Add reproducible browser source and clarify upstream episode length and license attribution
Browse files- browser/base.html +116 -0
- scripts/build_browser.py +94 -0
- scripts/build_examples.py +14 -4
browser/base.html
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<!doctype html>
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<html lang="zh-CN">
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<head>
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<meta charset="utf-8">
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<meta name="viewport" content="width=device-width, initial-scale=1">
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<title>RoboDojo · Task browser</title>
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<style>
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:root{--paper:#f4f3ed;--white:#fffefa;--ink:#182522;--muted:#68746d;--line:#d9ded5;--rail:#172923;--accent:#e75b32;--green:#c1d997}
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*{box-sizing:border-box}html{scroll-behavior:smooth}body{margin:0;background:var(--paper);color:var(--ink);font-family:'Trebuchet MS','Microsoft YaHei',sans-serif;font-size:14px}button,input,a{font:inherit}button,a{touch-action:manipulation}button{cursor:pointer}a{color:inherit;text-underline-offset:3px}button:focus-visible,a:focus-visible,input:focus-visible{outline:3px solid var(--accent);outline-offset:3px}.mono{font-family:Consolas,'Liberation Mono',monospace}.app{display:grid;grid-template-columns:268px minmax(0,1fr);min-height:100vh}.rail{background:var(--rail);color:#f3f5ed;position:sticky;top:0;height:100vh;display:flex;flex-direction:column;padding:26px 18px 14px}.brand{font-family:Bahnschrift,'Trebuchet MS',sans-serif;font-weight:700;font-size:26px;letter-spacing:-1px}.brand span{color:var(--green)}.rail-caption{color:#a0b4a7;font-size:11px;letter-spacing:1.8px;margin:8px 0 22px}.search{width:100%;padding:11px 12px;border:1px solid #456052;background:#213b30;color:white;border-radius:3px}.search::placeholder{color:#acb9ad}.groups{display:grid;grid-template-columns:1fr 1fr;gap:5px;margin:12px 0 17px}.group{border:1px solid #385245;color:#bed0c2;background:none;padding:8px 6px;font-size:11px;text-align:left;border-radius:3px}.group.active{background:var(--green);border-color:var(--green);color:var(--rail)}.group span{float:right;opacity:.7}.list-head{display:flex;justify-content:space-between;font-size:11px;color:#a4b7a8;margin:0 3px 9px}.task-list{min-height:0;overflow:auto;flex:1;scrollbar-width:thin;scrollbar-color:#527761 #172923}.task-link{width:100%;display:flex;gap:11px;align-items:center;text-align:left;border:0;border-bottom:1px solid #2b4136;background:none;color:#c7d5cb;padding:12px 9px;line-height:1.35}.task-link:hover{background:#243f31}.task-link.active{color:#172923;background:var(--white);border-radius:3px}.task-link .id{color:#a6c99b;font-size:13px;min-width:32px}.task-link.active .id{color:#a2462c}.task-link .name{font-size:12px}.rail-footer{font-size:11px;border-top:1px solid #3a5143;padding-top:14px;margin-top:13px;display:flex;gap:16px;color:#a8bbaa}.main{padding:27px clamp(20px,3.6vw,58px) 65px;min-width:0;max-width:1600px;width:100%;margin:auto}.topline{display:flex;align-items:center;justify-content:space-between;gap:12px;border-bottom:1px solid var(--line);padding-bottom:19px;margin-bottom:30px;color:var(--muted);font-size:12px}.topline b{color:var(--ink)}.toplinks{display:flex;gap:17px;align-items:center}.nav-buttons{display:flex;gap:6px}.small-button{border:1px solid var(--line);background:var(--white);color:var(--ink);padding:7px 11px;border-radius:3px}.small-button:disabled{opacity:.35;cursor:default}.eyebrow{font-size:11px;letter-spacing:1.7px;text-transform:uppercase;color:var(--muted);display:flex;align-items:center;gap:11px}.tag{display:inline-block;border:1px solid var(--line);padding:4px 7px;border-radius:2px;letter-spacing:0;text-transform:none}.task-heading{display:flex;align-items:baseline;gap:22px;margin:12px 0 20px}.big-id{font-size:64px;letter-spacing:-4px;line-height:1;color:var(--accent)}h1{font-family:Bahnschrift,'Trebuchet MS','Microsoft YaHei',sans-serif;font-size:clamp(27px,3.15vw,45px);line-height:1.1;letter-spacing:-1.3px;margin:0}.instruction{background:var(--white);border-left:4px solid var(--accent);padding:18px 22px;margin-bottom:14px}.label{font-size:10px;letter-spacing:1.8px;color:var(--muted);text-transform:uppercase}.instruction p{font-size:18px;line-height:1.55;margin:8px 0 0}.description{color:var(--muted);line-height:1.7;margin:12px 0 20px;max-width:1000px}.facts{display:flex;gap:20px;flex-wrap:wrap;font-size:11px;padding-bottom:22px;border-bottom:1px solid var(--line)}.facts strong{display:block;margin-top:5px;font-weight:400;font-size:12px;color:var(--ink)}.warning{background:#f8e9d7;border:1px solid #e2c5a5;padding:14px 17px;margin:15px 0;font-size:12px;line-height:1.7}.section-bar{display:flex;justify-content:space-between;align-items:center;gap:14px;margin:30px 0 17px}h2{font-family:Bahnschrift,'Trebuchet MS','Microsoft YaHei',sans-serif;font-size:23px;letter-spacing:-.5px;margin:0}.section-note{color:var(--muted);font-size:11px;margin-top:5px}.mode{display:flex;gap:2px;background:#e4e7df;padding:3px;border-radius:4px}.mode button{border:0;border-radius:3px;padding:8px 11px;color:var(--muted);background:none;font-size:11px}.mode button.active{background:var(--white);color:var(--ink);box-shadow:0 1px 3px #0001}.episode{background:var(--white);border:1px solid var(--line);margin-bottom:21px;border-radius:4px;overflow:hidden}.episode-head{display:flex;align-items:center;justify-content:space-between;gap:12px;padding:14px 16px;border-bottom:1px solid var(--line);font-size:12px}.episode-head b{font-weight:400;font-size:14px}.episode-meta{font-size:11px;color:var(--muted);margin-top:5px}.episode-badge{color:var(--muted);font-size:10px;letter-spacing:1px}.combined{padding:12px;background:#13231d}video{display:block;width:100%;background:#101b17}.combined video{aspect-ratio:960/268}.view-labels{display:grid;grid-template-columns:repeat(3,1fr);background:#263c31;color:#cbd9cc;font-size:10px;letter-spacing:1.2px;padding:8px;text-align:center}.views-scroll{overflow-x:auto}.views{display:grid;grid-template-columns:repeat(3,minmax(220px,1fr));min-width:690px;gap:1px;background:#47604f}.view{background:#13231d}.view .camera{color:#d1ded1;font-size:10px;letter-spacing:1px;padding:9px 12px}.view video{aspect-ratio:4/3}.episode-foot{display:flex;justify-content:space-between;flex-wrap:wrap;align-items:center;gap:9px;padding:12px 16px;color:var(--muted);font-size:11px}.source-links{display:flex;gap:13px;flex-wrap:wrap}.sync-actions{display:flex;gap:5px}.sync-actions button{padding:5px 8px;font-size:11px;background:var(--white);border:1px solid var(--line);border-radius:3px}.demo-video{background:#14241c;padding:12px}.demo-video video{max-height:520px;min-height:160px}.scoring{border:1px solid var(--line);border-collapse:collapse;width:100%;background:var(--white);margin:15px 0}.scoring th{text-align:left;padding:12px 16px;background:#e6eadd;font-size:11px;text-transform:uppercase;letter-spacing:1px}.scoring td{padding:13px 16px;line-height:1.6;border-top:1px solid var(--line);vertical-align:top}.scoring td:first-child{width:88px;font-family:Consolas,monospace;font-size:20px;color:#a84428}.empty{padding:20px;border:1px solid var(--line);line-height:1.7;background:var(--white)}.source-footer{font-size:11px;color:var(--muted);line-height:1.8;border-top:1px solid var(--line);margin-top:27px;padding-top:20px}.source-footer a{margin-right:12px}.error{font-size:11px;color:#aa3d2c;padding:8px 16px;line-height:1.6}.reference{padding:25px 0;border-top:1px solid var(--line)}.reference video{max-height:500px;margin-top:12px}.axis{max-width:700px;width:100%;margin-top:15px}.no-results{color:#a7bcab;font-size:12px;padding:16px 8px}.stats{font-size:11px;letter-spacing:.4px}.muted{color:var(--muted)}
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@media(min-width:1600px){.main{padding-left:55px;padding-right:55px}}@media(max-width:900px){.app{grid-template-columns:218px minmax(0,1fr)}.rail{padding:20px 12px}.main{padding:21px 19px 50px}.big-id{font-size:48px}.task-heading{gap:13px}.toplinks a{font-size:10px}.stats{display:none}.section-bar{align-items:flex-start;flex-direction:column}}@media(max-width:620px){.app{display:block}.rail{position:relative;height:auto;max-height:360px;padding:17px 14px}.brand{font-size:22px}.rail-caption{margin-bottom:12px}.groups{grid-template-columns:repeat(4,1fr);margin-bottom:9px}.task-list{max-height:125px;min-height:70px}.rail-footer{display:none}.main{padding:20px 14px 45px}.topline{margin-bottom:22px}.task-heading{align-items:center}.big-id{font-size:44px}h1{font-size:29px}.instruction{padding:14px 17px}.instruction p{font-size:16px}.episode-head{padding:12px}.episode-foot{padding:11px}.toplinks{gap:12px}.section-bar{gap:12px}.facts{gap:17px}.combined{padding:6px}.scoring td{font-size:12px;padding:11px}.scoring td:first-child{width:55px;font-size:18px}}
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@media(prefers-reduced-motion:reduce){html{scroll-behavior:auto}}
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.camera-unavailable{aspect-ratio:4/3;display:flex;flex-direction:column;align-items:center;justify-content:center;gap:10px;text-align:center;background:#eef1e7;color:#5d6d61;border-left:1px solid #d7ded1}.camera-unavailable b{font-size:15px;font-weight:400}.camera-unavailable span{font-size:12px;color:#8a5b45}.camera-unavailable small{font-size:10px;line-height:1.65;color:#819080}.random-camera-note{padding:12px 16px;line-height:1.8;font-size:11px;background:#f6f0e3;color:#776545;border-top:1px solid var(--line)}.random-camera-note b{font-weight:600;margin-right:6px}
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</style>
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</head>
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<body>
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<div class="app">
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<aside class="rail" aria-label="Task navigation">
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<div class="brand">RoboDojo<span>.</span></div><div class="rail-caption">OFFICIAL TASK INDEX / VIDEO ATLAS</div>
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<input class="search" id="search" type="search" placeholder="序号 / 名称 / instruction" aria-label="搜索任务序号或名称">
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<div class="groups" id="groups"></div><div class="list-head"><span>选择任务</span><span id="listCount"></span></div>
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<nav class="task-list" id="taskList" aria-label="任务列表"></nav>
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<div class="rail-footer"><a href="https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples" target="_blank" rel="noopener">HF 数据仓库 ↗</a><a href="?task=reference" id="referenceLink">工具演示</a></div>
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</aside>
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<main class="main" id="main"></main>
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</div>
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<script id="catalog" type="application/json">__CATALOG_JSON__</script>
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<script>
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const DATA=JSON.parse(document.getElementById('catalog').textContent);
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const GROUPS=['Generalization','Memory','Precision','Long-Horizon','Open','DLC'];
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const esc=x=>String(x??'').replace(/[&<>"']/g,c=>({'&':'&','<':'<','>':'>','"':'"',"'":'''}[c]));
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const media=p=>DATA.media_base+p.split('/').map(encodeURIComponent).join('/');
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const file=p=>DATA.file_base+p.split('/').map(encodeURIComponent).join('/');
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const taskToken=t=>t.task_index!==null?String(t.task_index):t.task_key;
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const sorted=[...DATA.tasks].sort((a,b)=>(a.task_index??100+a.catalog_number)-(b.task_index??100+b.catalog_number));
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let current=null,group='all',query='',mode='combined';
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const params=new URLSearchParams(location.search);const initial=params.get('task')??'0';
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function link(url,text){return `<a href="${esc(url)}" target="_blank" rel="noopener">${esc(text)}</a>`}
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function drawList(){
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document.getElementById('groups').innerHTML=['all',...GROUPS].map(g=>`<button class="group ${g===group?'active':''}" data-group="${g}" aria-pressed="${g===group}">${g==='all'?'全部':g}<span>${g==='all'?43:DATA.tasks.filter(t=>t.category===g).length}</span></button>`).join('');
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const numeric=/^\d+$/.test(query.trim());
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const shown=sorted.filter(t=>(numeric||group==='all'||t.category===group)&&(numeric?t.task_index===Number(query):`${t.task_name} ${t.task_key} ${t.fields.Instruction} C${String(t.catalog_number).padStart(2,'0')}`.toLowerCase().includes(query.toLowerCase())));
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document.getElementById('listCount').textContent=`${shown.length} / 43`;
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document.getElementById('taskList').innerHTML=shown.map(t=>`<button class="task-link ${current?.task_key===t.task_key?'active':''}" data-task="${esc(taskToken(t))}" ${current?.task_key===t.task_key?'aria-current="page"':''}><span class="mono id">${t.task_index!==null?String(t.task_index).padStart(2,'0'):'C'+t.catalog_number}</span><span class="name">${esc(t.task_name)}</span></button>`).join('')||'<div class="no-results">没有匹配的任务。官方 task_index 为 0–34。</div>';
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document.querySelectorAll('[data-group]').forEach(b=>b.onclick=()=>{group=b.dataset.group;drawList()});
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document.querySelectorAll('[data-task]').forEach(b=>b.onclick=()=>selectTask(b.dataset.task));
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}
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function selectTask(token,update=true){
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document.querySelectorAll('video').forEach(v=>v.pause());
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if(token==='reference'){current=null;if(update)history.replaceState({},'',`?task=reference`);drawList();drawReference();return}
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current=sorted.find(t=>taskToken(t)===String(token))||null;
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if(update)history.replaceState({},'',`?task=${encodeURIComponent(token)}`);
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drawList();drawTask();
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document.querySelector('.task-link.active')?.scrollIntoView({block:'nearest'});
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}
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function head(){return `<div class="topline"><span class="stats"><b>43 TASKS</b> / 35 OFFICIAL DATA INDICES / 105 DEMONSTRATIONS</span><div class="toplinks">${link(DATA.repo_url,'数据仓库 ↗')}${link('https://robodojo-benchmark.com/doc/sim-tasks/','官方文档 ↗')}</div></div>`}
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function video(url,poster='',cls=''){return `<video class="${cls}" controls playsinline preload="metadata" src="${esc(url)}" ${poster?`poster="${esc(poster)}"`:''} aria-label="MP4 video"></video>`}
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function episode(s){
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const originals=['top','left','right'].map(v=>link(file(s.views[v].path),v.toUpperCase()+' 原视频')).join('');
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const content=mode==='combined'?`<div class="view-labels"><span>TOP / HEAD</span><span>LEFT WRIST</span><span>RIGHT WRIST</span></div><div class="combined">${video(media(s.synchronized_views_path),media(s.preview_path))}</div>`:
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`<div class="views-scroll"><div class="views">${['top','left','right'].map((v,i)=>`<div class="view"><div class="camera">${['TOP / HEAD','LEFT WRIST','RIGHT WRIST'][i]}</div>${video(media(s.views[v].path),'',v)}</div>`).join('')}</div></div>`;
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return `<article class="episode" data-episode="${s.episode_index}"><div class="episode-head"><div><b class="mono">EPISODE ${s.episode_index}</b><div class="episode-meta">原始文件 ${String(s.source_local_episode).padStart(7,'0')} · ${(s.frame_count/s.fps).toFixed(2)} s · ${s.fps} FPS · ${s.frame_count} frames</div></div><span class="episode-badge">OFFICIAL DEMONSTRATION</span></div>${content}<div class="episode-foot"><div class="source-links">${originals}${link(media(s.trajectory_path),'动作 / 状态 Parquet')}${link(file(s.synchronized_views_path),'同步 MP4 ↗')}</div>${mode==='original'?'<div class="sync-actions"><button data-play>同步播放</button><button data-pause>暂停</button><button data-reset>回到开头</button></div>':''}</div><div class="error" hidden></div></article>`;
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}
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function drawTask(){
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if(!current){document.getElementById('main').innerHTML=head()+'<div class="empty"><h1>找不到这个任务</h1><p>官方 task_index 为 0–34。Open 类使用任务名称定位,请从左侧选择。</p></div>';return}
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const t=current,idx=sorted.indexOf(t),ss=DATA.samples.filter(s=>s.task_key===t.task_key),demos=t.documentation_videos.filter(d=>d.path);
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document.title=`${t.task_index!==null?'Task '+t.task_index:'C'+t.catalog_number} · ${t.task_name} · RoboDojo`;
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let html=head()+`<div class="eyebrow"><span>${esc(t.category)}</span><span class="tag mono">官网目录 C${String(t.catalog_number).padStart(2,'0')}</span></div><div class="task-heading"><span class="big-id mono">${t.task_index!==null?String(t.task_index).padStart(2,'0'):'C'+t.catalog_number}</span><h1>${esc(t.task_name)}</h1></div><div class="toplinks" style="margin-bottom:20px"><span class="muted mono" style="font-size:11px">${t.task_index!==null?'OFFICIAL task_index = '+t.task_index:'EVAL-ONLY · 无官方 task_index'}</span><div class="nav-buttons"><button class="small-button" id="previous" ${idx===0?'disabled':''}>← 上一个</button><button class="small-button" id="next" ${idx===sorted.length-1?'disabled':''}>下一个 →</button></div><a href="#scoring">评分标准 ↓</a></div><div class="instruction"><div class="label">Instruction · 官网指令</div><p>${esc(t.fields.Instruction)}</p></div>`;
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if(t.instruction_match===false)html+=`<div class="warning"><b>数据版本的 instruction 与当前官网不同</b><br>${esc(t.dataset_instruction)}<br>下面的示教属于官方数据版本,不能直接认定其完成了当前官网的全部目标。</div>`;
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html+=`<p class="description">${esc(t.fields.Description)}</p><div class="facts"><div class="label">Platform<strong>${esc(t.fields.Platform)}</strong></div><div class="label">Data source<strong>${esc(t.fields['Data Source'])}</strong></div><div class="label">Usage<strong>${esc(t.fields.Usage)}</strong></div><div class="label">Source<strong>${link(t.doc_url,'官方任务页 ↗')}</strong></div></div>`;
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| 70 |
+
html+=`<section aria-label="任务 MP4 示例"><div class="section-bar"><div><h2>${ss.length?'官方示教':'官方评估演示'}</h2><div class="section-note">${ss.length?'同一 episode 的 TOP → LEFT WRIST → RIGHT WRIST;完整 MP4。':'官方没有发布该任务的三相机训练示教,下面是官网 MP4 演示。'}</div></div>${ss.length?`<div class="mode" aria-label="视频展示方式"><button data-mode="combined" class="${mode==='combined'?'active':''}" aria-pressed="${mode==='combined'}">三视角同步 MP4</button><button data-mode="original" class="${mode==='original'?'active':''}" aria-pressed="${mode==='original'}">三路原始 MP4</button></div>`:''}</div>${ss.map(episode).join('')}`;
|
| 71 |
+
for(const d of demos){
|
| 72 |
+
const random=d.label.includes('Random');
|
| 73 |
+
const missing=camera=>`<div class="view"><div class="camera">${camera} WRIST</div><div class="camera-unavailable"><b>${camera==='LEFT'?'左':'右'}腕相机</b><span>对应 MP4 未公开</span><small>官网及官方 HF 任务数据中<br>未找到这段演示的腕部录像</small></div></div>`;
|
| 74 |
+
const content=random?`<div class="views-scroll"><div class="views"><div class="view"><div class="camera">TOP / HEAD · 已公开</div>${video(media(d.path))}</div>${missing('LEFT')}${missing('RIGHT')}</div></div><div class="random-camera-note"><b>Random version 只有公开的头部相机 MP4。</b>画面里有左右机械臂,但这不表示对应的左右腕相机录像已发布。当前保留真实可用的 TOP 视角,LEFT / RIGHT 标记为未公开。</div>`:`<div class="demo-video">${video(media(d.path))}</div>`;
|
| 75 |
+
html+=`<article class="episode" data-variant="${random?'random':'eval-only'}"><div class="episode-head"><div><b>${esc(d.label)}</b><div class="episode-meta">官网演示 · ${random?'随机布局,eval-only · TOP 视角':'eval-only,无公开示教'}</div></div><span class="episode-badge">WEBSITE DEMO</span></div>${content}<div class="episode-foot"><div class="source-links">${link(file(d.path),random?'TOP 官网 MP4 ↗':'MP4 文件 ↗')}${link(d.url,'官网源文件 ↗')}</div></div><div class="error" hidden></div></article>`;
|
| 76 |
+
}
|
| 77 |
+
html+='</section>';
|
| 78 |
+
html+=`<section id="scoring"><div class="section-bar"><div><h2>Scoring · 评分标准</h2><div class="section-note">来自当前官网的任务规则;官方没有提供每条示教的实际得分。</div></div></div>`;
|
| 79 |
+
html+=t.scoring.length?`<table class="scoring"><thead><tr><th>Score</th><th>Condition</th></tr></thead><tbody>${t.scoring.map(s=>`<tr><td>${esc(s.score)}</td><td>${esc(s.condition)}</td></tr>`).join('')}</tbody></table>`:'<div class="empty">官网未提供该任务的评分标准。</div>';
|
| 80 |
+
if(t.fields.Comment)html+=`<div class="warning"><b>Comment</b><br>${esc(t.fields.Comment)}</div>`;
|
| 81 |
+
html+=`</section><footer class="source-footer"><p>序号沿用官方 LeRobot v2.1 的 task_index(0–34);C01–C43 是官网目录辅助编号。每任务选取原始 episode 0 / 49 / 99。背景 ID 未在官方数据中标注;不保证覆盖所有背景种类。</p><p>视频直接读取 HF 数据仓库中的完整 MP4。合并视频保留完整时长,原视频为 640×480。动作 / 状态为双臂关节示教,不是笛卡尔腕部位姿。</p>${link(DATA.repo_url,'精选数据仓库 ↗')}${link(t.doc_url,'官方任务页 ↗')}${link(`${DATA.repo_url}/viewer/${t.config}/examples`,'HF 表格 Viewer(可选)↗')}<p class="mono">Official source revision: ${esc(DATA.source_revision)}</p></footer>`;
|
| 82 |
+
document.getElementById('main').innerHTML=html;
|
| 83 |
+
document.getElementById('previous').onclick=()=>{query='';document.getElementById('search').value='';selectTask(taskToken(sorted[idx-1]));window.scrollTo({top:0})};
|
| 84 |
+
document.getElementById('next').onclick=()=>{query='';document.getElementById('search').value='';selectTask(taskToken(sorted[idx+1]));window.scrollTo({top:0})};
|
| 85 |
+
document.querySelectorAll('[data-mode]').forEach(b=>b.onclick=()=>{const y=window.scrollY;mode=b.dataset.mode;document.querySelectorAll('video').forEach(v=>v.pause());drawTask();window.scrollTo({top:y})});
|
| 86 |
+
bindVideos();
|
| 87 |
+
}
|
| 88 |
+
function bindVideos(){
|
| 89 |
+
document.querySelectorAll('.episode').forEach(el=>{
|
| 90 |
+
const vs=[...el.querySelectorAll('video')],error=el.querySelector('.error');
|
| 91 |
+
vs.forEach(v=>v.addEventListener('error',()=>{error.hidden=false;error.textContent='当前 MP4 加载失败,请使用下方原视频链接打开,或稍后重试。'}));
|
| 92 |
+
if(vs.length!==3)return;
|
| 93 |
+
let timer=null;
|
| 94 |
+
const pause=()=>{vs.forEach(v=>v.pause());clearInterval(timer);timer=null};
|
| 95 |
+
el.querySelector('[data-play]').onclick=async()=>{
|
| 96 |
+
const time=vs[0].currentTime;vs.forEach(v=>{if(v.readyState)v.currentTime=time});
|
| 97 |
+
try{await Promise.all(vs.map(v=>v.play()));clearInterval(timer);timer=setInterval(()=>{if(!el.isConnected){clearInterval(timer);return}for(const v of vs.slice(1))if(v.readyState&&Math.abs(v.currentTime-vs[0].currentTime)>.25)v.currentTime=vs[0].currentTime},400)}
|
| 98 |
+
catch(e){pause();error.hidden=false;error.textContent='无法同步启动,请点击各播放器播放按钮,或切换到三视角同步 MP4。'}
|
| 99 |
+
};
|
| 100 |
+
el.querySelector('[data-pause]').onclick=pause;
|
| 101 |
+
el.querySelector('[data-reset]').onclick=()=>{pause();vs.forEach(v=>{if(v.readyState)v.currentTime=0})};
|
| 102 |
+
vs[0].addEventListener('ended',pause);
|
| 103 |
+
vs[0].addEventListener('pause',pause);
|
| 104 |
+
vs[0].addEventListener('seeked',()=>{for(const v of vs.slice(1))if(v.readyState&&Math.abs(v.currentTime-vs[0].currentTime)>.05)v.currentTime=vs[0].currentTime});
|
| 105 |
+
});
|
| 106 |
+
}
|
| 107 |
+
function drawReference(){
|
| 108 |
+
document.title='工具与坐标轴 · RoboDojo';
|
| 109 |
+
document.getElementById('main').innerHTML=head()+`<div class="eyebrow">SIMULATION REFERENCE</div><h1 style="margin:16px 0 24px">World-axis orientation</h1><p class="description">X 为红色、Y 为绿色、Z 为蓝色。箭头位置只展示方向,并不代表世界坐标系原点。</p><img class="axis" src="${esc(media('reference/world_axes.png'))}" alt="World coordinate axes"><section class="reference"><h2>Domain Randomization</h2><p class="description">布局、干扰物、桌面和地面材质、灯光与背景的随机化。</p>${video(media('reference/domain-randomization.mp4'))}${link('https://robodojo-benchmark.com/doc/sim-tasks/domain-randomization/','官方说明 ↗')}</section><section class="reference"><h2>Parallel Environments</h2><p class="description">在同一 Isaac Sim 进程中运行多个模拟环境。</p>${video(media('reference/parallel-environments.mp4'))}${link('https://robodojo-benchmark.com/doc/sim-tasks/parallel-environments/','官方说明 ↗')}</section>`;
|
| 110 |
+
}
|
| 111 |
+
document.getElementById('search').addEventListener('input',e=>{query=e.target.value;drawList()});
|
| 112 |
+
document.getElementById('referenceLink').onclick=e=>{e.preventDefault();selectTask('reference');window.scrollTo({top:0})};
|
| 113 |
+
selectTask(initial,false);
|
| 114 |
+
</script>
|
| 115 |
+
</body>
|
| 116 |
+
</html>
|
scripts/build_browser.py
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
"""Generate a free static HF Space from selected benchmark metadata."""
|
| 2 |
+
from pathlib import Path
|
| 3 |
+
import json,re,shutil
|
| 4 |
+
ROOT=Path(__file__).resolve().parents[1]
|
| 5 |
+
NAME=ROOT.name
|
| 6 |
+
DATA=ROOT/'dataset'
|
| 7 |
+
OUT=ROOT/'space'
|
| 8 |
+
|
| 9 |
+
JS=r'''
|
| 10 |
+
const DATA=JSON.parse(document.getElementById('catalog').textContent);
|
| 11 |
+
const esc=x=>String(x??'').replace(/[&<>"']/g,c=>({'&':'&','<':'<','>':'>','"':'"',"'":'''}[c]));
|
| 12 |
+
const media=p=>DATA.media_base+p.split('/').map(encodeURIComponent).join('/');
|
| 13 |
+
const file=p=>DATA.file_base+p.split('/').map(encodeURIComponent).join('/');
|
| 14 |
+
const link=(u,t)=>`<a href="${esc(u)}" target="_blank" rel="noopener">${esc(t)}</a>`;
|
| 15 |
+
const tasks=[...DATA.tasks].sort((a,b)=>a.task_index-b.task_index);
|
| 16 |
+
const groups=[...new Set(tasks.map(t=>t.category))];
|
| 17 |
+
let current=null,query='',group='all',mode='combined';
|
| 18 |
+
function drawList(){
|
| 19 |
+
document.getElementById('groups').innerHTML=['all',...groups].map(g=>`<button class="group ${g===group?'active':''}" data-group="${esc(g)}" aria-pressed="${g===group}">${g==='all'?'全部':esc(g)}<span>${g==='all'?tasks.length:tasks.filter(t=>t.category===g).length}</span></button>`).join('');
|
| 20 |
+
const numeric=/^\d+$/.test(query.trim());
|
| 21 |
+
const shown=tasks.filter(t=>(numeric||group==='all'||t.category===group)&&(numeric?t.task_index===Number(query):`${t.name} ${t.instruction} ${t.source_filename??''}`.toLowerCase().includes(query.toLowerCase())));
|
| 22 |
+
document.getElementById('listCount').textContent=`${shown.length} / ${tasks.length}`;
|
| 23 |
+
document.getElementById('taskList').innerHTML=shown.map(t=>`<button class="task-link ${current?.task_index===t.task_index?'active':''}" data-task="${t.task_index}"><span class="id mono">${t.task_index}</span><span class="name">${esc(t.name)}</span></button>`).join('')||'<div class="no-results">没有匹配的精选任务序号。</div>';
|
| 24 |
+
document.querySelectorAll('[data-group]').forEach(b=>b.onclick=()=>{group=b.dataset.group;drawList()});
|
| 25 |
+
document.querySelectorAll('[data-task]').forEach(b=>b.onclick=()=>{selectTask(b.dataset.task);window.scrollTo({top:0})});
|
| 26 |
+
}
|
| 27 |
+
function selectTask(id,historyUpdate=true){document.querySelectorAll('video').forEach(v=>v.pause());current=tasks.find(t=>t.task_index===Number(id));if(historyUpdate)history.replaceState({},'',`?task=${id}`);drawList();drawTask();document.querySelector('.task-link.active')?.scrollIntoView({block:'nearest'});}
|
| 28 |
+
function player(p,poster=''){return `<video controls playsinline preload="metadata" src="${esc(media(p))}" ${poster?`poster="${esc(media(poster))}"`:''}></video>`}
|
| 29 |
+
function episode(s){
|
| 30 |
+
const n=s.views.length;
|
| 31 |
+
const content=mode==='combined'?`<div class="view-labels" style="grid-template-columns:repeat(${n},1fr)">${s.views.map(v=>`<span>${esc(v.label)}</span>`).join('')}</div><div class="combined">${player(s.composite_path,s.preview_path)}</div>`:`<div class="views-scroll"><div class="views" style="grid-template-columns:repeat(${n},minmax(220px,1fr));min-width:${n*230}px">${s.views.map(v=>`<div class="view"><div class="camera">${esc(v.label)}</div>${player(v.path)}</div>`).join('')}</div></div>`;
|
| 32 |
+
return `<article class="episode" data-episode="${s.episode_index}"><div class="episode-head"><div><b class="mono">EPISODE ${s.episode_index}</b><div class="episode-meta">官方 task_index=${s.task_index} · ${s.frame_count} frames · ${s.fps} FPS · ${(s.frame_count/s.fps).toFixed(2)} s</div></div><span class="episode-badge">OFFICIAL DATA EXTRACT</span></div>${content}<div class="episode-foot"><div class="source-links">${s.views.map(v=>link(file(v.path),v.label+' MP4')).join('')}${link(media(s.trajectory_path),'动作 / 状态 Parquet')}${link(file(s.composite_path),'同步 MP4 ↗')}</div>${mode==='original'?'<div class="sync-actions"><button data-play>同步播放</button><button data-pause>暂停</button><button data-reset>回到开头</button></div>':''}</div>${s.source_filename?`<div class="episode-meta source-name mono">${esc(s.source_filename)}</div>`:''}<div class="error" hidden></div></article>`;
|
| 33 |
+
}
|
| 34 |
+
function drawTask(){
|
| 35 |
+
const top=`<div class="topline"><span class="stats"><b>${esc(DATA.name)}</b> / ${DATA.samples.length} SELECTED EPISODES / ${DATA.source.camera_order.length} CAMERAS</span><div class="toplinks">${link(DATA.repo_url,'HF 数据仓库 ↗')}${link(DATA.github_url,'官方代码 ↗')}</div></div>`;
|
| 36 |
+
if(!current){document.getElementById('main').innerHTML=top+'<h1>精选集中没有这个序号</h1><p>请从左侧选择,或输入已收录的官方 task_index。</p>';return}
|
| 37 |
+
const t=current,idx=tasks.indexOf(t),ss=DATA.samples.filter(s=>s.task_index===t.task_index),dynamic=DATA.name==='DynamicVLA';
|
| 38 |
+
document.title=`Task ${t.task_index} · ${t.name} · ${DATA.name}`;
|
| 39 |
+
let html=top+`<div class="benchmark-note">${dynamic?'DOM 有 3 类任务,但官方 task_index 对应具体语言 / 场景配置。本页是三类各 6 条精选示例,不是完整 140,932 条任务目录。':'ReflexBench 的全部 6 个官方 task_index,每任务 3 条精选完整 episode。'} 单臂 Franka;相机名称保留上游定义。</div><div class="eyebrow">${esc(t.category)} · SIMULATION</div><div class="task-heading"><span class="big-id mono">${t.task_index}</span><h1>${esc(t.name)}</h1></div><div class="toplinks" style="margin-bottom:20px"><span class="muted mono">OFFICIAL task_index = ${t.task_index}</span><div class="nav-buttons"><button class="small-button" id="previous" ${idx===0?'disabled':''}>← 上一个</button><button class="small-button" id="next" ${idx===tasks.length-1?'disabled':''}>下一个 →</button></div><a href="#success">成功标准 ↓</a></div><div class="instruction"><div class="label">Instruction ${dynamic?'· 可读呈现':'· 官方数据原文'}</div><p>${esc(t.instruction)}</p></div>`;
|
| 40 |
+
if(t.instruction_note)html+=`<p class="description">${esc(t.instruction_note)}</p>`;
|
| 41 |
+
if(t.instruction_metadata)html+=`<details class="metadata"><summary>原始 instruction 元数据与所有对象 / 容器别名</summary><pre>${esc(JSON.stringify(t.instruction_metadata,null,2))}</pre></details>`;
|
| 42 |
+
html+=`<p class="description">${esc(t.description)}</p><div class="facts"><div class="label">Robot<strong>Franka · 单臂</strong></div><div class="label">Published cameras<strong>${esc(DATA.source.camera_order.join(' / '))}</strong></div><div class="label">Official reference<strong>${link(t.doc_url,'成功条件源码 / 文档 ↗')}</strong></div>${t.official_gym_id?`<div class="label">Gym ID<strong class="mono">${esc(t.official_gym_id)}</strong></div>`:''}</div><section><div class="section-bar"><div><h2>完整 MP4 示例</h2><div class="section-note">${dynamic?'OPPOSITE → WRIST → SIDE;每路均为同一个官方 episode。':'FIXED → WRIST;原始 LeRobot 合并视频按官方 episode 时间区间提取。'}</div></div><div class="mode"><button data-mode="combined" class="${mode==='combined'?'active':''}">相机同步 MP4</button><button data-mode="original" class="${mode==='original'?'active':''}">各路 MP4</button></div></div>${ss.map(episode).join('')}</section>`;
|
| 43 |
+
html+=`<section id="success"><div class="section-bar"><h2>Success · 成功与评估标准</h2></div><div class="instruction success"><p>${esc(t.success_rule)}</p></div><div class="warning">这是任务的评估逻辑,不能据此为示例赋分。公开 LeRobot 特征未保存逐条示教的成功标记,actual_episode_success 为 null;没有另行运行模拟器验证示例结果。</div>`;
|
| 44 |
+
if(t.profile)html+=`<details class="metadata"><summary>官方评估 profile / task phases</summary><pre>${esc(JSON.stringify(t.profile,null,2))}</pre></details>`;
|
| 45 |
+
html+=`</section><footer class="source-footer"><p>${esc(DATA.source.note)}</p><p>视频是从官方记录选择并转为 H.264 的完整 episode,保持原始 25 FPS 与逐帧长度。数据源 revision:<span class="mono">${esc(DATA.source.revision)}</span>。</p>${link(DATA.repo_url,'精选数据仓库 ↗')}${link(`https://huggingface.co/datasets/${DATA.source.repo_id}`,'官方完整数据 ↗')}${link(t.doc_url,'官方评估标准 ↗')}<p>上游许可和来源文档保留在数据仓库 reference/。${dynamic?'S-Lab License 1.0,非商业用途。':'保留官方 BSD-3-Clause 许可与数据来源。'}</p></footer>`;
|
| 46 |
+
document.getElementById('main').innerHTML=html;
|
| 47 |
+
for(const [name,step] of [['previous',-1],['next',1]])document.getElementById(name).onclick=()=>{query='';document.getElementById('search').value='';selectTask(tasks[idx+step].task_index);window.scrollTo({top:0})};
|
| 48 |
+
document.querySelectorAll('[data-mode]').forEach(b=>b.onclick=()=>{const y=scrollY;document.querySelectorAll('video').forEach(v=>v.pause());mode=b.dataset.mode;drawTask();window.scrollTo({top:y})});
|
| 49 |
+
bindVideos();
|
| 50 |
+
}
|
| 51 |
+
function bindVideos(){
|
| 52 |
+
document.querySelectorAll('[data-episode]').forEach(el=>{const vs=[...el.querySelectorAll('video')],error=el.querySelector('.error');vs.forEach(v=>v.onerror=()=>{error.hidden=false;error.textContent='此 MP4 加载失败,可用下方文件链接直接打开。'});if(vs.length===1)return;let timer=null;const pause=()=>{vs.forEach(v=>v.pause());clearInterval(timer);timer=null};el.querySelector('[data-play]').onclick=async()=>{try{vs.forEach(v=>{if(v.readyState)v.currentTime=vs[0].currentTime});await Promise.all(vs.map(v=>v.play()));clearInterval(timer);timer=setInterval(()=>{if(!el.isConnected){clearInterval(timer);return}for(const v of vs.slice(1))if(v.readyState&&Math.abs(v.currentTime-vs[0].currentTime)>.2)v.currentTime=vs[0].currentTime},300)}catch(e){pause();error.hidden=false;error.textContent='请点击原播放器,或切换到同步合并 MP4。'}};el.querySelector('[data-pause]').onclick=pause;el.querySelector('[data-reset]').onclick=()=>{pause();vs.forEach(v=>{if(v.readyState)v.currentTime=0})};vs[0].addEventListener('pause',pause);vs[0].addEventListener('ended',pause);});
|
| 53 |
+
}
|
| 54 |
+
document.getElementById('search').oninput=e=>{query=e.target.value;drawList()};
|
| 55 |
+
selectTask(new URLSearchParams(location.search).get('task')??tasks[0].task_index,false);
|
| 56 |
+
'''
|
| 57 |
+
|
| 58 |
+
def build():
|
| 59 |
+
source=json.loads((DATA/'provenance/source.json').read_text(encoding='utf-8'))
|
| 60 |
+
tasks=json.loads((DATA/'provenance/tasks.json').read_text(encoding='utf-8'))
|
| 61 |
+
samples=json.loads((DATA/'provenance/samples.json').read_text(encoding='utf-8'))
|
| 62 |
+
publication=json.loads((ROOT/'publication.json').read_text(encoding='utf-8'))
|
| 63 |
+
media_revision=publication['dataset_commit_sha']
|
| 64 |
+
payload=dict(name=NAME,tasks=tasks,samples=samples,source=source,repo_url=f'https://huggingface.co/datasets/Travor278/{NAME}-Task-Examples',github_url='https://github.com/'+source['code_repository'],media_base=f'https://huggingface.co/datasets/Travor278/{NAME}-Task-Examples/resolve/{media_revision}/',file_base=f'https://huggingface.co/datasets/Travor278/{NAME}-Task-Examples/blob/{media_revision}/')
|
| 65 |
+
template=(ROOT/'browser/base.html').read_text(encoding='utf-8')
|
| 66 |
+
template=re.sub(r'<script id="catalog".*?</script>','<script id="catalog" type="application/json">__DATA__</script>',template,flags=re.S)
|
| 67 |
+
template=re.sub(r'<script>.*?</script>',lambda m:'<script>'+JS+'</script>',template,flags=re.S)
|
| 68 |
+
template=template.replace('RoboDojo',NAME).replace('<a href="?task=reference" id="referenceLink">工具演示</a>','')
|
| 69 |
+
template=template.replace('https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples',payload['repo_url'])
|
| 70 |
+
n=len(samples[0]['views']);aspect=f'{320*n}/{348 if NAME=="ReflexBench" else 268}'
|
| 71 |
+
extra=f'.combined video{{aspect-ratio:{aspect}}}.view video{{aspect-ratio:{"1/1" if NAME=="ReflexBench" else "4/3"}}}.big-id{{font-size:46px;letter-spacing:-2px}}.benchmark-note{{font-size:11px;line-height:1.8;color:var(--muted);padding:13px 16px;border:1px solid var(--line);margin-bottom:22px;background:#e7ecde}}.metadata{{font-size:12px;background:var(--white);border:1px solid var(--line);padding:13px 16px;margin:12px 0}}.metadata summary{{cursor:pointer}}.metadata pre{{white-space:pre-wrap;overflow-wrap:anywhere;line-height:1.7;font-size:11px}}.success p{{font-size:15px}}.source-name{{padding:0 16px 12px;overflow-wrap:anywhere}}.task-heading{{flex-wrap:wrap}}.task-link .id{{font-size:11px;min-width:40px}}.toplinks{{flex-wrap:wrap}}'
|
| 72 |
+
template=template.replace('</style>',extra+'</style>')
|
| 73 |
+
encoded=json.dumps(payload,ensure_ascii=False,separators=(',',':')).replace('</','<\\/')
|
| 74 |
+
OUT.mkdir(exist_ok=True);(OUT/'index.html').write_text(template.replace('__DATA__',encoded),encoding='utf-8')
|
| 75 |
+
(OUT/'README.md').write_text(f'''---
|
| 76 |
+
title: {NAME} Task Examples
|
| 77 |
+
emoji: 🦾
|
| 78 |
+
colorFrom: green
|
| 79 |
+
colorTo: gray
|
| 80 |
+
sdk: static
|
| 81 |
+
app_file: index.html
|
| 82 |
+
fullWidth: true
|
| 83 |
+
---
|
| 84 |
+
|
| 85 |
+
# {NAME} Simulation Task Browser
|
| 86 |
+
|
| 87 |
+
Official task-indexed selected MP4 episodes, instructions and source-grounded success rules.
|
| 88 |
+
This static Space references videos in the selected dataset; no duplicated media or simulation assets.
|
| 89 |
+
|
| 90 |
+
Dataset: {payload['repo_url']}
|
| 91 |
+
''',encoding='utf-8')
|
| 92 |
+
print(f'Built {NAME} browser: {len(tasks)} official instruction IDs, {len(samples)} episodes, media revision {media_revision}')
|
| 93 |
+
|
| 94 |
+
if __name__=='__main__':build()
|
scripts/build_examples.py
CHANGED
|
@@ -11,11 +11,11 @@ import pyarrow as pa
|
|
| 11 |
import pyarrow.parquet as pq
|
| 12 |
|
| 13 |
ROOT=Path(__file__).resolve().parents[1]
|
| 14 |
-
NAME=ROOT.name
|
| 15 |
REFLEX=NAME=='ReflexBench'
|
| 16 |
REPO='cyx337/ReflexBench_dataset' if REFLEX else 'hzxie/DOM'
|
| 17 |
DEST=f'Travor278/{NAME}-Task-Examples'
|
| 18 |
-
WORK=ROOT/'work';OUT=ROOT/'dataset'
|
| 19 |
CODE=WORK/'official-code'
|
| 20 |
GITHUB='LxRoboticsLab/ReflexBench' if REFLEX else 'hzxie/DynamicVLA'
|
| 21 |
SESSION=requests.Session()
|
|
@@ -86,6 +86,9 @@ def keep_source(path):
|
|
| 86 |
dst=OUT/'reference'/path;dst.parent.mkdir(parents=True,exist_ok=True);shutil.copy2(CODE/path,dst)
|
| 87 |
|
| 88 |
def prepare():
|
|
|
|
|
|
|
|
|
|
| 89 |
from huggingface_hub import HfApi
|
| 90 |
api=HfApi();info=api.dataset_info(REPO);global SOURCE_REV;SOURCE_REV=info.sha
|
| 91 |
code_rev=subprocess.check_output(['git','-C',str(CODE),'rev-parse','HEAD'],text=True).strip()
|
|
@@ -190,6 +193,8 @@ def download():
|
|
| 190 |
container.close();summary.append({'source_path':model['source_path'],'source_shard_size':reader.size,'range_bytes_received':reader.transferred})
|
| 191 |
else:
|
| 192 |
def run(s):
|
|
|
|
|
|
|
| 193 |
target=OUT/s['trajectory_path'];target.parent.mkdir(parents=True,exist_ok=True);shutil.copy2(WORK/f"episode_{s['episode_index']:06d}.parquet",target)
|
| 194 |
for v in s['views']:
|
| 195 |
original=WORK/f"{s['episode_index']:06d}-{v['camera']}.mp4";download_file(v['source_path'],original)
|
|
@@ -246,7 +251,8 @@ def package():
|
|
| 246 |
subset('all',list(range(len(rows))),True)
|
| 247 |
for t in tasks:subset(f"task_{t['task_index']:06d}",[i for i,r in enumerate(rows) if r['task_index']==t['task_index']])
|
| 248 |
for category in sorted({t['category'] for t in tasks}):subset(category.lower().replace('-','_'),[i for i,r in enumerate(rows) if r['category']==category])
|
| 249 |
-
header=dict(language=['en','zh'],license='
|
|
|
|
| 250 |
if not REFLEX:header.update(license_name='slab-license',license_link='LICENSE')
|
| 251 |
browser=f'https://travor278-{NAME.lower()}-task-examples.static.hf.space'
|
| 252 |
lines=['---',yaml.safe_dump(header,sort_keys=False,allow_unicode=True).rstrip(),'---',f'# {NAME} Simulation Task Examples',f'\n[打开 MP4 任务浏览页]({browser}/?task={tasks[0]["task_index"]})', '\n'+source['note'],
|
|
@@ -254,13 +260,17 @@ def package():
|
|
| 254 |
'\n评估标准根据官方代码和文档整理;发布数据未保存逐条示教 success 标签,故 actual_episode_success 为 null。本文不编造 0–100 得分。',
|
| 255 |
'\n| 官方 task_index | Task / instruction scenario | 分类 | 直接浏览 |','|---|---|---|---|']
|
| 256 |
for t in sorted(tasks,key=lambda t:t['task_index']):lines.append(f"| {t['task_index']} | {t['name']} | {t['category']} | [打开]({browser}/?task={t['task_index']}) |")
|
|
|
|
| 257 |
for t in tasks:
|
| 258 |
lines.extend([f"\n## task_index={t['task_index']} · {t['name']}",f"\n**Instruction:** {t['instruction']}",f"\n**Description:** {t['description']}",f"\n**Success / evaluation:** {t['success_rule']}",f"\n[官方说明]({t['doc_url']})"])
|
| 259 |
if t.get('instruction_metadata'):lines.extend(['\n结构化原始 instruction(完整别名):','\n```json',json.dumps(t['instruction_metadata'],ensure_ascii=False,indent=2),'```','\n'+t['instruction_note']])
|
| 260 |
if t.get('official_gym_id'):lines.append(f"\n**Gym ID:** `{t['official_gym_id']}`")
|
| 261 |
for s in [s for s in samples if s['task_index']==t['task_index']]:lines.extend([f"\n**episode_index={s['episode_index']}** · {s['frame_count']} frames / {s['frame_count']/25:.2f} s",f"\n",f"\n[同步 MP4]({s['composite_path']}) · "+' · '.join(f"[{v['camera']} MP4]({v['path']})" for v in s['views'])+f" · [官方轨迹]({s['trajectory_path']})"])
|
| 262 |
lines.extend(['\n## 来源、许可与复现',f'\n官方数据:[原仓库](https://huggingface.co/datasets/{REPO}) · 固定 revision `{source["revision"]}`。',f'\n官方代码:[GitHub](https://github.com/{GITHUB}) · revision `{source["code_revision"]}`。','\n保留上游 LICENSE 和来源文件在 `reference/`。ReflexBench 官方数据未单列许可证元数据;保留官方实现 BSD-3-Clause 来源,不扩大作者权利。' if REFLEX else '\n遵循上游 S-Lab License 1.0,仅允许非商业用途;见 LICENSE。','\n选择性提取记录、原始时间区间、task/episode 对应、相机元数据和校验均在 `provenance/`。不下载场景资产、模型权重或完整数据仓库。','\n复现脚本:`scripts/build_examples.py`。浏览页源码另见 `browser/` 和 `scripts/build_browser.py`。'])
|
| 263 |
-
(OUT/'README.md').write_text('\n'.join(lines)+'\n',encoding='utf-8');(OUT/'scripts').mkdir(exist_ok=True)
|
|
|
|
|
|
|
|
|
|
| 264 |
|
| 265 |
if __name__=='__main__':
|
| 266 |
WORK.mkdir(exist_ok=True);(OUT/'provenance').mkdir(parents=True,exist_ok=True)
|
|
|
|
| 11 |
import pyarrow.parquet as pq
|
| 12 |
|
| 13 |
ROOT=Path(__file__).resolve().parents[1]
|
| 14 |
+
NAME=json.loads((ROOT/'provenance/source.json').read_text(encoding='utf-8'))['benchmark'] if (ROOT/'provenance/source.json').exists() else ROOT.name
|
| 15 |
REFLEX=NAME=='ReflexBench'
|
| 16 |
REPO='cyx337/ReflexBench_dataset' if REFLEX else 'hzxie/DOM'
|
| 17 |
DEST=f'Travor278/{NAME}-Task-Examples'
|
| 18 |
+
WORK=ROOT/'work';OUT=ROOT if (ROOT/'provenance/source.json').exists() else ROOT/'dataset'
|
| 19 |
CODE=WORK/'official-code'
|
| 20 |
GITHUB='LxRoboticsLab/ReflexBench' if REFLEX else 'hzxie/DynamicVLA'
|
| 21 |
SESSION=requests.Session()
|
|
|
|
| 86 |
dst=OUT/'reference'/path;dst.parent.mkdir(parents=True,exist_ok=True);shutil.copy2(CODE/path,dst)
|
| 87 |
|
| 88 |
def prepare():
|
| 89 |
+
if all((OUT/'provenance'/name).exists() for name in ['source.json','tasks.json','samples.json']):
|
| 90 |
+
print('Using retained, source-pinned selected manifests; no new source metadata download is needed.',flush=True)
|
| 91 |
+
return
|
| 92 |
from huggingface_hub import HfApi
|
| 93 |
api=HfApi();info=api.dataset_info(REPO);global SOURCE_REV;SOURCE_REV=info.sha
|
| 94 |
code_rev=subprocess.check_output(['git','-C',str(CODE),'rev-parse','HEAD'],text=True).strip()
|
|
|
|
| 193 |
container.close();summary.append({'source_path':model['source_path'],'source_shard_size':reader.size,'range_bytes_received':reader.transferred})
|
| 194 |
else:
|
| 195 |
def run(s):
|
| 196 |
+
cached_trajectory=WORK/f"episode_{s['episode_index']:06d}.parquet"
|
| 197 |
+
download_file(s['trajectory_source_path'],cached_trajectory)
|
| 198 |
target=OUT/s['trajectory_path'];target.parent.mkdir(parents=True,exist_ok=True);shutil.copy2(WORK/f"episode_{s['episode_index']:06d}.parquet",target)
|
| 199 |
for v in s['views']:
|
| 200 |
original=WORK/f"{s['episode_index']:06d}-{v['camera']}.mp4";download_file(v['source_path'],original)
|
|
|
|
| 251 |
subset('all',list(range(len(rows))),True)
|
| 252 |
for t in tasks:subset(f"task_{t['task_index']:06d}",[i for i,r in enumerate(rows) if r['task_index']==t['task_index']])
|
| 253 |
for category in sorted({t['category'] for t in tasks}):subset(category.lower().replace('-','_'),[i for i,r in enumerate(rows) if r['category']==category])
|
| 254 |
+
header=dict(language=['en','zh'],license='other',pretty_name=NAME+' Simulation Task Examples',configs=configs,tags=['robotics','video','simulation'])
|
| 255 |
+
if REFLEX:header.update(license_name='upstream-reflexbench-terms',license_link='LICENSE')
|
| 256 |
if not REFLEX:header.update(license_name='slab-license',license_link='LICENSE')
|
| 257 |
browser=f'https://travor278-{NAME.lower()}-task-examples.static.hf.space'
|
| 258 |
lines=['---',yaml.safe_dump(header,sort_keys=False,allow_unicode=True).rstrip(),'---',f'# {NAME} Simulation Task Examples',f'\n[打开 MP4 任务浏览页]({browser}/?task={tasks[0]["task_index"]})', '\n'+source['note'],
|
|
|
|
| 260 |
'\n评估标准根据官方代码和文档整理;发布数据未保存逐条示教 success 标签,故 actual_episode_success 为 null。本文不编造 0–100 得分。',
|
| 261 |
'\n| 官方 task_index | Task / instruction scenario | 分类 | 直接浏览 |','|---|---|---|---|']
|
| 262 |
for t in sorted(tasks,key=lambda t:t['task_index']):lines.append(f"| {t['task_index']} | {t['name']} | {t['category']} | [打开]({browser}/?task={t['task_index']}) |")
|
| 263 |
+
if REFLEX:lines.append('\nReflexBench 上游 episode 本身很短,多数选取记录只有约 1 秒。此处保持完整官方 length 和时间区间,没有人为截短、慢放或补帧。')
|
| 264 |
for t in tasks:
|
| 265 |
lines.extend([f"\n## task_index={t['task_index']} · {t['name']}",f"\n**Instruction:** {t['instruction']}",f"\n**Description:** {t['description']}",f"\n**Success / evaluation:** {t['success_rule']}",f"\n[官方说明]({t['doc_url']})"])
|
| 266 |
if t.get('instruction_metadata'):lines.extend(['\n结构化原始 instruction(完整别名):','\n```json',json.dumps(t['instruction_metadata'],ensure_ascii=False,indent=2),'```','\n'+t['instruction_note']])
|
| 267 |
if t.get('official_gym_id'):lines.append(f"\n**Gym ID:** `{t['official_gym_id']}`")
|
| 268 |
for s in [s for s in samples if s['task_index']==t['task_index']]:lines.extend([f"\n**episode_index={s['episode_index']}** · {s['frame_count']} frames / {s['frame_count']/25:.2f} s",f"\n",f"\n[同步 MP4]({s['composite_path']}) · "+' · '.join(f"[{v['camera']} MP4]({v['path']})" for v in s['views'])+f" · [官方轨迹]({s['trajectory_path']})"])
|
| 269 |
lines.extend(['\n## 来源、许可与复现',f'\n官方数据:[原仓库](https://huggingface.co/datasets/{REPO}) · 固定 revision `{source["revision"]}`。',f'\n官方代码:[GitHub](https://github.com/{GITHUB}) · revision `{source["code_revision"]}`。','\n保留上游 LICENSE 和来源文件在 `reference/`。ReflexBench 官方数据未单列许可证元数据;保留官方实现 BSD-3-Clause 来源,不扩大作者权利。' if REFLEX else '\n遵循上游 S-Lab License 1.0,仅允许非商业用途;见 LICENSE。','\n选择性提取记录、原始时间区间、task/episode 对应、相机元数据和校验均在 `provenance/`。不下载场景资产、模型权重或完整数据仓库。','\n复现脚本:`scripts/build_examples.py`。浏览页源码另见 `browser/` 和 `scripts/build_browser.py`。'])
|
| 270 |
+
(OUT/'README.md').write_text('\n'.join(lines)+'\n',encoding='utf-8');(OUT/'scripts').mkdir(exist_ok=True)
|
| 271 |
+
script_target=OUT/'scripts/build_examples.py'
|
| 272 |
+
if Path(__file__).resolve()!=script_target.resolve():shutil.copy2(__file__,script_target)
|
| 273 |
+
print('Packaged',len(rows),'rows,',len(configs),'native HF subsets',flush=True)
|
| 274 |
|
| 275 |
if __name__=='__main__':
|
| 276 |
WORK.mkdir(exist_ok=True);(OUT/'provenance').mkdir(parents=True,exist_ok=True)
|