Label operating arm for all 50 RoboDojo pouring contact segments
#1
by Shiki42 - opened
This view is limited to 50 files because it contains too many changes. See the raw diff here.
- README.md +4 -0
- SHA256SUMS +66 -60
- data/index/episodes.parquet +2 -2
- data/index/primitives.parquet +2 -2
- data/index/segments_display.parquet +2 -2
- data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-0.jpg +3 -0
- data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-1.jpg +3 -0
- data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-2.jpg +3 -0
- data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-3.jpg +3 -0
- data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-4.jpg +3 -0
- data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/verification.json +1826 -0
- data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/review_package/recipe.json +0 -0
- data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/013e4d3f-3028-5beb-a049-f4c4a14b9b03.json +58 -2
- data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/05629890-c97b-55b9-bc02-434316dcb06b.json +58 -2
- data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/05ac9a32-b774-52e8-8dbf-af63179174dc.json +58 -2
- data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/0952f17f-8f9d-5323-b6dc-199aa43392d8.json +58 -2
- data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/0e05524b-4f18-5133-ab06-0ab2048a65b0.json +58 -2
- data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/1061455a-463b-59e5-8ca9-84e9eac7c3f7.json +58 -2
- data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/11a6e639-25e9-5f46-b654-9f83fa289016.json +58 -2
- data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/1541ea46-54a6-563a-b17d-0f77d09ba8fb.json +58 -2
- data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/17f3ed5e-f258-5c30-bbcd-228fd2466fb5.json +58 -2
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- data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/28367994-f6c4-5d99-bfcf-59f2b74322b2.json +58 -2
- data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/2b06db9b-bfe5-57e3-848c-2d263b2d28ab.json +58 -2
- data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/2c20d88f-fd92-5cb1-8c21-ea76b94be37c.json +58 -2
- data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/30986227-eda7-5afc-ae3e-db1bf9d92f43.json +58 -2
- data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/325bc408-86a6-53c6-b99b-306863ba53cf.json +58 -2
- data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/34f02e2c-16ff-5469-a1d3-e2b01f8e0d78.json +58 -2
- data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/35101b3b-1687-5a8e-9d7d-ab73c73e2cbb.json +58 -2
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- data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/48aaa2a5-4411-5cec-807e-a3728a1e658c.json +58 -2
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- data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/954af9e7-9564-5cc9-a9c0-5eece7b765bc.json +58 -2
- data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/9aaa5b90-ea57-51dd-817d-d7064c106cb0.json +58 -2
README.md
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@@ -67,3 +67,7 @@ HF 的 `segments` 配置使用[展示表](data/index/segments_display.parquet)
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历史发布只通过 Git 标签回看：[v2.1.20261007](https://huggingface.co/datasets/Ryan0083/a2r/tree/v2.1.20261007) · [robodojo-single-action-20261009-v1](https://huggingface.co/datasets/Ryan0083/a2r/tree/robodojo-single-action-20261009-v1)。当前主库不以新旧版本划分数据目录。
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本次插入边界采用 1 个视觉模板、49 条实际 DTW 传播，逐条核对 50 条的配对动作，并对 12 条进行双视角分层抽查，无边界修正。这里导出单一插入核心动作，不增加前后上下文；原始 `no_tail` 保留，不声称通过前后各 2 秒的上下文验收。具体证据见 [插入批次](annotations/by-version/native-charger-insertion50-core-v1/manifest.json)。
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历史发布只通过 Git 标签回看：[v2.1.20261007](https://huggingface.co/datasets/Ryan0083/a2r/tree/v2.1.20261007) · [robodojo-single-action-20261009-v1](https://huggingface.co/datasets/Ryan0083/a2r/tree/robodojo-single-action-20261009-v1)。当前主库不以新旧版本划分数据目录。
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本次插入边界采用 1 个视觉模板、49 条实际 DTW 传播，逐条核对 50 条的配对动作，并对 12 条进行双视角分层抽查，无边界修正。这里导出单一插入核心动作，不增加前后上下文；原始 `no_tail` 保留，不声称通过前后各 2 秒的上下文验收。具体证据见 [插入批次](annotations/by-version/native-charger-insertion50-core-v1/manifest.json)。
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## 倒水操作臂标注（2026-10-13）
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`pour_liquid_into_cup` 的 50 条关键片段已逐条补齐 `active_arm` / `training_arm`：左臂 37 条、右臂 13 条。依据片段内原生 state/action 左右末端姿态及夹爪变化，并逐条查看俯视开始、中间、结束帧；左右含义按 `l_` / `r_` 原生字段，不按画面方向。证据见 `data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/verification.json`。原生双臂数值、视频和片段边界未改；该修订仅明确操作臂，不构成 Schema 正式准入。
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|
| 1 |
+
{
|
| 2 |
+
"annotation_version": "pour-arm-20261013",
|
| 3 |
+
"source_ref": {
|
| 4 |
+
"repo": "Ryan0083/a2r",
|
| 5 |
+
"revision": "1c092bf15f532237c9e0853a4fb302869a204da6",
|
| 6 |
+
"path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/"
|
| 7 |
+
},
|
| 8 |
+
"code_commit": "d9d36fceac18604e485aab0a02e5888294b22c88",
|
| 9 |
+
"episodes": [
|
| 10 |
+
{
|
| 11 |
+
"episode_index": 0,
|
| 12 |
+
"source_episode_index": 2400,
|
| 13 |
+
"segment_id": "35caa971-1103-5a54-ad0d-6c0be7d223ea",
|
| 14 |
+
"start_frame": 44,
|
| 15 |
+
"end_frame": 111,
|
| 16 |
+
"left": {
|
| 17 |
+
"state": {
|
| 18 |
+
"position_extent_m": 0.2013453927569772,
|
| 19 |
+
"rotation_extent_rad": 2.1852928424535767,
|
| 20 |
+
"gripper_extent": 0.012093305587768555,
|
| 21 |
+
"max_component_range": 0.7107747942209244
|
| 22 |
+
},
|
| 23 |
+
"action": {
|
| 24 |
+
"position_extent_m": 0.19995866822349856,
|
| 25 |
+
"rotation_extent_rad": 2.118279442828366,
|
| 26 |
+
"gripper_extent": 0.012093305587768555,
|
| 27 |
+
"max_component_range": 0.6983322277665138
|
| 28 |
+
}
|
| 29 |
+
},
|
| 30 |
+
"right": {
|
| 31 |
+
"state": {
|
| 32 |
+
"position_extent_m": 0.0,
|
| 33 |
+
"rotation_extent_rad": 0.0,
|
| 34 |
+
"gripper_extent": 0.0,
|
| 35 |
+
"max_component_range": 0.0
|
| 36 |
+
},
|
| 37 |
+
"action": {
|
| 38 |
+
"position_extent_m": 0.0,
|
| 39 |
+
"rotation_extent_rad": 4.2146848510894035e-08,
|
| 40 |
+
"gripper_extent": 0.0,
|
| 41 |
+
"max_component_range": 0.0
|
| 42 |
+
}
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data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/review_package/recipe.json
CHANGED
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The diff for this file is too large to render.
See raw diff
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data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/013e4d3f-3028-5beb-a049-f4c4a14b9b03.json
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@@ -106,7 +106,9 @@
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|
@@ -143,7 +145,61 @@
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|
| 143 |
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data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/05629890-c97b-55b9-bc02-434316dcb06b.json
CHANGED
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@@ -106,7 +106,9 @@
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| 106 |
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|
@@ -144,7 +146,61 @@
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| 144 |
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CHANGED
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@@ -143,7 +145,61 @@
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|
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data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/11a6e639-25e9-5f46-b654-9f83fa289016.json
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@@ -106,7 +106,9 @@
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|
@@ -142,7 +144,61 @@
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| 142 |
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| 144 |
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data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/1541ea46-54a6-563a-b17d-0f77d09ba8fb.json
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data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/1f9cfb13-8e39-5a84-8865-d57cf188902e.json
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data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/22bc000a-73a7-5f5a-b44f-d1a3c1a4c9e8.json
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data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/23d96ea8-aa13-5ec1-a1f1-5f8d48f6b71d.json
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data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/30986227-eda7-5afc-ae3e-db1bf9d92f43.json
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@@ -106,7 +106,9 @@
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|
@@ -150,7 +152,61 @@
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| 150 |
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data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/34f02e2c-16ff-5469-a1d3-e2b01f8e0d78.json
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|
@@ -142,7 +144,61 @@
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| 142 |
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data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/35101b3b-1687-5a8e-9d7d-ab73c73e2cbb.json
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@@ -106,7 +106,9 @@
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|
@@ -150,7 +152,61 @@
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| 150 |
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|
@@ -140,7 +142,61 @@
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|
| 140 |
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data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/38b93641-2f76-501f-b386-9eae9de4ece0.json
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@@ -106,7 +106,9 @@
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|
@@ -151,7 +153,61 @@
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| 151 |
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data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/447aa932-dccf-598e-abea-65c14fb8acb4.json
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@@ -106,7 +106,9 @@
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@@ -144,7 +146,61 @@
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data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/5132c409-0152-5cfb-ac31-8ba1200b6eb1.json
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@@ -106,7 +106,9 @@
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@@ -151,7 +153,61 @@
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|
| 151 |
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data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/67503655-d559-532e-b867-356888c5c9c4.json
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data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/6b04e3be-60b3-50e9-bf75-78fbdc06e58c.json
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| 142 |
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data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/8379387b-7366-523f-99c4-9224392d304f.json
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@@ -106,7 +106,9 @@
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|
@@ -142,7 +144,61 @@
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|
| 142 |
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| 144 |
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data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/8e1a1dc7-53db-5a2c-8fa9-f513ae7a118b.json
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@@ -106,7 +106,9 @@
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@@ -151,7 +153,61 @@
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| 151 |
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@@ -150,7 +152,61 @@
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| 152 |
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| 200 |
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| 201 |
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| 202 |
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|
| 203 |
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| 204 |
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|
| 205 |
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| 206 |
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| 207 |
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| 212 |
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data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/9aaa5b90-ea57-51dd-817d-d7064c106cb0.json
CHANGED
|
@@ -106,7 +106,9 @@
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|
| 106 |
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| 107 |
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| 108 |
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| 109 |
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| 110 |
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| 111 |
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| 112 |
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|
@@ -142,7 +144,61 @@
|
|
| 142 |
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|
| 143 |
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|
| 144 |
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| 145 |
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| 146 |
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| 106 |
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| 144 |
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