| [ | |
| { | |
| "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 | |
| } | |
| ] |