108, + -2.8532432933622083, + -0.06804571300745012, + -0.7514902949333191, + 0.0 + ], + [ + 0.26299190521240234, + -0.10114205628633499, + 0.017084885388612747, + -2.856052668886729, + -0.05033211037516594, + -0.752137005329132, + 0.0 + ], + [ + 0.26245683431625366, + -0.10327286273241043, + 0.01426511351019144, + -2.8494219203763684, + -0.03173116594552994, + -0.7321953773498535, + 0.0 + ], + [ + 0.26270750164985657, + -0.10145720094442368, + 0.01470098178833723, + -2.840252997475215, + -0.03392782062292099, + -0.703630805015564, + 0.0 + ], + [ + 0.26506614685058594, + -0.10043677687644958, + 0.01571643352508545, + -2.825487258034297, + -0.041183631867170334, + -0.6994725465774536, + 1.0 + ], + [ + 0.2643435299396515, + -0.10141464322805405, + 0.01544781494885683, + -2.8323440869622907, + -0.04774747416377067, + -0.700822114944458, + 1.0 + ], + [ + 0.2632129490375519, + -0.10456476360559464, + 0.02616233006119728, + -2.847308637695857, + -0.07949092239141464, + -0.7127022743225098, + 1.0 + ], + [ + 0.2641724944114685, + -0.10280777513980865, + 0.044953249394893646, + -2.908233957486697, + -0.13008420169353488, + -0.7209937572479248, + 1.0 + ], + [ + 0.2639912962913513, + -0.09794525802135468, + 0.07109487056732178, + -2.939577641087123, + -0.19551987946033478, + -0.6958618760108948, + 1.0 + ], + [ + 0.2647203505039215, + -0.09298180043697357, + 0.09206794202327728, + -2.969944791989871, + -0.22925089299678802, + -0.648197829723358, + 1.0 + ], + [ + 0.2741580307483673, + -0.0697375163435936, + 0.12594719231128693, + -3.0931292121582707, + -0.2902842164039612, + -0.5230194926261902, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.055433034896850586, + 0.3408757448196411, + 0.6389226019382477, + 0.8443419635295868, + 0.9184255003929138, + 0.9211185500025749, + 0.9211185500025749, + 0.9211185500025749, + 0.9211185500025749, + 0.9211185500025749, + 0.9211185500025749, + 0.9211185500025749, + 0.9211185500025749, + 0.9211185500025749, + 0.9211185500025749, + 0.9211185500025749, + 0.9211185500025749, + 0.9211185500025749, + 0.9211185500025749, + 0.9211185500025749, + 0.9211185500025749, + 0.8833810612559319, + 0.7101396322250366, + 0.4250529408454895, + 0.09757041931152344, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2433", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2433/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2435.json b/annotation/test/2435.json new file mode 100644 index 0000000000000000000000000000000000000000..1eb92816e7e809c0b8341f04a2dad7a909c1d3d5 --- /dev/null +++ b/annotation/test/2435.json @@ -0,0 +1,584 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put potato in pot cardboard fence" + ], + "videos": [ + { + "video_path": "videos/test/2435/rgb.mp4" + } + ], + "action": [ + [ + -0.00016915200677197683, + 0.0005795227520950029, + 2.33495022925786e-05, + -0.0004914598124726425, + -0.0015479084882319184, + -1.747515631508493e-05, + 1.0 + ], + [ + -0.007246258322363803, + -0.0011184262976484793, + 0.013037319365840766, + -0.012169751902534586, + -0.039424194892931634, + -0.0005107160009805584, + 1.0 + ], + [ + -0.017841945040539993, + -0.018579808210657214, + 0.01346051992978239, + -0.04309092808732331, + -0.020329467517838495, + 0.05352380106303689, + 1.0 + ], + [ + -0.015850631880697626, + -0.03405579207819193, + -0.005645944755545805, + -0.056965699574861146, + 0.0038453451652564895, + 0.024244203403421365, + 1.0 + ], + [ + -0.00740065611656636, + -0.021131477987851532, + 0.004486168083975854, + 0.0020824910266013553, + 0.053854692418130616, + -0.003992052611778018, + 1.0 + ], + [ + -0.009598866098818425, + -0.006171425388993192, + 0.0098525111555507, + 0.009055043909495386, + 0.003921689821882013, + -0.008264226766637066, + 1.0 + ], + [ + -0.015051874325592914, + 0.0011149871443001437, + 0.01225757112518529, + 0.0063837006310510785, + -0.04434207334270051, + 0.011828524583715468, + 1.0 + ], + [ + -0.012814456441532389, + 0.006481615941848408, + 0.0009650024111344619, + 0.00041336922692818183, + -0.01349802278418466, + 0.005265718101008654, + 1.0 + ], + [ + -0.01075293745086921, + 0.004182183710358276, + 0.005371263863619485, + 0.00793394677151934, + -0.025945035626230527, + -0.0011763016082526588, + 1.0 + ], + [ + -0.0016044904601647443, + 0.0028307203397529984, + 0.00766944672249496, + 0.030792034217939936, + -0.0047475557257577305, + 0.007488612982024344, + 1.0 + ], + [ + 0.003719596631403375, + -0.0008593483669893844, + 0.011968460381522257, + 0.03621970901033328, + 0.008450512148189957, + 0.0037258996251709176, + 1.0 + ], + [ + 0.0020062189746771295, + 0.000342389024990392, + 0.017925759570180007, + 0.03131520835978563, + -0.024993227391525055, + 0.010249803252929056, + 1.0 + ], + [ + -0.0028573205902613324, + 0.002217267003710335, + 0.012971128269375692, + 0.021739270093832898, + -0.050336389670428985, + 0.03716724206314811, + 1.0 + ], + [ + -0.0037882476272096907, + 0.00436754699755338, + 0.0015602644591805163, + -0.014312876028628097, + -0.000658470956038154, + 0.01585703955390661, + 0.0 + ], + [ + 0.0011159970486880075, + -0.000787754669840894, + -0.004393167456841304, + -0.011236885000278375, + 0.023043339849978535, + 0.00427019687717592, + 0.0 + ], + [ + 0.006838847637045839, + -0.0010526378214340982, + -0.006832395155318588, + -0.017980370249651264, + 0.012429122557531867, + -0.042438630453509166, + 0.0 + ], + [ + 0.01986563048460311, + 0.006175436292367118, + -0.029919155880464333, + 0.002299001777774437, + 0.0428297388672709, + -0.06930831664098289, + 0.0 + ], + [ + 0.009366639215446258, + 0.022512303232600516, + -0.017417638708096338, + -0.027673330702311073, + 0.013292359283257907, + -0.022479896037237344, + 0.0 + ], + [ + -0.0007017909152163649, + 0.03538661461369849, + -0.016516244611056184, + 0.023702719740582467, + 0.04316344740699368, + -0.00505558120338101, + 0.0 + ], + [ + -0.013966347296746893, + 0.03647788446267329, + -0.003379868667934524, + -0.011588058506436695, + -0.022901522071268898, + 0.059588842613590334, + 0.0 + ], + [ + -0.01683985781648085, + 0.02440846537177028, + -0.0033831152689364195, + 0.005366969620615798, + 0.038608761627061686, + 0.03923759063785157, + 0.0 + ], + [ + -0.009196976280479082, + 0.01173740378606022, + 0.010404092926499952, + 0.018601488113173706, + -0.015006946116536541, + 0.02292342404853183, + 0.0 + ], + [ + -0.006153767059920464, + 0.0018909393080723028, + 0.011781907298353766, + 0.026229054965066407, + -0.0019313921561929658, + 0.018556600305064088, + 0.0 + ], + [ + -0.005119643609920282, + 0.004169051886078308, + 0.010114791967119124, + 0.017893780280492256, + -0.05867696072446734, + 0.03352601576313724, + 1.0 + ], + [ + 0.0018873790141409057, + -0.00027212173231984697, + -0.0007428474737190201, + -0.012075992091013555, + 0.016223326809149768, + -0.011373822538120913, + 1.0 + ], + [ + 0.003990289645276416, + -0.012738096357027209, + -0.016321923854708625, + -0.030978111925289653, + 0.049152582202577066, + -0.052170234278463755, + 1.0 + ], + [ + 0.02370433454209757, + -0.02260563905455804, + -0.03611536626989112, + -0.017629078743013855, + 0.022644293380383318, + -0.08254023117056765, + 1.0 + ], + [ + 0.027519348374257714, + -0.022374969299034222, + -0.02630911314166489, + 0.0430659398680631, + 0.04039343602169641, + -0.04474723657332277, + 1.0 + ], + [ + -0.001691290124955425, + -0.0025878602507096895, + 0.00042510732448232787, + 0.001080413607463426, + -0.01077003125324689, + -0.00903910624464778, + 1.0 + ] + ], + "state": [ + [ + 0.32925140857696533, + 0.13075564801692963, + 0.1281268298625946, + 3.117891864972659, + -0.1515301614999771, + 0.24545338749885562, + 1.0 + ], + [ + 0.32923153042793274, + 0.1301528364419937, + 0.12809179723262787, + 3.117403309913822, + -0.1499822735786438, + 0.24543395638465879, + 1.0 + ], + [ + 0.32397931814193726, + 0.129664808511734, + 0.11409512162208557, + 3.1052814183109483, + -0.11055725067853928, + 0.24498809874057773, + 1.0 + ], + [ + 0.30390289425849915, + 0.14328084886074066, + 0.09808667004108429, + 3.0682417323165616, + -0.09202047437429428, + 0.19054104387760162, + 1.0 + ], + [ + 0.28161126375198364, + 0.1739928424358368, + 0.09975185990333557, + 3.0135027041011533, + -0.09760569036006929, + 0.1665298044681549, + 1.0 + ], + [ + 0.2716556489467621, + 0.19299070537090302, + 0.09191593527793884, + 3.0143368562036237, + -0.15050305426120758, + 0.17748351395130157, + 1.0 + ], + [ + 0.26301223039627075, + 0.19638918340206146, + 0.08003997802734375, + 3.0220765863829335, + -0.15333847701549527, + 0.18628181517124176, + 1.0 + ], + [ + 0.2506767511367798, + 0.19145061075687408, + 0.06584502756595612, + 3.03097719152505, + -0.11070089042186738, + 0.16915859282016757, + 1.0 + ], + [ + 0.239251509308815, + 0.18285593390464783, + 0.06418724358081818, + 3.0321293120556554, + -0.09786413609981537, + 0.1624031811952591, + 1.0 + ], + [ + 0.2299286425113678, + 0.17652122676372528, + 0.05827772244811058, + 3.0401895885639867, + -0.07194577902555466, + 0.1607336848974228, + 1.0 + ], + [ + 0.2294449657201767, + 0.1728033423423767, + 0.050837885588407516, + 3.0715550800138196, + -0.0679784044623375, + 0.15278466045856476, + 1.0 + ], + [ + 0.233915314078331, + 0.17351162433624268, + 0.03911900147795677, + 3.107985546933957, + -0.07666860520839693, + 0.1496501863002777, + 1.0 + ], + [ + 0.23739011585712433, + 0.17308035492897034, + 0.021421127021312714, + 3.140142408204735, + -0.05202917754650116, + 0.13855460286140442, + 1.0 + ], + [ + 0.23554077744483948, + 0.17056475579738617, + 0.008322179317474365, + -3.1193682012432298, + -0.001710718031972647, + 0.10136142373085022, + 1.0 + ], + [ + 0.2322131246328354, + 0.16587215662002563, + 0.006658763624727726, + -3.1336567663871726, + -0.0006998248281888663, + 0.08552293479442596, + 0.0 + ], + [ + 0.23325766623020172, + 0.16671733558177948, + 0.011058824136853218, + 3.138296801718422, + -0.02370854467153549, + 0.0810699015855789, + 0.0 + ], + [ + 0.23982371389865875, + 0.16832950711250305, + 0.018047917634248734, + 3.119311772408434, + -0.03597637265920639, + 0.12357354164123535, + 0.0 + ], + [ + 0.2591313421726227, + 0.16517798602581024, + 0.04879232496023178, + 3.1191133001172027, + -0.07716374844312668, + 0.1939670294523239, + 0.0 + ], + [ + 0.27120229601860046, + 0.14501141011714935, + 0.06738030910491943, + 3.089681340503045, + -0.08992743492126465, + 0.21683050692081454, + 0.0 + ], + [ + 0.2763303816318512, + 0.11083236336708069, + 0.08557335287332535, + 3.112676529335328, + -0.13276797533035276, + 0.22417825460433957, + 0.0 + ], + [ + 0.2703453004360199, + 0.0721694752573967, + 0.08811860531568527, + 3.1091507469588002, + -0.11135637015104294, + 0.16359101235866544, + 0.0 + ], + [ + 0.25733089447021484, + 0.04540671780705452, + 0.09039445966482162, + 3.1187834554635963, + -0.15113629400730133, + 0.12521862983703613, + 0.0 + ], + [ + 0.25131890177726746, + 0.03258383274078369, + 0.07899157702922821, + 3.140923182252333, + -0.13661491870880124, + 0.10174263268709183, + 0.0 + ], + [ + 0.2470429688692093, + 0.03023858368396759, + 0.06648261845111847, + -3.1134826001995286, + -0.13467228412628174, + 0.08301518857479095, + 0.0 + ], + [ + 0.24367767572402954, + 0.02606203593313694, + 0.05565986409783363, + -3.0912652519815644, + -0.07500816881656647, + 0.05111953243613243, + 1.0 + ], + [ + 0.24548876285552979, + 0.026389412581920624, + 0.05655477195978165, + -3.1041308288746556, + -0.09177893400192261, + 0.06170586869120598, + 1.0 + ], + [ + 0.2471717745065689, + 0.03863435611128807, + 0.07363738119602203, + -3.1397658956754064, + -0.1427332162857056, + 0.11245032399892806, + 1.0 + ], + [ + 0.26284685730934143, + 0.06308738142251968, + 0.11279822140932083, + 3.1139007565849504, + -0.16503772139549253, + 0.1960664689540863, + 1.0 + ], + [ + 0.28083497285842896, + 0.09020612388849258, + 0.14264993369579315, + -3.1339013140001377, + -0.20400096476078033, + 0.24285009503364563, + 1.0 + ], + [ + 0.27868396043777466, + 0.09234261512756348, + 0.14191050827503204, + -3.134703766676136, + -0.1932921856641769, + 0.25214433670043945, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.012741804122924805, + 0.012741804122924805, + 0.012741804122924805, + 0.012741804122924805, + 0.012741804122924805, + 0.012741804122924805, + 0.012741804122924805, + 0.012741804122924805, + 0.012741804122924805, + 0.012741804122924805, + 0.012741804122924805, + 0.012741804122924805, + 0.012741804122924805, + 0.06644022464752197, + 0.3097999095916748, + 0.327828049659729, + 0.3088000416755676, + 0.3088000416755676, + 0.3088000416755676, + 0.3088000416755676, + 0.3088000416755676, + 0.3088000416755676, + 0.3088000416755676, + 0.23570340871810913, + 0.0225980281829834, + 0.014829039573669434, + 0.015527725219726562, + 0.015527725219726562, + 0.015527725219726562, + 0.015527725219726562 + ], + "episode_id": "2435", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2435/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2438.json b/annotation/test/2438.json new file mode 100644 index 0000000000000000000000000000000000000000..c767ebac63bbc7bd399940ac28bd917b0bdd9db1 --- /dev/null +++ b/annotation/test/2438.json @@ -0,0 +1,641 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Put the broccoli in the silver pot" + ], + "videos": [ + { + "video_path": "videos/test/2438/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 1.4123078151744512e-10, + 3.2512663904476635e-09, + -0.0015339880607831043, + 1.0 + ], + [ + -0.0014167076449143024, + -0.0001459928401212139, + 0.005315864566760902, + -0.00864332828178291, + -0.019510905239787216, + -0.00431112923845737, + 1.0 + ], + [ + -0.005851663648589151, + -0.021346341628939704, + 0.009308770886365364, + 0.040261933726901615, + -0.01946454412942488, + -0.03648748922339744, + 1.0 + ], + [ + -0.0018251090506401634, + -0.016018244456637704, + 0.01185702951577795, + 0.03702986453701977, + -0.014543102188204217, + -0.01531227159494016, + 1.0 + ], + [ + -0.01281149916312432, + -0.019959228138529572, + 0.018858572953080008, + 0.05319335046108195, + -0.04277882340228852, + -0.03160811086841273, + 1.0 + ], + [ + -0.0020146997361689236, + -0.006708894686312186, + 0.01565414012788825, + 0.024772267572212014, + -0.03955219295251994, + -0.019186517122431464, + 1.0 + ], + [ + -0.0005386446999098652, + -0.0014795969224929522, + 0.012645938678983766, + 0.0069710950893991175, + -0.033100557603540234, + -0.01945543326441431, + 1.0 + ], + [ + 0.007196348499447399, + -0.0031818301233368014, + 0.010013048613250615, + 0.0061020710288272025, + -0.020292607046353894, + -0.022174989596844073, + 1.0 + ], + [ + 0.012593081803495998, + 0.00023293041210178367, + 0.001634783680561505, + 0.0025601438703532708, + 0.0051884884348742735, + -0.009328335899664753, + 1.0 + ], + [ + 0.015403857227602676, + 0.0030805583088101274, + 0.0012610816882433588, + -0.003020828110116529, + 0.0078119041978207395, + -0.007246713950085213, + 1.0 + ], + [ + 0.00465604937754495, + 0.0021063087345990607, + 0.001692491855773236, + -0.0032121400743793, + -0.005485631905899255, + -0.0010760950306781848, + 1.0 + ], + [ + 0.00046085135863636526, + 0.0014384757130784047, + 0.002638870610303667, + -0.009590132955492122, + -0.005456089689460047, + -0.009244873277410548, + 1.0 + ], + [ + -0.0008109436100557267, + -0.00029988997401728644, + 0.0002947364419232412, + 0.002630776859307971, + -0.003776671397968518, + 0.0015167174672804213, + 0.0 + ], + [ + -0.005607333823156398, + 0.006491884410121619, + -6.794912773023509e-05, + -0.008336325922162092, + -0.01178270876576437, + 0.020000586367568594, + 0.0 + ], + [ + -0.001010784626938, + 0.004413867350764694, + -0.0011240932971576148, + -0.029502400697261007, + -0.007923455091780185, + 0.008211364971056796, + 0.0 + ], + [ + 0.011805596973487271, + 0.0009984484010613266, + -0.012255004601581332, + -0.029308548151910193, + 0.037047960864820144, + -0.00856806533081814, + 0.0 + ], + [ + 0.027258774988164532, + 0.004558557009858584, + -0.027306442835107587, + -0.03324084360598357, + 0.08155819971239023, + -0.01837238987429645, + 0.0 + ], + [ + 0.03345285128434258, + -0.004646419516495045, + -0.03336824837810737, + 0.017830529738438548, + 0.10034867958143297, + -0.02423919465117347, + 0.0 + ], + [ + 0.032677448837860286, + -0.009986837215234473, + -0.012501957793135048, + 0.011467092176056218, + 0.06348132195328234, + -0.050903324054025735, + 0.0 + ], + [ + 0.02301245370017009, + -0.013387488641517759, + 0.014923237926533217, + 0.01809919092906079, + 0.009045233854444846, + -0.05138907450088355, + 0.0 + ], + [ + 0.0012311598367976666, + -0.005505420379083428, + 0.019053799515295376, + 0.028925185654982245, + -0.03110296178459146, + -0.01710163839902983, + 0.0 + ], + [ + 8.99744589734105e-06, + 0.0009946886061104488, + 0.013214302082350369, + 0.01093139396475469, + -0.011873037663062469, + -0.01207784989283827, + 0.0 + ], + [ + -0.00525582163500042, + 0.0028905623452784353, + 0.009970753241725503, + -0.007675225212433161, + -0.04054251513919244, + -0.003823936475391565, + 0.0 + ], + [ + -0.0014321048917906695, + 0.0023433166141559126, + -2.3782781230834578e-05, + -0.014811050303066257, + -0.008977687032455564, + 0.003687394513108718, + 1.0 + ], + [ + -0.0035878235923442574, + 0.0041793915056017065, + -0.005435818534956185, + -0.02721369075129681, + -0.016094441712500795, + 0.015143147594972584, + 1.0 + ], + [ + -0.005429917071236276, + 0.004864698953130395, + -0.048435700228796355, + -0.023124328669300014, + 0.06366123836275876, + 0.021613676165337183, + 1.0 + ], + [ + -0.033533120539727734, + 0.010544797984360137, + -0.02859713440787018, + -0.02609119223392054, + -0.011324692350919327, + 0.026577167225834017, + 1.0 + ], + [ + -0.04096731722766751, + 0.015475660820068972, + -0.005519838685949452, + -0.01522208386326181, + -0.037869687613820875, + 0.05271428351557752, + 1.0 + ], + [ + -0.030078744094617867, + 0.014899551272999707, + 0.010018007267966414, + 0.013911697028741603, + -0.0342980392090562, + 0.060632891249885724, + 1.0 + ], + [ + -0.011807130736786228, + 0.004285256353884458, + 0.005037672859274497, + 0.022520132389516785, + -0.006661646400714861, + 0.03067386982262146, + 1.0 + ], + [ + -0.002329308803408926, + 0.001780918933164215, + 0.002857542228019541, + 0.03462713555532946, + -0.00819883715773966, + 0.0522365993617736, + 1.0 + ], + [ + 0.0003501105868429827, + 0.00036844765753660605, + 0.00040327500250344583, + -0.00024237561004296915, + 0.00017104258175311952, + 6.685299798135342e-05, + 1.0 + ] + ], + "state": [ + [ + 0.24081256985664368, + 0.08179504424333572, + 0.1345200091600418, + -3.127389732869812, + -0.17891666293144226, + -0.07269291579723358, + 1.0 + ], + [ + 0.24081256985664368, + 0.08179504424333572, + 0.1345200091600418, + -3.12766714499379, + -0.17893823981285098, + -0.07113419473171234, + 1.0 + ], + [ + 0.24038094282150269, + 0.08204635977745056, + 0.12903937697410583, + -3.1371340534002563, + -0.15948736667633054, + -0.06649373471736908, + 1.0 + ], + [ + 0.23749738931655884, + 0.10367338359355927, + 0.11901348829269409, + -3.1027388108247003, + -0.1400784254074097, + -0.029564807191491127, + 1.0 + ], + [ + 0.23774439096450806, + 0.12014000862836838, + 0.1076427549123764, + -3.067942539351531, + -0.1261233538389206, + -0.013573721051216125, + 1.0 + ], + [ + 0.2275056689977646, + 0.14157375693321228, + 0.08883015066385269, + -3.0191023667627057, + -0.0857100859284401, + 0.021196091547608376, + 1.0 + ], + [ + 0.22657673060894012, + 0.15012730658054352, + 0.07399457693099976, + -2.996315064030238, + -0.04877399280667306, + 0.045084863901138306, + 1.0 + ], + [ + 0.22648978233337402, + 0.15342146158218384, + 0.061684414744377136, + -2.9904783834987363, + -0.01882433332502842, + 0.06912115961313248, + 1.0 + ], + [ + 0.2335232049226761, + 0.1585724651813507, + 0.0524015948176384, + -2.9848625530772885, + -0.0020949665922671556, + 0.094094417989254, + 1.0 + ], + [ + 0.24606163799762726, + 0.15978096425533295, + 0.050776876509189606, + -2.982323469715663, + -0.00867582205682993, + 0.10249871015548706, + 1.0 + ], + [ + 0.26168978214263916, + 0.15853190422058105, + 0.0491768941283226, + -2.98539354105527, + -0.017537999898195267, + 0.10841543972492218, + 1.0 + ], + [ + 0.266549289226532, + 0.15723271667957306, + 0.04725930094718933, + -2.9886372109227857, + -0.012286522425711155, + 0.1103319302201271, + 1.0 + ], + [ + 0.26715409755706787, + 0.15627385675907135, + 0.0444379486143589, + -2.9983551820092877, + -0.008302043192088604, + 0.12030039727687836, + 1.0 + ], + [ + 0.2663104236125946, + 0.15651322901248932, + 0.04418231546878815, + -2.995715456204959, + -0.004347536247223616, + 0.11933832615613937, + 0.0 + ], + [ + 0.2615126669406891, + 0.14945904910564423, + 0.04328151047229767, + -3.0039870013766965, + 0.010217878036201, + 0.1012636348605156, + 0.0 + ], + [ + 0.2609698474407196, + 0.14485424757003784, + 0.04379982128739357, + -3.0335605089836797, + 0.019192539155483246, + 0.0942157432436943, + 0.0 + ], + [ + 0.2731693387031555, + 0.14368274807929993, + 0.05564693734049797, + -3.0627089013629636, + -0.01856336183845997, + 0.09873502701520921, + 0.0 + ], + [ + 0.3004545569419861, + 0.13965658843517303, + 0.08301059901714325, + -3.0959132482581815, + -0.10131382197141646, + 0.1106298267841339, + 0.0 + ], + [ + 0.3298161029815674, + 0.146055206656456, + 0.11976763606071472, + -3.079885834949561, + -0.20264449715614322, + 0.1305539608001709, + 0.0 + ], + [ + 0.3577423393726349, + 0.15899774432182312, + 0.13917040824890137, + -3.07814775605733, + -0.2689138948917389, + 0.17908668518066403, + 0.0 + ], + [ + 0.3806961476802826, + 0.1776922345161438, + 0.13174480199813843, + -3.074145170050212, + -0.28084224462509155, + 0.2318655103445053, + 0.0 + ], + [ + 0.3853180408477783, + 0.1857469230890274, + 0.11417685449123383, + -3.0506813322478017, + -0.25091004371643066, + 0.2516353726387024, + 0.0 + ], + [ + 0.38846060633659363, + 0.1867707222700119, + 0.10134395211935043, + -3.043101394670554, + -0.24016055464744568, + 0.2651277184486389, + 0.0 + ], + [ + 0.38637375831604004, + 0.18423934280872345, + 0.09018007665872574, + -3.052590014534541, + -0.20018327236175537, + 0.27307429909706116, + 0.0 + ], + [ + 0.3856876492500305, + 0.18162113428115845, + 0.08971439301967621, + -3.066815609233924, + -0.19091252982616422, + 0.27014642953872675, + 1.0 + ], + [ + 0.3825792074203491, + 0.17601442337036133, + 0.09404917061328888, + -3.0913493131571492, + -0.17371319234371188, + 0.2560376524925232, + 1.0 + ], + [ + 0.371204137802124, + 0.16549982130527496, + 0.14051654934883118, + -3.109980983781167, + -0.23615412414073944, + 0.23059271275997162, + 1.0 + ], + [ + 0.3356456458568573, + 0.14539729058742523, + 0.16013646125793457, + -3.1297933954098305, + -0.2239127904176712, + 0.20371751487255096, + 1.0 + ], + [ + 0.2985103726387024, + 0.12185792624950409, + 0.1562434434890747, + -3.1332214401387652, + -0.18511579930782318, + 0.15058343112468722, + 1.0 + ], + [ + 0.27334827184677124, + 0.10305529087781906, + 0.14073804020881653, + -3.108093602704354, + -0.1499730795621872, + 0.08959047496318817, + 1.0 + ], + [ + 0.26285919547080994, + 0.09798235446214676, + 0.13385367393493652, + -3.080995423840829, + -0.14221808314323425, + 0.05884724110364913, + 1.0 + ], + [ + 0.2610706090927124, + 0.09626960009336472, + 0.13059325516223907, + -3.0390672852569303, + -0.13068163394927979, + 0.006761026568710804, + 1.0 + ], + [ + 0.26147711277008057, + 0.09594710171222687, + 0.1302037537097931, + -3.039298618333884, + -0.13084493577480316, + 0.006676294840872288, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.04926097393035889, + 0.35795462131500244, + 0.6562948226928711, + 0.7445420324802399, + 0.7445420324802399, + 0.7445420324802399, + 0.7445420324802399, + 0.7445420324802399, + 0.7445420324802399, + 0.7445420324802399, + 0.7445420324802399, + 0.6676268577575684, + 0.37101542949676514, + 0.07933062314987183, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2438", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2438/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2441.json b/annotation/test/2441.json new file mode 100644 index 0000000000000000000000000000000000000000..ae59b1bab30f7232ae3a4bde6bd51a5a4a6946cc --- /dev/null +++ b/annotation/test/2441.json @@ -0,0 +1,717 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "take carrot out of pot cardboard fence" + ], + "videos": [ + { + "video_path": "videos/test/2441/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 1.4794289876077677e-17, + 3.012822909523786e-17, + 4.8015507091788496e-17, + 1.0 + ], + [ + -0.005167184662739725, + 0.0018547844488656876, + 0.006077452487102312, + -0.005908747129185867, + -0.03499740472764785, + 0.021776626279261486, + 1.0 + ], + [ + 0.009329325490679706, + 0.006544542486291548, + -0.0033037465296122687, + -0.03576749008020515, + -0.023570754552026944, + 0.23835001598799557, + 1.0 + ], + [ + 0.01840994525893583, + 0.006411117373535761, + -0.001018056053831258, + -0.027466173241749277, + 0.013039623221840107, + 0.2536333104734828, + 1.0 + ], + [ + 0.018359564803242343, + 0.011258563235482709, + 0.0013615322330310447, + -0.007921052767780327, + 0.0356158160956038, + 0.24605656797654563, + 1.0 + ], + [ + 0.01695134566165116, + 0.014404583403075384, + 0.005776900980596908, + -0.01540011209872159, + 0.04435904592829366, + 0.24897585007637393, + 1.0 + ], + [ + 0.012230408914134695, + 0.009641006789172521, + 0.0032894300069520625, + -0.029850472885413152, + 0.06130425561046532, + 0.2419735202744823, + 1.0 + ], + [ + 0.009346301616092647, + 0.00944500139573192, + 0.008669486976855054, + -0.04043734858471025, + 0.028031461483983687, + 0.23302701264890877, + 1.0 + ], + [ + 0.0034544620238977056, + 0.0006797927896159215, + 0.007309665768571753, + -0.0520611474913486, + 0.01801584750891783, + 0.17500587323838773, + 1.0 + ], + [ + -0.0029736876618929224, + 0.0005423269072656315, + 0.008309615788317288, + -0.048981956780124236, + -0.016789976880194398, + 0.06818772163691345, + 1.0 + ], + [ + -0.0004893601042147368, + -0.00204716782971734, + 0.0036776840113442078, + 0.02461369055189431, + -0.0007402904632389802, + 0.0003624014354444012, + 1.0 + ], + [ + -0.001824824009439777, + -0.00026432325127446446, + 0.0054730640728863425, + -0.0045011652066612355, + -0.012629846955767467, + -0.00047207406916377806, + 1.0 + ], + [ + -0.0032835225189558567, + 0.001724856026167079, + 0.013417913449559024, + -0.023753873498887128, + -0.023333177456919138, + -0.011328030460797413, + 1.0 + ], + [ + -0.0021839344967744057, + -0.0013604142667333432, + 0.004984056754479246, + 0.00391054849917891, + -0.016202060009813585, + 0.0014811865563679422, + 1.0 + ], + [ + -0.0009426987677073156, + -0.00023615048495935029, + 0.001413978867914596, + 0.009504463850825864, + -0.0052626274041126285, + 0.009632117892618726, + 1.0 + ], + [ + -0.0004958096175374747, + 0.0013418579877258507, + 0.002235721339097267, + 0.004717247122369553, + -0.0021109110647653906, + 0.006577114598804477, + 0.0 + ], + [ + -0.0021446362543334186, + -0.0008555455211474519, + 0.00024476339648263655, + 0.005999892979429119, + 0.005132161750804399, + -0.005303716499843022, + 0.0 + ], + [ + -0.0008170540496510072, + -1.2088385744834973e-05, + -0.0005181237718258241, + -8.702690254524013e-05, + 0.004073992274860642, + -0.002701725754899779, + 0.0 + ], + [ + -0.0002970110549248309, + -0.0012820155753488721, + -0.015059917408207633, + 0.028478549648042417, + 0.02567656649383444, + -0.02463195402044143, + 0.0 + ], + [ + 0.00038818951658131125, + -0.005724377065318238, + -0.03940364874252392, + 0.09802446182466408, + 0.04070260285451769, + -0.06516281976393115, + 0.0 + ], + [ + -0.003474133567446823, + 3.478414453048521e-05, + -0.02792050561234679, + 0.022614366304700016, + 0.04556901061735717, + -0.04861456920641278, + 0.0 + ], + [ + -0.014730319674613922, + 0.013446587333137963, + -0.016013260943145098, + -0.011070091767132983, + -0.0044251377566520405, + -0.00033997727670447995, + 0.0 + ], + [ + -0.021042566423671312, + 0.027269655993207267, + 0.0013105428418582778, + -0.026911841610956066, + -0.0256277696965225, + 0.03244943737506628, + 0.0 + ], + [ + -0.01702667431572232, + 0.02129693839748873, + 0.007443083853009907, + -0.03115010886517313, + -0.03322783568704712, + 0.018083397256391662, + 0.0 + ], + [ + -0.013727112944875098, + 0.017971624541611563, + 0.01664126353132314, + -0.018914282956799606, + -0.05533780786684452, + 0.030077191582123002, + 0.0 + ], + [ + -0.009415230657555736, + 0.014849542937109245, + 0.025728797482390462, + -0.04985724920769082, + -0.057688197077480276, + 0.028112474548915547, + 0.0 + ], + [ + -0.006799607183400609, + 0.006254191060947262, + 0.016605784391881526, + -0.002464838054738813, + -0.05157262050463055, + -0.008143432195215043, + 0.0 + ], + [ + -0.0028772885908034574, + 0.0027540047740752826, + 0.009999962857706176, + -0.006323865399607408, + -0.020575885073370794, + -0.0024665398475147214, + 0.0 + ], + [ + -0.0035938385879612485, + 0.0022797730824414076, + 0.0009896287208882304, + -0.004898538116145683, + -0.001418886989664792, + 0.006485933058524578, + 0.0 + ], + [ + -0.0014930001411746264, + 0.0009993483742288054, + -1.0177144181625428e-05, + -0.006346820346796113, + -0.00938534903825666, + 0.004754789968623916, + 1.0 + ], + [ + -0.0004081093269095027, + 0.0004920322769193979, + -1.2889191655365528e-06, + -0.003112527531922458, + -0.0025618336460147997, + 0.0037906837239949846, + 1.0 + ], + [ + -0.00031235468942726033, + -0.002901804999669681, + -0.014154418416245013, + 0.004505724510458032, + 0.02582612419599441, + -0.027284674848174484, + 1.0 + ], + [ + 0.0011145842232176588, + -0.01318144490184948, + -0.03774542835711423, + 0.025494107330590814, + 0.0666559406188487, + -0.05495508217423328, + 1.0 + ], + [ + 0.0027881048621516175, + -0.01275754522022058, + -0.04026071444476993, + -0.001793424942959717, + 0.0884263498604262, + -0.04339945713835603, + 1.0 + ], + [ + 0.0010141170523789412, + -0.011342751404738215, + -0.026301096871302065, + 0.0023387671151604166, + 0.016370498636131135, + -0.04687004085810511, + 1.0 + ], + [ + 3.69032682303444e-06, + 0.0008152227923683346, + -0.0011346087046714727, + -0.0032209094988010618, + -0.0008204775016383175, + -0.0004910000212907958, + 1.0 + ] + ], + "state": [ + [ + 0.27396294474601746, + 0.08278770744800568, + 0.08146687597036362, + -2.994914950924464, + -0.22681006789207458, + 0.2733413577079773, + 1.0 + ], + [ + 0.27396294474601746, + 0.08278770744800568, + 0.08146687597036362, + -2.994914950924464, + -0.22681006789207458, + 0.2733413577079773, + 1.0 + ], + [ + 0.27073103189468384, + 0.0808984786272049, + 0.07418257743120193, + -2.9969925006204328, + -0.18897515535354611, + 0.25662907958030695, + 1.0 + ], + [ + 0.2809361517429352, + 0.07638876885175705, + 0.07821992039680481, + -2.9929696043306073, + -0.1265144795179367, + 0.022466016933321953, + 1.0 + ], + [ + 0.2993329167366028, + 0.07030931115150452, + 0.08059987425804138, + -2.9934615065627774, + -0.09822475165128708, + -0.23153375089168549, + 1.0 + ], + [ + 0.3148944675922394, + 0.05540639907121658, + 0.07940656691789627, + -2.9816390593820294, + -0.09448776394128801, + -0.48123925924301153, + 1.0 + ], + [ + 0.3243657648563385, + 0.03545578941702843, + 0.07304414361715317, + -2.9783032109313687, + -0.09604580700397491, + -0.7352081537246703, + 1.0 + ], + [ + 0.32771554589271545, + 0.02032165601849556, + 0.06942623853683472, + -2.989164935546466, + -0.11465155333280562, + -0.9853821992874146, + 1.0 + ], + [ + 0.3267943859100342, + 0.007198082283139229, + 0.060558054596185684, + -3.007012115912982, + -0.10415477305650711, + -1.2212415933609009, + 1.0 + ], + [ + 0.3285207748413086, + 0.0033588449005037546, + 0.05362217128276825, + -3.042865114408084, + -0.09703806042671202, + -1.3979147672653198, + 1.0 + ], + [ + 0.3284255564212799, + 0.005528158042579889, + 0.04505060985684395, + -3.0856231210106095, + -0.07340079545974731, + -1.4642807245254517, + 1.0 + ], + [ + 0.3306383490562439, + 0.005993205588310957, + 0.04146689549088478, + -3.060985857742377, + -0.07264138758182526, + -1.464601993560791, + 1.0 + ], + [ + 0.3311874270439148, + 0.0074854358099401, + 0.03591477498412132, + -3.0655888264351567, + -0.060090482234954834, + -1.4631118774414062, + 1.0 + ], + [ + 0.3302253782749176, + 0.009862057864665985, + 0.022231822833418846, + -3.0901137461238584, + -0.03767966479063034, + -1.4500386714935303, + 1.0 + ], + [ + 0.3315880596637726, + 0.012039586901664734, + 0.0172455832362175, + -3.0861721244924745, + -0.021422846242785454, + -1.4506841897964478, + 1.0 + ], + [ + 0.331790566444397, + 0.012983170337975025, + 0.015826983377337456, + -3.076469512777873, + -0.015633830800652504, + -1.4600110054016113, + 1.0 + ], + [ + 0.3305535614490509, + 0.0133079057559371, + 0.013501209206879139, + -3.071653002994605, + -0.013099054805934427, + -1.4664373397827148, + 0.0 + ], + [ + 0.33119624853134155, + 0.015528975054621696, + 0.013288755901157856, + -3.065717654424258, + -0.018589146435260773, + -1.4615044593811035, + 0.0 + ], + [ + 0.33107903599739075, + 0.016347607597708702, + 0.013791028410196304, + -3.0658486132794103, + -0.02285616099834442, + -1.4591187238693237, + 0.0 + ], + [ + 0.331145316362381, + 0.01700141280889511, + 0.02889404259622097, + -3.0378819947415074, + -0.05031703412532806, + -1.436480164527893, + 0.0 + ], + [ + 0.33252909779548645, + 0.01881636306643486, + 0.06864775717258453, + -2.9430233557992658, + -0.09745024889707564, + -1.375653624534607, + 0.0 + ], + [ + 0.3259056508541107, + 0.02374575100839138, + 0.09554490447044373, + -2.9241558035188397, + -0.15163782238960266, + -1.3365906476974487, + 0.0 + ], + [ + 0.30594825744628906, + 0.035931993275880814, + 0.10590904951095581, + -2.9354203959279737, + -0.14739009737968445, + -1.3352899551391602, + 0.0 + ], + [ + 0.2756323218345642, + 0.04902585223317146, + 0.09602794796228409, + -2.9584171791845044, + -0.11561102420091629, + -1.3619716167449951, + 0.0 + ], + [ + 0.25323447585105896, + 0.06024763733148575, + 0.08294074982404709, + -2.988120751576968, + -0.07963744550943373, + -1.373727798461914, + 0.0 + ], + [ + 0.23593232035636902, + 0.06918977200984955, + 0.06271655112504959, + -3.005141558247157, + -0.020335128530859947, + -1.3949522972106934, + 0.0 + ], + [ + 0.22334463894367218, + 0.07594578713178635, + 0.03502118960022926, + -3.0543905963473996, + 0.040644221007823944, + -1.4149284362792969, + 0.0 + ], + [ + 0.21745596826076508, + 0.08260062336921692, + 0.018224215134978294, + -3.0562315826588353, + 0.09130827337503433, + -1.4022842645645142, + 0.0 + ], + [ + 0.21495483815670013, + 0.08602485060691833, + 0.008330701850354671, + -3.062151627736636, + 0.11159812659025192, + -1.3980467319488525, + 0.0 + ], + [ + 0.21215718984603882, + 0.08929411321878433, + 0.007570772897452116, + -3.0677637701206883, + 0.1135249808430672, + -1.4044407606124878, + 0.0 + ], + [ + 0.21092675626277924, + 0.09059897065162659, + 0.007676746696233749, + -3.0745701809697827, + 0.12323454767465591, + -1.408521056175232, + 1.0 + ], + [ + 0.21037612855434418, + 0.09092317521572113, + 0.007695486303418875, + -3.0781302993469914, + 0.12604369223117828, + -1.4121605157852173, + 1.0 + ], + [ + 0.21258455514907837, + 0.08976851403713226, + 0.02193118818104267, + -3.070391686754771, + 0.09849800914525986, + -1.3864535093307495, + 1.0 + ], + [ + 0.22376896440982819, + 0.08686560392379761, + 0.060222078114748, + -3.03990442504222, + 0.027980148792266846, + -1.3364850282669067, + 1.0 + ], + [ + 0.23305413126945496, + 0.08502735942602158, + 0.10147568583488464, + -3.040399382012435, + -0.06440944969654083, + -1.3023793697357178, + 1.0 + ], + [ + 0.24117513000965118, + 0.0880347266793251, + 0.12879672646522522, + -3.0410543476515493, + -0.08536417782306671, + -1.257246494293213, + 1.0 + ], + [ + 0.24026884138584137, + 0.08783084899187088, + 0.12984028458595276, + -3.0443240871005735, + -0.08459711074829102, + -1.2566735744476318, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.004532158374786377, + 0.051565468311309814, + 0.32281494140625, + 0.38707518577575684, + 0.35594499111175537, + 0.35594499111175537, + 0.35594499111175537, + 0.35594499111175537, + 0.35594499111175537, + 0.35494011640548706, + 0.35494011640548706, + 0.35594499111175537, + 0.35594499111175537, + 0.35594499111175537, + 0.35494011640548706, + 0.2769421935081482, + 0.03127884864807129, + 0.003858029842376709, + 0.004532158374786377, + 0.004532158374786377, + 0.003858029842376709, + 0.004532158374786377, + 0.004532158374786377 + ], + "episode_id": "2441", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2441/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2443.json b/annotation/test/2443.json new file mode 100644 index 0000000000000000000000000000000000000000..e5a57fd3550e9cdce4472a053a1d477c906fd534 --- /dev/null +++ b/annotation/test/2443.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "take broccoli out of pan cardboardfence" + ], + "videos": [ + { + "video_path": "videos/test/2443/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -3.656479241326823e-10, + 7.027311345227495e-10, + -0.001533980677937926, + 1.0 + ], + [ + -0.005991589777089998, + 0.0009403487064578653, + 0.007441798359593898, + 0.004160717754734083, + -0.039642070757727806, + -0.014401132508799324, + 1.0 + ], + [ + -0.0038990647927404695, + 0.0050229409983577515, + -0.006952353586809707, + 0.06070610128429992, + -0.04229489090882201, + -0.07602717039454708, + 1.0 + ], + [ + -0.0038051412884681753, + 0.008870292764594416, + -0.013644252305144756, + 0.0394043996805978, + -0.022832334964102637, + -0.08871697802752303, + 1.0 + ], + [ + -0.01127473330172242, + 0.010825437750609629, + -0.015287511073858305, + -0.020316669097524647, + -0.014159374555136777, + -0.18191441077489282, + 1.0 + ], + [ + -0.027969240987229672, + 0.006516626524635407, + 0.016090851758838887, + -0.04091769802073733, + -0.06349740443359102, + -0.24664615392729447, + 1.0 + ], + [ + -0.022315013445280717, + 0.005611801283413512, + 0.010260095939706431, + -0.04295017162355386, + -0.019423322608373234, + -0.07234861148275466, + 1.0 + ], + [ + -0.017934977755992725, + 0.0042833511895019535, + 0.009675181988984326, + -0.02399064999803334, + 0.01648752916781926, + -0.022199720202407305, + 1.0 + ], + [ + -0.00824140494609865, + 0.005369781823016179, + 0.007745851028559511, + -0.02400745876612474, + 0.013508713588301517, + 0.02001731881643361, + 1.0 + ], + [ + -0.002074077021675176, + 0.009536074313668097, + 0.005335396721439401, + -0.0260467076564076, + 0.04909930258920048, + 0.02981472697055087, + 1.0 + ], + [ + -0.00404770518714307, + 0.0022301712359684062, + 0.009825516174505689, + -0.01840930618477371, + 0.011727515886801912, + 0.004730318369991623, + 1.0 + ], + [ + -0.007158035475445758, + -0.0004298216245826742, + 0.005795083945216468, + -0.006784479440063831, + 0.005964544288881044, + -0.023773033553135352, + 1.0 + ], + [ + -0.0017330022695221184, + -0.0034304135893070973, + 0.002979579671128918, + -0.005566206971335377, + -0.018423201861625885, + -0.003799761953008944, + 1.0 + ], + [ + -0.00017329914731863808, + -0.004758809398822668, + 0.0031801916377875864, + -0.0002517398481683254, + -0.008775243227813147, + 0.0023007152168419147, + 1.0 + ], + [ + -0.0006112611484638997, + -0.008568571353283783, + 0.0033790088029130717, + 0.0181281927174696, + -0.014504522821344484, + 0.00312427720648309, + 1.0 + ], + [ + 0.0005663840614976754, + -0.007289219925322314, + 0.0033229817106565484, + 0.046677202616208384, + -0.03215160337460424, + 0.009369437533204251, + 1.0 + ], + [ + -0.001235906442661236, + -0.0003307624157351198, + 0.0031353038694592324, + -0.014995206783221568, + -0.0029004841641867125, + -0.022042189597585405, + 1.0 + ], + [ + -0.006365576215953294, + -6.015056400386349e-05, + 0.006745672335391467, + -0.027468152936883965, + -0.006368328024862531, + -0.029328059342188788, + 1.0 + ], + [ + -0.0036744853931211558, + 0.0021800472115223422, + 0.0029829474044718966, + -0.02627481423129331, + -0.007791884762299308, + -0.019681301834228174, + 1.0 + ], + [ + -0.0034687361625259532, + 0.001396897689765039, + 0.005700901714448381, + -0.037056822015158614, + 0.008500759423610154, + -0.026498077502240244, + 1.0 + ], + [ + 0.0007450389847436526, + 0.0016658473789903847, + 0.007098609083060545, + -0.03507530991634939, + -0.006770776244105295, + 0.02141247777944945, + 1.0 + ], + [ + -0.001181690973716426, + -0.0003973477905745004, + 0.00773053242706109, + -0.02145659373357986, + -0.021257884769997445, + 0.0025078795453471517, + 1.0 + ], + [ + 0.003096762054127352, + -0.0004105240062492004, + 0.00010640767087301094, + -0.01576260392117726, + -0.006596089850454892, + 0.021341086750634983, + 0.0 + ], + [ + 0.008081798454418651, + 0.0007485592520849871, + -0.0014859964599118923, + -0.004609444549881807, + -0.019879561425787916, + 0.04492777390472003, + 0.0 + ], + [ + 0.01797674975357543, + 0.004666771121221485, + -0.015111563140117789, + 0.02615913350133372, + -0.020886110757748638, + 0.04548229325339542, + 0.0 + ], + [ + 0.012769314215992311, + 0.002464515141269818, + -0.015497424567749227, + 0.018898384044687935, + -0.024686409143370176, + 0.01243358748867444, + 0.0 + ], + [ + 0.010508451681433105, + -0.0006844613229401577, + -0.02694884267800011, + -0.005370309951145581, + -0.04131480482075964, + -0.017697136290671357, + 0.0 + ], + [ + 0.021482182762854775, + -0.010736371345707712, + -0.02286990254115604, + -0.029491287497717112, + -0.07959654700088507, + 0.021627784582811015, + 0.0 + ], + [ + 0.024927803652865024, + -0.017227468347208882, + 0.0018037462091894988, + 0.07303872137116646, + 0.13447119284236508, + 0.17223193587053248, + 0.0 + ], + [ + 0.0150268078134243, + -0.011012119825850443, + 0.02011974393209024, + 0.05904338769419195, + 0.178383716892291, + 0.19949012601706415, + 0.0 + ], + [ + 0.007261583008428348, + -0.010722461651587188, + 0.014832129871386048, + 0.00880022705396477, + 0.031103348106254192, + 0.06904015672731355, + 0.0 + ], + [ + 0.01545834485821268, + -0.0038103553702686535, + 0.008292897723949453, + -0.010559013779943748, + 0.03678783673746292, + 0.07094605283131951, + 0.0 + ], + [ + 0.015580962148795133, + -0.003886796458372853, + 0.008170306957279723, + -0.01701009851084289, + 0.00014052009666879286, + 0.035743854865753315, + 0.0 + ], + [ + 0.012516715709790321, + -0.005459779227327865, + 0.010087374557616182, + -0.007846737996543243, + 0.03561291254974889, + 0.048109277469604396, + 0.0 + ], + [ + 0.000819194505650225, + -0.0032589507839086633, + 0.007805718065334198, + -0.012635578698437953, + 0.022120516756837304, + -0.0010146576692172784, + 0.0 + ], + [ + 0.0013586265233149317, + -0.0013724315996024685, + 0.0012839828640356433, + 0.005213496209849902, + -0.0008846563996421839, + -0.021211343700415466, + 1.0 + ], + [ + -0.0005649629513702669, + -0.00027836001578174804, + -0.0020582983433808186, + -0.0019188823248225612, + -0.030057744323449254, + -0.010861232378034403, + 1.0 + ], + [ + -0.002549793294532844, + 0.0024510124291169276, + -7.062531905250624e-05, + 0.01358481957405382, + -0.02819884025333495, + -0.00029928332234966363, + 1.0 + ] + ], + "state": [ + [ + 0.32476723194122314, + 0.032170023769140244, + 0.12299942970275879, + -3.0333048795633992, + -0.21220536530017853, + -0.05728277936577797, + 1.0 + ], + [ + 0.32476723194122314, + 0.032170023769140244, + 0.12299942970275879, + -3.0336335768275937, + -0.21237090229988095, + -0.055722735822200775, + 1.0 + ], + [ + 0.3204902708530426, + 0.03227536380290985, + 0.11440522968769073, + -3.0333849882059774, + -0.17447438836097717, + -0.036859408020973206, + 1.0 + ], + [ + 0.3153364360332489, + 0.02671711891889572, + 0.120000921189785, + -2.9869651963287076, + -0.1400660276412964, + 0.04402859136462211, + 1.0 + ], + [ + 0.31036069989204407, + 0.015621522441506386, + 0.13146637380123138, + -2.96098709304864, + -0.13056521117687225, + 0.13597649335861206, + 1.0 + ], + [ + 0.2994118928909302, + 0.0006033119279891253, + 0.14298135042190552, + -3.008046956854411, + -0.1469685435295105, + 0.31946709752082825, + 1.0 + ], + [ + 0.27683743834495544, + -0.011410416103899479, + 0.12225154787302017, + -3.0898256843262395, + -0.11183679848909378, + 0.5737088322639465, + 1.0 + ], + [ + 0.26195353269577026, + -0.027069108560681343, + 0.10929020494222641, + -3.1411110177338166, + -0.09587904065847397, + 0.6472929120063781, + 1.0 + ], + [ + 0.25103136897087097, + -0.04068928211927414, + 0.09794045239686966, + 3.1159458124362907, + -0.11235354095697403, + 0.6696224808692932, + 1.0 + ], + [ + 0.24873413145542145, + -0.04960767924785614, + 0.08945880085229874, + 3.0941632633381566, + -0.12634925544261932, + 0.649802029132843, + 1.0 + ], + [ + 0.25350141525268555, + -0.05826622620224953, + 0.08435904234647751, + 3.0715908726030072, + -0.1767585277557373, + 0.6219505667686462, + 1.0 + ], + [ + 0.25333794951438904, + -0.06196627393364906, + 0.07415211945772171, + 3.053875172632285, + -0.1887868195772171, + 0.6179819107055663, + 1.0 + ], + [ + 0.24854227900505066, + -0.06547290831804276, + 0.06710156798362732, + 3.0424874519282064, + -0.19258999824523923, + 0.6426417827606201, + 1.0 + ], + [ + 0.24581781029701233, + -0.06361664831638336, + 0.06352658569812775, + 3.0365240444713315, + -0.17388087511062622, + 0.6446294784545897, + 1.0 + ], + [ + 0.24354435503482819, + -0.059822287410497665, + 0.059890083968639374, + 3.0368315299325666, + -0.16539441049098969, + 0.6413768529891968, + 1.0 + ], + [ + 0.23873572051525116, + -0.05321872979402542, + 0.05559103563427925, + 3.0557198767834386, + -0.15129433572292325, + 0.6366999149322511, + 1.0 + ], + [ + 0.2355145514011383, + -0.04692291468381882, + 0.05178544670343399, + 3.1041946989768228, + -0.12005371600389482, + 0.6245249509811401, + 1.0 + ], + [ + 0.2347000390291214, + -0.04724704846739769, + 0.04851458966732025, + 3.08656561200554, + -0.11630222201347351, + 0.6465922594070435, + 1.0 + ], + [ + 0.23046518862247467, + -0.05083327740430832, + 0.041082680225372314, + 3.055742623406001, + -0.10828188061714171, + 0.6756954193115234, + 1.0 + ], + [ + 0.2293681651353836, + -0.05482408031821251, + 0.03791685402393341, + 3.0274237786703786, + -0.09881174564361572, + 0.6947282552719116, + 1.0 + ], + [ + 0.22843776643276215, + -0.058251287788152695, + 0.03209685906767845, + 2.9876986165815076, + -0.10420192033052443, + 0.7221704721450806, + 1.0 + ], + [ + 0.23132875561714172, + -0.05934847518801689, + 0.025451654568314552, + 2.954978348808833, + -0.10076738893985748, + 0.6998602747917175, + 1.0 + ], + [ + 0.23169197142124176, + -0.06040722131729126, + 0.0177016519010067, + 2.934129761653491, + -0.08034185320138931, + 0.6934319734573364, + 1.0 + ], + [ + 0.23383475840091705, + -0.05813244730234146, + 0.017762107774615288, + 2.9202050139480313, + -0.07826270163059235, + 0.6711217761039734, + 0.0 + ], + [ + 0.2402968406677246, + -0.053516894578933716, + 0.020003125071525574, + 2.9195878227525434, + -0.06863860785961151, + 0.6228165030479431, + 0.0 + ], + [ + 0.2546999752521515, + -0.044681042432785034, + 0.03696717694401741, + 2.949330659704753, + -0.05819296836853027, + 0.5737742781639099, + 0.0 + ], + [ + 0.2643459141254425, + -0.03780129924416542, + 0.05336609110236168, + 2.9691823740773877, + -0.036328829824924476, + 0.5568452477455139, + 0.0 + ], + [ + 0.2696461081504822, + -0.028261257335543633, + 0.08016220480203629, + 2.9632969816499433, + 0.007411079015582799, + 0.5671788454055786, + 0.0 + ], + [ + 0.2800370454788208, + -0.004305473528802395, + 0.10060566663742065, + 2.9330833574109754, + 0.08190406113862991, + 0.5317350029945374, + 0.0 + ], + [ + 0.292718768119812, + 0.022275567054748535, + 0.09325333684682846, + 2.9947822262817105, + -0.08599250018596649, + 0.3923669159412384, + 0.0 + ], + [ + 0.3052196204662323, + 0.036053068935871124, + 0.0731092318892479, + 3.068931596475192, + -0.29020926356315613, + 0.2172153890132904, + 0.0 + ], + [ + 0.3142924904823303, + 0.04790426045656204, + 0.060266874730587006, + 3.097960414486476, + -0.32556974887847895, + 0.14695753157138827, + 0.0 + ], + [ + 0.33095043897628784, + 0.053852591663599014, + 0.057203952223062515, + 3.1111770906769713, + -0.3645940124988556, + 0.07285652309656142, + 0.0 + ], + [ + 0.3481501638889313, + 0.05875413119792938, + 0.05501949414610863, + 3.1078230050676545, + -0.3655776381492614, + 0.03460458293557167, + 0.0 + ], + [ + 0.36332350969314575, + 0.06439855694770813, + 0.049906518310308456, + 3.1182001066678247, + -0.40236738324165344, + -0.016312770545482635, + 0.0 + ], + [ + 0.3672126531600952, + 0.06741099804639816, + 0.04297681152820587, + 3.104900537180253, + -0.4244576096534729, + -0.014632136560976505, + 0.0 + ], + [ + 0.3690190613269806, + 0.0687091127038002, + 0.04232119396328926, + 3.100565483915158, + -0.42269435524940485, + 0.008575339801609518, + 1.0 + ], + [ + 0.36766180396080017, + 0.06906003504991531, + 0.04395458474755287, + 3.0943599102371415, + -0.39219591021537786, + 0.018979830667376518, + 1.0 + ], + [ + 0.36528125405311584, + 0.06656946241855621, + 0.043152134865522385, + 3.108348397659608, + -0.36401417851448065, + 0.017875032499432564, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.04620790481567383, + 0.34891170263290405, + 0.46653658151626587, + 0.433002769947052, + 0.429030179977417, + 0.429030179977417, + 0.429030179977417, + 0.429030179977417, + 0.429030179977417, + 0.429030179977417, + 0.429030179977417, + 0.429030179977417, + 0.429030179977417, + 0.42803627252578735, + 0.3458977937698364, + 0.04773181676864624, + 0.0, + 0.0 + ], + "episode_id": "2443", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2443/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2458.json b/annotation/test/2458.json new file mode 100644 index 0000000000000000000000000000000000000000..c5998661a9b563a7aa3e98016bd774f506cd0527 --- /dev/null +++ b/annotation/test/2458.json @@ -0,0 +1,603 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put cucumber in cup" + ], + "videos": [ + { + "video_path": "videos/test/2458/rgb.mp4" + } + ], + "action": [ + [ + -0.00026473875490678404, + -5.3393513867044594e-05, + 0.0004911799222532745, + 0.0008177936782429236, + -0.002955299243761348, + 0.0016000688005589332, + 1.0 + ], + [ + -0.0039059935387419707, + 0.003397789095574861, + 0.011128742368073838, + -2.6531671294714566e-05, + -0.03630105621686053, + 0.007119221991709638, + 1.0 + ], + [ + -0.004170512524367206, + 0.042101901699401985, + 0.014605987830314696, + -0.05837300930522058, + -0.01971842102324177, + 0.12591407087043444, + 1.0 + ], + [ + 0.004371657977605741, + 0.051478872693973075, + 0.009294902238807258, + -0.026538195774041096, + 0.00901611705984281, + 0.12318176509854893, + 1.0 + ], + [ + 0.009640720104336755, + 0.04261195725318394, + 0.013344283721043591, + -0.016059555703425394, + -0.00274161441293412, + 0.06224119798688178, + 1.0 + ], + [ + 0.0111928468192401, + 0.033767715496972536, + 0.02873461641468748, + -0.007839862551867518, + -0.019647729204356427, + 0.04425684577369798, + 1.0 + ], + [ + 0.01763320203045345, + 0.019867019607382724, + 0.022420055274770836, + -0.00026369289996460083, + 0.025616609339479665, + 0.00982257760450315, + 1.0 + ], + [ + 0.010710723010961213, + 0.010930004277808315, + 0.01300098257247381, + -0.02542767137835406, + 0.03468167803532178, + 0.010488464029681321, + 1.0 + ], + [ + 0.0037927525566998853, + 0.00743718389317339, + -0.0008244462641316951, + -0.008434176833216529, + 0.014359732602481185, + 0.016533883288813684, + 1.0 + ], + [ + 0.0026472567670375803, + 0.0005329482613343697, + 0.014071922810554608, + 0.05977125314118988, + -0.07819621929810462, + -0.019915668073463316, + 1.0 + ], + [ + 0.0032144407333439384, + -0.0029357394985326437, + 0.007181387068916063, + 0.04902944130104864, + -0.03255945118020911, + -0.02874646880175335, + 1.0 + ], + [ + 0.0011263164946362415, + 0.002229870878400053, + -0.00024162261129679873, + 0.0037835113451839724, + -0.0016724921123954287, + 0.019266316904760144, + 1.0 + ], + [ + -0.002518365177814783, + -0.001195120490984036, + 0.002465316566622582, + -0.006378821429383857, + 0.007251377712590293, + -0.012949066630274777, + 1.0 + ], + [ + -0.012311816117783925, + -0.011542831760308906, + -0.0029454692185787216, + 0.022875691450236987, + -0.027469231044849378, + 0.02792331442946632, + 0.0 + ], + [ + -0.010414645671256294, + -0.02395839577958955, + -0.01322023957931926, + 0.047921139788896595, + -0.01641981529554459, + -0.028327754608797488, + 0.0 + ], + [ + -0.012234198189501812, + -0.03965885780020111, + -0.023540464527772798, + 0.023886173679670084, + 0.011981632242805924, + -0.021924356687024856, + 0.0 + ], + [ + -0.009701655015757909, + -0.04751638072363086, + -0.01898276479345854, + 0.013727008812539887, + 0.03830934709776717, + -0.05590169358122453, + 0.0 + ], + [ + -0.01717570127699263, + -0.041321320354912316, + -0.009390268772636124, + -0.016103888979563236, + 0.05329325033383778, + -0.048206455511905937, + 0.0 + ], + [ + -0.022055477717280746, + -0.02592092864328611, + -0.0033972036748241064, + 0.022665562118908186, + 0.01806550380641249, + 0.005727193003414428, + 0.0 + ], + [ + -0.020960824204708576, + -0.009804448649863467, + -0.005749998279774376, + -0.006015075512431427, + 0.050929787519002845, + 0.01757051824549826, + 0.0 + ], + [ + -0.01833496511348004, + -0.00289373644046006, + 0.005408897004603507, + -0.018877813693608667, + 0.038556570793543764, + -0.002857941388550042, + 0.0 + ], + [ + -0.003738475410454822, + 0.0012364265931894295, + 0.013994586804631596, + 0.02169668146395822, + 0.009380846507959721, + -0.0021933764079252642, + 0.0 + ], + [ + 0.0020309074789090615, + 0.0009753079514690479, + 0.01316175421647384, + 0.007951786145513035, + 0.013252317968422913, + -0.017039988817959612, + 0.0 + ], + [ + 0.0009094943960007086, + 0.004263271566509802, + 0.0053769188436361475, + 0.007980314583219955, + 0.010249400129346711, + -0.011567025842762523, + 0.0 + ], + [ + -0.003389328390092581, + -6.668471447215788e-06, + 0.002070156905373359, + 0.006416692889485644, + 0.0007703338694645982, + -0.02437605722017477, + 0.0 + ], + [ + -0.0011809301542176946, + -0.0020382036396829994, + 0.00032316268308220527, + 0.0011965560481979776, + -0.009539030808090059, + -0.025835795000380815, + 0.0 + ], + [ + -0.0015064781870557874, + -0.00382363119790132, + -0.003507986590566733, + 0.0051153753605709205, + -0.04320032500298236, + -0.02397702199382833, + 1.0 + ], + [ + 0.003996722234295714, + -0.00411503404377655, + -0.013333651898657546, + 0.012837872925071632, + 0.008515318169251811, + -0.02894839829642071, + 1.0 + ], + [ + 0.011468223278921115, + -0.0018932845146670098, + -0.021447242352020248, + 0.0066077552585754725, + -0.04484291591580533, + -0.024439858847730943, + 1.0 + ], + [ + -0.0011262995257909285, + -0.0010364122888657102, + -0.0008834811114033702, + 0.0041220849534285555, + -0.011969224006259842, + 0.0014628090163780146, + 1.0 + ] + ], + "state": [ + [ + 0.3038440942764282, + 0.10251682996749878, + 0.13229015469551086, + -3.130530514875897, + -0.12729735672473905, + 0.567965567111969, + 1.0 + ], + [ + 0.3036435842514038, + 0.1024586632847786, + 0.13176995515823364, + -3.1295121667259416, + -0.12432438135147093, + 0.5663861036300658, + 1.0 + ], + [ + 0.3032926321029663, + 0.0983685553073883, + 0.12020282447338104, + -3.1286994480812034, + -0.08793719857931138, + 0.5596846342086792, + 1.0 + ], + [ + 0.32315030694007874, + 0.061353642493486404, + 0.10474749654531479, + 3.107044043140956, + -0.06590753793716432, + 0.43378713726997375, + 1.0 + ], + [ + 0.34931644797325134, + 0.016420651227235794, + 0.09754053503274918, + 3.088857105123349, + -0.07866507023572922, + 0.3106152415275574, + 1.0 + ], + [ + 0.3725174367427826, + -0.02156182937324047, + 0.08725279569625854, + 3.077807644503661, + -0.07905301451683046, + 0.24812069535255432, + 1.0 + ], + [ + 0.39408978819847107, + -0.05274978652596474, + 0.06169576942920685, + 3.0736137573891362, + -0.062183674424886703, + 0.20262087881565097, + 1.0 + ], + [ + 0.416903555393219, + -0.06985273957252502, + 0.04181341081857681, + 3.0738327374034604, + -0.08840628713369371, + 0.19453254342079163, + 1.0 + ], + [ + 0.4307089149951935, + -0.07914450764656067, + 0.030575741082429886, + 3.0490884875231465, + -0.12371556460857391, + 0.18635983765125272, + 1.0 + ], + [ + 0.43558263778686523, + -0.08568394929170609, + 0.032540153712034225, + 3.0425415207915982, + -0.13952684402465823, + 0.17107637226581573, + 1.0 + ], + [ + 0.44040489196777344, + -0.0868012011051178, + 0.019093643873929977, + 3.1003338416391095, + -0.05973516032099724, + 0.1831294596195221, + 1.0 + ], + [ + 0.4435080289840698, + -0.08354461193084717, + 0.012002192437648773, + -3.1354633049392184, + -0.02599549107253551, + 0.21050220727920532, + 1.0 + ], + [ + 0.4450695514678955, + -0.08549264073371887, + 0.012259341776371002, + -3.131180300498851, + -0.02420012839138508, + 0.1912408918142319, + 1.0 + ], + [ + 0.44242405891418457, + -0.08476143330335617, + 0.009746382012963295, + -3.137871352378749, + -0.03158393129706383, + 0.20411983132362366, + 1.0 + ], + [ + 0.4279438853263855, + -0.07598260045051575, + 0.01234450377523899, + -3.1141172555559358, + -0.003998777363449335, + 0.176309272646904, + 0.0 + ], + [ + 0.41349920630455017, + -0.05459848791360855, + 0.026176180690526962, + -3.0663188119703015, + 0.011638385243713854, + 0.2050757110118866, + 0.0 + ], + [ + 0.3941308259963989, + -0.020042339339852333, + 0.05277303233742714, + -3.042199859517165, + -0.0019605297129601236, + 0.22603520750999448, + 0.0 + ], + [ + 0.3744564354419708, + 0.022016415372490883, + 0.07635805755853653, + -3.028635302680083, + -0.045622847974300385, + 0.27786788344383234, + 0.0 + ], + [ + 0.3463711440563202, + 0.055600181221961975, + 0.08954822272062302, + -3.046597959595271, + -0.1039682924747467, + 0.3199157416820526, + 0.0 + ], + [ + 0.3169586956501007, + 0.07269979268312454, + 0.09306827932596207, + -3.0231442247801503, + -0.1214062348008156, + 0.3124468326568603, + 0.0 + ], + [ + 0.2935841977596283, + 0.07466622442007065, + 0.09734751284122467, + -3.026154013472148, + -0.1698689758777618, + 0.2886625528335571, + 0.0 + ], + [ + 0.2760818898677826, + 0.07311723381280899, + 0.0892808735370636, + -3.044668512540408, + -0.2084977626800537, + 0.2870239317417145, + 0.0 + ], + [ + 0.2753279507160187, + 0.07302363216876984, + 0.0747627392411232, + -3.023237997787543, + -0.2180466651916504, + 0.28833004832267756, + 0.0 + ], + [ + 0.279796838760376, + 0.07495993375778198, + 0.06232942268252373, + -3.018703946965285, + -0.23319204151630407, + 0.3041115403175354, + 0.0 + ], + [ + 0.2830025255680084, + 0.07222221791744232, + 0.05683921277523041, + -3.013158621388026, + -0.24476955831050873, + 0.31464838981628424, + 0.0 + ], + [ + 0.2802644670009613, + 0.07161688059568405, + 0.05402678623795509, + -3.012798385816165, + -0.2485828995704651, + 0.3394886255264282, + 0.0 + ], + [ + 0.2785118520259857, + 0.07318561524152756, + 0.053679343312978745, + -3.018445784347602, + -0.24234944581985474, + 0.3671431541442871, + 0.0 + ], + [ + 0.2750544250011444, + 0.07545990496873856, + 0.05715344846248627, + -3.020396055775233, + -0.20231755077838898, + 0.3968287706375122, + 1.0 + ], + [ + 0.27516451478004456, + 0.07818719744682312, + 0.07140979170799255, + -3.0132974704080304, + -0.21419091522693634, + 0.42518189549446106, + 1.0 + ], + [ + 0.2815646231174469, + 0.08013419806957245, + 0.09486904740333557, + -3.0130852480703076, + -0.17274627089500427, + 0.45558670163154596, + 1.0 + ], + [ + 0.28001007437705994, + 0.0803910568356514, + 0.0956694483757019, + -3.008968399959155, + -0.16068828105926514, + 0.45567101240158076, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.017633140087127686, + 0.10434430837631226, + 0.37904828786849976, + 0.5806747674942017, + 0.5743585526943207, + 0.5570135116577148, + 0.5570135116577148, + 0.5570135116577148, + 0.5570135116577148, + 0.5570135116577148, + 0.5570135116577148, + 0.5570135116577148, + 0.5570135116577148, + 0.5588528513908386, + 0.5139066278934479, + 0.22601306438446045, + 0.013436198234558105, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377 + ], + "episode_id": "2458", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2458/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/246.json b/annotation/test/246.json new file mode 100644 index 0000000000000000000000000000000000000000..d71dba973babf0e4e63315307bd41fc08214942d --- /dev/null +++ b/annotation/test/246.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put lid on pot or pan" + ], + "videos": [ + { + "video_path": "videos/test/246/rgb.mp4" + } + ], + "action": [ + [ + -0.003516273285746937, + 0.0014019058183905029, + 0.006803934808288522, + -0.004481546683220669, + -0.01630717382474035, + -0.0004627483313626025, + 1.0 + ], + [ + -0.007125719966611361, + 0.0014043276473353526, + 0.011863484377002256, + -0.006795078252389569, + -0.02833493183392674, + 0.003962261326265195, + 1.0 + ], + [ + 0.0013976340018839605, + 0.0015354351473051615, + 0.004926153673979519, + -0.00916950907261985, + 0.013720498844680285, + 0.004843669039358325, + 1.0 + ], + [ + -5.840418994454853e-07, + 0.0005343034559987725, + 0.007709280657492377, + -0.006973300123020469, + 0.008608185518443565, + 0.005006115226591393, + 1.0 + ], + [ + 0.004617540685160513, + -0.001195288731010441, + 0.001228213701074948, + -0.004905933005664994, + 0.013056183820560592, + 0.008831655405739075, + 1.0 + ], + [ + -0.0012570335288667892, + -0.0027274052828993355, + 0.0027191037063964557, + -0.006598994538599569, + -0.0018523643828040953, + -0.002151785356466801, + 1.0 + ], + [ + 0.003132637431814784, + -0.0005546025217506616, + 0.0010410813770477204, + -0.007938521530549685, + 0.009605855557041437, + -0.0011433324799555555, + 0.0 + ], + [ + 0.00233358120085088, + -0.0011359107234656335, + 0.001617651394130732, + -0.008215961891189952, + 0.006826756115764016, + -0.001053346226105345, + 0.0 + ], + [ + 0.0038357067127296448, + -0.0016053900532184934, + 0.0007964688373731066, + 0.00018422934164299463, + 0.004949921854447784, + 0.00618628112502941, + 0.0 + ], + [ + 0.007740309571093916, + -0.0034110309555401347, + -0.006487901206232917, + 0.009702058154578832, + -0.0056407398261557615, + -0.0023235264725964093, + 0.0 + ], + [ + -0.0025777430049585947, + -0.002505545964737301, + -0.0035761051601315426, + 0.02727035142668636, + -0.042148345842268474, + -0.001495092369538954, + 0.0 + ], + [ + 0.0014760778950150297, + -0.0010085017497079088, + -0.010008803441853882, + 0.04474478854161795, + -0.013211162000121754, + 0.008924578584193142, + 0.0 + ], + [ + 0.005355505273967383, + -0.0037075037989738498, + -0.016226015544803917, + 0.030898594426415748, + 0.004920033746678785, + 0.01331694084176803, + 0.0 + ], + [ + 0.011625165126473597, + -0.006119707244586017, + -0.015536799350204793, + 0.019059390169955146, + 0.004539687415636671, + 0.017396336225773388, + 0.0 + ], + [ + 0.005840501656714748, + -0.005724238425804119, + -0.013357520815378906, + 0.023524391875196195, + -0.015417764950921781, + 0.00725531239682721, + 0.0 + ], + [ + -0.0008213104610841797, + 0.00030654597235686465, + -0.009369706238137033, + 0.0191357100677207, + -0.0303243672408873, + 0.014095579190255713, + 0.0 + ], + [ + -0.001690289303110996, + -0.004246605691231831, + -0.014843244334748094, + 0.023441226232958075, + 0.01801790177323373, + -0.00035453666227787384, + 0.0 + ], + [ + -0.010713714600683192, + -0.0023893494191070137, + -0.008280950399664252, + 0.017244057483995223, + 0.005284019729288863, + -0.006954114545185886, + 0.0 + ], + [ + -0.012484717189449676, + -0.005689591613622333, + -0.007077773205001481, + 0.013710059665045607, + -0.009642750925547982, + -0.015487653479223325, + 0.0 + ], + [ + -0.014821133885785123, + -0.004714100011732801, + -0.0011091339132670614, + -0.0024319035144310945, + -0.015500338286312077, + -0.017175113853777402, + 0.0 + ], + [ + -0.015034351679563284, + -0.007876505587450856, + -0.000767540609160826, + -0.017513899363454183, + -0.013381464215945833, + -0.02293604388469127, + 0.0 + ], + [ + -0.013355236697816724, + -0.011947744585458879, + 0.0001552369220808825, + 0.0008321789864580282, + -0.02474187733648552, + -0.020622285118817862, + 0.0 + ], + [ + -0.005878000304104024, + -0.0014489390591022671, + -0.00573351568714949, + -0.0038186064643849263, + -0.004972556324452748, + 0.002847182417453031, + 0.0 + ] + ], + "state": [ + [ + 0.4348415732383728, + 0.14130863547325134, + 0.0645657554268837, + -3.0670126994424542, + -0.388382375240326, + 0.0678575411438942, + 1.0 + ], + [ + 0.4342580735683441, + 0.14037588238716125, + 0.05685780197381973, + -3.072165997820445, + -0.37215444445610046, + 0.06965713948011397, + 1.0 + ], + [ + 0.43200480937957764, + 0.13963930308818817, + 0.043151214718818665, + -3.078166077035018, + -0.3436121642589569, + 0.06754808872938156, + 1.0 + ], + [ + 0.435085266828537, + 0.13862480223178864, + 0.038901567459106445, + -3.0852798541360578, + -0.3569922149181366, + 0.06146119907498359, + 1.0 + ], + [ + 0.4377860426902771, + 0.1386912614107132, + 0.03166140988469124, + -3.0902006049924573, + -0.36529937386512756, + 0.055591396987438195, + 1.0 + ], + [ + 0.442438006401062, + 0.1402088850736618, + 0.03222262114286423, + -3.0914568362110337, + -0.37786734104156494, + 0.04538113623857498, + 1.0 + ], + [ + 0.44209161400794983, + 0.14305634796619415, + 0.0293617881834507, + -3.098945165174552, + -0.3761241436004638, + 0.04779154434800148, + 1.0 + ], + [ + 0.44534629583358765, + 0.1438111811876297, + 0.02956703118979931, + -3.1071722266548356, + -0.38576990365982056, + 0.04858236759901047, + 0.0 + ], + [ + 0.4480409026145935, + 0.14513450860977173, + 0.028983430936932564, + -3.115720450999685, + -0.39262872934341425, + 0.049467485398054116, + 0.0 + ], + [ + 0.45178842544555664, + 0.1469474881887436, + 0.029753796756267548, + -3.1129171160333833, + -0.3974086940288543, + 0.04262178391218186, + 0.0 + ], + [ + 0.4562361538410187, + 0.1503637135028839, + 0.03881952911615372, + -3.104255037503787, + -0.3918356001377105, + 0.045309770852327354, + 0.0 + ], + [ + 0.45234987139701843, + 0.1525602489709854, + 0.04122433438897133, + -3.0781989266448697, + -0.3497705459594727, + 0.04857296869158745, + 0.0 + ], + [ + 0.45027607679367065, + 0.1528322845697403, + 0.05117407813668251, + -3.030521551268645, + -0.33600872755050654, + 0.040026076138019555, + 0.0 + ], + [ + 0.4498043358325958, + 0.15470102429389954, + 0.06855210661888123, + -2.994813846545764, + -0.33938920497894287, + 0.025412311777472496, + 0.0 + ], + [ + 0.4552537798881531, + 0.1586223691701889, + 0.08775924146175385, + -2.969462501006671, + -0.34127953648567194, + 0.006445181090384723, + 0.0 + ], + [ + 0.4560030698776245, + 0.16197901964187622, + 0.10303907096385956, + -2.9443274607234677, + -0.3248433470726013, + 0.001689959201030433, + 0.0 + ], + [ + 0.4523150622844696, + 0.1598358303308487, + 0.11142747104167938, + -2.9224805255704602, + -0.2923343777656555, + -0.0065320488065481195, + 0.0 + ], + [ + 0.4462612271308899, + 0.16079409420490265, + 0.12569791078567505, + -2.897924007969447, + -0.30999657511711126, + -0.01028096117079258, + 0.0 + ], + [ + 0.43343478441238403, + 0.16124685108661652, + 0.13063189387321472, + -2.8824374695592603, + -0.3167974650859833, + -0.004520586226135492, + 0.0 + ], + [ + 0.4190026521682739, + 0.16499795019626617, + 0.1346290558576584, + -2.8744630833440503, + -0.31139564514160156, + 0.01380179915577173, + 0.0 + ], + [ + 0.40412798523902893, + 0.16904717683792114, + 0.13229089975357056, + -2.883546920614787, + -0.3009098768234253, + 0.03542973101139068, + 0.0 + ], + [ + 0.3887001574039459, + 0.1759248524904251, + 0.1304633617401123, + -2.909047069149562, + -0.2937224507331848, + 0.06216523423790931, + 0.0 + ], + [ + 0.37446510791778564, + 0.1867232769727707, + 0.12908770143985748, + -2.9159704466634473, + -0.27429869771003723, + 0.08892983943223955, + 0.0 + ], + [ + 0.36722254753112793, + 0.18620756268501282, + 0.13318683207035065, + -2.9193194081359586, + -0.2688148319721222, + 0.08720534294843675, + 0.0 + ] + ], + "continuous_gripper_state": [ + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.015527725219726562, + 0.18132251501083374, + 0.4840872883796692, + 0.6850205361843109, + 0.6965844929218292, + 0.6965844929218292, + 0.6965844929218292, + 0.6965844929218292, + 0.6965844929218292, + 0.6965844929218292, + 0.6965844929218292, + 0.6965844929218292, + 0.6965844929218292, + 0.6965844929218292, + 0.6965844929218292, + 0.6965844929218292, + 0.6965844929218292, + 0.6965844929218292, + 0.6965844929218292 + ], + "episode_id": "246", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/246/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2467.json b/annotation/test/2467.json new file mode 100644 index 0000000000000000000000000000000000000000..7871f9fe32b4c3f0d7cb5cc94f560237d7f71296 --- /dev/null +++ b/annotation/test/2467.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "open oven" + ], + "videos": [ + { + "video_path": "videos/test/2467/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 6.303474300578751e-18, + -2.4176627575643117e-18, + 1.3547400469156055e-17, + 1.0 + ], + [ + -0.003051200783325088, + 0.0008893588851906582, + 0.004026497203866438, + -0.0014708406766592425, + -0.018914768596762385, + -0.01716004938196401, + 1.0 + ], + [ + 0.001309606795330518, + -0.0023227492835325423, + 0.0023159512634480313, + -0.01683004850968002, + -0.01418724640284995, + -0.25052192266895706, + 1.0 + ], + [ + 0.007257615434483071, + -0.008594384692388867, + 0.012629603834177933, + -0.0024430624986768235, + -0.014049340661677949, + -0.2562477238033408, + 1.0 + ], + [ + 0.007610039232947275, + -0.0066499631759232665, + 0.017395980773277288, + -0.04131796622540205, + 0.03625542928426513, + -0.26517559888542125, + 1.0 + ], + [ + 0.002076564500286849, + -0.007473775785994146, + 0.02380329268982479, + -0.04113141805666834, + -0.05337060086071941, + -0.2463377484337057, + 1.0 + ], + [ + 0.006946041140353929, + 0.0014222776727004479, + 0.010849859420450702, + -0.07096771473966905, + -0.0184949603293129, + -0.09148931239234158, + 1.0 + ], + [ + -0.001416725510962383, + 0.0018564635624121987, + 0.006436646091452772, + -0.0491376140239973, + -0.0669651346197547, + -0.0006515639626754884, + 1.0 + ], + [ + -0.002807192233620061, + 0.006370603512878084, + -0.0004966728709342379, + -0.04789751017030463, + -0.025429946008830598, + 0.024621035738671686, + 1.0 + ], + [ + -0.0026842046782043, + 0.008998374359193317, + 0.0007261656653044993, + -0.020002925915269892, + -0.0025135155089523764, + 0.008224598243345094, + 1.0 + ], + [ + -0.003014466773719268, + 0.008942303296747464, + 0.007013471358776635, + -0.00214962450942343, + 0.0032598891142993506, + -0.003957330214207904, + 1.0 + ], + [ + -0.004834611879871166, + 0.003121081465781424, + 0.011365277049792195, + 0.008949723017633715, + 0.01571654256370562, + 0.01126095762954625, + 1.0 + ], + [ + -0.0013627481473566594, + 0.0002551099110069815, + 0.007757705793052356, + 0.003164358368277064, + 0.004872033087374439, + -0.016653610456589085, + 1.0 + ], + [ + 0.002130550789559106, + -0.0025702035596787283, + 3.213873168452465e-05, + 0.013037269797243583, + 0.012478612014616268, + 0.009241182641311877, + 1.0 + ], + [ + 0.0031125183135334764, + -0.015770747981200754, + -0.007207842127193731, + 0.04322642192158129, + 0.00017378368324637574, + -0.020450238891147207, + 1.0 + ], + [ + -0.002456467001424326, + -0.025104732888102846, + -0.019584661551866316, + 0.0857565847758272, + -0.005584639213774103, + 0.1510938539515639, + 1.0 + ], + [ + -0.00202500850526651, + -0.01396997497656118, + -0.004830469912448698, + 0.06997038876193708, + 0.04188129277488883, + 0.10794960018789823, + 1.0 + ], + [ + -0.0047629880367434695, + 0.00022335995459948874, + -0.01708663160838741, + 0.0024374175738358143, + 0.04620500015044535, + 0.19906685440975214, + 1.0 + ], + [ + 0.011786094611987331, + 0.0014209689900483758, + -0.021130314225860244, + -0.03363309837153885, + 0.02118692137731007, + 0.09559366575657942, + 1.0 + ], + [ + 0.023097337991533386, + 0.003412013648347967, + -0.020911399950591717, + 0.009487066667062418, + 0.06460416984078234, + 0.05284962432157442, + 1.0 + ], + [ + 0.03282110332640596, + 0.0019935806747500588, + -0.0025169581896571608, + 0.03622232512555268, + 0.06593612146891258, + -0.05606139812883343, + 1.0 + ], + [ + 0.01864069221505907, + -0.0019643923855338415, + 0.03915860178623765, + 0.10611849698434145, + 0.04100593566197714, + -0.005183491574929085, + 1.0 + ], + [ + -0.004199720091852123, + -0.0024468775705387036, + 0.02590699098373671, + -0.0011227893322064638, + -0.029158058671345927, + 0.04971036526098649, + 1.0 + ], + [ + 0.00014418952671577378, + 0.0005068345433198158, + 0.0038162659629269627, + -0.045249307974400424, + -0.010935910484238615, + 0.021318772672552916, + 1.0 + ], + [ + -0.006204629101490584, + 0.0031087397886042476, + 0.010312363820687122, + -0.057423888763321974, + -0.01904402401666952, + -0.01283542338332679, + 1.0 + ], + [ + -0.021471245081541815, + 0.005279207083955023, + 0.015229151524441173, + -0.012335341105432203, + -0.02972510991460732, + 0.02440269409458002, + 1.0 + ], + [ + -0.028279407495681943, + 0.006463325089906707, + 0.004044203651744165, + 0.011295161857012685, + -0.035792866611811934, + 0.0379259584442876, + 1.0 + ], + [ + -0.030157729232858078, + 0.010646536424139158, + -0.006560119653229505, + -0.011880091782729932, + -0.04512483819245559, + 0.01715107288653544, + 1.0 + ], + [ + -0.022621844832071202, + 0.013038715703429748, + -0.007435411331568983, + -0.013419940772389092, + -0.06305519444383648, + -0.05397209672463462, + 1.0 + ], + [ + -0.026863494231158597, + 0.012118505907212567, + -0.007209773291545709, + -0.03417543395249715, + -0.038066673197047464, + -0.08429276122927147, + 1.0 + ], + [ + -0.022891773539834445, + 0.015639954322730337, + -0.009121571532090826, + -0.03943739726627807, + 0.03700895761228557, + -0.044100530960889214, + 1.0 + ], + [ + -0.01445668993102591, + 0.007104758081223285, + -0.003056598657881398, + -0.0011798788409354383, + -0.020073120007049666, + -0.04467937472059033, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -2.1360196005099383e-09, + -2.752029617679837e-09, + -0.0046019533898476695, + 1.0 + ], + [ + -0.0001326465696718399, + -0.00020389315034507249, + -1.8599192778227753e-07, + 0.0012858072762517694, + -0.0008365012648588135, + -5.590237019475864e-07, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0500097458564274e-17, + -2.265989543708002e-17, + 8.958254771936406e-17, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0500097458564274e-17, + -2.265989543708002e-17, + 8.958254771936406e-17, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0500097458564274e-17, + -2.265989543708002e-17, + 8.958254771936406e-17, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0500097458564274e-17, + -2.265989543708002e-17, + 8.958254771936406e-17, + 1.0 + ] + ], + "state": [ + [ + 0.24260647594928741, + 0.05665278062224388, + 0.07036034017801285, + -3.004751594858714, + -0.141713947057724, + 0.22244712710380551, + 1.0 + ], + [ + 0.24260647594928741, + 0.05665278062224388, + 0.07036034017801285, + -3.004751594858714, + -0.141713947057724, + 0.22244712710380551, + 1.0 + ], + [ + 0.24029970169067383, + 0.05579085648059845, + 0.06586041301488876, + -3.0090113153033933, + -0.1252894401550293, + 0.24217891693115237, + 1.0 + ], + [ + 0.2411767989397049, + 0.05869445204734802, + 0.0640510767698288, + -3.0612360035353383, + -0.14006613194942474, + 0.4948935210704804, + 1.0 + ], + [ + 0.2444128692150116, + 0.07132754474878311, + 0.05328185483813286, + -3.1020980944209775, + -0.14178840816020966, + 0.7540958523750305, + 1.0 + ], + [ + 0.24664801359176636, + 0.08348559588193893, + 0.037409212440252304, + 3.1009728518598756, + -0.183404415845871, + 1.021999716758728, + 1.0 + ], + [ + 0.24445840716362, + 0.09236669540405273, + 0.014104751870036125, + 3.016616540151187, + -0.11474213004112244, + 1.2671846151351929, + 1.0 + ], + [ + 0.24952104687690735, + 0.09928199648857117, + 0.004381681326776743, + 2.935965197282382, + -0.08455238491296768, + 1.3559461832046509, + 1.0 + ], + [ + 0.25238630175590515, + 0.09772375226020813, + -0.0016387979267165065, + 2.8874795158677777, + -0.01885983906686306, + 1.3429170846939087, + 1.0 + ], + [ + 0.25762835144996643, + 0.09358659386634827, + 0.00039010244654491544, + 2.840186508493968, + -0.000426319515099749, + 1.3127001523971558, + 1.0 + ], + [ + 0.2654595673084259, + 0.08874224871397018, + 0.0023668145295232534, + 2.8201977630429944, + -0.00046764581929892307, + 1.3041001558303833, + 1.0 + ], + [ + 0.27498722076416016, + 0.08301616460084915, + -0.0014641591114923358, + 2.8180479427152356, + -0.0023105323780328035, + 1.308884620666504, + 1.0 + ], + [ + 0.2800896167755127, + 0.07666647434234619, + -0.011258603073656559, + 2.826974781351634, + -0.020791685208678246, + 1.3032047748565674, + 1.0 + ], + [ + 0.282318651676178, + 0.07479993999004364, + -0.018583329394459724, + 2.8298235853486737, + -0.02026821486651897, + 1.320552110671997, + 1.0 + ], + [ + 0.2804897129535675, + 0.0774831473827362, + -0.019358962774276733, + 2.84294048150117, + -0.03497964143753052, + 1.3155817985534668, + 1.0 + ], + [ + 0.2646186351776123, + 0.08475744724273682, + -0.017002969980239868, + 2.8855404277616223, + -0.029122279956936836, + 1.3351861238479614, + 1.0 + ], + [ + 0.2355215698480606, + 0.08884060382843018, + -0.004491797648370266, + 2.9784314950280866, + -0.06152890250086785, + 1.187345027923584, + 1.0 + ], + [ + 0.22119688987731934, + 0.09227444976568222, + -0.002123983111232519, + 3.055244507389613, + -0.12005420029163362, + 1.0870413780212402, + 1.0 + ], + [ + 0.2169407308101654, + 0.08686333149671555, + 0.01422514021396637, + 3.0827478301995477, + -0.18085886538028717, + 0.8897423148155214, + 1.0 + ], + [ + 0.22197860479354858, + 0.0928005650639534, + 0.037177056074142456, + 3.066648954647132, + -0.20680843293666842, + 0.7935313582420349, + 1.0 + ], + [ + 0.23610183596611023, + 0.1045365110039711, + 0.06257818639278412, + 3.086273143189498, + -0.27494290471076965, + 0.7439151406288147, + 1.0 + ], + [ + 0.2600749135017395, + 0.12408275902271271, + 0.07401365786790848, + 3.105330592142888, + -0.33717006444931025, + 0.806972861289978, + 1.0 + ], + [ + 0.2808207869529724, + 0.14652936160564423, + 0.04318365454673767, + -3.0741391499810895, + -0.3779532015323639, + 0.8141407370567322, + 1.0 + ], + [ + 0.2816025912761688, + 0.15345729887485504, + 0.017763396725058556, + -3.0566369911008557, + -0.3450675010681152, + 0.7635473012924194, + 1.0 + ], + [ + 0.28276556730270386, + 0.15431971848011017, + 0.014193343929946423, + -3.0946301278942308, + -0.3322883546352386, + 0.7420592308044434, + 1.0 + ], + [ + 0.2827257215976715, + 0.15072698891162872, + 0.002293880097568035, + 3.126431738147982, + -0.31383562088012695, + 0.7564764618873596, + 1.0 + ], + [ + 0.27505552768707275, + 0.1359124332666397, + -0.01874200627207756, + 3.122086255001374, + -0.28438457846641535, + 0.7305969595909119, + 1.0 + ], + [ + 0.2600231170654297, + 0.1136610209941864, + -0.03043629229068756, + -3.1386247029346457, + -0.24912238121032715, + 0.6907740235328674, + 1.0 + ], + [ + 0.24305154383182526, + 0.08579330891370773, + -0.03154483437538147, + 3.1369672763445458, + -0.20391042530536652, + 0.6734147071838379, + 1.0 + ], + [ + 0.23265814781188965, + 0.06086532771587372, + -0.02878541685640812, + 3.1125717685842, + -0.1403123885393143, + 0.7275192141532898, + 1.0 + ], + [ + 0.21992002427577972, + 0.03358282893896103, + -0.025058245286345482, + 3.066801669197627, + -0.09933336079120636, + 0.8110195994377136, + 1.0 + ], + [ + 0.21434266865253448, + 0.00605772016569972, + -0.017114315181970596, + 3.022719996171542, + -0.13283562660217282, + 0.8581497073173523, + 1.0 + ], + [ + 0.2097012996673584, + -0.009548496454954147, + -0.01518559455871582, + 3.0160298516326627, + -0.10748963803052902, + 0.9003658294677734, + 1.0 + ], + [ + 0.2097012996673584, + -0.009548496454954147, + -0.01518559455871582, + 3.015538530545779, + -0.10691219568252563, + 0.9049577713012696, + 1.0 + ], + [ + 0.20946241915225983, + -0.009525114670395851, + -0.015225052833557129, + 3.016835520165511, + -0.1060822606086731, + 0.904852569103241, + 1.0 + ], + [ + 0.20946241915225983, + -0.009525114670395851, + -0.015225052833557129, + 3.016835520165511, + -0.1060822606086731, + 0.904852569103241, + 1.0 + ], + [ + 0.20946241915225983, + -0.009525114670395851, + -0.015225052833557129, + 3.016835520165511, + -0.1060822606086731, + 0.904852569103241, + 1.0 + ], + [ + 0.20946241915225983, + -0.009525114670395851, + -0.015225052833557129, + 3.016835520165511, + -0.1060822606086731, + 0.904852569103241, + 1.0 + ], + [ + 0.20946241915225983, + -0.009525114670395851, + -0.015225052833557129, + 3.016835520165511, + -0.1060822606086731, + 0.904852569103241, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2467", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2467/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2470.json b/annotation/test/2470.json new file mode 100644 index 0000000000000000000000000000000000000000..db6b41ce5856e8d2b7ca0aae4b6536e54602896f --- /dev/null +++ b/annotation/test/2470.json @@ -0,0 +1,413 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "turn lever vertical to-front" + ], + "videos": [ + { + "video_path": "videos/test/2470/rgb.mp4" + } + ], + "action": [ + [ + -0.0002850711061710171, + 0.00015732764828328317, + 0.0012282712729222783, + 0.0013480985564592828, + -0.0043140398980256065, + 0.0008628957833679258, + 1.0 + ], + [ + 0.007804990738977338, + -0.0003044951169309002, + 0.004695776656694486, + 0.023994796862756337, + -0.002775020574686898, + 0.020118434720035428, + 1.0 + ], + [ + 0.021191909044343205, + -0.0023045169616174427, + -0.008515634648081047, + 0.027494117492094284, + 0.07225136604293789, + 0.00984006116875324, + 1.0 + ], + [ + 0.015004118183328774, + 0.0019424085315053342, + -0.0028402586686873056, + 0.01655952836412176, + 0.062046811385403675, + 0.01880443120141228, + 1.0 + ], + [ + 0.01030410867997232, + 0.001628426574052688, + 0.0040235939987572295, + -0.0016804313542272385, + 0.040995784651576495, + 0.011352865398170982, + 1.0 + ], + [ + 0.0052579081551986, + -0.00014525119705699095, + 0.008173343446336967, + -0.017251208026292635, + 0.011355705958566534, + -0.015640765556358998, + 1.0 + ], + [ + -0.0008490089682222401, + -6.625784871686645e-05, + 0.007900195094154794, + -0.007613846253002748, + -0.02538803686076089, + -0.015778516370788066, + 1.0 + ], + [ + -0.00316030604978585, + -0.003214349574011345, + 0.004173015276280463, + 0.008680629780324182, + -0.028898807355470377, + -0.013072011785682406, + 0.0 + ], + [ + -0.0076222564750719505, + -0.005587423773968665, + 0.007169501361203362, + 0.005912049410239065, + -0.02150482659382884, + -0.02286265035239245, + 0.0 + ], + [ + -0.002112847274322506, + -0.0004369012132933829, + -0.00015670436643682023, + -0.008682694933577357, + 0.00749859083871896, + -0.022508634053007206, + 0.0 + ], + [ + -0.00393139523554783, + -0.000560740022765261, + 0.0008927905936831736, + -0.0068958820000896955, + -0.012074666492853041, + -0.024437482903100546, + 0.0 + ], + [ + -0.010072749155022834, + -0.0005820641007382513, + -0.000621226626412026, + -0.018503342490358357, + -0.0173345381946643, + -0.039857418890233434, + 0.0 + ], + [ + -0.013136397211758789, + -0.003039892196969687, + -0.0004204326861277567, + -0.0114738862881466, + -0.0070942940879182665, + -0.015923271306711163, + 0.0 + ], + [ + -0.00613859637025541, + -0.0015152110164996728, + 0.0007842591609199633, + -0.020141948825973328, + -0.011737040245124305, + -0.024423736827004324, + 0.0 + ], + [ + -0.003920347147078377, + 0.0003186270704216104, + 0.0012685696794113186, + -0.03306976456127256, + -0.02321396224218338, + -0.023768951058559588, + 0.0 + ], + [ + -0.014318797281943553, + -0.002604018901046236, + 0.008492410852222054, + -0.016988300624356217, + -0.06658400020150675, + 0.011307590812339287, + 0.0 + ], + [ + -0.047152384421762554, + -0.00407212344675262, + 0.01419628947514645, + 0.03337649922535472, + -0.2439213396834827, + 0.0005314367359061938, + 0.0 + ], + [ + -0.008174293466711158, + -0.001826427779726338, + 0.008514328570178817, + -0.004200813116456608, + -0.03091937765045938, + 0.014695402714603466, + 0.0 + ], + [ + -0.0005932010189780871, + -0.00017247519764295528, + 0.004847408916890624, + -0.012034666398636588, + 0.0007025337008889837, + 0.008350132572412058, + 0.0 + ], + [ + 0.0003343925732112001, + 0.00010076129276327983, + -0.0003686862000692862, + -0.0004698277117785769, + 0.0014599838974483962, + -0.0015591970199690614, + 1.0 + ] + ], + "state": [ + [ + 0.2678506672382355, + -0.08142950385808945, + 0.1876620054244995, + -3.0046882947259625, + -0.19670280814170832, + -0.09814175963401793, + 1.0 + ], + [ + 0.26781442761421204, + -0.0814141035079956, + 0.1863919198513031, + -3.0032859464460095, + -0.1923113614320755, + -0.09841280430555344, + 1.0 + ], + [ + 0.2764083445072174, + -0.0813090056180954, + 0.18335968255996704, + -2.9755159487300595, + -0.18675221502780912, + -0.11830224096775054, + 1.0 + ], + [ + 0.29556965827941895, + -0.08271532505750656, + 0.1959211379289627, + -2.943464310961314, + -0.25633636116981506, + -0.14064714312553406, + 1.0 + ], + [ + 0.30899178981781006, + -0.0871036946773529, + 0.202049121260643, + -2.9184420873695096, + -0.3133423030376435, + -0.17282429337501526, + 1.0 + ], + [ + 0.3198290765285492, + -0.08970367908477783, + 0.20114965736865997, + -2.9133653809600553, + -0.3507423400878906, + -0.19426284730434415, + 1.0 + ], + [ + 0.32773125171661377, + -0.0892295092344284, + 0.19551041722297668, + -2.935279609757014, + -0.36531272530555725, + -0.1807032972574234, + 1.0 + ], + [ + 0.32996636629104614, + -0.08792676776647568, + 0.18799740076065063, + -2.950703205662318, + -0.34361433982849127, + -0.1587816476821899, + 1.0 + ], + [ + 0.32881250977516174, + -0.08374398946762085, + 0.1836492270231247, + -2.9484702815585813, + -0.3176611065864563, + -0.13950495421886444, + 0.0 + ], + [ + 0.32444047927856445, + -0.07620323449373245, + 0.1756029725074768, + -2.9512684812122068, + -0.3008280396461486, + -0.11169517040252686, + 0.0 + ], + [ + 0.3224099576473236, + -0.07557361572980881, + 0.17520281672477722, + -2.9664271642738065, + -0.31238245964050293, + -0.08996051549911499, + 0.0 + ], + [ + 0.318986713886261, + -0.0745542049407959, + 0.17325100302696228, + -2.9817999621206006, + -0.3046405017375946, + -0.06253062188625336, + 0.0 + ], + [ + 0.3092149496078491, + -0.07346563786268234, + 0.17090310156345367, + -3.0136127789788922, + -0.29358893632888794, + -0.018543561920523643, + 0.0 + ], + [ + 0.29646480083465576, + -0.07026729732751846, + 0.1678721010684967, + -3.030141884582587, + -0.288542777299881, + -0.0011252103140577674, + 0.0 + ], + [ + 0.29075559973716736, + -0.06866783648729324, + 0.1655397117137909, + -3.0578839798742017, + -0.27949783205986023, + 0.025483885779976845, + 0.0 + ], + [ + 0.28734996914863586, + -0.06896615773439407, + 0.16321751475334167, + -3.098270086693116, + -0.25825861096382136, + 0.05198359489440918, + 0.0 + ], + [ + 0.2755056619644165, + -0.06660903245210648, + 0.151466503739357, + -3.112976128357001, + -0.19123828411102295, + 0.04343754425644874, + 0.0 + ], + [ + 0.2317347377538681, + -0.06403065472841263, + 0.12868663668632507, + -3.0799813476675233, + 0.05260037630796433, + 0.04984117671847344, + 0.0 + ], + [ + 0.22302460670471191, + -0.062115009874105453, + 0.12074229121208191, + -3.0848311093919953, + 0.08436158299446107, + 0.03703879192471504, + 0.0 + ], + [ + 0.22201067209243774, + -0.061705078929662704, + 0.1159796342253685, + -3.0975760725610932, + 0.08413092046976088, + 0.028632519766688343, + 0.0 + ], + [ + 0.22237765789031982, + -0.061811503022909164, + 0.11631414294242859, + -3.097919976460286, + 0.08260364830493928, + 0.03013107180595398, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0018453598022460938, + 0.0011776089668273926, + 0.0018453598022460938, + 0.0011776089668273926, + 0.0018453598022460938, + 0.0011776089668273926, + 0.0018453598022460938, + 0.17573308944702148, + 0.47435641288757324, + 0.7197088599205017, + 0.8062288165092468, + 0.8125672042369843, + 0.8125672042369843, + 0.8125672042369843, + 0.8125672042369843, + 0.8125672042369843, + 0.8125672042369843, + 0.9056215658783913, + 0.9399113729596138, + 0.8508497476577759, + 0.6422656774520874 + ], + "episode_id": "2470", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2470/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2475.json b/annotation/test/2475.json new file mode 100644 index 0000000000000000000000000000000000000000..f15591eaece713650450897f14eae7f77ed4d5cf --- /dev/null +++ b/annotation/test/2475.json @@ -0,0 +1,527 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move pot on top of the blue cloth in the left corner" + ], + "videos": [ + { + "video_path": "videos/test/2475/rgb.mp4" + } + ], + "action": [ + [ + 0.0005156643857903844, + -0.0005173504222293962, + -0.00029655195150967665, + 0.0021483258580006727, + 0.0021897810736189716, + -0.0015588031002060907, + 1.0 + ], + [ + -0.0022019630113027182, + 0.0035697689479376664, + 0.008692452957042938, + -0.025501065344490703, + -0.022262994377215226, + -0.005761811427780315, + 1.0 + ], + [ + 0.014740395061090516, + -0.0007245721918320484, + -0.0008041374242779695, + 0.0006533437946350479, + 0.016312374889990666, + -0.028442181481218663, + 1.0 + ], + [ + 0.009662064512768383, + 0.005408086069891736, + 0.004724321152926538, + 0.041763960466899536, + -0.03644225047406889, + -0.01252941364144754, + 1.0 + ], + [ + 0.019908932971270266, + 0.008115606433750377, + -0.002410755403666715, + 0.012577920880071662, + 0.00855311986393648, + -0.013107543921362956, + 1.0 + ], + [ + 0.03575488650306694, + 0.004360161113530854, + 0.0033335665296523637, + -0.036557386899939766, + 0.01194931077623647, + -0.06927172466905131, + 1.0 + ], + [ + 0.030238073334216402, + -0.010853965094707981, + 0.010364577928989047, + 0.004767841933145716, + -0.012002088375711149, + -0.09612248346996756, + 1.0 + ], + [ + 0.013884012081270823, + -0.014781153945519406, + 0.02161805537515589, + 0.0017319465664938248, + -0.052162145115616, + -0.11847571027213744, + 1.0 + ], + [ + 0.008430698352405012, + -0.013705648714891376, + 0.020893623008077518, + -0.007434338779782265, + -0.04354041357766345, + -0.07546191580910147, + 1.0 + ], + [ + 0.002373147884652039, + 0.0016267503119142368, + 0.006108356718675081, + -0.010202395257216456, + -0.0017592282277424367, + -0.022634101662531193, + 1.0 + ], + [ + -0.0019103201152926247, + 0.001023322958347019, + 0.004718597542940574, + -0.0017464656901499777, + 0.003378188888516653, + -0.003836600112567608, + 1.0 + ], + [ + -0.001877273410207892, + 0.0011345535989606415, + 0.003994089405221391, + -0.003142230634899255, + 0.0019924473814936327, + -0.00028546453206243185, + 0.0 + ], + [ + -0.0011221524414269817, + 0.001122601094319001, + -0.0001570430594359192, + -0.0007037493737437358, + 0.007944653121205228, + 0.002771975286882759, + 0.0 + ], + [ + 0.0034429933952076787, + -0.0016999607716128376, + -0.020082213404617813, + 0.013363881685383223, + 0.05854975230412611, + 0.011048652144098713, + 0.0 + ], + [ + -0.0020003281256108143, + -0.006339745241379048, + -0.0307393117854893, + 0.015938939636958343, + 0.08655437807077082, + 0.009428367198910843, + 0.0 + ], + [ + -0.025050464916530787, + -0.014139562001009234, + -0.027800550527274304, + 0.023179459342561715, + 0.04834564394450459, + 0.020407551036523974, + 0.0 + ], + [ + -0.04339200150514072, + -0.0035322335521414975, + -0.006509733435123313, + 0.01838376974221733, + -0.028916355858373745, + 0.06170443816846912, + 0.0 + ], + [ + -0.03440231930845218, + 0.0002497762449028429, + -0.0026183820392446564, + 0.0012292629989081392, + -0.015559915475339076, + 0.05378397308104419, + 0.0 + ], + [ + -0.020576469746409146, + 0.0072857214506002075, + 0.009613192241019822, + -0.010053742414074234, + -0.050725148410424956, + 0.04349317226030609, + 0.0 + ], + [ + -0.006666330469066517, + -0.00016129133197138887, + 0.009285406681757875, + 0.010439574249573279, + -0.03566364808281229, + 0.013741438123327435, + 0.0 + ], + [ + -0.006246118955199875, + 0.003755039738194843, + 0.011698451175308754, + -0.02442217240098844, + -0.0653387877895551, + 1.5597203599134097e-05, + 0.0 + ], + [ + 0.002761870253738671, + -0.0018614419940005933, + 0.005207532793194914, + -0.005396437784864701, + -0.02403905475406915, + -0.009942124548305386, + 1.0 + ], + [ + -0.0004937775428715825, + 0.004583618370069468, + -0.0010264457997218078, + -0.03328659822097557, + -0.003151377448399065, + 0.017860977730672384, + 1.0 + ], + [ + 0.0011304983715913698, + 0.006030578280345504, + -0.01860749397594612, + -0.025942816549666892, + 0.06896862521607217, + 0.032259034175129486, + 1.0 + ], + [ + -0.0021560678901921264, + 0.0027281434542496936, + -0.007216027851990418, + 0.03377355487101798, + 0.07759505697742906, + -0.011272028416732662, + 1.0 + ], + [ + 0.00031246220266012176, + -0.0006417225356837602, + -0.00012087931575431663, + 0.0030998258771344294, + 0.0052165744150795244, + -0.0014984428787414754, + 1.0 + ] + ], + "state": [ + [ + 0.25790923833847046, + 0.14412821829319, + 0.08303274214267731, + -3.0005446096235, + -0.1153985634446144, + -0.2911835312843323, + 1.0 + ], + [ + 0.2584945857524872, + 0.14444398880004883, + 0.08345601707696915, + -2.998539300756999, + -0.11778564751148224, + -0.289939433336258, + 1.0 + ], + [ + 0.25676944851875305, + 0.14256469905376434, + 0.07414780557155609, + -3.025058413045951, + -0.09656687080860138, + -0.28102257847785955, + 1.0 + ], + [ + 0.27095749974250793, + 0.13912087678909302, + 0.07644784450531006, + -3.026987949507781, + -0.11604153364896776, + -0.2544959485530853, + 1.0 + ], + [ + 0.2796240746974945, + 0.13187319040298462, + 0.07229048758745193, + -2.9870934953265866, + -0.08125512301921844, + -0.23783518373966217, + 1.0 + ], + [ + 0.29684269428253174, + 0.11906605958938599, + 0.07503584027290344, + -2.97546877165372, + -0.09171786159276962, + -0.22615142166614532, + 1.0 + ], + [ + 0.3310578763484955, + 0.10734672844409943, + 0.0743187814950943, + -3.0184957851939878, + -0.11474652588367461, + -0.1593803763389587, + 1.0 + ], + [ + 0.36364004015922546, + 0.1143084242939949, + 0.06888633221387863, + -3.0254451130800923, + -0.11407877504825592, + -0.061878107488155365, + 1.0 + ], + [ + 0.38071516156196594, + 0.13047026097774506, + 0.0508357398211956, + -3.0385308509045323, + -0.07508984953165054, + 0.0620722658932209, + 1.0 + ], + [ + 0.3895774185657501, + 0.14683397114276886, + 0.03215006738901138, + -3.0521590431504926, + -0.039298258721828454, + 0.14161467552185059, + 1.0 + ], + [ + 0.3923189640045166, + 0.14613927900791168, + 0.02601887658238411, + -3.06327689637477, + -0.039557307958602905, + 0.16433320939540863, + 1.0 + ], + [ + 0.39072901010513306, + 0.145215705037117, + 0.02116287685930729, + -3.065164351957389, + -0.04322504997253419, + 0.1678970605134964, + 1.0 + ], + [ + 0.38919129967689514, + 0.14411701261997223, + 0.017016500234603882, + -3.0683121626549443, + -0.04523347690701485, + 0.16802969574928284, + 0.0 + ], + [ + 0.38827192783355713, + 0.1428138166666031, + 0.017040112987160683, + -3.068862484889575, + -0.052953604608774185, + 0.1646788865327835, + 0.0 + ], + [ + 0.3905726373195648, + 0.14343556761741638, + 0.03734675049781799, + -3.0545684566074094, + -0.11053936928510665, + 0.14933213591575623, + 0.0 + ], + [ + 0.38466382026672363, + 0.14623165130615234, + 0.06810982525348663, + -3.0364099015765866, + -0.1959299296140671, + 0.13213138282299045, + 0.0 + ], + [ + 0.3532169759273529, + 0.15329283475875854, + 0.09180706739425659, + -3.0080539156966886, + -0.24180142581462857, + 0.10602561384439468, + 0.0 + ], + [ + 0.3093969523906708, + 0.15127824246883392, + 0.08813745528459549, + -2.975826325016566, + -0.20453007519245148, + 0.04753248021006584, + 0.0 + ], + [ + 0.2752664089202881, + 0.14897553622722626, + 0.08363840728998184, + -2.9643721749358853, + -0.18004931509494781, + -0.003766216104850173, + 0.0 + ], + [ + 0.25692662596702576, + 0.14356771111488342, + 0.06938028335571289, + -2.9681886454396924, + -0.12234960496425629, + -0.0378321073949337, + 0.0 + ], + [ + 0.25149351358413696, + 0.14553555846214294, + 0.059516530483961105, + -2.9567385037713727, + -0.08484680950641632, + -0.045233156532049186, + 0.0 + ], + [ + 0.24623848497867584, + 0.14423099160194397, + 0.04684171825647354, + -2.9817923625283917, + -0.0206137727946043, + -0.03324468806385994, + 0.0 + ], + [ + 0.2491866797208786, + 0.14680077135562897, + 0.042054686695337296, + -2.9874383827024182, + 0.0015389270847663283, + -0.019607042893767357, + 1.0 + ], + [ + 0.24860158562660217, + 0.1421244740486145, + 0.04236593097448349, + -3.0207735170894345, + 0.007395030930638314, + -0.03677263110876084, + 1.0 + ], + [ + 0.24955987930297852, + 0.13385435938835144, + 0.06010209769010544, + -3.0468247701698026, + -0.05718933790922166, + -0.07709755003452302, + 1.0 + ], + [ + 0.24675728380680084, + 0.1306620091199875, + 0.06689303368330002, + -3.012987958388873, + -0.1355017125606537, + -0.07320960611104965, + 1.0 + ], + [ + 0.24708423018455505, + 0.13126061856746674, + 0.06713557243347168, + -3.0099978913837155, + -0.14086733758449554, + -0.07238440960645674, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.052336275577545166, + 0.33384793996810913, + 0.6355637311935425, + 0.8412791043519974, + 0.9221144318580627, + 0.9269806668162346, + 0.9269806668162346, + 0.9269806668162346, + 0.9272984340786934, + 0.9276153817772865, + 0.9082004353404045, + 0.743851512670517, + 0.46849435567855835, + 0.17109763622283936, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2475", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2475/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2482.json b/annotation/test/2482.json new file mode 100644 index 0000000000000000000000000000000000000000..452dcf2d5c63178ef0b687af9e4f29c453bf9c4d --- /dev/null +++ b/annotation/test/2482.json @@ -0,0 +1,622 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "take spatula off plate sink" + ], + "videos": [ + { + "video_path": "videos/test/2482/rgb.mp4" + } + ], + "action": [ + [ + -0.0004524310416605671, + 0.00020585863537071292, + 0.0003368933136318089, + 0.0003492512072123626, + -0.0013579341501353502, + 0.00165510094882575, + 1.0 + ], + [ + -0.001071849467925345, + 0.00010009483811450086, + 0.007128026962110228, + 0.006444511778572317, + -0.012047776501232128, + 0.0018177158623206235, + 1.0 + ], + [ + 0.012671243960770205, + 0.01568760248371586, + 0.030180171160892628, + 0.007589904076650249, + 0.04204303201072638, + 0.06780026115537927, + 1.0 + ], + [ + 0.008206954844788759, + 0.011540041895084464, + 0.032872279391382694, + 0.01810277955970239, + 0.03714699817866255, + 0.10126741383355092, + 1.0 + ], + [ + 0.011899061975577142, + 0.0071361035696593045, + 0.03144739172181291, + -0.0059658681877446185, + 0.011625814549778039, + 0.1394438886207916, + 1.0 + ], + [ + 0.013555344151460097, + 0.0028812186773092764, + 0.02015380811240857, + -0.047419615117657146, + 0.038870074854035125, + 0.08327161884291827, + 1.0 + ], + [ + 0.0010617116842618738, + 0.0001656956634354886, + 0.014772229364453297, + -0.06290242001274035, + -0.010446567254632326, + 0.039801210447394736, + 1.0 + ], + [ + 0.008600442756463607, + 0.0007292902025053074, + 0.003916757825271565, + -0.059208189344179686, + 0.05958613455614685, + 0.06331603962940811, + 1.0 + ], + [ + 0.003359213798071743, + -0.0018913943654691962, + 0.014377653247886375, + -0.010885452591442987, + 0.0033636402435748324, + -0.012188874391324446, + 1.0 + ], + [ + 0.006232374759248419, + -0.001953873959681468, + 0.012515057605117537, + 0.028292567581735473, + 0.012269093540147477, + -0.008949980898716455, + 1.0 + ], + [ + 0.0005615845288065, + 0.0003227537567464061, + 0.013573598133633707, + 0.03476888266511393, + 0.01053330775954076, + 0.012562551703572445, + 1.0 + ], + [ + 0.004099331910022766, + 0.0015488511069015334, + 0.00492728192679355, + 0.01176201882050383, + 0.014980454769060524, + 0.007116868681647417, + 1.0 + ], + [ + 0.0006632023745645891, + 0.0018909506661151567, + 0.00932148519158644, + 0.011619458810628832, + 0.0005611311839242549, + 0.007354146263918369, + 1.0 + ], + [ + 0.00301418265045132, + 0.0007956836007216527, + 0.0009867864412014045, + 0.002826330122383832, + 0.009595037740688353, + -0.0011591032174619964, + 1.0 + ], + [ + -0.0019167348015675437, + 0.0013049085537700747, + 0.0038267850987609283, + 0.0045588810821117765, + -0.0068615307447314235, + 0.004893330739083809, + 1.0 + ], + [ + 0.0007854598252437143, + 0.0005640873605568746, + -2.437676307634579e-05, + -0.0007697637895144239, + 0.004710961964782083, + -0.0031674668954850024, + 1.0 + ], + [ + 0.00017199796045569549, + 0.0012023536879415175, + -0.00026942963110013446, + -0.00801915369306694, + -0.003473514097936539, + -0.004724797055873212, + 0.0 + ], + [ + -0.0022043057778414438, + 0.00045405250856352347, + -1.597778637475131e-05, + -0.002765361438886515, + -0.013920927641312102, + -0.007041750337144899, + 0.0 + ], + [ + 0.001678250113925849, + -0.0015870554176370436, + -0.015085096315210456, + -0.004670046947369379, + 0.017680374899507294, + -0.01456239260466707, + 0.0 + ], + [ + 0.005869843996692956, + -0.0046169088347013856, + -0.020256128049165507, + 0.023227240428165114, + 0.04957686769499189, + -0.050758518023650064, + 0.0 + ], + [ + -0.006552615962484872, + 0.0099769130600413, + -0.0029541579352014985, + 0.0070247721056789555, + -0.04295628488464807, + -0.09148227168286256, + 0.0 + ], + [ + -0.0053213344898216, + 0.023879640436094588, + -0.0017545478640901572, + -0.013486817239870955, + -0.010622739634616386, + -0.047311403045209616, + 0.0 + ], + [ + -0.009095498521574971, + 0.018963563037027616, + 0.0006285693223273848, + -0.0345578589218902, + -0.011914347221680723, + -0.014801773812463295, + 0.0 + ], + [ + -0.010149849647004924, + 0.012420575314048504, + 0.007280578698653301, + 0.0038119533072206416, + 0.0004904976188687191, + -0.02774612753595666, + 0.0 + ], + [ + -0.004255184269940698, + 0.002077708034390114, + 0.008433806032769072, + 0.007697891844457184, + -0.008061489770954403, + -0.040131174442846466, + 0.0 + ], + [ + 0.001840695304924667, + 0.0022583675197044442, + 0.004128297227930463, + -0.0029488891611193398, + 0.02776293376990891, + -0.052527440625186946, + 0.0 + ], + [ + -0.0054771797871453415, + 0.0012726270857896487, + 0.0007396203613279347, + -0.018630010657144442, + -0.018798719694525585, + -0.04023026446577647, + 0.0 + ], + [ + 0.0014171969120164577, + -0.004165096764745698, + -0.009519022783413659, + -0.04526822140474175, + -0.03234763162349484, + -0.00883842504491058, + 1.0 + ], + [ + 0.008243247015979938, + -0.0048714358282673596, + -0.027286873375772847, + -0.037517991766384456, + -0.028983812927326352, + -0.029416696310405704, + 1.0 + ], + [ + 0.015480814422071934, + -0.009843085802734136, + -0.03278174660279159, + -0.01787153900993671, + 0.00746876780298876, + -0.0007680313209302147, + 1.0 + ], + [ + 0.0022291783460174587, + -0.0034852875164613096, + -0.0018490269268065687, + 0.002637167444087679, + 0.004119466451850036, + -0.004711914712209947, + 1.0 + ] + ], + "state": [ + [ + 0.22058051824569702, + -0.02290799655020237, + 0.17119762301445007, + -3.118132136883684, + -0.18020586669445038, + 0.2546525299549103, + 1.0 + ], + [ + 0.22025887668132782, + -0.02319621481001377, + 0.17078043520450592, + -3.1174873263859233, + -0.1788092404603958, + 0.25300344824790955, + 1.0 + ], + [ + 0.22044721245765686, + -0.02307342179119587, + 0.16357508301734924, + -3.1107657236331185, + -0.1667209416627884, + 0.25145530700683594, + 1.0 + ], + [ + 0.24114607274532318, + -0.0329848974943161, + 0.1354534924030304, + -3.091522229956933, + -0.20625208318233487, + 0.18095208704471588, + 1.0 + ], + [ + 0.2575562000274658, + -0.0400269441306591, + 0.10443364828824997, + -3.051987813907214, + -0.2371772229671478, + 0.07503782957792282, + 1.0 + ], + [ + 0.2768996059894562, + -0.042878247797489166, + 0.0761643573641777, + -3.0251327251368245, + -0.23395797610282898, + -0.06882967054843903, + 1.0 + ], + [ + 0.2947257161140442, + -0.04462828114628792, + 0.0595092698931694, + -3.0520012473040303, + -0.2619897127151489, + -0.15909315645694733, + 1.0 + ], + [ + 0.29968786239624023, + -0.044252995401620865, + 0.04555901139974594, + -3.1046270934217652, + -0.24782472848892212, + -0.1990174949169159, + 1.0 + ], + [ + 0.30869314074516296, + -0.046665046364068985, + 0.043848033994436264, + 3.1361597437695643, + -0.3044818043708801, + -0.2675396203994751, + 1.0 + ], + [ + 0.3164231479167938, + -0.046903785318136215, + 0.031129205599427223, + 3.1214346942775926, + -0.30775573849678034, + -0.25473088026046753, + 1.0 + ], + [ + 0.32627925276756287, + -0.04771224781870842, + 0.021054962649941444, + -3.136392969759651, + -0.31982845067977905, + -0.24504488706588742, + 1.0 + ], + [ + 0.33087581396102905, + -0.04912164807319641, + 0.008344835601747036, + -3.097430793690034, + -0.33026984333992004, + -0.2583822011947632, + 1.0 + ], + [ + 0.3358498811721802, + -0.051811717450618744, + 0.004953117575496435, + -3.0829872359805783, + -0.3449110984802246, + -0.26663896441459656, + 1.0 + ], + [ + 0.3391696810722351, + -0.054109375923871994, + -0.0036843190900981426, + -3.068719858425208, + -0.34503075480461126, + -0.27447518706321716, + 1.0 + ], + [ + 0.3420436978340149, + -0.05566843971610069, + -0.0036455290392041206, + -3.0660551508241376, + -0.3546846807003021, + -0.2739874422550202, + 1.0 + ], + [ + 0.3413481116294861, + -0.05652456358075142, + -0.007981904782354832, + -3.0598841850929936, + -0.34746992588043213, + -0.27862611413002014, + 1.0 + ], + [ + 0.34191009402275085, + -0.057272154837846756, + -0.007734884507954121, + -3.0616592337661466, + -0.35242229700088495, + -0.27567219734191895, + 1.0 + ], + [ + 0.3416760265827179, + -0.058473844081163406, + -0.007513558026403189, + -3.0715109427743634, + -0.3493325710296631, + -0.27036458253860474, + 0.0 + ], + [ + 0.3395640552043915, + -0.05835968255996704, + -0.008282925933599472, + -3.077171744900294, + -0.3359273076057434, + -0.2618924379348755, + 0.0 + ], + [ + 0.33642736077308655, + -0.05688462778925896, + 0.006579131819307804, + -3.0865453277998647, + -0.35447692871093756, + -0.24761293828487396, + 0.0 + ], + [ + 0.3357294499874115, + -0.053102798759937286, + 0.027822773903608322, + -3.081428403156348, + -0.40633648633956904, + -0.19547484815120697, + 0.0 + ], + [ + 0.3269454538822174, + -0.061696819961071014, + 0.027390534058213234, + -3.1143244971805295, + -0.3670858144760132, + -0.09493090212345123, + 0.0 + ], + [ + 0.319339781999588, + -0.08499941229820251, + 0.026510072872042656, + 3.137121684970804, + -0.3573228418827057, + -0.04413913562893868, + 0.0 + ], + [ + 0.3101802170276642, + -0.10357952862977982, + 0.022819332778453827, + 3.0970820804410657, + -0.34530201554298406, + -0.028466669842600826, + 0.0 + ], + [ + 0.30254486203193665, + -0.11609950661659241, + 0.013059800490736961, + 3.090936815487691, + -0.3444192409515381, + 0.0010050840210169554, + 0.0 + ], + [ + 0.30135059356689453, + -0.11860278993844986, + 0.0037937418092042208, + 3.084497174369641, + -0.3340553939342499, + 0.04299752041697502, + 0.0 + ], + [ + 0.3045028746128082, + -0.12095973640680313, + 0.0006252802559174597, + 3.0627034549885472, + -0.3582664430141449, + 0.10067097842693327, + 0.0 + ], + [ + 0.2997550368309021, + -0.12277303636074066, + -0.0018918800633400679, + 3.029775099950381, + -0.33607953786849976, + 0.14157603681087497, + 0.0 + ], + [ + 0.29740893840789795, + -0.11785359680652618, + 0.007067093625664711, + 2.982662396627017, + -0.3029431402683258, + 0.1469923555850983, + 1.0 + ], + [ + 0.2961312532424927, + -0.10881473869085312, + 0.03450651839375496, + 2.9375553746991834, + -0.26957702636718744, + 0.17235413193702695, + 1.0 + ], + [ + 0.3001401126384735, + -0.09159072488546371, + 0.06764934957027435, + 2.919051380949565, + -0.2767345309257507, + 0.17470915615558621, + 1.0 + ], + [ + 0.30131176114082336, + -0.0875176265835762, + 0.06925324350595474, + 2.9201252182298383, + -0.2797081470489502, + 0.1804366409778595, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.055433034896850586, + 0.351925790309906, + 0.6287990510463715, + 0.6321892142295837, + 0.6072657406330109, + 0.6063922345638275, + 0.6046426296234131, + 0.6046426296234131, + 0.6046426296234131, + 0.6046426296234131, + 0.6046426296234131, + 0.5393899083137512, + 0.21926432847976685, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2482", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2482/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2484.json b/annotation/test/2484.json new file mode 100644 index 0000000000000000000000000000000000000000..b21f06a09c977488c39be53991c38bb88afe954e --- /dev/null +++ b/annotation/test/2484.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put eggplant in pot or pan" + ], + "videos": [ + { + "video_path": "videos/test/2484/rgb.mp4" + } + ], + "action": [ + [ + -0.0002968581882890916, + -9.275446106215844e-05, + 0.0010977989694510618, + -0.00026222139036320577, + -0.00303896922575784, + -0.0018625663605014327, + 1.0 + ], + [ + -0.004573424966530646, + 0.005558586905757024, + 0.004054201606381015, + -0.03868678400318987, + -0.023687687913188638, + 0.04288750365740552, + 1.0 + ], + [ + 0.009819784617549265, + 0.009818165211529154, + -0.003886610311755712, + -0.06305328340718257, + 0.023264578914733793, + 0.06531811752625044, + 1.0 + ], + [ + 0.010379535054719493, + 0.005717531380278699, + 0.0019159449894601474, + -0.0532401472042059, + 0.00883997883722387, + 0.03600124895853927, + 1.0 + ], + [ + 0.005524690835851116, + -0.0017370156610775952, + 0.005493727225669803, + -0.006671885037733092, + -0.0098879385100443, + 0.026166898036125104, + 1.0 + ], + [ + -0.005135377132519079, + 0.0015610875125417186, + 0.011009287427320175, + 0.017796637081222078, + -0.03805431200257304, + 0.0038312671743814717, + 1.0 + ], + [ + 0.0015265914943748354, + 0.005655061185466007, + 0.004730845292162379, + 0.01529390278362413, + -0.0008600972231916762, + 0.018294246612602625, + 1.0 + ], + [ + -0.001801826852667978, + 0.00646872378628291, + 0.002701912246463063, + -0.010894545577956768, + 0.0035873473541606056, + 0.015895149247813947, + 1.0 + ], + [ + -0.0018375389154320293, + 0.0013581262999884812, + 0.003559507136232516, + 0.017871788090904946, + -0.005120386769035105, + -0.0007588142917820619, + 1.0 + ], + [ + -0.002809913917519495, + 0.0068985483972497375, + 0.007178005260978791, + 0.04236383260037657, + -0.03196588509924208, + -0.005419121862748262, + 1.0 + ], + [ + -0.0009692347053907056, + 0.0020019270453228944, + 0.004367619719068865, + 0.00999778078575474, + -0.007861784567961251, + -0.016364256421121208, + 1.0 + ], + [ + 0.00012115243342781937, + -0.0026113064250299764, + 0.004747544294866189, + -0.015431821493110585, + 0.027201742097099302, + -0.02618110287917205, + 1.0 + ], + [ + 0.0005417080194577557, + -0.0017096402804182363, + 0.0026983166906074637, + -0.05599223462357771, + 0.02405684714682797, + -0.027109180921633166, + 0.0 + ], + [ + -0.0006494876051081741, + -0.00205973904575738, + -0.00019665079701343372, + -0.02794164362896263, + -0.005170660555800534, + -0.027773155664421192, + 0.0 + ], + [ + -0.00042451941913237355, + -0.0006900360802673789, + -0.0019227305727717078, + 0.03688895642318338, + -0.05464222084069252, + -0.014493751122641367, + 0.0 + ], + [ + -0.0017592281627365016, + -0.0022390738552475124, + -0.008304368976276363, + 0.029766467645853313, + -0.0871249619717967, + 0.005289979530310887, + 0.0 + ], + [ + 0.007696750821255387, + -0.0008253540461119238, + -0.025637720453211277, + 0.05403760227595007, + -0.04563871519279022, + 0.017870672764185518, + 0.0 + ], + [ + 0.00505892502303888, + 0.016994058478115522, + -0.022439403227801233, + 0.036221255646407234, + -0.004553271142902876, + 0.0035882710599555684, + 0.0 + ], + [ + 0.004386771707682664, + 0.01634673419268889, + -0.01843015716207105, + 0.0062804008105217315, + 0.008934019954555578, + -0.04138734776700384, + 0.0 + ], + [ + 0.003400197736093036, + 0.02198029044604616, + -0.006003171880504292, + -0.0005491938604672473, + 0.037687125761297346, + -0.0348723293559348, + 0.0 + ], + [ + -0.008090932477469342, + 0.030229919711066085, + 0.008152719214808297, + -0.02658089213158838, + 0.02321434854156702, + -0.006131565635798536, + 0.0 + ], + [ + -0.008241226820081318, + 0.002344215255474194, + 0.010372954837956824, + -0.01811765879307957, + 0.012636769564525687, + -0.0382456455931971, + 0.0 + ], + [ + -0.011272298828491276, + 0.0033227706890084038, + 0.01040006679339768, + 0.0016182750557827885, + 0.013179340135402099, + -0.0350014446867171, + 1.0 + ] + ], + "state": [ + [ + 0.29056933522224426, + 0.15374743938446045, + 0.0432698018848896, + 3.071355039375373, + -0.40601503849029547, + 0.44341850280761713, + 1.0 + ], + [ + 0.29070934653282166, + 0.15383107960224152, + 0.04214051365852356, + 3.0703864862495145, + -0.40285226702690125, + 0.44520631432533264, + 1.0 + ], + [ + 0.2907150089740753, + 0.147370845079422, + 0.036991145461797714, + 3.050529481964656, + -0.38185736536979675, + 0.39729997515678406, + 1.0 + ], + [ + 0.3011274039745331, + 0.1415199339389801, + 0.045070696622133255, + 3.0131922980123242, + -0.4101572930812836, + 0.32869192957878113, + 1.0 + ], + [ + 0.3124869465827942, + 0.13914385437965393, + 0.04813839867711067, + 2.975142689543315, + -0.42327213287353516, + 0.29077348113060003, + 1.0 + ], + [ + 0.3193276524543762, + 0.14202894270420074, + 0.04520557075738907, + 2.9808569868379315, + -0.41768646240234375, + 0.2607488632202149, + 1.0 + ], + [ + 0.3198053240776062, + 0.13873790204524994, + 0.033417679369449615, + 3.0028586854510984, + -0.3807147741317749, + 0.25011956691741943, + 1.0 + ], + [ + 0.3241320252418518, + 0.13338740170001984, + 0.03036106377840042, + 3.025479519861289, + -0.3823260962963105, + 0.2304627597332001, + 1.0 + ], + [ + 0.3247462511062622, + 0.12661033868789673, + 0.027894195169210434, + 3.0207927395873746, + -0.3876830935478211, + 0.21385802328586578, + 1.0 + ], + [ + 0.32470595836639404, + 0.1247829869389534, + 0.024079708382487297, + 3.038607420521327, + -0.3825085759162903, + 0.21400487422943112, + 1.0 + ], + [ + 0.326118141412735, + 0.11731256544589996, + 0.01706487499177456, + 3.080082969861575, + -0.3501541316509246, + 0.21624265611171722, + 1.0 + ], + [ + 0.3271346390247345, + 0.11521519720554352, + 0.012753145769238472, + 3.084316810714551, + -0.3412556052207947, + 0.23306210339069366, + 1.0 + ], + [ + 0.328298419713974, + 0.1178915947675705, + 0.00818638689815998, + 3.0589577202969274, + -0.3667767643928528, + 0.26272132992744446, + 1.0 + ], + [ + 0.3293822109699249, + 0.11971677839756012, + 0.0057386672124266624, + 2.9917405714565, + -0.3883513212203979, + 0.2940500080585479, + 0.0 + ], + [ + 0.3282490670681, + 0.12153229862451553, + 0.005388093646615744, + 2.952973323064395, + -0.3789476156234742, + 0.3227778673171997, + 0.0 + ], + [ + 0.3269284665584564, + 0.12218544632196426, + 0.006865480449050665, + 2.9880257119708737, + -0.3225547969341278, + 0.3269684612751007, + 0.0 + ], + [ + 0.3218689262866974, + 0.12414739280939102, + 0.013766400516033173, + 3.0232908745580396, + -0.23721064627170563, + 0.3079158067703247, + 0.0 + ], + [ + 0.3221534490585327, + 0.12827317416667938, + 0.040226008743047714, + 3.0827762951427182, + -0.1939360797405243, + 0.2843610644340515, + 0.0 + ], + [ + 0.3269789516925812, + 0.11338335275650024, + 0.06416186690330505, + 3.1197528411918363, + -0.18960015475749972, + 0.28044113516807556, + 0.0 + ], + [ + 0.3321291506290436, + 0.09827836602926254, + 0.08343477547168732, + 3.1180631910734853, + -0.19746242463588715, + 0.3228365480899811, + 0.0 + ], + [ + 0.3410049378871918, + 0.07822535932064056, + 0.09049380570650101, + 3.110303634899207, + -0.23419006168842316, + 0.3595644831657409, + 0.0 + ], + [ + 0.3459241986274719, + 0.04752267897129059, + 0.08160986751317978, + 3.08207023342187, + -0.2571955919265747, + 0.36665067076683044, + 0.0 + ], + [ + 0.3419696092605591, + 0.04283639043569565, + 0.06963442265987396, + 3.0537282844358167, + -0.2673356235027313, + 0.4070122241973877, + 0.0 + ], + [ + 0.33609986305236816, + 0.035707827657461166, + 0.056945979595184326, + 3.04550455709035, + -0.27721521258354187, + 0.4444632232189178, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.16924911737442017, + 0.42306244373321533, + 0.4448885917663574, + 0.4448885917663574, + 0.4458767771720886, + 0.4458767771720886, + 0.44686460494995117, + 0.44686460494995117, + 0.44686460494995117, + 0.44686460494995117, + 0.44686460494995117, + 0.23473185300827026 + ], + "episode_id": "2484", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2484/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2494.json b/annotation/test/2494.json new file mode 100644 index 0000000000000000000000000000000000000000..2ab987ee9b619137de53685529719e1ab0769998 --- /dev/null +++ b/annotation/test/2494.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "flip cup upright" + ], + "videos": [ + { + "video_path": "videos/test/2494/rgb.mp4" + } + ], + "action": [ + [ + -0.0009146474836846071, + -0.0008152112742508066, + 0.0009689057343684574, + 0.0025844607600499702, + -0.003953271780870031, + -0.0011110955626610422, + 1.0 + ], + [ + -0.005647609522462801, + -0.00503573929617289, + 0.007791082911938015, + 0.005918746454851593, + -0.0844420218746266, + 0.1500001402522882, + 1.0 + ], + [ + 0.012880554034593835, + -0.007588473408798374, + 0.0019148510161356596, + -0.010948149482086167, + -0.017646111234931285, + 0.20035442052128372, + 1.0 + ], + [ + 0.00798425568234033, + -0.004918419908460746, + 0.005240727883286198, + 0.006991693000264696, + -0.0101577462513405, + 0.13033869511054738, + 1.0 + ], + [ + 0.005816244987175343, + -0.00281884827547463, + 0.007727702783093991, + 0.00618927480138509, + -0.0047782983546813965, + 0.104672777685354, + 1.0 + ], + [ + 0.0059317008990360754, + -0.001773044604294918, + 0.011594650788106658, + 0.007834337888266337, + 0.02003258750546738, + 0.060850976103244685, + 1.0 + ], + [ + 0.008337849814355897, + -0.006070432862169426, + 0.016973621436712896, + 0.015488792493880804, + 0.01403812031918843, + 0.02373300913961874, + 1.0 + ], + [ + 0.011350870167609578, + -0.009832821391108281, + 0.011545910287774928, + 0.03363466620203588, + 0.028552604505339915, + 0.012821696931347602, + 1.0 + ], + [ + 0.0026433337497756147, + -0.003142600367895981, + 0.009971880663448129, + 0.019321048225250128, + 0.01149733624934302, + -0.009053374151321679, + 1.0 + ], + [ + 0.003361014767649628, + -0.0028059087261036123, + 0.007125454932652431, + 0.011026919173542713, + -0.0017678034662207377, + 0.004338646229994677, + 1.0 + ], + [ + 0.0006039274421264623, + 0.0015252792322261153, + 0.0019228595297321866, + -0.005050253872770367, + -0.0014382841280363272, + -0.0008004246806408806, + 1.0 + ], + [ + -0.001526658777780069, + 0.0021954148912409497, + -0.0007355366471607907, + -0.014629852194634724, + -0.011682554291083832, + -0.011810779507268648, + 0.0 + ], + [ + -0.0031141599263538548, + 0.008244652247181843, + 0.0031653177100850376, + -0.041940670436065516, + -0.042503670633484265, + 0.00798784645993831, + 0.0 + ], + [ + 0.0022377080578312434, + 0.009448906841077255, + 0.005749835793515559, + -0.07022531467838543, + -0.037168385132521915, + -0.012720200716208158, + 0.0 + ], + [ + 0.0018242285584635304, + 0.010035013947659821, + 0.0037505966834428268, + -0.06388400233591693, + -0.034044081599577586, + -0.060842868541967056, + 0.0 + ], + [ + -0.00380640660316149, + 0.01158567362680207, + 0.0018168596282164822, + -0.03328050171366111, + -0.05688252196041808, + -0.04627608562751864, + 0.0 + ], + [ + -0.0013423445553216824, + 0.003304953178019469, + -0.00019412389316724628, + -0.004089588127867832, + -0.03370029688444589, + 0.0012509644934208368, + 1.0 + ], + [ + 0.0012650246055578886, + 0.00024980959324134904, + -0.00551087570258855, + -0.003017662561287408, + -0.01844679583461495, + -0.009880652258080299, + 1.0 + ], + [ + 0.0003582124533697802, + -0.0001753417350551765, + -0.00858399912165241, + 0.006649149146541263, + 0.002820378532918946, + 0.007957083680154879, + 1.0 + ], + [ + 0.004624283237625394, + -0.0027755327474864536, + -0.022489248830246618, + 0.0343252603267893, + 0.04640332274502578, + 0.006389244694710699, + 1.0 + ], + [ + 0.0012755789177180503, + -0.0023000957815215006, + -0.02607335833022974, + 0.03816559205416928, + 0.06385710976160093, + -0.015963241655528062, + 1.0 + ], + [ + 2.0097889933353278e-05, + -0.00012203179260461864, + -0.013409768353098117, + 0.011223729456852701, + 0.04311946553047077, + -0.006727059151604825, + 1.0 + ], + [ + -0.00048542458172167493, + -0.00013975699775324815, + 0.0003210046044533715, + 0.0010187439338054836, + -0.0017491383977172442, + 0.0007793758301268372, + 1.0 + ] + ], + "state": [ + [ + 0.27245450019836426, + -0.03096584603190422, + 0.1598428636789322, + 2.962790446477481, + -0.48001813888549805, + 0.33505919575691223, + 1.0 + ], + [ + 0.2719602584838867, + -0.0304709505289793, + 0.15844617784023285, + 2.965170743065425, + -0.47593024373054504, + 0.33549827337265015, + 1.0 + ], + [ + 0.2697387635707855, + -0.027443381026387215, + 0.14825530350208282, + 3.053738700347491, + -0.41242432594299316, + 0.15840549767017365, + 1.0 + ], + [ + 0.2812441885471344, + -0.018120553344488144, + 0.15106071531772614, + 3.1317275866218885, + -0.403504878282547, + -0.06055038049817086, + 1.0 + ], + [ + 0.29094114899635315, + -0.01383301056921482, + 0.1493314504623413, + -3.0891171415620526, + -0.391019731760025, + -0.20169372856616977, + 1.0 + ], + [ + 0.2996808886528015, + -0.012333132326602936, + 0.14455030858516693, + -3.0405044724517545, + -0.3785386681556702, + -0.3139455318450928, + 1.0 + ], + [ + 0.30982115864753723, + -0.012540649622678757, + 0.13618989288806915, + -3.007849456863948, + -0.39155009388923645, + -0.3816278874874115, + 1.0 + ], + [ + 0.32572826743125916, + -0.010002822615206242, + 0.1245710700750351, + -2.981861190991946, + -0.4021648466587067, + -0.40922099351882935, + 1.0 + ], + [ + 0.343436062335968, + -0.005099758040159941, + 0.1199636161327362, + -2.9407841732078275, + -0.4282510578632355, + -0.4281226992607117, + 1.0 + ], + [ + 0.351182758808136, + -0.0030636831652373075, + 0.11274249106645584, + -2.924475284414836, + -0.4413132071495056, + -0.42084816098213196, + 1.0 + ], + [ + 0.35818010568618774, + -0.001511978218331933, + 0.1084330826997757, + -2.9116304387622556, + -0.4386487901210785, + -0.42510735988616943, + 1.0 + ], + [ + 0.3591053783893585, + -0.0030799657106399536, + 0.10667983442544937, + -2.9171997179561338, + -0.4374305307865143, + -0.4238850772380829, + 1.0 + ], + [ + 0.35680893063545227, + -0.004571469034999609, + 0.1062401831150055, + -2.938410135107585, + -0.42862245440483093, + -0.40836769342422485, + 0.0 + ], + [ + 0.35307347774505615, + -0.01105777733027935, + 0.10061295330524445, + -2.980504797893115, + -0.38538166880607605, + -0.4075499773025513, + 0.0 + ], + [ + 0.35412782430648804, + -0.020667079836130142, + 0.09479063004255295, + -3.058057891326495, + -0.35066616535186773, + -0.3878428339958191, + 0.0 + ], + [ + 0.35350504517555237, + -0.030876947566866875, + 0.0911208838224411, + 3.138159949221187, + -0.3210851848125458, + -0.3209802508354187, + 0.0 + ], + [ + 0.3469526469707489, + -0.04091416299343109, + 0.0882333368062973, + 3.0898187329345426, + -0.2636977434158325, + -0.2733262479305267, + 0.0 + ], + [ + 0.34472501277923584, + -0.043706998229026794, + 0.08823573589324951, + 3.086501443880149, + -0.2301061600446701, + -0.27639952301979065, + 1.0 + ], + [ + 0.34471428394317627, + -0.04364780709147453, + 0.09389513731002808, + 3.081412261473485, + -0.21113416552543637, + -0.26735031604766846, + 1.0 + ], + [ + 0.34350496530532837, + -0.04259980097413063, + 0.10233808308839798, + 3.089730145531245, + -0.21442152559757233, + -0.27530550956726074, + 1.0 + ], + [ + 0.34435415267944336, + -0.038747966289520264, + 0.12512615323066711, + 3.124875011044093, + -0.2610918879508972, + -0.2794138491153717, + 1.0 + ], + [ + 0.33983418345451355, + -0.034605082124471664, + 0.1506044566631317, + -3.1248144788020333, + -0.32463380694389343, + -0.2614817321300506, + 1.0 + ], + [ + 0.3356941044330597, + -0.03360375016927719, + 0.1633203625679016, + -3.115627175318547, + -0.3678539097309112, + -0.2550551593303681, + 1.0 + ], + [ + 0.33540356159210205, + -0.033375002443790436, + 0.16284975409507751, + -3.114325825246521, + -0.366085022687912, + -0.255840927362442, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.2096758484840393, + 0.45672130584716797, + 0.7003851234912872, + 0.8438340872526169, + 0.8756047412753105, + 0.7034061849117279, + 0.4071013331413269, + 0.09841305017471313, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2494", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2494/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2497.json b/annotation/test/2497.json new file mode 100644 index 0000000000000000000000000000000000000000..34a9957deaba645b6e0fdc6c3b80345e0bd7a6c0 --- /dev/null +++ b/annotation/test/2497.json @@ -0,0 +1,793 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Place the potato on top of the green towel" + ], + "videos": [ + { + "video_path": "videos/test/2497/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -7.218833652367592e-10, + 2.408837245265441e-11, + -0.0015339833210158424, + 1.0 + ], + [ + -0.0009684523143767357, + 0.0003328196385086136, + 0.007988872245510056, + -0.0035130134734526657, + -0.02905916316305446, + 0.00013364360391994622, + 1.0 + ], + [ + -0.0031531247977694197, + -0.025337496255299036, + 0.001918452868601207, + -0.014758395385019683, + -0.0016604419343377, + -0.05886487814874469, + 1.0 + ], + [ + -0.00079113786721167, + -0.02044509992699678, + -0.0014623655592089983, + -0.009425553254220209, + 0.0065970569066089255, + -0.03574170926951784, + 1.0 + ], + [ + -0.006779022175205627, + -0.04199001078184518, + 0.005752908174924736, + 0.025298604669706435, + 0.012384336911422923, + -0.02598467880591046, + 1.0 + ], + [ + -0.0043056399983701955, + -0.034496036435525894, + 0.003390901356402246, + 0.03868884462504844, + 0.029638704201784955, + -0.009648462071347034, + 1.0 + ], + [ + -0.004865383468598606, + -0.04548330631399081, + 0.0024207804749714515, + 0.02820359432547215, + 0.06403703861533128, + -0.056211780266287203, + 1.0 + ], + [ + 0.0013872220306183093, + -0.01877269072541262, + 0.01315414449826477, + -0.0034212387726689653, + 0.0025137695473455347, + -0.02128263580019297, + 1.0 + ], + [ + 0.0015517961347814018, + -0.018129479276467526, + 0.009401648972437586, + 0.0029269027740463837, + -0.013398387763579487, + -0.034298951093343334, + 1.0 + ], + [ + 0.008652760074584893, + -0.005003006744790948, + 0.009982927425808343, + -0.008993410903923506, + 0.004442608401167725, + 0.010811038161001936, + 1.0 + ], + [ + 0.007607412514155636, + -0.006314855053345092, + 0.009266581644594662, + 0.0016483838497610512, + -0.006097538067605469, + 0.02229621441738293, + 1.0 + ], + [ + -0.001456365044392317, + -0.006833014336737425, + 0.01089479975562363, + -0.0011630849165383326, + -0.022418418056354854, + 0.022654339457310373, + 1.0 + ], + [ + -0.00669520539047665, + -0.013514901202465601, + 0.0071290336155824625, + 0.001690921962469058, + -0.02329116948225969, + 0.004400819266053308, + 1.0 + ], + [ + -0.00351956158603849, + -0.004326927088434152, + 0.0016447394259049113, + 0.0065537949829872575, + -0.012057492188083037, + 0.02260253419300707, + 1.0 + ], + [ + -0.0005298988564810964, + -0.0005037216014241073, + 0.00858094589373841, + -0.00649254200250316, + -0.008671600614832114, + 0.013188241795957728, + 1.0 + ], + [ + -2.3001648591273675e-05, + 0.001223229756179538, + 0.007895268355556437, + -0.002603595944475606, + -0.007337843927865109, + -0.005100109222745315, + 1.0 + ], + [ + 0.0015142638960198049, + 0.001716280518324636, + 0.0059511397097049, + 0.008152270474389984, + -0.012019129844852953, + 0.0008334508888706182, + 1.0 + ], + [ + 0.001441490864495676, + 0.006306863661835952, + 0.015940191790302552, + -0.008774383086964262, + -0.03655148407481141, + 0.018420108285557183, + 1.0 + ], + [ + 0.0040723915551514655, + -0.0012454627089751543, + 0.004969954751815269, + -0.011938102201559064, + -0.007052816528303496, + -0.004083194571903882, + 0.0 + ], + [ + 0.0003045684764106083, + 0.0028124206970868387, + 0.00040602088892260923, + -0.00664009085982401, + -0.006321313984059116, + 0.0014571175202180951, + 0.0 + ], + [ + -0.0020530983134884424, + 0.005921378030923491, + -0.020020541452749157, + -0.017329695772364696, + 0.035935311492614426, + -0.007706080238194996, + 0.0 + ], + [ + -0.0036657817399696965, + 0.007038449221462589, + -0.06043975523813856, + 0.03652386310598454, + 0.12543679574763592, + -0.023911172561574316, + 0.0 + ], + [ + 0.005851393576686886, + 0.02562005697217797, + -0.03360122947952995, + -0.03576973233247224, + 0.0245023649258127, + -0.039419855549126304, + 0.0 + ], + [ + 0.030591103896463294, + 0.0527179671076232, + -0.01682677664454523, + -0.09484562145032681, + 0.004430193765127499, + 0.05587620500872739, + 0.0 + ], + [ + 0.02606260717646804, + 0.04865855022167293, + 0.018011052972172214, + -0.04271106492547153, + -0.05432096617183485, + 0.08200855434858897, + 0.0 + ], + [ + 0.03303725145303942, + 0.050917909096956385, + 0.020293351637888285, + 0.021027429701391983, + -0.017808545963333654, + 0.11162343166064748, + 0.0 + ], + [ + 0.01619307278853162, + 0.04465126673599924, + 0.016378220519195744, + 0.02118104575271586, + -0.03407493624728314, + 0.06419974219585681, + 0.0 + ], + [ + 0.006483731491814313, + 0.041588945921750164, + 0.017515890972935984, + 0.07506249022464312, + 0.0027017440804968083, + 0.03177270335611813, + 0.0 + ], + [ + -0.0044393888711811835, + -0.004984704875187157, + 0.01328375760995577, + 0.02284078311687161, + 0.004102978541603108, + -0.026990186238198956, + 0.0 + ], + [ + 0.004836857271528859, + -0.003726027898763372, + 0.0006613409204450612, + -0.005709406250067748, + 0.030425634843529094, + -0.004551964466345322, + 0.0 + ], + [ + 4.646923641027869e-05, + -0.0023152561933635837, + 0.01058489855435339, + 0.011830001824166518, + -0.018768200646815662, + 0.0033086296234320703, + 0.0 + ], + [ + 0.0016976661578717686, + 0.0005780499020371548, + 0.0018541289976984334, + -0.00045471142660516255, + -0.007598546411116901, + 0.027551653110811345, + 1.0 + ], + [ + -0.0001633833954558559, + 0.0011786206421234373, + 0.001045653703115979, + -0.00695913567050211, + 0.001989707994690907, + 0.012361088295951927, + 1.0 + ], + [ + -0.007139824022891806, + -0.0015251365306816565, + -0.003134423400744135, + -0.009572549397356446, + -0.002588675344929519, + 0.0034313789407301514, + 1.0 + ], + [ + -0.024879126728682796, + -0.03308507983919598, + -0.03806376023476029, + 0.00597470413751745, + 0.05617431050690405, + -0.1039232296584315, + 1.0 + ], + [ + -0.02917435317342057, + -0.018993323582571647, + -0.009715565877792535, + -0.017252964974833494, + -0.0038274955980086684, + -0.05678429392591838, + 1.0 + ], + [ + -0.02043229425366346, + -0.0034447944432942747, + -0.003172862161251061, + -0.011611558440519856, + -0.0029483842154670323, + -0.012703971289576364, + 1.0 + ], + [ + -0.008446156805911601, + 0.0008743018811240717, + -0.004962518843966797, + -0.01752758438467565, + 0.007484319828811626, + 0.004862972032864129, + 1.0 + ], + [ + -0.005977328955981322, + -0.0049610393499190004, + -0.006168925291212786, + -0.048735532686867256, + 0.016835247675841845, + -0.043457263954652575, + 1.0 + ], + [ + 0.0001947352336731331, + -0.0011621096764631604, + -0.0005864532919490616, + -0.00028552250236963013, + 0.0036436491277656215, + -0.00044081162105540176, + 1.0 + ] + ], + "state": [ + [ + 0.2837052047252655, + -0.022660624235868454, + 0.1338532716035843, + 3.1224367191367826, + -0.0004465747042559087, + -0.0895775854587555, + 1.0 + ], + [ + 0.2837052047252655, + -0.022660624235868454, + 0.1338532716035843, + 3.1224360560351094, + -0.0004171911277808249, + -0.08804388344287872, + 1.0 + ], + [ + 0.2827011048793793, + -0.023059668019413948, + 0.12587183713912964, + 3.11891524319584, + 0.02863407880067825, + -0.08873429149389267, + 1.0 + ], + [ + 0.281731516122818, + 0.0024139555171132088, + 0.12347063422203064, + 3.1058797036581716, + 0.03157858923077583, + -0.029892994090914726, + 1.0 + ], + [ + 0.2815764546394348, + 0.022912025451660156, + 0.12422668188810349, + 3.0976118092709264, + 0.02624122053384781, + 0.006073225289583206, + 1.0 + ], + [ + 0.2743474245071411, + 0.06456536054611206, + 0.11681365966796875, + 3.1236179081075868, + 0.015001967549324037, + 0.03257843479514122, + 1.0 + ], + [ + 0.2688629627227783, + 0.09883441776037216, + 0.11286832392215729, + -3.120732797431298, + -0.014459308236837385, + 0.04275483265519142, + 1.0 + ], + [ + 0.26207801699638367, + 0.14410969614982605, + 0.11132658272981644, + -3.0933132005208215, + -0.07963252812623978, + 0.09767643362283707, + 1.0 + ], + [ + 0.26253220438957214, + 0.16363269090652466, + 0.09924286603927612, + -3.0984321628981313, + -0.08315257728099824, + 0.11888615041971205, + 1.0 + ], + [ + 0.262581467628479, + 0.18228846788406372, + 0.09079084545373917, + -3.098428467410155, + -0.07119572162628175, + 0.15381702780723575, + 1.0 + ], + [ + 0.27096453309059143, + 0.18908217549324036, + 0.08167333900928497, + -3.1066398938470563, + -0.0751633867621422, + 0.14279332756996155, + 1.0 + ], + [ + 0.27820101380348206, + 0.19682562351226807, + 0.07322987914085388, + -3.103338377671786, + -0.06827215105295181, + 0.12067274004220963, + 1.0 + ], + [ + 0.27660608291625977, + 0.20392997562885284, + 0.0625297799706459, + -3.103013692545243, + -0.044987596571445465, + 0.09887614101171494, + 1.0 + ], + [ + 0.2688855230808258, + 0.21701154112815857, + 0.05563289299607277, + -3.10115513776476, + -0.021543748676776886, + 0.09537722915410997, + 1.0 + ], + [ + 0.264996200799942, + 0.22104938328266144, + 0.05408894270658493, + -3.094132291274615, + -0.008577186614274979, + 0.07328155636787413, + 1.0 + ], + [ + 0.26447421312332153, + 0.22192376852035522, + 0.045537326484918594, + -3.1005174574726304, + 0.0007110150181688368, + 0.06052009016275406, + 1.0 + ], + [ + 0.2644999325275421, + 0.22102569043636322, + 0.03759850561618805, + -3.1031167079978665, + 0.00783323124051094, + 0.0659172460436821, + 1.0 + ], + [ + 0.2660617530345917, + 0.21963946521282196, + 0.0315740741789341, + -3.094964562105485, + 0.019875524565577504, + 0.06554672122001648, + 1.0 + ], + [ + 0.2675422430038452, + 0.21416766941547394, + 0.015331791713833809, + -3.1040466112368783, + 0.057243037968873985, + 0.048835143446922295, + 1.0 + ], + [ + 0.2712521255016327, + 0.21578183770179749, + 0.010187160223722458, + -3.1157350336485585, + 0.06413707137107849, + 0.05318905413150787, + 0.0 + ], + [ + 0.27167391777038574, + 0.2129993438720703, + 0.009690023958683014, + -3.12245772046084, + 0.07049389183521271, + 0.05189266800880432, + 0.0 + ], + [ + 0.27135565876960754, + 0.20667095482349396, + 0.029688779264688492, + -3.139281002926179, + 0.03441598266363144, + 0.05890906974673271, + 0.0 + ], + [ + 0.2701965272426605, + 0.19941197335720062, + 0.0902024582028389, + -3.1019234416359147, + -0.0910853073000908, + 0.08244055509567261, + 0.0 + ], + [ + 0.2752702236175537, + 0.17280693352222443, + 0.12315846234560013, + -3.1412282225261485, + -0.11706380546092987, + 0.12110996991395949, + 0.0 + ], + [ + 0.3098505437374115, + 0.12390241026878357, + 0.143423929810524, + 3.0536821653419217, + -0.12129000574350357, + 0.06481871753931044, + 0.0 + ], + [ + 0.34055981040000916, + 0.07573843747377396, + 0.13300833106040955, + 3.021646076934882, + -0.07391706854104996, + -0.021772461012005806, + 0.0 + ], + [ + 0.3733833134174347, + 0.022030765190720558, + 0.12143175303936005, + 3.0517657195502004, + -0.06909266114234924, + -0.1349884569644928, + 0.0 + ], + [ + 0.38405007123947144, + -0.025780169293284416, + 0.1102723553776741, + 3.077722029882022, + -0.04075482860207557, + -0.20201027393341064, + 0.0 + ], + [ + 0.3824367821216583, + -0.06895659863948822, + 0.09572316706180573, + -3.129083232144364, + -0.04545841366052627, + -0.2335781455039978, + 0.0 + ], + [ + 0.3798989951610565, + -0.06305855512619019, + 0.08231472223997116, + -3.10747233976657, + -0.04988214746117592, + -0.20660808682441711, + 0.0 + ], + [ + 0.3854216933250427, + -0.06038827821612358, + 0.08202271163463593, + -3.113341786088892, + -0.08044504374265671, + -0.20308727025985718, + 0.0 + ], + [ + 0.38682177662849426, + -0.058008432388305664, + 0.07154517620801926, + -3.1012833287292203, + -0.06159056350588799, + -0.2058691531419754, + 0.0 + ], + [ + 0.3884906768798828, + -0.05887065455317497, + 0.06977730989456177, + -3.1000740510695657, + -0.05286519974470138, + -0.23312939703464508, + 1.0 + ], + [ + 0.3881261348724365, + -0.059949833899736404, + 0.06867653131484985, + -3.1063783933692655, + -0.0543360486626625, + -0.2455807775259018, + 1.0 + ], + [ + 0.3813866376876831, + -0.05680307745933533, + 0.071470245718956, + -3.115769488858529, + -0.05162786692380905, + -0.24892333149909973, + 1.0 + ], + [ + 0.36326664686203003, + -0.019085263833403587, + 0.10903985798358917, + -3.1151992344581565, + -0.11019039154052733, + -0.1460305154323578, + 1.0 + ], + [ + 0.33619216084480286, + 0.0038285956252366304, + 0.11598310619592667, + -3.1387811113433024, + -0.10768318921327591, + -0.08883360773324968, + 1.0 + ], + [ + 0.31592243909835815, + 0.009083441458642483, + 0.11695124208927155, + 3.1314186799624046, + -0.10476180166006088, + -0.07605136930942534, + 1.0 + ], + [ + 0.3069659471511841, + 0.008939754217863083, + 0.12101192772388458, + 3.1143946313583335, + -0.11229400336742403, + -0.08086814731359483, + 1.0 + ], + [ + 0.3007861375808716, + 0.014584372751414776, + 0.12633585929870605, + 3.0607233588867864, + -0.12783277034759521, + -0.036613553762435906, + 1.0 + ], + [ + 0.3009607791900635, + 0.01578447036445141, + 0.12684734165668488, + 3.0603429694944104, + -0.13142886757850647, + -0.03587346524000168, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.04091840982437134, + 0.1527683138847351, + 0.1897594928741455, + 0.1897594928741455, + 0.1897594928741455, + 0.1897594928741455, + 0.1897594928741455, + 0.1897594928741455, + 0.1897594928741455, + 0.1897594928741455, + 0.1897594928741455, + 0.1897594928741455, + 0.1897594928741455, + 0.12071859836578369, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2497", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2497/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/251.json b/annotation/test/251.json new file mode 100644 index 0000000000000000000000000000000000000000..137f9e7c68f62b367e1ac4643b24b45ed1b887c4 --- /dev/null +++ b/annotation/test/251.json @@ -0,0 +1,698 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Pick up the banana from above the purple cloth and put it on the table" + ], + "videos": [ + { + "video_path": "videos/test/251/rgb.mp4" + } + ], + "action": [ + [ + -0.00042230493173695704, + -0.00023791156346482002, + 0.0008285529665051418, + 0.0005110512898301009, + -0.0014403587167362772, + -0.0004045277628147792, + 1.0 + ], + [ + -0.007251390380042221, + -0.004023963219871747, + 0.01465018095811783, + 0.015256366169926865, + -0.04106031569592692, + -0.005828006471481674, + 1.0 + ], + [ + 0.0007189660982299209, + -0.0073577854018356745, + 0.00567750486221388, + 0.04140985962569157, + 0.02064673778400915, + 0.007202765683919232, + 1.0 + ], + [ + -0.0018228121213828472, + -0.0019470134355760644, + 0.011359008157593617, + 0.03316062645320455, + 0.004043523930804457, + 0.01657896623474361, + 1.0 + ], + [ + -0.004019938121948306, + -0.0030037846115421453, + 0.0102127386852071, + 0.01913287487795063, + -0.024705682956506863, + 0.005319880924902092, + 1.0 + ], + [ + 0.0007482482082275733, + -0.002945275540657654, + 0.010617953138203228, + 0.019728871902687847, + -0.010294395340717544, + 0.0018205893753903478, + 1.0 + ], + [ + 0.0021588491943775193, + -0.0015652509600279363, + 0.0035840211675712027, + 0.008006442006502053, + 0.0047723886320279775, + -0.00024385054633459363, + 1.0 + ], + [ + 0.0024410441072810693, + 0.0005085793401008583, + 1.2728370873734409e-05, + -0.002456353295999148, + 0.012023498797565714, + 0.0030595744337506567, + 1.0 + ], + [ + -0.000436499840369321, + -8.219590608383336e-05, + 0.0029302252738053532, + 0.005271060371870801, + -0.025539597654796343, + -0.0031224160786291586, + 0.0 + ], + [ + 9.020046691362458e-05, + -0.00032670328076557536, + 0.0002869771090232039, + 0.002399477832213793, + -0.0010657397137186686, + -0.0008619426465376619, + 0.0 + ], + [ + -0.000600267318244365, + 0.0003033284945734934, + -0.0005779869020820437, + -0.0059377437820918085, + -0.0012626820306918549, + -0.008111952007536996, + 0.0 + ], + [ + 0.003630829168883243, + -0.013084919417136211, + -0.036557279513267794, + -0.013862735252487572, + 0.10464971305928797, + -0.07839956556229019, + 0.0 + ], + [ + 0.0020484206421190173, + 0.005655570274659975, + -0.02850458621106312, + -0.04239913471469244, + 0.052934669816273705, + -0.04209837997116223, + 0.0 + ], + [ + -0.015902763729054876, + 0.013126777290138041, + -0.004365112946691248, + -0.02796172821244814, + -0.017393694475641264, + 0.021969215512990574, + 0.0 + ], + [ + -0.024825419773021665, + 0.022990062363679484, + -0.005727972231508237, + -0.03689965788503453, + -0.007982748258318623, + 0.06423113194533046, + 0.0 + ], + [ + -0.022851514978949047, + 0.016686435543647862, + -0.00099082764905753, + -0.023249132476993516, + -0.015667585544539682, + 0.04996573692426308, + 0.0 + ], + [ + -0.026578920833499855, + 0.017042856536011484, + 0.0006959834710775788, + -0.020832027390341613, + -0.01914360868154188, + 0.0625200762976687, + 0.0 + ], + [ + -0.024932730493576034, + 0.010254937733890681, + 0.004616697701066172, + -0.0028789168110164706, + -0.024097794540422962, + 0.04798335190477635, + 0.0 + ], + [ + -0.022703472190331916, + 0.010824029235418142, + 0.007129020736586015, + -0.011680356330663577, + -0.025071919328165028, + 0.026617676812927156, + 0.0 + ], + [ + -0.015553980009239242, + 0.0161750447544579, + 0.004528760314349944, + -0.017572588867356055, + -0.014322353909805022, + 0.003698789374081508, + 0.0 + ], + [ + -0.009205526307260337, + 0.006994535168278909, + 0.012338279219090961, + 0.006253839419686353, + -0.022550443229602493, + 0.0037576790594932496, + 0.0 + ], + [ + -0.0094229659230828, + 0.0029422341930823498, + 0.019335080635433103, + 0.021651274815940213, + -0.03269328550468701, + 0.006609092280805338, + 0.0 + ], + [ + 0.0012723275343895434, + 0.008339522920241278, + 0.009844079135116101, + 0.005115556862342145, + -0.0006840877103883564, + 0.01148194183202815, + 0.0 + ], + [ + 0.003092877778901184, + 0.004543360543315309, + 0.0028566590251873744, + 0.012156429037408337, + 0.014273448422312951, + 0.003221518946784181, + 0.0 + ], + [ + 0.0013181254915177654, + 0.001129685310613068, + -6.279087084867956e-05, + 0.0026292504316189737, + 0.00224151783754553, + -0.03797293144432085, + 0.0 + ], + [ + -0.00018748052361321747, + -0.0011031981737229307, + -0.00016913819586779986, + -0.0042391608059543315, + 0.0062603930054199635, + 0.007911245141094004, + 1.0 + ], + [ + 0.0005251695459507268, + -0.010130421859190334, + -0.002131134191601351, + 0.006504244235925015, + -0.023667111862433556, + -0.03550459805531001, + 1.0 + ], + [ + 0.0005126650160622362, + -0.004328327105816104, + -0.006259177092510593, + 0.0058493215546018724, + -0.012967615647354163, + -0.004048018378238871, + 1.0 + ], + [ + 0.015213304874943727, + 0.0011255853260551832, + -0.02229314087842482, + -0.024891679756597788, + 0.04234161213254287, + -0.01377032921609676, + 1.0 + ], + [ + 0.015151003279294965, + -0.003304618738867347, + -0.023475703246674223, + -0.031100931485842993, + 0.028636267604863968, + -0.03214985949522941, + 1.0 + ], + [ + 0.00868741755274037, + 0.00213354234524006, + -0.019709057006459346, + -0.043470261577005474, + 0.01016572693541883, + -0.01473047713366687, + 1.0 + ], + [ + 0.007263757769305598, + -0.005509902471948823, + -0.019678001699962117, + -0.013271052149334215, + 0.036395786060670426, + -0.05819014077000379, + 1.0 + ], + [ + 0.0001454635101300868, + 0.00020155549583799712, + -0.0006635942902488687, + -0.00022445806698389545, + -0.00014005455211342139, + 0.0017601922863488884, + 1.0 + ], + [ + -7.362407232335885e-05, + 0.00014047916775256024, + -8.725852489478241e-08, + -0.0008853864982212346, + -0.0004652172170873018, + -0.0011628928735462284, + 1.0 + ], + [ + 0.0005130890926334775, + 0.00016374332915844794, + -0.00024884935641231155, + 5.8565809866581755e-05, + 0.001752625758037375, + -0.0002567867102117241, + 1.0 + ] + ], + "state": [ + [ + 0.36461201310157776, + 0.11950080841779709, + 0.08893846720457077, + 2.9441854824596128, + -0.26860514283180237, + 0.6005872488021851, + 1.0 + ], + [ + 0.3644241988658905, + 0.11945796012878418, + 0.08799807727336884, + 2.9446649124198636, + -0.26711341738700867, + 0.600705623626709, + 1.0 + ], + [ + 0.3613438010215759, + 0.11865627020597458, + 0.07146716117858887, + 2.9603826125436505, + -0.2257061302661896, + 0.5983242392539979, + 1.0 + ], + [ + 0.3597005307674408, + 0.1250566691160202, + 0.06489277631044388, + 3.0025307704978665, + -0.247311532497406, + 0.5948561429977416, + 1.0 + ], + [ + 0.3603740632534027, + 0.12593944370746613, + 0.05327780172228813, + 3.039718086021491, + -0.25358220934867853, + 0.5784739851951598, + 1.0 + ], + [ + 0.35824817419052124, + 0.12687969207763672, + 0.0421387180685997, + 3.0608337243371686, + -0.22953781485557556, + 0.5704607963562012, + 1.0 + ], + [ + 0.35981085896492004, + 0.13035261631011963, + 0.031771834939718246, + 3.0811752175265035, + -0.21942302584648132, + 0.5677508115768433, + 1.0 + ], + [ + 0.36153745651245117, + 0.13305029273033142, + 0.02865779399871826, + 3.0890623052888593, + -0.22417195141315463, + 0.5682960152626038, + 1.0 + ], + [ + 0.36381441354751587, + 0.13390089571475983, + 0.029214078560471535, + 3.087156569706746, + -0.2363388389348984, + 0.5658028721809387, + 1.0 + ], + [ + 0.3640768527984619, + 0.13397592306137085, + 0.026262976229190826, + 3.091996209817477, + -0.21066683530807495, + 0.5675692558288574, + 0.0 + ], + [ + 0.3640368580818176, + 0.13432052731513977, + 0.025985712185502052, + 3.0942229238622865, + -0.2095596045255661, + 0.5683953762054443, + 0.0 + ], + [ + 0.3635866641998291, + 0.13370594382286072, + 0.026439595967531204, + 3.0865766761177262, + -0.20790734887123108, + 0.5766154527664185, + 0.0 + ], + [ + 0.3521542251110077, + 0.1442539095878601, + 0.06220092251896858, + 3.0544278417998036, + -0.3073320388793945, + 0.6643505692481995, + 0.0 + ], + [ + 0.34875455498695374, + 0.13758733868598938, + 0.09035570919513702, + 2.9969824721389493, + -0.3560529947280884, + 0.7139542698860167, + 0.0 + ], + [ + 0.34394723176956177, + 0.11706718802452087, + 0.09063400328159332, + 2.9780116250091275, + -0.3418976962566376, + 0.6882208585739136, + 0.0 + ], + [ + 0.33726444840431213, + 0.08341135084629059, + 0.09116233140230179, + 2.9644683470302304, + -0.343729704618454, + 0.6195234060287476, + 0.0 + ], + [ + 0.3281097412109375, + 0.056922007352113724, + 0.0871477797627449, + 2.9599769582324704, + -0.3366254568099975, + 0.5644904375076294, + 0.0 + ], + [ + 0.31528154015541077, + 0.028809508308768272, + 0.08062803745269775, + 2.9621469249301633, + -0.3283449411392212, + 0.49587592482566833, + 0.0 + ], + [ + 0.300485759973526, + 0.008396685123443604, + 0.07002048194408417, + 2.9769068976216992, + -0.3127447962760925, + 0.44174322485923767, + 0.0 + ], + [ + 0.28748416900634766, + -0.010856153443455696, + 0.05803227797150612, + 2.9750063141160688, + -0.2922270596027374, + 0.4100378751754761, + 0.0 + ], + [ + 0.2809537947177887, + -0.03190647065639496, + 0.05184306204319, + 2.9592241813712796, + -0.27871087193489075, + 0.40377411246299744, + 0.0 + ], + [ + 0.2791456878185272, + -0.042592376470565796, + 0.03886459767818451, + 2.967651518183299, + -0.25720730423927307, + 0.3957254588603973, + 0.0 + ], + [ + 0.27749428153038025, + -0.0500493198633194, + 0.018543150275945663, + 2.9923982342057904, + -0.22613196074962616, + 0.38324448466300964, + 0.0 + ], + [ + 0.28404170274734497, + -0.05787915736436844, + 0.010549573227763176, + 3.0001598467403134, + -0.22714702785015106, + 0.3714863657951355, + 0.0 + ], + [ + 0.28908759355545044, + -0.061172835528850555, + 0.009114585816860199, + 3.0125749131017407, + -0.2417318969964981, + 0.3702740371227265, + 0.0 + ], + [ + 0.29063680768013, + -0.061764538288116455, + 0.009631702676415443, + 3.0059501846605023, + -0.23889300227165222, + 0.40932941436767584, + 0.0 + ], + [ + 0.2900215685367584, + -0.06081502139568329, + 0.009605219587683678, + 3.003417598205157, + -0.24615973234176636, + 0.4021202623844147, + 1.0 + ], + [ + 0.28628799319267273, + -0.05118029937148094, + 0.010427125729620457, + 3.0019916911893567, + -0.2177017480134964, + 0.4347864389419556, + 1.0 + ], + [ + 0.28347349166870117, + -0.046801213175058365, + 0.016001775860786438, + 3.007343368726321, + -0.2042964845895767, + 0.43703716993331904, + 1.0 + ], + [ + 0.29209092259407043, + -0.04071321338415146, + 0.040868859738111496, + 2.9783171733194074, + -0.24437496066093445, + 0.4569287896156311, + 1.0 + ], + [ + 0.29724863171577454, + -0.03029189072549343, + 0.06648869812488556, + 2.9381345828347882, + -0.26723968982696533, + 0.49463382363319397, + 1.0 + ], + [ + 0.2991383671760559, + -0.02712206542491913, + 0.08781594038009644, + 2.8901609798246106, + -0.2741822302341461, + 0.511753499507904, + 1.0 + ], + [ + 0.2960483729839325, + -0.01712172105908394, + 0.10681041330099106, + 2.858776392536708, + -0.2943630516529083, + 0.5800879597663879, + 1.0 + ], + [ + 0.2960011065006256, + -0.01716269552707672, + 0.10751626640558243, + 2.8590767105394086, + -0.29471930861473083, + 0.5782806873321534, + 1.0 + ], + [ + 0.29600629210472107, + -0.017320387065410614, + 0.10753243416547775, + 2.857891859608241, + -0.2939482033252716, + 0.579312026500702, + 1.0 + ], + [ + 0.2963961362838745, + -0.01716996729373932, + 0.10795361548662186, + 2.857726814346858, + -0.2955588102340698, + 0.5800825357437134, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.055433034896850586, + 0.34489333629608154, + 0.6020113825798035, + 0.6116192042827606, + 0.6116192042827606, + 0.6116192042827606, + 0.6116192042827606, + 0.6116192042827606, + 0.6116192042827606, + 0.6116192042827606, + 0.6116192042827606, + 0.6116192042827606, + 0.6116192042827606, + 0.6116192042827606, + 0.6116192042827606, + 0.6116192042827606, + 0.6116192042827606, + 0.5224551856517792, + 0.23085123300552368, + 0.006563663482666016, + 0.0005114078521728516, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "251", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/251/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2516.json b/annotation/test/2516.json new file mode 100644 index 0000000000000000000000000000000000000000..23cc30e5c3aad479e3b3f50b2529cf705461a70d --- /dev/null +++ b/annotation/test/2516.json @@ -0,0 +1,660 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the mushroom to the right in front of the silver bowl" + ], + "videos": [ + { + "video_path": "videos/test/2516/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 3.4224425939873005e-11, + 4.521636863411653e-09, + -0.0015339862853463529, + 1.0 + ], + [ + -0.001597071043508801, + 0.00025852049513172586, + 0.00610793511655348, + -0.010045583187417283, + -0.014084112697494449, + 0.0015937885126712614, + 1.0 + ], + [ + 0.0019221938817285675, + -0.031818051267488955, + 0.0024665133900402193, + -0.0008628752440125902, + 0.08377876235279016, + -0.027977956609792288, + 1.0 + ], + [ + 0.0010243675850664237, + -0.02329579659773589, + 0.005235232791396362, + 0.05055319870503256, + -0.0022694100935220863, + -0.0028958285535815153, + 1.0 + ], + [ + 0.0009664071454606422, + -0.042636419725292904, + 0.015788357673431355, + 0.07489070443178866, + -0.04621222818838411, + -0.03250966860541837, + 1.0 + ], + [ + 0.0015123593526063528, + -0.023900505656844536, + 0.026959181081278333, + 0.051700422724111364, + -0.07511046196603281, + -0.004439304547000765, + 1.0 + ], + [ + -0.007449735835613801, + -0.01323790038029687, + 0.024342543282500947, + 0.02238172306350997, + -0.06792111010857665, + 0.002149431308241552, + 1.0 + ], + [ + -0.010073632954121822, + 0.0007532310127020155, + 0.008383654797568068, + 0.01412061258179566, + -0.032257476560672675, + 0.0122367402007268, + 1.0 + ], + [ + -0.007279998396134364, + 0.0037436207164590145, + 0.007208111175126658, + -0.001418797708231545, + -0.017668296219579126, + 0.009328070441425952, + 1.0 + ], + [ + -0.0019965025890193795, + -7.035040121568947e-05, + 0.004453353799667942, + 0.005810719158155456, + -0.0075889230836341135, + -0.004694249192115129, + 1.0 + ], + [ + 0.0019097969860987986, + -0.002018032143921306, + 0.011734046080555104, + 0.0018279392028493855, + -0.022327686495407777, + -0.0017029153390686505, + 1.0 + ], + [ + 0.007988407109039112, + -0.00467389907944679, + 0.0039182363902597744, + 0.005808141786771758, + 0.0008499978667275446, + -0.007185039208759805, + 1.0 + ], + [ + 0.004565704183816051, + -0.00239723742387432, + -0.0005089286257883672, + 0.009121034561348407, + 0.004835326828823504, + -0.005383316286511642, + 1.0 + ], + [ + 0.003352296632790901, + 0.004679373734038571, + -0.00011977551045730544, + 0.0009307825542832109, + 0.005121203759404756, + 0.023036884879385603, + 1.0 + ], + [ + 0.0002489732664691894, + 0.00352228580779362, + 5.043081833905609e-05, + -0.0031820942360074062, + -0.002462115716296292, + 0.0038992670981428845, + 0.0 + ], + [ + 0.0005701966245303314, + 0.004592364213141249, + 0.0004929663771297937, + -0.007135347045998914, + -0.002382909103256582, + -0.0019152780669049506, + 0.0 + ], + [ + 0.0012768201992125166, + 0.010842718403705064, + -0.018628643385912552, + -0.026229007226494485, + 0.032962288395667706, + -0.021624802768777384, + 0.0 + ], + [ + -0.009774699681656838, + 0.032406194177030924, + -0.04822257042358438, + 0.0032677041873956122, + 0.0656472381172379, + 0.034193424097132545, + 0.0 + ], + [ + -0.020198478591795254, + 0.04394471133316042, + -0.0006761733072352309, + -0.05892198824232102, + -0.027385292766857097, + 0.08975454364426687, + 0.0 + ], + [ + -0.01446427404814136, + 0.027789444104894864, + 0.01456940978173546, + -0.0015450548035212779, + -0.036679665257102916, + 0.07813436479415457, + 0.0 + ], + [ + -0.007836575948888432, + 0.01422792215580001, + 0.012482156920455961, + 0.025105031077109326, + -0.02394258246176251, + 0.03739749127226572, + 0.0 + ], + [ + 0.004320753064927957, + 0.007085383180794832, + 0.013907746363414622, + 0.013852881082406187, + -0.01943557939527598, + 0.01583357165760819, + 0.0 + ], + [ + 0.0034710493711508383, + 0.003978017053215285, + 0.01255797927686067, + 0.02232590745209777, + -0.02467182492793669, + 0.019096705084918866, + 0.0 + ], + [ + 0.011101436833427014, + 0.0017728552336296, + 0.0012253391511201676, + 0.019145587377362175, + 0.020853994468030244, + 0.014888020741590631, + 0.0 + ], + [ + 0.008586924017519952, + 0.00013065198590392102, + -0.0004997598909533969, + 0.008140262405636884, + 0.01139582692618284, + 0.01024756894739738, + 0.0 + ], + [ + 0.00806241435483745, + -0.0014681248328523736, + -0.00031313710822844607, + -0.0006133703937542537, + 0.013783215798043386, + -0.007526027751744513, + 0.0 + ], + [ + 0.005500477922681489, + -8.402312534954653e-05, + -0.00019616494382960255, + -0.00772506420618037, + 0.012932177229827101, + -0.002730438199930543, + 0.0 + ], + [ + 0.0010902082171022095, + -0.0008702149966026913, + 0.00046656437377278105, + -0.01897699047068441, + 0.012752580095925668, + -0.020356768181036492, + 0.0 + ], + [ + -0.002556711319904311, + -0.0002552519023635324, + -0.001505665202677256, + -0.027498206364714294, + -0.014862639282981762, + -0.01689813004292814, + 0.0 + ], + [ + 0.006769263412296704, + -0.008210194574656991, + -0.025868955723102355, + -0.0037370849477446214, + 0.05227779379134687, + -0.04844310923107832, + 1.0 + ], + [ + 0.0009134117303168154, + -0.0021070185310840287, + -0.023057956141217927, + -0.013688081717495281, + -0.0017009262685047143, + -0.01499669834180137, + 1.0 + ], + [ + -0.0018718056190533646, + -0.003321696432899564, + -0.004853610828599568, + -0.01544187793864486, + -0.01684230913694683, + -0.00848644079489089, + 1.0 + ], + [ + 0.00017746736857071757, + -0.0002512046162569719, + 1.5463454252245242e-05, + -0.0008932440319785517, + 0.0016835916414947181, + -0.0008043336753008403, + 1.0 + ] + ], + "state": [ + [ + 0.26850447058677673, + 0.03217073529958725, + 0.15457254648208618, + 3.0662798677855214, + -0.20870819687843323, + -0.055574566125869744, + 1.0 + ], + [ + 0.26850447058677673, + 0.03217073529958725, + 0.15457254648208618, + 3.0659559984975537, + -0.2085925340652466, + -0.0540110357105732, + 1.0 + ], + [ + 0.2681608200073242, + 0.031468939036130905, + 0.14830248057842255, + 3.056463251011916, + -0.19466838240623474, + -0.05671541765332222, + 1.0 + ], + [ + 0.2728259861469269, + 0.06274789571762085, + 0.14360886812210083, + 3.0483153109722814, + -0.27564197778701777, + -0.020448375493288037, + 1.0 + ], + [ + 0.2762845456600189, + 0.08538881689310074, + 0.13678404688835144, + 3.098113427060195, + -0.27311170101165777, + -0.0176736805588007, + 1.0 + ], + [ + 0.2827093303203583, + 0.1271916776895523, + 0.12007137387990952, + -3.118638141202279, + -0.22540202736854556, + 0.013551765121519567, + 1.0 + ], + [ + 0.28975170850753784, + 0.15180236101150513, + 0.0946737751364708, + -3.0682669078283986, + -0.15040899813175201, + 0.01976996846497059, + 1.0 + ], + [ + 0.2855830192565918, + 0.16670852899551392, + 0.07051330804824829, + -3.046142706769057, + -0.08251260966062546, + 0.02261301316320896, + 1.0 + ], + [ + 0.27623867988586426, + 0.16654640436172485, + 0.06129440665245056, + -3.0312248413735112, + -0.04923238605260848, + 0.01350121572613716, + 1.0 + ], + [ + 0.26938050985336304, + 0.16352662444114685, + 0.05336872860789299, + -3.0322686602645597, + -0.03064285777509212, + 0.0061739301308989525, + 1.0 + ], + [ + 0.26751694083213806, + 0.1640709489583969, + 0.04889054223895073, + -3.0266248156600675, + -0.02361094765365124, + 0.011669554747641088, + 1.0 + ], + [ + 0.2696566879749298, + 0.16744692623615265, + 0.03751372918486595, + -3.0248695482783994, + -0.0016258170362561943, + 0.015921926125884056, + 1.0 + ], + [ + 0.27756834030151367, + 0.17267195880413055, + 0.034179460257291794, + -3.01907570858533, + -0.003306741127744317, + 0.022959118708968163, + 1.0 + ], + [ + 0.28207698464393616, + 0.1750931739807129, + 0.03499263525009155, + -3.009970339136668, + -0.008763682097196579, + 0.02771126851439476, + 1.0 + ], + [ + 0.2855611741542816, + 0.17053334414958954, + 0.03452663868665695, + -3.008868383365222, + -0.010815032757818699, + 0.00420030765235424, + 1.0 + ], + [ + 0.2858303487300873, + 0.1670498102903366, + 0.03401325270533562, + -3.012012632685252, + -0.007858495227992536, + 0.0006610628333874047, + 0.0 + ], + [ + 0.28641200065612793, + 0.16256003081798553, + 0.03293551877140999, + -3.0191652720146855, + -0.005743032321333885, + 0.0028682290576398373, + 0.0 + ], + [ + 0.28762760758399963, + 0.1495269387960434, + 0.050107646733522415, + -3.0454463382535657, + -0.04109838977456092, + 0.02030876837670803, + 0.0 + ], + [ + 0.2767682671546936, + 0.1124129518866539, + 0.09455704689025879, + -3.040383169549056, + -0.10312700271606445, + -0.02017035335302353, + 0.0 + ], + [ + 0.25618577003479004, + 0.06903110444545746, + 0.08873042464256287, + -3.090729745226451, + -0.06643848866224289, + -0.10684520751237869, + 0.0 + ], + [ + 0.24000877141952515, + 0.043598439544439316, + 0.07184195518493652, + -3.087334333109208, + -0.02564517967402935, + -0.18298085033893585, + 0.0 + ], + [ + 0.23017732799053192, + 0.03165799006819725, + 0.05840996652841568, + -3.0613249485665044, + 0.0003065174678340554, + -0.21901337802410126, + 0.0 + ], + [ + 0.2330983728170395, + 0.02491484023630619, + 0.043977558612823486, + -3.0474693720513066, + 0.020949002355337143, + -0.23323765397071836, + 0.0 + ], + [ + 0.23556970059871674, + 0.021470220759510994, + 0.031031409278512, + -3.0254779403382024, + 0.04730339720845222, + -0.2499438226222992, + 0.0 + ], + [ + 0.24584852159023285, + 0.01717534475028515, + 0.02908558025956154, + -3.00713803072507, + 0.028307586908340454, + -0.267151415348053, + 0.0 + ], + [ + 0.25408869981765747, + 0.014716368168592453, + 0.02932008169591427, + -2.999328928189822, + 0.01838633418083191, + -0.2788354754447937, + 0.0 + ], + [ + 0.2622353434562683, + 0.013849531300365925, + 0.02968989498913288, + -2.999829815822192, + 0.0036750247236341234, + -0.27334037423133845, + 0.0 + ], + [ + 0.26754727959632874, + 0.01241789199411869, + 0.029875747859477997, + -3.0075397809320172, + -0.009513196535408497, + -0.27246463298797613, + 0.0 + ], + [ + 0.26884925365448, + 0.013014288619160652, + 0.029540061950683594, + -3.0267045592241963, + -0.024870311841368672, + -0.25399112701416016, + 0.0 + ], + [ + 0.26635897159576416, + 0.013744410127401352, + 0.031001010909676552, + -3.0546695684366902, + -0.012038413435220718, + -0.23550093173980713, + 0.0 + ], + [ + 0.274015337228775, + 0.018009083345532417, + 0.057564627379179, + -3.058898227410861, + -0.06831145286560059, + -0.19174587726593018, + 1.0 + ], + [ + 0.27339568734169006, + 0.018328247591853142, + 0.08072617650032043, + -3.073627697425433, + -0.06784723699092865, + -0.17662514746189117, + 1.0 + ], + [ + 0.27174338698387146, + 0.021654728800058365, + 0.08565560728311539, + -3.0897154827886304, + -0.051617007702589035, + -0.1670028865337372, + 1.0 + ], + [ + 0.2719601094722748, + 0.021873414516448975, + 0.0856623500585556, + -3.090645657973834, + -0.05334002897143363, + -0.1662859171628952, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.008609116077423096, + 0.10947227478027344, + 0.3840659260749817, + 0.7034061849117279, + 0.7757394760847092, + 0.7763764560222626, + 0.7763764560222626, + 0.7763764560222626, + 0.7763764560222626, + 0.7763764560222626, + 0.7763764560222626, + 0.7763764560222626, + 0.7763764560222626, + 0.7763764560222626, + 0.7763764560222626, + 0.7763764560222626, + 0.7138420641422272, + 0.41009873151779175, + 0.10434430837631226, + 0.0, + 0.0, + 0.0005114078521728516 + ], + "episode_id": "2516", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2516/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2522.json b/annotation/test/2522.json new file mode 100644 index 0000000000000000000000000000000000000000..9ac8d7f9ade5f8ba0d546a2d099af572da5b377d --- /dev/null +++ b/annotation/test/2522.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put lid on stove" + ], + "videos": [ + { + "video_path": "videos/test/2522/rgb.mp4" + } + ], + "action": [ + [ + -0.0018123905948961134, + 0.0004974909601838174, + 0.005840083731878046, + 0.00012461229443928588, + -0.018337196054145122, + 0.0016041896070488155, + 1.0 + ], + [ + -0.00126022453217688, + 0.0021046395124078264, + 0.008546728788727974, + -0.029877215283514082, + -0.04671954000523001, + 0.05149729807336935, + 1.0 + ], + [ + 0.009253095699557156, + -0.016494775355957447, + 0.002476436875259832, + -7.128824638758094e-05, + 0.004841493223859669, + 0.03833118012624772, + 1.0 + ], + [ + 0.0051469286429341515, + -0.001889108426605274, + 0.004496027218923383, + 0.007543405853471714, + 0.00973648210652456, + 0.03841928802214147, + 1.0 + ], + [ + 0.004054862508163738, + -0.001662315014065, + 0.003147133911812673, + 0.003988286751058366, + 0.0007989719341632355, + 0.030257091788293503, + 1.0 + ], + [ + 0.003010994743411758, + -0.001433444273394918, + 0.0008475848181994218, + 0.0005248724538492503, + 0.009044359088796052, + 0.01746262704399631, + 1.0 + ], + [ + 0.0031631349915517953, + -0.0014773393084423193, + 0.0026572401080291646, + -0.005232387178415169, + 0.013077831465487083, + -0.004945444134630411, + 1.0 + ], + [ + 0.0017381351495505209, + 0.0012785135450228539, + -1.46815143285448e-05, + -0.008056636870427512, + 0.010965946883292303, + 0.0005440004450323347, + 1.0 + ], + [ + 0.0013709405035366236, + 0.00011663639145951767, + 0.0025142968353327718, + -0.00349870268085187, + 0.008482571523236938, + 0.0013320346759004972, + 1.0 + ], + [ + 0.0004174061965448461, + 0.000308131261152932, + 0.0021373866236031086, + 0.0009430029665273617, + 0.01234828530512301, + -0.0020120851506962713, + 1.0 + ], + [ + -0.0007082771537837515, + 0.0011150087148776588, + 0.002108508751528529, + -0.004134345025641784, + 0.005533936588522785, + -0.006467785524520376, + 1.0 + ], + [ + -0.0022738756042804892, + 0.0012310951347021106, + 0.002138990369010787, + -0.0041160772965165345, + -0.0007999857137041405, + -0.020892577672093262, + 1.0 + ], + [ + -0.002379834841384198, + 0.0005894917508378198, + 0.0011007266132368235, + 0.00024816362689034294, + 0.0030785841616865167, + -0.011941553817013154, + 0.0 + ], + [ + -0.0021752937001470853, + 0.00032920080113128477, + -0.0015589168476335502, + -0.0014548337552350717, + -0.009090977400233196, + -0.001621575828395631, + 0.0 + ], + [ + -0.008645691040099804, + -0.002548685562932636, + -0.003610887890001761, + 0.014946316904503331, + -0.07673619296990271, + -0.005169299568061498, + 0.0 + ], + [ + 0.00043698578743309034, + -0.00740008963524024, + -0.018147647520100472, + 0.03907977283104158, + -0.0204535676044848, + -0.010257243153074132, + 0.0 + ], + [ + 0.013868727819917825, + -0.012284990212357752, + -0.022356871180131067, + 0.08491549253481111, + 0.10718022256694407, + -0.024531147639402482, + 0.0 + ], + [ + 0.018806610960236482, + 0.0020384411296052824, + -0.0041060095957284135, + 0.040381036758143606, + 0.13845617070618096, + -0.03540297321729647, + 0.0 + ], + [ + 0.01778902604159191, + -0.001494204931175223, + 0.0006205902653736476, + 0.006257005802328791, + 0.12226512584161267, + -0.025757953745208347, + 0.0 + ], + [ + 0.01201321137730949, + -0.0022561729378388364, + 0.0016073782884168896, + 0.014971271581646805, + 0.08349069758313175, + 0.006982861767580704, + 0.0 + ], + [ + 0.006940493760790051, + 0.0015198423986641368, + 0.009773116752405664, + -0.009282807046735318, + 0.054217320177705676, + -0.001284827086838142, + 0.0 + ], + [ + 0.0009412350885256456, + -0.005663106049289074, + 0.017906534580868487, + -0.022494699666389208, + 0.039339436843116825, + -0.00806918810171764, + 0.0 + ], + [ + 0.004552846623966878, + 0.004325772887506922, + 0.011147181331481208, + -0.029192962603718984, + 0.022002995864233658, + 0.030001857324399167, + 0.0 + ] + ], + "state": [ + [ + 0.3339528441429138, + -0.0236373171210289, + 0.0576217956840992, + -3.054820330935069, + -0.07230708748102188, + -0.10439268499612808, + 1.0 + ], + [ + 0.33257725834846497, + -0.023482631891965866, + 0.0516449511051178, + -3.0546804537349423, + -0.0538998655974865, + -0.10440150648355483, + 1.0 + ], + [ + 0.3316505253314972, + -0.024747759103775024, + 0.04289253056049347, + -3.0820152704888066, + -0.002828169614076615, + -0.15158958733081818, + 1.0 + ], + [ + 0.3433103561401367, + -0.009723247028887272, + 0.04142879694700241, + -3.0820211750739297, + -0.005377220455557108, + -0.19014132022857666, + 1.0 + ], + [ + 0.348794549703598, + -0.008585813455283642, + 0.037080954760313034, + -3.0743108337097844, + -0.01280560251325369, + -0.2290738970041275, + 1.0 + ], + [ + 0.3532055914402008, + -0.007694018539041281, + 0.03410487249493599, + -3.069966109591075, + -0.011563004925847055, + -0.25931826233863836, + 1.0 + ], + [ + 0.35650619864463806, + -0.007027659565210342, + 0.03339691087603569, + -3.069241101043769, + -0.01933263801038265, + -0.2773861289024353, + 1.0 + ], + [ + 0.3600512444972992, + -0.006305268500000238, + 0.030915040522813797, + -3.074544983106204, + -0.03273359686136245, + -0.2733972668647766, + 1.0 + ], + [ + 0.361381471157074, + -0.008004157803952694, + 0.030900955200195312, + -3.0825557877593717, + -0.043638430535793304, + -0.2746759057044983, + 1.0 + ], + [ + 0.3628140985965729, + -0.008374710567295551, + 0.028446359559893608, + -3.085972512262412, + -0.052027557045221336, + -0.27650853991508484, + 1.0 + ], + [ + 0.36327117681503296, + -0.008700709789991379, + 0.02631976641714573, + -3.085094230371066, + -0.06446855515241623, + -0.27518340945243835, + 1.0 + ], + [ + 0.36245524883270264, + -0.00950336828827858, + 0.02411053329706192, + -3.0896256399625024, + -0.07035766541957857, + -0.2690232992172241, + 1.0 + ], + [ + 0.3601204454898834, + -0.010019699111580849, + 0.021756073459982872, + -3.0952263121777257, + -0.07062851637601852, + -0.24806511402130127, + 1.0 + ], + [ + 0.35776424407958984, + -0.009977739304304123, + 0.02046407200396061, + -3.0958151688152036, + -0.07425235211849213, + -0.23624658584594727, + 0.0 + ], + [ + 0.355450302362442, + -0.00983230397105217, + 0.021840669214725494, + -3.0974195582144937, + -0.06524495035409927, + -0.234206423163414, + 0.0 + ], + [ + 0.3473765254020691, + -0.005452286452054977, + 0.02498897910118103, + -3.082902493076869, + 0.011190357618033886, + -0.22567149996757507, + 0.0 + ], + [ + 0.3494195342063904, + 0.0005660397000610828, + 0.04353339225053787, + -3.043686205642768, + 0.031006332486867905, + -0.21422883868217468, + 0.0 + ], + [ + 0.36580970883369446, + 0.007275737822055817, + 0.06654283404350281, + -2.9577812274270734, + -0.07805948704481126, + -0.20037189126014712, + 0.0 + ], + [ + 0.38335564732551575, + 0.0009013782837428153, + 0.07166247814893723, + -2.9163578023486814, + -0.22063551843166349, + -0.19090187549591062, + 0.0 + ], + [ + 0.4007590413093567, + -0.0008373422897420824, + 0.0752909705042839, + -2.9078337122970304, + -0.3455487787723541, + -0.19336865842342374, + 0.0 + ], + [ + 0.4126908481121063, + -0.0005578824202530086, + 0.07838048785924911, + -2.8823823054605207, + -0.42501968145370483, + -0.22200630605220795, + 0.0 + ], + [ + 0.42304307222366333, + -0.0018326436402276158, + 0.07228125631809235, + -2.8854143341356, + -0.4777161478996277, + -0.23625147342681882, + 0.0 + ], + [ + 0.43330124020576477, + 0.005999437067657709, + 0.05860539525747299, + -2.9065599759393415, + -0.5178144574165344, + -0.23874397575855252, + 0.0 + ], + [ + 0.442462295293808, + 0.00211179256439209, + 0.05056414753198624, + -2.9161394258313855, + -0.5318895578384399, + -0.2785399258136749, + 0.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0005114078521728516, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0018453598022460938, + 0.0018453598022460938, + 0.1869402527809143, + 0.491834819316864, + 0.6865763664245605, + 0.7003851234912872, + 0.7003851234912872, + 0.7003851234912872, + 0.7003851234912872, + 0.7003851234912872, + 0.7003851234912872, + 0.7003851234912872, + 0.7003851234912872, + 0.7003851234912872, + 0.7003851234912872 + ], + "episode_id": "2522", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2522/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/256.json b/annotation/test/256.json new file mode 100644 index 0000000000000000000000000000000000000000..ec5c46b13d0f64e4fb529d3e3ffd71e99696678a --- /dev/null +++ b/annotation/test/256.json @@ -0,0 +1,375 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "end effector reaching pot or pan" + ], + "videos": [ + { + "video_path": "videos/test/256/rgb.mp4" + } + ], + "action": [ + [ + 0.00011902916827175543, + -0.00018471171448774254, + -1.470900057529621e-07, + 0.0011652330149323092, + 0.0007499156498709522, + 0.0006584236535567289, + 1.0 + ], + [ + -0.002840433093375829, + -0.002033891219571749, + 0.008806867409708803, + 0.01566733480696192, + -0.028338511716435484, + 0.0053144446534818465, + 1.0 + ], + [ + 0.01937423141044225, + -0.006752726037628684, + 0.007776687096744697, + 0.004411868071595543, + -0.01807592642295132, + 0.010870833675676206, + 1.0 + ], + [ + 0.014116455953346705, + -0.011357965776898153, + 0.0015409653000358365, + 0.001517168560917368, + 0.006834918038779341, + 0.010307109817320255, + 1.0 + ], + [ + 0.013688944004667039, + -0.011655437568989947, + 0.0031736091319824887, + 0.00041776112616512224, + 0.02594997443457716, + 0.02113441784198584, + 1.0 + ], + [ + 0.016133281881347456, + -0.008820627593497528, + -0.002987093200342975, + 0.00344719521058465, + 0.008598889949730367, + 0.024306655489542747, + 1.0 + ], + [ + 0.008383469011899163, + -0.005251249845504101, + -0.004441261644130181, + 0.008298376669609859, + 0.01745085683616602, + 0.011512282297851268, + 1.0 + ], + [ + 0.004850464395229626, + -0.005642919729313148, + 0.007601399720054604, + 0.01625640917041361, + 0.00039689440591100317, + 0.007111519680691449, + 1.0 + ], + [ + 0.006859922563611549, + -0.006402387807859311, + 0.00343662999436953, + -0.0071356088147984, + 0.03899172696782824, + 0.0032856730043340264, + 1.0 + ], + [ + -0.004107014291509223, + -0.007561500756092588, + 0.01310506420934527, + -0.0027255525870243545, + 0.011802363238460449, + -0.0012816359732806535, + 1.0 + ], + [ + -0.011140313264230593, + -0.002049662874896669, + 0.015431211488165232, + -0.001352041586094881, + -0.003526159526682394, + 0.0035776534013895415, + 1.0 + ], + [ + -0.010077205439053926, + 0.0003401329645942286, + 0.01469830533992751, + -0.008194831558933907, + 0.00930917536512743, + -0.01864550868934311, + 1.0 + ], + [ + -0.0023497712979697865, + 0.003593053646951776, + 0.0060849117910378656, + -0.025502178528246496, + 0.024865098850639946, + -0.028479128032068785, + 1.0 + ], + [ + 0.0004233705070647386, + 0.00029364353931537145, + -8.323295068483713e-07, + -0.0018587865262675684, + 0.0026648520707545993, + -0.0026360218490435352, + 1.0 + ], + [ + 0.0003370885524595055, + -0.00044061040985772054, + 2.2486574079697833e-05, + -0.0001310756660391876, + 0.0014672561644160152, + -0.0015075728948399203, + 1.0 + ], + [ + 4.569481553659137e-05, + -0.0001627890345883227, + -8.837956010860955e-08, + 0.0010268876574375488, + 0.0002869664599336716, + 0.0011029815670022258, + 1.0 + ], + [ + -0.0001485455274691077, + 0.000668981692589693, + -2.340148270137554e-05, + -0.0013118073467190598, + -0.00027684972098620386, + 0.00040456977415919673, + 1.0 + ], + [ + -0.0003300332785731843, + -0.0005923630577273621, + 0.0005106463011249498, + 0.0010378623277971745, + -0.0029805889098981735, + -0.0014356339185760964, + 1.0 + ] + ], + "state": [ + [ + 0.2703341543674469, + -0.13107973337173462, + 0.11115486919879913, + -3.1390347558823457, + -0.08857252448797226, + 0.07374591380357742, + 1.0 + ], + [ + 0.2704387307167053, + -0.13088679313659668, + 0.11116601526737213, + -3.1378108774130276, + -0.08932073414325714, + 0.07308293133974077, + 1.0 + ], + [ + 0.2682490348815918, + -0.12897439301013947, + 0.10214860737323761, + -3.121676718937703, + -0.06096111610531807, + 0.06786812841892242, + 1.0 + ], + [ + 0.2875388264656067, + -0.12074102461338043, + 0.09570247679948807, + -3.1166219004713973, + -0.04266892373561859, + 0.05735163018107414, + 1.0 + ], + [ + 0.30101972818374634, + -0.10855536162853241, + 0.09504887461662292, + -3.1146581826084336, + -0.04924202337861061, + 0.0468645989894867, + 1.0 + ], + [ + 0.3142677843570709, + -0.09618446230888367, + 0.09286757558584213, + -3.113160552578517, + -0.07460170239210129, + 0.024985149502754215, + 1.0 + ], + [ + 0.3298918604850769, + -0.0870591402053833, + 0.09729766845703125, + -3.107885694252797, + -0.082483671605587, + 0.0003609614504966885, + 1.0 + ], + [ + 0.3378646969795227, + -0.08195766806602478, + 0.10258840024471283, + -3.09858330165083, + -0.09953060001134872, + -0.011791289784014227, + 1.0 + ], + [ + 0.3434916138648987, + -0.07605907320976257, + 0.09575501084327698, + -3.08161677246029, + -0.0996188297867775, + -0.018948784098029137, + 1.0 + ], + [ + 0.35074424743652344, + -0.06959846615791321, + 0.09340567141771317, + -3.0881435257666787, + -0.13834188878536227, + -0.024616802111268044, + 1.0 + ], + [ + 0.3486291766166687, + -0.061293065547943115, + 0.08027809113264084, + -3.090955915051051, + -0.15019583702087402, + -0.023960204795002937, + 1.0 + ], + [ + 0.3399750590324402, + -0.05825677141547203, + 0.06347579509019852, + -3.0917944965236863, + -0.14649224281311035, + -0.027391524985432625, + 1.0 + ], + [ + 0.3321647644042969, + -0.05765070021152496, + 0.047465238720178604, + -3.1026787777715406, + -0.15669359266757965, + -0.00900815427303314, + 1.0 + ], + [ + 0.33078429102897644, + -0.060992006212472916, + 0.04095466434955597, + -3.132545576552399, + -0.18258774280548096, + 0.01893763430416584, + 1.0 + ], + [ + 0.33120644092559814, + -0.06127770245075226, + 0.04102974385023117, + -3.1348868572437247, + -0.18527570366859436, + 0.021594908088445663, + 1.0 + ], + [ + 0.3315317630767822, + -0.06082982197403908, + 0.04107264429330826, + -3.135298717888542, + -0.1867528259754181, + 0.023119108751416206, + 1.0 + ], + [ + 0.33157268166542053, + -0.0606660470366478, + 0.041082222014665604, + -3.1340630721584937, + -0.1870327293872833, + 0.02199473418295383, + 1.0 + ], + [ + 0.3314380645751953, + -0.061338309198617935, + 0.04107264429330826, + -3.135298717888542, + -0.18675282597541812, + 0.02158513851463795, + 1.0 + ], + [ + 0.33119508624076843, + -0.06074785068631172, + 0.04051327332854271, + -3.1345354901910802, + -0.1837811321020126, + 0.023064408451318744, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "256", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/256/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2567.json b/annotation/test/2567.json new file mode 100644 index 0000000000000000000000000000000000000000..b64401904d08c48c8a0f121f7987544191989725 --- /dev/null +++ b/annotation/test/2567.json @@ -0,0 +1,774 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Place the pot on the yellow towel." + ], + "videos": [ + { + "video_path": "videos/test/2567/rgb.mp4" + } + ], + "action": [ + [ + 0.0007229443166082887, + 5.524050353275654e-06, + -0.00030189949227713426, + -0.0001083176454782605, + 0.003063469288300281, + -7.777578119480589e-05, + 1.0 + ], + [ + -0.0031644199722599955, + 0.0006979707572247583, + 0.005165597574574508, + 0.004635635085455726, + -0.028534807503326716, + -0.028276102395155402, + 1.0 + ], + [ + 0.009712874160073205, + 0.011384790244622798, + 0.0011651101718584027, + 0.04294282033137186, + -0.01748697521732887, + -0.20689108658587524, + 1.0 + ], + [ + 0.014183183876630303, + 0.010803124974622758, + -0.0044316567446271975, + -0.00030722203043291634, + 0.03762888028324788, + -0.22837911764628338, + 1.0 + ], + [ + 0.01513593369656247, + 0.01794195846361044, + 0.003085376066544218, + 0.008616230131822757, + -0.0067928780756358, + -0.18346810140498251, + 1.0 + ], + [ + 0.012300466804899041, + 0.019057019928114465, + 0.00765032832800852, + -0.06795762711604175, + 0.017741793417617512, + -0.15681627074063756, + 1.0 + ], + [ + 0.00963449308696733, + 0.011086460829311112, + 0.008974617424485761, + -0.02258030967829836, + -0.007571224615220521, + -0.09582896436186233, + 1.0 + ], + [ + 0.008260478395501586, + 0.009124081028151576, + 0.010761571626534596, + 0.017545383317287718, + 0.013103908883559638, + -0.05114821772942997, + 1.0 + ], + [ + 0.0024300241921935565, + 0.008224746440029738, + 0.01488006087144823, + 0.041223746401121364, + -0.01998107254046744, + -0.013858441530425088, + 1.0 + ], + [ + -0.0035690957280021885, + 0.0021013116639935093, + 0.01653566790528536, + 0.028397048184140166, + -0.0028142312989399027, + 0.005939072332667555, + 1.0 + ], + [ + -0.0011954219764409683, + 0.004601631986512757, + 0.006776563021501474, + -0.02220171866981616, + -0.005699801565113682, + -0.00480228859749798, + 1.0 + ], + [ + -0.002357462684389844, + -0.0009269887218441523, + 0.011628595434257328, + 0.012311137786477988, + -0.014124516840402097, + 0.011693944948485926, + 1.0 + ], + [ + 0.0010892448789221563, + 0.0029216411568185343, + -0.0005594513589797053, + -0.01877643579086021, + 0.006757458051604797, + 0.001819262079957402, + 0.0 + ], + [ + 0.0007403755715631725, + 0.0005181281501757948, + 0.0011745668221188083, + -0.011942942338911453, + 0.002772000806158411, + 0.024467300516171294, + 0.0 + ], + [ + 0.0009383472971998887, + -0.0005360594607475943, + -0.006043141693644986, + -0.023580241733641785, + -0.0008576251249977157, + 0.02305451827522788, + 0.0 + ], + [ + 0.00041876775351921557, + -0.001672433117729413, + -0.011777475262999859, + -0.03229833329933379, + 0.02389327481331491, + 0.03199881132834333, + 0.0 + ], + [ + -0.000742857428006492, + -0.0017194202974768584, + -0.013061479678988715, + -0.02941707552017187, + 0.016357383872112056, + 0.04848301303074417, + 0.0 + ], + [ + -0.006865925477361708, + -0.004721824783547845, + -0.006530772345292766, + -0.009793940477241542, + -0.018445381456218216, + 0.07251114224925058, + 0.0 + ], + [ + -0.014034934143967037, + -0.00980349504204287, + -0.0121052701566304, + 0.015870101452575548, + -0.02473522634241823, + 0.1008443525935701, + 0.0 + ], + [ + -0.01787922713940257, + -0.007946422550497679, + -0.0008608327767545509, + 0.0073088025929289235, + -0.03729564508735014, + 0.1220375532923414, + 0.0 + ], + [ + -0.01576354571972334, + -0.005013734296608295, + 0.001642816334922631, + -0.00757963923130432, + -0.03715938464371099, + 0.08377229087300771, + 0.0 + ], + [ + -0.016378577814321713, + -0.0045836043869492415, + 0.0044986063814348165, + -0.00349461453704208, + -0.01818359809518038, + 0.07179744505758946, + 0.0 + ], + [ + -0.008473826110575004, + -0.003946903090593645, + -0.0002125014079384083, + -0.010357390243091947, + 0.010024987125756566, + 0.029044690557963177, + 0.0 + ], + [ + -0.010086894716266339, + -0.005610164963314032, + 0.006651765266528701, + 0.007203964284148538, + -0.020457628508064905, + 0.011648028901962709, + 0.0 + ], + [ + -0.0021868552306627156, + -0.0039959509099412125, + 0.0028086041826396097, + -0.00999447186925742, + 0.002250062343987673, + 0.006410057967548898, + 0.0 + ], + [ + 0.0029931467285096366, + -0.002718347651983478, + 0.0007945607461397546, + 0.00751232232772207, + 0.01745574912118347, + 0.004360014422998554, + 0.0 + ], + [ + 0.0006681321466822407, + -0.0017533439380961369, + 0.0029648284751113336, + 0.012400580721572204, + 0.0012162759351841057, + -0.010226310544203266, + 0.0 + ], + [ + 0.0010800762335443827, + -0.00046317371484131135, + 0.0005362815228482357, + 0.0072175690747772765, + -0.0014033900927227247, + 0.0025920735942270194, + 0.0 + ], + [ + -0.002114064980422194, + 0.0009221735739409465, + -0.0022429160999345573, + 0.01360985480987594, + -0.022264944301742303, + 0.029317711832399975, + 0.0 + ], + [ + 0.001185436950976832, + -0.0011125718448875663, + -0.008711379562539449, + -0.011408861490905567, + -0.008897257085574104, + 0.007537152047127371, + 1.0 + ], + [ + 1.7195900998313678e-05, + -0.001839525990636029, + -0.012154083395852831, + 0.018214820947292244, + -0.016561542647480665, + -0.034406657564118724, + 1.0 + ], + [ + 0.0033314424941195907, + 0.004606227708747717, + -0.017057986833014502, + 0.039618960518645184, + -0.04424944135313382, + -0.03823270644575174, + 1.0 + ], + [ + 0.006936997061689162, + 0.012990097590212574, + -0.010130073845697887, + 0.045365828849180403, + -0.012224287532752821, + -0.021458724815985635, + 1.0 + ], + [ + 0.01048864405618593, + 0.014947636123625018, + -0.009819045030839677, + 0.015982007804815415, + 0.037255552462014035, + -0.016621903220521643, + 1.0 + ], + [ + 0.013456041211864058, + 0.012575677990485602, + -0.0066208741892957775, + -0.021998348810878348, + 0.04454670361803988, + 0.01822004479630106, + 1.0 + ], + [ + 0.012601514989663958, + 0.02190543639182948, + -0.01061087078550699, + -0.050962309671929544, + 0.10796453856401969, + 0.15507092956201218, + 1.0 + ], + [ + 0.007781495551388502, + 0.010616877396618433, + 0.0015273216071182746, + -0.015415321866092953, + 0.028390870388129645, + 0.1087907891347619, + 1.0 + ], + [ + 0.00624987494422097, + 0.008914791084831786, + -0.0010428442054565884, + -0.012629695263800375, + 0.03156975340794863, + 0.10758088763949217, + 1.0 + ], + [ + 0.005561030217674307, + 0.008185605229469985, + -0.00044194073612997424, + -0.03398192219413873, + 0.044472777789637256, + 0.14792929648881864, + 1.0 + ] + ], + "state": [ + [ + 0.20953774452209473, + 0.11776124686002731, + 0.08207670599222183, + -3.0930472073429307, + -0.13676275312900543, + 0.49412316083908076, + 1.0 + ], + [ + 0.21014167368412018, + 0.11806367337703705, + 0.08247373253107071, + -3.0931455252044877, + -0.1398263871669769, + 0.49405148625373835, + 1.0 + ], + [ + 0.2082320600748062, + 0.11652744561433792, + 0.07689005136489868, + -3.0926659760349473, + -0.11263269931077957, + 0.5238540768623352, + 1.0 + ], + [ + 0.22241616249084473, + 0.11165504902601242, + 0.07627211511135101, + -3.0740445276075086, + -0.10278864204883574, + 0.732452929019928, + 1.0 + ], + [ + 0.24003206193447113, + 0.11259926855564117, + 0.0814003050327301, + -3.0992216562205037, + -0.1529947966337204, + 0.960239052772522, + 1.0 + ], + [ + 0.2635243237018585, + 0.1151331216096878, + 0.07990928739309311, + -3.1194643174582204, + -0.15134452283382419, + 1.1459764242172241, + 1.0 + ], + [ + 0.28624218702316284, + 0.11953790485858917, + 0.0737859234213829, + 3.0716656168275556, + -0.17067068815231323, + 1.3046562671661377, + 1.0 + ], + [ + 0.3003796339035034, + 0.12696459889411926, + 0.06736302375793457, + 3.0330789407067975, + -0.155656099319458, + 1.4008830785751343, + 1.0 + ], + [ + 0.31210261583328247, + 0.13476049900054932, + 0.059050898998975754, + 3.0425560494237622, + -0.16293159127235413, + 1.453848958015442, + 1.0 + ], + [ + 0.3222370147705078, + 0.1382697969675064, + 0.045636486262083054, + 3.081831047432967, + -0.1416667848825455, + 1.4657806158065796, + 1.0 + ], + [ + 0.32517725229263306, + 0.13673262298107147, + 0.02891600877046585, + 3.111098166676708, + -0.13920964300632477, + 1.4596245288848877, + 1.0 + ], + [ + 0.32992446422576904, + 0.13593760132789612, + 0.0221811905503273, + 3.088248586403676, + -0.13336457312107086, + 1.4642921686172485, + 1.0 + ], + [ + 0.3295370042324066, + 0.13518863916397095, + 0.010309792123734951, + 3.102223293977328, + -0.11987329274415971, + 1.4517730474472046, + 1.0 + ], + [ + 0.33253270387649536, + 0.1358383446931839, + 0.011109225451946259, + 3.0836330895596227, + -0.12669697403907773, + 1.4502086639404297, + 0.0 + ], + [ + 0.3332194685935974, + 0.13664036989212036, + 0.010069355368614197, + 3.0747993161254605, + -0.13084398210048676, + 1.4257339239120483, + 0.0 + ], + [ + 0.33231255412101746, + 0.13692273199558258, + 0.016134435310959816, + 3.054271476464816, + -0.13149188458919525, + 1.402472734451294, + 0.0 + ], + [ + 0.32947248220443726, + 0.13628549873828888, + 0.027676066383719444, + 3.0259420817070684, + -0.1580254435539246, + 1.3723136186599731, + 0.0 + ], + [ + 0.32577937841415405, + 0.13422922790050507, + 0.040175795555114746, + 3.0040324946218213, + -0.1796950548887253, + 1.3252930641174316, + 0.0 + ], + [ + 0.3184789717197418, + 0.12802155315876007, + 0.04467650502920151, + 3.008070634799548, + -0.17085658013820648, + 1.249843716621399, + 0.0 + ], + [ + 0.3027929961681366, + 0.11674564331769943, + 0.052826933562755585, + 3.0423596521192273, + -0.15882524847984314, + 1.1453005075454712, + 0.0 + ], + [ + 0.2882213592529297, + 0.1039547398686409, + 0.050067655742168427, + 3.070289546745368, + -0.1325241327285767, + 1.0191166400909424, + 0.0 + ], + [ + 0.276010662317276, + 0.09343187510967255, + 0.04600638151168823, + 3.0743603353672704, + -0.10092686861753464, + 0.9325174689292908, + 0.0 + ], + [ + 0.26315951347351074, + 0.08327766507863998, + 0.03958417847752571, + 3.0783953463011464, + -0.08733521401882173, + 0.8593904376029968, + 0.0 + ], + [ + 0.2546564042568207, + 0.07946667820215225, + 0.038808006793260574, + 3.0705452283197125, + -0.09913904219865799, + 0.830898642539978, + 0.0 + ], + [ + 0.24457429349422455, + 0.07602236419916153, + 0.03081093728542328, + 3.079038167493888, + -0.07955139130353928, + 0.8177887201309203, + 0.0 + ], + [ + 0.24046769738197327, + 0.07721598446369171, + 0.02759389579296112, + 3.0695436616712293, + -0.0821962058544159, + 0.8115106821060181, + 0.0 + ], + [ + 0.24065199494361877, + 0.08126560598611832, + 0.026854796335101128, + 3.0773004685812673, + -0.09992013126611711, + 0.8084036707878113, + 0.0 + ], + [ + 0.2401951253414154, + 0.08304484188556671, + 0.023865412920713425, + 3.088673422234603, + -0.10047158598899841, + 0.818739116191864, + 0.0 + ], + [ + 0.24065056443214417, + 0.0841672420501709, + 0.023416541516780853, + 3.096159519749232, + -0.09920690953731537, + 0.8160632848739624, + 0.0 + ], + [ + 0.23965133726596832, + 0.08190879970788956, + 0.025478417053818703, + 3.112788612144538, + -0.07825068384408951, + 0.7856785058975219, + 0.0 + ], + [ + 0.23904329538345337, + 0.08322852849960327, + 0.03422025963664055, + 3.1019899268918714, + -0.06957180798053741, + 0.7778696417808533, + 1.0 + ], + [ + 0.23683008551597595, + 0.08430395275354385, + 0.04626397415995598, + 3.1178747938298663, + -0.051621690392494195, + 0.8116335272789, + 1.0 + ], + [ + 0.24155758321285248, + 0.08318381756544113, + 0.06357543915510178, + -3.127616051706024, + -0.006442582700401545, + 0.8487690091133118, + 1.0 + ], + [ + 0.2559537887573242, + 0.07966361939907074, + 0.0735674574971199, + -3.0823917744034013, + 0.0054821306839585296, + 0.8703952431678772, + 1.0 + ], + [ + 0.27459827065467834, + 0.07772864401340485, + 0.08242727071046829, + -3.0662958343797406, + -0.03269211947917939, + 0.8847801685333252, + 1.0 + ], + [ + 0.29308903217315674, + 0.07973287254571915, + 0.08852017670869827, + -3.0875313488119325, + -0.075734443962574, + 0.8632173538208008, + 1.0 + ], + [ + 0.3178517818450928, + 0.07415030896663666, + 0.09885836392641068, + -3.126589766825088, + -0.17421455681324005, + 0.7009105086326599, + 1.0 + ], + [ + 0.33076363801956177, + 0.07118567824363708, + 0.09854626655578613, + -3.122812431427189, + -0.19992016255855558, + 0.5895200371742249, + 1.0 + ], + [ + 0.3406769335269928, + 0.06706951558589935, + 0.10064525157213211, + -3.1135337614738425, + -0.22827717661857605, + 0.4785248935222626, + 1.0 + ], + [ + 0.349216103553772, + 0.06226736679673195, + 0.10211032629013062, + -3.112949287640401, + -0.26599642634391785, + 0.32406696677207947, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.03792673349380493, + 0.3078004717826843, + 0.6098805367946625, + 0.8209985494613647, + 0.9085652902722359, + 0.9174014925956726, + 0.9174014925956726, + 0.9174014925956726, + 0.9174014925956726, + 0.9174014925956726, + 0.9174014925956726, + 0.9174014925956726, + 0.9174014925956726, + 0.9174014925956726, + 0.9174014925956726, + 0.9174014925956726, + 0.9174014925956726, + 0.886321172118187, + 0.7093958556652069, + 0.43697023391723633, + 0.14373880624771118, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0, + 0.0005114078521728516, + 0.0, + 0.0 + ], + "episode_id": "2567", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2567/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2568.json b/annotation/test/2568.json new file mode 100644 index 0000000000000000000000000000000000000000..cdb8b5bebc230b47d4d63d402ff8225c9687f667 --- /dev/null +++ b/annotation/test/2568.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put sweet potato in pot which is in sink distractors" + ], + "videos": [ + { + "video_path": "videos/test/2568/rgb.mp4" + } + ], + "action": [ + [ + -0.0017430987359295623, + 0.0009803348976531888, + 0.001499706290746857, + -0.00403765218168444, + -0.006506134776486329, + -0.0004290348082589167, + 1.0 + ], + [ + -0.002515827969459645, + 0.0037917207980572593, + 0.009879426275754017, + -0.03470849111832624, + -0.021425656241881638, + 0.005826447596184522, + 1.0 + ], + [ + 0.00969459081821242, + -0.0030285793184738766, + 0.006606210020682778, + -0.00940734825382116, + 0.030617611184597826, + 0.019340783038320666, + 1.0 + ], + [ + 0.0024209656076279794, + -0.0005282146902776365, + 0.0059718349184177556, + -0.006001054999853773, + 0.01252566674905246, + 0.009181129734410183, + 1.0 + ], + [ + 0.0044657448529652494, + -0.0012497049453198774, + 0.002763304875471539, + 0.003214067620799061, + 0.024905281753943156, + -0.0004837916477688963, + 1.0 + ], + [ + -0.0030633900513334653, + 0.0008782459296056635, + 0.0036885029876073784, + 0.007431390633977439, + 0.018734230746444116, + -0.00834534752086671, + 1.0 + ], + [ + -0.006275143469891154, + -0.001103102924857759, + 0.0030203216321063207, + 0.011775819848346166, + 0.0027748207077952537, + -0.0008955790276731896, + 1.0 + ], + [ + -0.0021162337874708823, + -0.0033233283030684965, + 0.00013658549059357102, + 0.0019093421082246153, + 0.010131460675042095, + -8.99251378442632e-06, + 1.0 + ], + [ + -0.0029855107427293015, + -0.0035791951301887355, + 0.0023328227020993552, + -0.003813188026707121, + 0.013876968436233728, + -0.006248474127408681, + 1.0 + ], + [ + -0.002164842852666497, + 0.001634210825538174, + 0.005103715614170314, + -0.005911453254987317, + 0.01705987879443654, + -0.00416975105200114, + 1.0 + ], + [ + -0.0007754094667087958, + 0.00037828464401106485, + 0.003451920939113978, + -0.0038022152828921523, + 0.019801071292387517, + -0.007959378265245976, + 1.0 + ], + [ + -0.001122505440186466, + 0.0021842675268836332, + 0.004624272483663807, + -0.00016461091590391473, + 0.0217587723431, + -0.019206543563848752, + 1.0 + ], + [ + 0.001833881174848213, + 0.001529146722063208, + 0.0014107554244124807, + 0.018733316663873265, + 0.019652599165410296, + -0.005455461506503679, + 1.0 + ], + [ + 0.0011431685226872042, + 0.00236933138418386, + -0.000473958764062062, + -0.001448761349114792, + -0.023999630103277325, + 0.006394419942154819, + 1.0 + ], + [ + 0.0020386456794230204, + 0.0025551017657538294, + -0.004112841786346161, + -0.02876097012147247, + -0.08159226189652515, + 0.029623873750034578, + 1.0 + ], + [ + 0.012815830819913767, + -0.005349624883012928, + -0.011904538582039582, + -0.007740402610751857, + -0.06237934525516275, + 0.035343640871496954, + 1.0 + ], + [ + 0.009772406415855629, + -0.0022070043517020362, + -0.008785120160695888, + 0.005979927111465019, + -0.02493212289204597, + 0.03555071598167019, + 1.0 + ], + [ + 0.01366188333289361, + 0.0022707271284165397, + -0.003315036421180085, + 0.03432770338605701, + 0.01363763152063985, + 0.035815574500949486, + 1.0 + ], + [ + 0.019804275349192324, + 0.002543775255708947, + -0.00021993785275175397, + 0.01903682430674527, + 0.042036878846434034, + 0.022099711757055697, + 1.0 + ], + [ + 0.016201740234972097, + 0.004974485929584361, + 0.003985150626022527, + -0.01061510619478238, + 0.016362797875597204, + 0.0052842459626690035, + 1.0 + ], + [ + 0.01595819704821622, + 0.00424022171234119, + 0.005006308473065381, + -0.010613828692939607, + 0.023635336286386546, + -0.0005092012696956909, + 1.0 + ], + [ + 0.01884033283227099, + 0.007153138549740099, + 0.013118609317494864, + -0.032757824556949075, + 0.022847654187020075, + -0.011463722257222739, + 1.0 + ], + [ + 0.012688536497366301, + 0.010783293252380678, + 0.01563520074160069, + -0.0371990960549094, + 0.015263559669567224, + -0.017694155907317054, + 1.0 + ] + ], + "state": [ + [ + 0.2508408725261688, + 0.12128987163305283, + 0.0527971088886261, + -3.067575732367583, + -0.224431574344635, + -0.08741617202758789, + 1.0 + ], + [ + 0.2494199573993683, + 0.12054432928562164, + 0.05088040977716446, + -3.071819046633788, + -0.2179748862981796, + -0.08648516982793808, + 1.0 + ], + [ + 0.2488858550786972, + 0.11748529970645905, + 0.040456078946590424, + -3.1055600327723702, + -0.19619311392307284, + -0.09088691323995589, + 1.0 + ], + [ + 0.25991198420524597, + 0.11975853145122528, + 0.03597765415906906, + -3.1108714827620467, + -0.2260524183511734, + -0.11184232681989668, + 1.0 + ], + [ + 0.2636618912220001, + 0.1200532466173172, + 0.03071892447769642, + -3.1146662031584462, + -0.2382796257734299, + -0.12168115377426149, + 1.0 + ], + [ + 0.2687693238258362, + 0.12076219171285629, + 0.02912141941487789, + -3.1113980562710246, + -0.263188898563385, + -0.12187481671571733, + 1.0 + ], + [ + 0.26669907569885254, + 0.12024354189634323, + 0.0247389767318964, + -3.1060685348981103, + -0.28215834498405457, + -0.113780215382576, + 1.0 + ], + [ + 0.2616725265979767, + 0.12203549593687057, + 0.02013036422431469, + -3.0945236665480813, + -0.28496313095092773, + -0.11295028775930406, + 1.0 + ], + [ + 0.26002389192581177, + 0.1255699098110199, + 0.01955457404255867, + -3.092474481212445, + -0.29508376121520996, + -0.11343912780284882, + 1.0 + ], + [ + 0.2582258880138397, + 0.1294880360364914, + 0.016625164076685905, + -3.097981037693568, + -0.3092460632324218, + -0.1076032817363739, + 1.0 + ], + [ + 0.25758859515190125, + 0.12813852727413177, + 0.011041456833481789, + -3.1049859059327325, + -0.32646963000297546, + -0.10399104654788971, + 1.0 + ], + [ + 0.2579367160797119, + 0.12784913182258606, + 0.007512267213314772, + -3.1112468504631003, + -0.34653982520103455, + -0.09630639106035233, + 1.0 + ], + [ + 0.2582744061946869, + 0.12576404213905334, + 0.0027213064022362232, + -3.11815923278267, + -0.3688087463378907, + -0.07643727958202363, + 1.0 + ], + [ + 0.2603856027126312, + 0.12410230189561844, + 0.0020334769506007433, + -3.101366842287131, + -0.3885789215564727, + -0.07104264944791792, + 1.0 + ], + [ + 0.2611285150051117, + 0.12165692448616028, + 0.0028166838455945253, + -3.100605262564965, + -0.36433559656143183, + -0.0768459141254425, + 1.0 + ], + [ + 0.26139602065086365, + 0.11890678852796555, + 0.007284936495125294, + -3.1195079182558736, + -0.28147092461585993, + -0.10407736152410507, + 1.0 + ], + [ + 0.2708485722541809, + 0.12303252518177032, + 0.0223915446549654, + -3.1175586750083646, + -0.21816277503967285, + -0.13878928124904635, + 1.0 + ], + [ + 0.27867966890335083, + 0.12395323812961578, + 0.03313283622264862, + -3.103882884728261, + -0.19224913418292996, + -0.17437507212162018, + 1.0 + ], + [ + 0.29086390137672424, + 0.11937585473060608, + 0.03891079127788544, + -3.062494071322032, + -0.2043985277414322, + -0.21144840121269226, + 1.0 + ], + [ + 0.3092845380306244, + 0.11281037330627441, + 0.04294849932193756, + -3.0381093343072614, + -0.24449069797992704, + -0.23755772411823273, + 1.0 + ], + [ + 0.3245489001274109, + 0.1044471263885498, + 0.04252580180764198, + -3.0469730292731008, + -0.26021406054496765, + -0.24474518001079557, + 1.0 + ], + [ + 0.3399461507797241, + 0.09673823416233063, + 0.04142839089035988, + -3.057097764807292, + -0.28379136323928833, + -0.24654313921928406, + 1.0 + ], + [ + 0.35972997546195984, + 0.0855511724948883, + 0.0335751511156559, + -3.0926264991336545, + -0.30751171708106995, + -0.23658426105976105, + 1.0 + ], + [ + 0.3738919496536255, + 0.07184496521949768, + 0.022028885781764984, + -3.1352303723157426, + -0.32357728481292725, + -0.21873411536216736, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.16005796194076538, + 0.23473185300827026, + 0.23473185300827026, + 0.23473185300827026, + 0.23473185300827026, + 0.23473185300827026, + 0.23473185300827026, + 0.23473185300827026, + 0.23473185300827026, + 0.23473185300827026, + 0.23473185300827026 + ], + "episode_id": "2568", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2568/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2572.json b/annotation/test/2572.json new file mode 100644 index 0000000000000000000000000000000000000000..06139966b455a8945502327daf02d602f6657a82 --- /dev/null +++ b/annotation/test/2572.json @@ -0,0 +1,432 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put corn in pan which is on stove distractors" + ], + "videos": [ + { + "video_path": "videos/test/2572/rgb.mp4" + } + ], + "action": [ + [ + -0.0008893741851466501, + -2.788881940328486e-05, + 0.0044694190830845216, + -0.004219910341080985, + -0.009830751131739136, + -0.0009925684280640155, + 1.0 + ], + [ + -0.004204304820200655, + 0.0010077457852825538, + 0.013927146589690062, + -0.019888892914966, + -0.022049880795503955, + -0.003949274889787301, + 1.0 + ], + [ + 0.0005452623360507907, + -0.0020607537645031208, + 0.00023649681580253292, + -0.006448447159272158, + 0.011497115617619949, + 0.012435326896251674, + 1.0 + ], + [ + 0.00015624536237287873, + -0.0017537915469374385, + 0.0034021609720270513, + 0.0020707041950648298, + 0.01182679844270644, + -0.00016174609134545685, + 1.0 + ], + [ + -0.0006146290546785051, + -0.0008084840600670527, + 0.005642484566305248, + 0.0003808901746539656, + 0.027529851003722884, + 0.0036277184307266872, + 1.0 + ], + [ + 0.002392528656185124, + -0.0007959282733034046, + 0.0036798097956992383, + -0.0066230181627687755, + 0.028862316961977587, + 0.009250771993472056, + 1.0 + ], + [ + -0.0016121860770731207, + -0.0030227052841549705, + 0.007073178457341842, + -0.02333750589670885, + 0.004587006939298342, + -0.0028345525840456974, + 1.0 + ], + [ + -0.0004558815800601564, + -0.0028311079979107586, + 0.008155488812664343, + -0.029116522963905427, + 0.016725508381280264, + -0.014057921692931028, + 1.0 + ], + [ + 0.0014672931197994498, + -0.0012548588761581976, + 0.000633618090596518, + -0.0057317480785539, + 0.01578897389094939, + -0.01200749486112537, + 0.0 + ], + [ + -0.0017510611257691073, + 0.0007729210009463656, + 0.0003625050731691434, + 0.013138711839879094, + -0.02166962781698228, + -0.009675452523855028, + 0.0 + ], + [ + -0.002597210476265637, + 0.006917923088761542, + -0.0038543180503607527, + 0.05304499515792542, + -0.06050309448140896, + 0.0030901946225531545, + 0.0 + ], + [ + 0.013514689864161118, + 0.005531482750751183, + -0.028802735019938703, + 0.07663641093383394, + 0.017223049213832064, + 0.029928661649912862, + 0.0 + ], + [ + 0.009595805199064436, + -0.0044369701550293515, + -0.015832488006508116, + 0.053946219280204245, + -0.026354298015231387, + 0.05504721304476238, + 0.0 + ], + [ + 0.01069426823194067, + -0.014151608857441355, + -0.01970169997805253, + 0.05897545926377454, + 0.0031998310556763635, + 0.055109801741768764, + 0.0 + ], + [ + 0.013431760038288103, + -0.01630399206561837, + -0.010291131188759057, + 0.013506638795517223, + 0.011577100382904701, + 0.07892699308640165, + 0.0 + ], + [ + 0.006859804329930615, + -0.01472391520803373, + 0.012712207714418259, + -0.05915990813572158, + 0.007789801566065804, + 0.06598243441522825, + 0.0 + ], + [ + -0.007658141097173342, + -0.02300353147068558, + 0.017551246298269797, + -0.04331769468371025, + 0.023946014323212788, + 0.00016242431352482832, + 0.0 + ], + [ + -0.005519929402931751, + -0.007664445200986169, + 0.0111157859147869, + -0.016057748497319557, + 0.010377197363021637, + 0.012739434464610455, + 0.0 + ], + [ + 0.001432502199364384, + -0.0017843022711546684, + 0.0035066188714083235, + 0.019059489498101573, + 0.017888336031364634, + 0.02144099397888609, + 0.0 + ], + [ + 0.00023194065132419844, + 0.001454270072705255, + 0.004959709924297143, + 0.008572785011246205, + 0.0037096460817478225, + 0.018288123437753306, + 1.0 + ], + [ + -0.0006675783079611205, + -0.00035540291388570956, + 0.0006262090543513257, + -0.000895087787991756, + -0.0011504924846848054, + -7.219305464166144e-05, + 1.0 + ] + ], + "state": [ + [ + 0.3647402822971344, + 0.07315591722726822, + 0.06123151630163193, + 3.102481076615401, + -0.11656319350004198, + -0.18153271079063418, + 1.0 + ], + [ + 0.3643559217453003, + 0.07307711988687515, + 0.056691303849220276, + 3.0981882383399686, + -0.10670112818479538, + -0.18092186748981476, + 1.0 + ], + [ + 0.36140692234039307, + 0.07197871804237366, + 0.0424521304666996, + 3.077969553070613, + -0.08450017869472504, + -0.1779232621192932, + 1.0 + ], + [ + 0.3623334765434265, + 0.07388639450073242, + 0.042132418602705, + 3.0725115706496915, + -0.0967588722705841, + -0.18965646624565125, + 1.0 + ], + [ + 0.36310526728630066, + 0.07528066635131836, + 0.038648851215839386, + 3.074482450383254, + -0.10854624956846237, + -0.18867298960685733, + 1.0 + ], + [ + 0.36319026350975037, + 0.07570045441389084, + 0.03293171897530556, + 3.0750318338447293, + -0.13625721633434296, + -0.19046182930469513, + 1.0 + ], + [ + 0.36611855030059814, + 0.07569541782140732, + 0.029566632583737373, + 3.0693895762139043, + -0.16566720604896545, + -0.19787022471427917, + 1.0 + ], + [ + 0.36622777581214905, + 0.0782279297709465, + 0.022127533331513405, + 3.0455232505970677, + -0.1700369417667389, + -0.19466596841812134, + 1.0 + ], + [ + 0.3675735890865326, + 0.08003754168748856, + 0.013781930319964886, + 3.0137197246127805, + -0.18531598150730133, + -0.17879869043827057, + 1.0 + ], + [ + 0.36934271454811096, + 0.08090047538280487, + 0.013277319259941578, + 3.0053672214322766, + -0.19942662119865417, + -0.16459563374519348, + 0.0 + ], + [ + 0.36756569147109985, + 0.0803694799542427, + 0.01268127840012312, + 3.017140032845088, + -0.1766393780708313, + -0.15784980356693268, + 0.0 + ], + [ + 0.3632241189479828, + 0.0745941773056984, + 0.016835259273648262, + 3.071835594373294, + -0.11697847396135329, + -0.16848915815353396, + 0.0 + ], + [ + 0.3725173771381378, + 0.06945248693227768, + 0.04733181744813919, + -3.131319695273884, + -0.13619704544544223, + -0.19740754365921023, + 0.0 + ], + [ + 0.3805640637874603, + 0.07220179587602615, + 0.06436490267515182, + -3.0699075256758412, + -0.1090741604566574, + -0.25248926877975464, + 0.0 + ], + [ + 0.3918532133102417, + 0.08240939676761627, + 0.0860709473490715, + -3.005000101523944, + -0.1081538498401642, + -0.30801138281822205, + 0.0 + ], + [ + 0.40777289867401123, + 0.0928240567445755, + 0.09986363351345062, + -2.9832691719108304, + -0.10854212939739227, + -0.38825100660324097, + 0.0 + ], + [ + 0.42137375473976135, + 0.1051354929804802, + 0.09043516218662262, + -3.0355494414740285, + -0.10559935122728348, + -0.45500826835632324, + 0.0 + ], + [ + 0.4268239438533783, + 0.13000233471393585, + 0.07469376921653748, + -3.078550377982207, + -0.12939324975013736, + -0.45772677659988403, + 0.0 + ], + [ + 0.42683157324790955, + 0.1393062323331833, + 0.0634593814611435, + -3.092868747311183, + -0.13893562555313108, + -0.4712240993976593, + 0.0 + ], + [ + 0.42940372228622437, + 0.1401875615119934, + 0.0602751262485981, + -3.0706895535164556, + -0.15572373569011688, + -0.49378061294555664, + 0.0 + ], + [ + 0.4297741949558258, + 0.13873977959156036, + 0.055321935564279556, + -3.059222327666827, + -0.1581016480922699, + -0.5125192403793335, + 1.0 + ], + [ + 0.4294802248477936, + 0.13937072455883026, + 0.054629404097795486, + -3.060143919783183, + -0.15696099400520322, + -0.512350559234619, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.21542131900787354, + 0.39909929037094116, + 0.39909929037094116, + 0.39909929037094116, + 0.39909929037094116, + 0.39909929037094116, + 0.39909929037094116, + 0.39909929037094116, + 0.39909929037094116, + 0.39909929037094116, + 0.39909929037094116, + 0.16832619905471802, + 0.0, + 0.0 + ], + "episode_id": "2572", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2572/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2577.json b/annotation/test/2577.json new file mode 100644 index 0000000000000000000000000000000000000000..b2f31d020eab52fb0dc61cf9bbb01b273e028632 --- /dev/null +++ b/annotation/test/2577.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "close microwave" + ], + "videos": [ + { + "video_path": "videos/test/2577/rgb.mp4" + } + ], + "action": [ + [ + 0.00041562046327590544, + 7.983016191017179e-05, + -0.00043980387521823047, + -0.0011065512212426725, + 0.002814804092225499, + -0.00028904891137678944, + 1.0 + ], + [ + -0.007761525826072355, + 0.0007589967545444644, + 0.00767057148904283, + 0.0030785932848643584, + -0.04200717140212174, + -0.0010509774819493706, + 1.0 + ], + [ + 0.0029811695879956783, + 0.008148843710160553, + -0.018078256892741004, + -0.03437911776349885, + -0.019891285887721193, + -0.004038123868092137, + 1.0 + ], + [ + -0.0001577836468132967, + 0.010699179180396801, + -0.037576764691902485, + -0.018889606352206753, + 0.06655078010132627, + 0.003337230357890462, + 1.0 + ], + [ + 0.0029572925721494414, + 0.013902441925571152, + -0.032846921316085, + -0.02793716343372935, + 0.04729257362095921, + -0.006368604500428778, + 1.0 + ], + [ + -0.008336934473557411, + 0.008801294753430161, + -0.028042471564253227, + 0.00020385075553357212, + 0.03389834649156467, + 0.0065981579387119895, + 1.0 + ], + [ + -0.003490014879295215, + 0.006200088174602275, + -0.03451097059406075, + -0.031022262768179796, + 0.03654285598981267, + -0.03286613423706617, + 1.0 + ], + [ + -0.008672884284219825, + 0.005597983372852712, + -0.021275308087053635, + -0.019795484220145442, + -0.019588548131058942, + 0.005730685527748218, + 1.0 + ], + [ + -0.008305007529662397, + 0.004219677796311972, + -0.015959900668973143, + -0.028821016777945272, + 0.0278884153803271, + 0.02350960017131765, + 1.0 + ], + [ + -0.021799557661436687, + 0.008309724842774764, + 0.010162546686268101, + -0.0012510385935905492, + -0.022040362731087292, + 0.026602835788024807, + 1.0 + ], + [ + -0.02071521596968525, + 0.009761550134098225, + 0.013216443123573457, + -0.028763270120265694, + -0.02256846038825192, + 0.020996944666472606, + 1.0 + ], + [ + -0.017883007034037723, + 0.014301932307990433, + 0.012039917767766917, + -0.02747259673547564, + -0.014649142729526136, + -0.008625825554410192, + 1.0 + ], + [ + -0.016345235909061617, + 0.010793827603556341, + 0.010315867355077907, + -0.00023930661722485757, + 0.019442691748343743, + 0.010596336384693443, + 1.0 + ], + [ + -0.004706443553247844, + 0.006509828657287271, + 0.014418085092508168, + 0.015354052377283281, + 0.0204209875907956, + -0.0032585411470108, + 1.0 + ], + [ + 0.0018538615528905227, + 0.005026608987242822, + 0.01906853237259645, + 0.023817324564590885, + 0.02927744679363693, + -0.0074654527153400286, + 1.0 + ], + [ + 0.007744314685664075, + -0.005180122025506665, + 0.022000118287977564, + 0.023521912047176453, + 0.0112566881086117, + -0.02213671671961004, + 1.0 + ], + [ + 0.01081610742397906, + -0.014588992765073118, + 0.012155846268814656, + -0.0022638879844643907, + 0.019126914657782303, + -0.029374961971352843, + 1.0 + ], + [ + 0.009063503897951105, + -0.016719028856719886, + 0.009456924499471652, + -0.0084190919595455, + 0.028847620983147804, + 0.0007730857099255724, + 1.0 + ], + [ + 0.008178031584539013, + -0.01577731293895485, + 0.009127894560121363, + -0.02362200711053278, + 0.03173094322174852, + 0.016366546968434516, + 1.0 + ], + [ + 0.021245883853570673, + -0.014956360393154424, + 0.00027653566931301024, + -0.09724571851231698, + 0.020611163575806526, + 0.038631857390996394, + 1.0 + ], + [ + 0.018268638765484773, + -0.0048342894470551935, + 0.00013391332135407892, + -0.05608570791172501, + 0.03595187103709556, + 0.0019089959213400487, + 1.0 + ], + [ + 0.01317478979953439, + 0.0002697809701424845, + 0.010708537331051387, + -0.008350425061268507, + 0.005814196201480554, + 0.005533072519640091, + 1.0 + ], + [ + 0.009812794734081531, + 0.00106349565063865, + 0.007978778765492184, + 0.00953270732755154, + 0.006691723346040944, + -0.020785657350543493, + 1.0 + ], + [ + 0.0012336529273480998, + 0.001423560750776911, + 0.0025280440543702927, + 0.0073033929575857725, + 0.01090071494005105, + -0.0020549937367217515, + 1.0 + ], + [ + 0.007435921416058831, + 0.004222899151088227, + -0.0004078729227687127, + -0.0034876908569924413, + 0.01632284704665199, + 0.0017132199917596468, + 1.0 + ], + [ + 0.0017440085611074379, + 0.00217738436537008, + -0.00015198473792120247, + -0.0063206585351188935, + 0.00438512168034871, + -0.008814635769810746, + 1.0 + ], + [ + 0.006142639666063013, + 0.003254808758309438, + -0.0001524558810824644, + -0.020004762893568572, + 0.03902636876140095, + 0.013427044773905049, + 1.0 + ], + [ + 0.0036859057088496957, + 0.003341559419667277, + 0.001814689621199136, + -0.03347392962087614, + 0.022774457473337582, + 0.025346982868512412, + 1.0 + ], + [ + 0.002846931822401469, + -0.00037149338206129273, + 0.0036750313397944556, + -0.01757007476354445, + 0.0011518506645954631, + 0.00500858792825434, + 1.0 + ], + [ + 0.005378475061449468, + 0.0011251678574595307, + 0.0008502984510404374, + 0.000987349620910502, + 0.013244128232884785, + 0.002922221094630691, + 1.0 + ], + [ + -9.362535270396132e-05, + -8.141028793242459e-05, + 0.0014742804984689763, + 0.007779564232274704, + -0.000247722291753127, + -0.006713292059976086, + 1.0 + ], + [ + 0.00040361737733971313, + -0.00037583492006999184, + 2.1121950844338314e-05, + 0.004865111317706529, + 0.0032086377280351143, + 0.011268465329588464, + 1.0 + ], + [ + -0.02106881781232652, + -0.009920638547002291, + -0.0038269514507503957, + 0.024851789350437508, + -0.06240234788093742, + 0.018930383068543964, + 1.0 + ], + [ + -0.017538794690447557, + -0.009667504821271765, + -0.015004110393931236, + 0.05459913618345328, + -0.07555686500009996, + -0.0014023808602663017, + 1.0 + ], + [ + -0.013181652698868859, + -0.009880211646756596, + -0.003162945394530223, + 0.11046308500705622, + -0.08747056140667886, + -0.028683973926075922, + 1.0 + ], + [ + 9.955790182012172e-05, + 0.0003240990489593592, + -0.0002578662809223728, + 0.00295674699362891, + -2.5721741502544075e-05, + 0.00038437932272034916, + 1.0 + ], + [ + -0.0004969275919445037, + -0.000266114840800339, + 0.00019987119782074024, + 0.001178963426551287, + -0.0011331305822128036, + 0.0014248340184692175, + 1.0 + ], + [ + -5.255624816960565e-05, + 0.00011732371247546297, + -5.165169104851499e-08, + -0.0007394258329241182, + -0.0003324382267607677, + -0.0013021302623958994, + 1.0 + ] + ], + "state": [ + [ + 0.2796493172645569, + 0.0946645513176918, + -0.0036356323398649693, + -2.964775340753146, + -0.06902382522821425, + 0.49128046631813055, + 1.0 + ], + [ + 0.2800630033016205, + 0.09470902383327484, + -0.00318906013853848, + -2.9658666272931775, + -0.07184558361768723, + 0.49106934666633606, + 1.0 + ], + [ + 0.2734428346157074, + 0.09184204787015915, + -0.011411519721150398, + -2.96323952277238, + -0.030666908249258995, + 0.4994489252567291, + 1.0 + ], + [ + 0.280995637178421, + 0.0831737071275711, + 0.005018009804189205, + -2.9978181292587003, + -0.011806719936430454, + 0.5069514513015747, + 1.0 + ], + [ + 0.28824469447135925, + 0.06892886012792587, + 0.04066974297165871, + -3.016246335702487, + -0.07719074189662933, + 0.4940889775753022, + 1.0 + ], + [ + 0.2972346544265747, + 0.05343986302614212, + 0.07165708392858505, + -3.044073687987872, + -0.12490818649530411, + 0.49449342489242554, + 1.0 + ], + [ + 0.29243993759155273, + 0.037801168859004974, + 0.09745997935533524, + -3.0425734390788755, + -0.15799686312675476, + 0.4845060110092163, + 1.0 + ], + [ + 0.2891566753387451, + 0.025245433673262596, + 0.1302197426557541, + -3.0782389884167394, + -0.19754144549369812, + 0.5141525268554688, + 1.0 + ], + [ + 0.2815941870212555, + 0.013010668568313122, + 0.14898978173732758, + -3.0971298684650144, + -0.17762738466262817, + 0.509602963924408, + 1.0 + ], + [ + 0.27443066239356995, + 0.0033656766172498465, + 0.1630309820175171, + -3.121485812711068, + -0.20438824594020844, + 0.4843604266643524, + 1.0 + ], + [ + 0.2611686885356903, + -0.012769347988069057, + 0.14849376678466797, + -3.117342023300477, + -0.1817469745874405, + 0.45777469873428345, + 1.0 + ], + [ + 0.24924428761005402, + -0.029165783897042274, + 0.1315217912197113, + 3.1408229902787177, + -0.15863780677318573, + 0.4370766580104828, + 1.0 + ], + [ + 0.24102528393268585, + -0.0488019622862339, + 0.11681888997554779, + 3.111975260200449, + -0.14397610723972318, + 0.44578033685684204, + 1.0 + ], + [ + 0.23250705003738403, + -0.06516873091459274, + 0.10458536446094513, + 3.11318836373324, + -0.16371676325798035, + 0.43563067913055425, + 1.0 + ], + [ + 0.2333182394504547, + -0.0724203810095787, + 0.08978113532066345, + 3.127900536293634, + -0.1840357482433319, + 0.43953305482864385, + 1.0 + ], + [ + 0.24036350846290588, + -0.07495017349720001, + 0.07144328206777573, + -3.132945639202841, + -0.21320244669914243, + 0.44757756590843206, + 1.0 + ], + [ + 0.24905060231685638, + -0.06482282280921936, + 0.051624491810798645, + -3.114208210381218, + -0.22459740936756134, + 0.47018253803253174, + 1.0 + ], + [ + 0.25402626395225525, + -0.04556218534708023, + 0.04257672280073166, + -3.1230975353443107, + -0.2444259226322174, + 0.4999007880687713, + 1.0 + ], + [ + 0.25559020042419434, + -0.025461779907345772, + 0.03589583560824394, + -3.131180561269172, + -0.2732540965080261, + 0.4985443949699402, + 1.0 + ], + [ + 0.2570418119430542, + -0.006600379478186369, + 0.02947223372757435, + 3.133109721476682, + -0.3047735095024109, + 0.48105031251907354, + 1.0 + ], + [ + 0.2681966722011566, + 0.016089675948023796, + 0.03546283021569252, + 3.0480448846989354, + -0.32547745108604426, + 0.4404714703559875, + 1.0 + ], + [ + 0.2819763422012329, + 0.02789202705025673, + 0.04075023531913757, + 2.991399811702319, + -0.3614500164985657, + 0.4420303702354431, + 1.0 + ], + [ + 0.29728636145591736, + 0.033069901168346405, + 0.03554316610097885, + 2.98479217489297, + -0.3680226504802704, + 0.43709948658943176, + 1.0 + ], + [ + 0.3090680241584778, + 0.03604007884860039, + 0.031875286251306534, + 2.9860288371616086, + -0.3712968230247497, + 0.4602528214454651, + 1.0 + ], + [ + 0.3116368055343628, + 0.035306692123413086, + 0.03020108863711357, + 2.9918699284368238, + -0.3817448019981384, + 0.4642602503299713, + 1.0 + ], + [ + 0.31930533051490784, + 0.034544914960861206, + 0.033930107951164246, + 2.9880627264552793, + -0.3981404602527618, + 0.4650639593601227, + 1.0 + ], + [ + 0.321529358625412, + 0.0332794114947319, + 0.035051655024290085, + 2.977796586351939, + -0.4011074900627136, + 0.4752542972564698, + 1.0 + ], + [ + 0.32777923345565796, + 0.032912034541368484, + 0.03807707130908966, + 2.960641460614749, + -0.44179049134254456, + 0.4676494300365448, + 1.0 + ], + [ + 0.3328342139720917, + 0.031416621059179306, + 0.03858296573162079, + 2.9371439089351377, + -0.46865037083625793, + 0.4443047344684601, + 1.0 + ], + [ + 0.3367902636528015, + 0.032876405864953995, + 0.03659108653664589, + 2.9219430108838758, + -0.4707895815372467, + 0.4390642046928406, + 1.0 + ], + [ + 0.3419145941734314, + 0.03386509418487549, + 0.038509611040353775, + 2.9228934069448194, + -0.4843522012233734, + 0.4391025006771087, + 1.0 + ], + [ + 0.34255579113960266, + 0.0339006707072258, + 0.03717675805091858, + 2.927260922389575, + -0.48264276981353754, + 0.44644033908843994, + 1.0 + ], + [ + 0.342763751745224, + 0.03440237417817116, + 0.03727499768137932, + 2.9375639130645474, + -0.4881466627120971, + 0.4347464144229889, + 1.0 + ], + [ + 0.3207293152809143, + 0.03573625162243843, + 0.028928495943546295, + 2.978209676342555, + -0.43062424659729004, + 0.4004755020141602, + 1.0 + ], + [ + 0.2962961494922638, + 0.038400955498218536, + 0.03363094851374626, + 3.037214035289832, + -0.3558208644390106, + 0.38884854316711426, + 1.0 + ], + [ + 0.28033003211021423, + 0.0428348183631897, + 0.03102274425327778, + 3.140293766167485, + -0.2657715380191803, + 0.4088656604290008, + 1.0 + ], + [ + 0.2804846465587616, + 0.04254896193742752, + 0.031298112124204636, + -3.13983015332418, + -0.2657462954521179, + 0.40846726298332214, + 1.0 + ], + [ + 0.27998682856559753, + 0.0426238551735878, + 0.030975202098488808, + -3.1382640373245856, + -0.26461037993431097, + 0.4069931209087372, + 1.0 + ], + [ + 0.27998676896095276, + 0.04249607026576996, + 0.030961129814386368, + -3.1393565629893025, + -0.2642820477485657, + 0.40834322571754456, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2577", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2577/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2582.json b/annotation/test/2582.json new file mode 100644 index 0000000000000000000000000000000000000000..9d459fcab6098db86c88deeb1d0ddf0a1c6595ec --- /dev/null +++ b/annotation/test/2582.json @@ -0,0 +1,603 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "open oven" + ], + "videos": [ + { + "video_path": "videos/test/2582/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 6.004844233892783e-18, + 3.074891494687242e-18, + -6.748998784781099e-19, + 1.0 + ], + [ + -0.0010524335936226649, + 0.0010945325385029378, + 0.002497052709074545, + -0.00997293515332299, + -0.008201092208388357, + -0.021257158189044237, + 1.0 + ], + [ + 0.013170087028715251, + -0.014512621662773548, + 0.010259784979754036, + -0.07977597967312743, + 0.006548495377394778, + -0.25993052117056475, + 1.0 + ], + [ + 0.02503948886271169, + -0.009503341257996232, + 0.005597072592106293, + -0.0922523855830659, + -0.019656761724581844, + -0.22479964949911455, + 1.0 + ], + [ + 0.024768483497961118, + -0.0025849373527195778, + 0.011865511548784145, + -0.0895610644668198, + 0.002668699667472194, + -0.1749949896393169, + 1.0 + ], + [ + 0.014988385168499267, + 0.007258858548107408, + 0.00985483768848609, + -0.08745433561275563, + 0.006310166126881275, + -0.05957969210923264, + 1.0 + ], + [ + 0.008649240857406237, + 0.010473090883025208, + 0.006883431842088654, + -0.08899631541065846, + 0.01543540102124844, + -0.0015626023871264075, + 1.0 + ], + [ + 0.0019262631666762031, + 0.01116941381496726, + 0.0035181019662935006, + -0.08287449418264767, + -0.008452129907505573, + -0.022050352043896687, + 1.0 + ], + [ + 0.0022201901775486393, + 0.010938076254411417, + 0.00565930011808855, + -0.04163502454105195, + 0.017964189610294775, + -0.012025904810151007, + 1.0 + ], + [ + 0.0011983264758711264, + 0.008482611598865536, + 0.012164971383125184, + -0.021823139954903495, + 0.011047708404507568, + -0.02152049727582113, + 1.0 + ], + [ + 0.000396314485236261, + 0.0059231853178461705, + 0.008355378764654614, + -0.021539084076059454, + 0.00516914626956021, + -0.03622637501348722, + 1.0 + ], + [ + -0.0023943995904721475, + 0.0035412834057680256, + 0.006463786526966692, + -0.0042942774275075025, + 0.006283143667121496, + -0.01817233578393347, + 1.0 + ], + [ + -0.0006293718618570945, + -0.0037710853874702915, + 0.0006953460843677149, + 0.03498122838351131, + 0.0025310608994265032, + 0.016910998718634326, + 1.0 + ], + [ + -0.011376375305485064, + -0.014410550476352387, + -0.0063013425786141875, + 0.08919195209614524, + -0.03293393181381026, + -0.012166243235946238, + 1.0 + ], + [ + -0.012246096422565368, + -0.015759604814964336, + -0.005167615610667517, + 0.054118977056747036, + -0.008826667212829353, + 0.0566448778018109, + 1.0 + ], + [ + -0.018041671407675104, + -0.01749548986452467, + -0.008851082774612464, + 0.055954895406046305, + -0.04471751694219538, + 0.07883574019835317, + 1.0 + ], + [ + -0.03174604606625784, + -0.027494568563021706, + -0.02466414506935483, + 0.13388286550554143, + -0.08296182829665111, + 0.09596579877000065, + 1.0 + ], + [ + -0.001588503404462584, + -0.002280700917795303, + -0.03146424632030188, + 0.07880887772262737, + 0.018765758931180085, + 0.02560379716082541, + 1.0 + ], + [ + 0.010116708612230846, + 0.004386034851933037, + -0.024557981581083868, + 0.0028772583163968416, + 0.039166973387462035, + -0.020497080089874085, + 1.0 + ], + [ + 0.014078850652522214, + 0.010570359658382603, + -0.007042758410232743, + -0.005312635482393631, + 0.03596343090649079, + -0.040498837209631725, + 1.0 + ], + [ + 0.01642006891684927, + 0.010634752534896399, + 0.017854835776540547, + 0.03472200001411381, + 0.06755493284806909, + -0.0422728662126096, + 1.0 + ], + [ + 0.008828622566472736, + 0.005459309974694025, + 0.03433184715793132, + 0.05578549834263327, + 0.01685785710763906, + -0.015702153583318116, + 1.0 + ], + [ + -0.00010441176799978908, + 0.003393210657761239, + 0.028321050937532358, + 0.03425507234543175, + -0.0062955501891820646, + -0.006974313479446781, + 1.0 + ], + [ + -0.021073637287025906, + -0.010230948624768485, + 0.008167897245954169, + -0.03357769498780173, + -0.050170691856280404, + -0.0031124611946947147, + 1.0 + ], + [ + -0.026747109205535628, + -0.004660100736535638, + 0.0015662193653237797, + -0.0031552214213272606, + -0.06792357934514388, + 0.03994278435241014, + 1.0 + ], + [ + -0.025709957415901596, + 0.009358991558680432, + -0.0015085321764704408, + -0.01780828751523845, + -0.0019525093594079937, + 0.02378787681588521, + 1.0 + ], + [ + -0.020117755247865413, + 0.011090948798007285, + 0.003204252524621739, + -0.012562425053101182, + -0.09249477946232965, + -0.07359649614345815, + 1.0 + ], + [ + -0.015191236131297532, + 0.008389380301596373, + 0.0029848514862632724, + -0.024741962194978758, + -0.03691988542211553, + -0.04105753043618733, + 1.0 + ], + [ + -0.007624239877662928, + 0.00017086859920757794, + -0.003872423415668048, + 0.027792211361382487, + -0.06361068335547077, + 0.06771430885726352, + 1.0 + ], + [ + 5.323592004598784e-05, + 0.00015163712624686836, + 6.493150563530296e-05, + 0.0008755671689992095, + -0.001259546879942392, + 0.006135401377742432, + 1.0 + ] + ], + "state": [ + [ + 0.16467908024787903, + 0.03238081559538841, + 0.04002971947193146, + -3.034097859757491, + 0.01947170682251453, + 0.2951371371746063, + 1.0 + ], + [ + 0.16467908024787903, + 0.03238081559538841, + 0.04002971947193146, + -3.034097859757491, + 0.01947170682251453, + 0.2951371371746063, + 1.0 + ], + [ + 0.16386251151561737, + 0.0312751829624176, + 0.0374506339430809, + -3.0436645840578755, + 0.025340298190712932, + 0.3171580135822296, + 1.0 + ], + [ + 0.1713429093360901, + 0.0499875508248806, + 0.028328051790595055, + -3.1202246603840074, + -0.0071491380222141725, + 0.5751534104347229, + 1.0 + ], + [ + 0.18715223670005798, + 0.07170160859823227, + 0.023114455863833427, + 3.068576680617877, + 0.007920980453491213, + 0.8002946972846985, + 1.0 + ], + [ + 0.20310771465301514, + 0.09059833735227585, + 0.010896174237132072, + 2.981506275134631, + 0.01783991977572441, + 0.975043773651123, + 1.0 + ], + [ + 0.218662828207016, + 0.09797350317239761, + 0.0020584191661328077, + 2.8954043706231793, + 0.021069969981908798, + 1.034880518913269, + 1.0 + ], + [ + 0.23320966958999634, + 0.09929056465625763, + -0.0022463907953351736, + 2.806492807465144, + 0.006480528973042965, + 1.0401575565338135, + 1.0 + ], + [ + 0.2442811280488968, + 0.09503008425235748, + -0.0019080854253843427, + 2.7237795313173017, + 0.02171267755329609, + 1.0582046508789062, + 1.0 + ], + [ + 0.2560754120349884, + 0.09092138707637787, + -0.0026903303805738688, + 2.682543935375758, + 0.01016955263912678, + 1.0764847993850708, + 1.0 + ], + [ + 0.26804858446121216, + 0.08574721962213516, + -0.009849125519394875, + 2.661081167059489, + 0.00979710929095745, + 1.1006733179092407, + 1.0 + ], + [ + 0.27633312344551086, + 0.08193086087703705, + -0.014524097554385662, + 2.6401837189965924, + 0.021948941051959988, + 1.1351944208145142, + 1.0 + ], + [ + 0.2809184491634369, + 0.07706036418676376, + -0.01843656785786152, + 2.6363932212167462, + 0.02516940049827099, + 1.1541558504104614, + 1.0 + ], + [ + 0.2779290974140167, + 0.07762829214334488, + -0.020853577181696892, + 2.671081991987773, + 0.014767819084227087, + 1.1405812501907349, + 1.0 + ], + [ + 0.2589087188243866, + 0.0738258957862854, + -0.021601760759949684, + 2.759941728907176, + 0.049637019634246826, + 1.1364866495132446, + 1.0 + ], + [ + 0.23872579634189606, + 0.06964621692895889, + -0.02206673100590706, + 2.8118989785485944, + 0.036665257066488266, + 1.0805933475494385, + 1.0 + ], + [ + 0.2131521999835968, + 0.06296998262405396, + -0.018697042018175125, + 2.865603895979472, + 0.0533442422747612, + 0.9914379715919496, + 1.0 + ], + [ + 0.1685090810060501, + 0.05532965436577797, + -0.0007889403495937586, + 2.9942357410960874, + 0.10672727972269058, + 0.8760708570480347, + 1.0 + ], + [ + 0.16431543231010437, + 0.061037492007017136, + 0.029993483796715736, + 3.070643486576625, + 0.08437871932983397, + 0.8534243702888489, + 1.0 + ], + [ + 0.1743018925189972, + 0.06847742944955826, + 0.05385972559452057, + 3.075444521503993, + 0.04674048349261284, + 0.8766560554504395, + 1.0 + ], + [ + 0.19127842783927917, + 0.07311460375785828, + 0.06091953068971634, + 3.0721483920984944, + 0.013489101082086563, + 0.9194227457046509, + 1.0 + ], + [ + 0.21051521599292755, + 0.07880513370037079, + 0.04362572729587555, + 3.1074205843084535, + -0.050985496491193764, + 0.9662469029426575, + 1.0 + ], + [ + 0.22196945548057556, + 0.08372249454259872, + 0.00999472476541996, + -3.1208105218880853, + -0.0672903060913086, + 0.98255056142807, + 1.0 + ], + [ + 0.22530339658260345, + 0.08366772532463074, + -0.01833350397646427, + -3.087034097062894, + -0.061139345169067376, + 0.9896673560142517, + 1.0 + ], + [ + 0.20510007441043854, + 0.07232702523469925, + -0.027204768732190132, + -3.12090113771195, + -0.01121204998344183, + 0.9955064058303833, + 1.0 + ], + [ + 0.18662109971046448, + 0.05245305597782135, + -0.028974026441574097, + -3.1235913467877587, + 0.05753150209784508, + 0.9570059180259705, + 1.0 + ], + [ + 0.17955346405506134, + 0.02612840197980404, + -0.026158103719353676, + 3.140412749844142, + 0.05989560112357139, + 0.9332144260406494, + 1.0 + ], + [ + 0.1764010787010193, + 0.0032343463972210884, + -0.028139300644397736, + 3.132294926913925, + 0.15231432020664212, + 1.0072450637817383, + 1.0 + ], + [ + 0.17525963485240936, + -0.014328084886074066, + -0.028707463294267654, + 3.1138423831486186, + 0.1894863098859787, + 1.0486712455749512, + 1.0 + ], + [ + 0.1719442903995514, + -0.020217059180140495, + -0.023465100675821304, + 3.128152122842618, + 0.2507272958755493, + 0.9771110415458678, + 1.0 + ], + [ + 0.1720908135175705, + -0.020272554829716682, + -0.023539230227470398, + 3.1274518958577, + 0.2518994212150574, + 0.9707587957382202, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2582", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2582/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2584.json b/annotation/test/2584.json new file mode 100644 index 0000000000000000000000000000000000000000..0e5dd38cf99c6754ca652b5a9e049b0af6fe5a8d --- /dev/null +++ b/annotation/test/2584.json @@ -0,0 +1,432 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "close small4fbox flaps" + ], + "videos": [ + { + "video_path": "videos/test/2584/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 8.48591761101986e-09, + -1.9172488486511045e-10, + 0.0015339792389593677, + 1.0 + ], + [ + -0.0063763231858196484, + 0.004810652846664228, + 0.012763139368736567, + -0.05311272058062919, + -0.04136299837996966, + -0.015936348452898173, + 1.0 + ], + [ + -0.005824881693982718, + -0.01770009846613837, + 0.011127155338476016, + -0.06999267665049094, + -0.03380014398608338, + -0.046230060875617394, + 1.0 + ], + [ + -0.010086547614946071, + -0.013509602016017959, + 0.007159647815497289, + -0.005250559466861242, + -0.006410303827960859, + -0.011203744161919918, + 1.0 + ], + [ + 0.00514592883544729, + -0.012835775441454034, + -0.002887127331587519, + 0.026553392838852788, + 0.006982133098419322, + 0.017811153368668852, + 1.0 + ], + [ + 0.011474199835922102, + -0.014354746369113354, + 0.006499925866432706, + -0.011874289863898938, + 0.010207873211475232, + 0.0257531062396877, + 1.0 + ], + [ + 0.021482980565586292, + -0.008688954517969099, + 0.005238931113780209, + -0.0032892562009699867, + 0.012430417574697143, + -0.0074628423237148335, + 1.0 + ], + [ + 0.015685095299931298, + -0.00017309374170186578, + 0.012616838437978634, + -0.016046482529319887, + 0.020151048055326748, + 0.004071283728534622, + 1.0 + ], + [ + 0.0022314418378293617, + 2.8749411256967702e-05, + 0.004909610180481947, + -0.02496034516828995, + -0.0012009943486863371, + -0.013127658768668138, + 1.0 + ], + [ + -0.005122018119579453, + 0.005622008056916254, + 0.0068540739574024295, + -0.023373235287877454, + -0.0024665361164438256, + -0.017181900724735823, + 1.0 + ], + [ + -0.008679480981662742, + 0.006940907498600712, + 0.010677047662012102, + -0.024714153850388366, + -0.00492603965192237, + -0.02990846062076003, + 1.0 + ], + [ + -0.0016588031631080114, + 0.005053584857564602, + -2.40901980614451e-05, + -0.029199747383026883, + -0.013410963764829854, + -0.01349305653854757, + 1.0 + ], + [ + 0.000492548230954003, + 0.011310211220716978, + -0.014347531469345743, + -0.01804641978339907, + -0.003504174341306864, + -0.01088071435947568, + 1.0 + ], + [ + 0.0042189138093244125, + 0.032274037875615814, + -0.015053517125512925, + -0.015269592370395215, + 0.011833515449879725, + 0.04930369589561783, + 1.0 + ], + [ + 0.0060953666598348565, + 0.016798441740430135, + 0.004391299645607984, + -0.046422886627356406, + 0.0003333088529744326, + 0.013219939157528516, + 1.0 + ], + [ + 0.0026130966208359903, + 0.007256582378874778, + 0.0036369256270070995, + -0.02152867850987085, + 0.009143958999680624, + -0.00624188837561462, + 1.0 + ], + [ + 0.005921662908898547, + 0.01201928572227322, + 0.0034839633637410838, + -0.03330188061244556, + 0.010982021917827767, + 0.004032946573065964, + 1.0 + ], + [ + -0.00477931760743097, + 0.008506353485112014, + 0.014314065478518266, + -0.00822056221443391, + -0.0001643835540475438, + -0.0034851133846302493, + 1.0 + ], + [ + 0.000733018093315588, + 0.0033377088816664443, + 0.004708549132442843, + -0.011752752649651657, + 0.022608672934169037, + -0.0180642427984562, + 1.0 + ], + [ + -0.0006490200446210957, + 0.0009579568004274957, + 0.005227380492323565, + 0.0004515187477708791, + 0.023514937683359133, + 0.01531008245459258, + 1.0 + ], + [ + 0.0009292436495431225, + -0.003269195775541568, + 0.0030645558230849757, + 0.008667251276850666, + 0.014551687831756316, + 0.0288093721530063, + 1.0 + ] + ], + "state": [ + [ + 0.23976142704486847, + 0.2163197547197342, + 0.0950569435954094, + -2.93660198350484, + -0.15723130106925964, + -0.06720346212387085, + 1.0 + ], + [ + 0.23976142704486847, + 0.2163197547197342, + 0.0950569435954094, + -2.9363641162687024, + -0.15691886842250824, + -0.06872400641441345, + 1.0 + ], + [ + 0.23543445765972137, + 0.2145039141178131, + 0.08075038343667984, + -2.993141399818011, + -0.11962617188692092, + -0.04453387483954429, + 1.0 + ], + [ + 0.23150943219661713, + 0.23384903371334076, + 0.07172836363315582, + -3.069317290680953, + -0.09287834167480467, + 0.006385010201483964, + 1.0 + ], + [ + 0.2219490259885788, + 0.24777962267398834, + 0.06465406715869904, + -3.07565467258031, + -0.08728750050067902, + 0.018066680058836937, + 1.0 + ], + [ + 0.22652176022529602, + 0.26048195362091064, + 0.06881508976221085, + -3.0475143810086927, + -0.09306639432907104, + -0.00024470750940963626, + 1.0 + ], + [ + 0.23842601478099823, + 0.2753809094429016, + 0.06478087604045868, + -3.0569330175691327, + -0.10077714920043944, + -0.026977470144629475, + 1.0 + ], + [ + 0.2604888081550598, + 0.2838897109031677, + 0.062479522079229355, + -3.060863996046134, + -0.1137920245528221, + -0.020551467314362526, + 1.0 + ], + [ + 0.27751967310905457, + 0.28472986817359924, + 0.051779963076114655, + -3.0762442519241056, + -0.1335472762584686, + -0.026284627616405484, + 1.0 + ], + [ + 0.28039050102233887, + 0.28494641184806824, + 0.047219712287187576, + -3.1029805300110063, + -0.13319441676139832, + -0.012988794595003128, + 1.0 + ], + [ + 0.27618303894996643, + 0.2796473801136017, + 0.03953609988093376, + -3.128671934949704, + -0.13137298822402954, + 0.004425549414008856, + 1.0 + ], + [ + 0.2690187990665436, + 0.27281323075294495, + 0.027726061642169952, + 3.1258365159207067, + -0.12677443027496338, + 0.03463735058903694, + 1.0 + ], + [ + 0.2675361633300781, + 0.2677062451839447, + 0.02761920727789402, + 3.094946915405341, + -0.11314132809638977, + 0.04800166189670563, + 1.0 + ], + [ + 0.2668593227863312, + 0.257032573223114, + 0.04243911802768707, + 3.0756870230012616, + -0.10912711173295975, + 0.05877113342285157, + 1.0 + ], + [ + 0.2710150480270386, + 0.2260105311870575, + 0.05994294583797455, + 3.065802225964614, + -0.12405211478471756, + 0.00998303946107626, + 1.0 + ], + [ + 0.2776181995868683, + 0.2089928835630417, + 0.0576142743229866, + 3.0210266803675374, + -0.12537463009357452, + -0.003277798183262348, + 1.0 + ], + [ + 0.28052806854248047, + 0.20134197175502777, + 0.05522477626800537, + 2.9985755701833448, + -0.13369812071323395, + 0.0040840101428329945, + 1.0 + ], + [ + 0.2866787612438202, + 0.18897384405136108, + 0.05429433658719063, + 2.96559231181676, + -0.14514243602752686, + 0.001631940947845578, + 1.0 + ], + [ + 0.28379034996032715, + 0.17808787524700165, + 0.04113207384943962, + 2.9568754901462277, + -0.14436952769756317, + 0.005070202052593232, + 1.0 + ], + [ + 0.28511443734169006, + 0.17394879460334778, + 0.037263888865709305, + 2.9419255574517926, + -0.1632410287857056, + 0.02727072313427925, + 1.0 + ], + [ + 0.2853296399116516, + 0.1719781905412674, + 0.03229047730565071, + 2.9440431167655667, + -0.1893164664506912, + 0.016744885593652722, + 1.0 + ], + [ + 0.28688469529151917, + 0.1746087372303009, + 0.0288839153945446, + 2.957638533907481, + -0.20917688310146332, + -0.009209952317178251, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.028361797332763672, + 0.02763611078262329, + 0.028361797332763672, + 0.02763611078262329, + 0.028361797332763672, + 0.02763611078262329, + 0.028361797332763672, + 0.028361797332763672, + 0.02763611078262329, + 0.028361797332763672, + 0.028361797332763672, + 0.028361797332763672, + 0.028361797332763672, + 0.028361797332763672, + 0.028361797332763672, + 0.028361797332763672, + 0.028361797332763672, + 0.028361797332763672, + 0.028361797332763672, + 0.028361797332763672, + 0.028361797332763672, + 0.028361797332763672 + ], + "episode_id": "2584", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2584/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2589.json b/annotation/test/2589.json new file mode 100644 index 0000000000000000000000000000000000000000..5bbc60bc11a50de195870e793bd5a317411397ff --- /dev/null +++ b/annotation/test/2589.json @@ -0,0 +1,204 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "end effector reaching pot or pan" + ], + "videos": [ + { + "video_path": "videos/test/2589/rgb.mp4" + } + ], + "action": [ + [ + 0.0003952242329220884, + -0.0001594536961263347, + -0.0002873457638498103, + -0.0016448987263657845, + 0.0008228349987624266, + -0.0008035291546021321, + 1.0 + ], + [ + -0.0027024368852284473, + 0.0005188867714274724, + 0.007923783390825534, + 0.006548881083200269, + -0.02650419053621118, + 0.005847212764384873, + 1.0 + ], + [ + 0.027308657363819537, + -0.007605052566541883, + 0.012816717098195643, + -0.0020866401786418906, + 0.028642336769572427, + 0.03312830194872504, + 1.0 + ], + [ + 0.018872152925542972, + -0.015002827286787274, + 0.011245111804055625, + -0.007721369041484771, + 0.04558646128316316, + 0.015679471983501423, + 1.0 + ], + [ + 0.006096643408062103, + -0.01150247772407868, + 0.010425880053554881, + -0.008257736849466318, + 0.01595778670377229, + 0.01755978291782598, + 1.0 + ], + [ + 0.0008609646442378973, + -0.005372656102245627, + 0.008490017071013016, + 0.013976492563967928, + 0.04133946983447618, + 0.012620044585299544, + 1.0 + ], + [ + -0.00450299215387026, + 0.004507128554487405, + 0.011958074382279192, + 0.009216103375571855, + 0.04048792160141911, + -0.024783458027437335, + 1.0 + ], + [ + -0.003306395964127541, + 0.009182758166939252, + 0.010718838214295482, + -0.008251398068153126, + 0.0239119763094171, + -0.029766192660648953, + 1.0 + ], + [ + 0.0009473551554670507, + 0.00022191305536438464, + -2.983800318608243e-06, + -0.0014269311167343676, + 0.005967726869090805, + -0.00460619262859849, + 1.0 + ] + ], + "state": [ + [ + 0.2671204209327698, + -0.08810216933488846, + 0.10939669609069824, + -3.004583077626773, + -0.05119204893708229, + -0.1487906575202942, + 1.0 + ], + [ + 0.26751285791397095, + -0.08804095536470413, + 0.10972294956445694, + -3.0062629898362836, + -0.052116908133029945, + -0.14810611307621005, + 1.0 + ], + [ + 0.2653336524963379, + -0.08715476840734482, + 0.10167158395051956, + -2.9995510747009, + -0.02506608888506889, + -0.1503230482339859, + 1.0 + ], + [ + 0.29401275515556335, + -0.08204925060272217, + 0.09074864536523819, + -3.000751720862933, + -0.04871426522731781, + -0.18720455467700955, + 1.0 + ], + [ + 0.31602346897125244, + -0.06949354708194733, + 0.08265060186386108, + -3.007287638383456, + -0.0916365161538124, + -0.2092030942440033, + 1.0 + ], + [ + 0.32540640234947205, + -0.05840550735592842, + 0.07445359230041504, + -3.0137562473588666, + -0.1050819084048271, + -0.228847935795784, + 1.0 + ], + [ + 0.3284849524497986, + -0.05253976956009865, + 0.06685078144073486, + -2.997804733114787, + -0.14445830881595612, + -0.24681083858013153, + 1.0 + ], + [ + 0.32523494958877563, + -0.05455389618873596, + 0.053852032870054245, + -2.991238923864909, + -0.18805365264415744, + -0.22776895761489868, + 1.0 + ], + [ + 0.3225637376308441, + -0.06160648167133331, + 0.04147162660956383, + -3.0044446160369596, + -0.21609006822109222, + -0.20131446421146393, + 1.0 + ], + [ + 0.3234320878982544, + -0.06200847029685974, + 0.041648004204034805, + -3.006693797307559, + -0.22262996435165408, + -0.1974726915359497, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2589", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2589/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2594.json b/annotation/test/2594.json new file mode 100644 index 0000000000000000000000000000000000000000..36e5d33d6cf11952bea5f3d7aaeb4653a4bd2ca1 --- /dev/null +++ b/annotation/test/2594.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "pour almonds in pot" + ], + "videos": [ + { + "video_path": "videos/test/2594/rgb.mp4" + } + ], + "action": [ + [ + -0.00031919657734412764, + 0.00014849640720288068, + -2.1325465658569163e-06, + 0.0004077845651276766, + -0.0014749712344223954, + 0.0015238803031970268, + 1.0 + ], + [ + -0.0021593419630789347, + 0.0013628938671342626, + 0.0029673979328902005, + 0.00608726178169996, + -0.018921920050518546, + 0.012292310853780745, + 1.0 + ], + [ + 0.009422228691323158, + 0.020621734765584307, + -0.007350973512131662, + -0.00580735123385121, + -0.022253774198706132, + 0.11542456420762735, + 1.0 + ], + [ + 0.01260580772971795, + 0.016084902404527906, + 0.001962146384315711, + 0.045659425381741094, + -0.11364903802238542, + 0.21138363275512118, + 1.0 + ], + [ + 0.00861145616991723, + 0.01794869471031901, + -0.003753264816508179, + 0.09003251627642696, + -0.03301543840986661, + 0.2333485614097385, + 1.0 + ], + [ + 0.01774403510218527, + 0.0038013976049651047, + -0.000642923065040205, + 0.03507143967743744, + -0.08742758599313183, + 0.1830066162657374, + 1.0 + ], + [ + 0.01510959631028227, + 0.0005511980233827903, + -0.01192694754154763, + 0.054183165375211326, + -0.0334991291647408, + 0.15012596707912546, + 1.0 + ], + [ + 0.021575383981658886, + -0.004000991804711276, + -0.001994750498980166, + 0.04611884405278503, + -0.1066296932965424, + 0.14349652960087192, + 1.0 + ], + [ + 0.017788830558486655, + -0.004536172039201107, + -0.0028449082815752646, + 0.028175415381388288, + -0.0822763256741517, + 0.10824584336436655, + 1.0 + ], + [ + 0.017607011688994912, + -0.003781568162847792, + 0.016777473732717336, + -0.007716034700000925, + -0.09456252957641854, + 0.09527804914110213, + 1.0 + ], + [ + 0.011548295528346629, + -0.001948011189531359, + 0.019204062998435866, + 0.007457440736951717, + -0.08983669007345489, + 0.0682687941606455, + 1.0 + ], + [ + 0.009484913106892702, + -0.0062703900695636324, + 0.010481411946852238, + -0.0054082386872352116, + -0.05249992861693912, + 0.012139220594458185, + 1.0 + ], + [ + -0.0002488692986461208, + -0.011758491885392677, + 0.012487056999510568, + -0.00047706453489161757, + -0.05326716499105073, + 0.005958044160688129, + 1.0 + ], + [ + -0.002982584620010903, + -0.012852682901346543, + 0.01199598469093996, + 0.0007820592707675936, + -0.050493804975489734, + 0.00133387097017983, + 1.0 + ], + [ + -0.0040555639811100256, + 0.000448728451217474, + 0.007536530935751719, + 0.005890243079151529, + -0.041425638992959916, + 0.04882665068129786, + 1.0 + ], + [ + 0.0020332204016570866, + 0.0074098872355663125, + 0.01583383260739785, + -0.01517696045588481, + -0.01540527094659213, + 0.036740712151333614, + 1.0 + ], + [ + -0.0005822974320360731, + 0.007297043895999817, + 0.013394360707998949, + -0.008231862778268522, + -0.02762905367470398, + 0.028764570428503177, + 1.0 + ], + [ + -0.001844640560770884, + 0.0020551148478686813, + 0.0050135063612066115, + 0.0042300094097064865, + -0.007213636572745907, + 0.008802077027177987, + 1.0 + ], + [ + 0.00038510383015642703, + -0.0014270855270540057, + 0.0010139437320129837, + -0.005444924316815722, + 0.010530979284884534, + 0.0025218329613011566, + 0.0 + ], + [ + -0.0001245927902803552, + -0.0007753959807011196, + -0.004001266198125181, + -0.061509125003318565, + 0.0631387888304193, + 0.0007064373619673133, + 0.0 + ], + [ + -0.010378841589912417, + -0.0027819573236874708, + -0.013218375046111647, + -0.17818835985804074, + 0.2690719655013032, + -0.05681329600257281, + 0.0 + ], + [ + -0.0012367079521460346, + -0.003262243965906463, + -0.01672778673969928, + -0.02530073888966535, + 0.2687344497025641, + 0.025499013939164213, + 0.0 + ], + [ + -0.0013707390821490427, + -0.0020106589095917476, + -0.015507672923334513, + 0.003931227386166194, + 0.2665229885384744, + -0.010432011874498654, + 0.0 + ], + [ + -0.004390650898516586, + -0.011238105301655558, + -0.007514086983403707, + 0.006489385811356671, + 0.15855869194697272, + -0.06804260968205787, + 0.0 + ], + [ + 0.002540078807579587, + -0.00996070679963401, + -0.012173717884982357, + 0.12683807013398907, + 0.11382654200092496, + -0.015940917907042475, + 0.0 + ], + [ + -0.006866148438817697, + -0.013642017870857745, + 0.0007618404009708406, + 0.10276632596301034, + 0.06197829346695113, + -0.07163920525474322, + 0.0 + ], + [ + 0.0009499546224623278, + -0.0010125949242455051, + -0.011831705287121217, + 0.0991322436469939, + 0.11872579077971958, + -0.0680468561398668, + 0.0 + ], + [ + -0.008023101782002367, + -0.008021635568002485, + -0.005606920835004681, + 0.04397787317178827, + 0.08822657704947098, + -0.14376388656946146, + 0.0 + ], + [ + 0.0011356930007078157, + -0.006217223342067771, + -0.007242005388325779, + 0.07911818154693769, + 0.07841871434634112, + -0.080889043760373, + 0.0 + ], + [ + -0.00044307927810011887, + -0.0007618418519526235, + 0.004101890506424616, + 0.05078927189682941, + 0.02420810554554105, + -0.06034942207262069, + 0.0 + ], + [ + -0.0038013426708124434, + -0.005408733563553023, + 0.0023575856568417994, + 0.05933852627123815, + 0.030843598343259455, + -0.05394843620664098, + 0.0 + ], + [ + -0.0010947906793724465, + -0.005020341650837028, + 0.004249136787800703, + 0.08067373040480848, + 0.06441768656439366, + -0.048333889708287454, + 0.0 + ], + [ + 0.009040657898837205, + -0.0076985118698590935, + -0.00042857182673648584, + 0.04523979656291943, + 0.05855737448666196, + -0.02129673008363698, + 0.0 + ], + [ + 0.00921267942886569, + -0.006470093991612403, + -8.009523302626367e-06, + 0.04433518258008811, + 0.06403526317898316, + -0.03039257983620938, + 0.0 + ], + [ + -0.0020630940424408817, + 0.003341663149914376, + 2.2510171358093045e-05, + -0.022821013563381606, + -0.010083427481898602, + 0.008635811023362146, + 0.0 + ], + [ + -0.001555901775527424, + 0.0017930431324859161, + -0.0012820867617538971, + -0.007739078569720596, + 0.010106238781720562, + 0.04349940699473168, + 0.0 + ], + [ + 0.0009048755456818425, + 0.0004402296225646221, + -0.006222685489178504, + 0.0016332254179836911, + 0.02762193510946869, + 0.04863305633624873, + 0.0 + ], + [ + -0.0038927748060492654, + 0.00018396378341710494, + -0.00023131461571463215, + -0.025428242236346276, + -0.0323048105658522, + 0.016597312183202716, + 0.0 + ] + ], + "state": [ + [ + 0.16430814564228058, + -0.0344780869781971, + 0.11571236699819565, + 3.1071321946852883, + -0.10851876437664032, + 0.16729192435741422, + 1.0 + ], + [ + 0.16401918232440948, + -0.03467731922864914, + 0.11568500101566315, + 3.1077114177220544, + -0.1070970371365547, + 0.16570906341075894, + 1.0 + ], + [ + 0.16245068609714508, + -0.03642258420586586, + 0.11255138367414474, + 3.115182563784071, + -0.08859340101480484, + 0.15273413062095645, + 1.0 + ], + [ + 0.17414326965808868, + -0.05528365448117256, + 0.1212470531463623, + 3.1198082232200584, + -0.06879294663667679, + 0.03651099279522896, + 1.0 + ], + [ + 0.1874101310968399, + -0.07093363255262375, + 0.12050606310367584, + -3.1027644668989858, + 0.04181646928191184, + -0.17615309357643127, + 1.0 + ], + [ + 0.19283804297447205, + -0.09026484936475754, + 0.12319709360599518, + -3.0233935882621488, + 0.08266246318817139, + -0.40868487954139715, + 1.0 + ], + [ + 0.2075492888689041, + -0.10083210468292236, + 0.12192150950431824, + -3.0039719959073743, + 0.18973234295845035, + -0.582388699054718, + 1.0 + ], + [ + 0.220590278506279, + -0.11203368753194809, + 0.13059981167316437, + -2.979058789210864, + 0.24142803251743314, + -0.7306876778602599, + 1.0 + ], + [ + 0.2390771508216858, + -0.1237325593829155, + 0.12798139452934265, + -2.9650866409116468, + 0.3678492307662964, + -0.8629947900772096, + 1.0 + ], + [ + 0.2537236213684082, + -0.1347484290599823, + 0.12494093924760818, + -2.9741189797692975, + 0.46612772345542897, + -0.9656760096549988, + 1.0 + ], + [ + 0.26396945118904114, + -0.13809052109718323, + 0.10281303524971008, + -3.023400956886359, + 0.573606014251709, + -1.058247685432434, + 1.0 + ], + [ + 0.26737180352211, + -0.13557469844818115, + 0.08072121441364288, + -3.0552317668967923, + 0.6697338223457336, + -1.1308735609054565, + 1.0 + ], + [ + 0.2743911147117615, + -0.13369591534137726, + 0.06707054376602173, + -3.0667836015396794, + 0.7230613231658936, + -1.1409443616867065, + 1.0 + ], + [ + 0.2826293110847473, + -0.12128967046737671, + 0.05855773761868477, + -3.0689692740612706, + 0.7766228914260864, + -1.1436833143234253, + 1.0 + ], + [ + 0.29100459814071655, + -0.1066453605890274, + 0.05277935788035393, + -3.0656757076554975, + 0.8270774483680725, + -1.140236496925354, + 1.0 + ], + [ + 0.2876526117324829, + -0.09904982149600983, + 0.05065327510237694, + -3.1118426976078233, + 0.8709012269973755, + -1.2109074592590332, + 1.0 + ], + [ + 0.27729976177215576, + -0.09122978895902634, + 0.03876141831278801, + 3.1122554914378604, + 0.8865962624549866, + -1.2682974338531494, + 1.0 + ], + [ + 0.26681092381477356, + -0.08342266827821732, + 0.030885634943842888, + 3.066560024517127, + 0.9128161072731018, + -1.3166345357894897, + 1.0 + ], + [ + 0.263216108083725, + -0.07923002541065216, + 0.029382143169641495, + 3.0586327036195478, + 0.9192929863929747, + -1.3320012092590332, + 1.0 + ], + [ + 0.2643592357635498, + -0.07826834917068481, + 0.028391487896442413, + 3.051061714189597, + 0.9085875153541565, + -1.3346691131591797, + 0.0 + ], + [ + 0.2661660611629486, + -0.08093025535345078, + 0.030896788462996483, + 2.9953321685367307, + 0.84562885761261, + -1.3271270990371704, + 0.0 + ], + [ + 0.2713337242603302, + -0.08232420682907104, + 0.04706890136003494, + 2.8986281027370175, + 0.5837424397468567, + -1.2155613899230957, + 0.0 + ], + [ + 0.2806786894798279, + -0.08684014528989792, + 0.060643453150987625, + 2.888372929888316, + 0.3164805471897125, + -1.1734397411346436, + 0.0 + ], + [ + 0.2872992753982544, + -0.08754611760377884, + 0.0748589038848877, + 2.90804913838441, + 0.060334779322147376, + -1.097503900527954, + 0.0 + ], + [ + 0.29670998454093933, + -0.0781218484044075, + 0.07982438802719116, + 2.9190138300233563, + -0.07849669456481934, + -0.9951549768447876, + 0.0 + ], + [ + 0.3080790638923645, + -0.07285816222429276, + 0.089668408036232, + 3.0413149764114102, + -0.18592071533203122, + -0.9539138674736022, + 0.0 + ], + [ + 0.31541207432746887, + -0.059866201132535934, + 0.08631207793951035, + 3.1294609793745956, + -0.23985324800014496, + -0.8742698431015014, + 0.0 + ], + [ + 0.315089613199234, + -0.0576786994934082, + 0.09801796823740005, + -3.072254041331359, + -0.3571377396583557, + -0.8006120920181274, + 0.0 + ], + [ + 0.31382420659065247, + -0.04543888941407204, + 0.10097434371709824, + -3.0818824415379247, + -0.4514375030994416, + -0.6485922932624817, + 0.0 + ], + [ + 0.3154841363430023, + -0.03945185989141464, + 0.10830853879451752, + -3.0412584488564214, + -0.5330783724784851, + -0.5605430603027344, + 0.0 + ], + [ + 0.31750616431236267, + -0.039341021329164505, + 0.1046341210603714, + -3.0252065007858953, + -0.5622096061706543, + -0.4924503862857819, + 0.0 + ], + [ + 0.318146288394928, + -0.0332772321999073, + 0.10115798562765121, + -2.998210312920161, + -0.5983006358146667, + -0.4319617748260498, + 0.0 + ], + [ + 0.3214433789253235, + -0.0286572128534317, + 0.09765910357236862, + -2.9450636972957334, + -0.6684273481369019, + -0.3828571140766143, + 0.0 + ], + [ + 0.3297082781791687, + -0.023936331272125244, + 0.1047716960310936, + -2.9073416163497647, + -0.7299777269363403, + -0.3702134788036347, + 0.0 + ], + [ + 0.3374462425708771, + -0.020190749317407608, + 0.11204013228416443, + -2.87658146222169, + -0.7992132902145386, + -0.3492100238800049, + 0.0 + ], + [ + 0.3355972468852997, + -0.022943351417779922, + 0.10993585735559464, + -2.8936112840944013, + -0.7872035503387451, + -0.35727551579475403, + 0.0 + ], + [ + 0.33331769704818726, + -0.024283654987812042, + 0.10940030217170715, + -2.8568636198812207, + -0.78532874584198, + -0.4204348623752594, + 0.0 + ], + [ + 0.3292408883571625, + -0.024838430806994438, + 0.11417589336633682, + -2.8005024214559278, + -0.7966864705085753, + -0.4983254969120025, + 0.0 + ], + [ + 0.32663238048553467, + -0.023704523220658302, + 0.11150176078081131, + -2.820980819063731, + -0.760679841041565, + -0.5049902796745301, + 0.0 + ] + ], + "continuous_gripper_state": [ + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.10010194778442383, + 0.14284104108810425, + 0.11984705924987793, + 0.11984705924987793, + 0.11984705924987793, + 0.11984705924987793, + 0.11984705924987793, + 0.11984705924987793, + 0.11984705924987793, + 0.11984705924987793, + 0.11984705924987793, + 0.11984705924987793, + 0.11984705924987793, + 0.11984705924987793, + 0.11984705924987793, + 0.11984705924987793, + 0.11984705924987793, + 0.11984705924987793, + 0.11984705924987793, + 0.1189766526222229 + ], + "episode_id": "2594", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2594/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2598.json b/annotation/test/2598.json new file mode 100644 index 0000000000000000000000000000000000000000..cfc25f7b004a4b43e97630b53918781e6e7aa4fc --- /dev/null +++ b/annotation/test/2598.json @@ -0,0 +1,660 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Put the fish inside the silver pot." + ], + "videos": [ + { + "video_path": "videos/test/2598/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 2.0329146743626007e-09, + 4.976708571862522e-11, + -0.0015339905455221301, + 1.0 + ], + [ + -0.0018184541176240153, + 0.0012420903144174337, + 0.008196837308440336, + -0.009538705054444022, + -0.02596332566391294, + 0.0009425564629047599, + 1.0 + ], + [ + 0.008018761422295639, + 0.015684569844780595, + 0.004844969742289112, + -0.038025990126763304, + 0.021298301088888603, + 0.03218563933774268, + 1.0 + ], + [ + 0.017284183081253818, + 0.031664329765493104, + 0.028394194171133445, + -0.059881131037589144, + -0.03272160053216323, + 0.09353871912253985, + 1.0 + ], + [ + 0.024135425093801417, + 0.02596962269850582, + 0.01669904942460047, + -5.718463421069061e-05, + 0.03328036441415457, + 0.025086622554894734, + 1.0 + ], + [ + 0.020569095211263277, + 0.01829698219835864, + 0.01796263832385674, + 0.02140995294452683, + 0.029142672764652638, + -0.024449939409431656, + 1.0 + ], + [ + 0.008438027432129005, + 0.005018520121852058, + 0.02632746530024579, + 0.05142573030617835, + -0.03911171280492764, + 0.0017218818565391352, + 1.0 + ], + [ + -0.004914984014026512, + -0.00930265598655406, + 0.02208614446458553, + 0.08511240658597889, + -0.052940339733346845, + 0.011954977219434837, + 1.0 + ], + [ + -0.0018688045159856181, + -0.015248391905185937, + 0.010634933951880782, + 0.09801836756418711, + -0.032297672041955605, + 0.013376352013552674, + 1.0 + ], + [ + -0.0012811520457119423, + -0.006230185288018036, + 0.0019740677057410025, + 0.04135004316306595, + -0.013945545354027812, + 0.013483444135611962, + 1.0 + ], + [ + 0.001761485121789129, + 0.0034607326487070024, + 0.0032779548975538984, + -0.0320836775325541, + 0.001016949264690618, + -0.005935533718325587, + 1.0 + ], + [ + -0.0025347144527321248, + 0.0038810077183573143, + -0.0004418487961960612, + -0.04131476506648731, + -4.559035418446251e-05, + -6.949835466746424e-05, + 0.0 + ], + [ + -0.007589224034193974, + -0.0030559753174523763, + -0.004943676218811669, + -0.06833113963878876, + -0.0037962641501369057, + -0.023713406924783676, + 0.0 + ], + [ + -0.012880925241651945, + -0.014987194737767546, + -0.04962385813871177, + -0.1295485817191795, + 0.10998143118707601, + -0.04680078527746823, + 0.0 + ], + [ + -0.027456426961698914, + -0.027830693452422086, + -0.05743618815017249, + -0.13356676163987005, + 0.1446622170260244, + -0.06234817262042868, + 0.0 + ], + [ + -0.021086753292377754, + -0.01910810444517769, + -0.014229783628899493, + -0.07319797592420722, + 0.015478695340000945, + -0.03402310410488194, + 0.0 + ], + [ + -0.02410295051550587, + -0.01790506403725456, + 0.00423001080718487, + 0.023078913690830063, + -0.047670247302099386, + -0.026774331157238266, + 0.0 + ], + [ + -0.014420981082501215, + 0.0057758727880121595, + 0.0239426226714133, + 0.09048232909365797, + -0.07145403909874809, + 0.0434399569963647, + 0.0 + ], + [ + -0.0028821771551382105, + 0.023936079591061688, + 0.02089784638979416, + 0.07944862987984462, + -0.04908566836470375, + 0.07803817372354226, + 0.0 + ], + [ + 0.0013128249989301437, + 0.010550455867038205, + 0.005534608284609886, + 0.031986047616303165, + -0.001916446711301331, + 0.02783111778608083, + 0.0 + ], + [ + 0.0009296023694190929, + 0.0018571095469266407, + 0.00045521353150536147, + 0.013646349713896075, + -0.0009538323444754952, + 0.0069165583358160865, + 0.0 + ], + [ + -0.0027961313778740635, + -0.015507081915270242, + -0.007472760800920748, + 0.016984558913616988, + 0.015252556326126173, + -0.025238040820862902, + 0.0 + ], + [ + 0.0034200275097097483, + -0.018966545099186365, + -0.008328534340400352, + 0.03392998263479143, + 0.017463490492232368, + -0.019305332619103256, + 0.0 + ], + [ + 0.0036765541970209363, + -0.008544579506755925, + -0.0031244457672339756, + 0.011676569288209242, + 0.010322391709236663, + -0.01190985899556006, + 0.0 + ], + [ + -0.0008976494707803763, + -0.0013994114796188522, + 0.008539650704963344, + -0.015151023108590345, + -0.03018558787354201, + 0.0033537153791687673, + 0.0 + ], + [ + -0.000130316980655057, + 0.0018525614143095575, + 0.0011770544965377598, + -0.0036474721525456026, + -0.020213994706494508, + 0.014014443203340457, + 0.0 + ], + [ + 0.0007348192561177025, + 0.001778891955558231, + -0.001201052964861742, + -0.0042410062818924125, + -0.004849150900664722, + 0.012832538328480166, + 1.0 + ], + [ + 0.006816040789034955, + 0.0004122490608048455, + -0.014228748678637528, + -0.012308197607035012, + 0.03264841568459558, + 0.005234698655778901, + 1.0 + ], + [ + 0.0113012505161851, + -0.006264129247746244, + -0.030730846579419924, + -0.012634061995534629, + 0.07850608837032103, + -0.035668822960392706, + 1.0 + ], + [ + 0.008570112727405568, + 0.0005525704393664089, + -0.014625265273783687, + -0.031163191967736013, + 0.012360489493959225, + -0.01882152915314804, + 1.0 + ], + [ + 0.001919642747714205, + 0.0005685785274038806, + -0.0009048653720291423, + -0.023012041971833475, + -0.03673191240306693, + -0.016978855686292208, + 1.0 + ], + [ + -0.000508966433463451, + -0.001338850374088005, + 0.005517808284570202, + -0.008474368450890812, + -0.07122973207220332, + -0.009132620396672418, + 1.0 + ], + [ + -0.0010378865893939859, + 0.0014640742801530124, + 7.889667400900404e-05, + -0.004112552794637769, + -0.008582875759207449, + 0.0015255417393557306, + 1.0 + ] + ], + "state": [ + [ + 0.29315000772476196, + 0.06773557513952255, + 0.13600453734397888, + -3.1078254898362836, + -0.11963366717100145, + -0.07002268731594084, + 1.0 + ], + [ + 0.29315000772476196, + 0.06773557513952255, + 0.13600453734397888, + -3.108009820925542, + -0.11968531459569931, + -0.068478524684906, + 1.0 + ], + [ + 0.2922635078430176, + 0.0668279379606247, + 0.1276123970746994, + -3.1175287963175258, + -0.09370498359203339, + -0.06854888051748274, + 1.0 + ], + [ + 0.2996496856212616, + 0.05072074010968208, + 0.12316463887691498, + 3.1307012244411787, + -0.11417251825332642, + -0.10144484788179396, + 1.0 + ], + [ + 0.316674143075943, + 0.016850829124450684, + 0.09726869314908981, + 3.081578904884406, + -0.08196690678596498, + -0.19560272991657257, + 1.0 + ], + [ + 0.33625051379203796, + -0.014475809410214424, + 0.08418413251638412, + 3.083403969305106, + -0.11666997522115709, + -0.21879169344902039, + 1.0 + ], + [ + 0.3539181053638458, + -0.038186464458703995, + 0.06982500106096268, + 3.101738894479819, + -0.14430151879787445, + -0.19242428243160245, + 1.0 + ], + [ + 0.36463961005210876, + -0.04645290970802307, + 0.045203130692243576, + -3.1295767446332654, + -0.10528870671987535, + -0.1957196742296219, + 1.0 + ], + [ + 0.36397087574005127, + -0.03656674921512604, + 0.02283550053834915, + -3.043257253366061, + -0.05220181867480278, + -0.2070365995168686, + 1.0 + ], + [ + 0.36594241857528687, + -0.020408110693097115, + 0.013663852587342262, + -2.944663317995616, + -0.018744317814707756, + -0.21717260777950287, + 1.0 + ], + [ + 0.366104394197464, + -0.013791580684483051, + 0.01292304415255785, + -2.9031081666522702, + -0.0024291796144098043, + -0.2276654988527298, + 1.0 + ], + [ + 0.3672456741333008, + -0.016712987795472145, + 0.008924625813961029, + -2.935208859043666, + -0.004819455090910197, + -0.22213813662528992, + 1.0 + ], + [ + 0.36391812562942505, + -0.019948570057749748, + 0.00854958314448595, + -2.976523997383662, + -0.004789073951542377, + -0.22206076979637146, + 0.0 + ], + [ + 0.3569751977920532, + -0.016123443841934204, + 0.013891811482608318, + -3.0450169687443456, + -0.004939235281199218, + -0.19804565608501437, + 0.0 + ], + [ + 0.3460935950279236, + -0.0036054139491170645, + 0.06466533988714218, + 3.108966952311345, + -0.11891494691371918, + -0.16208329796791074, + 0.0 + ], + [ + 0.31736475229263306, + 0.03117600828409195, + 0.11750684678554535, + 2.966901349025317, + -0.2611942887306213, + -0.09337404370307921, + 0.0 + ], + [ + 0.296317994594574, + 0.054530590772628784, + 0.12239100784063339, + 2.884100856381007, + -0.27034991979599, + -0.0558163896203041, + 0.0 + ], + [ + 0.2763391435146332, + 0.07190979272127151, + 0.10761787742376328, + 2.9031462242179593, + -0.21740856766700745, + -0.041760850697755814, + 0.0 + ], + [ + 0.2665194272994995, + 0.06104274094104767, + 0.08312185853719711, + 3.0063311030441007, + -0.157851055264473, + -0.10149104893207551, + 0.0 + ], + [ + 0.26373276114463806, + 0.03465377166867256, + 0.0654069036245346, + 3.099367732303687, + -0.11916718631982803, + -0.18596020340919495, + 0.0 + ], + [ + 0.2636156976222992, + 0.023712091147899628, + 0.060514722019433975, + 3.13470844890038, + -0.11838056147098541, + -0.214043989777565, + 0.0 + ], + [ + 0.2641736567020416, + 0.021687164902687073, + 0.06018519029021263, + -3.1340070479833564, + -0.11747151613235474, + -0.22101499140262604, + 0.0 + ], + [ + 0.2639833390712738, + 0.03756505995988846, + 0.06739534437656403, + -3.1199941729479512, + -0.13287775218486786, + -0.19567289948463443, + 0.0 + ], + [ + 0.26982495188713074, + 0.055554844439029694, + 0.07650765031576157, + -3.0886005145781716, + -0.15073008835315704, + -0.1765352040529251, + 0.0 + ], + [ + 0.27434462308883667, + 0.06324775516986847, + 0.08059185743331909, + -3.0786507820063314, + -0.16165901720523834, + -0.16503958404064178, + 0.0 + ], + [ + 0.2751275897026062, + 0.0650777742266655, + 0.07212263345718384, + -3.093538088845559, + -0.13132210075855255, + -0.16649930179119107, + 0.0 + ], + [ + 0.2748661935329437, + 0.0633026659488678, + 0.07085177302360535, + -3.0954635572903832, + -0.11044708639383316, + -0.17960353195667267, + 0.0 + ], + [ + 0.27513623237609863, + 0.06139129772782326, + 0.07204370200634003, + -3.0983117428892335, + -0.10500257462263107, + -0.19226840138435364, + 1.0 + ], + [ + 0.28013285994529724, + 0.05937179550528526, + 0.0868774801492691, + -3.109894948201724, + -0.1373915821313858, + -0.1989709585905075, + 1.0 + ], + [ + 0.2880013585090637, + 0.0631786584854126, + 0.11904791742563248, + -3.1270981339090547, + -0.21691153943538666, + -0.16512341797351834, + 1.0 + ], + [ + 0.29302841424942017, + 0.06156591325998306, + 0.13516555726528168, + 3.1208030843460044, + -0.22950512170791626, + -0.1459825336933136, + 1.0 + ], + [ + 0.29459160566329956, + 0.06078052520751953, + 0.1364947259426117, + 3.0940225553982934, + -0.19239777326583862, + -0.12947775423526764, + 1.0 + ], + [ + 0.2952921390533447, + 0.06177333742380142, + 0.1309250444173813, + 3.0843243581526956, + -0.12081132829189299, + -0.12372099608182906, + 1.0 + ], + [ + 0.2940881550312042, + 0.060445576906204224, + 0.13080495595932007, + 3.08045410935814, + -0.11232959479093552, + -0.12574800848960876, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.07526767253875732, + 0.3840659260749817, + 0.5716392397880554, + 0.5940692126750946, + 0.5940692126750946, + 0.5949552357196808, + 0.5949552357196808, + 0.5949552357196808, + 0.5949552357196808, + 0.5949552357196808, + 0.5949552357196808, + 0.5949552357196808, + 0.5949552357196808, + 0.5949552357196808, + 0.5949552357196808, + 0.5449841022491455, + 0.23959487676620483, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2598", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2598/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/261.json b/annotation/test/261.json new file mode 100644 index 0000000000000000000000000000000000000000..e7abce4f15e520dee6d5f1c0e0e0f6c5c879461d --- /dev/null +++ b/annotation/test/261.json @@ -0,0 +1,679 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "close oven" + ], + "videos": [ + { + "video_path": "videos/test/261/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -7.418625028096264e-18, + -2.4966753263463092e-17, + -1.4456246309822638e-17, + 1.0 + ], + [ + -0.006193740652548877, + 0.0028853295255466885, + 0.003941499326275562, + -0.0016605763208308187, + -0.021727646091622095, + 0.005875070019347544, + 1.0 + ], + [ + -0.019264761840135713, + 0.03129576595832657, + -0.0003855769456980364, + -0.047512853163285865, + -0.022145508248759535, + 0.07240870866682833, + 1.0 + ], + [ + -0.01798949382002092, + 0.03318671052751359, + -0.005163370027399352, + -0.008755935676054663, + -0.024357618615140898, + 0.049898897707677144, + 1.0 + ], + [ + -0.01107369129224005, + 0.03258034730773931, + -0.013673076639538031, + -0.04066300187578199, + 0.0072037961795447915, + 0.01859844809366679, + 1.0 + ], + [ + -0.00972566353288108, + 0.03176205911769, + -0.009322728686702229, + -0.05406320800894225, + 0.0007995938921925723, + 0.056612191816529545, + 1.0 + ], + [ + -0.010029639415257698, + 0.022078119666020225, + 0.0007365765758329043, + -0.04823089493989654, + -0.003203765849974887, + 0.04353519368538042, + 1.0 + ], + [ + -0.006236442793687607, + 0.015769949990987922, + 0.014171216279460526, + -0.030997962249035668, + -6.156618491077205e-05, + 0.03932832329158167, + 1.0 + ], + [ + -0.0038329343819823876, + 0.0028804000301696237, + 0.016989625398999033, + -0.010203449137359401, + 0.004991509571454012, + 0.028438939164492225, + 1.0 + ], + [ + -0.00788858531077184, + -0.0025233419338232905, + 0.016489372022799438, + 0.05058560171569596, + 0.02247584205836196, + 0.0467384759097162, + 1.0 + ], + [ + -0.00243904022000223, + -0.008159065490469916, + 0.0038432586315531184, + 0.027396155061580423, + 0.01428133272456143, + 0.01802823811143821, + 1.0 + ], + [ + 0.005851830041511174, + -0.01308797144894771, + 0.003529911219397691, + 0.024674782744952828, + 0.015216227960923248, + -0.010428073247316729, + 1.0 + ], + [ + 0.00895014405129226, + -0.0315427041681956, + 0.001525199286315029, + 0.0319714143160708, + -0.005351801930618251, + -0.041450695735318475, + 1.0 + ], + [ + 0.014357725873076984, + -0.031013754680284476, + 0.0010365224457975681, + 0.021351610150264405, + 0.005142863893662713, + -0.04020456007117612, + 1.0 + ], + [ + 0.01404257912490932, + -0.024508270649354055, + 0.001645261468486712, + 0.034602784685419774, + 0.01000475046193101, + -0.04674155435379227, + 1.0 + ], + [ + 0.01023747673007476, + -0.020551410039136197, + 5.11317093133847e-05, + 0.019134550741080118, + -0.002103823059108957, + -0.03788994879348716, + 1.0 + ], + [ + 0.005180993202184003, + -0.011020539979347507, + -0.015528318997320783, + 0.003551835556218874, + -0.0025348203776766, + -0.009587086705706802, + 1.0 + ], + [ + -0.003943521750469681, + -0.001863091666586846, + -0.023976348913132543, + 0.011418213818855839, + 0.007814305750430522, + 0.03481533920252094, + 1.0 + ], + [ + -0.013174907452567752, + 0.00996661101888839, + -0.012776373432002271, + -0.008552007523893571, + -0.017929553723531094, + 0.025820798602367922, + 1.0 + ], + [ + -0.017862413288848092, + 0.00950513515124382, + 0.018398921345662334, + -0.01207352680790556, + -0.06462243671853848, + -0.0036395409592638833, + 1.0 + ], + [ + -0.0068284383395851335, + 0.0019418724353356548, + 0.032431981037491744, + 0.001827388193149575, + -0.039435226405383744, + -0.01931790299987197, + 1.0 + ], + [ + 0.005242760098743533, + -0.006949981480729612, + 0.02394658369765544, + -0.0120566596037099, + 0.03973531856919324, + -0.028735916103748465, + 1.0 + ], + [ + 0.014534668533072202, + -0.011847640014012607, + 0.006945614225326432, + -0.006307787291209612, + 0.057703647210757, + -0.05891602908725348, + 1.0 + ], + [ + 0.0189370727191674, + -0.009582688337309735, + -0.002402040479885849, + -0.028651075265414768, + 0.02110055530005065, + -0.057488871008686694, + 1.0 + ], + [ + 0.01909012438573989, + -0.006871623709655068, + 0.004057236012021842, + 0.022520664815065903, + 0.028426209112095896, + -0.0442061832060572, + 1.0 + ], + [ + 0.01723429799991828, + -0.0057396828827907176, + 0.0034782308812267826, + 0.014385172353420374, + 0.021496877211698497, + -0.03498760739195138, + 1.0 + ], + [ + 0.015161802628110304, + -0.002305299646356178, + 0.001341071986542946, + 0.01579618422005023, + 0.03003418347124122, + -0.05756677917975422, + 1.0 + ], + [ + 0.0076144891605006955, + -0.00035011062370015803, + -0.0016064591914457876, + -0.0004765583408902784, + 0.016058331734323, + -0.016914043374422375, + 1.0 + ], + [ + 0.003614490250507317, + -0.0035917741778140936, + -0.0007216015853284475, + -0.005211608128652577, + -0.014100284109059322, + -0.03832724806693104, + 1.0 + ], + [ + -0.002814782382265875, + -0.003863781839179401, + -0.004895103231636703, + -0.009399402669259977, + -0.03620562910600411, + 0.009483411584782938, + 1.0 + ], + [ + -0.009050490184382563, + -0.009188204316410323, + -0.028395827227081793, + 0.00030391075347660875, + -0.0305000740383074, + 0.030026856806247483, + 1.0 + ], + [ + -0.002862831878166439, + -0.010134928887099767, + -0.025963847465032473, + -0.024086903730872525, + -0.01787764234027659, + -0.028759413977753955, + 1.0 + ], + [ + -0.00040060242996789675, + -0.004822248444332274, + -0.00608488781819598, + 0.00674640955249793, + -0.036328338053037826, + 0.026316010759474057, + 1.0 + ], + [ + 8.034093830920919e-05, + -0.00037203974028218495, + 1.860870990675954e-05, + 0.00017179905787736145, + -3.974504722164655e-05, + 0.0030781304302229507, + 1.0 + ] + ], + "state": [ + [ + 0.23359961807727814, + 0.01350369956344366, + 0.04452774301171303, + -3.021721916394778, + -0.13099856674671173, + 0.23351477086544037, + 1.0 + ], + [ + 0.23359961807727814, + 0.01350369956344366, + 0.04452774301171303, + -3.021721916394778, + -0.13099856674671173, + 0.23351477086544037, + 1.0 + ], + [ + 0.2287205457687378, + 0.009883140213787556, + 0.03949692100286484, + -3.0229297076636037, + -0.10872361063957214, + 0.23026213049888608, + 1.0 + ], + [ + 0.21752886474132538, + -0.02470541186630726, + 0.03410405293107033, + -3.063164400058337, + -0.07790736854076385, + 0.16079813241958618, + 1.0 + ], + [ + 0.2049914300441742, + -0.06066586449742317, + 0.03524361923336983, + -3.068260522680827, + -0.04962748289108276, + 0.11291897296905519, + 1.0 + ], + [ + 0.19722145795822144, + -0.09525623172521591, + 0.045929718762636185, + -3.107987271743365, + -0.05544032156467438, + 0.09381375461816788, + 1.0 + ], + [ + 0.19010129570960999, + -0.1281251162290573, + 0.05362841486930847, + 3.124220648902007, + -0.05424947664141655, + 0.03712318092584611, + 1.0 + ], + [ + 0.1809322088956833, + -0.15056847035884857, + 0.05273215472698212, + 3.0783718471699437, + -0.051750648766756065, + -0.006519386079162359, + 1.0 + ], + [ + 0.17527583241462708, + -0.16716571152210236, + 0.03928057849407196, + 3.0494556074314794, + -0.054133374243974686, + -0.045830607414245605, + 1.0 + ], + [ + 0.17214958369731903, + -0.17145833373069763, + 0.022445037961006165, + 3.040796922641345, + -0.06169891729950905, + -0.07374222576618193, + 1.0 + ], + [ + 0.16538456082344055, + -0.1701049506664276, + 0.005330738611519337, + 3.0941937771909913, + -0.0887017175555229, + -0.11814244836568832, + 1.0 + ], + [ + 0.1642829030752182, + -0.16195045411586761, + 0.000905759516172111, + 3.123135760548063, + -0.10380779206752777, + -0.13556565344333651, + 1.0 + ], + [ + 0.17219673097133636, + -0.1498887538909912, + -0.0022384256590157747, + -3.136493188916244, + -0.11882299184799196, + -0.12478370219469069, + 1.0 + ], + [ + 0.18510186672210693, + -0.11971020698547363, + -0.0025321526918560266, + -3.109473457681485, + -0.11357995867729187, + -0.08303768932819368, + 1.0 + ], + [ + 0.20189623534679413, + -0.08996964991092682, + -0.0009446711046621203, + -3.0927143228524407, + -0.11991954594850542, + -0.04273006319999695, + 1.0 + ], + [ + 0.216927632689476, + -0.06603050976991653, + 0.00029262725729495287, + -3.0637345929914197, + -0.1320665329694748, + 0.0038700376171618704, + 1.0 + ], + [ + 0.22679279744625092, + -0.0454990491271019, + 0.0031747526954859495, + -3.0496951063447675, + -0.13281983137130737, + 0.042146097868680954, + 1.0 + ], + [ + 0.2293415367603302, + -0.03583404794335365, + 0.020189903676509857, + -3.0474536438756665, + -0.13116909563541412, + 0.05201006308197976, + 1.0 + ], + [ + 0.22231720387935638, + -0.036599189043045044, + 0.04351287707686424, + -3.031420277553149, + -0.1355941742658615, + 0.016286978498101234, + 1.0 + ], + [ + 0.2078808844089508, + -0.04814677685499191, + 0.05322849005460739, + -3.0367617552452764, + -0.11489640921354294, + -0.007558520417660474, + 1.0 + ], + [ + 0.19229155778884888, + -0.05555686727166176, + 0.0320153534412384, + -3.049813652532645, + -0.05100386217236519, + 0.002824487397447229, + 1.0 + ], + [ + 0.18712463974952698, + -0.05453275889158249, + -0.0007639997056685388, + -3.049103731411048, + -0.013491698540747166, + 0.025662308558821678, + 1.0 + ], + [ + 0.19244380295276642, + -0.04526130482554436, + -0.023893510922789574, + -3.0614529867940625, + -0.05570662394165992, + 0.05062131583690643, + 1.0 + ], + [ + 0.20664387941360474, + -0.03216036409139633, + -0.029049856588244438, + -3.0707768892222127, + -0.11785730719566344, + 0.10500363260507584, + 1.0 + ], + [ + 0.22400249540805817, + -0.020890209823846817, + -0.023770414292812347, + -3.10615452949936, + -0.1427854299545288, + 0.16141486167907712, + 1.0 + ], + [ + 0.24206122756004333, + -0.010846281424164772, + -0.02482631243765354, + -3.089886775361844, + -0.17262503504753113, + 0.20521888136863708, + 1.0 + ], + [ + 0.25801265239715576, + -0.0014875194756314158, + -0.0249957162886858, + -3.0814423655443868, + -0.19580093026161194, + 0.23969914019107819, + 1.0 + ], + [ + 0.2721208930015564, + 0.00441235164180398, + -0.023223089054226875, + -3.0768256058269223, + -0.22893042862415314, + 0.29681950807571406, + 1.0 + ], + [ + 0.27878785133361816, + 0.006708098575472832, + -0.01991175301373005, + -3.0810078923874578, + -0.24602040648460388, + 0.31314820051193243, + 1.0 + ], + [ + 0.2808147668838501, + 0.011086943559348583, + -0.01812194287776947, + -3.0960496832900724, + -0.23407456278800964, + 0.3533526062965393, + 1.0 + ], + [ + 0.2758849561214447, + 0.013145077042281628, + -0.013847027905285358, + -3.1035697927051267, + -0.19746750593185425, + 0.34537830948829656, + 1.0 + ], + [ + 0.2594888210296631, + 0.015856362879276276, + 0.012543749995529652, + -3.0975269508832177, + -0.16576549410820007, + 0.31614604592323303, + 1.0 + ], + [ + 0.24987484514713287, + 0.022161126136779785, + 0.03809478506445885, + -3.126550789112695, + -0.1490992307662964, + 0.34599199891090393, + 1.0 + ], + [ + 0.24703764915466309, + 0.026166485622525215, + 0.04412370175123215, + -3.1159480308466634, + -0.11232963204383849, + 0.32007947564125055, + 1.0 + ], + [ + 0.24699722230434418, + 0.026545405387878418, + 0.04412370175123215, + -3.1154293605410537, + -0.11221043765544891, + 0.3169839084148407, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "261", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/261/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2616.json b/annotation/test/2616.json new file mode 100644 index 0000000000000000000000000000000000000000..384e1a882e6015dc425c73ba63a35dace7aef815 --- /dev/null +++ b/annotation/test/2616.json @@ -0,0 +1,717 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put clothes in laundry machine" + ], + "videos": [ + { + "video_path": "videos/test/2616/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -6.983291701964515e-09, + 4.800147098414535e-09, + -0.001533968465209881, + 0.0 + ], + [ + -0.0050299837008801005, + 0.0035656719088124765, + 0.00493109185625341, + -0.01180067711489876, + -0.026833641964663917, + 0.008442424392030976, + 0.0 + ], + [ + -0.005242494612297602, + 0.010862472121541962, + -0.0009819559929282828, + -0.05153912177012089, + -0.03577619342878848, + 0.06079836096491216, + 0.0 + ], + [ + 0.0015969886929008566, + 0.020944137155356788, + -0.003919245923406322, + -0.06629432619490717, + 0.008760013228128529, + 0.13301925263128572, + 0.0 + ], + [ + 0.008867702336574981, + 0.023481999461665373, + -0.012241174087572453, + -0.06023859461532499, + 0.10315455151572964, + 0.20693993637121236, + 1.0 + ], + [ + 0.013232426972601333, + 0.01815192653440222, + -0.006069745336432208, + -0.08902991541225667, + 0.03914861849341827, + 0.12593921309563783, + 1.0 + ], + [ + 0.011372400855866284, + 0.011873099593190658, + 0.012454579757614544, + -0.0313823616457255, + -0.00677263897109141, + 0.060887236600156755, + 1.0 + ], + [ + 0.010573967201299947, + -0.00010473443039402302, + 0.012920816870712257, + 0.00417078563817701, + 0.03213618755224402, + -0.06826951522935894, + 1.0 + ], + [ + -0.0021119874033305092, + -0.0014279923844274331, + 0.016853071093186445, + 0.029625486519862684, + -0.014409860654769903, + 0.0024482179252852815, + 1.0 + ], + [ + 0.001714891408868527, + 0.0019159502227234667, + 0.01859943924815309, + 0.03123512938835363, + -0.015982372951939283, + -0.01435417289265442, + 1.0 + ], + [ + -0.0024798595404119223, + 0.004652036121558756, + 0.008799219953896164, + -0.004285968472825843, + -0.008836417343971364, + -0.010935681628260564, + 1.0 + ], + [ + -0.003993920914882112, + 0.005459582431119198, + 0.014913148169199223, + -0.030280086539094433, + -0.03209614322943376, + -0.04449561050324055, + 1.0 + ], + [ + 0.000732270307045808, + 0.00426139528222481, + 0.0028712470877542942, + 0.017804149794290448, + 0.003968627815524452, + 0.014055223280286733, + 1.0 + ], + [ + -0.009051169025698346, + 0.00772740081691647, + 0.006146205250165677, + 0.04501155244738067, + -0.017146964886692966, + -0.030434675057273767, + 1.0 + ], + [ + -0.0005511129584857945, + -7.968511066488183e-05, + -0.015151073387603938, + 0.0287948135814346, + 0.0553733082976143, + -0.023690270012477685, + 0.0 + ], + [ + 0.0049920995951787195, + -0.0072493480305477545, + -0.03213406579698862, + -0.016173982750972992, + 0.15347424386970684, + -0.09697333682320054, + 0.0 + ], + [ + 0.012309161339012895, + -0.005890794215224262, + -0.029011321532323248, + -0.022846703658452865, + 0.11538063941897625, + -0.0734136251754511, + 0.0 + ], + [ + 0.011618205757656666, + -0.0017881198472541405, + -0.023319077720213018, + -0.03259803395927663, + 0.07423853377925467, + -0.04086015705342283, + 0.0 + ], + [ + 0.0232118383173395, + -0.0013486714274528553, + -0.022827705870326932, + -0.02898302188753459, + 0.09624935999710195, + -0.04876692381685761, + 0.0 + ], + [ + 0.02809469163973416, + 0.0023172275115172494, + -0.01086346593803849, + -0.02868070506186915, + 0.05865684444242336, + -0.03167154850983145, + 0.0 + ], + [ + 0.015543924698297651, + 0.005872093302106207, + 0.011634458228900005, + -0.016145352747838678, + 0.026067995400288545, + -0.03178374266129534, + 0.0 + ], + [ + 0.009443846599807274, + 0.0033254747306944677, + 0.018963287796281657, + 0.01636876042470686, + 0.04069520664634594, + -0.005682836131524987, + 0.0 + ], + [ + 0.007336872245370348, + -0.0007755825109161013, + 0.014094503822165027, + 0.013530185962306263, + 0.030953780718017514, + -0.009043297949923057, + 0.0 + ], + [ + 4.2923418728634633e-05, + 0.0005884342847281689, + 0.014931344063061807, + 0.005712119641492616, + 0.019633969896789585, + -0.011198124823064787, + 0.0 + ], + [ + 0.005885984530623475, + 0.0013560744464792863, + 0.013414235630296539, + 0.02296343549781572, + 0.025692552300915522, + 0.013554368528606442, + 0.0 + ], + [ + 0.0035430186056605723, + -0.00010323746886401222, + 0.009913654482591771, + 0.02109267550261198, + 0.002902341263492045, + -0.007019384940172996, + 0.0 + ], + [ + -0.00036550278219298364, + -0.0017375781751655722, + 0.0016566790688155154, + 0.05218900949524103, + -0.010319337982349302, + 0.0017520649826892702, + 0.0 + ], + [ + -0.013289581551885978, + -0.0021158356168352243, + -0.0007962916974443759, + -0.011835689365402073, + -0.039793981823754085, + 0.014343617465897638, + 1.0 + ], + [ + -0.0038503410405835575, + -0.0010447394228809937, + -0.016436920723804146, + -0.02300687153889296, + 0.02346685159422111, + 0.029830996330075202, + 1.0 + ], + [ + -0.011228547120158687, + 0.0007114798670730856, + -0.013075742854064648, + -0.0241791979343775, + 0.0005898593487455959, + 0.021443555137385807, + 1.0 + ], + [ + -0.011736383192956702, + 0.0025242962062938536, + -0.02250715703223216, + -0.03358800956223032, + -0.02617594127705223, + 0.03217870017375308, + 1.0 + ], + [ + -0.011382387093222462, + 0.0015819808545630015, + -0.024710687551955553, + -0.03412427016245713, + -0.07500451938832749, + -0.014583705147827081, + 1.0 + ], + [ + -0.009029864049789647, + 0.00036498931215910615, + -0.012886551963956876, + 0.01540915771924091, + -0.07432883416211607, + -0.04326099358950786, + 1.0 + ], + [ + 0.006181731637868568, + 0.00018139811679396245, + -0.012684249161530462, + 0.0022212058354876235, + -0.04908512598786755, + -0.023810819160477056, + 1.0 + ], + [ + 0.008002001524515205, + -0.0008985278419724787, + -0.015008153960094169, + 0.0449103619917327, + -0.05097770630230891, + -0.014823838860110041, + 1.0 + ], + [ + -0.0005170953599722986, + -7.736280156247095e-05, + -8.605146853807148e-07, + 0.0004997640299524584, + -0.0032590743316457888, + -0.0036571486336268917, + 1.0 + ] + ], + "state": [ + [ + 0.2109503597021103, + 0.1519910991191864, + 0.04939064756035805, + -2.9005587120824536, + -0.07333291321992874, + 0.205854132771492, + 0.0 + ], + [ + 0.2109503597021103, + 0.1519910991191864, + 0.04939064756035805, + -2.900668429332324, + -0.07369900494813919, + 0.2073478102684021, + 0.0 + ], + [ + 0.20691846311092377, + 0.14880673587322235, + 0.04339614510536194, + -2.912248747544833, + -0.045626081526279456, + 0.20555214583873752, + 0.0 + ], + [ + 0.20406386256217957, + 0.13717800378799438, + 0.041645392775535583, + -2.961614193516322, + 0.0030889948830008507, + 0.15452927350997925, + 0.0 + ], + [ + 0.2089216709136963, + 0.11637033522129059, + 0.04174722358584404, + -3.0299030040674886, + 0.0181845985352993, + 0.022072298452258107, + 0.0 + ], + [ + 0.21850445866584778, + 0.09187580645084381, + 0.05113205313682556, + -3.0961070490353784, + -0.06187637522816659, + -0.1946081519126892, + 1.0 + ], + [ + 0.22758446633815765, + 0.07132278382778168, + 0.05717838183045387, + 3.105616172897168, + -0.09476923942565918, + -0.3226913809776306, + 1.0 + ], + [ + 0.23549532890319824, + 0.05569402500987053, + 0.04628899693489075, + 3.080100944387265, + -0.09001240879297255, + -0.38403046131134033, + 1.0 + ], + [ + 0.24607646465301514, + 0.05067460238933563, + 0.03438890352845192, + 3.078050138550349, + -0.11767370998859407, + -0.31345731019973755, + 1.0 + ], + [ + 0.2460792362689972, + 0.05104682967066765, + 0.01734815537929535, + 3.1080657747858247, + -0.10344772785902023, + -0.31683337688446045, + 1.0 + ], + [ + 0.24872693419456482, + 0.04750740900635719, + -0.0009004899184219539, + 3.13786834676797, + -0.08698330819606781, + -0.3029724657535553, + 1.0 + ], + [ + 0.24569939076900482, + 0.04354547709226608, + -0.009864556603133678, + 3.1326324195885142, + -0.07810104638338089, + -0.2920368611812591, + 1.0 + ], + [ + 0.24138657748699188, + 0.03900178149342537, + -0.024994490668177605, + 3.0989049543910703, + -0.04553137347102165, + -0.24780791997909546, + 1.0 + ], + [ + 0.2411399632692337, + 0.03454611822962761, + -0.027645153924822807, + 3.117345092939683, + -0.05009178444743157, + -0.2616982758045197, + 1.0 + ], + [ + 0.23065884411334991, + 0.029201695695519447, + -0.0340479277074337, + -3.1223244929038962, + -0.03218952193856239, + -0.23167736828327182, + 1.0 + ], + [ + 0.22959944605827332, + 0.029233550652861595, + -0.018923716619610786, + -3.0942357425862035, + -0.08800069242715836, + -0.2090066820383072, + 0.0 + ], + [ + 0.23286172747612, + 0.03438887745141983, + 0.013830709271132946, + -3.118143117176839, + -0.24552775919437408, + -0.11780980229377747, + 0.0 + ], + [ + 0.23829694092273712, + 0.038990870118141174, + 0.045090168714523315, + 3.1239367128633937, + -0.36195188760757446, + -0.04273926094174385, + 0.0 + ], + [ + 0.24100913107395172, + 0.041076432913541794, + 0.07097943127155304, + 3.074844719963618, + -0.43511149287223816, + 0.0036363541148602962, + 0.0 + ], + [ + 0.25248485803604126, + 0.04398642107844353, + 0.1013365089893341, + 3.0187951197200498, + -0.5271582007408142, + 0.0671146884560585, + 0.0 + ], + [ + 0.27122145891189575, + 0.044274505227804184, + 0.12503361701965332, + 2.96675360401208, + -0.5810464024543762, + 0.11325497180223465, + 0.0 + ], + [ + 0.2907048463821411, + 0.038633864372968674, + 0.12484262883663177, + 2.9268214126401624, + -0.600762367248535, + 0.15668852627277374, + 0.0 + ], + [ + 0.3094864785671234, + 0.034220028668642044, + 0.11548209190368652, + 2.9330092688375196, + -0.63923978805542, + 0.17440596222877502, + 0.0 + ], + [ + 0.32385602593421936, + 0.03455878049135208, + 0.10866390913724899, + 2.9348716904693326, + -0.6675615310668945, + 0.1938277631998062, + 0.0 + ], + [ + 0.3333943486213684, + 0.03272101283073425, + 0.09730890393257141, + 2.928590254979678, + -0.6843893527984619, + 0.21317191421985626, + 0.0 + ], + [ + 0.34665602445602417, + 0.03133413940668106, + 0.09109359979629517, + 2.9580175151401242, + -0.7123409509658812, + 0.20284901559352875, + 0.0 + ], + [ + 0.3558788597583771, + 0.0314871221780777, + 0.0860181599855423, + 2.9726882745795926, + -0.7138893008232118, + 0.21268108487129211, + 0.0 + ], + [ + 0.35653823614120483, + 0.03309693560004234, + 0.08432373404502869, + 3.027842993038245, + -0.7040061950683593, + 0.20813965797424316, + 0.0 + ], + [ + 0.34582480788230896, + 0.03307518735527992, + 0.07614169269800186, + 3.031386861699172, + -0.6659525632858277, + 0.18428635597229004, + 1.0 + ], + [ + 0.33247432112693787, + 0.033481843769550323, + 0.08651898056268692, + 3.03011395980651, + -0.6922636032104493, + 0.1491314917802811, + 1.0 + ], + [ + 0.3155633211135864, + 0.03169699385762215, + 0.08941620588302612, + 3.0236155857616147, + -0.6950476169586182, + 0.12146839499473572, + 1.0 + ], + [ + 0.29220137000083923, + 0.02898869663476944, + 0.0992940217256546, + 3.0187363644414624, + -0.6723380684852599, + 0.07669287919998169, + 1.0 + ], + [ + 0.26786088943481445, + 0.028580760583281517, + 0.1115436777472496, + 2.9803032000833234, + -0.5961023569107056, + 0.08303659409284592, + 1.0 + ], + [ + 0.25312331318855286, + 0.02906930446624756, + 0.1170482262969017, + 2.975500764446803, + -0.5154894590377808, + 0.1182633712887764, + 1.0 + ], + [ + 0.2520994544029236, + 0.030879320576786995, + 0.13100574910640717, + 2.9690753539376935, + -0.46307891607284546, + 0.13541075587272647, + 1.0 + ], + [ + 0.25224989652633667, + 0.03439332917332649, + 0.14767047762870789, + 3.0109145959192, + -0.41030558943748474, + 0.14177623391151425, + 1.0 + ], + [ + 0.25177326798439026, + 0.034402891993522644, + 0.14745575189590454, + 3.0100240280204495, + -0.40659552812576294, + 0.14526166021823883, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.9221144318580627, + 0.9340820014476776, + 0.9269806668162346, + 0.7870345562696457, + 0.5496259033679962, + 0.2552419900894165, + 0.0225980281829834, + 0.0072438716888427734, + 0.0072438716888427734, + 0.0072438716888427734, + 0.0072438716888427734, + 0.0072438716888427734, + 0.021884262561798096, + 0.11464011669158936, + 0.38607221841812134, + 0.6513766944408417, + 0.8376581221818924, + 0.9118092358112335, + 0.9114522784948349, + 0.9026206582784653, + 0.899947389960289, + 0.899947389960289, + 0.8991753980517387, + 0.8991753980517387, + 0.8991753980517387, + 0.8991753980517387, + 0.879532054066658, + 0.7049100697040558, + 0.43697023391723633, + 0.1482418179512024, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709 + ], + "episode_id": "2616", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2616/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2619.json b/annotation/test/2619.json new file mode 100644 index 0000000000000000000000000000000000000000..fbcb69f33cd08c743a4b347dddd1fa09714b97e0 --- /dev/null +++ b/annotation/test/2619.json @@ -0,0 +1,736 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put knife on cutting board cardboard fence" + ], + "videos": [ + { + "video_path": "videos/test/2619/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 3.654336462419529e-10, + -6.008065228651676e-09, + -0.0015339798707406365, + 1.0 + ], + [ + -0.006834518355795056, + 0.0022106941463922542, + 0.011796755689707695, + -0.015348528046268876, + -0.03561843094508512, + 0.01832963522163432, + 1.0 + ], + [ + -0.01101852559126498, + 0.006170202644865221, + -0.0019821876835047023, + -0.08731321879163421, + 0.09749610727264503, + 0.15930693414505986, + 1.0 + ], + [ + -0.016685011914374204, + 0.00974141103760391, + -0.003441754722380446, + -0.12959985903866086, + 0.0495733393623943, + 0.15304343850753518, + 1.0 + ], + [ + -0.02308657935480631, + 0.008872613928892886, + 0.007166660856612747, + -0.14995128742545638, + -0.012485358530918436, + 0.04284350857665872, + 1.0 + ], + [ + -0.028181124267079707, + 0.002000324982936862, + 0.015616556965965993, + -0.004835991023677492, + -0.08289778899059345, + -0.07082861040565244, + 1.0 + ], + [ + -0.018992564555594355, + 0.005078432037962754, + 0.011774254098659226, + 0.11600659181938404, + 0.005976812885001206, + -0.015442309491801, + 1.0 + ], + [ + -0.0140031971634741, + -0.0004506126527227885, + 0.014691689978437153, + 0.11996210190471888, + 0.029662905333506906, + 0.013549991946673407, + 1.0 + ], + [ + -0.000432629372550696, + -0.006174486181414789, + 0.006383179155379401, + 0.12244947866196247, + 0.06753670264513086, + 0.05196294609054742, + 1.0 + ], + [ + -1.76888973531043e-05, + -0.002619726699636525, + 0.010097119934625472, + -0.03369970658073251, + -0.08484005012943603, + -0.007919705265714014, + 1.0 + ], + [ + 0.0038037437299843343, + -0.0046684384029534245, + 0.005976906109854463, + -0.020953361842548857, + -0.04280435571041556, + -0.04171819118064048, + 1.0 + ], + [ + 0.0011973750472827076, + 0.0002741972938776565, + 0.004824326614485777, + -0.02810033361130953, + -0.0491135587643705, + -0.051896341879371054, + 1.0 + ], + [ + 0.0004702887664210839, + -0.0005919135945328538, + 0.003446484345031168, + 0.0017977844746868716, + 0.004453601502391021, + -0.02702167118062316, + 1.0 + ], + [ + -0.0017120957876563755, + 0.0016955716596652255, + 0.012241966810196452, + 0.007726598630839751, + 0.0035815785499995296, + 0.0015113759502474887, + 1.0 + ], + [ + 0.00011439750607098279, + 0.0017846496485313796, + 0.015052952026823893, + 0.02455693050887053, + -0.007651418824894222, + 0.012752578930142104, + 1.0 + ], + [ + -0.000555617529756879, + 0.002310389709969462, + 0.004327405044317437, + -0.0004231344619996125, + -0.007352648833223106, + -0.012586309890323302, + 1.0 + ], + [ + -0.002661745667098456, + 0.0035863165332705145, + 0.0005159512215309217, + -0.010864995894951886, + -0.016253581921726625, + -0.023278248873109482, + 1.0 + ], + [ + -0.003381591640977137, + 0.004305316596370187, + 0.0010768811478746743, + -0.006315055734825083, + -0.01855054589816187, + -0.0034922737414453415, + 1.0 + ], + [ + -0.0022919610570779556, + 0.0017864199633441538, + 0.0007281617652275816, + -0.004960596285536525, + -0.009958603292123738, + 0.00028263385684350843, + 1.0 + ], + [ + 0.0004372927620151543, + -0.00047844936022766306, + 0.0010111732602522453, + -0.0025902506430779335, + 0.004586030029950792, + -0.0050860130767293125, + 0.0 + ], + [ + -0.0008704919479390686, + -0.00045467691191061543, + -0.0010758375668722933, + -0.0007437558543108793, + 0.014064921938606551, + 0.015832043758852107, + 0.0 + ], + [ + 0.0014258427927316152, + 0.0034246539370722646, + -0.019171669897089218, + -0.010292942201287753, + 0.07972336820401019, + 0.06350516055237194, + 0.0 + ], + [ + 0.0027156778316708512, + -0.0013361191409734228, + -0.015754920891158486, + -0.031695015245588376, + 0.05417629062206689, + -0.0024680342366687597, + 0.0 + ], + [ + 0.012089039725251991, + -0.012683305571545064, + -0.008852553742756489, + 0.007978813566859966, + 0.051245640964654594, + -0.13914839218302183, + 0.0 + ], + [ + 0.020815683303631868, + -0.021974986870378525, + -0.004662237621624629, + -0.02600194889211371, + -0.06533248779829115, + -0.26790343399860195, + 0.0 + ], + [ + 0.01085791627771897, + -0.011995755255968904, + 0.002596186066877287, + 0.011575611758477393, + -0.01545246178018662, + -0.17667801270142516, + 0.0 + ], + [ + 0.0023931772690223424, + -0.004927456493524301, + 0.01317882838363633, + 0.021034641986674093, + -0.013974307836007994, + -0.04773199958872719, + 0.0 + ], + [ + 0.0013836039310742977, + -0.00376215743749221, + 0.008082199836912175, + 0.009848024774203188, + -0.0011641989339512306, + 0.014918111122575418, + 0.0 + ], + [ + -0.0011979532296491058, + -0.003394659560036737, + 0.009016807590045743, + 0.022492514247263375, + -0.011353662070429116, + 0.013901532246246521, + 0.0 + ], + [ + -0.0010949610258432618, + -0.0014997313985586334, + 0.002843519750592667, + 0.006689363702040514, + -0.011506779022088003, + 0.003310120774952218, + 0.0 + ], + [ + -0.00026911919926212607, + -0.0009287284845169812, + -0.0025068738774937627, + 0.01732971209349083, + 0.007067727032058333, + 0.02377718104925489, + 0.0 + ], + [ + -0.0015800662695690014, + 0.006018513649746751, + -0.010835588217212328, + -0.01901881087322919, + 0.053001745101804505, + 0.031931403869099706, + 1.0 + ], + [ + 0.00025444800723304777, + 0.012173072393662231, + -0.0164642104300044, + 0.027729653855087, + 0.031202974623927078, + 0.10085668770966119, + 1.0 + ], + [ + 0.007929288681072582, + 0.011959054986820821, + -0.01572560208738285, + -0.021001218646653105, + -0.027834715285538315, + 0.0987564745546383, + 1.0 + ], + [ + 0.010150488292597891, + 0.008487201172449752, + -0.017703290617289424, + -0.01409710447533374, + -0.03138991752505819, + 0.08032246518410284, + 1.0 + ], + [ + -0.0011328479888120329, + 0.0011683989196009479, + -0.0002224167370705192, + -0.002848377534895626, + -0.009249892015608715, + 0.0078658446362636, + 1.0 + ], + [ + -0.00041268599503708076, + 0.0004107302610666815, + 0.0003737685413746674, + -0.00038649293895429436, + -0.0016952055474700964, + 0.00129766196428775, + 1.0 + ] + ], + "state": [ + [ + 0.296552836894989, + 0.02856881357729435, + 0.13815857470035553, + 3.1336811521374663, + -0.1280680000782013, + 0.04444306343793869, + 1.0 + ], + [ + 0.296552836894989, + 0.02856881357729435, + 0.13815857470035553, + 3.1334836335205516, + -0.12805570662021637, + 0.045989658683538444, + 1.0 + ], + [ + 0.291390061378479, + 0.026022490113973618, + 0.12560376524925232, + 3.120519073801585, + -0.09256485849618912, + 0.027303431183099747, + 1.0 + ], + [ + 0.28039494156837463, + 0.01959286257624626, + 0.12668801844120026, + 3.048112655180045, + -0.19222663342952725, + -0.13208836317062378, + 1.0 + ], + [ + 0.2621036767959595, + 0.012563057243824005, + 0.12775659561157227, + 2.9484897275739392, + -0.2536705434322357, + -0.28450581431388855, + 1.0 + ], + [ + 0.23910817503929138, + 0.008782509714365005, + 0.1168026551604271, + 2.810221882658549, + -0.24938057363033297, + -0.3303670883178711, + 1.0 + ], + [ + 0.2143094390630722, + 0.00991609413176775, + 0.09616793692111969, + 2.7945058067613324, + -0.1477653831243515, + -0.2901678085327148, + 1.0 + ], + [ + 0.19511516392230988, + 0.006483613047748804, + 0.08412887901067734, + 2.908091353374072, + -0.14811280369758606, + -0.27343010902404785, + 1.0 + ], + [ + 0.18302591145038605, + 0.006798795890063047, + 0.06782277673482895, + 3.0289010276370725, + -0.18010275065898892, + -0.27984747290611267, + 1.0 + ], + [ + 0.18532471358776093, + 0.011774942278862, + 0.06082206964492798, + -3.123838896053382, + -0.2528733313083649, + -0.3252086341381073, + 1.0 + ], + [ + 0.18858499825000763, + 0.013629009015858173, + 0.051088206470012665, + 3.123317480208822, + -0.16817604005336761, + -0.3156798183917999, + 1.0 + ], + [ + 0.19452941417694092, + 0.016482951119542122, + 0.04574918746948242, + 3.0954602268808564, + -0.12447553873062132, + -0.2744704484939575, + 1.0 + ], + [ + 0.19611293077468872, + 0.015521381981670856, + 0.0411284863948822, + 3.061191829042979, + -0.0728692039847374, + -0.22482700645923615, + 1.0 + ], + [ + 0.19688718020915985, + 0.015665601938962936, + 0.037689078599214554, + 3.0610264634066304, + -0.0751112774014473, + -0.1974579095840454, + 1.0 + ], + [ + 0.19557608664035797, + 0.013199596665799618, + 0.02552882209420204, + 3.0688443054729184, + -0.07880281656980516, + -0.19867992401123047, + 1.0 + ], + [ + 0.1962692141532898, + 0.010128331370651722, + 0.010700594633817673, + 3.0944532362096986, + -0.07209156453609467, + -0.21198914945125583, + 1.0 + ], + [ + 0.19549567997455597, + 0.0077255601063370705, + 0.006457791198045015, + 3.0931499396734914, + -0.06414861232042313, + -0.1997384577989578, + 1.0 + ], + [ + 0.1921979933977127, + 0.004712873604148626, + 0.005946180783212185, + 3.0808492695265493, + -0.04677078127861023, + -0.17725323140621185, + 1.0 + ], + [ + 0.18814119696617126, + 0.0010073863668367267, + 0.004975432064384222, + 3.074413554864474, + -0.02804232016205788, + -0.17489314079284665, + 1.0 + ], + [ + 0.1855831891298294, + -0.00040025709313340485, + 0.004304807633161545, + 3.069476308422633, + -0.018125141039490696, + -0.1758437752723694, + 1.0 + ], + [ + 0.18610301613807678, + -8.193958638003096e-05, + 0.0032698854338377714, + 3.066788399713584, + -0.02233252115547657, + -0.17043924331665036, + 0.0 + ], + [ + 0.18531303107738495, + 0.0005956799723207951, + 0.004289036616683006, + 3.0663746689730367, + -0.037538841366767876, + -0.18518461287021637, + 0.0 + ], + [ + 0.1856352835893631, + -0.0014733063289895654, + 0.023703712970018387, + 3.0581323524289807, + -0.12174426764249802, + -0.24273955821990967, + 0.0 + ], + [ + 0.18704991042613983, + 0.0009011340443976223, + 0.039506830275058746, + 3.0254555513435086, + -0.1755230575799942, + -0.2356607913970947, + 0.0 + ], + [ + 0.20056167244911194, + 0.011667581275105476, + 0.04882856458425522, + 3.00885662634904, + -0.20850802958011627, + -0.08843196928501129, + 0.0 + ], + [ + 0.2224719226360321, + 0.032211530953645706, + 0.05481323227286339, + 2.934002013998576, + -0.10185480117797852, + 0.16889926791191098, + 0.0 + ], + [ + 0.2317390888929367, + 0.04515665024518967, + 0.05093042552471161, + 2.9313759823613843, + -0.04902924597263336, + 0.3386986553668976, + 0.0 + ], + [ + 0.2339494824409485, + 0.04812886565923691, + 0.037147510796785355, + 2.9504490365558347, + -0.025358311831951138, + 0.3824696838855743, + 0.0 + ], + [ + 0.23463071882724762, + 0.050729162991046906, + 0.02853562869131565, + 2.960695417719432, + -0.027046576142311096, + 0.36759665608406067, + 0.0 + ], + [ + 0.2331354022026062, + 0.051993269473314285, + 0.01902628131210804, + 2.983623834448405, + -0.018375780433416367, + 0.351877361536026, + 0.0 + ], + [ + 0.23180392384529114, + 0.05260561779141426, + 0.0159626342356205, + 2.990398036437579, + -0.007532763760536909, + 0.3467983901500702, + 0.0 + ], + [ + 0.2310938686132431, + 0.053726740181446075, + 0.018298931419849396, + 3.0079313685470304, + -0.018098976463079456, + 0.3243542313575745, + 0.0 + ], + [ + 0.23083923757076263, + 0.04887158423662186, + 0.029809435829520226, + 2.9892101754718503, + -0.07487702369689941, + 0.29974591732025146, + 1.0 + ], + [ + 0.2326013445854187, + 0.03943843021988869, + 0.04789891466498375, + 3.0247039293223104, + -0.12066650390625001, + 0.2041715979576111, + 1.0 + ], + [ + 0.2403404712677002, + 0.030784346163272858, + 0.06574267894029617, + 3.0165010412507733, + -0.1038980856537819, + 0.10231621563434601, + 1.0 + ], + [ + 0.24909651279449463, + 0.025438589975237846, + 0.08531884104013443, + 3.011471288400241, + -0.082399383187294, + 0.018448006361722946, + 1.0 + ], + [ + 0.24795791506767273, + 0.02428772859275341, + 0.0855964794754982, + 3.009365366893359, + -0.07424496114253998, + 0.009423892013728617, + 1.0 + ], + [ + 0.24757415056228638, + 0.02382766827940941, + 0.0852503851056099, + 3.0090911259227475, + -0.07273555546998978, + 0.007910056971013546, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.014829039573669434, + 0.08342474699020386, + 0.3569498062133789, + 0.5262376368045807, + 0.5024297535419464, + 0.49569541215896606, + 0.49569541215896606, + 0.49569541215896606, + 0.49569541215896606, + 0.49569541215896606, + 0.49569541215896606, + 0.49569541215896606, + 0.49569541215896606, + 0.42306244373321533, + 0.13925951719284058, + 0.0, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938 + ], + "episode_id": "2619", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2619/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2632.json b/annotation/test/2632.json new file mode 100644 index 0000000000000000000000000000000000000000..c9c516fb4357f247a922fdc44c641519aa0fb40c --- /dev/null +++ b/annotation/test/2632.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "wipe pot with sponge" + ], + "videos": [ + { + "video_path": "videos/test/2632/rgb.mp4" + } + ], + "action": [ + [ + -0.00028327075354332227, + 0.000526976784920543, + 0.00039334970447851744, + -0.00016470806942135152, + -0.0015711932424482724, + 0.0014868824398157137, + 1.0 + ], + [ + -0.002757822877497873, + 0.00221644485751068, + 0.011901134042997726, + -0.017688173284093275, + -0.05283855704755955, + -0.004601230221520326, + 1.0 + ], + [ + 0.0025673003778389054, + 0.008336954409793623, + -0.01980575712580821, + -0.06769215639199107, + 0.0019896525871123173, + -0.012635191458616772, + 1.0 + ], + [ + 0.006470270511957245, + 0.010980812697321953, + -0.0018067121173304258, + -0.04627967657306754, + -0.008030573212890387, + -0.016006132955967856, + 1.0 + ], + [ + 0.004057953725849961, + 0.020828193484695386, + 0.01748913241529634, + 0.0018597118260545301, + 0.023830923385143383, + 0.020065256881313144, + 1.0 + ], + [ + 0.006204504028340407, + 0.006418603861893474, + 0.013969363232827695, + 0.005770968887759698, + 0.007502017680510843, + -0.01904699492255107, + 1.0 + ], + [ + -0.002811599245103361, + 0.0029398242139781552, + 0.012561478250815763, + -0.010695169384322434, + -0.004504271805299354, + -0.000684327300435734, + 1.0 + ], + [ + -0.006006755747184645, + 0.011776989200648388, + 0.016978983843430544, + -0.0015760096221295586, + -0.005876893651915702, + 0.024267585981746366, + 1.0 + ], + [ + -0.0038087320862193867, + 0.002437298680562251, + 0.009646908041087927, + -0.016891514035202834, + -0.005908084189343538, + -0.007780837987732415, + 1.0 + ], + [ + 0.00022678756277446437, + 0.001354042146268064, + 0.0021396589128792, + -0.011550896868720186, + 0.005490091070563375, + -0.011631485494859138, + 1.0 + ], + [ + 0.0012826541490185705, + -0.0019166694953864924, + 7.478888468623875e-05, + 0.015204097650279224, + 0.008796259985096842, + -0.01756526760070607, + 1.0 + ], + [ + 0.001122207240077997, + -0.0002090351457163759, + 0.0003519237551227345, + 0.0006827217431240957, + 0.00781747283437321, + -0.01662741054933176, + 1.0 + ], + [ + -0.0013696892422665307, + -0.0021178195616893057, + 0.00247775377811503, + 0.00974302170196776, + -0.003348046825231179, + -0.003290854962658592, + 0.0 + ], + [ + -0.0003768437999792767, + -0.0003962005370653289, + -0.010971493526233663, + -0.016271407562341064, + -0.02778473331799798, + -0.010123825411853308, + 0.0 + ], + [ + 0.005906087361224818, + -0.020139912129038758, + -0.038382573403519936, + -0.06890784531185302, + -0.02601416618437481, + -0.005729882766325505, + 0.0 + ], + [ + -0.0025716038582124655, + -0.03734872526794094, + -0.03478974914413099, + -0.026158345942008786, + 0.004712869150778114, + 0.006783618546524977, + 0.0 + ], + [ + -0.008548144911157279, + -0.044004722784037296, + -0.028931589291037403, + 0.005007122885212243, + 0.005688763521973745, + 0.018300782725106365, + 0.0 + ], + [ + 0.0008064646867461723, + -0.013160454598491543, + -0.007893011789292585, + 0.010425856912182835, + 0.010750819822249387, + 0.03530692276007228, + 0.0 + ], + [ + 0.006409453777309871, + -0.005673800637871722, + 0.018619758063187608, + -0.007230595380372984, + 0.007743072879638086, + -0.012235587981035011, + 0.0 + ], + [ + 0.0034017568003560186, + 0.0015338076974190029, + 0.008946708585262534, + -0.03580488975012617, + -0.02228147997878855, + -0.0078755262998942, + 0.0 + ], + [ + 0.005784714530681018, + -0.005807356857522003, + 0.0043578782256972195, + 0.027739749343255276, + 0.01213366071816135, + -0.008484938841457306, + 0.0 + ], + [ + 0.000781167185627253, + -0.017976119032604595, + 0.002433447509371055, + 0.06574016707588619, + -0.005407485078073015, + -0.017167544404963316, + 0.0 + ], + [ + -0.0016235042401541028, + -0.03042846021955989, + -0.004160594540759033, + 0.06655737099737513, + -0.002247774732331676, + 0.010998516456288588, + 0.0 + ] + ], + "state": [ + [ + 0.34108400344848633, + 0.018478186801075935, + 0.1694304198026657, + 3.1156185177438935, + -0.05817069485783577, + 0.018153168261051178, + 1.0 + ], + [ + 0.34083306789398193, + 0.017936527729034424, + 0.16903506219387054, + 3.115542737888642, + -0.056638579815626144, + 0.01662353053689003, + 1.0 + ], + [ + 0.3387921452522278, + 0.015376566909253597, + 0.15705856680870056, + 3.0976358858221253, + -0.0036978251300752163, + 0.0198411475867033, + 1.0 + ], + [ + 0.3414323925971985, + 0.007968906313180923, + 0.1772208958864212, + 3.0299001951986035, + -0.005130048841238023, + 0.03255171328783035, + 1.0 + ], + [ + 0.3482322692871094, + -0.002526358235627413, + 0.18027342855930328, + 2.9835525323920926, + 0.004635048098862172, + 0.04756256192922592, + 1.0 + ], + [ + 0.353329598903656, + -0.0256312545388937, + 0.16626159846782684, + 2.9853130747848233, + -0.022057248279452324, + 0.031499952077865594, + 1.0 + ], + [ + 0.3600798547267914, + -0.03393740952014923, + 0.15360145270824432, + 2.990670221047946, + -0.02649908885359764, + 0.051489140838384635, + 1.0 + ], + [ + 0.35783666372299194, + -0.03885440155863762, + 0.14155447483062744, + 2.9799735267930707, + -0.02194312959909439, + 0.05148846656084061, + 1.0 + ], + [ + 0.352903813123703, + -0.05348337069153786, + 0.1265636533498764, + 2.9789915551715573, + -0.020040657371282578, + 0.02658664248883724, + 1.0 + ], + [ + 0.34938544034957886, + -0.05754518136382103, + 0.1173640638589859, + 2.961966173844882, + -0.012950454838573934, + 0.03330882266163826, + 1.0 + ], + [ + 0.34969329833984375, + -0.05925040692090988, + 0.11550384014844894, + 2.950265633063861, + -0.016273165121674534, + 0.04573556408286095, + 1.0 + ], + [ + 0.3508961796760559, + -0.057325925678014755, + 0.1150868684053421, + 2.9651890118890485, + -0.02156597562134266, + 0.06465698033571243, + 1.0 + ], + [ + 0.3520147204399109, + -0.05710916966199875, + 0.11472801119089127, + 2.9655116518312177, + -0.026340952143073082, + 0.08240406215190887, + 1.0 + ], + [ + 0.35058802366256714, + -0.055570341646671295, + 0.11188248544931412, + 2.9751843978934964, + -0.022468114271759987, + 0.08505819737911224, + 0.0 + ], + [ + 0.34978431463241577, + -0.053422797471284866, + 0.12262561172246933, + 2.958729686337062, + 0.006609947420656682, + 0.09043658524751663, + 0.0 + ], + [ + 0.3534715473651886, + -0.026194699108600616, + 0.156666100025177, + 2.889765294390269, + 0.03323223441839218, + 0.09133946895599365, + 0.0 + ], + [ + 0.34762904047966003, + 0.018297260627150536, + 0.18112418055534363, + 2.8634285052591046, + 0.026977237313985825, + 0.08594226837158203, + 0.0 + ], + [ + 0.3352245092391968, + 0.06767231225967407, + 0.19708523154258728, + 2.868035139637538, + 0.01647864654660225, + 0.06990542262792587, + 0.0 + ], + [ + 0.33506137132644653, + 0.08250059187412262, + 0.20111550390720367, + 2.8780681510740003, + -0.0034174157772213225, + 0.0388195626437664, + 0.0 + ], + [ + 0.34150803089141846, + 0.08337920904159546, + 0.18168261647224426, + 2.870808007317134, + -0.007705781143158674, + 0.05264988914132118, + 0.0 + ], + [ + 0.34517186880111694, + 0.07969586551189423, + 0.17349864542484283, + 2.8349220176511487, + 0.015870269387960434, + 0.05427715927362442, + 0.0 + ], + [ + 0.3506247401237488, + 0.08421917259693146, + 0.1674998700618744, + 2.8628468235307416, + 0.0068630510941147796, + 0.06602897495031357, + 0.0 + ], + [ + 0.3502581715583801, + 0.10084391385316849, + 0.1602090299129486, + 2.928718151646205, + 0.01678452827036381, + 0.08104763925075531, + 0.0 + ], + [ + 0.3461216986179352, + 0.13122940063476562, + 0.15787465870380402, + 2.9951001723581037, + 0.016656897962093353, + 0.06982094794511795, + 0.0 + ] + ], + "continuous_gripper_state": [ + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016, + 0.08589577674865723, + 0.3760365843772888, + 0.6296481192111969, + 0.7876514941453934, + 0.8697924017906189, + 0.899947389960289, + 0.8972294926643372, + 0.8900330141186714, + 0.8883927315473557, + 0.8875669464468956, + 0.8871526569128036, + 0.8871526569128036, + 0.8875669464468956 + ], + "episode_id": "2632", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2632/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2643.json b/annotation/test/2643.json new file mode 100644 index 0000000000000000000000000000000000000000..2db001e38b96bcf1c5c30605a1bf149ff678e626 --- /dev/null +++ b/annotation/test/2643.json @@ -0,0 +1,926 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Put the chicken in the pot." + ], + "videos": [ + { + "video_path": "videos/test/2643/rgb.mp4" + } + ], + "action": [ + [ + -0.00023638877677831946, + 5.728969913446738e-05, + -1.86464454892774e-07, + -0.00035901242671799186, + -0.0014913821342786668, + -0.0015337165637568095, + 1.0 + ], + [ + -0.0026397673896962227, + 0.0016916432884934718, + 0.008418570804591616, + -0.01124492061488216, + -0.030343336165926615, + -0.0013349139281027096, + 1.0 + ], + [ + 0.028074412448192424, + -0.0025777150610315058, + 0.010630599705826398, + -0.01582433104177113, + -0.011425080620077141, + 0.00468066298245571, + 1.0 + ], + [ + 0.025622078424866027, + -0.004240887985060547, + -0.005835276550565724, + 0.0004366583862536466, + 0.01748149334565912, + -0.012302883303614733, + 1.0 + ], + [ + 0.018694061533328525, + -0.0017747527950315142, + -0.00904509499981582, + 0.007698666682831403, + 0.025435474035810198, + -0.010813887363199713, + 1.0 + ], + [ + 0.01829098848627072, + 0.0025229473248826965, + 0.010483025543294347, + 0.014474231069369051, + -0.0201039527047591, + 0.006800181151716151, + 1.0 + ], + [ + 0.0065548164047037226, + 0.0012473534149624178, + 0.01900056953427087, + 0.020711169928611422, + -0.031221389049845047, + -0.006903016448549343, + 1.0 + ], + [ + 0.009948876464248222, + -0.0007760112145044274, + 0.01025596459921285, + 0.00021882792410338398, + 0.007752367035584275, + -0.02663199147152588, + 1.0 + ], + [ + 0.012711895941985137, + 0.0006294400206802378, + 0.0034391250955118254, + 0.0018444727664220513, + 0.012632062045301104, + -0.013823734367395965, + 1.0 + ], + [ + 0.0051913389102572274, + 0.00455203320801927, + 0.008602037075531598, + 0.0007623472932328575, + -0.009616005965015842, + 0.002402473518227586, + 1.0 + ], + [ + 0.005592626294674568, + -0.00029104094469063985, + 0.00471208433332132, + 0.0003046721187101211, + 0.003044704826421052, + -0.004744948430475911, + 1.0 + ], + [ + 0.0036462686877243963, + 0.000434969390909104, + 0.0010417742975330957, + -0.00836009820802388, + 0.005049505481764413, + -0.0016394434517195847, + 1.0 + ], + [ + 0.0013956803817514831, + -0.0015264779424918132, + 0.002047702671150974, + 0.005023148789267462, + -0.005110355525950741, + -0.006116124325752456, + 1.0 + ], + [ + -0.001532524301444969, + -0.0028343392751718284, + 0.003363827805788544, + 0.019773197035740202, + -0.010323871806283028, + -0.00320780824317029, + 0.0 + ], + [ + -0.000474859153453817, + -0.0018775106384125793, + 0.00030152983608932286, + 0.001500527483143539, + 0.007120199016495525, + -0.003242600640851359, + 0.0 + ], + [ + -0.005285162716567462, + -0.0038020715008586356, + -0.0011086671219508522, + -0.02459277516225154, + 0.016511442071003267, + -0.0030982179095039863, + 0.0 + ], + [ + -0.008537191472900716, + -0.006111863947318153, + -0.005144224332610609, + -0.03398680265325861, + 0.010875815323944492, + -0.0033348445475299424, + 0.0 + ], + [ + -0.009895684445365597, + 0.002524917938257461, + -0.03183455467117687, + -0.02934620574544612, + 0.06287098560356058, + -0.015181861084449208, + 0.0 + ], + [ + -0.006587701312927321, + 0.0036358230732048383, + -0.02739510322448873, + -0.018514305677648755, + 0.04726307610369825, + 0.009429078586585276, + 0.0 + ], + [ + -0.013138556050539804, + 0.006385150788390053, + -0.02672324517925895, + -0.026213144576571125, + 0.023387321519872807, + 0.011351549342169693, + 0.0 + ], + [ + -0.020114454256577312, + 0.011416652920376318, + -0.019804732222203036, + -0.02847954436024443, + -0.0023624898143358173, + 0.0260175945867909, + 0.0 + ], + [ + -0.026581011845578262, + 0.01548822932595419, + 0.0014372958674918922, + -0.009277096429779938, + -0.04645405189678179, + 0.03689992675268629, + 0.0 + ], + [ + -0.02574158819074506, + 0.013285006474649103, + 0.017540851066698435, + 0.013921214299800769, + -0.06867813849351583, + 0.03391500490995647, + 0.0 + ], + [ + -0.012870944323062336, + 0.011534730215422194, + 0.015483529675567055, + 0.011606866835792077, + -0.03239915435853944, + 0.02697806067596551, + 0.0 + ], + [ + -0.007854422340214974, + 0.007006467814097163, + 0.017360099582013757, + 0.01894116573666822, + -0.04453769737470878, + 0.025139709713138905, + 0.0 + ], + [ + -0.0023347336963430334, + 0.0009480162486778087, + 0.011288532759536557, + 0.0259815871950578, + -0.021992988025789893, + 0.005018702269516836, + 0.0 + ], + [ + -0.00022376224356554568, + -0.002980187310615241, + 0.00035837511481633707, + 0.018763107637751783, + -0.002226155295249439, + -0.0027633673613230952, + 1.0 + ], + [ + -0.002452299060200431, + -0.0006514029820330823, + -0.0017823533488062228, + -0.0035717016560903527, + -0.012235869188476441, + 0.003774172081154146, + 1.0 + ], + [ + -0.0005788418954367013, + -0.006624069735346024, + -0.008862842880822477, + -0.0025339170493125624, + 0.018727077595824027, + -0.014551882409455732, + 1.0 + ], + [ + 0.003969152675463195, + -0.009706489407672388, + -0.01699812442304682, + 0.022305773738419323, + 0.038888156929537676, + -0.023253959849583967, + 1.0 + ], + [ + 0.0012409805399529528, + -0.00947862637268345, + -0.029291925528753395, + 0.05328675338452706, + 0.06810873328054119, + -0.03122719544735978, + 1.0 + ], + [ + 0.00033351520256954777, + -0.003915843249963836, + 0.010474861413626151, + -0.02269976556579173, + -0.03620614204496098, + -0.0036093312731217907, + 1.0 + ], + [ + -0.0004698680747576898, + 0.0013895215694855801, + 0.003884992763546775, + -0.001781059987602594, + -0.004003301882576938, + 0.013807908135747117, + 1.0 + ], + [ + -0.0008073964232270944, + 0.0077524766932041324, + 0.0023171994186495103, + -0.005520178792908767, + -0.002856609721589943, + 0.0223828007252699, + 1.0 + ], + [ + -0.0031489062740698696, + 0.004606612741017981, + 0.01108428287795212, + -0.019231638615186064, + -0.02626638392754378, + 0.009223959287591652, + 1.0 + ], + [ + -0.0019731507658979084, + 0.00761835091542935, + 0.008569688771952397, + -0.04318941648705937, + -0.008612747181210172, + 0.005773016955324163, + 1.0 + ], + [ + -0.003883702982218986, + 0.0017719522343306177, + 0.00554165854047859, + 0.006878973929586443, + -0.042332692072620144, + -0.012298922201254675, + 1.0 + ], + [ + 0.0038500031485779614, + 0.00241508397527554, + -0.0004394828092947609, + -0.017253095151623685, + 0.02593558779010897, + 0.01198826786376228, + 1.0 + ], + [ + -0.0035300643878800795, + -0.0014770801752281057, + 0.0006626055825248583, + -0.0064855965725097095, + -0.01632777120803947, + -0.01332543887764849, + 1.0 + ], + [ + 3.2296961543504944e-05, + 0.00019448189668804075, + -1.2010842247031745e-07, + -0.001225662524986946, + 0.00020823446118216352, + 0.0037032029306220474, + 1.0 + ], + [ + 0.00033552731081510034, + -0.0020867812617032747, + 0.00145152717898952, + -0.003348341447570671, + 0.017496755265763688, + -0.001381926015070966, + 1.0 + ], + [ + 0.0015112698923956556, + -0.0039253202834003105, + -0.008895362370738472, + 0.03505156624157602, + 0.042313505401359475, + -0.0026291432205104315, + 1.0 + ], + [ + 0.0058767257463565965, + -0.005533650517591572, + -0.031434259057768074, + 0.048510399572905455, + 0.12345131544329564, + -0.012201269942118774, + 1.0 + ], + [ + 0.004413630614457794, + -0.011230481253404992, + -0.012528070060743808, + -0.01842316369647937, + 0.02982468040363312, + -0.040036020460218445, + 1.0 + ], + [ + 0.002523278859427303, + -0.0029741411101566386, + -0.0011850815358954965, + -0.019062871309952215, + -0.010957101166891667, + 0.0033842430009433724, + 1.0 + ], + [ + -0.0033768857664868957, + 0.0002802768695372852, + 0.012205067100415056, + -0.021001232543285172, + -0.04722316462716772, + 0.005334898389167119, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 9.077785866223017e-10, + -1.5663319397321238e-09, + -0.003067953598328892, + 1.0 + ] + ], + "state": [ + [ + 0.26288706064224243, + 0.08213412761688232, + 0.06831079721450806, + -3.060281666117259, + -0.06562728434801102, + -0.01508752815425396, + 1.0 + ], + [ + 0.26265063881874084, + 0.08208057284355164, + 0.0682908371090889, + -3.06074911554391, + -0.06426531076431273, + -0.013434335589408873, + 1.0 + ], + [ + 0.2605506479740143, + 0.08110242336988449, + 0.05961122736334801, + -3.072200307744094, + -0.03412844985723496, + -0.009652167558670044, + 1.0 + ], + [ + 0.28899508714675903, + 0.08413662016391754, + 0.050148963928222656, + -3.08788829495246, + -0.022406069561839107, + -0.013530067168176174, + 1.0 + ], + [ + 0.3145258128643036, + 0.08771307021379471, + 0.05677599459886551, + -3.0877013002806386, + -0.04052130132913589, + -0.002175877569243312, + 1.0 + ], + [ + 0.3328375220298767, + 0.08895818889141083, + 0.06665336340665817, + -3.0803703424804887, + -0.06650052219629288, + 0.007269684225320816, + 1.0 + ], + [ + 0.35180678963661194, + 0.08721921592950821, + 0.05727454647421837, + -3.065514991181441, + -0.04601715132594109, + 0.0017077093943953514, + 1.0 + ], + [ + 0.3592301905155182, + 0.08743227273225784, + 0.0385558158159256, + -3.0451957826786717, + -0.015408778563141825, + 0.010961154475808144, + 1.0 + ], + [ + 0.36931413412094116, + 0.0893024355173111, + 0.028576651588082314, + -3.0454031770401677, + -0.025683030486106873, + 0.03673078492283821, + 1.0 + ], + [ + 0.3821135461330414, + 0.08947634696960449, + 0.02542056515812874, + -3.043881045775958, + -0.0395822897553444, + 0.049286078661680215, + 1.0 + ], + [ + 0.38783228397369385, + 0.08606280386447906, + 0.01662796549499035, + -3.0430567507916173, + -0.02977773547172546, + 0.04783261939883232, + 1.0 + ], + [ + 0.3935186266899109, + 0.08708905428647995, + 0.012135947123169899, + -3.0428843294554433, + -0.03327417001128197, + 0.05225744843482971, + 1.0 + ], + [ + 0.3972110152244568, + 0.08695154637098312, + 0.011178280226886272, + -3.051280977325984, + -0.038460638374090195, + 0.053392112255096436, + 1.0 + ], + [ + 0.398585706949234, + 0.08873238414525986, + 0.009331665933132172, + -3.0465106685929975, + -0.03392188623547554, + 0.05994790792465209, + 1.0 + ], + [ + 0.3969728946685791, + 0.09178213030099869, + 0.006201916374266148, + -3.026874804990836, + -0.023948896676301956, + 0.06412237882614136, + 0.0 + ], + [ + 0.3963794410228729, + 0.09364762157201767, + 0.006105933338403702, + -3.0254293402009687, + -0.031393393874168396, + 0.06652975082397461, + 0.0 + ], + [ + 0.3908177614212036, + 0.09693309664726257, + 0.0074811456725001335, + -3.0500428472929677, + -0.04815261811017991, + 0.06769438832998276, + 0.0 + ], + [ + 0.38165727257728577, + 0.10194090008735657, + 0.012745071202516556, + -3.084136651950427, + -0.05928763374686241, + 0.07002489268779755, + 0.0 + ], + [ + 0.37023746967315674, + 0.09678040444850922, + 0.0437401682138443, + -3.1140619070553264, + -0.12292256206274034, + 0.08163105696439744, + 0.0 + ], + [ + 0.36074477434158325, + 0.09160055965185165, + 0.0700111910700798, + -3.1312124991142234, + -0.16990101337432859, + 0.07075892388820647, + 0.0 + ], + [ + 0.3438030481338501, + 0.0837208703160286, + 0.09406138956546783, + 3.1277592313760003, + -0.19315767288208008, + 0.05894869193434715, + 0.0 + ], + [ + 0.3209283649921417, + 0.07120988517999649, + 0.10978979617357254, + 3.104376586275645, + -0.19108894467353818, + 0.03241794556379319, + 0.0 + ], + [ + 0.29551154375076294, + 0.05484648793935776, + 0.10389694571495056, + 3.1024957617097577, + -0.1458968073129654, + -0.006559976842254401, + 0.0 + ], + [ + 0.27242499589920044, + 0.04103716462850571, + 0.08332715928554535, + 3.121683433773466, + -0.07849923521280289, + -0.04316587746143341, + 0.0 + ], + [ + 0.2602895200252533, + 0.029709599912166595, + 0.0671139732003212, + 3.1354552657627544, + -0.04661358892917633, + -0.0707995817065239, + 0.0 + ], + [ + 0.2527649998664856, + 0.023112479597330093, + 0.049450021237134933, + -3.1276089615472635, + -0.0022159747313708067, + -0.0961872860789299, + 0.0 + ], + [ + 0.25039011240005493, + 0.022547878324985504, + 0.03814418986439705, + -3.1016137060993394, + 0.019845064729452133, + -0.1008976995944977, + 0.0 + ], + [ + 0.25046420097351074, + 0.025547802448272705, + 0.037909701466560364, + -3.082794090854474, + 0.021958913654088974, + -0.09804688394069673, + 1.0 + ], + [ + 0.2481173872947693, + 0.02632681094110012, + 0.03978066146373749, + -3.0864286368065557, + 0.03439532220363617, + -0.1010970324277878, + 1.0 + ], + [ + 0.24847529828548431, + 0.032447271049022675, + 0.04900970309972763, + -3.088493714230605, + 0.014891291968524456, + -0.08760091662406921, + 1.0 + ], + [ + 0.25345730781555176, + 0.0408342108130455, + 0.0664379894733429, + -3.065844515460082, + -0.025179455056786537, + -0.06645452976226807, + 1.0 + ], + [ + 0.2544238269329071, + 0.04802064970135689, + 0.09638497978448868, + -3.013063999014445, + -0.09544698894023895, + -0.04042290151119233, + 1.0 + ], + [ + 0.25590819120407104, + 0.05319104716181755, + 0.0865752175450325, + -3.0364683737331113, + -0.05999901145696639, + -0.03219107910990714, + 1.0 + ], + [ + 0.25564834475517273, + 0.05222471430897713, + 0.08254490792751312, + -3.037458563345023, + -0.05456365644931794, + -0.045522380620241165, + 1.0 + ], + [ + 0.2546725273132324, + 0.044791802763938904, + 0.07939501851797104, + -3.041804278390952, + -0.049382932484149926, + -0.06751362979412077, + 1.0 + ], + [ + 0.2518656849861145, + 0.04149419814348221, + 0.06776551902294159, + -3.0606795867257794, + -0.022327272221446037, + -0.0740736573934555, + 1.0 + ], + [ + 0.2495916187763214, + 0.03474319726228714, + 0.058566346764564514, + -3.103754101442643, + -0.013275817036628723, + -0.07913189381361008, + 1.0 + ], + [ + 0.24567118287086487, + 0.03348813205957413, + 0.05291055887937546, + -3.0970293340557298, + 0.028562590479850773, + -0.06524603813886644, + 1.0 + ], + [ + 0.2493622899055481, + 0.03080950863659382, + 0.05313193053007126, + -3.1146462952070912, + 0.0031843385659158234, + -0.07837379723787309, + 1.0 + ], + [ + 0.2459581047296524, + 0.032575853168964386, + 0.05252060666680336, + -3.121087025972553, + 0.019146863371133804, + -0.06461250782012938, + 1.0 + ], + [ + 0.24597769975662231, + 0.03237973526120186, + 0.05251612141728401, + -3.1223838088386735, + 0.019014472141861916, + -0.06831987202167511, + 1.0 + ], + [ + 0.2464299499988556, + 0.03446801006793976, + 0.05109881982207298, + -3.1257093400978526, + 0.0014943911228328945, + -0.06727446615695953, + 1.0 + ], + [ + 0.2482054978609085, + 0.03814050182700157, + 0.06005313619971275, + -3.0906406474583825, + -0.040855534374713905, + -0.06531822681427002, + 1.0 + ], + [ + 0.25303003191947937, + 0.041758835315704346, + 0.09194202721118927, + -3.041982928412505, + -0.16476652026176453, + -0.05941728875041008, + 1.0 + ], + [ + 0.2557418644428253, + 0.05154402554035187, + 0.10606478899717331, + -3.0665971135073384, + -0.19831021130084991, + -0.02182816527783871, + 1.0 + ], + [ + 0.2580012381076813, + 0.05437237396836281, + 0.1079389676451683, + -3.0851436612480363, + -0.1871296912431717, + -0.02442711405456066, + 1.0 + ], + [ + 0.2569635510444641, + 0.05480661615729332, + 0.09532230347394943, + -3.1055822690301618, + -0.1396801471710205, + -0.027110394090414044, + 1.0 + ], + [ + 0.2569635510444641, + 0.05480661615729332, + 0.09532230347394943, + -3.1060135049098214, + -0.1397899389266968, + -0.024014227092266083, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.026911914348602295, + 0.07365119457244873, + 0.07365119457244873, + 0.07365119457244873, + 0.07445871829986572, + 0.07445871829986572, + 0.07445871829986572, + 0.07445871829986572, + 0.07445871829986572, + 0.07445871829986572, + 0.07445871829986572, + 0.07445871829986572, + 0.05002796649932861, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.02763611078262329, + 0.05079597234725952, + 0.0, + 0.0, + 0.0, + 0.03274601697921753, + 0.10775846242904663, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2643", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2643/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2646.json b/annotation/test/2646.json new file mode 100644 index 0000000000000000000000000000000000000000..f06310ce55bce29d72633e43df5b9e244f9c137e --- /dev/null +++ b/annotation/test/2646.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "take broccoli out of pan cardboardfence" + ], + "videos": [ + { + "video_path": "videos/test/2646/rgb.mp4" + } + ], + "action": [ + [ + -0.00017209076955308232, + -0.00030544767989736164, + -3.618740735939218e-05, + 0.0003105545159298192, + 3.7090100061120854e-06, + -0.0030362027672128414, + 1.0 + ], + [ + -0.0034789746914079107, + 0.002538373289287318, + 0.002677623862841312, + -0.012927496658606919, + -0.017226740728438737, + 0.0015397582607658959, + 1.0 + ], + [ + 0.0023526440398499385, + -0.0026862795510998747, + -0.009120340771275394, + 0.004604152742181004, + -0.015049047591737056, + 0.03090360381576075, + 1.0 + ], + [ + 0.010195855236253253, + -0.007030053026675088, + -0.015899521578175455, + 0.03978260345581327, + -0.020842101542888063, + 0.0188399708606327, + 1.0 + ], + [ + 0.014844150730736602, + -0.00796716804341919, + -0.012413397840775012, + 0.039031660654934824, + -0.0028347485906186644, + 0.03102944299688634, + 1.0 + ], + [ + 0.018766771771384513, + -0.00917669700572249, + 0.0004931450535775346, + 0.021163243582562698, + 0.01223768082467426, + 0.05158735797221285, + 1.0 + ], + [ + 0.017296614022402436, + -0.004084299247217581, + 0.014440445659906796, + 0.014263326084292838, + 0.013916193981609525, + 0.07545177938361311, + 1.0 + ], + [ + 0.01168440869345172, + -0.0034369104008680276, + 0.007812173641561722, + 0.005799178697057228, + 0.005198194778478637, + 0.04952918162040845, + 1.0 + ], + [ + 0.00717856664110263, + -0.004061125551283831, + 0.012376559510296469, + -0.01923354521031947, + -0.005205900148549392, + 0.01728012405059321, + 1.0 + ], + [ + 0.007685484356797564, + -0.000797655466101673, + 0.012078145700131297, + -0.03055248151206727, + 0.027233306095402664, + 0.025992804348156213, + 1.0 + ], + [ + 0.00046780384606801494, + -0.004735231606378057, + 0.01363215743247851, + -0.022984944866106506, + 0.021160491896664604, + 0.024954774113701367, + 1.0 + ], + [ + -0.0015632193035565911, + -0.0031259344045602632, + 0.004041588325099128, + 0.0019140225246103897, + 0.004423483193558966, + -0.007822917034723978, + 1.0 + ], + [ + 0.0012420655451016705, + -0.0023523117946560768, + 0.0011277663029693615, + 0.012099648687306933, + 0.01798775321569892, + 0.001636401775137111, + 1.0 + ], + [ + -0.001973262928662769, + -0.001108648456361268, + 0.001087544184347184, + 0.0034024092750695252, + 0.004745949661450057, + 0.0011722877269040553, + 1.0 + ], + [ + -0.003726146465604916, + 0.005190850339205797, + 0.005575086051709624, + -0.005350950535022361, + 0.005441594557735594, + -0.008251531282425393, + 1.0 + ], + [ + -0.008414628132585934, + 0.006355435988050927, + 0.007503915768486952, + 0.002710886201480421, + -0.007762254974636781, + -0.025549707121217943, + 1.0 + ], + [ + -0.00030237018648175375, + -0.0010080364160041126, + -0.004002689316216719, + 0.020507803283394396, + 0.008342671983714954, + -0.0030218680823967813, + 0.0 + ], + [ + 0.0018208157694855026, + -0.0001289646793053265, + -0.001162712969934677, + 0.007228397761004616, + -0.006165397245850193, + 0.016075614805750482, + 0.0 + ], + [ + 0.0036081192855352334, + -0.0008099424144679499, + -0.003557501790956169, + -0.0013805383289092193, + -0.020147077856873516, + 0.011072740866475674, + 0.0 + ], + [ + 0.007774249469987672, + -0.00450925655010233, + -0.017655196634896293, + 0.04245307311130271, + -0.008968133127420884, + 0.017668089853396268, + 0.0 + ], + [ + 0.007820010764888008, + -0.0034763219885593725, + -0.0314755746570129, + 0.03828151604644559, + -0.028482133065650204, + -0.00038919100713634956, + 0.0 + ], + [ + -0.000996681063774503, + 0.014750968199874249, + -0.035710209468387794, + 0.053702617840285384, + -0.006424215341094998, + -0.10470520455149067, + 0.0 + ], + [ + -0.01381345730361556, + 0.04642715191371427, + -0.01373185534598711, + -0.007361982164597576, + 0.017925650026875302, + -0.1353127576356833, + 0.0 + ], + [ + -0.00411969546203534, + 0.04112534199683836, + 0.011413425033383226, + -0.03372887983012393, + 0.03693521563101743, + -0.04763640713158911, + 0.0 + ], + [ + 0.006832837151995031, + 0.022074001667618297, + 0.013277364353520364, + -0.03195549264887858, + 0.019529077730802438, + -0.00017470179112798488, + 0.0 + ], + [ + -0.0021204560451785663, + 0.018953225789821306, + 0.009246811045119725, + -0.02698213464360182, + -0.004119758548682432, + -0.0355544241436125, + 0.0 + ], + [ + -0.001280678913958176, + 0.02165714066092112, + 0.011424398020352078, + -0.017723325902388485, + 0.02500731277137584, + -0.0035870613743308796, + 0.0 + ], + [ + -6.70828989779042e-05, + 0.015541182846119828, + 0.0125255133721234, + -0.04089148109005858, + -0.005971139670416454, + -0.0008188509658193934, + 0.0 + ], + [ + 0.002352538729620563, + 0.009818801737298672, + 0.01505040011159528, + -0.024848408240262625, + 0.012731307954834147, + 0.013356251749987462, + 0.0 + ], + [ + 0.00826722755891488, + 0.0025961757276155503, + 0.006792477802830034, + -0.038121309362971936, + 0.03247054101830616, + 0.010072851095701616, + 0.0 + ], + [ + -0.0016044699008090125, + -0.005190800920711428, + -0.002806938431156756, + 0.03650527616968162, + -0.04775608319624013, + 0.03090307461898351, + 0.0 + ], + [ + 0.0029674895043774806, + -0.008572718446871798, + -0.0238037270889458, + 0.09195984359830665, + -0.043129755294284464, + -0.0034434053941198926, + 1.0 + ], + [ + 0.0036659757268191094, + -0.008224378725909191, + -0.028441428548744593, + 0.06293511776241466, + -0.039254656387335406, + -0.025412374319149913, + 1.0 + ], + [ + 0.0035603047262796534, + -0.008349580059885259, + -0.021382870785190668, + 0.04843332413295914, + -0.013159241472250604, + -0.007848262015826135, + 1.0 + ], + [ + 1.9185226817224992e-05, + -0.0017647540235786496, + -0.003387129523970814, + 0.0019025601655990793, + 0.005978330717956689, + 0.009578909233083351, + 1.0 + ], + [ + -6.638415925732428e-05, + 0.00019616368650065167, + -1.36358875097288e-07, + -0.0012367177214637798, + -0.0004196584305873734, + -0.0008044499784845538, + 1.0 + ], + [ + 0.0005139488728487521, + 0.0002008318994467935, + -0.000408378981328626, + 0.0006681376068821291, + 0.0022244985224917496, + 0.00186324165527733, + 1.0 + ], + [ + -0.0004511792589129175, + 1.2404842470488877e-05, + 0.0003104562591371659, + 0.00023486215007398337, + -0.0014621394280324351, + 0.0003999595422640977, + 1.0 + ] + ], + "state": [ + [ + 0.20575621724128723, + 0.1022498607635498, + 0.06724067777395248, + 3.1395953641091516, + -0.20386351644992828, + -0.06001714989542961, + 1.0 + ], + [ + 0.2055991291999817, + 0.10256537050008774, + 0.06724067777395248, + 3.1392782380622855, + -0.20386020839214325, + -0.05691674351692199, + 1.0 + ], + [ + 0.20259298384189606, + 0.10018796473741531, + 0.06391993910074234, + 3.126675849901982, + -0.186636820435524, + -0.05852404981851577, + 1.0 + ], + [ + 0.20338405668735504, + 0.1029684767127037, + 0.07327806949615479, + 3.1371464008749506, + -0.17195913195610046, + -0.09011130779981613, + 1.0 + ], + [ + 0.211323544383049, + 0.10938069969415665, + 0.09065678715705872, + -3.10297970299656, + -0.15116998553276062, + -0.10925806313753127, + 1.0 + ], + [ + 0.22482384741306305, + 0.1154266968369484, + 0.10545897483825684, + -3.0592633580141744, + -0.14706704020500186, + -0.14049203693866733, + 1.0 + ], + [ + 0.2444532811641693, + 0.12192820757627487, + 0.10846935212612152, + -3.0304365773969373, + -0.15481919050216678, + -0.19354347884655, + 1.0 + ], + [ + 0.2644158601760864, + 0.12378424406051636, + 0.09740447998046875, + -3.004547568159648, + -0.1598310172557831, + -0.27105948328971863, + 1.0 + ], + [ + 0.2778422236442566, + 0.12469449639320374, + 0.09208733588457108, + -2.9908988793664655, + -0.1580172032117844, + -0.3214627504348755, + 1.0 + ], + [ + 0.28815969824790955, + 0.12744885683059692, + 0.08173518627882004, + -3.007555993395396, + -0.15025509893894196, + -0.3379509449005127, + 1.0 + ], + [ + 0.2978013753890991, + 0.1266091912984848, + 0.0711560770869255, + -3.033649468916007, + -0.1737054288387299, + -0.3677904605865479, + 1.0 + ], + [ + 0.30255550146102905, + 0.13139627873897552, + 0.0583905354142189, + -3.0518810023837766, + -0.1919900476932526, + -0.39538177847862244, + 1.0 + ], + [ + 0.30313751101493835, + 0.13491937518119812, + 0.05441578850150108, + -3.0514074956351003, + -0.19709128141403198, + -0.3878407180309296, + 1.0 + ], + [ + 0.30535468459129333, + 0.13665401935577393, + 0.053765323013067245, + -3.038642319040843, + -0.21485748887062073, + -0.391166627407074, + 1.0 + ], + [ + 0.30422624945640564, + 0.13843318819999695, + 0.052399009466171265, + -3.0348776151710233, + -0.21945753693580627, + -0.3928610682487488, + 1.0 + ], + [ + 0.30034399032592773, + 0.13509784638881683, + 0.04563777893781662, + -3.0419332553916654, + -0.22574056684970856, + -0.38503772020339966, + 1.0 + ], + [ + 0.2923285663127899, + 0.1323283165693283, + 0.0358608178794384, + -3.045261653261729, + -0.22047989070415494, + -0.358193039894104, + 1.0 + ], + [ + 0.2914331555366516, + 0.1333237886428833, + 0.039776984602212906, + -3.0252459814124784, + -0.22907398641109472, + -0.3559285402297974, + 0.0 + ], + [ + 0.29284387826919556, + 0.13279199600219727, + 0.04132971167564392, + -3.0144795050197324, + -0.22105714678764346, + -0.3715597689151764, + 0.0 + ], + [ + 0.29551002383232117, + 0.13213133811950684, + 0.04566394165158272, + -3.0139530320935926, + -0.19966100156307218, + -0.3801577389240265, + 0.0 + ], + [ + 0.3000805675983429, + 0.13270123302936554, + 0.06493214517831802, + -2.968204232054301, + -0.1884897947311401, + -0.396835058927536, + 0.0 + ], + [ + 0.3009282946586609, + 0.13017095625400543, + 0.09744103997945786, + -2.9308598210387906, + -0.16049931943416593, + -0.3914697766304016, + 0.0 + ], + [ + 0.28696244955062866, + 0.11224942654371262, + 0.12870727479457855, + -2.895110251503535, + -0.175206795334816, + -0.28612157702445984, + 0.0 + ], + [ + 0.2599279582500458, + 0.06977837532758713, + 0.1282578557729721, + -2.927089350419589, + -0.22408388555049896, + -0.15608485043048861, + 0.0 + ], + [ + 0.2544608414173126, + 0.03242075443267822, + 0.10793420672416687, + -2.9697505851560315, + -0.2701377868652343, + -0.1159852147102356, + 0.0 + ], + [ + 0.2632156312465668, + 0.011790507473051548, + 0.09351254999637604, + -3.0007918198877057, + -0.2894076704978943, + -0.11928976327180864, + 0.0 + ], + [ + 0.2624668776988983, + -0.005712776444852352, + 0.08158363401889801, + -3.038518013554164, + -0.2901265323162079, + -0.08194783329963684, + 0.0 + ], + [ + 0.2634519934654236, + -0.026228977367281914, + 0.06819319725036621, + -3.0565082748704633, + -0.31537002325057983, + -0.08090215176343916, + 0.0 + ], + [ + 0.2664896547794342, + -0.04094311222434044, + 0.05505210906267166, + -3.0978292395644864, + -0.30948978662490845, + -0.07951283454895021, + 0.0 + ], + [ + 0.2726919949054718, + -0.0506172776222229, + 0.04103785380721092, + -3.118215989443012, + -0.32159358263015747, + -0.09416338056325911, + 0.0 + ], + [ + 0.28242748975753784, + -0.05398426204919815, + 0.03715088963508606, + 3.1305078222700438, + -0.35380005836486816, + -0.10570174455642702, + 0.0 + ], + [ + 0.2805345058441162, + -0.04853251948952675, + 0.03917394578456879, + -3.1047601160877427, + -0.30621013045310974, + -0.13862930238246915, + 0.0 + ], + [ + 0.27720335125923157, + -0.04030289873480797, + 0.0630505383014679, + -3.014336886005946, + -0.2632324993610382, + -0.13342440128326416, + 1.0 + ], + [ + 0.2737720012664795, + -0.03525324910879135, + 0.09225193411111832, + -2.959423231082507, + -0.2273983657360077, + -0.1024569720029831, + 1.0 + ], + [ + 0.2726108729839325, + -0.030773375183343887, + 0.11501596122980118, + -2.9133149554305753, + -0.21586689352989197, + -0.09211521595716476, + 1.0 + ], + [ + 0.2719282805919647, + -0.029753800481557846, + 0.11863285303115845, + -2.909076990681239, + -0.21950994431972504, + -0.10306107252836229, + 1.0 + ], + [ + 0.2718539535999298, + -0.029938047751784325, + 0.11857441067695618, + -2.910509990649768, + -0.21928685903549197, + -0.10215999186038971, + 1.0 + ], + [ + 0.27224743366241455, + -0.030268926173448563, + 0.11902932077646255, + -2.9093239327245435, + -0.22102488577365875, + -0.1045411080121994, + 1.0 + ], + [ + 0.2718823254108429, + -0.030170900747179985, + 0.11863285303115845, + -2.909076990681239, + -0.21950994431972504, + -0.10459505766630173, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.03348183631896973, + 0.3639833331108093, + 0.6262463331222534, + 0.7581193745136261, + 0.7431598007678986, + 0.7276601195335388, + 0.7276601195335388, + 0.7276601195335388, + 0.7276601195335388, + 0.7276601195335388, + 0.7276601195335388, + 0.7276601195335388, + 0.7276601195335388, + 0.7276601195335388, + 0.7354772686958313, + 0.6950566172599792, + 0.4061017632484436, + 0.09421122074127197, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2646", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2646/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2654.json b/annotation/test/2654.json new file mode 100644 index 0000000000000000000000000000000000000000..d319717be9741a4cf2e94dd9bf185cd7b4f05145 --- /dev/null +++ b/annotation/test/2654.json @@ -0,0 +1,869 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the pot to the bottom right corner of the cloth." + ], + "videos": [ + { + "video_path": "videos/test/2654/rgb.mp4" + } + ], + "action": [ + [ + -2.608363418790573e-05, + -0.0002293740634896258, + -1.6748633915118575e-07, + 0.0014466676620627599, + -0.000163033880959361, + -0.001050683625667529, + 1.0 + ], + [ + -0.00024171158384755275, + 0.003649558575283877, + 0.010048171605286147, + -0.01132026005189738, + -0.030109103315474752, + 0.01272743552050808, + 1.0 + ], + [ + 0.005520118527079238, + 0.019956543496526088, + 0.0012819072490378297, + -0.01041403802889901, + 0.025867245895124735, + 0.08409737195927992, + 1.0 + ], + [ + 0.006251592378557038, + 0.022539259076470124, + 0.004908775571322832, + -0.005729427601916722, + 0.03696616098271782, + 0.10657257219611187, + 1.0 + ], + [ + 0.011020121345042613, + 0.0368549220377545, + 0.00494108156630334, + 0.025248539162134435, + 0.04833177008094128, + 0.17203901308431008, + 1.0 + ], + [ + 0.018758354599784203, + 0.049759461340932405, + 0.01914188675815779, + -0.008645709469561972, + 0.024807894922641106, + 0.21790037690104724, + 1.0 + ], + [ + 0.016606377329276566, + 0.040510304947651454, + 0.017564236352946763, + -0.011528276720191598, + -0.012738486993609573, + 0.14185850127386662, + 1.0 + ], + [ + 0.01093427060840486, + 0.013062119521449964, + 0.011938779051968136, + -0.03616344747077355, + 0.011582764756317811, + 0.0515782942973293, + 1.0 + ], + [ + 0.004091424676838262, + 0.0007201061059087273, + 0.004310450221253974, + -0.005014631131638448, + 0.0022221678808453252, + 0.01382711455886517, + 1.0 + ], + [ + 0.0015386715477525574, + 0.00035875918075777366, + 0.01541676677029819, + -0.02762129737463549, + -0.011327294874189566, + 0.005011728255846077, + 1.0 + ], + [ + 0.008448089387757592, + -0.016236260791288253, + 0.007656531388909502, + -0.020420843825249654, + 0.017271333461677515, + -0.02796564286252234, + 1.0 + ], + [ + -0.0003976953487293903, + -0.002848087383376292, + 0.0008197640401786117, + 0.010979152182771278, + -0.0018097515636299139, + 0.010268320641135989, + 0.0 + ], + [ + -0.0002787772631426333, + 0.000269788661708385, + 0.002163439244098992, + -0.0006187488234032061, + 0.013678144244650829, + 0.0049026468180843365, + 0.0 + ], + [ + -0.007154906080553804, + 0.004060102519664845, + -0.003849106652590332, + 0.02188063771836505, + 0.044013816389399024, + 0.04618207079286761, + 0.0 + ], + [ + -0.017171974300350872, + 0.008509460123756335, + -0.009755985649730771, + 0.0003478896513011686, + 0.008281904471761657, + -0.004116640530571506, + 0.0 + ], + [ + -0.010154142807471322, + -0.009914481828036056, + -0.03134573859921513, + 0.010839031052316187, + 0.03858466545188784, + -0.10900521065753062, + 0.0 + ], + [ + -0.01402810702542999, + -0.019085500574640316, + -0.03329110890424474, + 0.02415522447449538, + 0.015393574741900607, + -0.1539481434902533, + 0.0 + ], + [ + -0.009093370811640269, + 0.0016396524609624203, + -0.034652964129587085, + 0.014687853296484822, + 0.053041123319886814, + -0.03519485677396758, + 0.0 + ], + [ + -0.01682519264410975, + 0.01947019194920266, + -0.008570405188743893, + -0.029930115085103324, + 0.010134416375348827, + 0.0365140176420449, + 0.0 + ], + [ + -0.014987302356395352, + 0.019503150312719198, + 0.010615796703114378, + -0.011831244494694361, + -0.04699562420586857, + 0.053993457645717745, + 0.0 + ], + [ + -0.00965763512171781, + 0.01803133058421638, + 0.01598705509226141, + 0.008861351210490205, + -0.05263737538619417, + 0.05373359641099769, + 0.0 + ], + [ + -0.0052414904948513644, + 0.012664127586136492, + 0.032497042708193084, + -0.01729785068818493, + -0.11029961880293276, + 0.05554663690136185, + 0.0 + ], + [ + 0.016409756125811605, + 0.004751623069239874, + 0.02608953654033265, + -0.00537539394968602, + -0.07986474704258736, + 0.050737852780988225, + 0.0 + ], + [ + 0.006643514810144713, + -0.014959843478512957, + 0.004017438119317801, + -0.0009053956079464276, + -0.02770019238646939, + 0.004169518617643873, + 0.0 + ], + [ + -0.00302227253169044, + -0.02880213692452998, + 0.004417997902893711, + -0.039068974131165675, + -0.0018376902687019165, + -0.05544178949774137, + 0.0 + ], + [ + -0.0007882530050211174, + -0.0034981482909352047, + 0.00031800339033542747, + -0.010536813314517572, + 0.005676627358680413, + -0.0011939558774319676, + 0.0 + ], + [ + -0.0006473281900725618, + 0.0018864370183324377, + 0.001162371230263024, + 0.0029891552620900366, + -0.007131382913561636, + 0.013314340866732548, + 0.0 + ], + [ + 0.00017749059579361194, + 0.0076104320747165605, + -0.0005058210980630849, + 0.009790282399197553, + -0.007929239852657605, + 0.03715048799632855, + 0.0 + ], + [ + 0.0009519803055620474, + 0.017027016919709613, + -0.0019588952066073484, + 0.012226666098617006, + -0.010691090912690123, + 0.06963550832791005, + 0.0 + ], + [ + 0.004810533689959705, + 0.009878197028349576, + -0.0011260862324450544, + 0.018410071032263893, + -0.005332077082893005, + 0.02691852950937905, + 0.0 + ], + [ + 0.0013685221351747196, + -0.000553605603642652, + -0.0007400311827186837, + 0.0017760324448532188, + -0.0005227587279185973, + 0.00341465838447014, + 0.0 + ], + [ + -3.413835656092319e-06, + -0.003494733348469699, + 0.0005025836606750316, + -0.005088515930167961, + -0.006096281902195126, + -0.01178315738019825, + 0.0 + ], + [ + -0.008116864073644942, + -0.004625368717605712, + 0.0016380299250874197, + -0.004642683593814414, + -0.03003236465924553, + -0.04647197618031472, + 0.0 + ], + [ + -0.004513303276420785, + -0.006945967653057712, + -0.011200368308207552, + 0.017610585272787256, + 0.020765704735733415, + -0.03821688293536321, + 1.0 + ], + [ + -0.01181697164922677, + -0.01652563660624387, + -0.03203548760507927, + 0.024017138693364616, + 0.07938002102336231, + -0.0713711772228687, + 1.0 + ], + [ + -0.01696589342821011, + -0.021113516544213413, + -0.03581859184653622, + 0.019380816131930892, + 0.07640014494009194, + -0.1049300175092752, + 1.0 + ], + [ + -0.0065119789219395645, + -0.019700045974937172, + -0.03439037525923485, + -0.004657493321019691, + 0.05764133209488834, + -0.12477993686398278, + 1.0 + ], + [ + -0.006210938487375653, + -0.01346758058271067, + -0.012972758556211914, + -0.014013453685288323, + -0.030409323138601754, + -0.13411335189709478, + 1.0 + ], + [ + -0.0005722062241846708, + 0.00027941520635714197, + -0.0023251610590242404, + -0.020648261296565388, + -0.004849448582271732, + -0.041054312453499865, + 1.0 + ], + [ + -0.001137303704068661, + 0.00014962860268305793, + 0.0012283085279086883, + -0.0035922477305523823, + -0.011931867274937401, + -0.024620367436836967, + 1.0 + ], + [ + 0.00021328594464488672, + -0.00016756055390021457, + 0.002378772542660408, + 0.0025930000443817967, + -0.009604903917797874, + -0.010272981830741958, + 1.0 + ], + [ + -0.0006836061281482501, + -0.003872281459867519, + 1.4242946444762745e-05, + 0.04179909747188627, + -0.004546112844293604, + -0.051650120999847, + 1.0 + ], + [ + 0.001437345774968045, + 0.0010449235940234718, + -0.0006524060663709516, + 0.007556202378797562, + 0.006636790938862162, + 0.0081078970749137, + 1.0 + ], + [ + -1.920273610941581e-05, + -0.000231875666557687, + -1.6792790208316215e-07, + 0.0014621937963536222, + -0.00012172940085367324, + 0.0004474440813946292, + 1.0 + ] + ], + "state": [ + [ + 0.29917001724243164, + 0.11104004830121994, + 0.1230834573507309, + -2.979991452889987, + 0.0041178069077432156, + 0.11112223565578462, + 1.0 + ], + [ + 0.29911914467811584, + 0.11126213520765305, + 0.12312063574790955, + -2.9785404970222196, + 0.004109660629183054, + 0.11218547075986862, + 1.0 + ], + [ + 0.2990565896034241, + 0.10927259922027588, + 0.11261438578367233, + -2.9898225386911115, + 0.03588520735502243, + 0.10451475530862808, + 1.0 + ], + [ + 0.3064279854297638, + 0.09040533006191254, + 0.10813473165035248, + -3.0038838406377515, + 0.02287727780640125, + 0.017466789111495018, + 1.0 + ], + [ + 0.3128731846809387, + 0.06886257976293564, + 0.10003744810819626, + -3.012891339259692, + 0.0007198419189080596, + -0.09312383085489273, + 1.0 + ], + [ + 0.32049885392189026, + 0.032078150659799576, + 0.0903991088271141, + -2.9896366616063794, + -0.025261517614126202, + -0.2698771357536316, + 1.0 + ], + [ + 0.32687532901763916, + -0.017712680622935295, + 0.06442786753177643, + -2.99640582700307, + -0.01646331138908863, + -0.48903489112854004, + 1.0 + ], + [ + 0.324234277009964, + -0.05883501470088959, + 0.04146403819322586, + -3.007049473124095, + 0.01675782725214958, + -0.6275380849838257, + 1.0 + ], + [ + 0.3262399435043335, + -0.07430215179920197, + 0.02769971266388893, + -3.0442736839228353, + 0.012171804904937744, + -0.6802060604095458, + 1.0 + ], + [ + 0.3291919529438019, + -0.07707347720861435, + 0.02329021319746971, + -3.0494677444272718, + 0.011302435770630836, + -0.6941845417022704, + 1.0 + ], + [ + 0.33091962337493896, + -0.07713107764720917, + 0.00788940954953432, + -3.0771284719281873, + 0.023042658343911167, + -0.6981337070465088, + 1.0 + ], + [ + 0.3480049669742584, + -0.06967262923717499, + 0.0011018154909834266, + -3.0969455522769174, + 0.003997606225311756, + -0.6713430881500245, + 1.0 + ], + [ + 0.34948402643203735, + -0.06716708838939667, + 0.00041158031672239304, + -3.0860093255811414, + 0.006263637915253638, + -0.6815205812454224, + 0.0 + ], + [ + 0.3491629660129547, + -0.06709874421358109, + -0.0017617170233279467, + -3.0866591801219663, + -0.007121117785573006, + -0.6871752142906189, + 0.0 + ], + [ + 0.34090641140937805, + -0.06584101170301437, + 0.0018076177220791578, + -3.0644441937380513, + -0.04852549359202385, + -0.7357186079025269, + 0.0 + ], + [ + 0.32166627049446106, + -0.06088196486234665, + 0.010035114362835884, + -3.064262518780776, + -0.05709974840283394, + -0.732246994972229, + 0.0 + ], + [ + 0.31775787472724915, + -0.04733271524310112, + 0.04142143577337265, + -3.0598530640178403, + -0.10365481674671173, + -0.6260752677917482, + 0.0 + ], + [ + 0.3130922317504883, + -0.02383926883339882, + 0.07452176511287689, + -3.052457297342368, + -0.13031260669231415, + -0.4726239144802093, + 0.0 + ], + [ + 0.29894015192985535, + -0.02190243825316429, + 0.10741816461086273, + -3.0416948591643056, + -0.1862147748470306, + -0.4418071210384369, + 0.0 + ], + [ + 0.2742423117160797, + -0.03259704262018204, + 0.1107751652598381, + -3.0646475945883473, + -0.1925264298915863, + -0.4798517823219299, + 0.0 + ], + [ + 0.254643976688385, + -0.04339885339140892, + 0.09604718536138535, + -3.0667884667688092, + -0.1412777751684189, + -0.5305149555206299, + 0.0 + ], + [ + 0.2400033324956894, + -0.0542716383934021, + 0.07756966352462769, + -3.050902122753211, + -0.08459964394569397, + -0.580264687538147, + 0.0 + ], + [ + 0.2327026128768921, + -0.061047010123729706, + 0.04373617470264435, + -3.063909666734286, + 0.03036023117601871, + -0.6252853870391846, + 0.0 + ], + [ + 0.24376441538333893, + -0.07237835228443146, + 0.01687059924006462, + -3.07046856184537, + 0.11388999968767166, + -0.6697990298271179, + 0.0 + ], + [ + 0.25811779499053955, + -0.06434651464223862, + 0.013190505094826221, + -3.0715981890731534, + 0.1418161690235138, + -0.6720103621482849, + 0.0 + ], + [ + 0.2735912501811981, + -0.03954695537686348, + 0.01124886330217123, + -3.102866584556647, + 0.13955464959144592, + -0.6160310506820679, + 0.0 + ], + [ + 0.2749602794647217, + -0.03621825575828552, + 0.011177954263985157, + -3.113266185047575, + 0.13383598625659943, + -0.6150490045547485, + 0.0 + ], + [ + 0.2732348144054413, + -0.03726774826645851, + 0.01005986612290144, + -3.1120452677183827, + 0.14133001863956451, + -0.6282876729965209, + 0.0 + ], + [ + 0.26892903447151184, + -0.04356078431010246, + 0.010312830097973347, + -3.1075299998098096, + 0.15025611221790314, + -0.6656070351600647, + 0.0 + ], + [ + 0.2592816948890686, + -0.05770658329129219, + 0.011532687582075596, + -3.1058773828023156, + 0.16294723749160764, + -0.7357639670372009, + 0.0 + ], + [ + 0.25624096393585205, + -0.06832457333803177, + 0.011514694429934025, + -3.0918750559263906, + 0.16917829215526578, + -0.762861430644989, + 0.0 + ], + [ + 0.25766605138778687, + -0.06897280365228653, + 0.01203995756804943, + -3.090677471952983, + 0.16986912488937375, + -0.766295313835144, + 0.0 + ], + [ + 0.26006224751472473, + -0.06639941036701202, + 0.01172112487256527, + -3.0936951619857034, + 0.17534531652927401, + -0.7540292739868164, + 0.0 + ], + [ + 0.2572728991508484, + -0.057334110140800476, + 0.011744096875190735, + -3.089851105707236, + 0.2029152363538742, + -0.7051894664764403, + 0.0 + ], + [ + 0.25979894399642944, + -0.05113562196493149, + 0.023961398750543594, + -3.064668746786662, + 0.18006038665771484, + -0.6674969792366028, + 1.0 + ], + [ + 0.26401492953300476, + -0.03661372512578964, + 0.058751482516527176, + -3.028875233727046, + 0.09505514055490494, + -0.6023751497268677, + 1.0 + ], + [ + 0.2626717686653137, + -0.015118698589503765, + 0.09815647453069687, + -3.000613363581248, + 0.006922260858118534, + -0.5070442557334901, + 1.0 + ], + [ + 0.2643268406391144, + 0.0007459515472874045, + 0.13501796126365662, + -3.005182298021861, + -0.06768944859504701, + -0.391602098941803, + 1.0 + ], + [ + 0.26210033893585205, + 0.01419195719063282, + 0.1492479145526886, + -3.029668817418166, + -0.055107202380895615, + -0.2544216811656952, + 1.0 + ], + [ + 0.26129063963890076, + 0.013847286812961102, + 0.15149234235286713, + -3.05269147654111, + -0.05482501536607742, + -0.21302053332328796, + 1.0 + ], + [ + 0.26023849844932556, + 0.014033959247171879, + 0.1501951366662979, + -3.057709666090556, + -0.045107971876859665, + -0.18741343915462494, + 1.0 + ], + [ + 0.26062047481536865, + 0.014334325678646564, + 0.14785078167915344, + -3.0556161274486264, + -0.036394789814949036, + -0.1763649582862854, + 1.0 + ], + [ + 0.2606136202812195, + 0.018255556002259254, + 0.14814402163028717, + -3.0158190002017697, + -0.03624976426362991, + -0.12448130548000336, + 1.0 + ], + [ + 0.2618814706802368, + 0.016969680786132812, + 0.1487119495868683, + -3.007943021255084, + -0.04181564226746559, + -0.13336530327796936, + 1.0 + ], + [ + 0.2618917226791382, + 0.017200149595737457, + 0.1487421840429306, + -3.006462963419505, + -0.04163537174463272, + -0.133792906999588, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.06803375482559204, + 0.34489333629608154, + 0.5779728293418884, + 0.7319407165050507, + 0.8790995106101036, + 0.9146331176161766, + 0.9156777262687683, + 0.9156777262687683, + 0.9156777262687683, + 0.9156777262687683, + 0.9156777262687683, + 0.9160242155194283, + 0.9156777262687683, + 0.9160242155194283, + 0.9160242155194283, + 0.9160242155194283, + 0.9160242155194283, + 0.9160242155194283, + 0.9160242155194283, + 0.9160242155194283, + 0.9160242155194283, + 0.9160242155194283, + 0.8769226372241974, + 0.6942910552024841, + 0.38005203008651733, + 0.07933062314987183, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2654", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2654/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2657.json b/annotation/test/2657.json new file mode 100644 index 0000000000000000000000000000000000000000..abcaee7277cab37e1e292f6bbfe59c34b298515e --- /dev/null +++ b/annotation/test/2657.json @@ -0,0 +1,451 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put lid on pot or pan" + ], + "videos": [ + { + "video_path": "videos/test/2657/rgb.mp4" + } + ], + "action": [ + [ + -0.001846702545786102, + -0.00017562835751944996, + 0.003047842979212032, + 0.0032137540947192256, + -0.008499885036373842, + 0.0014476395348187578, + 1.0 + ], + [ + -0.006692405583117542, + 0.0006045961460795256, + 0.007683066519341178, + 0.0033742626379802934, + -0.03099324031519057, + 0.014037265538399525, + 1.0 + ], + [ + 0.002860656543482647, + 0.0021058628878085107, + 0.0022263495857255547, + -0.016288862726361937, + 0.014742246500106792, + 0.018093601571147873, + 1.0 + ], + [ + 0.0006242950819123446, + -0.004557500625631618, + 0.00908951043868043, + -0.03099931263898463, + 0.012509733761668973, + -0.022812548898768797, + 1.0 + ], + [ + 0.0016025038945895057, + 9.00714512796705e-05, + 0.0023218457190697147, + -0.027219668529970577, + 0.013385307572552272, + -0.008273844533545951, + 1.0 + ], + [ + 0.0025417559834965734, + -0.002753689848641939, + 8.900795409094393e-05, + -0.003385720321077906, + 0.007100297357077816, + -0.015299082861838361, + 0.0 + ], + [ + -0.00017849586669731987, + -0.0010333100896553434, + -0.0008562638602290962, + 0.01378231635710985, + -0.01354351481827957, + -0.008475708152873693, + 0.0 + ], + [ + -5.069326448923813e-05, + -0.0005405621988936684, + -0.0013673794794675548, + 0.01910235993941324, + -0.008003881836780915, + -0.006619978033782522, + 0.0 + ], + [ + 0.0037201662934044223, + 0.0012867770610862997, + -0.0019698181608594303, + 0.009301325713374258, + 0.0004211483977029884, + -0.0011206809722705778, + 0.0 + ], + [ + 0.012426481890776572, + 0.0026043626863126953, + -0.008009663242662557, + 0.0070532810615559875, + 0.008001512393269452, + 0.02366793024587264, + 0.0 + ], + [ + 0.002864938397132862, + -0.000507954181366124, + -0.006016378203370996, + 0.014933848774693293, + -0.031196420307157125, + 0.006641468183341825, + 0.0 + ], + [ + -0.0006833339972173318, + -0.0025469535840009923, + -0.01279891978470089, + 0.03115181773556767, + -0.026371073259463567, + -0.007936371584403096, + 0.0 + ], + [ + -0.0020439150824541263, + -0.005997265111848808, + -0.019428717897379884, + 0.015268836355055663, + 0.02442336271337533, + -0.005341315810834725, + 0.0 + ], + [ + -0.016811855434011706, + -0.01067728605666714, + -0.007101706179664894, + 0.021009063272514335, + -0.012091607896155161, + -0.002554478860762942, + 0.0 + ], + [ + -0.008913838349817264, + -0.014610885780874607, + -0.004767950348108577, + -0.0027707123126198617, + 0.008840214437446313, + -0.01916825557801289, + 0.0 + ], + [ + -0.0175605856231613, + -0.014937763949902134, + 0.005115952351329772, + 0.020050389289382915, + -0.018659178530653495, + -0.042564336829377165, + 0.0 + ], + [ + -0.01263984629732056, + -0.006251762511382276, + -0.002438380854315275, + -0.0035094322341250907, + 0.015244389944467746, + -0.01899056838821779, + 0.0 + ], + [ + -0.012735741549043333, + -0.009205639591045783, + 0.008355413437390711, + -0.0068201442612895605, + -0.009229957313583718, + -0.020561109471813773, + 0.0 + ], + [ + -0.0054673627739703565, + -0.005242415948929935, + 0.00322258371645446, + -0.0009115102530599833, + 0.01308660798064552, + -0.004080477505273284, + 0.0 + ], + [ + -0.0014615061215796931, + -0.002751935656873134, + 0.0004848313887793965, + 6.453179602932558e-05, + 0.03273324590327746, + 0.028529206947586302, + 0.0 + ], + [ + 0.0007709635388451089, + -0.004939625144463746, + 0.0004743949429191088, + 0.00045549112782250717, + 0.014388146754019471, + -0.002568312147966046, + 1.0 + ], + [ + -0.0004334620383234515, + 9.599661907767613e-05, + 0.000183063227361251, + -0.0010654432517845597, + -0.0006605638828784954, + -0.0010414507307548234, + 1.0 + ] + ], + "state": [ + [ + 0.37297213077545166, + -0.08133765310049057, + 0.03859743848443031, + -3.115639018016406, + -0.3676754236221314, + 0.10356643795967103, + 1.0 + ], + [ + 0.37231943011283875, + -0.08114945888519287, + 0.035094715654850006, + -3.1119534132354936, + -0.35914054512977595, + 0.10225632786750793, + 1.0 + ], + [ + 0.3688165247440338, + -0.08188752830028534, + 0.02553604170680046, + -3.1036999096446714, + -0.3277130424976349, + 0.08841364830732346, + 1.0 + ], + [ + 0.37243160605430603, + -0.08359500020742416, + 0.02427494153380394, + -3.1136239153617105, + -0.34169995784759527, + 0.06863269209861757, + 1.0 + ], + [ + 0.37568339705467224, + -0.07855021208524704, + 0.01604355499148369, + 3.1305341414460024, + -0.35475262999534607, + 0.09257575124502182, + 1.0 + ], + [ + 0.37799304723739624, + -0.07845202088356018, + 0.014423995278775692, + 3.1001787354522428, + -0.36803242564201355, + 0.10160072147846222, + 1.0 + ], + [ + 0.380146324634552, + -0.07547060400247574, + 0.01514911837875843, + 3.090774556743451, + -0.3744463324546814, + 0.11834027618169785, + 0.0 + ], + [ + 0.3795628547668457, + -0.07445693016052246, + 0.015830885618925095, + 3.10151398380334, + -0.3604779541492462, + 0.12665042281150818, + 0.0 + ], + [ + 0.3789701759815216, + -0.07393267750740051, + 0.017071206122636795, + 3.118250658857175, + -0.35220780968666077, + 0.13335579633712769, + 0.0 + ], + [ + 0.38191232085227966, + -0.07478954643011093, + 0.020231138914823532, + 3.127136550033935, + -0.35260245203971863, + 0.13456009328365326, + 0.0 + ], + [ + 0.39104902744293213, + -0.07606364041566849, + 0.03207394853234291, + -3.1403000952028712, + -0.3608428835868835, + 0.10938980430364607, + 0.0 + ], + [ + 0.39154714345932007, + -0.07550574839115143, + 0.03871498256921768, + -3.1229024325781545, + -0.32962977886199946, + 0.10241645574569701, + 0.0 + ], + [ + 0.3865322768688202, + -0.07370169460773468, + 0.050646569579839706, + -3.094603372859307, + -0.3033995926380158, + 0.11124472320079803, + 0.0 + ], + [ + 0.3781839907169342, + -0.0695246234536171, + 0.0688256248831749, + -3.0806426276736936, + -0.32804411649703974, + 0.11566727608442305, + 0.0 + ], + [ + 0.3587181866168976, + -0.061492614448070526, + 0.07073519378900528, + -3.0607434531026563, + -0.3161287307739258, + 0.1191246658563614, + 0.0 + ], + [ + 0.3467898964881897, + -0.048641037195920944, + 0.07360237091779709, + -3.0695609991722783, + -0.3264325261116027, + 0.13854093849658966, + 0.0 + ], + [ + 0.32948678731918335, + -0.03563876450061798, + 0.06415635347366333, + -3.0643124898248395, + -0.3105611503124237, + 0.18453310430049896, + 0.0 + ], + [ + 0.31567147374153137, + -0.03206823021173477, + 0.06306807696819305, + -3.073555277782031, + -0.32717522978782654, + 0.2032824009656906, + 0.0 + ], + [ + 0.3043175935745239, + -0.024451186880469322, + 0.05167395994067192, + -3.0875429791682443, + -0.31928873062133784, + 0.22554819285869598, + 0.0 + ], + [ + 0.29894623160362244, + -0.020134245976805687, + 0.0471714586019516, + -3.089568467932292, + -0.33257478475570673, + 0.22911059856414795, + 0.0 + ], + [ + 0.297079473733902, + -0.017721742391586304, + 0.04637192562222481, + -3.078954355912753, + -0.3636212944984436, + 0.1968207508325577, + 0.0 + ], + [ + 0.296873539686203, + -0.01270553283393383, + 0.04649261012673378, + -3.0791287143998822, + -0.378141462802887, + 0.19860950112342832, + 1.0 + ], + [ + 0.2965635657310486, + -0.012853993102908134, + 0.04615721106529236, + -3.0806233790987214, + -0.37754696607589716, + 0.19977203011512756, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.1720229983329773, + 0.4537684917449951, + 0.6627950072288513, + 0.6973467767238617, + 0.6973467767238617, + 0.6973467767238617, + 0.6973467767238617, + 0.6973467767238617, + 0.6973467767238617, + 0.6973467767238617, + 0.6973467767238617, + 0.6973467767238617, + 0.6973467767238617, + 0.6973467767238617, + 0.6973467767238617, + 0.5139066278934479, + 0.2269795536994934, + 0.0005114078521728516 + ], + "episode_id": "2657", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2657/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2658.json b/annotation/test/2658.json new file mode 100644 index 0000000000000000000000000000000000000000..fc49264cb1d72aa378a2a1ca0abbba7eba5e49b4 --- /dev/null +++ b/annotation/test/2658.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put eggplant into pan" + ], + "videos": [ + { + "video_path": "videos/test/2658/rgb.mp4" + } + ], + "action": [ + [ + -0.0013938438028934636, + -4.3143083844071995e-05, + 0.002322190814898787, + 0.0016218004333663624, + -0.009023793957615689, + 0.0008006592028482407, + 1.0 + ], + [ + 0.0009915320650194783, + 0.002240552640817631, + 0.010160489592331677, + 0.014375693488086963, + 0.007910952126946548, + 0.00252135035083078, + 1.0 + ], + [ + 0.008353694943405205, + 0.0027930777508716072, + 0.008808088262444152, + 0.003687929816419487, + 0.03705532600847206, + -0.0222756718019204, + 1.0 + ], + [ + 0.005694749279111246, + 0.005499651039197104, + 0.01018955556933167, + 0.0009703055927040824, + 0.007050113327409999, + -0.012762636333001474, + 1.0 + ], + [ + 0.009079055331307968, + 0.0019279027565079988, + 0.004416839813234302, + 0.018010330225044082, + 0.02977961997854037, + 0.014682158441885888, + 1.0 + ], + [ + 0.004851263310783541, + -0.00032668366479147917, + 0.003230187862219234, + 0.0071716451781081375, + 0.023361023434082324, + 0.009857305105301572, + 1.0 + ], + [ + 0.0037680564389436892, + 0.0011720603300378859, + 0.005824723728356565, + 0.0017416106432660233, + 0.01055756821490125, + 0.006881056563243708, + 1.0 + ], + [ + 0.0034445501227849803, + 0.0002533233988485279, + 0.003323185581645054, + 0.003206195382376422, + 0.01581523216190479, + -0.003238441711211115, + 1.0 + ], + [ + 0.0008696375900898472, + 0.002986656607879969, + -0.0002961097707357496, + 0.0021938921706556357, + 0.011569738701201688, + -0.019008769321716742, + 0.0 + ], + [ + -0.007140235411604076, + 0.00490297936134374, + -0.0010293144245286368, + 0.03408077094212042, + -0.01936584713239339, + -0.020400884137388133, + 0.0 + ], + [ + -0.018234953827986504, + 0.0011058176848147993, + -0.00912699855855024, + 0.04231729206229871, + -0.017031344582785386, + -0.011692281050896081, + 0.0 + ], + [ + -0.023577191860974518, + -0.004875523994334049, + -0.00830047824508744, + 0.030814769448542643, + -0.012466274284598495, + -0.042796394536242545, + 0.0 + ], + [ + -0.020081833258124168, + -0.01036933732502643, + 0.0027300967080022406, + 0.006086023805850224, + -0.010903465491754683, + -0.032023230094783535, + 0.0 + ], + [ + -0.016682417650998822, + -0.018812978465407082, + 0.012243795213101975, + -0.018900846033733362, + -0.014114569275458524, + -0.019180915801541788, + 0.0 + ], + [ + -0.0032665161927513437, + -0.014682984793698175, + 0.01260969067217927, + -0.04603624231293497, + -0.0026321580346582913, + 0.023362803754328202, + 0.0 + ], + [ + 0.0035358500186711862, + -0.005023367702802429, + 0.002829711514926686, + -0.021026564301259213, + 0.013267053619602991, + 0.01328609068901197, + 1.0 + ], + [ + -0.0002456637996587317, + 2.339071107651109e-05, + 0.00029934682405239065, + -0.00019201720572706378, + -3.786692972757516e-05, + 0.001789390825639501, + 1.0 + ], + [ + 0.0003570128834010844, + 0.000596064131008082, + -0.00035053452256089695, + -0.001875352465539053, + 0.0011934252371760866, + 0.0002982060935686958, + 1.0 + ], + [ + -0.00042729291976307914, + -0.00041551886008038736, + 0.0003491299938833257, + 0.0007353754352265762, + -0.001632038623728805, + -0.0012261047870316228, + 1.0 + ], + [ + 0.00047242535343112405, + 6.450621726978591e-05, + -0.00029963923076699566, + -0.0003615356333151524, + 0.0014690725595666136, + -0.0002536734852314573, + 1.0 + ], + [ + -0.0006997784577565933, + -0.0001523377953464967, + 0.00029836601692338153, + 0.0009132334168486128, + -0.0029003521813841357, + 0.0002522339409352961, + 1.0 + ], + [ + 0.0006526636105543964, + 0.0005031378487206365, + -0.00035115371661468875, + -0.0012836917158269986, + 0.003064801800633505, + 0.001223610032093413, + 1.0 + ], + [ + -0.00018137772594328604, + -0.0004385828456442852, + 5.005221536414139e-05, + 0.0009263287389083442, + -0.00159396976862664, + -0.0014796501806116872, + 1.0 + ] + ], + "state": [ + [ + 0.2799127697944641, + 0.00919901393353939, + 0.1696816384792328, + -3.0807189774983605, + -0.15714362263679504, + 0.16289520263671878, + 1.0 + ], + [ + 0.2788819670677185, + 0.009216409176588058, + 0.1671767681837082, + -3.079055110114165, + -0.14808782935142517, + 0.16264225542545319, + 1.0 + ], + [ + 0.2816058397293091, + 0.008040785789489746, + 0.15715493261814117, + -3.0642280523949346, + -0.15582506358623505, + 0.15959458053112027, + 1.0 + ], + [ + 0.29146644473075867, + 0.007496932987123728, + 0.1495627909898758, + -3.0635610242658338, + -0.19446146488189694, + 0.1792958676815033, + 1.0 + ], + [ + 0.29981350898742676, + 0.004244772717356682, + 0.1402755230665207, + -3.064996102946349, + -0.2024703621864319, + 0.19172361493110657, + 1.0 + ], + [ + 0.3097445070743561, + 0.004558620974421501, + 0.1376427859067917, + -3.0434679483347615, + -0.23100964725017548, + 0.17435072362422943, + 1.0 + ], + [ + 0.3150016665458679, + 0.006136053707450628, + 0.13565543293952942, + -3.0334152822666844, + -0.2532753050327301, + 0.16185633838176727, + 1.0 + ], + [ + 0.32015159726142883, + 0.006433521863073111, + 0.13087117671966553, + -3.0296001007133206, + -0.26301997900009155, + 0.1535917818546295, + 1.0 + ], + [ + 0.32427600026130676, + 0.007193108554929495, + 0.12855061888694763, + -3.026772270100661, + -0.27909776568412786, + 0.1551004946231842, + 1.0 + ], + [ + 0.32557860016822815, + 0.0043594022281467915, + 0.12874403595924377, + -3.0296401997380933, + -0.2927246689796448, + 0.1734372079372406, + 0.0 + ], + [ + 0.31957027316093445, + -0.0017564825247973204, + 0.12713854014873505, + -3.002294512587138, + -0.2756835520267486, + 0.1967509388923645, + 0.0 + ], + [ + 0.300452321767807, + -0.007976104505360126, + 0.1307244449853897, + -2.963898407416888, + -0.2604131996631623, + 0.21117964386940002, + 0.0 + ], + [ + 0.275204062461853, + -0.009981474839150906, + 0.13338086009025574, + -2.945038007693835, + -0.2554439604282379, + 0.25699156522750854, + 0.0 + ], + [ + 0.253851056098938, + -0.0045268340036273, + 0.1276753693819046, + -2.9477979113631925, + -0.25085639953613276, + 0.2916105389595031, + 0.0 + ], + [ + 0.23438286781311035, + 0.011365881189703941, + 0.1154053658246994, + -2.9722298701577863, + -0.24064038693904877, + 0.3137883245944976, + 0.0 + ], + [ + 0.22849860787391663, + 0.02690679021179676, + 0.10495930910110474, + -3.0127761234813413, + -0.23404583334922788, + 0.29057058691978455, + 0.0 + ], + [ + 0.23074261844158173, + 0.03315695375204086, + 0.10367728024721146, + -3.0302481596642217, + -0.2454698234796524, + 0.2752314805984497, + 1.0 + ], + [ + 0.23058074712753296, + 0.03312164917588234, + 0.10332648456096649, + -3.0299959277086934, + -0.24523296952247622, + 0.2734026610851288, + 1.0 + ], + [ + 0.2310187816619873, + 0.03258873522281647, + 0.10368669778108597, + -3.0317637493186673, + -0.24638573825359344, + 0.2729600369930267, + 1.0 + ], + [ + 0.23056888580322266, + 0.03293142095208168, + 0.10329010337591171, + -3.0313796942406377, + -0.24489767849445343, + 0.2744006216526031, + 1.0 + ], + [ + 0.23096852004528046, + 0.03294307366013527, + 0.10368669778108597, + -3.0317637493186673, + -0.24638573825359344, + 0.2744939923286438, + 1.0 + ], + [ + 0.23033107817173004, + 0.032954853028059006, + 0.1032446026802063, + -3.030866937833377, + -0.24347521364688873, + 0.2745632231235504, + 1.0 + ], + [ + 0.2310187816619873, + 0.03258873522281647, + 0.10368669778108597, + -3.0317637493186673, + -0.24638573825359344, + 0.2729600369930267, + 1.0 + ], + [ + 0.2307307869195938, + 0.03296650946140289, + 0.1036408320069313, + -3.0312511046701154, + -0.24496321380138394, + 0.27465611696243286, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.18319201469421387, + 0.2928347587585449, + 0.2928347587585449, + 0.2928347587585449, + 0.2928347587585449, + 0.2928347587585449, + 0.2928347587585449, + 0.062479496002197266, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2658", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2658/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2659.json b/annotation/test/2659.json new file mode 100644 index 0000000000000000000000000000000000000000..0d65d06b2044920fe1c39b7d42fcf9c2a54a65bc --- /dev/null +++ b/annotation/test/2659.json @@ -0,0 +1,1439 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put pot or pan on stove and put corncob in pot or pan" + ], + "videos": [ + { + "video_path": "videos/test/2659/rgb.mp4" + } + ], + "action": [ + [ + -0.0002860339451976136, + -0.0002618609472792891, + 0.000573788994333777, + 0.0015811785012619089, + -0.003004146601465626, + 0.0004836874778918138, + 1.0 + ], + [ + -0.005130698857971835, + -0.0018889873260456978, + 0.012944773963918311, + 0.0028622542281099544, + -0.04118713661890818, + -0.0030253246446512783, + 1.0 + ], + [ + -0.0007214496117291863, + -0.012248218765900914, + 0.001120166357495819, + -0.006659526414651013, + -0.006023280785435436, + 0.009233613566665012, + 1.0 + ], + [ + -0.002694734439293931, + -0.013925262152675474, + 0.001036023672527801, + -0.0027728796254714466, + -0.011391118445248493, + 0.004593955635435103, + 1.0 + ], + [ + -0.003085585301772986, + -0.010732347935592367, + 0.004081490159802432, + 0.006726962146240063, + -0.005052683339498421, + 0.006396334631520614, + 1.0 + ], + [ + 0.00018630038001456794, + -0.008680937895276127, + 0.000697731006566703, + 0.014939934992335936, + 0.007017366923930959, + 0.007569358977858477, + 1.0 + ], + [ + -0.001158611547982065, + -0.005146999975908732, + 0.00787205091429001, + -0.0003490574991029194, + 0.017835600972027407, + 0.002318610938380117, + 1.0 + ], + [ + -0.0005797199239661558, + -0.0019787262481361922, + 0.017309435541403986, + -0.00838564958319969, + 0.05650099983024663, + 0.0052145944266990514, + 1.0 + ], + [ + -0.0017989358680781471, + -0.0027641878468739438, + 0.011835460627929171, + -0.012122486270545674, + 0.04618481244810125, + 0.0037642897264340528, + 1.0 + ], + [ + -0.00654183167496001, + -0.0011517225256134724, + 0.01391830441553596, + 0.0021201936407615894, + 0.01919620024698086, + 0.007177670828017451, + 1.0 + ], + [ + -0.007215756377020726, + -0.0007971429657277392, + 0.011635963941067215, + 0.0004550776751096957, + 0.02791774063785448, + 0.0014040220565313545, + 1.0 + ], + [ + -0.006928735090650322, + -0.00028467563152799366, + 0.008783368401374366, + 0.00666012532978346, + 0.019423273205594473, + 0.00915608527167441, + 1.0 + ], + [ + -0.006094682000129229, + 0.0006209550851335672, + 0.007854644729258424, + -0.0011578790306787832, + 0.005693378714029751, + 0.001792945904041781, + 1.0 + ], + [ + 0.001287210585757902, + 0.001874997416496888, + 0.0030839786384133138, + 0.012315768950270244, + 0.027163255422908927, + -0.03640637758883825, + 1.0 + ], + [ + 0.00132684112138214, + 0.0003134440847286213, + 0.0006893791211225016, + 0.00699910221417675, + 0.013635876729853396, + -0.009632481823976224, + 0.0 + ], + [ + -0.0011937367853457046, + 0.007242886400617735, + -0.0007463431482490789, + -0.0024539386722687052, + -0.02389611980994427, + -0.004092476590435723, + 0.0 + ], + [ + -3.0462179281849705e-05, + 0.006865092047135915, + -0.0027642960435969046, + 0.0030066298053731855, + -0.03366899930649517, + 0.002012826899215389, + 0.0 + ], + [ + -0.00249222292845246, + 0.01282291512757872, + -0.007767072775895027, + -1.9708472018686055e-05, + -0.07336466290727904, + 0.0036631005805531427, + 0.0 + ], + [ + 0.006207213121281762, + 0.018560380187923334, + -0.03277316958666487, + 0.02484012167099371, + -0.0534310035102278, + -0.01231429793146097, + 0.0 + ], + [ + 0.003360987845925505, + 0.022439058666066443, + -0.02505070246568899, + 0.03311394557795931, + -0.0432783504359614, + -0.013092889857804053, + 0.0 + ], + [ + 0.0021700201413716587, + 0.02555872967431103, + -0.017885522347276705, + 0.027293810567444364, + 0.0017616879684043607, + -0.01434665870376127, + 0.0 + ], + [ + 0.0035895588234939138, + 0.031748489843454554, + -0.01006526863427399, + 0.017389111792700106, + 0.047043067846860506, + -0.019914216231821477, + 0.0 + ], + [ + -0.003386971316569441, + 0.02022452790008287, + 0.009274964822430495, + 0.022573666469898605, + 0.01305319285078923, + 0.008837060954452336, + 0.0 + ], + [ + 0.0022566482525472565, + 0.015788820932967535, + 0.011138803399436101, + 0.0047463614554310776, + 0.03809674603324273, + -0.004675185696110171, + 0.0 + ], + [ + 0.002293278552346258, + 0.0028110948468653384, + 0.010755600348885928, + -0.0018612862001647335, + 0.02838892351476246, + -0.003623216755127332, + 0.0 + ], + [ + 0.0006004396913497975, + -0.0009694246666125031, + 0.008906957003331205, + -0.01136068255168535, + 0.026776171279859543, + 0.004684807009294285, + 0.0 + ], + [ + 0.00012967899449382598, + -0.01083719131349263, + 0.012320575388505188, + 0.0017189237707675997, + 0.020145590307023217, + 0.009913150068119636, + 0.0 + ], + [ + -0.001137134513304626, + -0.005096179800303727, + 0.008182905915251483, + -0.004103620656355436, + 0.020114640044891413, + 0.008577033318244602, + 0.0 + ], + [ + -0.006394361767245685, + -0.0036401567150295233, + 0.009185857729849051, + 0.00994124479005254, + 0.016544967907633157, + -0.006648899437236736, + 0.0 + ], + [ + -0.004279726795612997, + 0.00025200415564864345, + -0.0003926896624529146, + 0.0069766632385501745, + -0.023496772924658012, + 0.008517132503053889, + 0.0 + ], + [ + 0.0032893730983076033, + 0.0008741787260484106, + -0.009165112171462096, + -0.0004766673183744736, + -0.03482366479624204, + -0.008128190760358806, + 1.0 + ], + [ + 0.01363190132009661, + -0.0010789414950802016, + -0.024725999730965658, + -0.01710417785733899, + -0.05826253427710635, + -0.006036693784524093, + 1.0 + ], + [ + 0.012947992300002082, + -0.006416044121768453, + -0.02811696086568062, + -0.028265806165230514, + -0.053411885019309706, + 0.009018069342295695, + 1.0 + ], + [ + 0.01054689981407761, + -0.00734562369725163, + -0.009782072893336118, + -0.06928765015716569, + -0.050056926009994576, + 0.034293805706836544, + 1.0 + ], + [ + 0.0001566646325084636, + -0.004707081640633655, + 0.0007129808767612174, + 0.0023190080219660683, + -0.007635367246724946, + -0.006379064531156407, + 1.0 + ], + [ + 3.011822207775437e-05, + 0.0012486491900908108, + -0.0003986893368649517, + -0.0008042240475069848, + 0.0014492759787309052, + 0.004536459954596663, + 1.0 + ], + [ + -0.0012897734419520558, + 0.003440762165214582, + 2.149538314809423e-05, + 0.005454635846564074, + 0.0018815589625621307, + -0.0011993322508039778, + 1.0 + ], + [ + -0.027413570843390418, + 0.007564464664010412, + -0.0026584393292231664, + 0.07954861291962266, + 0.014781344559261857, + -0.04069628303444585, + 1.0 + ], + [ + -0.018038377875350207, + 0.014812558001461659, + -0.013056562510058533, + 0.06038220869589011, + 0.05392873015029945, + -0.007089308106574818, + 1.0 + ], + [ + -0.02138109639092562, + 0.012474811493424966, + 0.005730198770054427, + 0.06614097527894539, + 0.02930343376806759, + -0.003670543057534246, + 1.0 + ], + [ + -0.01672410159448443, + 0.005206280910887061, + 0.0008508280200912764, + 0.03389219831949576, + 0.05812278723182446, + -0.01320550828158556, + 1.0 + ], + [ + -0.018397761876393103, + 0.002300666549327054, + 0.004530332409171243, + -0.04053751789402191, + 0.05330435145429137, + -0.008074805950399737, + 1.0 + ], + [ + -0.019592961435784928, + -0.0005594738844550138, + 0.008169326688920162, + 0.009519563225056699, + 0.03319629499124597, + 0.009036758941107796, + 1.0 + ], + [ + -0.014091585856691418, + 0.002179012044117017, + 0.005064756301442102, + -0.00315444952583166, + 0.023929603208086094, + 0.0026283381635958743, + 1.0 + ], + [ + -0.014065537153629619, + 0.006249476447327626, + 0.004510021493536595, + -0.0032174787652605448, + 0.026355477151269763, + -0.01311601228667497, + 1.0 + ], + [ + -0.010374139367232681, + 0.004138730738554408, + 0.004175675968107665, + -0.008910769369057499, + 0.035372239556300665, + -0.0006918807589528409, + 1.0 + ], + [ + -0.008439966785376146, + -0.0036403655662743586, + 0.008831129705896047, + -0.0003852097747347337, + 0.033164812874041966, + 0.0025161568273736547, + 1.0 + ], + [ + -0.006155799599445919, + -0.002577256377904862, + 0.009828774002965255, + -0.02720939367774163, + 0.044941911159215045, + 0.00010178609413043754, + 1.0 + ], + [ + -0.00458448178241247, + -0.0017818960073487365, + 0.010559365438559367, + -0.02057348902604187, + 0.03272559291326685, + 0.010133850913164646, + 1.0 + ], + [ + -0.002216677623191227, + -0.00262070252522141, + 0.01110419321792892, + -0.011526736326865811, + 0.023435483082123836, + 0.003938876121719366, + 1.0 + ], + [ + 0.0011825874275606671, + -0.0026503932782297444, + 0.009343627071826906, + -0.0023721048221402286, + 0.013865305740369115, + -0.0011521044564519593, + 1.0 + ], + [ + 0.001137784369734838, + -0.0019932060034278, + 0.002631348746138873, + 0.012320076459626813, + -0.014818657965518987, + -0.027638638146633445, + 0.0 + ], + [ + -0.0017065942992752388, + -0.002471866633109442, + -0.004028951152010105, + 0.028155436784458514, + -0.07157264964832376, + 0.008317438583124136, + 0.0 + ], + [ + 0.017339494818958832, + -0.0024132971554749025, + -0.027067400217561478, + -0.005403060841911628, + -0.06402976535170478, + -0.0063517497562947155, + 0.0 + ], + [ + 0.01956852341010923, + -0.005312959887255655, + -0.01694520709636555, + 0.027063858661806977, + -0.06271038239215249, + 0.0006070967103333332, + 0.0 + ], + [ + 0.023678994394088198, + -0.012123950140883733, + -0.00793308107398234, + -0.0022936124504116654, + -0.029934270495607984, + 0.016493954173688277, + 0.0 + ], + [ + 0.03390234228236123, + -0.023508558560892488, + -0.0041526297392804395, + -0.026643939524938574, + 0.01234208527892121, + 0.03674254396379887, + 0.0 + ], + [ + 0.02238515952370759, + -0.019934789061690647, + 0.006995077518072253, + -0.017472073765621234, + 0.01366577343925389, + 0.02389286732540418, + 0.0 + ], + [ + 0.02228585614993015, + -0.01726832148763629, + 0.00971350667220315, + -0.007424474666263842, + 0.01618917959138757, + 0.013740551383253167, + 0.0 + ], + [ + 0.010716697609218099, + -0.010807240002111801, + 0.017335908719093397, + -0.02618042877645163, + 0.012694624643553268, + 0.00956487021371906, + 0.0 + ], + [ + 0.005873531749543273, + -0.0009054225473808049, + 0.008466347729045563, + -0.010342578776185683, + 0.031105830577154374, + 0.0049031874064539805, + 0.0 + ], + [ + 0.0024954605251543555, + 0.0028677126914221107, + -0.00019312091212045907, + -0.0030478065064746167, + 0.015393672332981697, + -0.002641646858287307, + 1.0 + ], + [ + -0.003912553867399441, + 0.008423433798084445, + -0.001803151260082366, + 0.005286424312901272, + -0.01772246426713096, + -0.009405181365216177, + 1.0 + ], + [ + -0.004002141033964436, + 0.004081237295463366, + -0.00070832156833023, + 0.003350504142208348, + -0.019044802682831246, + -0.005276560641631521, + 1.0 + ], + [ + -0.0061894359983202816, + 0.00047853245438011523, + -0.006003196555408227, + -0.00995045309885445, + -0.02805899812767165, + 0.009650191342866326, + 1.0 + ], + [ + -0.0008368501685976186, + -0.0037173695249036395, + -0.0051649835425681785, + -0.016357632061790098, + -0.00297475831691627, + 0.012875605497228623, + 1.0 + ], + [ + -0.003526567311382103, + -0.00761192298803863, + 0.000986346293084543, + -0.00382206127799692, + -0.03019937499142139, + 0.012988681106389517, + 1.0 + ], + [ + 0.0018497390818602755, + -0.012273523667538033, + -0.001715959237157408, + -0.005284792187489024, + -0.013206680971058544, + 0.022291793323595654, + 1.0 + ], + [ + 0.0010807738402395532, + -0.010662510706292044, + 0.0012344546935511226, + -0.011345945694359302, + 0.003781395652077436, + 0.01292026562186347, + 1.0 + ], + [ + 0.0016024131647968092, + -0.008000680544183045, + 0.0010627595741509442, + -0.019392464195449235, + 0.012221566640610852, + 0.0052085966422509185, + 1.0 + ], + [ + -0.00752269180585981, + -0.00856116256892323, + 0.001860186885822947, + -0.03384596534929235, + 0.009800830766874153, + 0.017244668407619276, + 1.0 + ], + [ + -0.011404505335073546, + -0.007500590922938155, + -0.0030680914596558483, + -0.010731618026991005, + 0.019882504560806105, + 0.021217526401480884, + 1.0 + ], + [ + -0.0066540034919740434, + -0.0027346293668094237, + 0.002197925370601458, + 0.008175118534493543, + 7.270970315731415e-05, + 0.004787733216427168, + 1.0 + ], + [ + -0.0038399516904455053, + -0.0007533848760873215, + -5.5262443279210376e-05, + -0.0110603319380854, + -0.02116069293691797, + 0.0004939081374160944, + 1.0 + ] + ], + "state": [ + [ + 0.3725207448005676, + -0.03225771337747574, + 0.15439003705978394, + 3.092597684013196, + -0.2064882218837738, + -0.013846383430063725, + 1.0 + ], + [ + 0.3723641633987427, + -0.03202207759022713, + 0.15375791490077972, + 3.09431058739359, + -0.2035113275051117, + -0.014489897526800634, + 1.0 + ], + [ + 0.36998945474624634, + -0.030712483450770378, + 0.13997004926204681, + 3.096912721293517, + -0.16222713887691498, + -0.013402379117906095, + 1.0 + ], + [ + 0.36970993876457214, + -0.018521679565310478, + 0.1382092833518982, + 3.0918067192011556, + -0.15661491453647616, + -0.023013282567262653, + 1.0 + ], + [ + 0.36763715744018555, + -0.004613849800080061, + 0.13608238101005554, + 3.089843927072831, + -0.1454644352197647, + -0.028223149478435516, + 1.0 + ], + [ + 0.3655529022216797, + 0.005956039298325777, + 0.1310528665781021, + 3.0975447950237474, + -0.14074613153934476, + -0.03493860363960266, + 1.0 + ], + [ + 0.36619043350219727, + 0.014580827206373215, + 0.13001036643981934, + 3.113513521971651, + -0.1480862647294998, + -0.042271688580513, + 1.0 + ], + [ + 0.36643490195274353, + 0.019498849287629128, + 0.12191367149353027, + 3.113431854295083, + -0.1659796833992004, + -0.04411361366510391, + 1.0 + ], + [ + 0.3687945604324341, + 0.020886698737740517, + 0.10469815880060196, + 3.1056145784729203, + -0.22260397672653198, + -0.04781918227672577, + 1.0 + ], + [ + 0.369783878326416, + 0.0231787022203207, + 0.0926680713891983, + 3.0939345081620893, + -0.2688937783241272, + -0.04999449476599693, + 1.0 + ], + [ + 0.36721271276474, + 0.02379530854523182, + 0.07747431844472885, + 3.0977801365130624, + -0.28840470314025884, + -0.056517638266086585, + 1.0 + ], + [ + 0.3636332154273987, + 0.024285027757287025, + 0.06424383819103241, + 3.0982718748324594, + -0.3163571357727051, + -0.05670654401183128, + 1.0 + ], + [ + 0.3597829043865204, + 0.02440747059881687, + 0.05373688414692879, + 3.107662620144435, + -0.33614733815193176, + -0.06550352275371552, + 1.0 + ], + [ + 0.35656049847602844, + 0.02372989058494568, + 0.04433565214276314, + 3.107063992070504, + -0.3418978154659271, + -0.06720048934221268, + 1.0 + ], + [ + 0.35864686965942383, + 0.02160464972257614, + 0.041924457997083664, + 3.105985129373618, + -0.3675382435321808, + -0.02721958421170711, + 1.0 + ], + [ + 0.36011889576911926, + 0.021226659417152405, + 0.04176869988441467, + 3.1090690736942967, + -0.38080278038978577, + -0.016328461468219757, + 0.0 + ], + [ + 0.3585282862186432, + 0.01403688546270132, + 0.042236194014549255, + 3.1052918938272676, + -0.35678404569625854, + -0.01279369555413723, + 0.0 + ], + [ + 0.35736149549484253, + 0.007291015237569809, + 0.04504752531647682, + 3.10946927418048, + -0.32320836186408997, + -0.01620226353406906, + 0.0 + ], + [ + 0.35219892859458923, + -0.005193819757550955, + 0.05200759321451187, + 3.111337388055869, + -0.24999333918094635, + -0.022400537505745888, + 0.0 + ], + [ + 0.3495772182941437, + -0.02269996516406536, + 0.08582710474729538, + 3.133439401286193, + -0.19619990885257718, + -0.011516273953020573, + 0.0 + ], + [ + 0.34769880771636963, + -0.0449138768017292, + 0.11123102158308029, + -3.1191516165905675, + -0.15280026197433472, + 0.001361193018965423, + 0.0 + ], + [ + 0.3472445607185364, + -0.07086814939975739, + 0.12866716086864471, + -3.09406345163519, + -0.15486766397953033, + 0.015837952494621277, + 0.0 + ], + [ + 0.3499825596809387, + -0.10301966965198517, + 0.1376640647649765, + -3.0794092324846467, + -0.202779158949852, + 0.033841948956251144, + 0.0 + ], + [ + 0.349446564912796, + -0.12265811115503311, + 0.12668351829051971, + -3.0548477192693433, + -0.2152484059333801, + 0.023984044790267944, + 0.0 + ], + [ + 0.35466617345809937, + -0.13730157911777496, + 0.11498835682868958, + -3.050337368743964, + -0.2536066770553589, + 0.025383252650499344, + 0.0 + ], + [ + 0.35968226194381714, + -0.13899406790733337, + 0.10494750738143921, + -3.052428374188491, + -0.2822074890136719, + 0.026445243507623672, + 0.0 + ], + [ + 0.3626578748226166, + -0.13715603947639465, + 0.09667698293924332, + -3.061698431270667, + -0.308452844619751, + 0.01904750056564808, + 0.0 + ], + [ + 0.36602213978767395, + -0.12530389428138733, + 0.08583878725767136, + -3.0562845190339765, + -0.32772186398506165, + 0.006914415396749973, + 0.0 + ], + [ + 0.3673901855945587, + -0.1195194274187088, + 0.07816464453935623, + -3.056863548355647, + -0.3470145463943481, + -0.003993755206465721, + 0.0 + ], + [ + 0.3644026517868042, + -0.11510298401117325, + 0.06767234951257706, + -3.048813359933444, + -0.36405786871910095, + 0.0015966620994731784, + 0.0 + ], + [ + 0.36027297377586365, + -0.1153968796133995, + 0.06649202853441238, + -3.0394323041015348, + -0.33986559510231024, + -0.00508706783875823, + 0.0 + ], + [ + 0.3603553771972656, + -0.11720162630081177, + 0.07610033452510834, + -3.043922485905238, + -0.30602881312370306, + 0.00711151259019971, + 1.0 + ], + [ + 0.36591777205467224, + -0.11849945783615112, + 0.10377240180969238, + -3.064502077298709, + -0.24861168861389157, + 0.01915811561048031, + 1.0 + ], + [ + 0.37136614322662354, + -0.11416270583868027, + 0.13460886478424072, + -3.091436134772845, + -0.19466109573841095, + 0.014197586104273796, + 1.0 + ], + [ + 0.37965476512908936, + -0.10719837248325348, + 0.1465955674648285, + 3.128700985694774, + -0.14284980297088623, + -0.017826510593295097, + 1.0 + ], + [ + 0.3800036609172821, + -0.10250634700059891, + 0.14585214853286743, + 3.130117588798054, + -0.13513000309467316, + -0.011488816700875759, + 1.0 + ], + [ + 0.37996357679367065, + -0.10374996066093445, + 0.1462654322385788, + 3.1299280627914747, + -0.1366298496723175, + -0.016050858423113823, + 1.0 + ], + [ + 0.3786282241344452, + -0.1071697473526001, + 0.1461082249879837, + 3.135214745188602, + -0.13849718868732452, + -0.014817856252193451, + 1.0 + ], + [ + 0.35099467635154724, + -0.1143084317445755, + 0.14500436186790466, + -3.0741134752803525, + -0.15290257334709165, + 0.02644922398030758, + 1.0 + ], + [ + 0.33175578713417053, + -0.13048210740089417, + 0.15414471924304962, + -3.014167623715945, + -0.2071855515241623, + 0.029952440410852432, + 1.0 + ], + [ + 0.31268471479415894, + -0.14270420372486115, + 0.14263290166854858, + -2.9479538073116025, + -0.23671779036521914, + 0.029865877702832222, + 1.0 + ], + [ + 0.29701247811317444, + -0.14811986684799194, + 0.1369253247976303, + -2.914162056642123, + -0.29629382491111755, + 0.031704094260931015, + 1.0 + ], + [ + 0.28090333938598633, + -0.14985132217407227, + 0.12683610618114471, + -2.953078257041522, + -0.35004219412803655, + 0.02727818861603737, + 1.0 + ], + [ + 0.2651636004447937, + -0.14819951355457306, + 0.11267746239900589, + -2.937897564964839, + -0.38091468811035156, + 0.011020787060260773, + 1.0 + ], + [ + 0.25410279631614685, + -0.14943090081214905, + 0.10242490470409393, + -2.938000576692172, + -0.4038066864013672, + 0.00295879365876317, + 1.0 + ], + [ + 0.2434159517288208, + -0.1546710729598999, + 0.09167467057704926, + -2.9444041570001325, + -0.43225738406181335, + 0.011231960728764536, + 1.0 + ], + [ + 0.23608791828155518, + -0.15799404680728912, + 0.08287433534860611, + -2.9502594788842877, + -0.46707025170326233, + 0.0042317332699894905, + 1.0 + ], + [ + 0.23212188482284546, + -0.1527574509382248, + 0.07195083796977997, + -2.9460432847314557, + -0.4991314113140107, + -0.005762306042015553, + 1.0 + ], + [ + 0.23111799359321594, + -0.14831367135047913, + 0.060978785157203674, + -2.9681186099820813, + -0.5431746244430542, + -0.016076181083917618, + 1.0 + ], + [ + 0.23246748745441437, + -0.14475715160369873, + 0.0499686598777771, + -2.979001151519366, + -0.5735846757888794, + -0.03467792272567749, + 1.0 + ], + [ + 0.23647120594978333, + -0.14050976932048798, + 0.039918046444654465, + -2.9854509999328336, + -0.5960540771484375, + -0.04395734891295433, + 1.0 + ], + [ + 0.24257318675518036, + -0.13670307397842407, + 0.03328469395637512, + -2.9871107061677655, + -0.6099295020103455, + -0.0451994277536869, + 1.0 + ], + [ + 0.24492444097995758, + -0.13443264365196228, + 0.032056618481874466, + -2.9953651299052915, + -0.599235713481903, + -0.009366805665194987, + 0.0 + ], + [ + 0.24108150601387024, + -0.13253812491893768, + 0.03468296304345131, + -2.9682795276218137, + -0.5272147059440613, + -0.006806989666074515, + 0.0 + ], + [ + 0.24242714047431946, + -0.13483788073062897, + 0.06680813431739807, + -2.9830946644120893, + -0.4651564955711364, + 0.012526116333901882, + 0.0 + ], + [ + 0.25200170278549194, + -0.1321459263563156, + 0.09129028767347336, + -2.9602634777599057, + -0.40311625599861145, + 0.022629220038652424, + 0.0 + ], + [ + 0.26962190866470337, + -0.12124989181756973, + 0.10976793617010117, + -2.957930239039012, + -0.3706738352775574, + 0.011022620834410189, + 0.0 + ], + [ + 0.29793936014175415, + -0.09858161211013794, + 0.1298561543226242, + -2.9697548319869718, + -0.3758129775524139, + -0.030235387384891507, + 0.0 + ], + [ + 0.3206605613231659, + -0.07842197269201279, + 0.13483192026615143, + -2.9770216663652143, + -0.3850598633289337, + -0.058156467974185944, + 0.0 + ], + [ + 0.3448945879936218, + -0.06117502599954605, + 0.13694410026073456, + -2.977840634184428, + -0.3987257778644562, + -0.07574158161878586, + 0.0 + ], + [ + 0.36170244216918945, + -0.04892294853925705, + 0.12696610391139984, + -2.999148490028926, + -0.4096633195877075, + -0.08828525990247726, + 0.0 + ], + [ + 0.370527982711792, + -0.04759778082370758, + 0.12173628807067871, + -3.0053471346669873, + -0.43973904848098755, + -0.09852602332830429, + 0.0 + ], + [ + 0.3725769817829132, + -0.05068165808916092, + 0.12261929363012314, + -3.0086281170421323, + -0.45534878969192505, + -0.09794023633003235, + 1.0 + ], + [ + 0.36794668436050415, + -0.05885619670152664, + 0.12150084227323532, + -3.009000362949916, + -0.4389965236186982, + -0.08504743874073029, + 1.0 + ], + [ + 0.36391669511795044, + -0.06266669929027557, + 0.11994694173336029, + -3.009237663941928, + -0.420802503824234, + -0.07655999064445496, + 1.0 + ], + [ + 0.355788916349411, + -0.06331352144479752, + 0.12279251962900162, + -3.0165471901469907, + -0.3917078673839569, + -0.08289965242147447, + 1.0 + ], + [ + 0.3531440794467926, + -0.06003910303115845, + 0.1276380568742752, + -3.0278001372986516, + -0.3871188163757324, + -0.09629491716623306, + 1.0 + ], + [ + 0.35067495703697205, + -0.05209019035100937, + 0.1261996030807495, + -3.027759576337882, + -0.35562193393707275, + -0.10639706999063492, + 1.0 + ], + [ + 0.3526005446910858, + -0.040228426456451416, + 0.12974870204925537, + -3.0254340340667447, + -0.3398901224136352, + -0.12829516828060147, + 1.0 + ], + [ + 0.3549812436103821, + -0.029712870717048645, + 0.13011808693408966, + -3.0320928787165364, + -0.3421174883842468, + -0.14238305389881134, + 1.0 + ], + [ + 0.3576809763908386, + -0.021948495879769325, + 0.13048414885997772, + -3.0491502975397786, + -0.3536890745162964, + -0.14932537078857422, + 1.0 + ], + [ + 0.35235995054244995, + -0.012353784404695034, + 0.12688235938549042, + -3.0763132144981107, + -0.36179578304290766, + -0.16865170001983643, + 1.0 + ], + [ + 0.3418287932872772, + -0.003171339863911271, + 0.12616665661334991, + -3.0784845148497304, + -0.3801557719707489, + -0.19284456968307495, + 1.0 + ], + [ + 0.33705005049705505, + 0.0006837761029601097, + 0.12182079255580902, + -3.0683991332822522, + -0.3799218237400055, + -0.19799458980560303, + 1.0 + ], + [ + 0.3336605131626129, + 0.002126013394445181, + 0.12049910426139832, + -3.079860972362109, + -0.3587814569473266, + -0.19686800241470337, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.02981734275817871, + 0.31079989671707153, + 0.622829258441925, + 0.8339856117963791, + 0.9125204309821129, + 0.9184255003929138, + 0.933180145919323, + 0.9319662973284721, + 0.9260224476456642, + 0.9237574338912964, + 0.9231027886271477, + 0.9231027886271477, + 0.9231027886271477, + 0.9231027886271477, + 0.9231027886271477, + 0.9231027886271477, + 0.9052495956420898, + 0.7431598007678986, + 0.4714275002479553, + 0.15823012590408325, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.051565468311309814, + 0.27298253774642944, + 0.25917261838912964, + 0.2464250922203064, + 0.2464250922203064, + 0.2464250922203064, + 0.2464250922203064, + 0.2464250922203064, + 0.2464250922203064, + 0.2464250922203064, + 0.16832619905471802, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2659", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2659/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2667.json b/annotation/test/2667.json new file mode 100644 index 0000000000000000000000000000000000000000..96906c52421178e96dcf851dd8f57312c67c9685 --- /dev/null +++ b/annotation/test/2667.json @@ -0,0 +1,736 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the pot to the right of the croissant." + ], + "videos": [ + { + "video_path": "videos/test/2667/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -4.0217019036550897e-10, + -1.442771632371415e-09, + -0.003067970120469099, + 1.0 + ], + [ + -0.004360859397846774, + 0.0024985482507713097, + 0.010796060491344512, + -0.012710808391475852, + -0.03300093289438811, + 0.003160206948247568, + 1.0 + ], + [ + -0.013527346057582487, + 0.0477906298671891, + -0.007817458672419885, + -0.0388485642155333, + 0.017682788165896215, + 0.1109501041652487, + 1.0 + ], + [ + -0.01396459882849732, + 0.04913717569799935, + -0.01675876670640175, + 0.003108172412039972, + 0.05035446652067333, + 0.13704535667016193, + 1.0 + ], + [ + -0.016837651994405952, + 0.03702762324940502, + -0.0019930280172791755, + -0.03187786454187684, + 0.01535845126555368, + 0.06169662177513966, + 1.0 + ], + [ + -0.012822847055061875, + 0.02400228296419878, + 0.018941926076934335, + 0.0013554680782817032, + -0.033954193481650484, + 0.002852490793171034, + 1.0 + ], + [ + -0.009235267124852727, + 0.008876719774144207, + 0.034073013062701135, + 0.014254952874181449, + -0.045383367741373803, + -0.04572114325002161, + 1.0 + ], + [ + 0.0019135561982849528, + 0.0066759377478205, + 0.023285041232360085, + 0.03449290965610319, + -0.02429026910126254, + 0.00430668623350007, + 1.0 + ], + [ + 0.0023031003048034925, + 0.008915349190101854, + 0.010876921113491023, + 0.018069662456918618, + 0.003218559715474053, + 0.007568603235183419, + 1.0 + ], + [ + -0.0009995342928634935, + 0.006409673946818994, + 0.007557996371343613, + 0.01408056088857295, + -8.481104532562219e-05, + 0.017694597391467313, + 1.0 + ], + [ + -0.00018077464133784007, + 0.001975675898924232, + 0.0045101760294992185, + 0.009630808556607365, + -0.0080843604407521, + 0.019899572056561017, + 1.0 + ], + [ + -0.0007491330441607212, + 0.00025355840180323026, + -1.972917230445632e-06, + -0.0017032241163943954, + -0.004687558204976939, + 0.022156827599534898, + 0.0 + ], + [ + -0.0021148321889359984, + -5.502764715610261e-05, + -0.0007465941092552195, + -0.002714696507019739, + -0.012344853065849681, + 0.042356800466276004, + 0.0 + ], + [ + -0.0020741982333723637, + -0.0020944395655988525, + -0.01084567251077073, + -0.007926100917779755, + 0.021285698204419966, + 0.027077402354783425, + 0.0 + ], + [ + -0.0037500676595472143, + -0.003915142982509557, + -0.016582096772482773, + -0.008128887237915562, + 0.03253125264585029, + 0.019269967117226127, + 0.0 + ], + [ + -0.000994642880865417, + -0.0003331971536429946, + -0.020832812037159074, + 0.006230197422002045, + 0.04245593129818372, + 0.039561262426690356, + 0.0 + ], + [ + 0.017409839580031592, + 0.00394785417544138, + -0.015626402718953464, + 0.029579208141563434, + 0.03138354643946582, + 0.0736090196419749, + 0.0 + ], + [ + 0.03184065913299747, + -0.004094578932640304, + -0.005276837734850331, + 0.005469369027762582, + 0.0275461248795839, + -0.016738170974373013, + 0.0 + ], + [ + 0.04211342013885848, + -0.009151022311784364, + 0.012139562904215246, + 0.0034753284064977545, + 0.014713855249930238, + -0.04223109128174567, + 0.0 + ], + [ + 0.011005729366556449, + -0.013558585706331835, + -0.006224751120584766, + 0.011567250834019313, + -0.014926503401277054, + -0.04737645521955819, + 0.0 + ], + [ + 0.018744968038604284, + -0.014212501805297, + 0.04476807762900918, + 0.0021670722364319902, + -0.06517156807872787, + -0.037485782472148836, + 0.0 + ], + [ + 0.0036877644219538938, + -0.011279174993200452, + 0.021868554599662037, + 0.005333769786896841, + -0.04042561361633679, + -0.03621399981622995, + 0.0 + ], + [ + 0.0035837039540482737, + -0.0034567530615974206, + 0.01729478771090312, + 0.0012601087823498707, + -0.02826919306558771, + -0.006219898922149833, + 0.0 + ], + [ + 0.00032327705053887795, + 0.0005694620672262074, + 0.00026648635023765027, + -0.0036836583433442717, + 0.0002496000593397449, + 0.0018544477219114832, + 0.0 + ], + [ + -0.004189011213103192, + 0.00833008245693902, + -3.883371175299235e-05, + -0.010210698216626306, + -0.0009976457394915272, + 0.038768395199461375, + 0.0 + ], + [ + -0.0014721764618619796, + 0.0075788996904216565, + -0.003478723278295997, + -0.01124967285953348, + 0.005070790482289776, + 0.016035650092016043, + 0.0 + ], + [ + 0.000540581147618412, + -0.012051924022069276, + -0.01670817781213921, + -0.010780695542219977, + 0.028962094662733882, + -0.03750581901804224, + 1.0 + ], + [ + -0.0014152102425316877, + -0.027391580148874276, + -0.008188855965285964, + -0.03128297304721742, + 0.01661087553742774, + -0.07874585899380468, + 1.0 + ], + [ + -0.00388434487647239, + -0.034579365660337015, + -0.0390567403088496, + -0.038243904715423355, + 0.07011168336361161, + -0.09726644437837668, + 1.0 + ], + [ + -0.02070888255755214, + -0.05095830819565427, + -0.02261560739200374, + -0.016479612538845684, + 0.00396807107460098, + -0.13393096505130006, + 1.0 + ], + [ + -0.019129093114408757, + -0.01288082236157014, + -0.00476709957263434, + -0.02257377184943443, + -0.006562564649137801, + 0.045283623323868885, + 1.0 + ], + [ + -0.01956088744378407, + -0.0045082105419201116, + 0.008145175626219235, + 0.0151779922186242, + -0.034521324109730994, + 0.04075770846296357, + 1.0 + ], + [ + -0.009261426617163707, + -0.003907006135742239, + 0.00885846313561634, + 0.031243615878441013, + -0.005744891544024868, + 0.007671912574476868, + 1.0 + ], + [ + -0.003290997285091763, + -0.0052415818700634045, + 0.0005040653155923782, + 0.04352419584065537, + 0.008136001081965853, + -0.028538231596382028, + 1.0 + ], + [ + -0.0016094297327673935, + -0.0018436027619548486, + -0.0034804301147894076, + 0.028386737175365072, + 0.009562900126401104, + -0.051861033856444035, + 1.0 + ], + [ + -0.001553902310418224, + -0.0009377469875198637, + -0.004050022708036052, + 0.007632931866156106, + -0.0294185638689905, + -0.027928743640845858, + 1.0 + ], + [ + -0.0009369641475414542, + 0.0002623886427342467, + -2.9875681714772512e-06, + -0.0016456222140713154, + -0.005911154808318766, + -0.001529120784161993, + 1.0 + ] + ], + "state": [ + [ + 0.3281167447566986, + 0.10432223975658417, + 0.09130391478538513, + -3.1352239098683974, + -0.09514727443456651, + -0.006892346777021884, + 1.0 + ], + [ + 0.3281167447566986, + 0.10432223975658417, + 0.09130391478538513, + -3.1355167274647435, + -0.09516636282205582, + -0.0038104937411844735, + 1.0 + ], + [ + 0.32479366660118103, + 0.10190197825431824, + 0.08012741059064865, + 3.1352428245642265, + -0.062146421521902084, + -0.006774168461561203, + 1.0 + ], + [ + 0.310465008020401, + 0.05425792187452316, + 0.08739235997200012, + 3.1033239756994924, + -0.08014966547489166, + -0.11795001477003098, + 1.0 + ], + [ + 0.28945839405059814, + 0.007948128506541252, + 0.1048409566283226, + 3.1176103224330625, + -0.1349603533744812, + -0.2540210485458374, + 1.0 + ], + [ + 0.26364386081695557, + -0.023544520139694214, + 0.10542961955070496, + 3.094114704179116, + -0.1515372395515442, + -0.3160352110862732, + 1.0 + ], + [ + 0.2464161217212677, + -0.0440814383327961, + 0.08591625094413757, + 3.0961214137547692, + -0.117755189538002, + -0.3205251097679138, + 1.0 + ], + [ + 0.23818029463291168, + -0.05232269689440727, + 0.05142988637089729, + 3.105238093184777, + -0.07022925466299057, + -0.27685487270355225, + 1.0 + ], + [ + 0.23951588571071625, + -0.060517679899930954, + 0.028593918308615685, + 3.140085116266743, + -0.04611062631011009, + -0.28204575181007385, + 1.0 + ], + [ + 0.23972070217132568, + -0.06987619400024414, + 0.01784815639257431, + -3.1246814263337335, + -0.04933927208185196, + -0.28961867094039917, + 1.0 + ], + [ + 0.2373325079679489, + -0.07571841776371002, + 0.010142882354557514, + -3.1097300221496305, + -0.048947539180517204, + -0.30733051896095276, + 1.0 + ], + [ + 0.23681966960430145, + -0.07747665047645569, + 0.0055686854757368565, + -3.0991430451446256, + -0.04022394120693207, + -0.32697764039039606, + 1.0 + ], + [ + 0.2360297441482544, + -0.07747633755207062, + 0.00552977854385972, + -3.0999733713739595, + -0.03459073230624199, + -0.34892842173576355, + 0.0 + ], + [ + 0.23402740061283112, + -0.0767224058508873, + 0.00620442908257246, + -3.1012755577736577, + -0.02046450413763523, + -0.39073997735977173, + 0.0 + ], + [ + 0.23253387212753296, + -0.07431664317846298, + 0.01708097569644451, + -3.108636649447032, + -0.040633685886859894, + -0.41867050528526306, + 0.0 + ], + [ + 0.2298593372106552, + -0.06944163143634796, + 0.03361694887280464, + -3.1159268637471875, + -0.07250395417213439, + -0.4390452802181244, + 0.0 + ], + [ + 0.22750960290431976, + -0.06856082379817963, + 0.05432466045022011, + -3.1067325455420693, + -0.1138707771897316, + -0.4799127578735352, + 0.0 + ], + [ + 0.23921950161457062, + -0.0797177255153656, + 0.0716819167137146, + -3.0686717872791966, + -0.14235256612300873, + -0.555301308631897, + 0.0 + ], + [ + 0.26728197932243347, + -0.09277495741844177, + 0.08170410245656967, + -3.065296957390853, + -0.17102938890457153, + -0.5404034852981567, + 0.0 + ], + [ + 0.3097025454044342, + -0.10650662332773209, + 0.07763135433197021, + -3.0689777826243123, + -0.18877297639846805, + -0.49868071079254156, + 0.0 + ], + [ + 0.3242625296115875, + -0.0995519682765007, + 0.08676089346408844, + -3.066698024170943, + -0.17709903419017792, + -0.4495817720890045, + 0.0 + ], + [ + 0.3554103970527649, + -0.09512628614902496, + 0.047165773808956146, + -3.0719307010346135, + -0.11475630849599838, + -0.40712425112724304, + 0.0 + ], + [ + 0.3660438358783722, + -0.08580056577920914, + 0.026695942506194115, + -3.0710636546188077, + -0.07686181366443634, + -0.36809730529785156, + 0.0 + ], + [ + 0.3722754716873169, + -0.08320195972919464, + 0.01001314539462328, + -3.0704078545146665, + -0.049098651856184006, + -0.3598935306072235, + 0.0 + ], + [ + 0.37239837646484375, + -0.08383485674858093, + 0.009723066352307796, + -3.0739998688274106, + -0.04921563714742661, + -0.3617632985115051, + 0.0 + ], + [ + 0.3655669391155243, + -0.0901387557387352, + 0.008993739262223244, + -3.0823599119954785, + -0.04556574299931526, + -0.4004158079624176, + 0.0 + ], + [ + 0.3610564172267914, + -0.09666860848665237, + 0.01194750890135765, + -3.0928730090432843, + -0.049672339111566544, + -0.41674348711967474, + 0.0 + ], + [ + 0.36530905961990356, + -0.08627665787935257, + 0.02922832779586315, + -3.105460377531596, + -0.08039387315511703, + -0.3805923163890838, + 1.0 + ], + [ + 0.3733740448951721, + -0.06033867970108986, + 0.03825806453824043, + 3.140040173549675, + -0.09958973526954651, + -0.302121102809906, + 1.0 + ], + [ + 0.3762887418270111, + -0.024963758885860443, + 0.07668161392211914, + 3.0919936170154294, + -0.1690739095211029, + -0.20357559621334076, + 1.0 + ], + [ + 0.36350706219673157, + 0.030788524076342583, + 0.09297223389148712, + 3.0531728138499936, + -0.16488829255104068, + -0.06775958836078645, + 1.0 + ], + [ + 0.34498658776283264, + 0.045327328145504, + 0.09339440613985062, + 3.0382857491546353, + -0.16217516362667084, + -0.11405318975448608, + 1.0 + ], + [ + 0.3275967538356781, + 0.05098738893866539, + 0.08178175985813141, + 3.0606832822137555, + -0.13188126683235166, + -0.15851812064647675, + 1.0 + ], + [ + 0.32022008299827576, + 0.055385246872901917, + 0.07149805128574371, + 3.093003450083085, + -0.12677085399627686, + -0.1666947454214096, + 1.0 + ], + [ + 0.31795987486839294, + 0.061049699783325195, + 0.07032999396324158, + 3.132860245304652, + -0.13345807790756226, + -0.13753646612167358, + 1.0 + ], + [ + 0.31618013978004456, + 0.06318782269954681, + 0.07354923337697983, + -3.128906102972575, + -0.14238665997982025, + -0.08506467938423157, + 1.0 + ], + [ + 0.31414854526519775, + 0.06425056606531143, + 0.0773492157459259, + -3.125314025329896, + -0.11326756328344346, + -0.05659448355436325, + 1.0 + ], + [ + 0.3132043778896332, + 0.06404123455286026, + 0.07724203914403915, + -3.1271441309996924, + -0.10738193243741989, + -0.05495995655655861, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05465686321258545, + 0.351925790309906, + 0.6562948226928711, + 0.8571837097406387, + 0.9197788238525391, + 0.9211185500025749, + 0.9214513674378395, + 0.9214513674378395, + 0.9214513674378395, + 0.9214513674378395, + 0.9214513674378395, + 0.9214513674378395, + 0.9214513674378395, + 0.9214513674378395, + 0.9214513674378395, + 0.8912533447146416, + 0.710882306098938, + 0.4240577816963196, + 0.1250922679901123, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2667", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2667/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2670.json b/annotation/test/2670.json new file mode 100644 index 0000000000000000000000000000000000000000..11e89f0895490bc0a2dd2322ce5af66a4c92e4f7 --- /dev/null +++ b/annotation/test/2670.json @@ -0,0 +1,413 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "flip pot upright in sink distractors" + ], + "videos": [ + { + "video_path": "videos/test/2670/rgb.mp4" + } + ], + "action": [ + [ + -0.0015353909135611664, + 0.0004738596399779704, + 0.002590069780799729, + 4.6914683791601885e-05, + -0.007533636783782138, + 0.0001889144427083043, + 1.0 + ], + [ + -0.00859091419825208, + 0.002476479616199891, + 0.013741006945437484, + 0.07956422365907748, + -0.05947836712732528, + 0.03059984686827733, + 1.0 + ], + [ + 0.0017005478726263156, + 0.006517260980880358, + -0.0007375598579566414, + 0.16868457139479792, + -0.013484764236131234, + 0.049057121574788344, + 1.0 + ], + [ + 0.0004053175000910209, + 0.010390395378388421, + 0.004535702133132754, + 0.15352126996591484, + 0.001181991592483048, + 0.07802667885809551, + 1.0 + ], + [ + -0.0005974128726183512, + -0.008846290484210338, + 0.006594635968071115, + 0.0339161495846344, + 0.012689136461330554, + 0.024881480640952948, + 1.0 + ], + [ + -0.0027803342361796732, + -0.004841608327703656, + 0.006868001397632378, + 0.011489230372591155, + 0.003677020703446033, + 0.009888018966675365, + 1.0 + ], + [ + -0.002905077761532932, + -0.001619826552006712, + 0.003948675969212732, + -0.0005247893019325934, + -0.001732421088993159, + 0.0031671376949956574, + 1.0 + ], + [ + 0.00015138085296500487, + -0.004507244538233053, + 0.0017776632614156095, + -0.03560301928878412, + 0.023174028652243533, + -0.015252487705663502, + 1.0 + ], + [ + -0.0004431049183814263, + -0.007971207581742837, + 0.00031242549157972074, + -0.04431074657516523, + 0.029063776539270378, + -0.04161334763617855, + 1.0 + ], + [ + -0.00030542832913468576, + -0.006649838397446037, + -0.0004886203784623769, + -0.04336224589493802, + 0.039385436930789906, + -0.04561269756485097, + 0.0 + ], + [ + -0.0009273985006932257, + -0.0010983053394630318, + -0.00048167905692897504, + -0.0668647438193496, + 0.010315931890151795, + -0.058034918585780866, + 0.0 + ], + [ + -0.002481428410265791, + 0.003777430235984192, + 0.0022753735145627815, + -0.0629123816700827, + -0.014140098986990568, + -0.026244883120736077, + 0.0 + ], + [ + -0.001673808504746603, + 0.009343648328223523, + -4.289400401251556e-05, + -0.06799755242173727, + -0.016404601498223263, + -0.003199798685667061, + 0.0 + ], + [ + -0.0016315178911534762, + -0.004215552857945639, + 0.00245384657888763, + -0.04190078093352466, + -0.015092248028896185, + -0.020098632894676723, + 0.0 + ], + [ + 0.0011811933980026966, + -0.005773608662446569, + 0.0027022406869732234, + -0.012515405479204385, + 0.015009708622089057, + 0.01288852312863307, + 0.0 + ], + [ + -0.0014785528524590954, + -0.0010006226488386849, + 0.0023110168131532734, + -0.004553525519860206, + 0.007262002793267493, + 0.03227145737296841, + 0.0 + ], + [ + -4.4447610988084314e-05, + -0.0007475094825799866, + 0.00043324664511642933, + -0.0006179874614358289, + 0.002288495684166992, + 0.011210102281045728, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 2.3960871007374627e-17, + 2.842377278832702e-17, + 1.6376025870033806e-19, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 2.3960871007374627e-17, + 2.842377278832702e-17, + 1.6376025870033806e-19, + 1.0 + ], + [ + 0.0002107341671781383, + 0.00019012132809577832, + -2.5591270222980144e-07, + -0.0012005544391227275, + 0.0013275392359315334, + -0.0012265696734821041, + 1.0 + ] + ], + "state": [ + [ + 0.3515061140060425, + 0.027012057602405548, + 0.031395040452480316, + -2.9581906666331967, + -0.13090914487838745, + 0.0321371965110302, + 1.0 + ], + [ + 0.3503279685974121, + 0.02698063850402832, + 0.02858409471809864, + -2.958294915156909, + -0.12346731126308441, + 0.033334508538246155, + 1.0 + ], + [ + 0.34352341294288635, + 0.026823388412594795, + 0.013670164160430431, + -2.876063736277171, + -0.05938643217086791, + 0.014104993082582952, + 1.0 + ], + [ + 0.3453714847564697, + 0.020366406068205833, + 0.01277430821210146, + -2.7050148268514356, + -0.03344759345054627, + -0.029709532856941223, + 1.0 + ], + [ + 0.34583792090415955, + 0.012851295992732048, + 0.00428886478766799, + -2.5502960999780377, + -0.001469179173000157, + -0.10090585052967073, + 1.0 + ], + [ + 0.34635448455810547, + 0.02387579344213009, + 0.0037442557513713837, + -2.516543300943919, + 0.0018642501672729848, + -0.12863594293594358, + 1.0 + ], + [ + 0.344611257314682, + 0.03211241960525513, + 0.001012951834127307, + -2.5051054676347455, + 0.004668057430535556, + -0.1388061344623566, + 1.0 + ], + [ + 0.34222888946533203, + 0.036130327731370926, + -0.001186160370707512, + -2.505637081461497, + 0.007943709380924702, + -0.1403234452009201, + 1.0 + ], + [ + 0.34304341673851013, + 0.04074368625879288, + 5.952200444880873e-05, + -2.541054519014903, + -0.019758163020014763, + -0.14181971549987793, + 1.0 + ], + [ + 0.3434762954711914, + 0.04750341176986694, + 0.004296599887311459, + -2.585540326433726, + -0.06724642962217331, + -0.12389154732227325, + 1.0 + ], + [ + 0.3435782492160797, + 0.05292244628071785, + 0.008192245848476887, + -2.6297355016046247, + -0.12475953251123428, + -0.10583650320768356, + 0.0 + ], + [ + 0.3426209092140198, + 0.053749825805425644, + 0.009027291089296341, + -2.70289600093896, + -0.16203902661800385, + -0.059702780097723014, + 0.0 + ], + [ + 0.34062010049819946, + 0.05141180008649826, + 0.005010552238672972, + -2.770832987623759, + -0.16031132638454437, + -0.029551159590482712, + 0.0 + ], + [ + 0.3392444849014282, + 0.04272434115409851, + 0.001440821448341012, + -2.840233953791209, + -0.1461743712425232, + -0.02052934467792511, + 0.0 + ], + [ + 0.33788731694221497, + 0.04750712960958481, + 0.00012281944509595633, + -2.8856669684224805, + -0.13768607378005984, + 0.0033679383341223, + 0.0 + ], + [ + 0.3391944169998169, + 0.0537811741232872, + -0.0008568409248255193, + -2.8959298004680356, + -0.14892607927322388, + -0.013081288896501064, + 0.0 + ], + [ + 0.33804887533187866, + 0.05532890930771828, + -0.00305238482542336, + -2.8956538458638867, + -0.14804114401340487, + -0.04651554673910142, + 0.0 + ], + [ + 0.33807867765426636, + 0.056158918887376785, + -0.0032945512793958187, + -2.8945831676297864, + -0.14752180874347687, + -0.05807100981473923, + 1.0 + ], + [ + 0.33807867765426636, + 0.056158918887376785, + -0.0032945512793958187, + -2.8945831676297864, + -0.14752180874347687, + -0.05807100981473923, + 1.0 + ], + [ + 0.33807867765426636, + 0.056158918887376785, + -0.0032945512793958187, + -2.8945831676297864, + -0.14752180874347687, + -0.05807100981473923, + 1.0 + ], + [ + 0.33828285336494446, + 0.055962324142456055, + -0.003309311345219612, + -2.8959121276908597, + -0.1491089016199112, + -0.05719655752182006, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.1591436266899109, + 0.4170845150947571, + 0.5940692126750946, + 0.7056604325771332, + 0.8232058584690094, + 0.9322709515690804, + 0.9399113729596138, + 0.8402497619390488, + 0.6245397627353668, + 0.3138011693954468, + 0.014829039573669434, + 0.0, + 0.0 + ], + "episode_id": "2670", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2670/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2671.json b/annotation/test/2671.json new file mode 100644 index 0000000000000000000000000000000000000000..61a41183eec75676d54adf8ebd235cfda306fed3 --- /dev/null +++ b/annotation/test/2671.json @@ -0,0 +1,622 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Put the napkin on the bottom right." + ], + "videos": [ + { + "video_path": "videos/test/2671/rgb.mp4" + } + ], + "action": [ + [ + 0.0005961547653174923, + 0.0002927365420333962, + -0.0003122399353101498, + 0.0003079406984593723, + 0.0015742568851675868, + -7.322190423292161e-05, + 1.0 + ], + [ + -0.0024089115325920092, + 0.0021762034980047007, + 0.00669878080669395, + -0.010851704173793058, + -0.02261437393718745, + -0.0012695079362052227, + 1.0 + ], + [ + 0.009329146725559023, + 0.03511169083185441, + -0.0038992654549258915, + -0.037305382858922646, + 0.014492591117934899, + 0.08796040346582308, + 1.0 + ], + [ + 0.01718174135064186, + 0.020516106458075556, + -0.007486286111181384, + -0.007948711628677895, + 0.041359120698404715, + 0.04271078814948679, + 1.0 + ], + [ + 0.03214933143864875, + 0.029635125312045665, + 0.0018438428002641757, + -0.007164828102119889, + 0.03491153548111997, + 0.05350961463107935, + 1.0 + ], + [ + 0.03351181577564456, + 0.009763846143693465, + 0.007312359331545962, + -0.0017274690756768738, + 0.024386261475771533, + -0.02811631592878483, + 1.0 + ], + [ + 0.021666287782930057, + 0.0032310747180119377, + 0.003992353977134951, + -0.014202453487579097, + 0.011571290741782373, + -0.02828213670867475, + 1.0 + ], + [ + 0.01246978351897324, + 0.0005397228382710396, + 0.005059252893509494, + 0.002873584438724461, + 0.004345389478511913, + -0.016818725397506257, + 1.0 + ], + [ + 0.0052783146220761554, + 0.00044370138068263273, + 0.0074427219655120004, + -0.008506268458055941, + -0.004267782771219179, + -0.014073825764137403, + 1.0 + ], + [ + 0.00028883740522986243, + -0.0011280038600408127, + 0.013092471997228228, + 0.007993505950981611, + -0.026385586033082897, + -0.0019989376290323953, + 1.0 + ], + [ + -0.003523380465519577, + 0.0035683340073383745, + 0.010317268185277336, + 0.020664530811278663, + -0.028553187773892968, + 0.024140459310664674, + 1.0 + ], + [ + -0.008582292172568494, + 0.002581172090159091, + 0.006308088759267307, + 0.02440318468359429, + -0.028314026586720074, + 0.03984179574134095, + 1.0 + ], + [ + -0.01339553373930941, + 0.0022851865858026306, + 0.002144275939311143, + 0.021956912029131626, + -0.004591961853531292, + 0.024889755381849565, + 1.0 + ], + [ + -0.02206191117365022, + 0.001894170423521867, + -8.4830852200041e-05, + -0.0025540787868664817, + -0.027382272980312875, + 0.004139872357738157, + 1.0 + ], + [ + -0.016691896349839086, + 0.0006218593578659243, + -0.0019994737343406233, + -0.006283847179216672, + -0.012156593941061495, + 0.019080680805619626, + 1.0 + ], + [ + -0.022848745182116898, + -0.0021857333297927908, + -0.0021142557666853313, + -0.0023250939330027014, + -0.01727146792245426, + 0.015609756892047483, + 1.0 + ], + [ + -0.021777659403745944, + 0.0006170648274113533, + -0.0008124114788927982, + -0.009820242364214624, + -0.01952009724472161, + 0.01380133116250156, + 1.0 + ], + [ + -0.01646914920482826, + 0.0023013735293100452, + 0.0002969906583559433, + -0.004029952642278833, + -0.02115735851470413, + 0.0030495498561997295, + 1.0 + ], + [ + -0.00794402082314232, + -0.002259633657447064, + -0.0005151861631937188, + -0.010058951841534793, + -0.002723703709485757, + -0.018801919379863165, + 1.0 + ], + [ + -0.0019393008715389878, + -0.011544488510790448, + 0.0003673685283513615, + -0.008317694242574229, + -0.00045738829317729974, + -0.04922608802664055, + 1.0 + ], + [ + -0.0007099614875818285, + -0.008167227841702688, + -0.00037060142648408267, + -0.0032584006308415078, + -0.0003033678501500935, + -0.028217236437194444, + 1.0 + ], + [ + -0.0005831108086718389, + -0.005987940217437167, + -0.0007235211507668392, + -0.0010311718174608566, + -0.003377665732202252, + -0.01540881094635865, + 1.0 + ], + [ + -8.123391020286413e-05, + -0.0006001878120154848, + 8.27368468466609e-06, + 0.0010597211011863703, + -0.00015324600058597786, + 0.0025757974338883063, + 1.0 + ], + [ + -0.001833131168833845, + 0.00044406862657625794, + 0.0006908641027868232, + -0.0017356546172272182, + -0.004429060737611669, + -0.0009459621247700983, + 1.0 + ], + [ + -0.006090846884710853, + 0.0029940035940620047, + -0.0030178931644941954, + -0.018885538000573163, + 0.004120813506260075, + 0.009870216545136114, + 1.0 + ], + [ + -0.00561336936418001, + -0.0024868607512888883, + -0.02814313109293955, + -0.009391555591310375, + 0.08372940115587948, + -0.025762633649678214, + 1.0 + ], + [ + -0.0007109226744586712, + -0.005173189524269318, + -0.02544335939645341, + 0.0064444205715418635, + 0.08018518289274933, + -0.04153405909511713, + 1.0 + ], + [ + -0.0025080409186634773, + -0.00026281457866123047, + -0.0012047369057925853, + -0.015716659033147437, + -0.005050221622166497, + -0.02001666320465532, + 1.0 + ], + [ + -0.002689347181045571, + -0.00335581990337999, + 0.0046376161353032744, + 0.0213043659004933, + -0.02626799424648001, + -0.00439182584116445, + 1.0 + ], + [ + 0.0013823599612091382, + 0.0038055993347786226, + 0.007929049596722804, + 0.06961757301714194, + -0.03928832280143802, + 0.03344552687302471, + 1.0 + ], + [ + 0.00027008602177397065, + -0.0003961267485067826, + -0.0003177377035997877, + 0.004690145270309004, + -5.3042253250109487e-05, + 0.0007832788529581376, + 1.0 + ] + ], + "state": [ + [ + 0.2868708074092865, + 0.05830882117152214, + 0.046509746462106705, + -3.080986129241534, + -0.05459068343043328, + -0.08377519249916077, + 1.0 + ], + [ + 0.28742197155952454, + 0.05795033276081085, + 0.046835772693157196, + -3.080676896619149, + -0.05616648495197297, + -0.08379749208688735, + 1.0 + ], + [ + 0.28525906801223755, + 0.05636143311858177, + 0.03989245742559433, + -3.0916617309027394, + -0.03367115184664726, + -0.08115255832672119, + 1.0 + ], + [ + 0.2916218638420105, + 0.020464960485696793, + 0.04234728217124939, + -3.126177075440534, + -0.0436292625963688, + -0.16980451345443726, + 1.0 + ], + [ + 0.3047460913658142, + -0.002715351525694132, + 0.05025899037718773, + -3.1322305166446647, + -0.08428421616554262, + -0.21326601505279544, + 1.0 + ], + [ + 0.3299616277217865, + -0.038479093462228775, + 0.050851788371801376, + -3.134841383556374, + -0.11857075989246368, + -0.2674486935138702, + 1.0 + ], + [ + 0.36032965779304504, + -0.05687268450856209, + 0.047489698976278305, + -3.139909618073613, + -0.1430995911359787, + -0.23921743035316467, + 1.0 + ], + [ + 0.38095372915267944, + -0.06522149592638016, + 0.04662264138460159, + 3.124993935348936, + -0.15466082096099854, + -0.2106152176856995, + 1.0 + ], + [ + 0.393632709980011, + -0.06856979429721832, + 0.04355422407388687, + 3.1252351497584065, + -0.15870422124862674, + -0.1935118734836578, + 1.0 + ], + [ + 0.3997916877269745, + -0.07035286724567413, + 0.0370473638176918, + 3.114490956189581, + -0.15419113636016846, + -0.17934174835681913, + 1.0 + ], + [ + 0.40219277143478394, + -0.07000275701284409, + 0.024129126220941544, + 3.1222763770544013, + -0.12776094675064084, + -0.17804862558841705, + 1.0 + ], + [ + 0.39937108755111694, + -0.07332243770360947, + 0.013517290353775024, + -3.1370855063484093, + -0.09964030981063841, + -0.2028493732213974, + 1.0 + ], + [ + 0.3911079466342926, + -0.07422903925180435, + 0.006375249475240707, + -3.108724547671624, + -0.0710684433579445, + -0.24264760315418246, + 1.0 + ], + [ + 0.3777587115764618, + -0.07320506125688553, + 0.003211436327546835, + -3.085018007206269, + -0.06563936173915863, + -0.267426073551178, + 1.0 + ], + [ + 0.3560272455215454, + -0.06921669095754623, + 0.001741984742693603, + -3.087381387250968, + -0.03806660324335098, + -0.2700115144252777, + 1.0 + ], + [ + 0.33968526124954224, + -0.06545041501522064, + 0.003068153513595462, + -3.092970198141881, + -0.024887604638934135, + -0.2884096503257751, + 1.0 + ], + [ + 0.31832581758499146, + -0.056943442672491074, + 0.004716865718364716, + -3.094926232593604, + -0.006875183898955583, + -0.3031594753265381, + 1.0 + ], + [ + 0.2973412871360779, + -0.051065005362033844, + 0.00534986425191164, + -3.1046529208594045, + 0.01326803769916296, + -0.3160336613655091, + 1.0 + ], + [ + 0.280972957611084, + -0.04812076687812805, + 0.005186623893678188, + -3.10870477755601, + 0.03452355042099953, + -0.3183004856109619, + 1.0 + ], + [ + 0.2741532623767853, + -0.04351362958550453, + 0.006049682851880789, + -3.1181173530691346, + 0.036621417850255966, + -0.2994065582752227, + 1.0 + ], + [ + 0.2757048010826111, + -0.03190487623214722, + 0.006024469621479511, + -3.124660827341028, + 0.035879280418157584, + -0.2501515746116638, + 1.0 + ], + [ + 0.277055025100708, + -0.023827947676181793, + 0.006558437366038561, + -3.12691322167451, + 0.035690631717443466, + -0.22191525995731354, + 1.0 + ], + [ + 0.2778302729129791, + -0.017875947058200836, + 0.0073900674469769, + -3.1273941259183964, + 0.03883749246597289, + -0.20644694566726685, + 1.0 + ], + [ + 0.2778738737106323, + -0.01727181114256382, + 0.007393470034003258, + -3.1264344455027064, + 0.03902716562151909, + -0.20902226865291593, + 1.0 + ], + [ + 0.2759654223918915, + -0.017310181632637978, + 0.0067680091597139835, + -3.12813039788092, + 0.04344135895371437, + -0.20800833404064178, + 1.0 + ], + [ + 0.2695113718509674, + -0.01904918998479843, + 0.010007026605308056, + 3.135737483045556, + 0.03945164754986762, + -0.2179407775402069, + 1.0 + ], + [ + 0.2656915485858917, + -0.01548741478472948, + 0.03833462670445442, + 3.1273637303435287, + -0.04413904622197151, + -0.19175350666046143, + 1.0 + ], + [ + 0.26495033502578735, + -0.009705495089292526, + 0.06364572793245316, + 3.131878459016331, + -0.12368496507406236, + -0.14888882637023929, + 1.0 + ], + [ + 0.26238304376602173, + -0.009042828343808651, + 0.06452925503253937, + 3.1136831176751336, + -0.11841578781604767, + -0.12878160178661346, + 1.0 + ], + [ + 0.2607029378414154, + -0.005573231726884842, + 0.059515200555324554, + 3.13454417523975, + -0.09203467518091202, + -0.1251104176044464, + 1.0 + ], + [ + 0.26230740547180176, + -0.00966683216392994, + 0.05177365988492966, + -3.0759220515661916, + -0.05293073877692223, + -0.15885357558727267, + 1.0 + ], + [ + 0.26261502504348755, + -0.009336917661130428, + 0.05213051661849022, + -3.0711907019191464, + -0.0528263933956623, + -0.15963277220726013, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0025147199630737305, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0 + ], + "episode_id": "2671", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2671/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2687.json b/annotation/test/2687.json new file mode 100644 index 0000000000000000000000000000000000000000..15202fa563237947fa86514642d4b6bea4468890 --- /dev/null +++ b/annotation/test/2687.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "move drying rack out of sink" + ], + "videos": [ + { + "video_path": "videos/test/2687/rgb.mp4" + } + ], + "action": [ + [ + -0.00022311762617006754, + -9.687128660831473e-05, + -1.9395800338818862e-07, + 0.000610867132127299, + -0.0014071084725238063, + -4.262696516339081e-07, + 1.0 + ], + [ + 0.0001842597221899734, + -0.00779736542910441, + 0.022854226492591913, + 0.03013112239558309, + -0.03782006349515605, + -0.018374807273721355, + 1.0 + ], + [ + -0.0004409630925130676, + -0.013177204713313486, + 0.03980753603206449, + 0.028213556856596527, + 0.018144990519591963, + -0.018549777981328185, + 1.0 + ], + [ + -0.000896690859301266, + -0.010483437601134208, + 0.034064165039159856, + 0.001819621528575671, + 0.04333795537943674, + -0.005457393637323144, + 1.0 + ], + [ + -0.0014604010410642356, + 0.0036514496107682725, + 0.03499541107809975, + 0.011740115159901561, + 0.0215137427081069, + -0.013450474302161458, + 1.0 + ], + [ + 0.004667087256331691, + 0.0057602037175947035, + 0.012954577621253136, + -0.021053428098346674, + 0.026105060969110406, + -0.005659930541030723, + 1.0 + ], + [ + -0.0019799302064406254, + 0.003057887378264942, + 0.012997764260073682, + 0.007998431239286839, + -0.004189317162033736, + -0.002404112068369006, + 1.0 + ], + [ + -0.002491424683038538, + 0.0015101773887337769, + 0.014495649594621749, + 0.029346880522922076, + -0.0028472973710773654, + 0.006407447500326901, + 1.0 + ], + [ + 0.0007457631685980364, + -0.0006286899950949715, + 0.013322463766073557, + 0.03225582718084195, + -0.004917404968747002, + -0.0011806629469281649, + 1.0 + ], + [ + 0.0014305021471488733, + 0.0006635919839497281, + -0.0019043367449723915, + -0.010100143350867584, + -0.008060304330510758, + 0.006117722826707997, + 1.0 + ], + [ + 0.002236365017267439, + 0.0011035763690179286, + -0.0017450876579166296, + -0.00511917317672166, + 0.0028315369369689316, + 0.012863798952395294, + 0.0 + ], + [ + 0.000984129197682434, + -0.0002391135826707855, + -0.0005393312125294167, + 0.0038677174219281366, + 0.0035999091523286316, + 0.011923630365631443, + 0.0 + ], + [ + -9.77261907838547e-05, + -0.0019965246327359, + -0.0007993299557034973, + 0.013897288560191769, + -0.001958966130089585, + 0.03207402868654766, + 0.0 + ], + [ + -0.005744882658163955, + -0.0029084870090882045, + -0.013010677756884182, + 0.005670754473621759, + -0.04353008093017206, + 0.02845882372680965, + 0.0 + ], + [ + 0.005147349490504262, + 0.0044139069508045544, + -0.05113412352347746, + -0.06593625264995255, + -0.014795414941578653, + 0.008892372564670532, + 0.0 + ], + [ + 0.0027994289806069343, + 0.005759416689195711, + -0.038348629016979115, + -0.03051384586782452, + -0.006296789929962724, + 0.003980523462072906, + 0.0 + ], + [ + -0.0010519550194790733, + -0.014263941349502348, + -0.018882668157379268, + 0.049236848164293676, + -0.02463476997504086, + 0.01205683495003014, + 0.0 + ], + [ + 0.005352898777909874, + -0.035693762284870915, + -0.018447783405757912, + 0.0308316641457472, + 0.009568537003825064, + 0.016362979002398425, + 0.0 + ], + [ + 0.012405498861243433, + -0.04913511506403766, + -0.006323724324796026, + 0.024377406300595744, + 0.028049317614158097, + -0.004403424309177319, + 0.0 + ], + [ + 0.004993959315097095, + -0.04826800714215159, + 0.0005689094870026537, + 0.017034734566158265, + 0.02171304633094048, + -0.015545382523893847, + 0.0 + ], + [ + 0.0009005842175597984, + -0.04906715354707439, + -0.005463081587941298, + 0.011884492153795077, + -0.002986584446311084, + 0.027866034503166118, + 0.0 + ], + [ + -0.003781834594135135, + -0.043549984262661434, + 0.010831899283210237, + 0.061058274862739834, + -0.033577569871612985, + 0.012827482425718177, + 0.0 + ], + [ + 0.0008544033979113017, + -0.016222392819028347, + 0.0009783929806382735, + 0.03989434324570456, + 0.016683921912644187, + 0.013318870575835577, + 0.0 + ] + ], + "state": [ + [ + 0.3144589364528656, + -0.134233295917511, + 0.17470838129520416, + 2.890709014730998, + 0.07053975015878677, + 0.14468832314014435, + 1.0 + ], + [ + 0.3142234981060028, + -0.134172722697258, + 0.1747003048658371, + 2.891294987993785, + 0.07190290838479996, + 0.14433850347995758, + 1.0 + ], + [ + 0.3124215304851532, + -0.13252116739749908, + 0.15067586302757263, + 2.921861769753047, + 0.11309258639812468, + 0.1528157442808151, + 1.0 + ], + [ + 0.3066980540752411, + -0.12916970252990723, + 0.10926955193281174, + 2.952594371634074, + 0.09939917176961899, + 0.1749815046787262, + 1.0 + ], + [ + 0.3016790449619293, + -0.1260996311903, + 0.07410624623298645, + 2.955594243603297, + 0.05784959718585014, + 0.18849925696849823, + 1.0 + ], + [ + 0.3002171516418457, + -0.13662001490592957, + 0.040530525147914886, + 2.9683136363797864, + 0.03918563202023507, + 0.20570652186870575, + 1.0 + ], + [ + 0.3059462308883667, + -0.1435023844242096, + 0.02858927845954895, + 2.947604240971156, + 0.014445419423282148, + 0.2157813310623169, + 1.0 + ], + [ + 0.30501970648765564, + -0.1493423581123352, + 0.016454661265015602, + 2.955623598890849, + 0.019019590690732002, + 0.21733301877975464, + 1.0 + ], + [ + 0.30322590470314026, + -0.15400315821170807, + 0.0025380917359143496, + 2.984844299154826, + 0.020632630214095116, + 0.21050815284252167, + 1.0 + ], + [ + 0.3039923906326294, + -0.1553310602903366, + -0.01073174737393856, + 3.0171064530783376, + 0.025674056261777874, + 0.21090681850910187, + 1.0 + ], + [ + 0.30552858114242554, + -0.1554337441921234, + -0.008797124959528446, + 3.0068237503343305, + 0.03291174396872521, + 0.2038319855928421, + 1.0 + ], + [ + 0.3079518675804138, + -0.15581010282039642, + -0.006994189228862524, + 3.0013073106580457, + 0.028375010937452313, + 0.19146038591861725, + 0.0 + ], + [ + 0.30887216329574585, + -0.15531373023986816, + -0.006521712988615036, + 3.004862370091029, + 0.02314145863056183, + 0.18015433847904205, + 0.0 + ], + [ + 0.30841395258903503, + -0.1532760113477707, + -0.005999856628477573, + 3.0180885588103017, + 0.02069917693734169, + 0.14810580015182495, + 0.0 + ], + [ + 0.3023277223110199, + -0.14964525401592255, + 0.006669638678431511, + 3.0230150764160832, + 0.0603807158768177, + 0.11446587741374971, + 0.0 + ], + [ + 0.3103169798851013, + -0.14704951643943787, + 0.05756276473402977, + 2.9564322551065167, + 0.07401689887046814, + 0.10385755449533463, + 0.0 + ], + [ + 0.3157989978790283, + -0.1450713574886322, + 0.09600310027599335, + 2.925540866451808, + 0.07947227358818054, + 0.09876982122659683, + 0.0 + ], + [ + 0.31419795751571655, + -0.1271616518497467, + 0.11142389476299286, + 2.97338196833665, + 0.1009380966424942, + 0.08162852376699448, + 0.0 + ], + [ + 0.3176111578941345, + -0.08847605437040329, + 0.12303395569324493, + 3.002753885584422, + 0.08875455707311629, + 0.06704194843769073, + 0.0 + ], + [ + 0.3265739679336548, + -0.038225267082452774, + 0.12139938026666641, + 3.027813146012374, + 0.061581593006849296, + 0.07529833912849425, + 0.0 + ], + [ + 0.3275706171989441, + 0.009877330623567104, + 0.11505819857120514, + 3.0459424053602895, + 0.04176390916109085, + 0.09322050958871841, + 0.0 + ], + [ + 0.3239026367664337, + 0.05911429226398468, + 0.11577191948890686, + 3.05669321318204, + 0.04205945506691933, + 0.06517185270786285, + 0.0 + ], + [ + 0.3167581856250763, + 0.1012129858136177, + 0.10145793110132217, + 3.1170549263530454, + 0.07442320883274078, + 0.04950736835598946, + 0.0 + ], + [ + 0.3167056143283844, + 0.11742375046014786, + 0.100022092461586, + -3.1271985500403723, + 0.057411335408687585, + 0.036582425236701965, + 0.0 + ] + ], + "continuous_gripper_state": [ + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.11033087968826294, + 0.4071013331413269, + 0.6850205361843109, + 0.8656706213951111, + 0.9214513674378395, + 0.9260224476456642, + 0.9237574338912964, + 0.9201150313019753, + 0.9191039130091667, + 0.9191039130091667, + 0.9187651351094246, + 0.9191039130091667, + 0.9187651351094246, + 0.9191039130091667, + 0.9187651351094246 + ], + "episode_id": "2687", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2687/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2688.json b/annotation/test/2688.json new file mode 100644 index 0000000000000000000000000000000000000000..9f9a47fba5b1570c1f48aee24ea71ca203db6b2d --- /dev/null +++ b/annotation/test/2688.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "close microwave" + ], + "videos": [ + { + "video_path": "videos/test/2688/rgb.mp4" + } + ], + "action": [ + [ + -0.0008773441030597901, + -0.00013020565905862638, + 0.0007638395453233563, + 0.0008624960522597698, + -0.00451639868311418, + 0.000137224935205806, + 1.0 + ], + [ + -0.005307318124930234, + -0.0006687545227479602, + 0.0056568441122992925, + 0.0025500589566744697, + -0.030880764876298077, + -0.0005201831924333384, + 1.0 + ], + [ + -0.007849786484875792, + -0.008833919616432474, + -0.003002467857402265, + -0.0028258741816475728, + -0.06277053859757989, + -0.009063098722591803, + 1.0 + ], + [ + -0.005742220389930769, + -0.014845343199415877, + -0.024621926501267988, + 0.028426989736421857, + -0.0019061229395793456, + 0.022912824791005676, + 1.0 + ], + [ + -0.007483791559034758, + -0.01594951651037648, + -0.019616844883940717, + 0.04215248136978113, + -0.026485327855239195, + 0.0439960287202978, + 1.0 + ], + [ + -0.010894903285317923, + -0.017359016395977107, + -0.02310608549157169, + 0.02793222542413157, + -0.02488055367083232, + 0.06903375745303975, + 1.0 + ], + [ + -0.008923196597752715, + -0.018218991427936846, + -0.022174694138977463, + 0.04020714988142699, + -0.024748355824716628, + 0.07202875712859322, + 1.0 + ], + [ + -0.007894130729561634, + -0.01413618896260803, + -0.018405027843416442, + 0.04373551432902469, + 0.009334030485031269, + 0.03934242935219781, + 1.0 + ], + [ + -0.0065809762681163985, + -0.0111028397919698, + -0.009699088200612336, + 0.014782196215930027, + 0.03324240862878117, + 0.02786928861809452, + 1.0 + ], + [ + -0.009627804187338742, + -0.011388168250026606, + -0.0037959546758017616, + -0.0024125307671749906, + 0.014218377983732466, + 0.0004662120842150635, + 1.0 + ], + [ + -0.011398099926137452, + -0.004992763494140022, + 0.007804930070001627, + -0.021667209133058293, + -0.03028545319920643, + -0.002734324243058459, + 1.0 + ], + [ + -0.011545273701441077, + -0.0033562101948755797, + 0.006215254935857145, + -0.011845625383381414, + -0.05052481518822638, + 0.0012191380166322137, + 1.0 + ], + [ + -0.004976119917794282, + -0.00398333737021552, + 0.0018812685172403315, + -0.010662333394266836, + -0.015757960439305562, + -0.02716628929709556, + 1.0 + ], + [ + -0.00627354522771514, + -0.0005325108438994614, + 0.005695258722154677, + 0.02766932985879207, + -0.04304857298459279, + -0.0237772504104993, + 1.0 + ], + [ + -0.004121933754039354, + 0.0034292289903312067, + 0.011996063293799977, + 0.00833138828016162, + -0.016823576073274744, + -0.017281765861919488, + 1.0 + ], + [ + -0.0018923923709190768, + 0.005422524274479509, + 0.014687651414200859, + -0.0016308315679459025, + 0.0240281784597319, + -0.02446989918278976, + 1.0 + ], + [ + 0.004214114452141589, + 0.00501539170055659, + 0.019618905586680828, + -0.032146052386097725, + 0.0646795848161034, + -0.025673945481222496, + 1.0 + ], + [ + 0.005463713770812317, + 0.002589557307610212, + 0.014428769157770265, + -0.06358549372013622, + 0.11292891110601007, + -0.030421176819250214, + 1.0 + ], + [ + 0.01313039080412423, + 0.003708575211678432, + 0.004417090690795711, + -0.024548478789227376, + 0.13092275752129234, + -0.027118122114929904, + 1.0 + ], + [ + 0.02080079508976896, + 0.005610861902077523, + 0.004902076003392475, + -0.002691881531127105, + 0.1581754668106368, + 0.05901064515710657, + 1.0 + ], + [ + 0.008901399305719777, + 0.00808674501987745, + 0.019591886279553425, + -0.05418451274678772, + 0.03219440012113437, + 0.027039223506182382, + 1.0 + ], + [ + 0.011871469722622931, + 0.006356846401043104, + 0.01703632365741481, + -0.03418762050569601, + 0.05859716642090202, + 0.013009813014303949, + 1.0 + ], + [ + 0.010947782063067712, + 0.007532627571142266, + 0.01662502782113576, + -0.023163958285359415, + 0.025433597829292037, + -0.005382977417166104, + 1.0 + ], + [ + 0.008016819515473316, + 0.0037100135016063895, + 0.014621990179409567, + -0.020426738856064854, + 0.021447368873072758, + 0.026929043599893544, + 1.0 + ], + [ + 0.010748452676434806, + 0.00029786684525954577, + 0.0031105797577080907, + 0.005934584423184134, + 0.004212151412822533, + 0.030690258884947513, + 1.0 + ], + [ + 0.007697127460994588, + 0.0012919612428067577, + -0.001798767836265785, + 0.0011734025233159813, + -0.003683070950309067, + 0.013753664075930514, + 1.0 + ], + [ + 0.0022187643706751865, + 0.0015394103549437109, + 0.0023322910825608074, + -0.005868567535871447, + -0.013186263896978169, + 0.013500871204676053, + 1.0 + ], + [ + 0.00922201138719899, + -0.0012070798202589352, + 0.002004132307128714, + -0.0065604171777914385, + -0.010008201849165036, + 0.019464563213453398, + 1.0 + ], + [ + 0.008058640349945289, + -0.0003328532222849201, + -0.0026284625228389447, + 0.010293438057904888, + -0.0022213150649533497, + 0.03222339800426246, + 1.0 + ], + [ + 0.004287742770732212, + 0.0015945770768138114, + -0.0015027606918524927, + 0.00687550427477061, + -0.009499877113265769, + 0.015738973575087665, + 1.0 + ], + [ + 5.83713640632041e-05, + 0.00046373572149312393, + -0.0010193006882170334, + 0.006078915213077871, + -0.020324045075485707, + -0.000463990668730478, + 1.0 + ], + [ + -6.348721785319022e-05, + -0.0001508146374885669, + 0.00025922753616897646, + 0.004098048296422059, + 0.00033262824964106624, + -0.002904792483267802, + 1.0 + ], + [ + 0.0005660215481203542, + 0.0005148710974816324, + 6.809312138641086e-05, + 0.008032872502052505, + -0.004204390105084494, + 0.00021903487963753106, + 1.0 + ], + [ + 0.0006831503573620522, + 0.0006356752974402554, + 0.0003995135248453732, + 0.0064092270066744205, + 0.0015734163507031633, + 0.0017943610174050398, + 1.0 + ], + [ + -7.69011169488333e-05, + 0.0016713311509241589, + 0.0003154591612850301, + 0.006377684699206705, + -0.00854050639268313, + 0.006721081615052399, + 1.0 + ], + [ + 0.0016403673823117914, + 0.0013836888860225417, + -0.0003007569473828508, + 0.0011191357360463396, + 0.005464717000850423, + -0.0053900139683577064, + 1.0 + ], + [ + 0.0016832530181757142, + 0.00018132321882410505, + -0.005427322464546022, + 0.011381362259941087, + 0.017436199519783886, + -0.0031256089557818527, + 1.0 + ], + [ + -0.0003937919703641119, + 0.0006065094653100069, + 0.00023557955544651268, + -0.0006738838291474462, + -0.0016350836474816799, + 0.004045394614974866, + 1.0 + ] + ], + "state": [ + [ + 0.3170594573020935, + -0.06332219392061234, + 0.07362987101078033, + -3.1304894295805177, + -0.19453777372837067, + -0.04040692746639251, + 1.0 + ], + [ + 0.3163522183895111, + -0.06315480917692184, + 0.07271230220794678, + -3.129609679924794, + -0.1900201290845871, + -0.040495593100786216, + 1.0 + ], + [ + 0.31224051117897034, + -0.06225111708045006, + 0.06616310775279999, + -3.1272242200844964, + -0.1591477394104004, + -0.03959432989358902, + 1.0 + ], + [ + 0.3043484389781952, + -0.05314170941710472, + 0.06800863891839981, + -3.13160906185443, + -0.0965060144662857, + -0.029602186754345894, + 1.0 + ], + [ + 0.2966819405555725, + -0.03830950707197189, + 0.09210899472236633, + -3.1009691563718995, + -0.09434589743614197, + -0.05259707570075988, + 1.0 + ], + [ + 0.28813278675079346, + -0.022698793560266495, + 0.1115623340010643, + -3.054792197542735, + -0.06600940972566605, + -0.09555845707654953, + 1.0 + ], + [ + 0.2771598696708679, + -0.006286394316703081, + 0.13531425595283508, + -3.022632176178046, + -0.03509584069252014, + -0.1621900200843811, + 1.0 + ], + [ + 0.2700181305408478, + 0.010546299628913403, + 0.15916647017002106, + -2.9802646805816373, + -0.0018980118911713362, + -0.23074297606945038, + 1.0 + ], + [ + 0.26481032371520996, + 0.023065371438860893, + 0.1795881688594818, + -2.9365778883271894, + -0.004791532643139362, + -0.2710735201835633, + 1.0 + ], + [ + 0.2607974410057068, + 0.03341352567076683, + 0.19131280481815338, + -2.921638148027011, + -0.031662434339523315, + -0.3051305115222931, + 1.0 + ], + [ + 0.25452205538749695, + 0.046173762530088425, + 0.1971941441297531, + -2.923916759090968, + -0.0454363115131855, + -0.30869126319885254, + 1.0 + ], + [ + 0.24595020711421967, + 0.05579318851232529, + 0.19014067947864532, + -2.9459103514724454, + -0.016454307362437248, + -0.2994818389415741, + 1.0 + ], + [ + 0.2363336980342865, + 0.06347274780273438, + 0.18450738489627838, + -2.957652272778102, + 0.033343102782964706, + -0.2908516228199005, + 1.0 + ], + [ + 0.2327551245689392, + 0.06899096816778183, + 0.18355293571949005, + -2.9673857261710843, + 0.043852563947439194, + -0.26123532652854925, + 1.0 + ], + [ + 0.2268570214509964, + 0.07213247567415237, + 0.17831650376319885, + -2.938279079394885, + 0.08210782706737517, + -0.2302734404802322, + 1.0 + ], + [ + 0.22165022790431976, + 0.0723913237452507, + 0.16625508666038513, + -2.9282868822389325, + 0.09507866948843002, + -0.20986047387123105, + 1.0 + ], + [ + 0.21791194379329681, + 0.0709480568766594, + 0.15100207924842834, + -2.928102212148257, + 0.06639846414327621, + -0.19099783897399902, + 1.0 + ], + [ + 0.22058066725730896, + 0.06967342644929886, + 0.1305309385061264, + -2.959053726988383, + -0.0022544716484844685, + -0.17965596914291382, + 1.0 + ], + [ + 0.22600193321704865, + 0.06876271218061447, + 0.11588416993618011, + -3.0214850102835378, + -0.11882123351097106, + -0.17032551765441895, + 1.0 + ], + [ + 0.2388809323310852, + 0.06334873288869858, + 0.11264509707689285, + -3.046363519626208, + -0.25203704833984375, + -0.15891806781291962, + 1.0 + ], + [ + 0.2592935562133789, + 0.05489255487918854, + 0.112589992582798, + -3.028101371722766, + -0.40315419435501104, + -0.23831388354301455, + 1.0 + ], + [ + 0.27364712953567505, + 0.04542049765586853, + 0.09733458608388901, + -3.069101246195384, + -0.4318788349628448, + -0.2718965411186218, + 1.0 + ], + [ + 0.2896978259086609, + 0.03564456105232239, + 0.08645415306091309, + -3.095007090019532, + -0.4893094897270202, + -0.2913783192634582, + 1.0 + ], + [ + 0.3046489655971527, + 0.02411319687962532, + 0.07663188129663467, + -3.120420543598481, + -0.5149614214897156, + -0.2865626811981202, + 1.0 + ], + [ + 0.3173238933086395, + 0.016834082081913948, + 0.0677889809012413, + -3.125172674777456, + -0.5356193780899048, + -0.3183925747871399, + 1.0 + ], + [ + 0.3275351822376251, + 0.01320856437087059, + 0.07059591263532639, + -3.1009573211246213, + -0.5390458703041077, + -0.3542313277721405, + 1.0 + ], + [ + 0.3324175775051117, + 0.009948644787073135, + 0.07604436576366425, + -3.091678062575408, + -0.5347520112991333, + -0.3700295686721802, + 1.0 + ], + [ + 0.3348267078399658, + 0.007489854469895363, + 0.07510483264923096, + -3.090010641264268, + -0.5208602547645569, + -0.3848153352737427, + 1.0 + ], + [ + 0.34362655878067017, + 0.005337926559150219, + 0.0780118778347969, + -3.0857901220493993, + -0.509759783744812, + -0.4064933955669403, + 1.0 + ], + [ + 0.3489763140678406, + 0.0032372395507991314, + 0.08425115048885345, + -3.057653123634406, + -0.5054585933685303, + -0.4431249499320984, + 1.0 + ], + [ + 0.35103365778923035, + 0.00036251574056223035, + 0.0875205546617508, + -3.042593317227908, + -0.4946116805076599, + -0.46003842353820806, + 1.0 + ], + [ + 0.3504181504249573, + 4.005540540674701e-05, + 0.08840066939592361, + -3.0378126596384725, + -0.4744313955307007, + -0.4572614431381226, + 1.0 + ], + [ + 0.35054484009742737, + 0.000174826112925075, + 0.08815620839595795, + -3.0351815467053136, + -0.4750610589981079, + -0.45405125617980957, + 1.0 + ], + [ + 0.35082611441612244, + -0.0005240856553427875, + 0.08830626308917999, + -3.027265140908309, + -0.47085717320442205, + -0.45379456877708435, + 1.0 + ], + [ + 0.35130783915519714, + -0.001410975237376988, + 0.08819783478975296, + -3.019856484728404, + -0.47221463918685913, + -0.4559978246688843, + 1.0 + ], + [ + 0.35074344277381897, + -0.0029392484575510025, + 0.08770325034856796, + -3.0106120725446424, + -0.4629130959510803, + -0.46229448914527893, + 1.0 + ], + [ + 0.3513807952404022, + -0.004833459388464689, + 0.08854086697101593, + -3.011810304718562, + -0.4690296053886414, + -0.45710390806198126, + 1.0 + ], + [ + 0.35016539692878723, + -0.005218795966356993, + 0.09408129751682281, + -3.000840025144168, + -0.48672348260879517, + -0.4561508297920227, + 1.0 + ], + [ + 0.34973663091659546, + -0.005640506744384766, + 0.09361574053764343, + -2.9995188285880765, + -0.48453328013420105, + -0.4604180157184601, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2688", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2688/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/270.json b/annotation/test/270.json new file mode 100644 index 0000000000000000000000000000000000000000..7ed4a005ebe9ab426c23817b36ca98fcaac7c996 --- /dev/null +++ b/annotation/test/270.json @@ -0,0 +1,736 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "move the utensil and place it on the black cloth." + ], + "videos": [ + { + "video_path": "videos/test/270/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -2.2857493996739133e-10, + 1.0090589197513203e-09, + -0.0015339798227669023, + 1.0 + ], + [ + -0.0018404348261270914, + -0.00013496246981918754, + 0.005295979802121041, + -0.00031690501719919885, + -0.021462910030801412, + -0.0022016058068920967, + 1.0 + ], + [ + 0.015184686204014896, + -0.027634881058801228, + 0.005031307804472854, + 0.028747052645275276, + 5.027837851003169e-05, + -0.07046850551667465, + 1.0 + ], + [ + 0.02666950523373579, + -0.020641146087101374, + 0.0033475579732789606, + 0.007183592067257582, + 0.015347819957975945, + -0.027598657609013713, + 1.0 + ], + [ + 0.030725410758920317, + -0.037739210759854695, + -0.005350440033484879, + -0.010728177206192685, + 0.04428991950125995, + -0.042815401015546116, + 1.0 + ], + [ + 0.024870918773893507, + -0.017167977265383546, + 0.003328241210220179, + 0.006685510688479648, + 0.012201824834224306, + 0.01293965319293914, + 1.0 + ], + [ + 0.011962813591050059, + -0.011867226327149765, + 0.007500925653369297, + 0.005442135014206136, + -0.019541255857007576, + -0.0005479139224195579, + 1.0 + ], + [ + 0.005449303232823153, + -0.008311573012272385, + 0.014477260953889069, + 0.0042080423568113074, + -0.027506140959275692, + -0.0036065414901327144, + 1.0 + ], + [ + 0.0014777099282160756, + -0.0068744586711138676, + 0.015736521563251803, + 0.011183144851746069, + -0.02921712723164029, + -0.0078444940348307, + 1.0 + ], + [ + 0.0006312062942222236, + -0.0023117343343028937, + 0.009089863019067404, + 0.0015519313770626085, + -0.005095324937667598, + -0.004268617797636714, + 1.0 + ], + [ + 0.0010439951281985254, + -0.00020275212244907494, + 0.0009139303687255355, + -0.009301831566150333, + 0.009980896084677528, + 0.0014776740182283578, + 0.0 + ], + [ + -0.00453823506870583, + 0.0046911866951459946, + -0.0003465207560565094, + -0.0002898036153307255, + -0.015713465892717864, + 0.014844642462034669, + 0.0 + ], + [ + -0.01143111976761238, + 0.0008785663909553426, + -0.013555134180031774, + 0.017013165339465654, + 0.027938562370500606, + -0.036380185483024075, + 0.0 + ], + [ + -0.012503308893663695, + 0.007875966636721536, + -0.03128540246179291, + 0.09717486731328125, + 0.007954073448833688, + -0.042565909376703584, + 0.0 + ], + [ + -0.01708331061138339, + 0.03457652799866382, + -0.033833073489505185, + 0.04123812148564902, + 0.04379782794637061, + 0.03202699455385162, + 0.0 + ], + [ + -0.024059203028066925, + 0.034980065781608075, + -0.024061544680784964, + -0.05869191198749359, + 0.054153699927930884, + 0.07633009645242866, + 0.0 + ], + [ + -0.02521714301974825, + 0.05257159933983294, + -0.002489251569088497, + -0.0602097306189196, + 0.016556977205902736, + 0.09472900170356942, + 0.0 + ], + [ + -0.01400422362717403, + 0.04438755336392145, + 0.005538429478417016, + -0.014440166245374064, + 0.003496975650253215, + 0.059081517346829045, + 0.0 + ], + [ + -0.007447891999308276, + 0.05298858770147889, + 0.0039174005577688, + 0.00039779625429613196, + -0.003108461865418309, + 0.06341869335276443, + 0.0 + ], + [ + 0.007756432795609775, + 0.02469667376575846, + 0.009636409038471946, + 0.002853739532224999, + -0.011200652088255724, + 0.026096476248101904, + 0.0 + ], + [ + 0.0026364477545238645, + 0.0073860407694844084, + 0.008152328505785584, + 0.006128079747699779, + -0.016645870989493997, + 0.012246893361338987, + 0.0 + ], + [ + 0.0018373450071592923, + -0.01067436108914631, + 0.0036980871785896544, + 0.031567714147002254, + -0.014746943228780741, + -0.023052347239484516, + 0.0 + ], + [ + 0.0026347519351891113, + -0.013750747323539087, + 0.0017556556987960578, + 0.016382721928595256, + -0.004793827660155853, + -0.03557456381894206, + 0.0 + ], + [ + -0.002435438777268068, + -0.01933126356137749, + 0.006754885760618119, + 0.0014722816100410185, + -0.030968060035865934, + -0.046780578324407136, + 0.0 + ], + [ + 0.0004978102338128554, + 0.005861142458889599, + 0.00029084826003238686, + -0.02691773768342344, + 0.01015849293415019, + 0.006739336799669826, + 0.0 + ], + [ + -0.0035085653043346525, + 0.007950934779421789, + 0.014152376916615458, + -0.011194149927222358, + -0.03310731490225038, + 0.029843250177931612, + 0.0 + ], + [ + 0.0010474832279299445, + 0.003270242824044333, + 0.0023720506671068716, + -0.00522875535237744, + -0.006763711373312508, + 0.006855393252259918, + 0.0 + ], + [ + -0.0017240818619738546, + 0.0022116137808254484, + 0.0035440029776547147, + -0.0071862748247799564, + -0.024554777857280274, + 0.005142870018428931, + 0.0 + ], + [ + -0.0035656680788333345, + -0.008574775036853105, + -0.003585213476933531, + -0.02554928021564531, + -0.007627997929162729, + -0.018249978016323647, + 1.0 + ], + [ + -0.0016498174277216238, + -0.010660298932498626, + -0.024167237540968643, + -0.04371193572878735, + 0.057691248637102344, + -0.02241025830343761, + 1.0 + ], + [ + -0.007312341185848638, + -0.022912911955622322, + -0.04033310668501126, + -0.059370049463927405, + 0.10391499629374189, + -0.03578986875725365, + 1.0 + ], + [ + -0.010427878599453233, + -0.03525040872167088, + -0.03032557329485769, + -0.01606055245570262, + 0.07079824973955566, + -0.07444211053897597, + 1.0 + ], + [ + -0.011927416078354161, + -0.038030664276082746, + 0.0026749107650397225, + 0.09269361651478836, + -0.05147474397644469, + -0.06449853198977377, + 1.0 + ], + [ + -0.008285321197800765, + -0.019348271475430334, + 0.017070210487535903, + 0.017356995276235052, + -0.056245555123077745, + -0.02626045290692489, + 1.0 + ], + [ + -0.00026808442769588313, + -0.008904758663509826, + 0.007047356556288963, + -0.002518202983010296, + -0.04350576678156498, + -0.0040209896725073606, + 1.0 + ], + [ + 0.004360123504073237, + -0.0019764271823564344, + 0.0007035813918167765, + 0.00434110119505307, + -0.016889591520471484, + 0.017853529681440217, + 1.0 + ], + [ + -0.0007674695215334829, + -0.0003697105202441701, + -0.00032223521677543173, + 0.00011823033609591207, + -0.0061478263718327065, + -0.0015437073459258657, + 1.0 + ] + ], + "state": [ + [ + 0.25509339570999146, + -0.01396152749657631, + 0.06149807199835777, + 3.111498577641793, + -0.06383754312992096, + -0.05347512289881707, + 1.0 + ], + [ + 0.25509339570999146, + -0.01396152749657631, + 0.06149807199835777, + 3.1114005987816533, + -0.06379131227731706, + -0.05193871259689331, + 1.0 + ], + [ + 0.25359514355659485, + -0.013908645138144493, + 0.05609388276934624, + 3.1109777094149074, + -0.04227164760231972, + -0.050385091453790665, + 1.0 + ], + [ + 0.27037835121154785, + 0.012747840024530888, + 0.050865963101387024, + 3.1368241618671497, + -0.04006176069378853, + 0.020108535885810852, + 1.0 + ], + [ + 0.29674434661865234, + 0.0339072123169899, + 0.04849092289805412, + -3.1402861150032884, + -0.05526246502995491, + 0.04781915247440338, + 1.0 + ], + [ + 0.32528623938560486, + 0.07304847240447998, + 0.055579520761966705, + 3.1297983872988304, + -0.09955758601427078, + 0.09074730426073074, + 1.0 + ], + [ + 0.3487294912338257, + 0.09238003939390182, + 0.05453851446509361, + 3.137763676122301, + -0.11190298199653625, + 0.07787290215492249, + 1.0 + ], + [ + 0.36050063371658325, + 0.10517295449972153, + 0.04837528616189957, + -3.1400332812969616, + -0.092359758913517, + 0.07834791392087936, + 1.0 + ], + [ + 0.36658769845962524, + 0.11401062458753586, + 0.034475233405828476, + -3.1361619500727436, + -0.06485866010189056, + 0.08200366050004959, + 1.0 + ], + [ + 0.36850133538246155, + 0.12115118652582169, + 0.01890506036579609, + -3.1254956909739455, + -0.03568248823285103, + 0.0900084376335144, + 1.0 + ], + [ + 0.3692302703857422, + 0.12368471175432205, + 0.009881865233182907, + -3.124098964157053, + -0.030656194314360626, + 0.09436050802469254, + 1.0 + ], + [ + 0.3702763020992279, + 0.12400339543819427, + 0.009004049003124237, + -3.133349268818744, + -0.040609672665596, + 0.09270717948675156, + 0.0 + ], + [ + 0.3661833703517914, + 0.11890873312950134, + 0.009127387776970863, + -3.133041394064673, + -0.02476998046040535, + 0.07798989862203598, + 0.0 + ], + [ + 0.35453346371650696, + 0.11700083315372467, + 0.02238723821938038, + -3.116926636668392, + -0.05300235748291016, + 0.11416634172201158, + 0.0 + ], + [ + 0.3414779305458069, + 0.10680199414491653, + 0.05276283249258995, + -3.0220207293801984, + -0.06195591762661933, + 0.15660306811332703, + 0.0 + ], + [ + 0.3288175165653229, + 0.06596216559410095, + 0.08111552149057388, + -2.9784460236602506, + -0.10157880932092667, + 0.11941762268543243, + 0.0 + ], + [ + 0.30781200528144836, + 0.024742398411035538, + 0.09664315730333328, + -3.0288742949538907, + -0.1422694772481918, + 0.0345345102250576, + 0.0 + ], + [ + 0.28516528010368347, + -0.028589310124516487, + 0.0896625816822052, + -3.075851285951682, + -0.14742310345172885, + -0.06250516325235367, + 0.0 + ], + [ + 0.2698337733745575, + -0.07164353877305984, + 0.0792546197772026, + -3.081623399751731, + -0.14677351713180542, + -0.12233269214630126, + 0.0 + ], + [ + 0.25712379813194275, + -0.12313593924045563, + 0.07115543633699417, + -3.0720292945676526, + -0.139578178524971, + -0.1860709488391876, + 0.0 + ], + [ + 0.2617873549461365, + -0.14840196073055267, + 0.06101503595709801, + -3.0656518285446843, + -0.12654618918895721, + -0.2115274965763092, + 0.0 + ], + [ + 0.2640002369880676, + -0.1557772010564804, + 0.052728064358234406, + -3.05812772561843, + -0.10901156067848206, + -0.22253985702991486, + 0.0 + ], + [ + 0.26849400997161865, + -0.14557184278964996, + 0.05014923959970474, + -3.029220389323779, + -0.09620558470487593, + -0.19822810590267184, + 0.0 + ], + [ + 0.27381396293640137, + -0.1325026899576187, + 0.05020063370466232, + -3.0163712968402585, + -0.09536817669868468, + -0.1621766239404678, + 0.0 + ], + [ + 0.27505746483802795, + -0.1124163568019867, + 0.04570057615637779, + -3.0197954048686704, + -0.07036203891038895, + -0.11178844422101974, + 0.0 + ], + [ + 0.27497580647468567, + -0.11822589486837387, + 0.04473724961280823, + -3.046151841180869, + -0.07962426543235779, + -0.1197369247674942, + 0.0 + ], + [ + 0.27189144492149353, + -0.12446824461221695, + 0.02965955249965191, + -3.0552134980731687, + -0.04379598796367645, + -0.1462978422641754, + 0.0 + ], + [ + 0.27259621024131775, + -0.12765847146511078, + 0.027062613517045975, + -3.0601683055334767, + -0.03646521642804146, + -0.15254814922809604, + 0.0 + ], + [ + 0.27073588967323303, + -0.12931101024150848, + 0.023290084674954414, + -3.0672163163595876, + -0.01157333794981241, + -0.15567567944526672, + 0.0 + ], + [ + 0.26844993233680725, + -0.12056616693735123, + 0.027461010962724686, + -3.0929937233501157, + -0.0053204246796667585, + -0.13690951466560364, + 1.0 + ], + [ + 0.26797860860824585, + -0.11093807220458984, + 0.052108462899923325, + -3.136738317674496, + -0.06403108686208724, + -0.11732451617717743, + 1.0 + ], + [ + 0.2608204483985901, + -0.08722026646137238, + 0.0920015424489975, + 3.084810735779353, + -0.16807837784290314, + -0.08173025399446487, + 1.0 + ], + [ + 0.2488730400800705, + -0.04920336976647377, + 0.11813480406999588, + 3.0553238486223897, + -0.23401594161987307, + -0.0013738463167101145, + 1.0 + ], + [ + 0.2387002855539322, + -0.011530599556863308, + 0.10958920419216156, + 3.1339727669307074, + -0.1767577826976776, + 0.05930409952998161, + 1.0 + ], + [ + 0.2324414998292923, + 0.0073492745868861675, + 0.09118343889713287, + -3.1364396732584616, + -0.1202547922730446, + 0.08528140187263489, + 1.0 + ], + [ + 0.2322516143321991, + 0.01630660891532898, + 0.08420046418905258, + -3.1394638282996645, + -0.07676924020051956, + 0.0895351767539978, + 1.0 + ], + [ + 0.23645804822444916, + 0.01867011748254299, + 0.08383754640817642, + -3.133753888430544, + -0.05982948839664459, + 0.07168825715780258, + 1.0 + ], + [ + 0.2356482297182083, + 0.018980082124471664, + 0.08411619812250137, + -3.1337308400594672, + -0.053693875670433044, + 0.0732823759317398, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.03201168775558472, + 0.3088000416755676, + 0.602889358997345, + 0.8062288165092468, + 0.8980106115341187, + 0.9174014925956726, + 0.9174014925956726, + 0.9174014925956726, + 0.9177437350153923, + 0.9177437350153923, + 0.9177437350153923, + 0.9177437350153923, + 0.9177437350153923, + 0.9177437350153923, + 0.9177437350153923, + 0.9177437350153923, + 0.9177437350153923, + 0.9177437350153923, + 0.8995618224143982, + 0.7218906283378601, + 0.433002769947052, + 0.13302963972091675, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "270", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/270/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2713.json b/annotation/test/2713.json new file mode 100644 index 0000000000000000000000000000000000000000..a77389a39653afd3a546ea367e8b9d85681d0d33 --- /dev/null +++ b/annotation/test/2713.json @@ -0,0 +1,926 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Put the spatula onto the blue towel" + ], + "videos": [ + { + "video_path": "videos/test/2713/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -3.594071098614798e-18, + 3.044884735029823e-18, + -5.765830709280104e-17, + 1.0 + ], + [ + -0.004042280162013846, + -0.0019008818663297448, + 0.012456525336861849, + 0.017503139787706692, + -0.0339196473217107, + 0.018797607379405563, + 1.0 + ], + [ + -0.004506902129868726, + -0.0027996661892013314, + 0.005461267133867221, + 0.0716044138649212, + -0.0030603687002643603, + 0.1934740235913365, + 1.0 + ], + [ + -0.012389433887761491, + 0.0008460880115550004, + -0.0017332885221902356, + 0.021224215498031194, + 0.03524138348208318, + 0.15523288906677343, + 1.0 + ], + [ + -0.009206288623453641, + 0.013490109164791843, + -0.010654289733452463, + 0.05082389190908487, + 0.04472502067327619, + 0.17540687999542592, + 1.0 + ], + [ + -0.006121131523807898, + 0.019508619493508843, + -0.006205793908125185, + -0.021926623353754334, + 0.05033496389598038, + 0.10591961558313666, + 1.0 + ], + [ + 0.004287755431295076, + 0.023608947593531243, + 0.0001535847726178167, + -0.014649746766267385, + 0.034046379124256766, + 0.1503238161317148, + 1.0 + ], + [ + 0.011120809293381436, + 0.02141290295108039, + 0.000278217215184503, + 0.02319767908675004, + 0.03350141423708295, + 0.16937584266147235, + 1.0 + ], + [ + 0.015410863819821874, + 0.019396447466275394, + -0.0013347024187295373, + 0.004465176630438047, + 0.042533390629814836, + 0.17168192366441065, + 1.0 + ], + [ + 0.007680532919945055, + 0.013043916089833454, + 0.011536125404779086, + -0.04158868480907349, + 0.022957458996305292, + 0.13161869379568641, + 1.0 + ], + [ + 0.00858015848701676, + 0.01487722141653764, + 0.013334106452759354, + -0.09495430419978029, + 0.034893670763973844, + 0.10316397682342542, + 1.0 + ], + [ + 0.007304697388703367, + 0.013729138803829102, + 0.008070850583443017, + -0.03795544609440097, + 0.002166790704900793, + 0.08802805534012591, + 1.0 + ], + [ + 0.00890466127386478, + 0.01184002731768584, + 0.006210739098376867, + -0.019355540792908143, + -0.003519932274117207, + 0.09324983786754426, + 1.0 + ], + [ + 0.010350003106159975, + 0.004091873625672206, + 0.0033249826748154667, + 0.002359772478877031, + 0.009675626246635389, + 0.05277933199016678, + 1.0 + ], + [ + 0.004856621903898723, + 0.004319853288374104, + 0.005222841393532173, + -0.012964228913466968, + 0.0006632848011658558, + 0.014713607330732943, + 1.0 + ], + [ + 0.006751609215815321, + 0.0019639074715118478, + 0.00873438896335697, + -0.018212243069565627, + 0.01292824085783883, + -0.02144089976049692, + 1.0 + ], + [ + 0.007939094848260423, + -0.0029361628821063385, + 0.008836617799721034, + 0.003335124139505366, + -0.009322507502317556, + 0.008321247286196183, + 1.0 + ], + [ + -0.0005294909426238996, + -0.003782314661159539, + 0.008543799007739631, + 0.011319817777482028, + -0.019163006896967937, + -0.004285590480574969, + 1.0 + ], + [ + 0.00035477424787048935, + -0.0057596291791559805, + 0.0007151813500887816, + 0.03949228324235647, + -0.0025451759312331455, + -0.025820291677301658, + 1.0 + ], + [ + -6.943995106801777e-05, + -0.001665935893123281, + 0.00022631221726847475, + 0.01187006445862828, + 0.0009611424572091266, + -0.007199304474861564, + 0.0 + ], + [ + -0.00039579141240146985, + -0.0002182256796455311, + 0.00046678496385570774, + 0.004139414044583579, + 0.00014968112234882834, + 0.002131670530912797, + 0.0 + ], + [ + 2.7481951637933254e-05, + 0.0023073427328358887, + -0.00041394107126855413, + -0.008151359255449952, + 0.0063738034475335084, + 0.009566918281824516, + 0.0 + ], + [ + -0.003141885724330538, + 0.0014646883252592753, + -0.007638950026344039, + -0.006179108420545301, + 0.009245714756702796, + 0.00019915327118586829, + 0.0 + ], + [ + -0.004318421889859491, + -0.011971604222832867, + -0.039397301667061464, + 0.07112116690023694, + 0.028267063776519778, + 0.01594663757827423, + 0.0 + ], + [ + -0.016503225668884913, + -0.0027046278686049417, + -0.01990567546098797, + 0.02670046317954878, + -0.011767939881598024, + 0.025038062998968692, + 0.0 + ], + [ + -0.026657526080058055, + 0.0019795757811224665, + -0.021144350196697585, + -0.001881498596999764, + -0.02092344617168086, + 0.0318861003814682, + 0.0 + ], + [ + -0.03774322445355968, + -0.0007487073135581968, + -0.012267894794320576, + 0.00210527999059842, + -0.0382830897839922, + 0.04946225013069625, + 0.0 + ], + [ + -0.039955593213802015, + 0.003095606068479674, + -0.0021548100012577813, + -0.009058117883936309, + -0.035750341245727804, + 0.024925013852405444, + 0.0 + ], + [ + -0.024014963396507903, + 0.006738687224134546, + 0.00720277952070203, + -0.020414502609689394, + -0.024651173171860354, + 0.01171442764816528, + 0.0 + ], + [ + -0.02320535713527629, + 0.0022600889474899267, + 0.004677310554341684, + -0.0010132668773463744, + -0.02268119294591529, + 0.01907368249901667, + 0.0 + ], + [ + -0.01604455024510376, + 0.0028793808174958357, + 0.009023145803334874, + -0.008937158501504065, + -0.017971720044759203, + 0.010116056864907574, + 0.0 + ], + [ + -0.015666532971342996, + 0.006825438946084454, + 0.013629177798255194, + -0.016349499435588784, + -0.016871228403642875, + 0.010390036639629206, + 0.0 + ], + [ + -0.009641863197514058, + 0.0034515833365023996, + 0.012913820834429159, + -0.01073596449229315, + -0.018836491397659614, + 0.017517296956883754, + 0.0 + ], + [ + 0.00015636868888330605, + 0.005575626425087681, + 0.007453181783930766, + -0.0030388832872784073, + 0.0014708482564989853, + 0.029000700656869112, + 0.0 + ], + [ + -3.1472120296832155e-06, + 0.003793309567026391, + 0.008981298505606642, + -0.02768001357793472, + -0.0013233400097780181, + 0.0013177775143822902, + 0.0 + ], + [ + -0.0024469432483794997, + -0.00018222970453517364, + 0.00020480266348778709, + -0.030302016713631946, + -0.018249679709244643, + -0.05615731610275919, + 0.0 + ], + [ + -0.005102624026711486, + -0.0024981113932307096, + -0.0017259578635031964, + -0.0010379614849936945, + -0.035469396589994664, + -0.04249518224607267, + 0.0 + ], + [ + 2.82344588552548e-05, + -0.0006236492833484407, + -0.0011457782128703321, + -0.0059197791560183545, + -0.001500394543521147, + -0.003799348321689983, + 1.0 + ], + [ + 0.0008866329028734916, + 0.002069487538398392, + -0.0015634833561358036, + -0.022577747513832895, + 0.006254507327116386, + -0.011262681185621405, + 1.0 + ], + [ + 0.0032739930139609862, + -0.0032851120048936855, + -0.006120946390215791, + -0.02039259212024067, + 0.02564026545962674, + -0.01621113126849936, + 1.0 + ], + [ + 0.0028455648354293148, + -0.006922742516058071, + -0.01662295805479413, + -0.0008259970352065135, + 0.035586754292450215, + -0.02577146020368016, + 1.0 + ], + [ + 0.005387443659868426, + -0.005400138075087167, + -0.024284345405310638, + 0.001409652691847431, + 0.04635804535735732, + -0.024843838257102718, + 1.0 + ], + [ + 0.004003915188486334, + -0.0008344418201915072, + -0.022730980843731336, + 0.01915957160198167, + 0.020231754291923813, + 0.008704324010520572, + 1.0 + ], + [ + 0.002750934008409755, + -0.0021779725984015516, + -0.019117263127869294, + 0.031817632383705136, + 0.015709908323004174, + 0.0031804493373616075, + 1.0 + ], + [ + -0.00035436885737996973, + -0.0005468324067864678, + -0.0007662859190678995, + 0.0031577009518584383, + -9.510759093821913e-05, + -0.001336386364807771, + 1.0 + ], + [ + -4.846892427304832e-06, + 0.00024320023414938554, + -1.8094181092440864e-07, + -0.0015336830623260285, + -3.0594666460174664e-05, + 2.2498911718603416e-09, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 6.153950319789171e-18, + -1.1470993931285913e-17, + 4.1187384086602566e-17, + 1.0 + ] + ], + "state": [ + [ + 0.3510463833808899, + 0.14014233648777008, + 0.09492404758930206, + 3.068811336653777, + -0.12894625961780548, + 0.6509343981742859, + 1.0 + ], + [ + 0.3510463833808899, + 0.14014233648777008, + 0.09492404758930206, + 3.068811336653777, + -0.12894625961780548, + 0.6509343981742859, + 1.0 + ], + [ + 0.3485424816608429, + 0.13947969675064087, + 0.08194676786661148, + 3.0890294594042977, + -0.0964541807770729, + 0.629631757736206, + 1.0 + ], + [ + 0.34387534856796265, + 0.13918355107307434, + 0.07593794912099838, + -3.10296722327406, + -0.10169531404972076, + 0.43524837493896484, + 1.0 + ], + [ + 0.3329273462295532, + 0.1330866515636444, + 0.0763707160949707, + -3.0662372057610234, + -0.12969040870666504, + 0.27751645445823664, + 1.0 + ], + [ + 0.32685768604278564, + 0.11653660982847214, + 0.08470786362886429, + -2.993310796218463, + -0.15907990932464597, + 0.09706714004278183, + 1.0 + ], + [ + 0.32228779792785645, + 0.09578465670347214, + 0.08695261925458908, + -2.9979236145787915, + -0.1922351270914078, + -0.01714259386062622, + 1.0 + ], + [ + 0.326770544052124, + 0.07236064970493317, + 0.08430465310811996, + -2.9843475242429456, + -0.20219825208187103, + -0.17396970093250275, + 1.0 + ], + [ + 0.33456477522850037, + 0.0495622344315052, + 0.08298388123512268, + -2.928194137411662, + -0.2058521807193756, + -0.35022208094596863, + 1.0 + ], + [ + 0.3426716923713684, + 0.026118438690900803, + 0.08338966965675354, + -2.8901723643117627, + -0.20800474286079407, + -0.5308954119682312, + 1.0 + ], + [ + 0.34677645564079285, + 0.012386114336550236, + 0.07086805999279022, + -2.90600702364976, + -0.19573241472244263, + -0.6666874885559082, + 1.0 + ], + [ + 0.34888195991516113, + -0.003718174295499921, + 0.056412335485219955, + -2.980728330212184, + -0.20446640253067017, + -0.7774344682693481, + 1.0 + ], + [ + 0.34685155749320984, + -0.018920499831438065, + 0.04794160649180412, + -3.001277493434497, + -0.19173693656921387, + -0.8663040399551392, + 1.0 + ], + [ + 0.3452053964138031, + -0.03374459594488144, + 0.0419759675860405, + -3.0034788866811475, + -0.1744127869606018, + -0.9595586657524109, + 1.0 + ], + [ + 0.34849482774734497, + -0.044703274965286255, + 0.03997384384274483, + -2.991867335634776, + -0.1764802187681198, + -1.0140130519866943, + 1.0 + ], + [ + 0.3485954701900482, + -0.0514737106859684, + 0.03510793671011925, + -3.0022362788491925, + -0.17492225766181946, + -1.0288879871368408, + 1.0 + ], + [ + 0.3521987199783325, + -0.05887738987803459, + 0.027496574446558952, + -3.0239082669192037, + -0.19066977500915527, + -1.0090941190719604, + 1.0 + ], + [ + 0.36054763197898865, + -0.06472145766019821, + 0.020723197609186172, + -3.0191899706893643, + -0.1804297864437103, + -1.0163811445236206, + 1.0 + ], + [ + 0.36510950326919556, + -0.06297645717859268, + 0.012740273959934711, + -3.0090491344505033, + -0.16192947328090668, + -1.0097013711929321, + 1.0 + ], + [ + 0.3702051043510437, + -0.06017758324742317, + 0.012849047780036926, + -2.97383730311925, + -0.16276361048221588, + -0.9834238290786743, + 1.0 + ], + [ + 0.3715609014034271, + -0.05918192118406296, + 0.012892093509435654, + -2.963110925751277, + -0.16490936279296878, + -0.9763906598091125, + 0.0 + ], + [ + 0.3716275095939636, + -0.0587489940226078, + 0.012412198819220066, + -2.958618389564105, + -0.16467784345149994, + -0.9785441756248474, + 0.0 + ], + [ + 0.3696989119052887, + -0.06008180230855942, + 0.01240407582372427, + -2.9650189747386655, + -0.16919524967670443, + -0.9892640709877014, + 0.0 + ], + [ + 0.3649997413158417, + -0.05800103396177292, + 0.01903419755399227, + -2.970879318314143, + -0.17826193571090695, + -0.9911134839057923, + 0.0 + ], + [ + 0.3629739284515381, + -0.04558785259723663, + 0.05847940593957901, + -2.8960111310058316, + -0.2033710479736328, + -1.0120559930801392, + 0.0 + ], + [ + 0.3503888249397278, + -0.029638197273015976, + 0.0747007206082344, + -2.864947797852107, + -0.18582218885421753, + -1.033854603767395, + 0.0 + ], + [ + 0.3285180330276489, + -0.007911146618425846, + 0.08923446387052536, + -2.86218714912469, + -0.1569278836250305, + -1.0591150522232056, + 0.0 + ], + [ + 0.3070237338542938, + 0.024924438446760178, + 0.09518696367740631, + -2.854255350428172, + -0.10638429969549179, + -1.0962681770324707, + 0.0 + ], + [ + 0.28562891483306885, + 0.05874118581414223, + 0.09212677925825119, + -2.8616875429921826, + -0.06502660363912582, + -1.1100536584854126, + 0.0 + ], + [ + 0.271209180355072, + 0.0777004063129425, + 0.08180071413516998, + -2.8817283531003675, + -0.03809809312224388, + -1.114502191543579, + 0.0 + ], + [ + 0.2601954936981201, + 0.09790927171707153, + 0.07581955194473267, + -2.882214220362254, + -0.011274649761617184, + -1.127103328704834, + 0.0 + ], + [ + 0.25293073058128357, + 0.11210177093744278, + 0.06617943942546844, + -2.891053797798701, + 0.008690551854670048, + -1.132270336151123, + 0.0 + ], + [ + 0.2432965487241745, + 0.12502969801425934, + 0.05142028629779816, + -2.90742244024808, + 0.027610793709754947, + -1.1381540298461914, + 0.0 + ], + [ + 0.23877321183681488, + 0.1339634209871292, + 0.03832930698990822, + -2.918485390143939, + 0.04999546706676483, + -1.1508350372314453, + 0.0 + ], + [ + 0.23520450294017792, + 0.13266418874263763, + 0.029829995706677437, + -2.9230484833293637, + 0.054956432431936264, + -1.179485559463501, + 0.0 + ], + [ + 0.23337925970554352, + 0.13248436152935028, + 0.020254554226994514, + -2.9507834037118634, + 0.05653397366404533, + -1.1804866790771484, + 0.0 + ], + [ + 0.23264755308628082, + 0.13483521342277527, + 0.020226556807756424, + -2.97806906898553, + 0.0637112781405449, + -1.1217730045318604, + 0.0 + ], + [ + 0.23246270418167114, + 0.14024965465068817, + 0.022656766697764397, + -2.9761423786454877, + 0.09171956032514571, + -1.0738911628723145, + 0.0 + ], + [ + 0.23290479183197021, + 0.14032895863056183, + 0.02388184331357479, + -2.9816958626085004, + 0.09257299453020097, + -1.069879412651062, + 1.0 + ], + [ + 0.23137222230434418, + 0.13835544884204865, + 0.025008726865053177, + -3.003339575725146, + 0.08460034430027008, + -1.0597201585769653, + 1.0 + ], + [ + 0.23533937335014343, + 0.13620871305465698, + 0.031224047765135765, + -3.022637503343173, + 0.05696409195661544, + -1.0471822023391724, + 1.0 + ], + [ + 0.24149757623672485, + 0.1353446990251541, + 0.048360977321863174, + -3.0221985598378858, + 0.0185577142983675, + -1.0258289575576782, + 1.0 + ], + [ + 0.24663951992988586, + 0.13162562251091003, + 0.07301142066717148, + -3.0203265269571027, + -0.03043249249458313, + -1.0067007541656494, + 1.0 + ], + [ + 0.24678675830364227, + 0.12779909372329712, + 0.09578774869441986, + -3.0008117129378995, + -0.04946085065603256, + -1.0178003311157227, + 1.0 + ], + [ + 0.24728278815746307, + 0.12599393725395203, + 0.11513397097587585, + -2.9687133898311338, + -0.06456834822893144, + -1.0231643915176392, + 1.0 + ], + [ + 0.24741750955581665, + 0.1265544593334198, + 0.11595826596021652, + -2.9656420220905026, + -0.06470448523759842, + -1.0218287706375122, + 1.0 + ], + [ + 0.24721212685108185, + 0.12643128633499146, + 0.11591564863920212, + -2.9671760519319257, + -0.06467436254024506, + -1.0218234062194824, + 1.0 + ], + [ + 0.24721212685108185, + 0.12643128633499146, + 0.11591564863920212, + -2.9671760519319257, + -0.06467436254024506, + -1.0218234062194824, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.06405991315841675, + 0.3760365843772888, + 0.5597712695598602, + 0.5625219643115997, + 0.5625219643115997, + 0.5625219643115997, + 0.5625219643115997, + 0.5625219643115997, + 0.5625219643115997, + 0.5625219643115997, + 0.5625219643115997, + 0.5625219643115997, + 0.5625219643115997, + 0.5625219643115997, + 0.5625219643115997, + 0.5625219643115997, + 0.5625219643115997, + 0.5625219643115997, + 0.48020100593566895, + 0.18412798643112183, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2713", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2713/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2716.json b/annotation/test/2716.json new file mode 100644 index 0000000000000000000000000000000000000000..3d462c30dea8b4cdb0655a789ff98d2f93c86a8d --- /dev/null +++ b/annotation/test/2716.json @@ -0,0 +1,622 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Put the broccoli in the silver pot" + ], + "videos": [ + { + "video_path": "videos/test/2716/rgb.mp4" + } + ], + "action": [ + [ + 0.00010609579722995937, + -2.3389543116946805e-05, + -0.0004482228141711701, + 0.0005741658328338818, + 0.001421109521471985, + -0.0014713026090734714, + 1.0 + ], + [ + -0.002464645901502077, + 0.0016136652532325604, + 0.0067186372654779655, + -0.011459441695437146, + -0.02182570645976483, + -0.007346287094907085, + 1.0 + ], + [ + 0.009885920529558551, + 0.029582131637023563, + 0.0002718287357981981, + -0.019361371443207535, + 0.00621748533435492, + 0.05039215870642656, + 1.0 + ], + [ + 0.02549922916405165, + 0.0333786077967806, + -0.012941533335975258, + -0.019282359114712825, + 0.042180473920557585, + 0.07245356766440803, + 1.0 + ], + [ + 0.020836767231797906, + 0.029437861205027723, + -0.004596007462142953, + -0.01001832219585999, + 0.017892517733332405, + 0.0736445238542123, + 1.0 + ], + [ + 0.018832055205487405, + 0.012372546722195997, + 0.006171845118476559, + -0.001438093418665631, + -0.0035823701729890477, + 0.008889086109162251, + 1.0 + ], + [ + 0.023127702869418065, + 0.005706456567552831, + 0.0024579909584605507, + -0.013287793109371369, + 0.02465096131998809, + -0.022164120914904672, + 1.0 + ], + [ + 0.010797479817076175, + 0.002049020617865515, + 0.011966921168133197, + -0.0036049342430904394, + -0.009672880472483786, + -0.022383336121033517, + 1.0 + ], + [ + 0.0023417546775001924, + 0.009556108662213946, + 0.014981422506762874, + -0.009313144061383982, + -0.022412704827161723, + -0.004445680232696821, + 1.0 + ], + [ + 0.00016779692640944284, + 0.012167375272915375, + 0.009385462064164718, + -0.005954650311307002, + -0.012657392698872132, + 0.020808759559735324, + 1.0 + ], + [ + 0.00030378452066403183, + 0.0071967153601510845, + 0.006663555341402363, + 0.0036111384209840387, + -0.0022025095044316332, + 0.004225563942899831, + 1.0 + ], + [ + -0.0034408947470972663, + -0.0034356485764589673, + 0.013992362959214718, + 0.015916955378260163, + -0.0229526822074749, + -0.017147733764396527, + 1.0 + ], + [ + -0.003222407793052927, + -0.0017189519711751377, + 0.013045496670459882, + 0.009904804631084882, + -0.02850372114064878, + -0.005852564472501795, + 1.0 + ], + [ + 0.0027428056143922667, + 0.0007618465215858449, + -2.554982517624855e-05, + -0.004672439251470862, + 0.017333638494851807, + 0.007619791657467913, + 1.0 + ], + [ + -0.0013943946550314472, + 0.0014275421473022212, + 0.0003632919945659962, + -0.005372716830062415, + -0.004166852948483329, + 0.009932801953584683, + 1.0 + ], + [ + -0.0061516554274285516, + 0.0046016964765160165, + -0.010402560248757988, + -0.022529433668274187, + 0.010600534653865585, + 0.01970881342110387, + 1.0 + ], + [ + -0.004541138038426478, + 0.006108715344459108, + -0.03295090220927092, + -0.013948244335023504, + 0.06881610959925259, + 0.023170740541515005, + 0.0 + ], + [ + -0.01953943187190209, + -0.0008334950156666792, + -0.030880386003729682, + -0.017920748402889965, + 0.05108180459902903, + 0.011102247094722155, + 0.0 + ], + [ + -0.03312408707889457, + -0.004026023226293065, + -0.01440054269347703, + 0.001461767555650127, + -0.001035504344192571, + 0.014280318563614832, + 0.0 + ], + [ + -0.0348620524746746, + 0.0024466936341861166, + 0.0073222080330932835, + 0.0034342997642438137, + -0.05291533956396106, + 0.02367056830530312, + 0.0 + ], + [ + -0.021599097666518362, + -0.0009680209020394933, + 0.014339869170995495, + 0.022681614876475405, + -0.05232764042008262, + 0.007101680323764639, + 0.0 + ], + [ + -0.0008581692223697427, + 0.007492207507813803, + 0.005674528871648494, + 0.001586117307756723, + -0.0018451195355474858, + 0.023170742176477705, + 0.0 + ], + [ + 0.0008291895328680639, + 0.003992592642298561, + 0.0025829243419416632, + -0.0006733888597217624, + -0.004536033261906794, + 0.0011626760071024415, + 1.0 + ], + [ + 0.0016125841789709219, + 0.0009573093933500708, + -0.002273380199512159, + -0.007563103910454968, + -0.002753742725741067, + 0.001970561930259465, + 1.0 + ], + [ + 7.518880528039564e-05, + -0.014637960250154658, + -0.020683109081999145, + 0.022235677422106834, + 0.03690278475972457, + -0.033616319064201365, + 1.0 + ], + [ + -0.011404141048766922, + -0.047567510316673084, + -0.02349200625778721, + 0.09021467111368232, + 0.020755893048888297, + -0.148261920467034, + 1.0 + ], + [ + 0.0032699441505797946, + -0.025505629872839088, + 0.00010685205356954938, + 0.03450636171598833, + -0.019388941442191242, + -0.0651457303008915, + 1.0 + ], + [ + 0.0019429876376383574, + -0.013827878807910707, + 0.015139135163902777, + -0.013182532334799692, + -0.037924207661154646, + -0.03384498966524199, + 1.0 + ], + [ + 0.005057465607376241, + -0.0063113843108954645, + 0.007810573177106953, + -0.021955987575492896, + -0.0202142411327572, + 0.0038542893835747326, + 1.0 + ], + [ + 0.003748052009427977, + -0.0009724402046489722, + 0.002164067732661703, + -0.07049475731830109, + -0.06013226910581828, + 0.03390530884822428, + 1.0 + ], + [ + -0.0008914751146915523, + -0.0009920827707538648, + -0.0004273767544602526, + -0.0016117687643883425, + -0.003954884344032012, + 0.00012751246311875334, + 1.0 + ] + ], + "state": [ + [ + 0.28471991419792175, + 0.09114231914281845, + 0.0780257061123848, + -3.131420349823781, + -0.1323416829109192, + -0.057379115372896194, + 1.0 + ], + [ + 0.28476691246032715, + 0.09115847945213318, + 0.07848422229290009, + -3.13104014669592, + -0.13377754390239718, + -0.05590921267867088, + 1.0 + ], + [ + 0.28313884139060974, + 0.08970450609922409, + 0.07148037850856781, + 3.139671057467819, + -0.11202672123908997, + -0.04828700423240662, + 1.0 + ], + [ + 0.2915474474430084, + 0.05968104302883148, + 0.07237191498279572, + 3.1259814148121556, + -0.11819814890623093, + -0.09902041405439378, + 1.0 + ], + [ + 0.3118857443332672, + 0.02432471700012684, + 0.08874595910310745, + 3.115294750901409, + -0.16119612753391266, + -0.17168425023555756, + 1.0 + ], + [ + 0.3262942135334015, + -0.00791770126670599, + 0.09738912433385849, + 3.1172667538099965, + -0.1805809736251831, + -0.24603082239627838, + 1.0 + ], + [ + 0.3422354459762573, + -0.024828534573316574, + 0.09499774128198624, + 3.1174667702340564, + -0.1772085279226303, + -0.25514712929725647, + 1.0 + ], + [ + 0.36320483684539795, + -0.03625496104359627, + 0.09679146111011505, + 3.100084765004464, + -0.20127113163471222, + -0.23193272948265076, + 1.0 + ], + [ + 0.37522611021995544, + -0.04170800372958183, + 0.08731810003519058, + 3.0920165610783776, + -0.19062873721122742, + -0.2095659673213959, + 1.0 + ], + [ + 0.3780204653739929, + -0.05281921103596687, + 0.07353482395410538, + 3.08205138345296, + -0.16802220046520233, + -0.20618991553783414, + 1.0 + ], + [ + 0.3769964873790741, + -0.06558426469564438, + 0.06503982841968536, + 3.079749757545539, + -0.15658617019653318, + -0.2279801070690155, + 1.0 + ], + [ + 0.37651506066322327, + -0.07326909154653549, + 0.05895709618926048, + 3.0840484631531915, + -0.1546475291252136, + -0.23238629102706906, + 1.0 + ], + [ + 0.3759346902370453, + -0.07043399661779404, + 0.04442936182022095, + 3.097503004717179, + -0.13072729110717773, + -0.2164556384086609, + 1.0 + ], + [ + 0.37472856044769287, + -0.06899917870759964, + 0.03101257234811783, + 3.106788860755511, + -0.10199194401502609, + -0.2118433266878128, + 1.0 + ], + [ + 0.37723103165626526, + -0.07031527161598206, + 0.03134360536932945, + 3.1028311011665544, + -0.11957770586013794, + -0.21890464425086978, + 1.0 + ], + [ + 0.3756026327610016, + -0.07142876833677292, + 0.030871761962771416, + 3.098671397315808, + -0.11579278111457825, + -0.2290593832731247, + 1.0 + ], + [ + 0.3675176203250885, + -0.07380617409944534, + 0.040680546313524246, + 3.078387865918227, + -0.12720762193202972, + -0.24845071136951447, + 1.0 + ], + [ + 0.35807281732559204, + -0.0755525454878807, + 0.0731065571308136, + 3.0667291079931935, + -0.19732682406902316, + -0.2675469219684601, + 0.0 + ], + [ + 0.3346140384674072, + -0.06586536765098572, + 0.09941105544567108, + 3.0501784329586705, + -0.24909049272537231, + -0.2750150263309479, + 0.0 + ], + [ + 0.3018491566181183, + -0.0510886013507843, + 0.10478686541318893, + 3.0552910660677632, + -0.24933680891990664, + -0.28978708386421204, + 0.0 + ], + [ + 0.2702721059322357, + -0.044875167310237885, + 0.08931925892829895, + 3.0657220800691327, + -0.19855897128582, + -0.3184604644775391, + 0.0 + ], + [ + 0.25281640887260437, + -0.03924848139286041, + 0.07096908241510391, + 3.090507721649953, + -0.14690811932086945, + -0.32961687445640564, + 0.0 + ], + [ + 0.2502293884754181, + -0.04657787084579468, + 0.06561583280563354, + 3.095545033114501, + -0.1462085247039795, + -0.3531022071838379, + 0.0 + ], + [ + 0.24990637600421906, + -0.050836142152547836, + 0.06336580216884613, + 3.0950728637450418, + -0.1417306810617447, + -0.3544863164424896, + 1.0 + ], + [ + 0.25080156326293945, + -0.05207441374659538, + 0.06588581204414368, + 3.0878087153011045, + -0.13907124102115634, + -0.3566032350063324, + 1.0 + ], + [ + 0.25378143787384033, + -0.036399874836206436, + 0.08557072281837463, + 3.1050389801436147, + -0.1740250140428543, + -0.3205287456512451, + 1.0 + ], + [ + 0.25479692220687866, + 0.014254311099648476, + 0.10500571876764297, + -3.1136846357309302, + -0.18741826713085175, + -0.16895762085914615, + 1.0 + ], + [ + 0.2621404826641083, + 0.038868628442287445, + 0.10620930045843124, + -3.091636387752839, + -0.16944612562656403, + -0.10235210508108139, + 1.0 + ], + [ + 0.26795458793640137, + 0.05291469767689705, + 0.09231387078762054, + -3.110887015359946, + -0.13315062224864957, + -0.06636050343513487, + 1.0 + ], + [ + 0.27439895272254944, + 0.05904906243085861, + 0.08543954789638519, + -3.1324050967865666, + -0.11282688379287718, + -0.06961230933666229, + 1.0 + ], + [ + 0.2784252166748047, + 0.059763021767139435, + 0.08372019231319427, + 3.084056345867463, + -0.052323129028081894, + -0.10294808447360992, + 1.0 + ], + [ + 0.2776247560977936, + 0.06086613982915878, + 0.08404268324375153, + 3.082462703930684, + -0.048382118344306946, + -0.10330322384834291, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.04926097393035889, + 0.20776593685150146, + 0.21063190698623657, + 0.27298253774642944, + 0.3268251419067383, + 0.3268251419067383, + 0.3268251419067383, + 0.3268251419067383, + 0.327828049659729, + 0.28090745210647583, + 0.011358082294464111, + 0.0, + 0.0005114078521728516, + 0.0011776089668273926, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "2716", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2716/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2723.json b/annotation/test/2723.json new file mode 100644 index 0000000000000000000000000000000000000000..ea62d6cb5ce38dc540078a5b2f47d1926cb52f3b --- /dev/null +++ b/annotation/test/2723.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put carrot in pot or pan" + ], + "videos": [ + { + "video_path": "videos/test/2723/rgb.mp4" + } + ], + "action": [ + [ + -0.0016834591267468517, + 0.0010064295194384346, + 0.0018928872242553847, + -0.003777102649330375, + -0.008521462110812483, + 0.0007364387603755644, + 1.0 + ], + [ + 0.0006357842991234827, + 0.0029145376092283366, + 0.011212607592732368, + -0.004759916069980444, + -0.012685693482150198, + -0.013129261354974647, + 1.0 + ], + [ + 0.005851315509861214, + 0.002104308133974315, + 0.005095616231310807, + 0.005358610350734321, + 0.022884943855055708, + -0.02149749146509783, + 1.0 + ], + [ + 0.0020078958357779095, + 0.002094226330603196, + 0.006698009052686315, + -0.016998064407502362, + 0.005544926855768515, + -0.013440670777689574, + 1.0 + ], + [ + -0.004939139646448908, + 9.309139999083831e-05, + 0.010464072430735091, + -0.022633545516879985, + 0.0028125850325803454, + -0.011609100447261529, + 1.0 + ], + [ + -0.012486188005891, + -0.0024944057945713058, + 0.010866344352774709, + -0.007761937958909749, + 0.011539831838376901, + -0.0041311261484229915, + 1.0 + ], + [ + -0.00250304497512545, + -0.0024614939708908047, + 0.0030168826697725775, + 0.004941923375604227, + 0.006460152360011568, + 1.641947257782165e-05, + 1.0 + ], + [ + 0.00199746522576774, + -0.003898352129598601, + 0.007921204718390761, + -0.007842903960356735, + -0.02208132776320326, + 0.009973451469016903, + 1.0 + ], + [ + 0.009497143628846799, + -0.005795000695050239, + -4.865304048558886e-05, + 0.0002053758452438324, + 0.0025152911823468215, + 0.021413962359536534, + 1.0 + ], + [ + 0.003916266938411359, + -0.0020756436355818127, + 0.0057913908990734645, + -0.010139681725639104, + -0.0017342544631525206, + 0.007065510700976506, + 1.0 + ], + [ + 0.0007819990359239536, + -0.0005513477108043118, + 0.007165258339115083, + -0.004554155496522206, + 0.005635856339354499, + -0.01037100947041927, + 1.0 + ], + [ + 0.004355160786799829, + -0.0008660204515224053, + 0.0014563890512473776, + 0.006385856649357973, + 0.026749728617397394, + -0.009402399992553502, + 0.0 + ], + [ + -0.0018459357385866113, + 0.005756410295981432, + 0.0011952050865764615, + 0.005638772497625761, + -0.026763642072831467, + -0.0008327795100509134, + 0.0 + ], + [ + -0.004205435688867397, + 0.011515601367898816, + -0.012445484198155938, + 0.02927465748545483, + -0.059093658412705564, + -0.012570458092504847, + 0.0 + ], + [ + 0.003903450035299966, + 0.016579311076916296, + -0.03249841448552299, + 0.05707545568851573, + 0.0060887816137947595, + 0.002897698180529823, + 0.0 + ], + [ + 0.005101278092940444, + 0.016478559241096064, + -0.021957073672610062, + 0.03383224557186998, + 0.026582881558329767, + 0.013741463374830459, + 0.0 + ], + [ + 0.005776776820501683, + 0.020146351986591093, + -0.018032337796214094, + -0.04284687040613745, + 0.017324842466858063, + -0.008850866548399484, + 0.0 + ], + [ + 0.005891178109167372, + 0.018927100308716437, + -0.0038270274164782076, + -0.053804401878043674, + 0.023054614261241238, + -0.0006029432870641431, + 0.0 + ], + [ + 0.0017704403480291453, + 0.007451694672425534, + 0.006634413092324712, + -0.012170917588056662, + 0.07114456706377921, + 0.0593142445166527, + 0.0 + ], + [ + 0.00431203113044144, + 0.002769729221583885, + 0.006261980314873717, + -0.027664180622055324, + 0.06805101257811869, + 0.06325143429410542, + 0.0 + ], + [ + 0.0010758205126750794, + -0.000837821576181092, + 0.011300432333116636, + -0.05406427981634826, + -0.002364991150473388, + 0.03694342502804459, + 0.0 + ], + [ + 0.009429456071200009, + -0.0017900509486223415, + 0.0016956599435063219, + -0.04133684182709396, + 0.02649055293580053, + 0.012864231126627648, + 1.0 + ], + [ + 0.003027230002064423, + -0.0012767984698714792, + 0.0046143354879279105, + -0.028357324053312323, + 0.007996093357779005, + 0.0009541660813060002, + 1.0 + ] + ], + "state": [ + [ + 0.29836219549179077, + 0.1112334355711937, + 0.08029693365097046, + 3.103604955720254, + -0.18138258159160614, + 0.024069599807262424, + 1.0 + ], + [ + 0.29706698656082153, + 0.11012434959411621, + 0.07817035913467407, + 3.100020518647977, + -0.1728951334953308, + 0.02299405448138714, + 1.0 + ], + [ + 0.2996767461299896, + 0.1068054586648941, + 0.06736316531896591, + 3.0930666608088693, + -0.1596609503030777, + 0.03574586287140846, + 1.0 + ], + [ + 0.30632632970809937, + 0.10469274967908859, + 0.06336931884288788, + 3.094775131093808, + -0.18143506348133087, + 0.05869950354099274, + 1.0 + ], + [ + 0.3096265196800232, + 0.10247714072465897, + 0.05724718049168587, + 3.0752678980403623, + -0.18632771074771878, + 0.07262583076953888, + 1.0 + ], + [ + 0.3067707121372223, + 0.1014808863401413, + 0.0460779182612896, + 3.0504190792613706, + -0.1883516609668732, + 0.08460769802331926, + 1.0 + ], + [ + 0.29648420214653015, + 0.10210854560136795, + 0.03288708254694939, + 3.041665682690688, + -0.19946488738059995, + 0.08987651765346527, + 1.0 + ], + [ + 0.29448872804641724, + 0.10408566892147064, + 0.0292081106454134, + 3.046478385227271, + -0.20589441061019897, + 0.09051819890737534, + 1.0 + ], + [ + 0.2978340983390808, + 0.1075306236743927, + 0.021535217761993408, + 3.0411202256851873, + -0.18484503030776978, + 0.07828683406114578, + 1.0 + ], + [ + 0.3067871928215027, + 0.11402135342359543, + 0.022756963968276978, + 3.045287402468272, + -0.18945389986038208, + 0.05684966966509818, + 1.0 + ], + [ + 0.31166279315948486, + 0.11581041663885117, + 0.017637059092521667, + 3.0365303253107747, + -0.18840210139751437, + 0.049520451575517654, + 1.0 + ], + [ + 0.31378382444381714, + 0.11571218073368073, + 0.010727065615355968, + 3.0298998450213155, + -0.19290795922279355, + 0.060631271451711655, + 1.0 + ], + [ + 0.3183034658432007, + 0.1166861280798912, + 0.010046805255115032, + 3.0338335951142987, + -0.2184280902147293, + 0.07325302064418793, + 0.0 + ], + [ + 0.3170574903488159, + 0.11072739213705063, + 0.009091156534850597, + 3.0398866181545934, + -0.19172969460487366, + 0.07116429507732391, + 0.0 + ], + [ + 0.3110887110233307, + 0.10008355230093002, + 0.02159184403717518, + 3.0677357857399663, + -0.13166143000125885, + 0.07770798355340958, + 0.0 + ], + [ + 0.31164199113845825, + 0.08594778180122375, + 0.055446404963731766, + 3.125133555504032, + -0.13794703781604767, + 0.07524412125349046, + 0.0 + ], + [ + 0.31484436988830566, + 0.07002852112054825, + 0.0781620591878891, + -3.1223696545981845, + -0.16474014520645142, + 0.06176435947418213, + 0.0 + ], + [ + 0.3189091086387634, + 0.049751508980989456, + 0.0965123325586319, + 3.116550851734825, + -0.18222586810588837, + 0.07042261213064194, + 0.0 + ], + [ + 0.3252357542514801, + 0.03132566809654236, + 0.10180848091840744, + 3.0625213627987584, + -0.20525802671909332, + 0.07162772119045258, + 0.0 + ], + [ + 0.3287585973739624, + 0.023605532944202423, + 0.09627072513103485, + 3.0616078098588666, + -0.28056034445762634, + 0.016099300235509876, + 0.0 + ], + [ + 0.334620863199234, + 0.020438292995095253, + 0.09167944639921188, + 3.0508831088715276, + -0.3529563248157501, + -0.04514000937342644, + 0.0 + ], + [ + 0.3395332396030426, + 0.020026929676532745, + 0.08141989260911942, + 3.0105141421132764, + -0.35369452834129333, + -0.08458881080150604, + 0.0 + ], + [ + 0.349139541387558, + 0.02077103964984417, + 0.08288940042257309, + 2.972604142623492, + -0.3816230595111847, + -0.09459590911865234, + 1.0 + ], + [ + 0.353748083114624, + 0.020818499848246574, + 0.079596146941185, + 2.9440786113315305, + -0.3896656930446625, + -0.09415888041257858, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.18600207567214966, + 0.3639833331108093, + 0.3639833331108093, + 0.3639833331108093, + 0.3639833331108093, + 0.3639833331108093, + 0.3639833331108093, + 0.3639833331108093, + 0.3639833331108093, + 0.3639833331108093, + 0.12421530485153198, + 0.0, + 0.0 + ], + "episode_id": "2723", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2723/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2731.json b/annotation/test/2731.json new file mode 100644 index 0000000000000000000000000000000000000000..345f79c4082e85b8ef85bc84f15880df8a3641b2 --- /dev/null +++ b/annotation/test/2731.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put lid on stove" + ], + "videos": [ + { + "video_path": "videos/test/2731/rgb.mp4" + } + ], + "action": [ + [ + -0.0007624567157648444, + 0.000685354195334078, + 0.001731248148773347, + -0.00277622462901408, + -0.0036633486947730935, + -0.0013052307944027327, + 1.0 + ], + [ + -0.011174655368804083, + 0.013617604963706205, + 0.020376560614886904, + -0.06593174992437079, + -0.0504765935112103, + 0.032891308293501724, + 1.0 + ], + [ + 0.0010385066349538094, + -0.006538850785396011, + -0.003492669442026442, + -0.013814663632793484, + 0.008802377474029701, + 0.02335532288007063, + 1.0 + ], + [ + -0.004018815915197485, + -0.0022032809784793333, + 0.004679516821600091, + -0.015483297065087257, + -0.008751375823971346, + 0.015725076816167183, + 1.0 + ], + [ + 0.0018845787280182898, + -0.003150735349401551, + 0.0019008693553447073, + -0.008990627141157712, + 0.01334056523813362, + 0.011059756188818444, + 1.0 + ], + [ + 0.0001414784988031096, + -0.008929039343993696, + 0.005161305773865034, + -0.00789536409388451, + 0.016635898391111282, + 0.0008690483934686386, + 1.0 + ], + [ + 0.00658915115136269, + -0.00407345730199267, + 0.00514105546687912, + -0.00012703567705825398, + 0.023493253149787313, + -0.00011916503422683931, + 1.0 + ], + [ + 0.0034519799652349137, + -0.00078371254869036, + 0.005549989616445735, + -0.011480901023935628, + 0.014136916652249122, + 0.01044939682413426, + 1.0 + ], + [ + -0.003806937196612237, + -0.0031127528897933955, + 0.0021295209242014014, + -0.012165573100772192, + 0.011789822822766315, + -0.012943211914384363, + 1.0 + ], + [ + -0.00016122840723242586, + -0.0024920197128887427, + -0.00027787327690163496, + 0.005025056912860214, + 0.010132700067626418, + -0.0028274574954014293, + 1.0 + ], + [ + -8.88801396013603e-06, + 0.0011502427716911033, + 0.0029584654152993613, + -0.008553819237847902, + 0.007078033608183363, + -0.0037563750324364, + 1.0 + ], + [ + -0.0021808834797044344, + -3.229441141483508e-05, + 0.0032317354061618796, + -0.011555181729322201, + 0.005697163356402191, + -0.003973842626908695, + 1.0 + ], + [ + -0.0009864138749783513, + 0.00021595375551326332, + 0.0021481785381205986, + -0.008416921485805659, + 0.006001337435559661, + -0.005076043490164759, + 1.0 + ], + [ + 0.0010870390027651591, + -0.0007992568281555009, + 0.0009523606371293382, + 0.004306098949478818, + 0.007440136041394894, + -0.0002134453741282669, + 1.0 + ], + [ + -0.0010786089898432844, + -0.001529342935257952, + 0.0007802486061136005, + 0.008951795722647803, + 0.004629196019166563, + -0.007957624533902596, + 0.0 + ], + [ + 0.0006502702144955558, + 0.0002603554920578699, + 0.0007157635891193633, + 0.0018624654715826243, + 0.00851863783285624, + -0.0027904397818294307, + 0.0 + ], + [ + 0.00024638368202800555, + -4.498064795632788e-05, + 0.00047205197438866895, + 0.0026108239102613463, + 0.004553033052740188, + -0.0070969813819303906, + 0.0 + ], + [ + -0.0021417491057589806, + 0.0006195431482190753, + -0.0008884234206339304, + -0.005832177575999125, + -0.022254535961583055, + -0.0021486412949830325, + 0.0 + ], + [ + -0.003184729242847819, + -0.00010066150802422709, + -0.0011393879352784835, + 0.014623571790244915, + -0.046107518116070584, + 0.006880168871886881, + 0.0 + ], + [ + -0.0053798800990306015, + -0.00026998867701174596, + -0.0045564028258262106, + 0.02050777152217052, + -0.0459990338790641, + 0.02235641559009733, + 0.0 + ], + [ + -0.003015193683304792, + -0.003837597704646111, + -0.002173102390062546, + 0.021414368224842578, + -0.022630751519442983, + 0.02139215705360692, + 0.0 + ], + [ + -0.00701369877442588, + -0.011098019541312301, + -0.0008999621322861093, + 0.038273637644803196, + -0.010747990536328867, + 0.008898363976732002, + 0.0 + ], + [ + -0.005910741644730592, + -0.011544842966027044, + -0.00010787923705888016, + 0.04248041699144674, + -0.00310903735777444, + 0.02328409097111729, + 0.0 + ] + ], + "state": [ + [ + 0.42656970024108887, + 0.08998217433691025, + 0.07662022858858109, + -2.81994483073289, + -0.3273964524269104, + -0.502089262008667, + 1.0 + ], + [ + 0.42641139030456543, + 0.08995169401168823, + 0.07461466640233994, + -2.8235327919297895, + -0.3243326246738434, + -0.499561071395874, + 1.0 + ], + [ + 0.42057546973228455, + 0.08566057682037354, + 0.04867156222462654, + -2.883982868986674, + -0.2660649120807647, + -0.515541672706604, + 1.0 + ], + [ + 0.4229721128940582, + 0.09054743498563766, + 0.0538104847073555, + -2.89109859068925, + -0.26854321360588074, + -0.5412915945053102, + 1.0 + ], + [ + 0.42225542664527893, + 0.09482230991125107, + 0.048899780958890915, + -2.9030105640464505, + -0.2561436891555786, + -0.5547963976860046, + 1.0 + ], + [ + 0.42589181661605835, + 0.09669896215200424, + 0.0483107827603817, + -2.908352958159991, + -0.26646739244461054, + -0.56920325756073, + 1.0 + ], + [ + 0.4319878816604614, + 0.1045280247926712, + 0.045494649559259415, + -2.9149318655305585, + -0.2824489176273346, + -0.5740870833396912, + 1.0 + ], + [ + 0.44104263186454773, + 0.1047748327255249, + 0.043399177491664886, + -2.9134891649060926, + -0.305364042520523, + -0.5795004963874817, + 1.0 + ], + [ + 0.4462181031703949, + 0.10379999130964279, + 0.03944988176226616, + -2.9207360317283353, + -0.31674361228942866, + -0.5935752987861634, + 1.0 + ], + [ + 0.4455394446849823, + 0.10848454385995865, + 0.0369376614689827, + -2.9362060596519193, + -0.3310658037662506, + -0.5829533934593201, + 1.0 + ], + [ + 0.44651222229003906, + 0.11069750040769577, + 0.03762315213680267, + -2.9314123411946973, + -0.34156209230422974, + -0.5822089910507202, + 1.0 + ], + [ + 0.44710269570350647, + 0.10970094799995422, + 0.034667838364839554, + -2.9407445063167295, + -0.3492672145366669, + -0.5798709392547607, + 1.0 + ], + [ + 0.4466637670993805, + 0.1107969880104065, + 0.030952000990509987, + -2.9533037414127072, + -0.35564124584198, + -0.5769295692443848, + 1.0 + ], + [ + 0.44661998748779297, + 0.11105211824178696, + 0.028592485934495926, + -2.9631571938567838, + -0.36248385906219477, + -0.5727981925010681, + 1.0 + ], + [ + 0.4482291042804718, + 0.11115145683288574, + 0.028234252706170082, + -2.9584238698058805, + -0.3698435127735138, + -0.57398921251297, + 1.0 + ], + [ + 0.44842660427093506, + 0.11298373341560364, + 0.02738877572119236, + -2.952187480526515, + -0.37583523988723755, + -0.5664841532707214, + 0.0 + ], + [ + 0.44910499453544617, + 0.11240893602371216, + 0.02692796289920807, + -2.950768293934413, + -0.3847266435623169, + -0.5652579069137573, + 0.0 + ], + [ + 0.44951364398002625, + 0.11230805516242981, + 0.0265987366437912, + -2.95063670177991, + -0.39053553342819214, + -0.5586563348770143, + 0.0 + ], + [ + 0.44717884063720703, + 0.11285129934549332, + 0.026481270790100098, + -2.9590102454000196, + -0.3690851926803589, + -0.5518664717674255, + 0.0 + ], + [ + 0.4442431330680847, + 0.11453204602003098, + 0.026394382119178772, + -2.944803612428256, + -0.3224948942661285, + -0.5501687526702881, + 0.0 + ], + [ + 0.43834471702575684, + 0.11741528660058975, + 0.02897748537361622, + -2.919847460585185, + -0.2729857563972473, + -0.5635748505592346, + 0.0 + ], + [ + 0.43695926666259766, + 0.12215393781661987, + 0.03101871907711029, + -2.893986480432101, + -0.24616944789886475, + -0.5799539685249329, + 0.0 + ], + [ + 0.43631216883659363, + 0.13517694175243378, + 0.03279370442032814, + -2.8542016466432294, + -0.23356392979621887, + -0.5861135125160217, + 0.0 + ], + [ + 0.43697768449783325, + 0.14798776805400848, + 0.0347098782658577, + -2.806696893768855, + -0.22392839193344116, + -0.6081101894378661, + 0.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.1907007098197937, + 0.5005085468292236, + 0.7003851234912872, + 0.7086509466171265, + 0.7086509466171265, + 0.7086509466171265, + 0.7086509466171265, + 0.7086509466171265, + 0.7086509466171265, + 0.7086509466171265 + ], + "episode_id": "2731", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2731/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2734.json b/annotation/test/2734.json new file mode 100644 index 0000000000000000000000000000000000000000..efba516c0660dcf43052b138f0a45304e6053781 --- /dev/null +++ b/annotation/test/2734.json @@ -0,0 +1,565 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put lemon on plate" + ], + "videos": [ + { + "video_path": "videos/test/2734/rgb.mp4" + } + ], + "action": [ + [ + -0.0008105768967279872, + 0.0003229365031710437, + 0.0016637251828041037, + -0.0009070533658800732, + -0.006684489258582806, + -0.0012446791645372593, + 1.0 + ], + [ + -0.002989972392892859, + -0.023279525770423807, + 0.0056186011900482705, + 0.06579665861850549, + -0.04684132730425556, + 0.17394160692367466, + 1.0 + ], + [ + -0.0034975228782085557, + -0.051810263839848346, + 0.0031732014101490597, + 0.08430080429303431, + -0.040959538691873916, + 0.2625152618574944, + 1.0 + ], + [ + -0.0012330966717233975, + -0.04498443411251494, + -0.0028358173146204283, + 0.06883205239976249, + 0.04390387662442494, + 0.24541246558860658, + 1.0 + ], + [ + -0.0027500504044897837, + -0.0372274032481985, + 0.001807104763351976, + 0.0691517259686049, + 0.0722624717106332, + 0.2555060253253569, + 1.0 + ], + [ + 0.005647038886314687, + -0.026297615771181154, + 0.010418348039067478, + 0.06618674040844853, + 0.08224298238165634, + 0.21508507940564497, + 1.0 + ], + [ + 0.0035207197044413593, + -0.015427436728410137, + 0.010516359847913524, + 0.046806646215533064, + 0.06057062435442246, + 0.12797988270234759, + 1.0 + ], + [ + 0.001379779320863168, + 0.0005732080283092297, + 0.00890178633668146, + -0.006519571536814718, + 0.02912909769863565, + 0.025654372241819132, + 1.0 + ], + [ + -0.0013890308389338077, + 0.0039058728741331035, + 0.007504386027441952, + -0.029013697554136696, + 0.007006964701285682, + -0.01002361525558472, + 1.0 + ], + [ + -0.004113457994049508, + 0.0033585616266203163, + 0.005603824871408526, + -0.024327104406835696, + 0.003132488780330059, + -0.018174786674395378, + 1.0 + ], + [ + -0.004398854256144594, + 0.005969096890840188, + 0.00986272363472397, + -0.05045636475711122, + -0.005440322404709793, + -0.035782026817134036, + 1.0 + ], + [ + -0.0013518410886600011, + 0.0003976238545123279, + 0.010106890364489862, + -0.024454634373026533, + 0.00827977998877804, + -0.020392050794163646, + 1.0 + ], + [ + 0.0008027688430890388, + -0.006199119448047988, + 0.010071248273355787, + -0.008312721668458896, + 0.029558475972120923, + -0.009988703558954218, + 1.0 + ], + [ + 0.00207499467980747, + 0.00019782180831373673, + 0.008565743854340382, + -0.02013425917855528, + 0.01109234280697854, + -0.05288134450521999, + 0.0 + ], + [ + 0.007526837562515364, + 0.012571029492126701, + 0.0005559479675143788, + -0.025821343301062363, + -0.02268698437808366, + -0.07007675035544389, + 0.0 + ], + [ + 0.016815118176668458, + 0.03207266592253132, + -0.009960030784847251, + -0.023056477502776996, + -0.06922642824597022, + -0.12891901279542425, + 0.0 + ], + [ + 0.04736740023760366, + 0.04132977318046983, + -0.017905049492815038, + 0.04618802748253089, + 0.016294504621746534, + -0.08040715544669498, + 0.0 + ], + [ + 0.021839290186097687, + 0.02886151616022986, + 0.0063401397146514715, + -0.02529406523644756, + 0.038786747744743326, + -0.07345069188939499, + 0.0 + ], + [ + 0.012448281806974836, + 0.019025676097838267, + 0.008332641926546031, + -0.05026131466234726, + 0.07101143251704066, + -0.01748404523320261, + 0.0 + ], + [ + -0.007788977359278164, + 0.006220543786420475, + 0.011542937223043321, + -0.028810067282077814, + 0.07091694683960818, + -0.00394481883444155, + 0.0 + ], + [ + -0.011865204324499116, + -0.002319586325242617, + 0.010846728959499419, + 0.10518293837201224, + 0.022174441591713414, + -0.015026172023554057, + 0.0 + ], + [ + 0.001773334616275136, + 0.009460682625241497, + 0.008106785413702041, + 0.08114788740251183, + 0.02223695048154698, + 0.036606799777606946, + 0.0 + ], + [ + -0.0051200166560212935, + 0.0018650639420100166, + 0.004146207261934236, + 0.03869305936865551, + 0.03712358829909282, + 0.0068495536434315715, + 0.0 + ], + [ + -0.0016685668256821856, + 0.0011464959803209154, + 0.00041040000279770196, + -0.009728691759499747, + 0.033183683444578504, + 0.02608139353900032, + 0.0 + ], + [ + 0.0010275971660538281, + -0.002417281334476189, + -9.35535794044236e-06, + 0.010196476146354091, + 0.024237005423199766, + 0.021570019835102972, + 1.0 + ], + [ + 0.0001649442488422961, + -0.00026564200615652957, + -3.183808457499925e-07, + 0.0016118667323503232, + 0.0011360309348044993, + -0.05827571747020052, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -1.0319130112520435e-08, + 1.2225345604071495e-08, + -0.00613591221148965, + 1.0 + ], + [ + 0.0004714455995315789, + -0.00039881551372535035, + -5.492301079972756e-06, + 0.000976064831500201, + 0.0011076217203030718, + 0.0030966557957159396, + 1.0 + ] + ], + "state": [ + [ + 0.2887100577354431, + -0.06032690033316612, + 0.07461361587047577, + -3.0913661402934274, + -0.0638098418712616, + 0.017281843349337574, + 1.0 + ], + [ + 0.2880123555660248, + -0.06057799607515335, + 0.07288750261068344, + -3.092372967051812, + -0.05719619244337081, + 0.018863106146454808, + 1.0 + ], + [ + 0.28483930230140686, + -0.037105903029441833, + 0.06825743615627289, + -3.0174914618306836, + -0.0010580768575891852, + -0.15233491361141205, + 1.0 + ], + [ + 0.2892400324344635, + 0.014630028046667576, + 0.07151816040277481, + -2.9368751664930066, + 0.07176976650953291, + -0.40799179673194885, + 1.0 + ], + [ + 0.306142657995224, + 0.0546795055270195, + 0.08349740505218506, + -2.8919900228553495, + 0.07591894268989563, + -0.65787273645401, + 1.0 + ], + [ + 0.326749324798584, + 0.08490908145904541, + 0.09112931042909622, + -2.851022036867686, + 0.06556657701730728, + -0.9236536622047425, + 1.0 + ], + [ + 0.3525323271751404, + 0.09753146022558212, + 0.08831720054149628, + -2.806585731106349, + 0.04608239233493805, + -1.1532351970672607, + 1.0 + ], + [ + 0.37034621834754944, + 0.10183194279670715, + 0.08330060541629791, + -2.7690474708848676, + 0.03034298308193684, + -1.2939804792404175, + 1.0 + ], + [ + 0.3732558786869049, + 0.10149295628070831, + 0.07476285845041275, + -2.7766801734739026, + 0.012529755011200905, + -1.3284729719161987, + 1.0 + ], + [ + 0.3719550669193268, + 0.10271061211824417, + 0.06637678295373917, + -2.805607499676295, + 0.0024067943450063467, + -1.3216102123260498, + 1.0 + ], + [ + 0.36965450644493103, + 0.10638561099767685, + 0.05998889356851578, + -2.8299394865804395, + -0.006542828865349294, + -1.305484414100647, + 1.0 + ], + [ + 0.36595600843429565, + 0.10986285656690598, + 0.04874241724610329, + -2.880830379324504, + -0.01232989225536585, + -1.2697553634643555, + 1.0 + ], + [ + 0.36771291494369507, + 0.11169633269309998, + 0.038858771324157715, + -2.90553371806676, + -0.02558503299951553, + -1.2521827220916748, + 1.0 + ], + [ + 0.3759918510913849, + 0.11335739493370056, + 0.030539898201823235, + -2.9138139208131513, + -0.0566595122218132, + -1.2493828535079956, + 1.0 + ], + [ + 0.3784487545490265, + 0.11149124801158905, + 0.022281700745224953, + -2.9369957019859037, + -0.07933393120765686, + -1.2002249956130981, + 0.0 + ], + [ + 0.3698869049549103, + 0.09985179454088211, + 0.01978951320052147, + -2.969131829338618, + -0.07113144546747208, + -1.1268233060836792, + 0.0 + ], + [ + 0.34688258171081543, + 0.070675790309906, + 0.02528207190334797, + -3.003286736207553, + -0.02429625391960144, + -0.9881162047386169, + 0.0 + ], + [ + 0.3365369439125061, + 0.007496841251850128, + 0.038465384393930435, + -2.9593780507617673, + -0.051436953246593475, + -0.9106397032737731, + 0.0 + ], + [ + 0.3287607729434967, + -0.026898235082626343, + 0.028138285502791405, + -2.9882941861921033, + -0.10277283936738968, + -0.8451588749885559, + 0.0 + ], + [ + 0.3246225416660309, + -0.04864957556128502, + 0.01833404041826725, + -3.0388369431071958, + -0.1756177395582199, + -0.8386585116386414, + 0.0 + ], + [ + 0.317190021276474, + -0.04786538705229759, + 0.005039476789534092, + -3.0667819326096257, + -0.24656361341476443, + -0.842117190361023, + 0.0 + ], + [ + 0.31358838081359863, + -0.03913893178105354, + -0.008177642710506916, + -2.9649618734889707, + -0.26977658271789556, + -0.8282940983772279, + 0.0 + ], + [ + 0.3106692433357239, + -0.047625795006752014, + -0.0169992633163929, + -2.8728220780664167, + -0.2850155830383301, + -0.8699119091033936, + 0.0 + ], + [ + 0.30778244137763977, + -0.045285552740097046, + -0.022750237956643105, + -2.829101266460963, + -0.31894695758819586, + -0.887241542339325, + 0.0 + ], + [ + 0.3061808943748474, + -0.04484706372022629, + -0.02397896535694599, + -2.8271953781419477, + -0.3423030376434326, + -0.924407422542572, + 0.0 + ], + [ + 0.30844372510910034, + -0.04403425008058548, + -0.022921504452824593, + -2.8069929500394544, + -0.3585420250892639, + -0.954312801361084, + 1.0 + ], + [ + 0.3087199032306671, + -0.043990202248096466, + -0.022781655192375183, + -2.826537462072917, + -0.37817856669425964, + -0.8954848051071166, + 1.0 + ], + [ + 0.3087199032306671, + -0.043990202248096466, + -0.022781655192375183, + -2.82886257966096, + -0.3800731301307678, + -0.88920259475708, + 1.0 + ], + [ + 0.30925920605659485, + -0.04405531659722328, + -0.022487958893179893, + -2.8265747745805463, + -0.38017216324806213, + -0.8927425742149353, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.13302963972091675, + 0.14463752508163452, + 0.14463752508163452, + 0.14463752508163452, + 0.14463752508163452, + 0.14463752508163452, + 0.14463752508163452, + 0.14463752508163452, + 0.14463752508163452, + 0.14463752508163452, + 0.14373880624771118, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2734", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2734/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/274.json b/annotation/test/274.json new file mode 100644 index 0000000000000000000000000000000000000000..0b721764e79e7b2502072d1bd38eed46add7d2db --- /dev/null +++ b/annotation/test/274.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "pick up pot 50" + ], + "videos": [ + { + "video_path": "videos/test/274/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -6.1017417071315625e-18, + 1.91850000436393e-17, + -2.5835559218454617e-17, + 1.0 + ], + [ + -0.0019441376581261062, + 0.002517358654743138, + 0.005852064936623734, + 0.0026953031794662687, + -0.018675140285150375, + 0.009106895675217889, + 1.0 + ], + [ + -0.0005669805328719615, + 0.0014828413480932456, + 0.007997326526956568, + 0.009195336853606163, + 0.015868348289891136, + 0.017202453372475404, + 1.0 + ], + [ + -0.0030821619770215664, + 0.0021320168973827606, + 0.006302678528371552, + -0.05444193873164131, + 0.08637852339967185, + 0.024450276424523163, + 1.0 + ], + [ + -0.0024428012622008024, + -0.003017734003921094, + 0.005393655994209891, + -0.12345744538659992, + 0.13344599315387687, + -0.02315827636470418, + 1.0 + ], + [ + 0.004071820680923898, + 0.002080066824120047, + 0.0039000632115113237, + -0.13764412195570924, + 0.07189732635093321, + -0.04359297075638573, + 1.0 + ], + [ + 0.008962023097982058, + 0.002871681349950205, + 0.014586894678462116, + -0.12853027000607997, + 0.02371843425357764, + -0.0866566104813323, + 1.0 + ], + [ + 0.0005627814977104011, + 0.00142463455964551, + 0.031640124777055266, + -0.055281834886582434, + -0.046872156738717585, + -0.08484148500249612, + 1.0 + ], + [ + -0.0021950723943549317, + 0.0012596902690751328, + 0.02675314566774171, + 0.013251286147529618, + -0.051849981838656994, + -0.020084598796027496, + 1.0 + ], + [ + 0.007448087892365259, + 0.012777033712397102, + 0.005734896308871094, + -0.0002888537912840095, + 0.020136370661388424, + 0.033637886968876506, + 1.0 + ], + [ + 0.0030395247692485226, + 0.00410123617442593, + 0.0017254751453082621, + 0.0023068608904101657, + -0.00959165593222029, + 0.02120617689041119, + 1.0 + ], + [ + -0.0008184380291741505, + 0.003336116342033736, + -0.00023004623817160494, + 0.018268407161959672, + -0.022779654997559722, + 0.025751419152782153, + 1.0 + ], + [ + -0.003045632728925745, + 0.0012838768688865551, + 0.0006442786920695401, + 0.016547554998357996, + -0.01810439137791189, + 0.0065371353049474105, + 1.0 + ], + [ + 0.0001602280195689714, + 0.0019260877985198004, + -0.00033555990414270046, + 0.0033283274321556874, + 0.0011363910558552907, + 0.0040325010905508515, + 1.0 + ], + [ + 0.0009230180531105563, + -0.0004263162795414335, + -0.0015769816836447954, + 0.008289559452418105, + -0.003559256955229219, + 0.0063172001066454505, + 1.0 + ], + [ + -0.003108729783968827, + -0.0012711547789872285, + -0.006394378691612238, + 0.00939384887242097, + -0.014240221744541846, + 0.01932008012539576, + 1.0 + ], + [ + 0.003148585087738426, + 0.0005569565501417071, + -0.04132687375788892, + 0.004392133212419227, + 0.10960887055099106, + 0.04916763773687323, + 1.0 + ], + [ + 0.013753642019470526, + 0.007292630055281075, + -0.041875834226720275, + -0.01282861225955224, + 0.11493554130101027, + 0.026419095134931805, + 1.0 + ], + [ + 0.005195999695237908, + 0.0029512395478857494, + -0.012268524879702297, + -0.003538222887068506, + 0.022419649590367796, + 0.00826298387242999, + 1.0 + ], + [ + -0.00024914317185552754, + 0.002917801251773436, + -0.0006640554201900017, + 0.0005033179405098011, + 0.0011877519035805206, + 0.014116202962967981, + 1.0 + ], + [ + -0.0014428288240498693, + -0.0009663626212477982, + 0.00042952397518269107, + 0.010313171132985518, + -0.00939307641496407, + 0.003687027799839868, + 1.0 + ], + [ + 0.00023452329146614968, + -0.0002925424310378694, + -0.0006243999577540162, + 0.006503589932184636, + -0.0005562253647116894, + -0.0010951619153369199, + 1.0 + ], + [ + 0.005004006880267132, + 0.0003109320772824211, + -0.004142594077110926, + 0.005329337626052637, + 0.014839685441683752, + 0.005889498271556623, + 1.0 + ] + ], + "state": [ + [ + 0.24552740156650543, + 0.024877117946743965, + 0.15865373611450195, + -2.7949075420671186, + 0.012253541499376297, + 0.2691665589809418, + 1.0 + ], + [ + 0.24552740156650543, + 0.024877117946743965, + 0.15865373611450195, + -2.7949075420671186, + 0.012253541499376297, + 0.2691665589809418, + 1.0 + ], + [ + 0.24367912113666534, + 0.023973926901817322, + 0.1523187905550003, + -2.7921773215108594, + 0.03291178494691849, + 0.26694700121879583, + 1.0 + ], + [ + 0.2425232082605362, + 0.025051824748516083, + 0.1443200707435608, + -2.7837318201833448, + 0.02388334460556507, + 0.24534675478935242, + 1.0 + ], + [ + 0.23932896554470062, + 0.024469217285513878, + 0.13774539530277252, + -2.8385764082246503, + -0.048487726598978036, + 0.19222740828990936, + 1.0 + ], + [ + 0.23627831041812897, + 0.02844943106174469, + 0.1333845555782318, + -2.95839378436143, + -0.18271966278553012, + 0.17412760853767395, + 1.0 + ], + [ + 0.24120712280273438, + 0.02796119824051857, + 0.12998083233833313, + -3.1012347770207604, + -0.2612695693969726, + 0.20482663810253143, + 1.0 + ], + [ + 0.2538633644580841, + 0.02826090343296528, + 0.11810347437858582, + 3.0302436371617993, + -0.2874740064144134, + 0.2941003441810608, + 1.0 + ], + [ + 0.26429909467697144, + 0.026268836110830307, + 0.08826103806495667, + 2.9521676321798047, + -0.2305642366409302, + 0.3752504289150238, + 1.0 + ], + [ + 0.2701466977596283, + 0.021828411146998405, + 0.06241100654006004, + 2.962860094504901, + -0.1758492887020111, + 0.38534510135650635, + 1.0 + ], + [ + 0.2825981676578522, + 0.012210290879011154, + 0.06039400398731232, + 2.9678843190246305, + -0.20156650245189667, + 0.3552213311195373, + 1.0 + ], + [ + 0.2870848476886749, + 0.009248076938092709, + 0.06003192067146301, + 2.9748287071757993, + -0.1957321912050247, + 0.3322382271289826, + 1.0 + ], + [ + 0.28724297881126404, + 0.005862883757799864, + 0.060638464987277985, + 2.998888852196284, + -0.17745837569236755, + 0.30260285735130305, + 1.0 + ], + [ + 0.2848640978336334, + 0.0036929131019860506, + 0.05965283513069153, + 3.017036313312598, + -0.16046041250228882, + 0.2934407889842987, + 1.0 + ], + [ + 0.285468727350235, + 0.0019226516596972942, + 0.060243330895900726, + 3.020990418391772, + -0.16208776831626892, + 0.2895294427871704, + 1.0 + ], + [ + 0.2859325408935547, + 0.0027003881987184286, + 0.06188667565584183, + 3.03037695040042, + -0.1593107134103775, + 0.2827440202236175, + 1.0 + ], + [ + 0.28148800134658813, + 0.0034636983182281256, + 0.0675286203622818, + 3.0431160797649106, + -0.14726795256137848, + 0.2617371082305909, + 1.0 + ], + [ + 0.27775147557258606, + 0.006095364689826965, + 0.10872627794742584, + 3.052771957712718, + -0.2610671520233154, + 0.22253784537315366, + 1.0 + ], + [ + 0.28083136677742004, + 0.003153231693431735, + 0.15319861471652985, + 3.0438275208049497, + -0.3778553903102875, + 0.2053598016500473, + 1.0 + ], + [ + 0.2814001142978668, + 0.0014947389718145132, + 0.16673193871974945, + 3.0426846389942845, + -0.4009672105312347, + 0.19880682229995728, + 1.0 + ], + [ + 0.28137266635894775, + -0.0014057811349630356, + 0.16750836372375488, + 3.0491091032796582, + -0.40350186824798584, + 0.18366046249866486, + 1.0 + ], + [ + 0.280099093914032, + -0.0007040051277726889, + 0.16646642982959747, + 3.0613494982295713, + -0.3944850564002991, + 0.17874430119991302, + 1.0 + ], + [ + 0.2800248861312866, + -0.0003702298563439399, + 0.16710950434207916, + 3.067417340474673, + -0.3938426077365875, + 0.17987816035747525, + 1.0 + ], + [ + 0.2830033600330353, + 0.0001682556321611628, + 0.17286594212055206, + 3.074735852079936, + -0.4090731739997863, + 0.17467597126960754, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.17573308944702148, + 0.45278340578079224, + 0.699627161026001, + 0.8693383634090424, + 0.9240835085511208, + 0.9260224476456642, + 0.9340820014476776, + 0.9349767416715622, + 0.9349767416715622, + 0.9349767416715622, + 0.9349767416715622, + 0.9349767416715622, + 0.9364518448710442 + ], + "episode_id": "274", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/274/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2741.json b/annotation/test/2741.json new file mode 100644 index 0000000000000000000000000000000000000000..db8294b7678b9d25f393eee89eabbede29ead1c8 --- /dev/null +++ b/annotation/test/2741.json @@ -0,0 +1,375 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "end effector reaching salmon" + ], + "videos": [ + { + "video_path": "videos/test/2741/rgb.mp4" + } + ], + "action": [ + [ + -0.00031687338459588006, + 0.00030003328899998877, + -3.799936611052272e-05, + -0.00012047632103135505, + 6.629801320984936e-05, + 0.0015278050377971906, + 1.0 + ], + [ + -0.0019701664747530097, + -0.0012116411385455436, + 0.007849580706539464, + 0.020309990416709684, + -0.021268426285091062, + 0.0026656699479989904, + 1.0 + ], + [ + 0.01773050788660002, + 0.004145363708125922, + 0.003980364819668823, + -0.001371786068356168, + -0.006795266114846121, + -0.0070518642759171335, + 1.0 + ], + [ + 0.024059507055520308, + 0.006256093296316014, + -0.0017928433623397117, + 0.0035165628581436577, + -0.00819487250957352, + -0.012193952260315881, + 1.0 + ], + [ + 0.018076597713611687, + 0.005462364081461126, + 0.00044450044666924013, + 0.017825014579255925, + 0.00771090951181514, + -0.005320185594541692, + 1.0 + ], + [ + 0.0143760665192437, + 0.0047336808512889765, + -0.004203687000716056, + -0.005701181381812668, + 0.00459706341048584, + 0.008271441206216925, + 1.0 + ], + [ + 0.010596656188443033, + -0.0016473383631823322, + 0.00890545610228372, + 0.0019865695250407224, + 0.018121280759527267, + 0.028336831308212653, + 1.0 + ], + [ + 0.013052401088396398, + -0.0002369968340124237, + 0.0031709137891477407, + -0.03180714513655096, + 0.04810063752073026, + 0.04222490039191127, + 1.0 + ], + [ + 0.004796804241207032, + -0.0008709477224425394, + 0.013738832198434938, + -0.011187849291647583, + 0.01096163112550358, + 0.03631326045827268, + 1.0 + ], + [ + 0.005638146867919472, + -0.0016492455006613398, + 0.001785234277615673, + -0.009641067474929193, + 0.017826929595071938, + 0.01944769433597776, + 1.0 + ], + [ + 0.0015694533980518393, + -0.0011151386391143581, + 0.009492220357842968, + 0.013861972274112717, + -0.017241183843427106, + 0.020356166563388945, + 1.0 + ], + [ + 0.002487344148263124, + -0.00020924059354862883, + -0.001135299546244972, + 0.003929345948656063, + 0.009736501823822847, + 0.01117073253442046, + 1.0 + ], + [ + 0.0017858604815048215, + -0.0007750856755600141, + 0.000544247597303198, + 0.01004091359335075, + -0.012348444549603928, + 0.015079460585778743, + 1.0 + ], + [ + 3.4549081876147857e-06, + 0.00045436959790711606, + 0.004105804520165043, + -0.00037044844198206174, + -0.005717029476803939, + 0.006085433522008433, + 1.0 + ], + [ + -0.000265224185004708, + 0.0002598377667231176, + -0.0002605131490837874, + -0.0008233794697883571, + -0.011460852257002947, + 0.0038471397877252894, + 1.0 + ], + [ + -0.004728301182468154, + -0.0011401519268480808, + 0.013638256796839296, + -0.006512407013207759, + 0.016411137948179833, + -0.015550280535276653, + 1.0 + ], + [ + -0.008816187059909008, + -0.002132705762398728, + 0.014599720025286533, + 0.006837570201444035, + 0.007921144719431294, + 0.0026750965268081436, + 1.0 + ], + [ + -0.001213417726851157, + -0.001163688487427706, + 0.00281652229747309, + 0.0033505156516200553, + 0.004257730736253022, + -6.678094134813302e-05, + 1.0 + ] + ], + "state": [ + [ + 0.2629374861717224, + -0.11139038950204849, + 0.11095336079597473, + -3.0982858185940465, + -0.07865219563245773, + 0.4105406105518341, + 1.0 + ], + [ + 0.2627663314342499, + -0.11179360002279282, + 0.11095336079597473, + -3.0982858185940465, + -0.07865219563245773, + 0.40900662541389465, + 1.0 + ], + [ + 0.2609092593193054, + -0.11090883612632751, + 0.10303287953138351, + -3.07782897551591, + -0.057288188487291336, + 0.4072619080543518, + 1.0 + ], + [ + 0.27892374992370605, + -0.10736697167158127, + 0.09981860220432281, + -3.079629359888383, + -0.05095447599887847, + 0.4147419929504394, + 1.0 + ], + [ + 0.3034103810787201, + -0.10352978110313416, + 0.10244419425725937, + -3.0767620151215276, + -0.0435263067483902, + 0.4274316430091858, + 1.0 + ], + [ + 0.32212433218955994, + -0.10096339881420135, + 0.10243406146764755, + -3.0591453706198415, + -0.05156518146395683, + 0.4322473406791687, + 1.0 + ], + [ + 0.33710429072380066, + -0.09962918609380722, + 0.10696955770254135, + -3.0644036774807653, + -0.05546353384852409, + 0.4236122071743011, + 1.0 + ], + [ + 0.3462343215942383, + -0.09295735508203506, + 0.09881853312253952, + -3.0607908387952527, + -0.07132164388895035, + 0.39389094710350037, + 1.0 + ], + [ + 0.3582744002342224, + -0.08742039650678635, + 0.09661521017551422, + -3.0892931540780744, + -0.11578268557786943, + 0.34765818715095514, + 1.0 + ], + [ + 0.36369824409484863, + -0.083765909075737, + 0.08358639478683472, + -3.0962255132668695, + -0.1247524842619896, + 0.31053474545478815, + 1.0 + ], + [ + 0.36869925260543823, + -0.08034566044807434, + 0.08259262144565582, + -3.1033253987603864, + -0.1416534185409546, + 0.2900968194007874, + 1.0 + ], + [ + 0.3710428476333618, + -0.07810415327548981, + 0.07346616685390472, + -3.086665293323346, + -0.12361857295036316, + 0.2702669501304627, + 1.0 + ], + [ + 0.3732464015483856, + -0.07734154909849167, + 0.07490920275449753, + -3.081283116834708, + -0.13271863758563995, + 0.25847533345222473, + 1.0 + ], + [ + 0.3748151361942291, + -0.07609260082244873, + 0.07465334981679916, + -3.0693369080596646, + -0.11947014927864075, + 0.24406605958938596, + 1.0 + ], + [ + 0.3753337562084198, + -0.07612501084804535, + 0.07055529206991196, + -3.069028766947337, + -0.11332679539918898, + 0.2383728176355362, + 1.0 + ], + [ + 0.37511685490608215, + -0.07646384835243225, + 0.07076474279165268, + -3.069505998986312, + -0.10161667317152023, + 0.23535136878490445, + 1.0 + ], + [ + 0.3713821470737457, + -0.07517985254526138, + 0.05683412402868271, + -3.07747986366088, + -0.11909466236829758, + 0.24977929890155792, + 1.0 + ], + [ + 0.3638043701648712, + -0.07395116239786148, + 0.041455794125795364, + -3.070260064797946, + -0.12682753801345825, + 0.24657656252384189, + 1.0 + ], + [ + 0.3626392185688019, + -0.07284049689769745, + 0.03859778866171837, + -3.0668786858492574, + -0.13107919692993164, + 0.24633766710758212, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938 + ], + "episode_id": "2741", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2741/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2753.json b/annotation/test/2753.json new file mode 100644 index 0000000000000000000000000000000000000000..4039a4a86903dd1a6ccb407eae216cfe320af457 --- /dev/null +++ b/annotation/test/2753.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "open oven" + ], + "videos": [ + { + "video_path": "videos/test/2753/rgb.mp4" + } + ], + "action": [ + [ + -3.318040144904782e-05, + -0.0005311784937131572, + 2.8032311332626653e-05, + 0.0003641640308212887, + -0.00010093172547843277, + -0.0014867287651235564, + 1.0 + ], + [ + -0.006245282321260649, + 0.0011484446586021665, + 0.010236990470676798, + 0.0005414196162072455, + -0.036621627295696096, + -0.02160312015163158, + 1.0 + ], + [ + -0.015888710075887887, + 0.0090541769777747, + 0.012362174283237567, + 0.03460913743444056, + -0.035349579595150026, + -0.24039338591316828, + 1.0 + ], + [ + -0.005399031921111959, + 0.007796529226610421, + 0.00076439097917109, + 0.005992513418679402, + -0.010782749820919599, + -0.2228594323440645, + 1.0 + ], + [ + -0.005645300738964086, + 0.00810056641717063, + -0.0009370067777860889, + -0.016813894878525863, + -0.022063515223338805, + -0.17169688412699094, + 1.0 + ], + [ + -0.0070905788709743536, + 0.007678885185313441, + -0.0021066039912669343, + -0.08702138619435884, + -0.017638229314420818, + -0.1548571904668216, + 1.0 + ], + [ + -0.006821465326321858, + 0.015272064389408152, + 0.001125883559069653, + -0.08122046365109616, + -0.009006730218151899, + -0.11446619618502499, + 1.0 + ], + [ + -0.007483927053713653, + 0.01068429689595733, + 0.0038234934984964454, + -0.045267265305401226, + 0.02524638489649389, + -0.09314365041190052, + 1.0 + ], + [ + -0.007840694529885634, + 0.008976486253820026, + 0.0025921382748753797, + -0.032137411020281274, + -0.0016667880049758986, + -0.08478116236787993, + 1.0 + ], + [ + -0.009940664632986032, + 0.0033121017123274635, + 0.005608285670788489, + -0.014117929554592987, + 0.007750802546467667, + -0.02919423980562235, + 1.0 + ], + [ + -0.004251690616795084, + 0.0038630968986693498, + 0.005920491820816508, + -0.015603743491598519, + -0.000773541084184887, + -0.036918990136025315, + 1.0 + ], + [ + -0.0001893283742432257, + 0.0016457894673011216, + 0.005904795160628142, + -0.00786649724092474, + 0.009032278979939036, + -0.05171919166511949, + 1.0 + ], + [ + -0.0016014722275794284, + -0.002695630596794775, + 0.008847700899071102, + 0.028120040641979552, + -0.01076577069707692, + -0.03589582802348187, + 1.0 + ], + [ + 0.00028120769652109666, + -0.0010189565193050823, + 0.00543195921816839, + 0.0063034874348215034, + 0.0015643132899199551, + -0.023853966548663928, + 1.0 + ], + [ + 0.0006889011635301705, + -0.0033796282604146946, + 0.001656078164910212, + 0.007612962593583937, + -0.0005542430697990633, + 0.00501556188017388, + 1.0 + ], + [ + 0.004631720521201283, + -0.006019642725826287, + 0.0018148515296195114, + 0.020397352526491695, + 0.004165840581358545, + 0.010730965195101798, + 1.0 + ], + [ + 0.004677076792102056, + -0.011342104122357753, + -0.0030832289316943405, + 0.022088416676154812, + -0.01980704199712358, + 0.031225710241712903, + 1.0 + ], + [ + 0.010555358453083799, + -0.016504775672241144, + -0.005519923067313892, + 0.019607716893793356, + -0.0017957419395832632, + 0.06613558669060984, + 1.0 + ], + [ + 0.01099567365010171, + -0.010925316185787255, + -0.0019611940598065194, + 0.001872020929686371, + 0.003702645913908946, + 0.052145487915529316, + 1.0 + ], + [ + 0.007688611427774414, + -0.005616195803074962, + -0.0013929617510849372, + 0.013358155612246018, + -0.0033661712657289604, + 0.08253659993674722, + 1.0 + ], + [ + 0.004448904969997268, + -0.0052042820888619085, + -0.0016981985355565268, + 0.013941311138915216, + -0.004600151852173227, + 0.08680760074016584, + 1.0 + ], + [ + 0.0009789237131167992, + -0.004707322318082198, + -0.0025747063467331474, + 0.02543298430107663, + -0.020767798102737395, + 0.047264123809352125, + 1.0 + ], + [ + 0.006762119415935708, + -0.0004897498933119533, + -0.01995133934586442, + 0.020690404661740047, + -0.06557175797318672, + 0.0795860670180816, + 1.0 + ], + [ + -0.003087393277129614, + 0.004899304325040841, + -0.010535144808203816, + -0.016925271283996665, + -0.0360257727991068, + -0.004247292398729003, + 1.0 + ], + [ + -0.017082249556793137, + 0.021998558751458036, + -0.018873738944923425, + -0.04744580640472239, + -0.02612567086459759, + 0.02082479217710372, + 1.0 + ], + [ + -0.009348941592932007, + 0.011591288144375456, + -0.0030372383998268043, + -0.02268020099608187, + -0.01714549477968268, + -0.036243552010496546, + 1.0 + ], + [ + -0.01770674441100678, + 0.017927869769218115, + 0.0016537947704168725, + -0.021994122803630296, + -0.006952738409111378, + -0.02843549399562414, + 1.0 + ], + [ + -0.0228703480481354, + 0.024034756633550283, + 0.006490991036881876, + -0.003590293043780879, + 0.01841570821183358, + -0.034582678029262896, + 1.0 + ], + [ + -0.019184374564569416, + 0.012557367470279555, + 0.015416012300532174, + 0.03692687206263311, + -0.0031391062490231706, + -0.012361003994699426, + 1.0 + ], + [ + -0.014984588777177782, + 0.005260284425837505, + 0.01636514432267458, + 0.04537532098014531, + 0.0033174835858203987, + 0.008225107583324617, + 1.0 + ], + [ + -0.0054955613239110294, + -0.0037770915687352392, + 0.012318554202328684, + 0.032381637707090995, + 0.014449896409607182, + 0.014581729317441556, + 1.0 + ], + [ + 0.0018787450710126689, + -0.013058225771632292, + 0.010499673098791466, + 0.027040192293740276, + 0.0019514757309948704, + 0.0029792761364670194, + 1.0 + ], + [ + 0.006368971617306609, + -0.01635763153676897, + -0.005318013386398588, + 0.00189036025046171, + 0.011704487118994744, + 0.026300810304134198, + 1.0 + ], + [ + 0.005469704850027441, + -0.01515048104500298, + -0.004179975629121917, + 0.026408861996102692, + -0.0038965033645251635, + 0.07562523101096266, + 1.0 + ], + [ + 0.011320539023683835, + -0.017809869280113876, + -0.009002406016403685, + 0.02540329675336866, + -0.009915565745624397, + 0.0982392299807857, + 1.0 + ], + [ + 0.013249837937149244, + -0.0279690692662243, + -0.007181527758477811, + 0.014702947353389697, + 0.01673492194795689, + 0.06257967112251733, + 1.0 + ], + [ + 0.008763258476035426, + -0.03128064380001046, + 0.0025902135008066254, + 0.03399529482861531, + 0.02322994438505717, + 0.06890208068342027, + 1.0 + ], + [ + 0.010608164749330575, + -0.02870266030583145, + 0.008960595698849307, + 0.04134505666519764, + 0.030573986384576438, + 0.05743884781334129, + 1.0 + ] + ], + "state": [ + [ + 0.3371956944465637, + 0.08371441066265106, + 0.12905040383338928, + -3.0736261328035077, + -0.23963534832000732, + 0.17996734380722046, + 1.0 + ], + [ + 0.3370668888092041, + 0.08423156291246414, + 0.12905040383338928, + -3.0736261328035077, + -0.23963534832000732, + 0.1815013289451599, + 1.0 + ], + [ + 0.3335835635662079, + 0.08313421905040741, + 0.11757082492113113, + -3.0788856615596494, + -0.20449531078338626, + 0.206038698554039, + 1.0 + ], + [ + 0.322610467672348, + 0.07240057736635208, + 0.10170789062976837, + -3.095555333542176, + -0.17811255156993866, + 0.452048510313034, + 1.0 + ], + [ + 0.3213960826396942, + 0.06319207698106766, + 0.09964670240879059, + -3.1305096951597413, + -0.17305245995521545, + 0.6786051392555237, + 1.0 + ], + [ + 0.32204458117485046, + 0.05329626426100731, + 0.09950915724039078, + 3.1059020218723496, + -0.1503162384033203, + 0.8524776101112366, + 1.0 + ], + [ + 0.32291752099990845, + 0.042748674750328064, + 0.10079977661371231, + 2.996123420196124, + -0.12539604306221008, + 1.0078035593032837, + 1.0 + ], + [ + 0.33214855194091797, + 0.028756985440850258, + 0.10103779286146164, + 2.9017704149060926, + -0.09913922101259232, + 1.1202917098999023, + 1.0 + ], + [ + 0.3391171991825104, + 0.017243176698684692, + 0.09912660717964172, + 2.8479802330308637, + -0.10111254453659058, + 1.217252492904663, + 1.0 + ], + [ + 0.3451770544052124, + 0.006679321173578501, + 0.09845126420259476, + 2.8086672743135175, + -0.07467763870954515, + 1.2981390953063965, + 1.0 + ], + [ + 0.34737205505371094, + -0.0039008883759379387, + 0.0935034528374672, + 2.7924427707963666, + -0.07242953032255173, + 1.328342318534851, + 1.0 + ], + [ + 0.35191765427589417, + -0.009077206254005432, + 0.08896518498659134, + 2.7745593210035047, + -0.05903222784399986, + 1.3628281354904175, + 1.0 + ], + [ + 0.35551491379737854, + -0.009732739999890327, + 0.08404166251420975, + 2.76414546568925, + -0.04883397370576859, + 1.4144046306610107, + 1.0 + ], + [ + 0.3560815751552582, + -0.01098586618900299, + 0.07475610822439194, + 2.7909782846742353, + -0.025577273219823834, + 1.4438108205795288, + 1.0 + ], + [ + 0.357036292552948, + -0.010683809407055378, + 0.06931360810995102, + 2.796790810423442, + -0.018847184255719185, + 1.4667547941207886, + 1.0 + ], + [ + 0.35450634360313416, + -0.009675933048129082, + 0.06662611663341522, + 2.804500552015849, + -0.020020639523863792, + 1.461846113204956, + 1.0 + ], + [ + 0.34996744990348816, + -0.0044464534148573875, + 0.0630159080028534, + 2.8250834961705884, + -0.027500426396727562, + 1.4530937671661377, + 1.0 + ], + [ + 0.33886125683784485, + 0.0015913438983261585, + 0.0625445768237114, + 2.8483033796125135, + -0.01837624050676823, + 1.417251467704773, + 1.0 + ], + [ + 0.32328274846076965, + 0.014672004617750645, + 0.0632510855793953, + 2.8696986754708966, + -0.03572661429643631, + 1.35338294506073, + 1.0 + ], + [ + 0.31487059593200684, + 0.027822095900774002, + 0.06259959191083908, + 2.8736672719293317, + -0.05324834585189819, + 1.3040807247161865, + 1.0 + ], + [ + 0.3113161325454712, + 0.03676031902432442, + 0.0628654882311821, + 2.8922031243615827, + -0.07165571302175522, + 1.2233941555023193, + 1.0 + ], + [ + 0.30768200755119324, + 0.04276811331510544, + 0.06354425847530365, + 2.9131880422406873, + -0.08833568543195724, + 1.137805461883545, + 1.0 + ], + [ + 0.3033466637134552, + 0.04570620507001877, + 0.06506698578596115, + 2.943357991176196, + -0.07869012653827667, + 1.0869145393371582, + 1.0 + ], + [ + 0.30186784267425537, + 0.05237039551138878, + 0.08500247448682785, + 2.971587197976657, + -0.029728421941399574, + 0.9960675835609436, + 1.0 + ], + [ + 0.30256593227386475, + 0.04784447327256203, + 0.09611792117357254, + 2.95460760791833, + 0.006496415473520756, + 0.994157075881958, + 1.0 + ], + [ + 0.3085115849971771, + 0.023776140064001083, + 0.11886264383792877, + 2.906993346410342, + 0.02829374559223652, + 0.9688347578048706, + 1.0 + ], + [ + 0.312020480632782, + 0.010221184231340885, + 0.12477333843708038, + 2.8852805217080792, + 0.05337940901517868, + 1.0001369714736938, + 1.0 + ], + [ + 0.31750109791755676, + -0.01412088144570589, + 0.12865908443927765, + 2.864743473129817, + 0.0672953650355339, + 1.025937795639038, + 1.0 + ], + [ + 0.3269747495651245, + -0.0465189628303051, + 0.130521759390831, + 2.863892527418681, + 0.05898128077387809, + 1.0643006563186646, + 1.0 + ], + [ + 0.33161449432373047, + -0.07176090776920319, + 0.12028954923152924, + 2.901486711698123, + 0.06538517028093338, + 1.0753509998321533, + 1.0 + ], + [ + 0.33196955919265747, + -0.09003668278455734, + 0.10665516555309296, + 2.9463957269960126, + 0.06020519882440567, + 1.068137764930725, + 1.0 + ], + [ + 0.32780203223228455, + -0.09488552808761597, + 0.09419182687997818, + 2.9780771007114133, + 0.04319753125309945, + 1.056626558303833, + 1.0 + ], + [ + 0.31873005628585815, + -0.08822476863861084, + 0.08163700252771378, + 3.0050042291455945, + 0.040786948055028915, + 1.0540025234222412, + 1.0 + ], + [ + 0.3072170317173004, + -0.07421959191560745, + 0.08441593497991562, + 3.0059285928779325, + 0.02559838443994522, + 1.0295346975326538, + 1.0 + ], + [ + 0.2967117130756378, + -0.06146201863884926, + 0.08636774122714996, + 3.030794920521327, + 0.01916782557964325, + 0.9540638327598572, + 1.0 + ], + [ + 0.28808361291885376, + -0.041306328028440475, + 0.09312742948532104, + 3.054844970005103, + 0.018084641546010968, + 0.8553158640861511, + 1.0 + ], + [ + 0.27532926201820374, + -0.012556381523609161, + 0.09761836379766464, + 3.068596387403556, + -0.004039424005895853, + 0.7944326400756836, + 1.0 + ], + [ + 0.25935983657836914, + 0.015437165275216103, + 0.09278914332389832, + 3.1030068938904485, + -0.03221988305449486, + 0.7273960113525391, + 1.0 + ], + [ + 0.2486800104379654, + 0.04386679083108902, + 0.08307493478059769, + -3.1369764871248087, + -0.06493476033210756, + 0.6710891723632812, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2753", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2753/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/276.json b/annotation/test/276.json new file mode 100644 index 0000000000000000000000000000000000000000..98d0e6781c276dea569793a189674a95f8639412 --- /dev/null +++ b/annotation/test/276.json @@ -0,0 +1,660 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move spoon to right of mushroom." + ], + "videos": [ + { + "video_path": "videos/test/276/rgb.mp4" + } + ], + "action": [ + [ + -4.029473861078774e-05, + 0.0006154607243173989, + -0.0006278720599546542, + -0.0004975995859512341, + 0.0014920202139642707, + 0.0014937854031973528, + 1.0 + ], + [ + -0.004753987971353398, + -0.0003270678023060733, + 0.014498564527366368, + 0.005594449545449565, + -0.03497082250231583, + -0.00962592615391243, + 1.0 + ], + [ + -0.018404224731114388, + 0.0016990952219607294, + -0.003826697797667371, + -0.015477874843054075, + 0.019716535759011992, + -0.02336564872911714, + 1.0 + ], + [ + -0.0201487582676538, + 0.004028788706135357, + -0.04270195213396368, + -0.03377254934012599, + 0.11838617674356952, + 0.004516284998721135, + 1.0 + ], + [ + -0.02894562150363767, + -0.009380639058130613, + -0.0021548827380768244, + 0.02614055628415511, + -0.03125432191315588, + -0.02710607951342118, + 1.0 + ], + [ + -0.02693156302706086, + -0.007569623049182979, + 0.021253062812171677, + 0.013308112580789523, + -0.0802057340504896, + -0.011369864336258355, + 1.0 + ], + [ + -0.017977799466419836, + -0.027901553429460376, + 0.025399465302775648, + 0.004132861875411084, + -0.04813576193897051, + -0.055653140303670696, + 1.0 + ], + [ + -0.007462779174703031, + -0.016058858929266468, + 0.017028505004652184, + 0.04741102569141058, + -0.03465450285738863, + -0.015245927416566257, + 1.0 + ], + [ + -0.008428902945579525, + -0.010126916830723101, + 0.012997612527998127, + 0.035161544526967216, + -0.03677137975534271, + -0.023055521586992728, + 1.0 + ], + [ + -0.004076255426691215, + 0.005134196585822494, + 0.011117098870253155, + -0.04783135723285432, + 0.039256179469382785, + -0.027330717131687006, + 1.0 + ], + [ + 0.0009193022451202388, + 0.0005247043361135101, + 0.0023717665425798994, + -0.034148152815578356, + 0.024507796507946558, + -0.030946841388645743, + 1.0 + ], + [ + 0.003264310118700438, + 0.0015880120161373829, + 0.00020502211814759437, + -0.013183021150208044, + 0.021296900986293752, + -0.010528740047719268, + 1.0 + ], + [ + 0.0010859120835798755, + 0.00033930476549666976, + -9.830766965594884e-05, + 0.0016045535959317114, + 0.0038755616349835814, + -0.007219585710177291, + 1.0 + ], + [ + 1.4046031008653494e-05, + 0.00044516389137229606, + -0.0003966192595857683, + -0.0006485727113692929, + 0.0013870216588948048, + -0.0030655586808475805, + 1.0 + ], + [ + 0.0008047515845429256, + -0.00019414254648395315, + 0.00024389527665806605, + 0.0004967441708844327, + 0.006796488391574833, + -0.007216433415130911, + 1.0 + ], + [ + 0.0011394076296111022, + 0.0002872098815787862, + 0.00023853663782419666, + -0.002614550145456987, + 0.008878584003799286, + -0.012634625456887842, + 1.0 + ], + [ + 0.0007915232477381628, + -3.0682106976273082e-06, + -1.9766442441461257e-06, + -3.770493241225664e-05, + 0.0049915006915115774, + -0.011423949014232083, + 0.0 + ], + [ + 0.0018572428161258202, + -0.0018850416902717849, + -0.0006449055543135963, + 0.005542718507843303, + 0.007504477940991679, + -0.013437051611687723, + 0.0 + ], + [ + 0.007545564247879193, + -0.018567058872780255, + -0.01828891241033609, + 0.0109628302928152, + 0.017855406093158714, + -0.06421092386123854, + 0.0 + ], + [ + 0.019794753264217695, + -0.021392639102051348, + -0.014803538200970539, + -0.01904718406685533, + 0.007647300152283355, + -0.03623791975641265, + 0.0 + ], + [ + 0.036326460792904386, + -0.010786964156554653, + -0.014097049328436048, + -0.013194093594191726, + 0.028542135802399733, + 0.09088474704706155, + 0.0 + ], + [ + 0.030646984870421792, + -0.015764142539550614, + 0.009499238992302917, + -0.009092442549886115, + -0.04349215321223717, + 0.0975321535584342, + 0.0 + ], + [ + 0.025273763120182726, + -0.023153770775876877, + 0.009455251417743636, + -0.005457645658693015, + -0.04878073574619088, + 0.063427775564145, + 0.0 + ], + [ + 0.019246103135143695, + -0.01960964471920424, + 0.005106764669610181, + 0.027958193399898468, + -0.018176980067679236, + 0.06274294077685413, + 0.0 + ], + [ + 0.011441418266174726, + -0.011299983094958464, + 0.005283784682810392, + 0.04587531482578547, + -0.028681143608569642, + 0.07414284824164254, + 0.0 + ], + [ + 0.001121572341747418, + -0.0020339179725077498, + 0.020109475408404923, + -0.015604134438340512, + -0.06324098266442166, + 0.09946195751828274, + 0.0 + ], + [ + 0.008082257989075208, + -0.005476948511530759, + 0.005846889838673706, + 0.013022325351279868, + -0.013016614384160076, + 0.06911247731503498, + 0.0 + ], + [ + 0.002076792242238001, + -0.0012956515452717946, + 0.001043370414082187, + -0.001190576524572919, + -0.006248999672506773, + 8.978881766397544e-05, + 0.0 + ], + [ + 0.0017426250384933503, + 0.005653040878649766, + 0.0037670330700696553, + -0.032931256891869265, + 0.031053190240947232, + -0.006202386070283123, + 0.0 + ], + [ + -0.011408345452501282, + 0.0040137074026558835, + -0.012444032308096676, + -0.009944275895962076, + 0.04191087124927857, + -0.030606968789263812, + 1.0 + ], + [ + -0.00636398926961476, + -0.0004325011293286104, + -0.03921347659430063, + 0.04433539270802432, + 0.10974489539881438, + -0.03206752442482464, + 1.0 + ], + [ + -0.0034748726052297157, + 0.0025914596692088094, + -0.006413127688875583, + -0.00015981788303885702, + 0.021955332614977948, + -0.014537144762654856, + 1.0 + ], + [ + -0.00045733743629797853, + -0.00045007498691589754, + -1.223985400041972e-05, + -0.0004343438691007253, + -0.001448808033975986, + -0.0015201276140397832, + 1.0 + ] + ], + "state": [ + [ + 0.3972216248512268, + -0.08000735938549042, + 0.08505919575691223, + 3.1408449949282264, + -0.09604399651288986, + 0.024505633860826496, + 1.0 + ], + [ + 0.3971363604068756, + -0.08062462508678436, + 0.0856807678937912, + 3.140491220523142, + -0.09753702580928802, + 0.023005837574601173, + 1.0 + ], + [ + 0.3938106298446655, + -0.08038996905088425, + 0.07078780978918076, + -3.1380357189388057, + -0.0625511407852173, + 0.032606136053800576, + 1.0 + ], + [ + 0.3752692937850952, + -0.08270835131406784, + 0.07345051318407059, + 3.128210418979176, + -0.08233363926410676, + 0.05597613006830216, + 1.0 + ], + [ + 0.35190320014953613, + -0.0874800831079483, + 0.11440068483352661, + 3.0945890118652066, + -0.20076924562454224, + 0.05301287397742271, + 1.0 + ], + [ + 0.32273608446121216, + -0.07954291254281998, + 0.11030561476945877, + 3.1155426931851586, + -0.16820968687534332, + 0.07897347211837767, + 1.0 + ], + [ + 0.29929283261299133, + -0.07436276227235794, + 0.08465642482042313, + 3.127209548028656, + -0.0877278745174408, + 0.08825162798166275, + 1.0 + ], + [ + 0.28127866983413696, + -0.048315756022930145, + 0.05738236755132675, + 3.126531319814273, + -0.038664843887090676, + 0.14318247139453888, + 1.0 + ], + [ + 0.27230381965637207, + -0.033645715564489365, + 0.03983836621046066, + -3.109819447743245, + -0.003780479310080408, + 0.15789574384689328, + 1.0 + ], + [ + 0.26237064599990845, + -0.024559875950217247, + 0.02713724970817566, + -3.0747372974925717, + 0.032241091132164, + 0.18210484087467194, + 1.0 + ], + [ + 0.2587945759296417, + -0.029672076925635338, + 0.015839336439967155, + -3.121742935972758, + -0.008762804791331291, + 0.2067316770553589, + 1.0 + ], + [ + 0.25981271266937256, + -0.02994645945727825, + 0.013465769588947296, + 3.12702399876947, + -0.03387586027383804, + 0.2371939867734909, + 1.0 + ], + [ + 0.2633635997772217, + -0.03072470612823963, + 0.013394568115472794, + 3.1134709065132817, + -0.05501512810587882, + 0.24804589152336123, + 1.0 + ], + [ + 0.2644915282726288, + -0.030786072835326195, + 0.01356192585080862, + 3.11467249144847, + -0.05868468061089515, + 0.2553841769695282, + 1.0 + ], + [ + 0.26459163427352905, + -0.03120882250368595, + 0.013970504514873028, + 3.1138417722010097, + -0.05998840183019639, + 0.25849154591560364, + 1.0 + ], + [ + 0.265334814786911, + -0.030818583443760872, + 0.013770011253654957, + 3.113893872248479, + -0.0665803924202919, + 0.26591005921363836, + 1.0 + ], + [ + 0.26652371883392334, + -0.030799178406596184, + 0.013615837320685387, + 3.1104214956336698, + -0.0751001313328743, + 0.2788216471672058, + 1.0 + ], + [ + 0.26728153228759766, + -0.03057897835969925, + 0.013677099719643593, + 3.1095143539183816, + -0.07972813397645952, + 0.2904323637485504, + 0.0 + ], + [ + 0.2684653103351593, + -0.028237152844667435, + 0.01440727710723877, + 3.113966293754526, + -0.08679033070802689, + 0.304154485464096, + 0.0 + ], + [ + 0.26845812797546387, + -0.008257062174379826, + 0.032763514667749405, + 3.1193502751463136, + -0.10268429666757584, + 0.3691677749156952, + 0.0 + ], + [ + 0.2776164710521698, + 0.018571725115180016, + 0.04904119670391083, + 3.0965644997828683, + -0.10945563018321991, + 0.40578508377075195, + 0.0 + ], + [ + 0.3049243092536926, + 0.042723070830106735, + 0.06652523577213287, + 3.0933965315395078, + -0.14161288738250732, + 0.3154125213623047, + 0.0 + ], + [ + 0.3304002583026886, + 0.06711753457784653, + 0.060705650597810745, + 3.098592313128062, + -0.10216087847948074, + 0.21545866131782532, + 0.0 + ], + [ + 0.3511424958705902, + 0.09492090344429016, + 0.052895769476890564, + 3.099857600527354, + -0.05593127757310867, + 0.14996205270290375, + 0.0 + ], + [ + 0.3675747811794281, + 0.11700323224067688, + 0.04806043580174446, + 3.1314401646428784, + -0.04027361795306205, + 0.08647277206182478, + 0.0 + ], + [ + 0.37820950150489807, + 0.12921307981014252, + 0.04312724247574806, + -3.1028516871207437, + -0.012234540656208992, + 0.012066775932908058, + 0.0 + ], + [ + 0.3795418441295624, + 0.1320406198501587, + 0.02312685176730156, + -3.1173745562606534, + 0.05486273765563965, + -0.08480761945247649, + 0.0 + ], + [ + 0.3877466022968292, + 0.1369803100824356, + 0.016979707404971123, + -3.1081850325041493, + 0.06941788643598557, + -0.15374428033828735, + 0.0 + ], + [ + 0.3899290859699249, + 0.13798774778842926, + 0.01583855226635933, + -3.1093666796856603, + 0.0756663978099823, + -0.15362495183944705, + 0.0 + ], + [ + 0.3905053734779358, + 0.1323038935661316, + 0.011770893819630146, + 3.141295832877983, + 0.044428471475839615, + -0.14842404425144193, + 0.0 + ], + [ + 0.3791872560977936, + 0.12994162738323212, + 0.024710524827241898, + 3.1327111535989722, + 0.002505885204300285, + -0.11783142387866974, + 1.0 + ], + [ + 0.3730567693710327, + 0.13145355880260468, + 0.06393443793058395, + -3.1061043721907815, + -0.1069512814283371, + -0.08479607105255127, + 1.0 + ], + [ + 0.3687036335468292, + 0.12899604439735413, + 0.069844551384449, + -3.1077389811449727, + -0.1293983906507492, + -0.0709346979856491, + 1.0 + ], + [ + 0.3682795763015747, + 0.12947671115398407, + 0.06981277465820312, + -3.108377369242259, + -0.12800170481204987, + -0.06935346871614456, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.019751906394958496, + 0.12421530485153198, + 0.39409196376800537, + 0.5824717879295349, + 0.5905163884162903, + 0.5976079404354095, + 0.6098805367946625, + 0.6098805367946625, + 0.6098805367946625, + 0.6098805367946625, + 0.6098805367946625, + 0.6098805367946625, + 0.6098805367946625, + 0.6098805367946625, + 0.5634372532367706, + 0.2640954852104187, + 0.017633140087127686, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "276", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/276/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2762.json b/annotation/test/2762.json new file mode 100644 index 0000000000000000000000000000000000000000..0189e6b2abb5d0d5906bf18ec8a230e56af20224 --- /dev/null +++ b/annotation/test/2762.json @@ -0,0 +1,926 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Put the red spoon to the left of the orange towel" + ], + "videos": [ + { + "video_path": "videos/test/2762/rgb.mp4" + } + ], + "action": [ + [ + -0.00038333889020579216, + 0.0002282777984409248, + -2.229967287668877e-05, + 0.0007006392393891535, + -0.0012642918185120484, + 0.001530696625775595, + 1.0 + ], + [ + -0.0022583682458108246, + -0.0011872201078521308, + 0.005472814893222447, + 0.0035276238546500874, + -0.017757366625993014, + -0.01102206000461864, + 1.0 + ], + [ + 0.004411177837722089, + -0.029482418945070737, + -0.014538529134799524, + -0.06578405476728307, + 0.06868281209191082, + -0.16600760350781688, + 1.0 + ], + [ + 0.011203389904590444, + -0.03097159077347506, + -0.01979007910544317, + -0.025162488657787696, + 0.03811568796808566, + -0.15574219492500022, + 1.0 + ], + [ + 0.015929433574943946, + -0.013146951916959294, + -0.008727016220258161, + 0.014919341996595906, + 0.03276440912604084, + -0.08508532622136777, + 1.0 + ], + [ + 0.028455488104577025, + -0.007831598870726363, + 0.01833227927305533, + 0.05726412304818821, + 0.003663185820309679, + -0.13187232046077177, + 1.0 + ], + [ + 0.02895026384648812, + 0.0017406237781507506, + 0.01614292421306516, + 0.008936851793502527, + 0.01533867002613605, + -0.18253701762044336, + 1.0 + ], + [ + 0.020264188467261215, + 0.0013777296731463408, + 0.012494818694695967, + 0.004355189081785133, + 0.0023398970132230564, + -0.19034523839994455, + 1.0 + ], + [ + 0.01864624511762995, + 0.00850514673398399, + 0.014858598063829267, + -0.018118156939992535, + 0.016051493367298008, + -0.14764543082382495, + 1.0 + ], + [ + 0.014203504694552822, + 0.012745458387920976, + 0.016115177642068573, + -0.008554250816526101, + 0.00290371465108561, + -0.07633314267674934, + 1.0 + ], + [ + 0.008343331911549682, + 0.013993617023750269, + 0.015583876906792358, + 0.0021390982226352235, + -0.009533924019760765, + -0.08690212086169252, + 1.0 + ], + [ + 0.0037981903309383266, + 0.014402096846150774, + 0.01427627907833988, + -0.00017291786660732025, + -0.005306575668736193, + -0.05595316334069863, + 1.0 + ], + [ + 0.003604330878787056, + 0.008130096850991725, + 0.010711809704091935, + 0.01420888248823477, + 0.007650940855628953, + -0.07735467878873731, + 1.0 + ], + [ + -0.0010953008800896728, + 0.005289413367448041, + 0.014106209203369932, + 0.037592501807025606, + -0.015072234942395362, + -0.03020401688152903, + 1.0 + ], + [ + -0.0007045612960418071, + 0.000786377107947874, + 0.008912662932506202, + 0.04149843965514294, + -0.011705983601015565, + -0.0059439876081461025, + 1.0 + ], + [ + -0.00011521601663684415, + 0.001780458501274982, + 0.0006559257231336682, + -0.0145995429840748, + -0.0038904398174707355, + -0.019426515925697534, + 1.0 + ], + [ + -0.00041763070015809215, + -0.0019402351367021264, + 0.0018597817517958198, + 0.0020821785025302002, + 0.00418152158457608, + -0.017350498993597727, + 1.0 + ], + [ + -0.0015882145848288142, + -0.0030749972314315834, + 0.0004203951825464036, + -0.008448356028320008, + -0.004415148349421808, + -0.005762738598260926, + 0.0 + ], + [ + 0.00024156523893349534, + -0.0036119737791071088, + -0.0013295434302854233, + -0.01676323039297154, + 0.0011009024995006892, + 0.004497596723550378, + 0.0 + ], + [ + 0.004094474629507661, + -0.00597610145852764, + -0.002576422658575706, + -0.00029925846080356436, + -0.01266409377564667, + 0.044203497018202025, + 0.0 + ], + [ + 0.007546541320430806, + -0.00047210398595360015, + -0.005949996000286251, + -0.012376612240241051, + 0.004430285644159264, + -0.015189987463175856, + 0.0 + ], + [ + 0.00026475713854755734, + -0.0018139170584219823, + -0.005031644809951729, + 0.013396221023042712, + -0.0036864424704837165, + -0.010701767550869832, + 0.0 + ], + [ + 0.001131297389342688, + -0.004652837530605883, + -0.0019069099578169382, + 0.035157200013523154, + -0.007024859415946336, + 0.12582503158504285, + 0.0 + ], + [ + 0.00673921133234232, + -0.005554820566787903, + -0.010248406687302862, + 0.06064337020731274, + 0.040382760419790706, + 0.2509794949893447, + 0.0 + ], + [ + -0.0007191701010607827, + -0.0015575691774504994, + -0.019657395023986435, + -0.06985967405538748, + -0.013215670787486622, + 0.25948836626938865, + 0.0 + ], + [ + 0.010648415610246625, + -0.024999552580525993, + 0.004289712712375608, + -0.05212056973525282, + -0.032441515737435526, + 0.18677645252520508, + 0.0 + ], + [ + 0.0013437041985330284, + -0.0053333133536104475, + -0.002045933235693074, + 0.03026991449042742, + -0.04720595338331021, + 0.24926936236175257, + 0.0 + ], + [ + -0.0032864749827963445, + -0.002413802816488461, + 0.01127616348509523, + 0.015182193863865242, + -0.0105423183106682, + 0.2190249001177504, + 0.0 + ], + [ + -0.017294570715545195, + 0.0031972539126018037, + 0.02070073593411485, + -0.017787435212608064, + 0.005122660847230773, + 0.19333662666822482, + 0.0 + ], + [ + -0.007184161557276164, + -0.00590697497900123, + -0.0036336159948976883, + -0.0004582724878851078, + 0.09413514446193096, + 0.10445163528061421, + 0.0 + ], + [ + -0.0022631452711277247, + -0.008847331745447853, + 0.0001107662093732268, + -0.037166367778609856, + 0.0402361078506457, + 0.02993359941683561, + 0.0 + ], + [ + -0.002920147314028919, + -0.0029609339774735945, + -0.0010463435283354654, + -0.031799817152961755, + 0.011121940339888394, + 0.009564808825780176, + 0.0 + ], + [ + -0.0010677866646303332, + -0.001977692120261487, + -0.0005651345924082563, + 0.0007948841129350004, + -0.0014875102403016113, + 0.012070913955436805, + 0.0 + ], + [ + 0.0005626765103784208, + -0.00046467656726853295, + -1.6775347531526912e-06, + 0.002979029988173098, + 0.003507547682890099, + 0.013811090766139344, + 0.0 + ], + [ + -0.002023466640196939, + -0.000969482580533364, + 0.006323650524589699, + 0.0028736032877146023, + -0.01409285193020392, + -0.018725761892842037, + 0.0 + ], + [ + 0.00458119283668914, + -0.00328911035223001, + -0.0021157184373362596, + 0.008899511608715655, + 0.014418077921112708, + -0.03959630392167558, + 0.0 + ], + [ + -0.00026432215922040763, + -0.0023422117402750555, + -0.0005469278035995369, + 0.01528076845438962, + -0.0013595414191871335, + -0.02102695759594913, + 1.0 + ], + [ + -0.003972103662565873, + 0.0010001858024788369, + -0.0005669487222207265, + 0.01436365091667825, + -0.0398775469516012, + -0.05644029716467387, + 1.0 + ], + [ + 0.006453187960465526, + 0.009318047877735446, + -0.009427962803925967, + 0.020730556964645413, + -0.03306013836423424, + -0.040574423049290174, + 1.0 + ], + [ + 0.0032884877118292697, + 0.007764662398231228, + -0.009774362415282609, + 0.007563398646066328, + -0.010155414186917976, + -0.05160076545037355, + 1.0 + ], + [ + 0.006497428028800068, + 0.0076899475811989, + -0.007395544074999509, + 0.006422107436137298, + -0.01030140551525452, + -0.04200585391331296, + 1.0 + ], + [ + 0.00961391282450479, + 0.007409874036051345, + -0.013963672376041418, + 0.016726139728289235, + -0.004095203681580926, + -0.06734831959712469, + 1.0 + ], + [ + 0.010549396477991831, + 0.00801502206517814, + -0.011407438230436072, + 0.03886276713066837, + 0.025836852208481573, + -0.08567777749876247, + 1.0 + ], + [ + 0.015205983971169162, + 0.006730832201322221, + -0.01895097662340807, + -0.002997638009405165, + 0.040463009649182965, + -0.011170224627158871, + 1.0 + ], + [ + 0.0033124950649947252, + 9.268161316847945e-05, + 0.0026784739002611727, + 0.0006356056953289791, + 0.007761797475700695, + -0.019165100203515528, + 1.0 + ], + [ + 0.0034236365626932274, + 0.00027009578625688364, + -0.004855166270683649, + -0.00547564549713767, + 0.00722189340332224, + 0.018051667508500287, + 1.0 + ], + [ + 0.00037926808580245855, + 0.0006205776464756811, + -0.0003699635786709715, + -0.0003012740445406022, + 0.0015755569531115802, + 0.0045282079308000284, + 1.0 + ] + ], + "state": [ + [ + 0.24843786656856537, + -0.05933231860399246, + 0.08566891402006149, + -3.1010181364887437, + -0.045513860881328576, + 0.22312545776367185, + 1.0 + ], + [ + 0.24811451137065887, + -0.05964050441980362, + 0.08566448092460632, + -3.1002501902454576, + -0.044188469648361206, + 0.22164586186408994, + 1.0 + ], + [ + 0.24583657085895538, + -0.05870601534843445, + 0.08015093952417374, + -3.097237968938895, + -0.026898767799139023, + 0.23339495062828064, + 1.0 + ], + [ + 0.24304939806461334, + -0.029756953939795494, + 0.09609533846378326, + 3.115296371402689, + -0.10248619318008421, + 0.39662289619445795, + 1.0 + ], + [ + 0.2393774837255478, + 0.002835953375324607, + 0.11611088365316391, + 3.074325459199496, + -0.13524647057056427, + 0.5546662807464601, + 1.0 + ], + [ + 0.24468107521533966, + 0.022242454811930656, + 0.12601086497306824, + 3.0775810574465474, + -0.16170744597911832, + 0.6428768634796143, + 1.0 + ], + [ + 0.2655986547470093, + 0.04620996490120888, + 0.11204180866479874, + 3.113975839810916, + -0.15553759038448334, + 0.7763335108757019, + 1.0 + ], + [ + 0.2893146574497223, + 0.06643643230199814, + 0.10063204169273376, + 3.0948133674734315, + -0.16323938965797422, + 0.9617014527320862, + 1.0 + ], + [ + 0.3035166263580322, + 0.08336885273456573, + 0.09167362749576569, + 3.06890885730321, + -0.15376150608062747, + 1.15424644947052, + 1.0 + ], + [ + 0.32059618830680847, + 0.09833983331918716, + 0.08049524575471878, + 3.0286491980128964, + -0.15738330781459808, + 1.3045297861099243, + 1.0 + ], + [ + 0.3388587236404419, + 0.11026723682880402, + 0.06832552701234818, + 3.0083577205711087, + -0.15121409296989444, + 1.3815845251083374, + 1.0 + ], + [ + 0.35645031929016113, + 0.1173802986741066, + 0.05615055933594704, + 2.9980947842174253, + -0.12968741357326505, + 1.4671598672866821, + 1.0 + ], + [ + 0.3732096552848816, + 0.12099314481019974, + 0.04467315599322319, + 2.991026925044604, + -0.11624350398778915, + 1.5221480131149292, + 1.0 + ], + [ + 0.38307005167007446, + 0.12518548965454102, + 0.0357833094894886, + 2.9966372420364102, + -0.11186522245407103, + 1.6002638339996338, + 1.0 + ], + [ + 0.390327125787735, + 0.1257840096950531, + 0.022549286484718323, + 3.031162882345267, + -0.09254563599824907, + 1.6280887126922607, + 1.0 + ], + [ + 0.3920817971229553, + 0.12599390745162964, + 0.013750000856816769, + 3.072226794558116, + -0.08025491237640381, + 1.632720947265625, + 1.0 + ], + [ + 0.3939044177532196, + 0.12603449821472168, + 0.013211528770625591, + 3.056103142099925, + -0.07501277327537538, + 1.6518847942352295, + 1.0 + ], + [ + 0.3921573758125305, + 0.12562647461891174, + 0.011167249642312527, + 3.056871684389659, + -0.07768592238426208, + 1.6695822477340698, + 1.0 + ], + [ + 0.38929471373558044, + 0.12380453944206238, + 0.010366947390139103, + 3.048005985217639, + -0.07279784977436066, + 1.6749649047851562, + 0.0 + ], + [ + 0.38557687401771545, + 0.12358596920967102, + 0.011368091218173504, + 3.0315626879506787, + -0.07431353628635406, + 1.6705777645111084, + 0.0 + ], + [ + 0.3789922893047333, + 0.1268882304430008, + 0.013571447692811489, + 3.0347395708137235, + -0.06650179624557495, + 1.625152826309204, + 0.0 + ], + [ + 0.3775020241737366, + 0.13395777344703674, + 0.019925681874155998, + 3.0213374142819127, + -0.0692787915468216, + 1.6407660245895386, + 0.0 + ], + [ + 0.37510812282562256, + 0.13372322916984558, + 0.024710247293114662, + 3.034032778935977, + -0.0643315538764, + 1.6509692668914795, + 0.0 + ], + [ + 0.3702097535133362, + 0.13437220454216003, + 0.026176482439041138, + 3.0781308134370526, + -0.07030937820672988, + 1.5248048305511475, + 0.0 + ], + [ + 0.3642998933792114, + 0.14067937433719635, + 0.03650101646780968, + -3.1251373161845883, + -0.12420367449522018, + 1.27522873878479, + 0.0 + ], + [ + 0.362201452255249, + 0.1380237340927124, + 0.05594068020582199, + 3.1195709892832717, + -0.10260574519634245, + 1.0146222114562988, + 0.0 + ], + [ + 0.3469090163707733, + 0.16058583557605743, + 0.052217643707990646, + 3.086962068574973, + -0.07246271520853043, + 0.826765239238739, + 0.0 + ], + [ + 0.34373047947883606, + 0.1651608645915985, + 0.05406199395656586, + 3.1369158636131367, + -0.03651737421751022, + 0.5753282308578491, + 0.0 + ], + [ + 0.340036004781723, + 0.16557902097702026, + 0.042662203311920166, + -3.1230386478179177, + -0.02611847966909409, + 0.3561916649341583, + 0.0 + ], + [ + 0.32532134652137756, + 0.1571032553911209, + 0.021461134776473045, + -3.1361506624431392, + -0.027188569307327274, + 0.16272205114364624, + 0.0 + ], + [ + 0.31718263030052185, + 0.161733016371727, + 0.024930184707045555, + -3.1337458185204348, + -0.12060489505529402, + 0.05745431035757065, + 0.0 + ], + [ + 0.31443652510643005, + 0.17043761909008026, + 0.02461685985326767, + 3.1159620137237987, + -0.16054920852184296, + 0.026836205273866653, + 0.0 + ], + [ + 0.3113197982311249, + 0.1733418107032776, + 0.02510768547654152, + 3.0856668447428426, + -0.17190563678741455, + 0.01742139458656311, + 0.0 + ], + [ + 0.31015536189079285, + 0.17532801628112793, + 0.02537204697728157, + 3.0885723402076444, + -0.17108237743377688, + 0.005106419790536164, + 0.0 + ], + [ + 0.3107113540172577, + 0.17579497396945953, + 0.025445226579904556, + 3.0939083156460008, + -0.17530089616775513, + -0.008711053989827633, + 0.0 + ], + [ + 0.30983442068099976, + 0.1764695942401886, + 0.01882716454565525, + 3.09359926183755, + -0.1603028029203415, + 0.00955391861498356, + 0.0 + ], + [ + 0.31401219964027405, + 0.1798964887857437, + 0.021488817408680916, + 3.0960141142183026, + -0.1726740002632141, + 0.050400491803884506, + 0.0 + ], + [ + 0.31355756521224976, + 0.1822412610054016, + 0.021876506507396698, + 3.1076538694375238, + -0.17031966149806976, + 0.0716511607170105, + 1.0 + ], + [ + 0.3096216320991516, + 0.18097586929798126, + 0.021795116364955902, + 3.1126374212377748, + -0.12829215824604034, + 0.12711542844772336, + 1.0 + ], + [ + 0.31588611006736755, + 0.17266176640987396, + 0.032234854996204376, + 3.1282871832423886, + -0.09397081285715103, + 0.16686841845512393, + 1.0 + ], + [ + 0.3194686770439148, + 0.1655237376689911, + 0.04237665235996246, + 3.131024206178733, + -0.0830054059624672, + 0.21850459277629852, + 1.0 + ], + [ + 0.3268345594406128, + 0.1593625843524933, + 0.05036601424217224, + 3.1339734710105738, + -0.07218784093856812, + 0.26050636172294617, + 1.0 + ], + [ + 0.3370039463043213, + 0.1545150876045227, + 0.06504262983798981, + -3.1373310253308198, + -0.06741628795862198, + 0.32797437906265264, + 1.0 + ], + [ + 0.34884050488471985, + 0.15002505481243134, + 0.07710063457489014, + -3.1042648797207555, + -0.09337012469768524, + 0.4138873517513275, + 1.0 + ], + [ + 0.3640962839126587, + 0.14860741794109344, + 0.09712354838848114, + -3.1081416850262364, + -0.13421741127967837, + 0.42361846566200256, + 1.0 + ], + [ + 0.36741700768470764, + 0.1501014530658722, + 0.09491083770990372, + -3.1100652274959764, + -0.1425916701555252, + 0.4427063763141632, + 1.0 + ], + [ + 0.37003836035728455, + 0.15087607502937317, + 0.10019244253635406, + -3.112919906275817, + -0.14921699464321136, + 0.42423114180564886, + 1.0 + ], + [ + 0.3705921769142151, + 0.15043391287326813, + 0.10059693455696106, + -3.112534040706702, + -0.15066051483154297, + 0.4196072518825531, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.05002796649932861, + 0.31580305099487305, + 0.5634372532367706, + 0.5869496464729309, + 0.5869496464729309, + 0.5869496464729309, + 0.5869496464729309, + 0.5869496464729309, + 0.5869496464729309, + 0.5869496464729309, + 0.5878426134586334, + 0.5878426134586334, + 0.5887347459793091, + 0.5878426134586334, + 0.5878426134586334, + 0.5878426134586334, + 0.5878426134586334, + 0.5878426134586334, + 0.5887347459793091, + 0.5158107578754425, + 0.22022664546966553, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2762", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2762/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2763.json b/annotation/test/2763.json new file mode 100644 index 0000000000000000000000000000000000000000..347ada352de8b6553d717291e18792ade2a2d955 --- /dev/null +++ b/annotation/test/2763.json @@ -0,0 +1,641 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Put broccoli into pot." + ], + "videos": [ + { + "video_path": "videos/test/2763/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 1.4123078151744512e-10, + 3.2512663904476635e-09, + -0.0015339880607831043, + 1.0 + ], + [ + -0.0014167076449143024, + -0.0001459928401212139, + 0.005315864566760902, + -0.00864332828178291, + -0.019510905239787216, + -0.00431112923845737, + 1.0 + ], + [ + -0.005851663648589151, + -0.021346341628939704, + 0.009308770886365364, + 0.040261933726901615, + -0.01946454412942488, + -0.03648748922339744, + 1.0 + ], + [ + -0.0018251090506401634, + -0.016018244456637704, + 0.01185702951577795, + 0.03702986453701977, + -0.014543102188204217, + -0.01531227159494016, + 1.0 + ], + [ + -0.01281149916312432, + -0.019959228138529572, + 0.018858572953080008, + 0.05319335046108195, + -0.04277882340228852, + -0.03160811086841273, + 1.0 + ], + [ + -0.0020146997361689236, + -0.006708894686312186, + 0.01565414012788825, + 0.024772267572212014, + -0.03955219295251994, + -0.019186517122431464, + 1.0 + ], + [ + -0.0005386446999098652, + -0.0014795969224929522, + 0.012645938678983766, + 0.0069710950893991175, + -0.033100557603540234, + -0.01945543326441431, + 1.0 + ], + [ + 0.007196348499447399, + -0.0031818301233368014, + 0.010013048613250615, + 0.0061020710288272025, + -0.020292607046353894, + -0.022174989596844073, + 1.0 + ], + [ + 0.012593081803495998, + 0.00023293041210178367, + 0.001634783680561505, + 0.0025601438703532708, + 0.0051884884348742735, + -0.009328335899664753, + 1.0 + ], + [ + 0.015403857227602676, + 0.0030805583088101274, + 0.0012610816882433588, + -0.003020828110116529, + 0.0078119041978207395, + -0.007246713950085213, + 1.0 + ], + [ + 0.00465604937754495, + 0.0021063087345990607, + 0.001692491855773236, + -0.0032121400743793, + -0.005485631905899255, + -0.0010760950306781848, + 1.0 + ], + [ + 0.00046085135863636526, + 0.0014384757130784047, + 0.002638870610303667, + -0.009590132955492122, + -0.005456089689460047, + -0.009244873277410548, + 1.0 + ], + [ + -0.0008109436100557267, + -0.00029988997401728644, + 0.0002947364419232412, + 0.002630776859307971, + -0.003776671397968518, + 0.0015167174672804213, + 0.0 + ], + [ + -0.005607333823156398, + 0.006491884410121619, + -6.794912773023509e-05, + -0.008336325922162092, + -0.01178270876576437, + 0.020000586367568594, + 0.0 + ], + [ + -0.001010784626938, + 0.004413867350764694, + -0.0011240932971576148, + -0.029502400697261007, + -0.007923455091780185, + 0.008211364971056796, + 0.0 + ], + [ + 0.011805596973487271, + 0.0009984484010613266, + -0.012255004601581332, + -0.029308548151910193, + 0.037047960864820144, + -0.00856806533081814, + 0.0 + ], + [ + 0.027258774988164532, + 0.004558557009858584, + -0.027306442835107587, + -0.03324084360598357, + 0.08155819971239023, + -0.01837238987429645, + 0.0 + ], + [ + 0.03345285128434258, + -0.004646419516495045, + -0.03336824837810737, + 0.017830529738438548, + 0.10034867958143297, + -0.02423919465117347, + 0.0 + ], + [ + 0.032677448837860286, + -0.009986837215234473, + -0.012501957793135048, + 0.011467092176056218, + 0.06348132195328234, + -0.050903324054025735, + 0.0 + ], + [ + 0.02301245370017009, + -0.013387488641517759, + 0.014923237926533217, + 0.01809919092906079, + 0.009045233854444846, + -0.05138907450088355, + 0.0 + ], + [ + 0.0012311598367976666, + -0.005505420379083428, + 0.019053799515295376, + 0.028925185654982245, + -0.03110296178459146, + -0.01710163839902983, + 0.0 + ], + [ + 8.99744589734105e-06, + 0.0009946886061104488, + 0.013214302082350369, + 0.01093139396475469, + -0.011873037663062469, + -0.01207784989283827, + 0.0 + ], + [ + -0.00525582163500042, + 0.0028905623452784353, + 0.009970753241725503, + -0.007675225212433161, + -0.04054251513919244, + -0.003823936475391565, + 0.0 + ], + [ + -0.0014321048917906695, + 0.0023433166141559126, + -2.3782781230834578e-05, + -0.014811050303066257, + -0.008977687032455564, + 0.003687394513108718, + 1.0 + ], + [ + -0.0035878235923442574, + 0.0041793915056017065, + -0.005435818534956185, + -0.02721369075129681, + -0.016094441712500795, + 0.015143147594972584, + 1.0 + ], + [ + -0.005429917071236276, + 0.004864698953130395, + -0.048435700228796355, + -0.023124328669300014, + 0.06366123836275876, + 0.021613676165337183, + 1.0 + ], + [ + -0.033533120539727734, + 0.010544797984360137, + -0.02859713440787018, + -0.02609119223392054, + -0.011324692350919327, + 0.026577167225834017, + 1.0 + ], + [ + -0.04096731722766751, + 0.015475660820068972, + -0.005519838685949452, + -0.01522208386326181, + -0.037869687613820875, + 0.05271428351557752, + 1.0 + ], + [ + -0.030078744094617867, + 0.014899551272999707, + 0.010018007267966414, + 0.013911697028741603, + -0.0342980392090562, + 0.060632891249885724, + 1.0 + ], + [ + -0.011807130736786228, + 0.004285256353884458, + 0.005037672859274497, + 0.022520132389516785, + -0.006661646400714861, + 0.03067386982262146, + 1.0 + ], + [ + -0.002329308803408926, + 0.001780918933164215, + 0.002857542228019541, + 0.03462713555532946, + -0.00819883715773966, + 0.0522365993617736, + 1.0 + ], + [ + 0.0003501105868429827, + 0.00036844765753660605, + 0.00040327500250344583, + -0.00024237561004296915, + 0.00017104258175311952, + 6.685299798135342e-05, + 1.0 + ] + ], + "state": [ + [ + 0.24081256985664368, + 0.08179504424333572, + 0.1345200091600418, + -3.127389732869812, + -0.17891666293144226, + -0.07269291579723358, + 1.0 + ], + [ + 0.24081256985664368, + 0.08179504424333572, + 0.1345200091600418, + -3.12766714499379, + -0.17893823981285098, + -0.07113419473171234, + 1.0 + ], + [ + 0.24038094282150269, + 0.08204635977745056, + 0.12903937697410583, + -3.1371340534002563, + -0.15948736667633054, + -0.06649373471736908, + 1.0 + ], + [ + 0.23749738931655884, + 0.10367338359355927, + 0.11901348829269409, + -3.1027388108247003, + -0.1400784254074097, + -0.029564807191491127, + 1.0 + ], + [ + 0.23774439096450806, + 0.12014000862836838, + 0.1076427549123764, + -3.067942539351531, + -0.1261233538389206, + -0.013573721051216125, + 1.0 + ], + [ + 0.2275056689977646, + 0.14157375693321228, + 0.08883015066385269, + -3.0191023667627057, + -0.0857100859284401, + 0.021196091547608376, + 1.0 + ], + [ + 0.22657673060894012, + 0.15012730658054352, + 0.07399457693099976, + -2.996315064030238, + -0.04877399280667306, + 0.045084863901138306, + 1.0 + ], + [ + 0.22648978233337402, + 0.15342146158218384, + 0.061684414744377136, + -2.9904783834987363, + -0.01882433332502842, + 0.06912115961313248, + 1.0 + ], + [ + 0.2335232049226761, + 0.1585724651813507, + 0.0524015948176384, + -2.9848625530772885, + -0.0020949665922671556, + 0.094094417989254, + 1.0 + ], + [ + 0.24606163799762726, + 0.15978096425533295, + 0.050776876509189606, + -2.982323469715663, + -0.00867582205682993, + 0.10249871015548706, + 1.0 + ], + [ + 0.26168978214263916, + 0.15853190422058105, + 0.0491768941283226, + -2.98539354105527, + -0.017537999898195267, + 0.10841543972492218, + 1.0 + ], + [ + 0.266549289226532, + 0.15723271667957306, + 0.04725930094718933, + -2.9886372109227857, + -0.012286522425711155, + 0.1103319302201271, + 1.0 + ], + [ + 0.26715409755706787, + 0.15627385675907135, + 0.0444379486143589, + -2.9983551820092877, + -0.008302043192088604, + 0.12030039727687836, + 1.0 + ], + [ + 0.2663104236125946, + 0.15651322901248932, + 0.04418231546878815, + -2.995715456204959, + -0.004347536247223616, + 0.11933832615613937, + 0.0 + ], + [ + 0.2615126669406891, + 0.14945904910564423, + 0.04328151047229767, + -3.0039870013766965, + 0.010217878036201, + 0.1012636348605156, + 0.0 + ], + [ + 0.2609698474407196, + 0.14485424757003784, + 0.04379982128739357, + -3.0335605089836797, + 0.019192539155483246, + 0.0942157432436943, + 0.0 + ], + [ + 0.2731693387031555, + 0.14368274807929993, + 0.05564693734049797, + -3.0627089013629636, + -0.01856336183845997, + 0.09873502701520921, + 0.0 + ], + [ + 0.3004545569419861, + 0.13965658843517303, + 0.08301059901714325, + -3.0959132482581815, + -0.10131382197141646, + 0.1106298267841339, + 0.0 + ], + [ + 0.3298161029815674, + 0.146055206656456, + 0.11976763606071472, + -3.079885834949561, + -0.20264449715614322, + 0.1305539608001709, + 0.0 + ], + [ + 0.3577423393726349, + 0.15899774432182312, + 0.13917040824890137, + -3.07814775605733, + -0.2689138948917389, + 0.17908668518066403, + 0.0 + ], + [ + 0.3806961476802826, + 0.1776922345161438, + 0.13174480199813843, + -3.074145170050212, + -0.28084224462509155, + 0.2318655103445053, + 0.0 + ], + [ + 0.3853180408477783, + 0.1857469230890274, + 0.11417685449123383, + -3.0506813322478017, + -0.25091004371643066, + 0.2516353726387024, + 0.0 + ], + [ + 0.38846060633659363, + 0.1867707222700119, + 0.10134395211935043, + -3.043101394670554, + -0.24016055464744568, + 0.2651277184486389, + 0.0 + ], + [ + 0.38637375831604004, + 0.18423934280872345, + 0.09018007665872574, + -3.052590014534541, + -0.20018327236175537, + 0.27307429909706116, + 0.0 + ], + [ + 0.3856876492500305, + 0.18162113428115845, + 0.08971439301967621, + -3.066815609233924, + -0.19091252982616422, + 0.27014642953872675, + 1.0 + ], + [ + 0.3825792074203491, + 0.17601442337036133, + 0.09404917061328888, + -3.0913493131571492, + -0.17371319234371188, + 0.2560376524925232, + 1.0 + ], + [ + 0.371204137802124, + 0.16549982130527496, + 0.14051654934883118, + -3.109980983781167, + -0.23615412414073944, + 0.23059271275997162, + 1.0 + ], + [ + 0.3356456458568573, + 0.14539729058742523, + 0.16013646125793457, + -3.1297933954098305, + -0.2239127904176712, + 0.20371751487255096, + 1.0 + ], + [ + 0.2985103726387024, + 0.12185792624950409, + 0.1562434434890747, + -3.1332214401387652, + -0.18511579930782318, + 0.15058343112468722, + 1.0 + ], + [ + 0.27334827184677124, + 0.10305529087781906, + 0.14073804020881653, + -3.108093602704354, + -0.1499730795621872, + 0.08959047496318817, + 1.0 + ], + [ + 0.26285919547080994, + 0.09798235446214676, + 0.13385367393493652, + -3.080995423840829, + -0.14221808314323425, + 0.05884724110364913, + 1.0 + ], + [ + 0.2610706090927124, + 0.09626960009336472, + 0.13059325516223907, + -3.0390672852569303, + -0.13068163394927979, + 0.006761026568710804, + 1.0 + ], + [ + 0.26147711277008057, + 0.09594710171222687, + 0.1302037537097931, + -3.039298618333884, + -0.13084493577480316, + 0.006676294840872288, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.04926097393035889, + 0.35795462131500244, + 0.6562948226928711, + 0.7445420324802399, + 0.7445420324802399, + 0.7445420324802399, + 0.7445420324802399, + 0.7445420324802399, + 0.7445420324802399, + 0.7445420324802399, + 0.7445420324802399, + 0.6676268577575684, + 0.37101542949676514, + 0.07933062314987183, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2763", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2763/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2779.json b/annotation/test/2779.json new file mode 100644 index 0000000000000000000000000000000000000000..0eecebc8c8c6f8d8d38740ab838cd562d0769326 --- /dev/null +++ b/annotation/test/2779.json @@ -0,0 +1,413 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put pot in sink" + ], + "videos": [ + { + "video_path": "videos/test/2779/rgb.mp4" + } + ], + "action": [ + [ + -0.0005796056630488492, + -0.0008337282110740115, + 0.0016344339219915931, + 0.007045309302429847, + -0.002865127197799367, + 0.0008355255264992107, + 1.0 + ], + [ + 0.0016397653975423073, + 0.0012834344398187309, + 0.00329468280304608, + 0.048360995942320024, + -0.020250299927237512, + 0.11673832689532668, + 1.0 + ], + [ + 0.01785735044082087, + 0.004426487344388134, + -0.009555015106764663, + 0.03211373128163175, + 0.002536008474832097, + 0.1467605162184013, + 1.0 + ], + [ + 0.009726677949349335, + -0.0008246717616700422, + -0.0017893782327271879, + 0.0345998449601182, + 0.004480836363304667, + 0.08595897962627455, + 1.0 + ], + [ + 0.008083211587141084, + 0.0004985648118732212, + 0.0027524392619118895, + 0.011485399744541061, + 0.040894065719951356, + 0.11772398511921524, + 1.0 + ], + [ + -0.0017080147274935087, + -0.007448533657846639, + 0.014602856526214564, + -0.005111031092989617, + 0.006518570019146171, + 0.08366084917949199, + 1.0 + ], + [ + -0.003134754164958025, + -0.010726861595828655, + 0.01572129062292584, + -0.01375588303375219, + -0.004095326099651426, + 0.03811811008899899, + 1.0 + ], + [ + -0.0026345690108157105, + -0.006421591038669121, + 0.011148622212012689, + -0.025147768103594724, + 0.00462608315080949, + 0.025978155943583485, + 1.0 + ], + [ + -0.0025088279145960147, + -0.005400808833168466, + 0.011498269906002074, + -0.04632031174667116, + 0.011721419081020833, + -0.011206968408888037, + 1.0 + ], + [ + -0.0019442694240758315, + -0.0015594808993614785, + 0.007252957882273921, + -0.04303730413679193, + 0.011354667008344768, + -0.021150286287832974, + 1.0 + ], + [ + -0.0013167720511944952, + -0.003914522404563337, + 0.0034077261329922967, + -0.042954876873197934, + -0.014953816017842608, + -0.03437749465208382, + 0.0 + ], + [ + 0.00023927138868824199, + -0.0020113470959195858, + -0.00337252858470815, + 0.022514727508646564, + -0.020151937674881503, + 0.0050109961993636655, + 0.0 + ], + [ + 0.01065235757756911, + -0.005825708157374005, + -0.009352447663638299, + 0.051662168820107005, + 0.007051459721111925, + 0.06236971718232078, + 0.0 + ], + [ + 0.020962130713051714, + -0.01912315924723818, + -0.012751101841714841, + 0.03598415350804035, + 0.018917651862096378, + 0.08899888001631592, + 0.0 + ], + [ + 0.019783513105969163, + -0.026747142835003786, + -0.006620468716678759, + 0.028282320948570795, + 0.044614909319876404, + 0.07856115960968715, + 0.0 + ], + [ + 0.013261516803378474, + -0.023225891704971493, + 0.009608728585602192, + 0.021900375656514308, + 0.0631537337528252, + 0.06207617776611077, + 0.0 + ], + [ + -0.00655997025141974, + -0.0035756905637047507, + 0.02119662805100241, + -0.029459126847945834, + 0.05729015152917385, + 0.03847100652103938, + 0.0 + ], + [ + -0.016839832213098704, + -0.0007133354175166136, + 0.02889345307441767, + -0.05915087544367349, + 0.03757140849728234, + 0.011576938482596593, + 0.0 + ], + [ + -0.010765593090217376, + 0.0015311601417404466, + 0.019643822804169212, + -0.052433239762914224, + 0.0498493955943041, + -0.01180292271182365, + 0.0 + ], + [ + -0.0019116124262560355, + 0.001099560709209364, + 0.004904734056412335, + -0.009311304455519276, + 0.02060750912708928, + -0.00033873331276158857, + 1.0 + ] + ], + "state": [ + [ + 0.2646385431289673, + -0.13633865118026733, + 0.08358170092105865, + 3.085855310904332, + -0.17326831817626953, + 0.6292231678962708, + 1.0 + ], + [ + 0.2639745771884918, + -0.1359049677848816, + 0.08182856440544128, + 3.0930742790275296, + -0.17045409977436066, + 0.6282147169113158, + 1.0 + ], + [ + 0.2665724456310272, + -0.135799840092659, + 0.07892494648694992, + -3.1212840677523097, + -0.1546909064054489, + 0.5092220902442932, + 1.0 + ], + [ + 0.28295695781707764, + -0.13194264471530914, + 0.09102647006511688, + -3.0665876140170774, + -0.15258032083511353, + 0.36070242524147034, + 1.0 + ], + [ + 0.2914465367794037, + -0.12800472974777222, + 0.09432951360940933, + -3.0190532748871526, + -0.15004640817642212, + 0.2736692428588867, + 1.0 + ], + [ + 0.2995862364768982, + -0.12588432431221008, + 0.09277646243572235, + -2.9899306019120893, + -0.1751563549041748, + 0.14999546110630035, + 1.0 + ], + [ + 0.29878664016723633, + -0.11632724851369858, + 0.07937256991863251, + -2.980797456698962, + -0.16835680603981018, + 0.06510762870311737, + 1.0 + ], + [ + 0.29715773463249207, + -0.10330010950565338, + 0.06524134427309036, + -2.9883909096294126, + -0.15809689462184906, + 0.027670809999108315, + 1.0 + ], + [ + 0.2959141433238983, + -0.09528375416994095, + 0.054913658648729324, + -3.009385200338908, + -0.15864944458007812, + 0.0009554911521263421, + 1.0 + ], + [ + 0.2951184809207916, + -0.08841510117053986, + 0.043965522199869156, + -3.0572359656267842, + -0.17173855006694794, + 0.01066148467361927, + 1.0 + ], + [ + 0.2943924069404602, + -0.08625767379999161, + 0.03664186969399452, + -3.1037824285500726, + -0.18479959666728973, + 0.03112681210041046, + 1.0 + ], + [ + 0.2935711741447449, + -0.0822407454252243, + 0.03319805860519409, + 3.129919285076209, + -0.1710420548915863, + 0.06655871123075484, + 0.0 + ], + [ + 0.29310131072998047, + -0.08021693676710129, + 0.0365387387573719, + -3.1298503346093973, + -0.1509476155042648, + 0.06125352531671524, + 0.0 + ], + [ + 0.30184900760650635, + -0.07395420968532562, + 0.04745367914438248, + -3.0687092786007604, + -0.15696994960308075, + -0.001971633872017264, + 0.0 + ], + [ + 0.3203834295272827, + -0.05584684759378433, + 0.06466691195964813, + -3.018733786540576, + -0.1687217503786087, + -0.09340254962444305, + 0.0 + ], + [ + 0.3405545949935913, + -0.031889528036117554, + 0.07769758999347687, + -2.976472633081027, + -0.20278853178024292, + -0.17852450907230377, + 0.0 + ], + [ + 0.35880857706069946, + -0.01029849611222744, + 0.07482408732175827, + -2.9397791494899472, + -0.2543562948703766, + -0.25241109728813177, + 0.0 + ], + [ + 0.35948190093040466, + -0.0024665745440870523, + 0.053768839687108994, + -2.9561930318647107, + -0.30245685577392584, + -0.3038648068904876, + 0.0 + ], + [ + 0.3539803624153137, + 0.00557527132332325, + 0.021769117563962936, + -3.0094648619466504, + -0.33719733357429504, + -0.32325226068496704, + 0.0 + ], + [ + 0.350859135389328, + 0.0077494787983596325, + -0.00035898637725040317, + -3.06356721569831, + -0.38816213607788086, + -0.31772005558013916, + 0.0 + ], + [ + 0.35074418783187866, + 0.007035757414996624, + -0.0056878793984651566, + -3.072338642674037, + -0.40873301029205317, + -0.3191024661064148, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.17480432987213135, + 0.48214519023895264, + 0.7403817772865295, + 0.8879803046584129, + 0.9170585051178932, + 0.9174014925956726, + 0.9174014925956726, + 0.9170585051178932, + 0.8562205731868744, + 0.6958210468292236, + 0.44883906841278076 + ], + "episode_id": "2779", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2779/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2795.json b/annotation/test/2795.json new file mode 100644 index 0000000000000000000000000000000000000000..482fef5759bb7ef419492fdcf9d8b8d1a753e40d --- /dev/null +++ b/annotation/test/2795.json @@ -0,0 +1,945 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the spoon to the left side of the pot" + ], + "videos": [ + { + "video_path": "videos/test/2795/rgb.mp4" + } + ], + "action": [ + [ + 8.914620244756716e-05, + 0.00043898703442725635, + -9.213867196313538e-06, + -0.0001048496664623407, + 5.3303290294378773e-05, + -4.508319815076346e-06, + 1.0 + ], + [ + -0.0025152758883944175, + 0.0008804970364218195, + 0.007817247604360717, + -0.006361672916354918, + -0.026913124316993168, + -0.007553239789483491, + 1.0 + ], + [ + -0.005207594223306239, + 0.013515253526997447, + 0.006497309290749479, + -0.013881583659573178, + -0.005383072754129766, + -0.025730729147881937, + 1.0 + ], + [ + -0.005482287838447977, + 0.015970628184197585, + -0.006172972389669655, + -0.0050835729332554605, + 0.0301682022603646, + 0.020313835278019998, + 1.0 + ], + [ + -0.005874086543672876, + 0.028800827947733126, + -0.00294216395483502, + -0.007370084417664175, + 0.017993796748199592, + 0.07722635451870452, + 1.0 + ], + [ + -0.007891770465604304, + 0.043596499622928366, + -0.00709397339634091, + -0.024406879944108055, + 0.025671512745893216, + 0.15282351154511636, + 1.0 + ], + [ + -0.0001581909590916138, + 0.04107758194160499, + 0.001693628976601059, + 0.0009878317468513934, + 0.016531996646135593, + 0.09864635273866064, + 1.0 + ], + [ + 0.0025430432073210436, + 0.028916845651262502, + 0.006482834869782032, + 0.0012821632015306253, + 0.017489688403422295, + 0.04699976836571193, + 1.0 + ], + [ + -0.0005180773060863026, + 0.023225167474607098, + 0.015141273732390357, + -0.008825782476784503, + -0.024236030564882802, + 0.08455738782510426, + 1.0 + ], + [ + 0.001160680706675242, + 0.0203674818621408, + 0.017549327865317467, + -0.008978761712812488, + -0.001472800940538356, + 0.09340192288375182, + 1.0 + ], + [ + 0.0006916519677385327, + 0.01973307221401016, + 0.01753459032503663, + 0.01103069962789009, + -0.022456854496911642, + 0.0565550948801852, + 1.0 + ], + [ + -0.0024060545078361823, + 0.013187863856853355, + 0.013118024285055256, + 0.0017658716718653943, + -0.02059895228780253, + 0.03811122345521851, + 1.0 + ], + [ + -0.0031997011198857607, + 0.0042444723785257914, + 0.015773541358594535, + -0.007719926072894737, + -0.03601106070487257, + 0.014802008361157585, + 1.0 + ], + [ + -0.0013295247009247673, + 0.0009528179643954443, + 0.011646554891324547, + -0.0010254930901401791, + -0.004630938403504398, + 0.010907221839410926, + 1.0 + ], + [ + 0.0008460595953622695, + 0.0001314614213363571, + 0.008619145279561357, + -0.0014297891358127483, + 0.0029002001643319186, + -0.01110739773037614, + 1.0 + ], + [ + 0.0007821613304724176, + 0.00016744746980658793, + 0.003978587558426933, + -0.0025933647052433046, + 0.030626008871042457, + -0.00471799952745745, + 1.0 + ], + [ + 0.0010873387323303443, + 0.0006825078155652414, + 0.0030118568733603726, + -0.0021614288405449413, + 0.01836001942669901, + -0.004488661391293272, + 1.0 + ], + [ + -0.001472385135507885, + 0.001205844464052193, + 0.0036941587889423788, + 0.006466461791830091, + -0.011161267160612059, + 0.005916767696008945, + 1.0 + ], + [ + 0.002201421580151663, + 0.001632295443116943, + 0.0008822211616427214, + -0.0014759940186160304, + 0.0077374687092578295, + 0.006177270980636255, + 0.0 + ], + [ + 0.0007512869565888167, + 0.00029138961475996865, + 0.0004198375700342105, + -0.0016780329805642538, + 0.004415258945482618, + 0.005011785844837582, + 0.0 + ], + [ + -4.620111737820835e-05, + -0.0008039938368045499, + -0.0006013675101373594, + 0.0046975893839804155, + 0.002206716792455627, + 0.0012550684146714016, + 0.0 + ], + [ + -0.007618179247625246, + -0.004296476498592119, + -0.01600793435811499, + 0.012284834457453167, + 0.012259935482133673, + 0.007567465502094727, + 0.0 + ], + [ + 0.0012277810496996847, + -0.012319341034672205, + -0.027366779460609267, + 0.03359365041035427, + 0.052415277531356864, + -0.03478234119122271, + 0.0 + ], + [ + -0.003653247670517131, + -0.017089598988976818, + -0.01722786857098725, + 0.021528152731567846, + 0.003469289358967607, + -0.05925391685193542, + 0.0 + ], + [ + -0.01169965303100579, + -0.0319439041359811, + -0.007480528508362184, + 0.041056456212769515, + -0.06387587916957317, + -0.09955401084908001, + 0.0 + ], + [ + -0.003956543360392745, + -0.04005725132563391, + 0.0007969046878249312, + -0.014652543012832626, + -0.04671599386488661, + -0.07237805136785111, + 0.0 + ], + [ + -0.0004339365009779608, + -0.02805313354690081, + 0.0002350058062054279, + 0.009662189118598376, + -0.005766437260513041, + -0.04314823487272925, + 0.0 + ], + [ + -0.0012084801327828761, + -0.029352717906304112, + 0.005374736699082654, + 0.023430927075735852, + -0.005748296406716358, + -0.02916237844397402, + 0.0 + ], + [ + -0.0018657229456385989, + -0.0271116871089993, + 0.0024670211171763335, + 0.003446578170512702, + 0.013149727765890816, + -0.02358196749485659, + 0.0 + ], + [ + 0.00382183360427132, + -0.023489340332573088, + 0.013105936547053321, + 0.017650177629498446, + -0.027478853233020063, + -0.008345806728417594, + 0.0 + ], + [ + 0.004126320982734554, + -0.02187314818930709, + 0.007147210019602335, + 0.0013783235012624299, + 0.0041341865589953454, + -0.03125107086342695, + 0.0 + ], + [ + 0.003326414552410725, + -0.01659918426800386, + 0.013392491330772046, + -0.017704765288087454, + 0.007355979302416801, + 0.005536267687147589, + 0.0 + ], + [ + 0.001994950665067165, + -0.004316170919899311, + 0.014365984473960371, + 0.008174958637554991, + -0.009887618338309428, + 0.0011854975404577861, + 0.0 + ], + [ + 0.007318318803328448, + 0.0015954250237307436, + 0.009460912142932347, + -0.012636957000247065, + 0.024482074858687395, + 0.019332395314525793, + 0.0 + ], + [ + 0.0035449978516911194, + -0.0010022831751179562, + 0.010113799448391926, + 0.007353696241630528, + 0.012208016103546606, + 0.011346601326173253, + 0.0 + ], + [ + 0.0016171511635965767, + -0.00014924032459225152, + 0.0009172806835969293, + 0.0011991933449624396, + 0.00943783468091864, + 0.010243501838695579, + 0.0 + ], + [ + -0.005200511429775585, + 0.00043259261098848277, + 0.005821718332514502, + -0.03537454281405871, + -0.008105134998871681, + 0.005698906974062676, + 0.0 + ], + [ + -0.002782011084401638, + -0.0007306445338461893, + 0.0026322639580739545, + 0.002487914842950762, + -0.01132350631050216, + -0.01596553299338201, + 0.0 + ], + [ + -0.002365012090581864, + 0.001624364225900559, + 0.002089646118615826, + -0.011682225323317743, + -0.013405067010419226, + -0.009832663307887261, + 0.0 + ], + [ + -0.0016551340221707374, + 0.002773853834192189, + 0.0001958205616954813, + -0.023521507317148898, + -0.009687062064788957, + 0.00394763309968581, + 0.0 + ], + [ + -0.0004789772890253466, + -0.0022531225608561746, + -0.00039150689537211344, + 0.007145999054150599, + -0.010244968536463122, + 0.009393742178724537, + 0.0 + ], + [ + 0.0008569769187316741, + -0.00013126079023858037, + -0.002199026108155088, + -0.010440512338628704, + -0.008792807971214782, + -0.008610730975627957, + 1.0 + ], + [ + 0.0011507082089790366, + -0.004095955282172613, + -0.004065249209157237, + -0.009870495084861921, + 0.003957970454127976, + -0.018569082591626505, + 1.0 + ], + [ + 0.0030027978235329634, + -0.001532936954390103, + -0.014708276031851479, + 0.004372806355678028, + 0.014820916846237204, + -0.02441707913681605, + 1.0 + ], + [ + 0.00586667938201658, + 0.004941527740395096, + -0.01879695525677917, + 0.024790627941796144, + 0.01259534471034142, + -0.011092468558654731, + 1.0 + ], + [ + 0.011309006386253559, + 0.008323054858425213, + -0.013825650517315803, + 0.0104725913747949, + 0.0021729937065020108, + -0.013412202856650459, + 1.0 + ], + [ + 0.015216447450076363, + 0.01541170943669392, + -0.013581714727454099, + -0.006871324772490834, + 0.011782625310434969, + -0.006445351024118374, + 1.0 + ], + [ + 0.01630240382130292, + 0.026714798943636344, + -0.01455945369858244, + -0.04094465430580747, + 0.02554722311061214, + 0.02252963376120303, + 1.0 + ] + ], + "state": [ + [ + 0.24993465840816498, + 0.15114283561706543, + 0.1284487545490265, + -3.106702609109231, + -0.06837524473667145, + 0.3423309326171875, + 1.0 + ], + [ + 0.2501662075519562, + 0.1507592648267746, + 0.1284487545490265, + -3.1068076399439057, + -0.06842867285013199, + 0.34233358502388, + 1.0 + ], + [ + 0.24851171672344208, + 0.14952410757541656, + 0.12045198678970337, + -3.11373861332471, + -0.04179205372929574, + 0.35082283616065973, + 1.0 + ], + [ + 0.24847598373889923, + 0.13531744480133057, + 0.11336921900510788, + -3.128710612776228, + -0.03711361065506935, + 0.3767110109329224, + 1.0 + ], + [ + 0.24907954037189484, + 0.11829718202352524, + 0.11912842094898224, + -3.133021304505416, + -0.06700968742370605, + 0.3559729158878327, + 1.0 + ], + [ + 0.2534624934196472, + 0.08917386084794998, + 0.12142424285411835, + -3.1352212714315435, + -0.08414052426815032, + 0.27833202481269836, + 1.0 + ], + [ + 0.2573409080505371, + 0.044894564896821976, + 0.12755295634269714, + 3.1363667507008692, + -0.10785461962223053, + 0.1244959682226181, + 1.0 + ], + [ + 0.2624446451663971, + 0.004126921761780977, + 0.12606558203697205, + -3.1351311319791755, + -0.12437465786933899, + 0.02518163993954658, + 1.0 + ], + [ + 0.2665213942527771, + -0.024653907865285873, + 0.11976303160190582, + -3.127953960681804, + -0.1414213925600052, + -0.022398443892598152, + 1.0 + ], + [ + 0.2676711976528168, + -0.04770194739103317, + 0.10438770055770874, + -3.1248873994969806, + -0.11553296446800232, + -0.10715776681900024, + 1.0 + ], + [ + 0.26872095465660095, + -0.06800214946269989, + 0.08675363659858704, + -3.123123875009366, + -0.11199716478586197, + -0.20111216604709625, + 1.0 + ], + [ + 0.26747772097587585, + -0.08755374699831009, + 0.06904703378677368, + -3.105822915332862, + -0.08832357823848724, + -0.2574478089809418, + 1.0 + ], + [ + 0.2630823254585266, + -0.09953995048999786, + 0.05530647933483124, + -3.100773265706845, + -0.06631353497505188, + -0.29487171769142145, + 1.0 + ], + [ + 0.2599923014640808, + -0.10236094146966934, + 0.03919586166739464, + -3.107587332027503, + -0.029722582548856735, + -0.3081883192062378, + 1.0 + ], + [ + 0.25888776779174805, + -0.10259313881397247, + 0.02748928964138031, + -3.108295055227824, + -0.0247217807918787, + -0.3189349472522735, + 1.0 + ], + [ + 0.2599419951438904, + -0.10277743637561798, + 0.018894093111157417, + -3.1099988502734384, + -0.027988649904727936, + -0.3079259991645813, + 1.0 + ], + [ + 0.2607806324958801, + -0.1030879020690918, + 0.014935649931430817, + -3.1126826760643205, + -0.05874820798635483, + -0.30417338013648987, + 1.0 + ], + [ + 0.26180776953697205, + -0.10403413325548172, + 0.011974393390119076, + -3.115072425576397, + -0.07722984254360199, + -0.3002062141895294, + 1.0 + ], + [ + 0.2603524625301361, + -0.10474293678998947, + 0.008147061802446842, + -3.108170287805148, + -0.06591438502073288, + -0.30583679676055914, + 1.0 + ], + [ + 0.2620236575603485, + -0.10695046186447144, + 0.007357821799814701, + -3.109221151220151, + -0.07343974709510802, + -0.312286376953125, + 0.0 + ], + [ + 0.26268133521080017, + -0.10745455324649811, + 0.006985054351389408, + -3.110520130144902, + -0.0776895061135292, + -0.31745398044586187, + 0.0 + ], + [ + 0.26283642649650574, + -0.10667930543422699, + 0.0076056355610489845, + -3.105719482647725, + -0.07985609769821167, + -0.3187812268733978, + 0.0 + ], + [ + 0.255567342042923, + -0.10036331415176392, + 0.023098181933164597, + -3.092792051034518, + -0.09183417260646819, + -0.3268168270587921, + 0.0 + ], + [ + 0.25782063603401184, + -0.08954434096813202, + 0.051028214395046234, + -3.0621390660577497, + -0.1458355188369751, + -0.29433587193489075, + 0.0 + ], + [ + 0.25633010268211365, + -0.07272009551525116, + 0.06883054971694946, + -3.0493887831741056, + -0.1537400782108307, + -0.23484277725219727, + 0.0 + ], + [ + 0.2507795989513397, + -0.039394330233335495, + 0.07730630785226822, + -3.0247806330495557, + -0.09843821078538895, + -0.12949608266353607, + 0.0 + ], + [ + 0.25164684653282166, + 0.0007065863464958966, + 0.08077575266361237, + -3.047261105971881, + -0.06017323583364487, + -0.052092548459768295, + 0.0 + ], + [ + 0.2525250017642975, + 0.028649313375353813, + 0.08315370976924896, + -3.040306406217166, + -0.05843836069107056, + -0.00851889606565237, + 0.0 + ], + [ + 0.2517109811306, + 0.05840306729078293, + 0.08070794492959976, + -3.0186491702967366, + -0.055642172694206245, + 0.02112086117267609, + 0.0 + ], + [ + 0.2492251843214035, + 0.0855662152171135, + 0.08147924393415451, + -3.0164361764960965, + -0.07157114148139954, + 0.04296573996543884, + 0.0 + ], + [ + 0.2526819407939911, + 0.110679492354393, + 0.07170707732439041, + -2.999585436778613, + -0.045344144105911255, + 0.05468511208891869, + 0.0 + ], + [ + 0.2557391822338104, + 0.13354529440402985, + 0.06791865825653076, + -2.999649332957812, + -0.05383811891078949, + 0.08507990837097168, + 0.0 + ], + [ + 0.25807633996009827, + 0.15213799476623535, + 0.057203903794288635, + -3.017001712816306, + -0.060335777699947364, + 0.07854694128036499, + 0.0 + ], + [ + 0.26041004061698914, + 0.15840840339660645, + 0.043630897998809814, + -3.00882379909093, + -0.050377484411001205, + 0.0785994604229927, + 0.0 + ], + [ + 0.2682037055492401, + 0.15869227051734924, + 0.03442273661494255, + -3.020323271053382, + -0.07207243144512177, + 0.056143369525671, + 0.0 + ], + [ + 0.27232253551483154, + 0.1611456722021103, + 0.024785486981272697, + -3.012049840884753, + -0.08281233906745912, + 0.04336022958159447, + 0.0 + ], + [ + 0.27399465441703796, + 0.161484956741333, + 0.02403198927640915, + -3.0099083354049405, + -0.09084248542785646, + 0.03193666785955429, + 0.0 + ], + [ + 0.26933595538139343, + 0.16167186200618744, + 0.017756126821041107, + -3.0448625480108937, + -0.08205828070640564, + 0.02733604609966278, + 0.0 + ], + [ + 0.2667464017868042, + 0.1625828742980957, + 0.01498728059232235, + -3.0437781383567533, + -0.07231771945953369, + 0.04436417296528816, + 0.0 + ], + [ + 0.2646141052246094, + 0.16107429563999176, + 0.012583957053720951, + -3.056260662274905, + -0.05993250012397766, + 0.055478062480688095, + 0.0 + ], + [ + 0.2631426155567169, + 0.15824127197265625, + 0.012054075486958027, + -3.0795922001176557, + -0.0499439463019371, + 0.05236670374870301, + 0.0 + ], + [ + 0.26252201199531555, + 0.16043633222579956, + 0.0125598618760705, + -3.0720086117559156, + -0.03913471847772598, + 0.043619606643915176, + 0.0 + ], + [ + 0.2632923722267151, + 0.16044798493385315, + 0.014794535003602505, + -3.082809543358632, + -0.030960209667682648, + 0.05282494053244591, + 1.0 + ], + [ + 0.2641047537326813, + 0.1643463671207428, + 0.019126957282423973, + -3.0932563935690602, + -0.03599701449275017, + 0.07114110141992569, + 1.0 + ], + [ + 0.26650965213775635, + 0.16534030437469482, + 0.03399062529206276, + -3.089744860427924, + -0.051970187574625015, + 0.09484269469976425, + 1.0 + ], + [ + 0.27194416522979736, + 0.1599215716123581, + 0.05278598517179489, + -3.0654956122213086, + -0.06512062996625899, + 0.10528875142335892, + 1.0 + ], + [ + 0.28329816460609436, + 0.1517193466424942, + 0.06664692610502243, + -3.055890994268008, + -0.06830126047134398, + 0.11852776259183885, + 1.0 + ], + [ + 0.29949820041656494, + 0.13701413571834564, + 0.07986962050199509, + -3.063128249841281, + -0.08059133589267732, + 0.12395808845758438, + 1.0 + ], + [ + 0.31806474924087524, + 0.11133888363838196, + 0.09356236457824707, + -3.1020908673577985, + -0.10426995903253555, + 0.09936871379613876, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.00520777702331543, + 0.07526767253875732, + 0.3619738817214966, + 0.6107503175735474, + 0.6321892142295837, + 0.6321892142295837, + 0.6321892142295837, + 0.6321892142295837, + 0.6321892142295837, + 0.6321892142295837, + 0.6321892142295837, + 0.6321892142295837, + 0.6321892142295837, + 0.6321892142295837, + 0.6321892142295837, + 0.6321892142295837, + 0.6321892142295837, + 0.6321892142295837, + 0.6321892142295837, + 0.6321892142295837, + 0.6321892142295837, + 0.6321892142295837, + 0.6321892142295837, + 0.6321892142295837, + 0.5412575602531433, + 0.271004855632782, + 0.023313462734222412, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "2795", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2795/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/280.json b/annotation/test/280.json new file mode 100644 index 0000000000000000000000000000000000000000..139237829eaf7f65917b1ac66cf00abd06796b7d --- /dev/null +++ b/annotation/test/280.json @@ -0,0 +1,413 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put cup from anywhere into sink" + ], + "videos": [ + { + "video_path": "videos/test/280/rgb.mp4" + } + ], + "action": [ + [ + -0.00025370883137969876, + -4.416663537821155e-05, + 0.0003819122645748469, + 0.0004354813906332611, + -0.001465983469776661, + 0.00011948477354126958, + 1.0 + ], + [ + -0.0011358635795001204, + -0.0010295639545332494, + 0.007494067044787931, + 0.021160099953075707, + -0.04473534975848015, + -0.023376335561317428, + 1.0 + ], + [ + 0.00039950335936538885, + -0.00706027970136515, + 0.00989857228236819, + 0.02620871904564057, + -0.029336452073384905, + -0.04350899305417102, + 1.0 + ], + [ + -0.005607571410198092, + -0.009418472876489939, + 0.014671221698066209, + 0.004880581628218377, + -0.03454943379719025, + -0.025923268550379644, + 1.0 + ], + [ + -0.007025246887677175, + -0.007135100718611448, + 0.010293450609868044, + -0.01795813408712776, + -0.01964178536629773, + -0.02350227882103465, + 1.0 + ], + [ + -0.0004918790349493646, + -0.0044940154360979334, + 0.010421140164258231, + -0.027555318651111736, + -0.00344655724579297, + -0.005505528186629148, + 1.0 + ], + [ + 0.003177753103736055, + -0.0013791821386518789, + 0.007099716560867465, + -0.026479614295599047, + 0.00813648560136357, + 0.004495203705950355, + 1.0 + ], + [ + 0.0045190195321658175, + 0.0004293590224356852, + 0.00823658577083233, + -0.023418028781787278, + -0.009391442607076878, + 0.013539283275813918, + 1.0 + ], + [ + 0.000617050798011014, + 0.0006004240850821052, + 0.007655349225637047, + -0.019764545955608073, + -0.0048182431136488384, + 0.005141052428953288, + 1.0 + ], + [ + 0.0013249175866740645, + -2.7401007192741943e-06, + 0.004554181227023136, + -0.009443025831084128, + 0.010207583813755567, + -0.004705458494845851, + 0.0 + ], + [ + -0.00039959189749133616, + -0.0007277813667434556, + 0.00027513704277327473, + 0.0063172294998106214, + -0.0040514103873987226, + -0.006153572220061356, + 0.0 + ], + [ + -0.002902220794266389, + 0.0009853183363843616, + -0.0038410213113038282, + 0.0034567741909533895, + 0.0030336929525221724, + -0.004151702940036863, + 0.0 + ], + [ + 0.0030074350350418975, + 0.012615942354151824, + -0.010928457429921887, + 0.013029535914568999, + 0.02247582919344825, + 0.03840817202547414, + 0.0 + ], + [ + 0.010418206857456421, + 0.02463641821234307, + -0.014351131391577709, + -0.013632611991409265, + 0.06610988621862626, + 0.07101568938683625, + 0.0 + ], + [ + 0.017519354603444195, + 0.02704461107982975, + 0.00621231257866205, + -0.046700115974199104, + 0.043246237668018946, + 0.09892070296368616, + 0.0 + ], + [ + 0.01520832975210782, + 0.017935400831894974, + 0.015829916858825704, + -0.05625381392776101, + -0.008131949056978236, + 0.09247946374921195, + 0.0 + ], + [ + 0.007540708875384282, + 0.005862961758174115, + 0.007890874934399026, + -0.02226921733781504, + -0.006916782779322366, + 0.039529130377794444, + 0.0 + ], + [ + -0.0002308303272327433, + -0.0002801420920896098, + 0.0003805074774866147, + 0.0016922612742565216, + -0.0029420634398449525, + 0.0004624892846167359, + 1.0 + ], + [ + -1.276837652188548e-05, + 0.000261608862886092, + -0.00038110591757852886, + -0.0015807792437504227, + 0.0014114451823264052, + -0.00046496550468839705, + 1.0 + ], + [ + -4.026966163662275e-06, + -4.042832691692781e-05, + 0.00038087497088635033, + 0.00018246354707351554, + -0.001514797331942357, + -0.00015898792069419626, + 1.0 + ] + ], + "state": [ + [ + 0.178843691945076, + 0.0022444743663072586, + 0.2198529690504074, + -3.108908789353915, + -0.16348391771316526, + 0.23515067994594574, + 1.0 + ], + [ + 0.1786472499370575, + 0.002255635801702738, + 0.21943648159503937, + -3.1084614788466176, + -0.16201481223106384, + 0.23507821559906006, + 1.0 + ], + [ + 0.17842920124530792, + 0.0035167750902473927, + 0.21189504861831665, + -3.0913139191740235, + -0.11802820116281508, + 0.26007407903671265, + 1.0 + ], + [ + 0.1779559850692749, + 0.011202381923794746, + 0.20247717201709747, + -3.070444854097911, + -0.09079545736312866, + 0.30517083406448364, + 1.0 + ], + [ + 0.17070117592811584, + 0.019860250875353813, + 0.1880616843700409, + -3.0681215320997914, + -0.058139640837907784, + 0.33351743221282953, + 1.0 + ], + [ + 0.16203227639198303, + 0.025187306106090546, + 0.17792800068855286, + -3.087534999596425, + -0.04025785252451897, + 0.35841408371925354, + 1.0 + ], + [ + 0.1601833999156952, + 0.029887964949011803, + 0.16775333881378174, + -3.1153197792642793, + -0.03711314871907234, + 0.36410167813301086, + 1.0 + ], + [ + 0.16283822059631348, + 0.032574720680713654, + 0.1608150750398636, + 3.1415613359946626, + -0.045128326863050454, + 0.35938963294029236, + 1.0 + ], + [ + 0.16756315529346466, + 0.033890970051288605, + 0.15279075503349304, + 3.1187544913315257, + -0.0357331708073616, + 0.34584200382232666, + 1.0 + ], + [ + 0.16866281628608704, + 0.033463336527347565, + 0.14517803490161896, + 3.099177634465047, + -0.03103309310972691, + 0.3405897915363312, + 1.0 + ], + [ + 0.17010769248008728, + 0.033773429691791534, + 0.14067113399505615, + 3.089573523151227, + -0.04103156551718712, + 0.34572792053222656, + 0.0 + ], + [ + 0.16950267553329468, + 0.03431280702352524, + 0.14034239947795868, + 3.0956476425104817, + -0.03666495531797409, + 0.3516664505004883, + 0.0 + ], + [ + 0.1669245809316635, + 0.03250632807612419, + 0.1441156268119812, + 3.0989473705464086, + -0.03950442746281623, + 0.3559564352035522, + 0.0 + ], + [ + 0.17354732751846313, + 0.02201824262738228, + 0.15568183362483978, + 3.113476341711827, + -0.06356918811798094, + 0.3184759616851806, + 0.0 + ], + [ + 0.19009914994239807, + 0.001969533273950219, + 0.1713513433933258, + 3.1042758507006845, + -0.13149508833885193, + 0.24890385568141937, + 0.0 + ], + [ + 0.21430736780166626, + -0.0200016088783741, + 0.1684942990541458, + 3.0706519355350217, + -0.1777672916650772, + 0.1502053290605545, + 0.0 + ], + [ + 0.2344910055398941, + -0.03617575392127037, + 0.15689361095428467, + 3.031348342197486, + -0.17542822659015653, + 0.05593220517039299, + 0.0 + ], + [ + 0.2435329556465149, + -0.042375508695840836, + 0.15112224221229553, + 3.0162589122825345, + -0.17275922000408173, + 0.01527701411396265, + 0.0 + ], + [ + 0.24337297677993774, + -0.042147547006607056, + 0.1506761610507965, + 3.0180948471003255, + -0.16989798843860626, + 0.014438304118812084, + 1.0 + ], + [ + 0.24329407513141632, + -0.04236137866973877, + 0.15107852220535278, + 3.0164049585633954, + -0.17124137282371524, + 0.015083025209605694, + 1.0 + ], + [ + 0.24335546791553497, + -0.04236789792776108, + 0.15070049464702606, + 3.0165927057438573, + -0.16971857845783234, + 0.015051172114908695, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.17387640476226807, + 0.4724041819572449, + 0.7354772686958313, + 0.8706973791122437, + 0.9041282460093498, + 0.9041282460093498, + 0.9041282460093498, + 0.8628779202699661, + 0.7153154015541077, + 0.4448885917663574, + 0.16280627250671387, + 0.0 + ], + "episode_id": "280", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/280/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2807.json b/annotation/test/2807.json new file mode 100644 index 0000000000000000000000000000000000000000..49504dd6d286d63749d10670b1d1ee915d152d0e --- /dev/null +++ b/annotation/test/2807.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "take sushi out of pot cardboard fence" + ], + "videos": [ + { + "video_path": "videos/test/2807/rgb.mp4" + } + ], + "action": [ + [ + -0.0003054043482042587, + 0.00057536952454022, + 0.0003580593459105743, + -0.0008670258816547081, + -0.0019630892334086335, + 0.0008551343261549124, + 1.0 + ], + [ + -0.0036406111466552294, + -0.0029265082417764742, + 0.005191441156885409, + 0.003357873906295565, + -0.025409988781579705, + 0.0012940684451527012, + 1.0 + ], + [ + 0.003484668222072408, + -0.02654987582534717, + -0.012419939001297965, + -0.03123130356580455, + 0.0235343900321379, + 0.03745011056349998, + 1.0 + ], + [ + 0.003779320278717986, + -0.029365929163116696, + -0.0037552867339535416, + -0.04490856702128902, + 0.014085816560700454, + 0.0424100830762557, + 1.0 + ], + [ + 0.003111853530435369, + -0.03518474481693166, + 0.003865642532092212, + -0.0017557393800135654, + -0.02976223477276573, + 0.10896834028194277, + 1.0 + ], + [ + 0.005088245254635062, + -0.031680280328113715, + 0.008913380503449628, + -0.05878163361557066, + -0.11715738607045326, + 0.12059242509341125, + 1.0 + ], + [ + -0.0022661608558252554, + -0.02141436118603038, + 0.006903585720791314, + -0.035794099331530875, + -0.067094090040715, + 0.11181988040661826, + 1.0 + ], + [ + -0.008575066208218275, + -0.011128422334048536, + 0.008501384895668618, + -0.012851075341288301, + -0.04457905660558957, + 0.07414961236582605, + 1.0 + ], + [ + -0.004119912996867224, + -0.002983216791358143, + 0.020073933776081417, + 0.008267471666085551, + -0.012735879623790601, + 0.025577902322582852, + 1.0 + ], + [ + -0.002519544948152098, + 0.001225042801138787, + 0.009028230336573259, + 0.004274500711427516, + 0.009231859194167162, + 0.021462147030523213, + 1.0 + ], + [ + -0.0012671793155118619, + 0.0008906436582800529, + 0.010807780737991194, + 0.017318875623199274, + 0.0198797747529528, + -0.002093161773879951, + 1.0 + ], + [ + -0.0022379194641271465, + 3.7344927126408144e-05, + 0.006855275810762145, + 0.019931486404185843, + 0.0029878916194365037, + 0.0009717276324057142, + 1.0 + ], + [ + 0.0026179060926224667, + 0.0002303677903634548, + 0.007790745721537251, + 0.025407675942394, + 0.004065328201091004, + -0.013862931197503066, + 1.0 + ], + [ + 0.0007137068650051516, + 0.0029274520786588096, + 0.011314995856241522, + 0.019670482859926872, + -0.0039778209362021045, + -0.01745711637186083, + 1.0 + ], + [ + 0.000781623730804729, + 0.0019814603820635596, + 0.005116952085048987, + 0.01958743967750424, + 0.005556222906665424, + -0.017106740092293286, + 1.0 + ], + [ + -0.00010434768663377658, + 0.0019315649783362481, + 0.004594123878033302, + -0.006305497093263077, + -0.010534837441276623, + -0.011325615328391629, + 1.0 + ], + [ + -0.0010148719445942245, + 0.002246860275239294, + 0.004463842660234696, + 0.007369321416170664, + -0.009487781354819985, + 0.0044384412980154695, + 1.0 + ], + [ + -0.0009683764753284831, + 0.0010698572991275157, + 0.002266568467471324, + 0.0085779571656831, + -0.004307808006904659, + -0.006812192886016793, + 1.0 + ], + [ + -0.00017899132105196267, + 0.0018544286119017764, + 0.00027694585600649123, + -0.01252048860789132, + 0.0016627407794400936, + -0.00608872291382719, + 1.0 + ], + [ + -0.002103259591836032, + -0.001959170670692128, + -0.0026586777257354035, + -0.020023293190972485, + -0.008655331170500134, + -0.027718378438110054, + 0.0 + ], + [ + 0.004588232434773344, + -0.008672124668437657, + -0.022283651668421042, + -0.0012217283732028925, + 0.040539971286217176, + -0.04277023899583219, + 0.0 + ], + [ + 0.00978617614869935, + -0.006669435358877058, + -0.03494870703054991, + -0.023093769891723723, + 0.02915592932141308, + -0.0373730574581571, + 0.0 + ], + [ + 0.002312414140984635, + 0.0027014295207775886, + -0.02079799393188007, + 0.01609416229304571, + 0.036862628424904224, + -0.05764846498979128, + 0.0 + ], + [ + 0.015735793028305585, + 0.01901021806546379, + -0.011652225605767149, + -0.00789014947961227, + 0.007988890355901144, + -0.08106978991240277, + 0.0 + ], + [ + 0.01865831617481394, + 0.026095654362417706, + 0.0010912233871801682, + -0.007547252659832034, + 0.055303437540419866, + -0.16219758473841384, + 0.0 + ], + [ + 0.004869523149961716, + 0.01306546336076159, + 0.006252133259047111, + -0.012411891787800349, + 0.03228152866210865, + -0.16415516956090923, + 0.0 + ], + [ + -0.010610099688747725, + 0.013289580524211727, + 0.01669811174566968, + -0.00902496846950031, + 0.005787446275228702, + -0.1332347254879132, + 0.0 + ], + [ + -0.012832739354894524, + 0.00760281838425867, + 0.021498017229381498, + 0.055906002183907594, + 0.021627069585832406, + -0.0028839909798815907, + 0.0 + ], + [ + -0.006943438712888486, + 0.00565073068081909, + 0.01746389832997988, + -0.011899782266487458, + -0.02277848096628919, + -0.025285914506655308, + 0.0 + ], + [ + -0.0031837785370434665, + 0.002676865284110845, + 0.0034488851258561246, + -0.00022726497769709423, + 0.004853290701569988, + -0.009551791614954137, + 0.0 + ], + [ + -0.008812227091944173, + 0.002419833410006683, + 0.006135957055253249, + 0.014732033157508739, + -0.008475079235988087, + 0.02930991767496583, + 0.0 + ], + [ + -0.004161301768706015, + -0.0001750544830032523, + 0.006581361722426904, + 0.010097033148273657, + -0.020549662514974976, + -0.002004722771065894, + 0.0 + ], + [ + -0.004285424645484022, + 0.0005027335311744193, + 0.00789665310946089, + 0.025309245294873824, + -0.023217156460767004, + 0.017420868986374134, + 0.0 + ], + [ + -0.0013804703332677276, + 0.00022117861270983755, + 0.0004764007537034147, + 0.011142633545432911, + -0.006112712121094176, + 0.0015688639385373928, + 0.0 + ], + [ + -0.001785335296463933, + -0.0006350631570050673, + 0.0020692829221375716, + 0.02733858033364138, + -0.01987499389239874, + 0.013541617276388002, + 0.0 + ], + [ + -0.0030463375605640614, + -0.0006601494762568646, + -0.00036690177962906073, + 0.011335874309726756, + -0.01801068025144467, + 0.018890885482211024, + 1.0 + ], + [ + 0.0016465193557936258, + 0.0033508180025784273, + -0.017592099384669928, + -0.021481554183752513, + -0.013274660536852993, + 0.03311586557511202, + 1.0 + ], + [ + 0.0029953303429925953, + 0.0004307677831171349, + -0.028068721428096896, + -0.04817856040457245, + 0.005056592104915978, + -0.007644201695999515, + 1.0 + ] + ], + "state": [ + [ + 0.26208099722862244, + -0.02319931797683239, + 0.11908596754074097, + -3.118856057646223, + -0.20973096787929532, + 0.26691892743110657, + 1.0 + ], + [ + 0.2620169520378113, + -0.02380472980439663, + 0.11865946650505066, + -3.1195506417476615, + -0.20774887502193448, + 0.2660908401012421, + 1.0 + ], + [ + 0.25880053639411926, + -0.021530259400606155, + 0.11289309710264206, + -3.1160317958616695, + -0.18231648206710813, + 0.26534512639045715, + 1.0 + ], + [ + 0.25293949246406555, + 0.004051820375025272, + 0.12640231847763062, + -3.140232228562706, + -0.20475234091281888, + 0.22650402784347534, + 1.0 + ], + [ + 0.249199777841568, + 0.03332037106156349, + 0.13088670372962952, + 3.1068780814581594, + -0.21859303116798404, + 0.18304419517517093, + 1.0 + ], + [ + 0.24689483642578125, + 0.06851820647716522, + 0.1265980303287506, + 3.1295521558546504, + -0.19129003584384915, + 0.07110095024108887, + 1.0 + ], + [ + 0.25139743089675903, + 0.10048951953649521, + 0.11844079196453094, + 3.0939793941848954, + -0.07418206334114075, + -0.050405558198690414, + 1.0 + ], + [ + 0.2507874071598053, + 0.12160859256982803, + 0.11037962138652802, + 3.0668881629877767, + -0.011986637488007545, + -0.16506557166576383, + 1.0 + ], + [ + 0.2441587895154953, + 0.13331985473632812, + 0.10096926242113113, + 3.055111678438731, + 0.026975341141223904, + -0.24229812622070312, + 1.0 + ], + [ + 0.23992736637592316, + 0.13564114272594452, + 0.08083117008209229, + 3.0626853575282773, + 0.03744511306285858, + -0.2688973844051361, + 1.0 + ], + [ + 0.23666521906852722, + 0.13453516364097595, + 0.07202816009521484, + 3.066199431317397, + 0.026542335748672485, + -0.2895712554454804, + 1.0 + ], + [ + 0.23469278216362, + 0.13334672152996063, + 0.06135556846857071, + 3.0835990031533917, + 0.006876531057059765, + -0.2859870791435241, + 1.0 + ], + [ + 0.2323780655860901, + 0.13357433676719666, + 0.05452953279018402, + 3.1035247688465795, + 0.003837337950244545, + -0.28678399324417114, + 1.0 + ], + [ + 0.2347114235162735, + 0.1323370635509491, + 0.04674321040511131, + 3.128989616530486, + 0.0003021661832462996, + -0.2727764844894409, + 1.0 + ], + [ + 0.23456843197345734, + 0.1291893869638443, + 0.0354657918214798, + -3.134518139185854, + 0.004499621223658322, + -0.2553708553314209, + 1.0 + ], + [ + 0.2348109930753708, + 0.1271156519651413, + 0.030331484973430634, + -3.1148548295074185, + -0.0011781329521909356, + -0.23830410838127136, + 1.0 + ], + [ + 0.23428811132907867, + 0.12538203597068787, + 0.025687243789434433, + -3.1211743132495364, + 0.009050238877534866, + -0.2267010360956192, + 1.0 + ], + [ + 0.23277506232261658, + 0.12351919710636139, + 0.021187826991081238, + -3.1138426699959716, + 0.018626580014824864, + -0.2309453785419464, + 1.0 + ], + [ + 0.23156054317951202, + 0.1227707713842392, + 0.018910881131887436, + -3.10513603140647, + 0.02274326980113983, + -0.224014550447464, + 1.0 + ], + [ + 0.23096899688243866, + 0.12101521342992783, + 0.018570687621831894, + -3.1175201070779046, + 0.02085929736495018, + -0.21798917651176453, + 1.0 + ], + [ + 0.2293807864189148, + 0.12330754846334457, + 0.021319033578038216, + -3.1369693946377417, + 0.028836889192461967, + -0.1900598406791687, + 0.0 + ], + [ + 0.23613542318344116, + 0.13073422014713287, + 0.04350096732378006, + -3.1369640246317765, + -0.011926443316042422, + -0.14750973880290982, + 0.0 + ], + [ + 0.2463584542274475, + 0.1357942372560501, + 0.0785943940281868, + 3.1226818916671952, + -0.04124673455953598, + -0.11025629937648773, + 0.0 + ], + [ + 0.24754661321640015, + 0.13334093987941742, + 0.09951737523078918, + 3.136384196700998, + -0.07694298028945923, + -0.051786091178655624, + 0.0 + ], + [ + 0.2613318860530853, + 0.11365170776844025, + 0.11244325339794159, + 3.1222609245502433, + -0.08425637334585188, + 0.029611140489578247, + 0.0 + ], + [ + 0.28073829412460327, + 0.08810319751501083, + 0.1134289801120758, + 3.1011394058638295, + -0.1353006660938263, + 0.1941278576850891, + 0.0 + ], + [ + 0.2887967526912689, + 0.0761251449584961, + 0.10841946303844452, + 3.066775569813796, + -0.15908531844615934, + 0.3615177571773529, + 0.0 + ], + [ + 0.2864466905593872, + 0.059733886271715164, + 0.09127834439277649, + 3.037108639376708, + -0.1535050868988037, + 0.4964074194431305, + 0.0 + ], + [ + 0.28273263573646545, + 0.04657299444079399, + 0.06897041946649551, + 3.0921958816521844, + -0.17471137642860415, + 0.5016096234321594, + 0.0 + ], + [ + 0.2824815511703491, + 0.03901505097746849, + 0.050861187279224396, + 3.0760555510693273, + -0.15066109597682953, + 0.5260096192359924, + 0.0 + ], + [ + 0.28163784742355347, + 0.035175397992134094, + 0.047154154628515244, + 3.074334541457244, + -0.15487106144428253, + 0.5359779596328735, + 0.0 + ], + [ + 0.27638596296310425, + 0.028768114745616913, + 0.03990671783685684, + 3.0937432070546826, + -0.14831538498401645, + 0.5058345198631287, + 0.0 + ], + [ + 0.2737044095993042, + 0.027122821658849716, + 0.03278185427188873, + 3.1036782806091985, + -0.1276932805776596, + 0.5068620443344116, + 0.0 + ], + [ + 0.27125388383865356, + 0.024845188483595848, + 0.024428289383649826, + 3.1313254135944923, + -0.10513170808553694, + 0.48847675323486334, + 0.0 + ], + [ + 0.27019160985946655, + 0.024024663493037224, + 0.023811938241124153, + -3.140545384265021, + -0.09903528541326523, + 0.4868372082710266, + 0.0 + ], + [ + 0.2685040831565857, + 0.023852398619055748, + 0.021576935425400734, + -3.1118656882369002, + -0.07913705706596375, + 0.47327664494514465, + 0.0 + ], + [ + 0.26547810435295105, + 0.02303190529346466, + 0.021721260622143745, + -3.0990769808464727, + -0.060559552162885666, + 0.454898864030838, + 1.0 + ], + [ + 0.2678060829639435, + 0.019611401483416557, + 0.03922273591160774, + -3.1186072436445436, + -0.04585757851600647, + 0.4223461151123047, + 1.0 + ], + [ + 0.26980337500572205, + 0.019329560920596123, + 0.06738196313381195, + 3.116053696843334, + -0.05108722299337387, + 0.4298818111419677, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.05388200283050537, + 0.32281494140625, + 0.4031018614768982, + 0.3750324845314026, + 0.3750324845314026, + 0.3750324845314026, + 0.3750324845314026, + 0.3750324845314026, + 0.3750324845314026, + 0.3750324845314026, + 0.3750324845314026, + 0.3750324845314026, + 0.3750324845314026, + 0.3750324845314026, + 0.3750324845314026, + 0.4061017632484436, + 0.327828049659729, + 0.055433034896850586, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377 + ], + "episode_id": "2807", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2807/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2809.json b/annotation/test/2809.json new file mode 100644 index 0000000000000000000000000000000000000000..b5c5567c6f8bb721b71d47a9d0613521e6f8bc63 --- /dev/null +++ b/annotation/test/2809.json @@ -0,0 +1,717 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "upright metal pot cardboard fence" + ], + "videos": [ + { + "video_path": "videos/test/2809/rgb.mp4" + } + ], + "action": [ + [ + -0.00015714680166182995, + -3.1855962708104755e-05, + -0.0004487937872381612, + 8.875307394978818e-06, + 1.4612927296190956e-06, + -1.380476476112782e-05, + 1.0 + ], + [ + -0.007256831721166389, + -0.0006028815543354958, + 0.007576529902785174, + -0.003583536433052335, + -0.028594576611816042, + 0.0036528639857779308, + 1.0 + ], + [ + -0.01507260605818459, + -0.007339093835574903, + -0.004354676286056149, + -0.06467715316451207, + 0.03379820232844688, + 0.053547865780575715, + 1.0 + ], + [ + -0.018843627992727905, + -0.007916522889090137, + -0.02578901952361741, + -0.12306249818063855, + 0.06524836505341021, + 0.05695627625531187, + 1.0 + ], + [ + -0.017712347311555854, + 0.003125980083380865, + -0.008483694856158592, + -0.0783044511377267, + 0.0008055852214760298, + -0.0015825931225335375, + 1.0 + ], + [ + -0.017080969687813596, + -0.0023607440085170075, + 0.023632874140025257, + 0.0020937695459316338, + -0.04627648498763545, + -0.022950441839816066, + 1.0 + ], + [ + -0.012076984930273973, + 0.005162447374554835, + 0.023839789368107465, + -0.03372612624107585, + -0.003301402448453715, + 0.03789886415248853, + 1.0 + ], + [ + -0.0071270859326895, + 0.014702076448960074, + 0.02365813381811226, + -0.04556350930361563, + 0.004363500897556411, + 0.04594606050247281, + 1.0 + ], + [ + 0.0008868762990168988, + 0.013996298456853105, + 0.010753405247204638, + -0.020892383513484387, + 0.018500342742290583, + -0.0003980722019888054, + 1.0 + ], + [ + 0.0009562356344608267, + 0.007436118666672441, + 0.011085932726757435, + -0.0028041707317306495, + -0.006077530456265786, + -0.030158080060041424, + 1.0 + ], + [ + 0.0008911058588013944, + 0.0022777400777998875, + 0.012159884458920304, + 0.021950022980656767, + -0.0031079297542065797, + -0.029669780093271404, + 1.0 + ], + [ + 0.0007691941168804794, + -0.005012900973324817, + 0.012473760584781701, + 0.0405591153060076, + 0.0002760606477186859, + -0.010544574842812945, + 1.0 + ], + [ + -0.0014953937638874728, + 0.0011141700583601102, + 0.008045692451634176, + 0.03523040296808238, + -0.0047906772339422485, + 0.023168292400124215, + 1.0 + ], + [ + -0.0010773293500208026, + 0.001650691197342526, + 0.0007806468823884247, + 0.03715443987078055, + -0.021329336813070726, + 0.0038772086641737325, + 1.0 + ], + [ + 0.0007725450193673785, + -0.003268315488709402, + -0.003109406973411422, + 0.04565205800373162, + -0.01795955916776595, + -0.02105128236203071, + 0.0 + ], + [ + 0.0040005140908186835, + -0.0009861659958202533, + -0.005020598845344179, + 0.06758250094572175, + -0.019452543954927827, + -0.027340927189553263, + 0.0 + ], + [ + 0.006843937389511668, + -0.003165612708085571, + -0.005571654447803827, + 0.04167914630458435, + -0.0030575912596864313, + -0.05483483360273446, + 0.0 + ], + [ + 0.012450387748803571, + -0.00473395458250586, + -0.009670027349302607, + 0.14020701036577138, + 0.019027792299969475, + -0.07592433169697343, + 0.0 + ], + [ + 0.00623334442172618, + -0.007022289443669555, + -0.0038825869545971916, + 0.23082923565614455, + 0.042640605892177955, + -0.03586888721995189, + 0.0 + ], + [ + -0.008466885386276726, + -0.00632101822158451, + 0.001029687627983038, + 0.11612758808097065, + -0.06881660776957362, + 0.01539697460806781, + 0.0 + ], + [ + -0.014217548367654601, + -0.002982949791180288, + -0.0017433424263311528, + 0.07953395760766999, + -0.08632585860474738, + -0.003557269697319162, + 0.0 + ], + [ + -0.013427419619239808, + 0.0024437405884136522, + 3.090809948431153e-05, + 0.03235169453650031, + -0.07687479518263322, + 0.031726165866742664, + 0.0 + ], + [ + -0.0016029376290602013, + 0.00599034901424298, + 0.0030680897904258476, + 0.06442677504884106, + -0.06739204479857805, + 0.007256507021285498, + 0.0 + ], + [ + 0.0028700550026338075, + 0.00835342660295182, + -0.002322256360935394, + 0.03373501263565262, + -0.0625127490139308, + -0.010625248473772301, + 0.0 + ], + [ + 0.006443071216380511, + 0.010119368827864676, + -6.493690873457694e-05, + 0.04667825213507949, + -0.05154454628351552, + -0.00819274101806103, + 0.0 + ], + [ + 0.0017930708635729299, + 0.0045609088006901485, + -0.004194270641719698, + -0.011704847087447796, + -0.013207013640555437, + -0.004709580954699685, + 0.0 + ], + [ + 0.0010084598307439454, + 0.0014293849431266847, + 0.00020110299914241771, + -0.0071139677605856644, + 0.009425515315903061, + -0.00247235524509663, + 0.0 + ], + [ + 0.0037470564156167423, + -0.0009310980237449011, + -0.0022971437458630182, + -0.0056844933405283795, + 0.059198555775598384, + 0.010139068380520056, + 1.0 + ], + [ + 0.0028341589718695256, + -0.003798812112529083, + -0.007271915492376558, + -0.021049996035993137, + 0.030925328197764737, + -0.014242952640622584, + 1.0 + ], + [ + 0.007042219131757179, + -0.0011592006787663836, + -0.006179891448339908, + -0.04352634857679952, + 0.06463931449375834, + -0.019157479716418756, + 1.0 + ], + [ + 0.006411719909170198, + -0.00627815283892128, + -0.013420058896010516, + -0.07007259692435862, + 0.038335740176502306, + -0.030468367365417307, + 1.0 + ], + [ + 0.0019096125915773036, + -0.013930059614299505, + -0.02743920922433717, + -0.12552572751926588, + 0.0016098814400825328, + -0.020140309184820036, + 1.0 + ], + [ + 0.005620759877347224, + -0.017622129423139378, + -0.03464056964944817, + -0.09892809688103804, + 0.031693640328686885, + -0.009738780567151925, + 1.0 + ], + [ + 0.008141992688201637, + -0.022652045598950486, + -0.035475581983968954, + -0.121203882443841, + 0.032912822661139034, + -0.021094267074181775, + 1.0 + ], + [ + 0.0041778945335368975, + -0.015872793600759195, + -0.010756985009285737, + -0.0745345076347033, + 0.003010065406248756, + 0.021116144521499708, + 1.0 + ], + [ + 0.001393696265925351, + -0.0027679228115293883, + -0.0004709354228824709, + 0.00017830760767097547, + 0.003723814671272534, + -0.0047095026226574, + 1.0 + ] + ], + "state": [ + [ + 0.29542553424835205, + 0.004598283674567938, + 0.14680080115795135, + 3.0984322262280664, + -0.30244627594947815, + 0.18463550508022308, + 1.0 + ], + [ + 0.29513779282569885, + 0.004596619866788387, + 0.1471807062625885, + 3.098436778532811, + -0.3024471402168274, + 0.1846500188112259, + 1.0 + ], + [ + 0.2905014455318451, + 0.004010867327451706, + 0.1377684772014618, + 3.0963470322364053, + -0.2740330994129181, + 0.17957936227321625, + 1.0 + ], + [ + 0.27380993962287903, + 0.008632366545498371, + 0.13755792379379272, + 3.0464649741821965, + -0.3098342716693878, + 0.12504853308200836, + 1.0 + ], + [ + 0.24717633426189423, + 0.015695983543992043, + 0.15554635226726532, + 2.9398936351113996, + -0.37977758049964905, + 0.0708044245839119, + 1.0 + ], + [ + 0.22755856812000275, + 0.012938174419105053, + 0.15728123486042023, + 2.8609059770875653, + -0.3802492022514344, + 0.07264800369739532, + 1.0 + ], + [ + 0.22069799900054932, + 0.00814925879240036, + 0.12924832105636597, + 2.8590850253873548, + -0.3294107913970947, + 0.0823836177587509, + 1.0 + ], + [ + 0.2171810269355774, + -0.0037841256707906723, + 0.10503953695297241, + 2.8383460362725934, + -0.3365640044212341, + 0.042847804725170135, + 1.0 + ], + [ + 0.21736472845077515, + -0.024891678243875504, + 0.08551798015832901, + 2.808040501671382, + -0.3541261553764343, + -0.0025121388025581832, + 1.0 + ], + [ + 0.2200888991355896, + -0.041644152253866196, + 0.08059333264827728, + 2.784701647358485, + -0.371468722820282, + 0.004391537979245187, + 1.0 + ], + [ + 0.2238549441099167, + -0.052468281239271164, + 0.07368223369121552, + 2.771900626020976, + -0.3551069498062134, + 0.03226356580853462, + 1.0 + ], + [ + 0.22855444252490997, + -0.058837562799453735, + 0.06413278728723526, + 2.7841921766572675, + -0.3413597047328949, + 0.060430366545915604, + 1.0 + ], + [ + 0.2337486892938614, + -0.058190371841192245, + 0.05172647908329964, + 2.821230473118373, + -0.33791181445121765, + 0.07100310176610947, + 1.0 + ], + [ + 0.23500536382198334, + -0.0617012195289135, + 0.04435725510120392, + 2.864812733727046, + -0.34056299924850464, + 0.04607291519641876, + 1.0 + ], + [ + 0.2341739982366562, + -0.06354264914989471, + 0.04371476173400879, + 2.9052802344136914, + -0.3210889399051666, + 0.03600122407078744, + 1.0 + ], + [ + 0.23405390977859497, + -0.059638988226652145, + 0.04610100015997887, + 2.9455555846267423, + -0.2986565828323365, + 0.05301199108362198, + 0.0 + ], + [ + 0.23637841641902924, + -0.05756770074367523, + 0.05180095508694649, + 3.006114887195178, + -0.27417048811912537, + 0.07692745327949524, + 0.0 + ], + [ + 0.24127350747585297, + -0.05328971892595291, + 0.05855675786733627, + 3.0328780134492597, + -0.26333072781562805, + 0.13277247548103335, + 0.0 + ], + [ + 0.25007933378219604, + -0.046307314187288284, + 0.07058320194482803, + -3.1307325615831694, + -0.27320459485054016, + 0.21329717338085172, + 0.0 + ], + [ + 0.2534240782260895, + -0.03844131901860237, + 0.07607687264680862, + -2.909948708611079, + -0.3160544037818909, + 0.25051218271255493, + 0.0 + ], + [ + 0.2439088374376297, + -0.03428173065185547, + 0.07387194782495499, + -2.793530287342616, + -0.24554389715194702, + 0.2513746917247772, + 0.0 + ], + [ + 0.22937621176242828, + -0.03573264926671982, + 0.07299243658781052, + -2.720930816727229, + -0.16548646986484528, + 0.284572958946228, + 0.0 + ], + [ + 0.2174498438835144, + -0.04153227061033249, + 0.06976837664842606, + -2.6876683255010327, + -0.08237121254205704, + 0.28707361221313477, + 0.0 + ], + [ + 0.21748603880405426, + -0.045732282102108, + 0.06427060812711716, + -2.6241597851091107, + -0.018609875813126567, + 0.3101015985012055, + 0.0 + ], + [ + 0.22282211482524872, + -0.05285215005278587, + 0.06221060827374458, + -2.590518744783946, + 0.03047334030270576, + 0.35024896264076233, + 0.0 + ], + [ + 0.23169106245040894, + -0.05882700905203819, + 0.05677352845668793, + -2.5423406680398664, + 0.07007668167352676, + 0.38428652286529535, + 0.0 + ], + [ + 0.23570594191551208, + -0.06381770968437195, + 0.0575367771089077, + -2.5532335360818585, + 0.0783216580748558, + 0.3956591188907623, + 0.0 + ], + [ + 0.23697954416275024, + -0.0644533783197403, + 0.05650022625923157, + -2.5605702122026166, + 0.0691085234284401, + 0.39247700572013855, + 0.0 + ], + [ + 0.24077311158180237, + -0.06340527534484863, + 0.05866692215204239, + -2.568484993773051, + 0.025136448442935947, + 0.35151848196983343, + 1.0 + ], + [ + 0.2438846081495285, + -0.06306439638137817, + 0.0667630061507225, + -2.589354546862193, + -0.00856938585639, + 0.3467129170894623, + 1.0 + ], + [ + 0.2512265145778656, + -0.06280943006277084, + 0.07269251346588135, + -2.631535442667552, + -0.07363478094339371, + 0.32905307412147516, + 1.0 + ], + [ + 0.2565957307815552, + -0.06210983917117119, + 0.08790124207735062, + -2.701796831684657, + -0.12196160107851028, + 0.3369665741920472, + 1.0 + ], + [ + 0.254548043012619, + -0.0618501715362072, + 0.11866392940282822, + -2.8295466919713697, + -0.13197381794452667, + 0.35465839505195623, + 1.0 + ], + [ + 0.25290635228157043, + -0.05591465160250664, + 0.15744763612747192, + -2.9282506873183927, + -0.16512621939182284, + 0.35418713092803955, + 1.0 + ], + [ + 0.24928107857704163, + -0.04165983572602272, + 0.19771650433540344, + -3.0516467486792287, + -0.20174312591552734, + 0.3681059181690216, + 1.0 + ], + [ + 0.24548953771591187, + -0.02721412107348442, + 0.21044673025608063, + -3.12184405897791, + -0.2027980089187622, + 0.3463590741157531, + 1.0 + ], + [ + 0.24573774635791779, + -0.0241923276335001, + 0.2112421691417694, + -3.1226196588301143, + -0.20661188662052155, + 0.35109481215476984, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.003185570240020752, + 0.0025147199630737305, + 0.05698961019515991, + 0.3268251419067383, + 0.5707310736179352, + 0.6245397627353668, + 0.599371999502182, + 0.5967245995998383, + 0.5967245995998383, + 0.5967245995998383, + 0.5967245995998383, + 0.5967245995998383, + 0.5967245995998383, + 0.5967245995998383, + 0.5967245995998383, + 0.5252929627895355, + 0.2318204641342163, + 0.008609116077423096, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.004532158374786377, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709 + ], + "episode_id": "2809", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2809/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2823.json b/annotation/test/2823.json new file mode 100644 index 0000000000000000000000000000000000000000..6ab19e53146cdead0939c0a1f5e7ae8b080d1f94 --- /dev/null +++ b/annotation/test/2823.json @@ -0,0 +1,508 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the mushroom in between the spoon and pot" + ], + "videos": [ + { + "video_path": "videos/test/2823/rgb.mp4" + } + ], + "action": [ + [ + 0.0006277106153759575, + 0.00039289131296242424, + -0.0003389589030093999, + 0.0004626250115554127, + 0.0014548591693960662, + 7.631613890291396e-06, + 1.0 + ], + [ + -0.00612960646908285, + 0.003077204873995572, + 0.016063869847513783, + -0.021071721607316445, + -0.03925035747955563, + -6.170650564108053e-05, + 1.0 + ], + [ + -0.021403957360167716, + 0.03352099459502338, + -0.00014260731406698224, + -0.04727337421260718, + -0.013543035327322909, + 0.048155081611503954, + 1.0 + ], + [ + -0.0126300533630765, + 0.03907824076216301, + -0.015756815321469234, + 0.01417390797181423, + 0.0567803925216407, + 0.06699751352399404, + 1.0 + ], + [ + -0.019097984771091748, + 0.047519878036756606, + -0.0032803483735830653, + 0.013061026897183187, + 0.030933688147412253, + 0.0730065811986629, + 1.0 + ], + [ + -0.016644871053374918, + 0.04918732684424803, + -0.0006168587416976045, + 0.01165727857847858, + 0.04590929618373441, + 0.04443176251314683, + 1.0 + ], + [ + -4.8741167214013116e-05, + 0.04180670675237464, + 0.002805822978506101, + -0.006824233638568078, + 0.008817882334820473, + 0.034523905364109264, + 1.0 + ], + [ + 0.0030470079590721203, + 0.022647083891512734, + 0.002191835125375973, + 0.0120690823561146, + 0.004257517155254303, + 0.020730356841351764, + 1.0 + ], + [ + 7.339430509243998e-05, + 0.007826447779018156, + 0.002422323859381401, + -0.009591721304965726, + -0.011296201774103995, + -0.01520111941399348, + 1.0 + ], + [ + -0.002732938962975416, + 0.004143213571615935, + 0.0052610831682002495, + -0.012720908677702597, + -0.023484012900417822, + -0.015759104927640828, + 1.0 + ], + [ + -0.00416663926928432, + 0.00015277921553226884, + 0.018464191423988956, + 0.015541116196962638, + -0.053792911069557886, + -0.005684180566008749, + 1.0 + ], + [ + 0.0038618613721735405, + 0.0018263209790191836, + 0.009834032229948926, + 0.00025037903457287956, + -0.012021918812862981, + -0.0036814482006975887, + 1.0 + ], + [ + 0.0023500654291432393, + 0.0007795173024513559, + 0.001423878620316339, + -0.021503183585808848, + 0.010462046065258928, + 0.014737022877719256, + 1.0 + ], + [ + 0.005765921394154689, + -0.015020032660079154, + -0.013216964350735334, + -0.011556489008182645, + 0.012676454715234466, + -0.02138127499887641, + 0.0 + ], + [ + 0.01548737275082375, + -0.03438379929871753, + -0.044701405031402436, + -0.04078261851284713, + 0.07876038941334919, + -0.03135192368290295, + 0.0 + ], + [ + 0.0184816081154099, + -0.045025176638926266, + -0.01946428984521984, + 0.009033603227043132, + 0.010022010143756229, + -0.03279965623034341, + 0.0 + ], + [ + 0.03129263765083713, + -0.04760006070888114, + 0.028395372486489334, + 0.07834906126074165, + -0.05463590726712394, + -0.045062572844720934, + 0.0 + ], + [ + 0.022790645044243222, + -0.03647429118807561, + 0.02778071484812067, + 0.03898951493507628, + -0.04535100728000538, + -0.04226390832169172, + 0.0 + ], + [ + 0.020566486806411717, + -0.012424462056482453, + 0.010113777335515804, + 0.024070836713437408, + -0.004934600826759223, + -0.016696593336100043, + 0.0 + ], + [ + 0.009241052750918997, + -0.004478640850562467, + 0.009849835685449278, + 0.011265226960935976, + -0.01244142788499734, + 0.0046510781278011415, + 0.0 + ], + [ + -0.0013295758487994415, + -0.0014398203568383784, + 0.000377597099611918, + 0.005631179713209259, + -0.006321810169492194, + 0.004974572541313502, + 0.0 + ], + [ + -0.009188254730833671, + 0.006422737388649194, + 0.00400953291228326, + -0.02888241415153664, + -0.02386265519380224, + 0.009021366265374796, + 1.0 + ], + [ + -0.007980677947804552, + -0.005032492504390558, + -0.03167774929922899, + -0.007146180724770042, + 0.05646247967845438, + -0.030804449333780775, + 1.0 + ], + [ + -0.009129367672251776, + -0.0029672877500605327, + -0.0011779304293414398, + 0.008187029976637122, + -0.0008109070674063596, + -0.029685933196348796, + 1.0 + ], + [ + -0.00040030145789544166, + 0.00012075777960486815, + 0.0003409652502614909, + -0.00040220462525238576, + -0.001479592412962924, + -0.003021585416756245, + 1.0 + ] + ], + "state": [ + [ + 0.3492583930492401, + 0.19699682295322418, + 0.08372432738542557, + -3.101175310211726, + -0.11660639941692352, + 0.08260268718004227, + 1.0 + ], + [ + 0.349875807762146, + 0.196640282869339, + 0.08411797136068344, + -3.100704861926385, + -0.11805976182222365, + 0.08253581076860428, + 1.0 + ], + [ + 0.3459077775478363, + 0.19388577342033386, + 0.06733236461877823, + -3.121942054601856, + -0.0788445845246315, + 0.08420661091804504, + 1.0 + ], + [ + 0.3275054693222046, + 0.1586959958076477, + 0.06513204425573349, + 3.1177266893261155, + -0.06426786631345749, + 0.03623254597187042, + 1.0 + ], + [ + 0.3152404725551605, + 0.11953490227460861, + 0.08097133040428162, + 3.1361569875204047, + -0.12249070405960084, + -0.029775809496641156, + 1.0 + ], + [ + 0.2944476306438446, + 0.07263179868459702, + 0.082149937748909, + -3.1249577832692346, + -0.1534927487373352, + -0.1034454256296158, + 1.0 + ], + [ + 0.27303752303123474, + 0.025399355217814445, + 0.07940604537725449, + -3.106254929798194, + -0.19849781692028048, + -0.14949317276477816, + 1.0 + ], + [ + 0.2676171660423279, + -0.015935853123664856, + 0.07519938051700592, + -3.1060871725254735, + -0.20596863329410553, + -0.18505792319774628, + 1.0 + ], + [ + 0.26700058579444885, + -0.03876723721623421, + 0.07289145141839981, + -3.0896625464134893, + -0.2094421088695526, + -0.2063924819231033, + 1.0 + ], + [ + 0.26606985926628113, + -0.04642928019165993, + 0.07014314830303192, + -3.102601396041461, + -0.19892378151416779, + -0.19030922651290894, + 1.0 + ], + [ + 0.2637462913990021, + -0.0499889962375164, + 0.0642913430929184, + -3.1186612771176776, + -0.17604404687881467, + -0.17338943481445315, + 1.0 + ], + [ + 0.2629372775554657, + -0.049572546035051346, + 0.045384131371974945, + -3.104308074461766, + -0.12239141017198563, + -0.1664300411939621, + 1.0 + ], + [ + 0.2676670551300049, + -0.051845986396074295, + 0.03603435680270195, + -3.104562262194701, + -0.11051402986049652, + -0.1622779667377472, + 1.0 + ], + [ + 0.270012766122818, + -0.052965957671403885, + 0.03485063835978508, + -3.1243886203789195, + -0.12041064351797104, + -0.17750167846679688, + 1.0 + ], + [ + 0.2766655683517456, + -0.03913286700844765, + 0.048919085413217545, + -3.1385119297825774, + -0.13342589139938354, + -0.15615363419055936, + 0.0 + ], + [ + 0.2912662625312805, + -0.006763798650354147, + 0.0953882485628128, + 3.0996661355071744, + -0.2122168391942978, + -0.12442967295646666, + 0.0 + ], + [ + 0.31120792031288147, + 0.03690028935670853, + 0.11644703894853592, + 3.1015572754018983, + -0.22073663771152494, + -0.09041457623243332, + 0.0 + ], + [ + 0.35241058468818665, + 0.07978059351444244, + 0.09375536441802979, + -3.112806698428937, + -0.16413816809654236, + -0.04706010967493058, + 0.0 + ], + [ + 0.38098394870758057, + 0.1157349944114685, + 0.07111912220716476, + -3.0809804928773126, + -0.11986609548330306, + -0.003236491465941071, + 0.0 + ], + [ + 0.40256205201148987, + 0.12867951393127441, + 0.06430289149284363, + -3.0589599033170423, + -0.11593458056449889, + 0.013842852786183357, + 0.0 + ], + [ + 0.41275978088378906, + 0.13409754633903503, + 0.055988699197769165, + -3.0472691898518285, + -0.10315095633268358, + 0.010215605609118937, + 0.0 + ], + [ + 0.41144707798957825, + 0.13555319607257843, + 0.05561276152729988, + -3.04118628998334, + -0.09638774394989014, + 0.005838340613991021, + 0.0 + ], + [ + 0.40278246998786926, + 0.12951402366161346, + 0.05011686310172081, + -3.069406973319598, + -0.07173892855644227, + -0.0007602209807373584, + 1.0 + ], + [ + 0.39253371953964233, + 0.13225650787353516, + 0.08142083883285522, + -3.0783896838598928, + -0.13025006651878357, + 0.026070576161146167, + 1.0 + ], + [ + 0.3832325339317322, + 0.13490191102027893, + 0.08158654719591141, + -3.074118012683936, + -0.1312578022480011, + 0.05600602924823761, + 1.0 + ], + [ + 0.3828872740268707, + 0.13478490710258484, + 0.08118882030248642, + -3.074931563931056, + -0.12998466193675995, + 0.05914699286222458, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0, + 0.051565468311309814, + 0.2868655323982239, + 0.4635966420173645, + 0.5281247198581696, + 0.5375194549560547, + 0.5375194549560547, + 0.5375194549560547, + 0.5290672779083252, + 0.45868784189224243, + 0.15731757879257202, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2823", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2823/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/283.json b/annotation/test/283.json new file mode 100644 index 0000000000000000000000000000000000000000..896ea7e72ac9dd4fb235e958fd3e6a86b0e9b7bd --- /dev/null +++ b/annotation/test/283.json @@ -0,0 +1,451 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put strawberry in pot" + ], + "videos": [ + { + "video_path": "videos/test/283/rgb.mp4" + } + ], + "action": [ + [ + -0.0004184769097903225, + 0.00010760192799883564, + 0.00031917427236591284, + -3.355419037677915e-05, + -0.0014659158577575136, + 0.00045065336862944183, + 1.0 + ], + [ + -0.007841639744164181, + 0.002358268184884872, + 0.013108848062676025, + -0.007951086621191417, + -0.0008212179623129386, + -0.0057522890030986375, + 1.0 + ], + [ + -0.004601144630651547, + -0.0014357368628881418, + 0.0165822875924751, + -0.010749713451068782, + 0.03187907831468773, + -0.017929095241459768, + 1.0 + ], + [ + 0.00012003938891981307, + -0.0022754391082202494, + 0.012678388947735453, + -0.009580981830818113, + 0.024820136597390473, + 0.0029990061501854455, + 1.0 + ], + [ + 0.0018619244516179848, + -0.005919846755668738, + 0.009304824721215278, + -0.011826000848928831, + 0.017086560123031554, + 0.00507358606730202, + 1.0 + ], + [ + 0.0002771572785917907, + -0.00497530393730997, + 0.008668490365270757, + -0.02077602898098398, + 0.007460419606367658, + 0.003202238740235234, + 1.0 + ], + [ + -1.3618728411194425e-05, + -0.002543407542962252, + 0.006457179818711874, + -0.023826594527621946, + 0.00667900477787441, + -0.006613649498416717, + 1.0 + ], + [ + -0.0014280527804991145, + -0.0023807801653215094, + 0.004658092858736258, + -0.018417403713759845, + 0.0050027756814688485, + -0.002701978526603422, + 1.0 + ], + [ + -0.002376855690707738, + -0.0015350703391011997, + 0.003964589441535368, + -0.011561322764022556, + 0.004093606283855308, + -0.004753299469833388, + 1.0 + ], + [ + -0.002454266259894579, + 0.002184380949386801, + 0.005473023171341653, + -0.010230659937050504, + 0.010496488520729772, + 0.0016016024712780727, + 1.0 + ], + [ + -0.004066058820189192, + 0.004350331410597711, + 0.008120798688766818, + -0.021740851329526852, + 0.012406890845518707, + -0.01792335144223601, + 1.0 + ], + [ + -0.0007205701708354125, + 0.003359881771293621, + 0.004424890908888439, + -0.010468730573052741, + -0.00199159991407358, + -0.021578250048968503, + 1.0 + ], + [ + 0.004321064541835038, + 0.0034576580250812007, + -0.0003345158619630473, + 0.00829391691860057, + 0.011389516003089104, + -0.008741170412708379, + 0.0 + ], + [ + 0.004369444326017148, + 0.003800150409279812, + -0.00026284628705100597, + 0.025249517316646958, + 0.02254509378518424, + -0.018325291215332697, + 0.0 + ], + [ + 0.009552239059177172, + 0.013868069479121016, + -0.005126251594447147, + 0.031307373232586234, + 0.0095767955544923, + -0.012270986564735567, + 0.0 + ], + [ + 0.023126174635715698, + 0.020245924142291538, + -0.007655471459523306, + -0.024549571078402468, + 0.012246867783200015, + -0.006817356620531287, + 0.0 + ], + [ + 0.017027856178647768, + 0.016092539910210302, + 0.003755048606637273, + -0.035454203933242716, + 0.007382098556074976, + -0.022644107215017965, + 0.0 + ], + [ + 0.0058662580374247335, + 0.024903846651113448, + 0.0035176621264934984, + 0.0023036891083430414, + 0.019988388439393674, + -0.012373998029676416, + 0.0 + ], + [ + -4.6018397969345174e-05, + 0.0185262087166023, + 0.0008571921855183002, + -0.029227856219242378, + 0.006307732696961921, + -0.03797075234652101, + 0.0 + ], + [ + -0.0033936030080824707, + 0.0072234899265749605, + 0.0015422266940443052, + -0.013270990237107183, + 0.024136244533434954, + -0.02353764850597831, + 0.0 + ], + [ + -0.004142388631518162, + 0.0031978586824767353, + 0.0014163618946136138, + 0.0017525318553979242, + 0.016551687410549295, + -0.004726483335075533, + 1.0 + ], + [ + -0.00010052628555845861, + 0.00040044943086430516, + -6.374922285089868e-05, + -0.0005315569802431264, + 9.394299132543204e-05, + -0.001632136283080612, + 1.0 + ] + ], + "state": [ + [ + 0.2142128348350525, + 0.04428626596927643, + 0.11002817004919052, + -2.8416007479005536, + -0.08086984604597092, + -0.03247250244021416, + 1.0 + ], + [ + 0.2138228565454483, + 0.0442904531955719, + 0.10965874791145325, + -2.8416341861062726, + -0.0793362259864807, + -0.03246982395648956, + 1.0 + ], + [ + 0.20710980892181396, + 0.04612979665398598, + 0.09585851430892944, + -2.8500464876466474, + -0.08025004714727402, + -0.02671320177614689, + 1.0 + ], + [ + 0.20392882823944092, + 0.052358437329530716, + 0.08006960898637772, + -2.8612994273477277, + -0.11593419313430786, + -0.018657749518752095, + 1.0 + ], + [ + 0.20549055933952332, + 0.058024242520332336, + 0.0686069205403328, + -2.8696666975789746, + -0.13895036280155185, + -0.028499310836195946, + 1.0 + ], + [ + 0.20858825743198395, + 0.06614074856042862, + 0.06156293675303459, + -2.880136253433772, + -0.15404006838798523, + -0.03808842971920967, + 1.0 + ], + [ + 0.21021698415279388, + 0.07313071191310883, + 0.054601553827524185, + -2.9001276810937604, + -0.16041724383831024, + -0.04317549243569374, + 1.0 + ], + [ + 0.21128028631210327, + 0.07710221409797668, + 0.04901041463017464, + -2.924733357625552, + -0.16848208010196689, + -0.038281697779893875, + 1.0 + ], + [ + 0.21067723631858826, + 0.08045502007007599, + 0.04479137435555458, + -2.943414257960864, + -0.17394883930683136, + -0.036695513874292374, + 1.0 + ], + [ + 0.20904168486595154, + 0.0828021913766861, + 0.040849342942237854, + -2.955653282003947, + -0.17889685928821564, + -0.032778751105070114, + 1.0 + ], + [ + 0.2076191008090973, + 0.08171329647302628, + 0.03472239524126053, + -2.965238021808215, + -0.1889152079820633, + -0.03635677322745323, + 1.0 + ], + [ + 0.205167755484581, + 0.0789424404501915, + 0.025356560945510864, + -2.9899529834562024, + -0.20425111055374146, + -0.02056137286126614, + 1.0 + ], + [ + 0.20539772510528564, + 0.0762842446565628, + 0.020430224016308784, + -3.0049387236409864, + -0.20549322664737701, + 0.001535071642138064, + 1.0 + ], + [ + 0.20966169238090515, + 0.0728197917342186, + 0.021175239235162735, + -2.998124899464198, + -0.21796207129955292, + 0.008814831264317037, + 0.0 + ], + [ + 0.21402230858802795, + 0.06905939429998398, + 0.021843604743480682, + -2.976177008944102, + -0.24287073314189908, + 0.024174457415938377, + 0.0 + ], + [ + 0.2229759246110916, + 0.0547487698495388, + 0.026832178235054016, + -2.947486864524432, + -0.2543235719203949, + 0.03505021333694458, + 0.0 + ], + [ + 0.24518556892871857, + 0.03417205065488815, + 0.036140989512205124, + -2.9731523414426526, + -0.26765298843383795, + 0.0395365133881569, + 0.0 + ], + [ + 0.2638877034187317, + 0.019664663821458817, + 0.03447245433926582, + -3.0144397785239896, + -0.27866536378860474, + 0.061467796564102166, + 0.0 + ], + [ + 0.27283212542533875, + -0.004087465815246105, + 0.02969519980251789, + -3.0149208327108106, + -0.3000478446483612, + 0.07166010141372682, + 0.0 + ], + [ + 0.27503702044487, + -0.022245682775974274, + 0.026633353903889656, + -3.0556767379217824, + -0.31088995933532715, + 0.11038560420274733, + 0.0 + ], + [ + 0.27325963973999023, + -0.029550448060035706, + 0.023542216047644615, + -3.075871581333228, + -0.33688274025917053, + 0.13303124904632568, + 0.0 + ], + [ + 0.2703273892402649, + -0.033068399876356125, + 0.020640891045331955, + -3.0753892381959638, + -0.3537067770957947, + 0.13689936697483066, + 1.0 + ], + [ + 0.27027633786201477, + -0.03348303586244583, + 0.020640891045331955, + -3.076519953208514, + -0.3539080023765564, + 0.13862890005111694, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.17387640476226807, + 0.2650814652442932, + 0.2650814652442932, + 0.2650814652442932, + 0.2650814652442932, + 0.2650814652442932, + 0.2650814652442932, + 0.2650814652442932, + 0.06090432405471802, + 0.0, + 0.0 + ], + "episode_id": "283", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/283/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2846.json b/annotation/test/2846.json new file mode 100644 index 0000000000000000000000000000000000000000..2e829b68bc665e307afb311399c813cd16526194 --- /dev/null +++ b/annotation/test/2846.json @@ -0,0 +1,850 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "pick blue spoon from top and place it on the bottom" + ], + "videos": [ + { + "video_path": "videos/test/2846/rgb.mp4" + } + ], + "action": [ + [ + -0.00017582107436823455, + -2.8184969358298485e-05, + -0.0004960051954115125, + 5.260717006668304e-05, + -5.605773004754651e-06, + -0.0016310582330624512, + 1.0 + ], + [ + -0.004558831350797137, + 0.001615504072764466, + 0.00801478177246362, + -0.000308303945763785, + -0.025784816597213652, + -0.02342192405404502, + 1.0 + ], + [ + -0.019974714502611467, + 0.02984756997873281, + -0.01050274188939178, + -0.006188029659921566, + 0.037102695109995545, + -0.15642119996804574, + 1.0 + ], + [ + -0.0186474520208894, + 0.005619979100714809, + -0.006435945792340496, + -0.04868607912420814, + 0.009295646482420412, + -0.15863845193259526, + 1.0 + ], + [ + -0.02489926410131191, + 0.01634314061359144, + 0.0001701242943877401, + -0.02601540583798325, + -0.0049175007087030095, + -0.11093174552502426, + 1.0 + ], + [ + -0.02754749215313828, + 0.02371847433211578, + 0.005662233207485112, + -0.034744893477273525, + -0.02486106372461624, + -0.11238566879160394, + 1.0 + ], + [ + -0.018285025081118237, + 0.02281955851608969, + 0.000130037182877892, + -0.05587388585299934, + -0.012829371557384613, + -0.06640982900468854, + 1.0 + ], + [ + -0.029205370484083882, + 0.022713166261878512, + 0.010388695284223383, + -0.014302732682709736, + -0.009028916995291776, + -0.060550037782087916, + 1.0 + ], + [ + -0.0273493238288284, + 0.01898437133074498, + 0.015394252005381753, + 0.020355439468855308, + -0.003172484339491727, + -0.061719534957150844, + 1.0 + ], + [ + -0.024638944062814697, + 0.01017395894192271, + 0.011116267892261307, + 0.025035857752441847, + 0.010404915231569715, + -0.09613401737490428, + 1.0 + ], + [ + -0.014563831745577346, + 0.006766366657368373, + 0.015723502158231685, + 0.013545535545063594, + -0.023624644962856847, + -0.028983624589950855, + 1.0 + ], + [ + -0.005677177362917367, + 0.0012982857754323886, + 0.015028166804032522, + 0.028489190690795283, + -0.010067776786815353, + -0.007345799696790577, + 1.0 + ], + [ + -0.0011788618107516288, + 0.00649445809248694, + 0.016531972881712303, + 0.02045659104884104, + -0.002532782140118151, + 0.021782365944449558, + 1.0 + ], + [ + 0.004681036361267686, + 0.008267548149376719, + 0.012797671003734017, + 0.012745688421430977, + -0.00727093755296876, + -0.005534680655163362, + 1.0 + ], + [ + 0.0043690832475015715, + 0.002209073083889174, + 0.006019594685169066, + 0.013802577505213303, + 0.031134603219840986, + -0.047562067079370274, + 1.0 + ], + [ + -0.005307256971990852, + 0.004585846309865044, + -0.003202804654573501, + 0.004005894688932944, + 0.033845179422345786, + -0.004994052965223926, + 0.0 + ], + [ + -0.0013322040709720954, + -0.0038190586150417356, + 0.0006795718997539148, + 0.018391828836348812, + 0.010199543111775655, + 0.0008050075972286575, + 0.0 + ], + [ + 0.000791652171445004, + -0.006531809990841584, + 0.0003542283096932803, + 0.015287202788666842, + 0.0016323773471347955, + -0.0028736638187789616, + 0.0 + ], + [ + 0.000893757275666368, + -0.0009180602512683318, + -0.01250639221806038, + -0.021655225338741313, + -0.006776861053460314, + 0.03702794944884699, + 0.0 + ], + [ + 0.006474807686935449, + 0.002304831208992873, + -0.018019501803518193, + -0.038317090006136534, + -0.006260780378837193, + 0.024761117646863617, + 0.0 + ], + [ + 0.02252384056487149, + 0.001153906932351849, + -0.0182893638065321, + -0.0247374347048746, + 0.011357369491559672, + -0.03293665189080528, + 0.0 + ], + [ + 0.028381010057704735, + 0.009211848564405531, + -0.0066558899926100765, + -0.025939266590412867, + 0.02428805648261122, + -0.02551220046799071, + 0.0 + ], + [ + 0.03736560321184974, + 0.011588056697470478, + -0.00526114171065914, + -0.04589917500737145, + 0.0256531195609733, + -0.02847659985160751, + 0.0 + ], + [ + 0.03661601153717384, + 0.0059819523056578745, + 0.010897196534669747, + 0.0019898490427625298, + 0.05013293612785356, + -0.006240622762424352, + 0.0 + ], + [ + 0.028138377570188933, + 0.0030778746323344335, + 0.010100107207169055, + 0.011792386808127959, + 0.04272292920328521, + -0.020154867537185674, + 0.0 + ], + [ + 0.014856781211492613, + 0.0023475349827130564, + 0.010496860958020026, + 0.014903546109489319, + 0.02325232189686716, + -0.015477776983776477, + 0.0 + ], + [ + 0.00934609995769144, + 0.007832264410537453, + 0.010786561751816855, + 0.010368896052404585, + 0.0002071015451129949, + -0.02944954570663681, + 0.0 + ], + [ + 0.007530449592385381, + 0.006673126367706176, + 0.01484708640241444, + 0.012297225991528573, + 0.0006168349649372388, + -0.01509874584309939, + 0.0 + ], + [ + 0.002470817005031753, + 0.0008606890008365354, + 0.018801478308510478, + 0.029502392016282693, + 0.014174712421345118, + 0.02760823015298055, + 0.0 + ], + [ + -0.0029548382781455795, + -0.003452103335757455, + 0.020382315935443315, + 0.03720741846401419, + -0.0031569971816788702, + 0.016447663438335418, + 0.0 + ], + [ + 0.001670215963574651, + 0.001996529025802621, + 0.0019413827884983278, + -0.005079168847924228, + -0.0007727480874264146, + 0.013184850120699946, + 0.0 + ], + [ + -0.0006885503682043868, + -0.0009462640106761444, + 0.003579496057339445, + -0.0013019295437316834, + -0.029027656254354203, + 0.0012942771945169032, + 0.0 + ], + [ + 0.0020156562323012874, + -0.004275125162924365, + 0.00041909289996824373, + 0.02016955051132098, + 0.007712602412600688, + -0.013140342095659863, + 1.0 + ], + [ + -0.00018169449466392659, + -0.0032903585701292712, + 2.41652757351723e-05, + 0.01075397854361311, + -0.0019665541799652924, + -0.0006040850569117966, + 1.0 + ], + [ + -0.0023490667913297816, + -0.0009848862740994221, + 9.6121600649083e-05, + -0.003184005777863415, + -0.007810534213846289, + 0.008927284131159173, + 1.0 + ], + [ + 0.0012915395719802513, + 0.0007359372826382015, + -0.0077543535034800245, + -0.014416250479026815, + 0.0058765939860396165, + 0.022599035685675246, + 1.0 + ], + [ + 0.004011505494860735, + 0.002996671263602424, + -0.018326884101364627, + -0.04094962838700595, + 0.006197125123289369, + 0.00678785474330588, + 1.0 + ], + [ + 0.004370279464090847, + 0.001046636601574079, + -0.022612035435422773, + -0.03859059018878063, + 0.011440286537062248, + -0.0073492611957693115, + 1.0 + ], + [ + 0.004222626650220602, + 0.0027999174527249867, + -0.029974060811441595, + -0.05327260518483247, + -0.004157322315860873, + -0.009064484695616416, + 1.0 + ], + [ + 0.004186027695208458, + 7.264025261604941e-05, + -0.030685975747266125, + -0.03531582986138484, + 0.0028013681373053553, + -0.019980694385313528, + 1.0 + ], + [ + -0.0006255276564655685, + -0.010172017916770401, + -0.02101596385634569, + 0.04892155621116528, + -0.017593613475045695, + -0.025083471868879163, + 1.0 + ], + [ + 0.0003105859044420884, + 0.00019581676079950185, + -0.0012122809829024197, + 0.00014709964425174568, + 0.00036815162025561737, + -0.0006583825805934017, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.498462168685214e-17, + -2.3926504315023253e-17, + 8.575949420096594e-19, + 1.0 + ] + ], + "state": [ + [ + 0.269590824842453, + 0.18556073307991028, + 0.12047990411520004, + -3.067020723717757, + -0.16523227095603943, + 0.5046550035476685, + 1.0 + ], + [ + 0.26937177777290344, + 0.1854296326637268, + 0.12094094604253769, + -3.0672395174675664, + -0.16534797847270966, + 0.5063044428825378, + 1.0 + ], + [ + 0.2670995891094208, + 0.18300829827785492, + 0.11218858510255814, + -3.0717480351501187, + -0.14132103323936462, + 0.5318241119384766, + 1.0 + ], + [ + 0.264506995677948, + 0.14608627557754517, + 0.11768557876348495, + -3.1006307137482843, + -0.1875237226486206, + 0.6878904104232789, + 1.0 + ], + [ + 0.2531922459602356, + 0.12917859852313995, + 0.12030090391635895, + 3.103394569950648, + -0.2009068876504898, + 0.8492760062217712, + 1.0 + ], + [ + 0.24928295612335205, + 0.10000064969062805, + 0.11577704548835754, + 3.055165449278899, + -0.19052194058895108, + 0.9619840383529663, + 1.0 + ], + [ + 0.25398823618888855, + 0.06457651406526566, + 0.10703163594007492, + 2.9999048580699643, + -0.15491732954978946, + 1.073090672492981, + 1.0 + ], + [ + 0.26500171422958374, + 0.037488892674446106, + 0.10726694762706757, + 2.934364514546939, + -0.13252672553062442, + 1.1375794410705566, + 1.0 + ], + [ + 0.2752676010131836, + 0.0016446566442027688, + 0.09796270728111267, + 2.9127714802795133, + -0.11102060973644258, + 1.1953251361846924, + 1.0 + ], + [ + 0.28618431091308594, + -0.030602019280195236, + 0.08431161940097809, + 2.9269305785470685, + -0.09374292194843292, + 1.2549749612808228, + 1.0 + ], + [ + 0.29051753878593445, + -0.05696893855929375, + 0.07334954291582108, + 2.9439442624622068, + -0.08302928507328035, + 1.3514506816864014, + 1.0 + ], + [ + 0.2971029579639435, + -0.07210987061262131, + 0.058101531118154526, + 2.955515580373355, + -0.054150305688381195, + 1.3752566576004028, + 1.0 + ], + [ + 0.3001331686973572, + -0.07768743485212326, + 0.0432870015501976, + 2.983707757788249, + -0.04289654642343521, + 1.380617618560791, + 1.0 + ], + [ + 0.3088850975036621, + -0.07990323752164841, + 0.027945300564169884, + 3.0051424374156674, + -0.043809521943330765, + 1.358686923980713, + 1.0 + ], + [ + 0.31968510150909424, + -0.07692763209342957, + 0.016607288271188736, + 3.0176889320188245, + -0.035852860659360886, + 1.363183856010437, + 1.0 + ], + [ + 0.32350024580955505, + -0.07306037098169327, + 0.01106712780892849, + 3.0297611897164067, + -0.06082665547728538, + 1.4143046140670776, + 1.0 + ], + [ + 0.326788067817688, + -0.07916947454214096, + 0.014432243071496487, + 3.033173309760638, + -0.0939006879925728, + 1.4230797290802002, + 0.0 + ], + [ + 0.322925329208374, + -0.07983241975307465, + 0.013223297894001007, + 3.0515308772497853, + -0.1041274443268776, + 1.4233847856521606, + 0.0 + ], + [ + 0.3166520595550537, + -0.07800611108541489, + 0.01237041037529707, + 3.066503884392329, + -0.10549427568912506, + 1.426410436630249, + 0.0 + ], + [ + 0.31475764513015747, + -0.07815220952033997, + 0.024797853082418442, + 3.0488605966144284, + -0.10143948346376419, + 1.388785481452942, + 0.0 + ], + [ + 0.31620681285858154, + -0.07373861968517303, + 0.043515704572200775, + 3.0131385793262204, + -0.09746582061052322, + 1.3634309768676758, + 0.0 + ], + [ + 0.3192828893661499, + -0.053296539932489395, + 0.06390724331140518, + 2.9851302077346524, + -0.10445430129766464, + 1.3977367877960205, + 0.0 + ], + [ + 0.33194130659103394, + -0.0277028139680624, + 0.0748327374458313, + 2.9561654945188245, + -0.1244266927242279, + 1.4269413948059082, + 0.0 + ], + [ + 0.34743839502334595, + 0.00659969262778759, + 0.08672093600034714, + 2.9062027056985578, + -0.1443238258361816, + 1.4599955081939697, + 0.0 + ], + [ + 0.3598986268043518, + 0.0430038757622242, + 0.08288127183914185, + 2.9053256680541715, + -0.19159476459026337, + 1.478075385093689, + 0.0 + ], + [ + 0.3679502010345459, + 0.07173800468444824, + 0.0793069526553154, + 2.9112182577424726, + -0.22832778096199038, + 1.5084410905838013, + 0.0 + ], + [ + 0.3736618459224701, + 0.0880768820643425, + 0.0732375904917717, + 2.921349959569522, + -0.247383326292038, + 1.529455542564392, + 0.0 + ], + [ + 0.38411659002304077, + 0.09887408465147018, + 0.06697958707809448, + 2.9245544542842588, + -0.24104812741279602, + 1.5590959787368774, + 0.0 + ], + [ + 0.3939516842365265, + 0.10919056832790375, + 0.056093111634254456, + 2.9332212825589856, + -0.23837208747863772, + 1.5744062662124634, + 0.0 + ], + [ + 0.3986589312553406, + 0.11590991169214249, + 0.03897488862276077, + 2.9686433543735227, + -0.2578801214694976, + 1.549507737159729, + 0.0 + ], + [ + 0.3988172709941864, + 0.11832204461097717, + 0.01823257841169834, + 3.0102905203872403, + -0.2575635612010956, + 1.5321909189224243, + 0.0 + ], + [ + 0.40112781524658203, + 0.12027312070131302, + 0.01704961434006691, + 3.008693369227, + -0.2585007846355438, + 1.5185656547546387, + 0.0 + ], + [ + 0.4006791114807129, + 0.12057029455900192, + 0.013322328217327595, + 3.00868375797803, + -0.22989721596240997, + 1.5132988691329956, + 0.0 + ], + [ + 0.39662978053092957, + 0.12299337983131409, + 0.012825557962059975, + 3.0255706777148923, + -0.23577740788459775, + 1.5277447700500488, + 1.0 + ], + [ + 0.3933638334274292, + 0.12305191159248352, + 0.012389415875077248, + 3.0362350215488156, + -0.23375412821769714, + 1.5281275510787964, + 1.0 + ], + [ + 0.3922998905181885, + 0.12085624784231186, + 0.011651553213596344, + 3.0353584607415875, + -0.22691452503204346, + 1.5181734561920166, + 1.0 + ], + [ + 0.3921836018562317, + 0.12036788463592529, + 0.019531125202775, + 3.0260198285155973, + -0.23509886860847473, + 1.495707392692566, + 1.0 + ], + [ + 0.39301297068595886, + 0.11988439410924911, + 0.03850545734167099, + 2.986516373353549, + -0.2420330345630646, + 1.4894986152648926, + 1.0 + ], + [ + 0.39046919345855713, + 0.11893744766712189, + 0.06139937415719032, + 2.9456874450021466, + -0.25219082832336426, + 1.4988211393356323, + 1.0 + ], + [ + 0.38714566826820374, + 0.11578510701656342, + 0.09145151823759079, + 2.89034021099145, + -0.24634020030498507, + 1.5071544647216797, + 1.0 + ], + [ + 0.37939921021461487, + 0.11307953298091888, + 0.12131503224372864, + 2.850036712484904, + -0.2440358996391296, + 1.5278165340423584, + 1.0 + ], + [ + 0.36342546343803406, + 0.10899797827005386, + 0.1378592848777771, + 2.89426979620988, + -0.21993060410022733, + 1.5472475290298462, + 1.0 + ], + [ + 0.36331942677497864, + 0.10903670638799667, + 0.1391209065914154, + 2.8942540903859815, + -0.22012631595134738, + 1.5479940176010132, + 1.0 + ], + [ + 0.36331942677497864, + 0.10903670638799667, + 0.1391209065914154, + 2.8942540903859815, + -0.22012631595134738, + 1.5479940176010132, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0, + 0.057769834995269775, + 0.3730241060256958, + 0.6287990510463715, + 0.6595531105995178, + 0.6595531105995178, + 0.6595531105995178, + 0.6595531105995178, + 0.6595531105995178, + 0.6595531105995178, + 0.6603650748729706, + 0.6595531105995178, + 0.6603650748729706, + 0.6595531105995178, + 0.6603650748729706, + 0.6603650748729706, + 0.6603650748729706, + 0.6603650748729706, + 0.5914059281349182, + 0.28388506174087524, + 0.01622796058654785, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2846", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2846/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2848.json b/annotation/test/2848.json new file mode 100644 index 0000000000000000000000000000000000000000..2106bfa93abd6e76319c224a0f7663f9bbd7866c --- /dev/null +++ b/annotation/test/2848.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "move drying rack out of sink" + ], + "videos": [ + { + "video_path": "videos/test/2848/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -4.183124667123748e-18, + -7.005985654380196e-18, + 1.7585776958569406e-17, + 1.0 + ], + [ + -0.0025193234609020444, + 0.002291809557463033, + 0.009759898020918482, + 0.003503327903265308, + -0.035274329008965856, + -0.009087469761444079, + 1.0 + ], + [ + -0.0037265555318979527, + 0.022687653986213023, + 0.017229030886926386, + -0.017757007758792857, + -0.031951887198854535, + -0.007558002958197845, + 1.0 + ], + [ + 0.0009569480032895915, + 0.015691477557429168, + 0.016204717211017683, + -0.0017770422868309905, + -0.016115263727915552, + 0.00243218089893575, + 1.0 + ], + [ + 0.0032180953635406436, + 0.015059681169373495, + 0.015886652342892726, + -0.007283121720549838, + -0.0029796829835059867, + -3.3697546217498418e-06, + 1.0 + ], + [ + 0.0005596207101412449, + 0.01943954610347305, + 0.020408535894990257, + 0.008215920259804192, + 0.0221439075104003, + 0.003626762231766907, + 1.0 + ], + [ + 0.002996022396155635, + 0.013784439164020794, + 0.012964419478626522, + 0.008101353488753483, + 0.007517224352753821, + -0.015480026688433629, + 1.0 + ], + [ + 0.0039089180873711675, + 0.0019554807196860324, + 0.009008315503194394, + 0.025192912236364176, + 0.02652322548126632, + -0.017543072149668965, + 1.0 + ], + [ + 0.0026882108656025054, + -0.007681797370704449, + -0.0005508134756203544, + -0.0015860651945925489, + 0.020469362556299546, + -0.015235757479146473, + 0.0 + ], + [ + 0.0029116402100060512, + -0.002229860006876939, + -0.009280508727318872, + -0.012709841802564566, + 0.04822667101982153, + 0.0034717885463396063, + 0.0 + ], + [ + -0.0014893414297291242, + -0.0017197189930609552, + -0.01223699000145685, + -0.004512490803984696, + 0.049992623023340066, + 0.012575736591685373, + 0.0 + ], + [ + -0.0019241629827535084, + -0.002039299433685779, + -0.023936046372825873, + -0.015279309045848745, + 0.009595269329816882, + 0.005072731731533101, + 0.0 + ], + [ + 0.0027757541084428307, + -0.001302466548909627, + -0.032966185975530915, + -0.05019203074856957, + 0.011174285817545261, + -0.0276860604710927, + 0.0 + ], + [ + 0.004527749074385453, + -0.004081081616008953, + -0.017040175785461017, + -0.01156684706797672, + -0.02292902579463825, + -0.0029261436253005375, + 0.0 + ], + [ + 0.005574474283171705, + -0.016282387797457883, + -0.036625748895976994, + 0.010735277166659719, + 0.01569099155241532, + 0.03927244572669397, + 0.0 + ], + [ + 0.00602585729114685, + -0.02970688400474328, + -0.027868194767996027, + 0.015739438494744136, + 0.045386681721427284, + 0.010361161673811773, + 0.0 + ], + [ + 0.0010350802062220746, + -0.028428685752411652, + -0.005591766988856694, + 0.005794066918173258, + 0.028181174666234394, + 0.005233373957899863, + 0.0 + ], + [ + 0.006997341394716715, + -0.026926671660280357, + -0.008980446984775929, + 0.0030818530562425317, + 0.04828678953546677, + 0.01738983937558688, + 0.0 + ], + [ + 0.009202175962584783, + -0.036685540025657076, + -0.0005373468858389149, + 0.04558710239284049, + 0.022504839534970643, + 0.01557894181786436, + 0.0 + ], + [ + 0.0019255556239252075, + -0.025289637695300404, + 0.00022059045755967616, + 0.0367350250558949, + 0.0009845725725055679, + 0.027063768173980554, + 0.0 + ], + [ + 0.006338551027389648, + -0.03280272104769661, + 0.0019799752371060797, + 0.04615759451277149, + -0.021599838336937915, + -0.016011435907562564, + 0.0 + ], + [ + 0.012839869323334207, + -0.029165439254119397, + -0.005666709999321408, + 0.0863328642712624, + 0.03652116516063188, + -0.03274401117014345, + 1.0 + ], + [ + 0.00599343653196466, + -0.009366253188580765, + 0.006010517410650471, + 0.00804167884711314, + -0.04801223291128156, + -0.021541243932127918, + 1.0 + ] + ], + "state": [ + [ + 0.23246687650680542, + -0.07523182034492493, + 0.0886375829577446, + 3.079329239326068, + 0.09354617446660995, + 0.12445101141929626, + 1.0 + ], + [ + 0.23246687650680542, + -0.07523182034492493, + 0.0886375829577446, + 3.079329239326068, + 0.09354617446660995, + 0.12445101141929626, + 1.0 + ], + [ + 0.2294476330280304, + -0.07852674275636673, + 0.07931649684906006, + 3.0834427458518228, + 0.12931534647941587, + 0.13137857615947723, + 1.0 + ], + [ + 0.2268519550561905, + -0.10272593051195145, + 0.06404829025268555, + 3.0664000903540334, + 0.1616503447294235, + 0.13713836669921875, + 1.0 + ], + [ + 0.2277047038078308, + -0.1196325495839119, + 0.049109410494565964, + 3.064019212620803, + 0.177536278963089, + 0.13344475626945498, + 1.0 + ], + [ + 0.23043742775917053, + -0.13565696775913239, + 0.03409987688064575, + 3.056694897013255, + 0.18050725758075714, + 0.13321344554424286, + 1.0 + ], + [ + 0.230460524559021, + -0.15694257616996765, + 0.01561637595295906, + 3.064574534195014, + 0.1581353098154068, + 0.13145627081394196, + 1.0 + ], + [ + 0.23347346484661102, + -0.1714135855436325, + 0.003427234711125493, + 3.075234430032321, + 0.15181095898151398, + 0.14765474200248715, + 1.0 + ], + [ + 0.23634518682956696, + -0.17356300354003906, + -0.005920840427279472, + 3.1033527349405965, + 0.1264810413122177, + 0.16706696152687076, + 1.0 + ], + [ + 0.23772674798965454, + -0.16552409529685974, + -0.006005262024700642, + 3.1037942079179963, + 0.10659284144639969, + 0.18316234648227692, + 0.0 + ], + [ + 0.24106504023075104, + -0.16228286921977997, + 0.0028224231209605932, + 3.0908650403195104, + 0.058269303292036057, + 0.18151603639125827, + 0.0 + ], + [ + 0.23987562954425812, + -0.16012412309646606, + 0.015022612176835537, + 3.085707901167222, + 0.007700466550886633, + 0.1715058982372284, + 0.0 + ], + [ + 0.23758454620838165, + -0.15709765255451202, + 0.038821496069431305, + 3.0703917165570935, + -0.0021632416173815723, + 0.16697725653648374, + 0.0 + ], + [ + 0.2396460324525833, + -0.1530543863773346, + 0.07161742448806763, + 3.020162562029906, + -0.011339005082845686, + 0.19538849592208862, + 0.0 + ], + [ + 0.2427174597978592, + -0.14621275663375854, + 0.08808805793523788, + 3.0085621943050107, + 0.011775600723922254, + 0.19551514089107516, + 0.0 + ], + [ + 0.24450069665908813, + -0.1244552880525589, + 0.12216252088546753, + 3.0189380442076406, + -0.008992652408778667, + 0.15867580473423004, + 0.0 + ], + [ + 0.24503979086875916, + -0.09105723351240158, + 0.1462400108575821, + 3.034594351547309, + -0.055305682122707374, + 0.15394704043865207, + 0.0 + ], + [ + 0.24149732291698456, + -0.06239822506904602, + 0.14881713688373566, + 3.0404676665836057, + -0.08388441056013109, + 0.15174713730812076, + 0.0 + ], + [ + 0.2436884492635727, + -0.03404547646641731, + 0.15559780597686768, + 3.0444891547136983, + -0.13367332518100739, + 0.139227956533432, + 0.0 + ], + [ + 0.2480447143316269, + 0.003487082663923502, + 0.15382930636405945, + 3.0918581542843064, + -0.15757051110267636, + 0.1257411539554596, + 0.0 + ], + [ + 0.24699515104293823, + 0.028802724555134773, + 0.1526722013950348, + 3.1328993338444313, + -0.15984129905700684, + 0.09841136634349822, + 0.0 + ], + [ + 0.25036025047302246, + 0.062078628689050674, + 0.15144486725330353, + -3.1066718382113656, + -0.13808298110961914, + 0.11438271403312682, + 0.0 + ], + [ + 0.258776992559433, + 0.09218581020832062, + 0.15983013808727264, + -3.0247286801510533, + -0.17565582692623138, + 0.14630077779293063, + 1.0 + ], + [ + 0.26400014758110046, + 0.10306666046380997, + 0.1560751348733902, + -3.0213516746931752, + -0.13041846454143524, + 0.17349907755851746, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0072438716888427734, + 0.006563663482666016, + 0.0072438716888427734, + 0.006563663482666016, + 0.0072438716888427734, + 0.006563663482666016, + 0.0072438716888427734, + 0.006563663482666016, + 0.11810719966888428, + 0.4180815815925598, + 0.6935243904590607, + 0.8769226372241974, + 0.9337822273373604, + 0.9358641803264618, + 0.9319662973284721, + 0.9319662973284721, + 0.9313545674085617, + 0.9313545674085617, + 0.9313545674085617, + 0.9313545674085617, + 0.9313545674085617, + 0.9313545674085617, + 0.9379071295261383, + 0.8940681740641594 + ], + "episode_id": "2848", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2848/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2854.json b/annotation/test/2854.json new file mode 100644 index 0000000000000000000000000000000000000000..1cdcce2d3ddf2f7db0f4c4520e4c5a8d871f1bda --- /dev/null +++ b/annotation/test/2854.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "pick up pot 50" + ], + "videos": [ + { + "video_path": "videos/test/2854/rgb.mp4" + } + ], + "action": [ + [ + -7.378278919025226e-06, + 0.000340956568702511, + -0.0001765944088474077, + -3.5275625103123845e-06, + -7.714782723283494e-05, + 4.011194967140013e-05, + 1.0 + ], + [ + 0.0017928750862659095, + -0.00724533125771568, + 0.004846046453185778, + 0.025363634609278027, + 0.023370938865203045, + -0.02093976022410848, + 1.0 + ], + [ + -0.0018353000179655175, + -0.003766342311729795, + 0.0028205939267918847, + 0.017137324241372112, + 0.07215092721406843, + -0.0325582259841644, + 1.0 + ], + [ + -0.0015489722632392702, + -0.001436855165375757, + -0.0011580134586388227, + -0.012149777701132266, + 0.09647980603379128, + -0.09298614587887054, + 1.0 + ], + [ + -0.0014366279800327952, + -0.0027370153903674343, + 0.0011092773428959559, + -0.01472716126281462, + 0.017336291488100168, + -0.06460819018934373, + 1.0 + ], + [ + 0.0028115740858553335, + -0.0038683135300002077, + 0.006186217902326007, + 0.01343947004281337, + -0.007494883133346704, + -0.014875119426909156, + 1.0 + ], + [ + 0.0026560294662049456, + -0.002350056020916949, + 0.004665544480626067, + 0.030506104492415004, + -0.009202919952428815, + 0.00032152382467040243, + 1.0 + ], + [ + 0.006790109645149816, + -0.0004255197083031854, + 0.0026265182376886418, + 0.033271980025358625, + -0.027338784246061253, + -0.07474081621222957, + 1.0 + ], + [ + 0.01000984972525612, + -0.002427934613809267, + 0.006142935687343769, + 0.04494388691443689, + -0.030522277974627574, + -0.12073135360541769, + 1.0 + ], + [ + 0.005785417524582666, + -0.010603037259204931, + 0.006809249186313573, + 0.05355397342638065, + -0.006874437044420382, + -0.06899541789831062, + 1.0 + ], + [ + 0.009446082452317955, + -0.009293023524841596, + 0.007203538314270911, + 0.0580152120745032, + -0.001807947987216319, + -0.0789665701847607, + 1.0 + ], + [ + 0.002712768813355658, + -0.006633059141288878, + 0.0056003527939911205, + 0.030485585727200736, + -0.0002625336930282328, + -0.012261243187492542, + 1.0 + ], + [ + 0.002578798812292128, + -0.004313673635270863, + 0.003188605567483321, + 0.015916060360785467, + 0.009338476869949505, + 0.0008165978225354644, + 1.0 + ], + [ + 0.001237011297418028, + -0.0018921879184654196, + 0.000981153833912538, + -0.0006573934527685836, + 0.008989980151483725, + -0.0002281894503771044, + 1.0 + ], + [ + 0.0007104322057552899, + -0.004958714269001639, + 0.0015395920200258935, + 0.009766350654333714, + 0.008666027755413721, + 0.012495467008501987, + 1.0 + ], + [ + -0.0005230525868829564, + -0.0004924920239884233, + -1.83356330811505e-05, + -0.0028135323339107234, + -0.0010465572153655278, + 0.005446320141452288, + 1.0 + ], + [ + -0.00042087481737381567, + -0.003722519027557637, + 0.00036796341694959796, + 0.008362257516200674, + 0.007820784119252258, + 0.020069908185506, + 1.0 + ], + [ + -0.001846997629120094, + -0.0004464253695118584, + -7.540766749573787e-05, + -0.01876564906655718, + 0.022911417294244545, + 0.05165323370367589, + 1.0 + ], + [ + -0.005863189050549502, + 0.0016595890141173932, + -0.012939136125350706, + -0.07112149121796668, + 0.023041012991437338, + 0.09595034446648039, + 1.0 + ], + [ + -0.013650335179882539, + 0.012175480503264278, + -0.025937768822251614, + -0.1143348212546961, + -0.00616714252821301, + 0.09452065836766901, + 0.0 + ], + [ + -0.0008638332809550306, + 0.005621405170010001, + -0.008997957929738218, + -0.03878667720590202, + 0.009428412863947407, + 0.020251805612573795, + 0.0 + ], + [ + 7.97521587759519e-05, + 0.00034477819658566616, + -0.0003905207206440784, + -0.0019033747706504866, + 7.681872896994987e-05, + -0.0020300013823298935, + 0.0 + ], + [ + 0.0007342426047668414, + -0.0013078129118622296, + 0.0005574764266506751, + 0.00584320913517946, + 0.0045759969090087135, + -0.005718841664192612, + 0.0 + ] + ], + "state": [ + [ + 0.31875818967819214, + -0.1307973563671112, + 0.14787186682224274, + 2.442569228010722, + 0.0020926385186612606, + 1.1553153991699219, + 1.0 + ], + [ + 0.3188903331756592, + -0.13086290657520294, + 0.14822645485401154, + 2.442565532522746, + 0.0021258820779621597, + 1.1552350521087646, + 1.0 + ], + [ + 0.31738579273223877, + -0.1282588094472885, + 0.13985098898410797, + 2.4681712706857404, + -0.0022937364410609007, + 1.18630051612854, + 1.0 + ], + [ + 0.3156028091907501, + -0.1295059323310852, + 0.13529302179813385, + 2.485049696760722, + -0.03839781880378723, + 1.2567493915557861, + 1.0 + ], + [ + 0.3133694529533386, + -0.1304095983505249, + 0.1352737694978714, + 2.4709961732202252, + -0.05795463547110557, + 1.3893648386001587, + 1.0 + ], + [ + 0.31170645356178284, + -0.1314113289117813, + 0.13262487947940826, + 2.4540880044275006, + -0.031306762248277664, + 1.450781226158142, + 1.0 + ], + [ + 0.31299957633018494, + -0.1285085827112198, + 0.12548065185546875, + 2.467312069731303, + -0.016073934733867645, + 1.4575210809707642, + 1.0 + ], + [ + 0.3143792450428009, + -0.12591002881526947, + 0.12041226029396057, + 2.4978950937562665, + -0.009085501544177532, + 1.451524019241333, + 1.0 + ], + [ + 0.3164168894290924, + -0.11929424852132797, + 0.11811776459217072, + 2.531198712187358, + 0.05763534456491469, + 1.4949100017547607, + 1.0 + ], + [ + 0.31867361068725586, + -0.10981494933366776, + 0.11112650483846664, + 2.5828939398103437, + 0.15158995985984802, + 1.57709538936615, + 1.0 + ], + [ + 0.31326720118522644, + -0.10585051774978638, + 0.09898915141820908, + 2.645817132788249, + 0.19374363124370575, + 1.6329821348190308, + 1.0 + ], + [ + 0.308081716299057, + -0.09896120429039001, + 0.08661466836929321, + 2.7186733206086835, + 0.23240481317043304, + 1.7034603357315063, + 1.0 + ], + [ + 0.30425387620925903, + -0.09862799942493439, + 0.07837105542421341, + 2.7518105824762067, + 0.2376618981361389, + 1.7148537635803223, + 1.0 + ], + [ + 0.30129945278167725, + -0.09761562943458557, + 0.07330433279275894, + 2.7683855315023145, + 0.22871266305446625, + 1.7177215814590454, + 1.0 + ], + [ + 0.2997872233390808, + -0.09698902070522308, + 0.07146211713552475, + 2.7685256620221814, + 0.2204233258962631, + 1.721298336982727, + 1.0 + ], + [ + 0.29577890038490295, + -0.09761243313550949, + 0.06814419478178024, + 2.7763971110158643, + 0.20779116451740265, + 1.7126351594924927, + 1.0 + ], + [ + 0.29539400339126587, + -0.09821747243404388, + 0.06809675693511963, + 2.772437961893626, + 0.20682051777839658, + 1.7070553302764893, + 1.0 + ], + [ + 0.29218897223472595, + -0.09942220151424408, + 0.06653276085853577, + 2.7775118072801313, + 0.19225867092609406, + 1.6908621788024902, + 1.0 + ], + [ + 0.29196733236312866, + -0.10129208862781525, + 0.06679880619049072, + 2.7511994262510022, + 0.1523047834634781, + 1.650306224822998, + 1.0 + ], + [ + 0.28889724612236023, + -0.1054331362247467, + 0.08013967424631119, + 2.6691036840253552, + 0.09403183311223984, + 1.5700621604919434, + 1.0 + ], + [ + 0.2879263758659363, + -0.11633362621068954, + 0.10993193089962006, + 2.548519106703349, + 0.05620704963803291, + 1.482970118522644, + 0.0 + ], + [ + 0.28753674030303955, + -0.11656715720891953, + 0.12056693434715271, + 2.50909939606721, + 0.0370662659406662, + 1.471440076828003, + 0.0 + ], + [ + 0.2875935435295105, + -0.11647340655326843, + 0.12108241766691208, + 2.5072594602876386, + 0.03820430487394333, + 1.4731240272521973, + 0.0 + ], + [ + 0.28694096207618713, + -0.11571922153234482, + 0.11983117461204529, + 2.513394387560435, + 0.03790664300322533, + 1.48044753074646, + 0.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.16648274660110474, + 0.4596704840660095, + 0.6724211573600769, + 0.8443419635295868, + 0.9082004353404045, + 0.9174014925956726, + 0.9272984340786934, + 0.9272984340786934, + 0.9272984340786934, + 0.9272984340786934, + 0.9272984340786934 + ], + "episode_id": "2854", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2854/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2862.json b/annotation/test/2862.json new file mode 100644 index 0000000000000000000000000000000000000000..214f3eeb69f4cd68f7489af373169043bc83b1d1 --- /dev/null +++ b/annotation/test/2862.json @@ -0,0 +1,736 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the blue cloth to the right side." + ], + "videos": [ + { + "video_path": "videos/test/2862/rgb.mp4" + } + ], + "action": [ + [ + -0.00028968500459354264, + 0.00032867320273657143, + 0.0003543976989747345, + -0.0018466563788084732, + -0.0009397484716569201, + -0.002175704151566827, + 1.0 + ], + [ + -0.003388463719260275, + 0.0003797198416609697, + 0.012990751547173192, + -0.010526603495923595, + -0.03369810400279411, + -0.0008480922794746264, + 1.0 + ], + [ + -0.01202785748790289, + -0.0014248869825198639, + 0.012137188681825837, + 0.015031503552908056, + -0.018749118780607327, + 0.006613526442592169, + 1.0 + ], + [ + -0.025555589380650792, + -0.025546417063394805, + -0.018715745293943948, + 0.08740376959280509, + 0.058936527748501305, + -0.059670580639620246, + 1.0 + ], + [ + -0.03025084161717291, + -0.03231253482012006, + 0.008382879270987194, + 0.027401043141108, + 0.05929629902762784, + -0.06987128938817516, + 1.0 + ], + [ + -0.00854169048164687, + -0.022865672841333017, + 0.011402037135148186, + 0.004036171408566056, + 0.005661855916974576, + -0.10758620952970875, + 1.0 + ], + [ + -0.012684508550019725, + -0.015351080353790918, + 0.02521844917173588, + -0.026743920673827033, + -0.08013788196271153, + -0.04897258810850329, + 1.0 + ], + [ + -0.0017340606660015937, + -0.0016894841170072411, + 0.014625587090109485, + -0.009473539612127336, + -0.042558614574511676, + -0.009298954112153963, + 1.0 + ], + [ + -0.0007998973232315469, + 0.0002515036330655861, + 0.01413892736105063, + 0.020437798082926124, + -0.05386045929148715, + 0.015796306559832905, + 1.0 + ], + [ + 0.004102379574883849, + 0.012535068669837843, + 0.006201121103269796, + 0.049717728484734484, + -0.03597201260563899, + 0.06363830815229089, + 1.0 + ], + [ + 0.002290265296311039, + 0.005935986737624758, + 0.0014051949857177945, + -0.00038597003108661686, + -0.0025020690394044055, + 0.0030343567598892646, + 1.0 + ], + [ + 0.00045983735323617387, + 0.01097931648490178, + -0.00017507337988757993, + -0.03834255759862134, + -0.010026631193016146, + -0.016772606616458453, + 1.0 + ], + [ + -0.00016646710592060627, + 0.021675558091378125, + 0.0008164197239795185, + -0.06873869403140621, + -0.006871778898547857, + 0.00223074411149409, + 1.0 + ], + [ + -0.0029471151306619575, + 0.05028711856517647, + -0.0010839828484294392, + -0.0190799335037573, + -0.053842938413062286, + 0.056947867446232675, + 1.0 + ], + [ + -0.0004316733366138427, + 0.04964130627718115, + -0.001156123759843348, + 0.006249853667206501, + -0.01684890011949025, + 0.05265825544169563, + 1.0 + ], + [ + 0.0006580713378021599, + 0.041566887721925544, + -0.0009581913419387733, + 0.04112647072607258, + -0.016614949330499274, + 0.024304131878917768, + 1.0 + ], + [ + 0.006741510523425451, + 0.02441014521443796, + -0.0026842573187324643, + 0.0426757356822667, + 0.01583789143200817, + -0.0024644264316364467, + 1.0 + ], + [ + 0.003237436212404471, + 0.00312079617685496, + -0.004024337468633941, + -0.013222829918390348, + 0.00605959760090649, + -0.007322722815776637, + 1.0 + ], + [ + -0.001245661616099361, + -0.008990587502633715, + -0.01058715792848672, + -0.014430628216681392, + 0.031285933978681214, + 0.011742697313315228, + 1.0 + ], + [ + -0.003131878679984475, + -0.01479950973916, + -0.042059998145397216, + -0.017638981027710277, + 0.14236444501153298, + 0.0227113717564151, + 1.0 + ], + [ + -0.004710582608193848, + -0.005397631010691591, + -0.0107891663891418, + -0.019557479626319197, + 0.03630672072735311, + 0.03291191247710402, + 1.0 + ], + [ + -0.010214744644993955, + -0.013812340609823491, + 0.004146189371591556, + 0.023237525483504246, + 0.005732893562251866, + 0.05393119542659831, + 1.0 + ], + [ + -0.012306041164451338, + -0.035288953478372305, + 0.014620669558697771, + 0.04455615360863695, + 0.03274077908391913, + 0.01770973061309893, + 1.0 + ], + [ + -0.0024122859048668873, + -0.0035741338068837752, + 0.03185984373003291, + -0.007666867312191817, + -0.041284882362738896, + -0.011922802913441699, + 1.0 + ], + [ + 0.0025531528918305434, + 0.004612357404376477, + 0.01667089200788939, + -0.04242182732114571, + -0.019671769251310825, + -0.0018299954877564145, + 1.0 + ], + [ + 0.00821818475875202, + 0.003660500419233883, + 0.007316751581928537, + -0.01818786486890317, + -0.0216273227348897, + 0.013166964333149223, + 1.0 + ], + [ + 0.005417310148124018, + 0.011758791549887904, + 0.002614740282474926, + -0.010948626483597153, + -0.027634738070878018, + 0.01244234693105846, + 1.0 + ], + [ + 0.004898298291898873, + 0.0194323270995395, + 0.0028371367849540766, + -0.0072723143926182775, + -0.02899576173482068, + -0.018792715146414767, + 1.0 + ], + [ + 0.003172334160468558, + 0.024923322339815267, + 0.0002753569541102321, + -0.00113846923961526, + -0.0038462823365674084, + -0.023014823304201196, + 1.0 + ], + [ + -0.0011666751017902495, + 0.003998197005346399, + 4.7635083962287054e-05, + 0.012298960832524712, + -0.00973083220563748, + -0.050260435846149615, + 1.0 + ], + [ + -0.003384684425814264, + 0.000444605198092923, + 0.00024130756297865595, + 0.01347404246800665, + -0.019499948179727083, + -0.03975852935539693, + 1.0 + ], + [ + -0.009154708420758242, + -0.004083978393294165, + -0.005562453314806082, + 0.029920019181326432, + -0.004266824454994783, + -0.0078107187647965025, + 1.0 + ], + [ + -0.00251308342923974, + -0.0013197527021152236, + -0.03260204084228167, + -0.007482716018778429, + 0.077949818611931, + 0.06704325819014935, + 1.0 + ], + [ + -0.0028942654308838234, + -0.004860999964594478, + -0.02008326069023326, + -0.017984853628195446, + 0.03585124932732592, + 0.02957545302175052, + 1.0 + ], + [ + 0.00024355989394606847, + 0.0005915098940653055, + -0.0018174055710208957, + -0.008958162913297778, + 0.0056267418332040025, + 0.021746170807810206, + 1.0 + ], + [ + -0.00010282793068125054, + -0.0031247335794819986, + -3.082882353829569e-05, + 0.01970774844664486, + -0.0006055137319639225, + -0.0021831137444954327, + 1.0 + ], + [ + 0.00010899930675038784, + -2.2363195438278634e-05, + -0.0004549793711190784, + 0.000178814427582075, + 0.0015231831907513635, + -3.1904174903966044e-05, + 1.0 + ] + ], + "state": [ + [ + 0.37663182616233826, + 0.0387018546462059, + 0.10731160640716553, + 3.138552022288092, + -0.11240582913160324, + -0.22910928726196286, + 1.0 + ], + [ + 0.3763152062892914, + 0.038437094539403915, + 0.10692794620990753, + 3.136460124636539, + -0.1114592030644417, + -0.22692288458347323, + 1.0 + ], + [ + 0.37434133887290955, + 0.038434725254774094, + 0.09364301711320877, + 3.125855293246456, + -0.07775716483592987, + -0.22624616324901578, + 1.0 + ], + [ + 0.36385253071784973, + 0.04211508855223656, + 0.08058733493089676, + 3.1414219289196232, + -0.059112586081027985, + -0.23316483199596405, + 1.0 + ], + [ + 0.34385982155799866, + 0.0731232538819313, + 0.09775625914335251, + -3.057907985644885, + -0.11793319880962372, + -0.17317068576812744, + 1.0 + ], + [ + 0.32059246301651, + 0.11059294641017914, + 0.0885835736989975, + -3.0382680242233953, + -0.18260866403579715, + -0.10753875225782396, + 1.0 + ], + [ + 0.3164304792881012, + 0.13510097563266754, + 0.07819895446300507, + -3.0544955899291715, + -0.19826789200305936, + 0.001017283066175878, + 1.0 + ], + [ + 0.30866214632987976, + 0.1525796502828598, + 0.05237897112965584, + -3.0921554026478013, + -0.12238429486751559, + 0.05703983083367349, + 1.0 + ], + [ + 0.30857667326927185, + 0.1549888700246811, + 0.037751685827970505, + -3.1029824895137033, + -0.0803292840719223, + 0.0684584379196167, + 1.0 + ], + [ + 0.3088929057121277, + 0.15530569851398468, + 0.023594992235302925, + -3.081392267840453, + -0.02589174918830395, + 0.05477047339081764, + 1.0 + ], + [ + 0.31383180618286133, + 0.14341896772384644, + 0.0167594775557518, + -3.030161278443881, + 0.013890179805457592, + -0.006549197714775802, + 1.0 + ], + [ + 0.31605562567710876, + 0.13766136765480042, + 0.014671297743916512, + -3.030585343139716, + 0.016714101657271385, + -0.009286874905228615, + 1.0 + ], + [ + 0.31639644503593445, + 0.12672659754753113, + 0.013621470890939236, + -3.0686426778608045, + 0.0248184185475111, + 0.008498017676174642, + 1.0 + ], + [ + 0.31635382771492004, + 0.10516705363988876, + 0.011232261545956135, + -3.1374225580417594, + 0.03183447197079658, + 0.006773233879357576, + 1.0 + ], + [ + 0.31377673149108887, + 0.05485724285244942, + 0.012199894525110722, + 3.124871004494377, + 0.08586298674345016, + -0.05007639527320861, + 1.0 + ], + [ + 0.31103378534317017, + 0.005317406263202429, + 0.014215605333447456, + 3.126581103662499, + 0.10170873254537582, + -0.1032771021127701, + 1.0 + ], + [ + 0.3075614273548126, + -0.0360930860042572, + 0.01572265662252903, + -3.117985187219926, + 0.11792621016502379, + -0.12799632549285891, + 1.0 + ], + [ + 0.3113241493701935, + -0.06124585121870041, + 0.017022162675857544, + -3.075059378641196, + 0.10203430056571959, + -0.12589581310749054, + 1.0 + ], + [ + 0.3144794702529907, + -0.06505362689495087, + 0.020480550825595856, + -3.0875761715048036, + 0.09549883008003235, + -0.11896070092916487, + 1.0 + ], + [ + 0.31529274582862854, + -0.056685131043195724, + 0.03160606697201729, + -3.1032670346372804, + 0.06488391757011412, + -0.13239780068397522, + 1.0 + ], + [ + 0.31667202711105347, + -0.04357541725039482, + 0.07431567460298538, + -3.1223620792203626, + -0.07653076946735382, + -0.1603829860687256, + 1.0 + ], + [ + 0.3120422065258026, + -0.037569813430309296, + 0.08481460809707642, + -3.1393327581514647, + -0.11215461045503618, + -0.19417791068553925, + 1.0 + ], + [ + 0.30520132184028625, + -0.02213810756802559, + 0.07958226650953293, + -3.110022010403224, + -0.11760173738002777, + -0.24849660694599152, + 1.0 + ], + [ + 0.30367931723594666, + 0.015113343484699726, + 0.0647321566939354, + -3.063231574492999, + -0.14974640309810638, + -0.26743343472480774, + 1.0 + ], + [ + 0.30750927329063416, + 0.020344385877251625, + 0.033242303878068924, + -3.0731096064024648, + -0.10950442403554916, + -0.25223511457443243, + 1.0 + ], + [ + 0.310896635055542, + 0.01589752919971943, + 0.016675399616360664, + -3.1158665680610618, + -0.09000344574451447, + -0.2490508258342743, + 1.0 + ], + [ + 0.3186188042163849, + 0.010351959615945816, + 0.010035562328994274, + -3.132914787279912, + -0.06803743541240692, + -0.2616832554340363, + 1.0 + ], + [ + 0.32098188996315, + -0.0024302031379193068, + 0.007693461608141661, + 3.140154769416437, + -0.04029070585966111, + -0.27389049530029297, + 1.0 + ], + [ + 0.32054558396339417, + -0.022496532648801804, + 0.005083851516246796, + 3.1321268129446587, + -0.01126087550073862, + -0.25514620542526245, + 1.0 + ], + [ + 0.31732475757598877, + -0.04741515591740608, + 0.0050801485776901245, + 3.1307320484244308, + -0.007193960715085268, + -0.23216840624809265, + 1.0 + ], + [ + 0.31526944041252136, + -0.05103792995214462, + 0.0050675454549491405, + -3.1405017938283315, + 0.0030909620691090822, + -0.18201889097690582, + 1.0 + ], + [ + 0.31185951828956604, + -0.05086211860179901, + 0.004836216103285551, + -3.1269054507189473, + 0.022545093670487407, + -0.14223654568195343, + 1.0 + ], + [ + 0.30349230766296387, + -0.04562123492360115, + 0.010662997141480446, + -3.0968082194500646, + 0.026696046814322475, + -0.13436126708984378, + 1.0 + ], + [ + 0.3018469512462616, + -0.04554125294089317, + 0.043346889317035675, + -3.1061475222283086, + -0.048242710530757904, + -0.2047099471092224, + 1.0 + ], + [ + 0.2989034652709961, + -0.040695469826459885, + 0.063426673412323, + -3.1226349176191768, + -0.0830005407333374, + -0.23562507331371305, + 1.0 + ], + [ + 0.2988477945327759, + -0.04132574424147606, + 0.06524651497602463, + -3.129778992506214, + -0.08819420635700224, + -0.2575589418411255, + 1.0 + ], + [ + 0.2995387613773346, + -0.0382770337164402, + 0.06530493497848511, + -3.110264917957135, + -0.08761431276798248, + -0.2553603947162628, + 1.0 + ], + [ + 0.2996073067188263, + -0.03828655555844307, + 0.06576818227767944, + -3.1100846772366246, + -0.08913774788379669, + -0.25537627935409546, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2862", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2862/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2871.json b/annotation/test/2871.json new file mode 100644 index 0000000000000000000000000000000000000000..407f3dd371125d3b405785cdba3b6a5b2cbfea39 --- /dev/null +++ b/annotation/test/2871.json @@ -0,0 +1,337 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put pot on stove which is near stove distractors" + ], + "videos": [ + { + "video_path": "videos/test/2871/rgb.mp4" + } + ], + "action": [ + [ + 7.665775560207168e-05, + 0.0006844753074173284, + 0.0019523021366233304, + -0.005774123407466066, + 0.0020185004706916054, + -0.002024512479241076, + 1.0 + ], + [ + 0.0024934434936833743, + 0.004242372232705214, + 0.019175440219963324, + -0.027297981080798495, + 0.02959225734192017, + -0.004642676570937075, + 1.0 + ], + [ + 0.0019549575422039573, + -0.003271955131038515, + 0.00408996104900965, + 0.033068280848999876, + 0.010515873200693882, + 0.007335635130333471, + 1.0 + ], + [ + -0.001770160123462144, + -0.001681946788881889, + 0.006509289221453849, + 0.0066029311777931095, + -0.004519370829811885, + -0.000829671384942288, + 1.0 + ], + [ + -0.0009651868969714984, + -0.0011717489171425457, + 0.0006511325291014725, + 0.0018145656652559902, + -0.0035683528203806747, + -0.012135962582460535, + 0.0 + ], + [ + -0.0019462339137976696, + 0.0030058725969256844, + -4.302657043995934e-05, + -0.027347052809808727, + -0.009143033339311902, + 0.01125493108765921, + 0.0 + ], + [ + -0.008923585405075483, + 0.005206218563652473, + -0.00598783010426622, + -0.0554899513306203, + -0.055409446061977605, + 0.005596366875938985, + 0.0 + ], + [ + -0.0151898902420553, + -0.0019197571652313106, + -0.022122905622510614, + -0.03363159465696411, + -0.08694082981403792, + 0.050918575410100475, + 0.0 + ], + [ + -0.02013115342485284, + -0.012067307960097843, + -0.024270742375890702, + 0.018758256599490125, + -0.10030598255410693, + 0.11834185428354327, + 0.0 + ], + [ + -0.015438357563234792, + -0.020924188294577824, + -0.011822108658854089, + 0.0821849069400665, + -0.0507074612515637, + 0.0969806879375829, + 0.0 + ], + [ + -0.008780682039000507, + -0.010723590265398276, + 0.01909769422867334, + 0.05078189911895852, + 0.031356071107017366, + 0.04881267035621162, + 0.0 + ], + [ + 0.00029034674103984133, + -0.011036158708244894, + 0.017143197957102587, + 0.04230282981545229, + 0.03500269759206124, + 0.04779557982536751, + 0.0 + ], + [ + -0.005196329488543412, + -0.002676168756942318, + 0.006804271376721262, + 0.02395526325429417, + 0.02022725900059711, + 0.045268703477742436, + 0.0 + ], + [ + -0.006580836155148799, + 0.006441631324325904, + -0.00018723508359245493, + 0.000775110859910301, + 0.0021961652546062713, + 0.011231819620399703, + 0.0 + ], + [ + 0.00025662974051787556, + -0.0009516920679057788, + -0.0003283777163657614, + 0.002190473148442813, + -0.00014522921989584817, + 0.005429625883718814, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.2722512657051613e-17, + 9.740079378005731e-18, + -6.095504863874247e-17, + 1.0 + ] + ], + "state": [ + [ + 0.35188043117523193, + 0.029142724350094795, + 0.061869747936725616, + -3.1021877994113645, + -0.06996772438287736, + -1.792684555053711, + 1.0 + ], + [ + 0.35124102234840393, + 0.029066843912005424, + 0.05990219488739967, + -3.1080981363826474, + -0.07206428050994873, + -1.7907360792160034, + 1.0 + ], + [ + 0.34688398241996765, + 0.02606808952987194, + 0.04082508385181427, + -3.1356457510315856, + -0.10179492831230164, + -1.7870699167251587, + 1.0 + ], + [ + 0.349597305059433, + 0.02305722050368786, + 0.036974385380744934, + -3.1018207651847085, + -0.1122641935944557, + -1.7945144176483154, + 1.0 + ], + [ + 0.3517186641693115, + 0.02363893948495388, + 0.030379334464669228, + -3.095331112044402, + -0.10778132826089859, + -1.7934998273849487, + 1.0 + ], + [ + 0.3530873954296112, + 0.024247096851468086, + 0.029682718217372894, + -3.0948488545888146, + -0.10476984083652496, + -1.781144142150879, + 0.0 + ], + [ + 0.350551038980484, + 0.026757387444376945, + 0.029382243752479553, + -3.1210605168067893, + -0.09510475397109985, + -1.7920081615447998, + 0.0 + ], + [ + 0.3474244177341461, + 0.0371379591524601, + 0.03438795730471611, + 3.1070897189253053, + -0.03959115967154503, + -1.7964612245559692, + 0.0 + ], + [ + 0.35362955927848816, + 0.052181437611579895, + 0.05581296980381012, + 3.075511785345622, + 0.04559951648116111, + -1.8502124547958374, + 0.0 + ], + [ + 0.3719958961009979, + 0.06672267615795135, + 0.08012720942497253, + 3.088729268061467, + 0.13753706216812134, + -1.9755492210388184, + 0.0 + ], + [ + 0.3972211182117462, + 0.07095687836408615, + 0.09284280985593796, + -3.1259285529428205, + 0.18236888945102692, + -2.0766422748565674, + 0.0 + ], + [ + 0.41270965337753296, + 0.07617291063070297, + 0.07582176476716995, + -3.084198685484477, + 0.15155814588069916, + -2.126488447189331, + 0.0 + ], + [ + 0.42406654357910156, + 0.07171197980642319, + 0.059484951198101044, + -3.0494894107156476, + 0.11916576325893402, + -2.1765410900115967, + 0.0 + ], + [ + 0.4301513433456421, + 0.07471799105405807, + 0.05361972004175186, + -3.0312246178560933, + 0.10305455327033997, + -2.2237212657928467, + 0.0 + ], + [ + 0.42905887961387634, + 0.08386234194040298, + 0.05377607047557831, + -3.031635860102721, + 0.1021021157503128, + -2.2351863384246826, + 0.0 + ], + [ + 0.42959076166152954, + 0.08306574821472168, + 0.054178498685359955, + -3.029998341696807, + 0.10284080356359482, + -2.240595817565918, + 1.0 + ], + [ + 0.42959076166152954, + 0.08306574821472168, + 0.054178498685359955, + -3.029998341696807, + 0.10284080356359482, + -2.240595817565918, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.14194411039352417, + 0.45573753118515015, + 0.7189793884754181, + 0.8842258453369141, + 0.9217833653092384, + 0.9217833653092384, + 0.9217833653092384, + 0.9217833653092384, + 0.9217833653092384, + 0.8329267799854279, + 0.6193969249725342, + 0.3318408727645874, + 0.051565468311309814 + ], + "episode_id": "2871", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2871/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2877.json b/annotation/test/2877.json new file mode 100644 index 0000000000000000000000000000000000000000..6a01def8a34ff2d5f49177115c973f5de4f9c202 --- /dev/null +++ b/annotation/test/2877.json @@ -0,0 +1,584 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Put the pot in front of the meat." + ], + "videos": [ + { + "video_path": "videos/test/2877/rgb.mp4" + } + ], + "action": [ + [ + -0.0004263154182722562, + 0.0005228197161000496, + 0.0007961699953551228, + -0.00031624732303199376, + -0.0030034089313859557, + -0.0014411232450591885, + 1.0 + ], + [ + -0.0031094671466639213, + 0.001069538164019156, + 0.008437339753845637, + -0.008424613988094968, + -0.02728668905331219, + 0.00676889001234311, + 1.0 + ], + [ + -0.009125994898820189, + -0.04325957069829951, + 0.01253555576411178, + -0.021047104913541274, + 0.027075462321978678, + -0.037175548615658076, + 1.0 + ], + [ + -0.0024873769415346973, + -0.04350616542231242, + 0.00036323844042568734, + 0.01830856905397723, + 0.03728463675137449, + -0.025173901264984862, + 1.0 + ], + [ + -0.002817474160895911, + -0.04929227365178904, + 0.018788199213006628, + 0.014607743934416764, + -0.0014378738392437297, + -0.053175643957949825, + 1.0 + ], + [ + 0.002233206608333496, + -0.013936337592835272, + 0.02856587214106904, + 0.026797233863373827, + -0.04885151490450793, + -0.02275698752725264, + 1.0 + ], + [ + 0.005963621522905533, + 0.002464988840565057, + 0.02235839736362863, + 0.018311415343275208, + -0.04491140653302155, + -0.04139618555660117, + 1.0 + ], + [ + 0.008405255998015107, + 0.02421854949326905, + 0.012004358636899222, + 0.009359716757625931, + -0.016111081347022837, + 0.020556326551653792, + 1.0 + ], + [ + 0.008210835288925866, + 0.007185389586140256, + 0.00036478630039116564, + 0.004480661087029372, + 0.018254784085466533, + -0.016790753121025712, + 1.0 + ], + [ + 0.0017508309919422136, + 0.008399357941155483, + -0.0011464201061738173, + -0.004989319351043482, + -0.002181526103444499, + 0.013568535982176555, + 0.0 + ], + [ + -0.002220083474884187, + 0.0012669840131542042, + -0.017831567583004176, + -0.005566303884446347, + 0.002332986404992608, + -0.019273087570005832, + 0.0 + ], + [ + -0.009334590747186353, + -0.008864109069334337, + -0.05215506632407903, + 0.04541228038957102, + 0.059379521135653694, + -0.03986691336447036, + 0.0 + ], + [ + -0.010409069470932134, + 0.003481957095929072, + -0.045710353844348586, + 0.02965682645779682, + 0.060775406535619594, + -0.055585928617783685, + 0.0 + ], + [ + -0.008636591988679016, + 0.04872244283296236, + -0.012838083952575977, + -0.0800010642116196, + 0.023356286334483948, + 0.05212308036979875, + 0.0 + ], + [ + -0.018963897375392943, + 0.04023671360874007, + 0.004714099758339719, + -0.08474153122015722, + -0.029777609813042172, + 0.03629315341314401, + 0.0 + ], + [ + -0.030046960933622895, + 0.0419472865052505, + 0.01799159095510795, + -0.0141530235188639, + -0.07354146137633655, + 0.10709488688344684, + 0.0 + ], + [ + -0.010365137281018613, + -0.0025205500253744164, + 0.007926136743866071, + 0.034272838746819696, + -0.030928321658695388, + 0.010064086970726487, + 0.0 + ], + [ + -0.00888765113611825, + -0.004332130537916119, + 0.007947167157433141, + 0.0296227680887654, + -0.02362718883231289, + 0.018400450948016605, + 0.0 + ], + [ + -0.00408489519700869, + 0.0038615200478153916, + 0.018103937349688702, + 0.005350465421919652, + -0.036868518383047416, + 0.03026983892346504, + 0.0 + ], + [ + -0.0009446641879685113, + 0.023049665942225114, + 0.0223945378357221, + -0.010409619833761145, + -0.04720921879308353, + 0.09068743464558521, + 0.0 + ], + [ + 0.008506806471710197, + 0.027631560217144642, + 0.009292240625653229, + 0.014163302886530301, + -0.024737576356240777, + 0.10558449204499756, + 0.0 + ], + [ + 0.008030157038990304, + 0.012030485250780626, + 0.0010423549205902613, + 0.007038860144239822, + -0.00020331163253283695, + 0.045755921437876976, + 0.0 + ], + [ + -0.006142400946944378, + -0.00387229806622649, + 0.0024964155174457994, + 0.013844112204281308, + -0.027865271956021086, + -0.015933516250451106, + 0.0 + ], + [ + -0.002655215602446566, + -0.023586243025867988, + -0.03786050982602694, + -0.003612481133920394, + 0.07951999972224151, + -0.08847153325884202, + 1.0 + ], + [ + 0.0075001318240135, + -0.01513369419231292, + -0.03694507329877252, + -0.015791479893915755, + 0.08915337389828985, + -0.04464472232605529, + 1.0 + ], + [ + 0.0020831607748352118, + -0.022605072975538217, + -0.02305762489565243, + -0.0052493129317076155, + 0.0424389884602527, + -0.09461021371610591, + 1.0 + ], + [ + 0.00041839107181941603, + -0.02140366486396324, + 0.0014109372189202924, + -0.003555569768975026, + -0.0034233901245328334, + -0.09586915283848925, + 1.0 + ], + [ + -0.003936171509207295, + -0.002433883662462868, + 0.005140492420346129, + -0.031412304621921565, + -0.015514941576186278, + -0.03773653176785652, + 1.0 + ], + [ + 0.0005176407148768098, + -0.0009982914169328826, + -0.00031592035149937195, + -0.001114916573449035, + 0.0012854405727512632, + -0.005299768273748923, + 1.0 + ] + ], + "state": [ + [ + 0.30458858609199524, + 0.04424728825688362, + 0.11189794540405273, + -3.103019746141978, + -0.09949828684329985, + 0.0706281065940857, + 1.0 + ], + [ + 0.30428096652030945, + 0.04373256862163544, + 0.11104389280080795, + -3.1034911406510552, + -0.09655256569385529, + 0.0721912533044815, + 1.0 + ], + [ + 0.3020625412464142, + 0.04282282292842865, + 0.1023116335272789, + -3.1113490295880517, + -0.06902626156806946, + 0.06645543873310089, + 1.0 + ], + [ + 0.2908540666103363, + 0.08579220622777939, + 0.09048722684383392, + -3.134922785340347, + -0.09716751426458359, + 0.10295340418815613, + 1.0 + ], + [ + 0.28392723202705383, + 0.12881575524806976, + 0.09017320722341537, + -3.119051521765538, + -0.134588822722435, + 0.12808789312839508, + 1.0 + ], + [ + 0.27716103196144104, + 0.17805807292461395, + 0.07228255271911621, + -3.1116748229884585, + -0.13415776193141937, + 0.18176519870758057, + 1.0 + ], + [ + 0.28036653995513916, + 0.19367946684360504, + 0.044697873294353485, + -3.0881003869050225, + -0.08596950024366377, + 0.20603564381599426, + 1.0 + ], + [ + 0.28832903504371643, + 0.19405025243759155, + 0.02283466048538685, + -3.073543982701846, + -0.043252833187580116, + 0.24977444112300876, + 1.0 + ], + [ + 0.302807480096817, + 0.17364980280399323, + 0.00958749558776617, + -3.063348615663596, + -0.025773225352168083, + 0.2303575724363327, + 1.0 + ], + [ + 0.3124510645866394, + 0.168582946062088, + 0.008874088525772095, + -3.0592590813809117, + -0.04528151825070381, + 0.24568289518356323, + 1.0 + ], + [ + 0.3161866366863251, + 0.16079238057136536, + 0.009404647164046764, + -3.063651042180606, + -0.04198749735951424, + 0.23232801258563995, + 0.0 + ], + [ + 0.31391647458076477, + 0.1575305014848709, + 0.02697465941309929, + -3.0700309817963323, + -0.04580635577440262, + 0.2513808310031891, + 0.0 + ], + [ + 0.3012777864933014, + 0.15956291556358337, + 0.07914736121892929, + -3.026172923045703, + -0.1078547015786171, + 0.2870366275310516, + 0.0 + ], + [ + 0.28917574882507324, + 0.14689546823501587, + 0.12277058511972427, + -3.0017050226503095, + -0.17449779808521268, + 0.33588859438896174, + 0.0 + ], + [ + 0.29666784405708313, + 0.09651289135217667, + 0.12710048258304596, + -3.072183894115039, + -0.1900961250066757, + 0.2800208628177643, + 0.0 + ], + [ + 0.29113495349884033, + 0.053495291620492935, + 0.11615888774394989, + 3.1327811862626156, + -0.15776221454143524, + 0.24546806514263153, + 0.0 + ], + [ + 0.2752678692340851, + 0.006114949006587267, + 0.094035804271698, + 3.135610013856091, + -0.08425365388393403, + 0.13763277232646942, + 0.0 + ], + [ + 0.2653598189353943, + 0.007239296101033688, + 0.08525063097476959, + -3.1124412940167865, + -0.05338167026638985, + 0.1273740530014038, + 0.0 + ], + [ + 0.2563909590244293, + 0.010689863935112953, + 0.07697003334760666, + -3.0818699841671666, + -0.029219863936305046, + 0.10966771095991135, + 0.0 + ], + [ + 0.25316745042800903, + 0.0075440965592861176, + 0.05855635926127434, + -3.0756839235597333, + 0.009400851093232632, + 0.08167216926813126, + 0.0 + ], + [ + 0.25375840067863464, + -0.014004213735461235, + 0.03470230475068092, + -3.0870941934459886, + 0.0624370276927948, + -0.005767148919403554, + 0.0 + ], + [ + 0.2614194452762604, + -0.04113322123885155, + 0.02340894564986229, + -3.0797204693132123, + 0.09253995865583421, + -0.11025585234165192, + 0.0 + ], + [ + 0.2678886950016022, + -0.05386537313461304, + 0.020890291780233383, + -3.0769829769902906, + 0.09547437727451323, + -0.15612059831619263, + 0.0 + ], + [ + 0.2622634768486023, + -0.04890499636530876, + 0.019244857132434845, + -3.0614239891343793, + 0.12223777174949646, + -0.1382943391799927, + 0.0 + ], + [ + 0.2672621011734009, + -0.02892480418086052, + 0.05890068784356117, + -3.055078523355075, + 0.03548925742506981, + -0.05671999603509902, + 1.0 + ], + [ + 0.27676939964294434, + -0.01756068505346775, + 0.09672511368989944, + -3.0692768712812146, + -0.057210564613342285, + -0.020058633759617805, + 1.0 + ], + [ + 0.2778594493865967, + 0.003301662392914295, + 0.12143456935882568, + -3.0800062028043946, + -0.10612597316503525, + 0.07165714353322981, + 1.0 + ], + [ + 0.27674829959869385, + 0.024727018550038338, + 0.12138848006725311, + -3.0940471199625215, + -0.1081109493970871, + 0.16812001168727875, + 1.0 + ], + [ + 0.27297651767730713, + 0.026800572872161865, + 0.115974061191082, + -3.129653042303868, + -0.09432660043239594, + 0.20671890676021576, + 1.0 + ], + [ + 0.27324655652046204, + 0.027873285114765167, + 0.11634917557239532, + -3.1312680869647345, + -0.09567390382289886, + 0.2120272219181061, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.06803375482559204, + 0.33384793996810913, + 0.6072657406330109, + 0.8237549960613251, + 0.9276153817772865, + 0.9373273998498917, + 0.9381957650184631, + 0.9404769465327263, + 0.9404769465327263, + 0.940758541226387, + 0.940758541226387, + 0.940758541226387, + 0.940758541226387, + 0.9410393536090851, + 0.9149821773171425, + 0.7527420669794083, + 0.5196115374565125, + 0.17945623397827148, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "2877", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2877/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2887.json b/annotation/test/2887.json new file mode 100644 index 0000000000000000000000000000000000000000..0349f7b45152c341c75f50c3b632c10d854c5f66 --- /dev/null +++ b/annotation/test/2887.json @@ -0,0 +1,527 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put banana in pot cardboard fence" + ], + "videos": [ + { + "video_path": "videos/test/2887/rgb.mp4" + } + ], + "action": [ + [ + -0.0001599707441569482, + 0.0006870827909696802, + 0.00032726671620854857, + -0.0012752746038629799, + -0.0015664230013662515, + 0.0009422454639398812, + 1.0 + ], + [ + -0.006774874354731382, + 0.00015997387962940205, + 0.0066430027925974515, + -0.0043537900919629864, + -0.030301336133429557, + 0.015437341327807701, + 1.0 + ], + [ + -0.017072497394847057, + -0.012525357133956229, + -0.01039484015835567, + -0.07788738156601598, + 0.031918069845261826, + 0.16257797136099272, + 1.0 + ], + [ + -0.020874444487160283, + -0.016231025914212514, + 0.0025558923957715246, + -0.04232126762706565, + -0.03446500161298428, + 0.06920099768506122, + 1.0 + ], + [ + -0.015537232893082793, + -0.010776494490808806, + 0.006318626537301573, + 0.0015283673233200852, + -0.016179834072792974, + 0.03138406227781828, + 1.0 + ], + [ + -0.010269814850463018, + -0.009734806262997862, + 0.013591639520862607, + 0.01723530523792978, + -0.015932193225327115, + 0.026499308762793588, + 1.0 + ], + [ + -0.010284271020440853, + -0.00325071416780961, + 0.025929744582145583, + -0.022490671835638604, + -0.05680669168207054, + 0.042017491899848124, + 1.0 + ], + [ + -0.0038351274490834013, + -0.0034737606928381794, + 0.021382022666105876, + -0.009291189948535407, + -0.004499513637401542, + 0.001828769351847857, + 1.0 + ], + [ + -0.0032204094202565674, + -0.0007547090570463501, + 0.011606035886342292, + -0.002436987904927626, + 0.003677829270897832, + -0.011139667804420937, + 1.0 + ], + [ + 0.00014055175918275967, + -0.00046623807398162584, + 0.007442463997515795, + 0.005519060081075718, + -0.0010826245573232838, + 0.007265247569127166, + 1.0 + ], + [ + -0.001406433596954957, + -4.122422987488664e-06, + 0.006173654035002298, + -0.0026229620870976637, + -0.014174928343419782, + -0.0017610522954845627, + 1.0 + ], + [ + -0.005263007778123111, + 0.0036183301209339754, + 0.0030186429549946487, + -0.00481321659482391, + -0.009385089016774189, + 0.01772353286300102, + 1.0 + ], + [ + -0.000342407961210804, + 0.000919966841977147, + -0.007066545250541175, + 0.001049018866459719, + 0.01673269327593752, + 0.014972148394693002, + 0.0 + ], + [ + -0.001994117473382204, + 0.003491532414542321, + -0.0198179543820092, + -0.009956353593456386, + -0.0011046720504900862, + -0.013291935690485505, + 0.0 + ], + [ + 0.01365125684787055, + 0.0010386343404139747, + -0.030421299652542824, + -0.02218795081659599, + 0.04156625922833191, + -0.04449409836926803, + 0.0 + ], + [ + 0.021634118057472482, + 0.005515570490423337, + -0.02571315084012281, + -0.0168816871612999, + 0.04334931963387607, + -0.05326353189265795, + 0.0 + ], + [ + 0.02815991617944969, + 0.008191008275379094, + -0.0064856528284073225, + -0.014614430073374207, + 0.001367462605456466, + -0.06009960340669629, + 0.0 + ], + [ + 0.022799866075107367, + 0.013310204110189985, + 0.007529098589415362, + 0.03716207066264085, + 0.018071511479443785, + -0.014558266139179236, + 0.0 + ], + [ + 0.009611229378389471, + 0.013086471848724144, + 0.010732080424571, + 0.020950594205267552, + -0.01853598151261279, + 0.005966074135100269, + 0.0 + ], + [ + 0.00679737254812568, + 0.006325426179380277, + 0.015451771882117028, + 0.026193284244906963, + -0.031935070027422074, + -0.012497041339179702, + 0.0 + ], + [ + 0.0025376435076391846, + 0.0017085364071264125, + 0.0018064194715976011, + 0.012543323404010542, + -0.011088787899413111, + 0.008556005723990718, + 0.0 + ], + [ + -0.0018570708582066288, + 0.00047859658192886704, + 0.0012269904479388222, + -0.0018411640804714775, + -0.006045135883724321, + 0.016615975494791498, + 1.0 + ], + [ + -0.003763707109719573, + -0.005515719261897739, + -0.024255618420941833, + -0.025215487410373265, + 0.042425942972248866, + -0.01171811804367632, + 1.0 + ], + [ + 0.0019480591292684525, + -0.0087035477256609, + -0.0452875919468758, + -0.0761158454234997, + 0.057131597508914014, + -0.012095335371483548, + 1.0 + ], + [ + -0.003367704304032914, + -0.004036971166701033, + -0.019957305471512785, + -0.025833571713699224, + 0.0037310444045101252, + 0.002373250326712966, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 8.806826696953941e-10, + -3.157021186667498e-09, + 0.004601956990510875, + 1.0 + ] + ], + "state": [ + [ + 0.2770584523677826, + 0.031181631609797478, + 0.09940467774868011, + -2.955962838726588, + -0.17815163731575012, + 0.1358419805765152, + 1.0 + ], + [ + 0.2770644724369049, + 0.030561860650777817, + 0.09893497079610825, + -2.957123266654559, + -0.17643818259239197, + 0.13519498705863953, + 1.0 + ], + [ + 0.27145346999168396, + 0.030869631096720695, + 0.0912880152463913, + -2.959694581227847, + -0.1438113451004028, + 0.125483900308609, + 1.0 + ], + [ + 0.25160783529281616, + 0.03888721764087677, + 0.10120146721601486, + -3.0161266197734555, + -0.14394962787628174, + -0.0419040024280548, + 1.0 + ], + [ + 0.23172776401042938, + 0.05615846812725067, + 0.09770748764276505, + -3.049361715214797, + -0.10080344974994661, + -0.10652630776166916, + 1.0 + ], + [ + 0.21809010207653046, + 0.06899388879537582, + 0.09087157994508743, + -3.044857660430022, + -0.08175761252641676, + -0.13638180494308472, + 1.0 + ], + [ + 0.21046392619609833, + 0.08114560693502426, + 0.07748705893754959, + -3.0256077518039426, + -0.0633155107498169, + -0.16126447916030887, + 1.0 + ], + [ + 0.20291869342327118, + 0.08868452906608582, + 0.0515078529715538, + -3.0457581674032888, + -0.0019902384374290705, + -0.19635693728923798, + 1.0 + ], + [ + 0.20027194917201996, + 0.09482267498970032, + 0.03054874949157238, + -3.055045710998126, + 0.0026636214461177588, + -0.19774675369262693, + 1.0 + ], + [ + 0.1974290907382965, + 0.0971822664141655, + 0.019060008227825165, + -3.0574584399634084, + -0.001963479910045862, + -0.18696676194667816, + 1.0 + ], + [ + 0.19778403639793396, + 0.0982244685292244, + 0.011683340184390545, + -3.051927449303218, + -0.00027410476468503475, + -0.19411532580852509, + 1.0 + ], + [ + 0.1965131014585495, + 0.0990419089794159, + 0.00553447101265192, + -3.0545426179938993, + 0.013686183840036392, + -0.19109198451042175, + 1.0 + ], + [ + 0.19066695868968964, + 0.09676870703697205, + 0.0022850192617625, + -3.059594901400157, + 0.024574611335992813, + -0.2079366594552994, + 1.0 + ], + [ + 0.19019077718257904, + 0.09534057974815369, + 0.009258780628442764, + -3.058945620554038, + 0.009121131151914595, + -0.22422769665718076, + 0.0 + ], + [ + 0.1872822493314743, + 0.09075690805912018, + 0.0287382323294878, + -3.068787636356898, + 0.009123965166509151, + -0.21088938415050507, + 0.0 + ], + [ + 0.20022046566009521, + 0.08466483652591705, + 0.05887757986783981, + -3.0905975085967263, + -0.035575587302446365, + -0.16955088078975677, + 0.0 + ], + [ + 0.21948979794979095, + 0.07444775104522705, + 0.08502957224845886, + -3.1093163323872766, + -0.08153606951236725, + -0.11844870448112488, + 0.0 + ], + [ + 0.24586445093154907, + 0.06285373121500015, + 0.09352036565542221, + -3.128892266313084, + -0.08469390869140625, + -0.05820852145552635, + 0.0 + ], + [ + 0.26842546463012695, + 0.04830307513475418, + 0.08777912706136703, + -3.0929478426748, + -0.10294011980295181, + -0.04380708560347557, + 0.0 + ], + [ + 0.2785928547382355, + 0.03529619798064232, + 0.07747115194797516, + -3.071467952924319, + -0.08413464576005936, + -0.04888174310326576, + 0.0 + ], + [ + 0.2864336371421814, + 0.029679153114557266, + 0.062241461127996445, + -3.0464838316016873, + -0.05314459279179573, + -0.034163564443588264, + 0.0 + ], + [ + 0.28901806473731995, + 0.028060665354132652, + 0.060418520122766495, + -3.033540466921874, + -0.04129192233085632, + -0.04163368046283722, + 0.0 + ], + [ + 0.2872023284435272, + 0.027792522683739662, + 0.05907149612903595, + -3.0347379614883145, + -0.033485013991594315, + -0.057509340345859535, + 1.0 + ], + [ + 0.2827877402305603, + 0.03094884380698204, + 0.08363717794418335, + -3.0600987692647657, + -0.07691773027181625, + -0.05037107318639755, + 1.0 + ], + [ + 0.28146031498908997, + 0.03601018339395523, + 0.12949711084365845, + -3.1366571743325373, + -0.13484199345111847, + -0.042916297912597656, + 1.0 + ], + [ + 0.27561211585998535, + 0.04020337387919426, + 0.1488400250673294, + 3.121019208925315, + -0.13856089115142825, + -0.04533106088638306, + 1.0 + ], + [ + 0.27561211585998535, + 0.04020337387919426, + 0.1488400250673294, + 3.1216610615425786, + -0.13865408301353455, + -0.04997662827372551, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.014131784439086914, + 0.014131784439086914, + 0.014131784439086914, + 0.014131784439086914, + 0.014131784439086914, + 0.014131784439086914, + 0.014131784439086914, + 0.014131784439086914, + 0.014131784439086914, + 0.014131784439086914, + 0.014131784439086914, + 0.061691224575042725, + 0.3368593454360962, + 0.6063922345638275, + 0.6447625160217285, + 0.6168128550052643, + 0.6168128550052643, + 0.6168128550052643, + 0.6168128550052643, + 0.6168128550052643, + 0.5486990511417389, + 0.2631101608276367, + 0.02981734275817871, + 0.011358082294464111, + 0.012741804122924805, + 0.012741804122924805, + 0.012741804122924805 + ], + "episode_id": "2887", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2887/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2888.json b/annotation/test/2888.json new file mode 100644 index 0000000000000000000000000000000000000000..e20300795008403c2e531b942122752dcbb50c90 --- /dev/null +++ b/annotation/test/2888.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "open fridge" + ], + "videos": [ + { + "video_path": "videos/test/2888/rgb.mp4" + } + ], + "action": [ + [ + -0.00046518726601980253, + 0.00023891558897597034, + 0.0007311820794391681, + -0.0009642911962979008, + -0.00289383347374724, + -0.0012034693748041747, + 1.0 + ], + [ + -0.002711556849613199, + 0.006661791541900808, + 0.005476341545913021, + -0.013813456019909246, + -0.029127497809324568, + 0.005562203069471873, + 1.0 + ], + [ + 0.002663456914869251, + 0.04398061856256668, + 0.007691661067222509, + -0.03948564980286411, + -0.0747328448226325, + 0.05208457691787367, + 1.0 + ], + [ + 0.0029693669129388267, + 0.04098171779064314, + -0.0021919843793603098, + -0.03659008335915361, + 0.029591305983337018, + 0.05606411304477947, + 1.0 + ], + [ + 0.004325237202731623, + 0.03343932548062192, + -0.004904279577076187, + -0.03143090429084386, + 0.05492373521979225, + 0.045432922660445824, + 1.0 + ], + [ + 0.00717906415881893, + 0.03614854516400685, + -0.006013406023321792, + -0.023567396213819255, + 0.11338848199806807, + 0.044275092777400264, + 1.0 + ], + [ + 0.010086636491146028, + 0.02616375381700387, + 0.0031836051908308576, + 0.007230651002492139, + 0.06486550540297961, + 0.011659107361288926, + 1.0 + ], + [ + 0.01752508980837746, + 0.017213737628167892, + 0.014630602218414288, + 0.01368141851439422, + 0.010841440524277733, + 0.02479563838299184, + 1.0 + ], + [ + 0.01729460582573548, + 0.0057098155686864625, + 0.011377768320831825, + 0.005748805414821039, + 0.02362418570983855, + -0.003960063447066512, + 1.0 + ], + [ + 0.00898707958994792, + 0.003942022501913357, + 0.014896387212449048, + 0.014411054605844895, + 0.05312616231576036, + 0.03376937804205311, + 1.0 + ], + [ + 0.005001564857458679, + 0.003078857821088624, + 0.009070021464373764, + -0.012529074831030497, + 0.03203572265233844, + 0.0008894827174058231, + 1.0 + ], + [ + 0.009546462142738235, + 0.005984055743463238, + 0.0002401990817019984, + -0.004195556246469236, + 0.06394728832477975, + -0.003699241460921363, + 1.0 + ], + [ + 0.0072167681197919135, + 0.004425731166903107, + -0.0002602355537107854, + 0.005828784951983845, + 0.06013774108100786, + -0.011216796629790212, + 1.0 + ], + [ + 0.0012611322846070765, + 0.0018001341203235407, + 0.0018289618971459836, + 0.006271388699265949, + 0.01391044293715246, + -0.013458376356029488, + 1.0 + ], + [ + -0.00027498753629426044, + 6.980194637270957e-05, + 0.00010256975115250614, + 0.006993593850499039, + 0.004358883616777083, + -0.007261900051500102, + 0.0 + ], + [ + -0.00689674844615612, + -7.383849918768448e-05, + 0.0010384591288908282, + -0.0015271066998942143, + -0.003256180892057952, + -0.0024799275633659652, + 0.0 + ], + [ + -0.021458800110058532, + -0.009589285894576412, + -0.013533186681805136, + -0.022830224281793488, + -0.0305081686643399, + 0.025183771686442615, + 0.0 + ], + [ + -0.025508570906995705, + -0.011057685974538732, + -0.013522902382834648, + -0.017196018653238318, + -0.02045756146088297, + 0.0204661091430976, + 0.0 + ], + [ + -0.020369750533408656, + -0.014775767990607279, + -0.018461737609979847, + 0.006023578151418061, + -0.03550012696329339, + -0.026996857424356882, + 0.0 + ], + [ + -0.015621771492548566, + -0.0028008737132516003, + -0.010540465237004526, + -0.0325872342375201, + -0.06876547829934383, + -0.009022290325863555, + 1.0 + ], + [ + -0.028955762594376728, + 0.004577032083417276, + -0.0055497718728746434, + 0.004471108340113733, + -0.06750500749372582, + 0.0036309718229675185, + 1.0 + ], + [ + -0.02906459435307057, + 0.013451073824269171, + 0.001483987384146688, + 0.0301114308179799, + -0.09183806330295186, + -0.0071202472862436725, + 1.0 + ], + [ + -0.010328864227670863, + 0.015977192373120112, + 0.001583659400690236, + -0.006773654413177562, + -0.02471361876266462, + 0.045505755447669605, + 1.0 + ], + [ + 0.008703185748256756, + 0.024140766433316717, + 0.008929911683688618, + -0.001763393992716373, + -0.024831422498079965, + 0.04067443944366376, + 1.0 + ], + [ + 0.03427502825586665, + 0.017915837862006626, + 0.00018602664314688685, + -0.013860098085206765, + 0.011354733852511957, + -0.005323139956768916, + 1.0 + ], + [ + 0.024683920321444255, + 0.010718100983329988, + 0.0066086900245247516, + 0.010169639090909578, + 0.03009642298638376, + 0.027369752739457378, + 1.0 + ], + [ + 0.014040794294426168, + 0.0014917087117728592, + 0.002701126776767111, + 0.03161536404374201, + 0.055617611561441176, + -0.006961076946249233, + 1.0 + ], + [ + 0.00950549564020491, + -0.005143243746902286, + -0.002069984442851052, + 0.0008315079596118635, + 0.023818471131848106, + -0.011740778803436039, + 1.0 + ], + [ + 0.007324923397656298, + -0.015694725925427273, + 0.0015723542017897466, + 0.04342005667515926, + 0.031437434922341495, + -0.028356435610004924, + 1.0 + ], + [ + -0.00999066142157689, + -0.024970222440459083, + 0.0021731435388536967, + 0.09550157641909669, + 0.016644363873881598, + -0.016042686426657165, + 1.0 + ], + [ + -0.008275732827193634, + -0.026510826017064407, + -0.008766423661331483, + 0.023694245828886802, + 0.011241303357747316, + -0.050668507076100745, + 1.0 + ], + [ + -0.01719181454370839, + -0.02659434740347088, + -0.004423810515593366, + -0.015951728844799343, + -0.028956002025935453, + -0.01486591596244695, + 1.0 + ], + [ + -0.019580624287852035, + -0.030331901143594214, + -0.0023319417219184375, + 0.009216582839773585, + 0.021602766573293422, + -0.0336904830489743, + 1.0 + ], + [ + -0.010331006823303866, + -0.029712413333486138, + 0.008669161907239323, + 0.01604001564146253, + -0.01838196613426915, + -0.03971806371272094, + 1.0 + ], + [ + -0.0008614089289493528, + -0.023649917216498614, + 0.0053217046790923475, + 0.009803599131591874, + -0.005957260626015514, + -0.03792417257328283, + 1.0 + ], + [ + 0.005893681952223356, + -0.018951565667703313, + 0.009968450456316294, + 0.010626090197738195, + 0.009498467940631241, + -0.01785614728978364, + 1.0 + ], + [ + 0.011697367955915444, + -0.026576721985675497, + 0.008888012615106513, + -0.014523210130559999, + 0.048891865726852966, + 0.005148582236151102, + 1.0 + ], + [ + 0.01390380722611524, + -0.022789809056667814, + 0.0025456577723931926, + -0.009724333594209742, + 0.007686371504244938, + -0.03218042851454166, + 1.0 + ] + ], + "state": [ + [ + 0.23159259557724, + 0.14545106887817383, + 0.10543709993362427, + -2.9942897131019315, + -0.10186973959207535, + 0.1757205128669739, + 1.0 + ], + [ + 0.23123542964458466, + 0.1452566236257553, + 0.10463539510965347, + -2.9954186399751386, + -0.09918374568223953, + 0.1773436516523361, + 1.0 + ], + [ + 0.23022416234016418, + 0.1391899734735489, + 0.09801003336906433, + -3.0090447535091123, + -0.06955672800540924, + 0.1760820150375366, + 1.0 + ], + [ + 0.24121810495853424, + 0.09789905697107315, + 0.08479095995426178, + -3.04537324805791, + 0.011461593210697172, + 0.13447445631027222, + 1.0 + ], + [ + 0.24963775277137756, + 0.05766186863183975, + 0.08300173282623291, + -3.0827588607841214, + -0.012629604898393154, + 0.07584260404109956, + 1.0 + ], + [ + 0.25646448135375977, + 0.024413712322711945, + 0.0859856903553009, + -3.113555796565958, + -0.06477297842502594, + 0.02722330577671528, + 1.0 + ], + [ + 0.26429063081741333, + -0.011689551174640656, + 0.09143757820129395, + -3.1338551362329206, + -0.17680250108242035, + -0.02067231386899948, + 1.0 + ], + [ + 0.27427300810813904, + -0.03803986310958862, + 0.08987847715616226, + -3.124405875923582, + -0.24156248569488525, + -0.033171042799949646, + 1.0 + ], + [ + 0.2942856550216675, + -0.055673036724328995, + 0.07957987487316132, + -3.1045593937211713, + -0.25189918279647827, + -0.058962050825357444, + 1.0 + ], + [ + 0.31357550621032715, + -0.06210556626319885, + 0.07267457246780396, + -3.0995988604896745, + -0.27565255761146545, + -0.05575950816273689, + 1.0 + ], + [ + 0.3261147439479828, + -0.06612380594015121, + 0.06064000725746155, + -3.074819142120429, + -0.3271287977695465, + -0.09369473904371263, + 1.0 + ], + [ + 0.33356040716171265, + -0.06930115073919296, + 0.05348271131515503, + -3.0862757210903844, + -0.3590321838855743, + -0.09692493826150893, + 1.0 + ], + [ + 0.3420788645744324, + -0.07611913233995438, + 0.056302741169929504, + -3.090416895347186, + -0.4230860471725464, + -0.09675728529691696, + 1.0 + ], + [ + 0.34818655252456665, + -0.08116602897644043, + 0.05929632484912872, + -3.0882639606767377, + -0.483703464269638, + -0.08759932965040207, + 1.0 + ], + [ + 0.3500405550003052, + -0.08303548395633698, + 0.0581810437142849, + -3.0887142216139516, + -0.4982688128948212, + -0.07314535975456239, + 1.0 + ], + [ + 0.3498455286026001, + -0.08308564871549606, + 0.05795641243457794, + -3.0855513160401067, + -0.5029919743537903, + -0.06513148546218872, + 0.0 + ], + [ + 0.3443211317062378, + -0.0825931578874588, + 0.053727053105831146, + -3.088538473593541, + -0.4998778700828552, + -0.06210244819521904, + 0.0 + ], + [ + 0.3193657100200653, + -0.07216612249612808, + 0.05574831739068031, + -3.098722504573413, + -0.4679286777973175, + -0.08845427632331848, + 0.0 + ], + [ + 0.29133009910583496, + -0.05917070433497429, + 0.05672408640384674, + -3.1061316189640245, + -0.44651710987091064, + -0.11014761030673981, + 0.0 + ], + [ + 0.26647624373435974, + -0.04222400113940239, + 0.06504159420728683, + -3.113405056419321, + -0.4118085503578186, + -0.07935050874948503, + 0.0 + ], + [ + 0.24816834926605225, + -0.03825761377811432, + 0.06851647794246674, + 3.1325995327257594, + -0.34329923987388605, + -0.06773889809846878, + 1.0 + ], + [ + 0.21878080070018768, + -0.04080122709274292, + 0.06403458118438721, + 3.138533004913949, + -0.2758264839649201, + -0.07213421165943146, + 1.0 + ], + [ + 0.19030971825122833, + -0.052234552800655365, + 0.05473077669739723, + -3.1164480933272323, + -0.18396061658859253, + -0.06520773470401764, + 1.0 + ], + [ + 0.17950084805488586, + -0.06749498844146729, + 0.0508900061249733, + -3.1149307173960885, + -0.15792471170425415, + -0.11062888801097871, + 1.0 + ], + [ + 0.18690110743045807, + -0.09235811978578568, + 0.04280754178762436, + -3.110363246994563, + -0.13189122080802917, + -0.1509643793106079, + 1.0 + ], + [ + 0.2178967148065567, + -0.11518046259880066, + 0.04657614976167679, + -3.1248815601044377, + -0.1434049904346466, + -0.14594721794128418, + 1.0 + ], + [ + 0.24148470163345337, + -0.129367858171463, + 0.04338662326335907, + -3.1106681694560727, + -0.17298360168933868, + -0.17422594130039212, + 1.0 + ], + [ + 0.25532805919647217, + -0.13323354721069336, + 0.04309837892651558, + -3.079930720972367, + -0.22878740727901456, + -0.1688578873872757, + 1.0 + ], + [ + 0.2647626996040344, + -0.12976384162902832, + 0.04757509008049965, + -3.081486290442296, + -0.25327178835868835, + -0.15827275812625885, + 1.0 + ], + [ + 0.27440449595451355, + -0.11534242331981659, + 0.04880378022789955, + -3.0449568798118314, + -0.2862645387649536, + -0.13075008988380432, + 1.0 + ], + [ + 0.2681009769439697, + -0.08923433721065521, + 0.04621894657611847, + -2.9537024815850934, + -0.30434855818748474, + -0.11569874733686446, + 1.0 + ], + [ + 0.2590383291244507, + -0.0636100247502327, + 0.056679580360651016, + -2.9452824910455426, + -0.32449349761009216, + -0.06540108472108841, + 1.0 + ], + [ + 0.24139612913131714, + -0.037179846316576004, + 0.06022730469703674, + -2.967939930158206, + -0.29892492294311523, + -0.044240307062864304, + 1.0 + ], + [ + 0.22178798913955688, + -0.006810144055634737, + 0.061664335429668427, + -2.9679127653413495, + -0.3258883059024811, + -0.013162327930331228, + 1.0 + ], + [ + 0.21349625289440155, + 0.0240651722997427, + 0.05513183772563934, + -2.9662348200851163, + -0.3143432438373565, + 0.031310819089412696, + 1.0 + ], + [ + 0.21226367354393005, + 0.048254095017910004, + 0.05380597338080406, + -2.9690366705232343, + -0.31485244631767273, + 0.07167786359786987, + 1.0 + ], + [ + 0.2184218168258667, + 0.06913043558597565, + 0.04938748851418495, + -2.9636442085080823, + -0.3272339999675751, + 0.08853131532669067, + 1.0 + ], + [ + 0.22829781472682953, + 0.09784641116857529, + 0.049318578094244, + -2.9732284267717084, + -0.3744094073772431, + 0.07379800826311113, + 1.0 + ], + [ + 0.2390376776456833, + 0.121597059071064, + 0.05562204495072365, + -2.995046841102191, + -0.3871958255767822, + 0.10666778683662415, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.05079597234725952, + 0.3218126893043518, + 0.6185365319252014, + 0.7667048275470734, + 0.7500266283750534, + 0.7071579098701477, + 0.4438999891281128, + 0.1482418179512024, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "2888", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2888/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/29.json b/annotation/test/29.json new file mode 100644 index 0000000000000000000000000000000000000000..bb488c6c155fe5f01711db8ca826a406f5e4b380 --- /dev/null +++ b/annotation/test/29.json @@ -0,0 +1,945 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Place the pan on the far edge of the table" + ], + "videos": [ + { + "video_path": "videos/test/29/rgb.mp4" + } + ], + "action": [ + [ + -0.0003635667025789133, + -0.00032208963077604437, + 0.00034697004586183423, + 0.0016358158853158776, + -0.0013471480067164105, + 0.00046312933840456625, + 1.0 + ], + [ + -0.004492042383550558, + -0.001922331185227402, + 0.011121811536799135, + 0.0059908032054396465, + -0.036121260912043686, + -0.006922036743827128, + 1.0 + ], + [ + -0.02206228855153772, + -0.00507703465312516, + -0.0038749250327810006, + 0.020133644245490162, + -0.0347944128552587, + 0.005782620656111792, + 1.0 + ], + [ + -0.02972031325620503, + 0.003008248221088627, + -0.016877700146259694, + -0.025415131834147942, + 0.003911003429130244, + 0.004011207505638098, + 1.0 + ], + [ + -0.01627666855092541, + -0.003789301053423843, + -0.008406081116089151, + -0.0031588137166259113, + -0.009857205999229865, + 0.007123725072673437, + 1.0 + ], + [ + -0.013937081961890965, + -0.02182730603859807, + -0.003461837378382897, + 0.003996980561217497, + 0.02004671003148824, + -0.049520358529089994, + 1.0 + ], + [ + -0.006080466789713443, + -0.01324217817043565, + 0.01024099853215569, + 0.00959600558407379, + -0.004468426525013328, + 0.015270133695964161, + 1.0 + ], + [ + -0.0064867041082051526, + -0.012493326702719017, + 0.011126527281341666, + 0.016472454195489154, + -0.004681631335075407, + 0.014317557646079565, + 1.0 + ], + [ + -0.00178175177778347, + -0.004140955967616141, + 0.016789651278419263, + 0.010868722270732843, + -0.00920041534447954, + 0.01874673568661054, + 1.0 + ], + [ + -0.011173594167619576, + -0.00488607511545154, + 0.026836193693418105, + 0.01587906473524033, + -0.04124866532682104, + 0.030076847829528828, + 1.0 + ], + [ + -0.00737644553583046, + 0.0023081349841531018, + 0.02102321099521316, + -0.026852730186819742, + 0.005165937498645255, + 0.02674106020294737, + 1.0 + ], + [ + -0.0023225768504873895, + -0.0023260726811336644, + 0.011026999188861675, + 0.006038031724340088, + 0.010640284388049193, + 0.020897391731339397, + 1.0 + ], + [ + -0.006326198568807257, + -0.005049727306733958, + 0.008091364782261525, + 0.02082866720868315, + -0.01776827573977735, + 0.02164910048087455, + 1.0 + ], + [ + -0.007562754879479587, + -0.01783309159195, + 0.0014254873201519154, + 0.014559760795373754, + -0.007980026925722543, + -0.05499576261310751, + 1.0 + ], + [ + -0.0027920419572497295, + -0.014532980833482947, + 0.0027746268190456027, + 0.013430952885008592, + -0.008647459486298739, + -0.04051898721284552, + 1.0 + ], + [ + -0.0008858564799424751, + -0.0039303174242194755, + 0.0008105294258734711, + 0.0022873369191748084, + -0.0038446904912165453, + -0.017491003723957524, + 1.0 + ], + [ + -0.000781795940906989, + 0.003663189915043932, + 0.012271668163037012, + -0.007295068012500896, + -0.024615072176211224, + 0.016002483187694, + 1.0 + ], + [ + -0.00041448198311570247, + 0.009020766836376117, + 0.013201942319546802, + -0.008002930565436668, + -0.013630096883763982, + 0.025500699119847953, + 1.0 + ], + [ + 0.0027677144249387015, + 0.0007969562072654005, + 0.00026719006764017444, + -0.00038845878968474576, + 0.018762430224739716, + 0.001475147528608217, + 1.0 + ], + [ + -0.0004344050789474021, + -0.0002679204900473194, + 0.00018956275832646613, + 0.0026370806701822122, + 0.00571326121796434, + -0.008227862905922992, + 1.0 + ], + [ + 0.0010234598464704512, + 0.00019764705034412211, + -0.0045430485838896225, + 0.002917453625833347, + 0.01965469231733071, + 0.010609136962431067, + 0.0 + ], + [ + -8.203703668675147e-05, + 0.0010300310356297707, + -0.0018107601538262632, + -0.005326589417585097, + 0.0012411172141105857, + 0.0006489242827642428, + 0.0 + ], + [ + -9.233967508716561e-05, + 0.002000850991415645, + -0.0014210536803959532, + -0.009432904922382511, + 0.0006043226739095105, + 0.001844365173194162, + 0.0 + ], + [ + -7.115063129044929e-05, + 0.0012518570151256352, + 6.640960205382976e-05, + -0.0035075642951458764, + -0.001035871056314056, + -0.005212037211568807, + 0.0 + ], + [ + -0.0018204629479722369, + 0.002650210930526089, + -0.0027433843665526482, + -0.013369825492618037, + -0.01757739513259551, + -0.006841534465742776, + 0.0 + ], + [ + 0.014345026081059739, + 0.014282312352518053, + -0.032381013646162, + -0.02120265352507024, + 0.026455895833857997, + 0.022920004711733992, + 0.0 + ], + [ + 0.009582189935770816, + 0.008272059022162844, + -0.02757684167157382, + -0.007515953716383265, + 0.020609718813889365, + 0.00848919448249401, + 0.0 + ], + [ + 0.008600454044405806, + -0.004949472328025323, + -0.019826831233455217, + 0.009038324474243967, + 0.014745855583803704, + -0.03195630224478747, + 0.0 + ], + [ + 0.02067472772934106, + -0.016568849230379764, + -0.01457856456340912, + 0.01265565131974577, + 0.04161055571394139, + -0.0554198999627138, + 0.0 + ], + [ + 0.022184937097274378, + -0.014158742631040205, + -0.00029991212928728086, + 0.009345039798293514, + 0.015190724532852296, + -0.04269282478846404, + 0.0 + ], + [ + 0.01676486052683202, + -0.008428185460534266, + 0.005735455314648377, + 0.003387457442030804, + -0.0022140465796983916, + -0.023543631527950696, + 0.0 + ], + [ + 0.007562956661259082, + -0.005715100784248227, + 0.017339665262626442, + 0.0010914040411674592, + -0.03417567762304681, + -0.013528082253752537, + 0.0 + ], + [ + 0.004657043353221815, + -0.006612591749685777, + 0.017898857341155122, + 0.001076494011655329, + -0.029062847820831714, + -0.011944595715419845, + 0.0 + ], + [ + 0.009502365459294407, + -0.008561334414190897, + 0.01476455277015483, + 0.004256563928968302, + -0.008975887615119318, + -0.014981312683053749, + 0.0 + ], + [ + 0.007868229075800873, + -0.009338508508028982, + 0.010440967378418138, + 0.002315693016205538, + -0.00826497473785342, + -0.020057084067381367, + 0.0 + ], + [ + 0.0055999028611665195, + -0.009776995987757057, + 0.009428097039864596, + 0.002336514290409428, + -0.008061036721834223, + -0.027725055807222725, + 0.0 + ], + [ + 0.00014828630751299393, + -0.006091242370285544, + 0.016905226753282324, + 0.002691157895364956, + -0.01412663569407028, + -0.007390678257744248, + 0.0 + ], + [ + 0.001135521499713572, + -0.007055224560895217, + 0.008486569921505859, + 0.0015590322357191615, + -0.002583264049268518, + -0.02195214673797887, + 0.0 + ], + [ + 2.90259112891231e-05, + -0.0031574815578074163, + 0.006488316285938249, + 0.00030842551491745804, + -0.0036716886234836104, + -0.010769970997790179, + 0.0 + ], + [ + -7.950562536735478e-05, + -0.0037203714515943492, + 0.00499202165609316, + 0.015879465678555065, + -0.002936347651695155, + -0.036704535158021405, + 0.0 + ], + [ + -0.0006583140330308857, + -0.0023620777363844037, + 0.0005477524906916969, + 0.01458722572368571, + -0.00422081132009189, + -0.019865002577188186, + 1.0 + ], + [ + -0.0005008559524064053, + -0.0004160712461805914, + 0.0003047063771750504, + 0.0024616648368783168, + -0.001687996171505013, + -0.007515881032603975, + 1.0 + ], + [ + -0.0015826301292051319, + 0.0018037811407577836, + 0.0012637655806587735, + -0.008593586551959931, + -0.004100464700276844, + 0.005278681453056395, + 1.0 + ], + [ + -0.0024480823973328336, + 0.005220893985687001, + 0.0008640288630084414, + -0.033569904478828884, + -0.0075823731487185495, + 0.005394954714447501, + 1.0 + ], + [ + 0.004960329001735635, + 0.00727313370256322, + -0.0285035353332054, + -0.016966728636708003, + 0.06574470236686125, + 0.021945203974985977, + 1.0 + ], + [ + -0.00019728015684527294, + 0.011761889551767882, + -0.022490020429306843, + -0.01718996857628115, + 0.02197935788137293, + 0.029447685169539495, + 1.0 + ], + [ + -0.0005208316206091896, + 0.0077724207732847075, + -0.024363475854120378, + -0.0050298909295275985, + 0.024283310195222823, + 0.019311999592518184, + 1.0 + ], + [ + -0.0005992232783161716, + 0.008247066496307461, + -0.02152682732979154, + -0.004372516026974564, + 0.018941199537283335, + 0.010231860005069713, + 1.0 + ] + ], + "state": [ + [ + 0.36950016021728516, + -0.004583870526403189, + 0.1658581644296646, + 2.9893424828820905, + -0.2592111825942993, + 0.2004845142364502, + 1.0 + ], + [ + 0.36920127272605896, + -0.004373435862362385, + 0.16538625955581665, + 2.9911537041240415, + -0.2579497992992401, + 0.1997997760772705, + 1.0 + ], + [ + 0.36771920323371887, + -0.004435042850673199, + 0.15332938730716705, + 2.996672364073344, + -0.22119900584220883, + 0.20126235485076902, + 1.0 + ], + [ + 0.34484612941741943, + -0.003403283888474107, + 0.15151448547840118, + 3.019126350181647, + -0.18759164214134216, + 0.19032803177833557, + 1.0 + ], + [ + 0.31321439146995544, + -0.010438377037644386, + 0.16279029846191406, + 2.994376616674014, + -0.19196219742298123, + 0.18675911426544187, + 1.0 + ], + [ + 0.2951349914073944, + -0.008785170502960682, + 0.167301744222641, + 2.9928637762838086, + -0.1832495480775833, + 0.17812225222587583, + 1.0 + ], + [ + 0.2776985466480255, + 0.01053033210337162, + 0.16494810581207275, + 2.987388076382228, + -0.19548991322517392, + 0.2310691773891449, + 1.0 + ], + [ + 0.27155396342277527, + 0.020911097526550293, + 0.1518450826406479, + 3.0001242478662213, + -0.19339518249034882, + 0.21499429643154144, + 1.0 + ], + [ + 0.2654297947883606, + 0.03062797337770462, + 0.13805969059467316, + 3.019514465826102, + -0.19075743854045868, + 0.19988569617271426, + 1.0 + ], + [ + 0.2664955258369446, + 0.032951418310403824, + 0.12086433172225952, + 3.034206139045306, + -0.18387070298194885, + 0.17982043325901031, + 1.0 + ], + [ + 0.26022690534591675, + 0.03382597863674164, + 0.0920746847987175, + 3.056399041908332, + -0.14597392082214355, + 0.14515140652656552, + 1.0 + ], + [ + 0.2565836012363434, + 0.029161307960748672, + 0.0704718604683876, + 3.0334309508376798, + -0.15334574878215787, + 0.11863622069358826, + 1.0 + ], + [ + 0.2558723986148834, + 0.030206583440303802, + 0.05903502181172371, + 3.042523333924361, + -0.1661497801542282, + 0.0987369120121002, + 1.0 + ], + [ + 0.2506546080112457, + 0.0339350625872612, + 0.04955536872148514, + 3.0672605653577527, + -0.1505642831325531, + 0.07517298310995102, + 1.0 + ], + [ + 0.24228158593177795, + 0.051032502204179764, + 0.04570614919066429, + 3.0737153609567365, + -0.138301283121109, + 0.12994498014450073, + 1.0 + ], + [ + 0.23819822072982788, + 0.06493189185857773, + 0.04160314053297043, + 3.081662355112382, + -0.12681597471237183, + 0.17010478675365445, + 1.0 + ], + [ + 0.23680642247200012, + 0.06862428784370422, + 0.040455009788274765, + 3.081762859719344, + -0.12191171199083328, + 0.18746279180049896, + 1.0 + ], + [ + 0.2382996678352356, + 0.0644388422369957, + 0.02841855399310589, + 3.0765905176573476, + -0.09827890247106552, + 0.16993731260299685, + 1.0 + ], + [ + 0.2407778948545456, + 0.05486072599887848, + 0.015850523486733437, + 3.071197176473685, + -0.08629968762397766, + 0.14350883662700653, + 1.0 + ], + [ + 0.24364130198955536, + 0.05445226654410362, + 0.015879390761256218, + 3.0708094482594213, + -0.10511939972639082, + 0.14335638284683225, + 1.0 + ], + [ + 0.24319906532764435, + 0.054644905030727386, + 0.015626922249794006, + 3.0725389440828046, + -0.11023253947496414, + 0.1520201712846756, + 1.0 + ], + [ + 0.24369265139102936, + 0.05483816936612129, + 0.020257780328392982, + 3.0764698033505162, + -0.13056766986846924, + 0.14271529018878937, + 0.0 + ], + [ + 0.24350006878376007, + 0.0538911409676075, + 0.022105101495981216, + 3.0712176134162625, + -0.13184836506843564, + 0.14214354753494263, + 0.0 + ], + [ + 0.24347525835037231, + 0.05197229981422424, + 0.023637667298316956, + 3.0620231871777257, + -0.13258066773414612, + 0.1403303295373917, + 0.0 + ], + [ + 0.24357634782791138, + 0.05072096362709999, + 0.02366127446293831, + 3.057834843295165, + -0.13113205134868625, + 0.14548781514167786, + 0.0 + ], + [ + 0.2417578101158142, + 0.04801734909415245, + 0.026353346183896065, + 3.0437496175342282, + -0.11304204165935516, + 0.15086817741394043, + 0.0 + ], + [ + 0.25376081466674805, + 0.0386643186211586, + 0.06137823686003685, + 3.0248371084504804, + -0.14158692955970767, + 0.13044610619544986, + 0.0 + ], + [ + 0.2598503530025482, + 0.034417036920785904, + 0.09079941362142563, + 3.0181607623868665, + -0.16304261982440948, + 0.12433619797229767, + 0.0 + ], + [ + 0.2642883360385895, + 0.04238177463412285, + 0.11100920289754868, + 3.021730939047881, + -0.17365002632141113, + 0.1583743393421173, + 0.0 + ], + [ + 0.27939650416374207, + 0.06321850419044495, + 0.12688621878623962, + 3.023911418514796, + -0.20802186429500577, + 0.2196536064147949, + 0.0 + ], + [ + 0.2977852523326874, + 0.08176694810390472, + 0.13013283908367157, + 3.024015898006507, + -0.2178902626037598, + 0.2649017870426178, + 0.0 + ], + [ + 0.3129621148109436, + 0.0938594713807106, + 0.1272304207086563, + 3.022321472065993, + -0.21287082135677335, + 0.2885570228099823, + 0.0 + ], + [ + 0.3226456940174103, + 0.10050098598003387, + 0.11133566498756409, + 3.021338315802165, + -0.1773189604282379, + 0.2980642318725586, + 0.0 + ], + [ + 0.32886022329330444, + 0.10703156888484955, + 0.09388531744480133, + 3.0208753441744527, + -0.1470268964767456, + 0.3065226078033447, + 0.0 + ], + [ + 0.3379850387573242, + 0.11696916073560715, + 0.07975855469703674, + 3.0230992903285703, + -0.13629820942878723, + 0.32044237852096563, + 0.0 + ], + [ + 0.3443307876586914, + 0.1275450736284256, + 0.06946233659982681, + 3.0228385125570973, + -0.1256956905126572, + 0.33953151106834417, + 0.0 + ], + [ + 0.34795165061950684, + 0.13793529570102692, + 0.05972733721137047, + 3.0218601693683347, + -0.11436251550912858, + 0.36627975106239324, + 0.0 + ], + [ + 0.3485122323036194, + 0.14246489107608795, + 0.04234687611460686, + 3.023893268900462, + -0.09945240616798401, + 0.3719574809074402, + 0.0 + ], + [ + 0.3482368588447571, + 0.14880844950675964, + 0.03324902430176735, + 3.0233354588323316, + -0.09428637474775314, + 0.39355015754699707, + 0.0 + ], + [ + 0.347947359085083, + 0.151254341006279, + 0.026466503739356995, + 3.022679390507289, + -0.0893647149205208, + 0.40385273098945623, + 0.0 + ], + [ + 0.34709861874580383, + 0.1542648822069168, + 0.021082820370793343, + 3.0354044531756124, + -0.0820373296737671, + 0.4400710761547089, + 0.0 + ], + [ + 0.3455881178379059, + 0.15608559548854828, + 0.020236527547240257, + 3.048424119251319, + -0.0757196396589279, + 0.4594320356845856, + 1.0 + ], + [ + 0.3449925482273102, + 0.15622150897979736, + 0.01985752582550049, + 3.0503324588113507, + -0.07333770394325258, + 0.4667780101299286, + 1.0 + ], + [ + 0.34451478719711304, + 0.1538403332233429, + 0.01865038275718689, + 3.0421531071239194, + -0.06973420083522797, + 0.4611339271068573, + 1.0 + ], + [ + 0.34469884634017944, + 0.1480349749326706, + 0.018139183521270752, + 3.009009542065211, + -0.0627235621213913, + 0.45500096678733826, + 1.0 + ], + [ + 0.3490131199359894, + 0.14631463587284088, + 0.04760751128196716, + 2.99259044428403, + -0.13078606128692627, + 0.44186943769454956, + 1.0 + ], + [ + 0.3495548367500305, + 0.1373968869447708, + 0.07136382162570953, + 2.978828342753001, + -0.15684883296489716, + 0.4156976640224457, + 1.0 + ], + [ + 0.3469715416431427, + 0.13218842446804047, + 0.09627284109592438, + 2.976171301799365, + -0.18392232060432437, + 0.400322437286377, + 1.0 + ], + [ + 0.34441274404525757, + 0.1261218637228012, + 0.11837322264909744, + 2.9730752130323133, + -0.20428523421287537, + 0.3932029604911805, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.02981734275817871, + 0.3258223533630371, + 0.6116192042827606, + 0.8323958069086075, + 0.9240835085511208, + 0.9325748234987259, + 0.9328778758645058, + 0.9370363429188728, + 0.9376176372170448, + 0.9379071295261383, + 0.9381957650184631, + 0.9410393536090851, + 0.9410393536090851, + 0.9410393536090851, + 0.9410393536090851, + 0.9410393536090851, + 0.9410393536090851, + 0.9410393536090851, + 0.9410393536090851, + 0.9410393536090851, + 0.9170585051178932, + 0.757451057434082, + 0.48796534538269043, + 0.18319201469421387, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "29", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/29/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2905.json b/annotation/test/2905.json new file mode 100644 index 0000000000000000000000000000000000000000..829f14137857eb456e82beefdad2bc1e2cee3e5d --- /dev/null +++ b/annotation/test/2905.json @@ -0,0 +1,565 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put sushi on plate" + ], + "videos": [ + { + "video_path": "videos/test/2905/rgb.mp4" + } + ], + "action": [ + [ + 1.0638558896091956e-05, + 0.00032433098434399613, + -1.712406762586942e-05, + -0.00012409626719267255, + 8.476774490260356e-05, + 0.0015265704908096391, + 1.0 + ], + [ + -0.000938638208779249, + -0.0001647329794708751, + 0.00621127992621071, + 0.0014072934341881804, + -0.021469416337863756, + 0.0008065879570285188, + 1.0 + ], + [ + 0.03164827836006994, + -0.005491097393747723, + 0.023530347363432364, + 0.03018026596659874, + -0.025943789336812403, + 0.02865562726213346, + 1.0 + ], + [ + 0.027343026994892366, + -0.006896531268067386, + 0.011963397499369106, + -8.33324313076295e-06, + 0.014595508892069668, + 0.05019494601401721, + 1.0 + ], + [ + 0.023952384340698782, + -0.007596663383646856, + 0.00867443056813741, + -0.031015693599973068, + 0.03151076420601342, + 0.06870331206141136, + 1.0 + ], + [ + 0.018921932486017395, + -0.014405354842556211, + 0.013258376630479136, + -0.031070060985346926, + 0.007633341737787981, + 0.015321950682239394, + 1.0 + ], + [ + 0.018553003539813488, + -0.012027764168018281, + 0.010938221690990596, + -0.05371696437867641, + 0.04073908922723063, + 0.045596989358759096, + 1.0 + ], + [ + 0.01076471061851572, + -0.0066102788977906585, + 0.016692065677203497, + -0.017089077925721303, + 0.001185778555491351, + 0.03624542537750925, + 1.0 + ], + [ + -0.0005359850988295302, + 0.0012470353934066225, + 0.011852044788678183, + -0.020591696373968904, + -0.016345642670145516, + 0.018656365242580655, + 1.0 + ], + [ + 0.0006752513838450886, + 0.003332311511987456, + 0.003578041567087477, + 0.00042361220199584846, + -0.008552642496214954, + 0.01377465121826892, + 1.0 + ], + [ + -0.0009598886369182854, + 0.0006343987422227122, + 0.0015979560519714727, + 0.013800277157443155, + -0.013725523205675043, + -0.00021195653700400004, + 1.0 + ], + [ + -0.0033363655473233893, + 0.0018653125217118378, + 0.0006299339656057235, + 0.0023494684405182425, + -0.0065309825667752295, + -0.024283782974848064, + 0.0 + ], + [ + -0.0065046517403808644, + 0.001965014938227296, + -0.0022628090423341563, + 0.03457409027788086, + -0.05517140967172027, + -0.03600958906265152, + 0.0 + ], + [ + -0.011304728259943036, + 0.010222429382168885, + -0.02869516895908271, + -0.010946404326799948, + 0.0372508373023977, + -0.05770189727499039, + 0.0 + ], + [ + -0.02381778749012244, + 0.028456022113607406, + -0.02172457523522158, + 0.002907150373327273, + 0.008442007566140195, + 0.06156425704748743, + 0.0 + ], + [ + -0.02601708454169059, + 0.04517180198575136, + -0.0007792705047201749, + -0.0023293335797675762, + -0.021522044161797975, + 0.11610445032271052, + 0.0 + ], + [ + -0.023573538843601374, + 0.0406361117807146, + -0.002567082249102011, + -0.030088440481396153, + 0.005475748409755351, + 0.11551709780042237, + 0.0 + ], + [ + -0.008437445975725075, + 0.02885083882940624, + 0.0015237727745252068, + -0.03228403527947594, + 0.013828355182124708, + 0.08702133912069167, + 0.0 + ], + [ + -6.091310383884987e-05, + 0.02836686016624364, + 0.007848165722754083, + -0.011266704306430004, + -0.007429887782553016, + 0.09486517388188169, + 0.0 + ], + [ + -0.005350883259687255, + 0.021716598864861412, + 0.019315128280728403, + -0.026889634366691655, + -0.03413721589635218, + 0.06329101688075717, + 0.0 + ], + [ + 0.00306958399233922, + 0.016677929122990848, + 0.012979670231663944, + -0.023226141304341676, + -0.01055486309427632, + 0.059871149395875345, + 0.0 + ], + [ + 0.000899447019364841, + 0.004920920904996202, + 0.012545761820516907, + -0.014283907377741866, + -0.003167801981117555, + 0.0316917600392273, + 0.0 + ], + [ + 0.00210937338846885, + 0.0007770345330326712, + 0.0012359680465281984, + 0.008204616688583813, + 0.008858316020132642, + 0.016289125596720404, + 0.0 + ], + [ + -0.0018421646803680983, + -0.005061036838984786, + -0.0006194753448497491, + 0.018343097129576984, + -0.008023735964970467, + -0.010476137255810194, + 0.0 + ], + [ + -0.002156814202922454, + -0.01421377372831112, + -0.016214421457369985, + 0.04262578179543532, + 0.02835870724578319, + -0.04100514725625323, + 1.0 + ], + [ + 0.001261668969744778, + -0.006786811223626874, + -0.029278115126939383, + 0.03216972586174404, + 0.05038713534419698, + -0.047837813202082934, + 1.0 + ], + [ + -0.0008316208911944988, + -0.003885070683680355, + -0.028913446769261508, + 0.018587202650174484, + 0.05955683638846378, + -0.029680222536493835, + 1.0 + ], + [ + 0.0002572558156265854, + -0.0005277737079329366, + -0.0012761679458532817, + 0.0023986448735275967, + 0.005848295584313118, + -0.0019295053540437303, + 1.0 + ] + ], + "state": [ + [ + 0.20007169246673584, + 0.06964047253131866, + 0.11071761697530746, + -3.0861834568255624, + -0.08103033900260925, + 0.30134057998657227, + 1.0 + ], + [ + 0.20017828047275543, + 0.06933349370956421, + 0.11071761697530746, + -3.0861834568255624, + -0.08103033900260925, + 0.2998066246509552, + 1.0 + ], + [ + 0.19961316883563995, + 0.0696910098195076, + 0.10446933656930923, + -3.0847945046895227, + -0.059549201279878616, + 0.3001910448074341, + 1.0 + ], + [ + 0.22909432649612427, + 0.08595395088195801, + 0.08321325480937958, + -3.053000385063239, + -0.03199882060289383, + 0.27305054664611816, + 1.0 + ], + [ + 0.25362128019332886, + 0.1010555773973465, + 0.07278753817081451, + -3.051474454002925, + -0.042055908590555184, + 0.22171954810619354, + 1.0 + ], + [ + 0.275457501411438, + 0.11453396826982498, + 0.06584605574607849, + -3.0796746370666703, + -0.06715427339076996, + 0.1503259837627411, + 1.0 + ], + [ + 0.29266661405563354, + 0.13251212239265442, + 0.05480201914906502, + -3.1096898672455033, + -0.07381656765937805, + 0.13451839983463287, + 1.0 + ], + [ + 0.3101138472557068, + 0.14735667407512665, + 0.045650020241737366, + 3.1232476496421775, + -0.1129995808005333, + 0.08738112449645997, + 1.0 + ], + [ + 0.32210734486579895, + 0.15473446249961853, + 0.030160536989569664, + 3.110280620055743, + -0.11477546393871306, + 0.050923615694046014, + 1.0 + ], + [ + 0.32300835847854614, + 0.15316081047058105, + 0.0183696448802948, + 3.0918952991538724, + -0.09900075197219847, + 0.03167281299829482, + 1.0 + ], + [ + 0.3241276741027832, + 0.14968857169151306, + 0.015044989064335823, + 3.0937296730750283, + -0.09113294631242752, + 0.01743166707456112, + 1.0 + ], + [ + 0.3233267664909363, + 0.14896437525749207, + 0.01339835673570633, + 3.107566064345189, + -0.07741299271583557, + 0.016985351219773293, + 1.0 + ], + [ + 0.32007667422294617, + 0.14702323079109192, + 0.012575920671224594, + 3.1080605184012136, + -0.07003732025623322, + 0.041091419756412506, + 0.0 + ], + [ + 0.3135082721710205, + 0.1448635309934616, + 0.014442434534430504, + 3.140214263117411, + -0.013649212196469305, + 0.07517928630113602, + 0.0 + ], + [ + 0.3026106059551239, + 0.1338309943675995, + 0.04299469664692879, + 3.1284803618961057, + -0.050797753036022186, + 0.1329670995473862, + 0.0 + ], + [ + 0.2816559672355652, + 0.1026085913181305, + 0.06385264545679092, + 3.13453555165837, + -0.059949751943349845, + 0.07141051441431046, + 0.0 + ], + [ + 0.2589087188243866, + 0.05570084974169731, + 0.06338991969823837, + 3.1392069846675774, + -0.0388411283493042, + -0.044905047863721854, + 0.0 + ], + [ + 0.23344948887825012, + 0.016173996031284332, + 0.06513653695583344, + 3.113614024715968, + -0.0443328432738781, + -0.1605210304260254, + 0.0 + ], + [ + 0.22054371237754822, + -0.010994692333042622, + 0.06404723227024078, + 3.085272481786557, + -0.06042080745100976, + -0.24727028608322144, + 0.0 + ], + [ + 0.21380989253520966, + -0.03896080702543259, + 0.057815998792648315, + 3.0800046642595014, + -0.05806111544370651, + -0.3425631523132324, + 0.0 + ], + [ + 0.2020788937807083, + -0.05905194953083992, + 0.039593856781721115, + 3.056996690230914, + -0.027757743373513222, + -0.40782737731933594, + 0.0 + ], + [ + 0.1981631964445114, + -0.07665788382291794, + 0.02815943956375122, + 3.0356010665469846, + -0.02224543876945972, + -0.46838927268981934, + 0.0 + ], + [ + 0.19639457762241364, + -0.08273447304964066, + 0.01622764766216278, + 3.022079074876853, + -0.022436331957578663, + -0.5002462863922119, + 0.0 + ], + [ + 0.19782662391662598, + -0.08456443250179291, + 0.015140749514102936, + 3.030632013576575, + -0.03317096456885338, + -0.5153706073760985, + 0.0 + ], + [ + 0.19873586297035217, + -0.07921984046697617, + 0.015134865418076515, + 3.0486606528335294, + -0.024035030975937843, + -0.5058450102806091, + 0.0 + ], + [ + 0.20412462949752808, + -0.06430612504482269, + 0.029904190450906754, + 3.0902916585379323, + -0.04844469204545021, + -0.4623486399650574, + 1.0 + ], + [ + 0.20769326388835907, + -0.056834202259778976, + 0.05882297083735466, + 3.120012393342801, + -0.0962519198656082, + -0.41181460022926325, + 1.0 + ], + [ + 0.2062007635831833, + -0.05126293748617172, + 0.08743251860141754, + 3.1355606453777334, + -0.1551079899072647, + -0.3805332779884338, + 1.0 + ], + [ + 0.20645304024219513, + -0.05078713968396187, + 0.08872994035482407, + 3.137651697388389, + -0.16094423830509186, + -0.37854284048080444, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05465686321258545, + 0.3388673663139343, + 0.4438999891281128, + 0.41209590435028076, + 0.41009873151779175, + 0.41009873151779175, + 0.41009873151779175, + 0.41009873151779175, + 0.41009873151779175, + 0.41009873151779175, + 0.41009873151779175, + 0.41009873151779175, + 0.41009873151779175, + 0.3308374881744385, + 0.05079597234725952, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2905", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2905/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2906.json b/annotation/test/2906.json new file mode 100644 index 0000000000000000000000000000000000000000..d68a43c236c8fc882338715d9baffdc0e962b0e7 --- /dev/null +++ b/annotation/test/2906.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put carrot on plate cardboardfence" + ], + "videos": [ + { + "video_path": "videos/test/2906/rgb.mp4" + } + ], + "action": [ + [ + 0.00021662174629972174, + -0.00011070145974026285, + -1.8794353198926958e-07, + 0.0006959947160778624, + 0.001367001447920141, + -0.001533479965131108, + 1.0 + ], + [ + -0.005142811934061763, + 0.0035869193494559993, + 0.008997639906655613, + -0.013601919771232072, + -0.032065271986834676, + -0.010351494364068016, + 1.0 + ], + [ + -0.020702896949040844, + 0.03675827264745787, + -0.0027773104312647035, + 0.008104766889577068, + -0.029090949935399207, + -0.053884282148376025, + 1.0 + ], + [ + -0.021426923970151484, + 0.040856113108151286, + -0.013298156924677082, + 0.013980043086950058, + 0.005260559820090285, + -0.006920751033818183, + 1.0 + ], + [ + -0.010783726350414897, + 0.015111563448275628, + -0.007495967774202306, + 0.02616735259916431, + 0.013923016674349059, + 0.038749171165475486, + 1.0 + ], + [ + -0.01962749113091497, + 0.027329224345974665, + 0.01591141570877219, + -0.03222562692698394, + -0.036955625137261985, + 0.10560367754742445, + 1.0 + ], + [ + -0.011217460271124477, + 0.01009214011573351, + 0.02212937610410087, + -0.09618621778121794, + -0.0734696001329005, + -0.007701079213607623, + 1.0 + ], + [ + -0.004965662381391104, + 0.009262012716842068, + 0.018094979700818425, + -0.07381165817360706, + -0.03999709982019852, + 0.00770363665735274, + 1.0 + ], + [ + -0.006774721658740225, + 0.005506926261612618, + 0.011685251904069232, + -0.03004474022519369, + -0.009015715940098907, + -0.03088852692747327, + 1.0 + ], + [ + -0.00378151376306034, + 0.005443683823725793, + 0.014841189123902697, + -0.036946980603417036, + 0.005239253344452167, + -0.029701078856386693, + 1.0 + ], + [ + -0.0023667337052330263, + 0.0023527254214038254, + 0.010233583216245267, + -0.0012731679954241753, + 0.007382518384454777, + -0.02511469419975217, + 1.0 + ], + [ + 0.0060095896763224625, + -0.00357939638409582, + 0.00786516867310615, + 0.004655883021849716, + 0.009868686089875098, + 0.020299816271323278, + 1.0 + ], + [ + 0.005661770361214575, + -0.009170537459389207, + 0.009584037848573446, + -0.005032076115322676, + 0.022235767547989872, + -0.0019253994245783425, + 1.0 + ], + [ + -0.000558195957665404, + -0.0038328952721279194, + 0.0071205379107538045, + 0.0019142685236389536, + 0.015004170499784999, + -0.021376093817790563, + 1.0 + ], + [ + -0.004545160442463895, + -0.0018747478705420481, + 0.00937708053338997, + -0.013227904040761322, + 0.009995970328079322, + -0.02983629112732815, + 1.0 + ], + [ + -0.003190424676181293, + 1.863540722061459e-05, + 0.0031898058017748986, + -0.008791157293765528, + 0.005544232290363933, + -0.02666379261645072, + 1.0 + ], + [ + 0.00023602772853041724, + 0.000987226260973522, + -0.0007151992315016725, + 0.013496082824294367, + -0.006662626934589163, + -0.00834451321592411, + 1.0 + ], + [ + -0.0003250767357570296, + 0.002632475839206146, + -0.011824280920121024, + 0.09160712312418759, + -0.02733382077398404, + 0.004841181287606185, + 0.0 + ], + [ + 0.007887721204096712, + 0.0048548470870953455, + -0.03178837867652626, + 0.09299489139310808, + 0.04401502532733148, + -0.02240720234507531, + 0.0 + ], + [ + 0.006071866944395862, + 0.002695707386010012, + -0.026071231319161784, + 0.06621444372843026, + -0.006977575976802894, + -0.020395127588956088, + 0.0 + ], + [ + 0.011205643797943815, + 0.0029566091305021753, + -0.017269683416272445, + 0.0616439158731315, + 0.04426069037753204, + 0.009995005883208796, + 0.0 + ], + [ + 0.023158036466588063, + -0.0025234922370110323, + -0.005087671222247611, + 0.045763842284436536, + 0.11193733171249283, + 0.04210783454963307, + 0.0 + ], + [ + 0.02254352268058237, + -0.005737022862078077, + 0.013691656980451574, + 0.014547872505594164, + 0.12954129098956918, + 0.03100608386213629, + 0.0 + ], + [ + 0.011480306926968335, + -0.005117362172963427, + 0.021643197386895466, + -0.02184942436767093, + 0.132756726453737, + -0.05020030271126694, + 0.0 + ], + [ + 0.006467899899234741, + -0.0008194283520332453, + 0.017176031694988218, + -0.007463439057913681, + 0.037354340049968175, + -0.008446985882094466, + 0.0 + ], + [ + -0.0029680834743613105, + -0.0027658417253767567, + 0.014702123261328035, + -0.012041105640719927, + 0.008023496292767053, + 0.008641253962753762, + 0.0 + ], + [ + -0.005395437970806716, + -0.00030596770950667144, + 0.005466768731853566, + -0.005137534616605805, + 0.006816078424635072, + -0.013470930633243793, + 0.0 + ], + [ + -0.005859039454011616, + 0.0013261683547057279, + 0.002222506841567569, + -0.003613263020550809, + 0.003655333616780057, + -0.023338333931476763, + 0.0 + ], + [ + -0.0017691949659366412, + 0.0030589270317916643, + 0.0006246521349321204, + -0.022083652646270387, + -7.3974094892040135e-06, + 0.006920868677402264, + 0.0 + ], + [ + 0.00040707938171813564, + -0.0004139016257795437, + 2.120859774783097e-05, + -0.02066005656480346, + -0.0057100134053796915, + 0.012841815761207982, + 0.0 + ], + [ + 0.00042831853914886305, + -0.0005251764127487379, + -0.0013150248460589357, + 0.002828018866925083, + -0.053318467454945215, + 0.03970777217433249, + 1.0 + ], + [ + 0.011203597973512426, + -0.003505095878587577, + -0.012260249736200405, + 0.08584999502825488, + -0.05374777331506914, + 0.07168969411835883, + 1.0 + ], + [ + 0.019398904851597346, + -0.0011614248321399983, + -0.03875435599219716, + 0.126165569247199, + 0.009564265045872131, + 0.04247071994128795, + 1.0 + ], + [ + 0.005985688763214665, + -0.0011864691014632207, + -0.015400281419379953, + 0.04058163329836686, + -0.015811275439440633, + 0.018298649779282056, + 1.0 + ], + [ + 0.0027836338054371998, + -0.0006386528410747063, + -0.00420073143102724, + -0.002561553330168167, + 0.009264412102857316, + -0.007192210857075333, + 1.0 + ], + [ + -0.00022133917341671933, + 0.00028419876632361653, + 0.00043906706237151026, + -0.0008251785371216769, + -0.0019494234439338463, + 0.0010605141357396635, + 1.0 + ], + [ + 0.0005382062557715821, + 8.010679518193599e-05, + -0.0007273141346989663, + -0.0017092060422131358, + 0.002366814062208978, + -0.0018026701042333966, + 1.0 + ], + [ + -0.0005612651634934723, + 0.0001665993282217297, + 0.00028636156671344554, + -0.0008220686036363516, + -0.0019498876389768772, + -0.0004769702346603764, + 1.0 + ] + ], + "state": [ + [ + 0.30191555619239807, + 0.09601187705993652, + 0.12019912153482437, + 3.0137690176540097, + -0.14356662333011627, + -0.0008983617881312967, + 1.0 + ], + [ + 0.3021320402622223, + 0.09612150490283966, + 0.12021633237600327, + 3.014219971495219, + -0.14472678303718567, + 0.0008147762273438275, + 1.0 + ], + [ + 0.29826825857162476, + 0.09141753613948822, + 0.11109405755996704, + 2.9996558745675763, + -0.11160364747047424, + 0.007043234072625636, + 1.0 + ], + [ + 0.27706289291381836, + 0.055271539837121964, + 0.11668810993432999, + 3.0023770203166684, + -0.07505042105913162, + 0.0563814789056778, + 1.0 + ], + [ + 0.25649598240852356, + 0.015433759428560734, + 0.13386744260787964, + 3.015788735943385, + -0.07929756492376328, + 0.06398908793926239, + 1.0 + ], + [ + 0.24592889845371246, + 0.000676237978041172, + 0.14231669902801514, + 3.044949287670203, + -0.09791786968708038, + 0.027121476829051968, + 1.0 + ], + [ + 0.22847189009189606, + -0.028544947504997253, + 0.12726102769374847, + 3.023858333128043, + -0.07072623074054718, + -0.08177447319030762, + 1.0 + ], + [ + 0.21775320172309875, + -0.0403304398059845, + 0.10572956502437592, + 2.927422734098979, + 0.003138465574011207, + -0.08276958018541337, + 1.0 + ], + [ + 0.21168921887874603, + -0.05276792496442795, + 0.0900321751832962, + 2.8534145971112927, + 0.04058370739221573, + -0.0988035798072815, + 1.0 + ], + [ + 0.20371553301811218, + -0.06062053143978119, + 0.08067668974399567, + 2.82456565101678, + 0.05799048766493797, + -0.07170813530683517, + 1.0 + ], + [ + 0.198530912399292, + -0.07007240504026413, + 0.06851214170455933, + 2.7894937713914594, + 0.062244102358818054, + -0.041796032339334495, + 1.0 + ], + [ + 0.19538451731204987, + -0.07568346709012985, + 0.05988201126456261, + 2.789963813620158, + 0.06395342200994492, + -0.015622756443917751, + 1.0 + ], + [ + 0.20084063708782196, + -0.07511723041534424, + 0.05089879035949707, + 2.7936449368768415, + 0.04768916964530945, + -0.0312977209687233, + 1.0 + ], + [ + 0.20608243346214294, + -0.06992559134960175, + 0.03850610554218292, + 2.788987102108546, + 0.02744046784937382, + -0.021903388202190403, + 1.0 + ], + [ + 0.20532989501953125, + -0.06877078860998154, + 0.030518312007188797, + 2.7916698177629193, + 0.02073186635971069, + 0.0033432950731366873, + 1.0 + ], + [ + 0.20059466361999512, + -0.07024019211530685, + 0.021163033321499825, + 2.7792563160234174, + 0.02155816741287708, + 0.034805238246917725, + 1.0 + ], + [ + 0.19738274812698364, + -0.07150080800056458, + 0.018256409093737602, + 2.7711763997846326, + 0.025816133245825768, + 0.061711855232715614, + 1.0 + ], + [ + 0.19768542051315308, + -0.07214473187923431, + 0.019274046644568443, + 2.7848080714517316, + 0.03504723310470581, + 0.06708160042762756, + 1.0 + ], + [ + 0.19766929745674133, + -0.07047897577285767, + 0.031277138739824295, + 2.875818522768565, + 0.058965101838111884, + 0.05297651886940002, + 0.0 + ], + [ + 0.2072182446718216, + -0.06630245596170425, + 0.06270421296358109, + 2.970655160146304, + 0.02234779112040997, + 0.08614569902420044, + 0.0 + ], + [ + 0.2136952430009842, + -0.06395802646875381, + 0.08871182054281235, + 3.0373190586739263, + 0.032688818871974945, + 0.10506601631641387, + 0.0 + ], + [ + 0.2255212813615799, + -0.06386029720306396, + 0.10581986606121063, + 3.0986876284056386, + -0.012372097931802271, + 0.0997401252388954, + 0.0 + ], + [ + 0.24822844564914703, + -0.05883486941456795, + 0.11108074337244034, + -3.138509804737293, + -0.12600310146808627, + 0.06243351474404335, + 0.0 + ], + [ + 0.2719041407108307, + -0.051564302295446396, + 0.10034828633069992, + -3.1198588107996663, + -0.2553846836090088, + 0.030244670808315277, + 0.0 + ], + [ + 0.2882736623287201, + -0.045479997992515564, + 0.0824197381734848, + 3.128739765966781, + -0.38889795541763306, + 0.08089631050825118, + 0.0 + ], + [ + 0.30068540573120117, + -0.04387316852807999, + 0.06897027790546417, + 3.1175508202337703, + -0.42612406611442566, + 0.09069278836250305, + 0.0 + ], + [ + 0.3038531243801117, + -0.041163526475429535, + 0.054299380630254745, + 3.1093581450455865, + -0.43433672189712524, + 0.08138272911310195, + 0.0 + ], + [ + 0.3012601137161255, + -0.04124496877193451, + 0.04706338793039322, + 3.0978566502505025, + -0.44067156314849854, + 0.09651145339012147, + 0.0 + ], + [ + 0.29704058170318604, + -0.04308219254016876, + 0.04260841757059097, + 3.0831716192239007, + -0.4431729912757873, + 0.12249808013439178, + 0.0 + ], + [ + 0.2960212528705597, + -0.04632119834423065, + 0.041447777301073074, + 3.0643696208768567, + -0.4435583651065827, + 0.1148483082652092, + 0.0 + ], + [ + 0.296362042427063, + -0.045868128538131714, + 0.04157453775405884, + 3.049993561702319, + -0.43881446123123163, + 0.1002182364463806, + 0.0 + ], + [ + 0.29615020751953125, + -0.045242924243211746, + 0.042898472398519516, + 3.0731711407476148, + -0.3888981342315674, + 0.05227139964699746, + 1.0 + ], + [ + 0.3017357885837555, + -0.040609657764434814, + 0.05824298784136772, + -3.093862513201781, + -0.33903780579566956, + -0.027372051030397415, + 1.0 + ], + [ + 0.30711686611175537, + -0.04144619032740593, + 0.10125357657670975, + -2.95258258481557, + -0.34624046087265015, + -0.07295605540275574, + 1.0 + ], + [ + 0.3074113726615906, + -0.04320049285888672, + 0.11772295832633972, + -2.9066222478919705, + -0.3272325098514557, + -0.08879613876342772, + 1.0 + ], + [ + 0.3086497187614441, + -0.043669041246175766, + 0.12262699753046036, + -2.9108244647556027, + -0.33791279792785645, + -0.0836687982082367, + 1.0 + ], + [ + 0.3085895776748657, + -0.04384085536003113, + 0.12208903580904007, + -2.911443295078822, + -0.3357724249362945, + -0.08429000526666641, + 1.0 + ], + [ + 0.30884888768196106, + -0.04410754516720772, + 0.12291771173477173, + -2.913576515513011, + -0.33848780393600464, + -0.08300169557332993, + 1.0 + ], + [ + 0.3084179759025574, + -0.0441695898771286, + 0.12243269383907318, + -2.9147167672687253, + -0.336696058511734, + -0.08204244822263718, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.04317682981491089, + 0.3018075227737427, + 0.42107081413269043, + 0.4517979621887207, + 0.42007458209991455, + 0.41907817125320435, + 0.41907817125320435, + 0.41907817125320435, + 0.41907817125320435, + 0.41907817125320435, + 0.41907817125320435, + 0.41907817125320435, + 0.45573753118515015, + 0.38908064365386963, + 0.06803375482559204, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2906", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2906/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2923.json b/annotation/test/2923.json new file mode 100644 index 0000000000000000000000000000000000000000..bc8fd054ceaf405d704ccbbaba31b6888ed148aa --- /dev/null +++ b/annotation/test/2923.json @@ -0,0 +1,945 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Pick up the red spoon and place it on the green cloth" + ], + "videos": [ + { + "video_path": "videos/test/2923/rgb.mp4" + } + ], + "action": [ + [ + 0.0002627877431550659, + 5.6681119528799823e-05, + -0.0002951708809921558, + 4.509110474401651e-05, + 0.0018918804315917962, + -0.0025945972853432947, + 1.0 + ], + [ + -0.002712075763294981, + 0.0015380019100084518, + 0.0016113666600307687, + -0.008041656874264084, + -0.015186838278728187, + -0.010962622271563242, + 1.0 + ], + [ + 0.0035875764332165922, + 0.005185363624442105, + -0.010773425632491297, + 0.006033667654651221, + 0.0029291033390949793, + -0.01951724930537989, + 1.0 + ], + [ + 0.014778114102454963, + 0.007855107727710923, + -0.01689052194311855, + 0.023742904994115435, + 0.009705574617256072, + -0.05648134267459146, + 1.0 + ], + [ + 0.020120267791491096, + 0.020185648135708306, + -0.010136224324727506, + 0.03581930949951647, + 0.003386062973453768, + -0.1498365573158704, + 1.0 + ], + [ + 0.020751001240654675, + 0.029601073507669096, + -0.0019986521609543606, + 0.05214542317571164, + 0.03938272683220792, + -0.17444472441037015, + 1.0 + ], + [ + 0.012128455004722288, + 0.017161281693491338, + -0.0007035975323494324, + 0.0012635977047697178, + 0.002200234399517141, + -0.2085196803280893, + 1.0 + ], + [ + 0.009164010597545843, + 0.01535972018912631, + 0.001433484612275621, + -0.007053400751752225, + 0.027989524476772453, + -0.14025234577394272, + 1.0 + ], + [ + 0.0023471310099061928, + 0.009063314332397609, + 0.011676728180713533, + -0.019871671944042654, + 0.010498405335797326, + -0.10058637165243842, + 1.0 + ], + [ + 0.0003882870142878928, + 0.008293124446398669, + 0.012070913746032544, + 0.004376600093278611, + 0.013037632466596852, + -0.03286628477828628, + 1.0 + ], + [ + 0.0005204832512100654, + 0.0033291666045859097, + 0.009157682562575762, + 0.011303225023477066, + 0.017263843587570438, + -0.009431321557489242, + 1.0 + ], + [ + 0.0003148091806224875, + 0.005780771963495159, + 0.007016722896825352, + 0.007212783200683031, + -0.017861225285302762, + 0.012030059776158172, + 1.0 + ], + [ + -0.0032069130938040267, + -0.00040715819803765666, + 0.009973047674435104, + 0.011803517024703107, + -0.016675671462577143, + 0.01794215095919365, + 1.0 + ], + [ + -0.0001107392696546175, + 0.0006278646058792708, + 0.008614140995609277, + -0.004659330564719276, + -0.009016825261460998, + 0.0026966133607743328, + 1.0 + ], + [ + 0.00043799302145612097, + -0.0016746917403630682, + 0.007979855133043199, + 0.016147032231579615, + 0.008433817863307517, + 0.013118598077512492, + 1.0 + ], + [ + 0.0017120113954514488, + 0.0016111775481699592, + 0.001986980672003003, + -0.007074644804879393, + 0.011347706847187257, + 0.007280359505274538, + 1.0 + ], + [ + -0.002413278706576854, + -0.0024149176415323497, + 0.005653301212228887, + 0.020381578527581205, + -0.007431103627672059, + -0.0031873410907833225, + 1.0 + ], + [ + 0.001066935212245418, + 0.001172450598632821, + -0.0015061254586363772, + 0.002650851347596604, + -0.0030558202308688183, + -0.009691690322503296, + 0.0 + ], + [ + -0.0015964650181738106, + 0.0005294470053575802, + -0.0006719293086953198, + 0.0009853935567236808, + -0.014203256213700393, + -0.00233736128102377, + 0.0 + ], + [ + 0.002041274161187715, + 0.003707332195759656, + -0.007930225551098733, + -0.01540215672051848, + -0.003790520995172223, + 0.0017575098106530366, + 0.0 + ], + [ + 0.003236999588012531, + 0.0015094345635066828, + -0.010943906391295959, + -0.027509793517813838, + -0.0048582825846224245, + -0.019235563897763683, + 0.0 + ], + [ + 0.002625550209146184, + 0.0008327803270281505, + -0.01004964984417187, + -0.012426157954976763, + -0.009748082833203968, + -0.02549633449454432, + 0.0 + ], + [ + 0.015669518014377982, + -0.002682426078589411, + -0.018687700922149986, + -0.011987889732171688, + -0.0032193344424535433, + -0.0528372734834319, + 0.0 + ], + [ + 0.013125095520547941, + -0.011310515220644645, + -0.005560222420238728, + 0.027926044682914253, + -0.021192756799020485, + -0.11019319467759019, + 0.0 + ], + [ + 0.019566323780876686, + -0.014002183676003033, + -0.00168347372914368, + -0.011884639575134288, + 0.014770380125007107, + -0.1710058342730835, + 0.0 + ], + [ + 0.01108042380102554, + -0.014349431103627798, + 0.000719397893758118, + 0.04513042830272715, + -0.012749887554085302, + -0.24540932632519452, + 0.0 + ], + [ + 0.008921908105885315, + -0.011317168206107292, + 0.006577918482589618, + 0.09745095751541939, + 0.029943501997019926, + -0.2632140387420484, + 0.0 + ], + [ + 0.007963800808129242, + -0.0076721493227966606, + 0.008562996294202927, + 0.07580465966354781, + -0.0033156919885503912, + -0.2325746658852849, + 0.0 + ], + [ + 0.006131800391273802, + 0.00241121526938311, + 0.00830530678466333, + 0.027974978408284785, + -0.006230492318640734, + -0.15867109680583033, + 0.0 + ], + [ + 0.007879006864105068, + 0.016419705103643118, + 0.0051089227917945805, + -0.00838602784348251, + -0.012768994122901816, + -0.09175775616533766, + 0.0 + ], + [ + -0.0030187361194052693, + 0.01253914900534948, + 0.0060852256054258185, + -0.008961860542065781, + -0.010026878263331004, + -0.04097600608923914, + 0.0 + ], + [ + -0.004153924381732214, + 0.011509529935632094, + 0.01216784610891953, + 0.0021431115574541103, + 0.015217086170070416, + 0.022064154985970943, + 0.0 + ], + [ + -0.008737879317997316, + 0.0030433234472607797, + 0.013445791637555918, + 0.008049314666681937, + 0.022222230215950267, + 0.021106514034647562, + 0.0 + ], + [ + 0.0027652960950087678, + 0.0075272209233457656, + 1.4487518029051427e-05, + -0.013072929281500683, + 0.0054165726143582706, + 0.020938541723499494, + 0.0 + ], + [ + 0.0011195531705578362, + 0.004048774326780973, + -0.002123813745052904, + -0.012798099645481672, + 0.00022232422158044085, + 0.02964619152872481, + 0.0 + ], + [ + 0.0013702675549548107, + 0.002594154607634061, + -0.0010428943108322548, + -0.013932508396435932, + 0.016411884999771115, + 0.024414553642311234, + 1.0 + ], + [ + 0.0005661095730599933, + 0.0005507349053108128, + -0.00040880753651398256, + -0.0036993560515803567, + 0.01047440013023738, + 0.027724595605740664, + 1.0 + ], + [ + -0.006209012670924946, + -0.00029009850228112536, + -0.013024751322131276, + -0.031798798476313755, + 0.0020773083369752593, + 0.050685743962974414, + 1.0 + ], + [ + 0.00012162182491537911, + 0.001294435634683109, + -0.020478929002558332, + -0.08814587931923715, + 0.0025277633927582974, + 0.1510289238714414, + 1.0 + ], + [ + -0.01422919198896885, + -0.0043650479558406145, + -0.019531564235620993, + -0.07940432449508386, + 0.014782564030337406, + 0.15258114335631462, + 1.0 + ], + [ + -0.013761564587505515, + -0.008731729814740576, + -0.018259545274583785, + -0.06334534979371999, + 0.019420758061552235, + 0.22811319991769996, + 1.0 + ], + [ + -0.014879605988589974, + -0.003924381729664867, + -0.023667774617684, + -0.07348717755197887, + -0.01601066987161172, + 0.2285146388059098, + 1.0 + ], + [ + -0.022612753260253856, + 0.00019138920300627808, + -0.004584304838788414, + 0.004546620752111278, + -0.08150664377466184, + 0.2087528416555312, + 1.0 + ], + [ + -0.034326009055394735, + 0.010009949446874914, + -0.0030546677069639232, + -0.020131188314120883, + -0.10535559760679761, + 0.24243050142490116, + 1.0 + ], + [ + -0.02553824023126835, + 0.017715956139763078, + -0.0004571849153991734, + -0.017435116186162627, + -0.03395575314227857, + 0.2527018743566436, + 1.0 + ], + [ + -0.024297486450222342, + 0.014613532805990986, + 0.005861868400145717, + -0.03578996967513901, + -0.04985551962372951, + 0.22146493344873058, + 1.0 + ], + [ + -0.02854369029409006, + 0.024797792295598073, + 0.011718316153362798, + -0.0728120593805589, + -0.034148821575419375, + 0.2746755912190599, + 1.0 + ], + [ + -0.004172540981209694, + 0.008818659575497953, + 0.002283142242003595, + -0.07664756047856469, + 0.030577252169776956, + 0.20289519130272557, + 1.0 + ] + ], + "state": [ + [ + 0.18686893582344055, + 0.10926982015371323, + 0.04240304231643677, + 3.137705096398019, + -0.2666630446910858, + 0.11664547771215439, + 1.0 + ], + [ + 0.18704986572265625, + 0.10923510789871216, + 0.04275723919272423, + 3.137039060825952, + -0.2685438990592957, + 0.11934413015842438, + 1.0 + ], + [ + 0.18506023287773132, + 0.10744012892246246, + 0.040490806102752686, + 3.126011633435734, + -0.2532910406589508, + 0.13059522211551666, + 1.0 + ], + [ + 0.18646059930324554, + 0.10256408900022507, + 0.05189644545316696, + 3.1269818750494203, + -0.25586616992950445, + 0.1508139818906784, + 1.0 + ], + [ + 0.1974838376045227, + 0.09654442965984344, + 0.07208646833896637, + 3.1359105255738875, + -0.2643258273601532, + 0.2094679921865463, + 1.0 + ], + [ + 0.21804657578468323, + 0.08033826947212219, + 0.08723779767751694, + 3.1313804379948458, + -0.26382952928543096, + 0.3647345006465912, + 1.0 + ], + [ + 0.24675212800502777, + 0.0596366748213768, + 0.09487045556306839, + 3.1362142731719693, + -0.2972803711891175, + 0.5475448966026306, + 1.0 + ], + [ + 0.2653861343860626, + 0.05090339109301567, + 0.09918411076068878, + 3.0742360671334943, + -0.29173493385314936, + 0.7654179930686951, + 1.0 + ], + [ + 0.28248175978660583, + 0.04594305157661438, + 0.10144012421369553, + 3.025175580876418, + -0.3072235882282257, + 0.9142127633094788, + 1.0 + ], + [ + 0.2939985692501068, + 0.0439181849360466, + 0.09209872782230377, + 2.973889650898524, + -0.3043677806854248, + 1.0202258825302124, + 1.0 + ], + [ + 0.3045269548892975, + 0.04158804938197136, + 0.08218120783567429, + 2.9674674441390714, + -0.31154945492744446, + 1.056555151939392, + 1.0 + ], + [ + 0.3102796673774719, + 0.04187944531440735, + 0.0743047371506691, + 2.974783184128352, + -0.3268939256668091, + 1.0695199966430664, + 1.0 + ], + [ + 0.3173634111881256, + 0.040519870817661285, + 0.06876190751791, + 2.9869893213086804, + -0.31124091148376465, + 1.053944706916809, + 1.0 + ], + [ + 0.318340927362442, + 0.03994595631957054, + 0.05833948776125908, + 3.005303742485591, + -0.29746085405349737, + 1.032718539237976, + 1.0 + ], + [ + 0.32109490036964417, + 0.041062865406274796, + 0.05022912099957466, + 3.001831354694911, + -0.2888917028903961, + 1.0286535024642944, + 1.0 + ], + [ + 0.32203906774520874, + 0.04368992894887924, + 0.042555686086416245, + 3.021505693095275, + -0.2990499436855316, + 1.016289472579956, + 1.0 + ], + [ + 0.3247388005256653, + 0.04455901309847832, + 0.041359398514032364, + 3.016241492825099, + -0.3111827671527863, + 1.0101253986358643, + 1.0 + ], + [ + 0.32304897904396057, + 0.04504432901740074, + 0.03499351069331169, + 3.035903388755866, + -0.303410679101944, + 1.012465476989746, + 1.0 + ], + [ + 0.324185848236084, + 0.044963542371988297, + 0.03685963153839111, + 3.035645680623599, + -0.29933595657348633, + 1.0222141742706299, + 0.0 + ], + [ + 0.32366758584976196, + 0.043242208659648895, + 0.037080805748701096, + 3.0363677461915692, + -0.284965068101883, + 1.0230708122253418, + 0.0 + ], + [ + 0.32591259479522705, + 0.041442256420850754, + 0.0455966554582119, + 3.0215930362516126, + -0.2813794314861298, + 1.0208370685577393, + 0.0 + ], + [ + 0.32609546184539795, + 0.04137995466589928, + 0.05710701271891594, + 2.988761754828044, + -0.2742040455341339, + 1.0400710105895996, + 0.0 + ], + [ + 0.3253864347934723, + 0.04156835004687309, + 0.06750144809484482, + 2.969726013141223, + -0.26060965657234186, + 1.0646133422851562, + 0.0 + ], + [ + 0.325377494096756, + 0.053595125675201416, + 0.08888639509677887, + 2.944281341629573, + -0.24805283546447754, + 1.1177476644515991, + 0.0 + ], + [ + 0.31964677572250366, + 0.06965252757072449, + 0.09524490684270859, + 2.947224589186259, + -0.20435503125190735, + 1.2238073348999023, + 0.0 + ], + [ + 0.3130093514919281, + 0.09265334904193878, + 0.09818481653928757, + 2.903120311098643, + -0.1829824298620224, + 1.3973640203475952, + 0.0 + ], + [ + 0.3014511168003082, + 0.1064949557185173, + 0.09618066251277924, + 2.9121807684474668, + -0.10809779167175293, + 1.6339809894561768, + 0.0 + ], + [ + 0.29132407903671265, + 0.115712471306324, + 0.08821647614240646, + 2.9894141425662717, + -0.07438228279352188, + 1.897815465927124, + 0.0 + ], + [ + 0.2825908958911896, + 0.12189187109470367, + 0.07920784503221512, + 3.0523218681388578, + -0.034208241850137704, + 2.127272844314575, + 0.0 + ], + [ + 0.28187641501426697, + 0.1289890855550766, + 0.07136500626802444, + 3.0760379304462155, + -0.013491586782038212, + 2.2847557067871094, + 0.0 + ], + [ + 0.2893178164958954, + 0.14593251049518585, + 0.06744933873414993, + 3.0666942094736775, + 0.00530813867226243, + 2.37546968460083, + 0.0 + ], + [ + 0.30049803853034973, + 0.15315918624401093, + 0.062335554510354996, + 3.058001833158084, + 0.01836799830198288, + 2.4155845642089844, + 0.0 + ], + [ + 0.3120461404323578, + 0.15960264205932617, + 0.051249343901872635, + 3.0597727467590055, + 0.0013580191880464554, + 2.3948707580566406, + 0.0 + ], + [ + 0.32127878069877625, + 0.15668801963329315, + 0.03810913860797882, + 3.067790852981158, + -0.02251501753926277, + 2.3756515979766846, + 0.0 + ], + [ + 0.32449954748153687, + 0.16400714218616486, + 0.038711827248334885, + 3.0551936348252973, + -0.029455915093421936, + 2.35516095161438, + 0.0 + ], + [ + 0.326485812664032, + 0.16746769845485687, + 0.04120899736881256, + 3.043302895622798, + -0.03222241997718811, + 2.325629234313965, + 0.0 + ], + [ + 0.32738184928894043, + 0.17013366520404816, + 0.0425449013710022, + 3.0301142578297338, + -0.050942432135343545, + 2.302917242050171, + 1.0 + ], + [ + 0.3273930847644806, + 0.17087191343307495, + 0.04304065927863121, + 3.0277940427237233, + -0.0644180029630661, + 2.276477098464966, + 1.0 + ], + [ + 0.33060532808303833, + 0.16437700390815735, + 0.055521756410598755, + 2.999372186260768, + -0.07215394824743271, + 2.226224899291992, + 1.0 + ], + [ + 0.33014482259750366, + 0.16231586039066315, + 0.07593294233083725, + 2.923578979569026, + -0.09518009424209595, + 2.0764119625091553, + 1.0 + ], + [ + 0.33041539788246155, + 0.14430613815784454, + 0.09262372553348541, + 2.860455038147517, + -0.14148201048374176, + 1.9292373657226562, + 1.0 + ], + [ + 0.3233430087566376, + 0.12483115494251251, + 0.10565219819545746, + 2.8343611379438123, + -0.2196684181690216, + 1.7104473114013672, + 1.0 + ], + [ + 0.31522056460380554, + 0.10432157665491104, + 0.12326895445585251, + 2.8186368366056165, + -0.2673467993736267, + 1.4795324802398682, + 1.0 + ], + [ + 0.3118586540222168, + 0.08155931532382965, + 0.12154671549797058, + 2.8908921500020703, + -0.24890263378620148, + 1.24872624874115, + 1.0 + ], + [ + 0.30938345193862915, + 0.04590039327740669, + 0.118365578353405, + 2.942778529720851, + -0.19776363670825958, + 0.9831418395042419, + 1.0 + ], + [ + 0.3094491958618164, + 0.014836830087006092, + 0.11721816658973694, + 2.982268901663371, + -0.20736904442310333, + 0.7230498790740967, + 1.0 + ], + [ + 0.3023192882537842, + -0.01193877961486578, + 0.10882079601287842, + 2.997458117204257, + -0.18761728703975677, + 0.49248847365379333, + 1.0 + ], + [ + 0.2913288474082947, + -0.04759673401713371, + 0.09560292214155197, + 2.981947885947772, + -0.185542494058609, + 0.21083933115005493, + 1.0 + ], + [ + 0.2893705368041992, + -0.0572907030582428, + 0.09399557113647461, + 2.945257680612155, + -0.2441639304161072, + 0.009562816470861435, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.06011873483657837, + 0.3298342227935791, + 0.5281247198581696, + 0.5309504270553589, + 0.5309504270553589, + 0.5318908989429474, + 0.5318908989429474, + 0.5318908989429474, + 0.5328307151794434, + 0.5328307151794434, + 0.5328307151794434, + 0.5328307151794434, + 0.5328307151794434, + 0.5328307151794434, + 0.5328307151794434, + 0.5328307151794434, + 0.5328307151794434, + 0.5328307151794434, + 0.4438999891281128, + 0.15095502138137817, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2923", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2923/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2932.json b/annotation/test/2932.json new file mode 100644 index 0000000000000000000000000000000000000000..84491840be27b89c5306342586eefafc510c5b7f --- /dev/null +++ b/annotation/test/2932.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "open oven" + ], + "videos": [ + { + "video_path": "videos/test/2932/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 9.331092950417348e-17, + -3.413693855420727e-17, + 1.7074869016270542e-19, + 1.0 + ], + [ + -0.0038483824653143474, + -0.0017254274987669623, + 0.004861579571809467, + 0.005250043041508398, + -0.021234631966544557, + -0.01291484743915119, + 1.0 + ], + [ + -0.00019618439459182044, + 0.006928491017951575, + 0.006949473491215156, + -0.038224641767634994, + -0.02022219635872512, + -0.0735693649013251, + 1.0 + ], + [ + 0.00031213664158477665, + 0.018305655887283938, + -0.0018617379039762333, + -0.09775330478102631, + 0.002801599985060226, + -0.17363666836059868, + 1.0 + ], + [ + -0.005543188851255685, + 0.020117744957518727, + -0.00422760577840612, + -0.04928222032261199, + -0.006709807434195286, + -0.0942013580312121, + 1.0 + ], + [ + -0.005043494483234111, + 0.019278384324615074, + 0.0066294470118692895, + -0.005732051779384915, + 0.0041038449913462565, + -0.0656296360053313, + 1.0 + ], + [ + -0.0071517707948563596, + 0.014418975882666316, + 0.00558963108030164, + -0.02537587866580205, + 0.0006825000227716201, + -0.03675056088356969, + 1.0 + ], + [ + -0.004407669381417181, + 0.006582711377089817, + 0.011275808642239071, + -0.0216645570215104, + 0.003526965068902497, + -0.015583688550102006, + 1.0 + ], + [ + -0.0014967442543120846, + 0.006974368125488417, + 0.007407800508631872, + -0.005902960019512542, + -6.561696095135632e-05, + -0.025810300335243414, + 1.0 + ], + [ + 0.00258379189557042, + -0.0003306827125243944, + 0.013150815162480721, + 0.06935284018869822, + 0.0031968040098204935, + -0.03774873190994497, + 1.0 + ], + [ + 0.005338427359888321, + -0.003831969119653655, + 0.001430040217284613, + 0.06662572421634119, + -0.007525535937960295, + -0.04932647172238364, + 1.0 + ], + [ + 0.0022664695764621893, + -0.008352740648893091, + -0.003307787896058952, + 0.02882156054765941, + -0.02218817891143109, + 0.010037786531757952, + 1.0 + ], + [ + 0.0003065449530344493, + -0.0244944173086126, + -0.008263222283921729, + 0.027325248066504434, + -0.006889536489630109, + 0.0667912293530751, + 1.0 + ], + [ + 0.0011224242364863224, + -0.014229135049502798, + -0.002024650941346866, + -0.012660994457469621, + 0.022041067461295423, + 0.03543267854385695, + 1.0 + ], + [ + -0.0017598578649767871, + -0.0027573312202268958, + -0.0017534906064258359, + 0.011869411199133402, + -0.005017717504431778, + 0.02547655936114908, + 1.0 + ], + [ + -0.00044846287144741743, + -0.0001564725941052056, + -0.00659987290718399, + 0.008368100611152385, + -0.015331217769347115, + 0.0239998591873905, + 1.0 + ], + [ + 0.0017758241674801518, + 0.006257606533064355, + -0.030183114746666583, + -0.05606582217240992, + -0.019184576731174442, + 0.009292574073256746, + 1.0 + ], + [ + -0.0011682341189833798, + -0.004390825112584649, + -0.02650365163192573, + -0.03853400305421824, + -0.03809919823446722, + 0.03461339835702492, + 1.0 + ], + [ + 0.0034794849021699873, + -0.019523878685426467, + -0.0024374993917625626, + 0.05663566553087437, + 0.01289982801966149, + 0.07383687036155832, + 1.0 + ], + [ + 0.011787746499371284, + -0.036853000036837696, + 0.03535306040851366, + 0.17493787224963664, + 0.06720074151765698, + 0.061716721706899055, + 1.0 + ], + [ + 0.019944541085476893, + -0.018126644156296272, + 0.029605370409848498, + 0.05546403398677239, + 0.028754657108347285, + 0.027646057768622535, + 1.0 + ], + [ + 0.023717398740307195, + -0.02433527563959016, + 0.013016211621902024, + -0.012921017399854549, + 0.021663693326751072, + 0.03457140797365856, + 1.0 + ], + [ + 0.02352007547692319, + -0.013492659637999858, + 0.006216104228177972, + -0.005322297446819749, + -0.025646340436628848, + -0.03333258925853098, + 1.0 + ], + [ + 0.034474167149591964, + 0.003962519961350468, + 0.008600041852288725, + -0.031814315086984735, + 0.034922578564350194, + -0.014577106200504918, + 1.0 + ], + [ + 0.015681247621350886, + 0.014167937922217962, + 0.00541154609301938, + 0.02033263673578506, + 0.005501493883900731, + -0.12109212636685815, + 1.0 + ], + [ + 0.007846538556218667, + 0.024393598234985263, + 0.0018090399026718983, + -0.005070303743001319, + 0.018374545601774574, + -0.08372061400718794, + 1.0 + ], + [ + -0.013889021876219978, + 0.012106030477963974, + 0.0017189334287120205, + 0.014314438625676905, + -0.0036395807291638924, + 0.038611454518027714, + 1.0 + ], + [ + -0.016910715337431995, + 0.006098265797262567, + 0.003753660396890691, + 0.02609211514373004, + -0.020377584895792156, + 0.06722750112105191, + 1.0 + ], + [ + -0.004234857929460428, + -0.00509812202923146, + -0.0023048571606842927, + 0.0040248218831172656, + 0.028544805199863642, + 0.08590377064832558, + 1.0 + ], + [ + -0.005661815251351006, + -0.01443634266039797, + -0.0012747339339919052, + 0.015374193647077414, + 0.0025403657355224955, + 0.09581527710188455, + 1.0 + ], + [ + -0.0008477285872644305, + -0.02395220675882584, + -0.008375519259164766, + 0.023118129209123463, + 0.008804475513756536, + 0.11194795697096946, + 1.0 + ], + [ + -0.017918119649233195, + -0.02279238420081485, + -0.00943700038567375, + 0.03822913507879426, + -0.02866894754778202, + 0.15269661984346034, + 1.0 + ], + [ + -0.02963958502481193, + 0.004107018220060692, + -0.006857280349224768, + 0.016046080998546194, + -0.09743653783916019, + 0.07310308307937485, + 1.0 + ], + [ + -0.014584793187611094, + 0.034436393338347845, + -0.003484979424543975, + 0.0086586411224527, + -0.04903345017035139, + -0.07273762293034314, + 1.0 + ], + [ + -0.00010085825536474213, + 0.0529935130344704, + -0.0038392450819011432, + -0.04294184619399577, + 0.08907300683219779, + -0.10865277871505345, + 1.0 + ], + [ + -0.016748997697329716, + 0.0408263347478129, + 0.010635895072642843, + -0.0013986497049600798, + 0.013664191912004988, + -0.05423901831770467, + 1.0 + ], + [ + -0.03694961177265217, + 0.020230779841931126, + 0.007674466134420605, + 0.016627323966105476, + -0.07725349634135174, + -0.005446383621066888, + 1.0 + ], + [ + -0.0270657598584511, + 0.01361548770974921, + 0.008916700317340312, + -0.003964174089534874, + -0.05655331388384941, + -0.017208007420427412, + 1.0 + ] + ], + "state": [ + [ + 0.22533926367759705, + 0.09390635043382645, + 0.1275845617055893, + 2.8781003673845014, + -0.21034654974937436, + 1.0380653142929077, + 1.0 + ], + [ + 0.22533926367759705, + 0.09390635043382645, + 0.1275845617055893, + 2.8781003673845014, + -0.21034654974937436, + 1.0380653142929077, + 1.0 + ], + [ + 0.2236289381980896, + 0.09179238975048065, + 0.12175120413303375, + 2.881821932392665, + -0.18647609651088715, + 1.0451234579086304, + 1.0 + ], + [ + 0.23132747411727905, + 0.08816155046224594, + 0.11686374992132187, + 2.831772269802638, + -0.14764133095741272, + 1.1117252111434937, + 1.0 + ], + [ + 0.24610508978366852, + 0.07999468594789505, + 0.12418392300605774, + 2.7139597852998456, + -0.09557677805423734, + 1.2786509990692139, + 1.0 + ], + [ + 0.2600323557853699, + 0.06882922351360321, + 0.1357893943786621, + 2.6583147664838513, + -0.05011904984712601, + 1.3616576194763184, + 1.0 + ], + [ + 0.27866649627685547, + 0.05956675112247467, + 0.138620987534523, + 2.650516839819499, + -0.0231845173984766, + 1.4216880798339844, + 1.0 + ], + [ + 0.29277852177619934, + 0.050172872841358185, + 0.14032523334026337, + 2.6246685703569135, + -0.006446432322263718, + 1.4544167518615723, + 1.0 + ], + [ + 0.30349045991897583, + 0.044525474309921265, + 0.1337476372718811, + 2.602968366938182, + -0.0018105687340721488, + 1.4697073698043823, + 1.0 + ], + [ + 0.3130767345428467, + 0.04205373302102089, + 0.1309635043144226, + 2.597171576815196, + 0.011484659276902676, + 1.4918304681777954, + 1.0 + ], + [ + 0.31977808475494385, + 0.0439835786819458, + 0.11951375007629395, + 2.667260171967097, + 0.028290394693613052, + 1.525789737701416, + 1.0 + ], + [ + 0.31726136803627014, + 0.04935304448008537, + 0.11634156107902527, + 2.7354372163587293, + 0.057485852390527725, + 1.5662921667099, + 1.0 + ], + [ + 0.3082915246486664, + 0.051641181111335754, + 0.11595045775175095, + 2.7631862481408795, + 0.07389400154352187, + 1.548257827758789, + 1.0 + ], + [ + 0.2824883759021759, + 0.052427418529987335, + 0.11456098407506943, + 2.7865570207410535, + 0.0554843433201313, + 1.4835494756698608, + 1.0 + ], + [ + 0.2685791850090027, + 0.0545993410050869, + 0.11145542562007904, + 2.7725092788511, + 0.022483794018626213, + 1.457993745803833, + 1.0 + ], + [ + 0.26519888639450073, + 0.05322610214352608, + 0.11213549971580505, + 2.7839253564649304, + 0.017966393381357193, + 1.4324185848236084, + 1.0 + ], + [ + 0.2627185881137848, + 0.05322995409369469, + 0.11826999485492706, + 2.7918940802388867, + 0.02391957677900791, + 1.4045636653900146, + 1.0 + ], + [ + 0.25873225927352905, + 0.056438595056533813, + 0.14871905744075775, + 2.735437573986598, + 0.03875652328133583, + 1.389250636100769, + 1.0 + ], + [ + 0.2444133758544922, + 0.05877101793885231, + 0.1713601052761078, + 2.695245685177394, + 0.06004438921809195, + 1.3423322439193726, + 1.0 + ], + [ + 0.2269369661808014, + 0.0660167932510376, + 0.16493329405784607, + 2.749070795374461, + 0.01644141413271427, + 1.2813174724578857, + 1.0 + ], + [ + 0.2104089856147766, + 0.082435242831707, + 0.11798445135354996, + 2.9227595051103314, + -0.06925429403781891, + 1.250065565109253, + 1.0 + ], + [ + 0.2067052125930786, + 0.10702572017908096, + 0.08660884946584702, + 2.9796225001388272, + -0.10330941528081894, + 1.229222297668457, + 1.0 + ], + [ + 0.1945352852344513, + 0.13822510838508606, + 0.07237391173839569, + 2.969924660521098, + -0.13021506369113922, + 1.1983451843261719, + 1.0 + ], + [ + 0.1920263022184372, + 0.16541804373264313, + 0.06706966459751129, + 2.9609020074182233, + -0.09919954091310502, + 1.226934790611267, + 1.0 + ], + [ + 0.20897480845451355, + 0.19660179316997528, + 0.06277403980493546, + 2.926955761509486, + -0.1309127509593964, + 1.2477192878723145, + 1.0 + ], + [ + 0.2282244861125946, + 0.2068646103143692, + 0.06257077306509018, + 2.9331822117143354, + -0.10962172597646712, + 1.3679229021072388, + 1.0 + ], + [ + 0.2534666359424591, + 0.20926891267299652, + 0.06668679416179657, + 2.919430585699626, + -0.10989458113908768, + 1.4541503190994263, + 1.0 + ], + [ + 0.26395174860954285, + 0.19403119385242462, + 0.0661483034491539, + 2.938156085210391, + -0.11476825922727588, + 1.4154311418533325, + 1.0 + ], + [ + 0.2680453062057495, + 0.17666906118392944, + 0.061783645302057266, + 2.9727613051706037, + -0.10809986293315887, + 1.345068097114563, + 1.0 + ], + [ + 0.26179322600364685, + 0.17362838983535767, + 0.06273393332958221, + 2.985970826941081, + -0.15031079947948456, + 1.2643228769302368, + 1.0 + ], + [ + 0.2463628202676773, + 0.17279331386089325, + 0.060918908566236496, + 3.01633636851842, + -0.16697517037391663, + 1.1687313318252563, + 1.0 + ], + [ + 0.2228575050830841, + 0.18091972172260284, + 0.0660216361284256, + 3.058783644931861, + -0.1886461228132248, + 1.0567808151245117, + 1.0 + ], + [ + 0.1930517554283142, + 0.175917848944664, + 0.07004746794700623, + 3.127259099977561, + -0.17038720846176145, + 0.8999865055084229, + 1.0 + ], + [ + 0.17730484902858734, + 0.14962664246559143, + 0.07183696329593658, + -3.127254359545656, + -0.07353816926479341, + 0.8256388306617737, + 1.0 + ], + [ + 0.19263702630996704, + 0.11539218574762344, + 0.07374818623065948, + -3.1240092442655047, + -0.02535387873649597, + 0.8990096449851991, + 1.0 + ], + [ + 0.23405343294143677, + 0.08223628252744675, + 0.07665158808231354, + 3.1134754197024783, + -0.11617430299520494, + 1.006366491317749, + 1.0 + ], + [ + 0.26047518849372864, + 0.04711862653493881, + 0.065290167927742, + 3.1057378744059285, + -0.1281348466873169, + 1.061415433883667, + 1.0 + ], + [ + 0.2609288692474365, + 0.005905988626182079, + 0.05368119105696678, + 3.1219166462593755, + -0.05073541030287742, + 1.0640789270401, + 1.0 + ], + [ + 0.2600789964199066, + -0.0240364670753479, + 0.04367262125015259, + 3.1171075013750276, + 0.006152049172669648, + 1.0801441669464111, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.007925748825073242, + 0.009980499744415283, + 0.009293973445892334, + 0.009293973445892334, + 0.009980499744415283, + 0.009293973445892334, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283 + ], + "episode_id": "2932", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2932/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2946.json b/annotation/test/2946.json new file mode 100644 index 0000000000000000000000000000000000000000..306834926c697a58c940b616a085ee35d15b0038 --- /dev/null +++ b/annotation/test/2946.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put sushi in pot or pan" + ], + "videos": [ + { + "video_path": "videos/test/2946/rgb.mp4" + } + ], + "action": [ + [ + -0.00031401996096054385, + 8.15516992302601e-05, + 0.00035835554937324544, + 0.00016083798601203202, + -0.0014508765493026169, + 0.00047126884712784975, + 1.0 + ], + [ + -0.00036245633574037445, + 0.010942391659854066, + 0.002640959786880507, + -0.003174035532196101, + -0.029100629852640943, + 0.0006684237642046135, + 1.0 + ], + [ + 0.0086383078772659, + 0.03780444143902436, + -0.00830082747706153, + -0.01875988771732032, + 0.0036870461632498262, + 0.008102178214187556, + 1.0 + ], + [ + 0.005944200570973266, + 0.04064513244869092, + -0.0021260714171320552, + -0.045388945395576065, + -0.006674644591268987, + 0.03947161138853561, + 1.0 + ], + [ + 0.012672445486204902, + 0.022538576452910044, + 0.008204958835474313, + -0.03788624721557054, + 0.01832792258057396, + -0.019501149001299085, + 1.0 + ], + [ + 0.013119312421688553, + 0.021067363785937748, + 0.02148830981436046, + -0.013011836109880383, + 0.05589957048561586, + -0.008471491334530328, + 1.0 + ], + [ + -0.003786474537663655, + 0.021218672326686252, + 0.03123045625498931, + 0.008595376135047936, + 0.06327713769656715, + -0.037855110280126315, + 1.0 + ], + [ + 0.0009855448868573897, + 0.005523146462635399, + 0.02417960884631041, + 0.003146902252130948, + 0.04865459846666024, + -0.01541211869891074, + 1.0 + ], + [ + 0.00407623819357765, + 0.00106426708203795, + 0.013644059028758967, + -0.006307254033430169, + 0.038675041842474174, + 0.036989171700511046, + 1.0 + ], + [ + -0.000620166806350378, + -0.005291701846067864, + 0.014228070865724763, + -0.012889474758385587, + 0.004655895316851379, + -0.006613616645638977, + 1.0 + ], + [ + 0.0003419301948733905, + 0.001771603264269464, + 0.0047670109732062945, + -0.0372925712306667, + 0.009722370516524257, + -0.026325358883277, + 1.0 + ], + [ + -0.004379342865879857, + 0.0022500727492980655, + 0.008830707586122147, + -0.004313257934415029, + -0.008002005815776769, + -0.027741861579204517, + 1.0 + ], + [ + -0.0016130412005926679, + -0.0005619223629875285, + 9.035792539803023e-05, + 0.001862971323402144, + -0.01133816279046165, + -0.02788890967071413, + 0.0 + ], + [ + -0.0021174946530987376, + -0.0009905525927519224, + -0.0011873250539060458, + 0.0044724605749181705, + -0.026584220459052586, + -0.03135099852944144, + 0.0 + ], + [ + -0.006588825591331729, + -0.022966389139609973, + -0.024531186607250944, + 0.04463106227704749, + -0.09233377244629634, + 0.022091990719467564, + 0.0 + ], + [ + 0.0015308483786631813, + -0.04556230383573203, + -0.03017664751685701, + 0.05243412532898347, + -0.014191893037311092, + -0.0057213886758635596, + 0.0 + ], + [ + -0.0015899448564733903, + -0.051259679000865574, + -0.006101752498112442, + 0.08028777142271683, + 0.003460255767100985, + 0.03037099782917217, + 0.0 + ], + [ + 0.0012987986451369934, + -0.046402011430970065, + 0.006093473307994201, + 0.02937976743566743, + 0.044097905848226246, + 0.06576749165829227, + 0.0 + ], + [ + -0.0017269356256078736, + -0.03571007164612785, + 0.01909763666889314, + 0.011193554812553115, + 0.06028612942246353, + 0.029828789589986696, + 0.0 + ], + [ + 0.002097374375996818, + 0.003201064808775272, + 0.00917443057612669, + -0.02562925464633525, + 0.04253053848760746, + -0.0031549093441840415, + 0.0 + ], + [ + 0.004581060233399775, + 0.012157345708873802, + 0.0024303068255425915, + -0.043321125527536725, + 0.027150581944059816, + 0.0015359787842301577, + 0.0 + ], + [ + -0.0004752077560644807, + 0.0031481179377015767, + -0.0007334161316007322, + -0.03918699225096827, + 0.03098577931289838, + 0.007560498612267203, + 1.0 + ], + [ + -0.00014633502848307694, + 9.948140297519125e-05, + 0.0003300238333690434, + -0.00046272345829880213, + -0.001444290233289939, + 0.00023059701158307684, + 1.0 + ] + ], + "state": [ + [ + 0.20100896060466766, + 0.0319039560854435, + 0.1778000146150589, + -2.8381531854444226, + -0.10100136697292326, + 0.021429050713777542, + 1.0 + ], + [ + 0.20073291659355164, + 0.03192729875445366, + 0.17740386724472046, + -2.8379903753572187, + -0.0994759574532509, + 0.02141276001930237, + 1.0 + ], + [ + 0.20115403831005096, + 0.022281695157289505, + 0.17160499095916748, + -2.841844828920909, + -0.07150351256132124, + 0.02949460223317146, + 1.0 + ], + [ + 0.21113477647304535, + -0.0160104651004076, + 0.16899822652339935, + -2.859982194500514, + -0.07263099402189255, + 0.020641667768359184, + 1.0 + ], + [ + 0.21855144202709198, + -0.05550072342157364, + 0.16020089387893677, + -2.9029322882466992, + -0.055205002427101135, + -0.015472397208213806, + 1.0 + ], + [ + 0.23162804543972015, + -0.07566552609205246, + 0.1476198434829712, + -2.9416125138574323, + -0.07761742919683456, + -0.0008162321173585951, + 1.0 + ], + [ + 0.24665197730064392, + -0.09205664694309235, + 0.12346802651882172, + -2.9540879150205335, + -0.1340843290090561, + -0.003650746773928404, + 1.0 + ], + [ + 0.24747519195079803, + -0.10708490759134293, + 0.08863435685634613, + -2.9486377110057553, + -0.20326298475265503, + 0.022205181419849392, + 1.0 + ], + [ + 0.2534606456756592, + -0.10773614048957825, + 0.0645536556839943, + -2.946469860272952, + -0.25396585464477534, + 0.02817808836698532, + 1.0 + ], + [ + 0.2607728838920593, + -0.10592807084321976, + 0.052422259002923965, + -2.941361190872737, + -0.28448691964149475, + -0.01741836406290531, + 1.0 + ], + [ + 0.2639349400997162, + -0.09796605259180069, + 0.039875052869319916, + -2.9558789302879056, + -0.290360689163208, + -0.011620303615927696, + 1.0 + ], + [ + 0.26568740606307983, + -0.098847396671772, + 0.03517058864235878, + -3.0004428048902234, + -0.3046893775463104, + 0.013618011958897114, + 1.0 + ], + [ + 0.26424112915992737, + -0.0998525619506836, + 0.025214646011590958, + -3.013788329558917, + -0.300540804862976, + 0.04355128109455109, + 1.0 + ], + [ + 0.26268240809440613, + -0.09935109317302704, + 0.024719933047890663, + -3.0209696759753903, + -0.2927182614803315, + 0.07395001500844955, + 0.0 + ], + [ + 0.26022493839263916, + -0.09869036823511124, + 0.025351600721478462, + -3.026799576478549, + -0.2699226438999176, + 0.10955198109149933, + 0.0 + ], + [ + 0.2445688396692276, + -0.08028636127710342, + 0.04961733520030975, + -2.9786113669448575, + -0.17565055191516876, + 0.098084956407547, + 0.0 + ], + [ + 0.23568156361579895, + -0.040905363857746124, + 0.08648263663053513, + -2.92757339973981, + -0.16256949305534363, + 0.1061389148235321, + 0.0 + ], + [ + 0.226240336894989, + 0.007159167435020208, + 0.10285267233848572, + -2.8423998673730573, + -0.1594255417585373, + 0.07533520460128784, + 0.0 + ], + [ + 0.2228032797574997, + 0.05316761136054993, + 0.1108134314417839, + -2.8013795634084424, + -0.18173691630363464, + -0.0017422083765268326, + 0.0 + ], + [ + 0.22227469086647034, + 0.0932045429944992, + 0.10451454669237137, + -2.7810063679986676, + -0.2284008264541626, + -0.051215127110481255, + 0.0 + ], + [ + 0.22652381658554077, + 0.0932287946343422, + 0.09552787244319916, + -2.8034885843568524, + -0.2692906856536866, + -0.06371792405843735, + 0.0 + ], + [ + 0.23193126916885376, + 0.08219916373491287, + 0.0906493216753006, + -2.8437923212819776, + -0.29437914490699774, + -0.07464122772216798, + 0.0 + ], + [ + 0.2313016951084137, + 0.07901249080896378, + 0.09029843658208847, + -2.8778812905126294, + -0.3217417299747467, + -0.0918390303850174, + 1.0 + ], + [ + 0.23127102851867676, + 0.07900525629520416, + 0.08992529660463333, + -2.878394993143626, + -0.3202872574329376, + -0.09167693555355072, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.007925748825073242, + 0.007925748825073242, + 0.0072438716888427734, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.0072438716888427734, + 0.007925748825073242, + 0.0072438716888427734, + 0.0072438716888427734, + 0.11984705924987793, + 0.3770405650138855, + 0.3780445456504822, + 0.3619738817214966, + 0.3619738817214966, + 0.3619738817214966, + 0.3619738817214966, + 0.3619738817214966, + 0.36096906661987305, + 0.21830260753631592, + 0.009293973445892334, + 0.006563663482666016 + ], + "episode_id": "2946", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2946/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2953.json b/annotation/test/2953.json new file mode 100644 index 0000000000000000000000000000000000000000..701b3f4ddcac286574aa86292faa86f84b041954 --- /dev/null +++ b/annotation/test/2953.json @@ -0,0 +1,945 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Put the sushi into the bowl." + ], + "videos": [ + { + "video_path": "videos/test/2953/rgb.mp4" + } + ], + "action": [ + [ + 0.00036553977685217293, + 0.00011862421952235295, + -0.00035597276654557335, + -0.0003748470767211728, + 0.0014834588227867894, + 0.00010905777606027264, + 1.0 + ], + [ + -0.0035474272632500304, + -0.0020160861334935784, + 0.011929269988554267, + 0.010844323554462874, + -0.0367529970812568, + -0.002449029801301695, + 1.0 + ], + [ + -0.007358678286320352, + -0.013771290519842333, + 0.011539047683469637, + 0.031035411242972936, + -0.022977882051060407, + -0.01251754062587428, + 1.0 + ], + [ + -0.011997605922211586, + -0.005227184130867631, + 0.0030049973838743214, + -0.020229657172174308, + 0.001716609637592098, + 0.005715047280957286, + 1.0 + ], + [ + -0.019232156243554628, + -0.004641048591737731, + 0.013079384656831053, + -0.036987743557114705, + -0.019525955617286775, + 0.07381948355898287, + 1.0 + ], + [ + -0.0023715310062022888, + -0.010664505903842774, + 0.006105154023124617, + -0.031952126405623546, + 0.028369230043488226, + 0.1545964969777606, + 1.0 + ], + [ + 0.003275992084166886, + -0.008624915304926508, + 0.0014206636981744295, + -0.003047649028325581, + 0.011947942167335664, + 0.05879211546010655, + 1.0 + ], + [ + 0.010304502239020592, + -0.01417162704752017, + 0.00952385203101409, + -0.027810367584595392, + 0.007744472279784737, + 0.023579784748196376, + 1.0 + ], + [ + 0.007041121052559561, + -0.001252459040899178, + 0.01569318447127923, + -0.0026567989687589985, + 0.0022147278412880163, + 0.04523212028610961, + 1.0 + ], + [ + 0.0070394736111952655, + 0.007675232995373642, + 0.017039818568984143, + 0.04783183549420538, + -0.0037139409700326287, + 0.05736891517606313, + 1.0 + ], + [ + 0.0015462924077023399, + 0.01509719877898901, + 0.009693177803729306, + 0.026853346877460174, + -0.028111956338380494, + 0.055948562561460115, + 1.0 + ], + [ + 0.002664830361767466, + 0.011938750190151153, + 0.001272419035715914, + 0.009301775712380918, + -0.0043458526882771105, + 0.020006886219306963, + 1.0 + ], + [ + -0.0013717944508861966, + 0.004982473265850794, + 0.0012894723647617278, + -0.003590693774759836, + -0.006501196038735286, + -0.0015675652457800354, + 1.0 + ], + [ + -0.011269380072922823, + -0.002744240758969696, + 0.0048497663314492675, + -0.048196770134359704, + -0.01695342219874572, + -0.028400371875487284, + 1.0 + ], + [ + -0.008003921138221707, + -0.009165455771990665, + -0.00959045295423052, + -0.021791536774516108, + 0.030438601900055894, + -0.007039704413379698, + 1.0 + ], + [ + -0.00401910453774649, + -0.002450041666109183, + -0.0007493549531556632, + -0.011725979704253509, + -0.01715359961042157, + 0.004988765525630185, + 1.0 + ], + [ + -0.0022023429511205915, + -0.004979538773896423, + -0.0010454218526191222, + -0.006165055495664143, + -0.001504454672506166, + -0.000535261828430846, + 1.0 + ], + [ + -0.002828788296403405, + -0.0010575858165682692, + 0.0010665119771889823, + 0.004653730539230629, + -0.010694609883492625, + 0.01805882109558883, + 1.0 + ], + [ + -0.004239821096433507, + -0.0017477211014229625, + 0.001470589933796222, + 0.014671214790850791, + -0.02006246718491033, + 0.013059600981018736, + 1.0 + ], + [ + -0.006194825461657851, + 0.0034059226513107645, + 0.0031477891265861723, + 0.006554522425456937, + -0.03510315781882124, + 0.02653342704337752, + 1.0 + ], + [ + -0.004637249306503193, + 0.003277482152455977, + -0.003081878959332085, + -0.004144865608512639, + 0.005644826245693553, + 0.010946826355686364, + 1.0 + ], + [ + -0.00688041773366226, + -0.0007982235945560119, + 0.000635814979397164, + -0.033585361782458224, + 0.0221207192791459, + -0.03391886574895563, + 1.0 + ], + [ + -0.0014421797724824804, + -0.001055437804791472, + 0.0024616574961239973, + -0.021448042452059248, + 0.022623000616290374, + -0.019128702211537525, + 1.0 + ], + [ + 0.00051259791949115, + 0.0005806583199652396, + 8.105648675989154e-05, + -0.0012411277571654491, + 0.0022471467398085723, + 0.0010349482128415653, + 0.0 + ], + [ + 0.0003317426314983546, + -0.0006245929721465024, + 0.00019603311065848094, + 0.0017072902233525337, + 0.00474198192550179, + -0.021213097074291542, + 0.0 + ], + [ + -0.006312678510980047, + -0.0015394577781730687, + -0.002809113345232653, + -0.004304698765756702, + 0.013237429354162463, + -0.1126655824688046, + 0.0 + ], + [ + -0.001989372475002341, + -0.008581129685382577, + -0.027100237018648252, + -0.009816325686461498, + 0.09946653166297433, + -0.19223170221050817, + 0.0 + ], + [ + -0.006284725025101095, + 0.0006340750920024963, + -0.02185140422936784, + 0.08512541666013448, + 0.008455502204722413, + -0.1821753150735638, + 0.0 + ], + [ + -0.00041505648834056223, + -0.0016961629187191287, + -0.011490282650281673, + 0.02209723264071389, + -0.005973866198572872, + -0.11117296934986788, + 0.0 + ], + [ + 0.008647164011225086, + -0.023142183125827553, + -0.008076831680120756, + -0.0036556254074569757, + 0.007948884482436625, + -0.030172711881457034, + 0.0 + ], + [ + 0.0015395259515313682, + -0.033902723467206845, + -0.0050177434129106135, + 0.007997229338639101, + -0.005408496673247313, + -0.0158725125156016, + 0.0 + ], + [ + 0.009244650262602351, + -0.01691205867379291, + -0.008018294503153134, + -0.0020004736124368725, + 0.038345111169153005, + 0.06689864841054105, + 0.0 + ], + [ + 0.015500938631417964, + -0.014600399668876267, + 0.002233787799400919, + -0.006764029386530554, + 0.025064754979411064, + 0.06230453113721663, + 0.0 + ], + [ + 0.017177774870579466, + -0.012485401761804715, + 0.001882174927562953, + 0.01234820065424661, + 0.027357675098938175, + 0.01995042588680558, + 0.0 + ], + [ + 0.006062878753884427, + -0.01950667279284802, + 0.009803335914985233, + 0.010492291618381333, + -0.015988890016348064, + -0.024612942321040897, + 0.0 + ], + [ + -0.003604152131116124, + -0.022806821803895753, + 0.005052080231041771, + 0.014618799582193706, + -0.01580913762438446, + -0.0348574757577483, + 0.0 + ], + [ + -0.008916214660782615, + -0.012256061821194555, + 0.002510056338408797, + 0.012433939766781145, + -0.013409944029151659, + -0.008881248394740875, + 0.0 + ], + [ + -0.0061635828259395805, + -0.005153729064640664, + 0.001928693589821565, + -0.007640598924844804, + -0.009804148023617553, + -0.01099076604706125, + 0.0 + ], + [ + -0.0035341645979755174, + 0.000684690299041328, + 0.0011290917870590096, + -0.021369743955152603, + -0.008242210534805807, + -0.01195760326801335, + 0.0 + ], + [ + -0.000724209727192197, + -0.0007687709916875477, + -0.0007082070077463113, + -0.011267340185834994, + 0.0002972043613591662, + -0.012575140999807844, + 0.0 + ], + [ + -0.0004848179369240949, + -0.0007693718136095228, + -0.00013763342578489092, + -0.00044034128639198247, + -0.0009706099005598534, + -0.003031250670815701, + 1.0 + ], + [ + 0.00018626189429002627, + 0.00036231637595477746, + -5.231337792285977e-07, + -0.002290382216833235, + 0.0011637054425461995, + -0.004746255423127086, + 1.0 + ], + [ + 0.002201876528887119, + 0.01340552528372631, + -0.020562032425551543, + -0.0018948599662683627, + 0.03763772061538994, + 0.01253663788584881, + 1.0 + ], + [ + 0.006423037101311235, + 0.04667447925407111, + -0.02693945598831072, + -0.004479816944708745, + 0.047851657570635586, + 0.03354711047798387, + 1.0 + ], + [ + 0.011970109152045442, + 0.05871896083068791, + -0.008933435055091886, + -0.015911077217987943, + 0.026863320115096925, + 0.06507732623256678, + 1.0 + ], + [ + 0.014478595975850448, + 0.050239143848978214, + -0.0011309219804952729, + -0.04320402300468586, + 0.04325211898192833, + 0.11768385495077448, + 1.0 + ], + [ + 0.0033416652200379602, + 0.04574874089746821, + 0.029719068181008154, + -0.033513583199880036, + -0.04641097103451758, + 0.14905978517137622, + 1.0 + ], + [ + 0.002364280895625339, + 0.005680385050812382, + 0.009914858620213901, + 0.045802115686766016, + -0.03747703050301503, + 0.006918621460067338, + 1.0 + ] + ], + "state": [ + [ + 0.3341897130012512, + -0.061525266617536545, + 0.128632590174675, + 3.0458760057860097, + -0.08762428909540176, + 0.09909073263406754, + 1.0 + ], + [ + 0.33452853560447693, + -0.061576057225465775, + 0.12902885675430298, + 3.0454981346898755, + -0.08911138027906416, + 0.09912408143281935, + 1.0 + ], + [ + 0.3319958746433258, + -0.060961466282606125, + 0.11669337004423141, + 3.056374529498168, + -0.05229299142956734, + 0.0980331376194954, + 1.0 + ], + [ + 0.3240947127342224, + -0.048937901854515076, + 0.10365673899650574, + 3.086842229711362, + -0.02833020314574242, + 0.10855045914649963, + 1.0 + ], + [ + 0.3117174208164215, + -0.04520192742347717, + 0.10003166645765305, + 3.066772410767623, + -0.03035653755068779, + 0.10293533653020859, + 1.0 + ], + [ + 0.2926250398159027, + -0.04350437968969345, + 0.08606439083814621, + 3.032258192198821, + -0.016312487423419952, + 0.027863282710313797, + 1.0 + ], + [ + 0.29009589552879333, + -0.03363635763525963, + 0.07879429310560226, + 3.0039574970775327, + -0.06113407388329506, + -0.12289293855428696, + 1.0 + ], + [ + 0.2945215702056885, + -0.025771120563149452, + 0.07640870660543442, + 3.0045893659167966, + -0.08093303442001343, + -0.1796683818101883, + 1.0 + ], + [ + 0.3078077733516693, + -0.015237739309668541, + 0.06590888649225235, + 2.9786195774846753, + -0.09180490672588348, + -0.20206283032894135, + 1.0 + ], + [ + 0.3158226013183594, + -0.018217256292700768, + 0.05093200132250786, + 2.9802019913964948, + -0.10123664140701293, + -0.2465633749961853, + 1.0 + ], + [ + 0.32162439823150635, + -0.030312757939100266, + 0.03613819181919098, + 3.034112000959464, + -0.10661819577217102, + -0.30411046743392944, + 1.0 + ], + [ + 0.3190993666648865, + -0.04634208232164383, + 0.02833056077361107, + 3.067367011802741, + -0.08448318392038345, + -0.3629441261291504, + 1.0 + ], + [ + 0.3173515498638153, + -0.058514777570962906, + 0.028173226863145828, + 3.0783997421436986, + -0.08161545544862747, + -0.38328579068183893, + 1.0 + ], + [ + 0.31426700949668884, + -0.06272036582231522, + 0.027092376723885536, + 3.0747134183817586, + -0.0750281885266304, + -0.3821286857128144, + 1.0 + ], + [ + 0.3050893545150757, + -0.05643037334084511, + 0.02123945765197277, + 3.024489665525504, + -0.05618714168667793, + -0.35488626360893244, + 1.0 + ], + [ + 0.3007032573223114, + -0.04390241950750351, + 0.029230555519461632, + 3.002055602269717, + -0.08559161424636841, + -0.3443033695220947, + 1.0 + ], + [ + 0.29775571823120117, + -0.040157251060009, + 0.029286812990903854, + 2.9909405281120023, + -0.06929630786180496, + -0.3516462743282318, + 1.0 + ], + [ + 0.2974242866039276, + -0.03462448716163635, + 0.029419871047139168, + 2.9847542514377317, + -0.06772855669260024, + -0.3513421714305877, + 1.0 + ], + [ + 0.29515400528907776, + -0.03285716846585274, + 0.028012609109282494, + 2.9907515217834195, + -0.0599728412926197, + -0.37088415026664734, + 1.0 + ], + [ + 0.29185160994529724, + -0.029956107959151268, + 0.026045052334666252, + 3.00636679132516, + -0.04209296777844429, + -0.3868218660354614, + 1.0 + ], + [ + 0.2847900092601776, + -0.031181907281279564, + 0.023126840591430664, + 3.0142083038860044, + -0.010866565629839897, + -0.41783201694488525, + 1.0 + ], + [ + 0.2793571650981903, + -0.031898412853479385, + 0.026549525558948517, + 3.010178195434161, + -0.01785575971007347, + -0.4279744327068329, + 1.0 + ], + [ + 0.2734040915966034, + -0.02840457484126091, + 0.025691865012049675, + 2.975996272759982, + -0.035330262035131454, + -0.39143338799476624, + 1.0 + ], + [ + 0.2723991274833679, + -0.02730259858071804, + 0.023040585219860077, + 2.9537488539987287, + -0.054481837898492806, + -0.36880797147750854, + 1.0 + ], + [ + 0.27266398072242737, + -0.028032757341861725, + 0.023097258061170578, + 2.952539848285266, + -0.05688271299004555, + -0.36940604448318476, + 0.0 + ], + [ + 0.2731974720954895, + -0.02762097865343094, + 0.022806700319051743, + 2.9530530144744596, + -0.057540543377399445, + -0.34764382243156433, + 0.0 + ], + [ + 0.2678332030773163, + -0.023508787155151367, + 0.024910377338528633, + 2.94345052738721, + -0.04910492151975632, + -0.23435908555984497, + 0.0 + ], + [ + 0.26790517568588257, + -0.009391725063323975, + 0.04966355115175247, + 2.926790328817912, + -0.10801829397678375, + -0.025707559660077095, + 0.0 + ], + [ + 0.25944751501083374, + -0.005134698934853077, + 0.07034517079591751, + 2.9960836340957364, + -0.07591580599546432, + 0.1545858532190323, + 0.0 + ], + [ + 0.2576901316642761, + -0.0020239055156707764, + 0.08140457421541214, + 3.0107767601781568, + -0.053465306758880615, + 0.26386258006095886, + 0.0 + ], + [ + 0.25950974225997925, + 0.023326056078076363, + 0.08684863150119781, + 3.0055234899097165, + -0.05738546326756476, + 0.29486486315727234, + 0.0 + ], + [ + 0.2510007321834564, + 0.05655748024582863, + 0.08730878680944443, + 3.0126732011609754, + -0.049867480993270874, + 0.3098753392696381, + 0.0 + ], + [ + 0.25409114360809326, + 0.07623987644910812, + 0.09353991597890854, + 3.0138960500531873, + -0.0963955521583557, + 0.24823358654975888, + 0.0 + ], + [ + 0.26593926548957825, + 0.09388889372348785, + 0.09097578376531601, + 3.0129973908239087, + -0.12901978194713593, + 0.18916234374046326, + 0.0 + ], + [ + 0.280825674533844, + 0.1091003566980362, + 0.08974695950746536, + 3.027435103552886, + -0.1586926281452179, + 0.17268553376197815, + 0.0 + ], + [ + 0.285447359085083, + 0.12844522297382355, + 0.07889383286237717, + 3.0343306382470807, + -0.1399635225534439, + 0.19553689658641812, + 0.0 + ], + [ + 0.2786673307418823, + 0.14966721832752228, + 0.07099936157464981, + 3.044362822669097, + -0.12043783813714981, + 0.22873684763908386, + 0.0 + ], + [ + 0.26776716113090515, + 0.1594037413597107, + 0.06626684218645096, + 3.05588003446395, + -0.1062256470322609, + 0.2363162785768509, + 0.0 + ], + [ + 0.2608886957168579, + 0.16285906732082367, + 0.06326384842395782, + 3.047162765758582, + -0.09551116824150085, + 0.2464731186628342, + 0.0 + ], + [ + 0.2577672302722931, + 0.16126108169555664, + 0.06187213584780693, + 3.0247305800491056, + -0.08617229759693146, + 0.2576412856578827, + 0.0 + ], + [ + 0.25680285692214966, + 0.1618819534778595, + 0.062421269714832306, + 3.01239067514474, + -0.08499452471733093, + 0.2702106833457947, + 0.0 + ], + [ + 0.25612586736679077, + 0.16250452399253845, + 0.06241733580827713, + 3.011705385642596, + -0.08364109694957733, + 0.27310171723365784, + 1.0 + ], + [ + 0.25639766454696655, + 0.16220763325691223, + 0.062480177730321884, + 3.0090092440419873, + -0.08417926728725435, + 0.27797597646713257, + 1.0 + ], + [ + 0.25961676239967346, + 0.15213464200496674, + 0.08474058657884598, + 3.0076546390824994, + -0.12314143776893616, + 0.27047598361968994, + 1.0 + ], + [ + 0.27325960993766785, + 0.11164896190166473, + 0.11821115761995316, + 3.0064183195405683, + -0.17499865591526031, + 0.24324192106723785, + 1.0 + ], + [ + 0.29559043049812317, + 0.05848283693194389, + 0.1368042677640915, + 3.001539858179637, + -0.2100522667169571, + 0.18104033172130585, + 1.0 + ], + [ + 0.3167799711227417, + 0.011948195286095142, + 0.14777745306491852, + 2.9829196502738675, + -0.2679595053195954, + 0.06659735739231111, + 1.0 + ], + [ + 0.3291568160057068, + -0.03720700368285179, + 0.12733443081378937, + 2.993114160495349, + -0.2423386126756668, + -0.09251866489648819, + 1.0 + ], + [ + 0.33292993903160095, + -0.04467214271426201, + 0.11919832229614258, + 3.0418599640303334, + -0.20627877116203308, + -0.10516760498285295, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.04544806480407715, + 0.3288310766220093, + 0.4110974073410034, + 0.4110974073410034, + 0.4110974073410034, + 0.4110974073410034, + 0.4110974073410034, + 0.4110974073410034, + 0.4110974073410034, + 0.4110974073410034, + 0.4110974073410034, + 0.41209590435028076, + 0.41209590435028076, + 0.41209590435028076, + 0.41209590435028076, + 0.41209590435028076, + 0.41209590435028076, + 0.33786332607269287, + 0.05698961019515991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2953", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2953/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2966.json b/annotation/test/2966.json new file mode 100644 index 0000000000000000000000000000000000000000..3ba7706a8cba0a590bbcdfd77963eafbe7f422d3 --- /dev/null +++ b/annotation/test/2966.json @@ -0,0 +1,356 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put pan from stove to sink" + ], + "videos": [ + { + "video_path": "videos/test/2966/rgb.mp4" + } + ], + "action": [ + [ + -0.00045070601845734437, + 0.00023412372733744768, + 0.0011367489441788145, + -0.0017949036642488467, + -0.004234453253812334, + 0.0001644546951892287, + 1.0 + ], + [ + -0.0032104929510415373, + -0.001387773479885037, + 0.01260766049913808, + -0.01548921192805514, + -0.005669264288819876, + 0.0007103016885392355, + 1.0 + ], + [ + -0.004961570220731569, + -0.014671374995963734, + 0.010729290463991962, + -0.0004357946002820592, + 0.011166343987654622, + -0.006810148376035036, + 1.0 + ], + [ + -0.0015960197120909899, + -0.015057211583857678, + 0.010147719468996366, + -0.020810764445100417, + 0.017808358700877422, + 0.003265261986670228, + 1.0 + ], + [ + -0.004851002007807369, + -0.018903904158924942, + 0.014118373203927104, + -0.028436962578231192, + 0.011223985900641076, + -0.016725965453675853, + 1.0 + ], + [ + -0.0003823100625109395, + -0.012972481855854244, + 0.013598945631640434, + -0.03462410231987997, + 0.012920680752276217, + -0.010615794114285895, + 1.0 + ], + [ + -0.00199753832693172, + -0.0033153296317528017, + 0.013276736127608067, + -0.02891884486898298, + 0.00831761758455602, + -0.019299023834044454, + 1.0 + ], + [ + -0.0014448716079434282, + 0.0037688999201446237, + 0.0076455078613137635, + -0.009764974820664619, + -8.913925935408854e-05, + -0.010476423357406709, + 1.0 + ], + [ + -0.0011271628889989807, + 0.007444316942175081, + 0.006013729482578127, + -0.003520832872783569, + -0.012880559492896227, + -0.014625380928331141, + 1.0 + ], + [ + 0.0006425845381512435, + 0.01114575583972086, + -0.0019252408803053637, + 0.014276366398675761, + 0.005378744918807389, + -0.022235328610264643, + 0.0 + ], + [ + 0.004563296580625997, + 0.0182567067647817, + -0.006773496915436101, + 0.021618412862337275, + 0.004523721339374137, + -0.010931352009765269, + 0.0 + ], + [ + 0.0021902754104579625, + 0.025366863039572845, + -0.006335228065637273, + 0.002488050751245801, + -0.034954081158067724, + -0.03518994093066386, + 0.0 + ], + [ + 0.0076720363921040195, + 0.02664491179196558, + -0.00798220755563456, + 0.008853721589157058, + -0.005937388913080599, + -0.044543687924531304, + 0.0 + ], + [ + 0.0036997521569625083, + 0.024311809040035274, + 0.0005710798806947636, + 0.017193032941458766, + 0.0022167797911623326, + -0.020932747252505945, + 0.0 + ], + [ + 0.004751567934447849, + 0.01147141061440664, + 0.0018820398240375134, + 0.012004472551191117, + 0.03905033814155616, + -0.00426274568008916, + 0.0 + ], + [ + -0.006138100022271255, + 0.003740569498143866, + 0.009906772386732396, + -0.00046629601441116497, + 0.03687709605947329, + -0.014529612965119095, + 0.0 + ], + [ + -0.0009558492426020144, + 0.0006424284935037585, + 0.0013306837117506678, + -0.0002873259687265589, + 0.02462386796090782, + -0.006261318682291755, + 1.0 + ] + ], + "state": [ + [ + 0.22776374220848083, + 0.059038110077381134, + 0.209390789270401, + -3.0474691336327275, + -0.131882980465889, + -0.1741961091756821, + 1.0 + ], + [ + 0.22745124995708466, + 0.058964911848306656, + 0.20818781852722168, + -3.049294250207492, + -0.12765181064605716, + -0.17395994067192078, + 1.0 + ], + [ + 0.2263132780790329, + 0.06174775958061218, + 0.19545412063598633, + -3.0647582804136952, + -0.1219412088394165, + -0.17414607107639316, + 1.0 + ], + [ + 0.22528696060180664, + 0.07761727273464203, + 0.1853501945734024, + -3.0659187902980527, + -0.13359518349170685, + -0.16816021502017972, + 1.0 + ], + [ + 0.22754806280136108, + 0.09324051439762115, + 0.1762373000383377, + -3.086098240809985, + -0.15110428631305695, + -0.17281493544578555, + 1.0 + ], + [ + 0.22813893854618073, + 0.11309250444173813, + 0.16260764002799988, + -3.1169915591650685, + -0.16321896016597748, + -0.1565218269824982, + 1.0 + ], + [ + 0.2319709211587906, + 0.1259554773569107, + 0.14944623410701752, + 3.1298712120675525, + -0.17638811469078064, + -0.14606572687625885, + 1.0 + ], + [ + 0.23279668390750885, + 0.12902748584747314, + 0.13598762452602386, + 3.0974922870569905, + -0.184445396065712, + -0.1263365000486374, + 1.0 + ], + [ + 0.23223018646240234, + 0.12496418505907059, + 0.12837745249271393, + 3.0857780558341226, + -0.18388427793979642, + -0.11569477617740631, + 1.0 + ], + [ + 0.23124782741069794, + 0.11725786328315735, + 0.12267649918794632, + 3.079682136076041, + -0.17019003629684448, + -0.10160846263170242, + 1.0 + ], + [ + 0.23032158613204956, + 0.10628996044397354, + 0.12535876035690308, + 3.090099936472722, + -0.17413924634456635, + -0.07873722910881041, + 0.0 + ], + [ + 0.23206457495689392, + 0.0882129818201065, + 0.13373707234859467, + 3.10975822259719, + -0.1780834048986435, + -0.06740845739841461, + 0.0 + ], + [ + 0.231259286403656, + 0.06305772811174393, + 0.1411515772342682, + 3.106151683377572, + -0.1419234722852707, + -0.033025007694959634, + 0.0 + ], + [ + 0.23671893775463104, + 0.03651764243841171, + 0.15106838941574097, + 3.108717767643281, + -0.1342719197273254, + 0.01168198511004448, + 0.0 + ], + [ + 0.2406386435031891, + 0.012244331650435925, + 0.15178994834423065, + 3.123081587376543, + -0.13576973974704742, + 0.03287127241492272, + 0.0 + ], + [ + 0.24594786763191223, + 0.0009084155317395926, + 0.15077906847000122, + 3.13438697357709, + -0.17473277449607852, + 0.0379297100007534, + 0.0 + ], + [ + 0.24176840484142303, + -0.003064786782488227, + 0.13998286426067352, + 3.1312860018857798, + -0.21148477494716647, + 0.05305169522762299, + 0.0 + ], + [ + 0.2411474883556366, + -0.0037547918036580086, + 0.13848772644996643, + 3.1295892411195716, + -0.2360382229089737, + 0.0597502887248993, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.2020522952079773, + 0.5300091803073883, + 0.7925471663475037, + 0.9234305396676064, + 0.9418772459030151, + 0.9418772459030151, + 0.9418772459030151, + 0.8473673015832901, + 0.6193969249725342, + 0.29881423711776733 + ], + "episode_id": "2966", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2966/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2975.json b/annotation/test/2975.json new file mode 100644 index 0000000000000000000000000000000000000000..588e571571be6bdd967aca17cb628c75575b20dd --- /dev/null +++ b/annotation/test/2975.json @@ -0,0 +1,527 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the cloth to left front of table." + ], + "videos": [ + { + "video_path": "videos/test/2975/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 9.454520223933145e-10, + 1.0617639345587969e-09, + -0.0030679404048129014, + 1.0 + ], + [ + -0.00491861644916436, + 0.000676901074173487, + 0.010571730374840172, + -0.008726549427292101, + -0.0325302254831907, + -0.006799747902385743, + 1.0 + ], + [ + -0.015151490467435275, + 0.020446332440373527, + 0.013791478994463344, + -0.015437333166827917, + -0.029246637750386426, + 0.011245337340089132, + 1.0 + ], + [ + -0.01664402173954517, + 0.035799924896257565, + 0.0035383235508880096, + 0.0033998745256816425, + 0.03261523538455077, + -0.00855731721504188, + 1.0 + ], + [ + -0.01131212666591552, + 0.025190593213032804, + 0.007544484578738457, + 0.041424213340935205, + 0.0004164697347354825, + 0.004287300034503388, + 1.0 + ], + [ + -0.003170106275956742, + 0.014511322969618958, + 0.007724839598596755, + 0.013074520479677148, + 0.008131945495734733, + 0.016166735599910685, + 1.0 + ], + [ + -0.0037123973755865828, + -0.0015272053729005895, + 0.01933887337153835, + 0.012816176691708184, + -0.04948996732207931, + -0.006392694515105698, + 1.0 + ], + [ + 0.0013482671481343524, + -0.009173419425862387, + 0.008794367189341446, + -0.005229730381426446, + -0.018918780963089993, + -0.013503554617634412, + 1.0 + ], + [ + 0.001952470280760529, + 0.0014466334045698918, + 0.0031445566164892717, + -0.010406828912528194, + -0.0022094856579050366, + 0.010430017769192942, + 1.0 + ], + [ + 0.004519480547841348, + -0.0015108451265077004, + 0.0070058844521203225, + -0.022294621021673348, + 0.023851706695583147, + 0.005529125256362614, + 1.0 + ], + [ + -0.0008364534887101504, + -0.0038413566469687357, + 0.0043326938676219885, + -0.02123690868143051, + 0.011907770923384865, + 0.0006132812131127408, + 1.0 + ], + [ + -0.0020107162298173323, + -0.0019652424549187766, + 0.0030306512421784996, + 0.009177668924243543, + -0.012792241140566808, + 0.008710715115554608, + 1.0 + ], + [ + -0.00019917770710222736, + -0.0063543302471240504, + -0.00012062789147130545, + 0.037585946929770096, + -0.0007069333978504013, + -0.012757299824334064, + 1.0 + ], + [ + -0.0028918624064689555, + -0.009210917521491157, + -0.00023708028705474412, + 0.053208073014423374, + -0.017843706545122386, + -0.006228521487457231, + 1.0 + ], + [ + -0.0057941223492415355, + -0.03143995240441615, + -0.0014572610412181158, + 0.06195162050848196, + -0.011157642636767155, + -0.048806606123436125, + 1.0 + ], + [ + -0.013617131387304946, + -0.036481438778620146, + 0.0003156893141315717, + 0.017414762313664286, + -0.026443155336224395, + -0.06497941859546533, + 1.0 + ], + [ + -0.005599741166506346, + -0.0227459795481414, + 0.0016627002320252146, + -0.03102814434802646, + -0.016133764835255103, + -0.012273698192477624, + 1.0 + ], + [ + 0.003003727891838953, + -0.013840251240807457, + -0.004006311835493797, + -0.043734214976028835, + 0.008563640012765838, + 0.026516565043676187, + 1.0 + ], + [ + 0.006330231495979867, + -0.015425731865241188, + 0.0004867462235842796, + -0.027664416773455172, + 0.004138298347510942, + 0.0335416365653982, + 1.0 + ], + [ + 0.0033887051464373563, + -0.002097406450392221, + 0.0015833812786195105, + -0.021927195139495398, + -0.0054050702680552174, + 0.016838843535810933, + 1.0 + ], + [ + 0.002812905501202146, + 0.006055130611821709, + -0.00916315171626754, + -0.054783046494433135, + 0.03262591231686313, + 0.03183448953390909, + 1.0 + ], + [ + 0.011236402114559238, + 0.007747498097345751, + -0.046468202525122786, + -0.004276975105381104, + 0.11601804336188606, + 0.03028019000871129, + 1.0 + ], + [ + -0.0008178642242895212, + 0.00474657417372695, + -0.028450029747963575, + -0.022201069986881317, + 0.030189449674054458, + -0.013765622846103082, + 1.0 + ], + [ + -0.0005841215644178258, + 4.711639232180421e-05, + -0.0021484109339057864, + 0.0036073372257775333, + -0.006564552543817832, + -0.02893877927072987, + 1.0 + ], + [ + 0.0031397205407262944, + 0.007025739020207023, + 0.002143423487948369, + 0.04382824502890898, + -0.022676131925382505, + -0.004507291252494547, + 1.0 + ], + [ + -0.00012854700837074617, + -0.00014373097170939557, + 3.6248517737151785e-05, + 0.0031564415176266836, + -0.0018087575025428238, + 0.0009289106990272694, + 1.0 + ] + ], + "state": [ + [ + 0.3180268108844757, + 0.054390519857406616, + 0.10032887756824493, + 3.1244204008304557, + -0.16238328814506534, + -0.08004730194807054, + 1.0 + ], + [ + 0.3180268108844757, + 0.054390519857406616, + 0.10032887756824493, + 3.123917954164096, + -0.162329837679863, + -0.07693894952535629, + 1.0 + ], + [ + 0.31482216715812683, + 0.05377136915922165, + 0.08911462873220444, + 3.1141680405759296, + -0.1296813637018204, + -0.07066603004932404, + 1.0 + ], + [ + 0.3000716269016266, + 0.03394656255841255, + 0.07404068857431412, + 3.1002862734072885, + -0.10074465721845625, + -0.0827656015753746, + 1.0 + ], + [ + 0.28080567717552185, + -0.0004940956132486463, + 0.07032019644975662, + 3.10266192083294, + -0.13297373056411743, + -0.07278537005186081, + 1.0 + ], + [ + 0.2686384618282318, + -0.02513968013226986, + 0.062319979071617126, + -3.1385278991707644, + -0.13355553150177002, + -0.0770915597677231, + 1.0 + ], + [ + 0.26542162895202637, + -0.0394219346344471, + 0.0541977621614933, + -3.123275917144962, + -0.14162026345729828, + -0.09344635903835295, + 1.0 + ], + [ + 0.2646512985229492, + -0.037460342049598694, + 0.03455940634012222, + -3.111472366499253, + -0.09225191920995711, + -0.08612533658742905, + 1.0 + ], + [ + 0.2675817906856537, + -0.028244152665138245, + 0.026205699890851974, + -3.1179990602009973, + -0.07373923808336258, + -0.07202222198247911, + 1.0 + ], + [ + 0.2696586847305298, + -0.02976960688829422, + 0.023180369287729263, + -3.127640818367251, + -0.071280337870121, + -0.08242359757423401, + 1.0 + ], + [ + 0.2747795283794403, + -0.028578724712133408, + 0.016535857692360878, + 3.1336729378723582, + -0.0950513556599617, + -0.08830992132425308, + 1.0 + ], + [ + 0.27469831705093384, + -0.024749718606472015, + 0.012113185599446297, + 3.1124850047105035, + -0.10696359723806381, + -0.08883181959390639, + 1.0 + ], + [ + 0.2732016444206238, + -0.022732781246304512, + 0.008829599246382713, + 3.122635122510143, + -0.09442586451768874, + -0.09795106202363969, + 1.0 + ], + [ + 0.27362582087516785, + -0.01638837717473507, + 0.00881097000092268, + -3.124169288324662, + -0.0934695452451706, + -0.08515359461307526, + 1.0 + ], + [ + 0.2715029716491699, + -0.006968305911868811, + 0.008936848491430283, + -3.071570823090621, + -0.07573506236076354, + -0.07859734445810317, + 1.0 + ], + [ + 0.26792222261428833, + 0.024671470746397972, + 0.012141351588070393, + -3.013450564938136, + -0.06792531907558441, + -0.02901747636497021, + 1.0 + ], + [ + 0.2550981044769287, + 0.06128162518143654, + 0.015556009486317635, + -3.0008924474292478, + -0.04983994737267495, + 0.038876533508300774, + 1.0 + ], + [ + 0.24854831397533417, + 0.08379844576120377, + 0.016818663105368614, + -3.0326354448967656, + -0.03558159992098809, + 0.053299129009246826, + 1.0 + ], + [ + 0.25064119696617126, + 0.09725157171487808, + 0.02240961231291294, + -3.075434850650378, + -0.041198112070560455, + 0.02598607912659645, + 1.0 + ], + [ + 0.2565411627292633, + 0.11283429712057114, + 0.023203985765576363, + -3.101745681958743, + -0.04308689385652542, + -0.007786958012729883, + 1.0 + ], + [ + 0.26000797748565674, + 0.11496618390083313, + 0.0218527689576149, + -3.122961877035447, + -0.037009399384260185, + -0.024408223107457164, + 1.0 + ], + [ + 0.262331485748291, + 0.10868281871080399, + 0.030999409034848213, + 3.1066433397405824, + -0.0690171867609024, + -0.056905653327703476, + 1.0 + ], + [ + 0.2699589133262634, + 0.1021193191409111, + 0.07837363332509995, + 3.1039794777804097, + -0.1859981119632721, + -0.08337404578924178, + 1.0 + ], + [ + 0.26357993483543396, + 0.09896621853113174, + 0.10633735358715057, + 3.0789464210444173, + -0.21562759578227997, + -0.06813633441925049, + 1.0 + ], + [ + 0.2625582814216614, + 0.09912361949682236, + 0.1083097979426384, + 3.076353797810622, + -0.2071758359670639, + -0.039043810218572624, + 1.0 + ], + [ + 0.26569488644599915, + 0.09184511005878448, + 0.10731073468923569, + 3.119533820199319, + -0.18425315618515015, + -0.035973493009805686, + 1.0 + ], + [ + 0.265580952167511, + 0.09199219942092896, + 0.10724844038486481, + 3.122870687516876, + -0.18246524035930634, + -0.036958422511816025, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "2975", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2975/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2976.json b/annotation/test/2976.json new file mode 100644 index 0000000000000000000000000000000000000000..e24dc5086c723fd85a63457d0e0f4e49cf80086d --- /dev/null +++ b/annotation/test/2976.json @@ -0,0 +1,793 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Pick up the pot from above the blue cloth put it on the table" + ], + "videos": [ + { + "video_path": "videos/test/2976/rgb.mp4" + } + ], + "action": [ + [ + 0.00013098259650412637, + -0.00041586794153663977, + 3.4226413038171167e-06, + 0.0008818229220453614, + 0.0013253132312986125, + -0.0029818937770037662, + 1.0 + ], + [ + -0.0030721979410034267, + 0.0017157306988847974, + 0.004985787883050765, + -0.013054018668736955, + -0.02186292963165705, + 0.002165871044386374, + 1.0 + ], + [ + -0.0013961910983385352, + -0.022060064341320993, + 0.008734847610482646, + -0.01941981248456434, + -0.04345278639523208, + 0.022209545716097557, + 1.0 + ], + [ + 0.00243288789080938, + -0.01548246631387765, + 0.005411138070344925, + -0.01656382906726992, + -0.007964350423694259, + 0.02136335255835456, + 1.0 + ], + [ + 9.084058091650075e-05, + -0.018673799111909174, + 0.006452203177868265, + -0.002320056047011184, + -0.0068499114551932834, + -0.0011582809947055346, + 1.0 + ], + [ + -0.00015086197669349395, + -0.011186478027956387, + 0.01016491159569957, + -0.01267395613233256, + -0.02117816560999232, + 0.04734292228007689, + 1.0 + ], + [ + -0.0016526626559988718, + -0.007117825674936819, + 0.013481104451310845, + 0.010716222475671928, + -0.03879558368505651, + 0.04537364086865679, + 1.0 + ], + [ + -0.0017364887558811576, + -0.0012528627310990626, + 0.0140075839614065, + -0.016623668009447805, + -0.028518901392997315, + 0.033955040410457875, + 1.0 + ], + [ + -0.0025792003178091915, + -0.003380582253555092, + 0.012649089356298208, + -0.009454456264133071, + -0.011308308588346335, + 0.020787594893606057, + 1.0 + ], + [ + -0.0008306621380155479, + -0.0028501292726467492, + 0.00977361797854728, + 0.0020161184036557914, + -0.010799517480300398, + 0.007920715796152764, + 1.0 + ], + [ + -0.00114944741750796, + -0.0020299797770354485, + 0.009546560829658613, + 0.005563544315092528, + -0.01206018159037591, + -0.017740971365005246, + 1.0 + ], + [ + -0.0013885296110696392, + -0.002664308407753087, + 0.005489761233399717, + 0.012937828288058078, + -0.011880451795679235, + -0.02835468212217574, + 1.0 + ], + [ + -0.00019319236617034412, + -4.4359574578587054e-05, + 0.002096528216169351, + 0.005851788153035931, + 0.005058954021285489, + -0.004961857224142234, + 1.0 + ], + [ + -2.843013924816526e-05, + 0.002480568644016166, + 0.0021901811136153405, + -0.004515055376732335, + 0.012332990228855926, + -0.0005052490293929074, + 0.0 + ], + [ + -0.00040543516438965347, + 0.0009971321356299346, + -3.6545298608258417e-06, + -0.006282898716696536, + -0.0025695263140308377, + -0.0020286982179531384, + 0.0 + ], + [ + -0.0019260147277749896, + 0.002306459366739216, + -0.002454164271718474, + -0.01722341981883464, + -0.0154187434074151, + 0.002563443652041098, + 0.0 + ], + [ + 0.002228701501860081, + 0.00021019585384731166, + -0.00308258276167924, + -0.015457624434699672, + -0.002468105642100962, + -0.008283458032854012, + 0.0 + ], + [ + 0.009451068892034706, + -0.007336790011450629, + -0.008608739167811512, + 0.010566116992328732, + 0.017241117199586858, + -0.02065687054191528, + 0.0 + ], + [ + 0.023462170424007518, + -0.014686433200157435, + -0.016374223110348824, + 0.03202844864784, + 0.050799209258153746, + -0.02042403639539847, + 0.0 + ], + [ + 0.021215029934636608, + -0.010442448551183831, + -0.003543845476633281, + 0.0039107805996073, + 0.019887351287759536, + -0.009298558409144222, + 0.0 + ], + [ + 0.013127644383912078, + -0.009351469101392885, + -0.0022967598187482443, + 0.005609509332492372, + 0.011161109137820363, + -0.0038239978916863528, + 0.0 + ], + [ + 0.008742940590802668, + -0.004727431181100702, + 0.006565536407004758, + -0.005421345629154777, + 0.00020591238723480747, + -0.0012476027437506737, + 0.0 + ], + [ + 0.004560825466076228, + -0.004652031889381126, + 0.00601651843442456, + 0.0008567349496450383, + -0.006563720778174633, + -0.0037983611659492375, + 0.0 + ], + [ + 0.0039018567393635482, + -0.003060681092510154, + 0.008808540211770258, + -0.005797033908623103, + -0.011140934454462532, + 6.492145191647607e-05, + 0.0 + ], + [ + 0.0017290743922350519, + -0.002674902259848382, + 0.012741946980710107, + -0.01157246840641289, + -0.016143965325579615, + 0.000818296878841918, + 0.0 + ], + [ + 0.002279350568887084, + -0.0024580386333308947, + 0.00614566433633608, + -0.002796575689980944, + -0.007575533631390107, + 0.004808337062501397, + 0.0 + ], + [ + -0.001503757790830561, + 0.00045083695320707065, + 0.008629788325245732, + -0.009997672083421711, + -0.015533694808426727, + -0.002809114256921633, + 0.0 + ], + [ + 0.00044980674303188973, + -0.0009420652754111672, + 0.00032944281677199167, + 0.013546493562632798, + -0.004861371891870512, + -0.003886791049890539, + 0.0 + ], + [ + 0.00043210635904909284, + 0.00574670034777823, + 0.005983733203105249, + 0.04250692669884281, + -0.014338120335246866, + -0.01223594078315831, + 0.0 + ], + [ + -0.0028837061762520128, + -0.0006401724940108828, + 0.003237053666551366, + 0.03322489759927747, + -0.013259807916277505, + -0.022406448529869075, + 1.0 + ], + [ + -0.00038477363748736426, + -0.00019766832077057093, + -5.893748034900476e-07, + 0.001300711035630372, + -0.002397854896899256, + -0.02246585977591274, + 1.0 + ], + [ + -0.0003640422568490176, + 0.0004384911728588198, + -5.407062483386259e-06, + -0.0010833297595631564, + 0.0005529768572968664, + -0.008613977118687695, + 1.0 + ], + [ + 0.0006503743299624272, + 0.001695543476094689, + -0.012438900866520197, + -0.020097314590222595, + 0.011561761483408614, + -0.015053271733361993, + 1.0 + ], + [ + -0.0004238662577765418, + -0.00164335492522287, + -0.011819978177671723, + -0.002237219212355651, + 0.009424320356993615, + -0.018698290812899507, + 1.0 + ], + [ + 0.005014896678196113, + 0.0002577748816035491, + -0.022756125785349166, + -0.002229925445395238, + 0.047704562931177114, + -0.010644206054922884, + 1.0 + ], + [ + 0.00013048020629783752, + -0.003848579671644668, + -0.017548223147270812, + -0.00646369162497033, + 0.03136468366006545, + -0.018096565993925312, + 1.0 + ], + [ + -0.004171968273328549, + 0.0009823380823687684, + -0.020963177061393445, + 0.010919024046740841, + 0.02209259095115949, + -0.01973900046651967, + 1.0 + ], + [ + 0.0003185689090546251, + -0.00010936481631501066, + -0.0024597794378147246, + 0.0028057882602244787, + 0.005455501252300805, + -0.0014042802214967209, + 1.0 + ], + [ + 0.0002146944269964172, + -0.0001143321718403165, + -1.8209872991007352e-07, + 0.000723078385841191, + 0.0013528101277375144, + 0.001534508427249144, + 1.0 + ], + [ + 0.00014900100537929887, + -6.452117035495965e-05, + -0.0005539014234883929, + 0.0007034367376814899, + 0.0013628448489582487, + 3.092429576646325e-05, + 1.0 + ] + ], + "state": [ + [ + 0.22262105345726013, + -0.0864313617348671, + 0.12185908108949661, + -3.0342903231554708, + -0.3176663815975189, + -0.6717174649238585, + 1.0 + ], + [ + 0.22296594083309174, + -0.08617686480283737, + 0.12193907052278519, + -3.0343374778800687, + -0.31930211186408997, + -0.6687443852424622, + 1.0 + ], + [ + 0.22121672332286835, + -0.08628854900598526, + 0.11609373241662979, + -3.047427276270934, + -0.2973329722881317, + -0.6685484647750854, + 1.0 + ], + [ + 0.2358139455318451, + -0.06878479570150375, + 0.10935332626104355, + -3.0613209699564656, + -0.25193554162979126, + -0.6871404647827148, + 1.0 + ], + [ + 0.24850010871887207, + -0.05867009237408638, + 0.1059386283159256, + -3.072595792012759, + -0.2422291487455368, + -0.7084168195724488, + 1.0 + ], + [ + 0.2619153559207916, + -0.04504631087183952, + 0.10096131265163422, + -3.075315849977084, + -0.23547506332397464, + -0.7067428827285767, + 1.0 + ], + [ + 0.2711571455001831, + -0.03737501800060272, + 0.09178383648395538, + -3.077111618714877, + -0.210958480834961, + -0.7536068558692932, + 1.0 + ], + [ + 0.27741774916648865, + -0.03231795132160187, + 0.07873141020536423, + -3.0573207308822354, + -0.169126495718956, + -0.796969473361969, + 1.0 + ], + [ + 0.2795872390270233, + -0.03106486052274704, + 0.06478434801101685, + -3.0686109011345586, + -0.13776728510856626, + -0.8286893963813782, + 1.0 + ], + [ + 0.2821734547615051, + -0.027531852945685387, + 0.05217842012643814, + -3.0753198881917676, + -0.12494598329067232, + -0.8487520217895508, + 1.0 + ], + [ + 0.2850363552570343, + -0.025500379502773285, + 0.04258603975176811, + -3.0724000131064138, + -0.11364239454269409, + -0.8559863567352295, + 1.0 + ], + [ + 0.28701311349868774, + -0.02368144504725933, + 0.033132851123809814, + -3.068955885367938, + -0.10281798988580704, + -0.8373568058013916, + 1.0 + ], + [ + 0.2887214124202728, + -0.021012548357248306, + 0.027736302465200424, + -3.0590474029355725, + -0.09298258274793625, + -0.8080899119377136, + 1.0 + ], + [ + 0.28887924551963806, + -0.020863518118858337, + 0.02564164251089096, + -3.053617851930209, + -0.09843246638774872, + -0.8035401105880737, + 1.0 + ], + [ + 0.28738316893577576, + -0.02259458228945732, + 0.02325080707669258, + -3.0580688287788114, + -0.11076213419437408, + -0.8041239976882935, + 0.0 + ], + [ + 0.2863938510417938, + -0.02300025336444378, + 0.023126933723688126, + -3.0646002759509763, + -0.10837053507566452, + -0.8018748164176941, + 0.0 + ], + [ + 0.28310343623161316, + -0.02317814528942108, + 0.02517479471862316, + -3.081665801005908, + -0.09280019998550416, + -0.8032503724098206, + 0.0 + ], + [ + 0.28416329622268677, + -0.024844588711857796, + 0.02843259647488594, + -3.0979085100167474, + -0.09082932770252228, + -0.7947991490364075, + 0.0 + ], + [ + 0.2951521575450897, + -0.02611403726041317, + 0.03817400336265564, + -3.089158771681138, + -0.10893799364566803, + -0.7747995257377626, + 0.0 + ], + [ + 0.3201475441455841, + -0.031261272728443146, + 0.05774481222033501, + -3.0590237026386937, + -0.1607204079627991, + -0.7568603754043579, + 0.0 + ], + [ + 0.341806024312973, + -0.03780469298362732, + 0.06547623872756958, + -3.0563397501879415, + -0.18130216002464297, + -0.7491084337234497, + 0.0 + ], + [ + 0.35706639289855957, + -0.03953918442130089, + 0.07087742537260056, + -3.0512506311112126, + -0.1927475929260254, + -0.7461949586868286, + 0.0 + ], + [ + 0.3678252100944519, + -0.04226721450686455, + 0.06655312329530716, + -3.0569109340482434, + -0.19306507706642154, + -0.7449478507041931, + 0.0 + ], + [ + 0.37539321184158325, + -0.04224865883588791, + 0.061930783092975616, + -3.056900607543536, + -0.18684430420398712, + -0.7405311465263367, + 0.0 + ], + [ + 0.38195130228996277, + -0.04310189187526703, + 0.05428577959537506, + -3.06285800983245, + -0.17573773860931396, + -0.7396396994590759, + 0.0 + ], + [ + 0.3872951567173004, + -0.04301127791404724, + 0.0422884039580822, + -3.07450062234933, + -0.15957941114902496, + -0.739179790019989, + 0.0 + ], + [ + 0.3915887475013733, + -0.043049152940511703, + 0.03675936907529831, + -3.076606335239955, + -0.15169708430767057, + -0.743519127368927, + 0.0 + ], + [ + 0.3915305435657501, + -0.0428454615175724, + 0.02799050882458687, + -3.0871780832582196, + -0.1363774985074997, + -0.7396718263626098, + 0.0 + ], + [ + 0.3925337493419647, + -0.042463187128305435, + 0.027776522561907768, + -3.074199931817599, + -0.13173353672027585, + -0.7354902029037476, + 0.0 + ], + [ + 0.38989391922950745, + -0.04726358503103256, + 0.02153121866285801, + -3.0334344451599797, + -0.11824045330286025, + -0.7222250699996948, + 0.0 + ], + [ + 0.388675719499588, + -0.04487644135951996, + 0.018063995987176895, + -3.0030430277162274, + -0.10744327306747437, + -0.6983823180198669, + 1.0 + ], + [ + 0.3885062634944916, + -0.04447866603732109, + 0.018050456419587135, + -3.0042130817943296, + -0.10814331471920013, + -0.6756678819656372, + 1.0 + ], + [ + 0.3879563510417938, + -0.04459551349282265, + 0.017956789582967758, + -3.006219657259532, + -0.10986685007810593, + -0.6671594977378846, + 1.0 + ], + [ + 0.385343998670578, + -0.04681345075368881, + 0.03005143627524376, + -3.0277955328398427, + -0.12334451079368591, + -0.6537032127380371, + 1.0 + ], + [ + 0.3840215802192688, + -0.045434389263391495, + 0.04183878377079964, + -3.0322187711768827, + -0.13481196761131287, + -0.6360366940498352, + 1.0 + ], + [ + 0.38394883275032043, + -0.0487869493663311, + 0.06489983201026917, + -3.035059193270751, + -0.18339116871356964, + -0.6305820941925049, + 1.0 + ], + [ + 0.3825782239437103, + -0.04535868763923645, + 0.08248212933540344, + -3.0442186837368688, + -0.21648211777210236, + -0.6155818104743958, + 1.0 + ], + [ + 0.37386810779571533, + -0.04289213567972183, + 0.1018696278333664, + -3.0371602346473416, + -0.24035513401031494, + -0.5975713729858398, + 1.0 + ], + [ + 0.3735571503639221, + -0.04285909980535507, + 0.1043325886130333, + -3.034556122618266, + -0.24592721462249753, + -0.5967177748680115, + 1.0 + ], + [ + 0.37379077076911926, + -0.04288040101528168, + 0.10439687967300415, + -3.0334137250953397, + -0.24710799753665924, + -0.5984403491020202, + 1.0 + ], + [ + 0.3737998902797699, + -0.04288136586546898, + 0.10497401654720306, + -3.0326652993732175, + -0.24845953285694122, + -0.5986238718032836, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05465686321258545, + 0.34690237045288086, + 0.6447625160217285, + 0.8463630080223083, + 0.9132281243801117, + 0.9149821773171425, + 0.9153304174542427, + 0.9153304174542427, + 0.9153304174542427, + 0.9153304174542427, + 0.9153304174542427, + 0.9153304174542427, + 0.9153304174542427, + 0.9153304174542427, + 0.9156777262687683, + 0.9153304174542427, + 0.8924653679132462, + 0.7167842090129852, + 0.41508984565734863, + 0.10434430837631226, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "2976", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2976/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/2983.json b/annotation/test/2983.json new file mode 100644 index 0000000000000000000000000000000000000000..45e3157ab1c1de7fa4c46b0d15cece2dd516a986 --- /dev/null +++ b/annotation/test/2983.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "pour almonds in pot" + ], + "videos": [ + { + "video_path": "videos/test/2983/rgb.mp4" + } + ], + "action": [ + [ + 8.178254664347236e-05, + -0.00025500187680510355, + -7.75856397516938e-06, + 6.842075716797669e-05, + 6.859179583351788e-05, + -0.001530920306881132, + 1.0 + ], + [ + -0.003390503812118637, + -0.0027775751970794934, + 0.0016179802022427275, + -0.01579725398181426, + -0.0635740347606581, + -0.051310312472643255, + 1.0 + ], + [ + 0.02502793199373203, + -0.019067205973647253, + -0.02234534320628778, + -0.10699882034559857, + -0.09834806215077244, + -0.22327548953974888, + 1.0 + ], + [ + 0.02126288006445563, + -0.002234494082260117, + -0.02068760332788711, + -0.1188578898606547, + -0.05645341153276215, + -0.13621282864435766, + 1.0 + ], + [ + 0.032505535391988964, + -0.00016186156775739824, + -0.013797673616255212, + -0.09491544961051916, + -0.06363811326955893, + -0.17563038291192146, + 1.0 + ], + [ + 0.04746394563707754, + 0.0012431295147237534, + -0.009543470471108805, + -0.06658055297303521, + -0.08037363742642616, + -0.28073610172881386, + 1.0 + ], + [ + 0.031871903995958926, + 0.006893464951200159, + 0.005777316779723189, + 0.013064651545292481, + -0.005376406083427804, + -0.17099803639805264, + 1.0 + ], + [ + 0.0190932164829295, + -0.0035721520943710256, + 0.014134282321394109, + 0.048232220378585905, + 0.032583003947247585, + -0.02085099157910919, + 1.0 + ], + [ + 0.01204284502603866, + -0.004520176352622981, + 0.01739305611569372, + 0.04835097319933423, + 0.019810623444396512, + -0.00950844108803159, + 1.0 + ], + [ + 0.0027792265983207385, + -0.006524932304490044, + 0.019204144730138976, + 0.04697776916401937, + -0.022723276247357385, + -0.01164510023401707, + 1.0 + ], + [ + -0.004784978402971496, + 0.0021572853837505965, + 0.016180170013472675, + 0.04089429836975852, + -0.025239692926565752, + 0.013151713713250275, + 1.0 + ], + [ + -0.004004910240491783, + 0.002189951234926586, + 0.011537635686765739, + 0.02401642568834075, + -0.03333136836768487, + 0.00521595512885802, + 1.0 + ], + [ + 0.0015032871802205584, + 0.00013326046703431997, + 0.012437432441591524, + 0.02541843341377187, + -0.06245069248289504, + -0.020308000001919683, + 1.0 + ], + [ + -0.001649100070088956, + 0.0004193212096961271, + 0.008399428964550306, + 0.036187233217673996, + -0.06527669784565482, + 0.012564949870643985, + 1.0 + ], + [ + -0.006163990664435447, + 0.0037665677134328867, + 0.0022174735945430313, + 0.00993942452049268, + -0.06105394592710121, + 0.04707111417942357, + 1.0 + ], + [ + -0.004933625584973297, + -0.00031487199081724226, + 0.013238310151707249, + 0.0214016390025951, + -0.010320055054052915, + 0.00985369297674179, + 1.0 + ], + [ + -0.005864540885166417, + -0.0004682715827292584, + 0.0074555421959080995, + -0.022095223137472406, + 0.09084630640718348, + 0.03024897507995562, + 0.0 + ], + [ + -0.003600037335186116, + 0.00023026468130980175, + -0.0015321604298208684, + -0.030872843252128232, + 0.10432723160432711, + 0.020976487978856227, + 0.0 + ], + [ + -0.009724412055585923, + 0.012815871362688408, + -0.008341664359710598, + -0.07994858329673037, + 0.18966104226778932, + 0.04498948291260938, + 0.0 + ], + [ + -0.01502992565193104, + 0.015641316100324414, + -0.009321606224553275, + -0.07480808417659175, + 0.16886984935560712, + 0.08481118397484975, + 0.0 + ], + [ + -0.006456460070096459, + 0.006575195967842635, + -0.006435661209331346, + -0.03843352051301004, + 0.12798559242292465, + 0.034756660651357775, + 0.0 + ], + [ + -0.00799360544346879, + 0.010777162065533063, + -0.0031490629767602753, + -0.01999760611814611, + 0.13899393418646022, + 0.09086720263157372, + 0.0 + ], + [ + -0.003519356291310773, + 0.007158351137390244, + 0.0067207120075651215, + 0.02947637936976174, + 0.138682294596456, + 0.11201521213193982, + 0.0 + ], + [ + -0.005112923959608848, + 0.00995619253006922, + -0.0005246008775721503, + 0.012020542519416137, + 0.13622447743567867, + 0.10759043233363715, + 0.0 + ], + [ + 0.008807032017074211, + 0.005211540077466204, + -0.00963839093158798, + -0.06318811892876454, + 0.12638786722445, + 0.019297289284643478, + 0.0 + ], + [ + -0.0005802796577262417, + 0.010014161704869679, + -0.0028759532545633054, + -0.03480976019384874, + 0.06809483742642582, + 0.02589651407979139, + 0.0 + ], + [ + -0.005423375597481074, + 0.007251866184977105, + -0.007862320298980272, + -0.025959344652190797, + 0.07817951173953533, + 0.03777002989464332, + 0.0 + ], + [ + -0.0015068311474514097, + -0.0014989032348400565, + -0.0019381563307703997, + 0.019351231828000266, + 0.06474028010277666, + 0.026053421636637264, + 0.0 + ], + [ + -0.009410631976623677, + -0.0007367211514909881, + 0.00317296640552058, + 0.05610477604406869, + 0.056753684681345534, + 0.0785418547572741, + 0.0 + ], + [ + 0.004627850701468128, + 0.003375330189956982, + -0.0006883446305696645, + 0.005070104409109259, + 0.06802693981135698, + 0.004853362460874742, + 0.0 + ], + [ + -0.0029317436599574694, + 0.004655197927514059, + 0.002140960382031096, + 0.015139690371877837, + 0.03873181603829459, + 0.04127043268153773, + 0.0 + ], + [ + 0.007444512832497339, + 0.008707489528061817, + -0.005105032659670619, + 0.027847647006629443, + -0.014987102291428564, + 0.05362354431758034, + 0.0 + ], + [ + -0.005212141227975862, + 0.004263657141447057, + -0.004626036121581575, + -0.041735836869418654, + 0.05525494872692362, + 0.021314991546843486, + 0.0 + ], + [ + 0.003469729697459965, + -0.001610985147148166, + 0.0013318572157835359, + -0.045167635027179694, + 0.0764133853043391, + -0.020821179827040487, + 0.0 + ], + [ + 0.002456669045247174, + -0.006002949219070306, + 0.00956650364517653, + -0.03612874475594681, + 0.06027989714680139, + -0.028403339598681285, + 0.0 + ], + [ + 0.0007709743853388159, + 0.0025802830234017307, + -0.00022642509614328343, + -0.056698521303872644, + 0.030480124579901756, + -0.02710638707770018, + 0.0 + ], + [ + -0.0003501565101473564, + 0.0023655504707009857, + 6.99846032446274e-05, + -0.012175484070964377, + 0.004323487468167054, + -0.0031653223394717458, + 0.0 + ], + [ + -0.0022896862428500157, + 0.0009491324825063222, + -0.0013810351391447145, + -0.02614141727077722, + 0.004877432130280969, + 0.008429786128002523, + 0.0 + ] + ], + "state": [ + [ + 0.17294935882091522, + -0.024308355525135994, + 0.12794044613838196, + 3.0968525280528745, + -0.04465232789516449, + 0.17170605063438416, + 1.0 + ], + [ + 0.17298643290996552, + -0.024043025448918343, + 0.12794044613838196, + 3.0968525280528745, + -0.04465232789516449, + 0.1732400357723236, + 1.0 + ], + [ + 0.16926071047782898, + -0.02195150777697563, + 0.12605024874210358, + 3.0788564403825482, + 0.021204225718975067, + 0.2215612232685089, + 1.0 + ], + [ + 0.18961822986602783, + 0.0035767804365605116, + 0.14662081003189087, + 2.97763183911378, + 0.13275246322155, + 0.43893203139305115, + 1.0 + ], + [ + 0.20872601866722107, + 0.018713222816586494, + 0.1636754423379898, + 2.8767143209748944, + 0.20957046747207642, + 0.5666122436523438, + 1.0 + ], + [ + 0.23585888743400574, + 0.040441446006298065, + 0.16989666223526, + 2.8177984078698834, + 0.3142573833465576, + 0.7267498970031738, + 1.0 + ], + [ + 0.2705402970314026, + 0.07376203685998917, + 0.1642056703567505, + 2.843013258772441, + 0.4690083861351013, + 0.9948240518569946, + 1.0 + ], + [ + 0.2921155095100403, + 0.09176697582006454, + 0.14668288826942444, + 2.9440884609990796, + 0.5174176692962646, + 1.1812117099761963, + 1.0 + ], + [ + 0.29500794410705566, + 0.10073195397853851, + 0.12458419799804688, + 3.007326306896754, + 0.4893573522567749, + 1.211609125137329, + 1.0 + ], + [ + 0.29378241300582886, + 0.10358783602714539, + 0.10317572951316833, + 3.0620298479967794, + 0.47095939517021174, + 1.2251570224761963, + 1.0 + ], + [ + 0.2869153618812561, + 0.0992107167840004, + 0.0843932256102562, + 3.114043718325444, + 0.4945115447044372, + 1.2362900972366333, + 1.0 + ], + [ + 0.28547969460487366, + 0.08715401589870453, + 0.07248009741306305, + -3.1358204233744225, + 0.5193270444869995, + 1.2203506231307983, + 1.0 + ], + [ + 0.28431230783462524, + 0.07777564227581024, + 0.06444047391414642, + -3.1147300471835813, + 0.5526806116104126, + 1.214451789855957, + 1.0 + ], + [ + 0.28229284286499023, + 0.07292614877223969, + 0.05306631326675415, + -3.0751449411087712, + 0.6144084334373474, + 1.2413007020950317, + 1.0 + ], + [ + 0.28015655279159546, + 0.06710954755544662, + 0.04714607819914818, + -3.0448966046148023, + 0.6803503036499023, + 1.2307789325714111, + 1.0 + ], + [ + 0.2813517153263092, + 0.05988879129290581, + 0.049025245010852814, + -3.0699008872085294, + 0.7449458241462708, + 1.1751735210418701, + 1.0 + ], + [ + 0.2753452658653259, + 0.048782531172037125, + 0.04267967864871025, + -3.0569665004783353, + 0.7559067010879517, + 1.1626830101013184, + 1.0 + ], + [ + 0.2706333100795746, + 0.04064857214689255, + 0.041325643658638, + -3.1118105204128703, + 0.6673197150230408, + 1.1146939992904663, + 0.0 + ], + [ + 0.2700510025024414, + 0.03883550688624382, + 0.04475121200084686, + 3.1230261606448373, + 0.5634523034095764, + 1.086357831954956, + 0.0 + ], + [ + 0.2795582711696625, + 0.02971942164003849, + 0.0571972131729126, + 3.019007148342677, + 0.372506320476532, + 1.0426899194717407, + 0.0 + ], + [ + 0.28697603940963745, + 0.013889026828110218, + 0.07306595891714096, + 2.919182153540202, + 0.19381780922412872, + 0.9791311025619507, + 0.0 + ], + [ + 0.28841733932495117, + 0.007080607581883669, + 0.08189233392477036, + 2.87782338460023, + 0.06133266165852546, + 0.9736585021018982, + 0.0 + ], + [ + 0.29205775260925293, + -0.00460927514359355, + 0.08822128176689148, + 2.8523963709645948, + -0.09658722579479218, + 0.9227625727653503, + 0.0 + ], + [ + 0.2971976697444916, + -0.012362170033156872, + 0.08350220322608948, + 2.8864233811670026, + -0.2611766159534455, + 0.8536791205406189, + 0.0 + ], + [ + 0.30059996247291565, + -0.022917447611689568, + 0.08510016649961472, + 2.916304038959094, + -0.41942852735519404, + 0.7784261703491211, + 0.0 + ], + [ + 0.30532053112983704, + -0.022372731938958168, + 0.09833051264286041, + 2.846716972189494, + -0.5468943119049073, + 0.7895485758781433, + 0.0 + ], + [ + 0.3091081380844116, + -0.030974093824625015, + 0.10286503285169601, + 2.814371796446391, + -0.6195636391639708, + 0.7834756970405579, + 0.0 + ], + [ + 0.3050212264060974, + -0.04117128252983093, + 0.1076747253537178, + 2.795466723042079, + -0.7056832909584045, + 0.7696203589439392, + 0.0 + ], + [ + 0.30214643478393555, + -0.0410778783261776, + 0.10769817233085632, + 2.8163433094793042, + -0.7754144668579103, + 0.7661111950874328, + 0.0 + ], + [ + 0.299157977104187, + -0.04439147934317589, + 0.09879538416862488, + 2.932342769699641, + -0.8525946736335754, + 0.6807500123977662, + 0.0 + ], + [ + 0.3027082085609436, + -0.04558088257908821, + 0.10318455845117569, + 2.925238551693507, + -0.9200887680053711, + 0.6962414979934692, + 0.0 + ], + [ + 0.3052228093147278, + -0.05000385269522667, + 0.10019059479236603, + 2.985108049707957, + -0.9660596847534179, + 0.6400085687637329, + 0.0 + ], + [ + 0.3090563714504242, + -0.05688098073005676, + 0.10995335131883621, + 3.092254938679286, + -0.9574201703071595, + 0.5438395738601685, + 0.0 + ], + [ + 0.3051941394805908, + -0.06392613798379898, + 0.10847202688455582, + 3.0791473035984716, + -1.0133930444717407, + 0.5088005661964417, + 0.0 + ], + [ + 0.30711400508880615, + -0.061109382659196854, + 0.11066021025180817, + 2.987110050516673, + -1.087762713432312, + 0.5636917352676392, + 0.0 + ], + [ + 0.3134632110595703, + -0.051820337772369385, + 0.10801637917757034, + 2.871288688974925, + -1.141471266746521, + 0.6533717513084413, + 0.0 + ], + [ + 0.31453782320022583, + -0.054053112864494324, + 0.1090950146317482, + 2.736146392422267, + -1.16226327419281, + 0.7396798133850097, + 0.0 + ], + [ + 0.31532999873161316, + -0.05631037428975105, + 0.10911878943443298, + 2.7132457216554364, + -1.1649630069732666, + 0.7513673901557922, + 0.0 + ], + [ + 0.31375908851623535, + -0.05817434564232826, + 0.10766667872667313, + 2.700484039383479, + -1.172863483428955, + 0.7368071675300598, + 0.0 + ] + ], + "continuous_gripper_state": [ + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.007925748825073242, + 0.10519623756408691, + 0.1869402527809143, + 0.1637241244316101, + 0.1618891954421997, + 0.1618891954421997, + 0.1618891954421997, + 0.1618891954421997, + 0.1618891954421997, + 0.1618891954421997, + 0.1618891954421997, + 0.1618891954421997, + 0.1618891954421997, + 0.1618891954421997, + 0.1618891954421997, + 0.1618891954421997, + 0.1618891954421997, + 0.1618891954421997, + 0.1618891954421997, + 0.1618891954421997, + 0.1618891954421997, + 0.1618891954421997, + 0.1618891954421997, + 0.1618891954421997 + ], + "episode_id": "2983", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/2983/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3040.json b/annotation/test/3040.json new file mode 100644 index 0000000000000000000000000000000000000000..2da0ab4519f4570f515153350c2168a5fb251729 --- /dev/null +++ b/annotation/test/3040.json @@ -0,0 +1,812 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "move the cloth to the far right front table" + ], + "videos": [ + { + "video_path": "videos/test/3040/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 4.29046751655405e-09, + -9.660454526758897e-09, + -0.0015339977941352051, + 1.0 + ], + [ + -0.005159240644146594, + 0.0019631236156005746, + 0.011871426578336935, + -0.018311029992133493, + -0.030023897023665654, + -0.007661058688183974, + 1.0 + ], + [ + -0.0009904875150354587, + 0.01693295793068311, + 0.01162429253197649, + -0.009633203928917495, + -0.021581699315336475, + 0.025366008659375914, + 1.0 + ], + [ + -0.00017478792919119676, + -0.0020748455713042193, + 0.0011517134395111945, + 0.009436192709153138, + 0.0071834419569166315, + -0.012564348192124172, + 1.0 + ], + [ + 0.0006042851589717103, + 0.0021404333571428797, + 0.0006757737711053705, + 0.005959588407615326, + -0.005631565335412959, + 0.03297235584621082, + 1.0 + ], + [ + -0.010810191501442336, + 0.0219624305416362, + 0.014528063414944144, + -0.03648941079567941, + -0.05283266188411338, + 0.06333324822800848, + 1.0 + ], + [ + -0.006324090051194302, + 0.023696013264190498, + 0.01375612643220364, + -0.02971159219118959, + -0.041127932638409886, + 0.060029318793541536, + 1.0 + ], + [ + -0.0005484875200663769, + 0.01642072640380146, + 0.009197340916494873, + -0.009487933760478426, + -0.014269840462410917, + 0.04234595901626614, + 1.0 + ], + [ + -0.001972654355664382, + 0.012600456684754064, + 0.012038558257526867, + -0.007151863588261369, + -0.0220076417339958, + 0.029015583153610944, + 1.0 + ], + [ + -0.00075939984773655, + 0.01576273462380466, + 0.01472138993909639, + -0.01752526034810618, + -0.031491430268429765, + 0.03562310410652795, + 1.0 + ], + [ + 0.0037195826980128566, + 0.012019214998411864, + 0.01136705071998587, + 0.010101655992576244, + -0.024713320398105258, + 0.040229885423950014, + 1.0 + ], + [ + 0.007603325404094752, + 0.011399749393751215, + 0.01735230891657013, + -0.009888573972093119, + -0.0193440560580933, + 0.005647638562790027, + 1.0 + ], + [ + 0.007272520389179862, + 0.0013204510558189257, + 0.007412642844139628, + 0.03754857876180118, + 0.000661773029364064, + 0.0009618769127467255, + 1.0 + ], + [ + 0.01242723723869633, + -0.0022220099464920575, + 0.009006376333733392, + -0.01510005038124034, + 0.0016541094217521761, + -0.027962461093564695, + 1.0 + ], + [ + 0.006454978686461052, + -0.002903576844766241, + 0.0037294997514088317, + 0.003595531654543571, + 0.008471228959376235, + -0.021527501868075907, + 1.0 + ], + [ + 0.003329453983709657, + -0.000866690990922142, + 0.0017999367716073195, + -0.002395179379981087, + 0.0026240716271880233, + -0.010976349515962212, + 1.0 + ], + [ + -0.0014440119650745305, + 0.0021630958407838465, + 0.001357283446756948, + -0.008737468946134676, + 0.001919910774081718, + -0.0024134242791451744, + 1.0 + ], + [ + -0.012903767215872072, + 0.004558527308158033, + 0.0012057055482500997, + -0.004839043220772656, + -0.009666857895378007, + -0.020669564569392413, + 1.0 + ], + [ + -0.023191837895404622, + -0.0036283547584809433, + -0.003906405257537788, + -0.011752428966694572, + -0.03516829753778054, + -0.07439002914616183, + 1.0 + ], + [ + -0.015165707035176888, + 0.0036933207510451145, + 0.0003834991342202163, + -0.01583467137272931, + -0.01743679095743556, + -0.04156983630340162, + 1.0 + ], + [ + -0.022590833051632047, + 0.01071764359351031, + -0.0036493472095144937, + 0.001541444387592598, + -0.019844449675483992, + -0.003468164013475985, + 1.0 + ], + [ + -0.012768267773677627, + 0.020889641781932585, + -0.0023580645170470124, + -0.004171361439081122, + 0.004739673112558195, + 0.06207078704891002, + 1.0 + ], + [ + -0.012502708486300978, + 0.019568409165861136, + -0.00022022176486737017, + 0.0021857014088098497, + -0.0036925732758158344, + 0.048009818954615036, + 1.0 + ], + [ + -0.005466453273113338, + 0.014097807608994928, + 7.612548543032659e-05, + 0.00919411822650202, + 0.006002661897326214, + 0.04540092102525527, + 1.0 + ], + [ + 0.0016581235530502797, + 0.007720159587171873, + 0.0006820234679783966, + 0.005198302573755664, + -0.000433653380856823, + 0.01115476848147587, + 1.0 + ], + [ + 0.008187434313318514, + -0.0010337640675278754, + -0.005980607594527347, + -0.0028735099210824384, + 0.010037656532746533, + -0.014113915968036014, + 1.0 + ], + [ + 0.0073385749623004395, + -0.009805437195310488, + -0.00760522733469449, + 0.004685473450566367, + 0.02031025545553483, + -0.028672556637949497, + 1.0 + ], + [ + 0.004716441660649944, + -0.00966981120913469, + -0.01392908196551696, + 0.014849560475731442, + 0.040047139190467464, + -0.010163998686152233, + 1.0 + ], + [ + 0.006536104917043194, + -0.010872931777827183, + -0.01900141045208622, + 0.0252133556982718, + 0.05470413297964102, + -0.01186305441732922, + 1.0 + ], + [ + 0.005451121168362507, + -0.007919154031252167, + -0.0157040350310031, + 0.018303109056068325, + 0.03587602188335464, + -0.00996007180168001, + 1.0 + ], + [ + 0.0089582975180891, + -0.008665437475021548, + -0.029247503883912316, + 0.023437656391341252, + 0.078705673695834, + 0.006685584542073348, + 1.0 + ], + [ + 0.007140778782463671, + -0.01137934064025878, + -0.02849094760773757, + 0.039580096111072494, + 0.04709321960208703, + -0.022587359351271208, + 1.0 + ], + [ + 0.007409974828838706, + -0.015154033295246696, + -0.020711343741331805, + 0.029860471584708444, + 0.021196220677334697, + -0.06981730817171979, + 1.0 + ], + [ + 0.00637209322347144, + -0.016226906575398107, + -0.016453523648685076, + 0.01836028883847206, + 0.02146431938701281, + -0.05257921391771121, + 1.0 + ], + [ + 0.00023890318253734697, + -0.00010198076983401511, + -0.003460559340756106, + -0.0029392903986637815, + 0.008425781233012077, + -0.004388439519264636, + 1.0 + ], + [ + 0.00023642078956027867, + -5.7297795554823994e-05, + -1.6793520160113281e-07, + 0.000363578635982187, + 0.0014902498041258728, + 0.00153427910276672, + 1.0 + ], + [ + 7.661077103061778e-05, + -3.748040484312464e-05, + -0.0004524911168302444, + 0.0003958533944476763, + 0.0014810148016129294, + -0.0015889227496254184, + 1.0 + ], + [ + -7.734028947706251e-05, + 3.753770105182361e-05, + 0.00045236224689814715, + -0.0003959320058950649, + -0.0014809845386484588, + 5.552095513293644e-05, + 1.0 + ], + [ + -0.0002364207606132141, + 5.729779356526111e-05, + -2.0522573403147535e-07, + -0.00036129533329347786, + -0.0014908141816921748, + 2.492340501389378e-07, + 1.0 + ], + [ + 0.00023642078956027867, + -5.7297795554823994e-05, + -1.6793520160113281e-07, + 0.0003612953632262736, + 0.0014908141744381111, + 2.893902831891466e-07, + 1.0 + ], + [ + -0.00011428178378216359, + 0.00048472915870124473, + -1.2590206852838992e-05, + -0.0009845034366304805, + -0.0012721397331516568, + 0.0013856333345070044, + 1.0 + ] + ], + "state": [ + [ + 0.3728290796279907, + 0.07887718826532364, + 0.16461113095283508, + -3.0464410503679, + -0.3875789344310761, + -0.3246816098690033, + 1.0 + ], + [ + 0.3728290796279907, + 0.07887718826532364, + 0.16461113095283508, + -3.0470645820074758, + -0.3877241909503937, + -0.32303211092948914, + 1.0 + ], + [ + 0.37233880162239075, + 0.07816198468208313, + 0.15154780447483063, + -3.0695618634396276, + -0.35853537917137146, + -0.3118650019168853, + 1.0 + ], + [ + 0.37080976366996765, + 0.0617888905107975, + 0.13920219242572784, + -3.0703756009512624, + -0.33507952094078064, + -0.33700418472290045, + 1.0 + ], + [ + 0.37167611718177795, + 0.06376512348651886, + 0.13819923996925354, + -3.0651404802971562, + -0.3431135416030884, + -0.3242391049861908, + 1.0 + ], + [ + 0.37181904911994934, + 0.061520036309957504, + 0.13761405646800995, + -3.0476645102077207, + -0.3347930312156677, + -0.35859227180480957, + 1.0 + ], + [ + 0.36014679074287415, + 0.043998975306749344, + 0.1184556633234024, + -3.064350964623042, + -0.2756812274456024, + -0.4188748002052307, + 1.0 + ], + [ + 0.3492753505706787, + 0.0241400133818388, + 0.10177754610776901, + -3.0782849361472806, + -0.22959771752357483, + -0.477023720741272, + 1.0 + ], + [ + 0.34360960125923157, + 0.00927608273923397, + 0.09170307219028473, + -3.0781939198547086, + -0.21247909963130954, + -0.5193288922309877, + 1.0 + ], + [ + 0.3384188115596771, + -0.0013628866290673614, + 0.07876252382993698, + -3.079437656449624, + -0.18859605491161346, + -0.5473819375038147, + 1.0 + ], + [ + 0.33257874846458435, + -0.015156696550548077, + 0.06322597712278366, + -3.090592971193143, + -0.15484608709812164, + -0.5813684463500977, + 1.0 + ], + [ + 0.33091846108436584, + -0.02773560769855976, + 0.051977816969156265, + -3.0744640474491796, + -0.12799687683582306, + -0.6205940842628479, + 1.0 + ], + [ + 0.33299335837364197, + -0.04176909103989601, + 0.03501834720373154, + -3.0837837775521955, + -0.10831635445356369, + -0.6249560117721558, + 1.0 + ], + [ + 0.33899152278900146, + -0.047193657606840134, + 0.02837180532515049, + -3.046126628416129, + -0.10892139375209808, + -0.6259604692459105, + 1.0 + ], + [ + 0.3515729010105133, + -0.05250058323144913, + 0.021021034568548203, + -3.064290942745753, + -0.11319114267826082, + -0.5981048345565796, + 1.0 + ], + [ + 0.3589915633201599, + -0.053703825920820236, + 0.018278347328305244, + -3.0630775933438024, + -0.1232747733592987, + -0.577137589454651, + 1.0 + ], + [ + 0.36248692870140076, + -0.05478012561798096, + 0.01697443425655365, + -3.0668079053335866, + -0.12674452364444733, + -0.5663141012191771, + 1.0 + ], + [ + 0.3603368401527405, + -0.055849067866802216, + 0.015288950875401497, + -3.0758339037471494, + -0.12883906066417694, + -0.5640319585800171, + 1.0 + ], + [ + 0.34729596972465515, + -0.052888285368680954, + 0.012140844948589802, + -3.0834360552304467, + -0.12052197009325029, + -0.5426173210144043, + 1.0 + ], + [ + 0.32890942692756653, + -0.03783668205142021, + 0.013433356769382954, + -3.104523969935723, + -0.08938159793615341, + -0.4660435318946838, + 1.0 + ], + [ + 0.313804566860199, + -0.03435443341732025, + 0.011561591178178787, + -3.124160789074846, + -0.0734172835946083, + -0.42374783754348755, + 1.0 + ], + [ + 0.28860342502593994, + -0.03481236472725868, + 0.013357170857489109, + -3.122896172227808, + -0.05363576859235764, + -0.41992950439453125, + 1.0 + ], + [ + 0.2683318555355072, + -0.04868290573358536, + 0.014636946842074394, + -3.1237683446430644, + -0.057111255824565894, + -0.4821791350841522, + 1.0 + ], + [ + 0.24820472300052643, + -0.060236189514398575, + 0.013794911094009876, + -3.118864046531268, + -0.05249824002385139, + -0.5301812887191772, + 1.0 + ], + [ + 0.23638677597045898, + -0.06964395195245743, + 0.01311210822314024, + -3.107301043468066, + -0.05741344019770622, + -0.5757814049720764, + 1.0 + ], + [ + 0.23363246023654938, + -0.0770268589258194, + 0.012262506410479546, + -3.1014649999612054, + -0.05659404769539833, + -0.5869325995445251, + 1.0 + ], + [ + 0.2405945360660553, + -0.08070509135723114, + 0.018733249977231026, + -3.1051169020407876, + -0.0671844929456711, + -0.5732024908065797, + 1.0 + ], + [ + 0.2514612078666687, + -0.07638655602931976, + 0.027165714651346207, + -3.102319149421998, + -0.08850047737359999, + -0.5451861619949341, + 1.0 + ], + [ + 0.25912466645240784, + -0.07037349045276642, + 0.04182463139295578, + -3.08820445288951, + -0.12891250848770142, + -0.5365384221076965, + 1.0 + ], + [ + 0.2675667405128479, + -0.06394150108098984, + 0.06205717474222183, + -3.0640801434689244, + -0.18416646122932434, + -0.527474582195282, + 1.0 + ], + [ + 0.2729848325252533, + -0.05936771258711815, + 0.07905038446187973, + -3.0470710938149175, + -0.2207011729478836, + -0.5201507210731506, + 1.0 + ], + [ + 0.27779898047447205, + -0.055364612489938736, + 0.11022018641233444, + -3.020119475322314, + -0.2984011471271515, + -0.5348568558692932, + 1.0 + ], + [ + 0.28016677498817444, + -0.04765116423368454, + 0.14066867530345917, + -2.985646607475825, + -0.34784039855003357, + -0.5171029567718506, + 1.0 + ], + [ + 0.28527289628982544, + -0.03703393414616585, + 0.164641872048378, + -2.980174245434352, + -0.37882465124130255, + -0.44643092155456543, + 1.0 + ], + [ + 0.2900989055633545, + -0.024519486352801323, + 0.1845097541809082, + -2.9814818074279508, + -0.4079846143722534, + -0.3936673402786255, + 1.0 + ], + [ + 0.2888706922531128, + -0.02449773997068405, + 0.18775536119937897, + -2.9857131411605558, + -0.4170003235340118, + -0.39039835333824163, + 1.0 + ], + [ + 0.28908872604370117, + -0.024526285007596016, + 0.1878594011068344, + -2.9845753033929547, + -0.41823363304138184, + -0.39231017231941223, + 1.0 + ], + [ + 0.28897058963775635, + -0.024513917043805122, + 0.18830427527427673, + -2.9847744574123105, + -0.41994449496269226, + -0.3908450901508332, + 1.0 + ], + [ + 0.28908872604370117, + -0.024526285007596016, + 0.1878594011068344, + -2.985248955088206, + -0.4184730052947998, + -0.39065197110176086, + 1.0 + ], + [ + 0.2888706922531128, + -0.02449773997068405, + 0.18775536119937897, + -2.9857131411605558, + -0.4170003235340118, + -0.39039835333824163, + 1.0 + ], + [ + 0.28908872604370117, + -0.024526285007596016, + 0.1878594011068344, + -2.985248955088206, + -0.4184730052947998, + -0.39065197110176086, + 1.0 + ], + [ + 0.28883278369903564, + -0.02494083344936371, + 0.18775536119937897, + -2.9857131411605558, + -0.41700032353401184, + -0.39193233847618103, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0005114078521728516, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926 + ], + "episode_id": "3040", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3040/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3052.json b/annotation/test/3052.json new file mode 100644 index 0000000000000000000000000000000000000000..6325b829a7a0664beac48e3cd10574eaf2df6476 --- /dev/null +++ b/annotation/test/3052.json @@ -0,0 +1,546 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the mushroom from the pan to in front of the microwave." + ], + "videos": [ + { + "video_path": "videos/test/3052/rgb.mp4" + } + ], + "action": [ + [ + 6.524450005241786e-05, + -2.2881121535972133e-05, + -0.0005693996231007639, + 0.0007655657848215989, + 0.0013288413955542065, + -0.0014988534365641707, + 1.0 + ], + [ + -0.002427154648778446, + 0.00225917711480439, + 0.01676946667431946, + -0.030775785686013152, + -0.038780597286267995, + 0.004064430575801067, + 1.0 + ], + [ + 0.013685688942911832, + 0.035921767394828455, + 0.0008999179709941633, + -0.06387399936736123, + 0.0034516561230089147, + 0.18298314415628245, + 1.0 + ], + [ + 0.021114631708558908, + 0.04108221619848595, + 0.0026841608617335414, + -0.01763420846504886, + 0.02628596949378168, + 0.18061846162146578, + 1.0 + ], + [ + 0.02696043520607181, + 0.035147499439844486, + -0.005588807920539036, + 0.07253278041817464, + -0.022895018634124246, + 0.10573620391862028, + 1.0 + ], + [ + 0.030234167895759483, + 0.03422831851580869, + -0.0014214391620561504, + 0.05972913224697911, + -0.007475001419218236, + 0.03352435870975897, + 1.0 + ], + [ + 0.007921173339868333, + 0.005654184490135979, + -0.0007210351140760941, + 0.014332697896717516, + 0.01855633808933253, + -0.06789020953197633, + 1.0 + ], + [ + 0.008544038193507785, + 0.007732756073518797, + 0.00024089150624001103, + 0.012191848764911658, + 0.026618904847428286, + -0.032290932276149965, + 1.0 + ], + [ + 0.0009373621806216101, + 0.0059672691607904026, + 0.009303466670086604, + 0.024976520815754584, + -0.03363298941740404, + -0.033269948658151326, + 1.0 + ], + [ + 0.0011964568058272056, + -0.0005160923539405672, + 0.012133655686419546, + -0.002251740349363924, + -0.02008067171567292, + -0.018125708165443937, + 1.0 + ], + [ + 0.002514181399595106, + 0.0002008067385689227, + 0.0017088284510056852, + 0.001824219650820533, + 0.012309123700316301, + -0.01123862713216894, + 1.0 + ], + [ + 0.0005304149983545276, + 0.000969473475389301, + 0.00877877117270164, + -0.006904084014494775, + -0.007577641923391021, + 0.006454343780635187, + 1.0 + ], + [ + 0.0004894632993233532, + 0.0001798343209140859, + -0.0006358852090363384, + 0.005954053650149178, + 0.0015891809541479012, + 0.01059912573649025, + 0.0 + ], + [ + -0.00045523438716408096, + 0.0005563361101925794, + 0.0005580989313656947, + -0.00019229392668559887, + -0.00468976865432749, + 0.026893954519907295, + 0.0 + ], + [ + 0.0014058520175623953, + 0.0005303499440132676, + -0.011707965657113776, + -0.0041878673789832385, + 0.02584895113833477, + 0.03272379426614023, + 0.0 + ], + [ + 0.0003253965442819048, + -0.015875175982731433, + -0.039535665848976206, + 0.06048826128319597, + 0.08721944410713939, + 0.0047484558390529456, + 0.0 + ], + [ + -0.01531743772456042, + -0.03400560427295266, + -0.006016303006091766, + 0.04662108252947725, + -0.0021866470980365952, + -0.05876181404096691, + 0.0 + ], + [ + -0.013380757284915591, + -0.029000769911389647, + -0.0005048878607884545, + 0.015844746192117894, + -0.018927831903549592, + -0.0514501003929062, + 0.0 + ], + [ + -0.006085766731326951, + -0.026178147754859864, + 0.013342885554596267, + -0.016000339840942297, + -0.032102155885668664, + -0.06283758892522408, + 0.0 + ], + [ + 0.0015894457736494302, + -0.016720707511586202, + 0.013669087695045084, + -0.010094196813144215, + -0.027355489473561163, + -0.045943993692523624, + 0.0 + ], + [ + 0.005340841974216268, + -0.010273006260876754, + 0.0053857276519100675, + 0.009638281376389035, + -0.01520942495154371, + -0.020434597562402686, + 0.0 + ], + [ + 0.0012844507132513847, + -0.0014208753523468627, + 0.0032268683589692084, + -0.0011052581649473533, + -0.017845944507655517, + -0.0042215032038338315, + 0.0 + ], + [ + -0.0002367799870810399, + -0.000933546363732805, + -0.0003574260171132676, + 0.005320336752605828, + -0.0022193539150288434, + 0.0005680982064730549, + 1.0 + ], + [ + 0.0005597890417783922, + 0.0019736367733029308, + -1.3277279871384912e-05, + -0.012458811487996284, + 0.0034863225686183963, + -0.0035452452831590264, + 1.0 + ], + [ + -0.0018548269864820922, + 0.0025912650742650548, + 0.000683597415306538, + -0.015240624964004839, + -0.010246965141086946, + -0.0004664330564699353, + 1.0 + ], + [ + -0.001540996429623698, + 0.00019721578609048997, + 4.1463655712956906e-05, + -0.0048159341389757875, + -0.008092973419081894, + -0.0020418575361998144, + 1.0 + ], + [ + -0.00039135600323647287, + 0.0008601210058265494, + -4.943799044368709e-05, + -0.0018304246449670392, + -0.004092829052419978, + -4.720801423126457e-06, + 1.0 + ] + ], + "state": [ + [ + 0.3287668228149414, + 0.1736111044883728, + 0.07067760080099106, + 3.1282465505697807, + -0.022015854716300964, + -0.02870531938970089, + 1.0 + ], + [ + 0.3288203775882721, + 0.17364005744457245, + 0.07124794274568558, + 3.1289787275069436, + -0.023324549198150635, + -0.027188453823328018, + 1.0 + ], + [ + 0.32671788334846497, + 0.17122580111026764, + 0.05445625260472298, + 3.098299792157956, + 0.015401936136186125, + -0.031739089637994766, + 1.0 + ], + [ + 0.33926504850387573, + 0.13488227128982544, + 0.054900992661714554, + 3.032348523037978, + 0.00382183026522398, + -0.21439717710018158, + 1.0 + ], + [ + 0.35115212202072144, + 0.09020023047924042, + 0.056631192564964294, + 3.015712933736392, + -0.04195851087570191, + -0.3911100924015045, + 1.0 + ], + [ + 0.36264336109161377, + 0.04850316792726517, + 0.06771058589220047, + 3.0934607220166406, + -0.03224977105855942, + -0.4989257454872131, + 1.0 + ], + [ + 0.37276530265808105, + 0.004130557179450989, + 0.07175049930810928, + -3.128877735818275, + -0.026377612724900246, + -0.5327819585800171, + 1.0 + ], + [ + 0.37669509649276733, + -0.004760765470564365, + 0.07260827720165253, + -3.1163566653900823, + -0.04573461040854454, + -0.4650745093822479, + 1.0 + ], + [ + 0.3808772563934326, + -0.015501420013606548, + 0.07256341725587845, + -3.105617245780774, + -0.0731368213891983, + -0.4333925247192383, + 1.0 + ], + [ + 0.37999266386032104, + -0.02129429019987583, + 0.06314526498317719, + -3.0831612182133874, + -0.04067860916256905, + -0.39892423152923584, + 1.0 + ], + [ + 0.3820224106311798, + -0.02082180418074131, + 0.05112110823392868, + -3.0861957130306443, + -0.0216831024736166, + -0.37965577840805054, + 1.0 + ], + [ + 0.38435235619544983, + -0.0218654852360487, + 0.04945869743824005, + -3.084599023806401, + -0.03459439426660538, + -0.36911049485206604, + 1.0 + ], + [ + 0.3849624693393707, + -0.022603122517466545, + 0.040662579238414764, + -3.091294480609246, + -0.02666077576577663, + -0.37512466311454773, + 1.0 + ], + [ + 0.3853246867656708, + -0.022973142564296722, + 0.04130144417285919, + -3.0850588028603276, + -0.02771354839205742, + -0.38579437136650085, + 0.0 + ], + [ + 0.384721040725708, + -0.023293448612093925, + 0.040700413286685944, + -3.0845336896651467, + -0.021502045914530758, + -0.41238611936569214, + 0.0 + ], + [ + 0.3852992653846741, + -0.024853119626641273, + 0.05238661170005798, + -3.0880010445886334, + -0.045430585741996765, + -0.4465557634830475, + 0.0 + ], + [ + 0.3898719549179077, + -0.0118147237226367, + 0.09268905222415924, + -3.026878671842166, + -0.13226811587810514, + -0.4560283124446869, + 0.0 + ], + [ + 0.3896452784538269, + 0.02515672706067562, + 0.10045187175273895, + -2.9882553686671933, + -0.13658928871154785, + -0.3968507647514343, + 0.0 + ], + [ + 0.3878483772277832, + 0.056901779025793076, + 0.10351243615150452, + -2.97997738619382, + -0.12553982436656952, + -0.3426925837993622, + 0.0 + ], + [ + 0.39262115955352783, + 0.08491068333387375, + 0.093864306807518, + -3.0047119875722608, + -0.10367539525032043, + -0.27516824007034296, + 0.0 + ], + [ + 0.400271475315094, + 0.10190070420503616, + 0.08282962441444397, + -3.0200333689623555, + -0.0827164649963379, + -0.22576579451560977, + 0.0 + ], + [ + 0.40821802616119385, + 0.11120831966400146, + 0.0791846364736557, + -3.012243466573306, + -0.07007668912410736, + -0.20358526706695557, + 0.0 + ], + [ + 0.4100487530231476, + 0.11269409954547882, + 0.07626534253358841, + -3.0137856920533856, + -0.05292288959026337, + -0.1970887631177902, + 0.0 + ], + [ + 0.4099647104740143, + 0.11360863596200943, + 0.07672565430402756, + -3.0084501822763166, + -0.05064922571182251, + -0.19736970961093903, + 1.0 + ], + [ + 0.41014134883880615, + 0.1115766167640686, + 0.07650547474622726, + -3.0210635011368474, + -0.05457508563995361, + -0.1943141222000122, + 1.0 + ], + [ + 0.4078962802886963, + 0.10948040336370468, + 0.07541556656360626, + -3.0363905002647122, + -0.04445846751332284, + -0.19261737167835236, + 1.0 + ], + [ + 0.4063512682914734, + 0.10958635061979294, + 0.07528519630432129, + -3.0413315167003354, + -0.03662446513772011, + -0.18973511457443237, + 1.0 + ], + [ + 0.40580618381500244, + 0.1088145524263382, + 0.07523398846387863, + -3.0431762879067144, + -0.03255265951156616, + -0.18932053446769714, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05465686321258545, + 0.3298342227935791, + 0.561605840921402, + 0.6818961203098297, + 0.7368841767311096, + 0.7581193745136261, + 0.7581193745136261, + 0.7581193745136261, + 0.7581193745136261, + 0.7581193745136261, + 0.6973467767238617, + 0.4110974073410034, + 0.11119049787521362, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "3052", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3052/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3055.json b/annotation/test/3055.json new file mode 100644 index 0000000000000000000000000000000000000000..5d3ff4a2ae1af190826949d0005a50d6f7d0f2c0 --- /dev/null +++ b/annotation/test/3055.json @@ -0,0 +1,641 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Place the blue brush to the right of the orange towel" + ], + "videos": [ + { + "video_path": "videos/test/3055/rgb.mp4" + } + ], + "action": [ + [ + 0.0003426325585288962, + -0.00032751134700124805, + -0.00034416127821171213, + 0.0017295906862598784, + 0.0011446547202390964, + -0.0008970823620291917, + 1.0 + ], + [ + -0.0017979792402204966, + 0.0007460635408453077, + 0.00887390042216079, + -0.008531362443401106, + -0.03263724315451811, + -0.005021981789424985, + 1.0 + ], + [ + 0.013029885846732344, + -0.02438141016499329, + 0.004650734940588532, + 0.008203664741614658, + -0.01649550840378296, + -0.06688525318001316, + 1.0 + ], + [ + 0.028961876194860646, + -0.03752530650081329, + 0.007366436019393233, + 0.018078537523604086, + 0.002040260700643413, + -0.09302302719208132, + 1.0 + ], + [ + 0.030839916593311867, + -0.030484097067989054, + 0.016948989787909142, + 0.026098869148945433, + -0.02000434758891243, + -0.08745812602502619, + 1.0 + ], + [ + 0.02115667936998932, + -0.02639298149620833, + 0.01633487106102521, + 0.015432977146507768, + -0.023161416588330295, + -0.10752951909721321, + 1.0 + ], + [ + 0.020224843899058778, + -0.009934647048015662, + 0.017054317306768485, + 0.028221271514230893, + -0.02429439153395704, + -0.052444012121296096, + 1.0 + ], + [ + 0.014161851628003652, + -0.004716261627569469, + 0.006915580046856324, + 0.021541034148920897, + -0.012149620806276488, + -0.01884031200500132, + 1.0 + ], + [ + 0.009871206060510476, + -0.011117955390112464, + 0.00808503367136168, + 0.01605997936174391, + 0.002431254150805723, + -0.035176235726628466, + 1.0 + ], + [ + 0.007511055343059069, + -0.004086624536765368, + 0.006602064510059255, + 0.012164896618854688, + 0.0016259994875897394, + -0.011312979420525452, + 1.0 + ], + [ + 0.0040580456698975295, + -0.0009622315907273423, + -2.1306316987193624e-05, + 0.005016307536240887, + 0.010512396010410489, + -0.010075987643791466, + 1.0 + ], + [ + 0.0016818623131453385, + 0.002668273581903503, + 0.0013018013265152656, + -0.010636757303479521, + 0.012666198744160986, + -0.004747320799112993, + 0.0 + ], + [ + -0.005076461002786864, + 0.003996768984300975, + -0.0024264441096489833, + -0.01181088530365654, + 0.022840520434956164, + 0.006881467496360774, + 0.0 + ], + [ + -0.010127846027156244, + 0.017680346325649948, + -0.040179102938101736, + -0.02603262360285835, + 0.09715577934708503, + 0.023286521114330893, + 0.0 + ], + [ + -0.013888614924586892, + 0.027182434154480614, + -0.06797345619474006, + -0.02366051505559584, + 0.16015229398742836, + 0.04935290419245954, + 0.0 + ], + [ + -0.03490449020202268, + 0.03433355150546794, + -0.0331028131832253, + -0.0710620183447492, + 0.02153217942461512, + 0.10709252048288591, + 0.0 + ], + [ + -0.04516076616987908, + 0.043135573109958615, + 0.0060865153598573685, + -0.03931524140956481, + -0.06343681413845577, + 0.12516741357873498, + 0.0 + ], + [ + -0.02429623036544012, + 0.048159359161280856, + 0.007139689064258208, + -0.0009099564469649671, + -0.027533689452233365, + 0.10722894917288542, + 0.0 + ], + [ + -0.013459079487243139, + 0.05026326800552677, + 0.009134479758181165, + 0.003062214243559186, + -0.013381034892833363, + 0.06283268318621449, + 0.0 + ], + [ + -0.0006297027538321757, + 0.027672686673786966, + 0.011804654817938074, + 0.010949533967759075, + -0.027631773566570397, + 0.016920524740703876, + 0.0 + ], + [ + 0.005304036171491407, + 0.016320231191388864, + 0.013393796191707703, + 0.00895839109454124, + -0.022388446471790596, + -0.008743164281166768, + 0.0 + ], + [ + 0.001189821803678784, + 0.0016335512393085927, + 0.01627902197924826, + 0.019090247562050078, + -0.029397229787385643, + -0.027651134059398348, + 0.0 + ], + [ + -0.0022530392404072615, + 0.001587739788110301, + 0.012043582276675806, + 0.008646092719967332, + -0.030305807808923543, + 0.00023523931763680273, + 0.0 + ], + [ + -0.008811954678326891, + 0.006663517535506286, + 0.006564797001577042, + 0.015274802374095299, + -0.018633599763312494, + 0.04099090251633855, + 0.0 + ], + [ + -0.007526602263102517, + 0.0024417191705369784, + 0.004310260558764563, + 0.0020173905805074793, + -0.01840260431073353, + 0.03389107261218038, + 1.0 + ], + [ + -0.006580399779210798, + 3.641249867303617e-05, + -0.01100988364773728, + -0.02080936375528508, + 0.014001511197271731, + 0.028248487436614404, + 1.0 + ], + [ + -0.005242452713882015, + -0.00937771089384905, + -0.05943851535173805, + -0.029025681741754954, + 0.17703428439746133, + 0.02321105561371434, + 1.0 + ], + [ + -0.0051574126483565534, + -0.019856724764478532, + -0.045422596574845805, + -0.04442883153337702, + 0.0904176853333922, + -0.06017066433158805, + 1.0 + ], + [ + -0.006574716702159794, + -0.016151678642769274, + -0.0018196997875456733, + -0.02552065700194471, + -0.04568579068385161, + -0.05219845133594186, + 1.0 + ], + [ + -0.0029769730449489165, + -0.011718758927824124, + 0.0007373756721377119, + -0.0014857923397508567, + -0.023785365620101216, + -0.016899476874181547, + 1.0 + ], + [ + -0.0044138205773576146, + -0.004209594176410108, + 0.0003834322091433955, + 0.010416395308532651, + -0.030461435585763728, + 0.021822902548649437, + 1.0 + ], + [ + 0.0002093280088467714, + -0.0010207763568797306, + -0.0007113402865712904, + 0.0017827389779495155, + 0.0015183249083873, + -0.0009560182232514913, + 1.0 + ] + ], + "state": [ + [ + 0.26804131269454956, + 0.04038636013865471, + 0.10374244302511215, + -3.1038469915562352, + -0.03453926369547844, + -0.1286938488483429, + 1.0 + ], + [ + 0.26840904355049133, + 0.04065568372607231, + 0.10411033779382706, + -3.1021468733721456, + -0.035716943442821496, + -0.127840057015419, + 1.0 + ], + [ + 0.2668915390968323, + 0.040451955050230026, + 0.09515538811683655, + -3.1108831596844873, + -0.003302430734038353, + -0.12153775990009309, + 1.0 + ], + [ + 0.28280991315841675, + 0.06320256739854813, + 0.09129852056503296, + -3.102967282878705, + 0.011140663176774979, + -0.054181404411792755, + 1.0 + ], + [ + 0.31370779871940613, + 0.09936413913965225, + 0.0850643664598465, + -3.0840220135920724, + 0.0054669128730893135, + 0.0386941097676754, + 1.0 + ], + [ + 0.34322628378868103, + 0.13193924725055695, + 0.06972910463809967, + -3.057653935747691, + 0.02039114385843277, + 0.12716330587863922, + 1.0 + ], + [ + 0.3604142367839813, + 0.16203159093856812, + 0.0552360825240612, + -3.040477493899413, + 0.03435264527797699, + 0.23630166053771973, + 1.0 + ], + [ + 0.37681543827056885, + 0.17791815102100372, + 0.038586486130952835, + -3.0104997624927243, + 0.05318053066730499, + 0.29099515080451965, + 1.0 + ], + [ + 0.38844412565231323, + 0.1872255653142929, + 0.03160278499126434, + -2.987896742420741, + 0.0627523809671402, + 0.3113008141517639, + 1.0 + ], + [ + 0.3937026560306549, + 0.2017594426870346, + 0.0247084628790617, + -2.9697684367471417, + 0.05492851883172989, + 0.34574165940284735, + 1.0 + ], + [ + 0.39871159195899963, + 0.2090432345867157, + 0.0184987410902977, + -2.957016097503253, + 0.051388960331678384, + 0.35662436485290533, + 1.0 + ], + [ + 0.4021899402141571, + 0.21134433150291443, + 0.01848757639527321, + -2.9515854289108, + 0.03920426592230797, + 0.3646053969860077, + 1.0 + ], + [ + 0.4045414328575134, + 0.20970037579536438, + 0.016640707850456238, + -2.9621182699971875, + 0.025869326665997505, + 0.3668754994869232, + 0.0 + ], + [ + 0.4014107882976532, + 0.2038203924894333, + 0.0184454545378685, + -2.9741731156879148, + 0.004622609820216894, + 0.35602909326553345, + 0.0 + ], + [ + 0.40048718452453613, + 0.17773401737213135, + 0.05516297370195389, + -2.999717118340083, + -0.08729523420333862, + 0.31685492396354675, + 0.0 + ], + [ + 0.3934631049633026, + 0.136996790766716, + 0.11715740710496902, + -3.0154742320352277, + -0.23862715065479279, + 0.24396570026874545, + 0.0 + ], + [ + 0.36324337124824524, + 0.09008323401212692, + 0.1366201490163803, + -3.0607643519812306, + -0.24510039389133456, + 0.1316576451063156, + 0.0 + ], + [ + 0.3276883661746979, + 0.04250054433941841, + 0.11639770120382309, + -3.0710994770103177, + -0.17003163695335385, + 0.010555258952081203, + 0.0 + ], + [ + 0.30602461099624634, + -0.005267646163702011, + 0.10192401707172394, + -3.0544695426994046, + -0.13408683240413669, + -0.09536996483802795, + 0.0 + ], + [ + 0.2898474633693695, + -0.0532229021191597, + 0.08677228540182114, + -3.043302083509513, + -0.11503884941339493, + -0.15720108151435852, + 0.0 + ], + [ + 0.286739319562912, + -0.07944028824567795, + 0.07233233749866486, + -3.0306972359591207, + -0.08586858212947844, + -0.17137417197227475, + 0.0 + ], + [ + 0.2907106280326843, + -0.09508442133665085, + 0.057725273072719574, + -3.022677609818526, + -0.06457988917827606, + -0.16018596291542053, + 0.0 + ], + [ + 0.29297423362731934, + -0.09513689577579498, + 0.04147830232977867, + -3.005591007071086, + -0.038639221340417855, + -0.12923038005828855, + 0.0 + ], + [ + 0.2912147045135498, + -0.0948479101061821, + 0.02925269305706024, + -2.9970328529649457, + -0.008581156842410566, + -0.12535487115383148, + 0.0 + ], + [ + 0.28182950615882874, + -0.0993582084774971, + 0.02172110415995121, + -2.981512205796786, + 0.015767917037010193, + -0.16322943568229675, + 0.0 + ], + [ + 0.2740515470504761, + -0.09982389211654663, + 0.01719599962234497, + -2.9800243099504193, + 0.03932924941182137, + -0.19377031922340393, + 1.0 + ], + [ + 0.2676703631877899, + -0.10041321814060211, + 0.028306972235441208, + -3.002076821523257, + 0.03003573417663574, + -0.22391492128372192, + 1.0 + ], + [ + 0.26454949378967285, + -0.09865549951791763, + 0.08860234916210175, + -3.0304864590340337, + -0.1420690417289734, + -0.2715272903442383, + 1.0 + ], + [ + 0.2571151852607727, + -0.0813288539648056, + 0.13473930954933167, + -3.0818440933995923, + -0.238417461514473, + -0.22055622935295105, + 1.0 + ], + [ + 0.25374382734298706, + -0.06416122615337372, + 0.13588884472846985, + -3.120586920651146, + -0.19556702673435214, + -0.16470877826213837, + 1.0 + ], + [ + 0.25288084149360657, + -0.052125170826911926, + 0.13482864201068878, + -3.125500789033719, + -0.17211201786994934, + -0.14705736935138705, + 1.0 + ], + [ + 0.24925029277801514, + -0.04732617735862732, + 0.13376173377037048, + -3.11139107321436, + -0.14126406610012054, + -0.1685916632413864, + 1.0 + ], + [ + 0.2495192289352417, + -0.046358756721019745, + 0.13452565670013428, + -3.109737714874097, + -0.14281050860881805, + -0.16767257452011108, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.052336275577545166, + 0.24740290641784668, + 0.2503390312194824, + 0.2503390312194824, + 0.2503390312194824, + 0.2503390312194824, + 0.2503390312194824, + 0.25131863355636597, + 0.25131863355636597, + 0.25131863355636597, + 0.25131863355636597, + 0.25131863355636597, + 0.25131863355636597, + 0.1897594928741455, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "3055", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3055/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3059.json b/annotation/test/3059.json new file mode 100644 index 0000000000000000000000000000000000000000..b024b83a4db433e85e76a57a1cf0bfa4a0b494c6 --- /dev/null +++ b/annotation/test/3059.json @@ -0,0 +1,926 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "move green spatula to lower right corner" + ], + "videos": [ + { + "video_path": "videos/test/3059/rgb.mp4" + } + ], + "action": [ + [ + 0.0002760782162109506, + -1.8636357946409772e-05, + -0.0003819497090424082, + 0.00018470547537108016, + 0.001521600315903242, + -0.001472901903938397, + 1.0 + ], + [ + 0.0020843803413607984, + -0.0010155351542676099, + 0.012698730708797892, + -0.006103783341449332, + -0.03778956406310604, + -0.0016334974759455703, + 1.0 + ], + [ + 0.017332419642543836, + -0.024248151861188193, + 0.011244560415251088, + 0.003458600360775711, + 0.00826230103745927, + -0.05109387317852217, + 1.0 + ], + [ + -0.018436869310865137, + 0.041581860089516476, + 0.04404069186526162, + -0.035829859448068914, + -0.06523018560226594, + 0.12981576061998623, + 1.0 + ], + [ + -0.014125616027910477, + 0.03533935549724273, + 0.015423958469116913, + 0.014610004029851865, + 0.0415150369216892, + 0.10509039964904517, + 1.0 + ], + [ + -0.01330823284303574, + 0.00507207094408772, + 0.004515579040888632, + 0.024586725808364105, + 0.04925986756774863, + 0.011235524209938905, + 1.0 + ], + [ + -0.00660407001420564, + -0.0001867401255145426, + 0.0006238619826826681, + 0.02383736790667148, + 0.030230525927461692, + 0.011151097812059743, + 1.0 + ], + [ + -0.008678791690938771, + 0.0023139231414739973, + 0.01390621228063434, + 0.044393122232641545, + 0.0032244489815649127, + -0.04962498611216641, + 1.0 + ], + [ + -0.0022976722414017607, + 0.012128738586959897, + 0.008415051760744804, + 0.06504762296152211, + 0.026400877992637125, + -0.07403592286594306, + 1.0 + ], + [ + -0.002398838741896126, + 0.012559780472566867, + 0.017502564585071167, + 0.0058230547144914905, + -0.028274975733047533, + -0.018575905665955586, + 1.0 + ], + [ + -0.002143575565919044, + 0.015258241880804164, + 0.017984802516087965, + -0.02390565502124569, + -0.03943161547798452, + 0.006935361106421987, + 1.0 + ], + [ + 0.0023970019194850035, + 0.01883040063592856, + 0.008295562864333224, + -0.10577637647807316, + 0.012593245531485438, + 0.10591692657881122, + 1.0 + ], + [ + 0.0005052464386490318, + 0.011322726798944504, + 0.004893520596791596, + -0.07253383719658049, + 0.014749149187423535, + 0.06448318168065831, + 1.0 + ], + [ + 0.0005512178637762558, + 0.0019581909189866024, + 0.0023152370767976684, + -0.024497214507047334, + 0.0003862925974633277, + 0.017169563820205486, + 1.0 + ], + [ + -0.006506062807445146, + -0.0012945847812549905, + 0.011114799072491192, + -0.022528838324114037, + -0.03115162321752804, + -0.005412483876792871, + 1.0 + ], + [ + -0.0008425299401580798, + -0.0008565666469462863, + 0.0031346506272315706, + 0.007641345342978841, + -0.004528435846741374, + 0.004796808656803506, + 1.0 + ], + [ + -0.0011726440722718884, + 0.000724655983362134, + 0.0029597965380245973, + 0.02990686595563802, + -0.005687685098676532, + 0.017782366164365716, + 1.0 + ], + [ + -0.0036124773990428545, + 0.0023472528025796253, + -0.0014699094782498832, + 0.030830876989211362, + -0.0078854736095523, + 0.02292919756012505, + 0.0 + ], + [ + -0.0023227774371251406, + 0.003030378245230828, + -0.011303035761743768, + 0.010218961990512351, + 0.013145291619845673, + 0.011960946518302866, + 0.0 + ], + [ + 0.00295779555593898, + 0.0019822036508696833, + -0.03705132769825116, + 0.0730619284825166, + 0.11077493225099194, + 0.012589061744237998, + 0.0 + ], + [ + 0.005616480324270416, + -0.016526719468688302, + -0.032509128141477044, + 0.07313558133455497, + 0.05526778842444461, + -0.02037720881527179, + 0.0 + ], + [ + 0.01512887764382684, + -0.04827141730962926, + -0.02293991206219751, + 0.023473199677358055, + 0.03523137009459395, + -0.07425687917017723, + 0.0 + ], + [ + 0.011421929881796569, + -0.05434247283392979, + 0.0013445253173257603, + -0.001467536581951056, + -0.028210629123918134, + -0.045782528407011525, + 0.0 + ], + [ + 0.01637317468877644, + -0.04608254635250066, + 0.01330603131712816, + -0.05237154859429173, + -0.03481298625724931, + -0.04014568731519705, + 0.0 + ], + [ + 0.007285636609482988, + -0.0577070936176068, + 0.011478303722488254, + -0.03630166010412593, + -0.04530490353363381, + -0.08903066316529767, + 0.0 + ], + [ + 0.003154637657220049, + -0.052554578266865604, + 0.0092600286451511, + 0.0011569024696122406, + -0.020948583580642485, + -0.08897455016555111, + 0.0 + ], + [ + -0.0024009315388802987, + -0.036079138290061354, + 0.005718511972614367, + 0.00799785470119797, + -0.01060978167205092, + -0.0526168524018308, + 0.0 + ], + [ + -0.015883116553683418, + -0.004914538187331839, + 0.015373490705069343, + -0.0011422823365137133, + -0.033511553753674005, + -0.006267138245956494, + 0.0 + ], + [ + -0.01822445182412939, + 0.011205560103477154, + 0.013238163091181233, + 0.009024613317548483, + -0.012541839240187673, + -8.014343134697602e-05, + 0.0 + ], + [ + -0.0025776511462808375, + 0.020629302274962857, + 0.015822802637204623, + -2.9095393178956954e-05, + -0.0035191419703721693, + 0.021413149664297117, + 0.0 + ], + [ + -0.0021008938667334614, + 0.010821988354859131, + 0.009515725561903905, + 0.01795396991680398, + -0.012293203830442018, + 0.013806790022765913, + 0.0 + ], + [ + 0.0031007575625165095, + 0.003068962055711625, + 0.0004362979910124147, + -0.00015344822730413869, + 0.012998579820176716, + -0.012669552772252367, + 0.0 + ], + [ + 0.003338651815258055, + 0.0034179726781317465, + 0.00015584468446267537, + 0.000658448797793027, + 0.012464594718478439, + -0.005673955879611756, + 0.0 + ], + [ + 0.007015587535248124, + -0.001595831011588642, + -0.004470373890256941, + 0.00782204297937356, + 0.02484300960043362, + -0.004341991297939593, + 0.0 + ], + [ + 0.0029844777894950532, + 0.002011231410422457, + 0.0021296590655454843, + -0.0011630729986062778, + 0.00170363802982235, + 0.006685660555694451, + 0.0 + ], + [ + -0.0016375981244997663, + 0.009467635728362346, + 0.017472042381623313, + -0.02205806539684261, + -0.04192665275297385, + 0.01747044497713207, + 0.0 + ], + [ + 0.0010304152945529005, + -0.00026184299301095735, + -0.0014992229762888234, + 0.0009052275577193864, + 0.002926343862090491, + -0.005795544385699342, + 0.0 + ], + [ + -0.0018896103683617453, + 0.0012297894414447523, + 0.001685531757129188, + -0.005417983104467194, + -0.014432884425107723, + -0.007888970694593654, + 0.0 + ], + [ + -0.0015886201768002036, + 0.0006128046304707665, + -9.141458790319413e-06, + -0.003617614393966687, + -0.010110180159454462, + -0.0245253852002273, + 1.0 + ], + [ + -0.0019962599203277374, + 0.0007916489360083426, + -0.00112302408057542, + -0.0042091606575361765, + -0.01153541103713058, + -0.0028705942222034563, + 1.0 + ], + [ + 0.0004133312180796845, + 0.007280937185460913, + -0.05611236990117745, + 0.003525059791869078, + 0.10172268302977001, + -0.022818433021330502, + 1.0 + ], + [ + -0.0011521769588553464, + 0.01591900868556713, + -0.03377104705871394, + 0.00470478653079419, + 0.012579106089314913, + 0.026112275208121472, + 1.0 + ], + [ + -0.0029819285944121723, + 0.008055146140509027, + -0.03597122605025177, + 0.03215069716343111, + 0.05414874651904641, + 0.013765540217939711, + 1.0 + ], + [ + -0.0006785645173873363, + 0.005696568160891222, + -0.018696462811692946, + 0.0021830016204875723, + 0.043389854730706584, + 0.017138782560100214, + 1.0 + ], + [ + -0.004446445792857816, + 0.0053636222175438, + -0.005690926089792192, + 0.008600195784559167, + -0.013044796686471264, + -0.0028039084640103353, + 1.0 + ], + [ + -0.00796820434115616, + -0.0008270582225718803, + -0.0016528793095801722, + 0.05921953081746127, + -0.06539348768405721, + -0.007146406990078574, + 1.0 + ], + [ + -0.0002833989061310983, + -0.00018183465943056627, + -3.4483916222914855e-07, + 0.0011540996138036843, + -0.0017824156426173982, + -0.0041588160421654405, + 1.0 + ] + ], + "state": [ + [ + 0.31861814856529236, + -0.011676398105919361, + 0.18291403353214264, + 3.1051594113283834, + -0.02927509136497974, + -0.13913117349147797, + 1.0 + ], + [ + 0.3188849091529846, + -0.011680900119245052, + 0.18330296874046326, + 3.105299389111348, + -0.030741997063159946, + -0.13760310411453247, + 1.0 + ], + [ + 0.3214121162891388, + -0.011471486650407314, + 0.1706458330154419, + 3.0991616566949567, + 0.00708194263279438, + -0.13734272122383118, + 1.0 + ], + [ + 0.34174641966819763, + 0.009693169966340065, + 0.15826039016246796, + 3.1030387115948876, + 0.0009840790880843997, + -0.08594566583633421, + 1.0 + ], + [ + 0.31962358951568604, + -0.031809478998184204, + 0.11587333679199219, + 3.0673340429835996, + 0.061168313026428216, + -0.21816980838775635, + 1.0 + ], + [ + 0.2972215414047241, + -0.06411272287368774, + 0.10400108993053436, + 3.07605596085126, + 0.011668374761939049, + -0.319790244102478, + 1.0 + ], + [ + 0.28285861015319824, + -0.06499934196472168, + 0.09998293966054916, + 3.1004718599193772, + -0.03822183609008789, + -0.32776901125907904, + 1.0 + ], + [ + 0.27668532729148865, + -0.06273023039102554, + 0.0991000309586525, + 3.1246715803914746, + -0.06888332962989809, + -0.3376864790916443, + 1.0 + ], + [ + 0.268572062253952, + -0.062582828104496, + 0.08467049151659012, + -3.117525991173931, + -0.07118288427591324, + -0.28788802027702337, + 1.0 + ], + [ + 0.2635829448699951, + -0.07353993505239487, + 0.07582463324069977, + -3.0577749108248433, + -0.09916388243436815, + -0.21417360007762912, + 1.0 + ], + [ + 0.26069074869155884, + -0.08421961218118668, + 0.057185374200344086, + -3.0540088285976132, + -0.0725216120481491, + -0.193247988820076, + 1.0 + ], + [ + 0.2573445439338684, + -0.09744984656572342, + 0.03783012181520462, + -3.077596018212386, + -0.03263413533568382, + -0.1967049241065979, + 1.0 + ], + [ + 0.2564285397529602, + -0.11588770896196365, + 0.02843054011464119, + 3.1029258502000054, + -0.03825578838586808, + -0.3032839894294739, + 1.0 + ], + [ + 0.25363731384277344, + -0.12706777453422546, + 0.02400096319615841, + 3.032911429303237, + -0.055406887084245675, + -0.367238849401474, + 1.0 + ], + [ + 0.25346988439559937, + -0.12935814261436462, + 0.021945517510175705, + 3.009374441700526, + -0.057645108550786965, + -0.3842935264110565, + 1.0 + ], + [ + 0.24797771871089935, + -0.12733344733715057, + 0.010400809347629547, + 2.986708702641078, + -0.026051877066493034, + -0.38303664326667786, + 1.0 + ], + [ + 0.2474101036787033, + -0.12671364843845367, + 0.0071506923995912075, + 2.994492443399974, + -0.022317241877317425, + -0.3884759247303009, + 1.0 + ], + [ + 0.24594753980636597, + -0.1273583471775055, + 0.004303608555346727, + 3.024833249049731, + -0.01929340697824955, + -0.40690314769744873, + 1.0 + ], + [ + 0.24174505472183228, + -0.12789934873580933, + 0.0059669362381100655, + 3.056150460737296, + -0.014127070084214209, + -0.4305967092514038, + 0.0 + ], + [ + 0.23862895369529724, + -0.12872913479804993, + 0.017453383654356003, + 3.0665195753150662, + -0.028244290500879288, + -0.44139546155929565, + 0.0 + ], + [ + 0.24069775640964508, + -0.12881924211978912, + 0.054617755115032196, + 3.139238404231616, + -0.1396498829126358, + -0.44562152028083796, + 0.0 + ], + [ + 0.24879436194896698, + -0.11428660899400711, + 0.08755357563495636, + -3.073723832266875, + -0.1948397606611252, + -0.42475044727325445, + 0.0 + ], + [ + 0.27690863609313965, + -0.07585255056619644, + 0.11614838242530823, + -3.0646443759375295, + -0.23451057076454163, + -0.3510861992835998, + 0.0 + ], + [ + 0.305390864610672, + -0.028472900390625, + 0.121561698615551, + -3.0775243510776242, + -0.20963001251220703, + -0.3022160232067108, + 0.0 + ], + [ + 0.33667296171188354, + 0.010837911628186703, + 0.1148667111992836, + -3.1388526860442987, + -0.17726904153823853, + -0.25927335023880005, + 0.0 + ], + [ + 0.3603370785713196, + 0.06429602950811386, + 0.10500872880220413, + 3.0921846871548375, + -0.1315021514892578, + -0.16943228244781494, + 0.0 + ], + [ + 0.37372449040412903, + 0.11479482799768448, + 0.09368035197257996, + 3.0819540863209447, + -0.10568227618932725, + -0.08113080263137817, + 0.0 + ], + [ + 0.37506216764450073, + 0.15047794580459595, + 0.08561215549707413, + 3.084534390019723, + -0.09181403368711473, + -0.02902409993112087, + 0.0 + ], + [ + 0.3608018755912781, + 0.1549234837293625, + 0.06859300285577774, + 3.0829615016751966, + -0.05799877271056175, + -0.02467410266399384, + 0.0 + ], + [ + 0.34304624795913696, + 0.14339600503444672, + 0.05499891936779022, + 3.0920195152335843, + -0.04547377675771713, + -0.025329682976007458, + 0.0 + ], + [ + 0.3406020998954773, + 0.1220630407333374, + 0.040115900337696075, + 3.092982607083865, + -0.043009381741285324, + -0.04691077396273613, + 0.0 + ], + [ + 0.33836251497268677, + 0.1108841821551323, + 0.031055238097906113, + 3.111556839319416, + -0.031397107988595956, + -0.061304688453674316, + 0.0 + ], + [ + 0.34127795696258545, + 0.10761874914169312, + 0.030808810144662857, + 3.110993230836936, + -0.04400667548179627, + -0.04823888465762139, + 0.0 + ], + [ + 0.3444467782974243, + 0.10404064506292343, + 0.030904535204172134, + 3.111383170010992, + -0.05629103630781173, + -0.04217707738280296, + 0.0 + ], + [ + 0.35126951336860657, + 0.10548438131809235, + 0.03571237251162529, + 3.1189089362793645, + -0.08099082857370377, + -0.03707135841250419, + 0.0 + ], + [ + 0.35433429479599, + 0.10331027954816818, + 0.033877160400152206, + 3.118285797657915, + -0.08284387737512587, + -0.04373951628804207, + 0.0 + ], + [ + 0.3536979854106903, + 0.09345643222332001, + 0.01655414327979088, + 3.0977385734492024, + -0.04132166504859925, + -0.06218257173895836, + 0.0 + ], + [ + 0.35468459129333496, + 0.09372295439243317, + 0.018081743270158768, + 3.0983996634655675, + -0.043990395963191986, + -0.05625860020518303, + 0.0 + ], + [ + 0.3527982234954834, + 0.09252570569515228, + 0.01636936515569687, + 3.0926589873903474, + -0.02922917529940605, + -0.0489979088306427, + 0.0 + ], + [ + 0.3511810898780823, + 0.09199264645576477, + 0.0163620263338089, + 3.0883514826470098, + -0.01792315393686295, + -0.02499395050108433, + 1.0 + ], + [ + 0.34914666414260864, + 0.09131251275539398, + 0.01748962327837944, + 3.0840985385053834, + -0.006251282058656216, + -0.022741427645087242, + 1.0 + ], + [ + 0.34911519289016724, + 0.08726762980222702, + 0.07392913848161697, + 3.0871681963377675, + -0.10649175941944122, + 0.005921005271375179, + 1.0 + ], + [ + 0.3443765938282013, + 0.07318095117807388, + 0.10819774121046066, + 3.094604304181882, + -0.12043803185224533, + -0.01965133659541607, + 1.0 + ], + [ + 0.3369302451610565, + 0.06696942448616028, + 0.14388632774353027, + 3.1280560261854014, + -0.17516587674617767, + -0.031013015657663345, + 1.0 + ], + [ + 0.332823783159256, + 0.061651233583688736, + 0.16225267946720123, + 3.1331825350695333, + -0.21875931322574615, + -0.047950565814971924, + 1.0 + ], + [ + 0.32699015736579895, + 0.05660948529839516, + 0.1668868511915207, + 3.141184787067356, + -0.20569059252738953, + -0.04519869014620781, + 1.0 + ], + [ + 0.31889811158180237, + 0.05780406296253204, + 0.16687710583209991, + -3.0842504185908517, + -0.14028897881507874, + -0.038023721426725395, + 1.0 + ], + [ + 0.3186230957508087, + 0.057996172457933426, + 0.16684813797473907, + -3.0836973694437226, + -0.13874655961990356, + -0.03372831642627716, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.005884885787963867, + 0.07365119457244873, + 0.34690237045288086, + 0.6202564239501953, + 0.653020054101944, + 0.6538403034210205, + 0.6538403034210205, + 0.6538403034210205, + 0.6538403034210205, + 0.6538403034210205, + 0.6538403034210205, + 0.6538403034210205, + 0.6538403034210205, + 0.6538403034210205, + 0.6538403034210205, + 0.6538403034210205, + 0.6538403034210205, + 0.6538403034210205, + 0.6538403034210205, + 0.6538403034210205, + 0.6538403034210205, + 0.6538403034210205, + 0.5842655003070831, + 0.28388506174087524, + 0.019751906394958496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "3059", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3059/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3070.json b/annotation/test/3070.json new file mode 100644 index 0000000000000000000000000000000000000000..fd4da24d73233b56babfb9e31d41e5b5d85c8ab1 --- /dev/null +++ b/annotation/test/3070.json @@ -0,0 +1,679 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "move the pot left side" + ], + "videos": [ + { + "video_path": "videos/test/3070/rgb.mp4" + } + ], + "action": [ + [ + 0.00011441558464995377, + 0.00018991181981715073, + -0.0005698242688158677, + -0.001477165500158152, + 0.0013044175923001872, + -0.000907974214879444, + 1.0 + ], + [ + -0.0037550851667493288, + 0.0004803555712236871, + 0.01080576948930242, + 0.004983022588243394, + -0.030113986202873474, + 0.0039511421831243876, + 1.0 + ], + [ + -0.0016896260191226115, + 0.01171758010326907, + -0.0005919164531387721, + -0.001961913899692755, + 0.0032651738453670525, + 0.045905262801917965, + 1.0 + ], + [ + -0.012628826289816182, + 0.005072933606319337, + -0.03663913523938699, + -0.004211504013039273, + 0.08595483000517834, + 0.06594863524295405, + 1.0 + ], + [ + -0.03382089899773461, + 0.003440735619612863, + -0.02185970080393723, + -0.0935969650162797, + 0.04496546964988997, + 0.041644532930625436, + 1.0 + ], + [ + -0.04890124378448766, + 0.0009136673863471263, + 0.011218172079467001, + -0.030778160865166555, + -0.09689829385231197, + 0.023899395758482402, + 1.0 + ], + [ + -0.03622933996527964, + 0.001048913073749659, + 0.009245742364407478, + -0.005098592501648671, + -0.056285540512243604, + 0.021073609700466817, + 1.0 + ], + [ + -0.02213707194635776, + 0.005409762942639581, + 0.015449765754808251, + 0.018183010825115562, + -0.04925816823720774, + 0.03582812063157915, + 1.0 + ], + [ + 0.004045183767245319, + 0.0020213803117406855, + 0.0112838477658551, + 0.02344752110714495, + -0.0029274185386299924, + 0.013781043687113477, + 1.0 + ], + [ + 0.007886865185287866, + 0.001158384341977883, + 0.004970583996161407, + -0.0013287477803178651, + -0.0015482074984880794, + 0.012474569103560469, + 1.0 + ], + [ + 0.011302253293538064, + 0.00041734127787974466, + -0.00026792245320359474, + 0.015021380213878282, + 0.006516907623661226, + 0.011945663861594095, + 1.0 + ], + [ + 0.005248893010905051, + -0.0036580148918170575, + -0.0032708395965082987, + 0.021522477364393573, + 0.0020657202514730868, + 0.002931895793989992, + 1.0 + ], + [ + 0.001510094984578749, + -0.006134048367553526, + 0.00024951115312783247, + 0.008863057446749334, + -0.008445356919429383, + -0.006630615703197185, + 1.0 + ], + [ + 0.0025016392976878127, + -0.0075754090449712585, + -0.0023239190637230718, + 0.009879202014990198, + 0.0018904107282232822, + -0.008553657435270508, + 1.0 + ], + [ + 0.0020884620582185204, + -0.0026301814393295125, + 0.008196398158079436, + -0.0008749935100916427, + -0.011072993295188016, + -0.0035430680065210397, + 1.0 + ], + [ + 0.004796802030221079, + 0.0007783589944876405, + 0.008452575800705395, + -0.0016017869695320196, + -0.012065105484713122, + -0.00215589711691845, + 1.0 + ], + [ + 0.0005306501457090396, + 0.0026549826064495474, + 0.010498001789070037, + 0.005796569012053875, + -0.03344425196701218, + 0.008160793177022249, + 1.0 + ], + [ + 0.0008756705869910001, + 0.000329855266442826, + 0.0035671031184921105, + 0.00032420449147881633, + -0.010666578894196442, + -1.0557564516059933e-05, + 1.0 + ], + [ + 0.0002665889448031128, + 0.00041186082299604046, + -0.0008154824840238996, + -0.005347927473907553, + 0.003187449624206238, + 0.0007289672569584763, + 0.0 + ], + [ + -0.003741540667690893, + 0.0016668802225384399, + -0.022592654516474332, + -0.007680390968037282, + 0.054057050838865764, + -0.00040203540482416976, + 0.0 + ], + [ + 0.00029653662890234456, + -0.011660857695631433, + -0.03367951050792736, + 0.004392128341347545, + 0.07089579625193475, + -0.08714680953841217, + 0.0 + ], + [ + 0.020376480913023593, + -0.02156041094118029, + -0.001321324430049506, + 0.003539260646118953, + 0.030538358277200237, + -0.13718373650978408, + 0.0 + ], + [ + 0.02073528333045921, + -0.010440537053610695, + 0.030392201647159618, + 0.003114396418607263, + -0.07003315207664941, + -0.11017464145750318, + 0.0 + ], + [ + 0.029116338601572464, + -0.01260750994552391, + 0.0153382334993832, + -0.004869159449268482, + -0.014928956896415635, + -0.05126305306870401, + 0.0 + ], + [ + 0.021518206492604882, + -0.008644845299795516, + 0.013442261532158415, + 0.0009332903820600096, + -0.01224093491789837, + -0.02170577777655877, + 0.0 + ], + [ + 0.009410100964109512, + -0.00106106651714673, + 0.007064847563209941, + 0.002874033337104806, + -0.018239919287317437, + 0.014674755557782167, + 0.0 + ], + [ + 0.00025903069700962145, + 0.00019226485780954555, + -6.542033509487319e-05, + 0.002560913696528942, + -0.0013777515110269091, + 0.013994652357934534, + 0.0 + ], + [ + -0.0035423594856725253, + 0.002060991246577714, + -4.253833038461084e-05, + 0.0006019092481161177, + -0.021452017430285023, + 0.029136618612923645, + 1.0 + ], + [ + 0.0063472786175386205, + 0.003062149969590008, + -0.010479239479710403, + -0.01504151517937387, + 0.02258663124370272, + 0.0078247571616984, + 1.0 + ], + [ + 0.004053948736184273, + 0.0014907089081711874, + -0.02625750776524931, + -0.0070951644715045266, + 0.05829131483688425, + 0.024441969513024527, + 1.0 + ], + [ + -0.002121433147353792, + 0.0007418264848768263, + -0.016842743199833404, + -0.006134586196268585, + 0.03848732001320692, + 0.01196322413721481, + 1.0 + ], + [ + -0.006242649423233525, + -0.004407114803627752, + 0.0011924036403958332, + 0.030815865241041383, + -0.014757718991186962, + 0.020433418168435195, + 1.0 + ], + [ + -4.064786822438652e-06, + -0.0002072492269661579, + -1.3841621492092294e-07, + 0.0013069244068667878, + -2.6586863431528033e-05, + 0.0008026885001957234, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 3.5825387423194707e-19, + 2.531451172433265e-17, + -2.2343424182801536e-20, + 1.0 + ] + ], + "state": [ + [ + 0.3797059655189514, + -0.04385041818022728, + 0.07455280423164368, + -3.1068091598623475, + -0.16181521117687225, + -0.006270872429013253, + 1.0 + ], + [ + 0.3797268867492676, + -0.04406016692519188, + 0.0751267597079277, + -3.1084270646148404, + -0.16315035521984103, + -0.00539720943197608, + 1.0 + ], + [ + 0.3777778148651123, + -0.04417142644524574, + 0.0638447031378746, + -3.1029456948214253, + -0.13292120397090915, + -0.008372210897505283, + 1.0 + ], + [ + 0.3759865462779999, + -0.05588854104280472, + 0.06375829130411148, + -3.098799066739627, + -0.13426946103572845, + -0.054787278175354, + 1.0 + ], + [ + 0.35826289653778076, + -0.06156224012374878, + 0.09812876582145691, + -3.093427239107438, + -0.21699605882167816, + -0.12578049302101135, + 1.0 + ], + [ + 0.3203045427799225, + -0.061287447810173035, + 0.1120077520608902, + 3.1059091334515294, + -0.25969189405441284, + -0.17101867496967313, + 1.0 + ], + [ + 0.27633750438690186, + -0.055026836693286896, + 0.08864714205265045, + 3.082093557464429, + -0.16361109912395477, + -0.1986120343208313, + 1.0 + ], + [ + 0.24244341254234314, + -0.049833994358778, + 0.07370144128799438, + 3.0809134041243276, + -0.10862959921360016, + -0.22310549020767212, + 1.0 + ], + [ + 0.22117599844932556, + -0.05150654911994934, + 0.056297119706869125, + 3.1032762994342526, + -0.06155281141400338, + -0.2618857026100159, + 1.0 + ], + [ + 0.225106343626976, + -0.0550987534224987, + 0.04536902904510498, + 3.1275828211852392, + -0.05914949625730514, + -0.27579304575920105, + 1.0 + ], + [ + 0.23262929916381836, + -0.05850391834974289, + 0.040890056639909744, + 3.12699500949169, + -0.05777157470583916, + -0.2883089482784271, + 1.0 + ], + [ + 0.24331428110599518, + -0.06210396811366081, + 0.04181617125868797, + -3.140482624648609, + -0.06445809453725815, + -0.30018261075019836, + 1.0 + ], + [ + 0.2491971105337143, + -0.06009947136044502, + 0.04542236775159836, + -3.1187707298719367, + -0.06652028113603592, + -0.3031232953071594, + 1.0 + ], + [ + 0.2524743676185608, + -0.05469311401247978, + 0.04541352018713951, + -3.110361596690961, + -0.05822688341140747, + -0.2962903380393982, + 1.0 + ], + [ + 0.2569100558757782, + -0.04820642247796059, + 0.048114098608493805, + -3.1009784546964845, + -0.060381364077329636, + -0.28778439760208124, + 1.0 + ], + [ + 0.2602170407772064, + -0.04609749838709831, + 0.04017201066017151, + -3.102092335122176, + -0.04946088045835495, + -0.2837899923324585, + 1.0 + ], + [ + 0.2650943696498871, + -0.047982487827539444, + 0.03194281458854675, + -3.103821536647626, + -0.037490151822566986, + -0.28115764260292053, + 1.0 + ], + [ + 0.2653590440750122, + -0.05040781944990158, + 0.021379373967647552, + -3.0977464151852807, + -0.003760706167668104, + -0.2880453765392303, + 1.0 + ], + [ + 0.26616233587265015, + -0.05082644894719124, + 0.01780455932021141, + -3.0974215177171907, + 0.006895158439874649, + -0.287567287683487, + 1.0 + ], + [ + 0.2662963271141052, + -0.051332708448171616, + 0.01859920285642147, + -3.102775229262658, + 0.0037430040538311005, + -0.28843629360198975, + 0.0 + ], + [ + 0.26206696033477783, + -0.05272975564002991, + 0.041123997420072556, + -3.1104052272909364, + -0.050288893282413476, + -0.29013410210609436, + 0.0 + ], + [ + 0.26374566555023193, + -0.04216340556740761, + 0.07512263208627701, + -3.110342515754052, + -0.12368246912956238, + -0.20481280982494354, + 0.0 + ], + [ + 0.28767746686935425, + -0.025166906416416168, + 0.0796155259013176, + -3.1240357180410108, + -0.15732337534427646, + -0.06701132655143736, + 0.0 + ], + [ + 0.31356707215309143, + -0.015907227993011475, + 0.053033024072647095, + -3.1384708717283836, + -0.08825880289077759, + 0.044547196477651596, + 0.0 + ], + [ + 0.3433248996734619, + -0.0019128242274746299, + 0.040360208600759506, + 3.135308662550994, + -0.07337357848882677, + 0.09598948061466217, + 0.0 + ], + [ + 0.36485081911087036, + 0.00875960011035204, + 0.028477653861045837, + 3.1346545900502285, + -0.06097932159900665, + 0.11765654385089873, + 0.0 + ], + [ + 0.3744876980781555, + 0.010917773470282555, + 0.02199222519993782, + 3.1384310171757868, + -0.042834971100091934, + 0.10284443944692613, + 0.0 + ], + [ + 0.37476202845573425, + 0.010753009468317032, + 0.022069284692406654, + 3.141592195358765, + -0.04149727150797844, + 0.08883345127105713, + 0.0 + ], + [ + 0.371417760848999, + 0.008385992608964443, + 0.02196483127772808, + -3.1397823871863118, + -0.020027659833431244, + 0.05969768390059471, + 1.0 + ], + [ + 0.3777269124984741, + 0.005676468834280968, + 0.03256352245807648, + 3.128519471856304, + -0.04259946942329407, + 0.05182690918445588, + 1.0 + ], + [ + 0.38071373105049133, + 0.0046825404278934, + 0.0589870810508728, + 3.1224191562556705, + -0.10119331628084183, + 0.02806880511343479, + 1.0 + ], + [ + 0.37691381573677063, + 0.004156912676990032, + 0.07554042339324951, + 3.117416465776511, + -0.13989649713039398, + 0.016743751242756844, + 1.0 + ], + [ + 0.37084078788757324, + 0.008432833477854729, + 0.07338403910398483, + -3.132029424543031, + -0.12560665607452393, + -0.004203331656754017, + 1.0 + ], + [ + 0.37083736062049866, + 0.008640088140964508, + 0.07338563352823257, + -3.1306211837851485, + -0.1255723536014557, + -0.005012097302824259, + 1.0 + ], + [ + 0.37083736062049866, + 0.008640088140964508, + 0.07338563352823257, + -3.1306211837851485, + -0.1255723536014557, + -0.005012097302824259, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05621075630187988, + 0.22891414165496826, + 0.22988241910934448, + 0.22988241910934448, + 0.22988241910934448, + 0.22988241910934448, + 0.22988241910934448, + 0.22988241910934448, + 0.22988241910934448, + 0.18412798643112183, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "3070", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3070/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3076.json b/annotation/test/3076.json new file mode 100644 index 0000000000000000000000000000000000000000..bae09e16a2687110bcc60971e6eb8f628c1db333 --- /dev/null +++ b/annotation/test/3076.json @@ -0,0 +1,831 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Place the green vegetable inside the pot in the table." + ], + "videos": [ + { + "video_path": "videos/test/3076/rgb.mp4" + } + ], + "action": [ + [ + 0.00025885862561002705, + 0.0004608662203362236, + 0.0005304892280611804, + -0.00015187579920619037, + -1.319928287285401e-05, + -0.0015876386895280943, + 1.0 + ], + [ + -0.0030119080284243343, + -3.314289825242865e-05, + 0.011266108363549967, + -0.008314647311194205, + -0.03422692472137248, + 0.004538500852372334, + 1.0 + ], + [ + 0.002230988044373017, + -0.01987128756777073, + 0.0064392910275403725, + 0.00044990712497723704, + 0.005029817766803275, + 0.001432409819323936, + 1.0 + ], + [ + 0.004769616129539244, + -0.02534604732541006, + 0.010652439549495856, + 0.0009250505184128556, + -0.009028137606360507, + -0.013242491932306073, + 1.0 + ], + [ + 0.0032593566371431166, + -0.013356575789240589, + 0.0028438429005539175, + 0.004445385849444968, + 0.009483416930063073, + -0.00209944806592284, + 1.0 + ], + [ + 0.0014972806048856185, + -0.014202323284352909, + -0.0005024897694455042, + 0.0444825665270372, + 0.02653780924601684, + -0.010499373203672505, + 1.0 + ], + [ + 0.0011681734321973623, + -0.004775332365378804, + 0.011098379499115027, + -0.0058610157480536535, + -0.009184383627679085, + -0.0194249553632731, + 1.0 + ], + [ + 0.004037955705876819, + -0.006781188869866827, + 0.005193480167616087, + 0.009988782369551473, + -0.0018337353079973303, + -0.015655055668700818, + 1.0 + ], + [ + 0.0010121007598208947, + -0.0010230801787094702, + 0.011190329670269852, + -0.0023644636797307264, + -0.018658421119573675, + -0.0066723010527289925, + 1.0 + ], + [ + 0.0055739587207113365, + -0.004676373542587279, + 0.0051185292653019515, + 0.0017393562819960997, + -0.0006003688319901655, + -0.012959341639054643, + 1.0 + ], + [ + 0.0037970510370446743, + -0.0020961995177954523, + 0.008302488589349465, + -0.010986899959901417, + -0.014191369851905297, + -0.016289658613731422, + 1.0 + ], + [ + 0.0026177121087088942, + -0.005180660632873359, + 0.010599570202196377, + -0.020116816011576288, + -0.0110697678971863, + -0.01971693586628797, + 1.0 + ], + [ + 0.002451878516490486, + -0.0013654142666190846, + 0.007200030114903527, + -0.02614662273875846, + -0.002508510220938353, + -0.0262227238844204, + 1.0 + ], + [ + 0.001166930510627088, + -0.00152419726189305, + 0.001791962734876657, + -0.020238547690961315, + 0.004003452128123874, + -0.020496145592307675, + 1.0 + ], + [ + -0.00277881043323568, + 0.0005872896086208037, + 0.002348281587335304, + -0.0003925844217489146, + -0.003052763048408762, + -0.017773356681713186, + 0.0 + ], + [ + -0.003268331628091332, + 0.002209052618968007, + 0.0004115770992747307, + -0.0025099709223123617, + 0.007179873336378803, + -0.002815983617278005, + 0.0 + ], + [ + -0.006320648515914062, + 0.007419566702586198, + -0.003806298345167305, + -0.036971767160494017, + 0.004591189320133544, + 0.0021595320872643538, + 0.0 + ], + [ + -0.007194556054747973, + 0.01183785241681958, + -0.020525659284810732, + -0.03525340826623362, + 0.04460667271045226, + 0.014805657339458508, + 0.0 + ], + [ + -0.004737754770443628, + 0.009716774977584648, + -0.03950601336679001, + -0.01343053145743034, + 0.09084422109173551, + 0.025734174336643063, + 0.0 + ], + [ + -0.020080269217240727, + -0.01948180265754381, + -0.021600117430333347, + -0.015779342819239935, + 0.027677995859907076, + -0.06336512444033601, + 0.0 + ], + [ + -0.013717728578363677, + -0.01843775944608325, + -0.007385852162324491, + 0.013204621343095298, + -0.040712742108381925, + -0.009744679416194862, + 0.0 + ], + [ + -0.005991176616657383, + -0.021933751394894375, + -0.007515425115708324, + 0.062412719128009254, + -0.02510729589775795, + -0.005046474416881971, + 0.0 + ], + [ + 0.0008766714716668964, + -0.022274921323127195, + -0.0030643826712555377, + 0.008539053676642152, + -0.0023940231979782387, + -0.020661629163040807, + 0.0 + ], + [ + 0.004721415130015874, + -0.021065750860566893, + -0.003907252707190477, + 0.058323711666881196, + -0.012370538123137393, + 0.007673920662429203, + 0.0 + ], + [ + 0.0051497452761695645, + -0.01383842188361792, + 0.008622597633485109, + 0.032216770813486575, + -0.007841225796989645, + 0.013143810689608165, + 0.0 + ], + [ + 0.0020275565602585516, + -0.010692648568699375, + 0.0036538363493823886, + 0.043059075621704586, + -0.005494247907720556, + -0.006900151527017492, + 0.0 + ], + [ + -0.0005914975201104646, + -0.005922118628869118, + 0.013503465735980533, + 0.02128469078542081, + -0.03542039006412022, + 0.013271114535958433, + 0.0 + ], + [ + -0.0015500250303503071, + -0.001785576350479942, + 0.010496529439394962, + 0.008465423529781458, + -0.038096817881459785, + 0.009018246529866186, + 0.0 + ], + [ + 0.0032403191168710677, + 0.0029255349207151647, + 0.009462268793371477, + -0.005681091744460773, + -0.02080893845497139, + 0.024358322527504146, + 0.0 + ], + [ + 0.005514656796135467, + 0.0017217788939942644, + 0.011833083061196598, + 0.0001635481405697776, + -0.027291306014526666, + 0.017928516661663438, + 0.0 + ], + [ + 0.003745969617334819, + -0.0013799621846809647, + -0.0006022847841032343, + -0.00013048304628537118, + 0.0018948603780152, + -0.007622543909978588, + 0.0 + ], + [ + 0.0018468218784445532, + -0.0003726875656255488, + 0.013163586767127715, + -0.013097658020033815, + -0.0413768014176387, + -0.008542050329482187, + 0.0 + ], + [ + 0.0037118373956490282, + 0.00273933114314598, + -0.0012433001564573437, + 0.009484589130809282, + -0.0003283313815207578, + 0.008028169410588563, + 1.0 + ], + [ + -0.0016836767950025118, + 0.0023788461794995454, + 0.004093891823011402, + 0.0012303155308621705, + -0.00196556052907041, + -0.0031911428072086785, + 1.0 + ], + [ + -0.007562585741351819, + 0.004237711792505888, + -0.009038508312379755, + 0.01951627234822976, + 0.021560060977205895, + 0.011482340395550978, + 1.0 + ], + [ + -0.008542705211964888, + 0.01077914402486922, + -0.038071695694130006, + 0.04464187069122007, + 0.07081660710360775, + 0.017296252349903604, + 1.0 + ], + [ + -0.001402827153248265, + 0.015607571466054463, + -0.03757808623955535, + 0.011991638510055667, + 0.05580880049773425, + 0.002848159789269682, + 1.0 + ], + [ + 0.012735708893720209, + 0.03491700443830874, + -0.01548663034438956, + -0.09058130433420955, + -0.0015016848454141479, + 0.07015819187647283, + 1.0 + ], + [ + 0.01332999869585979, + 0.026999211301096986, + -0.004646925750493425, + -0.059413594128841764, + 0.007556653122538185, + 0.03038931211432482, + 1.0 + ], + [ + 0.004444528141286984, + 0.01687397126332221, + 0.00533923958368855, + -0.0627530162875613, + -0.003169076844326626, + 0.005549404713256887, + 1.0 + ], + [ + -0.007329257030972086, + 0.0019399074337604582, + 0.005221746998132424, + -0.020879986482428177, + -0.07305717411106491, + -0.03825192295342692, + 1.0 + ], + [ + -9.727114756915547e-05, + 0.00013048531157382675, + -0.0009079580874678384, + -6.829168736735759e-05, + 1.8420883986541234e-05, + -0.0012899694913878089, + 1.0 + ] + ], + "state": [ + [ + 0.339974969625473, + 0.005394328851252794, + 0.09985960274934769, + 3.1358998563424727, + -0.11411095410585403, + -0.17333938181400296, + 1.0 + ], + [ + 0.3402074873447418, + 0.004882679786533117, + 0.09936465322971344, + 3.1355660423920533, + -0.11408857256174089, + -0.17174145579338074, + 1.0 + ], + [ + 0.3385169208049774, + 0.005140636116266251, + 0.08782891184091568, + 3.1277898076274475, + -0.07988833636045456, + -0.1764986217021942, + 1.0 + ], + [ + 0.34470677375793457, + 0.024129314348101616, + 0.08131541311740875, + 3.1283487064116677, + -0.08493737131357193, + -0.1778663843870163, + 1.0 + ], + [ + 0.3547607362270355, + 0.04792868718504906, + 0.07077247649431229, + 3.1281580004193863, + -0.07572732865810394, + -0.16470745205879211, + 1.0 + ], + [ + 0.36037591099739075, + 0.06049523875117302, + 0.06800470501184464, + 3.132433744268962, + -0.08518149703741075, + -0.16247278451919553, + 1.0 + ], + [ + 0.3641148507595062, + 0.07427828013896942, + 0.06850313395261765, + -3.107191315042325, + -0.11161709576845168, + -0.1516672670841217, + 1.0 + ], + [ + 0.3672443628311157, + 0.07901404798030853, + 0.05777368322014809, + -3.1152667218172034, + -0.10308442264795303, + -0.13183337450027469, + 1.0 + ], + [ + 0.3726464807987213, + 0.08527379482984543, + 0.05320262908935547, + -3.10690479924018, + -0.1016506478190422, + -0.11605403572320937, + 1.0 + ], + [ + 0.3749335706233978, + 0.08642727881669998, + 0.042214762419462204, + -3.1100090612941464, + -0.08323212713003157, + -0.10871443152427672, + 1.0 + ], + [ + 0.3813907206058502, + 0.09058690816164017, + 0.037727054208517075, + -3.109354483085223, + -0.0830342620611191, + -0.09569774568080902, + 1.0 + ], + [ + 0.3860626518726349, + 0.09251202642917633, + 0.02983972616493702, + -3.1217342150681695, + -0.06936365365982056, + -0.07892037183046341, + 1.0 + ], + [ + 0.3898159861564636, + 0.09762214124202728, + 0.019551783800125122, + 3.1399477517749226, + -0.05867377296090126, + -0.05895431712269783, + 1.0 + ], + [ + 0.3927607536315918, + 0.09880425781011581, + 0.012505689635872841, + 3.1122619827562055, + -0.056101951748132706, + -0.03269451484084129, + 1.0 + ], + [ + 0.3940761983394623, + 0.10023301094770432, + 0.01073811948299408, + 3.0908721034699163, + -0.05949072167277336, + -0.012053398415446281, + 1.0 + ], + [ + 0.39143165946006775, + 0.0995592474937439, + 0.008261512964963913, + 3.0894394127004823, + -0.05553162470459938, + 0.0055693890899419785, + 0.0 + ], + [ + 0.38819724321365356, + 0.09731369465589523, + 0.007784706074744463, + 3.0867511575394353, + -0.06255465745925903, + 0.008761998265981674, + 0.0 + ], + [ + 0.38168928027153015, + 0.09005662053823471, + 0.011588620953261852, + 3.0498982464247426, + -0.06725720316171646, + 0.006853080820292234, + 0.0 + ], + [ + 0.373132586479187, + 0.08008907735347748, + 0.03257981315255165, + 3.0152792801433286, + -0.11302819848060607, + -0.003860642435029149, + 0.0 + ], + [ + 0.3638487756252289, + 0.07546240091323853, + 0.07220293581485748, + 3.002954961853572, + -0.20637720823287964, + -0.018156951293349266, + 0.0 + ], + [ + 0.340770959854126, + 0.09816502779722214, + 0.08639194816350937, + 2.9734473546319684, + -0.22457414865493777, + 0.05012497305870057, + 0.0 + ], + [ + 0.3255085349082947, + 0.11683755367994308, + 0.08742781728506088, + 2.9858800192647657, + -0.18280421197414398, + 0.052959784865379333, + 0.0 + ], + [ + 0.31768643856048584, + 0.13928887248039246, + 0.09029458463191986, + 3.048042560117789, + -0.1572180092334747, + 0.05406389385461808, + 0.0 + ], + [ + 0.3171854615211487, + 0.1617584079504013, + 0.09139008074998856, + 3.0533775260024747, + -0.15287171304225924, + 0.07465155422687532, + 0.0 + ], + [ + 0.31993892788887024, + 0.18335197865962982, + 0.09412144869565964, + 3.113041179376193, + -0.14121948182582855, + 0.06583037972450256, + 0.0 + ], + [ + 0.32539859414100647, + 0.19732803106307983, + 0.08592187613248825, + -3.136028044047304, + -0.13374398648738858, + 0.0523480549454689, + 0.0 + ], + [ + 0.32732337713241577, + 0.20815639197826385, + 0.08263006061315536, + -3.0939008352630815, + -0.12828499078750608, + 0.059335991740226746, + 0.0 + ], + [ + 0.32803529500961304, + 0.2147693932056427, + 0.06945712119340897, + -3.071103314059325, + -0.09226363152265549, + 0.047727305442094796, + 0.0 + ], + [ + 0.32732537388801575, + 0.2172587811946869, + 0.05901360884308815, + -3.0620057081156453, + -0.0536244697868824, + 0.04141153022646904, + 0.0 + ], + [ + 0.3311654329299927, + 0.21525204181671143, + 0.04953627288341522, + -3.0664766897731504, + -0.030931280925869938, + 0.018779464066028595, + 0.0 + ], + [ + 0.3370608985424042, + 0.2145337164402008, + 0.03778360038995743, + -3.0658050050311765, + -0.0023676771670579915, + 0.002956245094537735, + 0.0 + ], + [ + 0.3408012390136719, + 0.21587517857551575, + 0.03849750757217407, + -3.0659551193290433, + -0.004834169056266546, + 0.01041350793093443, + 0.0 + ], + [ + 0.34269702434539795, + 0.21726132929325104, + 0.025408800691366196, + -3.0790493359142026, + 0.03577912598848343, + 0.022057220339775085, + 0.0 + ], + [ + 0.3465058505535126, + 0.2145329862833023, + 0.026344992220401764, + -3.069852816062518, + 0.036607448011636734, + 0.014059912413358688, + 1.0 + ], + [ + 0.3446970283985138, + 0.21242806315422058, + 0.02215559035539627, + -3.068501019971915, + 0.03833901509642601, + 0.017386173829436302, + 1.0 + ], + [ + 0.33755970001220703, + 0.20741677284240723, + 0.031143974512815475, + -3.0494732951098165, + 0.017671765759587288, + 0.004360666964203119, + 1.0 + ], + [ + 0.32973286509513855, + 0.19314688444137573, + 0.06820787489414215, + -3.005045535164424, + -0.05125819146633148, + -0.019360516220331192, + 1.0 + ], + [ + 0.3261355459690094, + 0.17263513803482056, + 0.10319364815950394, + -2.9923099150233945, + -0.10615650564432144, + -0.02982982248067856, + 1.0 + ], + [ + 0.3366234600543976, + 0.13547383248806, + 0.11460733413696289, + -3.075896130996295, + -0.09399086982011795, + -0.09928957372903825, + 1.0 + ], + [ + 0.34686094522476196, + 0.107073113322258, + 0.11871016770601273, + -3.132432668591388, + -0.09949171543121338, + -0.13026197254657748, + 1.0 + ], + [ + 0.349601686000824, + 0.08974595367908478, + 0.11368522047996521, + 3.088550379621335, + -0.09627041965723038, + -0.13580776751041412, + 1.0 + ], + [ + 0.3425605893135071, + 0.08847351372241974, + 0.10789283365011215, + 3.0642607157402715, + -0.021232059225440025, + -0.10157628357410431, + 1.0 + ], + [ + 0.3424384295940399, + 0.08842570334672928, + 0.10880588740110397, + 3.0641651471429547, + -0.0211507510393858, + -0.10028845816850662, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.07043343782424927, + 0.2231171727180481, + 0.2231171727180481, + 0.2231171727180481, + 0.2231171727180481, + 0.2231171727180481, + 0.2231171727180481, + 0.2231171727180481, + 0.2231171727180481, + 0.2231171727180481, + 0.2231171727180481, + 0.2231171727180481, + 0.2231171727180481, + 0.2231171727180481, + 0.2231171727180481, + 0.2231171727180481, + 0.2231171727180481, + 0.2231171727180481, + 0.1591436266899109, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0, + 0.0005114078521728516 + ], + "episode_id": "3076", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3076/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3085.json b/annotation/test/3085.json new file mode 100644 index 0000000000000000000000000000000000000000..3cd3baa9056d1888dc3aa8aa9743803e053927dd --- /dev/null +++ b/annotation/test/3085.json @@ -0,0 +1,375 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "end effector reaching corn" + ], + "videos": [ + { + "video_path": "videos/test/3085/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 7.843996844600119e-18, + -4.040377280465091e-18, + -5.492220730655972e-19, + 1.0 + ], + [ + -0.004588990794179774, + 0.00012717105645818348, + 0.013216440389143248, + 0.018194747205712146, + -0.038722639021583044, + 0.003004149745308453, + 1.0 + ], + [ + -0.00026405875771218343, + 0.0008136329177420497, + -0.004692597012614344, + 0.00207384422386057, + -0.022611174565326072, + -0.008820041898088353, + 1.0 + ], + [ + 0.009533696649947316, + 0.0018646604685255376, + -0.0021106746827149925, + -0.0030345335331913984, + -0.00910174250290083, + 0.0020060788968180748, + 1.0 + ], + [ + 0.010359927643198992, + 0.0006927907953643401, + -0.005367395918279107, + -0.0017186649593466646, + -0.008514483853257418, + -0.014148877940242216, + 1.0 + ], + [ + 0.00717074495456593, + 0.0017006142454920063, + -0.003245787107486126, + -0.01071683344989065, + -0.005935401215938922, + 0.00029880237342246, + 1.0 + ], + [ + 0.007155987679292052, + -0.0035549986642554447, + -0.0016298158215749458, + -0.0033753274509039947, + 0.0030079071812908783, + 0.0075804560722057225, + 1.0 + ], + [ + 0.0029145614552827186, + -0.008484732800662559, + 0.00022820422244008634, + 0.0030756590491824677, + -0.008071642444834236, + 0.009445781487607519, + 1.0 + ], + [ + 0.00936205419516281, + -0.014552546134919313, + 0.0021383434871024547, + 0.017201748273105694, + 0.025516905599719888, + 0.019818197181213453, + 1.0 + ], + [ + 0.002807182767565914, + -0.017260645235140506, + 0.011608182927945956, + 0.024439500182895268, + 0.0005608546449379663, + 0.04285321240998665, + 1.0 + ], + [ + 0.002235413349857303, + -0.0051318294506866894, + 0.001147395181387446, + 0.004386069619904825, + 0.005971321804696146, + 0.0071150994679391255, + 1.0 + ], + [ + 0.0006683047858307849, + -0.0029405367105637204, + 0.00485582939138487, + 0.0032131721712761975, + 0.008188961045612302, + 0.0009187200973103954, + 1.0 + ], + [ + 0.0012355991147821829, + -0.0025906882274991257, + 0.0007793964641498559, + 0.002443962954388154, + 0.004585681889128588, + 0.004823050529893832, + 1.0 + ], + [ + 0.0036318844167052794, + -0.0015307656853712163, + 0.0022890664138698865, + -0.006781433664508457, + 0.022321977311101627, + 0.008075080919880632, + 1.0 + ], + [ + 0.0013086408437937248, + 0.002080179084534841, + 0.005467625910514002, + -0.017166163094938684, + 0.02018380380781132, + 0.0037594762976213524, + 1.0 + ], + [ + 0.0011678879948161887, + 0.0006950725935095687, + 0.0003427981813493562, + -0.004230745332969548, + 0.008343593199237689, + -0.0003381536873245475, + 1.0 + ], + [ + -0.0003948391266877493, + 0.0006426933579954166, + 0.002332966974625029, + 0.00043785483468683354, + 0.005440550942749852, + -0.0062189655329117225, + 1.0 + ], + [ + -0.0011699508276830101, + 0.0003567488566151781, + 0.0030043482746007814, + 0.002385846591171878, + 0.0029500784873329293, + -0.005005189532987295, + 1.0 + ] + ], + "state": [ + [ + 0.3151431977748871, + -0.14248371124267578, + 0.0772005096077919, + -2.998826714354106, + -0.03421721234917641, + 0.011640980839729307, + 1.0 + ], + [ + 0.3151431977748871, + -0.14248371124267578, + 0.0772005096077919, + -2.998826714354106, + -0.03421721234917641, + 0.011640980839729307, + 1.0 + ], + [ + 0.31098490953445435, + -0.14077742397785187, + 0.06395111232995987, + -2.9806114455037793, + 0.004538819193840027, + 0.014177793636918068, + 1.0 + ], + [ + 0.3107633590698242, + -0.14233599603176117, + 0.06845377385616302, + -2.978452446060725, + 0.025443561375141147, + 0.026509726420044902, + 1.0 + ], + [ + 0.32039374113082886, + -0.1442641168832779, + 0.06999044865369797, + -2.9814929385953626, + 0.03475026786327362, + 0.026008326560258865, + 1.0 + ], + [ + 0.3309641480445862, + -0.14552924036979675, + 0.07481569051742554, + -2.982691841321536, + 0.04089630767703056, + 0.04134604707360268, + 1.0 + ], + [ + 0.3383333384990692, + -0.1474190354347229, + 0.07745586335659027, + -2.993379520373889, + 0.04680420458316803, + 0.041990891098976135, + 1.0 + ], + [ + 0.34543758630752563, + -0.14384230971336365, + 0.07925563305616379, + -2.997130813198634, + 0.044947199523448944, + 0.034041356295347214, + 1.0 + ], + [ + 0.3481053411960602, + -0.1353173702955246, + 0.0801193043589592, + -2.9944236149364194, + 0.05429305508732796, + 0.02584422007203102, + 1.0 + ], + [ + 0.3570713996887207, + -0.12037188559770584, + 0.07962996512651443, + -2.978481413918086, + 0.03194304555654526, + 0.002492533996701241, + 1.0 + ], + [ + 0.3595536947250366, + -0.10144905745983124, + 0.0708935558795929, + -2.9555436094575604, + 0.03831774368882179, + -0.0399138368666172, + 1.0 + ], + [ + 0.3619885742664337, + -0.0962865948677063, + 0.07062973082065582, + -2.9514707048707685, + 0.0337643325328827, + -0.048015225678682334, + 1.0 + ], + [ + 0.3626963198184967, + -0.09251101315021515, + 0.06639693677425385, + -2.9483343829684934, + 0.025896446779370308, + -0.05046570673584938, + 1.0 + ], + [ + 0.36405882239341736, + -0.08988425135612488, + 0.06609770655632019, + -2.94603684742982, + 0.022322023287415504, + -0.05608104169368744, + 1.0 + ], + [ + 0.36774978041648865, + -0.0881420150399208, + 0.06406913697719574, + -2.953057425218173, + 0.001992923906072974, + -0.068337544798851, + 1.0 + ], + [ + 0.36897435784339905, + -0.08924678713083267, + 0.05830593407154083, + -2.9702049513631543, + -0.017128637060523033, + -0.0758134052157402, + 1.0 + ], + [ + 0.3700990676879883, + -0.08996044844388962, + 0.05786968395113945, + -2.9744111021333417, + -0.02540764771401882, + -0.07690355181694031, + 1.0 + ], + [ + 0.3697476387023926, + -0.09017961472272873, + 0.055453043431043625, + -2.9741059114509305, + -0.03180685266852379, + -0.07167407870292664, + 1.0 + ], + [ + 0.36868780851364136, + -0.08995405584573746, + 0.05239558592438698, + -2.971862392621585, + -0.035549722611904144, + -0.06722793728113174, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926 + ], + "episode_id": "3085", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3085/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3105.json b/annotation/test/3105.json new file mode 100644 index 0000000000000000000000000000000000000000..e4306a0b4b702a3436bb3a39e2a50aacbb4ad16b --- /dev/null +++ b/annotation/test/3105.json @@ -0,0 +1,660 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the blue spoon to the right side of the cloth" + ], + "videos": [ + { + "video_path": "videos/test/3105/rgb.mp4" + } + ], + "action": [ + [ + 9.89206222933105e-05, + 0.00042780641258065153, + 0.0004795708078714799, + -0.00042186443259334394, + -0.0015440616137455392, + -0.0016033664387873296, + 1.0 + ], + [ + -0.00248415558476068, + 0.0009113770635995321, + 0.008927832162609652, + -0.009575096707448695, + -0.02119895016964981, + -0.009268093235363964, + 1.0 + ], + [ + -0.02553245258991248, + 0.004794814099986499, + 0.012207578062924877, + -0.015225778821003063, + 0.025029570624230748, + -0.056072297950291006, + 1.0 + ], + [ + -0.0216552971390672, + -0.00965224877841871, + 0.007068963985327596, + 0.024664814552357875, + 0.029439012057140782, + 0.009602906374683435, + 1.0 + ], + [ + -0.004486812582666705, + -0.013029738447050106, + 0.01242228107037159, + 0.09603262402595666, + 0.021317071569360538, + 0.01033601326784939, + 1.0 + ], + [ + 0.007039981207980787, + -0.0009859061140324152, + 0.03044230155968304, + 0.041715333067365426, + -0.028452776336704046, + -0.019895914696215097, + 1.0 + ], + [ + 0.0034988770861426365, + -0.00046810170743236655, + 0.009142851997404547, + 0.003988319881858153, + 0.004495804882073692, + -0.03036779798365866, + 1.0 + ], + [ + -0.0009038967180988748, + 0.005793703009725998, + 0.016128978253182366, + -0.04066368560097701, + -0.04948623260002055, + 0.002256319939146099, + 1.0 + ], + [ + -0.0011710000276922389, + -0.00019856527520240128, + 0.0043337361764163645, + -0.0038574291377658143, + -0.016666717034436975, + -0.012481513503823045, + 1.0 + ], + [ + 0.00167810688388462, + 0.0002304877410585749, + 0.0005150281696425838, + -0.0008082332569089154, + 0.013979943344247533, + -0.009733990508109415, + 1.0 + ], + [ + -0.007421813613235704, + 0.002212814997002311, + -0.004320410162885836, + -0.0043932343193091574, + 0.026441255965297974, + -0.04214562876499085, + 0.0 + ], + [ + -0.006724497337220947, + 0.002470955287161294, + -0.02101575452740689, + 0.02400555879017315, + 0.002602017160890844, + -0.04182972049446187, + 0.0 + ], + [ + -0.007785270215373208, + 0.020042094635814783, + -0.02885272531223247, + -0.03003201415035394, + -0.05022523517883523, + 0.06789224093284513, + 0.0 + ], + [ + 0.022328413891601236, + 0.026051613279130893, + -0.024279500664707715, + -0.0883640228696074, + 0.0380808156444014, + 0.06333906278566907, + 0.0 + ], + [ + 0.038651021189521816, + 0.031153851525762277, + 0.001889907179290329, + -0.03871115332283772, + 0.034970260629584686, + 0.022601687781667035, + 0.0 + ], + [ + 0.031851560749595796, + 0.028295489781356205, + 0.014786195285168672, + 0.02907839850351857, + -0.010787079480221909, + 0.04904488310658068, + 0.0 + ], + [ + 0.010680439449090329, + 0.016716140351357506, + 0.015954437180972704, + 0.029044815884850864, + -0.025258111850761492, + 0.025998265183533032, + 0.0 + ], + [ + -0.00048612595102151036, + 0.0009259049057528389, + 0.01737335415331369, + 0.029759684184893196, + -0.028442758514181637, + -0.03709729160738636, + 0.0 + ], + [ + 0.004235360477361657, + 0.0035582050833886185, + 0.022061786749308802, + -0.022273595356912094, + -0.03608181803508559, + -0.011768891645799643, + 0.0 + ], + [ + 0.0062404868739402075, + -0.0015007847066346761, + 0.00843105315103384, + -0.002184148970930357, + 0.015324522075422365, + -0.003520703663728014, + 0.0 + ], + [ + 0.0038122050581004957, + 0.0005879599282922128, + -0.000758669641309734, + -0.0024580849073638222, + 0.018241446511823977, + 0.012349562811301434, + 0.0 + ], + [ + -0.0012249663826446918, + -0.0012247339124601203, + 0.002058887599825137, + 0.03307799120114338, + 0.010856111254400957, + 0.006633703790274915, + 0.0 + ], + [ + -0.00993962571164491, + -0.00657853379065775, + -0.01020738732764731, + 0.05162579969066443, + 0.02466733270893142, + 0.018201160429711177, + 0.0 + ], + [ + -0.0031373204227972693, + -0.0033698031722306436, + -0.01615814574644545, + 0.0040467107858037305, + 0.04926913270274534, + -0.00828084745894851, + 1.0 + ], + [ + -0.006351180081900682, + -0.009467033049179242, + -0.02686107713236224, + -0.011358823017128743, + 0.061535109033864284, + -0.03262651130427174, + 1.0 + ], + [ + -0.01634869026150265, + -0.0230108636233359, + -0.025277693361359703, + -0.033211919699093755, + -0.004943789114605103, + -0.07847072433641117, + 1.0 + ], + [ + -0.0171821728132335, + -0.020785834220849172, + -0.009874665778665661, + -0.052112940810107075, + -0.017445132211422965, + -0.050467873718220174, + 1.0 + ], + [ + -0.010641209030272304, + -0.00839474323859208, + 0.004889337378646158, + -0.03204849212982752, + -0.030161415534314524, + 0.032493986623883434, + 1.0 + ], + [ + -0.004563999445086225, + -0.0022187481261075875, + 0.00041511538665311634, + 0.020829711245135427, + -0.030158886816656297, + 0.027190450963206686, + 1.0 + ], + [ + 0.0008686940871313047, + 0.005332859987345412, + 0.00019426843537666911, + 0.02412291735832767, + 0.002034584637572143, + 0.049670582485021396, + 1.0 + ], + [ + 0.00033888654767370483, + -0.0003704208840302618, + 0.00012547054883119677, + 0.010157127524563832, + -0.0004677908287994499, + 0.01711361830107978, + 1.0 + ], + [ + 6.50820009788651e-05, + 5.3671361001750045e-06, + -0.0004288451966219993, + 3.237069971131895e-05, + 0.0015334541949773562, + 2.4129179209381556e-05, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 4.373133548206268e-18, + -6.197849417481181e-18, + -9.981345082951138e-18, + 1.0 + ] + ], + "state": [ + [ + 0.2912759482860565, + 0.07091628760099411, + 0.11236900836229324, + 3.1015026961737355, + -0.022122517228126526, + 0.003380000591278076, + 1.0 + ], + [ + 0.29138657450675964, + 0.07046997547149658, + 0.11190927028656006, + 3.1010467541688165, + -0.02051540836691856, + 0.004920516163110733, + 1.0 + ], + [ + 0.28909146785736084, + 0.06918615102767944, + 0.10297662764787674, + 3.091291634487458, + 0.0010425163200125098, + 0.01331965159624815, + 1.0 + ], + [ + 0.2636207938194275, + 0.06344384700059891, + 0.09105219691991806, + 3.076192284124442, + -0.021139368414878845, + 0.07057657092809677, + 1.0 + ], + [ + 0.24153964221477509, + 0.07107535749673843, + 0.08291150629520416, + 3.1009927113824567, + -0.051142387092113495, + 0.06291206926107407, + 1.0 + ], + [ + 0.23694097995758057, + 0.08332526683807373, + 0.06975815445184708, + -3.0856823978298387, + -0.07285911589860918, + 0.05342696607112885, + 1.0 + ], + [ + 0.24601426720619202, + 0.08649984002113342, + 0.04001148045063019, + -3.0455205907397946, + -0.04554576054215431, + 0.07489611208438875, + 1.0 + ], + [ + 0.2498103827238083, + 0.08813142776489258, + 0.031124386936426163, + -3.0429324229531964, + -0.05291318148374558, + 0.10473384708166122, + 1.0 + ], + [ + 0.2502236068248749, + 0.08397503197193146, + 0.014478619210422039, + -3.0836143886023244, + -0.0034453647676855326, + 0.10736368596553802, + 1.0 + ], + [ + 0.24902598559856415, + 0.08429791033267975, + 0.010159661993384361, + -3.0875152481072625, + 0.01247042790055275, + 0.12078934162855148, + 1.0 + ], + [ + 0.250709593296051, + 0.08429846912622452, + 0.009612043388187885, + -3.088208584236451, + -0.0020157047547399998, + 0.12975253164768216, + 1.0 + ], + [ + 0.24365752935409546, + 0.08091739565134048, + 0.01379325706511736, + -3.0927093533151826, + -0.030665853992104527, + 0.17043058574199674, + 0.0 + ], + [ + 0.23699571192264557, + 0.07622460275888443, + 0.03444717451930046, + -3.0700236057215413, + -0.03528152406215668, + 0.21210886538028717, + 0.0 + ], + [ + 0.23308952152729034, + 0.05282384529709816, + 0.06150123104453087, + -3.097851576405116, + 0.01973913237452507, + 0.14806151390075684, + 0.0 + ], + [ + 0.2596167325973511, + 0.029392436146736145, + 0.08417312800884247, + 3.0956280810111245, + -0.01557918917387724, + 0.08315297961235046, + 0.0 + ], + [ + 0.3007286489009857, + 0.0015029264613986015, + 0.0843188688158989, + 3.0572260116511067, + -0.05154751241207123, + 0.062167976051568985, + 0.0 + ], + [ + 0.3349406123161316, + -0.025865256786346436, + 0.07362717390060425, + 3.0889706035428723, + -0.04486602172255516, + 0.012340255081653593, + 0.0 + ], + [ + 0.3465009331703186, + -0.04325609654188156, + 0.0590682290494442, + 3.1192423609369477, + -0.02099345251917839, + -0.014948596246540545, + 0.0 + ], + [ + 0.3463594615459442, + -0.04456806927919388, + 0.04171352460980415, + -3.134942518203058, + 0.00828502606600523, + 0.021489674225449562, + 0.0 + ], + [ + 0.35048407316207886, + -0.04789162054657936, + 0.019594231620430946, + 3.126072631339081, + 0.04428718611598015, + 0.03350233659148217, + 0.0 + ], + [ + 0.35629501938819885, + -0.04632633924484253, + 0.010872907936573029, + 3.124053221317478, + 0.029018836095929146, + 0.03726160526275635, + 0.0 + ], + [ + 0.3601466715335846, + -0.046757716685533524, + 0.011530838906764984, + 3.121244493993469, + 0.010561509057879448, + 0.025235259905457497, + 0.0 + ], + [ + 0.35887032747268677, + -0.04560696706175804, + 0.0094605116173625, + -3.128931315737315, + -0.0004275452229194343, + 0.01882420666515827, + 0.0 + ], + [ + 0.3488066792488098, + -0.039346516132354736, + 0.019746121019124985, + -3.0772959162765225, + -0.02486239559948444, + 0.0003119867469649762, + 0.0 + ], + [ + 0.34526336193084717, + -0.03702298179268837, + 0.03600435331463814, + -3.073298843699046, + -0.07456137984991074, + 0.005415420979261398, + 1.0 + ], + [ + 0.3368443250656128, + -0.029456518590450287, + 0.06289948523044586, + -3.0866872054808816, + -0.13814890384674072, + 0.0339779257774353, + 1.0 + ], + [ + 0.316279798746109, + -0.008554057218134403, + 0.08689799904823303, + -3.1309869616576513, + -0.1370849609375, + 0.11334748566150665, + 1.0 + ], + [ + 0.2956584095954895, + 0.009911997243762016, + 0.09454980492591858, + 3.093104599165269, + -0.11999931931495665, + 0.1643572151660919, + 1.0 + ], + [ + 0.2845277488231659, + 0.01632513850927353, + 0.08802349865436554, + 3.0651384835415563, + -0.09137888997793198, + 0.13031162321567535, + 1.0 + ], + [ + 0.2797907590866089, + 0.017903542146086693, + 0.08702608942985535, + 3.088655611621686, + -0.06334506720304489, + 0.10084974765777588, + 1.0 + ], + [ + 0.28118494153022766, + 0.012681705877184868, + 0.08716908097267151, + 3.115982348220893, + -0.06792622059583664, + 0.051242198795080185, + 1.0 + ], + [ + 0.28151294589042664, + 0.013066097162663937, + 0.08705747872591019, + 3.127307854714342, + -0.0678868293762207, + 0.03408268466591836, + 1.0 + ], + [ + 0.28154873847961426, + 0.013068077154457569, + 0.0874897837638855, + 3.1273403597348413, + -0.0694204717874527, + 0.03408045694231987, + 1.0 + ], + [ + 0.28154873847961426, + 0.013068077154457569, + 0.0874897837638855, + 3.1273403597348413, + -0.0694204717874527, + 0.03408045694231987, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05002796649932861, + 0.3358554244041443, + 0.609009861946106, + 0.6236849725246429, + 0.6236849725246429, + 0.6236849725246429, + 0.6236849725246429, + 0.6236849725246429, + 0.6236849725246429, + 0.6236849725246429, + 0.6236849725246429, + 0.6236849725246429, + 0.6236849725246429, + 0.5815736055374146, + 0.2769421935081482, + 0.016929805278778076, + 0.0, + 0.0005114078521728516, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "3105", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3105/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3111.json b/annotation/test/3111.json new file mode 100644 index 0000000000000000000000000000000000000000..c55cdbffb936e702b10c38bd4b556126b9b6160a --- /dev/null +++ b/annotation/test/3111.json @@ -0,0 +1,812 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Place the orange cloth right next to the spoon" + ], + "videos": [ + { + "video_path": "videos/test/3111/rgb.mp4" + } + ], + "action": [ + [ + 1.8156890384872582e-05, + 6.546768519076948e-05, + -0.0003505323077581374, + -0.0015178798482485616, + -0.00019023182446389366, + -0.00011396561258906831, + 1.0 + ], + [ + 0.0007080014144741448, + -0.0031053530596841256, + 0.0037167669555781798, + 0.01776133809203141, + -0.001190728349452959, + 0.0027444456025315506, + 1.0 + ], + [ + 0.025143373560618576, + 0.001890805209326508, + 0.0022064435154504998, + 0.0015415032528641687, + 0.01780450126834051, + -0.033573144258085906, + 1.0 + ], + [ + 0.02519336546052993, + 0.0008145106574198742, + 0.003987879563517237, + 0.005236816945997076, + 0.010395097015334627, + -0.027129193482158916, + 1.0 + ], + [ + 0.023201386296421093, + -0.0011933175776157438, + 0.007746023928438339, + 0.021431866108724662, + 0.014096253353010966, + -0.03447429913950902, + 1.0 + ], + [ + 0.02702066156222924, + 0.006117425118849511, + 0.009484125710198516, + 0.021553627066811538, + 0.016356713439201087, + -0.030470707061264257, + 1.0 + ], + [ + 0.02070016713709168, + 0.010965805437018738, + 0.012583137247146197, + 0.014468862783998532, + 0.011199662693683296, + -0.046592381024638696, + 1.0 + ], + [ + 0.015601810713607838, + 0.009345441235502322, + 0.011584473624872717, + 0.011569936721074656, + 0.011074900643904324, + -0.041318076502472836, + 1.0 + ], + [ + 0.018556376544135337, + 0.010969854530082155, + 0.010448297393632901, + 0.006442061953069039, + 0.015292696821344685, + -0.03917142474710675, + 1.0 + ], + [ + 0.016933252302219457, + 0.006450774880421267, + 0.013374688506804337, + 0.022614733684638195, + 0.01915348774823256, + -0.004059860480347569, + 1.0 + ], + [ + 0.00926426498796283, + 0.00023029638810240157, + 0.01641930156596855, + 0.02530112207558214, + 0.009097864485046367, + 0.001060324171865589, + 1.0 + ], + [ + 0.006349303419284698, + -0.0010141554129391242, + 0.01694206776788778, + 0.01399186361242374, + 0.001755244145461338, + 0.012791129767358711, + 1.0 + ], + [ + 0.0066338561964010175, + 0.0006423627658603974, + 0.013932540695530335, + 0.017068274721988033, + 0.006422473473908208, + 0.0036782532371957247, + 1.0 + ], + [ + 0.0015460634839888406, + 0.0018875280692951506, + 0.01240036112815415, + -0.0075195176919956525, + -0.004381403747002735, + -0.006734705846516806, + 1.0 + ], + [ + -0.0007429077380647765, + -0.0024019114230618885, + 0.010088524689109063, + 0.022773015567189654, + 0.007525328843409055, + -0.0018432023206028912, + 1.0 + ], + [ + -0.004185643186093637, + 0.0010895580470842282, + 0.007094433504141586, + 0.0033944199862798647, + -0.0021628715195913147, + -0.0013407414391023258, + 1.0 + ], + [ + -0.0007833800807140304, + -0.001199045395718219, + 0.0007368158380723311, + 0.002374342011422445, + -0.0029492376689451627, + -0.005199331284210438, + 1.0 + ], + [ + -0.004385832166903009, + -0.003361926282532371, + 0.0015731855826114833, + 0.010796227133760952, + -0.005031624673658881, + 0.011173005037581781, + 1.0 + ], + [ + -0.007376535053821571, + -0.00812738643987186, + -0.00143934553132059, + -0.020843393273143336, + -0.02323332911111361, + -0.007822607847644244, + 1.0 + ], + [ + -0.013826337218363684, + -0.007144477876050036, + -0.0014093259060126587, + 0.004283544149746144, + -0.016081668930718124, + 0.012265839844478415, + 1.0 + ], + [ + -0.013751837684788576, + -0.001659914208818954, + -0.0002394558076104802, + 0.0037413739116762, + -0.013503527714965234, + 0.021792201448907166, + 1.0 + ], + [ + -0.01388355415900162, + 0.001215132667945121, + -0.00022781000863416413, + 0.0014978665713950479, + -0.011216566139642704, + 0.031862264575004774, + 1.0 + ], + [ + -0.0128097665898846, + -0.0016432405628585313, + 0.0001798427727716041, + -0.0019567842181745895, + -0.01368671528441187, + 0.016546846447471057, + 1.0 + ], + [ + -0.015211794701940517, + -0.0012627485173367897, + -0.0001249048483381132, + -0.002510374570604765, + -0.011877043099645114, + 0.029214199571453162, + 1.0 + ], + [ + -0.018760730526412146, + -0.0006042067482502621, + 0.0001505559704111903, + 0.0067194408189974065, + -0.009724691061881017, + 0.034635281709793006, + 1.0 + ], + [ + -0.021825946288052442, + -0.0022433331403359205, + -0.0005364297884262254, + 0.002459991737634347, + -0.01799548245740918, + 0.02375099691362911, + 1.0 + ], + [ + -0.024263599651631843, + -0.0011194168982180674, + 0.0006379639825494947, + 0.006445961083678427, + -0.012623925693440634, + 0.04581961182890211, + 1.0 + ], + [ + -0.021962701882140473, + -0.0022412700076851902, + 6.20982015171144e-05, + 0.005067460512814342, + -0.0142942644362709, + 0.03486287063000657, + 1.0 + ], + [ + -0.01773625467114625, + -0.0007056922917259556, + -0.00032961970050195464, + 0.008663252537974033, + -0.012189535259345874, + 0.03494893109635815, + 1.0 + ], + [ + -0.0034932735450583893, + -0.0013991807510529434, + -0.00021648103057291803, + 0.0010248278713897337, + -0.009064298009086539, + -0.012700935283361003, + 1.0 + ], + [ + 0.003169367071708813, + -0.0047938728219892035, + -0.005938713085652326, + -0.004663968963150899, + -0.028297088216193544, + -0.050009389798133214, + 1.0 + ], + [ + 0.013867708714455248, + -0.0020490374144539183, + -0.01193268676877861, + -0.012430165523205833, + 0.011806997577904207, + -0.05821844207987894, + 1.0 + ], + [ + 0.003737320587273971, + 0.0006456292009729313, + -0.0137359585576691, + -0.03190118020997028, + 0.0004546304199247318, + -0.051698899914847336, + 1.0 + ], + [ + 0.0005872429401411652, + -0.0006261664983240768, + -0.006999031520590283, + -0.0011188352393453822, + 0.0068096745452158785, + -0.01825646089802684, + 1.0 + ], + [ + -0.001511176540008766, + 0.003044590703440511, + -0.011196919981250407, + -0.010517145723015939, + -0.004675855110050819, + -0.022165105293206273, + 1.0 + ], + [ + -0.005325058955392159, + 0.005462262684311339, + -0.02353953985314689, + -0.018431745295921228, + 0.01720273962132117, + -0.010857915228484174, + 1.0 + ], + [ + -0.00631597276793707, + 0.005039188353896064, + -0.02074291115308337, + -0.02943239401508929, + -0.0014478010679057727, + -0.009512744742473149, + 1.0 + ], + [ + -0.0071356461868257535, + 0.00158018832029196, + -0.01601613277105712, + -0.0250090168650963, + 0.0003826648865101302, + 0.009913932150986073, + 1.0 + ], + [ + -0.0008171147931170674, + -6.508974921860854e-05, + -0.017035525267839604, + -0.04207184175585384, + -0.008825764542307298, + -0.00928215443275427, + 1.0 + ], + [ + 0.0012591332129124023, + -0.001763016444118254, + -0.00931062237265691, + -0.0009459322727749026, + 0.024989601832696523, + -0.012308134130614788, + 1.0 + ], + [ + 1.9890229921203886e-05, + -0.00012929358460676433, + -0.0007917751694185325, + -0.0015035070354988786, + -0.0003042030237640485, + -0.006119420509118644, + 1.0 + ] + ], + "state": [ + [ + 0.22587847709655762, + -0.04843112826347351, + 0.14148053526878357, + 2.8245048244767865, + -0.03237658739089966, + 1.449927568435669, + 1.0 + ], + [ + 0.22583253681659698, + -0.0484187938272953, + 0.14183440804481506, + 2.82298535306985, + -0.032160304486751556, + 1.4499765634536743, + 1.0 + ], + [ + 0.2241634726524353, + -0.047357480973005295, + 0.13735705614089966, + 2.840843768911906, + -0.03188904002308846, + 1.446995735168457, + 1.0 + ], + [ + 0.2297135442495346, + -0.022673990577459335, + 0.13661222159862518, + 2.8413611968332013, + -0.03892919048666955, + 1.4843618869781494, + 1.0 + ], + [ + 0.23384889960289001, + 0.002375696785748005, + 0.13402682542800903, + 2.8455823381715497, + -0.040820945054292686, + 1.5133754014968872, + 1.0 + ], + [ + 0.23631377518177032, + 0.025771426036953926, + 0.12722289562225342, + 2.8656790276342115, + -0.044222213327884674, + 1.5504971742630005, + 1.0 + ], + [ + 0.2453364133834839, + 0.05291786417365074, + 0.1209658533334732, + 2.8858615179830274, + -0.05163576453924179, + 1.584314227104187, + 1.0 + ], + [ + 0.25884127616882324, + 0.07426010817289352, + 0.1126466915011406, + 2.8981390317254743, + -0.050631001591682434, + 1.6322849988937378, + 1.0 + ], + [ + 0.2696957588195801, + 0.09099554270505905, + 0.10445772111415863, + 2.907754184799739, + -0.05137623846530915, + 1.6751099824905396, + 1.0 + ], + [ + 0.2807465195655823, + 0.11117922514677048, + 0.09779863804578781, + 2.9122333397441587, + -0.057134427130222314, + 1.7168246507644653, + 1.0 + ], + [ + 0.28741395473480225, + 0.12991441786289215, + 0.08722661435604095, + 2.9343375285440167, + -0.0748612880706787, + 1.725155234336853, + 1.0 + ], + [ + 0.2893705666065216, + 0.1407809555530548, + 0.07194384187459946, + 2.9595673849158963, + -0.08398260921239854, + 1.7259926795959473, + 1.0 + ], + [ + 0.2902187705039978, + 0.14874783158302307, + 0.055690065026283264, + 2.974605368571826, + -0.08801794052124022, + 1.713683009147644, + 1.0 + ], + [ + 0.29202625155448914, + 0.1568947285413742, + 0.042694009840488434, + 2.9918967356258115, + -0.09496215730905533, + 1.7111119031906128, + 1.0 + ], + [ + 0.2953313887119293, + 0.16006316244602203, + 0.03091440349817276, + 2.9838067163997373, + -0.08962364494800569, + 1.7171419858932495, + 1.0 + ], + [ + 0.2945258915424347, + 0.16013203561306, + 0.02054879441857338, + 3.006305920081683, + -0.09676545858383179, + 1.7201588153839111, + 1.0 + ], + [ + 0.29706066846847534, + 0.1569729596376419, + 0.01329394243657589, + 3.0095994790368756, + -0.09444146603345871, + 1.7212002277374268, + 1.0 + ], + [ + 0.2960856556892395, + 0.1561211198568344, + 0.012335813604295254, + 3.0115234573655805, + -0.09083252400159836, + 1.7259858846664429, + 1.0 + ], + [ + 0.2936409115791321, + 0.15150101482868195, + 0.009950265288352966, + 3.0233951826863965, + -0.08728627115488052, + 1.7142099142074585, + 1.0 + ], + [ + 0.286541223526001, + 0.14300963282585144, + 0.009776321239769459, + 3.002082051830836, + -0.0632915124297142, + 1.7192463874816895, + 1.0 + ], + [ + 0.2813948094844818, + 0.12826216220855713, + 0.009303143247961998, + 3.0072727372222623, + -0.049065154045820236, + 1.7048475742340088, + 1.0 + ], + [ + 0.28156864643096924, + 0.11442523449659348, + 0.008643669076263905, + 3.0121874084048947, + -0.038587868213653564, + 1.6814274787902832, + 1.0 + ], + [ + 0.28427034616470337, + 0.10075194388628006, + 0.008490491658449173, + 3.015023263292857, + -0.03155488520860671, + 1.6483690738677979, + 1.0 + ], + [ + 0.28365904092788696, + 0.0878746286034584, + 0.007700706832110882, + 3.013647960620471, + -0.0200610775500536, + 1.630224585533142, + 1.0 + ], + [ + 0.2832961678504944, + 0.07261815667152405, + 0.00735833216458559, + 3.0117998888068875, + -0.011998799629509449, + 1.5997329950332642, + 1.0 + ], + [ + 0.28325945138931274, + 0.053852587938308716, + 0.006905756425112486, + 3.0190229659252843, + -0.006830120924860239, + 1.5641305446624756, + 1.0 + ], + [ + 0.28082191944122314, + 0.03204115107655525, + 0.007014806382358074, + 3.021679939823695, + 0.008129091002047062, + 1.5383599996566772, + 1.0 + ], + [ + 0.27900034189224243, + 0.007818449288606644, + 0.006444776896387339, + 3.0278674011402806, + 0.015174271538853644, + 1.4913561344146729, + 1.0 + ], + [ + 0.2750445306301117, + -0.013901096768677235, + 0.00646203150972724, + 3.0324480329924306, + 0.025410875678062446, + 1.4550873041152954, + 1.0 + ], + [ + 0.27226579189300537, + -0.03142160177230835, + 0.007163384463638067, + 3.0402576719694814, + 0.03370527923107147, + 1.4189999103546143, + 1.0 + ], + [ + 0.27034059166908264, + -0.03465648368000984, + 0.007354889065027237, + 3.0416805913024625, + 0.044005580246448524, + 1.4307295083999634, + 1.0 + ], + [ + 0.26550617814064026, + -0.030535988509655, + 0.01264113374054432, + 3.0391572957211217, + 0.07709944248199463, + 1.4777837991714478, + 1.0 + ], + [ + 0.26362937688827515, + -0.01557234488427639, + 0.023198969662189484, + 3.0314620231562337, + 0.07116910070180893, + 1.5370522737503052, + 1.0 + ], + [ + 0.2629205882549286, + -0.010842000134289265, + 0.036622174084186554, + 3.0033737142854413, + 0.07630252838134766, + 1.5886379480361938, + 1.0 + ], + [ + 0.26131656765937805, + -0.009763049893081188, + 0.0434034988284111, + 3.0037304033809384, + 0.07205917686223984, + 1.6077077388763428, + 1.0 + ], + [ + 0.2628175616264343, + -0.010386720299720764, + 0.05499152094125748, + 2.9947824497991284, + 0.07972010225057603, + 1.6290874481201172, + 1.0 + ], + [ + 0.2649717926979065, + -0.013656865805387497, + 0.07942444831132889, + 2.9773997535281858, + 0.06428369879722595, + 1.6423709392547607, + 1.0 + ], + [ + 0.26690155267715454, + -0.01846659928560257, + 0.10107383131980896, + 2.948563115792819, + 0.06726422905921936, + 1.6515398025512695, + 1.0 + ], + [ + 0.2658722996711731, + -0.024612264707684517, + 0.11753901839256287, + 2.9229127933555326, + 0.06498374044895171, + 1.6418629884719849, + 1.0 + ], + [ + 0.2621038258075714, + -0.024616261944174767, + 0.1341727077960968, + 2.881303371983119, + 0.07561131566762923, + 1.6490294933319092, + 1.0 + ], + [ + 0.2578679919242859, + -0.023041602224111557, + 0.14259645342826843, + 2.881705256300517, + 0.05461830273270608, + 1.6673780679702759, + 1.0 + ], + [ + 0.25753533840179443, + -0.023013731464743614, + 0.14332623779773712, + 2.8805253525548657, + 0.05648386850953101, + 1.6732231378555298, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "3111", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3111/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3118.json b/annotation/test/3118.json new file mode 100644 index 0000000000000000000000000000000000000000..c9f5be56f954369305f15e02f1bd298056a467cf --- /dev/null +++ b/annotation/test/3118.json @@ -0,0 +1,1363 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put blueberry in pot or pan an put pot or pan on stove" + ], + "videos": [ + { + "video_path": "videos/test/3118/rgb.mp4" + } + ], + "action": [ + [ + 0.00034829195577171446, + 0.00010384066273250312, + -0.0005215373621376362, + -0.0013383693025501402, + 0.002902398841098529, + -0.0011826285237863845, + 1.0 + ], + [ + -0.005249309447071742, + 0.00366206050842584, + 0.01118660867004377, + -0.004374517806028763, + -0.029574744723490604, + 0.002922927035925174, + 1.0 + ], + [ + -0.004796119138416905, + 0.003867723425501626, + 0.012593174550866589, + -0.008431154563189663, + 0.0176685328276641, + -0.004361315905086622, + 1.0 + ], + [ + 0.0013888431648920367, + 0.0017000578965512556, + 0.0019768989460423807, + -0.007527345102625262, + 0.01957333553001679, + 0.005219701628498853, + 1.0 + ], + [ + -0.0010059163691776916, + 0.002539129478218464, + 0.009660871720640637, + -0.0032612521409733333, + 0.010142756171484628, + -0.007054963124409717, + 1.0 + ], + [ + -0.0001569408849942759, + 0.0016356243371819935, + 0.004175221430955194, + -0.004330924080249719, + 0.018724349184914515, + -0.0046550943757755325, + 1.0 + ], + [ + -0.004392872250502796, + -3.993933358640369e-05, + 0.006068091682392771, + 0.009030816785916966, + 0.007454745461719429, + -0.011075764633143819, + 1.0 + ], + [ + -0.0023698818454023357, + 0.004986692456984405, + 0.006786947602507324, + 0.002482907384555, + 0.011381376084326572, + -0.007092570485486618, + 1.0 + ], + [ + -0.0008952795002178606, + 0.00541570347396788, + 0.0005588712221830933, + -0.014837025397013396, + 0.007103733177761178, + -0.010998493950917006, + 0.0 + ], + [ + -0.0005329562088053616, + 0.0033224051160791667, + 0.0001828497780236906, + -0.002408460063651735, + -0.0013975073950386618, + -0.0060445608353748015, + 0.0 + ], + [ + 0.00017185423051978586, + 0.001032162329529786, + -0.0008019000939627785, + -0.004372124056930383, + -0.0008915298170092236, + -0.008134081292525809, + 0.0 + ], + [ + -0.0010975699428348942, + 0.002257379670179185, + -0.0007162835992063776, + -0.015119630483768446, + -0.01614946534829283, + 0.018357220090177262, + 0.0 + ], + [ + -0.0022816596824417864, + 0.003974098978134354, + -0.006636598396584408, + -0.0018190159148633116, + -0.052840000630677696, + 0.022530554955113507, + 0.0 + ], + [ + 0.008104452263302954, + 0.006513346001623924, + -0.018606570719569546, + 0.02973617993928554, + -0.042706551637862564, + 0.006491098138792414, + 0.0 + ], + [ + 0.006031448337156062, + 0.009246269184936297, + -0.02491474735338032, + 0.017190467039677252, + -0.04535499612379816, + 0.009808451666013646, + 0.0 + ], + [ + 0.0053111259047875755, + 0.013739675738942187, + -0.024851585478755708, + 0.034590607979139446, + -0.010003277092557406, + -0.023571771745435767, + 0.0 + ], + [ + 0.0020351752246578073, + 0.019329545626357816, + -0.017211947312713048, + 0.011625993665328594, + 0.019038908790803107, + -0.019296905225046145, + 0.0 + ], + [ + -0.004538072825918155, + 0.02117856596468085, + -0.007236223994723503, + 0.005810348924695988, + 0.01381524674853632, + -0.010729989565532737, + 0.0 + ], + [ + -0.002971710579053475, + 0.021637535856833524, + 0.003461815012786084, + 0.00603053841628306, + 0.03417296739052322, + -0.018924003798133193, + 0.0 + ], + [ + -0.007028005852723838, + 0.017415126911344718, + 0.01069063485209511, + 0.015198439910146638, + 0.02667055135230486, + -0.01618411021603682, + 0.0 + ], + [ + -0.0025710525730690587, + 0.0114997610690661, + 0.01984486445945797, + 0.008771874783284509, + 0.026147212165684407, + -0.008920851157442294, + 0.0 + ], + [ + 0.0010263185373376486, + 0.00602531246887722, + 0.014559860226695672, + -0.008673775566083395, + 0.025413076001188285, + -0.006228418115330215, + 0.0 + ], + [ + 0.002602598191506167, + 0.007467310656183235, + 0.017816872522055084, + -0.0226492748654238, + 0.03204501584517825, + 0.0009902970653365521, + 0.0 + ], + [ + 0.0025672484149265123, + 0.00023342044462676455, + 0.0018182078249589795, + -0.011792919296602117, + 0.013822485382492344, + 0.0053999534830627615, + 0.0 + ], + [ + -0.005629038862585957, + -0.00418260177722248, + -0.0004238157502195481, + 0.0178104285853999, + -0.045314617672603315, + 0.011224237280457768, + 0.0 + ], + [ + -0.0035067644686607494, + -0.006081784503961752, + -0.004998675379632376, + 0.003558503921384019, + -0.07562086948846239, + 0.007843127739080342, + 1.0 + ], + [ + 0.0041946441061857685, + -0.01001155138551827, + -0.02115258481791867, + -0.013913534462498116, + -0.024594141820282512, + -0.002517209689113111, + 1.0 + ], + [ + 0.002660967545665925, + -0.010363340049518959, + -0.013210873169362241, + -0.01664624244714641, + -0.031235155560970944, + 0.006413276743925534, + 1.0 + ], + [ + -0.0016523156081907492, + -0.009331442371604829, + -0.0038308074066606703, + 0.006700060795414475, + -0.027556125641948072, + 0.035472648058656464, + 1.0 + ], + [ + 0.0008532283390838009, + -0.0004676898697288961, + -0.004425590288484607, + -0.006887176904976144, + 0.009649201363573523, + -2.410786413656726e-05, + 1.0 + ], + [ + 0.0001837049585854412, + -0.00032475623943854174, + -0.0005332886369262756, + 0.0007252016480117281, + 0.0020412029756451742, + 0.00011784865425598229, + 1.0 + ], + [ + 0.0001416610415053511, + -0.0005177100992407292, + 0.00014232893154529484, + 0.0001538517909766464, + -0.00036526522856839683, + -0.001481925993768864, + 1.0 + ], + [ + -0.000575360253485388, + 0.00013860990865860584, + -0.00016448213623380034, + 0.0002354964546620417, + 0.002384030062633024, + -0.011412128081268399, + 1.0 + ], + [ + -0.02522049031687521, + -0.001887421642926954, + -0.015566859975101684, + 0.0014413847711377762, + 0.04597883265696581, + -0.06714079512879918, + 1.0 + ], + [ + -0.020552787175927612, + 0.003961713448455793, + 0.0024680662138942245, + 0.009875006544213326, + 0.012389104732877961, + -0.01058195255321446, + 1.0 + ], + [ + -0.014790310434357436, + 0.003470469938743576, + 0.0033309048314964077, + 0.002707696643647532, + 0.03243223746565586, + -0.023494405438139597, + 1.0 + ], + [ + -0.0147845060027157, + 0.0030418935689684673, + 0.010278190446500596, + 0.013947966163134142, + 0.0189080581632576, + -0.024073384963291956, + 1.0 + ], + [ + -0.013250411065340075, + 0.006557715557474522, + 0.0063449948748869195, + 0.00867347096458998, + 0.02387706558598582, + -0.016062473562953216, + 1.0 + ], + [ + -0.00801334440069622, + 0.0070969540407431995, + -0.0001589557699368203, + 0.0005838437106454567, + 0.022348296945584004, + -0.00809981391306894, + 1.0 + ], + [ + -0.008616224522839736, + 0.004282685768500586, + 0.0017081179094055195, + 0.001311853330867557, + 0.015646106738644337, + -0.010892348009942241, + 1.0 + ], + [ + -0.002234424377703219, + 0.00458461532125624, + -0.0004399448814002872, + -0.00893945630609924, + 0.027078457396309097, + -0.018273040968368594, + 1.0 + ], + [ + -0.005630070007624863, + 0.0033408534325167064, + 0.0034235587598382407, + -0.005184525584512974, + 0.02979027695133237, + -0.0084190803880989, + 1.0 + ], + [ + -0.005184892533038601, + 0.0035213413334272883, + 0.007753201417533708, + -0.0006390643358930146, + 0.01554197468827511, + -0.003266127831507766, + 1.0 + ], + [ + -0.005748826021084441, + 0.00425387787791538, + 0.007493505714259216, + 0.0005086883219713161, + 0.014523721069591768, + -0.0011596906371139704, + 1.0 + ], + [ + -0.002817888813269367, + 0.0036153055254527252, + 0.007180695736335039, + -0.009745880160735982, + 0.021887591689781154, + -0.008937676889564254, + 1.0 + ], + [ + 0.0007759702665280444, + 0.002425981268206312, + 0.0018833183214253895, + -0.01353611100118583, + 0.01804420936823367, + -0.013211910767883833, + 1.0 + ], + [ + -0.004352927441933166, + 0.003198363692261992, + 0.003400213585657034, + -0.006201610061697205, + -0.009486801945487367, + -0.011272022059992837, + 1.0 + ], + [ + -0.0012426745724294667, + -8.079208139880081e-05, + -0.0004131005341836118, + 0.006472129290929034, + -0.006519226023660096, + -0.010296292978600893, + 0.0 + ], + [ + -0.000443252470298324, + 0.000800447158258206, + -0.00023066461900204775, + -0.0004196231400076646, + -0.0033278817117425937, + -0.005240265903184227, + 0.0 + ], + [ + 6.528471232021543e-05, + -0.00021824244618043982, + -0.00028538203878106293, + 0.005973021237633427, + -0.007119361332387726, + 0.00317531777849561, + 0.0 + ], + [ + 0.0010534391204111207, + -0.0007342734587781442, + -0.002545493686926906, + 0.014137821235037214, + -0.02985156082135121, + 0.0027646213517976714, + 0.0 + ], + [ + 0.012457482866104036, + -0.004933814752939319, + -0.01311174683282864, + 0.014513477752023718, + -0.03599475154634943, + 0.015884819861785904, + 0.0 + ], + [ + 0.017857220518542653, + -0.014653531051142494, + -0.012269247083671572, + 0.00046011818844759144, + -0.03101137574298544, + 0.013677940277692834, + 0.0 + ], + [ + 0.019185542975461954, + -0.01358006638955028, + -0.006967290681746154, + 0.0017747095799037407, + -0.030690982637623043, + 0.020314679033816417, + 0.0 + ], + [ + 0.02326064470554498, + -0.013771908190574264, + -0.00246483499402543, + -0.005789006268559362, + -0.004258317677871245, + 0.029673021761910497, + 0.0 + ], + [ + 0.028996859364943242, + -0.01986050522911548, + -0.003252332926769853, + -0.009594253087387533, + 0.017403007761099158, + 0.017696736382640018, + 0.0 + ], + [ + 0.021118716409853074, + -0.009956715926392386, + 0.0075791317537211265, + -0.0027159616429547604, + 0.006305195019343775, + 6.709504963159019e-05, + 0.0 + ], + [ + 0.008732515401190102, + 0.0013959047748520743, + 0.015222095790254324, + -0.01623279110556018, + 0.015409093121287225, + 0.009852255426712643, + 0.0 + ], + [ + 0.005285063916309872, + 0.004549936658676638, + 0.008026608995337355, + -0.020296272143220093, + 0.04052115797344234, + -0.017131822912637085, + 0.0 + ], + [ + -0.00446331323006285, + 0.0038519955244643166, + 0.00505993145408642, + -0.003312117420893906, + 0.015668798812349168, + -0.021851170280272586, + 0.0 + ], + [ + -0.0038373961822997424, + 0.004230106356971566, + -0.000632310089471987, + 0.003585430354721647, + -0.0006067150103884317, + 0.0054478008422881785, + 1.0 + ], + [ + -0.0071894582174933715, + 0.0027373199974592356, + -0.0018928506637707222, + 0.011049999343669438, + -0.03147943519455718, + 0.0009007342308181589, + 1.0 + ], + [ + -0.00736092677123077, + -0.0012964538876991624, + -0.0008107856110783702, + 0.008854409872950218, + -0.045379193291715775, + 0.015786765004567677, + 1.0 + ], + [ + 0.0037354825310218554, + -0.006848513153946109, + -0.009470855052544825, + -0.027702153393745908, + 0.006264242090239439, + 0.01774869648260973, + 1.0 + ], + [ + 0.0023563024878798886, + -0.012583616290278146, + -0.003833944436087857, + -0.017689599754409938, + 0.0012767706039792605, + 0.02563799307827801, + 1.0 + ], + [ + -0.0017880216999924953, + -0.01584701754652286, + -0.0010574835595955957, + -0.0186812741824282, + 0.004605704540019422, + 0.030687392227849396, + 1.0 + ], + [ + -0.004052816315625641, + -0.017603122199310157, + 0.002742618214644332, + -0.01739598958119042, + -0.008025353894487944, + 0.016808568431547023, + 1.0 + ], + [ + -0.00464047722040099, + -0.01749176666810618, + -0.00013245911559958912, + -0.0045670720796065, + -0.006996823507939266, + 0.011655627537782603, + 1.0 + ], + [ + -0.005902377356550135, + -0.015618888492447473, + -0.0011575273187537285, + -0.0027627449747844183, + 0.010747831037443256, + 0.006843258104254602, + 1.0 + ], + [ + -0.011386496606115433, + -0.00992081724896561, + 0.0014494410989272578, + 0.004177516684350836, + -0.007527570190161292, + 0.002974372759254825, + 1.0 + ] + ], + "state": [ + [ + 0.3585858643054962, + 0.022227156907320023, + 0.09778077155351639, + -2.916806714730807, + -0.1948041617870331, + -0.0835172086954117, + 1.0 + ], + [ + 0.35881462693214417, + 0.021989768370985985, + 0.09832428395748138, + -2.918244036036082, + -0.19789712131023407, + -0.08300120383501053, + 1.0 + ], + [ + 0.3558911383152008, + 0.02113589644432068, + 0.08580109477043152, + -2.9232590814405164, + -0.16840840876102448, + -0.07924742251634599, + 1.0 + ], + [ + 0.3532889187335968, + 0.02029106579720974, + 0.07205101102590561, + -2.931729020672389, + -0.18660210072994232, + -0.07880958169698715, + 1.0 + ], + [ + 0.35497403144836426, + 0.018903175368905067, + 0.07006069272756577, + -2.9374845792823514, + -0.20465056598186493, + -0.08818696439266205, + 1.0 + ], + [ + 0.3559657037258148, + 0.01828521117568016, + 0.06008942425251007, + -2.941747250156947, + -0.21601031720638275, + -0.08321923017501832, + 1.0 + ], + [ + 0.35669198632240295, + 0.01744772680103779, + 0.05574160814285278, + -2.946228953199931, + -0.23528599739074707, + -0.08235056698322298, + 1.0 + ], + [ + 0.3539159297943115, + 0.01889813132584095, + 0.048936426639556885, + -2.939464347558566, + -0.24473831057548526, + -0.0726437419652939, + 1.0 + ], + [ + 0.353215754032135, + 0.015417110174894333, + 0.04094028100371361, + -2.9381387700610837, + -0.25730910897254944, + -0.06782213598489761, + 1.0 + ], + [ + 0.3524169325828552, + 0.010268328711390495, + 0.03912489116191864, + -2.9554423858695706, + -0.26647707819938654, + -0.058144580572843545, + 0.0 + ], + [ + 0.3519247770309448, + 0.007060341536998749, + 0.038217999041080475, + -2.959546225267001, + -0.2662171721458435, + -0.051719460636377335, + 0.0 + ], + [ + 0.3518722653388977, + 0.005901222117245197, + 0.0388437956571579, + -2.9661501814895352, + -0.26680389046669006, + -0.043259039521217346, + 0.0 + ], + [ + 0.3506309986114502, + 0.0036050027702003717, + 0.0388546846807003, + -2.977118434506007, + -0.24766667187213898, + -0.058993149548769, + 0.0 + ], + [ + 0.34668466448783875, + -0.0011777470353990793, + 0.04401177912950516, + -2.9753327538543424, + -0.19182854890823367, + -0.07279263436794281, + 0.0 + ], + [ + 0.35064399242401123, + -0.01099452469497919, + 0.06251218169927597, + -2.945572720962115, + -0.14863696694374084, + -0.07211530208587646, + 0.0 + ], + [ + 0.3522467613220215, + -0.025068359449505806, + 0.08579253405332565, + -2.9280616660886487, + -0.10224073380231857, + -0.07289933413267136, + 0.0 + ], + [ + 0.35397869348526, + -0.04393860325217247, + 0.10759855061769485, + -2.896108256774493, + -0.09742677211761475, + -0.04762387275695801, + 0.0 + ], + [ + 0.35374438762664795, + -0.06688646227121353, + 0.11973796039819717, + -2.885842414694377, + -0.12057463079690933, + -0.0334332212805748, + 0.0 + ], + [ + 0.3482981324195862, + -0.08903705328702927, + 0.1208234652876854, + -2.8808493634038648, + -0.13665197789669037, + -0.026483332738280296, + 0.0 + ], + [ + 0.3460403084754944, + -0.10899797081947327, + 0.11157888919115067, + -2.87598508794839, + -0.17454174160957336, + -0.016872618347406384, + 0.0 + ], + [ + 0.34146878123283386, + -0.12292101234197617, + 0.09569747745990753, + -2.8622277100854596, + -0.20451846718788147, + -0.00807895977050066, + 0.0 + ], + [ + 0.34342432022094727, + -0.12851879000663757, + 0.07339245080947876, + -2.853642525272914, + -0.23211142420768738, + -0.006678602658212186, + 0.0 + ], + [ + 0.34801700711250305, + -0.13019192218780518, + 0.05837728828191757, + -2.861924262838908, + -0.2582465708255767, + -0.00796754565089941, + 0.0 + ], + [ + 0.35541486740112305, + -0.1325100064277649, + 0.040492285043001175, + -2.881828935938426, + -0.2887600064277649, + -0.01818621903657913, + 0.0 + ], + [ + 0.3583971858024597, + -0.1323227882385254, + 0.03948141634464264, + -2.890992226200648, + -0.30072030425071716, + -0.027366824448108677, + 0.0 + ], + [ + 0.3527020812034607, + -0.12821856141090393, + 0.03919687867164612, + -2.873032512264796, + -0.25403866171836853, + -0.026983225718140602, + 0.0 + ], + [ + 0.3478153347969055, + -0.12354760617017746, + 0.044542357325553894, + -2.871909888582774, + -0.17903253436088562, + -0.014273653738200665, + 1.0 + ], + [ + 0.3478945791721344, + -0.11953423172235489, + 0.06797619163990021, + -2.887369694309779, + -0.15599086880683896, + -0.005185846239328384, + 1.0 + ], + [ + 0.34816664457321167, + -0.11282774806022644, + 0.08359527587890625, + -2.9041479547792157, + -0.12414686381816864, + -0.0035229660570621495, + 1.0 + ], + [ + 0.3458229899406433, + -0.10465089976787567, + 0.08926338702440262, + -2.893970715003558, + -0.08897242695093155, + -0.03161387890577316, + 1.0 + ], + [ + 0.34626123309135437, + -0.10529635846614838, + 0.0937270075082779, + -2.9006377329402646, + -0.09833296388387681, + -0.03396685048937798, + 1.0 + ], + [ + 0.3463919162750244, + -0.10511257499456406, + 0.09433754533529282, + -2.8998527099662503, + -0.1002870574593544, + -0.03457142412662506, + 1.0 + ], + [ + 0.3465527594089508, + -0.1045810878276825, + 0.09433754533529282, + -2.8998527099662503, + -0.1002870574593544, + -0.03303743898868561, + 1.0 + ], + [ + 0.34596219658851624, + -0.10473562031984329, + 0.09440582245588303, + -2.900688188272067, + -0.10532813519239427, + -0.022469369694590572, + 1.0 + ], + [ + 0.3192092776298523, + -0.10601591318845749, + 0.10723566263914108, + -2.905128078656741, + -0.16583375632762912, + 0.03242927044630051, + 1.0 + ], + [ + 0.29960423707962036, + -0.10992691665887833, + 0.10056108236312866, + -2.8964803238683423, + -0.18035249412059784, + 0.03993529826402665, + 1.0 + ], + [ + 0.2858976721763611, + -0.11303506791591644, + 0.09390061348676682, + -2.896409662561961, + -0.21749569475650782, + 0.05520489439368248, + 1.0 + ], + [ + 0.27381598949432373, + -0.1141594648361206, + 0.080253466963768, + -2.8866309841447553, + -0.24164223670959475, + 0.07452502101659775, + 1.0 + ], + [ + 0.26319944858551025, + -0.11971080303192139, + 0.06951532512903214, + -2.880258025723048, + -0.2687870860099793, + 0.08439631760120393, + 1.0 + ], + [ + 0.256527304649353, + -0.12719693779945374, + 0.06576752662658691, + -2.8801763971620282, + -0.2924686074256897, + 0.08653629571199417, + 1.0 + ], + [ + 0.24941915273666382, + -0.13152319192886353, + 0.060643456876277924, + -2.880798937874385, + -0.3103918433189392, + 0.09333863109350204, + 1.0 + ], + [ + 0.24795441329479218, + -0.1362231969833374, + 0.059240106493234634, + -2.893114598589488, + -0.3412475883960724, + 0.10465799272060396, + 1.0 + ], + [ + 0.244306281208992, + -0.13901588320732117, + 0.053454626351594925, + -2.8984854837232312, + -0.37219303846359253, + 0.10555069893598557, + 1.0 + ], + [ + 0.2426946461200714, + -0.14074675738811493, + 0.04376949369907379, + -2.898870112495967, + -0.38806411623954773, + 0.10493338853120804, + 1.0 + ], + [ + 0.2407684177160263, + -0.1432906538248062, + 0.03391478210687637, + -2.8973632772737226, + -0.4024396538734436, + 0.10236301273107529, + 1.0 + ], + [ + 0.2414255440235138, + -0.14500413835048676, + 0.02559579908847809, + -2.908504085736819, + -0.4258363544940948, + 0.10607235133647917, + 1.0 + ], + [ + 0.2433149367570877, + -0.14673921465873718, + 0.02373727597296238, + -2.9259885420375547, + -0.4464269876480102, + 0.11570056527853012, + 1.0 + ], + [ + 0.24140946567058563, + -0.14937368035316467, + 0.018244760110974312, + -2.9384203275018415, + -0.4395307004451752, + 0.1301105320453644, + 1.0 + ], + [ + 0.2401173710823059, + -0.1495470106601715, + 0.018096882849931717, + -2.9373065700107297, + -0.43519258499145513, + 0.14268219470977783, + 0.0 + ], + [ + 0.23981113731861115, + -0.1504301279783249, + 0.017967579886317253, + -2.940425293641635, + -0.4329891502857209, + 0.14907892048358917, + 0.0 + ], + [ + 0.23971232771873474, + -0.15028639137744904, + 0.018288377672433853, + -2.9336695094876966, + -0.4253782331943512, + 0.1472250372171402, + 0.0 + ], + [ + 0.23955462872982025, + -0.15011467039585114, + 0.021129868924617767, + -2.920985775189944, + -0.395596444606781, + 0.15097184479236606, + 0.0 + ], + [ + 0.24534118175506592, + -0.14726687967777252, + 0.03873257339000702, + -2.903199391561099, + -0.35698655247688293, + 0.14284497499465942, + 0.0 + ], + [ + 0.2549668252468109, + -0.13442394137382507, + 0.05938557907938957, + -2.900427820282527, + -0.32361602783203125, + 0.13655608892440796, + 0.0 + ], + [ + 0.2682652771472931, + -0.12096526473760605, + 0.07497601211071014, + -2.8944441994004926, + -0.2889362871646881, + 0.12363280355930328, + 0.0 + ], + [ + 0.2871907353401184, + -0.1057649552822113, + 0.08712410181760788, + -2.8921134044700345, + -0.27743515372276306, + 0.09480133652687071, + 0.0 + ], + [ + 0.3110114634037018, + -0.08497409522533417, + 0.10281321406364441, + -2.895598756270953, + -0.289864718914032, + 0.07242407649755479, + 0.0 + ], + [ + 0.33176812529563904, + -0.07193529605865479, + 0.1041286289691925, + -2.8978317846828183, + -0.2959633767604828, + 0.07075081765651703, + 0.0 + ], + [ + 0.3443318009376526, + -0.06871982663869858, + 0.09222348779439926, + -2.9099918772750577, + -0.3085121214389801, + 0.056813765317201614, + 0.0 + ], + [ + 0.3521909713745117, + -0.07086307555437088, + 0.08538973331451416, + -2.9324841668182096, + -0.3518743515014648, + 0.06465572118759154, + 0.0 + ], + [ + 0.35016289353370667, + -0.07371778041124344, + 0.07845435291528702, + -2.942508714395114, + -0.37167689204216003, + 0.084103062748909, + 0.0 + ], + [ + 0.3470374345779419, + -0.07826802134513855, + 0.07685872167348862, + -2.9368925263457974, + -0.36999943852424616, + 0.07850395143032074, + 1.0 + ], + [ + 0.34012797474861145, + -0.08188596367835999, + 0.075468048453331, + -2.92785898049409, + -0.3389885127544403, + 0.0843532457947731, + 1.0 + ], + [ + 0.33276471495628357, + -0.08140967041254044, + 0.07402688264846802, + -2.916772576170512, + -0.29128825664520264, + 0.07830967754125595, + 1.0 + ], + [ + 0.33289432525634766, + -0.07682064920663834, + 0.08540568500757217, + -2.938900889950343, + -0.2933859229087829, + 0.058776568621397025, + 1.0 + ], + [ + 0.332651823759079, + -0.06526072323322296, + 0.09210702776908875, + -2.9490019400888166, + -0.28937891125679016, + 0.03230558708310127, + 1.0 + ], + [ + 0.32928207516670227, + -0.05000998079776764, + 0.09549862146377563, + -2.9585500081353864, + -0.28788378834724426, + -2.6924646590487097e-05, + 1.0 + ], + [ + 0.3252524733543396, + -0.032201603055000305, + 0.09483440965414047, + -2.971513869362422, + -0.2768995761871338, + -0.01568986289203167, + 1.0 + ], + [ + 0.32021448016166687, + -0.01490346621721983, + 0.09653927385807037, + -2.973164977627345, + -0.26801586151123047, + -0.026374146342277523, + 1.0 + ], + [ + 0.31393054127693176, + 0.00047143027768470347, + 0.09860137850046158, + -2.9735704233222684, + -0.2774544060230255, + -0.03526179119944572, + 1.0 + ], + [ + 0.3032767176628113, + 0.010876994580030441, + 0.09570378065109253, + -2.9689127524667462, + -0.2695350348949433, + -0.03699803352355957, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.03348183631896973, + 0.31580305099487305, + 0.6287990510463715, + 0.847867950797081, + 0.934679314494133, + 0.9361584037542343, + 0.9294997081160545, + 0.9266620799899101, + 0.9257014021277428, + 0.9257014021277428, + 0.9250567406415939, + 0.9250567406415939, + 0.9250567406415939, + 0.9250567406415939, + 0.9250567406415939, + 0.9250567406415939, + 0.9250567406415939, + 0.9059926047921181, + 0.7255049049854279, + 0.4478520154953003, + 0.14104825258255005, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05002796649932861, + 0.1916426420211792, + 0.16556233167648315, + 0.1618891954421997, + 0.1618891954421997, + 0.1618891954421997, + 0.1618891954421997, + 0.1618891954421997, + 0.1618891954421997, + 0.1618891954421997, + 0.1618891954421997, + 0.1618891954421997, + 0.19258534908294678, + 0.1303747296333313, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "3118", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3118/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3119.json b/annotation/test/3119.json new file mode 100644 index 0000000000000000000000000000000000000000..29acee6963cc59bd845684b426dfa401849f5717 --- /dev/null +++ b/annotation/test/3119.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "take broccoli out of pan cardboardfence" + ], + "videos": [ + { + "video_path": "videos/test/3119/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -1.111984309405317e-09, + -1.5159887186108117e-09, + -0.001533977904465172, + 1.0 + ], + [ + -0.005865613628845984, + 0.00034379560220892263, + 0.007452646951789814, + 0.002509094268353125, + -0.034293879501735965, + -0.006223695531362233, + 1.0 + ], + [ + -0.007694674789182316, + -0.0013335206185111014, + -0.014058648561317054, + 0.05462458250693964, + -0.02063785124712265, + -0.023184750474982817, + 1.0 + ], + [ + -0.012553928952250444, + 0.001774053783528777, + -0.022145477976019602, + 0.010408764654166049, + -0.002562932554765313, + -0.05925958496197443, + 1.0 + ], + [ + -0.0266736371703042, + 0.006681309809504242, + -0.0015084750913367205, + 0.011018062371045656, + 0.001353377196509639, + -0.06363211675300805, + 1.0 + ], + [ + -0.02272255241925597, + 0.003274501274945952, + 0.014679929119790608, + 0.004679588749056417, + 0.01859271842565092, + -0.020298745088930942, + 1.0 + ], + [ + -0.01924464915908707, + 0.003031327571785523, + 0.01043430288267169, + -0.04161582319377398, + 4.7895181885453836e-05, + -0.03203013799077766, + 1.0 + ], + [ + -0.01276151150862685, + 0.0034681005789474, + 0.014403952616229163, + -0.0318334435873212, + 0.014712397023985002, + 0.024726202922695697, + 1.0 + ], + [ + -0.011401189623584, + 0.0032055883084757025, + 0.013446924913886342, + -0.09443192746138811, + 0.007607281204393319, + 0.08905489420021352, + 1.0 + ], + [ + -0.007589350799583618, + 0.0028489835066781966, + 0.008948488352268563, + -0.03920121759026368, + 0.01983544772180106, + 0.07086117034851436, + 1.0 + ], + [ + -0.00026918423529053456, + 0.0018858275429670566, + 0.0032963830946429887, + -0.006444219342250888, + 0.022011776902682554, + 0.060413411609212084, + 1.0 + ], + [ + -0.001480159076241001, + 0.002536421292590614, + 0.0037984420074878627, + 0.008172101237818282, + 0.01342674948068206, + 0.026016282905031878, + 1.0 + ], + [ + -0.0011040013603842431, + 0.0031887080035816365, + 0.005433965514364268, + 0.03598753733295643, + 0.020988732732724263, + 0.007444817585618453, + 1.0 + ], + [ + -0.0013796841849048121, + -0.0034214585968821393, + 0.0059551643104342735, + 0.03067683252532058, + 0.019031204075261963, + 0.013500178965630487, + 1.0 + ], + [ + -0.0033165834464949106, + -0.001504741753512235, + 0.00427065853768938, + 0.020678830780783267, + 0.015154239972809172, + -0.01838099510354832, + 1.0 + ], + [ + -0.0012888454529800069, + -0.0028119614397209155, + 0.0028844261876805983, + -0.01738278929890756, + -0.002925556683000743, + 0.006060212527673747, + 1.0 + ], + [ + -0.0027378547020597468, + -0.0026594471265555994, + 0.0050944791366723495, + -0.016521935004953404, + 0.004980730400905606, + -0.0007120420067622779, + 1.0 + ], + [ + -0.003673287418666489, + -0.0003999038669832067, + 0.010131948480926783, + -0.011712326364397339, + 0.03758862972560906, + -0.026440023192034076, + 1.0 + ], + [ + -0.0013743657945316054, + -0.0006013277420701307, + 0.00329397691273881, + -0.011460759505834391, + 0.005248587747014234, + -0.0022460714152025235, + 0.0 + ], + [ + 0.0013461311437246947, + -0.0022541430491674753, + -0.00039987095998578035, + -0.010793537567317518, + -0.00356426356672605, + -0.013201882406568485, + 0.0 + ], + [ + 0.0026097744318185545, + 0.0009658578069698015, + -0.01349007528023262, + 0.016915099752714664, + -0.061471170372276326, + -0.025761157873824037, + 0.0 + ], + [ + 0.013565458816393363, + 0.004398380397748764, + -0.03440693577445801, + 0.037206842029019103, + -0.01457884783803348, + -0.08290480012142652, + 0.0 + ], + [ + 0.022743672489261842, + 0.0009623552521601746, + -0.03812856755853393, + 0.002485738996076147, + -0.06345826263913636, + -0.016721017886450616, + 0.0 + ], + [ + 0.027476703634454494, + -0.01720895309807946, + -0.029671641527770153, + 0.07706272181865469, + 0.0018297512657505504, + 0.05202318810179989, + 0.0 + ], + [ + 0.0212335419600448, + -0.03753570845447475, + 0.008010243849155045, + 0.06541010597161255, + 0.08338716148395232, + 0.1762663873485632, + 0.0 + ], + [ + 0.006974915447314291, + -0.0371421692090148, + 0.02353401780521834, + 0.04002470721079395, + 0.04557054207658691, + 0.08753536872074015, + 0.0 + ], + [ + -0.006387148407443347, + -0.018837569337424906, + 0.02318570547460494, + 0.00885037800820864, + -0.019427665307634286, + 0.017288532034328296, + 0.0 + ], + [ + 0.0034087768009623434, + -0.01627080168887186, + 0.013856828378596368, + 0.011521954714492312, + 0.027865059502705347, + 0.04860363744989654, + 0.0 + ], + [ + -0.0012128476162738264, + -0.010587271597209073, + 0.014167297833383802, + -0.025866266188847707, + 0.023709762616289664, + 0.0085388752886634, + 0.0 + ], + [ + -0.0043150247215748665, + -0.00512265860846044, + 0.014049303458847777, + -0.020383661629258778, + 0.04145447285433331, + -2.4218068307181523e-05, + 0.0 + ], + [ + -0.005423878548373279, + 0.0030258051547452907, + -0.000801585029867367, + -0.025615934528413657, + -0.03712189685151636, + 0.026497789443020663, + 1.0 + ], + [ + 0.003904460000888152, + 0.0015588879990409213, + -0.0039662710687855575, + -0.0007236266125802182, + -0.03733004305188399, + 0.0041673421565617316, + 1.0 + ], + [ + 0.01004980634812667, + 0.00302439253030307, + -0.014739343862927988, + 0.02559213957662799, + -0.01466231771923008, + 0.017668414330324674, + 1.0 + ], + [ + 0.014186732922855789, + 0.004683842689104369, + -0.023959440211535215, + 0.0757280811583199, + 0.015302188291699218, + 0.02118088555022127, + 1.0 + ], + [ + 0.013048046774466417, + 0.01701409096091022, + -0.01706558816131116, + -0.04548987252767475, + -0.023466404678178378, + -0.07352211392766694, + 1.0 + ], + [ + 0.015863350144423524, + 0.039495824342154685, + -0.0016654324502017612, + -0.09189099560718673, + 0.01445518197928171, + -0.07918742444613974, + 1.0 + ], + [ + 0.015776312041946277, + 0.03052459628098808, + -0.002721926734580122, + -0.09202460714245841, + 0.002438726486369581, + -0.026909176080895277, + 1.0 + ], + [ + 0.00687834516897685, + 0.014382287922001365, + 0.0016616901911776722, + -0.05357738713145298, + -0.048191489208085254, + -0.06386777530743712, + 1.0 + ] + ], + "state": [ + [ + 0.32803982496261597, + -0.014245732687413692, + 0.0926457867026329, + 3.0512120743566236, + -0.15790532529354093, + -0.016126418486237526, + 1.0 + ], + [ + 0.32803982496261597, + -0.014245732687413692, + 0.0926457867026329, + 3.050968924658843, + -0.15776668488979337, + -0.014579489827156067, + 1.0 + ], + [ + 0.32339394092559814, + -0.015194948762655258, + 0.08442506194114685, + 3.052935281889983, + -0.12304958701133728, + -0.011464438401162624, + 1.0 + ], + [ + 0.3140832781791687, + -0.01251497957855463, + 0.09726099669933319, + 3.104937771456786, + -0.10041224956512451, + 0.009904350154101849, + 1.0 + ], + [ + 0.2993778586387634, + -0.013621983118355274, + 0.11808636039495468, + 3.1094597821407994, + -0.09550466388463974, + 0.0693007931113243, + 1.0 + ], + [ + 0.27318471670150757, + -0.02208544872701168, + 0.11725727468729019, + 3.114450754719325, + -0.0946204662322998, + 0.13322988152503967, + 1.0 + ], + [ + 0.25261783599853516, + -0.028546417132019997, + 0.1005900502204895, + 3.1171543599390468, + -0.11263494193553926, + 0.1541549116373062, + 1.0 + ], + [ + 0.23537665605545044, + -0.03455030545592308, + 0.08813552558422089, + 3.0719299038224896, + -0.11184228956699371, + 0.18637804687023163, + 1.0 + ], + [ + 0.22529083490371704, + -0.040993090718984604, + 0.07267187535762787, + 3.0427687113457402, + -0.12820850312709808, + 0.1625431776046753, + 1.0 + ], + [ + 0.21651163697242737, + -0.04700978472828865, + 0.05825633555650711, + 2.960055189328738, + -0.14405544102191922, + 0.07375796139240265, + 1.0 + ], + [ + 0.21053330600261688, + -0.051881324499845505, + 0.048965584486722946, + 2.9308541883998593, + -0.1760309487581253, + 0.006627105176448822, + 1.0 + ], + [ + 0.21078048646450043, + -0.05441339313983917, + 0.04613318666815758, + 2.934426011639186, + -0.20992179214954376, + -0.04904573038220405, + 1.0 + ], + [ + 0.20983965694904327, + -0.0576346218585968, + 0.042699385434389114, + 2.94748908479745, + -0.22835715115070343, + -0.07234585285186768, + 1.0 + ], + [ + 0.20953020453453064, + -0.061800118535757065, + 0.037855055183172226, + 2.9841951598697385, + -0.2503864467144013, + -0.07570581138134004, + 1.0 + ], + [ + 0.20996800065040588, + -0.05938059836626053, + 0.031295470893383026, + 3.017513560252734, + -0.27128469944000244, + -0.08644636720418929, + 1.0 + ], + [ + 0.208049014210701, + -0.05824604630470276, + 0.026144472882151604, + 3.0325885360413274, + -0.283991277217865, + -0.0654936358332634, + 1.0 + ], + [ + 0.20786404609680176, + -0.055747102946043015, + 0.02273724041879177, + 3.0170575102143964, + -0.28173649311065674, + -0.07209645211696625, + 1.0 + ], + [ + 0.20687884092330933, + -0.0536646768450737, + 0.016803009435534477, + 3.0001500268750867, + -0.28658995032310486, + -0.07071491330862045, + 1.0 + ], + [ + 0.2061355710029602, + -0.05464702099561691, + 0.006088911555707455, + 2.9790359904342374, + -0.3199290633201599, + -0.037575460970401764, + 1.0 + ], + [ + 0.20588628947734833, + -0.054577309638261795, + 0.0024786817375570536, + 2.966556342440196, + -0.324743390083313, + -0.0343405082821846, + 0.0 + ], + [ + 0.2072395235300064, + -0.05233311280608177, + 0.002909338101744652, + 2.951615708070346, + -0.3189088702201844, + -0.021303815767169002, + 0.0 + ], + [ + 0.20554152131080627, + -0.05069763585925102, + 0.016480186954140663, + 2.963755490379878, + -0.2536502778530121, + -0.0072058411315083495, + 0.0 + ], + [ + 0.20999234914779663, + -0.04897204414010048, + 0.05341820418834686, + 2.9811844547563275, + -0.2238471359014511, + 0.07381831854581833, + 0.0 + ], + [ + 0.22336262464523315, + -0.042829301208257675, + 0.09531678259372711, + 2.981918053823062, + -0.1585294157266617, + 0.08024245500564575, + 0.0 + ], + [ + 0.24448834359645844, + -0.019352659583091736, + 0.1258794218301773, + 3.06736525346572, + -0.1683950573205948, + 0.02843963727355003, + 0.0 + ], + [ + 0.2661701738834381, + 0.018117349594831467, + 0.1188187301158905, + -3.1202904173457107, + -0.2620820701122284, + -0.1464814990758896, + 0.0 + ], + [ + 0.284155935049057, + 0.05350619927048683, + 0.0986647754907608, + -3.056323619680949, + -0.3047184646129608, + -0.23916101455688477, + 0.0 + ], + [ + 0.28941649198532104, + 0.07357501238584518, + 0.07624166458845139, + -3.0426011850410184, + -0.28385117650032043, + -0.2553777694702148, + 0.0 + ], + [ + 0.3003194332122803, + 0.08887772262096405, + 0.06550279259681702, + -3.0161615331941327, + -0.30639490485191345, + -0.3089800775051117, + 0.0 + ], + [ + 0.30660921335220337, + 0.09975672513246536, + 0.05299840867519379, + -3.038355292873927, + -0.32882931828498835, + -0.3210629224777221, + 0.0 + ], + [ + 0.30891942977905273, + 0.10588400065898895, + 0.038878798484802246, + -3.0571785440021237, + -0.37006232142448425, + -0.3256180584430695, + 0.0 + ], + [ + 0.3029560446739197, + 0.10464387387037277, + 0.037423938512802124, + -3.073860215144702, + -0.33073523640632624, + -0.35020595788955683, + 1.0 + ], + [ + 0.30462417006492615, + 0.10209296643733978, + 0.04233479127287865, + -3.073983686166354, + -0.2932083308696747, + -0.3519075214862823, + 1.0 + ], + [ + 0.3083377480506897, + 0.09645413607358932, + 0.05912189185619354, + -3.043394113081046, + -0.27734434604644775, + -0.369204044342041, + 1.0 + ], + [ + 0.3125617206096649, + 0.08730287849903107, + 0.0854974314570427, + -2.961227761703082, + -0.29042357206344604, + -0.3927679061889649, + 1.0 + ], + [ + 0.3128991425037384, + 0.06573168933391571, + 0.10239521414041519, + -3.0299823229485234, + -0.27964115142822266, + -0.31314024329185486, + 1.0 + ], + [ + 0.3159773051738739, + 0.023283684626221657, + 0.10413633286952972, + 3.1387246464197567, + -0.30195912718772894, + -0.23240959644317627, + 1.0 + ], + [ + 0.3227931261062622, + -0.009689324535429478, + 0.11151041835546494, + 3.0383121614628514, + -0.30420777201652527, + -0.2041979432106018, + 1.0 + ], + [ + 0.32633352279663086, + -0.025206604972481728, + 0.11340848356485367, + 2.966700317459651, + -0.24916303157806396, + -0.14385493099689484, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.005884885787963867, + 0.10434430837631226, + 0.2908439040184021, + 0.31079989671707153, + 0.2759517431259155, + 0.2749616503715515, + 0.2749616503715515, + 0.2759517431259155, + 0.2749616503715515, + 0.2749616503715515, + 0.2749616503715515, + 0.2749616503715515, + 0.2759517431259155, + 0.2039540410041809, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "3119", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3119/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3125.json b/annotation/test/3125.json new file mode 100644 index 0000000000000000000000000000000000000000..6e4c934998e2fb21ca6a01be39031d1f056cdeb5 --- /dev/null +++ b/annotation/test/3125.json @@ -0,0 +1,546 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the knife to the left of the pot" + ], + "videos": [ + { + "video_path": "videos/test/3125/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -4.592514732840553e-18, + 1.8955454669971017e-17, + 2.824352936100906e-18, + 1.0 + ], + [ + -0.0023660234813030214, + 0.0002078910967210274, + 0.009279220185936531, + -0.000248401511528258, + -0.024665523165337246, + -0.003362411475714385, + 1.0 + ], + [ + 0.01316200304252077, + -0.0005742752941385023, + 0.019596385087415548, + -0.009710448732441503, + 0.046838780260041894, + -0.021705820414939993, + 1.0 + ], + [ + 0.02542599569454574, + -0.008689908069671654, + 0.02596186631383642, + 0.009986296192041402, + -0.0031411995047402833, + -0.04786705671186288, + 1.0 + ], + [ + 0.028317947129282983, + -0.0031934171004046417, + 0.027809491846180128, + 0.0032598913057587534, + -0.0102914438615236, + -0.0233928333856695, + 1.0 + ], + [ + 0.016225055602858304, + 0.0026218365802410317, + 0.014898332548637457, + -0.0027955148352442425, + -0.012699728517695543, + -0.005895523293954795, + 1.0 + ], + [ + 0.002015291834898154, + 0.009437935676192402, + 0.00930743421789417, + -0.019761164236531143, + -0.002615323953584947, + 0.00463572143843914, + 1.0 + ], + [ + 0.0003052746547187819, + 0.0048329913529181505, + -0.00018356962530270056, + -0.00965807600659548, + 0.0031079178370124637, + -0.009535286475665294, + 1.0 + ], + [ + -0.0003378416339806994, + -0.003249689052356289, + 0.00022865965761251726, + 0.02015818204424822, + -0.0002934251207377759, + -0.004809656252965944, + 1.0 + ], + [ + -0.0032228206483310914, + -0.0006888997003409938, + 0.0004747413297916192, + 0.003190548690751293, + -0.013477842794671343, + -0.0020389871676437113, + 0.0 + ], + [ + -0.005090728982560583, + 0.0014804211298749593, + -0.0036585441004068427, + 0.012504214721048882, + -0.01682974834828917, + 0.013385939578911054, + 0.0 + ], + [ + -0.0008581944463501969, + 0.0016542099607699814, + -0.043696713980896446, + 0.006197872003109985, + 0.08356559366487785, + 0.014609801091930805, + 0.0 + ], + [ + -0.01502034772930768, + -0.03748188102699091, + -0.062208157220402814, + 0.04667549047550523, + 0.08861327748756133, + -0.07023020273028674, + 0.0 + ], + [ + -0.014704801049043871, + -0.04720654447671706, + -0.036200534781104236, + 0.052402738626017076, + 0.024503419906138715, + -0.07849266009901229, + 0.0 + ], + [ + -0.01300048601681581, + -0.05191730227278284, + 0.016481695963201863, + 0.017253333082335218, + -0.07354898648780848, + -0.053330120340002, + 0.0 + ], + [ + -0.0039542710808973406, + -0.04567606089011318, + 0.03427578919031608, + -0.0379376595968215, + -0.1016705751808743, + 0.043817877767261135, + 0.0 + ], + [ + 0.00813760149901811, + -0.03693805703185589, + 0.015370866724034515, + -0.022302100799079457, + -0.019024990866596665, + 0.06167371396043939, + 0.0 + ], + [ + 0.0023881374105205345, + -0.016714912413064317, + 0.011097740621095798, + 0.05055114127951867, + -0.0119478370991645, + 0.027292468920786874, + 0.0 + ], + [ + 0.005036934518471783, + -0.003160570911569745, + 0.015364882392846946, + 0.029262550077222463, + -0.028544376210944064, + 0.04792085515191453, + 0.0 + ], + [ + 0.004540340747132932, + 0.009650927529739128, + 0.01883890215022493, + -0.007363134085019463, + -0.05356953517676484, + 0.031074820667217593, + 0.0 + ], + [ + 0.00037362226250978664, + 0.0018697168075781383, + 0.0009779844485218096, + -0.00017848278963304275, + -0.0046654238570536756, + -0.024071616341302043, + 0.0 + ], + [ + 0.0004152925770528228, + 0.00530324459447938, + -0.014402847947119704, + 0.01419896959507482, + 0.028078632763641725, + 0.005278958011042252, + 1.0 + ], + [ + -0.0014599594861533106, + 0.018205126972494393, + -0.04404229048274185, + 0.003347236164650083, + 0.0869401434442204, + 0.013142353373758452, + 1.0 + ], + [ + -0.010376833821975845, + 0.03841308262733927, + -0.041349809410227874, + 0.0026567769104859917, + 0.03925706156247909, + -0.03292432122633876, + 1.0 + ], + [ + -0.019163363882631027, + 0.02118329867383228, + -0.010598467698531603, + -0.035075741857073794, + -0.0031419663948009774, + -0.04919067956023372, + 1.0 + ], + [ + -0.01155164791542835, + 0.015555014670973517, + 0.0031714021747229135, + -0.046244748154549174, + -0.00441543304556897, + 0.03276605974177228, + 1.0 + ], + [ + 0.0001673835904489439, + -5.135227604818924e-05, + 0.0004051760461424439, + 3.139049392343678e-05, + -5.687969746084635e-06, + -4.942101093273772e-05, + 1.0 + ] + ], + "state": [ + [ + 0.28010329604148865, + -0.05755792185664177, + 0.09995537996292114, + 3.1264762600236615, + -0.20194487273693087, + -0.11666464805603027, + 1.0 + ], + [ + 0.28010329604148865, + -0.05755792185664177, + 0.09995537996292114, + 3.1264762600236615, + -0.20194487273693087, + -0.11666464805603027, + 1.0 + ], + [ + 0.27960827946662903, + -0.057850420475006104, + 0.0903942808508873, + 3.125614244612404, + -0.17723043262958527, + -0.11362889409065245, + 1.0 + ], + [ + 0.2959439754486084, + -0.0594518668949604, + 0.07341880351305008, + 3.111831149207898, + -0.22367092967033386, + -0.09062831848859788, + 1.0 + ], + [ + 0.3271406292915344, + -0.05434081330895424, + 0.05350247398018837, + 3.111004317300864, + -0.21884824335575107, + -0.04170856624841691, + 1.0 + ], + [ + 0.3609074354171753, + -0.053406547755002975, + 0.03242163360118866, + 3.1091530491882047, + -0.20778721570968628, + -0.018135594204068184, + 1.0 + ], + [ + 0.3797783851623535, + -0.056853000074625015, + 0.02128179557621479, + 3.1052029897742948, + -0.1948997974395752, + -0.012549788691103458, + 1.0 + ], + [ + 0.38336747884750366, + -0.06666912138462067, + 0.012883787974715233, + 3.0863749516480645, + -0.19245265424251556, + -0.017366502434015274, + 1.0 + ], + [ + 0.3834973871707916, + -0.07148759812116623, + 0.013383889570832253, + 3.074829602735587, + -0.1950204372406006, + -0.007486977614462376, + 1.0 + ], + [ + 0.3832763433456421, + -0.06825865805149078, + 0.01288190670311451, + 3.094044590490409, + -0.19440454244613647, + -0.002615853678435087, + 1.0 + ], + [ + 0.3802139163017273, + -0.06758508831262589, + 0.011761915870010853, + 3.0969567020707807, + -0.18084482848644257, + -0.0011967995669692755, + 0.0 + ], + [ + 0.37453538179397583, + -0.06889399141073227, + 0.014506570994853973, + 3.112034047144004, + -0.16461093723773956, + -0.015512033365666866, + 0.0 + ], + [ + 0.3665187358856201, + -0.06913173198699951, + 0.05750136822462082, + 3.120180944102355, + -0.2485593259334564, + -0.02798062562942505, + 0.0 + ], + [ + 0.33795449137687683, + -0.029511911794543266, + 0.11331096291542053, + -3.1351261969008526, + -0.3349754512310028, + 0.048092804849147804, + 0.0 + ], + [ + 0.3098379373550415, + 0.01616068370640278, + 0.1429528445005417, + -3.1102209111028394, + -0.3589088320732117, + 0.1317427009344101, + 0.0 + ], + [ + 0.29605600237846375, + 0.06720128655433655, + 0.12448719143867493, + -3.113285832228609, + -0.28650331497192383, + 0.18957026302814484, + 0.0 + ], + [ + 0.29269465804100037, + 0.11403476446866989, + 0.0917443260550499, + -3.1393435063124677, + -0.18339447677135465, + 0.14817692339420316, + 0.0 + ], + [ + 0.29790711402893066, + 0.152195006608963, + 0.07819698750972748, + 3.132921011308678, + -0.16388002038002014, + 0.0857195183634758, + 0.0 + ], + [ + 0.30065926909446716, + 0.16911078989505768, + 0.0674949660897255, + -3.0951894355290612, + -0.1521073430776596, + 0.058006323873996735, + 0.0 + ], + [ + 0.3077048361301422, + 0.17339634895324707, + 0.05323195457458496, + -3.0588558857613286, + -0.12120635062456131, + 0.011137878522276877, + 0.0 + ], + [ + 0.314667671918869, + 0.16541238129138947, + 0.03435248136520386, + -3.0629138742857656, + -0.06520979851484299, + -0.015415795147418976, + 0.0 + ], + [ + 0.3150860071182251, + 0.16361865401268005, + 0.03325729817152023, + -3.0647054706984243, + -0.06243121251463891, + 0.008995442651212215, + 0.0 + ], + [ + 0.31468749046325684, + 0.15722092986106873, + 0.04720897227525711, + -3.0500133876972875, + -0.09001966565847397, + 0.001547476975247264, + 1.0 + ], + [ + 0.3094746768474579, + 0.135056272149086, + 0.08909973502159119, + -3.0444161241226873, + -0.1753726601600647, + -0.019759174436330795, + 1.0 + ], + [ + 0.29189541935920715, + 0.09315165877342224, + 0.12414290010929108, + -3.0468991493159017, + -0.21756359934806827, + 0.009873553179204464, + 1.0 + ], + [ + 0.2715578079223633, + 0.07085926830768585, + 0.12835301458835602, + -3.0929796752804, + -0.2188165783882141, + 0.060345359146595, + 1.0 + ], + [ + 0.26207998394966125, + 0.05487605184316635, + 0.12201546877622604, + -3.132030429440089, + -0.21269704401493073, + 0.02708319202065468, + 1.0 + ], + [ + 0.2623274326324463, + 0.054937999695539474, + 0.12165525555610657, + -3.1320097233452877, + -0.21269182860851288, + 0.027133805677294728, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05698961019515991, + 0.33987146615982056, + 0.5698221921920776, + 0.5707310736179352, + 0.5707310736179352, + 0.5707310736179352, + 0.5707310736179352, + 0.5707310736179352, + 0.5698221921920776, + 0.5707310736179352, + 0.5698221921920776, + 0.5698221921920776, + 0.4772809147834778, + 0.1766626238822937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "3125", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3125/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3129.json b/annotation/test/3129.json new file mode 100644 index 0000000000000000000000000000000000000000..ef6a59bbb8a078ed5f0d297a8d3a6eadebff2508 --- /dev/null +++ b/annotation/test/3129.json @@ -0,0 +1,869 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the blue square object to the far edge of the table." + ], + "videos": [ + { + "video_path": "videos/test/3129/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 4.1159565715027114e-18, + 8.457618643751035e-18, + 2.3423666796318415e-17, + 1.0 + ], + [ + -0.0035252539541308216, + 0.00013413741202672323, + 0.011603295959642919, + 0.011772288822733486, + -0.028726069549225176, + -0.002191452063692776, + 1.0 + ], + [ + 0.015606929104478414, + -0.018255507381619403, + 0.008372773363556185, + -0.0021379072252169216, + 0.004851680867496357, + -0.08148211810781673, + 1.0 + ], + [ + 0.014577387071314648, + -0.00808115382522208, + 0.0024578803714770904, + 0.04712424386528344, + 0.02105205283945135, + -0.009788304018121013, + 1.0 + ], + [ + 0.017034350903430216, + -0.013749051824237316, + 0.005835190218585422, + 0.03350235200122624, + 0.020403272330241452, + -0.036399530975669676, + 1.0 + ], + [ + 0.008404730847004846, + -0.003357179513508808, + 0.00542126033702268, + 0.003671685694197695, + 0.009632078011320789, + 0.01650953304678395, + 0.0 + ], + [ + 0.012084347271821609, + -0.002256552101742038, + 0.010771127465752215, + 0.05630716005580259, + 0.024800075039444407, + 0.02300811688488717, + 0.0 + ], + [ + 0.004396416213596767, + 0.0066660867640042235, + 0.010981857860731024, + -0.07091495352513136, + 0.012253728142331756, + 0.045687636591381676, + 0.0 + ], + [ + 0.0004411760064588682, + 0.001552480717494974, + 0.005050753481039475, + -0.0411251069134677, + 0.01909403572498444, + 0.01408676498752835, + 0.0 + ], + [ + -0.00275911915141622, + 0.002102859011776965, + 0.0006724121650519124, + -0.005239158731339332, + -0.016048087656264642, + 0.0023335633967956656, + 0.0 + ], + [ + -0.005712733288404362, + 0.007971013955540463, + 0.0003242094265030763, + -0.00855831130447413, + -0.011193375229577454, + 0.012595573257513318, + 0.0 + ], + [ + -0.006800701884131019, + 0.007612628722611496, + 0.0008141129308979747, + -0.0007375930629060501, + -0.012010917464438076, + 0.008217387062791117, + 0.0 + ], + [ + -0.009828816510946676, + 0.014798125145538205, + -0.0020774267490551437, + -0.016641767216545176, + 0.002956650335162456, + 0.01338691752490793, + 0.0 + ], + [ + -0.01911182908393362, + 0.025709222787804676, + -0.004174936101541799, + -0.004622045616984426, + -0.012476577047780822, + 0.04632809508423167, + 0.0 + ], + [ + -0.009596277962432061, + 0.007668580542355715, + -0.0016233699475119497, + -0.0093717994669041, + -0.014853461235810644, + -0.0026308890866030663, + 0.0 + ], + [ + -0.012159897838746252, + 0.008338667976009082, + -0.0015220671630549198, + 0.0001542609903253245, + -0.0077318455715763065, + -0.03394964222139435, + 0.0 + ], + [ + -0.018333534709631203, + 0.002033304239999047, + -0.0026249234557666236, + -0.014308284993796314, + 0.02197828080718095, + 0.001695754319420036, + 0.0 + ], + [ + -0.02206082708407595, + -0.0029747955491956535, + -0.0031377481498172477, + -0.07374079448736585, + 0.010717948766586176, + -0.0060082766365430074, + 0.0 + ], + [ + -0.015345502828929443, + 0.011637183935596769, + -0.0015572601326852, + -0.013579415947569864, + 0.02287529806905323, + 0.03204427320370812, + 0.0 + ], + [ + -0.014602699585296839, + -0.003553396669732052, + -0.002127101944066618, + -0.004889207510542486, + 0.017509080968711628, + 0.0003516526150499381, + 0.0 + ], + [ + -0.00430062448029336, + -0.0034684005149740248, + 9.121991304261426e-05, + -0.05281628900142659, + 0.027124001197428214, + -0.007832534180423335, + 0.0 + ], + [ + -0.005028543313817829, + -0.0014216784239395506, + 0.00034563298074440465, + -0.007242554917190607, + 0.04104937375455452, + 0.029680358036961695, + 0.0 + ], + [ + -0.007181979007716884, + -0.0007116067969076276, + -0.001002855186281061, + 0.024302574806858157, + 0.03619773977328307, + 0.0012532482098493547, + 0.0 + ], + [ + -0.0006491615689420939, + -0.0005096275210834184, + 0.00017613197263689369, + 0.004517377311944881, + 0.002532293975510905, + -0.008683437889035452, + 0.0 + ], + [ + -0.010511457069757212, + -0.006570248484065744, + -0.00490731831285969, + 0.0024609692379368785, + -0.020334515480552172, + -0.028579699735731223, + 0.0 + ], + [ + -0.018821526981505177, + -0.014364773928761754, + -0.00862875059599654, + 0.042289108211444666, + -0.05488857685458421, + 0.0027137677276767103, + 0.0 + ], + [ + -0.018841258946138733, + -0.016923893480726742, + -0.007772415816446215, + 0.044815690265756554, + -0.05248565713722481, + 0.0037916465813721944, + 0.0 + ], + [ + 0.002108400907256228, + -0.0022077032629761097, + -0.00042073143672727813, + -0.002465054128709816, + -0.0022168643158314754, + -0.010853646980183965, + 0.0 + ], + [ + 0.0092434426509364, + -0.004034851231325865, + -0.004091576174056264, + -0.018826031938504295, + 0.03367675454162918, + -0.028022671693498945, + 0.0 + ], + [ + 0.009566689449435208, + 0.007796177529149474, + -0.0037951273709529707, + -0.05471900231028756, + 0.00028285015218074963, + -0.0007904488831193692, + 0.0 + ], + [ + 0.012867246383875822, + 0.009803362524473287, + -0.001865282413395483, + -0.024232193108338983, + 0.022821445759859265, + 0.008750668391653177, + 0.0 + ], + [ + 0.008652271476383745, + 0.007245552296917836, + 0.007834026751970553, + -0.006081822505118146, + 0.004956641653847792, + 0.0036806304231072826, + 0.0 + ], + [ + 0.010473646152905436, + 0.007402584490680511, + 0.0018511481383781164, + 0.013066961185367635, + 0.004563737784273491, + -0.007806344197788077, + 0.0 + ], + [ + -0.0005061911027881512, + 0.0045440895271217805, + -0.00866274100856491, + 0.06903866431003935, + 0.006402928196238709, + 0.009815348067513987, + 0.0 + ], + [ + 0.008898666921194249, + -0.012322939318545733, + -0.015861145075645105, + 0.017069698414491883, + -0.05496006640832321, + -0.04417294905301296, + 0.0 + ], + [ + 0.00492568041456019, + -0.006448630421755098, + -0.008103122523602789, + 0.010955849263465503, + -0.0236933397791088, + -0.045424812461725285, + 0.0 + ], + [ + 0.01161449338411787, + -0.0007124837594369448, + -0.00877226995077319, + -0.024460424122731278, + -0.030228487522359362, + -0.04138397094287125, + 1.0 + ], + [ + 0.0208287241948994, + -0.0050159683463432145, + -0.015623851906484722, + 0.0029290548343176006, + -0.003764978583456127, + -0.04525533816479592, + 1.0 + ], + [ + 0.02361282053096531, + -0.011662175565524114, + 0.0011309005973515493, + 0.038780367161727225, + 0.0016701346261701919, + -0.025464067812805177, + 1.0 + ], + [ + 0.03771574268018772, + -0.01328355872036314, + 0.008685151914648317, + 0.11281743303918104, + 0.03391353997047236, + 0.033454372967591156, + 1.0 + ], + [ + 0.029985011874986225, + -0.017021032039366966, + 0.0016849694425829418, + 0.02348606986082062, + -0.0051146608014136785, + 0.021619299168887298, + 1.0 + ], + [ + 0.02433149365240754, + -0.02361874448934022, + 0.008158574869835318, + 0.0013705760635106881, + -0.001890670623082131, + -0.0037775955742021116, + 1.0 + ], + [ + 0.008115887669402804, + -0.019916688889788366, + 0.003827023459449438, + 0.013865868462267951, + 0.011098225785215375, + -0.028794377088798066, + 1.0 + ], + [ + 0.0008915269388530425, + -0.0018075595106047746, + -0.0002556198618388556, + 0.0008815593568488424, + 0.0027822188330664144, + -0.004043406561950241, + 1.0 + ] + ], + "state": [ + [ + 0.349455326795578, + -0.02438986301422119, + 0.0634509027004242, + -3.0982521196180066, + -0.133094921708107, + 0.40444836020469666, + 1.0 + ], + [ + 0.349455326795578, + -0.02438986301422119, + 0.0634509027004242, + -3.0982521196180066, + -0.133094921708107, + 0.40444836020469666, + 1.0 + ], + [ + 0.34751299023628235, + -0.02482018992304802, + 0.051487457007169724, + -3.086920431005307, + -0.1044899970293045, + 0.4079001247882843, + 1.0 + ], + [ + 0.35505393147468567, + -0.0012056318810209632, + 0.045792724937200546, + -3.0977414232962808, + -0.11343716084957123, + 0.4895190000534058, + 1.0 + ], + [ + 0.36419978737831116, + 0.012936793267726898, + 0.045355040580034256, + -3.051620790856429, + -0.13489358127117157, + 0.4984540641307831, + 1.0 + ], + [ + 0.3727690279483795, + 0.033788375556468964, + 0.04311124607920647, + -3.022839853661605, + -0.15840357542037964, + 0.5333009362220763, + 1.0 + ], + [ + 0.3785719871520996, + 0.041831161826848984, + 0.039514098316431046, + -3.0163766761594495, + -0.16598738729953766, + 0.5155227780342102, + 0.0 + ], + [ + 0.3886701166629791, + 0.0516725517809391, + 0.031248779967427254, + -2.9557135572009763, + -0.18766365945339206, + 0.4891406893730164, + 0.0 + ], + [ + 0.3965877592563629, + 0.05076463520526886, + 0.02025546319782734, + -3.017864542203494, + -0.19105471670627594, + 0.4411022663116455, + 0.0 + ], + [ + 0.39826464653015137, + 0.0505419597029686, + 0.01523018628358841, + -3.0558131878548345, + -0.20823848247528076, + 0.424408495426178, + 0.0 + ], + [ + 0.3968037962913513, + 0.04764596372842789, + 0.013828039169311523, + -3.060841241972991, + -0.19204938411712646, + 0.4234408736228943, + 0.0 + ], + [ + 0.39511334896087646, + 0.03819803521037102, + 0.011789281852543354, + -3.067139597731181, + -0.17986333370208737, + 0.4115990400314331, + 0.0 + ], + [ + 0.39222007989883423, + 0.028717756271362305, + 0.009216783568263054, + -3.066549176471778, + -0.16726961731910706, + 0.404195100069046, + 0.0 + ], + [ + 0.38902679085731506, + 0.01113265473395586, + 0.00852906797081232, + -3.08090544690425, + -0.16919876635074618, + 0.39042761921882635, + 0.0 + ], + [ + 0.3810623288154602, + -0.020169170573353767, + 0.007881522178649902, + -3.0778370966487607, + -0.1537600755691528, + 0.3444025814533233, + 0.0 + ], + [ + 0.3745918571949005, + -0.030730439350008965, + 0.007529944181442261, + -3.0877546576135835, + -0.13910342752933502, + 0.34800899028778076, + 0.0 + ], + [ + 0.3659992218017578, + -0.042792316526174545, + 0.006904705427587032, + -3.092430206137248, + -0.13312695920467377, + 0.38263118267059326, + 0.0 + ], + [ + 0.34963783621788025, + -0.051705438643693924, + 0.006970736663788557, + -3.1063541305535516, + -0.15499483048915863, + 0.37982425093650823, + 0.0 + ], + [ + 0.3278690278530121, + -0.05731368064880371, + 0.006766855251044035, + 3.1022111011021813, + -0.1659153252840042, + 0.3855291903018952, + 0.0 + ], + [ + 0.317886620759964, + -0.07384803891181946, + 0.006219030823558569, + 3.0938732494884214, + -0.18995290994644165, + 0.3538491427898407, + 0.0 + ], + [ + 0.30282366275787354, + -0.07552030682563782, + 0.005381867755204439, + 3.0888833311670503, + -0.20745880901813507, + 0.35434371232986445, + 0.0 + ], + [ + 0.2977294921875, + -0.07371705025434494, + 0.004228097386658192, + 3.0340910126739224, + -0.23412342369556427, + 0.36385077238082886, + 0.0 + ], + [ + 0.29277610778808594, + -0.07413052022457123, + 0.002578883897513151, + 3.032847302156039, + -0.2780440151691437, + 0.3377695679664612, + 0.0 + ], + [ + 0.2857515215873718, + -0.07573263347148895, + 0.0014919859822839499, + 3.056303972499915, + -0.31416282057762146, + 0.34059032797813416, + 0.0 + ], + [ + 0.2850687503814697, + -0.0754518061876297, + 0.0010831914842128754, + 3.0579415207081517, + -0.3159334361553192, + 0.3499196469783783, + 0.0 + ], + [ + 0.2720308005809784, + -0.07280373573303223, + 0.0019435726571828127, + 3.0517242943220815, + -0.29316601157188416, + 0.3778875172138214, + 0.0 + ], + [ + 0.24775724112987518, + -0.06621347367763519, + 0.0034975039307028055, + 3.096150530623742, + -0.23873405158519745, + 0.3700425624847412, + 0.0 + ], + [ + 0.222905233502388, + -0.05734129250049591, + 0.005839250050485134, + -3.1407951657362325, + -0.18647028505802155, + 0.3637681007385254, + 0.0 + ], + [ + 0.22398293018341064, + -0.054569076746702194, + 0.006645297631621361, + 3.13787792914594, + -0.18425096571445465, + 0.37481039762496954, + 0.0 + ], + [ + 0.23026135563850403, + -0.0477469339966774, + 0.012346349656581879, + 3.1137702913307628, + -0.21774911880493164, + 0.40362265706062317, + 0.0 + ], + [ + 0.2410740852355957, + -0.051488444209098816, + 0.018328899517655373, + 3.0588747208290776, + -0.2180097997188568, + 0.4044400155544281, + 0.0 + ], + [ + 0.2558763921260834, + -0.05561208724975586, + 0.023717638105154037, + 3.0361453240090093, + -0.24147100746631622, + 0.3974028527736664, + 0.0 + ], + [ + 0.2682802975177765, + -0.0591142475605011, + 0.018962660804390907, + 3.0308366810255727, + -0.24678629636764526, + 0.39416635036468506, + 0.0 + ], + [ + 0.2807922661304474, + -0.06209995597600937, + 0.02053060755133629, + 3.0418227558308324, + -0.25045064091682434, + 0.4026953279972077, + 0.0 + ], + [ + 0.27970629930496216, + -0.06653930246829987, + 0.029194379225373268, + 3.1132033114605626, + -0.2577886879444122, + 0.393254816532135, + 0.0 + ], + [ + 0.27911022305488586, + -0.05296320840716362, + 0.04645564779639244, + 3.119175773235508, + -0.20136164128780365, + 0.43666002154350286, + 0.0 + ], + [ + 0.27923816442489624, + -0.04558848217129707, + 0.0552365817129612, + 3.1210325491898736, + -0.17645186185836792, + 0.4822372496128083, + 0.0 + ], + [ + 0.28759267926216125, + -0.04020766168832779, + 0.06589517742395401, + 3.089351752894469, + -0.1452319622039795, + 0.5234053134918213, + 1.0 + ], + [ + 0.3006085753440857, + -0.025970956310629845, + 0.08408866822719574, + 3.0857600552314004, + -0.13896189630031588, + 0.5688400268554689, + 1.0 + ], + [ + 0.31428083777427673, + -0.0034843855537474155, + 0.08559662848711014, + 3.1209898461871823, + -0.1391630619764328, + 0.5946067571640015, + 1.0 + ], + [ + 0.33891114592552185, + 0.028988219797611237, + 0.08195796608924866, + -3.044767530756541, + -0.17368301749229428, + 0.5613775253295898, + 1.0 + ], + [ + 0.3548114001750946, + 0.05919266492128372, + 0.08710859715938568, + -3.0176178609305104, + -0.1664637178182602, + 0.5400596261024475, + 1.0 + ], + [ + 0.36355701088905334, + 0.09293868392705917, + 0.08603644371032715, + -3.0169170071654996, + -0.1650533527135849, + 0.5440968871116637, + 1.0 + ], + [ + 0.3601160943508148, + 0.11451059579849243, + 0.08606725186109543, + -3.0076299031549176, + -0.17958395183086395, + 0.571729838848114, + 1.0 + ], + [ + 0.3598286509513855, + 0.11641518026590347, + 0.0867132917046547, + -3.0074091126495084, + -0.18288008868694305, + 0.5754270553588867, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.051565468311309814, + 0.3298342227935791, + 0.6185365319252014, + 0.8350401669740677, + 0.933180145919323, + 0.940758541226387, + 0.940758541226387, + 0.9410393536090851, + 0.9410393536090851, + 0.9410393536090851, + 0.9410393536090851, + 0.9413194209337234, + 0.9410393536090851, + 0.9413194209337234, + 0.9413194209337234, + 0.9413194209337234, + 0.9413194209337234, + 0.9413194209337234, + 0.9413194209337234, + 0.9413194209337234, + 0.9413194209337234, + 0.9413194209337234, + 0.9413194209337234, + 0.943258099257946, + 0.9446197673678398, + 0.9446197673678398, + 0.9446197673678398, + 0.9446197673678398, + 0.9446197673678398, + 0.9446197673678398, + 0.9446197673678398, + 0.9201150313019753, + 0.7561112940311432, + 0.516761988401413, + 0.21542131900787354, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "3129", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3129/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3146.json b/annotation/test/3146.json new file mode 100644 index 0000000000000000000000000000000000000000..e48461d736215eabe8a41bf9ba24b95708801177 --- /dev/null +++ b/annotation/test/3146.json @@ -0,0 +1,375 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "flip pot upright which is in sink" + ], + "videos": [ + { + "video_path": "videos/test/3146/rgb.mp4" + } + ], + "action": [ + [ + -0.0004205254206939732, + 0.00016949716075252138, + 0.001204382212434229, + 0.002633254687704754, + -0.0036410867496305425, + 0.002447419737218451, + 1.0 + ], + [ + -0.0022949735782524803, + -0.00048709066542658826, + 0.008219468430840244, + 0.09224794131723535, + -0.049879369189218745, + -0.031658682857499836, + 1.0 + ], + [ + 0.002650465938043507, + 0.004599398484526472, + 0.0016015660620894725, + 0.1355623590775432, + -0.05908788166799937, + -0.05625562552446497, + 1.0 + ], + [ + 0.0015818800484754462, + -0.002658938046652331, + 0.006947772632175998, + 0.14540114475947813, + -0.07653155611509159, + -0.06999811330116144, + 1.0 + ], + [ + 0.00045444292309856877, + 0.007542724673470249, + 0.009523087698693212, + 0.15827135482589477, + -0.055837662435467984, + -0.036068798537292265, + 1.0 + ], + [ + 0.0018513603970165282, + 0.004858469589536877, + 0.008842219195783292, + 0.042969505679410956, + -0.024691749173491675, + -0.009111573452288838, + 1.0 + ], + [ + -0.0009796082104521538, + 3.427463601683488e-05, + 0.011973917216877423, + -0.0008087282956717877, + -0.01462960530723699, + 0.005327495914766764, + 1.0 + ], + [ + 0.0017898652832587442, + -0.00244422383559327, + 0.008450561094017648, + 0.009458710210223023, + -0.004787159663950755, + 0.0027973233115618596, + 1.0 + ], + [ + 0.00482815373553145, + -0.006216799089558815, + 0.01407424010022068, + -0.00557347855256089, + -0.01231232301064943, + -0.006199378634775674, + 1.0 + ], + [ + 0.004035029760151551, + -0.0067270757975957714, + 0.004762807981625828, + -0.03777095885773933, + 0.026933221288221995, + -0.008792946987692904, + 1.0 + ], + [ + -0.0003156748413992957, + -0.004060456466656546, + 0.000830410987443935, + -0.068476236858569, + 0.029683094016086105, + -0.005775198650993096, + 0.0 + ], + [ + 0.001445580836538754, + -0.004432702762097887, + -0.003570558611483619, + -0.08084357801989499, + 0.03166349458161168, + -0.0170100325649662, + 0.0 + ], + [ + 0.00039909498469278083, + -0.005360562142965797, + -0.00361084330358427, + -0.04636214743381686, + -0.022666982688656304, + -0.023743640890527665, + 0.0 + ], + [ + 0.0017198912060026816, + -0.0074664868810063005, + 0.002490549581542353, + -0.0426956068397472, + -0.055131415294708, + -0.05630804691409586, + 0.0 + ], + [ + -0.004329624042603697, + -0.005518032305456739, + 0.005257972416056145, + -0.08258419122410225, + -0.03213729502277723, + -0.016129325123655086, + 0.0 + ], + [ + 0.0025048672423172054, + -0.006486674542181199, + 0.006778324625881271, + -0.04203057027891979, + -0.02582370209639032, + -0.0094759260864426, + 0.0 + ], + [ + -0.00013403287971853925, + 0.000684690947932362, + -4.103373265034706e-05, + -0.002129055965680179, + 0.0005793200150573113, + 0.0011354530041627925, + 1.0 + ], + [ + 0.00013309335209772783, + -0.00019394024599759976, + -1.6522764347274998e-07, + 0.0012233008190540714, + 0.0008389249878135492, + 0.00039144735445692297, + 1.0 + ] + ], + "state": [ + [ + 0.2645905911922455, + -0.0808279886841774, + 0.19687697291374207, + 3.1233435348891696, + -0.29620787501335144, + 0.060421012341976166, + 1.0 + ], + [ + 0.2645506262779236, + -0.08102220296859741, + 0.19560544192790985, + 3.126742961006709, + -0.29261109232902527, + 0.057795993983745575, + 1.0 + ], + [ + 0.2647045850753784, + -0.08064769953489304, + 0.18706730008125305, + -3.073389710980006, + -0.24212540686130524, + 0.08959905803203583, + 1.0 + ], + [ + 0.26812466979026794, + -0.08483804017305374, + 0.18584725260734558, + -2.9524998535686215, + -0.18656580150127408, + 0.15071889758110044, + 1.0 + ], + [ + 0.27023300528526306, + -0.08055542409420013, + 0.17992627620697021, + -2.822718920307704, + -0.123896062374115, + 0.2343209832906723, + 1.0 + ], + [ + 0.2730126976966858, + -0.08418627828359604, + 0.16866223514080048, + -2.6707893927865705, + -0.08201019465923308, + 0.28620415925979614, + 1.0 + ], + [ + 0.2756653130054474, + -0.08373822271823883, + 0.15876375138759613, + -2.629345627623149, + -0.06412248313426971, + 0.3055619299411773, + 1.0 + ], + [ + 0.273615300655365, + -0.07826228439807892, + 0.1482686549425125, + -2.6302581151300153, + -0.04875938966870307, + 0.3080920279026031, + 1.0 + ], + [ + 0.27370524406433105, + -0.0716572031378746, + 0.142189621925354, + -2.6207882483773908, + -0.04321570321917534, + 0.3079949915409088, + 1.0 + ], + [ + 0.27491945028305054, + -0.05826323851943016, + 0.1332917958498001, + -2.626853497820445, + -0.03561751544475556, + 0.3195057511329651, + 1.0 + ], + [ + 0.27620038390159607, + -0.049202170222997665, + 0.13260215520858765, + -2.664227994280406, + -0.06338814646005629, + 0.3138872981071472, + 1.0 + ], + [ + 0.27460142970085144, + -0.04552830010652542, + 0.13370785117149353, + -2.731953503685542, + -0.09240300208330154, + 0.30534243583679194, + 0.0 + ], + [ + 0.27473586797714233, + -0.04271381348371506, + 0.1388603299856186, + -2.8128591795736035, + -0.12822020053863525, + 0.30835250020027155, + 0.0 + ], + [ + 0.27329981327056885, + -0.0390700064599514, + 0.14401721954345703, + -2.8631186207109174, + -0.1143741086125374, + 0.33833447098732, + 0.0 + ], + [ + 0.2723384201526642, + -0.031072232872247696, + 0.14387358725070953, + -2.913989545898982, + -0.0765569880604744, + 0.4077688157558441, + 0.0 + ], + [ + 0.26604536175727844, + -0.026642467826604843, + 0.1396765410900116, + -2.9982735981517514, + -0.04886762052774429, + 0.4307531416416169, + 0.0 + ], + [ + 0.26549032330513, + -0.018766455352306366, + 0.13402345776557922, + -3.0409068708592137, + -0.024657949805259705, + 0.44382095336914057, + 0.0 + ], + [ + 0.2656642198562622, + -0.019442643970251083, + 0.13399216532707214, + -3.043006682890006, + -0.025120187550783157, + 0.44263264536857605, + 1.0 + ], + [ + 0.2657013535499573, + -0.019211478531360626, + 0.13401475548744202, + -3.0417714958363256, + -0.025916507467627525, + 0.44216036796569824, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.14463752508163452, + 0.42306244373321533, + 0.6950566172599792, + 0.8633458614349365, + 0.9217833653092384, + 0.833456739783287, + 0.609009861946106, + 0.31280064582824707, + 0.05933445692062378 + ], + "episode_id": "3146", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3146/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3148.json b/annotation/test/3148.json new file mode 100644 index 0000000000000000000000000000000000000000..6cf99d7a2c1acdf981a8b0a9cbaba8134f2bd96f --- /dev/null +++ b/annotation/test/3148.json @@ -0,0 +1,926 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Put the food item onto the purple cloth" + ], + "videos": [ + { + "video_path": "videos/test/3148/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -1.8052040000388682e-19, + 2.0368349294564818e-17, + 2.1793174650964448e-18, + 1.0 + ], + [ + -0.0030766978319509875, + -0.0018922536769149882, + 0.006598785362473603, + 0.00956631867793862, + -0.02334213238632808, + 0.0024733841385970834, + 1.0 + ], + [ + 0.031346977811950505, + -0.03572433597169683, + 0.0033630362231750525, + 0.03424164399870152, + 0.02199847002457784, + -0.052078912115464636, + 1.0 + ], + [ + 0.023829223409986187, + -0.037650152883833304, + 0.003938845701015804, + 0.03264467506797594, + 0.006687840596217134, + -0.0870935303222833, + 1.0 + ], + [ + 0.014780238634884405, + -0.030375651284669576, + 0.010255632561598942, + 0.03485060884216165, + -0.007697250136275268, + -0.08164213944502831, + 1.0 + ], + [ + 0.00828960640385232, + -0.024154877011601957, + 0.014909560246692887, + 0.017174812433050968, + -0.030791267954772508, + -0.09425697159037535, + 1.0 + ], + [ + 0.006661240841078645, + -0.02443076747123728, + 0.011834636798396832, + 0.047970791372800935, + 4.723288806881489e-05, + -0.07145428119556575, + 1.0 + ], + [ + 0.005329989694513725, + -0.012243512998112317, + 0.011012355695574188, + -0.006856741200781782, + -0.004467192508930104, + -0.08688408276897747, + 1.0 + ], + [ + 0.005471703909976592, + -0.0061288901480186335, + 0.009917643768011953, + 0.017243823131325636, + 0.021244826314309614, + -0.028880046882265774, + 1.0 + ], + [ + 0.004299494199011379, + -0.002010197668998957, + 0.011581859835865549, + 0.02311019624875938, + -0.002626878933170767, + -0.008722927263145667, + 1.0 + ], + [ + 0.0016458357448840496, + -0.004577579287576312, + 0.013850505156541706, + 0.03580855125369419, + -0.014616280737718276, + -0.0026514805222429753, + 1.0 + ], + [ + -0.0018330589898103136, + -0.00509905427063946, + 0.01218833956355498, + 0.0262338056413657, + -0.019313010632226537, + -0.006608024856831047, + 1.0 + ], + [ + -0.0016761187010016366, + -0.002336372839536285, + 0.009565138533656316, + 0.020063666535377448, + -0.013296258567592534, + 0.005887949161507348, + 1.0 + ], + [ + 0.0005574911527883871, + -0.000981273801653814, + 0.002585523330091661, + 0.007277774064097202, + 0.004135039018967496, + 0.007965637383835003, + 1.0 + ], + [ + -0.002475354307485224, + -0.0005599622364468887, + 0.0027173190447578495, + 0.0024682377487990647, + -0.0017963982289730086, + -0.0015227071026372183, + 1.0 + ], + [ + -0.0028231735006046354, + -0.0020146959748073546, + 0.004199678551454008, + 0.00626161250128673, + 0.0021976370658963844, + -0.008926136324421822, + 0.0 + ], + [ + 0.00037759266276355053, + -0.0008951298417518152, + 0.0007100714054992141, + 0.0036477792857302796, + 0.007713054575755024, + -0.002259135324177686, + 0.0 + ], + [ + -9.048244325022174e-05, + 5.1084359994263844e-05, + 0.00023570936670603936, + -0.0009846839691012516, + 0.0012165677563095465, + -0.0013829393432590962, + 0.0 + ], + [ + -0.0018812762680538604, + 0.0006034603338796241, + -0.00047603010330221304, + -0.006812626833039961, + -0.013462056948743402, + -0.004535772226242331, + 0.0 + ], + [ + 0.007452783428124636, + 0.0032797699726657705, + -0.01939482623023026, + -0.007210699875784708, + 0.0002250023744134222, + -0.04311928573065859, + 0.0 + ], + [ + 0.012594142323880658, + 0.01312893775291343, + -0.031062866081348166, + -0.03362635432706049, + 0.024581863717779904, + -0.03462335469100007, + 0.0 + ], + [ + 0.004857178335602684, + 0.018550996853643708, + -0.03662159671134896, + -0.04447029132711296, + 0.04366787529228791, + -0.0008925295032530672, + 0.0 + ], + [ + -0.011782950037054611, + 0.01670648219253423, + -0.022474545110669618, + -0.05380575121487268, + -0.007265736819795871, + 0.030414741892543676, + 0.0 + ], + [ + -0.032402886673791924, + 0.022217353171765562, + -0.01327570755479366, + -0.0429554622983659, + -0.03261393395037187, + 0.11028735095468745, + 0.0 + ], + [ + -0.02529653979012269, + 0.020993891413783168, + -0.011665441695909594, + -0.027346929723483914, + -0.001129931910528132, + 0.0864009884792963, + 0.0 + ], + [ + -0.02760978938580894, + 0.024846214436385333, + -0.005318556898476658, + -0.031947952754821846, + -0.005192130104980658, + 0.10778652808723689, + 0.0 + ], + [ + -0.02797229254356442, + 0.019853948421016013, + 0.006148830402084847, + -0.0202209528134752, + -0.037794691934963036, + 0.09112803765120343, + 0.0 + ], + [ + -0.020587217675120385, + 0.01056812801177986, + 0.009295187475969077, + -0.011995991010852759, + -0.028075150663665577, + 0.061378030458296685, + 0.0 + ], + [ + -0.0185370429754302, + 0.008442339953720056, + 0.011428060269761078, + -0.005468446001212277, + -0.015250983062234288, + 0.052392404878933166, + 0.0 + ], + [ + -0.01660026462236626, + 0.006766590003891596, + 0.01589502466119018, + 0.006702638386103744, + -0.038625587958806044, + 0.05333803466946324, + 0.0 + ], + [ + -0.012879097907032238, + 0.00782058529119576, + 0.016438053377712793, + 0.0044535229997773795, + -0.02376339815153347, + 0.044565060303865506, + 0.0 + ], + [ + -0.005899073799082165, + 0.0013310244399898062, + 0.021254559955121113, + 0.0018454458261914922, + -0.014746121520165965, + -0.0014813594415717356, + 0.0 + ], + [ + -0.0016797683648733376, + 0.006816930925250909, + 0.016429423065897345, + 0.01573767160509793, + 0.01563126487472409, + 0.030098326982960326, + 0.0 + ], + [ + 0.0035858800232933786, + 0.00308758248377179, + 0.006199697942849013, + 0.008000260275863261, + 0.023602874447725585, + 0.005087048766981985, + 0.0 + ], + [ + 0.001934809086373141, + 0.0004847827243450082, + 0.0035260342529064687, + 0.017293419011382212, + 0.008912927825345451, + -0.027693781451179157, + 0.0 + ], + [ + -0.0061813322598059115, + -0.005358169999594828, + 0.00918348910295106, + 0.043283427815979464, + -0.0212798418299757, + -0.015677599900633755, + 1.0 + ], + [ + -0.0007303797174626919, + -0.0011785893125576686, + -0.0003832829926353212, + 0.004964434343428102, + -0.0063426429694508155, + -0.001138743038068636, + 1.0 + ], + [ + 0.0032224924666830823, + -0.005223383196508172, + -0.008317393261887468, + -0.004311495218947138, + -0.008712295493979066, + -0.03554481641354108, + 1.0 + ], + [ + 0.008160957120396616, + -0.00871253925926788, + -0.011094878573758097, + -0.01508417299518838, + 0.005877189598290796, + -0.04709255324797274, + 1.0 + ], + [ + 0.020259334902764728, + -0.007119895372123468, + -0.03050433703108495, + -0.04557827374987076, + 0.03876940663396113, + -0.07936090775045723, + 1.0 + ], + [ + 0.02119169353320885, + -0.005508880263971686, + -0.031042749482112098, + -0.034157521568046294, + 0.042742063363709774, + -0.05766715301035621, + 1.0 + ], + [ + 0.012646393641843109, + -0.00705784125449632, + -0.02538719496782183, + -0.03286166325430821, + 0.028263840014572588, + -0.04261187773658907, + 1.0 + ], + [ + 0.011531133040453544, + -0.010374250779302574, + -0.025744530241439887, + -0.02369086941769974, + 0.05939896940553194, + -0.031888215979855104, + 1.0 + ], + [ + -0.0001043948738071004, + -0.0002504488588089296, + -0.0009109108687748482, + -0.0012342870551903546, + -0.0010389634064166397, + -0.00036040570127104124, + 1.0 + ], + [ + 0.00011494179835303044, + 6.889659429453473e-05, + -0.0004608583493966015, + -0.0009128489927907432, + 0.001232053522566969, + -4.401626355591611e-05, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -3.351578670461346e-17, + 4.4906665611084964e-17, + -6.1924381200638766e-18, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -3.351578670461346e-17, + 4.4906665611084964e-17, + -6.1924381200638766e-18, + 1.0 + ] + ], + "state": [ + [ + 0.29940176010131836, + -0.04519951716065407, + 0.14017513394355774, + 2.9939329793029508, + -0.40099281072616577, + 0.35585463047027593, + 1.0 + ], + [ + 0.29940176010131836, + -0.04519951716065407, + 0.14017513394355774, + 2.9939329793029508, + -0.40099281072616577, + 0.35585463047027593, + 1.0 + ], + [ + 0.29892268776893616, + -0.04441654309630394, + 0.13270866870880127, + 3.0059315880113324, + -0.37826135754585266, + 0.34952765703201294, + 1.0 + ], + [ + 0.31715908646583557, + -0.0005795190227217972, + 0.13669869303703308, + 3.018540570633956, + -0.3924229145050048, + 0.4085884392261505, + 1.0 + ], + [ + 0.325704425573349, + 0.04331059381365776, + 0.1379297822713852, + 3.015659602480479, + -0.38681238889694214, + 0.5028247833251953, + 1.0 + ], + [ + 0.32842114567756653, + 0.07772663235664368, + 0.13054944574832916, + 3.018586540716239, + -0.3676384687423706, + 0.5885903239250183, + 1.0 + ], + [ + 0.32787075638771057, + 0.10398227721452713, + 0.11695500463247299, + 3.002199100452014, + -0.324003666639328, + 0.6832333207130433, + 1.0 + ], + [ + 0.3222641944885254, + 0.12849439680576324, + 0.10474780946969986, + 3.0268551429086408, + -0.313292920589447, + 0.7576273679733276, + 1.0 + ], + [ + 0.32121896743774414, + 0.14251285791397095, + 0.09464956074953079, + 2.9927898069196424, + -0.2977340817451477, + 0.847383439540863, + 1.0 + ], + [ + 0.32332155108451843, + 0.1518290489912033, + 0.08600952476263046, + 3.0002952982955655, + -0.3143082559108734, + 0.880722463130951, + 1.0 + ], + [ + 0.32795995473861694, + 0.15801234543323517, + 0.07616482675075531, + 3.0207260494404515, + -0.31046804785728455, + 0.8894035220146178, + 1.0 + ], + [ + 0.32946670055389404, + 0.16443341970443726, + 0.06304998695850372, + 3.0562439282708844, + -0.2956385910511017, + 0.8903125524520874, + 1.0 + ], + [ + 0.32752788066864014, + 0.16846176981925964, + 0.050482988357543945, + 3.080967782186814, + -0.27582889795303345, + 0.8954429626464843, + 1.0 + ], + [ + 0.32680147886276245, + 0.17035821080207825, + 0.04070363566279411, + 3.102912200736352, + -0.26290750503540034, + 0.888522982597351, + 1.0 + ], + [ + 0.3268871009349823, + 0.17186006903648376, + 0.03831706568598747, + 3.1122925394498786, + -0.267339289188385, + 0.8804360032081603, + 1.0 + ], + [ + 0.32545626163482666, + 0.17088162899017334, + 0.03502767160534859, + 3.1143584941797933, + -0.2654987573623657, + 0.8819587826728821, + 1.0 + ], + [ + 0.3229674994945526, + 0.17084749042987823, + 0.030182931572198868, + 3.1181773246550044, + -0.2674415409564972, + 0.8912725448608398, + 0.0 + ], + [ + 0.3226345479488373, + 0.17183291912078857, + 0.029577862471342087, + 3.121154723810502, + -0.2750987708568573, + 0.8938068747520447, + 0.0 + ], + [ + 0.32266348600387573, + 0.17177970707416534, + 0.02932748943567276, + 3.119772633659192, + -0.2762865424156189, + 0.8952698707580565, + 0.0 + ], + [ + 0.3219110071659088, + 0.16989240050315857, + 0.02928484044969082, + 3.111760251345583, + -0.2627261877059936, + 0.899661123752594, + 0.0 + ], + [ + 0.32535406947135925, + 0.16988679766654968, + 0.05003587529063225, + 3.09299140621955, + -0.26141557097435, + 0.944284975528717, + 0.0 + ], + [ + 0.3370896577835083, + 0.16630925238132477, + 0.08387904614210129, + 3.0497509260945996, + -0.28411445021629333, + 0.9815462827682495, + 0.0 + ], + [ + 0.3463002145290375, + 0.15289126336574554, + 0.12187899649143219, + 3.0037443806701383, + -0.3275127708911895, + 0.9867124557495117, + 0.0 + ], + [ + 0.3470202088356018, + 0.12957194447517395, + 0.1413402557373047, + 2.9605637212568006, + -0.3243302404880524, + 0.9538757205009459, + 0.0 + ], + [ + 0.34198281168937683, + 0.08882540464401245, + 0.14718374609947205, + 2.956890570121356, + -0.30987483263015747, + 0.8338037133216858, + 0.0 + ], + [ + 0.33634641766548157, + 0.055096302181482315, + 0.1540626734495163, + 2.957574801641055, + -0.32344755530357366, + 0.7439993023872375, + 0.0 + ], + [ + 0.3306830823421478, + 0.018007144331932068, + 0.1545555144548416, + 2.962625490623065, + -0.3361048698425293, + 0.6307222247123718, + 0.0 + ], + [ + 0.32219380140304565, + -0.013738431967794895, + 0.14295434951782227, + 2.976486327248164, + -0.31349995732307434, + 0.5294085144996643, + 0.0 + ], + [ + 0.31330516934394836, + -0.032787200063467026, + 0.12953585386276245, + 2.985765429335185, + -0.2952031195163727, + 0.46131753921508784, + 0.0 + ], + [ + 0.30452561378479004, + -0.04844571650028229, + 0.11459510773420334, + 2.9969230612092694, + -0.2878196537494659, + 0.4048722088336945, + 0.0 + ], + [ + 0.2972846031188965, + -0.0613267756998539, + 0.09573633223772049, + 3.0208791961246213, + -0.25678327679634094, + 0.34457632899284363, + 0.0 + ], + [ + 0.29252690076828003, + -0.07338592410087585, + 0.07759291678667068, + 3.037738623219081, + -0.2382674664258957, + 0.2961137890815735, + 0.0 + ], + [ + 0.2928144037723541, + -0.07698597013950348, + 0.055791907012462616, + 3.0395861511402806, + -0.22344723343849182, + 0.29605695605278015, + 0.0 + ], + [ + 0.2970312833786011, + -0.0845387801527977, + 0.040158893913030624, + 3.0618224536352834, + -0.24197004735469818, + 0.26686033606529236, + 0.0 + ], + [ + 0.3027029037475586, + -0.08669112622737885, + 0.03525704890489578, + 3.0705929939919194, + -0.26590195298194885, + 0.2635553777217865, + 0.0 + ], + [ + 0.3055799901485443, + -0.08667473495006561, + 0.03240511566400528, + 3.08020285342867, + -0.2727191746234894, + 0.2928954362869263, + 0.0 + ], + [ + 0.30094772577285767, + -0.083074189722538, + 0.021596159785985947, + 3.1194912047409495, + -0.2504890263080597, + 0.3076963126659393, + 1.0 + ], + [ + 0.2998295724391937, + -0.08218427002429962, + 0.021761111915111542, + 3.124200189607688, + -0.244122639298439, + 0.3087250888347625, + 1.0 + ], + [ + 0.2992837727069855, + -0.07672474533319473, + 0.030521415174007416, + 3.111106203990527, + -0.23463802039623263, + 0.3451089560985566, + 1.0 + ], + [ + 0.3013244867324829, + -0.06637760996818542, + 0.04294631630182266, + 3.0847535264962396, + -0.2388104945421219, + 0.39373931288719183, + 1.0 + ], + [ + 0.30954626202583313, + -0.05338812619447708, + 0.07693637162446976, + 3.01934369106824, + -0.2722006142139435, + 0.47823929786682134, + 1.0 + ], + [ + 0.31621527671813965, + -0.03950846195220947, + 0.11166340857744217, + 2.9677124490314206, + -0.30704689025878906, + 0.5437092781066895, + 1.0 + ], + [ + 0.31451186537742615, + -0.027283187955617905, + 0.1381567120552063, + 2.9200231303744992, + -0.32716509699821467, + 0.5931815505027771, + 1.0 + ], + [ + 0.3086611330509186, + -0.012198503129184246, + 0.16348642110824585, + 2.880888821678706, + -0.37776896357536316, + 0.6406387686729431, + 1.0 + ], + [ + 0.30805718898773193, + -0.012054061517119408, + 0.16420598328113556, + 2.8796224911981305, + -0.3766722083091736, + 0.6407252550125121, + 1.0 + ], + [ + 0.30797478556632996, + -0.012049633078277111, + 0.16467878222465515, + 2.8785663564973554, + -0.3778508007526397, + 0.6411142945289613, + 1.0 + ], + [ + 0.30797478556632996, + -0.012049633078277111, + 0.16467878222465515, + 2.8785663564973554, + -0.3778508007526397, + 0.6411142945289613, + 1.0 + ], + [ + 0.30797478556632996, + -0.012049633078277111, + 0.16467878222465515, + 2.8785663564973554, + -0.3778508007526397, + 0.6411142945289613, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.05310845375061035, + 0.2978169918060303, + 0.30280572175979614, + 0.30280572175979614, + 0.30280572175979614, + 0.30280572175979614, + 0.30280572175979614, + 0.30280572175979614, + 0.30280572175979614, + 0.30280572175979614, + 0.30280572175979614, + 0.30280572175979614, + 0.30280572175979614, + 0.30280572175979614, + 0.30280572175979614, + 0.30280572175979614, + 0.30280572175979614, + 0.3038042187690735, + 0.30280572175979614, + 0.30280572175979614, + 0.20585864782333374, + 0.0018453598022460938, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "3148", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3148/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3153.json b/annotation/test/3153.json new file mode 100644 index 0000000000000000000000000000000000000000..2553bc5fbfc41974cd4f34deff8e41ffb18211fb --- /dev/null +++ b/annotation/test/3153.json @@ -0,0 +1,888 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the towel in front of the towel." + ], + "videos": [ + { + "video_path": "videos/test/3153/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -1.4487298505303784e-10, + -5.048412684936396e-09, + -0.0030679564176698555, + 1.0 + ], + [ + -0.005359921735604535, + -0.0004166585778574694, + 0.01280267456245259, + 0.002934360564526119, + -0.040946967702988016, + 0.007494306472210613, + 1.0 + ], + [ + -0.008999545328324171, + -0.009878495809325009, + 0.0058343255373973345, + 0.09607928322791189, + -0.04547804715025033, + 0.07373183206716562, + 1.0 + ], + [ + -0.0057604882637359136, + -0.013250306597020874, + 0.003989639408764288, + 0.09891287772717172, + -0.0270265634796991, + 0.05457436286242526, + 1.0 + ], + [ + 0.0003419095104226612, + -0.01470549408908959, + 0.0028118081398852235, + 0.05307177430487314, + 0.017345158952016645, + 0.054851639325352836, + 1.0 + ], + [ + 0.003933316671260033, + -0.007974268394742157, + 0.01804153572622594, + 0.022348570625275323, + -0.008980268857299026, + 0.06653832498886524, + 1.0 + ], + [ + 0.005780228191107241, + -0.007110719761746147, + 0.005483702052758061, + 0.05935460017414802, + 0.0394898475455746, + 0.03206547093885519, + 1.0 + ], + [ + -0.0017005958906673036, + -0.0013869690897695488, + 0.008844407908866718, + 0.004147302828413558, + 0.03227384534756855, + 0.03653853313264869, + 1.0 + ], + [ + -0.0025470817614897134, + 4.560987832715021e-05, + 0.013345814639913568, + -0.0009808890091424916, + -0.0026596188063651646, + 0.014107506675967618, + 1.0 + ], + [ + -0.0010694942480895763, + -0.0034263602570150796, + 0.0038742034586771233, + -0.0015905621475114278, + -0.003263154214785699, + -0.004163192838993893, + 1.0 + ], + [ + 8.310239259908718e-05, + -0.00345851991818422, + 0.0011095529219397112, + 0.006711208359734236, + 0.012740936390979354, + -0.009095828720570725, + 1.0 + ], + [ + -0.0020874277049333584, + 0.00047525445108651866, + 0.0016959855998559077, + 0.006535048744631649, + -0.0042690825980811, + 0.007893292833373197, + 0.0 + ], + [ + 0.00017867171037296012, + -7.393321660598364e-05, + -0.0008207056216224407, + 0.004953921291317305, + -0.002175850032330132, + 0.006484373061737463, + 0.0 + ], + [ + -0.0002854073511184649, + -0.002306902638836356, + -0.004482483598090479, + 0.012797693142302691, + -0.0021230886292337185, + -0.004517924885845962, + 0.0 + ], + [ + -0.0008593714423501469, + -0.0019467389637823891, + -0.00290860697741772, + 0.010078691311853637, + 0.001467057429065282, + -0.007920615421104817, + 0.0 + ], + [ + -0.00010388515692870352, + -0.0010453580170362768, + -0.012155577713907479, + 0.030017321739995214, + 0.01525325787489012, + 0.0015352667118572743, + 0.0 + ], + [ + 0.0010360817541416475, + 0.0035296602546938897, + -0.008831497193578185, + 0.014451854083971179, + 0.008902643071643323, + 0.0011710631358180274, + 0.0 + ], + [ + 0.0009908909274849611, + 0.006518627620321403, + -0.01750360526134921, + 0.023184150339738974, + 0.017222178952224568, + 0.0003962242321041288, + 0.0 + ], + [ + -0.003508989035558025, + 0.014673851585531349, + -0.012697913605117872, + -0.014335130125952925, + -0.00471203986708874, + -0.020721292289660267, + 0.0 + ], + [ + -0.011538574807261207, + 0.018667519167051616, + -0.011136657217685482, + -0.02585389359717618, + 0.0030748229845091214, + -0.02394350265203117, + 0.0 + ], + [ + -0.01517777483051553, + 0.028838762302021807, + -0.01236179495253923, + -0.04241712467311746, + 0.008372051207567219, + 0.019079204672567657, + 0.0 + ], + [ + -0.0005626442317086368, + 0.033102991816867315, + -0.003584475161910865, + -0.004685688927136527, + 0.01305762963280512, + 0.0890792148272208, + 0.0 + ], + [ + 0.004642296010164359, + 0.02773398673524232, + -0.0020874509682241808, + 0.014452147103771766, + 0.022164222116298454, + 0.0994216322858014, + 0.0 + ], + [ + 0.002685784622870312, + 0.02544439174644567, + -6.742253266210268e-05, + 0.009003585063185906, + 0.0064512527285955955, + 0.0801710945498881, + 0.0 + ], + [ + 0.0022152350373670225, + 0.02481363706443378, + -0.003050569895380579, + 0.004558317516553115, + 0.019665836479977692, + 0.07181878435595616, + 0.0 + ], + [ + -0.0031325394490977847, + 0.014921920306125068, + 0.0025276495686917385, + -0.0391651916882051, + 0.010882786132055467, + 0.05043752515870745, + 0.0 + ], + [ + 9.285055785452811e-05, + 0.014533087640393091, + -0.0012028595036767725, + -0.0033011906960322595, + 0.007653055277859043, + 0.04734685258874042, + 0.0 + ], + [ + 0.0007806598013931672, + 0.006507071329848384, + -0.000516636889855631, + -0.014095032198655917, + 0.021457522268552884, + 0.023569659799217695, + 0.0 + ], + [ + 0.002369256985643573, + 0.0042229312157235485, + -0.00024516417594087366, + -0.025831551667324412, + 0.01095096038414266, + 0.02666315011397442, + 0.0 + ], + [ + 0.002375715848471157, + 0.004434332101829661, + 0.0027614010854959113, + -0.0762715445393147, + 0.011860071728562908, + 0.031354200766146416, + 0.0 + ], + [ + 0.0006998725582934223, + -0.0028556663245400517, + -0.0005819581723809561, + -0.05636326413874865, + 0.011798863251276758, + -0.014809525594548805, + 1.0 + ], + [ + -0.0017051347734883028, + -0.0025894053590375895, + 0.00037354266055800335, + -0.027971325735554962, + 0.003989688980569052, + -0.01276137768144353, + 1.0 + ], + [ + -0.0026707448186006682, + -0.0022196636601777044, + -0.004742690408562087, + -0.029134181612786192, + 0.0038897616641547367, + -0.013490270533417465, + 1.0 + ], + [ + -0.0017029380005694345, + -0.003531193937303834, + -0.017338755142419116, + -0.01365069466790885, + 0.038042668935883726, + -0.02946149866200609, + 1.0 + ], + [ + -0.0048507237850075454, + -0.0032317933597865336, + -0.017898576986712142, + -0.013392205208061595, + 0.021447956029250453, + -0.05227121406532104, + 1.0 + ], + [ + -0.003163370079357071, + -0.010474334412086648, + -0.017307103921668607, + -0.0040169747620002515, + -0.005276385229046133, + -0.07457892790433437, + 1.0 + ], + [ + -0.007676194063252445, + -0.021754110983453073, + -0.002142915194624264, + 0.028756805192262678, + -0.012703873679233141, + -0.07445665032596693, + 1.0 + ], + [ + -0.010437163504670915, + -0.03684849970761043, + 0.00015400896164055643, + -0.006673727805160627, + -0.00329356610474716, + -0.15075891595301955, + 1.0 + ], + [ + -0.014187793732121156, + -0.03375782719765439, + -0.005724409173087857, + -0.017132689962794535, + 4.417027667668079e-05, + -0.16199798948598035, + 1.0 + ], + [ + -0.014838922505903622, + -0.019189287188691066, + -0.0017155519975849162, + -0.023510618722895234, + -0.01497918575942074, + -0.0969060195483892, + 1.0 + ], + [ + -0.00829936518047385, + -0.014129243644990297, + -0.014127336902414472, + 0.006845722142220441, + 0.02608914946857697, + -0.06295599492250038, + 1.0 + ], + [ + -0.006642275693889367, + -0.03438249071166812, + -0.01078348759593001, + 0.05227417160797028, + 0.023059135898433978, + -0.137288871203847, + 1.0 + ], + [ + 0.0010140462217841809, + -0.03575591936773113, + -0.007543867251485235, + 0.02626537964976009, + 0.02135457976387008, + -0.12127793195838597, + 1.0 + ], + [ + 0.004726630137927262, + -0.01722897995556779, + -0.005614416797447405, + 0.016243015036405756, + 0.0284182612400605, + -0.07628506546993498, + 1.0 + ], + [ + -0.0003126813479976627, + -0.00033046879599825374, + -0.0004546053677581614, + 0.00028889419380148944, + -6.443715091842787e-05, + 8.956597025931666e-05, + 1.0 + ] + ], + "state": [ + [ + 0.3667433559894562, + 0.03553202748298645, + 0.08274098485708237, + 3.1371704806857785, + -0.11255331337451933, + -0.04742975905537605, + 1.0 + ], + [ + 0.3667433559894562, + 0.03553202748298645, + 0.08274098485708237, + 3.1368237315961203, + -0.11253920942544937, + -0.04434230178594589, + 1.0 + ], + [ + 0.3628748953342438, + 0.03605962544679642, + 0.06941553950309753, + 3.1406199995596005, + -0.07162512093782425, + -0.05204521492123604, + 1.0 + ], + [ + 0.35484182834625244, + 0.04636428877711296, + 0.06294254958629608, + -3.0412076656990727, + -0.02602421119809151, + -0.1257699877023697, + 1.0 + ], + [ + 0.3509008586406708, + 0.0605541467666626, + 0.06015189364552498, + -2.9410500844293317, + 0.006367812398821115, + -0.17733855545520782, + 1.0 + ], + [ + 0.35387951135635376, + 0.07522973418235779, + 0.06032360717654228, + -2.888644339638301, + 0.00028005646890960634, + -0.23454205691814425, + 1.0 + ], + [ + 0.36054444313049316, + 0.0862172320485115, + 0.04485071077942848, + -2.8668023367696485, + 0.02561550959944725, + -0.2967260181903839, + 1.0 + ], + [ + 0.3684244155883789, + 0.0925205796957016, + 0.041355255991220474, + -2.8085361440950116, + -0.0037166683468967676, + -0.3382839560508728, + 1.0 + ], + [ + 0.3682425320148468, + 0.09703931957483292, + 0.03344405069947243, + -2.8043926676088056, + -0.022272201254963875, + -0.3833649456501007, + 1.0 + ], + [ + 0.3677768111228943, + 0.10194174945354462, + 0.020781122148036957, + -2.805122496681758, + -0.015093337744474413, + -0.39579930901527405, + 1.0 + ], + [ + 0.3685653805732727, + 0.10650373995304108, + 0.018239544704556465, + -2.8067911585145673, + -0.013387474231421947, + -0.39079177379608154, + 1.0 + ], + [ + 0.37002426385879517, + 0.1098298504948616, + 0.018329109996557236, + -2.8001140673928937, + -0.028409525752067566, + -0.38638633489608765, + 1.0 + ], + [ + 0.3681830167770386, + 0.11070863902568817, + 0.016513310372829437, + -2.7934114952855786, + -0.02174312807619572, + -0.392395555973053, + 0.0 + ], + [ + 0.3682515621185303, + 0.11045243591070175, + 0.01731369085609913, + -2.788345517712184, + -0.01748514361679554, + -0.39774924516677856, + 0.0 + ], + [ + 0.36814555525779724, + 0.1111627072095871, + 0.022311709821224213, + -2.775638522701808, + -0.017055882140994072, + -0.39277508854866033, + 0.0 + ], + [ + 0.367595374584198, + 0.11223170906305313, + 0.025709185749292374, + -2.7656856795125684, + -0.021259687840938568, + -0.3859024047851562, + 0.0 + ], + [ + 0.3659552335739136, + 0.1091308668255806, + 0.037394918501377106, + -2.735482694702693, + -0.03488367795944213, + -0.3929341435432434, + 0.0 + ], + [ + 0.3641178607940674, + 0.10260576009750366, + 0.044145796447992325, + -2.720858009653636, + -0.04259922355413436, + -0.39753094315528864, + 0.0 + ], + [ + 0.35943660140037537, + 0.09036433696746826, + 0.05749060586094856, + -2.697304220991679, + -0.058156318962574005, + -0.40493887662887573, + 0.0 + ], + [ + 0.34857141971588135, + 0.07466839998960495, + 0.06243604049086571, + -2.712943883734294, + -0.06279484927654266, + -0.3841630816459656, + 0.0 + ], + [ + 0.3296589255332947, + 0.05900750309228897, + 0.06407737731933594, + -2.7401816864782056, + -0.0755295380949974, + -0.36360594630241394, + 0.0 + ], + [ + 0.3043471574783325, + 0.03506804257631302, + 0.06304313242435455, + -2.7810995896630963, + -0.07576572149991989, + -0.38449940085411066, + 0.0 + ], + [ + 0.2923181354999542, + 0.005156516097486019, + 0.05470189079642296, + -2.7805497368150434, + -0.056312207132577896, + -0.47259470820426946, + 0.0 + ], + [ + 0.2846919298171997, + -0.02091284655034542, + 0.04713144153356552, + -2.7622518857293805, + -0.04170485958456993, + -0.5735182762145996, + 0.0 + ], + [ + 0.2744358479976654, + -0.042455341666936874, + 0.037891920655965805, + -2.75121462543542, + -0.01791650615632534, + -0.6503855586051941, + 0.0 + ], + [ + 0.2616959512233734, + -0.06305434554815292, + 0.03131119906902313, + -2.746377023058482, + -0.008751583285629748, + -0.7242843508720398, + 0.0 + ], + [ + 0.2509225308895111, + -0.070611372590065, + 0.02320624515414238, + -2.7856105287843427, + 0.0006255728076212108, + -0.7750229835510254, + 0.0 + ], + [ + 0.24116206169128418, + -0.0807056799530983, + 0.019268691539764404, + -2.7893416603379926, + 0.00994609668850899, + -0.8220703601837158, + 0.0 + ], + [ + 0.23707683384418488, + -0.08554346859455109, + 0.01750091463327408, + -2.8038058896833142, + -0.002067800378426909, + -0.8515925407409669, + 0.0 + ], + [ + 0.23558062314987183, + -0.09000606834888458, + 0.016337648034095764, + -2.829702379303523, + -0.003564279992133379, + -0.8803777098655701, + 0.0 + ], + [ + 0.23450212180614471, + -0.0939968004822731, + 0.012357251718640327, + -2.906012626486369, + -0.005230861250311136, + -0.9138582348823547, + 0.0 + ], + [ + 0.23701687157154083, + -0.09293307363986969, + 0.013593312352895737, + -2.962436394887515, + -0.020160043612122536, + -0.902210533618927, + 1.0 + ], + [ + 0.23801055550575256, + -0.08997315913438797, + 0.013652786612510681, + -2.990657867985316, + -0.026358479633927342, + -0.890360414981842, + 1.0 + ], + [ + 0.23739902675151825, + -0.08686308562755585, + 0.01860317774116993, + -3.02013951738412, + -0.032230250537395484, + -0.87760192155838, + 1.0 + ], + [ + 0.237028568983078, + -0.08421915024518967, + 0.036177992820739746, + -3.034534813957759, + -0.07355184853076935, + -0.8529215455055237, + 1.0 + ], + [ + 0.23394928872585297, + -0.07871568948030472, + 0.053913917392492294, + -3.051702896254607, + -0.10036905109882356, + -0.8030049800872803, + 1.0 + ], + [ + 0.23688572645187378, + -0.06897439062595367, + 0.07168295979499817, + -3.0634922703080854, + -0.10152128338813782, + -0.7278661727905273, + 1.0 + ], + [ + 0.24521133303642273, + -0.04756820946931839, + 0.07471892237663269, + -3.0426005964451512, + -0.09437192231416701, + -0.652312159538269, + 1.0 + ], + [ + 0.258960485458374, + -0.01190964225679636, + 0.07720838487148285, + -3.064587453501769, + -0.10486888885498047, + -0.5011316537857056, + 1.0 + ], + [ + 0.2617814540863037, + 0.024419588968157768, + 0.08398203551769257, + -3.0996733104162892, + -0.11594943702220918, + -0.3385199010372162, + 1.0 + ], + [ + 0.253946989774704, + 0.04742765426635742, + 0.08476662635803223, + -3.1346958970003804, + -0.10448615252971649, + -0.2405434548854828, + 1.0 + ], + [ + 0.24783241748809814, + 0.06337495148181915, + 0.0980479046702385, + -3.1344607161642095, + -0.13080145418643951, + -0.17724928259849548, + 1.0 + ], + [ + 0.24598287045955658, + 0.0985569953918457, + 0.1081157773733139, + -3.1002937128120145, + -0.15359744429588318, + -0.03852307051420212, + 1.0 + ], + [ + 0.24697013199329376, + 0.13395920395851135, + 0.11717849969863892, + -3.092977037774869, + -0.1788056790828705, + 0.08369315415620802, + 1.0 + ], + [ + 0.24904710054397583, + 0.15112870931625366, + 0.12436144798994064, + -3.0904449505084237, + -0.21038560569286344, + 0.1601615846157074, + 1.0 + ], + [ + 0.24859921634197235, + 0.15136712789535522, + 0.12475667148828506, + -3.090137658762284, + -0.21031667292118073, + 0.1600734889507294, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0018453598022460938, + 0.07284492254257202, + 0.34891170263290405, + 0.6579259634017944, + 0.819331705570221, + 0.896837517619133, + 0.9103762283921242, + 0.9103762283921242, + 0.9103762283921242, + 0.9103762283921242, + 0.9103762283921242, + 0.9103762283921242, + 0.9103762283921242, + 0.9107357934117317, + 0.9107357934117317, + 0.9103762283921242, + 0.9103762283921242, + 0.9103762283921242, + 0.9103762283921242, + 0.9103762283921242, + 0.8756047412753105, + 0.683460533618927, + 0.39409196376800537, + 0.09925693273544312, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "3153", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3153/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3159.json b/annotation/test/3159.json new file mode 100644 index 0000000000000000000000000000000000000000..3625421a3dfc5eb5a88dad84cb4bf8d669b38a65 --- /dev/null +++ b/annotation/test/3159.json @@ -0,0 +1,413 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Put the broccoli into the pan" + ], + "videos": [ + { + "video_path": "videos/test/3159/rgb.mp4" + } + ], + "action": [ + [ + -9.706763700638904e-05, + 1.2873417270762168e-05, + 0.00046240801305127705, + -0.000424542305460768, + -0.001473271015531234, + -0.001582238806202428, + 1.0 + ], + [ + -0.001284771132266339, + 0.0006248775822664877, + 0.006790540382192911, + -0.005554279402084114, + -0.01919198287590727, + -0.003753408086923327, + 1.0 + ], + [ + -0.0015172891462597738, + 0.009162287513721135, + 0.02353462581129724, + -0.0017848421128836155, + -0.04369471065483087, + 0.017517278540561124, + 1.0 + ], + [ + -0.0007293728967285914, + 0.005392127549003537, + 0.024668052658516418, + 0.010001919395933362, + -0.05366820774183177, + 0.013399717230509893, + 1.0 + ], + [ + 0.0006902175206885325, + 0.007607263107856728, + 0.015198741870900754, + 0.009742689428825484, + -0.034814163062055176, + 0.016622602149844512, + 1.0 + ], + [ + 0.002268896682187142, + 0.00191662046140177, + 0.007080572113213496, + 0.010535063486899776, + -0.012619577795278263, + 0.005209809430759993, + 1.0 + ], + [ + -9.360690151561518e-05, + -6.911903242246403e-05, + -0.00019838930387118127, + 0.003794297505972791, + 0.0009036197245148644, + 0.004504900140848536, + 0.0 + ], + [ + 0.0004849364081866579, + 0.004121162772435605, + -0.023821387691217354, + -0.01732887810163206, + 0.05379551329691359, + 0.010065037960350203, + 0.0 + ], + [ + 0.003027043683902124, + 0.029599255730586495, + -0.05210078148903165, + -0.026449762816737082, + 0.11571231908137372, + 0.06501559657837253, + 0.0 + ], + [ + -0.003674387320148605, + 0.051211447180771676, + -0.030224585947822274, + -0.019954931256442758, + 0.03429424621378434, + 0.1607605937386044, + 0.0 + ], + [ + 0.00039794681243413254, + 0.037790445174185804, + 0.004176245051691435, + 0.021243223143496803, + -0.02502310854432449, + 0.11601350159468002, + 0.0 + ], + [ + 0.0007054128495176227, + 0.015591485644841606, + 0.0086448458876633, + 0.0340917820047113, + -0.03871682015065177, + 0.05508003764075072, + 0.0 + ], + [ + -0.0014317093620978482, + -0.0030456604649750224, + 0.0010209412598226376, + 0.0014342984134932985, + -0.008526300354134222, + -0.012768014088056142, + 0.0 + ], + [ + -0.00400509447623309, + -0.014106495170402014, + 0.003126294976795694, + -0.02521671774809197, + -0.011554873571000216, + -0.05697046264860294, + 1.0 + ], + [ + -0.004371848986319078, + -0.01159517869555918, + 9.27299475095283e-06, + -0.011053906490075212, + -0.013572994863252905, + -0.02739673435649587, + 1.0 + ], + [ + -0.007624486341912397, + -0.03992526457496761, + -0.012296219105003047, + -0.0018957871023274396, + 0.020510458095844727, + -0.15667214680217384, + 1.0 + ], + [ + -0.004789135514785314, + -0.01980682572244241, + -0.0052296810794061135, + 0.03635347004467068, + -0.016923122933667316, + -0.09261523632796463, + 1.0 + ], + [ + -0.000985366184391435, + -0.016512632622585788, + 0.00016453155568113177, + -0.011749085758083542, + 0.011919433471579598, + -0.05994121769843851, + 1.0 + ], + [ + 0.0005703798055547829, + -0.0018176510921731857, + 0.00155582206887809, + -0.027314786663271154, + -0.030443745189029134, + 0.048148151321374504, + 1.0 + ], + [ + -0.0008376575707208682, + -0.0016009976911347313, + -1.7503178764089274e-05, + -0.00028249955621746523, + -0.0030166847044726794, + -0.0015217084164644268, + 1.0 + ] + ], + "state": [ + [ + 0.3003704845905304, + 0.0642329677939415, + 0.08574981242418289, + -3.1371520814769944, + -0.12846432626247406, + -0.05735570937395096, + 1.0 + ], + [ + 0.3003329038619995, + 0.06422428786754608, + 0.08527872711420059, + -3.1377818157249173, + -0.1269979327917099, + -0.055754046887159354, + 1.0 + ], + [ + 0.2998861074447632, + 0.06364929676055908, + 0.07837783545255661, + 3.139362400752031, + -0.10781946033239365, + -0.05190587788820267, + 1.0 + ], + [ + 0.3004285395145416, + 0.054393935948610306, + 0.05483696982264519, + 3.139475117093422, + -0.06414721161127089, + -0.06954009830951689, + 1.0 + ], + [ + 0.3009008765220642, + 0.04890349507331848, + 0.030184347182512283, + -3.132844854267784, + -0.010501652956008911, + -0.08303483575582503, + 1.0 + ], + [ + 0.3011285364627838, + 0.04138468950986862, + 0.014927730895578861, + -3.122926626475998, + 0.02445797808468342, + -0.0993470847606659, + 1.0 + ], + [ + 0.3030354678630829, + 0.039401646703481674, + 0.007759259548038244, + -3.1125120167904576, + 0.03717229515314102, + -0.10432346910238266, + 1.0 + ], + [ + 0.3029564321041107, + 0.03947358950972557, + 0.007962915115058422, + -3.1088864413374147, + 0.036399662494659424, + -0.10885573923587798, + 0.0 + ], + [ + 0.3037624955177307, + 0.034458406269550323, + 0.03160347044467926, + -3.1266004239493093, + -0.017040470615029335, + -0.1206609457731247, + 0.0 + ], + [ + 0.302236944437027, + 0.004043892491608858, + 0.08329873532056808, + 3.131348880129405, + -0.13172775506973267, + -0.18754880130290988, + 0.0 + ], + [ + 0.2852002680301666, + -0.04453054070472717, + 0.11329732090234756, + 3.1327918880903205, + -0.16595114767551425, + -0.3501024246215821, + 0.0 + ], + [ + 0.27319133281707764, + -0.0804140642285347, + 0.10957235842943192, + -3.1097442862861833, + -0.14082227647304538, + -0.4674636721611023, + 0.0 + ], + [ + 0.26806139945983887, + -0.094972625374794, + 0.10062487423419952, + -3.068086216347762, + -0.1001679226756096, + -0.5215112566947937, + 0.0 + ], + [ + 0.2684457004070282, + -0.0916038453578949, + 0.09969117492437363, + -3.067997494834014, + -0.09259334206581116, + -0.5080944895744324, + 0.0 + ], + [ + 0.27208587527275085, + -0.07726531475782394, + 0.09724917262792587, + -3.0986800250881394, + -0.08510211855173111, + -0.45022153854370117, + 1.0 + ], + [ + 0.2731679081916809, + -0.06492119282484055, + 0.09736396372318268, + -3.112128775688358, + -0.07268347591161728, + -0.42219606041908264, + 1.0 + ], + [ + 0.2815436124801636, + -0.025331221520900726, + 0.11024178564548492, + -3.125713128718086, + -0.09689605236053468, + -0.2654962539672852, + 1.0 + ], + [ + 0.28160107135772705, + -0.004909482318907976, + 0.11529599130153656, + -3.098427353548356, + -0.08102532476186752, + -0.17232961952686313, + 1.0 + ], + [ + 0.2834199070930481, + 0.011526428163051605, + 0.1157626137137413, + -3.1150739808850965, + -0.09537547826766968, + -0.1126924529671669, + 1.0 + ], + [ + 0.2843356728553772, + 0.013292917050421238, + 0.11431670188903809, + -3.1378919604518494, + -0.06355945020914078, + -0.16008909046649933, + 1.0 + ], + [ + 0.283764123916626, + 0.01500686351209879, + 0.1142868772149086, + -3.1382719884910664, + -0.0605483427643776, + -0.15855342149734497, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.03348183631896973, + 0.3138011693954468, + 0.409099817276001, + 0.409099817276001, + 0.409099817276001, + 0.409099817276001, + 0.409099817276001, + 0.358959436416626, + 0.06963235139846802, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "3159", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3159/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3161.json b/annotation/test/3161.json new file mode 100644 index 0000000000000000000000000000000000000000..fd6659e50f477bb577be04286409251fa69013a1 --- /dev/null +++ b/annotation/test/3161.json @@ -0,0 +1,793 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the red fork to the opposite side of the counter" + ], + "videos": [ + { + "video_path": "videos/test/3161/rgb.mp4" + } + ], + "action": [ + [ + 0.00047409340076714454, + 0.0001623801489740781, + -0.0003129089160353358, + -0.0011543054960475932, + 0.0015915959370303963, + -0.0024517440315107563, + 1.0 + ], + [ + -0.0031543461748376562, + -0.0003164568374566868, + 0.006089595693176791, + -0.00020926011296811914, + -0.023062787446812914, + 0.010559280758176671, + 1.0 + ], + [ + -0.011145123613191178, + -0.04189717933839971, + -0.003917930587517621, + 0.038683147882077586, + 0.0030438594503246295, + -0.04220820082742226, + 1.0 + ], + [ + -0.004037545896809489, + -0.03413740220279319, + -0.000860664583300186, + 0.06959210022385215, + 0.008762468219754117, + -0.0012417274174100217, + 1.0 + ], + [ + -0.0074738839541339235, + -0.0354540589933639, + 0.013431250260597587, + 0.03468950501016793, + -0.00829992732730301, + 0.004968865089691179, + 1.0 + ], + [ + 0.0018037932109450378, + -0.015553006728224305, + 0.02722530801674491, + -0.002976293168417545, + -0.06694178164728397, + -0.014617048370430694, + 1.0 + ], + [ + 0.0013853883946771703, + -0.016343792097481005, + 0.02319456349604409, + -0.03893602816498689, + -0.06062426933071026, + -0.057480415025105175, + 1.0 + ], + [ + 0.0028561243427813227, + -0.01145659565312975, + 0.014057468721172646, + -0.028376085007430208, + -0.021097530941389636, + -0.020370277150964004, + 1.0 + ], + [ + -0.0049190436011278815, + -0.010624287978922658, + 0.0022671294146202293, + 0.0024777901005717377, + -0.0006964377447120694, + -0.02001024408165338, + 1.0 + ], + [ + -0.0007642291102350834, + -0.0039610262656894, + 0.008916816696671305, + -0.0060023750078160255, + -0.015145600493752727, + -0.012544811927193287, + 1.0 + ], + [ + -0.0013100486490137304, + -0.0006695878764377072, + 0.011224521696092725, + 0.011434035378960072, + -0.02689068725109818, + -0.010807710636690806, + 1.0 + ], + [ + 0.004315829340161632, + 0.004201975081054146, + 0.0015740267191482267, + 0.03918804802311331, + -0.010096784319454388, + 0.00021800967526006446, + 1.0 + ], + [ + 0.0008685339984961952, + 0.005209754216232546, + 0.0003208528844471009, + 0.004238011707019982, + -0.003221872997416936, + 0.008836992785452925, + 1.0 + ], + [ + -0.0023159746997032217, + 0.00862744991271256, + -0.0027695145316642203, + 0.018713418440133137, + 0.01741225274013287, + 0.002617499593852468, + 0.0 + ], + [ + -0.004776757727348053, + 0.0019807150094455837, + -0.0014107441888856467, + -0.000530480036471646, + -0.004244354528582704, + -0.0028550547634012156, + 0.0 + ], + [ + -0.011313989548403416, + -0.009581555721991713, + -0.01427716489676793, + 0.0032953074963475017, + 0.03439818189860293, + -0.018570500026409593, + 0.0 + ], + [ + -0.017796272942956617, + -0.008972788205766035, + -0.03405568967626682, + 0.008588532010725297, + 0.0899055599653777, + -0.05956294141904463, + 0.0 + ], + [ + -0.0023050667709316255, + 0.005219910709735162, + -0.04396203409425577, + 0.008893922271166341, + 0.0799893142421185, + -0.03238284392553474, + 0.0 + ], + [ + 0.021813654581322426, + 0.04619742835609491, + -0.01608250777021917, + -0.08864949576054446, + 0.055242602789517474, + 0.08436294808338614, + 0.0 + ], + [ + 0.027927168195825056, + 0.04050293200779105, + -0.001730703538201211, + -0.10636979344478151, + 0.035590521091744494, + 0.04148685112978853, + 0.0 + ], + [ + 0.023658932099898826, + 0.040851845678431954, + 0.017834948707039677, + -0.05837805737917433, + -0.007538873224468015, + -0.01550283170525277, + 0.0 + ], + [ + 0.011062899755505217, + 0.031603625434202025, + 0.015471761254838848, + 0.011792843345245333, + -0.04828393748868026, + -0.018460305301011278, + 0.0 + ], + [ + -0.005159355451403863, + 0.0254121643773211, + 0.012512454227901856, + 0.021469160092451346, + -0.05082490271016759, + -0.028644798537619465, + 0.0 + ], + [ + -0.0047784497845201135, + 0.01918142947881961, + 0.014693390940331836, + 0.007666447189544738, + -0.028148184276969034, + 0.005741866426010143, + 0.0 + ], + [ + 0.002680023904547868, + 0.01862104176146575, + 0.019176193860249328, + 0.009059079256335199, + -0.023966412117923202, + 0.02568376586478725, + 0.0 + ], + [ + 0.003789256318253037, + 0.012731220185943913, + 0.01767978048226774, + -0.0033521967087397127, + -0.03216127426954043, + 0.02304937714102868, + 0.0 + ], + [ + -0.00015398074272110682, + 0.01143919008365385, + 0.012565919012425458, + 0.014973016115402275, + -0.02565748411892901, + 0.01656955510240108, + 0.0 + ], + [ + 0.004367914170107695, + 0.004858173333383207, + 0.014525984789964566, + 0.016683340055909646, + -0.05568283551223817, + -0.00336883491076701, + 0.0 + ], + [ + 0.00017990599508823111, + 0.0013014392839804316, + 0.0031961413795552752, + 0.0017709712963621571, + -0.018693317260744063, + -0.0009771873884692928, + 0.0 + ], + [ + -0.0014228016983608893, + 0.0004972299207234785, + 0.00040555817229338045, + -0.007780842513398548, + -0.005659640039675272, + -0.00728141480987938, + 0.0 + ], + [ + -0.005051356079651545, + -0.006994121414397336, + -0.00010622496527082188, + -0.02087496703090741, + 0.01255703969267973, + -0.03498677112775075, + 0.0 + ], + [ + -0.0055628107889101, + -0.0027518326337831224, + -0.003850334639200367, + 0.02579091407493726, + 0.006546155050408386, + 0.01092734537498704, + 1.0 + ], + [ + 0.00216036420530958, + -0.006578532786978886, + -0.03490355249195255, + 0.019711947206965494, + 0.08283112494295414, + 0.005381576833517058, + 1.0 + ], + [ + -0.0027378967017499013, + -0.008227992904097607, + -0.039386686293332994, + 0.007547057906415943, + 0.08146574979222859, + 0.02183234972076409, + 1.0 + ], + [ + -0.0028591170135000266, + -0.01804461383023341, + -0.027196718695962827, + -0.00031967363346495717, + 0.05679938359903909, + -0.012004586668123906, + 1.0 + ], + [ + -0.007875457283421525, + -0.016590260115602575, + -0.0008381749988972931, + -0.019034168205533695, + -0.015448294091467146, + -0.001289614587754894, + 1.0 + ], + [ + -0.0038862919516733097, + -0.021988063907141, + 0.009467136622423652, + -0.05904566841572457, + -0.011501270079752665, + 0.007459571111566288, + 1.0 + ], + [ + 0.002423396244118516, + -0.011738095938481703, + -0.000415979837530598, + -0.059814866921252464, + 0.013343638244712998, + 0.02891490546075556, + 1.0 + ], + [ + -0.0016483874864235354, + -0.0035948369193673974, + 0.0016950498014959717, + -0.0038879016764033743, + -0.01514688803612289, + 0.007041391504783134, + 1.0 + ], + [ + -0.0003086826385053372, + -0.0005752506949158083, + -1.3443526650156622e-06, + 0.003628609497833035, + -0.0019448284981116175, + -0.0005059890760352919, + 1.0 + ] + ], + "state": [ + [ + 0.2762514650821686, + 0.00890751276165247, + 0.09817756712436676, + -3.1122904756390533, + -0.1627238690853119, + -0.04332882165908813, + 1.0 + ], + [ + 0.27666157484054565, + 0.008718092925846577, + 0.09855832159519196, + -3.1138396245711526, + -0.1643861383199692, + -0.040891911834478385, + 1.0 + ], + [ + 0.27456608414649963, + 0.009289553388953209, + 0.09204559773206711, + -3.1124040373885116, + -0.14103110134601596, + -0.05090376734733582, + 1.0 + ], + [ + 0.2649495601654053, + 0.05159865319728851, + 0.09556698054075241, + -3.079725770401307, + -0.14517924189567566, + -0.008354782126843928, + 1.0 + ], + [ + 0.2608092427253723, + 0.08565331250429153, + 0.09792127460241318, + -3.0102334340387067, + -0.15400168299674988, + -0.007648877799510956, + 1.0 + ], + [ + 0.25503647327423096, + 0.12260641157627106, + 0.08820575475692749, + -2.974945234256335, + -0.14512129127979279, + -0.011528408154845238, + 1.0 + ], + [ + 0.2605593204498291, + 0.1423976570367813, + 0.06445345282554626, + -2.981303008394786, + -0.08148526400327682, + 0.014036768116056919, + 1.0 + ], + [ + 0.26331278681755066, + 0.16227449476718903, + 0.044344838708639145, + -3.025702754157134, + -0.030626021325588226, + 0.0803946629166603, + 1.0 + ], + [ + 0.26549968123435974, + 0.17549805343151093, + 0.03179978206753731, + -3.054777117567607, + -0.012017360888421537, + 0.10306531935930253, + 1.0 + ], + [ + 0.2595139145851135, + 0.18571729958057404, + 0.030403370037674904, + -3.0525569935613355, + -0.013056046329438688, + 0.12306229025125505, + 1.0 + ], + [ + 0.25828441977500916, + 0.19033953547477722, + 0.02186482958495617, + -3.058738390105315, + 0.0009153865394182504, + 0.13690276443958282, + 1.0 + ], + [ + 0.2567586898803711, + 0.19174064695835114, + 0.01073543168604374, + -3.047269435720988, + 0.02681931667029858, + 0.14989952743053434, + 1.0 + ], + [ + 0.2615751326084137, + 0.18838727474212646, + 0.00865761749446392, + -3.0080568959289273, + 0.036891743540763855, + 0.15063393115997314, + 1.0 + ], + [ + 0.26316478848457336, + 0.18344925343990326, + 0.007614652160555124, + -3.004130320745059, + 0.041260190308094025, + 0.14229753613471985, + 1.0 + ], + [ + 0.26220372319221497, + 0.1742948591709137, + 0.009270025417208672, + -2.985603081183978, + 0.02437036670744419, + 0.1373177468776703, + 0.0 + ], + [ + 0.25779739022254944, + 0.17148944735527039, + 0.01047199871391058, + -2.9860482682758054, + 0.028119485825300213, + 0.140798881649971, + 0.0 + ], + [ + 0.2460157573223114, + 0.17714615166187286, + 0.02637309394776821, + -2.982307480769702, + -0.008742479607462883, + 0.15380629897117615, + 0.0 + ], + [ + 0.22759775817394257, + 0.17778964340686798, + 0.06126394495368004, + -2.9736187030845365, + -0.10694321244955063, + 0.19837141036987305, + 0.0 + ], + [ + 0.22336909174919128, + 0.16419340670108795, + 0.10324586927890778, + -2.9662242253595075, + -0.19119945168495175, + 0.21717582643032074, + 0.0 + ], + [ + 0.25324541330337524, + 0.12132925540208817, + 0.11502529680728912, + -3.0372997914725026, + -0.23006139695644381, + 0.12205267697572708, + 0.0 + ], + [ + 0.2857256233692169, + 0.08454705774784088, + 0.11896426230669022, + -3.133099714415618, + -0.26090264320373535, + 0.07553437352180482, + 0.0 + ], + [ + 0.3162664771080017, + 0.04604305699467659, + 0.10750119388103485, + 3.0875590090923986, + -0.2534634172916412, + 0.09161403030157089, + 0.0 + ], + [ + 0.3333260715007782, + 0.015080835670232773, + 0.0969720259308815, + 3.0952434820407113, + -0.20422102510929105, + 0.10775428265333176, + 0.0 + ], + [ + 0.3333783745765686, + -0.01102958433330059, + 0.0848393514752388, + 3.111281879367777, + -0.1520530730485916, + 0.13428278267383573, + 0.0 + ], + [ + 0.33344128727912903, + -0.030817216262221336, + 0.0701729878783226, + 3.1199432519548616, + -0.12408851832151412, + 0.12764179706573484, + 0.0 + ], + [ + 0.3408058285713196, + -0.049059949815273285, + 0.05188041180372238, + 3.1322620130428156, + -0.10064098238945007, + 0.10131926089525223, + 0.0 + ], + [ + 0.34761616587638855, + -0.061329662799835205, + 0.03478975594043732, + 3.1312587122716984, + -0.0686687156558037, + 0.07792755961418152, + 0.0 + ], + [ + 0.3492150604724884, + -0.07280845940113068, + 0.02236148715019226, + -3.1357994444021067, + -0.04317409172654152, + 0.06108349934220314, + 0.0 + ], + [ + 0.35448917746543884, + -0.07726875692605972, + 0.008009686134755611, + -3.1192664989554366, + 0.012488585896790028, + 0.06476975977420807, + 0.0 + ], + [ + 0.35470810532569885, + -0.07848690450191498, + 0.004783292300999165, + -3.1174742264025888, + 0.0311554167419672, + 0.06616450101137161, + 0.0 + ], + [ + 0.3533083498477936, + -0.07906802743673325, + 0.004410384222865105, + -3.12502418843145, + 0.03663695603609085, + 0.0735851526260376, + 0.0 + ], + [ + 0.3477681577205658, + -0.07246606796979904, + 0.004817347042262554, + 3.1385512648900082, + 0.023479957133531567, + 0.10836578905582428, + 0.0 + ], + [ + 0.34203028678894043, + -0.07031046599149704, + 0.008788838051259518, + -3.119099125387617, + 0.016899202018976208, + 0.09745708107948302, + 1.0 + ], + [ + 0.3442058861255646, + -0.06427831947803497, + 0.04379001259803772, + -3.0994331074231347, + -0.0657903254032135, + 0.09021873772144318, + 1.0 + ], + [ + 0.33829465508461, + -0.058225635439157486, + 0.08322260528802872, + -3.0900812317901334, + -0.1462423503398895, + 0.06477580964565277, + 1.0 + ], + [ + 0.33031144738197327, + -0.04208819195628166, + 0.11059586703777313, + -3.0916679707639894, + -0.20357830822467804, + 0.07401277869939804, + 1.0 + ], + [ + 0.3210618793964386, + -0.026200897991657257, + 0.11063431203365326, + -3.111120043443986, + -0.18821318447589877, + 0.07610854506492615, + 1.0 + ], + [ + 0.3172026574611664, + -0.004164241719990969, + 0.10126964002847672, + 3.11437130917842, + -0.17648518085479736, + 0.068891242146492, + 1.0 + ], + [ + 0.31875738501548767, + 0.007716030813753605, + 0.10178995877504349, + 3.0596677755289754, + -0.19053795933723447, + 0.039826814085245126, + 1.0 + ], + [ + 0.31737834215164185, + 0.011107880622148514, + 0.09953013062477112, + 3.0573616122179708, + -0.17601153254508972, + 0.031440768390893936, + 1.0 + ], + [ + 0.3170647919178009, + 0.011671626940369606, + 0.09942974895238876, + 3.0609295164519033, + -0.17403101921081543, + 0.031786564737558365, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0011776089668273926, + 0.0011776089668273926, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0011776089668273926, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0011776089668273926, + 0.0005114078521728516, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0005114078521728516, + 0.05621075630187988, + 0.3408757448196411, + 0.5734528601169586, + 0.5797748863697052, + 0.5806747674942017, + 0.5806747674942017, + 0.5806747674942017, + 0.5806747674942017, + 0.5806747674942017, + 0.5806747674942017, + 0.5806747674942017, + 0.5806747674942017, + 0.5806747674942017, + 0.5806747674942017, + 0.5806747674942017, + 0.5806747674942017, + 0.5806747674942017, + 0.5806747674942017, + 0.4899011254310608, + 0.20300281047821045, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "3161", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3161/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3163.json b/annotation/test/3163.json new file mode 100644 index 0000000000000000000000000000000000000000..1140cb6c4ae58656989dbd3960b600da6a3ac4a5 --- /dev/null +++ b/annotation/test/3163.json @@ -0,0 +1,375 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "end effector transition from object to object" + ], + "videos": [ + { + "video_path": "videos/test/3163/rgb.mp4" + } + ], + "action": [ + [ + 0.0001355727639504901, + -0.0003465774735508216, + 0.00012590149164656077, + -0.00014448683742091122, + -0.0009615739385153373, + -0.002489641353294982, + 1.0 + ], + [ + -0.009403359676703145, + -0.002423759909976539, + 0.009630303324617945, + 0.032177116477220886, + -0.043801986239015496, + 0.0031251844394497704, + 1.0 + ], + [ + 0.014899788705028658, + 0.0195664001285471, + -0.02476754029070511, + 0.011249524230311786, + -0.01404638361820642, + -0.017589349530016028, + 1.0 + ], + [ + -0.004510490688542659, + 0.0028842627802000303, + -0.007894753386372067, + 0.02398117875190544, + -0.024033971142189244, + 0.019253616747689984, + 1.0 + ], + [ + -0.0038900193657720487, + -0.0003876557423693718, + -0.0014275715910832686, + 0.01021381940855009, + -0.022057181064872595, + 0.02484501292152, + 1.0 + ], + [ + 0.006935714981412078, + -0.003854166284999262, + -0.009680599437650728, + -0.002007706805828085, + -0.019822652954413447, + 0.022466719916285943, + 1.0 + ], + [ + 0.0055059590323029775, + -0.0188814341729813, + -0.016849233946467722, + -0.023030127135652348, + 0.02491382933551072, + 0.03189003400497403, + 1.0 + ], + [ + -0.0018754888974953784, + -0.020336239067676714, + -0.0008087557160441859, + -0.02319442268302804, + 0.004243296884135548, + 0.011268448942737996, + 1.0 + ], + [ + 0.0036790551906463772, + -0.010700101567767696, + 0.0007192969355258779, + 0.011919753589721954, + 0.0021852648073906267, + 0.011864009598660645, + 1.0 + ], + [ + -0.00468831739526767, + -0.012260112870239896, + 0.009091431144946628, + -0.017426219048526887, + 0.01467088255357793, + 0.01994913944146051, + 1.0 + ], + [ + -0.003079700431512606, + -0.008434289798913537, + 0.01082055646370761, + -0.010008370761693426, + 0.00348121134598635, + 0.01533704844242078, + 1.0 + ], + [ + -0.0013123325604952973, + -0.006273098103311127, + 0.009739924765033046, + -0.015398043769594803, + 0.012102684928983901, + -0.00300177322946043, + 1.0 + ], + [ + -0.010889323174799705, + -0.009560089120888307, + 0.013809770988842295, + -0.028758338021635698, + 0.0349516423223118, + -9.390781249477923e-05, + 1.0 + ], + [ + -0.008725717841139678, + -0.005899734961194531, + 0.011766386783683663, + -0.017703217410471855, + 0.013542582604154186, + -0.013554586022410567, + 1.0 + ], + [ + -0.0033465906033204643, + -0.0025141002609960087, + 0.00576500315942945, + -0.017463481199087808, + 0.01492327114078341, + -0.012424429654358025, + 1.0 + ], + [ + -0.010538860012262652, + -0.0013892079902261502, + 0.009884512475048861, + -0.015972533616378952, + 0.02776726670668566, + -0.02291879878841883, + 1.0 + ], + [ + -0.0031055362096174604, + 0.001832909459857211, + 0.006637165999518884, + -0.009634250862128652, + 0.0181605115249115, + -0.03129815591124161, + 1.0 + ], + [ + 0.0013495260031246667, + 0.0030646896682177457, + 0.0022199206252946626, + -0.00034948901776268274, + -0.010025268851177875, + -0.011903490797177105, + 1.0 + ] + ], + "state": [ + [ + 0.349090039730072, + -0.07023761421442032, + 0.0659475326538086, + -3.0893070233338555, + -0.3541204035282135, + 0.3711592257022857, + 1.0 + ], + [ + 0.34911540150642395, + -0.06984928995370865, + 0.06589360535144806, + -3.0903891195827207, + -0.35328906774520874, + 0.37386268377304077, + 1.0 + ], + [ + 0.3428959548473358, + -0.0691596046090126, + 0.05373287573456764, + -3.057843970256396, + -0.30938443541526794, + 0.37294200062751776, + 1.0 + ], + [ + 0.3574378192424774, + -0.0866318792104721, + 0.0802193358540535, + -3.052555317180701, + -0.29680287837982183, + 0.39249828457832336, + 1.0 + ], + [ + 0.3527643084526062, + -0.09243566542863846, + 0.08617458492517471, + -3.0233889689021787, + -0.27110812067985535, + 0.3748178780078888, + 1.0 + ], + [ + 0.3488326072692871, + -0.09374970197677612, + 0.08654271811246872, + -3.0070813318067273, + -0.24620792269706723, + 0.352067768573761, + 1.0 + ], + [ + 0.35196423530578613, + -0.08991335332393646, + 0.09803828597068787, + -3.0041884203725537, + -0.22350357472896576, + 0.33196711540222174, + 1.0 + ], + [ + 0.34765738248825073, + -0.07405558973550797, + 0.11805585771799088, + -3.0192678814106664, + -0.2436756193637848, + 0.29590779542922974, + 1.0 + ], + [ + 0.33930134773254395, + -0.05560477077960968, + 0.12079047411680222, + -3.039558323221751, + -0.24649523198604584, + 0.28384110331535345, + 1.0 + ], + [ + 0.33963730931282043, + -0.04434232413768768, + 0.12205120176076889, + -3.0246194695406636, + -0.24744252860546115, + 0.27143844962120056, + 1.0 + ], + [ + 0.3335019648075104, + -0.032309383153915405, + 0.11353588104248047, + -3.0366058890991887, + -0.25962644815444946, + 0.24916882812976837, + 1.0 + ], + [ + 0.330726683139801, + -0.023190367966890335, + 0.10319916903972626, + -3.0424762984090528, + -0.2614489197731018, + 0.23300202190876004, + 1.0 + ], + [ + 0.33011072874069214, + -0.015930291265249252, + 0.09409686177968979, + -3.0583476295047483, + -0.27378880977630615, + 0.23486047983169556, + 1.0 + ], + [ + 0.32084038853645325, + -0.0071718692779541016, + 0.07866853475570679, + -3.0862567854397973, + -0.3086260557174682, + 0.23190894722938538, + 1.0 + ], + [ + 0.3146226108074188, + -0.0019188347505405545, + 0.06513569504022598, + -3.1080543418698987, + -0.3228713870048523, + 0.24538907408714294, + 1.0 + ], + [ + 0.31263408064842224, + 0.00037273153429850936, + 0.05868975818157196, + -3.1295245738052806, + -0.33817899227142334, + 0.25802016258239746, + 1.0 + ], + [ + 0.3058015704154968, + 0.0001296462578466162, + 0.045885119587183, + 3.129666509228297, + -0.3661302328109741, + 0.2821959853172302, + 1.0 + ], + [ + 0.3058234453201294, + -0.0018546830397099257, + 0.03859692066907883, + 3.1078715456002435, + -0.3837246000766754, + 0.3161753714084625, + 1.0 + ], + [ + 0.30874112248420715, + -0.0042016031220555305, + 0.037140652537345886, + 3.1028753501647195, + -0.37327685952186584, + 0.3285883069038391, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "3163", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3163/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3175.json b/annotation/test/3175.json new file mode 100644 index 0000000000000000000000000000000000000000..7bda2e45da63deaa7f8b1bed82391764ba54f303 --- /dev/null +++ b/annotation/test/3175.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "move drying rack out of sink" + ], + "videos": [ + { + "video_path": "videos/test/3175/rgb.mp4" + } + ], + "action": [ + [ + -8.174267001966019e-05, + -8.31395371482473e-05, + 0.00047821536592483334, + -2.905510106607432e-05, + -0.0015101921539125024, + -0.00026753181075999516, + 1.0 + ], + [ + -0.006715710838000698, + 0.00022643046062384068, + 0.011122850470610124, + -0.00438966480305438, + -0.04109611486427561, + -0.005029878834765197, + 1.0 + ], + [ + -0.007550900462036577, + 0.021938419721713634, + 0.0028735247707158806, + -0.021579066936447594, + -0.032596560683346786, + 0.03949254474941426, + 1.0 + ], + [ + -0.0034017870150659137, + 0.0347775768669062, + -0.003478252779568766, + -0.04494677437146178, + -0.02905213380751834, + 0.0014684592731859908, + 1.0 + ], + [ + 0.0022110420697861745, + 0.03394103771026988, + -0.0011886527424508112, + -0.026666127911916873, + 0.012009129068422504, + 0.020252265084259126, + 1.0 + ], + [ + 0.00046742548083334866, + 0.031493118888178594, + 0.0070788521809786184, + 0.0026638864508197954, + 0.0359771182409072, + 0.02892190682013014, + 1.0 + ], + [ + -0.0009417766540329723, + 0.018980455243344973, + 0.011992845752960486, + 0.012799450133252878, + 0.051427088565306846, + -0.020705141193645513, + 1.0 + ], + [ + -0.004658306327873128, + 0.014019786830599368, + 0.01807976145298702, + 0.008491235252660273, + -0.00851616433163307, + -0.029656457435910402, + 1.0 + ], + [ + -0.0011353941172979269, + -0.0005589497457199001, + 0.021564630668599073, + 0.04442501429178892, + -0.03161653311238702, + -0.010481898477009468, + 1.0 + ], + [ + -0.00022924909374676082, + 0.0008192598084651967, + 0.012814361768898302, + 0.022729873333885, + -0.006964153419803243, + 0.004436407419224493, + 1.0 + ], + [ + 0.0009737308150805156, + 0.00040202149540007087, + 0.004771043216528345, + 0.014356476482073206, + 0.011240224300043376, + -0.0034453960861699556, + 1.0 + ], + [ + 0.0006803168562461758, + -0.00041769779330902185, + 0.0005641248883785927, + 0.000568632469184707, + 0.006792549305026805, + 0.0014605253898536973, + 0.0 + ], + [ + -0.0013522961966189915, + -0.001344214251808055, + -0.0011593320895010545, + 0.012588853010252964, + -0.013601758161886149, + 0.0017622560102126135, + 0.0 + ], + [ + -0.0011978186057123035, + -0.0018441378632808492, + -0.0014840897382057121, + 0.016547005322080807, + -0.013823185592381089, + 0.007695757638217698, + 0.0 + ], + [ + -0.00572523500459452, + 0.004249290970777413, + -0.020880101959259243, + -0.00995593036325825, + -0.015084794055671804, + 0.01460125198445812, + 0.0 + ], + [ + -0.0010429628571903724, + 0.012894431413079768, + -0.04819990431078605, + -0.04824823448358638, + 0.03903360385147141, + 0.043960362173237386, + 0.0 + ], + [ + -0.0026813514354414028, + -0.004027709052095179, + -0.033977547479444495, + 0.0025191683170180876, + -0.019607130503699027, + 0.042865541637044, + 0.0 + ], + [ + 0.00271415674434743, + -0.029757753444313383, + -0.023837012435118824, + 0.0328543856909415, + -0.004672370890995114, + 0.01510371245001914, + 0.0 + ], + [ + 0.0006143072264822688, + -0.04079083106245654, + -0.007373943330080842, + 0.013683538717873922, + -0.03752693495008007, + 0.01731475566886231, + 0.0 + ], + [ + -0.004270410252227165, + -0.05247432973433701, + -0.014025493656943284, + -0.016793391035559872, + 0.02598062480299491, + -0.022069334920810115, + 0.0 + ], + [ + -0.00617482535036166, + -0.043943747511796825, + -0.009372690519813619, + 0.007589345911292554, + 0.02960844790982105, + -0.0007902469966088848, + 0.0 + ], + [ + -6.977996914340164e-05, + -0.04477650868315318, + -0.02460879835993537, + 0.01851910416636404, + 0.03298685792375942, + -0.02049840134009202, + 0.0 + ], + [ + 0.0026872670665918467, + -0.04837305985009597, + 0.0020291174643591015, + 0.04208686239937825, + -0.02049100604546465, + 0.00627674166696087, + 0.0 + ] + ], + "state": [ + [ + 0.3166886568069458, + 0.006318395026028156, + 0.05236021801829338, + 2.9659306724839887, + 0.01653873361647129, + 0.08831005543470383, + 1.0 + ], + [ + 0.31659939885139465, + 0.006308772601187229, + 0.051876250654459, + 2.965901406603404, + 0.01807243935763836, + 0.08830954879522324, + 1.0 + ], + [ + 0.30990564823150635, + 0.0035405370872467756, + 0.04108734801411629, + 2.961321713524409, + 0.05941468104720116, + 0.08607272803783418, + 1.0 + ], + [ + 0.30436113476753235, + -0.019118109717965126, + 0.04264027997851372, + 2.937165366607257, + 0.08434519171714783, + 0.041233111172914505, + 1.0 + ], + [ + 0.3032298982143402, + -0.052540458738803864, + 0.05335555598139763, + 2.8915146013074597, + 0.11249183863401416, + 0.03385217860341072, + 1.0 + ], + [ + 0.30760034918785095, + -0.08500220626592636, + 0.06259837746620178, + 2.862987818317958, + 0.0958288386464119, + 0.017127085477113724, + 1.0 + ], + [ + 0.30879494547843933, + -0.11721200495958328, + 0.064400315284729, + 2.8637963851266584, + 0.053270582109689706, + -0.0007920065545476973, + 1.0 + ], + [ + 0.3075005114078522, + -0.13875265419483185, + 0.058131515979766846, + 2.878194661932536, + 0.009462338872253893, + 0.03319666162133217, + 1.0 + ], + [ + 0.30331993103027344, + -0.15714509785175323, + 0.04437023773789406, + 2.887020232277461, + 0.025402089580893517, + 0.059619389474391944, + 1.0 + ], + [ + 0.3019455671310425, + -0.16212555766105652, + 0.023395467549562454, + 2.931371199088641, + 0.05863892287015915, + 0.061801247298717506, + 1.0 + ], + [ + 0.3012087345123291, + -0.1656530797481537, + 0.0110688591375947, + 2.953759329515048, + 0.06452300399541855, + 0.055997274816036224, + 1.0 + ], + [ + 0.3019539713859558, + -0.166899174451828, + 0.006403615698218346, + 2.9684607555442533, + 0.05412287637591362, + 0.06148876994848251, + 1.0 + ], + [ + 0.30257880687713623, + -0.1665458381175995, + 0.005740084685385227, + 2.969010817008563, + 0.04718027263879775, + 0.0612199455499649, + 0.0 + ], + [ + 0.30118024349212646, + -0.16510537266731262, + 0.00671412143856287, + 2.981392594175883, + 0.060276944190263755, + 0.05714090168476105, + 0.0 + ], + [ + 0.29993948340415955, + -0.1631157249212265, + 0.007955069653689861, + 2.9973398764901837, + 0.07269264757633208, + 0.047313429415225976, + 0.0 + ], + [ + 0.29583606123924255, + -0.1645149439573288, + 0.029588783159852028, + 2.986176164942332, + 0.08551182597875595, + 0.03063587844371796, + 0.0 + ], + [ + 0.2991945743560791, + -0.16969257593154907, + 0.0791114792227745, + 2.9347228576713285, + 0.04008591920137405, + -0.006745767313987017, + 0.0 + ], + [ + 0.29788854718208313, + -0.15876278281211853, + 0.11161870509386063, + 2.9355792870097837, + 0.05043147131800651, + -0.05277820676565171, + 0.0 + ], + [ + 0.3032574951648712, + -0.12499441206455231, + 0.128705695271492, + 2.9676627834611615, + 0.051909320056438446, + -0.06853947043418886, + 0.0 + ], + [ + 0.3067189157009125, + -0.08368299156427383, + 0.1288772076368332, + 2.9800450076633176, + 0.08585935086011888, + -0.09216200560331346, + 0.0 + ], + [ + 0.30791765451431274, + -0.029516402631998062, + 0.134626105427742, + 2.9654820283227643, + 0.06373742222785951, + -0.06615500152111053, + 0.0 + ], + [ + 0.30483460426330566, + 0.015692461282014847, + 0.13654500246047974, + 2.9733767976337155, + 0.034724388271570206, + -0.06018699333071708, + 0.0 + ], + [ + 0.3082491159439087, + 0.06383883953094482, + 0.1533021181821823, + 2.9927529861503324, + 0.005623254925012589, + -0.03446531295776367, + 0.0 + ], + [ + 0.31252121925354004, + 0.11125712841749191, + 0.14410719275474548, + 3.0347627644711217, + 0.02495667338371277, + -0.04371273890137672, + 0.0 + ] + ], + "continuous_gripper_state": [ + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016, + 0.0908706784248352, + 0.3760365843772888, + 0.6595531105995178, + 0.8600489795207977, + 0.9307394847273827, + 0.9343810677528381, + 0.9294997081160545, + 0.9288748651742935, + 0.9288748651742935, + 0.928561195731163, + 0.928561195731163, + 0.928561195731163, + 0.928561195731163, + 0.928561195731163 + ], + "episode_id": "3175", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3175/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3178.json b/annotation/test/3178.json new file mode 100644 index 0000000000000000000000000000000000000000..ffb6decfefb19d491572d0e085c3b0a7c58ef184 --- /dev/null +++ b/annotation/test/3178.json @@ -0,0 +1,812 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put the colander on top of the towel" + ], + "videos": [ + { + "video_path": "videos/test/3178/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 7.515293657049102e-18, + 1.721609366223763e-17, + 5.2162266453953095e-18, + 1.0 + ], + [ + -0.0021104186172036174, + 0.0018630984919452956, + 0.007730141830578205, + -0.007669283656016857, + -0.02953160576436991, + 0.005891044654323306, + 1.0 + ], + [ + 0.0020725819151675203, + -0.018612970797910758, + 0.01512231550870952, + -0.04584568302107075, + -0.04483665462586052, + -0.013305602699353975, + 1.0 + ], + [ + 0.02296572819827865, + -0.016662648894687347, + 0.011810557624192034, + -0.05587747201620964, + 0.0009160301058343736, + -0.0035175762154682822, + 1.0 + ], + [ + 0.0362732864830788, + 0.003923957609865995, + 0.005659213320774585, + 0.030554804306980043, + 0.04190607200460703, + 0.027553595562791012, + 1.0 + ], + [ + 0.030661666592228264, + 0.011644803798786232, + 0.00010977253437301473, + 0.010960198295688403, + 0.04017570772716777, + -0.017296891000694214, + 1.0 + ], + [ + 0.026672052583752406, + 0.014944022617371934, + 0.009362709752541588, + 0.007754113000023834, + 0.00328366822835433, + -0.029744123674256343, + 1.0 + ], + [ + 0.015681430866190442, + 0.019168591154960415, + 0.017499436908457743, + 0.024795664229968244, + -0.038691713453082414, + 0.010823874622478495, + 1.0 + ], + [ + 0.008070619388738265, + 0.00538366180010853, + 0.020549172301363827, + 0.01655377589835554, + -0.039180183747241415, + -0.0067059505385875726, + 1.0 + ], + [ + 0.0012922176812583863, + -0.0033064867782493764, + 0.010253747913317509, + -0.011721112956323844, + -0.03587244709342456, + -0.003121655401600215, + 1.0 + ], + [ + -0.00042510150696705237, + -0.016098330216735856, + 0.00028629311457342504, + 0.0023259703648801713, + -0.009067231499911631, + -0.03472300752463832, + 1.0 + ], + [ + -0.0051568615420260755, + -0.0047651945541634655, + 0.00688660521733282, + -0.00499733729891666, + -0.01632306865301553, + -0.0012100924869236059, + 1.0 + ], + [ + -0.00503269437131567, + -0.0008764927927270587, + 0.006020909109555414, + 0.0018417931633159775, + -0.012200004381362964, + -0.001428721017411836, + 1.0 + ], + [ + -0.003894945632947608, + 0.0010753859456723365, + 0.0017357920604561727, + 0.00036246071365193984, + -0.006000973288723307, + -0.0025537086040252894, + 1.0 + ], + [ + -0.0009218561050359904, + 0.008649379498256919, + 2.2294856526993617e-06, + 0.0037366156381705637, + -0.0003794952904035047, + 0.02125511026290353, + 1.0 + ], + [ + -0.0037301090517734303, + 0.0032606594563840997, + -0.00030771081808646147, + 0.017798497352663093, + -0.021039257552790517, + 0.023570364437475726, + 0.0 + ], + [ + 0.0008833180952284741, + -0.0001455920638611273, + -0.0027394595933087715, + 0.003603942930129661, + 0.011128130047691307, + 0.007642089807280784, + 0.0 + ], + [ + -0.0029820648650190364, + -0.0020967912437972348, + -0.01157943047776578, + 0.0067008143947293606, + 0.034188634421999764, + 0.01990284144562187, + 0.0 + ], + [ + -0.011488778882454073, + 0.0027871325063883053, + -0.020994843328819436, + -0.02518887281974501, + 0.03157088610101557, + 0.02937382964462738, + 0.0 + ], + [ + -0.01506672431994831, + -0.006984149599522797, + -0.03353255719804721, + -0.047664078734990414, + 0.0445300941054984, + 0.005359658118939839, + 0.0 + ], + [ + -0.01836093219953854, + -0.032313488994397635, + -0.019626452149241226, + -0.03835030061225821, + 0.01835490140334069, + -0.04999238310726153, + 0.0 + ], + [ + -0.017259680634334622, + -0.020842587605447896, + -0.004553678640584762, + -0.014864832252293897, + 0.0049961800618854605, + 0.013346926238882213, + 0.0 + ], + [ + -0.022523856171341203, + -0.0404633644583119, + -0.0025549189307971314, + 0.0166419577732469, + -0.0037095247697881395, + -0.052344634447758616, + 0.0 + ], + [ + -0.015991236051792878, + -0.015379453850406672, + 0.005187140175153619, + 0.012653946698569073, + -0.005512502937698611, + -0.00680932944277063, + 0.0 + ], + [ + -0.011596237399796283, + -0.017571519303387816, + 0.007317400172155801, + 0.04623824105237201, + -0.005161800490829683, + -0.025421269491295233, + 0.0 + ], + [ + 0.002318368356839418, + -0.006798490840932074, + 0.006784963906215369, + 0.03470221441031843, + 0.0025179277164376367, + -0.010614631182277429, + 0.0 + ], + [ + 0.0011439419210456706, + -0.007803224906077178, + 0.016963504408736587, + 0.03594327542905333, + -0.037151812916478094, + -0.0030613101693296, + 0.0 + ], + [ + 0.004231556798992022, + -0.006223949143082288, + 0.005789320308026462, + 0.03808396063530678, + 0.007089663198722689, + -0.006931388448514586, + 0.0 + ], + [ + 0.005153236862117134, + -0.0008543767818339834, + 0.01567933374824678, + 0.004277819470048427, + -0.020964465399846373, + -0.0022245829510319634, + 0.0 + ], + [ + 0.001577566314569351, + 0.003958993300673324, + 0.004892024497272889, + 0.012482464810709009, + -0.006952652198399746, + 0.021402474821061536, + 0.0 + ], + [ + -0.0013983291555634575, + 0.006974974932565271, + 0.0031304543486124197, + 0.002712987001036028, + -0.0040190392142997085, + 0.022299718463566837, + 0.0 + ], + [ + -0.0029071974260707115, + 0.009116726069892913, + 0.0030894686791529302, + -9.797667285174935e-05, + -0.008865466983040856, + 0.026488721885343403, + 0.0 + ], + [ + -0.001568144624470344, + 0.011788360365401904, + -0.005509001475100171, + -0.01911595903092965, + 0.008033045076043428, + 0.025954626477192454, + 0.0 + ], + [ + 0.001786897013703478, + 0.0031119870701103373, + -0.027676227163985632, + -0.022398104168719554, + 0.0667552922547292, + -0.011353843643436676, + 1.0 + ], + [ + -0.0005325130839527128, + -0.0004404544174436721, + -0.027921150391531892, + -0.028272296659681524, + 0.05425749500148674, + -0.029814761659981658, + 1.0 + ], + [ + 0.003123383571751844, + -0.003222823727247175, + -0.013866758678620602, + -0.054050844827304066, + 0.01775447195491276, + -0.017589633210371908, + 1.0 + ], + [ + 0.003202598554545271, + 0.009446201480915848, + -0.014497694439918881, + -0.04222094041361206, + 0.018055286852120406, + -0.00837534378002701, + 1.0 + ], + [ + 0.00406412963323889, + 0.024710502610405104, + -0.006718116921282021, + -0.04124542285048457, + -0.0006050114006308368, + 0.04322322407361599, + 1.0 + ], + [ + 0.002883679905071902, + 0.01883246751526703, + 0.0026697962366209614, + 0.007878469780704946, + -0.017796043282984737, + 0.0627353091954856, + 1.0 + ], + [ + -0.0019146614568281606, + -0.0002892750977206873, + -0.002971860933108561, + 0.039766816416065935, + 0.003426441736931647, + 0.006039126455879123, + 1.0 + ], + [ + -7.973915989536956e-05, + -0.0004390507443263994, + -0.0004879868159396905, + 0.0006380035471745631, + 0.0014883552545771476, + 9.087024617798661e-05, + 1.0 + ] + ], + "state": [ + [ + 0.26253435015678406, + 0.018808070570230484, + 0.11833023279905319, + -3.066159004467078, + -0.10469491034746171, + 0.049519263207912445, + 1.0 + ], + [ + 0.26253435015678406, + 0.018808070570230484, + 0.11833023279905319, + -3.066159004467078, + -0.10469491034746171, + 0.049519263207912445, + 1.0 + ], + [ + 0.2613203823566437, + 0.017471101135015488, + 0.110304094851017, + -3.0734135155850133, + -0.0748026520013809, + 0.04586257413029671, + 1.0 + ], + [ + 0.2635180652141571, + 0.03719254955649376, + 0.0966784805059433, + -3.120420605065771, + -0.03096668794751167, + 0.0621856153011322, + 1.0 + ], + [ + 0.28573158383369446, + 0.05551739037036896, + 0.08593987673521042, + 3.1067787689440927, + -0.03195679187774658, + 0.06568479537963867, + 1.0 + ], + [ + 0.3223544657230377, + 0.05379896238446236, + 0.08158247172832489, + 3.138150288146459, + -0.07478552311658859, + 0.03955775126814842, + 1.0 + ], + [ + 0.3533722460269928, + 0.043372366577386856, + 0.08380389213562012, + -3.135388337197252, + -0.11489003151655197, + 0.05709448829293251, + 1.0 + ], + [ + 0.38175687193870544, + 0.030084794387221336, + 0.07746859639883041, + -3.131067808839031, + -0.1183071583509445, + 0.08702678978443146, + 1.0 + ], + [ + 0.4010010063648224, + 0.012708322145044804, + 0.06174301356077194, + -3.10503155936534, + -0.07949725538492203, + 0.07658577710390091, + 1.0 + ], + [ + 0.4110183119773865, + 0.008834469132125378, + 0.041717179119586945, + -3.089097401248761, + -0.04058576002717018, + 0.08472062647342683, + 1.0 + ], + [ + 0.41238686442375183, + 0.012804471887648106, + 0.031711772084236145, + -3.1009882373088082, + -0.004926039371639489, + 0.08971791714429854, + 1.0 + ], + [ + 0.41051945090293884, + 0.028798164799809456, + 0.03207710012793541, + -3.0988582504265985, + 0.002727517625316977, + 0.12477928400039671, + 1.0 + ], + [ + 0.40475550293922424, + 0.03316984698176384, + 0.025414448231458664, + -3.103844767557927, + 0.018983980640769005, + 0.12668576836585999, + 1.0 + ], + [ + 0.39951199293136597, + 0.03361399471759796, + 0.01952751912176609, + -3.101964371400424, + 0.03112134151160717, + 0.1285746842622757, + 1.0 + ], + [ + 0.39572519063949585, + 0.03211026266217232, + 0.017872542142868042, + -3.1015144941681108, + 0.03701630979776383, + 0.13136599957942963, + 1.0 + ], + [ + 0.3959311544895172, + 0.023420020937919617, + 0.017558110877871513, + -3.0985728335850915, + 0.038238734006881714, + 0.11012764275074005, + 1.0 + ], + [ + 0.392592191696167, + 0.019760003313422203, + 0.017867784947156906, + -3.0816430059545716, + 0.06026230379939079, + 0.0874481275677681, + 0.0 + ], + [ + 0.3936367630958557, + 0.019832709804177284, + 0.020552868023514748, + -3.0785376002364835, + 0.0496099516749382, + 0.07914328575134276, + 0.0 + ], + [ + 0.3911377489566803, + 0.02100176177918911, + 0.03237491101026535, + -3.072907107072421, + 0.016731303185224533, + 0.057134140282869346, + 0.0 + ], + [ + 0.3802570402622223, + 0.016151055693626404, + 0.05331827327609062, + -3.0986222458356103, + -0.012757783755660055, + 0.0256742388010025, + 0.0 + ], + [ + 0.3646232783794403, + 0.021288646385073662, + 0.08692493289709091, + 3.1370333923311016, + -0.05701617524027825, + 0.01840072311460972, + 0.0 + ], + [ + 0.3445892632007599, + 0.05332808569073677, + 0.10532590001821518, + 3.09582760755951, + -0.07507143169641496, + 0.06860947608947754, + 0.0 + ], + [ + 0.3257080018520355, + 0.07310929894447327, + 0.10761666297912598, + 3.08195215662057, + -0.08066651225090027, + 0.05546252802014351, + 0.0 + ], + [ + 0.30103325843811035, + 0.11234551668167114, + 0.10593981295824051, + 3.0944723693006715, + -0.07373563200235368, + 0.10763413459062576, + 0.0 + ], + [ + 0.28398624062538147, + 0.12570960819721222, + 0.09887200593948364, + 3.106643548356839, + -0.0679069310426712, + 0.11419125646352768, + 0.0 + ], + [ + 0.2710546553134918, + 0.14164502918720245, + 0.09017650038003922, + -3.132007623212882, + -0.06183847784996031, + 0.13946455717086792, + 0.0 + ], + [ + 0.27280327677726746, + 0.14882099628448486, + 0.08361312747001648, + -3.0979617183380803, + -0.06445455551147461, + 0.15007656812667847, + 0.0 + ], + [ + 0.27371343970298767, + 0.15759135782718658, + 0.06711428612470627, + -3.062290297942706, + -0.027470935136079788, + 0.15475471317768097, + 0.0 + ], + [ + 0.2770090699195862, + 0.16484908759593964, + 0.06195443868637085, + -3.0243804102116307, + -0.03508685901761055, + 0.1611064076423645, + 0.0 + ], + [ + 0.2821979224681854, + 0.16840966045856476, + 0.04667289927601814, + -3.0202415232830724, + -0.014526030980050567, + 0.16576723754405978, + 0.0 + ], + [ + 0.28438088297843933, + 0.16539080440998077, + 0.04136107861995697, + -3.0074851383739194, + -0.005030814092606306, + 0.14536425471305844, + 0.0 + ], + [ + 0.2839580476284027, + 0.15876589715480804, + 0.03731915354728699, + -3.004693957167216, + 0.0019346859771758318, + 0.12380243092775345, + 0.0 + ], + [ + 0.2821280360221863, + 0.14986196160316467, + 0.03302004933357239, + -3.00487810571725, + 0.014331194572150709, + 0.09877032041549683, + 0.0 + ], + [ + 0.2818482518196106, + 0.13734418153762817, + 0.036893099546432495, + -3.0244231914454183, + 0.009904847480356693, + 0.07196225970983505, + 0.0 + ], + [ + 0.28435322642326355, + 0.13118229806423187, + 0.06399673968553543, + -3.046524906652518, + -0.0577193945646286, + 0.07542066276073454, + 1.0 + ], + [ + 0.28238850831985474, + 0.12881559133529663, + 0.09175654500722885, + -3.076109441118785, + -0.11454413086175917, + 0.10006888210773468, + 1.0 + ], + [ + 0.28364771604537964, + 0.1312621533870697, + 0.1060694009065628, + -3.132048763456293, + -0.13339601457118985, + 0.11660305410623549, + 1.0 + ], + [ + 0.286012202501297, + 0.12188945710659027, + 0.12077423930168152, + 3.107813248532363, + -0.15152588486671445, + 0.12489940226078033, + 1.0 + ], + [ + 0.291916161775589, + 0.09796909242868423, + 0.1288500428199768, + 3.0731974710994443, + -0.1522379368543625, + 0.08117437362670898, + 1.0 + ], + [ + 0.2965034246444702, + 0.07930871099233627, + 0.127926766872406, + 3.09096725856001, + -0.13845646381378174, + 0.016760000959038734, + 1.0 + ], + [ + 0.29419243335723877, + 0.07970932871103287, + 0.13058766722679138, + 3.1315513729401907, + -0.14218172430992126, + 0.01084232609719038, + 1.0 + ], + [ + 0.29404017329216003, + 0.08015163242816925, + 0.1310550421476364, + 3.1322002356224736, + -0.143670916557312, + 0.01076561491936445, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05465686321258545, + 0.3438887596130371, + 0.6579259634017944, + 0.799163207411766, + 0.8838039562106133, + 0.9211185500025749, + 0.9266620799899101, + 0.9266620799899101, + 0.9272984340786934, + 0.9272984340786934, + 0.9272984340786934, + 0.9272984340786934, + 0.9272984340786934, + 0.9276153817772865, + 0.9276153817772865, + 0.9276153817772865, + 0.927931509912014, + 0.927931509912014, + 0.8976205363869667, + 0.7204371690750122, + 0.4349871873855591, + 0.12949180603027344, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "3178", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3178/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3192.json b/annotation/test/3192.json new file mode 100644 index 0000000000000000000000000000000000000000..7259905facd9d69794c43356e751ea83bd45c7f9 --- /dev/null +++ b/annotation/test/3192.json @@ -0,0 +1,375 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "move light switch to the right" + ], + "videos": [ + { + "video_path": "videos/test/3192/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 1.0299551704639927e-17, + 6.397276159905631e-18, + -1.813841619683322e-18, + 1.0 + ], + [ + -0.008627670375737929, + 0.0022543541562436266, + 0.007536639346283656, + -0.013745068328063917, + -0.05702235193274269, + -0.0005705559668659312, + 1.0 + ], + [ + -0.009849748456245519, + 0.0030609210382270464, + -0.019862147414987263, + -0.04125672753318019, + -0.022273783442817153, + 0.039786885789797555, + 1.0 + ], + [ + -0.016895893968588885, + -0.01310582629236822, + -0.026949883120336384, + -0.023079163869543007, + 0.027484817717601327, + 0.007769357180938522, + 1.0 + ], + [ + -0.015886248852481653, + -0.010747832192970017, + -0.0034919200760389793, + -0.0020438662655515136, + -0.031995785778632185, + 0.04147256829150063, + 1.0 + ], + [ + -0.01752227682226223, + -0.021186541830153834, + -0.0029553035384588884, + -0.01728446472530478, + -0.048772926322883825, + -0.0005309814111573826, + 1.0 + ], + [ + -0.006346942183128065, + -0.010902816676647175, + 0.004232734029608702, + 0.023795981882681082, + -0.0025520855086276334, + 0.0183743480005536, + 1.0 + ], + [ + -0.0064174151444759, + -0.010038745915641318, + 0.006523755942766667, + 0.03051879979891638, + 0.0019850480272914895, + 0.009652155383161299, + 1.0 + ], + [ + -0.0015343193780481706, + -0.007300674944097302, + 0.003478015152628907, + 0.006882047965569511, + 0.0009552038427501405, + -0.001100740439492817, + 1.0 + ], + [ + 0.0012811022136738346, + -0.005240248453087583, + 0.005284346635045943, + 0.023220879710288207, + 0.014420231784118925, + 0.014239945447318244, + 1.0 + ], + [ + 0.0004948846478461384, + -0.0021545449573555126, + 0.004875248720092677, + 0.007394621459555765, + 0.0006906235182580106, + 0.0008296363171452089, + 1.0 + ], + [ + 0.0017381095163806375, + 0.004223256018363033, + 0.002053090019069122, + 0.0003756707008910039, + -0.006694639562592182, + 0.009829319735598096, + 1.0 + ], + [ + 0.0059606769470237665, + 0.010188071040887524, + 0.0009749539008589495, + -0.004227226837242334, + -0.004725836309066894, + -0.007035358260180845, + 1.0 + ], + [ + 0.002083102037738476, + 0.003602569595955375, + -0.0001845832807048545, + -0.01621207246580228, + -0.019763281485020462, + -0.038152607337744775, + 1.0 + ], + [ + 0.00177250073468193, + 0.004876281870814446, + -0.0009899521118985212, + -0.008862799434006453, + -0.010192796170933804, + -0.021954506036142532, + 1.0 + ], + [ + -0.0005222757060924727, + 0.012206173403887528, + 0.002122613977392637, + -0.008095316352236002, + 0.003404645312758149, + 0.010078376852927787, + 1.0 + ], + [ + -3.9496023912995495e-05, + 0.0004839321532899889, + -0.0005226288694963684, + -0.0006002117321165774, + 0.0052981520335020835, + -0.006065223094497315, + 1.0 + ], + [ + 0.00038438623221247973, + 7.328955177143216e-05, + -0.0019232056713768676, + -0.0032457996754080586, + -0.006982045802697501, + -0.025504462199744452, + 1.0 + ] + ], + "state": [ + [ + 0.316249281167984, + 0.025928018614649773, + 0.06101563200354576, + 3.108342772471257, + -0.13169153034687042, + 0.01329657342284918, + 1.0 + ], + [ + 0.316249281167984, + 0.025928018614649773, + 0.06101563200354576, + 3.108342772471257, + -0.13169153034687042, + 0.01329657342284918, + 1.0 + ], + [ + 0.3087095320224762, + 0.02332388423383236, + 0.052489764988422394, + 3.0947183800214013, + -0.07468164712190628, + 0.011967572383582592, + 1.0 + ], + [ + 0.29742246866226196, + 0.021061770617961884, + 0.07168290764093399, + 3.0565358271175107, + -0.054233971983194344, + -0.028870247304439545, + 1.0 + ], + [ + 0.27960681915283203, + 0.03693060949444771, + 0.0964682400226593, + 3.0337197204404553, + -0.08227864652872086, + -0.034292224794626236, + 1.0 + ], + [ + 0.26397275924682617, + 0.04853476583957672, + 0.0974692553281784, + 3.0354044159227094, + -0.05485029891133308, + -0.07901716232299805, + 1.0 + ], + [ + 0.24818120896816254, + 0.07123252749443054, + 0.09720071405172348, + 3.0182488804035863, + -0.006295442581176758, + -0.08365724235773088, + 1.0 + ], + [ + 0.24275195598602295, + 0.08202315866947174, + 0.09161890298128128, + 3.0421825518184384, + -0.0060221501626074305, + -0.10220629721879958, + 1.0 + ], + [ + 0.23736612498760223, + 0.09196627885103226, + 0.08409253507852554, + 3.072762223082133, + -0.008955059573054314, + -0.11161413788795471, + 1.0 + ], + [ + 0.23666135966777802, + 0.09913355857133865, + 0.08010706305503845, + 3.0796338637643537, + -0.009832290932536125, + -0.11045025289058685, + 1.0 + ], + [ + 0.2385297417640686, + 0.10385940223932266, + 0.0745212510228157, + 3.102984795468398, + -0.025105679407715797, + -0.12377265095710754, + 1.0 + ], + [ + 0.2393866777420044, + 0.10573270171880722, + 0.06958045810461044, + 3.110399568574973, + -0.0258278027176857, + -0.12457527965307234, + 1.0 + ], + [ + 0.2406274974346161, + 0.10125862061977386, + 0.06770560890436172, + 3.1110352651500186, + -0.019441671669483185, + -0.13461029529571533, + 1.0 + ], + [ + 0.24517527222633362, + 0.0903363823890686, + 0.06715838611125946, + 3.1066745092445096, + -0.0145026333630085, + -0.12772196531295776, + 1.0 + ], + [ + 0.2467789500951767, + 0.08650699257850647, + 0.06749880313873291, + 3.0899372567706784, + 0.006590402219444513, + -0.09028966724872589, + 1.0 + ], + [ + 0.2481178492307663, + 0.08154740184545517, + 0.06872750073671341, + 3.0812246484034738, + 0.017901573330163956, + -0.06888855248689651, + 1.0 + ], + [ + 0.24672472476959229, + 0.06930225342512131, + 0.06735473871231079, + 3.072955498593398, + 0.013894228264689449, + -0.07874404639005661, + 1.0 + ], + [ + 0.24665787816047668, + 0.06885918974876404, + 0.06790982186794281, + 3.0724448581510266, + 0.009024235419929028, + -0.0723295584321022, + 1.0 + ], + [ + 0.24706287682056427, + 0.06888976693153381, + 0.06982994824647903, + 3.0694442113214215, + 0.017748776823282245, + -0.047365304082632065, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "3192", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3192/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3195.json b/annotation/test/3195.json new file mode 100644 index 0000000000000000000000000000000000000000..2032ba01b76f0bfdd3bf51ca083b4bcae7c2a9a7 --- /dev/null +++ b/annotation/test/3195.json @@ -0,0 +1,375 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put corn in pan which is on stove distractors" + ], + "videos": [ + { + "video_path": "videos/test/3195/rgb.mp4" + } + ], + "action": [ + [ + -0.0005063856467983309, + -4.643441037437482e-05, + 0.0019843173849940286, + 0.003124860051156233, + -0.005237244617738851, + 0.000667167202514692, + 1.0 + ], + [ + -0.007904446373773596, + 0.0005290441809891098, + 0.015294913873257559, + -0.00907338401399264, + -0.03773490884822866, + 0.009661542289849992, + 1.0 + ], + [ + 0.003466679788514504, + -0.007977664721016875, + 0.007356984774020541, + -0.02227614040314897, + 0.009817326807052953, + -0.002706008645723888, + 1.0 + ], + [ + -0.0005958807684070694, + -0.004446663975248407, + 0.007422577817161955, + 0.002634572977353047, + -0.013811203161216574, + -0.002201122104555662, + 1.0 + ], + [ + 0.0006770182118050423, + -0.0027144267582962845, + 0.006829157455619619, + -0.019957326342200973, + -0.003930810593825522, + -0.017180614155202317, + 1.0 + ], + [ + -0.00134950381266801, + -0.005231180724282325, + 0.008113892184992592, + -0.02192998873410633, + 0.003845495436999953, + -0.05245951202488006, + 1.0 + ], + [ + -0.0010493177601522093, + -0.00028492568832269393, + 0.006072158709242295, + -0.02713129869954278, + -0.0024835820307580084, + -0.049275880491405626, + 1.0 + ], + [ + 0.001766382611694585, + -0.004716915169542043, + 0.003529559183356643, + -0.049623764148014074, + -0.028051934001652287, + -0.07046098135828657, + 1.0 + ], + [ + 0.0010236897828050514, + -0.00023230140861532693, + -5.654829664851324e-06, + -0.03231652386976024, + -0.01210983874444751, + -0.04424231913544834, + 0.0 + ], + [ + 0.0008415623270070171, + -0.0019145856349900199, + 6.780888194318375e-05, + 0.01685331485825214, + 0.008633897379687217, + -0.004176762989792901, + 0.0 + ], + [ + -0.0035341174021260705, + -0.006453798128368014, + -0.005305927084425432, + 0.11241869032687206, + 0.03002086898723051, + 0.03770258019759127, + 0.0 + ], + [ + 0.006389119569422669, + 0.002833048073003872, + -0.0359974344715997, + 0.11074215166563962, + 0.10753299016324798, + 0.05679990023670625, + 0.0 + ], + [ + 0.012844477439902406, + 0.0025132082562107473, + -0.020729283905074964, + 0.08875943239047326, + 0.07454130162912767, + 0.05918617242027462, + 0.0 + ], + [ + 0.020466394838402124, + 0.0051193073170643835, + -0.01216510820987554, + -0.013739124349023605, + 0.12088601359250778, + 0.06549725210057786, + 0.0 + ], + [ + 0.020080201753974694, + 0.0015398078503864087, + 0.004099462663015158, + -0.07506884854779136, + 0.08564740129382482, + 0.06213839115592115, + 0.0 + ], + [ + 0.014500544922514208, + 0.00026781754555037224, + 0.013415840180858191, + -0.05613239133614114, + 0.06263759410822942, + 0.07844494097045626, + 0.0 + ], + [ + 0.0037730999541245335, + 0.0005712564995729945, + 0.0033119729838651697, + -0.01701122739647165, + 0.028172811725164407, + 0.0389586670080461, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -7.594649862983273e-18, + -3.286642723427665e-17, + 3.031007518116228e-17, + 1.0 + ] + ], + "state": [ + [ + 0.3264062702655792, + 0.060405485332012177, + 0.07106664031744003, + -3.1003065911405763, + -0.14565639197826385, + 0.6714077591896056, + 1.0 + ], + [ + 0.32615926861763, + 0.06037309393286705, + 0.06903340667486191, + -3.0971151423924645, + -0.14039605855941772, + 0.6709528565406799, + 1.0 + ], + [ + 0.32161223888397217, + 0.05695710703730583, + 0.05277455970644951, + -3.1050366220348558, + -0.10226444154977798, + 0.6629433631896973, + 1.0 + ], + [ + 0.31982648372650146, + 0.06601868569850922, + 0.04610484465956688, + -3.1275520465620836, + -0.11217382550239563, + 0.6653034687042237, + 1.0 + ], + [ + 0.3171997666358948, + 0.06974165886640549, + 0.038724981248378754, + -3.125185551243373, + -0.09839456528425217, + 0.6677097082138062, + 1.0 + ], + [ + 0.3165022134780884, + 0.07279063761234283, + 0.03204059600830078, + 3.1363387118377766, + -0.09473147243261337, + 0.6850300431251526, + 1.0 + ], + [ + 0.31277546286582947, + 0.07644582539796829, + 0.023808185011148453, + 3.1094301921599588, + -0.09817057102918625, + 0.7377628087997437, + 1.0 + ], + [ + 0.31238335371017456, + 0.0762103721499443, + 0.017656423151493073, + 3.077498884993144, + -0.09398536384105681, + 0.7871512174606323, + 1.0 + ], + [ + 0.3107038140296936, + 0.08087339252233505, + 0.014014641754329205, + 3.021562697487422, + -0.06126092374324799, + 0.8557676672935487, + 1.0 + ], + [ + 0.31119996309280396, + 0.08179758489131927, + 0.014055154286324978, + 2.98674392898614, + -0.043886832892894745, + 0.8982778191566467, + 0.0 + ], + [ + 0.3102620244026184, + 0.08363962173461914, + 0.013730139471590519, + 3.0033539553456983, + -0.05177258700132369, + 0.9037433862686157, + 0.0 + ], + [ + 0.3023422360420227, + 0.08509630709886551, + 0.017907384783029556, + 3.117511287453123, + -0.08667287975549698, + 0.8704311847686768, + 0.0 + ], + [ + 0.305935800075531, + 0.0863099992275238, + 0.054380327463150024, + -3.0502568056159696, + -0.19541285932064056, + 0.8155182003974915, + 0.0 + ], + [ + 0.31505465507507324, + 0.08958624303340912, + 0.07689949125051498, + -2.9482281525903424, + -0.2638154923915863, + 0.7475833296775818, + 0.0 + ], + [ + 0.3324541449546814, + 0.09567868709564209, + 0.09281207621097565, + -2.936839284496852, + -0.3688086271286011, + 0.6542456746101379, + 0.0 + ], + [ + 0.34896451234817505, + 0.10749136656522751, + 0.09601511806249619, + -2.980646791058131, + -0.4388289451599121, + 0.5680063366889954, + 0.0 + ], + [ + 0.363773912191391, + 0.11917891353368759, + 0.09014952182769775, + -2.9950961788469037, + -0.486268013715744, + 0.46917688846588135, + 0.0 + ], + [ + 0.3681866228580475, + 0.12132427841424942, + 0.08894238620996475, + -2.9893751462274274, + -0.5079675912857056, + 0.42036896944046015, + 1.0 + ], + [ + 0.3681866228580475, + 0.12132427841424942, + 0.08894238620996475, + -2.9893751462274274, + -0.5079675912857056, + 0.42036896944046015, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.18787932395935059, + 0.40510207414627075, + 0.4061017632484436, + 0.4061017632484436, + 0.4061017632484436, + 0.4061017632484436, + 0.4061017632484436, + 0.4061017632484436, + 0.17852425575256348, + 0.0, + 0.0 + ], + "episode_id": "3195", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3195/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3198.json b/annotation/test/3198.json new file mode 100644 index 0000000000000000000000000000000000000000..3eda630921d0500ebfb0652a9e8fc9acc8b4f890 --- /dev/null +++ b/annotation/test/3198.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "take lid off pot or pan" + ], + "videos": [ + { + "video_path": "videos/test/3198/rgb.mp4" + } + ], + "action": [ + [ + -9.406564509612268e-05, + 0.0003157541337203078, + 0.0003666377383194554, + 0.00041295452708114267, + -0.001560204689079696, + 0.0014493174426551828, + 1.0 + ], + [ + -0.002603626725217109, + 0.00012466066728865287, + 0.008427691110053707, + -0.0014504010182196578, + -0.02273102769178146, + -0.01919577191780973, + 1.0 + ], + [ + -0.0016677445833824577, + 0.0009317721220270168, + 0.007785426738888391, + -0.008588702997581984, + 0.0020831228775467733, + -0.01341117542501638, + 1.0 + ], + [ + -0.0021507872711202776, + 0.0003146311296785061, + 0.006972140511926499, + -0.009210907693115042, + 0.005282070317015029, + 0.0061715164979161685, + 1.0 + ], + [ + 0.00019219309562565543, + -0.0003630699315195349, + 0.006098290297134549, + -0.006114919270207599, + 0.01129647558630695, + 0.017228550182938805, + 1.0 + ], + [ + 0.002818836209441345, + 0.0014186999885316355, + 0.0037580900950654962, + -0.005059019353035465, + 0.006600883196754154, + 0.01788678673490888, + 1.0 + ], + [ + 0.001930916323709976, + 0.00040477798113694045, + 0.002351865982266458, + -0.005325298101723657, + 0.002229785884302263, + 0.006786447332020065, + 1.0 + ], + [ + 0.00243760928640707, + -0.0016250968985846016, + 0.004226782226453474, + -0.007065215772960873, + -0.0032999982587910925, + -0.004146555031441083, + 1.0 + ], + [ + 0.0057573643244709285, + -0.0020849600032789586, + 0.0020093686659023724, + -0.012726662758219893, + 0.018330181505565386, + -0.006043686535830059, + 1.0 + ], + [ + 0.002847020037318841, + -0.0025817691485731445, + -0.0004133838456991042, + -0.003810326685668082, + 0.017956403829438482, + -0.006909135748775394, + 1.0 + ], + [ + -0.00016868043857731232, + 0.0017217380560076688, + 6.692054711901161e-05, + -0.006688645202441669, + -3.5693992513668595e-05, + -0.005846404737142554, + 0.0 + ], + [ + -0.0017095499730606705, + -0.0001543803549571576, + -4.9379550860117953e-05, + 0.004762005401234399, + 0.000411176897115229, + -0.005811520255379163, + 0.0 + ], + [ + -0.0010079481884592127, + 0.0004657859123469791, + -0.004120035174957731, + 0.03255761986984262, + -0.010727798488260989, + 0.004062796505266626, + 0.0 + ], + [ + 0.004042191709734469, + -0.002095290792074974, + -0.01599373831685656, + 0.04921233364275253, + -0.024687433460175195, + 0.010872696029907754, + 0.0 + ], + [ + 0.008147243942581301, + -0.001195634695507189, + -0.013340756878497862, + 0.019217425435460563, + 0.012906636051271349, + 0.0160941507473016, + 0.0 + ], + [ + 0.007809299437805258, + -0.00969012130957576, + -0.00833496463443414, + 0.0013920505486189627, + 0.013407022495222246, + 0.0015512271766311328, + 0.0 + ], + [ + 0.017920690621193284, + -0.018011173704721203, + -0.0032815419073694107, + -0.011834565236365481, + 0.01188508057792282, + -0.0037152379313586973, + 0.0 + ], + [ + 0.012899762390471714, + -0.018160729907920132, + 0.0026546822342468006, + -0.007400753386578849, + 0.010865291525515007, + -0.009205781677895097, + 0.0 + ], + [ + 0.00513561489760711, + -0.014464179514072115, + 0.006797004954446508, + -0.004315928955507886, + -0.0009368363867197639, + -0.008997016876492478, + 0.0 + ], + [ + 0.0049345406068365535, + -0.007373758242253373, + 0.008903076708509056, + -0.01094576109862338, + 0.005066523898931634, + 0.005873621181625276, + 0.0 + ], + [ + 0.0009691256647006653, + -0.004578227665578576, + 0.00441367168740897, + 0.00420141684980825, + 0.01586810236848571, + 0.021175182702024918, + 0.0 + ], + [ + 0.0009876972160284658, + -0.0018054830429030545, + 0.004287083975592835, + 0.0053280411260471314, + -0.014570835931251401, + 0.05192336285701015, + 0.0 + ], + [ + 0.0028775325157982235, + -0.0014691043717658125, + 0.0012238377153158731, + -0.00563775675498474, + -0.01118742321154675, + 0.02555574861974429, + 1.0 + ] + ], + "state": [ + [ + 0.2141202986240387, + -0.07630213350057602, + 0.12626682221889496, + 3.0817820337885102, + -0.014817945659160614, + -0.0172444898635149, + 1.0 + ], + [ + 0.2140255868434906, + -0.07663765549659729, + 0.12591835856437683, + 3.0822178070717534, + -0.013347146101295948, + -0.01878461241722107, + 1.0 + ], + [ + 0.21152308583259583, + -0.0772152915596962, + 0.11747891455888748, + 3.080523731308528, + 0.010484956204891205, + -0.0009756154613569379, + 1.0 + ], + [ + 0.20977318286895752, + -0.07861877232789993, + 0.10978277772665024, + 3.0720821638875684, + 0.009223231114447117, + 0.012538250535726547, + 1.0 + ], + [ + 0.2075687199831009, + -0.07944459468126297, + 0.10286945849657059, + 3.0628180523687085, + 0.0035251243971288204, + 0.006748556159436703, + 1.0 + ], + [ + 0.2077401727437973, + -0.07956138998270035, + 0.09676086902618408, + 3.0566511546545705, + -0.009092497639358044, + -0.009537077508866787, + 1.0 + ], + [ + 0.2105751931667328, + -0.08132092654705048, + 0.09316246956586838, + 3.051759937899657, + -0.01718565821647644, + -0.02680143341422081, + 1.0 + ], + [ + 0.2125282883644104, + -0.0819876417517662, + 0.09088992327451706, + 3.046549091237136, + -0.02001490443944931, + -0.0333617702126503, + 1.0 + ], + [ + 0.21509188413619995, + -0.08085588365793228, + 0.0865776538848877, + 3.039407694833823, + -0.01633614487946033, + -0.029546616598963737, + 1.0 + ], + [ + 0.22093729674816132, + -0.079158715903759, + 0.08446042984724045, + 3.0265381579571446, + -0.03395370021462441, + -0.021661169826984406, + 1.0 + ], + [ + 0.22383470833301544, + -0.07660871744155884, + 0.0846712738275528, + 3.0224104319983205, + -0.05099685862660407, + -0.01272584032267332, + 1.0 + ], + [ + 0.22363735735416412, + -0.07832382619380951, + 0.08480076491832733, + 3.015427740412303, + -0.05026542395353317, + -0.0069178175181150445, + 0.0 + ], + [ + 0.2219296246767044, + -0.07815264165401459, + 0.084744393825531, + 3.0198992436104497, + -0.049941219389438636, + -0.001093488303013146, + 0.0 + ], + [ + 0.22071599960327148, + -0.07811351120471954, + 0.08883501589298248, + 3.0527181049161634, + -0.03978524357080459, + -0.006432502996176481, + 0.0 + ], + [ + 0.22415123879909515, + -0.07462894916534424, + 0.10472797602415085, + 3.102428803341933, + -0.016156895086169243, + -0.019451815634965897, + 0.0 + ], + [ + 0.23211470246315002, + -0.07306648790836334, + 0.11814158409833908, + 3.12189947639639, + -0.029681796208024025, + -0.035033755004405975, + 0.0 + ], + [ + 0.24001936614513397, + -0.06348510831594467, + 0.1265122890472412, + 3.123328000428625, + -0.043116740882396705, + -0.0363217368721962, + 0.0 + ], + [ + 0.2584405541419983, + -0.04607446491718292, + 0.130234032869339, + 3.111322561400481, + -0.054931651800870895, + -0.03238438069820404, + 0.0 + ], + [ + 0.27207502722740173, + -0.028434617444872856, + 0.12774400413036346, + 3.1033970211916646, + -0.06551085412502287, + -0.022834021598100662, + 0.0 + ], + [ + 0.2780030369758606, + -0.014372223056852818, + 0.12075157463550568, + 3.0984951948099813, + -0.06422851234674454, + -0.013860844075679779, + 0.0 + ], + [ + 0.28361496329307556, + -0.007466013077646494, + 0.1118747889995575, + 3.087913079308816, + -0.06954236328601837, + -0.019524335861206058, + 0.0 + ], + [ + 0.28498944640159607, + -0.003157203085720539, + 0.10730042308568954, + 3.09353410651023, + -0.08650930225849153, + -0.039890993386507034, + 0.0 + ], + [ + 0.2864135503768921, + -0.0016153235919773579, + 0.10303322970867157, + 3.103475449728318, + -0.07432887703180313, + -0.0925954133272171, + 0.0 + ], + [ + 0.28949683904647827, + -0.00047412613639608026, + 0.10197151452302933, + 3.099779965477534, + -0.06409826874732971, + -0.11861089617013931, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.18412798643112183, + 0.4714275002479553, + 0.683460533618927, + 0.7018977999687195, + 0.7026524841785431, + 0.7026524841785431, + 0.7026524841785431, + 0.7026524841785431, + 0.7026524841785431, + 0.7026524841785431, + 0.7026524841785431, + 0.7026524841785431, + 0.7026524841785431, + 0.4889334440231323, + 0.21926432847976685 + ], + "episode_id": "3198", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3198/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3207.json b/annotation/test/3207.json new file mode 100644 index 0000000000000000000000000000000000000000..61f48762bf33e4c8f6e7e97e0e68b7aedf8295ba --- /dev/null +++ b/annotation/test/3207.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "fold cloth in half" + ], + "videos": [ + { + "video_path": "videos/test/3207/rgb.mp4" + } + ], + "action": [ + [ + -0.0003860621929580061, + -0.0001048619844359963, + 0.00034972885554088856, + 0.0003765882130514184, + -0.0014867370720566709, + -3.0351312816764037e-05, + 1.0 + ], + [ + -0.0028156703304132464, + -0.0011198222957116417, + 0.01496998260430373, + 0.005745975194055812, + -0.033294644413353024, + -0.003929245138568456, + 1.0 + ], + [ + 0.006632934358585547, + -0.001332245137473991, + 0.003972397285985554, + -0.012501476597859223, + 0.038208971203768004, + -0.011166484443689758, + 1.0 + ], + [ + 0.004910554494421151, + -0.0037998555250146246, + 0.010419074336901597, + 0.0049862332749303255, + 0.003082070136970122, + -0.011445746626624814, + 1.0 + ], + [ + 0.005061905146373999, + -0.0004998882517892393, + 0.0006409834652449901, + -0.0006304032805268824, + 0.01886568261769056, + -0.002255723457648031, + 1.0 + ], + [ + 0.002225241601375458, + -0.0006134168104270555, + 0.005844179674334781, + 0.004158624144381126, + 0.010570705936954514, + -0.0053627905000542715, + 1.0 + ], + [ + -0.0038847785363161505, + 0.001691687580157455, + 0.008627811524078191, + 0.0056050777669071315, + 0.017365191030476436, + -0.0008583852827395836, + 1.0 + ], + [ + -0.003781867950577896, + 0.003903064525000444, + 0.009013628863089426, + 0.007721213645108052, + -0.002445391643629053, + 0.0025992115095216204, + 1.0 + ], + [ + -0.0036643941745391423, + 0.005416897972802671, + 0.008466270945493086, + 0.01186794485605333, + -0.0007080882060390989, + 0.005329754247544164, + 1.0 + ], + [ + -0.0007278281019945913, + 0.0014306560286063996, + 0.005279899210150902, + -0.0005879640506060374, + -0.006612471248140029, + -0.007760160566529995, + 1.0 + ], + [ + 0.0004961392069400788, + 0.0008397602766276334, + 6.022456800891435e-05, + -0.010997378027252144, + -0.011843992081685966, + -0.002375751104287049, + 0.0 + ], + [ + 0.0016158749683307311, + -0.0020637363344265893, + -0.0004861691334240949, + -0.002605619450703983, + -0.007324877002628193, + -0.005343712765928625, + 0.0 + ], + [ + -0.0034353768320199186, + -0.004466557522435285, + -0.004286740129681202, + -0.0034225766038866482, + -0.04575634786590781, + 0.0007139932327480659, + 0.0 + ], + [ + -0.005775231564460438, + -0.005928780420933956, + -0.024506672667627585, + -0.002872551544855026, + -0.010047889939187954, + 0.005047599776554784, + 0.0 + ], + [ + -0.006170438216340624, + -0.015633472740743146, + -0.03843005030831945, + -0.02704499844726257, + 0.00837741570896574, + 0.014721283572957003, + 0.0 + ], + [ + 0.0057153800035888505, + -0.025461261484649673, + -0.03917832924424571, + -0.02971578797813531, + -0.01891654337472829, + -0.001255327997395436, + 0.0 + ], + [ + 0.015892193348122464, + -0.041206257139005976, + -0.036773341868833145, + 0.01206127247828342, + -0.00010289399979870003, + -0.006487707306031235, + 0.0 + ], + [ + 0.005865801615022798, + -0.04765166197405836, + -0.011008348538703026, + 0.013237410247975086, + -0.02073059081130879, + 0.0038696222070455115, + 0.0 + ], + [ + -0.0025856538767055587, + -0.04159458762872362, + -0.0029889694138710565, + 0.015000661849758835, + -0.03942740615739096, + 0.0720577855174983, + 0.0 + ], + [ + -0.010952930722964363, + -0.027525869729220637, + 0.007644268095846319, + 0.03453238860008795, + -0.020812568957437418, + 0.039355972861887564, + 0.0 + ], + [ + -0.009177339981872075, + -0.018573670320067466, + 0.0291100594780292, + 0.06093529180710325, + -0.021967120594816265, + 0.02985589368944991, + 0.0 + ], + [ + -0.004026860822561813, + -0.009380360587917075, + 0.027668205234342526, + 0.08121853770501224, + 0.014472762163864346, + 0.012771755613793548, + 0.0 + ], + [ + 0.0033621153005573947, + -0.009763631695812975, + 0.008361196251372313, + 0.08857246537681121, + 0.02985657096774374, + -0.03169568344570674, + 1.0 + ] + ], + "state": [ + [ + 0.33443593978881836, + -0.07451562583446503, + 0.07180678844451904, + 3.126708299043127, + 0.021087760105729103, + 0.037917450070381165, + 1.0 + ], + [ + 0.3340390622615814, + -0.07443096488714218, + 0.07146375626325607, + 3.1270850441702684, + 0.022574784234166145, + 0.03792567178606987, + 1.0 + ], + [ + 0.3308539092540741, + -0.07364863902330399, + 0.05654647946357727, + 3.1329009599336466, + 0.05592279136180878, + 0.041374795138835914, + 1.0 + ], + [ + 0.33719465136528015, + -0.072087362408638, + 0.0521981418132782, + 3.1210364793711385, + 0.017808623611927036, + 0.05286656692624092, + 1.0 + ], + [ + 0.3417215049266815, + -0.06825791299343109, + 0.04161738231778145, + 3.1262289016791662, + 0.014961284585297106, + 0.06437448412179947, + 1.0 + ], + [ + 0.34673115611076355, + -0.06744397431612015, + 0.04089313745498657, + 3.125633893656083, + -0.0038675647228956223, + 0.06691937893629074, + 1.0 + ], + [ + 0.3489392101764679, + -0.06677474826574326, + 0.03504856303334236, + 3.1297704774239143, + -0.014351285994052887, + 0.07245044410228729, + 1.0 + ], + [ + 0.3453180491924286, + -0.06883584707975388, + 0.02638649009168148, + 3.1353585074008485, + -0.03170510753989219, + 0.07351445406675339, + 1.0 + ], + [ + 0.34212327003479004, + -0.07304103672504425, + 0.017282001674175262, + -3.140022671903022, + -0.029275858774781224, + 0.07089893519878386, + 1.0 + ], + [ + 0.3390998840332031, + -0.07867296040058136, + 0.008703605271875858, + -3.1279987079375466, + -0.028558988124132156, + 0.06556812673807144, + 1.0 + ], + [ + 0.33861392736434937, + -0.08006654679775238, + 0.0033861238043755293, + -3.128810984204062, + -0.022051734849810597, + 0.07341919839382172, + 1.0 + ], + [ + 0.33917170763015747, + -0.08086670935153961, + 0.0033261280041188, + -3.139863228314095, + -0.01023900508880615, + 0.07594610005617142, + 0.0 + ], + [ + 0.34062132239341736, + -0.07868754863739014, + 0.00383238447830081, + 3.140661638060589, + -0.0029232336673885584, + 0.08130235224962236, + 0.0 + ], + [ + 0.3368217647075653, + -0.07451178133487701, + 0.008104903623461723, + 3.1372403000765523, + 0.04283243045210838, + 0.0805458277463913, + 0.0 + ], + [ + 0.33162978291511536, + -0.06887586414813995, + 0.032810378819704056, + 3.1341492758416614, + 0.05285770073533058, + 0.07544767856597899, + 0.0 + ], + [ + 0.32630398869514465, + -0.05331394448876381, + 0.07139549404382706, + 3.1063296255939683, + 0.04436526447534561, + 0.06077524274587631, + 0.0 + ], + [ + 0.3320673704147339, + -0.026086928322911263, + 0.10936068743467331, + 3.0766336416178426, + 0.0633142963051796, + 0.06136386841535568, + 0.0 + ], + [ + 0.34737834334373474, + 0.018442263826727867, + 0.14230793714523315, + 3.0891063084178647, + 0.06383678317070007, + 0.06784441322088243, + 0.0 + ], + [ + 0.3504941761493683, + 0.06692860275506973, + 0.15040971338748932, + 3.1020160411768636, + 0.08433502912521362, + 0.06287578493356705, + 0.0 + ], + [ + 0.3454165756702423, + 0.10837172716856003, + 0.15196363627910614, + 3.1108571012788495, + 0.12065380811691284, + -0.011172444559633732, + 0.0 + ], + [ + 0.33382731676101685, + 0.13578087091445923, + 0.14485709369182587, + 3.1405493975668257, + 0.14015033841133115, + -0.05153732746839523, + 0.0 + ], + [ + 0.32164353132247925, + 0.15497729182243347, + 0.1172952875494957, + -3.0859290045970162, + 0.1620231419801712, + -0.08180546760559082, + 0.0 + ], + [ + 0.3142162263393402, + 0.16652798652648926, + 0.09119638055562973, + -3.0069209208064756, + 0.14826834201812744, + -0.09551172703504561, + 0.0 + ], + [ + 0.31753042340278625, + 0.17705775797367096, + 0.08380165696144104, + -2.914265053468295, + 0.11437124758958817, + -0.06794682890176773, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.10519623756408691, + 0.4001001715660095, + 0.6787546575069427, + 0.8552532643079758, + 0.9110944643616676, + 0.910015806555748, + 0.8987880796194077, + 0.8944665566086769, + 0.8928674757480621, + 0.8924653679132462, + 0.8924653679132462, + 0.8928674757480621, + 0.827568992972374, + 0.5931822955608368 + ], + "episode_id": "3207", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3207/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3208.json b/annotation/test/3208.json new file mode 100644 index 0000000000000000000000000000000000000000..be4c5d1fba455b30c0de3396679095146beecbc7 --- /dev/null +++ b/annotation/test/3208.json @@ -0,0 +1,717 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Pick up the pan and move it to the opposite corner" + ], + "videos": [ + { + "video_path": "videos/test/3208/rgb.mp4" + } + ], + "action": [ + [ + 0.0002125699722956746, + -0.00011827553944824085, + -1.777943404002417e-07, + 0.0007417228989385194, + 0.0013427440535583987, + -0.0030674721854308798, + 1.0 + ], + [ + -0.0026556625595648997, + 0.003247546968767595, + 0.009599808591260582, + -0.025037315189058374, + -0.026393431808006983, + 0.005007774483069792, + 1.0 + ], + [ + -0.011249098593536863, + -0.01589235643698222, + 0.013767763298416988, + -0.08648756452973094, + -0.0164097908706611, + 0.04848947760103488, + 1.0 + ], + [ + -0.0075884821626992826, + -0.007496772522155083, + 0.016838359716543898, + -0.057072363851028714, + -0.027966451705353283, + 0.005848500896811151, + 1.0 + ], + [ + -0.0020746492817100056, + -6.073107384499533e-05, + 0.00987117042714056, + -0.020975844626742426, + -0.02653763702303285, + 0.008083133561828017, + 1.0 + ], + [ + 0.00029673061392984727, + 0.0028896070996332042, + 0.008871255281982784, + 0.004507296765300754, + -0.004417079830418392, + 0.0244699414807762, + 1.0 + ], + [ + 0.003109075265589572, + 0.007683637289392389, + 0.008229463956359392, + 0.030254209286996382, + -0.0014062242175140042, + 0.02809036197544039, + 1.0 + ], + [ + 0.003183833246189396, + 0.0068951781494733765, + 0.010876266748550582, + 0.032112167432295634, + -0.01050052736381348, + 0.0017919283633257993, + 1.0 + ], + [ + 0.0041108000186833886, + 0.005139964726524646, + 0.008053228019893057, + 0.01882993233069842, + -0.01455084092890098, + -0.005214974817380105, + 1.0 + ], + [ + -0.0019212704181718978, + 0.000759551446532894, + 0.011720059251358092, + 0.025727534761325804, + -0.044874260592971484, + -0.022298585340677298, + 1.0 + ], + [ + 0.0013262696246859379, + -0.0008614963879379801, + 0.00018087498244462007, + 0.006630224203307615, + 0.0050364550071735365, + -0.015115577185739242, + 0.0 + ], + [ + -0.0016977334274251262, + -9.9617534127882e-05, + 0.0010453196820731994, + 0.027881427750790944, + -0.018135707734581764, + -0.00339550507261408, + 0.0 + ], + [ + -0.0003144502340509305, + 0.0003850602422825495, + -0.004050021281140421, + -0.003563875500678613, + 8.824095590234004e-05, + 0.00525885255405208, + 0.0 + ], + [ + -0.0010497973012531003, + -0.00134264460814266, + -0.002396118205993018, + -0.002960915954808694, + -0.0058953651239892465, + -0.006466540360501761, + 0.0 + ], + [ + 0.0021361177250521757, + 0.0006110851480246777, + -0.005606478914013215, + -0.02431668630658903, + -0.012906090413204663, + 0.0023096138614741545, + 0.0 + ], + [ + 0.0070820626249110015, + -0.0009414703382631177, + -0.01929077855113222, + -0.011838808296735377, + 0.03174867915837697, + -0.0008658936924475033, + 0.0 + ], + [ + 0.014170770616177093, + 0.017398515565679874, + -0.01665026023063799, + -0.05808367663513073, + 0.01438114035881931, + 0.00011104108701474712, + 0.0 + ], + [ + 0.018781789216530502, + 0.02753472330999914, + -0.02574121350360997, + -0.03665561941650708, + 0.05127112770231594, + -0.01724895151841508, + 0.0 + ], + [ + 0.02601835814573193, + 0.029529166770629642, + -0.013754090665945578, + -0.028544161619228563, + 0.049144305695008966, + -0.013469293602330772, + 0.0 + ], + [ + 0.02194480383517694, + 0.02347999553846148, + -0.006928949061291754, + -0.0009380193222051833, + 0.031733309880832186, + -0.00632935611392313, + 0.0 + ], + [ + 0.01679441369107866, + 0.025661757046539866, + 0.012169761185586903, + -0.021874221917246507, + 0.006390852296349364, + -0.021115692895647298, + 0.0 + ], + [ + 0.016281871886045633, + 0.021046756930102262, + 0.01906295956782456, + 0.03523982907818988, + 0.013631822002314331, + -0.017623578958606338, + 0.0 + ], + [ + 0.01043201427177311, + 0.01655439000795862, + 0.018401866234405918, + 0.029012399165673455, + 0.011648764862995155, + -0.005551046704649836, + 0.0 + ], + [ + 0.004517427688471856, + 0.011764090292405195, + 0.024938278252699182, + 0.02161797029623269, + -0.01490288455753504, + -0.010259312723384423, + 0.0 + ], + [ + 0.004462733024193745, + 0.009525651631730688, + 0.01649845486822871, + 0.01582566454698083, + 0.003221364740857108, + 0.000908501671097243, + 0.0 + ], + [ + 0.0056357030970686246, + 0.0021538931336779815, + 0.01638970951856327, + -0.00019470946884037234, + -0.006099003866918243, + 0.003943384638234793, + 0.0 + ], + [ + 0.006634676506002364, + 0.0010102934881993117, + 0.00562417373462504, + -0.004337143624525338, + 0.000801514568869735, + -0.010304578324045181, + 0.0 + ], + [ + -0.0030382144134191253, + -0.0015071747630825145, + 0.0003167109974653467, + 0.006150198970961988, + -0.020844815861384085, + -0.013518553047414495, + 0.0 + ], + [ + -0.0002071415950051641, + -0.0051599810538625925, + 1.0034491331488057e-05, + 0.024813027923035465, + -0.0020802138733842647, + -0.007250483865532144, + 1.0 + ], + [ + -0.006657978632772411, + -0.002385862309624784, + 0.004795463806521238, + 0.017916206616624002, + -0.018336615928707268, + 0.010474439121699528, + 1.0 + ], + [ + -0.0004441508787823868, + -0.00355610038890115, + -0.01182686801961854, + 0.013786758656173872, + 0.01488491885693088, + 0.007509563586011382, + 1.0 + ], + [ + 0.0027293768097576315, + -0.004287110340238763, + -0.02156021823758273, + 0.010262583198093624, + 0.04514874244634224, + 0.00952792432980256, + 1.0 + ], + [ + 0.0021184628062228734, + -0.0006030291493610405, + -0.024608930554286274, + -0.017018557730941467, + 0.04332902130423399, + 0.010216293298757315, + 1.0 + ], + [ + -0.005783363576230626, + 0.00020747513090828135, + -0.019707144371910863, + -0.02792383505881979, + 0.054661611966903986, + 0.0139752290014684, + 1.0 + ], + [ + 0.0014938439061740383, + -0.004403248884761964, + -0.0014699750622669025, + 0.0027495352274426177, + 0.008559722237732386, + -0.005852655532839091, + 1.0 + ], + [ + -0.00048365091865605505, + -2.9079336960133035e-06, + 0.00029751634223342205, + 8.354731646373788e-05, + -0.0015269011468812992, + 0.00012098016716824231, + 1.0 + ] + ], + "state": [ + [ + 0.2723946273326874, + 0.1696612536907196, + 0.12245398759841919, + -2.9833308478170117, + -0.23904587328433993, + 0.012711451388895513, + 1.0 + ], + [ + 0.27259519696235657, + 0.16978058218955994, + 0.12252259999513626, + -2.9832765628867826, + -0.24085430800914762, + 0.015612712129950523, + 1.0 + ], + [ + 0.2724260091781616, + 0.1680842638015747, + 0.11218580603599548, + -3.0080671479278287, + -0.21400144696235657, + 0.014811621978878975, + 1.0 + ], + [ + 0.26362255215644836, + 0.18553957343101501, + 0.09853033721446991, + -3.084757963316985, + -0.19105701148509982, + -0.03190311416983605, + 1.0 + ], + [ + 0.2595551311969757, + 0.1941148340702057, + 0.0810021311044693, + -3.14099070121814, + -0.16280177235603335, + -0.036208394914865494, + 1.0 + ], + [ + 0.25911056995391846, + 0.1941976547241211, + 0.0709252581000328, + 3.122538725035735, + -0.1362539529800415, + -0.04434815049171448, + 1.0 + ], + [ + 0.2604648172855377, + 0.19107644259929657, + 0.062232669442892075, + 3.1304152720891913, + -0.13226255774497986, + -0.06911394000053407, + 1.0 + ], + [ + 0.26407375931739807, + 0.18303287029266357, + 0.05457073822617531, + -3.1187734958999833, + -0.1311178207397461, + -0.09746163338422775, + 1.0 + ], + [ + 0.26800400018692017, + 0.17597170174121857, + 0.0440509207546711, + -3.0864557196670255, + -0.12057898193597794, + -0.09902475774288179, + 1.0 + ], + [ + 0.2725978493690491, + 0.17080387473106384, + 0.03628158941864967, + -3.068347843485423, + -0.10633546113967894, + -0.09298226237297058, + 1.0 + ], + [ + 0.2719460725784302, + 0.17096523940563202, + 0.024399790912866592, + -3.045284392433711, + -0.06317858397960663, + -0.06743117421865465, + 1.0 + ], + [ + 0.27333176136016846, + 0.171748548746109, + 0.02438652515411377, + -3.039584735529967, + -0.06963844597339629, + -0.05283481255173683, + 0.0 + ], + [ + 0.2717229127883911, + 0.1720394641160965, + 0.02324114739894867, + -3.012051912146159, + -0.05194183811545371, + -0.04760376363992692, + 0.0 + ], + [ + 0.2711604833602905, + 0.17116022109985352, + 0.027185818180441856, + -3.015345873432704, + -0.051349300891160965, + -0.05283685028553009, + 0.0 + ], + [ + 0.270037442445755, + 0.17225131392478943, + 0.029674682766199112, + -3.0186755900555333, + -0.04631374403834342, + -0.04567189514636993, + 0.0 + ], + [ + 0.2718560993671417, + 0.17087297141551971, + 0.035256948322057724, + -3.042949142056056, + -0.03322184458374977, + -0.046381939202547066, + 0.0 + ], + [ + 0.27824196219444275, + 0.1696126013994217, + 0.05477125942707062, + -3.054662877815314, + -0.06490132212638855, + -0.048651669174432755, + 0.0 + ], + [ + 0.2904762625694275, + 0.1502162665128708, + 0.07073541730642319, + -3.1126491875671825, + -0.07921845465898514, + -0.05001508817076683, + 0.0 + ], + [ + 0.30579182505607605, + 0.12114609777927399, + 0.09707712382078171, + 3.132657350162514, + -0.13095735013484955, + -0.03414341434836387, + 0.0 + ], + [ + 0.328739196062088, + 0.09094005078077316, + 0.11437205225229263, + 3.1022573207789144, + -0.1799665242433548, + -0.0200238935649395, + 0.0 + ], + [ + 0.34845665097236633, + 0.06735117733478546, + 0.12602031230926514, + 3.099914251016923, + -0.21142113208770752, + -0.012282502837479113, + 0.0 + ], + [ + 0.366881787776947, + 0.04097634553909302, + 0.11870158463716507, + 3.073458345728465, + -0.21687765419483185, + 0.009593300521373749, + 0.0 + ], + [ + 0.3867793679237366, + 0.01887044869363308, + 0.10503127425909042, + 3.1046135929697236, + -0.22924022376537323, + 0.028599830344319344, + 0.0 + ], + [ + 0.4014648497104645, + 0.0020601178985089064, + 0.09008962661027908, + 3.1322254269667944, + -0.24067161977291104, + 0.03475476428866386, + 0.0 + ], + [ + 0.4121803641319275, + -0.009571739472448826, + 0.06705494970083237, + -3.131817150051244, + -0.2256607711315155, + 0.04513610154390335, + 0.0 + ], + [ + 0.4206564426422119, + -0.01856236718595028, + 0.05188333988189697, + -3.11577549402649, + -0.22887299954891205, + 0.04417099058628082, + 0.0 + ], + [ + 0.42994245886802673, + -0.01988370344042778, + 0.037150826305150986, + -3.115089517208286, + -0.22267256677150724, + 0.04029063135385513, + 0.0 + ], + [ + 0.43768924474716187, + -0.020433008670806885, + 0.03310650587081909, + -3.1217561849677047, + -0.22373490035533905, + 0.050833120942115784, + 0.0 + ], + [ + 0.43471723794937134, + -0.019069097936153412, + 0.032152801752090454, + -3.118758937465497, + -0.2031403481960297, + 0.06505193561315536, + 0.0 + ], + [ + 0.43415772914886475, + -0.013935746625065804, + 0.032216574996709824, + -3.0954487231844148, + -0.20122073590755463, + 0.07249825447797775, + 1.0 + ], + [ + 0.428395539522171, + -0.011742843315005302, + 0.02630000188946724, + -3.07557229896123, + -0.1824110895395279, + 0.06272031366825104, + 1.0 + ], + [ + 0.4256071150302887, + -0.009144403971731663, + 0.038055457174777985, + -3.060212941961833, + -0.1967615187168121, + 0.05407921597361564, + 1.0 + ], + [ + 0.42388084530830383, + -0.006713866721838713, + 0.06000504270195961, + -3.0472233091765126, + -0.24096880853176114, + 0.040531933307647705, + 1.0 + ], + [ + 0.42015066742897034, + -0.00858509074896574, + 0.0843573585152626, + -3.0606195648484906, + -0.2831170558929444, + 0.025698168203234673, + 1.0 + ], + [ + 0.40916499495506287, + -0.01066885981708765, + 0.101586252450943, + -3.0830041860514363, + -0.33641931414604187, + 0.0062812953256070605, + 1.0 + ], + [ + 0.4099784791469574, + -0.0063540455885231495, + 0.10370795428752899, + -3.0821271819346627, + -0.3453020453453064, + 0.01195753179490566, + 1.0 + ], + [ + 0.4096236228942871, + -0.006337703205645084, + 0.1032649502158165, + -3.082032771902629, + -0.3437706530094146, + 0.011925644241273403, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05002796649932861, + 0.3368593454360962, + 0.6422656774520874, + 0.8448487520217896, + 0.9092923179268837, + 0.9142832010984421, + 0.9191039130091667, + 0.9301212355494499, + 0.9310474172234535, + 0.9310474172234535, + 0.9310474172234535, + 0.9310474172234535, + 0.9310474172234535, + 0.9310474172234535, + 0.9310474172234535, + 0.9310474172234535, + 0.9310474172234535, + 0.9310474172234535, + 0.9052495956420898, + 0.7382865846157074, + 0.45868784189224243, + 0.1527683138847351, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "3208", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3208/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3212.json b/annotation/test/3212.json new file mode 100644 index 0000000000000000000000000000000000000000..e7d1790a27fcbef99555ddc61df97e0e2f0d529c --- /dev/null +++ b/annotation/test/3212.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "twist knob start vertical clockwise90" + ], + "videos": [ + { + "video_path": "videos/test/3212/rgb.mp4" + } + ], + "action": [ + [ + -0.00039710699977619823, + 0.00039571289989955623, + 0.0018529631407504, + -0.0019450451979162431, + -0.004144305624538471, + 0.0004725663298509322, + 1.0 + ], + [ + -0.005654167207123158, + 0.004597493270665173, + 0.019109705780725402, + -0.02362603364153464, + -0.0431775752598014, + 0.01019498728418478, + 1.0 + ], + [ + 0.0019818991744628353, + 0.00048436324251610943, + -0.00034056808202135615, + -0.0034882146245680816, + 0.011569397960402402, + 0.02430261789401356, + 1.0 + ], + [ + -0.00016032020655376705, + -0.0022497814395199653, + 0.0010840099108436593, + 0.0095511900104633, + 0.005471895927985915, + 0.012112070542138267, + 1.0 + ], + [ + -0.00323493576130911, + -0.002769578807370691, + 0.0025317180198083157, + 0.023649154840070744, + -0.012091864772626065, + 0.0013352575979866364, + 1.0 + ], + [ + 0.0007680235325279324, + -0.0017227561499127766, + -0.0030763624398032438, + 0.009635704226015694, + 0.0073644940962285625, + 0.011552566280982937, + 1.0 + ], + [ + 0.0009994627300749371, + -0.0025014279834300974, + -0.0019627698611936707, + 0.0025318778027788214, + 0.009873159050724339, + -0.0025552074469398487, + 1.0 + ], + [ + 0.000788792156518725, + -0.0026653243861918426, + -0.0007362526280025925, + 0.004099218822264588, + 0.007537622485976118, + -0.00664535630099361, + 0.0 + ], + [ + 0.0007717327550001479, + -0.00027034911121885294, + 0.0003284531454596966, + -0.0165717195314594, + 0.011662575640953165, + -0.0012454300903375671, + 0.0 + ], + [ + 0.0011694030030363347, + -0.0016344267810315305, + -4.172973501516445e-05, + -0.026466212631249708, + 0.029187797449954152, + 0.012654932076113574, + 0.0 + ], + [ + -0.0016054051075944336, + -0.0013590825192413163, + 0.0025082868629430015, + -0.023483995468192524, + 0.011350052245696145, + 0.1464309399904142, + 0.0 + ], + [ + -0.004355344742954484, + -0.002885502168416757, + 0.0031536149760693654, + 0.0063256766385749045, + -0.021035330238999488, + 0.2395493699323138, + 0.0 + ], + [ + -0.005688736871312833, + -0.0008061940690104457, + 0.003670271674657637, + 0.02037664335557989, + -0.032399049445276176, + 0.2846714795021026, + 0.0 + ], + [ + -0.00458694650009441, + 0.00019782130963706034, + 0.0005895431391707251, + 0.009808981812631205, + -0.026336950810585544, + 0.23191564192146324, + 0.0 + ], + [ + -0.005362989790224451, + 0.001595806281668056, + 0.0006001163036280165, + -0.004733256640497136, + -0.0016032344325318392, + 0.2547439372069561, + 0.0 + ], + [ + -0.007065268991961448, + 0.0033817228700773654, + 0.0004434674817608027, + -0.0012706704732932334, + 0.027551302799739566, + 0.21701585689816455, + 0.0 + ], + [ + 0.0003377851699357084, + 0.003686579896891515, + -0.001384862543882249, + -0.011573133742208419, + 0.008391922766091985, + 0.13317844009765858, + 0.0 + ], + [ + 0.0012640084470275654, + 0.004153054198769524, + -0.0013714896739521589, + -0.011351302424383798, + 0.00513152302507054, + 0.04564065444524364, + 0.0 + ], + [ + 0.0010539568384208707, + 0.0016845708612148946, + -0.0005177967047658936, + -0.0025439163218423898, + 0.0016890219888692998, + 0.0018290826492720817, + 0.0 + ], + [ + 0.00049357341652208, + -0.00035525450392058484, + -5.774978969443431e-05, + 0.00017450637672382794, + -4.132278560161925e-06, + -0.006145900858835968, + 0.0 + ], + [ + 0.00010047306277978197, + 0.0014123014385460646, + 5.2838815283733744e-05, + -0.0069388050722722, + 0.0036159119685371523, + -0.021478468887583514, + 0.0 + ], + [ + 0.0012282954888108823, + 0.003584945652335448, + -0.0002608520290771864, + -0.01914060264288374, + 0.010074995780686512, + -0.004689760319378283, + 0.0 + ], + [ + 0.0004433431728531487, + 0.006271272520836785, + -0.0008699980700307012, + -0.02286009324084163, + 0.01057061982244223, + -0.006783897134591908, + 1.0 + ] + ], + "state": [ + [ + 0.38343939185142517, + 0.15501734614372253, + 0.032106075435876846, + -3.0128990580611905, + -0.03458985686302186, + -0.09127400815486908, + 1.0 + ], + [ + 0.3830951154232025, + 0.15489357709884644, + 0.030205046758055687, + -3.0148451795154294, + -0.030419174581766132, + -0.0912107601761818, + 1.0 + ], + [ + 0.37786343693733215, + 0.15321815013885498, + 0.010504541918635368, + -3.0382122193747243, + 0.013700884766876696, + -0.09585850685834883, + 1.0 + ], + [ + 0.3797905147075653, + 0.1525135487318039, + 0.010766127146780491, + -3.042074369388171, + 0.004696511197835207, + -0.12122426927089693, + 1.0 + ], + [ + 0.3799111247062683, + 0.15486255288124084, + 0.009911768138408661, + -3.0325887595587453, + 0.00045466772280633455, + -0.1338199228048325, + 1.0 + ], + [ + 0.3771081864833832, + 0.15829578042030334, + 0.007697844412177801, + -3.0089316089921674, + 0.01262002345174551, + -0.13383173942565918, + 1.0 + ], + [ + 0.37808382511138916, + 0.1594768613576889, + 0.010965095832943916, + -2.9994593878560742, + 0.006847306620329619, + -0.1462569534778595, + 1.0 + ], + [ + 0.37940850853919983, + 0.1615036129951477, + 0.013255516067147255, + -2.996912883716174, + -0.003288251580670476, + -0.1451261937618256, + 1.0 + ], + [ + 0.38055145740509033, + 0.16389478743076324, + 0.014370938763022423, + -2.9928297718339643, + -0.011705164797604084, + -0.13963682949543, + 0.0 + ], + [ + 0.3813629150390625, + 0.16409988701343536, + 0.014095235615968704, + -3.009385498362132, + -0.02342351339757442, + -0.14013390243053436, + 0.0 + ], + [ + 0.3827401101589203, + 0.16553626954555511, + 0.014379373751580715, + -3.0354285036497792, + -0.050685271620750434, + -0.1565415859222412, + 0.0 + ], + [ + 0.3815261125564575, + 0.16736511886119843, + 0.011950906366109848, + -3.052632914977618, + -0.04596545919775963, + -0.3035047650337219, + 0.0 + ], + [ + 0.3784434199333191, + 0.17163589596748352, + 0.00886903889477253, + -3.0379967783861836, + -0.0026465733535587788, + -0.5401127934455872, + 0.0 + ], + [ + 0.3741801083087921, + 0.17556960880756378, + 0.005286770407110453, + -3.020883271592208, + 0.058741386979818344, + -0.8200722336769104, + 0.0 + ], + [ + 0.37094035744667053, + 0.17885838449001312, + 0.0049480353482067585, + -3.027455898123332, + 0.11106091737747192, + -1.0483640432357788, + 0.0 + ], + [ + 0.3669230341911316, + 0.18279507756233215, + 0.0047692665830254555, + -3.06384643365676, + 0.13779738545417786, + -1.3036986589431763, + 0.0 + ], + [ + 0.3618316650390625, + 0.18875783681869507, + 0.005041665397584438, + -3.0969451313191136, + 0.12375868111848833, + -1.5238676071166992, + 0.0 + ], + [ + 0.3581138551235199, + 0.1880970299243927, + 0.006209585815668106, + -3.125454606609889, + 0.12019647657871245, + -1.6582611799240112, + 0.0 + ], + [ + 0.3538318872451782, + 0.1870558112859726, + 0.007352903485298157, + 3.1408459058781197, + 0.11567575484514236, + -1.704285979270935, + 0.0 + ], + [ + 0.3520153760910034, + 0.18618299067020416, + 0.007746843621134758, + 3.1380896485694727, + 0.11398517340421677, + -1.7061257362365723, + 0.0 + ], + [ + 0.3523005545139313, + 0.1856427788734436, + 0.007746843621134758, + 3.138967804033779, + 0.11400867253541945, + -1.6999397277832031, + 0.0 + ], + [ + 0.3508877456188202, + 0.18573123216629028, + 0.007686601020395756, + 3.1344888816871723, + 0.11042272299528122, + -1.678320288658142, + 0.0 + ], + [ + 0.3471910357475281, + 0.1848706156015396, + 0.007835812866687775, + 3.1158753299438438, + 0.10038004070520401, + -1.6735352277755737, + 0.0 + ], + [ + 0.3409213125705719, + 0.1849697232246399, + 0.008817167952656746, + 3.0937241447442254, + 0.08998485654592513, + -1.66645348072052, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.007925748825073242, + 0.007925748825073242, + 0.0072438716888427734, + 0.003858029842376709, + 0.0025147199630737305, + 0.15823012590408325, + 0.4180815815925598, + 0.6700286269187927, + 0.8232058584690094, + 0.8552532643079758, + 0.8552532643079758, + 0.8552532643079758, + 0.8552532643079758, + 0.8557374030351639, + 0.8557374030351639, + 0.8557374030351639, + 0.8557374030351639, + 0.8557374030351639, + 0.8557374030351639, + 0.8567025810480118, + 0.8567025810480118, + 0.7247842848300934, + 0.4840872883796692, + 0.16648274660110474 + ], + "episode_id": "3212", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3212/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/322.json b/annotation/test/322.json new file mode 100644 index 0000000000000000000000000000000000000000..a99db46f1fe69ec27fc7e0f76da30d8cdd67deea --- /dev/null +++ b/annotation/test/322.json @@ -0,0 +1,527 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put corn into bowl" + ], + "videos": [ + { + "video_path": "videos/test/322/rgb.mp4" + } + ], + "action": [ + [ + -0.0014481847131113691, + 0.00016922461091902318, + 0.003234966515446195, + 0.003949324551926634, + -0.008125079996344419, + 0.00245857670980192, + 1.0 + ], + [ + -0.011846463876659826, + -0.014850863492042522, + 0.0021460077588002333, + 0.06707768222887654, + -0.062364954515844236, + 0.01046501372806903, + 1.0 + ], + [ + -0.004777952419127533, + -0.039254249744915995, + -0.027895394240907114, + 0.0984796525479576, + -0.03143163703935343, + -0.005086988831176749, + 1.0 + ], + [ + -0.0035194939513914494, + -0.0478864928279531, + -0.02756554642046991, + 0.1062031214161562, + -0.019136377371831405, + 0.01799806300663699, + 1.0 + ], + [ + -0.012040837924409627, + -0.043141656102166026, + -0.002212123862048086, + 0.057504400849441736, + -0.010734024361832979, + 0.021249821160161657, + 1.0 + ], + [ + -0.017578630471461507, + -0.043281511007259, + 0.01784404803804447, + 0.009848278441238529, + 0.00035547228627361594, + 0.012457540655681273, + 1.0 + ], + [ + -0.012016719605110675, + -0.022517522615115505, + 0.027359026396166424, + -0.04337041193950343, + 0.022134316696001563, + 0.008283160040175094, + 1.0 + ], + [ + -0.008811125543564016, + -0.016232941019252184, + 0.028411329803458448, + -0.05217297433350895, + 0.058744975284249885, + -0.038307445532471, + 1.0 + ], + [ + 0.00017425190330357083, + -0.009304792935915867, + 0.02685548747307833, + -0.027227185659422334, + 0.06142414679567605, + -0.026215459878208988, + 1.0 + ], + [ + -0.0027310876729371054, + -0.006307776999055931, + 0.02230930888664291, + -0.04247337344495546, + -0.0014840459193925268, + -0.0007603185902625078, + 1.0 + ], + [ + -0.0019864170363748535, + -0.005629236334083783, + 0.015493439933662215, + -0.042808354331876824, + -0.003843403908890313, + -0.019783991050468804, + 1.0 + ], + [ + -0.006445259441876058, + 0.004318914395940648, + 0.01047572923866551, + -0.017317654236094666, + 0.01774044180411177, + -0.0243319642063608, + 1.0 + ], + [ + 0.001874706185071826, + 0.00022615309907633892, + 0.001597103823874964, + 0.0016088666413684796, + 0.022140759904351378, + -0.007356216510994176, + 0.0 + ], + [ + 0.006590020203958466, + 0.00668841108030459, + -0.017355290802909512, + 0.008859363637405382, + 0.006906478996577859, + 0.012164836278852289, + 0.0 + ], + [ + 0.029319295663142928, + 0.02100550187987552, + -0.045486940895573806, + 0.033488498425774456, + 0.042984120923339635, + 0.0016839478793563253, + 0.0 + ], + [ + 0.028686133488083677, + 0.02558479142659799, + -0.026895688873625864, + 0.012641629136639312, + 0.04365487096754823, + -0.0023145566818871645, + 0.0 + ], + [ + 0.03545013161961191, + 0.02578217701780378, + -0.007027037762533708, + -0.015312269945351472, + 0.047373953649751284, + 0.033476148808159155, + 0.0 + ], + [ + 0.033931382894858766, + 0.025129777140210266, + 0.009732441457622077, + -0.03605644784188816, + 0.03351936764458465, + 0.03667626230878517, + 0.0 + ], + [ + 0.03325111919214909, + 0.03003810383248176, + 0.01808444330984283, + -0.04916483584976249, + 0.07766499124435071, + 0.009941594999424092, + 0.0 + ], + [ + 0.018636569023769325, + 0.018579843791247677, + 0.013522995418310806, + -0.029680107495618648, + 0.034932050089860694, + 0.01865250647128278, + 0.0 + ], + [ + 0.01916057884202538, + 0.0023861885002648166, + 0.01289243489400194, + -0.01699231061947822, + 0.00389548918574906, + 0.052828528742998905, + 0.0 + ], + [ + 0.015056903361276396, + 0.0007668278878357852, + 0.008891621884165183, + -0.02645960586712247, + 0.013102786083775008, + 0.04472560388419168, + 0.0 + ], + [ + 0.0025672740362679735, + -0.009778197428424834, + 0.009139846198268554, + -0.004154959003882168, + 0.0026868115173513257, + 0.004648988473552043, + 0.0 + ], + [ + -0.00023778826005076568, + 0.0007756771464972081, + 0.0005739607246397495, + -0.0008943486606547776, + -0.0013449020750836227, + 0.0014489212019390136, + 1.0 + ], + [ + 0.0005941310398361691, + -0.00010629664567157911, + -0.000604745336850617, + 0.0003723446195663569, + 0.003042156400255312, + -7.540981677500647e-05, + 1.0 + ], + [ + -0.0002421752970713388, + 2.2726214006846795e-05, + -1.8317958495694148e-07, + -0.00014332469985861443, + -0.0015272613267090912, + 1.0959526380719762e-07, + 1.0 + ] + ], + "state": [ + [ + 0.31012627482414246, + -0.12880925834178925, + 0.039967283606529236, + -3.1100737919383725, + -0.1312103420495987, + 0.0497773364186287, + 1.0 + ], + [ + 0.3091188669204712, + -0.12892672419548035, + 0.03656695783138275, + -3.105833305167504, + -0.1230114996433258, + 0.047559350728988654, + 1.0 + ], + [ + 0.29686376452445984, + -0.11457502841949463, + 0.03351188078522682, + -3.0376760010891637, + -0.06030817702412606, + 0.03933471441268921, + 1.0 + ], + [ + 0.2887604832649231, + -0.07871703803539276, + 0.0649828091263771, + -2.939650150137492, + -0.02957172878086567, + 0.04765533283352852, + 1.0 + ], + [ + 0.2821938395500183, + -0.037598688155412674, + 0.10147284716367722, + -2.8330211659246167, + -0.007211629766970874, + 0.033864397555589676, + 1.0 + ], + [ + 0.2686816453933716, + 0.0023989377077668905, + 0.11659529060125351, + -2.7754218896203717, + 0.009469695389270782, + 0.016879189759492874, + 1.0 + ], + [ + 0.2503053545951843, + 0.04889650270342827, + 0.11559735238552094, + -2.7657114585214337, + 0.013597361743450165, + 0.0051191882230341434, + 1.0 + ], + [ + 0.23789763450622559, + 0.0798221305012703, + 0.09857939928770065, + -2.8092498799138745, + -0.003952654544264078, + -0.010709162801504135, + 1.0 + ], + [ + 0.22943589091300964, + 0.1045282855629921, + 0.07698419690132141, + -2.8609439750486096, + -0.07197660207748413, + 0.006320706102997065, + 1.0 + ], + [ + 0.23117652535438538, + 0.12091877311468124, + 0.05382930859923363, + -2.888228180008479, + -0.13825319707393646, + 0.01453610509634018, + 1.0 + ], + [ + 0.23105990886688232, + 0.1326168179512024, + 0.033627964556217194, + -2.9308555742078504, + -0.13700702786445618, + 0.01565462537109852, + 1.0 + ], + [ + 0.23086364567279816, + 0.14136044681072235, + 0.019514450803399086, + -2.976483853655406, + -0.13735879957675937, + 0.03599648177623748, + 1.0 + ], + [ + 0.22608570754528046, + 0.13864834606647491, + 0.007692813407629728, + -2.9967361261420926, + -0.15882606804370877, + 0.05734605342149734, + 1.0 + ], + [ + 0.22818808257579803, + 0.1387758105993271, + 0.006396595388650894, + -2.9957492371373853, + -0.18179543316364288, + 0.061496008187532425, + 0.0 + ], + [ + 0.23229576647281647, + 0.12987183034420013, + 0.023520128801465034, + -2.9844997098022183, + -0.18684512376785278, + 0.04822586476802826, + 0.0 + ], + [ + 0.2546883225440979, + 0.10305696725845337, + 0.06988229602575302, + -2.9492696841531476, + -0.22902947664260864, + 0.03961658105254173, + 0.0 + ], + [ + 0.2789221704006195, + 0.07373986393213272, + 0.097342848777771, + -2.9350133707099637, + -0.2723170220851898, + 0.03331242874264717, + 0.0 + ], + [ + 0.3135082423686981, + 0.048202287405729294, + 0.10840845108032227, + -2.9382791389995297, + -0.31156450510025024, + -0.011283611878752708, + 0.0 + ], + [ + 0.35002559423446655, + 0.02514173649251461, + 0.10490718483924866, + -2.9605475832992276, + -0.336694598197937, + -0.056496184319257736, + 0.0 + ], + [ + 0.38752660155296326, + -0.003312118351459503, + 0.09399735927581787, + -3.000638114409991, + -0.4111963212490082, + -0.0823756530880928, + 0.0 + ], + [ + 0.4095677137374878, + -0.021683767437934875, + 0.08678101748228073, + -3.0199292098456105, + -0.443040817975998, + -0.10823681950569153, + 0.0 + ], + [ + 0.43226754665374756, + -0.024958975613117218, + 0.08317170292139053, + -3.012032525735446, + -0.43983593583106995, + -0.16671925783157351, + 0.0 + ], + [ + 0.44951069355010986, + -0.02746683545410633, + 0.08151525259017944, + -3.016889164345809, + -0.44655221700668346, + -0.21777020394802094, + 0.0 + ], + [ + 0.45742449164390564, + -0.018116716295480728, + 0.07554131746292114, + -3.018674137192317, + -0.4486340582370758, + -0.2232605963945389, + 0.0 + ], + [ + 0.45734184980392456, + -0.018815206363797188, + 0.07483922690153122, + -3.0189560895138463, + -0.447121262550354, + -0.22467248141765594, + 1.0 + ], + [ + 0.45761266350746155, + -0.018844762817025185, + 0.07564903795719147, + -3.0184404124789914, + -0.4501497745513916, + -0.22500267624855044, + 1.0 + ], + [ + 0.45739617943763733, + -0.01881837472319603, + 0.07554131746292114, + -3.018674137192317, + -0.4486340582370758, + -0.2247945815324783, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.1907007098197937, + 0.34991633892059326, + 0.350921094417572, + 0.350921094417572, + 0.350921094417572, + 0.350921094417572, + 0.350921094417572, + 0.350921094417572, + 0.350921094417572, + 0.350921094417572, + 0.350921094417572, + 0.11984705924987793, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "322", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/322/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3224.json b/annotation/test/3224.json new file mode 100644 index 0000000000000000000000000000000000000000..ba2c10804617a0e9a39fb05386f3d86e4410d1c9 --- /dev/null +++ b/annotation/test/3224.json @@ -0,0 +1,869 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Put the grapes on the green rag." + ], + "videos": [ + { + "video_path": "videos/test/3224/rgb.mp4" + } + ], + "action": [ + [ + -0.00041062067783382113, + 3.995432325022605e-05, + 0.00034102680688408924, + 2.1918167077298922e-05, + -0.0015201087452545164, + 0.00020466794573204623, + 1.0 + ], + [ + -0.0015123965866371506, + 0.0022871192928462947, + 0.005792339893715892, + -0.003608764815957863, + -0.02276491885012179, + -0.003767855111718102, + 1.0 + ], + [ + -0.0018345479215379386, + 0.02786072752905678, + -0.006248745395131208, + -0.023650933462281972, + 0.01739036247650438, + 0.03191298446088156, + 1.0 + ], + [ + 0.0032999916170802046, + 0.03587626863592539, + -0.010999571881582001, + 0.02731695198372443, + 0.015223418834147807, + 0.10620377895491587, + 1.0 + ], + [ + 0.010659939280034803, + 0.038468958191051464, + 0.0018830300534091054, + 0.030659787467314126, + 0.005768220223384071, + 0.08871523850734216, + 1.0 + ], + [ + 0.01266339082110127, + 0.027382404480721982, + 0.004985150801920081, + -0.010100389159413203, + 0.0030455550983487113, + 0.039522201904357186, + 1.0 + ], + [ + 0.003979596853873256, + 0.021579336131604954, + 0.010201395938708661, + 0.00786492876417245, + 0.019129903748799065, + 0.05999491156587758, + 1.0 + ], + [ + 0.007362773983889156, + 0.012329065612715788, + 0.007963904690386561, + -0.052348726991126054, + -0.002249020893629795, + 0.061021656869597346, + 1.0 + ], + [ + 0.0012354779696559946, + 0.0003389716036590911, + 0.005951559267773094, + 0.012703887222739737, + -0.017115453415112062, + -0.01961316536818893, + 1.0 + ], + [ + 0.001267595518725522, + 0.0012374989563533442, + 0.006099127892717227, + 0.0005199671600275078, + -0.012333439559556432, + -0.012579043354977448, + 1.0 + ], + [ + 0.002823080516083237, + 0.002408121516487683, + 0.011339105518223789, + 0.00552321748625631, + -0.02977753770272199, + 0.004512428127790527, + 1.0 + ], + [ + -0.0018387737717723597, + 0.003412802837145566, + 0.009993336142917888, + -0.010439962134222642, + -0.02897506368932921, + 0.0020677806837602663, + 1.0 + ], + [ + 0.0004738279267017496, + 0.00011023698228338791, + -7.443751976320033e-07, + -0.0006905539823853233, + 0.0029892483780392665, + 0.0015329440642663295, + 1.0 + ], + [ + 0.00011977178071403932, + 0.0005800364312952649, + 8.337751304992981e-05, + -0.0019423871307996583, + -0.009841022730909723, + 0.017536739702405164, + 0.0 + ], + [ + -0.0024823273027534216, + 0.000714828616858029, + 0.0006648958153017977, + -0.004323852973484313, + -0.013449135763520453, + -0.004582917026582981, + 0.0 + ], + [ + -0.010488095826490572, + -0.0027511112343710964, + -0.0035088333073664563, + 0.009971264632801584, + -0.030774900465422514, + -0.01588555155041964, + 0.0 + ], + [ + -0.014282578136012174, + -0.010469001689145227, + -0.01893515379199895, + 0.04081652105223524, + -0.016670059968086886, + -0.028688032002443676, + 0.0 + ], + [ + -0.020495661552393192, + -0.018912361867942706, + -0.014299966103230654, + 0.02988709829343184, + -0.020255901113796795, + -0.07701951964733296, + 0.0 + ], + [ + -0.016958991168549525, + -0.03341496300963557, + -0.0057322126080478495, + 0.022164983914314956, + -0.03933127943755093, + -0.13963534594148902, + 0.0 + ], + [ + -0.01400401913393928, + -0.04359595151916347, + 0.0020036877765002, + -0.010321556105444107, + -0.04882268594033706, + -0.14892895004581702, + 0.0 + ], + [ + -0.003850649305801654, + -0.048581042651830476, + 0.004651373355341949, + -0.03164321311706435, + -0.04031218950480955, + -0.18421820009499845, + 0.0 + ], + [ + 0.005483508449453235, + -0.02374915189409979, + 0.003462381934988599, + 0.042622658336090614, + 0.0021642230927915876, + -0.07621522353729, + 0.0 + ], + [ + 0.01305305298365555, + -0.03799779569956504, + 0.000992534685196663, + 0.031768333962557134, + 0.009273126124303616, + -0.14818660609936762, + 0.0 + ], + [ + 0.016797315563421567, + -0.014748119583307477, + 0.0077347996128919036, + 0.017655814532044768, + -0.0016459683007916269, + -0.050081210451176056, + 0.0 + ], + [ + 0.01771467233293716, + -0.015588854765476286, + 0.01939205165512177, + -0.030610725204935258, + -0.029393738822922927, + -0.06344894526931116, + 0.0 + ], + [ + 0.014386109364575666, + 0.001487979028687201, + 0.014807687382134165, + 0.0019220359745256601, + 0.002593837365916886, + 0.010744488631138464, + 0.0 + ], + [ + 0.00987134312327781, + 0.0004925880395153991, + 0.007088726952542608, + 0.025553143734603576, + 0.02019999480670517, + -0.028666598088898345, + 0.0 + ], + [ + 0.007320703415384422, + 0.005415252664372741, + 0.011632973973239678, + 0.004109497686821874, + 0.01708271396367727, + -0.0022164630095912784, + 0.0 + ], + [ + 0.004475468168080337, + 0.006913269863164288, + 0.0053809472100816045, + -0.028010786741752846, + 0.012720155321499957, + 0.015786418336797864, + 0.0 + ], + [ + 0.003197388360719383, + -0.004015811050442956, + 0.0026749087411940295, + -0.009350460722959211, + 0.011499106157073537, + -0.028636944876746284, + 0.0 + ], + [ + 0.00035998830534737515, + -0.0011515733313752711, + 0.00504583431097389, + -0.027431516865013997, + 0.0013819704723166883, + -0.005177107267811161, + 0.0 + ], + [ + 0.0014624255193982248, + 0.00039582501509226813, + 0.005566163582452832, + 0.011400934418832595, + 0.0017198309615709258, + -0.005975984712099115, + 0.0 + ], + [ + -0.0012293614635899208, + -0.001347710521052824, + -1.0496321607325514e-05, + 0.008483503043568494, + -0.007769997428597106, + 0.002001427333168396, + 1.0 + ], + [ + -0.0016846909629347538, + -9.813228826520057e-05, + -0.00017198139515285112, + 0.003602938060885275, + -0.009697989670328819, + -0.0053685277325932566, + 1.0 + ], + [ + -0.00210982317346749, + -0.003592106345538435, + -0.009451139437525584, + 0.016203034091388294, + 0.007881420517511168, + -0.011457242714028874, + 1.0 + ], + [ + 0.00011973452263946776, + -0.0011323264039063917, + -0.0198096040835097, + -0.000630429347217508, + 0.02413914275868052, + 0.020917580970501583, + 1.0 + ], + [ + 0.002542482655012293, + 0.009108394863453943, + -0.01860797585774285, + 0.004823644202027604, + 0.045168415963152755, + 0.04045817481929126, + 1.0 + ], + [ + 0.015438995405934797, + 0.01516186414931314, + -0.02436637608035884, + -0.05657069974034102, + 0.06827467498397921, + 0.09424671069696786, + 1.0 + ], + [ + 0.012698687364385251, + 0.024229304255949387, + -0.01775334251452558, + -0.028256431228653567, + 0.030834145985725182, + 0.10960869659771943, + 1.0 + ], + [ + 0.009921241473623025, + 0.010451618816578323, + -0.007219426283902154, + -0.05970865899314147, + -0.008700664835783519, + 0.022088312324101998, + 1.0 + ], + [ + -0.004886187911971366, + 0.01394017821969298, + -0.007639749922628203, + -0.0463333876259763, + -0.025493607919059438, + 0.04509368025353596, + 1.0 + ], + [ + -0.011660848985147968, + 0.024237385984443777, + -0.024432754486745503, + -0.027621455665624687, + 0.025094346061938316, + 0.04748091911913579, + 1.0 + ], + [ + -0.010315718367994674, + 0.032245442873571055, + -0.010854498975623905, + -0.03821035638211771, + -0.006843181183171964, + 0.09049010591835527, + 1.0 + ], + [ + -0.00023700067392482219, + 0.0014558048825583853, + -0.0006720163458714547, + -0.003327475570362898, + 0.0013620929814544382, + -0.0006524367685013797, + 1.0 + ] + ], + "state": [ + [ + 0.2828804552555084, + 0.062006864696741104, + 0.09956620633602142, + -3.0082427730136594, + -0.033919621258974075, + 0.1570616364479065, + 1.0 + ], + [ + 0.2824857234954834, + 0.061950165778398514, + 0.09920916706323624, + -3.008220674591609, + -0.032385796308517456, + 0.1570608913898468, + 1.0 + ], + [ + 0.28142014145851135, + 0.06026620417833328, + 0.0931183323264122, + -3.012016700702258, + -0.010323375463485718, + 0.16382166743278506, + 1.0 + ], + [ + 0.28422120213508606, + 0.03190876916050911, + 0.0956956297159195, + -3.035372870164462, + -0.023439258337020877, + 0.12992361187934873, + 1.0 + ], + [ + 0.29209965467453003, + -0.00421521719545126, + 0.10290498286485672, + -3.0061469097905835, + -0.02720439434051514, + 0.022669978439807895, + 1.0 + ], + [ + 0.3038031756877899, + -0.04182194545865059, + 0.09613723307847977, + -2.97361076076562, + -0.02084930986166, + -0.06603042781352995, + 1.0 + ], + [ + 0.31490737199783325, + -0.06877686083316803, + 0.0869101732969284, + -2.9830195923619947, + -0.017229655757546425, + -0.10551130771636964, + 1.0 + ], + [ + 0.3170207440853119, + -0.08880852907896042, + 0.07349975407123566, + -2.974362941580363, + -0.026618802919983864, + -0.16779004037380216, + 1.0 + ], + [ + 0.32272857427597046, + -0.10076108574867249, + 0.06379423290491104, + -3.025422165291854, + -0.014202459715306759, + -0.22759024798870087, + 1.0 + ], + [ + 0.32409408688545227, + -0.10071483999490738, + 0.05786164477467537, + -3.0130328853898725, + 0.0005277346353977919, + -0.20612798631191254, + 1.0 + ], + [ + 0.32524049282073975, + -0.10140952467918396, + 0.05165352672338486, + -3.012508439021655, + 0.011146687902510168, + -0.19207151234149936, + 1.0 + ], + [ + 0.32770782709121704, + -0.10283518582582474, + 0.04006802290678024, + -3.0069348235898694, + 0.04125727340579033, + -0.1927123665809631, + 1.0 + ], + [ + 0.32509443163871765, + -0.10440399497747421, + 0.029791638255119324, + -3.0172419642382344, + 0.07024749368429184, + -0.19086661934852603, + 1.0 + ], + [ + 0.325536847114563, + -0.10460098087787628, + 0.029745478183031082, + -3.0180652757459363, + 0.06747133284807205, + -0.19276279211044312, + 1.0 + ], + [ + 0.3255356252193451, + -0.10517675429582596, + 0.02958354353904724, + -3.0211129059367856, + 0.07938917726278305, + -0.2090035080909729, + 0.0 + ], + [ + 0.32292643189430237, + -0.10526708513498306, + 0.029036765918135643, + -3.0249370132857045, + 0.09218849241733551, + -0.202811524271965, + 0.0 + ], + [ + 0.31350815296173096, + -0.10095767676830292, + 0.03379131108522415, + -3.0131369700008115, + 0.12088799476623534, + -0.18331721425056458, + 0.0 + ], + [ + 0.3034036159515381, + -0.09099160879850388, + 0.05548711493611336, + -2.9686417450481137, + 0.13368938863277435, + -0.15245780348777774, + 0.0 + ], + [ + 0.28806668519973755, + -0.07227600365877151, + 0.0754055306315422, + -2.9285983612113675, + 0.139979749917984, + -0.07232355326414108, + 0.0 + ], + [ + 0.2753525376319885, + -0.039824292063713074, + 0.09031399339437485, + -2.8881806155019483, + 0.14753851294517517, + 0.07402621954679489, + 0.0 + ], + [ + 0.2596980929374695, + 0.001837979769334197, + 0.10126514732837677, + -2.878181757526942, + 0.15581253170967102, + 0.23229999840259552, + 0.0 + ], + [ + 0.24615110456943512, + 0.04807772859930992, + 0.10992223769426346, + -2.88501292665536, + 0.14429420232772827, + 0.422622412443161, + 0.0 + ], + [ + 0.24166905879974365, + 0.07221328467130661, + 0.11178378760814667, + -2.8324985822015485, + 0.122488833963871, + 0.49634045362472534, + 0.0 + ], + [ + 0.23682008683681488, + 0.11109494417905807, + 0.1207226812839508, + -2.7868682761960706, + 0.0675479844212532, + 0.6349196434020995, + 0.0 + ], + [ + 0.24040116369724274, + 0.13424736261367798, + 0.11746302247047424, + -2.7664185782247266, + 0.05162695795297623, + 0.6825162768363953, + 0.0 + ], + [ + 0.24000468850135803, + 0.16177406907081604, + 0.10423438251018524, + -2.7942138334089, + 0.055622164160013206, + 0.7524211406707764, + 0.0 + ], + [ + 0.24741625785827637, + 0.1737009733915329, + 0.08902716636657715, + -2.7929241379075727, + 0.05683761462569236, + 0.741417646408081, + 0.0 + ], + [ + 0.25307565927505493, + 0.18153932690620422, + 0.08164695650339127, + -2.766230972605296, + 0.028048485517501828, + 0.7614585757255555, + 0.0 + ], + [ + 0.2586461901664734, + 0.18578076362609863, + 0.068638376891613, + -2.762185277538844, + 0.011342446319758894, + 0.7572577595710754, + 0.0 + ], + [ + 0.2648783028125763, + 0.18557758629322052, + 0.061029355973005295, + -2.790458383160182, + 0.00537114916369319, + 0.7378832697868348, + 0.0 + ], + [ + 0.2640838623046875, + 0.19119516015052795, + 0.059881795197725296, + -2.799757780628749, + -0.015277014113962649, + 0.7608169317245483, + 0.0 + ], + [ + 0.2624785304069519, + 0.19350022077560425, + 0.055519942194223404, + -2.8272598703675946, + -0.01831432245671749, + 0.7652319669723511, + 0.0 + ], + [ + 0.2626732587814331, + 0.19555148482322693, + 0.05013181269168854, + -2.8159571309858045, + -0.0217973031103611, + 0.7703846096992493, + 0.0 + ], + [ + 0.2608974277973175, + 0.19560278952121735, + 0.05054600536823273, + -2.807476343708583, + -0.013795363716781136, + 0.7709741592407227, + 1.0 + ], + [ + 0.259662002325058, + 0.19445312023162842, + 0.05071739852428436, + -2.803982736664363, + -0.006393708754330874, + 0.7792260646820068, + 1.0 + ], + [ + 0.2579331398010254, + 0.19310922920703888, + 0.06081113964319229, + -2.787833036976405, + -0.01762497425079346, + 0.787426769733429, + 1.0 + ], + [ + 0.2618914246559143, + 0.18886394798755646, + 0.07978550344705582, + -2.788007082539149, + -0.033017076551914215, + 0.7594310641288757, + 1.0 + ], + [ + 0.2737113833427429, + 0.17941857874393463, + 0.09416456520557404, + -2.781565489368983, + -0.061342094093561166, + 0.7057632803916931, + 1.0 + ], + [ + 0.29939696192741394, + 0.17138563096523285, + 0.1125408485531807, + -2.832736464338847, + -0.09173115342855453, + 0.5931499004364014, + 1.0 + ], + [ + 0.32507622241973877, + 0.15435056388378143, + 0.12321226298809052, + -2.85246458848054, + -0.08727185428142549, + 0.4789331257343293, + 1.0 + ], + [ + 0.33910802006721497, + 0.14802949130535126, + 0.1280018538236618, + -2.910580577450343, + -0.07261965423822403, + 0.46019434928894043, + 1.0 + ], + [ + 0.34126928448677063, + 0.13200297951698303, + 0.13188116252422333, + -2.9542449732595166, + -0.03742825612425804, + 0.4221283197402954, + 1.0 + ], + [ + 0.34159496426582336, + 0.10105588287115097, + 0.15092208981513977, + -2.980134131508418, + -0.05319484695792199, + 0.370741754770279, + 1.0 + ], + [ + 0.34388267993927, + 0.06592704355716705, + 0.15589539706707, + -3.014286996918269, + -0.031705453991889954, + 0.28249379992485046, + 1.0 + ], + [ + 0.3440668284893036, + 0.06438802927732468, + 0.1563693881034851, + -3.0176294093304357, + -0.03313935548067093, + 0.28296828269958496, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.08178335428237915, + 0.31880712509155273, + 0.426047682762146, + 0.426047682762146, + 0.43597882986068726, + 0.4675157070159912, + 0.46849435567855835, + 0.4694725275039673, + 0.4694725275039673, + 0.4694725275039673, + 0.4694725275039673, + 0.4694725275039673, + 0.4694725275039673, + 0.470450222492218, + 0.470450222492218, + 0.470450222492218, + 0.4714275002479553, + 0.4714275002479553, + 0.4714275002479553, + 0.39909929037094116, + 0.12860965728759766, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "3224", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3224/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3234.json b/annotation/test/3234.json new file mode 100644 index 0000000000000000000000000000000000000000..89f3e617af04dd5e999d1bfefe37cd3e92c0da9a --- /dev/null +++ b/annotation/test/3234.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "open microwave" + ], + "videos": [ + { + "video_path": "videos/test/3234/rgb.mp4" + } + ], + "action": [ + [ + 1.172227786920579e-05, + -2.227957280925858e-05, + 0.0005243450238831723, + -0.0003788547967804054, + -0.0014854682073206311, + -0.001588226320364318, + 1.0 + ], + [ + -0.005057985961960217, + 0.0019197365309050099, + 0.011132144909033217, + -0.0084260648687271, + -0.032766117236486564, + -0.009042398998899581, + 1.0 + ], + [ + -0.0175310452181479, + 0.018399863599314725, + 0.008091379125851025, + -0.0036469608535191545, + 0.0038973342430991963, + -0.0051195071423679175, + 1.0 + ], + [ + -0.026659781290409093, + 0.030176516082910675, + -0.002481017990795198, + -0.005527506199383976, + 0.07177253617910981, + -0.03421837355238049, + 1.0 + ], + [ + -0.021074785894355023, + 0.02167990619325011, + -0.0006552664763980013, + 0.025198224636576245, + 0.02905778172811277, + -0.0343623995991635, + 1.0 + ], + [ + -0.011734304015219223, + 0.017740583642170793, + 0.0037004865664722413, + 0.009925918937414391, + 0.019761432548995816, + -0.012202045857286918, + 1.0 + ], + [ + 0.00021597867337026116, + 0.018236187352598212, + 0.007925183671301763, + -0.0037884478767093383, + -0.00463513942594134, + 0.008937713413518737, + 1.0 + ], + [ + 0.011643959673823126, + 0.014028807844667448, + 0.01695612925870689, + -0.0275360950163257, + -0.01353380934146036, + -0.008847094216455716, + 1.0 + ], + [ + 0.00714295019128881, + 0.01201614503970199, + 0.010938617333444936, + -0.010488276992106835, + 0.019579705137288354, + 0.0005303601276378742, + 1.0 + ], + [ + 0.012343052090641729, + 0.008300315769460729, + 0.006520101009566726, + -0.006781565580162485, + 0.008105115572998945, + -0.00010133500631947034, + 1.0 + ], + [ + 0.009742029682905343, + 0.005181013954395914, + 0.006351657003742358, + -0.0036255157762931428, + 0.005530216371256234, + 0.020133001303216765, + 1.0 + ], + [ + 0.011699126133642978, + 0.007292756931016485, + 7.51398518853614e-05, + -0.005184066973149979, + 0.016828088182071196, + 0.002922447029132546, + 1.0 + ], + [ + -0.0003936201065601263, + 0.0006550712371431182, + 0.00018484266618697186, + -0.0035090579726420866, + -0.004445895567273421, + 0.022214755985154464, + 1.0 + ], + [ + 0.0029105492212090417, + -0.0008978886635651274, + 0.0030676952704625044, + 0.011024748731732729, + 0.003652853248463877, + 0.014652436453603165, + 1.0 + ], + [ + 0.0013409907148752126, + 0.0011428516329975308, + 3.63347687670121e-05, + -0.012514134651416682, + 0.006995394107392102, + 0.002020816998068774, + 1.0 + ], + [ + 0.001067378235233107, + -0.0015622620451234495, + 4.269924960236719e-06, + 0.01205027668429779, + -0.012445429985323464, + 0.011642798407608783, + 0.0 + ], + [ + -0.001821942341828832, + 0.0014510870177475892, + 0.0007061559726184917, + 0.022753127621140432, + 0.010264326619829126, + -0.02881918108642046, + 0.0 + ], + [ + -0.020940429438861406, + -0.0008394025909814281, + -0.004203921177051615, + 0.018922356862385494, + 0.007344304850138172, + -0.0505781011379045, + 0.0 + ], + [ + -0.022124462292979735, + -0.0036121933499026, + -0.006108526704304895, + 0.01908488013833334, + -0.0012085859481353897, + -0.06085266617215776, + 0.0 + ], + [ + -0.017929515800071297, + -0.004625750337430357, + -0.004882266148300679, + 0.011972420036814327, + -0.010332966959341992, + -0.054021017401552955, + 0.0 + ], + [ + -0.01994840410596443, + -0.004892217490041093, + -0.007190150871269929, + 0.021428352752264644, + -0.007843506141460397, + -0.07799129603235076, + 1.0 + ], + [ + -0.024365305921123792, + 0.010844087740413007, + -0.0012106990641483344, + 0.015275449046240435, + 0.03906551216132646, + -0.09467603980548442, + 1.0 + ], + [ + -0.016202589649741795, + 0.024439215188175215, + 0.005390034954440214, + 0.00907102910395272, + 0.004507113478576212, + 0.0001518459711982117, + 1.0 + ], + [ + 0.012371676340576867, + 0.037183212251597215, + -0.0015641552232728165, + -0.05894526569722459, + -0.012130689518732678, + 0.07648686239114513, + 1.0 + ], + [ + 0.02548192298060577, + 0.035751736358409385, + 0.003248533893185109, + -0.012152912677801858, + -0.028908654812090952, + 0.06197646439356482, + 1.0 + ], + [ + 0.023365791289458118, + 0.020001439356813342, + -0.0025989400990865143, + -0.05415059480275286, + 0.008012516415574125, + 0.04882174659650588, + 1.0 + ], + [ + 0.022982414572008353, + -0.005569809640786039, + 0.004690741067199893, + -0.004241012747557442, + 0.02679291043503762, + 0.13175756410614692, + 1.0 + ], + [ + 0.013355049048826569, + -0.016223693824013823, + 0.008705936102230558, + -0.019943925915001093, + 0.040291159712261236, + 0.143646937105268, + 1.0 + ], + [ + 0.0006579588421948913, + -0.013785695432475095, + 0.0050242546586690565, + -0.06084232010690601, + -0.024277999956875674, + 0.07667224947362325, + 1.0 + ], + [ + -0.013363607169218056, + -0.030658957857282003, + 0.010134271271152438, + -0.0010824357015079874, + -0.03861884123859153, + -0.03822141604264745, + 1.0 + ], + [ + -0.019608510672835824, + -0.026783674685457583, + 6.503186955832727e-05, + -0.014400392424026649, + 0.020162170918868533, + -0.05921643763669437, + 1.0 + ], + [ + -0.022484665006710584, + -0.018323824565125907, + 0.0071494726791372105, + -0.05004681590256059, + -0.03355530886427073, + -0.05422541052239244, + 1.0 + ], + [ + -0.01864341875745152, + -0.021536167844891728, + -0.00047249432251138696, + 0.029675638576970583, + 0.055904948445577286, + -0.013295824604507298, + 1.0 + ], + [ + -0.024788267603628324, + -0.024341870757150094, + 0.007673676638837316, + 0.005796506997033691, + -0.008486214506744427, + -0.01050085746209764, + 1.0 + ], + [ + -0.013204341215119587, + -0.017568471603159795, + -0.0100598832754564, + 0.039703610672039855, + 0.00543913603764589, + -0.005511765033198741, + 1.0 + ], + [ + -0.008734868707791539, + -0.01726330482023421, + -0.009142681111878031, + 0.03508436451744826, + -0.018209696284651945, + 0.02115866064376832, + 1.0 + ], + [ + -0.004126950665707723, + -0.009828771255664365, + 0.0004366487267611678, + 0.0017438262191026802, + 0.006937066086816939, + 0.026420345238300016, + 1.0 + ], + [ + 0.0001902619010621551, + -0.0004473091813030237, + -2.9018521996214264e-05, + 0.0010163455328053412, + 0.0015020952470189228, + 0.0046878398587949155, + 1.0 + ] + ], + "state": [ + [ + 0.3250904977321625, + 0.08038321137428284, + 0.18132664263248444, + -3.1320593935721597, + -0.17833206057548523, + 0.0039884732104837894, + 1.0 + ], + [ + 0.3251948952674866, + 0.0804109051823616, + 0.18081292510032654, + -3.1327269860827407, + -0.17686156928539276, + 0.005616177804768086, + 1.0 + ], + [ + 0.322187602519989, + 0.07857301831245422, + 0.1689482033252716, + 3.1403774503902575, + -0.1441691666841507, + 0.015041603706777096, + 1.0 + ], + [ + 0.30627644062042236, + 0.059921905398368835, + 0.15844421088695526, + 3.135986155020543, + -0.1480583697557449, + 0.020222486928105354, + 1.0 + ], + [ + 0.2801327705383301, + 0.02922484278678894, + 0.1571325808763504, + 3.125215785699435, + -0.21954762935638428, + 0.055604115128517144, + 1.0 + ], + [ + 0.2605800926685333, + 0.006436706054955721, + 0.15352870523929596, + -3.140592326997318, + -0.24790267646312714, + 0.09152195602655411, + 1.0 + ], + [ + 0.251781702041626, + -0.012182213366031647, + 0.14704488217830658, + -3.1337657599994024, + -0.26765742897987366, + 0.10415156930685042, + 1.0 + ], + [ + 0.2560003697872162, + -0.030013853684067726, + 0.13932159543037415, + -3.1351165544525763, + -0.2629416286945343, + 0.09493367373943329, + 1.0 + ], + [ + 0.27292370796203613, + -0.0423840768635273, + 0.12588739395141602, + 3.118136555077978, + -0.24945469200611112, + 0.10415278375148773, + 1.0 + ], + [ + 0.28369954228401184, + -0.05359391123056412, + 0.11732679605484009, + 3.107661945866891, + -0.2690414488315582, + 0.1040792167186737, + 1.0 + ], + [ + 0.29806727170944214, + -0.060656171292066574, + 0.11459719389677048, + 3.1007752922647676, + -0.27713844180107117, + 0.10447037220001222, + 1.0 + ], + [ + 0.30962273478507996, + -0.06491024047136307, + 0.1113618016242981, + 3.1028252003067216, + -0.28342917561531067, + 0.08375348895788194, + 1.0 + ], + [ + 0.3213677406311035, + -0.07124008238315582, + 0.11483274400234222, + 3.098299702750989, + -0.3003571331501007, + 0.08137956261634827, + 1.0 + ], + [ + 0.3210929334163666, + -0.07192715257406235, + 0.11456696689128876, + 3.1017266196482858, + -0.2967992424964905, + 0.05796966701745987, + 1.0 + ], + [ + 0.32473206520080566, + -0.07093974202871323, + 0.11245273053646088, + 3.1171940082036933, + -0.3010009825229645, + 0.04279214516282082, + 1.0 + ], + [ + 0.32606300711631775, + -0.07202719897031784, + 0.11284223943948746, + 3.105254752682992, + -0.3080430626869202, + 0.04085128009319306, + 1.0 + ], + [ + 0.32703402638435364, + -0.0704251304268837, + 0.11310771107673645, + 3.121136201667138, + -0.29600566625595087, + 0.028215333819389343, + 0.0 + ], + [ + 0.3255305588245392, + -0.07193337380886078, + 0.11192933470010757, + 3.135020745108374, + -0.3055496215820312, + 0.058646950870752335, + 0.0 + ], + [ + 0.3042828142642975, + -0.07231241464614868, + 0.10963394492864609, + 3.137955217976593, + -0.31215652823448176, + 0.11184400320053099, + 0.0 + ], + [ + 0.28109320998191833, + -0.07125966250896454, + 0.10864004492759705, + 3.1374344370611986, + -0.310129851102829, + 0.17574410140514374, + 0.0 + ], + [ + 0.2620084881782532, + -0.06992995738983154, + 0.10779926925897598, + 3.132181800092109, + -0.29910731315612793, + 0.2322291731834412, + 0.0 + ], + [ + 0.2402675300836563, + -0.06997513025999069, + 0.10874773561954498, + 3.129704004275151, + -0.2895980477333069, + 0.3135331869125367, + 1.0 + ], + [ + 0.22103117406368256, + -0.08759598433971405, + 0.10307355970144272, + 3.116384869562932, + -0.3261745274066925, + 0.4139050245285034, + 1.0 + ], + [ + 0.21825961768627167, + -0.11564665287733078, + 0.09336119145154953, + 3.1254685820364436, + -0.3306840360164642, + 0.4138646423816681, + 1.0 + ], + [ + 0.2432711124420166, + -0.14523987472057343, + 0.09942440688610077, + 3.0927622487121305, + -0.31878232955932617, + 0.3331209719181061, + 1.0 + ], + [ + 0.2783116102218628, + -0.17106947302818298, + 0.10598667711019516, + 3.101395731913396, + -0.2922756373882293, + 0.2670237720012664, + 1.0 + ], + [ + 0.30419421195983887, + -0.18460041284561157, + 0.1159755140542984, + 3.0619103257828435, + -0.3018885850906372, + 0.21626825630664828, + 1.0 + ], + [ + 0.32600143551826477, + -0.1745069921016693, + 0.11792103946208954, + 3.0989094023876866, + -0.33642956614494324, + 0.07941275835037231, + 1.0 + ], + [ + 0.340401828289032, + -0.15747350454330444, + 0.11346594244241714, + 3.129608688066252, + -0.3792269825935364, + -0.07316525280475615, + 1.0 + ], + [ + 0.34393054246902466, + -0.14397083222866058, + 0.10888910293579102, + 3.099153822409459, + -0.35470026731491083, + -0.15521937608718872, + 1.0 + ], + [ + 0.34013912081718445, + -0.11280865222215652, + 0.09353316575288773, + 3.0847232473366937, + -0.31425127387046814, + -0.1168186441063881, + 1.0 + ], + [ + 0.3252215087413788, + -0.08413787186145782, + 0.08596254140138626, + 3.0507317950301847, + -0.3304239213466645, + -0.05311158299446106, + 1.0 + ], + [ + 0.30776289105415344, + -0.06558536738157272, + 0.07036001235246658, + 2.9834958781772336, + -0.2916494309902191, + 5.851911919307896e-05, + 1.0 + ], + [ + 0.29074627161026, + -0.04424438998103142, + 0.06219887360930443, + 3.0062586088948926, + -0.34469002485275274, + 0.023335807025432587, + 1.0 + ], + [ + 0.2705617845058441, + -0.021625256165862083, + 0.0435754619538784, + 3.0087431242042264, + -0.3348492980003357, + 0.03313978761434555, + 1.0 + ], + [ + 0.2549658417701721, + -0.0033858034294098616, + 0.0464557409286499, + 3.046292195218154, + -0.33950376510620117, + 0.039697706699371345, + 1.0 + ], + [ + 0.24353763461112976, + 0.014229473657906055, + 0.05057961493730545, + 3.0893909466736993, + -0.3232986629009247, + 0.015659919008612633, + 1.0 + ], + [ + 0.23977304995059967, + 0.02396431565284729, + 0.04836875945329666, + 3.099893583106347, + -0.3314909338951111, + -0.011860309168696402, + 1.0 + ], + [ + 0.2399548888206482, + 0.024410320445895195, + 0.048440463840961456, + 3.1025018115812024, + -0.3331834673881531, + -0.016750376671552658, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.04849565029144287, + 0.3599643111228943, + 0.6587400138378143, + 0.7064096629619598, + 0.675596296787262, + 0.6700286269187927, + 0.6046426296234131, + 0.23473185300827026, + 0.0011776089668273926, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "3234", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3234/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3243.json b/annotation/test/3243.json new file mode 100644 index 0000000000000000000000000000000000000000..ad4b26a3feaef49b475203c608cab7e34ffa8ff7 --- /dev/null +++ b/annotation/test/3243.json @@ -0,0 +1,679 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the towel to bottom right of table" + ], + "videos": [ + { + "video_path": "videos/test/3243/rgb.mp4" + } + ], + "action": [ + [ + -0.00021290760865060154, + -0.00011761272220484702, + -1.7976859117017538e-07, + 0.0007417246168824181, + -0.001342720692504366, + -4.838206042732706e-07, + 1.0 + ], + [ + -0.00338598939223825, + -0.003579373441254157, + 0.00808290865213779, + 0.015990487387914816, + -0.02410943371509181, + 0.0005476323141423974, + 1.0 + ], + [ + 0.00689386303894561, + -0.0362302848979713, + 0.004186163021105932, + 0.04035611740642117, + -0.01066466169840176, + -0.05241553415733086, + 1.0 + ], + [ + 0.007618385633399121, + -0.025541158738437077, + 0.0013972057881416974, + 0.013267626006925975, + -0.004644089630433414, + -0.03479253628719128, + 1.0 + ], + [ + 0.018762295592448873, + -0.03692413620739978, + -0.0008491300727473149, + 0.035223066084890516, + 0.03537329167329539, + -0.04557494602749861, + 1.0 + ], + [ + 0.00582594673558986, + -0.01774465745746367, + 0.008246620156368763, + 0.046359799632106874, + 0.04861704457949069, + 0.05542277298370446, + 1.0 + ], + [ + 0.0064163818130538895, + -0.020418794665519567, + 0.010404428563455383, + 0.024462966235870163, + 0.007325452797613352, + 0.00391402584988704, + 1.0 + ], + [ + -0.0014855515095148688, + -0.003213953063207864, + 0.01292615270334026, + 0.016418865468944194, + -0.006117236596885139, + 0.024021200098274693, + 1.0 + ], + [ + -0.002749178987673694, + -0.006190541559137494, + 0.0064238160312216595, + 0.008338987862665579, + -0.01980555315265646, + -0.005591347464073734, + 1.0 + ], + [ + -0.00367496716161504, + -0.005443869373267372, + 0.018585602170230604, + 0.01699686255939914, + -0.02911526101343934, + -0.021971509708085424, + 1.0 + ], + [ + -0.008609234330815393, + 0.005616624859036195, + 0.027545295388447855, + 0.0007495434603340203, + -0.05069302502575451, + -0.02498787761228033, + 1.0 + ], + [ + 0.0005894506283294104, + 0.005127151981332556, + 0.011294728998383963, + 0.009535762589994981, + -0.021644673872614015, + -0.00608503811222137, + 1.0 + ], + [ + 0.0024710435268809738, + 0.001594536058369814, + 0.00241179906930644, + 0.006621102420191169, + 0.0002698554283346463, + -0.00416993909285248, + 1.0 + ], + [ + -0.004358721224233498, + 0.002295906369409222, + 0.0006743263198809039, + -0.008470307676910984, + -0.0074239890609308495, + -0.0015857508615999675, + 1.0 + ], + [ + -0.009643694253972586, + 0.005642485842671264, + -0.00022355298935974007, + -0.011404578495951997, + -0.005104904288770206, + 0.034690450037075125, + 1.0 + ], + [ + -0.013389458643973992, + 0.006374713696573961, + -0.00037343437172608217, + -0.01414805822469118, + -0.009084891975390589, + 0.029188932570752092, + 1.0 + ], + [ + -0.009020352461629551, + 0.01173049040202075, + -0.0003231885355701463, + -0.018014895584273917, + 0.0016597854062894472, + 0.022423335347794927, + 1.0 + ], + [ + -0.008633411257457346, + 0.020544139933919896, + 0.0008285869178913243, + -0.03058626909360301, + -0.0037468682802239673, + 0.024861061881900612, + 1.0 + ], + [ + -0.013021244862606984, + 0.033465879008027624, + 0.0014443872931814465, + -0.043834337227838346, + -0.010528658483868384, + 0.0306785026112581, + 1.0 + ], + [ + -0.017616903869783464, + 0.032965375910696745, + 0.0028489578804123264, + -0.01826346065271896, + -0.01362571716192309, + 0.05073001372578314, + 1.0 + ], + [ + -0.014112961121814364, + 0.021598819668739146, + 0.0018881061267044016, + -0.008011077857994642, + -0.012818343499444296, + 0.06432941662829064, + 1.0 + ], + [ + -0.008276033293294691, + 0.0030167498047838502, + -0.0008536680929855843, + -0.009456861324480495, + 0.007152923676322359, + 0.011689759706102698, + 1.0 + ], + [ + -0.014858862742033683, + -0.0021226850633858985, + -0.0028239336750073086, + 0.0003914730169947014, + -0.017866877843781128, + 0.01654748948009787, + 1.0 + ], + [ + -0.002498274551744972, + -0.004913985245246777, + -0.0024179896768959067, + -0.0017044349329320618, + -0.005163013280080148, + -0.0026253577792750738, + 1.0 + ], + [ + 0.000495345764368983, + -0.006335528216533521, + -0.0020169361691672514, + 0.005578047264983263, + -0.012702068136042721, + -0.02442704429649723, + 1.0 + ], + [ + 7.430283622791531e-06, + -0.0019405735341984755, + -0.0015322816548747392, + 0.004089747442893934, + -0.018424739194167285, + -0.018036710755775353, + 1.0 + ], + [ + 0.0022187678597438256, + -0.003831404699865027, + -0.0026039445192109377, + 0.006476253633181194, + -0.02102952005128668, + -0.04034205731676417, + 1.0 + ], + [ + 0.010771575614553844, + 0.0001339505114366654, + -0.01892285202153387, + -0.007784344506879751, + 0.028574648974274582, + -0.06403635845644973, + 1.0 + ], + [ + 0.01293487897005577, + 0.005027602137249471, + -0.026160218931403946, + -0.05673793109690515, + 0.03828695590968928, + -0.07316123821751597, + 1.0 + ], + [ + 0.005082252724073759, + 0.006780778871115202, + -0.01973277917933699, + -0.03856358191142294, + 0.02796240265051207, + -0.03636261990336899, + 1.0 + ], + [ + 0.003277964685452794, + 0.003202124805164859, + -0.0240930756754241, + -0.04507212055375292, + 0.04352123067767138, + -0.021822312277446188, + 1.0 + ], + [ + 1.6290253481327008e-05, + 3.2546923662158745e-05, + -0.0008397994526277648, + -0.000155930458144177, + 0.001553415849832961, + 0.001594302168286869, + 1.0 + ], + [ + 0.00037483311989220763, + 0.0003489666735062382, + -0.0002681364714296317, + -0.0009226977338068549, + 0.001196872680474322, + 0.0017964812484033451, + 1.0 + ], + [ + -0.00016088418861477674, + -0.0002345941036302486, + 0.000267533715428778, + 0.0002042899558218627, + 0.00015811478575100698, + 0.0012711750136965912, + 1.0 + ] + ], + "state": [ + [ + 0.32786422967910767, + -0.06454227864742279, + 0.1401549130678177, + 2.8713544627004346, + -0.26134231686592096, + 0.435652881860733, + 1.0 + ], + [ + 0.3276372253894806, + -0.0645228698849678, + 0.14006973803043365, + 2.8721916695409497, + -0.2600481808185577, + 0.435282438993454, + 1.0 + ], + [ + 0.32616114616394043, + -0.06377673894166946, + 0.13074907660484314, + 2.889945836859294, + -0.23694789409637454, + 0.4281388521194458, + 1.0 + ], + [ + 0.3209143280982971, + -0.028746459633111954, + 0.11965703964233398, + 2.9190328886085233, + -0.2132945954799652, + 0.47735667228698725, + 1.0 + ], + [ + 0.31754058599472046, + -0.002792316721752286, + 0.11442797631025314, + 2.9253122230344495, + -0.20096977055072784, + 0.5109409093856812, + 1.0 + ], + [ + 0.3170883059501648, + 0.038507211953401566, + 0.11122158169746399, + 2.950030656652995, + -0.22546567022800446, + 0.5643775463104248, + 1.0 + ], + [ + 0.31557556986808777, + 0.05630866065621376, + 0.10134021937847137, + 3.006870450573512, + -0.283504843711853, + 0.5174223780632019, + 1.0 + ], + [ + 0.3147853910923004, + 0.07753235101699829, + 0.09060337394475937, + 3.0321756472163877, + -0.2912884056568146, + 0.5144005417823792, + 1.0 + ], + [ + 0.31596943736076355, + 0.08024980127811432, + 0.07753297686576843, + 3.0559762214594564, + -0.2877403497695923, + 0.4888026714324952, + 1.0 + ], + [ + 0.31273993849754333, + 0.08489596843719482, + 0.07010804116725922, + 3.0631581862741193, + -0.2675270140171051, + 0.4928219020366668, + 1.0 + ], + [ + 0.3121532201766968, + 0.08908811956644058, + 0.050855837762355804, + 3.0748012160235128, + -0.2367275059223175, + 0.51299786567688, + 1.0 + ], + [ + 0.31405341625213623, + 0.08161641657352448, + 0.022483816370368004, + 3.0703402777486524, + -0.18442468345165253, + 0.5348864197731017, + 1.0 + ], + [ + 0.31928855180740356, + 0.07783917337656021, + 0.011875714175403118, + 3.079018550115176, + -0.16239982843399048, + 0.5394741296768188, + 1.0 + ], + [ + 0.3225958049297333, + 0.07778865098953247, + 0.009998242370784283, + 3.0849555564397058, + -0.1624069660902023, + 0.5437085032463074, + 1.0 + ], + [ + 0.32019543647766113, + 0.07361459732055664, + 0.008757331408560276, + 3.0762934034043035, + -0.15490500628948212, + 0.544885516166687, + 1.0 + ], + [ + 0.314879834651947, + 0.06382602453231812, + 0.00785362720489502, + 3.070381926494189, + -0.15197885036468506, + 0.5095284581184387, + 1.0 + ], + [ + 0.30630525946617126, + 0.05178172141313553, + 0.006643068045377731, + 3.0608152617984494, + -0.14492572844028473, + 0.47945266962051397, + 1.0 + ], + [ + 0.3036048412322998, + 0.0372290201485157, + 0.00659572146832943, + 3.0460640658908567, + -0.14835324883460999, + 0.45698967576026917, + 1.0 + ], + [ + 0.3048505485057831, + 0.014964506030082703, + 0.006441915407776833, + 3.019258128600665, + -0.14694745838642118, + 0.4316110908985138, + 1.0 + ], + [ + 0.3067674934864044, + -0.020916102454066277, + 0.007157028652727604, + 2.9801705350452146, + -0.14016607403755188, + 0.39956381916999817, + 1.0 + ], + [ + 0.3032129108905792, + -0.058233026415109634, + 0.007157770451158285, + 2.969478653865405, + -0.13467459380626676, + 0.34682780504226685, + 1.0 + ], + [ + 0.2971715033054352, + -0.08338746428489685, + 0.007085125427693129, + 2.9707030822807035, + -0.13276377320289615, + 0.28067249059677124, + 1.0 + ], + [ + 0.2899003028869629, + -0.08842641115188599, + 0.007331934291869402, + 2.962628634768077, + -0.14179332554340363, + 0.2702653408050537, + 1.0 + ], + [ + 0.2747056484222412, + -0.08994691073894501, + 0.007608975749462843, + 2.96579826076562, + -0.12713025510311127, + 0.25064557790756226, + 1.0 + ], + [ + 0.2708131968975067, + -0.0855126604437828, + 0.008801261894404888, + 2.963876875238963, + -0.12158748507499693, + 0.2523399889469146, + 1.0 + ], + [ + 0.26954180002212524, + -0.07903257012367249, + 0.009720117785036564, + 2.9668249805741986, + -0.10473857074975966, + 0.27425438165664673, + 1.0 + ], + [ + 0.26884129643440247, + -0.07696767151355743, + 0.010885989293456078, + 2.969376178579875, + -0.08344729244709015, + 0.28886020183563227, + 1.0 + ], + [ + 0.2696058452129364, + -0.0723370760679245, + 0.012973133474588394, + 2.9729109426313123, + -0.05576249212026596, + 0.325046569108963, + 1.0 + ], + [ + 0.27783873677253723, + -0.0663495734333992, + 0.03222120925784111, + 2.961657317476817, + -0.07306092977523805, + 0.3931358158588409, + 1.0 + ], + [ + 0.2880602478981018, + -0.062396954745054245, + 0.05973197892308235, + 2.899576189117976, + -0.09742328524589539, + 0.4723070859909058, + 1.0 + ], + [ + 0.29160788655281067, + -0.06266648322343826, + 0.0809105634689331, + 2.857022078829356, + -0.11577256023883818, + 0.5145845413208008, + 1.0 + ], + [ + 0.29021015763282776, + -0.05921701714396477, + 0.10515148937702179, + 2.807959111528941, + -0.1513533890247345, + 0.5481117367744446, + 1.0 + ], + [ + 0.28999313712120056, + -0.059063322842121124, + 0.10594890266656876, + 2.8079551478200635, + -0.15334317088127136, + 0.5471022129058838, + 1.0 + ], + [ + 0.2903873920440674, + -0.059106431901454926, + 0.10636947304010391, + 2.8072343190484723, + -0.15506222844123838, + 0.5457808971405029, + 1.0 + ], + [ + 0.2902255952358246, + -0.05904814228415489, + 0.10601887851953506, + 2.8076184411817273, + -0.15562863647937775, + 0.5446179509162903, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0011776089668273926, + 0.0005114078521728516, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "3243", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3243/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3253.json b/annotation/test/3253.json new file mode 100644 index 0000000000000000000000000000000000000000..099aab197975ac6f70969509ed234577c80ff3cc --- /dev/null +++ b/annotation/test/3253.json @@ -0,0 +1,1420 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put cauliflower in pot or pan an put pot or pan on stove" + ], + "videos": [ + { + "video_path": "videos/test/3253/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -1.9763945881693486e-10, + 4.949858015286243e-09, + -0.0030679604905660173, + 1.0 + ], + [ + -0.005571026693874062, + -7.865920132618351e-05, + 0.009230772827936358, + 0.0011279945474548905, + -0.03074136034194353, + -0.0021281281191374256, + 1.0 + ], + [ + -0.001737848787348357, + 0.00477561505431359, + 0.011411874495670361, + -0.00569948201568919, + 0.0285319560864012, + -0.020221989835503322, + 1.0 + ], + [ + -0.0025875763814931178, + 0.0014852088389358986, + 0.00860510679171773, + -0.004783273725088486, + 0.02434834676405503, + 0.0005073875445112506, + 1.0 + ], + [ + -0.0014989486509140104, + 0.0018678472068285959, + 0.006624527236950803, + -0.0009667564580699076, + 0.013469736231054446, + -0.003027009610092129, + 1.0 + ], + [ + -0.0003149294326792079, + -0.0002830142324906576, + 0.00522282205496155, + -0.000274243448346869, + 0.015375186984522666, + 0.011780657455046726, + 1.0 + ], + [ + -0.003052318743822481, + -0.0039031078480805128, + 0.010772975638919446, + -0.0034000678851172773, + 0.013169272387778498, + 0.008345119142734654, + 1.0 + ], + [ + -0.002003929788034678, + -0.0028420098290483295, + 0.007701125494454152, + -0.0033887723619507497, + 0.011698540262489626, + 0.0050420369991362336, + 1.0 + ], + [ + -0.0003356150330168615, + -0.004800008622776102, + 0.007025129984014368, + -0.0038329148742425115, + 0.018817637616990783, + 0.008050754135564359, + 1.0 + ], + [ + -0.002451779688481454, + -0.004372744533039804, + 0.009193901680878122, + -0.004549225205103584, + 0.010211655889948868, + 0.007313602140943209, + 1.0 + ], + [ + -0.00011266887741024517, + -0.0020488593920791427, + 0.0044708227885714505, + -0.00398290180749211, + 0.02062943668820255, + 0.0024479916478267593, + 1.0 + ], + [ + -0.0014908854259095775, + -0.002786067925410938, + 0.004875198241743534, + 0.0036635479782242963, + 0.019385627998816202, + 0.007685979741176623, + 1.0 + ], + [ + -0.0014923898267560512, + 2.58422732746866e-05, + 0.004433451390142481, + 0.004270267333036513, + 0.019499796884643632, + -0.01699043449312388, + 1.0 + ], + [ + -0.002606345730638439, + 0.00041786274511071474, + 0.001228040230427252, + 0.005110937169216625, + -0.0014255278177967262, + 0.000754507348443047, + 1.0 + ], + [ + -0.004118550098683127, + 0.0020866116428643953, + 0.0004246859883862315, + 0.002782591491422906, + -0.001420104068856883, + 0.005202108162039185, + 1.0 + ], + [ + -0.011062661101376601, + 0.004271914836384472, + -0.0020332774430778856, + 0.012544791196677391, + -0.02215013117848815, + -0.011759146854030785, + 1.0 + ], + [ + -0.004404655262902396, + 0.0007860712271574213, + -0.005715179027431894, + 0.011053757223234305, + -0.018296471013308814, + -0.000800601323548704, + 1.0 + ], + [ + -0.004831579497820233, + -0.0013242469014801141, + 0.00018489470130704473, + 0.008182397181731554, + 0.0012171514751361649, + -0.002062594551496745, + 1.0 + ], + [ + -0.0004929380858542562, + 0.0043072732929184945, + 0.000671229029258645, + 0.0007139800507750437, + 0.010257140705704153, + -0.010334544275925624, + 1.0 + ], + [ + 5.671779209495949e-05, + 0.0027854310560519167, + -0.00029129597145248595, + 0.00385505592842823, + -0.0030357671325186744, + -0.034879334829464974, + 0.0 + ], + [ + -0.0025038798267788646, + 0.004992405489139981, + -0.003629920589999086, + 0.00795941007806282, + -0.05157618588080603, + -0.006864033759750679, + 0.0 + ], + [ + 0.008814650223177423, + 0.001163846611109479, + -0.023773017908388587, + 0.007304191803660081, + -0.04081464500684938, + 0.0028084721302776357, + 0.0 + ], + [ + 0.015697127021031213, + 0.0006693708178440338, + -0.029676762913585286, + 0.012153325221526986, + -0.07120860655269806, + 0.010450748294555483, + 0.0 + ], + [ + 0.027242831391636614, + -0.004133590585474534, + -0.03757942835730879, + -0.00837014117691474, + -0.005423925410180349, + 0.025307621675028376, + 0.0 + ], + [ + 0.02605755008334367, + -0.021354496552686786, + -0.005799876637824057, + -0.011769991924447746, + -0.049517651034916246, + 0.038982908409704094, + 0.0 + ], + [ + 0.019616966271763514, + -0.026558245479842032, + 0.004341314005988967, + -0.025918145762979003, + -0.008179094255305367, + 0.04169548706991194, + 0.0 + ], + [ + 0.004052991002966835, + -0.019584099716672597, + 0.005786769708205394, + -0.013805302525875645, + 0.01879389186524196, + 0.014905737068905259, + 0.0 + ], + [ + -0.005596926078685847, + -0.010168954399092617, + 0.012099006699336069, + -0.01448966492483547, + 0.014939045805897503, + -0.0010957889083515625, + 0.0 + ], + [ + -0.01218978909572859, + -0.004096989297491119, + 0.02017930407371938, + -0.017012804146970737, + 0.001559474493109133, + -0.009857239908025632, + 0.0 + ], + [ + -0.009680391422641104, + -0.0019687477650974674, + 0.017236115878617463, + -0.003680398794518944, + 0.008814351872269546, + -0.005068630948328632, + 0.0 + ], + [ + 0.0010135145896486178, + -0.0027825687064073636, + 0.00247727478503114, + -0.011571306109247087, + 0.02975973108448347, + 0.012344086207974043, + 0.0 + ], + [ + 0.0010696104067002368, + -0.004003790729067524, + -0.0006509674731259682, + 0.001101692067229565, + 0.01547665115637197, + 0.01976854768323675, + 0.0 + ], + [ + 0.0001340292924233726, + 0.0010813763000357534, + -0.002125459664878543, + -0.005224992460727236, + -0.009898100727990434, + 0.010189887233850049, + 0.0 + ], + [ + 0.006089232179805843, + 0.0017736840214860642, + -0.008616423663416528, + 0.0014705867798561882, + -0.00842289220093718, + -0.005363773924714463, + 1.0 + ], + [ + 0.0051547316627815875, + 0.0047075685436017934, + -0.010031261163888871, + 0.004236685270752409, + -0.021085497124339568, + 0.0001494074515512126, + 1.0 + ], + [ + 0.004617993675280532, + 0.0091077169098439, + -0.006176532629639931, + 0.01197337424277969, + -0.016984970696883515, + 0.005480765241166204, + 1.0 + ], + [ + 0.00011920981813444053, + 0.009168342728457256, + 0.0017221059333259753, + 0.01643622076080693, + -0.021545352169052245, + 0.00014406301584609271, + 1.0 + ], + [ + -0.005938409437435794, + 0.006546305071780192, + 0.0005518349968672814, + 0.00999791882760176, + -0.05246188462553457, + 0.017217604421831012, + 1.0 + ], + [ + -9.10807816528922e-05, + 0.0006104239018982288, + 3.4582364476201e-05, + -0.0005938379873457601, + -0.001526414132437811, + 0.0030620580733479517, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -1.895490383504226e-18, + -7.826360327908459e-18, + -1.24031629201072e-17, + 1.0 + ], + [ + 0.0005107062131350559, + 0.00045175284074254544, + -0.00032343318091265517, + 0.0003096166569393263, + 0.0014015910138731285, + 9.28370527762248e-05, + 1.0 + ], + [ + 0.0013476897761734248, + -0.0003882401098647321, + -0.0007594298482571343, + 0.003723534074056526, + 0.011689454015460938, + 0.0016545497438285122, + 1.0 + ], + [ + -0.004885844639266227, + 0.003659339089782953, + 0.010914865986745141, + -0.0023127913238131233, + 0.07036327362620941, + -0.011801573071696889, + 1.0 + ], + [ + -0.005749575367919982, + 0.0034717843174634725, + 0.01806217904328474, + 0.0004723997482686079, + 0.033690739677369234, + -0.0015330051817094067, + 1.0 + ], + [ + -0.0040512972259945535, + 0.0013251854230172018, + 0.01177250827014459, + 0.005960417422771774, + 0.030534241516688855, + 0.004585253323407001, + 1.0 + ], + [ + -0.002809448288072314, + 0.0003904336733186055, + 0.007314916213009432, + 0.007078670172424501, + 0.023705214461505954, + -0.0017563346458232567, + 1.0 + ], + [ + -0.0038611774809703646, + 0.00034948472581853635, + 0.007128523764670226, + 0.008543238443535398, + 0.021586384523885383, + 0.0051613712862038546, + 1.0 + ], + [ + -0.00432510632010369, + 0.0033842414693653704, + 0.006188150756397307, + 0.0062154144851452936, + 0.011559582645648664, + -0.020815172921361993, + 1.0 + ], + [ + -0.0006136597800143899, + 0.0009786085106218629, + 0.0026706704908565928, + 0.029153380541197114, + 0.011346002074694295, + 0.021343197664060693, + 0.0 + ], + [ + 0.000905547757463689, + 0.000791796585429827, + 0.0003247142570030309, + 0.003037477264073254, + 0.001934440284613679, + 0.0062817661552534605, + 0.0 + ], + [ + 0.0006007765486029687, + 0.002617290070060172, + -0.0023756947750115777, + -0.017661085182188792, + -0.00383961921631611, + 0.017812093281698544, + 0.0 + ], + [ + -0.0008063588127479171, + 0.0019516969444145866, + -0.002088068713303749, + -0.022844823389304145, + -0.0024428456289462045, + 0.0020410113159002783, + 0.0 + ], + [ + -0.0007181664907716434, + 0.004011504033610485, + -0.017468357132410423, + 0.004663608975996241, + -0.008391390794528351, + 0.003181774603888019, + 0.0 + ], + [ + 0.00011306871544058578, + 0.010749133772967151, + -0.02099973668837632, + 0.025358565444900758, + -0.016862163505928562, + 0.023803552886924918, + 0.0 + ], + [ + 0.0020069622736617206, + 0.015252252134968636, + -0.021744123664785904, + 0.04755067799956832, + 0.00820312092439095, + 0.010016031395630138, + 0.0 + ], + [ + -0.0006827911307128803, + 0.025954306185382123, + -0.015865760494098765, + 0.049920499413548716, + -0.006075575267576722, + -0.005628221531778013, + 0.0 + ], + [ + 0.0036728672631907164, + 0.03144870471488421, + -0.006323634043172844, + 0.05064937924177716, + 0.03810601243035966, + -0.027245099874162078, + 0.0 + ], + [ + 0.0013880663634137495, + 0.02562501710364752, + -0.00048086963660132036, + 0.01906292211300223, + 0.0484378417048019, + -0.025762599114451088, + 0.0 + ], + [ + 0.0017293475399491887, + 0.017721325095524768, + 0.013019628829595509, + 0.003867084640208615, + 0.022238296573532514, + -0.014586575135181799, + 0.0 + ], + [ + 0.004609630415568407, + 0.010158186646850635, + 0.022562072107429672, + -0.02104353074224308, + 0.03252396081841294, + -0.012668326715263929, + 0.0 + ], + [ + 0.0038710260177865752, + 0.0068844334309681, + 0.019662012773272963, + -0.009764161609409084, + 0.0361316055753437, + -0.0028130537475187373, + 0.0 + ], + [ + -0.00028660468384516223, + 0.003343613148416323, + 0.012989096553386387, + -0.009018343816116096, + 0.008712046846125622, + 0.008953174056441662, + 0.0 + ], + [ + 0.000705320412017255, + 0.0011417725448952469, + 0.009094212654723863, + 0.005726556725338061, + 0.017573680079678564, + -6.914496712024152e-05, + 0.0 + ], + [ + -0.00021066584120970548, + -0.0038363471415901276, + -0.0003008967358148376, + -0.0006951769458134688, + -0.028276986817869356, + 0.004902515466181935, + 0.0 + ], + [ + -0.006127097080366625, + -0.006133648899823859, + 0.0008906135807857457, + -0.006451208070056829, + -0.05499733574507118, + 0.013857131932106508, + 1.0 + ], + [ + 0.0035188374929444994, + -0.00482834422705986, + -0.01667479314269903, + -0.024549390198908633, + 0.0001985165611790555, + -0.009952372415005678, + 1.0 + ], + [ + -0.0006463240233244807, + -0.005180995788719922, + -0.012628739959937865, + -0.022949512956105284, + -0.03342461090996068, + -0.005340073201700667, + 1.0 + ], + [ + 0.004133036816259572, + -0.0063571640235931155, + -0.013918599635394888, + -0.013823420334015797, + -0.016450247565508433, + 8.438701868568695e-05, + 1.0 + ], + [ + -0.00027186328555008164, + -0.022171054416133765, + -0.005547000988929434, + -0.030772583411442005, + -0.031181163407866922, + 0.029890545083120765, + 1.0 + ], + [ + 0.0015393875051357058, + -0.03828740750478991, + 0.0012622812418335836, + -0.04984913141938833, + -0.0016056550444444374, + 0.039773394829213854, + 1.0 + ], + [ + 0.001286835334118316, + -0.037596754442530377, + -0.004677587293350056, + -0.041912175607346204, + 0.03662153161094126, + 0.02763024912305417, + 1.0 + ], + [ + -0.010573471961998565, + -0.030879374946866205, + 0.002221081682111296, + -0.01047984659032301, + -0.011066089216279728, + -0.004778956736472163, + 1.0 + ], + [ + -0.0039858288631670555, + -0.010111612812449567, + 0.0037912117991968394, + 0.0006413115588324546, + -0.03099478826918397, + -0.03939636677744767, + 1.0 + ] + ], + "state": [ + [ + 0.3225651681423187, + -0.008550561033189297, + 0.12748000025749207, + 3.1043629852407655, + -0.21537989377975467, + -0.01280878111720085, + 1.0 + ], + [ + 0.3225651681423187, + -0.008550561033189297, + 0.12748000025749207, + 3.103692455338784, + -0.2152646780014038, + -0.009670514613389967, + 1.0 + ], + [ + 0.31909123063087463, + -0.008788139559328556, + 0.11727583408355713, + 3.1045936365895948, + -0.18446466326713562, + -0.008692977949976921, + 1.0 + ], + [ + 0.3193970322608948, + -0.013985472731292248, + 0.10592014342546463, + 3.094898088025399, + -0.21218672394752502, + 0.01305015478283167, + 1.0 + ], + [ + 0.3186877965927124, + -0.015880145132541656, + 0.09704002737998962, + 3.089964510994502, + -0.23653216660022738, + 0.0136979166418314, + 1.0 + ], + [ + 0.3187884986400604, + -0.01808619126677513, + 0.09035098552703857, + 3.0880942327254495, + -0.24982607364654538, + 0.017534825950860974, + 1.0 + ], + [ + 0.3197762966156006, + -0.01806553825736046, + 0.08520501852035522, + 3.090620422857352, + -0.2657938599586487, + 0.006196418311446904, + 1.0 + ], + [ + 0.3196887671947479, + -0.014716862700879574, + 0.07383019477128983, + 3.0893115532868585, + -0.2793631851673127, + -0.0017752172425389292, + 1.0 + ], + [ + 0.31992843747138977, + -0.012281597591936588, + 0.06574241816997528, + 3.08719319303567, + -0.29130640625953674, + -0.006393255200237036, + 1.0 + ], + [ + 0.3217247426509857, + -0.00788205862045288, + 0.0586768314242363, + 3.0854680707030973, + -0.3105265200138092, + -0.013759873807430267, + 1.0 + ], + [ + 0.3223229646682739, + -0.00403979979455471, + 0.04895370826125145, + 3.083084138231822, + -0.3211250603199005, + -0.020851261913776398, + 1.0 + ], + [ + 0.3236995041370392, + -0.002284197136759758, + 0.04456944391131401, + 3.0795033444934568, + -0.3418620824813843, + -0.022164301946759224, + 1.0 + ], + [ + 0.32403892278671265, + 0.00018708364223130047, + 0.03932253643870354, + 3.0854748917096337, + -0.3616797626018525, + -0.029078539460897446, + 1.0 + ], + [ + 0.3242008090019226, + -9.220757783623412e-05, + 0.03465571999549866, + 3.0828632545941552, + -0.38013383746147156, + -0.009636223316192627, + 1.0 + ], + [ + 0.32222166657447815, + -0.0005623811739496887, + 0.03257301449775696, + 3.0883083586865148, + -0.3787549138069153, + -0.010536938905715942, + 1.0 + ], + [ + 0.318488746881485, + -0.00262943166308105, + 0.030759351328015327, + 3.09318811644847, + -0.37760835886001587, + -0.01620673947036266, + 1.0 + ], + [ + 0.30731436610221863, + -0.0066173928789794445, + 0.028760520741343498, + 3.1015270111435136, + -0.3548928201198578, + -0.004826792050153016, + 1.0 + ], + [ + 0.3011862635612488, + -0.007144339382648468, + 0.03261420130729675, + 3.1125493870400867, + -0.33657896518707275, + -0.0047558071091771134, + 1.0 + ], + [ + 0.29670584201812744, + -0.005804697051644325, + 0.030807780101895332, + 3.1199977808916053, + -0.33773493766784674, + -0.00253317691385746, + 1.0 + ], + [ + 0.2964213490486145, + -0.01012475322932005, + 0.030099036172032356, + 3.1169922949099025, + -0.34774690866470337, + 0.008691828697919847, + 1.0 + ], + [ + 0.29637622833251953, + -0.012902673333883286, + 0.030456556007266045, + 3.1082709078961095, + -0.3436352014541626, + 0.04564717784523963, + 0.0 + ], + [ + 0.292966365814209, + -0.017932210117578506, + 0.03318537399172783, + 3.114378037052699, + -0.29185435175895685, + 0.05100739374756814, + 0.0 + ], + [ + 0.2945857644081116, + -0.018366731703281403, + 0.05851120501756668, + 3.122823769348212, + -0.2511289715766907, + 0.04696518927812576, + 0.0 + ], + [ + 0.30241072177886963, + -0.018111370503902435, + 0.09116488695144653, + 3.137907975707673, + -0.18011155724525452, + 0.03501404821872711, + 0.0 + ], + [ + 0.3223218321800232, + -0.013139266520738602, + 0.133001446723938, + 3.134145771274813, + -0.1747225672006607, + 0.009295322000980377, + 0.0 + ], + [ + 0.34680214524269104, + 0.008486311882734299, + 0.14308597147464752, + 3.1292653001197657, + -0.12536104023456573, + -0.03031860664486885, + 0.0 + ], + [ + 0.3676430583000183, + 0.034369148313999176, + 0.14090700447559357, + 3.1086178441816052, + -0.11758646368980408, + -0.07240120321512222, + 0.0 + ], + [ + 0.37381190061569214, + 0.05335531756281853, + 0.13499759137630463, + 3.09650086437399, + -0.13684947788715363, + -0.08681129664182664, + 0.0 + ], + [ + 0.3708266615867615, + 0.06326469779014587, + 0.12180624157190323, + 3.0817622189694127, + -0.1517237275838852, + -0.08502282202243804, + 0.0 + ], + [ + 0.362135648727417, + 0.06689891219139099, + 0.09980989247560501, + 3.0632333775335034, + -0.15268346667289734, + -0.07497306168079376, + 0.0 + ], + [ + 0.3552701473236084, + 0.06802981346845627, + 0.0812019482254982, + 3.05866630573804, + -0.16107146441936493, + -0.06915488839149475, + 0.0 + ], + [ + 0.3568774461746216, + 0.0704924464225769, + 0.07870018482208252, + 3.048669086890765, + -0.19174346327781677, + -0.07916982471942902, + 0.0 + ], + [ + 0.35819166898727417, + 0.07444781810045242, + 0.07917559891939163, + 3.0533296709233007, + -0.20895513892173767, + -0.09782016277313232, + 0.0 + ], + [ + 0.35777848958969116, + 0.07359427958726883, + 0.08136778324842453, + 3.0504386966400823, + -0.19998091459274295, + -0.10906656831502914, + 0.0 + ], + [ + 0.3618777096271515, + 0.07215755432844162, + 0.09114529192447662, + 3.05098136712844, + -0.19110262393951416, + -0.10440714657306671, + 1.0 + ], + [ + 0.3645493686199188, + 0.06807634234428406, + 0.10235085338354111, + 3.0555944835119924, + -0.17011675238609314, + -0.10649386048316956, + 1.0 + ], + [ + 0.36699920892715454, + 0.05922224000096321, + 0.10996853560209274, + 3.0687428956204137, + -0.15366120636463165, + -0.11349491029977798, + 1.0 + ], + [ + 0.3662261962890625, + 0.04998096078634262, + 0.10894893854856491, + 3.0854266380243978, + -0.13218326866626737, + -0.11522168666124342, + 1.0 + ], + [ + 0.359647661447525, + 0.044131528586149216, + 0.10798438638448715, + 3.0980211180918893, + -0.08074387162923813, + -0.13539841771125793, + 1.0 + ], + [ + 0.3594758212566376, + 0.043537940829992294, + 0.10796910524368286, + 3.097680339711257, + -0.07935188710689546, + -0.13853392004966736, + 1.0 + ], + [ + 0.3594758212566376, + 0.043537940829992294, + 0.10796910524368286, + 3.097680339711257, + -0.07935188710689546, + -0.13853392004966736, + 1.0 + ], + [ + 0.35989275574684143, + 0.04303846135735512, + 0.1083514615893364, + 3.097992396103688, + -0.08075620234012604, + -0.13856524229049683, + 1.0 + ], + [ + 0.3612220585346222, + 0.04327812418341637, + 0.10919954627752304, + 3.1018056144290647, + -0.09250660985708235, + -0.13971352577209473, + 1.0 + ], + [ + 0.35681918263435364, + 0.039766449481248856, + 0.09803355485200882, + 3.0980321673029145, + -0.16233475506305695, + -0.12495974451303483, + 1.0 + ], + [ + 0.35352861881256104, + 0.03589131310582161, + 0.07944568991661072, + 3.097985817241021, + -0.19592602550983432, + -0.12190374732017518, + 1.0 + ], + [ + 0.35162240266799927, + 0.034273985773324966, + 0.06717737019062042, + 3.104575293260165, + -0.2266300618648529, + -0.1252368539571762, + 1.0 + ], + [ + 0.3504500985145569, + 0.03375547379255295, + 0.05943719670176506, + 3.111033134283968, + -0.25025323033332825, + -0.12252037227153777, + 1.0 + ], + [ + 0.34841662645339966, + 0.03343445435166359, + 0.05158808082342148, + 3.1207263266020497, + -0.27198463678359985, + -0.12719027698040006, + 1.0 + ], + [ + 0.3454684019088745, + 0.030270250514149666, + 0.04453480988740921, + 3.121055584522434, + -0.2830454409122467, + -0.10526733100414276, + 1.0 + ], + [ + 0.3455098569393158, + 0.029226873070001602, + 0.04181886091828346, + -3.1268133922764143, + -0.2947623133659363, + -0.1273229867219925, + 0.0 + ], + [ + 0.34636634588241577, + 0.02832389622926712, + 0.04176006093621254, + -3.1218594649159392, + -0.2965976595878601, + -0.13392072916030887, + 0.0 + ], + [ + 0.345907062292099, + 0.02569805085659027, + 0.04415778070688248, + -3.1341113430731973, + -0.29235935211181635, + -0.15243934094905853, + 0.0 + ], + [ + 0.3442544937133789, + 0.023961592465639114, + 0.045910805463790894, + 3.126837493042, + -0.28990069031715393, + -0.15455009043216705, + 0.0 + ], + [ + 0.3380466103553772, + 0.02113012969493866, + 0.06249985098838806, + 3.1324842163645705, + -0.28155553340911865, + -0.15799069404602048, + 0.0 + ], + [ + 0.33070409297943115, + 0.011609366163611412, + 0.0827973410487175, + -3.118445161851593, + -0.26482826471328735, + -0.18280889093875885, + 0.0 + ], + [ + 0.32424113154411316, + -0.003214165335521102, + 0.10396238416433334, + -3.0681217928701123, + -0.27278321981430054, + -0.19340352714061734, + 0.0 + ], + [ + 0.3147173225879669, + -0.028911709785461426, + 0.11718160659074783, + -3.019893678026744, + -0.267132043838501, + -0.18712180852890012, + 0.0 + ], + [ + 0.31161031126976013, + -0.060875460505485535, + 0.12052293121814728, + -2.975395517545291, + -0.30819383263587957, + -0.16361653804779056, + 0.0 + ], + [ + 0.30991268157958984, + -0.08628983795642853, + 0.11735639721155167, + -2.9617972691827497, + -0.36017662286758423, + -0.14505992829799652, + 0.0 + ], + [ + 0.3149026930332184, + -0.10228654742240906, + 0.10301234573125839, + -2.9618394394689282, + -0.38464438915252686, + -0.13387130200862885, + 0.0 + ], + [ + 0.32727208733558655, + -0.1099669486284256, + 0.08248202502727509, + -2.985521199303218, + -0.4188999831676483, + -0.12659899890422824, + 0.0 + ], + [ + 0.3385763168334961, + -0.11518047749996185, + 0.06533534824848175, + -2.993897261219569, + -0.45502766966819763, + -0.12975846230983737, + 0.0 + ], + [ + 0.34395378828048706, + -0.11728977411985397, + 0.05322699621319771, + -2.997939722734042, + -0.4623021185398102, + -0.14108492434024808, + 0.0 + ], + [ + 0.3486495912075043, + -0.1177830770611763, + 0.045339543372392654, + -2.9909606893830976, + -0.47970315814018255, + -0.14384357631206512, + 0.0 + ], + [ + 0.3486030399799347, + -0.11398947238922119, + 0.04601694643497467, + -2.9912862201505384, + -0.45101067423820496, + -0.14451277256011966, + 0.0 + ], + [ + 0.34402230381965637, + -0.10705970972776413, + 0.04338039457798004, + -2.994933711486407, + -0.39455205202102667, + -0.15041479468345645, + 1.0 + ], + [ + 0.3410472571849823, + -0.10424233227968216, + 0.06061278656125069, + -3.0235804115706166, + -0.39618271589279175, + -0.13977402448654178, + 1.0 + ], + [ + 0.33594101667404175, + -0.09982983022928238, + 0.07249561697244644, + -3.050283657508441, + -0.3636017739772797, + -0.12989331781864166, + 1.0 + ], + [ + 0.3353345990180969, + -0.09464605897665024, + 0.08746170252561569, + -3.064630353944846, + -0.3472119867801667, + -0.12838758528232574, + 1.0 + ], + [ + 0.3354150056838989, + -0.07279759645462036, + 0.09417266398668289, + -3.085591821121522, + -0.31369099020957947, + -0.15718266367912292, + 1.0 + ], + [ + 0.3425872325897217, + -0.03515826165676117, + 0.09548730403184891, + -3.122651543589779, + -0.30960798263549805, + -0.19878269731998444, + 1.0 + ], + [ + 0.34958481788635254, + 0.0016868647653609514, + 0.10101199150085449, + 3.127796100574084, + -0.3455699384212494, + -0.22886188328266147, + 1.0 + ], + [ + 0.3477669954299927, + 0.03378193825483322, + 0.09493999928236008, + 3.1156567354970655, + -0.3344351351261139, + -0.22396503388881683, + 1.0 + ], + [ + 0.347616046667099, + 0.04408262297511101, + 0.08980405330657959, + 3.1030435917251786, + -0.30217364430427557, + -0.1835741549730301, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.04926097393035889, + 0.270016610622406, + 0.25426042079925537, + 0.2415439486503601, + 0.2415439486503601, + 0.2415439486503601, + 0.2415439486503601, + 0.2415439486503601, + 0.2415439486503601, + 0.2415439486503601, + 0.2415439486503601, + 0.2415439486503601, + 0.2415439486503601, + 0.1897594928741455, + 0.06564539670944214, + 0.0005114078521728516, + 0.0, + 0.0005114078521728516, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0, + 0.0005114078521728516, + 0.0, + 0.051565468311309814, + 0.34489333629608154, + 0.6497291326522827, + 0.8448487520217896, + 0.9187651351094246, + 0.9194417595863342, + 0.9118092358112335, + 0.9103762283921242, + 0.9103762283921242, + 0.9103762283921242, + 0.9103762283921242, + 0.9103762283921242, + 0.9103762283921242, + 0.9103762283921242, + 0.9103762283921242, + 0.9103762283921242, + 0.8803941234946251, + 0.6919880211353302, + 0.40110093355178833, + 0.09757041931152344, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "3253", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3253/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3254.json b/annotation/test/3254.json new file mode 100644 index 0000000000000000000000000000000000000000..997eae0df848ea179d9fb201d7f384f92e58d0e5 --- /dev/null +++ b/annotation/test/3254.json @@ -0,0 +1,736 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Put the red bell pepper in the metal pot." + ], + "videos": [ + { + "video_path": "videos/test/3254/rgb.mp4" + } + ], + "action": [ + [ + -0.00024212594999304817, + -2.3474249639818314e-05, + -1.8952325183304312e-07, + 0.0001480149578262356, + -0.0015268271047158988, + -1.134699994831548e-07, + 1.0 + ], + [ + -0.004105770000483782, + -0.00011673105350779974, + 0.013184885034039794, + 0.003882622311916004, + -0.033502350789360265, + -0.0026658683302370955, + 1.0 + ], + [ + 0.005266825469791938, + 0.007823111736327886, + 8.604193771381122e-05, + 0.016841027329893152, + 0.03867150464233978, + 0.013834610539756759, + 1.0 + ], + [ + 0.0034290197403007926, + 0.0073685931754601365, + -0.0005029373240580451, + 0.00736531863895094, + 0.031030559122609564, + -0.026454598036059727, + 1.0 + ], + [ + 0.003837188082125214, + 0.004349778134856802, + -0.0003798407520441111, + -0.03097030555764373, + 0.02195623310866903, + -0.00907873802883953, + 1.0 + ], + [ + 0.011150637164897396, + -0.004650754538380548, + -0.006734030354899219, + -0.012565562626142498, + 0.029663010613699827, + -0.0076337722968107076, + 1.0 + ], + [ + 0.0005697873583359282, + -0.012506521502739301, + 0.00034039492807386325, + -0.01138888291756183, + -0.007212121100146974, + -0.017019158997157904, + 1.0 + ], + [ + 1.962230288641177e-05, + -0.0036582722910760957, + 0.0036480103835216395, + 0.00022920212780903123, + -0.01855549176049773, + 0.015771415492088523, + 1.0 + ], + [ + -0.000570711553859633, + 0.0014707629356206227, + 0.0005658174322376711, + -0.012781215519076334, + -0.00409332684443755, + 0.006591405422951163, + 1.0 + ], + [ + -0.0002964210171975913, + 0.0009495080580192932, + 0.0009119342134104775, + -0.0028506917702093835, + 0.0028735131827823004, + 0.008778857310006853, + 1.0 + ], + [ + 3.575018251874001e-05, + 0.00261331637784809, + 2.2472422561985055e-05, + -0.0024000987295087726, + 0.0013089273238825689, + 0.005084418220182194, + 1.0 + ], + [ + -0.0009962474696061827, + 0.0010318835432077574, + 0.004914008838828728, + -0.003356162477000045, + -0.006366881522462202, + 0.004603366685473863, + 1.0 + ], + [ + -0.0029600799097330766, + -0.00016390224678048302, + 0.007726288484989746, + -0.0031672882147218513, + -0.023149332921651118, + 0.008144015238732302, + 1.0 + ], + [ + 0.0007405390225422343, + 0.000774904224879723, + 0.0027969258011091578, + -0.004414976644085929, + -0.009388478846151741, + 0.002320574388005669, + 1.0 + ], + [ + 0.0014583940865374677, + 5.5957387314056817e-05, + -6.7177833332247186e-06, + -0.0002682209579472194, + 0.009199946112637846, + 0.00920265210425884, + 0.0 + ], + [ + 5.646252366076225e-06, + -0.00019006663543739318, + -1.1077954184763237e-07, + 0.0011987999851833192, + 2.701196992391815e-05, + 0.007092626835818211, + 0.0 + ], + [ + -0.0015998198028513595, + 0.0016230489477235363, + -0.00022973750492309968, + -0.010668332732822387, + 0.0014575867331737828, + 0.011155849298722056, + 0.0 + ], + [ + 0.006673216661583294, + 0.004156591604336356, + -0.024362153898637138, + -0.021329063569502444, + 0.07227917719663307, + 0.008214175955161796, + 0.0 + ], + [ + 0.004690373922548226, + 0.01558942445408957, + -0.03489519199535788, + -0.029226302443359782, + 0.09723697902392595, + 0.027980729406984255, + 0.0 + ], + [ + -0.017623140067009786, + 0.017049093004992324, + -0.012798677050743426, + -0.001132697828767482, + -0.005676351311690687, + 0.031710135617188176, + 0.0 + ], + [ + -0.034074168788882135, + 0.013210558675932729, + -0.004145985366489134, + -0.004645921013724222, + -0.06586334669018963, + 0.009999613321781524, + 0.0 + ], + [ + -0.03721534987605452, + 0.0029346908034080946, + -0.00029404334553968114, + -0.010347744509851327, + -0.06415283797313273, + -0.030411817566034657, + 0.0 + ], + [ + -0.022322173126916117, + -0.00018514328458100581, + -0.008245399616845185, + -0.006844831638626369, + -0.011318523418658542, + -0.01181229465891704, + 0.0 + ], + [ + -0.014636688968428985, + -0.007619690527838537, + 0.006493962847600176, + 0.009447699421439491, + -0.02659441853478601, + -0.042004012713724816, + 0.0 + ], + [ + 0.0011922580510724625, + -0.009036344955819156, + 0.01014331207622433, + 0.026297731379114505, + -0.012861882476320878, + -0.01954306674794618, + 0.0 + ], + [ + 0.0009681065698852344, + -0.008002563992453185, + 0.014075643686808888, + 0.008831923649426542, + -0.025072659855659776, + -0.031977643838370366, + 0.0 + ], + [ + 0.003489541872564052, + -0.0008039115858002739, + 0.00661758134481655, + 0.0005755969570270765, + -0.013489961610663483, + -0.004661508622064176, + 0.0 + ], + [ + -0.000415845993050184, + 0.004484173585359489, + -0.0007009094665501207, + -0.009972775220434918, + -0.0046231736723491524, + 0.01493163047538275, + 1.0 + ], + [ + 0.004291437084724056, + 0.009980669758547283, + -0.008902009808928251, + -0.007332929745647102, + 0.029528055645887365, + 0.04669787114010826, + 1.0 + ], + [ + 0.010216398027459224, + 0.001941133153170767, + -0.019345123704715143, + -0.0001942445671962722, + 0.05802244293516042, + 0.013504812222812773, + 1.0 + ], + [ + 0.03340181494345685, + -0.020158908069579533, + -0.024187000986099026, + 0.0120027959316558, + 0.08914309675849055, + -0.06778091295818052, + 1.0 + ], + [ + 0.03444754662623762, + -0.022194049902084893, + 0.010694698253799954, + 0.03697224682565209, + -0.0009338684714132427, + -0.04511824632314149, + 1.0 + ], + [ + 0.022927873065389535, + -0.011565101897730091, + 0.02088189036212521, + 0.029307918576978478, + -0.050806264129054216, + -0.00954549292878879, + 1.0 + ], + [ + 0.0017298463125894718, + -0.004652949923067815, + 0.0021748146484015067, + 0.01696697553637504, + -0.04895173964223672, + 0.06937069690807855, + 1.0 + ], + [ + -0.006111783402311067, + -0.00403239924482808, + -0.0016914023634795048, + 0.00025316791976230196, + -0.041473882768196205, + 0.03229292037765221, + 1.0 + ], + [ + -0.007026512725979604, + -0.0015438858381106096, + -0.0003276419006924479, + -0.002204429502181546, + -0.0060812826735768275, + -0.009031406149301601, + 1.0 + ], + [ + -0.007676942976655041, + -0.00976360631514612, + -0.007010216467635125, + -0.031315254438353916, + 0.008018827948415696, + -0.03288031571526905, + 1.0 + ] + ], + "state": [ + [ + 0.3711056113243103, + -0.043968409299850464, + 0.05761276185512543, + -3.1213548370921096, + -0.11878210306167601, + -0.052795007824897766, + 1.0 + ], + [ + 0.37086668610572815, + -0.04393228515982628, + 0.0575847290456295, + -3.1212104988568505, + -0.11725559085607527, + -0.05276378244161605, + 1.0 + ], + [ + 0.36835482716560364, + -0.043413665145635605, + 0.04401513934135437, + -3.1177096405350646, + -0.08381387591362, + -0.04940549656748772, + 1.0 + ], + [ + 0.373233437538147, + -0.05148326978087425, + 0.04418417438864708, + -3.099608929949351, + -0.12213480472564697, + -0.06425984948873521, + 1.0 + ], + [ + 0.3761322796344757, + -0.059068284928798676, + 0.04479372128844261, + -3.09533458028967, + -0.15420933067798615, + -0.03884222730994224, + 1.0 + ], + [ + 0.37972429394721985, + -0.06357385963201523, + 0.04555928707122803, + -3.1275517727532467, + -0.17655682563781736, + -0.030663486570119858, + 1.0 + ], + [ + 0.38964253664016724, + -0.05932019278407097, + 0.05421077087521553, + -3.141406474902066, + -0.20631942152976993, + -0.02329395711421967, + 1.0 + ], + [ + 0.3905606269836426, + -0.04683160409331322, + 0.053996600210666656, + 3.1268330366634807, + -0.1990801990032196, + -0.005930925719439984, + 1.0 + ], + [ + 0.39133328199386597, + -0.04323209077119827, + 0.050371985882520676, + 3.1302868985855063, + -0.18073362112045288, + -0.02223741076886654, + 1.0 + ], + [ + 0.3908378481864929, + -0.044698502868413925, + 0.04972919076681137, + 3.1187177581065377, + -0.1767110526561737, + -0.028979614377021793, + 1.0 + ], + [ + 0.3906744420528412, + -0.04566429182887077, + 0.048800963908433914, + 3.1174242069297513, + -0.1797778308391571, + -0.03783310204744339, + 1.0 + ], + [ + 0.3906034827232361, + -0.04827657341957092, + 0.04884738847613335, + 3.1159426552527627, + -0.18120692670345306, + -0.04296848177909851, + 1.0 + ], + [ + 0.3904544413089752, + -0.04942880943417549, + 0.04386191815137863, + 3.1134583336585244, + -0.17495812475681302, + -0.04780740663409234, + 1.0 + ], + [ + 0.38888394832611084, + -0.0494072400033474, + 0.035736799240112305, + 3.111832844214984, + -0.15204024314880368, + -0.05669977143406867, + 1.0 + ], + [ + 0.38998541235923767, + -0.050328925251960754, + 0.033108312636613846, + 3.1078143176906785, + -0.1427244544029236, + -0.05932526662945747, + 1.0 + ], + [ + 0.391421914100647, + -0.05047004297375679, + 0.03332427144050598, + 3.108824821310588, + -0.1522242575883865, + -0.0683155357837677, + 0.0 + ], + [ + 0.39144137501716614, + -0.05028096213936806, + 0.033319082111120224, + 3.111111845942684, + -0.15247976779937747, + -0.0754866749048233, + 0.0 + ], + [ + 0.3897005319595337, + -0.051769208163022995, + 0.03335194289684296, + 3.1021525246375283, + -0.15426717698574066, + -0.0867263898253441, + 0.0 + ], + [ + 0.3922416567802429, + -0.055194951593875885, + 0.05859338864684105, + 3.0815648456388196, + -0.22681167721748352, + -0.09220553189516068, + 0.0 + ], + [ + 0.3875434696674347, + -0.06828589737415314, + 0.0944996327161789, + 3.057307908433028, + -0.3254939019680023, + -0.11539568752050401, + 0.0 + ], + [ + 0.3646177351474762, + -0.08164620399475098, + 0.10230768471956253, + 3.0670295154028615, + -0.32233333587646484, + -0.1492130607366562, + 0.0 + ], + [ + 0.3291415870189667, + -0.08932261914014816, + 0.09636861085891724, + 3.067105220752307, + -0.2573619186878205, + -0.1645724326372147, + 0.0 + ], + [ + 0.2930338680744171, + -0.08627050369977951, + 0.0873909518122673, + 3.0500054006748876, + -0.1910398006439209, + -0.13860765099525452, + 0.0 + ], + [ + 0.26991671323776245, + -0.08209803700447083, + 0.09119725972414017, + 3.0410900955372533, + -0.1786772906780243, + -0.12770730257034302, + 0.0 + ], + [ + 0.25778666138648987, + -0.0735538899898529, + 0.08148524165153503, + 3.0435506646805486, + -0.14786624908447263, + -0.0881686583161354, + 0.0 + ], + [ + 0.2612770199775696, + -0.06583116203546524, + 0.07080157846212387, + 3.067152800159999, + -0.13312867283821106, + -0.06981784105300903, + 0.0 + ], + [ + 0.26465535163879395, + -0.059116899967193604, + 0.0564277283847332, + 3.071987750130244, + -0.1056874468922615, + -0.039635732769966125, + 0.0 + ], + [ + 0.26883798837661743, + -0.05894077941775322, + 0.05017552152276039, + 3.0721642469340047, + -0.09190522134304045, + -0.03590839356184006, + 0.0 + ], + [ + 0.26817265152931213, + -0.06334447860717773, + 0.05114339292049408, + 3.063600683706351, + -0.08831832557916643, + -0.05118418857455254, + 1.0 + ], + [ + 0.2711178958415985, + -0.07276424765586853, + 0.06113686412572861, + 3.0602414851360997, + -0.121306873857975, + -0.09574471414089203, + 1.0 + ], + [ + 0.27883657813072205, + -0.07386990636587143, + 0.08166918158531189, + 3.060987951355525, + -0.18022993206977847, + -0.10461322218179703, + 1.0 + ], + [ + 0.30981069803237915, + -0.054959990084171295, + 0.1097777709364891, + 3.059032829599925, + -0.26311442255973816, + -0.02747551538050175, + 1.0 + ], + [ + 0.34689047932624817, + -0.03473450988531113, + 0.10667847096920013, + 3.0840170626812657, + -0.2581932842731476, + 0.01895182393491268, + 1.0 + ], + [ + 0.37435030937194824, + -0.023867860436439514, + 0.09173303842544556, + 3.111528895916887, + -0.20691631734371183, + 0.02569052390754223, + 1.0 + ], + [ + 0.37640008330345154, + -0.019228201359510422, + 0.08982408046722412, + -3.139927605521404, + -0.159549281001091, + -0.04595151171088219, + 1.0 + ], + [ + 0.3702878952026367, + -0.014913303777575493, + 0.09052962809801102, + -3.134519424876668, + -0.11793871223926544, + -0.07837283611297607, + 1.0 + ], + [ + 0.3634125888347626, + -0.01282708439975977, + 0.09003905206918716, + -3.1377984414626887, + -0.11191658675670624, + -0.06924168020486832, + 1.0 + ], + [ + 0.35569044947624207, + -0.0025312083307653666, + 0.09618479013442993, + 3.110375015186616, + -0.11999940127134325, + -0.036155078560113914, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.03348183631896973, + 0.2601563334465027, + 0.26902884244918823, + 0.26902884244918823, + 0.26902884244918823, + 0.26902884244918823, + 0.26902884244918823, + 0.26902884244918823, + 0.26902884244918823, + 0.26902884244918823, + 0.26902884244918823, + 0.26902884244918823, + 0.26902884244918823, + 0.22601306438446045, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "3254", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3254/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3261.json b/annotation/test/3261.json new file mode 100644 index 0000000000000000000000000000000000000000..5cf0043e4e2aeca512e9e3e368239f0dd18c34af --- /dev/null +++ b/annotation/test/3261.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put carrot on cutting board" + ], + "videos": [ + { + "video_path": "videos/test/3261/rgb.mp4" + } + ], + "action": [ + [ + -0.0007126516131921388, + 0.0003528052838027702, + 0.0009302401212386902, + -0.002308161287172465, + -0.0039722178666525675, + -0.001797663935350299, + 1.0 + ], + [ + 0.0009292548648352439, + 0.007454053048688072, + 0.002272701620155326, + -0.02598126213586303, + -0.0033551026784741614, + -0.010940914263790184, + 1.0 + ], + [ + 0.013250745121767993, + 0.009701438055093813, + -0.0033241108378727915, + -0.013196969174619367, + 0.01741930609980954, + -0.0007015704095159281, + 1.0 + ], + [ + 0.011157035785237624, + 0.010490775807488478, + -0.0004939463550859924, + -0.025231609725693736, + -0.006960882795338298, + -0.017459042584068413, + 1.0 + ], + [ + 0.008574438598335496, + 0.011332704748127732, + 0.008778456836106476, + -0.006342844719728029, + 0.0355054317994432, + -0.001989322359366416, + 1.0 + ], + [ + -0.005575274821936883, + 0.005982293004998119, + 0.015256228190514299, + -0.005530142632969609, + 0.01578955676652864, + -0.010783125679714239, + 1.0 + ], + [ + -0.00577788644865458, + -0.0010920922798606837, + 0.006333943886162564, + -0.01295881965416773, + 0.008303029302212592, + 0.003416134554460244, + 1.0 + ], + [ + -0.005721411443188972, + -0.004444045745438693, + 0.003704155379435019, + -0.010232834030342653, + 0.005198646885163046, + 0.0031253610532499874, + 1.0 + ], + [ + -0.007951324696565457, + -0.002389750385980629, + 0.006767043653094254, + -0.012287334983095852, + 0.003804112233112801, + 3.047908473183343e-05, + 1.0 + ], + [ + -0.0027547616516972267, + -5.0629181347006035e-05, + 0.00607613723939916, + -0.006085273774895569, + 0.021912068452492852, + 0.002847440295718825, + 1.0 + ], + [ + -0.0037678163752935504, + -0.0006109676343185875, + 0.008276834971650278, + -0.004316047746204996, + 0.018186755880687928, + 2.901067554771418e-05, + 1.0 + ], + [ + -0.0036000017246774225, + -0.0007905690920738516, + 0.006394022962366477, + -0.0004611804496187373, + 0.011739854292675775, + -0.0014078176729972452, + 1.0 + ], + [ + -0.003704684063579493, + -0.0006902930721677474, + 0.004256605804682913, + 0.0025227605131623934, + 0.00847395862942145, + -0.004625260988208744, + 1.0 + ], + [ + -0.0036879453902312676, + 0.0009492436125990641, + 0.0005693855568619489, + -0.0014641707173267133, + -0.019956710193167613, + -0.0066881385185434536, + 1.0 + ], + [ + 0.0047901703662943185, + 0.00358728410006003, + -0.0052071909766055165, + -0.004066383616578361, + -0.020386396777274315, + 0.00035539202361144586, + 1.0 + ], + [ + 0.008459155897451786, + 0.002021137523373684, + -0.004388620309050516, + -9.524395218767414e-05, + -0.013658105415661165, + -0.0011238208358232227, + 1.0 + ], + [ + 0.014942486297367342, + 0.0025397420006996315, + -0.009208973508995683, + 0.009608085062237839, + -0.01659385693466625, + -0.00658946581833864, + 1.0 + ], + [ + 0.016010510324096276, + 0.002053528906478272, + -0.013013659314184255, + 0.017820322784598816, + -0.014532345755631402, + -0.0020124539602947404, + 1.0 + ], + [ + 0.016809217259179547, + 0.003449628050149676, + -0.009561682987508329, + 0.032846733321483496, + 0.0008986288893361459, + -0.0038943861745278276, + 0.0 + ], + [ + 0.014429776194288564, + 0.007195065553629802, + 0.0020199247628301794, + 0.03937421288732868, + 0.0177849604529748, + -0.00891172486823983, + 0.0 + ], + [ + 0.00767386347940307, + 0.012012073884999929, + 0.010076220026861543, + 0.019483547377866086, + 0.024327653228712602, + 0.0008050588194738359, + 0.0 + ], + [ + 0.0059124675948353436, + 0.012653337313627052, + 0.00908752150429844, + 0.0102154157439259, + 0.02959556577991089, + -0.0010795790333073567, + 0.0 + ], + [ + 0.0036556183379939807, + 0.013852468442437108, + 0.008141037476835884, + 0.001428548331437385, + 0.021802231656884358, + 0.004858752001279385, + 0.0 + ] + ], + "state": [ + [ + 0.21564994752407074, + 0.09336309880018234, + 0.0938204824924469, + -3.029065916436263, + -0.2984740734100342, + -0.10627949982881546, + 1.0 + ], + [ + 0.21522840857505798, + 0.09316055476665497, + 0.09268956631422043, + -3.0320594926648816, + -0.2947280704975128, + -0.10394658893346786, + 1.0 + ], + [ + 0.21625787019729614, + 0.08585335314273834, + 0.0900181233882904, + -3.061457546549388, + -0.2925698757171631, + -0.09220557659864426, + 1.0 + ], + [ + 0.2272481918334961, + 0.07485831528902054, + 0.09626886993646622, + -3.074431801336356, + -0.3099893629550934, + -0.0929354876279831, + 1.0 + ], + [ + 0.23691730201244354, + 0.06341133266687393, + 0.09947116672992706, + -3.1053911094837865, + -0.3041646480560303, + -0.07418838143348694, + 1.0 + ], + [ + 0.24700243771076202, + 0.051623839884996414, + 0.09327781945466995, + -3.1119342428916177, + -0.3397187292575836, + -0.07344386726617813, + 1.0 + ], + [ + 0.24648112058639526, + 0.04612000286579132, + 0.07687477022409439, + -3.1211273298882922, + -0.35580220818519587, + -0.062446221709251404, + 1.0 + ], + [ + 0.24334575235843658, + 0.04753991588950157, + 0.06894704699516296, + -3.132749071466275, + -0.3640311956405639, + -0.06628285348415375, + 1.0 + ], + [ + 0.23960945010185242, + 0.05227441340684891, + 0.06348541378974915, + 3.1414141463370804, + -0.36920008063316345, + -0.06968314945697784, + 1.0 + ], + [ + 0.23481446504592896, + 0.055003438144922256, + 0.0543045699596405, + 3.129138358058878, + -0.3730041980743409, + -0.06971514970064163, + 1.0 + ], + [ + 0.23446252942085266, + 0.055002905428409576, + 0.04764222353696823, + 3.1240664833509406, + -0.39494872093200684, + -0.07250346988439559, + 1.0 + ], + [ + 0.23420751094818115, + 0.055488474667072296, + 0.038544151932001114, + 3.1196258087926587, + -0.41313317418098444, + -0.07218714803457259, + 1.0 + ], + [ + 0.23353257775306702, + 0.0561889111995697, + 0.03122825175523758, + 3.1184293014281472, + -0.424838662147522, + -0.07035943120718004, + 1.0 + ], + [ + 0.2319633811712265, + 0.05689248815178871, + 0.02580953575670719, + 3.118762506293603, + -0.433197945356369, + -0.06504874676465988, + 1.0 + ], + [ + 0.2287900149822235, + 0.05613517016172409, + 0.023764438927173615, + 3.1144385171406945, + -0.41308486461639404, + -0.058247122913599014, + 1.0 + ], + [ + 0.23084422945976257, + 0.05256494879722595, + 0.030544033274054527, + 3.1107614060216626, + -0.3927154541015625, + -0.05923065170645714, + 1.0 + ], + [ + 0.2368345558643341, + 0.05032151937484741, + 0.03789150342345238, + 3.110374018671461, + -0.379029095172882, + -0.058474842458963394, + 1.0 + ], + [ + 0.24713191390037537, + 0.047463782131671906, + 0.052045341581106186, + 3.117577204602309, + -0.3622303605079651, + -0.05198638513684272, + 1.0 + ], + [ + 0.2573713958263397, + 0.04518819600343704, + 0.06993062794208527, + 3.1347682682150086, + -0.34765335917472845, + -0.0502178780734539, + 1.0 + ], + [ + 0.2697237730026245, + 0.04117879644036293, + 0.08466897904872894, + -3.116984102996536, + -0.3485226333141327, + -0.04606794938445091, + 0.0 + ], + [ + 0.283691942691803, + 0.033384084701538086, + 0.08753257989883423, + -3.0807057191901883, + -0.36650836467742914, + -0.03699536621570587, + 0.0 + ], + [ + 0.29429394006729126, + 0.021607207134366035, + 0.0802106186747551, + -3.0603190084272107, + -0.3907409310340882, + -0.03946501761674882, + 0.0 + ], + [ + 0.3031260669231415, + 0.009375406429171562, + 0.07313786447048187, + -3.0495142136984548, + -0.4203260540962219, + -0.040918316692113876, + 0.0 + ], + [ + 0.3097515404224396, + -0.003952007740736008, + 0.06606580317020416, + -3.044977234798022, + -0.44157859683036804, + -0.04848578944802284, + 0.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.006563663482666016, + 0.17945623397827148, + 0.4995471239089966, + 0.6081382930278778, + 0.6081382930278778, + 0.6081382930278778, + 0.6081382930278778, + 0.6081382930278778, + 0.6081382930278778, + 0.6081382930278778, + 0.6081382930278778 + ], + "episode_id": "3261", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3261/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3267.json b/annotation/test/3267.json new file mode 100644 index 0000000000000000000000000000000000000000..08355203f2fb212685dff7da26357cbd4ce18fdf --- /dev/null +++ b/annotation/test/3267.json @@ -0,0 +1,679 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put knife on cutting board cardboard fence" + ], + "videos": [ + { + "video_path": "videos/test/3267/rgb.mp4" + } + ], + "action": [ + [ + 0.0001375681891997143, + 0.00047311437013879067, + -0.0004566614274208082, + -0.00014933522666774738, + 0.0015250995213737324, + 1.4629484100762339e-06, + 1.0 + ], + [ + -0.00776351315535676, + 0.0010150216397371125, + 0.008678315131410758, + -0.007014445178448557, + -0.04106207959250342, + 0.008205666976518528, + 1.0 + ], + [ + -0.01224389932352282, + -0.021061738461711065, + 0.00045700059591904235, + -0.060087775563381796, + -0.04118522939381095, + 0.045278593779110206, + 1.0 + ], + [ + -0.011864939881306998, + -0.027578111565929795, + -0.006971361240826821, + -0.04044036973742625, + -0.007885077394537874, + -0.029274998114311793, + 1.0 + ], + [ + -0.008022636004828668, + -0.019850853868893664, + -0.013727573556216531, + -0.05869496101597851, + -0.019907090939389454, + 0.025571432620399768, + 1.0 + ], + [ + -0.015113640780976847, + -0.022098866014742827, + -0.00034336364488832396, + -0.008367610111123322, + -0.001730296531930142, + 0.006934509861786583, + 1.0 + ], + [ + -0.01712346235004587, + -0.0031305851696877317, + 0.010161165987000773, + -0.027493592428747507, + -0.029886276578767308, + 0.0411908312660923, + 1.0 + ], + [ + -0.016459029627864035, + 0.001759523718381949, + 0.011463977619647714, + -0.024168269312661368, + -0.036666058128917184, + 0.015595233871208343, + 1.0 + ], + [ + -0.013626011116012145, + 0.007795884285033942, + 0.009133810768348245, + 0.03099821607761416, + 0.0002931525465354662, + 0.03704976004775863, + 1.0 + ], + [ + -0.005551002691328358, + 0.0068592753191632685, + 0.0041178115179319715, + 0.010999835273418494, + 0.002024603162275457, + 0.020136058530460018, + 1.0 + ], + [ + 0.0021188151227370046, + -0.0010117415233670865, + 0.005780981842968294, + 0.04009709110916351, + 0.01819261988541496, + 9.758640258840502e-05, + 1.0 + ], + [ + 0.0042050141475957785, + 0.0008567929790361072, + 0.012101795556290084, + 0.040735496582646795, + 0.01868660913971876, + 0.00812276132443908, + 1.0 + ], + [ + 0.0017556706871398636, + -0.00011500886419450827, + 0.007528790912740079, + -0.003486527072054319, + -0.005669665776537178, + -0.02216994944628951, + 1.0 + ], + [ + -0.001887826502305515, + 0.00010218144929836246, + 0.009359777274487991, + 0.021109902187841326, + 0.0055953393191087615, + 0.0002787584615415864, + 1.0 + ], + [ + -4.770576231250099e-05, + -0.0009842418158633266, + 0.007078999741493203, + 0.02326622793402052, + 0.003863882232465593, + 0.0004964748639032219, + 1.0 + ], + [ + 0.002465269427411935, + -0.0010079979394384967, + 0.002195729472710625, + 0.027143362837199786, + 0.00026908824315701905, + 0.02463506362366302, + 1.0 + ], + [ + 0.001017281995329004, + 0.002440631726236778, + -2.20467625938289e-05, + -0.01546387009313651, + 0.006239871315724133, + -0.011415429230290505, + 0.0 + ], + [ + -0.0007651725545776536, + 0.00472372080718874, + -0.001866747197902803, + -0.016281183004211268, + -0.00510728735830416, + 0.02197629550258355, + 0.0 + ], + [ + -0.005489255661593505, + 0.006233161081167795, + -0.011888876580218697, + -0.038618563395135586, + -0.03368196375651569, + 0.01959173241708348, + 0.0 + ], + [ + -0.003642919915286846, + 0.0074833668809097436, + -0.0049151307260520884, + -0.024537826156976354, + -0.03969470333337362, + 0.01427965752357601, + 0.0 + ], + [ + 0.0027110551647237494, + 0.014476653399143054, + -0.003402123409396634, + -0.023653630546193825, + 0.001402409038248237, + 0.03318945899781788, + 0.0 + ], + [ + -0.0032504388273718846, + 0.023189155258988788, + 0.004673850934015369, + 0.010213658032189292, + 0.031482056040346644, + 0.12383430897707454, + 0.0 + ], + [ + 0.005136703498866688, + 0.018845954118104066, + 0.000858743354376789, + -0.006215004458018127, + 0.046596898344320334, + 0.032968992045931754, + 0.0 + ], + [ + 0.006538443098456177, + 0.011965516345535429, + 0.006817940543759991, + 5.987732196611311e-05, + 0.030387155247102487, + 0.02605121901624025, + 0.0 + ], + [ + 0.007239783056411079, + 0.005985806336808336, + 0.005832664315556986, + -0.00907975650699568, + -0.013658403667110849, + -0.010889357776694144, + 0.0 + ], + [ + 0.007454645747627701, + -0.002213144128213381, + 0.0035970355883428403, + -0.022625397612997557, + -0.019468020300616676, + -0.07690647535134913, + 0.0 + ], + [ + 0.00043736201558706826, + -0.003301252817641981, + -0.0008168151586862498, + 0.025944577893421885, + -0.006762035567910314, + -0.033701729095255255, + 0.0 + ], + [ + -0.004770956397993566, + -0.00092827658261392, + -0.002043512302237457, + -0.012909836918994146, + -0.023553320288885935, + 0.001122269638795706, + 1.0 + ], + [ + 0.0021878037804733234, + -0.002614821400485823, + -0.01503179235465623, + -0.012257995891636196, + 0.01428586459862684, + -0.006636254468063606, + 1.0 + ], + [ + 0.010271210098039666, + 0.00193674182695987, + -0.021083479191687023, + 0.0100545881169168, + 0.036912075582519466, + -0.06995089161522793, + 1.0 + ], + [ + 0.011539833163781595, + 0.002230855131962818, + -0.01584033742660709, + 0.05250320615405654, + 0.09382620539700692, + -0.11025479749924365, + 1.0 + ], + [ + 0.02858741777141114, + -0.015806877645667582, + -0.013606774822053884, + 0.09235067607841696, + 0.06092780604771527, + -0.15017458391241514, + 1.0 + ], + [ + 0.027912548065063658, + -0.020537569411438313, + -0.005602032516405148, + 0.05276222509848807, + 0.011433854456742148, + -0.0930543442004561, + 1.0 + ], + [ + -0.0005752224153497811, + -0.0035442377501353106, + -0.0007894163543072875, + 0.0032884968980870155, + -0.004287364080915404, + -0.015705195464006713, + 1.0 + ] + ], + "state": [ + [ + 0.296202689409256, + 0.08705238252878189, + 0.07497742772102356, + 3.1368222535871944, + -0.13998135924339294, + 0.24731554090976712, + 1.0 + ], + [ + 0.2963879704475403, + 0.08661345392465591, + 0.07545104622840881, + 3.1366720936545214, + -0.14150644838809967, + 0.24732141196727753, + 1.0 + ], + [ + 0.2903808653354645, + 0.08400581032037735, + 0.06576959788799286, + 3.1308454490550837, + -0.10048023611307144, + 0.23887817561626434, + 1.0 + ], + [ + 0.27362921833992004, + 0.10159729421138763, + 0.06386151909828186, + 3.0753524546795568, + -0.05967890843749046, + 0.19311614334583282, + 1.0 + ], + [ + 0.2563355565071106, + 0.1267244964838028, + 0.0682753473520279, + 3.033224308984824, + -0.04984904825687408, + 0.22183956205844876, + 1.0 + ], + [ + 0.24329152703285217, + 0.14553457498550415, + 0.07936135679483414, + 2.975923689203807, + -0.03280513361096382, + 0.19425466656684875, + 1.0 + ], + [ + 0.22435812652111053, + 0.16408151388168335, + 0.07556170970201492, + 2.967793883877345, + -0.03224126994609833, + 0.1871260553598404, + 1.0 + ], + [ + 0.2076297253370285, + 0.16226400434970856, + 0.06446576118469238, + 2.941879393654414, + -0.009891794994473457, + 0.14139986038208008, + 1.0 + ], + [ + 0.1920059323310852, + 0.1560007780790329, + 0.05341644212603569, + 2.9178497364097318, + 0.02295413240790367, + 0.11884515732526779, + 1.0 + ], + [ + 0.1794576197862625, + 0.14480583369731903, + 0.046554695814847946, + 2.9481682797246656, + 0.01443451177328825, + 0.08278064429759979, + 1.0 + ], + [ + 0.17450907826423645, + 0.13684651255607605, + 0.04391257464885712, + 2.958924861746379, + 0.008574629202485085, + 0.06340871006250381, + 1.0 + ], + [ + 0.17657683789730072, + 0.1369224637746811, + 0.03802603483200073, + 2.9990198483043393, + -0.009333050809800625, + 0.06661748141050339, + 1.0 + ], + [ + 0.18105368316173553, + 0.13464778661727905, + 0.026208531111478806, + 3.0397826378517827, + -0.028984064236283302, + 0.06123137101531028, + 1.0 + ], + [ + 0.1830621361732483, + 0.1341189295053482, + 0.01876106671988964, + 3.035695480304309, + -0.021084014326334, + 0.08271455764770508, + 1.0 + ], + [ + 0.18146663904190063, + 0.13289198279380798, + 0.009426788426935673, + 3.056797096627303, + -0.026677472516894337, + 0.0830288976430893, + 1.0 + ], + [ + 0.18157722055912018, + 0.13328365981578827, + 0.002291131066158414, + 3.0800671597295484, + -0.030569519847631454, + 0.08286137878894805, + 1.0 + ], + [ + 0.18402943015098572, + 0.1343614012002945, + 0.00011398092465242371, + 3.10798046936328, + -0.03234344348311425, + 0.05827662721276284, + 1.0 + ], + [ + 0.18518312275409698, + 0.13198605179786682, + 0.0002508769975975156, + 3.0921422262960157, + -0.03819398954510689, + 0.06990357488393784, + 0.0 + ], + [ + 0.1846635490655899, + 0.12731267511844635, + 0.0023180891294032335, + 3.076720791059085, + -0.0341697335243225, + 0.04768894985318184, + 0.0 + ], + [ + 0.17902487516403198, + 0.12158802896738052, + 0.01439134031534195, + 3.038823166983672, + -0.0018205299274995923, + 0.02596595510840416, + 0.0 + ], + [ + 0.1755530685186386, + 0.11455587297677994, + 0.020041605457663536, + 3.0142545719915113, + 0.036200106143951416, + 0.007689161691814661, + 0.0 + ], + [ + 0.17855802178382874, + 0.10065117478370667, + 0.02515310049057007, + 2.9894840588145932, + 0.030575523152947422, + -0.025068569928407666, + 0.0 + ], + [ + 0.17468401789665222, + 0.07711128145456314, + 0.024146784096956253, + 2.99709244270856, + -0.01947625353932381, + -0.14262330532073975, + 0.0 + ], + [ + 0.1770632416009903, + 0.057803861796855927, + 0.0261104516685009, + 2.9912740757041654, + -0.07032766193151474, + -0.1685669869184494, + 0.0 + ], + [ + 0.18167981505393982, + 0.04398183524608612, + 0.021632956340909004, + 2.9927962740236005, + -0.10425718128681181, + -0.18987707793712616, + 0.0 + ], + [ + 0.18796922266483307, + 0.03586455062031746, + 0.01753205992281437, + 2.9827946593337735, + -0.08913140743970871, + -0.181099072098732, + 0.0 + ], + [ + 0.1959056258201599, + 0.03605472296476364, + 0.01430936623364687, + 2.9540724029117307, + -0.05752084031701088, + -0.10814249515533449, + 0.0 + ], + [ + 0.19669552147388458, + 0.03938457369804382, + 0.014521266333758831, + 2.9782762696319303, + -0.04456640034914017, + -0.07626213878393173, + 0.0 + ], + [ + 0.19195538759231567, + 0.040998589247465134, + 0.016172250732779503, + 2.9655427505546292, + -0.0215084757655859, + -0.0811995416879654, + 1.0 + ], + [ + 0.19425040483474731, + 0.046036139130592346, + 0.03055747039616108, + 2.953079419332095, + -0.034410368651151664, + -0.07215913385152817, + 1.0 + ], + [ + 0.20391342043876648, + 0.047391582280397415, + 0.05197126790881157, + 2.960946174460002, + -0.05747480317950249, + 0.003562673926353455, + 1.0 + ], + [ + 0.21451367437839508, + 0.04808076098561287, + 0.0685911476612091, + 3.006842689710208, + -0.1295679360628128, + 0.12954652309417727, + 1.0 + ], + [ + 0.2389088273048401, + 0.06889823079109192, + 0.08354947715997696, + 3.0801264998787126, + -0.1682458221912384, + 0.28861257433891296, + 1.0 + ], + [ + 0.2586616575717926, + 0.0965050607919693, + 0.09249226748943329, + 3.117268405976244, + -0.17320656776428223, + 0.3836157023906708, + 1.0 + ], + [ + 0.2566905617713928, + 0.09955111145973206, + 0.09308559447526932, + 3.1178332307660064, + -0.16851724684238434, + 0.39943593740463257, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.052336275577545166, + 0.052336275577545166, + 0.052336275577545166, + 0.052336275577545166, + 0.052336275577545166, + 0.052336275577545166, + 0.052336275577545166, + 0.052336275577545166, + 0.052336275577545166, + 0.052336275577545166, + 0.052336275577545166, + 0.052336275577545166, + 0.052336275577545166, + 0.052336275577545166, + 0.052336275577545166, + 0.09003859758377075, + 0.3639833331108093, + 0.5984903872013092, + 0.5914059281349182, + 0.5779728293418884, + 0.5779728293418884, + 0.5779728293418884, + 0.5779728293418884, + 0.5779728293418884, + 0.5779728293418884, + 0.5779728293418884, + 0.5337698757648468, + 0.2269795536994934, + 0.020461201667785645, + 0.014131784439086914, + 0.014829039573669434, + 0.015527725219726562, + 0.014829039573669434, + 0.014829039573669434, + 0.014829039573669434 + ], + "episode_id": "3267", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3267/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3271.json b/annotation/test/3271.json new file mode 100644 index 0000000000000000000000000000000000000000..4f13ec84ed561c5928b45bcebea01741d8e5b844 --- /dev/null +++ b/annotation/test/3271.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "take broccoli out of pan cardboardfence" + ], + "videos": [ + { + "video_path": "videos/test/3271/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 1.9505123386359637e-09, + 1.3278877760467763e-08, + -0.0030679545519640113, + 1.0 + ], + [ + -0.007653222726479806, + -0.0004033913593784713, + 0.007187905513665288, + 0.00023689959104764683, + -0.03251944895958384, + -0.006896858435188264, + 1.0 + ], + [ + -0.00952407401627302, + -0.012116530112472788, + -0.010020581215629905, + 0.06778620197593394, + -0.002687232107904837, + -0.027976545850265776, + 1.0 + ], + [ + -0.00640060700696531, + -0.013295062940646467, + -0.017039332044193625, + 0.06190807770552841, + 0.03170562759729182, + -0.03633258204925686, + 1.0 + ], + [ + -0.007148494388795469, + -0.010532309825078934, + -0.00438374429397124, + 0.050613918785279634, + 0.0030657316968153115, + -0.03707021662118363, + 1.0 + ], + [ + -0.006211497302972549, + -0.01517091106191275, + 0.0028464557667336513, + 0.047617207611637374, + -0.011069266934762314, + -0.0076343353249703596, + 1.0 + ], + [ + -0.00944146735988041, + -0.018476649420656993, + 0.004390478143856928, + 0.018180639312329765, + -0.0307409824105611, + 0.01771945465323129, + 1.0 + ], + [ + -0.009148464961569156, + -0.015129213896941924, + -0.004164850576176238, + 0.016099898548866884, + 0.001698835337085336, + 0.0036575644298533776, + 1.0 + ], + [ + -0.014659535758617543, + -0.014157814408741696, + 0.004810558876313217, + -0.005386801511060573, + 0.011815839069199202, + 0.04036438763483496, + 1.0 + ], + [ + -0.013464658085090756, + -0.007676539865185956, + 0.0027674205075155565, + 0.014857803016878966, + 0.012063166981056242, + -0.00229494013918035, + 1.0 + ], + [ + -0.012585720390145775, + -0.0023982586175809316, + 0.00667739126371908, + 0.004375686949753977, + -0.0010514636377684525, + 0.004404933454980441, + 1.0 + ], + [ + 0.0012247707956048281, + -0.0047645579860914, + 0.004845105804680794, + -0.0018993962163265305, + 0.018681847672590766, + -0.003012045982043054, + 1.0 + ], + [ + -0.00530049288217393, + 0.0014150090922217912, + 0.0115080707121438, + -0.00899857817481935, + 0.006916309468667057, + -0.0019234926393983467, + 1.0 + ], + [ + -0.0029258975896612363, + 0.0003589315461710092, + 0.007269189517505884, + -0.017295812119860907, + 0.006968212912780912, + -0.020716740614803046, + 1.0 + ], + [ + -0.009769202822867277, + 0.0028905596519112993, + 0.005968884073979179, + -0.007468721383531936, + 0.01466309670995467, + -0.002124160392839335, + 1.0 + ], + [ + -0.0054518168607493025, + -0.0006911975517238295, + 0.005182581983395947, + -0.009841985354247934, + -0.010220314635396065, + -0.0026469839008243794, + 1.0 + ], + [ + -0.005302434112248968, + 0.000787478656149201, + 0.004000548726360244, + -0.0047971208106094435, + -0.018131635440056342, + 0.013459386509197617, + 1.0 + ], + [ + -0.0028201611555501954, + -0.000820783584623451, + 0.0048876126197935025, + -0.02533782165508019, + -0.03618578350305301, + 0.03183898120482012, + 1.0 + ], + [ + 0.003455790566359111, + -0.002700680124955745, + 0.0005803687758493887, + -0.00031939640108092683, + -0.0014925479092172552, + 0.01566497382533869, + 0.0 + ], + [ + 0.0035939073640221244, + -0.0015389499945751618, + -0.0019254271785569149, + -0.0035084443089399677, + -0.005142674664359537, + 0.007783991157375573, + 0.0 + ], + [ + 0.005288136407204252, + -0.0016187623518866372, + -0.0030713728502188477, + -0.0016988083404121336, + -0.004677071740735335, + 0.014686457270685578, + 0.0 + ], + [ + 0.011039626263434816, + 0.00029228981304307454, + -0.009025253931135091, + 0.003374971136264241, + -0.03462166633304344, + 0.018962952556476495, + 0.0 + ], + [ + 0.01946000130497654, + 0.005150176771244913, + -0.02276790993634647, + 0.022566017485543193, + -0.03390545160148956, + -0.012758399803031995, + 0.0 + ], + [ + 0.02022524584341093, + 0.028752140241061274, + -0.03369239824536262, + 0.016751344052396446, + -0.07504044949963079, + -0.07228034228907948, + 0.0 + ], + [ + 0.009126200599772974, + 0.030804172719326225, + -0.028486027276511006, + -3.434747066606274e-05, + 0.01496810714932058, + -0.04933765777692541, + 0.0 + ], + [ + 0.010124850755355439, + 0.027074383781036892, + -0.003452494427268895, + -0.02920832141739308, + 0.06967384387940592, + -0.03841629808317784, + 0.0 + ], + [ + 0.00018033693672221899, + 0.02957465782837055, + 0.019394078858891443, + -0.06834102063890497, + 0.02214216618162083, + 0.016063004516056377, + 0.0 + ], + [ + -0.004468863951776346, + 0.013720201260763681, + 0.0126453153653006, + -0.025464049143174322, + 0.01089919681582368, + -0.05050873893612076, + 0.0 + ], + [ + -0.004615570192611972, + 0.017529684299368617, + 0.0176469583954478, + -0.05930062771824156, + 0.01642116748085695, + -0.027789927251560098, + 0.0 + ], + [ + -0.004822091005374075, + 0.010164973626111105, + 0.009180527923463262, + -0.048838320657580175, + 0.02236334565353806, + -0.024917313705917238, + 0.0 + ], + [ + -0.0017902210466842156, + -0.0014815106920641036, + 0.002595309836767383, + 0.01037904953810536, + 0.014304282719176161, + 0.011557562462720916, + 0.0 + ], + [ + -0.0014991664118212322, + -0.0034355176382018095, + 0.00027519708909060054, + 0.004928600419514433, + -0.013370438653659961, + 0.026182818136736032, + 1.0 + ], + [ + 0.002052744060688967, + -0.006071690824130297, + -0.009055290176810607, + 0.0672735018512553, + -0.01424012664189979, + 0.033509829134791724, + 1.0 + ], + [ + 0.012726914631211029, + -0.0062557697513081325, + -0.02498440201865833, + 0.06085822946028016, + -0.051199543861279916, + 0.05592870478832882, + 1.0 + ], + [ + 0.006225600623934664, + -0.006789101529618434, + -0.013835002765247066, + 0.038267822641576174, + -0.02578652151301882, + 0.010254959241594048, + 1.0 + ], + [ + 0.003968470493998883, + -0.00025923326298177263, + -0.007334761910969135, + -0.0573923647928432, + -0.024807533787719518, + -0.01022990356907455, + 1.0 + ], + [ + 0.00014624358388371013, + -0.0009075029248836658, + 8.456361896303653e-05, + 0.0005906020213106126, + -0.00018656978936456138, + 0.001597074167642609, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0239373114162491e-09, + 1.2640051192536008e-08, + 0.0015339876162509332, + 1.0 + ] + ], + "state": [ + [ + 0.3343034088611603, + 0.01824452541768551, + 0.08743468672037125, + 3.0874043499403676, + -0.3295665085315705, + -0.003353741951286793, + 1.0 + ], + [ + 0.3343034088611603, + 0.01824452541768551, + 0.08743468672037125, + 3.0863568430119237, + -0.3293987512588501, + -0.00011623107275227085, + 1.0 + ], + [ + 0.32939040660858154, + 0.018251044675707817, + 0.07814690470695496, + 3.084843451278754, + -0.29654377698898315, + 0.00520362937822938, + 1.0 + ], + [ + 0.31749364733695984, + 0.030854688957333565, + 0.08427435159683228, + -3.1390096895680806, + -0.29215654730796814, + 0.034212108701467514, + 1.0 + ], + [ + 0.3059999644756317, + 0.043720077723264694, + 0.09878098219633102, + -3.0881128032975873, + -0.3237563967704773, + 0.07243083417415618, + 1.0 + ], + [ + 0.29692888259887695, + 0.0533718541264534, + 0.10119063407182693, + -3.0499193390184125, + -0.32857063412666315, + 0.11136778444051743, + 1.0 + ], + [ + 0.28984177112579346, + 0.06804288178682327, + 0.09781789779663086, + -3.005227031307765, + -0.3182341158390045, + 0.12043839693069458, + 1.0 + ], + [ + 0.2792392075061798, + 0.08579961955547333, + 0.0931181013584137, + -2.9826326837115964, + -0.28534066677093506, + 0.1065073013305664, + 1.0 + ], + [ + 0.26717114448547363, + 0.09886998683214188, + 0.09678700566291809, + -2.9653951098495206, + -0.286436915397644, + 0.10246212780475615, + 1.0 + ], + [ + 0.2523043155670166, + 0.11220112442970276, + 0.09048261493444443, + -2.958598168688365, + -0.29073888063430786, + 0.058820318430662155, + 1.0 + ], + [ + 0.2393326610326767, + 0.11950316280126572, + 0.08535413444042206, + -2.9437453170591077, + -0.3030182421207428, + 0.05888456106185914, + 1.0 + ], + [ + 0.22893540561199188, + 0.12256055325269699, + 0.0757996067404747, + -2.938086273270198, + -0.3011188209056855, + 0.05457848682999611, + 1.0 + ], + [ + 0.23091544210910797, + 0.12832260131835938, + 0.07255085557699203, + -2.93969156046445, + -0.32002374529838556, + 0.05370820313692093, + 1.0 + ], + [ + 0.22947265207767487, + 0.129167839884758, + 0.05991214141249657, + -2.948850529389926, + -0.3271852433681488, + 0.05423351377248764, + 1.0 + ], + [ + 0.2289612591266632, + 0.13018174469470978, + 0.05215061455965042, + -2.9726482798629483, + -0.33793103694915777, + 0.07437008619308473, + 1.0 + ], + [ + 0.2220132201910019, + 0.1278131604194641, + 0.04290211200714111, + -2.9799673428111753, + -0.3527424931526184, + 0.07397399842739105, + 1.0 + ], + [ + 0.21852296590805054, + 0.1290748417377472, + 0.0363229401409626, + -2.991364048915454, + -0.34307801723480225, + 0.07849444448947906, + 1.0 + ], + [ + 0.21492502093315125, + 0.12861141562461853, + 0.03070330061018467, + -2.992386670904704, + -0.3231163620948792, + 0.0673244893550873, + 1.0 + ], + [ + 0.21364593505859375, + 0.1300668865442276, + 0.02534034475684166, + -3.009046869474002, + -0.2824877202510834, + 0.040163397789001465, + 1.0 + ], + [ + 0.21691232919692993, + 0.13295406103134155, + 0.026093924418091774, + -3.0049369056993207, + -0.27890402078628534, + 0.024216871708631512, + 0.0 + ], + [ + 0.21975310146808624, + 0.13428553938865662, + 0.029118653386831284, + -3.006442742543765, + -0.27274185419082647, + 0.01693706400692463, + 0.0 + ], + [ + 0.2239464521408081, + 0.13554690778255463, + 0.033684052526950836, + -3.004266219335147, + -0.266101598739624, + 0.0025070221163332462, + 0.0 + ], + [ + 0.2322607934474945, + 0.13404269516468048, + 0.04517418146133423, + -2.9970299323373517, + -0.22918352484703067, + -0.01190372370183468, + 0.0 + ], + [ + 0.2461612969636917, + 0.12550023198127747, + 0.07081391662359238, + -2.9784593154960355, + -0.1974342167377472, + 0.005945146549493074, + 0.0 + ], + [ + 0.2605893909931183, + 0.09174299985170364, + 0.10280146449804306, + -2.9783265610509595, + -0.13442686200141907, + 0.09003597497940063, + 0.0 + ], + [ + 0.26966243982315063, + 0.05739497393369675, + 0.12691642343997955, + -2.9847925027185163, + -0.15706753730773926, + 0.1368526667356491, + 0.0 + ], + [ + 0.2834177613258362, + 0.03175041452050209, + 0.12769249081611633, + -3.018021496134349, + -0.23182509839534762, + 0.16456986963748932, + 0.0 + ], + [ + 0.29319584369659424, + 0.0060463580302894115, + 0.10545482486486435, + -3.081924872594424, + -0.251777321100235, + 0.14529615640640262, + 0.0 + ], + [ + 0.29410046339035034, + -0.006900804117321968, + 0.09132431447505951, + -3.120303027453371, + -0.2653481960296631, + 0.19686764478683472, + 0.0 + ], + [ + 0.29772037267684937, + -0.02366664633154869, + 0.07272831350564957, + 3.096086485432931, + -0.28225442767143255, + 0.2254282683134079, + 0.0 + ], + [ + 0.29793354868888855, + -0.0344642698764801, + 0.06302124261856079, + 3.0396914352946958, + -0.3033633232116699, + 0.2525708079338074, + 0.0 + ], + [ + 0.29676735401153564, + -0.03351578488945961, + 0.059878669679164886, + 3.0532242750101766, + -0.3187532126903534, + 0.2419968545436859, + 0.0 + ], + [ + 0.2947465777397156, + -0.030514776706695557, + 0.058860618621110916, + 3.067140596108981, + -0.3076232075691223, + 0.2133951634168625, + 1.0 + ], + [ + 0.292695015668869, + -0.024074746295809746, + 0.06765803694725037, + -3.137823616741695, + -0.2957265079021454, + 0.1773567497730255, + 1.0 + ], + [ + 0.29641759395599365, + -0.017147758975625038, + 0.09528933465480804, + -3.0602357258372983, + -0.24385088682174685, + 0.11999622732400894, + 1.0 + ], + [ + 0.2983025312423706, + -0.01123730093240738, + 0.11070915311574936, + -3.0199345295601567, + -0.2173081338405609, + 0.11167841404676436, + 1.0 + ], + [ + 0.30065739154815674, + -0.011609998531639576, + 0.11870480328798294, + -3.0801924486928662, + -0.19390639662742615, + 0.12509146332740784, + 1.0 + ], + [ + 0.3006916046142578, + -0.010687540285289288, + 0.11870480328798294, + -3.0792911556833467, + -0.1936219334602356, + 0.1234787106513977, + 1.0 + ], + [ + 0.3006916046142578, + -0.010687540285289288, + 0.11870480328798294, + -3.0789910351210317, + -0.19352620840072632, + 0.12191857397556305, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05465686321258545, + 0.35494011640548706, + 0.6803275644779205, + 0.7801748365163803, + 0.7876514941453934, + 0.7581193745136261, + 0.7547669112682343, + 0.7540930807590485, + 0.7540930807590485, + 0.7540930807590485, + 0.7540930807590485, + 0.7540930807590485, + 0.7540930807590485, + 0.6927566826343536, + 0.4021015167236328, + 0.07284492254257202, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "3271", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3271/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3282.json b/annotation/test/3282.json new file mode 100644 index 0000000000000000000000000000000000000000..07bbcc9f6adb456771f9d917d71b86bb3d731d87 --- /dev/null +++ b/annotation/test/3282.json @@ -0,0 +1,375 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "end effector reaching banana" + ], + "videos": [ + { + "video_path": "videos/test/3282/rgb.mp4" + } + ], + "action": [ + [ + -0.0004018264378568567, + 0.00044667406804611306, + 0.00039307193947206887, + 0.00020947999442145996, + -0.0033728128409712286, + -0.0014413185268544247, + 1.0 + ], + [ + -0.0043470377197421224, + 0.0012037547388921027, + 0.01381529056565131, + -0.011847924699711401, + -0.03484381355435949, + -0.013224474965698115, + 1.0 + ], + [ + -0.014201252383598094, + 0.015477647719430705, + 0.01897743935736917, + 0.010872493814152989, + -0.010379198374997982, + -0.011342407665741657, + 1.0 + ], + [ + -0.015440011453752994, + 0.019032359931773775, + -0.0005243854517085908, + 0.02001893677915724, + 0.05813004913913673, + 0.002864758830509468, + 1.0 + ], + [ + -0.015478258081173877, + 0.016160777996145112, + 0.008681596655501393, + 0.030584090487882003, + 0.030033849673234272, + -0.009761106750746991, + 1.0 + ], + [ + -0.018110342923558818, + 0.012463925417500403, + 0.015083001940373274, + 0.025308166794228218, + 0.032556924460550175, + -2.5881282829699295e-05, + 1.0 + ], + [ + -0.011476145941144541, + 0.007384567928467443, + 0.016765567976126192, + -0.003016458767085101, + 0.027858504573946875, + -0.0022797808140996943, + 1.0 + ], + [ + -0.012400576766005134, + 0.010929058365949755, + 0.009935341459345215, + 0.001136421998570921, + 0.04955342938649171, + -0.011356853895387974, + 1.0 + ], + [ + -0.005587668491221931, + 0.006021871909975328, + 0.009608759514248624, + 0.009994729945872312, + 0.02689941306596608, + 0.010013488206020922, + 1.0 + ], + [ + -0.0006164593820468696, + 0.0076074814909758036, + 0.005330825638421385, + 0.017424344425549906, + 0.03992469792937073, + 0.004599366416172461, + 1.0 + ], + [ + -0.0014815403518559154, + 0.010263334332318968, + 0.0072568997950727835, + 0.015233732113028895, + 0.018997689694462364, + 0.01151693681293288, + 1.0 + ], + [ + -0.002701178775991572, + 0.009829874345312734, + 0.0057357595046654795, + 0.01457544568988792, + 0.013861465550217786, + -0.008453482825246366, + 1.0 + ], + [ + -0.006804767160654386, + 0.011954876199041857, + 0.00475976257353757, + 0.005988027701599654, + 0.011277019471019147, + -0.017674142379630046, + 1.0 + ], + [ + -0.012125780019270746, + 0.008060737696322597, + 0.011510482001474974, + 0.0021136694011833104, + 0.024800765179027937, + -0.0054760395658653566, + 1.0 + ], + [ + -0.010286855166320745, + 0.0038066761074714525, + 0.006917830803334283, + -0.002348602361609042, + 0.02515978017386471, + -0.007253958353309566, + 1.0 + ], + [ + -0.009129889387474482, + -0.001742036173690961, + 0.006568235142472454, + -0.013203335436483901, + 0.03006197227198262, + 0.010649362350167892, + 1.0 + ], + [ + 0.0007681334300070078, + -0.0030341764540189964, + 0.00593885548245987, + -0.023258401862018982, + 0.0332262819128878, + 0.018577535759663047, + 1.0 + ], + [ + 0.004372495421087698, + 0.0006836375379055885, + 0.002551658537730173, + -0.01755259457898395, + 0.03564360838818161, + 0.0158699841866028, + 1.0 + ] + ], + "state": [ + [ + 0.34772929549217224, + 0.0384436696767807, + 0.20440806448459625, + -3.1208329686247787, + -0.12952199578285217, + -0.22612476348876953, + 1.0 + ], + [ + 0.34729331731796265, + 0.03809409961104393, + 0.20395727455615997, + -3.1208201219611844, + -0.12617968022823334, + -0.22460164129734042, + 1.0 + ], + [ + 0.3445826470851898, + 0.037773218005895615, + 0.18968291580677032, + -3.1344197673075875, + -0.0916057825088501, + -0.2106056958436966, + 1.0 + ], + [ + 0.3292538523674011, + 0.02536238543689251, + 0.16937588155269623, + -3.1245951541983565, + -0.0813022255897522, + -0.1991519033908844, + 1.0 + ], + [ + 0.3103864789009094, + 0.009747922420501709, + 0.1683221161365509, + -3.1042315681749066, + -0.13937456905841825, + -0.20303654670715332, + 1.0 + ], + [ + 0.2934447228908539, + -0.0029213305097073317, + 0.15698261559009552, + -3.0748486911230763, + -0.16974680125713348, + -0.19428254663944244, + 1.0 + ], + [ + 0.276356041431427, + -0.011208273470401764, + 0.13827073574066162, + -3.049135113256522, + -0.20223253965377808, + -0.19647234678268433, + 1.0 + ], + [ + 0.2676197290420532, + -0.015388403087854385, + 0.11894403398036957, + -3.052053140597888, + -0.2301824986934662, + -0.19678311049938205, + 1.0 + ], + [ + 0.2562575042247772, + -0.02331678383052349, + 0.10552873462438583, + -3.052441293495246, + -0.280547171831131, + -0.18963563442230225, + 1.0 + ], + [ + 0.25276339054107666, + -0.027882445603609085, + 0.0942699983716011, + -3.038829045491763, + -0.3064260184764862, + -0.20260471105575562, + 1.0 + ], + [ + 0.2525724470615387, + -0.03501031547784805, + 0.08828430622816086, + -3.0185457487874707, + -0.3456561267375946, + -0.21181556582450867, + 1.0 + ], + [ + 0.2520584166049957, + -0.04440731182694435, + 0.07982110232114792, + -2.99831377168233, + -0.3630623519420623, + -0.2265346646308899, + 1.0 + ], + [ + 0.2500469386577606, + -0.053087446838617325, + 0.07224278151988983, + -2.9861681332164487, + -0.377981036901474, + -0.21966278553009033, + 1.0 + ], + [ + 0.24382169544696808, + -0.06304417550563812, + 0.06364108622074127, + -2.986464576917239, + -0.3918086588382721, + -0.20266012847423553, + 1.0 + ], + [ + 0.23631876707077026, + -0.06781719624996185, + 0.047349199652671814, + -2.9849619289212903, + -0.41715711355209345, + -0.20093509554862976, + 1.0 + ], + [ + 0.22951678931713104, + -0.06916774809360504, + 0.03639129549264908, + -2.9887142797284802, + -0.4431380331516266, + -0.19735029339790341, + 1.0 + ], + [ + 0.22458043694496155, + -0.06540487706661224, + 0.02685166709125042, + -2.994597556191035, + -0.4711727797985077, + -0.21429480612277985, + 1.0 + ], + [ + 0.22848112881183624, + -0.062291890382766724, + 0.02236165851354599, + -3.0057840814166745, + -0.5011801719665527, + -0.2407872974872589, + 1.0 + ], + [ + 0.23334893584251404, + -0.06382891535758972, + 0.022164056077599525, + -3.0118068625503263, + -0.5342291593551636, + -0.26465263962745667, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.003185570240020752, + 0.0025147199630737305 + ], + "episode_id": "3282", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3282/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3289.json b/annotation/test/3289.json new file mode 100644 index 0000000000000000000000000000000000000000..aca7a01c854d38b88a76f000d0494de45b22c6cc --- /dev/null +++ b/annotation/test/3289.json @@ -0,0 +1,679 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Pick up the pot from above the purple cloth and placed it on table surface" + ], + "videos": [ + { + "video_path": "videos/test/3289/rgb.mp4" + } + ], + "action": [ + [ + 0.00018498362426973955, + -7.477114533504713e-05, + -0.0003278580095925328, + 4.666435691838481e-05, + -1.3694048457244427e-05, + -0.0016145405685403765, + 1.0 + ], + [ + -0.0019774246373642336, + 0.002261896260199974, + 0.007875799215145335, + -0.01240885189567739, + -0.026954220446392452, + -0.004611491035069959, + 1.0 + ], + [ + 0.018707235879098064, + 0.031219206530441676, + -0.005626720470141374, + -0.031613722784251855, + 0.0233915128300942, + 0.05279188382882973, + 1.0 + ], + [ + 0.018398752694998324, + 0.025655603524825727, + -0.0012210073485311832, + -0.00757616374631805, + 0.010396652338328875, + 0.04105443134839228, + 1.0 + ], + [ + 0.02332115147004453, + 0.015323321726388282, + 0.006726763941394623, + 0.008223032110190438, + 0.006134362725654281, + 0.004339053125153519, + 1.0 + ], + [ + 0.018642173008830854, + 0.0011170712283726679, + 0.020446346118035297, + 0.01699134438042848, + -0.013716817500004771, + -0.048297557145547045, + 1.0 + ], + [ + 0.015880918532233567, + -0.002463467440440133, + 0.013683131563168817, + 0.01571747422506496, + -0.0022433155454897723, + -0.05616315625418754, + 1.0 + ], + [ + 0.0025114881349310586, + 0.00026463058741511825, + 0.015964712959596023, + 0.005450194236697023, + -0.036462723083705406, + -0.009838099858035574, + 1.0 + ], + [ + 1.8456202514768587e-05, + -0.0008210942950402023, + 0.003399524699023149, + 0.006601334442120874, + -0.004079495274327766, + -0.004745194973126681, + 1.0 + ], + [ + -0.0009003471202541804, + 0.0006505894999780832, + 0.002616706552083602, + -0.0033986011068362037, + 0.004414787520180333, + 0.0114448409904867, + 1.0 + ], + [ + -0.007103958534380219, + -0.0007473764913144572, + 0.001977008858050799, + -0.01310708427345958, + -0.008968147241924313, + -0.008522957377821033, + 0.0 + ], + [ + -0.004148207458867624, + -0.002729855589960213, + -0.004987555252166545, + -0.01296888542217603, + 0.0018052709532073892, + -0.006928616054610548, + 0.0 + ], + [ + -0.0038323532702306874, + 0.004166037609899226, + -0.013071648634413235, + -0.029894746402100828, + 0.006693996644410502, + 0.005329597105829845, + 0.0 + ], + [ + -0.0054655035094914985, + -0.0026341103659651504, + -0.026430843874431495, + -0.012203675888868165, + 0.036654693068897834, + -0.0009356283929383614, + 0.0 + ], + [ + -0.016990577091663985, + -0.02154621989386617, + -0.034733940906660876, + -0.010491413627856662, + 0.029984804983917895, + -0.04889194994134285, + 0.0 + ], + [ + -0.01874127519470987, + -0.04130470877459482, + -0.01832987509162742, + 0.008141163356344003, + -0.022038632473843675, + -0.053499144023676996, + 0.0 + ], + [ + -0.019447715989679818, + -0.0509862780539656, + 0.0007695871244897452, + 0.01764199077293051, + -0.03623849459009597, + -0.10019719549584642, + 0.0 + ], + [ + -0.007352425074441925, + -0.04936766038242249, + 0.009576810353976116, + 0.06399425559839532, + -0.005406442775821278, + -0.06629178542508894, + 0.0 + ], + [ + -0.0034545135023969177, + -0.042762531915259784, + 0.03199092451479753, + 0.0609651979125189, + -0.041664325552885274, + -0.06313525595285385, + 0.0 + ], + [ + 0.005272025194066586, + -0.012274523118079866, + 0.016892096328414426, + 0.04114256593572411, + -0.018019218275565317, + -0.03111661211506357, + 0.0 + ], + [ + 0.005484551186590353, + -0.0021829517325843055, + 0.017052528264377063, + 0.021558486204021256, + -0.023239636128249794, + -0.010324634239300884, + 0.0 + ], + [ + 0.0023087296316553784, + -0.0017921524999959077, + 0.005680424748916227, + 0.018254705083987445, + -0.016295025336911625, + -0.00974974173039645, + 0.0 + ], + [ + 0.006617952229248917, + -0.0013476531188642191, + 0.0011487786174695926, + 0.0346537447548983, + 0.009583912640270338, + 0.004066290767495705, + 0.0 + ], + [ + -0.0008341760634971267, + -0.001606172266980743, + 0.0015168167505448793, + 0.012104375225043911, + -0.008029706604024106, + -0.012474748163433639, + 0.0 + ], + [ + -0.00569629411790496, + -0.004487497841095498, + 0.004802424253191052, + 0.01289223694061688, + -0.01631705499497136, + -0.01975449284348323, + 0.0 + ], + [ + -0.006346797172229675, + 0.0006781464110714473, + 0.0031906194379043764, + -0.0077404373010545365, + -0.0158427729994349, + 0.0086578765348309, + 1.0 + ], + [ + -0.005238894098337202, + -0.0015649140750823999, + -0.023347020570657413, + -0.0102754143052758, + 0.057756601180352744, + -0.005275440635889901, + 1.0 + ], + [ + -0.011420857399167081, + 0.010890774433769233, + -0.03061595683414592, + -0.03148792594168646, + 0.042049334776887444, + 0.013068012311256016, + 1.0 + ], + [ + -0.01250921621877002, + 0.026035651396747447, + -0.029159104570763292, + -0.06224856454329807, + 0.04733206527839556, + 0.030078884902439387, + 1.0 + ], + [ + -0.0036888201243286548, + 0.04088059982717659, + -0.0015539642504633995, + -0.02406355584468074, + 0.019597490112389718, + 0.08725553304713984, + 1.0 + ], + [ + -0.003729584369754518, + 0.01908159726026733, + 0.004206367436423167, + -0.00888593731360154, + -0.012967184701656049, + 0.030087444046047306, + 1.0 + ], + [ + -0.0014939009315287272, + 0.016165553791570385, + 0.00224016737621356, + -0.005746755543066345, + 0.00868124184665771, + 0.08406073261279538, + 1.0 + ], + [ + 0.0017113330103548769, + 0.0005432155718192396, + -0.00018723682522265193, + -0.0024099840948920985, + 0.015665012166808177, + 0.031429695577125036, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -5.914768915038467e-09, + 3.5823144413011147e-10, + 0.0030679643411330925, + 1.0 + ] + ], + "state": [ + [ + 0.27925488352775574, + 0.0626930445432663, + 0.08530427515506744, + -3.075305799143859, + -0.04520958289504051, + -0.06692234426736832, + 1.0 + ], + [ + 0.27942782640457153, + 0.0627344623208046, + 0.08564438670873642, + -3.0753321443968495, + -0.04530280455946923, + -0.06530878692865372, + 1.0 + ], + [ + 0.27770528197288513, + 0.061107952147722244, + 0.07755476981401443, + -3.0880075116925916, + -0.018712157383561134, + -0.05892346426844597, + 1.0 + ], + [ + 0.29444947838783264, + 0.028589701279997826, + 0.08185067027807236, + -3.1186745913052043, + -0.03921673074364662, + -0.11292113363742827, + 1.0 + ], + [ + 0.30979904532432556, + 0.0010075796162709594, + 0.08320429921150208, + -3.124649070324846, + -0.04863667488098145, + -0.154249906539917, + 1.0 + ], + [ + 0.33081522583961487, + -0.017649997025728226, + 0.07736095786094666, + -3.1162095872038087, + -0.054696161299943924, + -0.1586988419294357, + 1.0 + ], + [ + 0.35020604729652405, + -0.021358778700232506, + 0.057942602783441544, + -3.1019057241552552, + -0.042144402861595154, + -0.11002961546182632, + 1.0 + ], + [ + 0.3668752908706665, + -0.020177621394395828, + 0.04504913464188576, + -3.0886198562854013, + -0.04206344112753868, + -0.053771909326314926, + 1.0 + ], + [ + 0.37008216977119446, + -0.01976834610104561, + 0.029212528839707375, + -3.083632396655627, + -0.0061698779463768005, + -0.04202360287308693, + 1.0 + ], + [ + 0.3701639473438263, + -0.018754243850708008, + 0.02586645446717739, + -3.0770619829469403, + -0.0023720343597233295, + -0.03705008327960968, + 1.0 + ], + [ + 0.3692527115345001, + -0.019201291725039482, + 0.02321111224591732, + -3.0804366153948983, + -0.006039456930011511, + -0.048755913972854614, + 1.0 + ], + [ + 0.3622111976146698, + -0.017989862710237503, + 0.021240608766674995, + -3.093598434823104, + 0.0023912740871310234, + -0.03970107808709145, + 0.0 + ], + [ + 0.35817721486091614, + -0.015340233221650124, + 0.026363292708992958, + -3.106552021699496, + 0.00025562275550328195, + -0.03286706283688546, + 0.0 + ], + [ + 0.3541983664035797, + -0.019833335652947426, + 0.039281945675611496, + -3.136447946196892, + -0.006247555371373891, + -0.038427893072366714, + 0.0 + ], + [ + 0.3486678898334503, + -0.017120763659477234, + 0.06569132953882217, + 3.1345324708432933, + -0.04290657490491868, + -0.03768075257539749, + 0.0 + ], + [ + 0.33104366064071655, + 0.005350032821297646, + 0.09951167553663254, + 3.1219355334811887, + -0.07249377667903902, + 0.011529257521033289, + 0.0 + ], + [ + 0.3106040954589844, + 0.046774156391620636, + 0.11562269181013107, + 3.126253836909779, + -0.049306303262710564, + 0.06463588774204256, + 0.0 + ], + [ + 0.2880047857761383, + 0.09638652205467224, + 0.11311453580856323, + 3.139059157697954, + -0.011293493211269379, + 0.16420313715934753, + 0.0 + ], + [ + 0.27279385924339294, + 0.143882155418396, + 0.10333026945590973, + -3.0808743258290967, + -0.005694445688277483, + 0.23048108816146848, + 0.0 + ], + [ + 0.2593989968299866, + 0.18657609820365906, + 0.07397397607564926, + -3.020360129075595, + 0.03207702189683915, + 0.2960115671157837, + 0.0 + ], + [ + 0.2598200738430023, + 0.20157872140407562, + 0.058529071509838104, + -2.9782029559188565, + 0.04618404433131218, + 0.32911017537117004, + 0.0 + ], + [ + 0.26269251108169556, + 0.20776692032814026, + 0.041823096573352814, + -2.9559697230630597, + 0.06743022799491882, + 0.3431065380573272, + 0.0 + ], + [ + 0.263583242893219, + 0.2110687643289566, + 0.03642738610506058, + -2.9368538727336606, + 0.08164060860872269, + 0.35573703050613403, + 0.0 + ], + [ + 0.2691602408885956, + 0.21479766070842743, + 0.03503973409533501, + -2.9026791175180158, + 0.07308214902877808, + 0.3497914671897888, + 0.0 + ], + [ + 0.26764583587646484, + 0.21628844738006592, + 0.03400992602109909, + -2.8895640095048627, + 0.07792457193136215, + 0.3638544976711273, + 0.0 + ], + [ + 0.26010894775390625, + 0.2193499654531479, + 0.030932409688830376, + -2.8748938759141645, + 0.08877944946289062, + 0.38714373111724854, + 0.0 + ], + [ + 0.2539171576499939, + 0.21702708303928375, + 0.028251416981220245, + -2.882974775629588, + 0.10634306073188782, + 0.3829445242881775, + 1.0 + ], + [ + 0.2530125081539154, + 0.21185654401779175, + 0.051648542284965515, + -2.8938502093129834, + 0.049155183136463165, + 0.373261421918869, + 1.0 + ], + [ + 0.25021445751190186, + 0.1913590431213379, + 0.07918769866228104, + -2.92631051142747, + 0.011581451632082462, + 0.35029226541519165, + 1.0 + ], + [ + 0.24958115816116333, + 0.15741677582263947, + 0.10225521773099899, + -2.988942103581973, + -0.028242912143468857, + 0.3108116090297699, + 1.0 + ], + [ + 0.2586257755756378, + 0.11763528734445572, + 0.09747257083654404, + -3.011070566373416, + -0.03425037860870361, + 0.22154609858989713, + 1.0 + ], + [ + 0.2592487633228302, + 0.09894350916147232, + 0.09069466590881348, + -3.0190336649590215, + -0.017464488744735718, + 0.19340123236179355, + 1.0 + ], + [ + 0.26088595390319824, + 0.08319411426782608, + 0.08646957576274872, + -3.023741239803382, + -0.015754058957099915, + 0.10890010744333267, + 1.0 + ], + [ + 0.26264604926109314, + 0.08282174170017242, + 0.0866185873746872, + -3.025680573778697, + -0.027607042342424396, + 0.07583697140216827, + 1.0 + ], + [ + 0.26264604926109314, + 0.08282174170017242, + 0.0866185873746872, + -3.025596970813819, + -0.027252096682786938, + 0.07278846204280853, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.013436198234558105, + 0.09672892093658447, + 0.3900832533836365, + 0.6700286269187927, + 0.8508497476577759, + 0.9163698479533195, + 0.9187651351094246, + 0.9191039130091667, + 0.9191039130091667, + 0.9191039130091667, + 0.9191039130091667, + 0.9191039130091667, + 0.9191039130091667, + 0.9191039130091667, + 0.9191039130091667, + 0.9191039130091667, + 0.8956562280654907, + 0.7160503268241882, + 0.433002769947052, + 0.1303747296333313, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "3289", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3289/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3290.json b/annotation/test/3290.json new file mode 100644 index 0000000000000000000000000000000000000000..f9e1e4c628b2a57ce0051429e90a18851512bc0c --- /dev/null +++ b/annotation/test/3290.json @@ -0,0 +1,907 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put the mouse behind the towel" + ], + "videos": [ + { + "video_path": "videos/test/3290/rgb.mp4" + } + ], + "action": [ + [ + 0.0001138270750916274, + -0.00046181130976064163, + -0.0006823046350736337, + 0.003203513610180767, + 0.00015992829249669455, + -0.00031822052976103677, + 1.0 + ], + [ + -0.0006204536455902445, + 0.002568722135739144, + 0.006414092473664297, + -0.022625909605436055, + -0.011644214871650382, + -0.014112191031646059, + 1.0 + ], + [ + 0.020677504116653096, + 0.0032100897349407165, + 0.008202769007596276, + -0.004330310649435634, + 0.00035580999460475376, + -0.03317798999592611, + 1.0 + ], + [ + 0.020876391469132526, + -0.002934511714963139, + 0.00242790371002049, + 0.04363389916029768, + -0.0006344380670363508, + -0.08924565922924639, + 1.0 + ], + [ + 0.025775390489276448, + 0.006168861634095557, + 0.01380064768667152, + 0.033436907610875706, + -0.00021367124469540618, + -0.13856396572520002, + 1.0 + ], + [ + 0.011316001167670718, + 0.008985171940470302, + 0.018655440885890055, + 0.0042060877739679954, + -0.009863566620099752, + -0.18609169135758127, + 1.0 + ], + [ + 0.010493628370209738, + 0.0005699053407298777, + 0.013759292251459172, + 0.008849906738007769, + 0.01636380942123027, + -0.08450512581834031, + 1.0 + ], + [ + 0.003203460297824777, + -0.0012000412504827346, + 0.014095732995955621, + 0.007892617727459464, + 0.005697701473459397, + -0.061678336763057166, + 1.0 + ], + [ + 0.002339229404592412, + -0.003691507025987544, + 0.016367782895887247, + -0.018370802077344206, + -0.002035264831910353, + -0.061386902867768205, + 1.0 + ], + [ + 0.003380007950053994, + -0.004183840972959028, + 0.01891387255542058, + -0.021367994755835035, + 0.007086653434930975, + -0.03878054318407204, + 1.0 + ], + [ + 0.009185905631962437, + -0.002591347438125632, + 0.01025610534638873, + 0.005611224004559893, + 0.0335028319068383, + -0.0017392068831895609, + 1.0 + ], + [ + 0.006937869934185275, + -0.006263223389628171, + 0.013335647662148778, + -0.005191005944056696, + 0.03812782726712578, + -0.026481052675933918, + 1.0 + ], + [ + 0.008531476495244697, + -0.0025437293373266274, + 0.008767547382860251, + 0.006934518223208023, + 0.03961009911918207, + -0.024914814114559723, + 1.0 + ], + [ + 0.00238884645809769, + -0.0011002130234675494, + 0.011308442615897649, + 0.006455214048305909, + 0.031774188474301135, + 0.020539333278332007, + 1.0 + ], + [ + 0.0011632846722248657, + 0.0002661914562439076, + 0.004267099031627966, + -0.003245287383589978, + -0.008857449919934203, + 0.02338611977854447, + 1.0 + ], + [ + -0.001427032708925873, + 6.731184879952857e-05, + -0.00012473200769636407, + 0.00800300613414354, + -0.01204559389273453, + 0.01725439479641901, + 0.0 + ], + [ + -0.0013584475981132612, + 0.002450940895514703, + -0.00045601737438803497, + -0.006847731186650581, + -0.010046998510940073, + 0.012522475048831985, + 0.0 + ], + [ + 0.00012213795233560417, + 0.0010334687450144723, + -0.011754246677446767, + -0.011332234183835483, + -0.02460949571895671, + 0.016223367966757104, + 0.0 + ], + [ + 0.011655040345570241, + -0.0012444501533472902, + -0.02745366472630189, + 0.009516804563256105, + 0.027877144417602327, + 0.0026292728870669995, + 0.0 + ], + [ + 0.01153202407579725, + -0.004963512900043291, + -0.03824393119053415, + 0.0006838174047627742, + 0.05956919663102171, + 0.0025651944983071653, + 0.0 + ], + [ + 0.00453893884260314, + -0.01127055700292922, + -0.040408664141763063, + 0.013123261051744732, + 0.04022525720582551, + -0.01597688624750767, + 0.0 + ], + [ + -0.007088839935508364, + -0.02257636495114654, + -0.030971981957940858, + 0.03182325436111042, + -0.03667735113346164, + -0.05886511520786765, + 0.0 + ], + [ + -0.014311656342456855, + -0.037378178079081247, + -0.018096488864837286, + 0.05861004365275176, + -0.05619813249133548, + -0.059797509511577356, + 0.0 + ], + [ + -0.00934702419383019, + -0.03050397899863249, + 0.0010762350081726913, + 0.07400391968782101, + -0.06293905092815567, + -0.03251198417095242, + 0.0 + ], + [ + -0.010265515884176409, + -0.028121007431108066, + 0.016094343420586157, + 0.04285880014881123, + -0.049071033242134146, + -0.06642313919106708, + 0.0 + ], + [ + 0.00039137161772315383, + -0.011751589224721515, + 0.02108811496678625, + 0.028104117829428902, + -0.004883216964517691, + -0.06189361201379565, + 0.0 + ], + [ + 0.001931218335760599, + -0.00727403240941402, + 0.024991996490647445, + 0.03711995232074921, + -0.046285922144191353, + -0.03678015497130958, + 0.0 + ], + [ + 0.005389916452389852, + -0.00479446032706633, + 0.027552380552294985, + 0.03729031898155603, + -0.026360862213489444, + -0.04779654274155478, + 0.0 + ], + [ + 0.0061570146506819854, + -0.00035407555990988953, + 0.019413591844470383, + 0.014291560862168047, + -0.0261899263520195, + -0.02312925823226307, + 0.0 + ], + [ + 0.006872081049051345, + 0.0017157439605693934, + 0.018786824780238263, + -0.0009026571481597884, + -0.008762459639103045, + -0.02057604885564268, + 0.0 + ], + [ + 0.002728517805245923, + 0.0011372640307474521, + 0.014433909303656504, + 0.004181855849919059, + -0.019024882207146383, + -0.01108730871996197, + 0.0 + ], + [ + -0.0013931904853694541, + 0.005282518637225358, + 0.01418302665511659, + -0.008738818510432223, + -0.01596527895315347, + -0.005311454469808766, + 0.0 + ], + [ + 0.0022334615771723364, + 0.006070996589803025, + 0.003469012906094758, + -0.037937868816921086, + 0.01694480026051454, + 0.004176085905174069, + 0.0 + ], + [ + -0.003284229206667269, + 0.0008527056758164311, + 0.002828404631566169, + -0.00238165533416002, + -0.00760790028140928, + 0.0035120932131210863, + 0.0 + ], + [ + -0.002577965813802971, + -0.00484620153965846, + -0.001239347980914966, + -0.0027675219392268376, + -0.029780472980259622, + 0.016184412661027808, + 1.0 + ], + [ + 0.002370887035845605, + -0.008672714894508611, + 0.0013103867154615886, + -0.009396696636282478, + 0.02387868836748932, + -0.018907970802358405, + 1.0 + ], + [ + 0.00015407157758598567, + -0.0005968300886831522, + 4.946111479381454e-05, + 0.0004125658629735115, + 0.0013475043335113026, + 0.0169313486067652, + 1.0 + ], + [ + 0.0028321056852064056, + -0.00020131438995027613, + 2.2611293752306606e-05, + -0.0021032953426339067, + 0.01830540936810918, + -0.00034747356629470704, + 1.0 + ], + [ + -0.0003900078016735245, + -0.004077403803116102, + -0.0006443019451837638, + -0.008575607817017971, + 0.0018679177433748133, + -0.0009110437625313429, + 1.0 + ], + [ + 0.009367047818859683, + -0.004303858131631879, + -0.03067969900460678, + 0.0009400108270704753, + 0.06209356033936898, + 0.019594552727732795, + 1.0 + ], + [ + -0.0013458887240291478, + 0.0009330905198985369, + -0.027352901314219306, + 0.0007698640571493379, + 0.03555587833424933, + -7.977380275859199e-05, + 1.0 + ], + [ + 0.0026136355697381907, + 0.007384325748765023, + -0.023234437167429216, + -0.015192131665553771, + 0.03069999518115328, + 0.004415500841095069, + 1.0 + ], + [ + 0.00452295300556635, + 0.00520332620130734, + -0.027699872688384364, + -0.006932518709595969, + 0.05256065967702828, + 0.00419706274725446, + 1.0 + ], + [ + 0.004049305256030818, + 0.004799886230039557, + -0.025896345224817523, + -0.012210793353357672, + 0.06410186249787662, + 0.01862381291097495, + 1.0 + ], + [ + 0.0008668101301486173, + 6.019599298504062e-06, + -0.0015748339686382272, + -7.571712513155007e-05, + 0.00622023654438871, + 0.0019267868326778067, + 1.0 + ], + [ + -0.0002023190942584293, + 4.3724375667922724e-05, + 0.0005239092895411585, + -0.00026083514661876694, + -0.001511440784869708, + 2.564891600821519e-05, + 1.0 + ] + ], + "state": [ + [ + 0.23426485061645508, + 0.004270052071660757, + 0.14381670951843262, + -2.9628895839029035, + -0.24806301295757294, + -1.022586703300476, + 1.0 + ], + [ + 0.23451028764247894, + 0.0045074159279465675, + 0.1445751190185547, + -2.9597581942849835, + -0.24827694892883304, + -1.022292971611023, + 1.0 + ], + [ + 0.23389846086502075, + 0.002887941664084792, + 0.13785746693611145, + -2.9864383061700543, + -0.2393442392349243, + -1.005839467048645, + 1.0 + ], + [ + 0.24413666129112244, + -0.016820022836327553, + 0.134404256939888, + -2.9988471140437802, + -0.2446911185979843, + -0.9721100926399231, + 1.0 + ], + [ + 0.2585071623325348, + -0.03211761265993118, + 0.13753511011600494, + -2.977891447144099, + -0.2557642459869384, + -0.880702555179596, + 1.0 + ], + [ + 0.2737778127193451, + -0.05664410814642906, + 0.12991003692150116, + -2.981850104528018, + -0.2756096422672272, + -0.7385690808296204, + 1.0 + ], + [ + 0.28184884786605835, + -0.0719761773943901, + 0.11389140039682388, + -3.0327533801370343, + -0.2904357314109802, + -0.5450875759124756, + 1.0 + ], + [ + 0.294291615486145, + -0.07843570411205292, + 0.10373210906982422, + -3.049000123637267, + -0.3148542642593384, + -0.4586179554462433, + 1.0 + ], + [ + 0.30199530720710754, + -0.07945314049720764, + 0.09148425608873367, + -3.0611688514524182, + -0.3256211280822754, + -0.394351601600647, + 1.0 + ], + [ + 0.31069135665893555, + -0.07766227424144745, + 0.07705598324537277, + -3.1004104298823556, + -0.3278851807117462, + -0.3295425474643707, + 1.0 + ], + [ + 0.32102981209754944, + -0.07595716416835785, + 0.06041649729013443, + -3.1349244426288685, + -0.3363098204135895, + -0.2888045012950897, + 1.0 + ], + [ + 0.33333835005760193, + -0.07683958113193512, + 0.053782880306243896, + -3.129845935041555, + -0.3698230981826782, + -0.2871798276901245, + 1.0 + ], + [ + 0.345957487821579, + -0.07387300580739975, + 0.04392598941922188, + 3.137902929569133, + -0.40812599658966064, + -0.25883951783180237, + 1.0 + ], + [ + 0.3575375974178314, + -0.07434127479791641, + 0.03925605118274689, + 3.133803844107785, + -0.44750577211380005, + -0.23106242716312406, + 1.0 + ], + [ + 0.3646325469017029, + -0.07497072964906693, + 0.030087441205978394, + -3.1330334908613047, + -0.4793386161327362, + -0.25391966104507446, + 1.0 + ], + [ + 0.36747974157333374, + -0.07594690471887589, + 0.026835858821868896, + -3.124223129945346, + -0.47014081478118896, + -0.2800654172897339, + 1.0 + ], + [ + 0.3661841154098511, + -0.0756465345621109, + 0.02629953622817993, + -3.10761525680358, + -0.4577240347862243, + -0.2990624606609345, + 0.0 + ], + [ + 0.3641360402107239, + -0.07759460806846619, + 0.026033377274870872, + -3.108497342216321, + -0.44722113013267517, + -0.3125636279582977, + 0.0 + ], + [ + 0.3589833676815033, + -0.07742372900247574, + 0.03664780408143997, + -3.1125231852107724, + -0.4220321178436278, + -0.3294397294521332, + 0.0 + ], + [ + 0.35853806138038635, + -0.0768001601099968, + 0.06648913770914078, + -3.1014311519735536, + -0.44981837272644043, + -0.33325672149658203, + 0.0 + ], + [ + 0.3536887764930725, + -0.07149815559387207, + 0.10609463602304459, + -3.098207580047198, + -0.509230375289917, + -0.33892482519149786, + 0.0 + ], + [ + 0.341801255941391, + -0.05722663551568985, + 0.14398260414600372, + -3.093183146911212, + -0.5500529408454895, + -0.3222622871398926, + 0.0 + ], + [ + 0.32685601711273193, + -0.030042726546525955, + 0.1675809621810913, + -3.0977853072159967, + -0.5151640772819519, + -0.25268617272377014, + 0.0 + ], + [ + 0.31452980637550354, + 0.010888506658375263, + 0.17768706381320953, + -3.073384279506751, + -0.4605745971202851, + -0.18334026634693146, + 0.0 + ], + [ + 0.3114195466041565, + 0.042491614818573, + 0.17443318665027618, + -3.017009200649806, + -0.39967256784439087, + -0.1435406506061554, + 0.0 + ], + [ + 0.31114229559898376, + 0.07274537533521652, + 0.15894664824008942, + -3.004216181235858, + -0.35815250873565674, + -0.06671951711177826, + 0.0 + ], + [ + 0.3192201554775238, + 0.0867668017745018, + 0.14102712273597717, + -2.9995871057086667, + -0.3610662519931794, + -0.00046262241085059946, + 0.0 + ], + [ + 0.3294082283973694, + 0.09749998897314072, + 0.11952728778123856, + -2.978430377440997, + -0.32010701298713684, + 0.04476044699549674, + 0.0 + ], + [ + 0.34240859746932983, + 0.107297882437706, + 0.09615714848041534, + -2.958244817452975, + -0.30142080783843994, + 0.09862259775400162, + 0.0 + ], + [ + 0.3534969091415405, + 0.11230165511369705, + 0.07981905341148376, + -2.9524582495265683, + -0.2797693908214569, + 0.12724545598030093, + 0.0 + ], + [ + 0.3649563491344452, + 0.11562973260879517, + 0.0636722519993782, + -2.9596696515851697, + -0.27496281266212463, + 0.14995472133159637, + 0.0 + ], + [ + 0.3711961507797241, + 0.11808234453201294, + 0.05055259168148041, + -2.959502102928706, + -0.25822886824607855, + 0.16479110717773438, + 0.0 + ], + [ + 0.37405306100845337, + 0.11589453369379044, + 0.03578587993979454, + -2.970358761148997, + -0.24348071217536926, + 0.1731517165899277, + 0.0 + ], + [ + 0.37817448377609253, + 0.11114244908094406, + 0.03200289607048035, + -3.006529392796107, + -0.2594599723815918, + 0.16590754687786105, + 0.0 + ], + [ + 0.3758586347103119, + 0.11028411984443665, + 0.02834048494696617, + -3.008257048326083, + -0.25144764780998236, + 0.16337223351001742, + 0.0 + ], + [ + 0.37218084931373596, + 0.11437889188528061, + 0.029512789100408554, + -3.007895069318362, + -0.219761461019516, + 0.15099987387657163, + 1.0 + ], + [ + 0.3731798827648163, + 0.12340183556079865, + 0.02989044226706028, + -3.020765910046645, + -0.24592016637325287, + 0.1670329719781876, + 1.0 + ], + [ + 0.3732222616672516, + 0.12401586771011353, + 0.029950100928544998, + -3.016112135844775, + -0.24518102407455444, + 0.14953942596912387, + 1.0 + ], + [ + 0.37590816617012024, + 0.12462538480758667, + 0.030640222132205963, + -3.017705189185687, + -0.2633855044841767, + 0.14752377569675446, + 1.0 + ], + [ + 0.3746582567691803, + 0.12844973802566528, + 0.03164247050881386, + -3.0264622439914426, + -0.2653516232967376, + 0.1482214331626892, + 1.0 + ], + [ + 0.3754543960094452, + 0.1293279379606247, + 0.06398599594831467, + -3.0179790650778493, + -0.3246852457523346, + 0.1201992630958557, + 1.0 + ], + [ + 0.3661431074142456, + 0.1238735094666481, + 0.08917354047298431, + -3.015663819509097, + -0.3599763810634613, + 0.11560052633285522, + 1.0 + ], + [ + 0.3620136082172394, + 0.11308115720748901, + 0.11079923808574677, + -3.0276635383539876, + -0.3898657262325287, + 0.10669877380132677, + 1.0 + ], + [ + 0.35688281059265137, + 0.1041654497385025, + 0.13742628693580627, + -3.030176678793975, + -0.441586583852768, + 0.09548643976449968, + 1.0 + ], + [ + 0.3505346477031708, + 0.09587300568819046, + 0.16194143891334534, + -3.02968621452386, + -0.503059983253479, + 0.06627186387777328, + 1.0 + ], + [ + 0.35055193305015564, + 0.09569190442562103, + 0.16372984647750854, + -3.0283194949203214, + -0.5090242624282837, + 0.06328369677066803, + 1.0 + ], + [ + 0.3506301939487457, + 0.09571266919374466, + 0.1631723791360855, + -3.0286612530523023, + -0.5075196027755737, + 0.06345001608133317, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.061691224575042725, + 0.33987146615982056, + 0.5459140241146088, + 0.63640496134758, + 0.6627950072288513, + 0.6652155518531799, + 0.6652155518531799, + 0.6652155518531799, + 0.6652155518531799, + 0.6652155518531799, + 0.6676268577575684, + 0.6700286269187927, + 0.6700286269187927, + 0.6700286269187927, + 0.6700286269187927, + 0.6700286269187927, + 0.6700286269187927, + 0.6700286269187927, + 0.670827180147171, + 0.6700286269187927, + 0.5984903872013092, + 0.25917261838912964, + 0.024030208587646484, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "3290", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3290/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3294.json b/annotation/test/3294.json new file mode 100644 index 0000000000000000000000000000000000000000..02817cb43531b17003ebb064a73d0dce02a7e3b9 --- /dev/null +++ b/annotation/test/3294.json @@ -0,0 +1,603 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put cup on plate" + ], + "videos": [ + { + "video_path": "videos/test/3294/rgb.mp4" + } + ], + "action": [ + [ + -9.723653959875876e-05, + 0.0002892749446352373, + -2.953688071876974e-07, + -0.0018236376515445227, + -0.0006150087158987278, + -0.001000498322574804, + 1.0 + ], + [ + -0.0009402936016956846, + -0.001561899596237396, + 0.004338520886948097, + 0.007672470077056752, + -0.0004863816944701674, + -0.006283184348892586, + 1.0 + ], + [ + -0.00014994966142638938, + 0.020166581100755802, + -0.0013155712495291063, + -0.10612970421078818, + 0.04804341995552529, + -0.03628965243216058, + 1.0 + ], + [ + 0.0011864552033094894, + 0.022675583121665406, + 0.0044276033263322915, + -0.0037204476528328867, + 0.0032204526068018062, + 0.005250880163377482, + 1.0 + ], + [ + 0.0025113777495928886, + 0.01460437240809998, + 0.003160736506786172, + -0.0035149003835056197, + 0.0014900179418652815, + -0.006781544693615231, + 1.0 + ], + [ + 0.0007739194705420937, + 0.010071962945151041, + 0.00604077361012946, + 0.029911245751402925, + 0.0014968235605697668, + 0.0014317142604107138, + 1.0 + ], + [ + 0.0018986846989776486, + 0.005564660061996579, + 0.00757032080765202, + 0.06832388288114462, + -0.009419914107510986, + 0.022205994103877538, + 1.0 + ], + [ + -0.0026460073279987286, + 0.0025933079516954486, + 0.010336717937452783, + 0.0745185616252154, + -0.028537961441446005, + 0.04750380351805571, + 1.0 + ], + [ + -0.003125240523391254, + -0.0033043489236359753, + 0.002202364517622163, + 0.022769958784462658, + -0.02667931870260675, + 0.056231404370798974, + 1.0 + ], + [ + 0.0001650423642010963, + -0.00017849603227711706, + 0.0034375292883091816, + 0.01450150550046868, + -0.005348809379868025, + 0.023838347952721727, + 1.0 + ], + [ + 0.0013885535374784622, + 0.0018951722085692158, + 0.00014362656608448704, + -0.015529101503664792, + 0.0006459771074406381, + 0.021103304933163466, + 0.0 + ], + [ + -0.0003324802244225093, + -0.004884548264743488, + 0.0075152875445776935, + -0.018101573834263057, + 0.026618741902792144, + 0.029096039460248063, + 0.0 + ], + [ + -0.0012642451903758813, + -0.0071492200655417495, + -0.00589044083041171, + -0.03482707689801413, + 0.014130880743310103, + 0.009425361563291403, + 0.0 + ], + [ + -0.0006092652013810471, + -0.007625285027072488, + -0.01231142919804667, + -0.04894506714336272, + 0.009187645672805252, + 0.005986395148073638, + 0.0 + ], + [ + 0.0052368625122381045, + -0.000905547651399496, + -0.017389785560284546, + -0.04630521364050241, + 0.006054008375769517, + -0.0239847697323907, + 0.0 + ], + [ + 0.0009093273726528586, + -0.005413457809784746, + -0.006509535719583626, + 0.021533366006904964, + -0.0024726255119540204, + -0.015526521450091101, + 0.0 + ], + [ + 0.001991595993423962, + -0.012884012325058817, + 0.0005475343036171308, + 0.045977242399332596, + -0.050141040546374, + -0.008452722949625886, + 0.0 + ], + [ + 0.008211755845172893, + -0.008669384942729567, + -0.0036624908814773347, + 0.0383611328804337, + -0.033911180522476686, + -0.012695786051638862, + 0.0 + ], + [ + 0.006987727322260666, + -0.010194990616866932, + 0.0029174476159040583, + 0.0066464145502890225, + -0.03416271743688272, + 0.00998494285215427, + 0.0 + ], + [ + 0.0005015829528931919, + -0.009740543814641735, + 0.009066658900638593, + 0.04002585536695923, + -0.010597043732504077, + 0.010809070444460193, + 0.0 + ], + [ + -0.0007034511892248875, + -0.0013181359446110613, + 0.010499012640093763, + 0.021528269596898957, + -0.02262575425361414, + -0.002803270334402815, + 0.0 + ], + [ + -0.002000708845675303, + -0.0017718491578716813, + 0.009771468070145978, + -0.010017432135483298, + 0.02804649424904883, + 0.014657964201512667, + 0.0 + ], + [ + -0.001445103106229809, + 0.0020664382481300476, + 0.0025962504090136433, + -0.00019625164829336795, + -0.005111628200639416, + 0.005188598883406114, + 0.0 + ], + [ + -0.0024121873033461708, + 0.0009465063344235116, + 0.000256627058790297, + -0.0007190368742713681, + -0.005966656120101164, + -0.006710743899759763, + 0.0 + ], + [ + 0.00027189511201793315, + 0.001851506834669155, + -0.002212192925771671, + 0.003958614762404824, + 0.00605869254860154, + -0.0086322934977229, + 1.0 + ], + [ + -0.0009258817444357863, + -0.0015980320680603437, + -0.006336029703503843, + 0.025354561903118574, + 0.03952819382792591, + -0.0006723622840932061, + 1.0 + ], + [ + -0.006307450927452071, + 0.0017434366178966962, + -0.02713600047948912, + -0.045044796997485766, + 0.04165863065949466, + -0.007988407539825328, + 1.0 + ], + [ + -0.015930551960079094, + -0.0013926303770460868, + -0.019830228353509474, + -0.0006598952672327214, + -0.031532441492246, + -0.01768939802757785, + 1.0 + ], + [ + -0.00452526351483443, + 0.008561256650975207, + -0.018555556794880117, + -0.014723829879141904, + -0.001378656250003994, + -0.011722140549070373, + 1.0 + ], + [ + -0.0004754351677280222, + -0.000576241516207344, + -0.0004081949077233389, + 0.002252522192934505, + -0.002494389790033377, + -0.005314729117278484, + 1.0 + ] + ], + "state": [ + [ + 0.2368248552083969, + 0.10040716081857681, + 0.0855172798037529, + 2.990869643288203, + -0.1385753899812698, + 1.5573831796646118, + 1.0 + ], + [ + 0.23710940778255463, + 0.10030099004507065, + 0.08554715663194656, + 2.9889209737354, + -0.13781706988811493, + 1.55828857421875, + 1.0 + ], + [ + 0.23622167110443115, + 0.10000242292881012, + 0.08093529939651489, + 2.995745437341281, + -0.1363781988620758, + 1.5644822120666504, + 1.0 + ], + [ + 0.255977988243103, + 0.09915368258953094, + 0.08510804176330566, + 2.88365829189355, + -0.1785121709108353, + 1.6080222129821777, + 1.0 + ], + [ + 0.27898335456848145, + 0.10091181099414825, + 0.08679787069559097, + 2.8807073553376874, + -0.18296386301517487, + 1.6036943197250366, + 1.0 + ], + [ + 0.293823778629303, + 0.10374116897583008, + 0.08795610815286636, + 2.8759152015023908, + -0.18264982104301453, + 1.610748052597046, + 1.0 + ], + [ + 0.30506592988967896, + 0.10553105175495148, + 0.08496534079313278, + 2.9060089160972318, + -0.1844699531793594, + 1.609742522239685, + 1.0 + ], + [ + 0.3121224641799927, + 0.10878673940896988, + 0.07935409992933273, + 2.978825571137019, + -0.18044005334377292, + 1.5855590105056763, + 1.0 + ], + [ + 0.31636860966682434, + 0.10800140351057053, + 0.06925816833972931, + 3.0628519152575215, + -0.15973268449306488, + 1.5334086418151855, + 1.0 + ], + [ + 0.31314918398857117, + 0.10542503744363785, + 0.06633688509464264, + 3.095059437798806, + -0.1372852325439453, + 1.4747170209884644, + 1.0 + ], + [ + 0.3131917417049408, + 0.10605843365192413, + 0.06294974684715271, + 3.112895680713006, + -0.13301101326942444, + 1.4504414796829224, + 1.0 + ], + [ + 0.3152431845664978, + 0.10720856487751007, + 0.06304549425840378, + 3.1001932082050523, + -0.1342324763536453, + 1.4291740655899048, + 0.0 + ], + [ + 0.31081876158714294, + 0.10854896157979965, + 0.055359356105327606, + 3.08588548948104, + -0.16197945177555087, + 1.4008443355560303, + 0.0 + ], + [ + 0.3030996322631836, + 0.10771046578884125, + 0.060566939413547516, + 3.0524676760011396, + -0.1766071021556854, + 1.392085075378418, + 0.0 + ], + [ + 0.2940788269042969, + 0.10666236281394958, + 0.0718635767698288, + 3.0044398327642163, + -0.1862887442111969, + 1.3868498802185059, + 0.0 + ], + [ + 0.29122135043144226, + 0.10920656472444534, + 0.08964028209447861, + 2.953537883358546, + -0.18894997239112854, + 1.4118825197219849, + 0.0 + ], + [ + 0.2847500741481781, + 0.11012429744005203, + 0.09509801119565964, + 2.9722660054736814, + -0.18359749019145966, + 1.426925778388977, + 0.0 + ], + [ + 0.27262455224990845, + 0.11435959488153458, + 0.09279627352952957, + 3.018051141994544, + -0.13274970650672913, + 1.4267997741699219, + 0.0 + ], + [ + 0.2647829055786133, + 0.12337803840637207, + 0.09642687439918518, + 3.0552256276183805, + -0.097527913749218, + 1.4352535009384155, + 0.0 + ], + [ + 0.2559579908847809, + 0.131972536444664, + 0.09333929419517517, + 3.0630869438224515, + -0.06434573978185654, + 1.4223383665084839, + 0.0 + ], + [ + 0.24722476303577423, + 0.13442210853099823, + 0.08358919620513916, + 3.1038611141317567, + -0.05462468042969703, + 1.4107147455215454, + 0.0 + ], + [ + 0.24629516899585724, + 0.13444368541240692, + 0.07302524894475937, + 3.125273401039191, + -0.03190918266773224, + 1.4126628637313843, + 0.0 + ], + [ + 0.24443745613098145, + 0.13303154706954956, + 0.06316732615232468, + 3.1157049780064305, + -0.06018790975213051, + 1.3984445333480835, + 0.0 + ], + [ + 0.24631763994693756, + 0.13139526546001434, + 0.06054311245679855, + 3.1158291978114327, + -0.055211447179317474, + 1.3931173086166382, + 0.0 + ], + [ + 0.246832013130188, + 0.12886887788772583, + 0.06017819419503212, + 3.114748105528303, + -0.04907271265983582, + 1.3996798992156982, + 0.0 + ], + [ + 0.24862466752529144, + 0.12872213125228882, + 0.062449902296066284, + 3.1182753556692084, + -0.05489562451839447, + 1.4084848165512085, + 1.0 + ], + [ + 0.2466970533132553, + 0.12775087356567383, + 0.06868666410446167, + -3.1396614569290584, + -0.09439732134342194, + 1.4100849628448486, + 1.0 + ], + [ + 0.24705567955970764, + 0.11874056607484818, + 0.0951039269566536, + 3.097728347527333, + -0.13606832921504974, + 1.4180597066879272, + 1.0 + ], + [ + 0.24201221764087677, + 0.1008370891213417, + 0.11251050233840942, + 3.0948309545689305, + -0.10377249121665955, + 1.4344286918640137, + 1.0 + ], + [ + 0.2487468719482422, + 0.09339003264904022, + 0.1308753490447998, + 3.0788977464013776, + -0.10184034705162048, + 1.4461342096328735, + 1.0 + ], + [ + 0.2480873465538025, + 0.09295796602964401, + 0.13119637966156006, + 3.0806249623470983, + -0.09901651740074156, + 1.4513075351715088, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.05621075630187988, + 0.3138011693954468, + 0.6211150288581848, + 0.7925471663475037, + 0.8056461066007614, + 0.7801748365163803, + 0.7770123332738876, + 0.7770123332738876, + 0.7770123332738876, + 0.7770123332738876, + 0.7770123332738876, + 0.7770123332738876, + 0.7770123332738876, + 0.7770123332738876, + 0.7218906283378601, + 0.4517979621887207, + 0.1527683138847351, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "3294", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3294/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3302.json b/annotation/test/3302.json new file mode 100644 index 0000000000000000000000000000000000000000..3cd44fcbb046fe8284f06ad4e3edf34d863aa08d --- /dev/null +++ b/annotation/test/3302.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "move faucet front to left" + ], + "videos": [ + { + "video_path": "videos/test/3302/rgb.mp4" + } + ], + "action": [ + [ + -0.0001493551135181449, + -0.0001920011342951993, + -2.0338322590935365e-07, + 0.0012107526654897632, + -0.0009418966157280332, + -5.773482249291518e-07, + 1.0 + ], + [ + 0.004462871317777328, + 0.0063895302354580645, + 0.007296692702848641, + -0.0001779054267676504, + -0.03751848874437678, + -0.005853938892957281, + 1.0 + ], + [ + 0.019397147109749126, + 0.018238510298142083, + 0.013504390865209595, + -0.008395156596364344, + -0.027869036384030127, + -0.015706858713870647, + 1.0 + ], + [ + 0.02002441933897622, + 0.025644721472034504, + 0.025992225387602465, + 0.05205528940050345, + -0.04981052766258739, + 0.0013216249780435801, + 1.0 + ], + [ + 0.013216507523775303, + 0.013073843200857438, + -0.0018041115791831998, + 0.005061532474003151, + -0.01031211898720122, + -0.016164574010796247, + 1.0 + ], + [ + 0.01020533791037523, + 0.004777293535502544, + -0.0017036409585738067, + -0.0057646800018575205, + -0.006099852732103004, + -0.02219455221242347, + 1.0 + ], + [ + 0.02101013424811354, + -0.008963130204611664, + 0.007180917288812488, + 0.019967942715476278, + -0.00304962170831948, + -0.022670389861809553, + 1.0 + ], + [ + 0.023472825552418992, + -0.020690491673201444, + 0.0058913740121507045, + 0.02695195581055337, + 0.010132171403951238, + -0.06451384187331584, + 1.0 + ], + [ + 0.010840395624177695, + -0.009497837528043807, + 0.0024455633043415108, + -0.0012400479513676765, + 0.0022180858740233323, + -0.03626278363945606, + 1.0 + ], + [ + 0.0008876586512916033, + 0.022067638761130715, + 0.00912917800288334, + 6.449238273739734e-05, + -0.021874716128833672, + 0.04046426909627208, + 1.0 + ], + [ + 0.007472416152558376, + 0.024221575190601162, + 0.0017716631494074217, + -0.019539615678868482, + -0.008467240607055969, + 0.025256538282258382, + 1.0 + ], + [ + 0.009871135812206664, + 0.015468792000051664, + 0.0010607556290456886, + -0.0009431272594952859, + 0.0028277600762255397, + 0.007576846284086741, + 1.0 + ], + [ + 0.006703067179667457, + 0.007414337582089727, + 0.0021257333153876378, + 0.005347825588061799, + -0.003366592397356562, + -0.004056245835978156, + 1.0 + ], + [ + 0.006421109573468998, + -0.007431321133854966, + -0.0007950550823874532, + 0.00950626237257713, + 0.005441603203303174, + -0.025866224733431496, + 1.0 + ], + [ + 0.02153315064441313, + -0.027184997922098355, + 0.004803997775529361, + 0.03234057903324793, + 0.0027182221583006635, + -0.07693648711126869, + 1.0 + ], + [ + 0.01912495256404347, + -0.029844844673872453, + 0.00893939452340426, + 0.016736590501108085, + -0.012348410137436682, + -0.06640786458228412, + 1.0 + ], + [ + 0.01071304039635226, + -0.013598736933791116, + 0.0077652701516597545, + 0.015841788305179114, + -0.005152239079335247, + -0.024282321195152164, + 1.0 + ], + [ + 0.011443469703415482, + -0.013496244951857516, + 0.005093071472361815, + -0.0020873148544429832, + -0.0034195557002439877, + -0.01792721235172144, + 1.0 + ], + [ + 0.01929774632732431, + -0.02459695487674526, + 0.012722684867045522, + 0.011725069113208307, + -0.012443406906926288, + -0.07283260117774296, + 1.0 + ], + [ + 0.0332365333135604, + -0.07749967774761327, + 0.015213699615767108, + 0.05785193574909375, + -0.0022387348724479798, + -0.23105818977304457, + 1.0 + ], + [ + 0.0303024715914577, + -0.057309620447666736, + 0.02233238916160071, + 0.040230069721382905, + -0.04179714184157441, + -0.13658718850349136, + 1.0 + ], + [ + 0.005940271197388544, + -0.012575802269715965, + 0.011467677743210372, + 0.0040424328571196854, + -0.01703133441611628, + 0.032432339492622295, + 1.0 + ], + [ + -0.03627188150836573, + -0.011743093056985, + -0.009159623463646151, + -0.04682746143445458, + 0.0029760948440358103, + 0.10246442835609358, + 1.0 + ] + ], + "state": [ + [ + 0.1593354344367981, + -0.0727570429444313, + 0.28806272149086, + -2.985280068712779, + -0.09455855190753937, + 0.3905656039714813, + 1.0 + ], + [ + 0.15912312269210815, + -0.07263938337564468, + 0.28807857632637024, + -2.984083207445689, + -0.09362822771072388, + 0.3907134532928466, + 1.0 + ], + [ + 0.1659086048603058, + -0.0754314437508583, + 0.2803231477737427, + -2.9852528144889554, + -0.05748622864484787, + 0.4023941159248352, + 1.0 + ], + [ + 0.1908143162727356, + -0.08212590962648392, + 0.26528483629226685, + -2.9947590996795377, + -0.0323912613093853, + 0.42225322127342224, + 1.0 + ], + [ + 0.21877886354923248, + -0.093204565346241, + 0.23648427426815033, + -2.9427166899018964, + 0.017076771706342697, + 0.42823293805122375, + 1.0 + ], + [ + 0.2362576276063919, + -0.09970591217279434, + 0.23544429242610931, + -2.93737122614915, + 0.023989489302039146, + 0.44612076878547663, + 1.0 + ], + [ + 0.24764412641525269, + -0.09982851147651672, + 0.2358986735343933, + -2.942635567980357, + 0.025455506518483165, + 0.46909844875335693, + 1.0 + ], + [ + 0.26164522767066956, + -0.08129073679447174, + 0.23009788990020752, + -2.922138111787387, + 0.023957999423146248, + 0.4919309020042419, + 1.0 + ], + [ + 0.27215835452079773, + -0.05129099637269974, + 0.2282901257276535, + -2.8941315581374845, + -1.1511927368701436e-05, + 0.5526822209358215, + 1.0 + ], + [ + 0.2762361466884613, + -0.03725270926952362, + 0.22824561595916748, + -2.895522730546542, + -0.011042597703635693, + 0.5872982740402223, + 1.0 + ], + [ + 0.2877332270145416, + -0.05263926088809967, + 0.2140265554189682, + -2.8951680829101285, + 0.020034661516547203, + 0.5533878207206726, + 1.0 + ], + [ + 0.30607759952545166, + -0.06840935349464417, + 0.20625168085098267, + -2.9152115007215222, + 0.03440162539482117, + 0.5309480428695679, + 1.0 + ], + [ + 0.3219633102416992, + -0.07628602534532547, + 0.20140913128852844, + -2.9164370467239102, + 0.0333455316722393, + 0.5229253768920898, + 1.0 + ], + [ + 0.33103206753730774, + -0.07885252684354782, + 0.19746033847332, + -2.910933481650897, + 0.03572119399905205, + 0.5276338458061218, + 1.0 + ], + [ + 0.33310168981552124, + -0.06948357820510864, + 0.19970238208770752, + -2.9006359448009214, + 0.024500492960214615, + 0.5515772700309753, + 1.0 + ], + [ + 0.3370389938354492, + -0.03471861779689789, + 0.2009963095188141, + -2.867155226069041, + 0.0034507785458117723, + 0.6256365776062012, + 1.0 + ], + [ + 0.3342977464199066, + 0.0017304880311712623, + 0.2004135698080063, + -2.8508019765191754, + -0.002653358271345496, + 0.6929048299789429, + 1.0 + ], + [ + 0.33280348777770996, + 0.020316176116466522, + 0.19690163433551788, + -2.835113437967845, + -0.004677837248891592, + 0.7176451086997986, + 1.0 + ], + [ + 0.3319549560546875, + 0.03869517520070076, + 0.19617129862308502, + -2.8373356481366834, + -0.00682525336742401, + 0.7357690334320068, + 1.0 + ], + [ + 0.32797613739967346, + 0.07189067453145981, + 0.1915336549282074, + -2.8269268592172345, + -0.01673409342765808, + 0.8089930415153503, + 1.0 + ], + [ + 0.29407188296318054, + 0.1499376893043518, + 0.2016078233718872, + -2.780640723305293, + -0.08513034135103227, + 1.0300384759902954, + 1.0 + ], + [ + 0.25691503286361694, + 0.20753134787082672, + 0.20353317260742188, + -2.756039412813731, + -0.09321817010641098, + 1.1731805801391602, + 1.0 + ], + [ + 0.24469798803329468, + 0.2196725606918335, + 0.1982152760028839, + -2.7498458345704755, + -0.06521515548229218, + 1.1494908332824707, + 1.0 + ], + [ + 0.2228379100561142, + 0.18888108432292938, + 0.20877322554588318, + -2.7923266013436994, + -0.028605867177248, + 1.0536326169967651, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105, + 0.013436198234558105 + ], + "episode_id": "3302", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3302/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3312.json b/annotation/test/3312.json new file mode 100644 index 0000000000000000000000000000000000000000..e58fc7d5e6f2fec388c68e8f705d49705f9a068e --- /dev/null +++ b/annotation/test/3312.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the knife to the back right corner of the table" + ], + "videos": [ + { + "video_path": "videos/test/3312/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -7.447502722782632e-10, + -8.055495766570639e-10, + -0.003067954194901873, + 1.0 + ], + [ + -0.002755610078332981, + -7.032456757036576e-05, + 0.00511440397596274, + -0.0029448838657632633, + -0.021324178224650603, + 0.008358631868113166, + 1.0 + ], + [ + -0.010883690805002094, + -0.02906595398840855, + 0.004999977070095229, + 0.026966440050886956, + -0.008571454476425993, + -0.04704140872340649, + 1.0 + ], + [ + -0.010316411094246213, + -0.032846435133818574, + 0.014576093487174747, + 0.04349237042839589, + -0.03207580270595547, + 0.009370174123059493, + 1.0 + ], + [ + -0.0003197402827658701, + -0.02055809397506029, + 0.013769685919577695, + 0.023534764674431906, + 0.003121961772974913, + 0.010148203753614493, + 1.0 + ], + [ + 0.006858980967834581, + -0.005415940616694365, + 0.013800202238971345, + 0.002397706888117872, + 0.02171348110206955, + 0.06418437224980333, + 1.0 + ], + [ + -0.0009044875289679977, + -0.006261116534004136, + 0.017869703984420036, + -0.01979179003448675, + -0.010432430143152321, + 0.018873765570261335, + 1.0 + ], + [ + 0.00114070068480069, + -0.010672123498229059, + 0.007862370502033714, + -0.012850122774381448, + 0.014105939719675739, + 0.04416920122386374, + 1.0 + ], + [ + -0.0038879691421488255, + -0.015700107694484895, + 0.009196429353051696, + -0.029109729171692546, + 0.0007234359026620029, + 0.01986795215368751, + 1.0 + ], + [ + -0.0022005059858049964, + -0.008003260991225492, + 0.004369409898208328, + -0.00951015492697499, + -0.008304378086049653, + -0.009577603535224943, + 1.0 + ], + [ + 0.00016670229495281, + -0.0006670040450721571, + 0.00044405819559659767, + 0.003770624122287987, + 0.0005846170835097726, + -0.0010012661117638922, + 1.0 + ], + [ + 0.002337431002877804, + 0.007921064741869495, + 0.0036669510445623337, + 0.007234537075702697, + -0.006216602512442442, + 0.012249915533701222, + 1.0 + ], + [ + 0.001568381338305731, + 0.009567753501839337, + 0.004346419849672396, + -0.0016481246460789969, + -0.011884161101173093, + 0.024459997348160227, + 1.0 + ], + [ + 0.0028770659061404342, + 0.008020143323858246, + 0.002570495920177107, + 0.0034145104425963245, + -0.0036025235240074397, + 0.016198654264485076, + 1.0 + ], + [ + 0.0010122893022298004, + -2.2529008752505594e-05, + 0.0002180699673048081, + 0.00723630320045279, + 0.0021253122486880444, + 0.002876999472167288, + 1.0 + ], + [ + 0.00033320743387261077, + 0.0003898220059329082, + -8.29488003788075e-07, + -0.0024490641571499145, + 0.00211213110913378, + 0.004393316422707485, + 1.0 + ], + [ + 0.00015904602015990983, + 0.0009878474055686783, + 2.2974325785505226e-05, + -0.010108280139235416, + 0.004688527588504855, + 0.0028893571278540654, + 0.0 + ], + [ + -0.0030079533462365306, + 0.0011426358202289624, + -0.0015233873160578795, + -0.016952327819313905, + -0.009871796441061991, + -0.01571780956752305, + 0.0 + ], + [ + -0.002063022631008759, + 0.00518340533956701, + -0.04660022503025177, + 0.016869365868930834, + 0.037746506051445826, + -0.051800857391679195, + 0.0 + ], + [ + 0.01638668059530996, + 0.0376507317339012, + -0.049596801670826605, + 0.006688408279561752, + 0.047880071277065984, + 0.038267414204917735, + 0.0 + ], + [ + 0.025997417348832305, + 0.04619132415402021, + -0.017131738989103085, + -0.021190595196240194, + 0.005730228165801371, + 0.08133148289737807, + 0.0 + ], + [ + 0.02488835021628439, + 0.04353881465016047, + 0.013200976776947211, + -0.00953157625285964, + -0.026220993391426684, + 0.027090608175973627, + 0.0 + ], + [ + 0.02548010008797187, + 0.04136722082227999, + 0.02293440049451356, + 0.009514409518782853, + -0.03285601038848792, + -0.00039108045936477737, + 0.0 + ], + [ + 0.018396733082242548, + 0.03516001282703252, + 0.03249486635518847, + -0.002669054668830169, + -0.04580524527703589, + -0.004573798304203133, + 0.0 + ], + [ + 0.011927055265545543, + 0.011258877414191541, + 0.027368050649800454, + 0.007207041958195394, + -0.018306730176677215, + 0.03713163987860821, + 0.0 + ], + [ + 0.01661711435812521, + 0.006307178712247973, + 0.018420004502299678, + 0.0116009349314465, + 0.013812115754142741, + 0.0153015582684414, + 0.0 + ], + [ + 0.015053097818258945, + 0.00325758299657954, + 0.005882542138924738, + -0.013506228273056144, + 0.0473274451209032, + 0.022826061674376376, + 0.0 + ], + [ + 0.006167539127396407, + 0.0024298578208113842, + 0.00026124321531756345, + -0.018980939163029873, + 0.011991845522206175, + -0.0004653199744504004, + 0.0 + ], + [ + -0.0022795789503709776, + 0.0021468123919988454, + 0.0005889486468221405, + -0.013154330987369033, + 0.00465504338189309, + 0.0016939542315515747, + 0.0 + ], + [ + -0.001222239336810587, + 0.0024757702031858175, + -0.02241219289907082, + -0.019471043781091876, + 0.04172500418941621, + -0.003091485342965392, + 1.0 + ], + [ + -8.208505469007297e-05, + -0.010378575680386616, + -0.03779916783670927, + -0.010322169883063309, + 0.053284988400069455, + -0.012258733754485617, + 1.0 + ], + [ + -0.014512379772555381, + -0.02609129850936738, + -0.05400724546585913, + 0.008950122912124927, + 0.059184163625691726, + -0.07342700872616956, + 1.0 + ], + [ + -0.029811575423023578, + -0.030856063935918304, + -0.025328173008745247, + 0.06901678028281692, + -0.037166803801457114, + -0.0875624093157419, + 1.0 + ], + [ + -0.03936646828784975, + -0.03609283290179951, + -0.00018807162802155517, + 0.0414406991937824, + -0.019407753934260873, + -0.08066409050419492, + 1.0 + ], + [ + -0.015382626300969171, + -0.013606361726130852, + 0.006711348908095329, + -0.014309228335841107, + -0.019704635104168318, + 0.0011457614981359781, + 1.0 + ], + [ + -0.00036749285292460434, + -0.0014859381128498764, + 0.0019522680334019568, + -0.015344884251253547, + -0.0020087606151021555, + 0.019777381317417225, + 1.0 + ], + [ + -0.004630027059070158, + -0.001965645885913711, + 0.01385781941676534, + -0.0583057614611708, + -0.06118129056944035, + 0.038882000436377066, + 1.0 + ], + [ + -0.0003656341878482605, + -0.0004455657405316247, + -2.4937274639210908e-05, + -0.0016521485852994925, + -0.0009728071923605347, + 0.0024220306654220824, + 1.0 + ] + ], + "state": [ + [ + 0.24787703156471252, + 0.04474932327866554, + 0.1167152151465416, + -3.127043478312441, + -0.07844422757625578, + -0.021433180198073387, + 1.0 + ], + [ + 0.24787703156471252, + 0.04474932327866554, + 0.1167152151465416, + -3.127284680614718, + -0.07848849147558212, + -0.018356077373027798, + 1.0 + ], + [ + 0.24553382396697998, + 0.04493585601449013, + 0.11140201985836029, + -3.129594361531087, + -0.05704436078667641, + -0.026419987902045246, + 1.0 + ], + [ + 0.23570606112480164, + 0.07432958483695984, + 0.1061381846666336, + -3.1053307001763066, + -0.048974305391311646, + 0.02077588625252247, + 1.0 + ], + [ + 0.22536601126194, + 0.10747521370649338, + 0.09227348864078522, + -3.0614193623238286, + -0.016578247770667076, + 0.01257828436791897, + 1.0 + ], + [ + 0.22497494518756866, + 0.1290668398141861, + 0.08019083738327026, + -3.037716658907481, + -0.018876561895012856, + 0.0022108389530330896, + 1.0 + ], + [ + 0.2320660948753357, + 0.13590021431446075, + 0.06715840846300125, + -3.0342747812443456, + -0.033781543374061584, + -0.06390583515167236, + 1.0 + ], + [ + 0.23226000368595123, + 0.14404360949993134, + 0.050041355192661285, + -3.0534813200407704, + -0.021382365375757214, + -0.08155641704797743, + 1.0 + ], + [ + 0.23446594178676605, + 0.15522365272045135, + 0.04317456856369972, + -3.065445663528987, + -0.03152628615498543, + -0.12681476771831512, + 1.0 + ], + [ + 0.23292888700962067, + 0.1719062328338623, + 0.03508055955171585, + -3.093943992751189, + -0.03073007985949516, + -0.14668956398963928, + 1.0 + ], + [ + 0.23207299411296844, + 0.1803240329027176, + 0.03103157877922058, + -3.103761037933179, + -0.02288978174328804, + -0.13672499358654025, + 1.0 + ], + [ + 0.2323407232761383, + 0.1809769570827484, + 0.030616991221904755, + -3.1000128259235105, + -0.023511840030550957, + -0.1357462853193283, + 1.0 + ], + [ + 0.23369862139225006, + 0.1729576289653778, + 0.026680003851652145, + -3.092498770105191, + -0.01678973250091076, + -0.14772863686084747, + 1.0 + ], + [ + 0.23395438492298126, + 0.16347375512123108, + 0.021896300837397575, + -3.0937570576840123, + -0.0037148746196180586, + -0.1715742349624634, + 1.0 + ], + [ + 0.23545323312282562, + 0.15520843863487244, + 0.018955951556563377, + -3.0902889055484017, + 0.0006585479713976383, + -0.18758197128772736, + 1.0 + ], + [ + 0.23645390570163727, + 0.1550527811050415, + 0.018738657236099243, + -3.0830546786361417, + -0.0013164349365979433, + -0.1905641704797745, + 1.0 + ], + [ + 0.2367073893547058, + 0.15460750460624695, + 0.018717117607593536, + -3.085498271631547, + -0.003167906776070595, + -0.19507354497909546, + 1.0 + ], + [ + 0.23667272925376892, + 0.15361030399799347, + 0.018639300018548965, + -3.0955962409549436, + -0.007687052711844444, + -0.19822128117084503, + 0.0 + ], + [ + 0.23347412049770355, + 0.1530171036720276, + 0.020085372030735016, + -3.1126765107088765, + 0.0014526299200952053, + -0.1820668876171112, + 0.0 + ], + [ + 0.2303294539451599, + 0.14695778489112854, + 0.06651920080184937, + -3.0957500507407865, + -0.03777699917554855, + -0.13138093054294586, + 0.0 + ], + [ + 0.23954790830612183, + 0.10550890117883682, + 0.11492326855659485, + -3.087514927732297, + -0.08382264524698257, + -0.171901673078537, + 0.0 + ], + [ + 0.2558188736438751, + 0.054930392652750015, + 0.13165858387947083, + -3.102041905867406, + -0.0848742425441742, + -0.25371858477592474, + 0.0 + ], + [ + 0.27025848627090454, + 0.006781736854463816, + 0.11890991032123566, + -3.1093630140000066, + -0.057573940604925156, + -0.2797848582267761, + 0.0 + ], + [ + 0.28483515977859497, + -0.039656031876802444, + 0.09616076946258545, + -3.099914690601178, + -0.024747541174292564, + -0.27833518385887146, + 0.0 + ], + [ + 0.2940457761287689, + -0.07741545140743256, + 0.06269476562738419, + -3.1027012077444276, + 0.020827848464250565, + -0.2718608677387238, + 0.0 + ], + [ + 0.30223962664604187, + -0.09027421474456787, + 0.034667275846004486, + -3.0962717850976667, + 0.040550362318754196, + -0.30827590823173523, + 0.0 + ], + [ + 0.31567999720573425, + -0.10029061138629913, + 0.015322152525186539, + -3.085317524271556, + 0.027440508827567104, + -0.32419210672378546, + 0.0 + ], + [ + 0.3288554251194, + -0.10780030488967896, + 0.008854965679347515, + -3.099477270739623, + -0.018537132069468495, + -0.34962260723114014, + 0.0 + ], + [ + 0.33382734656333923, + -0.11218539625406265, + 0.008606034331023693, + -3.118454437824436, + -0.030537934973835945, + -0.34966263175010676, + 0.0 + ], + [ + 0.33097442984580994, + -0.11341506242752075, + 0.007898269221186638, + -3.1315535252266606, + -0.035152491182088845, + -0.3514649271965027, + 0.0 + ], + [ + 0.3281591832637787, + -0.11525922268629074, + 0.030227692797780037, + 3.1320752539956054, + -0.07690630108118057, + -0.3487871289253235, + 1.0 + ], + [ + 0.32903000712394714, + -0.10415007919073105, + 0.06780863553285599, + 3.120751205953308, + -0.13006590306758878, + -0.33593082427978516, + 1.0 + ], + [ + 0.31786948442459106, + -0.07143102586269379, + 0.11892667412757874, + 3.1198783946507653, + -0.1873414516448975, + -0.2600829005241394, + 1.0 + ], + [ + 0.29320210218429565, + -0.03237532079219818, + 0.13759523630142212, + -3.1105358732217034, + -0.14757721126079562, + -0.17245678603649137, + 1.0 + ], + [ + 0.2608412206172943, + 0.009874221868813038, + 0.1331012099981308, + -3.0812244174354753, + -0.13019192218780518, + -0.090547576546669, + 1.0 + ], + [ + 0.24767598509788513, + 0.025113586336374283, + 0.12527568638324738, + -3.0955278259986123, + -0.11045406013727188, + -0.0905020162463188, + 1.0 + ], + [ + 0.24766108393669128, + 0.026695668697357178, + 0.1233648732304573, + -3.10870153282816, + -0.10751533508300781, + -0.11028007417917252, + 1.0 + ], + [ + 0.2448224574327469, + 0.02944508008658886, + 0.10916195064783096, + 3.1201745217018804, + -0.04501603543758392, + -0.14709345996379852, + 1.0 + ], + [ + 0.24452582001686096, + 0.02993989735841751, + 0.10916087031364441, + 3.118632439645477, + -0.04409518837928773, + -0.1495381444692612, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.019044101238250732, + 0.11723887920379639, + 0.4170845150947571, + 0.494731068611145, + 0.494731068611145, + 0.494731068611145, + 0.494731068611145, + 0.494731068611145, + 0.494731068611145, + 0.494731068611145, + 0.494731068611145, + 0.494731068611145, + 0.494731068611145, + 0.494731068611145, + 0.42206674814224243, + 0.12159121036529541, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "3312", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3312/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3316.json b/annotation/test/3316.json new file mode 100644 index 0000000000000000000000000000000000000000..0461eb7f507e66233204b7adad6afda8cce07b2a --- /dev/null +++ b/annotation/test/3316.json @@ -0,0 +1,869 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the brush and place it to the left of the pot." + ], + "videos": [ + { + "video_path": "videos/test/3316/rgb.mp4" + } + ], + "action": [ + [ + 0.00023436079071178, + -6.524128329972748e-05, + -1.91716257372837e-07, + 0.0004091335461417913, + 0.0014784137947406336, + -0.0015336525842464, + 1.0 + ], + [ + -0.0016308056828311754, + 0.0013807222864519301, + 0.009925397939089066, + -0.006986224604788217, + -0.025151959900967087, + -0.0048173024990508075, + 1.0 + ], + [ + 0.013670321057200374, + 0.0241482091830986, + 0.005087577619769459, + 0.00620840877055287, + 0.0655993129790579, + 0.017885556246499356, + 1.0 + ], + [ + 0.011462563652974963, + 0.03058746558323659, + 0.01906672616641004, + -0.01358743888718689, + 0.0049134648431843776, + 0.038274276871407165, + 1.0 + ], + [ + 0.013745499645760963, + 0.02653913921674382, + 0.018622954933364185, + 0.002397401847424291, + -0.014139153330299217, + 0.027802587480339442, + 1.0 + ], + [ + 0.012931035164013964, + 0.004972481405998628, + 0.020597155054801183, + -0.0015979591876996492, + -0.04733726537856302, + -0.021270966991948928, + 1.0 + ], + [ + 0.015366396854024363, + 0.000837472731377496, + 0.016467534232118435, + 0.0059309533248549625, + -0.026027233887275947, + -0.02232159157354008, + 1.0 + ], + [ + 0.005942418997237711, + -0.0012552581484795904, + 0.006684725813156237, + 0.008141828432603498, + -0.01068105913870504, + -0.007883460551158336, + 1.0 + ], + [ + -6.010861633285668e-05, + 0.00028536897107520027, + 0.0023895577678621866, + -0.0013869393934575279, + -0.0030872730792364782, + -0.0067060734795109135, + 1.0 + ], + [ + 0.0016718116553022645, + 0.0021777227336341287, + -1.788869347234198e-05, + -0.017610435193591584, + 0.010290742468819104, + -0.014345882164428293, + 1.0 + ], + [ + 0.0001568081154697972, + -0.002015167153063675, + 0.0006529798900173875, + -0.028350420921379876, + 0.0022754468763699857, + -0.030413381698351467, + 1.0 + ], + [ + -0.002178756156843446, + -0.00012119345378637414, + 0.0089274588863982, + -0.018565889730881368, + -0.020182227815331102, + -0.021186919027853048, + 1.0 + ], + [ + -0.0013909340253292636, + -8.284761439430841e-05, + 0.0051698849371875815, + -0.0007102069811931075, + -0.009208315292747684, + -0.010610242699005977, + 1.0 + ], + [ + -0.004747030428317841, + -0.0010448775172616387, + 0.01292067323370588, + 0.006998114552646559, + -0.03359945823892006, + 0.001516723490650681, + 1.0 + ], + [ + -0.0023570088780097143, + -0.0010503525537439377, + 0.0020370588679787787, + 0.005666065400148824, + -0.0043869508845014666, + -0.007996761986534642, + 0.0 + ], + [ + -0.0016251502587700632, + -0.0012298805357267035, + 0.0020314034172094716, + 0.006745393846456659, + 0.00030402479864590284, + -0.004013957671052251, + 0.0 + ], + [ + -0.0019016236013634535, + 0.0009148035984963884, + -0.0005911254134390898, + -0.006559213135511975, + 0.0028373498761139087, + 0.008114735027297563, + 0.0 + ], + [ + -0.005477673592333126, + 0.0006188120065894768, + -0.002635253398910955, + -0.004980303037899267, + -0.004746240190105416, + 0.0027569608420993335, + 0.0 + ], + [ + -0.004829361968544379, + 0.0029318276561642667, + -0.014190544024718739, + -0.017903387871171756, + 0.027332189969091696, + 0.00856079271580248, + 0.0 + ], + [ + -0.0015153456297324298, + 0.004465532961841045, + -0.028407815517573758, + -0.024299665931811827, + 0.07554074253575671, + 0.020280528528469337, + 0.0 + ], + [ + -0.0024017126272311245, + -0.004347841942490754, + -0.01708011808020342, + -0.02585672910230181, + 0.04520716608435819, + 0.0015047805802357104, + 0.0 + ], + [ + 0.00011074505240711242, + -0.014027877804152674, + -0.00985733931168458, + 0.002584414187840716, + 0.018444622728257153, + 0.0005210656885978187, + 0.0 + ], + [ + 0.0009836623202348147, + -0.024654337360776667, + -0.009358460460844811, + 0.017307808882988447, + -0.011554412325632365, + 0.04695512533292046, + 0.0 + ], + [ + 0.001227510680778286, + -0.038186645639967806, + 0.0005362269430559627, + 0.04769957484940134, + -0.041100008343607004, + 0.10247845286437822, + 0.0 + ], + [ + -0.005539682155564319, + -0.032988327406130155, + 0.0021172936893159204, + 0.05792349207991102, + -0.032878294816118335, + 0.06293681984960905, + 0.0 + ], + [ + -0.011386328786657934, + -0.0211374372128827, + 0.0008821833105722092, + 0.007938576897579454, + -0.027059681067528242, + 0.047504554998386635, + 0.0 + ], + [ + -0.010466256515316722, + -0.016015612035490706, + -4.1494556194789965e-05, + 0.014706677255088797, + -0.009911673091630163, + 0.02670114597444985, + 0.0 + ], + [ + -0.014080185037201461, + -0.012720363906875788, + 0.014735687812589968, + -0.05859305184790867, + -0.037983438710176794, + -0.002728277607154612, + 0.0 + ], + [ + -0.00883902395453935, + -0.022238966575620814, + 0.00872650994587351, + -0.013649126206225675, + -0.0032197140968339027, + -0.05025512471574739, + 0.0 + ], + [ + -0.0015008709379239183, + -0.018440422047345306, + 0.004584374036304225, + 0.0015692231294920911, + -0.007529253615869184, + -0.01762782989821599, + 0.0 + ], + [ + -0.00014314549485656053, + -0.004305497913992683, + 0.012748025186890086, + -0.00131879933899425, + -0.03240010059628474, + 0.03352630464538549, + 0.0 + ], + [ + -0.0007547267002514603, + 0.0061133810599627355, + 0.008023634379450164, + 0.00686319679192168, + -0.01477821577577367, + 0.04915911549199886, + 0.0 + ], + [ + 0.003954838059720169, + 0.01035797402507245, + 0.010376575307201392, + 0.005167136667943688, + -0.02236556160357386, + 0.03545358674375488, + 0.0 + ], + [ + -0.0010065416305638257, + -0.0028432754654735847, + 0.005631206178911974, + 0.015843724464205632, + -0.016866722808948555, + -0.0032181599468551476, + 0.0 + ], + [ + -0.0015749098791241894, + -9.989512593207643e-06, + 0.004280839695300805, + -0.004604048571718124, + -0.012504784031022677, + -0.011693189640932161, + 1.0 + ], + [ + -0.0012759497139915295, + 0.0031565937794840676, + 0.0031291942074452885, + -0.0022636264793478196, + -0.0036810796767430356, + 0.0021837790500388045, + 1.0 + ], + [ + -0.005387599306957708, + 0.012446152375809968, + -0.017780755774437253, + -0.0013968536447977874, + 0.06015609753926747, + -0.027961244557992183, + 1.0 + ], + [ + -0.0056044609297634575, + 0.013414736486567477, + -0.062305739703614624, + 0.02655132245275712, + 0.1728916452766668, + -0.08642378881367971, + 1.0 + ], + [ + -0.00466832677316054, + 0.006548937991406059, + -0.03702891675079731, + 0.0005289989597018584, + 0.043100237094155, + -0.10060190875677551, + 1.0 + ], + [ + 0.0023459648690653755, + 0.01417162301199563, + -0.003354342320714144, + 0.0064367272989997604, + -0.034806198972958884, + -0.009019908770316139, + 1.0 + ], + [ + 0.005734903209382709, + 0.021060315961991743, + 0.0005142161449938798, + -0.011205321741283417, + -0.02938714729355485, + 0.04611141284912722, + 1.0 + ], + [ + 0.0007292303521597876, + 0.0013854843541980172, + 4.2354567577319875e-05, + 0.007578377139425727, + -0.00436930777490107, + 0.004064958825179246, + 1.0 + ], + [ + 0.0003567183148339374, + 0.0006562569545168541, + 3.2191187515484337e-06, + -0.0014134292934429404, + 0.0007645648441797133, + 0.000927703990699856, + 1.0 + ], + [ + 0.00010821046572705502, + 0.0001964715356749692, + -1.5008283378730856e-07, + -0.0012394012106124877, + 0.0006816757967245296, + -0.0005939687256630884, + 1.0 + ] + ], + "state": [ + [ + 0.3131202161312103, + 0.08215206861495972, + 0.1339573711156845, + -3.1204658952825746, + -0.10876607149839401, + -0.008983040228486061, + 1.0 + ], + [ + 0.31335359811782837, + 0.08221519738435745, + 0.13398437201976776, + -3.120220812159129, + -0.11027643084526062, + -0.007471783552318811, + 1.0 + ], + [ + 0.31281930208206177, + 0.08105085790157318, + 0.12391271442174911, + -3.1277919273176273, + -0.08523157984018326, + -0.002100152196362615, + 1.0 + ], + [ + 0.3268508315086365, + 0.05694563686847687, + 0.11967577785253525, + -3.119938414665409, + -0.150562658905983, + -0.021064903587102893, + 1.0 + ], + [ + 0.3405036926269531, + 0.026483852416276932, + 0.10189369320869446, + -3.1277179858931383, + -0.1545346975326538, + -0.059899214655160904, + 1.0 + ], + [ + 0.3554055392742157, + -0.0007352438988164067, + 0.08524632453918457, + -3.121034275861927, + -0.13995200395584106, + -0.08777270466089249, + 1.0 + ], + [ + 0.3706379234790802, + -0.006641267333179712, + 0.06655746698379517, + -3.125729879485913, + -0.09302736818790434, + -0.06546059250831604, + 1.0 + ], + [ + 0.38739490509033203, + -0.008317152969539165, + 0.051577407866716385, + -3.121913880231329, + -0.0673334002494812, + -0.042684845626354224, + 1.0 + ], + [ + 0.3938252329826355, + -0.007203979417681694, + 0.045333586633205414, + -3.1143169050389012, + -0.056807328015565865, + -0.034580107778310776, + 1.0 + ], + [ + 0.39389362931251526, + -0.007426571100950241, + 0.042937587946653366, + -3.1160902885072908, + -0.0539027824997902, + -0.027782488614320755, + 1.0 + ], + [ + 0.3955039083957672, + -0.009649631567299366, + 0.0429900661110878, + -3.134461979503282, + -0.06455063074827194, + -0.013675079680979254, + 1.0 + ], + [ + 0.3957291841506958, + -0.0076327514834702015, + 0.042362917214632034, + 3.1184047778421125, + -0.06701298803091049, + 0.016789617016911503, + 1.0 + ], + [ + 0.394154816865921, + -0.007745028473436832, + 0.03330919146537781, + 3.0984507260196885, + -0.04633060842752457, + 0.03752076253294944, + 1.0 + ], + [ + 0.39301082491874695, + -0.007928269915282726, + 0.02808167040348053, + 3.097268073009797, + -0.036670852452516556, + 0.04773038998246193, + 1.0 + ], + [ + 0.38872429728507996, + -0.007661150302737951, + 0.014962059445679188, + 3.104351496445485, + -0.003171447664499283, + 0.04472747817635536, + 1.0 + ], + [ + 0.3863326907157898, + -0.0067934379912912846, + 0.012879841029644012, + 3.1099935193830213, + 0.0015102954348549247, + 0.05255528539419174, + 0.0 + ], + [ + 0.3846454620361328, + -0.005715494975447655, + 0.010813051834702492, + 3.116745241107889, + 0.0013332263333722951, + 0.05657684803009033, + 0.0 + ], + [ + 0.38279858231544495, + -0.006721374113112688, + 0.011429257690906525, + 3.110176010178872, + -0.0017048980807885528, + 0.048535134643316276, + 0.0 + ], + [ + 0.3773488402366638, + -0.007522447034716606, + 0.014073305763304234, + 3.1052004379504403, + 0.002952407114207744, + 0.04563046619296074, + 0.0 + ], + [ + 0.3726767599582672, + -0.010151874274015427, + 0.028375321999192238, + 3.0872621593349656, + -0.02467324025928974, + 0.03807060420513153, + 0.0 + ], + [ + 0.3705686926841736, + -0.013150575570762157, + 0.056937623769044876, + 3.0632143040471753, + -0.1012003570795059, + 0.021893914788961414, + 0.0 + ], + [ + 0.36637020111083984, + -0.007569316774606705, + 0.07329685986042023, + 3.037068897979804, + -0.14638625085353854, + 0.02395577169954777, + 0.0 + ], + [ + 0.3649047613143921, + 0.007379639893770218, + 0.08156377822160721, + 3.0394276102357587, + -0.16478441655635834, + 0.02538123168051243, + 0.0 + ], + [ + 0.36411380767822266, + 0.032847996801137924, + 0.0884283185005188, + 3.0647975896769246, + -0.1578867882490158, + -0.023109052330255512, + 0.0 + ], + [ + 0.366749107837677, + 0.07083020359277725, + 0.08520010113716125, + 3.129515648941048, + -0.12387765944004059, + -0.12918300926685333, + 0.0 + ], + [ + 0.3658519983291626, + 0.10418404638767242, + 0.08201935887336731, + -3.0878758077793798, + -0.09151271730661391, + -0.19274528324604037, + 0.0 + ], + [ + 0.35875269770622253, + 0.12712304294109344, + 0.0812317356467247, + -3.0757655297690114, + -0.06184563413262368, + -0.2387977242469788, + 0.0 + ], + [ + 0.3523165285587311, + 0.14513473212718964, + 0.08167766779661179, + -3.059469597535678, + -0.05017833039164543, + -0.26482027769088745, + 0.0 + ], + [ + 0.34303924441337585, + 0.16203847527503967, + 0.06734605133533478, + -3.1182973982119044, + -0.012545911595225336, + -0.25898760557174677, + 0.0 + ], + [ + 0.34034115076065063, + 0.18596357107162476, + 0.059029679745435715, + -3.1326069088005504, + -0.010481297969818115, + -0.2086685299873352, + 0.0 + ], + [ + 0.34274667501449585, + 0.20434485375881195, + 0.0545957013964653, + -3.131224289658018, + -0.0031090963166207075, + -0.19097416102886203, + 0.0 + ], + [ + 0.3434872031211853, + 0.20872129499912262, + 0.04189261794090271, + -3.1324401443176946, + 0.029638517647981644, + -0.2241595834493637, + 0.0 + ], + [ + 0.34117570519447327, + 0.20305362343788147, + 0.033839281648397446, + -3.1270405493029436, + 0.04483022540807724, + -0.2732251882553101, + 0.0 + ], + [ + 0.34177184104919434, + 0.19228751957416534, + 0.02314641885459423, + -3.1234561522775373, + 0.06768152117729186, + -0.3084211349487304, + 0.0 + ], + [ + 0.34134945273399353, + 0.19551286101341248, + 0.017648547887802124, + -3.1073708107047757, + 0.08448668569326401, + -0.3048854768276215, + 0.0 + ], + [ + 0.33955514430999756, + 0.19624154269695282, + 0.01351871620863676, + -3.110947663086005, + 0.09657785296440125, + -0.292715460062027, + 1.0 + ], + [ + 0.3371587097644806, + 0.19376862049102783, + 0.010432335548102856, + -3.113411758216568, + 0.10032390803098679, + -0.2947958707809449, + 1.0 + ], + [ + 0.3299388885498047, + 0.18243516981601715, + 0.028307326138019562, + -3.1121360698067626, + 0.03936946392059326, + -0.26857060194015503, + 1.0 + ], + [ + 0.32284286618232727, + 0.1685773730278015, + 0.09036357700824738, + -3.082012863951274, + -0.13611824810504916, + -0.18781086802482608, + 1.0 + ], + [ + 0.31179115176200867, + 0.16177909076213837, + 0.12596505880355835, + -3.0952028167718133, + -0.18446312844753265, + -0.08836735039949417, + 1.0 + ], + [ + 0.3123331367969513, + 0.14736308157444, + 0.12904320657253265, + -3.090711498754569, + -0.15010219812393188, + -0.07762801647186279, + 1.0 + ], + [ + 0.31659364700317383, + 0.1259613186120987, + 0.1283339560031891, + -3.095237488048621, + -0.1182592585682869, + -0.12247734516859055, + 1.0 + ], + [ + 0.31715598702430725, + 0.12449963390827179, + 0.12831422686576843, + -3.0872008596831044, + -0.11370539665222168, + -0.12636050581932068, + 1.0 + ], + [ + 0.31742939352989197, + 0.12380452454090118, + 0.12831605970859528, + -3.0885037576132497, + -0.11441834270954132, + -0.12733477354049683, + 1.0 + ], + [ + 0.31751227378845215, + 0.12359610944986343, + 0.1283182054758072, + -3.089807165908166, + -0.11513055860996245, + -0.1267741024494171, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.03941965103149414, + 0.1720229983329773, + 0.20300281047821045, + 0.20300281047821045, + 0.2039540410041809, + 0.2039540410041809, + 0.2039540410041809, + 0.2039540410041809, + 0.2039540410041809, + 0.2039540410041809, + 0.2039540410041809, + 0.20300281047821045, + 0.2039540410041809, + 0.2039540410041809, + 0.20300281047821045, + 0.2039540410041809, + 0.2039540410041809, + 0.2039540410041809, + 0.2039540410041809, + 0.20300281047821045, + 0.11810719966888428, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "3316", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3316/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3318.json b/annotation/test/3318.json new file mode 100644 index 0000000000000000000000000000000000000000..e1f457ed55be8e07f093be9024d7fd5f8801470c --- /dev/null +++ b/annotation/test/3318.json @@ -0,0 +1,375 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put pot in sink" + ], + "videos": [ + { + "video_path": "videos/test/3318/rgb.mp4" + } + ], + "action": [ + [ + -0.0013085644629846, + 0.0009167973158114779, + 0.0030012201177309857, + -0.0024883934806986118, + -0.01176084283230129, + 0.0007021925207357427, + 1.0 + ], + [ + -0.008980053545563678, + 0.005818379859955613, + 0.00803442926397328, + -0.02209793906327846, + -0.03321840197121664, + 0.05233906470894308, + 1.0 + ], + [ + -0.01123401264096593, + 0.0057829274828510215, + 0.004915682950738592, + -0.0023998489652228626, + -0.00043703522444658865, + 0.037516045674840584, + 1.0 + ], + [ + -0.007075902312184326, + 0.007601290509615678, + 0.0029144995403452252, + 0.0006315473024524498, + 0.03018942029949368, + 0.01646578983360183, + 1.0 + ], + [ + -0.004371101611114009, + 0.00030432411923552095, + 0.008496982274034661, + -0.017193967731265213, + 0.029708329556951272, + 0.022745026903168035, + 1.0 + ], + [ + -0.0015979446062747201, + -0.0042947671369171605, + 0.0072243384337528785, + -0.012301291218162431, + 0.05432162645768688, + 0.005271236527666913, + 1.0 + ], + [ + -0.004065717006379093, + -0.0022497692189219626, + 0.012545515340991251, + -0.026327616866922036, + 0.031061713340364394, + -0.0046783900095065546, + 1.0 + ], + [ + -0.003133373994526581, + -0.0007630015139163383, + 0.007686494741017142, + -0.02698803219387962, + 0.027749300483274692, + -0.024680704350440116, + 1.0 + ], + [ + -0.004293500780448103, + 0.0030082136872069233, + 0.00601928398345858, + -0.03211720596718628, + 0.015143326370336009, + -0.031591373283397464, + 1.0 + ], + [ + -0.004401800378807993, + 0.0020670705790423742, + 0.00015030999104475361, + -0.0015051368632629921, + -0.03081367351651206, + -0.01803723228375397, + 0.0 + ], + [ + 0.00332204579538993, + 0.005043099826941162, + -0.0031137282836419507, + 0.010086061130877177, + -0.02345664238444607, + 0.011565398397187109, + 0.0 + ], + [ + 0.020648889693825664, + -0.013530414233004868, + -0.01021049751218613, + 0.040167548119753545, + 0.018863034531438557, + 0.05364794959574471, + 0.0 + ], + [ + 0.027065204314448803, + -0.018798239912517747, + -0.003204805847388188, + 0.038760957312912236, + 0.009340731176770182, + 0.07734072490902785, + 0.0 + ], + [ + 0.024856319863830918, + -0.016358088217427548, + 0.0052684323345589725, + 0.03723262446750753, + 0.03684758209940499, + 0.06661313709676128, + 0.0 + ], + [ + 0.007599128281207561, + -0.00026790591222579184, + 0.013537286823292107, + -0.007450653337230806, + 0.04727668799364762, + 0.024204822615742836, + 0.0 + ], + [ + -0.011061889727758607, + 0.004090508831191266, + 0.013664715070181235, + -0.025253457601536387, + 0.0444448166325296, + -0.020239520648713313, + 0.0 + ], + [ + -0.007643730084835659, + 0.010769736638350165, + 0.012377126769105953, + -0.04541100628363765, + 0.07040585045825973, + -0.021165260780638257, + 0.0 + ], + [ + -0.010618628920829312, + -0.004360914914405823, + 0.007419007197569842, + -0.002834118054862909, + 0.020324312074367985, + -0.03243618910173008, + 1.0 + ] + ], + "state": [ + [ + 0.3144434094429016, + 0.008237920701503754, + 0.10915656387805939, + -2.8803776820474347, + -0.20442548394203186, + -0.3081524670124054, + 1.0 + ], + [ + 0.3137955665588379, + 0.008328037336468697, + 0.10582004487514496, + -2.883336277800151, + -0.19288170337677002, + -0.305748999118805, + 1.0 + ], + [ + 0.3060067594051361, + 0.007039287593215704, + 0.09501631557941437, + -2.8973618318610868, + -0.14722974598407748, + -0.34829202294349665, + 1.0 + ], + [ + 0.29490262269973755, + 0.00636597303673625, + 0.08726686239242554, + -2.894551249342509, + -0.13763836026191711, + -0.3849351704120636, + 1.0 + ], + [ + 0.28650227189064026, + 0.0025858632288873196, + 0.08165551722049713, + -2.890627296763011, + -0.1628471165895462, + -0.408589482307434, + 1.0 + ], + [ + 0.28450116515159607, + 0.005430435761809349, + 0.07275035977363586, + -2.902967946725436, + -0.185905784368515, + -0.4385069012641907, + 1.0 + ], + [ + 0.28658103942871094, + 0.010950257070362568, + 0.06655397266149521, + -2.911531524854251, + -0.23741023242473602, + -0.45697370171546936, + 1.0 + ], + [ + 0.28773340582847595, + 0.016012562438845634, + 0.05422406643629074, + -2.9371295889192304, + -0.26871934533119196, + -0.4595970213413238, + 1.0 + ], + [ + 0.28780367970466614, + 0.018552768975496292, + 0.046285249292850494, + -2.969224678474017, + -0.3008537590503692, + -0.44020345807075506, + 1.0 + ], + [ + 0.2849991023540497, + 0.017739055678248405, + 0.038856420665979385, + -3.010300489264079, + -0.321063369512558, + -0.4101459681987763, + 1.0 + ], + [ + 0.2804808020591736, + 0.017490478232502937, + 0.037069134414196014, + -3.0189978276663503, + -0.2927969694137573, + -0.38726434111595154, + 0.0 + ], + [ + 0.2807307541370392, + 0.011571753770112991, + 0.040396351367235184, + -3.006305368738719, + -0.26809102296829224, + -0.3961902856826782, + 0.0 + ], + [ + 0.3008236587047577, + 0.016206422820687294, + 0.057381581515073776, + -2.9509838094287595, + -0.2791225016117096, + -0.4541306793689728, + 0.0 + ], + [ + 0.330374151468277, + 0.02164503186941147, + 0.07128696888685226, + -2.8905851264768323, + -0.2727929353713989, + -0.5348297357559204, + 0.0 + ], + [ + 0.3599531054496765, + 0.024060092866420746, + 0.07698196917772293, + -2.8331723531060895, + -0.2911942601203919, + -0.6117237210273743, + 0.0 + ], + [ + 0.37143126130104065, + 0.02133965864777565, + 0.0668860375881195, + -2.8291428108983716, + -0.328681617975235, + -0.6512285470962524, + 0.0 + ], + [ + 0.3669520616531372, + 0.02514064684510231, + 0.049818191677331924, + -2.856022300320216, + -0.37718912959098816, + -0.6452246308326721, + 0.0 + ], + [ + 0.3615441620349884, + 0.020641464740037918, + 0.03314128890633583, + -2.9008841832452497, + -0.4507011175155639, + -0.6447369456291199, + 0.0 + ], + [ + 0.3596594035625458, + 0.029570406302809715, + 0.022966014221310616, + -2.916831301646777, + -0.4779968559741974, + -0.6147249341011047, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.14373880624771118, + 0.47825467586517334, + 0.7305183112621307, + 0.8777962550520897, + 0.9180850461125374, + 0.9180850461125374, + 0.9180850461125374, + 0.9180850461125374, + 0.8108516037464142, + 0.5922945439815521, + 0.31480199098587036 + ], + "episode_id": "3318", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3318/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3319.json b/annotation/test/3319.json new file mode 100644 index 0000000000000000000000000000000000000000..362fabd2ee8a4fa58d47bc58a118671c34035cd2 --- /dev/null +++ b/annotation/test/3319.json @@ -0,0 +1,945 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the cucumber to the left of the spoon." + ], + "videos": [ + { + "video_path": "videos/test/3319/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 2.2768013709684113e-09, + -4.311482101416338e-09, + -0.0015339547938702151, + 1.0 + ], + [ + -0.003302478991263313, + 0.0025545773618865877, + 0.004336553185625465, + -0.011150862248123457, + -0.0170480466541336, + -0.003684267009108843, + 1.0 + ], + [ + 4.231227617940659e-05, + 0.026107167127212727, + 0.0035981928486002487, + -0.042132699216426955, + -0.002255513107712862, + 0.04519189548944718, + 1.0 + ], + [ + 0.004405222288156624, + 0.026837102342839737, + -0.0015440448586961908, + -0.021404995346014817, + 0.006814364701780165, + 0.0779844509058284, + 1.0 + ], + [ + 0.005259359930299571, + 0.029054477730976972, + 0.00550514071679837, + -0.04831903821129922, + -0.008361324441481199, + 0.08647466979025299, + 1.0 + ], + [ + 0.006469911740849416, + 0.023471610456082547, + 0.014961679923017043, + 0.0015847432394529228, + -0.026354453983995912, + 0.04598822239480656, + 1.0 + ], + [ + 0.0068704488513594035, + 0.014950217650927716, + 0.014606677399843764, + -0.00418287973238134, + -0.043449620553733095, + 0.04028421160774564, + 1.0 + ], + [ + 0.008353044986913631, + 0.009079451211327543, + 0.009534389391843052, + 0.006340748097731446, + -0.0036299730364732523, + 0.011696692950179468, + 1.0 + ], + [ + 0.002603792897013759, + 0.0032924378436267727, + 0.010108681202370493, + -0.007746854657464237, + -0.013175608299603406, + -0.005258174546043202, + 1.0 + ], + [ + 0.0007477186965991745, + 0.002519220123085135, + 0.008649679443728759, + 0.016368601920750986, + -0.014093123413326733, + 0.006068654740869898, + 1.0 + ], + [ + 0.0015521516782135893, + -0.0014226996254480713, + 0.004379100674730827, + 0.010127882097486005, + 0.0034436836448204526, + -0.008675180001007192, + 1.0 + ], + [ + -8.524743327776265e-05, + -0.0007468130868348513, + 0.005998559795549521, + 0.0035427067902443266, + -0.0080899798688706, + -0.00031023748016536905, + 1.0 + ], + [ + -0.002019285939894474, + -0.00254565027694929, + 0.004199021889011814, + 0.008855554750443828, + -0.008549092657614155, + -0.005115780815888557, + 1.0 + ], + [ + -0.0019354074850019274, + -0.0010055336148159524, + 0.00538365063425673, + 0.004162071099289214, + -0.009637451076999837, + 0.0012671651384873392, + 1.0 + ], + [ + -0.001465771075883525, + 0.0012791691192908872, + 0.0026241906534523788, + -0.008084466606960378, + -0.009978581607857417, + 0.005742166461158014, + 1.0 + ], + [ + -0.00022122036847533092, + -0.0013506477192072389, + 0.0004873412293787069, + -0.01081987255466972, + 0.004234446616589858, + -0.018613957881283068, + 0.0 + ], + [ + -0.0056136388845246105, + -0.0015415627707069325, + -0.0008116326986368326, + -0.0061103641052997395, + -0.022289588260510036, + -0.003014411311314545, + 0.0 + ], + [ + -0.00022211174020305823, + -0.001953430926181091, + -0.014141050251338763, + -0.008420051106837861, + 0.021437729677330507, + -0.016273879844065125, + 0.0 + ], + [ + 0.0007913014527812496, + -0.0038845641353177462, + -0.023668505998771062, + 0.0009737308694879369, + 0.04830046424664546, + -0.032577951154679236, + 0.0 + ], + [ + 0.001309400959935944, + -0.0028632343392973316, + -0.020617012311670936, + -0.004026140133904668, + 0.055237309367558524, + -0.020061458371737784, + 0.0 + ], + [ + -0.0010568525396532473, + -0.018146323726453875, + -0.023326160160860143, + 0.026096965035454316, + 0.07173377656568654, + -0.08025600120353782, + 0.0 + ], + [ + -0.004972613484773536, + -0.035624792582943356, + -0.003501733849268791, + 0.03153758715986422, + 0.003852525528297831, + -0.1118312781472294, + 0.0 + ], + [ + 0.001729917705311467, + -0.027533485483591833, + 0.013596500177466874, + 0.003105985563696599, + -0.05211378967065706, + -0.057740812098976864, + 0.0 + ], + [ + 0.009387019137232172, + -0.02674128299846567, + 0.014266590644017427, + 0.025543500515281366, + 0.006422007899356369, + -0.07486458699015835, + 0.0 + ], + [ + 0.01396167525921032, + -0.018220513237544825, + 0.01481167815970377, + 0.03862768812812781, + 0.0072015165623017735, + -0.19898696318123887, + 0.0 + ], + [ + 0.00904416417988147, + -0.012575349473489036, + 0.011346921677244291, + 0.04450095498137823, + 0.038770693328658436, + -0.24189162936801384, + 0.0 + ], + [ + 0.010057438018864042, + -0.013716997411898023, + 0.013757356488851838, + 0.052651146781525895, + 0.019675917388913177, + -0.2519997263910644, + 0.0 + ], + [ + 0.016242683080451476, + -0.008784797303464159, + 0.01116255034121474, + -0.014693430551778878, + 0.0006281879114158935, + -0.25705489730263476, + 0.0 + ], + [ + 0.013320156355047508, + -0.001169237170637862, + 0.008926364258865206, + 0.0366343284348571, + 0.03371904391328768, + -0.19644080222105678, + 0.0 + ], + [ + 0.00905648545644309, + 0.009751684050103706, + 0.01209052191394538, + 0.05226032219183305, + 0.006451806687596287, + -0.043907983023177125, + 0.0 + ], + [ + -0.00037408124407320643, + 0.013307537292653932, + 0.0031411106916126937, + -0.02820856655115578, + -0.03685350515347086, + -0.014111037431927266, + 0.0 + ], + [ + -0.0003182535453830137, + 0.008316334665673369, + 0.0021919159697590387, + 0.008597051437587069, + -0.05291981791347067, + 0.06605118208527827, + 0.0 + ], + [ + -6.250017268127479e-06, + 0.00026427059153110073, + 0.0019452267818257465, + -0.016671875031359543, + -0.027033304390635875, + 0.02541438562046592, + 0.0 + ], + [ + 0.0007164411022565669, + 3.301970516514547e-05, + -1.621910512719064e-06, + -0.00013140064359386437, + 0.00452092351514101, + 0.016988954866098117, + 1.0 + ], + [ + -0.001583659409962549, + 0.0008383219955341675, + -0.0005860070846408978, + -0.0008249637466656286, + -0.009891109959330627, + 0.0231331398755168, + 1.0 + ], + [ + -0.0008327383551799649, + -0.0008430750354600182, + -2.6804181441740446e-05, + 0.007730521133814421, + -0.0028346330588900808, + 0.004654352793051548, + 1.0 + ], + [ + -0.004546230274001371, + 0.004312391882390952, + -0.0038726680359326675, + 0.020354538824871485, + 0.019951220460110018, + 0.04222883527004837, + 1.0 + ], + [ + 0.0009562459448222748, + 0.007468229312859029, + -0.010481036439543854, + -0.028555344132522423, + 0.029658060565828363, + 0.006525037941604076, + 1.0 + ], + [ + -0.002011961667099148, + 0.008840408163278376, + -0.012303317462162944, + -0.0009170573622521252, + 0.04681136141506538, + 0.037824283609046404, + 1.0 + ], + [ + -0.007427067878845639, + -0.0008435623107564022, + -0.01670357161722603, + -0.010816900550820551, + -0.014732533542895321, + 0.057082515837308126, + 1.0 + ], + [ + -0.012988399134141144, + -0.015550066948234109, + -0.018658246998220718, + 0.04151240765996815, + -0.05189173793736785, + 0.10834187224648374, + 1.0 + ], + [ + -0.02113924797650824, + -0.014663537522171897, + -0.02612532952786669, + -0.016484896419145238, + -0.0291029364916609, + 0.07705949860268364, + 1.0 + ], + [ + -0.012714112424161251, + -0.009589521871741459, + -0.02180590083677683, + 0.007767889511915356, + -0.025561731889789125, + 0.1403871565661072, + 1.0 + ], + [ + -0.018643702541454133, + -0.011534452244342372, + -0.004576454561238406, + 0.013863639437897958, + -0.05429756812826688, + 0.1469681205058936, + 1.0 + ], + [ + -0.023016887003502642, + -0.013759816825332241, + -0.012878072339687751, + 0.03273391794084645, + 0.0323552520191641, + 0.09867165425435587, + 1.0 + ], + [ + -0.018878462968134627, + 0.0011586071182366597, + -0.009995662497522437, + -0.03537662354659667, + 0.046669349798529, + 0.06871033831600096, + 1.0 + ], + [ + -0.01290831881509246, + 0.019643030770072303, + -0.009844080531728435, + -0.030265220835690446, + 0.026876634147990616, + 0.0950682096550719, + 1.0 + ], + [ + -0.00019344364418074297, + -0.0026721855456920264, + -0.00023048886164182014, + 0.0028016757807799563, + -0.00039084417016336414, + -0.005541191873669725, + 1.0 + ] + ], + "state": [ + [ + 0.2429022639989853, + 0.07548429071903229, + 0.09961862117052078, + -3.1001275685899934, + -0.2122276425361633, + -0.05911971256136894, + 1.0 + ], + [ + 0.2429022639989853, + 0.07548429071903229, + 0.09961862117052078, + -3.1004578602784356, + -0.21229097247123715, + -0.057551879435777664, + 1.0 + ], + [ + 0.24047623574733734, + 0.0732460469007492, + 0.09458447992801666, + -3.1125443932884416, + -0.19540679454803464, + -0.05308521538972855, + 1.0 + ], + [ + 0.2399829477071762, + 0.04724394530057907, + 0.0903206393122673, + 3.137397459364035, + -0.19163893163204193, + -0.09903408586978912, + 1.0 + ], + [ + 0.24131956696510315, + 0.020148638635873795, + 0.09278598427772522, + 3.131134799803146, + -0.19819004833698273, + -0.17854705452919006, + 1.0 + ], + [ + 0.24223175644874573, + -0.009596694260835648, + 0.0887223407626152, + 3.1001886782520494, + -0.18998171389102936, + -0.266691654920578, + 1.0 + ], + [ + 0.24456317722797394, + -0.035186562687158585, + 0.07621829211711884, + 3.1108073351257524, + -0.16534097492694855, + -0.31436705589294434, + 1.0 + ], + [ + 0.24846132099628448, + -0.05264001339673996, + 0.06340233981609344, + 3.113519486161419, + -0.12300818413496017, + -0.35624888539314276, + 1.0 + ], + [ + 0.2540387511253357, + -0.06468498706817627, + 0.0552215538918972, + 3.1213194971256932, + -0.11969935894012451, + -0.3681277930736542, + 1.0 + ], + [ + 0.25631093978881836, + -0.06930916756391525, + 0.04556446149945259, + 3.1129718740754804, + -0.10641837120056152, + -0.36310985684394836, + 1.0 + ], + [ + 0.2568749487400055, + -0.07248209416866302, + 0.0371183417737484, + 3.1300283513315996, + -0.09250245243310928, + -0.36960649490356445, + 1.0 + ], + [ + 0.25919029116630554, + -0.07190775871276855, + 0.032885245978832245, + 3.139347946625673, + -0.09584206342697142, + -0.3608519434928894, + 1.0 + ], + [ + 0.2599070370197296, + -0.0713944137096405, + 0.026904404163360596, + -3.140322785480418, + -0.08775140345096588, + -0.3605587482452392, + 1.0 + ], + [ + 0.2592689096927643, + -0.06842753291130066, + 0.02254779450595379, + -3.1319179042526564, + -0.0792076587677002, + -0.35541617870330816, + 1.0 + ], + [ + 0.25822678208351135, + -0.06691264361143112, + 0.017037833109498024, + -3.1276622834899506, + -0.06955834478139877, + -0.3565928339958191, + 1.0 + ], + [ + 0.25659486651420593, + -0.06763062626123428, + 0.014300592243671417, + -3.1353561930642506, + -0.05949965119361877, + -0.3622050881385803, + 1.0 + ], + [ + 0.25689464807510376, + -0.06629663705825806, + 0.013809376396238804, + 3.135900748549499, + -0.06383980065584183, + -0.34358012676239014, + 0.0 + ], + [ + 0.25209248065948486, + -0.06293643265962601, + 0.014252455905079842, + 3.129604624705859, + -0.041533149778842926, + -0.34069088101387024, + 0.0 + ], + [ + 0.25204017758369446, + -0.06066562980413437, + 0.028347676619887352, + 3.1204958000504455, + -0.06276857852935791, + -0.32413229346275335, + 0.0 + ], + [ + 0.25278255343437195, + -0.05629128962755203, + 0.05193216726183891, + 3.1193373148613652, + -0.11033561825752257, + -0.2903751730918884, + 0.0 + ], + [ + 0.25281256437301636, + -0.052833814173936844, + 0.0724995881319046, + 3.112906176718422, + -0.16508758068084717, + -0.2688274085521698, + 0.0 + ], + [ + 0.253191202878952, + -0.033429525792598724, + 0.0948120504617691, + 3.1251418088846883, + -0.23392234742641452, + -0.18444532155990598, + 0.0 + ], + [ + 0.2543151080608368, + 0.0026539680548012257, + 0.09649525582790375, + 3.1301721363612494, + -0.2344483584165573, + -0.06940573453903198, + 0.0 + ], + [ + 0.26111581921577454, + 0.029623685404658318, + 0.08336761593818665, + 3.1197924838685474, + -0.18129394948482516, + -0.01139119826257229, + 0.0 + ], + [ + 0.27332600951194763, + 0.05591024458408356, + 0.07045730948448181, + 3.13165284239734, + -0.18556848168373108, + 0.06490680575370789, + 0.0 + ], + [ + 0.2886071801185608, + 0.07501401752233505, + 0.05829865112900734, + 3.133336712727793, + -0.18709586560726166, + 0.26753565669059753, + 0.0 + ], + [ + 0.29593196511268616, + 0.08996342867612839, + 0.04873039200901985, + 3.1323613581531724, + -0.21832722425460815, + 0.5155704021453857, + 0.0 + ], + [ + 0.3003905415534973, + 0.10810989141464233, + 0.037354983389377594, + 3.129788728552409, + -0.22866281867027288, + 0.7745876908302307, + 0.0 + ], + [ + 0.30747056007385254, + 0.1271446794271469, + 0.030064569786190987, + 3.056417005258151, + -0.21865458786487582, + 1.0380486249923706, + 0.0 + ], + [ + 0.31471624970436096, + 0.1402321457862854, + 0.024174589663743973, + 3.0507081543379506, + -0.23127052187919614, + 1.2420858144760132, + 0.0 + ], + [ + 0.32861757278442383, + 0.14750632643699646, + 0.015391907654702663, + 3.0926190448277673, + -0.23348067700862885, + 1.2876343727111816, + 0.0 + ], + [ + 0.34158650040626526, + 0.14395259320735931, + 0.01288692094385624, + 3.061482148366519, + -0.1959628015756607, + 1.300154685974121, + 0.0 + ], + [ + 0.34973907470703125, + 0.1416737288236618, + 0.011334660463035107, + 3.0839470011466226, + -0.14801146090030673, + 1.229390263557434, + 0.0 + ], + [ + 0.3501863479614258, + 0.14180979132652283, + 0.009428035467863083, + 3.0712757800989827, + -0.12243324518203735, + 1.2022664546966553, + 0.0 + ], + [ + 0.35047295689582825, + 0.14246085286140442, + 0.009519441053271294, + 3.0732009952240666, + -0.1281195431947708, + 1.185499906539917, + 1.0 + ], + [ + 0.3505897521972656, + 0.14063003659248352, + 0.009953763335943222, + 3.075448775785514, + -0.11979597806930542, + 1.161574363708496, + 1.0 + ], + [ + 0.349488765001297, + 0.1402101367712021, + 0.009825472719967365, + 3.0837612097435674, + -0.11727377027273177, + 1.1567094326019287, + 1.0 + ], + [ + 0.35121479630470276, + 0.1339937448501587, + 0.013380719348788261, + 3.108996560918637, + -0.13953246176242828, + 1.1153111457824707, + 1.0 + ], + [ + 0.35737207531929016, + 0.13037210702896118, + 0.024128399789333344, + 3.0812111405008515, + -0.16938523948192596, + 1.1096782684326172, + 1.0 + ], + [ + 0.36276623606681824, + 0.12306547164916992, + 0.03642020747065544, + 3.0862950590723237, + -0.21828809380531308, + 1.0739415884017944, + 1.0 + ], + [ + 0.3560412526130676, + 0.11436672508716583, + 0.051048558205366135, + 3.0883481373363217, + -0.2063616365194321, + 1.0148825645446777, + 1.0 + ], + [ + 0.3333740234375, + 0.10918792337179184, + 0.06581372022628784, + -3.1300922987335404, + -0.15902283787727356, + 0.9026419520378113, + 1.0 + ], + [ + 0.3065894842147827, + 0.09843339771032333, + 0.08842673897743225, + -3.134367796248295, + -0.1285670101642609, + 0.8253164291381836, + 1.0 + ], + [ + 0.28920385241508484, + 0.09350569546222687, + 0.10849069803953171, + -3.1086594743006906, + -0.10073091834783554, + 0.6844468116760253, + 1.0 + ], + [ + 0.26725319027900696, + 0.09027805179357529, + 0.11154453456401825, + -3.080539448308297, + -0.0405842624604702, + 0.539462924003601, + 1.0 + ], + [ + 0.24039334058761597, + 0.08928873389959335, + 0.12429302930831909, + -3.0440038983994206, + -0.06666412949562073, + 0.4388194978237152, + 1.0 + ], + [ + 0.22365210950374603, + 0.07908178865909576, + 0.1328488141298294, + -3.074653299646922, + -0.10624496638774873, + 0.36554035544395447, + 1.0 + ], + [ + 0.2180631011724472, + 0.055252060294151306, + 0.13994009792804718, + -3.0948920865827283, + -0.1262136697769165, + 0.2681370377540588, + 1.0 + ], + [ + 0.2171306312084198, + 0.05775289237499237, + 0.14026790857315063, + -3.0927957725995263, + -0.1260799765586853, + 0.2737348675727844, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.06564539670944214, + 0.31880712509155273, + 0.5365830659866333, + 0.5375194549560547, + 0.5375194549560547, + 0.5375194549560547, + 0.5375194549560547, + 0.5375194549560547, + 0.5375194549560547, + 0.5375194549560547, + 0.5375194549560547, + 0.5375194549560547, + 0.5375194549560547, + 0.5375194549560547, + 0.5375194549560547, + 0.5375194549560547, + 0.5375194549560547, + 0.5375194549560547, + 0.4694725275039673, + 0.35795462131500244, + 0.08178335428237915, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "3319", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3319/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/332.json b/annotation/test/332.json new file mode 100644 index 0000000000000000000000000000000000000000..8d84c211564bbf36c747f4fdab0c42e3c951d153 --- /dev/null +++ b/annotation/test/332.json @@ -0,0 +1,432 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put corn in pot which is in sink distractors" + ], + "videos": [ + { + "video_path": "videos/test/332/rgb.mp4" + } + ], + "action": [ + [ + -0.00023202247720022063, + -4.404106458215637e-05, + 0.0004103864907182971, + 0.00044332763896551427, + -0.001465526534742647, + 9.30850226010559e-05, + 1.0 + ], + [ + -0.003663148418337878, + -0.00038768529874216574, + 0.008772442430296979, + 0.004015227909280349, + -0.0163599410243561, + -0.004270421523404212, + 1.0 + ], + [ + 0.0014032227463016097, + 0.0020904492610820313, + 0.01143710882292908, + -0.009241778622092663, + 0.011463026075677014, + 0.01467204574534675, + 1.0 + ], + [ + 0.001699006670408755, + 0.0026592896032035774, + 0.007559386645548294, + -0.014494875146836506, + 0.01262819986539149, + 0.007359286820788941, + 1.0 + ], + [ + 0.0041376043156501905, + 0.003907429046521966, + 0.008300155178457287, + -0.02514346176508623, + 0.036612971436156314, + 0.0008783292920236708, + 1.0 + ], + [ + -0.0032671783517827925, + -0.00045290003293505215, + 0.008952854181045215, + -0.029996139723037482, + 0.018823140582719878, + -0.01103966210970716, + 1.0 + ], + [ + 0.0014750755369614063, + -0.004154568676839979, + 0.002301330530460539, + -0.02269642588089309, + 0.017845136355843214, + -0.01694161599605331, + 1.0 + ], + [ + -0.00020891751106072705, + -0.0003491456999452959, + -0.00040569660656626774, + -0.002367651459278918, + -0.0031902244065685884, + 0.011559476317437384, + 0.0 + ], + [ + -0.0053987882698353995, + -0.0031127988897237434, + -0.0026445025804401733, + 0.01893402389748309, + -0.05635272876179603, + 0.02751474370489572, + 0.0 + ], + [ + 0.003064211464640306, + -0.012457696490145847, + -0.016221904286747208, + 0.026014602068807756, + -0.050910177897283415, + 0.0184034846995755, + 0.0 + ], + [ + 0.0022329475220500983, + -0.007921524869964836, + -0.01272686209617087, + 0.013274505422032757, + -0.029305399286768147, + 0.05730745120116352, + 0.0 + ], + [ + 0.003733370859692157, + -0.017929640639831462, + -0.007408829190936366, + 0.025569013057276102, + -0.012953847391583291, + 0.09221785151843796, + 0.0 + ], + [ + 0.0034110924868446775, + -0.03438242592220856, + -0.006043452621266908, + 0.00021802058205123049, + 0.01776049220159921, + 0.08089150999336482, + 0.0 + ], + [ + 0.003018734083919859, + -0.03195995302699754, + 7.31477361550161e-05, + -0.04661667764406357, + 0.052772018869399855, + 0.04183226355542183, + 0.0 + ], + [ + -0.011480072987998281, + -0.02811374986348999, + 0.009647274728475411, + -0.048612681333981334, + 0.03319047825902295, + 0.019611214580651095, + 0.0 + ], + [ + -0.008245894202971017, + -0.02224856608451437, + 0.010763335185864554, + -0.013647537919842407, + 0.03255387062824881, + 0.07270501851509964, + 0.0 + ], + [ + -0.012463989720227015, + -0.021170808134987628, + 0.0018945548190120623, + 0.03255365419618614, + -0.004680697031386508, + 0.05230513959262304, + 0.0 + ], + [ + -0.005913405585313918, + -0.012404138406048303, + -0.0045627555638184086, + 0.007116088247918878, + -0.004627904106968141, + 0.044077908336505704, + 0.0 + ], + [ + -0.011999895187820941, + -0.009734028985956267, + -0.0028557072905613197, + 0.002924783082065497, + 0.008521163846068814, + -0.00913474007599751, + 0.0 + ], + [ + -0.001257237173238284, + 0.0022105125881603347, + 0.0005573504050175132, + -0.006192630054099953, + 0.002305544474922411, + 0.007468404844924654, + 1.0 + ], + [ + 0.0003554995702614407, + -0.0004324242547727938, + -0.0001926150504420022, + 0.001225190908294987, + 0.0007842175810072078, + 0.0035552907641056555, + 1.0 + ] + ], + "state": [ + [ + 0.2956637144088745, + -0.0674612820148468, + 0.05235722288489342, + 3.1012382825189313, + -0.3311750590801239, + 0.05445613712072372, + 1.0 + ], + [ + 0.2955768406391144, + -0.0674385279417038, + 0.05189232900738716, + 3.101733850436755, + -0.32971447706222534, + 0.05429534241557121, + 1.0 + ], + [ + 0.2949528992176056, + -0.06743457168340683, + 0.0423983633518219, + 3.10451369558508, + -0.313195139169693, + 0.05809473618865013, + 1.0 + ], + [ + 0.2999230921268463, + -0.06966274231672287, + 0.03203115984797478, + 3.099902095394679, + -0.3251612186431885, + 0.04307142645120621, + 1.0 + ], + [ + 0.3040347695350647, + -0.07246033847332001, + 0.025521909818053246, + 3.0877165255420884, + -0.33807727694511414, + 0.035835862159729004, + 1.0 + ], + [ + 0.31076890230178833, + -0.07657042890787125, + 0.019273793324828148, + 3.0621465166383466, + -0.3746841847896576, + 0.037012174725532525, + 1.0 + ], + [ + 0.3110171854496002, + -0.07682046294212341, + 0.009739171713590622, + 3.02719176014001, + -0.39254090189933777, + 0.05053774267435074, + 1.0 + ], + [ + 0.3132377564907074, + -0.07283849269151688, + 0.007752871606498957, + 2.996633919077464, + -0.4082614183425904, + 0.07109276950359344, + 1.0 + ], + [ + 0.3128787875175476, + -0.07245894521474838, + 0.007992086932063103, + 2.9994195123487195, + -0.4067437946796417, + 0.05813663825392723, + 0.0 + ], + [ + 0.306868314743042, + -0.06934681534767151, + 0.007855374366044998, + 3.033072957890578, + -0.35459652543067927, + 0.020623447373509407, + 0.0 + ], + [ + 0.30431991815567017, + -0.055255014449357986, + 0.022777190431952477, + 3.0676468407088002, + -0.3058759570121765, + -0.004318777471780777, + 0.0 + ], + [ + 0.3028416931629181, + -0.046408429741859436, + 0.03499449044466019, + 3.099596420424529, + -0.2803309559822083, + -0.06602493673563004, + 0.0 + ], + [ + 0.30578818917274475, + -0.02833857573568821, + 0.042417384684085846, + -3.1312722117924174, + -0.270022451877594, + -0.16219457983970642, + 0.0 + ], + [ + 0.31289011240005493, + 0.005273954942822456, + 0.04949343949556351, + -3.1085677353018006, + -0.286034882068634, + -0.2466937601566315, + 0.0 + ], + [ + 0.32323071360588074, + 0.03561221808195114, + 0.0512874461710453, + 3.141032942692288, + -0.33711415529251104, + -0.29278418421745306, + 0.0 + ], + [ + 0.32403063774108887, + 0.06472877413034439, + 0.03837113082408905, + 3.0993712862306317, + -0.37024754285812383, + -0.31378957629203796, + 0.0 + ], + [ + 0.3274642825126648, + 0.08650676161050797, + 0.024486888200044632, + 3.113845072808214, + -0.4048396944999695, + -0.3912895023822785, + 0.0 + ], + [ + 0.32582810521125793, + 0.11001788079738617, + 0.017297055572271347, + -3.114333437877246, + -0.4010236859321594, + -0.4482254683971405, + 0.0 + ], + [ + 0.32451778650283813, + 0.12426862120628357, + 0.019499149173498154, + -3.0886683521145066, + -0.3947883844375611, + -0.49582409858703613, + 0.0 + ], + [ + 0.3181886076927185, + 0.13857150077819824, + 0.017991501837968826, + -3.0893702787631234, + -0.40376511216163635, + -0.4863950312137604, + 0.0 + ], + [ + 0.31638166308403015, + 0.13706275820732117, + 0.01687961257994175, + -3.0923238043957433, + -0.40566539764404297, + -0.4946430027484894, + 1.0 + ], + [ + 0.3167954683303833, + 0.13731950521469116, + 0.017216239124536514, + -3.0895568301253995, + -0.40627080202102667, + -0.49855068325996404, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.021171987056732178, + 0.2039540410041809, + 0.2650814652442932, + 0.2650814652442932, + 0.2769421935081482, + 0.2779330015182495, + 0.2779330015182495, + 0.2779330015182495, + 0.2779330015182495, + 0.2779330015182495, + 0.2769421935081482, + 0.2769421935081482, + 0.2779330015182495, + 0.09588849544525146, + 0.006563663482666016, + 0.003185570240020752 + ], + "episode_id": "332", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/332/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3330.json b/annotation/test/3330.json new file mode 100644 index 0000000000000000000000000000000000000000..d9438aaaf85caab5a210e71598edd87fc9ec721a --- /dev/null +++ b/annotation/test/3330.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the spoon to the right of the metal pot." + ], + "videos": [ + { + "video_path": "videos/test/3330/rgb.mp4" + } + ], + "action": [ + [ + 4.771019250720203e-06, + 0.0006123681376873492, + 1.0283082922645194e-05, + -0.000199984838857942, + -2.3826181545568484e-05, + 0.0015207090565017294, + 1.0 + ], + [ + -0.007441656458375923, + -0.0001907939132666809, + 0.01659879032604871, + -0.000531982347209704, + -0.04447435945952856, + -0.00244942880738912, + 1.0 + ], + [ + -0.03350052675995033, + 0.0003108765382067794, + 0.010294767872258966, + 0.0024930799567053933, + -0.032315608577990367, + 0.008980763064503662, + 1.0 + ], + [ + -0.023790631314046944, + 0.00816255924847868, + -0.015450507215882241, + 0.011636457599739634, + 0.04682611449539945, + 0.032163461583496464, + 1.0 + ], + [ + -0.031058034878968004, + 0.008007027496914789, + 0.001427890500496216, + 0.027382764710037377, + -0.0038465786481443804, + 0.05333067409424696, + 1.0 + ], + [ + -0.020832312875568845, + 0.011228768407990992, + 0.017271061546953313, + 0.00469075872735247, + -0.024726562033673082, + 0.046663113230711914, + 1.0 + ], + [ + -0.0107116435436457, + 0.0048862992474908475, + 0.010845632794910225, + 0.008191149290727895, + -0.002234476485431318, + 0.031130183439431046, + 1.0 + ], + [ + -0.005164369068185155, + 0.005100109336505737, + 0.01454472606171246, + 0.02353614644576014, + -0.022398125479222864, + 0.03017607726672274, + 1.0 + ], + [ + 0.0022212415100423153, + 0.0021875901897041618, + 0.00024210692371191744, + -0.001032875905494041, + 0.012853888881212661, + -0.010662190284937076, + 1.0 + ], + [ + 0.001045950598462323, + -0.0006592438092697628, + -0.0002561697618221136, + 0.003991499359716061, + 0.004771053037063174, + 0.004489523385567503, + 0.0 + ], + [ + -0.001807162227519522, + 0.0006859197796001296, + -0.00042104177030545504, + -0.004461843395930734, + -0.010971480322899034, + -0.004280480837380021, + 0.0 + ], + [ + 0.007020441969289972, + -0.008235714794501553, + -0.020834625818500322, + -0.02790086695598769, + 0.05439044795995293, + -0.034946375824043766, + 0.0 + ], + [ + 0.016145258696708253, + -0.04095046772508933, + -0.02236952105481264, + -0.008922571198339651, + 0.05941013215458603, + -0.13340103392795846, + 0.0 + ], + [ + 0.025323839596139607, + -0.027906735328881434, + 0.004409184283280759, + 0.018659065204157117, + 0.004950047102411141, + -0.09479311776653432, + 0.0 + ], + [ + 0.019606149697939862, + -0.02017920247922878, + 0.018717892277713727, + 0.028851523150592272, + -0.04083491331286744, + -0.06013306426750377, + 0.0 + ], + [ + 0.027283210634717496, + 0.002366369890740265, + 0.02584061661072971, + 0.015559433570068323, + -0.03804164008058415, + 0.042836612407033986, + 0.0 + ], + [ + 0.016763919633617695, + 0.00035185818715931005, + 0.014650547366347733, + 0.015758799178261968, + -0.055090143705277476, + 0.022608892763966017, + 0.0 + ], + [ + 0.005754716838383282, + -0.0005743255947727299, + 0.0022258724069665063, + 0.0004865729631815716, + -0.02466437669529366, + 0.007354563883557388, + 0.0 + ], + [ + -0.002008208258194633, + -0.0013815405125587469, + -0.00032832587405922856, + 0.012151039716771093, + 0.027175629559039675, + 0.024186881821767786, + 0.0 + ], + [ + -0.014510685231463163, + 0.0020497207413460172, + -0.0136074711318652, + 0.002574143323556934, + 0.03113181905671397, + 0.0047716624746543266, + 1.0 + ], + [ + -0.0071898689272144305, + -0.00022465217369375249, + -0.023556840124814852, + -0.005012042495250755, + 0.06584747162896616, + -0.014829730524889112, + 1.0 + ], + [ + 0.0009478889689204276, + 0.0030431399926666367, + -0.008687376768026672, + -0.02273495335199301, + 0.014695098077342062, + -0.0017722762482870469, + 1.0 + ], + [ + 0.00025568763332429274, + -0.000323202695798301, + -0.0016781244514277069, + 0.001580173368641098, + 0.0029779373167304053, + 0.0006616352125039056, + 1.0 + ] + ], + "state": [ + [ + 0.39860543608665466, + -0.023023251444101334, + 0.08231037855148315, + 3.12582613539929, + -0.13072969019412994, + -0.06632965058088303, + 1.0 + ], + [ + 0.39856964349746704, + -0.02363467775285244, + 0.08231037855148315, + 3.12582613539929, + -0.13072969019412994, + -0.06786363571882248, + 1.0 + ], + [ + 0.3933625817298889, + -0.023351851850748062, + 0.06488221138715744, + 3.1250499227368316, + -0.08622204512357712, + -0.06611137092113493, + 1.0 + ], + [ + 0.36091166734695435, + -0.021685529500246048, + 0.05174730718135834, + 3.1283556186878165, + -0.05405551567673683, + -0.07563462108373642, + 1.0 + ], + [ + 0.33578428626060486, + -0.027761543169617653, + 0.06599639356136322, + -3.141488554732529, + -0.1012762114405632, + -0.10730241239070892, + 1.0 + ], + [ + 0.30434921383857727, + -0.03242867439985275, + 0.061434924602508545, + -3.1086910051577767, + -0.09727966040372849, + -0.16088587045669556, + 1.0 + ], + [ + 0.2838667035102844, + -0.03989854082465172, + 0.0418638251721859, + -3.099564241366931, + -0.07092981040477753, + -0.20681081712245938, + 1.0 + ], + [ + 0.27326661348342896, + -0.042197197675704956, + 0.030091091990470886, + -3.089190950738736, + -0.06735540181398392, + -0.23788999021053311, + 1.0 + ], + [ + 0.2682059109210968, + -0.0454268753528595, + 0.014985154382884502, + -3.0637128223949155, + -0.043379440903663635, + -0.26687076687812805, + 1.0 + ], + [ + 0.2697935402393341, + -0.04810239002108574, + 0.014670297503471375, + -3.065161148207732, + -0.0570218712091446, + -0.2572261691093445, + 1.0 + ], + [ + 0.2709488272666931, + -0.04774683713912964, + 0.015035170130431652, + -3.06089327682788, + -0.0614355206489563, + -0.2620759904384613, + 0.0 + ], + [ + 0.2689991295337677, + -0.047966837882995605, + 0.015287906862795353, + -3.065667988853999, + -0.05084398761391639, + -0.25691860914230347, + 0.0 + ], + [ + 0.27641361951828003, + -0.043058108538389206, + 0.03701634332537651, + -3.095062142359563, + -0.10770388692617416, + -0.22607149183750153, + 0.0 + ], + [ + 0.29845234751701355, + -0.0072205448523163795, + 0.06286144256591797, + -3.118499945970722, + -0.1723113059997559, + -0.09386906027793884, + 0.0 + ], + [ + 0.326558381319046, + 0.018258316442370415, + 0.06349557638168335, + -3.1164120399677238, + -0.17866563796997068, + 0.002318497048690915, + 0.0 + ], + [ + 0.34903964400291443, + 0.03895457834005356, + 0.04906580224633217, + -3.098551584529229, + -0.1390216946601868, + 0.064007967710495, + 0.0 + ], + [ + 0.3796686828136444, + 0.03966287896037102, + 0.02717811055481434, + -3.0772671421342572, + -0.09905478358268738, + 0.0226772129535675, + 0.0 + ], + [ + 0.3977804481983185, + 0.04066444933414459, + 0.014264855533838272, + -3.0595398043566426, + -0.042607568204402924, + 0.0036723031662404537, + 0.0 + ], + [ + 0.4036196172237396, + 0.041440725326538086, + 0.012340635061264038, + -3.0588032474094113, + -0.017422806471586224, + -0.0016347443452104926, + 0.0 + ], + [ + 0.4016062319278717, + 0.042793676257133484, + 0.012747028842568398, + -3.0461909269266805, + -0.042499404400587075, + -0.028001403436064717, + 0.0 + ], + [ + 0.38645392656326294, + 0.03988015651702881, + 0.02546880766749382, + -3.0432445277744016, + -0.07303381711244583, + -0.035734787583351135, + 1.0 + ], + [ + 0.3775020241737366, + 0.03810938075184822, + 0.048346683382987976, + -3.0486560632758817, + -0.14001622796058655, + -0.027388334274291992, + 1.0 + ], + [ + 0.3771679103374481, + 0.03428087383508682, + 0.05676455795764923, + -3.071437569456645, + -0.15481236577034, + -0.026982745155692104, + 1.0 + ], + [ + 0.37716445326805115, + 0.034485816955566406, + 0.05848034471273422, + -3.069721469777175, + -0.15773653984069824, + -0.027862416580319408, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.052336275577545166, + 0.24251914024353027, + 0.5412575602531433, + 0.6063922345638275, + 0.6063922345638275, + 0.6063922345638275, + 0.6063922345638275, + 0.6063922345638275, + 0.6063922345638275, + 0.6063922345638275, + 0.5309504270553589, + 0.2386212944984436, + 0.009293973445892334, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "3330", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3330/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3339.json b/annotation/test/3339.json new file mode 100644 index 0000000000000000000000000000000000000000..7c0413c309acb80e10897094f4f437ca4ed2cb9e --- /dev/null +++ b/annotation/test/3339.json @@ -0,0 +1,736 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Place the brush in front of the canned tomatoes." + ], + "videos": [ + { + "video_path": "videos/test/3339/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 1.3152459024826851e-09, + -3.535500703570445e-09, + -0.0015339841981742502, + 1.0 + ], + [ + -0.0026570882886888013, + 0.0012188149047834902, + 0.005760323733545313, + -0.009012691531550666, + -0.023136190664054535, + -0.0025552060408741213, + 1.0 + ], + [ + -0.0016883567916342707, + -0.011464817170287035, + 0.006019442084185741, + -0.008990212085912263, + -0.021187283162756296, + -0.04365859768712187, + 1.0 + ], + [ + 0.005027828403705103, + -0.015055679458151932, + -0.0037835366695235496, + 0.007574829254892916, + 0.027468991995199015, + -0.021256738148026456, + 1.0 + ], + [ + 0.0036752381721324658, + -0.023951398770233147, + 2.3125675419313553e-05, + 0.022494622797935328, + 0.025124374043624872, + -0.02382070691315114, + 1.0 + ], + [ + 0.004396246356429447, + -0.022817290337616654, + 0.007993754022921927, + 0.03997549807744804, + 0.0013967471149473726, + -0.025620832044786795, + 1.0 + ], + [ + 0.002289605714502948, + -0.017745602340518092, + 0.007530821407218465, + 0.012108555645721877, + 0.0011933009176946295, + -0.018441159395868562, + 1.0 + ], + [ + 0.0027538166682661612, + -0.020362590306711344, + 0.00331318607333189, + 0.01812881501391709, + 0.006553704436141387, + -0.028797530318234385, + 1.0 + ], + [ + 0.0007067825899456471, + -0.022148905727191654, + 0.003168278793005356, + 0.016826477177659168, + -0.009731297974315847, + -0.059702570416185874, + 1.0 + ], + [ + 0.0004984538917986385, + -0.01401840234997242, + 0.005460029123274993, + 0.011391452703670266, + -0.013785155673016929, + -0.0434867987807538, + 1.0 + ], + [ + -0.00036260538933040147, + -0.004011888890129056, + 0.008935258841800586, + 0.019337223675799868, + -0.015050612559635591, + -0.009708887752180843, + 1.0 + ], + [ + -0.0014791721290882238, + -0.00026747051911627325, + 0.018449500070830478, + 0.02189027612417387, + -0.04223855335643887, + -0.002614375652146506, + 1.0 + ], + [ + 0.0016307174858049681, + 0.003202117020110433, + 0.012938689695772627, + 0.009871395010260556, + -0.026930428905611488, + 0.0004321297531532032, + 1.0 + ], + [ + 0.0022812734381467315, + -0.0019970261411099625, + 0.004943720076476663, + 0.007480331632723539, + -0.001676055551387913, + -0.01618346365715264, + 1.0 + ], + [ + 0.0032126141418336272, + -0.0006254673375542454, + 0.000990904528750501, + -0.0011543416736811444, + 0.003324769087930777, + -0.0056072423886385, + 1.0 + ], + [ + -0.0004205545533781012, + -2.5391645359505637e-05, + 0.0014407390918164055, + -0.01126732909325233, + -0.0016298426951137388, + -0.014866065537574682, + 0.0 + ], + [ + -0.000657547402935078, + -0.002364083521113079, + -0.000766676392052177, + -0.008149128712411285, + 0.006518285624662551, + -0.0032862278718331626, + 0.0 + ], + [ + -0.0010344397688324153, + -0.0015296035233481292, + -0.016247552998376668, + 0.011995579707374467, + 0.03459538416279111, + -0.01333665086208756, + 0.0 + ], + [ + -0.0011922355696158153, + -0.00039601543535851025, + -0.05205933246006481, + 0.031313775159744664, + 0.1318644017895371, + -0.05506429884872411, + 0.0 + ], + [ + 0.0010039971000897255, + 0.041253554676150044, + -0.03231269290209301, + -0.03747282118324675, + 0.06783729019692246, + 0.07317972145030156, + 0.0 + ], + [ + 0.010892536992285108, + 0.04869814287902026, + -0.00040249001827989954, + -0.09459310822871332, + -0.03912388485305497, + 0.06198016281271085, + 0.0 + ], + [ + 0.0239261240961681, + 0.0531491167166677, + 0.017669072868042857, + -0.05555434180856713, + -0.08395881624239876, + 0.012607172195750024, + 0.0 + ], + [ + 0.023716303490987453, + 0.051848293439761474, + 0.02468357315656612, + 0.015609594006436583, + -0.06612563719995934, + 0.021427570793598878, + 0.0 + ], + [ + 0.016435796865088205, + 0.03547920712645746, + 0.015921013826475712, + 0.044614921266325006, + -0.019172018089309403, + -0.003162097106089585, + 0.0 + ], + [ + 0.009102630122500514, + 0.011399009282343865, + 0.014205601608815836, + 0.014537420934116661, + -0.010086411648208967, + 0.007012883213170233, + 0.0 + ], + [ + 0.005494269552488686, + 0.00381109375619233, + 0.00876205347297, + -0.017418774445747753, + 0.025192283021126638, + 0.030224970118412978, + 0.0 + ], + [ + 0.0030672229412666216, + 0.001361133507394482, + 0.010018444752564672, + -0.046664831742027464, + -0.008281869165785957, + 0.03249585946926683, + 0.0 + ], + [ + 0.002660450197535415, + -0.011523081269850485, + 0.004528043424878212, + -0.019815116844108954, + -0.009018588385074461, + -0.0028541719523349648, + 0.0 + ], + [ + -0.0032198026631263528, + -0.0015651258039582618, + 0.0008966594248232917, + -0.0013331456867796592, + -0.02670298887939631, + 0.019976570863273535, + 1.0 + ], + [ + -0.0013466414582069862, + -0.0004855932402250956, + -0.010488945835901828, + -0.017633044769517162, + 0.014404197378136157, + -0.009572277423545364, + 1.0 + ], + [ + -0.006576628299280485, + -0.0024819293546740583, + -0.058089033011821334, + -0.015211544157224411, + 0.10935321369992619, + 0.011921302687382692, + 1.0 + ], + [ + -0.03259107047026934, + -0.013953812337345257, + -0.04836545448622585, + 0.05283992203970806, + 0.03374176277989744, + 0.006642308452538952, + 1.0 + ], + [ + -0.0399356301178533, + -0.03559784401081668, + -0.006194960778246187, + -0.004347370438070868, + -0.028789097811470717, + -0.03260587237542506, + 1.0 + ], + [ + -0.014109234506302634, + -0.009610448036297755, + 0.0009352158420284277, + -0.0007987203046532129, + 0.015422987716343746, + 0.01324126018612157, + 1.0 + ], + [ + -0.004578833476621309, + -0.0048770079081357, + 0.0029495600482736463, + -0.020118393871512912, + -0.010656031844758702, + 0.004851436734458371, + 1.0 + ], + [ + -0.0037032380789305684, + -0.0006306120339364757, + -3.6905828728717364e-05, + -0.020719856637663847, + -0.02031389830072111, + 0.06431352461120535, + 1.0 + ], + [ + -0.0004189281257769524, + -0.0008781388634053669, + 0.00043423041912943756, + -0.0023933168274342903, + -0.0026704615656769105, + 0.0001083788876400169, + 1.0 + ] + ], + "state": [ + [ + 0.2508389353752136, + 0.025682862848043442, + 0.09502667933702469, + -3.1089172308617314, + -0.13732208311557767, + -0.12422435730695723, + 1.0 + ], + [ + 0.2508389353752136, + 0.025682862848043442, + 0.09502667933702469, + -3.109129140275069, + -0.13737203180789945, + -0.12267661094665527, + 1.0 + ], + [ + 0.24888832867145538, + 0.02488435059785843, + 0.08892057836055756, + -3.1185888686501464, + -0.1143302172422409, + -0.11935083568096161, + 1.0 + ], + [ + 0.24925591051578522, + 0.03652362525463104, + 0.08301139622926712, + -3.1326519149639687, + -0.0940408781170845, + -0.07502985745668411, + 1.0 + ], + [ + 0.2550065517425537, + 0.051154974848032, + 0.08738420158624649, + -3.127063151570507, + -0.1216779351234436, + -0.05387113988399506, + 1.0 + ], + [ + 0.2598994970321655, + 0.0748751312494278, + 0.08815275877714157, + -3.1074454617970666, + -0.14711198210716248, + -0.03016950190067291, + 1.0 + ], + [ + 0.2659987807273865, + 0.09777846932411194, + 0.08166494965553284, + -3.0712692235880574, + -0.149334117770195, + -0.004323617089539766, + 1.0 + ], + [ + 0.2692738473415375, + 0.1159953773021698, + 0.0758100226521492, + -3.0619283859902104, + -0.1517949402332306, + 0.014201116748154163, + 1.0 + ], + [ + 0.2719580829143524, + 0.13659724593162537, + 0.07456355541944504, + -3.0481464510136327, + -0.16055843234062195, + 0.04275223985314369, + 1.0 + ], + [ + 0.27187374234199524, + 0.15896198153495789, + 0.07360280305147171, + -3.041247183578559, + -0.15614239871501923, + 0.1038449853658676, + 1.0 + ], + [ + 0.27148401737213135, + 0.17349472641944885, + 0.06970108300447464, + -3.0369626974039754, + -0.1466248333454132, + 0.14897561073303223, + 1.0 + ], + [ + 0.2716219425201416, + 0.1784937083721161, + 0.06127156689763069, + -3.0192750712209424, + -0.13266120851039886, + 0.16030173003673553, + 1.0 + ], + [ + 0.2721596956253052, + 0.18112988770008087, + 0.042957503348588943, + -2.998308302956172, + -0.09105341881513596, + 0.16807866096496585, + 1.0 + ], + [ + 0.2751708924770355, + 0.18030020594596863, + 0.029897380620241165, + -2.9886969198756894, + -0.06433679163455963, + 0.17150326073169708, + 1.0 + ], + [ + 0.27723896503448486, + 0.1834256649017334, + 0.025471629574894905, + -2.9822836389117917, + -0.06513642519712447, + 0.187787726521492, + 1.0 + ], + [ + 0.28029999136924744, + 0.18479594588279724, + 0.024803468957543373, + -2.9837659170203885, + -0.06930778175592422, + 0.19280855357646942, + 1.0 + ], + [ + 0.27993646264076233, + 0.18498124182224274, + 0.023358909413218498, + -2.996087746816226, + -0.07002689689397812, + 0.20778271555900577, + 0.0 + ], + [ + 0.278759628534317, + 0.1870100498199463, + 0.024411549791693687, + -3.0043960084491452, + -0.07695259153842926, + 0.21009589731693268, + 0.0 + ], + [ + 0.27667251229286194, + 0.18584220111370087, + 0.04058785364031792, + -2.9929786791377744, + -0.11304397881031038, + 0.21862290799617767, + 0.0 + ], + [ + 0.2714270055294037, + 0.17718173563480377, + 0.0916685089468956, + -2.964500980573245, + -0.2515285611152649, + 0.254239946603775, + 0.0 + ], + [ + 0.27810201048851013, + 0.13107773661613464, + 0.11568599194288254, + -2.980311172204562, + -0.30451107025146484, + 0.1663411557674408, + 0.0 + ], + [ + 0.29851409792900085, + 0.08570034801959991, + 0.11187052726745605, + -3.0580196996503552, + -0.2554803192615509, + 0.10966333001852036, + 0.0 + ], + [ + 0.33269697427749634, + 0.03766421601176262, + 0.09658834338188171, + -3.111859008791395, + -0.170758917927742, + 0.10406356304883956, + 0.0 + ], + [ + 0.3656795620918274, + -0.010260500945150852, + 0.07478564232587814, + -3.0928670597546777, + -0.10399331897497177, + 0.08455169945955276, + 0.0 + ], + [ + 0.3867189586162567, + -0.04326324537396431, + 0.05895684286952019, + -3.048669921355792, + -0.08499719947576524, + 0.08865803480148314, + 0.0 + ], + [ + 0.39792683720588684, + -0.05233822762966156, + 0.04458247125148773, + -3.0336147119575223, + -0.07430203258991241, + 0.08259494602680206, + 0.0 + ], + [ + 0.40429678559303284, + -0.05466526001691818, + 0.0358937606215477, + -3.048614317672797, + -0.09605089575052263, + 0.04968788102269173, + 0.0 + ], + [ + 0.40833479166030884, + -0.05489007756114006, + 0.026132933795452118, + -3.092282759147235, + -0.08474022150039671, + 0.01798906922340393, + 0.0 + ], + [ + 0.4111088812351227, + -0.04310600832104683, + 0.022417733445763588, + -3.112375846254178, + -0.07587281614542007, + 0.02129368484020233, + 0.0 + ], + [ + 0.4079296588897705, + -0.041582703590393066, + 0.02132556401193142, + -3.112247875081845, + -0.048583727329969406, + 0.002090220106765628, + 1.0 + ], + [ + 0.4060743749141693, + -0.041408948600292206, + 0.031746454536914825, + -3.1303241347246846, + -0.06326054036617279, + 0.011253081262111664, + 1.0 + ], + [ + 0.3958171606063843, + -0.03969705477356911, + 0.08932776004076004, + 3.138560665892907, + -0.17246693372726443, + -0.0020230936352163553, + 1.0 + ], + [ + 0.35544535517692566, + -0.025514958426356316, + 0.13134072721004486, + -3.090639753388711, + -0.2062249332666397, + -0.008700800128281116, + 1.0 + ], + [ + 0.3150259256362915, + 0.010074195452034473, + 0.13099369406700134, + -3.102075444655963, + -0.17901308834552768, + 0.02586874552071095, + 1.0 + ], + [ + 0.30099621415138245, + 0.019354302436113358, + 0.1279354840517044, + -3.1003619005256375, + -0.19388355314731598, + 0.011765792034566402, + 1.0 + ], + [ + 0.2969737648963928, + 0.024301759898662567, + 0.12435869872570038, + -3.1196146198832473, + -0.18303470313549042, + 0.007283101789653302, + 1.0 + ], + [ + 0.29331865906715393, + 0.024904804304242134, + 0.12373456358909607, + -3.1286082520433744, + -0.1609375923871994, + -0.05739117413759232, + 1.0 + ], + [ + 0.2930241525173187, + 0.025806885212659836, + 0.12325010448694229, + -3.130989563772925, + -0.15826594829559326, + -0.0574658028781414, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05933445692062378, + 0.3388673663139343, + 0.38005203008651733, + 0.38005203008651733, + 0.3810555934906006, + 0.38005203008651733, + 0.3810555934906006, + 0.3810555934906006, + 0.3810555934906006, + 0.38005203008651733, + 0.3810555934906006, + 0.38005203008651733, + 0.38005203008651733, + 0.3078004717826843, + 0.0349576473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "3339", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3339/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3340.json b/annotation/test/3340.json new file mode 100644 index 0000000000000000000000000000000000000000..c85ca79c46f7a24c9fce271ede1c633d0eeb39f5 --- /dev/null +++ b/annotation/test/3340.json @@ -0,0 +1,926 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "move pot to the left of the yellow cloth" + ], + "videos": [ + { + "video_path": "videos/test/3340/rgb.mp4" + } + ], + "action": [ + [ + 0.00031020248818137015, + -0.00022251239513412576, + -0.00035442239107923406, + 0.0007075200070981864, + 0.0013429663473661423, + -0.001754724875150841, + 1.0 + ], + [ + -0.0010612528447922476, + 0.002450031486131318, + 0.0035965109953566545, + -0.013417955412541174, + -0.010703268737429418, + -0.021763572948785434, + 1.0 + ], + [ + 0.011368632933272466, + 0.0002803443165920998, + -0.006386418265646752, + -0.0009407016086545587, + 0.052942353266855584, + -0.15066336363090116, + 1.0 + ], + [ + 0.021051316163871184, + 0.006962754756825008, + -0.010693160789100532, + 0.011924538214097984, + 0.04323401087792817, + -0.041177701740298285, + 1.0 + ], + [ + 0.029352477575659782, + 0.014770254902950804, + -0.00020510986403715414, + -0.04240452814277006, + 0.0444332942087346, + -0.013564994657928283, + 1.0 + ], + [ + 0.028700299661499985, + 0.025921780519484582, + 0.010644139065977961, + -0.015323869253640118, + 0.06207232804234175, + -0.026076701329060595, + 1.0 + ], + [ + 0.016385206955434627, + 0.027541323977233884, + 0.013180285677480762, + -0.0234486448020629, + 0.02177703019774153, + 0.007506740220641479, + 1.0 + ], + [ + 0.015395008691392802, + 0.02631806181358672, + 0.013859310001169297, + -0.023269831243562758, + -0.0027459980105112507, + 0.025177698442819432, + 1.0 + ], + [ + 0.010353673950568455, + 0.019854948961853646, + 0.016722362231183497, + -0.005002339750078017, + -0.011663674775407118, + 0.013838192016457774, + 1.0 + ], + [ + 0.009208119188236653, + 0.0062007859066865395, + 0.01926903608920957, + 0.024298805676442395, + -0.03119831756278169, + 0.012167460885535768, + 1.0 + ], + [ + 0.006061653678258098, + 0.0027238916451513637, + 0.01584874224325481, + 0.006117151251983513, + -0.02025246149840107, + -0.0010551116588780236, + 1.0 + ], + [ + 0.0050757383702437495, + 0.005009485494890882, + 0.010777316127740468, + 0.004751472928255554, + 0.005516732848467263, + -0.009874168269426886, + 1.0 + ], + [ + -0.0018758964365441992, + 0.003420256196054241, + 0.006885210839894494, + -0.00033856835415062785, + -0.01517595958534081, + -0.0034506806836912857, + 1.0 + ], + [ + -0.0005894407460315891, + 0.0053751395527121704, + -0.00021867947384805994, + -0.05385481553820973, + -0.005568856964110401, + 0.0011334021757440156, + 1.0 + ], + [ + 0.0012917701369191536, + -0.006104689912864592, + 0.0004263620331892457, + -0.01644628132805424, + -0.003955888213750518, + -0.023309109213947212, + 0.0 + ], + [ + -0.0012927606463922327, + -0.0008036961165184532, + -3.562496302655418e-05, + -0.024260071261182604, + -0.013467490639837867, + -0.0008381091870796914, + 0.0 + ], + [ + 0.00046658023420347044, + -0.0034419181170833282, + -0.001715917448155138, + -0.010931181951588329, + -0.001300315589376599, + -0.015669724888594805, + 0.0 + ], + [ + -0.001125065239346512, + -0.00955036408732689, + -0.023006377816513653, + -0.0328842812153527, + 0.021853466025938875, + -0.04096208390681792, + 0.0 + ], + [ + -0.0019187477468853844, + -0.012146343116138762, + -0.011661816773522187, + -0.0290668172349148, + 0.007398340714248607, + -0.07143127619495848, + 0.0 + ], + [ + 0.001376053737853388, + -0.017160606542586544, + -0.02133614805170749, + -0.023804932580379204, + 0.06395172727696183, + -0.14897757954128837, + 0.0 + ], + [ + 0.00016525390212002806, + -0.02096350234458349, + -0.010271580939095465, + 0.00093975804267824, + -0.0021729604329133664, + -0.24693811098642018, + 0.0 + ], + [ + 0.00700489547033359, + -0.029111870844043413, + -0.019456649625604155, + 0.002479649061790673, + 0.024171602812620895, + -0.19142700752860622, + 0.0 + ], + [ + 0.0062617676663924305, + -0.020466551718316562, + -0.009368292402283197, + 0.057769143867111405, + 0.02862063293399277, + -0.10724947993372504, + 0.0 + ], + [ + 0.012168161790844076, + -0.02660632696510968, + -0.0016190230681351334, + 0.0642194791104746, + 0.01367026543838508, + -0.1026809105111964, + 0.0 + ], + [ + 0.015361092344923843, + -0.03264917261700551, + 0.005928964308133562, + 0.0007046846259556992, + -0.015313903324482486, + -0.08827024116038863, + 0.0 + ], + [ + 0.011663614563477663, + -0.025595817590092912, + 0.009770371649416954, + 0.02179071117882981, + -0.01739362995418041, + -0.13783457712783773, + 0.0 + ], + [ + 0.004907127521124911, + -0.01194184336775923, + 0.0032816799776413277, + 0.010488595637344902, + -0.002235774462401187, + -0.21211471530657344, + 0.0 + ], + [ + 0.001552257477057846, + -0.007480055940094634, + 0.00339944677591712, + 0.05131689106964053, + 0.013617896791269896, + -0.1901672423912093, + 0.0 + ], + [ + -0.0011768501348983819, + -0.006752580133409966, + 0.006189622134322961, + 0.021773884656807782, + 0.011910369583981782, + -0.2032771970048063, + 0.0 + ], + [ + 0.0008431099314864505, + -0.006780240343029465, + 0.0062934115500162275, + 0.010464706985507582, + -0.03063384025251695, + -0.2199514189233889, + 0.0 + ], + [ + 0.0034521887526718165, + -0.0030811941868681084, + 0.007714769183884386, + 0.0015105364652194693, + 0.005058597343262675, + -0.14556021598538157, + 0.0 + ], + [ + 0.0008877763539362276, + -0.004754905958646369, + 0.007559778273971976, + -0.00256402056471437, + -0.007761728681070213, + -0.08054629957472208, + 0.0 + ], + [ + 0.0061006170912888775, + 0.0020265903397373637, + 0.0076832538647162415, + -0.0026135527049215147, + -0.03070597514872331, + -0.012942751543775234, + 0.0 + ], + [ + 0.0010255438425699583, + 0.00028865184062429154, + 0.013105542839971994, + 0.0484426585909514, + -0.02685238168126355, + 0.041952270780151894, + 0.0 + ], + [ + 2.128353586474592e-05, + -0.0023608290165958515, + 0.010080910841724086, + 0.04026307340653058, + -0.010792980250294982, + 0.018520042766420112, + 0.0 + ], + [ + -0.0010288148641995766, + 0.001410985329688893, + -0.002902366109688169, + 0.016194074004296982, + -0.006815792371136717, + 0.030708423025430892, + 1.0 + ], + [ + -0.0008220942582532752, + -0.0012474276060292153, + -0.001584265257233559, + 0.014731560159846186, + -0.005299081405780159, + 0.023376970084885436, + 1.0 + ], + [ + -0.0011278730573338806, + 0.0006757329624299966, + -0.0063011839818402065, + -0.016798454839277183, + 0.0006370792074569863, + 0.02249536281375063, + 1.0 + ], + [ + -0.008211036683010157, + 0.0009623108605340193, + -0.02061925110928498, + -0.04545600851866283, + 0.05370795618664673, + 0.06467312696651346, + 1.0 + ], + [ + -0.011299379843906441, + 0.0017996062309613026, + -0.01647579068571909, + -0.0438121417656966, + 0.021014406201796294, + 0.09260287488997276, + 1.0 + ], + [ + -0.023265957884538353, + 0.007116217503850578, + -0.018582996380174105, + -0.009142424827306013, + 0.047506801478677335, + 0.21549066545297543, + 1.0 + ], + [ + -0.015709387821540376, + 0.020789472678006488, + -0.015365384482881604, + 0.015724782855865004, + 0.04072930126116234, + 0.24828665970517583, + 1.0 + ], + [ + -0.004662582560839589, + 0.025014843294488946, + 0.0009240615931589239, + 0.07296958010057904, + 0.06987816302747259, + 0.2695649583143832, + 1.0 + ], + [ + -0.005358234058094931, + 0.027478054626158422, + -0.0006094822103665301, + -0.037675030719712746, + 0.0455984287390226, + 0.2461017603357044, + 1.0 + ], + [ + -0.011945417814707626, + 0.025604751469845238, + -0.005068833553116042, + -0.030664329321362732, + 0.05560793560490292, + 0.25210964857187795, + 1.0 + ], + [ + -0.0014836778973127257, + 0.019514882552416738, + 0.0010824144906181137, + -0.060359469039154, + 0.007185471619518668, + 0.21898427444682514, + 1.0 + ], + [ + -0.002515197693976021, + 0.009197831337940552, + 0.002294375875419934, + -0.047808841809868025, + -0.005488127863839169, + 0.2201297406327145, + 1.0 + ] + ], + "state": [ + [ + 0.179212287068367, + 0.08583943545818329, + 0.11279989033937454, + -3.0215814878516873, + 0.08294659852981569, + -0.15146943926811218, + 1.0 + ], + [ + 0.1795758157968521, + 0.08596449345350266, + 0.11315140128135681, + -3.0207425599270543, + 0.08140310645103455, + -0.14988286793231964, + 1.0 + ], + [ + 0.17792069911956787, + 0.08419319987297058, + 0.10938484966754913, + -3.0323164259367665, + 0.08938342332839966, + -0.12689687311649325, + 1.0 + ], + [ + 0.18958890438079834, + 0.0817214697599411, + 0.11466256529092789, + -3.0214235876970967, + 0.019457921385765076, + 0.016843272373080257, + 1.0 + ], + [ + 0.21096155047416687, + 0.07388588786125183, + 0.12403247505426407, + -3.0087684114747724, + -0.02841196395456791, + 0.05251495167613029, + 1.0 + ], + [ + 0.2410813570022583, + 0.06078151613473892, + 0.12311425060033798, + -3.051260033743926, + -0.074249267578125, + 0.06008516624569892, + 1.0 + ], + [ + 0.27210161089897156, + 0.03774679824709892, + 0.11233977973461151, + -3.0679531042748174, + -0.1384049355983734, + 0.08060429990291597, + 1.0 + ], + [ + 0.2924971282482147, + 0.012811055406928062, + 0.09957455098628998, + -3.0901172627979, + -0.15956488251686096, + 0.07140062749385834, + 1.0 + ], + [ + 0.311890184879303, + -0.011437331326305866, + 0.08701858669519424, + -3.1093821955197534, + -0.15547692775726318, + 0.04609237611293793, + 1.0 + ], + [ + 0.3256819546222687, + -0.030127819627523422, + 0.07147806882858276, + -3.11228013982112, + -0.1433594971895218, + 0.032498497515916824, + 1.0 + ], + [ + 0.337750107049942, + -0.03537184000015259, + 0.05355057865381241, + -3.086351914452859, + -0.1118088960647583, + 0.021185826510190964, + 1.0 + ], + [ + 0.34559366106987, + -0.03705074265599251, + 0.03835170343518257, + -3.0804668982797345, + -0.09164532274007796, + 0.023366380482912064, + 1.0 + ], + [ + 0.3517603576183319, + -0.04124957695603371, + 0.027799440547823906, + -3.076592559116431, + -0.09775076806545258, + 0.03293059766292572, + 1.0 + ], + [ + 0.35068392753601074, + -0.04425245523452759, + 0.02055739052593708, + -3.0773580243163785, + -0.0828300341963768, + 0.03737454488873482, + 1.0 + ], + [ + 0.350308358669281, + -0.04964834824204445, + 0.02038225345313549, + -3.1311476669558367, + -0.07719988375902176, + 0.036598652601242065, + 1.0 + ], + [ + 0.35139983892440796, + -0.043495479971170425, + 0.02012038230895996, + 3.133783124508806, + -0.07346656918525697, + 0.06001080200076103, + 0.0 + ], + [ + 0.3500625193119049, + -0.04277043044567108, + 0.020054761320352554, + 3.1094684546166143, + -0.05999292433261871, + 0.060744959861040115, + 0.0 + ], + [ + 0.350219190120697, + -0.03925918787717819, + 0.021684331819415092, + 3.0976030958169183, + -0.05818268284201621, + 0.0763912945985794, + 0.0 + ], + [ + 0.34698566794395447, + -0.028922976925969124, + 0.04414486885070801, + 3.0623046850138387, + -0.07816307991743088, + 0.11839403212070465, + 0.0 + ], + [ + 0.342720091342926, + -0.016306640580296516, + 0.05462561920285225, + 3.0278215428167066, + -0.07968358695507051, + 0.19041496515274048, + 0.0 + ], + [ + 0.33887702226638794, + 0.002782891970127821, + 0.07392410933971405, + 2.9927559216790875, + -0.1254162043333054, + 0.34669411182403564, + 0.0 + ], + [ + 0.33063989877700806, + 0.023469723761081696, + 0.08093880116939545, + 2.967805864410945, + -0.08329501748085022, + 0.5913791656494142, + 0.0 + ], + [ + 0.3175978660583496, + 0.053302865475416183, + 0.0956023558974266, + 2.957506688433238, + -0.07266687601804732, + 0.7846046686172486, + 0.0 + ], + [ + 0.3063088655471802, + 0.07288748770952225, + 0.10150620341300964, + 3.0082945992522916, + -0.08076850324869156, + 0.8956242799758911, + 0.0 + ], + [ + 0.29323434829711914, + 0.09909338504076004, + 0.10056281834840775, + 3.0648510103398046, + -0.08026179671287537, + 0.9995437264442444, + 0.0 + ], + [ + 0.27487584948539734, + 0.12989667057991028, + 0.09340688586235046, + 3.0588708614283284, + -0.057931430637836456, + 1.0865108966827393, + 0.0 + ], + [ + 0.25875595211982727, + 0.15230923891067505, + 0.0822502002120018, + 3.073563905554362, + -0.028708839789032936, + 1.2224559783935547, + 0.0 + ], + [ + 0.24948130548000336, + 0.16102062165737152, + 0.0783068910241127, + 3.079544251906224, + -0.011527104303240778, + 1.4339308738708496, + 0.0 + ], + [ + 0.24251212179660797, + 0.1635921448469162, + 0.07446830719709396, + 3.1297966289618095, + -0.013189557939767836, + 1.624586582183838, + 0.0 + ], + [ + 0.23590150475502014, + 0.16214056313037872, + 0.06818448752164841, + -3.134037336456128, + -0.022445853799581528, + 1.8280302286148071, + 0.0 + ], + [ + 0.2290484756231308, + 0.16135422885417938, + 0.061962977051734924, + -3.1286533895232758, + 0.007080313749611379, + 2.0481131076812744, + 0.0 + ], + [ + 0.22466230392456055, + 0.16291099786758423, + 0.05426447093486786, + -3.1262529577412685, + 7.05896527506411e-05, + 2.1935930252075195, + 0.0 + ], + [ + 0.22018885612487793, + 0.16079077124595642, + 0.04677845537662506, + -3.128860701928385, + 0.006597009487450124, + 2.2742486000061035, + 0.0 + ], + [ + 0.21774640679359436, + 0.16665183007717133, + 0.03902994468808174, + -3.131381368386098, + 0.03713513165712356, + 2.2875843048095703, + 0.0 + ], + [ + 0.21750955283641815, + 0.1671592891216278, + 0.02589309960603714, + -3.084493951993533, + 0.06438207626342773, + 2.2458372116088867, + 0.0 + ], + [ + 0.21560634672641754, + 0.16484466195106506, + 0.015982547774910927, + -3.045389937358447, + 0.07620400190353392, + 2.227912425994873, + 0.0 + ], + [ + 0.21743763983249664, + 0.16522660851478577, + 0.018806295469403267, + -3.0315220971875867, + 0.0859033465385437, + 2.1978909969329834, + 1.0 + ], + [ + 0.21696902811527252, + 0.16405686736106873, + 0.020582223311066628, + -3.018769370513507, + 0.09371595829725266, + 2.175138235092163, + 1.0 + ], + [ + 0.21846607327461243, + 0.1644277572631836, + 0.026831617578864098, + -3.0377048050337514, + 0.09581586718559265, + 2.1526310443878174, + 1.0 + ], + [ + 0.22447086870670319, + 0.1609315276145935, + 0.047931842505931854, + -3.089953763531991, + 0.0488649345934391, + 2.0827369689941406, + 1.0 + ], + [ + 0.23191618919372559, + 0.15308623015880585, + 0.06482517719268799, + -3.1385463363309434, + 0.03243756294250488, + 1.9891396760940552, + 1.0 + ], + [ + 0.24767263233661652, + 0.13530182838439941, + 0.08413120359182358, + 3.128489250438758, + -0.015167974866926668, + 1.7737237215042114, + 1.0 + ], + [ + 0.27105003595352173, + 0.12383317947387695, + 0.09952760487794876, + -3.134855918707796, + -0.05865051597356797, + 1.5257841348648071, + 1.0 + ], + [ + 0.2958261966705322, + 0.11812201887369156, + 0.09816361963748932, + -3.046356001990386, + -0.12459737062454224, + 1.2542541027069092, + 1.0 + ], + [ + 0.320298433303833, + 0.10477369278669357, + 0.09550703316926956, + -3.055910827713557, + -0.14295268058776855, + 1.0024569034576416, + 1.0 + ], + [ + 0.33558136224746704, + 0.08050130307674408, + 0.0966351106762886, + -3.052640365558215, + -0.17231489717960358, + 0.7428442239761354, + 1.0 + ], + [ + 0.34794220328330994, + 0.06559272855520248, + 0.09361061453819275, + -3.0774441977315625, + -0.1560356467962265, + 0.5213567614555359, + 1.0 + ], + [ + 0.350674033164978, + 0.056746188551187515, + 0.09037544578313828, + -3.0926694368296346, + -0.132803350687027, + 0.30007052421569824, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05933445692062378, + 0.33987146615982056, + 0.634721577167511, + 0.8355658501386642, + 0.9132281243801117, + 0.9156777262687683, + 0.9156777262687683, + 0.9156777262687683, + 0.9156777262687683, + 0.9156777262687683, + 0.9156777262687683, + 0.9156777262687683, + 0.9156777262687683, + 0.9156777262687683, + 0.9156777262687683, + 0.9156777262687683, + 0.9156777262687683, + 0.9156777262687683, + 0.9156777262687683, + 0.9156777262687683, + 0.9156777262687683, + 0.8803941234946251, + 0.6965844929218292, + 0.4110974073410034, + 0.11550527811050415, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "3340", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3340/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3362.json b/annotation/test/3362.json new file mode 100644 index 0000000000000000000000000000000000000000..70e78b0ba66aac10497cd94b03936b78a89e0747 --- /dev/null +++ b/annotation/test/3362.json @@ -0,0 +1,641 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "topple hot sauce bottle cardboard fence" + ], + "videos": [ + { + "video_path": "videos/test/3362/rgb.mp4" + } + ], + "action": [ + [ + -0.00018853457027072351, + -0.00010390723610463985, + 0.00031869129322801643, + -7.30035143621077e-05, + -5.7970256683252116e-05, + 0.00014139013927051455, + 1.0 + ], + [ + -0.003176398996655664, + -0.0028237601314536316, + 0.007700891942021192, + 0.020323361025039864, + -0.016377413320857567, + 0.00903533132385003, + 1.0 + ], + [ + 0.0038144572408097795, + -0.0039776415253105005, + 0.00014439002945602095, + 0.032336167960175306, + 0.04473021415346656, + 0.06588317725176969, + 1.0 + ], + [ + 0.0009408499406580612, + -0.0068953071685469765, + -0.02031742908084539, + 0.008312797007255261, + 0.03472119978530967, + -0.004818886072741867, + 1.0 + ], + [ + -0.007556550967223261, + -0.006672442449498843, + -0.014884164177644951, + -0.015067000880680363, + -0.0005054636261175563, + 0.007741487424382949, + 1.0 + ], + [ + -0.015722828174950118, + -0.00834843030860488, + -0.0075247979061579704, + -0.005402102424156555, + -0.013419167129683676, + 0.022876445995131042, + 1.0 + ], + [ + -0.011825711451090836, + -0.002490736585303934, + -0.005494399421271758, + -0.01108307359313382, + -0.02591192772070094, + 0.01809562920211807, + 1.0 + ], + [ + -0.012722772574352583, + 0.0002323773386804452, + 0.0061819138658222965, + 0.0027793904018476832, + -0.010915172219652098, + 0.012782693658652531, + 1.0 + ], + [ + -0.005643784678560059, + -0.001544754063210841, + -0.0004702757987548313, + 0.008289833803424544, + 0.005749341953217077, + 0.013819200701581543, + 1.0 + ], + [ + -0.008099085001345757, + -0.00456097805713231, + 0.0003435222904035198, + 0.010188074698366724, + 0.009281018799075424, + 0.0290586928559863, + 1.0 + ], + [ + -0.005447272829436083, + 0.00015594147188174878, + 0.0027586488100551517, + 0.009193164690460883, + -0.009184924663579203, + 0.012829970334749329, + 1.0 + ], + [ + 5.390352931693852e-05, + 0.002558563431633419, + -2.065209118671822e-05, + -0.016136601251056277, + 0.00028068447451375594, + -0.0036747471439845273, + 1.0 + ], + [ + 0.001420896950941422, + -0.001078231795136103, + 0.0034706369957266327, + -0.0067289496411545085, + -0.01324726176796764, + -0.030282354248530197, + 0.0 + ], + [ + 0.0017067123140320425, + 0.0015733524472801776, + 0.003528053939700734, + 0.009330046132394808, + -0.009970441305036475, + -0.015905463267340058, + 0.0 + ], + [ + 0.0016831734877585474, + 0.0015168980267130238, + 0.0004770722542890864, + 0.005547779060589973, + -0.011859437958789116, + -0.017640569829941787, + 0.0 + ], + [ + 0.0025287754070587773, + 0.0032322267885962113, + -0.002502596745868809, + 0.006405830429387721, + -0.08417751477382762, + -0.038567717486138645, + 0.0 + ], + [ + 0.009098904703790111, + 0.005029388448789621, + -0.009763009706497948, + -0.043019120795762374, + -0.17955550805569048, + -0.06508996238199918, + 0.0 + ], + [ + 0.00470408958247507, + 0.0043699568980173275, + -0.0011103864667029925, + -0.09271186281066061, + -0.1503590930775081, + -0.11009794242319922, + 0.0 + ], + [ + 0.01196479127183618, + 0.002823324650912887, + 0.009259571799663469, + -0.011103564560772121, + -0.05256792657638819, + -0.028598535721030872, + 0.0 + ], + [ + 0.0132045474574349, + 0.0022239884411932426, + 0.011223103899190673, + 0.00290813458529942, + 0.05217833667020034, + -0.017835403199123127, + 0.0 + ], + [ + 0.013816052662887792, + 0.0032792257381137253, + 0.0030204380983578196, + -0.02001366196593421, + 0.0963923018180916, + -0.04452952996774634, + 0.0 + ], + [ + 0.015626763101389024, + -0.0004904129137703887, + 0.00767445488832533, + -0.025138307286197592, + 0.11930709466977456, + -0.023769507736066283, + 0.0 + ], + [ + 0.011371909377931508, + -0.0034372579930621434, + 0.011321007813121316, + -0.04554608823184899, + 0.2098111255574937, + 0.030279322228180347, + 0.0 + ], + [ + 0.010117586274639241, + 0.0017086725264851027, + 0.012022884370361782, + -0.048511193310664454, + 0.06963377822858971, + 0.006951911247912287, + 0.0 + ], + [ + -0.0006558586307239953, + -0.0033003475064975712, + 0.009485669460101544, + 0.026727716776755187, + -0.013658997958562276, + -0.005959501671847032, + 0.0 + ], + [ + 0.0019634247137441797, + -0.0011932489973562254, + 0.0019387280558385595, + 0.031767007488881505, + -0.017222351637427316, + -0.013246725071287057, + 0.0 + ], + [ + -0.000502600558678608, + -0.0007319490784154249, + 0.00015349240399565456, + 0.03788047372901235, + 0.012266114015172297, + -0.0034206166279365222, + 1.0 + ], + [ + -0.0030251620761342717, + -0.0005404057141753727, + -0.0012821105734768985, + 0.010119591760524625, + -0.02573231802264833, + -0.011743599818496996, + 1.0 + ], + [ + 1.6063151786189674e-05, + 0.001194970980428418, + -0.008084032876440378, + -0.012623645738982659, + -0.0237758188935801, + -0.008779736158648688, + 1.0 + ], + [ + 0.0003517851701447031, + 0.004394563398742767, + -0.017597919106542608, + -0.033253438349771285, + 0.002381476047214469, + -0.00026487016757232196, + 1.0 + ], + [ + 0.0011249412791508847, + 0.0035879773048923865, + -0.016828949779768648, + -0.01729147784873748, + -0.006503629481825955, + 0.004545433525014513, + 1.0 + ], + [ + 0.0001921494861025623, + 0.00048568262174382567, + -0.0002899859955925785, + -0.001900021466459803, + 0.00014677055211773733, + 0.0066331070864008405, + 1.0 + ] + ], + "state": [ + [ + 0.2998497486114502, + -0.0974045917391777, + 0.06802941858768463, + -3.112526698159524, + -0.10768451541662216, + 0.35174912214279175, + 1.0 + ], + [ + 0.2996666431427002, + -0.09735129028558731, + 0.06769544631242752, + -3.1125846059345683, + -0.10762245953083038, + 0.35160866379737854, + 1.0 + ], + [ + 0.29642078280448914, + -0.09529761970043182, + 0.059782564640045166, + -3.0913355146818837, + -0.090985931456089, + 0.3430178165435791, + 1.0 + ], + [ + 0.29865485429763794, + -0.09027368575334549, + 0.0601845309138298, + -3.0528334250026425, + -0.1321406364440918, + 0.2744336724281311, + 1.0 + ], + [ + 0.29553523659706116, + -0.08588781207799911, + 0.08097540587186813, + -3.044697033362933, + -0.1671520620584488, + 0.27617782354354853, + 1.0 + ], + [ + 0.2844734489917755, + -0.08361689746379852, + 0.09496258199214935, + -3.05847533990676, + -0.16589508950710294, + 0.2684149742126465, + 1.0 + ], + [ + 0.266176700592041, + -0.08066880702972412, + 0.10044564306735992, + -3.0602680911594113, + -0.15058389306068418, + 0.2464856952428818, + 1.0 + ], + [ + 0.25351524353027344, + -0.08175482600927353, + 0.10428591817617416, + -3.0689261202984532, + -0.1232685074210167, + 0.2304391860961914, + 1.0 + ], + [ + 0.24191327393054962, + -0.08425377309322357, + 0.09658601135015488, + -3.064668322103568, + -0.11144526302814484, + 0.21840886771678922, + 1.0 + ], + [ + 0.23604805767536163, + -0.0840149074792862, + 0.09654229134321213, + -3.0547928531938275, + -0.11610433459281921, + 0.20409250259399414, + 1.0 + ], + [ + 0.22723746299743652, + -0.08116795122623444, + 0.0956568717956543, + -3.041167141991206, + -0.1227800101041794, + 0.17411382496356964, + 1.0 + ], + [ + 0.2222248613834381, + -0.0819263607263565, + 0.09225013107061386, + -3.030517006414481, + -0.11234645545482635, + 0.16219480335712433, + 1.0 + ], + [ + 0.22271782159805298, + -0.08442462980747223, + 0.0919947475194931, + -3.0470628907256803, + -0.11303200572729111, + 0.1658390462398529, + 1.0 + ], + [ + 0.22425204515457153, + -0.08274734020233154, + 0.08882304280996323, + -3.057389738159724, + -0.1026458442211151, + 0.19740064442157743, + 0.0 + ], + [ + 0.22653260827064514, + -0.08358744531869888, + 0.08536924421787262, + -3.0497846623235425, + -0.09403403848409653, + 0.21416166424751282, + 0.0 + ], + [ + 0.2285381406545639, + -0.08465231209993362, + 0.08491586893796921, + -3.046003969507762, + -0.08382532745599747, + 0.2328798472881317, + 0.0 + ], + [ + 0.23160985112190247, + -0.0874759703874588, + 0.08730261027812958, + -3.043247791128703, + -0.003622463438659906, + 0.2791675925254822, + 0.0 + ], + [ + 0.24196764826774597, + -0.09071073681116104, + 0.09655752778053284, + -3.085299054282256, + 0.16868659853935242, + 0.36165499687194824, + 0.0 + ], + [ + 0.24800631403923035, + -0.09315793216228485, + 0.09661827981472015, + 3.1262516920738896, + 0.3114047050476074, + 0.48476362228393555, + 0.0 + ], + [ + 0.2569669485092163, + -0.09178967773914337, + 0.08418035507202148, + 3.1242439561807593, + 0.3642786741256714, + 0.5144622325897217, + 0.0 + ], + [ + 0.2654294967651367, + -0.08978430926799774, + 0.0690268725156784, + 3.1341466895588717, + 0.31235194206237793, + 0.5341272354125977, + 0.0 + ], + [ + 0.2776341736316681, + -0.08640147000551224, + 0.06193025782704353, + 3.1283367426418742, + 0.21597324311733246, + 0.5802379846572876, + 0.0 + ], + [ + 0.2888101637363434, + -0.07861081510782242, + 0.05107961595058441, + 3.1085666102641305, + 0.09692300111055373, + 0.6055333614349365, + 0.0 + ], + [ + 0.29546430706977844, + -0.07028058171272278, + 0.03860444575548172, + 3.0600261261039456, + -0.11379746347665787, + 0.5826660990715027, + 0.0 + ], + [ + 0.30645689368247986, + -0.0662492886185646, + 0.027986226603388786, + 3.011460321145602, + -0.18376567959785461, + 0.5814017653465271, + 0.0 + ], + [ + 0.30629852414131165, + -0.06391044706106186, + 0.018198218196630478, + 3.037410082417079, + -0.16944725811481476, + 0.5855979919433594, + 0.0 + ], + [ + 0.30765530467033386, + -0.061828505247831345, + 0.016506411135196686, + 3.06722658325965, + -0.15092968940734863, + 0.5971107482910155, + 0.0 + ], + [ + 0.30686619877815247, + -0.061496153473854065, + 0.016225749626755714, + 3.1044435036652764, + -0.16290633380413053, + 0.6014909744262695, + 1.0 + ], + [ + 0.30390381813049316, + -0.0628165751695633, + 0.01697956584393978, + 3.1127881930493793, + -0.1367461085319519, + 0.6123684644699097, + 1.0 + ], + [ + 0.3035643696784973, + -0.06423021852970123, + 0.02502109482884407, + 3.0990473126345357, + -0.11272280663251877, + 0.6205090284347534, + 1.0 + ], + [ + 0.30434033274650574, + -0.0681522786617279, + 0.042716801166534424, + 3.0657523219757756, + -0.11509085446596146, + 0.6208773851394653, + 1.0 + ], + [ + 0.3049960136413574, + -0.07051422446966171, + 0.05978560075163841, + 3.0490407069497785, + -0.10894885659217834, + 0.6158223748207092, + 1.0 + ], + [ + 0.30538618564605713, + -0.07079773396253586, + 0.060138147324323654, + 3.04786370893056, + -0.1097056493163109, + 0.609191358089447, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.019751906394958496, + 0.12684893608093262, + 0.4310172200202942, + 0.6865763664245605, + 0.7189793884754181, + 0.6904471516609192, + 0.68735271692276, + 0.68735271692276, + 0.68735271692276, + 0.68735271692276, + 0.68735271692276, + 0.68735271692276, + 0.68735271692276, + 0.68735271692276, + 0.6253935396671295, + 0.3298342227935791, + 0.05079597234725952, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938 + ], + "episode_id": "3362", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3362/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3373.json b/annotation/test/3373.json new file mode 100644 index 0000000000000000000000000000000000000000..2544db3531486e5a2ed1b5ef7ce8f0ecf776b14b --- /dev/null +++ b/annotation/test/3373.json @@ -0,0 +1,660 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Place the croissant behind the yellow knife" + ], + "videos": [ + { + "video_path": "videos/test/3373/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -9.639495561487402e-10, + -7.425695109831272e-09, + -0.0015339876789564834, + 1.0 + ], + [ + -0.0023886184143991187, + 0.0014274115357834887, + 0.004307629506477067, + -0.01412476580697715, + -0.021957134812200296, + -0.004149187579844407, + 1.0 + ], + [ + 0.03258524732940149, + -0.013169016796287611, + -0.011562309005384746, + -0.02105960286834627, + 0.04217468969751045, + -0.0242293597718113, + 1.0 + ], + [ + 0.03874442864591902, + -0.015452972548956266, + -0.011359203091885543, + 0.006319159351641755, + 0.04215323150079662, + 0.008149688452875887, + 1.0 + ], + [ + 0.029701592343517057, + -0.009923653893163388, + 0.007439144401185061, + 0.01879338419747815, + -0.024768098571996373, + 0.025965372342138086, + 1.0 + ], + [ + 0.024144350484064197, + 0.0015938495608346002, + 0.03499696813437226, + 0.03728784091759312, + -0.06653599075733008, + 0.08843885689313327, + 1.0 + ], + [ + 0.015709822542585843, + -0.005716522542620097, + 0.029421277251698765, + 0.03962332900944275, + -0.05513546672034668, + 0.0449163813055131, + 1.0 + ], + [ + 0.013181677061977736, + -0.007686052770136968, + 0.017717461585238903, + 0.028624459649584745, + -0.030849050579602872, + 0.027046201788413916, + 1.0 + ], + [ + 0.002760455763875697, + 0.0031598880788641487, + 0.0016013210887739406, + 0.014544691482608544, + -0.01157537137857404, + 0.022968106484560817, + 1.0 + ], + [ + -0.0007229558861849924, + 0.0037238835443981436, + 0.0013869858392064655, + 0.0014713595998462174, + 0.00023968256560053772, + 0.005779850968097037, + 1.0 + ], + [ + -0.0014992838671761882, + 0.004474650109357143, + -0.002312902959568698, + -0.017517872815232115, + 0.01553791342736652, + -0.01244625664700225, + 0.0 + ], + [ + 0.0013131925748258756, + 0.0056371985749609395, + -0.009886073517585182, + -0.048361217943589094, + 0.017595417449375487, + -0.03450906012776508, + 0.0 + ], + [ + 0.010041149595598256, + 0.007611477463797104, + -0.03225969427382546, + -0.025884417666788666, + 0.09014929961467728, + -0.0290006960326897, + 0.0 + ], + [ + 0.011167566550570409, + 0.046707934791067204, + -0.013939828260939724, + -0.044066492074850805, + 0.03682364922251883, + 0.0669283619137185, + 0.0 + ], + [ + 0.00210478831269381, + 0.05489769688696177, + 0.00822385653928991, + -0.010577501462758293, + -0.02978708848131828, + 0.07100300144214466, + 0.0 + ], + [ + -0.0008537456630519724, + 0.04882062948183161, + 0.014213170492211593, + 0.024984071896740262, + -0.02376508849622968, + 0.042978665985029176, + 0.0 + ], + [ + 0.007112414471899061, + 0.02586872148187681, + -1.1606114299804995e-05, + 0.021621781222837866, + 0.013796039538605349, + 0.01821041831580201, + 0.0 + ], + [ + 0.005505514881300669, + 0.009758476396219068, + 0.011244072417797943, + -0.0030792936560802772, + -0.014170966124394451, + 0.001982938706053587, + 0.0 + ], + [ + 0.012043925200337258, + 0.006847387493505148, + 0.0030913352347156286, + -0.007925085213140781, + 0.004163019516351636, + 0.005269530649482655, + 0.0 + ], + [ + 0.00788031575502118, + 0.003080792412611764, + 0.012225017420764478, + -0.022278122663503354, + -0.012194541002326227, + 0.006590077804091185, + 0.0 + ], + [ + -0.001158778606872054, + 0.00010605016945251679, + 0.0012313274573205408, + -0.0006976199150276101, + -0.007637956223727391, + 0.0076957564956242055, + 0.0 + ], + [ + -0.0031191116243962248, + 0.0028612563241695375, + 0.00025888419826678257, + 0.0009088877068971428, + -0.020050028084231317, + 0.014802114788059357, + 1.0 + ], + [ + -0.0031099825209121527, + 0.005091420661849586, + 5.937229457408879e-06, + -0.01604774638650694, + -0.012239755529391255, + 0.004625002116748506, + 1.0 + ], + [ + 0.003122240787671304, + 0.0015772780204083867, + -0.03414458549035861, + -0.019985379686059842, + 0.06853258050950813, + -0.007661317962485124, + 1.0 + ], + [ + -0.010577678325497403, + -0.0050818388282848495, + -0.01939759679930064, + 0.00990049665630339, + 0.002631259032593876, + -0.0372106586461737, + 1.0 + ], + [ + -0.013790937128160485, + -0.003082059480568374, + -0.0015360045691754987, + -0.001963502786392681, + -0.07483031264875482, + -0.08266143176022002, + 1.0 + ], + [ + -0.014377167418313271, + -0.008987798775514824, + 0.007604922234361408, + 0.012757567608552338, + -0.0621439959130639, + -0.0516275481211916, + 1.0 + ], + [ + -0.007150982247885409, + -0.006596781277798976, + -0.007090293836455334, + 0.047855758920637405, + 0.017796063341678034, + 0.011621679998504563, + 1.0 + ], + [ + 0.0004065322744454133, + 0.0005319498377469178, + -0.001123615152982083, + -0.00016250001049550135, + 0.00464679971431003, + 0.0029682112458640684, + 1.0 + ], + [ + -0.00041441802676822, + 4.628529365702705e-06, + 0.0003428071083489654, + 2.289426932962413e-05, + -0.0015330493456599612, + 4.843222239517267e-05, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 3.784416394064891e-18, + 7.752149845505706e-18, + -2.797186703979201e-17, + 1.0 + ], + [ + -8.447182256140821e-05, + 1.6189737832929876e-05, + 0.0005522562216262919, + 2.2892546223706274e-05, + -0.0015330496075468603, + 4.842291145522506e-05, + 1.0 + ], + [ + 8.3624303392303e-05, + -1.6206473682056385e-05, + -0.0005523847000377888, + -2.296680788187886e-05, + 0.001533048496822783, + -4.845806378175929e-05, + 1.0 + ] + ], + "state": [ + [ + 0.22776156663894653, + 0.09600812196731567, + 0.061166297644376755, + 3.118273567529865, + -0.16519774496555328, + 0.06648926436901093, + 1.0 + ], + [ + 0.22776156663894653, + 0.09600812196731567, + 0.061166297644376755, + 3.1180179232084235, + -0.16516177356243136, + 0.06804399192333223, + 1.0 + ], + [ + 0.22621570527553558, + 0.09437067061662674, + 0.056558940559625626, + 3.1032845882051667, + -0.14311183989048004, + 0.071710966527462, + 1.0 + ], + [ + 0.2558384835720062, + 0.11013582348823547, + 0.07214288413524628, + 3.07845705200965, + -0.1842793822288513, + 0.09796082228422165, + 1.0 + ], + [ + 0.29027631878852844, + 0.12973684072494507, + 0.08942849189043045, + 3.0857500491016587, + -0.2268599569797516, + 0.09234970062971115, + 1.0 + ], + [ + 0.3200056552886963, + 0.14202377200126648, + 0.08833202719688416, + 3.1108176728063306, + -0.2034939080476761, + 0.06447471678256989, + 1.0 + ], + [ + 0.3508194088935852, + 0.14133772253990173, + 0.05900081992149353, + -3.1165913326018533, + -0.13887465000152588, + -0.026659838855266575, + 1.0 + ], + [ + 0.37059465050697327, + 0.14726291596889496, + 0.03218812495470047, + -3.070910008745738, + -0.0825025886297226, + -0.0702633410692215, + 1.0 + ], + [ + 0.38573339581489563, + 0.15513765811920166, + 0.016202278435230255, + -3.0402275567227086, + -0.049795307219028466, + -0.09508085995912552, + 1.0 + ], + [ + 0.3882896900177002, + 0.15189871191978455, + 0.01442919485270977, + -3.0246202667527875, + -0.0359436459839344, + -0.11677193641662599, + 1.0 + ], + [ + 0.3872247636318207, + 0.14846281707286835, + 0.01259227842092514, + -3.022943439083644, + -0.03550655394792557, + -0.12254390120506288, + 1.0 + ], + [ + 0.38509881496429443, + 0.14397203922271729, + 0.014304914511740208, + -3.040827455120631, + -0.05240650475025177, + -0.11201146990060806, + 0.0 + ], + [ + 0.3851814270019531, + 0.13731801509857178, + 0.02362983115017414, + -3.0909367633336267, + -0.07335566729307175, + -0.07936592400074004, + 0.0 + ], + [ + 0.39210617542266846, + 0.1275029480457306, + 0.056113049387931824, + -3.118441365780779, + -0.16483531892299652, + -0.05474638193845749, + 0.0 + ], + [ + 0.39842689037323, + 0.08006790280342102, + 0.07062613219022751, + 3.1319759927042803, + -0.1997169703245163, + -0.1238410696387291, + 0.0 + ], + [ + 0.39519840478897095, + 0.025071265175938606, + 0.06350111961364746, + 3.1357565760896584, + -0.17010243237018582, + -0.1961416304111481, + 0.0 + ], + [ + 0.3871552050113678, + -0.023189328610897064, + 0.04962960258126259, + -3.115065237628766, + -0.14642950892448425, + -0.23971280455589294, + 0.0 + ], + [ + 0.38794615864753723, + -0.0500037744641304, + 0.05000002309679985, + -3.0907012579315385, + -0.15971222519874573, + -0.2585204541683197, + 0.0 + ], + [ + 0.392658531665802, + -0.060739099979400635, + 0.039298899471759796, + -3.0935730432444295, + -0.14545860886573792, + -0.259793221950531, + 0.0 + ], + [ + 0.4029351472854614, + -0.07039406150579453, + 0.03766424581408501, + -3.100697634863206, + -0.14936169981956482, + -0.26531797647476196, + 0.0 + ], + [ + 0.4115510880947113, + -0.07540712505578995, + 0.02663354016840458, + -3.1220592857622584, + -0.13690514862537384, + -0.27146098017692566, + 0.0 + ], + [ + 0.41058534383773804, + -0.0752234235405922, + 0.025253767147660255, + -3.121718518557497, + -0.12911441922187802, + -0.27906918525695795, + 0.0 + ], + [ + 0.40686434507369995, + -0.07712765038013458, + 0.024539096280932426, + -3.1189425588869533, + -0.1087607741355896, + -0.2935525178909302, + 1.0 + ], + [ + 0.4024447798728943, + -0.08110912889242172, + 0.02408098801970482, + -3.1345148143642625, + -0.09641838073730469, + -0.29791906476020813, + 1.0 + ], + [ + 0.40174055099487305, + -0.08279561251401901, + 0.05835559591650963, + 3.1280013184347233, + -0.16500096023082733, + -0.2906620502471923, + 1.0 + ], + [ + 0.39023467898368835, + -0.0737747997045517, + 0.07568242400884628, + 3.1317089927666864, + -0.1670108586549759, + -0.25289341807365423, + 1.0 + ], + [ + 0.3776007890701294, + -0.06731103360652924, + 0.0748744010925293, + 3.116091674315282, + -0.09080994129180908, + -0.17087054252624512, + 1.0 + ], + [ + 0.3656860589981079, + -0.0563342310488224, + 0.06577125191688538, + 3.1242954415553292, + -0.027257032692432404, + -0.12092652171850204, + 1.0 + ], + [ + 0.35921168327331543, + -0.04877961426973343, + 0.07254890352487564, + -3.1107271333509168, + -0.04524969682097435, + -0.1322484016418457, + 1.0 + ], + [ + 0.35948994755744934, + -0.049387991428375244, + 0.0736728236079216, + -3.1107485872977456, + -0.04980246350169182, + -0.13536243140697482, + 1.0 + ], + [ + 0.35909754037857056, + -0.04932854697108269, + 0.07330983132123947, + -3.110725600393959, + -0.048268649727106094, + -0.13536356389522552, + 1.0 + ], + [ + 0.35909754037857056, + -0.04932854697108269, + 0.07330983132123947, + -3.110725600393959, + -0.048268649727106094, + -0.13536356389522552, + 1.0 + ], + [ + 0.3590404689311981, + -0.049319904297590256, + 0.07275390625, + -3.1107026190781077, + -0.04673483595252036, + -0.13536465167999268, + 1.0 + ], + [ + 0.35909754037857056, + -0.04932854697108269, + 0.07330983132123947, + -3.110725600393959, + -0.048268649727106094, + -0.13536356389522552, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05002796649932861, + 0.3288310766220093, + 0.3880780339241028, + 0.3880780339241028, + 0.3880780339241028, + 0.3880780339241028, + 0.3880780339241028, + 0.3880780339241028, + 0.3880780339241028, + 0.3880780339241028, + 0.3880780339241028, + 0.3880780339241028, + 0.31880712509155273, + 0.04091840982437134, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "3373", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3373/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3376.json b/annotation/test/3376.json new file mode 100644 index 0000000000000000000000000000000000000000..0da3b9674e7e1496d7614ba6d917f0ca9d32ec8f --- /dev/null +++ b/annotation/test/3376.json @@ -0,0 +1,717 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "upright basil bottle cardboard fence" + ], + "videos": [ + { + "video_path": "videos/test/3376/rgb.mp4" + } + ], + "action": [ + [ + -0.00023402923236494442, + -6.631366566591471e-05, + -1.8497039393803824e-07, + 0.0004181961489731213, + -0.0014758667506379758, + -3.244795178050111e-07, + 1.0 + ], + [ + -0.008172522209752339, + 0.0022515758763239926, + 0.008948727490970589, + -0.008344296590896208, + -0.03300102397426569, + 0.02250500900651978, + 1.0 + ], + [ + -0.004847289888358964, + 0.0052660235383904, + 0.002052328008518658, + -0.06405404294011097, + 0.038818391879440924, + 0.24532695812685829, + 1.0 + ], + [ + 0.011981383609896552, + 0.013634680576536117, + -0.008632795800538585, + -0.10603323424506186, + 0.11285871357387282, + 0.21679991755459313, + 1.0 + ], + [ + 0.016925408193211373, + 0.010377330494250044, + -0.007658356625465174, + -0.05168425680094873, + 0.02126198487200769, + 0.23235273078082724, + 1.0 + ], + [ + 0.015960606610986597, + 0.019714215668389445, + 0.006735301992063474, + -0.17177374516696825, + -0.09220938211762376, + 0.22744959333869588, + 1.0 + ], + [ + 0.014305692238553103, + 0.024730566178010182, + 0.0006625878816165059, + -0.07651225408245835, + 0.031582575090944205, + 0.24054596702640424, + 1.0 + ], + [ + 0.005643127443141832, + 0.014123956759893277, + 0.005666608224709276, + -0.08937383001736593, + -0.025190940740159037, + 0.23457954303051354, + 1.0 + ], + [ + 0.00036018168728697115, + 0.00461958219530896, + 0.005965181852373268, + -0.00988738565479071, + -0.02758214462500465, + 0.2492916382327841, + 1.0 + ], + [ + -0.0005608300484666757, + -0.003702848497519842, + 0.010940247935397164, + -0.043650244752950776, + -0.0492317868746744, + 0.23771472473464436, + 1.0 + ], + [ + 0.0036394599937792315, + -0.006825986747087836, + 0.005639150777268342, + 0.030040015635217084, + -0.04280913170263478, + 0.18917325197848422, + 1.0 + ], + [ + 0.00033525037713302304, + -0.005249053767476956, + 0.011330999140755109, + 0.010122989803855254, + -0.017878125609588146, + -0.07423632970534538, + 1.0 + ], + [ + -0.0007372499285873139, + -0.003480507313026686, + 0.002573435084278082, + 0.01955249328913607, + -0.026015413649845564, + -0.03955996326395078, + 1.0 + ], + [ + -0.004291275297857906, + 0.005136710269391139, + 0.012940907462516887, + 0.029469914861039018, + -0.024697473363440865, + -0.09311968107044012, + 1.0 + ], + [ + -0.0021627543802398264, + -0.0005534711987128584, + 0.0009640487355964526, + 0.00954866883702366, + -0.02951326558425012, + -0.0595021354100193, + 1.0 + ], + [ + 0.0041993778885026775, + 0.0035985546153910037, + 0.0008439439200433155, + -0.021863945791417486, + -0.017454781036049995, + -0.031175922768623063, + 1.0 + ], + [ + 0.003372695658567681, + 0.0018110516822092166, + 0.010134058607993072, + -0.015308297242045424, + -0.022974394724246883, + -0.015012715027503903, + 1.0 + ], + [ + -0.0016415842619597483, + -0.003492829991847559, + 0.006312965763895575, + 0.018870595818948073, + -0.024897711872119446, + -0.014928408616278241, + 1.0 + ], + [ + 0.0006599760845912295, + -9.223848477080467e-05, + 0.00625884267661833, + -0.012491510577387347, + -0.006763558183211807, + -0.007647938371416707, + 1.0 + ], + [ + 0.00013237081712200074, + -0.0007810520135174488, + -4.915476164205102e-05, + 0.001510067166071528, + 0.00025849349145305056, + 0.0014564895580940606, + 0.0 + ], + [ + -0.0007076650704235513, + 0.004077484226877505, + -0.0007490982897501401, + -0.030812284450444028, + 0.01900834354405771, + -0.0006869238264830836, + 0.0 + ], + [ + -0.0008932521383756563, + 0.001739130728358845, + -0.016702676871960198, + -0.032376769166025124, + 0.02869080070130459, + 0.011638200162766194, + 0.0 + ], + [ + 0.001173460200426936, + -0.0028732700931276686, + -0.03268044927950124, + 0.02617855548817929, + 0.04179939699334808, + -0.009629664793578638, + 0.0 + ], + [ + -0.0010254773496629636, + 0.0021419857373375793, + -0.01021448731692831, + 0.000742895105564518, + 0.012922963787458535, + 0.0026987523345563804, + 0.0 + ], + [ + -0.003024562411196768, + -0.004344390488626755, + -0.013916677686185321, + 0.055800769420775144, + -0.04163378700965623, + 0.014226971697372222, + 0.0 + ], + [ + -3.399914621678065e-05, + -0.003222520304670402, + -0.008118940897682284, + 0.05799220130859376, + -0.05595739412288344, + 0.000327957746037619, + 0.0 + ], + [ + 0.0032169608020911557, + 0.0030387117696281728, + -0.0015727747636951623, + -0.020718756995522027, + -0.002536826503201068, + 0.004197726926191434, + 0.0 + ], + [ + 0.007277642737536803, + -0.0029992061012433678, + -0.008762354775971381, + -0.00789037442372088, + -0.008614654837030652, + 0.015351824528126373, + 0.0 + ], + [ + 0.005599116331421459, + -0.002339143276936517, + 0.008895435287157237, + -0.009064324772336247, + -0.061821539421831356, + 0.008356578880637143, + 0.0 + ], + [ + 0.005452282267814694, + -0.00045266005858634245, + 0.0008398428011082852, + -0.008015772897477652, + -0.04222907287304766, + 0.027274813006199192, + 1.0 + ], + [ + 0.004166041195826161, + 0.00039710195194430986, + -0.0018573040116344776, + -0.02130123245447514, + 0.00691073948238942, + 0.015464106367778821, + 1.0 + ], + [ + 0.0030968845830070387, + 0.000230092895217736, + -0.004731213769677133, + -0.02234229072030813, + 0.041576728383295555, + -0.023122563209405183, + 1.0 + ], + [ + -0.0007637659759169642, + -0.0015414864561952828, + -0.01564781498723858, + 0.012507127477628742, + 0.03957872699841667, + -0.002582728843897163, + 1.0 + ], + [ + -0.003886446894772373, + -0.0014872072768929096, + -0.02844359943673699, + 0.017575798079820258, + 0.08218576823653857, + 0.0038850294472506067, + 1.0 + ], + [ + -0.005668378208910634, + 0.0020162011413865184, + -0.011454889362104726, + -0.0032701977449775964, + 0.11931398041694137, + 0.009695396185114273, + 1.0 + ], + [ + -0.004989863297639042, + -0.0006369641207755783, + -0.0006739790163147224, + 0.0018825819150365048, + 0.001998447302499569, + -0.011266010355370953, + 1.0 + ] + ], + "state": [ + [ + 0.336003839969635, + 0.08081367611885071, + 0.07551486790180206, + -3.022507684426852, + -0.28030660748481745, + 0.294901043176651, + 1.0 + ], + [ + 0.33576738834381104, + 0.08081064373254776, + 0.0754578709602356, + -3.022139908867427, + -0.2788412272930146, + 0.29508376121521, + 1.0 + ], + [ + 0.33100059628486633, + 0.07813980430364609, + 0.06440871953964233, + -3.0252180715375623, + -0.24334564805030828, + 0.2761254906654358, + 1.0 + ], + [ + 0.32844963669776917, + 0.07222829759120941, + 0.0606689378619194, + -3.0317196046286305, + -0.24609842896461484, + 0.020155925303697586, + 1.0 + ], + [ + 0.33863401412963867, + 0.05793158710002899, + 0.07046004384756088, + -3.0817985219233712, + -0.32809698581695557, + -0.21959862112998962, + 1.0 + ], + [ + 0.3497063219547272, + 0.044377684593200684, + 0.08256395161151886, + -3.056395510333129, + -0.32634022831916815, + -0.4660353362560272, + 1.0 + ], + [ + 0.3570457994937897, + 0.01934003457427025, + 0.07973486930131912, + 3.1245565136247357, + -0.2074795961380005, + -0.6884827017784119, + 1.0 + ], + [ + 0.35217639803886414, + -0.008689109236001968, + 0.08244573324918747, + 3.0989174639158925, + -0.23704205453395846, + -0.935357928276062, + 1.0 + ], + [ + 0.3445858657360077, + -0.022578708827495575, + 0.07885347306728363, + 3.0668042321973523, + -0.21515482664108276, + -1.1764132976531982, + 1.0 + ], + [ + 0.34051620960235596, + -0.02594936266541481, + 0.07345622777938843, + 3.1132739168875894, + -0.19927147030830383, + -1.4321948289871216, + 1.0 + ], + [ + 0.34410127997398376, + -0.027100933715701103, + 0.06252298504114151, + 3.117810711386152, + -0.15103809535503387, + -1.673756718635559, + 1.0 + ], + [ + 0.3502963185310364, + -0.03223554417490959, + 0.05733674764633179, + -3.1063161623948297, + -0.10998629778623581, + -1.864905834197998, + 1.0 + ], + [ + 0.3552483022212982, + -0.035361148416996, + 0.046302031725645065, + -3.1045279299193105, + -0.09442666172981261, + -1.7897599935531616, + 1.0 + ], + [ + 0.35884585976600647, + -0.0356457456946373, + 0.043800707906484604, + -3.088819833593913, + -0.0698171854019165, + -1.7491769790649414, + 1.0 + ], + [ + 0.3550657331943512, + -0.0315496064722538, + 0.030339645221829414, + -3.0661445205383977, + -0.04974844306707383, + -1.6547902822494507, + 1.0 + ], + [ + 0.355865478515625, + -0.029495108872652054, + 0.029313646256923676, + -3.059766115742274, + -0.024707114323973656, + -1.5932363271713257, + 1.0 + ], + [ + 0.3522540032863617, + -0.033641260117292404, + 0.028282487764954567, + -3.082463616626807, + -0.009845401160418987, + -1.56074059009552, + 1.0 + ], + [ + 0.3510799705982208, + -0.03712642565369606, + 0.018092816695570946, + -3.0979251136356076, + 0.01220302376896143, + -1.5443991422653198, + 1.0 + ], + [ + 0.35479843616485596, + -0.03531108424067497, + 0.011958833783864975, + -3.0788511877232274, + 0.036423783749341965, + -1.5283920764923096, + 1.0 + ], + [ + 0.35530081391334534, + -0.035722434520721436, + 0.005698195192962885, + -3.0910496359043798, + 0.042693328112363815, + -1.5203279256820679, + 1.0 + ], + [ + 0.35608425736427307, + -0.03581906482577324, + 0.005781016778200865, + -3.089602319645234, + 0.04250870272517204, + -1.5217969417572021, + 0.0 + ], + [ + 0.35194477438926697, + -0.035336997359991074, + 0.006346797104924917, + -3.1204180383407554, + 0.02349034696817398, + -1.5220988988876343, + 0.0 + ], + [ + 0.3498304486274719, + -0.03493780270218849, + 0.02302529104053974, + 3.130110064642974, + -0.00494937039911747, + -1.5343372821807861, + 0.0 + ], + [ + 0.3531135022640228, + -0.03583059832453728, + 0.05567600205540657, + -3.1269562264257154, + -0.04663518816232681, + -1.5242258310317993, + 0.0 + ], + [ + 0.3507549464702606, + -0.03443985804915428, + 0.06579916924238205, + -3.1260773158916315, + -0.059517074376344674, + -1.5271183252334595, + 0.0 + ], + [ + 0.35471081733703613, + -0.030412379652261734, + 0.07957690954208374, + -3.069456713395663, + -0.01766210049390793, + -1.5406875610351562, + 0.0 + ], + [ + 0.35733315348625183, + -0.030152205377817154, + 0.08790509402751923, + -3.0114173014932355, + 0.0381733737885952, + -1.5369805097579956, + 0.0 + ], + [ + 0.35422801971435547, + -0.033518191426992416, + 0.08894649147987366, + -3.0322830026322087, + 0.04123335331678391, + -1.5408166646957397, + 0.0 + ], + [ + 0.3564816415309906, + -0.041098032146692276, + 0.09767606109380722, + -3.040771635370799, + 0.05146706849336624, + -1.5551553964614868, + 0.0 + ], + [ + 0.3597843647003174, + -0.04619551822543144, + 0.0887845978140831, + -3.0497504492574414, + 0.11381524801254274, + -1.5572487115859985, + 0.0 + ], + [ + 0.3603842556476593, + -0.05151462182402611, + 0.08737573772668839, + -3.060386838512965, + 0.1583363562822342, + -1.580806016921997, + 1.0 + ], + [ + 0.3597937822341919, + -0.055909667164087296, + 0.08851507306098938, + -3.084244707720824, + 0.1526823788881302, + -1.5969674587249756, + 1.0 + ], + [ + 0.35919421911239624, + -0.05967250466346741, + 0.09269952028989792, + -3.103382432954856, + 0.1098160669207573, + -1.5761604309082031, + 1.0 + ], + [ + 0.3601316511631012, + -0.060638513416051865, + 0.10838396102190018, + -3.0907280166917523, + 0.07016751915216446, + -1.5750905275344849, + 1.0 + ], + [ + 0.3601788580417633, + -0.05875871703028679, + 0.13706877827644348, + -3.0735471342974385, + -0.011716469191014767, + -1.5831319093704224, + 1.0 + ], + [ + 0.35746023058891296, + -0.05292445793747902, + 0.1482928842306137, + -3.0761296545439443, + -0.13009199500083923, + -1.6009809970855713, + 1.0 + ], + [ + 0.35820358991622925, + -0.047904256731271744, + 0.14835374057292938, + -3.075705165165015, + -0.13281504809856412, + -1.5897711515426636, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.03421902656555176, + 0.14015346765518188, + 0.11550527811050415, + 0.11464011669158936, + 0.11377614736557007, + 0.11377614736557007, + 0.11377614736557007, + 0.11464011669158936, + 0.11464011669158936, + 0.11377614736557007, + 0.08178335428237915, + 0.00520777702331543, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867 + ], + "episode_id": "3376", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3376/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3383.json b/annotation/test/3383.json new file mode 100644 index 0000000000000000000000000000000000000000..7e8e480340497871ad38ad5da96495049a29a730 --- /dev/null +++ b/annotation/test/3383.json @@ -0,0 +1,660 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Pick up the pot and place it on the left of the blue spoon" + ], + "videos": [ + { + "video_path": "videos/test/3383/rgb.mp4" + } + ], + "action": [ + [ + 1.984942990751086e-05, + 0.0004403873349939305, + 8.943811166944897e-06, + -0.0003010155309448893, + -1.7216928626278225e-05, + -2.9914146822594157e-05, + 1.0 + ], + [ + -0.004613055563940199, + -0.00037307085333407065, + 0.008603078445924207, + -0.0018045909465697033, + -0.033656881145178286, + 0.0038840151152880363, + 1.0 + ], + [ + -0.013793027086657606, + -0.035730854585282815, + 0.008946654720479447, + 0.01783414152659523, + -0.01711249769254028, + -0.03127061212829395, + 1.0 + ], + [ + -0.011380249379150982, + -0.029807861064276617, + 0.01189468993399962, + 0.0030922835226337743, + 0.013440119831060676, + 0.023362830691574077, + 1.0 + ], + [ + -0.012919270237558452, + -0.02114996916263479, + 0.013343978970063826, + 0.021621730311123563, + 0.016668442922087315, + 0.050950864960751185, + 1.0 + ], + [ + -0.006017274389761985, + -0.0019644547048932193, + 0.0165222717480079, + -0.020010219329110242, + -0.016808899771418296, + 0.024702667066628336, + 1.0 + ], + [ + -0.0017039869162535938, + -0.0007691535936669278, + 0.015181816987091354, + 0.0023747632496338334, + -0.01940533705609648, + -0.008124197435682632, + 1.0 + ], + [ + -0.003137737900553922, + 0.0005057420822948734, + 0.018549291594903147, + -0.006064835782153974, + -0.035569440778591546, + -0.006127788053009294, + 1.0 + ], + [ + 0.0013672385769561747, + -0.0017482944405137542, + 0.004914246011431358, + 0.0008974167537611614, + -0.009217465481727163, + -0.008143462641032311, + 1.0 + ], + [ + 0.000924354681177136, + -0.00033721860418355835, + -3.0523503616837835e-06, + 0.0021284053241179745, + 0.005828490969330503, + 0.0003150926321351014, + 1.0 + ], + [ + -0.004797098108802701, + 0.0018708775602527025, + -0.005006320303120598, + -0.004175878560367869, + -0.027555151210924105, + 0.009184947408330294, + 0.0 + ], + [ + 0.0011000341038576963, + -0.0003740419157086842, + -0.020531574771224578, + 0.011860832077314674, + 0.035565917812745325, + 0.005443474415776438, + 0.0 + ], + [ + -0.0019044536829632228, + -0.0019453698546480073, + -0.016652691471455143, + 0.01002674228909583, + 0.019359734975085113, + -0.013401821095746806, + 0.0 + ], + [ + 0.0013342477244029922, + -0.00043864761394386473, + -0.023552783644814876, + 0.014881910519688974, + 0.0391071423030533, + -0.012264067791673681, + 0.0 + ], + [ + 0.0165453788468976, + 0.01059560871646546, + -0.012623653909868538, + -0.02279432358754363, + 0.03560687948046689, + 0.01054661923171244, + 0.0 + ], + [ + 0.0328342653182953, + 0.034038666943947124, + -0.005235721112576878, + -0.040270138810351366, + 0.03159614938347362, + 0.05594969930853052, + 0.0 + ], + [ + 0.034959269663724105, + 0.029824862949869763, + 0.00709962423574609, + -0.06383060764969255, + 0.03595303256396073, + 0.012630749422076934, + 0.0 + ], + [ + 0.026888440200034214, + 0.02555273567642135, + 0.019183143353747316, + -0.028622779881665214, + -0.009857016393335033, + 0.040918332699225804, + 0.0 + ], + [ + 0.008805801540706934, + 0.014020265425973845, + 0.03191784802542321, + -0.012616765493005291, + -0.052439405136276825, + 0.027679062143783375, + 0.0 + ], + [ + 0.00643004674785304, + 0.0052160174599898265, + 0.02563385742003391, + 0.003148436918440399, + -0.0412800892290151, + 0.014829324546046484, + 0.0 + ], + [ + 0.0007534895825474758, + 0.0029573114529595924, + 0.011011932533056015, + 0.010427604256317167, + -0.020609080997030727, + 0.025414186796911088, + 0.0 + ], + [ + 0.001031993358559954, + 0.0029617748241891747, + 0.0005346883798412106, + -0.018336881633127126, + 0.009904265254333985, + 0.008821590001926264, + 0.0 + ], + [ + -0.002532996959712552, + 0.007193790629305427, + 0.0017965851871641614, + -0.03245243273133497, + -0.011227127813326935, + 0.0222329149891749, + 0.0 + ], + [ + 0.008207606217377364, + 0.0035092924021325883, + -0.02374669011677351, + 0.006490781077526024, + 0.06630048654393234, + 0.02528758488831651, + 1.0 + ], + [ + -0.0012124791918079018, + 0.0023679933145145248, + -0.027023880619674184, + -0.009770246431788438, + 0.052446135664991976, + -0.007980526004846588, + 1.0 + ], + [ + -0.009949853745402507, + -0.019613552689949798, + -0.05945377617560662, + 0.015616878107592743, + 0.09129022098495869, + -0.0813402438135417, + 1.0 + ], + [ + -0.02054010926166757, + -0.01236824606732351, + -0.037127317731977014, + 0.006659357241773689, + 0.018365039385149155, + -0.06229642069195869, + 1.0 + ], + [ + -0.03456837107156637, + -0.023089922283774815, + -0.017867020350704588, + 0.0690480790422445, + -0.027850237884783195, + -0.07307879233206681, + 1.0 + ], + [ + -0.018707224655387714, + -0.011518707230893715, + -0.0015975580425735857, + 0.05046751514200368, + -0.07405135682512058, + -0.012089474490915774, + 1.0 + ], + [ + -0.005819136136836033, + -0.005000509341438717, + 0.0004740533399422864, + 0.010521344411342854, + -0.024917001408122436, + 0.01806413691523543, + 1.0 + ], + [ + -0.0007626579531950534, + -0.0010035248599245372, + -0.00010731700821404189, + -0.00010449984435068628, + -0.0027293972648690283, + 0.01392299815629266, + 1.0 + ], + [ + -0.0013127780904058476, + -0.000632260301681921, + 0.0016421250505249249, + 0.00039902917984526115, + -0.0014565870421372415, + 0.04686943743726248, + 1.0 + ], + [ + 0.00044230738182993835, + -0.00020259396714143347, + -7.360647137640513e-07, + 0.0012861494258943921, + 0.0027853644277049815, + 0.003069729987094891, + 1.0 + ] + ], + "state": [ + [ + 0.28673040866851807, + 0.02016061544418335, + 0.11238385736942291, + 3.1303051906921944, + -0.19752176105976108, + 0.023476975038647648, + 1.0 + ], + [ + 0.28676098585128784, + 0.01972075179219246, + 0.11238385736942291, + 3.1299982277029237, + -0.1975042074918747, + 0.02350728213787079, + 1.0 + ], + [ + 0.2839208245277405, + 0.01992735080420971, + 0.10303916782140732, + 3.1290372406416616, + -0.16389280557632446, + 0.019177554175257683, + 1.0 + ], + [ + 0.2711646854877472, + 0.05530495196580887, + 0.0915200337767601, + -3.1414302986428417, + -0.14630961418151855, + 0.05056159943342209, + 1.0 + ], + [ + 0.26014500856399536, + 0.08459524065256119, + 0.0780981108546257, + -3.1348881019563457, + -0.15970563888549805, + 0.026897495612502098, + 1.0 + ], + [ + 0.24892225861549377, + 0.1055399477481842, + 0.06300971657037735, + -3.105030359821864, + -0.1758217662572861, + -0.024957170709967613, + 1.0 + ], + [ + 0.24593830108642578, + 0.10818233340978622, + 0.04577121511101723, + -3.120782669755169, + -0.1580698937177658, + -0.04932915419340134, + 1.0 + ], + [ + 0.24669496715068817, + 0.10923119634389877, + 0.03052949346601963, + -3.1197599080675325, + -0.13883203268051147, + -0.04072163999080658, + 1.0 + ], + [ + 0.2461516559123993, + 0.10915257781744003, + 0.01171790063381195, + -3.126771869259425, + -0.1034015342593193, + -0.03378577157855034, + 1.0 + ], + [ + 0.24807654321193695, + 0.11090949177742004, + 0.006997333839535713, + -3.1267326894500336, + -0.0943022146821022, + -0.02546999230980873, + 1.0 + ], + [ + 0.2490043193101883, + 0.11122310161590576, + 0.007092400453984737, + -3.1245660205655774, + -0.10012537240982056, + -0.02587367407977581, + 1.0 + ], + [ + 0.24368524551391602, + 0.10940425843000412, + 0.011561722494661808, + -3.1278627292537173, + -0.07241403311491013, + -0.03460758551955223, + 0.0 + ], + [ + 0.24330011010169983, + 0.10950976610183716, + 0.03212226927280426, + -3.115561796473809, + -0.10790058225393294, + -0.04056998714804649, + 0.0 + ], + [ + 0.23967286944389343, + 0.11116952449083328, + 0.048517752438783646, + -3.106932183849164, + -0.12759354710578918, + -0.0275734681636095, + 0.0 + ], + [ + 0.23798932135105133, + 0.11083801090717316, + 0.07204990088939667, + -3.093432480590888, + -0.16709451377391815, + -0.01652722805738449, + 0.0 + ], + [ + 0.25210508704185486, + 0.09941212087869644, + 0.08673211187124252, + -3.114120304706045, + -0.20213964581489566, + -0.029023302718997, + 0.0 + ], + [ + 0.28240302205085754, + 0.0643484890460968, + 0.09753532707691193, + 3.140474311779723, + -0.2318553477525711, + -0.08735564351081848, + 0.0 + ], + [ + 0.31531187891960144, + 0.03151940554380417, + 0.09869121015071869, + 3.079643027978488, + -0.2678036093711853, + -0.10040313005447388, + 0.0 + ], + [ + 0.3430602550506592, + 0.001897532376460731, + 0.08886798471212387, + 3.0624179263883313, + -0.2602628171443939, + -0.14329710602760312, + 0.0 + ], + [ + 0.3569473326206207, + -0.016777846962213516, + 0.0614592581987381, + 3.0580824484401425, + -0.2100442349910736, + -0.17571161687374115, + 0.0 + ], + [ + 0.3670116066932678, + -0.026015449315309525, + 0.038242366164922714, + 3.065028282003947, + -0.17010986804962158, + -0.19418615102767947, + 0.0 + ], + [ + 0.3687949776649475, + -0.030229736119508743, + 0.02777167037129402, + 3.080076193558522, + -0.15144282579421997, + -0.22140894830226895, + 0.0 + ], + [ + 0.36918559670448303, + -0.03338149935007095, + 0.027579791843891144, + 3.0629912113123616, + -0.1618655472993851, + -0.2297130674123764, + 0.0 + ], + [ + 0.3652787208557129, + -0.03997783362865448, + 0.02596142515540123, + 3.0343119745426854, + -0.15237537026405334, + -0.25302788615226746, + 0.0 + ], + [ + 0.3693711757659912, + -0.042013585567474365, + 0.05091523751616478, + 3.0433885251455983, + -0.22097645699977872, + -0.2714676558971405, + 1.0 + ], + [ + 0.3625822961330414, + -0.039819829165935516, + 0.0771157369017601, + 3.0305125807696065, + -0.27236777544021606, + -0.2578960955142975, + 1.0 + ], + [ + 0.34516456723213196, + -0.008250215090811253, + 0.12925425171852112, + 3.0200860296660146, + -0.35290995240211487, + -0.16128164529800415, + 1.0 + ], + [ + 0.3167736232280731, + 0.01336661446839571, + 0.1553305685520172, + 3.0033063163333615, + -0.36283573508262634, + -0.09275763481855391, + 1.0 + ], + [ + 0.28181207180023193, + 0.04206066578626633, + 0.1566300094127655, + 3.0469755475693425, + -0.32430627942085266, + -0.020480163395404816, + 1.0 + ], + [ + 0.2641616761684418, + 0.0540427528321743, + 0.15114492177963257, + 3.095530605065175, + -0.2494404464960098, + -0.015307613648474216, + 1.0 + ], + [ + 0.25877314805984497, + 0.05909920483827591, + 0.14902637898921967, + 3.110906584309884, + -0.2253349721431732, + -0.034992087632417686, + 1.0 + ], + [ + 0.2580483555793762, + 0.06013153865933418, + 0.14893051981925964, + 3.114012410985776, + -0.2230115681886673, + -0.049347758293151855, + 1.0 + ], + [ + 0.2571650445461273, + 0.060762614011764526, + 0.1470223218202591, + 3.125071331980177, + -0.22259829938411715, + -0.0974266454577446, + 1.0 + ], + [ + 0.2576146721839905, + 0.06092221289873123, + 0.14711742103099823, + 3.1270422545545777, + -0.22543296217918393, + -0.10052841156721114, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.057769834995269775, + 0.35293054580688477, + 0.652198851108551, + 0.8533064275979996, + 0.9224447533488274, + 0.9253794625401497, + 0.9253794625401497, + 0.9253794625401497, + 0.9260224476456642, + 0.9260224476456642, + 0.9260224476456642, + 0.9260224476456642, + 0.926342710852623, + 0.8920622915029526, + 0.7064096629619598, + 0.4170845150947571, + 0.11119049787521362, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "3383", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3383/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3395.json b/annotation/test/3395.json new file mode 100644 index 0000000000000000000000000000000000000000..25e7dcd299a170c5009c4ccf35ef6c09a27b21af --- /dev/null +++ b/annotation/test/3395.json @@ -0,0 +1,451 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "flip pot upright in sink distractors" + ], + "videos": [ + { + "video_path": "videos/test/3395/rgb.mp4" + } + ], + "action": [ + [ + -0.0011739377005815289, + 1.5576402796777193e-05, + 0.003599233570672918, + 0.00400870009334753, + -0.008102726296764224, + 0.0007608557350514234, + 1.0 + ], + [ + -0.008719459452690847, + 0.004506201679933153, + 0.020060875382425694, + -0.055408880127445125, + -0.0365576424678623, + -0.04490469577362375, + 1.0 + ], + [ + 0.0033353900890927103, + 0.004117289978743885, + 0.004799502514244725, + -0.10427075135704188, + 0.01644143508984482, + -0.07685467917381056, + 1.0 + ], + [ + 0.0006993017730380586, + -0.0034524132470926936, + -0.0011520095978699962, + -0.04806060029215664, + -0.019835698626514534, + -0.028013431888182175, + 1.0 + ], + [ + 0.005889290011956873, + 0.0003724364516202323, + -0.004811232740309611, + -0.07675522551997445, + -0.012969518148514513, + -0.009739830786497749, + 1.0 + ], + [ + 0.005606882623999323, + 0.003847570829540815, + -0.004023966281348067, + -0.1382701647742494, + -0.012698054443053872, + -0.04297828494073979, + 1.0 + ], + [ + 0.0044362357459863146, + 0.0028190608537374544, + 0.0026757267383391114, + -0.09994402158188662, + 0.0008300070954143673, + -0.06375420999919115, + 1.0 + ], + [ + -0.0016624951173715978, + 0.0007758969518583062, + 0.009617749121877472, + -0.06692169408944257, + -0.014149375327350654, + -0.05750291513636116, + 1.0 + ], + [ + -0.005815206419887134, + -0.0019001261926276914, + 0.0072068811317035205, + -0.040678518313626844, + -0.04591536785180659, + -0.030852546066795366, + 1.0 + ], + [ + -0.004199061212971101, + 0.0019067953746088168, + -0.0009067226416810763, + -0.05140105819053842, + -0.028456870770479686, + -0.007846362285982594, + 1.0 + ], + [ + -0.006097920075490827, + -0.00022798061026882928, + 0.006790857778311064, + -0.08145993534276055, + -0.04892630136525986, + -0.03665492556300729, + 1.0 + ], + [ + -0.004979283800768705, + 0.0006423692330159179, + 0.006982804489397548, + -0.05516261450317922, + -0.04331764397727025, + -0.032948578870192854, + 1.0 + ], + [ + 0.0029262831233522377, + 0.00031666913217307647, + 0.002892601749409773, + -0.022818945140334067, + -0.021516183852432775, + 0.004947645525585527, + 0.0 + ], + [ + 0.002339381052620063, + 0.001411615010902716, + -0.001227166351382774, + -0.0010617249581119446, + 0.004859930901204732, + 0.011643840393817826, + 0.0 + ], + [ + 0.004490290503486801, + -0.006492445754805002, + 0.002664244584675343, + 0.07927737271965227, + 0.036161395929757735, + 0.0109765712332735, + 0.0 + ], + [ + -0.0038840438212000643, + 0.004207081646390546, + 0.0032868196403367466, + 0.07714722727714664, + 0.016630883960529454, + 0.024188673548623415, + 0.0 + ], + [ + 0.0033259659898250203, + -0.00017106697732810705, + -0.004037308497191732, + 0.06979071073904726, + 0.049257373030544824, + -0.007929391382185338, + 0.0 + ], + [ + 0.00361405636336796, + 0.006818932425364882, + -0.0051462889965657715, + 0.1506699059129066, + 0.12652752271830758, + 0.0627202344090951, + 0.0 + ], + [ + -0.010195676970590737, + 0.017738995349192387, + 0.005170282981868812, + 0.11683765508858308, + 0.10160565652685812, + 0.11204547354287472, + 0.0 + ], + [ + -0.0009767882533359257, + -0.0005153171007883038, + 0.0013535632480655522, + 0.03376821848457322, + 0.026253891442882198, + 0.026108066230802578, + 1.0 + ], + [ + 0.003330754283870979, + -0.0049755663209480015, + -0.0003142012653031867, + 0.003599899537994226, + 0.003289654293259758, + -0.01751191124098099, + 1.0 + ], + [ + -0.0010498295548378297, + 0.000862472339028858, + 0.0006356119230637494, + 3.8475323553576435e-05, + -0.0020045607508104818, + 0.0012491034970601197, + 1.0 + ] + ], + "state": [ + [ + 0.4068142771720886, + -0.06079684570431709, + 0.05118316411972046, + -3.036358231800147, + -0.1950879991054535, + 0.10898332297801971, + 1.0 + ], + [ + 0.40632006525993347, + -0.06048618257045746, + 0.047442562878131866, + -3.0323647056990346, + -0.1869501769542694, + 0.10907948017120361, + 1.0 + ], + [ + 0.4018281102180481, + -0.06328431516885757, + 0.025745412334799767, + -3.096973134326287, + -0.15528129041194916, + 0.15826746821403503, + 1.0 + ], + [ + 0.4064570367336273, + -0.06649398803710938, + 0.02134278044104576, + 3.0698865746432027, + -0.17467734217643738, + 0.23547683656215668, + 1.0 + ], + [ + 0.4061516523361206, + -0.06294111162424088, + 0.022352293133735657, + 3.017174245911189, + -0.1528240144252777, + 0.26230394840240484, + 1.0 + ], + [ + 0.41100552678108215, + -0.0614023320376873, + 0.028012899681925774, + 2.939174460368701, + -0.13874109089374542, + 0.2704363167285919, + 1.0 + ], + [ + 0.41651907563209534, + -0.06294550746679306, + 0.033458322286605835, + 2.795541914301463, + -0.11755523830652237, + 0.3102532923221588, + 1.0 + ], + [ + 0.42197540402412415, + -0.0649341493844986, + 0.032428473234176636, + 2.689155252771922, + -0.09651082754135133, + 0.37078750133514404, + 1.0 + ], + [ + 0.42295587062835693, + -0.06981272995471954, + 0.023996086791157722, + 2.6182940324121198, + -0.058554902672767646, + 0.4163796305656433, + 1.0 + ], + [ + 0.4188225567340851, + -0.07377906888723373, + 0.016476105898618698, + 2.5767907818132123, + -0.003370134392753244, + 0.42013329267501837, + 1.0 + ], + [ + 0.41544219851493835, + -0.07652170956134796, + 0.018248457461595535, + 2.5251855572038373, + 0.024865875020623207, + 0.41152611374855036, + 1.0 + ], + [ + 0.41122180223464966, + -0.08244418352842331, + 0.012728954665362835, + 2.4429172595315656, + 0.08597026020288467, + 0.4131251573562622, + 1.0 + ], + [ + 0.40829092264175415, + -0.08916991204023361, + 0.008241195231676102, + 2.386738212900706, + 0.14032338559627533, + 0.41044577956199646, + 1.0 + ], + [ + 0.41158828139305115, + -0.09014806151390076, + 0.005960579961538315, + 2.361263783770152, + 0.15258120000362396, + 0.39188483357429504, + 0.0 + ], + [ + 0.41404062509536743, + -0.0892859622836113, + 0.007448562886565924, + 2.359456570940562, + 0.14093396067619324, + 0.3869804143905639, + 0.0 + ], + [ + 0.41628700494766235, + -0.08542460203170776, + 0.00041603599674999714, + 2.4407418092065534, + 0.10752692818641663, + 0.4047833979129792, + 0.0 + ], + [ + 0.41485831141471863, + -0.09184076637029648, + 0.00103262800257653, + 2.5169621427827558, + 0.07921478152275085, + 0.39700025320053095, + 0.0 + ], + [ + 0.417181134223938, + -0.0881563052535057, + 0.0039344229735434055, + 2.5891169627481183, + 0.04384928569197655, + 0.4322596788406372, + 0.0 + ], + [ + 0.42207664251327515, + -0.08931582421064377, + 0.011727564036846161, + 2.735458733635493, + -0.0966639593243599, + 0.4456188678741455, + 0.0 + ], + [ + 0.4206271469593048, + -0.1103314757347107, + 0.012991274707019329, + 2.8571390231424054, + -0.2340283542871475, + 0.3817199170589447, + 0.0 + ], + [ + 0.42001333832740784, + -0.11045420914888382, + 0.011360331438481808, + 2.895104618864604, + -0.26651591062545776, + 0.363391250371933, + 1.0 + ], + [ + 0.42149817943573, + -0.10464523732662201, + 0.011360331438481808, + 2.8938891013436994, + -0.2653903067111969, + 0.3818218410015106, + 1.0 + ], + [ + 0.42102620005607605, + -0.10590371489524841, + 0.010694393888115883, + 2.894389959173747, + -0.2637527883052826, + 0.38005840778350825, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.009293973445892334, + 0.18319201469421387, + 0.5177124440670013, + 0.7255049049854279, + 0.9037526994943619, + 0.9421549662947655, + 0.9427080601453781, + 0.8675124049186707, + 0.6595531105995178, + 0.34690237045288086, + 0.06011873483657837, + 0.0 + ], + "episode_id": "3395", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3395/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3398.json b/annotation/test/3398.json new file mode 100644 index 0000000000000000000000000000000000000000..e5254452da1b1c7a35b55d76fae94fb539c4c598 --- /dev/null +++ b/annotation/test/3398.json @@ -0,0 +1,603 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the pot bottom right on table" + ], + "videos": [ + { + "video_path": "videos/test/3398/rgb.mp4" + } + ], + "action": [ + [ + -0.0003251904089003179, + -0.0003967193933673778, + -2.354748572604859e-05, + -0.00018457337056806492, + -0.0014465998604523413, + -0.0030563447574330073, + 1.0 + ], + [ + -0.000556381665218184, + -0.0001409852592457318, + 0.009185557567376526, + -0.004520364109111974, + -0.027343736038767216, + -0.007077336436567865, + 1.0 + ], + [ + 0.020780750245406907, + -0.00012066592328716813, + 0.02934366598682566, + 0.07240197085275764, + -0.02701261743051942, + -0.00011693880577314235, + 1.0 + ], + [ + 0.018272220676359602, + 0.003163471744789613, + 0.028179487243788135, + 0.0687760961432842, + 0.0025093178084593477, + 0.007742759880654861, + 1.0 + ], + [ + 0.014506705564954021, + 0.004476407594168684, + 0.014693769559429685, + 0.026125793953472105, + 0.011158694689376525, + 0.016267896093664587, + 1.0 + ], + [ + 0.004308474633050549, + 0.007176199582885783, + 0.013093124983414783, + -0.03329442549388102, + -0.0227951579372721, + 0.005306155697752946, + 1.0 + ], + [ + 0.0009363113794124631, + 0.0008775425256298867, + 0.013068841814828092, + -0.06671827625510678, + -0.02694460140498926, + -0.04088135762539814, + 1.0 + ], + [ + 0.0008488561855268483, + -0.003232072573397168, + 0.004680423779573333, + -0.030394253747792803, + -0.017977204257835104, + -0.016186356215258605, + 1.0 + ], + [ + -0.0014262877729061514, + 0.0027202657205207498, + 0.002301994078162811, + -0.01141541720141548, + -0.02032149739957134, + 0.014247378682890057, + 0.0 + ], + [ + 0.0011451869248890127, + 0.000918669010978873, + -0.0012187521775031823, + -0.005914731066498897, + 0.00536273607840234, + 0.005155318142114527, + 0.0 + ], + [ + -0.002789304995642027, + 0.002024725963192092, + -0.004909643736775579, + -0.008441948409768706, + 0.015075794702775739, + 0.007212290431472247, + 0.0 + ], + [ + -0.010827187272798662, + 0.008730531957983378, + -0.026071686659318243, + 0.002910381496087942, + 0.05961987826838336, + 0.02691967205314302, + 0.0 + ], + [ + -0.012585502382749851, + 0.027552359641319146, + -0.052848460095758214, + 0.039168613199351505, + 0.10216477825276797, + 0.08715990136909164, + 0.0 + ], + [ + -0.02369774005408102, + 0.027694204406537953, + -0.018740945632869946, + -0.018727510410916068, + -0.03280959785003216, + 0.05213496643429198, + 0.0 + ], + [ + -0.03060932019333595, + 0.04103759832907714, + 0.004197024819524084, + -0.04383018698246054, + -0.03933740955113727, + 0.07505143588416834, + 0.0 + ], + [ + -0.01215141611553821, + 0.01619536956034244, + 0.01143100900077233, + 0.004716235270375337, + -0.03678388105892348, + 0.03326170228662328, + 0.0 + ], + [ + 0.0006207114460786726, + 0.004888989752267454, + 0.014955282948556853, + -0.0024563525480913555, + -0.038517435276722425, + 0.00167973094668811, + 0.0 + ], + [ + 0.0052108464176666, + -0.003827770347144676, + 0.022972731506894505, + 0.009732922893180592, + -0.025933999304082047, + -0.019447994148276606, + 0.0 + ], + [ + 0.009122039775668068, + -0.0034233900766557275, + 0.013727315343735223, + 0.018593814005777073, + 0.026632308462895115, + -0.015350872534177796, + 0.0 + ], + [ + 0.0028476694803501205, + 0.005220247271527959, + 0.009283733210593044, + 0.011557581396229083, + 0.002407972635104657, + 0.030032116523907408, + 0.0 + ], + [ + -0.0004211315219517762, + 0.002897693975716861, + 0.00036546368914359056, + -0.004793138759893201, + -0.0029752847188505285, + 0.020560671826268327, + 0.0 + ], + [ + -3.192778025786268e-05, + 0.0013914362585485767, + -0.00029002805897214873, + -0.011522233750539583, + -0.0016832999075720506, + 0.009886182006869401, + 0.0 + ], + [ + -0.004097098887920108, + 0.003004489569917045, + -0.0031947488689045072, + -0.016724881170954133, + -0.01814436294003905, + 0.013923252938038025, + 0.0 + ], + [ + 0.0011023771679314737, + -0.00198256619862942, + -0.022566723193695713, + -0.017677415222597005, + 0.05607019830291759, + -0.005439782755369481, + 1.0 + ], + [ + -0.004366926563833485, + -0.008112728571072043, + -0.030886245452830526, + -0.0220999876585801, + 0.04489531755794607, + -0.010243037312757238, + 1.0 + ], + [ + -0.004092712783612567, + -0.025245392342778995, + -0.038570297217364075, + 0.0355647274352024, + 0.058808046156726, + -0.09090319127588499, + 1.0 + ], + [ + -0.0038354842002898083, + -0.02589278093989459, + -0.012985885971141396, + 0.017572390499147876, + -0.013306108835088003, + -0.08300673707085204, + 1.0 + ], + [ + -0.00663944973692382, + -0.02623490016408111, + -0.004454886615021342, + -0.0024739549903622475, + -0.011175018949589277, + -0.08714309969118963, + 1.0 + ], + [ + 0.0014767986457244586, + -0.007662335634124705, + -0.003873633908993296, + -0.005209114880553942, + 0.004039946391762738, + 0.0015328551052969336, + 1.0 + ], + [ + -0.0001780105883547568, + -0.0015954504747558824, + -7.845952362091518e-05, + 0.0008286795930871244, + 0.00020632648256742144, + -0.0030081661911493286, + 1.0 + ] + ], + "state": [ + [ + 0.3011802136898041, + 0.03472209349274635, + 0.1286601722240448, + 3.1139295661174735, + -0.12003154307603837, + -0.07898291945457458, + 1.0 + ], + [ + 0.30088821053504944, + 0.035143665969371796, + 0.12863370776176453, + 3.113381493958183, + -0.11850041151046753, + -0.07594646513462067, + 1.0 + ], + [ + 0.3014112114906311, + 0.03498535603284836, + 0.11944647133350372, + 3.1081028824024877, + -0.09096556901931763, + -0.06961964815855026, + 1.0 + ], + [ + 0.3246539533138275, + 0.03250056132674217, + 0.09212421625852585, + -3.102620957540818, + -0.06396415829658508, + -0.07040879875421523, + 1.0 + ], + [ + 0.3445017635822296, + 0.029032517224550247, + 0.06506867706775665, + -3.0333440472655973, + -0.06616793572902678, + -0.07826060801744461, + 1.0 + ], + [ + 0.35970339179039, + 0.02496887370944023, + 0.05096949636936188, + -3.0060756375365933, + -0.07549385726451874, + -0.0956876128911972, + 1.0 + ], + [ + 0.36451637744903564, + 0.019140882417559624, + 0.03739155828952789, + -3.0391705130511006, + -0.05219067633152009, + -0.09786728024482727, + 1.0 + ], + [ + 0.36617180705070496, + 0.019443834200501442, + 0.024368150159716606, + -3.108213761942931, + -0.02951657399535179, + -0.05443911999464035, + 1.0 + ], + [ + 0.3673379719257355, + 0.02277178131043911, + 0.01982523873448372, + -3.1391024679229638, + -0.012085387483239174, + -0.03766317293047905, + 1.0 + ], + [ + 0.3658384680747986, + 0.02011183276772499, + 0.0174994096159935, + 3.132839254225143, + 0.008272741921246052, + -0.05185744538903236, + 0.0 + ], + [ + 0.36694514751434326, + 0.01914520375430584, + 0.018716640770435333, + 3.126882253336259, + 0.0028649775777012105, + -0.05696557089686394, + 0.0 + ], + [ + 0.3640633523464203, + 0.0173540860414505, + 0.023663507774472237, + 3.118418965610214, + -0.012315346859395504, + -0.06395503133535385, + 0.0 + ], + [ + 0.35241708159446716, + 0.009959232993423939, + 0.04979516565799713, + 3.121610853942581, + -0.07253888994455338, + -0.08950570970773697, + 0.0 + ], + [ + 0.33369314670562744, + -0.014957768842577934, + 0.10213104635477066, + -3.116180695714899, + -0.17615766823291779, + -0.1754811257123947, + 0.0 + ], + [ + 0.30269256234169006, + -0.038061901926994324, + 0.11573022603988647, + -3.1258530413084706, + -0.14180190861225128, + -0.2272566705942154, + 0.0 + ], + [ + 0.26460638642311096, + -0.07130199670791626, + 0.106610506772995, + 3.1240330581837377, + -0.10089631378650664, + -0.3020007610321045, + 0.0 + ], + [ + 0.24925971031188965, + -0.08369172364473343, + 0.094298355281353, + 3.1321688267686447, + -0.06464406102895737, + -0.33595186471939087, + 0.0 + ], + [ + 0.2490956038236618, + -0.08896195143461227, + 0.07946104556322098, + 3.129837507503577, + -0.02614403143525124, + -0.337993860244751, + 0.0 + ], + [ + 0.255757212638855, + -0.08753257244825363, + 0.05658898875117302, + 3.1390682744146368, + 2.1558029402513057e-05, + -0.31885862350463867, + 0.0 + ], + [ + 0.26548147201538086, + -0.08717416971921921, + 0.04285287857055664, + -3.125523481639572, + -0.026571918278932568, + -0.3034405708312988, + 0.0 + ], + [ + 0.2669205069541931, + -0.0929378792643547, + 0.03356542810797691, + -3.11317407165701, + -0.028485069051384922, + -0.3335196375846863, + 0.0 + ], + [ + 0.26558995246887207, + -0.09553134441375732, + 0.033105961978435516, + -3.1173899491601667, + -0.024920832365751263, + -0.35399371385574335, + 0.0 + ], + [ + 0.2650693953037262, + -0.09682942926883698, + 0.03336135670542717, + -3.128668001043149, + -0.022997573018074036, + -0.3638388514518738, + 0.0 + ], + [ + 0.2600899040699005, + -0.09819214046001434, + 0.03642195835709572, + 3.1381080889892807, + -0.004672629293054342, + -0.37752428650856024, + 0.0 + ], + [ + 0.2617764472961426, + -0.0966435968875885, + 0.058986540883779526, + 3.120398864271589, + -0.06072345748543739, + -0.3718874156475067, + 1.0 + ], + [ + 0.2591645419597626, + -0.0862162634730339, + 0.08937231451272964, + 3.097595805423804, + -0.10538779944181444, + -0.36064344644546514, + 1.0 + ], + [ + 0.26117151975631714, + -0.05820513516664505, + 0.1261567771434784, + 3.1233398133241614, + -0.1596830189228058, + -0.2661846280097961, + 1.0 + ], + [ + 0.2624712884426117, + -0.03148035332560539, + 0.13789887726306915, + 3.1276917859264692, + -0.14431604743003845, + -0.18257160484790802, + 1.0 + ], + [ + 0.26020562648773193, + -0.004323363769799471, + 0.14099128544330597, + 3.112667266401001, + -0.13138392567634583, + -0.09484029561281206, + 1.0 + ], + [ + 0.2619229555130005, + 0.0033195163123309612, + 0.1448037028312683, + 3.1076450814777097, + -0.13546638190746307, + -0.09626874327659607, + 1.0 + ], + [ + 0.26189765334129333, + 0.004926583729684353, + 0.1448037028312683, + 3.1080631745331964, + -0.13556987047195435, + -0.09322740137577057, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0005114078521728516, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.05698961019515991, + 0.34489333629608154, + 0.6587400138378143, + 0.8443419635295868, + 0.9059926047921181, + 0.9197788238525391, + 0.9221144318580627, + 0.9224447533488274, + 0.9224447533488274, + 0.9224447533488274, + 0.9224447533488274, + 0.9224447533488274, + 0.9224447533488274, + 0.9224447533488274, + 0.9217833653092384, + 0.8904407843947411, + 0.7101396322250366, + 0.42306244373321533, + 0.12159121036529541, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "3398", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3398/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3412.json b/annotation/test/3412.json new file mode 100644 index 0000000000000000000000000000000000000000..88fcde8d7718000a8ce881872ca8afc26e5f8dfb --- /dev/null +++ b/annotation/test/3412.json @@ -0,0 +1,584 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the light blue towel to the middle of the front of the table." + ], + "videos": [ + { + "video_path": "videos/test/3412/rgb.mp4" + } + ], + "action": [ + [ + -0.0006572025454321754, + -0.00037382454736598243, + 0.00026572334732692936, + 0.0013211021908677476, + -0.002747729239292378, + -0.00019888273723925518, + 1.0 + ], + [ + -0.0038388786000990156, + -0.0035637145769593427, + 0.010139991427352472, + 0.01666730139985598, + -0.03076941270660402, + -0.0026760499618231214, + 1.0 + ], + [ + 0.008009188085962946, + -0.01944789616803921, + -0.003605829616529649, + 0.012030186768588125, + -0.008370348050358054, + -0.04939458161173477, + 1.0 + ], + [ + 0.011962207950498602, + -0.018068186858001625, + -0.0131806405336004, + -0.010026436035248614, + 0.021415293835186366, + -0.03207439383435296, + 1.0 + ], + [ + 0.020116881623130103, + -0.031427149564895264, + -0.011169649210419083, + 0.025949081555324438, + 0.035749238723591654, + -0.07253176783189351, + 1.0 + ], + [ + 0.015300850245258913, + -0.013424014105719173, + -0.003392584674343192, + 0.05273837359686305, + 0.0686996496897972, + -0.011869009607914446, + 1.0 + ], + [ + 0.013846009249060107, + -0.029445344489055756, + 0.01282543127471183, + 0.08390530945049501, + 0.010563490251134932, + -0.0525318103067676, + 1.0 + ], + [ + 0.0037614397368045953, + -0.012431795858324438, + 0.006912594277999655, + 0.05128728519970491, + 0.035379569355743545, + -0.0201442708788547, + 1.0 + ], + [ + -0.01620383142104978, + -0.013901739768831595, + 0.028287684771293356, + 0.054246826656839116, + -0.06726152828674455, + 0.005148103839738463, + 1.0 + ], + [ + -0.006891711145892087, + -0.0032381100735113582, + 0.009166242171282648, + 0.016720160789279508, + -0.03454490165560898, + -0.002985828231441234, + 1.0 + ], + [ + -0.009604598606773642, + 7.621737132508776e-05, + 0.012526420132451305, + 0.008003730976931332, + -0.051244590210608565, + -0.012078356038026605, + 1.0 + ], + [ + -0.007743889240179558, + 0.0033957124860006698, + 0.003594747420428596, + 0.011176648542030897, + 0.0008608068282582806, + 0.010402876362031035, + 1.0 + ], + [ + -0.011829504871636433, + 0.0035726221606033155, + -9.300029149458929e-05, + 0.009760364349161221, + -0.009627500383977536, + 0.015909199520589, + 1.0 + ], + [ + -0.014846955727526293, + 0.0067083841222039245, + -0.002510074925864853, + -0.005624714317142937, + -0.005392936872910201, + 0.032240266252010735, + 1.0 + ], + [ + -0.021583801802370194, + 0.0077256858520627575, + -0.005204213374883987, + -0.01054610960899972, + -0.013042333132710299, + 0.04100904363699164, + 1.0 + ], + [ + -0.02626389670666401, + 0.011283202186417204, + -0.004688092014794319, + -0.01708108462973635, + -0.011114635987491512, + 0.04970213921732008, + 1.0 + ], + [ + -0.02748302672272493, + 0.018075503054866358, + -0.0031774639089389273, + -0.03211927599124328, + -0.01681070929826587, + 0.07761294337026081, + 1.0 + ], + [ + -0.028642721566183013, + 0.018351828869065494, + 0.0022102262260947215, + -0.009334071137697107, + -0.01569043372881915, + 0.10596600086976256, + 1.0 + ], + [ + -0.020185767048853786, + 0.013612925742610126, + -0.005205857065574624, + -0.022445507919516442, + 0.011123255753756521, + 0.09379389883824206, + 1.0 + ], + [ + -0.012047448994367755, + 0.013706842273945159, + -0.007179873138666793, + -0.016057819507325263, + 0.00874807601713233, + 0.0614616935369809, + 1.0 + ], + [ + -0.007650963863314344, + 0.010356939777874849, + -0.0007549343062948443, + -0.005895440276607055, + -0.01779684715675436, + 0.02881052079026696, + 1.0 + ], + [ + 0.007544491919283804, + 0.006411634185404576, + -0.005558346640360208, + -0.018270802461760327, + 0.015825885830194755, + -0.009585918063127665, + 1.0 + ], + [ + 0.002260071172890144, + 6.969727535715191e-05, + -0.0012304621778997653, + 0.0026557655966015065, + 0.005200360768867242, + -8.865728698280232e-05, + 1.0 + ], + [ + 0.003486284741282449, + -0.006403734644479373, + -0.008015190794204928, + 0.0035735941843709337, + 0.004387875165772426, + -0.018505612027281928, + 1.0 + ], + [ + 0.005036691711214531, + -0.0014059741683087642, + -0.02606720782484047, + -0.04144711212200745, + 0.04383937792495345, + -0.016965325395389943, + 1.0 + ], + [ + 0.008049401342386218, + -0.004517519955936417, + -0.028395520123993986, + -0.05543452794084084, + 0.02766176276149743, + -0.040642994065582715, + 1.0 + ], + [ + 0.00204941689171043, + -0.0038842130960428604, + -0.006215491748982935, + -0.003004346490808725, + -0.005497965968989021, + 0.03173887543806157, + 1.0 + ], + [ + 9.667630390560537e-05, + -0.00035002226815954293, + -0.00043180476467527735, + -0.0017388808321041822, + -0.00039896958282724555, + -0.003261148288067936, + 1.0 + ], + [ + 0.00022488303853469596, + 9.274667513498531e-05, + -1.880748385675925e-07, + -0.0005783316739926246, + 0.0014207840957995244, + 0.004601544404979193, + 1.0 + ] + ], + "state": [ + [ + 0.36096468567848206, + 0.045934662222862244, + 0.09202542155981064, + 2.862204285460063, + -0.2316221296787262, + 0.7065436244010925, + 1.0 + ], + [ + 0.36035504937171936, + 0.04579039663076401, + 0.0915256217122078, + 2.8636578937345227, + -0.22892606258392334, + 0.7059618830680847, + 1.0 + ], + [ + 0.3589443266391754, + 0.04543508589267731, + 0.08020572364330292, + 2.881554128723689, + -0.19859960675239566, + 0.6999754309654235, + 1.0 + ], + [ + 0.352474182844162, + 0.0657697394490242, + 0.08029990643262863, + 2.884716661768504, + -0.1776064485311508, + 0.74628084897995, + 1.0 + ], + [ + 0.3459230065345764, + 0.08807417750358582, + 0.09044274687767029, + 2.8682461996846875, + -0.19005268812179565, + 0.7834076285362244, + 1.0 + ], + [ + 0.3361329138278961, + 0.1252884715795517, + 0.09647317975759506, + 2.8795846124463758, + -0.20430830121040344, + 0.8645644783973694, + 1.0 + ], + [ + 0.3353494107723236, + 0.14570312201976776, + 0.09938143938779831, + 2.9256452341848096, + -0.26749640703201294, + 0.8948637843132019, + 1.0 + ], + [ + 0.32652509212493896, + 0.17627932131290436, + 0.0848742201924324, + 2.9951820393377027, + -0.2661709189414978, + 0.9503955245018005, + 1.0 + ], + [ + 0.32077163457870483, + 0.18764755129814148, + 0.07751602679491043, + 3.03951961745555, + -0.2981468141078949, + 0.9766311645507812, + 1.0 + ], + [ + 0.3078903257846832, + 0.1881357878446579, + 0.044503163546323776, + 3.097158847498246, + -0.23173882067203522, + 0.9643442034721375, + 1.0 + ], + [ + 0.3029613792896271, + 0.1859913468360901, + 0.03386794403195381, + 3.1135134269767484, + -0.1970951557159424, + 0.9658197164535522, + 1.0 + ], + [ + 0.2993508279323578, + 0.18001745641231537, + 0.019710194319486618, + 3.11937731702859, + -0.14552050828933716, + 0.9765527248382568, + 1.0 + ], + [ + 0.2982257008552551, + 0.17214620113372803, + 0.015106030739843845, + 3.132076800922402, + -0.1466042846441269, + 0.9660589694976806, + 1.0 + ], + [ + 0.29449984431266785, + 0.16047316789627075, + 0.013503610156476498, + -3.1389880332914224, + -0.13710972666740417, + 0.9499080181121826, + 1.0 + ], + [ + 0.2912070155143738, + 0.14432699978351593, + 0.013943521305918694, + -3.14017173753167, + -0.1315612643957138, + 0.9174013733863831, + 1.0 + ], + [ + 0.2839260399341583, + 0.1220952719449997, + 0.01626046560704708, + 3.1378799936552575, + -0.11834973096847534, + 0.8761255145072937, + 1.0 + ], + [ + 0.27552881836891174, + 0.09441818296909332, + 0.017856255173683167, + 3.126708165863999, + -0.10727273672819138, + 0.8260976672172546, + 1.0 + ], + [ + 0.2700137197971344, + 0.06183772161602974, + 0.018340064212679863, + 3.102993970858403, + -0.09129226952791214, + 0.747927188873291, + 1.0 + ], + [ + 0.26173362135887146, + 0.029025131836533546, + 0.014234684407711029, + 3.1035943907969674, + -0.07917686551809311, + 0.6411086916923524, + 1.0 + ], + [ + 0.2532617449760437, + 0.00597613537684083, + 0.018339432775974274, + 3.088713551061698, + -0.09350457042455675, + 0.5474023818969725, + 1.0 + ], + [ + 0.2493167668581009, + -0.012014041654765606, + 0.02507440187036991, + 3.0784675424271306, + -0.10531282424926759, + 0.4861525297164917, + 1.0 + ], + [ + 0.24726615846157074, + -0.024734681472182274, + 0.02566913142800331, + 3.0757428651028356, + -0.0893215164542198, + 0.4561612606048584, + 1.0 + ], + [ + 0.2561914026737213, + -0.02707427553832531, + 0.03228652849793434, + 3.056516209738799, + -0.10447729378938675, + 0.4668247401714325, + 1.0 + ], + [ + 0.25806811451911926, + -0.0260891355574131, + 0.033747442066669464, + 3.0591152032190045, + -0.10965129733085632, + 0.4673581719398498, + 1.0 + ], + [ + 0.2572602331638336, + -0.01860862225294113, + 0.04154452681541443, + 3.0606318806582173, + -0.1124803125858307, + 0.4862818419933319, + 1.0 + ], + [ + 0.25747784972190857, + -0.014523923397064209, + 0.06781451404094696, + 3.0167999808960637, + -0.1547803431749344, + 0.5069675445556641, + 1.0 + ], + [ + 0.25681692361831665, + -0.005720823537558317, + 0.09633775055408478, + 2.954585241275378, + -0.17701995372772217, + 0.5514196157455444, + 1.0 + ], + [ + 0.25512272119522095, + -0.0009255988406948745, + 0.10199946910142899, + 2.9574373086267194, + -0.17742487788200378, + 0.5186982154846191, + 1.0 + ], + [ + 0.25494033098220825, + -0.0005424466799013317, + 0.10237128287553787, + 2.9551376571231565, + -0.17643460631370542, + 0.5218805670738219, + 1.0 + ], + [ + 0.25517502427101135, + -0.0005125776515342295, + 0.10242786258459091, + 2.9553203751617154, + -0.17868216335773468, + 0.5175532698631287, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "3412", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3412/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/343.json b/annotation/test/343.json new file mode 100644 index 0000000000000000000000000000000000000000..54ffa6c156beb6bacf8af2531ac8e9eb457144b0 --- /dev/null +++ b/annotation/test/343.json @@ -0,0 +1,1515 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put pear on plate and bread in pot or pan on stove" + ], + "videos": [ + { + "video_path": "videos/test/343/rgb.mp4" + } + ], + "action": [ + [ + 0.0001276863954680172, + 0.0002697267314142486, + -4.5172371255322505e-06, + 0.000294230800788413, + 0.0019832944951447247, + 0.0021082493571073693, + 1.0 + ], + [ + -0.0027014983866397294, + -0.0019318968273033424, + 0.006954634866807115, + 0.010283516165797925, + -0.01710634642537162, + -0.004312123572864157, + 1.0 + ], + [ + 0.0001614568915056251, + -0.0002827049275278435, + 0.019125620958055825, + -0.00834448417564573, + 0.02548876663646927, + -0.0015793039138916063, + 1.0 + ], + [ + 0.0018332456496521782, + -0.0011940105119658084, + 0.02000504812550683, + -0.004333648040672361, + 0.033020438728958296, + 0.023518488916362868, + 1.0 + ], + [ + 0.0005897437686389387, + -0.003412774130583354, + 0.016299308523586797, + -0.009741240274627692, + 0.020400712406773717, + 0.01253068421245763, + 1.0 + ], + [ + 0.001611658548342231, + 0.0001467695542594301, + 0.004185282783344043, + -0.0037491539476425776, + 0.02637981921247594, + -0.008849690245714942, + 1.0 + ], + [ + -0.0014614447073516322, + 0.0038266657791710575, + 0.006007852177124628, + 0.011092726205062036, + -0.004370823252124495, + -0.004305242913920702, + 1.0 + ], + [ + -0.0020896759800620437, + 0.004867491739319701, + 0.004346984126441981, + -0.0009585138674460974, + 0.01062179861815854, + -0.006645312182699192, + 1.0 + ], + [ + -0.002979083456420782, + 0.0033032437105032235, + 0.004824788211786598, + 0.0004979817878536427, + 0.0061728331824487505, + -0.003982482800430159, + 1.0 + ], + [ + -0.004739506407538685, + 0.0023544466499027246, + 0.004213123892583964, + -0.0002758057097893912, + 0.016519921458847245, + 0.0013715085207790332, + 1.0 + ], + [ + -0.003926739408474376, + 0.0012291500051494603, + 0.002048744294784774, + 0.004295842342855087, + 0.006478002064522205, + -0.0020286228078120563, + 1.0 + ], + [ + -0.0019365494561143894, + 0.0017551075839931619, + 0.0017742191023548592, + -0.002424821756583226, + 0.015157876691204636, + -0.0020883809811007743, + 1.0 + ], + [ + -0.0009297030164825382, + -0.000528646572218075, + 0.007727405963669245, + -0.0037497496404519074, + 0.012257643638622891, + 0.0003518623580567119, + 1.0 + ], + [ + -0.00032885077073170415, + 0.0009707667781955927, + 0.0071767072278497756, + -0.009038030275468163, + 0.013998171610385652, + 0.00700184270698621, + 1.0 + ], + [ + 0.0006441639930204459, + 0.00045066819357131153, + 0.006312470075358792, + -0.0060574375302421685, + 0.0121527026104914, + -0.0008958734869514641, + 1.0 + ], + [ + 0.0004666425959520179, + -0.0006298728790516097, + 0.0026582499382195417, + 0.0044597063849907085, + 0.005411785415168881, + -0.002571789285447226, + 1.0 + ], + [ + -0.00012468891978833265, + -0.0005900312211462555, + -0.0001383546910960569, + 0.0031363490503757852, + -0.003844893575402166, + -0.004357007937977496, + 0.0 + ], + [ + -0.001657384877011514, + -0.0017940664720039086, + 0.00019302132918506786, + 0.010990236135870624, + -0.013392346553951816, + -0.002314895531948044, + 0.0 + ], + [ + -0.003684226914816908, + -0.003186796283798377, + -0.0025466199627025327, + 0.02802592124252126, + -0.04070522014114683, + -0.0015154274588366444, + 0.0 + ], + [ + 0.004670405342761476, + -0.004528912032629091, + -0.01912471464946985, + 0.009886106867176423, + -0.02906090439201506, + 0.009203866953610789, + 0.0 + ], + [ + 0.01111716741936649, + -0.008010822773707066, + -0.02320233801690744, + 0.0011272481815478332, + -0.042458612047472255, + 0.014165745777548545, + 0.0 + ], + [ + 0.0182466693595371, + -0.009697955081581035, + -0.019247654633701088, + 0.0032071745477838588, + -0.03252388867698882, + 0.018039309415645292, + 0.0 + ], + [ + 0.024963340995814567, + -0.014874954805226612, + -0.011796016373302859, + 0.002843114022467032, + -0.025036508442841353, + 0.035960258121684345, + 0.0 + ], + [ + 0.03497595247722873, + -0.013967008032142906, + 0.00029074923985201057, + 0.004053858651669818, + 0.007549996658120063, + 0.035178483794105035, + 0.0 + ], + [ + 0.026014061769777354, + -0.011424637507294362, + 0.009613835546171198, + -0.02047848399623198, + -0.012163777873463007, + 0.040186852843629016, + 0.0 + ], + [ + 0.01901272625844043, + -0.007989687769568921, + 0.022889167945205763, + -0.02671283799982746, + 0.014168478477889644, + 0.0220957699240984, + 0.0 + ], + [ + 0.00942280958371399, + -0.0007705528643699712, + 0.015974773219989094, + -0.029849369595116547, + 0.034179250661834124, + 0.00043780682658482484, + 0.0 + ], + [ + -0.004816239783129831, + 0.0007762438117042748, + 0.010025564996351136, + -0.005827735735170445, + 0.006139443435708315, + -0.017160619032000946, + 0.0 + ], + [ + -0.006372746008683553, + 0.00500279034651807, + 0.006189449714145088, + 0.007125920948724315, + -0.0024556412465627417, + -0.0105747961631538, + 0.0 + ], + [ + -0.011515821273646549, + 0.004966320510205814, + 0.0004900532457702159, + 0.009346084884298689, + -0.04802513437774012, + -0.011000753549893329, + 1.0 + ], + [ + -0.008394692869984946, + -0.0011376103540645306, + -0.017733410038271075, + 0.017159831245688054, + -0.04342928394035599, + -0.00036538553565989033, + 1.0 + ], + [ + 6.74868086621724e-05, + -0.0011478840430707246, + -0.0325893961928845, + 0.01961289224884349, + -0.03370474007651894, + 0.001900017723558664, + 1.0 + ], + [ + 0.00044962906204028106, + -0.003910646590965444, + -0.018566998281412228, + 0.013056621757070388, + -0.04048310152154168, + 0.017481194175536133, + 1.0 + ], + [ + -0.00414137446794176, + -0.007464202828277399, + -0.00874041706283547, + 0.023873905538652974, + -0.041997786633097035, + 0.02580767103621294, + 1.0 + ], + [ + -0.00047175782780263737, + -0.000528833358233335, + 1.0398297355705769e-05, + 1.0874108632504977e-05, + -0.0031020675072757162, + 5.022500163152827e-06, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 5.054590750557886e-18, + 1.820916622039489e-18, + -2.3119331427171488e-17, + 1.0 + ], + [ + -0.001118882253851413, + -0.0028384593736557827, + -0.001338546673754324, + 0.0005462780236329701, + 0.010600482605016498, + 0.00028001183381215434, + 1.0 + ], + [ + -0.03313541909520074, + -0.028430256480497792, + -0.01794522233235306, + 0.02322422732714686, + 0.09620690680703253, + 0.03433609444224708, + 1.0 + ], + [ + -0.024259496467461665, + -0.04526006878420501, + -0.01353160663796739, + 0.06279109660731565, + 0.05572946172982284, + 0.0035575750781905754, + 1.0 + ], + [ + -0.014006956017384649, + -0.031457399592246756, + -0.0028355861264015934, + 0.08854801712999037, + 0.08320057847140405, + -0.05316713989935784, + 1.0 + ], + [ + -0.0024388456819853287, + -0.019148135444168466, + 0.001990914735710707, + 0.03496847370166133, + 0.01863426526279253, + -0.020196892090403363, + 1.0 + ], + [ + -0.008624194754292122, + -0.013592302661024411, + 0.018713715401036623, + -0.022826548776928548, + -0.0028436532379513637, + -0.023180354682805125, + 1.0 + ], + [ + -0.008909640924790501, + -0.0067595284826555795, + 0.022881801126268385, + -0.02895147293456101, + 0.007253867644686972, + -0.011356087785402999, + 1.0 + ], + [ + -0.009689918877094332, + -0.004125129100606799, + 0.016934718144016873, + -0.023958988520323934, + 0.007171686936379792, + -0.03255050426239186, + 1.0 + ], + [ + -0.012953236121918019, + -0.0017074084824374744, + 0.013183877161638262, + -0.01563616809928486, + 0.01200351050014558, + -0.018046628697075448, + 1.0 + ], + [ + -0.012551820082107538, + -0.0010379214167824638, + 0.011735505364608781, + -0.013784186680103852, + 0.01777028568600769, + -0.010931730398732237, + 1.0 + ], + [ + -0.00891790472638309, + -0.0018431197847742337, + 0.011409364403012458, + -0.009550745270631246, + 0.01845852105622939, + -0.007153390949425368, + 1.0 + ], + [ + -0.006962644391536571, + -0.0004953335845932045, + 0.014871834479911557, + -0.012318057746319371, + 0.03349848944598655, + 0.003988499007518944, + 1.0 + ], + [ + -0.005457610497527572, + -0.0023198554626216237, + 0.015461323264684763, + -0.02119007128224187, + 0.027128820509216754, + 0.008266506387826708, + 1.0 + ], + [ + -0.0036947155735984373, + -0.0005426982636949141, + 0.01199657389193967, + -0.01023827845099, + 0.02515772677048035, + -0.009601627752922618, + 1.0 + ], + [ + 0.0006476491998769295, + -0.00044322198969443474, + 0.003377300328330417, + 0.012807060049312115, + 0.025453471599618364, + -0.018891029099255337, + 1.0 + ], + [ + -0.00195447692222502, + 0.005345920501825169, + -0.0011870594723198242, + 0.020897533962809578, + -0.01598668866728925, + 0.004937304644080746, + 0.0 + ], + [ + -0.0009420323798544491, + 0.004977534141766171, + -0.0020824618297823963, + -0.0036906761665067905, + -0.04819209130371332, + -0.01187913389792144, + 0.0 + ], + [ + 0.00025394556924346004, + 0.004588635498662374, + -0.008760506755948451, + -0.022743335450465946, + -0.06909264273896028, + 0.011215352319335146, + 0.0 + ], + [ + 0.015486693539965, + -0.0017855319480542954, + -0.034558687332348396, + 0.02003127127962373, + 0.010733839873700237, + 0.012738776516552749, + 0.0 + ], + [ + 0.019856516799475657, + -0.0026002256720626406, + -0.0339178353284332, + 0.03002315073109667, + -0.041302132816387394, + 0.013630839834209202, + 0.0 + ], + [ + 0.020917917230399923, + 0.007918153494039733, + -0.020707527069298452, + 0.02469738106258206, + -0.009825963721878984, + 0.003739785605432105, + 0.0 + ], + [ + 0.020330363105142513, + 0.0173959520070703, + -0.003830666310542563, + -0.015441681036306984, + -0.006611396165800525, + 0.002088581204408684, + 0.0 + ], + [ + 0.016784072438079816, + 0.012913547454075159, + -0.00030132608641882835, + -0.0022680139293801797, + 0.0027053869570896247, + 0.005428621854296343, + 0.0 + ], + [ + 0.015602130651805239, + 0.011899357367479659, + 0.006446596455439246, + -0.012338570135795346, + -0.008425778565209473, + 0.0022857301078716688, + 0.0 + ], + [ + 0.008996141490143581, + 0.008097484554967865, + 0.014279352269483953, + -0.01398513471402108, + 0.0007999852447125487, + -9.324918753560963e-06, + 0.0 + ], + [ + 0.004778352109949038, + 0.004233140669045876, + 0.009748797632550993, + -0.0015338827180719815, + 0.0072109769320319655, + -0.017949524124101807, + 0.0 + ], + [ + -0.0010327233903385316, + 0.0019478043637466032, + 0.005640707305828045, + -0.009475396812326585, + 0.01820979917346395, + -0.006883696203853095, + 0.0 + ], + [ + -0.006853879336515733, + 0.005047408081099521, + 0.007775827987041143, + -0.009830267136720056, + -0.007697335747723398, + -0.0035442230897563577, + 0.0 + ], + [ + -0.00685935592393254, + 0.0038746458227222795, + 0.004473380391322609, + -0.005531696262511325, + -0.01917847129793529, + -0.009585306034596041, + 1.0 + ], + [ + -0.0029288002447512237, + 0.0015929300310332018, + -0.006277035268349328, + 0.00393054337135916, + -0.010959439601124001, + 0.002380276377402118, + 1.0 + ], + [ + 0.0028681411183735656, + -0.0007890803466930343, + -0.009674600042101912, + 0.016048102320623245, + -0.012014348539255955, + 0.01029142279321723, + 1.0 + ], + [ + 0.0007740745158096578, + 0.004131147892886461, + -0.015620427290241608, + 0.011057604339543895, + -0.019431095300987508, + 0.007572025438229144, + 1.0 + ], + [ + -0.002457705716703443, + 0.009500629427769653, + -0.01709878527874448, + 0.011980656931009675, + -0.0033294785774396107, + 0.007826890545946532, + 1.0 + ], + [ + -0.0011031287907918585, + 0.01521446286401944, + -0.012160814569443396, + 0.015893947494299277, + 0.01823023834780563, + -0.026617778621799284, + 1.0 + ], + [ + -0.0024576109046720975, + 0.017348584141466564, + -0.0013880932717393413, + 0.0028466302409385627, + 0.00575069602549185, + -0.01880901548055284, + 1.0 + ], + [ + 0.005590567800984904, + 0.012571556613639654, + 0.002792430674126236, + -0.01625639090491679, + 0.01077541767852829, + -0.011192495758395751, + 1.0 + ], + [ + 0.008859022240921248, + 0.003202704628486766, + 0.0014750260446909599, + -0.011752251159998662, + 0.003784432534923852, + -0.009074451321891639, + 1.0 + ], + [ + 0.003259078861616355, + -0.0011314422963276524, + 0.003156592568626532, + -0.014547540493757642, + 0.006811091456603911, + 0.012031570515687286, + 1.0 + ], + [ + 0.003910352672021989, + -0.0005678866739118348, + 0.012025886663038245, + -0.03541667665395743, + -0.0062304509675173226, + -0.01587738498796563, + 1.0 + ], + [ + 0.003932034894081432, + -0.007282303216417881, + 0.005133430709326387, + -0.022278333146451716, + 0.023856393296801105, + 0.010425882643203306, + 1.0 + ], + [ + -0.0021670441071081283, + -0.009077368360162819, + 0.010926001019090449, + -0.023280375225332325, + -0.006135134784502922, + 0.0008130337873168236, + 1.0 + ], + [ + -0.0022616618900389504, + -0.013315477032332459, + 0.008150660961533017, + -0.07031623495888226, + -0.04163532363491321, + -0.006075768808065676, + 1.0 + ] + ], + "state": [ + [ + 0.22348105907440186, + -0.12228477001190186, + 0.13628150522708893, + 3.101265328126498, + -0.09027848392724992, + 0.028415460139513016, + 1.0 + ], + [ + 0.22361443936824799, + -0.12255041301250458, + 0.13630834221839905, + 3.1017430519037923, + -0.0923449769616127, + 0.026380216702818867, + 1.0 + ], + [ + 0.22152945399284363, + -0.12095155566930771, + 0.12906308472156525, + 3.1116855797641954, + -0.07507981359958649, + 0.030017059296369553, + 1.0 + ], + [ + 0.22313301265239716, + -0.12119286507368088, + 0.11000355333089828, + 3.1031549741798123, + -0.10050974786281586, + 0.032369114458560944, + 1.0 + ], + [ + 0.2269517034292221, + -0.12064462155103683, + 0.09025246649980545, + 3.101060750084468, + -0.13438448309898376, + 0.009947645477950575, + 1.0 + ], + [ + 0.22970916330814362, + -0.11786754429340363, + 0.07405535131692886, + 3.0928996076160153, + -0.1552669107913971, + -0.0018858446273952725, + 1.0 + ], + [ + 0.23194612562656403, + -0.11822207272052765, + 0.07018160820007324, + 3.0875444394820413, + -0.18117666244506836, + 0.008402599021792412, + 1.0 + ], + [ + 0.23158715665340424, + -0.12237086892127991, + 0.06422072649002075, + 3.097893463569232, + -0.17657813429832458, + 0.012529565021395683, + 1.0 + ], + [ + 0.23031890392303467, + -0.12743990123271942, + 0.059787675738334656, + 3.095663758116313, + -0.1868949830532074, + 0.019758056849241257, + 1.0 + ], + [ + 0.22832903265953064, + -0.13100118935108185, + 0.05464738607406616, + 3.095354462163993, + -0.19287674129009247, + 0.02410019375383854, + 1.0 + ], + [ + 0.22452576458454132, + -0.13364027440547943, + 0.049715131521224976, + 3.095191182690211, + -0.2094423621892929, + 0.023480337113142014, + 1.0 + ], + [ + 0.22113049030303955, + -0.13504323363304138, + 0.04695265740156174, + 3.098990885662385, + -0.21581871807575226, + 0.02586247585713863, + 1.0 + ], + [ + 0.2196502685546875, + -0.13691121339797974, + 0.044879477471113205, + 3.095960309850522, + -0.23087307810783386, + 0.028668714687228203, + 1.0 + ], + [ + 0.2205117642879486, + -0.13671083748340607, + 0.037128716707229614, + 3.0921581668132028, + -0.24313400685787204, + 0.028882674872875214, + 1.0 + ], + [ + 0.22194434702396393, + -0.1379942148923874, + 0.03013898804783821, + 3.0846850370341024, + -0.257456123828888, + 0.022367021068930626, + 1.0 + ], + [ + 0.22418297827243805, + -0.13875330984592438, + 0.02423325926065445, + 3.078204596536704, + -0.26953786611557007, + 0.024011962115764614, + 1.0 + ], + [ + 0.22533844411373138, + -0.1382652074098587, + 0.021761935204267502, + 3.081858703988143, + -0.27477470040321345, + 0.027034757658839226, + 1.0 + ], + [ + 0.2251744270324707, + -0.13767218589782715, + 0.021827127784490585, + 3.083835085975476, + -0.27067416906356806, + 0.03131008893251419, + 0.0 + ], + [ + 0.22360162436962128, + -0.13594064116477966, + 0.02109849825501442, + 3.094395013647624, + -0.2571702003479004, + 0.0329001508653164, + 0.0 + ], + [ + 0.21932339668273926, + -0.13277626037597656, + 0.022476153448224068, + 3.1224879809939345, + -0.216438814997673, + 0.03248295560479164, + 0.0 + ], + [ + 0.2196379005908966, + -0.12787002325057983, + 0.04206973314285278, + 3.1344997432366988, + -0.18754863739013672, + 0.022555449977517128, + 0.0 + ], + [ + 0.22605866193771362, + -0.11954790353775024, + 0.06688161194324493, + 3.138347249366813, + -0.1451718658208847, + 0.007948069833219051, + 0.0 + ], + [ + 0.2412554919719696, + -0.10966643691062927, + 0.08853516727685928, + -3.1389905846496156, + -0.11268273741006851, + -0.010302915237843989, + 0.0 + ], + [ + 0.2648814618587494, + -0.09506486356258392, + 0.10310178250074387, + -3.1320975023605904, + -0.08748007565736769, + -0.04632439836859703, + 0.0 + ], + [ + 0.3003469705581665, + -0.08272481709718704, + 0.10600006580352783, + -3.1249564496153077, + -0.0946412682533264, + -0.08173053711652754, + 0.0 + ], + [ + 0.327991247177124, + -0.07336746156215668, + 0.09907811135053635, + 3.141527990211795, + -0.08173506706953049, + -0.12184032052755356, + 0.0 + ], + [ + 0.3496258556842804, + -0.06796868145465851, + 0.07781711965799332, + 3.116627253713556, + -0.09588495641946793, + -0.14403492212295532, + 0.0 + ], + [ + 0.3604764938354492, + -0.06916702538728714, + 0.06280365586280823, + 3.0867231396311006, + -0.1300644725561142, + -0.1436157524585724, + 0.0 + ], + [ + 0.35683998465538025, + -0.06997982412576675, + 0.05229528620839119, + 3.0786159728937825, + -0.1352336257696152, + -0.12598353624343872, + 0.0 + ], + [ + 0.3506832718849182, + -0.07462545484304428, + 0.04562729597091675, + 3.0843307619267186, + -0.13210998475551602, + -0.11549287289381026, + 0.0 + ], + [ + 0.33879607915878296, + -0.07826609909534454, + 0.04390712454915047, + 3.092524444805928, + -0.08352957665920258, + -0.10724162310361862, + 1.0 + ], + [ + 0.32922878861427307, + -0.07521850615739822, + 0.060801442712545395, + 3.109785510348626, + -0.040134545415639884, + -0.10900791734457016, + 1.0 + ], + [ + 0.3282356560230255, + -0.07291307300329208, + 0.09331435710191727, + 3.1294996851407966, + -0.006507106591016054, + -0.11197762936353685, + 1.0 + ], + [ + 0.3290247619152069, + -0.0688408613204956, + 0.11183524131774902, + -3.140519972895742, + 0.033762700855731964, + -0.12994295358657837, + 1.0 + ], + [ + 0.3261794447898865, + -0.060950830578804016, + 0.12071847170591354, + -3.1175175329023084, + 0.07577691972255707, + -0.1557568907737732, + 1.0 + ], + [ + 0.3257969617843628, + -0.06035535782575607, + 0.12075651437044144, + -3.117501253383704, + 0.07887820899486542, + -0.15568701922893524, + 1.0 + ], + [ + 0.3257969617843628, + -0.06035535782575607, + 0.12075651437044144, + -3.117501253383704, + 0.07887820899486542, + -0.15568701922893524, + 1.0 + ], + [ + 0.32523953914642334, + -0.05742812901735306, + 0.12224683910608292, + -3.1169959028535565, + 0.06828753650188447, + -0.15622353553771973, + 1.0 + ], + [ + 0.29819369316101074, + -0.024842964485287666, + 0.14310339093208313, + -3.0961784218722066, + -0.027091659605503082, + -0.19276782870292664, + 1.0 + ], + [ + 0.28252238035202026, + 0.0236566960811615, + 0.15801292657852173, + -3.0331520681553563, + -0.08260159194469452, + -0.19886577129364014, + 1.0 + ], + [ + 0.27445244789123535, + 0.05687132105231285, + 0.1630595326423645, + -2.9480004628473004, + -0.17098484933376312, + -0.15455235540866855, + 1.0 + ], + [ + 0.27473846077919006, + 0.07623151689767838, + 0.16434942185878754, + -2.9158383925729474, + -0.19313357770442968, + -0.1380140632390976, + 1.0 + ], + [ + 0.27164289355278015, + 0.09426518529653549, + 0.14778032898902893, + -2.9432705660634717, + -0.1954975426197052, + -0.11433424055576324, + 1.0 + ], + [ + 0.26830270886421204, + 0.1058572456240654, + 0.12535005807876587, + -2.9741515537076673, + -0.20483727753162384, + -0.10442309826612474, + 1.0 + ], + [ + 0.26282408833503723, + 0.11335893720388412, + 0.10770338028669357, + -3.004622670012065, + -0.21723325550556183, + -0.07278071343898772, + 1.0 + ], + [ + 0.25321999192237854, + 0.1175600066781044, + 0.09238579124212265, + -3.0238628332787236, + -0.23155917227268216, + -0.05609829723834991, + 1.0 + ], + [ + 0.24379993975162506, + 0.12050197273492813, + 0.07828065007925034, + -3.0397100542956075, + -0.25048133730888367, + -0.047048795968294144, + 1.0 + ], + [ + 0.23807455599308014, + 0.12376882880926132, + 0.0652557760477066, + -3.0505919625335416, + -0.26956814527511597, + -0.04161474481225014, + 1.0 + ], + [ + 0.23537473380565643, + 0.1257276087999344, + 0.04916946589946747, + -3.0609033351116857, + -0.30255866050720215, + -0.048961903899908066, + 1.0 + ], + [ + 0.23487620055675507, + 0.1293148249387741, + 0.033010780811309814, + -3.0787853469424924, + -0.3289158046245575, + -0.05997535958886147, + 1.0 + ], + [ + 0.23531295359134674, + 0.13058553636074066, + 0.02051847241818905, + -3.0917624553018292, + -0.3546155393123626, + -0.05144379660487174, + 1.0 + ], + [ + 0.23711295425891876, + 0.13110455870628357, + 0.017600825056433678, + -3.085529653477021, + -0.38092041015625, + -0.03249165043234826, + 1.0 + ], + [ + 0.23479488492012024, + 0.12577301263809204, + 0.017696361988782883, + -3.063020223873206, + -0.3646789491176605, + -0.03680870309472084, + 0.0 + ], + [ + 0.23312610387802124, + 0.12070535868406296, + 0.01893489807844162, + -3.072495663660117, + -0.31752222776412964, + -0.020376941189169884, + 0.0 + ], + [ + 0.23063254356384277, + 0.11557257175445557, + 0.027015937492251396, + -3.093010315793105, + -0.24781379103660586, + -0.026973670348525044, + 0.0 + ], + [ + 0.23715859651565552, + 0.11550167948007584, + 0.06436207890510559, + -3.0696206857734403, + -0.2578940987586975, + -0.04067099466919898, + 0.0 + ], + [ + 0.2476801574230194, + 0.11522811651229858, + 0.1023184210062027, + -3.0367662404947957, + -0.2157040536403656, + -0.051537372171878815, + 0.0 + ], + [ + 0.26334404945373535, + 0.10436536371707916, + 0.12610289454460144, + -3.0114757885509214, + -0.20553992688655853, + -0.05428618565201759, + 0.0 + ], + [ + 0.28194019198417664, + 0.08558274805545807, + 0.13176095485687256, + -3.0266621505194387, + -0.1987132728099823, + -0.055523592978715904, + 0.0 + ], + [ + 0.2978876829147339, + 0.07181361317634583, + 0.1339159607887268, + -3.027782717841216, + -0.20077499747276306, + -0.06134354323148728, + 0.0 + ], + [ + 0.31401166319847107, + 0.05971209704875946, + 0.12942704558372498, + -3.039850356178828, + -0.192143976688385, + -0.06268218159675597, + 0.0 + ], + [ + 0.3252753019332886, + 0.05238684266805649, + 0.11639359593391418, + -3.053821453946181, + -0.19294077157974246, + -0.0627555176615715, + 0.0 + ], + [ + 0.33167433738708496, + 0.04861582815647125, + 0.10741456598043442, + -3.0587417056136808, + -0.20166823267936707, + -0.04515094310045242, + 0.0 + ], + [ + 0.3317541182041168, + 0.047136399894952774, + 0.10154234617948532, + -3.069303313391753, + -0.2203822880983353, + -0.03966626152396202, + 0.0 + ], + [ + 0.32666757702827454, + 0.042862143367528915, + 0.09212038666009903, + -3.080046994733163, + -0.21295917034149167, + -0.03548090159893036, + 0.0 + ], + [ + 0.32083338499069214, + 0.03947480395436287, + 0.08607365936040878, + -3.0878858548873147, + -0.19439412653446198, + -0.024529632180929184, + 1.0 + ], + [ + 0.3167194128036499, + 0.03764756768941879, + 0.09157392382621765, + -3.083600791292735, + -0.18332239985466003, + -0.026348508894443512, + 1.0 + ], + [ + 0.317776083946228, + 0.03784681856632233, + 0.10163824260234833, + -3.0657794271879872, + -0.17072328925132751, + -0.03606681525707245, + 1.0 + ], + [ + 0.31575584411621094, + 0.032613880932331085, + 0.11681053042411804, + -3.0536643510037145, + -0.15077133476734164, + -0.042213734239339835, + 1.0 + ], + [ + 0.31043457984924316, + 0.021863410249352455, + 0.13245604932308197, + -3.0405463000112256, + -0.1467631310224533, + -0.049799509346485145, + 1.0 + ], + [ + 0.3069871664047241, + 0.005651347804814577, + 0.14274519681930542, + -3.028320888178893, + -0.16754014790058136, + -0.02481144666671753, + 1.0 + ], + [ + 0.3042301535606384, + -0.011679891496896744, + 0.14176180958747864, + -3.02854564239318, + -0.17535230517387393, + -0.006492445245385171, + 1.0 + ], + [ + 0.3103872537612915, + -0.023896431550383568, + 0.1386086493730545, + -3.0465598200731954, + -0.1873127967119217, + 0.003588724182918668, + 1.0 + ], + [ + 0.31943222880363464, + -0.026912279427051544, + 0.1385170966386795, + -3.059960516291209, + -0.19193407893180844, + 0.012425315566360949, + 1.0 + ], + [ + 0.32319650053977966, + -0.025480329990386963, + 0.13614104688167572, + -3.072071688371249, + -0.19772613048553467, + -0.000370666035450995, + 1.0 + ], + [ + 0.3293800950050354, + -0.024080729112029076, + 0.1251847892999649, + -3.110752735408493, + -0.19258710741996762, + 0.016207423061132428, + 1.0 + ], + [ + 0.33405736088752747, + -0.01656680926680565, + 0.12112164497375488, + -3.130838037590035, + -0.21609848737716675, + 0.004788273945450783, + 1.0 + ], + [ + 0.3342183828353882, + -0.007371586747467518, + 0.11008107662200928, + 3.1292308635362467, + -0.20995490252971655, + 0.004024509806185961, + 1.0 + ], + [ + 0.33368611335754395, + 0.005840083584189415, + 0.10147766023874283, + 3.0577286427193364, + -0.1682443916797638, + 0.009659581817686558, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05079597234725952, + 0.23376083374023438, + 0.20872056484222412, + 0.19920474290847778, + 0.19920474290847778, + 0.19920474290847778, + 0.19920474290847778, + 0.19920474290847778, + 0.19920474290847778, + 0.19920474290847778, + 0.19920474290847778, + 0.19920474290847778, + 0.21638107299804688, + 0.14373880624771118, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.04773181676864624, + 0.3208107352256775, + 0.39909929037094116, + 0.3669973611831665, + 0.3669973611831665, + 0.3669973611831665, + 0.3669973611831665, + 0.3669973611831665, + 0.3669973611831665, + 0.3669973611831665, + 0.3669973611831665, + 0.3669973611831665, + 0.37904828786849976, + 0.3088000416755676, + 0.03421902656555176, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "343", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/343/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3454.json b/annotation/test/3454.json new file mode 100644 index 0000000000000000000000000000000000000000..fd6e6633cbb174f7fcc5846d5a50f14fa0cb6d14 --- /dev/null +++ b/annotation/test/3454.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put clothes in laundry machine" + ], + "videos": [ + { + "video_path": "videos/test/3454/rgb.mp4" + } + ], + "action": [ + [ + 0.000286307405599517, + -0.00013153200019798574, + -3.1420103816663875e-07, + 0.000833795333713017, + 0.0018035664503205779, + 0.002405457926500006, + 1.0 + ], + [ + -0.0076355577014861654, + 0.0016782964289021806, + 0.006891818940512268, + 0.005095947794058657, + -0.03138244202178648, + 0.01324288624331103, + 1.0 + ], + [ + -0.027025347082467677, + 0.02817851448225962, + 0.012286018116817015, + -0.0070199628986434524, + -0.0377295142855874, + 0.18816418882604447, + 1.0 + ], + [ + -0.012472335720459539, + 0.029131234367173242, + 0.006947845476125389, + -0.06277558898177937, + 0.03365404178784978, + 0.23979100220308092, + 1.0 + ], + [ + -0.005497631796311479, + 0.02654677055224551, + 0.008893246972222367, + -0.09181472249578512, + 0.011400291286507267, + 0.21474993179587312, + 1.0 + ], + [ + -0.01297831997292298, + 0.01846300689722764, + 0.016712721400335338, + -0.014132103669405604, + -0.027888191998568585, + 0.1537172636811197, + 1.0 + ], + [ + -0.0010722157880143014, + 0.007480706723425753, + 0.022915017709148392, + 0.010978107442460692, + -0.024898241545808865, + 0.024443677902683477, + 1.0 + ], + [ + -0.0008033365990018361, + 6.681570436199498e-05, + 0.015562979201591241, + 0.05428140502748224, + 0.022733329059587477, + -0.010773729904677709, + 1.0 + ], + [ + -0.00024633780271638133, + -0.001146094253283433, + 0.01705300406080665, + 0.00869350230118749, + -0.014850374318731383, + -6.726645774854777e-05, + 1.0 + ], + [ + 0.0008788837501618065, + -0.0005826764822184923, + 0.016782406381246433, + 0.0076923260073607815, + -0.020446800576555776, + -0.022072576080277812, + 1.0 + ], + [ + 0.0030028246818862925, + 0.004987343140487179, + 0.012192449762025312, + 0.00831697003784419, + 0.015707499336645083, + 0.0012467725023956424, + 1.0 + ], + [ + 0.0024771650298917184, + 0.0015890583793576202, + 0.008656090388917917, + 0.02030330522366155, + 0.01898198476245519, + 0.009056859239748796, + 1.0 + ], + [ + -0.0013606695785754156, + -0.0001616106021030155, + 0.012449259295872966, + 0.018926477620046234, + -0.00590576599017833, + -0.004391730062165792, + 1.0 + ], + [ + 0.0006248925851536953, + 0.0019886756998770193, + 0.006898438316237403, + 0.0026479981490681852, + 0.0010336060727921175, + -0.005783490555364301, + 1.0 + ], + [ + 0.0007889723287398681, + 0.0010194565109745207, + 0.0013773789852441981, + -0.005861785347166229, + -3.601126623532663e-05, + -0.016142270831978195, + 1.0 + ], + [ + -0.0004610472855357267, + -0.0004990483825189022, + -0.00014715250536878393, + -0.021850910612632026, + -0.01299141877755252, + -0.02140806124342924, + 0.0 + ], + [ + 0.0015529765869290377, + -0.0019044672935369517, + -0.004224762862956009, + 0.01324911381229319, + 0.007040394074010383, + 0.0009516198527324128, + 0.0 + ], + [ + 0.002122839539341718, + -0.0032362151631701815, + -0.020116948411652565, + 0.012640415329494815, + 0.04270822358871594, + -0.024770467684520975, + 0.0 + ], + [ + 0.006291336078514227, + -0.0027949278399709157, + -0.02769643165494349, + -0.004266105281266418, + 0.052947448529874666, + -0.04525938366739181, + 0.0 + ], + [ + 0.005571062089397298, + -0.00245216282856318, + -0.03072314105045477, + -0.006586097273464943, + 0.04963062839802425, + -0.0253317277773824, + 0.0 + ], + [ + 0.006005916611956928, + -0.010528674469341068, + -0.034862505949011365, + 0.0017810864369275077, + 0.06328640978085365, + -0.0507631389638522, + 0.0 + ], + [ + 0.0074777864108197135, + -0.025973225830800663, + -0.024094630698843364, + 0.001376193162278135, + 0.0573732662105332, + -0.04807923953568213, + 0.0 + ], + [ + 0.019619850913989566, + -0.02918867162610781, + -0.025975330770277187, + -0.017017888108899048, + 0.09912539992093583, + -0.03991286236688473, + 0.0 + ], + [ + 0.02928300361902612, + -0.021381278230738425, + -0.018005295159706884, + -0.01870036151483333, + 0.0905800724102528, + -0.08739253293852987, + 0.0 + ], + [ + 0.02426276214724051, + -0.0069178614058212785, + 0.0011928585846065825, + 0.007135415140361397, + 0.04682294667717773, + -0.022796494904107713, + 0.0 + ], + [ + 0.02205358531580327, + 0.00505744011558197, + 0.00863050244673677, + -0.0071206624408031915, + 0.07274854048171701, + -0.008806090260347, + 0.0 + ], + [ + 0.007365773617375151, + -0.0022680462672292007, + 0.021227590062275623, + 0.02287801670530994, + 0.035941051297898485, + 0.005670270215904684, + 0.0 + ], + [ + 0.005835999211272472, + -0.002499682864045225, + 0.019433117661530625, + 0.03235436538865366, + 0.05599641551862703, + 0.025584109850274265, + 0.0 + ], + [ + 0.0019472496990535681, + -0.0024665413212891355, + 0.023592022397756294, + 0.020284888353538626, + -0.008732794997403428, + -0.0025334001151479718, + 0.0 + ], + [ + 0.0059832457320819375, + -0.0021430757701217506, + 0.018730489394390537, + 0.02841736588754095, + 0.017473177814208304, + -0.00387475566164449, + 0.0 + ], + [ + -0.0006376342963330344, + -0.002292968323074982, + 0.009989676970111088, + 0.01817515656298865, + 0.006014024630678866, + -0.009033073032187675, + 0.0 + ], + [ + 0.0015583647990955907, + -0.00011611792733382406, + 0.00038953642784138684, + 0.010988287186454785, + 0.011214222524957119, + -0.01995257992599536, + 0.0 + ], + [ + -0.0043365392459206115, + -0.0007712278091802886, + -0.00016243263168118138, + 0.012374949145105648, + -0.016492576034302098, + 0.005149256404447096, + 0.0 + ], + [ + -0.002365169470655588, + 0.0008594495369737361, + -0.008138633305825784, + -0.006438639065073495, + -0.013659744182448023, + -0.02391183929047373, + 1.0 + ], + [ + 0.005062437081430438, + 0.003854400351564397, + -0.016755504971730163, + -0.027515208080750884, + 0.002443938602663373, + -0.01038524315842113, + 1.0 + ], + [ + 0.0024549547439416627, + 0.006994439631081965, + -0.023432115197262945, + -0.040785783336589644, + -0.014938224937385659, + -0.02471084828483441, + 1.0 + ], + [ + -0.004132243997256579, + 0.0070372864095271945, + -0.025836128129351897, + -0.0065352533321708945, + -0.05497396545896579, + -0.012882841720013504, + 1.0 + ], + [ + -0.015047935815540099, + 0.007113049386646738, + -0.015422044721302638, + 0.020767526111996393, + -0.09371552079591852, + 0.007138203484425474, + 1.0 + ] + ], + "state": [ + [ + 0.2548927664756775, + 0.04649367555975914, + 0.10612156242132187, + 3.136056346009024, + -0.18050256371498108, + 0.3942245244979859, + 1.0 + ], + [ + 0.25510236620903015, + 0.04672332853078842, + 0.10617255419492722, + 3.1373274336853108, + -0.18231889605522156, + 0.3917887210845947, + 1.0 + ], + [ + 0.24996806681156158, + 0.04275442659854889, + 0.09801765531301498, + -3.1383104819157204, + -0.15097682178020477, + 0.3782647848129273, + 1.0 + ], + [ + 0.23726068437099457, + 0.007425964809954166, + 0.08171530812978745, + -3.117095574858137, + -0.10996772348880768, + 0.1892075091600418, + 1.0 + ], + [ + 0.23135587573051453, + -0.02318318746984005, + 0.07273346185684204, + 3.129006693261214, + -0.1346072405576706, + -0.053458888083696365, + 1.0 + ], + [ + 0.22563831508159637, + -0.04957197234034538, + 0.06351465731859207, + 3.0663675387674054, + -0.14557723701000214, + -0.270360916852951, + 1.0 + ], + [ + 0.21014688909053802, + -0.06568673253059387, + 0.04651569575071335, + 3.075746463733264, + -0.12751193344593048, + -0.4269827008247375, + 1.0 + ], + [ + 0.2080528885126114, + -0.07459127902984619, + 0.02418784610927105, + 3.090054156380244, + -0.10423252731561661, + -0.45314648747444153, + 1.0 + ], + [ + 0.20840789377689362, + -0.075730100274086, + 0.008649725466966629, + -3.1401106680329, + -0.12637320160865784, + -0.4411228597164154, + 1.0 + ], + [ + 0.210630401968956, + -0.07548409700393677, + -0.008296634070575237, + -3.1314283247389874, + -0.11152294278144836, + -0.44103303551673884, + 1.0 + ], + [ + 0.21343012154102325, + -0.07597275823354721, + -0.02487022429704666, + -3.1262260564887008, + -0.09127379953861237, + -0.41866523027420044, + 1.0 + ], + [ + 0.21523261070251465, + -0.08202791959047318, + -0.03681310638785362, + -3.1177708004885396, + -0.10696018487215042, + -0.4201616048812866, + 1.0 + ], + [ + 0.21776466071605682, + -0.08467327058315277, + -0.045190468430519104, + -3.0964413454108914, + -0.1257161945104599, + -0.42974200844764715, + 1.0 + ], + [ + 0.21825559437274933, + -0.084102563560009, + -0.0576922632753849, + -3.0781023149662694, + -0.12001330405473709, + -0.4250545501708985, + 1.0 + ], + [ + 0.21894752979278564, + -0.08611384779214859, + -0.06457773596048355, + -3.0761435647779187, + -0.1214098110795021, + -0.4193059802055359, + 1.0 + ], + [ + 0.21944478154182434, + -0.08735062181949615, + -0.06591267883777618, + -3.0839796011620244, + -0.1224137395620346, + -0.4030744433403015, + 1.0 + ], + [ + 0.21919623017311096, + -0.08671221882104874, + -0.06579464673995972, + -3.1085572486096105, + -0.11064641922712327, + -0.3808193802833557, + 0.0 + ], + [ + 0.22084544599056244, + -0.08547250181436539, + -0.061364009976387024, + -3.095175730186053, + -0.11765146255493165, + -0.3820112347602844, + 0.0 + ], + [ + 0.2214536815881729, + -0.08323894441127777, + -0.04100934416055679, + -3.085211670147725, + -0.16143214702606204, + -0.358972042798996, + 0.0 + ], + [ + 0.22351442277431488, + -0.08269871026277542, + -0.012549787759780884, + -3.0963928309553346, + -0.2166987657546997, + -0.3158233463764191, + 0.0 + ], + [ + 0.22272057831287384, + -0.08132263273000717, + 0.018730197101831436, + -3.108075941103049, + -0.267363965511322, + -0.291942298412323, + 0.0 + ], + [ + 0.22205543518066406, + -0.0713549256324768, + 0.05426216498017311, + -3.119847361119934, + -0.3319857716560364, + -0.2406270653009415, + 0.0 + ], + [ + 0.22718098759651184, + -0.04641466215252876, + 0.08000685274600983, + -3.134952597907283, + -0.390004962682724, + -0.19008861482143402, + 0.0 + ], + [ + 0.24071313440799713, + -0.01947062462568283, + 0.11166968196630478, + 3.1143408586555203, + -0.48906299471855164, + -0.14584040641784668, + 0.0 + ], + [ + 0.2613711655139923, + -0.00040639302460476756, + 0.14080119132995605, + 3.0453995039039334, + -0.5749815106391907, + -0.039160840213298805, + 0.0 + ], + [ + 0.2829882800579071, + 0.005523137282580137, + 0.15244174003601074, + 3.0343091656738004, + -0.619152069091797, + -0.005804080516099931, + 0.0 + ], + [ + 0.30557873845100403, + -0.0005605796468444169, + 0.15869341790676117, + 3.0144539346271237, + -0.6904358267784119, + 0.0156187629327178, + 0.0 + ], + [ + 0.32485538721084595, + -0.0007013750146143138, + 0.1469290554523468, + 3.038157323496886, + -0.7268051505088805, + 0.014194137416779995, + 0.0 + ], + [ + 0.342223584651947, + 2.505074917280581e-05, + 0.13616934418678284, + 3.0888363291793546, + -0.7849621772766113, + -0.013552755117416384, + 0.0 + ], + [ + 0.3603594899177551, + 0.000998414703644812, + 0.12078751623630524, + 3.10706980724866, + -0.7761058211326599, + -0.010653157718479633, + 0.0 + ], + [ + 0.37780916690826416, + 0.002307895803824067, + 0.11156703531742096, + 3.1310123998024544, + -0.7934248447418213, + -0.004273208323866129, + 0.0 + ], + [ + 0.384508341550827, + 0.004466437269002199, + 0.10408908873796463, + 3.1398887090669056, + -0.7993006706237794, + 0.008773350156843664, + 0.0 + ], + [ + 0.3858731687068939, + 0.004593870136886835, + 0.10493450611829758, + 3.1301066997745117, + -0.8102734684944153, + 0.03774747624993324, + 0.0 + ], + [ + 0.38274577260017395, + 0.005249356385320425, + 0.10189864039421082, + -3.1351888800323984, + -0.7938264012336731, + 0.030134443193674084, + 0.0 + ], + [ + 0.3753192126750946, + 0.004113529808819294, + 0.10591437667608261, + 3.1174851545416793, + -0.7800312042236328, + 0.06389327347278595, + 1.0 + ], + [ + 0.367309033870697, + 0.00014459670637734234, + 0.12144873291254044, + 3.0796196070783814, + -0.7821700572967529, + 0.0786120593547821, + 1.0 + ], + [ + 0.3527422249317169, + -0.006549807731062174, + 0.14007683098316193, + 3.015640901523181, + -0.7654548287391661, + 0.11153172701597212, + 1.0 + ], + [ + 0.3319394290447235, + -0.012639038264751434, + 0.15633319318294525, + 3.003558250265666, + -0.7092827558517456, + 0.11925268918275833, + 1.0 + ], + [ + 0.3106765151023865, + -0.02014537714421749, + 0.15886670351028442, + 3.039715403812476, + -0.6172841787338257, + 0.09482792019844055, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.05002796649932861, + 0.2928347587585449, + 0.5205599963665009, + 0.7003851234912872, + 0.8423042297363281, + 0.9010985046625137, + 0.8991753980517387, + 0.8888042271137238, + 0.8859040141105652, + 0.8850668296217918, + 0.8842258453369141, + 0.8842258453369141, + 0.8842258453369141, + 0.8838039562106133, + 0.8833810612559319, + 0.8833810612559319, + 0.8833810612559319, + 0.8833810612559319, + 0.8609960228204727, + 0.6636029481887817, + 0.3770405650138855, + 0.09170413017272949, + 0.0005114078521728516, + 0.0011776089668273926, + 0.0011776089668273926 + ], + "episode_id": "3454", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3454/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3461.json b/annotation/test/3461.json new file mode 100644 index 0000000000000000000000000000000000000000..57cf7421cea45445c19a7171c024e011690c54ba --- /dev/null +++ b/annotation/test/3461.json @@ -0,0 +1,736 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the yellow cloth near to spatula." + ], + "videos": [ + { + "video_path": "videos/test/3461/rgb.mp4" + } + ], + "action": [ + [ + 0.00024022027255624756, + -3.827388879151567e-05, + -1.888140484223929e-07, + 0.0002413633061710586, + 0.0015148792528186417, + 1.8202510068539392e-07, + 1.0 + ], + [ + -0.0029685485813007745, + 0.00011089941602996372, + 0.00585409216798796, + -0.0032879468037379273, + -0.025843565993302, + 0.00047031879276061584, + 1.0 + ], + [ + -0.0027649878404529056, + -0.023966299611366388, + -0.00010545076318996595, + 0.0346419327869216, + -0.0006691794280789156, + -0.057690792949176596, + 1.0 + ], + [ + -0.004129931666075999, + -0.027932462059072582, + 0.0022327609064613455, + 0.03669586028156941, + -0.012629242532124937, + -0.06409531614286039, + 1.0 + ], + [ + 0.003857129716330496, + -0.037628510642331636, + 0.003159925267391799, + 0.03700801075462632, + 0.003689950472601571, + -0.05308670803757884, + 1.0 + ], + [ + 0.00794400179247741, + -0.03241980254270969, + 0.00738872590796062, + 0.02769400001444559, + -0.007802291887933691, + -0.01839972502077303, + 1.0 + ], + [ + 0.00717125429749555, + -0.027047595178110114, + 0.0017613975059148953, + 0.030097054396818968, + 0.016238565079416553, + 0.012516583591386615, + 1.0 + ], + [ + 0.0032631905123650887, + -0.0194339812707367, + 0.005390095747793279, + 0.004008266502272283, + 0.013211776305927465, + -0.0005641139867421436, + 0.0 + ], + [ + 0.005105865761009584, + -0.008939634211297861, + 0.007779067731925865, + 0.004354773504507601, + 0.0027319786196135076, + 0.007842019032556529, + 0.0 + ], + [ + -0.00029974674559409925, + -0.0031644823339596066, + 0.010776628975689777, + 0.00769887183992067, + -0.00715658375230436, + 0.013372364438472796, + 0.0 + ], + [ + 0.0016237720939124294, + -0.0007224935149239368, + 0.004373749077285348, + 0.002656865482149942, + 0.0071709862873021325, + -0.017387089406044637, + 0.0 + ], + [ + -0.0038340497687923835, + 0.0034470683139099286, + 0.006690559456181207, + -0.00723391952419623, + -0.013129392082028188, + -0.014224226497372499, + 0.0 + ], + [ + -0.0022544982254604534, + 0.0046317709610209324, + 0.0023950314013892458, + -0.018990624868696522, + 0.0023875368644157508, + -0.006953996606900411, + 0.0 + ], + [ + -0.00416330617728724, + 0.010401521657766354, + 5.137048513901959e-05, + -0.005801596091818951, + -0.003671344781301845, + -0.013472660263032277, + 0.0 + ], + [ + -0.0013104811753584856, + 0.011879002294300552, + -0.0006189225133389894, + -0.01373160971665856, + 0.003750335582834258, + -0.01001840429602853, + 0.0 + ], + [ + 0.0005865177064874907, + 0.009580834149258314, + -0.000825528697333287, + -0.013353567958642615, + 0.008869853616399486, + -0.01293689228703941, + 0.0 + ], + [ + 0.001228737926240511, + 0.017875429099430778, + -0.0012040688043730313, + -0.0006436292022344257, + 0.0026013627500227343, + 0.014467935560244907, + 0.0 + ], + [ + -0.0005833013974340021, + 0.01677175648475712, + -0.0017383670754894589, + -0.0026877402814361124, + 0.01207209403049222, + 0.01458624568399602, + 0.0 + ], + [ + -0.003152611944620684, + 0.01940964448285028, + -0.0011374557911205208, + -0.006422497772911986, + -0.0009894976448629013, + 0.016248619923935156, + 0.0 + ], + [ + 0.0008548701091525905, + 0.01238734292204306, + -0.0008976379479448278, + -0.0017028331070876909, + 0.0030093988539159648, + -0.0049657313267083576, + 0.0 + ], + [ + 0.0037401679007746107, + 0.0106244387412813, + -0.00023567723933611077, + -0.004697767183108931, + 0.02401755645763942, + -0.02960518757885731, + 0.0 + ], + [ + 0.00217822179273091, + 0.014037970117300366, + -0.0009167438170163173, + -0.014051616242845379, + 0.0060492696051634735, + 0.02173459404429763, + 0.0 + ], + [ + -0.0010420974146216348, + 0.010585463868594915, + -0.00036064490335178175, + -0.016985309429444453, + 0.004716924649744692, + 0.006460940016981537, + 0.0 + ], + [ + -0.0016417859978310322, + 0.0070588242613486025, + 0.00035930837539286314, + 0.004602834297450952, + -0.0005462836797386375, + 0.009733550493710086, + 0.0 + ], + [ + 7.522461961884082e-05, + 0.0020938172215660992, + -0.0002788634533442349, + 0.0046287307405064055, + 0.0020456221050568057, + 0.004159255148218326, + 0.0 + ], + [ + -1.0930679937274847e-07, + -0.00015366517439984644, + -0.0003078659757427637, + -0.019444735841802847, + 0.0007885779316187972, + -0.01595762680396514, + 0.0 + ], + [ + -0.0006717779960709826, + -0.00475661470549472, + -0.0005776502084495134, + 0.007159089636317282, + -0.004769487229807567, + -0.034183059166128425, + 0.0 + ], + [ + -0.0005463367366378177, + -0.004966858270195953, + -0.0030853308886286596, + 0.028272713683827323, + 0.0020517339716546496, + -0.034588076649179206, + 0.0 + ], + [ + -0.0007931952947327425, + -0.0036140717428148443, + -0.00808706734555967, + 0.012232294399350597, + 0.0024555988505998577, + -0.01607189795134133, + 1.0 + ], + [ + 0.003137822545025907, + -0.003586694507761503, + -0.012352451441549677, + -0.017638988385036, + 0.005744334012734119, + -0.02210146823178384, + 1.0 + ], + [ + 0.005765829978882287, + -0.005425726235783682, + -0.01971883095492127, + -0.024635059123606595, + 0.03707801141846414, + -0.011121629806022501, + 1.0 + ], + [ + 0.004703623843070094, + 0.003094895268341081, + -0.012052537874150079, + -0.04274202829997082, + 0.028476700237905044, + 0.022004902586958957, + 1.0 + ], + [ + 0.0028449674336757276, + -0.0008480887398769813, + -0.010981996988117552, + -0.01807460948560563, + 0.0037017630785740113, + 0.024338229891253962, + 1.0 + ], + [ + 0.01734520560333315, + -0.008097490666595007, + -0.016226215104723933, + 0.05819846731813637, + 0.015737501754843952, + 0.023033684106630592, + 1.0 + ], + [ + 0.018808742592632183, + -0.008739016336533902, + -0.0012017319363976716, + 0.01486712190045604, + 0.007230035187986301, + -0.06870380245264565, + 1.0 + ], + [ + 0.022692618414180948, + -0.00841195824100242, + -0.0056542724559929276, + 0.006165093225025155, + 0.06251979030174451, + -0.05366416802789608, + 1.0 + ], + [ + 0.012087098742241028, + -0.002530493979024681, + 0.0033620847206672095, + 0.016403234803026464, + 0.022136052892765563, + -0.011585996949823629, + 1.0 + ] + ], + "state": [ + [ + 0.25249776244163513, + -0.016843730583786964, + 0.06136510521173477, + 3.1024053265624723, + -0.050474796444177614, + -0.1619216352701187, + 1.0 + ], + [ + 0.2527407705783844, + -0.016844667494297028, + 0.06137591600418091, + 3.1026436557346067, + -0.05198851972818375, + -0.161862388253212, + 1.0 + ], + [ + 0.25006017088890076, + -0.01675020530819893, + 0.05538421869277954, + 3.0994194877618035, + -0.026182815432548523, + -0.16333891451358795, + 1.0 + ], + [ + 0.2512508034706116, + 0.007326076738536358, + 0.054407063871622086, + 3.132623597169765, + -0.02303984761238098, + -0.10571243613958359, + 1.0 + ], + [ + 0.2501469850540161, + 0.03551119938492775, + 0.05182938277721405, + -3.1153212302648505, + -0.009789504110813141, + -0.04173525050282478, + 1.0 + ], + [ + 0.2555947005748749, + 0.07301509380340576, + 0.04969685152173042, + -3.078868271904536, + -0.014858300797641277, + 0.011241547763347626, + 1.0 + ], + [ + 0.2632477581501007, + 0.1059224009513855, + 0.04447345435619354, + -3.051463620858737, + -0.008221996948122978, + 0.03009431622922421, + 1.0 + ], + [ + 0.26959460973739624, + 0.1332220882177353, + 0.04521261900663376, + -3.0212488790326795, + -0.023267308250069618, + 0.016164762899279594, + 1.0 + ], + [ + 0.272604376077652, + 0.15321387350559235, + 0.042271360754966736, + -3.0172062312536916, + -0.03645123541355133, + 0.015137991867959501, + 0.0 + ], + [ + 0.27779823541641235, + 0.1631293147802353, + 0.035851962864398956, + -3.0125589688592633, + -0.038187988102436066, + 0.007011710200458765, + 0.0 + ], + [ + 0.2778594493865967, + 0.16765472292900085, + 0.025568166747689247, + -3.0043953229957303, + -0.02936733141541481, + -0.005333515349775553, + 0.0 + ], + [ + 0.27961382269859314, + 0.16895927488803864, + 0.02138383500277996, + -3.002230407791682, + -0.038844943046569824, + 0.010921109467744829, + 0.0 + ], + [ + 0.27608591318130493, + 0.1664363443851471, + 0.014135767705738544, + -3.0100880732112607, + -0.027813749387860298, + 0.0268363393843174, + 0.0 + ], + [ + 0.27403077483177185, + 0.16210190951824188, + 0.011092525906860828, + -3.029264288144656, + -0.03109191171824932, + 0.03342038020491599, + 0.0 + ], + [ + 0.27025479078292847, + 0.1516396850347519, + 0.009746712632477283, + -3.0355050062113484, + -0.02895087562501431, + 0.04722538962960244, + 0.0 + ], + [ + 0.2695256173610687, + 0.13971421122550964, + 0.009066637605428696, + -3.0495177676253995, + -0.03373962268233299, + 0.05679570883512497, + 0.0 + ], + [ + 0.2706587016582489, + 0.13014695048332214, + 0.009027579799294472, + -3.063281851010867, + -0.043758898973464966, + 0.06887326389551163, + 0.0 + ], + [ + 0.2731248736381531, + 0.1123596578836441, + 0.008883490227162838, + -3.0632931162887296, + -0.04521580785512924, + 0.054231226444244385, + 0.0 + ], + [ + 0.2734377086162567, + 0.09549547731876373, + 0.009277855977416039, + -3.0652835090928754, + -0.05610460415482521, + 0.038721971213817596, + 0.0 + ], + [ + 0.2710643410682678, + 0.07594907283782959, + 0.008756065741181374, + -3.0708103721314153, + -0.05387202277779579, + 0.02257266268134117, + 0.0 + ], + [ + 0.27219703793525696, + 0.06355167180299759, + 0.008821386843919754, + -3.0727693532877645, + -0.057224471122026443, + 0.027320872992277145, + 0.0 + ], + [ + 0.2762480080127716, + 0.05304291844367981, + 0.00854059774428606, + -3.079074131446429, + -0.08319852501153946, + 0.05529202520847321, + 0.0 + ], + [ + 0.27918967604637146, + 0.03911638259887695, + 0.008759373798966408, + -3.091298820572444, + -0.08785784244537354, + 0.033136796206235886, + 0.0 + ], + [ + 0.27851811051368713, + 0.028498094528913498, + 0.008496628142893314, + -3.1076951903575143, + -0.09224202483892441, + 0.026418399065732956, + 0.0 + ], + [ + 0.2771250009536743, + 0.021416231989860535, + 0.00774961244314909, + -3.102195868390151, + -0.09136182069778442, + 0.0166682917624712, + 0.0 + ], + [ + 0.2772170603275299, + 0.019314298406243324, + 0.007951836101710796, + -3.0971791987591466, + -0.09324121475219727, + 0.01241321861743927, + 0.0 + ], + [ + 0.27718594670295715, + 0.01945376768708229, + 0.008264845237135887, + -3.1181171798431357, + -0.09472565352916719, + 0.028391726315021515, + 0.0 + ], + [ + 0.27631768584251404, + 0.024172766134142876, + 0.00888736080378294, + -3.1142272410267076, + -0.09070389717817305, + 0.06281857192516327, + 0.0 + ], + [ + 0.2751771807670593, + 0.028991250321269035, + 0.012044715695083141, + -3.0891106372051915, + -0.09364687651395798, + 0.09748942404985428, + 0.0 + ], + [ + 0.273311972618103, + 0.03200889378786087, + 0.020199846476316452, + -3.0783805717998227, + -0.09693025052547456, + 0.11348540335893631, + 1.0 + ], + [ + 0.27489081025123596, + 0.035006191581487656, + 0.0329989418387413, + -3.0981442277603826, + -0.10403625667095184, + 0.13529735803604126, + 1.0 + ], + [ + 0.27790603041648865, + 0.040022868663072586, + 0.05342581123113632, + -3.1237478629970035, + -0.14155758917331696, + 0.1448865830898285, + 1.0 + ], + [ + 0.28131699562072754, + 0.03717605024576187, + 0.06596483290195465, + 3.1199198589944324, + -0.1696008890867233, + 0.12205832451581955, + 1.0 + ], + [ + 0.28213173151016235, + 0.03837001323699951, + 0.07724880427122116, + 3.1060072017186364, + -0.17377877235412598, + 0.09743528813123703, + 1.0 + ], + [ + 0.29555031657218933, + 0.048392586410045624, + 0.09593583643436432, + -3.115020677568861, + -0.19028133153915405, + 0.07456623762845993, + 1.0 + ], + [ + 0.31304946541786194, + 0.05842811241745949, + 0.10090085119009018, + -3.1134191808574876, + -0.19888044893741608, + 0.14443072676658633, + 1.0 + ], + [ + 0.3327244520187378, + 0.0696258470416069, + 0.11115718632936478, + -3.117846654849597, + -0.2626117169857025, + 0.1980460733175278, + 1.0 + ], + [ + 0.3444957435131073, + 0.07464970648288727, + 0.11110716313123703, + -3.1044301112466535, + -0.2850000858306885, + 0.20956505835056305, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.04620790481567383, + 0.3208107352256775, + 0.6380844116210938, + 0.8438340872526169, + 0.9355691745877266, + 0.94807069003582, + 0.9488488659262657, + 0.9488488659262657, + 0.9491068050265312, + 0.9491068050265312, + 0.9491068050265312, + 0.9491068050265312, + 0.9491068050265312, + 0.9491068050265312, + 0.9491068050265312, + 0.9491068050265312, + 0.9491068050265312, + 0.9491068050265312, + 0.9491068050265312, + 0.9491068050265312, + 0.9269806668162346, + 0.7660511136054993, + 0.5551712214946747, + 0.24447113275527954, + 0.016929805278778076, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "3461", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3461/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3464.json b/annotation/test/3464.json new file mode 100644 index 0000000000000000000000000000000000000000..aded8e8f3cfbbd520a367f00ed07ce1a9a440a73 --- /dev/null +++ b/annotation/test/3464.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "pick up pot 50" + ], + "videos": [ + { + "video_path": "videos/test/3464/rgb.mp4" + } + ], + "action": [ + [ + -0.0007908022998818093, + 1.608501164137388e-05, + 0.0018486501328959235, + 0.0007317178904276476, + -0.006081106800089665, + 0.0003641555281162958, + 1.0 + ], + [ + -0.01607062917816963, + -0.010079094057529828, + 0.026515025675697537, + 0.12605299035612946, + -0.20856012297070897, + -0.08867975820293372, + 1.0 + ], + [ + -0.0053023547294028615, + -0.007357861197237463, + 0.009889972857152741, + 0.11066559748990203, + -0.15299976488596403, + -0.07721689714365602, + 1.0 + ], + [ + 0.002874719432677442, + 0.002168539734178952, + 0.016128791869684626, + -0.024380145777725314, + -0.03110215557281529, + 0.015309108022775152, + 1.0 + ], + [ + 0.0026411459272858207, + 0.004675191885328284, + 0.01167542068995871, + -0.06357909816418805, + 0.01976670926991178, + 0.019527250198826483, + 1.0 + ], + [ + 0.0005413102731200674, + 0.003921500623264808, + 0.0035213289286269824, + -0.09208586950288661, + 0.0572881109904376, + 0.04476456321543783, + 1.0 + ], + [ + 0.006285213655787726, + -0.00784244889068449, + -0.00018238908896837594, + -0.07132963643129726, + 0.11282362160125421, + 0.0122242085256883, + 1.0 + ], + [ + -9.828985914254757e-05, + 0.012480450539753135, + -0.0002648864094551983, + 0.0007668327288050334, + 0.009075223298913195, + 0.02911976651290271, + 1.0 + ], + [ + -0.00048124598079624396, + 9.260465453832708e-06, + -1.2863533325327322e-05, + -0.006908160278079095, + -0.003931354060285931, + -0.010270284033315933, + 0.0 + ], + [ + -0.000354040477068403, + 0.0029527995415390466, + -2.7894712516131095e-05, + -0.01858776590559797, + -0.0025013951571206017, + -0.014422591954534655, + 0.0 + ], + [ + 5.197656448238765e-05, + -0.00015672601016267153, + -3.9196619401496235e-05, + -0.005872823914149797, + -0.0006941545349489161, + -0.008213544221723854, + 0.0 + ], + [ + 0.001320404238511291, + 0.00035803348267844366, + -0.0017851276579910068, + 0.002206147645168897, + 0.004885251859825393, + -0.0017393111306047808, + 0.0 + ], + [ + 0.004510485265406774, + 0.0050762939194247975, + -0.007025369426297687, + 0.031116865878439225, + 0.02241724319186089, + 0.018752824287897332, + 0.0 + ], + [ + 0.0034035464844641727, + 0.015484911136472797, + -0.009896387916894296, + 0.028718900650512576, + 0.0230092348913247, + 0.05903233971137678, + 0.0 + ], + [ + 0.003944563750222045, + 0.0037998429691909683, + -0.00574925818920999, + 0.019087306874206116, + 0.020866203991353752, + 0.015414410954129352, + 0.0 + ], + [ + 0.0008679432769236668, + 0.00010281078655769262, + -0.0019232690650752041, + 0.009863289028559616, + 0.00355506461505664, + -0.00031482176223350707, + 0.0 + ], + [ + 0.0015946930718489503, + -0.0008287160968630479, + -0.00501109084551467, + 0.06945030598443669, + 0.026195449206858224, + 0.006534471022107474, + 0.0 + ], + [ + 0.0066166417752413775, + 0.010359922742182668, + -0.031678034152270114, + 0.09388639650112043, + 0.14718985815646932, + 0.04966132344098451, + 0.0 + ], + [ + 0.003739749902318175, + 0.010206753220119463, + -0.023022381280770346, + 0.021443453782953426, + 0.08602388498841798, + 0.029444815007213195, + 0.0 + ], + [ + -0.0008475350229008666, + -0.003784509104415801, + 0.0006222328004479951, + 0.011416432980996389, + -0.007904098241037124, + -0.006286219742087027, + 0.0 + ], + [ + -0.0014274268529610174, + 8.55713320323912e-05, + -0.00016995863789586745, + 0.0026107723308305656, + -0.008311519426289151, + -0.004715322002486359, + 0.0 + ], + [ + -0.0006103725153246644, + 0.0002772454044156533, + -1.4204080950111383e-06, + -0.001738729716171318, + -0.003853529173244259, + -0.0025063629614540135, + 0.0 + ], + [ + 0.00038135736044388896, + -0.00035577248644211816, + -8.612085851628518e-07, + 0.002245949163106911, + 0.0024028062351972657, + 0.0009762216977543838, + 0.0 + ] + ], + "state": [ + [ + 0.3595329821109772, + -0.06758228689432144, + 0.14892925322055817, + -3.100456504272767, + -0.1569720208644867, + -0.09047480672597885, + 1.0 + ], + [ + 0.35904818773269653, + -0.06747810542583466, + 0.14698059856891632, + -3.0997060370915612, + -0.1508810818195343, + -0.09058987349271774, + 1.0 + ], + [ + 0.3481391966342926, + -0.055260561406612396, + 0.11879149824380875, + -2.9875704814964017, + 0.054485350847244256, + 0.0049354364164173594, + 1.0 + ], + [ + 0.342330664396286, + -0.04650110378861427, + 0.11044898629188538, + -2.8703202327066144, + 0.1935654580593109, + 0.10570191591978075, + 1.0 + ], + [ + 0.34181687235832214, + -0.044310491532087326, + 0.09407700598239899, + -2.8958376963906964, + 0.2276279777288437, + 0.09912332892417908, + 1.0 + ], + [ + 0.34174644947052, + -0.04602007567882538, + 0.08134040981531143, + -2.9649215062432965, + 0.2131403535604477, + 0.07482686638832092, + 1.0 + ], + [ + 0.34163975715637207, + -0.04927874356508255, + 0.07716421037912369, + -3.06857784290845, + 0.16429403424263, + 0.02001788280904293, + 1.0 + ], + [ + 0.34780609607696533, + -0.04134547710418701, + 0.07688008248806, + 3.1403804094349077, + 0.05262990295886994, + -0.00033855930087156594, + 1.0 + ], + [ + 0.3477184474468231, + -0.05382556840777397, + 0.07716488093137741, + 3.1396151884743055, + 0.04349708557128907, + -0.029473664239048958, + 1.0 + ], + [ + 0.347238153219223, + -0.0538206472992897, + 0.07719867676496506, + 3.133153859647461, + 0.04744644835591316, + -0.019199691712856293, + 0.0 + ], + [ + 0.3468303978443146, + -0.05676582083106041, + 0.07726822048425674, + 3.1152507943385324, + 0.050064533948898315, + -0.004780701361596584, + 0.0 + ], + [ + 0.3468848168849945, + -0.056608375161886215, + 0.07730063050985336, + 3.109789354848214, + 0.0509730987250805, + 0.003422362264245749, + 0.0 + ], + [ + 0.34829601645469666, + -0.056904636323451996, + 0.07902663201093674, + 3.1120917723798236, + 0.04614553228020668, + 0.005318131763488053, + 0.0 + ], + [ + 0.3531583547592163, + -0.06174570694565773, + 0.08598297834396362, + -3.1408136113365224, + 0.02317738719284534, + -0.012765389867126942, + 0.0 + ], + [ + 0.35659199953079224, + -0.07728341966867447, + 0.09578576683998108, + -3.1134635751419744, + 0.00017373829905409366, + -0.07180002331733704, + 0.0 + ], + [ + 0.3602432906627655, + -0.08151630312204361, + 0.10142519325017929, + -3.0943765213065824, + -0.02025071531534195, + -0.08779516071081161, + 0.0 + ], + [ + 0.36105209589004517, + -0.08178171515464783, + 0.10335864871740341, + -3.084515905129262, + -0.023816676810383797, + -0.08764844387769699, + 0.0 + ], + [ + 0.36256781220436096, + -0.08137131482362747, + 0.10844539850950241, + -3.0148566385083875, + -0.04959593340754509, + -0.09567411243915558, + 0.0 + ], + [ + 0.3662957549095154, + -0.09607552736997604, + 0.13885089755058289, + -2.916446866589137, + -0.18921089172363278, + -0.16419728100299832, + 0.0 + ], + [ + 0.3637116551399231, + -0.11094194650650024, + 0.15935713052749634, + -2.8850759287648877, + -0.26626566052436834, + -0.2137349545955658, + 0.0 + ], + [ + 0.36363041400909424, + -0.10701685398817062, + 0.1594797968864441, + -2.8758616169267377, + -0.26020616292953486, + -0.20536753535270688, + 0.0 + ], + [ + 0.36221843957901, + -0.10685266554355621, + 0.15924930572509766, + -2.875036897259303, + -0.25341865420341486, + -0.19841301441192627, + 0.0 + ], + [ + 0.3616039752960205, + -0.10700231045484543, + 0.15902690589427948, + -2.8776635845475873, + -0.2503598928451538, + -0.19486965239048007, + 0.0 + ], + [ + 0.3620101511478424, + -0.10673262923955917, + 0.1592121124267578, + -2.875015678005763, + -0.2524245083332062, + -0.1964902579784393, + 0.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.1897594928741455, + 0.4478520154953003, + 0.6372451782226562, + 0.8125672042369843, + 0.8756047412753105, + 0.9085652902722359, + 0.9234305396676064, + 0.9364518448710442, + 0.9415987432003021, + 0.9415987432003021, + 0.9415987432003021, + 0.9415987432003021, + 0.9415987432003021, + 0.9415987432003021, + 0.9415987432003021, + 0.9415987432003021, + 0.9415987432003021 + ], + "episode_id": "3464", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3464/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3468.json b/annotation/test/3468.json new file mode 100644 index 0000000000000000000000000000000000000000..897ef472a07ec02a43ca36733106e58db845e8c1 --- /dev/null +++ b/annotation/test/3468.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Place the pot on top of towel." + ], + "videos": [ + { + "video_path": "videos/test/3468/rgb.mp4" + } + ], + "action": [ + [ + 0.00045214896498804746, + -1.1521562589307062e-05, + -0.000321432487813071, + 8.015429161528588e-05, + 0.001530664081319572, + -0.001472795003878521, + 1.0 + ], + [ + -0.0010694125800356294, + 0.0006929974898346574, + 0.009599361355078957, + -0.00803521125492001, + -0.03163818891645488, + -0.0023746388831111394, + 1.0 + ], + [ + 0.027049602679964917, + -0.021658597828487735, + 0.016779953254423375, + -0.010224877660284628, + -0.013171414078134923, + -0.05455697726142503, + 1.0 + ], + [ + 0.03336557935196656, + -0.032611477603027385, + 0.02017093960856944, + 0.024894141388371194, + 0.004209786021102428, + -0.10630315996413155, + 1.0 + ], + [ + 0.02326840268543488, + -0.012524329496019457, + 0.015132892372159177, + 0.02624207738095038, + 0.003462592590496748, + -0.05164501278125758, + 1.0 + ], + [ + 0.0029703174317206532, + -0.004829089934631425, + 0.015537253460675696, + 0.027277498009625308, + -0.026214453235141873, + -0.00797062048142306, + 1.0 + ], + [ + -0.0006611489893045493, + -0.0032808989852567624, + 0.002434298436626783, + 0.020532933948112016, + 0.0003968690317884879, + -0.009565833472793567, + 1.0 + ], + [ + -0.0051283663827448745, + -0.004113259884812208, + 0.0034238980232758212, + 0.026119612411693537, + -0.01727869000897424, + -0.009001737491761723, + 1.0 + ], + [ + -0.0038077144077292707, + -0.006384077286307504, + 0.0035256860215688176, + 0.026453712279864757, + -0.009432892741073453, + -0.0037477753080170074, + 1.0 + ], + [ + -0.002143377112354944, + -0.007132359830458756, + 0.012641862345691776, + 0.03220389458224803, + -0.018038218149875253, + -0.0004593909714067887, + 1.0 + ], + [ + -0.0039406486102788844, + -0.0009423444248677244, + 0.012086441825117717, + 0.013453414517517154, + -0.0324037895300483, + -0.002085470055521695, + 1.0 + ], + [ + -0.002059264591112112, + 0.0009087381590137301, + 0.008797516717849447, + 0.007907378964638608, + -0.020167815875698374, + -0.0061462311363215194, + 1.0 + ], + [ + 0.002131749573009919, + -0.00045030055931384133, + 0.0012189258743643034, + 0.0030935551398716516, + 0.019098345927567376, + -0.023973594943280017, + 1.0 + ], + [ + -0.0018519060711241916, + 0.0013344984611202027, + 0.0007101808860003742, + 0.0027440850685353704, + -0.006730482534940994, + 0.01149966739114067, + 0.0 + ], + [ + -0.004717419717097652, + 0.0025931133033775884, + -0.007339884808284918, + -0.027214779981308737, + 0.002698570404710138, + 0.010119491017215057, + 0.0 + ], + [ + -0.004114065950873725, + 0.0028310349744464325, + -0.02272559611730842, + -0.050804600558152536, + 0.029100198786034037, + 0.004153935775116931, + 0.0 + ], + [ + -0.004754520612745251, + -0.011187274419656041, + -0.03647233676610034, + -0.04471996896145682, + 0.06385146778415622, + -0.012705857574712244, + 0.0 + ], + [ + -0.009010203779913325, + 0.005074166837739006, + -0.034376890036620485, + -0.05624453819125586, + 0.06173876668339936, + 0.007655020415026998, + 0.0 + ], + [ + -0.018847712801000345, + 0.011665445475056465, + -0.017371809761505173, + -0.030272415526857124, + 0.01976025939360269, + 0.018594896426572676, + 0.0 + ], + [ + -0.02743474043302221, + 0.0255764074586143, + -0.00768393553505053, + -0.029006909037453527, + -0.012378706517550483, + 0.059424311410075134, + 0.0 + ], + [ + -0.021689752757713766, + 0.016901007922032394, + 0.0030002761335572265, + -0.0033962533992780864, + -0.02372114116278755, + 0.030238950759159295, + 0.0 + ], + [ + -0.018062267528855876, + 0.01776900012587514, + 0.009276573520714725, + -2.2253345008543956e-05, + -0.02873199665667549, + 0.039687102136040625, + 0.0 + ], + [ + -0.00944731840196791, + 0.013764126465341767, + 0.008583072035487709, + 0.019312833497782022, + -0.017247333841758642, + 0.0422755766765118, + 0.0 + ], + [ + -0.007119495347791587, + 0.011102474028599409, + 0.005607334945997397, + 0.014544344760456105, + -0.008812858886360275, + 0.02413063345115739, + 0.0 + ], + [ + -0.005523674372254676, + 0.007791156142543464, + 0.00442117826558294, + 0.02217802453232653, + -0.007019710983577232, + 0.031702428247547695, + 0.0 + ], + [ + -0.007315171231792191, + 0.006194136468682233, + 0.00837637369038778, + 0.018432125347973467, + -0.012945594536106093, + 0.01798201277575529, + 0.0 + ], + [ + -0.006625958357802469, + -0.0008172988500917635, + 0.012188842929588344, + 0.021767340061376848, + -0.030926012289195746, + 0.0010499569335885865, + 0.0 + ], + [ + -0.001208811394664111, + -1.276694738916511e-05, + 0.0061832035618014, + 0.00407599647003239, + -0.02101513720223486, + 0.020804492811648742, + 0.0 + ], + [ + 0.002949615636112902, + 0.002201077826989528, + -0.0035865226351048268, + -0.012662861538800566, + 0.0024179986633707093, + 0.01726562272635005, + 0.0 + ], + [ + 0.0061208062510455545, + -0.002266407684268467, + -0.02113175891037803, + -0.03730298417683587, + 0.06476570163839471, + -0.013851253848854243, + 1.0 + ], + [ + 0.012494486649692754, + -0.014308259607258773, + -0.02619488709334421, + -0.04703012955452715, + 0.06890410638063355, + -0.03267569202848824, + 1.0 + ], + [ + 0.01813732750146709, + -0.03512191443514979, + -0.03430880123271454, + -0.0328015766663765, + 0.08151386412229061, + -0.11937583972905887, + 1.0 + ], + [ + 0.02033020572712588, + -0.03944223384001648, + -0.009511805716266787, + 0.036215708770730874, + 0.02063097688226652, + -0.09540729437572322, + 1.0 + ], + [ + 0.006479178383178955, + -0.005292016757874416, + 0.02071310731901009, + -0.017656312266269757, + -0.0651685458441039, + 0.04090746898465913, + 1.0 + ], + [ + 0.0027916025460870994, + 0.008047523028141036, + 0.009373734142995388, + 0.006506268882280326, + -0.057857517229816934, + 0.09223500202074746, + 1.0 + ], + [ + 0.003573385437671026, + 0.00911223620652488, + 0.008723106570957073, + 0.018929006412610066, + -0.045904475020415454, + 0.05799763018341216, + 1.0 + ], + [ + 0.003634618187021272, + 0.0005360785443432253, + -0.003249846674997142, + 0.010096483718399659, + 0.009543434491523789, + 0.01059862534294488, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -1.6960911680604078e-09, + -9.313466695980291e-09, + -0.0015339685034386908, + 1.0 + ] + ], + "state": [ + [ + 0.29387080669403076, + 0.02441251464188099, + 0.12482042610645294, + 3.1143336464935025, + -0.2308864742517471, + 0.04906483367085457, + 1.0 + ], + [ + 0.29423606395721436, + 0.02445075288414955, + 0.125236377120018, + 3.1140577738457402, + -0.2323761582374573, + 0.05062061548233032, + 1.0 + ], + [ + 0.2954477369785309, + 0.023553894832730293, + 0.11567085981369019, + 3.105655728029557, + -0.20068432390689847, + 0.05215302109718323, + 1.0 + ], + [ + 0.3243146538734436, + 0.04613113030791283, + 0.1038677990436554, + 3.084523594128438, + -0.18526603281497955, + 0.10713794827461243, + 1.0 + ], + [ + 0.3575916886329651, + 0.0812990665435791, + 0.08839225769042969, + 3.0898517613583287, + -0.1823582947254181, + 0.21530838310718534, + 1.0 + ], + [ + 0.3802330493927002, + 0.09825274348258972, + 0.07711292058229446, + 3.1066220757835588, + -0.18289953470230105, + 0.2679419219493866, + 1.0 + ], + [ + 0.38466876745224, + 0.10391192138195038, + 0.06221838295459747, + 3.1325904988967856, + -0.15641786158084867, + 0.2750755548477173, + 1.0 + ], + [ + 0.38352444767951965, + 0.10697511583566666, + 0.0596817322075367, + -3.131570605682679, + -0.15672138333320618, + 0.28476330637931824, + 1.0 + ], + [ + 0.3780044913291931, + 0.10968071967363358, + 0.05554024502635002, + -3.1068959069722375, + -0.13952714204788205, + 0.29402643442153925, + 1.0 + ], + [ + 0.37295064330101013, + 0.11494451016187668, + 0.051740676164627075, + -3.081012191372462, + -0.13022877275943756, + 0.2981337904930115, + 1.0 + ], + [ + 0.3701159358024597, + 0.1223219558596611, + 0.03937867656350136, + -3.04900115926797, + -0.11225130409002305, + 0.2996941208839416, + 1.0 + ], + [ + 0.3670463562011719, + 0.12352517247200012, + 0.027064913883805275, + -3.03607031901414, + -0.08017773926258087, + 0.304781436920166, + 1.0 + ], + [ + 0.36575713753700256, + 0.12314364314079285, + 0.018084099516272545, + -3.028805876272269, + -0.06076674908399582, + 0.3130315840244293, + 1.0 + ], + [ + 0.3676685690879822, + 0.1243768110871315, + 0.017055200412869453, + -3.027038777368613, + -0.08242741227149963, + 0.3347724080085754, + 1.0 + ], + [ + 0.3664010465145111, + 0.12261815369129181, + 0.01604757457971573, + -3.023418927686759, + -0.07442192733287811, + 0.3240881562232971, + 0.0 + ], + [ + 0.362544983625412, + 0.1176934465765953, + 0.022660458460450172, + -3.0498666187101087, + -0.07590461522340776, + 0.3136911690235138, + 0.0 + ], + [ + 0.3585415482521057, + 0.11124256253242493, + 0.044654812663793564, + -3.100115703540393, + -0.1045001968741417, + 0.3068539798259735, + 0.0 + ], + [ + 0.3474445939064026, + 0.11786528676748276, + 0.08086239546537399, + 3.137369514564522, + -0.16881819069385529, + 0.31702160835266113, + 0.0 + ], + [ + 0.33505016565322876, + 0.10861138999462128, + 0.11325753480195999, + 3.0823930968814572, + -0.23058402538299558, + 0.30944117903709417, + 0.0 + ], + [ + 0.3168807029724121, + 0.09165577590465546, + 0.12650428712368011, + 3.0562220235639295, + -0.25137409567832947, + 0.2914873957633973, + 0.0 + ], + [ + 0.2962205708026886, + 0.05953553691506386, + 0.12920792400836945, + 3.042800622182437, + -0.24363902211189273, + 0.22939075529575348, + 0.0 + ], + [ + 0.2799241244792938, + 0.038155410438776016, + 0.12269584834575653, + 3.047449106472083, + -0.22288547456264496, + 0.19614450633525848, + 0.0 + ], + [ + 0.2679041922092438, + 0.016841817647218704, + 0.11132528632879257, + 3.0569853727989873, + -0.19780957698822024, + 0.15310697257518768, + 0.0 + ], + [ + 0.26238688826560974, + 0.0013792801182717085, + 0.10222356021404266, + 3.0850751382582864, + -0.18400554358959198, + 0.10878144949674605, + 0.0 + ], + [ + 0.2575709819793701, + -0.010615961626172066, + 0.09603360295295715, + 3.104204127686568, + -0.17651350796222687, + 0.08380415290594101, + 0.0 + ], + [ + 0.25353989005088806, + -0.018933553248643875, + 0.09100092202425003, + 3.132091052951761, + -0.1705926358699799, + 0.05139148980379105, + 0.0 + ], + [ + 0.2480727881193161, + -0.025496501475572586, + 0.08156263828277588, + -3.129549387032636, + -0.15779030323028564, + 0.03306103125214577, + 0.0 + ], + [ + 0.24341343343257904, + -0.024686044082045555, + 0.06849463284015656, + -3.1076689941161355, + -0.12685385346412656, + 0.03237855061888695, + 0.0 + ], + [ + 0.24298910796642303, + -0.024477194994688034, + 0.06221213936805725, + -3.1010380407148084, + -0.10511958599090576, + 0.012192047201097012, + 0.0 + ], + [ + 0.24558418989181519, + -0.026790406554937363, + 0.0659966766834259, + -3.1118761358135423, + -0.1068197414278984, + -0.005256841424852609, + 0.0 + ], + [ + 0.24941948056221008, + -0.02517300844192505, + 0.08771824836730957, + 3.1327768472307405, + -0.17196068167686462, + 0.006814167369157077, + 1.0 + ], + [ + 0.2571698725223541, + -0.010581227950751781, + 0.11553949862718582, + 3.0798678417974195, + -0.24047675728797913, + 0.04100246354937553, + 1.0 + ], + [ + 0.2656135857105255, + 0.026967836543917656, + 0.1510131061077118, + 3.016338186460086, + -0.31256917119026184, + 0.17115165293216708, + 1.0 + ], + [ + 0.2764420807361603, + 0.06975884735584259, + 0.16155609488487244, + 3.0216727649145803, + -0.31960862874984736, + 0.273582249879837, + 1.0 + ], + [ + 0.2880267798900604, + 0.07589300721883774, + 0.14346784353256226, + 3.0196336304121694, + -0.25942015647888184, + 0.22358211874961853, + 1.0 + ], + [ + 0.29476413130760193, + 0.06806384027004242, + 0.1361374408006668, + 3.0523543079667768, + -0.21192194521427157, + 0.1228603944182396, + 1.0 + ], + [ + 0.3010829985141754, + 0.058915890753269196, + 0.12918895483016968, + 3.0845548902922353, + -0.17095761001110077, + 0.06014237925410271, + 1.0 + ], + [ + 0.30412301421165466, + 0.05874836817383766, + 0.13303467631340027, + 3.0963876229994973, + -0.18108099699020386, + 0.04993869364261628, + 1.0 + ], + [ + 0.30412301421165466, + 0.05874836817383766, + 0.13303467631340027, + 3.0961071160906037, + -0.18101145327091217, + 0.051496546715497964, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.052336275577545166, + 0.3408757448196411, + 0.6414313614368439, + 0.8062288165092468, + 0.9059926047921181, + 0.9221144318580627, + 0.9221144318580627, + 0.9221144318580627, + 0.9224447533488274, + 0.9224447533488274, + 0.9224447533488274, + 0.9224447533488274, + 0.9224447533488274, + 0.9227741435170174, + 0.9227741435170174, + 0.9227741435170174, + 0.8936688974499702, + 0.710882306098938, + 0.4250529408454895, + 0.11119049787521362, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "3468", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3468/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3470.json b/annotation/test/3470.json new file mode 100644 index 0000000000000000000000000000000000000000..047aed222d232ae8a861812f1ee5c4a663803c42 --- /dev/null +++ b/annotation/test/3470.json @@ -0,0 +1,660 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "open microwave" + ], + "videos": [ + { + "video_path": "videos/test/3470/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 1.7500433856696913e-18, + 3.760208813269184e-18, + 1.1410496196539371e-17, + 1.0 + ], + [ + -0.002385710796268411, + -0.0016211807286472995, + 0.009682549145710274, + 0.009753935980867105, + -0.02415328845556482, + 0.0008172233591629142, + 1.0 + ], + [ + -0.0016338291524078394, + -0.004051364239606763, + 0.009811848235950934, + -0.008384875528040656, + 0.0459939712114079, + 0.02459949312057559, + 1.0 + ], + [ + 0.0002462930530305156, + -0.004292457204280345, + 0.008440462199449574, + -0.010170376074263738, + 0.053215580860814876, + 0.026517711832012323, + 1.0 + ], + [ + 0.002370003852980162, + -0.0023018876662869586, + 0.009059036327465818, + -0.0062648194256753895, + 0.03973055567295555, + 0.0220647152852164, + 1.0 + ], + [ + 0.002347555171668936, + 0.0010590483722107656, + 0.004487688907379587, + -0.013597621425877672, + 0.03127393986482133, + 0.01336722697138464, + 1.0 + ], + [ + 0.004780717325112397, + 0.0041786200688669626, + 0.0003825390108645844, + -0.05997932852098859, + 0.04157609035891415, + -0.02713415527814316, + 1.0 + ], + [ + -0.00147402851624188, + -0.00011216802357637238, + -0.0009890908006284272, + -0.04694494727760043, + -0.025296574127021354, + -0.0303969652505066, + 0.0 + ], + [ + -0.0012260339784460092, + -7.114061704493255e-05, + -0.00027847988941816476, + -0.0006645352919492243, + -0.0032391929090354607, + 0.012895010776578477, + 0.0 + ], + [ + -0.010418400764707588, + -0.0027917363928297296, + -0.003527428457929755, + 0.007556347899731209, + -0.009782502035340264, + 0.007664216767926091, + 0.0 + ], + [ + -0.016247944122593238, + -0.006790265030388228, + -0.004555938276927144, + 0.029246695773413593, + -0.032599956051916554, + 0.019517575528545942, + 0.0 + ], + [ + -0.023946929855850903, + -0.012992867383378208, + -0.006941164208972719, + 0.05842662050954553, + -0.04314419102197718, + 0.026236128615004958, + 0.0 + ], + [ + -0.022221490682362146, + -0.013448829738611235, + -0.0069836385499303134, + 0.1015345967225033, + -0.122978953381739, + 0.017844668212666562, + 0.0 + ], + [ + -0.01094053200637934, + 0.0029338415586161676, + -0.009435099726038891, + 0.02685240900482451, + -0.1343944021578031, + 0.07790057260471803, + 1.0 + ], + [ + 0.008382552573393967, + 0.03490576253446993, + 0.0025592726160265137, + -0.04005797806955921, + -0.010424491051747304, + 0.026441939442214533, + 1.0 + ], + [ + 0.011302175447029925, + 0.04393067699239529, + 0.0021020732904840534, + -0.07428006655931355, + -0.09522919818806289, + 0.028039604952369016, + 1.0 + ], + [ + 0.005409715021352515, + 0.03568509128203963, + -0.003117361657382913, + -0.11618534454364111, + -0.0908373863169204, + 0.01125749024202218, + 1.0 + ], + [ + -0.00019555145552003846, + 0.013452078762460786, + -0.01062809770076504, + -0.040421354407631165, + -0.00813019855334818, + -0.0037994507731078475, + 1.0 + ], + [ + 0.008961386364152125, + 0.008624131665463684, + 0.003376393532888281, + 0.017689768321973186, + 0.07913331906888678, + 0.024154278455784627, + 1.0 + ], + [ + 0.024842696274985813, + -0.013112953908032804, + -0.004893955005099693, + 0.06740872787394546, + 0.22481574910910637, + -0.003974541412953203, + 1.0 + ], + [ + 0.028752178813334087, + -0.0308442651501024, + 0.0023933583413244582, + 0.04252653410355504, + 0.22064889087145306, + -0.0372556002428838, + 1.0 + ], + [ + 0.01389752273330391, + -0.024263432504856557, + 0.004609414939152815, + 0.015080024473336473, + 0.05668639622349902, + -0.03780346503797883, + 1.0 + ], + [ + -0.0007031446451564497, + -0.028988058115900148, + 0.003583142621559638, + -0.009863172833969673, + -0.026641952076514402, + -0.006262396090742522, + 1.0 + ], + [ + -0.013165160108752223, + -0.019971085668151672, + -0.012701549547451575, + -0.03251258109597305, + -0.02486559864973206, + -0.0037283624775161887, + 1.0 + ], + [ + -0.024036659166062613, + -0.01600243797019414, + -0.006869930324026299, + -0.00890365778327302, + -0.04236694348975944, + 0.024383906209144615, + 1.0 + ], + [ + -0.027443394817216547, + -0.033489119865613065, + -0.00891877803975378, + 0.0014224502638970943, + -0.05754113086160602, + 0.015488161478546904, + 1.0 + ], + [ + -0.018943677485584086, + -0.02055305968016222, + -0.005120390898386851, + 0.00903895950337703, + 0.008446053711565907, + 0.018610071977769437, + 1.0 + ], + [ + -0.020450726231097508, + -0.02798856051921548, + 0.00011965337665760818, + 0.03803078469477687, + 0.01874950639356289, + 0.0389439955762961, + 1.0 + ], + [ + -0.008531928744268965, + -0.006483937954025537, + 0.0011568247137456625, + 0.0049676581522550105, + 0.0014611878113668017, + 0.01358027418164989, + 1.0 + ], + [ + 0.0019369262854657503, + 0.015288210105649153, + -0.01038645412268419, + -0.029980784562057775, + -0.015974950400834843, + 0.0009808647275761848, + 1.0 + ], + [ + 0.013376000046254199, + 0.016607072223285196, + -0.024230555990500006, + -0.04399057938308355, + -0.002940643844360326, + -0.0026219081019737103, + 1.0 + ], + [ + 0.009054356049212394, + 0.01502058908724456, + -0.016373802646617197, + -0.016752954046930727, + -0.01491651800692775, + 0.0020787845506420426, + 1.0 + ], + [ + -0.0002929824328070161, + 0.0012715734077896864, + 0.0004997104248779284, + -0.0016405473161277635, + -0.005366478656415041, + 0.00119155148007905, + 1.0 + ] + ], + "state": [ + [ + 0.28659453988075256, + -0.0739884227514267, + 0.1524844914674759, + 3.1075706874304494, + -0.04093191400170326, + 0.13801513612270358, + 1.0 + ], + [ + 0.28659453988075256, + -0.0739884227514267, + 0.1524844914674759, + 3.1075706874304494, + -0.04093191400170326, + 0.13801513612270358, + 1.0 + ], + [ + 0.28445035219192505, + -0.07298296689987183, + 0.1426629275083542, + 3.1173817963623485, + -0.01682034879922867, + 0.13637688755989075, + 1.0 + ], + [ + 0.2824786603450775, + -0.06940516084432602, + 0.13272979855537415, + 3.1093736199014863, + -0.06339165568351746, + 0.1128767803311348, + 1.0 + ], + [ + 0.2828100025653839, + -0.06532353162765503, + 0.12418826669454575, + 3.1007485335045537, + -0.11741416901350021, + 0.08795273303985594, + 1.0 + ], + [ + 0.28605225682258606, + -0.06310007721185684, + 0.11538339406251907, + 3.096882475661584, + -0.15798775851726535, + 0.06728868186473848, + 1.0 + ], + [ + 0.2891462743282318, + -0.06415299326181412, + 0.11137211322784424, + 3.0851815325492105, + -0.1898164302110672, + 0.05512046068906785, + 1.0 + ], + [ + 0.29409259557724, + -0.06807999312877655, + 0.11213042587041855, + 3.019474970298358, + -0.22971285879611972, + 0.08532607555389406, + 1.0 + ], + [ + 0.2924231290817261, + -0.06799012422561646, + 0.11273742467164993, + 2.9662417491250714, + -0.2008171081542969, + 0.11295999586582185, + 0.0 + ], + [ + 0.2911641299724579, + -0.06801355630159378, + 0.11274940520524979, + 2.9682909568124494, + -0.19985920190811157, + 0.09942829608917235, + 0.0 + ], + [ + 0.2800788879394531, + -0.065744549036026, + 0.11361464112997055, + 2.9777142127328595, + -0.19153617322444916, + 0.0900203138589859, + 0.0 + ], + [ + 0.26288139820098877, + -0.05982403829693794, + 0.11384671926498413, + 3.0116632302575788, + -0.16249872744083405, + 0.06512761116027832, + 0.0 + ], + [ + 0.23756366968154907, + -0.04766329750418663, + 0.11510322988033295, + 3.0751848985725125, + -0.12303564697504046, + 0.03330572694540024, + 0.0 + ], + [ + 0.21431486308574677, + -0.0345475859940052, + 0.11840595304965973, + -3.103758158283778, + -0.0014719086466357112, + 0.0074927075766026965, + 0.0 + ], + [ + 0.20338557660579681, + -0.037918198853731155, + 0.12770721316337585, + -3.0765543599897107, + 0.13577382266521454, + -0.06523676961660385, + 1.0 + ], + [ + 0.20876207947731018, + -0.07300896942615509, + 0.12179448455572128, + -3.1201481857621154, + 0.14784939587116241, + -0.09122724086046217, + 1.0 + ], + [ + 0.21545088291168213, + -0.11767958104610443, + 0.11711916327476501, + 3.084903387474366, + 0.2436068058013916, + -0.11788085848093034, + 1.0 + ], + [ + 0.21772490441799164, + -0.153647780418396, + 0.12079695612192154, + 2.964304419355937, + 0.3336258828639984, + -0.13516733050346375, + 1.0 + ], + [ + 0.22017447650432587, + -0.16545239090919495, + 0.13298727571964264, + 2.9246792813115796, + 0.3422977924346923, + -0.13271938264369965, + 1.0 + ], + [ + 0.22685159742832184, + -0.1755736768245697, + 0.12862175703048706, + 2.9394169618659696, + 0.2598170340061188, + -0.1394442766904831, + 1.0 + ], + [ + 0.25309935212135315, + -0.16529355943202972, + 0.12432821840047836, + 3.0145842005782804, + 0.04014300927519798, + -0.09082642197608948, + 1.0 + ], + [ + 0.2842065095901489, + -0.1377086639404297, + 0.11689835041761398, + 3.056875782208987, + -0.1740708351135254, + -0.026028571650385857, + 1.0 + ], + [ + 0.2996590733528137, + -0.11431651562452316, + 0.1127597913146019, + 3.064349355297633, + -0.22719600796699524, + 0.01749572344124317, + 1.0 + ], + [ + 0.2997816503047943, + -0.0856848657131195, + 0.1069413349032402, + 3.053496981161185, + -0.2001482546329498, + 0.021766843274235725, + 1.0 + ], + [ + 0.2842594385147095, + -0.06500666588544846, + 0.1150016114115715, + 3.02064914454753, + -0.17505083978176117, + 0.02331576868891716, + 1.0 + ], + [ + 0.2593556344509125, + -0.048868484795093536, + 0.11562978476285934, + 3.016841398673602, + -0.13585945963859555, + -0.006252629682421684, + 1.0 + ], + [ + 0.23174616694450378, + -0.014356570318341255, + 0.11655213683843613, + 3.021149555342742, + -0.08065847307443619, + -0.028825450688600537, + 1.0 + ], + [ + 0.2132672220468521, + 0.007204365450888872, + 0.11763112992048264, + 3.031615274148532, + -0.0912669375538826, + -0.04635804146528244, + 1.0 + ], + [ + 0.1945025771856308, + 0.03591112419962883, + 0.11258968710899353, + 3.0730624367767057, + -0.11411498486995697, + -0.08324062079191206, + 1.0 + ], + [ + 0.1867680847644806, + 0.04296814277768135, + 0.11003046482801437, + 3.079577962058135, + -0.11649227887392044, + -0.09678070992231369, + 1.0 + ], + [ + 0.1859617680311203, + 0.028362587094306946, + 0.1214928850531578, + 3.049819404380866, + -0.10060860216617584, + -0.09875957667827608, + 1.0 + ], + [ + 0.1952299177646637, + 0.01305758859962225, + 0.14835718274116516, + 3.005592392879077, + -0.09743977338075638, + -0.09640704840421677, + 1.0 + ], + [ + 0.2012125700712204, + -0.00024195444711949676, + 0.16741055250167847, + 2.9892238547378263, + -0.08294203132390977, + -0.10050282627344131, + 1.0 + ], + [ + 0.2008131593465805, + -0.0015411232598125935, + 0.1670863926410675, + 2.9877469559484204, + -0.07781841605901717, + -0.10250112414360048, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.04773181676864624, + 0.31680428981781006, + 0.6098805367946625, + 0.7226157188415527, + 0.7026524841785431, + 0.6942910552024841, + 0.63640496134758, + 0.34991633892059326, + 0.07203978300094604, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "3470", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3470/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/3473.json b/annotation/test/3473.json new file mode 100644 index 0000000000000000000000000000000000000000..d2c7c496aa436ef22c2f700a9f3f4917df20235b --- /dev/null +++ b/annotation/test/3473.json @@ -0,0 +1,432 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "take lid off pot or pan" + ], + "videos": [ + { + "video_path": "videos/test/3473/rgb.mp4" + } + ], + "action": [ + [ + -0.00030407150504768493, + 3.851573715996764e-05, + 0.0012169050260014186, + 0.000363045313893466, + -0.004581530076316, + 0.0002350465411957862, + 1.0 + ], + [ + -0.0033584550986529827, + 0.0003551055335420719, + 0.013554526637201567, + -0.000961332017704448, + -0.0124533832195855, + -0.014579679770760724, + 1.0 + ], + [ + -0.001619206405405841, + 2.9825384853587123e-05, + 0.009765905756229782, + -0.017338955231837754, + 0.01158424964432212, + -0.006051585744220194, + 1.0 + ], + [ + 0.0011151276677097894, + -0.00274152630707878, + 0.004001745609219036, + -0.016023869727065463, + 0.014953758316196625, + -0.004952994151578803, + 1.0 + ], + [ + 0.0015655069406491915, + -0.0016093964813639102, + 0.00709202769960322, + -0.00650266114032874, + 0.0009505174624424886, + 0.004735033048973252, + 1.0 + ], + [ + -0.001248327426305817, + -0.0005120200983940546, + 0.010949678524967466, + -0.015575700128053456, + -0.04212805418594439, + 0.008366524174231761, + 1.0 + ], + [ + 0.005277447692670762, + -0.0014956107120697815, + 0.005209419250665031, + -0.012706314653365839, + -0.041541212822606914, + -0.0034358334997691914, + 1.0 + ], + [ + 0.003836770018979002, + -0.0005300466617055922, + 0.00019717367208180625, + -0.007075670431250222, + -0.004577203190360979, + -0.0076702113081209035, + 1.0 + ], + [ + 0.0003426438874225052, + 0.0004452264407167446, + -8.891495546318804e-05, + -0.0028971725919168544, + 0.004539008570079894, + -0.008939081075792018, + 0.0 + ], + [ + -0.004909839101492608, + -0.0012362058757686048, + -0.0019482004393005876, + 0.009679367487703521, + 0.0032940034920264805, + -0.003129587961615115, + 0.0 + ], + [ + -0.0007048736343009513, + 0.0016157374492149653, + -0.002769255258907494, + 0.025386521026910573, + 0.002385189542664861, + 0.005303530475549453, + 0.0 + ], + [ + 0.002233634128879829, + 0.0038975210750404744, + -0.01980158228404452, + 0.037134527294960216, + 0.03353001547977819, + 0.027113852472779674, + 0.0 + ], + [ + 0.01611436696264376, + 0.003723890966132004, + -0.024441877623955336, + 0.02778272778004406, + 0.049640865816941, + 0.025643696747334233, + 0.0 + ], + [ + 0.026420459096332307, + 0.006522063396166103, + -0.008035211892340991, + 0.02181454572226844, + -0.018183399724948313, + 0.047740883980377645, + 0.0 + ], + [ + 0.025815667199875922, + 0.008374148230748836, + -0.00884438129923961, + 0.009537852745288072, + -0.005071830825771866, + 0.06196775968153298, + 0.0 + ], + [ + 0.013647979063587036, + 0.002910257224140325, + 0.007825848497187564, + -0.012249140388706618, + -0.010627397579068228, + 0.03674861323518916, + 0.0 + ], + [ + 0.007146712896491673, + 0.004203301188919821, + 0.008949057541981534, + -0.026676200712566826, + -0.01579338959808512, + 0.03290972821192818, + 0.0 + ], + [ + 0.0028242034421967787, + 0.0032145016530478266, + 0.005909826240984789, + -0.02608570277574524, + -0.0011387612302169385, + 0.030789613237159175, + 0.0 + ], + [ + 0.00019014005037862788, + -0.006159189037594454, + 0.007498489296145186, + -0.03578535140670933, + -0.027521789553026466, + 0.016152706818610058, + 0.0 + ], + [ + 0.000413378407642751, + -0.0018189006430546328, + 0.001381022384887452, + -0.012490408982487464, + -0.008973919907919273, + 0.015530844304641826, + 1.0 + ], + [ + 8.614720857414493e-05, + 0.0002305729767811751, + 0.0005730838711936973, + -0.0017439989575199113, + -0.0012756126404433986, + -0.001726484639438421, + 1.0 + ] + ], + "state": [ + [ + 0.26748380064964294, + 0.07231393456459045, + 0.14329393208026886, + -3.094267292069741, + -0.051866311579942696, + 0.3138941824436187, + 1.0 + ], + [ + 0.26724910736083984, + 0.07225782424211502, + 0.14206244051456451, + -3.09390281339223, + -0.04727879166603088, + 0.31387612223625183, + 1.0 + ], + [ + 0.2645776867866516, + 0.07169710099697113, + 0.12836281955242157, + -3.095582677172967, + -0.03552914783358573, + 0.32904139161109924, + 1.0 + ], + [ + 0.263238787651062, + 0.07168307900428772, + 0.11855451762676239, + -3.113115269812294, + -0.04737893119454384, + 0.3345595598220826, + 1.0 + ], + [ + 0.26352912187576294, + 0.07480591535568237, + 0.1146896705031395, + -3.1293509817966303, + -0.06246716901659965, + 0.33909305930137634, + 1.0 + ], + [ + 0.26485475897789, + 0.07707199454307556, + 0.10772939771413803, + -3.135556884697177, + -0.06335894763469696, + 0.334337204694748, + 1.0 + ], + [ + 0.2641429305076599, + 0.07743670791387558, + 0.0967259332537651, + 3.13257161446894, + -0.0211790818721056, + 0.32623064517974854, + 1.0 + ], + [ + 0.268781453371048, + 0.08053521811962128, + 0.09161616861820221, + 3.1197927204244813, + 0.02039153315126896, + 0.32928937673568726, + 1.0 + ], + [ + 0.2722373306751251, + 0.08227166533470154, + 0.09132929891347885, + 3.112871818365999, + 0.025134259834885597, + 0.3368602991104126, + 1.0 + ], + [ + 0.27270928025245667, + 0.08196810632944107, + 0.09142231941223145, + 3.1102034134143075, + 0.020852789282798767, + 0.3459279239177704, + 0.0 + ], + [ + 0.267689049243927, + 0.08153710514307022, + 0.0934327244758606, + 3.1199501642310103, + 0.017658518627285957, + 0.349159836769104, + 0.0 + ], + [ + 0.2676054537296295, + 0.07985135912895203, + 0.09624830633401871, + -3.137941109603741, + 0.015158872120082378, + 0.34390857815742487, + 0.0 + ], + [ + 0.2713289260864258, + 0.07696817070245743, + 0.11599939316511154, + -3.1012187545471868, + -0.018277544528245926, + 0.3166831433773041, + 0.0 + ], + [ + 0.2876838445663452, + 0.07737414538860321, + 0.14056150615215302, + -3.0728956406288823, + -0.06683602929115295, + 0.2890266180038452, + 0.0 + ], + [ + 0.31447911262512207, + 0.07797812670469284, + 0.14987769722938538, + -3.0480439980798444, + -0.04534770920872688, + 0.24260802567005157, + 0.0 + ], + [ + 0.3413613736629486, + 0.07519085705280304, + 0.1590631902217865, + -3.0359053706103047, + -0.03442811220884323, + 0.1813506782054901, + 0.0 + ], + [ + 0.35542452335357666, + 0.07566659897565842, + 0.1514485776424408, + -3.0469957684450826, + -0.019962569698691365, + 0.14592400193214414, + 0.0 + ], + [ + 0.36316320300102234, + 0.07342885434627533, + 0.142287015914917, + -3.073082411783286, + -0.00112200656440109, + 0.11465801298618315, + 0.0 + ], + [ + 0.36629629135131836, + 0.07096875458955765, + 0.13617417216300964, + -3.099165903525897, + 0.0021220350172370672, + 0.08401859551668167, + 0.0 + ], + [ + 0.3659273684024811, + 0.07743228226900101, + 0.1289432793855667, + -3.1349717128374657, + 0.030303891748189926, + 0.06904696673154831, + 0.0 + ], + [ + 0.36617207527160645, + 0.07928157597780228, + 0.12756243348121643, + 3.1352535520033022, + 0.03937681019306183, + 0.05356450751423836, + 1.0 + ], + [ + 0.36624810099601746, + 0.07905111461877823, + 0.12698787450790405, + 3.1335772593789777, + 0.040663283318281174, + 0.05528429150581359, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.1618891954421997, + 0.45475316047668457, + 0.6779666841030121, + 0.7018977999687195, + 0.7018977999687195, + 0.7018977999687195, + 0.7018977999687195, + 0.7018977999687195, + 0.7018977999687195, + 0.7018977999687195, + 0.7018977999687195, + 0.7018977999687195, + 0.5033895373344421, + 0.22601306438446045, + 0.0 + ], + "episode_id": "3473", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/3473/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/355.json b/annotation/test/355.json new file mode 100644 index 0000000000000000000000000000000000000000..517fc65df495b22b92bf5d357ffbf5157bd39573 --- /dev/null +++ b/annotation/test/355.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put pot on stove which is near stove distractors" + ], + "videos": [ + { + "video_path": "videos/test/355/rgb.mp4" + } + ], + "action": [ + [ + 8.327517974504817e-06, + 0.0006481438419766205, + 0.001411961871076337, + -0.003435780186811717, + -0.000919563424835342, + 0.00026969583487945704, + 1.0 + ], + [ + 0.0002395078003385698, + 0.006485593599021457, + 0.008960309565764211, + -0.022277562804797726, + 0.016651580446081938, + -0.0015227944412929274, + 1.0 + ], + [ + -0.002857963346653872, + -0.0016007922963586626, + 0.007218531001358893, + 0.009993492578671296, + 0.026424548906002536, + 0.0064462380464021555, + 1.0 + ], + [ + -0.004543206523383874, + 0.0008573078998062777, + 0.011790998192774379, + 0.00072768245905951, + 0.034127742763204, + -0.0027227774010432004, + 1.0 + ], + [ + -0.005435513726769988, + -9.217579843647512e-05, + 0.009214006186581414, + 0.008674616837007303, + 0.017386495881174274, + -0.03496199683177598, + 1.0 + ], + [ + -0.0011388086935758574, + 0.0010483150742839427, + 0.0019783041858791035, + -0.004402830282631386, + -0.0002479019599729274, + -0.012211449661345561, + 0.0 + ], + [ + -0.0014183139172611336, + 0.002302873103085916, + -0.0005085275953430555, + -0.022769434552466036, + -0.013933631588843363, + -0.012755456120881298, + 0.0 + ], + [ + 0.004790606809064175, + -0.002578982249299511, + -0.0053317034978621405, + -0.004930151293483421, + -0.03945691080173113, + 0.04236809755134394, + 0.0 + ], + [ + -0.0026213534889483257, + -0.0034535697611889726, + -0.011348031199933913, + -0.008576055857202001, + -0.052993863124414856, + 0.05051422728884747, + 0.0 + ], + [ + -0.0018422097590833375, + -0.011191907831714526, + -0.01266344271053065, + 0.009642829334971384, + -0.029975807309417117, + 0.05303164917625563, + 0.0 + ], + [ + -0.0035305385171007847, + -0.008022812073913383, + -0.005378766853380302, + 0.0012826695398280956, + -0.022016339790884094, + 0.07818498294567727, + 0.0 + ], + [ + -0.00912680576652597, + -0.007631868268739114, + -0.004811794907127135, + 0.01751796400997691, + -0.017356118455384303, + 0.06842563965516234, + 0.0 + ], + [ + -0.011534959651268042, + -0.006413523740586428, + -0.0022590770142618135, + 0.023560149015536228, + 0.0008710674821422431, + 0.03942413826285298, + 0.0 + ], + [ + -0.012182865750342855, + 0.0019479191969590524, + 0.00875362516119707, + 0.0011841539361641489, + 0.01748014251333092, + 0.034782841448588134, + 0.0 + ], + [ + -0.008142580020270958, + 0.0024583027651768727, + 0.005539218516081058, + 0.004075309849052229, + 0.009877817944977687, + 0.021135040481625518, + 0.0 + ], + [ + -0.007964762692366326, + 0.0003424477956295286, + 0.007974257884622742, + -0.01001566278612239, + 0.02137503445725217, + 0.002363708331280245, + 0.0 + ], + [ + -0.005182012884205519, + 0.00031498068375174676, + 0.003756567719143799, + 0.0011484603090388063, + 0.020890470263105518, + -0.0038984762580245194, + 0.0 + ], + [ + 3.84393983520642e-05, + 0.000166680604438616, + 0.003874941289351222, + 0.008430038225308339, + 0.02132816656577296, + 0.01644247598933593, + 0.0 + ], + [ + -0.00367996880854454, + 0.0037991921011928886, + 0.001708262358473245, + -0.009577987351650814, + 0.013779511632348036, + 0.00019623523649406186, + 0.0 + ], + [ + -0.00035820138136253584, + -0.0006786543859276941, + -0.00021346657804888024, + 0.002316277406268319, + -0.0018001047024386065, + 0.003535041612333958, + 1.0 + ], + [ + 0.00011647289150986566, + -0.0004482676085785272, + -0.0004973671630678281, + 0.002046673008357516, + -3.1640161585935897e-06, + -0.0007192679936899662, + 1.0 + ], + [ + 0.00044505330830841146, + 0.0008946167406299168, + 0.0007066592052094745, + -0.0029005656863206925, + 0.003065184109243106, + -0.002134854543183028, + 1.0 + ], + [ + -0.0001658615667292224, + -0.0004907700726246284, + -0.0004970127213781405, + 0.0023172440305427575, + -0.0017962870326400165, + 0.0004696872289504596, + 1.0 + ] + ], + "state": [ + [ + 0.3299948573112488, + 0.09726975858211517, + 0.09927547723054886, + -2.657519372301646, + -0.21335926651954648, + -1.179601788520813, + 1.0 + ], + [ + 0.33020034432411194, + 0.09699036926031113, + 0.09776104241609573, + -2.6609959324174604, + -0.2124198377132416, + -1.1794081926345825, + 1.0 + ], + [ + 0.32968294620513916, + 0.09402763098478317, + 0.0871138870716095, + -2.6818377693467816, + -0.22788459062576294, + -1.1859244108200073, + 1.0 + ], + [ + 0.33342450857162476, + 0.09714338928461075, + 0.08085845410823822, + -2.6676675995164594, + -0.24866893887519836, + -1.2039794921875, + 1.0 + ], + [ + 0.33711695671081543, + 0.10041006654500961, + 0.06919234991073608, + -2.6633157451921186, + -0.2802543640136719, + -1.2176648378372192, + 1.0 + ], + [ + 0.3401447832584381, + 0.10469412058591843, + 0.0598687045276165, + -2.6613952239328107, + -0.31170281767845154, + -1.1934705972671509, + 1.0 + ], + [ + 0.33998364210128784, + 0.10505764931440353, + 0.05738849937915802, + -2.6693619211488446, + -0.31710463762283325, + -1.1819514036178589, + 0.0 + ], + [ + 0.33743125200271606, + 0.10526785999536514, + 0.05638124793767929, + -2.6979568024450025, + -0.31044644117355347, + -1.1633660793304443, + 0.0 + ], + [ + 0.3385593593120575, + 0.10275697708129883, + 0.06348413228988647, + -2.695890041189738, + -0.25655472278594965, + -1.18538236618042, + 0.0 + ], + [ + 0.3348417282104492, + 0.1071966290473938, + 0.07416332513093948, + -2.6980513354116162, + -0.18690122663974765, + -1.2084475755691528, + 0.0 + ], + [ + 0.3375013768672943, + 0.11336807906627655, + 0.08977917581796646, + -2.6819146891408643, + -0.13695719838142395, + -1.2437800168991089, + 0.0 + ], + [ + 0.3405595123767853, + 0.11930669844150543, + 0.09759850800037384, + -2.673151822882243, + -0.08230829238891602, + -1.3042351007461548, + 0.0 + ], + [ + 0.34246933460235596, + 0.12991668283939362, + 0.10456113517284393, + -2.6518964787297925, + -0.03582447022199631, + -1.357456088066101, + 0.0 + ], + [ + 0.3444836437702179, + 0.14233162999153137, + 0.10915500670671463, + -2.62740549643571, + -0.0180313978344202, + -1.3926606178283691, + 0.0 + ], + [ + 0.3449206054210663, + 0.15462985634803772, + 0.10035698115825653, + -2.62586102088029, + -0.016135739162564278, + -1.431546688079834, + 0.0 + ], + [ + 0.3443915545940399, + 0.1626785397529602, + 0.09419527649879456, + -2.6215361078553876, + -0.014302351512014864, + -1.4548063278198242, + 0.0 + ], + [ + 0.347122460603714, + 0.1709124594926834, + 0.08699192851781845, + -2.6312855799966535, + -0.03167540207505226, + -1.4674848318099976, + 0.0 + ], + [ + 0.34815123677253723, + 0.17611703276634216, + 0.08339772373437881, + -2.629812153177806, + -0.05180738493800163, + -1.4742960929870605, + 0.0 + ], + [ + 0.34991639852523804, + 0.17606931924819946, + 0.07994426786899567, + -2.620141239958354, + -0.062335528433322906, + -1.499122977256775, + 0.0 + ], + [ + 0.347231388092041, + 0.17934811115264893, + 0.07634782046079636, + -2.629239471750804, + -0.07418431341648102, + -1.506176471710205, + 0.0 + ], + [ + 0.34769168496131897, + 0.17977438867092133, + 0.07683859765529633, + -2.6267602761560163, + -0.07088219374418259, + -1.508380651473999, + 1.0 + ], + [ + 0.3478410243988037, + 0.17971369624137878, + 0.07749882340431213, + -2.6247582753473004, + -0.07123358547687532, + -1.50775146484375, + 1.0 + ], + [ + 0.3474459946155548, + 0.17916861176490784, + 0.07647676020860672, + -2.6276805718713483, + -0.0749533101916313, + -1.5074090957641602, + 1.0 + ], + [ + 0.34761500358581543, + 0.1793956458568573, + 0.07713651657104492, + -2.6253980716043195, + -0.0731581524014473, + -1.5069338083267212, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.15823012590408325, + 0.4626157879829407, + 0.7182486951351166, + 0.8742781728506088, + 0.9227741435170174, + 0.9234305396676064, + 0.9234305396676064, + 0.9234305396676064, + 0.9234305396676064, + 0.9234305396676064, + 0.9234305396676064, + 0.9234305396676064, + 0.9092923179268837, + 0.8159689605236053, + 0.5770704746246338, + 0.2779330015182495, + 0.019751906394958496, + 0.0, + 0.0 + ], + "episode_id": "355", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/355/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/365.json b/annotation/test/365.json new file mode 100644 index 0000000000000000000000000000000000000000..7b0942387df79f7cf2fab0a17f7417f996ad7f72 --- /dev/null +++ b/annotation/test/365.json @@ -0,0 +1,603 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Place the silver pot on the purple rag." + ], + "videos": [ + { + "video_path": "videos/test/365/rgb.mp4" + } + ], + "action": [ + [ + 1.7141787237679915e-05, + -0.000503189444056048, + -0.00045296173874419867, + 0.00035534714315883613, + 0.0014389827646716046, + -0.0031177907701480123, + 1.0 + ], + [ + -0.0009858511135072165, + 0.0010304551366981378, + 0.007202763094047392, + -0.006742631658019397, + -0.02241625649652339, + 0.0015065208425344195, + 1.0 + ], + [ + 0.009247206392806292, + -0.023210963959114643, + 0.005867290067817526, + -0.010276291071085516, + 0.005130093359429751, + -0.034466299235202495, + 1.0 + ], + [ + 0.022397617937459695, + -0.024755855364939485, + 0.007952466385260166, + 0.038537629635599445, + 0.006467459815665544, + -0.017682440045036746, + 1.0 + ], + [ + 0.018384389524061837, + -0.013514737590571464, + 0.007339454485486524, + 0.014697561800061574, + 0.01329958871520193, + -0.010215758481682742, + 1.0 + ], + [ + 0.008793920542749335, + -0.0032648903190038046, + 0.018137217580763216, + -0.011990018242901216, + -0.010905735769045773, + -0.002098888553621836, + 1.0 + ], + [ + 0.006123559868701228, + -0.0010457017688745359, + 0.01038179439142005, + -0.0010915900060569862, + -0.010710756930671925, + 0.00897745234088236, + 1.0 + ], + [ + 0.00264419762739327, + 0.002057405337911124, + 0.010677531814094952, + -0.01513552498567661, + -0.007941287294736863, + -0.0014821717508997929, + 1.0 + ], + [ + 0.0006973989512216332, + 0.0004905326098522705, + 0.011700919729397087, + -0.005979307821703332, + -0.020683502735124596, + -2.0979418425873702e-05, + 1.0 + ], + [ + 0.0014936914334649043, + 0.0020613594471928652, + 0.0034831191584516175, + -0.014688201713720475, + -0.0017684947203650814, + -0.006248199451390542, + 1.0 + ], + [ + -0.00037813283479527565, + -0.0003617384275363515, + -0.0002946129721934486, + -0.00540304227103038, + -0.0020710724011441008, + 0.0011570343575333215, + 0.0 + ], + [ + 0.0017621042774134715, + 0.0003763872649498706, + -0.0030900108750727983, + -0.003561686449915584, + 0.00706994678544669, + 0.00716955593349659, + 0.0 + ], + [ + -0.005039099152483072, + -0.001852195542655587, + -0.009354514067279905, + -0.01171810126980119, + 0.017091427324439582, + 0.011846387856687696, + 0.0 + ], + [ + -0.01526989493649229, + -0.00474289110876192, + -0.0176932028097176, + -0.005209073617981911, + 0.006506169478373775, + 0.00039828289450302153, + 0.0 + ], + [ + -0.020897309075215222, + -0.0034741235066028213, + -0.028236474490511254, + 0.02147338710273475, + 0.04049685967199643, + -0.02928621256990757, + 0.0 + ], + [ + -0.024094498743840623, + 0.0004680590284468642, + -0.026815629244553243, + 0.06297174808378117, + 0.004872557093543111, + -0.027512071779830685, + 0.0 + ], + [ + -0.018876454351422642, + 0.027756436259691854, + -0.018003280978062433, + 0.02645369015104001, + -0.015121736358684707, + 0.041097503385279836, + 0.0 + ], + [ + -0.02150693110174887, + 0.0241175956252584, + 0.009585865101665389, + -0.026632281879993742, + -0.056908464449332674, + 0.0246253638577531, + 0.0 + ], + [ + -0.004628990481143097, + 0.010308618872620742, + 0.025908617968823724, + -0.021381570794241366, + -0.05808869088663981, + -0.004531373186283667, + 0.0 + ], + [ + 7.412702659738149e-05, + -0.00945122110025174, + 0.01700522851013014, + 0.00015697349360951346, + -0.05462392914836127, + -0.04150570824695546, + 0.0 + ], + [ + -0.0012844152402157498, + -0.013136163666661295, + 0.006781907159460472, + 0.011518608415802998, + -0.034085864525793444, + -0.042213654261546274, + 0.0 + ], + [ + -0.0007665754431348025, + -0.003530166507915354, + 0.0007068307973536882, + -0.0025158798036279506, + -0.0011626695603124894, + -0.006712794094411699, + 0.0 + ], + [ + 0.00030629714717964545, + 0.007182814612195214, + -0.00024900917511455324, + -0.04978795098206337, + 0.013645327771522737, + 0.008719565025400656, + 0.0 + ], + [ + 0.0006241500159263858, + 0.0057667753633181, + -0.015851113137976474, + -0.031591379733368535, + 0.08179011305295901, + 0.04208359760632904, + 1.0 + ], + [ + 0.00212135410778471, + 0.0008789994351450188, + -0.010009954212322182, + -0.001073521085937832, + 0.039088380345923004, + 0.011720840433879151, + 1.0 + ], + [ + 0.007819372877352496, + 0.0008306849027234394, + -0.014438035520133185, + -0.004983336694810932, + 0.0520535409639593, + -0.017302191116642395, + 1.0 + ], + [ + 0.017622539894718715, + 0.007555588289793652, + -0.016058299410302256, + 0.028973987319342715, + 0.06219872042166333, + 0.008519340345990728, + 1.0 + ], + [ + 0.006657839467095082, + 0.001285298750566382, + -0.005029893621166614, + 0.013227352919177737, + 0.015989851434579865, + -0.007833611449466264, + 1.0 + ], + [ + -0.0006433117962568005, + -0.0013643095256381118, + -0.002888760422356174, + 0.004577549505693369, + -0.01572399486999813, + -0.00771936625906278, + 1.0 + ], + [ + -0.00012974190334039682, + 0.00026160318112304984, + -0.00047616122546021176, + 0.0010691899731815383, + -2.7999626541378923e-05, + 0.002288867744113174, + 1.0 + ] + ], + "state": [ + [ + 0.3103138208389282, + 0.0321040153503418, + 0.08606074750423431, + -3.0877480042451104, + -0.10653290152549745, + -0.044980574399232864, + 1.0 + ], + [ + 0.31030142307281494, + 0.03258313983678818, + 0.08653923869132996, + -3.0877175499969205, + -0.1081371009349823, + -0.04192691296339035, + 1.0 + ], + [ + 0.31007686257362366, + 0.031950898468494415, + 0.07922737300395966, + -3.0944144559376916, + -0.08567224442958832, + -0.04222496971487999, + 1.0 + ], + [ + 0.32067978382110596, + 0.05498569831252098, + 0.07526999711990356, + -3.107654893892356, + -0.09237156063318253, + -0.007893147878348827, + 1.0 + ], + [ + 0.34383425116539, + 0.07981514930725098, + 0.07025837153196335, + -3.070739487307616, + -0.09942113608121872, + 0.009645878337323666, + 1.0 + ], + [ + 0.3626236319541931, + 0.09399746358394623, + 0.06575030833482742, + -3.0569625963741025, + -0.11340628564357758, + 0.0189533457159996, + 1.0 + ], + [ + 0.3732823133468628, + 0.09898669272661209, + 0.04906344786286354, + -3.0692907517128667, + -0.10271648317575455, + 0.021982399746775627, + 1.0 + ], + [ + 0.38038644194602966, + 0.10093625634908676, + 0.03946638107299805, + -3.0695383345061025, + -0.0913817510008812, + 0.013768390752375126, + 1.0 + ], + [ + 0.3840222954750061, + 0.09970282763242722, + 0.02895478717982769, + -3.0848594663017472, + -0.08356758207082748, + 0.015825552865862846, + 1.0 + ], + [ + 0.38569173216819763, + 0.09990300238132477, + 0.017343955114483833, + -3.090926518785306, + -0.06291849166154861, + 0.01702158898115158, + 1.0 + ], + [ + 0.3874395489692688, + 0.09805016964673996, + 0.01386191789060831, + -3.1060144027047834, + -0.06146743893623352, + 0.023363303393125534, + 1.0 + ], + [ + 0.38703516125679016, + 0.09839184582233429, + 0.014145403169095516, + -3.111350767435976, + -0.059356484562158585, + 0.02227876335382462, + 0.0 + ], + [ + 0.3886216878890991, + 0.09795743227005005, + 0.01732173189520836, + -3.1144737677001437, + -0.06620479375123978, + 0.014882681891322136, + 0.0 + ], + [ + 0.38294851779937744, + 0.09947103261947632, + 0.026369065046310425, + -3.1253730842196425, + -0.08296369761228561, + 0.0025364577304571863, + 0.0 + ], + [ + 0.3662475049495697, + 0.10388398915529251, + 0.042810358107089996, + -3.1305399035387715, + -0.08946254104375839, + 0.0020306911319494247, + 0.0 + ], + [ + 0.3429013788700104, + 0.10699841380119324, + 0.06910340487957001, + -3.1116600671135863, + -0.13024313747882843, + 0.031089626252651215, + 0.0 + ], + [ + 0.31558436155319214, + 0.10487785935401917, + 0.09253683686256409, + -3.0522843842678746, + -0.13588775694370267, + 0.05869773402810097, + 0.0 + ], + [ + 0.29653993248939514, + 0.07445672154426575, + 0.10529311001300812, + -3.0204923172765454, + -0.11705490201711653, + 0.018845681101083752, + 0.0 + ], + [ + 0.27706462144851685, + 0.05130265653133392, + 0.09043724089860916, + -3.0448915307694158, + -0.057570911943912506, + 0.0012837999965995548, + 0.0 + ], + [ + 0.2739943265914917, + 0.04353974014520645, + 0.06343238800764084, + -3.066696750121661, + -0.00018845782324206084, + 0.011391890235245226, + 0.0 + ], + [ + 0.27394965291023254, + 0.05423708260059357, + 0.04718204215168953, + -3.0665139650278768, + 0.05117785558104515, + 0.056868091225624084, + 0.0 + ], + [ + 0.27160048484802246, + 0.06773323565721512, + 0.04147782921791077, + -3.0527356212311467, + 0.08195127546787262, + 0.10164730250835419, + 0.0 + ], + [ + 0.27044543623924255, + 0.07121295481920242, + 0.04115111753344536, + -3.054695816832133, + 0.08251177519559862, + 0.1084599643945694, + 0.0 + ], + [ + 0.2714950740337372, + 0.0641075000166893, + 0.04075184091925621, + -3.1052954105013093, + 0.0696706473827362, + 0.09856584668159486, + 0.0 + ], + [ + 0.27382129430770874, + 0.057968415319919586, + 0.056301869451999664, + -3.1399356095404407, + -0.010609177872538568, + 0.053680539131164544, + 1.0 + ], + [ + 0.27588149905204773, + 0.05718223750591278, + 0.06633229553699493, + -3.1408827941101087, + -0.04967734590172767, + 0.04188936203718186, + 1.0 + ], + [ + 0.2830033004283905, + 0.05663906782865524, + 0.08114021271467209, + 3.1364582829461476, + -0.10173572599887848, + 0.05922079458832741, + 1.0 + ], + [ + 0.29931434988975525, + 0.05011998862028122, + 0.09894361346960068, + -3.116918757679411, + -0.16397391259670258, + 0.050925929099321365, + 1.0 + ], + [ + 0.3051314949989319, + 0.0490056574344635, + 0.10496006906032562, + -3.1049228591197213, + -0.18014757335186005, + 0.05848398059606553, + 1.0 + ], + [ + 0.3039008677005768, + 0.050193242728710175, + 0.10773411393165588, + -3.1018478778475007, + -0.1647109091281891, + 0.06688740104436874, + 1.0 + ], + [ + 0.3037157654762268, + 0.04989989846944809, + 0.10817193239927292, + -3.100398836778947, + -0.1645915508270264, + 0.06457013636827469, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.05698961019515991, + 0.30080950260162354, + 0.5976079404354095, + 0.729091465473175, + 0.8009444177150726, + 0.9003319889307022, + 0.9234305396676064, + 0.9234305396676064, + 0.9234305396676064, + 0.9234305396676064, + 0.9234305396676064, + 0.9234305396676064, + 0.9234305396676064, + 0.8928674757480621, + 0.710882306098938, + 0.4310172200202942, + 0.12421530485153198, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "365", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/365/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/367.json b/annotation/test/367.json new file mode 100644 index 0000000000000000000000000000000000000000..ac4fe6c6e66f889fc92d772133fa2eddcd9f47da --- /dev/null +++ b/annotation/test/367.json @@ -0,0 +1,736 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Place the spoon on the front edge of the table." + ], + "videos": [ + { + "video_path": "videos/test/367/rgb.mp4" + } + ], + "action": [ + [ + -0.0003657702729326759, + -0.00023456360999346513, + 0.000119000533354128, + -0.00027511089165254944, + -0.0003188411568237597, + -0.003008987314383217, + 1.0 + ], + [ + 0.0019728777150570496, + 0.00301866357089258, + 0.008330818119986046, + -0.025117588432654426, + -0.016317310973955078, + 0.01420726859465293, + 1.0 + ], + [ + 0.017439315916264304, + -0.00352823654257538, + 1.625645800829621e-05, + 0.008950425095625795, + 0.04482202887655185, + 0.11304644865235591, + 1.0 + ], + [ + 0.017566479342441984, + -0.01090688900140698, + -0.008944438220569673, + 0.053977903201466344, + 0.0705824965474675, + 0.11897082785469792, + 1.0 + ], + [ + 0.03834338870153382, + -0.012982605645596335, + -0.0042228979748033186, + 0.04717572032966986, + 0.09348578158169056, + 0.20731601343579165, + 1.0 + ], + [ + 0.046642794535357836, + -0.012963894648100896, + -0.006008396291403786, + 0.03686241186072121, + 0.1113581860622444, + 0.2111533410109187, + 1.0 + ], + [ + 0.04941368755053781, + -0.011608927190306692, + 0.0018092971877749233, + 0.004224005081485028, + 0.0675101899722669, + 0.1543267461593266, + 1.0 + ], + [ + 0.041091374380655604, + -0.008774484107096732, + 0.0150680124641006, + -0.026623449948366115, + 0.04424750296266561, + 0.10102373303687898, + 1.0 + ], + [ + 0.028920320636180163, + -0.008147259770394967, + 0.012750705171608577, + -0.016043821388183267, + 0.009922266114713984, + 0.06921346131949661, + 1.0 + ], + [ + 0.013093391691023894, + -0.003867072057837552, + 0.020829558848097254, + -0.027094504212908814, + -0.028106506979776756, + 0.03235284800485324, + 1.0 + ], + [ + -0.00012441792831515452, + -0.002479669556457445, + 0.01340191025863681, + -0.004336371120773162, + -0.016154220373575324, + 0.013028151493690325, + 1.0 + ], + [ + -0.0010766104618059442, + -0.00040039521960239666, + 0.009598783871887125, + 0.0005431543061052906, + -0.016916355219146598, + 0.0052056086538182595, + 1.0 + ], + [ + 0.0009147186474642981, + 0.0027533629554203293, + 0.01226329831521306, + -0.008471638974967508, + -0.005044476662931258, + 0.009154351568728824, + 1.0 + ], + [ + 7.092823324354818e-06, + 0.002758187759125058, + 0.01448848618327122, + -0.01830973832962777, + -0.012793198680874588, + 0.007194490324512115, + 1.0 + ], + [ + -0.001017212623814445, + -0.0011738999720999046, + 0.0006087631655737442, + 0.0076382701303953264, + -0.010834986312347016, + 0.0054159684644924135, + 1.0 + ], + [ + -0.0003570655935425373, + -5.955768504011216e-05, + 0.00066197574898226, + 0.00033539587113817586, + -0.0025612283658271685, + 0.00012613372517552627, + 0.0 + ], + [ + -0.00031254691566326643, + -0.0006212684110694756, + -6.365163344138613e-06, + 0.00642555260180036, + -0.0017481622842728396, + -0.0013971813507243985, + 0.0 + ], + [ + 0.0008499616998678614, + 0.0015829783941872242, + -1.0180748757956181e-05, + -0.009978970291947888, + 0.005367118418295159, + 0.000682609869839391, + 0.0 + ], + [ + -0.0009643712123934612, + 0.00022581701648012234, + -0.0006650099593793819, + -0.0038101800831749086, + -0.006034087278366786, + -0.01095298791231452, + 0.0 + ], + [ + -0.005716618301219963, + -0.0016770531543363575, + -0.025049371387021204, + 0.05123304591193337, + -0.018913078032535918, + -0.021529082262762154, + 0.0 + ], + [ + -0.0037763147963896728, + 0.012056607356246954, + -0.035124472695024306, + 0.047083041932384315, + 0.021315133599693822, + -0.015035109293506951, + 0.0 + ], + [ + -0.014368146083388511, + 0.02829692641111651, + -0.027470272349181347, + 0.0081310926185848, + 0.002938150606056843, + -0.022400552226830073, + 0.0 + ], + [ + -0.016127476706184658, + 0.03988759641737165, + -0.012114318121238846, + -0.023095551271854874, + -0.006886681121521547, + -0.008254514134213147, + 0.0 + ], + [ + -0.009568560052751026, + 0.039953076326819124, + 0.003974963325591661, + -0.021446909782607906, + -0.0252049360588565, + 0.019382419030686944, + 0.0 + ], + [ + -0.0026005910861700322, + 0.026717159980754232, + 0.013232143669440288, + -0.01432692977682415, + -0.012769564901073444, + 0.01938082287976066, + 0.0 + ], + [ + 0.00018686513223681352, + 0.025350079742367304, + 0.01908255731468596, + -0.025650264664264125, + -0.010958520785153221, + 0.021396360727924606, + 0.0 + ], + [ + 0.006628186431408166, + 0.016665139516894883, + 0.013366888219546215, + -0.0013377182718266583, + -0.019391019268342226, + 0.055432446977082446, + 0.0 + ], + [ + 0.0065859088938205945, + 0.004607673905450895, + 0.014509357946296556, + -0.004829413023566154, + -0.013171073955071175, + 0.039316857741794047, + 0.0 + ], + [ + 0.0015158650290335017, + 0.0009511602370739272, + 0.002582969453565102, + -0.007998187837714778, + -0.015346475225888218, + 0.016523752275846935, + 0.0 + ], + [ + 1.5530999323030134e-05, + 0.003033565263930152, + 0.00122946387813726, + -0.031017544239479587, + -0.005806630474371032, + 0.01035659814578179, + 0.0 + ], + [ + 0.0012928172959304467, + -0.0018280605140906963, + -0.008047959467341659, + -4.1057203467625984e-05, + 0.017483320198975506, + -0.005854376521390293, + 1.0 + ], + [ + 0.004071854476673998, + -0.007351408778678591, + -0.02056151943581097, + 0.024324409324054237, + 0.04691511206906873, + 0.00463658296724963, + 1.0 + ], + [ + 0.002654445325022661, + -0.006960770825748397, + -0.029333805167705142, + 0.04939348384691713, + 0.039401841643071256, + -0.0025388045821303678, + 1.0 + ], + [ + -0.003920419925392582, + -0.006269052196850026, + -0.02309811495415382, + 0.05914473031919239, + -0.003347465244347307, + -0.0099233150115624, + 1.0 + ], + [ + -0.0005590284050663123, + -0.0006992070275860547, + -0.0017634701564927479, + 0.005988673824236628, + -0.00040013383107582475, + -0.002148382554493655, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -1.4632662124154323e-17, + 8.863921468868537e-18, + 2.3068274988281225e-18, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -1.4632662124154323e-17, + 8.863921468868537e-18, + 2.3068274988281225e-18, + 1.0 + ] + ], + "state": [ + [ + 0.24465161561965942, + 0.16249054670333862, + 0.10775426030158997, + -2.929115044074603, + 0.18079376220703122, + -0.3837372958660125, + 1.0 + ], + [ + 0.24440206587314606, + 0.16286563873291016, + 0.10775426030158997, + -2.928841220336505, + 0.1804700642824173, + -0.38067907094955444, + 1.0 + ], + [ + 0.244298055768013, + 0.16162383556365967, + 0.09876236319541931, + -2.955853836732455, + 0.1994092911481857, + -0.3913297057151794, + 1.0 + ], + [ + 0.26153966784477234, + 0.1582641452550888, + 0.0959307998418808, + -2.9720041771703443, + 0.17475147545337677, + -0.5124956965446472, + 1.0 + ], + [ + 0.28276216983795166, + 0.15692657232284546, + 0.1033712774515152, + -2.9415882249646863, + 0.12374459952116013, + -0.642451286315918, + 1.0 + ], + [ + 0.3210110664367676, + 0.14314694702625275, + 0.10530523955821991, + -2.925679998593875, + 0.06993027776479721, + -0.864197850227356, + 1.0 + ], + [ + 0.3602641820907593, + 0.11468447744846344, + 0.1106712818145752, + -2.909160168963023, + 0.004130300600081681, + -1.0934643745422363, + 1.0 + ], + [ + 0.3933711349964142, + 0.07617240399122238, + 0.11138059943914413, + -2.90832211275632, + -0.026248890906572342, + -1.2590563297271729, + 1.0 + ], + [ + 0.417512446641922, + 0.0404462106525898, + 0.09983184188604355, + -2.933266060548373, + -0.04584059491753578, + -1.3676327466964722, + 1.0 + ], + [ + 0.4338313639163971, + 0.013806581497192383, + 0.09037846326828003, + -2.946616517501422, + -0.04113376885652542, + -1.43746018409729, + 1.0 + ], + [ + 0.4434380531311035, + 0.0010789023945108056, + 0.0712478756904602, + -2.9726200719648084, + -0.0072782058268785485, + -1.4637409448623657, + 1.0 + ], + [ + 0.44810596108436584, + 0.0016120229847729206, + 0.0584532730281353, + -2.976869227486201, + 0.010837210342288017, + -1.4738657474517822, + 1.0 + ], + [ + 0.4499516487121582, + 0.0029754964634776115, + 0.049062296748161316, + -2.976328345137187, + 0.028378142043948174, + -1.4762272834777832, + 1.0 + ], + [ + 0.4493091106414795, + 0.0023537687957286835, + 0.03649222105741501, + -2.9850362708144864, + 0.03485892713069916, + -1.4844318628311157, + 1.0 + ], + [ + 0.4488016963005066, + 0.0028184072580188513, + 0.02175958640873432, + -3.003513516979762, + 0.04861694574356079, + -1.489549160003662, + 1.0 + ], + [ + 0.4499599039554596, + 0.003953611012548208, + 0.021368149667978287, + -2.996056692796298, + 0.060093894600868225, + -1.4934289455413818, + 1.0 + ], + [ + 0.45008382201194763, + 0.004359642043709755, + 0.02074442058801651, + -2.9957059790664395, + 0.06264633685350418, + -1.493181824684143, + 0.0 + ], + [ + 0.4506720006465912, + 0.004712194204330444, + 0.02086040936410427, + -2.9891777356439313, + 0.06417273730039597, + -1.4915419816970825, + 0.0 + ], + [ + 0.44917672872543335, + 0.003757369238883257, + 0.020576102659106255, + -2.999250354366847, + 0.058971405029296875, + -1.4930341243743896, + 0.0 + ], + [ + 0.4487878978252411, + 0.004655663389712572, + 0.021258100867271423, + -3.002376901107379, + 0.06338664889335632, + -1.4813125133514404, + 0.0 + ], + [ + 0.4466118812561035, + 0.008595985360443592, + 0.04660966992378235, + -2.9496375789218625, + 0.07911131531000136, + -1.4572954177856445, + 0.0 + ], + [ + 0.42805665731430054, + 0.007710189092904329, + 0.07898666709661484, + -2.9016752262883863, + 0.05531487613916397, + -1.4465899467468262, + 0.0 + ], + [ + 0.3926641047000885, + 0.01663694903254509, + 0.09970998018980026, + -2.8924317230754575, + 0.04712611436843872, + -1.4255061149597168, + 0.0 + ], + [ + 0.34914037585258484, + 0.026458948850631714, + 0.10237191617488861, + -2.9150757511430463, + 0.05176246166229248, + -1.4157954454421997, + 0.0 + ], + [ + 0.3099788427352905, + 0.0306842103600502, + 0.09003791958093643, + -2.9371561129861554, + 0.08067175745964049, + -1.4290590286254883, + 0.0 + ], + [ + 0.28616437315940857, + 0.03140060603618622, + 0.07192667573690414, + -2.9528205414586743, + 0.09709897637367246, + -1.4455194473266602, + 0.0 + ], + [ + 0.2647511661052704, + 0.030812744051218033, + 0.048518676310777664, + -2.9803432544046125, + 0.11186015605926514, + -1.4645968675613403, + 0.0 + ], + [ + 0.2510392963886261, + 0.02450842782855034, + 0.03200887143611908, + -2.987681659060069, + 0.13974562287330627, + -1.5166900157928467, + 0.0 + ], + [ + 0.2489532083272934, + 0.01996278204023838, + 0.016193952411413193, + -2.997797729569026, + 0.1586914658546448, + -1.5539867877960205, + 0.0 + ], + [ + 0.24840009212493896, + 0.018882017582654953, + 0.013295626267790794, + -3.0080652107768735, + 0.176231250166893, + -1.5683614015579224, + 0.0 + ], + [ + 0.2455565631389618, + 0.019144240766763687, + 0.011695650406181812, + -3.0407789220386228, + 0.18335692584514618, + -1.5780143737792969, + 0.0 + ], + [ + 0.24654538929462433, + 0.016372395679354668, + 0.019513702020049095, + -3.040053943293639, + 0.1653716564178467, + -1.5738939046859741, + 1.0 + ], + [ + 0.25175145268440247, + 0.00884987972676754, + 0.039754945784807205, + -3.01717550505931, + 0.11916106194257735, + -1.583322286605835, + 1.0 + ], + [ + 0.25494030117988586, + 0.00261091161519289, + 0.06919772177934647, + -2.967968227463313, + 0.07974855601787566, + -1.5857009887695312, + 1.0 + ], + [ + 0.25715452432632446, + 0.004587389994412661, + 0.09326812624931335, + -2.908004479604312, + 0.08132715523242949, + -1.5753142833709717, + 1.0 + ], + [ + 0.257428377866745, + 0.004990820307284594, + 0.09518475830554962, + -2.9018384536081037, + 0.08121894299983978, + -1.5731244087219238, + 1.0 + ], + [ + 0.257428377866745, + 0.004990820307284594, + 0.09518475830554962, + -2.9018384536081037, + 0.08121894299983978, + -1.5731244087219238, + 1.0 + ], + [ + 0.257428377866745, + 0.004990820307284594, + 0.09518475830554962, + -2.9018384536081037, + 0.08121894299983978, + -1.5731244087219238, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.03127884864807129, + 0.30480295419692993, + 0.5949552357196808, + 0.6287990510463715, + 0.6287990510463715, + 0.6287990510463715, + 0.6287990510463715, + 0.6287990510463715, + 0.6287990510463715, + 0.6287990510463715, + 0.6287990510463715, + 0.6287990510463715, + 0.6287990510463715, + 0.6287990510463715, + 0.6287990510463715, + 0.561605840921402, + 0.26902884244918823, + 0.007925748825073242, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "367", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/367/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/382.json b/annotation/test/382.json new file mode 100644 index 0000000000000000000000000000000000000000..5f1f4617930603b9faf74ad9b715a885ba10be64 --- /dev/null +++ b/annotation/test/382.json @@ -0,0 +1,584 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put corn in bowl sink" + ], + "videos": [ + { + "video_path": "videos/test/382/rgb.mp4" + } + ], + "action": [ + [ + -0.0001656970882966915, + 0.0001119168846924075, + -1.2731381769338522e-07, + -0.0007048772353397163, + -0.0010454798450422597, + -0.0008732743521329637, + 1.0 + ], + [ + -0.0066840912259384854, + -0.005381438024839788, + 0.01272030711308929, + 0.030857549614748864, + -0.033380940370706144, + 0.005792919156669061, + 1.0 + ], + [ + -0.0028069420308859147, + -0.02222920205567733, + 0.000720183745325822, + 0.018358908508134146, + -0.05962145627441658, + 0.010731723263999078, + 1.0 + ], + [ + 0.00747645323014372, + -0.028377732400581415, + -0.014086408446939572, + -0.026080524859752482, + 0.01198597844127884, + -0.013418341683363661, + 1.0 + ], + [ + -0.0036712202160825553, + -0.029833901841763738, + 0.005462513981231683, + 0.029892042085424047, + -0.025408593610988465, + -0.014701827483398778, + 1.0 + ], + [ + -0.005493335879031307, + -0.012828005304950608, + 0.012216344439353693, + 0.017878819363892483, + -0.010321523431351962, + -0.012513744258372702, + 1.0 + ], + [ + -0.004423695959008788, + -0.005932242205804969, + 0.010920280734483591, + -0.009091437036889164, + 0.005174986869336232, + -0.012147880363055297, + 1.0 + ], + [ + 0.0024075817711691912, + -0.0005059706731138626, + 0.009750409903012116, + -0.010689447919319358, + 0.012399658459167046, + -0.033825445811416145, + 1.0 + ], + [ + 0.005629366322697438, + -0.0022068830072927976, + 0.008048869033117256, + 0.0022781758850019982, + 0.019748532882682746, + -0.030804458665691235, + 1.0 + ], + [ + 0.002009206818355686, + -0.005984957378967643, + 0.009808137842781414, + 0.02449836774190019, + -0.006463236438935283, + -0.009512657568524967, + 1.0 + ], + [ + 0.0037260231148445234, + -0.004226349347438202, + 0.00113201080504389, + 0.001042166296146055, + 6.843716189334196e-05, + -0.025725149647538054, + 1.0 + ], + [ + -0.0012497448927871106, + -0.002634576148466773, + 0.01098801997075164, + 0.025512241505174626, + -0.009109950321930153, + -0.013176434010621548, + 1.0 + ], + [ + 0.0012704557496780182, + -0.0007487150470981821, + 0.00639707696531586, + 0.014809397085280175, + 0.013882062123750316, + -0.00734044440542932, + 1.0 + ], + [ + -0.0013048393503243805, + 0.003264543540602569, + 0.0015252349790781847, + 0.011362664031970365, + -0.037544707305580294, + -0.020894349506638498, + 1.0 + ], + [ + 0.0007197811589159511, + 0.0007941256960535336, + -0.002115186264460437, + -0.003557208580360747, + -0.016566551529958617, + 0.0037259347974116304, + 1.0 + ], + [ + 0.00046075059277403017, + -0.0005469794409779091, + -0.0001518643724294389, + 0.00029937038334697816, + -0.002771762859919394, + -0.013076170344308814, + 0.0 + ], + [ + -0.0019912622531052617, + -0.0014737866126359953, + -0.010776598745981582, + 0.016736961148035422, + -0.0476131418439707, + -0.00686951001086451, + 0.0 + ], + [ + 0.003318517422465978, + 0.004128065510372344, + -0.012665476496516143, + -0.0024439078628816888, + -0.01616278657627127, + -0.02234475934231307, + 0.0 + ], + [ + 0.003047800086306318, + 0.008192698089730326, + -0.019153587245718705, + -0.025893672980661406, + -0.013612103647487257, + -0.03514585048995483, + 0.0 + ], + [ + -0.001774136992276844, + 0.018656125704304624, + -0.014932062750254252, + -0.052876832968583205, + 0.0005834498225938758, + -0.015680430757833052, + 0.0 + ], + [ + 0.0010910060023628146, + 0.020485174368229303, + -0.009733526914591829, + -0.05739171009145986, + 0.04222708610828266, + -0.015071523606715188, + 0.0 + ], + [ + -0.0039013750852395237, + 0.018775295833225472, + 0.013029027576745397, + -0.022002221371811292, + 0.03995861072345231, + -0.005913197386597216, + 0.0 + ], + [ + 0.0015721751270682891, + 0.016204424222924816, + 0.010227618814287043, + -0.006016945590635331, + 0.052308498454353876, + -0.03159677423305986, + 0.0 + ], + [ + -0.0022914842601540137, + 0.006449053334737101, + 0.011106306477797749, + 0.024082048166388766, + 0.015739512054106782, + 0.004862803138660816, + 0.0 + ], + [ + 0.0005216410208307814, + 0.0005205139952340488, + -0.0015133333435154491, + 0.0056431063317503635, + -0.0026936748420772092, + -0.000519458553603089, + 0.0 + ], + [ + -0.001245105427900711, + -0.0024162219015966737, + -0.0006353982514737891, + 0.01754106803794155, + -0.009805662181087514, + 0.009984078786940445, + 1.0 + ], + [ + -0.0019173116328244273, + 2.9845744661075752e-05, + -1.1593468828633853e-05, + -0.000590949403722936, + -0.01207818374521151, + 0.033324986061367114, + 1.0 + ], + [ + -0.0019936854932958116, + -0.0011058306855497278, + -0.009715439163241387, + -0.00898394331292144, + -0.032440350912455534, + 0.020670969366847588, + 1.0 + ], + [ + 0.002544255397536464, + 0.002254978417437423, + -0.005074472330817989, + -0.014135870699912085, + 0.008907915021270339, + 0.003260622408215583, + 1.0 + ] + ], + "state": [ + [ + 0.3801625370979309, + -0.0806540697813034, + 0.057082004845142365, + 3.1199326646798333, + -0.2119412422180176, + 0.6161518096923828, + 1.0 + ], + [ + 0.3800945580005646, + -0.08083930611610413, + 0.057049643248319626, + 3.1190448367320975, + -0.21087701618671417, + 0.6170215010643005, + 1.0 + ], + [ + 0.37400850653648376, + -0.07891210168600082, + 0.04309654235839844, + -3.1319032787629446, + -0.17763061821460724, + 0.610376238822937, + 1.0 + ], + [ + 0.35907304286956787, + -0.06222434341907501, + 0.042103737592697144, + -3.1117211190336427, + -0.1178988292813301, + 0.6001706123352051, + 1.0 + ], + [ + 0.34796854853630066, + -0.035961996763944626, + 0.05780721828341484, + -3.1393506556102118, + -0.1302701085805893, + 0.6133355498313904, + 1.0 + ], + [ + 0.32838571071624756, + -0.01324769388884306, + 0.05198042467236519, + -3.1113858503573617, + -0.10488031804561614, + 0.6281710863113403, + 1.0 + ], + [ + 0.3172149658203125, + -0.005057831760495901, + 0.03964696824550629, + -3.0948560145967683, + -0.09493279457092287, + 0.6410481929779052, + 1.0 + ], + [ + 0.3106442093849182, + -0.001930565689690411, + 0.02864431031048298, + -3.105083169537135, + -0.10066292434930801, + 0.6530013680458069, + 1.0 + ], + [ + 0.3127996027469635, + 0.0008029034943319857, + 0.01921004429459572, + -3.1191629861765584, + -0.11423252522945403, + 0.6865676641464233, + 1.0 + ], + [ + 0.3163171708583832, + 0.006771907210350037, + 0.011906476691365242, + -3.120381699996539, + -0.13461388647556305, + 0.7171924114227295, + 1.0 + ], + [ + 0.31472712755203247, + 0.013600697740912437, + 0.0025846969801932573, + -3.097189376252242, + -0.12834756076335907, + 0.7269198298454286, + 1.0 + ], + [ + 0.31473928689956665, + 0.019329244270920753, + 0.0021260769572108984, + -3.099478369700261, + -0.12951509654521942, + 0.7528336644172668, + 1.0 + ], + [ + 0.3127431869506836, + 0.021700046956539154, + -0.00881167035549879, + -3.075730877118655, + -0.12095601856708527, + 0.7664811611175537, + 1.0 + ], + [ + 0.3133920133113861, + 0.023946352303028107, + -0.014946029521524906, + -3.0616971497708043, + -0.13528858125209808, + 0.7729504704475403, + 1.0 + ], + [ + 0.3148256242275238, + 0.020968955010175705, + -0.01688666269183159, + -3.0535298233204564, + -0.09949266165494919, + 0.7968783378601074, + 1.0 + ], + [ + 0.3158835768699646, + 0.02065354585647583, + -0.014788094907999039, + -3.0568504502349576, + -0.08266236633062363, + 0.7946165800094606, + 1.0 + ], + [ + 0.3158140778541565, + 0.021342379972338676, + -0.014553110115230083, + -3.057656968133994, + -0.08100000768899918, + 0.8079240322113037, + 0.0 + ], + [ + 0.31342682242393494, + 0.019662903621792793, + -0.003887622617185116, + -3.0417070632153234, + -0.03412576764822006, + 0.8187583088874818, + 0.0 + ], + [ + 0.3193303942680359, + 0.018112510442733765, + 0.008409202098846436, + -3.044980028765746, + -0.020261833444237706, + 0.8426057696342468, + 0.0 + ], + [ + 0.32857730984687805, + 0.013453925959765911, + 0.026741180568933487, + -3.0716637690835675, + -0.010089349932968616, + 0.8789001107215881, + 0.0 + ], + [ + 0.3424921929836273, + -0.0005568875931203365, + 0.04031461849808693, + -3.124706523614474, + -0.011765723116695883, + 0.8945025205612183, + 0.0 + ], + [ + 0.3592081367969513, + -0.012715053744614124, + 0.04971304535865784, + 3.1009312515431127, + -0.05424005165696145, + 0.9088667035102844, + 0.0 + ], + [ + 0.3724377155303955, + -0.02711993269622326, + 0.03726452216506004, + 3.078487465279647, + -0.0939237028360367, + 0.9164275527000427, + 0.0 + ], + [ + 0.38725802302360535, + -0.0354304164648056, + 0.02826709859073162, + 3.06912191410596, + -0.14407841861248014, + 0.9515817165374755, + 0.0 + ], + [ + 0.3927187919616699, + -0.0402364656329155, + 0.017437826842069626, + 3.093735097097703, + -0.16012771427631378, + 0.9478238224983214, + 0.0 + ], + [ + 0.3932397663593292, + -0.04027830809354782, + 0.019037844613194466, + 3.099315071600028, + -0.1574122607707977, + 0.9482187032699586, + 0.0 + ], + [ + 0.3904910385608673, + -0.03992176428437233, + 0.01936878077685833, + 3.1185030714892825, + -0.14802877604961395, + 0.937714695930481, + 1.0 + ], + [ + 0.38939186930656433, + -0.04146956652402878, + 0.01909814402461052, + 3.1229240243607244, + -0.1366390585899353, + 0.9038058519363403, + 1.0 + ], + [ + 0.38634204864501953, + -0.043262582272291183, + 0.028429333120584488, + 3.116847865405031, + -0.10455923527479172, + 0.8824269771575929, + 1.0 + ], + [ + 0.3892534673213959, + -0.04307415336370468, + 0.03379557654261589, + 3.1030303818457803, + -0.11354461312294005, + 0.8793681859970093, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0356978178024292, + 0.31280064582824707, + 0.47435641288757324, + 0.44883906841278076, + 0.4429110884666443, + 0.4429110884666443, + 0.4429110884666443, + 0.4429110884666443, + 0.4429110884666443, + 0.46849435567855835, + 0.42007458209991455, + 0.11810719966888428, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "382", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/382/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/399.json b/annotation/test/399.json new file mode 100644 index 0000000000000000000000000000000000000000..83dcb40b80b61a1c2fbd2e7e7e5f5c11c751a785 --- /dev/null +++ b/annotation/test/399.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "open fridge" + ], + "videos": [ + { + "video_path": "videos/test/399/rgb.mp4" + } + ], + "action": [ + [ + 0.0004927505457133599, + -2.116670783437223e-06, + -0.00029118127813773014, + 4.0398303026794455e-05, + 0.0015323847431339792, + 5.717680787666458e-05, + 1.0 + ], + [ + -0.001709745206862541, + 0.0010043555388537047, + 0.005972195227998984, + -0.003456122653582811, + -0.013729937030019755, + -0.005607314640173692, + 1.0 + ], + [ + 0.011544802171268262, + 0.017172698739024533, + 0.019710205447747, + -0.01829548717906059, + 0.0361788540216397, + 0.018877039877847956, + 1.0 + ], + [ + 0.007062690414218816, + 0.018583048951168118, + 0.017250807221363795, + -0.011815796528595003, + 0.027773169289396292, + -0.00454508660803714, + 1.0 + ], + [ + 0.012013320751813624, + 0.019420397896025437, + 0.013233902448753691, + -0.017319696208538383, + 0.0606243090592022, + 0.010441684195722244, + 1.0 + ], + [ + 0.016032752559626374, + 0.010761555514757309, + 0.007866850522166145, + -0.022811013666602792, + 0.05334945602332917, + 0.0017606626282021646, + 1.0 + ], + [ + 0.014545831631787846, + 0.012233086895602055, + 0.002921500414226468, + -0.0056977171089734715, + 0.03335685338775709, + 0.03948894628960628, + 1.0 + ], + [ + 0.010679833016383802, + 0.0009672266511938431, + 0.00024627645748344894, + 0.0024932508712857803, + 0.024693246975194944, + 0.01180341927064961, + 1.0 + ], + [ + 0.007928445489899275, + -0.003202644276082115, + -0.0005151886873329597, + 0.02072851030713888, + 0.0458686365979861, + -0.007904721013943404, + 1.0 + ], + [ + 0.01084444142262636, + -0.0026750233948643985, + 0.0004226940958082219, + 0.00870746217442679, + 0.0837150926651516, + -0.03005564021504537, + 1.0 + ], + [ + 0.0037580756364392256, + -0.004849730302119581, + 0.0021358056478672015, + 0.012131182437573048, + 0.08280881436131309, + -0.03426896812195886, + 1.0 + ], + [ + 0.0014063277865243372, + -0.002772225271422528, + 0.004860206495643598, + -0.008623212125220889, + 0.04704069422019459, + 0.005851939127147681, + 1.0 + ], + [ + -0.0006033319962023116, + -0.0003859487516380846, + 9.895714135570635e-05, + 0.0007800335792353486, + 0.0032241906420965023, + 0.004573612537548823, + 0.0 + ], + [ + -0.006593896059801886, + -0.000975880488148571, + -0.0009310123565482195, + -0.0032873472440319382, + -0.06717187166387296, + -0.0010857528305010453, + 0.0 + ], + [ + -0.025838647792947037, + -0.004431869536981978, + -0.012895599010957605, + 0.017265338245666062, + -0.09983585810536391, + -0.05268424376191902, + 0.0 + ], + [ + -0.019964466662132835, + -0.0051628388172179525, + -0.00900253002221468, + 0.009085368142403853, + -0.06323653402711456, + -0.030352487317577097, + 0.0 + ], + [ + -0.027250987694276217, + -0.00922213336234419, + -0.012137388676100338, + 0.023438139511469218, + -0.07460564645353432, + -0.02636433206712535, + 0.0 + ], + [ + -0.0323205317475923, + -0.008408876700965231, + -0.010879017093206942, + 0.013302581173515564, + -0.06250629157480309, + -0.08706996798096917, + 0.0 + ], + [ + -0.014050809953322902, + 0.007663939226421002, + -0.004977958929277308, + 0.02488711857556959, + -0.020484065773885878, + -0.05699002645691771, + 1.0 + ], + [ + -0.010222025020530656, + 0.019252011522669907, + -0.0003572435595367787, + -0.01108186627621873, + -0.0651472386357183, + -0.004567596537533901, + 1.0 + ], + [ + -0.001863163938780091, + 0.02089742025558817, + 0.004899816234407675, + -0.010147786863958853, + -0.03502422539431989, + -0.003012126301497465, + 1.0 + ], + [ + -0.001770899244538322, + 0.031809388980750135, + 0.002527230204084568, + 0.0027681056230025388, + -0.029786019332646338, + -0.013722616556036162, + 1.0 + ], + [ + 0.012924280005009402, + 0.019391971355983365, + 0.004768253870067563, + -0.01721858710745357, + 0.01989902385488456, + 0.02105089408573184, + 1.0 + ], + [ + 0.009640766396326205, + 0.015178433977654785, + 0.0006635586527312352, + -0.013674857659996707, + 0.04474205038032422, + 0.05914516905407363, + 1.0 + ], + [ + 0.020644967615205866, + 0.015231109107224229, + 0.003470893206652227, + 0.017779037792911703, + 0.044462292245105395, + 0.11139656690067529, + 1.0 + ], + [ + 0.024305120774451634, + 0.004096516626150642, + -0.00034816666045255735, + -0.010432202876737916, + 0.04866655383567812, + 0.1349244523208449, + 1.0 + ], + [ + 0.01579938447571121, + -0.020773744566023558, + 0.006870550876764607, + 0.0140902289895889, + 0.016512427194666023, + 0.13348287304700884, + 1.0 + ], + [ + -0.00032119065888249913, + -0.014943520842935053, + 0.00201309293618118, + 0.026500030590878534, + -0.007422458862612322, + 0.022592411658302593, + 1.0 + ], + [ + -0.013171811443360213, + -0.02042422689551158, + 0.0030743685225534073, + 0.019506970756325077, + -0.07179027879390029, + -0.04872252829801356, + 1.0 + ], + [ + -0.02348016593274869, + -0.004480000144149743, + -0.008948014376338586, + -0.013528358447638297, + -0.07018389160613417, + -0.05506578404931317, + 1.0 + ], + [ + -0.02190434465271627, + -0.0068153557679629505, + -0.013759027433789641, + 0.0012604946771742204, + -0.03819117948922355, + -0.057024305747586414, + 1.0 + ], + [ + -0.02981225885438787, + -0.012697167061940648, + -0.01211575349395723, + 0.01968402098756594, + -0.010390212400694517, + -0.05940784750299778, + 1.0 + ], + [ + -0.015601441822289987, + -0.018697175706216748, + -0.0052094026932794, + 0.008783778700156486, + 0.010260176170353732, + -0.02412536559283789, + 1.0 + ], + [ + -0.005230203236309094, + -0.025537790247717133, + -0.0007899448049851177, + -0.0010539749698115777, + 0.010544675452228626, + -0.002141228330957159, + 1.0 + ], + [ + 0.004291767663319249, + -0.030000923934094172, + -0.0021439269122013912, + 0.011190136012776335, + 0.018132280851505863, + 0.020836815696623275, + 1.0 + ], + [ + 0.001279569352072092, + -0.02550950518381625, + 0.004540911673911361, + -0.0011314923630349198, + 0.01177042536001089, + 0.010331270498451903, + 1.0 + ], + [ + -0.0069396413328944905, + -0.013956336797698466, + 0.005502970255677961, + -0.00027679774417573613, + 0.008259431183776134, + 0.018113707189543384, + 1.0 + ], + [ + -0.0021300998075578404, + -0.0018815199377629612, + 0.001094467372083201, + -0.009793989709487033, + -0.011682460769044879, + 0.03516735545583266, + 1.0 + ] + ], + "state": [ + [ + 0.23021189868450165, + 0.013185670599341393, + 0.05645566061139107, + 3.106057370203086, + -0.0659809410572052, + 0.05646774545311928, + 1.0 + ], + [ + 0.23068293929100037, + 0.013224777765572071, + 0.0567784383893013, + 3.1060979050868234, + -0.06751438975334167, + 0.056465040892362595, + 1.0 + ], + [ + 0.22944802045822144, + 0.01193737331777811, + 0.050743818283081055, + 3.1022932288521012, + -0.0535932295024395, + 0.06158842146396637, + 1.0 + ], + [ + 0.2430751472711563, + -0.005190196912735701, + 0.03236927092075348, + 3.084916019933768, + -0.0904775932431221, + 0.044088080525398254, + 1.0 + ], + [ + 0.2524225413799286, + -0.024327222257852554, + 0.016903109848499298, + 3.0725233425670346, + -0.11794699728488925, + 0.0502399280667305, + 1.0 + ], + [ + 0.2667502462863922, + -0.043919846415519714, + 0.0065371147356927395, + 3.0558224265747747, + -0.17914488911628723, + 0.04392271488904954, + 1.0 + ], + [ + 0.28424274921417236, + -0.05455794557929039, + 0.0025886015500873327, + 3.032372811930724, + -0.23244814574718478, + 0.046816881746053696, + 1.0 + ], + [ + 0.2993272840976715, + -0.06634355336427689, + 0.004410977475345135, + 3.035194995003291, + -0.2697582542896271, + 0.00988693255931139, + 1.0 + ], + [ + 0.30966803431510925, + -0.0672292709350586, + 0.007120110560208559, + 3.040199006097861, + -0.2955537438392639, + 0.00036311277654021984, + 1.0 + ], + [ + 0.31719666719436646, + -0.06398819386959076, + 0.009609629400074482, + 3.0569629614525518, + -0.34036239981651306, + 0.01362099964171648, + 1.0 + ], + [ + 0.32759830355644226, + -0.06121654063463211, + 0.012619650922715664, + 3.051886776583739, + -0.42098730802536016, + 0.05406956002116203, + 1.0 + ], + [ + 0.3318178653717041, + -0.056342486292123795, + 0.011817419901490211, + 3.044437701004096, + -0.4999925792217254, + 0.10128197073936462, + 1.0 + ], + [ + 0.3352498710155487, + -0.05369420722126961, + 0.00801051128655672, + 3.036412889259406, + -0.5473784804344177, + 0.09981047362089157, + 1.0 + ], + [ + 0.334771990776062, + -0.053366769105196, + 0.007577876094728708, + 3.0397650097780904, + -0.5510596036911012, + 0.09486919641494751, + 0.0 + ], + [ + 0.3286474645137787, + -0.052879270166158676, + 0.004829946905374527, + 3.0396547858887395, + -0.4841160476207733, + 0.0883779078722, + 0.0 + ], + [ + 0.29962390661239624, + -0.049707457423210144, + 0.003759268671274185, + 3.0353499447279653, + -0.37899607419967646, + 0.1335832178592682, + 0.0 + ], + [ + 0.27734875679016113, + -0.04655775800347328, + 0.004180545918643475, + 3.035126010077544, + -0.31279128789901733, + 0.15819485485553741, + 0.0 + ], + [ + 0.24672646820545197, + -0.04085090383887291, + 0.006345617584884167, + 3.052501181262084, + -0.23575466871261597, + 0.17693267762660983, + 0.0 + ], + [ + 0.21182657778263092, + -0.037599433213472366, + 0.008604949340224266, + 3.046721825497695, + -0.1649797409772873, + 0.2590264678001404, + 0.0 + ], + [ + 0.19936038553714752, + -0.048307668417692184, + 0.011901773512363434, + 3.0626493265205106, + -0.13894300162792206, + 0.3143382966518402, + 1.0 + ], + [ + 0.19541126489639282, + -0.06974286586046219, + 0.012342367321252823, + 3.0514814500981053, + -0.07363871484994888, + 0.3137464225292206, + 1.0 + ], + [ + 0.20041312277317047, + -0.0904642716050148, + 0.009214026853442192, + 3.0412894954257688, + -0.03848559036850929, + 0.31359320878982544, + 1.0 + ], + [ + 0.20854654908180237, + -0.12136483937501907, + 0.009816099889576435, + 3.0436081161075315, + -0.007473040372133255, + 0.3242586851119995, + 1.0 + ], + [ + 0.22711452841758728, + -0.13597580790519714, + 0.007064454257488251, + 3.0265298803621015, + -0.029334504157304764, + 0.30525168776512146, + 1.0 + ], + [ + 0.2408297061920166, + -0.14754292368888855, + 0.008430205285549164, + 3.014482634263583, + -0.08052569627761841, + 0.2515258491039276, + 1.0 + ], + [ + 0.2647477388381958, + -0.1574501246213913, + 0.008583685383200645, + 3.0413418283038816, + -0.13828036189079282, + 0.14579564332962036, + 1.0 + ], + [ + 0.2890493869781494, + -0.15796616673469543, + 0.012683095410466194, + 3.049781361716338, + -0.19899584352970123, + 0.014008450321853159, + 1.0 + ], + [ + 0.3059833347797394, + -0.1376706212759018, + 0.00723279919475317, + 3.0912378524714192, + -0.22589303553104403, + -0.12080872803926468, + 1.0 + ], + [ + 0.3080732822418213, + -0.12299225479364395, + 0.004468346480280161, + 3.1230130979144057, + -0.21955667436122894, + -0.14430983364582062, + 1.0 + ], + [ + 0.2990240752696991, + -0.10109974443912506, + -0.0017708238447085023, + 3.1320656418153128, + -0.1466275304555893, + -0.09654248505830765, + 1.0 + ], + [ + 0.275049090385437, + -0.0941915214061737, + 0.003608033759519458, + 3.1105617230110845, + -0.07570631057024002, + -0.04212796315550804, + 1.0 + ], + [ + 0.2525084912776947, + -0.08599597960710526, + 0.01545348484069109, + 3.107626052694865, + -0.0356474369764328, + 0.013676228933036327, + 1.0 + ], + [ + 0.22212263941764832, + -0.0733090490102768, + 0.026061128824949265, + 3.125264547886797, + -0.023184817284345623, + 0.07270897924900055, + 1.0 + ], + [ + 0.20508897304534912, + -0.0557202473282814, + 0.030601559206843376, + 3.1334889318146786, + -0.033042918890714645, + 0.09701069444417953, + 1.0 + ], + [ + 0.19739294052124023, + -0.030805174261331558, + 0.031011421233415604, + 3.1323608962171754, + -0.043569814413785934, + 0.0992392972111702, + 1.0 + ], + [ + 0.19860440492630005, + -0.0005166843766346574, + 0.033063460141420364, + -3.1387319179535886, + -0.06188434734940529, + 0.0785345733165741, + 1.0 + ], + [ + 0.19815072417259216, + 0.025048913434147835, + 0.02868323028087616, + -3.139220620394223, + -0.07362183928489685, + 0.06814223527908327, + 1.0 + ], + [ + 0.19069617986679077, + 0.0385420024394989, + 0.022717749699950218, + -3.138159525236585, + -0.08182615041732788, + 0.04994872212409973, + 1.0 + ], + [ + 0.1885705441236496, + 0.04032336175441742, + 0.02145928516983986, + 3.1381074696597686, + -0.06997250765562057, + 0.014737906865775587, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0011776089668273926, + 0.0011776089668273926, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0011776089668273926, + 0.0005114078521728516, + 0.0005114078521728516, + 0.04016828536987305, + 0.3298342227935791, + 0.6046426296234131, + 0.6124871075153351, + 0.5788743495941162, + 0.5542488992214203, + 0.479228138923645, + 0.1637241244316101, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "399", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/399/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/402.json b/annotation/test/402.json new file mode 100644 index 0000000000000000000000000000000000000000..ed9793f2fd491a6218a9e38933f06415c727e09d --- /dev/null +++ b/annotation/test/402.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put pot on stove which is near stove distractors" + ], + "videos": [ + { + "video_path": "videos/test/402/rgb.mp4" + } + ], + "action": [ + [ + -0.00048408991294643085, + 0.0003092412493431995, + 0.003033044292721754, + -0.004221820866917663, + -0.004447098143197133, + -0.0017468701835173881, + 1.0 + ], + [ + -0.007858400135997956, + 0.005985571874631129, + 0.02343739401334744, + -0.039702958696801814, + -0.0447652892451739, + -0.011334165604399779, + 1.0 + ], + [ + -0.001765704401970374, + -0.00041945310596401217, + 4.950783483458612e-06, + 0.005810439381749386, + -0.013935997447510999, + -0.007490890899648083, + 1.0 + ], + [ + -0.0013049616065747768, + -0.0026687129486689955, + -0.002480968436180236, + 0.009357063884447214, + -0.010684795270276255, + -0.0028554573232345876, + 0.0 + ], + [ + 0.0022138997183658634, + -0.0013327472332949194, + -0.004229459989343327, + 0.003981996514615211, + 0.002573343647713945, + 0.0037849831393155313, + 0.0 + ], + [ + 0.0004321969210567538, + 0.0005310103390130095, + -0.0010633852770213315, + -0.005206549565413247, + 0.000688621537273822, + 0.010534996398379867, + 0.0 + ], + [ + 0.005302897069257077, + -0.0073792805703219565, + -0.008525693355365259, + 0.015540610438345112, + 0.010378172987146172, + 0.059930493666246316, + 0.0 + ], + [ + 0.003637948027451172, + -0.015807106732363223, + -0.008185230898505471, + 0.006813558364284326, + 0.011502857465198829, + 0.07068354065957015, + 0.0 + ], + [ + -0.0001782227366867746, + -0.015202396441839437, + -0.007343291950641711, + 0.024843922649686788, + 0.013043655935907278, + 0.06416751429001022, + 0.0 + ], + [ + 0.0019989368484947976, + -0.011113051458290895, + 0.002020773071712196, + 0.0138591834647684, + 0.016881431930036255, + 0.07961799122853806, + 0.0 + ], + [ + -0.0018347077470146056, + -0.013569313273414834, + -0.005745889037978915, + 0.03087945088283171, + 0.022655379374904125, + 0.054596053833902584, + 0.0 + ], + [ + -0.002264654547725622, + -0.009313120118430647, + 0.0011230777356491927, + 0.045025176279373726, + 0.012060806242525214, + 0.05311451226749915, + 0.0 + ], + [ + -0.0017987921415007198, + 0.001734852551185579, + 0.01037714128264519, + 0.0205565598089544, + 0.006559372134043984, + 0.04966609779088824, + 0.0 + ], + [ + 0.001247891809502996, + -0.00030120318888923606, + -0.00046484532659878466, + 0.031986689445591444, + 0.011016846928516986, + 0.04539285650926915, + 0.0 + ], + [ + -0.0003227744567291824, + -0.0015858662122900575, + 0.0011331214202214468, + 0.022561488895825422, + 0.004936330127854008, + 0.05565495116395213, + 0.0 + ], + [ + 0.0013404128209999074, + -0.004615653902763599, + -0.003804558370646216, + 0.018001751654319425, + 0.004133807153520627, + 0.055225639740526286, + 0.0 + ], + [ + -0.0052652157879867776, + -0.010398180272227865, + -0.009651721977214705, + 0.026343591391207535, + 0.010971240830369659, + 0.0591128825922465, + 0.0 + ], + [ + -0.006639393080083342, + 0.00013793621144504253, + 0.0007412113594897819, + -0.003682943939118717, + -0.0013269923746443422, + 0.014357704951775904, + 0.0 + ], + [ + 0.00021935780997167138, + 4.956971534779252e-06, + -1.4435321877218003e-07, + -3.229969558407675e-05, + 0.0013832864231801214, + -0.000662267245369798, + 0.0 + ], + [ + 4.2326648284453586e-05, + -0.0004067391848696912, + -0.0003454475059993842, + 0.0015290613442866742, + 7.978620269260242e-05, + 9.336085384619858e-05, + 1.0 + ], + [ + -4.231623639255443e-05, + 0.00040727086432190506, + 0.0003448217920559969, + -0.0015290538935991453, + -7.99288634909589e-05, + -9.323874705320889e-05, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -4.208598369017042e-17, + 2.1126400169192806e-17, + -8.564256426915973e-18, + 1.0 + ], + [ + -0.000799984769853378, + -5.48919792066356e-05, + -4.3396433166959756e-05, + 0.00011722489770184029, + -0.0005850826278849201, + -0.0014132034642273924, + 1.0 + ] + ], + "state": [ + [ + 0.39331045746803284, + 0.23231150209903717, + 0.07033178210258484, + -3.0373188351565084, + -0.16016954183578488, + -0.22674201428890228, + 1.0 + ], + [ + 0.3933204114437103, + 0.23231755197048187, + 0.06724484264850616, + -3.041895093517848, + -0.1559280306100845, + -0.22451475262641907, + 1.0 + ], + [ + 0.3885665535926819, + 0.22968682646751404, + 0.04239784926176071, + -3.0839693268113813, + -0.11249390244483948, + -0.20869363844394684, + 1.0 + ], + [ + 0.3869347870349884, + 0.2304607331752777, + 0.042218729853630066, + -3.0790894349389752, + -0.09900857508182526, + -0.20037256181240082, + 1.0 + ], + [ + 0.3859054744243622, + 0.23322953283786774, + 0.04471961408853531, + -3.0700782259278974, + -0.08852238953113556, + -0.19684162735939026, + 0.0 + ], + [ + 0.38789498805999756, + 0.23388013243675232, + 0.04921232536435127, + -3.065745087462016, + -0.09081801027059554, + -0.20081718266010284, + 0.0 + ], + [ + 0.3881044089794159, + 0.23321492969989777, + 0.05026740953326225, + -3.069994481401988, + -0.09070130437612534, + -0.21141764521598816, + 0.0 + ], + [ + 0.3938846290111542, + 0.2388785481452942, + 0.05974234640598297, + -3.0490773936086377, + -0.0966016948223114, + -0.2722187638282776, + 0.0 + ], + [ + 0.40050801634788513, + 0.2525857985019684, + 0.06965896487236023, + -3.0355740060382566, + -0.10128370672464371, + -0.3440288305282593, + 0.0 + ], + [ + 0.4043295383453369, + 0.2664491832256317, + 0.07850605994462967, + -3.004322650032588, + -0.10725283622741699, + -0.4095905125141143, + 0.0 + ], + [ + 0.4106939136981964, + 0.27598878741264343, + 0.0782417431473732, + -2.982163118320056, + -0.11273814737796783, + -0.4912838339805603, + 0.0 + ], + [ + 0.41419997811317444, + 0.2882726490497589, + 0.08581286668777466, + -2.944991486268588, + -0.12625648081302643, + -0.5492367148399353, + 0.0 + ], + [ + 0.4170893430709839, + 0.2974701225757599, + 0.08623974025249481, + -2.893338309722491, + -0.12752693891525269, + -0.6041287183761597, + 0.0 + ], + [ + 0.4172115921974182, + 0.2984405755996704, + 0.07561083137989044, + -2.8667175491624555, + -0.1215282902121544, + -0.6542536020278931, + 0.0 + ], + [ + 0.4182432293891907, + 0.2978557050228119, + 0.07628735899925232, + -2.829323412972041, + -0.1196824833750725, + -0.7012684345245361, + 0.0 + ], + [ + 0.41925060749053955, + 0.29943594336509705, + 0.07566193491220474, + -2.8006975670629224, + -0.10711235553026201, + -0.7560616731643677, + 0.0 + ], + [ + 0.42193305492401123, + 0.30113720893859863, + 0.08090462535619736, + -2.7774647792154035, + -0.0924004465341568, + -0.8097190856933594, + 0.0 + ], + [ + 0.4220541715621948, + 0.31011414527893066, + 0.0930865928530693, + -2.7462922652536115, + -0.08145145326852798, + -0.8690593242645264, + 0.0 + ], + [ + 0.4179418385028839, + 0.3152242600917816, + 0.09181167930364609, + -2.748969318466731, + -0.07469137758016586, + -0.8818342685699462, + 0.0 + ], + [ + 0.41807740926742554, + 0.3150523602962494, + 0.09182628989219666, + -2.7490074058347425, + -0.07622279971837997, + -0.8817514181137085, + 0.0 + ], + [ + 0.4182693064212799, + 0.31520259380340576, + 0.09230291098356247, + -2.747469427185603, + -0.07626079767942429, + -0.8818685412406921, + 1.0 + ], + [ + 0.41807740926742554, + 0.3150523602962494, + 0.09182628989219666, + -2.7490074058347425, + -0.07622279971837997, + -0.8817514181137085, + 1.0 + ], + [ + 0.41807740926742554, + 0.3150523602962494, + 0.09182628989219666, + -2.7490074058347425, + -0.07622279971837997, + -0.8817514181137085, + 1.0 + ], + [ + 0.4175936281681061, + 0.31569331884384155, + 0.09182628989219666, + -2.7490074058347425, + -0.07622279971837997, + -0.880217432975769, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.18412798643112183, + 0.47435641288757324, + 0.7247842848300934, + 0.8688833862543106, + 0.9149821773171425, + 0.9149821773171425, + 0.9149821773171425, + 0.9149821773171425, + 0.9149821773171425, + 0.9149821773171425, + 0.9149821773171425, + 0.9149821773171425, + 0.9149821773171425, + 0.9149821773171425, + 0.9149821773171425, + 0.8119963854551315, + 0.5725464224815369, + 0.28885406255722046, + 0.021884262561798096, + 0.0, + 0.0005114078521728516 + ], + "episode_id": "402", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/402/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/411.json b/annotation/test/411.json new file mode 100644 index 0000000000000000000000000000000000000000..1658f4ed16dd18eae7558d16534952a53dfeafb1 --- /dev/null +++ b/annotation/test/411.json @@ -0,0 +1,945 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the spoon and place it just below the towel." + ], + "videos": [ + { + "video_path": "videos/test/411/rgb.mp4" + } + ], + "action": [ + [ + 0.0003928762130461199, + -0.00012924368843856136, + -0.0003433252621289632, + 0.00041052792831688397, + 0.0014758317714689728, + -0.003147720390316543, + 1.0 + ], + [ + -0.003932451606530725, + 0.0013384137700116095, + 0.012457445428754104, + -0.008476180101564802, + -0.03892260249542392, + 0.010050307391552944, + 1.0 + ], + [ + 0.005847941416727665, + -0.007760033371788579, + 0.023129102106070415, + 0.03170318332172837, + 0.02078252772567107, + 0.03113305196538399, + 1.0 + ], + [ + -0.003992076879310196, + -0.016792292906680644, + 0.021586313860909947, + 0.0038169440934886054, + -0.024781489146759546, + 0.002808521129058139, + 1.0 + ], + [ + 0.0005126234762298869, + -0.006473234433095124, + 0.0015174642137063261, + -0.02407988886648324, + 0.03488668118853214, + 0.03630446441655187, + 1.0 + ], + [ + -0.0037992256052103756, + -0.001935896782633752, + 0.003290668875193201, + -0.010247835987362565, + 0.003965614144101409, + 0.01527118087755165, + 1.0 + ], + [ + 0.0009763401046570261, + 0.0014350971845800706, + -9.498565453639666e-06, + -0.008979584157207494, + 0.006259621495033096, + 0.01136146096030371, + 1.0 + ], + [ + -0.0002568052268870965, + 0.003240553793740943, + 0.0018420633867119712, + -0.018605092038505435, + 0.0009776013922876523, + -0.0024215903638005565, + 1.0 + ], + [ + -0.004012476548337295, + 0.0012539434907370276, + 0.012921357679278874, + 0.0008230467209392489, + -0.031172685551188985, + -0.00955457170335054, + 1.0 + ], + [ + 0.001716439329668585, + 0.003909366756892633, + 0.010204012430283366, + 0.02236039367411179, + -0.02142365593438962, + 0.0238772162086199, + 1.0 + ], + [ + -3.218870410348038e-05, + -0.0017873003839512908, + 0.0018493462272204525, + 0.016337739646669163, + -0.005204776615951632, + -0.0044868620977926155, + 1.0 + ], + [ + 0.0006645419593306692, + 0.0036467338332319224, + 0.00047710183276938184, + 0.011012724203423517, + 0.0033105274060265867, + 0.014862215874215597, + 1.0 + ], + [ + 0.0015146786169054618, + 0.003769293961089445, + -0.0012272871969748508, + 0.002287405845604463, + 0.0019482515226419597, + 0.005454280868768782, + 0.0 + ], + [ + 0.001297334599743832, + -0.0015847760255218895, + -0.0015276114175143988, + -0.020058405602713544, + -0.0031563200177174666, + -0.034075078219737896, + 0.0 + ], + [ + -0.004195073128004142, + -0.012108812035401484, + -0.002085736646635692, + -0.031915740383541426, + -0.02819800318994545, + -0.10118517096289632, + 0.0 + ], + [ + -0.006115567339473374, + 0.003630217458465966, + -0.023326701905464053, + -0.031025467618861463, + 0.009902533797516794, + -0.08931302451014897, + 0.0 + ], + [ + -0.015158954349102326, + 0.02998795451359766, + -0.03468324966967355, + 0.006845650236338519, + 0.03424950913048582, + 0.003206684770836309, + 0.0 + ], + [ + -0.011563482299922354, + 0.031160658417237225, + -0.009839410823971924, + -0.0010599669552673397, + -0.01575405723570421, + 0.04879065225601593, + 0.0 + ], + [ + -0.00693128135777043, + 0.036603280955364796, + 0.005494470308422972, + 0.0022814471360191237, + -0.03101679107743355, + 0.021667063836519295, + 0.0 + ], + [ + 0.0005398285536168128, + 0.038081910144381725, + 0.006127342339651331, + 0.02717224705239821, + -0.011153009583212707, + -0.008381279726162117, + 0.0 + ], + [ + -0.002083531676501008, + 0.028694989289938216, + 0.013481122251775645, + 0.0296223145055798, + -0.043415501001264914, + -0.020646791028678307, + 0.0 + ], + [ + 0.002622358343437421, + 0.01822082919466945, + 0.00916406928787902, + 0.01846456496965547, + -0.025561097692898584, + -0.01289627407778696, + 0.0 + ], + [ + -0.0023621609431274918, + 0.0003989539341735057, + -0.0010950349999621226, + 0.006488775629265718, + -0.015428020236230086, + -0.004903409573085473, + 0.0 + ], + [ + 0.00025709588815855597, + -0.002560827169366595, + -0.0017202202509624225, + 0.014666566341717785, + -0.0047521549553030135, + 0.017936447842555485, + 0.0 + ], + [ + 0.00033464335810943905, + -0.0001484642362663047, + -2.5617963280508164e-05, + 0.0037481122578549033, + 0.0028742471750955157, + 0.029565569587838653, + 0.0 + ], + [ + 0.0018280194876247157, + -0.0009978035512063495, + 0.0004089473363808279, + 0.007008381912443967, + 0.0101204227549685, + 0.018600954853751725, + 0.0 + ], + [ + -0.0012346343770846078, + -0.0008634700128127337, + -0.0004277367209410604, + 0.004835416855482684, + -0.0065898680920576476, + 0.013485133123850322, + 0.0 + ], + [ + -0.0028011730465269113, + -3.566807534492666e-05, + -0.0007369683765070486, + 0.003542879405288167, + -0.03249052458669689, + 0.004765690371550242, + 0.0 + ], + [ + -0.002197981405758276, + 4.274515614072769e-05, + 0.0002459605549663716, + 0.0034861362310652233, + -0.03899026844443386, + -0.0076225161325006105, + 0.0 + ], + [ + -0.002896113226995955, + 0.003794661893787859, + -0.0009692183591383027, + -0.01674326366780255, + -0.04758036533697904, + 0.0035689193242065013, + 0.0 + ], + [ + 0.0023632032536174126, + 0.000784879718782783, + 0.001005612591924998, + -0.02912560487807101, + -0.06024908898692585, + -0.0091789320685769, + 0.0 + ], + [ + 0.06164670188603658, + -0.028298680353287243, + 0.025792108707969726, + -0.018529559614577917, + 0.06507179727732375, + -0.11848618704037384, + 0.0 + ], + [ + 0.05976626635722381, + -0.001227750341762087, + -0.010264558702247017, + 0.005557705765272374, + 0.11284177664115795, + -0.006701364288435975, + 0.0 + ], + [ + 0.029784297788373076, + 0.004491199363595931, + -0.0009911397750298535, + 0.0033033459155272517, + 0.06459624289659004, + 0.05879735975582091, + 0.0 + ], + [ + 0.0034274335730636227, + 0.0006174528274030374, + 0.0004834730297267147, + 0.008216892746090249, + 0.025441145112372537, + 0.012179434345815266, + 0.0 + ], + [ + -0.0028966433331134938, + 0.0003632059580525952, + 0.003728792850630392, + 0.009161817962025233, + 0.00045269600788924133, + 0.04649207303776591, + 0.0 + ], + [ + 0.0012555411885447918, + -0.0012630713092728232, + -0.0002454774474117669, + -5.513145070771595e-05, + 0.057331166897685915, + 0.022931638607650594, + 0.0 + ], + [ + -0.015861158357407833, + -0.007725077908530616, + -0.005399661816859961, + -0.01277878161150785, + 0.061699399017064206, + -0.02105261345899844, + 1.0 + ], + [ + -0.04121321395332734, + -0.01388094730843725, + -0.006743250982221301, + -0.02606140728777688, + -0.056989086336631495, + 0.021456507793932163, + 1.0 + ], + [ + -0.026602099593694657, + -0.02017261217914068, + -0.015210715814461739, + -0.07466281154726846, + -0.03398945409809192, + 0.001322703130965569, + 1.0 + ], + [ + -0.004137721948774219, + -0.005678418718374808, + -0.034046378593964, + -0.04461843224665701, + 0.05804843348343698, + 0.018078543862381204, + 1.0 + ], + [ + -0.004398419264862632, + -0.006089700202191745, + -0.013993377027739241, + -0.025029846905395985, + 0.020078678745453486, + 0.006899680117193104, + 1.0 + ], + [ + -0.004122955338164584, + 0.0014368880944856431, + -0.01781948295102592, + -0.00372756318422748, + 0.017048769304143035, + 0.016942823303612548, + 1.0 + ], + [ + -0.003800086783616367, + -0.005647329540407135, + -0.012427592493465504, + 0.012290884997690606, + 0.014309803736324348, + -0.022347478275035245, + 1.0 + ], + [ + -0.0011474966850369614, + -0.006888753216145142, + -0.008427869006304186, + 0.04895168090490452, + 0.016152693405702457, + -0.018093374128032403, + 1.0 + ], + [ + -0.00330741650113627, + -0.009763026861399182, + -0.0003353873916224746, + 0.06222536265273732, + -0.01897319646411149, + -0.031056504589912076, + 1.0 + ], + [ + 0.0005483570121280643, + 0.00012681938681292863, + -0.0004577607054315398, + -0.0007095851989504632, + 0.0047410637384890895, + -0.002272719846375555, + 1.0 + ], + [ + -0.00040878188619767225, + 7.445513937251414e-05, + 0.0003422583562561783, + -0.00023373920551470303, + -0.0015152055895416836, + 5.0648171382845104e-05, + 1.0 + ] + ], + "state": [ + [ + 0.2981795072555542, + 0.0866585299372673, + 0.09137401729822159, + -3.082420641677924, + -0.017517749220132828, + -0.017901478335261345, + 1.0 + ], + [ + 0.29856806993484497, + 0.08676030486822128, + 0.09173121303319931, + -3.0820638482742986, + -0.019177064299583435, + -0.014845985919237137, + 1.0 + ], + [ + 0.2948679029941559, + 0.08622027188539505, + 0.07914309948682785, + -3.090348644303628, + 0.02027505449950695, + -0.022557321935892105, + 1.0 + ], + [ + 0.3004545569419861, + 0.09503106027841568, + 0.0563279464840889, + -3.059312718110629, + 0.0011037327349185944, + -0.05470776557922363, + 1.0 + ], + [ + 0.29745838046073914, + 0.1137324720621109, + 0.036199189722537994, + -3.055471310513564, + 0.026032190769910812, + -0.05546966940164566, + 1.0 + ], + [ + 0.2983100116252899, + 0.1202750876545906, + 0.035231124609708786, + -3.0805842113965234, + -0.005623237229883672, + -0.09462042152881622, + 1.0 + ], + [ + 0.29474708437919617, + 0.1227557361125946, + 0.032043296843767166, + -3.090751817571469, + -0.008649744093418121, + -0.11010546237230301, + 1.0 + ], + [ + 0.29556047916412354, + 0.12122335284948349, + 0.03198830038309097, + -3.0996329617970666, + -0.014323324896395205, + -0.12177134305238724, + 1.0 + ], + [ + 0.29494979977607727, + 0.11811407655477524, + 0.030008450150489807, + -3.1182722227000674, + -0.01540160458534956, + -0.11939261108636856, + 1.0 + ], + [ + 0.29105091094970703, + 0.11762267351150513, + 0.017001105472445488, + -3.117597395675727, + 0.01554062310606241, + -0.10911722481250763, + 1.0 + ], + [ + 0.29219895601272583, + 0.11381156742572784, + 0.006680802907794714, + -3.0956012216680726, + 0.0375267043709755, + -0.13248442113399506, + 1.0 + ], + [ + 0.2923485040664673, + 0.11567860841751099, + 0.004918034188449383, + -3.079086074727126, + 0.04251927509903907, + -0.12775880098342896, + 1.0 + ], + [ + 0.29251742362976074, + 0.1120174378156662, + 0.004186456557363272, + -3.068719873326369, + 0.04013874754309655, + -0.14281085133552548, + 1.0 + ], + [ + 0.2935054302215576, + 0.10798714309930801, + 0.005074504762887955, + -3.0666576122217855, + 0.038592156022787094, + -0.14839665591716766, + 0.0 + ], + [ + 0.2950669527053833, + 0.10923595726490021, + 0.006665196269750595, + -3.085438700514384, + 0.039166491478681564, + -0.11415470391511917, + 0.0 + ], + [ + 0.2923735976219177, + 0.12159585952758789, + 0.009589391760528088, + -3.1136097592585763, + 0.061444930732250214, + -0.011384621262550354, + 0.0 + ], + [ + 0.28764674067497253, + 0.1173679381608963, + 0.033137112855911255, + -3.139280027831443, + 0.04880732670426369, + 0.07771717756986617, + 0.0 + ], + [ + 0.2765696346759796, + 0.08634620159864426, + 0.06844927370548248, + -3.1325933627137026, + 0.014565061777830124, + 0.0744328424334526, + 0.0 + ], + [ + 0.26750195026397705, + 0.05433531478047371, + 0.07817526906728745, + -3.1343714386508843, + 0.030740147456526756, + 0.025769153609871864, + 0.0 + ], + [ + 0.261341392993927, + 0.017601734027266502, + 0.07263237982988358, + -3.1327484335103115, + 0.061905503273010254, + 0.004295931663364172, + 0.0 + ], + [ + 0.261643648147583, + -0.02042354829609394, + 0.06614746153354645, + -3.1050499622994145, + 0.07298172265291214, + 0.012797634117305279, + 0.0 + ], + [ + 0.2588678002357483, + -0.04864468798041344, + 0.05181755870580673, + -3.073771247761794, + 0.11559586226940154, + 0.03514640033245086, + 0.0 + ], + [ + 0.26089179515838623, + -0.06614226847887039, + 0.041206542402505875, + -3.0535912608080586, + 0.14021183550357816, + 0.04988571256399155, + 0.0 + ], + [ + 0.25872769951820374, + -0.06674458086490631, + 0.042582035064697266, + -3.0462109838896474, + 0.155146449804306, + 0.05620132759213447, + 0.0 + ], + [ + 0.25914913415908813, + -0.06433174014091492, + 0.044475097209215164, + -3.034282276528426, + 0.16156142950057986, + 0.03856963291764259, + 0.0 + ], + [ + 0.25948023796081543, + -0.06417398899793625, + 0.04446209967136383, + -3.035421835380145, + 0.16179795563220978, + 0.008473123423755169, + 0.0 + ], + [ + 0.2612270712852478, + -0.06312362849712372, + 0.04387064278125763, + -3.0316181500726422, + 0.15367434918880463, + -0.011328167282044888, + 0.0 + ], + [ + 0.26009583473205566, + -0.0622994527220726, + 0.04457342252135277, + -3.0287558158212384, + 0.16169193387031558, + -0.02417581528425217, + 0.0 + ], + [ + 0.25744935870170593, + -0.06228301301598549, + 0.045751072466373444, + -3.0253296737843236, + 0.194512277841568, + -0.025271637365221974, + 0.0 + ], + [ + 0.25524500012397766, + -0.06224122270941734, + 0.04593135789036751, + -3.019360752897807, + 0.2323404848575592, + -0.012850571423768999, + 0.0 + ], + [ + 0.2524919807910919, + -0.06609068810939789, + 0.04708410054445267, + -3.035422848659106, + 0.28000012040138245, + -0.010498047806322575, + 0.0 + ], + [ + 0.25445663928985596, + -0.06678524613380432, + 0.04539007321000099, + -3.059820370870181, + 0.33890169858932495, + 0.0059282942675054065, + 0.0 + ], + [ + 0.3046388030052185, + -0.03617636486887932, + 0.0028317500837147236, + -3.0399413799219808, + 0.2622068226337433, + 0.12241755425930023, + 0.0 + ], + [ + 0.3645675480365753, + -0.028622006997466087, + -0.0026775444857776165, + -3.034998821216174, + 0.14926695823669434, + 0.11756137758493425, + 0.0 + ], + [ + 0.3944284915924072, + -0.02969818003475666, + -0.006604824215173721, + -3.0414498915248593, + 0.09097041189670563, + 0.05206809937953949, + 0.0 + ], + [ + 0.39781734347343445, + -0.030088361352682114, + -0.007456725928932428, + -3.034546198444911, + 0.06686456501483917, + 0.037377335131168365, + 0.0 + ], + [ + 0.39467766880989075, + -0.030168477445840836, + -0.011001070961356163, + -3.028598005073615, + 0.07130829244852066, + -0.009014824405312538, + 0.0 + ], + [ + 0.39596855640411377, + -0.02895272709429264, + -0.01070517860352993, + -3.030599320428916, + 0.016897859051823613, + -0.03822991997003555, + 0.0 + ], + [ + 0.38049688935279846, + -0.021276336163282394, + -0.004215952008962631, + -3.0429385175281247, + -0.04675491899251938, + -0.024162204936146736, + 1.0 + ], + [ + 0.33928099274635315, + -0.007127154152840376, + 0.001926657510921359, + -3.0681158696585378, + 0.01207581628113985, + -0.03986981883645058, + 1.0 + ], + [ + 0.31366026401519775, + 0.012911546975374222, + 0.01889723725616932, + 3.1404633434773466, + 0.04607061669230461, + -0.03869223222136497, + 1.0 + ], + [ + 0.31131768226623535, + 0.0187233779579401, + 0.0530916228890419, + 3.095013601826974, + -0.012005654163658617, + -0.05667607858777046, + 1.0 + ], + [ + 0.3071439862251282, + 0.025705669075250626, + 0.0667324811220169, + 3.0700467397742948, + -0.03238360211253166, + -0.0626351460814476, + 1.0 + ], + [ + 0.30244362354278564, + 0.0258407611399889, + 0.08446622639894485, + 3.0668259133868894, + -0.05059587582945824, + -0.07833342254161833, + 1.0 + ], + [ + 0.29856979846954346, + 0.03272486850619316, + 0.09622975438833237, + 3.077946202951022, + -0.06318274885416031, + -0.05493482947349549, + 1.0 + ], + [ + 0.2973305881023407, + 0.040215056389570236, + 0.10411404818296432, + 3.125692581879445, + -0.07814047485589981, + -0.035794537514448166, + 1.0 + ], + [ + 0.2943708598613739, + 0.05009442940354347, + 0.10403543710708618, + -3.0976669174903115, + -0.05863901227712631, + -0.004996387287974358, + 1.0 + ], + [ + 0.2948910593986511, + 0.049945030361413956, + 0.10451854765415192, + -3.0984972101920327, + -0.06347517669200897, + -0.002929911017417908, + 1.0 + ], + [ + 0.2945048213005066, + 0.04988652095198631, + 0.10414816439151764, + -3.09873183270032, + -0.061959195882081985, + -0.002915205666795373, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0, + 0.06326895952224731, + 0.33384793996810913, + 0.6002527475357056, + 0.6253935396671295, + 0.6253935396671295, + 0.6253935396671295, + 0.6253935396671295, + 0.6253935396671295, + 0.6253935396671295, + 0.6253935396671295, + 0.6253935396671295, + 0.6253935396671295, + 0.6253935396671295, + 0.6253935396671295, + 0.6253935396671295, + 0.6253935396671295, + 0.6253935396671295, + 0.6253935396671295, + 0.6253935396671295, + 0.6253935396671295, + 0.6253935396671295, + 0.6262463331222534, + 0.6270982325077057, + 0.6279491484165192, + 0.5698221921920776, + 0.41508984565734863, + 0.31680428981781006, + 0.15640592575073242, + 0.005884885787963867, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926 + ], + "episode_id": "411", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/411/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/412.json b/annotation/test/412.json new file mode 100644 index 0000000000000000000000000000000000000000..8f56b44dfac681b1594e909695de57c1224d432c --- /dev/null +++ b/annotation/test/412.json @@ -0,0 +1,451 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "close small4fbox flaps" + ], + "videos": [ + { + "video_path": "videos/test/412/rgb.mp4" + } + ], + "action": [ + [ + -0.0002088377854706877, + -0.00012474137561435946, + -1.8419041071024942e-07, + 0.0007866090694820049, + -0.0013169502651911703, + -5.173972539557865e-07, + 1.0 + ], + [ + -0.0016501877211523056, + 0.0031940697716808385, + 0.00804565365197139, + -0.007243030886231064, + -0.021620143161136175, + 0.010640015789220011, + 1.0 + ], + [ + 0.007920451503576804, + 0.00783041922880635, + 0.00999563195596719, + -0.039769028368142154, + 0.016291139826658432, + 0.025135333057279982, + 1.0 + ], + [ + 0.008014353440179067, + 0.008674014646843201, + 0.012085214853897158, + -0.010613773587470067, + 0.04470933797865513, + 0.040637861485805976, + 1.0 + ], + [ + 0.017256255483041657, + -0.0026512721971466437, + 0.008948990336432804, + -0.0197317000138155, + 0.010257579602245192, + 0.004339115399007534, + 1.0 + ], + [ + 0.00655965053731089, + -0.004390814082609988, + 0.011312457638578813, + -0.010742257986429953, + -0.0001736400745941009, + -0.014701088288037163, + 1.0 + ], + [ + 0.006478615705110042, + 0.0010722797140062116, + 0.003836877832143813, + -0.0053482071949315325, + 0.017396934186401238, + 0.012250296932677936, + 1.0 + ], + [ + 0.004029728391384197, + -0.004707256066823767, + 0.008186901357974598, + -0.015682181004931024, + 0.018931278842015925, + 0.008118862810703802, + 1.0 + ], + [ + -0.0025314340313441347, + -0.006315459582815152, + 0.005530380390512557, + 0.0011007501021183773, + 0.009184272021589116, + -0.0023600187093703964, + 1.0 + ], + [ + -0.0026363142601630476, + -0.004427430926194521, + 0.0017585601992510468, + 0.024946736258362617, + -0.005123255836019799, + 0.02678488129604931, + 1.0 + ], + [ + -0.0018281652601880092, + -0.010219378327450153, + -0.007231512881304975, + 0.05783659806159656, + -0.01201729155774301, + 0.04617037103165256, + 1.0 + ], + [ + -0.006848122462399566, + -0.016869463216071107, + -0.0040440515358746345, + 0.056233826609514675, + 0.0005767881671532874, + -0.004815215008039612, + 1.0 + ], + [ + -0.0049427758323842075, + -0.011893386519858684, + -0.009584044147335833, + 0.045177681044957646, + 0.021120790197229636, + -0.004251364482444964, + 1.0 + ], + [ + -0.0017278410299870531, + -0.01406011064203008, + -0.0037647837274053394, + 0.017819764836789796, + -0.005479609840766182, + 0.04102667893820913, + 1.0 + ], + [ + 0.0023479625894490203, + -0.018045654222131453, + 0.003069624775108724, + -0.003202120045873255, + 0.0017964959479728902, + 0.02725461101052729, + 1.0 + ], + [ + 0.0051901853234357165, + -0.010408680563724975, + 0.006499782171485581, + -0.01669238656116323, + 0.05303736498052576, + 0.0026926762655103734, + 1.0 + ], + [ + -0.0006230640676034054, + -0.007385065500982544, + 0.010587407483995653, + -0.01073575887591677, + 0.004815755569810293, + 0.002219717917011595, + 1.0 + ], + [ + -0.0024646182527962, + -0.0028808987001553497, + 0.008567657424207963, + -0.024040437241085438, + 0.0028545516993745065, + -0.013843250984578025, + 1.0 + ], + [ + -0.002508600917093932, + -0.0017717701999472306, + 0.008668262093813581, + -0.024398599537851503, + 0.00602669066231576, + 0.004560705147412161, + 1.0 + ], + [ + -0.00044659585271818235, + -0.0021117310260061794, + 0.007572333636738334, + -0.02718090967721536, + 0.004062246048100473, + 0.0006836162244050618, + 1.0 + ], + [ + -0.001417045359850182, + -0.0007896494230285256, + 0.008281600768080329, + -0.037180208202897407, + -0.002014488357534866, + -0.011483574510889712, + 1.0 + ], + [ + -0.0016525182546969057, + 0.0014222335948133797, + 0.0026064079267557497, + -0.016782277044779224, + -0.002817654638820405, + -0.007004012545306861, + 1.0 + ] + ], + "state": [ + [ + 0.22372572124004364, + -0.10614440590143204, + 0.11178121715784073, + -3.049025723832198, + -0.09369160234928131, + -0.04464570805430412, + 1.0 + ], + [ + 0.22352245450019836, + -0.10601101070642471, + 0.11177334189414978, + -3.0482505207234105, + -0.0923803374171257, + -0.04452293738722801, + 1.0 + ], + [ + 0.22253844141960144, + -0.10839983820915222, + 0.10334820300340652, + -3.054681846993514, + -0.06985921412706375, + -0.053120050579309464, + 1.0 + ], + [ + 0.2308017909526825, + -0.1157822236418724, + 0.09328942000865936, + -3.092616932588168, + -0.08388283848762512, + -0.07966502755880356, + 1.0 + ], + [ + 0.2391638606786728, + -0.12454745173454285, + 0.08150946348905563, + -3.0996147115998944, + -0.12647250294685364, + -0.12274783104658128, + 1.0 + ], + [ + 0.2576291859149933, + -0.12377806752920151, + 0.07492677122354507, + -3.1187379007511815, + -0.1365375071763992, + -0.1275581270456314, + 1.0 + ], + [ + 0.266179621219635, + -0.12018843740224838, + 0.06471478939056396, + -3.1315024328702172, + -0.13668501377105713, + -0.11271849274635315, + 1.0 + ], + [ + 0.2729617655277252, + -0.12199627608060837, + 0.061785947531461716, + -3.135136615606495, + -0.15394681692123413, + -0.12529054284095764, + 1.0 + ], + [ + 0.2787483334541321, + -0.11792747676372528, + 0.05434398353099823, + 3.133650201494344, + -0.1728200018405914, + -0.13365459442138672, + 1.0 + ], + [ + 0.2780635952949524, + -0.11150763928890228, + 0.04841143637895584, + 3.1343252534330865, + -0.18198472261428833, + -0.13118095695972443, + 1.0 + ], + [ + 0.2763918340206146, + -0.106834277510643, + 0.04617319256067276, + -3.11898014892871, + -0.1769901067018509, + -0.15842777490615848, + 1.0 + ], + [ + 0.27490368485450745, + -0.09641576558351517, + 0.053195491433143616, + -3.052979739504405, + -0.16374447941780093, + -0.20493350923061374, + 1.0 + ], + [ + 0.27075403928756714, + -0.07875638455152512, + 0.05752638354897499, + -2.997531058388301, + -0.16474327445030212, + -0.20012310147285461, + 1.0 + ], + [ + 0.2662428915500641, + -0.06723541766405106, + 0.06775645911693573, + -2.9525171538167676, + -0.18625546991825104, + -0.19892801344394687, + 1.0 + ], + [ + 0.2660166621208191, + -0.0538242869079113, + 0.07366713881492615, + -2.9274621327691754, + -0.17301954329013824, + -0.23878724873065948, + 1.0 + ], + [ + 0.2724492847919464, + -0.03657038137316704, + 0.07489403337240219, + -2.9260259737544736, + -0.16892045736312866, + -0.2661912441253662, + 1.0 + ], + [ + 0.28109458088874817, + -0.02694760076701641, + 0.07170236110687256, + -2.940022276835986, + -0.22013643383979795, + -0.28050318360328674, + 1.0 + ], + [ + 0.28496652841567993, + -0.018327368423342705, + 0.06288645416498184, + -2.9500536193423947, + -0.22440917789936066, + -0.28372281789779663, + 1.0 + ], + [ + 0.28558775782585144, + -0.01386356819421053, + 0.05467261001467705, + -2.9770913888984403, + -0.22982734441757202, + -0.2703239321708679, + 1.0 + ], + [ + 0.2858932614326477, + -0.01066149678081274, + 0.04605725035071373, + -3.0002043714099607, + -0.23502229154109958, + -0.27596500515937805, + 1.0 + ], + [ + 0.2879487872123718, + -0.007961689494550228, + 0.038951974362134933, + -3.027084807055541, + -0.23894748091697693, + -0.2772507667541504, + 1.0 + ], + [ + 0.288950651884079, + -0.006447367370128632, + 0.03071064129471779, + -3.0671071877055844, + -0.2382417470216751, + -0.26527392864227295, + 1.0 + ], + [ + 0.2876960337162018, + -0.0073752254247665405, + 0.027692042291164398, + -3.0856372733884534, + -0.23594683408737183, + -0.2578746676445008, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.02763611078262329, + 0.028361797332763672, + 0.028361797332763672, + 0.028361797332763672, + 0.028361797332763672, + 0.028361797332763672, + 0.028361797332763672, + 0.02763611078262329, + 0.02763611078262329, + 0.028361797332763672, + 0.028361797332763672, + 0.028361797332763672, + 0.028361797332763672, + 0.028361797332763672, + 0.028361797332763672, + 0.02763611078262329, + 0.02763611078262329, + 0.028361797332763672, + 0.028361797332763672, + 0.028361797332763672, + 0.028361797332763672, + 0.02763611078262329, + 0.028361797332763672 + ], + "episode_id": "412", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/412/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/427.json b/annotation/test/427.json new file mode 100644 index 0000000000000000000000000000000000000000..433a889e7e669af2fca4c971f7bdef4d03279bbe --- /dev/null +++ b/annotation/test/427.json @@ -0,0 +1,432 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put sweet potato in pot which is in sink distractors" + ], + "videos": [ + { + "video_path": "videos/test/427/rgb.mp4" + } + ], + "action": [ + [ + -0.003687672746278317, + 0.00031492720285313674, + 0.007091721665094916, + 0.005427298930513759, + -0.017216762438032485, + 0.0035555195899370927, + 1.0 + ], + [ + -0.010659329113811445, + -0.002635515401171244, + 0.014593747557208917, + 0.00224381393726681, + -0.0759760966406476, + 0.04381820090551761, + 1.0 + ], + [ + 0.008074667848520154, + -0.006164770975804228, + -0.006092216435488579, + -0.009721691840263903, + 0.00474476636247961, + 0.025584493016724653, + 1.0 + ], + [ + 0.0007737634670135218, + -0.0017332406428834846, + 0.0005056337820569703, + -0.008171833295539868, + 0.0007564219632261548, + 0.005103595203772709, + 1.0 + ], + [ + 0.0028132149694770066, + 0.0003047567085000823, + -0.0002399205404163887, + -0.005659956767272795, + 0.01561150346592081, + 0.008124893077416671, + 1.0 + ], + [ + 0.0011515999295270726, + 0.00010332022521938342, + 0.004283849161485406, + -0.027463561227693573, + 0.018914916260168828, + -0.014022490771762706, + 1.0 + ], + [ + -0.003843177425013039, + 0.0018419658601223263, + 0.009425924625027882, + -0.028614707904251652, + 0.020114252733100708, + -0.002471892385832286, + 1.0 + ], + [ + -0.00011114069343892402, + 0.0009215172144470138, + 0.00656349206977977, + -0.03860280264396949, + 0.026594802282559154, + -0.009854618490199623, + 1.0 + ], + [ + 0.0009910540522258462, + -0.002011383646567271, + 0.002851116350964771, + -0.024069964494175117, + 0.020205604878110413, + -0.005101588065083888, + 1.0 + ], + [ + -0.0009387426193661251, + -0.0009169024603209629, + 0.003565096790947302, + -0.0013184919651355823, + 0.01849808562051297, + 0.005932228412141347, + 1.0 + ], + [ + -0.0013957344127983355, + -0.0003715837994005914, + 0.0031706891836901863, + -0.00476298756171787, + 0.014601488336442137, + -0.014150270301679617, + 0.0 + ], + [ + -0.002554041528687133, + -0.001803312163433883, + -0.00014272344315911358, + 0.010866905351083506, + -0.013195493858679337, + -0.002668447184659164, + 0.0 + ], + [ + -0.010739653075036524, + -0.004332672231972615, + -0.012528374985368549, + 0.09168048922666598, + -0.09024243174274196, + 0.020827776851802746, + 0.0 + ], + [ + -0.0018547895289954329, + -0.0017939991687696967, + -0.03469531023466517, + 0.12468226250384251, + -0.02312757993056505, + 0.02041380865787193, + 0.0 + ], + [ + -0.005651971141135371, + -0.009688769109145696, + -0.015794796671110046, + 0.06984153493867698, + 0.030863816957683927, + -0.0018598560216777679, + 0.0 + ], + [ + -0.024769510850763742, + -0.016426686385516264, + 0.00010676892502465595, + 0.0025715894826375597, + 0.008706501611061606, + -0.0073572535178142145, + 0.0 + ], + [ + -0.012714919761537739, + -0.018538953012952608, + 0.007501210749102606, + -0.05268528974127225, + -0.016461623568464524, + -0.009935301238731868, + 0.0 + ], + [ + -0.009989608025605218, + -0.013211380421248017, + 0.01797497253677775, + -0.06317954105335924, + -0.004969989481961437, + -0.021976392565079952, + 0.0 + ], + [ + -0.0019276651374696009, + -0.010593312745999658, + 0.00632980224243756, + -0.014349412112686429, + 0.009662619370588758, + -0.023298817360149535, + 1.0 + ], + [ + 0.0001511071767908358, + 0.0018809730007668017, + -0.0002370706968909227, + -0.0026661343910493805, + 0.001799597643033042, + 0.004741593186217585, + 1.0 + ], + [ + -0.0001127809790170148, + 0.0029227210576989594, + -0.00039248157862535507, + -0.003114236102240565, + 0.0007121092572145493, + 0.006126208021201842, + 1.0 + ] + ], + "state": [ + [ + 0.4389303922653198, + -0.07374535501003265, + 0.06327274441719055, + -3.0424921457939824, + -0.3320666849613189, + 0.08277609199285507, + 1.0 + ], + [ + 0.43772679567337036, + -0.07345561683177948, + 0.05536970496177673, + -3.0364213680201253, + -0.31458204984664917, + 0.08084720373153687, + 1.0 + ], + [ + 0.4316789209842682, + -0.06977906078100204, + 0.03853370621800423, + -3.0226199348741254, + -0.23422662913799286, + 0.04437506943941117, + 1.0 + ], + [ + 0.4377136826515198, + -0.06410767883062363, + 0.04700346663594246, + -3.0261830558353147, + -0.23582105338573456, + 0.017669091001152992, + 1.0 + ], + [ + 0.4385051727294922, + -0.06231347844004631, + 0.04688994586467743, + -3.033117229240485, + -0.23598155379295346, + 0.012365349568426609, + 1.0 + ], + [ + 0.4411962330341339, + -0.06260916590690613, + 0.04774748906493187, + -3.036411928134509, + -0.2506101727485657, + 0.002284118440002203, + 1.0 + ], + [ + 0.4433702528476715, + -0.062257200479507446, + 0.043895479291677475, + -3.066942112641879, + -0.2708742916584015, + 0.014693240635097027, + 1.0 + ], + [ + 0.4422358572483063, + -0.06340783089399338, + 0.0336778424680233, + -3.095811179029294, + -0.29111674427986145, + 0.015700066462159157, + 1.0 + ], + [ + 0.4440329074859619, + -0.06399986147880554, + 0.027324805036187172, + -3.1370063755945345, + -0.3181234300136566, + 0.0247794222086668, + 1.0 + ], + [ + 0.4458124041557312, + -0.06193069741129875, + 0.02493552304804325, + 3.1204489955031356, + -0.33834806084632874, + 0.030088242143392566, + 1.0 + ], + [ + 0.446090966463089, + -0.061080608516931534, + 0.021243421360850334, + 3.1210897268080195, + -0.3569619953632354, + 0.02417678013443947, + 1.0 + ], + [ + 0.4458862245082855, + -0.060778968036174774, + 0.01777837984263897, + 3.1109097712957343, + -0.37123119831085205, + 0.0396779328584671, + 0.0 + ], + [ + 0.4434047043323517, + -0.05906921625137329, + 0.016933253034949303, + 3.1208978426926812, + -0.3579590618610382, + 0.0420931838452816, + 0.0 + ], + [ + 0.4288082420825958, + -0.05508892238140106, + 0.024818234145641327, + -3.0624406581097325, + -0.26807376742362976, + 0.018651889637112617, + 0.0 + ], + [ + 0.41784071922302246, + -0.056248631328344345, + 0.057815078645944595, + -2.9326963146501264, + -0.24335779249668124, + -0.0004258928820490837, + 0.0 + ], + [ + 0.4081505537033081, + -0.05004189535975456, + 0.07339935749769211, + -2.861608864861079, + -0.27393350005149847, + -0.005184308625757695, + 0.0 + ], + [ + 0.3831866979598999, + -0.034095726907253265, + 0.07097001373767853, + -2.8603442033105573, + -0.28433099389076233, + -0.0003246686246711761, + 0.0 + ], + [ + 0.37156686186790466, + -0.014199401251971722, + 0.06542512774467468, + -2.9171284308009824, + -0.27124467492103577, + 0.014323701150715351, + 0.0 + ], + [ + 0.3656086325645447, + 0.0025978763587772846, + 0.04869839921593666, + -2.9866284747892102, + -0.271219938993454, + 0.03770997375249863, + 0.0 + ], + [ + 0.3645578920841217, + 0.014009720645844936, + 0.04373187944293022, + -3.0070152451568326, + -0.2842978835105896, + 0.06013715267181396, + 1.0 + ], + [ + 0.36482149362564087, + 0.012126385234296322, + 0.043757516890764236, + -3.008238749700137, + -0.28544145822525024, + 0.054988659918308265, + 1.0 + ], + [ + 0.3648754060268402, + 0.009175932966172695, + 0.04372613877058029, + -3.0095459838681897, + -0.28532713651657104, + 0.04856234043836594, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.18038904666900635, + 0.30280572175979614, + 0.30280572175979614, + 0.30280572175979614, + 0.30280572175979614, + 0.30280572175979614, + 0.30280572175979614, + 0.30280572175979614, + 0.25229883193969727, + 0.0446895956993103, + 0.0, + 0.0 + ], + "episode_id": "427", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/427/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/436.json b/annotation/test/436.json new file mode 100644 index 0000000000000000000000000000000000000000..21b3f154e915ec6c32b729d518cdd2bd2995ea8e --- /dev/null +++ b/annotation/test/436.json @@ -0,0 +1,945 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the pot to the bottom right corner of conter." + ], + "videos": [ + { + "video_path": "videos/test/436/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 1.2656709792676781e-18, + 3.507158184980439e-17, + 8.61084412437273e-20, + 1.0 + ], + [ + -0.001219068909260012, + 0.0013209070107908524, + 0.001457782058505686, + -0.00888021343743126, + -0.010795230280915478, + -0.012961623137392572, + 1.0 + ], + [ + 0.009622309077600477, + -0.011171334908418932, + 0.0013646836828206876, + -0.04736645628620364, + -0.08289894654524434, + -0.26063262288001576, + 1.0 + ], + [ + 0.019888969214696135, + -0.013220414243160441, + -0.0031505310979068374, + -0.022205272164811784, + -0.07698537128061532, + -0.27190923221006, + 1.0 + ], + [ + 0.023996562413386227, + -0.004156083795667163, + 0.0037261800505222296, + -0.04852043178481409, + -0.015179156421273213, + -0.2143426801834856, + 1.0 + ], + [ + 0.022593019131767384, + 0.0019705686843615364, + 0.022441991968985286, + -0.04490511945256974, + 0.05591378228143384, + -0.028480851841351903, + 1.0 + ], + [ + 0.015769911952305492, + -0.007869940082100546, + 0.034099611222511796, + 0.032577383715632985, + 0.05323505466540738, + 0.02467590865217547, + 1.0 + ], + [ + 0.012226922553995283, + -0.005461020172251354, + 0.024623724711299626, + 0.044940435119726486, + 0.045188592350732214, + 0.03273553449719704, + 1.0 + ], + [ + 0.008365806128468956, + -0.0015945573522027088, + 0.02204543831529961, + 0.04377295080777188, + -0.014184206548806052, + -0.0236202048700434, + 1.0 + ], + [ + 0.006396330319589845, + 0.003072994251667083, + 0.02263435761344643, + 0.01868226244575944, + -0.029878371717578397, + -0.05398277652628923, + 1.0 + ], + [ + 0.009980696320829457, + 0.010287614671979474, + 0.02032265197140144, + 0.0076094375161292705, + -0.03607035346118946, + -0.04778691042921102, + 1.0 + ], + [ + 0.0073275437529170895, + 0.00582373411017421, + 0.017975008947563834, + 0.005700452031535758, + -0.01486124413635509, + -0.028357708692647737, + 1.0 + ], + [ + 0.010455492033874563, + 0.007490943748099354, + 0.014031786512313828, + 0.013908411464102276, + 0.0007149098100476091, + -0.015517149286722695, + 1.0 + ], + [ + 0.001359364674612491, + 0.0033164044867132632, + 0.018400234805484715, + 0.02973242252528479, + -0.010468237565818448, + 0.01026798701347745, + 1.0 + ], + [ + 0.0010417107590320765, + 0.005383048439232804, + 0.01364384868379212, + 0.004632887228328671, + -0.0025460154958724434, + 0.012172136657476984, + 1.0 + ], + [ + 0.0027258093711922775, + 0.0052910000959265, + 0.005143455068048063, + -0.020887455889341853, + 0.01660568642809424, + 0.0059721959520869, + 1.0 + ], + [ + -9.208804406408588e-05, + 0.0023953427491779093, + 0.004119282798205824, + -0.005380991974672554, + 0.007268311033434923, + 0.010334584254332863, + 1.0 + ], + [ + 0.0017134673667044255, + -0.0021674476883648836, + -2.4071810062591526e-05, + 0.013852728034189759, + 0.010569588300975935, + 0.017229212540025296, + 0.0 + ], + [ + 0.0011309496063993134, + 0.00012922389371377197, + -4.084901614884272e-06, + -0.0006421391105768843, + 0.007149559976996133, + 0.02417498003017357, + 0.0 + ], + [ + 0.001333442554917665, + 0.0006929179218323136, + -0.00238815272563798, + 0.0030566846035955603, + 0.0041349467282767805, + 0.006708343509619477, + 0.0 + ], + [ + -0.0013549215104331708, + -0.00074772860940794, + -0.0015778287705224875, + 0.0035078143727067983, + -0.006936039174535542, + 0.00371319942675631, + 0.0 + ], + [ + -0.000891967869674085, + -0.0015067823334522893, + -0.011594739911033033, + -0.0006955206531255135, + 0.0032427053206411072, + 0.031603032226894284, + 0.0 + ], + [ + -0.007011426466769654, + -1.2894377954213042e-05, + -0.020578905421173316, + -0.014835701168666842, + 0.014401708583508284, + 0.0750845434065372, + 0.0 + ], + [ + -0.021827653037864766, + 0.0012284474692493598, + -0.028284737978595417, + -0.015691020912993736, + 0.008796003237240503, + 0.07282598933416794, + 0.0 + ], + [ + -0.02125148595092882, + -0.003990063456506902, + -0.022560508110736885, + -0.03257712789363929, + 0.011318912398035997, + 0.09777624455635149, + 0.0 + ], + [ + -0.03270033257164861, + 0.000779628679580336, + -0.015732119749264018, + -0.015232279183188629, + 0.003991955828901117, + 0.19032025850123022, + 0.0 + ], + [ + -0.02054327100856937, + 0.0034852859339947547, + -0.001042835421139281, + -0.017101597815847042, + 0.005393124083139883, + 0.10831034739427935, + 0.0 + ], + [ + -0.00882839620612933, + 0.006440840384885753, + 0.008653359812942787, + 0.0003112179644542443, + -0.011541160326658776, + 0.06715170629793527, + 0.0 + ], + [ + -0.00153647093284713, + 0.006797414010257682, + 0.007440843387773972, + 0.0030581869211314667, + 0.002806627893594904, + 0.04072320524763837, + 0.0 + ], + [ + 0.005625534973795926, + 0.006316814406435933, + 0.019391350406281416, + 0.015580572157108783, + -0.01871755082029595, + 0.03517167212211686, + 0.0 + ], + [ + 0.004680493141439417, + 0.006262093068524932, + 0.016317816625645284, + 0.020388087662684126, + -0.01886531753088114, + 0.027352715416724894, + 0.0 + ], + [ + 0.0037941792662659797, + 0.005049919133427458, + 0.016309276514617888, + 0.014774441042712595, + -0.023332809216557036, + 0.03707293871748543, + 0.0 + ], + [ + 0.0038979953030874675, + 0.005771262978880685, + 0.011069756547141804, + -0.023410593540128578, + -0.02215072250809582, + 0.03690151545997889, + 0.0 + ], + [ + -0.0029732759070960567, + 0.006572503492086132, + 0.008577940471941714, + -0.017326785732054303, + -0.03332539615685481, + 0.0499554357194651, + 0.0 + ], + [ + 0.0005092260258501613, + 0.001286722683330561, + 6.512981000160417e-05, + 6.423182670109566e-05, + -0.00483583143592974, + 0.032284391863929174, + 0.0 + ], + [ + 0.0029609644246564827, + -0.0011082340199589811, + -0.0020494487220277594, + 0.008219216530530447, + 0.006076100783116185, + 0.010067850865516013, + 1.0 + ], + [ + 7.555252870144933e-07, + -0.000972437500752937, + -2.982841462244723e-06, + 0.00613172082905478, + 8.934763056308487e-05, + -0.013800808672016227, + 1.0 + ], + [ + -0.00022865525743441875, + -0.0007828115731831324, + -2.0988375439989026e-06, + 0.004919886771342388, + -0.0014977896881653706, + 0.011347803815530697, + 1.0 + ], + [ + 0.0015372553969775537, + -0.0009313672044997088, + -0.0027526240866024365, + 0.014660844682391464, + -0.003346271445042672, + 0.028096241320416264, + 1.0 + ], + [ + 0.007568242099243024, + -0.00018963378774668587, + -0.016773713311822407, + 0.0036975151173912137, + 0.04442030823151557, + 0.014551078561176219, + 1.0 + ], + [ + 0.011648520104237774, + 0.0038241854011093006, + -0.026347494615009497, + -0.019682628270726102, + 0.07921315959780222, + 0.02723642401888545, + 1.0 + ], + [ + 0.008775646380249478, + -0.004404553496741432, + -0.02529563234230014, + -0.0023778621597248415, + 0.04568911031700183, + 0.026243224571879036, + 1.0 + ], + [ + 0.0018146388493770218, + -0.010901693015467579, + -0.029596191016212525, + 0.018012159580556762, + 0.041032566572915076, + 0.004139160549822022, + 1.0 + ], + [ + 0.00022420879869294595, + -0.009416489606660224, + -0.0216434356242411, + 0.026962866103146268, + 0.021272662114581235, + 0.017819242378008686, + 1.0 + ], + [ + -0.0023096862634985676, + -0.0032756351758503146, + -0.009370028339890975, + 0.012518450335854641, + 0.0057983314038336006, + -1.0021735746852885e-05, + 1.0 + ], + [ + -3.187488317837947e-05, + -0.00020880158502418184, + -2.9257389614125e-06, + -0.0010903756539017036, + 0.00019414041702000976, + -0.002049170677646772, + 1.0 + ], + [ + 3.144637787264753e-05, + 0.00020886314269180355, + 3.159585148446056e-06, + 0.0010899755590505352, + -0.00019637425785791238, + 0.0020489578130621607, + 1.0 + ], + [ + -0.0002399155725644729, + 4.011453429459837e-05, + -1.854803040938365e-07, + -0.0002529745107856678, + -0.001512982755456142, + 1.967114170329609e-07, + 1.0 + ] + ], + "state": [ + [ + 0.18451936542987823, + -0.015416370704770088, + 0.2467547059059143, + -3.120293840887495, + -0.1675350517034531, + 0.027155354619026188, + 1.0 + ], + [ + 0.18451936542987823, + -0.015416370704770088, + 0.2467547059059143, + -3.120293840887495, + -0.1675350517034531, + 0.027155354619026188, + 1.0 + ], + [ + 0.18360045552253723, + -0.016731366515159607, + 0.2450866401195526, + -3.1314012176641306, + -0.15700362622737887, + 0.040507443249225616, + 1.0 + ], + [ + 0.19283908605575562, + -0.00516308331862092, + 0.24535579979419708, + 3.063576677935668, + -0.07142426073551178, + 0.3017653822898865, + 1.0 + ], + [ + 0.20764689147472382, + 0.013507286086678505, + 0.24888035655021667, + 3.0251608734303197, + 0.028762221336364743, + 0.5659009814262391, + 1.0 + ], + [ + 0.22581137716770172, + 0.029422884806990623, + 0.24400822818279266, + 2.985268937545367, + 0.06791535764932632, + 0.7774365544319152, + 1.0 + ], + [ + 0.24463549256324768, + 0.0403161458671093, + 0.22066384553909302, + 2.942724274592944, + 0.017070895060896873, + 0.814236581325531, + 1.0 + ], + [ + 0.2543375790119171, + 0.05201952904462814, + 0.18541742861270905, + 2.974801169829913, + -0.039990417659282684, + 0.8005845546722413, + 1.0 + ], + [ + 0.26261430978775024, + 0.06241460144519806, + 0.1607377529144287, + 3.020615765946456, + -0.08997347205877303, + 0.7757385969161987, + 1.0 + ], + [ + 0.2707332372665405, + 0.06886874884366989, + 0.13950198888778687, + 3.062447102861949, + -0.07302133738994597, + 0.797529697418213, + 1.0 + ], + [ + 0.27979934215545654, + 0.07120968401432037, + 0.11770758032798767, + 3.077443855004855, + -0.038873713463544846, + 0.8489930033683777, + 1.0 + ], + [ + 0.29557690024375916, + 0.07162383198738098, + 0.09848892688751221, + 3.0833146927231034, + 0.00022476386220660063, + 0.894336223602295, + 1.0 + ], + [ + 0.3055117428302765, + 0.07303960621356964, + 0.0808819904923439, + 3.0890368429296693, + 0.016712184995412827, + 0.9217805862426758, + 1.0 + ], + [ + 0.3182395100593567, + 0.07621999084949493, + 0.06709026545286179, + 3.1032111962609967, + 0.016811354085803032, + 0.9373160600662233, + 1.0 + ], + [ + 0.3221023976802826, + 0.0746883898973465, + 0.04881056770682335, + 3.1327644001045307, + 0.026876930147409436, + 0.926650643348694, + 1.0 + ], + [ + 0.32690882682800293, + 0.07192409038543701, + 0.03519168868660927, + 3.137070080852606, + 0.029313392937183377, + 0.9144513010978699, + 1.0 + ], + [ + 0.33268997073173523, + 0.07072088867425919, + 0.029994523152709007, + 3.1160092299156865, + 0.012680357322096823, + 0.9085546135902404, + 1.0 + ], + [ + 0.3345732092857361, + 0.06907053291797638, + 0.02593935653567314, + 3.1105002370947084, + 0.005149411503225565, + 0.8984094858169556, + 1.0 + ], + [ + 0.3339448571205139, + 0.07176066935062408, + 0.02588721364736557, + 3.1242686827951154, + -0.005951389204710723, + 0.8815178871154784, + 0.0 + ], + [ + 0.3347637355327606, + 0.07255125790834427, + 0.02590026706457138, + 3.1237742250138005, + -0.013516901060938837, + 0.857468843460083, + 0.0 + ], + [ + 0.33610668778419495, + 0.073109470307827, + 0.028318190947175026, + 3.1269208259233316, + -0.017770418897271156, + 0.8508342504501343, + 0.0 + ], + [ + 0.3346155881881714, + 0.07257825881242752, + 0.02986055612564087, + 3.130496180737861, + -0.010889474302530289, + 0.8470195531845093, + 0.0 + ], + [ + 0.33271607756614685, + 0.07289843261241913, + 0.04142746329307556, + 3.130149829322942, + -0.014477171935141088, + 0.8154513239860535, + 0.0 + ], + [ + 0.32752493023872375, + 0.06774779409170151, + 0.061901215463876724, + 3.11642902915413, + -0.029695678502321247, + 0.7405116558074951, + 0.0 + ], + [ + 0.3111485540866852, + 0.05207972973585129, + 0.08954733610153198, + 3.102958222972699, + -0.04024143144488335, + 0.6678745746612549, + 0.0 + ], + [ + 0.29076051712036133, + 0.04218568280339241, + 0.11106380820274353, + 3.074474299448081, + -0.05513212829828262, + 0.5704686045646667, + 0.0 + ], + [ + 0.2624000310897827, + 0.024318158626556396, + 0.12498693913221359, + 3.0708602016144475, + -0.07081296294927597, + 0.3803740441799163, + 0.0 + ], + [ + 0.24455173313617706, + 0.013516769744455814, + 0.12481674551963806, + 3.0617972408705434, + -0.08342147618532181, + 0.27234339714050293, + 0.0 + ], + [ + 0.2386418879032135, + 0.004484056495130062, + 0.11599691212177277, + 3.0679538195305547, + -0.07707326114177704, + 0.20428577065467834, + 0.0 + ], + [ + 0.23914991319179535, + -0.0028927051462233067, + 0.10897857695817947, + 3.0741929729753217, + -0.08280450850725174, + 0.1637408137321472, + 0.0 + ], + [ + 0.24746553599834442, + -0.009230398572981358, + 0.09058680385351181, + 3.0928189662569245, + -0.06644292920827866, + 0.12731343507766724, + 0.0 + ], + [ + 0.25404632091522217, + -0.015495756641030312, + 0.07493974268436432, + 3.1150947773181876, + -0.048906929790973656, + 0.09904424101114273, + 0.0 + ], + [ + 0.25914591550827026, + -0.02049626037478447, + 0.05897480994462967, + 3.1317230026521763, + -0.02652961574494839, + 0.06136257573962212, + 0.0 + ], + [ + 0.2636873722076416, + -0.026108557358384132, + 0.048069827258586884, + 3.1093011890822133, + -0.004725819919258356, + 0.02425275184214115, + 0.0 + ], + [ + 0.26092052459716797, + -0.033023711293935776, + 0.03969459980726242, + 3.0922395085268697, + 0.026976201683282856, + -0.026744553819298744, + 0.0 + ], + [ + 0.2613948881626129, + -0.03432523086667061, + 0.03967929258942604, + 3.09145279799635, + 0.030199501663446426, + -0.05924275889992713, + 0.0 + ], + [ + 0.26448094844818115, + -0.03329658880829811, + 0.041580308228731155, + 3.0993789752298078, + 0.023625019937753677, + -0.06899595260620117, + 1.0 + ], + [ + 0.26454779505729675, + -0.03232719376683235, + 0.04154224321246147, + 3.1058406104617795, + 0.024115895852446553, + -0.055199656635522835, + 1.0 + ], + [ + 0.264362096786499, + -0.03153335303068161, + 0.04152188077569008, + 3.1104879454993686, + 0.02520555071532726, + -0.0665973573923111, + 1.0 + ], + [ + 0.26603156328201294, + -0.03062591888010502, + 0.044204600155353546, + 3.1244504117691, + 0.02766652032732964, + -0.09479475021362305, + 1.0 + ], + [ + 0.2740698754787445, + -0.0309109166264534, + 0.06075682118535042, + 3.127751194993504, + -0.016999302431941032, + -0.10857007652521133, + 1.0 + ], + [ + 0.28482723236083984, + -0.03556308522820473, + 0.08734891563653946, + 3.108476059632846, + -0.09657598286867142, + -0.13474483788013458, + 1.0 + ], + [ + 0.2917849123477936, + -0.031218692660331726, + 0.113213911652565, + 3.108481289940425, + -0.14307914674282074, + -0.1596884727478027, + 1.0 + ], + [ + 0.2913331091403961, + -0.01911737583577633, + 0.14239315688610077, + 3.1268685722076377, + -0.18422567844390872, + -0.16251163184642792, + 1.0 + ], + [ + 0.2892385423183441, + -0.00890984944999218, + 0.16357281804084778, + -3.1260795361646494, + -0.20572972297668454, + -0.1803887039422989, + 1.0 + ], + [ + 0.285682737827301, + -0.005079861730337143, + 0.17232206463813782, + -3.113544125231453, + -0.2115275114774704, + -0.18047045171260834, + 1.0 + ], + [ + 0.28568771481513977, + -0.004868688061833382, + 0.17232395708560944, + -3.115073278667875, + -0.21177859604358676, + -0.1783808469772339, + 1.0 + ], + [ + 0.285682737827301, + -0.005079861730337143, + 0.17232206463813782, + -3.113544125231453, + -0.2115275114774704, + -0.18047045171260834, + 1.0 + ], + [ + 0.285444974899292, + -0.005077246576547623, + 0.1722707748413086, + -3.1138061342113694, + -0.21001511812210083, + -0.18042726814746857, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.05310845375061035, + 0.342884361743927, + 0.6700286269187927, + 0.8586209267377853, + 0.9096545279026031, + 0.910015806555748, + 0.9107357934117317, + 0.9128747060894966, + 0.9149821773171425, + 0.9149821773171425, + 0.9149821773171425, + 0.9149821773171425, + 0.9149821773171425, + 0.9149821773171425, + 0.9149821773171425, + 0.9153304174542427, + 0.9149821773171425, + 0.9153304174542427, + 0.8724956512451172, + 0.6935243904590607, + 0.3740283250808716, + 0.09757041931152344, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "436", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/436/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/46.json b/annotation/test/46.json new file mode 100644 index 0000000000000000000000000000000000000000..40afe32e3a7be5644eae5b0f8a8e54bf54968188 --- /dev/null +++ b/annotation/test/46.json @@ -0,0 +1,869 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Place the vessel near banana." + ], + "videos": [ + { + "video_path": "videos/test/46/rgb.mp4" + } + ], + "action": [ + [ + -6.880328891225194e-06, + 3.479784258463339e-05, + -0.0004820364753847985, + 0.000395911230753978, + 0.0014785706976917627, + -0.002966721152723426, + 1.0 + ], + [ + -0.0031405040522040355, + 0.0005905938464747044, + 0.010929230794870706, + -0.009614149406841839, + -0.03714380261589847, + -0.008484774775259756, + 1.0 + ], + [ + -0.0006012893598483272, + 0.011887481389410018, + 0.007169594425508347, + 0.007543097011083938, + -0.012629114074932463, + 0.011828096454644185, + 1.0 + ], + [ + -0.005763255406747451, + 0.01570461101567042, + 0.007734086206262455, + -0.004567271346191248, + -0.023692806967974146, + 0.025204696948167744, + 1.0 + ], + [ + -0.0010311591862283405, + 0.026689208182216654, + -0.006377183264819203, + 0.0022497967602033778, + 0.03855567487380635, + 0.07724686838980532, + 1.0 + ], + [ + 0.0017348820445500584, + 0.031045284988306283, + 0.012216179078360314, + 0.005847295673806733, + 0.03221275579212429, + 0.07674251976613133, + 1.0 + ], + [ + 0.005645678173284053, + 0.027841055422874898, + 0.007943477283385158, + 0.05027598858162377, + 0.09306754658113488, + 0.08351419142725729, + 1.0 + ], + [ + 0.0076709153651541425, + 0.013921166207731872, + 0.008570850611488446, + 0.06805562485395981, + 0.08177377820704357, + 0.06456258728114744, + 1.0 + ], + [ + 0.0011107216612598928, + 0.008100481750373761, + 0.006221146948358821, + 0.047848095596811614, + 0.031258529262671454, + 0.031721229785202525, + 1.0 + ], + [ + -0.010903546393501669, + 0.00338027169317736, + 0.010743286890763922, + -0.007444397054311862, + -0.01955899662154545, + -0.021050946457870257, + 1.0 + ], + [ + -0.013860819029127855, + 0.008143234566195711, + 0.013829879588433576, + -0.03882601194373245, + -0.043807186620512806, + -0.03374930446358839, + 1.0 + ], + [ + -0.016700996569168233, + -0.0009631341660673384, + 0.00945707330165281, + -0.04543441772435949, + -0.03476577696721673, + -0.0514673396949939, + 1.0 + ], + [ + -0.010626220851309093, + 0.0025304389341742907, + 0.014379885270683925, + -0.038893714945101375, + -0.03298939870417508, + -0.010133891349707954, + 1.0 + ], + [ + -0.0011732633265883596, + -0.0001221327336228558, + 0.008131555086905183, + -0.0012387247837904129, + -0.013699381168213667, + 0.016369873096213988, + 1.0 + ], + [ + 0.0007567531270678272, + -5.15768551317611e-05, + 0.0007131157501917084, + 7.397385560503263e-05, + -2.346521943216848e-06, + 0.001479734616223674, + 0.0 + ], + [ + 0.0029043787626756392, + 0.0001802917096630408, + -0.002517039646597907, + -0.0010300120854268907, + -0.0030315880020332867, + 0.003673610323577697, + 0.0 + ], + [ + 0.000437970075626205, + 0.00047913218318437935, + -0.00316680945296709, + -0.01284460161515957, + -0.021773885753108558, + 0.001638374389494394, + 0.0 + ], + [ + 0.0068829159248826885, + -0.003513459514949288, + -0.007990836468255703, + -0.025708044013364496, + -0.008861837526279006, + 0.007410698770052703, + 0.0 + ], + [ + -0.0031425458254219964, + -0.0003086729362787722, + 0.0034568066311909456, + -0.007524475969476522, + -0.03414547403239367, + -0.02966766686916523, + 0.0 + ], + [ + 0.0023477472113365458, + -0.0013264947818703837, + 0.0023563134462528776, + -0.003687466435426516, + 0.005783527508348689, + 0.004613766633331661, + 1.0 + ], + [ + 0.001084434433926498, + 0.0002802819966298972, + 0.00018391534890302013, + 0.0005642046509648123, + 0.004427387106113782, + -0.00767618422638142, + 1.0 + ], + [ + 0.0008059610173243391, + 0.0029277798962517427, + 0.0029774185872081843, + 0.00026109968714694686, + -0.00728601564342916, + 0.0065262651030898455, + 1.0 + ], + [ + 0.006252944475050714, + 0.004467649876021173, + -0.004635182882126012, + 0.004969164383438822, + 0.00529904263670106, + 0.005434323786135646, + 1.0 + ], + [ + 0.0009877084119263102, + 0.0006146095444424493, + -0.005192767369632283, + 0.0015068949717577677, + 0.008839336306733244, + 0.002209189887289059, + 1.0 + ], + [ + 0.003241241069243678, + -0.0005172859117593507, + -0.0026942051615521743, + 0.0019187875572385389, + 0.013727579956250012, + 0.014326607069638262, + 1.0 + ], + [ + 0.00218050335583942, + -0.002325506317660993, + -3.204787730359491e-05, + 0.014486373040619997, + 0.013941195761938759, + -0.012939916357149807, + 0.0 + ], + [ + -0.00038049160871243565, + -0.0015067488916242358, + -7.615014810591673e-06, + 0.009493017356015883, + -0.0024346552085167486, + 0.0036968068906499756, + 0.0 + ], + [ + 0.00016267694326083709, + -0.0002834686433803986, + -0.0006995153033473061, + 0.0019829588770508486, + -0.00019105944652290019, + 0.003878344224291456, + 0.0 + ], + [ + 0.0023145009476516895, + -0.0018691603527568274, + -0.005948450238397205, + -0.016895010716737997, + -0.009634890019836797, + -0.005338126140093165, + 0.0 + ], + [ + 0.01639854150976771, + -0.021346977311842364, + -0.015932736033781605, + -0.015794789036041455, + 0.04237379628334554, + -0.06220006886882979, + 0.0 + ], + [ + 0.017895814896379546, + -0.024157896061271094, + -0.014419691287844878, + 0.004006789628551379, + 0.036736408310775195, + -0.04041854516679106, + 0.0 + ], + [ + 0.011618741743900459, + -0.023409156445633062, + 0.00625100434402377, + 0.0035142229457200405, + -0.015087611092673897, + -0.03795806628133909, + 0.0 + ], + [ + 0.011641517615954633, + -0.02520997224897765, + 0.014699261993721374, + 0.007774315135610166, + -0.016528944449821587, + -0.03982863780202152, + 0.0 + ], + [ + 0.006987041959160532, + -0.017709426493504526, + 0.007897001632634406, + 0.0042621377524403575, + -0.013692917539229263, + -0.027789049125912842, + 0.0 + ], + [ + 0.0058323952510087665, + -0.016975040802518486, + 0.0006570728116838424, + 0.008879256870026499, + 0.006741636591073388, + -0.024050594896888156, + 0.0 + ], + [ + -0.0042165225855053555, + -0.004158185123876553, + 0.0014039440098754035, + -0.0064794614321417214, + -0.023789424579347407, + 0.006530234526700567, + 0.0 + ], + [ + -0.00808825520031196, + 0.00020992183647499245, + 0.003906380498884161, + -0.0016525902596533394, + -0.03621686039795512, + 0.023304394838608453, + 0.0 + ], + [ + -0.000779390582761414, + 0.004025403347905193, + -0.008346805288578167, + -0.021692900621855284, + 0.005039573974244062, + 0.0014792018009678058, + 1.0 + ], + [ + -0.002383756001985316, + 0.0041914408859329575, + -0.0316335652568618, + -0.0007272735096141797, + 0.009190317402438577, + 0.008002248948083124, + 1.0 + ], + [ + -0.0006226228432656614, + 0.0019170517591838017, + -0.030841982191229283, + 0.028098866783450496, + -0.022344772834841813, + -0.006679256164286228, + 1.0 + ], + [ + -0.004065166235554292, + 0.007569797795776781, + -0.016370793645295197, + 0.03902607606299603, + 0.012924006771334906, + 0.021718295711989424, + 1.0 + ], + [ + -0.00596905834621841, + 0.002654661931182489, + -0.0028604480756952897, + -0.02236702197585364, + -0.004290491835334234, + 0.04419214029156396, + 1.0 + ], + [ + -0.0006584734017370773, + 0.0006481179278738498, + -0.0038706208890667247, + -0.059712390332317594, + 0.014304515694704293, + 0.1301019107068147, + 1.0 + ], + [ + -8.215430946833868e-05, + -0.0002771940976107078, + -6.758425478424754e-05, + -0.0012111112440350302, + 0.0008398465680974872, + 0.004194209705253315, + 1.0 + ] + ], + "state": [ + [ + 0.2939665615558624, + 0.11308171600103378, + 0.1242581307888031, + 3.080996500449725, + -0.028239447623491287, + 0.13620340824127197, + 1.0 + ], + [ + 0.2939469814300537, + 0.1130734384059906, + 0.12474100291728973, + 3.0813064483278474, + -0.029535511508584026, + 0.139255553483963, + 1.0 + ], + [ + 0.2913294732570648, + 0.11144635826349258, + 0.1137792095541954, + 3.071467811363288, + 0.008052557706832886, + 0.1454818248748779, + 1.0 + ], + [ + 0.2924761176109314, + 0.09912177175283432, + 0.10746520757675171, + 3.0789088030629834, + 0.01982124336063862, + 0.13279631733894348, + 1.0 + ], + [ + 0.2887718677520752, + 0.08232516795396805, + 0.10084564238786697, + 3.0738177989893636, + 0.04188177734613418, + 0.10614027082920074, + 1.0 + ], + [ + 0.2908627986907959, + 0.056203629821538925, + 0.1090516671538353, + 3.073090413706847, + -0.0019279748667031524, + 0.031746309250593185, + 1.0 + ], + [ + 0.2936258316040039, + 0.024466685950756073, + 0.09899251163005829, + 3.0792351608448705, + -0.03930804878473282, + -0.04262280091643334, + 1.0 + ], + [ + 0.2983000874519348, + -0.004040332045406103, + 0.09302609413862228, + 3.1325018099793276, + -0.13727502524852755, + -0.12053722888231279, + 1.0 + ], + [ + 0.3053075671195984, + -0.0189899280667305, + 0.08571130782365799, + -3.0736984481387815, + -0.2193475067615509, + -0.18570050597190857, + 1.0 + ], + [ + 0.30640363693237305, + -0.02698960155248642, + 0.07935851067304611, + -3.0182771404557904, + -0.24825447797775269, + -0.22052255272865295, + 1.0 + ], + [ + 0.2983015477657318, + -0.027256973087787628, + 0.06594149023294449, + -3.0316119362884244, + -0.23136460781097415, + -0.19659145176410675, + 1.0 + ], + [ + 0.2870778441429138, + -0.03172685205936432, + 0.04851309955120087, + -3.079369282471486, + -0.19135388731956482, + -0.15755566954612735, + 1.0 + ], + [ + 0.27288952469825745, + -0.027903946116566658, + 0.036129072308540344, + -3.1351618996174118, + -0.15957845747470856, + -0.10336551815271378, + 1.0 + ], + [ + 0.26447808742523193, + -0.02948237955570221, + 0.020227592438459396, + 3.107475621747323, + -0.12664633989334106, + -0.09294174611568452, + 1.0 + ], + [ + 0.26432740688323975, + -0.029624316841363907, + 0.012013531289994717, + 3.1083776523643216, + -0.11349529027938843, + -0.10987686365842819, + 1.0 + ], + [ + 0.2651582360267639, + -0.02968793921172619, + 0.011389396153390408, + 3.1086202469938478, + -0.11354196071624757, + -0.11136544495820999, + 0.0 + ], + [ + 0.26773130893707275, + -0.0300735030323267, + 0.014223835431039333, + 3.108020255463668, + -0.11063231527805328, + -0.11516018211841583, + 0.0 + ], + [ + 0.26777201890945435, + -0.030453260987997055, + 0.017433850094676018, + 3.0954303127997598, + -0.08892538398504256, + -0.11753744632005692, + 0.0 + ], + [ + 0.2743455469608307, + -0.027324067428708076, + 0.025834402069449425, + 3.0704178531938275, + -0.08041223883628847, + -0.1253742277622223, + 0.0 + ], + [ + 0.27152204513549805, + -0.02690565399825573, + 0.0221231821924448, + 3.060694256918975, + -0.04421403631567955, + -0.09820114076137543, + 0.0 + ], + [ + 0.2740751802921295, + -0.02601996250450611, + 0.01977355033159256, + 3.0571889599137982, + -0.050351109355688095, + -0.10233761370182037, + 1.0 + ], + [ + 0.2751304507255554, + -0.026424674317240715, + 0.0196687001734972, + 3.057350719469138, + -0.05411399155855178, + -0.09430381655693054, + 1.0 + ], + [ + 0.2757798433303833, + -0.029668159782886505, + 0.016995765268802643, + 3.05799704243476, + -0.0474015735089779, + -0.10142783820629121, + 1.0 + ], + [ + 0.28134673833847046, + -0.034320760518312454, + 0.02227848395705223, + 3.063202032940932, + -0.053135279566049576, + -0.10640767216682433, + 1.0 + ], + [ + 0.2820296585559845, + -0.03460095077753067, + 0.027548518031835556, + 3.064786309497901, + -0.06212041154503822, + -0.10792070627212526, + 1.0 + ], + [ + 0.2851603031158447, + -0.034213412553071976, + 0.030391201376914978, + 3.0675283839278897, + -0.07690133154392242, + -0.12118954956531523, + 1.0 + ], + [ + 0.2876097559928894, + -0.03217306733131409, + 0.030419014394283295, + 3.080939808981963, + -0.08983933925628663, + -0.10719827562570572, + 0.0 + ], + [ + 0.287401407957077, + -0.030637521296739578, + 0.03030148334801197, + 3.0907787216180047, + -0.08763258159160614, + -0.11105063557624817, + 0.0 + ], + [ + 0.2875382602214813, + -0.03033217415213585, + 0.03099730983376503, + 3.093103217082568, + -0.08763809502124786, + -0.11494863778352737, + 0.0 + ], + [ + 0.28956714272499084, + -0.028396818786859512, + 0.037028294056653976, + 3.075779440002986, + -0.07775475084781647, + -0.11006929725408553, + 0.0 + ], + [ + 0.3071530759334564, + -0.007855688221752644, + 0.052752625197172165, + 3.054996485012122, + -0.11578486859798431, + -0.04483089968562126, + 0.0 + ], + [ + 0.32462888956069946, + 0.016700293868780136, + 0.06701415777206421, + 3.0539533292227468, + -0.14877887070178986, + -0.0009264194522984326, + 0.0 + ], + [ + 0.33736711740493774, + 0.0394606851041317, + 0.06055188551545143, + 3.0520616342597684, + -0.13032799959182742, + 0.03587237372994423, + 0.0 + ], + [ + 0.3502432703971863, + 0.0637328177690506, + 0.04531363770365715, + 3.0548966025286397, + -0.1102096289396286, + 0.07429024577140808, + 0.0 + ], + [ + 0.3569411337375641, + 0.08123736083507538, + 0.03673839569091797, + 3.0562539045983037, + -0.0941234454512596, + 0.10090409964323044, + 0.0 + ], + [ + 0.36121660470962524, + 0.0986136868596077, + 0.03519430011510849, + 3.0628397559099874, + -0.09876237064599991, + 0.12556158006191254, + 0.0 + ], + [ + 0.3567172884941101, + 0.10211262106895447, + 0.033060234040021896, + 3.0571695511513433, + -0.07555695623159407, + 0.11715802550315857, + 0.0 + ], + [ + 0.3490608334541321, + 0.10066919028759003, + 0.028585979714989662, + 3.0574755539470395, + -0.041407912969589226, + 0.09087516367435454, + 0.0 + ], + [ + 0.3482288718223572, + 0.09726977348327637, + 0.03720179572701454, + 3.035825165110179, + -0.046553924679756165, + 0.08982348442077638, + 1.0 + ], + [ + 0.3444530963897705, + 0.0960979014635086, + 0.06895558536052704, + 3.035421686368533, + -0.056536540389060974, + 0.08282534778118134, + 1.0 + ], + [ + 0.3419824540615082, + 0.09725960344076157, + 0.09974254667758942, + 3.0632533078366, + -0.0336092822253704, + 0.08709999918937683, + 1.0 + ], + [ + 0.33791384100914, + 0.09061507135629654, + 0.11650938540697098, + 3.102983886497565, + -0.04818602651357651, + 0.06643776595592499, + 1.0 + ], + [ + 0.3319913446903229, + 0.087673120200634, + 0.11917921900749207, + 3.082790972786494, + -0.04555659368634224, + 0.022067150101065636, + 1.0 + ], + [ + 0.3311653137207031, + 0.08723525702953339, + 0.12304720282554626, + 3.029435897367545, + -0.06708168983459473, + -0.1072400137782097, + 1.0 + ], + [ + 0.33111169934272766, + 0.08752568066120148, + 0.12307775020599365, + 3.0284993966394147, + -0.06838512420654295, + -0.11132341623306274, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.06011873483657837, + 0.3539353609085083, + 0.63975989818573, + 0.8329267799854279, + 0.9135806486010551, + 0.8838039562106133, + 0.6981079280376434, + 0.40510207414627075, + 0.10349345207214355, + 0.0, + 0.0, + 0.055433034896850586, + 0.34188002347946167, + 0.6430989503860474, + 0.8453545719385147, + 0.9247331991791725, + 0.9325748234987259, + 0.9343810677528381, + 0.9367445036768913, + 0.9379071295261383, + 0.9379071295261383, + 0.9379071295261383, + 0.9379071295261383, + 0.9114522784948349, + 0.7396844625473022, + 0.4860273003578186, + 0.17945623397827148, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "46", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/46/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/462.json b/annotation/test/462.json new file mode 100644 index 0000000000000000000000000000000000000000..1b21e58535a6349c910d395f9dd9e5b668eb0528 --- /dev/null +++ b/annotation/test/462.json @@ -0,0 +1,451 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put green squash into pot or pan" + ], + "videos": [ + { + "video_path": "videos/test/462/rgb.mp4" + } + ], + "action": [ + [ + -0.0009231106864116854, + 0.0005073926126354362, + 0.002438002504409311, + -0.0008674347109689904, + -0.00916077789341628, + 1.6608681125823492e-05, + 1.0 + ], + [ + -0.004455380623585774, + 0.0035708307819983, + 0.009982570437576667, + -0.023546349901536746, + -0.009103541961431833, + 0.0018715099712141008, + 1.0 + ], + [ + -0.00386094678880976, + -0.002974089082606732, + 0.011610268529800231, + -0.03539835374402249, + -0.0034399884960476966, + -0.027528072852957622, + 1.0 + ], + [ + -0.00015557039544471826, + 0.0023106383634343476, + 0.009592958068480754, + -0.028576624625673116, + -0.006948282919778441, + -0.008522459632423016, + 1.0 + ], + [ + -0.0006825455724536147, + -0.0036102480625396856, + 0.008380125682263468, + -0.01273696350205376, + -0.013298341848328456, + -0.01882522495490857, + 1.0 + ], + [ + -0.00042024415834119975, + -0.0018704924289637854, + 0.009610853254512495, + -0.025381763864693808, + -0.00790500816450076, + -0.029855686228249727, + 1.0 + ], + [ + -0.001291836874311933, + -4.7284576986652226e-05, + 0.005709099311427626, + -0.019335918226467075, + -0.0002713633783397837, + -0.0315302728863844, + 1.0 + ], + [ + -0.0005767749132895678, + 0.00010089048542358039, + 0.006898797155425462, + -0.02982217894899903, + 0.018572227549864234, + -0.02355625866388544, + 0.0 + ], + [ + 0.0009181650325987107, + -0.0019971634611472976, + -0.0002012271842585786, + -0.012789738602227738, + 0.0240845103211672, + -0.030047616702914, + 0.0 + ], + [ + 0.003542423585962608, + -0.002314079168317169, + -0.006261971004251545, + 0.03945552611517456, + -0.0512671384500168, + 0.011737168007511085, + 0.0 + ], + [ + 0.010622829258844836, + 0.0001787794543917667, + -0.017496588806290125, + 0.08459909239659034, + -0.017546105572563062, + 0.03382139761642621, + 0.0 + ], + [ + 0.005330440025326792, + 0.00698651964200513, + -0.026288731319834526, + 0.09146307643052565, + 0.028961070106356932, + 0.04943872109754441, + 0.0 + ], + [ + -0.006970017842362676, + 0.010139252169496958, + -0.029807521511089563, + 0.07446364133808371, + 0.022773369329643356, + -0.01110062646149205, + 0.0 + ], + [ + -0.01627255295367325, + 0.0009807993540794293, + -0.03580276645764533, + 0.072602324086504, + 0.06458736823918088, + -0.06534721175862944, + 0.0 + ], + [ + -0.022003250683002462, + -0.004849614367143222, + -0.020410644908701158, + 0.04956409642688857, + 0.023285059767143543, + -0.06437099516865591, + 0.0 + ], + [ + -0.03095991562647272, + -0.01079286712183748, + -0.004312771765503115, + 0.007659591710647492, + 0.014054184382752811, + -0.08906272036066488, + 0.0 + ], + [ + -0.024444926871859812, + -0.009507105412116535, + 0.008276699638727493, + -0.017599322843183017, + 0.022112100758855235, + -0.05054399890515144, + 0.0 + ], + [ + -0.013192920714459596, + -0.004530984141215545, + 0.010984781364292533, + -0.04514464587922804, + 0.02288558870789167, + -0.02726937598863649, + 0.0 + ], + [ + 0.0029551351795664973, + -0.0008285981666842086, + 0.007750875117139759, + -0.03992980676017615, + 0.009047406047124727, + 0.015338323251852, + 1.0 + ], + [ + 0.002862999437604483, + 0.0023398877454150428, + 0.005034867134121127, + -0.025854654533429434, + -0.011091086445813487, + 0.029866333101318716, + 1.0 + ], + [ + 0.0007981953531230729, + 0.0004126657919396651, + 0.0033552983667153404, + -0.001114299101112657, + -0.011971417477596188, + 0.025078577149303317, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.4735699817071557e-17, + -4.249573469003934e-19, + 1.2477328236554158e-17, + 1.0 + ] + ], + "state": [ + [ + 0.2839851379394531, + 0.023359693586826324, + 0.14415904879570007, + -3.125179875763603, + -0.18648248910903928, + 0.013721864670515059, + 1.0 + ], + [ + 0.28353798389434814, + 0.022886201739311218, + 0.14158430695533752, + -3.1260718136378607, + -0.1773226708173752, + 0.013857734389603138, + 1.0 + ], + [ + 0.2809704840183258, + 0.019434822723269463, + 0.13091899454593658, + 3.133877292862632, + -0.16819091141223907, + 0.01210305467247963, + 1.0 + ], + [ + 0.27907657623291016, + 0.022296534851193428, + 0.1188039556145668, + 3.0938158092373094, + -0.16447450220584872, + 0.03997990116477012, + 1.0 + ], + [ + 0.28058338165283203, + 0.019588448107242584, + 0.10943464934825897, + 3.0638834481411656, + -0.15712158381938934, + 0.04826261103153229, + 1.0 + ], + [ + 0.28111737966537476, + 0.022566473111510277, + 0.10079911351203918, + 3.0483483393960675, + -0.14237716794013977, + 0.06617815047502518, + 1.0 + ], + [ + 0.2820178270339966, + 0.02359578013420105, + 0.09109480679035187, + 3.018853971856185, + -0.131666898727417, + 0.09542001038789749, + 1.0 + ], + [ + 0.28154638409614563, + 0.022895637899637222, + 0.08530236035585403, + 2.9954413791471204, + -0.12747326493263245, + 0.12693555653095245, + 1.0 + ], + [ + 0.2819775640964508, + 0.021837210282683372, + 0.07847373932600021, + 2.9623036553436, + -0.1423739343881607, + 0.1532078683376312, + 0.0 + ], + [ + 0.2825925946235657, + 0.023956933990120888, + 0.07844746857881546, + 2.9446990360789975, + -0.16063271462917328, + 0.18750354647636414, + 0.0 + ], + [ + 0.2844828963279724, + 0.02787228487432003, + 0.0846291184425354, + 2.9874063452058515, + -0.11261540651321413, + 0.16584497690200806, + 0.0 + ], + [ + 0.2925598919391632, + 0.03176955506205559, + 0.10302967578172684, + 3.076160894828387, + -0.1003967747092247, + 0.12955111265182495, + 0.0 + ], + [ + 0.29584503173828125, + 0.026900477707386017, + 0.13011883199214935, + -3.1107199267768344, + -0.13241353631019592, + 0.08171548694372176, + 0.0 + ], + [ + 0.2859821915626526, + 0.01500120759010315, + 0.1584208756685257, + -3.0376387407355985, + -0.15551148355007172, + 0.09223191440105438, + 0.0 + ], + [ + 0.2649300992488861, + 0.008343343622982502, + 0.1909797191619873, + -2.974256144958087, + -0.22625781595706942, + 0.15190267562866214, + 0.0 + ], + [ + 0.23888345062732697, + 0.005754521582275629, + 0.2064434289932251, + -2.9387724121385297, + -0.25952109694480896, + 0.2135372459888458, + 0.0 + ], + [ + 0.20597904920578003, + 0.008547832258045673, + 0.20468270778656006, + -2.9544107635789594, + -0.2902531623840332, + 0.3016127645969391, + 0.0 + ], + [ + 0.18212038278579712, + 0.01252097450196743, + 0.19158990681171417, + -2.9858945180946073, + -0.3210690319538116, + 0.3495955467224121, + 0.0 + ], + [ + 0.17125144600868225, + 0.015135928057134151, + 0.17779582738876343, + -3.038892338173934, + -0.3478142619132996, + 0.37446787953376776, + 0.0 + ], + [ + 0.17566382884979248, + 0.018609434366226196, + 0.17163456976413727, + -3.0729478319459638, + -0.35519397258758545, + 0.35720574855804443, + 1.0 + ], + [ + 0.1805630475282669, + 0.01831485889852047, + 0.16777029633522034, + -3.088110303627797, + -0.3419251441955567, + 0.32638815045356756, + 1.0 + ], + [ + 0.18242107331752777, + 0.018698107451200485, + 0.16486060619354248, + -3.080592794465371, + -0.3285248875617981, + 0.3006083667278289, + 1.0 + ], + [ + 0.18242107331752777, + 0.018698107451200485, + 0.16486060619354248, + -3.080592794465371, + -0.3285248875617981, + 0.3006083667278289, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.14553707838058472, + 0.18319201469421387, + 0.18319201469421387, + 0.18319201469421387, + 0.1850646734237671, + 0.18787932395935059, + 0.18787932395935059, + 0.18787932395935059, + 0.18787932395935059, + 0.18787932395935059, + 0.18787932395935059, + 0.021171987056732178, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "462", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/462/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/471.json b/annotation/test/471.json new file mode 100644 index 0000000000000000000000000000000000000000..b9bd88a63fa6c8f4d6249391074238f1b6e62259 --- /dev/null +++ b/annotation/test/471.json @@ -0,0 +1,584 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Hold steel pan from top of the blue cloth which is place in left side of the table and place it on center of the table." + ], + "videos": [ + { + "video_path": "videos/test/471/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -1.8487419268390258e-10, + -2.649272597891545e-09, + -0.001533983499335516, + 1.0 + ], + [ + -0.001231751965949463, + 0.00013243263387197052, + 0.007015188313644451, + -0.005442310135512465, + -0.022350194936030115, + 0.0009806737584370571, + 1.0 + ], + [ + 0.007140631300245364, + -0.0020877668780227994, + 0.0285467429605562, + -0.010189432499436603, + -0.04489385934558398, + -0.005158812676771375, + 1.0 + ], + [ + 0.01627204977268018, + -0.0016826511609220618, + 0.017188373482151693, + 0.01465505450165563, + -0.011820068373455984, + 0.01223755556930731, + 1.0 + ], + [ + 0.014228707968680303, + -0.0004957997274651712, + 0.016845160702003734, + 0.01879478095990885, + -0.019942365886999512, + 0.014700151601286118, + 1.0 + ], + [ + 0.011384767579602113, + 0.0001382848507652723, + 0.006269904016544009, + 0.019305474786892162, + -0.006891763038034596, + 0.025637443188314336, + 1.0 + ], + [ + 0.0004434862464317703, + 0.0007804734808928114, + 0.008177232397699716, + -0.0036251007219190454, + -0.013244975035731334, + 0.014866676889011358, + 1.0 + ], + [ + 0.0019006261533655836, + -0.00041762017622455416, + -1.194100652176557e-05, + 0.0026337790750574665, + 0.011985933699999023, + 1.5788923478881525e-05, + 1.0 + ], + [ + -0.001393668276452843, + -0.00044573110321833264, + 0.0011122562052899472, + 0.0035901875787235408, + -0.007011825907564221, + -0.008647621866047452, + 0.0 + ], + [ + -0.0012271967936261707, + -0.0019767333412032333, + 0.00013545043399650463, + 0.013339034415381222, + -0.004260071484895791, + 0.00030719275497690025, + 0.0 + ], + [ + -0.0033432486909533987, + 0.0008312501444010941, + -0.0006067439929385917, + 0.003545267905881998, + -0.022302851467218946, + 0.00492793452532677, + 0.0 + ], + [ + -0.00777220370221211, + 0.0007262813841918665, + -0.021882114055364565, + -0.005782888876859613, + 0.011695852991287899, + -0.0030420301631576075, + 0.0 + ], + [ + -0.013876084984350468, + 0.0006064758982963444, + -0.03924056692097293, + -0.008320408211968678, + 0.018171268076811815, + -0.019216115212536574, + 0.0 + ], + [ + 0.005884807757678514, + 0.01465178713885393, + -0.029002292885495155, + -0.0032420796763209837, + 0.037313609593539514, + 0.027873950501187253, + 0.0 + ], + [ + 0.027559112077759657, + 0.04138627075506732, + -0.00037646977037946307, + -0.026336770390284796, + 0.02879671268777497, + 0.11921881055143008, + 0.0 + ], + [ + 0.03060375514690571, + 0.03586308678858032, + 0.01831963196633773, + -0.011080767354426558, + -0.022853130685931033, + 0.1091853371109454, + 0.0 + ], + [ + 0.022945973192913326, + 0.017939671958658913, + 0.015749809273010732, + 0.018530214439255552, + -0.006911678125741211, + 0.06305411749481002, + 0.0 + ], + [ + 0.0030345990078238833, + 0.009005118009220063, + 0.021350857925380794, + -0.008233678540851316, + -0.05066160913285898, + 0.030125492457617774, + 0.0 + ], + [ + -0.0022567882284501546, + 0.0003582531914867217, + 0.009908149181361839, + 0.00256443312170548, + 0.0011618182396838275, + 0.0009320084472389895, + 0.0 + ], + [ + -0.007890922385412237, + -1.9111761098328862e-05, + 0.012698514854915145, + -0.0047961475326288305, + -0.013347040678212563, + 0.010543147204513546, + 0.0 + ], + [ + -0.002988378255468588, + -0.0005263834540285802, + 0.008416481316666053, + -0.016871153125235936, + 0.011107031958643642, + 0.021302638539380515, + 0.0 + ], + [ + 0.005192012964273776, + 0.00616654072709434, + -0.026805330553734148, + -0.026775443408293343, + 0.08923299337039825, + 0.021014881642720567, + 1.0 + ], + [ + -0.001956412734072879, + 0.0011223127021273138, + -0.03793239567633958, + -0.03971907001427968, + 0.08003169133808001, + -0.012902152076565115, + 1.0 + ], + [ + -0.022335401041484394, + -0.018344266001143257, + -0.057638107184651975, + 0.027444966092123706, + 0.046881697953127355, + -0.12477359624695526, + 1.0 + ], + [ + -0.03858089886534385, + -0.02466154806242583, + -0.04055358625025098, + 0.10056494857288091, + -0.019259879611355533, + -0.16516300968855424, + 1.0 + ], + [ + -0.04427822208019345, + -0.024507736421007016, + -0.008806153211425107, + 0.02371154933435793, + -0.01672477745723824, + -0.10037443026291439, + 1.0 + ], + [ + -0.020914104787028435, + -0.004299690745778047, + -0.0005510120022412896, + -0.02230829009791725, + 0.0003211365219047802, + -0.010353812271380429, + 1.0 + ], + [ + -0.006240908374008197, + -0.002760234180690357, + 0.0022803373280633438, + -0.017177983996861674, + -0.005073166117617681, + 0.007664530107846553, + 1.0 + ], + [ + -0.0002980813776851456, + -0.000577821358317232, + 0.0003653036961613911, + 0.005053913009395622, + -0.004336357157631583, + 0.003957251893630358, + 1.0 + ] + ], + "state": [ + [ + 0.2592541575431824, + 0.043447673320770264, + 0.126726895570755, + -3.13817199238623, + -0.10671015828847885, + -0.06311848014593124, + 1.0 + ], + [ + 0.2592541575431824, + 0.043447673320770264, + 0.126726895570755, + -3.1383363114488354, + -0.10671527683734892, + -0.06157572939991951, + 1.0 + ], + [ + 0.25877082347869873, + 0.04336767643690109, + 0.11962002515792847, + 3.1395045433943203, + -0.0843619629740715, + -0.062486618757247925, + 1.0 + ], + [ + 0.2683998942375183, + 0.044797323644161224, + 0.09177220612764359, + 3.128885914693125, + -0.03945634886622429, + -0.057422786951065063, + 1.0 + ], + [ + 0.28539419174194336, + 0.04528691992163658, + 0.07521910220384598, + -3.1391554652997335, + -0.027789698913693428, + -0.06981348246335983, + 1.0 + ], + [ + 0.3000870943069458, + 0.04479765146970749, + 0.058777064085006714, + -3.119953354942151, + -0.007808584719896317, + -0.08446250855922699, + 1.0 + ], + [ + 0.31147950887680054, + 0.04383052885532379, + 0.05259472504258156, + -3.1004554351144513, + -0.0003612268774304539, + -0.1099441722035408, + 1.0 + ], + [ + 0.3118745982646942, + 0.04334070160984993, + 0.04439247399568558, + -3.1040759702497205, + 0.013483960181474686, + -0.12425351887941362, + 1.0 + ], + [ + 0.3138124346733093, + 0.0435187891125679, + 0.044394440948963165, + -3.101445773737975, + 0.0015070517547428608, + -0.1247188523411751, + 1.0 + ], + [ + 0.3124889135360718, + 0.044178567826747894, + 0.043303072452545166, + -3.097842751192399, + 0.008166090585291386, + -0.11579667776823044, + 0.0 + ], + [ + 0.3114984333515167, + 0.0462878979742527, + 0.043264228850603104, + -3.0845043045752725, + 0.012435520999133587, + -0.11591726541519165, + 0.0 + ], + [ + 0.30808478593826294, + 0.04581502452492714, + 0.043864086270332336, + -3.080990580963441, + 0.03498312458395958, + -0.11956573277711867, + 0.0 + ], + [ + 0.3008852005004883, + 0.044614993035793304, + 0.06592054665088654, + -3.086688036220618, + 0.023124407976865772, + -0.11723721772432329, + 0.0 + ], + [ + 0.2876843214035034, + 0.043391719460487366, + 0.10537908226251602, + -3.0945878868275365, + 0.003922231961041689, + -0.09905039519071578, + 0.0 + ], + [ + 0.29206857085227966, + 0.026878882199525833, + 0.13363759219646454, + -3.097933942573615, + -0.03204233944416046, + -0.12864294648170468, + 0.0 + ], + [ + 0.3141249418258667, + -0.01768217235803604, + 0.1330910474061966, + -3.1207163521372756, + -0.05538896098732948, + -0.2491494119167328, + 0.0 + ], + [ + 0.33601418137550354, + -0.059854649007320404, + 0.115750253200531, + -3.125907005863734, + -0.02993934601545334, + -0.35785129666328425, + 0.0 + ], + [ + 0.35175007581710815, + -0.08462599664926529, + 0.10041506588459015, + -3.105524217831441, + -0.021980883553624153, + -0.4208027422428131, + 0.0 + ], + [ + 0.35159221291542053, + -0.09357121586799622, + 0.07882529497146606, + -3.113104263442107, + 0.02974273450672627, + -0.44905561208724976, + 0.0 + ], + [ + 0.3492615222930908, + -0.09253230690956116, + 0.06898245960474014, + -3.1105685253911695, + 0.028607921674847603, + -0.45002073049545294, + 0.0 + ], + [ + 0.3420118987560272, + -0.08857148885726929, + 0.05652155354619026, + -3.1156533417576036, + 0.042274106293916695, + -0.46015289425849915, + 0.0 + ], + [ + 0.33934929966926575, + -0.08642087131738663, + 0.048255354166030884, + -3.1334414772042116, + 0.03171343356370925, + -0.4817460477352142, + 0.0 + ], + [ + 0.3417415916919708, + -0.09487646818161011, + 0.07483144849538803, + 3.1223084927820643, + -0.057352785021066666, + -0.5034388303756714, + 1.0 + ], + [ + 0.33793696761131287, + -0.09322696179151535, + 0.11260389536619186, + 3.081693621473857, + -0.13711476325988772, + -0.48890218138694763, + 1.0 + ], + [ + 0.3218134641647339, + -0.06000011786818504, + 0.16545787453651428, + 3.091929232823201, + -0.17534044384956363, + -0.3596709370613098, + 1.0 + ], + [ + 0.28921929001808167, + -0.0192780289798975, + 0.19740474224090576, + -3.118825651826807, + -0.1455758512020111, + -0.19394451379776, + 1.0 + ], + [ + 0.2495817393064499, + 0.013272535987198353, + 0.20024441182613373, + -3.1099388283961495, + -0.13039502501487732, + -0.09236229956150056, + 1.0 + ], + [ + 0.22923940420150757, + 0.019455181434750557, + 0.19820602238178253, + -3.133604676584252, + -0.1310366690158844, + -0.08193443715572356, + 1.0 + ], + [ + 0.22359421849250793, + 0.022706467658281326, + 0.19515171647071838, + 3.133406590791889, + -0.125898614525795, + -0.08961892127990724, + 1.0 + ], + [ + 0.2233974039554596, + 0.02330128103494644, + 0.194747194647789, + 3.13896555791656, + -0.12159378826618193, + -0.09364119917154312, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0018453598022460938, + 0.061691224575042725, + 0.35594499111175537, + 0.6619860827922821, + 0.8586209267377853, + 0.9149821773171425, + 0.9177437350153923, + 0.926342710852623, + 0.927931509912014, + 0.9282467439770699, + 0.9282467439770699, + 0.928561195731163, + 0.928561195731163, + 0.9288748651742935, + 0.8980106115341187, + 0.7226157188415527, + 0.4419218897819519, + 0.13836663961410522, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "471", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/471/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/476.json b/annotation/test/476.json new file mode 100644 index 0000000000000000000000000000000000000000..bd47197bb553b09eb3e29111087c7d6f560fff58 --- /dev/null +++ b/annotation/test/476.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put knife on cutting board" + ], + "videos": [ + { + "video_path": "videos/test/476/rgb.mp4" + } + ], + "action": [ + [ + -0.001381273696031497, + -0.0005063513043176189, + 0.0013124064023156178, + 0.0030787018857601446, + -0.005478352628803115, + 0.0007073105034101019, + 1.0 + ], + [ + -0.005195839116274124, + -0.0022612441936739284, + 0.011022056072580956, + 0.028904508362980152, + -0.02202149844629447, + -0.02179142788435128, + 1.0 + ], + [ + -0.0038965263257105085, + 0.00023117001996316325, + 0.01165655968273107, + 0.016165907526455817, + -0.015573899403888808, + -0.014430329035642418, + 1.0 + ], + [ + 0.002578441451305655, + 1.8532363939162035e-05, + 0.009803357819478296, + -0.006531710752152238, + -0.0069859694947576306, + -7.334431310591848e-05, + 1.0 + ], + [ + 0.00022642381759018792, + -0.0013486444997304072, + 0.01035130224003914, + -0.011018634888130504, + -0.02441281913548265, + -0.005412928451182831, + 1.0 + ], + [ + -0.00347344759332887, + -0.001212537600983352, + 0.010747791161351834, + -0.002760907848722098, + -0.04043824716843306, + -0.017936750188614813, + 1.0 + ], + [ + -0.003844646382789056, + 0.0002602524224996048, + 0.0107228746274027, + -0.01484830444396804, + -0.030200801346902905, + -0.023070025717253393, + 1.0 + ], + [ + -0.0023996479062787647, + 0.0021546063203012594, + 0.006534755971375413, + -0.02232459146962769, + -0.013000856039229163, + -0.029087640959474668, + 1.0 + ], + [ + -0.0017309619092127917, + 0.000869648063304108, + 0.0012664392131446218, + -0.010680542361671149, + 0.007694645448176467, + -0.04252694073343722, + 1.0 + ], + [ + -0.003537566287255816, + 0.0013536545927119769, + -0.0019633172096865867, + 0.000456643763879642, + 0.00789579848139856, + -0.02303609073397762, + 0.0 + ], + [ + -0.01340142833962429, + -0.0010610306215031837, + -0.009013769061472129, + 0.06785850855566537, + 0.015056028413806955, + -0.03734387815166579, + 0.0 + ], + [ + 0.0014923321289928729, + 0.008700231247199437, + -0.024980065214066947, + 0.03844987562605029, + 0.06264038566241707, + -0.0564907637367707, + 0.0 + ], + [ + 0.004406318669132456, + 0.0070608966501871364, + -0.021048469462773833, + 0.027022838292696427, + 0.05582812326115833, + -0.05745131872457391, + 0.0 + ], + [ + 0.010967507896223954, + 0.00011777560737305508, + -0.014992758603731582, + 0.012007809914253433, + 0.06106916659112298, + -0.08197284608656522, + 0.0 + ], + [ + 0.023424834409311462, + 0.0003350989350712362, + -0.011717356507709394, + 0.004561537077370745, + 0.077739851028226, + -0.08517035686391282, + 0.0 + ], + [ + 0.028466196425085907, + 0.0004289169907649079, + -0.004868756716945006, + -0.013785275152071317, + 0.06094688507041467, + -0.07738748390997797, + 0.0 + ], + [ + 0.023385647616882374, + -0.0028441818545118236, + 0.006756281774508135, + -0.0071191372364088, + 0.017617334880239623, + -0.09072233980594278, + 0.0 + ], + [ + 0.01981115308206304, + -0.00841649958829391, + 0.012145399029404773, + -0.007666246961643729, + -0.004319510756093993, + -0.1158648511831924, + 0.0 + ], + [ + 0.017547147129561954, + -0.001513998245270917, + 0.015209471805829268, + -0.03283869714701354, + -0.012070749764654668, + -0.08319278551781406, + 0.0 + ], + [ + 0.015774934780360465, + -0.003070197241061624, + 0.016936440792469608, + -0.041912651995704056, + -0.008705637263711392, + -0.03355020442599959, + 0.0 + ], + [ + 0.012392569950339103, + -0.003168492134120776, + 0.01431904170100431, + -0.023171902589504724, + -0.003830444796452648, + -0.01961431413391868, + 0.0 + ], + [ + 0.006116852316426989, + -0.0013890421500451836, + 0.009258117139261246, + -0.039066300119863034, + -0.016185155495129434, + -0.0017026454604601015, + 0.0 + ], + [ + 0.0013282381036417606, + 0.001027319664524694, + 0.0012323198462539603, + -0.02780254926934832, + -0.006606899044821997, + 0.0076411659324197734, + 1.0 + ] + ], + "state": [ + [ + 0.22695203125476837, + -0.08636432886123657, + 0.13532297313213348, + -3.105860361950942, + -0.32245528697967535, + 0.22284309566020963, + 1.0 + ], + [ + 0.2259519100189209, + -0.08602403104305267, + 0.13365843892097473, + -3.102610657113143, + -0.3169551193714142, + 0.22230516374111173, + 1.0 + ], + [ + 0.22386491298675537, + -0.08373885601758957, + 0.12165768444538116, + -3.081080349283763, + -0.2957161068916321, + 0.24596007168293, + 1.0 + ], + [ + 0.2234269380569458, + -0.08335990458726883, + 0.10937858372926712, + -3.0695687626772603, + -0.28100764751434326, + 0.2619306147098541, + 1.0 + ], + [ + 0.22826138138771057, + -0.081352598965168, + 0.10069794952869415, + -3.0762646218114575, + -0.27404502034187317, + 0.26252880692481995, + 1.0 + ], + [ + 0.23062384128570557, + -0.07862449437379837, + 0.09090020507574081, + -3.0892192405932626, + -0.25003081560134893, + 0.26974660158157354, + 1.0 + ], + [ + 0.22945202887058258, + -0.07710842788219452, + 0.0797029510140419, + -3.0970154238217553, + -0.2105362415313721, + 0.29021281003952026, + 1.0 + ], + [ + 0.2279345542192459, + -0.07733426243066788, + 0.06841245293617249, + -3.1170388796650847, + -0.18133021891117096, + 0.315001904964447, + 1.0 + ], + [ + 0.22743722796440125, + -0.0795930027961731, + 0.06150199472904205, + 3.138435885431715, + -0.16896827518939975, + 0.3448224365711212, + 1.0 + ], + [ + 0.22632667422294617, + -0.08092016726732254, + 0.059965215623378754, + 3.1204918717318257, + -0.1763740628957748, + 0.3880431354045868, + 1.0 + ], + [ + 0.22327588498592377, + -0.08358453959226608, + 0.061305057257413864, + 3.116813952224799, + -0.18373408913612366, + 0.41163721680641174, + 0.0 + ], + [ + 0.2091824859380722, + -0.08833635598421097, + 0.06769007444381714, + -3.105522146570035, + -0.1977280527353287, + 0.450088232755661, + 0.0 + ], + [ + 0.21031439304351807, + -0.09844619780778885, + 0.09215299785137177, + -3.078071894245692, + -0.2620658874511718, + 0.5060842037200928, + 0.0 + ], + [ + 0.21344196796417236, + -0.10629695653915405, + 0.1131504699587822, + -3.065722318487712, + -0.3210322856903076, + 0.5626767873764038, + 0.0 + ], + [ + 0.21892589330673218, + -0.1043207198381424, + 0.13078860938549042, + -3.080054512368985, + -0.38712239265441895, + 0.6457825303077698, + 0.0 + ], + [ + 0.2333643138408661, + -0.0947614535689354, + 0.1504427194595337, + -3.109425479667731, + -0.46859034895896917, + 0.7354265451431274, + 0.0 + ], + [ + 0.250965416431427, + -0.07962634414434433, + 0.16762825846672058, + 3.120495682703801, + -0.5305073261260986, + 0.8226832747459412, + 0.0 + ], + [ + 0.2650528848171234, + -0.06047656759619713, + 0.17358262836933136, + 3.0596629848056516, + -0.5437577962875366, + 0.9291456341743469, + 0.0 + ], + [ + 0.27323785424232483, + -0.037166744470596313, + 0.1728837788105011, + 2.983763964968272, + -0.5260270237922668, + 1.0623587369918823, + 0.0 + ], + [ + 0.2851369082927704, + -0.017655065283179283, + 0.16849863529205322, + 2.9055523594194135, + -0.4992023706436157, + 1.1537891626358032, + 0.0 + ], + [ + 0.2949705123901367, + 0.0021345752757042646, + 0.16096284985542297, + 2.847214611368724, + -0.48264065384864807, + 1.1883158683776855, + 0.0 + ], + [ + 0.3026415705680847, + 0.01819564774632454, + 0.15376237034797668, + 2.814880134659358, + -0.47320297360420227, + 1.2081549167633057, + 0.0 + ], + [ + 0.3076106905937195, + 0.026625053957104683, + 0.14834840595722198, + 2.7775911410623273, + -0.45732435584068304, + 1.2041629552841187, + 0.0 + ], + [ + 0.3094680607318878, + 0.02756010740995407, + 0.14822980761528015, + 2.754460962610789, + -0.4538485407829284, + 1.193601131439209, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.15823012590408325, + 0.4110974073410034, + 0.516761988401413, + 0.516761988401413, + 0.516761988401413, + 0.516761988401413, + 0.516761988401413, + 0.516761988401413, + 0.516761988401413, + 0.516761988401413, + 0.516761988401413, + 0.516761988401413, + 0.516761988401413, + 0.516761988401413, + 0.4840872883796692, + 0.2640954852104187 + ], + "episode_id": "476", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/476/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/480.json b/annotation/test/480.json new file mode 100644 index 0000000000000000000000000000000000000000..005ce354a9a8be0a482c58082f5b13e3978a4798 --- /dev/null +++ b/annotation/test/480.json @@ -0,0 +1,660 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the orange container with green lid and place it on the kadai." + ], + "videos": [ + { + "video_path": "videos/test/480/rgb.mp4" + } + ], + "action": [ + [ + -0.00043109953738955473, + 7.814985831696035e-05, + 0.00033008219817537427, + -0.0002794789557723659, + -0.001508244080960306, + -0.003081952273621429, + 1.0 + ], + [ + -0.0010109716328875688, + 0.0003628032974452316, + 0.0056836410708992315, + -0.008114760751301062, + -0.021852697736685064, + -0.000951089809260715, + 1.0 + ], + [ + 0.014861440813953053, + -0.014830204616047922, + -0.005747938078392665, + -0.014096045444783769, + 0.024274828141887705, + -0.026218521746128702, + 1.0 + ], + [ + 0.0161980620210143, + -0.018523220108354797, + -0.005659147727820548, + -0.00045032250887857406, + 0.033545345146326136, + -0.02008623348406038, + 1.0 + ], + [ + 0.016120492463247354, + -0.024442190323347553, + 0.00014168009179489128, + 0.012242778156246676, + 0.05020411525425887, + -0.03195575451399653, + 1.0 + ], + [ + 0.013723676964233926, + -0.022072905298018957, + 0.005169561381183037, + -0.012988383617747453, + 0.053531215922208955, + -0.029906588128963248, + 1.0 + ], + [ + 0.016419095266513566, + -0.012010867557847495, + 0.009944597388885259, + -0.014325922272929765, + 0.021296630349401345, + -0.006953316349176717, + 1.0 + ], + [ + 0.006998086455640356, + -0.006352682806574339, + 0.013315870060097119, + -0.0059194027424394795, + -0.013128467654014228, + -0.004814497363433251, + 1.0 + ], + [ + 0.005340332768258112, + -0.0035550332836374984, + 0.0063084048937733705, + 0.00553801327982371, + -0.0037713379762507634, + -0.023578030900586286, + 1.0 + ], + [ + 0.007093883306215229, + 0.004257283470423837, + 0.005388209621205906, + 0.011467889379720242, + -0.0015936181020775903, + -0.0013920406369121714, + 1.0 + ], + [ + 0.0014787732039509823, + 0.007367496039048403, + 0.00664336993463135, + -0.0055417436161896, + -0.0047600193847942155, + -0.006395555027603262, + 1.0 + ], + [ + -5.460313843832608e-05, + 0.0007760759323304947, + 0.001372322776106002, + 0.0035010443349864366, + 0.006701782505566061, + -0.007411936118685417, + 1.0 + ], + [ + -0.001953652048299036, + 0.0019305561472648769, + 0.0012167795112987617, + 0.00439201940217303, + -0.0018315448009645064, + -0.00018560268678733752, + 0.0 + ], + [ + -0.006565085339487202, + 0.005490876563049698, + -0.004044464880293125, + -0.0034658114193492524, + -0.0254242088842432, + -0.005410022886415076, + 0.0 + ], + [ + -0.005273963162212807, + 0.022495308729246502, + -0.026305938578704335, + 0.011312838483215992, + -0.012689632386511758, + -0.03557687460953486, + 0.0 + ], + [ + -0.016563602569390965, + 0.04854771446142499, + -0.02295204507038617, + -0.016257842608014276, + 0.033721272159166434, + -0.014038286992070992, + 0.0 + ], + [ + -0.00742250947092824, + 0.04318762658733443, + -0.012514048518881308, + -0.029916925833647672, + 0.030478315870864907, + 0.10104267547092227, + 0.0 + ], + [ + -0.005687062326119515, + 0.04437221439929564, + 0.003598665628932942, + 0.002058619030388544, + -0.007372781899149979, + 0.122604243130705, + 0.0 + ], + [ + 0.008149963954309097, + 0.014977652021267978, + 0.01977112872233649, + 0.0007050891756764869, + 0.005733482724332849, + 0.028533903737176597, + 0.0 + ], + [ + 0.011352970677485844, + 0.011674153392676738, + 0.025264414255215775, + -0.03230282126634209, + -0.02739598965452642, + 0.035593820614262583, + 0.0 + ], + [ + 0.008402357784083032, + 0.006768705554034257, + 0.015710608878778985, + -0.0006254381419424417, + -0.00745627407556087, + 0.019237761525810245, + 0.0 + ], + [ + 0.008073218457895609, + 0.0029614356672764863, + 0.007255052118016809, + -0.0045541579513660845, + 0.002621681295643081, + 0.00788466717384889, + 0.0 + ], + [ + 0.0012551331900781918, + -0.0005641099553176952, + 0.0005731881927264057, + 0.007086714305152919, + 0.004525990496939412, + 0.00402948992189123, + 0.0 + ], + [ + -0.0012109362688987886, + -0.0005927700137638196, + -5.73310632940926e-06, + 0.0037052427365779784, + -0.007652327799584694, + 0.004297924584895523, + 1.0 + ], + [ + -0.005740890366050776, + -0.00044564881220715677, + -0.0011255814315397237, + -0.0006666573602361356, + -0.025990040500522258, + -0.007104497273602966, + 1.0 + ], + [ + -0.01592266106309284, + -0.008498138706863076, + -0.023234267980244444, + -0.005488024006545588, + -0.08450398440108535, + -0.08262766639786624, + 1.0 + ], + [ + -0.01997101488672106, + -0.04512035731784057, + -0.03294110403314151, + 0.04183942270957291, + 0.002483436534141299, + -0.22442261500620292, + 1.0 + ], + [ + -0.020376243844077605, + -0.026490658151508712, + -0.022656204658545852, + 0.02314394291307637, + 0.06202159663933954, + -0.06931777598321547, + 1.0 + ], + [ + -0.005104578849627194, + -0.016163896720031105, + -0.0050013252630561125, + -0.004344590432322611, + 0.04762130166730237, + 0.013898221659470031, + 1.0 + ], + [ + 0.004709774371357847, + 0.005298759068885135, + -0.0006986553063607303, + -0.040671716635031364, + 0.03454271181924368, + 0.1251985042245503, + 1.0 + ], + [ + 0.003261683810424845, + 0.0036202047196908227, + -0.0035261068888731324, + -0.02680277796072737, + 0.00476946171252947, + 0.056907858928202125, + 1.0 + ], + [ + 0.0006549245862812085, + -0.00237261825026589, + 0.0010608804390163577, + -0.0027749807977008947, + -0.002079505704854842, + 0.033044674720018395, + 1.0 + ], + [ + -0.0007517626362410833, + -0.00021211418909055242, + 0.0008167686884689547, + 0.000942578033916569, + -0.004729195859068637, + 0.003561399133833441, + 1.0 + ] + ], + "state": [ + [ + 0.2619389295578003, + 0.045617446303367615, + 0.0746428370475769, + 3.132221075827726, + -0.00023093020718079058, + -0.008348056115210056, + 1.0 + ], + [ + 0.2615072429180145, + 0.04553980752825737, + 0.07431340217590332, + 3.131940921890088, + 0.001306131016463041, + -0.005280374549329281, + 1.0 + ], + [ + 0.2604866623878479, + 0.04512754827737808, + 0.06863485276699066, + 3.1238248256319245, + 0.023166989907622337, + -0.004540253896266221, + 1.0 + ], + [ + 0.27553877234458923, + 0.05998934805393219, + 0.07377266138792038, + 3.110347023355313, + -0.0006464608013629913, + 0.02209780551493168, + 1.0 + ], + [ + 0.29131659865379333, + 0.07903359830379486, + 0.07886084169149399, + 3.109872421371289, + -0.03354782611131668, + 0.043222825974226, + 1.0 + ], + [ + 0.3063882887363434, + 0.10413368046283722, + 0.07848527282476425, + 3.1209646576368293, + -0.08269449323415756, + 0.07682953029870987, + 1.0 + ], + [ + 0.31880223751068115, + 0.1271158754825592, + 0.0740143209695816, + 3.105372293042489, + -0.13555753231048584, + 0.10807781666517258, + 1.0 + ], + [ + 0.3351135551929474, + 0.14059686660766602, + 0.06595538556575775, + 3.089983010786124, + -0.15658432245254517, + 0.1158917620778084, + 1.0 + ], + [ + 0.3434361219406128, + 0.14726123213768005, + 0.05358755216002464, + 3.0834087563031396, + -0.1432236284017563, + 0.12006492167711258, + 1.0 + ], + [ + 0.3492242991924286, + 0.15116479992866516, + 0.04791194200515747, + 3.085602110373326, + -0.13804852962493896, + 0.14360752701759338, + 1.0 + ], + [ + 0.3575300872325897, + 0.1477663516998291, + 0.04379552602767944, + 3.0968893115692815, + -0.13637939095497129, + 0.14492039382457736, + 1.0 + ], + [ + 0.3609341084957123, + 0.14052501320838928, + 0.03774765133857727, + 3.0905008931928357, + -0.13133570551872253, + 0.1511504203081131, + 1.0 + ], + [ + 0.3611801564693451, + 0.13970759510993958, + 0.03642106428742409, + 3.092978438484021, + -0.13764625787734985, + 0.1589687317609787, + 1.0 + ], + [ + 0.3597359359264374, + 0.1374632716178894, + 0.03504208102822304, + 3.097357029216834, + -0.13580785691738126, + 0.15906600654125216, + 0.0 + ], + [ + 0.35358136892318726, + 0.13110144436359406, + 0.038397110998630524, + 3.0932942797713956, + -0.11016803979873657, + 0.16337090730667114, + 0.0 + ], + [ + 0.34888890385627747, + 0.10884281992912292, + 0.06501271575689316, + 3.1007761900597295, + -0.09570857137441634, + 0.19845101237297058, + 0.0 + ], + [ + 0.3397692143917084, + 0.05848579481244087, + 0.08822976052761078, + 3.083015779154845, + -0.12881751358509064, + 0.21397414803504944, + 0.0 + ], + [ + 0.33968985080718994, + 0.01509854570031166, + 0.10217273235321045, + 3.0662427266412458, + -0.16451096534729004, + 0.1135854721069336, + 0.0 + ], + [ + 0.33920174837112427, + -0.029763072729110718, + 0.10099653899669647, + 3.089208087074109, + -0.16511468589305878, + -0.010927057825028896, + 0.0 + ], + [ + 0.35018178820610046, + -0.04587634652853012, + 0.08363420516252518, + 3.0946364050083837, + -0.1722678542137146, + -0.03954470902681351, + 0.0 + ], + [ + 0.36507880687713623, + -0.05932297557592392, + 0.06125713139772415, + 3.068729782598563, + -0.1464548856019974, + -0.07677125930786133, + 0.0 + ], + [ + 0.3749694228172302, + -0.06800156086683273, + 0.047469597309827805, + 3.0710240994864186, + -0.14039009809494019, + -0.09669639915227889, + 0.0 + ], + [ + 0.38357013463974, + -0.0723177045583725, + 0.04164024069905281, + 3.0675576274567327, + -0.14355702698230743, + -0.10445638000965117, + 0.0 + ], + [ + 0.3849470913410187, + -0.07193904370069504, + 0.0412127710878849, + 3.075176941352435, + -0.1483676880598068, + -0.10818093270063399, + 0.0 + ], + [ + 0.38382530212402344, + -0.07122188806533813, + 0.04100051522254944, + 3.0795971175008496, + -0.1410157531499863, + -0.1130252033472061, + 1.0 + ], + [ + 0.37808266282081604, + -0.07005221396684647, + 0.041278570890426636, + 3.0781350900703153, + -0.11463336646556854, + -0.10751064121723176, + 1.0 + ], + [ + 0.3608483374118805, + -0.05817992612719536, + 0.06195724382996559, + 3.0637953003221234, + -0.024726295843720433, + -0.030690448358654972, + 1.0 + ], + [ + 0.3416268229484558, + -0.010023395530879498, + 0.09078928083181381, + 3.1020900217169007, + -0.009288501925766466, + 0.19324885308742523, + 1.0 + ], + [ + 0.316178560256958, + 0.01288039144128561, + 0.11219143867492676, + 3.1245925353192767, + -0.06850267201662065, + 0.2650015354156494, + 1.0 + ], + [ + 0.3066963851451874, + 0.027141306549310684, + 0.11655677855014801, + 3.1211319119953593, + -0.11634744703769684, + 0.25184139609336853, + 1.0 + ], + [ + 0.3124525845050812, + 0.023166954517364502, + 0.11790497601032257, + 3.0951881540291986, + -0.1525297462940216, + 0.12598760426044464, + 1.0 + ], + [ + 0.3155284523963928, + 0.020076215267181396, + 0.12204795330762863, + 3.0771692787581166, + -0.15968583524227145, + 0.0686328262090683, + 1.0 + ], + [ + 0.31620800495147705, + 0.0224277526140213, + 0.12095607817173004, + 3.0797611345821103, + -0.15964935719966888, + 0.03509620949625968, + 1.0 + ], + [ + 0.3155921995639801, + 0.022567469626665115, + 0.12001878768205643, + 3.0813224484496793, + -0.1551480740308762, + 0.031202660873532295, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05002796649932861, + 0.3298342227935791, + 0.3930899500846863, + 0.3930899500846863, + 0.3930899500846863, + 0.3930899500846863, + 0.3930899500846863, + 0.39409196376800537, + 0.3930899500846863, + 0.3930899500846863, + 0.39409196376800537, + 0.39409196376800537, + 0.30080950260162354, + 0.04091840982437134, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "480", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/480/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/486.json b/annotation/test/486.json new file mode 100644 index 0000000000000000000000000000000000000000..8dda9002c4c2faa92337f00e32951c6fe42bd9c9 --- /dev/null +++ b/annotation/test/486.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "turn lever vertical to front distractors" + ], + "videos": [ + { + "video_path": "videos/test/486/rgb.mp4" + } + ], + "action": [ + [ + -0.0004499459247790003, + 0.001323641661483039, + 0.002334250038392982, + 0.0007970861717798356, + -0.005390335904828487, + 0.0032090533763293877, + 1.0 + ], + [ + -0.012519375614714407, + 0.0022122523975167717, + 0.02921218106945953, + 0.03927008848043862, + -0.030539268867946202, + -0.01291484859506607, + 1.0 + ], + [ + 0.0036259351245362817, + -0.00496211862914404, + -0.016650584576368414, + 0.03593297737020731, + 0.10305994116255728, + -0.03911015500030932, + 1.0 + ], + [ + 0.010438196592487103, + -0.003970386392107423, + -0.01894695515419294, + 0.03240156258104999, + 0.08853739556125223, + -0.030057094289735742, + 1.0 + ], + [ + 0.009647894887743499, + -0.003700453056217107, + -0.0003220920000690153, + 0.02949714453624297, + 0.06607044157827058, + -0.032104750713723144, + 1.0 + ], + [ + 0.012861964219062653, + -0.00276660710679935, + -0.004499665441539928, + 0.0031204542729386226, + 0.07977923169590027, + -0.017472659709249737, + 1.0 + ], + [ + 0.013440884248548305, + -0.00027133295464057893, + -0.0036428346390367083, + -0.0065961914050211, + 0.06595016974969105, + -0.01106819149712924, + 1.0 + ], + [ + 0.013104215404089193, + -0.0002760184714164949, + -0.0044094939439242595, + -0.013115018033315218, + 0.053900252857367346, + -0.014137386953110566, + 1.0 + ], + [ + 0.006027919686413898, + -0.001161439019707764, + 0.004719038647830735, + -0.006044329731360391, + 0.022806811461461435, + 0.0002211609433270824, + 1.0 + ], + [ + 0.005976244753917329, + -0.0003643124702774195, + 0.0050726195122060575, + -0.015180209172589401, + 0.023360885145730405, + 0.0032264376752905604, + 1.0 + ], + [ + 0.0006631884394192006, + 0.00029510509178241743, + 0.009893495392436178, + -0.015587363739616972, + 0.0029991019357308423, + -0.0019395934131022712, + 1.0 + ], + [ + 0.003364371978144785, + 0.0013103009239194326, + 0.0007824679710007937, + -0.004120383408363488, + 0.0021997179920250497, + -0.005153620750927783, + 0.0 + ], + [ + -0.003991611981860801, + 0.00098965524685625, + -0.0002739402023744492, + 0.0029220622180876326, + -0.024934856514573358, + -0.02837423713906172, + 0.0 + ], + [ + -0.013640487423604209, + 0.003628939593583963, + -0.004877383248076878, + 0.01276905199677886, + -0.043354173779986134, + -0.035848772023286755, + 0.0 + ], + [ + -0.02476750367048732, + 0.0005272574521332466, + -0.005234062623620875, + -0.00845180994202946, + -0.07412663255204734, + -0.017895991328835438, + 0.0 + ], + [ + -0.02253913291428938, + 0.0050422425356717974, + 0.0049410537195574665, + -0.06660901616607592, + -0.0940407239641979, + -0.005836027233993681, + 0.0 + ], + [ + -0.011390150675448362, + -0.0007974246700501376, + 0.008301625563096469, + -0.05843511106361131, + -0.061343638574006154, + 0.006403762297137695, + 0.0 + ], + [ + -0.0029685043749165508, + 0.00020446236318234423, + 0.0018797698348959448, + -0.02625182744139484, + -0.02063993762135176, + 0.014207265311428912, + 0.0 + ], + [ + -0.0008757190131284625, + 0.0005010896409249161, + 0.0005819391783962578, + -0.02851608133827544, + -0.013373152340954132, + 0.0064569070103506895, + 0.0 + ], + [ + -0.004719768433143244, + 0.0007057563765010905, + -0.0002986850861438128, + 0.001382924285705639, + -0.028070088354143687, + 0.05128839200226414, + 0.0 + ], + [ + 0.0028362854107424483, + -0.0012978075385898763, + -0.0025933454865642216, + 0.011314247741939738, + 0.006790735788605792, + 0.029921338627742454, + 1.0 + ], + [ + 0.0004644510016049966, + 0.0004574150421192145, + -0.00043179228412577826, + 0.0006554399472479452, + 0.00213000013745923, + 0.002030758357461738, + 1.0 + ], + [ + -0.0004627461570161399, + -1.3772171302992165e-05, + 0.00030701620041807836, + 0.0002521117069168723, + -0.0014801815861011874, + 0.0003137881983925357, + 1.0 + ] + ], + "state": [ + [ + 0.42792513966560364, + -0.04461640492081642, + 0.053106896579265594, + -2.8548783381753644, + -0.026745934039354324, + -0.07090061157941818, + 1.0 + ], + [ + 0.4275030195713043, + -0.045197438448667526, + 0.050482507795095444, + -2.8540357669168195, + -0.02066808380186558, + -0.0724545568227768, + 1.0 + ], + [ + 0.41605567932128906, + -0.038186900317668915, + 0.02158975601196289, + -2.8151281793885907, + 0.0049590845592319965, + -0.05141440033912659, + 1.0 + ], + [ + 0.41972988843917847, + -0.03901657089591026, + 0.03893402963876724, + -2.7773718257718762, + -0.10518006235361099, + -0.04754699021577835, + 1.0 + ], + [ + 0.42794930934906006, + -0.04245048761367798, + 0.05904264375567436, + -2.7430938204103192, + -0.198600098490715, + -0.051144249737262726, + 1.0 + ], + [ + 0.4372217357158661, + -0.0396353118121624, + 0.0626448467373848, + -2.7134801765256604, + -0.2719419002532959, + -0.0470949038863182, + 1.0 + ], + [ + 0.448221355676651, + -0.03950413316488266, + 0.07114910334348679, + -2.7040228863530835, + -0.3517166376113892, + -0.06546138972043992, + 1.0 + ], + [ + 0.45955365896224976, + -0.04154765233397484, + 0.07898518443107605, + -2.7029109617047986, + -0.41607362031936646, + -0.08505636453628539, + 1.0 + ], + [ + 0.4697038233280182, + -0.04404199868440628, + 0.08804016560316086, + -2.710778685408183, + -0.47084668278694153, + -0.09639333188533783, + 1.0 + ], + [ + 0.4770592153072357, + -0.04171306639909744, + 0.08738566935062408, + -2.7117205282026013, + -0.49145254492759705, + -0.10742339491844179, + 1.0 + ], + [ + 0.48465219140052795, + -0.040072500705718994, + 0.08627438545227051, + -2.719956787424632, + -0.511299729347229, + -0.12194841355085374, + 1.0 + ], + [ + 0.49012893438339233, + -0.03693574294447899, + 0.07862100750207901, + -2.7358470876985272, + -0.5148298740386963, + -0.12132532149553299, + 1.0 + ], + [ + 0.4935315251350403, + -0.03825230151414871, + 0.07920169085264206, + -2.742162289219447, + -0.5188809037208557, + -0.11687225103378296, + 0.0 + ], + [ + 0.4900354743003845, + -0.03886711969971657, + 0.07710716128349304, + -2.7597005387120923, + -0.5065764784812927, + -0.07589025795459749, + 0.0 + ], + [ + 0.4762139320373535, + -0.043016351759433746, + 0.07326401025056839, + -2.7740547974878034, + -0.47903212904930115, + -0.020218474790453914, + 0.0 + ], + [ + 0.4520271420478821, + -0.04490049183368683, + 0.06601474434137344, + -2.803653122978755, + -0.41581782698631287, + 0.027094114571809765, + 0.0 + ], + [ + 0.4340580403804779, + -0.04850748926401138, + 0.0511167012155056, + -2.884627105789729, + -0.32875698804855347, + 0.06578990072011948, + 0.0 + ], + [ + 0.4256332218647003, + -0.046175237745046616, + 0.04003196209669113, + -2.945731209712573, + -0.26778775453567505, + 0.07553613185882568, + 0.0 + ], + [ + 0.42326319217681885, + -0.04618885740637779, + 0.037430014461278915, + -2.9692455251985272, + -0.24476422369480136, + 0.0653156265616417, + 0.0 + ], + [ + 0.42260050773620605, + -0.04662691056728363, + 0.03657820075750351, + -2.996734993653842, + -0.23047982156276703, + 0.06113786995410919, + 0.0 + ], + [ + 0.4180152714252472, + -0.04765046015381813, + 0.035688553005456924, + -2.984582083421298, + -0.19504895806312558, + 0.013560550287365912, + 0.0 + ], + [ + 0.42024990916252136, + -0.04674374312162399, + 0.038950227200984955, + -2.9672886600070676, + -0.1969856172800064, + -0.017658185213804245, + 1.0 + ], + [ + 0.4206283390522003, + -0.04727587476372719, + 0.03938036039471626, + -2.9661602844768247, + -0.19873060286045074, + -0.02007512934505939, + 1.0 + ], + [ + 0.4202353358268738, + -0.047200825065374374, + 0.03899500519037247, + -2.965897785621234, + -0.1972183734178543, + -0.020126760005950928, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.14733940362930298, + 0.4409322142601013, + 0.4860273003578186, + 0.4860273003578186, + 0.4889334440231323, + 0.5514773726463318, + 0.5842655003070831, + 0.6116192042827606, + 0.6159495413303375, + 0.4180815815925598, + 0.12071859836578369, + 0.0, + 0.0 + ], + "episode_id": "486", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/486/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/492.json b/annotation/test/492.json new file mode 100644 index 0000000000000000000000000000000000000000..6c4c880760cd9c84302d77b3d51a9b299ca60510 --- /dev/null +++ b/annotation/test/492.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "take carrot off plate cardboardfence" + ], + "videos": [ + { + "video_path": "videos/test/492/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -6.10841107829954e-19, + -3.6982505311374626e-17, + -3.545914497684857e-18, + 1.0 + ], + [ + -0.004812392934363327, + -0.0016819581694179741, + 0.0008039916081342772, + 0.009973939856959645, + -0.022164144129070182, + -0.005691455556033063, + 1.0 + ], + [ + 0.00228668956459387, + -0.0037959484706086384, + -0.012907142669553687, + 0.039678999094455034, + -0.03138736953793239, + -0.010624918666478501, + 1.0 + ], + [ + 0.013803942369677625, + -0.00767825577420523, + -0.018943751057858216, + 0.03406677328265828, + -0.008994727784558619, + -0.006428887723600448, + 1.0 + ], + [ + 0.017218522869394046, + -0.009788656525109287, + -0.01934301383314172, + 0.030015360225164284, + -0.0034564130085881196, + -0.003922650107171029, + 1.0 + ], + [ + 0.026786972289191288, + -0.0054581207813734775, + -0.01159307785348767, + 0.02464966667190706, + 0.0231432511756287, + 0.013796334182878955, + 1.0 + ], + [ + 0.025269300624872548, + 0.001178769634709127, + 0.003610653220170152, + 0.0014696288420380631, + -0.006644824260440633, + 0.00676113356760828, + 1.0 + ], + [ + 0.012968301257517065, + 0.0010174748893109885, + 0.011160613028468975, + -0.022082671479655088, + -0.0059151153571417574, + 0.019629887960328336, + 1.0 + ], + [ + 0.0048656799689776615, + 0.0018693350269866288, + 0.014063706826601373, + -0.00027953746588754903, + -0.0179527182217789, + -0.01089489165774412, + 1.0 + ], + [ + 0.003064837207500384, + -0.0022733845581326376, + 0.01504482107952571, + 0.016072206179038904, + -0.010051526643904058, + -0.034406278718010025, + 1.0 + ], + [ + -0.006803822010986718, + -0.002999351741453299, + 0.015191585631512483, + 0.02649523407638617, + -0.02059192211991452, + -0.06875894537466311, + 1.0 + ], + [ + 0.0005308441280477941, + -0.003851482095527092, + 0.00752830802059244, + 0.015914377678287194, + 0.014238854020243398, + -0.02917795310700154, + 1.0 + ], + [ + 0.0018782936283409809, + -0.005537286082687625, + 0.010697714472587104, + -0.00019709050676393276, + 0.0023700256673401653, + -0.01848620565468987, + 1.0 + ], + [ + 0.0019960976825112785, + -0.002676198390741905, + 0.007511375122328115, + -0.013875596075239575, + 0.017624779324377983, + 0.0018237387029222557, + 1.0 + ], + [ + 0.0022582902835977118, + 0.0007080854596304428, + 0.010111692319260806, + -0.0343532716596475, + 0.022405149284283964, + 0.016353142648853666, + 1.0 + ], + [ + -0.0009765371291529243, + 0.00030823502556700497, + 0.0003544094901100408, + 0.015598407496462158, + 0.00542692528447088, + -0.008636254073457991, + 0.0 + ], + [ + -0.006510974654218634, + -0.0015873502097824808, + -0.0011736904696817005, + 0.029979519688567147, + -0.03633805127282207, + -0.006340585424199011, + 0.0 + ], + [ + 0.0037803260477416376, + -0.0006074401808620063, + -0.0076599507480442745, + 0.005973178448854347, + 0.0020029435665048986, + 0.006693459739936314, + 0.0 + ], + [ + 0.00827068029289014, + -0.0014931220964098805, + -0.012077497328487136, + -0.01678635961913987, + 0.020177651882269988, + 0.03883969545527391, + 0.0 + ], + [ + 0.012590364629920062, + -0.007776143185297401, + -0.021879556011556375, + 0.009414001115600314, + 0.029902496820943446, + 0.0931326522189392, + 0.0 + ], + [ + 0.006002369499633401, + -0.009907435581762741, + -0.018917169875678683, + 0.0353493560165531, + 0.027874724713483186, + 0.09433597760238158, + 0.0 + ], + [ + -0.007498171031723463, + -0.014541909869388456, + -0.005453342146032026, + 0.031110725804275673, + -0.044864903231649454, + 0.21008302014071906, + 0.0 + ], + [ + -0.004846639919365347, + -0.018329028139508676, + 0.00429462400804123, + -0.03618989223055269, + 0.03678868855910575, + 0.19169151385428115, + 0.0 + ], + [ + 3.120313683197702e-05, + -0.016384667695493335, + 0.005702162632984939, + -0.03373172257999498, + 0.060576377020108686, + 0.19886407292468886, + 0.0 + ], + [ + 0.006338483844335662, + -0.01124177799301384, + 0.006422674527755784, + 0.0076244288589917076, + 0.11336603492110507, + 0.21655106608307098, + 0.0 + ], + [ + -0.00240975415308368, + -0.012109832948761773, + 0.008582423466846999, + 0.012669893415173125, + 0.044438280038597545, + 0.07166114127779884, + 0.0 + ], + [ + -0.003790595023045481, + -0.008746991444940814, + 0.009955711433295728, + 0.039499936460843765, + 0.004975065788237768, + -0.00384409005245626, + 0.0 + ], + [ + -0.006394632661354779, + -0.0036033198735156867, + 0.01066410176336684, + 0.03493106263384216, + -0.056610548725076, + -0.08523836636766151, + 0.0 + ], + [ + -0.005213959939573978, + 0.0030680893493721744, + 0.010387251348015165, + 0.018170289341770448, + -0.07961173978302036, + -0.00019135960883778829, + 0.0 + ], + [ + -0.004162332792229792, + 0.007408492987520816, + 0.0070475445270578455, + -0.00802277879824755, + -0.02098370658712794, + -0.006262913233090768, + 0.0 + ], + [ + -0.005099119026560341, + 0.005968840090695528, + 0.006987015638372053, + 0.004257002993202028, + 0.0029262223820551224, + -0.02119748402645342, + 0.0 + ], + [ + 0.0007942161100494709, + 0.005048829067405832, + 0.013320689764093245, + -0.008006496538183208, + 0.02719269665645673, + -0.031350177275074116, + 0.0 + ], + [ + 0.0005796378346590482, + 0.0009078944237031509, + 0.006869421397550746, + -0.007303661672203827, + 0.018670724730184666, + -0.022363065715914284, + 0.0 + ], + [ + -0.001645144172158528, + 0.0004454487299264317, + -0.0005832639046576655, + -0.005408583135027854, + -0.011211414429290847, + 0.015435647680625067, + 1.0 + ], + [ + 0.0003878606867706975, + -0.001363248930847015, + -0.007472711132378476, + 0.010057064507347844, + -0.03300278725217157, + 0.023073740626118673, + 1.0 + ], + [ + 0.005523252349280542, + -0.008666182041950627, + -0.01274391036477001, + 0.017279665223905415, + -0.01314337336733148, + -0.002520634041957895, + 1.0 + ], + [ + 0.006300187710541008, + -0.0031641807707386955, + -0.016528048395345944, + 0.010900861987641723, + -0.01271957039302382, + -0.06059705698772684, + 1.0 + ], + [ + 0.010658473337838172, + -0.00025378024978953785, + -0.0210359858613633, + -0.043278066110416395, + -0.04653237544362915, + -0.1299490790075895, + 1.0 + ] + ], + "state": [ + [ + 0.17101365327835083, + -0.03067614696919918, + 0.034650105983018875, + -3.115206929045268, + -0.21494430303573608, + 0.06846177577972412, + 1.0 + ], + [ + 0.17101365327835083, + -0.03067614696919918, + 0.034650105983018875, + -3.115206929045268, + -0.21494430303573608, + 0.06846177577972412, + 1.0 + ], + [ + 0.16636812686920166, + -0.02928810380399227, + 0.03288179263472557, + -3.1065905821793756, + -0.1929337531328201, + 0.07485315203666686, + 1.0 + ], + [ + 0.16586442291736603, + -0.02597455494105816, + 0.04611051827669144, + -3.0691730846934995, + -0.1619240939617157, + 0.0867198556661606, + 1.0 + ], + [ + 0.1757681965827942, + -0.018802395090460777, + 0.06753119826316833, + -3.036257365840026, + -0.1534140408039093, + 0.09386640042066574, + 1.0 + ], + [ + 0.18890468776226044, + -0.00983097031712532, + 0.0901893898844719, + -3.006901415186473, + -0.15038780868053436, + 0.09817937761545181, + 1.0 + ], + [ + 0.21306204795837402, + -0.003581009339541197, + 0.10628573596477509, + -2.9796833415799817, + -0.1714474856853485, + 0.08115417510271072, + 1.0 + ], + [ + 0.23856431245803833, + -0.002090063411742449, + 0.1068984791636467, + -2.97724403639371, + -0.16379694640636444, + 0.07547680288553238, + 1.0 + ], + [ + 0.2530779540538788, + -0.00016796700947452337, + 0.09798606485128403, + -2.9963157196813306, + -0.15472213923931125, + 0.056857287883758545, + 1.0 + ], + [ + 0.2600497901439667, + 0.00041547170258127153, + 0.08471918106079102, + -2.998666452365466, + -0.13852179050445557, + 0.07036405801773071, + 1.0 + ], + [ + 0.2647753953933716, + 0.0051526217721402645, + 0.0707143172621727, + -2.9876204450898847, + -0.1333848088979721, + 0.10616840422153473, + 1.0 + ], + [ + 0.2594333589076996, + 0.009907020255923271, + 0.05538686737418175, + -2.9710042496495923, + -0.12323386967182158, + 0.17780792713165286, + 1.0 + ], + [ + 0.2598729729652405, + 0.015140894800424576, + 0.04873822629451752, + -2.958402322726794, + -0.1421757638454437, + 0.20440974831581116, + 1.0 + ], + [ + 0.26151230931282043, + 0.023031342774629593, + 0.03959032893180847, + -2.961170124011584, + -0.14785099029541013, + 0.22235049307346344, + 1.0 + ], + [ + 0.2635529637336731, + 0.02757382020354271, + 0.0330505408346653, + -2.9742793460660657, + -0.1648605614900589, + 0.21732597053050995, + 1.0 + ], + [ + 0.26713240146636963, + 0.029373694211244583, + 0.023469535633921623, + -3.0053090025954923, + -0.18419675529003146, + 0.19713209569454196, + 1.0 + ], + [ + 0.2663119435310364, + 0.02894752100110054, + 0.022904323413968086, + -2.99117128749425, + -0.19074098765850064, + 0.20509523153305054, + 0.0 + ], + [ + 0.2595096826553345, + 0.028955888003110886, + 0.02304287999868393, + -2.9633505066209516, + -0.15575040876865387, + 0.21694801747798917, + 0.0 + ], + [ + 0.26216205954551697, + 0.028761975467205048, + 0.03118302673101425, + -2.956291051703044, + -0.15653109550476071, + 0.20991955697536469, + 0.0 + ], + [ + 0.2684582769870758, + 0.02932879887521267, + 0.04446970671415329, + -2.9665807505422315, + -0.16907089948654175, + 0.1674263030290604, + 0.0 + ], + [ + 0.2762550711631775, + 0.03454878181219101, + 0.06916105002164841, + -2.9413648714595517, + -0.18152447044849393, + 0.06890856474637984, + 0.0 + ], + [ + 0.2780415117740631, + 0.04063323885202408, + 0.09041741490364075, + -2.888928087549754, + -0.18922956287860868, + -0.030856454744935036, + 0.0 + ], + [ + 0.2693968117237091, + 0.05362307280302048, + 0.0977632999420166, + -2.826178254681178, + -0.09010264277458191, + -0.2233233600854874, + 0.0 + ], + [ + 0.2687031924724579, + 0.07301531732082367, + 0.09892378747463226, + -2.850891562300273, + -0.0643196702003479, + -0.4173451364040375, + 0.0 + ], + [ + 0.27580180764198303, + 0.08882671594619751, + 0.09816069900989532, + -2.877227934198924, + -0.06441336870193483, + -0.6255466938018799, + 0.0 + ], + [ + 0.2884361147880554, + 0.09515693038702011, + 0.09531335532665253, + -2.86025124986703, + -0.1160222291946411, + -0.8650500178337097, + 0.0 + ], + [ + 0.2979186773300171, + 0.10563969612121582, + 0.09018445760011673, + -2.838772090273448, + -0.13845697045326236, + -0.9469756484031677, + 0.0 + ], + [ + 0.3054676651954651, + 0.11452586203813553, + 0.08283302932977676, + -2.799573840694972, + -0.14435169100761414, + -0.94476717710495, + 0.0 + ], + [ + 0.3081539571285248, + 0.12270835041999817, + 0.07316716015338898, + -2.780180813866206, + -0.11884101480245587, + -0.8448452949523926, + 0.0 + ], + [ + 0.30616775155067444, + 0.1261555552482605, + 0.06182408705353737, + -2.764329733448573, + -0.04440214112401008, + -0.8165145516395569, + 0.0 + ], + [ + 0.3004750609397888, + 0.12594713270664215, + 0.052367422729730606, + -2.7729034443669995, + -0.027197182178497314, + -0.802958607673645, + 0.0 + ], + [ + 0.2949043810367584, + 0.12732632458209991, + 0.043563343584537506, + -2.769221844273158, + -0.037560999393463135, + -0.784227430820465, + 0.0 + ], + [ + 0.295946329832077, + 0.12648962438106537, + 0.02935853786766529, + -2.7778837402635297, + -0.07428812235593794, + -0.7648789286613464, + 0.0 + ], + [ + 0.2978290617465973, + 0.12689372897148132, + 0.02267712913453579, + -2.7862232347303113, + -0.09968507289886475, + -0.7505541443824769, + 0.0 + ], + [ + 0.2961801588535309, + 0.12758299708366394, + 0.022903291508555412, + -2.7905735691362104, + -0.08379806578159332, + -0.7611604928970337, + 1.0 + ], + [ + 0.29511696100234985, + 0.12681500613689423, + 0.03039529360830784, + -2.7794722636514386, + -0.0448700450360775, + -0.771477997303009, + 1.0 + ], + [ + 0.3010931611061096, + 0.12601006031036377, + 0.045615456998348236, + -2.7624839564138135, + -0.03347092866897583, + -0.7644610404968262, + 1.0 + ], + [ + 0.30303943157196045, + 0.11974130570888519, + 0.06234254688024521, + -2.7543340643220624, + -0.04400371015071868, + -0.7034013867378234, + 1.0 + ], + [ + 0.3055170476436615, + 0.10753139853477478, + 0.08236652612686157, + -2.8070944865518292, + -0.04939933493733406, + -0.5653711557388306, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.07607769966125488, + 0.3850690722465515, + 0.4458767771720886, + 0.4081007242202759, + 0.4061017632484436, + 0.40510207414627075, + 0.4061017632484436, + 0.40510207414627075, + 0.40510207414627075, + 0.40510207414627075, + 0.40510207414627075, + 0.40510207414627075, + 0.40510207414627075, + 0.40510207414627075, + 0.40510207414627075, + 0.40510207414627075, + 0.40510207414627075, + 0.3288310766220093, + 0.16556233167648315, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "492", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/492/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/498.json b/annotation/test/498.json new file mode 100644 index 0000000000000000000000000000000000000000..56d1c8ff21617c6e39665913e72c89be7020242d --- /dev/null +++ b/annotation/test/498.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "pick up pot 50" + ], + "videos": [ + { + "video_path": "videos/test/498/rgb.mp4" + } + ], + "action": [ + [ + -0.0008613417872401532, + -0.0004059742031012315, + 0.0006062381859762372, + 0.00144986639697802, + -0.00269141840684322, + 0.0002563030721247026, + 1.0 + ], + [ + -0.003953329403391943, + 0.0001176709080244723, + 0.012836817439395859, + -0.020839089227965353, + -0.077671710988, + -0.10339257724447734, + 1.0 + ], + [ + 0.007217223594868734, + -0.004297942921723721, + 0.011793930452652047, + 0.001825182015890353, + -0.035226735278869416, + -0.1282431753734475, + 1.0 + ], + [ + -0.00024083661807438377, + -0.00023631080141351917, + 0.010445765323765023, + 0.054268890285625995, + 0.012377199560069189, + -0.03874786439433451, + 1.0 + ], + [ + -0.0033405972511870445, + 0.0017676865783109092, + 0.0051202892776356585, + 0.03107463725577502, + 0.0007357641894938967, + 0.001520227135873055, + 1.0 + ], + [ + -0.0033122058210070275, + -0.00019542100700823005, + 0.013422448780246265, + 0.03627313966152278, + -0.02713171986731222, + 0.010356497863458084, + 1.0 + ], + [ + -0.001962657997120711, + 0.002921930979143268, + 0.0071501259169212475, + 0.011831964528695076, + -0.005348791650025815, + 0.008979128839523667, + 1.0 + ], + [ + -0.00010181158060254983, + 0.0015809135819035347, + 0.002124776156946316, + -0.0005868322219108715, + 0.004859626600362074, + 0.0016297426866290147, + 1.0 + ], + [ + -0.001550805149207281, + 0.0019339840990587683, + 0.0029159321558974807, + 0.005220214724702967, + -0.0016762296911446543, + 0.01572584886772373, + 1.0 + ], + [ + 0.0006254761910087465, + 0.0008046088026552007, + 0.0018702245575698624, + 0.011281094765759949, + 0.002141311360107261, + 0.005016840030042853, + 1.0 + ], + [ + 0.002329325377526509, + 0.0015154408447688337, + -0.0005443257101290982, + 0.0053113598855068205, + 0.009067173068929695, + 0.006996021011686341, + 0.0 + ], + [ + 0.00035403216542651716, + 0.0029805591354004498, + -0.0013652720715368416, + 0.003618785714508719, + 0.016495213072270754, + 0.02863282483059089, + 0.0 + ], + [ + 0.000639668435979656, + 0.003034522887593633, + -0.004987160784402342, + 0.0029931116301175624, + 0.028910879733215284, + 0.036721429477913285, + 0.0 + ], + [ + 0.0016134790306861575, + 0.0028019819845307072, + -0.01308199836717704, + -0.004855885819344031, + 0.0551712315529062, + 0.04372270507529395, + 0.0 + ], + [ + 0.0035924276363145835, + 0.0037119486028595874, + -0.018929839240382496, + -0.012354374952390935, + 0.07853657442289379, + 0.034868513269478624, + 0.0 + ], + [ + 0.0033407656246120638, + 0.00016025560170737069, + -0.00783685000404844, + -0.013106555490777556, + 0.031004603084257003, + -0.0025265937272084768, + 0.0 + ], + [ + -0.00043942803804279836, + 0.0007033572266368715, + -0.00017647508813579689, + -0.0011361115717217199, + 6.856998289094351e-06, + 0.0028498462702870923, + 0.0 + ], + [ + -0.0010227921217096738, + 0.0015723200889516105, + -0.0005311650850218514, + -2.2969150315532495e-05, + 0.0019027176469265932, + 0.011479311010089721, + 0.0 + ], + [ + -0.00014069374914481316, + 0.0026670836859140974, + -0.0015879006440224063, + 0.0038186465337786265, + 0.017328637813775586, + 0.019341729797254594, + 0.0 + ], + [ + 0.0033605581117550267, + 0.004110618468304027, + -0.01563666879763248, + -0.017165175195751444, + 0.06432497054313432, + 0.020666271972631663, + 0.0 + ], + [ + 0.007938825002173529, + 0.001335304938337878, + -0.01958758738014082, + -0.02578500291892191, + 0.08432176336112766, + 0.005214035677736647, + 0.0 + ], + [ + 0.005123882251933635, + -0.0015114429802239244, + -0.0073500296147835705, + -0.009444242751876214, + 0.037753521728272184, + -0.006880592226385625, + 0.0 + ], + [ + -0.0012342520785029014, + 0.0011992674085335483, + 0.00028549560045163804, + -0.0026504685727139427, + -0.0025108276758292083, + 0.0009532115837655934, + 0.0 + ] + ], + "state": [ + [ + 0.25333720445632935, + -0.018973298370838165, + 0.13335275650024414, + 3.055844487743922, + -0.3244671821594239, + 0.3947964906692505, + 1.0 + ], + [ + 0.25263598561286926, + -0.018883533775806427, + 0.1324727088212967, + 3.0574573298268994, + -0.3218075633049011, + 0.394284337759018, + 1.0 + ], + [ + 0.2533651888370514, + -0.01987553760409355, + 0.11909695714712143, + 3.0054162462526044, + -0.2342269867658615, + 0.49315330386161804, + 1.0 + ], + [ + 0.2607990503311157, + -0.012863753363490105, + 0.10883878916501999, + 2.9793921579890927, + -0.18019793927669525, + 0.6173256635665894, + 1.0 + ], + [ + 0.26295945048332214, + -0.01311284676194191, + 0.0986163392663002, + 3.026444839435168, + -0.18600943684577945, + 0.6582686901092529, + 1.0 + ], + [ + 0.2625109553337097, + -0.016423163935542107, + 0.0931994840502739, + 3.057787889736243, + -0.18691480159759524, + 0.6568177938461304, + 1.0 + ], + [ + 0.2624714970588684, + -0.01762642152607441, + 0.07942553609609604, + 3.096407139795371, + -0.1607302874326706, + 0.6440660953521729, + 1.0 + ], + [ + 0.2637661099433899, + -0.020708438009023666, + 0.07219095528125763, + 3.10973263730342, + -0.1557856649160385, + 0.6347417235374452, + 1.0 + ], + [ + 0.26492124795913696, + -0.021904170513153076, + 0.07012692838907242, + 3.1093771663778504, + -0.16069456934928894, + 0.6332483887672423, + 1.0 + ], + [ + 0.26525455713272095, + -0.024173913523554802, + 0.06706341356039047, + 3.1171572153740605, + -0.15950556099414825, + 0.6172739267349243, + 1.0 + ], + [ + 0.26648977398872375, + -0.024339590221643448, + 0.06533623486757278, + 3.1292372570657214, + -0.16176682710647583, + 0.6122452616691589, + 1.0 + ], + [ + 0.26916390657424927, + -0.024305080994963646, + 0.06626705825328827, + 3.1356734513589224, + -0.17091587185859683, + 0.6052603125572205, + 0.0 + ], + [ + 0.2709486186504364, + -0.026684794574975967, + 0.06769001483917236, + -3.138952200655364, + -0.18750979006290436, + 0.5762203931808472, + 0.0 + ], + [ + 0.27235785126686096, + -0.02940366417169571, + 0.0727011114358902, + -3.128938260609754, + -0.21619448065757751, + 0.53856098651886, + 0.0 + ], + [ + 0.2728303074836731, + -0.03257796913385391, + 0.0857890322804451, + -3.123902507247873, + -0.27058896422386164, + 0.4925340116024017, + 0.0 + ], + [ + 0.2733515202999115, + -0.03689030557870865, + 0.10492420941591263, + -3.125906091304966, + -0.348310261964798, + 0.4540795683860779, + 0.0 + ], + [ + 0.2738949954509735, + -0.03694013133645058, + 0.11342743039131165, + -3.1397546215499794, + -0.3793499171733856, + 0.4562744200229645, + 0.0 + ], + [ + 0.27378037571907043, + -0.03778025880455971, + 0.11342743039131165, + -3.1397546215499794, + -0.3793499171733856, + 0.45320644974708557, + 0.0 + ], + [ + 0.2734391987323761, + -0.03969637304544449, + 0.11353939026594162, + -3.135196678461977, + -0.38120523095130915, + 0.44083562493324274, + 0.0 + ], + [ + 0.27393490076065063, + -0.042422693222761154, + 0.11494509875774384, + -3.123527007299014, + -0.39833346009254456, + 0.41973406076431274, + 0.0 + ], + [ + 0.2730419635772705, + -0.04763110354542732, + 0.1305902600288391, + -3.131201329762586, + -0.46217161417007446, + 0.39539891481399536, + 0.0 + ], + [ + 0.272138386964798, + -0.04967566207051277, + 0.1516493409872055, + 3.129415159235247, + -0.5464249849319459, + 0.3882939219474792, + 0.0 + ], + [ + 0.27205827832221985, + -0.04797884076833725, + 0.1605754792690277, + 3.115390496450015, + -0.5840751528739929, + 0.3970863521099091, + 0.0 + ], + [ + 0.27170443534851074, + -0.04943534731864929, + 0.1596830040216446, + 3.1134122033887586, + -0.5815898180007935, + 0.395867258310318, + 0.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.1766626238822937, + 0.4763064980506897, + 0.7361812889575958, + 0.8960509598255157, + 0.9316608235239983, + 0.9316608235239983, + 0.9319662973284721, + 0.9322709515690804, + 0.9376176372170448, + 0.9393426328897476, + 0.9393426328897476, + 0.9393426328897476, + 0.9393426328897476, + 0.9393426328897476, + 0.9393426328897476, + 0.9393426328897476, + 0.9393426328897476 + ], + "episode_id": "498", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/498/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/499.json b/annotation/test/499.json new file mode 100644 index 0000000000000000000000000000000000000000..6599f286226295f8a3b8fe39e986245c00b1c02b --- /dev/null +++ b/annotation/test/499.json @@ -0,0 +1,603 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "move the blue cloth near banana" + ], + "videos": [ + { + "video_path": "videos/test/499/rgb.mp4" + } + ], + "action": [ + [ + -1.597378007543541e-05, + 0.0001971472443289897, + -1.1988989495243064e-07, + -0.0012431865574356413, + -0.00010185033531194337, + -0.0008928035852837618, + 1.0 + ], + [ + -0.0036561066525701825, + 0.00042336678678006113, + 0.008266257452474779, + 0.0009136712335147835, + -0.029067672061815094, + 0.003445512739116415, + 1.0 + ], + [ + 0.00035906154729749295, + -0.01589816312010685, + 0.0065047062799006095, + 0.002527816425257512, + -0.017427395135143367, + -0.023434201160306943, + 1.0 + ], + [ + 0.00762438729051969, + -0.023951139423048662, + 0.016054119492699068, + -0.005475522171058905, + -0.02447262380284578, + -0.0022312730807851435, + 1.0 + ], + [ + 0.009534772435788413, + -0.02177700761834888, + 0.020328485798980046, + -0.049142745026952254, + -0.031643675122109666, + 0.10206398032618086, + 1.0 + ], + [ + 0.007162599567547232, + -0.007791234995623208, + 0.015046123112908464, + -0.01713885671350637, + -0.020747868915301653, + 0.10629521990629846, + 1.0 + ], + [ + -0.003952799277272917, + -0.005627296263662593, + 0.01369572115056421, + -0.019376132263702505, + -0.016535918509653365, + 0.08617375372752514, + 1.0 + ], + [ + -0.006865609794256494, + -0.0016780496382005675, + 0.008206797864718146, + 0.02689125599520579, + -0.004017977525712935, + 0.039408466133576715, + 1.0 + ], + [ + -0.00014332767265349603, + -0.0021049517088721423, + 0.0017422625681350128, + 0.017919937680614968, + 0.007221642947274382, + -0.00847732911580677, + 1.0 + ], + [ + -0.0011770837643701225, + -0.0030997215745755193, + 0.004133400544917054, + 0.024742834192795705, + -0.011491716720403165, + -0.07848385610990502, + 1.0 + ], + [ + -0.0022864722031463998, + -0.0048982090497009904, + 0.0012603489167172142, + 0.025589044211388964, + -0.011073657471072182, + -0.11979329227136205, + 1.0 + ], + [ + -0.0018680751038055382, + -0.014624375930981752, + 0.0011225401940414806, + 0.013581055170840987, + -0.00905288720609445, + -0.15760728926768133, + 1.0 + ], + [ + -0.0016509520035106926, + -0.017478055061968843, + 0.001709828996825324, + 0.023163083949782438, + -0.007660857763763909, + -0.18133789490832244, + 1.0 + ], + [ + 0.0020174367882507833, + -0.020166691867081185, + 0.002508376819699179, + 0.00782625813633225, + -0.01563748681310876, + -0.09263391833626884, + 1.0 + ], + [ + -0.0012231180766870365, + -0.023537741949493873, + 0.0017226631232410846, + 0.019104745276481934, + -0.012321748645003882, + -0.07024086388961417, + 1.0 + ], + [ + -0.001862683699869773, + -0.024269912083722173, + 0.0012643244040516821, + 0.030986746681327917, + -0.019185743782194183, + -0.1174283327497323, + 1.0 + ], + [ + 0.0022005893853735293, + -0.012786564185717683, + 0.0024894097453375327, + 0.0033384952977745263, + -0.009248236669199536, + -0.06339381597858854, + 1.0 + ], + [ + 0.007976084408593664, + -0.006736358673622182, + -0.00027449973232026144, + 0.0041041212422644, + 0.018688144055341988, + -0.06342477133733973, + 1.0 + ], + [ + 0.004558594736652445, + -0.003300074692122534, + -0.0009383917625859945, + 0.013780427833155246, + 0.014509872792115427, + -0.05241903887807076, + 1.0 + ], + [ + 0.003931531848747294, + -0.002611540632834259, + 0.00043863930622303255, + -0.004072862027205233, + 0.014738487274028081, + -0.046395070595459345, + 1.0 + ], + [ + -0.0002972654122492543, + -0.0012034070466565515, + 0.00019331185387861969, + 0.0021358825187192637, + 0.007119129629582124, + -0.0215897180388258, + 1.0 + ], + [ + -0.00260398981981639, + -0.0018565515562563337, + -0.0027090133611731263, + 0.006476601560812408, + -0.005858146357108688, + -0.0038790336732368075, + 1.0 + ], + [ + 0.0008376301724705439, + -0.0031878414665786788, + -0.015728279412888953, + 0.0044916557242611265, + 0.013940144057329825, + 0.0045372119748531, + 1.0 + ], + [ + 0.006716688153990533, + 0.0006231696711453253, + -0.016410372990408588, + -0.017803944104865355, + 0.0400741573344908, + 0.016135072934181108, + 1.0 + ], + [ + 0.0027936475526838525, + 0.0009732476771030192, + -0.014269436399415733, + -0.006119813514138354, + 0.0293030465201704, + -0.0020871850394053983, + 1.0 + ], + [ + -0.007213645020797003, + 0.0013976155920966478, + -0.01503640393116418, + 0.005562705656777653, + 0.008027544491649897, + 0.026425156446512405, + 1.0 + ], + [ + -0.029489434735364813, + -0.004202361401333426, + -0.00841628476598859, + -0.010149092343337659, + -0.06557252369614262, + 0.1070744238674956, + 1.0 + ], + [ + -0.032620198839780255, + -0.005586956772911302, + -0.01215299198949006, + -0.02746845614802252, + -0.046523241420659105, + 0.04554965534956958, + 1.0 + ], + [ + -0.03507332775323889, + -0.01336217086297422, + 0.0029613643329730525, + -0.0467939330266366, + -0.015729628593047575, + -0.00555746683842221, + 1.0 + ], + [ + -0.018056996571961487, + -0.007469603721315649, + 0.005428017319754014, + 0.023259134129951616, + -0.011084237534692011, + -0.027122642435082455, + 1.0 + ] + ], + "state": [ + [ + 0.3087271451950073, + -0.07335692644119263, + 0.10453488677740097, + -3.0813295935564717, + -0.21235282719135284, + -0.23321746289730075, + 1.0 + ], + [ + 0.3086688816547394, + -0.07354535907506943, + 0.1045200303196907, + -3.0827662666612348, + -0.21230484545230863, + -0.2322995364665985, + 1.0 + ], + [ + 0.3069026470184326, + -0.07306241244077682, + 0.09565862268209457, + -3.0814570394628724, + -0.18308457732200623, + -0.23405830562114713, + 1.0 + ], + [ + 0.3119979798793793, + -0.057561133056879044, + 0.09027906507253647, + -3.083449887233325, + -0.16704179346561432, + -0.20927740633487701, + 1.0 + ], + [ + 0.32689377665519714, + -0.03532709181308746, + 0.0771152600646019, + -3.0895214473181447, + -0.14273907244205475, + -0.20559111237525937, + 1.0 + ], + [ + 0.34345772862434387, + -0.01548515073955059, + 0.059499070048332214, + -3.1245780923687896, + -0.1051165908575058, + -0.30636805295944214, + 1.0 + ], + [ + 0.35416749119758606, + -0.010433882474899292, + 0.04542151093482971, + -3.1306774617456874, + -0.08197665214538574, + -0.41262808442115784, + 1.0 + ], + [ + 0.35389775037765503, + -0.004010115750133991, + 0.031510137021541595, + 3.140139953238428, + -0.06419916450977325, + -0.4987816512584687, + 1.0 + ], + [ + 0.3491405248641968, + 0.000478526548249647, + 0.02287735790014267, + -3.1136204229020557, + -0.060188509523868554, + -0.5382671356201172, + 1.0 + ], + [ + 0.35020825266838074, + 0.002348419977352023, + 0.021189074963331223, + -3.0961994287841996, + -0.06764236092567444, + -0.5299763679504395, + 1.0 + ], + [ + 0.3510877192020416, + 0.005639389157295227, + 0.017130151391029358, + -3.0769334231787404, + -0.059509407728910446, + -0.4509153962135315, + 1.0 + ], + [ + 0.35124942660331726, + 0.011082361452281475, + 0.016054609790444374, + -3.0589541142159185, + -0.0557502880692482, + -0.33047229051589966, + 1.0 + ], + [ + 0.3542398512363434, + 0.025562668219208717, + 0.016038833186030388, + -3.0551716332607946, + -0.05899004638195038, + -0.17237991094589233, + 1.0 + ], + [ + 0.35563960671424866, + 0.04314354062080383, + 0.015746982768177986, + -3.0440814663940152, + -0.06595508009195328, + 0.009340107440948485, + 1.0 + ], + [ + 0.3574979603290558, + 0.06347688287496567, + 0.015348007902503014, + -3.042850623028823, + -0.05910731852054596, + 0.10321478545665741, + 1.0 + ], + [ + 0.35381704568862915, + 0.086814746260643, + 0.01588081382215023, + -3.0281920229368886, + -0.05361460521817207, + 0.17442782223224637, + 1.0 + ], + [ + 0.3476969301700592, + 0.11036711186170578, + 0.01726897805929184, + -3.0043482353263578, + -0.047429818660020835, + 0.29339733719825745, + 1.0 + ], + [ + 0.3460719585418701, + 0.12346373498439789, + 0.016657497733831406, + -3.004325719671794, + -0.046838294714689255, + 0.35752981901168823, + 1.0 + ], + [ + 0.3511609733104706, + 0.13244827091693878, + 0.018223334103822708, + -3.0032766332202634, + -0.07393916696310043, + 0.4179495871067047, + 1.0 + ], + [ + 0.353948175907135, + 0.13712094724178314, + 0.019940732046961784, + -2.993358077602931, + -0.09544243663549425, + 0.468087375164032, + 1.0 + ], + [ + 0.3562503457069397, + 0.14125165343284607, + 0.020267492160201073, + -3.001750277476855, + -0.11677776277065278, + 0.5120893120765686, + 1.0 + ], + [ + 0.3553982675075531, + 0.14217062294483185, + 0.020209332928061485, + -3.0020344724231443, + -0.1268121153116226, + 0.5326402187347412, + 1.0 + ], + [ + 0.352110356092453, + 0.14192920923233032, + 0.022797316312789917, + -2.996150242286273, + -0.12154913693666458, + 0.5373309850692749, + 1.0 + ], + [ + 0.3507077991962433, + 0.14211171865463257, + 0.03880488499999046, + -2.990850942330905, + -0.13468192517757419, + 0.5307623147964478, + 1.0 + ], + [ + 0.35613930225372314, + 0.14172780513763428, + 0.05569138750433922, + -3.0055753757529935, + -0.1718457639217377, + 0.5084772706031799, + 1.0 + ], + [ + 0.35786303877830505, + 0.13936947286128998, + 0.06996848434209824, + -3.0113039036565503, + -0.2011607885360718, + 0.5065321922302246, + 1.0 + ], + [ + 0.3507293164730072, + 0.1315927505493164, + 0.08295755833387375, + -3.000225620465823, + -0.20561182498931885, + 0.47870224714279175, + 1.0 + ], + [ + 0.3221185803413391, + 0.12009617686271667, + 0.0856732577085495, + -2.9908469786220273, + -0.12466910481452942, + 0.38145130872726435, + 1.0 + ], + [ + 0.28921759128570557, + 0.1108846366405487, + 0.0943714827299118, + -3.0135188718610486, + -0.07174471020698547, + 0.34335944056510925, + 1.0 + ], + [ + 0.25177064538002014, + 0.11197250336408615, + 0.09063003957271576, + -3.060840519266673, + -0.05685170367360115, + 0.3508918881416321, + 1.0 + ], + [ + 0.23238815367221832, + 0.11327236890792847, + 0.0848039910197258, + -3.0391965006762227, + -0.047968942672014236, + 0.378851056098938, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "499", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/499/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/512.json b/annotation/test/512.json new file mode 100644 index 0000000000000000000000000000000000000000..ff154781b0d3082bdab97ee30bf831c8676c815e --- /dev/null +++ b/annotation/test/512.json @@ -0,0 +1,603 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the pot and place it on top of the towel." + ], + "videos": [ + { + "video_path": "videos/test/512/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 1.0988996980444419e-10, + -4.020981466030013e-09, + -0.001533977318365456, + 1.0 + ], + [ + -0.0030188075739979725, + 0.0002573360142670325, + 0.010104004704087281, + 0.005976979685059265, + -0.02831845403171838, + -0.010060414920085664, + 1.0 + ], + [ + 0.004237613867475117, + 0.01896806562314327, + 0.0031689371565116857, + 0.05045376952445902, + 0.03422117303393708, + -0.008106498979660183, + 1.0 + ], + [ + 0.004283456070128966, + 0.02390231205574469, + 0.005165609428697664, + -0.0027576672493436444, + -0.002374595504805773, + 0.07103039336863819, + 1.0 + ], + [ + 0.010695473628323206, + 0.03744319194002416, + 0.006448427798483411, + -0.03243499223860508, + 0.007970002313881536, + 0.09611443820647943, + 1.0 + ], + [ + 0.0029292118673937234, + 0.011841251485595955, + 0.02261575624981755, + -0.014303357487393748, + -0.026975370999269836, + 0.006141889509476951, + 1.0 + ], + [ + 0.0018850645971820927, + 0.004021231601656972, + 0.021666987341041298, + -0.0354133097226815, + -0.014178060123022213, + -0.003964115306093798, + 1.0 + ], + [ + 0.0003795370486546081, + -0.007446223054696583, + 0.009552926195460396, + 0.0009624271391090934, + -0.024633474753251627, + -0.01861901770033072, + 1.0 + ], + [ + 0.00036896744852793625, + 0.00037969479704664096, + 0.0038209224483259628, + -0.012449594670451605, + -0.0003301028651108728, + -0.009285626572271832, + 1.0 + ], + [ + -0.0007248169217568158, + -0.0021960517396944724, + 0.003884516336487204, + -0.010407676922726535, + 0.002930995966240301, + -0.020927041569288502, + 1.0 + ], + [ + -0.0001527075368587208, + -0.0009612157668466833, + 0.0005224300335752168, + -0.0007807446358668147, + -0.0014747931558808203, + 0.0020426382493130514, + 0.0 + ], + [ + -0.003586601740339412, + -0.0010724181088177381, + 0.0034748198863335457, + 0.0066201936285153066, + -0.025915926113146706, + -0.009062424227886093, + 0.0 + ], + [ + 0.0006374838259911071, + 0.00024937435585946653, + -0.0024875585915029377, + 0.01951763350436936, + -0.01841876048407391, + 0.03788266501693154, + 0.0 + ], + [ + 0.002954256008218328, + -0.0023751086932472195, + -0.014030660054634747, + -0.016002516769640526, + 0.034226067438935213, + 0.10666622136826122, + 0.0 + ], + [ + 0.00638503800343144, + -0.03411981765122503, + -0.03051392462898096, + 0.008614410851368553, + 0.05064861030643306, + 0.030317194445908625, + 0.0 + ], + [ + 0.0030420165028735777, + -0.03389601290518695, + -0.015721412449605576, + 0.023167432476070456, + 0.005374268437621474, + -0.021292897997218403, + 0.0 + ], + [ + -0.008877934832473568, + -0.024948435942003227, + 0.01201959255601449, + -0.0024735111694897363, + -0.042715292018461894, + -0.037397785886434894, + 0.0 + ], + [ + -0.00829600653856554, + -0.01615284733153469, + 0.01999284087522273, + -0.008210887884784189, + -0.04651126285939781, + -0.03424888193030195, + 0.0 + ], + [ + 0.0011668079589890392, + -0.013340855140146301, + 0.0075984523322737965, + 0.010830528378939183, + -0.009903406872413234, + -0.02228413556852545, + 0.0 + ], + [ + -0.003986764487266823, + -0.013473222080577758, + 0.0009817841864853804, + -0.001107284428243848, + -0.0010242551160429155, + -0.02142785406518159, + 0.0 + ], + [ + -0.003084048503992472, + -0.007657480369714791, + 0.00034328056340762677, + 0.004590058396157054, + 0.0017132306378370207, + -0.016846297561319442, + 0.0 + ], + [ + -0.0010541826334075504, + -0.001149146819808734, + 0.0009196377357810127, + 0.0040039787714484425, + -0.004719555079304535, + -0.007643240074461514, + 0.0 + ], + [ + -0.0032420450360336685, + -0.0060322166017279235, + 0.0004031208316753367, + -0.0021117864086206296, + -0.0008832062498743594, + -0.019937540617189543, + 0.0 + ], + [ + -0.0020121806412163813, + -0.004850377958074741, + -4.3387934285198715e-05, + -0.01814502639176893, + 0.004949647639580355, + -0.03008832041373228, + 0.0 + ], + [ + -0.004127262283389149, + 0.0017472576155084679, + 0.004532191319390673, + -0.0033255476174530725, + -0.013509865681126628, + -0.0011408043402847004, + 0.0 + ], + [ + 0.003149224525759747, + 0.015133452336620827, + -0.0022014604293070874, + 0.008495381296501328, + 0.02387158378502972, + 0.08580301970084948, + 1.0 + ], + [ + 0.011140497665584883, + 0.027272241026421225, + -0.022433970776665764, + 0.028861325320719017, + 0.054531243259981446, + 0.09683946691781908, + 1.0 + ], + [ + -0.0006467982003273247, + 0.013495825497771908, + -0.006169159337655094, + 0.0074005661374672935, + 0.010019683444078303, + 0.00486297007810404, + 1.0 + ], + [ + -0.0025084884761882855, + -0.00029169707606197654, + -0.0028765016386547325, + 0.00751486751321686, + 0.01049519899529715, + -0.06175900996481793, + 1.0 + ], + [ + -0.00011628570427441703, + 0.0006408151407395539, + -0.00024648327078012253, + -0.0002157915083072982, + 7.18801337085199e-05, + -0.0015509074055608553, + 1.0 + ] + ], + "state": [ + [ + 0.33072352409362793, + 0.0342881865799427, + 0.10471790283918381, + -3.1359900409639856, + -0.16909338533878326, + 0.005773654207587241, + 1.0 + ], + [ + 0.33072352409362793, + 0.0342881865799427, + 0.10471790283918381, + -3.13625192980329, + -0.1691017746925354, + 0.007329803891479969, + 1.0 + ], + [ + 0.32944998145103455, + 0.034075476229190826, + 0.09424874931573868, + -3.1320088134431323, + -0.14082859456539157, + 0.017639337107539177, + 1.0 + ], + [ + 0.33444923162460327, + 0.015223897993564606, + 0.09152615070343018, + -3.0826584195070943, + -0.17512157559394836, + 0.02553354762494564, + 1.0 + ], + [ + 0.3404105603694916, + -0.0081880958750844, + 0.08580835908651352, + -3.073067622380801, + -0.1681285500526428, + -0.046246737241744995, + 1.0 + ], + [ + 0.35074135661125183, + -0.04561949521303177, + 0.07872789353132248, + -3.089474568265029, + -0.16872029006481168, + -0.14407354593276978, + 1.0 + ], + [ + 0.35592612624168396, + -0.057130176573991776, + 0.0563473142683506, + -3.1029575933986386, + -0.14145970344543454, + -0.14884743094444278, + 1.0 + ], + [ + 0.3603403568267822, + -0.06100902333855629, + 0.03502476215362549, + -3.139008297706493, + -0.12744389474391934, + -0.14430218935012817, + 1.0 + ], + [ + 0.36298635601997375, + -0.05384416878223419, + 0.025616668164730072, + -3.1404325577947354, + -0.10283632576465608, + -0.12552601099014282, + 1.0 + ], + [ + 0.3636927008628845, + -0.054311539977788925, + 0.02185337245464325, + 3.1293448313423475, + -0.10251254588365555, + -0.11619099974632265, + 1.0 + ], + [ + 0.36362314224243164, + -0.052140526473522186, + 0.017888611182570457, + 3.1167829913371285, + -0.10516443103551866, + -0.09511324763298037, + 1.0 + ], + [ + 0.3636190593242645, + -0.051187872886657715, + 0.017329484224319458, + 3.1162216441058597, + -0.10374053567647933, + -0.09720307588577269, + 0.0 + ], + [ + 0.36052489280700684, + -0.04989757016301155, + 0.013475989922881126, + 3.121961534144827, + -0.07759939134120941, + -0.08877865225076675, + 0.0 + ], + [ + 0.36094775795936584, + -0.050136499106884, + 0.01600988395512104, + -3.138726347480439, + -0.05987087264657021, + -0.12707804143428802, + 0.0 + ], + [ + 0.3633356988430023, + -0.04808773472905159, + 0.03019891120493412, + 3.1348458478511354, + -0.0934496521949768, + -0.23424915969371793, + 0.0 + ], + [ + 0.37473785877227783, + -0.015519947744905949, + 0.060945622622966766, + -3.136904691933193, + -0.14425931870937347, + -0.26449936628341675, + 0.0 + ], + [ + 0.3842819929122925, + 0.016935596242547035, + 0.07709813117980957, + -3.1168300063633403, + -0.14970046281814575, + -0.2429916262626648, + 0.0 + ], + [ + 0.38348379731178284, + 0.043135736137628555, + 0.06450335681438446, + -3.125064905854412, + -0.1078132688999176, + -0.20435692369937897, + 0.0 + ], + [ + 0.3808303475379944, + 0.06051695719361305, + 0.04400203377008438, + -3.137042041523852, + -0.0618082694709301, + -0.1693139523267746, + 0.0 + ], + [ + 0.3846910297870636, + 0.07342629879713058, + 0.03655083477497101, + -3.1275934121855578, + -0.051990944892168045, + -0.14695584774017334, + 0.0 + ], + [ + 0.38276800513267517, + 0.08734353631734848, + 0.03555164486169815, + -3.1298194752358874, + -0.051254771649837494, + -0.1254875659942627, + 0.0 + ], + [ + 0.38068392872810364, + 0.09532815217971802, + 0.03514086827635765, + -3.1260942268469414, + -0.053158942610025406, + -0.10863883048295973, + 0.0 + ], + [ + 0.37981119751930237, + 0.09659349918365479, + 0.03418441116809845, + -3.12250096921856, + -0.04855682328343392, + -0.10091434419155122, + 0.0 + ], + [ + 0.37721171975135803, + 0.10292641073465347, + 0.03373949974775314, + -3.1255859677963933, + -0.04804470017552376, + -0.08094052970409392, + 0.0 + ], + [ + 0.37559470534324646, + 0.10792256891727448, + 0.033763740211725235, + 3.1380044181183955, + -0.053453586995601654, + -0.05089276283979415, + 0.0 + ], + [ + 0.37163046002388, + 0.10635869950056076, + 0.029023800045251846, + 3.134620138099887, + -0.03993968293070793, + -0.04979967325925827, + 0.0 + ], + [ + 0.3739287257194519, + 0.09110765159130096, + 0.03145463019609451, + -3.1366239955001554, + -0.06426163762807846, + -0.13558655977249146, + 1.0 + ], + [ + 0.3798239529132843, + 0.0626663863658905, + 0.05442220717668533, + -3.101508828001567, + -0.11800757795572281, + -0.233233779668808, + 1.0 + ], + [ + 0.3753810524940491, + 0.04960746690630913, + 0.059930332005023956, + -3.0934823622279843, + -0.12782269716262817, + -0.23853738605976102, + 1.0 + ], + [ + 0.37264201045036316, + 0.05043099448084831, + 0.06247420981526375, + -3.0939277355843267, + -0.1410331130027771, + -0.1767447143793106, + 1.0 + ], + [ + 0.3723842203617096, + 0.04981489107012749, + 0.06267139315605164, + -3.0943630432062825, + -0.14117863774299622, + -0.17518346011638639, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05388200283050537, + 0.33786332607269287, + 0.6313431262969971, + 0.8443419635295868, + 0.9048766940832138, + 0.9121652245521545, + 0.9231027886271477, + 0.9260224476456642, + 0.926342710852623, + 0.926342710852623, + 0.926342710852623, + 0.926342710852623, + 0.926342710852623, + 0.926342710852623, + 0.926342710852623, + 0.8944665566086769, + 0.7145792841911316, + 0.4339951276779175, + 0.1189766526222229, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "512", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/512/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/555.json b/annotation/test/555.json new file mode 100644 index 0000000000000000000000000000000000000000..1a4096515aa2d46c743d1338aa3d43633b354fce --- /dev/null +++ b/annotation/test/555.json @@ -0,0 +1,736 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "move brush to middle front table edge" + ], + "videos": [ + { + "video_path": "videos/test/555/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 2.6306403749133376e-09, + 3.4635887273472095e-10, + -0.001533986473718326, + 1.0 + ], + [ + -0.0017322774890953336, + -0.0005768292694281655, + 0.006841701137365456, + -0.011952003152414285, + -0.020939466300106305, + -0.00332854135027796, + 1.0 + ], + [ + -0.012929750226377578, + -0.02835212857895144, + -0.0037251768277783482, + 0.034586312044088394, + 0.014794744547586208, + -0.05525582350123704, + 1.0 + ], + [ + -0.01402280136063489, + -0.023276214457801012, + -0.003089606036086014, + 0.035331918043028224, + -0.010304157842937065, + -0.047993963193193635, + 1.0 + ], + [ + -0.014078715552218755, + -0.03051989195925155, + -0.0065555357522728095, + 0.07407036407760091, + 0.02766587463584478, + -0.039136107348898254, + 1.0 + ], + [ + -0.002765349606140838, + -0.010742659168339113, + 0.009346166797460137, + 0.01924548431910099, + 0.032705980588877435, + 0.02068213997340812, + 1.0 + ], + [ + -0.0016174060279666705, + -0.015567218970708003, + 0.01257727854097488, + -0.009130581664532424, + 0.03778709512667264, + 0.022265345844679776, + 1.0 + ], + [ + 0.004291429653633067, + -0.008901758532216733, + 0.014795494795132081, + -0.007328559382416816, + -0.00935516964567699, + 0.010081772528668, + 1.0 + ], + [ + 0.001899025325715518, + -0.011030275601386332, + 0.011381271919208236, + -0.0019539133515426243, + -0.019280308649740174, + -0.01786664795888636, + 1.0 + ], + [ + -0.00035171616638530865, + -0.010058117036912699, + 0.010026952413211054, + 0.0026030748546390673, + -0.02843787432199576, + -0.018072448192301027, + 1.0 + ], + [ + -0.0007747789728672059, + -0.003179542856166919, + 0.008880176394744607, + -0.0030693492487026807, + -0.026991866864922474, + -0.01657516749121711, + 1.0 + ], + [ + -0.001805009112540803, + -0.002074501749312929, + 0.010782580969325127, + 0.0032418440524020343, + -0.025998938957167962, + -0.011928466909621913, + 1.0 + ], + [ + 0.0029360203697887093, + 0.004672433400138461, + 0.009854168306471813, + 0.002034939033413986, + -0.03390781180764628, + 0.01610032483669775, + 1.0 + ], + [ + 0.006789236809026437, + 0.004338648546709052, + 0.00294768138552767, + 0.01774137173854272, + -0.0202622383354871, + 0.0025959076368145674, + 1.0 + ], + [ + 0.0017597485918339785, + 0.0020644364625233987, + 0.0015873368558905901, + 0.0031179439506312293, + 0.004012161663761911, + -0.008747283237255139, + 1.0 + ], + [ + -0.001041140331816216, + 0.005499220519295275, + 0.00012364346785985537, + 0.0013609778969294912, + 0.0017288638572915444, + 0.003695671450510299, + 0.0 + ], + [ + -0.0022277487761796486, + 0.007795679379531307, + -0.0015271178414253768, + -0.03904256756752889, + 0.02448243487380154, + 0.009988301377415524, + 0.0 + ], + [ + -0.009546337063215617, + 0.02836402259588043, + -0.01764535789449736, + -0.08358729595574799, + -0.02844752307299345, + 0.005603536103739776, + 0.0 + ], + [ + -0.008032725679218616, + 0.04041998124344006, + -0.03438137753776424, + -0.0035679444415471387, + 0.09868073193191892, + -0.005207119134091411, + 0.0 + ], + [ + -0.004969300178282561, + 0.049800305492002574, + -0.016317573132025507, + 0.005426397414410213, + 0.04213847678534548, + 0.055697158195389694, + 0.0 + ], + [ + 0.005323467816806393, + 0.03514141522124784, + 0.00834395328267934, + 0.005243574248267758, + -0.007996927596461957, + 0.045524350765701854, + 0.0 + ], + [ + 0.009439661056755488, + 0.009072956733362818, + 0.02009523231508501, + 0.010768436022844878, + -0.045827280903154854, + -0.03154832046505657, + 0.0 + ], + [ + 0.013081938312989544, + 0.011681976485775097, + 0.012579852605023919, + 0.008774318254268056, + -0.016920801315628658, + 0.0004188947045573338, + 0.0 + ], + [ + 0.007299852668606381, + 0.02025657031494179, + 0.0028599470613654577, + 0.014849223305762434, + -0.005741002471285293, + 0.02941783123011721, + 0.0 + ], + [ + 0.0029792763604607323, + -0.007093293955683434, + 0.0011592496849960245, + -0.01812722328330721, + 0.0014413966371705938, + -0.04338235651284426, + 0.0 + ], + [ + -0.001225526595528498, + -0.015799622362926397, + -0.0004888686100363373, + 0.01361783101530736, + 0.004010627545582706, + -0.04373712926165169, + 0.0 + ], + [ + -0.0034629340089605385, + -0.019355060577431932, + 0.0008027473020450118, + -0.006964957102992907, + -0.0011835612160826245, + -0.05761084668129265, + 0.0 + ], + [ + -0.0003097608209849084, + -0.0030838643884812064, + 0.006446065232875875, + -0.0024300904765961304, + -0.01767595760365043, + 0.0008342129666968613, + 0.0 + ], + [ + 0.0017152192172865924, + 0.011449736099412555, + 0.005669895216479233, + 0.009884861219336344, + -0.013959073521849004, + 0.04892649851093141, + 0.0 + ], + [ + 0.000925091830198733, + 0.008142117230498302, + 0.0014174192908482546, + 0.016266973848006617, + -0.009851042828515202, + 0.056151373223013765, + 0.0 + ], + [ + -1.9801161724364043e-05, + 0.0002425205376315726, + 6.0545969927285925e-05, + 0.008580938862872452, + -0.002467997748740894, + 0.00950627070292464, + 1.0 + ], + [ + -0.0018790232465568106, + 0.001103099595451784, + -0.0004169948182096876, + -0.006806725946398773, + -0.010873642327578724, + 0.012684494111022432, + 1.0 + ], + [ + -0.005460376257664638, + -0.00843148830084318, + -0.029872475806045535, + 0.0009422305415145894, + 0.0668149498382357, + -0.027534734284589635, + 1.0 + ], + [ + -0.0024489696660510646, + -0.0017069802648049589, + -0.013838066154961512, + 0.0014893156315118447, + 0.029082764089854336, + -0.00968983493226028, + 1.0 + ], + [ + -0.0019248531080835385, + -0.002395278332634837, + -0.0013350252101403605, + -0.015260402098568817, + -0.005078498395168754, + 0.0015786364952427045, + 1.0 + ], + [ + 0.0006566561884533435, + -0.0023650500930980684, + -0.0030715524911768786, + 0.003512278994606469, + -0.00424442918059656, + 0.040843613937687914, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -1.7435592140378405e-09, + -1.2725649058071674e-09, + 0.006135951608802191, + 1.0 + ] + ], + "state": [ + [ + 0.27359887957572937, + 0.056029681116342545, + 0.10092955082654953, + 2.999219613271304, + -0.01977393217384815, + -0.23759476840496063, + 1.0 + ], + [ + 0.27359887957572937, + 0.056029681116342545, + 0.10092955082654953, + 2.9991897513442716, + -0.019556248560547825, + -0.23607601225376126, + 1.0 + ], + [ + 0.27195173501968384, + 0.05601451173424721, + 0.09404267370700836, + 2.9872000088268003, + 0.0016436283476650715, + -0.23575344681739807, + 1.0 + ], + [ + 0.26605597138404846, + 0.08683180809020996, + 0.09338480234146118, + 3.0221143533759793, + -0.004485309123992921, + -0.17888236045837402, + 1.0 + ], + [ + 0.25643330812454224, + 0.11243098974227905, + 0.0936150923371315, + 3.0573610832267484, + 0.01146882213652134, + -0.132459819316864, + 1.0 + ], + [ + 0.2466133087873459, + 0.14497625827789307, + 0.09774088859558105, + 3.131945059756287, + -0.012817123904824257, + -0.09114490449428558, + 1.0 + ], + [ + 0.2449498027563095, + 0.1558246910572052, + 0.0882568508386612, + -3.131736647459217, + -0.04571843892335892, + -0.11152077466249466, + 1.0 + ], + [ + 0.24565455317497253, + 0.17153427004814148, + 0.07577267289161682, + -3.1398246489749333, + -0.0832725316286087, + -0.1342202425003052, + 1.0 + ], + [ + 0.25230562686920166, + 0.1796450912952423, + 0.06140109896659851, + 3.1368715512850365, + -0.07389532774686813, + -0.14431256055831906, + 1.0 + ], + [ + 0.25659364461898804, + 0.19011366367340088, + 0.050139281898736954, + 3.133603296364196, + -0.05451921001076698, + -0.1265140175819397, + 1.0 + ], + [ + 0.2580505609512329, + 0.19998642802238464, + 0.04002814367413521, + 3.13523174229125, + -0.02592919021844864, + -0.1086706593632698, + 1.0 + ], + [ + 0.25784870982170105, + 0.2031499743461609, + 0.03111082687973976, + 3.131735677952417, + 0.0011710447724908588, + -0.09227354824542998, + 1.0 + ], + [ + 0.25622013211250305, + 0.2052772045135498, + 0.02031044289469719, + 3.134988533920147, + 0.02728621475398541, + -0.08060160279273987, + 1.0 + ], + [ + 0.2584969699382782, + 0.20034044981002808, + 0.010410900227725506, + 3.1365743788243314, + 0.06108332425355911, + -0.09694672375917435, + 1.0 + ], + [ + 0.2646425664424896, + 0.19536885619163513, + 0.007076033856719732, + -3.1290357887097677, + 0.08133205771446227, + -0.09965268522500992, + 1.0 + ], + [ + 0.2660540044307709, + 0.19317319989204407, + 0.005325266160070896, + -3.1252096147560557, + 0.0772072970867157, + -0.09093055874109268, + 1.0 + ], + [ + 0.26450473070144653, + 0.18779520690441132, + 0.005192489828914404, + -3.1241367423259696, + 0.07553867250680923, + -0.09466470032930374, + 0.0 + ], + [ + 0.2616584897041321, + 0.18020913004875183, + 0.006747456267476082, + 3.119223339604684, + 0.05123021453619003, + -0.10508948564529419, + 0.0 + ], + [ + 0.2501748204231262, + 0.15330304205417633, + 0.02548770047724247, + 3.0353069474273404, + 0.07954428344964981, + -0.11134535819292068, + 0.0 + ], + [ + 0.24119475483894348, + 0.11753485351800919, + 0.06447967141866684, + 3.032476635771342, + -0.0180351622402668, + -0.0957380309700966, + 0.0 + ], + [ + 0.23129814863204956, + 0.07053852081298828, + 0.08603029698133469, + 3.0388644357495984, + -0.06596262007951736, + -0.14657108485698703, + 0.0 + ], + [ + 0.2316291183233261, + 0.034289706498384476, + 0.08169510960578918, + 3.0472580810361585, + -0.0626044049859047, + -0.19276529550552368, + 0.0 + ], + [ + 0.2399587333202362, + 0.021532198414206505, + 0.06317194551229477, + 3.056267025070735, + -0.013986722566187383, + -0.1657046526670456, + 0.0 + ], + [ + 0.25092265009880066, + 0.006810517981648445, + 0.05181751772761345, + 3.065055253105708, + 0.0028368397615849967, + -0.16756393015384674, + 0.0 + ], + [ + 0.2547115981578827, + -0.014536337926983833, + 0.05049411207437515, + 3.0798527506464204, + 0.006310748402029276, + -0.197334885597229, + 0.0 + ], + [ + 0.2589971423149109, + -0.008246219716966152, + 0.04888064041733742, + 3.062057377892085, + 0.007542038336396218, + -0.1539450287818909, + 0.0 + ], + [ + 0.2602013945579529, + 0.007544382009655237, + 0.04812192544341087, + 3.07608254452283, + 0.007010670378804208, + -0.1100265681743622, + 0.0 + ], + [ + 0.2588600218296051, + 0.02707073651254177, + 0.04607818275690079, + 3.0696279128366193, + 0.011949467472732069, + -0.05261297896504403, + 0.0 + ], + [ + 0.25860872864723206, + 0.029699983075261116, + 0.039431240409612656, + 3.067161576943942, + 0.02951966039836407, + -0.05471670255064964, + 0.0 + ], + [ + 0.25953158736228943, + 0.017792029306292534, + 0.034579940140247345, + 3.0756604840331754, + 0.039766669273376465, + -0.10458158701658249, + 0.0 + ], + [ + 0.2595583200454712, + 0.009526264853775501, + 0.03366595506668091, + 3.0897758324914655, + 0.04583490639925003, + -0.16131781041622165, + 0.0 + ], + [ + 0.2594972252845764, + 0.00928764883428812, + 0.03361900895833969, + 3.097917677956172, + 0.04780511185526848, + -0.17095012962818149, + 1.0 + ], + [ + 0.25748521089553833, + 0.008535119704902172, + 0.03417303040623665, + 3.0904828404360494, + 0.058110445737838745, + -0.18411879241466522, + 1.0 + ], + [ + 0.25562599301338196, + 0.01899895630776882, + 0.0638432502746582, + 3.09313044895465, + -0.007238388992846012, + -0.1532682627439499, + 1.0 + ], + [ + 0.25347015261650085, + 0.021735502406954765, + 0.0775642916560173, + 3.0945219231122216, + -0.03581715747714043, + -0.1421780437231064, + 1.0 + ], + [ + 0.25187060236930847, + 0.0244449395686388, + 0.07871542125940323, + 3.079326046752282, + -0.030818505212664608, + -0.14399473369121552, + 1.0 + ], + [ + 0.25279730558395386, + 0.026888851076364517, + 0.0816527009010315, + 3.084154648827859, + -0.029097191989421848, + -0.18504050374031067, + 1.0 + ], + [ + 0.25279730558395386, + 0.026888851076364517, + 0.0816527009010315, + 3.0843340215557298, + -0.02944888547062874, + -0.19116899371147153, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.04849565029144287, + 0.3298342227935791, + 0.6055178344249725, + 0.6304961442947388, + 0.6304961442947388, + 0.6304961442947388, + 0.6304961442947388, + 0.6304961442947388, + 0.6304961442947388, + 0.6304961442947388, + 0.6304961442947388, + 0.6304961442947388, + 0.6304961442947388, + 0.6304961442947388, + 0.6304961442947388, + 0.5661784112453461, + 0.2503390312194824, + 0.0072438716888427734, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "555", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/555/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/561.json b/annotation/test/561.json new file mode 100644 index 0000000000000000000000000000000000000000..9ca4cd0db70866286608a6284dfd1abf0cbe2b5a --- /dev/null +++ b/annotation/test/561.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "close microwave" + ], + "videos": [ + { + "video_path": "videos/test/561/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -5.9611840189097004e-18, + -8.563615578116217e-18, + -3.368209944007394e-17, + 1.0 + ], + [ + -0.004878088997878297, + -0.0009365296744864696, + 0.005828002865292578, + 0.004558350884441806, + -0.028849020993868605, + 0.0006047233110275193, + 1.0 + ], + [ + -0.0073056967693555415, + 0.00036903633539581143, + -0.01808821273980855, + -0.036097683612930954, + -0.009213909962570826, + 0.01957950290542644, + 1.0 + ], + [ + -0.011756531951909536, + -0.0053363069123899135, + -0.025332108395826832, + -0.02236731923107407, + -0.002317963008979603, + 0.009368630566857609, + 1.0 + ], + [ + -0.008067728389794325, + -0.011249776059552139, + -0.019845241841138624, + -0.03355529263281023, + -0.006366021077506734, + 0.01726745844160791, + 1.0 + ], + [ + -0.00011300235435618159, + -0.014718238452681236, + -0.03296474437044364, + -0.05931422840432594, + 0.014454961414677411, + 0.026037424911683135, + 1.0 + ], + [ + -0.01049836525870276, + -0.010951669542071095, + -0.018001290621655466, + -0.036929034749345856, + 0.008279830835650861, + 0.024028822523442562, + 1.0 + ], + [ + -0.00636515607523942, + -0.009623030296005768, + -0.00696203924265684, + 0.015515866945742874, + 0.00017067977133393886, + 0.01466258803866085, + 1.0 + ], + [ + -0.00994689558554285, + -0.013317396386044796, + 0.009644156393946723, + 0.04742774571877674, + 9.693073007859018e-05, + -0.004324745989237474, + 1.0 + ], + [ + -0.010246097561614138, + -0.007110536318017197, + 0.011994995940994931, + 0.04874771147930485, + -0.0010404159051819264, + -0.00519437881509179, + 1.0 + ], + [ + -0.005212203445642037, + -0.003918428686361858, + 0.010786671989086644, + 0.033970099960263685, + 0.0017940041170183523, + -0.01802049472415635, + 1.0 + ], + [ + -0.0033180872049128197, + 0.00807132419688348, + 0.014037377446400089, + 0.00752808666012211, + -0.0025411125498742038, + -0.01783173410515127, + 1.0 + ], + [ + 0.002521283200822443, + 0.013483639913105883, + 0.010225081800389224, + -0.009067554608106203, + 0.025793468003347243, + -0.012845690815025871, + 1.0 + ], + [ + 0.007242164234567502, + 0.018311137696668218, + 0.009907011397843236, + -0.009300352968668608, + 0.002781749612315566, + -0.03445365521256236, + 1.0 + ], + [ + 0.0037051170048005644, + 0.02062724984217177, + 0.005638544977571512, + -0.009277762449510066, + -0.010749329325408757, + -0.02695605151590288, + 1.0 + ], + [ + 0.005711180896381424, + 0.02187078084932261, + -0.005656916269375812, + -0.017406748521832622, + -0.004156681801733605, + -0.0008568489583699285, + 1.0 + ], + [ + -0.006642065303706308, + 0.019330850970658578, + -0.005983334226159525, + -0.03184703835494973, + -0.033314929026528654, + 0.03883637014847307, + 1.0 + ], + [ + -0.02109663087508235, + 0.0035683749200577063, + -0.007490758341993833, + -0.006124719656097231, + -0.009971353958744393, + 0.04601231148226105, + 1.0 + ], + [ + -0.03319302149342568, + -0.002561193392533059, + -0.004198879535484921, + -0.0094837279346516, + -0.02049968308164614, + 0.10020111308751894, + 1.0 + ], + [ + -0.020205274315087077, + -0.02149241921585874, + 0.0014627028440867204, + 0.014412746844684066, + -0.028789214645596306, + 0.04101980835482195, + 1.0 + ], + [ + -0.001174018546715044, + -0.023980339223562804, + 0.0061155395214783385, + 0.05721369330146453, + 0.03628594271011432, + 0.013145778621095375, + 1.0 + ], + [ + 0.01591164431811606, + -0.023734377397022426, + 0.015227103996193678, + 0.05310672512747375, + 0.005212012528299984, + -0.049929854821292564, + 1.0 + ], + [ + 0.026387861272796066, + -0.0015789442121627096, + 0.013225527522584341, + 0.01671870387558032, + 0.016250311010615713, + -0.060667069914429675, + 1.0 + ], + [ + 0.017128348943404245, + 0.011349932701830505, + 0.011789311356314518, + 0.010153748933825427, + 0.02154494939224771, + -0.024892533965119656, + 1.0 + ], + [ + 0.011336443078284542, + 0.01631825098574083, + 0.004302812374530631, + -0.007596067835233663, + 0.030900755941250524, + -0.01162094961774697, + 1.0 + ], + [ + 0.010553550749339384, + 0.015734637447263847, + 0.0017164322151924075, + -0.03710857379894975, + 0.005843855017911556, + 0.002367733896538104, + 1.0 + ], + [ + 0.011212518240811476, + 0.014903845570173468, + -0.001790924632230436, + -0.0506702005570233, + 0.013983779231158696, + 6.321850911107413e-05, + 1.0 + ], + [ + 0.016109911894919837, + 0.00953487049345977, + 0.0007100138513309281, + -0.04415672523852786, + 0.04446772241301845, + -0.04686574610192492, + 1.0 + ], + [ + 0.01241846205322757, + 0.0051708776004420285, + 0.0011185082371404013, + -0.0054816739078274, + 0.0349958092799054, + -0.012483677986011044, + 1.0 + ], + [ + 0.009708236743009484, + 0.003753171849554969, + 0.00010172342830331342, + -0.022811298860381257, + 0.06084265578258756, + -0.02024823538794451, + 1.0 + ], + [ + 0.014412733370361502, + 0.004321793845016502, + -0.0007133757629363949, + -0.016103718274258657, + 0.09739093775640738, + -0.010935807459993934, + 1.0 + ], + [ + 0.007981012394685108, + 0.0007152654433055391, + 0.004423373319241339, + -0.020685724016910354, + 0.09603690073385723, + -0.014992961768306803, + 1.0 + ], + [ + 0.0027765677968147437, + -0.00037836633829360595, + -0.00021618412632641996, + 0.0010185761205551683, + 0.014740134186012813, + -0.009893684037536073, + 1.0 + ], + [ + 0.0044285680793991955, + 0.0006463052390776818, + 0.0010443982006416712, + -0.00991056565153387, + 0.041903145487149594, + 0.005337265299977757, + 1.0 + ], + [ + 0.000979302213439507, + -0.000414560478771857, + 0.0008843173242608969, + -0.002601627839753215, + 0.01843926586999769, + -0.0007255447614868892, + 1.0 + ], + [ + 0.0003678623183726987, + -0.0022710844254641947, + -0.0036829587260411908, + 0.022856243422202147, + -0.0626579786541396, + -0.014034317250881662, + 1.0 + ], + [ + -0.02502967633952344, + -0.023431709370565865, + -0.00857563653306237, + 0.07671507560063254, + -0.21193380988210997, + 0.032519936861508905, + 1.0 + ], + [ + -0.023677672113313834, + -0.023860755549871653, + -0.017403759752618344, + 0.027984893564900158, + -0.10637638647089688, + 0.026522015315961416, + 1.0 + ] + ], + "state": [ + [ + 0.2747916579246521, + 0.04411192238330841, + 0.08204837888479233, + 3.0897726250165185, + -0.11532521247863768, + 0.4184303879737854, + 1.0 + ], + [ + 0.2747916579246521, + 0.04411192238330841, + 0.08204837888479233, + 3.0897726250165185, + -0.11532521247863768, + 0.4184303879737854, + 1.0 + ], + [ + 0.27072370052337646, + 0.04299614205956459, + 0.07565735280513763, + 3.0945518930726728, + -0.08654599636793138, + 0.4163247644901276, + 1.0 + ], + [ + 0.262442409992218, + 0.039861343801021576, + 0.0930437296628952, + 3.060194792347499, + -0.07824558764696121, + 0.39627304673194885, + 1.0 + ], + [ + 0.24699288606643677, + 0.04139530658721924, + 0.1168631985783577, + 3.03857775230939, + -0.07669347524642944, + 0.3867188990116119, + 1.0 + ], + [ + 0.2332341969013214, + 0.05007829889655113, + 0.1347736269235611, + 3.0064064284139356, + -0.07212455570697784, + 0.3688421249389649, + 1.0 + ], + [ + 0.2242070436477661, + 0.06698769330978394, + 0.1653660535812378, + 2.9488423337512693, + -0.08993592858314514, + 0.34489691257476807, + 1.0 + ], + [ + 0.2082507312297821, + 0.07634083926677704, + 0.17993025481700897, + 2.913939895229884, + -0.10264316946268083, + 0.32278403639793396, + 1.0 + ], + [ + 0.19832588732242584, + 0.0845632553100586, + 0.18386436998844147, + 2.9309471418433866, + -0.10610809922218323, + 0.30845773220062256, + 1.0 + ], + [ + 0.18679296970367432, + 0.09244027733802795, + 0.17066407203674316, + 2.977924259501048, + -0.10529766231775282, + 0.3127308189868927, + 1.0 + ], + [ + 0.1768401563167572, + 0.09454117715358734, + 0.1566658616065979, + 3.026150280731269, + -0.10342349112033844, + 0.3177128732204437, + 1.0 + ], + [ + 0.17218255996704102, + 0.09579899162054062, + 0.1450212001800537, + 3.0582599510722837, + -0.10311294347047806, + 0.33591675758361816, + 1.0 + ], + [ + 0.17339716851711273, + 0.0864659994840622, + 0.13143356144428253, + 3.0639845376187047, + -0.09908053278923035, + 0.3535615503787995, + 1.0 + ], + [ + 0.1815289407968521, + 0.07429277896881104, + 0.12257891893386841, + 3.0534237047010144, + -0.12378953397274019, + 0.36847820878028864, + 1.0 + ], + [ + 0.19606848061084747, + 0.05941912531852722, + 0.1152801662683487, + 3.03987609048421, + -0.12345296144485475, + 0.40330812335014343, + 1.0 + ], + [ + 0.20812678337097168, + 0.041631221771240234, + 0.11224827915430069, + 3.0274394546919545, + -0.10998134315013887, + 0.4291878044605255, + 1.0 + ], + [ + 0.22125282883644104, + 0.02445114776492119, + 0.12093742936849594, + 3.009990023570605, + -0.10575410723686218, + 0.4295677244663238, + 1.0 + ], + [ + 0.22208954393863678, + 0.004619270097464323, + 0.1286572515964508, + 2.9827287663989743, + -0.07772461324930192, + 0.3865843713283539, + 1.0 + ], + [ + 0.2029179185628891, + -0.005709629971534014, + 0.13495607674121857, + 2.980432169633456, + -0.07506901770830154, + 0.3394421637058258, + 1.0 + ], + [ + 0.17037692666053772, + -0.01380463968962431, + 0.13618962466716766, + 2.9794318844848355, + -0.07049257308244705, + 0.2370033860206604, + 1.0 + ], + [ + 0.14619708061218262, + 0.001932367100380361, + 0.12986519932746887, + 2.9971245994144162, + -0.04862956702709199, + 0.1918337047100067, + 1.0 + ], + [ + 0.14114290475845337, + 0.024227820336818695, + 0.12031517922878265, + 3.0546266083889684, + -0.08642839640378953, + 0.18402738869190216, + 1.0 + ], + [ + 0.1541050374507904, + 0.04934600368142128, + 0.10452196002006531, + 3.103494497137614, + -0.08717668801546097, + 0.23441247642040253, + 1.0 + ], + [ + 0.1805485635995865, + 0.05676503852009773, + 0.09359379857778549, + 3.114923646795102, + -0.10094188153743744, + 0.2959612309932709, + 1.0 + ], + [ + 0.2013564258813858, + 0.05091942474246025, + 0.08389581739902496, + 3.1224955563717565, + -0.1217825710773468, + 0.32160374522209173, + 1.0 + ], + [ + 0.21767494082450867, + 0.03907269239425659, + 0.08131212741136551, + 3.1133912467681846, + -0.15244662761688232, + 0.3339502513408661, + 1.0 + ], + [ + 0.23288360238075256, + 0.02764991857111454, + 0.08165743947029114, + 3.0766208862238607, + -0.15835455060005188, + 0.3317203819751739, + 1.0 + ], + [ + 0.24774710834026337, + 0.017162667587399483, + 0.08614590764045715, + 3.025809111195155, + -0.1723128706216812, + 0.3325778841972351, + 1.0 + ], + [ + 0.26580342650413513, + 0.013292587362229824, + 0.08929852396249771, + 2.972633810835429, + -0.21083718538284302, + 0.3853958547115326, + 1.0 + ], + [ + 0.27908825874328613, + 0.012978319078683853, + 0.09166953712701797, + 2.9631534089618405, + -0.2431997656822205, + 0.40412983298301697, + 1.0 + ], + [ + 0.28908592462539673, + 0.01321719866245985, + 0.0945567712187767, + 2.9323485811525067, + -0.29936325550079346, + 0.4362444579601288, + 1.0 + ], + [ + 0.30286505818367004, + 0.015140165574848652, + 0.10033183544874191, + 2.905449377494403, + -0.3922000527381897, + 0.4696296155452728, + 1.0 + ], + [ + 0.31163346767425537, + 0.017649779096245766, + 0.09956292062997818, + 2.867816688614436, + -0.48176208138465876, + 0.5113295316696167, + 1.0 + ], + [ + 0.3135296702384949, + 0.019198471680283546, + 0.10094320774078369, + 2.861723484592982, + -0.49323037266731257, + 0.5266673564910889, + 1.0 + ], + [ + 0.31769680976867676, + 0.020569205284118652, + 0.10231314599514008, + 2.8480153699689588, + -0.5349650382995605, + 0.5341607928276061, + 1.0 + ], + [ + 0.3187742531299591, + 0.021370263770222664, + 0.10198098421096802, + 2.8417560180001935, + -0.5523944497108461, + 0.5412443876266478, + 1.0 + ], + [ + 0.3160835802555084, + 0.023553673177957535, + 0.10459829866886139, + 2.867052974300929, + -0.48838269710540777, + 0.5354540348052979, + 1.0 + ], + [ + 0.28361210227012634, + 0.03321733698248863, + 0.09453410655260086, + 2.9822353591495236, + -0.29137057065963745, + 0.44384697079658514, + 1.0 + ], + [ + 0.24835205078125, + 0.04559556767344475, + 0.10056459903717041, + 3.02206643124158, + -0.1902831345796585, + 0.4001615643501281, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.004532158374786377, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543, + 0.00520777702331543 + ], + "episode_id": "561", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/561/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/57.json b/annotation/test/57.json new file mode 100644 index 0000000000000000000000000000000000000000..54c6000dd3dcb6dc02ec4ccba5433c287f021235 --- /dev/null +++ b/annotation/test/57.json @@ -0,0 +1,337 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put sweet potato in pot which is in sink distractors" + ], + "videos": [ + { + "video_path": "videos/test/57/rgb.mp4" + } + ], + "action": [ + [ + -0.0008610842504853445, + -0.00027349147415506927, + 0.0008553145817260983, + 0.0012278041858926004, + -0.002781825450013154, + 0.000672953474470236, + 1.0 + ], + [ + 0.0009849968149046237, + 0.0008643364978690435, + 0.012340704488795247, + -0.003385028231496603, + 0.0071379179606202055, + 0.00842333616138148, + 1.0 + ], + [ + 0.004059878105185441, + -0.0022774405137297947, + 0.013786772529814214, + 0.00032074398200835876, + 0.027200206762311625, + -0.010820827383633873, + 1.0 + ], + [ + -0.0030712808657427397, + -0.00032942464809099963, + 0.015556656655042923, + -0.0076851720987669335, + 0.027485077084968428, + 0.0045311263127579115, + 1.0 + ], + [ + -0.003822766905805085, + -0.001356875638382738, + 0.008970743198662636, + -0.018741682243995406, + 0.021336958993553645, + -0.0034844500483528808, + 1.0 + ], + [ + 0.0003135642811073892, + -0.0018037278098988127, + 0.0013112648041933126, + 0.009644479852997226, + 0.008503752352395049, + -0.028184303092130845, + 1.0 + ], + [ + -0.00023974849377452257, + 0.0005763708622588077, + 0.0019301170994656639, + 0.0011917876969890632, + 0.012897617293845148, + -0.007712320233261413, + 0.0 + ], + [ + -0.0003009807528993706, + -0.002967926697520115, + -0.0012002682906265643, + 0.01372077002370822, + -0.019396367422978594, + 0.020565952262812808, + 0.0 + ], + [ + 0.016394729596696585, + -0.012290616528000843, + -0.017791648161482928, + 0.07200763811566804, + -0.035841048416954895, + 0.09753670394179849, + 0.0 + ], + [ + 0.030344837107148994, + -0.023099132030830402, + -0.0192600779402946, + 0.014960903229907051, + 0.019486075835272777, + 0.15246768515292547, + 0.0 + ], + [ + 0.017189453748471164, + -0.03185791963918741, + 0.001195807767238015, + -0.010197622705889775, + 0.044307672820648646, + 0.16502630851176356, + 0.0 + ], + [ + 0.004954737982725668, + -0.02784740122572906, + 0.0175336823408254, + -0.009189933648777822, + 0.03602424695619607, + 0.11101820260410171, + 0.0 + ], + [ + 0.00021374680695224383, + -0.012534712114184322, + 0.010108923634720527, + 0.02981062765409538, + 0.057383560347876665, + 0.07829331690295024, + 0.0 + ], + [ + -0.0013947948640978876, + -0.000279410632097555, + 0.0025129664698825428, + 0.020314647520689726, + 0.023159229196753797, + 0.03603226729502156, + 0.0 + ], + [ + 0.00015360458857235286, + -0.00021338763426130252, + -2.1431246753422145e-07, + 0.0013469906348943747, + 0.0009667232071118104, + 0.001399638790347687, + 1.0 + ], + [ + -0.00019339589149869877, + 0.00018983531820819473, + 0.0003742936113866317, + -0.0009781253046600782, + -0.0011780650131806025, + 9.276528577468724e-05, + 1.0 + ] + ], + "state": [ + [ + 0.1903812438249588, + -0.09844288229942322, + 0.06639489531517029, + -3.0826528650992593, + -0.20253099501132968, + -0.0944226011633873, + 1.0 + ], + [ + 0.18973976373672485, + -0.09805728495121002, + 0.065401092171669, + -3.0813206007056912, + -0.19971433281898499, + -0.09494081884622572, + 1.0 + ], + [ + 0.19313260912895203, + -0.0985003337264061, + 0.05347202718257904, + -3.0829151143604, + -0.20632399618625638, + -0.10397012531757353, + 1.0 + ], + [ + 0.20018188655376434, + -0.096137136220932, + 0.04096333310008049, + -3.0845141132646283, + -0.2341030240058899, + -0.09450884163379668, + 1.0 + ], + [ + 0.20090489089488983, + -0.09498386085033417, + 0.025161495432257652, + -3.0907159355753144, + -0.2612803876399994, + -0.1008126139640808, + 1.0 + ], + [ + 0.19969773292541504, + -0.09304118156433105, + 0.01558560598641634, + -3.1100903434031686, + -0.28276616334915156, + -0.09831946343183516, + 1.0 + ], + [ + 0.20052655041217804, + -0.091269850730896, + 0.014469084329903126, + -3.1085854192548474, + -0.2920399010181427, + -0.06918415427207947, + 1.0 + ], + [ + 0.20082160830497742, + -0.0918038859963417, + 0.012534457258880138, + -3.109589984762021, + -0.3051770031452179, + -0.06154954060912132, + 0.0 + ], + [ + 0.20032693445682526, + -0.08883984386920929, + 0.013678823597729206, + -3.089628366875001, + -0.2850703597068787, + -0.08231869339942932, + 0.0 + ], + [ + 0.21178127825260162, + -0.07839640974998474, + 0.0359526164829731, + -2.990179034071513, + -0.2428983747959137, + -0.18068721890449524, + 0.0 + ], + [ + 0.23900814354419708, + -0.06311064213514328, + 0.06511376798152924, + -2.9391138424449643, + -0.23634029924869537, + -0.3387715816497803, + 0.0 + ], + [ + 0.2640647292137146, + -0.03859681636095047, + 0.07422827184200287, + -2.911142425733157, + -0.24322552978992462, + -0.514491617679596, + 0.0 + ], + [ + 0.28580841422080994, + -0.015144456177949905, + 0.0650273934006691, + -2.8929125388436994, + -0.2513206303119659, + -0.6345610022544861, + 0.0 + ], + [ + 0.2959968149662018, + -0.004469045903533697, + 0.05857858434319496, + -2.8404133339696607, + -0.286649614572525, + -0.728316605091095, + 0.0 + ], + [ + 0.29616105556488037, + -0.0032591025810688734, + 0.05596179515123367, + -2.8080748935514173, + -0.29782906174659723, + -0.7714934349060059, + 0.0 + ], + [ + 0.2963921129703522, + -0.003202656749635935, + 0.05607384443283081, + -2.8062250335984906, + -0.2982839047908783, + -0.7732081413269042, + 1.0 + ], + [ + 0.29630813002586365, + -0.003199047176167369, + 0.05561945587396622, + -2.807295175390788, + -0.2971409261226654, + -0.7728942632675171, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0018453598022460938, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.10861486196517944, + 0.22408181428909302, + 0.22408181428909302, + 0.22408181428909302, + 0.22408181428909302, + 0.22408181428909302, + 0.22408181428909302, + 0.22408181428909302, + 0.05002796649932861, + 0.0, + 0.0 + ], + "episode_id": "57", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/57/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/576.json b/annotation/test/576.json new file mode 100644 index 0000000000000000000000000000000000000000..fa964dedbbc16cbc32002f1e42792213e16f84f2 --- /dev/null +++ b/annotation/test/576.json @@ -0,0 +1,1325 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put chocolate on plate and apple in pot or pan on stove" + ], + "videos": [ + { + "video_path": "videos/test/576/rgb.mp4" + } + ], + "action": [ + [ + 0.00019104050981082673, + -0.0004669905333437165, + -0.0004040875812365573, + -0.0006910986716102216, + 0.0011764861985676229, + -0.001686960001315176, + 1.0 + ], + [ + -0.002898244193501346, + 0.000993767232496431, + 0.01111573232790674, + 0.01009011106412399, + -0.02724403568510082, + -0.0014139088570950264, + 1.0 + ], + [ + 0.0006761049169209101, + 0.003684919092300931, + 0.01736956413966998, + -0.023108747615999327, + 0.02785190804831718, + -0.020378067838451037, + 1.0 + ], + [ + 0.00033747290052468353, + 0.004648968189923871, + 0.014282032300011481, + -0.019051985465308285, + 0.025352864968759128, + -0.017653300925333265, + 1.0 + ], + [ + -0.0013718566339961154, + 0.003069690239833413, + 0.013138088912314033, + -0.016481366806776882, + 0.01944722980961434, + -0.007379979789256717, + 1.0 + ], + [ + -0.0010715605957429088, + 0.0005226196056623356, + 0.00997697993238839, + -0.015729985025512844, + 0.021050912183434637, + 0.007768818420551137, + 1.0 + ], + [ + 0.0005882912343498851, + 0.0005583863610015902, + 0.00757468314889597, + -0.008219672001838998, + 0.020540483398152946, + -0.00032164006954016555, + 1.0 + ], + [ + -0.0027875289827339095, + 0.002314027712580729, + 0.010862378576869072, + -0.009036830239584239, + 0.007964384890746218, + 0.008081757556441933, + 1.0 + ], + [ + 0.0030937238122484083, + 0.002423468115977357, + 0.0006417415206341514, + -0.012662844357004068, + 0.02698286686244661, + -0.0018248837213497538, + 1.0 + ], + [ + 0.0015295211866024729, + 0.0014251937682019551, + 0.0025568077948490107, + -0.0030786365176596483, + 0.0016673404079787773, + -0.005245568974290234, + 0.0 + ], + [ + -0.0014248194386129102, + -0.0008877319828413908, + -0.0016861620361701094, + 0.014171442024805664, + -0.025751330071357367, + -0.0072698984203577776, + 0.0 + ], + [ + -0.014143371520142094, + -0.0112697587741013, + -0.0191008018017121, + 0.07164916761257364, + -0.12070161725560657, + 0.020260849545940863, + 0.0 + ], + [ + 0.004957141148617864, + -0.015515591708525768, + -0.04889022885109951, + 0.02753188921229345, + -0.045686962116356096, + 0.020427948231709608, + 0.0 + ], + [ + 0.009312153556177004, + -0.01827605828343793, + -0.03560784260509472, + 0.018735685657763405, + -0.04345035742464695, + 0.05063893659594305, + 0.0 + ], + [ + 0.011279809003380466, + -0.022678408928427148, + -0.02807588337015486, + 0.006029247013821696, + 0.0064344955060680505, + 0.028888533021362517, + 0.0 + ], + [ + 0.02706818358593601, + -0.021044141045116933, + -0.00046694343197664986, + -0.005714768605697378, + 0.01046518695243431, + 0.04368639133867617, + 0.0 + ], + [ + 0.021755001827390732, + -0.011565130487453605, + 0.022694088417480857, + -0.026642010478386158, + 0.02492271641418567, + 0.01868344131037397, + 0.0 + ], + [ + 0.02274903581616262, + -0.003146740773426328, + 0.025754015596135618, + -0.03970279045635167, + 0.06597658307388823, + 0.00395216432226977, + 0.0 + ], + [ + 0.011291593165958423, + -0.000556916354045123, + 0.024426362132656736, + -0.01670628503103152, + 0.03439017589705284, + 0.009062012370413786, + 0.0 + ], + [ + 0.004837737703839663, + 0.0017158504739002713, + 0.02092156584014996, + -0.014173206915573453, + 0.019735314732798975, + -0.00694752236758596, + 0.0 + ], + [ + -0.000147780667380381, + 0.003893724786461702, + 0.005515293689521978, + 0.024082416949467503, + 0.012718224300961003, + -0.012522427342922453, + 0.0 + ], + [ + -0.00953704918628562, + 0.0031693693603488168, + -0.001369575311025762, + 0.023524385768690814, + -0.05829817211452549, + -0.011068622473678397, + 1.0 + ], + [ + -0.00979489439793625, + 0.0032225228969516464, + -0.0036438265647754423, + 0.00650522801596464, + -0.058409315571239795, + 0.00042258856536756114, + 1.0 + ], + [ + -0.004639160821281638, + -0.00013528279514337456, + -0.021339968511848294, + 0.00866534455514832, + -0.010956175481813867, + -0.0007914767130344099, + 1.0 + ], + [ + -0.004179918528159561, + -0.004275084409641111, + -0.018493931793374534, + 0.01510280906342953, + -0.033004621557739644, + 0.014765732264529843, + 1.0 + ], + [ + -0.006571189106042009, + -0.006916871759870789, + -0.020223676219744715, + 0.025172554985919318, + 0.028802196395879946, + 0.017295986885372674, + 1.0 + ], + [ + -0.0007302158804256954, + 3.443495716788157e-05, + -0.0012042444565290484, + -0.0015412538516980973, + 0.0014085884489984436, + -0.0006653464332896547, + 1.0 + ], + [ + 0.00031447032518274045, + -0.00014825596065852866, + 0.0005262244284804365, + 0.0014786122577873611, + 0.00010822788644318713, + 0.00044999228782846513, + 1.0 + ], + [ + -0.00031434662530811666, + 0.000147619160728926, + -0.0005264772995713774, + -0.001478563415136643, + -0.00010889312102823792, + -0.0004498317715668593, + 1.0 + ], + [ + -0.0018122828844862955, + -0.0016626632992466223, + -3.1607882033235064e-06, + 0.0033271328435316183, + -0.009427599754216772, + -0.00411535932642845, + 1.0 + ], + [ + -0.04274284654144091, + -0.03778510253953378, + -0.03174136525518237, + 0.03582076328370499, + 0.00467533780716206, + -0.023475409498827454, + 1.0 + ], + [ + -0.02487602139949414, + -0.03464496361298279, + -0.005630908229306716, + 0.011808346837691408, + 0.006579172767069584, + -0.03286172226422095, + 1.0 + ], + [ + -0.009918446192922767, + -0.02032096571268653, + 0.005998491759907057, + 0.01010959793691344, + 0.01502049934122119, + 0.02079788266185359, + 1.0 + ], + [ + -0.0075173260740375135, + -0.02390235173220691, + 0.005353350111351202, + 0.014629580711797163, + 0.0068013400010268265, + 0.0047708156874900305, + 1.0 + ], + [ + -0.00660904761299771, + -0.02300590270879923, + 0.006720450158643058, + -0.014432181221275629, + 0.00980149711644145, + 0.01838640565933666, + 1.0 + ], + [ + -0.003402645879587446, + -0.016436445868492053, + 0.006809017817794946, + -0.006198849022106466, + 0.03185130058173628, + -0.006471018095263222, + 1.0 + ], + [ + -0.0023543338628958157, + -0.00503146267000247, + 0.017349724263343812, + -0.01619901788172795, + 0.025088729699203335, + -0.006096611444395436, + 1.0 + ], + [ + -0.00020966057326775333, + 0.0036491623967853685, + 0.02709961298398131, + -0.013275237362589782, + 0.04360772530596075, + 0.0006885161047481317, + 1.0 + ], + [ + 0.0016280432064348868, + -0.002277762177054492, + 0.0055873231403100986, + 0.010444069553126566, + 0.026327010114747643, + 0.012483414986254448, + 1.0 + ], + [ + 0.0003352655748839863, + -6.16564757510239e-06, + -0.0004612333124793877, + 0.00034093326058308974, + 0.0032769548222810014, + -0.000929818201675493, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.6107603765771753e-17, + 6.669192051217872e-18, + -2.2016644507257207e-17, + 1.0 + ], + [ + -0.00030957220364735943, + 0.0009983493498154615, + 0.0022637815154450684, + 0.0018863211051902426, + 0.0028180265359420407, + -0.010250017393795791, + 1.0 + ], + [ + -0.005100278096820115, + 0.013506726952372353, + 0.02164184003670858, + 0.0032658712118122275, + 0.022491476328138374, + -0.039456957206275865, + 1.0 + ], + [ + -0.005923502759968886, + 0.005671176993786539, + 0.018853312899554206, + 0.015016157376105652, + 0.05052982490652267, + -0.011472394655970093, + 1.0 + ], + [ + -0.008015284755693988, + 0.00044646065958387404, + 0.011082346081148694, + 0.015937792565969958, + 0.025189493433552118, + -0.0006008310528355589, + 1.0 + ], + [ + -0.007505545889568226, + -0.00019648714706596367, + 0.007278333689608469, + 0.011146406873735188, + 0.01369172707325536, + -0.006214694323936178, + 1.0 + ], + [ + -0.001663629076966535, + -0.0019008638367455045, + 0.0024114606062416704, + 0.007300307878320704, + 0.015379145344711851, + 0.0005934819125810515, + 1.0 + ], + [ + -0.0026862131631849168, + 0.0015560758972895778, + 0.010579273983031203, + -0.013594644573054974, + 0.009383389016922246, + -0.005084788094980848, + 1.0 + ], + [ + 0.0021977453650096996, + 0.001346824399548842, + 0.012473187034447266, + -0.010084719048934956, + 0.022625348510466325, + -0.012760597517173901, + 1.0 + ], + [ + 0.003984585690149479, + -0.0010481462848966265, + 0.005458015071453621, + -0.006677906704565946, + 0.013183798889942668, + 0.005030315205409626, + 1.0 + ], + [ + 0.00018063124995889142, + -5.137246634377628e-05, + -0.000397951608404364, + -0.009419958462007378, + -0.0375974586610774, + 0.0031211221653112903, + 0.0 + ], + [ + -0.0039025472323848754, + 0.003980347464132062, + -0.008640766944135772, + -0.01245488170262491, + -0.09386901080389433, + 0.005039052504829572, + 0.0 + ], + [ + 0.010171225898640036, + -0.005187851021345614, + -0.03528528635813479, + 0.029891262657453524, + -0.032666620964658125, + 0.0067650832804007285, + 0.0 + ], + [ + 0.008990289351516783, + 0.0005579128065952692, + -0.024595750410081323, + 0.019921603500532056, + -0.0456392254241213, + -0.001350780826057611, + 0.0 + ], + [ + 0.014064895519130587, + 0.002249262478750116, + -0.02824042943130798, + 0.01054787032056386, + -0.025497005475480266, + -0.0030047927978516134, + 0.0 + ], + [ + 0.016584042680996, + 0.010606104485236197, + -0.011119788966692155, + -0.012752730267485711, + 0.020603304757209662, + -0.022878965214137726, + 0.0 + ], + [ + 0.015676874018132878, + 0.018029516400007967, + 0.014114307384911144, + -0.011051913934156648, + 0.023271202601487337, + -0.012189415992850046, + 0.0 + ], + [ + 0.016033661687887966, + 0.016654953384199544, + 0.007768684536486578, + -0.00381274987985724, + 0.014947164344334535, + -0.0013528978441714897, + 0.0 + ], + [ + 0.012896061304788884, + 0.011943718177785877, + 0.010646291025717337, + -0.012885163424414826, + 0.02697895950109006, + 0.01419731388268743, + 0.0 + ], + [ + 0.009958067413643077, + 0.0010669700436487304, + -0.0009081860091022448, + -0.013420560697814261, + 0.025227630492535236, + 0.017178030570289615, + 1.0 + ], + [ + 0.005841740115819915, + -0.0048328782754946216, + 0.0007062272421943263, + -0.007645042398431031, + -0.009618712283223745, + 0.013978196179770088, + 1.0 + ], + [ + 0.0031889658193578214, + -0.002154923751897901, + -0.0019811917747649898, + 0.004418312911770687, + 0.002060120011083813, + 0.007142193092067098, + 1.0 + ], + [ + -0.001502705823485194, + 0.0012164240115845194, + -0.0006686739688206809, + 0.004416124555280529, + -0.013375471876188165, + -0.0011662445364478248, + 1.0 + ], + [ + -0.009105401399445285, + 0.012927696780143718, + 0.0007116182839862479, + 0.012037941053115245, + -0.028395909043665728, + 0.0002443843344196534, + 1.0 + ], + [ + -0.012232143595799386, + 0.02027983169259861, + -0.015967188028607224, + 0.008521455473713292, + 0.013726533467383553, + -0.008611550810535435, + 1.0 + ], + [ + -0.012224257353189074, + 0.01749578887383342, + -0.009251140250656016, + -0.0025899777797544813, + -0.007795091906894637, + -0.01490410062985764, + 1.0 + ], + [ + -0.011990397952423166, + 0.012904721342886005, + -0.0063488847879177215, + 0.00047791875681551903, + -0.014430889612681767, + -0.00816271480505623, + 1.0 + ], + [ + -0.003067965119105841, + 0.0018383457378481597, + 0.004431101087541685, + -0.006575751037112731, + 0.0011468217075081347, + 0.0038840198812295007, + 1.0 + ] + ], + "state": [ + [ + 0.26698240637779236, + -0.1333194077014923, + 0.09953790158033371, + -3.0185506363683423, + 0.00678241066634655, + -0.06019171327352524, + 1.0 + ], + [ + 0.26720109581947327, + -0.13291797041893005, + 0.09999494254589081, + -3.019231418269225, + 0.005407767370343208, + -0.05866187810897827, + 1.0 + ], + [ + 0.2642693817615509, + -0.13237474858760834, + 0.08885686099529266, + -3.0090714414888104, + 0.03227541968226433, + -0.053931690752506256, + 1.0 + ], + [ + 0.26430049538612366, + -0.13373591005802155, + 0.0711400955915451, + -3.03161362757022, + 0.001970853889361024, + -0.037420447915792465, + 1.0 + ], + [ + 0.26449453830718994, + -0.13679863512516022, + 0.056433454155921936, + -3.050613047676631, + -0.025166543200612068, + -0.022657508030533794, + 1.0 + ], + [ + 0.26341742277145386, + -0.13863804936408997, + 0.04304051771759987, + -3.0672191997342786, + -0.04520343989133835, + -0.017070520669221878, + 1.0 + ], + [ + 0.2628021538257599, + -0.13840734958648682, + 0.03301406651735306, + -3.0825142246955117, + -0.0656169354915619, + -0.02640035189688206, + 1.0 + ], + [ + 0.2638838589191437, + -0.13854612410068512, + 0.0254745464771986, + -3.0906627421551427, + -0.08614054322242737, + -0.027295367792248726, + 1.0 + ], + [ + 0.2620028257369995, + -0.1402534693479538, + 0.014309288002550602, + -3.098967297124215, + -0.09368007630109788, + -0.03580918163061142, + 1.0 + ], + [ + 0.26506489515304565, + -0.14275862276554108, + 0.013857520185410976, + -3.111678049089857, + -0.1207161694765091, + -0.03513135388493537, + 1.0 + ], + [ + 0.2668476998806, + -0.14417019486427307, + 0.011462327092885971, + -3.1153871697657785, + -0.12253802269697191, + -0.02989877387881279, + 0.0 + ], + [ + 0.26525062322616577, + -0.1432788074016571, + 0.012984199449419975, + -3.1021832322054586, + -0.09698215126991272, + -0.021921601146459583, + 0.0 + ], + [ + 0.2495168000459671, + -0.13242286443710327, + 0.031052911654114723, + -3.0287517850571355, + 0.024435026571154594, + -0.03727922588586807, + 0.0 + ], + [ + 0.2560671865940094, + -0.1227484792470932, + 0.08124314993619919, + -3.001485662656375, + 0.07212857156991959, + -0.05245206505060195, + 0.0 + ], + [ + 0.2687515914440155, + -0.11027196794748306, + 0.11828490346670151, + -2.9859531690650662, + 0.12215212732553482, + -0.09680508822202682, + 0.0 + ], + [ + 0.2854299247264862, + -0.09375447034835815, + 0.14792954921722412, + -2.983613746362277, + 0.12021926790475844, + -0.1265563815832138, + 0.0 + ], + [ + 0.3151503801345825, + -0.07666041702032089, + 0.14842788875102997, + -2.9948859234624585, + 0.1166337877511978, + -0.17165060341358182, + 0.0 + ], + [ + 0.3365806043148041, + -0.06539702415466309, + 0.12527760863304138, + -3.0241043662005147, + 0.09468114376068115, + -0.19387072324752805, + 0.0 + ], + [ + 0.35764867067337036, + -0.06327227503061295, + 0.09803220629692078, + -3.0646615271740636, + 0.02961686253547668, + -0.20552051067352295, + 0.0 + ], + [ + 0.36848944425582886, + -0.06304732710123062, + 0.0733971819281578, + -3.0816733111911496, + -0.003977131564170121, + -0.21719315648078918, + 0.0 + ], + [ + 0.3731958866119385, + -0.06455689668655396, + 0.052429817616939545, + -3.0958587137335023, + -0.024092998355627056, + -0.2114395499229431, + 0.0 + ], + [ + 0.3724220097064972, + -0.06811114400625229, + 0.046740368008613586, + -3.0720633958750447, + -0.03736869618296623, + -0.19950437545776367, + 0.0 + ], + [ + 0.36239323019981384, + -0.06940615177154541, + 0.04752934351563454, + -3.0489925314956388, + 0.020023774355649948, + -0.18443001806735992, + 1.0 + ], + [ + 0.35218170285224915, + -0.07110801339149475, + 0.05105502903461456, + -3.042229676740714, + 0.0782213881611824, + -0.17943687736988065, + 1.0 + ], + [ + 0.3489108979701996, + -0.0725293755531311, + 0.07260069996118546, + -3.033411467569419, + 0.08904486894607544, + -0.1775550693273544, + 1.0 + ], + [ + 0.3468606770038605, + -0.069872185587883, + 0.09174513816833496, + -3.019252160685607, + 0.12344518303871155, + -0.18874849379062655, + 1.0 + ], + [ + 0.343810111284256, + -0.0648127868771553, + 0.11331171542406082, + -2.996613325672694, + 0.09694241732358931, + -0.20952065289020538, + 1.0 + ], + [ + 0.3431682884693146, + -0.06488901376724243, + 0.1145634576678276, + -2.998110221820422, + 0.09545247256755829, + -0.20906370878219604, + 1.0 + ], + [ + 0.34347400069236755, + -0.06472695618867874, + 0.11403614282608032, + -2.996675746636935, + 0.09540969133377075, + -0.2095266580581665, + 1.0 + ], + [ + 0.3431682884693146, + -0.06488901376724243, + 0.1145634576678276, + -2.998110221820422, + 0.09545247256755829, + -0.20906370878219604, + 1.0 + ], + [ + 0.34176743030548096, + -0.0629100576043129, + 0.1149759590625763, + -2.994259299831935, + 0.10419332981109619, + -0.20361320674419406, + 1.0 + ], + [ + 0.31051307916641235, + -0.023050658404827118, + 0.15616543591022491, + -2.956120180087634, + 0.09609618782997131, + -0.18097448348999026, + 1.0 + ], + [ + 0.29322338104248047, + 0.013673407956957817, + 0.17042048275470734, + -2.9414058347516736, + 0.08352421969175339, + -0.14978235960006714, + 1.0 + ], + [ + 0.2864483594894409, + 0.03604281321167946, + 0.16941653192043304, + -2.9332833756976804, + 0.07291615009307861, + -0.17321227490901947, + 1.0 + ], + [ + 0.28326332569122314, + 0.06146489083766937, + 0.1696704924106598, + -2.9190963228517255, + 0.06724712252616881, + -0.1793001741170883, + 1.0 + ], + [ + 0.2809434235095978, + 0.08619687706232071, + 0.16863974928855896, + -2.9349161704354962, + 0.06173058226704596, + -0.19943399727344513, + 1.0 + ], + [ + 0.2808793783187866, + 0.10404729843139648, + 0.16556471586227417, + -2.941021280484744, + 0.029229454696178436, + -0.19963908195495608, + 1.0 + ], + [ + 0.27977779507637024, + 0.11282731592655182, + 0.14964085817337036, + -2.9571279009156903, + 0.0034291504416614767, + -0.19866448640823364, + 1.0 + ], + [ + 0.2797534763813019, + 0.11424333602190018, + 0.12233255058526993, + -2.970262410240718, + -0.03931213915348053, + -0.20734350383281708, + 1.0 + ], + [ + 0.2822003662586212, + 0.11699558049440384, + 0.11728331446647644, + -2.959121601777621, + -0.06311985105276108, + -0.22416190803050995, + 1.0 + ], + [ + 0.2824813723564148, + 0.11685188859701157, + 0.11775825172662735, + -2.958799900608607, + -0.0665111243724823, + -0.22384145855903625, + 1.0 + ], + [ + 0.2824813723564148, + 0.11685188859701157, + 0.11775825172662735, + -2.958799900608607, + -0.0665111243724823, + -0.22384145855903625, + 1.0 + ], + [ + 0.2822096347808838, + 0.11632894724607468, + 0.11533545702695847, + -2.9575587530904492, + -0.07114233821630478, + -0.2142502665519714, + 1.0 + ], + [ + 0.2769068479537964, + 0.1079464852809906, + 0.09128491580486298, + -2.9568346460633954, + -0.10043022036552429, + -0.17941243946552277, + 1.0 + ], + [ + 0.27266210317611694, + 0.10657074302434921, + 0.07121536135673523, + -2.9417814930253705, + -0.15220670402050018, + -0.17740555107593536, + 1.0 + ], + [ + 0.26680904626846313, + 0.10941033065319061, + 0.05917621776461601, + -2.925101863341876, + -0.17701268196105957, + -0.18188607692718506, + 1.0 + ], + [ + 0.2610839307308197, + 0.11224804073572159, + 0.050898753106594086, + -2.9144970794492444, + -0.19171884655952454, + -0.17869961261749268, + 1.0 + ], + [ + 0.2602628171443939, + 0.11483010649681091, + 0.0486953929066658, + -2.90638458927209, + -0.2065678834915161, + -0.18282802402973172, + 1.0 + ], + [ + 0.25999870896339417, + 0.11584729701280594, + 0.03772025182843208, + -2.920548828440257, + -0.21687708795070648, + -0.1800040453672409, + 1.0 + ], + [ + 0.2650035321712494, + 0.11638054996728897, + 0.026020174846053123, + -2.9322420229488095, + -0.24174335598945618, + -0.17229330539703372, + 1.0 + ], + [ + 0.2703930139541626, + 0.11763470619916916, + 0.02200196124613285, + -2.937013240652629, + -0.25358662009239197, + -0.1802063286304474, + 1.0 + ], + [ + 0.2704608142375946, + 0.11759130656719208, + 0.022434571757912636, + -2.94746649463708, + -0.2161367982625961, + -0.17551469802856445, + 0.0 + ], + [ + 0.2641063928604126, + 0.11305878311395645, + 0.02912885695695877, + -2.9619251062446317, + -0.12304526567459105, + -0.16225506365299225, + 0.0 + ], + [ + 0.2695567309856415, + 0.11094938218593597, + 0.06575211882591248, + -2.931836338835307, + -0.08969568461179735, + -0.16307437419891357, + 0.0 + ], + [ + 0.2753559947013855, + 0.10425195097923279, + 0.09040167182683945, + -2.912676440673419, + -0.04533345997333526, + -0.15224346518516543, + 0.0 + ], + [ + 0.28673070669174194, + 0.09380713105201721, + 0.11800464242696762, + -2.9024566133790692, + -0.0211818516254425, + -0.14353074133396151, + 0.0 + ], + [ + 0.30111607909202576, + 0.07865551114082336, + 0.12664519250392914, + -2.915562095242091, + -0.046614550054073334, + -0.1261695921421051, + 0.0 + ], + [ + 0.31566110253334045, + 0.06228738650679588, + 0.10959912836551666, + -2.926868127780505, + -0.07202444225549696, + -0.11949123442173004, + 0.0 + ], + [ + 0.3305925726890564, + 0.045772552490234375, + 0.09964273869991302, + -2.9305222948365888, + -0.0869164690375328, + -0.12136141210794449, + 0.0 + ], + [ + 0.3433142602443695, + 0.034702811390161514, + 0.08789864182472229, + -2.9416643251949033, + -0.11030571907758714, + -0.14101038873195648, + 0.0 + ], + [ + 0.35286733508110046, + 0.032108355313539505, + 0.08966892212629318, + -2.952643113332339, + -0.13159304857254028, + -0.16304196417331696, + 1.0 + ], + [ + 0.35934609174728394, + 0.03598767891526222, + 0.09064767509698868, + -2.958717258768626, + -0.1195107102394104, + -0.17504960298538208, + 1.0 + ], + [ + 0.362495481967926, + 0.037216667085886, + 0.09335123747587204, + -2.953415202098437, + -0.12023434042930603, + -0.18250113725662231, + 1.0 + ], + [ + 0.36073818802833557, + 0.036198653280735016, + 0.09359721094369888, + -2.949423389630862, + -0.1073123663663864, + -0.17883241176605225, + 1.0 + ], + [ + 0.3499303162097931, + 0.02539505437016487, + 0.08947262167930603, + -2.937866674857684, + -0.07939118146896361, + -0.17363323271274567, + 1.0 + ], + [ + 0.3330298364162445, + 0.004915973171591759, + 0.10000015795230865, + -2.92977965076501, + -0.09457483142614365, + -0.1679523140192032, + 1.0 + ], + [ + 0.3173474073410034, + -0.011746623553335667, + 0.1041879951953888, + -2.9339282532506665, + -0.09007467329502106, + -0.151676818728447, + 1.0 + ], + [ + 0.3031211495399475, + -0.023670436814427376, + 0.10664687305688858, + -2.9344301392608365, + -0.07763133198022842, + -0.1406818777322769, + 1.0 + ], + [ + 0.30033019185066223, + -0.024171678349375725, + 0.10170866549015045, + -2.940693440037318, + -0.07795412093400955, + -0.14473102986812592, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.05002796649932861, + 0.31980884075164795, + 0.3840659260749817, + 0.34891170263290405, + 0.34891170263290405, + 0.34891170263290405, + 0.34891170263290405, + 0.34891170263290405, + 0.34891170263290405, + 0.34891170263290405, + 0.34891170263290405, + 0.3619738817214966, + 0.28189969062805176, + 0.021884262561798096, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.03201168775558472, + 0.1250922679901123, + 0.09672892093658447, + 0.09504926204681396, + 0.09504926204681396, + 0.09504926204681396, + 0.09504926204681396, + 0.09504926204681396, + 0.09504926204681396, + 0.057769834995269775, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926 + ], + "episode_id": "576", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/576/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/596.json b/annotation/test/596.json new file mode 100644 index 0000000000000000000000000000000000000000..01e09101fb07bb67dedbe38a546fc01aa6df61fa --- /dev/null +++ b/annotation/test/596.json @@ -0,0 +1,907 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Take the spoon and place it near the tin." + ], + "videos": [ + { + "video_path": "videos/test/596/rgb.mp4" + } + ], + "action": [ + [ + -0.0004524925229681982, + 0.0002288452919570608, + -8.047128905886307e-07, + -0.0014395802019047783, + -0.0028552815982327007, + -0.001239065742296872, + 1.0 + ], + [ + -0.0006751953822745671, + -4.808407050971899e-05, + 0.0018169396355493526, + 0.003809312344474971, + -0.006533847039783132, + -0.00778999618180929, + 1.0 + ], + [ + 0.013868317993503097, + -8.447500986676366e-05, + 0.0031555143324989324, + -0.0038941702425436967, + 0.0017136316359948093, + -0.16789465751421728, + 1.0 + ], + [ + 0.0200361382719743, + 0.0054334841792944835, + 0.003595730347893648, + 0.011177550440688118, + 0.031730542195530655, + -0.21058211240088556, + 1.0 + ], + [ + 0.019541284005098993, + 0.006523369389611944, + 0.00834851464733476, + -0.035000535368996485, + 0.03496524071609205, + -0.18932327996316967, + 1.0 + ], + [ + 0.017563872801183458, + 0.011244346149008311, + 0.013348586781901163, + 0.000847632621005723, + 0.018541678202259448, + -0.18241390648957828, + 1.0 + ], + [ + 0.013588836600891689, + 0.020855660457787212, + 0.018430293869611553, + 0.028331842676373085, + 0.03800391806170906, + -0.14339566611289423, + 1.0 + ], + [ + 0.005678276106017122, + 0.026438558726022646, + 0.013796979644576275, + -0.0037189098277110905, + -0.003063712292212391, + -0.03896718272441124, + 1.0 + ], + [ + 0.008405540275744784, + 0.02230848944333932, + 0.022205015581756037, + -0.009341157328549286, + -0.034704849684396646, + -0.07299037364695257, + 1.0 + ], + [ + 0.006183319188065266, + 0.013362776733861456, + 0.01459967982302099, + -0.027401062928809613, + -0.01771912884415323, + -0.08116440780330532, + 1.0 + ], + [ + 0.0034568568941693353, + 0.005790897925174941, + 0.021057725491531967, + 0.015270966660610941, + -0.04949928532630312, + -0.05600099059599606, + 1.0 + ], + [ + 0.0013071754949461115, + 0.008101374405513338, + 0.015944782130588392, + 0.04176253170557156, + -0.015963565281691967, + -0.026775060156133148, + 1.0 + ], + [ + -0.002181404146896465, + 0.005810220897101798, + 0.004750954413840767, + -0.0008424911455982298, + -0.015870125786509506, + -0.008305524335336052, + 1.0 + ], + [ + -0.0031370332623856033, + 0.0027134151385812986, + 0.012704197876463695, + 0.03560272678802819, + -0.02023607762397218, + -0.007047047466816457, + 1.0 + ], + [ + 5.529848813393602e-05, + 0.0010008061977280274, + 0.005239181968072052, + 0.029107895862560292, + -0.0016437707535695587, + -0.007869707927618725, + 1.0 + ], + [ + 0.00010626746646920986, + 0.002456786206642023, + 0.000574422761023447, + -0.015324389871234589, + 0.0007776293996684297, + -0.006053425554239984, + 1.0 + ], + [ + -3.7057264383945153e-06, + 9.207046649583827e-05, + 0.00235909311353832, + 0.015318031723517195, + -0.0008937810950184896, + 0.007574624373419206, + 1.0 + ], + [ + 0.0008068738544621901, + -5.877375749870881e-05, + -0.0003041582947276006, + 0.0018683196977432618, + 0.0048052843421596955, + 0.006739651336090091, + 0.0 + ], + [ + 0.00027941103882125315, + 0.0006678505624606045, + 3.526347718684726e-05, + -0.00464639673925616, + -0.0019261024390696394, + 0.0027379459615992537, + 0.0 + ], + [ + 0.0008196427715739941, + -0.0015241563611681705, + -2.928346824024897e-07, + 0.006542276410578242, + 0.005528827791960318, + 0.0017524812044021367, + 0.0 + ], + [ + 0.0047478585005741635, + -0.01282010497463105, + -0.0022041703904728087, + 0.04938253893285387, + 0.002548403477917764, + 0.08930191597784085, + 0.0 + ], + [ + 0.013453100718250326, + -0.011701640841479021, + -0.010131337476006298, + -0.011390612172972448, + -0.02288522427668633, + 0.03760688266584537, + 0.0 + ], + [ + 0.004921298616501843, + -0.015541367745220306, + -0.009444693515656001, + 0.020227705615849585, + 0.007209705218126324, + 0.08247187077911391, + 0.0 + ], + [ + 0.00811474121948906, + -0.016942535998776317, + -0.011787282955503705, + 0.035416288762969726, + 0.03855651051748283, + 0.09322180399473226, + 0.0 + ], + [ + 0.012654485664360247, + -0.02505162526914171, + -0.008387190846546301, + 0.03098690257503574, + 0.031240356824782923, + 0.15286968257769923, + 0.0 + ], + [ + 0.008332861730596556, + -0.008186087064062961, + 0.0013244033749412615, + 0.006074808800981085, + 0.01366630135356013, + 0.2102590031381501, + 0.0 + ], + [ + 0.006337459202210252, + -0.011111254430843848, + 0.003073026595273398, + 0.0043902740156411945, + -0.01068005600497529, + 0.11642586105510182, + 0.0 + ], + [ + 0.0017688171810723492, + -0.005294545674316243, + 0.010272256093581343, + -0.03460280067238124, + -0.029630943507889376, + 0.09199742655578749, + 0.0 + ], + [ + -0.002009678834714035, + -0.0050226605153596395, + 0.005252068961295272, + 0.0010211988515100422, + -0.02909104910680458, + 0.08091199506878526, + 0.0 + ], + [ + -0.006056592891099836, + 0.0019357168903599495, + 0.008192275711411198, + -0.014629345516621688, + -0.005430390093110603, + 0.1333529188522716, + 0.0 + ], + [ + -0.0075747593538886965, + 0.0020362927374525876, + 0.009075716776094386, + -0.024884135462749535, + 0.0007984781728750866, + 0.14677732315840888, + 0.0 + ], + [ + -0.003374757502071936, + -0.003744273230243438, + 0.005907948918016124, + -0.03023438100527942, + 0.01266960968173082, + 0.09568424719315403, + 0.0 + ], + [ + -0.001591726146244411, + -0.005530503294194694, + 0.002917405227634268, + -0.021882948336684194, + 0.016195836596695375, + 0.03622872371171355, + 0.0 + ], + [ + -0.0009574443254584154, + -0.00269436028610603, + 4.613359051500263e-05, + -0.009834198771196253, + 0.0009814425414830287, + 0.02605452153172297, + 0.0 + ], + [ + -0.000930052690233745, + -0.002643409151121094, + -0.0008956419462705389, + 0.018168136500304632, + -0.011551596446561351, + 0.010504799596882802, + 0.0 + ], + [ + 0.0015797155233107365, + 0.0017992920673162716, + -0.0023310435579020745, + -0.018264916400800336, + -0.0010466812328819325, + 0.009346291334845325, + 1.0 + ], + [ + 0.0022740898712110907, + 0.00039743953165890475, + -0.011491345380378331, + -0.0026874103727530354, + 0.015254213148919702, + -0.0013671841137868233, + 1.0 + ], + [ + 0.006140388178278086, + -0.0012517474306447238, + -0.01805903394586411, + 0.01742852793242457, + 0.01745379097985, + -0.01695919349861527, + 1.0 + ], + [ + 0.006636198083200797, + 0.012570300522412979, + -0.024889929644397225, + 0.023727393322605525, + 0.05847755601241495, + -0.014029933056052844, + 1.0 + ], + [ + 0.003983919048025622, + 0.01790261018227751, + -0.013968816161750847, + 0.037968951600915374, + -0.0156805641284112, + 0.01556387810974769, + 1.0 + ], + [ + 0.0002178549186341868, + 0.022087740679854122, + -0.014130087126112714, + 0.0035545800563826497, + 0.002860895746336598, + 0.010763222827585895, + 1.0 + ], + [ + 0.004882317404840727, + 0.019244657404557924, + -0.009296602870674752, + -0.015189081118053002, + 0.01577448551020868, + 0.010952390917849122, + 1.0 + ], + [ + 0.01266391928005505, + 0.015651253600361126, + -0.01576875349364906, + 0.018655518810384516, + 0.035147155767510846, + 0.014163748006724017, + 1.0 + ], + [ + 0.015374162226693898, + 0.004546450059220224, + -0.018935339187324363, + -0.012963140361789022, + 0.04305900463815541, + -0.01820522715888607, + 1.0 + ], + [ + 0.013517323692893103, + 0.0016118043458441989, + -0.009545962755382201, + 0.009358479393385431, + 0.00940023428300461, + -0.015502388378996305, + 1.0 + ], + [ + -0.000734581365035131, + 0.0004822972245047561, + -5.492301559096824e-05, + 0.00014928119843776117, + -0.004440031459481928, + 0.0014964669663058486, + 1.0 + ] + ], + "state": [ + [ + 0.1855870485305786, + -0.02808269113302231, + 0.1272188276052475, + -3.071198420720645, + -0.19210037589073178, + 0.25176313519477844, + 1.0 + ], + [ + 0.18521659076213837, + -0.028413748368620872, + 0.12711742520332336, + -3.0729170983010015, + -0.1893391162157059, + 0.253226101398468, + 1.0 + ], + [ + 0.18486103415489197, + -0.028327420353889465, + 0.12521332502365112, + -3.070682080584117, + -0.18334876000881195, + 0.26158607006073, + 1.0 + ], + [ + 0.19850671291351318, + -0.024355515837669373, + 0.12465289980173111, + -3.1065274869375905, + -0.19430147111415863, + 0.43217197060585016, + 1.0 + ], + [ + 0.2192433625459671, + -0.020631814375519753, + 0.12480869889259338, + -3.137316544196107, + -0.22901320457458496, + 0.6470733880996704, + 1.0 + ], + [ + 0.2398555874824524, + -0.013188635930418968, + 0.12108726054430008, + 3.066598342853137, + -0.26059165596961975, + 0.842815637588501, + 1.0 + ], + [ + 0.2624020576477051, + -0.00624730484560132, + 0.11356500536203384, + 3.020067835348197, + -0.26102176308631897, + 1.0325947999954224, + 1.0 + ], + [ + 0.29091089963912964, + -0.003238044446334243, + 0.10183977335691452, + 3.010326223569461, + -0.278534471988678, + 1.1854099035263062, + 1.0 + ], + [ + 0.31998130679130554, + -0.0061078318394720554, + 0.09357704967260361, + 2.995798247056552, + -0.27018946409225464, + 1.225080132484436, + 1.0 + ], + [ + 0.3482212722301483, + -0.0023560556583106518, + 0.07777157425880432, + 2.9683178534084043, + -0.2246393114328384, + 1.2939306497573853, + 1.0 + ], + [ + 0.36568698287010193, + 0.0017441939562559128, + 0.06737519055604935, + 2.9239690025621137, + -0.19253477454185486, + 1.3722503185272217, + 1.0 + ], + [ + 0.37708553671836853, + 0.006680922582745552, + 0.049082737416028976, + 2.930693345265933, + -0.1319295018911362, + 1.4165512323379517, + 1.0 + ], + [ + 0.3886915147304535, + 0.008037691935896873, + 0.03547988831996918, + 2.9694615622335157, + -0.11068050563335417, + 1.4395275115966797, + 1.0 + ], + [ + 0.39494287967681885, + 0.0054360851645469666, + 0.03157593682408333, + 2.9679935594373426, + -0.09362068772315979, + 1.4450150728225708, + 1.0 + ], + [ + 0.3995208740234375, + 0.002843976952135563, + 0.019290857017040253, + 3.003238486247607, + -0.07247103005647658, + 1.4484686851501465, + 1.0 + ], + [ + 0.4012732207775116, + 0.003052600659430027, + 0.01425702590495348, + 3.0318008830123624, + -0.06975556164979935, + 1.456054925918579, + 1.0 + ], + [ + 0.40377622842788696, + 0.002892018062993884, + 0.013963395729660988, + 3.01605215867097, + -0.0698639303445816, + 1.462172031402588, + 1.0 + ], + [ + 0.4041779041290283, + 0.003008039901033044, + 0.011639819480478764, + 3.031907523172446, + -0.06992356479167937, + 1.454526424407959, + 1.0 + ], + [ + 0.40417778491973877, + 0.003797613549977541, + 0.011991366744041443, + 3.034209193783351, + -0.07543639093637466, + 1.4483357667922974, + 0.0 + ], + [ + 0.4048742651939392, + 0.003989838995039463, + 0.012048838660120964, + 3.0297843759232244, + -0.0738145038485527, + 1.4453991651535034, + 0.0 + ], + [ + 0.403475284576416, + 0.00500269141048193, + 0.01193998008966446, + 3.036408210294791, + -0.0795042961835861, + 1.4442709684371948, + 0.0 + ], + [ + 0.3911871314048767, + 0.011269072070717812, + 0.013160383328795433, + 3.0932563451402864, + -0.09108985960483551, + 1.3553632497787476, + 0.0 + ], + [ + 0.38196930289268494, + 0.026110904291272163, + 0.02389863133430481, + 3.085414396720477, + -0.06997982412576675, + 1.3166087865829468, + 0.0 + ], + [ + 0.3675217926502228, + 0.034318502992391586, + 0.032778963446617126, + 3.111571431281515, + -0.08156832307577133, + 1.2344017028808594, + 0.0 + ], + [ + 0.35356855392456055, + 0.046792663633823395, + 0.04467606544494629, + -3.128548509562858, + -0.12255467474460602, + 1.1417566537857056, + 0.0 + ], + [ + 0.335670530796051, + 0.06762029230594635, + 0.05487094447016716, + -3.0788316821032247, + -0.15035739541053772, + 0.9868008494377136, + 0.0 + ], + [ + 0.3333946466445923, + 0.07914511114358902, + 0.0553198903799057, + -3.0424639527970037, + -0.14755737781524658, + 0.7737552523612977, + 0.0 + ], + [ + 0.3301452100276947, + 0.09185327589511871, + 0.05431462079286575, + -3.0217481722408017, + -0.12445729970932007, + 0.6580754518508911, + 0.0 + ], + [ + 0.32850727438926697, + 0.09878344088792801, + 0.04504261165857315, + -3.0458373819761952, + -0.08357394486665726, + 0.5700281858444215, + 0.0 + ], + [ + 0.324185848236084, + 0.10254845768213272, + 0.04014362394809723, + -3.038573483126708, + -0.046635396778583534, + 0.4922267496585846, + 0.0 + ], + [ + 0.31970885396003723, + 0.09891878813505173, + 0.031522445380687714, + -3.047959292429038, + -0.027153611183166504, + 0.3601013720035553, + 0.0 + ], + [ + 0.3132723569869995, + 0.09523571282625198, + 0.022093841806054115, + -3.0698893090062818, + -0.013984561897814274, + 0.2138818055391312, + 0.0 + ], + [ + 0.30916914343833923, + 0.09859933704137802, + 0.016422677785158157, + -3.0991055836253842, + -0.019712449982762337, + 0.1175212413072586, + 0.0 + ], + [ + 0.3069787621498108, + 0.10402939468622208, + 0.013711955398321152, + -3.120284590991684, + -0.03434182330965996, + 0.08061987161636351, + 0.0 + ], + [ + 0.30580759048461914, + 0.10663828253746033, + 0.013690358959138393, + -3.1292304826253137, + -0.03475630283355713, + 0.054534602910280235, + 0.0 + ], + [ + 0.30470380187034607, + 0.10921408236026764, + 0.014585730619728565, + -3.1107020509713372, + -0.023073866963386532, + 0.044171351939439774, + 0.0 + ], + [ + 0.3063117265701294, + 0.1074128970503807, + 0.016895931214094162, + -3.1287534545459827, + -0.021738022565841675, + 0.03485965356230736, + 1.0 + ], + [ + 0.30835339426994324, + 0.10693882405757904, + 0.02842794358730316, + -3.131464854935654, + -0.03700851649045944, + 0.03603152930736542, + 1.0 + ], + [ + 0.31377890706062317, + 0.10820388048887253, + 0.04671354964375496, + -3.1146580280088862, + -0.05462794378399848, + 0.052835557609796524, + 1.0 + ], + [ + 0.31975680589675903, + 0.0952654629945755, + 0.0715816468000412, + -3.0915706624561032, + -0.11345785111188887, + 0.06534272432327269, + 1.0 + ], + [ + 0.32344478368759155, + 0.07688838243484497, + 0.08500493317842484, + -3.051922084885188, + -0.09700632840394972, + 0.05051461234688758, + 1.0 + ], + [ + 0.3236660361289978, + 0.05360550060868263, + 0.09706451743841171, + -3.047304267185279, + -0.09888603538274764, + 0.03948458284139633, + 1.0 + ], + [ + 0.32857728004455566, + 0.033749453723430634, + 0.10495360940694809, + -3.0612578486376485, + -0.11355169862508774, + 0.027016714215278625, + 1.0 + ], + [ + 0.3399726152420044, + 0.017185041680932045, + 0.12075730413198471, + -3.040623815851756, + -0.14743247628211975, + 0.009901411831378937, + 1.0 + ], + [ + 0.3525429666042328, + 0.010877267457544804, + 0.14119698107242584, + -3.055563213425227, + -0.1920928657054901, + 0.023915451020002365, + 1.0 + ], + [ + 0.3640771210193634, + 0.008726405911147594, + 0.15297740697860718, + -3.0490629990869245, + -0.2027694284915924, + 0.03885820135474206, + 1.0 + ], + [ + 0.3633749485015869, + 0.00821343157440424, + 0.15283939242362976, + -3.0486910586529454, + -0.19821000099182126, + 0.03775683417916298, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0, + 0.0005114078521728516, + 0.0, + 0.0005114078521728516, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.03274601697921753, + 0.30080950260162354, + 0.5634372532367706, + 0.5940692126750946, + 0.5940692126750946, + 0.5940692126750946, + 0.5940692126750946, + 0.5949552357196808, + 0.5949552357196808, + 0.5949552357196808, + 0.5949552357196808, + 0.5949552357196808, + 0.5949552357196808, + 0.5949552357196808, + 0.5949552357196808, + 0.5949552357196808, + 0.5949552357196808, + 0.5949552357196808, + 0.5468431115150452, + 0.22215306758880615, + 0.014131784439086914, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "596", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/596/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/605.json b/annotation/test/605.json new file mode 100644 index 0000000000000000000000000000000000000000..8d8980686c82b15649b73c6c94d714624cdf5b43 --- /dev/null +++ b/annotation/test/605.json @@ -0,0 +1,394 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put eggplant into pan" + ], + "videos": [ + { + "video_path": "videos/test/605/rgb.mp4" + } + ], + "action": [ + [ + -0.001331772927909062, + 0.0006575674730650898, + 0.0010563595882974622, + -0.0019165782617739453, + -0.005898350195337403, + -0.0017532899317461413, + 1.0 + ], + [ + 0.0035556275194348302, + -0.002111181516465782, + 0.010439414473471265, + 0.026700320837365996, + -0.05606923195897779, + -0.03362550901167522, + 1.0 + ], + [ + 0.017094770154530682, + -0.00428953707665088, + 0.002043867687989692, + 0.025852915256334406, + -0.014367065310308434, + -0.019313916737603486, + 1.0 + ], + [ + 0.003879820843087986, + -0.00904093696443401, + 0.004654188419028747, + 0.009330843753472777, + -0.007237487931040356, + -0.0122525456323873, + 1.0 + ], + [ + 0.004429465866127883, + -0.004336403828199151, + 0.0017914205399472975, + 0.02719063194816182, + 0.025739928800386197, + -0.00978090408453953, + 1.0 + ], + [ + -0.0010553937442552774, + -0.0038752811528932826, + 0.006993130785938211, + 0.01108108985734956, + 0.01790590039508104, + -0.023022036889413153, + 1.0 + ], + [ + 0.002436376718112285, + -0.00481705626988078, + 0.006780932275561314, + -0.0061839809994651196, + 0.01752285263965675, + 0.00025302310964828785, + 1.0 + ], + [ + 0.0031096042603812077, + -0.001666406981291367, + 0.009687636350507081, + -0.012939715180192903, + -0.0018224673287565028, + -0.003021980031055597, + 1.0 + ], + [ + 0.0006874364369377532, + -0.002308305258384542, + 0.009894732914655034, + -0.020077303224022194, + -0.006862171664426346, + -0.03288670225688692, + 1.0 + ], + [ + -0.002771904378452837, + -0.0013913904874979783, + 0.004504768880592621, + -0.0017366876291383777, + -0.015352588110592254, + -0.031079729368801393, + 1.0 + ], + [ + -0.0019077889418711387, + 0.00318490007727907, + -0.0007534850851990925, + 0.013820778455300008, + -0.019768066423756447, + -0.001492294004892263, + 0.0 + ], + [ + -0.008203034425542264, + 0.015634925359149083, + -0.009029841498999621, + 0.034429332630720295, + -0.0394702204951851, + -0.025987619336729897, + 0.0 + ], + [ + -0.007277960830545811, + 0.029651610458297378, + -0.024065482343317162, + 0.04739521533099481, + 0.02692629125030505, + 0.002397323032893426, + 0.0 + ], + [ + -0.011348760049825567, + 0.031835799001126625, + -0.013832239612037962, + 0.009852113359649957, + 0.0369215052107982, + -0.015532209227801932, + 0.0 + ], + [ + -0.018777092683315753, + 0.03360885443884267, + -0.004057908511140277, + 0.020211876076153254, + 0.009610369904079217, + -0.039416774701297355, + 0.0 + ], + [ + -0.009656937315948872, + 0.01199854047219407, + -0.0009772707186999584, + 0.007458524717368023, + 0.011841027376023947, + -0.04390544134654497, + 0.0 + ], + [ + -0.0015515642692286947, + 0.0005594840355439352, + 0.0045033541590482245, + -0.02665366920860133, + 0.014113329024423275, + -0.019848042141117857, + 0.0 + ], + [ + -0.0009552095045322958, + 0.0008939102506104393, + 0.0002463416225754189, + -0.028668046015875377, + 0.02090921937884398, + -0.014972328193580332, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 2.9226900009392453e-18, + -6.722497016909453e-18, + 3.7456707681542973e-17, + 1.0 + ] + ], + "state": [ + [ + 0.20165957510471344, + 0.1059938371181488, + 0.16928279399871826, + -3.108210975425788, + -0.27525603771209717, + 0.2535325884819031, + 1.0 + ], + [ + 0.2008584588766098, + 0.10514377802610397, + 0.16788367927074432, + -3.110676635178276, + -0.26941895484924316, + 0.2555546760559082, + 1.0 + ], + [ + 0.20622986555099487, + 0.10906168073415756, + 0.15883497893810272, + -3.0935726297372064, + -0.21424585580825803, + 0.29167062044143677, + 1.0 + ], + [ + 0.2213418334722519, + 0.11817476153373718, + 0.16067586839199066, + -3.072059380012103, + -0.20077908039093018, + 0.31205967068672175, + 1.0 + ], + [ + 0.22285379469394684, + 0.12847907841205597, + 0.1575154811143875, + -3.0653189366036138, + -0.19439387321472168, + 0.3250294625759124, + 1.0 + ], + [ + 0.22581443190574646, + 0.13418349623680115, + 0.15694276988506317, + -3.03964767803485, + -0.2207982391119003, + 0.3330112397670746, + 1.0 + ], + [ + 0.22470664978027344, + 0.1386326402425766, + 0.1503085047006607, + -3.033326679962226, + -0.24090382456779477, + 0.35471427440643316, + 1.0 + ], + [ + 0.22639936208724976, + 0.14514771103858948, + 0.14484868943691254, + -3.038964869576045, + -0.2582961618900299, + 0.3524958491325378, + 1.0 + ], + [ + 0.23057527840137482, + 0.14950759708881378, + 0.136491060256958, + -3.052748130755969, + -0.2567915320396423, + 0.35579687356948847, + 1.0 + ], + [ + 0.2323894202709198, + 0.15357117354869843, + 0.1273312121629715, + -3.0816235822909555, + -0.25272783637046814, + 0.390257328748703, + 1.0 + ], + [ + 0.23029683530330658, + 0.15450412034988403, + 0.12236502021551132, + -3.0916038510673722, + -0.23913393914699554, + 0.4231339395046234, + 1.0 + ], + [ + 0.2298002541065216, + 0.15075060725212097, + 0.12248965352773666, + -3.078374894457408, + -0.21946439146995544, + 0.4256726801395417, + 0.0 + ], + [ + 0.22759629786014557, + 0.1319923996925354, + 0.12853538990020752, + -3.050213838117667, + -0.1816252171993256, + 0.45455724000930786, + 0.0 + ], + [ + 0.2316436767578125, + 0.0986609160900116, + 0.1481304168701172, + -3.001892017322131, + -0.20821821689605713, + 0.44960707426071167, + 0.0 + ], + [ + 0.23445726931095123, + 0.06287557631731033, + 0.15484878420829773, + -2.9941338320546826, + -0.2469314783811569, + 0.46015703678131104, + 0.0 + ], + [ + 0.23337413370609283, + 0.02456977777183056, + 0.14936302602291107, + -2.983527796464511, + -0.26204890012741083, + 0.49905973672866827, + 0.0 + ], + [ + 0.23113910853862762, + 0.00968141108751297, + 0.14596925675868988, + -2.9873793741040906, + -0.28041940927505493, + 0.5422364473342896, + 0.0 + ], + [ + 0.23086561262607574, + 0.009678778238594532, + 0.14118117094039917, + -3.0190906320982656, + -0.2973697781562805, + 0.5604795813560486, + 0.0 + ], + [ + 0.23063547909259796, + 0.00852240715175867, + 0.14056308567523956, + -3.051539147394248, + -0.31992843747138977, + 0.5734390020370485, + 1.0 + ], + [ + 0.23063547909259796, + 0.00852240715175867, + 0.14056308567523956, + -3.051539147394248, + -0.31992843747138977, + 0.5734390020370485, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.18600207567214966, + 0.28189969062805176, + 0.28189969062805176, + 0.28090745210647583, + 0.28189969062805176, + 0.28189969062805176, + 0.28090745210647583, + 0.055433034896850586, + 0.0, + 0.0 + ], + "episode_id": "605", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/605/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/612.json b/annotation/test/612.json new file mode 100644 index 0000000000000000000000000000000000000000..eb3eeb671df81e29923a43c9995b2be22914ae21 --- /dev/null +++ b/annotation/test/612.json @@ -0,0 +1,660 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "take bowl off plate cardboard fence" + ], + "videos": [ + { + "video_path": "videos/test/612/rgb.mp4" + } + ], + "action": [ + [ + 0.00042506263275291075, + 0.0002585112283177232, + -0.00028728086407329225, + -0.0007953259380733725, + 0.0013116950690146897, + 2.98572352140928e-06, + 1.0 + ], + [ + -0.0025863331932954284, + -0.0017401304236003483, + 0.0033682099520120938, + 0.010258269565945803, + -0.018887213146545668, + -0.0011548813797762148, + 1.0 + ], + [ + 0.021926277003678506, + 0.0005519961881592683, + -0.011426176517758273, + -0.016035522257645176, + -0.006550662093273044, + -0.030241366709710612, + 1.0 + ], + [ + 0.021392120694039035, + -0.00854949475502953, + -0.006150726802285493, + -0.004982692195864301, + 0.023946950672488487, + -0.04403162565587489, + 1.0 + ], + [ + 0.01758922407051347, + -0.015726389410957355, + 0.01256006961915435, + 0.05974664193603785, + 0.018151167087401176, + -0.03420189100643561, + 1.0 + ], + [ + 0.00925059760137601, + -0.01686454100438818, + 0.014603714184278407, + 0.08707918254760832, + 0.013282228391083617, + 0.008871724849060967, + 1.0 + ], + [ + 0.013414537582604392, + -0.012530062724690256, + 0.00577349573668768, + 0.011980576490693078, + 0.07876539972421417, + -0.023840385903851253, + 1.0 + ], + [ + 0.007939251410768379, + -0.007646200962928422, + 0.010848343153461164, + 0.01894712450698013, + -0.00929085500296857, + -0.02840746865531188, + 1.0 + ], + [ + 0.0054503520400022215, + -0.001199412605304836, + 0.009350475242295595, + -0.013798358864020584, + 0.012804825398598722, + -0.021781769850985806, + 1.0 + ], + [ + 0.002749092390168773, + 0.002961388295949157, + 0.007778112384903179, + -0.002566200151577117, + 0.017217415732287654, + -0.01418137071520891, + 1.0 + ], + [ + -0.00043503352817200004, + 0.004659896989638487, + 0.000667051174342281, + -0.017521891409152564, + 0.008242765498475026, + -0.031027391058095623, + 1.0 + ], + [ + -0.005260680420119867, + -0.0002509233904468308, + 0.0033456676085161846, + 0.011671841603493625, + -0.03003079580869462, + 0.008115706919210692, + 0.0 + ], + [ + -0.005453503406789827, + -0.0004887179780940802, + -0.001163214060012991, + 0.013503487150791277, + -0.028759644897634697, + -0.009249578817547899, + 0.0 + ], + [ + 0.002023022299305707, + -0.001088959953704482, + -0.009651046264163281, + 0.0041889361837105146, + 0.014668982806945632, + -0.012526153782664508, + 0.0 + ], + [ + 0.0014159685723314675, + 0.0025301054874210614, + -0.013170268911566677, + -0.011393096806848182, + 0.009029253812802134, + -0.021082294305687282, + 0.0 + ], + [ + -0.0006595992788759696, + 0.009344609888941448, + -0.021267233123575546, + -0.02880611674210631, + 0.028204741799675876, + -0.021146999127268605, + 0.0 + ], + [ + -0.02049492837922465, + 0.021333343612696207, + -0.009692263099969586, + -0.021926764241444265, + -0.04772054216069048, + 0.0018742413466776658, + 0.0 + ], + [ + -0.020471882234342587, + 0.021868127171370686, + -0.01419965993315299, + -0.042572250994118446, + -0.014547638308430649, + 0.010737889104098708, + 0.0 + ], + [ + -0.025643469604786993, + 0.017196179274541475, + -0.0038229221638844337, + -0.01741824797962866, + -0.02876312426869773, + 0.03478708368782963, + 0.0 + ], + [ + -0.01925286246329989, + 0.013279974649709146, + -0.0006565477542478004, + -0.016849372419801074, + -0.0036261848759207055, + 0.013124215182411005, + 0.0 + ], + [ + -0.008629259847754263, + 0.0049355296207031175, + 0.008257466348461655, + -0.031386186333102126, + 0.003106270606833836, + -0.035446543271598074, + 0.0 + ], + [ + -0.009965187282708366, + 0.0027001209569491695, + 0.010048449958020528, + 0.0014372398073998695, + 0.00927294083088247, + 0.0025105786186976403, + 0.0 + ], + [ + -0.014675733902020809, + 0.006161272207853345, + 0.00971076091009907, + -0.003927908277073694, + -0.010255447013525822, + 0.02837373437805747, + 0.0 + ], + [ + -0.005078878962195243, + 0.0033872710018805724, + 0.003412208015714056, + -0.007757142910334122, + 0.002694713895852525, + 0.0025034011623963656, + 0.0 + ], + [ + -0.001188755358064797, + 0.00027253350100246465, + 0.0016464255177208562, + -0.010641279585672903, + 0.0032488558570557347, + -0.010069099175746166, + 0.0 + ], + [ + -0.0005027472487882152, + -0.002903051967480308, + 0.0018908138348274236, + 0.005360992653361111, + 0.004806896249945644, + 0.0012786767955099026, + 0.0 + ], + [ + 0.002512743371118675, + -0.0009370856256781246, + -0.00034985975515049856, + 0.0046155621135915825, + 0.013947924004373159, + 0.014939142427449275, + 0.0 + ], + [ + -0.00046642940448142354, + -0.002928205247892502, + 0.0017492416095969772, + 0.0024474569016299367, + -0.012537718879271536, + -0.007406739785621282, + 1.0 + ], + [ + -0.002473588137485567, + 0.0013371765353492014, + -0.0003808010489389607, + -0.00877735751613728, + -0.015599289675078166, + -0.007645125341004696, + 1.0 + ], + [ + -0.0008347414222380754, + 0.0028578634404335364, + -0.007632136272820591, + -0.024361479814334865, + -0.005047667213945011, + -0.00639106412116357, + 1.0 + ], + [ + 0.0031552865424385413, + 0.009924522480563738, + -0.018072449685902017, + -0.04285446921016054, + 0.003340469598594381, + -0.0018827192092268693, + 1.0 + ], + [ + 0.004761633509244453, + 3.291475369573824e-06, + -0.015224212366028953, + -0.019990236096194037, + 0.03846194318756742, + -0.0008156212289353944, + 1.0 + ], + [ + 0.00012846330515706945, + -0.00017378158224523233, + -0.00036446056439569754, + 0.0004971536191649237, + 0.001016284824631052, + -0.005094012352383638, + 1.0 + ] + ], + "state": [ + [ + 0.20037893950939178, + -0.07277793437242508, + 0.06061112880706787, + 3.089413819956132, + -0.0814158022403717, + 0.20040006935596463, + 1.0 + ], + [ + 0.20081858336925507, + -0.0729367733001709, + 0.06094507500529289, + 3.0886131097846707, + -0.0827258676290512, + 0.20046572387218475, + 1.0 + ], + [ + 0.1982620358467102, + -0.07186505943536758, + 0.05728754773736, + 3.0988492538505277, + -0.06380400061607362, + 0.20061898231506348, + 1.0 + ], + [ + 0.21900267899036407, + -0.06771189719438553, + 0.07010163366794586, + 3.0809206572645387, + -0.05593867972493172, + 0.23059894144535065, + 1.0 + ], + [ + 0.23745429515838623, + -0.054231029003858566, + 0.0769098773598671, + 3.073438087599822, + -0.07711488753557205, + 0.2761256098747254, + 1.0 + ], + [ + 0.25129076838493347, + -0.034891679883003235, + 0.06470344215631485, + 3.130481008561798, + -0.09284684807062149, + 0.31163224577903753, + 1.0 + ], + [ + 0.2562422752380371, + -0.015750296413898468, + 0.05083459988236427, + -3.0648123045736035, + -0.10622328519821167, + 0.30285999178886414, + 1.0 + ], + [ + 0.2656012177467346, + 0.0007269447087310255, + 0.04748851805925369, + -3.0545160566740712, + -0.18656787276268005, + 0.3208315670490265, + 1.0 + ], + [ + 0.27209022641181946, + 0.011904307641088963, + 0.03899487480521202, + -3.0410888512902936, + -0.1797025054693222, + 0.3504149913787842, + 1.0 + ], + [ + 0.27793678641319275, + 0.016310669481754303, + 0.030933979898691177, + -3.058613712089606, + -0.19459018111228943, + 0.37119221687316895, + 1.0 + ], + [ + 0.2827279269695282, + 0.01570046693086624, + 0.023619679734110832, + -3.0636877809935292, + -0.2129077613353729, + 0.3841890692710876, + 1.0 + ], + [ + 0.28425684571266174, + 0.011363515630364418, + 0.022523270919919014, + -3.087805865454026, + -0.22344049811363223, + 0.4152519106864929, + 1.0 + ], + [ + 0.2800638973712921, + 0.009985292330384254, + 0.01811295375227928, + -3.074645796912261, + -0.19301208853721621, + 0.40864315629005427, + 0.0 + ], + [ + 0.27477946877479553, + 0.008143613114953041, + 0.01823802851140499, + -3.063287491100379, + -0.1649235486984253, + 0.41994532942771917, + 0.0 + ], + [ + 0.27501168847084045, + 0.008609434589743614, + 0.028145108371973038, + -3.0609876831346234, + -0.18051669001579282, + 0.4314715266227722, + 0.0 + ], + [ + 0.2756674885749817, + 0.004967594984918833, + 0.04111311957240105, + -3.0761037339740476, + -0.19117638468742373, + 0.4521338343620301, + 0.0 + ], + [ + 0.2762441039085388, + -0.0066658006981015205, + 0.06122241169214249, + -3.10864548583562, + -0.22066839039325714, + 0.4718595743179321, + 0.0 + ], + [ + 0.26651662588119507, + -0.03592580184340477, + 0.0655028447508812, + -3.130468016611882, + -0.17291201651096344, + 0.47155532240867615, + 0.0 + ], + [ + 0.2564171552658081, + -0.06579869240522385, + 0.07572802901268005, + 3.111988093825527, + -0.1582360863685608, + 0.4608472883701325, + 0.0 + ], + [ + 0.2407182902097702, + -0.09265760332345963, + 0.07596337795257568, + 3.1002366376393518, + -0.13041426241397858, + 0.42493292689323425, + 0.0 + ], + [ + 0.2286427617073059, + -0.11265584826469421, + 0.07465444505214691, + 3.085129430639096, + -0.12732224166393277, + 0.41156184673309326, + 0.0 + ], + [ + 0.223882794380188, + -0.12061860412359238, + 0.06565741449594498, + 3.0492261817031583, + -0.1283426582813263, + 0.44742217659950256, + 0.0 + ], + [ + 0.21766243875026703, + -0.12761379778385162, + 0.05470563843846321, + 3.050872067111083, + -0.13780745863914493, + 0.44576194882392883, + 0.0 + ], + [ + 0.20870059728622437, + -0.13967160880565643, + 0.04366336017847061, + 3.0510210414701184, + -0.13010536134243011, + 0.416328102350235, + 0.0 + ], + [ + 0.20595070719718933, + -0.144913449883461, + 0.03993871435523033, + 3.043558234470435, + -0.13301512598991394, + 0.41405865550041204, + 0.0 + ], + [ + 0.20524168014526367, + -0.14569732546806335, + 0.03818345069885254, + 3.0315379222207746, + -0.13525570929050446, + 0.4244926571846008, + 0.0 + ], + [ + 0.20395496487617493, + -0.14334025979042053, + 0.035937510430812836, + 3.0369988476210317, + -0.14017392694950104, + 0.42374232411384577, + 0.0 + ], + [ + 0.20579293370246887, + -0.1414487510919571, + 0.036536239087581635, + 3.0435088371210774, + -0.15559257566928866, + 0.4101787209510803, + 0.0 + ], + [ + 0.20456473529338837, + -0.13899189233779907, + 0.03446086868643761, + 3.0449886863403997, + -0.14238685369491577, + 0.4163843095302581, + 1.0 + ], + [ + 0.20278291404247284, + -0.14119501411914825, + 0.034612711519002914, + 3.0353281070762357, + -0.12612023949623108, + 0.4225371479988098, + 1.0 + ], + [ + 0.20195558667182922, + -0.1437952071428299, + 0.04233723133802414, + 3.0102297087484082, + -0.12042103707790375, + 0.42839914560317993, + 1.0 + ], + [ + 0.20580895245075226, + -0.15024951100349426, + 0.061793822795152664, + 2.9670959432893476, + -0.12348579615354538, + 0.43072086572647095, + 1.0 + ], + [ + 0.2073224037885666, + -0.14664886891841888, + 0.07725974172353745, + 2.9460462649636945, + -0.1612182855606079, + 0.43829765915870655, + 1.0 + ], + [ + 0.2072877585887909, + -0.1463986337184906, + 0.0775999128818512, + 2.945701228576251, + -0.16122323274612427, + 0.44356030225753784, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.057769834995269775, + 0.327828049659729, + 0.6270982325077057, + 0.8423042297363281, + 0.940758541226387, + 0.9470225051045418, + 0.9435319826006889, + 0.9435319826006889, + 0.9435319826006889, + 0.9435319826006889, + 0.9435319826006889, + 0.9435319826006889, + 0.9435319826006889, + 0.9435319826006889, + 0.9435319826006889, + 0.9435319826006889, + 0.928561195731163, + 0.7882673591375351, + 0.542190283536911, + 0.2386212944984436, + 0.012049198150634766, + 0.006563663482666016, + 0.006563663482666016, + 0.006563663482666016 + ], + "episode_id": "612", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/612/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/632.json b/annotation/test/632.json new file mode 100644 index 0000000000000000000000000000000000000000..5794eb3812fd80543d6f85bdd29cfbae4c6db694 --- /dev/null +++ b/annotation/test/632.json @@ -0,0 +1,698 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "close microwave" + ], + "videos": [ + { + "video_path": "videos/test/632/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 2.2546939258326076e-18, + 1.987591743398216e-17, + 3.316021656039811e-18, + 1.0 + ], + [ + -0.004312496770516281, + -0.0015756157977301047, + 0.004252040342190704, + 0.01244616820891402, + -0.025168532487660513, + -0.003329984512154926, + 1.0 + ], + [ + -0.0027116530144149207, + -0.008090270224631676, + -0.03284171179127456, + -0.03591086919566706, + -0.02997871295290159, + -0.014488135630296647, + 1.0 + ], + [ + 0.005015821962563534, + -0.019137949678972952, + -0.04441299263893851, + -0.06050878009733356, + 0.012253927146515301, + -0.028041798641674862, + 1.0 + ], + [ + -0.00044382974720582247, + -0.029016982918751044, + -0.03836214673075376, + -0.0575977424816315, + -0.004210982842014973, + -0.026261953672643376, + 1.0 + ], + [ + 0.004083124879030716, + -0.03337769593526684, + -0.029099387339437052, + -0.035229936745478564, + 0.01306734844682795, + -0.001893269338084793, + 1.0 + ], + [ + 0.0020202547693474546, + -0.02893071685687521, + -0.007488273595409958, + -0.02251771129846031, + 0.016838950603516794, + -0.015823124708020893, + 1.0 + ], + [ + -0.005991657731766131, + -0.023217205165875, + 0.006483641954322204, + 0.011758479633673498, + -0.004863309564792409, + -0.005638392741132959, + 1.0 + ], + [ + -0.0036875727502673917, + -0.022288028341697925, + 0.008170729743827385, + 0.020427607879000012, + 0.0008211067342552985, + -0.023608502633579744, + 1.0 + ], + [ + -0.0034715416784011567, + -0.00928022417259223, + 0.009533605076630909, + 0.044650133513065404, + -0.00288660818500708, + -0.009563416568337035, + 1.0 + ], + [ + 0.0002637948619153612, + -0.0017903934176050108, + 0.0042790727277462115, + 0.009545457690253462, + 0.008776702649423531, + -0.017898024401506167, + 1.0 + ], + [ + -0.002371952818869599, + 0.006939453897336636, + 0.011512802306547044, + -0.002552381522497062, + -0.01290306115634395, + -0.015605435128144688, + 1.0 + ], + [ + 0.0021557797822308374, + 0.013495979716762418, + 0.007698406509183891, + -0.023445289850381648, + -0.004928272135672933, + -0.018246449902969676, + 1.0 + ], + [ + 0.0002221069033918146, + 0.021884800856613918, + 0.010038407974687975, + -0.015238873828818774, + -0.009997041466998131, + -1.976649112334457e-05, + 1.0 + ], + [ + 0.010540696659918232, + 0.02642309992192985, + -0.0042554370507174, + -0.01512713485932842, + 0.005019924646590661, + -0.02003098622421469, + 1.0 + ], + [ + 0.009639805646598209, + 0.028065741400182947, + -0.009700605277576588, + -0.046473791032148895, + -0.02151341577470305, + 0.027596174663873756, + 1.0 + ], + [ + -0.016484815857294374, + 0.021620631626157596, + -0.014902642647135197, + -0.07745773532000795, + -0.03316817112821947, + 0.06920153202023954, + 1.0 + ], + [ + -0.026219556012066058, + -0.0035196016339767884, + -0.010894963458859272, + 0.008691805567867127, + 0.001979487871635979, + 0.08397686479043458, + 1.0 + ], + [ + -0.014934060216431937, + -0.02953121571242346, + 0.01471448941440218, + 0.095107101474346, + -0.004011824787500691, + 0.04586538451386204, + 1.0 + ], + [ + 0.007473860468685291, + -0.04019360023635543, + 0.027658533896940955, + 0.10473299635016874, + -0.009806835368104078, + -0.005764876901806229, + 1.0 + ], + [ + 0.013973546404571116, + -0.015363540965723751, + 0.01620782713186307, + 0.03717165720641117, + 0.006450677985478781, + -0.0010449490831638789, + 1.0 + ], + [ + 0.011221606911712681, + -0.008568655696269453, + 0.005052916424280011, + 0.013195412473625583, + 0.008936188665980335, + -0.023327996237651586, + 1.0 + ], + [ + 0.020714655118714252, + 2.8266333858639508e-06, + -0.002981037122503495, + -0.020746166403386748, + 0.02234342923167511, + -0.04227780494258347, + 1.0 + ], + [ + 0.011909077328349523, + 0.005064203375097641, + 0.002987650102441482, + -0.011449717851715616, + 0.027325791387203473, + -0.005285419438785799, + 1.0 + ], + [ + 0.016640381632539586, + 0.007557072215893737, + -0.003389532919693065, + -0.013149731963051876, + 0.05966238724030796, + -0.022157125682358596, + 1.0 + ], + [ + 0.010213825603466882, + 0.0066904540985136315, + 0.00035392291048676444, + -0.01324076384578905, + 0.026487749322231035, + -0.007784880284293267, + 1.0 + ], + [ + 0.00414483865063503, + 0.007161570002013417, + 0.0020461213274531086, + 0.006233778370050944, + 0.030048296015336765, + 0.019825042454255953, + 1.0 + ], + [ + 0.008955071712721856, + 0.0047586889180922815, + -7.34454727479842e-05, + -0.0027398978606757653, + 0.02335456766827256, + -0.005192141376520598, + 1.0 + ], + [ + 0.0026736440851059685, + 0.0021031362081671, + -4.7274691652399344e-05, + -0.006391915164167982, + 0.018967415970159766, + -0.00842376505196122, + 1.0 + ], + [ + 0.0015043357231931233, + 0.0008740267181692824, + -9.531922832331602e-06, + -0.005517200250952084, + 0.00948354221689083, + -0.0005750859015408504, + 1.0 + ], + [ + -0.028129441950641744, + -0.022458327326332652, + -0.001467275824456505, + 0.03583413789870425, + -0.11778286385114808, + 0.010518364511973292, + 1.0 + ], + [ + -0.029501037105813952, + -0.024921961532434433, + -0.001260235612163398, + 0.007840242358538583, + -0.10809139456297634, + 0.02660043655021694, + 1.0 + ], + [ + -0.016543129673743103, + -0.016212758098161927, + -0.0005249835388054339, + -0.00879892141080572, + -0.02277890201324594, + 0.026691029409443935, + 1.0 + ], + [ + -0.0028745038391122936, + -0.004849855110490284, + 0.0037589880454536435, + 0.017891686158650243, + -0.05032869910121527, + 0.004346239016815614, + 1.0 + ], + [ + 3.6885053491591964e-05, + 6.613619274611562e-06, + -0.00032819163590332373, + -1.350880766770211e-05, + 0.0015336539944523968, + 0.0030968129837596566, + 1.0 + ] + ], + "state": [ + [ + 0.24383090436458588, + -0.15882401168346405, + 0.04229823499917984, + -3.1083345656567296, + -0.13184484839439392, + 0.11606647074222566, + 1.0 + ], + [ + 0.24383090436458588, + -0.15882401168346405, + 0.04229823499917984, + -3.1083345656567296, + -0.13184484839439392, + 0.11606647074222566, + 1.0 + ], + [ + 0.23993393778800964, + -0.1575506031513214, + 0.03757043182849884, + -3.0964288545125207, + -0.10679981857538223, + 0.12025424093008041, + 1.0 + ], + [ + 0.23295487463474274, + -0.15174666047096252, + 0.07026585191488266, + -3.134017198002436, + -0.07749238610267638, + 0.13612216711044314, + 1.0 + ], + [ + 0.2319406121969223, + -0.13290908932685852, + 0.11507713049650192, + 3.0864848365359983, + -0.08992800861597061, + 0.16418160498142242, + 1.0 + ], + [ + 0.22317159175872803, + -0.1028522327542305, + 0.1515946090221405, + 3.026563087599822, + -0.08424663543701173, + 0.19026395678520205, + 1.0 + ], + [ + 0.21819256246089935, + -0.06664341688156128, + 0.17692537605762482, + 2.991038130717822, + -0.09700983762741089, + 0.19366030395030975, + 1.0 + ], + [ + 0.21415352821350098, + -0.037142667919397354, + 0.18017099797725677, + 2.9667532314830503, + -0.11126910150051117, + 0.21194112300872803, + 1.0 + ], + [ + 0.20489145815372467, + -0.01690272055566311, + 0.16914671659469604, + 2.977986054616519, + -0.10549790412187576, + 0.21667382121086123, + 1.0 + ], + [ + 0.19807107746601105, + 0.0027501119766384363, + 0.15713156759738922, + 2.99597920675809, + -0.10243405401706696, + 0.24022424221038818, + 1.0 + ], + [ + 0.19393201172351837, + 0.009765484370291233, + 0.14605382084846497, + 3.039705531793185, + -0.09818616509437561, + 0.24931131303310394, + 1.0 + ], + [ + 0.19427603483200073, + 0.011241894215345383, + 0.14166207611560822, + 3.047421949105807, + -0.1050798073410988, + 0.2681123614311218, + 1.0 + ], + [ + 0.19521166384220123, + 0.0032115778885781765, + 0.1306636482477188, + 3.0433629398518285, + -0.09075576066970825, + 0.2824931442737579, + 1.0 + ], + [ + 0.20177944004535675, + -0.009653492830693722, + 0.12454739212989807, + 3.0183243249827107, + -0.08404766768217087, + 0.30023062229156494, + 1.0 + ], + [ + 0.20936211943626404, + -0.031333811581134796, + 0.11732034385204315, + 3.0031811763816556, + -0.07412399351596832, + 0.2990177273750305, + 1.0 + ], + [ + 0.22638751566410065, + -0.052856773138046265, + 0.12593969702720642, + 2.986556800203868, + -0.07631678134202957, + 0.31960955262184143, + 1.0 + ], + [ + 0.24274682998657227, + -0.0750730112195015, + 0.14055219292640686, + 2.942455681162425, + -0.05928625166416168, + 0.28897377848625183, + 1.0 + ], + [ + 0.23110003769397736, + -0.09757004678249359, + 0.15842746198177338, + 2.8698521574311933, + -0.040285695344209664, + 0.214541956782341, + 1.0 + ], + [ + 0.20378214120864868, + -0.09705957025289536, + 0.1669142097234726, + 2.8826834579282483, + -0.06457827985286713, + 0.1340184658765793, + 1.0 + ], + [ + 0.18709509074687958, + -0.07430557906627655, + 0.1442110538482666, + 2.9809951355033597, + -0.07237222790718079, + 0.0885358527302742, + 1.0 + ], + [ + 0.19383248686790466, + -0.03831532970070839, + 0.11110987514257431, + 3.085423058020421, + -0.06176912784576415, + 0.09266596287488939, + 1.0 + ], + [ + 0.20743200182914734, + -0.022559920325875282, + 0.09496019035577774, + 3.1225066409730395, + -0.06815090775489807, + 0.09407465159893036, + 1.0 + ], + [ + 0.21813595294952393, + -0.01304168626666069, + 0.090520940721035, + 3.134102082932838, + -0.07662145048379897, + 0.11763720214366911, + 1.0 + ], + [ + 0.23841819167137146, + -0.01062503457069397, + 0.09507880359888077, + 3.110096989321061, + -0.09857840836048128, + 0.16027790307998657, + 1.0 + ], + [ + 0.25121501088142395, + -0.013778955675661564, + 0.09343791007995605, + 3.098026657598563, + -0.12572233378887177, + 0.16646799445152283, + 1.0 + ], + [ + 0.26826295256614685, + -0.01842055283486843, + 0.09921059012413025, + 3.081657664971896, + -0.18432420492172244, + 0.1915879100561142, + 1.0 + ], + [ + 0.2793872356414795, + -0.023087317124009132, + 0.10112926363945007, + 3.0666447450690946, + -0.2102898806333542, + 0.20115327835083008, + 1.0 + ], + [ + 0.28512415289878845, + -0.029362281784415245, + 0.10052347183227539, + 3.0766224433952054, + -0.24170520901679995, + 0.18311852216720584, + 1.0 + ], + [ + 0.2944474220275879, + -0.03246022015810013, + 0.10303808003664017, + 3.072205277281352, + -0.26466783881187433, + 0.19005604088306427, + 1.0 + ], + [ + 0.2973276674747467, + -0.03403933346271515, + 0.1039237305521965, + 3.063156584399291, + -0.28299272060394287, + 0.20017556846141812, + 1.0 + ], + [ + 0.29889509081840515, + -0.03460964560508728, + 0.10441867262125015, + 3.057252036529132, + -0.2924017906188965, + 0.20155028998851776, + 1.0 + ], + [ + 0.268121600151062, + -0.01793041080236435, + 0.09589868038892746, + 3.098500086116143, + -0.1758647114038467, + 0.18092334270477295, + 1.0 + ], + [ + 0.2350277602672577, + 0.0013831036631017923, + 0.09091977775096893, + 3.111587695898958, + -0.06893463432788849, + 0.14977939426898956, + 1.0 + ], + [ + 0.2162855565547943, + 0.014959604479372501, + 0.0898185521364212, + 3.1046787818246564, + -0.046940822154283524, + 0.12239356338977814, + 1.0 + ], + [ + 0.213044211268425, + 0.019304199144244194, + 0.08575259149074554, + 3.1228153874450406, + 0.00319406483322382, + 0.11619910597801208, + 1.0 + ], + [ + 0.2130819410085678, + 0.019308149814605713, + 0.08608072996139526, + 3.1227921472215137, + 0.0016025200020521881, + 0.11313163489103317, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0011776089668273926, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305, + 0.0025147199630737305 + ], + "episode_id": "632", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/632/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/635.json b/annotation/test/635.json new file mode 100644 index 0000000000000000000000000000000000000000..19b673f7b9f54a22292b3d7da19057fd0106b6fa --- /dev/null +++ b/annotation/test/635.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "pour almonds in pot" + ], + "videos": [ + { + "video_path": "videos/test/635/rgb.mp4" + } + ], + "action": [ + [ + 0.00018316641861088908, + 0.0003818436134459761, + -6.06449406226654e-06, + -0.0004915491573958278, + 0.00149972778440872, + 0.0015195284812534603, + 1.0 + ], + [ + -0.0012587066108217476, + 0.002930557432263781, + 0.006031235273188023, + 0.010361590220265043, + -0.04145646946320953, + 0.05601426257804372, + 1.0 + ], + [ + 0.026585814410155506, + 0.02288845719133689, + -0.004562066970800512, + 0.028835888743267552, + -0.016635729736294822, + 0.2572654090558713, + 1.0 + ], + [ + 0.017021573701526703, + 0.0118567954870832, + -0.0075465260829379885, + 0.04263224856422821, + -0.0015567421712858961, + 0.2148281451236684, + 1.0 + ], + [ + 0.011256394507663007, + 0.011642327667189437, + 0.0003726048132071951, + 0.030858248907489727, + -0.08856992525953672, + 0.2412764000633328, + 1.0 + ], + [ + 0.025950975949941297, + 0.002712095513223248, + 0.02030560714208113, + -0.004367241600916539, + -0.2367400917118642, + 0.2450055897350939, + 1.0 + ], + [ + 0.021973578566883097, + -0.003430492166268403, + 0.018605656378861055, + -0.000720212958763118, + -0.2431000059286623, + 0.14141941373979125, + 1.0 + ], + [ + 0.01281359968540955, + -0.004735481295095338, + 0.01289879536825632, + -0.009699001561088692, + -0.1292314240882244, + 0.042748290066273884, + 1.0 + ], + [ + 0.0015031039260554662, + 0.0003345057771671311, + 0.005672462837993645, + 0.008778902994872903, + -0.0450014889714242, + 0.01773059861435158, + 1.0 + ], + [ + 0.002914049410254476, + -0.001891063049317297, + 0.024090148653802993, + -0.04674377294575144, + -0.1078845299695847, + 0.02117079321432885, + 1.0 + ], + [ + -0.006354494562024374, + -0.01031472370576922, + 0.01565481884914427, + -0.020391884219257344, + -0.0934859267654126, + -0.017039711884502814, + 1.0 + ], + [ + -0.006750591929410964, + -0.02097723202804465, + 0.004785389064382968, + -0.005777451267085916, + -0.039680862198107306, + -0.012849257713661275, + 1.0 + ], + [ + -0.005986534289602089, + -0.0013739408707126117, + 0.014382314064388122, + -0.0028943594462456294, + -0.057731312911326375, + -0.00449381651266605, + 1.0 + ], + [ + -7.54942015852955e-05, + 0.011178360495733152, + 0.017932468984835043, + -0.015275706828056046, + -0.051637401008249685, + 0.033195443770892494, + 1.0 + ], + [ + -0.008720886882381075, + 0.012361656985534314, + 0.00690193567246864, + -0.014142659604439226, + -0.0023239359216140564, + 0.017616143463014863, + 1.0 + ], + [ + -0.0029255572387048255, + 0.008096781483792385, + 0.011009700646942401, + -0.011731239992734387, + -0.028276613169317188, + 0.016569327012360222, + 1.0 + ], + [ + -0.006027824985173073, + 0.004716425213738045, + 0.007360856654445965, + -0.01294773809303577, + -0.00679916328424727, + 0.005584333085441578, + 1.0 + ], + [ + 4.8597912303719036e-05, + -0.00033328422026623075, + 0.002573048023896595, + -0.03760734376943622, + 0.01746958801562585, + -0.009526661737314602, + 0.0 + ], + [ + 0.0011210577755911963, + -0.0035316688962037696, + -0.0031652228211010913, + -0.006702625369094987, + 0.05640424962083741, + -0.004291246495942872, + 0.0 + ], + [ + -0.007885243933428402, + -0.005055884601111153, + -0.011121281868341786, + 0.02180225680164553, + 0.17364864320244622, + 0.06518493064541074, + 0.0 + ], + [ + -0.008191007446527086, + -0.0060549481173534335, + -0.005692268511115339, + -0.01930926730951026, + 0.19450951249354287, + 0.08400013154709068, + 0.0 + ], + [ + -0.0027794571250513373, + -0.00468641453417921, + 0.003815182981298528, + -0.01965247314237106, + 0.1969034591016482, + 0.0704364204742326, + 0.0 + ], + [ + -0.0043698819396170655, + -0.0022886803366545254, + -0.004060152302247347, + 0.052445854377115714, + 0.1885723226590392, + 0.07256546291508369, + 0.0 + ], + [ + 2.492067750051632e-05, + 3.617500827192343e-05, + -0.0014214681171373347, + 0.02930527226286994, + 0.15083932194125374, + 0.06312880923550836, + 0.0 + ], + [ + 0.004635566123041838, + 0.00032685494534254476, + -0.001627824607319729, + 0.014085188019682652, + 0.13204983894121658, + 0.04465300839329434, + 0.0 + ], + [ + 0.006999434578239667, + 0.0033955881020004968, + -0.002060735211832219, + 0.05403978936172127, + 0.10704796519448334, + 0.026710885424281086, + 0.0 + ], + [ + 0.005328404350073073, + 0.00016858137677002748, + -0.0023474514338167095, + 0.06685047762304441, + 0.11076133868179527, + 0.013136621449752925, + 0.0 + ], + [ + 0.0011460596477248293, + -0.006082306593875199, + -0.0027202158447596006, + 0.04128391894704759, + 0.06365797215519242, + 0.03621429346146219, + 0.0 + ], + [ + -0.001899553157839293, + -0.0051972098983761265, + -0.0018324335849931122, + 0.033833935697122154, + 0.04625209465850435, + 0.014623831453242581, + 0.0 + ], + [ + -0.0010561332767981765, + -4.1171475633001554e-05, + -0.004786465091483986, + 0.02440891811092842, + 0.07272189091789413, + 0.008161041631034307, + 0.0 + ], + [ + 0.0026573485025474537, + 0.00926016540296972, + -0.008870841436857966, + 0.11944075544610512, + 0.06980018719815675, + 0.0001352161173509617, + 0.0 + ], + [ + -5.391001562257721e-05, + 0.008539889422682669, + -0.006320748531436308, + 0.028884885903815247, + 0.052115264104208185, + -0.0208308484699115, + 0.0 + ], + [ + 0.0021416405789430435, + 0.007649117195501979, + -0.008928263901036826, + 0.041755873768418, + 0.05403477216912935, + -0.025491987707100913, + 0.0 + ], + [ + -0.0022562325090452256, + 0.0005069895781441916, + 0.0034221309106013823, + 0.02930183139025924, + 0.008387568140587567, + -0.02963372259728723, + 0.0 + ], + [ + 0.0029192308383167147, + -7.229309677851416e-05, + -0.0007710451028156339, + 0.021069465708300417, + 0.019692885365123, + -0.005163726885236816, + 0.0 + ], + [ + 0.00258844347857609, + -0.00636875535263946, + -0.0028831960383060387, + -0.03188429031527801, + 0.007550031644545546, + 0.01416014730777002, + 0.0 + ], + [ + 0.002385953604710202, + -0.0037869956112346983, + 0.0008795312166637994, + -0.040651943839306384, + 0.025308620956265154, + 0.003297238086222195, + 0.0 + ], + [ + -0.0020401748344252802, + -0.006858191996530079, + -0.0010871633582690656, + -0.014794932795808787, + 0.014733240364111293, + -0.013558525072144115, + 0.0 + ] + ], + "state": [ + [ + 0.21786242723464966, + -0.04374890401959419, + 0.1187923476099968, + 3.136575230518826, + -0.1347876638174057, + -0.033063199371099465, + 1.0 + ], + [ + 0.2180301398038864, + -0.044136468321084976, + 0.11882486939430237, + 3.136288763611116, + -0.13629484176635742, + -0.034589335322380066, + 1.0 + ], + [ + 0.2174982726573944, + -0.04708234220743179, + 0.11269402503967285, + -3.1288599633895835, + -0.0949203297495842, + -0.09102912992238998, + 1.0 + ], + [ + 0.24136602878570557, + -0.07230110466480255, + 0.11946482211351395, + -3.0762815197282514, + -0.07192468643188477, + -0.34869909286499023, + 1.0 + ], + [ + 0.25265470147132874, + -0.08951837569475174, + 0.12742717564105988, + -3.0198399146371564, + -0.05481162294745445, + -0.5632851123809813, + 1.0 + ], + [ + 0.25609394907951355, + -0.10530459135770798, + 0.12626269459724426, + -2.979243578510829, + 0.06358446925878526, + -0.7912108898162843, + 1.0 + ], + [ + 0.27381631731987, + -0.1223725825548172, + 0.10417813807725906, + -2.9960046132379254, + 0.33518519997596735, + -0.9989669919013977, + 1.0 + ], + [ + 0.28698158264160156, + -0.13157010078430176, + 0.08003567904233932, + -3.0343777259164533, + 0.5940706729888916, + -1.1204668283462524, + 1.0 + ], + [ + 0.2940838038921356, + -0.1322721391916275, + 0.06265587359666824, + -3.064638244109698, + 0.7268262505531311, + -1.1584064960479736, + 1.0 + ], + [ + 0.2931148409843445, + -0.12980131804943085, + 0.05741142854094505, + -3.068985769646712, + 0.77296382188797, + -1.1782456636428833, + 1.0 + ], + [ + 0.29088881611824036, + -0.11492636054754257, + 0.03827550634741783, + -3.129876522468873, + 0.8820027709007263, + -1.1989825963974, + 1.0 + ], + [ + 0.29484495520591736, + -0.09617739170789719, + 0.03330845385789871, + -3.125264315056153, + 0.9750573039054871, + -1.1667968034744263, + 1.0 + ], + [ + 0.31126827001571655, + -0.08103770762681961, + 0.03640351444482803, + -3.109878363209315, + 1.0143804550170898, + -1.1412616968154907, + 1.0 + ], + [ + 0.3065466582775116, + -0.06633719056844711, + 0.0339178666472435, + -3.1014961918168744, + 1.0719047784805298, + -1.1280653476715088, + 1.0 + ], + [ + 0.290179044008255, + -0.056209031492471695, + 0.025196829810738564, + 3.103235004591294, + 1.1238491535186768, + -1.1999653577804565, + 1.0 + ], + [ + 0.27495455741882324, + -0.05187010392546654, + 0.03028503805398941, + 3.052076684432574, + 1.1251683235168457, + -1.241021752357483, + 1.0 + ], + [ + 0.2629925012588501, + -0.044863663613796234, + 0.02851041965186596, + 2.998140039043971, + 1.151449203491211, + -1.287759780883789, + 1.0 + ], + [ + 0.25512808561325073, + -0.038306597620248795, + 0.03132420778274536, + 2.970417769747325, + 1.157332181930542, + -1.3039354085922241, + 1.0 + ], + [ + 0.2544012665748596, + -0.03606465086340904, + 0.0302381943911314, + 2.9600042571597776, + 1.1415724754333496, + -1.2742277383804321, + 0.0 + ], + [ + 0.2590640187263489, + -0.03748123720288277, + 0.03024899959564209, + 2.9811960478597364, + 1.0866687297821045, + -1.243295431137085, + 0.0 + ], + [ + 0.2671867311000824, + -0.040353115648031235, + 0.04196206107735634, + 2.948611231642314, + 0.9039323329925536, + -1.3011125326156616, + 0.0 + ], + [ + 0.2735433578491211, + -0.03694738447666168, + 0.051135458052158356, + 2.8799853940778455, + 0.695972204208374, + -1.3581149578094482, + 0.0 + ], + [ + 0.2758907973766327, + -0.03104597143828869, + 0.049159012734889984, + 2.843168856697627, + 0.487544983625412, + -1.3763082027435303, + 0.0 + ], + [ + 0.2787525951862335, + -0.028078939765691757, + 0.05404016003012657, + 2.8836298902803144, + 0.2860329747200012, + -1.3898111581802368, + 0.0 + ], + [ + 0.27914947271347046, + -0.028427502140402794, + 0.0553605742752552, + 2.9036397506766995, + 0.12404959648847581, + -1.4119548797607422, + 0.0 + ], + [ + 0.2799747586250305, + -0.03316177800297737, + 0.056433260440826416, + 2.914116846519061, + -0.01479151751846075, + -1.4239236116409302, + 0.0 + ], + [ + 0.27818021178245544, + -0.040460631251335144, + 0.05930990353226662, + 2.966850759583064, + -0.12509486079216003, + -1.425713062286377, + 0.0 + ], + [ + 0.2791418731212616, + -0.04536783695220947, + 0.06229744106531143, + 3.031794959800788, + -0.23644372820854187, + -1.4191709756851196, + 0.0 + ], + [ + 0.28550904989242554, + -0.04503926634788513, + 0.06454657018184662, + 3.0800228883796414, + -0.3035825788974762, + -1.4495073556900024, + 0.0 + ], + [ + 0.2904963195323944, + -0.04215078428387642, + 0.06541887670755386, + 3.11753459286923, + -0.3506248295307159, + -1.4620029926300049, + 0.0 + ], + [ + 0.2903655767440796, + -0.03951425477862358, + 0.06954912841320038, + -3.1388913866882255, + -0.4235142469406128, + -1.4690114259719849, + 0.0 + ], + [ + 0.2810063064098358, + -0.03925112634897232, + 0.07870548218488693, + -3.019292825954505, + -0.4933137893676758, + -1.4693784713745117, + 0.0 + ], + [ + 0.2715509831905365, + -0.03767538070678711, + 0.08328787982463837, + -2.9981912096315106, + -0.5475239157676697, + -1.452640175819397, + 0.0 + ], + [ + 0.26250648498535156, + -0.03653108701109886, + 0.09101427346467972, + -2.967319833236285, + -0.6045497059822083, + -1.4314022064208984, + 0.0 + ], + [ + 0.26261481642723083, + -0.036626238375902176, + 0.08688658475875854, + -2.957413064437457, + -0.6176797747612, + -1.3973863124847412, + 0.0 + ], + [ + 0.26287928223609924, + -0.03854251280426979, + 0.08920598030090332, + -2.937367024021693, + -0.6379844546318054, + -1.3955575227737427, + 0.0 + ], + [ + 0.2683796286582947, + -0.03719140961766243, + 0.09405310451984406, + -2.9578168412023267, + -0.6424177289009094, + -1.4147883653640747, + 0.0 + ], + [ + 0.2725293040275574, + -0.03857724741101265, + 0.09534435719251633, + -2.992417039471217, + -0.6666739583015442, + -1.4247965812683105, + 0.0 + ], + [ + 0.2786576449871063, + -0.03474648296833038, + 0.09572869539260864, + -3.0161497612767896, + -0.683208465576172, + -1.410333514213562, + 0.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.08424729108810425, + 0.13569366931915283, + 0.10947227478027344, + 0.10947227478027344, + 0.10947227478027344, + 0.10947227478027344, + 0.10947227478027344, + 0.10947227478027344, + 0.10947227478027344, + 0.10947227478027344, + 0.10947227478027344, + 0.10947227478027344, + 0.10947227478027344, + 0.10947227478027344, + 0.10861486196517944, + 0.10861486196517944, + 0.10861486196517944, + 0.10947227478027344, + 0.10861486196517944, + 0.10947227478027344, + 0.10947227478027344 + ], + "episode_id": "635", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/635/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/643.json b/annotation/test/643.json new file mode 100644 index 0000000000000000000000000000000000000000..f8a82e6341a75f073e32eff5125444e6d62760db --- /dev/null +++ b/annotation/test/643.json @@ -0,0 +1,945 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "move the bowl to the upper right corner of the cloth." + ], + "videos": [ + { + "video_path": "videos/test/643/rgb.mp4" + } + ], + "action": [ + [ + 0.00037006362855400324, + 0.00016542716523223106, + -0.0008890845895547173, + -0.0020556434589497053, + 0.0009792138189839256, + -0.0016145946682075629, + 1.0 + ], + [ + -0.002496781792298987, + -0.004276588762872369, + 0.008820876913666459, + 0.01764486750813906, + -0.024145052739669236, + -0.007317669868038324, + 1.0 + ], + [ + 0.0001128516086449608, + -0.019702003417329066, + 0.005211734802583657, + 0.021844488099394148, + -0.018582430864709773, + -0.04383238864428128, + 1.0 + ], + [ + 0.005215929017139523, + -0.009553893784983591, + -0.0015698762056220316, + -0.002536766842497494, + 0.0028396105386463617, + -0.015561630281257016, + 1.0 + ], + [ + 0.011324612229876746, + -0.015537437172964822, + -0.004368976832094517, + 0.0017049038543075924, + 0.012071030534963488, + -0.03262607451519636, + 1.0 + ], + [ + 0.009517652589976437, + -0.010097406989358383, + -0.00265378824688156, + -0.002523322599853993, + 0.02256558791041898, + -0.019973624556116745, + 1.0 + ], + [ + 0.010629114129822677, + -0.01570143777028162, + 0.006487002169854234, + 0.023973956215752858, + 0.005133890233885741, + -0.030400291465348016, + 1.0 + ], + [ + 0.0014903752336487225, + -0.008608936212032287, + 0.012987950706889703, + 0.03584366555832719, + -0.013067505717898983, + -0.0009622429591083622, + 1.0 + ], + [ + 0.0005960340935811279, + -0.007996567474307823, + 0.015783262008454032, + 0.03297449704984089, + -0.011541819938816998, + -0.0031775179258708305, + 1.0 + ], + [ + 0.0015882295966931572, + -0.005168227067047374, + 0.010358297949494479, + 0.030829395024731237, + -0.009720723612194457, + -0.015558957127691684, + 1.0 + ], + [ + 0.0009155374466859597, + -0.004385863931219383, + 0.012568412554441797, + 0.030077957453919984, + -0.02330378722778556, + 0.004122221182768058, + 1.0 + ], + [ + 0.0009606451279753077, + -0.00450159834544406, + 0.015175610958782922, + 0.029114246772573207, + -0.021777262008790856, + -0.00803136446140356, + 1.0 + ], + [ + 0.001548663794262281, + 0.0007408088411033817, + 0.007203607706254844, + 0.025801973758317727, + 0.006485552750707962, + 0.009537118407355053, + 1.0 + ], + [ + 5.368182821181705e-06, + 0.005582918561436989, + 0.001372851105374087, + -0.006221862852089472, + 0.02225091094997728, + 0.022403376490233575, + 1.0 + ], + [ + -0.000984581600918399, + 0.00020029490428532683, + 0.0005208216088867471, + -0.007899058149728888, + 0.004845742089986872, + -0.0027044023127773724, + 0.0 + ], + [ + -0.0021781963569925847, + 0.001713544063310921, + -0.005533396777286825, + -0.011960545943340582, + 0.0009307615902511134, + -0.002220752749086302, + 0.0 + ], + [ + -0.001026128993808663, + -8.904440041331883e-05, + -0.00523010124677864, + 0.0007145875139583008, + 0.0001477460158923008, + -0.0008047070701895742, + 0.0 + ], + [ + -0.002835688317924461, + 0.0018422002721677612, + -0.01183801516243012, + -0.012394827762851869, + -0.0012247816985674665, + -0.01200440128392879, + 0.0 + ], + [ + -0.00517307624594426, + 0.0027506294428739342, + -0.007589788532079927, + 0.0023456656411978186, + -0.01431218971178665, + -0.00857174580871423, + 0.0 + ], + [ + -0.006935786314575821, + 0.009303816883557529, + -0.016635103919930224, + -0.015469549748901195, + 0.004738197930536366, + 0.003713781772393405, + 0.0 + ], + [ + -0.00802647305885439, + 0.016363399455262852, + -0.01639747065072262, + -0.0174978541230362, + 0.008360549783798769, + 0.025186485970094073, + 0.0 + ], + [ + -0.01263355954454505, + 0.023607465039301067, + -0.004624614356425852, + -0.021971569403221536, + -0.013210126961280495, + 0.03501009074284669, + 0.0 + ], + [ + -0.008309450285838427, + 0.029245121706476605, + -0.005190144767648067, + -0.03019363445422499, + 0.014042490804057065, + 0.05962610996306669, + 0.0 + ], + [ + -0.009605012948047411, + 0.025833171473504914, + 0.01971292453041739, + 0.0060115314263897695, + -0.02362682193286563, + 0.05913844623815725, + 0.0 + ], + [ + -0.006786120390939462, + 0.022179231864744242, + 0.009821981503956217, + -0.008354784556458177, + -0.0073595577978024865, + 0.03253855990418363, + 0.0 + ], + [ + -0.008357864558034316, + 0.019243306850130534, + 0.016509801387825918, + 0.010920844835047067, + -0.025317469936417633, + 0.050806492792556904, + 0.0 + ], + [ + -0.001019194125137483, + 0.01387879673411599, + 0.013100540755697143, + 0.006645938247568542, + -0.0010364086746225672, + 0.034533898058989966, + 0.0 + ], + [ + -0.0042808128912428045, + 0.004565603524573612, + 0.020323020403700633, + 0.032594725243221934, + -0.01942861570470925, + 0.026892747090296643, + 0.0 + ], + [ + -0.001983859929132742, + 0.0022748211662021304, + 0.011351129233103729, + 0.01694512189696875, + 0.002128146431364585, + 0.015027592688150081, + 0.0 + ], + [ + 0.0017898193673804887, + 0.0006471533956998167, + 0.0044517257098469825, + -0.0025014226183769066, + 0.01512251036607967, + -0.00022116761492460668, + 0.0 + ], + [ + -0.00031725508426344324, + -0.004851135505906362, + 0.00640567808210392, + 0.023246076491150153, + 0.004939735747247037, + -0.01969533375727029, + 0.0 + ], + [ + 0.00014022329417895434, + -0.0005469825581504677, + -0.0006196965798589348, + 0.0008895828678299958, + -0.0010737240445172552, + 0.00015329314621689502, + 1.0 + ], + [ + 0.0002901526466378255, + -0.00227054680464936, + -1.652180839869119e-05, + 0.014313372038838743, + 0.001872895788443144, + -0.002997926794111447, + 1.0 + ], + [ + -0.0003814090251748627, + -0.0007181893750367138, + 0.0006526487584382149, + 0.004868772863231204, + 0.0019398257222685018, + -0.0011574152703733203, + 1.0 + ], + [ + -0.0011815025214599263, + -0.0003547476474480453, + 0.0005608569139513982, + -0.002496244064656132, + -0.007975090459737069, + -0.007292914567638374, + 1.0 + ], + [ + -0.0009763091978841111, + -0.0028928326954513676, + -0.0004875125886029845, + -0.0044105965630269325, + -0.02806356742679183, + -0.016216189248207953, + 1.0 + ], + [ + 0.004472332620618918, + -0.0004333488211459334, + -0.03421997788237116, + -0.0553957301432585, + -0.006919457147993751, + -0.03254800286294094, + 1.0 + ], + [ + 0.002197008850025232, + 0.00826226734801013, + -0.04290777172559002, + -0.06435603179750807, + 0.052531058444842994, + 0.007734236074298259, + 1.0 + ], + [ + -0.0014443785512027393, + 0.0019577126948317662, + -0.036027920869302336, + -0.04738606304365582, + 0.03992756974614978, + 0.004653789690640204, + 1.0 + ], + [ + -0.004998811016128711, + -0.0033118932636683066, + -0.026526820751796864, + -0.020298877525149278, + 0.052968718061066934, + 0.016770661631068162, + 1.0 + ], + [ + -0.00656604709305647, + -0.005410855813899064, + -0.0164058061394465, + -0.017964046737807462, + 0.04158370131811132, + 0.02671445099289489, + 1.0 + ], + [ + -0.0002313032461665986, + -0.0016596597071836543, + -0.010083063382973073, + -0.022659434260947044, + 0.048321771078999765, + -0.023093385016438324, + 1.0 + ], + [ + -0.0001002410961311, + -0.00017376013380113683, + 0.0003288320431825303, + 7.64822559304352e-05, + 8.227568649926501e-05, + -0.0032610174618980816, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -2.6144943748982433e-17, + -2.051148542091179e-17, + -2.535234065405142e-17, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -2.6144943748982433e-17, + -2.051148542091179e-17, + -2.535234065405142e-17, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -2.6144943748982433e-17, + -2.051148542091179e-17, + -2.535234065405142e-17, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -2.6144943748982433e-17, + -2.051148542091179e-17, + -2.535234065405142e-17, + 1.0 + ], + [ + 0.0002893510325032289, + 0.0003263844112136573, + -0.0003290199363220903, + -0.0010368548090712519, + 0.0011139007233600953, + 0.0001924138373399507, + 1.0 + ] + ], + "state": [ + [ + 0.33040642738342285, + 0.003700339002534747, + 0.12673191726207733, + 2.8143413980775556, + -0.08433715254068373, + 0.7209113240242004, + 1.0 + ], + [ + 0.33054155111312866, + 0.003990981262177229, + 0.12765498459339142, + 2.8121303041749677, + -0.08474525809288025, + 0.722761631011963, + 1.0 + ], + [ + 0.3285044729709625, + 0.0037846823688596487, + 0.11774848401546478, + 2.8297510166936597, + -0.059531521052122116, + 0.7218710780143738, + 1.0 + ], + [ + 0.317746102809906, + 0.0171661414206028, + 0.10676950961351395, + 2.8496054132753095, + -0.02836103923618793, + 0.7578901648521423, + 1.0 + ], + [ + 0.3149586021900177, + 0.02774777077138424, + 0.10567120462656021, + 2.8466586490445813, + -0.026597641408443454, + 0.7736160755157471, + 1.0 + ], + [ + 0.3117886185646057, + 0.04720790311694145, + 0.10563645511865616, + 2.8476008792691907, + -0.02864987589418888, + 0.8083555102348328, + 1.0 + ], + [ + 0.3108225166797638, + 0.06130186468362808, + 0.10552320629358292, + 2.8443645556741437, + -0.04445067420601845, + 0.8340325951576233, + 1.0 + ], + [ + 0.3085674047470093, + 0.07833261042833328, + 0.09520513564348221, + 2.867118241386958, + -0.0404367670416832, + 0.8646283745765686, + 1.0 + ], + [ + 0.30629637837409973, + 0.08301497995853424, + 0.08044235408306122, + 2.9030446131997785, + -0.027597488835453984, + 0.8620117902755737, + 1.0 + ], + [ + 0.30392611026763916, + 0.0864582508802414, + 0.06323952227830887, + 2.9359929879480084, + -0.015631699934601784, + 0.8623719811439514, + 1.0 + ], + [ + 0.3028370440006256, + 0.08971299976110458, + 0.052070461213588715, + 2.966623770194598, + -0.0029379960615187888, + 0.8756178617477418, + 1.0 + ], + [ + 0.30181169509887695, + 0.0918106883764267, + 0.03893321007490158, + 2.9966833909326276, + 0.01929244957864285, + 0.8675017952919006, + 1.0 + ], + [ + 0.30051136016845703, + 0.09377630800008774, + 0.023250995203852654, + 3.025857428210326, + 0.04200095310807228, + 0.8723068237304688, + 1.0 + ], + [ + 0.30251604318618774, + 0.09372578561306, + 0.016122333705425262, + 3.051294842856475, + 0.03445588424801826, + 0.8635774850845337, + 1.0 + ], + [ + 0.30682098865509033, + 0.09001424163579941, + 0.015258844010531902, + 3.04436972935731, + 0.0102684386074543, + 0.843276619911194, + 1.0 + ], + [ + 0.3063494861125946, + 0.08910895138978958, + 0.014770060777664185, + 3.036502482491084, + 0.005708044394850732, + 0.8464386463165283, + 0.0 + ], + [ + 0.305769145488739, + 0.0867573693394661, + 0.02046501636505127, + 3.0245553349428853, + 0.005015352275222541, + 0.848744809627533, + 0.0 + ], + [ + 0.30458346009254456, + 0.08646892011165619, + 0.02565402165055275, + 3.0252740552001676, + 0.0049625812098383895, + 0.8495612740516663, + 0.0 + ], + [ + 0.3030926287174225, + 0.08408296853303909, + 0.037639766931533813, + 3.0129457135968885, + 0.007571898866444826, + 0.86134272813797, + 0.0 + ], + [ + 0.3010926842689514, + 0.07906073331832886, + 0.045558664947748184, + 3.0153314789109906, + 0.022865325212478638, + 0.8680083751678467, + 0.0 + ], + [ + 0.3023163974285126, + 0.0694664865732193, + 0.06338689476251602, + 2.9997905065589627, + 0.017697075381875038, + 0.8649203777313232, + 0.0 + ], + [ + 0.3078879415988922, + 0.054603610187768936, + 0.08207151293754578, + 2.9819076379113874, + 0.0058562299236655235, + 0.8411691188812256, + 0.0 + ], + [ + 0.3163246512413025, + 0.030176587402820587, + 0.09046489000320435, + 2.959815578656741, + 0.013328809291124342, + 0.8045026063919067, + 0.0 + ], + [ + 0.330706387758255, + 0.004994261544197798, + 0.10096621513366699, + 2.9291455914550504, + -0.011276931501924992, + 0.7484049201011658, + 0.0 + ], + [ + 0.34379464387893677, + -0.02298530377447605, + 0.08703603595495224, + 2.936229558783122, + -0.0006197697366587819, + 0.685623288154602, + 0.0 + ], + [ + 0.3535604476928711, + -0.045636821538209915, + 0.08193908631801605, + 2.9280056675248822, + -4.857706881011836e-05, + 0.6522679924964905, + 0.0 + ], + [ + 0.360458105802536, + -0.06843604892492294, + 0.06988297402858734, + 2.9391878863149365, + 0.013930282555520533, + 0.5972542762756348, + 0.0 + ], + [ + 0.36862653493881226, + -0.08250733464956284, + 0.059855032712221146, + 2.9454785158210477, + 0.007996616885066032, + 0.5632160902023315, + 0.0 + ], + [ + 0.3693835139274597, + -0.09200900048017502, + 0.040846072137355804, + 2.977884905534335, + 0.021809726953506466, + 0.5330496430397034, + 0.0 + ], + [ + 0.36955252289772034, + -0.0966632217168808, + 0.030063293874263763, + 2.9945311566167554, + 0.017258672043681145, + 0.5185677409172058, + 0.0 + ], + [ + 0.3716828227043152, + -0.09693567454814911, + 0.025724202394485474, + 2.9920552541785916, + 0.0023317642044275995, + 0.5210023522377014, + 0.0 + ], + [ + 0.369480699300766, + -0.09376894682645798, + 0.018668044358491898, + 3.015377389388629, + 0.0003806971071753651, + 0.5412136912345886, + 0.0 + ], + [ + 0.3692813217639923, + -0.09316466003656387, + 0.019213903695344925, + 3.016266794996806, + 0.0014265835052356122, + 0.540926456451416, + 1.0 + ], + [ + 0.36836865544319153, + -0.09108255803585052, + 0.018946068361401558, + 3.0305851717763623, + -5.689617682946846e-05, + 0.5441349744796753, + 1.0 + ], + [ + 0.36771029233932495, + -0.09073115885257721, + 0.01821785420179367, + 3.035453761118003, + -0.001856564194895327, + 0.5455001592636108, + 1.0 + ], + [ + 0.366549015045166, + -0.09109283983707428, + 0.017620379105210304, + 3.03294442047412, + 0.006846288684755564, + 0.5519070625305176, + 1.0 + ], + [ + 0.3641831576824188, + -0.08911029249429703, + 0.017798013985157013, + 3.0285897721820554, + 0.03650210797786713, + 0.5649870038032532, + 1.0 + ], + [ + 0.3667079508304596, + -0.08243123441934586, + 0.05156503990292549, + 2.9744007011228284, + 0.04702883958816528, + 0.5965808629989625, + 1.0 + ], + [ + 0.3707878887653351, + -0.08087721467018127, + 0.09509787708520889, + 2.9098644723468503, + -0.006056159734725951, + 0.597702980041504, + 1.0 + ], + [ + 0.3658321499824524, + -0.07654642313718796, + 0.13060301542282104, + 2.862264575558253, + -0.045984655618667596, + 0.6023494601249694, + 1.0 + ], + [ + 0.35483866930007935, + -0.07136619091033936, + 0.15493278205394745, + 2.8416325767808637, + -0.10152217745780943, + 0.6008415818214417, + 1.0 + ], + [ + 0.3426109850406647, + -0.06760299205780029, + 0.1682693064212799, + 2.824783655005046, + -0.14913256466388702, + 0.5874800682067871, + 1.0 + ], + [ + 0.33868443965911865, + -0.06454900652170181, + 0.17719855904579163, + 2.796371044712611, + -0.18775255978107455, + 0.6251148581504822, + 1.0 + ], + [ + 0.33862975239753723, + -0.06452406197786331, + 0.1768180876970291, + 2.795861067371913, + -0.18672552704811096, + 0.6282660961151123, + 1.0 + ], + [ + 0.33862975239753723, + -0.06452406197786331, + 0.1768180876970291, + 2.795861067371913, + -0.18672552704811096, + 0.6282660961151123, + 1.0 + ], + [ + 0.33862975239753723, + -0.06452406197786331, + 0.1768180876970291, + 2.795861067371913, + -0.18672552704811096, + 0.6282660961151123, + 1.0 + ], + [ + 0.33862975239753723, + -0.06452406197786331, + 0.1768180876970291, + 2.795861067371913, + -0.18672552704811096, + 0.6282660961151123, + 1.0 + ], + [ + 0.33862975239753723, + -0.06452406197786331, + 0.1768180876970291, + 2.795861067371913, + -0.18672552704811096, + 0.6282660961151123, + 1.0 + ], + [ + 0.33891162276268005, + -0.06456102430820465, + 0.17728465795516968, + 2.7947868724637708, + -0.18783871829509732, + 0.6284660696983339, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.03941965103149414, + 0.350921094417572, + 0.6480775773525238, + 0.8428151905536652, + 0.9107357934117317, + 0.9125204309821129, + 0.9149821773171425, + 0.9149821773171425, + 0.9149821773171425, + 0.9149821773171425, + 0.9149821773171425, + 0.9153304174542427, + 0.9153304174542427, + 0.9153304174542427, + 0.9153304174542427, + 0.9153304174542427, + 0.9153304174542427, + 0.8742781728506088, + 0.6732164919376373, + 0.41309410333633423, + 0.07933062314987183, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "643", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/643/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/652.json b/annotation/test/652.json new file mode 100644 index 0000000000000000000000000000000000000000..88227501adc55d04f0932b9f5df0ee18aee68838 --- /dev/null +++ b/annotation/test/652.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "open oven" + ], + "videos": [ + { + "video_path": "videos/test/652/rgb.mp4" + } + ], + "action": [ + [ + -0.0004794243867375837, + -9.427401122035911e-05, + 0.00029090908864063254, + 0.0004205410270628109, + -0.001458630842368963, + 0.0002203170951124251, + 1.0 + ], + [ + -0.004836784568323063, + 0.0035516484801482316, + 0.005528051663528713, + -0.0003671155977586065, + -0.024780330443219645, + -0.020097566719722335, + 1.0 + ], + [ + -0.007597086382613982, + 0.03098558828299558, + 0.003343860840795758, + -0.03936207212780298, + -0.03137896558020195, + -0.2769742547169726, + 1.0 + ], + [ + -0.003618176265906284, + 0.02358125404440426, + -0.0031057550739055084, + -0.08983537806663029, + -0.0007653648421701657, + -0.2511828483528856, + 1.0 + ], + [ + 0.0014306671768126267, + 0.018061164298368064, + -0.0035147244731332647, + -0.05803161661924461, + -0.01896536268107676, + -0.2020605538644504, + 1.0 + ], + [ + -0.009269188346267856, + 0.02241846685842008, + -0.0063322128719101685, + -0.059265150732644274, + -0.04774032257008599, + -0.08112645487690202, + 1.0 + ], + [ + -0.0017126511210721757, + 0.019387461083719363, + 0.0010234455505449206, + -0.04593994005007644, + -0.04385277820329073, + -0.06714305021642641, + 1.0 + ], + [ + -0.0009904729124695743, + 0.002720749345094647, + 0.0157343211276793, + -0.007886923743027404, + 0.0030023240587955676, + -0.03091202395242431, + 1.0 + ], + [ + -0.00019746547376757684, + 0.004105526170455443, + 0.010088582205494988, + -0.0032173395087117035, + -0.0016245050928886601, + -0.027180968410031044, + 1.0 + ], + [ + -0.0008425556576194147, + 0.0024535143863176254, + 0.002661869562963868, + -0.01747396098581534, + -0.006532884930858802, + -0.005918634633506093, + 1.0 + ], + [ + -0.002909886822523589, + -0.0032499087008368423, + 0.004438454078076315, + 0.015575946657182082, + -0.04152604317804132, + 0.023669685651185463, + 1.0 + ], + [ + 0.0009904448865797133, + -0.005838388870051566, + 0.0021603972449095676, + 0.012929855072914349, + 0.002333300614909852, + 0.013898921279661584, + 1.0 + ], + [ + 0.0058488473844570425, + -0.01394416964704635, + 0.005012028165345602, + 0.022509802425677808, + 0.03554299242617259, + 0.045826413688819324, + 1.0 + ], + [ + 0.0034766344819526828, + -0.014394140428070176, + -0.003812280607571943, + 0.008640035309355776, + 0.007666366574783823, + 0.029491066097086568, + 1.0 + ], + [ + 0.0054249388859489225, + -0.022006840951501128, + -0.009344905652721952, + 0.021223197785757205, + -0.0007921957748667841, + 0.05656769312936088, + 1.0 + ], + [ + -0.005784286765852085, + -0.018232000131762086, + -0.02516746680137265, + 0.019662864042566324, + -0.028910913719373772, + 0.061409989961932435, + 1.0 + ], + [ + -0.003370658377411226, + 0.0007764153622957893, + -0.023593172207680393, + -0.015739108560149862, + -0.036613646278245954, + -0.010271604972928047, + 1.0 + ], + [ + -0.014258279445378153, + 0.022137984451609895, + -0.020483530578532427, + -0.04022672817920744, + -0.033667598094540056, + 0.045477197730076815, + 1.0 + ], + [ + -0.012285233274674762, + 0.023788638727627483, + -0.007411967578807854, + -0.05078228518181399, + 0.006392412884594187, + -0.020679344581274163, + 1.0 + ], + [ + -0.010571717428708053, + 0.024467862391183936, + 0.01637407000581272, + -0.038783256141589804, + 0.009544681633364499, + -0.08484595422611278, + 1.0 + ], + [ + -0.004972577278043904, + 0.014156527856870577, + 0.022003070893739967, + -0.017163349690280192, + 0.0034152722404868704, + -0.05905206140926391, + 1.0 + ], + [ + 0.00131665064154394, + 0.013216171987991935, + 0.022630367096213157, + -0.011395315224663399, + 0.01025106759784342, + -0.07363403447726172, + 1.0 + ], + [ + -0.0035091222613722094, + 0.0033983653813786565, + 0.009935371356536197, + 0.007337541599319509, + 0.007837698222039025, + -0.018359203815221947, + 1.0 + ], + [ + 0.0002947755413159865, + -0.006046239115350247, + 0.01151931526310697, + 0.06742453322444368, + 0.016281900361636188, + -0.015881391266373914, + 1.0 + ], + [ + 0.004215558683445981, + -0.010902046020516134, + -0.002399093333488284, + 0.10783424867589342, + 0.039204665093965314, + -0.009594150859623223, + 1.0 + ], + [ + 0.009480202256026273, + -0.024633500579282833, + 0.00429499539518839, + 0.11653675956527901, + 0.051677335508913756, + 0.041873269305526095, + 1.0 + ], + [ + 0.01655434431953996, + -0.030940873539007097, + -0.002574377798789111, + 0.025082410844733862, + 0.04982670679562201, + 0.11674726953040872, + 1.0 + ], + [ + 0.021759761270268428, + -0.03527729169348464, + -0.000975307571008629, + -0.014717224872341977, + 0.07685649626715482, + 0.19899276530857213, + 1.0 + ], + [ + 0.025842635963903994, + -0.04607857900820882, + -0.003027460831562369, + 0.033961641198906684, + 0.008274165462880312, + 0.2401752355851961, + 1.0 + ], + [ + 0.022255879385226624, + -0.034242071687960625, + 0.002462498739667771, + -0.04659473383758807, + -0.024045170607719435, + 0.1878808051228598, + 1.0 + ], + [ + 0.01768725236205312, + -0.037785142907551146, + -0.0028967140365340994, + 0.04185458038139164, + -0.1046603380429363, + 0.1891717205065075, + 1.0 + ], + [ + 0.00895716837104129, + -0.01599293520174465, + -0.003129160893774068, + -0.010955980313202001, + -0.09451146292584243, + 0.16927694435904256, + 1.0 + ], + [ + 0.0021427728596639444, + 0.0009720393001379394, + -0.0027013143146423927, + -0.03350063987638792, + 0.0119023261180518, + 0.034732934959289245, + 1.0 + ], + [ + -0.0014386536488606393, + 0.004304828150206521, + -0.0240173157992112, + -0.010018676293707137, + 0.07253213698671318, + -0.024548792209042474, + 1.0 + ], + [ + -0.003256820253141389, + 0.013006611189336213, + -0.024968740003934564, + -0.011247197047661101, + 0.06543486724068609, + -0.03344558598604137, + 1.0 + ], + [ + -0.008113533474938362, + 0.030426100570847027, + -0.010018802858155559, + -0.0072290193343830704, + 0.009695894873047096, + -0.0049413320994919985, + 1.0 + ], + [ + -0.00663059686620154, + 0.027125114486313304, + 0.010295573465797115, + 0.04803896020966278, + -0.006339395868578597, + -0.07682999081025103, + 1.0 + ], + [ + -0.007924130484048332, + 0.01934445701617558, + 0.02350890469438473, + 0.01571356243123243, + -0.04585787256635766, + -0.08211165520249344, + 1.0 + ] + ], + "state": [ + [ + 0.268343985080719, + 0.08584003150463104, + 0.09074011445045471, + -3.0585809295349797, + -0.2309400588274002, + 0.5141644477844238, + 1.0 + ], + [ + 0.26793578267097473, + 0.08574506640434265, + 0.0903557762503624, + -3.0581371208005628, + -0.2294681817293167, + 0.5140631794929504, + 1.0 + ], + [ + 0.26649799942970276, + 0.08139772713184357, + 0.0836028903722763, + -3.0636328553133687, + -0.2063925713300705, + 0.536629557609558, + 1.0 + ], + [ + 0.2767794132232666, + 0.0518728531897068, + 0.0764210969209671, + 3.1198279076539954, + -0.18835392594337463, + 0.8202935457229615, + 1.0 + ], + [ + 0.2910859286785126, + 0.032745376229286194, + 0.07929784804582596, + 2.9834000786119184, + -0.1762116253376007, + 1.0754351615905762, + 1.0 + ], + [ + 0.306433767080307, + 0.02479548752307892, + 0.08576691895723343, + 2.8938945104652127, + -0.12245211750268936, + 1.273356556892395, + 1.0 + ], + [ + 0.3226166069507599, + 0.00872612465173006, + 0.09618294984102249, + 2.8267213722043714, + -0.05601896718144416, + 1.3402858972549438, + 1.0 + ], + [ + 0.3404168486595154, + 0.0025029690004885197, + 0.10111021995544434, + 2.7780661602788648, + 0.006533946841955186, + 1.390464186668396, + 1.0 + ], + [ + 0.34822878241539, + -1.9269677068223245e-05, + 0.08737834542989731, + 2.7705439945035657, + 0.014714656397700308, + 1.420426607131958, + 1.0 + ], + [ + 0.35558149218559265, + -0.00145076890476048, + 0.07946871221065521, + 2.7678093930059156, + 0.02607874944806099, + 1.445176601409912, + 1.0 + ], + [ + 0.3587011992931366, + -0.0027352836914360523, + 0.07790902256965637, + 2.750410499172755, + 0.03432155027985573, + 1.4483028650283813, + 1.0 + ], + [ + 0.35702118277549744, + -0.005643289536237717, + 0.07266972213983536, + 2.7646276374631604, + 0.06366322934627533, + 1.4105280637741089, + 1.0 + ], + [ + 0.35256287455558777, + -0.004189268220216036, + 0.06845731288194656, + 2.776816489296504, + 0.056373041123151786, + 1.3984448909759521, + 1.0 + ], + [ + 0.34239885210990906, + 0.0029551731422543526, + 0.05848640948534012, + 2.7975608130269727, + 0.0067977369762957105, + 1.368347406387329, + 1.0 + ], + [ + 0.3285626471042633, + 0.009335454553365707, + 0.057196762412786484, + 2.806132735806056, + -0.010367497801780702, + 1.3431710004806519, + 1.0 + ], + [ + 0.30654194951057434, + 0.01998780108988285, + 0.05883220210671425, + 2.8284144719415387, + -0.028217818588018414, + 1.289476990699768, + 1.0 + ], + [ + 0.28068095445632935, + 0.020904405042529106, + 0.07698802649974823, + 2.8505740781598767, + -0.01955259032547474, + 1.222145676612854, + 1.0 + ], + [ + 0.27371397614479065, + 0.019376344978809357, + 0.09974166750907898, + 2.8346472700410565, + 0.018468042835593227, + 1.22147536277771, + 1.0 + ], + [ + 0.2830139398574829, + 0.0013318134006112814, + 0.1262156069278717, + 2.7937063594632825, + 0.03680223226547241, + 1.1679307222366333, + 1.0 + ], + [ + 0.29666686058044434, + -0.017228996381163597, + 0.14173519611358643, + 2.743797393637248, + 0.03783337026834488, + 1.189565896987915, + 1.0 + ], + [ + 0.3194828927516937, + -0.037984710186719894, + 0.1365220695734024, + 2.709506007032939, + 0.0617365837097168, + 1.2716351747512817, + 1.0 + ], + [ + 0.33885401487350464, + -0.050060197710990906, + 0.12280306220054626, + 2.6964462121301374, + 0.08325758576393126, + 1.3268780708312988, + 1.0 + ], + [ + 0.35990607738494873, + -0.05521008372306824, + 0.10801037400960922, + 2.692146660881587, + 0.1054733619093895, + 1.398142695426941, + 1.0 + ], + [ + 0.36643919348716736, + -0.06069020926952362, + 0.10094913840293884, + 2.7016764303022107, + 0.10636883229017259, + 1.4181970357894897, + 1.0 + ], + [ + 0.3657156527042389, + -0.06167851388454437, + 0.08799389749765396, + 2.7714178582006177, + 0.09837566316127776, + 1.4396024942398071, + 1.0 + ], + [ + 0.3553057909011841, + -0.05624253675341606, + 0.0858805775642395, + 2.8813341577821454, + 0.0652718096971512, + 1.462770938873291, + 1.0 + ], + [ + 0.33368557691574097, + -0.045070577412843704, + 0.07479526102542877, + 2.9958420415693006, + 0.004537981003522873, + 1.4356622695922852, + 1.0 + ], + [ + 0.3052104115486145, + -0.02450145035982132, + 0.0727735385298729, + 3.0211118703060826, + -0.06171132251620293, + 1.3273744583129883, + 1.0 + ], + [ + 0.27639085054397583, + 0.00524176238104701, + 0.07085001468658447, + 3.019893894093581, + -0.160690575838089, + 1.13735830783844, + 1.0 + ], + [ + 0.2454369068145752, + 0.04813234135508537, + 0.07242938131093979, + 3.09564874147112, + -0.19321341812610626, + 0.8954471349716187, + 1.0 + ], + [ + 0.23296670615673065, + 0.08709773421287537, + 0.07274528592824936, + 3.08645215456421, + -0.17430692911148074, + 0.7037578225135802, + 1.0 + ], + [ + 0.22162389755249023, + 0.1271645426750183, + 0.07661031186580658, + -3.1204981562965592, + -0.07689628005027771, + 0.5094776153564453, + 1.0 + ], + [ + 0.22142179310321808, + 0.14529147744178772, + 0.08075396716594696, + -3.1188620162480554, + 0.022215479984879494, + 0.3429785668849945, + 1.0 + ], + [ + 0.22384275496006012, + 0.14505890011787415, + 0.08338423073291779, + 3.1300331001454076, + 0.011091900058090685, + 0.30798423290252686, + 1.0 + ], + [ + 0.2239469587802887, + 0.14086629450321198, + 0.10746417939662933, + 3.120269762473651, + -0.06115521863102913, + 0.3333522081375122, + 1.0 + ], + [ + 0.22349824011325836, + 0.1275130957365036, + 0.13245832920074463, + 3.106844289349862, + -0.12582494318485263, + 0.3683906793594361, + 1.0 + ], + [ + 0.22551783919334412, + 0.09607122093439102, + 0.14242242276668549, + 3.0989460108154496, + -0.1353415548801422, + 0.37371432781219477, + 1.0 + ], + [ + 0.23060216009616852, + 0.0684838518500328, + 0.13248148560523987, + 3.1367164176241538, + -0.12533791363239288, + 0.4508076608181, + 1.0 + ], + [ + 0.23463831841945648, + 0.04881889745593071, + 0.10826026648283005, + -3.1410013384353412, + -0.07866088300943375, + 0.5328618288040161, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "652", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/652/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/659.json b/annotation/test/659.json new file mode 100644 index 0000000000000000000000000000000000000000..97342f69665e54002b80e58d641a752aa08361e4 --- /dev/null +++ b/annotation/test/659.json @@ -0,0 +1,565 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put small spoon from basket to tray" + ], + "videos": [ + { + "video_path": "videos/test/659/rgb.mp4" + } + ], + "action": [ + [ + -0.0009927324697995197, + 0.0005217235939515336, + 0.0014426065634024295, + -0.0019952116974306586, + -0.005992624010188816, + -0.0018600453472547862, + 1.0 + ], + [ + -0.0065668445295076145, + 0.000920190219846929, + 0.007630127324307129, + 0.03070942051943574, + -0.005583683320051484, + 0.03258077790354017, + 1.0 + ], + [ + -0.0037812730742406127, + -0.003947345632778485, + 0.005574369261100746, + 0.05532812494986617, + 0.02022292637120436, + 0.06332055671402793, + 1.0 + ], + [ + -0.0009220349160311027, + -0.005087489489519212, + 0.003892035803335363, + 0.058690080438137476, + 0.031196297420741963, + 0.04552283600581843, + 1.0 + ], + [ + 0.002745332436047267, + -0.0008465100260391825, + 0.002788449242967863, + 0.02847729307339045, + 0.03401604416423345, + 0.022611428386929828, + 1.0 + ], + [ + 0.0012963830417367492, + -0.0009952447695029426, + 0.006618111605982417, + -0.004574892595360917, + 0.017485562671403578, + 0.0013391429913101995, + 1.0 + ], + [ + -0.0005589008323369694, + -0.0014438878416237874, + 0.005342771910027456, + -0.009044129297123787, + 0.014152371758155301, + -0.007063207670699848, + 1.0 + ], + [ + -0.0017388050977332544, + 0.0004124895823664923, + 0.00703889480898619, + -0.008584816344394178, + 0.012375146613250858, + 0.008906713482235495, + 1.0 + ], + [ + -0.0016909817458192554, + -0.0004015534860230485, + 0.007514362193889723, + -0.0016049372780843696, + 0.021802604736472914, + -0.004747687747325824, + 1.0 + ], + [ + 0.000314943939627243, + -0.0008980835287242766, + 0.004601267710437735, + 0.007931035105755534, + 0.014465839311850569, + -0.00941608068131742, + 1.0 + ], + [ + -0.0024029341616375994, + -0.00118820951233259, + 0.002775677966489874, + 0.017945908663739515, + 7.479074925526656e-05, + -0.017130624071287216, + 0.0 + ], + [ + -0.001246628429290022, + 0.0011382543352875224, + 0.002181382184752431, + 0.019344735474281, + 0.013175182717136816, + 0.012576381540428032, + 0.0 + ], + [ + -0.0001953279910660581, + 0.0007892527098235649, + -0.0004919645479989472, + 0.015693629579234505, + 0.010229490876599306, + 0.012848793651602656, + 0.0 + ], + [ + 0.0030021893253158976, + -0.0024643478001981456, + -0.007494964908592528, + -0.01368972796548097, + -0.07482826381569534, + -0.006140817312548055, + 0.0 + ], + [ + 0.0071190772098122974, + -0.009942515535470696, + -0.02210846714170118, + -0.06197310527369854, + -0.11724759687487031, + 0.016410621432742124, + 0.0 + ], + [ + 0.012690275923770368, + 0.0018587802525458505, + -0.037292186398393205, + -0.05314793943668387, + -0.11119179738177207, + 0.05863562494400342, + 0.0 + ], + [ + 0.0003293496627984811, + 0.0008235316154934065, + -0.03964826172016781, + -0.010998586465881309, + -0.12860470665285118, + 0.008506983950982247, + 0.0 + ], + [ + 0.0036478487958379762, + 0.011227237450179447, + -0.030967727838757134, + 0.0060462682404882695, + -0.10164662639150958, + 0.04905420147831073, + 0.0 + ], + [ + 0.005623094102047289, + 0.015925483602199038, + -0.011324794799199282, + -0.025505222915338212, + -0.07460793438771568, + 0.0809389025945556, + 0.0 + ], + [ + 0.012309725048827325, + 0.028234265687420983, + -0.010307092145161623, + -0.03629408637195912, + -0.04017310998655726, + 0.12954501998050477, + 0.0 + ], + [ + 0.007582812647287467, + 0.0016767118526247494, + -0.015248401846142408, + -0.048338033550579564, + -0.04668218905037413, + -0.008352077424723426, + 0.0 + ], + [ + 0.0038157463486096963, + 0.0012633824531865165, + -0.006107713925716515, + -0.020529180701565536, + -0.005977436065097852, + -0.04469687007926551, + 0.0 + ], + [ + 0.011610641243178317, + 0.014450156873590895, + 0.02417592937752099, + 0.007238810669201835, + 0.02304750628526303, + -0.02274760204750111, + 0.0 + ], + [ + 0.005663223197122762, + -0.002839381924283517, + 0.02788797110728301, + 0.036616435172277285, + 0.022438560427874326, + -0.0541236910217752, + 0.0 + ], + [ + 0.002545404656096011, + 0.0004551012018766613, + 0.02185864404964327, + 0.030742996248556913, + 0.021171661863782033, + -0.037958795391738236, + 0.0 + ], + [ + 0.0005986224468686888, + 0.00029383036343613814, + 0.018183186114217303, + 0.0005732685628374187, + 0.019736114866327113, + -0.01546122434886726, + 0.0 + ], + [ + 0.005430812556339187, + 0.002406259961921073, + 0.009803001736494609, + -0.00773861810894611, + 0.05077389099567375, + -0.014069157099755081, + 0.0 + ], + [ + 0.01705143696249376, + 0.0017681373405928017, + 0.00589847106372335, + -0.050430277220140735, + 0.0838217242528915, + -0.02478805018823383, + 0.0 + ] + ], + "state": [ + [ + 0.26372969150543213, + 0.09042435884475708, + 0.050393398851156235, + -2.980298327403613, + -0.15943504869937897, + 0.0909106805920601, + 1.0 + ], + [ + 0.2630176842212677, + 0.09007500112056732, + 0.04874724522233009, + -2.98274082143838, + -0.1538182944059372, + 0.09374237060546875, + 1.0 + ], + [ + 0.2577003836631775, + 0.0898747593164444, + 0.0401521734893322, + -2.9472648819261273, + -0.14307619631290436, + 0.062133047729730606, + 1.0 + ], + [ + 0.25432753562927246, + 0.09462399035692215, + 0.03495391830801964, + -2.882809730368205, + -0.15038596093654633, + -0.004649206995964051, + 1.0 + ], + [ + 0.2538120448589325, + 0.10054052621126175, + 0.0323830209672451, + -2.8164515515142163, + -0.16869458556175232, + -0.057374116033315666, + 1.0 + ], + [ + 0.2570086121559143, + 0.10205262154340744, + 0.030505681410431862, + -2.782430948811122, + -0.1936173439025879, + -0.09027120471000671, + 1.0 + ], + [ + 0.2596895396709442, + 0.10508120805025101, + 0.025018349289894104, + -2.7855030318074903, + -0.209511011838913, + -0.09783587604761124, + 1.0 + ], + [ + 0.2603919208049774, + 0.10824358463287354, + 0.02049635536968708, + -2.7948701997571668, + -0.22523751854896543, + -0.09610631316900252, + 1.0 + ], + [ + 0.2603999972343445, + 0.11025609076023102, + 0.013518577441573143, + -2.800567390518733, + -0.23383149504661557, + -0.1090397536754608, + 1.0 + ], + [ + 0.2606796622276306, + 0.11313438415527344, + 0.006368506234139204, + -2.8014142235093793, + -0.2559652626514435, + -0.11195284873247147, + 1.0 + ], + [ + 0.2622644603252411, + 0.11535307765007019, + 0.0025418598670512438, + -2.7945136745744428, + -0.2727416455745697, + -0.10774842649698257, + 1.0 + ], + [ + 0.26077625155448914, + 0.11758758872747421, + -0.0002298756007803604, + -2.781120689707347, + -0.2786025106906891, + -0.09101972728967667, + 0.0 + ], + [ + 0.26022475957870483, + 0.11734100431203842, + -0.002921192441135645, + -2.7570881267362317, + -0.28645664453506464, + -0.10813155025243759, + 0.0 + ], + [ + 0.2598946690559387, + 0.11645529419183731, + -0.0028229081071913242, + -2.736778738098689, + -0.29108330607414246, + -0.12457048147916795, + 0.0 + ], + [ + 0.26042476296424866, + 0.11569684743881226, + 0.005567825399339199, + -2.7598789056115827, + -0.224548727273941, + -0.08858744055032729, + 0.0 + ], + [ + 0.26205354928970337, + 0.1165473535656929, + 0.030765898525714874, + -2.8256573398881635, + -0.10957411676645279, + -0.05996007099747658, + 0.0 + ], + [ + 0.2700386047363281, + 0.10269027948379517, + 0.06681344658136368, + -2.8745449801259717, + 0.014332924038171768, + -0.08084457367658615, + 0.0 + ], + [ + 0.27000099420547485, + 0.09139952063560486, + 0.10483039915561676, + -2.8829823454194745, + 0.14059419929981234, + -0.054879702627658844, + 0.0 + ], + [ + 0.27636483311653137, + 0.07224812358617783, + 0.13111886382102966, + -2.8787113447957715, + 0.25136062502861023, + -0.07677875459194182, + 0.0 + ], + [ + 0.28207552433013916, + 0.05343339219689369, + 0.13630394637584686, + -2.919451417522975, + 0.34397032856941223, + -0.13894370198249817, + 0.0 + ], + [ + 0.2907039523124695, + 0.022125322371721268, + 0.13576151430606842, + -3.000262143211909, + 0.409101665019989, + -0.2668796181678772, + 0.0 + ], + [ + 0.3021124005317688, + 0.015058590099215508, + 0.14637908339500427, + -3.0418882762366017, + 0.45409291982650757, + -0.2503731846809387, + 0.0 + ], + [ + 0.3075017035007477, + 0.011755242943763733, + 0.15005379915237427, + -3.040513077872344, + 0.4550971388816833, + -0.20019252598285672, + 0.0 + ], + [ + 0.3043593168258667, + 0.00021274155005812645, + 0.12203620374202728, + -3.023450421290942, + 0.42977237701416016, + -0.17786204814910886, + 0.0 + ], + [ + 0.2992871105670929, + 0.007329089101403952, + 0.09480564296245575, + -2.963843288021632, + 0.4005228877067566, + -0.1223829835653305, + 0.0 + ], + [ + 0.29367387294769287, + 0.0114622563123703, + 0.07392754405736923, + -2.91908914049203, + 0.3727378249168396, + -0.0862976536154747, + 0.0 + ], + [ + 0.2880924940109253, + 0.01568496786057949, + 0.05713201314210892, + -2.9143272062116345, + 0.3500542044639587, + -0.0748835951089859, + 0.0 + ], + [ + 0.28971779346466064, + 0.015427019447088242, + 0.04578853398561478, + -2.920958327251025, + 0.29741615056991577, + -0.07252597808837892, + 0.0 + ], + [ + 0.3041509687900543, + 0.013942851684987545, + 0.034918829798698425, + -2.9688644280009946, + 0.21020135283470154, + -0.066618949174881, + 0.0 + ] + ], + "continuous_gripper_state": [ + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.009980499744415283, + 0.02474844455718994, + 0.23667550086975098, + 0.5533257722854614, + 0.7520648837089539, + 0.8102775663137436, + 0.8688833862543106, + 0.9114522784948349, + 0.9231027886271477, + 0.9257014021277428, + 0.9260224476456642, + 0.9269806668162346, + 0.933180145919323, + 0.9340820014476776, + 0.9340820014476776, + 0.9337822273373604, + 0.9340820014476776, + 0.9340820014476776, + 0.9340820014476776, + 0.9340820014476776, + 0.9340820014476776 + ], + "episode_id": "659", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/659/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/662.json b/annotation/test/662.json new file mode 100644 index 0000000000000000000000000000000000000000..183dd203be7b669b766c0bcf8e51bd6fd442f5ba --- /dev/null +++ b/annotation/test/662.json @@ -0,0 +1,945 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the pot and place onto purple towel" + ], + "videos": [ + { + "video_path": "videos/test/662/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -3.189887161907015e-11, + 6.040208932114966e-09, + -0.0015339705536207054, + 1.0 + ], + [ + -0.00030384773017072113, + 0.0017929555594632346, + 0.010279601973863935, + -0.014909534878091218, + -0.029945889461648275, + -9.677764699369739e-05, + 1.0 + ], + [ + 0.019420020828238082, + 0.00507484742950163, + 0.0034692685979634268, + -0.0535900448515704, + 0.044647769483267236, + -0.011434126132927137, + 1.0 + ], + [ + 0.002328899145207345, + -0.010227391963753487, + 0.0016972208854122697, + 0.005826177533705755, + 0.03145291011989619, + -0.05051618066581142, + 1.0 + ], + [ + -0.03706746403016913, + 0.015582567262114379, + 0.018439288328994073, + -0.025535477723297194, + -0.04098888720349578, + 0.054094232716523874, + 1.0 + ], + [ + -0.027705519354759237, + 0.02027782578248496, + 0.0028500291122777422, + 0.021464446943156763, + 0.022540583643004212, + 0.0967215515471326, + 1.0 + ], + [ + -0.020541062209887644, + 0.009734131134905316, + 0.008609785485963698, + 0.024556429386349356, + 0.006369935056707654, + 0.07213475163831175, + 1.0 + ], + [ + -0.02210043624075352, + 0.00725456753862956, + 0.02191503738098569, + 0.016718459549198313, + -0.021180638152722524, + 0.06814883170030517, + 1.0 + ], + [ + -0.007554611747717198, + 0.006187649653951477, + 0.02638117744947482, + -0.009770299816353373, + -0.05097906798443765, + 0.052976152543404695, + 1.0 + ], + [ + -0.002597849338289139, + 0.003786650950470135, + 0.013477756356086511, + -0.004414125513247131, + -0.025384445007926564, + 0.03739923082173485, + 1.0 + ], + [ + -0.0023200249932554297, + 0.002977584942958817, + 0.011119875711926309, + -0.015588312887608624, + -0.02522990114404622, + 0.01607242614240364, + 1.0 + ], + [ + -0.0014718660911385898, + 0.0025531124530744544, + 0.008612615900679528, + -0.006914308882855211, + -0.026410911781168916, + 0.013632671654325827, + 1.0 + ], + [ + -0.0011280907041659502, + 0.0016305000182603555, + 0.002204361668664924, + 0.012417633381438052, + 0.0011344383114110957, + 0.018822979942409807, + 1.0 + ], + [ + -0.0006322702540889184, + 0.00021223970828152406, + 0.0003642099863874382, + -0.003530742520781819, + -0.00370676129500946, + 0.014672495660951483, + 0.0 + ], + [ + -0.003023603181587985, + -0.002372124024720454, + -0.009150680768797314, + -0.01625005301770866, + 0.0033924092727703205, + -0.0034281347105027675, + 0.0 + ], + [ + 0.00013663659283218494, + -0.012008715175665114, + -0.020473775192602316, + -0.008434942065047808, + 0.03715803726962324, + -0.033466638007152036, + 0.0 + ], + [ + -0.0015653755200309518, + -0.01755281115824795, + -0.0239923799106507, + -0.01821876136568031, + 0.019762921776350178, + -0.056700643006750415, + 0.0 + ], + [ + 0.00943958586440697, + -0.011997908482670284, + -0.035386236370268186, + 0.0006669482110619187, + 0.057413020061970604, + -0.03396176987478362, + 0.0 + ], + [ + 0.02188341791803401, + 0.012655346509489112, + -0.0210411586887858, + -0.0073876702775592315, + 0.025339595750756286, + 0.038262144490556496, + 0.0 + ], + [ + 0.022095713717601974, + 0.023257764441711355, + -0.002566712151463089, + -0.014252338142399297, + 0.005739952619386918, + 0.04524397063831115, + 0.0 + ], + [ + 0.018286992020031787, + 0.03713697536146024, + 0.004653065415619027, + -0.01186247043214052, + 0.046906797778431035, + 0.040483015400275595, + 0.0 + ], + [ + 0.0018685611915202135, + 0.020501690787243582, + 0.017715944853360116, + 0.022811173731502363, + -0.014619674994199161, + 0.026134599129122478, + 0.0 + ], + [ + 0.00478565125553138, + 0.009401777890299062, + 0.02065212789930242, + 0.027228213870229508, + -0.022722627357464633, + 0.02341134621422376, + 0.0 + ], + [ + -0.0017316385075034383, + 0.001520962916607676, + 0.035769775431214415, + 0.0022294737459322292, + -0.07902092202687128, + 0.00660994433397485, + 0.0 + ], + [ + 0.0012166412257663217, + 0.0005359877746710235, + 0.025377741187132784, + -0.003205926294390399, + -0.045812339793700425, + 0.0023044857731867215, + 0.0 + ], + [ + 0.007320504636732567, + -0.0042835409740272674, + 0.0031992008709961764, + 0.023194518882460678, + 0.017114496474067462, + 0.007621044232495055, + 0.0 + ], + [ + 0.008711311921031516, + -0.0073371419612766236, + -0.007017419088373017, + 0.014526957237108092, + 0.024952853412478004, + 0.00014265686004096107, + 0.0 + ], + [ + 0.007739237668133063, + -0.00454297755797253, + -0.024353711806156832, + -0.00384233549079122, + 0.059829653163631646, + 0.001564378837720611, + 0.0 + ], + [ + 0.005616861616029537, + 0.001389869044760537, + -0.014596901717186007, + -0.019313517967792418, + 0.02488402995986225, + -0.007175721372974412, + 0.0 + ], + [ + 0.013039651676088063, + -0.0002014901173481128, + -0.013472537145789507, + -0.011752283426198542, + 0.03331860980771699, + -0.00595301333726561, + 0.0 + ], + [ + 0.009718737529031097, + 0.000743717166503023, + -0.005084687451243985, + -0.010727920504105508, + 0.01917860555426377, + -0.008417446125383246, + 0.0 + ], + [ + 0.002894799890659145, + 0.007894112767838631, + 0.009652262528539495, + -0.017056189931511017, + -0.02036249628964667, + -0.00030655834428980024, + 0.0 + ], + [ + 0.001676843643204021, + 0.008732654238971006, + 0.0037536649446431717, + -0.01811098039909422, + 0.01225574424383351, + 0.006196936399542046, + 0.0 + ], + [ + -0.013267093659049973, + 0.0106770894119271, + 0.014810186154802419, + 0.007153557552977682, + -0.028419064752031428, + 0.02879238108685469, + 0.0 + ], + [ + -0.013848428373069033, + 0.0030771175724638076, + 0.02947198530963536, + 0.02273325888018393, + -0.06706905202560799, + 0.030245475774691784, + 0.0 + ], + [ + -0.010414257752705136, + -0.010740616318705667, + 0.01827245945225415, + 0.03936429642905104, + -0.04121033544329161, + -0.00023972841085929554, + 0.0 + ], + [ + -0.0028258546884727025, + -0.004888987262958861, + 0.003355682109614496, + 0.010600695920411513, + -0.005293251027446993, + 0.007117085929098803, + 0.0 + ], + [ + -0.0037799258096963655, + -0.0030398655855155606, + -0.0010728449080139504, + -0.03617959951358466, + -0.013072407053177608, + -0.02237574540667844, + 0.0 + ], + [ + -0.010974781093039896, + -0.010743920717439159, + -0.01898252889771111, + -0.039840161978178676, + -0.022162104849729393, + -0.051252293055838824, + 0.0 + ], + [ + 0.005723840341402279, + -0.015776219205040666, + -0.05402648822058495, + -0.05530571269890899, + 0.12172489085079814, + -0.024121695260915486, + 1.0 + ], + [ + 0.003777228497935127, + -0.02458248359096347, + -0.04780008770490849, + -0.06242063564096085, + 0.07953851236845938, + -0.06304398132198295, + 1.0 + ], + [ + 0.011085592557737363, + -0.016169191310528713, + -0.047962479595912266, + -0.0428484145549262, + 0.028707727954540716, + -0.044920964685276926, + 1.0 + ], + [ + 0.0003854286608245488, + -0.008697548397654624, + -0.01793123402399935, + 0.03824240758404267, + -0.013900150524190157, + -0.03024372151631188, + 1.0 + ], + [ + -0.0023675338887811136, + -0.014446516749385428, + -0.0013692169676220547, + 0.12118594354655093, + -0.017706653827373183, + -0.018152080585559886, + 1.0 + ], + [ + -0.004902990998225283, + 0.00411279034408337, + -0.004755791411532151, + 0.0835457339694083, + 0.007875340607608819, + 0.0228581704398487, + 1.0 + ], + [ + -0.007631185165409173, + -0.0010157388077951873, + 0.004921040609301975, + 0.019390334398728015, + -0.025341590969502868, + -0.005961510260911606, + 1.0 + ], + [ + -0.0036395602142697036, + 0.0038616232065352457, + -8.880191949308438e-05, + -0.025275606205375205, + -0.02194230944666096, + 0.041027331022195676, + 1.0 + ], + [ + -0.0009361428268784074, + -0.000908451873314799, + 0.0003826588387814413, + -0.004148929039040456, + -0.0018110874316520859, + -0.00695812625564866, + 1.0 + ] + ], + "state": [ + [ + 0.3186230957508087, + 0.057996172457933426, + 0.16684813797473907, + -3.0836973694437226, + -0.13874655961990356, + -0.03372831642627716, + 1.0 + ], + [ + 0.3186230957508087, + 0.057996172457933426, + 0.16684813797473907, + -3.0839112905138215, + -0.1388351619243622, + -0.03218203783035278, + 1.0 + ], + [ + 0.3197175860404968, + 0.05676295608282089, + 0.15653996169567108, + -3.099048877256461, + -0.10894443839788436, + -0.030348489060997966, + 1.0 + ], + [ + 0.3392643630504608, + 0.0512445867061615, + 0.15499134361743927, + 3.1295390242063483, + -0.15403309464454648, + -0.020720483735203743, + 1.0 + ], + [ + 0.34205588698387146, + 0.06139511987566948, + 0.15354983508586884, + 3.127435157197066, + -0.18467311561107635, + 0.03102722391486168, + 1.0 + ], + [ + 0.30947116017341614, + 0.0445341020822525, + 0.1288362294435501, + 3.112047841893979, + -0.14417678117752078, + -0.02417035773396492, + 1.0 + ], + [ + 0.2818923592567444, + 0.024841707199811935, + 0.12262913584709167, + -3.1355708256647965, + -0.1688892096281052, + -0.12154577672481538, + 1.0 + ], + [ + 0.2620652914047241, + 0.017509471625089645, + 0.11063152551651001, + -3.098722359287091, + -0.17438070476055145, + -0.19482956826686856, + 1.0 + ], + [ + 0.24327023327350616, + 0.0147880082949996, + 0.08492809534072876, + -3.070311742024966, + -0.14990532398223877, + -0.2627535462379455, + 1.0 + ], + [ + 0.23880019783973694, + 0.011544687673449516, + 0.057345032691955566, + -3.0726956744962415, + -0.09510289132595062, + -0.3121156692504883, + 1.0 + ], + [ + 0.23670260608196259, + 0.009226999245584011, + 0.04345381632447243, + -3.0737471674853047, + -0.06714438647031784, + -0.34774592518806463, + 1.0 + ], + [ + 0.23448343575000763, + 0.00767337204888463, + 0.032027456909418106, + -3.0883589406781873, + -0.04087608307600022, + -0.3620778024196625, + 1.0 + ], + [ + 0.23270125687122345, + 0.006112199276685715, + 0.023238344117999077, + -3.094759727018424, + -0.013774190098047256, + -0.3742823302745819, + 1.0 + ], + [ + 0.23112283647060394, + 0.00509322015568614, + 0.020944744348526, + -3.082090674089738, + -0.014023775234818459, + -0.39313963055610657, + 1.0 + ], + [ + 0.23047086596488953, + 0.0051576970145106316, + 0.020559728145599365, + -3.0854249020391187, + -0.009449617005884647, + -0.40756624937057495, + 0.0 + ], + [ + 0.22834978997707367, + 0.008093606680631638, + 0.029800159856677055, + -3.1017054711752614, + -0.013029076159000398, + -0.40433371067047114, + 0.0 + ], + [ + 0.23262397944927216, + 0.01842818409204483, + 0.05073652043938637, + -3.110550096380063, + -0.05148520693182945, + -0.3723565936088562, + 0.0 + ], + [ + 0.2361040711402893, + 0.03510456532239914, + 0.07514908164739609, + -3.1317027920209846, + -0.07291650027036667, + -0.3161592185497284, + 0.0 + ], + [ + 0.2462150603532791, + 0.04405168443918228, + 0.11124559491872787, + -3.1334781629317483, + -0.13062162697315216, + -0.2825363576412201, + 0.0 + ], + [ + 0.26085707545280457, + 0.026445891708135605, + 0.13485532999038696, + -3.1357989610456904, + -0.15555249154567719, + -0.32146090269088745, + 0.0 + ], + [ + 0.2738574147224426, + -0.0024121038150042295, + 0.14068108797073364, + 3.1402320453249892, + -0.16086946427822113, + -0.36732929944992065, + 0.0 + ], + [ + 0.2780531048774719, + -0.04382479935884476, + 0.1390671283006668, + 3.1349838340007743, + -0.2076977342367172, + -0.40859115123748785, + 0.0 + ], + [ + 0.2748657166957855, + -0.06491263955831528, + 0.12225019931793213, + -3.1198778619342526, + -0.19317880272865298, + -0.435316264629364, + 0.0 + ], + [ + 0.2789793610572815, + -0.07669759541749954, + 0.10270540416240692, + -3.088187126564332, + -0.16990213096141815, + -0.4585572779178619, + 0.0 + ], + [ + 0.2830497920513153, + -0.07827137410640717, + 0.06712811440229416, + -3.0853874777727803, + -0.0906407907605171, + -0.46093314886093134, + 0.0 + ], + [ + 0.2865876257419586, + -0.07903407514095306, + 0.04197460040450096, + -3.08855918248231, + -0.044771384447813034, + -0.46065866947174067, + 0.0 + ], + [ + 0.295234352350235, + -0.07836056500673294, + 0.03933757543563843, + -3.064976880448409, + -0.061456214636564255, + -0.4691911935806275, + 0.0 + ], + [ + 0.3056405484676361, + -0.07603619992733002, + 0.04741675779223442, + -3.050299646454402, + -0.08632480353116989, + -0.4712507724761963, + 0.0 + ], + [ + 0.31166160106658936, + -0.07651851326227188, + 0.07265862822532654, + -3.0533685257011136, + -0.14576025307178497, + -0.47833219170570374, + 0.0 + ], + [ + 0.3135068416595459, + -0.08048348128795624, + 0.08773922920227051, + -3.073386075096675, + -0.1711779236793518, + -0.47330546379089355, + 0.0 + ], + [ + 0.32257646322250366, + -0.08593408018350601, + 0.10321874171495438, + -3.0857389626377305, + -0.2048235833644867, + -0.46956172585487366, + 0.0 + ], + [ + 0.32968440651893616, + -0.09069173783063889, + 0.11012546718120575, + -3.0979880710416516, + -0.22443656623363495, + -0.4620409309864044, + 0.0 + ], + [ + 0.33087223768234253, + -0.0996236652135849, + 0.10103300958871841, + -3.1153066122257194, + -0.2041066288948059, + -0.4608218669891358, + 0.0 + ], + [ + 0.32922783493995667, + -0.10844341665506363, + 0.09747365862131119, + -3.1320637726509055, + -0.21619085967540744, + -0.46749362349510193, + 0.0 + ], + [ + 0.3157675862312317, + -0.11345026642084122, + 0.0800635814666748, + -3.118684100108691, + -0.18741001188755035, + -0.49651041626930237, + 0.0 + ], + [ + 0.3074990212917328, + -0.11170149594545364, + 0.048465825617313385, + -3.090523762749978, + -0.11958875507116319, + -0.5253501534461975, + 0.0 + ], + [ + 0.30622780323028564, + -0.09748786687850952, + 0.029649419710040092, + -3.0513967146449765, + -0.07844408601522446, + -0.5230006575584412, + 0.0 + ], + [ + 0.3065672218799591, + -0.09171423316001892, + 0.02653522603213787, + -3.040277274447032, + -0.07252957671880722, + -0.5296293497085571, + 0.0 + ], + [ + 0.3047008514404297, + -0.0872429609298706, + 0.027632497251033783, + -3.0781885256343564, + -0.06176692992448807, + -0.5060027241706848, + 0.0 + ], + [ + 0.2986740171909332, + -0.07301998138427734, + 0.04654276371002197, + -3.1213461627536496, + -0.04280997812747955, + -0.4534118473529816, + 0.0 + ], + [ + 0.3081544041633606, + -0.06131034344434738, + 0.1010727509856224, + 3.1057407689564904, + -0.16498802602291107, + -0.43163672089576716, + 1.0 + ], + [ + 0.3155384361743927, + -0.03577766939997673, + 0.1479446291923523, + 3.0321520065241536, + -0.2418516576290131, + -0.3640077412128449, + 1.0 + ], + [ + 0.3229084610939026, + -0.0157802514731884, + 0.1951729953289032, + 2.977528767781802, + -0.2651999890804291, + -0.31450366973876953, + 1.0 + ], + [ + 0.32276734709739685, + -0.003631247440353036, + 0.21097511053085327, + 3.0083681513839444, + -0.2464447319507599, + -0.28608125448226923, + 1.0 + ], + [ + 0.32478809356689453, + 0.010889030992984772, + 0.2098526507616043, + 3.1256343332403382, + -0.22645331919193268, + -0.2700353562831879, + 1.0 + ], + [ + 0.31806349754333496, + 0.008562225848436356, + 0.21344955265522003, + -3.0687549506598195, + -0.2346327602863312, + -0.2934046387672425, + 1.0 + ], + [ + 0.3124309778213501, + 0.011696326546370983, + 0.20697379112243652, + -3.051195094483443, + -0.20978499948978424, + -0.2854422330856323, + 1.0 + ], + [ + 0.30798205733299255, + 0.00898550171405077, + 0.20596139132976532, + -3.0682834332161626, + -0.18406942486763, + -0.32497808337211603, + 1.0 + ], + [ + 0.30746278166770935, + 0.010146087035536766, + 0.20548027753829956, + -3.0737504084878644, + -0.18276818096637726, + -0.31778621673583984, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05698961019515991, + 0.34690237045288086, + 0.6497291326522827, + 0.847867950797081, + 0.9231027886271477, + 0.9304307699203491, + 0.9304307699203491, + 0.9304307699203491, + 0.9304307699203491, + 0.9304307699203491, + 0.9304307699203491, + 0.9304307699203491, + 0.9304307699203491, + 0.9307394847273827, + 0.9307394847273827, + 0.9313545674085617, + 0.9313545674085617, + 0.9313545674085617, + 0.9313545674085617, + 0.9313545674085617, + 0.9313545674085617, + 0.9316608235239983, + 0.9316608235239983, + 0.9316608235239983, + 0.9316608235239983, + 0.9319662973284721, + 0.9074680432677269, + 0.7424668967723846, + 0.4753316640853882, + 0.17945623397827148, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "662", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/662/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/674.json b/annotation/test/674.json new file mode 100644 index 0000000000000000000000000000000000000000..9f3ca978383c0e72030f960df6c96da25bd331a0 --- /dev/null +++ b/annotation/test/674.json @@ -0,0 +1,622 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "move green cloth little bit right" + ], + "videos": [ + { + "video_path": "videos/test/674/rgb.mp4" + } + ], + "action": [ + [ + -0.000233000357912281, + 6.990074350937616e-05, + -1.8416832159512314e-07, + -0.0004362775309559978, + -0.001470632594357055, + -0.0030676474677977365, + 1.0 + ], + [ + -0.0033943526197739945, + -0.0001701349762933809, + 0.009579010528430803, + -0.004458392388641985, + -0.027424958716164308, + 0.004007319939448567, + 1.0 + ], + [ + -0.025417823718430606, + -0.014378814336419644, + 0.023103325250990427, + 0.037106108042876826, + -0.06459987670785372, + 0.02316461762280006, + 1.0 + ], + [ + -0.01871920414110443, + -0.02073580089617276, + 0.014055489373198485, + 0.0402087894749998, + -0.03057141049715454, + 0.005817668736190249, + 1.0 + ], + [ + -0.01709938202426404, + -0.014607424227953315, + 0.012612762387996931, + 0.03147562147001691, + -0.026038711888306913, + 0.016587103478530187, + 1.0 + ], + [ + -0.0002027807022217709, + -0.003366601877834724, + 0.0063811205592606115, + 0.0002912023271776715, + 0.0022627813625463932, + -0.009050773549946168, + 1.0 + ], + [ + 0.0009653816111680427, + 0.0032743281829455254, + 0.013332815745646213, + -0.003937614277811639, + -0.028578286494738907, + -0.004720444104545789, + 1.0 + ], + [ + 0.005354131905092201, + 0.005429815711986874, + 0.011376318689243355, + -0.006533946171802647, + -0.013514519722395818, + 0.01767400792297358, + 1.0 + ], + [ + 0.003663199657477827, + 0.006669564217065652, + 0.014686771292333426, + -0.0029389893758262047, + -0.01946416552511449, + 0.020555047715823633, + 1.0 + ], + [ + 0.004311317587880099, + 0.00387617973315276, + 0.005452518740038012, + 0.012311433779955317, + -0.026283650623613684, + 0.016899861310602105, + 1.0 + ], + [ + 0.0011340634569811472, + 0.007784244587806173, + 0.0025020158116485017, + -0.008638068578457022, + 0.00988947669151218, + 0.00845721816114854, + 1.0 + ], + [ + -0.002096052352583177, + 0.013045199535134425, + 0.00027405197448397727, + -0.01395593001960026, + 0.022127116738775713, + 0.020254330891432182, + 1.0 + ], + [ + -0.009044758442815307, + 0.03543291329901908, + -0.0009916261399400491, + -0.044226688718028304, + 0.0075532757917049905, + 0.06342808457765449, + 1.0 + ], + [ + -0.006780024744926987, + 0.04130822039060122, + -0.002560117207726777, + -0.020780774832616155, + 0.007480823980977307, + 0.07494498571234803, + 1.0 + ], + [ + 0.004156170173974591, + 0.033912470850552996, + 0.0007899677718445847, + 0.005189469937535186, + -0.004245691170801709, + -0.0031907091136773387, + 1.0 + ], + [ + 0.0076443185909050365, + 0.03072920149318803, + -0.0003087043258829225, + 0.006318104134758459, + 0.015244390040203396, + -0.07368982991208879, + 1.0 + ], + [ + 0.00540485785434641, + 0.00623780992057066, + -0.0010332618108114548, + -0.007078576086839257, + 0.023838926542472626, + -0.14249832085412503, + 1.0 + ], + [ + 0.0029960570634753837, + -0.0019383359250931976, + -4.0155241819159705e-05, + 0.009636895243488031, + 0.020337277602349282, + -0.13168932786564214, + 1.0 + ], + [ + 0.003039325407438494, + -0.004145042280876259, + -0.005862624936959284, + 0.009837520934988322, + 0.02575232315289402, + -0.030071703279381145, + 1.0 + ], + [ + 0.005712791954615112, + -0.0017667743843183383, + -0.030933941501386196, + -0.02112270173792383, + 0.09386713279280469, + 0.11812067877576235, + 1.0 + ], + [ + 0.00874819085587266, + -0.001349351263862103, + -0.03671651558754705, + -0.05802680319226807, + 0.08677228292756194, + 0.11627423850786518, + 1.0 + ], + [ + 0.009221138442384131, + -0.0012422217369234838, + -0.026858928269580196, + -0.01781949997931984, + 0.0344029035389596, + 0.012337390576897735, + 1.0 + ], + [ + 0.0014711016370899351, + -0.009811271122648436, + -0.017603706619403633, + -0.033803950218401886, + -0.014812649647423579, + -0.06500567980138515, + 1.0 + ], + [ + -0.004572280001715401, + -0.005330967701825002, + -0.007553040839725825, + -0.0015640083198026709, + -0.004225879030311805, + -0.00715368851693485, + 1.0 + ], + [ + -0.006854694536790447, + -0.002927801622345363, + -0.00013378755784619338, + -0.0004045108525200918, + -0.01663319731283777, + -0.0009126144798677275, + 1.0 + ], + [ + -0.006378885624571525, + -0.00264365662123111, + -0.0027418139056859703, + 0.01621389247714547, + -0.009935526154688006, + 0.019737776105371273, + 1.0 + ], + [ + -0.00887183292631331, + -0.0045439922137772, + -0.005953204750591624, + 0.02021190515489853, + 0.011836541312534412, + 0.023273162468131128, + 1.0 + ], + [ + -0.004397007955522144, + -0.010139864358578818, + -0.0008650730411592131, + 0.0247995360931086, + -0.01009719630888429, + 0.012945506386931831, + 1.0 + ], + [ + -0.0009361431318995334, + -0.006101059111380373, + 0.0005568762308298416, + 0.025449932246007907, + -0.0065423269511013255, + 0.009785608836204825, + 1.0 + ], + [ + -0.00022909003839851114, + -0.0013191483946512702, + -4.482682163783457e-05, + 0.0022319257376206074, + -0.00026138900685218673, + -0.0007247925513078811, + 1.0 + ], + [ + 0.000345005042765527, + 0.0005275964116352463, + 1.3786616579407678e-05, + -0.0012968441494127505, + 0.0017811775268436166, + 0.0007824146818317154, + 1.0 + ] + ], + "state": [ + [ + 0.33031800389289856, + 0.1007252186536789, + 0.127982035279274, + 3.121165281283208, + -0.1542195975780487, + 0.056125152856111526, + 1.0 + ], + [ + 0.33009180426597595, + 0.10064251720905304, + 0.1279478371143341, + 3.1202570797228297, + -0.15268589556217196, + 0.059197865426540375, + 1.0 + ], + [ + 0.3281994163990021, + 0.10049603879451752, + 0.11796257644891739, + 3.1164947619014463, + -0.12535105645656586, + 0.05457165092229843, + 1.0 + ], + [ + 0.3051944375038147, + 0.11305443942546844, + 0.09151192009449005, + -3.1265255642407617, + -0.06131443381309509, + 0.029795587062835693, + 1.0 + ], + [ + 0.2867363691329956, + 0.13345882296562195, + 0.07664922624826431, + -3.0859815833442887, + -0.03065796382725239, + 0.024439319968223572, + 1.0 + ], + [ + 0.2696376144886017, + 0.14833131432533264, + 0.06434926390647888, + -3.054030167060443, + -0.0037340952549129725, + 0.00933068245649338, + 1.0 + ], + [ + 0.2694209814071655, + 0.15224120020866394, + 0.058286286890506744, + -3.053775081532546, + -0.006779548246413469, + 0.018149070441722873, + 1.0 + ], + [ + 0.27051612734794617, + 0.15016837418079376, + 0.04472453147172928, + -3.0577279051118573, + 0.021274758502840992, + 0.025357190519571304, + 1.0 + ], + [ + 0.27572959661483765, + 0.14584138989448547, + 0.032822128385305405, + -3.064616384106227, + 0.036219313740730286, + 0.008868292905390261, + 1.0 + ], + [ + 0.2788904011249542, + 0.14034880697727203, + 0.01754324696958065, + -3.0682436918192586, + 0.05719989165663719, + -0.010156116448342798, + 1.0 + ], + [ + 0.28283214569091797, + 0.13684241473674774, + 0.011584215797483921, + -3.056771511333533, + 0.08464489877223967, + -0.02513216063380241, + 1.0 + ], + [ + 0.28350576758384705, + 0.12927880883216858, + 0.00834712665528059, + -3.0661945660882672, + 0.07550381869077684, + -0.03442288190126419, + 1.0 + ], + [ + 0.2808752655982971, + 0.11637420207262039, + 0.007252889685332775, + -3.08180162509019, + 0.05494708567857742, + -0.056314755231142044, + 1.0 + ], + [ + 0.2698025405406952, + 0.08151331543922424, + 0.006623870227485895, + -3.1296524397381624, + 0.05108313262462616, + -0.12016319483518602, + 1.0 + ], + [ + 0.2582298517227173, + 0.04127458110451698, + 0.009034086018800735, + 3.1288876124941787, + 0.044353049248456955, + -0.1952642947435379, + 1.0 + ], + [ + 0.2557061016559601, + 0.007196885533630848, + 0.00849110446870327, + 3.1342162630804857, + 0.048638716340065, + -0.19212409853935242, + 1.0 + ], + [ + 0.25735947489738464, + -0.02442675270140171, + 0.008654172532260418, + -3.1390447939098856, + 0.03380540385842323, + -0.11828984320163727, + 1.0 + ], + [ + 0.26202118396759033, + -0.03126510977745056, + 0.009488278068602085, + -3.141350246039689, + 0.009262514300644398, + 0.024112043902277946, + 1.0 + ], + [ + 0.2649698853492737, + -0.029255107045173645, + 0.00950115080922842, + -3.130499133961745, + -0.011186773888766766, + 0.15577729046344754, + 1.0 + ], + [ + 0.2672739624977112, + -0.024763494729995728, + 0.015443027019500732, + -3.120996220158883, + -0.037266094237566, + 0.18557208776474, + 1.0 + ], + [ + 0.27154257893562317, + -0.022813094779849052, + 0.04659814015030861, + -3.1376786847882947, + -0.12841737270355225, + 0.06505777686834335, + 1.0 + ], + [ + 0.27542921900749207, + -0.021351691335439682, + 0.08413761854171753, + 3.102715818332978, + -0.21384814381599423, + -0.053838297724723816, + 1.0 + ], + [ + 0.2788729667663574, + -0.019248750060796738, + 0.1122746542096138, + 3.087282048659869, + -0.2486913353204727, + -0.06517075747251509, + 1.0 + ], + [ + 0.2768095135688782, + -0.0083388052880764, + 0.12915751338005066, + 3.037388825910636, + -0.229854941368103, + 0.0006598620675504208, + 1.0 + ], + [ + 0.27076828479766846, + -0.0022551072761416435, + 0.1348903626203537, + 3.034266049163886, + -0.2249026894569397, + 0.007507573813199996, + 1.0 + ], + [ + 0.2641047239303589, + 0.0006202335935086012, + 0.13318562507629395, + 3.0340460186176976, + -0.20826736092567444, + 0.006613820791244507, + 1.0 + ], + [ + 0.2573395371437073, + 0.0034982406068593264, + 0.13425612449645996, + 3.054642791050025, + -0.20046256482601166, + -0.014498451724648476, + 1.0 + ], + [ + 0.24761715531349182, + 0.008683544583618641, + 0.13791479170322418, + 3.0793849249654492, + -0.21422526240348813, + -0.03717230260372161, + 1.0 + ], + [ + 0.24365222454071045, + 0.01901206187903881, + 0.1372077316045761, + 3.107128681736537, + -0.20493243634700772, + -0.05100943520665168, + 1.0 + ], + [ + 0.24320261180400848, + 0.025121180340647697, + 0.13626649975776672, + 3.1346565155596515, + -0.198720782995224, + -0.061215322464704514, + 1.0 + ], + [ + 0.243052139878273, + 0.026452306658029556, + 0.13625624775886536, + 3.1367428615973374, + -0.19845432043075562, + -0.06047788634896279, + 1.0 + ], + [ + 0.24336007237434387, + 0.02590503729879856, + 0.13631325960159302, + 3.135601672931113, + -0.2002392113208771, + -0.06126742810010911, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "674", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/674/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/680.json b/annotation/test/680.json new file mode 100644 index 0000000000000000000000000000000000000000..63669a60c8e2dfddb0ac9a44e3e5d2da28750269 --- /dev/null +++ b/annotation/test/680.json @@ -0,0 +1,907 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put fork next to spoon" + ], + "videos": [ + { + "video_path": "videos/test/680/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 8.292653160304318e-10, + 7.551098918566835e-10, + -0.0015339866538351414, + 1.0 + ], + [ + -0.0023652699391315465, + 0.00017292354239457997, + 0.00783812515069149, + -0.0007262881868930763, + -0.024531662485376467, + -0.010458077373946677, + 1.0 + ], + [ + -0.0030987502938030122, + -0.011923827261251673, + 0.006566746011593914, + 0.006131694036048958, + 0.0062511678477376684, + -0.12950967781047368, + 1.0 + ], + [ + -0.003018597690601218, + -0.02045029189308466, + -0.0010034365490352323, + 0.03979156738656328, + 0.04046928586341204, + -0.19494146486938993, + 1.0 + ], + [ + -0.0007115658081638668, + -0.016496466293693012, + 0.005783908141621591, + 0.05073914060423622, + 0.014935337543078749, + -0.13925616341841024, + 1.0 + ], + [ + 0.007913789812740072, + -0.026287978879078876, + 0.004279185243028502, + -0.010658121278431276, + 0.0033313601473454134, + -0.1533064253842089, + 1.0 + ], + [ + 0.005298822128534202, + -0.01757620520583569, + 0.004659561671092267, + -0.016177403406546706, + -0.0006976012828107393, + -0.05715609001319338, + 1.0 + ], + [ + 0.008656199379734011, + -0.01581457446818685, + 0.01022317571257638, + -0.0009749357583873356, + 0.008523285402050655, + -0.011492349012087096, + 1.0 + ], + [ + 0.005651686854080736, + -0.005880070691195665, + 0.015585379453138426, + -0.012376828386931188, + -0.0064926669839931546, + -0.029949260100710293, + 1.0 + ], + [ + 0.0014158523812595261, + -0.0038691287025346428, + 0.014384741572845866, + 0.017507566761000473, + -0.029852351540011944, + -0.04993888955099367, + 1.0 + ], + [ + 0.007144953085211453, + -0.0072659061178515115, + 0.008300723359126122, + -0.0037777279321872487, + 0.018902590181569454, + -0.09183306221969428, + 1.0 + ], + [ + -0.0003699366885017489, + 0.0009002704432405857, + 0.012925466925883512, + 0.03643933887378701, + 0.0013089586035412617, + -0.050938602027176, + 1.0 + ], + [ + 0.00129723215269646, + 0.002088964996281702, + 0.009648656067238944, + 0.006661463578148836, + -0.006150901681646173, + -0.01988040868427422, + 1.0 + ], + [ + 0.003650159068477761, + 0.004014094051156412, + 0.004250491679776255, + -0.031983724391791396, + 0.029954559459796266, + -0.041952957356603704, + 1.0 + ], + [ + -0.003026370090340975, + -0.002955956577410859, + 0.009706720618969112, + 0.024708382964070883, + -0.019620510785789733, + -0.022064661658001465, + 1.0 + ], + [ + -0.0001831063833770194, + 0.001016890517760704, + 0.005105883020305834, + -0.0015411638732634066, + -0.0209037618804657, + -0.015289350736907006, + 1.0 + ], + [ + 0.003667963157981171, + 0.0015843660987809648, + 0.0018617871525156747, + -0.0025437967282349616, + -0.004210885424612042, + 0.0034092466561438657, + 1.0 + ], + [ + 0.0002949611156385079, + -0.00010759910143603656, + -0.0006790370915437395, + -0.004815709943999763, + 0.0098135886586578, + -0.009977977868473466, + 0.0 + ], + [ + -0.005920052085314924, + -0.006370699903849888, + -0.002156675211141588, + 0.02849590524333443, + -0.014539539542913257, + -0.013263619901268418, + 0.0 + ], + [ + -0.004891018686250888, + -0.0033869889405912356, + -0.01441997758958835, + 0.02229270074002606, + -0.016864418357520086, + -0.019189064399485294, + 0.0 + ], + [ + -0.0026921425848375944, + 0.005441273717574439, + -0.016079988664266825, + -0.018317878394441583, + 0.01885629839333308, + 0.025234885011547113, + 0.0 + ], + [ + -0.016226354906854847, + 0.017387141919201845, + -0.016724473347790123, + -0.006786482192049432, + 0.005942053748629558, + 0.19792947960449236, + 0.0 + ], + [ + -0.016413540887794793, + 0.03340175642801372, + -0.020913312595113268, + -0.016145820555140432, + 0.05241291147651242, + 0.19822389125444576, + 0.0 + ], + [ + -0.009377055417342467, + 0.018146965541216416, + -0.0057950092967677105, + -0.04497939873258222, + 0.014283196545379517, + 0.1051834703246569, + 0.0 + ], + [ + -0.007494045580117867, + 0.027928268964618225, + -0.0027941581205075364, + -0.01246169092244888, + 0.025613313853676666, + 0.14939557695385725, + 0.0 + ], + [ + 7.204092044401697e-05, + 0.010467348038233348, + 0.0025019003402683704, + -0.0320282638560652, + 0.026921494537054225, + 0.06374350623690463, + 0.0 + ], + [ + -0.007273356919297224, + 0.016503357156972584, + 0.004354461558900171, + -0.033864637220447934, + 0.005097482919428014, + 0.07578036529007968, + 0.0 + ], + [ + -0.005840662942147998, + 0.009401262021493483, + 0.021205404523918368, + -0.029487817003057675, + -0.04958890705473958, + 0.05056119518948241, + 0.0 + ], + [ + 0.007835262046674703, + 0.00854928593059283, + 0.004439044221011758, + -0.02450136810917925, + 0.05153097638797685, + 0.006630440075259717, + 0.0 + ], + [ + -0.0048064287308221985, + 0.00660522667838243, + 0.014252837649453731, + 0.003526768652724802, + -0.024454505906208034, + 0.022272092556102473, + 0.0 + ], + [ + 0.0034956557060279603, + 0.005356710147492704, + 0.0004104209731971477, + -0.01133544855005341, + 0.030578538234844285, + 0.012809188067945627, + 0.0 + ], + [ + -0.0038778470202837016, + 0.0023395202868173007, + 0.008553870442448845, + 0.00409516204824363, + -0.032067316168816536, + 0.011864176364572576, + 0.0 + ], + [ + 0.0008392393347417664, + 0.0020720592457798685, + 0.001947582629885088, + -0.00030979478401786355, + -0.01563091056808041, + 0.026688974552281065, + 0.0 + ], + [ + 0.0021394630157415815, + 0.001344173844389232, + 0.00024418464019554804, + 0.00395197537446505, + -0.0056214802692474124, + 0.010822703960525693, + 0.0 + ], + [ + -0.0015568965835888661, + 0.0005999323871195833, + 0.002396953293513353, + 0.00135689756249905, + -0.024617516726287505, + 0.014500653247727866, + 0.0 + ], + [ + 0.0014653219725290346, + -0.0002548158004069783, + -6.121599688735053e-05, + 0.003953993758522793, + -0.005584051457420965, + -0.010350597443323215, + 1.0 + ], + [ + -0.00020440601692900935, + -0.0006592384707711003, + -0.0002408601416314688, + 0.006878186198141238, + 0.0010741531931066494, + 0.00949944002525596, + 1.0 + ], + [ + -0.002613066214406122, + -0.00014810447654633045, + -0.017244958694261278, + -0.00847115683515074, + 0.0405876559912622, + -0.0010322139218289549, + 1.0 + ], + [ + -0.0023494749401365704, + -0.0019778159095162054, + -0.02317090361897966, + 0.005789208454788209, + 0.022917898946481073, + -0.020958347391341593, + 1.0 + ], + [ + -0.00393685837535142, + -0.0026244794980921377, + -0.024554029373455386, + 0.00034744368283135403, + 0.023467060890515444, + -0.008429312176009143, + 1.0 + ], + [ + -0.003553459507063539, + -0.0035128649151243215, + -0.01616539725605262, + 0.01002178845805716, + 0.01933165531168044, + -0.009545265696074348, + 1.0 + ], + [ + -0.007191447334337204, + 0.0047429200788442, + -0.006475985414178774, + 0.00497074317775504, + -0.031018390072322453, + 0.0291643881477966, + 1.0 + ], + [ + -0.009012482665325849, + 0.013330502606791151, + -0.018238265951050037, + 0.00448157259649415, + -0.02143425578373629, + 0.07769289804893655, + 1.0 + ], + [ + -0.004388677452753209, + 0.015138314648714877, + -0.013649709072387266, + -0.0030844640523746635, + 0.031383885918553615, + 0.05276233052292546, + 1.0 + ], + [ + -0.005999746151233313, + 0.00985235053420648, + -0.0016300171270583071, + 0.01104185722565843, + -0.023737574367926857, + 0.04488004768055823, + 1.0 + ], + [ + -0.0007301708693886739, + 0.0003252304222107432, + 0.0002978457817997883, + 0.00030343262034553613, + -0.0029346305122454857, + 8.835384582124497e-05, + 1.0 + ] + ], + "state": [ + [ + 0.3117454946041107, + 0.04196324199438095, + 0.12033113092184067, + -3.1279214919828853, + -0.09311061352491379, + 0.08751007914543152, + 1.0 + ], + [ + 0.3117454946041107, + 0.04196324199438095, + 0.12033113092184067, + -3.128064738708087, + -0.09313147515058517, + 0.08905059844255447, + 1.0 + ], + [ + 0.3101319372653961, + 0.041752029210329056, + 0.11230539530515671, + -3.1297934438386044, + -0.06873810291290283, + 0.09986194223165512, + 1.0 + ], + [ + 0.3062986433506012, + 0.053428515791893005, + 0.1056821346282959, + -3.1326507591926536, + -0.07593651860952377, + 0.22966179251670835, + 1.0 + ], + [ + 0.2986268997192383, + 0.07262663543224335, + 0.10663597285747528, + -3.1077901889854154, + -0.1166961044073105, + 0.4254134297370911, + 1.0 + ], + [ + 0.29165226221084595, + 0.08778151869773865, + 0.10136555880308151, + -3.0736155976825437, + -0.13518625497817993, + 0.5653492808341979, + 1.0 + ], + [ + 0.2843504250049591, + 0.11455344408750534, + 0.09997110068798065, + -3.1057966259592256, + -0.1472966820001602, + 0.7197542190551758, + 1.0 + ], + [ + 0.2770475745201111, + 0.13173192739486694, + 0.09676484018564224, + -3.130507957311817, + -0.14840170741081238, + 0.7775344252586365, + 1.0 + ], + [ + 0.27303412556648254, + 0.15013012290000916, + 0.08810790628194809, + -3.1331893281363925, + -0.15704213082790375, + 0.7890731692314148, + 1.0 + ], + [ + 0.274412602186203, + 0.16005077958106995, + 0.07364757359027863, + 3.132870075414427, + -0.15073013305664065, + 0.819419503211975, + 1.0 + ], + [ + 0.2741105258464813, + 0.1652112454175949, + 0.059605710208415985, + -3.1403115108893296, + -0.12025699764490128, + 0.8694350719451904, + 1.0 + ], + [ + 0.27377039194107056, + 0.1760854721069336, + 0.05223134532570839, + 3.127985319244214, + -0.13876698911190036, + 0.962120771408081, + 1.0 + ], + [ + 0.2754649221897125, + 0.17663487792015076, + 0.039392273873090744, + -3.1258565617078027, + -0.139201745390892, + 1.0135705471038818, + 1.0 + ], + [ + 0.27849850058555603, + 0.177840918302536, + 0.029985573142766953, + -3.1219941229843577, + -0.13333648443222046, + 1.0337238311767578, + 1.0 + ], + [ + 0.2840205430984497, + 0.17943304777145386, + 0.02618090994656086, + 3.123628044622489, + -0.1639920473098755, + 1.075624942779541, + 1.0 + ], + [ + 0.28091171383857727, + 0.17952920496463776, + 0.016059499233961105, + -3.1384289808389774, + -0.14393950998783112, + 1.0975561141967773, + 1.0 + ], + [ + 0.2820538878440857, + 0.17956411838531494, + 0.010976994410157204, + 3.1409961545774756, + -0.12306718528270721, + 1.113025188446045, + 1.0 + ], + [ + 0.28518587350845337, + 0.18233375251293182, + 0.009580493904650211, + 3.138874147441708, + -0.11885761469602585, + 1.1095892190933228, + 1.0 + ], + [ + 0.285182386636734, + 0.18257266283035278, + 0.010289423167705536, + 3.132862251373478, + -0.1286380589008331, + 1.1196767091751099, + 0.0 + ], + [ + 0.27675512433052063, + 0.1798318773508072, + 0.011613593436777592, + -3.1235234328829726, + -0.11397214233875275, + 1.1328972578048706, + 0.0 + ], + [ + 0.2711654305458069, + 0.1752653419971466, + 0.025442244485020638, + -3.103458600240298, + -0.09743546694517136, + 1.1524780988693237, + 0.0 + ], + [ + 0.2749788761138916, + 0.16894927620887756, + 0.0409659706056118, + -3.1192429309063634, + -0.11528316140174864, + 1.1263736486434937, + 0.0 + ], + [ + 0.2832728624343872, + 0.14506609737873077, + 0.055322811007499695, + -3.103686211752244, + -0.11456649005413055, + 0.9270381927490234, + 0.0 + ], + [ + 0.29946988821029663, + 0.10971954464912415, + 0.07295022904872894, + -3.0975367483967027, + -0.1571740359067917, + 0.7246806025505066, + 0.0 + ], + [ + 0.3041379749774933, + 0.08929762244224548, + 0.07641111314296722, + -3.1260115645178637, + -0.16593368351459503, + 0.6175000667572021, + 0.0 + ], + [ + 0.3139878213405609, + 0.06198916211724281, + 0.07749958336353302, + -3.1135550775849303, + -0.18734309077262876, + 0.46508136391639704, + 0.0 + ], + [ + 0.319177508354187, + 0.052965130656957626, + 0.07476753741502762, + -3.133356656069406, + -0.21207256615161896, + 0.3991507589817047, + 0.0 + ], + [ + 0.31989651918411255, + 0.03539659082889557, + 0.06884695589542389, + 3.1322639576443514, + -0.21592722833156586, + 0.321525752544403, + 0.0 + ], + [ + 0.32180964946746826, + 0.025916695594787598, + 0.04696916416287422, + 3.1138570719682654, + -0.1665295511484146, + 0.2698504626750946, + 0.0 + ], + [ + 0.3322390019893646, + 0.019806815311312675, + 0.04412580281496048, + 3.090201685326644, + -0.21822227537631989, + 0.26453372836112976, + 0.0 + ], + [ + 0.3325294256210327, + 0.012292716652154922, + 0.029520045965909958, + 3.098912337916442, + -0.19488312304019928, + 0.24058793485164645, + 0.0 + ], + [ + 0.3371736407279968, + 0.007903550751507282, + 0.03001893125474453, + 3.0898432863228997, + -0.22596721351146695, + 0.22880133986473083, + 0.0 + ], + [ + 0.3359607756137848, + 0.004767893813550472, + 0.02094278857111931, + 3.097000954794236, + -0.19453568756580356, + 0.21504099667072296, + 0.0 + ], + [ + 0.3375754654407501, + 0.0029129069298505783, + 0.01928669959306717, + 3.1020774525874337, + -0.18003635108470914, + 0.1872352808713913, + 0.0 + ], + [ + 0.3399289548397064, + 0.0019819512963294983, + 0.019481996074318886, + 3.1080379878454885, + -0.17483572661876678, + 0.17602825164794922, + 0.0 + ], + [ + 0.3389453887939453, + 0.0011163235176354647, + 0.016871916130185127, + 3.1120836810492953, + -0.15069788694381717, + 0.1605387032032013, + 0.0 + ], + [ + 0.3403265178203583, + 0.001599825220182538, + 0.01714496500790119, + 3.1144940984719476, + -0.1448030173778534, + 0.17082755267620087, + 1.0 + ], + [ + 0.33998236060142517, + 0.002215807791799307, + 0.0173360463231802, + 3.12275422190363, + -0.1461276262998581, + 0.161258727312088, + 1.0 + ], + [ + 0.3348771631717682, + 0.0018644824158400297, + 0.03401094302535057, + 3.114001279818364, + -0.1866883933544159, + 0.16308601200580594, + 1.0 + ], + [ + 0.3279423713684082, + 0.0033748620189726353, + 0.05628087744116783, + 3.1156950296186885, + -0.20897524058818817, + 0.18514317274093628, + 1.0 + ], + [ + 0.31856563687324524, + 0.004934803582727909, + 0.07940944284200668, + 3.1141105090552053, + -0.23220746219158173, + 0.19442407786846164, + 1.0 + ], + [ + 0.3107816278934479, + 0.007433746010065079, + 0.09422335028648376, + 3.121735407161065, + -0.2512574791908264, + 0.2048216462135315, + 1.0 + ], + [ + 0.3033008873462677, + 0.0011678466107696295, + 0.09879802167415619, + 3.134290979365357, + -0.2207113206386566, + 0.17432086169719696, + 1.0 + ], + [ + 0.2929760217666626, + -0.014050510711967945, + 0.11471531540155411, + -3.127022763835736, + -0.19916805624961853, + 0.09491807222366333, + 1.0 + ], + [ + 0.28750213980674744, + -0.02997656539082527, + 0.12700925767421722, + -3.119313610839196, + -0.22949278354644775, + 0.04029608517885208, + 1.0 + ], + [ + 0.2817421853542328, + -0.04010304436087608, + 0.1270175725221634, + -3.0979891029470643, + -0.20453333854675296, + -0.004975149407982826, + 1.0 + ], + [ + 0.28108900785446167, + -0.04041173681616783, + 0.12656402587890625, + -3.0976937023275575, + -0.2015976458787918, + -0.004934679716825485, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.03941965103149414, + 0.196363627910614, + 0.4831165075302124, + 0.5468431115150452, + 0.5468431115150452, + 0.5468431115150452, + 0.5468431115150452, + 0.5468431115150452, + 0.5468431115150452, + 0.5468431115150452, + 0.5468431115150452, + 0.5468431115150452, + 0.5468431115150452, + 0.5477714538574219, + 0.5477714538574219, + 0.5468431115150452, + 0.5468431115150452, + 0.5468431115150452, + 0.4763064980506897, + 0.19447308778762817, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "680", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/680/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/686.json b/annotation/test/686.json new file mode 100644 index 0000000000000000000000000000000000000000..a38b5a55c4f797f4ebfbe1f26566555cafab0efe --- /dev/null +++ b/annotation/test/686.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put broccoli in pot cardboardfence" + ], + "videos": [ + { + "video_path": "videos/test/686/rgb.mp4" + } + ], + "action": [ + [ + 7.706179952695282e-05, + 4.464779659899497e-05, + -0.0004295582735805392, + 0.00039297406764354407, + 0.0014659042389184858, + -0.0013105395292340792, + 1.0 + ], + [ + -0.008497624605409258, + 0.0002666284585432992, + 0.00810195634709886, + -0.005072850378367466, + -0.041444063784603816, + -0.029427136148127742, + 1.0 + ], + [ + -0.023449989998115817, + 0.017074561496188103, + -0.031743720883442114, + 0.03505619778132156, + 0.020452732155742847, + -0.08754383386237707, + 1.0 + ], + [ + -0.01376647360068351, + 0.010740419569058848, + -0.019501913971383216, + 0.04595554979985596, + 0.015423345034155858, + -0.03215712075105709, + 1.0 + ], + [ + -0.008458223310364056, + 0.011787609724849076, + -0.006710896940820223, + -0.001491617590122446, + 0.038171531810845184, + 0.010051352432361126, + 1.0 + ], + [ + -0.009430156205548263, + 0.013203621697821888, + 0.020771513762676278, + -0.07757422786869042, + 0.011892888704562243, + 0.038522231896076814, + 1.0 + ], + [ + -0.012836437132934345, + 0.009046490033643287, + 0.02769309035718338, + -0.12106857559162046, + 0.05157082495129354, + 0.0921890303240926, + 1.0 + ], + [ + -0.005606668442846287, + 0.0014105713430063744, + 0.011977203358135922, + -0.01756515760681562, + 0.03585310633447534, + 0.07961931698283556, + 1.0 + ], + [ + -0.0009045043828172907, + 0.004211633564895397, + 0.004359841975778204, + -0.006853965627692904, + 0.014120732994751568, + 0.04784960455091728, + 1.0 + ], + [ + 0.0015203940162253715, + 0.002329488722390298, + 0.0026176763344042137, + -0.02190507319332878, + 0.00037432581714091435, + 0.023927918131551325, + 1.0 + ], + [ + 0.0030876812025405244, + 0.0025690508836742035, + 0.006126047004561814, + -0.011178754672263362, + -0.002710644098135096, + 0.00914448329748743, + 1.0 + ], + [ + 0.007217064143106996, + -6.115356619394554e-05, + 0.0017795826736047903, + -0.007780976875687674, + -0.02192323370498012, + -0.023640809049276745, + 1.0 + ], + [ + -0.0031402330294819664, + 6.288171050130987e-05, + 0.014043259426649808, + -0.04435416093990802, + -0.046326593454924236, + -0.060094320307620394, + 1.0 + ], + [ + -0.002391513646535391, + -0.002927065683769259, + 0.010494526714357993, + -0.02960897101085342, + -0.044007102369053294, + -0.055516355542253974, + 1.0 + ], + [ + 0.0006296713039380239, + -0.007259895621865558, + 0.008204005381458605, + -0.03757833034188008, + 0.012303142104966986, + -0.03175460339310393, + 1.0 + ], + [ + -0.0006570698306856838, + -0.007946951623852857, + 0.008122794534079962, + -0.03683203757637486, + -0.008046926830849939, + -0.005145697307313029, + 1.0 + ], + [ + -0.0045140572653711505, + -0.004645998924273356, + 0.012203238907120927, + -0.036350967407039844, + 0.028742381335882156, + -0.025423602613128114, + 1.0 + ], + [ + -0.0007456052904188815, + 0.0002434796419851709, + 0.002401385024383504, + 0.018600950134845296, + 0.016313846484442125, + -0.019882504401453435, + 0.0 + ], + [ + -0.0031730207725336823, + 0.0017741263247769005, + -0.0027640402652393085, + 0.036915135585278785, + -0.012169554199176714, + -0.018564842684199452, + 0.0 + ], + [ + -0.002017066778958329, + 0.006140892657571332, + -0.013883325308653906, + 0.026439267590959464, + -0.03164590597544536, + -0.02448633540038191, + 0.0 + ], + [ + 0.0064982375549725285, + 0.0052073683274806515, + -0.027912276571854498, + 0.05513512217005532, + 0.021934247336765487, + -0.0023212356469367594, + 0.0 + ], + [ + 0.008589607496664542, + -0.007253924198144432, + -0.02027356613917479, + 0.10002356333518132, + 0.04401879188306724, + 0.02362988128857135, + 0.0 + ], + [ + 0.02184794475284377, + -0.01784159266003889, + -0.021435442666286407, + 0.09851732347070703, + 0.007815229635709933, + 0.036611103804232464, + 0.0 + ], + [ + 0.02831898166067654, + -0.024661166888044265, + -0.006021759129659245, + 0.07276714309471294, + 0.021294906014296087, + 0.05995989811214849, + 0.0 + ], + [ + 0.026179668245276882, + -0.018071701198834462, + -0.008890937938216886, + 0.024084167278283167, + 0.014714164449950983, + 0.049103349904919165, + 0.0 + ], + [ + 0.025844729969080753, + -0.020063555219740306, + -0.017494784903062256, + 0.06425250372242236, + 0.02304330515118852, + 0.03627487658165954, + 0.0 + ], + [ + 0.006584317192256475, + -0.011739112579156243, + -0.003891989184730675, + 0.04373908720532604, + 0.029462874852385988, + 0.006374633774621127, + 0.0 + ], + [ + 0.004252381592437011, + -0.007950534031132177, + 0.013304385640712176, + 0.032327696362204804, + 0.04183165352910272, + 0.0036574337755042384, + 0.0 + ], + [ + -0.0017988382261194481, + -0.005013499185412323, + 0.020687917040501685, + 0.04207401277583534, + 0.03466201185176309, + 0.0003950636118453928, + 0.0 + ], + [ + -0.0028763864312922136, + -0.001903557466941064, + 0.014206232292452008, + -0.006769272466300429, + -0.01403733820220174, + -0.007875579778918907, + 0.0 + ], + [ + 0.0001284471149805336, + -0.005220524830567422, + 0.019244959797514997, + -0.009070956260502295, + 0.005330990028716871, + 0.007455432483492424, + 0.0 + ], + [ + 0.008625510166892898, + -0.006906936387041807, + -0.0029583044096178463, + 0.003303530165308634, + 0.02774492565960691, + 0.03503659596034568, + 1.0 + ], + [ + -0.003251658367466358, + 0.00044724458831522755, + -0.0015236122526051297, + 0.0056661552113391024, + -0.03746076181883535, + 0.015095898575068701, + 1.0 + ], + [ + 0.0015559009383546538, + 0.004635073235370274, + -0.0054381777861164686, + 0.009854103755540848, + -0.049276085774114485, + 0.016442104231628858, + 1.0 + ], + [ + -0.001973415415945372, + 0.008659200278264965, + -0.0036572424952339842, + 0.002742386282132669, + -0.03352586172169239, + 0.0011840290696162432, + 1.0 + ], + [ + 0.0019452766256591353, + 0.002614709111627255, + -0.0015237665882370942, + -0.00045309219991056834, + 0.004219258820024763, + 0.0024572842307476373, + 1.0 + ], + [ + -0.001142872770019427, + -0.00010957744516831889, + 0.00031429635049975367, + -0.0013592183684926526, + -0.004529096089235626, + -0.0013763429153703223, + 1.0 + ], + [ + 0.00022344927490778346, + -0.0006606425564646426, + 3.315053909825003e-05, + 0.0013399394595737777, + 0.0026436933048013932, + -0.0014841408337668942, + 1.0 + ] + ], + "state": [ + [ + 0.2798997759819031, + 0.052168041467666626, + 0.07524977624416351, + 3.0057889838987073, + -0.057433966547250755, + 0.004463243298232555, + 1.0 + ], + [ + 0.27995187044143677, + 0.05218219384551048, + 0.07568513602018356, + 3.006095888214656, + -0.058708880096673965, + 0.005962762515991927, + 1.0 + ], + [ + 0.2719460427761078, + 0.050775814801454544, + 0.06720862537622452, + 2.9995614906125745, + -0.013653836213052271, + 0.029498538002371785, + 1.0 + ], + [ + 0.2484125941991806, + 0.03766683489084244, + 0.10072635114192963, + 3.033939527469226, + -0.02147079072892666, + 0.11906739324331285, + 1.0 + ], + [ + 0.23532834649085999, + 0.02745746821165085, + 0.12096908688545227, + 3.0792211090498647, + -0.03333825245499611, + 0.1527111828327179, + 1.0 + ], + [ + 0.2284543365240097, + 0.014919500797986984, + 0.12811560928821564, + 3.077941494184085, + -0.07206105440855026, + 0.14504557847976685, + 1.0 + ], + [ + 0.22265993058681488, + -0.0005788738490082324, + 0.107598677277565, + 3.0031310339742383, + -0.08632830530405045, + 0.10722020268440247, + 1.0 + ], + [ + 0.21355687081813812, + -0.01441458985209465, + 0.080409936606884, + 2.889705928164073, + -0.14980678260326388, + 0.02222549729049206, + 1.0 + ], + [ + 0.20978933572769165, + -0.018850570544600487, + 0.06845144182443619, + 2.8829596062474927, + -0.20400431752204895, + -0.04731347784399986, + 1.0 + ], + [ + 0.20929422974586487, + -0.02401956543326378, + 0.06519559025764465, + 2.8851912935548505, + -0.22970077395439148, + -0.09110172092914581, + 1.0 + ], + [ + 0.210943341255188, + -0.027099547907710075, + 0.06365141272544861, + 2.8687535246186933, + -0.2360682636499405, + -0.11480997502803801, + 1.0 + ], + [ + 0.21466293931007385, + -0.031680602580308914, + 0.05931081622838974, + 2.85988041956956, + -0.23591104149818423, + -0.124618299305439, + 1.0 + ], + [ + 0.22197188436985016, + -0.03303556516766548, + 0.059319037944078445, + 2.848101021843501, + -0.20824724435806274, + -0.10764361172914505, + 1.0 + ], + [ + 0.22123374044895172, + -0.03710265830159187, + 0.04553527757525444, + 2.7944975813203534, + -0.1463192403316498, + -0.06312227994203568, + 1.0 + ], + [ + 0.22040177881717682, + -0.03786909207701683, + 0.03443831577897072, + 2.759340765076228, + -0.08595523238182068, + -0.025812571868300438, + 1.0 + ], + [ + 0.22200945019721985, + -0.03423362970352173, + 0.024210555478930473, + 2.7190316339307508, + -0.08547826111316681, + 0.008363521657884121, + 1.0 + ], + [ + 0.22223272919654846, + -0.030314812436699867, + 0.013526053167879581, + 2.6820662041478833, + -0.07602882385253906, + 0.00976048596203327, + 1.0 + ], + [ + 0.2187313288450241, + -0.03159743919968605, + 0.00022281585552264005, + 2.6431138833337506, + -0.09046827256679536, + 0.04543444141745568, + 1.0 + ], + [ + 0.21823124587535858, + -0.03298351168632507, + -0.0018291538581252098, + 2.659523667889186, + -0.09526359289884567, + 0.07081089913845062, + 0.0 + ], + [ + 0.21479067206382751, + -0.033518776297569275, + 0.0011257483856752515, + 2.695399673777171, + -0.07586861401796341, + 0.08164744079113007, + 0.0 + ], + [ + 0.21160298585891724, + -0.033326659351587296, + 0.016103317961096764, + 2.7209770401292523, + -0.03675270453095437, + 0.09007498621940611, + 0.0 + ], + [ + 0.216462641954422, + -0.026216967031359673, + 0.04392911493778229, + 2.7756243665986737, + -0.05582482367753982, + 0.10116641968488695, + 0.0 + ], + [ + 0.22267144918441772, + -0.011486074887216091, + 0.06071809306740761, + 2.8756375332647046, + -0.10538154840469359, + 0.09483683109283446, + 0.0 + ], + [ + 0.2404623180627823, + 0.01315758004784584, + 0.07891997694969177, + 2.9778228421979627, + -0.1224842146039009, + 0.061318594962358475, + 0.0 + ], + [ + 0.266730934381485, + 0.040130991488695145, + 0.08428601175546646, + 3.0576901530199727, + -0.15307359397411346, + 0.004993423353880643, + 0.0 + ], + [ + 0.2913905680179596, + 0.059007588773965836, + 0.09553708881139755, + 3.0892396440082273, + -0.17167355120182037, + -0.043409302830696106, + 0.0 + ], + [ + 0.3149380385875702, + 0.07895607501268387, + 0.11613170802593231, + -3.123576283576437, + -0.1964763700962067, + -0.07910539954900742, + 0.0 + ], + [ + 0.3214990198612213, + 0.09013967216014862, + 0.12144096940755844, + -3.0784468372636518, + -0.2258148491382599, + -0.08618673682212828, + 0.0 + ], + [ + 0.329233318567276, + 0.09827835857868195, + 0.1099412813782692, + -3.044604519503661, + -0.2673276960849762, + -0.0927041918039322, + 0.0 + ], + [ + 0.33344128727912903, + 0.10491057485342026, + 0.0900750383734703, + -3.001434954004832, + -0.30178654193878174, + -0.09663047641515732, + 0.0 + ], + [ + 0.3351639211177826, + 0.10863122344017029, + 0.07604280859231949, + -3.011223228769847, + -0.2889722883701324, + -0.08644974231719971, + 0.0 + ], + [ + 0.3411741852760315, + 0.11581719666719437, + 0.0584394745528698, + -3.0178898518257817, + -0.29327911138534546, + -0.09489548206329344, + 0.0 + ], + [ + 0.34891897439956665, + 0.1215985044836998, + 0.06455923616886139, + -3.0030148347192487, + -0.3162682950496673, + -0.13506959378719333, + 1.0 + ], + [ + 0.34532272815704346, + 0.12142779678106308, + 0.06492334604263306, + -2.994096892076083, + -0.2770661413669586, + -0.1452237218618393, + 1.0 + ], + [ + 0.34475287795066833, + 0.11606991291046143, + 0.06986772269010544, + -2.9815377463870725, + -0.2258977890014648, + -0.15446293354034424, + 1.0 + ], + [ + 0.3409540057182312, + 0.10741999745368958, + 0.07159950584173203, + -2.979659007983752, + -0.19260990619659424, + -0.1502104252576828, + 1.0 + ], + [ + 0.34221404790878296, + 0.10437092930078506, + 0.0730341300368309, + -2.979505347209521, + -0.19637684524059296, + -0.15337665379047394, + 1.0 + ], + [ + 0.3411869704723358, + 0.10469045490026474, + 0.07252426445484161, + -2.9812785257869443, + -0.19212879240512845, + -0.15124830603599548, + 1.0 + ], + [ + 0.34148913621902466, + 0.10530945658683777, + 0.07263832539319992, + -2.980141135054179, + -0.19497539103031158, + -0.15018506348133087, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.02474844455718994, + 0.18600207567214966, + 0.39208781719207764, + 0.36800187826156616, + 0.35594499111175537, + 0.35594499111175537, + 0.35594499111175537, + 0.35594499111175537, + 0.35594499111175537, + 0.35594499111175537, + 0.35594499111175537, + 0.35594499111175537, + 0.35594499111175537, + 0.35594499111175537, + 0.35594499111175537, + 0.3097999095916748, + 0.021884262561798096, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "686", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/686/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/687.json b/annotation/test/687.json new file mode 100644 index 0000000000000000000000000000000000000000..4192f61d2baccb0d0d31353eb89c0c40459c9522 --- /dev/null +++ b/annotation/test/687.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "close brown1fbox flap" + ], + "videos": [ + { + "video_path": "videos/test/687/rgb.mp4" + } + ], + "action": [ + [ + -8.640449786550611e-05, + 4.536557244499131e-05, + 0.00017992298476969664, + -0.00041101252822914016, + -0.0014677633927107788, + 0.00017308272933925508, + 1.0 + ], + [ + -0.0016556331450652444, + 0.002415864743107498, + 0.003946764322072661, + -0.017115205062562724, + -0.002178775205050241, + 0.003267119748456494, + 1.0 + ], + [ + 0.0028984104484821582, + -0.0029011846880088385, + 0.011319017004298777, + -0.04537271025184086, + -0.011408734227422626, + -0.004356193131337884, + 1.0 + ], + [ + -0.0006147470311933485, + -0.002605268010859533, + 0.006733904516027845, + -0.01725484480633199, + 0.00817326420823389, + 0.008554241852520359, + 1.0 + ], + [ + -0.004565653633762911, + -0.0011431752948314812, + 0.006566019310676638, + -0.015734646961100683, + 0.012310593291126055, + -0.010878722514270078, + 1.0 + ], + [ + -0.004770868752981347, + -9.462639875282365e-05, + 0.006124724701912724, + -0.024066697479867994, + 0.0348942320401755, + -0.00021157678529163705, + 1.0 + ], + [ + 0.0002548297764941028, + -0.0007952731620306857, + 0.005645930134427822, + -0.006077088799690688, + 0.11367448695772693, + 0.04547054876706987, + 1.0 + ], + [ + 0.006874670666162867, + -0.0006989121190452289, + 0.0056120143735202445, + -0.009558245257032963, + 0.09176840703992788, + 0.0676601284592386, + 1.0 + ], + [ + 0.0066714832237386315, + 0.00022234087736938086, + 0.0003714314326613957, + 0.004155502020860524, + 0.04872402826176965, + -0.007757600060246333, + 1.0 + ], + [ + 0.0026286735671906163, + 0.0033278899682726046, + -4.6282441919426585e-05, + -0.024160263763077446, + 0.012243967977580171, + -0.01382645828777668, + 1.0 + ], + [ + 0.0057134769580238515, + 0.0026768288034017596, + -0.01363636423721976, + 0.021712388627149366, + 0.021849127368789602, + -0.0005861923573527495, + 1.0 + ], + [ + 0.012121931708556116, + -0.002890273650414759, + -0.018368875628562337, + 0.024351100544106857, + -0.0033350302209450146, + 0.012567899004240884, + 1.0 + ], + [ + 0.018212490843017654, + -0.0015960078209045446, + -0.02284692772016823, + 0.044759581691637115, + -0.006242529509724663, + 0.02014975890013606, + 1.0 + ], + [ + 0.024028313830434328, + -0.002916325777744352, + -0.021088290365372703, + 0.04630894110385125, + -0.006062617941291775, + 0.03809766111998489, + 1.0 + ], + [ + 0.02838692309851532, + -0.005391827898454419, + -0.015295711019092977, + 0.0545733662660082, + 0.002801233893618639, + 0.059476350513508504, + 1.0 + ], + [ + 0.02784717581430058, + -0.0064730058866900924, + -0.001467622247083095, + 0.023524495636796882, + 0.015460723914408179, + 0.07701541028341205, + 1.0 + ], + [ + 0.026451780470314903, + -0.00836677414161231, + 0.012337321452429531, + -0.0062987661667348515, + 0.005206830936228668, + 0.05989203394546835, + 1.0 + ], + [ + 0.030319098473515584, + -0.0054811909489949715, + 0.018041918775076726, + -0.050425436332890455, + -0.009234614911499845, + 0.04989085040020224, + 1.0 + ], + [ + 0.01735846596277895, + -0.0033349248947543535, + 0.016106331059893363, + -0.030824935476725192, + 0.0032394167442171933, + 0.04295571972619697, + 1.0 + ], + [ + 0.007686902843805262, + 0.0021389809856358134, + 0.018781825042568374, + -0.048479173764888694, + -0.010017972832807523, + 0.012994566491468287, + 1.0 + ], + [ + 0.0016539637677408217, + 0.004257799129075085, + 0.01831554997381734, + -0.03766190289381218, + -0.005124065540034709, + 0.0020343720513559516, + 1.0 + ], + [ + -0.0036300879350646795, + 0.006818850499171503, + 0.021135289317990327, + -0.06378414595436477, + -0.03388926007575931, + -0.007433439570188333, + 1.0 + ], + [ + 0.0034356844409752906, + -0.00034321199213981426, + 0.010509251308197711, + -0.019297174500223988, + -0.0019396474425077918, + 0.0012924179179584945, + 1.0 + ] + ], + "state": [ + [ + 0.11350192874670029, + 0.058962851762771606, + 0.06864453107118607, + -2.988726483779498, + -0.12764792144298553, + 0.0655672699213028, + 1.0 + ], + [ + 0.11344102025032043, + 0.058941375464200974, + 0.06845030188560486, + -2.989144059019633, + -0.12617091834545135, + 0.06562012434005739, + 1.0 + ], + [ + 0.11245525628328323, + 0.05708424374461174, + 0.06400802731513977, + -3.0058920254283628, + -0.12352073937654497, + 0.06269951909780502, + 1.0 + ], + [ + 0.11638065427541733, + 0.061745163053274155, + 0.053625114262104034, + -3.0519847517185887, + -0.11280408501625061, + 0.0685962736606598, + 1.0 + ], + [ + 0.11627909541130066, + 0.06494314223527908, + 0.04712331295013428, + -3.0681915154033383, + -0.12017421424388887, + 0.059278000146150596, + 1.0 + ], + [ + 0.11243189871311188, + 0.06633929163217545, + 0.04015807807445526, + -3.0851273258500775, + -0.13324345648288727, + 0.06931272894144058, + 1.0 + ], + [ + 0.10849390178918839, + 0.06650708615779877, + 0.03346880152821541, + -3.108922680961438, + -0.16809378564357755, + 0.0675298422574997, + 1.0 + ], + [ + 0.10961607843637466, + 0.06756448745727539, + 0.027973663061857224, + -3.1062707138531884, + -0.2800136506557465, + 0.016686001792550087, + 1.0 + ], + [ + 0.11775009334087372, + 0.06859701126813889, + 0.024507256224751472, + -3.094791231798478, + -0.36859673261642456, + -0.05898191779851914, + 1.0 + ], + [ + 0.12408778071403503, + 0.06801769137382507, + 0.026555228978395462, + -3.0927361008995256, + -0.4176244139671326, + -0.05300717428326607, + 1.0 + ], + [ + 0.1263580322265625, + 0.06456638127565384, + 0.027515091001987457, + -3.122793501364537, + -0.4304900467395783, + -0.03846979886293412, + 1.0 + ], + [ + 0.12576910853385925, + 0.06165418401360512, + 0.042243700474500656, + -3.101157961534806, + -0.4523463249206543, + -0.038274940103292465, + 1.0 + ], + [ + 0.12867876887321472, + 0.0636897087097168, + 0.06415490806102753, + -3.0707842876487454, + -0.4484685659408569, + -0.052061021327972405, + 1.0 + ], + [ + 0.1351499706506729, + 0.0633280798792839, + 0.0926893949508667, + -3.0166136791282376, + -0.44072356820106506, + -0.07379528880119322, + 1.0 + ], + [ + 0.14778625965118408, + 0.06265944987535477, + 0.12219291925430298, + -2.95300846000249, + -0.4296383261680603, + -0.1145438626408577, + 1.0 + ], + [ + 0.16706614196300507, + 0.06288614124059677, + 0.14859524369239807, + -2.871880980330058, + -0.42045381665229803, + -0.17912165820598602, + 1.0 + ], + [ + 0.19186221063137054, + 0.0643395334482193, + 0.16282765567302704, + -2.8142766078286847, + -0.4134888648986817, + -0.26469752192497253, + 1.0 + ], + [ + 0.22183886170387268, + 0.06853219866752625, + 0.16522161662578583, + -2.795705350237437, + -0.39843204617500305, + -0.3280506134033203, + 1.0 + ], + [ + 0.25747665762901306, + 0.06831133365631104, + 0.163053497672081, + -2.828217001753398, + -0.37243524193763733, + -0.37507432699203486, + 1.0 + ], + [ + 0.2803419530391693, + 0.06805460900068283, + 0.15605604648590088, + -2.8430392165952405, + -0.36193791031837463, + -0.41983798146247864, + 1.0 + ], + [ + 0.29433268308639526, + 0.06562051177024841, + 0.1414015144109726, + -2.887947918968745, + -0.3485240638256073, + -0.4299162030220032, + 1.0 + ], + [ + 0.30177900195121765, + 0.0627281442284584, + 0.1242985799908638, + -2.925358625250407, + -0.3430533707141877, + -0.43064194917678833, + 1.0 + ], + [ + 0.30454209446907043, + 0.059119813144207, + 0.10225952416658401, + -2.9941753317886075, + -0.3115110695362091, + -0.41538116335868835, + 1.0 + ], + [ + 0.3111952841281891, + 0.05824361369013786, + 0.09346558153629303, + -3.013152616220065, + -0.3094024658203125, + -0.41642418503761286, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "687", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/687/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/694.json b/annotation/test/694.json new file mode 100644 index 0000000000000000000000000000000000000000..52a3f51db0e5e92bb1ab736e2f4a5e28159a0960 --- /dev/null +++ b/annotation/test/694.json @@ -0,0 +1,812 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Place the red item close to the bottom right hand side of the table." + ], + "videos": [ + { + "video_path": "videos/test/694/rgb.mp4" + } + ], + "action": [ + [ + 0.0004400661626362533, + 9.356229206467679e-05, + -0.0003485509102822678, + -0.0009455417504981835, + 0.0018227928204385968, + -0.002234546706539473, + 1.0 + ], + [ + -0.0011431281211672748, + 0.0009623860700244644, + 0.010656673283972039, + -0.010643433603479522, + -0.033667177724707974, + -0.000637830310481804, + 1.0 + ], + [ + 0.011604424370809323, + -0.010679968154713627, + 0.0025315863161276208, + -0.0007843297065026672, + 0.0182535992954699, + -0.020495050209186245, + 1.0 + ], + [ + 0.013617525091978432, + -0.008991198634635223, + 0.007386619797107885, + 0.0005017645611107714, + 0.01994875714955367, + -0.006361187142096079, + 1.0 + ], + [ + 0.012770161990712348, + -0.005890296002348966, + 0.007603595513865328, + 0.014662912636603156, + 0.03236870354126623, + 0.008192055778044844, + 1.0 + ], + [ + 0.008706527702971194, + -0.008104489225697096, + 0.012731052100418541, + 0.016410611382131266, + 0.001777179926083956, + -0.027893036590412645, + 1.0 + ], + [ + 0.011731309082171244, + -0.009670474715989629, + 0.009185744688759514, + 0.023323807670249608, + -0.0042555747704533286, + -0.02073899073072275, + 1.0 + ], + [ + 0.008171666343516225, + -0.0063710853903567585, + 0.00896165381932528, + 0.012107678774759708, + -0.012479730855166937, + -0.011014326965396828, + 1.0 + ], + [ + 0.007773820637248222, + -0.003810116894030794, + 0.0061931636718295545, + 0.002736234779485856, + -0.000979471508044255, + -0.01092191234553905, + 1.0 + ], + [ + 0.0026161077050434723, + -0.0021103549441637763, + 0.008245560999002307, + -0.016120041246049894, + -0.011615975783165507, + -0.005524525396368233, + 1.0 + ], + [ + 0.0015050768213945773, + -0.0003901004132434154, + 0.00039056416169979763, + 0.00013238033639179902, + -3.979832191348837e-05, + -0.006365721798838132, + 0.0 + ], + [ + -0.0008570218959018995, + 0.0006457148270411483, + 6.436187608072736e-05, + -0.003287564977518996, + -0.002423467676438065, + 0.0046817599381481795, + 0.0 + ], + [ + -0.0061376895572819385, + 0.004296606229484115, + -0.02327028032095424, + -0.020868224422714857, + 0.026705590536927126, + 0.0023471616000509572, + 0.0 + ], + [ + -0.009849545469874604, + 0.019115860250004404, + -0.04934085035328737, + 0.020768619110596576, + 0.09513644556698256, + 0.0032754278175810047, + 0.0 + ], + [ + -0.021301071829857125, + 0.034149244375582324, + -0.02215495089786795, + 0.024601357928768827, + 0.019093086268035044, + 0.01941630879373155, + 0.0 + ], + [ + -0.013021870069471206, + 0.04832836018819508, + 0.004089690122247471, + -0.015491919807766675, + -0.015504373235312412, + 0.10640223125347004, + 0.0 + ], + [ + -0.009922450774565413, + 0.032392574353827, + 0.007444396289606504, + -0.02938573284565096, + -0.029826859199756625, + 0.035418012150088975, + 0.0 + ], + [ + -0.010699736122535632, + 0.026898613948368996, + 0.009387062846597207, + -0.013751250583076796, + -0.018050263117462582, + 0.00294947503975732, + 0.0 + ], + [ + -0.013818139812655795, + 0.008219187053114783, + 0.015082839137573672, + -0.03746529005080776, + -0.020713147249335206, + -0.06733259766011603, + 0.0 + ], + [ + -0.002146338534721473, + 0.012678615561331666, + 0.011819320595391702, + -0.013292950640594324, + 0.02608796517542041, + -0.059888948588650744, + 0.0 + ], + [ + -0.0005378518061344496, + 0.0014381567810739665, + 0.012411250563969313, + 0.01573419303395294, + 0.0015503284729579754, + -0.11993954700302102, + 0.0 + ], + [ + -0.004384221148276419, + 0.010191384676692273, + 0.015110531486632578, + 0.0013941623508986175, + -0.011529310448760577, + -0.015232875889933188, + 0.0 + ], + [ + 0.003513503392013459, + 0.004185528048179622, + 0.0037613898574893065, + -0.00602554317590174, + 0.004103284705150856, + -0.007766927653433546, + 0.0 + ], + [ + 0.0018714415572053443, + 0.0017574250191219048, + 0.00016963414094056672, + -0.005958263952633063, + 0.0006187646143441195, + 0.014251679911139722, + 0.0 + ], + [ + -0.007851963980923232, + -0.0028510649914525103, + -0.005311281216988129, + 0.00717266267427262, + -0.03685123782376687, + 0.04102578502754126, + 1.0 + ], + [ + 0.006412053608452787, + -0.009110489048467618, + -0.03182253736784828, + -0.05429192923239462, + 0.05470308732422482, + 0.005619068718363741, + 1.0 + ], + [ + 0.016441720927033124, + -0.005661427140452884, + -0.03911561056043049, + -0.038327822861367364, + 0.0762120860574124, + 0.015903558772415876, + 1.0 + ], + [ + 0.01874366749207864, + -0.029294551127624396, + -0.03708805404988982, + 0.0038705025597415184, + 0.03204597471637675, + 0.004792093034762812, + 1.0 + ], + [ + 0.01129933547078056, + -0.03159886797485199, + -0.00012541591566370193, + 0.04781962911382455, + -0.12054418420786218, + 0.10618704268281762, + 1.0 + ], + [ + 0.0014270564304924536, + -0.019395500172660302, + 0.006860348455254634, + 0.03898093893950699, + -0.05380639882138856, + 0.04329210111705011, + 1.0 + ], + [ + -0.007966725478897818, + -0.00584268800619356, + 0.007934126185449124, + -0.0011703203237791978, + -0.022116225510639402, + -0.05219722287943884, + 1.0 + ], + [ + -0.00910438558271529, + -0.0034286309218717064, + 0.00414400652699065, + 0.0019034582980802508, + 0.016371500598116782, + -0.08757917586275868, + 1.0 + ], + [ + -0.002675423821516889, + -0.0005926613181433449, + 0.00452173786469562, + -0.005868452097015211, + -0.0013390532645895872, + 0.007318381121162737, + 1.0 + ], + [ + 0.00039608744603830437, + -3.814462566890471e-05, + -0.00035101404497814244, + 0.00011247184232500428, + 0.001529388284400172, + -0.001570488092013841, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -2.2652523220099193e-18, + 1.0690025008496484e-18, + -4.1658177803707366e-18, + 1.0 + ], + [ + -0.0003966832364920769, + 3.7561939036950976e-05, + 0.0003504035498827607, + -0.00011252796009266532, + -0.0015293840368232573, + 3.667650785954619e-05, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 8.704888157637692e-19, + 1.5179447014063839e-18, + 8.437655664539194e-19, + 1.0 + ], + [ + 0.00015337244464426247, + -2.2239930811056946e-05, + -0.0003508249643100351, + 1.6057585569415103e-05, + -1.5643191205823537e-06, + -3.660425959491929e-05, + 1.0 + ], + [ + -0.00015337270981532607, + 2.223995011425055e-05, + 0.0003508248471596543, + -1.6057528297936985e-05, + 1.564906895363511e-06, + 3.660423447105535e-05, + 1.0 + ], + [ + 0.00015337244464426247, + -2.2239930811056946e-05, + -0.0003508249643100351, + 1.6057585569415103e-05, + -1.5643191205823537e-06, + -3.660425959491929e-05, + 1.0 + ], + [ + 0.00024277360810989125, + -1.5288175002133058e-05, + -1.892149062786501e-07, + 9.641439487945776e-05, + 0.001530952473774977, + 7.522425421374882e-08, + 1.0 + ] + ], + "state": [ + [ + 0.2925327718257904, + 0.04322732612490654, + 0.08865522593259811, + -3.107969170557805, + 0.024836767464876175, + -0.14361655712127686, + 1.0 + ], + [ + 0.29296159744262695, + 0.04305899143218994, + 0.08898939937353134, + -3.108860781537839, + 0.022939827293157578, + -0.14144398272037506, + 1.0 + ], + [ + 0.29150116443634033, + 0.04264764487743378, + 0.0783359706401825, + -3.119445730122276, + 0.056568056344985955, + -0.13970248401165009, + 1.0 + ], + [ + 0.30434030294418335, + 0.05168123543262482, + 0.07538909465074539, + -3.1190944892638406, + 0.03785368800163269, + -0.11960576474666595, + 1.0 + ], + [ + 0.31867337226867676, + 0.05917966738343239, + 0.06769640743732452, + -3.1183649153732738, + 0.01776621676981449, + -0.11369527131319046, + 1.0 + ], + [ + 0.3319154381752014, + 0.0637723058462143, + 0.06000598147511482, + -3.1038496253364762, + -0.014404199086129665, + -0.1226334348320961, + 1.0 + ], + [ + 0.3417826294898987, + 0.0712001845240593, + 0.04771650582551956, + -3.0878540707104882, + -0.0172269269824028, + -0.09482327103614807, + 1.0 + ], + [ + 0.3545688986778259, + 0.08017981052398682, + 0.03926681727170944, + -3.0649022479825696, + -0.014087584801018238, + -0.07388370484113693, + 1.0 + ], + [ + 0.36335572600364685, + 0.08658763766288757, + 0.030935579910874367, + -3.052962230640002, + -0.002487377030774951, + -0.06194639578461647, + 1.0 + ], + [ + 0.3713979721069336, + 0.09044050425291061, + 0.02512332983314991, + -3.050258571403571, + -0.0024783278349786997, + -0.05098062381148338, + 1.0 + ], + [ + 0.37417593598365784, + 0.09315608441829681, + 0.017111124470829964, + -3.0663906653695783, + 0.008585411123931408, + -0.044419799000024796, + 1.0 + ], + [ + 0.37569496035575867, + 0.093507319688797, + 0.01673806458711624, + -3.0662052800231656, + 0.008146663196384905, + -0.03806886821985245, + 0.0 + ], + [ + 0.37481334805488586, + 0.09290140122175217, + 0.016632238402962685, + -3.069529930251189, + 0.010915775783360004, + -0.042555056512355804, + 0.0 + ], + [ + 0.3686777353286743, + 0.08719633519649506, + 0.03959839791059494, + -3.090419614809104, + -0.015551590360701084, + -0.04681840166449547, + 0.0 + ], + [ + 0.35707831382751465, + 0.06610143184661865, + 0.08773785829544067, + -3.0692924951487264, + -0.11039506644010542, + -0.0549834966659546, + 0.0 + ], + [ + 0.3318197429180145, + 0.03177722543478012, + 0.10490182787179947, + -3.042389365034648, + -0.12801189720630649, + -0.07589610666036606, + 0.0 + ], + [ + 0.3164532482624054, + -0.01487764623016119, + 0.09445583075284958, + -3.0450436790757855, + -0.1013665795326233, + -0.18075667321681976, + 0.0 + ], + [ + 0.3021237850189209, + -0.04430509731173515, + 0.08297347277402878, + -3.0711535458737096, + -0.06821182370185852, + -0.21319293975830078, + 0.0 + ], + [ + 0.28690314292907715, + -0.06778756529092789, + 0.0710134357213974, + -3.084779320406266, + -0.04999864473938942, + -0.21486638486385348, + 0.0 + ], + [ + 0.2726106643676758, + -0.07219090312719345, + 0.05481702461838722, + -3.1257830021255693, + -0.03302231431007385, + -0.14644089341163635, + 0.0 + ], + [ + 0.2690584659576416, + -0.08429227769374847, + 0.042734432965517044, + -3.141064382046931, + -0.05999479815363884, + -0.08688567578792572, + 0.0 + ], + [ + 0.2691407799720764, + -0.0857364684343338, + 0.03031250648200512, + -3.1325216452875217, + -0.061176776885986335, + 0.03327876329421997, + 0.0 + ], + [ + 0.2660306394100189, + -0.09589947760105133, + 0.014870545826852322, + -3.1320667454325637, + -0.04977891221642494, + 0.04863361269235611, + 0.0 + ], + [ + 0.2699262797832489, + -0.09986428916454315, + 0.011248990893363953, + -3.1384775565289935, + -0.05395450815558434, + 0.05637229606509208, + 0.0 + ], + [ + 0.2719004452228546, + -0.10151256620883942, + 0.011175061576068401, + 3.13951895840513, + -0.054523389786481864, + 0.0420975461602211, + 0.0 + ], + [ + 0.2636577785015106, + -0.0989951565861702, + 0.016044631600379944, + -3.134253705041953, + -0.017711279913783073, + 0.0010168065782636404, + 1.0 + ], + [ + 0.26949504017829895, + -0.09011251479387283, + 0.048041731119155884, + 3.094757443415471, + -0.07237133383750916, + -0.0050107501447200775, + 1.0 + ], + [ + 0.2831249535083771, + -0.08269418030977249, + 0.08793667703866959, + 3.057196932035037, + -0.149238720536232, + -0.017423728480935097, + 1.0 + ], + [ + 0.29709362983703613, + -0.05061604082584381, + 0.12482690066099167, + 3.06133750279481, + -0.18157422542572021, + -0.019530052319169048, + 1.0 + ], + [ + 0.3092551827430725, + -0.019340362399816513, + 0.12449866533279419, + 3.1299691648506602, + -0.06871377676725388, + -0.13457489013671875, + 1.0 + ], + [ + 0.31373947858810425, + -0.00045682929339818656, + 0.1175280436873436, + -3.111226273822137, + -0.01534793805330992, + -0.17843224108219147, + 1.0 + ], + [ + 0.30709654092788696, + 0.006920217536389828, + 0.10965361446142197, + -3.11324222211773, + 0.005195458885282278, + -0.12559880316257477, + 1.0 + ], + [ + 0.29848718643188477, + 0.011580130085349083, + 0.10565581917762756, + -3.11099053372676, + -0.013668602332472801, + -0.03852434828877449, + 1.0 + ], + [ + 0.29590362310409546, + 0.01241098903119564, + 0.10111818462610245, + -3.1167603397094688, + -0.012105893343687057, + -0.045798856765031815, + 1.0 + ], + [ + 0.2962963581085205, + 0.012422437779605389, + 0.1014748066663742, + -3.116666415827819, + -0.013673790730535984, + -0.044266685843467705, + 1.0 + ], + [ + 0.2962963581085205, + 0.012422437779605389, + 0.1014748066663742, + -3.116666415827819, + -0.013673790730535984, + -0.044266685843467705, + 1.0 + ], + [ + 0.29590362310409546, + 0.01241098903119564, + 0.10111818462610245, + -3.1167789344959935, + -0.012143967673182487, + -0.04426523298025131, + 1.0 + ], + [ + 0.29590362310409546, + 0.01241098903119564, + 0.10111818462610245, + -3.1167789344959935, + -0.012143967673182487, + -0.04426523298025131, + 1.0 + ], + [ + 0.2960531711578369, + 0.012417906895279884, + 0.10147128999233246, + -3.1167633218043527, + -0.012143312022089958, + -0.04422859847545624, + 1.0 + ], + [ + 0.29590362310409546, + 0.01241098903119564, + 0.10111818462610245, + -3.1167789344959935, + -0.012143967673182487, + -0.04426523298025131, + 1.0 + ], + [ + 0.2960531711578369, + 0.012417906895279884, + 0.10147128999233246, + -3.1167633218043527, + -0.012143312022089958, + -0.04422859847545624, + 1.0 + ], + [ + 0.2962963581085205, + 0.012422437779605389, + 0.1014748066663742, + -3.116666415827819, + -0.013673790730535984, + -0.044266685843467705, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0072438716888427734, + 0.07688909769058228, + 0.20300281047821045, + 0.20300281047821045, + 0.20300281047821045, + 0.20300281047821045, + 0.20300281047821045, + 0.20300281047821045, + 0.20300281047821045, + 0.20300281047821045, + 0.20300281047821045, + 0.20300281047821045, + 0.20300281047821045, + 0.20300281047821045, + 0.20300281047821045, + 0.14194411039352417, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "694", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/694/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/700.json b/annotation/test/700.json new file mode 100644 index 0000000000000000000000000000000000000000..282613c152f5cd1f51f10de7b6dc2b831cfeecdc --- /dev/null +++ b/annotation/test/700.json @@ -0,0 +1,622 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move pot to bottom right corner of blue cloth." + ], + "videos": [ + { + "video_path": "videos/test/700/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -1.794404921839683e-18, + 6.989964538369595e-18, + -1.3409396407023195e-18, + 1.0 + ], + [ + -0.004082961019824473, + 0.0011278773114481698, + 0.013855743092185834, + 1.3656460772416674e-05, + -0.04034666280512602, + -0.002059648840953126, + 1.0 + ], + [ + -0.0009088536996569914, + -0.00791152042432936, + 0.003588799727692514, + -0.006252070265270262, + -0.011672791096867995, + -0.03154150234691109, + 1.0 + ], + [ + 0.003381905544644816, + -0.03994123529451718, + 0.002085319389199761, + -0.0005004547627527526, + 0.004985525797174893, + -0.0963573777071915, + 1.0 + ], + [ + 0.007143939827072966, + -0.039057960355186785, + 0.0005632650599992258, + 0.022813244090720886, + 0.02257984970095043, + -0.0488303566039897, + 1.0 + ], + [ + 0.011088665685657672, + -0.026718410590711807, + 0.0029744619171197012, + 0.03042776841300012, + 0.037831767533205676, + 0.02845682171935848, + 1.0 + ], + [ + 0.004400551285259072, + -0.03462311208394089, + 0.013966406372710499, + 0.004204450400541732, + 0.045315151035187885, + -0.03126998225548822, + 1.0 + ], + [ + -0.0039070675449821525, + -0.017151660837292085, + 0.01873436012713475, + -0.016047076137755342, + 0.03245842029441552, + -0.039586995508181594, + 1.0 + ], + [ + -0.005967231603792297, + -0.011246613108837398, + 0.015693900379283445, + -0.029466519294487074, + -0.027303047368491387, + -0.04996111386908533, + 1.0 + ], + [ + -0.007451948684765895, + -0.004441126414201503, + 0.014606363770571118, + -0.002045998541677297, + -0.061327405508200906, + -0.015179892213996883, + 1.0 + ], + [ + -0.0014641940631711357, + -0.00027232807805167993, + -1.816044762670861e-05, + 0.0013583382701962583, + -0.015465240026722529, + -0.005755972870491953, + 1.0 + ], + [ + -0.0004121906742289596, + 0.0010729935075832694, + 0.0003005953465222244, + 0.0007297172496928155, + -0.0015851793337452822, + 0.003995411697621994, + 0.0 + ], + [ + -0.0013698856710592706, + 0.0030981671541823403, + -0.002365844672078344, + 0.010585595525346478, + -0.0005708836642773441, + 0.007847903457887686, + 0.0 + ], + [ + -3.106898971141043e-05, + -0.0017048262336330261, + -0.011820385051064832, + 0.013879879417924392, + 0.010390336749442886, + -0.019329933185176108, + 0.0 + ], + [ + -8.77635738102255e-05, + 0.015008002931672869, + -0.025928780686456685, + 0.028513667041699046, + 0.03916839849635925, + 0.02320847849731356, + 0.0 + ], + [ + -0.012454647396348297, + 0.04793258790549499, + -0.032226505654489326, + 0.0014136958342209679, + 0.04355203039257122, + 0.13083324995079523, + 0.0 + ], + [ + -0.028741784232311395, + 0.0522197724104814, + -0.013751115517612135, + -0.02781932542554087, + -0.0013710402387873397, + 0.14988420842976305, + 0.0 + ], + [ + -0.031425983789902, + 0.04177370962164293, + 0.005883593271332408, + -0.002663398741715498, + -0.0399696023404841, + 0.08537186432196155, + 0.0 + ], + [ + -0.02922977627766935, + 0.026153788602366942, + 0.012382075708062126, + 0.012264253954118799, + -0.030543228030450315, + -0.012414678431870536, + 0.0 + ], + [ + -0.01759300730314264, + 0.012825293849361315, + 0.00849657175005107, + 0.0008867523798032734, + -0.016867142604592156, + 0.04718082598006595, + 0.0 + ], + [ + -0.007645927491080227, + 0.011561371048808501, + -0.00025896763061869027, + -0.0034788120950941114, + 0.005821021414929573, + 0.05729430834063219, + 0.0 + ], + [ + -0.005412355541974273, + 0.005681443270015746, + -0.0004226758782388072, + -0.001966283116451503, + 0.009513049956554562, + 0.024286437443244338, + 0.0 + ], + [ + -0.0029821399310005973, + 0.004689847007848946, + -0.0013271765402743639, + -0.0013829217442863813, + 0.004112708344352011, + 0.0194669315785813, + 0.0 + ], + [ + -0.0008278090700533619, + 0.0003847609695962063, + 0.0004796655590092434, + -0.00010883790436646034, + -0.001352965392302537, + 0.0019194865242721643, + 0.0 + ], + [ + 0.00016635693887964947, + 0.00023273803709095077, + -0.0015328800979492862, + -0.005562660824006464, + 0.002827378399992701, + -0.0031480302992870344, + 1.0 + ], + [ + -0.00027738037229051203, + -0.0018547700402642654, + -0.006643543129115823, + -0.019691143026227476, + 0.0048086336445873155, + -0.012392318689765973, + 1.0 + ], + [ + 0.00036534515165351076, + 0.0034308164495725733, + -0.02305176423585805, + -0.04576227362046154, + 0.03833556779613427, + -0.014761929760423202, + 1.0 + ], + [ + -0.0015673983044313317, + -0.0016342299289775954, + -0.009399602581066686, + -0.024885422782603295, + -0.007149134845356439, + -0.03398511665561298, + 1.0 + ], + [ + 0.0034561515523382543, + -0.004964670776626404, + -0.0018484145269070822, + 0.030104894475980307, + -0.030263128701228513, + -0.06281773086964988, + 1.0 + ], + [ + -0.0011866056699755057, + -0.0007243773115999735, + 0.00041399369086666426, + 0.002643597487255107, + -0.008914564121257677, + -0.0060460057624481655, + 1.0 + ], + [ + 0.00032436204026602497, + 6.43899593352614e-05, + -0.00039708754750403176, + -0.0007837251115387607, + 0.0029624700925177713, + -9.426236537226742e-05, + 1.0 + ] + ], + "state": [ + [ + 0.3816138505935669, + -0.07095701992511749, + 0.09149444848299026, + -3.1007411946826657, + -0.1223847419023514, + -0.07196622341871262, + 1.0 + ], + [ + 0.3816138505935669, + -0.07095701992511749, + 0.09149444848299026, + -3.1007411946826657, + -0.1223847419023514, + -0.07196622341871262, + 1.0 + ], + [ + 0.37922289967536926, + -0.071347177028656, + 0.07720965147018433, + -3.1011485551768025, + -0.08215503394603729, + -0.06825011223554613, + 1.0 + ], + [ + 0.3791356086730957, + -0.06327226758003235, + 0.07388010621070862, + -3.110049868124076, + -0.0717248022556305, + -0.03618188574910164, + 1.0 + ], + [ + 0.3840121626853943, + -0.02343546599149704, + 0.07329995185136795, + -3.117597533511468, + -0.07940998673439024, + 0.06027315184473991, + 1.0 + ], + [ + 0.3887381851673126, + 0.015981020405888557, + 0.07423948496580124, + -3.0986545776301107, + -0.10306157916784285, + 0.10879229009151457, + 1.0 + ], + [ + 0.3969772160053253, + 0.04386189207434654, + 0.07356512546539307, + -3.0650935639911374, + -0.13959026336669922, + 0.07846271991729736, + 1.0 + ], + [ + 0.4000965654850006, + 0.07980620861053467, + 0.06300761550664902, + -3.064763920503207, + -0.18710799515247342, + 0.10663758218288423, + 1.0 + ], + [ + 0.39751771092414856, + 0.0981750562787056, + 0.04522122070193291, + -3.087874127673455, + -0.2223781049251556, + 0.14452771842479703, + 1.0 + ], + [ + 0.39330774545669556, + 0.10976256430149078, + 0.029208771884441376, + -3.128937251056083, + -0.1974993497133255, + 0.19688446819782257, + 1.0 + ], + [ + 0.3880366086959839, + 0.11342787742614746, + 0.013480402529239655, + -3.1341210097358605, + -0.1363437920808792, + 0.21295951306819916, + 1.0 + ], + [ + 0.38655856251716614, + 0.11338674277067184, + 0.013301393948495388, + -3.133565819012471, + -0.12091962993144989, + 0.21887336671352384, + 1.0 + ], + [ + 0.38642799854278564, + 0.11226098984479904, + 0.012944732792675495, + -3.1323523205989083, + -0.11930146813392639, + 0.21486230194568634, + 0.0 + ], + [ + 0.38549256324768066, + 0.10886352509260178, + 0.015102194622159004, + -3.1208270286493978, + -0.11865440756082535, + 0.20696447789669037, + 0.0 + ], + [ + 0.3837893605232239, + 0.1099967360496521, + 0.026868410408496857, + -3.109230937557765, + -0.12942205369472504, + 0.22623459994792938, + 0.0 + ], + [ + 0.3840590715408325, + 0.09380555152893066, + 0.05207401141524315, + -3.077500121789523, + -0.16777993738651276, + 0.2014404684305191, + 0.0 + ], + [ + 0.37725162506103516, + 0.04148736968636513, + 0.07867599278688431, + -3.0539358129077634, + -0.2013760507106781, + 0.06542377173900604, + 0.0 + ], + [ + 0.35080885887145996, + -0.013582312501966953, + 0.0818694531917572, + -3.052480640011378, + -0.18467652797698975, + -0.08635959029197693, + 0.0 + ], + [ + 0.3182409703731537, + -0.05200078338384628, + 0.06668374687433243, + -3.0402812158041677, + -0.13666166365146637, + -0.1685231328010559, + 0.0 + ], + [ + 0.28754952549934387, + -0.0719023272395134, + 0.04787736386060715, + -3.030097374814101, + -0.10751430690288542, + -0.15299932658672333, + 0.0 + ], + [ + 0.2695108652114868, + -0.08106045424938202, + 0.036175686866045, + -3.0244618152552327, + -0.08539499342441559, + -0.1981664001941681, + 0.0 + ], + [ + 0.2598668932914734, + -0.09086614847183228, + 0.03443363681435585, + -3.0232076217704495, + -0.08434241265058516, + -0.25595375895500183, + 0.0 + ], + [ + 0.253229022026062, + -0.09501232206821442, + 0.03372726961970329, + -3.0230715592675885, + -0.09089381247758864, + -0.28129762411117554, + 0.0 + ], + [ + 0.24897301197052002, + -0.09879332780838013, + 0.034216754138469696, + -3.022670494514056, + -0.09265808016061783, + -0.30119958519935613, + 0.0 + ], + [ + 0.2481355220079422, + -0.09887362271547318, + 0.03362047299742699, + -3.0226172377639493, + -0.09108679741621017, + -0.3029522597789764, + 0.0 + ], + [ + 0.24804067611694336, + -0.09927672147750854, + 0.035123828798532486, + -3.0284348150068006, + -0.09426748752593996, + -0.3001496493816376, + 1.0 + ], + [ + 0.24748755991458893, + -0.09796164929866791, + 0.04187797009944916, + -3.049246000247546, + -0.10043808072805405, + -0.2883201241493225, + 1.0 + ], + [ + 0.24408413469791412, + -0.10273277759552002, + 0.06443768739700317, + -3.096076229708739, + -0.13996517658233643, + -0.2770563066005707, + 1.0 + ], + [ + 0.24165081977844238, + -0.10078819841146469, + 0.07359069585800171, + -3.125811420502611, + -0.1342868059873581, + -0.24247029423713684, + 1.0 + ], + [ + 0.2459101527929306, + -0.09675809741020203, + 0.0759626030921936, + -3.1042450686269483, + -0.1047486886382103, + -0.17886163294315338, + 1.0 + ], + [ + 0.24492019414901733, + -0.09582780301570892, + 0.0754539966583252, + -3.102270344393798, + -0.09606395661830902, + -0.17245769500732422, + 1.0 + ], + [ + 0.24518729746341705, + -0.09595548361539841, + 0.07587753981351852, + -3.1030517501109323, + -0.09902784228324892, + -0.1724800765514374, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.052336275577545166, + 0.3368593454360962, + 0.6338784694671631, + 0.8350401669740677, + 0.9160242155194283, + 0.9260224476456642, + 0.926342710852623, + 0.926342710852623, + 0.926342710852623, + 0.926342710852623, + 0.926342710852623, + 0.926342710852623, + 0.926342710852623, + 0.896837517619133, + 0.7233396768569946, + 0.43895184993743896, + 0.13214361667633057, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "700", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/700/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/703.json b/annotation/test/703.json new file mode 100644 index 0000000000000000000000000000000000000000..c2c4c7c1107356af0c3424456cac358244750df0 --- /dev/null +++ b/annotation/test/703.json @@ -0,0 +1,508 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "take carrot off plate" + ], + "videos": [ + { + "video_path": "videos/test/703/rgb.mp4" + } + ], + "action": [ + [ + -0.00137714496575029, + 0.0014186475133219783, + 0.0035900361786786413, + -0.007940079151805085, + -0.009334810184137463, + 0.0006822670509582407, + 1.0 + ], + [ + -0.0038252228536609085, + 0.014301602179682269, + 0.0027968325653117826, + -0.028848249883388983, + -0.06487707350124607, + -0.08226518846789443, + 1.0 + ], + [ + 0.008875256549603161, + 0.031075140771226212, + -0.011535942490016344, + 0.017194233684399134, + -0.06651577722076302, + -0.19794373765239645, + 1.0 + ], + [ + 0.01341850895373361, + 0.038472885394366094, + -0.021299501848237284, + 0.035986632226400604, + 0.01790498589904839, + -0.24023056214051597, + 1.0 + ], + [ + 0.008473562461291455, + 0.051178514023020295, + -0.017348055511602727, + -0.0019080389618309445, + 0.010404948725575076, + -0.2007207794713737, + 1.0 + ], + [ + -0.0024925655471138386, + 0.04393934179963438, + -0.011719903554654963, + -0.0273557993741072, + -0.0203618072714875, + -0.15822247212380341, + 1.0 + ], + [ + -0.021888600846950528, + 0.0391169306071736, + -0.01263712717862918, + -0.040612759504162564, + -0.04728089617740838, + -0.12191267089435762, + 1.0 + ], + [ + -0.026159532577600245, + 0.019310825828854166, + -0.009182345639654841, + -0.035127277152738896, + -0.06698649894211936, + -0.07171651870480907, + 1.0 + ], + [ + -0.017351827580845417, + 0.014019411431925765, + 0.0024275863206433164, + -0.06930356953624835, + -0.04828048855192563, + -0.0765495106849712, + 1.0 + ], + [ + -0.018431418456387818, + -0.0015959677563556099, + 0.017749040112083697, + -0.038116863516561086, + -0.020446409761583514, + -0.020340785760512417, + 1.0 + ], + [ + -0.002404178487439161, + -0.008055239035588888, + 0.012141392953291683, + -0.014478923807218411, + -0.0007558356439253905, + -0.049445131015953186, + 1.0 + ], + [ + -0.00569623538669791, + -0.007955549800475213, + 0.010541421335468756, + -0.01719460767631081, + 0.0038730613647420644, + -0.02468313629186984, + 1.0 + ], + [ + -0.000919202715982209, + -0.003729478410893731, + 0.008714966335446828, + -0.04007691595853734, + -0.0030071493604328214, + -0.01906615007848262, + 1.0 + ], + [ + 0.0037330183500882672, + 0.0006213809023873185, + 0.0037902849200205837, + -0.04606046264278779, + -0.010352800558162255, + 0.012459359334598514, + 1.0 + ], + [ + 0.00931964602774423, + -0.0005869175028805032, + -0.0012815330324672848, + -0.0029666439797995654, + -0.0018437479751135253, + 0.025656073162414098, + 0.0 + ], + [ + 0.005251937404954085, + 0.002142209187180069, + -0.006387147815383813, + 0.037257729251191064, + -0.003133748898523883, + 0.0320393829914876, + 0.0 + ], + [ + 0.015293816804023143, + -0.0002446264038786533, + -0.01846314178925243, + 0.10112509849763786, + -0.00027168256724901163, + 0.08273929723874848, + 0.0 + ], + [ + 0.02264054754658766, + -0.015139647221357263, + -0.013427483638730312, + 0.09663789197010775, + -0.0030355269436059154, + 0.07928001500667786, + 0.0 + ], + [ + 0.016361072332983787, + -0.018655086330323693, + -0.00047158232070847807, + 0.05729782363986126, + 0.008425444513332755, + 0.06744185453113748, + 0.0 + ], + [ + 0.009838290769479795, + -0.022322887195550423, + 0.015085794095288216, + 0.009581243360809845, + 0.008332189367477351, + 0.05628472153569549, + 0.0 + ], + [ + 0.009856947599035784, + -0.022500947450216826, + 0.015309300128065839, + -0.012225318940004688, + 0.022636294725434294, + 0.0424062058122372, + 0.0 + ], + [ + 0.009793334138820178, + -0.019994518408629855, + 0.014809846072516154, + -0.011087466954360359, + 0.05637073845823868, + 0.06901611472710656, + 0.0 + ], + [ + 0.0063082145796339376, + -0.010484406764989605, + 0.008761091781742928, + -0.004160668002417752, + 0.06317563946490384, + 0.07530134243038512, + 0.0 + ], + [ + 0.0040403269551157785, + -0.004077719108880304, + 0.0025191739238355194, + -0.0053000994271281765, + 0.032469564960920676, + 0.03459291542644953, + 1.0 + ], + [ + 0.00045217522853824977, + 0.00017621575966409857, + -0.00043964913413140386, + -0.0013375546534270197, + 0.002746577413826283, + -0.0001389814169327756, + 1.0 + ] + ], + "state": [ + [ + 0.2680372893810272, + 0.18254369497299194, + 0.03038233146071434, + -2.937363105016299, + -0.15768098831176758, + -0.14184552431106567, + 1.0 + ], + [ + 0.2671886384487152, + 0.1819971203804016, + 0.026410115882754326, + -2.945488842325755, + -0.1484016925096512, + -0.14060677587985992, + 1.0 + ], + [ + 0.26236286759376526, + 0.1690632551908493, + 0.02037542499601841, + -2.9886291940980634, + -0.10012666881084442, + -0.04694116488099098, + 1.0 + ], + [ + 0.26899468898773193, + 0.13624590635299683, + 0.027895603328943253, + -2.9947991241985044, + -0.06221694499254228, + 0.1589613109827042, + 1.0 + ], + [ + 0.28778791427612305, + 0.09755844622850418, + 0.04414316266775131, + -2.9774417002969464, + -0.11302720010280609, + 0.39536270499229426, + 1.0 + ], + [ + 0.31518492102622986, + 0.0512092150747776, + 0.053794555366039276, + -3.004801573353358, + -0.1536913365125656, + 0.5939763188362122, + 1.0 + ], + [ + 0.3376866579055786, + 0.011951488442718983, + 0.05896538868546486, + -3.0584821348362645, + -0.15303604304790497, + 0.7553899884223938, + 1.0 + ], + [ + 0.3483448326587677, + -0.032998837530612946, + 0.06486569344997406, + -3.118848804506012, + -0.1148076131939888, + 0.8815317153930663, + 1.0 + ], + [ + 0.3462406098842621, + -0.06623706966638565, + 0.07055223733186722, + 3.1208088119798383, + -0.04916129261255265, + 0.9546833634376526, + 1.0 + ], + [ + 0.3477666974067688, + -0.0884244292974472, + 0.06756641715765, + 3.047832103567668, + 0.0008380828658118844, + 1.030121088027954, + 1.0 + ], + [ + 0.33833447098731995, + -0.10427706688642502, + 0.049761369824409485, + 3.0097267647557935, + 0.023098805919289592, + 1.0484586954116821, + 1.0 + ], + [ + 0.33144745230674744, + -0.10343475639820099, + 0.03672527149319649, + 2.996536361175128, + 0.03031909838318825, + 1.0973972082138062, + 1.0 + ], + [ + 0.32304149866104126, + -0.10592040419578552, + 0.025322599336504936, + 2.9801438768678388, + 0.03004476986825466, + 1.122392177581787, + 1.0 + ], + [ + 0.3204686939716339, + -0.10600896924734116, + 0.016153225675225258, + 2.9406447132402143, + 0.03607244417071342, + 1.1407387256622314, + 1.0 + ], + [ + 0.3232111632823944, + -0.10330503433942795, + 0.012430941686034203, + 2.894078793125697, + 0.04372647032141686, + 1.126450538635254, + 1.0 + ], + [ + 0.32643693685531616, + -0.09447550773620605, + 0.013121192343533039, + 2.8900849541001996, + 0.0392150916159153, + 1.1011052131652832, + 0.0 + ], + [ + 0.329364150762558, + -0.08978065103292465, + 0.01962944120168686, + 2.926223727064677, + 0.03425831347703934, + 1.0692753791809082, + 0.0 + ], + [ + 0.33333927392959595, + -0.0738261342048645, + 0.03707937151193619, + 3.0252960195117673, + 0.01674896664917469, + 0.9883821606636047, + 0.0 + ], + [ + 0.3320379853248596, + -0.045630671083927155, + 0.04827861860394478, + 3.120975190895148, + 0.01052202470600605, + 0.9092814326286316, + 0.0 + ], + [ + 0.3273642361164093, + -0.021257158368825912, + 0.04819335415959358, + -3.10557351087267, + 0.0006852489896118641, + 0.8420304059982299, + 0.0 + ], + [ + 0.3168622553348541, + 0.0012929349904879928, + 0.033914484083652496, + -3.09608734597499, + -0.005616827867925167, + 0.7854827642440797, + 0.0 + ], + [ + 0.3075002133846283, + 0.02470516413450241, + 0.019700180739164352, + -3.108100140588828, + -0.02629597671329975, + 0.7420857548713684, + 0.0 + ], + [ + 0.3011494576931, + 0.04666702449321747, + 0.005830563139170408, + -3.117350887628742, + -0.08025985956192018, + 0.671097993850708, + 0.0 + ], + [ + 0.29995790123939514, + 0.05937577784061432, + -0.0021406894084066153, + -3.1153207571529826, + -0.14135517179965976, + 0.5936606526374817, + 0.0 + ], + [ + 0.3012377917766571, + 0.0652371197938919, + -0.003958606626838446, + -3.1155569852613887, + -0.17281527817249295, + 0.5577088594436646, + 1.0 + ], + [ + 0.30165156722068787, + 0.06527411192655563, + -0.0034524176735430956, + -3.1169062183522662, + -0.17556454241275787, + 0.5577773451805115, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.03348183631896973, + 0.03348183631896973, + 0.03348183631896973, + 0.03348183631896973, + 0.03348183631896973, + 0.03348183631896973, + 0.03348183631896973, + 0.03348183631896973, + 0.03348183631896973, + 0.03348183631896973, + 0.03348183631896973, + 0.03348183631896973, + 0.03348183631896973, + 0.03348183631896973, + 0.22215306758880615, + 0.3930899500846863, + 0.3930899500846863, + 0.3930899500846863, + 0.3930899500846863, + 0.3930899500846863, + 0.3930899500846863, + 0.3930899500846863, + 0.3930899500846863, + 0.1618891954421997, + 0.03941965103149414, + 0.03941965103149414 + ], + "episode_id": "703", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/703/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/708.json b/annotation/test/708.json new file mode 100644 index 0000000000000000000000000000000000000000..76b906cd490733722a20956ff59adaa498c4dc66 --- /dev/null +++ b/annotation/test/708.json @@ -0,0 +1,736 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "close fridge" + ], + "videos": [ + { + "video_path": "videos/test/708/rgb.mp4" + } + ], + "action": [ + [ + -0.00020841510196796913, + -0.00012535712268118692, + -1.8221897984037278e-07, + 0.000790579051022566, + -0.0013144339290498185, + -5.187261255526541e-07, + 1.0 + ], + [ + -0.00667188742458767, + -0.0005231089829749072, + 0.0069390025622295, + 0.004542330194633007, + -0.03074356330709283, + 0.007265072037362928, + 1.0 + ], + [ + -0.016907941922913405, + -0.0031849940757008813, + -0.0011014790565272658, + -0.052804233055179714, + -0.02037814624790214, + 0.04311625715351796, + 1.0 + ], + [ + -0.023448357513519848, + -0.010901911654510977, + -0.0022745100981708785, + -0.025615865187787083, + -0.017427922838085228, + 0.03284553048458437, + 1.0 + ], + [ + -0.018434301942531307, + -0.014460139014988384, + -0.0065921550860372725, + 0.004712461950509425, + 0.038614723072335946, + -0.03519678012597757, + 1.0 + ], + [ + -0.018097383542741444, + -0.017665421249989644, + -0.007754427609437887, + -0.019381395128352193, + -0.02619687889498117, + -0.022147255617703934, + 1.0 + ], + [ + -0.010425642227398302, + -0.01580807741320814, + -0.006301873659602002, + -0.017682772072755495, + 0.0007489508232179353, + 0.051601817648047096, + 1.0 + ], + [ + -0.001283556102428862, + -0.02082799904651561, + 0.0004713530507265722, + -0.004079401845140776, + -0.008693876251874125, + 0.06955352978861601, + 1.0 + ], + [ + -0.0037113962645976667, + -0.0228123456934676, + 0.0015239080559205675, + -0.038639795799804665, + -0.019732627532938102, + 0.07512752244599614, + 1.0 + ], + [ + -0.0031551797526114286, + -0.01728228877335643, + -0.004671396467075878, + -0.008958914099238203, + -0.004678460332149509, + 0.03770929491267256, + 1.0 + ], + [ + 0.00782534432734419, + -0.020700836734142365, + 0.0024951602201475497, + 0.0088650799849051, + -0.0019346029141319588, + -0.008563163189105768, + 1.0 + ], + [ + 0.012176476833483945, + -0.013164475385633341, + -0.0002449668279110325, + 0.01630858929272239, + 0.02055148921651035, + -0.00013611280776717783, + 1.0 + ], + [ + 0.013229459227207361, + -0.007080283377236202, + 0.008824943524374412, + -0.04441215284347997, + -0.03457557954992125, + 0.09687951382194399, + 1.0 + ], + [ + 0.013403085095561842, + 0.0025576014231524697, + 0.0006355089259985036, + 0.0016860296574473924, + -0.02763279803837244, + 0.191429853514497, + 1.0 + ], + [ + 0.014628191429168918, + 0.005831206116268615, + 0.0034811510924986043, + -0.011226087175011893, + -0.016765496406680194, + 0.08066828844210702, + 1.0 + ], + [ + 0.01838160995832815, + 0.008062362101932292, + 0.006170379733292201, + -0.022720293055622825, + -0.006155516253224673, + -0.01867917512359996, + 1.0 + ], + [ + 0.025257879169245618, + 0.0019159259974673875, + -0.0011390053784449453, + 0.012996524441953039, + 0.05068598692562337, + -0.1023523542907005, + 1.0 + ], + [ + 0.03005260355267126, + 0.005633913086275769, + 0.0013824638534529774, + 0.027737629934904678, + 0.13517161571817862, + -0.22733064005588818, + 1.0 + ], + [ + 0.013275129341533179, + 0.01052322215718615, + 0.005666034295897559, + 0.0008878444894732535, + 0.00408220119344964, + -0.10098492230120447, + 1.0 + ], + [ + 0.012690289798887344, + 0.0088001281973512, + 0.002946553983926555, + 0.020471874851588974, + -0.012297074309254719, + -0.019884076398241562, + 1.0 + ], + [ + 0.003676263889260828, + 0.015577381453017248, + 0.0038741535084224578, + -0.0009212987929923527, + -0.007177173905909916, + -0.029657679644661174, + 1.0 + ], + [ + 0.00033919848865697163, + 0.014760849879060123, + 0.001734710764412004, + -0.00868179128930958, + 0.002504496874900004, + -0.019454315780979232, + 1.0 + ], + [ + 0.005941676486531659, + 0.003573269630880914, + 0.003928482370129333, + -0.003787194620642887, + -0.0024609116202596207, + -0.014399176280687966, + 1.0 + ], + [ + 0.005665634397172243, + 0.002621924062604845, + 0.0038454592071783932, + 8.464610847925874e-05, + 0.0010582495066474198, + -0.018102820100383984, + 1.0 + ], + [ + 0.009419608683083985, + 0.002777496113051993, + 0.0023801638566110076, + -0.009840595751086104, + 0.0032256929513887894, + -0.02843275915269334, + 1.0 + ], + [ + 0.007844071975814363, + 0.0015077781543818129, + 0.0008776904573193034, + -0.005230127891752237, + 0.006970090896167357, + -0.03410292408317821, + 1.0 + ], + [ + 0.00594054812955793, + 0.00037538927111132307, + 0.001244925423866977, + -0.008376005733719298, + -0.0057049513417232476, + -0.031877579522440115, + 1.0 + ], + [ + 0.0036656212274686164, + 0.00033561209705718016, + -0.0028545077960856068, + -0.0033279231466722976, + 0.008931470245120659, + -0.01645504451861342, + 1.0 + ], + [ + 0.004149708081429131, + 0.0010518149500111473, + 0.0030316027976147546, + -0.00022418800576756771, + -0.004751707363575953, + -0.01319571674704675, + 1.0 + ], + [ + 0.003397206938171322, + -0.00021517120460610404, + -0.0007030346418147354, + -0.003506595364304383, + 0.005910076565621281, + -0.014754133023480897, + 1.0 + ], + [ + 0.001351731080116265, + -0.0004391014372182955, + 0.002203692417642366, + 0.0002098453450053953, + 0.0018156627048461335, + -0.011247957363307162, + 1.0 + ], + [ + 0.0006283884085738521, + -0.0006097863107893354, + 0.001251330076920858, + -0.0010820143951797711, + 0.00780422836480549, + 0.013296247130750997, + 1.0 + ], + [ + -0.015724116700618424, + -0.005893784497937775, + -0.0022451635601360045, + 0.003613720328330838, + -0.00812553476854659, + 0.035028016184838945, + 1.0 + ], + [ + -0.031003683907930464, + -0.008759253633546208, + -0.012596742879246111, + 0.01543480810828438, + 0.0015933315103295724, + 0.07894584287232194, + 1.0 + ], + [ + -0.027310987657749003, + -0.0029399556734491608, + -0.011649746680106805, + -0.0016658791786825485, + -0.013957489052530678, + 0.06815472645644986, + 1.0 + ], + [ + -0.009914134219298742, + -0.0024814517468724883, + -0.0015551983667955903, + 0.013114641264686009, + -0.07750750546502705, + -0.004073946684626697, + 1.0 + ], + [ + 4.7373524289097036e-05, + -0.00038673485134695757, + -2.510403566790722e-05, + 0.0001501865389162795, + 0.00011732628540725703, + -0.0015220913692111282, + 1.0 + ] + ], + "state": [ + [ + 0.253461092710495, + -0.0346081517636776, + 0.12922996282577515, + -3.0683221762352666, + -0.17559659481048584, + 0.24848994612693784, + 1.0 + ], + [ + 0.25322985649108887, + -0.03453785553574562, + 0.12920276820659637, + -3.067548694210597, + -0.17428572475910187, + 0.2485881745815277, + 1.0 + ], + [ + 0.24776294827461243, + -0.034857746213674545, + 0.12126878648996353, + -3.062101462977477, + -0.14308682084083557, + 0.24356912076473236, + 1.0 + ], + [ + 0.23059020936489105, + -0.03594384714961052, + 0.12019483745098114, + -3.109018428372689, + -0.11922740936279297, + 0.2019217014312744, + 1.0 + ], + [ + 0.20530466735363007, + -0.030073605477809906, + 0.1200154721736908, + -3.1307901722663125, + -0.100676991045475, + 0.16950224339962008, + 1.0 + ], + [ + 0.18413090705871582, + -0.019100096076726913, + 0.12487649917602539, + -3.1296052235462746, + -0.1396082639694214, + 0.2045950144529343, + 1.0 + ], + [ + 0.16192808747291565, + -0.005761663429439068, + 0.13024628162384033, + 3.1310543651976666, + -0.11364341527223587, + 0.2271929383277893, + 1.0 + ], + [ + 0.14758263528347015, + 0.0072141727432608604, + 0.13515938818454742, + 3.1192721613966903, + -0.11478398740291594, + 0.17525985836982727, + 1.0 + ], + [ + 0.14280371367931366, + 0.027504006400704384, + 0.13408245146274567, + 3.1232723017507276, + -0.10736341774463654, + 0.10512733459472656, + 1.0 + ], + [ + 0.1369505077600479, + 0.049793463200330734, + 0.13175436854362488, + 3.092793161171027, + -0.08870285004377367, + 0.02936617843806744, + 1.0 + ], + [ + 0.13295705616474152, + 0.06717328727245331, + 0.13528263568878174, + 3.0872371328347405, + -0.08580515533685684, + -0.008666157722473145, + 1.0 + ], + [ + 0.1412411630153656, + 0.08763696998357773, + 0.13235044479370117, + 3.0953777638548097, + -0.08340512216091156, + -0.0001913051528390497, + 1.0 + ], + [ + 0.15340811014175415, + 0.10079637914896011, + 0.1330026388168335, + 3.111585686104842, + -0.1039283275604248, + 0.0008999015553854405, + 1.0 + ], + [ + 0.1674971878528595, + 0.10762138664722443, + 0.12539042532444, + 3.077462503808089, + -0.07177277654409409, + -0.09717318415641785, + 1.0 + ], + [ + 0.18058468401432037, + 0.10374025255441666, + 0.12588249146938324, + 3.0940747020118913, + -0.05505786091089249, + -0.2902308106422425, + 1.0 + ], + [ + 0.19303442537784576, + 0.09377053380012512, + 0.12349209189414978, + 3.087476188438483, + -0.04195654019713402, + -0.3716672658920288, + 1.0 + ], + [ + 0.20732474327087402, + 0.07920169830322266, + 0.11854287981987, + 3.063995162146636, + -0.034792691469192505, + -0.35333770513534546, + 1.0 + ], + [ + 0.23033559322357178, + 0.06877311319112778, + 0.12070481479167938, + 3.073638418810912, + -0.07721162587404251, + -0.24715963006019595, + 1.0 + ], + [ + 0.25806453824043274, + 0.05588269606232643, + 0.12202917039394379, + 3.084281774359294, + -0.19462111592292786, + -0.008479642681777477, + 1.0 + ], + [ + 0.271974116563797, + 0.04493386298418045, + 0.11963795870542526, + 3.065585771697112, + -0.19191695749759674, + 0.09446972608566284, + 1.0 + ], + [ + 0.2856557071208954, + 0.03719145059585571, + 0.11983036994934082, + 3.0824040864878377, + -0.17811101675033567, + 0.1136646717786789, + 1.0 + ], + [ + 0.29155871272087097, + 0.021983560174703598, + 0.11758239567279816, + 3.0762622972303113, + -0.16911576688289645, + 0.14326733350753784, + 1.0 + ], + [ + 0.2941366732120514, + 0.007359195966273546, + 0.11688306927680969, + 3.0642497708373746, + -0.170312225818634, + 0.1631310433149338, + 1.0 + ], + [ + 0.3011513948440552, + 0.004595631267875433, + 0.1143021509051323, + 3.058035435276576, + -0.1667288988828659, + 0.17749617993831635, + 1.0 + ], + [ + 0.3077588975429535, + 0.0028003649786114693, + 0.11167929321527481, + 3.0550834258371076, + -0.16624502837657928, + 0.19587761163711548, + 1.0 + ], + [ + 0.3177955150604248, + 0.0017611343646422029, + 0.11113615334033966, + 3.0404781868034085, + -0.16693371534347534, + 0.22488604485988617, + 1.0 + ], + [ + 0.3258068263530731, + 0.0019640557002276182, + 0.11172853410243988, + 3.029468635218688, + -0.1703253835439682, + 0.26002657413482666, + 1.0 + ], + [ + 0.33179208636283875, + 0.0030262863729149103, + 0.11155766248703003, + 3.01581563253934, + -0.1610073447227478, + 0.29147160053253174, + 1.0 + ], + [ + 0.33480915427207947, + 0.003957686480134726, + 0.11498219519853592, + 3.0096655060821256, + -0.16777941584587097, + 0.30916503071784973, + 1.0 + ], + [ + 0.3396012485027313, + 0.0039751045405864716, + 0.11284852772951126, + 3.00734272797639, + -0.16132009029388428, + 0.3217846751213074, + 1.0 + ], + [ + 0.3425832688808441, + 0.005293186753988266, + 0.11405342817306519, + 3.0013401975208005, + -0.1651829332113266, + 0.33740961551666254, + 1.0 + ], + [ + 0.34414756298065186, + 0.0059762815944850445, + 0.11206279695034027, + 2.999659987288066, + -0.16539759933948514, + 0.3489585518836975, + 1.0 + ], + [ + 0.34478914737701416, + 0.00666373036801815, + 0.11085933446884155, + 3.0006001462512693, + -0.17499199509620667, + 0.33671343326568604, + 1.0 + ], + [ + 0.3279133439064026, + 0.007273215800523758, + 0.1094951182603836, + 3.010628657537051, + -0.17175498604774475, + 0.30035656690597534, + 1.0 + ], + [ + 0.2938252091407776, + 0.0075285546481609344, + 0.11537429690361023, + 3.040020154910632, + -0.18310441076755524, + 0.2209671139717102, + 1.0 + ], + [ + 0.2647177577018738, + 0.00519838510081172, + 0.1215042695403099, + 3.0513787289434156, + -0.17568115890026093, + 0.15066847205162048, + 1.0 + ], + [ + 0.2544458210468292, + 0.006280305329710245, + 0.12107640504837036, + 3.064737597601958, + -0.09812168776988983, + 0.14772370457649228, + 1.0 + ], + [ + 0.25443586707115173, + 0.006670611910521984, + 0.12107640504837036, + 3.064737597601958, + -0.09812168776988983, + 0.14925768971443176, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334, + 0.009293973445892334 + ], + "episode_id": "708", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/708/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/710.json b/annotation/test/710.json new file mode 100644 index 0000000000000000000000000000000000000000..4d8c52cbe0f9c69143d2224935ebe622c9cf0908 --- /dev/null +++ b/annotation/test/710.json @@ -0,0 +1,1515 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put egg on plate and stuffedduck in pot or pan on stove" + ], + "videos": [ + { + "video_path": "videos/test/710/rgb.mp4" + } + ], + "action": [ + [ + -1.992080810243111e-05, + 0.000315803186541838, + -3.127391197532547e-07, + -0.001991323177224392, + -0.0001273073020844602, + -0.0008511327849992797, + 1.0 + ], + [ + -0.003693040826124072, + -0.0019836350748808746, + 0.006676639566813234, + 0.015941555358028582, + -0.016014696299096368, + 0.003564820662578158, + 1.0 + ], + [ + 0.0030788721231375872, + 0.0071156995006881295, + 0.01417584018669686, + -0.014871717815108992, + 0.013331524656352508, + -0.011825707236388146, + 1.0 + ], + [ + 0.0020049356128095455, + 0.005036706026809168, + 0.012936316045988574, + -0.026807676721500664, + 0.03385909309092654, + -0.01929951368865988, + 1.0 + ], + [ + 0.0021774736533678777, + 0.005430400194247309, + 0.012461364920775386, + -0.011728337175599481, + 0.013724850381338347, + 0.0027709649006572735, + 1.0 + ], + [ + 0.0009359853623330527, + 0.0011901055732627074, + 0.007642905689288321, + -0.01330433459120855, + 0.010511845139864995, + 0.0032850768393142132, + 1.0 + ], + [ + 0.0019141932519788016, + -0.0009486352334231559, + 0.005069498692936991, + -0.009674160441095205, + 0.014837810845336218, + -0.0007692585157653657, + 1.0 + ], + [ + 1.04291654594874e-05, + -0.0013394996856381956, + 0.00483110333495107, + 0.006825223516797211, + 0.013054492476527103, + -0.001038987265440439, + 1.0 + ], + [ + 0.0005851978042004913, + 0.0009094345397249778, + -0.00016842658894083604, + 0.005952511586573118, + 0.016033759851323194, + -0.005301907277109598, + 1.0 + ], + [ + -0.0028585587118905623, + 0.0016277885450408527, + -0.0010303288282585386, + 0.008647617527584086, + 0.002871717485432015, + 2.2136432990534956e-05, + 1.0 + ], + [ + -0.0035284526069030747, + 0.002423236723605932, + -0.0007811127630908548, + 0.0052133615841704894, + 0.0011073343462236448, + -0.006581104542855851, + 1.0 + ], + [ + -0.0020756286101431, + 0.0005360812824050856, + 0.002099569742859318, + 0.01082591717157616, + 0.0021665734611169573, + -0.0018614436594678967, + 1.0 + ], + [ + 0.0022964977508699064, + 0.0020542506028845093, + 0.004385541128329247, + -0.0018884714674063789, + 0.02489406059456238, + 0.008200265042251338, + 1.0 + ], + [ + -0.0004443098614777179, + 0.0008137059901123718, + 0.0037243166272016193, + -0.005118521260599269, + 0.005920094130369378, + 0.005783161411551712, + 1.0 + ], + [ + -0.0008027462632439847, + -0.0005452500257933114, + 0.0023442173807744085, + 0.006255153214788427, + -0.0018769578490984667, + -0.004706199811719013, + 1.0 + ], + [ + -0.0016702064850348398, + 0.0012038646822181932, + -0.00043184627404936013, + -0.001575998761232497, + -0.0033001423409040023, + -0.007336940201887429, + 1.0 + ], + [ + -0.0025507247866693606, + 0.0006548155730328333, + -0.0004344858252529561, + 0.0018039232042442901, + -0.008748136006291119, + -0.004396648852935324, + 1.0 + ], + [ + -0.0019501965667831254, + 0.00021905033695532701, + -0.0004256337015813948, + 0.004426568075900724, + -0.004889670907877005, + 0.00037932453640881635, + 1.0 + ], + [ + 0.0008979714488714542, + 0.0017771974150986311, + -1.2504338493331994e-05, + -0.01124707700680287, + 0.005584457124846079, + -0.007014870205235818, + 1.0 + ], + [ + -8.361075308325726e-06, + 0.001770187346917344, + 9.157290469018947e-05, + -0.012606855482705997, + -0.0018954032371223028, + 0.0017609918852654603, + 1.0 + ], + [ + -0.0033999742197787126, + -0.0011522521325277317, + 0.0007435725518863515, + 0.0013960449960712632, + -0.01533055852824003, + 0.008350082885774466, + 1.0 + ], + [ + -0.0016823008174257615, + -0.0026502510723519558, + 0.001436840855775998, + 0.005230207093093227, + -0.0017732480473783784, + 0.0032658381181664715, + 1.0 + ], + [ + 0.0006165345036505628, + -0.004343163293965294, + 0.004438997050681672, + -0.01273323436508459, + 0.020569196477483915, + 0.014627545268975526, + 1.0 + ], + [ + 0.0024612649747406466, + -0.00016348679188505432, + 0.0008258802109392614, + -0.010854722921381878, + 0.004969745481685013, + -0.0005244285728079485, + 1.0 + ], + [ + -0.0012155193823390972, + -0.0011711650440469027, + 0.00017452302612926436, + 0.004402297342113443, + -0.01110042531158804, + -0.0031724553239533765, + 1.0 + ], + [ + -0.0010522992724659782, + 0.0001246538219800085, + -0.0005286916757054934, + 0.003688044789707058, + -0.01141642515437257, + -0.013195978771523727, + 0.0 + ], + [ + 0.0005467761784400574, + 0.0015628544995694336, + -0.0014381676002865808, + 0.0018885036641843786, + -0.009116531410538736, + -0.017627065947743367, + 0.0 + ], + [ + -0.0013427248458892916, + 0.0007489704570599184, + -0.0022221140923213436, + 0.008228984250776795, + -0.026008739986879425, + -0.00918105246017029, + 0.0 + ], + [ + 0.006773998613403743, + 0.0011099614831171743, + -0.015959356686165795, + 0.015453539465696537, + -0.029248549590189805, + 0.015022008259918137, + 0.0 + ], + [ + 0.022034785994339817, + -0.007912016922518781, + -0.030715812649938553, + 0.03887676119474445, + -0.04264908094284327, + 0.030054843655497075, + 0.0 + ], + [ + 0.02498717179654291, + -0.018522452441477082, + -0.010967340722424147, + 0.013800102608732342, + -0.01978466218005597, + 0.050206797129937565, + 0.0 + ], + [ + 0.03101993374451845, + -0.018045523732276622, + -0.006626236477708994, + -0.03147035003646395, + 0.024736441158668406, + 0.03551946673453949, + 0.0 + ], + [ + 0.02137413020054471, + -0.014509676552342258, + 0.018613709990694165, + -0.017353727471157415, + -0.008387579972650622, + 0.03346562738666588, + 0.0 + ], + [ + 0.013563188690462693, + -0.006640159554616072, + 0.020507237471205662, + -0.027163327646987593, + 0.020228739194792948, + 0.0030474970499413025, + 0.0 + ], + [ + 0.00859599079290259, + 0.002781501544586852, + 0.011805564782157418, + -0.021223311805873696, + 0.04598328348663824, + -0.004665952539018726, + 0.0 + ], + [ + -0.0021520004109756167, + 0.003843638715826408, + 0.015276860184664912, + -0.007169974307388696, + 0.022636591179336068, + -0.007735630870035056, + 0.0 + ], + [ + -0.00045093815775501544, + 0.0035649722151057535, + 0.0024498075966491928, + -0.0007453041901412876, + 0.018882721594389817, + 0.00012318641841532738, + 0.0 + ], + [ + -0.006145413116193969, + 0.0016739499281672216, + 0.0014769259059673348, + 0.01839156174537481, + -0.011790867015975282, + -0.002512195366576902, + 1.0 + ], + [ + -0.013620485919276008, + 0.0071739835247216195, + -0.0013356765790627247, + 0.02697202160416251, + -0.041021711632268726, + -0.022688328329686088, + 1.0 + ], + [ + -0.00809046215227274, + 0.007156180042715647, + -0.01500145565682389, + 0.017096498956418706, + -0.017849092914492624, + -0.01542467135442653, + 1.0 + ], + [ + -0.006105560634923462, + 0.0014531047534337377, + -0.018669907442098455, + 0.026206003973813143, + -0.028702978676776045, + 0.0013762896439599706, + 1.0 + ], + [ + -0.0017298798381406213, + -0.0032964402553083026, + -0.019506130110594756, + 0.025456983291267277, + -0.033118410707871214, + -0.007946323498643448, + 1.0 + ], + [ + -0.003509360407032237, + -0.010583590876721326, + -0.007143235846639914, + 0.0021409188327799083, + -0.05246130618134073, + 0.04780342600833299, + 1.0 + ], + [ + -0.0012689118205130823, + -0.00924061477168113, + -0.002363407275967626, + -0.06398168563531406, + -0.01134093732538093, + 0.07114603136259723, + 1.0 + ], + [ + 0.0011222132232975792, + -0.003191939165517061, + -0.000848553892949024, + 0.000878522383528387, + 0.0031406066970335825, + -0.0014755153051223121, + 1.0 + ], + [ + -0.0002774971884617709, + 0.0009166474983447152, + -2.9303221402857003e-05, + -0.0005267665692959124, + -6.204450996759142e-05, + 0.003021788882291843, + 1.0 + ], + [ + -0.0014475696448121888, + -0.0013081434060775846, + 0.00042819105286745967, + 0.004436659600176409, + 0.0031266920791919724, + 0.003261234657172314, + 1.0 + ], + [ + -0.012407726048245494, + -0.04523718888611447, + -0.016736679692227113, + 0.08129996181172738, + 0.10089181282805439, + 0.006276700260975919, + 1.0 + ], + [ + -0.008070037226878038, + -0.03718877006418189, + 0.01028021820852429, + 0.07259175306419216, + 0.05616055905351763, + -0.020361819293079078, + 1.0 + ], + [ + -0.013246197478032124, + -0.014166089078386523, + 0.012830404373151154, + 0.02087225385903215, + 0.05405183561705502, + -0.022854060424139122, + 1.0 + ], + [ + -0.016905833718326494, + -0.017365397283588456, + 0.013281619523736824, + 0.04221842697284782, + 0.029949615623365244, + -0.055924451806540064, + 1.0 + ], + [ + -0.00882962896760529, + -0.01854668185355522, + 0.009147873550001597, + -0.01475528961335146, + 0.022639842560375212, + -0.008879067517609005, + 1.0 + ], + [ + 0.003980247340997761, + -0.019582672819408425, + 0.01388525900024443, + -0.027669757888482013, + 0.011427152662515575, + 0.0072244190410264975, + 1.0 + ], + [ + 0.02169714807945926, + -0.013379926731028878, + 0.014003595210097917, + -0.02402246318604496, + 0.015382020509320119, + 0.016217687627521748, + 1.0 + ], + [ + 0.0189545278849738, + -0.009609843328429504, + 0.011768338902013198, + -0.019278138963314425, + 0.01297972610073296, + 0.006648332062960227, + 1.0 + ], + [ + -0.00037290008538299366, + -0.0007315019477386276, + 0.00957735997075685, + -0.005441473202551257, + -0.013988691210847037, + -0.008918069701480584, + 1.0 + ], + [ + -0.005887721300864988, + 0.0012724653430240549, + 0.005686139521352873, + 0.004253330632311487, + 0.008382695202445622, + -0.019795106816220914, + 1.0 + ], + [ + -0.01718493633787464, + 0.0025493464752252464, + 0.004442949983068625, + 0.0029689847631215356, + -0.02160697786792622, + -0.0072431271008397404, + 1.0 + ], + [ + -0.011857253604996312, + 0.0006058275064859406, + -0.004268957156009936, + 0.012360535372247896, + -0.006330332757418117, + -0.03307436343763604, + 1.0 + ], + [ + -0.007064693808554335, + 0.00416615404589369, + -0.002413652144456286, + 0.006618947462332222, + 0.0076954174228855195, + -0.008362708488640472, + 1.0 + ], + [ + 0.0012905571975570962, + 0.0018963986235819164, + 0.0020414487851913446, + -0.008144568259805966, + 0.0343214583068318, + -0.013734288713974441, + 1.0 + ], + [ + 0.0021929309074471804, + 0.002426433662095485, + 0.0029683825432912413, + -0.006326561916407167, + 0.00728745352737367, + -0.006768495007229051, + 0.0 + ], + [ + 0.0019853998308088476, + 0.00031031750763991123, + -0.001127716223552232, + -0.004050189939279857, + -0.018120176575106284, + 0.007616238394998225, + 0.0 + ], + [ + 0.0021720819843719466, + 0.0007237283910526554, + -0.0018769511241622232, + -0.008242533341611676, + -0.028195967948447108, + 0.0019553105718925975, + 0.0 + ], + [ + 0.0042211033721924664, + 0.0021542678939540615, + -0.005373025071017339, + 0.0035416460796382785, + -0.04186174026437725, + 0.007380698623413098, + 0.0 + ], + [ + 0.01401894490371059, + 0.004858662831294466, + -0.023296649088913005, + 0.021755366063444952, + -0.033336016717931675, + 0.008572593428267578, + 0.0 + ], + [ + 0.014173170186931127, + 0.005530405109273904, + -0.01641905843964008, + 0.026251357213142094, + -0.03937921920531381, + 0.017308084367715235, + 0.0 + ], + [ + 0.011254144168302185, + 0.006569686087165475, + -0.014903296956744872, + 0.012824359583883681, + -0.025426857249464023, + 0.009705731615850557, + 0.0 + ], + [ + 0.012976645400314384, + 0.007241034111120194, + -0.018311374741746028, + 0.014478617472195785, + -0.009640495169605214, + -0.0010765417425845827, + 0.0 + ], + [ + 0.022217524722764743, + 0.0028413194471409147, + -0.014906339119955137, + -0.0006101068136526314, + 0.03393639639244604, + 0.007009974320265422, + 0.0 + ], + [ + 0.027315606958213508, + 0.004327820177685277, + 0.016633383494791844, + -0.006010776763833623, + 0.0013809395017151994, + 0.036801183011856135, + 0.0 + ], + [ + 0.028032552209370145, + -0.005702800957721739, + 0.019757442983582302, + -0.01732217512500122, + 0.023841126765506798, + 0.02708643504649492, + 0.0 + ], + [ + 0.010274639794383839, + -0.008600172389750877, + 0.0217190009886553, + -0.02147678707429733, + 0.0012879324514366588, + 0.012834445985867242, + 0.0 + ], + [ + -0.005454132528225453, + -0.0037899842683860934, + 0.0019820323616750713, + 0.0005588589639326934, + -0.0318472134377739, + 0.014864757498678747, + 0.0 + ], + [ + -0.011839930388956123, + 0.00910801348022955, + 0.008042652825050376, + 0.008715004199873623, + -0.03436277322813385, + -0.027883762832895082, + 1.0 + ], + [ + -0.007806029509548298, + 0.014513945315490561, + -0.01866410347623665, + 0.01957767364501442, + 0.00356351307590427, + -0.030711907981430562, + 1.0 + ], + [ + -0.006329137142405726, + 0.011455914442501818, + -0.007119492417928123, + -0.0006613420564256909, + -0.012684427829494353, + -0.005306526110675172, + 1.0 + ], + [ + -0.004226589137956386, + 0.016539349195307355, + -0.015987388321976777, + 0.007068796862958335, + -0.005406484479743075, + -0.03129812996991461, + 1.0 + ] + ], + "state": [ + [ + 0.22966457903385162, + -0.1366037279367447, + 0.11558293551206589, + 3.1173173823677978, + -0.2685472369194031, + 0.19469903409481046, + 1.0 + ], + [ + 0.22970473766326904, + -0.1369175910949707, + 0.1155853420495987, + 3.1150927693867168, + -0.2683992087841034, + 0.19557830691337583, + 1.0 + ], + [ + 0.22761070728302002, + -0.13549131155014038, + 0.10811997950077057, + 3.132123315828391, + -0.25248241424560547, + 0.19146031141281128, + 1.0 + ], + [ + 0.23537689447402954, + -0.1413705050945282, + 0.09522856771945953, + 3.114157375069805, + -0.2656828761100769, + 0.20384524762630463, + 1.0 + ], + [ + 0.24165205657482147, + -0.14557695388793945, + 0.0834105908870697, + 3.0817840566211423, + -0.2989436984062195, + 0.2249933481216431, + 1.0 + ], + [ + 0.2485339641571045, + -0.15032686293125153, + 0.07247468829154968, + 3.07065241237218, + -0.31280905008316046, + 0.22294872999191287, + 1.0 + ], + [ + 0.25204741954803467, + -0.1513030230998993, + 0.06558925658464432, + 3.058166096108504, + -0.3235262632369995, + 0.22027865052223208, + 1.0 + ], + [ + 0.2552959620952606, + -0.15003979206085205, + 0.061333075165748596, + 3.0478078370266637, + -0.338247686624527, + 0.22240184247493744, + 1.0 + ], + [ + 0.256708562374115, + -0.14881689846515656, + 0.056680869311094284, + 3.0538276602798184, + -0.3511466085910797, + 0.2248053252696991, + 1.0 + ], + [ + 0.25735989212989807, + -0.1495821326971054, + 0.057114552706480026, + 3.0573069249563893, + -0.3666456937789917, + 0.23196755349636078, + 1.0 + ], + [ + 0.25470975041389465, + -0.15178567171096802, + 0.05717616155743599, + 3.0658697356754026, + -0.36950907111167913, + 0.23220315575599673, + 1.0 + ], + [ + 0.25171202421188354, + -0.15491674840450287, + 0.056799083948135376, + 3.068510154383727, + -0.37010681629180914, + 0.2393318712711334, + 1.0 + ], + [ + 0.25071725249290466, + -0.15586762130260468, + 0.0541326105594635, + 3.078553767996379, + -0.3721309006214142, + 0.2414945662021637, + 1.0 + ], + [ + 0.2548504173755646, + -0.15724559128284454, + 0.051010917872190475, + 3.079255862283059, + -0.39748346805572504, + 0.23432207107543943, + 1.0 + ], + [ + 0.25607484579086304, + -0.158026784658432, + 0.04745837301015854, + 3.0764115696125707, + -0.4037461876869201, + 0.22844663262367246, + 1.0 + ], + [ + 0.2561759054660797, + -0.15760144591331482, + 0.044959187507629395, + 3.0807150473170957, + -0.4015622138977051, + 0.2334158718585968, + 1.0 + ], + [ + 0.25476035475730896, + -0.15914611518383026, + 0.04477054998278618, + 3.0761205722861966, + -0.3978110551834107, + 0.24114170670509338, + 1.0 + ], + [ + 0.25244688987731934, + -0.16035866737365723, + 0.04422159120440483, + 3.076325388746806, + -0.38879096508026123, + 0.24526408314704892, + 1.0 + ], + [ + 0.25058114528656006, + -0.1610223799943924, + 0.043888580054044724, + 3.0810363238030156, + -0.38393634557724, + 0.2445119023323059, + 1.0 + ], + [ + 0.2517746090888977, + -0.162552148103714, + 0.0443362332880497, + 3.0668185149603566, + -0.38907513022422796, + 0.25244468450546265, + 1.0 + ], + [ + 0.25219470262527466, + -0.16427387297153473, + 0.044370926916599274, + 3.05498909403617, + -0.3873158395290374, + 0.2503952085971832, + 1.0 + ], + [ + 0.249183788895607, + -0.16392545402050018, + 0.04230854660272598, + 3.060290428000041, + -0.3727461099624634, + 0.2400402873754501, + 1.0 + ], + [ + 0.24764439463615417, + -0.16170290112495422, + 0.04016168788075447, + 3.0668493156605443, + -0.3712416887283325, + 0.23639275133609775, + 1.0 + ], + [ + 0.2489418387413025, + -0.15727637708187103, + 0.03595807030797005, + 3.0592312311106404, + -0.3928122818470001, + 0.22226940095424652, + 1.0 + ], + [ + 0.2514511048793793, + -0.15661188960075378, + 0.036127395927906036, + 3.0479887669258794, + -0.39772185683250433, + 0.2232797592878342, + 1.0 + ], + [ + 0.2502106726169586, + -0.15571455657482147, + 0.035395484417676926, + 3.05149860878522, + -0.38637256622314453, + 0.22556941211223602, + 1.0 + ], + [ + 0.24908025562763214, + -0.15605252981185913, + 0.035497065633535385, + 3.050283448892184, + -0.37378549575805664, + 0.2385823577642441, + 0.0 + ], + [ + 0.24935297667980194, + -0.15745295584201813, + 0.037162669003009796, + 3.045649381475993, + -0.36304512619972235, + 0.2564699053764343, + 0.0 + ], + [ + 0.24748949706554413, + -0.158492311835289, + 0.03882063180208206, + 3.051347481208392, + -0.33626821637153625, + 0.26350852847099304, + 0.0 + ], + [ + 0.24848121404647827, + -0.1578800082206726, + 0.056154463440179825, + 3.0728701149397573, + -0.30843886733055115, + 0.24504679441452024, + 0.0 + ], + [ + 0.25755777955055237, + -0.14529964327812195, + 0.09152314066886902, + 3.122080497565218, + -0.26778358221054077, + 0.21094514429569244, + 0.0 + ], + [ + 0.27445435523986816, + -0.12252400070428848, + 0.10836055129766464, + -3.1334804483973464, + -0.2486327290534973, + 0.15876533091068268, + 0.0 + ], + [ + 0.2996523082256317, + -0.10026915371417999, + 0.12255805730819702, + 3.127357485825666, + -0.27291733026504517, + 0.12168411165475844, + 0.0 + ], + [ + 0.32338908314704895, + -0.08301707357168198, + 0.11019740998744965, + 3.1193883159481963, + -0.2648494243621826, + 0.08688992261886597, + 0.0 + ], + [ + 0.3412783145904541, + -0.07525213062763214, + 0.09381816536188126, + 3.092929074662276, + -0.2851399183273315, + 0.08418362587690353, + 0.0 + ], + [ + 0.35304710268974304, + -0.07762344181537628, + 0.08505051583051682, + 3.0696035643392285, + -0.3308346867561341, + 0.09147036075592042, + 0.0 + ], + [ + 0.35631030797958374, + -0.0822773277759552, + 0.07020194828510284, + 3.059183808165141, + -0.3528411388397217, + 0.10142537951469421, + 0.0 + ], + [ + 0.3570079505443573, + -0.08598025143146515, + 0.06803040951490402, + 3.0578928386145314, + -0.37166953086853033, + 0.10296178609132767, + 0.0 + ], + [ + 0.35197770595550537, + -0.08830111473798752, + 0.06455769389867783, + 3.075689824419566, + -0.35970947146415716, + 0.10458305478096008, + 1.0 + ], + [ + 0.33940473198890686, + -0.09673014283180237, + 0.06145293638110161, + 3.0952335876696786, + -0.31720924377441406, + 0.12554781138896942, + 1.0 + ], + [ + 0.3278464674949646, + -0.10469341278076172, + 0.07348219305276871, + 3.107569133984395, + -0.2986298501491547, + 0.14080139994621277, + 1.0 + ], + [ + 0.31673377752304077, + -0.10709385573863983, + 0.08956637233495712, + 3.1344792452924928, + -0.2699894607067108, + 0.1383618414402008, + 1.0 + ], + [ + 0.3094620704650879, + -0.10463819652795792, + 0.10788139700889587, + -3.125368336337157, + -0.2368072122335434, + 0.14628930389881134, + 1.0 + ], + [ + 0.3028638958930969, + -0.09503107517957687, + 0.11416798084974289, + -3.1120255832844457, + -0.18331503868103025, + 0.09861019253730773, + 1.0 + ], + [ + 0.30024173855781555, + -0.08607903122901917, + 0.11652806401252747, + 3.120185326906391, + -0.1694144904613495, + 0.026806296780705452, + 1.0 + ], + [ + 0.3011299967765808, + -0.08284468948841095, + 0.1174861416220665, + 3.1207997930520257, + -0.17252258956432343, + 0.02837193571031094, + 1.0 + ], + [ + 0.30087441205978394, + -0.08376815170049667, + 0.1174861416220665, + 3.1207997930520257, + -0.17252258956432343, + 0.02530396543443203, + 1.0 + ], + [ + 0.29949405789375305, + -0.08250371366739273, + 0.11678910255432129, + 3.1257936043017587, + -0.1757155209779739, + 0.022058485075831413, + 1.0 + ], + [ + 0.2834770679473877, + -0.03735005483031273, + 0.13039331138134003, + -3.0753224809938153, + -0.27669188380241394, + 0.017221763730049133, + 1.0 + ], + [ + 0.27719345688819885, + 0.00033523564343340695, + 0.12069031596183777, + -3.0074333568387708, + -0.3340376317501068, + 0.034758534282445915, + 1.0 + ], + [ + 0.2676848769187927, + 0.015769073739647865, + 0.10612519830465317, + -2.9918444027476987, + -0.3906180560588836, + 0.051400139927864075, + 1.0 + ], + [ + 0.255097895860672, + 0.03429938852787018, + 0.08993998914957047, + -2.971021430688449, + -0.42803207039833063, + 0.10724181681871414, + 1.0 + ], + [ + 0.2474096715450287, + 0.05341663584113121, + 0.08093735575675964, + -2.98799845774705, + -0.4518449306488037, + 0.11269420385360719, + 1.0 + ], + [ + 0.2532060742378235, + 0.07568619400262833, + 0.07302582263946533, + -3.0113291909270963, + -0.46201303601264954, + 0.10276611149311066, + 1.0 + ], + [ + 0.27636435627937317, + 0.09324007481336594, + 0.07182390987873077, + -3.026296021538325, + -0.4750763475894928, + 0.08243803679943085, + 1.0 + ], + [ + 0.297090083360672, + 0.10588957369327545, + 0.07108132541179657, + -3.0413767491751393, + -0.4871881008148194, + 0.07327508926391602, + 1.0 + ], + [ + 0.3010529577732086, + 0.10787104070186615, + 0.06255082786083221, + -3.052219087379523, + -0.47413405776023865, + 0.08482077717781067, + 1.0 + ], + [ + 0.2985260486602783, + 0.10689357668161392, + 0.05472293496131897, + -3.0577630942040166, + -0.48415720462799067, + 0.10625121742486954, + 1.0 + ], + [ + 0.2857798933982849, + 0.10335348546504974, + 0.04261656105518341, + -3.059474567072936, + -0.4632113873958587, + 0.11633943021297455, + 1.0 + ], + [ + 0.27348843216896057, + 0.10095657408237457, + 0.04108024016022682, + -3.063846709328242, + -0.4593354165554046, + 0.153694674372673, + 1.0 + ], + [ + 0.26698270440101624, + 0.09555591642856598, + 0.039814990013837814, + -3.061071941750594, + -0.467642217874527, + 0.16236510872840884, + 1.0 + ], + [ + 0.2693716287612915, + 0.09419818222522736, + 0.03844423219561577, + -3.0747961719804486, + -0.5029264092445374, + 0.1748300939798355, + 1.0 + ], + [ + 0.2731330394744873, + 0.09260527044534683, + 0.03676427900791168, + -3.084584569680043, + -0.5106385350227357, + 0.18201324343681335, + 0.0 + ], + [ + 0.27437159419059753, + 0.09245287626981735, + 0.03870144486427307, + -3.084982605772563, + -0.49210187792778015, + 0.1745584458112717, + 0.0 + ], + [ + 0.27554789185523987, + 0.09181876480579376, + 0.04134320467710495, + -3.0930143055790147, + -0.4638404250144958, + 0.17416006326675415, + 0.0 + ], + [ + 0.27736538648605347, + 0.08968884497880936, + 0.04793775826692581, + -3.086813299106904, + -0.42166271805763245, + 0.16831475496292114, + 0.0 + ], + [ + 0.28172340989112854, + 0.08421463519334793, + 0.0746568888425827, + -3.0620514919334134, + -0.3878973424434662, + 0.16104456782341003, + 0.0 + ], + [ + 0.28982043266296387, + 0.07862310111522675, + 0.0947621762752533, + -3.0300654043727597, + -0.347227394580841, + 0.14603744447231293, + 0.0 + ], + [ + 0.2967415750026703, + 0.07136545330286026, + 0.11183112859725952, + -3.0147636403613767, + -0.3208700120449066, + 0.13885842263698578, + 0.0 + ], + [ + 0.3048645257949829, + 0.0629093125462532, + 0.13229191303253174, + -3.001037301617213, + -0.3114422559738159, + 0.1412612646818161, + 0.0 + ], + [ + 0.3221357464790344, + 0.06041453778743744, + 0.15277047455310822, + -2.9977683295779904, + -0.34403958916664124, + 0.12884312868118286, + 0.0 + ], + [ + 0.3535953760147095, + 0.06257551163434982, + 0.14590288698673248, + -2.9907776733213147, + -0.3398929238319397, + 0.09000088274478912, + 0.0 + ], + [ + 0.385344922542572, + 0.07408221811056137, + 0.13764065504074097, + -2.9973163475566587, + -0.3592304289340973, + 0.05757607519626618, + 0.0 + ], + [ + 0.40138790011405945, + 0.086659736931324, + 0.12228894233703613, + -3.0139671732955655, + -0.35862857103347784, + 0.04381421208381653, + 0.0 + ], + [ + 0.3966301679611206, + 0.09046643227338791, + 0.11898545175790787, + -3.0093913694196424, + -0.32512736320495605, + 0.03254031017422676, + 0.0 + ], + [ + 0.3886043131351471, + 0.08223257213830948, + 0.1065109446644783, + -3.0114034732156476, + -0.29456672072410583, + 0.06614293903112413, + 1.0 + ], + [ + 0.3774469494819641, + 0.0646425411105156, + 0.12015064805746078, + -3.0010019560628614, + -0.301949828863144, + 0.09755332767963411, + 1.0 + ], + [ + 0.37102359533309937, + 0.05161444842815399, + 0.1234661340713501, + -3.003837691741534, + -0.2901264727115631, + 0.10489117354154587, + 1.0 + ], + [ + 0.3650818169116974, + 0.0323081910610199, + 0.1352548748254776, + -3.00630900462205, + -0.2889179587364197, + 0.13800811767578125, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.055433034896850586, + 0.1518612504005432, + 0.17109763622283936, + 0.1482418179512024, + 0.1482418179512024, + 0.1482418179512024, + 0.1482418179512024, + 0.1482418179512024, + 0.1482418179512024, + 0.1482418179512024, + 0.1482418179512024, + 0.1482418179512024, + 0.10604918003082275, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.02763611078262329, + 0.23085123300552368, + 0.433002769947052, + 0.5824717879295349, + 0.6644096970558167, + 0.7361812889575958, + 0.8652076870203018, + 0.9217833653092384, + 0.9266620799899101, + 0.9197788238525391, + 0.9149821773171425, + 0.9139323532581329, + 0.9125204309821129, + 0.8859040141105652, + 0.7138420641422272, + 0.429030179977417, + 0.12246501445770264, + 0.0, + 0.0 + ], + "episode_id": "710", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/710/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/722.json b/annotation/test/722.json new file mode 100644 index 0000000000000000000000000000000000000000..91bcb98bc46468dc4a9006becffd5e1b8a621ef4 --- /dev/null +++ b/annotation/test/722.json @@ -0,0 +1,641 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "take sushi off plate" + ], + "videos": [ + { + "video_path": "videos/test/722/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -5.1929338903954246e-18, + 5.313613208952031e-20, + 1.302976885984227e-17, + 1.0 + ], + [ + -0.002297029782329906, + -0.0041892681281884905, + 0.0035003452226048653, + 0.004622894358185098, + -0.012720676676259327, + -0.027049841848354687, + 1.0 + ], + [ + 0.00958368168045559, + -0.028536606997391443, + -0.009642836746533892, + -0.05666039047262708, + 0.06559824486863348, + -0.24486841978408794, + 1.0 + ], + [ + 0.015749840744331903, + -0.02686171791713304, + -0.0033230548309723107, + -0.009820966713416188, + 0.0013659969841858465, + -0.23986500123782895, + 1.0 + ], + [ + 0.03024112153243669, + -0.02077906949006467, + -0.0008992286951339786, + -0.00010539541031382509, + 0.021365258639358498, + -0.1755909011185707, + 1.0 + ], + [ + 0.03299201964855393, + -0.014033240240726063, + 0.0003556024809059833, + -0.004879132643181846, + 0.06042673810559889, + -0.18203155404323337, + 1.0 + ], + [ + 0.026203056691526318, + -0.004436672673524567, + 0.006645979556290566, + 0.015763060743421063, + 0.035898477361095554, + -0.10561682044806582, + 1.0 + ], + [ + 0.022643823980399342, + -0.0010861945214835193, + 0.0019648049253134475, + -0.00757670046809739, + 0.05943191800877821, + -0.09380710361670765, + 1.0 + ], + [ + 0.014087060166096272, + 0.003775932773915477, + 0.0033170876352612527, + 0.012365120645042967, + 0.014535402496431054, + -0.03914341310682254, + 1.0 + ], + [ + 0.009982967518790008, + 0.0006743053351741528, + 0.004392146901423268, + 0.023513567537020132, + 0.008021209070054542, + -0.05214879890777926, + 1.0 + ], + [ + 0.009018600433208339, + 0.0029934755586985937, + 0.009754473772218634, + 0.003521510537100228, + 9.18694565275131e-05, + -0.033707430304182266, + 1.0 + ], + [ + 0.007320407187260511, + 0.0048531848799650956, + 0.005456582404261216, + -0.017746391836111566, + 0.010558224378503511, + -0.038491834465773964, + 1.0 + ], + [ + 0.001986503645366657, + 0.000714822148445801, + 0.007583374049018315, + 0.018986851550640185, + 0.002487224466634278, + -0.02353175277244964, + 1.0 + ], + [ + 0.001145665903098336, + 0.0009864759811302561, + 0.005544675601062877, + 0.009969675664478407, + -0.00426788171915686, + -0.013604010567232712, + 1.0 + ], + [ + 0.0009873422619309628, + 0.00045947002608750896, + 0.005620504702617182, + 0.01310920522479788, + -0.004909119747316142, + -0.0016538100505835633, + 1.0 + ], + [ + 0.002130893336951192, + -0.0006416221869774743, + -7.27453930334166e-05, + -0.002387034143560581, + 0.0006207543984606724, + 0.0006788033335545473, + 1.0 + ], + [ + 0.002635988517062717, + -0.0010060669572151276, + 0.0035067465310835507, + 0.03075930827362648, + 0.0013383875246794751, + 0.017238875186616962, + 1.0 + ], + [ + 0.00048172273131644877, + 0.0019304116050217189, + -0.00021506642507504112, + -0.012408700307375384, + -0.00034752326106699335, + 0.011582574216735019, + 0.0 + ], + [ + -0.004532595902423081, + 0.0005714655310768948, + -0.0006945381857009663, + 0.022150206047253533, + 0.012283609278252445, + 0.05196159586474254, + 0.0 + ], + [ + -0.014596512302430928, + 0.004946101506804332, + -0.015134841479541835, + -0.019809979911625763, + 0.029623552019518995, + 0.08076894096357382, + 0.0 + ], + [ + -0.02695527427180898, + 0.012852386992346351, + -0.023152838982064116, + -0.05061640307392261, + 0.024229318711368266, + 0.1050679494325708, + 0.0 + ], + [ + -0.041311779239109725, + 0.01926819571303456, + -0.023045543396128715, + -0.04816464685097087, + 0.017682279758120974, + 0.11617126021489922, + 0.0 + ], + [ + -0.04992283779452645, + 0.01737022376953821, + 4.6905447193932295e-05, + -0.05366073289341736, + -0.08379767898679609, + 0.12928348468546907, + 0.0 + ], + [ + -0.038339148926344796, + 0.01835511182324531, + 0.00697184322120522, + -0.03742818466763845, + -0.05624721090714182, + 0.09555622513469561, + 0.0 + ], + [ + -0.02573430085855347, + 0.0074475214232172455, + 0.013273999960232758, + 0.0016330546099963576, + -0.05541734706681356, + 0.05212383620474613, + 0.0 + ], + [ + -0.008707436416044287, + 0.003688176059050449, + 0.008079960514835215, + 0.006360913553215345, + -0.020904449587408936, + 0.028900329049223628, + 0.0 + ], + [ + -0.0035293533519547785, + -0.001074421465967359, + 0.0010909854595089873, + 0.007182768413060266, + -0.0030121813848152765, + -0.007074153641806842, + 0.0 + ], + [ + -0.002479718738519037, + -0.0005384472711597526, + 0.00020200891820965888, + 0.001563519531535972, + -0.014612823346225915, + 0.009744229037218995, + 0.0 + ], + [ + 0.0006160448013206397, + -0.003717968219213148, + -0.003352043972631977, + 0.008725136856356626, + 0.013441940119582326, + 0.00873823637177362, + 1.0 + ], + [ + 0.001963652111269348, + 0.0014887140489736658, + -0.019283681880373747, + -0.016064901707112604, + 0.04398606390136788, + 0.026756920808668275, + 1.0 + ], + [ + 0.0015970720126035822, + 0.0035069093807478823, + -0.014904080198882058, + -0.026365721945547788, + 0.03425145303368203, + 0.028485265453481956, + 1.0 + ], + [ + -0.00039068902856244364, + -0.00015501450705889363, + -0.00014419545808179028, + 0.000272872995635606, + 0.000633236238098629, + 0.004221432690563206, + 1.0 + ] + ], + "state": [ + [ + 0.20416201651096344, + -0.06654320657253265, + 0.04841678962111473, + 3.110111365216323, + -0.004623484332114457, + 0.18577978014945984, + 1.0 + ], + [ + 0.20416201651096344, + -0.06654320657253265, + 0.04841678962111473, + 3.110111365216323, + -0.004623484332114457, + 0.18577978014945984, + 1.0 + ], + [ + 0.20116795599460602, + -0.0629575327038765, + 0.04477573558688164, + 3.114619741337844, + 0.008943852968513966, + 0.21241456270217896, + 1.0 + ], + [ + 0.20454466342926025, + -0.03278113901615143, + 0.05355937406420708, + 3.0609036331349095, + -0.050363868474960334, + 0.4587961435317993, + 1.0 + ], + [ + 0.20661993324756622, + -0.0015948083018884063, + 0.05549795553088188, + 3.041450636582919, + -0.031141769140958786, + 0.6980968713760376, + 1.0 + ], + [ + 0.21645678579807281, + 0.03376452252268791, + 0.05525748059153557, + 3.037408800917216, + -0.034451942890882485, + 0.8750340342521667, + 1.0 + ], + [ + 0.22694654762744904, + 0.06804338097572327, + 0.0545819029211998, + 3.0277390499883374, + -0.07513116300106049, + 1.062657117843628, + 1.0 + ], + [ + 0.23672792315483093, + 0.09311452507972717, + 0.04946177452802658, + 3.035902613895484, + -0.09837543964385985, + 1.1721521615982056, + 1.0 + ], + [ + 0.2447495013475418, + 0.11440794914960861, + 0.04962735250592232, + 3.0187978466325482, + -0.14710590243339539, + 1.272653341293335, + 1.0 + ], + [ + 0.2529352009296417, + 0.12690439820289612, + 0.04889312759041786, + 3.025224523740359, + -0.1566162407398224, + 1.3137831687927246, + 1.0 + ], + [ + 0.25675255060195923, + 0.13678769767284393, + 0.046218521893024445, + 3.0405722503834447, + -0.15831176936626434, + 1.367178201675415, + 1.0 + ], + [ + 0.2627332806587219, + 0.14616012573242188, + 0.03835504502058029, + 3.0387992580705365, + -0.15491469204425812, + 1.4011297225952148, + 1.0 + ], + [ + 0.26939311623573303, + 0.15312904119491577, + 0.03461380675435066, + 3.014973821240016, + -0.16134734451770782, + 1.4410187005996704, + 1.0 + ], + [ + 0.2714540958404541, + 0.15604151785373688, + 0.02759707160294056, + 3.0301460569077214, + -0.16079778969287872, + 1.4649853706359863, + 1.0 + ], + [ + 0.273252934217453, + 0.1578572392463684, + 0.02244960144162178, + 3.038010360794612, + -0.15502965450286865, + 1.4781885147094727, + 1.0 + ], + [ + 0.2744559943675995, + 0.15958476066589355, + 0.017125660553574562, + 3.050940768914767, + -0.1499757468700409, + 1.4793387651443481, + 1.0 + ], + [ + 0.27400535345077515, + 0.1617397516965866, + 0.017458247020840645, + 3.048647405701228, + -0.1506553739309311, + 1.4787118434906006, + 1.0 + ], + [ + 0.2736210823059082, + 0.16493280231952667, + 0.014309494756162167, + 3.0820080061727246, + -0.15356582403182986, + 1.4614686965942383, + 1.0 + ], + [ + 0.275570273399353, + 0.16514703631401062, + 0.014708940871059895, + 3.071396181481429, + -0.15389825403690338, + 1.4497474431991577, + 0.0 + ], + [ + 0.27553337812423706, + 0.160526305437088, + 0.01473837997764349, + 3.1015565787726125, + -0.16959260404109955, + 1.3980380296707153, + 0.0 + ], + [ + 0.27688753604888916, + 0.1430605947971344, + 0.027375655248761177, + 3.095541698979684, + -0.2018776834011078, + 1.3169076442718506, + 0.0 + ], + [ + 0.280455619096756, + 0.10993868112564087, + 0.045209113508462906, + 3.0665079077058515, + -0.22980043292045593, + 1.210290789604187, + 0.0 + ], + [ + 0.2806646525859833, + 0.060924652963876724, + 0.059582870453596115, + 3.0457253997498235, + -0.2545868158340454, + 1.0919709205627441, + 0.0 + ], + [ + 0.2735671401023865, + 0.009714837186038494, + 0.04857393354177475, + 3.0275141840153417, + -0.18112730979919434, + 0.9533745050430298, + 0.0 + ], + [ + 0.2677549123764038, + -0.0313408263027668, + 0.0369095616042614, + 3.0088814367824277, + -0.13517212867736816, + 0.8512266874313356, + 0.0 + ], + [ + 0.2589031457901001, + -0.05530794709920883, + 0.02138080634176731, + 3.018517518537589, + -0.08690008521080016, + 0.7920771241188049, + 0.0 + ], + [ + 0.2565831243991852, + -0.06428277492523193, + 0.013087566941976547, + 3.027629928784915, + -0.06965862959623337, + 0.7607584595680236, + 0.0 + ], + [ + 0.25344333052635193, + -0.0659690722823143, + 0.011638753116130829, + 3.0343483855300626, + -0.06585998833179474, + 0.7674586772918702, + 0.0 + ], + [ + 0.25131815671920776, + -0.06730549782514572, + 0.011217634193599224, + 3.0366487746411046, + -0.052369937300682075, + 0.7561918497085571, + 0.0 + ], + [ + 0.24887557327747345, + -0.06404391676187515, + 0.01418998558074236, + 3.045749219255992, + -0.06665186583995818, + 0.7488943338394165, + 1.0 + ], + [ + 0.2491198182106018, + -0.063320592045784, + 0.03361547738313675, + 3.0311183278732976, + -0.1129794642329216, + 0.726351499557495, + 1.0 + ], + [ + 0.25024867057800293, + -0.06478211283683777, + 0.04889848455786705, + 3.007518174248286, + -0.15012796223163605, + 0.7015543580055237, + 1.0 + ], + [ + 0.2498280555009842, + -0.06491115689277649, + 0.0489608570933342, + 3.0084122886234006, + -0.1513185352087021, + 0.6974080801010132, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0, + 0.0, + 0.04849565029144287, + 0.327828049659729, + 0.4840872883796692, + 0.45475316047668457, + 0.45081204175949097, + 0.45081204175949097, + 0.45081204175949097, + 0.45081204175949097, + 0.45081204175949097, + 0.45081204175949097, + 0.45081204175949097, + 0.3900832533836365, + 0.09003859758377075, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "722", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/722/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/723.json b/annotation/test/723.json new file mode 100644 index 0000000000000000000000000000000000000000..6b474a41eff0c65f116b7876f184ebdafba590ee --- /dev/null +++ b/annotation/test/723.json @@ -0,0 +1,375 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put sweet potato in pan which is on stove" + ], + "videos": [ + { + "video_path": "videos/test/723/rgb.mp4" + } + ], + "action": [ + [ + -0.0005716398523361188, + -0.00027597770554798305, + 0.0011030159341164647, + -0.000749782160755465, + -0.004541820619639447, + -0.0030622024242408664, + 1.0 + ], + [ + -0.0036971387610533514, + 0.0020876383744693134, + 0.011866490332311392, + -0.030947883410950134, + -0.011564926847177429, + -0.0018304637539588542, + 1.0 + ], + [ + -0.0006213276353214889, + -0.00590845941137479, + 0.011985610042567228, + -0.016405801238099645, + 0.026685408952547503, + -0.013282938499449448, + 1.0 + ], + [ + -0.00467296052581752, + 0.0006075282936277735, + 0.013593057986816742, + -0.008625053344655308, + 0.022442930305107543, + -0.0023168278300628193, + 1.0 + ], + [ + -0.003008740438702685, + 0.0010955496252605726, + 0.007574571249933623, + 0.0004984711769600521, + 0.022883876228113144, + -0.01848597784064898, + 1.0 + ], + [ + -0.003974250705745591, + 0.003061550337324357, + 0.006148892887403539, + 0.010485564227968258, + 0.02286980257945083, + -0.012587097252623324, + 1.0 + ], + [ + 0.0008478752590360054, + 0.00012330325826237092, + 0.0003286432676482909, + 0.012908338539856817, + 0.011322303286018246, + 0.003928190783494083, + 0.0 + ], + [ + 0.0010696868687771314, + -0.001836598727093398, + -0.009860442991811597, + 0.011379984445849433, + -0.05006208999066194, + 0.04400524023012652, + 0.0 + ], + [ + 0.016930915219516472, + -0.010565228683672101, + -0.030473567808566863, + 0.0476429700437599, + -0.011613427066707547, + 0.058510257753269325, + 0.0 + ], + [ + 0.017075843611036527, + -0.009664650803928487, + -0.018961247915551163, + 0.024424970108251717, + -0.00047251018538971046, + 0.03689372965933141, + 0.0 + ], + [ + 0.02537987867921485, + -0.004405563806007491, + -0.008460795280173782, + 0.01212441118352266, + 0.06990467895284988, + 0.06067895017154835, + 0.0 + ], + [ + 0.013255508164241701, + -0.0013502774796776624, + 0.014371204526675304, + -0.006535318587073431, + 0.04888548421542704, + 0.02929712640155678, + 0.0 + ], + [ + 0.0073413291719132915, + -0.0010284386242952791, + 0.013223857861037563, + -0.002052066297438444, + 0.029123340940038815, + 0.027313028850513822, + 0.0 + ], + [ + 0.004048711259683023, + -0.00010440830271498105, + 0.006274677057592189, + -0.008806544953575576, + 0.014584331340043591, + 0.02411555539063086, + 0.0 + ], + [ + 0.0020568632300107556, + 0.0009807927487525394, + 0.0014439544451105206, + -0.009951746115253865, + 0.017923382626266804, + -0.003971027666323832, + 1.0 + ], + [ + 0.0010259857324379322, + -7.633037799509902e-05, + 0.00018211648103615458, + 0.0014480409825267482, + 0.008354961655538397, + 0.0039627146889380915, + 1.0 + ], + [ + -6.256605805147297e-05, + 0.00033371491205792244, + -3.6529951996748016e-07, + -0.002104003900952252, + -0.0003968895833412494, + -0.0011453627785267984, + 1.0 + ], + [ + 0.00019888513982298174, + -0.00014006961339712578, + -1.8162209227762122e-07, + 0.0008832827986316333, + 0.001254168170446723, + 5.299374460304899e-07, + 1.0 + ] + ], + "state": [ + [ + 0.250409334897995, + 0.06428276002407074, + 0.06311270594596863, + -3.0923931655758103, + -0.22818247973918918, + 0.007358592934906483, + 1.0 + ], + [ + 0.25009623169898987, + 0.06461035460233688, + 0.061923492699861526, + -3.093904072540351, + -0.22379550337791443, + 0.010724359191954136, + 1.0 + ], + [ + 0.2491602897644043, + 0.06308064609766006, + 0.04944853112101555, + -3.125389166297861, + -0.21233034133911133, + 0.013158581219613552, + 1.0 + ], + [ + 0.2509777843952179, + 0.06920697540044785, + 0.037696272134780884, + 3.1386077593830457, + -0.23920956254005432, + 0.02637915313243866, + 1.0 + ], + [ + 0.2496756613254547, + 0.06852429360151291, + 0.023384902626276016, + 3.1293972536274275, + -0.26164478063583374, + 0.028846340253949162, + 1.0 + ], + [ + 0.2487596869468689, + 0.06730952858924866, + 0.015303305350244045, + 3.1248384473198136, + -0.2842541038990021, + 0.048389539122581475, + 1.0 + ], + [ + 0.2468102127313614, + 0.06404727697372437, + 0.008336677215993404, + 3.131505978415259, + -0.30688509345054626, + 0.06199019402265549, + 1.0 + ], + [ + 0.24772347509860992, + 0.06397710740566254, + 0.008280725218355656, + -3.137558546970137, + -0.3182441294193268, + 0.05797503888607025, + 0.0 + ], + [ + 0.245551198720932, + 0.06565085798501968, + 0.017987703904509544, + -3.1119693407141646, + -0.2676941454410553, + 0.012610610574483871, + 0.0 + ], + [ + 0.25361689925193787, + 0.0754113420844078, + 0.052143167704343796, + -3.048494542139121, + -0.25389203429222107, + -0.04745316505432129, + 0.0 + ], + [ + 0.2655375599861145, + 0.08271419256925583, + 0.07557573169469833, + -3.0146235545449933, + -0.2498181015253067, + -0.08531908690929413, + 0.0 + ], + [ + 0.288116455078125, + 0.0840938612818718, + 0.09052304923534393, + -2.9845775236659726, + -0.31086501479148865, + -0.157699853181839, + 0.0 + ], + [ + 0.30536654591560364, + 0.08497664332389832, + 0.08126462996006012, + -2.979100765781947, + -0.3543507158756256, + -0.19666944444179535, + 0.0 + ], + [ + 0.3171194791793823, + 0.08585114777088165, + 0.07172906398773193, + -2.9693435748391828, + -0.37848541140556335, + -0.2307359129190445, + 0.0 + ], + [ + 0.32326871156692505, + 0.08561698347330093, + 0.06749743968248367, + -2.96770832140977, + -0.3885834217071533, + -0.25910818576812744, + 0.0 + ], + [ + 0.325508177280426, + 0.08428245782852173, + 0.06680355221033096, + -2.9779660423570355, + -0.40692338347435, + -0.2582264244556427, + 1.0 + ], + [ + 0.326509952545166, + 0.08412644267082214, + 0.06705603003501892, + -2.9742354174428662, + -0.4145152270793915, + -0.2639847397804261, + 1.0 + ], + [ + 0.32639026641845703, + 0.08381786942481995, + 0.06698027998209, + -2.9768655021959027, + -0.41431435942649836, + -0.26267877221107483, + 1.0 + ], + [ + 0.32659295201301575, + 0.08390641957521439, + 0.06708153337240219, + -2.9758913685851773, + -0.4155514538288116, + -0.2629041373729706, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.15367639064788818, + 0.21446210145950317, + 0.21446210145950317, + 0.21446210145950317, + 0.21446210145950317, + 0.21446210145950317, + 0.21446210145950317, + 0.21446210145950317, + 0.21446210145950317, + 0.02763611078262329, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "723", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/723/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/742.json b/annotation/test/742.json new file mode 100644 index 0000000000000000000000000000000000000000..a8af44baf7a0da8c059b03b4599636786ef73aca --- /dev/null +++ b/annotation/test/742.json @@ -0,0 +1,641 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Set the fork onto the green cloth." + ], + "videos": [ + { + "video_path": "videos/test/742/rgb.mp4" + } + ], + "action": [ + [ + -0.00038942971497117694, + 5.8832512740789804e-05, + 0.0003520948123290077, + -0.00015512359356838283, + -0.0015241394151740955, + -0.0029899206919433274, + 1.0 + ], + [ + -0.0034240449150718497, + 0.002612445768120805, + 0.008828440181887155, + -0.01422455547215721, + -0.02645151941481505, + 0.004485173125311968, + 1.0 + ], + [ + -0.02554813647494533, + -0.012113763756510715, + 0.01428286764428822, + -0.06457525816805183, + -0.004852747478088321, + -0.004004486798505711, + 1.0 + ], + [ + -0.014898671082211563, + -0.006210308654717389, + 0.0020941219354231205, + -0.025972852949124773, + 0.016948015045829233, + 0.04753757499464421, + 1.0 + ], + [ + -0.020129237911000984, + -0.01330330288892992, + 0.01748936112579009, + 0.03260713347091838, + -0.02978461378110241, + -0.008640774593763778, + 1.0 + ], + [ + -0.0020023714168650618, + 0.007085382681383053, + 0.017760857850698943, + 0.038154625297786356, + -0.017062286822645524, + 0.033591051163466154, + 1.0 + ], + [ + -0.0033803215143057685, + 0.00506410960937916, + 0.02347855592621403, + 0.03672385789210676, + -0.02145050054730704, + 0.022587592826932113, + 1.0 + ], + [ + 0.0016665530062288934, + 0.004915208284906808, + 0.01671183398286472, + 0.023418988223399478, + -0.009954717145837191, + 0.009884023379251011, + 1.0 + ], + [ + 0.001710153375598002, + 0.003712093239374362, + 0.011835072503407552, + 0.009911255660593879, + -0.014778528439694266, + 0.01102221873009362, + 1.0 + ], + [ + 0.004205552428743824, + -0.0013079214694975607, + 0.007407635397306673, + -0.006385991462583905, + 0.021876262866538754, + -0.003997124562288953, + 1.0 + ], + [ + 0.004569862640354481, + -0.011843172533428363, + 0.0039041496090828935, + -0.03710098323487048, + 0.03380773749116304, + -0.06212916779201797, + 1.0 + ], + [ + -0.0005270707717997326, + -0.007248808230716408, + -5.1308748130327434e-05, + -0.03253536339238108, + 0.0202779262083706, + -0.012265459555563681, + 1.0 + ], + [ + -0.0036782863815651057, + -0.0005076515085248483, + -0.0012900824379665, + -0.016135484839809325, + -0.0005181240616226691, + 0.014824154935784614, + 0.0 + ], + [ + -0.006288614959552662, + 0.004196700210481631, + -0.006008758866300932, + -0.028544752628486974, + -0.009250639267854986, + 0.02075958073669017, + 0.0 + ], + [ + 0.005045737616659042, + 0.014439830223887458, + -0.028001982718943424, + -0.06171124475541384, + 0.08513237842023824, + 0.06136192245455314, + 0.0 + ], + [ + -0.0009464504083188342, + 0.0070009702761416725, + -0.037726739037637236, + -0.034292433835008476, + 0.09404588584799835, + 0.02995391145502398, + 0.0 + ], + [ + -0.023651305710547257, + -0.03165881813459394, + -0.02149510089224601, + 0.047784295424089705, + -0.009974420470914534, + -0.046742738625503245, + 0.0 + ], + [ + -0.02551074834997547, + -0.036630410785625574, + 0.007625416101800359, + 0.04056197860130467, + -0.07463728427061542, + -0.032685810687175486, + 0.0 + ], + [ + -0.010660728956653131, + -0.027113206975395, + 0.008692260246884425, + 0.010643907327422632, + -0.016463011631808525, + -0.0715319733419177, + 0.0 + ], + [ + -0.0021269270536627334, + -0.007062149326156913, + 0.009897278635243752, + 0.004535698734862136, + -0.01272343051296254, + -0.028029763408902987, + 0.0 + ], + [ + 0.005271575159283067, + -0.00031539383773294505, + 0.0035797110098486225, + 0.0097310296677584, + 0.0020566690128764158, + -0.009899042603980314, + 0.0 + ], + [ + 0.006256235843321039, + 0.00729081861064744, + 0.006017001828527804, + 0.0011153603880657264, + -0.008490145069164642, + 0.0259306826405711, + 0.0 + ], + [ + 0.011432141482222317, + 0.0003898927547733503, + 0.0030473326083614014, + 0.016562959423566417, + 0.0018223572535501682, + 0.026093353177854547, + 0.0 + ], + [ + 0.0013160690207057008, + 0.0007651278965115589, + 0.005266081764685824, + -0.002933255193422637, + -0.01752376064850207, + 0.002295290566765825, + 0.0 + ], + [ + -0.00014003918989849605, + -0.0017831694466314905, + 0.0037962769315944785, + -0.0008490407538907967, + -0.013539697197866622, + -0.008510561651542996, + 0.0 + ], + [ + -0.002866507566895239, + -0.000699193004121244, + -2.7451523612739967e-05, + 0.0044960744733199285, + -0.01805640985080678, + -0.004807844953044137, + 1.0 + ], + [ + 0.0008688666181780363, + 0.014121241072981806, + -0.015129453847140718, + 0.013719353138738876, + -0.008418823279590103, + 0.0017799658078590957, + 1.0 + ], + [ + 0.0025642104178837293, + 0.023990303980916224, + -0.030379315751831348, + 0.0049777304245118515, + 0.05517288307119559, + -0.01113992784476632, + 1.0 + ], + [ + 0.0035427497143264088, + 0.020446252196297563, + -0.013750715266212776, + -0.03079111668181268, + 0.030665233844476576, + -0.015233559983664937, + 1.0 + ], + [ + 0.0019581118891875055, + 0.010387348524790585, + 0.0012665491994500605, + -0.008999650638069229, + -0.004939430169724853, + -0.00699267821366081, + 1.0 + ], + [ + -0.00013473979233272708, + -0.00017036452074870183, + 2.9366849943058174e-05, + 0.003072629812004554, + -0.001698396632761425, + 0.0011488366805785673, + 1.0 + ], + [ + 0.0002164417859814496, + 0.0005338505835050756, + 2.8900375951756188e-05, + -0.0013650932738667237, + 0.0005208848661783983, + 0.0006095874025822286, + 1.0 + ] + ], + "state": [ + [ + 0.3186708092689514, + 0.0296150054782629, + 0.1361498236656189, + -3.0768599082999906, + -0.1295025795698166, + -0.03770897909998894, + 1.0 + ], + [ + 0.318329393863678, + 0.02959192730486393, + 0.13574734330177307, + -3.0774166007810315, + -0.12817442417144775, + -0.034601237624883645, + 1.0 + ], + [ + 0.3160117566585541, + 0.027630047872662544, + 0.1264055073261261, + -3.0912618358903607, + -0.10148923099040984, + -0.037393778562545776, + 1.0 + ], + [ + 0.29247453808784485, + 0.041336558759212494, + 0.11023201793432236, + 3.126916393759199, + -0.0968431755900383, + -0.033130291849374764, + 1.0 + ], + [ + 0.2780696451663971, + 0.04799627140164375, + 0.10661663860082626, + 3.1055581887536725, + -0.11437799036502838, + -0.08071809262037277, + 1.0 + ], + [ + 0.2612009644508362, + 0.06206679716706276, + 0.08647936582565308, + 3.137284266418316, + -0.08429814875125886, + -0.07313273847103119, + 1.0 + ], + [ + 0.2601765990257263, + 0.054960813373327255, + 0.06864356249570847, + -3.1049042252176484, + -0.0673329085111618, + -0.10686860978603363, + 1.0 + ], + [ + 0.2579572796821594, + 0.05097529664635658, + 0.044821206480264664, + -3.066713476675101, + -0.045052412897348404, + -0.12867099046707153, + 1.0 + ], + [ + 0.25990062952041626, + 0.047042183578014374, + 0.0278808381408453, + -3.0428832863741597, + -0.03438431397080422, + -0.13778749108314514, + 1.0 + ], + [ + 0.2616598904132843, + 0.044246360659599304, + 0.015803521499037743, + -3.0326386411958417, + -0.018589958548545837, + -0.14730006456375122, + 1.0 + ], + [ + 0.2662610113620758, + 0.045692384243011475, + 0.008661456406116486, + -3.039028251665183, + -0.04077110067009926, + -0.14570488035678864, + 1.0 + ], + [ + 0.2726549208164215, + 0.057065222412347794, + 0.006178869400173426, + -3.0786302407556256, + -0.08068924397230148, + -0.08721444755792616, + 1.0 + ], + [ + 0.27272069454193115, + 0.06431827694177628, + 0.006642044056206942, + -3.1120448132329663, + -0.10169385373592378, + -0.07619477808475496, + 1.0 + ], + [ + 0.26897570490837097, + 0.0650748610496521, + 0.007566406857222319, + -3.1266732133277735, + -0.10072683542966843, + -0.09107256680727005, + 0.0 + ], + [ + 0.2617597281932831, + 0.06143014878034592, + 0.01284938957542181, + 3.1300467095621904, + -0.0911460742354393, + -0.11177686601877213, + 0.0 + ], + [ + 0.2626309096813202, + 0.04712815582752228, + 0.04135856777429581, + 3.0738935490422925, + -0.17681296169757846, + -0.17288251221179965, + 0.0 + ], + [ + 0.2543465197086334, + 0.044074926525354385, + 0.07871178537607193, + 3.043611729639121, + -0.27261871099472046, + -0.19717827439308164, + 0.0 + ], + [ + 0.23376372456550598, + 0.0824606642127037, + 0.0899629220366478, + 3.0788149555497846, + -0.2578323781490326, + -0.150081068277359, + 0.0 + ], + [ + 0.2172662317752838, + 0.121445432305336, + 0.07387712597846985, + 3.1119861045205077, + -0.18119120597839355, + -0.12176716327667236, + 0.0 + ], + [ + 0.2118159532546997, + 0.14915665984153748, + 0.06262035667896271, + 3.109744144725152, + -0.1621595025062561, + -0.04981936886906624, + 0.0 + ], + [ + 0.21168673038482666, + 0.15591488778591156, + 0.05229255184531212, + 3.109782653050967, + -0.1484878659248352, + -0.021904131397604942, + 0.0 + ], + [ + 0.2174341380596161, + 0.15599040687084198, + 0.04952399432659149, + 3.118025006847926, + -0.15022124350070953, + -0.011831258423626421, + 0.0 + ], + [ + 0.22440603375434875, + 0.14847680926322937, + 0.0446825735270977, + 3.1230965984338006, + -0.14229287207126617, + -0.038220711052417755, + 0.0 + ], + [ + 0.2361280620098114, + 0.1475820541381836, + 0.04329492151737213, + -3.139786003511869, + -0.14454881846904755, + -0.0645504966378212, + 0.0 + ], + [ + 0.23813612759113312, + 0.1466950625181198, + 0.03827197477221489, + 3.140795035176449, + -0.12702056765556335, + -0.06683215498924257, + 0.0 + ], + [ + 0.23859642446041107, + 0.1484483778476715, + 0.03448713198304176, + 3.1388622504943093, + -0.11346948146820067, + -0.0582781657576561, + 0.0 + ], + [ + 0.23579102754592896, + 0.14931251108646393, + 0.03418794646859169, + -3.140368644502484, + -0.09539872407913208, + -0.05349868908524513, + 1.0 + ], + [ + 0.23446117341518402, + 0.13522371649742126, + 0.04931415244936943, + -3.1264800430559596, + -0.08697757869958878, + -0.055275000631809235, + 1.0 + ], + [ + 0.23305797576904297, + 0.1108173057436943, + 0.07943674921989441, + -3.122384302439638, + -0.142307847738266, + -0.044881626963615424, + 1.0 + ], + [ + 0.23374007642269135, + 0.09005920588970184, + 0.09315966814756393, + 3.127908785949, + -0.17324458062648773, + -0.030024588108062744, + 1.0 + ], + [ + 0.23554940521717072, + 0.07959646731615067, + 0.09238974004983902, + 3.117698589461394, + -0.16820573806762693, + -0.023001113906502724, + 1.0 + ], + [ + 0.23542609810829163, + 0.07976896315813065, + 0.09233422577381134, + 3.1209730637543878, + -0.1665351539850235, + -0.024206880480051037, + 1.0 + ], + [ + 0.23562951385974884, + 0.07922954857349396, + 0.09235246479511261, + 3.1197086201333484, + -0.1670684665441513, + -0.024814052507281307, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.052336275577545166, + 0.3408757448196411, + 0.5634372532367706, + 0.5670906603336334, + 0.568001925945282, + 0.568001925945282, + 0.568001925945282, + 0.568001925945282, + 0.568001925945282, + 0.568001925945282, + 0.568001925945282, + 0.568001925945282, + 0.568001925945282, + 0.49762243032455444, + 0.18319201469421387, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "742", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/742/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/744.json b/annotation/test/744.json new file mode 100644 index 0000000000000000000000000000000000000000..494eca599df0189d2f67cb59586985c307b2115e --- /dev/null +++ b/annotation/test/744.json @@ -0,0 +1,603 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move pot to back left of table." + ], + "videos": [ + { + "video_path": "videos/test/744/rgb.mp4" + } + ], + "action": [ + [ + 0.0006852865469352685, + 1.384279049195414e-05, + -0.00032853028356957033, + -2.771753843819027e-05, + 0.003067493311662787, + 3.010139237493149e-05, + 1.0 + ], + [ + -0.005521419095058978, + -0.000460595434963864, + 0.008503216630045185, + 0.001975249388488251, + -0.033724772083360076, + -0.004505254270567977, + 1.0 + ], + [ + -0.0068338258743592785, + -0.0059950013786195435, + 0.005567523758923805, + 0.01959436294513736, + -0.004231771242164464, + -0.005680976276192303, + 1.0 + ], + [ + -0.008502544173230712, + -0.013228094127167501, + 0.0072601710109116415, + 0.01741607612247655, + -0.010440565517873585, + -0.0371545850472456, + 1.0 + ], + [ + -0.008088450721710475, + -0.015571606453348343, + 0.009111367143121414, + 0.02305421305968236, + -0.008164172067899348, + -0.03003947479905728, + 1.0 + ], + [ + -0.005495892687024575, + -0.008538842889018676, + 0.012311345418762446, + 0.0019457039199754713, + -0.017992056290785312, + -0.019674859925493907, + 1.0 + ], + [ + -0.0006774346897805266, + -0.0019868138635949157, + 0.014817968261815917, + 0.007853123314303698, + -0.021600076240523045, + 0.0007312275145144494, + 1.0 + ], + [ + 0.0016159446717776034, + -0.0021042814593901205, + 0.01659011499464926, + 0.021067203771543048, + -0.02232882581123024, + -0.004381282447556252, + 1.0 + ], + [ + -0.00042805109724795045, + 0.0016036748491817542, + 0.012549206783589287, + -0.0008390733820724828, + -0.024240993161850626, + -0.008172468143862032, + 1.0 + ], + [ + -0.00035642840314948927, + 0.00028608365472012265, + 0.002991952448424966, + 0.0017770389141782573, + 0.00794169003827306, + -0.009578889695314768, + 1.0 + ], + [ + -0.005062881953243586, + 0.002101992348191196, + 0.0033331228993981857, + 0.004652652345039711, + -0.011208287075684616, + 0.003728188941057046, + 0.0 + ], + [ + 0.0012516825556247039, + 0.00027967224788037146, + -0.002399210388449307, + -0.00037302063063741165, + 0.01387447725588331, + 0.0039900598493653565, + 0.0 + ], + [ + -0.0006690286974151105, + 0.00016713232613325824, + -0.00810430554573272, + -0.0067410069594677526, + 0.022390944778933497, + 0.0024500783626169005, + 0.0 + ], + [ + -0.0012631301007225788, + 0.001480317104612292, + -0.01236847232436742, + -0.013809551535889327, + 0.010007681470104227, + 0.0068888126885234355, + 0.0 + ], + [ + 0.02187758993983548, + -0.011467200382454246, + -0.019405920316503778, + -0.015724107703069326, + 0.03897123568568878, + -0.03121683196760234, + 0.0 + ], + [ + 0.03839516779970213, + -0.0022224012854757465, + -0.018077145341750544, + -0.007914781747973346, + 0.0628535424213595, + 0.0001592318543901366, + 0.0 + ], + [ + 0.03280028437924685, + -0.0037168335517560507, + 0.009949093941987756, + 0.012784080957829848, + -0.006283784941396339, + -0.017341310369551152, + 0.0 + ], + [ + 0.023432556385231475, + -0.006239102771548166, + 0.017878846499452154, + 0.05147312742610428, + -0.019114819840506322, + 0.008173978625506593, + 0.0 + ], + [ + 0.012423277029461981, + -0.0015104877158570492, + 0.028183691168585795, + 0.05510391736047302, + -0.04804162833600712, + 0.02339036728370415, + 0.0 + ], + [ + 0.01189775244090238, + -0.0003152669632146434, + 0.014771658538006141, + 0.0158338480189578, + -0.01709573258356861, + 0.006272039715692152, + 0.0 + ], + [ + 0.006995241991674694, + 0.0007980117833153869, + 0.0036830682923485857, + 0.004715626839092315, + -0.0009224430739910517, + 0.014856820497801357, + 0.0 + ], + [ + 0.0008151502527075113, + 0.001248118132740359, + 0.0036979946785032037, + -0.004879466246132431, + -0.010960479941778034, + 0.006371045841428775, + 0.0 + ], + [ + -5.1774022066700154e-05, + 0.0006720822562794186, + -0.00024432406028547743, + -0.004247489352893614, + 0.004413820916430819, + -0.0007444163212386578, + 1.0 + ], + [ + -0.0016739562721081725, + -0.0018347931303898499, + -0.017952086965927167, + -0.010510605630038888, + 0.04314570392925358, + -0.0028259779151208818, + 1.0 + ], + [ + -0.004009642841351682, + -0.005344678163320313, + -0.034516949371153495, + -0.02034505474116992, + 0.07966012603100947, + -0.02196723566527174, + 1.0 + ], + [ + -0.01663003027292347, + -0.003398585627524181, + -0.03542977193676772, + -0.047277645906812264, + 0.07131168314831235, + -0.037706353446306407, + 1.0 + ], + [ + -0.024551442845798088, + 0.0019896991591235136, + -0.015818422507952123, + -0.0430313601719619, + -0.010455127125845776, + -0.010911597777217159, + 1.0 + ], + [ + -0.020699787881395995, + 0.0002103891007823375, + 0.0034693188622616942, + -0.013834068425838925, + -0.03575883348936302, + 0.03459303764081269, + 1.0 + ], + [ + -0.006573082203755258, + -0.0009086466079945264, + 0.0015782416154878952, + 0.0035183861414024996, + -0.006617901921004309, + 0.022735997318776218, + 1.0 + ], + [ + 7.839029102904777e-05, + -0.0004006658197199146, + 0.00046816626945594655, + 0.002434231958743273, + -0.00030248858384377737, + 0.0018423054134492182, + 1.0 + ] + ], + "state": [ + [ + 0.2746134102344513, + -0.027202488854527473, + 0.10981796681880951, + 3.1197501105540475, + -0.14399996399879456, + -0.07226301729679108, + 1.0 + ], + [ + 0.27524229884147644, + -0.02725469507277012, + 0.11024165898561478, + 3.1197169368439397, + -0.14706738293170932, + -0.07222571223974229, + 1.0 + ], + [ + 0.27105849981307983, + -0.026676787063479424, + 0.10101318359375, + 3.121124444650956, + -0.11325109004974365, + -0.06843739002943039, + 1.0 + ], + [ + 0.2653278410434723, + -0.02039038948714733, + 0.09458828717470169, + 3.1400831008846914, + -0.10890215635299683, + -0.06281093508005141, + 1.0 + ], + [ + 0.25851166248321533, + -0.0067184604704380035, + 0.08642716705799103, + -3.129740348207303, + -0.09833022207021713, + -0.025493845343589783, + 1.0 + ], + [ + 0.25174057483673096, + 0.009137795306742191, + 0.07675005495548248, + -3.109661145257302, + -0.09047784656286241, + 0.004763120785355568, + 1.0 + ], + [ + 0.24731187522411346, + 0.01804434508085251, + 0.06427023559808731, + -3.1095502880686006, + -0.07310450822114944, + 0.0250534676015377, + 1.0 + ], + [ + 0.2476515769958496, + 0.020514145493507385, + 0.04951343312859535, + -3.1016868521743497, + -0.05149209499359131, + 0.02501467987895012, + 1.0 + ], + [ + 0.2500443458557129, + 0.023339349776506424, + 0.033125508576631546, + -3.080881541716405, + -0.0293551255017519, + 0.030284402891993523, + 1.0 + ], + [ + 0.25001242756843567, + 0.022498685866594315, + 0.020494995638728142, + -3.0819881727271756, + -0.005653287284076214, + 0.039910279214382165, + 1.0 + ], + [ + 0.24967753887176514, + 0.022377880290150642, + 0.017489347606897354, + -3.080263102548667, + -0.01415123976767063, + 0.04899967089295387, + 1.0 + ], + [ + 0.2447628378868103, + 0.020240843296051025, + 0.013962360098958015, + -3.0755639394098004, + -0.0027354562189430003, + 0.04596567153930664, + 0.0 + ], + [ + 0.24602679908275604, + 0.01986115612089634, + 0.016341304406523705, + -3.0759179909997663, + -0.016316398978233337, + 0.041068609803915024, + 0.0 + ], + [ + 0.2452554553747177, + 0.01913023367524147, + 0.024405179545283318, + -3.082579096900769, + -0.03849814832210541, + 0.03715217858552933, + 0.0 + ], + [ + 0.24360458552837372, + 0.016860123723745346, + 0.03660711273550987, + -3.0960996096306523, + -0.048081040382385254, + 0.029676811769604683, + 0.0 + ], + [ + 0.2641771733760834, + 0.02804829552769661, + 0.057542938739061356, + -3.1132277884804687, + -0.08841054886579514, + 0.05918024107813835, + 0.0 + ], + [ + 0.30065611004829407, + 0.031921468675136566, + 0.07899513840675354, + -3.1209128500246486, + -0.15123409032821655, + 0.057217564433813095, + 0.0 + ], + [ + 0.3342892527580261, + 0.03777617588639259, + 0.07417932152748108, + -3.110791031392761, + -0.14528699219226837, + 0.07487078756093979, + 0.0 + ], + [ + 0.35945454239845276, + 0.04646966978907585, + 0.06007983162999153, + -3.058206806080886, + -0.12592531740665436, + 0.06723033636808395, + 0.0 + ], + [ + 0.3749964237213135, + 0.051377493888139725, + 0.03390153869986534, + -3.000590430694171, + -0.07607923448085785, + 0.04789293184876442, + 0.0 + ], + [ + 0.38783878087997437, + 0.05438384413719177, + 0.020267261192202568, + -2.984447019296237, + -0.05827118828892707, + 0.044080045074224465, + 0.0 + ], + [ + 0.39504361152648926, + 0.054489653557538986, + 0.01691846363246441, + -2.9789006282859525, + -0.05502894893288612, + 0.029528658837080002, + 0.0 + ], + [ + 0.3960875868797302, + 0.053887560963630676, + 0.013117801398038864, + -2.9835235347324094, + -0.04318070039153099, + 0.025013230741024017, + 0.0 + ], + [ + 0.39604759216308594, + 0.05318417772650719, + 0.0132509246468544, + -2.987771215038844, + -0.04765667393803597, + 0.025053620338439945, + 1.0 + ], + [ + 0.3935413062572479, + 0.052183669060468674, + 0.03117196075618267, + -2.997955696778842, + -0.09072526544332503, + 0.02121930755674839, + 1.0 + ], + [ + 0.3863779902458191, + 0.052380483597517014, + 0.06559158861637115, + -3.0187969227605542, + -0.1727028638124466, + 0.03165427595376969, + 1.0 + ], + [ + 0.3639230728149414, + 0.05070226266980171, + 0.09778378158807755, + -3.0708937664800366, + -0.24802204966545105, + 0.0611521527171135, + 1.0 + ], + [ + 0.3365251421928406, + 0.04591677710413933, + 0.10691653937101364, + -3.1168622506135186, + -0.23834675550460813, + 0.07311262190341951, + 1.0 + ], + [ + 0.317291259765625, + 0.044383157044649124, + 0.0986541286110878, + -3.1225754619860133, + -0.20160688459873202, + 0.03874041140079498, + 1.0 + ], + [ + 0.3111320734024048, + 0.045083627104759216, + 0.09580884128808975, + -3.1144481675052127, + -0.1945057213306427, + 0.015700368210673332, + 1.0 + ], + [ + 0.31129083037376404, + 0.045499395579099655, + 0.09537549316883087, + -3.1116528288745364, + -0.19415301084518435, + 0.013831844553351402, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.07365119457244873, + 0.33987146615982056, + 0.675596296787262, + 0.8595740050077438, + 0.9201150313019753, + 0.9227741435170174, + 0.9227741435170174, + 0.9227741435170174, + 0.9227741435170174, + 0.9227741435170174, + 0.9227741435170174, + 0.9227741435170174, + 0.879532054066658, + 0.6942910552024841, + 0.39409196376800537, + 0.12597006559371948, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "744", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/744/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/745.json b/annotation/test/745.json new file mode 100644 index 0000000000000000000000000000000000000000..dc551fa2e9d5f6322abe3bdbd060a84a733da819 --- /dev/null +++ b/annotation/test/745.json @@ -0,0 +1,641 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the orange object to the bottom center of the table" + ], + "videos": [ + { + "video_path": "videos/test/745/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 3.885296695672532e-09, + 2.8199189536095846e-09, + -0.0015339577422754705, + 1.0 + ], + [ + -0.002634926898069806, + 0.000782070474082921, + 0.009503287815675445, + -0.010594396144648528, + -0.030530398006177357, + -0.01057543468693838, + 1.0 + ], + [ + 0.013060610491882889, + -0.008840493799846107, + 0.002163060765422346, + 0.00048325604187997285, + -0.0018494778140666275, + -0.04776227979319842, + 1.0 + ], + [ + 0.03034488798957238, + -0.018254484962486238, + 0.008520013558353634, + 0.005480198633553766, + -0.008926410604706102, + -0.08639585610286475, + 1.0 + ], + [ + 0.03704275825398105, + -0.010494572724136342, + 0.009018367634249135, + 0.017853680235083536, + 0.01030020754429277, + -0.0613214285363667, + 1.0 + ], + [ + 0.02800468621924005, + -0.007701472591789884, + 0.017860945231409714, + 0.02034655072608224, + -0.018182509402333177, + -0.048361781903566096, + 1.0 + ], + [ + 0.009047833413777052, + -0.003761544950351778, + 0.022592794822780128, + 0.019548690430745013, + -0.043492546577986076, + -0.024842132254993238, + 1.0 + ], + [ + -0.0006209508561021929, + -0.0001682183315440514, + 0.02037931964986266, + 0.012101567839813913, + -0.04284675582969769, + -0.0035534677217308776, + 1.0 + ], + [ + -0.0029643976789166366, + 3.886485008249573e-05, + 0.007192967368650677, + 0.007465791117033187, + -0.022811397514388827, + 0.0006980193378662935, + 1.0 + ], + [ + -0.0015474876087475144, + -0.0007082663628802088, + 0.0027501474451739082, + 0.006375294400341401, + -0.001463044180474185, + 0.0029117168527229525, + 1.0 + ], + [ + -0.005380653927454091, + 0.0013914338308240765, + 0.007502373189094808, + -0.0030866995862554817, + -0.007456033846273442, + 0.00881581822886369, + 0.0 + ], + [ + -0.004386236719839192, + 0.0008718189459533765, + 0.0031447512633473113, + -0.0024605483256685203, + -0.004455842495551155, + 0.008948024435393664, + 0.0 + ], + [ + -0.003407562455896845, + 0.0017305325490224084, + 0.0008801739937933051, + -0.008753476662537485, + 0.004888532170591549, + 0.01079090573214827, + 0.0 + ], + [ + 0.005541197787447536, + 0.006027655921535181, + -0.007851081107381652, + -0.05224741224465577, + 0.006667804904624131, + 0.002038577657227347, + 0.0 + ], + [ + 0.0247648340366461, + 0.0053661511479313004, + -0.024746701125557564, + -0.04499015318282301, + 0.08875807126351468, + -0.01620305634674131, + 0.0 + ], + [ + 0.011046102778215657, + 0.013847670739965326, + -0.01669510810487918, + -0.07115988509636341, + 0.02984574047708699, + -0.006625544123632981, + 0.0 + ], + [ + -0.01997457512905098, + 0.028085777141273204, + -0.038765980544409884, + -0.06153435840839613, + 0.051778884175793426, + 0.0619179799670464, + 0.0 + ], + [ + -0.04053637553072401, + 0.029926408122145785, + -0.02650856830858372, + -0.02422083234390125, + 0.019183191099916393, + 0.09490088609058744, + 0.0 + ], + [ + -0.036908668830663835, + 0.011946317524031655, + -0.003899282193838968, + -0.03104745796882505, + -0.036588369668386335, + 0.04030718204447885, + 0.0 + ], + [ + -0.03651486602113017, + 0.018702250664723096, + 0.014468445603812672, + -0.013038639680741876, + -0.06280693300699912, + 0.07910255616373706, + 0.0 + ], + [ + -0.02737860223722047, + 0.016651376796749478, + 0.025249661077296884, + 0.011529591383176633, + -0.07147345628102558, + 0.0924910019048105, + 0.0 + ], + [ + -0.013799064631581587, + 0.008462685959359539, + 0.018139274390826708, + 0.0290892124746051, + -0.03277820841795461, + 0.052655831262224534, + 0.0 + ], + [ + -0.0073829206476269905, + 0.010581609662677183, + 0.014163485902098198, + 0.02129021726310562, + -0.028303702757825667, + 0.05250256627056824, + 0.0 + ], + [ + -0.003829421121672836, + -0.00031271238083265386, + 0.009915906546468576, + 0.026281520984531823, + -0.011643458392588292, + 0.010877450969377108, + 0.0 + ], + [ + -0.0010241683202104105, + -0.002679471142476942, + 0.006864387848101277, + 0.013268697325451134, + -0.014606665589644388, + 0.003634908269241436, + 1.0 + ], + [ + -0.0020366805828731195, + 0.0008687102372352412, + -1.545891512538888e-05, + -0.005548326133551161, + -0.012814028790989076, + 0.005462475451054476, + 1.0 + ], + [ + -0.0012721583774950441, + -0.01323704826706202, + -0.03271240856378007, + -0.0041815825502718815, + 0.050586025950728274, + -0.05510344931849562, + 1.0 + ], + [ + 0.00417707946256082, + -0.018052630495649206, + -0.047367671175979086, + -0.00138024520040421, + 0.0806715931240266, + -0.03749410131031488, + 1.0 + ], + [ + 0.0007246690345252799, + -0.01839923055020541, + -0.0229303472355984, + 0.01010639515311964, + 0.0272628425918161, + -0.044787256144591496, + 1.0 + ], + [ + 0.002306824946320484, + -0.010133267660454156, + 0.0032273622104985037, + -0.007582778154516376, + -0.02647626785747222, + -0.04210125419916596, + 1.0 + ], + [ + 0.0032987812541618025, + -0.006539747648800495, + 0.0017545259351121711, + 0.03708019706688491, + 0.021612556400809075, + -0.020353729163061742, + 1.0 + ], + [ + -6.452910615484665e-05, + -0.00019554895198113854, + -1.3083192448655193e-07, + 0.001232793987677967, + -0.0004078199173523106, + 0.0008164432693507268, + 1.0 + ] + ], + "state": [ + [ + 0.29029330611228943, + 0.09889328479766846, + 0.09762205183506012, + -3.067448431747504, + -0.21029672026634216, + 0.03456497564911842, + 1.0 + ], + [ + 0.29029330611228943, + 0.09889328479766846, + 0.09762205183506012, + -3.067775050299712, + -0.21041010320186615, + 0.036129217594861984, + 1.0 + ], + [ + 0.28971123695373535, + 0.09879312664270401, + 0.08774692565202713, + -3.081058381246873, + -0.18072541058063504, + 0.049134191125631325, + 1.0 + ], + [ + 0.30239540338516235, + 0.10838283598423004, + 0.08849666267633438, + -3.089373869942971, + -0.18155908584594727, + 0.09772005677223204, + 1.0 + ], + [ + 0.3316349387168884, + 0.13001307845115662, + 0.08654441684484482, + -3.099978456395217, + -0.17645896971225739, + 0.18583381175994873, + 1.0 + ], + [ + 0.36694711446762085, + 0.14770281314849854, + 0.08460625261068344, + -3.093066955106803, + -0.18896913528442383, + 0.24777352809906006, + 1.0 + ], + [ + 0.3946950435638428, + 0.16355064511299133, + 0.07271141558885574, + -3.0821467620604714, + -0.17292234301567078, + 0.2976984977722168, + 1.0 + ], + [ + 0.4053938388824463, + 0.1721648871898651, + 0.05227180942893028, + -3.0673157071047505, + -0.13091735541820526, + 0.32529348134994507, + 1.0 + ], + [ + 0.4067859351634979, + 0.1744074672460556, + 0.032053910195827484, + -3.0560288300090512, + -0.08844954520463942, + 0.33203893899917597, + 1.0 + ], + [ + 0.404405415058136, + 0.17419591546058655, + 0.024650106206536293, + -3.048651823895522, + -0.06566189229488373, + 0.33329564332962036, + 1.0 + ], + [ + 0.40279772877693176, + 0.17465569078922272, + 0.02188178151845932, + -3.0420950969033917, + -0.06393468379974365, + 0.3305266201496124, + 1.0 + ], + [ + 0.3983857035636902, + 0.1724659651517868, + 0.01395005639642477, + -3.0446683039241513, + -0.05563776567578315, + 0.3224828541278839, + 0.0 + ], + [ + 0.39458009600639343, + 0.1706003099679947, + 0.010496756061911583, + -3.046659508841582, + -0.05033492296934128, + 0.31399738788604736, + 0.0 + ], + [ + 0.39189934730529785, + 0.16800618171691895, + 0.00928637757897377, + -3.054853210347243, + -0.05417542532086372, + 0.3027753233909607, + 0.0 + ], + [ + 0.39879676699638367, + 0.16315707564353943, + 0.01687510311603546, + -3.106957474845, + -0.06064137443900108, + 0.30016201734542847, + 0.0 + ], + [ + 0.4228288233280182, + 0.16408434510231018, + 0.04287687689065933, + 3.1305679912962994, + -0.1499018967151642, + 0.3133698999881745, + 0.0 + ], + [ + 0.4350375235080719, + 0.15367832779884338, + 0.0611843466758728, + 3.0583479200773915, + -0.17966911196708682, + 0.32043480873107916, + 0.0 + ], + [ + 0.4172370433807373, + 0.1216774731874466, + 0.09792239218950272, + 3.0073842873149594, + -0.236112043261528, + 0.2614880502223968, + 0.0 + ], + [ + 0.3790738880634308, + 0.08443530648946762, + 0.11787449568510056, + 3.0058624168210706, + -0.2667897939682007, + 0.16667433083057404, + 0.0 + ], + [ + 0.3444158434867859, + 0.06713686883449554, + 0.11343009024858475, + 2.9870272149615964, + -0.2357171922922134, + 0.120533749461174, + 0.0 + ], + [ + 0.31430506706237793, + 0.04263177141547203, + 0.09380136430263519, + 2.995119484263011, + -0.18490600585937503, + 0.031309548765420914, + 0.0 + ], + [ + 0.2921811044216156, + 0.02177070826292038, + 0.06660305708646774, + 3.0258937646918973, + -0.12671229243278503, + -0.0712505578994751, + 0.0 + ], + [ + 0.27992796897888184, + 0.012118400074541569, + 0.04795478284358978, + 3.0622227882319173, + -0.10002890229225159, + -0.1275966912508011, + 0.0 + ], + [ + 0.2724718749523163, + 0.001308040227741003, + 0.03400397300720215, + 3.089063013094016, + -0.07582583278417586, + -0.18231724202632904, + 0.0 + ], + [ + 0.2694178819656372, + 0.0016592182219028473, + 0.023823734372854233, + 3.1162154135578355, + -0.06476455181837083, + -0.1938144266605377, + 0.0 + ], + [ + 0.2693374752998352, + 0.004227214027196169, + 0.016841812059283257, + 3.129741095128008, + -0.050254303961992264, + -0.19782346487045285, + 1.0 + ], + [ + 0.26717108488082886, + 0.0037757153622806072, + 0.016765223816037178, + 3.124474186571785, + -0.0375051200389862, + -0.20344091951847074, + 1.0 + ], + [ + 0.26752039790153503, + 0.0177892055362463, + 0.04917570948600769, + 3.1181923059099397, + -0.08708214014768599, + -0.14733640849590302, + 1.0 + ], + [ + 0.2704111635684967, + 0.036726005375385284, + 0.09629346430301666, + 3.113282151641794, + -0.16678640246391296, + -0.10753503441810608, + 1.0 + ], + [ + 0.2694679796695709, + 0.05597938969731331, + 0.11850326508283615, + 3.1157071964168033, + -0.1925956755876541, + -0.06115178018808365, + 1.0 + ], + [ + 0.2730083763599396, + 0.06582777202129364, + 0.11552075296640396, + 3.1001060997420034, + -0.1648726761341095, + -0.019195908680558205, + 1.0 + ], + [ + 0.27671802043914795, + 0.07221909612417221, + 0.11406537145376205, + 3.1336405064263424, + -0.1855849027633667, + 0.0024029938504099846, + 1.0 + ], + [ + 0.2766543924808502, + 0.07241448760032654, + 0.11405206471681595, + 3.135027178219058, + -0.18518352508544922, + 0.0015690755099058151, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05465686321258545, + 0.31680428981781006, + 0.35293054580688477, + 0.35293054580688477, + 0.35293054580688477, + 0.35293054580688477, + 0.35293054580688477, + 0.35293054580688477, + 0.35293054580688477, + 0.35293054580688477, + 0.35293054580688477, + 0.35293054580688477, + 0.35293054580688477, + 0.35293054580688477, + 0.28090745210647583, + 0.014131784439086914, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "745", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/745/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/746.json b/annotation/test/746.json new file mode 100644 index 0000000000000000000000000000000000000000..fe0aa4fa4d459106b08f1a303f71095ea3c44def --- /dev/null +++ b/annotation/test/746.json @@ -0,0 +1,831 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Place grater on the bottom right" + ], + "videos": [ + { + "video_path": "videos/test/746/rgb.mp4" + } + ], + "action": [ + [ + 3.7722257276889214e-05, + -0.00048703729340862596, + 1.3186725075308273e-05, + 0.0002981149268853188, + -1.7425648473644425e-05, + -0.001504640180828177, + 1.0 + ], + [ + -0.004039167443603736, + 0.0015036252361524682, + 0.00803846520379372, + 0.0012161498936250244, + -0.032128483349035786, + -0.0017658114922137072, + 1.0 + ], + [ + 0.003273438314462698, + 0.029179168634476893, + -0.008333842132127211, + -0.011838139684971868, + 0.011175399203958825, + 0.06470775843213811, + 1.0 + ], + [ + 0.005223648640679128, + 0.019999082921853765, + -0.009028670110966133, + 0.040179389384902446, + 0.023915145610192097, + 0.040990654964645906, + 1.0 + ], + [ + 0.002143707336282355, + 0.023374753107367835, + -0.005090773984399952, + -0.02898514953851487, + 0.0252373959677747, + 0.06320957881287692, + 1.0 + ], + [ + -0.0020155579634669528, + 0.02588759469757091, + 0.0011737994840818257, + -0.01163556234609984, + 0.035463807517646356, + 0.08730201822913483, + 1.0 + ], + [ + 0.0006093172103484111, + 0.01405427501823516, + 0.015495954448467656, + -0.018717545958962623, + -0.002138163870850952, + 0.03323636138598717, + 1.0 + ], + [ + 0.0015815855843361484, + 0.010577880686032307, + 0.021048534934919354, + 0.0014641060119731663, + -0.025121342170873123, + 0.027162680030326104, + 1.0 + ], + [ + 0.005750598849646741, + 0.0032670989541562535, + 0.016640080782604653, + 0.003391544573143389, + -0.022344496622197344, + 0.006376488053403147, + 1.0 + ], + [ + 0.0035596090293099542, + 0.011350263646259344, + 0.013612315367660771, + 0.00837561930098758, + -0.016747896115461507, + 0.011819288896313732, + 1.0 + ], + [ + 0.0024243226079801177, + 0.0069312276054858245, + 0.005030799586089562, + -0.0035330699774924887, + -0.0023759405434256855, + 0.011522920638314017, + 1.0 + ], + [ + -0.002504711069896556, + 0.0071706950408230025, + 0.004384854874424538, + -0.012367573506433843, + -0.014118301762691717, + 0.027708069937231225, + 1.0 + ], + [ + -0.002036436673435138, + 0.0065630473457074755, + 0.0020482076576787945, + 0.009835230874252462, + 0.013121181555938569, + 0.0011670987501978284, + 1.0 + ], + [ + 0.0002617340050526642, + -0.0025139937189707236, + 0.0008461665807194809, + 0.011383998129203553, + 0.009760226368927524, + -0.011293749241714246, + 0.0 + ], + [ + -0.0016361357072316725, + -0.0015889201158773606, + 0.0010557433650169594, + 0.00942383030537461, + -0.0033188454823546106, + -0.005951957126619272, + 0.0 + ], + [ + -0.001279070756023624, + 0.0004954893771701583, + 0.000264058125787993, + -0.003967419546334373, + -0.002878328436400689, + -0.0024729900160192354, + 0.0 + ], + [ + -0.0008874999811860302, + -0.006157061621545277, + -0.005025927873683108, + -0.01278256532632274, + -0.0184713456062439, + -0.02396296312015112, + 0.0 + ], + [ + 0.009538731168006138, + 0.0012688311147737458, + -0.02459583226438008, + -0.031706373710856404, + 0.04857192336984563, + -0.028018941039448807, + 0.0 + ], + [ + 0.005479255021046959, + 0.0031901337946393478, + -0.022459077704476107, + -0.03661680497452074, + 0.04669300578828913, + -0.0036583197961011548, + 0.0 + ], + [ + -0.005343234865873372, + 0.0026379848104131813, + -0.020679133109672662, + -0.03622413810562149, + 0.0273477864342147, + 0.005396599500509502, + 0.0 + ], + [ + -0.020610683636927408, + 0.003353720413655843, + -0.01843380729077222, + -0.025582244513493484, + 0.0030329288283470987, + 0.03773217132127379, + 0.0 + ], + [ + -0.031674309269629934, + 0.017412387008920734, + -0.023158490239161233, + -0.043653844720523596, + 0.009144669950913483, + 0.09074092829792961, + 0.0 + ], + [ + -0.03194599575762133, + 0.012107437263578361, + -0.015037258448631335, + -0.03199909385925233, + -0.007318384320479752, + 0.09035893576898647, + 0.0 + ], + [ + -0.030012921459373093, + 0.009161278439758468, + -0.006530086007006642, + -0.03136749648975459, + -0.00976805642338802, + 0.10011524095963957, + 0.0 + ], + [ + -0.021175622480508687, + 0.011951085245185135, + 0.009353546901611446, + -0.024822596044955045, + -0.05281138704603206, + 0.10940659891291013, + 0.0 + ], + [ + -0.011537737122330015, + 0.016266993602405983, + 0.01222256404331242, + -0.026553102413346828, + -0.03479176935509517, + 0.11116136520094277, + 0.0 + ], + [ + -0.002559605556711705, + 0.017470696796293102, + 0.012144987783389698, + -0.028938909101688146, + -0.031238561285662464, + 0.10051746951579038, + 0.0 + ], + [ + 0.0006083608385474964, + 0.010854465842640574, + 0.018174301384161304, + -0.006837607378019852, + -0.040183459157424675, + 0.07871867068140595, + 0.0 + ], + [ + 0.001257721552754654, + 0.000958143551060051, + 0.01945887535322181, + -0.0008177411497946668, + -0.032053977910476095, + 0.038573051639570456, + 0.0 + ], + [ + 0.0018245015537773882, + -0.000244260256231551, + 0.015764385992829966, + -0.005405896809116679, + -0.012625881823364733, + 0.03744027243151508, + 0.0 + ], + [ + 0.006424713825204368, + 0.0010268370628902692, + 0.0061735245341366365, + -0.00548862677249952, + 0.03231319214432219, + 0.03731546601860679, + 0.0 + ], + [ + 0.002734500993046268, + 0.0012673377376405902, + 0.00437525643748391, + 0.0037699977117264397, + 0.010716883773448208, + 0.02459326255134085, + 0.0 + ], + [ + -0.000727078956258751, + -0.0002623150459440062, + 0.0017998189248417148, + 0.0046303083226014435, + -0.0066604105168233795, + -0.005606376129270013, + 0.0 + ], + [ + -0.005986118341411162, + 0.00012347921775976626, + 0.002323710384203747, + -0.0021293449489342892, + -0.03946157752295224, + -0.006587028791452254, + 0.0 + ], + [ + 0.0017929775068114173, + -0.00017744461404538254, + -0.001335574497502036, + 0.01041100841228077, + -0.0246449990389995, + -0.005501652655363627, + 1.0 + ], + [ + -0.0016307140983273553, + -0.0007945747433230789, + -0.0004656119973335948, + 0.006874500757877112, + -0.014381069149254529, + -0.01573353195844002, + 1.0 + ], + [ + -0.0008295544452373438, + 0.0017874712208551197, + -0.011608490241123183, + -0.02131702998771854, + -0.006990431219510169, + 0.001465175198265374, + 1.0 + ], + [ + 0.00432980983311178, + -0.008017945149436857, + -0.03328709663777725, + -0.04423947080101525, + 0.10078473310899005, + -0.029651654864395596, + 1.0 + ], + [ + 0.0006488067690816732, + -0.003675040063459837, + -0.024888453459077423, + -0.011562546776162358, + 0.02323682113826354, + -0.017698510381283467, + 1.0 + ], + [ + -0.001310662465507026, + 0.0006973785149114789, + -0.01819383347206963, + -0.011382770970514574, + -0.004888394436498877, + 0.0027771002667331054, + 1.0 + ], + [ + -5.464626503942746e-05, + -0.00035034237334883315, + -5.670089151949384e-05, + 0.0002932995936397354, + 0.00019605901246675511, + -0.0014928364929549416, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -2.905687383332364e-17, + 1.1267456270693792e-18, + -1.0884589039028726e-17, + 1.0 + ] + ], + "state": [ + [ + 0.25031569600105286, + 0.1970452517271042, + 0.08615125715732574, + -3.129862843202897, + -0.1955759972333908, + 0.7464104294776917, + 1.0 + ], + [ + 0.250013142824173, + 0.19742900133132935, + 0.08615125715732574, + -3.129862843202897, + -0.1955759972333908, + 0.747944414615631, + 1.0 + ], + [ + 0.24921460449695587, + 0.1947658210992813, + 0.07746434211730957, + -3.129062677855142, + -0.163469985127449, + 0.750114917755127, + 1.0 + ], + [ + 0.2705906331539154, + 0.17466117441654205, + 0.08585843443870544, + -3.130220204713293, + -0.17348709702491757, + 0.6842864155769348, + 1.0 + ], + [ + 0.28610628843307495, + 0.16137804090976715, + 0.09542867541313171, + -3.082786889868327, + -0.19678491353988647, + 0.6422257423400879, + 1.0 + ], + [ + 0.3013651967048645, + 0.1432781219482422, + 0.09948443621397018, + -3.0989522991054734, + -0.217849001288414, + 0.5760943293571472, + 1.0 + ], + [ + 0.31418973207473755, + 0.12082653492689133, + 0.09682635962963104, + -3.090967847155877, + -0.24868719279766086, + 0.4845869541168213, + 1.0 + ], + [ + 0.32441121339797974, + 0.11123128980398178, + 0.08128701895475388, + -3.1013208982818803, + -0.24473136663436892, + 0.4504849910736084, + 1.0 + ], + [ + 0.3347058594226837, + 0.10541108250617981, + 0.06085226312279701, + -3.0933733602338513, + -0.21845223009586337, + 0.42372852563858027, + 1.0 + ], + [ + 0.3441498577594757, + 0.10697079449892044, + 0.04571906104683876, + -3.088801248120614, + -0.1958232671022415, + 0.41833490133285517, + 1.0 + ], + [ + 0.3541763722896576, + 0.09981031715869904, + 0.03249064460396767, + -3.0782625546031674, + -0.17846326529979709, + 0.4072412848472595, + 1.0 + ], + [ + 0.35987064242362976, + 0.09507987648248672, + 0.02754833549261093, + -3.079753467934676, + -0.17535123229026794, + 0.3957151174545288, + 1.0 + ], + [ + 0.3610250949859619, + 0.08809943497180939, + 0.022365665063261986, + -3.0874051881306848, + -0.15948440134525302, + 0.3685912787914276, + 1.0 + ], + [ + 0.36182641983032227, + 0.08150260150432587, + 0.01967206411063671, + -3.0772629549079618, + -0.17252282798290253, + 0.3666870892047882, + 1.0 + ], + [ + 0.3612575829029083, + 0.08402986079454422, + 0.01904432848095894, + -3.06773758132989, + -0.18297898769378662, + 0.3775101602077484, + 0.0 + ], + [ + 0.35930749773979187, + 0.08504501730203629, + 0.017826614901423454, + -3.0594578628712377, + -0.18010483682155606, + 0.38379237055778503, + 0.0 + ], + [ + 0.358367919921875, + 0.08415640145540237, + 0.017298586666584015, + -3.0639167596870145, + -0.17743843793869019, + 0.3865362405776977, + 0.0 + ], + [ + 0.3544944226741791, + 0.08878624439239502, + 0.02254430763423443, + -3.081238841759511, + -0.1608247309923172, + 0.4121876358985901, + 0.0 + ], + [ + 0.3606322705745697, + 0.08846846967935562, + 0.048230454325675964, + -3.116992501663514, + -0.21094675362110138, + 0.4377599358558655, + 0.0 + ], + [ + 0.36282795667648315, + 0.08536498993635178, + 0.07125558704137802, + 3.1290597302191934, + -0.2577149271965027, + 0.44035059213638306, + 0.0 + ], + [ + 0.35439300537109375, + 0.07876090705394745, + 0.08992034941911697, + 3.094173202412673, + -0.28512480854988104, + 0.4350866079330445, + 0.0 + ], + [ + 0.3327636122703552, + 0.06597718596458435, + 0.10194527357816696, + 3.079642018424817, + -0.2897356152534485, + 0.3959071040153504, + 0.0 + ], + [ + 0.30452966690063477, + 0.03689401224255562, + 0.11607970297336578, + 3.063147062557288, + -0.3032612800598144, + 0.3015974760055542, + 0.0 + ], + [ + 0.2741076350212097, + 0.016023432835936546, + 0.12175197899341583, + 3.059787007170268, + -0.30175209045410156, + 0.206641286611557, + 0.0 + ], + [ + 0.2457135170698166, + 0.001287158695049584, + 0.11976130306720734, + 3.0600571652227124, + -0.2986118495464325, + 0.10139062255620958, + 0.0 + ], + [ + 0.22930532693862915, + -0.013120805844664574, + 0.10555193573236465, + 3.070013130205222, + -0.2529192268848419, + -0.015561257489025593, + 0.0 + ], + [ + 0.22062911093235016, + -0.03008732944726944, + 0.09198779612779617, + 3.072913298504897, + -0.2245023548603058, + -0.13180266320705414, + 0.0 + ], + [ + 0.2181646078824997, + -0.04818335920572281, + 0.08077452331781387, + 3.0675218795710286, + -0.19903340935707092, + -0.23625716567039487, + 0.0 + ], + [ + 0.21922554075717926, + -0.060956161469221115, + 0.06391555815935135, + 3.0771809463673314, + -0.1641145497560501, + -0.31878989934921265, + 0.0 + ], + [ + 0.22271476686000824, + -0.06443362683057785, + 0.04502428323030472, + 3.083067590492316, + -0.13447368144989014, + -0.35969713330268865, + 0.0 + ], + [ + 0.22614501416683197, + -0.06644821166992188, + 0.029659414663910866, + 3.082847798364707, + -0.1239607036113739, + -0.39810416102409363, + 0.0 + ], + [ + 0.23217949271202087, + -0.07049130648374557, + 0.02439802698791027, + 3.081791045265742, + -0.1583303362131119, + -0.4338854551315307, + 0.0 + ], + [ + 0.23460178077220917, + -0.07329609245061874, + 0.020591164007782936, + 3.0893995148413858, + -0.1704520434141159, + -0.45814427733421326, + 0.0 + ], + [ + 0.23430898785591125, + -0.07296431809663773, + 0.018683023750782013, + 3.0931265858286103, + -0.1635058522224426, + -0.4528221487998962, + 0.0 + ], + [ + 0.22923360764980316, + -0.07075729221105576, + 0.015424489974975586, + 3.0901945178681096, + -0.12376973032951356, + -0.4481233656406402, + 0.0 + ], + [ + 0.23079630732536316, + -0.071235790848732, + 0.016960401087999344, + 3.1000658368044576, + -0.09887352585792542, + -0.4438759386539459, + 1.0 + ], + [ + 0.22964151203632355, + -0.0697861760854721, + 0.017229542136192322, + 3.1054427606337747, + -0.08384037762880325, + -0.42870137095451355, + 1.0 + ], + [ + 0.22743304073810577, + -0.07027953118085861, + 0.028784606605768204, + 3.0842691009216985, + -0.07690734416246416, + -0.43042328953742987, + 1.0 + ], + [ + 0.2332037389278412, + -0.0620223805308342, + 0.061793453991413116, + 3.037011759477206, + -0.17577895522117612, + -0.3946517407894135, + 1.0 + ], + [ + 0.2322637438774109, + -0.05485709756612778, + 0.08590023964643478, + 3.0218707640939435, + -0.19700562953948975, + -0.37423378229141235, + 1.0 + ], + [ + 0.22830252349376678, + -0.05171065032482147, + 0.1034395769238472, + 3.0111534913354596, + -0.19248279929161075, + -0.37763768434524536, + 1.0 + ], + [ + 0.22838157415390015, + -0.05136037617921829, + 0.1034395769238472, + 3.0111534913354596, + -0.19248279929161072, + -0.3761036992073059, + 1.0 + ], + [ + 0.22838157415390015, + -0.05136037617921829, + 0.1034395769238472, + 3.0111534913354596, + -0.19248279929161072, + -0.3761036992073059, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.061691224575042725, + 0.3539353609085083, + 0.6055178344249725, + 0.6150853633880615, + 0.6150853633880615, + 0.6150853633880615, + 0.6159495413303375, + 0.6159495413303375, + 0.6150853633880615, + 0.6159495413303375, + 0.6159495413303375, + 0.6159495413303375, + 0.6159495413303375, + 0.6159495413303375, + 0.6159495413303375, + 0.6159495413303375, + 0.6159495413303375, + 0.6159495413303375, + 0.6159495413303375, + 0.6159495413303375, + 0.6159495413303375, + 0.5365830659866333, + 0.31480199098587036, + 0.04317682981491089, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "746", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/746/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/752.json b/annotation/test/752.json new file mode 100644 index 0000000000000000000000000000000000000000..e5dd56963041bc76b74a79a2bd1ef9539b9af0d5 --- /dev/null +++ b/annotation/test/752.json @@ -0,0 +1,945 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the spatula on top of the towel." + ], + "videos": [ + { + "video_path": "videos/test/752/rgb.mp4" + } + ], + "action": [ + [ + -0.00018122029287234923, + 0.00011176639211761209, + -1.3990963927214417e-07, + -0.0007039279806462922, + -0.0011433582232598146, + -0.0007413090341835444, + 1.0 + ], + [ + -0.005067749584717753, + 0.001100877096025102, + 0.007533468471689559, + 0.015778836168362554, + -0.02266118496474009, + 0.005620776905164792, + 1.0 + ], + [ + 0.005457730484006329, + -0.006609045511894442, + 0.022241640927008994, + 0.045576699792480795, + -0.0527190081180922, + -0.10528889292033239, + 1.0 + ], + [ + 0.015673156381810667, + -0.004689940489295572, + 0.012720179960488631, + 0.03302703374556465, + -0.008139333431531004, + -0.07498663785003822, + 1.0 + ], + [ + 0.014026025832321423, + -0.008622221559254888, + 0.017580908875131408, + 0.051161119134199476, + -0.021497796197633513, + -0.08734193409311496, + 1.0 + ], + [ + 0.010367394206865908, + -0.0036503093940081985, + 0.01726210037919487, + 0.03428314605670131, + -0.01972115067301878, + -0.05352489107581728, + 1.0 + ], + [ + 0.005112557192454923, + -0.006556887442450845, + 0.024268514968947, + 0.04447205942250859, + -0.036540039239385286, + -0.027826322124055648, + 1.0 + ], + [ + 0.0069790893376760485, + -0.0010090091561663571, + 0.01870058757920944, + 0.024108892540528084, + -0.015748429298223645, + -0.013206923460412376, + 1.0 + ], + [ + 0.0008670520571359576, + 0.0002706659710162781, + 0.01803947421172407, + 0.02985116708181521, + -0.021819006973162205, + -0.0013296412817259886, + 1.0 + ], + [ + 0.002804825038600171, + -0.0006259773154242633, + 0.017495732962883967, + 0.021334479934334537, + -0.01578894352103743, + -0.00743929840844724, + 1.0 + ], + [ + -0.0016472173038665392, + -0.001499937565332525, + 0.016562987921007483, + 0.019052683454198856, + -0.018348296661444077, + 0.01299991635786762, + 1.0 + ], + [ + -0.005022630925663651, + -0.0030397811939241073, + 0.014121944967048146, + 0.0052227308692216244, + -0.03223245910070192, + 0.003981429728767345, + 1.0 + ], + [ + -0.002437360526495808, + -0.005724003447532604, + 0.017253597481224278, + -0.00840524751144849, + -0.029810630244656112, + 0.0013729325157943748, + 1.0 + ], + [ + -0.0009754779296097877, + -0.001998207433696888, + 0.013303779731584826, + -0.004276829219301567, + -0.016935807755311633, + 0.011868605128534035, + 1.0 + ], + [ + 0.0002897206770250311, + 0.0025344064924615927, + 0.005694989507015542, + -0.007220369154535211, + -0.006752628446193442, + 0.017518293765071836, + 1.0 + ], + [ + 0.0038893997700243876, + 0.006934794251816383, + 0.00198925314185616, + -0.023984218349914217, + -0.012464631049163698, + 0.01560592123970454, + 1.0 + ], + [ + 0.0023987011089515817, + 0.00016676165681636583, + 0.0005291807011120205, + -0.002012609887525851, + 0.018202203892922524, + 0.024899387356842877, + 0.0 + ], + [ + -0.0018947259893529963, + -0.00043369074658790524, + 0.0009039405003638232, + 0.004999343142589351, + 0.0048910735797348965, + 0.014915756549620202, + 0.0 + ], + [ + -0.00409395067406518, + -0.00022945495176558727, + -0.00028454680796143186, + -0.017215230909346225, + -0.003694972333905929, + 0.00801785474128913, + 0.0 + ], + [ + -0.0046577993742645115, + -0.0027219643240413856, + -0.005600470875717199, + -0.0044094588768111755, + 0.004981317344641858, + 0.03327173347184515, + 0.0 + ], + [ + 0.008766417033702506, + -0.0010208809428040827, + -0.028020832898823622, + -0.032894251769133, + 0.06350174473792856, + 0.006211947914396672, + 0.0 + ], + [ + 0.008821037949350555, + 0.0023623744342738465, + -0.035717436445562745, + -0.04896151270131242, + 0.06227960762774885, + -0.0003102326216738861, + 0.0 + ], + [ + -0.0010960503484507775, + 0.005547283212869938, + -0.027153180156401138, + -0.052072917197184924, + 0.03962617420128988, + 0.022309631590526575, + 0.0 + ], + [ + -0.0115646392155163, + 0.014820583986938933, + -0.03145915798787028, + -0.06572595517834685, + 0.04124623226922284, + 0.06936407106230923, + 0.0 + ], + [ + -0.01675770749209357, + 0.026213437913777764, + -0.028822097454423323, + -0.08832196074353761, + 0.022202151488648864, + 0.0771403942354853, + 0.0 + ], + [ + -0.020741841393529584, + 0.022134864625315557, + -0.02068348721621474, + -0.06688729398484594, + 0.008435085464149552, + 0.10123580591278186, + 0.0 + ], + [ + -0.028292172549385736, + 0.0260930990273355, + -0.01783683665768363, + -0.05522002199124522, + 0.011005000360043484, + 0.15365736477167807, + 0.0 + ], + [ + -0.026656349910385884, + 0.009187029407934297, + -0.008450550773130594, + -0.038738078996486555, + -0.017949898886441096, + 0.0801025787517522, + 0.0 + ], + [ + -0.02912006164120113, + 0.004502148325679626, + -0.0030840126417575418, + -0.023536807055043598, + -0.03227324453273201, + 0.07084285329611849, + 0.0 + ], + [ + -0.022012989925061004, + -0.0032955681132909487, + 0.002584047696657893, + -0.00115984128911644, + -0.020887704472115635, + 0.03537348351754813, + 0.0 + ], + [ + -0.02296332429030381, + 0.0024384069984909242, + 0.01076155206712992, + -0.00756910631128862, + -0.041085564194317345, + 0.05017381225704114, + 0.0 + ], + [ + -0.010744361987483214, + 0.006533622573603287, + 0.012751642499951917, + -0.014606267517312291, + -0.0213779442157337, + 0.04880492029396899, + 0.0 + ], + [ + -0.008482784741035804, + 0.010581797670182205, + 0.01692704145916096, + -0.022559997796705693, + -0.04190876678048068, + 0.06709070676929457, + 0.0 + ], + [ + -0.005324551593306968, + 0.003892998491553348, + 0.017518330898560606, + -0.0017968384583294554, + -0.044048724598782486, + 0.03540117524717746, + 0.0 + ], + [ + 0.0013837735675145783, + 0.007957522245063811, + 0.0163457475346148, + -0.016842804538388795, + -0.036651571972133895, + 0.03367232361067342, + 0.0 + ], + [ + 0.0032673271258726053, + 0.003329152368378844, + 0.010575576396133256, + -0.001804835108230219, + -0.016280099722935638, + 0.011264042809198262, + 0.0 + ], + [ + 0.0012102458031847485, + -0.0008450984172964695, + 0.009776056473452923, + -0.004078987463339452, + -0.007265927131895827, + -0.028339918925664242, + 0.0 + ], + [ + 0.007430790166361409, + -0.0015314537947206154, + 0.0014061185637113606, + 0.004628526811981759, + 0.015292955218712432, + -0.022538100091939774, + 0.0 + ], + [ + 0.0018203676394132088, + -0.0037035349537318336, + -6.481851189765873e-05, + 0.006588098944828987, + -0.0037921111162413836, + -0.006183121087469224, + 0.0 + ], + [ + -0.0015645366513586908, + -0.0015948361268894196, + 0.00036619355372754066, + 0.010421975609829184, + -0.009784583314482748, + -0.008736674018998304, + 1.0 + ], + [ + -0.0014023447533063331, + 0.00017151173219950505, + -0.0015337481646567177, + -0.0022113819189585166, + -0.008729483194742906, + -0.010714160516554175, + 1.0 + ], + [ + 0.010728919509671433, + 0.0007962827902389792, + -0.017984514310232937, + -0.034770154882559974, + 0.0433409398395913, + -0.02580850496070908, + 1.0 + ], + [ + 0.01787230701557037, + -0.002213789705397723, + -0.028379996886153225, + -0.03831986117788766, + 0.0575032797670096, + -0.04637265713986054, + 1.0 + ], + [ + 0.017446146774297785, + -0.004681662534319309, + -0.029005840087156655, + -0.014433066642657437, + 0.0507853803041735, + -0.033210848853193885, + 1.0 + ], + [ + 0.01720043867691856, + -0.009318840686118036, + -0.02791979729959681, + 0.05513401635849654, + 0.07844508693497504, + -0.0003110878396031963, + 1.0 + ], + [ + -8.38910912899208e-05, + -0.0005472238207776017, + -0.00042343308813403227, + 0.0028819002343682455, + -0.0001288755785471438, + -0.0026976253968415036, + 1.0 + ], + [ + -0.0002099631231738705, + -0.0001228070791998542, + -1.9488144451883813e-07, + 0.0007744500152187139, + -0.0013241524763580143, + -5.121854467451903e-07, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.6859079589792874e-18, + -4.847696218151915e-17, + -2.362465715339627e-18, + 1.0 + ] + ], + "state": [ + [ + 0.3100665211677551, + -0.01694503426551819, + 0.19019301235675812, + -3.09885789652402, + -0.5876213312149047, + 0.5466148853302002, + 1.0 + ], + [ + 0.30999791622161865, + -0.017117494717240334, + 0.19008868932724, + -3.1000873056524476, + -0.5865104794502258, + 0.5475627779960632, + 1.0 + ], + [ + 0.3103824853897095, + -0.01780516467988491, + 0.18097680807113647, + -3.0812370759719094, + -0.5636284351348877, + 0.5420331954956056, + 1.0 + ], + [ + 0.32021787762641907, + -0.0026154157239943743, + 0.16546250879764557, + -3.102263359474488, + -0.513752281665802, + 0.6662877202033997, + 1.0 + ], + [ + 0.3325819671154022, + 0.013703126460313797, + 0.1622561365365982, + -3.1116203182661017, + -0.506973385810852, + 0.7523863315582275, + 1.0 + ], + [ + 0.34142163395881653, + 0.03450427204370499, + 0.15392948687076569, + -3.10881598864729, + -0.48597636818885803, + 0.8518648147583008, + 1.0 + ], + [ + 0.349558025598526, + 0.05019976943731308, + 0.1436222940683365, + -3.102888574945279, + -0.4672524034976959, + 0.9125044345855712, + 1.0 + ], + [ + 0.3530372977256775, + 0.06694352626800537, + 0.12450075894594193, + -3.072895901399203, + -0.4316047430038452, + 0.9446547031402588, + 1.0 + ], + [ + 0.3594529926776886, + 0.07972270995378494, + 0.11053762584924698, + -3.0553075691037854, + -0.4167535006999969, + 0.960244357585907, + 1.0 + ], + [ + 0.3630311191082001, + 0.08707745373249054, + 0.09443320333957672, + -3.0268420596891126, + -0.3951280117034912, + 0.963716447353363, + 1.0 + ], + [ + 0.36615273356437683, + 0.09617333114147186, + 0.07953756302595139, + -3.009311096864291, + -0.380277156829834, + 0.9736213088035583, + 1.0 + ], + [ + 0.36564213037490845, + 0.10195164382457733, + 0.06386446207761765, + -2.9860919286781034, + -0.36035284399986267, + 0.9624390006065369, + 1.0 + ], + [ + 0.3614135682582855, + 0.10496173799037933, + 0.04947853088378906, + -2.9811827411227902, + -0.32789260149002075, + 0.9635584354400635, + 1.0 + ], + [ + 0.35615524649620056, + 0.1121261715888977, + 0.03343445062637329, + -2.990665080147334, + -0.2982435524463653, + 0.9671217799186707, + 1.0 + ], + [ + 0.35449665784835815, + 0.11672450602054596, + 0.020863080397248268, + -2.9921178241544446, + -0.27970290184020996, + 0.9575647711753844, + 1.0 + ], + [ + 0.356967568397522, + 0.117354616522789, + 0.015167676843702793, + -2.994680391746112, + -0.2703787386417389, + 0.9406327605247498, + 1.0 + ], + [ + 0.364952951669693, + 0.11715563386678696, + 0.013331923633813858, + -3.014908643560954, + -0.25573840737342834, + 0.9265633225440979, + 1.0 + ], + [ + 0.36650848388671875, + 0.1190624013543129, + 0.013410447165369987, + -3.009859861927577, + -0.2705535590648651, + 0.8985478281974792, + 0.0 + ], + [ + 0.3650818467140198, + 0.11815100908279419, + 0.012095436453819275, + -3.0005921741300305, + -0.2734100818634033, + 0.8825237154960633, + 0.0 + ], + [ + 0.3623795211315155, + 0.11515994369983673, + 0.011292309500277042, + -3.0157325883680066, + -0.26861730217933655, + 0.874828815460205, + 0.0 + ], + [ + 0.3569639325141907, + 0.11179292947053909, + 0.015742486342787743, + -3.010953741269656, + -0.26922777295112615, + 0.8399377465248108, + 0.0 + ], + [ + 0.3596127927303314, + 0.11079566925764084, + 0.044983696192502975, + -3.039534242945262, + -0.33134925365448, + 0.824694812297821, + 0.0 + ], + [ + 0.3618796765804291, + 0.10442490130662918, + 0.08122457563877106, + -3.0861696807020387, + -0.39332956075668335, + 0.818162977695465, + 0.0 + ], + [ + 0.35930588841438293, + 0.09137345105409622, + 0.10556187480688095, + -3.127891019108244, + -0.43153291940689087, + 0.791241466999054, + 0.0 + ], + [ + 0.3535788357257843, + 0.06388486921787262, + 0.1291128396987915, + 3.1223394834720573, + -0.47067955136299133, + 0.7128361463546753, + 0.0 + ], + [ + 0.34899771213531494, + 0.026014035567641258, + 0.14764636754989624, + 3.073522465425082, + -0.49284768104553217, + 0.6257748007774353, + 0.0 + ], + [ + 0.33780717849731445, + -0.007583769038319588, + 0.15733875334262848, + 3.0612195452027997, + -0.5054109692573547, + 0.5109461545944214, + 0.0 + ], + [ + 0.3198385238647461, + -0.0458323173224926, + 0.16103003919124603, + 3.091774920123168, + -0.5221936106681824, + 0.3350529074668885, + 0.0 + ], + [ + 0.29670706391334534, + -0.06315655261278152, + 0.15544606745243073, + 3.0992970411949834, + -0.5063844919204712, + 0.2425272911787033, + 0.0 + ], + [ + 0.2714953124523163, + -0.07389326393604279, + 0.14418333768844604, + 3.115184499072381, + -0.4757138788700104, + 0.1613914966583252, + 0.0 + ], + [ + 0.2528693675994873, + -0.07365704327821732, + 0.13172829151153564, + 3.132346689822622, + -0.4554385244846344, + 0.1214088648557663, + 0.0 + ], + [ + 0.2373945415019989, + -0.0781017318367958, + 0.1119837835431099, + -3.134122396009513, + -0.41420504450798035, + 0.0662289708852768, + 0.0 + ], + [ + 0.23314666748046875, + -0.08483580499887466, + 0.09594190865755081, + -3.1275587353208145, + -0.39194819331169123, + 0.01360231265425682, + 0.0 + ], + [ + 0.23197001218795776, + -0.09519597887992859, + 0.0769224688410759, + -3.1231311952048024, + -0.3482052683830261, + -0.05708197876811028, + 0.0 + ], + [ + 0.2327607274055481, + -0.0988159254193306, + 0.058573927730321884, + -3.1125592180811843, + -0.30329710245132446, + -0.09328234940767288, + 0.0 + ], + [ + 0.23830626904964447, + -0.10684705525636673, + 0.0431736558675766, + -3.1193111446970185, + -0.26551938056945806, + -0.12703685462474823, + 0.0 + ], + [ + 0.24381326138973236, + -0.11066826432943344, + 0.03375702723860741, + -3.118163528042384, + -0.24897629022598267, + -0.13828060030937195, + 0.0 + ], + [ + 0.24750347435474396, + -0.11009758710861206, + 0.02460242062807083, + -3.1294850903847298, + -0.2422730922698975, + -0.10892125219106674, + 0.0 + ], + [ + 0.2551737129688263, + -0.10937876254320145, + 0.025038188323378563, + -3.1304032719978174, + -0.25777581334114075, + -0.08580885827541353, + 0.0 + ], + [ + 0.25721779465675354, + -0.105838343501091, + 0.02560499869287014, + -3.1254549102210483, + -0.25404801964759827, + -0.07937730103731155, + 0.0 + ], + [ + 0.2559204399585724, + -0.10412955284118652, + 0.024882309138774872, + -3.117336358996578, + -0.244395449757576, + -0.07021191716194154, + 1.0 + ], + [ + 0.2541793882846832, + -0.10421628504991531, + 0.026026681065559387, + -3.122266475232788, + -0.23591354489326477, + -0.05897841602563858, + 1.0 + ], + [ + 0.26033371686935425, + -0.10572535544633865, + 0.046002503484487534, + 3.1200902202450713, + -0.2796693742275238, + -0.033028069883584976, + 1.0 + ], + [ + 0.2697807550430298, + -0.10321247577667236, + 0.07816122472286224, + 3.0678476115041455, + -0.3358320593833923, + 0.01730837486684322, + 1.0 + ], + [ + 0.2767140865325928, + -0.09628540277481079, + 0.11089605838060379, + 3.0402704795175275, + -0.38379180431365967, + 0.05701890215277671, + 1.0 + ], + [ + 0.28191664814949036, + -0.08387364447116852, + 0.1422184556722641, + 3.091639546799012, + -0.46178805828094477, + 0.0662175491452217, + 1.0 + ], + [ + 0.281628280878067, + -0.08332383632659912, + 0.1425352245569229, + 3.093184134113141, + -0.4615228474140167, + 0.06921944767236708, + 1.0 + ], + [ + 0.2814348042011261, + -0.08321428298950195, + 0.14243657886981964, + 3.093990134196826, + -0.46020022034645086, + 0.06914850324392319, + 1.0 + ], + [ + 0.2814348042011261, + -0.08321428298950195, + 0.14243657886981964, + 3.093990134196826, + -0.46020022034645086, + 0.06914850324392319, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0712360143661499, + 0.2386212944984436, + 0.5384550094604492, + 0.5643518269062042, + 0.5643518269062042, + 0.5643518269062042, + 0.5643518269062042, + 0.5643518269062042, + 0.5643518269062042, + 0.5643518269062042, + 0.5643518269062042, + 0.5643518269062042, + 0.5643518269062042, + 0.5643518269062042, + 0.5643518269062042, + 0.5643518269062042, + 0.5643518269062042, + 0.5643518269062042, + 0.5643518269062042, + 0.5643518269062042, + 0.5643518269062042, + 0.5643518269062042, + 0.5643518269062042, + 0.49762243032455444, + 0.20490598678588867, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "752", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/752/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/791.json b/annotation/test/791.json new file mode 100644 index 0000000000000000000000000000000000000000..eec22f58c7a7f86d1664ec7744383faae78da58b --- /dev/null +++ b/annotation/test/791.json @@ -0,0 +1,641 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "upright basil bottle cardboard fence" + ], + "videos": [ + { + "video_path": "videos/test/791/rgb.mp4" + } + ], + "action": [ + [ + 0.00023602054905959822, + -3.826079090799383e-05, + -0.0003082949675193143, + 0.00022813923793905464, + 5.008814017270954e-05, + -0.00034328664453464163, + 1.0 + ], + [ + -0.00326523885598441, + -0.0014365212438032019, + 0.005163519365311995, + -0.0012919078441530393, + -0.025334181331463486, + -0.015844070569931222, + 1.0 + ], + [ + -0.006138745629316599, + -0.024702269289075013, + 0.004147103007389825, + -0.003997376592110925, + -0.08898039726545412, + -0.15998100225455272, + 1.0 + ], + [ + 0.010159646700649512, + -0.03432898516148074, + -0.0009124414721916913, + 0.02348750177197279, + -0.02130386977454752, + -0.16853188946724787, + 1.0 + ], + [ + 0.004340666756554024, + -0.033561713876965445, + 0.012326686828677224, + 0.010071213667484228, + -0.002034757642284768, + -0.21919144565155618, + 1.0 + ], + [ + 0.0065868821004481815, + -0.02455322955350258, + 0.009615586887944205, + -0.007144669995370577, + -0.0016794472745661033, + -0.26098821984622317, + 1.0 + ], + [ + -0.0033497504465212916, + -0.011376511557194768, + 0.00955738949975081, + -0.040294141330997776, + 0.08063808817611036, + -0.17366789965893675, + 1.0 + ], + [ + 0.005572410904538085, + -0.004456975014139812, + 0.00344630105679847, + -0.018924024320750264, + 0.009415271385979576, + -0.19061765268421263, + 1.0 + ], + [ + 0.0033595587217894276, + -0.00021128772639722652, + 0.008071621851646508, + -0.006001356786970912, + 0.036832658018292545, + -0.08509756652521931, + 1.0 + ], + [ + 0.0019307871598941875, + -0.0005949561050876569, + 0.007737700719321026, + 0.009813817483502152, + 0.0014266556189006267, + -0.0546449976385174, + 1.0 + ], + [ + -0.0015774054993589902, + -0.007227548362361695, + 0.013887266555959366, + 0.04570546512618253, + -0.05197145763267804, + 0.027215908609976552, + 1.0 + ], + [ + 0.0017915155482745005, + -0.006035733550313253, + 0.0027673548001399166, + 0.010967735072256506, + -0.03446026562908762, + -0.002363658133772849, + 1.0 + ], + [ + 0.0009386261363229767, + -0.004939731781006466, + -0.0008837486204200757, + 0.023611920400030947, + -0.022735732055930453, + 0.01577851674578397, + 1.0 + ], + [ + 0.0017652930632665897, + 0.0009250388687754213, + 0.006099449206601498, + 0.009931375814938042, + 0.026860026305170547, + 0.013093787961584455, + 1.0 + ], + [ + -0.004353998798934706, + 1.617169680832755e-05, + 0.007904667976358096, + -0.003914224824317498, + 0.0292024039768658, + 0.013986843494102657, + 1.0 + ], + [ + -0.0002609284747789882, + 0.0009748439524606614, + 0.0044216374208480656, + -0.0074307883217048995, + 0.01272669340143022, + 0.010395065442051479, + 1.0 + ], + [ + -0.002349407049153935, + -0.0013340113240924855, + 0.0020496338169331413, + -0.0017011001283431541, + 0.007683167894482205, + 0.0165070342001118, + 1.0 + ], + [ + 0.00039187728971782894, + -7.684362648560373e-05, + 0.0009521712733469598, + -0.00504040562122234, + 0.011555951529579094, + 0.011731905564730834, + 0.0 + ], + [ + -0.00021784780091921925, + -0.0010167355853123402, + 0.0007704703405148634, + 0.0033184074418248968, + 0.010860631171353934, + 0.004872805548869267, + 0.0 + ], + [ + -0.0006656623860129607, + 0.0005530197914412314, + -0.0007218950441184386, + 0.0022279162410486974, + 0.003282543889493428, + 0.002809384552170107, + 0.0 + ], + [ + -0.0023747734522490127, + -0.002695439445160195, + -0.01630328828607508, + 0.006900906055156445, + -0.016624464747955578, + -0.0020736200301811167, + 0.0 + ], + [ + -0.0005095616226986425, + 0.001968191143038701, + -0.024274766417046158, + 0.0018172095658767656, + -0.028351305448666955, + 0.011232101053507816, + 0.0 + ], + [ + -0.004598901544409472, + -4.2118337818973064e-05, + -0.02144816499034732, + -0.010261426258998006, + -0.021379189257438966, + 0.004935634203364168, + 0.0 + ], + [ + -0.011032025590259304, + 0.0001264414093682964, + -0.023215632131018387, + -0.026651112749304505, + -0.025274008633367633, + 0.02151709616545576, + 0.0 + ], + [ + -0.014998506743930813, + 0.002478057202908966, + -0.014347245256646048, + -0.068683867343624, + 0.045427394668405514, + 0.0221939980244786, + 0.0 + ], + [ + -0.017551905330897323, + 0.002447578081658939, + 0.005495399768163247, + 1.4638213965992979e-05, + 0.030054521913039072, + 0.04911795156275069, + 0.0 + ], + [ + -0.007358978370054711, + 0.0030790075332421565, + 0.004707799738108209, + 0.027097180417279664, + -0.006407236102154814, + 0.045358885150377184, + 1.0 + ], + [ + -0.00019572460360254513, + -0.0022570661090439014, + -0.0061313298840439175, + 0.030922056621189756, + -0.03065384688937701, + 0.0024814319833895804, + 1.0 + ], + [ + 0.0018308312074023301, + 0.004321050549646629, + -0.01920170461476162, + -0.013168571428356615, + 0.0019233402935937814, + 0.0352308771905417, + 1.0 + ], + [ + 0.008629275762425946, + 0.015902903320137624, + -0.025059723681177187, + -0.030778489636923645, + -0.03116035723048517, + -0.006603750833825716, + 1.0 + ], + [ + 0.008990600100709692, + 0.016441395994641818, + -0.021990819183668225, + -0.0318628891446516, + -0.04939326840508152, + 0.017300527091971964, + 1.0 + ], + [ + 3.2444243550354743e-06, + -0.0007804297865614335, + -0.0003336598743888972, + 0.004225640323890346, + -0.002263762717634021, + 0.0029033587009256847, + 1.0 + ] + ], + "state": [ + [ + 0.25624218583106995, + -0.026410067453980446, + 0.0879744291305542, + -2.952782305079051, + -0.15288196504116058, + 0.0610470212996006, + 1.0 + ], + [ + 0.25642913579940796, + -0.026418961584568024, + 0.08831675350666046, + -2.9526046832376203, + -0.15299558639526367, + 0.06137868016958237, + 1.0 + ], + [ + 0.2537924647331238, + -0.02419552020728588, + 0.08307351171970367, + -2.956998260813304, + -0.13105712831020355, + 0.08187105506658554, + 1.0 + ], + [ + 0.24561910331249237, + 0.0002617753925733268, + 0.08272476494312286, + -2.985677661495753, + -0.0708317682147026, + 0.255458801984787, + 1.0 + ], + [ + 0.2464641034603119, + 0.03538605198264122, + 0.08966027945280075, + -2.976407380896159, + -0.07480808347463608, + 0.42572507262229925, + 1.0 + ], + [ + 0.2363494634628296, + 0.06937453150749207, + 0.08336309343576431, + -2.986387627320834, + -0.10680623352527618, + 0.6434879899024964, + 1.0 + ], + [ + 0.22662906348705292, + 0.09426473826169968, + 0.07839328050613403, + -3.0262207259708127, + -0.14147518575191498, + 0.9041998386383057, + 1.0 + ], + [ + 0.21554569900035858, + 0.10023311525583267, + 0.06981848925352097, + -3.091292491304227, + -0.23956090211868286, + 1.0715539455413818, + 1.0 + ], + [ + 0.21444274485111237, + 0.10787008702754974, + 0.0680147334933281, + 3.125771055119582, + -0.2540814280509949, + 1.267816185951233, + 1.0 + ], + [ + 0.21593870222568512, + 0.1129356101155281, + 0.061044443398714066, + 3.0973804650181016, + -0.2886037230491639, + 1.357133150100708, + 1.0 + ], + [ + 0.21655263006687164, + 0.11695536226034164, + 0.054158326238393784, + 3.0910479632490357, + -0.28717184066772455, + 1.4141240119934082, + 1.0 + ], + [ + 0.2105088084936142, + 0.12046036124229431, + 0.04005977883934975, + -3.1377942912564656, + -0.23651236295700073, + 1.3835011720657349, + 1.0 + ], + [ + 0.20501238107681274, + 0.12392916530370712, + 0.03781154751777649, + -3.1274209647723517, + -0.2020605802536011, + 1.386046051979065, + 1.0 + ], + [ + 0.20030327141284943, + 0.12554995715618134, + 0.03893417865037918, + -3.1006552038067063, + -0.17907918989658358, + 1.3703442811965942, + 1.0 + ], + [ + 0.20152775943279266, + 0.1281883269548416, + 0.03321448713541031, + -3.0881328379088124, + -0.2053625583648682, + 1.3558626174926758, + 1.0 + ], + [ + 0.20056509971618652, + 0.12568330764770508, + 0.024598252028226852, + -3.0887758900695523, + -0.2337506264448166, + 1.3399074077606201, + 1.0 + ], + [ + 0.2014642059803009, + 0.12627406418323517, + 0.020192358642816544, + -3.0935662296884736, + -0.24589622020721438, + 1.3285130262374878, + 1.0 + ], + [ + 0.19964423775672913, + 0.12487384676933289, + 0.017696881666779518, + -3.0910349061065396, + -0.25274237990379333, + 1.3111034631729126, + 1.0 + ], + [ + 0.19968180358409882, + 0.12550149857997894, + 0.01687789149582386, + -3.0928897616737565, + -0.263671100139618, + 1.2983629703521729, + 0.0 + ], + [ + 0.19866150617599487, + 0.12576302886009216, + 0.016125941649079323, + -3.088108306872197, + -0.2742776870727539, + 1.2927579879760742, + 0.0 + ], + [ + 0.19900237023830414, + 0.12480464577674866, + 0.01661110483109951, + -3.0850408804887017, + -0.277404099702835, + 1.2896586656570435, + 0.0 + ], + [ + 0.19542016088962555, + 0.11877855658531189, + 0.03176221624016762, + -3.078985611098357, + -0.2609221339225769, + 1.292773723602295, + 0.0 + ], + [ + 0.19692780077457428, + 0.11136980354785919, + 0.05491896718740463, + -3.0746448804908475, + -0.23191185295581815, + 1.283082365989685, + 0.0 + ], + [ + 0.19559742510318756, + 0.1019657552242279, + 0.07469191402196884, + -3.0840702188485345, + -0.21024894714355466, + 1.2795103788375854, + 0.0 + ], + [ + 0.19250962138175964, + 0.08657965064048767, + 0.09504923224449158, + -3.1064631847017488, + -0.18373723328113553, + 1.2591460943222046, + 0.0 + ], + [ + 0.19002650678157806, + 0.06915167719125748, + 0.10632040351629257, + 3.1125240084999284, + -0.22830419242382052, + 1.2347604036331177, + 0.0 + ], + [ + 0.1872541308403015, + 0.053310517221689224, + 0.09706670045852661, + 3.1238477398925504, + -0.2595009505748749, + 1.1848887205123901, + 0.0 + ], + [ + 0.1879558116197586, + 0.04663681983947754, + 0.09068174660205841, + -3.1201743987673005, + -0.25362536311149597, + 1.1379204988479614, + 1.0 + ], + [ + 0.18529683351516724, + 0.04594910144805908, + 0.09661325067281723, + -3.08877298806841, + -0.22292497754096982, + 1.1360509395599365, + 1.0 + ], + [ + 0.1891176998615265, + 0.04152499884366989, + 0.11549597233533859, + -3.093977628397294, + -0.22284491360187533, + 1.0998727083206177, + 1.0 + ], + [ + 0.20572076737880707, + 0.03649572283029556, + 0.14107723534107208, + -3.1265536343031606, + -0.19202685356140137, + 1.1080999374389648, + 1.0 + ], + [ + 0.2228148877620697, + 0.03319451957941055, + 0.16413454711437225, + 3.1279767855354628, + -0.14235262572765348, + 1.0913960933685303, + 1.0 + ], + [ + 0.22209881246089935, + 0.03351874276995659, + 0.16445474326610565, + 3.1326228102021894, + -0.14012798666954038, + 1.0884331464767456, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.003858029842376709, + 0.003858029842376709, + 0.004532158374786377, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.004532158374786377, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.055433034896850586, + 0.17109763622283936, + 0.1482418179512024, + 0.14553707838058472, + 0.14553707838058472, + 0.14553707838058472, + 0.14553707838058472, + 0.14553707838058472, + 0.1482418179512024, + 0.08260351419448853, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926 + ], + "episode_id": "791", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/791/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/806.json b/annotation/test/806.json new file mode 100644 index 0000000000000000000000000000000000000000..0b15828426843af9311ea53db0a4016efbd49ad9 --- /dev/null +++ b/annotation/test/806.json @@ -0,0 +1,375 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put pepper in pot or pan" + ], + "videos": [ + { + "video_path": "videos/test/806/rgb.mp4" + } + ], + "action": [ + [ + -0.0013342572487337044, + -0.0002107886855469487, + 0.0009475993682366259, + 0.003705254381503759, + -0.0038441072393944377, + 0.0028242128026519354, + 1.0 + ], + [ + -0.009902825079660206, + 0.0017109988222152768, + 0.01111265137761535, + -0.009483798415271688, + -0.03813928840967591, + 0.0005304298864301564, + 1.0 + ], + [ + -0.003422944223035971, + -0.0051290437168119455, + 0.016313257194081474, + -0.0319918518719956, + -0.03297324496861698, + -0.03944076926673485, + 1.0 + ], + [ + 0.0009299438222087542, + -0.0029681471226865523, + 0.00772035125410494, + -0.01124820010734988, + 0.0014104203546253843, + -0.004046355713348495, + 1.0 + ], + [ + 0.0024548399318117613, + 0.0025560477834230978, + 0.004848247438710941, + -0.02443970395783029, + 0.014587122137660169, + 0.016090592972698697, + 1.0 + ], + [ + 0.005049934658096338, + -0.006825802683605423, + 0.0069061952155630504, + -0.01884684373205079, + 0.011878170792437002, + -0.013317607358794961, + 1.0 + ], + [ + 0.0007089360497690708, + -0.0005714489720915657, + 0.001510945275776196, + -0.006392674061021291, + 0.006374469444920519, + -0.028483545471693572, + 0.0 + ], + [ + -0.001608397909368577, + -0.0009055818496977474, + -0.002987752992836395, + 0.02863208219845218, + -0.015947597898831174, + -0.028640425451822087, + 0.0 + ], + [ + -0.002029087710830788, + -7.284920164500407e-05, + -0.01155311305253904, + 0.03921618489729678, + -0.04912544797379099, + 0.013679508135856862, + 0.0 + ], + [ + 0.012915860449139196, + -0.0018981761274755441, + -0.024932525183967106, + 0.03980279326666402, + 0.021707336860634502, + 0.01319661275331795, + 0.0 + ], + [ + 0.014407435523567904, + -0.0003470954043688482, + -0.03497699852010813, + 0.05105671980908499, + 0.06640547796949867, + 0.03263220605790864, + 0.0 + ], + [ + 0.026367381901784396, + -0.010261975192195556, + -0.030056352274845762, + 0.06724645459594368, + 0.08515709579693903, + 0.06028337480177724, + 0.0 + ], + [ + 0.02399078619155162, + 0.0004669445970961613, + -0.005774792963746711, + -0.01979259796459641, + 0.11045343376181165, + 0.0970050139924391, + 0.0 + ], + [ + 0.02616053196942035, + -0.01606982316728787, + 0.020762671647751935, + -0.0521024599455932, + 0.07277418324053161, + 0.056892407429132506, + 0.0 + ], + [ + 0.009656731280048451, + -0.004163076927904863, + 0.021938704502576963, + -0.05306697551058247, + 0.027423041109823774, + 0.043918383634116195, + 0.0 + ], + [ + 0.0038947709932829616, + -0.0049822124291953335, + 0.009039545409802941, + -0.03352938676434661, + 0.03939699073791683, + 0.026775174200222292, + 0.0 + ], + [ + -0.0033048211789831815, + 0.0019367259659175918, + 0.0018504794024328693, + -0.011062172246812744, + 0.003382890221404661, + 0.03358255069667304, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.672599618240419e-17, + 8.507665382729194e-17, + -3.449089031191617e-17, + 1.0 + ] + ], + "state": [ + [ + 0.30582255125045776, + 0.11943931877613068, + 0.05213732272386551, + -3.0952515249424657, + -0.4089421331882477, + 0.9902200698852538, + 1.0 + ], + [ + 0.3051426112651825, + 0.11886672675609589, + 0.05074720084667206, + -3.0904025976830205, + -0.40496981143951416, + 0.9873443841934204, + 1.0 + ], + [ + 0.3035077452659607, + 0.11432050168514252, + 0.03656469285488129, + -3.100449653463908, + -0.36685293912887573, + 0.9888674020767211, + 1.0 + ], + [ + 0.3000815510749817, + 0.11965754628181458, + 0.020318981260061264, + 3.135253015095838, + -0.3352140188217163, + 1.0320132970809937, + 1.0 + ], + [ + 0.2993328273296356, + 0.12409435212612152, + 0.01331664714962244, + 3.1225915030860385, + -0.33659589290618896, + 1.0363095998764038, + 1.0 + ], + [ + 0.30359894037246704, + 0.12610341608524323, + 0.009597902186214924, + 3.10371374537284, + -0.35144212841987615, + 1.019471526145935, + 1.0 + ], + [ + 0.3017860949039459, + 0.13567763566970825, + 0.004614242352545261, + 3.0798020755224904, + -0.3627726137638092, + 1.0341862440109253, + 1.0 + ], + [ + 0.3019949197769165, + 0.13696186244487762, + 0.0034229180309921503, + 3.0624762644344052, + -0.36721834540367126, + 1.0650681257247925, + 0.0 + ], + [ + 0.29976579546928406, + 0.1352873593568802, + 0.005558505654335022, + 3.0807026793533048, + -0.34891510009765625, + 1.094104528427124, + 0.0 + ], + [ + 0.29639333486557007, + 0.13044747710227966, + 0.01569748856127262, + 3.1258114763819655, + -0.30066362023353577, + 1.0766973495483398, + 0.0 + ], + [ + 0.29672935605049133, + 0.135903000831604, + 0.04330505430698395, + -3.1135603004419288, + -0.3225507140159607, + 1.063149333000183, + 0.0 + ], + [ + 0.2985363304615021, + 0.1378483921289444, + 0.08104144781827927, + -3.0506531616025647, + -0.3878124952316284, + 1.0259795188903809, + 0.0 + ], + [ + 0.29873210191726685, + 0.15262366831302643, + 0.11958472430706024, + -2.9546138068013867, + -0.46617805957794184, + 0.9503390789031984, + 0.0 + ], + [ + 0.3109786808490753, + 0.16712586581707, + 0.13535912334918976, + -2.9134432544284543, + -0.5531872510910034, + 0.814676284790039, + 0.0 + ], + [ + 0.3174266517162323, + 0.2036222666501999, + 0.1349882036447525, + -2.91949878831441, + -0.6095665097236633, + 0.7271304726600647, + 0.0 + ], + [ + 0.32619088888168335, + 0.22332438826560974, + 0.12372299283742905, + -2.93823258777196, + -0.6258025169372559, + 0.6668224930763245, + 0.0 + ], + [ + 0.3281360864639282, + 0.2333884835243225, + 0.11964435875415802, + -2.9464099576049527, + -0.6585486531257629, + 0.6236236095428467, + 0.0 + ], + [ + 0.3280027210712433, + 0.23139414191246033, + 0.11588911712169647, + -2.9316572715812406, + -0.6549197435379028, + 0.5812521576881409, + 1.0 + ], + [ + 0.3280027210712433, + 0.23139414191246033, + 0.11588911712169647, + -2.9316572715812406, + -0.6549197435379028, + 0.5812521576881409, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.15549510717391968, + 0.3639833331108093, + 0.3930899500846863, + 0.40110093355178833, + 0.4071013331413269, + 0.4071013331413269, + 0.4071013331413269, + 0.4071013331413269, + 0.4071013331413269, + 0.4071013331413269, + 0.20776593685150146, + 0.0, + 0.0 + ], + "episode_id": "806", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/806/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/819.json b/annotation/test/819.json new file mode 100644 index 0000000000000000000000000000000000000000..dfc1e2f5730117eb5a3c1ae8172fa00f2e8cd8d4 --- /dev/null +++ b/annotation/test/819.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put clothes in laundry machine" + ], + "videos": [ + { + "video_path": "videos/test/819/rgb.mp4" + } + ], + "action": [ + [ + -0.0001594587690681666, + -0.0002512616465844626, + 0.00031854593773431906, + 0.0012486942814471608, + 0.00029607183415866995, + 0.0008406843489237254, + 1.0 + ], + [ + -0.005045810546782147, + -0.0031928500966620765, + 0.004616992940218812, + 0.004347482166548075, + -0.03346352744529559, + 0.01716961114239555, + 1.0 + ], + [ + -0.014206602342407108, + -0.027125519415380016, + -0.0020735254589897946, + -0.05854091824463435, + -0.11031279064257492, + 0.2534335499710313, + 1.0 + ], + [ + -0.005900843926425085, + -0.028920546551907712, + -0.00558820980413793, + -0.08544486398827583, + -0.05518646304806043, + 0.13603222776133397, + 1.0 + ], + [ + -0.01279067073637622, + -0.02798279357352182, + -0.0005476307544236139, + 0.03204053050906397, + -0.031170179115272437, + 0.13640607740459512, + 1.0 + ], + [ + -0.01154824338469423, + -0.02508602290958636, + 0.001987457176092535, + 0.0504100110524292, + 0.048157702132448445, + 0.18313668359419374, + 1.0 + ], + [ + -0.011895074627504295, + -0.01026919667958936, + 0.008117033962186186, + 0.09336424730645353, + 0.08191579580434956, + 0.06443548856638528, + 1.0 + ], + [ + -0.005109696067165297, + -0.011102650538505874, + 0.0028993730339648073, + 0.04029803800479947, + 0.06956602268099096, + -0.012778321468191673, + 1.0 + ], + [ + -0.007717285179667993, + -0.003222897552121389, + 0.017232078332804393, + -0.01111976494905247, + -0.021174092074663486, + -0.06508540891962099, + 1.0 + ], + [ + -0.0011047886242363445, + 0.0009037348962228945, + 0.026265015960588826, + -0.045560415493249795, + -0.045005448605624394, + 0.013481706255751085, + 1.0 + ], + [ + -0.0011982490609371793, + -0.0015407936685904856, + 0.0210772094621716, + -0.03815266575469224, + -0.058436460434508376, + 0.01873899052411577, + 1.0 + ], + [ + 0.0020890257094102124, + 0.004733823033878607, + 0.011761093671159843, + 0.004495558890889686, + 0.008644212451854526, + 0.008865830801427884, + 1.0 + ], + [ + -0.0007623288035173594, + 0.008041725113805288, + 0.008622409410861604, + 0.018409390960809353, + 0.0011954268859352953, + 0.023077640319703593, + 1.0 + ], + [ + -0.0012032744867399115, + 0.0030871896966850527, + 0.005382699162130081, + 0.030198312732201357, + -0.003767749086718812, + 0.016428568054482083, + 1.0 + ], + [ + 0.00040312319473493274, + -4.622991234444516e-05, + 0.0011672213552460077, + 0.023146677509499964, + -0.012636583409440036, + -0.01694775149539049, + 0.0 + ], + [ + 0.0020593572243873125, + 0.002207610720058676, + -0.014664982852018312, + 0.006955147653462553, + -0.00371529399119642, + -0.043209581548559736, + 0.0 + ], + [ + 0.005339615451845284, + -0.003952637024067676, + -0.031217569486571322, + 0.009166275375589868, + 0.02877369953978575, + -0.07773004701323927, + 0.0 + ], + [ + 0.0033035957738293824, + -0.002651165320083973, + -0.025163871788631987, + 0.0084170377852648, + 0.012020926906945676, + -0.051201642489102354, + 0.0 + ], + [ + 0.006891171828215766, + 0.009615908996222118, + -0.015645009588957308, + -0.02471587710367106, + 0.003790033019949647, + 0.01645775725199222, + 0.0 + ], + [ + 0.018035557935135324, + 0.01082284276950556, + -0.012549835948215526, + 0.015126943980008344, + 0.09625909610052759, + -0.025993431907305853, + 0.0 + ], + [ + 0.014351565650859113, + 0.013412166914179863, + -0.0058342232030543445, + -0.04387711137498431, + 0.12421125083472079, + -0.2028516018662391, + 0.0 + ], + [ + 0.012336643619201894, + 0.014174138440794664, + -0.006365773144347259, + -0.01618374900449433, + 0.09519068570025958, + -0.157653041319796, + 0.0 + ], + [ + 0.01813616857915705, + 0.012450221252251837, + -0.008511702351258843, + -0.0034250585304757795, + 0.1167428639967797, + -0.024428896338792045, + 0.0 + ], + [ + 0.016760738300619197, + 0.0014275158178135166, + 0.009821785114942371, + 0.031851406889793654, + 0.037575933524080035, + -0.046896041366503015, + 0.0 + ], + [ + 0.018991901519243903, + -0.002514440356861268, + 0.010239848259830658, + 0.02858807833701056, + 0.06359419687387778, + -0.049659104872847984, + 0.0 + ], + [ + 0.011682465866809103, + -0.0023463698859490737, + 0.015734472618810058, + 0.007482439609642719, + 0.03633609747778449, + -0.03433906460901956, + 0.0 + ], + [ + 0.013606844617567492, + -0.002077604713805522, + 0.017289054596025605, + -0.009166346942876573, + 0.020040868556264402, + 0.009417645672331451, + 0.0 + ], + [ + 0.010096000755517972, + -0.004572639197533445, + 0.015571096777793605, + -0.004448099311942255, + 0.02539158516946417, + -0.01646271406806284, + 0.0 + ], + [ + 0.008609768329134244, + -0.005682814250173162, + 0.017300850632007665, + 0.022465403789745517, + -0.0020152998388553857, + -0.006094096666399966, + 0.0 + ], + [ + 0.010023818396361121, + -0.004632910492884147, + 0.012241652117307272, + 0.014391874587123031, + -0.017331526613986067, + -0.01370596000681266, + 0.0 + ], + [ + 0.00455586541316063, + -0.00025436465276649714, + -0.002072762573615161, + 0.006004097156304373, + -0.027940597974046147, + 0.0021281115777038767, + 0.0 + ], + [ + -0.009958039049408203, + -8.289234885191271e-05, + 0.0009311865200286178, + -0.003586119848734293, + -0.04484968274876228, + 0.010494264197076972, + 0.0 + ], + [ + -0.012639897470536284, + -0.0039051360015440223, + -0.0014708414765591115, + -0.008683444883435767, + -0.044676199452965325, + 0.05757583459696804, + 1.0 + ], + [ + -0.005012378433078545, + -0.008421334815000691, + -0.01409739042559473, + 0.008503114806239219, + -0.01038408267497059, + 0.01387218389865924, + 1.0 + ], + [ + -0.015573449695377004, + -0.008989885836832983, + -0.004244341854695351, + 0.0443903299227679, + -0.0518481016152033, + 0.008260389797412488, + 1.0 + ], + [ + -0.009849602484692032, + -0.004445888933949367, + -0.010487832892530809, + 0.0070207500092993895, + -0.051542379540436466, + 0.009769387976056094, + 1.0 + ], + [ + -0.016180997824587078, + -0.01867493617019363, + -0.01649617463798447, + 0.029800270662022548, + -0.044566499752192464, + 0.024754013218330043, + 1.0 + ], + [ + -0.0232943050749059, + -0.02092986891947132, + -0.0005060981643245991, + 0.010752814230283474, + -0.04942827338744424, + 0.02863436044135741, + 1.0 + ] + ], + "state": [ + [ + 0.23602522909641266, + -0.029434552416205406, + 0.09281066060066223, + 3.106658028560229, + -0.10520356893539427, + 0.12236019968986511, + 1.0 + ], + [ + 0.23587264120578766, + -0.02921152673661709, + 0.09246859699487686, + 3.107994360970803, + -0.10552878677845001, + 0.12152572721242905, + 1.0 + ], + [ + 0.23101754486560822, + -0.026745956391096115, + 0.08724173158407211, + 3.114259559782692, + -0.0726432353258133, + 0.10320301353931427, + 1.0 + ], + [ + 0.21402841806411743, + -0.0011881329119205475, + 0.08753853291273117, + 3.0748579894476613, + 0.0331372506916523, + -0.15181145071983337, + 1.0 + ], + [ + 0.21273833513259888, + 0.02857813611626625, + 0.09137923270463943, + 2.9853430559211453, + 0.07883759588003159, + -0.29148098826408386, + 1.0 + ], + [ + 0.20820553600788116, + 0.058886270970106125, + 0.08858484774827957, + 3.007840635376521, + 0.08770370483398438, + -0.4315870404243469, + 1.0 + ], + [ + 0.20762290060520172, + 0.0862346962094307, + 0.08430178463459015, + 3.044886255758353, + 0.014337165281176565, + -0.6063525676727295, + 1.0 + ], + [ + 0.2031206488609314, + 0.10084187239408493, + 0.07540259510278702, + 3.1372701335982462, + -0.07343639433383942, + -0.6625078916549683, + 1.0 + ], + [ + 0.2060946822166443, + 0.11258728802204132, + 0.07208830118179321, + -3.106596743809529, + -0.1429402083158493, + -0.6493256688117982, + 1.0 + ], + [ + 0.20426392555236816, + 0.11877796053886414, + 0.05405466631054878, + -3.1272212836244186, + -0.12374421954154968, + -0.5830448269844055, + 1.0 + ], + [ + 0.20576633512973785, + 0.1171567514538765, + 0.027843927964568138, + 3.112005826207348, + -0.07853949815034866, + -0.595904529094696, + 1.0 + ], + [ + 0.20666314661502838, + 0.11765607446432114, + 0.006701434962451458, + 3.0754143466525754, + -0.020666547119617466, + -0.6163357496261596, + 1.0 + ], + [ + 0.20538006722927094, + 0.11182332038879395, + -0.00467525701969862, + 3.080080771940299, + -0.029877420514822006, + -0.624613881111145, + 1.0 + ], + [ + 0.1999547779560089, + 0.10518622398376465, + -0.012806162238121033, + 3.099192554252692, + -0.03248123824596405, + -0.647586464881897, + 1.0 + ], + [ + 0.1971331685781479, + 0.10316701978445053, + -0.018089475110173225, + 3.129934833506592, + -0.029408745467662815, + -0.664167046546936, + 1.0 + ], + [ + 0.19749760627746582, + 0.10292316228151321, + -0.01924479752779007, + -3.130597101646014, + -0.016571311280131343, + -0.6473668217658997, + 0.0 + ], + [ + 0.1975180208683014, + 0.09993819147348404, + -0.004572859965264797, + -3.1243686397844037, + -0.013315701857209207, + -0.6041154265403746, + 0.0 + ], + [ + 0.20350885391235352, + 0.09995202720165253, + 0.026776481419801712, + -3.1162748021357736, + -0.04338286444544792, + -0.5268533229827881, + 0.0 + ], + [ + 0.20642852783203125, + 0.1005827933549881, + 0.052118945866823196, + -3.110097987698861, + -0.056639347225427635, + -0.4758947193622589, + 0.0 + ], + [ + 0.2071436494588852, + 0.08884737640619278, + 0.06781890988349915, + -3.133878369005867, + -0.05990149453282356, + -0.49249333143234253, + 0.0 + ], + [ + 0.21718677878379822, + 0.0710662379860878, + 0.08134223520755768, + -3.120248006778308, + -0.15633898973464966, + -0.46705234050750727, + 0.0 + ], + [ + 0.22298026084899902, + 0.05298784747719765, + 0.08905580639839172, + 3.086557837324687, + -0.28161072731018066, + -0.26027324795722967, + 0.0 + ], + [ + 0.22896353900432587, + 0.0371108241379261, + 0.09933892637491226, + 3.0226899479799947, + -0.3641131222248078, + -0.08680750429630281, + 0.0 + ], + [ + 0.24134020507335663, + 0.024638187140226364, + 0.11507516354322433, + 3.0032415707879743, + -0.47684127092361445, + -0.044129379093647, + 0.0 + ], + [ + 0.2604649066925049, + 0.021022580564022064, + 0.11430005729198456, + 3.0080857147746762, + -0.5068944692611694, + 0.014902495779097082, + 0.0 + ], + [ + 0.28213879466056824, + 0.022474756464362144, + 0.11435475200414658, + 3.0035386254363736, + -0.5623630285263062, + 0.08298943191766739, + 0.0 + ], + [ + 0.30042752623558044, + 0.024155301973223686, + 0.10712584108114243, + 2.9859535713964185, + -0.5931399464607239, + 0.13001959025859833, + 0.0 + ], + [ + 0.3213414251804352, + 0.026257093995809555, + 0.10030195862054825, + 2.980997773008891, + -0.6143852472305298, + 0.12243753671646117, + 0.0 + ], + [ + 0.33849477767944336, + 0.030407028272747993, + 0.0929645299911499, + 2.961969943838664, + -0.636669933795929, + 0.1476923376321793, + 0.0 + ], + [ + 0.35558149218559265, + 0.03547707945108414, + 0.0835793986916542, + 2.980280177789279, + -0.633586585521698, + 0.15468567609786987, + 0.0 + ], + [ + 0.370665043592453, + 0.04046716168522835, + 0.07917662709951401, + 2.986873300867625, + -0.6142369508743286, + 0.16783075034618375, + 0.0 + ], + [ + 0.37309902906417847, + 0.04145841673016548, + 0.08344395458698273, + 2.997256191568919, + -0.5869439244270325, + 0.16013580560684207, + 0.0 + ], + [ + 0.3654322922229767, + 0.040167514234781265, + 0.07715179771184921, + 3.0044434388452252, + -0.5439785718917847, + 0.1404732167720795, + 0.0 + ], + [ + 0.3536805808544159, + 0.04261581227183342, + 0.07139996439218521, + 3.0332469587498387, + -0.5064093470573425, + 0.06830827891826628, + 1.0 + ], + [ + 0.34229084849357605, + 0.051756080240011215, + 0.08042818307876587, + 3.0499877651506146, + -0.4975247681140899, + 0.051337648183107376, + 1.0 + ], + [ + 0.326521635055542, + 0.06029858812689781, + 0.07598720490932465, + 3.1011265238099774, + -0.446605384349823, + 0.036972902715206146, + 1.0 + ], + [ + 0.31301894783973694, + 0.06466899067163467, + 0.08102230727672577, + 3.113641519221016, + -0.3954676389694214, + 0.024150392040610313, + 1.0 + ], + [ + 0.2914796471595764, + 0.0832829549908638, + 0.08952410519123077, + -3.1290984154962977, + -0.35147184133529663, + -0.0035059959627687927, + 1.0 + ], + [ + 0.2694186270236969, + 0.10428234189748764, + 0.08222497254610062, + -3.108235852914401, + -0.30154842138290405, + -0.03280812501907349, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0011776089668273926, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0018453598022460938, + 0.0011776089668273926, + 0.0356978178024292, + 0.29881423711776733, + 0.5958403646945953, + 0.8165320754051208, + 0.9174014925956726, + 0.9231027886271477, + 0.9146331176161766, + 0.9118092358112335, + 0.9114522784948349, + 0.9114522784948349, + 0.9114522784948349, + 0.9114522784948349, + 0.9114522784948349, + 0.9114522784948349, + 0.9114522784948349, + 0.9114522784948349, + 0.9114522784948349, + 0.9033762961626053, + 0.8562205731868744, + 0.6579259634017944, + 0.3740283250808716, + 0.09003859758377075, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "819", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/819/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/828.json b/annotation/test/828.json new file mode 100644 index 0000000000000000000000000000000000000000..4b15b59c54c2dfe49d99044cbeddd6dd53c82d7a --- /dev/null +++ b/annotation/test/828.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "open fridge" + ], + "videos": [ + { + "video_path": "videos/test/828/rgb.mp4" + } + ], + "action": [ + [ + -3.594159773377162e-05, + 0.00020395016418765297, + -1.3386800798111426e-07, + -0.0012859513997213272, + -0.00022773137931882045, + -0.0008045513909129867, + 1.0 + ], + [ + -0.0019447935693417283, + 0.0012275472861853244, + 0.0058004077799687186, + 0.0034691726284130026, + -0.014323163971230174, + -0.006819882227130789, + 1.0 + ], + [ + 0.012233699495879944, + 0.02754969826715668, + 0.016135467668791082, + 0.006276323762491478, + 0.057586841793978875, + -0.0069904470171452135, + 1.0 + ], + [ + -1.3731329234437862e-05, + 0.0327401854823469, + 0.018108800607607188, + -0.057875448959382264, + -0.04057909833597138, + 0.08900527914454665, + 1.0 + ], + [ + 0.0110280420854501, + 0.023536628417454106, + 0.007479583391989534, + -0.06523618215065986, + 0.055850299679134116, + 0.09850744601906972, + 1.0 + ], + [ + 0.015012250433768524, + 0.018203730382478474, + 0.008853419646476204, + -0.045673531036791185, + 0.030342150716923467, + 0.01596305579870199, + 1.0 + ], + [ + 0.009393318127873706, + 0.01484211058659569, + 0.006121067432913872, + -0.024892829469872438, + 0.03564621977058543, + 0.009511604671619421, + 1.0 + ], + [ + 0.006295833230125604, + 0.012023807581835874, + 0.003703101998652899, + 0.0007475327804532027, + 0.05376335287730322, + -0.011746754820885393, + 1.0 + ], + [ + 0.011543225904585864, + 0.009492685268775579, + 0.003808183448613851, + 0.03292501086360027, + 0.10515639049089585, + -0.01993378012020156, + 1.0 + ], + [ + -0.0021166673992014215, + 0.004272732883503225, + 0.011884587266167484, + 0.03698232399084552, + 0.04838299024640606, + 0.028567347144989142, + 1.0 + ], + [ + -0.0006443092712733091, + 0.002459238012050173, + 0.002655437007571798, + -0.03683334528182737, + -0.007595768004458744, + -0.005042497112977707, + 1.0 + ], + [ + 0.0031134862893833983, + -0.004439696010652286, + 0.00036627371642973885, + -0.007848623400880224, + 0.006135140462849263, + -0.017431322933371997, + 0.0 + ], + [ + 0.0018020497457868674, + -0.006524288112776931, + 0.000938405018673098, + -0.012090542889910672, + -0.043962848463769154, + -0.02480067481818228, + 0.0 + ], + [ + -0.0068287308102619225, + -0.0018291693918659848, + -0.0011449049310852733, + -0.005114137644292938, + -0.00027496228362807937, + 0.02320278040562581, + 0.0 + ], + [ + -0.01688029341774216, + -0.00462278329125419, + -0.00761470847682966, + 0.003190999187378938, + -0.021575019863702024, + 0.007400679630486518, + 0.0 + ], + [ + -0.01592407273227187, + -0.006477176426978276, + -0.006362560071613947, + -0.01079872720760044, + -0.02780253086932684, + 0.01130238785901587, + 0.0 + ], + [ + -0.014322553155213845, + -0.008264626773139544, + -0.005566768291695895, + -0.004596720177461889, + -0.0526581252911469, + 0.001017339966530385, + 0.0 + ], + [ + -0.013623473755078379, + -0.013778146631849873, + -0.01647148498172215, + 0.010039514395335975, + -0.017663693205367613, + 0.0317094888535435, + 0.0 + ], + [ + -0.015865011954015212, + -0.015798403727072967, + -0.010436812751705325, + 0.01583539894020454, + -0.0630310877374168, + -0.011799421129558984, + 1.0 + ], + [ + -0.014328106602306675, + 0.02122832540177857, + 0.0008484093513007468, + 0.008828019029126841, + -0.05821750850793172, + 0.06287454051699463, + 1.0 + ], + [ + 0.002468767999689046, + 0.029728685543473594, + -0.004735454642878945, + -0.023418573142916697, + -0.019424725082932654, + 0.007044066090411758, + 1.0 + ], + [ + 0.009509989647467614, + 0.03433519795713819, + 0.007683989642854962, + -0.012519072572337803, + -0.008622569518037524, + 0.025253359350343278, + 1.0 + ], + [ + 0.009693110500878113, + 0.03728297779029338, + 0.01151242690133916, + -0.023456024142116574, + -0.023269155464044133, + 0.03406914842588007, + 1.0 + ], + [ + 0.011992416761289102, + 0.030175755666714998, + 0.005969042008450121, + -0.013055228989564566, + 0.018289563250200466, + 0.032202324279901016, + 1.0 + ], + [ + 0.011969025313500399, + 0.01112222856258898, + 0.006077286459109089, + 0.009367333184634617, + 0.02632902692735456, + 0.024967485902268566, + 1.0 + ], + [ + 0.020923776762697115, + -0.0039552941638451525, + -0.00024519105678629286, + 0.03144167605413895, + 0.05048718544433511, + 0.047727303951757685, + 1.0 + ], + [ + 0.01936184581425656, + -0.01733652518099263, + 0.0023948776083475495, + 0.007796693363757841, + 0.023512706017428497, + -0.018966447628882183, + 1.0 + ], + [ + 0.013100154932043785, + -0.012644713370231231, + 0.011197084063639593, + 0.016042381487600958, + -0.0009387310970389222, + -0.01827737397620166, + 1.0 + ], + [ + 0.0011063168488541408, + -0.00542295757489931, + -0.0004634857875737034, + -0.0028774339117629117, + -0.013466147829578402, + -0.0183724922406258, + 1.0 + ], + [ + -0.011099979108317962, + -0.010388377232198254, + 0.002765036162787035, + 0.005632267935518027, + -0.06027384045240651, + 0.0015247368862066654, + 1.0 + ], + [ + -0.02590794391441571, + -0.011189313178034553, + -0.011743500195635784, + 0.01708711603138232, + -0.01574236738303212, + 0.003438114940685184, + 1.0 + ], + [ + -0.028153353562951563, + -0.01796264389224477, + -0.016870373576810385, + 0.002849263394597385, + 0.019046552375425244, + -0.0011210037419497184, + 1.0 + ], + [ + -0.027562018196944583, + -0.021391745055184277, + -0.003733676691656861, + 0.007211754090730748, + 0.004551640292661135, + 0.01955079866954281, + 1.0 + ], + [ + -0.023441559273302385, + -0.022935486734664383, + -0.005926531313684132, + 0.028393813011016025, + 0.03711164213868245, + 0.005550321141650934, + 1.0 + ], + [ + -0.020402911032490836, + -0.02110508789805176, + -0.0021979867954022157, + -0.026065207522571947, + -0.03337039150024112, + 0.01617873870217652, + 1.0 + ], + [ + -0.0206303795994201, + -0.01833174339976621, + -0.0019235033038639483, + 0.000998481604546204, + -0.01467472621852312, + 0.024956409905558703, + 1.0 + ], + [ + -0.011084192186009157, + -0.021164160192698494, + -0.008208381866638585, + -0.028578100382952748, + -0.016199059372243398, + 0.024035163456598424, + 1.0 + ], + [ + -0.012566217706076233, + -0.023950943945571096, + -0.01074755171234662, + -0.014086147604814598, + 0.004355132674763293, + 0.008777350291361171, + 1.0 + ] + ], + "state": [ + [ + 0.2594206631183624, + 0.051074542105197906, + 0.09616664797067642, + -3.0565441866689405, + -0.10538036376237868, + 0.2517667114734649, + 1.0 + ], + [ + 0.2594384253025055, + 0.05086927115917206, + 0.09614577144384384, + -3.0579170008474073, + -0.10522176325321196, + 0.25259226560592646, + 1.0 + ], + [ + 0.2583485543727875, + 0.04982530325651169, + 0.09009134024381638, + -3.0552849267893514, + -0.09151533246040344, + 0.2606182694435119, + 1.0 + ], + [ + 0.2784629762172699, + 0.028222575783729553, + 0.07283634692430496, + -3.049049476283141, + -0.14948998391628265, + 0.26263228058815, + 1.0 + ], + [ + 0.2895076870918274, + -0.0008329059928655624, + 0.05201227590441704, + -3.094491271423646, + -0.10033062845468521, + 0.1774154901504517, + 1.0 + ], + [ + 0.30524101853370667, + -0.02153957635164261, + 0.04458053037524223, + 3.1335081813209733, + -0.15097305178642276, + 0.07536542415618896, + 1.0 + ], + [ + 0.32272201776504517, + -0.03854634612798691, + 0.038231439888477325, + 3.0902351421588143, + -0.18142437934875488, + 0.059393368661403656, + 1.0 + ], + [ + 0.33380717039108276, + -0.0530506893992424, + 0.03466302901506424, + 3.0667281468682965, + -0.21750642359256747, + 0.05154499411582946, + 1.0 + ], + [ + 0.3411805331707001, + -0.06495370715856552, + 0.03329404443502426, + 3.06385242392356, + -0.2702127993106842, + 0.06785338371992113, + 1.0 + ], + [ + 0.3537558317184448, + -0.07388139516115189, + 0.033426906913518906, + 3.0883299206667623, + -0.3733902871608734, + 0.09783770143985748, + 1.0 + ], + [ + 0.3564987778663635, + -0.07853509485721588, + 0.021816598251461983, + 3.1356480071605226, + -0.4230907857418061, + 0.06941305845975874, + 1.0 + ], + [ + 0.35716599225997925, + -0.0809696614742279, + 0.01914413832128048, + 3.096572024869271, + -0.4154595732688903, + 0.07487479597330093, + 1.0 + ], + [ + 0.3599037826061249, + -0.07633315771818161, + 0.019883185625076294, + 3.0809080099039754, + -0.42073485255241394, + 0.09425459802150725, + 0.0 + ], + [ + 0.3614755868911743, + -0.06970041990280151, + 0.019403036683797836, + 3.0590781961851796, + -0.3752420246601105, + 0.11797000467777251, + 0.0 + ], + [ + 0.3545801043510437, + -0.06858694553375244, + 0.017821667715907097, + 3.063108595209666, + -0.37677463889122015, + 0.09307710826396942, + 0.0 + ], + [ + 0.3358198404312134, + -0.06510995328426361, + 0.01833278313279152, + 3.0698444192581853, + -0.35583013296127325, + 0.08340344578027725, + 0.0 + ], + [ + 0.31832703948020935, + -0.059631556272506714, + 0.018298745155334473, + 3.063907543318816, + -0.32887697219848633, + 0.0693904682993889, + 0.0 + ], + [ + 0.30262190103530884, + -0.05203045532107353, + 0.018318355083465576, + 3.060917558270045, + -0.2764523923397064, + 0.06409163028001785, + 0.0 + ], + [ + 0.28440847992897034, + -0.03810766711831093, + 0.029326235875487328, + 3.080318799363919, + -0.2612469792366028, + 0.029905693605542183, + 0.0 + ], + [ + 0.2661583721637726, + -0.022238412871956825, + 0.034357693046331406, + 3.093949819105216, + -0.1976035684347153, + 0.037958927452564246, + 1.0 + ], + [ + 0.2528933584690094, + -0.04400213807821274, + 0.031705163419246674, + 3.1157948711239776, + -0.14201876521110535, + -0.028181208297610283, + 1.0 + ], + [ + 0.253724068403244, + -0.07363395392894745, + 0.03749994561076164, + 3.0934478772156915, + -0.12277814745903015, + -0.03577984496951103, + 1.0 + ], + [ + 0.26265349984169006, + -0.10864099860191345, + 0.03268730640411377, + 3.084103511767932, + -0.11534026265144348, + -0.06158962473273278, + 1.0 + ], + [ + 0.27100637555122375, + -0.1471109241247177, + 0.024513745680451393, + 3.0647532289200505, + -0.09399446099996565, + -0.09708768874406815, + 1.0 + ], + [ + 0.2802683115005493, + -0.1787024289369583, + 0.022020330652594566, + 3.054621758061, + -0.11465713381767272, + -0.12798795104026794, + 1.0 + ], + [ + 0.29115721583366394, + -0.19180753827095032, + 0.01833484321832657, + 3.0665915479236325, + -0.1430256962776184, + -0.1507980227470398, + 1.0 + ], + [ + 0.31223490834236145, + -0.19100229442119598, + 0.021265946328639984, + 3.104375185566493, + -0.19680675864219666, + -0.19540666043758392, + 1.0 + ], + [ + 0.3347909450531006, + -0.17789708077907562, + 0.02207229658961296, + 3.108196610706397, + -0.21955813467502594, + -0.17509597539901733, + 1.0 + ], + [ + 0.3520081341266632, + -0.16848871111869812, + 0.013591228984296322, + 3.120176751288124, + -0.21797259151935577, + -0.15641814470291138, + 1.0 + ], + [ + 0.35384705662727356, + -0.1632799506187439, + 0.01416950486600399, + 3.1133084279769143, + -0.2040800303220749, + -0.13795678317546844, + 1.0 + ], + [ + 0.34511178731918335, + -0.15166227519512177, + 0.008925648406147957, + 3.119550975161143, + -0.14387238025665283, + -0.14121535420417788, + 1.0 + ], + [ + 0.3197060823440552, + -0.13649006187915802, + 0.016586339101195335, + 3.137182580894329, + -0.12820857763290405, + -0.14503046870231626, + 1.0 + ], + [ + 0.29255935549736023, + -0.11429688334465027, + 0.029639899730682373, + 3.139875293598049, + -0.14724990725517273, + -0.14381250739097598, + 1.0 + ], + [ + 0.26810696721076965, + -0.08913455158472061, + 0.029252972453832626, + -3.133197460445114, + -0.1518067717552185, + -0.16358265280723572, + 1.0 + ], + [ + 0.2480582743883133, + -0.062630794942379, + 0.03175653517246246, + -3.1038955134623727, + -0.18886786699295044, + -0.16954649984836578, + 1.0 + ], + [ + 0.23129653930664062, + -0.038448501378297806, + 0.03086458519101143, + -3.127110923761972, + -0.15489035844802856, + -0.1846277117729187, + 1.0 + ], + [ + 0.21428751945495605, + -0.016653597354888916, + 0.029844464734196663, + -3.1222612002217254, + -0.13980813324451447, + -0.20961005985736847, + 1.0 + ], + [ + 0.20674730837345123, + 0.006421969272196293, + 0.03683173656463623, + 3.1356731258616826, + -0.12310805171728134, + -0.23350524902343753, + 1.0 + ], + [ + 0.19890426099300385, + 0.03297142684459686, + 0.04581395909190178, + 3.122670581685849, + -0.12751032412052155, + -0.24232821166515348, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.04849565029144287, + 0.3218126893043518, + 0.6107503175735474, + 0.7056604325771332, + 0.6818961203098297, + 0.674804151058197, + 0.6865763664245605, + 0.6330343186855316, + 0.3458977937698364, + 0.06803375482559204, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "828", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/828/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/833.json b/annotation/test/833.json new file mode 100644 index 0000000000000000000000000000000000000000..0cec6e7304d329a61a273f34a9bbbf3979a76cbc --- /dev/null +++ b/annotation/test/833.json @@ -0,0 +1,527 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "pick up blue pen and put into drawer" + ], + "videos": [ + { + "video_path": "videos/test/833/rgb.mp4" + } + ], + "action": [ + [ + 0.00021254757379074435, + 0.0002701383560753877, + -3.635605778705602e-07, + -0.001703656002090166, + 0.001340139002229307, + -8.933458691479511e-05, + 1.0 + ], + [ + 0.0004578218086245408, + 0.0031946390602408006, + 0.0046784399887665855, + 0.011101881246905452, + -0.021741365118604052, + -0.06155278492833855, + 1.0 + ], + [ + 0.018102402057670577, + 0.0304166345157323, + 0.00511146077007237, + 0.03592538880956254, + -0.01617227295265004, + -0.2450632112324772, + 1.0 + ], + [ + 0.014415608704519552, + 0.03278756125347574, + -1.5619764815587753e-06, + 0.005929502689032506, + 0.04615602395029748, + -0.25506461394220026, + 1.0 + ], + [ + 0.011998364566421322, + 0.02795047925011195, + 0.005163763988059825, + 0.0042454534927297335, + 0.09515410111899011, + -0.2530031932965329, + 1.0 + ], + [ + 0.0011449318600325479, + 0.032467227933176475, + 0.013067811695196318, + -0.059843991760735044, + 0.19294355776754737, + -0.23513631937111223, + 1.0 + ], + [ + -0.003367521422316177, + 0.026351697589241333, + 0.010664113626699383, + -0.034256261368693475, + 0.1116773957269658, + -0.074830008716833, + 1.0 + ], + [ + -0.008933967265036511, + 0.02571081553908293, + 0.01438443228721259, + -0.0017679713371517227, + 0.06528098606361482, + -0.007361574426238262, + 1.0 + ], + [ + -0.011321915067435972, + 0.012353286099066777, + 0.009955334298688587, + -0.011028735297610268, + -0.008412194597750493, + -0.01873844513720198, + 1.0 + ], + [ + -0.007538465319644475, + 0.007274444898518624, + 0.0105110653913342, + -0.026848918907541187, + 0.0016878466976017008, + -0.004053382578621874, + 1.0 + ], + [ + -0.004646284962691334, + 0.00682311679355641, + 0.009009935416040072, + -0.05197996437261894, + 0.003352003798613594, + -0.004332408210924128, + 1.0 + ], + [ + -0.0037720802860845065, + 0.0023980102796643584, + 0.018199834015556502, + -0.04611643943944127, + -0.0012815077615093392, + 0.010954868356279254, + 1.0 + ], + [ + 0.0025094946004516655, + 0.002844090062172396, + 0.014874743497176853, + -0.047823122418723094, + -0.018976815773497926, + 0.007449174113304575, + 1.0 + ], + [ + -0.0030257139833204543, + 0.002577617947217355, + 0.009115226824056648, + -0.05356320710414353, + -0.04253775808448426, + -0.008973330490539949, + 1.0 + ], + [ + -0.005125948718986888, + -0.0010894336721183268, + 0.004806424895451506, + -0.020992178738231285, + -0.043074220812723975, + -0.008609616004310535, + 1.0 + ], + [ + -0.00021084399966921907, + -0.0023819274724493915, + 0.0014783856782771055, + 0.015929224553364183, + -0.03396603821130031, + -0.005950397043860153, + 0.0 + ], + [ + 0.0023957055628568108, + -0.0011297804037698883, + -0.0025997612193715326, + 0.015775915768434838, + -0.026486404954103045, + 0.013999643466929973, + 0.0 + ], + [ + 0.00880284766390469, + -0.01944484190537486, + -0.011069675749028991, + 0.16088047722865026, + -0.0035766387730229595, + 0.04059053257764025, + 0.0 + ], + [ + 0.014872097402284118, + -0.015803471593927605, + -0.04594907903228033, + 0.07767812699576636, + -0.05345105576789344, + 0.003208189510134788, + 0.0 + ], + [ + 0.010715189426141022, + -0.026671421696113178, + -0.028678639179074657, + 0.09046797537428204, + -0.013190769700922521, + 0.058216240530229876, + 0.0 + ], + [ + 0.0261290384719842, + -0.027491194974385312, + -0.01571546314188017, + 0.034577027774169704, + 0.032272926221603694, + 0.0912878521626017, + 0.0 + ], + [ + 0.036323374617261935, + -0.025109053570050555, + 0.01305495183780632, + -0.028151133399835694, + 0.032738202970573206, + 0.11289440685918818, + 0.0 + ], + [ + 0.030339447076042383, + -0.01742798554158033, + 0.015308204315695559, + -0.05145204835979294, + 0.0028491948692259614, + 0.10671926564573883, + 0.0 + ], + [ + 0.010155364374432261, + -0.003627358169969546, + 0.0045019650288680765, + -0.0347703952091346, + 0.009396415916317973, + 0.07980325119798193, + 0.0 + ], + [ + 0.00015934184189180214, + -0.00014746768927527033, + -1.4711421833738466e-07, + 0.0009306483061429568, + 0.001004210406342253, + 0.0006922456236036848, + 1.0 + ], + [ + -0.00015923978730068435, + 0.00014757788180793662, + -1.5013916367041925e-07, + -0.0009299533925730638, + -0.0010048539682526178, + -0.0006913111064224342, + 1.0 + ] + ], + "state": [ + [ + 0.14925040304660797, + -0.014402803964912891, + 0.1805294007062912, + -3.1118381415777883, + -0.048346772789955146, + -0.015743203461170197, + 1.0 + ], + [ + 0.14945879578590393, + -0.014676148071885109, + 0.18053200840950012, + -3.113544162484356, + -0.049688976258039474, + -0.01569371670484543, + 1.0 + ], + [ + 0.15010464191436768, + -0.017748838290572166, + 0.17579443752765656, + -3.105575444298335, + -0.029585400596261024, + 0.046458352357149124, + 1.0 + ], + [ + 0.16976603865623474, + -0.04708022624254227, + 0.1701292097568512, + -3.077916072803088, + -0.02127266116440296, + 0.2919836640357971, + 1.0 + ], + [ + 0.1930297315120697, + -0.07425510883331299, + 0.16835148632526398, + -3.079246362792798, + -0.08272551000118256, + 0.5440912246704102, + 1.0 + ], + [ + 0.21802154183387756, + -0.09136321395635605, + 0.16247129440307617, + -3.0971753542595586, + -0.19076770544052124, + 0.793944776058197, + 1.0 + ], + [ + 0.24345313012599945, + -0.11093288660049438, + 0.14845481514930725, + 3.0798277017944535, + -0.3887440860271454, + 1.033884882926941, + 1.0 + ], + [ + 0.26677361130714417, + -0.1244632750749588, + 0.13883404433727264, + 3.0102964659505567, + -0.4941698014736176, + 1.1260590553283691, + 1.0 + ], + [ + 0.2903229594230652, + -0.13867497444152832, + 0.12500546872615814, + 2.999399097757884, + -0.5578542947769165, + 1.1447107791900635, + 1.0 + ], + [ + 0.3005460202693939, + -0.14915236830711365, + 0.11213646084070206, + 2.9776304831081113, + -0.5467782616615295, + 1.1650298833847046, + 1.0 + ], + [ + 0.30805933475494385, + -0.1541922390460968, + 0.1003730297088623, + 2.9481794406943997, + -0.5477762818336487, + 1.170037031173706, + 1.0 + ], + [ + 0.31580182909965515, + -0.15752115845680237, + 0.0915246456861496, + 2.8932095040851316, + -0.5502257347106934, + 1.1757806539535522, + 1.0 + ], + [ + 0.324270635843277, + -0.1548757404088974, + 0.07501725107431412, + 2.8538206835561475, + -0.5516399145126343, + 1.1629425287246704, + 1.0 + ], + [ + 0.33429431915283203, + -0.14919641613960266, + 0.06487252563238144, + 2.8136025090985974, + -0.5355098247528076, + 1.1483757495880127, + 1.0 + ], + [ + 0.3397630453109741, + -0.15014423429965973, + 0.05662139877676964, + 2.762756588059016, + -0.4923425316810608, + 1.1424614191055298, + 1.0 + ], + [ + 0.33953896164894104, + -0.15247778594493866, + 0.0499081090092659, + 2.745574476318904, + -0.44912368059158325, + 1.1336538791656494, + 1.0 + ], + [ + 0.3384038805961609, + -0.15106301009655, + 0.047760166227817535, + 2.7648893912606916, + -0.415478378534317, + 1.1253327131271362, + 0.0 + ], + [ + 0.33718910813331604, + -0.14894945919513702, + 0.050558701157569885, + 2.7905855794721326, + -0.3958853781223297, + 1.1006675958633423, + 0.0 + ], + [ + 0.3205489218235016, + -0.13298796117305756, + 0.057375188916921616, + 2.9682605286412915, + -0.406154990196228, + 1.0578364133834839, + 0.0 + ], + [ + 0.29853883385658264, + -0.12419748306274414, + 0.10232549905776978, + 3.050918908911296, + -0.3540266156196594, + 1.04464852809906, + 0.0 + ], + [ + 0.27381935715675354, + -0.1087007075548172, + 0.13056451082229614, + -3.1198568531596145, + -0.3455134928226471, + 0.9817591905593872, + 0.0 + ], + [ + 0.26184016466140747, + -0.07777208089828491, + 0.15475928783416748, + -3.051938237743922, + -0.37426015734672546, + 0.8829785585403442, + 0.0 + ], + [ + 0.2655746340751648, + -0.031993817538022995, + 0.15802857279777527, + -3.0350492541962346, + -0.3941495418548584, + 0.7580246925354004, + 0.0 + ], + [ + 0.27661290764808655, + 0.004560737404972315, + 0.15733656287193298, + -3.0431093146377286, + -0.38331177830696106, + 0.6432464122772217, + 0.0 + ], + [ + 0.2829523980617523, + 0.014377407729625702, + 0.157310351729393, + -3.045823061960288, + -0.38352346420288086, + 0.556598424911499, + 0.0 + ], + [ + 0.2829957902431488, + 0.01457727886736393, + 0.15738318860530853, + -3.044575484591075, + -0.3844567537307739, + 0.5557515025138855, + 1.0 + ], + [ + 0.2829523980617523, + 0.014377407729625702, + 0.157310351729393, + -3.045823061960288, + -0.38352346420288086, + 0.556598424911499, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.004532158374786377, + 0.11205136775970459, + 0.4339951276779175, + 0.6676268577575684, + 0.6811123192310333, + 0.6811123192310333, + 0.6811123192310333, + 0.6811123192310333, + 0.6811123192310333, + 0.6811123192310333, + 0.556092768907547, + 0.21638107299804688, + 0.0072438716888427734 + ], + "episode_id": "833", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/833/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/837.json b/annotation/test/837.json new file mode 100644 index 0000000000000000000000000000000000000000..4529347b62b26f96af03317733dc2ec79d407289 --- /dev/null +++ b/annotation/test/837.json @@ -0,0 +1,565 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "remove scoop off of napkin. scoop is off of napkin" + ], + "videos": [ + { + "video_path": "videos/test/837/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -5.4244865609645874e-09, + -2.7123694466571746e-09, + -0.0015339331466228256, + 1.0 + ], + [ + -0.002336544218695831, + 0.0036084371977781614, + 0.008510098274752981, + -0.023202716651896296, + -0.0202491901948362, + -0.0007643573047640991, + 1.0 + ], + [ + -0.0063873115132140595, + 0.015561411376395419, + 0.010307387613025156, + -0.06291945385832483, + 0.014313628269531196, + 0.022135175673713033, + 1.0 + ], + [ + -0.012355807869495264, + 0.026399706307310082, + -0.002617580837686966, + -0.012988436928219542, + 0.0628283312833728, + 0.049551579114347814, + 1.0 + ], + [ + -0.009323544946319642, + 0.02184398001573765, + 0.012097090950834468, + 0.017341225755014657, + -0.014466185564402835, + 0.06372759274581624, + 1.0 + ], + [ + 0.0027381486945714066, + 0.007175285541008518, + 0.005917415952617141, + 0.03605521021442851, + 0.0018905917447010823, + 0.01674371410370763, + 1.0 + ], + [ + 0.004910299486065922, + 0.0018583326929504699, + 0.008155594577170909, + 0.021634650056930306, + -0.005113376233876167, + -0.007361368439336626, + 1.0 + ], + [ + 0.003748531716213734, + 0.0025971026091621964, + 0.005266606375819372, + 0.0012630590626443625, + -0.0002873483033709432, + -0.011803228033383836, + 1.0 + ], + [ + 0.005368275702212683, + 0.002812990140163479, + 0.006746699511377384, + 0.006834851028375819, + -0.005852323852205461, + -0.0026511882981784408, + 1.0 + ], + [ + 0.0004382252874991896, + 0.0018183936234423355, + 0.0063255688349078, + -0.002641898396934091, + -0.010244937673115611, + -0.006607963332002059, + 1.0 + ], + [ + 0.001773841753171105, + 0.001212692465003056, + 0.005096225974984203, + 0.008790779386504572, + -0.003094190727615194, + 0.008736655088008922, + 1.0 + ], + [ + -0.0020914539596168773, + -0.0001782992597937943, + 0.005975742127776729, + 0.0020444048690574546, + -0.020540147142046602, + 0.010798406784517534, + 1.0 + ], + [ + -0.0003035580489473626, + -0.0006609570866956856, + 2.0545125348444515e-05, + 0.0019131281679697445, + -0.0008440316098201968, + -0.003798838926310419, + 0.0 + ], + [ + -0.000862814350998383, + 0.004742202372584575, + -0.0024865209475411756, + -0.027304443144199747, + -0.003640321572550353, + 0.004147832006633409, + 0.0 + ], + [ + 0.007004554091008022, + 0.0029605332248328884, + -0.025967941645110258, + -0.013909955714782613, + 0.07339463602806105, + -0.008786689429397252, + 0.0 + ], + [ + 0.0232038307644473, + 0.011684819356233176, + -0.018466182355186465, + -0.03250745047487211, + 0.04431879010618657, + 0.009584399763123584, + 0.0 + ], + [ + 0.03510573275338334, + 0.01610907582868532, + -0.012058376669315073, + -0.012176390981250425, + 0.05520199473715366, + 0.034404559686370864, + 0.0 + ], + [ + 0.030153183310706596, + 0.013455879213743882, + 0.016833557023047438, + 0.0036870483187244427, + -0.007438276966103222, + -0.011631414270420823, + 0.0 + ], + [ + 0.017368189084179725, + 0.005039048873076953, + 0.021953261092866445, + -0.0058059290805450425, + -0.022416835771036692, + -0.06778165780374933, + 0.0 + ], + [ + 0.008563579592622767, + 0.0009317376018111255, + 0.020414447202796133, + -0.018924993300953888, + -0.0223786257831044, + -0.08423161120823756, + 0.0 + ], + [ + -0.0007743449428907687, + -0.0021634329123030372, + 0.013871491461467017, + 0.006244812970121178, + -0.04371344566698099, + -0.028882304977915243, + 0.0 + ], + [ + 0.00037387891051764144, + -0.0014699468741951186, + -0.001669428726603915, + -0.004841637720514867, + -0.011435774041983955, + 0.014634965480285037, + 0.0 + ], + [ + -0.005829654928474798, + -0.009747506742914422, + -0.010906018919024775, + -0.007181997668482819, + -0.0026858641846815305, + 0.02862940972008019, + 1.0 + ], + [ + -0.011309684212686069, + -0.020450699782784153, + -0.045167911636238095, + -0.006841889282497685, + 0.08744594186068301, + 0.02397404202796053, + 1.0 + ], + [ + -0.021193015281586833, + -0.018665209681934167, + -0.027785914762909716, + 0.044915085616517345, + 0.004821947139378945, + 0.014418402061436868, + 1.0 + ], + [ + -0.02347330870576518, + -0.01879281857255824, + -0.007783616658093752, + 0.022555304273107552, + -0.017687737725021326, + -0.02580993829788655, + 1.0 + ], + [ + -0.011703920425489081, + -0.0037711454010124477, + 0.003478835287771616, + 0.023637133259829062, + -0.015840467920404395, + -0.0009828501259196135, + 1.0 + ], + [ + -0.00016223005373431666, + -0.00044110324068507076, + -1.4254720500734407e-05, + 0.00023482573680429125, + -3.7953659595115743e-05, + 0.0015525428457901363, + 1.0 + ] + ], + "state": [ + [ + 0.2949187755584717, + 0.11677240580320358, + 0.08661801367998123, + -3.0658712332421025, + -0.037185296416282654, + -0.1927933990955353, + 1.0 + ], + [ + 0.2949187755584717, + 0.11677240580320358, + 0.08661801367998123, + -3.065928230183669, + -0.03730129078030586, + -0.19126279652118683, + 1.0 + ], + [ + 0.29238539934158325, + 0.11425324529409409, + 0.07777845114469528, + -3.0892011282318315, + -0.017167726531624794, + -0.1889698654413223, + 1.0 + ], + [ + 0.28348225355148315, + 0.10068383067846298, + 0.06656228005886078, + 3.131448883684822, + -0.030298167839646343, + -0.21183262765407562, + 1.0 + ], + [ + 0.2657780051231384, + 0.07751653343439102, + 0.06907188892364502, + 3.119940174865075, + -0.0935893803834915, + -0.2608608901500702, + 1.0 + ], + [ + 0.2521585524082184, + 0.05827749893069267, + 0.05663011968135834, + -3.1398631696407726, + -0.08031331002712251, + -0.3250879943370819, + 1.0 + ], + [ + 0.25290727615356445, + 0.050464075058698654, + 0.05093909054994583, + -3.102460155385085, + -0.08216365426778793, + -0.3418916165828705, + 1.0 + ], + [ + 0.2576379179954529, + 0.04714827984571457, + 0.04314776882529259, + -3.0814480764144143, + -0.07733983546495438, + -0.3343132734298706, + 1.0 + ], + [ + 0.26081666350364685, + 0.043634913861751556, + 0.03804038092494011, + -3.0811035839193543, + -0.07775706797838211, + -0.3224783539772034, + 1.0 + ], + [ + 0.26564091444015503, + 0.03949249908328056, + 0.0315738320350647, + -3.07450162072713, + -0.07207536697387695, + -0.31947046518325806, + 1.0 + ], + [ + 0.26605910062789917, + 0.037889838218688965, + 0.02518884837627411, + -3.077667037146636, + -0.06229456514120102, + -0.31217673420906067, + 1.0 + ], + [ + 0.2677781283855438, + 0.036405470222234726, + 0.02014600671827793, + -3.0683468898111066, + -0.058646321296691895, + -0.3207125067710877, + 1.0 + ], + [ + 0.26632142066955566, + 0.03753753751516342, + 0.014086972922086716, + -3.0657466669851026, + -0.03736851736903191, + -0.32998305559158325, + 1.0 + ], + [ + 0.2662474513053894, + 0.038261160254478455, + 0.014105208218097687, + -3.063978077965327, + -0.03681448474526405, + -0.3261285722255707, + 0.0 + ], + [ + 0.2637805640697479, + 0.033900946378707886, + 0.016183361411094666, + -3.0911406894498548, + -0.03286324068903923, + -0.3299837112426758, + 0.0 + ], + [ + 0.2682196795940399, + 0.027870869264006615, + 0.042185187339782715, + -3.105082443105527, + -0.10660701245069502, + -0.32490107417106623, + 0.0 + ], + [ + 0.28432419896125793, + 0.009413321502506733, + 0.0625792071223259, + -3.1363512935400983, + -0.15053966641426086, + -0.33621492981910706, + 0.0 + ], + [ + 0.31005895137786865, + -0.01671179011464119, + 0.07968243211507797, + 3.139976263633468, + -0.2054685652256012, + -0.37160056829452515, + 0.0 + ], + [ + 0.33586326241493225, + -0.04123861342668533, + 0.06937630474567413, + 3.141245535056111, + -0.19799745082855225, + -0.359749972820282, + 0.0 + ], + [ + 0.35406696796417236, + -0.053477171808481216, + 0.05127010494470596, + 3.1219117009365043, + -0.17509859800338745, + -0.2909393906593323, + 0.0 + ], + [ + 0.3651658892631531, + -0.05819238722324371, + 0.032681576907634735, + 3.088306514667817, + -0.15045078098773954, + -0.20622800290584561, + 0.0 + ], + [ + 0.3667566776275635, + -0.05707285553216934, + 0.018756262958049774, + 3.09052366589243, + -0.10520837455987929, + -0.17959533631801605, + 0.0 + ], + [ + 0.3672354519367218, + -0.05558113753795624, + 0.02037893794476986, + 3.087287863838025, + -0.09452236443758011, + -0.1948622316122055, + 0.0 + ], + [ + 0.3625815510749817, + -0.044138338416814804, + 0.030143341049551964, + 3.0828514603250703, + -0.09335506707429884, + -0.22372086346149447, + 1.0 + ], + [ + 0.35273000597953796, + -0.018240146338939667, + 0.072787344455719, + 3.0775750299268445, + -0.18204052746295926, + -0.2427481710910797, + 1.0 + ], + [ + 0.3327399790287018, + 0.007730870507657528, + 0.09504708647727966, + 3.125090316059538, + -0.18775670230388639, + -0.2570802569389343, + 1.0 + ], + [ + 0.31389835476875305, + 0.032245852053165436, + 0.09800678491592407, + -3.140368144964338, + -0.16958388686180118, + -0.2311984747648239, + 1.0 + ], + [ + 0.30410513281822205, + 0.038429856300354004, + 0.09260711073875427, + -3.1169020292633256, + -0.15374454855918884, + -0.2301843911409378, + 1.0 + ], + [ + 0.30404582619667053, + 0.03889630734920502, + 0.09260711073875427, + -3.116426861035176, + -0.1536680907011032, + -0.23175401985645294, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05388200283050537, + 0.34891170263290405, + 0.6304961442947388, + 0.657110869884491, + 0.657110869884491, + 0.6595531105995178, + 0.6595531105995178, + 0.6595531105995178, + 0.6595531105995178, + 0.6595531105995178, + 0.5949552357196808, + 0.2858717441558838, + 0.024030208587646484, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "837", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/837/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/839.json b/annotation/test/839.json new file mode 100644 index 0000000000000000000000000000000000000000..f3b285b714f407979f13660b3c08bf3e57cd21e1 --- /dev/null +++ b/annotation/test/839.json @@ -0,0 +1,945 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "PICK UP THE VESSEL AND PUT ON THE ANOTHER SIDE OF THE TABLE" + ], + "videos": [ + { + "video_path": "videos/test/839/rgb.mp4" + } + ], + "action": [ + [ + -0.0003476497689164994, + -7.452951788335156e-05, + 0.0003603764729792096, + 0.0006024826882339469, + -0.0013792859698385197, + 0.00029573891221301236, + 1.0 + ], + [ + -0.0009945024440669444, + 0.001282211190181798, + 0.0071575742800763205, + 0.011578103205238792, + -0.02966331550689961, + 0.010266774264412616, + 1.0 + ], + [ + -0.0034063200043609704, + -0.014702446913132041, + 0.016404866340374316, + 0.07307522699355096, + -0.11356249619883038, + 0.04177387964708499, + 1.0 + ], + [ + 0.0014447679026125633, + -0.025260470819362862, + 0.01800126558763938, + -0.04397112547976517, + -0.023911077541224224, + 0.03957817931723932, + 1.0 + ], + [ + -8.178217304623946e-06, + -0.011445364146701444, + 0.012305884082922566, + 0.044026505679671826, + 0.010058965963111606, + 0.13063032383344486, + 1.0 + ], + [ + -0.008516877528641343, + -0.015510918087819939, + 0.025371834174414513, + 0.010417584913880036, + 0.01990923671645137, + 0.11003203051519954, + 1.0 + ], + [ + -0.006999572446428157, + -0.009285250832811712, + 0.004238591476756716, + -0.02755640369431838, + 0.12207168359935437, + 0.11014131284482244, + 1.0 + ], + [ + -0.002684416796773356, + -0.008594316042864782, + 0.01159943802128515, + 0.010410959947398133, + 0.04742631214975227, + 0.1181139866080942, + 1.0 + ], + [ + 0.0006016246547256555, + -0.005547177526827786, + 0.006073041446999927, + 0.01506185493283512, + 0.04841812125840904, + 0.05877155156584266, + 1.0 + ], + [ + 0.00028235355263107377, + -0.010513949326748264, + 0.005790196117196506, + 0.005984937036385217, + 0.06457577179407153, + 0.03761759509616128, + 1.0 + ], + [ + -0.003926302360659092, + -0.00037759527022603647, + 0.01569224606554129, + -0.05750281671858627, + -0.013640067416714882, + 0.012659575562397808, + 1.0 + ], + [ + -0.001854866147941072, + -0.0023434746160575165, + 0.00830079532422645, + -0.03157075816354933, + -0.01001476093800091, + -0.010871719193000692, + 1.0 + ], + [ + 0.0010251511512826363, + -0.00196359880041933, + 0.009166508627396572, + -0.02577751053281307, + -0.06637437932432276, + -0.025560224923642412, + 1.0 + ], + [ + 0.0020845033215320364, + 0.002834612964020951, + 0.00610684501695616, + -0.008169589181670687, + -0.03495134797385795, + -0.0018811543093085559, + 1.0 + ], + [ + 0.0007254124356605453, + 0.0002031498663172487, + 0.0021642107113062216, + 0.0063525130352578224, + 0.015982059314874827, + -0.031510911063594535, + 1.0 + ], + [ + 0.0014008306287192189, + 0.002415356087637117, + -6.260465426993092e-05, + -0.013106738233903124, + 0.007134318621376409, + 0.0028103351131262503, + 0.0 + ], + [ + 0.004065325032802439, + 0.003862482015490269, + -0.004056378692758405, + -0.016726760852461477, + -0.014831475114307779, + -0.018620447079646666, + 0.0 + ], + [ + 0.003431850307858336, + -0.0005740356285049336, + -0.004408497485572984, + -0.008896762438530636, + -0.005004374326986577, + -0.00982078000162682, + 0.0 + ], + [ + 0.004627189487567863, + 0.0006757970581748701, + -0.006994780629903669, + -0.03776035219168024, + -0.016418405347867475, + -0.022638210109870983, + 0.0 + ], + [ + 0.0013099741314347066, + 0.005815197693728408, + -0.004519189841670508, + -0.04195752023188756, + -0.014086698336918653, + -0.036122394398105474, + 0.0 + ], + [ + -0.0006372347774631189, + 0.0019527386797663835, + -0.005822118471765801, + -0.057416494944556216, + -0.0128312044910417, + -0.1768410115778883, + 0.0 + ], + [ + -0.004994417321423968, + -0.00011463464359973773, + 0.0028506037895436875, + -0.04748661288380602, + 0.011333563594891863, + -0.20663264796620576, + 0.0 + ], + [ + -0.00388422610786589, + 0.0068103274167287935, + -0.008999611537512487, + -0.029656629474898815, + 0.044338572421234526, + -0.23063360387268686, + 0.0 + ], + [ + -0.005911582298162626, + 0.006323543934131135, + 0.005375789104353957, + 0.04369767365788263, + 0.004489616027014716, + -0.2314482062015934, + 0.0 + ], + [ + -0.00792259946202789, + 0.009261561399908793, + 0.0031610942593760694, + -0.06053167592267635, + -0.03169056754909736, + -0.1715554911718914, + 0.0 + ], + [ + -0.010388883291548226, + 0.004226207278504558, + -0.005097315811931002, + -0.06456097945743446, + 0.06540896914899132, + -0.1789403154783189, + 0.0 + ], + [ + -0.004032683461042733, + 0.0019855726055117697, + 0.004263080078738068, + -0.0378098583057647, + -0.00381828220271018, + -0.13666700227226622, + 0.0 + ], + [ + 0.0051128187251278465, + 0.0020134600136551373, + 0.0011250383005355952, + -0.019212367232647527, + 0.03897859661831584, + -0.14842956202651572, + 0.0 + ], + [ + 0.00026574540195426123, + 0.004522065718078093, + 0.0014751673951149047, + -0.04626339356364146, + -0.014445404444495226, + -0.06808573184274203, + 0.0 + ], + [ + 0.005444847308282628, + 0.00149531653497146, + 0.006720416558182479, + -0.021117011327524516, + -0.0006810731310078718, + -0.04259601720384746, + 0.0 + ], + [ + 0.0030468132695761854, + 0.0007998082489283767, + 0.007660498688343095, + 0.0009503278351005873, + 0.0050923533995545925, + -0.009041267204596139, + 0.0 + ], + [ + 0.007873659300240162, + 0.008826293162474257, + 0.006318453777596787, + -0.011910280450887467, + 0.0014952241977161899, + 0.008422933455112632, + 0.0 + ], + [ + 0.00810689686952011, + 0.004136307123863024, + 0.004309310706298602, + 0.021112828226961967, + 0.011114414381687903, + 0.012921357031092288, + 0.0 + ], + [ + 0.008396605487342348, + 0.003263900044516996, + -5.966038898680204e-06, + 0.005604638021790627, + 0.010835524280729907, + -0.0051603186763719625, + 0.0 + ], + [ + 0.005277017845083485, + 0.002836342748844665, + 0.0012231434877780795, + 0.024479559532103304, + -0.0049691277455502425, + 0.019700681144599743, + 0.0 + ], + [ + 0.0016521104049254368, + 0.00029075661128940747, + -0.002554565470878354, + 0.0406866263199356, + -0.002001525701085222, + 0.03724326675934053, + 0.0 + ], + [ + -0.007099308651113231, + -0.0010375606285662486, + 6.858132284866512e-05, + 0.00046875978194711845, + -0.052412090166099025, + 0.02127549139062291, + 0.0 + ], + [ + 0.0006124172166153613, + -0.004033274471966326, + -0.003265230580474967, + 0.03838992555370159, + -0.01057548739609662, + 0.03197541967114724, + 1.0 + ], + [ + 0.0011423697670282884, + 0.0015861029911542444, + -0.008337916337205094, + 0.010801563123021062, + 0.00047428068683592987, + 0.027068405861609815, + 1.0 + ], + [ + 0.0040681640215192, + 0.0014855361172793672, + -0.013280326068505252, + 0.018458857819214074, + 0.04662823935152468, + 0.039139736277000625, + 1.0 + ], + [ + -0.0020992979423384833, + 0.0068221124036429905, + -0.013490555062305091, + 0.04618003054244451, + 0.030989392432201047, + 0.09261844210830773, + 1.0 + ], + [ + 0.0031932631294781205, + 0.0033560799362838687, + -0.00782587085421516, + 0.048194069832998766, + 0.04046905067997318, + 0.10742476604602759, + 1.0 + ], + [ + 0.0013762994843323157, + -0.005836737081827857, + -0.0033511551629553087, + 0.08726585076453293, + 0.038925798321012686, + 0.16824633872088968, + 1.0 + ], + [ + -0.004240015176967266, + -0.01901944603484521, + -0.005159428946316723, + -0.02773773801353372, + 0.004697658576517228, + 0.1033728676461611, + 1.0 + ], + [ + -0.017663680885627538, + -0.022541894256916373, + -0.014744903143685841, + 0.015096427826726043, + 0.017249288357457412, + 0.13790715538988907, + 1.0 + ], + [ + -0.014061501319029935, + -0.010586565841800956, + -0.012685297221449001, + 0.02712667130647715, + 0.008029972445743125, + 0.08938015243178317, + 1.0 + ], + [ + -0.011437282009634476, + -0.008145780231717624, + 0.005237851273674727, + -0.026271210751718132, + -0.027946158567645443, + 0.09250321950447056, + 1.0 + ], + [ + -0.011893872162695022, + -0.0071257082323280384, + -0.0030627593160597938, + 0.04624373594440982, + 0.02011314649754055, + 0.07665342495688608, + 1.0 + ] + ], + "state": [ + [ + 0.2905576825141907, + -0.06040910631418228, + 0.129209503531456, + -2.95875574846799, + -0.06701812148094177, + 0.09640397131443024, + 1.0 + ], + [ + 0.29022178053855896, + -0.06030213087797165, + 0.1288461685180664, + -2.958150403695651, + -0.06560805439949037, + 0.0963638573884964, + 1.0 + ], + [ + 0.28970420360565186, + -0.06030699983239174, + 0.12152523547410965, + -2.9461855461173734, + -0.03456905856728554, + 0.09168139100074768, + 1.0 + ], + [ + 0.2851577699184418, + -0.043042827397584915, + 0.10817746818065643, + -2.871208967762538, + 0.08493971824645996, + 0.07291215658187868, + 1.0 + ], + [ + 0.2835730314254761, + -0.013930042274296284, + 0.09749296307563782, + -2.917953359084674, + 0.1185087487101555, + 0.040949247777462006, + 1.0 + ], + [ + 0.28187865018844604, + -9.827763278735802e-05, + 0.08809921145439148, + -2.89125049312646, + 0.13658784329891205, + -0.08987830579280852, + 1.0 + ], + [ + 0.2725757360458374, + 0.022139396518468857, + 0.0687137171626091, + -2.8976845165067395, + 0.14364419877529142, + -0.2025728076696396, + 1.0 + ], + [ + 0.26754632592201233, + 0.03341587260365486, + 0.06786420196294785, + -2.9451728483014783, + 0.05037438124418259, + -0.33844062685966486, + 1.0 + ], + [ + 0.2681069076061249, + 0.04455439746379852, + 0.05831253528594971, + -2.942376213269778, + 0.02645362913608551, + -0.46350598335266113, + 1.0 + ], + [ + 0.27149835228919983, + 0.050281744450330734, + 0.05344318598508835, + -2.929309131699153, + -0.009444985538721085, + -0.5306462049484253, + 1.0 + ], + [ + 0.2775889039039612, + 0.06003908812999725, + 0.05000099912285805, + -2.922671439247676, + -0.0646359920501709, + -0.5810568332672119, + 1.0 + ], + [ + 0.27720940113067627, + 0.06480636447668076, + 0.03454350680112839, + -2.979555832343646, + -0.048569314181804664, + -0.5904617905616759, + 1.0 + ], + [ + 0.2780187427997589, + 0.06866022199392319, + 0.02664867602288723, + -3.011730672913142, + -0.04043591022491456, + -0.5781071782112123, + 1.0 + ], + [ + 0.28088831901550293, + 0.07053013890981674, + 0.017862295731902122, + -3.0386678149276456, + 0.022092880681157116, + -0.5442169904708862, + 1.0 + ], + [ + 0.2814159393310547, + 0.06764848530292511, + 0.01145203597843647, + -3.0466549341850957, + 0.05666558444499969, + -0.5387478470802307, + 1.0 + ], + [ + 0.28193342685699463, + 0.06734257191419601, + 0.009240718558430672, + -3.0386409183316907, + 0.03774359077215195, + -0.5088772773742676, + 1.0 + ], + [ + 0.2819761037826538, + 0.06456023454666138, + 0.009002038277685642, + -3.051878886418887, + 0.030935630202293396, + -0.5124075412750244, + 0.0 + ], + [ + 0.28355294466018677, + 0.05884241312742233, + 0.012568539939820766, + -3.0679982398920735, + 0.04403318837285042, + -0.4925157427787781, + 0.0 + ], + [ + 0.2868635654449463, + 0.05734768509864807, + 0.016851942986249924, + -3.076450044410773, + 0.048299651592969894, + -0.48234182596206665, + 0.0 + ], + [ + 0.29073071479797363, + 0.05404769629240036, + 0.023556401953101158, + -3.113075416656681, + 0.06319616734981538, + -0.45863834023475647, + 0.0 + ], + [ + 0.2895188331604004, + 0.048019569367170334, + 0.0278165265917778, + 3.130448091896721, + 0.07620519399642943, + -0.42202600836753845, + 0.0 + ], + [ + 0.2885718047618866, + 0.04637549817562103, + 0.03369159996509552, + 3.0866405052417, + 0.08980612456798555, + -0.24463364481925967, + 0.0 + ], + [ + 0.2834872007369995, + 0.04760138690471649, + 0.031298425048589706, + 3.058823602395602, + 0.08783673495054245, + -0.03688227757811547, + 0.0 + ], + [ + 0.28023335337638855, + 0.04167436435818672, + 0.04113426059484482, + 3.0516685490780553, + 0.060158975422382355, + 0.19691330194473267, + 0.0 + ], + [ + 0.2754909098148346, + 0.033813878893852234, + 0.03671214357018471, + 3.1115593054615935, + 0.0746871829032898, + 0.428478479385376, + 0.0 + ], + [ + 0.27199479937553406, + 0.021935129538178444, + 0.03442978858947754, + 3.0641903226547917, + 0.11040183156728745, + 0.5999575853347779, + 0.0 + ], + [ + 0.2661207616329193, + 0.013289286755025387, + 0.04095032811164856, + 3.02089378436143, + 0.057097557932138436, + 0.7834108471870423, + 0.0 + ], + [ + 0.26486003398895264, + 0.008527010679244995, + 0.03719397634267807, + 2.9919066597991666, + 0.07677122205495834, + 0.9190142750740051, + 0.0 + ], + [ + 0.2696307599544525, + 0.011220739223062992, + 0.03599204123020172, + 2.986007021861621, + 0.059382427483797066, + 1.071808099746704, + 0.0 + ], + [ + 0.2738596498966217, + 0.009167014621198177, + 0.03522098809480667, + 2.943929286795207, + 0.08407076448202133, + 1.1370506286621094, + 0.0 + ], + [ + 0.27844566106796265, + 0.012439629063010216, + 0.028490101918578148, + 2.9264960308843335, + 0.09302803874015808, + 1.178863763809204, + 0.0 + ], + [ + 0.2815781533718109, + 0.013692368753254414, + 0.020925438031554222, + 2.9283794929557523, + 0.08997819572687149, + 1.1888238191604614, + 0.0 + ], + [ + 0.2936022877693176, + 0.0168959628790617, + 0.015927638858556747, + 2.91576178570325, + 0.08673171699047089, + 1.1808781623840332, + 0.0 + ], + [ + 0.30118563771247864, + 0.02220475859940052, + 0.011963996104896069, + 2.9359945376687726, + 0.07300183176994324, + 1.1707475185394287, + 0.0 + ], + [ + 0.307407945394516, + 0.028719019144773483, + 0.012021956965327263, + 2.942123295860835, + 0.06344607472419739, + 1.1780256032943726, + 0.0 + ], + [ + 0.31220051646232605, + 0.03239024057984352, + 0.011051785200834274, + 2.9653526564412793, + 0.06440019607543945, + 1.157688856124878, + 0.0 + ], + [ + 0.3127806484699249, + 0.03411636874079704, + 0.013506116345524788, + 3.0037749131494245, + 0.059798229485750205, + 1.1206053495407104, + 0.0 + ], + [ + 0.3087746798992157, + 0.0281676072627306, + 0.01372029259800911, + 3.0024086852842053, + 0.10876654833555222, + 1.0921932458877563, + 0.0 + ], + [ + 0.3052411675453186, + 0.031013809144496918, + 0.01631210930645466, + 3.0372478683763227, + 0.11474452912807463, + 1.058841586112976, + 1.0 + ], + [ + 0.3068896234035492, + 0.032500021159648895, + 0.024583466351032257, + 3.044991763430186, + 0.11141224950551987, + 1.0318021774291992, + 1.0 + ], + [ + 0.30989694595336914, + 0.03714325651526451, + 0.037410009652376175, + 3.0595650767260274, + 0.06116111949086189, + 0.997321605682373, + 1.0 + ], + [ + 0.314007431268692, + 0.033012934029102325, + 0.05151630938053131, + 3.10055527289445, + 0.022451069205999378, + 0.9075865149497986, + 1.0 + ], + [ + 0.3184722661972046, + 0.03380265086889267, + 0.05939958617091179, + -3.136609024024107, + -0.02250816859304905, + 0.8019831776618958, + 1.0 + ], + [ + 0.3151930272579193, + 0.03878343850374222, + 0.06280990689992905, + -3.045630144076892, + -0.06028011813759803, + 0.6333616971969604, + 1.0 + ], + [ + 0.3005312979221344, + 0.05089189484715462, + 0.06949988007545471, + -3.067656049626418, + -0.05474723875522612, + 0.5298591256141663, + 1.0 + ], + [ + 0.27372828125953674, + 0.059983041137456894, + 0.08487857133150101, + -3.045676114159175, + -0.06126805767416954, + 0.39080274105072027, + 1.0 + ], + [ + 0.25642767548561096, + 0.06293858587741852, + 0.09763285517692566, + -3.0134361704164228, + -0.060465984046459205, + 0.30090054869651794, + 1.0 + ], + [ + 0.2431711107492447, + 0.06798473000526428, + 0.0927954837679863, + -3.03483451356227, + -0.02070661634206772, + 0.21276076138019562, + 1.0 + ], + [ + 0.23004373908042908, + 0.07206352055072784, + 0.09635300934314728, + -2.987276407080241, + -0.03248243033885955, + 0.1343691647052765, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.05465686321258545, + 0.3258223533630371, + 0.602889358997345, + 0.8350401669740677, + 0.9048766940832138, + 0.910015806555748, + 0.910015806555748, + 0.910015806555748, + 0.910015806555748, + 0.910015806555748, + 0.910015806555748, + 0.910015806555748, + 0.910015806555748, + 0.910015806555748, + 0.910015806555748, + 0.910015806555748, + 0.910015806555748, + 0.910015806555748, + 0.910015806555748, + 0.910015806555748, + 0.910015806555748, + 0.910015806555748, + 0.8747213333845139, + 0.6927566826343536, + 0.4021015167236328, + 0.1233397126197815, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "839", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/839/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/84.json b/annotation/test/84.json new file mode 100644 index 0000000000000000000000000000000000000000..c2f4844180945c63e2fabc88b71b1eb2f4cb3d7f --- /dev/null +++ b/annotation/test/84.json @@ -0,0 +1,603 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the silver bowl so that it's directly in front of the microwave on the bare wood table." + ], + "videos": [ + { + "video_path": "videos/test/84/rgb.mp4" + } + ], + "action": [ + [ + 0.0006852865469352685, + 1.384279049195414e-05, + -0.00032853028356957033, + -2.771753843819027e-05, + 0.003067493311662787, + 3.010139237493149e-05, + 1.0 + ], + [ + -0.005521419095058978, + -0.000460595434963864, + 0.008503216630045185, + 0.001975249388488251, + -0.033724772083360076, + -0.004505254270567977, + 1.0 + ], + [ + -0.0068338258743592785, + -0.0059950013786195435, + 0.005567523758923805, + 0.01959436294513736, + -0.004231771242164464, + -0.005680976276192303, + 1.0 + ], + [ + -0.008502544173230712, + -0.013228094127167501, + 0.0072601710109116415, + 0.01741607612247655, + -0.010440565517873585, + -0.0371545850472456, + 1.0 + ], + [ + -0.008088450721710475, + -0.015571606453348343, + 0.009111367143121414, + 0.02305421305968236, + -0.008164172067899348, + -0.03003947479905728, + 1.0 + ], + [ + -0.005495892687024575, + -0.008538842889018676, + 0.012311345418762446, + 0.0019457039199754713, + -0.017992056290785312, + -0.019674859925493907, + 1.0 + ], + [ + -0.0006774346897805266, + -0.0019868138635949157, + 0.014817968261815917, + 0.007853123314303698, + -0.021600076240523045, + 0.0007312275145144494, + 1.0 + ], + [ + 0.0016159446717776034, + -0.0021042814593901205, + 0.01659011499464926, + 0.021067203771543048, + -0.02232882581123024, + -0.004381282447556252, + 1.0 + ], + [ + -0.00042805109724795045, + 0.0016036748491817542, + 0.012549206783589287, + -0.0008390733820724828, + -0.024240993161850626, + -0.008172468143862032, + 1.0 + ], + [ + -0.00035642840314948927, + 0.00028608365472012265, + 0.002991952448424966, + 0.0017770389141782573, + 0.00794169003827306, + -0.009578889695314768, + 1.0 + ], + [ + -0.005062881953243586, + 0.002101992348191196, + 0.0033331228993981857, + 0.004652652345039711, + -0.011208287075684616, + 0.003728188941057046, + 0.0 + ], + [ + 0.0012516825556247039, + 0.00027967224788037146, + -0.002399210388449307, + -0.00037302063063741165, + 0.01387447725588331, + 0.0039900598493653565, + 0.0 + ], + [ + -0.0006690286974151105, + 0.00016713232613325824, + -0.00810430554573272, + -0.0067410069594677526, + 0.022390944778933497, + 0.0024500783626169005, + 0.0 + ], + [ + -0.0012631301007225788, + 0.001480317104612292, + -0.01236847232436742, + -0.013809551535889327, + 0.010007681470104227, + 0.0068888126885234355, + 0.0 + ], + [ + 0.02187758993983548, + -0.011467200382454246, + -0.019405920316503778, + -0.015724107703069326, + 0.03897123568568878, + -0.03121683196760234, + 0.0 + ], + [ + 0.03839516779970213, + -0.0022224012854757465, + -0.018077145341750544, + -0.007914781747973346, + 0.0628535424213595, + 0.0001592318543901366, + 0.0 + ], + [ + 0.03280028437924685, + -0.0037168335517560507, + 0.009949093941987756, + 0.012784080957829848, + -0.006283784941396339, + -0.017341310369551152, + 0.0 + ], + [ + 0.023432556385231475, + -0.006239102771548166, + 0.017878846499452154, + 0.05147312742610428, + -0.019114819840506322, + 0.008173978625506593, + 0.0 + ], + [ + 0.012423277029461981, + -0.0015104877158570492, + 0.028183691168585795, + 0.05510391736047302, + -0.04804162833600712, + 0.02339036728370415, + 0.0 + ], + [ + 0.01189775244090238, + -0.0003152669632146434, + 0.014771658538006141, + 0.0158338480189578, + -0.01709573258356861, + 0.006272039715692152, + 0.0 + ], + [ + 0.006995241991674694, + 0.0007980117833153869, + 0.0036830682923485857, + 0.004715626839092315, + -0.0009224430739910517, + 0.014856820497801357, + 0.0 + ], + [ + 0.0008151502527075113, + 0.001248118132740359, + 0.0036979946785032037, + -0.004879466246132431, + -0.010960479941778034, + 0.006371045841428775, + 0.0 + ], + [ + -5.1774022066700154e-05, + 0.0006720822562794186, + -0.00024432406028547743, + -0.004247489352893614, + 0.004413820916430819, + -0.0007444163212386578, + 1.0 + ], + [ + -0.0016739562721081725, + -0.0018347931303898499, + -0.017952086965927167, + -0.010510605630038888, + 0.04314570392925358, + -0.0028259779151208818, + 1.0 + ], + [ + -0.004009642841351682, + -0.005344678163320313, + -0.034516949371153495, + -0.02034505474116992, + 0.07966012603100947, + -0.02196723566527174, + 1.0 + ], + [ + -0.01663003027292347, + -0.003398585627524181, + -0.03542977193676772, + -0.047277645906812264, + 0.07131168314831235, + -0.037706353446306407, + 1.0 + ], + [ + -0.024551442845798088, + 0.0019896991591235136, + -0.015818422507952123, + -0.0430313601719619, + -0.010455127125845776, + -0.010911597777217159, + 1.0 + ], + [ + -0.020699787881395995, + 0.0002103891007823375, + 0.0034693188622616942, + -0.013834068425838925, + -0.03575883348936302, + 0.03459303764081269, + 1.0 + ], + [ + -0.006573082203755258, + -0.0009086466079945264, + 0.0015782416154878952, + 0.0035183861414024996, + -0.006617901921004309, + 0.022735997318776218, + 1.0 + ], + [ + 7.839029102904777e-05, + -0.0004006658197199146, + 0.00046816626945594655, + 0.002434231958743273, + -0.00030248858384377737, + 0.0018423054134492182, + 1.0 + ] + ], + "state": [ + [ + 0.2746134102344513, + -0.027202488854527473, + 0.10981796681880951, + 3.1197501105540475, + -0.14399996399879456, + -0.07226301729679108, + 1.0 + ], + [ + 0.27524229884147644, + -0.02725469507277012, + 0.11024165898561478, + 3.1197169368439397, + -0.14706738293170932, + -0.07222571223974229, + 1.0 + ], + [ + 0.27105849981307983, + -0.026676787063479424, + 0.10101318359375, + 3.121124444650956, + -0.11325109004974365, + -0.06843739002943039, + 1.0 + ], + [ + 0.2653278410434723, + -0.02039038948714733, + 0.09458828717470169, + 3.1400831008846914, + -0.10890215635299683, + -0.06281093508005141, + 1.0 + ], + [ + 0.25851166248321533, + -0.0067184604704380035, + 0.08642716705799103, + -3.129740348207303, + -0.09833022207021713, + -0.025493845343589783, + 1.0 + ], + [ + 0.25174057483673096, + 0.009137795306742191, + 0.07675005495548248, + -3.109661145257302, + -0.09047784656286241, + 0.004763120785355568, + 1.0 + ], + [ + 0.24731187522411346, + 0.01804434508085251, + 0.06427023559808731, + -3.1095502880686006, + -0.07310450822114944, + 0.0250534676015377, + 1.0 + ], + [ + 0.2476515769958496, + 0.020514145493507385, + 0.04951343312859535, + -3.1016868521743497, + -0.05149209499359131, + 0.02501467987895012, + 1.0 + ], + [ + 0.2500443458557129, + 0.023339349776506424, + 0.033125508576631546, + -3.080881541716405, + -0.0293551255017519, + 0.030284402891993523, + 1.0 + ], + [ + 0.25001242756843567, + 0.022498685866594315, + 0.020494995638728142, + -3.0819881727271756, + -0.005653287284076214, + 0.039910279214382165, + 1.0 + ], + [ + 0.24967753887176514, + 0.022377880290150642, + 0.017489347606897354, + -3.080263102548667, + -0.01415123976767063, + 0.04899967089295387, + 1.0 + ], + [ + 0.2447628378868103, + 0.020240843296051025, + 0.013962360098958015, + -3.0755639394098004, + -0.0027354562189430003, + 0.04596567153930664, + 0.0 + ], + [ + 0.24602679908275604, + 0.01986115612089634, + 0.016341304406523705, + -3.0759179909997663, + -0.016316398978233337, + 0.041068609803915024, + 0.0 + ], + [ + 0.2452554553747177, + 0.01913023367524147, + 0.024405179545283318, + -3.082579096900769, + -0.03849814832210541, + 0.03715217858552933, + 0.0 + ], + [ + 0.24360458552837372, + 0.016860123723745346, + 0.03660711273550987, + -3.0960996096306523, + -0.048081040382385254, + 0.029676811769604683, + 0.0 + ], + [ + 0.2641771733760834, + 0.02804829552769661, + 0.057542938739061356, + -3.1132277884804687, + -0.08841054886579514, + 0.05918024107813835, + 0.0 + ], + [ + 0.30065611004829407, + 0.031921468675136566, + 0.07899513840675354, + -3.1209128500246486, + -0.15123409032821655, + 0.057217564433813095, + 0.0 + ], + [ + 0.3342892527580261, + 0.03777617588639259, + 0.07417932152748108, + -3.110791031392761, + -0.14528699219226837, + 0.07487078756093979, + 0.0 + ], + [ + 0.35945454239845276, + 0.04646966978907585, + 0.06007983162999153, + -3.058206806080886, + -0.12592531740665436, + 0.06723033636808395, + 0.0 + ], + [ + 0.3749964237213135, + 0.051377493888139725, + 0.03390153869986534, + -3.000590430694171, + -0.07607923448085785, + 0.04789293184876442, + 0.0 + ], + [ + 0.38783878087997437, + 0.05438384413719177, + 0.020267261192202568, + -2.984447019296237, + -0.05827118828892707, + 0.044080045074224465, + 0.0 + ], + [ + 0.39504361152648926, + 0.054489653557538986, + 0.01691846363246441, + -2.9789006282859525, + -0.05502894893288612, + 0.029528658837080002, + 0.0 + ], + [ + 0.3960875868797302, + 0.053887560963630676, + 0.013117801398038864, + -2.9835235347324094, + -0.04318070039153099, + 0.025013230741024017, + 0.0 + ], + [ + 0.39604759216308594, + 0.05318417772650719, + 0.0132509246468544, + -2.987771215038844, + -0.04765667393803597, + 0.025053620338439945, + 1.0 + ], + [ + 0.3935413062572479, + 0.052183669060468674, + 0.03117196075618267, + -2.997955696778842, + -0.09072526544332503, + 0.02121930755674839, + 1.0 + ], + [ + 0.3863779902458191, + 0.052380483597517014, + 0.06559158861637115, + -3.0187969227605542, + -0.1727028638124466, + 0.03165427595376969, + 1.0 + ], + [ + 0.3639230728149414, + 0.05070226266980171, + 0.09778378158807755, + -3.0708937664800366, + -0.24802204966545105, + 0.0611521527171135, + 1.0 + ], + [ + 0.3365251421928406, + 0.04591677710413933, + 0.10691653937101364, + -3.1168622506135186, + -0.23834675550460813, + 0.07311262190341951, + 1.0 + ], + [ + 0.317291259765625, + 0.044383157044649124, + 0.0986541286110878, + -3.1225754619860133, + -0.20160688459873202, + 0.03874041140079498, + 1.0 + ], + [ + 0.3111320734024048, + 0.045083627104759216, + 0.09580884128808975, + -3.1144481675052127, + -0.1945057213306427, + 0.015700368210673332, + 1.0 + ], + [ + 0.31129083037376404, + 0.045499395579099655, + 0.09537549316883087, + -3.1116528288745364, + -0.19415301084518435, + 0.013831844553351402, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.07365119457244873, + 0.33987146615982056, + 0.675596296787262, + 0.8595740050077438, + 0.9201150313019753, + 0.9227741435170174, + 0.9227741435170174, + 0.9227741435170174, + 0.9227741435170174, + 0.9227741435170174, + 0.9227741435170174, + 0.9227741435170174, + 0.879532054066658, + 0.6942910552024841, + 0.39409196376800537, + 0.12597006559371948, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "84", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/84/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/842.json b/annotation/test/842.json new file mode 100644 index 0000000000000000000000000000000000000000..248ebd715c37bf69bc8e8cf09baccc866fc697c8 --- /dev/null +++ b/annotation/test/842.json @@ -0,0 +1,755 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "take bowl off plate cardboard fence" + ], + "videos": [ + { + "video_path": "videos/test/842/rgb.mp4" + } + ], + "action": [ + [ + 0.0002401638657763, + 3.864254051818203e-05, + -1.9201068759703455e-07, + -0.0002436848709195203, + 0.0015145103812707287, + -1.8507002922627247e-07, + 1.0 + ], + [ + 0.0013616086914346192, + 0.00013716841885382623, + 0.004009904452883845, + 0.0004187934921770864, + -0.003035731331074526, + -0.00038978598131766024, + 1.0 + ], + [ + 0.04800276897303511, + -0.011144193927367225, + 0.03248288313357424, + 0.024270278296331254, + 0.003394754070095136, + -0.1014577471747092, + 1.0 + ], + [ + 0.045116188740627054, + -0.0072224713245572884, + 0.04306575782265164, + 0.059982205160294906, + 0.03856506665380136, + -0.08449496358779963, + 1.0 + ], + [ + 0.03616318641125051, + 0.001791587001570149, + 0.04803085778619015, + 0.05499758377300441, + 0.017486660574154045, + -0.05248770675276127, + 1.0 + ], + [ + 0.011023701644432364, + 0.021142760744372265, + 0.022703397387919464, + -0.0013843181232861353, + 0.03238757359076599, + 0.009725288700993779, + 1.0 + ], + [ + 0.003406682906420498, + 0.03259103820118404, + 0.01531078977639265, + -0.03326200701783599, + 0.00022852971983082049, + 0.05279949305402846, + 1.0 + ], + [ + 0.004263386197870273, + 0.015276125883848107, + 0.0037862903922398776, + -0.00932496079746894, + 0.011630883764566512, + 0.006059137254061733, + 1.0 + ], + [ + -0.00015264301510534, + 0.00043815935069409695, + -4.979056547572772e-05, + -0.00029619966409092285, + 6.621558530469097e-05, + -0.004632306582664526, + 1.0 + ], + [ + 0.00012634909792524882, + -3.7915691599582842e-06, + -0.0004501602076203864, + -0.0005947300248115891, + 0.0014026546634299069, + -0.00017912811274389982, + 1.0 + ], + [ + -9.09672879034872e-05, + 0.00017036843307436563, + -1.170688149999587e-07, + -0.0010738560345398816, + -0.0005746232639374102, + -0.0009322614313027117, + 1.0 + ], + [ + 9.112612849531321e-05, + -0.00017028352505992484, + -1.1815438877120996e-07, + 0.0010743914436489282, + 0.000573621568522143, + 0.0009328781097613052, + 1.0 + ], + [ + -0.00012698106988947468, + 3.501317645996208e-06, + 0.00044998470166497266, + 0.0005944793453609917, + -0.0014027609258291053, + 0.0001782940559627707, + 1.0 + ], + [ + -0.002344657579936959, + 0.0003691831904021533, + -0.00042101563750939803, + -0.005730674991376856, + -0.01510279778752371, + 0.021329362830917086, + 1.0 + ], + [ + -0.016805843046157332, + -0.0022185444969198315, + -0.00033760302563430177, + -0.07116594631532007, + -0.10764835886203804, + 0.2441944935617054, + 1.0 + ], + [ + -0.017259938809479226, + -0.0017531287961046144, + -0.0084960375576902, + -0.07313207738262992, + -0.019531074005869144, + 0.20488391163870828, + 1.0 + ], + [ + -0.010640656382357451, + -0.0027174483647606435, + 0.00502263214837578, + -0.015341653549565818, + -0.030871822888470613, + 0.1553963550597155, + 1.0 + ], + [ + -0.007621019361272632, + -0.002202422549736883, + 0.012885613830937942, + 0.023443651420434294, + -0.0035500138183889446, + 0.07843595862072673, + 1.0 + ], + [ + 0.003093216178981513, + -0.0022681521273135996, + 0.007755540962692803, + 0.022962429631282547, + 0.017976123095992867, + 0.026133797266658727, + 1.0 + ], + [ + -0.0023088846174356063, + 0.003337892385973438, + 0.019785080346825298, + 0.015226862701200848, + -0.014170937826724708, + 0.030713158701737457, + 1.0 + ], + [ + 0.0002140753731532109, + 0.0034109303796500856, + 0.010872275005826158, + -0.012592527115692888, + -0.0196022691341, + 0.01228269099095545, + 1.0 + ], + [ + -0.0005266815604775204, + 0.004083407051680893, + 0.005855284204024011, + -0.01469366710900446, + -0.01360359676241603, + 0.009620005601370244, + 1.0 + ], + [ + 0.0001763998933324435, + 0.0029860553587318364, + 0.004770312686927007, + -0.013303349523943556, + 0.0024123688269390314, + -0.02202232373692359, + 0.0 + ], + [ + -0.0010951556782619022, + 0.0011465677178971875, + 0.002830746706256123, + 0.007569820537415605, + 0.004913965101856818, + -0.0007494547297245966, + 0.0 + ], + [ + -0.0003155773396006455, + -0.00014484848469724398, + 0.0019615242394613558, + 0.0017901657233740697, + 0.0009075668646709449, + -0.0021919093819870766, + 0.0 + ], + [ + -0.004462248264075151, + 0.0011853768694925612, + -0.010431410720042084, + -0.08155861251479857, + -0.039765874855528134, + -0.014799614351239642, + 0.0 + ], + [ + 0.002500911815553152, + -0.015289231050653145, + -0.02748065278754213, + -0.01941419141023747, + 0.06512060335908343, + -0.03322781646901787, + 0.0 + ], + [ + 0.00807487090151431, + -0.03209129665590791, + -0.012657675676878054, + 0.06928584043923067, + 0.08329703939490643, + -0.08106272338111814, + 0.0 + ], + [ + 0.013786799288035629, + -0.02464066949216692, + 0.007437028018024268, + 0.06256281879032662, + 0.033069053049769884, + -0.08684186142123637, + 0.0 + ], + [ + 0.012446043721958162, + -0.008369344850962485, + 0.015564417285667057, + 0.020093213700494574, + -0.006915607222251962, + -0.08095938358549498, + 0.0 + ], + [ + 0.001283707370501932, + 0.007449695919306206, + 0.010523070318509067, + 0.005618899830466766, + -0.02444723125621395, + -0.01623960480652543, + 0.0 + ], + [ + -0.0005301894557136176, + 0.009633472780900288, + 0.0011370544489626559, + -0.014340400247728861, + -0.007530961602070772, + 0.018104797382625697, + 0.0 + ], + [ + -0.00015788865014519974, + 0.0005254589557255512, + 2.906833102939827e-05, + 0.016495680066330023, + -0.005338892339696462, + -0.02632938776598229, + 0.0 + ], + [ + 0.001435786056594498, + -0.001217242342754841, + 0.0005629433708048675, + 0.03141408950989839, + 0.012276092861068061, + -0.02652155519843187, + 1.0 + ], + [ + -0.0018978574936793292, + -0.0003728436949094636, + -0.00512341196330349, + 0.005232640193093242, + -0.006762165988646432, + -0.016805844915225458, + 1.0 + ], + [ + 0.001172252834563988, + 0.004351749217110355, + -0.025529644192340124, + -0.03281950705760692, + 0.034579895504330826, + -0.020134670818836915, + 1.0 + ], + [ + 0.002043779313897543, + 0.0008629013759977582, + -0.024877556559160335, + -0.02038734399053602, + 0.029104106307734082, + -0.014771230823379645, + 1.0 + ], + [ + 0.0007796037125895709, + -5.642701278687549e-05, + -0.00169468492816321, + 0.0007728794010305214, + 0.006085143128364601, + 0.0001550680602820512, + 1.0 + ] + ], + "state": [ + [ + 0.11724409461021423, + -0.018566327169537544, + 0.23975253105163574, + 3.104056293266364, + -0.10276647657155989, + 0.027512490749359127, + 1.0 + ], + [ + 0.11748379468917847, + -0.01859835349023342, + 0.2397788017988205, + 3.103806683915206, + -0.10427991300821306, + 0.02756982296705246, + 1.0 + ], + [ + 0.11926184594631195, + -0.018837982788681984, + 0.23594041168689728, + 3.104196550446101, + -0.10123161971569061, + 0.027846062555909157, + 1.0 + ], + [ + 0.17004530131816864, + -0.007497697602957487, + 0.20808300375938416, + 3.118366064625331, + -0.10031437873840332, + 0.1298743188381195, + 1.0 + ], + [ + 0.21804308891296387, + 0.005044443067163229, + 0.1695966273546219, + -3.113388607400008, + -0.1365412324666977, + 0.21598556637763977, + 1.0 + ], + [ + 0.25952091813087463, + 0.013698240742087364, + 0.12690411508083344, + -3.0655824561887464, + -0.15531443059444425, + 0.268584281206131, + 1.0 + ], + [ + 0.27877411246299744, + -0.0010801275493577123, + 0.10465783625841141, + -3.0650185515456876, + -0.18685834109783175, + 0.25621774792671204, + 1.0 + ], + [ + 0.2931419909000397, + -0.029697438701987267, + 0.0878407284617424, + -3.08844234992797, + -0.1827870309352875, + 0.2026626020669937, + 1.0 + ], + [ + 0.3010961711406708, + -0.043430909514427185, + 0.08409970253705978, + -3.09652957518632, + -0.19407548010349276, + 0.19586695730686185, + 1.0 + ], + [ + 0.3010292053222656, + -0.04389273002743721, + 0.08409970253705978, + -3.0977352691167077, + -0.19434820115566254, + 0.20058031380176541, + 1.0 + ], + [ + 0.3010687232017517, + -0.04390097036957741, + 0.08456552773714066, + -3.0983530824356755, + -0.19575735926628113, + 0.2007000595331192, + 1.0 + ], + [ + 0.30101659893989563, + -0.04408527538180351, + 0.0845407247543335, + -3.0996165481680116, + -0.19522348046302795, + 0.20167480409145352, + 1.0 + ], + [ + 0.3010687232017517, + -0.04390097036957741, + 0.08456552773714066, + -3.0983530824356755, + -0.19575735926628113, + 0.2007000595331192, + 1.0 + ], + [ + 0.3010292053222656, + -0.04389273002743721, + 0.08409970253705978, + -3.0977352691167077, + -0.19434820115566254, + 0.20058031380176541, + 1.0 + ], + [ + 0.29877543449401855, + -0.04474616423249245, + 0.08404369652271271, + -3.099418895440646, + -0.17828302085399628, + 0.17960363626480103, + 1.0 + ], + [ + 0.28203341364860535, + -0.04554750397801399, + 0.08148735761642456, + -3.1293955530324062, + -0.05549374967813492, + -0.05863872915506363, + 1.0 + ], + [ + 0.26445475220680237, + -0.04286331683397293, + 0.08903370797634125, + 3.0916827117377004, + -0.03232495859265327, + -0.26333272457122797, + 1.0 + ], + [ + 0.25498828291893005, + -0.037759777158498764, + 0.08354055136442184, + 3.081974608945199, + -0.008816140703856945, + -0.42002442479133606, + 1.0 + ], + [ + 0.2487179934978485, + -0.03339250385761261, + 0.07047992199659348, + 3.106293188529559, + -0.009913894347846508, + -0.4985362887382507, + 1.0 + ], + [ + 0.2524557113647461, + -0.03315809741616249, + 0.0626802146434784, + 3.1295140908383807, + -0.0287978183478117, + -0.524025559425354, + 1.0 + ], + [ + 0.2491600513458252, + -0.0353844128549099, + 0.04287859797477722, + -3.1375506363161882, + -0.01498508732765913, + -0.5549080967903138, + 1.0 + ], + [ + 0.24770669639110565, + -0.038444872945547104, + 0.03199705481529236, + 3.133225478353449, + 0.004667782690376043, + -0.567109227180481, + 1.0 + ], + [ + 0.24501971900463104, + -0.04163273051381111, + 0.026178663596510887, + 3.118485992895909, + 0.01819019205868244, + -0.5768434405326844, + 1.0 + ], + [ + 0.24340768158435822, + -0.0442768856883049, + 0.02147618494927883, + 3.105589700984307, + 0.016282811760902405, + -0.5547683835029602, + 0.0 + ], + [ + 0.241781085729599, + -0.044736772775650024, + 0.01870674453675747, + 3.1131741778277835, + 0.011399000883102419, + -0.5538424849510192, + 0.0 + ], + [ + 0.24154049158096313, + -0.044483281672000885, + 0.01674562133848667, + 3.114989671977707, + 0.010554054751992226, + -0.5516255497932435, + 0.0 + ], + [ + 0.23735874891281128, + -0.04297560080885887, + 0.027251383289694786, + 3.0335576703124723, + 0.05069851130247116, + -0.5378828048706056, + 0.0 + ], + [ + 0.2499263733625412, + -0.029323264956474304, + 0.05276353657245636, + 3.0160300006442746, + -0.010500852018594742, + -0.4978952705860138, + 0.0 + ], + [ + 0.2729041576385498, + -0.0037707893643528223, + 0.061386995017528534, + 3.0844430682533464, + -0.08296131342649458, + -0.40698039531707764, + 0.0 + ], + [ + 0.2957630753517151, + 0.012701913714408875, + 0.05372750759124756, + 3.139822887261868, + -0.11069592088460922, + -0.3178856670856475, + 0.0 + ], + [ + 0.31175529956817627, + 0.016221527010202408, + 0.03961857035756111, + -3.1322438792609653, + -0.10327354073524475, + -0.23650608956813812, + 0.0 + ], + [ + 0.3123357892036438, + 0.00852013286203146, + 0.029215088114142418, + -3.1283263146230063, + -0.07896517217159271, + -0.2199920266866684, + 0.0 + ], + [ + 0.3098185956478119, + -0.0007720506400801241, + 0.027912454679608345, + -3.141244801872414, + -0.07118189334869385, + -0.2380405068397522, + 0.0 + ], + [ + 0.3095436692237854, + -0.0012460376601666212, + 0.027872048318386078, + -3.1266258118026933, + -0.06582745164632797, + -0.211652472615242, + 0.0 + ], + [ + 0.3112368583679199, + -0.0003563512582331896, + 0.027423011139035225, + -3.0969532412760934, + -0.0784761756658554, + -0.18523836135864258, + 1.0 + ], + [ + 0.30900803208351135, + 0.00020764658984262496, + 0.03239336982369423, + -3.0930694100731095, + -0.07245918363332748, + -0.16810287535190582, + 1.0 + ], + [ + 0.30742132663726807, + -0.005187855567783117, + 0.057700395584106445, + -3.127210358279296, + -0.10796256363391875, + -0.14957328140735623, + 1.0 + ], + [ + 0.30659952759742737, + -0.0062983897514641285, + 0.08263843506574631, + 3.134031217666813, + -0.1372648924589157, + -0.13509216904640198, + 1.0 + ], + [ + 0.3071443736553192, + -0.0063025690615177155, + 0.08442338556051254, + 3.1348190336772284, + -0.14335103332996368, + -0.1352023482322693, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.003858029842376709, + 0.03792673349380493, + 0.327828049659729, + 0.6279491484165192, + 0.8443419635295868, + 0.9429835081100464, + 0.9462284594774246, + 0.9440774396061897, + 0.9438050836324692, + 0.9435319826006889, + 0.9435319826006889, + 0.9435319826006889, + 0.9231027886271477, + 0.7789131253957748, + 0.5337698757648468, + 0.22504717111587524, + 0.01622796058654785, + 0.006563663482666016, + 0.006563663482666016 + ], + "episode_id": "842", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/842/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/845.json b/annotation/test/845.json new file mode 100644 index 0000000000000000000000000000000000000000..fb147c2e10e68f7c3d615831bf367b76675ab201 --- /dev/null +++ b/annotation/test/845.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put corn in pan which is on stove distractors" + ], + "videos": [ + { + "video_path": "videos/test/845/rgb.mp4" + } + ], + "action": [ + [ + -0.0010038139646491046, + 0.0008557710878361998, + 0.0015423755757095357, + -0.00047445462688426007, + -0.005709710950716319, + 0.0026802929146755917, + 1.0 + ], + [ + -0.0001979683074467022, + 0.0008073605965361462, + 0.017768877471618094, + -0.025214299521884514, + -0.018808002788815992, + 0.017108334612392848, + 1.0 + ], + [ + 0.003366249637011322, + -0.011617850806072978, + 0.018925597541786576, + -0.03000714308910108, + 0.005243180810753611, + -0.00026289862930529143, + 1.0 + ], + [ + 0.00011888979596561339, + -0.01021679350321436, + 0.022146610619058028, + -0.03158288112857428, + -0.006765085890375449, + -0.028477670515310374, + 1.0 + ], + [ + 0.0024768123371806767, + -0.0002643542747637713, + 0.01244539918193031, + -0.033473724851232324, + 0.014557427934010488, + -0.029831073027301164, + 1.0 + ], + [ + -0.005042957429971711, + 0.0016236361149504182, + 0.01204833933270945, + -0.031499643371769866, + -0.003933179751868409, + -0.025701992728609537, + 1.0 + ], + [ + -0.006132642931862717, + -0.00021936262619071562, + 0.009127829259427248, + -0.01887138901548467, + -0.004357268413610487, + -0.027987019822233818, + 1.0 + ], + [ + -0.003700643629409383, + -0.0008821010830957979, + 0.007085153362339431, + -0.004086451974098222, + 0.00981929891419298, + -0.011493324317904431, + 1.0 + ], + [ + -0.0006144658835212014, + -0.0008488568290361015, + 0.0024292848734229974, + 0.0067735250111270505, + 0.01469581980036416, + -0.003448661215702239, + 1.0 + ], + [ + -0.0005671514236697149, + -0.001118934135760519, + 0.003176239604010525, + 0.0012803039517598489, + 0.0030004026019455864, + -0.0015857447119339873, + 1.0 + ], + [ + -0.002243515759835705, + -0.0018987927910910799, + 0.004889184013591339, + -0.009484195351256124, + -0.011045103269519586, + -0.009905002137721176, + 1.0 + ], + [ + -0.0037038081321194025, + -0.00225201279414224, + 0.006261944220925185, + -0.016881101073549214, + -0.01877464700929402, + -0.012179962535314271, + 1.0 + ], + [ + 0.0005433115185346933, + -0.0001416276677159496, + 0.0008988512928615411, + -0.01501965567342414, + 0.0012760908955977916, + -0.011077785589890489, + 1.0 + ], + [ + -0.00014173237060907754, + -0.0004966775202080803, + 0.002716543001951503, + -0.0044648412134016, + -0.005194458773816952, + -0.004840671003802313, + 0.0 + ], + [ + 0.0005793353181796733, + -0.0020495080745123965, + 0.0007646442986655673, + 0.03521472993205408, + 0.010472903833819438, + 0.024853727725999628, + 0.0 + ], + [ + -0.0016460291609134146, + -0.000871802447229569, + -0.008600858805588332, + 0.06190775399742677, + -0.010604525894898825, + 0.06798357613749385, + 0.0 + ], + [ + 0.016457936314986724, + -0.010072286730518094, + -0.031170831537970924, + 0.06793602349097522, + 0.02453232326836358, + 0.06426355452379172, + 0.0 + ], + [ + 0.009076537893865588, + -0.00770503896435826, + -0.016356005731234535, + 0.04609057799249243, + 0.01471427670537343, + 0.05162059655052267, + 0.0 + ], + [ + 0.0113769459695723, + -0.006055671212698266, + -0.011605281464537402, + 0.04139498485487567, + 0.01873634428382286, + 0.05161252689382887, + 0.0 + ], + [ + 0.020827155788195998, + -0.005854275677589686, + -0.01595220100550573, + 0.002737817900968674, + 0.05073652732813805, + 0.05629286404930606, + 0.0 + ], + [ + 0.014595984333985734, + -0.001505140356041355, + -4.808652785586446e-05, + -0.03376170031455442, + 0.060469967913861125, + 0.0031148047408963903, + 0.0 + ], + [ + 0.0021084110204609096, + 0.0038780507481754748, + 0.021650928687743657, + -0.055596638202748266, + 0.011826682717087183, + -0.01191989493240103, + 0.0 + ], + [ + 0.0014869277677159233, + 0.0006373017468098569, + 0.02039870400917991, + -0.053188568089698005, + 0.010117990452370612, + -0.005280160297879902, + 0.0 + ] + ], + "state": [ + [ + 0.3292136490345001, + 0.07440502941608429, + 0.13190124928951263, + -2.9373692740970334, + -0.23860019445419314, + 0.11060049384832384, + 1.0 + ], + [ + 0.32869774103164673, + 0.07381932437419891, + 0.13002783060073853, + -2.9374843706660947, + -0.23246529698371884, + 0.10909336805343628, + 1.0 + ], + [ + 0.3322224020957947, + 0.07703322917222977, + 0.11289098113775253, + -2.959630863862582, + -0.21056035161018372, + 0.0958634167909622, + 1.0 + ], + [ + 0.3375127613544464, + 0.0924612507224083, + 0.0974484235048294, + -2.9894878288083753, + -0.21576449275016782, + 0.09515678882598876, + 1.0 + ], + [ + 0.3406856060028076, + 0.10627969354391098, + 0.07760269194841385, + -3.027522312598773, + -0.21329857409000397, + 0.1250070482492447, + 1.0 + ], + [ + 0.345468670129776, + 0.10857316106557846, + 0.06607209146022797, + -3.0671128426962575, + -0.2310713231563568, + 0.1537475287914276, + 1.0 + ], + [ + 0.3434748649597168, + 0.10753294825553894, + 0.05310394614934921, + -3.104732433455535, + -0.2289823293685913, + 0.18036577105522153, + 1.0 + ], + [ + 0.33953461050987244, + 0.10737920552492142, + 0.042836256325244904, + -3.130167988250502, + -0.22556713223457336, + 0.20922543108463287, + 1.0 + ], + [ + 0.3373541533946991, + 0.10790067911148071, + 0.03511317819356918, + -3.136872158507355, + -0.23550219833850858, + 0.22092831134796143, + 1.0 + ], + [ + 0.33713477849960327, + 0.1087331548333168, + 0.03261149674654007, + -3.130911976220556, + -0.2502127587795258, + 0.22441579401493073, + 1.0 + ], + [ + 0.3371063470840454, + 0.10990910977125168, + 0.029405487701296806, + -3.130028998600789, + -0.25322961807250977, + 0.22602057456970212, + 1.0 + ], + [ + 0.33573976159095764, + 0.1116010919213295, + 0.02413172833621502, + 3.1410833079768388, + -0.24228680133819583, + 0.23635385930538177, + 1.0 + ], + [ + 0.33317840099334717, + 0.11329730600118637, + 0.01716294139623642, + 3.1212077924334487, + -0.22348773479461673, + 0.24883246421813965, + 1.0 + ], + [ + 0.33385518193244934, + 0.11359646916389465, + 0.016404226422309875, + 3.103665633248635, + -0.22452375292778012, + 0.26021978259086603, + 1.0 + ], + [ + 0.33420854806900024, + 0.11409757286310196, + 0.013707856647670269, + 3.0981422682576856, + -0.21914702653884885, + 0.26497364044189453, + 0.0 + ], + [ + 0.33440572023391724, + 0.11623828113079071, + 0.013001255691051483, + 3.13881029503467, + -0.23062317073345184, + 0.23993676900863647, + 0.0 + ], + [ + 0.33072715997695923, + 0.11626046895980835, + 0.020995749160647392, + -3.066543163853236, + -0.21966619789600372, + 0.1702505499124527, + 0.0 + ], + [ + 0.3384142518043518, + 0.1254018247127533, + 0.05565522983670235, + -2.983974414067813, + -0.23882760107517242, + 0.10241608321666719, + 0.0 + ], + [ + 0.34258559346199036, + 0.13089928030967712, + 0.07467227429151535, + -2.925104173021861, + -0.24491463601589203, + 0.0474880151450634, + 0.0 + ], + [ + 0.35038793087005615, + 0.13469542562961578, + 0.0896889790892601, + -2.870375396805354, + -0.2517622709274292, + -0.008713295683264732, + 0.0 + ], + [ + 0.3663505017757416, + 0.13592299818992615, + 0.11128076165914536, + -2.8503285964303693, + -0.28497952222824097, + -0.07934167981147766, + 0.0 + ], + [ + 0.3802928626537323, + 0.13624690473079681, + 0.11584323644638062, + -2.8775262256437024, + -0.3419435918331147, + -0.10092516988515854, + 0.0 + ], + [ + 0.38977161049842834, + 0.13720420002937317, + 0.09590622782707214, + -2.9361262192302426, + -0.35645878314971924, + -0.0919414833188057, + 0.0 + ], + [ + 0.3984683156013489, + 0.1399552822113037, + 0.07758893817663193, + -2.9904660304361066, + -0.36743941903114313, + -0.08861489593982697, + 0.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.15549510717391968, + 0.4458767771720886, + 0.45868784189224243, + 0.45868784189224243, + 0.45868784189224243, + 0.45868784189224243, + 0.45868784189224243, + 0.45868784189224243, + 0.45868784189224243, + 0.45868784189224243, + 0.45868784189224243 + ], + "episode_id": "845", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/845/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/852.json b/annotation/test/852.json new file mode 100644 index 0000000000000000000000000000000000000000..39d848e31658fd6500ed8e7c651d1d0744c8f264 --- /dev/null +++ b/annotation/test/852.json @@ -0,0 +1,812 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "PICK UP THE SPOON AND KEEP ANOTHER SIDE OF THE TABLE" + ], + "videos": [ + { + "video_path": "videos/test/852/rgb.mp4" + } + ], + "action": [ + [ + -0.00010419146862043599, + 3.200370490401348e-06, + 0.00044230697166007966, + -2.868392291334749e-05, + -0.0015337024923472702, + -0.0015301680044267011, + 1.0 + ], + [ + -0.0038049375914658468, + 0.0009848745542560648, + 0.006031381457972281, + -0.0008299994707132123, + -0.02759662761829002, + -0.006114127641312207, + 1.0 + ], + [ + -0.0030405121795823286, + 0.026758464085067293, + -0.001417589174358479, + -0.0026078613739728856, + -0.02069116321666269, + 0.005338419774906021, + 1.0 + ], + [ + 0.005907545645859406, + 0.03406765838962101, + -0.004228526970832407, + -0.031582787215441464, + 0.01897904338907456, + 0.031750774946917235, + 1.0 + ], + [ + 0.0006153561967605696, + 0.04197098577318182, + 0.002182847064987731, + -0.013176204368563779, + -0.0017212099999905867, + 0.04415409029681951, + 1.0 + ], + [ + -0.0030195068679719794, + 0.042136659480404744, + 0.01706191681274377, + -2.3025104321760968e-05, + -0.03302653011212193, + 0.03219199728315995, + 1.0 + ], + [ + -0.006006056475572349, + 0.02851172279987248, + 0.01737587652814474, + -0.008911813632867617, + -0.017834166492858947, + 0.0559295243719516, + 1.0 + ], + [ + -0.008730301270112144, + 0.01764330471041298, + 0.027934116229202482, + 0.001135153946888749, + -0.03619221288236687, + 0.07525364685559063, + 1.0 + ], + [ + -0.011310855096513311, + -0.00015909557151060815, + 0.00938614484386888, + 0.004035048099408885, + -0.017996893848038566, + 0.02391356171848686, + 1.0 + ], + [ + -0.004455637276604981, + 0.009376023230564804, + 0.0034451857836994776, + -0.009743199711019591, + 0.004861971649149934, + 0.020933397947270914, + 1.0 + ], + [ + -0.007254848026214558, + 0.0042883551565865395, + 0.005099328770486884, + 0.0009188689614779345, + -0.009427015119381122, + 0.009686418913908982, + 1.0 + ], + [ + 0.0005101677850451266, + 0.002173851120968038, + 0.00841291323264479, + -0.0015275246392967325, + -0.01202689302168646, + 0.003823330762928637, + 1.0 + ], + [ + 0.005389085214416912, + -0.00036949483369184955, + 0.0014812436041195596, + 0.009111132858185064, + 0.006909326578278973, + -0.01836239922494353, + 1.0 + ], + [ + -0.0006312046513261009, + -0.0022985098901329003, + 0.0010192076050613765, + 0.013424795783854021, + -0.001117059681296362, + -0.001943187742875461, + 0.0 + ], + [ + -0.004040533686124366, + -0.0025676533501683397, + 0.00030269900959505557, + 0.018040298932463603, + 0.018466597781900487, + -0.006601010540983007, + 0.0 + ], + [ + -0.011750589896950572, + -0.011928793708047841, + -0.004041230564197709, + 0.007126699151743269, + -0.009497483608471791, + -0.009457738157627566, + 0.0 + ], + [ + 0.00026468945048543707, + -0.007665046983807535, + -0.014399511340791864, + 0.015072767511101069, + 0.027220799712307158, + -0.02380619511012211, + 0.0 + ], + [ + 0.0025129974854681933, + -0.015261395035540437, + -0.019930362336637343, + -0.014643058579646385, + 0.00905791541702546, + -0.03218876214948168, + 0.0 + ], + [ + 0.0023223234350802863, + -0.023431744644782735, + -0.021403872489919647, + -0.004268631394810908, + 0.03354347302946337, + -0.05579865660904475, + 0.0 + ], + [ + -0.001147142144748023, + -0.038557326381392455, + -0.004012905586618422, + 0.03756005011838483, + -0.08871730501246387, + -0.06665233032595928, + 0.0 + ], + [ + 0.0030583794100662635, + -0.0354344412232623, + 0.001914649592528474, + 0.015355484942530537, + -0.028521426489671074, + 0.022567674669936765, + 0.0 + ], + [ + -0.005953622853222958, + -0.033197390799985724, + 0.00535582252156631, + 0.024151740400112944, + -0.025676516598806473, + -0.009512912038996494, + 0.0 + ], + [ + -0.0007335038619481419, + -0.030095449947814035, + 0.0015510131822415597, + 0.03220978213056211, + -0.0047659368671133665, + 0.025772199580553705, + 0.0 + ], + [ + 0.0034012165699296376, + -0.025917385748090268, + 0.004442613369193358, + 0.03235675452990394, + 0.03650671028510708, + 0.0004932788095166751, + 0.0 + ], + [ + 0.006526076206140148, + -0.02311958115211554, + 0.0009679540173420756, + 0.025180044972493588, + 0.022245288670985162, + 0.015534414415301913, + 0.0 + ], + [ + 0.01368169357705871, + -0.006249269986849481, + 0.012275335896963878, + 0.01865285907205245, + -0.011688186261964701, + 0.0736591287603217, + 0.0 + ], + [ + 0.01328272616033573, + -0.006997747691542816, + 0.01109539104587115, + 0.020436545689737833, + 0.016696441016128816, + 0.033345611790482, + 0.0 + ], + [ + 0.01585289943790681, + -0.004674017984639162, + 0.012748120627157467, + 0.0025008364781409424, + 0.0131212086165038, + -0.02872810455942491, + 0.0 + ], + [ + 0.0099525965554359, + -0.0004227000267856621, + 0.011286667947968187, + -0.010932869989572346, + 0.0035483889482798786, + 0.013075667121719262, + 0.0 + ], + [ + 0.005514698164232982, + 0.0010014321304484698, + 0.012553452371192547, + -0.014466768296071894, + -0.007678874225479378, + 0.021821273789864853, + 0.0 + ], + [ + -0.001223429411253912, + 0.0020489676997824447, + 0.0011151235979227684, + -0.000981184938994848, + 0.010235285032075717, + -0.009821975555479912, + 0.0 + ], + [ + -0.007735145476558867, + 0.001874684998415819, + -0.0068085955751767445, + -0.034331297739230854, + 0.033704570483473875, + -0.0005014228625220569, + 0.0 + ], + [ + -0.007292613258187495, + -0.004563224142372845, + -0.00958470246447266, + -0.008454684093263713, + 0.002529311042468488, + -0.005631611089018215, + 1.0 + ], + [ + -0.0028404283028619325, + -0.0018109035124869981, + -0.011203519245925561, + 0.002550445578432623, + -0.004804759600077733, + -0.0052058089782110375, + 1.0 + ], + [ + 0.002779224246289462, + -0.003017285623529629, + -0.007268213306356149, + 0.008772800257152087, + -0.0011530110287457816, + -0.02612698054353915, + 1.0 + ], + [ + 0.013496929838131078, + 0.0010732521044798113, + -0.02416671188761317, + 0.015541577966766999, + 0.05231299599031046, + -0.03213947155844686, + 1.0 + ], + [ + 0.010015773770862664, + 0.017661383972175607, + -0.007918742354618442, + -0.028040538132038266, + 0.008132190418885975, + -0.034456677773306715, + 1.0 + ], + [ + 0.005191701557696083, + 0.0162550255881165, + -0.0041015256567843925, + -0.029208360470976833, + 0.0020537323142251285, + -0.0115413839766148, + 1.0 + ], + [ + 0.008603219256712959, + 0.019294355948949616, + -0.001368920254335264, + -0.027447294576111347, + 0.03763653139182929, + -0.004979432529548924, + 1.0 + ], + [ + 0.005958807378934971, + 0.011379921931147596, + -0.0006666469088925099, + -0.00024469173747957736, + 0.02837254424689649, + 0.0311731636321179, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 3.5272811787202804e-18, + -1.0296578769680861e-17, + 1.1272632047899282e-17, + 1.0 + ] + ], + "state": [ + [ + 0.27778878808021545, + 0.10222111642360687, + 0.09866970777511597, + -3.1352310223788997, + -0.19012652337551117, + 0.330678790807724, + 1.0 + ], + [ + 0.2777712047100067, + 0.10221467167139053, + 0.09821566939353943, + -3.135555973863699, + -0.18860235810279846, + 0.3322464823722839, + 1.0 + ], + [ + 0.27561748027801514, + 0.1004682406783104, + 0.09157213568687439, + -3.1375767557234546, + -0.16103939712047574, + 0.3386070430278778, + 1.0 + ], + [ + 0.2814788520336151, + 0.07415731251239777, + 0.09237777441740036, + -3.1393327988968274, + -0.14032472670078278, + 0.33330073952674866, + 1.0 + ], + [ + 0.29760652780532837, + 0.04367930069565773, + 0.09731475263834, + 3.1167719626152, + -0.15916040539741516, + 0.301105797290802, + 1.0 + ], + [ + 0.31081923842430115, + 0.0037910391110926867, + 0.09628616273403168, + 3.11070901540155, + -0.15837855637073514, + 0.25636225938796997, + 1.0 + ], + [ + 0.3211510479450226, + -0.0375848226249218, + 0.0802544355392456, + 3.115962866815277, + -0.12627409398555756, + 0.22291660308837888, + 1.0 + ], + [ + 0.3237835466861725, + -0.06667015701532364, + 0.06299102306365967, + 3.114225749047943, + -0.10967712104320526, + 0.16621558368206024, + 1.0 + ], + [ + 0.32123199105262756, + -0.08575643599033356, + 0.03475943207740784, + 3.1237802730226, + -0.07523719221353531, + 0.08983004093170166, + 1.0 + ], + [ + 0.3107021152973175, + -0.0867130309343338, + 0.024548305198550224, + 3.129641816141554, + -0.057646948844194405, + 0.06556320190429688, + 1.0 + ], + [ + 0.3070719838142395, + -0.09638817608356476, + 0.020964238792657852, + 3.121106008189269, + -0.06274614483118057, + 0.04464849829673767, + 1.0 + ], + [ + 0.30034852027893066, + -0.101084865629673, + 0.015508772805333138, + 3.1226452124589166, + -0.05351646989583969, + 0.034757260233163834, + 1.0 + ], + [ + 0.30138617753982544, + -0.10338304936885834, + 0.007177828811109066, + 3.121333325403281, + -0.04156373441219329, + 0.03070352971553802, + 1.0 + ], + [ + 0.30681946873664856, + -0.10287660360336304, + 0.0059146154671907425, + 3.129677946800836, + -0.0480925627052784, + 0.04922312870621681, + 1.0 + ], + [ + 0.30612751841545105, + -0.10062171518802643, + 0.004838960245251656, + -3.140175422542267, + -0.04695234075188637, + 0.05115499719977379, + 0.0 + ], + [ + 0.3019794225692749, + -0.09826265275478363, + 0.004350587259978056, + -3.122444162266799, + -0.0654272586107254, + 0.05774280056357384, + 0.0 + ], + [ + 0.2893110513687134, + -0.08712596446275711, + 0.00784208718687296, + -3.115948600816079, + -0.05610956251621246, + 0.06739542633295058, + 0.0 + ], + [ + 0.2882671356201172, + -0.0798865258693695, + 0.02242528647184372, + -3.1021731068664273, + -0.08391676843166351, + 0.09056845307350159, + 0.0 + ], + [ + 0.28774023056030273, + -0.06541075557470322, + 0.04308004677295685, + -3.1195119266682347, + -0.09419339150190353, + 0.12251540273427963, + 0.0 + ], + [ + 0.28518396615982056, + -0.04259870573878288, + 0.06511732190847397, + -3.129019479388841, + -0.12881648540496826, + 0.1779875010251999, + 0.0 + ], + [ + 0.2766786217689514, + -0.005006869323551655, + 0.06943006068468094, + -3.10014425043995, + -0.040649641305208206, + 0.2455444186925888, + 0.0 + ], + [ + 0.2710348963737488, + 0.03015938028693199, + 0.06910999119281769, + -3.0839130749278745, + -0.011208386160433292, + 0.22418591380119324, + 0.0 + ], + [ + 0.2578315734863281, + 0.0614582896232605, + 0.06561031192541122, + -3.059868821995803, + 0.013877712190151213, + 0.23516103625297546, + 0.0 + ], + [ + 0.25011229515075684, + 0.09058292210102081, + 0.06653134524822235, + -3.0280354117327413, + 0.02072693966329098, + 0.20985890924930573, + 0.0 + ], + [ + 0.24793897569179535, + 0.11696280539035797, + 0.06498395651578903, + -2.995699780183383, + -0.015488865785300732, + 0.20523278415203094, + 0.0 + ], + [ + 0.2496006041765213, + 0.14081673324108124, + 0.06748810410499573, + -2.9702205081754407, + -0.035236939787864685, + 0.1866215318441391, + 0.0 + ], + [ + 0.2618873119354248, + 0.1515335887670517, + 0.056947145611047745, + -2.949501784639903, + -0.011080959811806679, + 0.11604223400354387, + 0.0 + ], + [ + 0.2741445004940033, + 0.16201049089431763, + 0.04753955081105232, + -2.928765582042285, + -0.021098563447594643, + 0.08011744916439058, + 0.0 + ], + [ + 0.28960317373275757, + 0.17053629457950592, + 0.03640332445502281, + -2.926849680142947, + -0.03998443111777306, + 0.10544261336326599, + 0.0 + ], + [ + 0.2996307611465454, + 0.1744314432144165, + 0.02587255835533142, + -2.9372598101669034, + -0.040661368519067764, + 0.09189996868371964, + 0.0 + ], + [ + 0.30547967553138733, + 0.17654378712177277, + 0.013611557893455029, + -2.9509555866294583, + -0.028706694021821022, + 0.07208365201950072, + 0.0 + ], + [ + 0.30443206429481506, + 0.17466290295124054, + 0.012093883939087391, + -2.9521537144952497, + -0.04061679169535637, + 0.07979407161474228, + 0.0 + ], + [ + 0.2967204749584198, + 0.17091302573680878, + 0.018108341842889786, + -2.986140878992625, + -0.07381188869476317, + 0.07392459362745285, + 0.0 + ], + [ + 0.28849586844444275, + 0.1733364313840866, + 0.027718476951122284, + -2.9949797113710126, + -0.0771816298365593, + 0.07911211252212523, + 1.0 + ], + [ + 0.2847882807254791, + 0.17319776117801666, + 0.03881355747580528, + -2.9928825070434293, + -0.07318759709596634, + 0.08497964590787888, + 1.0 + ], + [ + 0.28683191537857056, + 0.17528586089611053, + 0.04663138464093208, + -2.9860674311691007, + -0.0758931115269661, + 0.11106417328119278, + 1.0 + ], + [ + 0.29895296692848206, + 0.17180415987968445, + 0.07129526138305664, + -2.972163276868411, + -0.1325308084487915, + 0.13487836718559265, + 1.0 + ], + [ + 0.3106791079044342, + 0.15447987616062164, + 0.07740373909473419, + -3.0046417136960706, + -0.14628471434116364, + 0.16782031953334808, + 1.0 + ], + [ + 0.31826144456863403, + 0.13886421918869019, + 0.07998473942279816, + -3.0355024506622037, + -0.14988568425178528, + 0.1790996789932251, + 1.0 + ], + [ + 0.3301759958267212, + 0.1213761568069458, + 0.08059518039226532, + -3.0630208795242986, + -0.18783771991729734, + 0.18008039891719818, + 1.0 + ], + [ + 0.33801865577697754, + 0.11121946573257446, + 0.08148328959941864, + -3.0569151883297643, + -0.21357046067714688, + 0.14601384103298184, + 1.0 + ], + [ + 0.33801865577697754, + 0.11121946573257446, + 0.08148328959941864, + -3.0569151883297643, + -0.21357046067714688, + 0.14601384103298184, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.05310845375061035, + 0.3258223533630371, + 0.5833691358566284, + 0.7218906283378601, + 0.7233396768569946, + 0.7240624725818634, + 0.7240624725818634, + 0.7240624725818634, + 0.7240624725818634, + 0.7240624725818634, + 0.7240624725818634, + 0.7240624725818634, + 0.7240624725818634, + 0.7240624725818634, + 0.7240624725818634, + 0.7240624725818634, + 0.7240624725818634, + 0.7240624725818634, + 0.7240624725818634, + 0.6579259634017944, + 0.3730241060256958, + 0.09170413017272949, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "852", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/852/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/857.json b/annotation/test/857.json new file mode 100644 index 0000000000000000000000000000000000000000..afed5946af909ff5febfb9ae1501c5807952fbdc --- /dev/null +++ b/annotation/test/857.json @@ -0,0 +1,1382 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "put pan on stove and put stuffedpig in pan" + ], + "videos": [ + { + "video_path": "videos/test/857/rgb.mp4" + } + ], + "action": [ + [ + 0.0003574797648247787, + 0.0005738839789372283, + 0.00014460515764981496, + -7.454418996572481e-05, + 0.0001120789953057442, + 0.0015280563617851009, + 1.0 + ], + [ + -0.003412120065957347, + 0.0017166228846738694, + 0.01667298564896412, + -0.0028973866025897507, + -0.03981641581586815, + 0.0002995463866815402, + 1.0 + ], + [ + -0.0010750857354888635, + 0.004809620948594242, + 0.02121535010001671, + -0.014632428402223792, + 0.03054125287659752, + -0.008772235510468632, + 1.0 + ], + [ + -0.0013458639374494862, + 0.005158329563665527, + 0.021583189526203275, + -0.009287171074784238, + 0.049265723983631285, + -0.0032433933820233754, + 1.0 + ], + [ + -0.002600018823429939, + 0.002756447914266005, + 0.016245644905504772, + -0.0069850710061062915, + 0.0413936365914186, + 0.009358975759207636, + 1.0 + ], + [ + -0.0068969929460108576, + 0.0024326739353246135, + 0.012819920402552, + -0.0001738671185766475, + 0.01727489719765001, + 0.002433941857934594, + 1.0 + ], + [ + -0.0036698959275511846, + 0.003407641516827719, + 0.008578988445061084, + -0.00790125785371585, + 0.0243749930439794, + -0.013605590682033934, + 1.0 + ], + [ + 0.0013475939588192785, + 0.004079100779903127, + 0.0013055704165218286, + -0.02284361861906084, + 0.016655805343379345, + -0.014148366352357927, + 1.0 + ], + [ + 0.00269476404395404, + 0.0008478780000075668, + 0.0021925518145656303, + -0.007311850105408077, + -0.0004937414505327742, + 0.0031974970882485917, + 0.0 + ], + [ + -0.006483784182040391, + -0.004733560121314045, + -0.004747716249940395, + -0.002011005853444656, + -0.06923044707073997, + 0.015399877759244975, + 0.0 + ], + [ + -0.004029345675269026, + -0.0016842721698676394, + -0.004159708889463699, + 0.01094066399979705, + -0.03958688246542878, + -0.002032827879345062, + 0.0 + ], + [ + -0.00578191427962927, + -0.0006766986949377689, + -0.01659322785323973, + 0.043754973766436014, + -0.013476552584318569, + -0.006443661977340696, + 0.0 + ], + [ + -0.0020515866661733437, + -0.0034804995088187503, + -0.024066942191204976, + 0.030108160226537926, + -0.027612424823230484, + -0.004164419658777313, + 0.0 + ], + [ + 0.005124938612282298, + -0.011150241170315104, + -0.020829536592224713, + 0.022920004322583058, + -0.02518831175364703, + 0.019333834844860415, + 0.0 + ], + [ + 0.013872720219797071, + -0.02564425690841106, + -0.024818764799779278, + 0.02099065765763861, + 0.033252101639102444, + 0.05645997093281311, + 0.0 + ], + [ + 0.006567447235687994, + -0.02681932619453241, + 0.0026706238643640196, + 0.004281955292923171, + -0.020614145763204278, + 0.025629795743610045, + 0.0 + ], + [ + 0.0002826607511083862, + -0.024076496886268034, + 0.0010699624554554724, + 0.0029999981472734454, + -0.007556414747919728, + 0.004444914167979402, + 0.0 + ], + [ + -0.004389828679299081, + -0.01105616631353172, + 0.001705363804906612, + -0.0015744703974911048, + -0.01030770105727536, + 0.01871452253124973, + 0.0 + ], + [ + -0.002044660635717144, + -0.010395847016620406, + 0.001445916873156917, + -0.0007979976218652596, + 0.008919698666467203, + 0.0008908302716822638, + 0.0 + ], + [ + 0.0015011124978172024, + -0.007690449867152027, + 0.011424419179446624, + -0.009414976783052467, + 0.02097785500569356, + 0.010917550471509253, + 0.0 + ], + [ + -0.0027292801838366652, + -0.002883509218082701, + 0.019473184601611064, + -0.005546471807560594, + 0.021330451993807967, + -0.008315510646803713, + 0.0 + ], + [ + 0.002047811232532039, + -0.00518013233551559, + 0.017949675768829092, + -0.011470512001203994, + 0.009309674321326645, + 0.0063457468213144585, + 0.0 + ], + [ + 0.0009219771447456157, + -0.007419926296993567, + 0.008259831544647224, + 0.0009327245642781671, + 0.01626043529616398, + 0.007738045504179754, + 0.0 + ], + [ + -0.00027433300867206554, + -0.0029709537894182653, + 0.00945299804192621, + -0.011282770716373071, + 0.009413686200144994, + 0.014096914260984328, + 0.0 + ], + [ + 0.0005041197953827676, + 0.0003654006977920736, + 0.005785491389999332, + -0.0059576857418822396, + 0.014917399642430834, + 0.017389906997443062, + 0.0 + ], + [ + 0.0037569306598331364, + -7.002296463442872e-05, + 0.003950832944113357, + 0.002989268332952626, + 0.026167394896756842, + 0.0011866895868849487, + 1.0 + ], + [ + -0.0012172077333430684, + 0.0012854015940217656, + 0.00369209960171504, + -0.0013687461006252984, + -0.00440698817759879, + -0.006449419648787308, + 1.0 + ], + [ + -0.006742199374820197, + 0.007056006281943318, + 0.0014692384422432677, + -0.002546697489998462, + -0.05596480844400083, + 2.4343887723162785e-05, + 1.0 + ], + [ + -0.00156496814004883, + 0.005786654652391018, + -0.01890829079364793, + 0.013198854890205131, + -0.006350431319470614, + 0.004619119057110525, + 1.0 + ], + [ + 0.003110682248648031, + 0.005163626716049308, + -0.013747024360368348, + 0.002416719588809975, + -0.014457613226868888, + 0.022858192287201682, + 1.0 + ], + [ + 0.0004099279729685755, + -0.0005818322954566918, + -0.0012764133155729904, + 0.0026877363356466685, + 0.0021346449775174092, + 0.00021647319315431013, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 2.4068729042012706e-17, + 1.1669961345730213e-17, + 1.927328404850927e-17, + 1.0 + ], + [ + -0.00011083754355713612, + 0.0007875943579243437, + 0.0008757005412193288, + -0.00140751690192252, + -0.0025673583010066233, + 0.001788733005559086, + 1.0 + ], + [ + -5.964532521449909e-05, + 2.5404788216739602e-05, + -0.0008776809493636213, + -0.003718317600811361, + 0.0015018465638542628, + -0.0035905277850191695, + 1.0 + ], + [ + -0.014699128667185136, + -0.0005394635585467838, + -0.01427944456772598, + -0.03484824660280441, + 0.008835691465351304, + -0.009597049673311694, + 1.0 + ], + [ + -0.027183215054275865, + -0.009767853972481264, + -0.0073893735156422575, + 0.001417789296209821, + 0.053948915232819854, + -0.020057068068474168, + 1.0 + ], + [ + -0.022308426222213622, + -0.005938156107508335, + 0.0020002106520004654, + 0.015978261137048505, + 0.036595713236382534, + -0.007570722308984894, + 1.0 + ], + [ + -0.024073946810148936, + 0.0021900974984018287, + 0.004889152853486865, + 0.02205875475602776, + 0.051100651817028823, + 0.013791971209321552, + 1.0 + ], + [ + -0.022153729003478465, + -0.0005477694084552245, + 0.0072078363753639504, + 0.01048291789300283, + 0.03244948536900367, + -0.0055801173986248145, + 1.0 + ], + [ + -0.01312087820485791, + 0.00710921609446523, + 0.0073793951104173285, + 0.015535602771429529, + 0.026635297810336543, + -0.018571625441584996, + 1.0 + ], + [ + -0.009118934242715293, + 0.004775910831919416, + 0.009683144315689654, + -0.0011313248465148983, + 0.028165815104950694, + 0.012556310815930533, + 1.0 + ], + [ + -0.003572320748618315, + 0.0002449887402011715, + 0.0047818549139221475, + 0.0047964249429505845, + 0.031519525102622, + -0.004402478168123076, + 1.0 + ], + [ + 0.002837606156087157, + -5.3701692123500696e-05, + 0.00803828206977758, + -0.011454201642608386, + 0.022513455412084996, + 0.007413829525611608, + 1.0 + ], + [ + -0.0009743832094857076, + 1.708140445356549e-05, + 0.009704375373550357, + -0.019432488916241216, + 0.007753581994048086, + -0.007503681974537538, + 1.0 + ], + [ + -0.00044648053779244563, + 0.004271031268400323, + 0.0013733852353002886, + -0.04076619472310619, + -0.019655445669819936, + -0.010294391685631555, + 1.0 + ], + [ + 0.0020331263551386643, + -0.0034411123171348176, + 0.006343152150320798, + 0.015206520459788733, + 0.015791745202635217, + 0.002363411992552111, + 1.0 + ], + [ + -0.003567572981003322, + -0.003008252459694297, + 0.011746170473026955, + -0.010938664278143514, + 0.008701572312427071, + -0.003770328923617287, + 1.0 + ], + [ + -0.00032265457591269944, + -0.001689580898140512, + 0.005124664474108447, + -0.012456923424976448, + 0.010235255238507381, + 0.0029161739892519345, + 1.0 + ], + [ + 0.0017633457205392651, + -0.004944217679416981, + 0.00438109424747408, + 0.004631276409353989, + 0.009767741378740235, + -0.012327884710223464, + 1.0 + ], + [ + 0.0002746464050911239, + 0.0025910570299507068, + 0.00022803986517368658, + 0.024792539929502224, + -0.032372233782934724, + -0.03483029754940512, + 1.0 + ], + [ + -0.0007354291950823711, + 0.0012403889820512086, + -0.0037818782291220605, + -0.0018797214573845844, + -0.04478262521546979, + 0.008217286320972064, + 0.0 + ], + [ + 0.002763574111503302, + 0.0017109437420414694, + -0.019114397997420103, + 0.012949421676992758, + -0.07864434986740576, + -0.0007530831616569143, + 0.0 + ], + [ + 0.014744350618518143, + -0.002501797443612679, + -0.03365791031845175, + 0.03255620632066253, + -0.07315063699589669, + 0.014423231474471731, + 0.0 + ], + [ + 0.02493550262807816, + -0.0006106326783644996, + -0.0356261780709126, + 0.02463008887667993, + -0.04258420799944079, + -0.005060179810432674, + 0.0 + ], + [ + 0.023411065409536375, + 0.007168359323740747, + -0.007736318540181441, + -0.011013238739645244, + -0.03621349791716114, + 0.006948040627125425, + 0.0 + ], + [ + 0.023560029178805907, + 0.006893681056541577, + -0.003218437100560554, + -0.009555281016300822, + -0.01727847942266332, + 0.0010129749461363447, + 0.0 + ], + [ + 0.01833444361027958, + 0.00875555493269352, + 0.0025391108596249505, + -0.010040901383200233, + -0.0067372861774148895, + -0.0029575006672063545, + 0.0 + ], + [ + 0.008004236891377066, + 0.00795708438509672, + 0.007034182433123239, + -0.010427395639737628, + 0.012101571017801755, + -0.007003606285042797, + 0.0 + ], + [ + 0.008205824222259656, + 0.0010134417628099156, + 0.0012608949836754465, + 0.008098965875135235, + 0.0480267237057309, + 0.016190842952750726, + 0.0 + ], + [ + 0.005666409454779742, + -0.00015598167871984058, + 0.002779231150046933, + -8.896941071311544e-05, + 0.038857386176266835, + -0.0019597289126183507, + 1.0 + ], + [ + -0.000972671587183309, + 0.0011968160245867273, + 0.004108844580905255, + -0.001550788697760383, + 0.005453912496142033, + 0.002725296161724762, + 1.0 + ], + [ + -0.0005511538892465047, + 0.00043918268407092706, + 0.001725281067521996, + -0.0033243860051839842, + 0.0027213559490431682, + 0.001362399458729768, + 1.0 + ], + [ + -0.0015122659304591783, + 0.0014156730049625379, + 0.0007483051352762148, + -0.020279300143745918, + -0.002568156101859242, + 0.007160272740131004, + 1.0 + ], + [ + -0.0030742529951466096, + 0.0031276355929545784, + -0.0002045794455813829, + 0.005424983190857781, + -0.02898066491837115, + -0.016492748540616314, + 1.0 + ], + [ + 0.00010885331811991048, + 0.0023080286635857898, + -0.00010380480771133831, + -0.0020626982896656504, + -0.003841163252829202, + -0.010791680766760752, + 1.0 + ], + [ + -0.0007750105299958615, + 0.004909886483559056, + -0.006039824800879414, + 0.012101092463648365, + -0.005665166564090868, + -0.0031192777547141893, + 1.0 + ], + [ + -0.0018557239982085266, + 0.005843405583536827, + -0.008888489682646073, + 0.012175638988684451, + 0.004679421014126468, + -0.0066801423938133795, + 1.0 + ], + [ + -0.000760208013704878, + 0.004585759011535884, + 5.881019714560795e-05, + -0.006737386429182039, + -0.01011142195933114, + -0.005788314295435304, + 1.0 + ], + [ + 0.0005792027652661961, + 0.0022665080366267598, + -0.0005056058598466353, + -0.0022549199651415303, + -0.000557193153402761, + 0.0038282210094574614, + 1.0 + ], + [ + -0.0008136717807778063, + 0.003112869357790464, + -0.0013695010218408325, + -0.011120909520306154, + -0.00796603051702296, + 0.01302466826844556, + 1.0 + ], + [ + 0.003879068247392088, + -0.00180203849756471, + -0.005288796988049843, + 0.048956769263939506, + -0.0029496343736191586, + 0.0007665775153861916, + 1.0 + ] + ], + "state": [ + [ + 0.36287036538124084, + -0.031892236322164536, + 0.14267756044864655, + -3.068418489890643, + -0.04867037758231163, + -0.11224772036075592, + 1.0 + ], + [ + 0.363171249628067, + -0.03249148651957512, + 0.14250899851322174, + -3.068418489890643, + -0.04867038503289222, + -0.11378169804811476, + 1.0 + ], + [ + 0.360539048910141, + -0.0326869860291481, + 0.12560896575450897, + -3.071385147171565, + -0.008938509970903397, + -0.11116993427276613, + 1.0 + ], + [ + 0.35929447412490845, + -0.03587812930345535, + 0.10409973561763763, + -3.0860454087429723, + -0.04001967236399651, + -0.10456029325723648, + 1.0 + ], + [ + 0.358413428068161, + -0.039759475737810135, + 0.08222708851099014, + -3.095285164313861, + -0.08938941359519958, + -0.10405789315700531, + 1.0 + ], + [ + 0.3570820987224579, + -0.04163279011845589, + 0.06570445746183395, + -3.101219145702668, + -0.13029971718788147, + -0.11541077494621275, + 1.0 + ], + [ + 0.3517346978187561, + -0.042938947677612305, + 0.052010077983140945, + -3.1009761301153382, + -0.1474616527557373, + -0.11857392638921739, + 1.0 + ], + [ + 0.34903934597969055, + -0.04569593444466591, + 0.042855117470026016, + -3.1107482967251023, + -0.1723571419715881, + -0.1057838201522827, + 1.0 + ], + [ + 0.3501773178577423, + -0.04987635463476181, + 0.04167668893933296, + -3.1359702657260975, + -0.18942512571811676, + -0.09190963953733444, + 1.0 + ], + [ + 0.3531480133533478, + -0.050989240407943726, + 0.040026117116212845, + 3.1405155964945486, + -0.18891243636608127, + -0.09516217559576033, + 0.0 + ], + [ + 0.3463720679283142, + -0.04558226466178894, + 0.04346676170825958, + 3.141428933076565, + -0.11967602372169495, + -0.11071088910102844, + 0.0 + ], + [ + 0.34208863973617554, + -0.0434107631444931, + 0.04711537808179855, + -3.1310585421794137, + -0.08008856326341629, + -0.10867962241172789, + 0.0 + ], + [ + 0.33509352803230286, + -0.042142681777477264, + 0.06319903582334518, + -3.087830850976058, + -0.06667889654636384, + -0.10208027809858321, + 0.0 + ], + [ + 0.3316742181777954, + -0.03959878906607628, + 0.0872277170419693, + -3.0580792744928083, + -0.03932909294962884, + -0.09643548727035522, + 0.0 + ], + [ + 0.3368252217769623, + -0.030679460614919662, + 0.10909950733184814, + -3.0344701056652745, + -0.012610108591616154, + -0.11359594017267227, + 0.0 + ], + [ + 0.35285329818725586, + -0.00951617956161499, + 0.13669058680534363, + -3.0128587802224835, + -0.039616305381059654, + -0.173308327794075, + 0.0 + ], + [ + 0.36393192410469055, + 0.015894310548901558, + 0.13774457573890686, + -3.0076809545331677, + -0.01587243191897869, + -0.19607646763324738, + 0.0 + ], + [ + 0.36885207891464233, + 0.03938975930213928, + 0.13990290462970734, + -3.00462398131425, + -0.0077901300974190235, + -0.19947269558906555, + 0.0 + ], + [ + 0.3667672276496887, + 0.05122298747301102, + 0.13968893885612488, + -3.006077902513095, + 0.004977353848516941, + -0.21660353243350983, + 0.0 + ], + [ + 0.3670259416103363, + 0.06191306188702583, + 0.1396709382534027, + -3.0068811645084104, + -0.0037402256857603784, + -0.21869121491909027, + 0.0 + ], + [ + 0.3705150783061981, + 0.07051611691713333, + 0.12938857078552246, + -3.01622790296609, + -0.023061430081725117, + -0.23232851922512052, + 0.0 + ], + [ + 0.3695046007633209, + 0.07619714736938477, + 0.11037085950374603, + -3.0218765308433255, + -0.04526383802294731, + -0.22674137353897095, + 0.0 + ], + [ + 0.37389451265335083, + 0.08266256004571915, + 0.09327860176563263, + -3.033009262877055, + -0.053747765719890594, + -0.2341640144586563, + 0.0 + ], + [ + 0.3770962953567505, + 0.09040222316980362, + 0.08593174070119858, + -3.0315578674250325, + -0.069071464240551, + -0.243640199303627, + 0.0 + ], + [ + 0.3784009516239166, + 0.09419041872024536, + 0.07686485350131989, + -3.0418068339400968, + -0.07687242329120636, + -0.25872963666915894, + 0.0 + ], + [ + 0.37937137484550476, + 0.09415367990732193, + 0.07112756371498108, + -3.0463223179155072, + -0.08996972441673277, + -0.2775936722755432, + 0.0 + ], + [ + 0.38343122601509094, + 0.0934600904583931, + 0.06755474209785461, + -3.042968900995799, + -0.11590493470430376, + -0.28128829598426824, + 1.0 + ], + [ + 0.3824377954006195, + 0.09279406815767288, + 0.06363875418901443, + -3.0451364164524755, + -0.11215166002511978, + -0.27439302206039423, + 1.0 + ], + [ + 0.37435466051101685, + 0.08792025595903397, + 0.06075569614768028, + -3.0481348653608045, + -0.05644330382347107, + -0.2690216600894928, + 1.0 + ], + [ + 0.3698536157608032, + 0.08135446161031723, + 0.07892404496669769, + -3.034708583849021, + -0.049689069390296936, + -0.2730328440666199, + 1.0 + ], + [ + 0.3704380691051483, + 0.07433618605136871, + 0.09218007326126099, + -3.031251976388045, + -0.03286445885896682, + -0.2942269742488861, + 1.0 + ], + [ + 0.3709152042865753, + 0.07464899867773056, + 0.09352554380893707, + -3.0285491963201245, + -0.034962281584739685, + -0.29467746615409857, + 1.0 + ], + [ + 0.3709152042865753, + 0.07464899867773056, + 0.09352554380893707, + -3.0285491963201245, + -0.034962281584739685, + -0.29467746615409857, + 1.0 + ], + [ + 0.37064269185066223, + 0.07401712238788605, + 0.09256330132484436, + -3.029904434578963, + -0.032209496945142746, + -0.29616594314575195, + 1.0 + ], + [ + 0.37052297592163086, + 0.07392498105764389, + 0.09343031048774719, + -3.0337328558140477, + -0.03410198539495468, + -0.29276320338249207, + 1.0 + ], + [ + 0.35570329427719116, + 0.07734665274620056, + 0.10717538744211197, + -3.0688740332895, + -0.04391818866133689, + -0.2841652035713196, + 1.0 + ], + [ + 0.33187562227249146, + 0.09389574080705643, + 0.11405366659164429, + -3.0680690204077443, + -0.09917587786912918, + -0.2680293321609497, + 1.0 + ], + [ + 0.3122255206108093, + 0.10558616369962692, + 0.11029388755559921, + -3.052528070407458, + -0.136227622628212, + -0.2631263732910156, + 1.0 + ], + [ + 0.28940537571907043, + 0.10992447286844254, + 0.10200683027505875, + -3.0278408249192914, + -0.1858758181333542, + -0.2817097306251526, + 1.0 + ], + [ + 0.270130455493927, + 0.11692102998495102, + 0.09093586355447769, + -3.017649972932883, + -0.2187485694885254, + -0.27980583906173706, + 1.0 + ], + [ + 0.25783464312553406, + 0.11406321078538895, + 0.08008230477571487, + -3.0054721405082425, + -0.24744972586631775, + -0.26420074701309204, + 1.0 + ], + [ + 0.25082921981811523, + 0.11241777241230011, + 0.06791907548904419, + -3.0024302174621305, + -0.2736175060272217, + -0.2810861766338349, + 1.0 + ], + [ + 0.24887971580028534, + 0.11341852694749832, + 0.06236159801483154, + -2.997560294466563, + -0.3054428994655609, + -0.2811005711555481, + 1.0 + ], + [ + 0.2541106641292572, + 0.11316433548927307, + 0.055635422468185425, + -3.005630226927348, + -0.32664135098457336, + -0.2922570109367371, + 1.0 + ], + [ + 0.25655597448349, + 0.1137845516204834, + 0.04621414840221405, + -3.0272304212027272, + -0.33533352613449097, + -0.28549724817276, + 1.0 + ], + [ + 0.25558528304100037, + 0.10981066524982452, + 0.04431856796145439, + -3.072302134829112, + -0.316954255104065, + -0.2723754942417145, + 1.0 + ], + [ + 0.26031559705734253, + 0.11250963807106018, + 0.039165887981653214, + -3.055949391918727, + -0.3325425088405609, + -0.27602624893188477, + 1.0 + ], + [ + 0.2617568075656891, + 0.1162608340382576, + 0.02718251943588257, + -3.067928785579749, + -0.34153312444686895, + -0.2728295624256134, + 1.0 + ], + [ + 0.2636280357837677, + 0.11787861585617065, + 0.022376038134098053, + -3.0790760834985456, + -0.35152360796928406, + -0.27672943472862244, + 1.0 + ], + [ + 0.26798951625823975, + 0.12205414474010468, + 0.019168062135577202, + -3.0787515138560018, + -0.3620172739028931, + -0.2642260491847992, + 1.0 + ], + [ + 0.267699271440506, + 0.11946859210729599, + 0.018900321796536446, + -3.0677479078345975, + -0.33164235949516296, + -0.225328266620636, + 1.0 + ], + [ + 0.2655148506164551, + 0.11841396242380142, + 0.022140396758913994, + -3.067894937592097, + -0.2863715589046478, + -0.2304193526506424, + 0.0 + ], + [ + 0.2621769905090332, + 0.11599873751401901, + 0.04108637943863869, + -3.056610169010707, + -0.2079903930425644, + -0.22374197840690613, + 0.0 + ], + [ + 0.2693679630756378, + 0.11398898810148239, + 0.07715243846178055, + -3.022130014496394, + -0.1338730752468109, + -0.23194420337677005, + 0.0 + ], + [ + 0.2879776656627655, + 0.10585372149944305, + 0.11560855805873871, + -2.998751225071498, + -0.0921887680888176, + -0.22180785238742828, + 0.0 + ], + [ + 0.30831897258758545, + 0.09286386519670486, + 0.12437262386083603, + -3.0095117559009275, + -0.0553550161421299, + -0.22352911531925201, + 0.0 + ], + [ + 0.32952573895454407, + 0.0806003138422966, + 0.12795515358448029, + -3.0191177149587354, + -0.03809359669685364, + -0.22225677967071536, + 0.0 + ], + [ + 0.34568241238594055, + 0.06835797429084778, + 0.12506626546382904, + -3.0292999019199094, + -0.0317678228020668, + -0.21849651634693143, + 0.0 + ], + [ + 0.3521937131881714, + 0.05962008237838745, + 0.11744295060634613, + -3.0398989637666425, + -0.044577471911907196, + -0.2128880172967911, + 0.0 + ], + [ + 0.36007946729660034, + 0.057014938443899155, + 0.11645270884037018, + -3.030765729146548, + -0.09070252627134323, + -0.23393774032592773, + 0.0 + ], + [ + 0.3659179210662842, + 0.05609898641705513, + 0.11423231661319733, + -3.0305560921602925, + -0.129537895321846, + -0.23630791902542117, + 1.0 + ], + [ + 0.3653378188610077, + 0.05548354238271713, + 0.10992583632469177, + -3.0316739847236356, + -0.13465552031993866, + -0.23965099453926084, + 1.0 + ], + [ + 0.36497849225997925, + 0.05531679466366768, + 0.10810475796461105, + -3.0347741340571126, + -0.13721081614494324, + -0.24131937325000766, + 1.0 + ], + [ + 0.3633253872394562, + 0.054356202483177185, + 0.1070113480091095, + -3.054110789793082, + -0.13389067351818085, + -0.24822682142257693, + 1.0 + ], + [ + 0.3596111536026001, + 0.052064958959817886, + 0.10653211921453476, + -3.0512102489643773, + -0.10643761605024338, + -0.22916406393051147, + 1.0 + ], + [ + 0.35920313000679016, + 0.04979019984602928, + 0.10643933713436127, + -3.054462807374545, + -0.10357958823442459, + -0.21801000833511353, + 1.0 + ], + [ + 0.35671466588974, + 0.044793300330638885, + 0.11191890388727188, + -3.042734945314475, + -0.09820667654275894, + -0.21439220011234283, + 1.0 + ], + [ + 0.35269424319267273, + 0.03881976008415222, + 0.11996547877788544, + -3.0311698784404477, + -0.10352066904306412, + -0.20817330479621887, + 1.0 + ], + [ + 0.3510707914829254, + 0.03451090678572655, + 0.1193261444568634, + -3.0386170019679746, + -0.09410624206066133, + -0.20127575099468234, + 1.0 + ], + [ + 0.3511498272418976, + 0.032140783965587616, + 0.11964932084083557, + -3.040518658357211, + -0.0931578204035759, + -0.2050427496433258, + 1.0 + ], + [ + 0.34960246086120605, + 0.029158195480704308, + 0.12061750143766403, + -3.0505092312865933, + -0.08391136676073074, + -0.2172396034002304, + 1.0 + ], + [ + 0.35321566462516785, + 0.02970580756664276, + 0.12635429203510284, + -3.00151044328744, + -0.08090422302484514, + -0.2177363336086273, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.04544806480407715, + 0.3438887596130371, + 0.6472503244876862, + 0.8562205731868744, + 0.9334815964102745, + 0.9390571266412735, + 0.9393426328897476, + 0.9393426328897476, + 0.9393426328897476, + 0.9393426328897476, + 0.9393426328897476, + 0.9393426328897476, + 0.9393426328897476, + 0.9393426328897476, + 0.9393426328897476, + 0.9393426328897476, + 0.9410393536090851, + 0.9139323532581329, + 0.7547669112682343, + 0.47338050603866577, + 0.14553707838058472, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.04544806480407715, + 0.3218126893043518, + 0.524347722530365, + 0.6046426296234131, + 0.6185365319252014, + 0.6185365319252014, + 0.6193969249725342, + 0.6193969249725342, + 0.6193969249725342, + 0.5716392397880554, + 0.2483811378479004, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "857", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/857/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/873.json b/annotation/test/873.json new file mode 100644 index 0000000000000000000000000000000000000000..ed8213b420d0b18dd7b5415ded26c0ac30ddf6c7 --- /dev/null +++ b/annotation/test/873.json @@ -0,0 +1,660 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "close microwave" + ], + "videos": [ + { + "video_path": "videos/test/873/rgb.mp4" + } + ], + "action": [ + [ + -0.00019196898887067332, + 0.0004096545698792541, + -7.215037573750423e-06, + -7.248158677884743e-05, + -6.921389001540732e-06, + 0.001532226567885749, + 1.0 + ], + [ + -0.004835487831541839, + 6.829868835798663e-05, + 0.005245722666673191, + 0.008506837341595882, + -0.028259286057601883, + -0.0038147045262861426, + 1.0 + ], + [ + -0.011462634802172298, + 0.021907821374840097, + -0.0315365415268164, + -0.04566222432656722, + -0.03139226288103413, + -0.0013150885334481434, + 1.0 + ], + [ + -0.006525155673167202, + 0.02810389736773462, + -0.039351650254523224, + -0.051325849724257085, + -0.015826735676650206, + 0.008050873464543267, + 1.0 + ], + [ + -0.0061281266507870556, + 0.026417020057675048, + -0.028016404101275674, + -0.03388630863307983, + -0.03398487871219808, + 0.004466138886394742, + 1.0 + ], + [ + -0.019699995033757453, + 0.022283772663118383, + -0.006393887052082982, + -0.009007663831309878, + -0.04335176058209255, + 0.059262661712543054, + 1.0 + ], + [ + -0.022240491158209155, + 0.019599299729773267, + -0.006876034772713465, + -0.013115718673071776, + 0.056985232271442615, + 0.08487181526175232, + 1.0 + ], + [ + -0.022482143986383724, + 0.021124810793044613, + -9.08807135946581e-05, + -0.010675478262173157, + 0.009866958176821875, + 0.05847619274592346, + 1.0 + ], + [ + -0.016543611885203754, + 0.016196168494006558, + 0.0035937292543241303, + 0.006679007661594939, + -0.006892232102152948, + 0.016576583115589287, + 1.0 + ], + [ + -0.005286747720650322, + 0.007934201207847142, + 0.02688410808401183, + 0.01160976557022463, + -0.012486995544564427, + -0.0077373318151490915, + 1.0 + ], + [ + 0.00012612971654333752, + -0.0013511621741505362, + 0.02285091935161806, + -0.034546405117467406, + 0.030787114087303072, + -0.01690281000150504, + 1.0 + ], + [ + 0.0033141566056844435, + -0.017056860545379852, + 0.028367831744387614, + 0.043063906443085956, + -0.037426543011814944, + -0.035015866060414756, + 1.0 + ], + [ + 0.014231710748895387, + -0.028493011799986163, + 0.010098488894880997, + 0.04287521632242784, + 0.03074600496349351, + -0.05923650041134717, + 1.0 + ], + [ + 0.015861701541794466, + -0.028934656281340284, + 0.010478733263936066, + 0.04730446010775774, + 0.05316363600576822, + -0.04172707744240267, + 1.0 + ], + [ + 0.023342082660381385, + -0.019448575399914018, + -0.002894424476212637, + -0.02251618250927317, + 0.06540612100480542, + -0.05566134051474042, + 1.0 + ], + [ + 0.035953055032582164, + -0.01693906073194318, + -0.0011708155921340254, + -0.008779558169497773, + 0.0646852440005715, + -0.08219010390733059, + 1.0 + ], + [ + 0.024328038687187893, + -0.003234486640989294, + 0.009673771015920247, + 0.0023942637035523225, + 0.02246415517964134, + -0.021906612172514685, + 1.0 + ], + [ + 0.01760894162861982, + 0.0031719966094590547, + 0.006002574324895067, + -0.015789116463916168, + 0.044192133399372814, + -0.0020655359342892543, + 1.0 + ], + [ + 0.012074943619797789, + 0.0040481083771157335, + 0.0062692299205284584, + -0.012746732766999105, + 0.03064757809271997, + 0.018832222432077248, + 1.0 + ], + [ + 0.00913191304484201, + 0.003207692882480207, + 0.0010059235948401048, + -0.027487080307038683, + 0.038161519308676194, + 0.007129140391170459, + 1.0 + ], + [ + 0.008518982586804199, + 0.004435087882234483, + -0.00023453357196828237, + -0.03240544632253487, + 0.05053475815430747, + 0.009667435992428471, + 1.0 + ], + [ + 0.007238112034897728, + 0.0042711574519028565, + 0.001593751989193382, + -0.002688444976893039, + 0.011721758374009681, + -0.011388938898643236, + 1.0 + ], + [ + 0.004331875486121937, + 0.0021811987162258383, + 0.0017060180102658061, + -0.002390519826202856, + 0.012235201049480402, + -0.01590778164159761, + 1.0 + ], + [ + 0.0041079568976331825, + 0.001545997802986513, + 0.0004461907777572748, + -0.010007013644243425, + 0.026325467969780206, + -0.006251949247437573, + 1.0 + ], + [ + 0.004118721993316091, + 0.000999211585372607, + 0.0009318991773102638, + -0.014595761876143677, + 0.032669749397865946, + 0.00012720935421334212, + 1.0 + ], + [ + -0.0059073760967418764, + -0.005997359395062046, + 0.005630843838844494, + -0.008116004240164069, + 0.03543694902238239, + 0.008199819629706246, + 1.0 + ], + [ + -0.00979852595905362, + -0.00565895467726183, + -0.007977765645021184, + -0.0058279248904927845, + -0.03426996215349882, + 0.0399850574505076, + 1.0 + ], + [ + 0.00073054837748241, + -0.0009733024975312367, + -0.0004053570185171108, + 0.0014407148925406324, + 0.0007287174500007932, + 0.004834330889628185, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 3.6069329826843574e-17, + 4.696531367152898e-17, + -2.2162628283740243e-17, + 1.0 + ], + [ + -0.00018296686433460997, + -0.00016029265361868216, + -1.8871079737400505e-07, + 0.0010108493819777195, + -0.0011538205892469692, + -5.900669273415103e-07, + 1.0 + ], + [ + -0.00011713480450803011, + 0.0006496475694216798, + -3.2330081868717626e-05, + -0.0016412511765428529, + 0.0008575547741150728, + 0.0013655124681021564, + 1.0 + ], + [ + 0.00011621982616470875, + -0.0006498592628953821, + 3.136321908835693e-05, + 0.0016424212483768794, + -0.0008553116715432681, + -0.0013669185909265052, + 1.0 + ], + [ + 0.0001829668656975443, + 0.0001602926570433336, + -1.8443190742753268e-07, + -0.0010108493740192826, + 0.0011538205962192277, + -5.762721298168651e-07, + 1.0 + ] + ], + "state": [ + [ + 0.2949586510658264, + 0.0003230260335840285, + 0.03623814135789871, + 3.137039234517612, + -0.04726556316018104, + 0.43901696801185613, + 1.0 + ], + [ + 0.29495880007743835, + -0.000129435007693246, + 0.03623814135789871, + 3.137039234517612, + -0.04726556316018104, + 0.437483012676239, + 1.0 + ], + [ + 0.29084715247154236, + -0.00215425924398005, + 0.03077017515897751, + -3.1378152080629995, + -0.018988879397511482, + 0.4411681592464447, + 1.0 + ], + [ + 0.28934919834136963, + -0.027220696210861206, + 0.06200041621923447, + 3.099682508158036, + 0.012398211285471918, + 0.4426012635231018, + 1.0 + ], + [ + 0.2952268719673157, + -0.053683772683143616, + 0.10257279127836227, + 3.048245007293769, + 0.027873268350958824, + 0.4338919818401336, + 1.0 + ], + [ + 0.30039602518081665, + -0.07739868015050888, + 0.1330886036157608, + 3.0140946825319013, + 0.06129302829504013, + 0.42626628279685974, + 1.0 + ], + [ + 0.2918071150779724, + -0.10468122363090515, + 0.14345352351665497, + 3.001277880864688, + 0.09663590043783188, + 0.36171790957450867, + 1.0 + ], + [ + 0.2784919738769531, + -0.12944039702415466, + 0.1551043689250946, + 2.981004761653491, + 0.028073351830244064, + 0.28577980399131775, + 1.0 + ], + [ + 0.2628980278968811, + -0.1557416170835495, + 0.15920160710811615, + 2.9690013398700437, + 0.008943638764321804, + 0.22963765263557434, + 1.0 + ], + [ + 0.2505550980567932, + -0.17564640939235687, + 0.15859071910381317, + 2.9755463023954114, + 0.012885464355349542, + 0.21212249994277957, + 1.0 + ], + [ + 0.2476527839899063, + -0.18882134556770325, + 0.1334579885005951, + 2.98721735377843, + 0.026479359716176987, + 0.2176908701658249, + 1.0 + ], + [ + 0.24765732884407043, + -0.19105152785778046, + 0.11067570745944977, + 2.9532004465633115, + -0.0013488223776221277, + 0.23911878466606143, + 1.0 + ], + [ + 0.24820780754089355, + -0.1791398823261261, + 0.0796198919415474, + 2.996165322261401, + 0.04197282344102859, + 0.2665039300918579, + 1.0 + ], + [ + 0.2543140947818756, + -0.14976593852043152, + 0.06491419672966003, + 3.041907386975833, + 0.02004622481763363, + 0.32956248521804815, + 1.0 + ], + [ + 0.26008668541908264, + -0.1184651106595993, + 0.051292628049850464, + 3.0901184027367314, + -0.02872419357299805, + 0.3763364255428314, + 1.0 + ], + [ + 0.2745428681373596, + -0.09170795977115631, + 0.05385217070579529, + 3.0658823271566114, + -0.09113145619630814, + 0.4354187846183777, + 1.0 + ], + [ + 0.29985377192497253, + -0.06120704114437103, + 0.05701078847050667, + 3.0492489134245595, + -0.14907655119895935, + 0.5230825543403625, + 1.0 + ], + [ + 0.3208094537258148, + -0.04643458500504494, + 0.05080344155430794, + 3.0480476041608533, + -0.16938215494155884, + 0.5473089218139648, + 1.0 + ], + [ + 0.33838391304016113, + -0.040079515427351, + 0.04817308858036995, + 3.0311014746599874, + -0.21318471431732175, + 0.5536332130432129, + 1.0 + ], + [ + 0.3519425392150879, + -0.03724139556288719, + 0.04507414996623993, + 3.021660992997237, + -0.24569620192050937, + 0.5378293395042419, + 1.0 + ], + [ + 0.3613712191581726, + -0.03546564653515816, + 0.04669887199997902, + 2.994722532229968, + -0.2844356298446655, + 0.5352163314819336, + 1.0 + ], + [ + 0.3704119622707367, + -0.0351656936109066, + 0.04993508383631706, + 2.9627708067470273, + -0.3358399271965027, + 0.5329298377037048, + 1.0 + ], + [ + 0.3788069784641266, + -0.03542270138859749, + 0.051557041704654694, + 2.9554305990510663, + -0.34531813859939575, + 0.5470553636550903, + 1.0 + ], + [ + 0.38393548130989075, + -0.035178642719984055, + 0.05182567611336708, + 2.9465969820790967, + -0.35433995723724365, + 0.5661375522613525, + 1.0 + ], + [ + 0.3880874812602997, + -0.03443942964076996, + 0.053121425211429596, + 2.9323380907350263, + -0.3789314925670624, + 0.5782270431518555, + 1.0 + ], + [ + 0.39215004444122314, + -0.03318636864423752, + 0.05399099364876747, + 2.9149444868140897, + -0.41090580821037287, + 0.5854928493499756, + 1.0 + ], + [ + 0.38738149404525757, + -0.03085445985198021, + 0.04536574333906174, + 2.9066940416866025, + -0.4472786784172058, + 0.585466742515564, + 1.0 + ], + [ + 0.3736289441585541, + -0.03114142455160618, + 0.046935662627220154, + 2.9232055266671857, + -0.42273190617561346, + 0.5340956449508667, + 1.0 + ], + [ + 0.37360870838165283, + -0.029947429895401, + 0.047403957694768906, + 2.926702173548289, + -0.42448601126670843, + 0.5290897488594055, + 1.0 + ], + [ + 0.37360870838165283, + -0.029947429895401, + 0.047403957694768906, + 2.926702173548289, + -0.42448601126670843, + 0.5290897488594055, + 1.0 + ], + [ + 0.3733977973461151, + -0.029889291152358055, + 0.04729762300848961, + 2.927823769050189, + -0.42335858941078186, + 0.5288205146789551, + 1.0 + ], + [ + 0.3735623359680176, + -0.030520502477884293, + 0.047403957694768906, + 2.926702173548289, + -0.4244860112667084, + 0.5275557637214661, + 1.0 + ], + [ + 0.3733977973461151, + -0.029889291152358055, + 0.04729762300848961, + 2.927823769050189, + -0.42335858941078186, + 0.5288205146789551, + 1.0 + ], + [ + 0.37360870838165283, + -0.029947429895401, + 0.047403957694768906, + 2.926702173548289, + -0.42448601126670843, + 0.5290897488594055, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867, + 0.005884885787963867 + ], + "episode_id": "873", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/873/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/888.json b/annotation/test/888.json new file mode 100644 index 0000000000000000000000000000000000000000..bc5d17f725f572689f74001d89ea897135c30421 --- /dev/null +++ b/annotation/test/888.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "turn lever vertical to front" + ], + "videos": [ + { + "video_path": "videos/test/888/rgb.mp4" + } + ], + "action": [ + [ + -0.005678651122938022, + 0.00015411289828749525, + 0.003292256384444657, + 0.005154916611190014, + -0.011361276966976669, + 0.006631246546176863, + 1.0 + ], + [ + -0.022789911137732242, + -0.008732950148562896, + 0.007273260901056944, + 0.03211100211240001, + -0.017831546020456415, + 0.029704629029720583, + 1.0 + ], + [ + -0.011035171531296371, + -0.014131113573492166, + -0.0003626403942226565, + 0.03638037994802171, + 0.020826804613996688, + -0.000659449102590045, + 1.0 + ], + [ + 0.004425936970929018, + -0.012631035071547687, + -0.009477868247515146, + 0.013818860874103975, + 0.03939889523241093, + -0.004322146109457979, + 1.0 + ], + [ + 0.0035638162010247147, + -0.01032270911210676, + -0.006444797661938753, + 0.015136032014680605, + 0.028880963900616022, + -0.01646786742094538, + 1.0 + ], + [ + -0.014429561652838315, + -0.007647349109201912, + -0.0022002894705709744, + 0.008485119990587132, + 0.007871433335529492, + 0.012796195429381436, + 1.0 + ], + [ + -0.004636201891045115, + -0.004347835440129333, + -0.008726714655764403, + -0.010306508026503526, + -0.01288805951618364, + -0.026262404668677783, + 1.0 + ], + [ + -0.0005821624184781094, + -0.00658664483875329, + -0.006148367884426816, + -0.0006056094643194095, + -0.015282515590468367, + -0.018212398762923823, + 1.0 + ], + [ + -0.001709426116223557, + -0.00915587827304409, + -0.0071829113574750116, + -9.938119021258276e-06, + -0.010669056831609073, + -0.0013151773564886425, + 1.0 + ], + [ + -0.008096214997685494, + -0.009262422973262284, + -0.004142660530144232, + 0.003143683814887238, + -0.009626555536350275, + 0.010866277498963609, + 1.0 + ], + [ + -0.007453224889022899, + -0.011727464581575668, + -0.011901635222695151, + -0.00028724950750950247, + -0.0364979270524414, + -0.026854818372787817, + 1.0 + ], + [ + -0.013658627582583866, + -0.008196901927778798, + -0.01670509854262924, + 0.0021011736238790773, + -0.0871083334704001, + 0.03259970958987671, + 1.0 + ], + [ + 0.0012687715820066392, + -0.008707361253472273, + -0.01902620414217277, + -0.017773816444607134, + -0.07921678419966546, + 0.01585372284271666, + 1.0 + ], + [ + -0.008663691467477629, + -0.0030597516277073686, + -0.021741160770720813, + 0.039046377981603285, + -0.005472763909055356, + 0.016659241214737396, + 1.0 + ], + [ + -0.0011446122505331293, + -0.005045013640280333, + -0.026259740789234563, + 0.07793382501546457, + 0.07782751361465819, + -0.006807226306446072, + 1.0 + ], + [ + 0.012255416003792485, + -0.007773494205061363, + -0.03979472522685234, + 0.12444845058231885, + 0.056678658422168085, + -0.03110507672242369, + 1.0 + ], + [ + 0.005192716229981728, + -0.0070495136230333015, + -0.02514730260940758, + 0.07669692376174644, + 0.020558901112551303, + 0.009639692049238141, + 1.0 + ], + [ + -7.438866080325828e-05, + -0.001442797073981479, + -0.011977615432130603, + -0.0016743220879348682, + 0.027327649558574526, + 0.01470423184306188, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -5.579059371840626e-09, + 4.359625548390833e-08, + 0.0015339798152336692, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 5.6459287129111025e-09, + -4.35876460057255e-08, + -0.001533979815233934, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -5.579059371840626e-09, + 4.359625548390833e-08, + 0.0015339798152336692, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 5.6459287129111025e-09, + -4.35876460057255e-08, + -0.001533979815233934, + 1.0 + ], + [ + 0.00012676598015665442, + -0.00014970372002609447, + 0.00030248846820658674, + 0.0013835186342318858, + -0.00013891020553435257, + 0.00088606967772962, + 1.0 + ] + ], + "state": [ + [ + 0.4346170127391815, + -0.17896485328674316, + 0.22276578843593597, + 2.8737626393609723, + -1.1278244256973267, + 0.4685954749584198, + 1.0 + ], + [ + 0.4354323446750641, + -0.1796952337026596, + 0.2162918746471405, + 2.8983499725633344, + -1.1185317039489746, + 0.44708153605461115, + 1.0 + ], + [ + 0.43097615242004395, + -0.1743747740983963, + 0.19178922474384308, + 2.997231515245982, + -1.1072733402252197, + 0.3729458153247833, + 1.0 + ], + [ + 0.4226616621017456, + -0.16255547106266022, + 0.18116998672485352, + 3.0259667952829084, + -1.127774715423584, + 0.38145682215690613, + 1.0 + ], + [ + 0.4126722812652588, + -0.15186576545238495, + 0.1885797381401062, + 3.019402416544505, + -1.166322112083435, + 0.4039068818092347, + 1.0 + ], + [ + 0.4052826762199402, + -0.14302751421928406, + 0.1938781887292862, + 2.9850488920980176, + -1.1924893856048584, + 0.45769581198692316, + 1.0 + ], + [ + 0.39619430899620056, + -0.13870134949684143, + 0.18083129823207855, + 3.0229697694354734, + -1.2020915746688843, + 0.42602691054344183, + 1.0 + ], + [ + 0.38553833961486816, + -0.13766205310821533, + 0.1794442981481552, + 2.9517278989129743, + -1.185437798500061, + 0.49137815833091736, + 1.0 + ], + [ + 0.3778284192085266, + -0.13313573598861694, + 0.1807071566581726, + 2.915758716064044, + -1.1667276620864868, + 0.5295343399047852, + 1.0 + ], + [ + 0.3680001497268677, + -0.12668505311012268, + 0.18108168244361877, + 2.9182624240689954, + -1.1560336351394653, + 0.5267866253852844, + 1.0 + ], + [ + 0.35860446095466614, + -0.12063926458358765, + 0.17447318136692047, + 2.949863227205821, + -1.148871660232544, + 0.49570170044898987, + 1.0 + ], + [ + 0.3417823314666748, + -0.11406940221786499, + 0.17154303193092346, + 2.909856306510516, + -1.1075414419174194, + 0.5391036868095398, + 1.0 + ], + [ + 0.31944260001182556, + -0.11366629600524902, + 0.16574807465076447, + 3.0010931213670453, + -1.0279324054718018, + 0.4390840232372284, + 1.0 + ], + [ + 0.30158287286758423, + -0.10958562046289444, + 0.17593643069267273, + 3.02246134926612, + -0.9511889815330505, + 0.3930394351482391, + 1.0 + ], + [ + 0.27882149815559387, + -0.11293670535087585, + 0.1812080293893814, + 3.085502715902873, + -0.9475287199020386, + 0.36358368396759033, + 1.0 + ], + [ + 0.25619980692863464, + -0.11457975953817368, + 0.19541703164577484, + -3.137378444551029, + -1.0247547626495361, + 0.3850264251232147, + 1.0 + ], + [ + 0.2276976853609085, + -0.1179237887263298, + 0.2265729159116745, + -3.068983281152793, + -1.0806999206542969, + 0.4505298137664795, + 1.0 + ], + [ + 0.20730407536029816, + -0.12200462073087692, + 0.24320103228092194, + -2.9706558903032025, + -1.100385308265686, + 0.4260300695896148, + 1.0 + ], + [ + 0.19774800539016724, + -0.1270175278186798, + 0.248595729470253, + -2.9327698816829404, + -1.124435305595398, + 0.38169628381729126, + 1.0 + ], + [ + 0.19774800539016724, + -0.1270175278186798, + 0.248595729470253, + -2.929636525111743, + -1.124114990234375, + 0.3782223165035248, + 1.0 + ], + [ + 0.19774800539016724, + -0.1270175278186798, + 0.248595729470253, + -2.9327698816829404, + -1.124435305595398, + 0.38169628381729126, + 1.0 + ], + [ + 0.19774800539016724, + -0.1270175278186798, + 0.248595729470253, + -2.929636525111743, + -1.124114990234375, + 0.3782223165035248, + 1.0 + ], + [ + 0.19774800539016724, + -0.1270175278186798, + 0.248595729470253, + -2.9327698816829404, + -1.124435305595398, + 0.38169628381729126, + 1.0 + ], + [ + 0.1979426145553589, + -0.12671403586864471, + 0.248595729470253, + -2.929636525111743, + -1.124114990234375, + 0.37975630164146423, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0011776089668273926, + 0.0005114078521728516, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926 + ], + "episode_id": "888", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/888/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/890.json b/annotation/test/890.json new file mode 100644 index 0000000000000000000000000000000000000000..5e9e2172fb0ceef1960bfab1584f821214c3aef7 --- /dev/null +++ b/annotation/test/890.json @@ -0,0 +1,926 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move red spoon to the left of yellow cloth" + ], + "videos": [ + { + "video_path": "videos/test/890/rgb.mp4" + } + ], + "action": [ + [ + -0.00038333889020579216, + 0.0002282777984409248, + -2.229967287668877e-05, + 0.0007006392393891535, + -0.0012642918185120484, + 0.001530696625775595, + 1.0 + ], + [ + -0.0022583682458108246, + -0.0011872201078521308, + 0.005472814893222447, + 0.0035276238546500874, + -0.017757366625993014, + -0.01102206000461864, + 1.0 + ], + [ + 0.004411177837722089, + -0.029482418945070737, + -0.014538529134799524, + -0.06578405476728307, + 0.06868281209191082, + -0.16600760350781688, + 1.0 + ], + [ + 0.011203389904590444, + -0.03097159077347506, + -0.01979007910544317, + -0.025162488657787696, + 0.03811568796808566, + -0.15574219492500022, + 1.0 + ], + [ + 0.015929433574943946, + -0.013146951916959294, + -0.008727016220258161, + 0.014919341996595906, + 0.03276440912604084, + -0.08508532622136777, + 1.0 + ], + [ + 0.028455488104577025, + -0.007831598870726363, + 0.01833227927305533, + 0.05726412304818821, + 0.003663185820309679, + -0.13187232046077177, + 1.0 + ], + [ + 0.02895026384648812, + 0.0017406237781507506, + 0.01614292421306516, + 0.008936851793502527, + 0.01533867002613605, + -0.18253701762044336, + 1.0 + ], + [ + 0.020264188467261215, + 0.0013777296731463408, + 0.012494818694695967, + 0.004355189081785133, + 0.0023398970132230564, + -0.19034523839994455, + 1.0 + ], + [ + 0.01864624511762995, + 0.00850514673398399, + 0.014858598063829267, + -0.018118156939992535, + 0.016051493367298008, + -0.14764543082382495, + 1.0 + ], + [ + 0.014203504694552822, + 0.012745458387920976, + 0.016115177642068573, + -0.008554250816526101, + 0.00290371465108561, + -0.07633314267674934, + 1.0 + ], + [ + 0.008343331911549682, + 0.013993617023750269, + 0.015583876906792358, + 0.0021390982226352235, + -0.009533924019760765, + -0.08690212086169252, + 1.0 + ], + [ + 0.0037981903309383266, + 0.014402096846150774, + 0.01427627907833988, + -0.00017291786660732025, + -0.005306575668736193, + -0.05595316334069863, + 1.0 + ], + [ + 0.003604330878787056, + 0.008130096850991725, + 0.010711809704091935, + 0.01420888248823477, + 0.007650940855628953, + -0.07735467878873731, + 1.0 + ], + [ + -0.0010953008800896728, + 0.005289413367448041, + 0.014106209203369932, + 0.037592501807025606, + -0.015072234942395362, + -0.03020401688152903, + 1.0 + ], + [ + -0.0007045612960418071, + 0.000786377107947874, + 0.008912662932506202, + 0.04149843965514294, + -0.011705983601015565, + -0.0059439876081461025, + 1.0 + ], + [ + -0.00011521601663684415, + 0.001780458501274982, + 0.0006559257231336682, + -0.0145995429840748, + -0.0038904398174707355, + -0.019426515925697534, + 1.0 + ], + [ + -0.00041763070015809215, + -0.0019402351367021264, + 0.0018597817517958198, + 0.0020821785025302002, + 0.00418152158457608, + -0.017350498993597727, + 1.0 + ], + [ + -0.0015882145848288142, + -0.0030749972314315834, + 0.0004203951825464036, + -0.008448356028320008, + -0.004415148349421808, + -0.005762738598260926, + 0.0 + ], + [ + 0.00024156523893349534, + -0.0036119737791071088, + -0.0013295434302854233, + -0.01676323039297154, + 0.0011009024995006892, + 0.004497596723550378, + 0.0 + ], + [ + 0.004094474629507661, + -0.00597610145852764, + -0.002576422658575706, + -0.00029925846080356436, + -0.01266409377564667, + 0.044203497018202025, + 0.0 + ], + [ + 0.007546541320430806, + -0.00047210398595360015, + -0.005949996000286251, + -0.012376612240241051, + 0.004430285644159264, + -0.015189987463175856, + 0.0 + ], + [ + 0.00026475713854755734, + -0.0018139170584219823, + -0.005031644809951729, + 0.013396221023042712, + -0.0036864424704837165, + -0.010701767550869832, + 0.0 + ], + [ + 0.001131297389342688, + -0.004652837530605883, + -0.0019069099578169382, + 0.035157200013523154, + -0.007024859415946336, + 0.12582503158504285, + 0.0 + ], + [ + 0.00673921133234232, + -0.005554820566787903, + -0.010248406687302862, + 0.06064337020731274, + 0.040382760419790706, + 0.2509794949893447, + 0.0 + ], + [ + -0.0007191701010607827, + -0.0015575691774504994, + -0.019657395023986435, + -0.06985967405538748, + -0.013215670787486622, + 0.25948836626938865, + 0.0 + ], + [ + 0.010648415610246625, + -0.024999552580525993, + 0.004289712712375608, + -0.05212056973525282, + -0.032441515737435526, + 0.18677645252520508, + 0.0 + ], + [ + 0.0013437041985330284, + -0.0053333133536104475, + -0.002045933235693074, + 0.03026991449042742, + -0.04720595338331021, + 0.24926936236175257, + 0.0 + ], + [ + -0.0032864749827963445, + -0.002413802816488461, + 0.01127616348509523, + 0.015182193863865242, + -0.0105423183106682, + 0.2190249001177504, + 0.0 + ], + [ + -0.017294570715545195, + 0.0031972539126018037, + 0.02070073593411485, + -0.017787435212608064, + 0.005122660847230773, + 0.19333662666822482, + 0.0 + ], + [ + -0.007184161557276164, + -0.00590697497900123, + -0.0036336159948976883, + -0.0004582724878851078, + 0.09413514446193096, + 0.10445163528061421, + 0.0 + ], + [ + -0.0022631452711277247, + -0.008847331745447853, + 0.0001107662093732268, + -0.037166367778609856, + 0.0402361078506457, + 0.02993359941683561, + 0.0 + ], + [ + -0.002920147314028919, + -0.0029609339774735945, + -0.0010463435283354654, + -0.031799817152961755, + 0.011121940339888394, + 0.009564808825780176, + 0.0 + ], + [ + -0.0010677866646303332, + -0.001977692120261487, + -0.0005651345924082563, + 0.0007948841129350004, + -0.0014875102403016113, + 0.012070913955436805, + 0.0 + ], + [ + 0.0005626765103784208, + -0.00046467656726853295, + -1.6775347531526912e-06, + 0.002979029988173098, + 0.003507547682890099, + 0.013811090766139344, + 0.0 + ], + [ + -0.002023466640196939, + -0.000969482580533364, + 0.006323650524589699, + 0.0028736032877146023, + -0.01409285193020392, + -0.018725761892842037, + 0.0 + ], + [ + 0.00458119283668914, + -0.00328911035223001, + -0.0021157184373362596, + 0.008899511608715655, + 0.014418077921112708, + -0.03959630392167558, + 0.0 + ], + [ + -0.00026432215922040763, + -0.0023422117402750555, + -0.0005469278035995369, + 0.01528076845438962, + -0.0013595414191871335, + -0.02102695759594913, + 1.0 + ], + [ + -0.003972103662565873, + 0.0010001858024788369, + -0.0005669487222207265, + 0.01436365091667825, + -0.0398775469516012, + -0.05644029716467387, + 1.0 + ], + [ + 0.006453187960465526, + 0.009318047877735446, + -0.009427962803925967, + 0.020730556964645413, + -0.03306013836423424, + -0.040574423049290174, + 1.0 + ], + [ + 0.0032884877118292697, + 0.007764662398231228, + -0.009774362415282609, + 0.007563398646066328, + -0.010155414186917976, + -0.05160076545037355, + 1.0 + ], + [ + 0.006497428028800068, + 0.0076899475811989, + -0.007395544074999509, + 0.006422107436137298, + -0.01030140551525452, + -0.04200585391331296, + 1.0 + ], + [ + 0.00961391282450479, + 0.007409874036051345, + -0.013963672376041418, + 0.016726139728289235, + -0.004095203681580926, + -0.06734831959712469, + 1.0 + ], + [ + 0.010549396477991831, + 0.00801502206517814, + -0.011407438230436072, + 0.03886276713066837, + 0.025836852208481573, + -0.08567777749876247, + 1.0 + ], + [ + 0.015205983971169162, + 0.006730832201322221, + -0.01895097662340807, + -0.002997638009405165, + 0.040463009649182965, + -0.011170224627158871, + 1.0 + ], + [ + 0.0033124950649947252, + 9.268161316847945e-05, + 0.0026784739002611727, + 0.0006356056953289791, + 0.007761797475700695, + -0.019165100203515528, + 1.0 + ], + [ + 0.0034236365626932274, + 0.00027009578625688364, + -0.004855166270683649, + -0.00547564549713767, + 0.00722189340332224, + 0.018051667508500287, + 1.0 + ], + [ + 0.00037926808580245855, + 0.0006205776464756811, + -0.0003699635786709715, + -0.0003012740445406022, + 0.0015755569531115802, + 0.0045282079308000284, + 1.0 + ] + ], + "state": [ + [ + 0.24843786656856537, + -0.05933231860399246, + 0.08566891402006149, + -3.1010181364887437, + -0.045513860881328576, + 0.22312545776367185, + 1.0 + ], + [ + 0.24811451137065887, + -0.05964050441980362, + 0.08566448092460632, + -3.1002501902454576, + -0.044188469648361206, + 0.22164586186408994, + 1.0 + ], + [ + 0.24583657085895538, + -0.05870601534843445, + 0.08015093952417374, + -3.097237968938895, + -0.026898767799139023, + 0.23339495062828064, + 1.0 + ], + [ + 0.24304939806461334, + -0.029756953939795494, + 0.09609533846378326, + 3.115296371402689, + -0.10248619318008421, + 0.39662289619445795, + 1.0 + ], + [ + 0.2393774837255478, + 0.002835953375324607, + 0.11611088365316391, + 3.074325459199496, + -0.13524647057056427, + 0.5546662807464601, + 1.0 + ], + [ + 0.24468107521533966, + 0.022242454811930656, + 0.12601086497306824, + 3.0775810574465474, + -0.16170744597911832, + 0.6428768634796143, + 1.0 + ], + [ + 0.2655986547470093, + 0.04620996490120888, + 0.11204180866479874, + 3.113975839810916, + -0.15553759038448334, + 0.7763335108757019, + 1.0 + ], + [ + 0.2893146574497223, + 0.06643643230199814, + 0.10063204169273376, + 3.0948133674734315, + -0.16323938965797422, + 0.9617014527320862, + 1.0 + ], + [ + 0.3035166263580322, + 0.08336885273456573, + 0.09167362749576569, + 3.06890885730321, + -0.15376150608062747, + 1.15424644947052, + 1.0 + ], + [ + 0.32059618830680847, + 0.09833983331918716, + 0.08049524575471878, + 3.0286491980128964, + -0.15738330781459808, + 1.3045297861099243, + 1.0 + ], + [ + 0.3388587236404419, + 0.11026723682880402, + 0.06832552701234818, + 3.0083577205711087, + -0.15121409296989444, + 1.3815845251083374, + 1.0 + ], + [ + 0.35645031929016113, + 0.1173802986741066, + 0.05615055933594704, + 2.9980947842174253, + -0.12968741357326505, + 1.4671598672866821, + 1.0 + ], + [ + 0.3732096552848816, + 0.12099314481019974, + 0.04467315599322319, + 2.991026925044604, + -0.11624350398778915, + 1.5221480131149292, + 1.0 + ], + [ + 0.38307005167007446, + 0.12518548965454102, + 0.0357833094894886, + 2.9966372420364102, + -0.11186522245407103, + 1.6002638339996338, + 1.0 + ], + [ + 0.390327125787735, + 0.1257840096950531, + 0.022549286484718323, + 3.031162882345267, + -0.09254563599824907, + 1.6280887126922607, + 1.0 + ], + [ + 0.3920817971229553, + 0.12599390745162964, + 0.013750000856816769, + 3.072226794558116, + -0.08025491237640381, + 1.632720947265625, + 1.0 + ], + [ + 0.3939044177532196, + 0.12603449821472168, + 0.013211528770625591, + 3.056103142099925, + -0.07501277327537538, + 1.6518847942352295, + 1.0 + ], + [ + 0.3921573758125305, + 0.12562647461891174, + 0.011167249642312527, + 3.056871684389659, + -0.07768592238426208, + 1.6695822477340698, + 1.0 + ], + [ + 0.38929471373558044, + 0.12380453944206238, + 0.010366947390139103, + 3.048005985217639, + -0.07279784977436066, + 1.6749649047851562, + 0.0 + ], + [ + 0.38557687401771545, + 0.12358596920967102, + 0.011368091218173504, + 3.0315626879506787, + -0.07431353628635406, + 1.6705777645111084, + 0.0 + ], + [ + 0.3789922893047333, + 0.1268882304430008, + 0.013571447692811489, + 3.0347395708137235, + -0.06650179624557495, + 1.625152826309204, + 0.0 + ], + [ + 0.3775020241737366, + 0.13395777344703674, + 0.019925681874155998, + 3.0213374142819127, + -0.0692787915468216, + 1.6407660245895386, + 0.0 + ], + [ + 0.37510812282562256, + 0.13372322916984558, + 0.024710247293114662, + 3.034032778935977, + -0.0643315538764, + 1.6509692668914795, + 0.0 + ], + [ + 0.3702097535133362, + 0.13437220454216003, + 0.026176482439041138, + 3.0781308134370526, + -0.07030937820672988, + 1.5248048305511475, + 0.0 + ], + [ + 0.3642998933792114, + 0.14067937433719635, + 0.03650101646780968, + -3.1251373161845883, + -0.12420367449522018, + 1.27522873878479, + 0.0 + ], + [ + 0.362201452255249, + 0.1380237340927124, + 0.05594068020582199, + 3.1195709892832717, + -0.10260574519634245, + 1.0146222114562988, + 0.0 + ], + [ + 0.3469090163707733, + 0.16058583557605743, + 0.052217643707990646, + 3.086962068574973, + -0.07246271520853043, + 0.826765239238739, + 0.0 + ], + [ + 0.34373047947883606, + 0.1651608645915985, + 0.05406199395656586, + 3.1369158636131367, + -0.03651737421751022, + 0.5753282308578491, + 0.0 + ], + [ + 0.340036004781723, + 0.16557902097702026, + 0.042662203311920166, + -3.1230386478179177, + -0.02611847966909409, + 0.3561916649341583, + 0.0 + ], + [ + 0.32532134652137756, + 0.1571032553911209, + 0.021461134776473045, + -3.1361506624431392, + -0.027188569307327274, + 0.16272205114364624, + 0.0 + ], + [ + 0.31718263030052185, + 0.161733016371727, + 0.024930184707045555, + -3.1337458185204348, + -0.12060489505529402, + 0.05745431035757065, + 0.0 + ], + [ + 0.31443652510643005, + 0.17043761909008026, + 0.02461685985326767, + 3.1159620137237987, + -0.16054920852184296, + 0.026836205273866653, + 0.0 + ], + [ + 0.3113197982311249, + 0.1733418107032776, + 0.02510768547654152, + 3.0856668447428426, + -0.17190563678741455, + 0.01742139458656311, + 0.0 + ], + [ + 0.31015536189079285, + 0.17532801628112793, + 0.02537204697728157, + 3.0885723402076444, + -0.17108237743377688, + 0.005106419790536164, + 0.0 + ], + [ + 0.3107113540172577, + 0.17579497396945953, + 0.025445226579904556, + 3.0939083156460008, + -0.17530089616775513, + -0.008711053989827633, + 0.0 + ], + [ + 0.30983442068099976, + 0.1764695942401886, + 0.01882716454565525, + 3.09359926183755, + -0.1603028029203415, + 0.00955391861498356, + 0.0 + ], + [ + 0.31401219964027405, + 0.1798964887857437, + 0.021488817408680916, + 3.0960141142183026, + -0.1726740002632141, + 0.050400491803884506, + 0.0 + ], + [ + 0.31355756521224976, + 0.1822412610054016, + 0.021876506507396698, + 3.1076538694375238, + -0.17031966149806976, + 0.0716511607170105, + 1.0 + ], + [ + 0.3096216320991516, + 0.18097586929798126, + 0.021795116364955902, + 3.1126374212377748, + -0.12829215824604034, + 0.12711542844772336, + 1.0 + ], + [ + 0.31588611006736755, + 0.17266176640987396, + 0.032234854996204376, + 3.1282871832423886, + -0.09397081285715103, + 0.16686841845512393, + 1.0 + ], + [ + 0.3194686770439148, + 0.1655237376689911, + 0.04237665235996246, + 3.131024206178733, + -0.0830054059624672, + 0.21850459277629852, + 1.0 + ], + [ + 0.3268345594406128, + 0.1593625843524933, + 0.05036601424217224, + 3.1339734710105738, + -0.07218784093856812, + 0.26050636172294617, + 1.0 + ], + [ + 0.3370039463043213, + 0.1545150876045227, + 0.06504262983798981, + -3.1373310253308198, + -0.06741628795862198, + 0.32797437906265264, + 1.0 + ], + [ + 0.34884050488471985, + 0.15002505481243134, + 0.07710063457489014, + -3.1042648797207555, + -0.09337012469768524, + 0.4138873517513275, + 1.0 + ], + [ + 0.3640962839126587, + 0.14860741794109344, + 0.09712354838848114, + -3.1081416850262364, + -0.13421741127967837, + 0.42361846566200256, + 1.0 + ], + [ + 0.36741700768470764, + 0.1501014530658722, + 0.09491083770990372, + -3.1100652274959764, + -0.1425916701555252, + 0.4427063763141632, + 1.0 + ], + [ + 0.37003836035728455, + 0.15087607502937317, + 0.10019244253635406, + -3.112919906275817, + -0.14921699464321136, + 0.42423114180564886, + 1.0 + ], + [ + 0.3705921769142151, + 0.15043391287326813, + 0.10059693455696106, + -3.112534040706702, + -0.15066051483154297, + 0.4196072518825531, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.05002796649932861, + 0.31580305099487305, + 0.5634372532367706, + 0.5869496464729309, + 0.5869496464729309, + 0.5869496464729309, + 0.5869496464729309, + 0.5869496464729309, + 0.5869496464729309, + 0.5869496464729309, + 0.5878426134586334, + 0.5878426134586334, + 0.5887347459793091, + 0.5878426134586334, + 0.5878426134586334, + 0.5878426134586334, + 0.5878426134586334, + 0.5878426134586334, + 0.5887347459793091, + 0.5158107578754425, + 0.22022664546966553, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "890", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/890/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/895.json b/annotation/test/895.json new file mode 100644 index 0000000000000000000000000000000000000000..0fd536980ee7f67ce8d88546a28ab628e332c5b7 --- /dev/null +++ b/annotation/test/895.json @@ -0,0 +1,945 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Put the bowl on the yellow rectangle." + ], + "videos": [ + { + "video_path": "videos/test/895/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -1.5391192066983902e-09, + 1.350482794926315e-09, + -0.001533980261712635, + 1.0 + ], + [ + -0.00141932192080483, + 4.403085427664642e-05, + 0.007234189047990704, + -0.002784970958482304, + -0.019794214120320307, + -0.005890877960908892, + 1.0 + ], + [ + -0.02146133241842793, + -0.015022108365651796, + 0.020978892716136694, + -0.011940587570585926, + -0.04164931654886362, + -0.037482842150374104, + 1.0 + ], + [ + -0.015005061337599681, + -0.022994796757546884, + 0.016003482637317643, + -0.04683036856317383, + 0.012806817915256551, + -0.04943550041984693, + 1.0 + ], + [ + -0.010990487890135682, + -0.021146628109819203, + 0.018216436786596416, + -0.010121201121705992, + -0.02008310524684344, + -0.04740955271611006, + 1.0 + ], + [ + -0.0009689282920551573, + -0.001780098154781181, + 0.01929221672299977, + -0.02394464177831411, + -0.03468036191159454, + -0.05078240267027551, + 1.0 + ], + [ + 0.01165712831954139, + 0.01008008971594036, + 0.001731312483513066, + 0.0018646238175665704, + 0.02688992409544093, + 0.023515122562775007, + 1.0 + ], + [ + 0.004428287108875737, + 0.007074334605885347, + 0.0002020268690216499, + 0.01845864765118969, + -0.018683769743540593, + 0.024375033542457854, + 1.0 + ], + [ + -0.005390115009237261, + 0.00818686783489896, + -0.019216605525976566, + 0.009772672957790112, + 0.02400959739920251, + 0.012451073512733342, + 1.0 + ], + [ + -0.0017665089296474638, + 0.007137944578566107, + -0.030365434481448104, + -0.017154489192826538, + 0.07123355394554287, + 0.011667100701284091, + 1.0 + ], + [ + -2.8605391218816756e-05, + 0.005152280227223097, + -0.02592203427964037, + -0.006639947913392477, + 0.06138662330600549, + -0.008878934686049484, + 1.0 + ], + [ + 0.01451845112339637, + 0.002318645373838122, + 0.007363594740582964, + 0.00483529850119263, + -0.008038578208433156, + 0.011497610608000973, + 1.0 + ], + [ + 0.011769743560199887, + 0.0032246433530630676, + 0.018204973028033308, + 0.03702873422136572, + -0.05167468979561374, + 0.02515583996333396, + 1.0 + ], + [ + 0.002966335858141662, + 0.004932627083067408, + 0.004917504525079379, + -0.031711169254922005, + 0.006784979229561776, + 0.012084818652445933, + 1.0 + ], + [ + 0.007805918558207914, + 0.0033158935223358533, + -0.004863453875191914, + 0.01927098343927473, + 0.022348565485022415, + 0.025582785518288995, + 1.0 + ], + [ + 0.002332351639369655, + -0.0036431133081915638, + -0.005604269634446015, + 0.021510111752618712, + 0.012911229062331333, + 0.016196791566620922, + 1.0 + ], + [ + 0.001477559776388588, + -0.030718001065171165, + -0.01635067603115631, + 0.03828232214173985, + 0.054968868663436934, + -0.06065335181120598, + 1.0 + ], + [ + -0.0021749436905738554, + -0.019293558717306092, + -0.0010480905844768968, + 0.01908525247478997, + -0.0043481366425811244, + -0.04028441277477459, + 1.0 + ], + [ + -0.0029095307878886775, + -0.023613042021299574, + -0.0012251665917674456, + 0.03051439945597215, + -0.0019515148123731307, + -0.03772604133867357, + 1.0 + ], + [ + -0.006015839123620308, + -0.014824769370448153, + 0.009279400267152663, + 0.07709649842267444, + -0.05606307018119984, + 0.019426716483288593, + 1.0 + ], + [ + -0.001149056742143764, + -0.003812848612275428, + 0.012464298548023812, + 0.021638685725831355, + -0.04153515595188225, + 0.030081600825348494, + 1.0 + ], + [ + -0.001333846263109879, + -0.0035802562257009857, + 0.001984540017123954, + 0.009024304780666154, + -0.009407799573291452, + -0.007763733347164263, + 1.0 + ], + [ + -0.003983151055349245, + -0.0022973544968795208, + 0.01316393291199515, + 0.011614073581845252, + -0.04917097906887651, + 0.004373157204216413, + 1.0 + ], + [ + -0.0005355285743832558, + -0.000738126741604224, + 0.010722991840433176, + 0.006285550392042881, + -0.03427665006619315, + 0.006398435007523962, + 1.0 + ], + [ + -0.0003935469501034952, + -0.0005536217466305258, + 0.006931163962540274, + 0.008846122006935037, + -0.018858396832005964, + 0.0008932544011154694, + 1.0 + ], + [ + 0.005710667810446285, + -0.0021090963023304926, + -0.0009598089636103754, + 0.013012264515315944, + 0.0052728306760498524, + 0.004927593979979261, + 1.0 + ], + [ + -0.0009612330254158494, + -0.007478059296830248, + 0.0001744019467879628, + 0.0064986961425664, + -0.024945411022949046, + -0.0013476613414931445, + 1.0 + ], + [ + -0.0008718003377386649, + -0.010710276509660952, + -0.001110088807839437, + -0.005226262183186469, + -0.0018680518723927226, + -0.01641960739200961, + 1.0 + ], + [ + 0.000702337139356422, + -0.0010445098177805066, + 0.004995031225188533, + -0.006676245207715724, + -0.019974077214249368, + 0.004744444162408618, + 1.0 + ], + [ + 0.0031359974597764675, + -0.0005475609845986151, + 0.01454959743422635, + -0.009042875006466498, + -0.044044320800463437, + -0.015825152519172735, + 1.0 + ], + [ + 0.0009247818558148033, + 0.0007123614367627161, + 0.006083020705867474, + -0.0008022386622388402, + -0.022574947715120832, + -0.012941614857407, + 1.0 + ], + [ + 0.000250656039643403, + -0.00020149050949320096, + -0.0008097567315459726, + 0.00041993397094915034, + 0.0014510537492937031, + -0.005078671252537391, + 1.0 + ], + [ + 0.00046265821754772757, + -0.0002852930685058469, + -0.006654606892704078, + -0.001591763622596059, + 0.021370618062257492, + -0.007766936956060916, + 0.0 + ], + [ + -0.003652797207993096, + 0.0012941841244223813, + -0.03462354629541069, + -0.018622562118744294, + 0.10541340465582597, + -0.0103561628787076, + 0.0 + ], + [ + 0.000506838111575172, + 0.009100115733943159, + -0.03714711032418792, + -0.00997955698053658, + 0.09458729094513928, + 0.0066691638295383856, + 0.0 + ], + [ + 0.007432166991727226, + 0.020277131906561927, + -0.017176451734014154, + -0.022079634923562328, + 0.05617366052594345, + 0.06032787813361437, + 0.0 + ], + [ + 0.020833324458854843, + 0.033251526744313725, + -0.015803818607520417, + -0.020086513898396788, + 0.0631913006564118, + 0.11120922704577446, + 0.0 + ], + [ + 0.01685728212922794, + 0.012228391806629716, + 0.0026060884167274866, + -0.0017604164651422783, + 0.022713973320411435, + 0.0579792897659921, + 0.0 + ], + [ + 0.017263307937604253, + 0.009533408594158367, + 0.009927847351730117, + 0.039369473557872174, + -0.005929704619896586, + 0.037581188711373795, + 0.0 + ], + [ + 0.007724326597179542, + 0.004808156238534551, + 0.018627103538054857, + 0.04493584408724603, + -0.05911583321906678, + 0.031301989048170754, + 0.0 + ], + [ + -0.006480875781202346, + 0.020151006435770044, + 0.039456977339589104, + 0.02132773244035113, + -0.12513685559243215, + 0.056310468427614474, + 0.0 + ], + [ + -0.001980769772842411, + 0.002480854978410006, + 0.0008315757242287526, + -0.0011691155568658493, + -0.018601589502164898, + 0.011241186176695672, + 1.0 + ], + [ + -0.003875982354219367, + 0.007697836593890657, + -0.006527086044025809, + -0.01848188803053673, + 0.014789460836557895, + 0.029730476035652174, + 1.0 + ], + [ + -0.011604848216461032, + -0.007555268242855767, + -0.0550597099556801, + -0.01632905910406378, + 0.17130454168121587, + -0.03606312811436577, + 1.0 + ], + [ + -0.022704473739132286, + -0.027997560919150167, + -0.02864809213177066, + -0.0439779078511136, + 0.06901088003617178, + -0.12747803748782677, + 1.0 + ], + [ + -0.022247768910617992, + -0.01911439996581083, + -0.01466401158716924, + -0.10298014758804144, + -0.018705146427301592, + -0.15823388575538302, + 1.0 + ], + [ + -0.00832717065950045, + 0.0020077128467267612, + 0.014764907517985931, + -0.11762291350502141, + -0.08789598163119419, + -0.0902014444457837, + 1.0 + ], + [ + -0.0031524120057224636, + -0.008959540649742399, + 0.012508467903580213, + 0.03356329265452318, + -0.10015876808684644, + -0.011409541489721294, + 1.0 + ] + ], + "state": [ + [ + 0.29618287086486816, + -0.03163328394293785, + 0.09624677151441574, + 3.08980597008998, + -0.05852430313825607, + -0.09788934141397475, + 1.0 + ], + [ + 0.29618287086486816, + -0.03163328394293785, + 0.09624677151441574, + 3.0897162725501737, + -0.05844483152031898, + -0.09635479748249053, + 1.0 + ], + [ + 0.29515212774276733, + -0.031954698264598846, + 0.08895402401685715, + 3.086637860285588, + -0.03837110102176667, + -0.09149575978517534, + 1.0 + ], + [ + 0.2758932113647461, + -0.016282372176647186, + 0.06637441366910934, + 3.073335791128226, + 0.005297389812767506, + -0.056390028446912766, + 1.0 + ], + [ + 0.26205092668533325, + 0.006383560132235289, + 0.048919595777988434, + 3.026851700740405, + -0.004116023890674114, + -0.0061988262459635735, + 1.0 + ], + [ + 0.25126248598098755, + 0.025372790172696114, + 0.02835681475698948, + 3.016638534265109, + 0.021265298128128052, + 0.03859780728816986, + 1.0 + ], + [ + 0.2499076873064041, + 0.02468184195458889, + 0.009018140845000744, + 2.9937327673011502, + 0.061979502439498894, + 0.08471588790416719, + 1.0 + ], + [ + 0.2623518705368042, + 0.01547662727534771, + 0.008069131523370743, + 2.9943754841857633, + 0.03190741315484047, + 0.06541787087917328, + 1.0 + ], + [ + 0.267254501581192, + 0.008755294606089592, + 0.008765297941863537, + 3.012004258232661, + 0.046802550554275506, + 0.03853994235396385, + 1.0 + ], + [ + 0.2630317211151123, + 0.0029533435590565205, + 0.029108885675668716, + 3.0213123728805265, + 0.02138332463800907, + 0.029297268018126488, + 1.0 + ], + [ + 0.26202982664108276, + -0.0005203062319196761, + 0.06014209985733032, + 3.0037864615493497, + -0.050734732300043106, + 0.02628033235669136, + 1.0 + ], + [ + 0.26070424914360046, + -0.002098197815939784, + 0.08649075776338577, + 2.9960259964042386, + -0.11031150817871092, + 0.043591905385255814, + 1.0 + ], + [ + 0.27603158354759216, + -0.004795059096068144, + 0.08118191361427307, + 3.0022562762075147, + -0.10401695966720581, + 0.030982017517089844, + 1.0 + ], + [ + 0.2897338569164276, + -0.010094952769577503, + 0.06491830199956894, + 3.0425066595249852, + -0.056283064186573036, + -0.001124185393564403, + 1.0 + ], + [ + 0.2929372489452362, + -0.015493448823690414, + 0.06068671494722366, + 3.011439638333865, + -0.06422658264636993, + -0.0125016700476408, + 1.0 + ], + [ + 0.3003561496734619, + -0.018243050202727318, + 0.06642956286668777, + 3.032158600287982, + -0.08968987315893173, + -0.03505123034119607, + 1.0 + ], + [ + 0.30236300826072693, + -0.014077425003051758, + 0.07179053872823715, + 3.0549943168931684, + -0.10428303480148315, + -0.04981978237628937, + 1.0 + ], + [ + 0.3040078282356262, + 0.01789740100502968, + 0.08550288528203964, + 3.0864695144170007, + -0.1535804271697998, + 0.01605230197310448, + 1.0 + ], + [ + 0.30155113339424133, + 0.03718245029449463, + 0.08515387773513794, + 3.0994167273216924, + -0.14689640700817108, + 0.05647089704871178, + 1.0 + ], + [ + 0.29730966687202454, + 0.060624126344919205, + 0.08495402336120605, + 3.12440023210878, + -0.14325176179409024, + 0.09447037428617479, + 1.0 + ], + [ + 0.291353702545166, + 0.07478851079940796, + 0.07465994358062744, + -3.0787903686338147, + -0.08750119805335999, + 0.07403536140918732, + 1.0 + ], + [ + 0.29093611240386963, + 0.07935774326324463, + 0.062405776232481, + -3.0547232275181493, + -0.04412739723920822, + 0.04661940038204193, + 1.0 + ], + [ + 0.28950420022010803, + 0.08303394168615341, + 0.06068212538957596, + -3.0460756813460073, + -0.03542703390121459, + 0.05517512187361717, + 1.0 + ], + [ + 0.28578993678092957, + 0.08637654781341553, + 0.047664303332567215, + -3.0343577211075505, + 0.013936706818640232, + 0.055514842271804817, + 1.0 + ], + [ + 0.2850036323070526, + 0.08821731805801392, + 0.037090398371219635, + -3.0280468483739575, + 0.048701159656047814, + 0.05282163992524147, + 1.0 + ], + [ + 0.28420886397361755, + 0.08951253443956375, + 0.030293842777609825, + -3.019119570153304, + 0.0675392746925354, + 0.05407371744513512, + 1.0 + ], + [ + 0.289872944355011, + 0.09179804474115372, + 0.03111596405506134, + -3.0064817537837705, + 0.0629068911075592, + 0.04852795973420143, + 1.0 + ], + [ + 0.28860655426979065, + 0.09917870163917542, + 0.032009225338697433, + -2.9996458907895764, + 0.08744268864393234, + 0.053240749984979636, + 1.0 + ], + [ + 0.2874114215373993, + 0.10957534611225128, + 0.034689486026763916, + -3.0034433921151837, + 0.08695720881223679, + 0.06982214003801346, + 1.0 + ], + [ + 0.28757306933403015, + 0.11131328344345093, + 0.029843037948012352, + -3.0102623422914228, + 0.10739415138959883, + 0.06786301732063293, + 1.0 + ], + [ + 0.28898292779922485, + 0.11386291682720184, + 0.015236985869705677, + -3.0168816988640508, + 0.1489618718624115, + 0.08954367786645889, + 1.0 + ], + [ + 0.2889840602874756, + 0.11391304433345795, + 0.009043173864483833, + -3.0153110345178327, + 0.16973333060741425, + 0.10541773587465286, + 1.0 + ], + [ + 0.28935864567756653, + 0.11405112594366074, + 0.009817610494792461, + -3.014060618477412, + 0.1676521748304367, + 0.11034224927425386, + 1.0 + ], + [ + 0.29097482562065125, + 0.11366333812475204, + 0.01628420315682888, + -3.0147839059406003, + 0.1454651951789856, + 0.11537964642047883, + 0.0 + ], + [ + 0.2929583489894867, + 0.10819271206855774, + 0.05063454061746597, + -3.033146346109458, + 0.03959093242883682, + 0.11228615045547487, + 0.0 + ], + [ + 0.2963395118713379, + 0.09542392939329147, + 0.08653026074171066, + -3.0433223714404782, + -0.053722925484180444, + 0.09543845802545547, + 0.0 + ], + [ + 0.3050033748149872, + 0.07428883761167526, + 0.10201170295476913, + -3.061922365921088, + -0.10359523445367813, + 0.029624177142977715, + 0.0 + ], + [ + 0.3253801167011261, + 0.04047374054789543, + 0.11720313876867294, + -3.070281820493289, + -0.1570548564195633, + -0.08751506358385087, + 0.0 + ], + [ + 0.3414571285247803, + 0.027005383744835854, + 0.11641176044940948, + -3.0627124478393277, + -0.17530198395252228, + -0.14787916839122775, + 0.0 + ], + [ + 0.35882213711738586, + 0.015600872226059437, + 0.1089375764131546, + -3.016854280727454, + -0.16630902886390683, + -0.1853930503129959, + 0.0 + ], + [ + 0.3689616620540619, + 0.011203160509467125, + 0.09139896929264069, + -2.967790501313754, + -0.10371224582195283, + -0.2091718912124634, + 0.0 + ], + [ + 0.3642401397228241, + -0.0011089654872193933, + 0.04860835522413254, + -2.9416877498203, + 0.029324285686016086, + -0.24260856211185455, + 0.0 + ], + [ + 0.361736536026001, + -0.0028240566607564688, + 0.04735933989286423, + -2.943042220669337, + 0.04978682100772858, + -0.24993927776813504, + 1.0 + ], + [ + 0.35603591799736023, + -0.010486177168786526, + 0.05242665112018585, + -2.963202240067073, + 0.04112552851438522, + -0.2820279002189636, + 1.0 + ], + [ + 0.34644192457199097, + -0.01013708021491766, + 0.1083834171295166, + -2.9766557981544217, + -0.13383309543132782, + -0.27727037668228155, + 1.0 + ], + [ + 0.32685545086860657, + 0.019261043518781662, + 0.13791628181934357, + -3.0369559695296964, + -0.22190292179584503, + -0.1603567898273468, + 1.0 + ], + [ + 0.3046201169490814, + 0.04056292399764061, + 0.14919354021549225, + 3.1061779019706925, + -0.2169014811515808, + 0.002811236074194312, + 1.0 + ], + [ + 0.29965537786483765, + 0.03801971673965454, + 0.1330610066652298, + 2.969696881371089, + -0.12505318224430084, + 0.09017064422369003, + 1.0 + ], + [ + 0.29765933752059937, + 0.044554442167282104, + 0.11891936510801315, + 3.003130944567271, + -0.02442171052098274, + 0.0842500776052475, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0, + 0.0005114078521728516, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0011776089668273926, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.055433034896850586, + 0.3088000416755676, + 0.43002378940582275, + 0.5606889724731445, + 0.6826788187026978, + 0.7839331775903702, + 0.8142729848623276, + 0.8148393779993057, + 0.8148393779993057, + 0.7621053606271744, + 0.4840872883796692, + 0.16005796194076538, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "895", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/895/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/897.json b/annotation/test/897.json new file mode 100644 index 0000000000000000000000000000000000000000..64e1ef9bbd43c2faca800531b4102c962017c61e --- /dev/null +++ b/annotation/test/897.json @@ -0,0 +1,508 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the orange towel between the fork and pot" + ], + "videos": [ + { + "video_path": "videos/test/897/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + 1.0639844036392798e-09, + -3.5667644174586497e-09, + -0.0015339851879847288, + 1.0 + ], + [ + -0.004299462695067346, + 0.002759622535071466, + 0.0104124382756587, + -0.013176857591967428, + -0.02797827276376428, + -0.01040251148699582, + 1.0 + ], + [ + -0.007446417233781135, + 0.02613785654297913, + 0.01742986193281239, + -0.006457261160203806, + -0.030178042741621752, + 0.012723511510906834, + 1.0 + ], + [ + -0.0047589282203980305, + 0.02882214176657275, + 0.008890252659318965, + 0.013194249452757198, + -0.00624445360886035, + 0.017536661242228736, + 1.0 + ], + [ + 0.0010743455099870816, + 0.032591757573315866, + -0.002547939619365542, + 0.029113300451991567, + 0.024489952576133126, + 0.024145003024399, + 1.0 + ], + [ + 0.004306575846510938, + 0.020471065524564, + 0.0027112908939114556, + 0.004364472104727005, + 0.0033763426600039903, + 0.029926633054782704, + 1.0 + ], + [ + -0.0023061917933837957, + 0.0010616256535532173, + 0.011317394145910372, + 0.014500732919821343, + -0.03703015720840955, + -0.005552928979463925, + 1.0 + ], + [ + -0.0035115168266068417, + -0.007466981587993276, + 0.00616245316910425, + 0.01156170121410141, + -0.015387394648587375, + -0.01997794718306412, + 1.0 + ], + [ + -0.009786302013877871, + -0.0037595425964164113, + 0.011656404505879401, + 0.014579070350096895, + -0.027540759672955918, + -0.007182223542180563, + 1.0 + ], + [ + -0.005542489754282902, + 0.0043022298154935185, + 0.009079198469159534, + 0.010838538327990335, + 0.02512196654060208, + 0.000998526214527946, + 1.0 + ], + [ + -0.001295524989600107, + -0.0007487420873976503, + 0.003818898877327019, + 0.03005507696538043, + 0.036653706095120565, + -0.01354211643753737, + 1.0 + ], + [ + 0.01088825450784712, + -0.011619633239171808, + -0.002975541281885349, + -0.003433563310163693, + 0.032460801984415186, + -0.04821738937870074, + 1.0 + ], + [ + 0.02730763280753095, + -0.020976867044878465, + 0.0006339959583546783, + -0.024085545239721597, + 0.023401137100794698, + -0.043633149241177435, + 1.0 + ], + [ + 0.02489904106585912, + -0.03595542520526667, + -0.001302764037638381, + -0.0005294528906212693, + 0.01470559051600846, + -0.04243603302084057, + 1.0 + ], + [ + 0.018617152418612806, + -0.014231570875250387, + 1.947282411806336e-05, + 0.01723187830850377, + -0.010389093242150312, + 0.03180011092866886, + 1.0 + ], + [ + 0.017658153766046323, + -0.017731751625518096, + 0.0008978743640686869, + -0.0070506086578098265, + 0.02378439927789944, + -0.01207568658125265, + 1.0 + ], + [ + 0.02070593861825993, + 0.00833073976315677, + 0.006457737337642541, + -0.036259396790480763, + 0.022218857438292588, + 0.03839531285553371, + 1.0 + ], + [ + 0.015598931255178613, + 0.009670251722223754, + -0.00577252322917536, + -0.00227354510880522, + 0.03376375341599584, + 0.0318098478398438, + 1.0 + ], + [ + 0.002904934899110371, + 0.0025563918070856924, + -0.0035072668288186155, + -0.02719621959487654, + 0.004279700128618858, + -0.005671149450369569, + 1.0 + ], + [ + 0.001342287355551869, + -5.419094148744116e-05, + -0.025093582579301728, + 0.00912578757331521, + 0.006336895192531591, + 0.017547264043965182, + 1.0 + ], + [ + -0.0060123452372193, + 0.005057792643872779, + -0.019505709196737317, + -0.05143052968807446, + -0.09005685810893556, + 0.053804065015033126, + 1.0 + ], + [ + -0.013740269310877226, + 0.0023486452638064015, + -0.017476365818671118, + -0.010300568826249896, + -0.014701972534413936, + 0.010653805100716573, + 1.0 + ], + [ + -0.023418728028175628, + 0.0054738010612906205, + -0.0038346699415486444, + 0.015990687173793178, + -0.018304809235672494, + -0.010591452150820682, + 1.0 + ], + [ + -0.01525566950736136, + 0.0020496377895212995, + -0.007559247813131007, + 0.0631521977191003, + 0.005646082583622546, + 0.004973883695899195, + 1.0 + ], + [ + 0.00022666766271440644, + 0.0005795755513684791, + -8.491321780126921e-06, + 0.0021447249588944406, + -0.0007738795611348758, + 0.003011573172222007, + 1.0 + ] + ], + "state": [ + [ + 0.30012422800064087, + 0.11404123902320862, + 0.0807018131017685, + 3.122267972799488, + -0.13257160782814023, + -0.054116182029247284, + 1.0 + ], + [ + 0.30012422800064087, + 0.11404123902320862, + 0.0807018131017685, + 3.122063472988554, + -0.13254180550575256, + -0.05256891250610351, + 1.0 + ], + [ + 0.297079473733902, + 0.11123491823673248, + 0.06986789405345917, + 3.1075705607705792, + -0.10435928404331207, + -0.04266488552093506, + 1.0 + ], + [ + 0.29026126861572266, + 0.08478604257106781, + 0.052651453763246536, + 3.102536557363816, + -0.07462163269519806, + -0.05644003674387931, + 1.0 + ], + [ + 0.28445640206336975, + 0.05592023953795433, + 0.04456017538905144, + 3.117063885676213, + -0.06905484944581985, + -0.07424928992986678, + 1.0 + ], + [ + 0.2828826308250427, + 0.023427998647093773, + 0.04797285795211792, + -3.1353775515505156, + -0.0941103771328926, + -0.09788363426923752, + 1.0 + ], + [ + 0.2854161858558655, + 0.0026270118542015553, + 0.04555164650082588, + -3.1281887191631874, + -0.09725835174322128, + -0.12797275185585022, + 1.0 + ], + [ + 0.284114807844162, + 0.0018771293107420206, + 0.03405064344406128, + -3.114267489063092, + -0.0603041723370552, + -0.12191689014434814, + 1.0 + ], + [ + 0.2819202244281769, + 0.009835660457611084, + 0.02789369784295559, + -3.103938328223773, + -0.04545577615499496, + -0.10150720179080963, + 1.0 + ], + [ + 0.27313968539237976, + 0.014947419054806232, + 0.015954280272126198, + -3.089719547080346, + -0.018203385174274448, + -0.09329474717378618, + 1.0 + ], + [ + 0.26743417978286743, + 0.011638864874839783, + 0.00656487699598074, + -3.0788228531652173, + -0.04323973134160042, + -0.09559620171785355, + 1.0 + ], + [ + 0.2664019465446472, + 0.012729192152619362, + 0.0027479843702167273, + -3.049215855198451, + -0.08066795766353607, + -0.08435216546058655, + 1.0 + ], + [ + 0.2778439223766327, + 0.023097656667232513, + 0.007646957878023386, + -3.0563461129837712, + -0.11735457926988602, + -0.0390511080622673, + 1.0 + ], + [ + 0.3056260943412781, + 0.04298284277319908, + 0.011990689672529697, + -3.0853885506563863, + -0.14428302645683289, + 0.0028531872667372227, + 1.0 + ], + [ + 0.3296866714954376, + 0.07887710630893707, + 0.018856730312108994, + -3.0920105186575135, + -0.16122287511825562, + 0.044936880469322205, + 1.0 + ], + [ + 0.34729528427124023, + 0.09389832615852356, + 0.022522253915667534, + -3.069728808599063, + -0.1491914987564087, + 0.013341638259589672, + 1.0 + ], + [ + 0.36446279287338257, + 0.11187941581010818, + 0.025520361959934235, + -3.078322770195552, + -0.17377348244190213, + 0.023833047598600384, + 1.0 + ], + [ + 0.386244535446167, + 0.10449063032865524, + 0.02223386988043785, + -3.107619809108325, + -0.19338193535804746, + -0.016636498272418976, + 1.0 + ], + [ + 0.40034109354019165, + 0.09439398348331451, + 0.030570968985557556, + -3.103398451703139, + -0.22593903541564941, + -0.05041591823101043, + 1.0 + ], + [ + 0.4022708237171173, + 0.09160473942756653, + 0.03454223647713661, + -3.1318612910159906, + -0.23042868077754972, + -0.04476296156644821, + 1.0 + ], + [ + 0.3978424668312073, + 0.09161290526390076, + 0.05927848815917969, + -3.118600212159105, + -0.23655810952186587, + -0.06287518888711931, + 1.0 + ], + [ + 0.3871293365955353, + 0.08677158504724503, + 0.07671387493610382, + 3.12546079617972, + -0.14497332274913788, + -0.11492280662059784, + 1.0 + ], + [ + 0.37087273597717285, + 0.0865679606795311, + 0.09205714613199234, + 3.1167460625344, + -0.13043648004531858, + -0.12590453028678894, + 1.0 + ], + [ + 0.3466493487358093, + 0.08421427011489868, + 0.09294690191745758, + 3.131407574872025, + -0.11186747252941133, + -0.11570915579795839, + 1.0 + ], + [ + 0.33052217960357666, + 0.08410288393497467, + 0.0987761989235878, + -3.0880729538672647, + -0.11756256222724915, + -0.12065936625003813, + 1.0 + ], + [ + 0.3306785523891449, + 0.08350048214197159, + 0.09878041595220566, + -3.0855781977349004, + -0.11662817001342772, + -0.12364551424980162, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0011776089668273926, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "897", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/897/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/898.json b/annotation/test/898.json new file mode 100644 index 0000000000000000000000000000000000000000..a73b21a5adecdd9bda9aac9c518c23c7e06cc99f --- /dev/null +++ b/annotation/test/898.json @@ -0,0 +1,850 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Pick up the salt shaker and put it to the right hand side of the top of the pot." + ], + "videos": [ + { + "video_path": "videos/test/898/rgb.mp4" + } + ], + "action": [ + [ + -0.0004144186703680225, + -4.698110064139845e-06, + 0.0002878519122472881, + 0.0017215845778630898, + -0.00047654885067369607, + 0.0024359520304943357, + 1.0 + ], + [ + -0.0010951373234193732, + 0.001564111293550823, + 0.004974239687212885, + -0.0007741310859284354, + -0.020095477929579632, + 0.005590547106606894, + 1.0 + ], + [ + 0.012511611105438542, + -0.014624942720158792, + 0.01014291258511803, + -0.020539011031796027, + -0.023647523588305793, + -0.05107462694890643, + 1.0 + ], + [ + 0.016784983332535575, + -0.0041529572314712776, + 0.0007037896387892096, + 0.03254781647710931, + 0.03359227544005273, + 0.005538631958260752, + 1.0 + ], + [ + 0.019743801126211453, + -0.01587296138252766, + 0.006579753348438991, + -0.018053247111769824, + 0.01452723865313755, + -0.00942634127256097, + 1.0 + ], + [ + 0.014194307900819108, + -0.00840037152506034, + 0.0072025862899845255, + -0.015132104269429751, + 0.0006773718599546839, + 0.026121191199155153, + 1.0 + ], + [ + 0.012251452764075424, + -0.007149387349064369, + 0.0035905130661077066, + 0.029223524014385067, + -0.0038595532760062725, + 0.01669542797591636, + 1.0 + ], + [ + 0.007405185444134764, + -0.011157105716705987, + 0.0023860299895146035, + -0.02786116499476306, + 0.023505334369898913, + -0.01237299389645993, + 1.0 + ], + [ + 0.0036525091960874613, + 0.0015371529673579652, + 0.010168259866209414, + -0.011917522197388753, + -0.019698687819413113, + 0.04216216134835217, + 1.0 + ], + [ + 0.007824395989102957, + 0.0028465980273517893, + -9.063365518272491e-05, + -0.01739364933594437, + 0.05333851025205331, + 0.01520330327228426, + 1.0 + ], + [ + -0.005630666178877198, + 0.005455948288188297, + 0.006620168456477929, + -0.03370311309301854, + 0.0014050893566049493, + 0.024427549615041982, + 1.0 + ], + [ + -0.0008257196868409879, + -0.00020308002759474662, + -9.14380252517812e-05, + 0.012354490914160446, + -0.004634103846780845, + -0.001247952130155224, + 1.0 + ], + [ + -0.0019602971624479073, + 0.0008844760566125617, + 0.004500377941647782, + 0.002140175922602043, + -0.018043579798363053, + -0.010436466922967225, + 1.0 + ], + [ + 0.001400760919237115, + -0.0002683711702593794, + 0.0013496683587594291, + 0.003510952688052604, + -0.008820962241653364, + -0.010290531688539956, + 1.0 + ], + [ + -0.001408900540086185, + -0.0036931191745101454, + 0.008452250283943804, + 0.007249272163699715, + -0.036859726370338804, + -0.03907534805580855, + 1.0 + ], + [ + 0.0011607245140013642, + -0.00046850661142393084, + -0.0016091360824484866, + 0.003706167459481954, + -0.003988984873035928, + -0.03394229380062876, + 0.0 + ], + [ + -0.0024053278083727442, + -0.001167052473537789, + 0.0003977005548959025, + -0.004130228209583071, + -0.015255126478232892, + 0.0005680816703302765, + 0.0 + ], + [ + -0.0034203595486465756, + -0.0031147794844873376, + -0.002529905353313252, + 0.020055048297194074, + -0.027173638680128013, + -0.01847606941263774, + 0.0 + ], + [ + 0.00012297442845539666, + -0.0048194759980705335, + -0.01523618332407608, + 0.04620742417270619, + -0.008456035169464277, + -0.0512475293170498, + 0.0 + ], + [ + -0.0010062748237766356, + -0.0010250942812284913, + -0.01743376298668455, + 6.032413679624503e-06, + 0.02617843271964612, + -0.020342088337618486, + 0.0 + ], + [ + 0.005232365452476155, + 0.004230093044623014, + -0.015626044262694476, + -0.036268391876200345, + 0.031450363790541246, + -0.008770386352582203, + 0.0 + ], + [ + 0.01009712896807791, + 0.015380812474707538, + -0.01696315962994838, + -0.0073444732448571075, + 0.0394724767303782, + 0.01213468372194684, + 0.0 + ], + [ + 0.015037293665725836, + 0.022604240047825328, + 0.0035417526032806034, + -0.004565784963553115, + -0.010742229424019856, + 0.02191516387895288, + 0.0 + ], + [ + 0.01750166790882086, + 0.01833994613438013, + 0.0105110945579125, + -0.0516816076860444, + -0.010584203725195635, + 0.019613730979779823, + 0.0 + ], + [ + 0.016539699838502675, + 0.012322151761717168, + 0.011915396638333716, + -0.050136940215099665, + 0.01879632458151682, + 0.025184734334060793, + 0.0 + ], + [ + 0.013852147253971053, + 0.001966020974387389, + 0.01846920519226815, + -0.012179272983349218, + 0.009738552070357084, + 0.03724133879120678, + 0.0 + ], + [ + 0.009777692838334994, + 0.001868288608069368, + 0.012555257764179132, + 0.025440785396679676, + -0.025050172277061536, + 0.05721688752275571, + 0.0 + ], + [ + 0.001937472299687147, + 0.0043546381474086696, + 0.011874548146108485, + 0.012327786073873952, + -0.028636820041478897, + 0.010311752191706325, + 0.0 + ], + [ + -0.0016516692657487513, + -0.000735582683723589, + 0.0014483630320856475, + 0.005873002094320725, + -0.016054031781482753, + 0.0013282430575056851, + 0.0 + ], + [ + -0.004227377327924744, + 9.25305042088091e-05, + -5.638434613464585e-05, + -0.0006384156913477059, + -0.026660480196846324, + 0.0020593249005230116, + 0.0 + ], + [ + -0.00028010980502615783, + 0.00017398092243895463, + -3.454265589523906e-07, + -0.0010660856936406903, + -0.0017852868044555626, + -0.017491243131982404, + 1.0 + ], + [ + -0.0036959848672277105, + -0.002910204705059571, + -0.008054570411121119, + 0.007985125548457872, + -0.01395212388390346, + -0.03251778410050091, + 1.0 + ], + [ + -0.0056362879064526345, + -0.006266667422625395, + -0.027923280938676166, + 0.05707113610002959, + 0.01977387434911396, + -0.021953804488214913, + 1.0 + ], + [ + -0.01532412631302569, + -0.003720180373896203, + -0.021245111170001066, + 0.007965494167996603, + 0.0016845233766698167, + -0.020834696546659825, + 1.0 + ], + [ + -0.019345403428375027, + -0.026840894538995377, + -0.01420360029599529, + -0.005726551174946577, + 0.007039515872459332, + -0.06729040460410207, + 1.0 + ], + [ + -0.028902949436522735, + -0.03534280015727065, + -0.01206274467238947, + -0.026738076453853094, + -0.07373241536471217, + -0.043062985676496156, + 1.0 + ], + [ + -0.022554053427002518, + -0.016007122508052987, + -0.013936737262601844, + -0.0034245544024534363, + -0.05900616204447846, + 0.005290055829450463, + 1.0 + ], + [ + -0.014739837670166164, + -0.02441190021397613, + 0.0016121017586934495, + -0.028894283716485666, + -0.013880880646659167, + -0.09459697927600161, + 1.0 + ], + [ + -0.011778944207369675, + -0.0013481220933908302, + -0.00012614751922040054, + -0.08069423840479441, + 0.04856634466735031, + 0.042515379532548095, + 1.0 + ], + [ + -0.005478437353340646, + 0.005066510919206187, + -0.003954571848249266, + 0.023504617710526046, + 0.01845696988461565, + -0.007535482606671008, + 1.0 + ], + [ + -0.020283963750911172, + 0.020270250491635364, + -0.008336944006324228, + -0.004486427916503381, + 0.04047110857883375, + 0.04053984855607749, + 1.0 + ], + [ + -0.013881389185439982, + 0.011430301036273544, + 0.006116319256894683, + -0.0036848735500941963, + -0.017397963289393414, + 0.01924160792962115, + 1.0 + ], + [ + -0.00031009904317859236, + -0.00010263857819704313, + 0.0003738255225565077, + 0.000411202227453765, + -0.0014764136391526529, + -6.459651320443388e-05, + 1.0 + ] + ], + "state": [ + [ + 0.22636274993419647, + -0.0617334358394146, + 0.09884926676750183, + -3.032747121649333, + -0.08904203027486801, + 0.11404991149902344, + 1.0 + ], + [ + 0.22597379982471466, + -0.06174181401729584, + 0.09852790832519531, + -3.0308142771297177, + -0.08830343186855318, + 0.11167087405920029, + 1.0 + ], + [ + 0.22545009851455688, + -0.06281144917011261, + 0.09333460032939911, + -3.031271832185336, + -0.06771261245012283, + 0.10832952708005905, + 1.0 + ], + [ + 0.23673732578754425, + -0.045838866382837296, + 0.08572947233915329, + -3.0555510838800153, + -0.04973281547427177, + 0.1617521196603775, + 1.0 + ], + [ + 0.2526235282421112, + -0.0389929935336113, + 0.08622001856565475, + -3.0225383212142667, + -0.08272305876016617, + 0.15332196652889252, + 1.0 + ], + [ + 0.2699221968650818, + -0.01958128996193409, + 0.08321942389011383, + -3.041216278570243, + -0.09826462715864182, + 0.1609921455383301, + 1.0 + ], + [ + 0.28302234411239624, + -0.008255060762166977, + 0.07831794023513794, + -3.0538145174556455, + -0.09628787636756897, + 0.1348132789134979, + 1.0 + ], + [ + 0.29438790678977966, + 0.0007912390283308923, + 0.07655951380729675, + -3.023029202716895, + -0.0909668207168579, + 0.1184530034661293, + 1.0 + ], + [ + 0.30046287178993225, + 0.012955405749380589, + 0.07618699967861176, + -3.051732124882289, + -0.11576651036739351, + 0.1280195116996765, + 1.0 + ], + [ + 0.3053162097930908, + 0.012956586666405201, + 0.06641242653131485, + -3.0590400641136846, + -0.09227085858583452, + 0.08763295412063599, + 1.0 + ], + [ + 0.31333962082862854, + 0.010806173086166382, + 0.06698957830667496, + -3.074511321383067, + -0.14415623247623444, + 0.06790147721767426, + 1.0 + ], + [ + 0.3091185688972473, + 0.005507647059857845, + 0.05928200110793114, + -3.1046832894259175, + -0.14387747645378113, + 0.04317919537425041, + 1.0 + ], + [ + 0.3082793653011322, + 0.0056711421348154545, + 0.05926145613193512, + -3.0925337580316743, + -0.13929243385791779, + 0.04461115598678588, + 1.0 + ], + [ + 0.3069990277290344, + 0.004950609989464283, + 0.05449490249156952, + -3.0919705500179013, + -0.12177340686321259, + 0.056002575904130936, + 1.0 + ], + [ + 0.30853036046028137, + 0.005371971055865288, + 0.05334024503827095, + -3.0897705425792417, + -0.11346670240163803, + 0.06678694486618042, + 1.0 + ], + [ + 0.30779024958610535, + 0.009457665495574474, + 0.04498416930437088, + -3.0871769582205495, + -0.07858487963676453, + 0.10782038420438766, + 1.0 + ], + [ + 0.30877235531806946, + 0.009946484118700027, + 0.046702489256858826, + -3.08618704428012, + -0.0764017254114151, + 0.14202906191349027, + 0.0 + ], + [ + 0.3062552511692047, + 0.010785920545458794, + 0.04618740454316139, + -3.0903320518606385, + -0.061138547956943505, + 0.14230719208717346, + 0.0 + ], + [ + 0.30229052901268005, + 0.013229374773800373, + 0.04865957796573639, + -3.0714813118153295, + -0.03493519127368928, + 0.16215670108795166, + 0.0 + ], + [ + 0.3012724220752716, + 0.01685282029211521, + 0.06419076770544052, + -3.0271715243631085, + -0.030041689053177837, + 0.21389290690422058, + 0.0 + ], + [ + 0.29998403787612915, + 0.015578245744109154, + 0.081589475274086, + -3.0276612435751638, + -0.05836683511734009, + 0.23113538324832916, + 0.0 + ], + [ + 0.3055840730667114, + 0.010753701440989971, + 0.0969129204750061, + -3.064175421493598, + -0.09060952067375184, + 0.23629081249237063, + 0.0 + ], + [ + 0.31787416338920593, + -0.003409435972571373, + 0.11348486691713333, + -3.0700858255201062, + -0.129014790058136, + 0.22102271020412442, + 0.0 + ], + [ + 0.3379572331905365, + -0.021746167913079262, + 0.11031462252140045, + -3.0719314088397702, + -0.11670556664466859, + 0.1997880041599274, + 0.0 + ], + [ + 0.35982218384742737, + -0.035239048302173615, + 0.10067038983106613, + -3.121416989835449, + -0.10476114600896835, + 0.18085597455501556, + 0.0 + ], + [ + 0.37942662835121155, + -0.04393383488059044, + 0.09030505269765854, + 3.1143210773640355, + -0.12301120907068253, + 0.15510690212249756, + 0.0 + ], + [ + 0.3956221342086792, + -0.043900370597839355, + 0.07373510301113129, + 3.106734240549155, + -0.13367685675621033, + 0.11781405657529832, + 0.0 + ], + [ + 0.407168447971344, + -0.044854532927274704, + 0.0626671090722084, + 3.1400033329897603, + -0.11040900647640228, + 0.059419576078653336, + 0.0 + ], + [ + 0.41065576672554016, + -0.04902831092476845, + 0.05108523741364479, + -3.1297097347029528, + -0.08178268373012543, + 0.0490318350493908, + 0.0 + ], + [ + 0.40909215807914734, + -0.04835139214992523, + 0.04951560124754906, + -3.1237420943849763, + -0.06571394950151443, + 0.04789215326309204, + 0.0 + ], + [ + 0.404879629611969, + -0.048646923154592514, + 0.049292609095573425, + -3.1242701561474284, + -0.03902087733149529, + 0.04630850628018379, + 0.0 + ], + [ + 0.40460819005966187, + -0.04883364960551262, + 0.04927901551127434, + -3.1260227739163717, + -0.037532828748226166, + 0.06384037435054779, + 1.0 + ], + [ + 0.40044140815734863, + -0.04630988836288452, + 0.057233527302742004, + -3.119272807734557, + -0.024068480357527736, + 0.09657786786556244, + 1.0 + ], + [ + 0.3936169147491455, + -0.04130271077156067, + 0.08514594286680222, + -3.0627205317192754, + -0.04432178661227226, + 0.11810166388750078, + 1.0 + ], + [ + 0.3772299885749817, + -0.04119810461997986, + 0.10591806471347809, + -3.0556871091299733, + -0.047633085399866104, + 0.13876223564147946, + 1.0 + ], + [ + 0.35378602147102356, + -0.018701324239373207, + 0.12143243849277496, + -3.0647685324125966, + -0.06031070649623871, + 0.2053183168172836, + 1.0 + ], + [ + 0.3176761865615845, + 0.008827617391943932, + 0.13440321385860443, + -3.0943162647360047, + 0.009971280582249165, + 0.25379952788352966, + 1.0 + ], + [ + 0.29213812947273254, + 0.018041187897324562, + 0.14930501580238342, + -3.0976833944493016, + 0.06916140764951707, + 0.25130558013916016, + 1.0 + ], + [ + 0.27177712321281433, + 0.03806618973612785, + 0.14978593587875366, + -3.1201887001567563, + 0.07856955379247665, + 0.34670922160148615, + 1.0 + ], + [ + 0.2602876126766205, + 0.035345204174518585, + 0.15086494386196136, + 3.0788889845185956, + 0.030849622562527657, + 0.30319303274154663, + 1.0 + ], + [ + 0.2566228210926056, + 0.0291601475328207, + 0.1552961766719818, + 3.1026529391580304, + 0.012899953871965408, + 0.31186968088150024, + 1.0 + ], + [ + 0.2435462921857834, + 0.0040039378218352795, + 0.16467681527137756, + 3.0976618138426026, + -0.02912805788218975, + 0.272953599691391, + 1.0 + ], + [ + 0.23349255323410034, + -0.010947726666927338, + 0.1586664766073227, + 3.0945611764960965, + -0.012586034834384916, + 0.25296771526336664, + 1.0 + ], + [ + 0.23317569494247437, + -0.010941893793642521, + 0.15828436613082886, + 3.094972388940402, + -0.01110821682959795, + 0.2529628276824951, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.057769834995269775, + 0.2938306927680969, + 0.3268251419067383, + 0.3268251419067383, + 0.3268251419067383, + 0.3268251419067383, + 0.3268251419067383, + 0.3268251419067383, + 0.3268251419067383, + 0.3268251419067383, + 0.3268251419067383, + 0.3268251419067383, + 0.3268251419067383, + 0.3268251419067383, + 0.3268251419067383, + 0.2848782539367676, + 0.019751906394958496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "898", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/898/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/925.json b/annotation/test/925.json new file mode 100644 index 0000000000000000000000000000000000000000..3515fe21a85e9db492efd932a3c69f6d77ed8554 --- /dev/null +++ b/annotation/test/925.json @@ -0,0 +1,698 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "Move the yellow spoon to the right of the towel" + ], + "videos": [ + { + "video_path": "videos/test/925/rgb.mp4" + } + ], + "action": [ + [ + 0.0, + 0.0, + 0.0, + -2.9288512374769717e-19, + -1.2264298448974759e-17, + -2.376668452239979e-18, + 1.0 + ], + [ + -0.002418016497886057, + 0.0015739926336588556, + 0.01198085972102864, + 0.001222537535783628, + -0.03492163272254667, + -0.0032523476748539727, + 1.0 + ], + [ + 0.005484663952510698, + -0.012808080434596962, + 0.004571459282190116, + -0.03335903324445971, + -0.021914245849557795, + -0.0574275672437408, + 1.0 + ], + [ + 0.0049010289772124065, + -0.020594684610011692, + -0.00017517842119888817, + -0.00218036086570679, + -0.006414219184489636, + -0.05197388627788407, + 1.0 + ], + [ + 0.008523040057672186, + -0.025516676498919557, + 6.81365165321191e-05, + 0.016917484875460288, + 0.02075321500589755, + -0.02282742065387778, + 1.0 + ], + [ + 0.006745131821437336, + -0.019836630624362674, + 0.003893754239679785, + 0.04352150541815797, + 0.01841875003145422, + 0.00891457461056578, + 1.0 + ], + [ + 0.005725009352599645, + -0.016047278658163393, + 0.013096047856192077, + 0.04070410331994483, + 0.005695332987381465, + -0.005977618618809792, + 1.0 + ], + [ + 0.00558009359940406, + -0.012099028265920743, + 0.012711558310576526, + -0.004302175800453553, + 0.010597577652871629, + -0.004095017947095671, + 1.0 + ], + [ + -0.001877112015702337, + -0.005268977956055822, + 0.018334775372816577, + 0.00916156110201326, + -0.038791021757615826, + -0.0036863785154209482, + 1.0 + ], + [ + 0.004863730889780369, + -0.0030678151862445118, + 0.009416352331667651, + 0.0077964512887120615, + -0.008962627141439049, + -0.002053288491146146, + 1.0 + ], + [ + -0.0009528655036609564, + -0.0029107688660534843, + 0.013142197997416775, + 0.01103602822327157, + -0.022012319529708137, + -0.0165770293130595, + 1.0 + ], + [ + 0.00250053255623652, + -0.003510307200943766, + 0.006580931804178929, + 0.01216743494520174, + -0.017359688979369736, + -0.007220712654379706, + 1.0 + ], + [ + 0.0013200275838138621, + -0.0036868590278809972, + 0.008147668461378503, + 0.008231011852192242, + -0.030947078183346338, + -0.014321171364984833, + 1.0 + ], + [ + 0.0017661774705629476, + -0.0016759513291112753, + 0.004796456017899147, + 0.007426089335797546, + -0.022550337738789304, + -0.023006310053663614, + 1.0 + ], + [ + 0.0007002534567583501, + -0.0009328470926629773, + 0.0009627654273668585, + 0.009843394771526159, + -0.016682197810390622, + -0.02087338047712584, + 1.0 + ], + [ + 0.0007781230297607255, + -0.0002740547184653814, + 0.0009321615318276377, + 0.004181906774044012, + -0.005317456433906577, + -0.007951294069903832, + 1.0 + ], + [ + 0.00021597032852152127, + 0.0012171264419943706, + 7.313897050482753e-05, + -0.008102809742047036, + 0.004356968769975668, + -0.0019663462463771417, + 0.0 + ], + [ + -0.005816057400060728, + -0.0005298776057101432, + -0.0013680100229597723, + -0.004259923249141773, + 0.002235849304020154, + -0.009100005324353767, + 0.0 + ], + [ + -0.008179198232862622, + -0.007494187406479064, + -0.04383161909533359, + 0.013851400022868336, + 0.08915446609521721, + -0.05651692227830216, + 0.0 + ], + [ + -0.02135597754525282, + 0.012490474956195262, + -0.043180201755325935, + -0.0058609621726845125, + 0.08279020525360936, + -0.018123480210656538, + 0.0 + ], + [ + -0.026274064444601935, + 0.03016967570167804, + -0.023450569698942703, + -0.03948971161884659, + 0.03380276084154218, + 0.05516046014207115, + 0.0 + ], + [ + -0.03840235684316815, + 0.04176198274365476, + 0.009454583367002134, + -0.04424353290187031, + -0.013342419097207993, + 0.11035365808341749, + 0.0 + ], + [ + -0.03141993632376221, + 0.04429947974327881, + 0.004278694378550668, + -0.03171814615884812, + -0.018114122642019764, + 0.12253348340104814, + 0.0 + ], + [ + -0.010492786434365976, + 0.007522626969666868, + 0.0076673786293425805, + -0.030555245528065943, + -0.016638939375371076, + 0.01706889609488544, + 0.0 + ], + [ + -0.004663475536773376, + 0.0034497402054070167, + 0.012160471469041636, + -0.0064933383255318675, + -0.03677382237527397, + 0.003587583214838021, + 0.0 + ], + [ + -0.002691522121031366, + 0.0009064467016747727, + 0.007954930614093808, + 0.004162312710223788, + -0.027529742330075817, + -0.009189368403140627, + 0.0 + ], + [ + -0.003300948337971952, + 0.00024617018985370376, + 0.011223946621307632, + 0.009852896047676332, + -0.038471158220086295, + -0.0011694529010699848, + 0.0 + ], + [ + 0.0010547680658613639, + -0.004943756480739712, + 0.009404732033020289, + 0.015931840830515864, + -0.047273380675025074, + -0.03302111577616146, + 0.0 + ], + [ + 0.002037336667773236, + -0.005115340522018693, + 0.0003755199961996827, + -0.005880717889015027, + -0.006800237633506016, + -0.051439537916613126, + 0.0 + ], + [ + -0.0003012362587025903, + -0.0009001804551931513, + 0.0005487330592456968, + -0.006333618515178625, + -0.009525244215818567, + -0.005662097985761944, + 1.0 + ], + [ + 0.002124085559800096, + 0.0018814289786253245, + -0.01471381263144986, + -0.029152205586072823, + 0.043632536638554695, + 0.056614729244066214, + 1.0 + ], + [ + 0.007321697376306372, + 0.0017445676032655153, + -0.03488803463665326, + -0.047301005885895676, + 0.1265442032430221, + 0.06048571761887761, + 1.0 + ], + [ + 0.001751629279574688, + -0.005341301617213896, + -0.0016928473748966369, + -0.014801076968593304, + 0.01814493748504489, + 0.02064623500692559, + 1.0 + ], + [ + -0.0012752783314536474, + -0.004608098351028023, + -0.0009221863581425548, + 0.019405564266936442, + -0.022738487918654227, + 0.014921480482829192, + 1.0 + ], + [ + -0.0003607619259302107, + 0.00035500023710640743, + -1.4225161491761675e-05, + 0.00030201105724680715, + -0.0014602486210324123, + 0.003054837651064868, + 1.0 + ] + ], + "state": [ + [ + 0.34297773241996765, + -0.06889365613460541, + 0.11303690075874329, + -3.1096525137596807, + -0.1470692753791809, + 0.0432402603328228, + 1.0 + ], + [ + 0.34297773241996765, + -0.06889365613460541, + 0.11303690075874329, + -3.1096525137596807, + -0.1470692753791809, + 0.0432402603328228, + 1.0 + ], + [ + 0.3424000144004822, + -0.07011035084724426, + 0.10078736394643784, + -3.109054682897874, + -0.11226791888475418, + 0.047631606459617615, + 1.0 + ], + [ + 0.3476920425891876, + -0.05689336732029915, + 0.09727559983730316, + 3.134190326212444, + -0.09204259514808655, + 0.10597624629735948, + 1.0 + ], + [ + 0.3503643274307251, + -0.03589748963713646, + 0.09774869680404663, + 3.1272320115291556, + -0.08511967211961746, + 0.15808893740177152, + 1.0 + ], + [ + 0.3547705411911011, + -0.009359820745885372, + 0.09804031997919083, + -3.14101173508028, + -0.10552012175321579, + 0.18133649230003357, + 1.0 + ], + [ + 0.3581925332546234, + 0.01143720280379057, + 0.09489011019468307, + -3.096542852120944, + -0.12392946332693099, + 0.17234376072883606, + 1.0 + ], + [ + 0.36244437098503113, + 0.029048025608062744, + 0.08333250880241394, + -3.0565512051158628, + -0.1298861801624298, + 0.17810727655887604, + 1.0 + ], + [ + 0.3670463562011719, + 0.043222587555646896, + 0.0725153386592865, + -3.0612650235467633, + -0.1407926231622696, + 0.18131890892982483, + 1.0 + ], + [ + 0.3664700984954834, + 0.0499521866440773, + 0.05457571521401405, + -3.053002359467097, + -0.10241929441690445, + 0.18813827633857727, + 1.0 + ], + [ + 0.37141039967536926, + 0.05485151708126068, + 0.04601271077990532, + -3.0454941560798368, + -0.09367306530475616, + 0.19098888337612152, + 1.0 + ], + [ + 0.3708652853965759, + 0.05898147448897362, + 0.033177439123392105, + -3.0361970161371907, + -0.07333655655384062, + 0.20964783430099485, + 1.0 + ], + [ + 0.37287646532058716, + 0.06368619203567505, + 0.027202125638723373, + -3.0246789400749883, + -0.05682983994483948, + 0.2186681777238846, + 1.0 + ], + [ + 0.37358731031417847, + 0.06856875866651535, + 0.019627487286925316, + -3.01742363919551, + -0.027755480259656906, + 0.23650142550468442, + 1.0 + ], + [ + 0.37489762902259827, + 0.07120627909898758, + 0.015126294456422329, + -3.0107177813821515, + -0.008218667469918728, + 0.26211908459663397, + 1.0 + ], + [ + 0.3753083348274231, + 0.07240413129329681, + 0.014299283735454082, + -3.0010784586244306, + 0.005599255207926035, + 0.2849888801574707, + 1.0 + ], + [ + 0.3759373128414154, + 0.07300719618797302, + 0.013410348445177078, + -2.9968515505367, + 0.00975051335990429, + 0.2936068475246429, + 1.0 + ], + [ + 0.37648722529411316, + 0.07192623615264893, + 0.013160326518118382, + -3.0049402584605893, + 0.005155477672815323, + 0.29492419958114624, + 0.0 + ], + [ + 0.3708309829235077, + 0.07056181877851486, + 0.014617732726037502, + -3.0091601481013974, + 0.001700620632618666, + 0.30363476276397705, + 0.0 + ], + [ + 0.362607479095459, + 0.06970464438199997, + 0.059068966656923294, + -2.994832830625125, + -0.09413365274667738, + 0.34785786271095276, + 0.0 + ], + [ + 0.3453708291053772, + 0.043594468384981155, + 0.0977700799703598, + -3.000741632776805, + -0.1786804795265198, + 0.3537246882915497, + 0.0 + ], + [ + 0.32943832874298096, + 0.00235962332226336, + 0.11178107559680939, + -3.0296335463696202, + -0.20409004390239713, + 0.29313096404075617, + 0.0 + ], + [ + 0.30785179138183594, + -0.046402011066675186, + 0.09022840112447739, + -3.0522899647527417, + -0.17732203006744382, + 0.1832505613565445, + 0.0 + ], + [ + 0.2868375778198242, + -0.09478278458118439, + 0.07660242915153503, + -3.0632145797186574, + -0.14708663523197174, + 0.06153457984328269, + 0.0 + ], + [ + 0.27810630202293396, + -0.10223301500082016, + 0.0669206902384758, + -3.0914464463763913, + -0.12914413213729858, + 0.04569140821695328, + 0.0 + ], + [ + 0.275200754404068, + -0.10520468652248383, + 0.054104577749967575, + -3.0976809990876397, + -0.09223653376102448, + 0.04394622519612312, + 0.0 + ], + [ + 0.27328264713287354, + -0.10584594309329987, + 0.04590357095003128, + -3.094463328021117, + -0.06513173878192903, + 0.05435371771454811, + 0.0 + ], + [ + 0.2707075774669647, + -0.10570274293422699, + 0.03448944166302681, + -3.0847698395424565, + -0.02675812505185604, + 0.05733408033847809, + 0.0 + ], + [ + 0.27169010043144226, + -0.10016745328903198, + 0.02541213668882847, + -3.069764422374316, + 0.018580975010991096, + 0.09295652806758882, + 0.0 + ], + [ + 0.2732420563697815, + -0.09487143158912659, + 0.02536684274673462, + -3.0747778361015996, + 0.021648786962032318, + 0.14476294815540314, + 0.0 + ], + [ + 0.2727987468242645, + -0.09399136900901794, + 0.02488606981933117, + -3.0809736159914216, + 0.030774321407079697, + 0.1510510891675949, + 1.0 + ], + [ + 0.27575767040252686, + -0.09634225070476532, + 0.03938661888241768, + -3.1119933278583964, + -0.009404058568179607, + 0.09194476157426834, + 1.0 + ], + [ + 0.2829769551753998, + -0.09846469014883041, + 0.07427505403757095, + 3.1246770491176328, + -0.1340843588113785, + 0.027649451047182083, + 1.0 + ], + [ + 0.284349650144577, + -0.09305550158023834, + 0.07609709352254868, + 3.1126270705186805, + -0.1525479406118393, + 0.007077602669596672, + 1.0 + ], + [ + 0.28293663263320923, + -0.08843251317739487, + 0.07668249309062958, + 3.134415322104939, + -0.1302325427532196, + -0.008625310845673084, + 1.0 + ], + [ + 0.2825736999511719, + -0.08878428488969803, + 0.07665227353572845, + 3.1351187495798847, + -0.12879364192485812, + -0.01171614695340395, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05079597234725952, + 0.3408757448196411, + 0.5625219643115997, + 0.586055725812912, + 0.5869496464729309, + 0.5887347459793091, + 0.5887347459793091, + 0.589625895023346, + 0.5922945439815521, + 0.5922945439815521, + 0.5922945439815521, + 0.5922945439815521, + 0.5922945439815521, + 0.5300091803073883, + 0.3639833331108093, + 0.07203978300094604, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "925", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/925/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/956.json b/annotation/test/956.json new file mode 100644 index 0000000000000000000000000000000000000000..14df1b673f62208f924d18a27884cd3bdd5554e4 --- /dev/null +++ b/annotation/test/956.json @@ -0,0 +1,698 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "close low fridge" + ], + "videos": [ + { + "video_path": "videos/test/956/rgb.mp4" + } + ], + "action": [ + [ + -3.55988544079124e-06, + 8.000950554689925e-05, + 0.00038492328200638885, + -0.00020566765335724164, + -9.939654280284803e-05, + 0.00015300522633656985, + 1.0 + ], + [ + -0.005532637548823989, + -0.002815059677241794, + 0.0038476546072858013, + 0.0059729117636596, + -0.025591515336278865, + -0.0008427419805783999, + 1.0 + ], + [ + -0.001346113671754502, + -0.02537124128217575, + -0.016803952354184148, + -0.012460916517905879, + -0.008780650684986105, + 0.0007155282242715746, + 1.0 + ], + [ + 0.0036179751404144364, + -0.029304317777227324, + -0.01728110444840282, + 0.05147816717636955, + 0.013337683845210025, + 0.002080864631184425, + 1.0 + ], + [ + 0.0006768978338712005, + -0.025266464397129183, + -0.014868045735132899, + 0.022930860051542233, + 0.005298679469199586, + -0.005785660177733999, + 1.0 + ], + [ + 0.0033938808267076144, + -0.03299857934566142, + 9.050069318335749e-05, + 0.00371343073631752, + 0.0038842821205010455, + -0.02381985993710279, + 1.0 + ], + [ + 0.004187636563812807, + -0.016127993423024442, + 0.003711121887354093, + -0.027374088915935738, + 0.024298775983504373, + -0.021756584309167507, + 1.0 + ], + [ + 0.0005500271376015101, + 0.0025155876857542825, + 0.014430794061401544, + -0.051143977861153135, + -0.032094308626123676, + -0.011506281709877265, + 1.0 + ], + [ + 0.004576735521276347, + 0.007335758150316172, + 0.011643523587418436, + 0.009266373313452488, + 0.03518583710264556, + -0.024593432697805364, + 1.0 + ], + [ + 5.480883245935639e-05, + 0.012336217451110543, + 0.017955718392670864, + 0.043480890162586355, + -0.0010155779214294266, + -0.012234256516380307, + 1.0 + ], + [ + -0.0013929445862197836, + 0.014057901579650828, + 0.010809525842118927, + 0.022483619006007753, + -0.0012406172332961839, + -0.01588238842024271, + 1.0 + ], + [ + -0.001336801402480381, + 0.015950786484082585, + -0.00024534047114821406, + -0.01430898649569021, + -0.017989718792132438, + -0.012284932739587537, + 1.0 + ], + [ + 0.005157122755269882, + 0.013251168157688089, + -0.005756379656511483, + -0.0197095450917763, + -7.554982479673803e-05, + -0.027656849652331398, + 1.0 + ], + [ + 0.003696735790898183, + 0.011183872851056157, + -0.0049350747375140015, + -0.023451477071520177, + -0.004259355096885133, + -0.023214113093936957, + 1.0 + ], + [ + -0.0012610381844016987, + 0.003268839362945755, + -0.0019099282498765107, + -0.016279003621725085, + -0.007966801764493587, + -0.016125355258348083, + 1.0 + ], + [ + -0.0018918177759097955, + -5.9780521935234344e-05, + -0.018925935424169846, + -0.039483268484889214, + 0.021087628989787385, + 0.035605385911188996, + 1.0 + ], + [ + -0.017787521423634517, + -0.014622364687513373, + -0.030491902643659682, + -0.07603127156617183, + 0.009102193738334598, + 0.054070103081790756, + 1.0 + ], + [ + -0.017117225360254333, + -0.016289519486750816, + -0.021696604518922056, + -0.04100811625067967, + 0.006299964556395493, + 0.05119483105837528, + 1.0 + ], + [ + -0.00729197709455872, + -0.01706292477429789, + 0.013277200783692438, + 0.05397771221772899, + -0.0017731408590668364, + 0.024910179969118134, + 1.0 + ], + [ + -0.0038354291159571493, + -0.010807862188808061, + 0.034351483094925604, + 0.05301524660847986, + -0.014854694209578235, + 0.020352821772817317, + 1.0 + ], + [ + -0.0013581390160981926, + -0.006305697921480101, + 0.026005399066432452, + -0.002016419856847558, + 0.008901712220575501, + -0.017360263063862954, + 1.0 + ], + [ + -0.0013806074006059393, + 3.3004670504248794e-05, + 0.024966863086889307, + -0.04878158282659297, + -0.00607462071590367, + -0.001005593080515233, + 1.0 + ], + [ + 0.011101210224796825, + 0.006217911197607905, + 0.022443048133665024, + -0.005206562566540311, + 0.001770849415565238, + -0.018567749418846625, + 1.0 + ], + [ + 0.009520550045544461, + 0.016845497614114035, + 0.013420130568214336, + 0.005414460091410296, + -0.057533026654888075, + -0.053463288912434945, + 1.0 + ], + [ + 0.011917405224529299, + 0.02023842323223358, + 0.009540860215413451, + 0.0029396729081193076, + -0.008051234081180343, + -0.04633520554658431, + 1.0 + ], + [ + 0.008247134164334272, + 0.019640746324403612, + 0.007569791703522193, + 0.007566512265730832, + 0.0012155034030793736, + -0.022545191964681528, + 1.0 + ], + [ + 0.007707779357065898, + 0.016189553276738166, + 0.0010641022159455361, + -0.00581677071030601, + 0.015176893504948562, + -0.014364638749737379, + 1.0 + ], + [ + 0.011309659489397498, + 0.011552465408196884, + 0.003070344157315348, + 0.01027087970187816, + 0.028919855413272858, + -0.021060700522259085, + 1.0 + ], + [ + 0.011875392507966459, + 0.006299542393870681, + 0.003961241647780245, + 0.013200345785007478, + 0.018842536496730233, + -0.025591364956786013, + 1.0 + ], + [ + 0.006894410528101161, + 0.00016852493746414798, + 0.004087863583774357, + 0.017863210917151397, + 0.0188432582591624, + -0.029160137873978302, + 1.0 + ], + [ + 7.666064489639021e-05, + 0.00021482194959808413, + 0.00035981660940194123, + 0.008751349315289304, + 0.006820882896340581, + 0.002384396171054848, + 1.0 + ], + [ + -0.012183618727509976, + -0.00618140562260723, + -0.0004893278562432829, + 0.005012763767746122, + -0.014697060593614454, + 0.02323623369817201, + 1.0 + ], + [ + -0.007949002156917852, + -0.008659600497409017, + -0.01280465734179654, + 0.020148717172926146, + 0.0210377756759802, + 0.037020036442053775, + 1.0 + ], + [ + -0.0014348586815560815, + -0.002781510509831292, + -0.004060928005767436, + 0.017370976599473422, + -0.01424808965134826, + 0.015310894689684915, + 1.0 + ], + [ + 0.0002305543157378138, + 0.00013208237376829924, + 0.000286851114536312, + -1.2593692926129042e-17, + 1.7958507548547336e-17, + -5.862752397556715e-17, + 1.0 + ] + ], + "state": [ + [ + 0.26530182361602783, + -0.0266486257314682, + 0.0020507050212472677, + -3.0950500053637704, + -0.14371725916862485, + 0.25189509987831116, + 1.0 + ], + [ + 0.265367716550827, + -0.026695702224969864, + 0.001665968680754304, + -3.0952342246943196, + -0.1436108499765396, + 0.251745343208313, + 1.0 + ], + [ + 0.2598344087600708, + -0.025031210854649544, + -0.002800692105665803, + -3.0895384979718408, + -0.1180855929851532, + 0.25378695130348206, + 1.0 + ], + [ + 0.25033441185951233, + -0.002223262097686529, + 0.015015936456620693, + -3.101966867344924, + -0.10927960276603699, + 0.2535277307033539, + 1.0 + ], + [ + 0.24469760060310364, + 0.025857258588075638, + 0.033729035407304764, + -3.0501987655931195, + -0.12252400815486908, + 0.25090062618255615, + 1.0 + ], + [ + 0.2374124974012375, + 0.04856354743242264, + 0.05079546198248863, + -3.027918296056338, + -0.1283268928527832, + 0.25622221827507025, + 1.0 + ], + [ + 0.23190495371818542, + 0.08102332800626755, + 0.05485285818576813, + -3.0272340719872197, + -0.1348529160022736, + 0.27966025471687317, + 1.0 + ], + [ + 0.2315923571586609, + 0.09804444760084152, + 0.05358610302209854, + -3.057161035137721, + -0.16145128011703488, + 0.29874351620674133, + 1.0 + ], + [ + 0.2347324639558792, + 0.0976620465517044, + 0.03927275165915489, + -3.110567594068595, + -0.130425363779068, + 0.3130305707454682, + 1.0 + ], + [ + 0.24266467988491058, + 0.09290237724781036, + 0.028103284537792206, + -3.1043880452686032, + -0.16632072627544406, + 0.3368339240550995, + 1.0 + ], + [ + 0.2494446337223053, + 0.0829225480556488, + 0.00996414665132761, + -3.0629683901839933, + -0.16574828326702118, + 0.34926789999008173, + 1.0 + ], + [ + 0.2545008659362793, + 0.07075260579586029, + -0.0019831443205475807, + -3.0431595390015325, + -0.16573767364025116, + 0.36542001366615295, + 1.0 + ], + [ + 0.2591542601585388, + 0.05551145598292351, + -0.003508953610435128, + -3.0597966482215604, + -0.14902596175670624, + 0.37956830859184265, + 1.0 + ], + [ + 0.26831701397895813, + 0.04444132745265961, + 0.001859610085375607, + -3.083677591877528, + -0.15115299820899963, + 0.4074569046497345, + 1.0 + ], + [ + 0.27561843395233154, + 0.035120874643325806, + 0.006646911613643169, + -3.1107100081914147, + -0.1482025980949402, + 0.43113812804222107, + 1.0 + ], + [ + 0.2756328582763672, + 0.03146621212363243, + 0.008248968981206417, + -3.129432448307522, + -0.1407175213098526, + 0.44766467809677124, + 1.0 + ], + [ + 0.271625280380249, + 0.029352877289056778, + 0.026721833273768425, + 3.119358891742774, + -0.1612793952226639, + 0.41134169697761536, + 1.0 + ], + [ + 0.24497784674167633, + 0.03441727161407471, + 0.05363338813185692, + 3.052131379144736, + -0.1713445782661438, + 0.35668876767158514, + 1.0 + ], + [ + 0.21961073577404022, + 0.04434758052229881, + 0.07057414203882217, + 3.019974673288413, + -0.18197089433670044, + 0.30541613698005676, + 1.0 + ], + [ + 0.21079453825950623, + 0.05763780698180199, + 0.05425712838768959, + 3.0785801281505307, + -0.18317535519599915, + 0.2800503969192505, + 1.0 + ], + [ + 0.21090734004974365, + 0.06664308905601501, + 0.01917954348027706, + 3.1355290311672768, + -0.16958996653556827, + 0.2584953606128693, + 1.0 + ], + [ + 0.21229107677936554, + 0.073368139564991, + -0.006719223223626614, + 3.130526970262178, + -0.178360253572464, + 0.2761893272399903, + 1.0 + ], + [ + 0.21532952785491943, + 0.07390788197517395, + -0.03153308853507042, + 3.0815762152248105, + -0.17227479815483096, + 0.27714172005653387, + 1.0 + ], + [ + 0.23154790699481964, + 0.07066889852285385, + -0.05133366584777832, + 3.07313638378913, + -0.17289859056472778, + 0.2960644066333771, + 1.0 + ], + [ + 0.24770313501358032, + 0.05706648901104927, + -0.061749741435050964, + 3.069971876340457, + -0.11163397878408432, + 0.34568470716476446, + 1.0 + ], + [ + 0.26676276326179504, + 0.04174928367137909, + -0.0684400424361229, + 3.0678755586319646, + -0.10017220675945282, + 0.39155289530754095, + 1.0 + ], + [ + 0.28259941935539246, + 0.026493411511182785, + -0.07368738204240799, + 3.07319230039651, + -0.09969848394393921, + 0.4142390489578247, + 1.0 + ], + [ + 0.2961463928222656, + 0.01472632959485054, + -0.07287552952766418, + 3.065836163359233, + -0.1138463169336319, + 0.42970594763755804, + 1.0 + ], + [ + 0.3114829957485199, + 0.00882764533162117, + -0.07376378774642944, + 3.073435219126292, + -0.1410585641860962, + 0.45311903953552246, + 1.0 + ], + [ + 0.325368732213974, + 0.008298319764435291, + -0.07558223605155945, + 3.0828309041732034, + -0.15806350111961365, + 0.4802685976028442, + 1.0 + ], + [ + 0.33216390013694763, + 0.011377888731658459, + -0.07851717621088028, + 3.095881199585744, + -0.175089031457901, + 0.5109494924545288, + 1.0 + ], + [ + 0.33239585161209106, + 0.011243053711950779, + -0.07884810119867325, + 3.1049982627206525, + -0.18201136589050296, + 0.5088445544242859, + 1.0 + ], + [ + 0.3188719153404236, + 0.01079273596405983, + -0.08079493045806885, + 3.114378949748822, + -0.1681223809719086, + 0.4847487509250641, + 1.0 + ], + [ + 0.3058815598487854, + 0.01412853505462408, + -0.06973791122436523, + 3.1407467440054795, + -0.19004641473293302, + 0.4476552605628967, + 1.0 + ], + [ + 0.3027147650718689, + 0.015697302296757698, + -0.06602346152067184, + -3.122127805026718, + -0.1757887601852417, + 0.43209403753280634, + 1.0 + ], + [ + 0.30301982164382935, + 0.015698706731200218, + -0.06626804918050766, + -3.122127805026718, + -0.1757887601852417, + 0.43209403753280634, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516, + 0.0005114078521728516 + ], + "episode_id": "956", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/956/0.pt" + } + ] +} \ No newline at end of file diff --git a/annotation/test/969.json b/annotation/test/969.json new file mode 100644 index 0000000000000000000000000000000000000000..d761a09b2f9c58082dc53ed56d95840138659eac --- /dev/null +++ b/annotation/test/969.json @@ -0,0 +1,470 @@ +{ + "task": "robot_trajectory_prediction", + "texts": [ + "flip cup upright" + ], + "videos": [ + { + "video_path": "videos/test/969/rgb.mp4" + } + ], + "action": [ + [ + -0.000311938986231726, + -0.0010625329374770816, + 0.0007904027964481405, + 0.004908663547256789, + 0.002454531749629652, + 0.0006917634674233882, + 1.0 + ], + [ + 0.0001544107758581009, + -0.0025140119082448483, + 0.005872039742964322, + 0.004601499083348384, + 0.021187545455332895, + 0.008142694471839946, + 1.0 + ], + [ + 0.00012314401435087864, + -0.0003598802083237599, + 0.0007380714960816877, + 0.0003574338956325391, + 0.0027617459265852962, + 0.0012879034367998857, + 1.0 + ], + [ + -1.5904468190294038e-05, + -0.00024056458788547044, + -1.8818223741709114e-07, + 0.0015170090817855223, + -0.0001001282440366172, + -0.00020400824582878185, + 1.0 + ], + [ + -0.009693726819022735, + -0.0019849341669981937, + 0.006093349817530683, + -0.002780810208978011, + -0.01335815167745501, + 0.0068811517732201765, + 1.0 + ], + [ + -0.03222015640799965, + -0.0006555427437747316, + 0.013352079878580137, + -0.010200259558797052, + -0.04504444975398689, + 0.01063809655143184, + 1.0 + ], + [ + -0.01934029253128419, + 2.0146883719683104e-05, + 0.010075943640501387, + -0.010430462862477227, + -0.02332227091121352, + 0.04923660579039172, + 1.0 + ], + [ + -0.0018265519411600718, + 0.00286682191553652, + 0.006791503195291158, + -0.002626836611895081, + -0.008155316743774699, + 0.00885036844270293, + 1.0 + ], + [ + 0.007337512204079577, + -0.0009728032223070246, + 0.011644530068899765, + 0.00937342495906058, + 0.01730640082677662, + 0.003810009445635644, + 1.0 + ], + [ + 0.009527180651790734, + 0.01364183496687067, + -0.005134388773756342, + -0.005804115608897601, + 0.0003369299900509085, + -0.014081171147677724, + 1.0 + ], + [ + 0.009705197918582022, + 0.01548612682209165, + -0.017625219811467786, + -0.02835706009874399, + -0.006310552830842689, + 0.0029957439206246316, + 1.0 + ], + [ + 0.009981267402308348, + 0.01623185324442272, + -0.009408010482698778, + -0.017418176837756563, + -0.011224042714832641, + -0.040280725518250335, + 1.0 + ], + [ + -0.0009685799576712913, + -0.000928738984765267, + -0.00016261224930423114, + -0.0008259186620402652, + -0.004602556242074505, + -0.008840782804492674, + 1.0 + ], + [ + -0.008897535692006627, + -0.006254336034754593, + 0.0011550474418880992, + 0.011493985255506984, + -0.020245950689955685, + 0.009864368647197776, + 0.0 + ], + [ + -0.008580428404627043, + -0.008044913495638946, + 0.006725864635300907, + 0.02809448452065745, + -0.017408996057315995, + 0.0097525023392588, + 0.0 + ], + [ + 0.0011337898168997395, + -0.005277328279398878, + -0.0015737110166748154, + 0.011640854558673768, + 0.008679238358414708, + 0.020920207556074967, + 1.0 + ], + [ + 0.0050093216821296485, + 0.009305667293155497, + -0.020136130975727945, + -0.005437791428376393, + -0.002802083278819107, + 0.010731209099624576, + 1.0 + ], + [ + 0.0028433817625627966, + 0.0012055359071892586, + -0.004346213164351379, + 0.005452080260851207, + 0.016286152067388312, + 0.014647111221146453, + 1.0 + ], + [ + 0.00023530680989041985, + -6.163186262118272e-05, + -1.8531642089301064e-07, + 0.0003887008271082691, + 0.001483950511076937, + 2.3508569050510613e-07, + 1.0 + ], + [ + -0.00012078483020246801, + -0.0004605261525589812, + -7.158376323387496e-07, + 0.002904640861595191, + -0.0007598816337719597, + -0.0006317906779602558, + 1.0 + ], + [ + -0.00023529955688214238, + 6.162616993431834e-05, + -1.8427768623888918e-07, + -0.0003909473587428116, + -0.0014832755510205593, + 0.001534151633438546, + 1.0 + ], + [ + 0.00023520475072381523, + -6.198701338458745e-05, + -1.8882949610339774e-07, + 0.0003909384878776186, + 0.001483263424451039, + 4.3522740054749193e-07, + 1.0 + ], + [ + 0.0001212007841463925, + 0.00046041686058388915, + -7.136061295053459e-07, + -0.002904151962895063, + 0.0007617254774100457, + -0.0009044259602332544, + 1.0 + ] + ], + "state": [ + [ + 0.30025768280029297, + -0.005713360849767923, + 0.1394520252943039, + 2.723318876820155, + -0.20222911238670352, + 2.7769577503204346, + 1.0 + ], + [ + 0.3000949025154114, + -0.0063468459993600845, + 0.13825903832912445, + 2.7281513829999646, + -0.20475301146507263, + 2.7773303985595703, + 1.0 + ], + [ + 0.29876044392585754, + -0.00577706890180707, + 0.13203653693199158, + 2.732434006529399, + -0.22742640972137454, + 2.7784152030944824, + 1.0 + ], + [ + 0.2984624207019806, + -0.005702901165932417, + 0.13126510381698608, + 2.732808979349681, + -0.23047256469726565, + 2.778330087661743, + 1.0 + ], + [ + 0.298378050327301, + -0.005907063372433186, + 0.13116854429244995, + 2.7342914064698896, + -0.23029959201812744, + 2.7784814834594727, + 1.0 + ], + [ + 0.30604881048202515, + -0.008189176209270954, + 0.12274307012557983, + 2.734217198687144, + -0.2207442671060562, + 2.7665834426879883, + 1.0 + ], + [ + 0.33446887135505676, + -0.014338014647364616, + 0.10347293317317963, + 2.7298937757783612, + -0.18351711332798004, + 2.7385103702545166, + 1.0 + ], + [ + 0.35200056433677673, + -0.017410647124052048, + 0.09087251126766205, + 2.7300897260480603, + -0.18156008422374725, + 2.6831486225128174, + 1.0 + ], + [ + 0.3551543951034546, + -0.013007733970880508, + 0.08554830402135849, + 2.7295630296045026, + -0.17761364579200745, + 2.671593427658081, + 1.0 + ], + [ + 0.3486815094947815, + -0.005489107687026262, + 0.07595911622047424, + 2.7382540126615247, + -0.194996252655983, + 2.6750996112823486, + 1.0 + ], + [ + 0.34681424498558044, + 0.007243081461638212, + 0.08769084513187408, + 2.7299050112539014, + -0.189762681722641, + 2.688422203063965, + 1.0 + ], + [ + 0.34516119956970215, + 0.01598895713686943, + 0.11146975308656693, + 2.7025567909055432, + -0.18517549335956573, + 2.6830599308013916, + 1.0 + ], + [ + 0.34364232420921326, + 0.02866397425532341, + 0.12845934927463531, + 2.679436834650584, + -0.15780285000801086, + 2.715141534805298, + 1.0 + ], + [ + 0.3441009223461151, + 0.027462895959615707, + 0.12804192304611206, + 2.6776826997571668, + -0.14973850548267365, + 2.721068859100342, + 1.0 + ], + [ + 0.3495381772518158, + 0.01947036013007164, + 0.1229260042309761, + 2.6918463130765637, + -0.1360219120979309, + 2.7030229568481445, + 0.0 + ], + [ + 0.3542269468307495, + 0.012498563155531883, + 0.11229627579450607, + 2.7221666296296796, + -0.124565452337265, + 2.6865453720092773, + 0.0 + ], + [ + 0.35073694586753845, + 0.008126787841320038, + 0.11173084378242493, + 2.7357989271455487, + -0.14099635183811188, + 2.670818328857422, + 1.0 + ], + [ + 0.3493667244911194, + 0.009498785249888897, + 0.1343890130519867, + 2.7319420893960675, + -0.1426493227481842, + 2.6597399711608887, + 1.0 + ], + [ + 0.3471456468105316, + 0.009954738430678844, + 0.1392146348953247, + 2.73834818800027, + -0.16341811418533325, + 2.6526994705200195, + 1.0 + ], + [ + 0.3469105660915375, + 0.010015500709414482, + 0.13922922313213348, + 2.7386404891782483, + -0.16478310525417328, + 2.653289556503296, + 1.0 + ], + [ + 0.3467908501625061, + 0.009599072858691216, + 0.13903191685676575, + 2.7414979358487805, + -0.16383633017539978, + 2.653576612472534, + 1.0 + ], + [ + 0.34702596068382263, + 0.009538445621728897, + 0.13901738822460175, + 2.7414364238553723, + -0.1630674302577972, + 2.6515591144561768, + 1.0 + ], + [ + 0.3467908501625061, + 0.009599072858691216, + 0.13903191685676575, + 2.7417319436841687, + -0.16443365812301636, + 2.652144432067871, + 1.0 + ], + [ + 0.3469105660915375, + 0.010015500709414482, + 0.13922922313213348, + 2.7386404891782483, + -0.16478310525417328, + 2.653289556503296, + 1.0 + ] + ], + "continuous_gripper_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0011776089668273926, + 0.2096758484840393, + 0.5072224140167236, + 0.36498814821243286, + 0.07688909769058228, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "episode_id": "969", + "latent_videos": [ + { + "latent_video_path": "latent_videos/test/969/0.pt" + } + ] +} \ No newline at end of file