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{
"task_index": 0,
"key": "task_000000",
"name": "Long Horizon · white box",
"category": "Long-Horizon",
"instruction": "Pick up the entire set of objects and place them in/on the white box.",
"instruction_note": "根据官方结构化 instruction 和首个别名确定性呈现；原记录没有保存采集时使用的具体随机语言变体，完整别名见下方元数据。",
"instruction_metadata": {
"task": "long_horizon",
"objects": [
"entire set of objects"
],
"containers": [
"white box",
"box with Tesla Logo",
"white box with Tesla Logo",
"plastic box",
"box"
]
},
"description": "Official DOM simulation scenario long-horizon_franka_apple00d_O03_00772319_1dc5-tr. Object/container aliases are preserved in the metadata.",
"success_rule": "Success requires ALL target objects to satisfy the container-relative geometric placement check, and the end effector to return within tolerance of the configured goal. Current default return tolerance is 0.015 m; per-scene overrides may differ.",
"doc_url": "https://github.com/hzxie/DynamicVLA/blob/434dc7105cf6d559018d15af5fecbcdad44f036e/simulations/configs/termination_cfg.py",
"source_filename": "long-horizon_franka_apple00d_O03_00772319_1dc5-tr",
"published_episode_count": null
},
{
"task_index": 135,
"key": "task_000135",
"name": "Long Horizon · plastic box",
"category": "Long-Horizon",
"instruction": "Pick up the entire set of objects and place them in/on the plastic box.",
"instruction_note": "根据官方结构化 instruction 和首个别名确定性呈现；原记录没有保存采集时使用的具体随机语言变体，完整别名见下方元数据。",
"instruction_metadata": {
"task": "long_horizon",
"objects": [
"entire set of objects"
],
"containers": [
"plastic box",
"pink box",
"pink plastic box",
"box"
]
},
"description": "Official DOM simulation scenario long-horizon_franka_apple08d_O03_00819030_04bc-tr. Object/container aliases are preserved in the metadata.",
"success_rule": "Success requires ALL target objects to satisfy the container-relative geometric placement check, and the end effector to return within tolerance of the configured goal. Current default return tolerance is 0.015 m; per-scene overrides may differ.",
"doc_url": "https://github.com/hzxie/DynamicVLA/blob/434dc7105cf6d559018d15af5fecbcdad44f036e/simulations/configs/termination_cfg.py",
"source_filename": "long-horizon_franka_apple08d_O03_00819030_04bc-tr",
"published_episode_count": null
},
{
"task_index": 196,
"key": "task_000196",
"name": "Long Horizon · box",
"category": "Long-Horizon",
"instruction": "Pick up the entire set of objects and place them in/on the box.",
"instruction_note": "根据官方结构化 instruction 和首个别名确定性呈现；原记录没有保存采集时使用的具体随机语言变体，完整别名见下方元数据。",
"instruction_metadata": {
"task": "long_horizon",
"objects": [
"entire set of objects"
],
"containers": [
"box",
"pink box",
"pink plastic box",
"plastic box"
]
},
"description": "Official DOM simulation scenario long-horizon_franka_apple14d_O03_00888109_ee3b-tr. Object/container aliases are preserved in the metadata.",
"success_rule": "Success requires ALL target objects to satisfy the container-relative geometric placement check, and the end effector to return within tolerance of the configured goal. Current default return tolerance is 0.015 m; per-scene overrides may differ.",
"doc_url": "https://github.com/hzxie/DynamicVLA/blob/434dc7105cf6d559018d15af5fecbcdad44f036e/simulations/configs/termination_cfg.py",
"source_filename": "long-horizon_franka_apple14d_O03_00888109_ee3b-tr",
"published_episode_count": null
},
{
"task_index": 246,
"key": "task_000246",
"name": "Long Horizon · box",
"category": "Long-Horizon",
"instruction": "Pick up the fusiform avocado and place it in/on the box.",
"instruction_note": "根据官方结构化 instruction 和首个别名确定性呈现；原记录没有保存采集时使用的具体随机语言变体，完整别名见下方元数据。",
"instruction_metadata": {
"task": "long_horizon",
"objects": [
"fusiform avocado",
"the object that is closer to the robot's right at the start",
"the object moving in the robot's forward-left direction",
"green avocado",
"green fusiform avocado",
"avocado",
"the moving object with the highest initial velocity"
],
"containers": [
"box",
"green box",
"plastic box",
"green plastic box"
]
},
"description": "Official DOM simulation scenario long-horizon_franka_avocado00d_O03_00769598_7aed-tr. Object/container aliases are preserved in the metadata.",
"success_rule": "Success requires ALL target objects to satisfy the container-relative geometric placement check, and the end effector to return within tolerance of the configured goal. Current default return tolerance is 0.015 m; per-scene overrides may differ.",
"doc_url": "https://github.com/hzxie/DynamicVLA/blob/434dc7105cf6d559018d15af5fecbcdad44f036e/simulations/configs/termination_cfg.py",
"source_filename": "long-horizon_franka_avocado00d_O03_00769598_7aed-tr",
"published_episode_count": null
},
{
"task_index": 80,
"key": "task_000080",
"name": "Long Horizon · box with Tencent Logo",
"category": "Long-Horizon",
"instruction": "Pick up the entire set of objects and place them in/on the box with Tencent Logo.",
"instruction_note": "根据官方结构化 instruction 和首个别名确定性呈现；原记录没有保存采集时使用的具体随机语言变体，完整别名见下方元数据。",
"instruction_metadata": {
"task": "long_horizon",
"objects": [
"entire set of objects"
],
"containers": [
"box with Tencent Logo",
"plastic box",
"box",
"white box",
"white box with Tencent Logo"
]
},
"description": "Official DOM simulation scenario long-horizon_franka_avocado04d_O03_00878095_8d75-tr. Object/container aliases are preserved in the metadata.",
"success_rule": "Success requires ALL target objects to satisfy the container-relative geometric placement check, and the end effector to return within tolerance of the configured goal. Current default return tolerance is 0.015 m; per-scene overrides may differ.",
"doc_url": "https://github.com/hzxie/DynamicVLA/blob/434dc7105cf6d559018d15af5fecbcdad44f036e/simulations/configs/termination_cfg.py",
"source_filename": "long-horizon_franka_avocado04d_O03_00878095_8d75-tr",
"published_episode_count": null
},
{
"task_index": 70,
"key": "task_000070",
"name": "Long Horizon · white box",
"category": "Long-Horizon",
"instruction": "Pick up the entire set of objects and place them in/on the white box.",
"instruction_note": "根据官方结构化 instruction 和首个别名确定性呈现；原记录没有保存采集时使用的具体随机语言变体，完整别名见下方元数据。",
"instruction_metadata": {
"task": "long_horizon",
"objects": [
"entire set of objects"
],
"containers": [
"white box",
"white box with Tencent Logo",
"box",
"box with Tencent Logo",
"plastic box"
]
},
"description": "Official DOM simulation scenario long-horizon_franka_beer01d_O03_00794991_f96b-tr. Object/container aliases are preserved in the metadata.",
"success_rule": "Success requires ALL target objects to satisfy the container-relative geometric placement check, and the end effector to return within tolerance of the configured goal. Current default return tolerance is 0.015 m; per-scene overrides may differ.",
"doc_url": "https://github.com/hzxie/DynamicVLA/blob/434dc7105cf6d559018d15af5fecbcdad44f036e/simulations/configs/termination_cfg.py",
"source_filename": "long-horizon_franka_beer01d_O03_00794991_f96b-tr",
"published_episode_count": null
},
{
"task_index": 10235,
"key": "task_010235",
"name": "Pick · the moving object with the lower initial velocity",
"category": "Pick",
"instruction": "Pick up the moving object with the lower initial velocity.",
"instruction_note": "根据官方结构化 instruction 和首个别名确定性呈现；原记录没有保存采集时使用的具体随机语言变体，完整别名见下方元数据。",
"instruction_metadata": {
"task": "pick",
"objects": [
"the moving object with the lower initial velocity",
"green avocado",
"avocado",
"green long fusiform avocado",
"long fusiform avocado",
"the object that is closer to the robot's right at the start"
],
"containers": [
"tray",
"white tray with CapitaLand logo",
"white tray",
"tray with CapitaLand logo"
]
},
"description": "Official DOM simulation scenario pick_franka_avocado01d_O03_01140437_873f-tr. Object/container aliases are preserved in the metadata.",
"success_rule": "Success requires object-to-end-effector distance < tolerance and end-effector-to-configured-goal distance < tolerance. The current default tolerance is 0.015 m; per-scene overrides may differ.",
"doc_url": "https://github.com/hzxie/DynamicVLA/blob/434dc7105cf6d559018d15af5fecbcdad44f036e/simulations/configs/termination_cfg.py",
"source_filename": "pick_franka_avocado01d_O03_01140437_873f-tr",
"published_episode_count": null
},
{
"task_index": 10588,
"key": "task_010588",
"name": "Pick · the object in the middle from left to right at the start",
"category": "Pick",
"instruction": "Pick up the object in the middle from left to right at the start.",
"instruction_note": "根据官方结构化 instruction 和首个别名确定性呈现；原记录没有保存采集时使用的具体随机语言变体，完整别名见下方元数据。",
"instruction_metadata": {
"task": "pick",
"objects": [
"the object in the middle from left to right at the start",
"green avocado",
"avocado",
"pear-shaped long avocado",
"green pear-shaped long avocado",
"the object farthest from the robot mounting edge at the start"
],
"containers": [
"square placemat features a bold, stylized illustration of a tui",
"Square placemat with a bold, stylized tui",
"square placemat",
"square placemat with yellow background"
]
},
"description": "Official DOM simulation scenario pick_franka_avocado02d_O04_01042912_e0d2-tr. Object/container aliases are preserved in the metadata.",
"success_rule": "Success requires object-to-end-effector distance < tolerance and end-effector-to-configured-goal distance < tolerance. The current default tolerance is 0.015 m; per-scene overrides may differ.",
"doc_url": "https://github.com/hzxie/DynamicVLA/blob/434dc7105cf6d559018d15af5fecbcdad44f036e/simulations/configs/termination_cfg.py",
"source_filename": "pick_franka_avocado02d_O04_01042912_e0d2-tr",
"published_episode_count": null
},
{
"task_index": 42175,
"key": "task_042175",
"name": "Pick · the object moving in the robot's forward-left direction",
"category": "Pick",
"instruction": "Pick up the object moving in the robot's forward-left direction.",
"instruction_note": "根据官方结构化 instruction 和首个别名确定性呈现；原记录没有保存采集时使用的具体随机语言变体，完整别名见下方元数据。",
"instruction_metadata": {
"task": "pick",
"objects": [
"the object moving in the robot's forward-left direction",
"dark green lime",
"the object that is closer to the robot's right at the start",
"the object closer to the robot mounting edge at the start",
"lime"
],
"containers": [
"tray",
"tray with Meta logo",
"white tray",
"white tray with Meta logo"
]
},
"description": "Official DOM simulation scenario pick_franka_lime00d_O03_01174264_30d7-tr. Object/container aliases are preserved in the metadata.",
"success_rule": "Success requires object-to-end-effector distance < tolerance and end-effector-to-configured-goal distance < tolerance. The current default tolerance is 0.015 m; per-scene overrides may differ.",
"doc_url": "https://github.com/hzxie/DynamicVLA/blob/434dc7105cf6d559018d15af5fecbcdad44f036e/simulations/configs/termination_cfg.py",
"source_filename": "pick_franka_lime00d_O03_01174264_30d7-tr",
"published_episode_count": null
},
{
"task_index": 42560,
"key": "task_042560",
"name": "Pick · lime",
"category": "Pick",
"instruction": "Pick up the lime.",
"instruction_note": "根据官方结构化 instruction 和首个别名确定性呈现；原记录没有保存采集时使用的具体随机语言变体，完整别名见下方元数据。",
"instruction_metadata": {
"task": "pick",
"objects": [
"lime",
"dark green lime"
],
"containers": [
"the box with the larger volume",
"the box closer to the robot at the start",
"the box that is closer to the robot's right at the start",
"the box with the larger area",
"red box",
"the box farther from the robot mounting edge at the start",
"box with MMLab At NTU words",
"plastic box",
"the taller box",
"red box with MMLab At NTU words",
"box"
]
},
"description": "Official DOM simulation scenario pick_franka_lime00d_O05_01312751_5a1e-tr. Object/container aliases are preserved in the metadata.",
"success_rule": "Success requires object-to-end-effector distance < tolerance and end-effector-to-configured-goal distance < tolerance. The current default tolerance is 0.015 m; per-scene overrides may differ.",
"doc_url": "https://github.com/hzxie/DynamicVLA/blob/434dc7105cf6d559018d15af5fecbcdad44f036e/simulations/configs/termination_cfg.py",
"source_filename": "pick_franka_lime00d_O05_01312751_5a1e-tr",
"published_episode_count": null
},
{
"task_index": 60569,
"key": "task_060569",
"name": "Pick · the object that is closest to the robot's left at the start",
"category": "Pick",
"instruction": "Pick up the object that is closest to the robot's left at the start.",
"instruction_note": "根据官方结构化 instruction 和首个别名确定性呈现；原记录没有保存采集时使用的具体随机语言变体，完整别名见下方元数据。",
"instruction_metadata": {
"task": "pick",
"objects": [
"the object that is closest to the robot's left at the start",
"tangerine"
],
"containers": [
"pink plastic box",
"pink box",
"box",
"plastic box"
]
},
"description": "Official DOM simulation scenario pick_franka_tangerine00d_O04_01057450_ee6d-tr. Object/container aliases are preserved in the metadata.",
"success_rule": "Success requires object-to-end-effector distance < tolerance and end-effector-to-configured-goal distance < tolerance. The current default tolerance is 0.015 m; per-scene overrides may differ.",
"doc_url": "https://github.com/hzxie/DynamicVLA/blob/434dc7105cf6d559018d15af5fecbcdad44f036e/simulations/configs/termination_cfg.py",
"source_filename": "pick_franka_tangerine00d_O04_01057450_ee6d-tr",
"published_episode_count": null
},
{
"task_index": 60993,
"key": "task_060993",
"name": "Pick · the object that is closest to the robot's left at the start",
"category": "Pick",
"instruction": "Pick up the object that is closest to the robot's left at the start.",
"instruction_note": "根据官方结构化 instruction 和首个别名确定性呈现；原记录没有保存采集时使用的具体随机语言变体，完整别名见下方元数据。",
"instruction_metadata": {
"task": "pick",
"objects": [
"the object that is closest to the robot's left at the start",
"tangerine"
],
"containers": [
"tray",
"white tray",
"tray with NTU logo",
"white tray with NTU logo"
]
},
"description": "Official DOM simulation scenario pick_franka_tangerine03d_O04_01097900_93cd-tr. Object/container aliases are preserved in the metadata.",
"success_rule": "Success requires object-to-end-effector distance < tolerance and end-effector-to-configured-goal distance < tolerance. The current default tolerance is 0.015 m; per-scene overrides may differ.",
"doc_url": "https://github.com/hzxie/DynamicVLA/blob/434dc7105cf6d559018d15af5fecbcdad44f036e/simulations/configs/termination_cfg.py",
"source_filename": "pick_franka_tangerine03d_O04_01097900_93cd-tr",
"published_episode_count": null
},
{
"task_index": 77322,
"key": "task_077322",
"name": "Place · moving-forward object",
"category": "Place",
"instruction": "Pick up the moving-forward object and place it in/on the ceramic plate with blue floral patterns.",
"instruction_note": "根据官方结构化 instruction 和首个别名确定性呈现；原记录没有保存采集时使用的具体随机语言变体，完整别名见下方元数据。",
"instruction_metadata": {
"task": "place",
"objects": [
"moving-forward object",
"light color beer bottle with Heineken carvings",
"beer bottle with Heineken carvings",
"beer bottle",
"moving-backward-left object",
"moving-backward-right object",
"moving-right object",
"light color beer bottle",
"moving-backward object",
"moving-left object"
],
"containers": [
"ceramic plate with blue floral patterns",
"ceramic plate",
"plate",
"plate with blue floral patterns"
]
},
"description": "Official DOM simulation scenario place_franka_beer03d_O02_00082428_f57d-tr. Object/container aliases are preserved in the metadata.",
"success_rule": "Success requires ALL target objects to satisfy the container-relative geometric placement check, and the end effector to return within tolerance of the configured goal. Current default return tolerance is 0.015 m; per-scene overrides may differ.",
"doc_url": "https://github.com/hzxie/DynamicVLA/blob/434dc7105cf6d559018d15af5fecbcdad44f036e/simulations/configs/termination_cfg.py",
"source_filename": "place_franka_beer03d_O02_00082428_f57d-tr",
"published_episode_count": null
},
{
"task_index": 77667,
"key": "task_077667",
"name": "Place · beer bottle",
"category": "Place",
"instruction": "Pick up the beer bottle and place it in/on the placemat that is closer to the robot's left at the start.",
"instruction_note": "根据官方结构化 instruction 和首个别名确定性呈现；原记录没有保存采集时使用的具体随机语言变体，完整别名见下方元数据。",
"instruction_metadata": {
"task": "place",
"objects": [
"beer bottle",
"the object that is closer to the robot's left at the start",
"beer bottle with Heineken carvings",
"light color beer bottle",
"the moving object with the highest initial velocity",
"light color beer bottle with Heineken carvings"
],
"containers": [
"the placemat that is closer to the robot's left at the start",
"green square placemat",
"the placemat closer to the robot mounting edge at the start",
"square placemat"
]
},
"description": "Official DOM simulation scenario place_franka_beer03d_O04_00340177_6e45-tr. Object/container aliases are preserved in the metadata.",
"success_rule": "Success requires ALL target objects to satisfy the container-relative geometric placement check, and the end effector to return within tolerance of the configured goal. Current default return tolerance is 0.015 m; per-scene overrides may differ.",
"doc_url": "https://github.com/hzxie/DynamicVLA/blob/434dc7105cf6d559018d15af5fecbcdad44f036e/simulations/configs/termination_cfg.py",
"source_filename": "place_franka_beer03d_O04_00340177_6e45-tr",
"published_episode_count": null
},
{
"task_index": 108733,
"key": "task_108733",
"name": "Place · lemon",
"category": "Place",
"instruction": "Pick up the lemon and place it in/on the tray.",
"instruction_note": "根据官方结构化 instruction 和首个别名确定性呈现；原记录没有保存采集时使用的具体随机语言变体，完整别名见下方元数据。",
"instruction_metadata": {
"task": "place",
"objects": [
"lemon"
],
"containers": [
"tray",
"white tray with HSBC logo",
"tray with HSBC logo",
"white tray"
]
},
"description": "Official DOM simulation scenario place_franka_lemon06d_O02_00026504_29ce-tr. Object/container aliases are preserved in the metadata.",
"success_rule": "Success requires ALL target objects to satisfy the container-relative geometric placement check, and the end effector to return within tolerance of the configured goal. Current default return tolerance is 0.015 m; per-scene overrides may differ.",
"doc_url": "https://github.com/hzxie/DynamicVLA/blob/434dc7105cf6d559018d15af5fecbcdad44f036e/simulations/configs/termination_cfg.py",
"source_filename": "place_franka_lemon06d_O02_00026504_29ce-tr",
"published_episode_count": null
},
{
"task_index": 111207,
"key": "task_111207",
"name": "Place · lemon",
"category": "Place",
"instruction": "Pick up the lemon and place it in/on the placemat farther from the robot mounting edge at the start.",
"instruction_note": "根据官方结构化 instruction 和首个别名确定性呈现；原记录没有保存采集时使用的具体随机语言变体，完整别名见下方元数据。",
"instruction_metadata": {
"task": "place",
"objects": [
"lemon",
"the object that is closer to the robot's right at the start",
"the object moving in the robot's backward-left direction",
"the moving object with the highest initial velocity"
],
"containers": [
"the placemat farther from the robot mounting edge at the start",
"green square placemat"
]
},
"description": "Official DOM simulation scenario place_franka_lemon06d_O04_00340971_5a64-tr. Object/container aliases are preserved in the metadata.",
"success_rule": "Success requires ALL target objects to satisfy the container-relative geometric placement check, and the end effector to return within tolerance of the configured goal. Current default return tolerance is 0.015 m; per-scene overrides may differ.",
"doc_url": "https://github.com/hzxie/DynamicVLA/blob/434dc7105cf6d559018d15af5fecbcdad44f036e/simulations/configs/termination_cfg.py",
"source_filename": "place_franka_lemon06d_O04_00340971_5a64-tr",
"published_episode_count": null
},
{
"task_index": 140594,
"key": "task_140594",
"name": "Place · water bottle",
"category": "Place",
"instruction": "Pick up the water bottle and place it in/on the bowl.",
"instruction_note": "根据官方结构化 instruction 和首个别名确定性呈现；原记录没有保存采集时使用的具体随机语言变体，完整别名见下方元数据。",
"instruction_metadata": {
"task": "place",
"objects": [
"water bottle",
"cylinder water bottle",
"cylinder water bottle with grey and orange lid",
"black cylinder water bottle",
"black cylinder water bottle with grey and orange lid",
"black water bottle",
"black water bottle with grey and orange lid",
"water bottle with grey and orange lid"
],
"containers": [
"bowl",
"wooden bowl",
"shallow bowl",
"wooden shallow bowl"
]
},
"description": "Official DOM simulation scenario place_franka_wbottle23d_O02_00046150_50a0-tr. Object/container aliases are preserved in the metadata.",
"success_rule": "Success requires ALL target objects to satisfy the container-relative geometric placement check, and the end effector to return within tolerance of the configured goal. Current default return tolerance is 0.015 m; per-scene overrides may differ.",
"doc_url": "https://github.com/hzxie/DynamicVLA/blob/434dc7105cf6d559018d15af5fecbcdad44f036e/simulations/configs/termination_cfg.py",
"source_filename": "place_franka_wbottle23d_O02_00046150_50a0-tr",
"published_episode_count": null
},
{
"task_index": 140471,
"key": "task_140471",
"name": "Place · black cylinder water bottle",
"category": "Place",
"instruction": "Pick up the black cylinder water bottle and place it in/on the black box.",
"instruction_note": "根据官方结构化 instruction 和首个别名确定性呈现；原记录没有保存采集时使用的具体随机语言变体，完整别名见下方元数据。",
"instruction_metadata": {
"task": "place",
"objects": [
"black cylinder water bottle",
"cylinder water bottle with grey and orange lid",
"black water bottle",
"water bottle",
"black cylinder water bottle with grey and orange lid",
"cylinder water bottle",
"black water bottle with grey and orange lid",
"water bottle with grey and orange lid"
],
"containers": [
"black box",
"box",
"plastic box",
"black plastic box"
]
},
"description": "Official DOM simulation scenario place_franka_wbottle23d_O02_00120780_166a-tr. Object/container aliases are preserved in the metadata.",
"success_rule": "Success requires ALL target objects to satisfy the container-relative geometric placement check, and the end effector to return within tolerance of the configured goal. Current default return tolerance is 0.015 m; per-scene overrides may differ.",
"doc_url": "https://github.com/hzxie/DynamicVLA/blob/434dc7105cf6d559018d15af5fecbcdad44f036e/simulations/configs/termination_cfg.py",
"source_filename": "place_franka_wbottle23d_O02_00120780_166a-tr",
"published_episode_count": null
}
] |