diff --git a/README.md b/README.md index b3e38aceec7139d1062571d151883f21c43552c2..a3be27df7d82be45c0c2800e20d7fce41d481bff 100644 --- a/README.md +++ b/README.md @@ -67,3 +67,7 @@ HF 的 `segments` 配置使用[展示表](data/index/segments_display.parquet) 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。 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)。 + +## 倒水操作臂标注（2026-10-13） + +`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。 diff --git a/SHA256SUMS b/SHA256SUMS index f96f47b8261468650dde125e0ca4e8a696e05447..b9fecb42fad706beb266b613bdb05868caca7484 100644 --- a/SHA256SUMS +++ b/SHA256SUMS @@ -1,4 +1,4 @@ -684b4dcfc1c27e438b091500715f944110f62b4a7215d753671c3bca3a53c050 README.md +8acb17c88f19be28daf4526a380a8d1481da7ae170268dec72eb8969fc6326e1 README.md 7a27f9552c399f826327c661015e9837007533ddab71823af62b1181ec72d824 annotations/by-version/contact-candidates-v1/contact_candidates.json 1043cb2ae362504eb41aed0733fd407aac1011bea3150f866bb6d806eb5437de annotations/by-version/contact-insertion-v1/contact-insertion-v1.json 3f8f78eb38c6bbcdd92c2489535d78a5ff394e3f44cb33bebe4994f0654530bd annotations/by-version/contact-insertion-v1/segments-contact-insertion-v1.parquet @@ -707,9 +707,9 @@ b42ae5eeb974c804c41709efc9aff5f8f6ed2988f7cb6788156c0af3baa62a86 annotations/by 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"visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-4.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } + }, + "active_arm": "left", + "training_arm": "left" }, { "episode_index": 2452, @@ -28940,8 +31572,64 @@ "annotator": "Codex visual frame inspection", "source_annotation_version": "recipe-sha256:c9823d93b1bc73ce2b0b6b5894306a65192eb79263e2cb76d9fa001720b4cbd2", "source_segment_id": "013e4d3f-3028-5beb-a049-f4c4a14b9b03", - "source_annotation_set": "robodojo-source-review-300-v1" - } + "source_annotation_set": "robodojo-source-review-300-v1", + "active_arm": "right", + "training_arm": "right", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 49, + 137 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + }, + "right": { + "state": { + "position_extent_m": 0.07888202420816882, + "rotation_extent_rad": 1.2207262162722208, + "gripper_extent": 0.014925956726074219, + "max_component_range": 0.38611018657684326 + }, + "action": { + "position_extent_m": 0.07999749415148483, + "rotation_extent_rad": 1.1758708468494494, + "gripper_extent": 0.014925956726074219, + "max_component_range": 0.3710170090198517 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 49, + 93, + 136 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-4.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } + }, + "active_arm": "right", + "training_arm": "right" }, { "episode_index": 2453, @@ -28980,8 +31668,64 @@ "annotator": "Codex visual frame inspection", "source_annotation_version": "recipe-sha256:c9823d93b1bc73ce2b0b6b5894306a65192eb79263e2cb76d9fa001720b4cbd2", "source_segment_id": "e71355f0-9d70-5800-9683-37c10b2e5709", - "source_annotation_set": "robodojo-source-review-300-v1" - } + "source_annotation_set": "robodojo-source-review-300-v1", + "active_arm": "left", + "training_arm": "left", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 43, + 121 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.06588110329502901, + "rotation_extent_rad": 1.0117219013309255, + "gripper_extent": 0.011224150657653809, + "max_component_range": 0.336260050535202 + }, + "action": { + "position_extent_m": 0.0622122876137452, + "rotation_extent_rad": 0.9964202351097731, + "gripper_extent": 0.011224150657653809, + "max_component_range": 0.3349381983280182 + } + }, + "right": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 43, + 82, + 120 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-4.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } + }, + "active_arm": "left", + "training_arm": "left" }, { "episode_index": 2454, @@ -29020,8 +31764,64 @@ "annotator": "Codex visual frame inspection", "source_annotation_version": "recipe-sha256:c9823d93b1bc73ce2b0b6b5894306a65192eb79263e2cb76d9fa001720b4cbd2", "source_segment_id": "b8e09c93-a78c-5d3b-9e15-8097a7ed0e12", - "source_annotation_set": "robodojo-source-review-300-v1" - } + "source_annotation_set": "robodojo-source-review-300-v1", + "active_arm": "left", + "training_arm": "left", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 69, + 165 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.03217292295418471, + "rotation_extent_rad": 0.8901066310631687, + "gripper_extent": 0.008438825607299805, + "max_component_range": 0.2873409241437912 + }, + "action": { + "position_extent_m": 0.03202847664730797, + "rotation_extent_rad": 0.8849524128322179, + "gripper_extent": 0.008438825607299805, + "max_component_range": 0.2866918742656708 + } + }, + "right": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 69, + 117, + 164 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-4.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } + }, + "active_arm": "left", + "training_arm": "left" }, { "episode_index": 600, diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/013e4d3f-3028-5beb-a049-f4c4a14b9b03.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/013e4d3f-3028-5beb-a049-f4c4a14b9b03.json index 8be9e71a4be2e9d75ecd2c33ba8cbb561607d418..b2cdca6be1089cbde06451ebca35ed9d0002176c 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/013e4d3f-3028-5beb-a049-f4c4a14b9b03.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/013e4d3f-3028-5beb-a049-f4c4a14b9b03.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "right", + "training_arm": "right" }, "review": { "episode_index": 2452, @@ -143,7 +145,61 @@ "notes": "第74帧首次可见入杯细流。第132–135帧细流逐渐淡出，第136帧可明确看到杯内液面与瓶口之间无连续液流，保守包含该帧。替换停止阶段严重遮挡的2417。 已逐条查看概览、杯口放大开始与结束逐帧图；采用可见液流停止的视觉估计，未等待瓶子回正或放回。此为视觉估计，不代表流量传感器、物理接触或任务成功真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "right", + "training_arm": "right", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 49, + 137 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + }, + "right": { + "state": { + "position_extent_m": 0.07888202420816882, + "rotation_extent_rad": 1.2207262162722208, + "gripper_extent": 0.014925956726074219, + "max_component_range": 0.38611018657684326 + }, + "action": { + "position_extent_m": 0.07999749415148483, + "rotation_extent_rad": 1.1758708468494494, + "gripper_extent": 0.014925956726074219, + "max_component_range": 0.3710170090198517 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 49, + 93, + 136 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-4.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } } }, "evidence_root": "https://huggingface.co/datasets/Ryan0083/a2r/resolve/d17c73ad67592c681bd2a784f50f51d5516e865b/", diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/05629890-c97b-55b9-bc02-434316dcb06b.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/05629890-c97b-55b9-bc02-434316dcb06b.json index f6e16f6110d59b5450756fe020ea2c34a7c152a0..b4e3037f007c81eb5ae9d2861e09cf97739376df 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/05629890-c97b-55b9-bc02-434316dcb06b.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/05629890-c97b-55b9-bc02-434316dcb06b.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "right", + "training_arm": "right" }, "review": { "episode_index": 2419, @@ -144,7 +146,61 @@ "notes": "第68帧蓝色细流进入杯内。第121帧杯口上方仍有极细竖线，可能为液流；第122帧起该竖线消失，取122为完成帧。 已逐条查看概览、杯口放大开始与结束逐帧图；采用可见液流停止的视觉估计，未等待瓶子回正或放回。此为视觉估计，不代表流量传感器、物理接触或任务成功真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "right", + "training_arm": "right", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 43, + 123 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + }, + "right": { + "state": { + "position_extent_m": 0.17421464069166076, + "rotation_extent_rad": 1.9479981931700017, + "gripper_extent": 0.00662463903427124, + "max_component_range": 0.5521866008639336 + }, + "action": { + "position_extent_m": 0.17360896695215486, + "rotation_extent_rad": 1.864748569457257, + "gripper_extent": 0.00448983907699585, + "max_component_range": 0.5372830405831337 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 43, + 83, + 122 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-1.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } } }, "evidence_root": "https://huggingface.co/datasets/Ryan0083/a2r/resolve/d17c73ad67592c681bd2a784f50f51d5516e865b/", diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/05ac9a32-b774-52e8-8dbf-af63179174dc.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/05ac9a32-b774-52e8-8dbf-af63179174dc.json index 2c03e1a3671219ac7012ef759fb694a9ecabda16..7a569210a08a5e8338ab56b12b8616798fca2ad4 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/05ac9a32-b774-52e8-8dbf-af63179174dc.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/05ac9a32-b774-52e8-8dbf-af63179174dc.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "left", + "training_arm": "left" }, "review": { "episode_index": 2418, @@ -143,7 +145,61 @@ "notes": "第61帧首次清晰看到蓝色细流进入杯内。第103–105帧瓶口下的极细流和杯壁反光难分；第106帧首次可明确看到瓶口下方无连续液流，保守包含该帧。 已逐条查看概览、杯口放大开始与结束逐帧图；采用可见液流停止的视觉估计，未等待瓶子回正或放回。此为视觉估计，不代表流量传感器、物理接触或任务成功真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "left", + "training_arm": "left", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 36, + 107 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.17390281544242928, + "rotation_extent_rad": 2.0862167923758514, + "gripper_extent": 0.007750093936920166, + "max_component_range": 0.6861347444355488 + }, + "action": { + "position_extent_m": 0.17463340470522018, + "rotation_extent_rad": 1.9670400313603353, + "gripper_extent": 0.007750093936920166, + "max_component_range": 0.6587168015539646 + } + }, + "right": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 36, + 71, + 106 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-1.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } } }, "evidence_root": "https://huggingface.co/datasets/Ryan0083/a2r/resolve/d17c73ad67592c681bd2a784f50f51d5516e865b/", diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/0952f17f-8f9d-5323-b6dc-199aa43392d8.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/0952f17f-8f9d-5323-b6dc-199aa43392d8.json index 084a7c4b45de777ef9f5d2da7b2348adecdebc4c..263d81ebef50981a81c905ba292613a1276e249e 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/0952f17f-8f9d-5323-b6dc-199aa43392d8.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/0952f17f-8f9d-5323-b6dc-199aa43392d8.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "left", + "training_arm": "left" }, "review": { "episode_index": 2412, @@ -142,7 +144,61 @@ "label_type": "visual_estimate", "physical_contact_verified": false, "independent_end_review": "Second visual review found no evident early truncation; uncertainty interval retained.", - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "left", + "training_arm": "left", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 40, + 108 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.15926362950528214, + "rotation_extent_rad": 1.737295750681167, + "gripper_extent": 0.014687180519104004, + "max_component_range": 0.4966910853981972 + }, + "action": { + "position_extent_m": 0.1588267047449133, + "rotation_extent_rad": 1.6624694406839915, + "gripper_extent": 0.014737725257873535, + "max_component_range": 0.48614586517214775 + } + }, + "right": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 0.0, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 40, + 74, + 107 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-0.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } } }, "evidence_root": "https://huggingface.co/datasets/Ryan0083/a2r/resolve/d17c73ad67592c681bd2a784f50f51d5516e865b/", diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/0e05524b-4f18-5133-ab06-0ab2048a65b0.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/0e05524b-4f18-5133-ab06-0ab2048a65b0.json index 7576d9a3015eec4604b67215e278499298d2309c..1b5728fdfd5692f9eaf64299b349d5e24ad34d56 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/0e05524b-4f18-5133-ab06-0ab2048a65b0.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/0e05524b-4f18-5133-ab06-0ab2048a65b0.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "left", + "training_arm": "left" }, "review": { "episode_index": 2408, @@ -143,7 +145,61 @@ "label_type": "visual_estimate", "physical_contact_verified": false, "independent_end_review": "Second visual review found no evident early truncation; uncertainty interval retained.", - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "left", + "training_arm": "left", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 76, + 165 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.06845136731717495, + "rotation_extent_rad": 1.3964594343461536, + "gripper_extent": 0.012113451957702637, + "max_component_range": 0.5161430835723877 + }, + "action": { + "position_extent_m": 0.06876788877488246, + "rotation_extent_rad": 1.350890015794576, + "gripper_extent": 0.012113451957702637, + "max_component_range": 0.5031769573688507 + } + }, + "right": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 0.0, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 76, + 120, + 164 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-0.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } } }, "evidence_root": "https://huggingface.co/datasets/Ryan0083/a2r/resolve/d17c73ad67592c681bd2a784f50f51d5516e865b/", diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/1061455a-463b-59e5-8ca9-84e9eac7c3f7.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/1061455a-463b-59e5-8ca9-84e9eac7c3f7.json index fa5d11e72e5f30cf02f10b4eb75aa9a5fe5e4cd1..18d6daad0e5e4386b8b66c1aa0d689159e6267ae 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/1061455a-463b-59e5-8ca9-84e9eac7c3f7.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/1061455a-463b-59e5-8ca9-84e9eac7c3f7.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "left", + "training_arm": "left" }, "review": { "episode_index": 2446, @@ -150,7 +152,61 @@ "notes": "54淡蓝液体进入杯内，55更明显；108–116液流消失，112已主要剩液面/杯内反光，不等待瓶口进一步插近杯口。 杯口起止邻域已经逐图检查。蓝色掩膜只用于提出待看帧，不作为语义真值；保存的是可见液流边界估计，不生成成功、接触或流量真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "left", + "training_arm": "left", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 29, + 113 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.1091253624540133, + "rotation_extent_rad": 2.14347292829704, + "gripper_extent": 0.023849844932556152, + "max_component_range": 0.6735325157642365 + }, + "action": { + "position_extent_m": 0.10319950700893976, + "rotation_extent_rad": 2.0247900615742425, + "gripper_extent": 0.02318328619003296, + "max_component_range": 0.629083089530468 + } + }, + "right": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 29, + 71, + 112 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-4.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } }, "source_frame_count": 213, "frame_count": 84 diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/11a6e639-25e9-5f46-b654-9f83fa289016.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/11a6e639-25e9-5f46-b654-9f83fa289016.json index a9cb944a220748751d2f966b10c090458809864e..360bde4b56da7dc5bd364e3ab4b64bf92101ea94 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/11a6e639-25e9-5f46-b654-9f83fa289016.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/11a6e639-25e9-5f46-b654-9f83fa289016.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "left", + "training_arm": "left" }, "review": { "episode_index": 2415, @@ -142,7 +144,61 @@ "notes": "第81帧液流抵达杯沿，第82帧清晰进入杯内。第121至125帧蓝色细流逐渐消失，取第124帧作为视觉停止估计，并披露细流与杯内反光的区分限制；没有取后续提瓶作为结束。 无流量/接触传感器，边界为视觉估计，不生成任务成功真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "left", + "training_arm": "left", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 57, + 125 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.1034679056569132, + "rotation_extent_rad": 1.1469090465282905, + "gripper_extent": 0.010453641414642334, + "max_component_range": 0.37499067187309265 + }, + "action": { + "position_extent_m": 0.10390161724396646, + "rotation_extent_rad": 1.136823176317058, + "gripper_extent": 0.010453641414642334, + "max_component_range": 0.3720017224550247 + } + }, + "right": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 57, + 91, + 124 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-1.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } } }, "evidence_root": "https://huggingface.co/datasets/Ryan0083/a2r/resolve/d17c73ad67592c681bd2a784f50f51d5516e865b/", diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/1541ea46-54a6-563a-b17d-0f77d09ba8fb.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/1541ea46-54a6-563a-b17d-0f77d09ba8fb.json index ad1f88c2884548a314fa1d0889e8d20ca40c14f1..ac813c1dfeb94937d99350ef8974b0a2f78e2f9d 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/1541ea46-54a6-563a-b17d-0f77d09ba8fb.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/1541ea46-54a6-563a-b17d-0f77d09ba8fb.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "right", + "training_arm": "right" }, "review": { "episode_index": 2413, @@ -141,7 +143,61 @@ "notes": "第68帧可辨认蓝色细流进入杯内，前一帧仅在杯沿出现。末段逐帧可见液流持续至第121帧，第122帧连续液流消失；瓶口没有遮住整个流路。 无流量/接触传感器，边界为视觉估计，不生成任务成功真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "right", + "training_arm": "right", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 43, + 123 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + }, + "right": { + "state": { + "position_extent_m": 0.09125083576408878, + "rotation_extent_rad": 1.5224272606735167, + "gripper_extent": 0.013848543167114258, + "max_component_range": 0.5328929424285889 + }, + "action": { + "position_extent_m": 0.09196078349222449, + "rotation_extent_rad": 1.4808179238003343, + "gripper_extent": 0.01224064826965332, + "max_component_range": 0.5184265226125717 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 43, + 83, + 122 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-1.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } } }, "evidence_root": "https://huggingface.co/datasets/Ryan0083/a2r/resolve/d17c73ad67592c681bd2a784f50f51d5516e865b/", diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/17f3ed5e-f258-5c30-bbcd-228fd2466fb5.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/17f3ed5e-f258-5c30-bbcd-228fd2466fb5.json index 23580a441f3c8f81b943c2f6b106bc1baf6e2647..19b246fc7efeb2e90979ddc9308279dfbbd5f9fa 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/17f3ed5e-f258-5c30-bbcd-228fd2466fb5.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/17f3ed5e-f258-5c30-bbcd-228fd2466fb5.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "left", + "training_arm": "left" }, "review": { "episode_index": 2403, @@ -140,7 +142,61 @@ "notes": "以蓝色液流首次进入杯内的视觉估计为锚点，保留之前25帧；截止到持续液流消失的视觉估计帧（包含该帧），不等待瓶子回正或放回。边界经两次独立视觉复核，存在渲染透明度和像素分辨率造成的不确定性；无流量/接触传感器，不生成物理事件或任务成功真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "left", + "training_arm": "left", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 42, + 121 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.13042801772534396, + "rotation_extent_rad": 1.7009060263902729, + "gripper_extent": 0.016578376293182373, + "max_component_range": 0.5064828917384148 + }, + "action": { + "position_extent_m": 0.12997503007207073, + "rotation_extent_rad": 1.6150523434328214, + "gripper_extent": 0.016578376293182373, + "max_component_range": 0.4955114349722862 + } + }, + "right": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 42, + 81, + 120 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-0.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } } }, "evidence_root": "https://huggingface.co/datasets/Ryan0083/a2r/resolve/d17c73ad67592c681bd2a784f50f51d5516e865b/", diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/1f9cfb13-8e39-5a84-8865-d57cf188902e.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/1f9cfb13-8e39-5a84-8865-d57cf188902e.json index 80fc0b8acd9b943e4714b1a2244bc18f79b8eef9..4d9017e4f82c1da1205f475d2b29e5a4b47f1b4a 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/1f9cfb13-8e39-5a84-8865-d57cf188902e.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/1f9cfb13-8e39-5a84-8865-d57cf188902e.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "left", + "training_arm": "left" }, "review": { "episode_index": 2425, @@ -148,7 +150,61 @@ "label_type": "visual_estimate", "physical_contact_verified": false, "independent_end_review": "Second reviewer inspected tight frame sheets; conservative completion boundary and visual uncertainty retained.", - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "left", + "training_arm": "left", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 75, + 205 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.08614414057942865, + "rotation_extent_rad": 1.0501048109120914, + "gripper_extent": 0.009280562400817871, + "max_component_range": 0.3869607746601105 + }, + "action": { + "position_extent_m": 0.08642605367360812, + "rotation_extent_rad": 1.0516904789003727, + "gripper_extent": 0.009280562400817871, + "max_component_range": 0.3879082351922989 + } + }, + "right": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 75, + 140, + 204 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-2.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } } }, "evidence_root": "https://huggingface.co/datasets/Ryan0083/a2r/resolve/d17c73ad67592c681bd2a784f50f51d5516e865b/", diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/22bc000a-73a7-5f5a-b44f-d1a3c1a4c9e8.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/22bc000a-73a7-5f5a-b44f-d1a3c1a4c9e8.json index 60f68516f54105f9c54ffd5b33e4688d4ad95597..3c0bdf62b071a870b747af9c780c1f8252b7feaa 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/22bc000a-73a7-5f5a-b44f-d1a3c1a4c9e8.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/22bc000a-73a7-5f5a-b44f-d1a3c1a4c9e8.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "right", + "training_arm": "right" }, "review": { "episode_index": 2411, @@ -143,7 +145,61 @@ "label_type": "visual_estimate", "physical_contact_verified": false, "independent_end_review": "Second visual review found no evident early truncation; uncertainty interval retained.", - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "right", + "training_arm": "right", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 69, + 140 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 0.0, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + }, + "right": { + "state": { + "position_extent_m": 0.0923368676484951, + "rotation_extent_rad": 1.2775517436296338, + "gripper_extent": 0.011426746845245361, + "max_component_range": 0.46469104290008545 + }, + "action": { + "position_extent_m": 0.08864057489780713, + "rotation_extent_rad": 1.2555697684694247, + "gripper_extent": 0.01136922836303711, + "max_component_range": 0.45961324870586395 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 69, + 104, + 139 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-0.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } } }, "evidence_root": "https://huggingface.co/datasets/Ryan0083/a2r/resolve/d17c73ad67592c681bd2a784f50f51d5516e865b/", diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/236a5c85-4bee-5e8a-b16f-91c61f67d78f.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/236a5c85-4bee-5e8a-b16f-91c61f67d78f.json index 9ac1e09b8d560bd81cca880a40ee1c89978c80e9..5b2d9c0fbfedbd3129fd3d4fd69a5d0f0fa451e6 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/236a5c85-4bee-5e8a-b16f-91c61f67d78f.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/236a5c85-4bee-5e8a-b16f-91c61f67d78f.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "left", + "training_arm": "left" }, "review": { "episode_index": 2407, @@ -143,7 +145,61 @@ "label_type": "visual_estimate", "physical_contact_verified": false, "independent_end_review": "Second visual review found no evident early truncation; uncertainty interval retained.", - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "left", + "training_arm": "left", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 71, + 135 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.09745500773938502, + "rotation_extent_rad": 1.4701344420910778, + "gripper_extent": 0.010706007480621338, + "max_component_range": 0.5957503989338875 + }, + "action": { + "position_extent_m": 0.09578257091691254, + "rotation_extent_rad": 1.4189483218941639, + "gripper_extent": 0.010749220848083496, + "max_component_range": 0.5791801959276199 + } + }, + "right": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 0.0, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 71, + 103, + 134 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-0.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } } }, "evidence_root": "https://huggingface.co/datasets/Ryan0083/a2r/resolve/d17c73ad67592c681bd2a784f50f51d5516e865b/", diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/23d96ea8-aa13-5ec1-a1f1-5f8d48f6b71d.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/23d96ea8-aa13-5ec1-a1f1-5f8d48f6b71d.json index 96a41c8432fba29a6d6b3cc913ba7988357b73cb..857a2633736efa7369e003046233b213f99ac76d 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/23d96ea8-aa13-5ec1-a1f1-5f8d48f6b71d.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/23d96ea8-aa13-5ec1-a1f1-5f8d48f6b71d.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "left", + "training_arm": "left" }, "review": { "episode_index": 2447, @@ -150,7 +152,61 @@ "notes": "94先见很淡的水，96首次明确入杯；174–182间极细液柱消失，保守取180。 杯口起止邻域已经逐图检查。蓝色掩膜只用于提出待看帧，不作为语义真值；保存的是可见液流边界估计，不生成成功、接触或流量真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "left", + "training_arm": "left", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 71, + 181 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.1343645898517817, + "rotation_extent_rad": 1.0159950855414908, + "gripper_extent": 0.016439974308013916, + "max_component_range": 0.32019008696079254 + }, + "action": { + "position_extent_m": 0.13415510694701213, + "rotation_extent_rad": 1.0066666801835729, + "gripper_extent": 0.016439974308013916, + "max_component_range": 0.30742621421813965 + } + }, + "right": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 71, + 126, + 180 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-4.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } }, "source_frame_count": 263, "frame_count": 110 diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/28367994-f6c4-5d99-bfcf-59f2b74322b2.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/28367994-f6c4-5d99-bfcf-59f2b74322b2.json index 7a5a66a82b9c609d5d98a6ab6911dff6c9be6023..e94122e33b3366069ee1dd976fd2a2f0b324132e 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/28367994-f6c4-5d99-bfcf-59f2b74322b2.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/28367994-f6c4-5d99-bfcf-59f2b74322b2.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "left", + "training_arm": "left" }, "review": { "episode_index": 2443, @@ -150,7 +152,61 @@ "notes": "71到杯沿，72首次明确入杯；154–160间瓶口至杯内细流消失，停止估计158。 杯口起止邻域已经逐图检查。蓝色掩膜只用于提出待看帧，不作为语义真值；保存的是可见液流边界估计，不生成成功、接触或流量真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "left", + "training_arm": "left", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 47, + 159 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.12119173052002868, + "rotation_extent_rad": 1.297721540850772, + "gripper_extent": 0.009617984294891357, + "max_component_range": 0.43983519077301025 + }, + "action": { + "position_extent_m": 0.12206031203065505, + "rotation_extent_rad": 1.2477153537750114, + "gripper_extent": 0.009617984294891357, + "max_component_range": 0.42071714997291565 + } + }, + "right": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 47, + 103, + 158 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-3.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } }, "source_frame_count": 246, "frame_count": 112 diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/2b06db9b-bfe5-57e3-848c-2d263b2d28ab.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/2b06db9b-bfe5-57e3-848c-2d263b2d28ab.json index bf168f058d59d6e9e5c23669fd06918976ee9d0e..e9b3955acde989c9b5a80eead2b385867159e26a 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/2b06db9b-bfe5-57e3-848c-2d263b2d28ab.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/2b06db9b-bfe5-57e3-848c-2d263b2d28ab.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "left", + "training_arm": "left" }, "review": { "episode_index": 2445, @@ -150,7 +152,61 @@ "notes": "66–67液体到杯沿，68进入杯内；瓶口下方极细流渐弱，156–164无法分辨精确停止帧，保守取162。 杯口起止邻域已经逐图检查。蓝色掩膜只用于提出待看帧，不作为语义真值；保存的是可见液流边界估计，不生成成功、接触或流量真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "left", + "training_arm": "left", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 43, + 163 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.13127446885477467, + "rotation_extent_rad": 1.4497259512002858, + "gripper_extent": 0.015024006366729736, + "max_component_range": 0.43960756063461304 + }, + "action": { + "position_extent_m": 0.12460069669701071, + "rotation_extent_rad": 1.3871057471736103, + "gripper_extent": 0.015024006366729736, + "max_component_range": 0.41983097791671753 + } + }, + "right": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 43, + 103, + 162 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-4.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } }, "source_frame_count": 230, "frame_count": 120 diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/2c20d88f-fd92-5cb1-8c21-ea76b94be37c.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/2c20d88f-fd92-5cb1-8c21-ea76b94be37c.json index 5b37324a6e93a6a11932b5e8e6c6dea7238ff8c0..e78ceec644de3d8cdcc7dffecb1f972aa91d22f1 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/2c20d88f-fd92-5cb1-8c21-ea76b94be37c.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/2c20d88f-fd92-5cb1-8c21-ea76b94be37c.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "right", + "training_arm": "right" }, "review": { "episode_index": 2449, @@ -150,7 +152,61 @@ "notes": "75水到杯沿，76首次明确进入杯内；末段细流变透明，140–148之间消失，保守取146。 杯口起止邻域已经逐图检查。蓝色掩膜只用于提出待看帧，不作为语义真值；保存的是可见液流边界估计，不生成成功、接触或流量真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "right", + "training_arm": "right", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 51, + 147 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + }, + "right": { + "state": { + "position_extent_m": 0.16251614216311505, + "rotation_extent_rad": 1.2407539028055492, + "gripper_extent": 0.0126112699508667, + "max_component_range": 0.38078533113002777 + }, + "action": { + "position_extent_m": 0.16266492004981656, + "rotation_extent_rad": 1.180066361848122, + "gripper_extent": 0.0126112699508667, + "max_component_range": 0.3587794452905655 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 51, + 99, + 146 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-4.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } }, "source_frame_count": 242, "frame_count": 96 diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/30986227-eda7-5afc-ae3e-db1bf9d92f43.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/30986227-eda7-5afc-ae3e-db1bf9d92f43.json index 093acebc76537822545336f696e82e1a550bf6d2..9a3eaa9b50f6d9133640a57c78ff269429625d52 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/30986227-eda7-5afc-ae3e-db1bf9d92f43.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/30986227-eda7-5afc-ae3e-db1bf9d92f43.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "left", + "training_arm": "left" }, "review": { "episode_index": 2434, @@ -150,7 +152,61 @@ "notes": "132先见杯沿淡蓝，134清楚进入杯内；208–216间瓶口下方持续液流消失，杯内蓝色反光不能当作继续流动。 杯口起止邻域已经逐图检查。蓝色掩膜只用于提出待看帧，不作为语义真值；保存的是可见液流边界估计，不生成成功、接触或流量真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "left", + "training_arm": "left", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 109, + 215 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.06268304259220946, + "rotation_extent_rad": 1.035001512577301, + "gripper_extent": 0.008308947086334229, + "max_component_range": 0.37877553701400757 + }, + "action": { + "position_extent_m": 0.06217671134882841, + "rotation_extent_rad": 1.0254887390151688, + "gripper_extent": 0.008308947086334229, + "max_component_range": 0.374873623251915 + } + }, + "right": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 109, + 162, + 214 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-2.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } }, "source_frame_count": 415, "frame_count": 106 diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/325bc408-86a6-53c6-b99b-306863ba53cf.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/325bc408-86a6-53c6-b99b-306863ba53cf.json index 84a7f62cc1728a55b71a3cf000558ad29ccfd2ab..4c847fa6d64db797ad65614d6785c6382c282c1a 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/325bc408-86a6-53c6-b99b-306863ba53cf.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/325bc408-86a6-53c6-b99b-306863ba53cf.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "left", + "training_arm": "left" }, "review": { "episode_index": 2428, @@ -151,7 +153,61 @@ "notes": "80首次清楚见液流进入杯内；150后液流很细，158已无可辨持续液柱。 杯口起止邻域已经逐图检查。蓝色掩膜只用于提出待看帧，不作为语义真值；保存的是可见液流边界估计，不生成成功、接触或流量真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "left", + "training_arm": "left", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 55, + 159 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.10065443067959377, + "rotation_extent_rad": 1.2604846956507991, + "gripper_extent": 0.009742498397827148, + "max_component_range": 0.4886770397424698 + }, + "action": { + "position_extent_m": 0.0996024839506615, + "rotation_extent_rad": 1.2067602627490104, + "gripper_extent": 0.009806811809539795, + "max_component_range": 0.4569550082087517 + } + }, + "right": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 55, + 107, + 158 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-2.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } }, "source_frame_count": 302, "frame_count": 104 diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/34f02e2c-16ff-5469-a1d3-e2b01f8e0d78.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/34f02e2c-16ff-5469-a1d3-e2b01f8e0d78.json index 47f57f826b3b9dc1dbabe2e6fc8c94d93f5bfa6e..5e4e38496d45f088d29324fc9fc048e1ff7942e9 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/34f02e2c-16ff-5469-a1d3-e2b01f8e0d78.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/34f02e2c-16ff-5469-a1d3-e2b01f8e0d78.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "left", + "training_arm": "left" }, "review": { "episode_index": 2423, @@ -142,7 +144,61 @@ "notes": "第64帧首次可见蓝色细流进入杯内。第114–115帧细流接近透明，第116帧可辨认杯内连续液流已经消失；保留114–118帧视觉不确定区间。 已逐条查看概览、杯口放大开始与结束逐帧图；采用可见液流停止的视觉估计，未等待瓶子回正或放回。此为视觉估计，不代表流量传感器、物理接触或任务成功真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "left", + "training_arm": "left", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 39, + 117 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.130914882033088, + "rotation_extent_rad": 2.138005119779932, + "gripper_extent": 0.011086702346801758, + "max_component_range": 0.6410561054944992 + }, + "action": { + "position_extent_m": 0.13284213878293316, + "rotation_extent_rad": 2.0100449191822434, + "gripper_extent": 0.011402010917663574, + "max_component_range": 0.5951742976903915 + } + }, + "right": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 39, + 78, + 116 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-1.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } } }, "evidence_root": "https://huggingface.co/datasets/Ryan0083/a2r/resolve/d17c73ad67592c681bd2a784f50f51d5516e865b/", diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/35101b3b-1687-5a8e-9d7d-ab73c73e2cbb.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/35101b3b-1687-5a8e-9d7d-ab73c73e2cbb.json index c7884e9cb5b2c39c5f3b2d544a5cd1a6135a9499..78a863dd2fd6aa785cf3dbd6b61053a9a3f41b3e 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/35101b3b-1687-5a8e-9d7d-ab73c73e2cbb.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/35101b3b-1687-5a8e-9d7d-ab73c73e2cbb.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "left", + "training_arm": "left" }, "review": { "episode_index": 2439, @@ -150,7 +152,61 @@ "notes": "94–97液体主要在瓶口与杯边，98清楚进入杯内；蓝色反光使末尾较难分，扩展检查至166，停止估计164。 杯口起止邻域已经逐图检查。蓝色掩膜只用于提出待看帧，不作为语义真值；保存的是可见液流边界估计，不生成成功、接触或流量真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "left", + "training_arm": "left", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 73, + 165 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.06547730342626738, + "rotation_extent_rad": 0.868216001515944, + "gripper_extent": 0.010064840316772461, + "max_component_range": 0.2916213870048523 + }, + "action": { + "position_extent_m": 0.06185968428430696, + "rotation_extent_rad": 0.8540093108512613, + "gripper_extent": 0.010064840316772461, + "max_component_range": 0.2854064106941223 + } + }, + "right": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 73, + 119, + 164 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-3.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } }, "source_frame_count": 233, "frame_count": 92 diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/35caa971-1103-5a54-ad0d-6c0be7d223ea.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/35caa971-1103-5a54-ad0d-6c0be7d223ea.json index 050eaf3aaa973cd5517067fccb4c9de037e35994..bb78fd1f98c992c1f80c4f7878ff3c81fa2d88d1 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/35caa971-1103-5a54-ad0d-6c0be7d223ea.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/35caa971-1103-5a54-ad0d-6c0be7d223ea.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "left", + "training_arm": "left" }, "review": { "episode_index": 2400, @@ -140,7 +142,61 @@ "notes": "以蓝色液流首次进入杯内的视觉估计为锚点，保留之前25帧；截止到持续液流消失的视觉估计帧（包含该帧），不等待瓶子回正或放回。边界经两次独立视觉复核，存在渲染透明度和像素分辨率造成的不确定性；无流量/接触传感器，不生成物理事件或任务成功真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "left", + "training_arm": "left", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 44, + 111 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.2013453927569772, + "rotation_extent_rad": 2.1852928424535767, + "gripper_extent": 0.012093305587768555, + "max_component_range": 0.7107747942209244 + }, + "action": { + "position_extent_m": 0.19995866822349856, + "rotation_extent_rad": 2.118279442828366, + "gripper_extent": 0.012093305587768555, + "max_component_range": 0.6983322277665138 + } + }, + "right": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 0.0, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 44, + 77, + 110 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-0.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } } }, "evidence_root": "https://huggingface.co/datasets/Ryan0083/a2r/resolve/d17c73ad67592c681bd2a784f50f51d5516e865b/", diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/38b93641-2f76-501f-b386-9eae9de4ece0.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/38b93641-2f76-501f-b386-9eae9de4ece0.json index 17561f23c9117077c9f17e8b8a89fe65551c2244..ff7ff3e6661500f59ceb48739e8bf4ad5f02d6ad 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/38b93641-2f76-501f-b386-9eae9de4ece0.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/38b93641-2f76-501f-b386-9eae9de4ece0.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "left", + "training_arm": "left" }, "review": { "episode_index": 2429, @@ -151,7 +153,61 @@ "notes": "108先出现半透明细流，110蓝色更清楚；以细流消失区间估计216，不等机械臂回位。 杯口起止邻域已经逐图检查。蓝色掩膜只用于提出待看帧，不作为语义真值；保存的是可见液流边界估计，不生成成功、接触或流量真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "left", + "training_arm": "left", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 83, + 217 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.08598161787745695, + "rotation_extent_rad": 0.8165564722516541, + "gripper_extent": 0.009266912937164307, + "max_component_range": 0.3159400075674057 + }, + "action": { + "position_extent_m": 0.0863243018622728, + "rotation_extent_rad": 0.8110677173491301, + "gripper_extent": 0.009429335594177246, + "max_component_range": 0.3144442141056061 + } + }, + "right": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 83, + 150, + 216 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-2.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } }, "source_frame_count": 365, "frame_count": 134 diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/447aa932-dccf-598e-abea-65c14fb8acb4.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/447aa932-dccf-598e-abea-65c14fb8acb4.json index 00bdc9719a2755d8ae6a18b1d459136cddc7f48b..588dcbd3e45095436bbdc74d1bf6c99518245b05 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/447aa932-dccf-598e-abea-65c14fb8acb4.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/447aa932-dccf-598e-abea-65c14fb8acb4.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "left", + "training_arm": "left" }, "review": { "episode_index": 2420, @@ -144,7 +146,61 @@ "notes": "第80–83帧极浅蓝液流与杯内阴影接近，取第82帧可辨认的初始入杯液流为锚点。第127–129帧为残余细流消失区间，保守包含第130帧。 已逐条查看概览、杯口放大开始与结束逐帧图；采用可见液流停止的视觉估计，未等待瓶子回正或放回。此为视觉估计，不代表流量传感器、物理接触或任务成功真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "left", + "training_arm": "left", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 57, + 131 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.1067073711870116, + "rotation_extent_rad": 1.188799400691993, + "gripper_extent": 0.013550937175750732, + "max_component_range": 0.44406989216804504 + }, + "action": { + "position_extent_m": 0.10756618207265321, + "rotation_extent_rad": 1.157499922936538, + "gripper_extent": 0.013550937175750732, + "max_component_range": 0.43466055393218994 + } + }, + "right": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 57, + 94, + 130 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-1.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } } }, "evidence_root": "https://huggingface.co/datasets/Ryan0083/a2r/resolve/d17c73ad67592c681bd2a784f50f51d5516e865b/", diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/48aaa2a5-4411-5cec-807e-a3728a1e658c.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/48aaa2a5-4411-5cec-807e-a3728a1e658c.json index c8cf2f240b2d2f6d8529917ac04c559b774705a8..2aaa8226487dbd7567fe200e35dc0f557c50e4f9 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/48aaa2a5-4411-5cec-807e-a3728a1e658c.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/48aaa2a5-4411-5cec-807e-a3728a1e658c.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "left", + "training_arm": "left" }, "review": { "episode_index": 2451, @@ -145,7 +147,61 @@ "label_type": "visual_estimate", "physical_contact_verified": false, "independent_end_review": "Second reviewer inspected tight frame sheets; conservative completion boundary and visual uncertainty retained.", - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "left", + "training_arm": "left", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 67, + 161 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.1291827525435985, + "rotation_extent_rad": 1.1183240680183484, + "gripper_extent": 0.0066852569580078125, + "max_component_range": 0.35229843854904175 + }, + "action": { + "position_extent_m": 0.1279850509503638, + "rotation_extent_rad": 1.103521378919734, + "gripper_extent": 0.0066852569580078125, + "max_component_range": 0.35131098330020905 + } + }, + "right": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 67, + 114, + 160 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-4.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } } }, "evidence_root": "https://huggingface.co/datasets/Ryan0083/a2r/resolve/d17c73ad67592c681bd2a784f50f51d5516e865b/", diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/5132c409-0152-5cfb-ac31-8ba1200b6eb1.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/5132c409-0152-5cfb-ac31-8ba1200b6eb1.json index 5ade52d4fb5ec0e534d932329717e7c30ed3763c..9464a7c4a0057b416b2d1b8449868bd2bdd9ffef 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/5132c409-0152-5cfb-ac31-8ba1200b6eb1.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/5132c409-0152-5cfb-ac31-8ba1200b6eb1.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "right", + "training_arm": "right" }, "review": { "episode_index": 2426, @@ -151,7 +153,61 @@ "notes": "灰杯，末段细流逐渐消失；保守保留至224，后续腕部转到杯前不是倒水结束依据。 杯口起止邻域已经逐图检查。蓝色掩膜只用于提出待看帧，不作为语义真值；保存的是可见液流边界估计，不生成成功、接触或流量真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "right", + "training_arm": "right", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 97, + 225 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + }, + "right": { + "state": { + "position_extent_m": 0.07083728158551203, + "rotation_extent_rad": 1.0275846685068786, + "gripper_extent": 0.015674710273742676, + "max_component_range": 0.34861358255147934 + }, + "action": { + "position_extent_m": 0.07130953418974167, + "rotation_extent_rad": 1.0246349877527139, + "gripper_extent": 0.015674710273742676, + "max_component_range": 0.34693147242069244 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 97, + 161, + 224 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-2.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } }, "source_frame_count": 491, "frame_count": 128 diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/545a9cf5-c77b-539b-bd2a-9a59bcbe823c.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/545a9cf5-c77b-539b-bd2a-9a59bcbe823c.json index 914bed40b81e2c3debb20d7b81ee8225507cb57d..d86089e774691f807cf6fab777393e3fb4fe477c 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/545a9cf5-c77b-539b-bd2a-9a59bcbe823c.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/545a9cf5-c77b-539b-bd2a-9a59bcbe823c.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "left", + "training_arm": "left" }, "review": { "episode_index": 2432, @@ -150,7 +152,61 @@ "notes": "124液流到杯内，125更明显；172至178细流停止并有少量外溅水，保留至176，不将外溅赋为失败标签。 杯口起止邻域已经逐图检查。蓝色掩膜只用于提出待看帧，不作为语义真值；保存的是可见液流边界估计，不生成成功、接触或流量真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "left", + "training_arm": "left", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 99, + 177 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.07828375210474255, + "rotation_extent_rad": 1.021485638675807, + "gripper_extent": 0.013829410076141357, + "max_component_range": 0.39707455039024353 + }, + "action": { + "position_extent_m": 0.07833755517635754, + "rotation_extent_rad": 1.0069996519547137, + "gripper_extent": 0.013829410076141357, + "max_component_range": 0.389132022857666 + } + }, + "right": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 99, + 138, + 176 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-2.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } }, "source_frame_count": 415, "frame_count": 78 diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/60103065-326f-566f-8b75-2df31eb5eb47.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/60103065-326f-566f-8b75-2df31eb5eb47.json index d2e75b423362be72ef7edb57e1dae70fedd4dace..16d0d59c952f828545a6cbb4f3887b83135773d5 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/60103065-326f-566f-8b75-2df31eb5eb47.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/60103065-326f-566f-8b75-2df31eb5eb47.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "left", + "training_arm": "left" }, "review": { "episode_index": 2448, @@ -150,7 +152,61 @@ "notes": "74淡蓝出现在杯内，75更清晰；150–158极细流渐消失，取156，腕部靠近杯口后的反光不视为流水。 杯口起止邻域已经逐图检查。蓝色掩膜只用于提出待看帧，不作为语义真值；保存的是可见液流边界估计，不生成成功、接触或流量真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "left", + "training_arm": "left", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 50, + 157 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.10854985844760084, + "rotation_extent_rad": 1.734708387341127, + "gripper_extent": 0.017991185188293457, + "max_component_range": 0.5377716720104218 + }, + "action": { + "position_extent_m": 0.10674804781490983, + "rotation_extent_rad": 1.6435498393749386, + "gripper_extent": 0.017991185188293457, + "max_component_range": 0.5070245265960693 + } + }, + "right": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 50, + 103, + 156 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-4.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } }, "source_frame_count": 230, "frame_count": 107 diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/61ced8e0-4190-521f-b6d4-f4f5c998d281.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/61ced8e0-4190-521f-b6d4-f4f5c998d281.json index 1540671081502347056c0ee8d11c0adc01399901..7b7c2a27da2aab14075a0e7f08c872a4437f8ccd 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/61ced8e0-4190-521f-b6d4-f4f5c998d281.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/61ced8e0-4190-521f-b6d4-f4f5c998d281.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "left", + "training_arm": "left" }, "review": { "episode_index": 2421, @@ -142,7 +144,61 @@ "notes": "第74–75帧蓝色液体位于杯沿，第76帧明确进入杯内。第131–135帧透明细流和杯内阴影难分；第136帧首次明确看到瓶口与杯内之间无连续液流，保守包含该帧。 已逐条查看概览、杯口放大开始与结束逐帧图；采用可见液流停止的视觉估计，未等待瓶子回正或放回。此为视觉估计，不代表流量传感器、物理接触或任务成功真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "left", + "training_arm": "left", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 51, + 137 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.1437874763503013, + "rotation_extent_rad": 1.3906946826732212, + "gripper_extent": 0.01294565200805664, + "max_component_range": 0.5300812944769859 + }, + "action": { + "position_extent_m": 0.15214652984400653, + "rotation_extent_rad": 1.3523259360077535, + "gripper_extent": 0.01294565200805664, + "max_component_range": 0.5203591361641884 + } + }, + "right": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 51, + 94, + 136 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-1.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } } }, "evidence_root": "https://huggingface.co/datasets/Ryan0083/a2r/resolve/d17c73ad67592c681bd2a784f50f51d5516e865b/", diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/67503655-d559-532e-b867-356888c5c9c4.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/67503655-d559-532e-b867-356888c5c9c4.json index 15f4d1ce51cb927b8c35b88573b960e658bfd7a8..8d0d34c99010d3f0c616d571fb9b103655916aae 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/67503655-d559-532e-b867-356888c5c9c4.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/67503655-d559-532e-b867-356888c5c9c4.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "right", + "training_arm": "right" }, "review": { "episode_index": 2437, @@ -150,7 +152,61 @@ "notes": "109可见蓝色液滴/液流进入杯内；182后瓶口至杯沿间液流消失，184保留停止帧。 杯口起止邻域已经逐图检查。蓝色掩膜只用于提出待看帧，不作为语义真值；保存的是可见液流边界估计，不生成成功、接触或流量真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "right", + "training_arm": "right", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 84, + 185 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + }, + "right": { + "state": { + "position_extent_m": 0.12783743271704004, + "rotation_extent_rad": 1.0077959419104279, + "gripper_extent": 0.0126878023147583, + "max_component_range": 0.3226323276758194 + }, + "action": { + "position_extent_m": 0.1298521588599576, + "rotation_extent_rad": 0.9920704905841403, + "gripper_extent": 0.0126878023147583, + "max_component_range": 0.3168041855096817 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 84, + 134, + 184 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-3.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } }, "source_frame_count": 283, "frame_count": 101 diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/6b04e3be-60b3-50e9-bf75-78fbdc06e58c.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/6b04e3be-60b3-50e9-bf75-78fbdc06e58c.json index 45d8ec559656cb37c20f1fabf2011699de68df31..59428cce6af0ccc84dbacae637e25de5f92db914 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/6b04e3be-60b3-50e9-bf75-78fbdc06e58c.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/6b04e3be-60b3-50e9-bf75-78fbdc06e58c.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "left", + "training_arm": "left" }, "review": { "episode_index": 2405, @@ -142,7 +144,61 @@ "notes": "以蓝色液流首次进入杯内的视觉估计为锚点，保留之前25帧；截止到持续液流消失的视觉估计帧（包含该帧），不等待瓶子回正或放回。边界经两次独立视觉复核，存在渲染透明度和像素分辨率造成的不确定性；无流量/接触传感器，不生成物理事件或任务成功真值。 第192至200帧的极细流与杯内反光较难区分，保守保留到第200帧。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "left", + "training_arm": "left", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 67, + 201 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.0998274219385468, + "rotation_extent_rad": 1.0473937281193697, + "gripper_extent": 0.01162862777709961, + "max_component_range": 0.38628028333187103 + }, + "action": { + "position_extent_m": 0.09963084001094716, + "rotation_extent_rad": 1.0003463491961777, + "gripper_extent": 0.01162862777709961, + "max_component_range": 0.3666810691356659 + } + }, + "right": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 0.0, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 67, + 134, + 200 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-0.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } } }, "evidence_root": "https://huggingface.co/datasets/Ryan0083/a2r/resolve/d17c73ad67592c681bd2a784f50f51d5516e865b/", diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/6ef1166a-c7ab-5697-801f-f541ce24ddb0.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/6ef1166a-c7ab-5697-801f-f541ce24ddb0.json index a14292f3f0596501c13b33dccb50b830782bf26e..7683b83ec801252748fe5fe7e471fc54c9961a1c 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/6ef1166a-c7ab-5697-801f-f541ce24ddb0.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/6ef1166a-c7ab-5697-801f-f541ce24ddb0.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "right", + "training_arm": "right" }, "review": { "episode_index": 2440, @@ -156,7 +158,61 @@ "source_video_frames": 208, "cropped_range_intersects_missing_last_source_frame": false }, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "right", + "training_arm": "right", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 43, + 139 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + }, + "right": { + "state": { + "position_extent_m": 0.13013726376361034, + "rotation_extent_rad": 1.537694708604571, + "gripper_extent": 0.014977037906646729, + "max_component_range": 0.41883206367492676 + }, + "action": { + "position_extent_m": 0.13128842267312962, + "rotation_extent_rad": 1.4592365211514753, + "gripper_extent": 0.014977037906646729, + "max_component_range": 0.39584091305732727 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 43, + 91, + 138 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-3.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } }, "source_frame_count": 209, "frame_count": 96 diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/7552d649-6c73-5d34-ab8e-d947f5ab9732.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/7552d649-6c73-5d34-ab8e-d947f5ab9732.json index 742d289e8150f01e85711f53aa7114663bc39abb..1891d71844e2fd2dfcfcd48621553d7665d98a0d 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/7552d649-6c73-5d34-ab8e-d947f5ab9732.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/7552d649-6c73-5d34-ab8e-d947f5ab9732.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "left", + "training_arm": "left" }, "review": { "episode_index": 2427, @@ -151,7 +153,61 @@ "notes": "120首次出现淡色细流进入杯内，122更清晰；结束细流与内壁反光接近，保守取218。 杯口起止邻域已经逐图检查。蓝色掩膜只用于提出待看帧，不作为语义真值；保存的是可见液流边界估计，不生成成功、接触或流量真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "left", + "training_arm": "left", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 95, + 219 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.07245091866091367, + "rotation_extent_rad": 0.8355789684664524, + "gripper_extent": 0.009111285209655762, + "max_component_range": 0.29237671196460724 + }, + "action": { + "position_extent_m": 0.07358381027056349, + "rotation_extent_rad": 0.8305333002721218, + "gripper_extent": 0.009111285209655762, + "max_component_range": 0.2896742671728134 + } + }, + "right": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 95, + 157, + 218 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-2.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } }, "source_frame_count": 349, "frame_count": 124 diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/7b2536e2-3745-528e-8918-a80fac552ba0.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/7b2536e2-3745-528e-8918-a80fac552ba0.json index 339ab0d1a72675774b782948fc47664a2d863e30..11e7e1538fd7f23a040904005ccaf36c06bdb74a 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/7b2536e2-3745-528e-8918-a80fac552ba0.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/7b2536e2-3745-528e-8918-a80fac552ba0.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "left", + "training_arm": "left" }, "review": { "episode_index": 2430, @@ -152,7 +154,61 @@ "notes": "白色杯壁使最初透明水柱与反光难区分，补看88–107帧；结束缓慢变细，保守取199。 杯口起止邻域已经逐图检查。蓝色掩膜只用于提出待看帧，不作为语义真值；保存的是可见液流边界估计，不生成成功、接触或流量真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "left", + "training_arm": "left", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 69, + 200 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.07103263284120642, + "rotation_extent_rad": 0.8897997212976787, + "gripper_extent": 0.04844248294830322, + "max_component_range": 0.3406768888235092 + }, + "action": { + "position_extent_m": 0.07195908491476312, + "rotation_extent_rad": 0.8747631852660741, + "gripper_extent": 0.04844248294830322, + "max_component_range": 0.3371239900588989 + } + }, + "right": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 69, + 134, + 199 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-2.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } }, "source_frame_count": 376, "frame_count": 131 diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/7f148bbf-4093-562b-9929-46dba6e5733d.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/7f148bbf-4093-562b-9929-46dba6e5733d.json index f8062af0df6db5c0038a1916d741523cedac333e..c7cf4d39ee2f6f14077d5916ad7cbc9e6e51bc10 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/7f148bbf-4093-562b-9929-46dba6e5733d.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/7f148bbf-4093-562b-9929-46dba6e5733d.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "left", + "training_arm": "left" }, "review": { "episode_index": 2404, @@ -139,7 +141,61 @@ "notes": "以蓝色液流首次进入杯内的视觉估计为锚点，保留之前25帧；截止到持续液流消失的视觉估计帧（包含该帧），不等待瓶子回正或放回。边界经两次独立视觉复核，存在渲染透明度和像素分辨率造成的不确定性；无流量/接触传感器，不生成物理事件或任务成功真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "left", + "training_arm": "left", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 76, + 157 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.060171363991681034, + "rotation_extent_rad": 1.135077711870492, + "gripper_extent": 0.011345148086547852, + "max_component_range": 0.4058447927236557 + }, + "action": { + "position_extent_m": 0.05778768527939066, + "rotation_extent_rad": 1.0958469566020361, + "gripper_extent": 0.011345148086547852, + "max_component_range": 0.39475885033607483 + } + }, + "right": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 0.0, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 76, + 116, + 156 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-0.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } } }, "evidence_root": "https://huggingface.co/datasets/Ryan0083/a2r/resolve/d17c73ad67592c681bd2a784f50f51d5516e865b/", diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/8379387b-7366-523f-99c4-9224392d304f.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/8379387b-7366-523f-99c4-9224392d304f.json index 54bf0c53c5c8d0adcd738eac83945fd0dad36ee8..01cb601cd7370cf1e9562068df32ff3885661100 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/8379387b-7366-523f-99c4-9224392d304f.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/8379387b-7366-523f-99c4-9224392d304f.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "right", + "training_arm": "right" }, "review": { "episode_index": 2424, @@ -142,7 +144,61 @@ "notes": "第72帧液体刚出瓶口，尚未明确进入杯内；第74帧开始进入杯内，第75帧更清晰。第127–129帧仅剩难辨细流，第130帧可明确看见瓶口与杯内之间无连续液流，保守包含该帧。 已逐条查看概览、杯口放大开始与结束逐帧图；采用可见液流停止的视觉估计，未等待瓶子回正或放回。此为视觉估计，不代表流量传感器、物理接触或任务成功真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "right", + "training_arm": "right", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 49, + 131 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + }, + "right": { + "state": { + "position_extent_m": 0.12968528553781586, + "rotation_extent_rad": 1.4454838753978285, + "gripper_extent": 0.027823984622955322, + "max_component_range": 0.5534802488982677 + }, + "action": { + "position_extent_m": 0.12968295146523726, + "rotation_extent_rad": 1.431192984517717, + "gripper_extent": 0.027823984622955322, + "max_component_range": 0.5534434001892805 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 49, + 90, + 130 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-1.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } } }, "evidence_root": "https://huggingface.co/datasets/Ryan0083/a2r/resolve/d17c73ad67592c681bd2a784f50f51d5516e865b/", diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/8e1a1dc7-53db-5a2c-8fa9-f513ae7a118b.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/8e1a1dc7-53db-5a2c-8fa9-f513ae7a118b.json index 9ef66bd0b668ae375e5867014118bcd2146943f0..d7c028767a2a102ef375911828356b44fca5b112 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/8e1a1dc7-53db-5a2c-8fa9-f513ae7a118b.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/8e1a1dc7-53db-5a2c-8fa9-f513ae7a118b.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "left", + "training_arm": "left" }, "review": { "episode_index": 2435, @@ -151,7 +153,61 @@ "notes": "64先见淡色液流进入杯内；补看150–167帧确认杯内斜蓝色仍在但瓶口已离开，是液面/反光而非持续入杯流；停止约139–147，保守取145。 杯口起止邻域已经逐图检查。蓝色掩膜只用于提出待看帧，不作为语义真值；保存的是可见液流边界估计，不生成成功、接触或流量真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "left", + "training_arm": "left", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 39, + 146 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.13268310808581044, + "rotation_extent_rad": 1.3318031459508621, + "gripper_extent": 0.03685837984085083, + "max_component_range": 0.4257165640592575 + }, + "action": { + "position_extent_m": 0.1301595483239006, + "rotation_extent_rad": 1.3156708691543362, + "gripper_extent": 0.03685837984085083, + "max_component_range": 0.42279140651226044 + } + }, + "right": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 39, + 92, + 145 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-3.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } }, "source_frame_count": 183, "frame_count": 107 diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/954af9e7-9564-5cc9-a9c0-5eece7b765bc.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/954af9e7-9564-5cc9-a9c0-5eece7b765bc.json index 7dd2a49799fb21d21101df68d594c32304c0843d..02caac846ea3d2576099a7a1239da3deadfc64a8 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/954af9e7-9564-5cc9-a9c0-5eece7b765bc.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/954af9e7-9564-5cc9-a9c0-5eece7b765bc.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "left", + "training_arm": "left" }, "review": { "episode_index": 2444, @@ -150,7 +152,61 @@ "notes": "64水到杯沿，65透明水柱进入杯内、66更明确；122–130液柱渐消失，杯内反光保留，取126。 杯口起止邻域已经逐图检查。蓝色掩膜只用于提出待看帧，不作为语义真值；保存的是可见液流边界估计，不生成成功、接触或流量真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "left", + "training_arm": "left", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 40, + 127 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.16050570000167047, + "rotation_extent_rad": 1.8509355171276258, + "gripper_extent": 0.027013123035430908, + "max_component_range": 0.5533699691295624 + }, + "action": { + "position_extent_m": 0.1505573807993679, + "rotation_extent_rad": 1.783812988082174, + "gripper_extent": 0.025413811206817627, + "max_component_range": 0.5245503485202789 + } + }, + "right": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 40, + 83, + 126 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-3.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } }, "source_frame_count": 212, "frame_count": 87 diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/9aaa5b90-ea57-51dd-817d-d7064c106cb0.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/9aaa5b90-ea57-51dd-817d-d7064c106cb0.json index 1c3c0e7e9f868b06dcdead9c0c7f18d85fb11247..b87c5f5b4dea67a7946faa3c8ad1956fbe33c505 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/9aaa5b90-ea57-51dd-817d-d7064c106cb0.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/9aaa5b90-ea57-51dd-817d-d7064c106cb0.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "left", + "training_arm": "left" }, "review": { "episode_index": 2422, @@ -142,7 +144,61 @@ "notes": "第82–83帧可见浅蓝迹象，第84帧出现可辨认入杯细流。第123–125帧残余细流变淡；第126帧瓶口下方已不见连续液流，包含该帧。 已逐条查看概览、杯口放大开始与结束逐帧图；采用可见液流停止的视觉估计，未等待瓶子回正或放回。此为视觉估计，不代表流量传感器、物理接触或任务成功真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "left", + "training_arm": "left", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 59, + 127 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.10527775499597124, + "rotation_extent_rad": 1.1747099543147719, + "gripper_extent": 0.010046243667602539, + "max_component_range": 0.44995272904634476 + }, + "action": { + "position_extent_m": 0.10255466996936499, + "rotation_extent_rad": 1.158026252208414, + "gripper_extent": 0.010046243667602539, + "max_component_range": 0.44346024096012115 + } + }, + "right": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 59, + 93, + 126 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-1.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } } }, "evidence_root": "https://huggingface.co/datasets/Ryan0083/a2r/resolve/d17c73ad67592c681bd2a784f50f51d5516e865b/", diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/a789c6e4-96e3-56e2-995a-e372b75529eb.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/a789c6e4-96e3-56e2-995a-e372b75529eb.json index 2c3ab966e15023c9568937e8265f87b993b9a026..37dd29ba1c5e8ece948b6638b16c525c0361e587 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/a789c6e4-96e3-56e2-995a-e372b75529eb.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/a789c6e4-96e3-56e2-995a-e372b75529eb.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "left", + "training_arm": "left" }, "review": { "episode_index": 2442, @@ -150,7 +152,61 @@ "notes": "液体63起已从瓶口出现，但68–72仍主要在杯沿外，74明确进入杯内；134–140最后细流消失，保守取138。 杯口起止邻域已经逐图检查。蓝色掩膜只用于提出待看帧，不作为语义真值；保存的是可见液流边界估计，不生成成功、接触或流量真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "left", + "training_arm": "left", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 49, + 139 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.05461535226436347, + "rotation_extent_rad": 0.8324320467657594, + "gripper_extent": 0.010601699352264404, + "max_component_range": 0.2828592360019684 + }, + "action": { + "position_extent_m": 0.055189693273921335, + "rotation_extent_rad": 0.7931721023075209, + "gripper_extent": 0.010601699352264404, + "max_component_range": 0.2676854431629181 + } + }, + "right": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 49, + 94, + 138 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-3.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } }, "source_frame_count": 221, "frame_count": 90 diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/b093bd89-eae9-56dd-81f7-4a0daae3431a.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/b093bd89-eae9-56dd-81f7-4a0daae3431a.json index f08cc379620d75ed7d00fa36fa603b019028cbe0..a508ab10ef4e59c6dc6f3be621ec27ba40475374 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/b093bd89-eae9-56dd-81f7-4a0daae3431a.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/b093bd89-eae9-56dd-81f7-4a0daae3431a.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "right", + "training_arm": "right" }, "review": { "episode_index": 2414, @@ -142,7 +144,61 @@ "notes": "第76帧蓝色流体首次清楚伸入杯内；第75帧仅接近杯沿。收尾第160至163帧细流已非常透明且与杯内反光重合，第164帧可见连续流路消失，保守取该帧；瓶子仍水平倾斜，没有等待回正。 无流量/接触传感器，边界为视觉估计，不生成任务成功真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "right", + "training_arm": "right", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 51, + 165 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + }, + "right": { + "state": { + "position_extent_m": 0.06974328566717845, + "rotation_extent_rad": 0.770436328656456, + "gripper_extent": 0.013857662677764893, + "max_component_range": 0.2644824981689453 + }, + "action": { + "position_extent_m": 0.06936612616683459, + "rotation_extent_rad": 0.7274011816163667, + "gripper_extent": 0.013850212097167969, + "max_component_range": 0.2503145933151245 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 51, + 108, + 164 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-1.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } } }, "evidence_root": "https://huggingface.co/datasets/Ryan0083/a2r/resolve/d17c73ad67592c681bd2a784f50f51d5516e865b/", diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/b8e09c93-a78c-5d3b-9e15-8097a7ed0e12.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/b8e09c93-a78c-5d3b-9e15-8097a7ed0e12.json index 26699b0936c222547f6a9acdf93251b7ad5debe8..1060d9ca84a917aef5785b12d762cd5600373c9f 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/b8e09c93-a78c-5d3b-9e15-8097a7ed0e12.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/b8e09c93-a78c-5d3b-9e15-8097a7ed0e12.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "left", + "training_arm": "left" }, "review": { "episode_index": 2454, @@ -142,7 +144,61 @@ "notes": "第93帧仅杯口处出现少量蓝色，第94帧有进入杯内的明确液流。第158至164帧最后透明细流与杯内蓝色水面/反光逐渐融合，保守取第164帧可辨连续液流消失；不是第207帧之后收瓶或回正。 无流量/接触传感器，边界为视觉估计，不生成任务成功真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "left", + "training_arm": "left", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 69, + 165 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.03217292295418471, + "rotation_extent_rad": 0.8901066310631687, + "gripper_extent": 0.008438825607299805, + "max_component_range": 0.2873409241437912 + }, + "action": { + "position_extent_m": 0.03202847664730797, + "rotation_extent_rad": 0.8849524128322179, + "gripper_extent": 0.008438825607299805, + "max_component_range": 0.2866918742656708 + } + }, + "right": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 69, + 117, + 164 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-4.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } } }, "evidence_root": "https://huggingface.co/datasets/Ryan0083/a2r/resolve/d17c73ad67592c681bd2a784f50f51d5516e865b/", diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/c507c4ff-8f7d-51d0-a077-5d1332526e06.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/c507c4ff-8f7d-51d0-a077-5d1332526e06.json index f4efec63c2d5899be9d3bf9319f8431270a53729..4dc8abd938611879037027cbe777309840a5157d 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/c507c4ff-8f7d-51d0-a077-5d1332526e06.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/c507c4ff-8f7d-51d0-a077-5d1332526e06.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "right", + "training_arm": "right" }, "review": { "episode_index": 2441, @@ -151,7 +153,61 @@ "notes": "72液流到杯沿，73进入杯内；末尾液流透明度渐降，补看140–154，保守保留至148，蓝色液面反光不视为持续入杯流。 杯口起止邻域已经逐图检查。蓝色掩膜只用于提出待看帧，不作为语义真值；保存的是可见液流边界估计，不生成成功、接触或流量真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "right", + "training_arm": "right", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 48, + 149 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + }, + "right": { + "state": { + "position_extent_m": 0.13677287739333058, + "rotation_extent_rad": 1.6102603355397591, + "gripper_extent": 0.016241610050201416, + "max_component_range": 0.4736438989639282 + }, + "action": { + "position_extent_m": 0.13665313478812793, + "rotation_extent_rad": 1.53363801833145, + "gripper_extent": 0.016431868076324463, + "max_component_range": 0.4482530653476715 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 48, + 98, + 148 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-3.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } }, "source_frame_count": 222, "frame_count": 101 diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/c758ddbf-522e-56c7-a28e-70317177f225.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/c758ddbf-522e-56c7-a28e-70317177f225.json index 576cc7e4ac853bf0f6a65119eab4ba49f99ffac7..337943f3332f4c05188494c8ed10aae4ef47089a 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/c758ddbf-522e-56c7-a28e-70317177f225.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/c758ddbf-522e-56c7-a28e-70317177f225.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "left", + "training_arm": "left" }, "review": { "episode_index": 2436, @@ -150,7 +152,61 @@ "notes": "108液流清晰入杯；162仍见细流，166附近已无瓶口至杯内的连续液柱，停止范围164–168。 杯口起止邻域已经逐图检查。蓝色掩膜只用于提出待看帧，不作为语义真值；保存的是可见液流边界估计，不生成成功、接触或流量真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "left", + "training_arm": "left", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 83, + 167 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.058052126375635865, + "rotation_extent_rad": 0.8866625266074716, + "gripper_extent": 0.00888603925704956, + "max_component_range": 0.2940835952758789 + }, + "action": { + "position_extent_m": 0.05928901121658322, + "rotation_extent_rad": 0.8789892186830962, + "gripper_extent": 0.009134948253631592, + "max_component_range": 0.2907959222793579 + } + }, + "right": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 83, + 125, + 166 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-3.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } }, "source_frame_count": 235, "frame_count": 84 diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/ca89273e-6771-5bce-8200-bdea8d679ab4.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/ca89273e-6771-5bce-8200-bdea8d679ab4.json index 326da88d1027c79c31aee6253e125c44584755a7..ddbb6d6e76652ce96e62e2226b987ea18d1d29c9 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/ca89273e-6771-5bce-8200-bdea8d679ab4.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/ca89273e-6771-5bce-8200-bdea8d679ab4.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "left", + "training_arm": "left" }, "review": { "episode_index": 2402, @@ -140,7 +142,61 @@ "notes": "以蓝色液流首次进入杯内的视觉估计为锚点，保留之前25帧；截止到持续液流消失的视觉估计帧（包含该帧），不等待瓶子回正或放回。边界经两次独立视觉复核，存在渲染透明度和像素分辨率造成的不确定性；无流量/接触传感器，不生成物理事件或任务成功真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "left", + "training_arm": "left", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 63, + 127 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.13748701029117852, + "rotation_extent_rad": 1.3027469899453457, + "gripper_extent": 0.024876832962036133, + "max_component_range": 0.4964328408241272 + }, + "action": { + "position_extent_m": 0.13559928212496836, + "rotation_extent_rad": 1.272061155329493, + "gripper_extent": 0.02465420961380005, + "max_component_range": 0.4895596206188202 + } + }, + "right": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 63, + 95, + 126 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-0.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } } }, "evidence_root": "https://huggingface.co/datasets/Ryan0083/a2r/resolve/d17c73ad67592c681bd2a784f50f51d5516e865b/", diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/d8366fe9-b875-5329-b2b5-02b4d17c4e38.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/d8366fe9-b875-5329-b2b5-02b4d17c4e38.json index e182a1d6ba4ce217f90ce070b160b7705870e3d6..8f00f744bbeffaa5709470a701f20f62902399ac 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/d8366fe9-b875-5329-b2b5-02b4d17c4e38.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/d8366fe9-b875-5329-b2b5-02b4d17c4e38.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "left", + "training_arm": "left" }, "review": { "episode_index": 2438, @@ -150,7 +152,61 @@ "notes": "101液体到杯沿，102跨入杯内；164–170之间极细流消失，保守取168。 杯口起止邻域已经逐图检查。蓝色掩膜只用于提出待看帧，不作为语义真值；保存的是可见液流边界估计，不生成成功、接触或流量真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "left", + "training_arm": "left", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 77, + 169 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.06276857775869321, + "rotation_extent_rad": 0.867501513443233, + "gripper_extent": 0.00918513536453247, + "max_component_range": 0.2874942123889923 + }, + "action": { + "position_extent_m": 0.0649865749989267, + "rotation_extent_rad": 0.860269611494248, + "gripper_extent": 0.00918513536453247, + "max_component_range": 0.2845270335674286 + } + }, + "right": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 77, + 123, + 168 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-3.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } }, "source_frame_count": 258, "frame_count": 92 diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/e2125ab0-5c73-56ac-99f4-9fab9556aff3.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/e2125ab0-5c73-56ac-99f4-9fab9556aff3.json index 4a4d642874b01383a41a4f1515a773c268717196..2f0895c59ae2000100731b47620aa12ab701eced 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/e2125ab0-5c73-56ac-99f4-9fab9556aff3.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/e2125ab0-5c73-56ac-99f4-9fab9556aff3.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "right", + "training_arm": "right" }, "review": { "episode_index": 2431, @@ -150,7 +152,61 @@ "notes": "102首次可见淡蓝液流；末尾细流渐淡，在夹爪遮住杯口之前194已看不到可辨持续液柱。 杯口起止邻域已经逐图检查。蓝色掩膜只用于提出待看帧，不作为语义真值；保存的是可见液流边界估计，不生成成功、接触或流量真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "right", + "training_arm": "right", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 77, + 195 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + }, + "right": { + "state": { + "position_extent_m": 0.08621024139015253, + "rotation_extent_rad": 0.9853826582124212, + "gripper_extent": 0.012477219104766846, + "max_component_range": 0.3171861171722412 + }, + "action": { + "position_extent_m": 0.08709706308933209, + "rotation_extent_rad": 1.0021437104403037, + "gripper_extent": 0.012477219104766846, + "max_component_range": 0.31872977316379547 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 77, + 136, + 194 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-2.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } }, "source_frame_count": 328, "frame_count": 118 diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/e71355f0-9d70-5800-9683-37c10b2e5709.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/e71355f0-9d70-5800-9683-37c10b2e5709.json index 2be7d4f19038e39733a5fbde546677db117c7255..8d4b4a049826faccecf71057ca3449d4f2ef3406 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/e71355f0-9d70-5800-9683-37c10b2e5709.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/e71355f0-9d70-5800-9683-37c10b2e5709.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "left", + "training_arm": "left" }, "review": { "episode_index": 2453, @@ -142,7 +144,61 @@ "notes": "第67帧液流到达杯沿，第68帧进入杯内。第114至118帧仍能辨认极淡的流体连接，第120帧已无连续液流，采用该保守边界；瓶子此后维持倾斜姿态。 无流量/接触传感器，边界为视觉估计，不生成任务成功真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "left", + "training_arm": "left", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 43, + 121 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.06588110329502901, + "rotation_extent_rad": 1.0117219013309255, + "gripper_extent": 0.011224150657653809, + "max_component_range": 0.336260050535202 + }, + "action": { + "position_extent_m": 0.0622122876137452, + "rotation_extent_rad": 0.9964202351097731, + "gripper_extent": 0.011224150657653809, + "max_component_range": 0.3349381983280182 + } + }, + "right": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + }, + "action": { + "position_extent_m": 0.0, + "rotation_extent_rad": 4.2146848510894035e-08, + "gripper_extent": 0.0, + "max_component_range": 0.0 + } + } + }, + "visual_camera": "cam_high", + "visual_frames": [ + 43, + 82, + 120 + ], + "visual_evidence": "data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/arm-review-20261013/review-4.jpg", + "other_arm_stationary_in_recorded_state_and_action": true, + "label_scope": "operating_arm_only" + } } }, "evidence_root": "https://huggingface.co/datasets/Ryan0083/a2r/resolve/d17c73ad67592c681bd2a784f50f51d5516e865b/", diff --git a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/f6daa415-2b93-5f53-a7b3-072bb9b26fc6.json b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/f6daa415-2b93-5f53-a7b3-072bb9b26fc6.json index af196574d30f663edc27927330d78157fa2fc268..6b047d57ab0294b02714dc67e7078a3749d73ac4 100644 --- a/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/f6daa415-2b93-5f53-a7b3-072bb9b26fc6.json +++ b/data/sim/robodojo/_unknown/pour_liquid_into_cup/annotations/segments/f6daa415-2b93-5f53-a7b3-072bb9b26fc6.json @@ -106,7 +106,9 @@ "reencoded": false } ], - "accepted": null + "accepted": null, + "active_arm": "right", + "training_arm": "right" }, "review": { "episode_index": 2450, @@ -150,7 +152,61 @@ "notes": "74首次明确见蓝色液体进入杯内；148–156间极细流消失，保守取154，杯内蓝色液面仍保留。 杯口起止邻域已经逐图检查。蓝色掩膜只用于提出待看帧，不作为语义真值；保存的是可见液流边界估计，不生成成功、接触或流量真值。", "label_type": "visual_estimate", "physical_contact_verified": false, - "annotator": "Codex visual frame inspection" + "annotator": "Codex visual frame inspection", + "active_arm": "right", + "training_arm": "right", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 49, + 155 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, + 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"annotator": "Codex visual frame inspection", + "active_arm": "left", + "training_arm": "left", + "arm_review": { + "method": "per_segment_native_state_action_motion_and_three_frame_visual_review", + "source_ref": { + "repo": "Ryan0083/a2r", + "revision": "1c092bf15f532237c9e0853a4fb302869a204da6", + "path": "data/sim/robodojo/_unknown/pour_liquid_into_cup/data/chunk-000/file-000.parquet" + }, + "frame_space": "published_whole_episode", + "frame_range": [ + 121, + 195 + ], + "metrics": { + "left": { + "state": { + "position_extent_m": 0.07565220018038124, + "rotation_extent_rad": 0.8467858673148789, + "gripper_extent": 0.004504978656768799, + "max_component_range": 0.28435733914375305 + }, + "action": { + "position_extent_m": 0.07425879302675079, + "rotation_extent_rad": 0.8313268218016429, + "gripper_extent": 0.004504978656768799, + "max_component_range": 0.2795429229736328 + } + }, + "right": { + "state": { + "position_extent_m": 0.0, + "rotation_extent_rad": 2.9802322387695312e-08, 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