Travor278's picture
Add complete scene catalog, official MP4 demos, 30 selected multi-camera episodes and Franka camera research
578663d verified
Raw History Blame Contribute Delete
112 kB
[
{
"catalog_number": 2,
"scene_key": "bulb",
"source_repo": "EmbodiedSWE/bulb_franka_pinkik.jointtarget_15hz_generalization_train_20260921",
"source_revision": "53035d12cccc88f1d68a8fb75a12092e8739952e",
"task_index": 0,
"episode_index": 0,
"frame_count": 2731,
"fps": 15,
"instruction": "pick up the bulb, set it on the socket, and screw it down (turn it clockwise while pressing down) until it seats. A seated bulb is held by its thread, and GLOWS ever brighter as it screws home — from a faint orange at first electrical contact to fully bright warm white exactly when seated. The task is complete once the bulb is seated.",
"views": [
{
"camera": "front",
"label": "FRONT",
"path": "media/bulb/episode_000000/front.mp4",
"source_path": "videos/observation.images.front/chunk-000/file-000.mp4",
"source_bytes": 141613073,
"source_sha256": "b4b2334f27768936226e04dd456d12eaba08d014407be772725e759ce9f820c6",
"from_timestamp": 0.0,
"to_timestamp": 182.06666666666666,
"output_sha256": "7bf9691ef6ef89f3380c0d6b142c15105483bb0b0fed036a328bc48cd451c368"
},
{
"camera": "wrist",
"label": "WRIST",
"path": "media/bulb/episode_000000/wrist.mp4",
"source_path": "videos/observation.images.wrist/chunk-000/file-000.mp4",
"source_bytes": 148150386,
"source_sha256": "f86b8959a0af1d28ff14dd4f4189bb6670990c67cc880ea4f473e9e2f034abc2",
"from_timestamp": 0.0,
"to_timestamp": 182.06666666666666,
"output_sha256": "061246a228cc365951e51e118bb04902a88230188316d51c3a2b17396ec923e7"
}
],
"trajectory_source_path": "data/chunk-000/file-000.parquet",
"trajectory_source_bytes": 94076407,
"trajectory_path": "trajectories/bulb/episode_000000.parquet",
"composite_path": "media/bulb/episode_000000/synchronized.mp4",
"preview_path": "media/bulb/episode_000000/preview.jpg",
"metadata": {
"episode_index": 0,
"tasks": [
"pick up the bulb, set it on the socket, and screw it down (turn it clockwise while pressing down) until it seats. A seated bulb is held by its thread, and GLOWS ever brighter as it screws home — from a faint orange at first electrical contact to fully bright warm white exactly when seated. The task is complete once the bulb is seated."
],
"length": 2731,
"data/chunk_index": 0,
"data/file_index": 0,
"dataset_from_index": 0,
"dataset_to_index": 2731,
"videos/observation.images.front/chunk_index": 0,
"videos/observation.images.front/file_index": 0,
"videos/observation.images.front/from_timestamp": 0.0,
"videos/observation.images.front/to_timestamp": 182.06666666666666,
"videos/observation.images.wrist/chunk_index": 0,
"videos/observation.images.wrist/file_index": 0,
"videos/observation.images.wrist/from_timestamp": 0.0,
"videos/observation.images.wrist/to_timestamp": 182.06666666666666,
"meta/episodes/chunk_index": 0,
"meta/episodes/file_index": 0
}
},
{
"catalog_number": 2,
"scene_key": "bulb",
"source_repo": "EmbodiedSWE/bulb_franka_pinkik.jointtarget_15hz_generalization_train_20260921",
"source_revision": "53035d12cccc88f1d68a8fb75a12092e8739952e",
"task_index": 0,
"episode_index": 408,
"frame_count": 1317,
"fps": 15,
"instruction": "pick up the bulb, set it on the socket, and screw it down (turn it clockwise while pressing down) until it seats. A seated bulb is held by its thread, and GLOWS ever brighter as it screws home — from a faint orange at first electrical contact to fully bright warm white exactly when seated. The task is complete once the bulb is seated.",
"views": [
{
"camera": "front",
"label": "FRONT",
"path": "media/bulb/episode_000408/front.mp4",
"source_path": "videos/observation.images.front/chunk-000/file-026.mp4",
"source_bytes": 145958089,
"source_sha256": "74be2fccff68b63a8d44ca4ba92c346c03b74d6be3898cfe277eba8889e15c6f",
"from_timestamp": 878.4666666666667,
"to_timestamp": 966.2666666666667,
"output_sha256": "17f53ba68d3c788db9168465aa9b02c74769c1db4bab8dcf29f96608bbf8f7c6"
},
{
"camera": "wrist",
"label": "WRIST",
"path": "media/bulb/episode_000408/wrist.mp4",
"source_path": "videos/observation.images.wrist/chunk-000/file-025.mp4",
"source_bytes": 141020267,
"source_sha256": "7a2c7c79c983cc14ce5096af1daf830bee95b37089ff18a569429f226c5e35ef",
"from_timestamp": 263.26666666666665,
"to_timestamp": 351.06666666666666,
"output_sha256": "78b7b1cc19b582990aa28b4af26c77b84df5720445c8ed6830f027bcf13494f7"
}
],
"trajectory_source_path": "data/chunk-000/file-000.parquet",
"trajectory_source_bytes": 94076407,
"trajectory_path": "trajectories/bulb/episode_000408.parquet",
"composite_path": "media/bulb/episode_000408/synchronized.mp4",
"preview_path": "media/bulb/episode_000408/preview.jpg",
"metadata": {
"episode_index": 408,
"tasks": [
"pick up the bulb, set it on the socket, and screw it down (turn it clockwise while pressing down) until it seats. A seated bulb is held by its thread, and GLOWS ever brighter as it screws home — from a faint orange at first electrical contact to fully bright warm white exactly when seated. The task is complete once the bulb is seated."
],
"length": 1317,
"data/chunk_index": 0,
"data/file_index": 0,
"dataset_from_index": 557701,
"dataset_to_index": 559018,
"videos/observation.images.front/chunk_index": 0,
"videos/observation.images.front/file_index": 26,
"videos/observation.images.front/from_timestamp": 878.4666666666667,
"videos/observation.images.front/to_timestamp": 966.2666666666667,
"videos/observation.images.wrist/chunk_index": 0,
"videos/observation.images.wrist/file_index": 25,
"videos/observation.images.wrist/from_timestamp": 263.26666666666665,
"videos/observation.images.wrist/to_timestamp": 351.06666666666666,
"meta/episodes/chunk_index": 0,
"meta/episodes/file_index": 0
}
},
{
"catalog_number": 2,
"scene_key": "bulb",
"source_repo": "EmbodiedSWE/bulb_franka_pinkik.jointtarget_15hz_generalization_train_20260921",
"source_revision": "53035d12cccc88f1d68a8fb75a12092e8739952e",
"task_index": 0,
"episode_index": 815,
"frame_count": 1745,
"fps": 15,
"instruction": "pick up the bulb, set it on the socket, and screw it down (turn it clockwise while pressing down) until it seats. A seated bulb is held by its thread, and GLOWS ever brighter as it screws home — from a faint orange at first electrical contact to fully bright warm white exactly when seated. The task is complete once the bulb is seated.",
"views": [
{
"camera": "front",
"label": "FRONT",
"path": "media/bulb/episode_000815/front.mp4",
"source_path": "videos/observation.images.front/chunk-000/file-057.mp4",
"source_bytes": 92617364,
"source_sha256": "48b8a4d74979d98660268963fa8d1ac433e15ab7c35a2e1ac920b6e53c7730ae",
"from_timestamp": 807.4666666666667,
"to_timestamp": 923.8,
"output_sha256": "4b24065c810ce4bf11683e323ab3b85bf2ddc9f12935591c647b78b9b357ec40"
},
{
"camera": "wrist",
"label": "WRIST",
"path": "media/bulb/episode_000815/wrist.mp4",
"source_path": "videos/observation.images.wrist/chunk-000/file-055.mp4",
"source_bytes": 133702499,
"source_sha256": "c6269e0ce5e757a491d20c45d2efbe27b76503a8d86c4d8c90d623f5284f1847",
"from_timestamp": 1156.8666666666666,
"to_timestamp": 1273.1999999999998,
"output_sha256": "21aec3267d1d35bc0687937ca55046338e224ae3db04d66f5c4b8aebd930de34"
}
],
"trajectory_source_path": "data/chunk-000/file-001.parquet",
"trajectory_source_bytes": 64051091,
"trajectory_path": "trajectories/bulb/episode_000815.parquet",
"composite_path": "media/bulb/episode_000815/synchronized.mp4",
"preview_path": "media/bulb/episode_000815/preview.jpg",
"metadata": {
"episode_index": 815,
"tasks": [
"pick up the bulb, set it on the socket, and screw it down (turn it clockwise while pressing down) until it seats. A seated bulb is held by its thread, and GLOWS ever brighter as it screws home — from a faint orange at first electrical contact to fully bright warm white exactly when seated. The task is complete once the bulb is seated."
],
"length": 1745,
"data/chunk_index": 0,
"data/file_index": 1,
"dataset_from_index": 1199322,
"dataset_to_index": 1201067,
"videos/observation.images.front/chunk_index": 0,
"videos/observation.images.front/file_index": 57,
"videos/observation.images.front/from_timestamp": 807.4666666666667,
"videos/observation.images.front/to_timestamp": 923.8,
"videos/observation.images.wrist/chunk_index": 0,
"videos/observation.images.wrist/file_index": 55,
"videos/observation.images.wrist/from_timestamp": 1156.8666666666666,
"videos/observation.images.wrist/to_timestamp": 1273.1999999999998,
"meta/episodes/chunk_index": 0,
"meta/episodes/file_index": 0
}
},
{
"catalog_number": 5,
"scene_key": "nut_thread",
"source_repo": "EmbodiedSWE/nut_thread_franka_ik.jointtarget_20hz_20260905",
"source_revision": "7c9282badf83850cca7c56159f2e048ad62cb93a",
"task_index": 0,
"episode_index": 0,
"frame_count": 3661,
"fps": 20,
"instruction": "pick up the nut, set it on the bolt, and screw it down (turn it clockwise while pressing down) until it seats. A seated nut locks in place. The task is complete once the nut is seated.",
"views": [
{
"camera": "front",
"label": "FRONT",
"path": "media/nut_thread/episode_000000/front.mp4",
"source_path": "videos/observation.images.front/chunk-000/file-000.mp4",
"source_bytes": 53117525,
"source_sha256": "c1c17ebcf7e64c7d6cc524506ef077ff58913ea3a16715ad08d5c930938b64d9",
"from_timestamp": 0.0,
"to_timestamp": 183.05,
"output_sha256": "45e97a7dd0146a44bc94900f4710726be497d434e1d7fe7967a0649f5d754aab"
},
{
"camera": "side",
"label": "SIDE",
"path": "media/nut_thread/episode_000000/side.mp4",
"source_path": "videos/observation.images.side/chunk-000/file-000.mp4",
"source_bytes": 66095951,
"source_sha256": "a0b4a711097b518a4a418bf983e90973a379e466ecb1c10d9cad629b606d18a6",
"from_timestamp": 0.0,
"to_timestamp": 183.05,
"output_sha256": "e1261eac30032c79ee1cc8f8c6b6f066a1226025e76ba8807e76dea0fc34300e"
},
{
"camera": "wrist",
"label": "WRIST",
"path": "media/nut_thread/episode_000000/wrist.mp4",
"source_path": "videos/observation.images.wrist/chunk-000/file-000.mp4",
"source_bytes": 74122011,
"source_sha256": "c6f762f9e15b804b79501589aaed5607547975682b19bc8c815615716541a997",
"from_timestamp": 0.0,
"to_timestamp": 183.05,
"output_sha256": "bd8ba9f2ce51e68b69d27563ec927084e1d7508ac2058ecc789b2f60def52326"
}
],
"trajectory_source_path": "data/chunk-000/file-000.parquet",
"trajectory_source_bytes": 84230374,
"trajectory_path": "trajectories/nut_thread/episode_000000.parquet",
"composite_path": "media/nut_thread/episode_000000/synchronized.mp4",
"preview_path": "media/nut_thread/episode_000000/preview.jpg",
"metadata": {
"episode_index": 0,
"tasks": [
"pick up the nut, set it on the bolt, and screw it down (turn it clockwise while pressing down) until it seats. A seated nut locks in place. The task is complete once the nut is seated."
],
"length": 3661,
"data/chunk_index": 0,
"data/file_index": 0,
"dataset_from_index": 0,
"dataset_to_index": 3661,
"videos/observation.images.front/chunk_index": 0,
"videos/observation.images.front/file_index": 0,
"videos/observation.images.front/from_timestamp": 0.0,
"videos/observation.images.front/to_timestamp": 183.05,
"videos/observation.images.side/chunk_index": 0,
"videos/observation.images.side/file_index": 0,
"videos/observation.images.side/from_timestamp": 0.0,
"videos/observation.images.side/to_timestamp": 183.05,
"videos/observation.images.wrist/chunk_index": 0,
"videos/observation.images.wrist/file_index": 0,
"videos/observation.images.wrist/from_timestamp": 0.0,
"videos/observation.images.wrist/to_timestamp": 183.05,
"meta/episodes/chunk_index": 0,
"meta/episodes/file_index": 0
}
},
{
"catalog_number": 5,
"scene_key": "nut_thread",
"source_repo": "EmbodiedSWE/nut_thread_franka_ik.jointtarget_20hz_20260905",
"source_revision": "7c9282badf83850cca7c56159f2e048ad62cb93a",
"task_index": 0,
"episode_index": 200,
"frame_count": 2298,
"fps": 20,
"instruction": "pick up the nut, set it on the bolt, and screw it down (turn it clockwise while pressing down) until it seats. A seated nut locks in place. The task is complete once the nut is seated.",
"views": [
{
"camera": "front",
"label": "FRONT",
"path": "media/nut_thread/episode_000200/front.mp4",
"source_path": "videos/observation.images.front/chunk-000/file-066.mp4",
"source_bytes": 17120305,
"source_sha256": "792677c3e7c9553d1e71804726f01f9aa6f4267bdc6adf4db95fe58838ed58fa",
"from_timestamp": 0.0,
"to_timestamp": 114.9,
"output_sha256": "7bebbe176ab9e21cf3652c7d0e5b5c4b667d035ea2dc1d589375d8c88c6f1eac"
},
{
"camera": "side",
"label": "SIDE",
"path": "media/nut_thread/episode_000200/side.mp4",
"source_path": "videos/observation.images.side/chunk-000/file-054.mp4",
"source_bytes": 61904441,
"source_sha256": "79fd8108ef96ce9903bee7ab67b33745b9479c449689bcdf502172290cf46db0",
"from_timestamp": 373.55,
"to_timestamp": 488.45000000000005,
"output_sha256": "7bbd50e0f3a45d83a81c126cf5c90844a54ae315befcfe8f1bfe1a080e2bb606"
},
{
"camera": "wrist",
"label": "WRIST",
"path": "media/nut_thread/episode_000200/wrist.mp4",
"source_path": "videos/observation.images.wrist/chunk-000/file-043.mp4",
"source_bytes": 69733781,
"source_sha256": "a0cb2653a514ae44376e8db5e7a8c3d294d121299105b87c6e5a1af14b477b1a",
"from_timestamp": 0.0,
"to_timestamp": 114.9,
"output_sha256": "9dcac148ed2c81875576880999e6a4ed6efc27b6f3f78ee158ef69dc0592226b"
}
],
"trajectory_source_path": "data/chunk-000/file-000.parquet",
"trajectory_source_bytes": 84230374,
"trajectory_path": "trajectories/nut_thread/episode_000200.parquet",
"composite_path": "media/nut_thread/episode_000200/synchronized.mp4",
"preview_path": "media/nut_thread/episode_000200/preview.jpg",
"metadata": {
"episode_index": 200,
"tasks": [
"pick up the nut, set it on the bolt, and screw it down (turn it clockwise while pressing down) until it seats. A seated nut locks in place. The task is complete once the nut is seated."
],
"length": 2298,
"data/chunk_index": 0,
"data/file_index": 0,
"dataset_from_index": 586738,
"dataset_to_index": 589036,
"videos/observation.images.front/chunk_index": 0,
"videos/observation.images.front/file_index": 66,
"videos/observation.images.front/from_timestamp": 0.0,
"videos/observation.images.front/to_timestamp": 114.9,
"videos/observation.images.side/chunk_index": 0,
"videos/observation.images.side/file_index": 54,
"videos/observation.images.side/from_timestamp": 373.55,
"videos/observation.images.side/to_timestamp": 488.45000000000005,
"videos/observation.images.wrist/chunk_index": 0,
"videos/observation.images.wrist/file_index": 43,
"videos/observation.images.wrist/from_timestamp": 0.0,
"videos/observation.images.wrist/to_timestamp": 114.9,
"meta/episodes/chunk_index": 0,
"meta/episodes/file_index": 0
}
},
{
"catalog_number": 5,
"scene_key": "nut_thread",
"source_repo": "EmbodiedSWE/nut_thread_franka_ik.jointtarget_20hz_20260905",
"source_revision": "7c9282badf83850cca7c56159f2e048ad62cb93a",
"task_index": 0,
"episode_index": 400,
"frame_count": 2181,
"fps": 20,
"instruction": "pick up the nut, set it on the bolt, and screw it down (turn it clockwise while pressing down) until it seats. A seated nut locks in place. The task is complete once the nut is seated.",
"views": [
{
"camera": "front",
"label": "FRONT",
"path": "media/nut_thread/episode_000400/front.mp4",
"source_path": "videos/observation.images.front/chunk-000/file-132.mp4",
"source_bytes": 34792730,
"source_sha256": "6b6100da19ea05e0e3edf6d0256bcbab876f6f0341e94da48926eb88af9d2328",
"from_timestamp": 124.2,
"to_timestamp": 233.25,
"output_sha256": "3d3ffb81768e2cddb27b73e0c6eb105fb5e06b39ca3d2d875f7931a2f0aaffb6"
},
{
"camera": "side",
"label": "SIDE",
"path": "media/nut_thread/episode_000400/side.mp4",
"source_path": "videos/observation.images.side/chunk-000/file-111.mp4",
"source_bytes": 76609817,
"source_sha256": "69bbae8b734f253dd455ab16921d85e1260feab0a91f8c3f32aeedc5e42f69e1",
"from_timestamp": 497.75,
"to_timestamp": 606.8,
"output_sha256": "117a06de9fdedc894991bb75e0d0fd33d49203fc83703059809f85d865db847b"
},
{
"camera": "wrist",
"label": "WRIST",
"path": "media/nut_thread/episode_000400/wrist.mp4",
"source_path": "videos/observation.images.wrist/chunk-000/file-087.mp4",
"source_bytes": 66575826,
"source_sha256": "07551d44d34c7cb73421b83c562e43cce05bcb6e8d966289b2d71d14916e916a",
"from_timestamp": 497.75,
"to_timestamp": 606.8,
"output_sha256": "341074809c63b983b6448d62bb42a3796f04b23eb1fe966b06bdcb98619d9d0a"
}
],
"trajectory_source_path": "data/chunk-000/file-001.parquet",
"trajectory_source_bytes": 83495810,
"trajectory_path": "trajectories/nut_thread/episode_000400.parquet",
"composite_path": "media/nut_thread/episode_000400/synchronized.mp4",
"preview_path": "media/nut_thread/episode_000400/preview.jpg",
"metadata": {
"episode_index": 400,
"tasks": [
"pick up the nut, set it on the bolt, and screw it down (turn it clockwise while pressing down) until it seats. A seated nut locks in place. The task is complete once the nut is seated."
],
"length": 2181,
"data/chunk_index": 0,
"data/file_index": 1,
"dataset_from_index": 1170664,
"dataset_to_index": 1172845,
"videos/observation.images.front/chunk_index": 0,
"videos/observation.images.front/file_index": 132,
"videos/observation.images.front/from_timestamp": 124.2,
"videos/observation.images.front/to_timestamp": 233.25,
"videos/observation.images.side/chunk_index": 0,
"videos/observation.images.side/file_index": 111,
"videos/observation.images.side/from_timestamp": 497.75,
"videos/observation.images.side/to_timestamp": 606.8,
"videos/observation.images.wrist/chunk_index": 0,
"videos/observation.images.wrist/file_index": 87,
"videos/observation.images.wrist/from_timestamp": 497.75,
"videos/observation.images.wrist/to_timestamp": 606.8,
"meta/episodes/chunk_index": 0,
"meta/episodes/file_index": 0
}
},
{
"catalog_number": 6,
"scene_key": "pc_gpu",
"source_repo": "EmbodiedSWE/pc_gpu_franka_osc.jointpos_15hz_20260907",
"source_revision": "d9d2cb6eb8288a2716758bb3790fe0d37798990b",
"task_index": 0,
"episode_index": 0,
"frame_count": 2010,
"fps": 15,
"instruction": "grip the card by its top edge, lift it straight out of the holder, lower it into the case with its I/O bracket just forward of the rear panel, slide it rearward until the bracket and ports pass through the cutout, line its PCB edge connector up with the x16 slot, and press it straight down until it bottoms out. A seated card stays put on its own. The task is complete once the card is fully seated. The card holds in a firm pinch: close the fingers squarely across its body slab near the top edge and the grip locks; open wide to release.",
"views": [
{
"camera": "front",
"label": "FRONT",
"path": "media/pc_gpu/episode_000000/front.mp4",
"source_path": "videos/observation.images.front/chunk-000/file-000.mp4",
"source_bytes": 82312263,
"source_sha256": "9688fce5b160caffb7c8b16ff4ddb06594462ed7e45d270f84bd987d61f1cbaa",
"from_timestamp": 0.0,
"to_timestamp": 134.0,
"output_sha256": "272f21c8e05f11712a458b407db4917e8901401161dcb325ce7cda02c8ec9be7"
},
{
"camera": "wrist",
"label": "WRIST",
"path": "media/pc_gpu/episode_000000/wrist.mp4",
"source_path": "videos/observation.images.wrist/chunk-000/file-000.mp4",
"source_bytes": 81515936,
"source_sha256": "371456f29a516ab0a3f07a0bb056aa0d427b94b62bad1e310db30dcad04ec554",
"from_timestamp": 0.0,
"to_timestamp": 134.0,
"output_sha256": "b47bfe9f31f60eac16e09ae1bdb8bfda70b283e4ec64814573bfe92f78f53fc9"
}
],
"trajectory_source_path": "data/chunk-000/file-000.parquet",
"trajectory_source_bytes": 71910675,
"trajectory_path": "trajectories/pc_gpu/episode_000000.parquet",
"composite_path": "media/pc_gpu/episode_000000/synchronized.mp4",
"preview_path": "media/pc_gpu/episode_000000/preview.jpg",
"metadata": {
"episode_index": 0,
"tasks": [
"grip the card by its top edge, lift it straight out of the holder, lower it into the case with its I/O bracket just forward of the rear panel, slide it rearward until the bracket and ports pass through the cutout, line its PCB edge connector up with the x16 slot, and press it straight down until it bottoms out. A seated card stays put on its own. The task is complete once the card is fully seated. The card holds in a firm pinch: close the fingers squarely across its body slab near the top edge and the grip locks; open wide to release."
],
"length": 2010,
"data/chunk_index": 0,
"data/file_index": 0,
"dataset_from_index": 0,
"dataset_to_index": 2010,
"videos/observation.images.front/chunk_index": 0,
"videos/observation.images.front/file_index": 0,
"videos/observation.images.front/from_timestamp": 0.0,
"videos/observation.images.front/to_timestamp": 134.0,
"videos/observation.images.wrist/chunk_index": 0,
"videos/observation.images.wrist/file_index": 0,
"videos/observation.images.wrist/from_timestamp": 0.0,
"videos/observation.images.wrist/to_timestamp": 134.0,
"meta/episodes/chunk_index": 0,
"meta/episodes/file_index": 0
}
},
{
"catalog_number": 6,
"scene_key": "pc_gpu",
"source_repo": "EmbodiedSWE/pc_gpu_franka_osc.jointpos_15hz_20260907",
"source_revision": "d9d2cb6eb8288a2716758bb3790fe0d37798990b",
"task_index": 2,
"episode_index": 49,
"frame_count": 1350,
"fps": 15,
"instruction": "grip the card by its top edge, lift it straight out of the holder, lower it into the case with its I/O bracket just forward of the rear panel, slide it rearward until the bracket and ports pass through the cutout, line its PCB edge connector up with the x16 slot, and press it straight down until it bottoms out. A seated card stays put on its own. The task is complete once the card is fully seated. The card holds in a firm pinch: close the fingers squarely across its body slab near the top edge and the grip locks; open wide to release.\nThe case has been set down by hand and is not on a fixed mark: its position on the bench shifts by a centimetre or so from one build to the next, so the slot's location must be read off the case itself rather than assumed. Its orientation is always the same — square to the bench.",
"views": [
{
"camera": "front",
"label": "FRONT",
"path": "media/pc_gpu/episode_000049/front.mp4",
"source_path": "videos/observation.images.front/chunk-000/file-008.mp4",
"source_bytes": 24982056,
"source_sha256": "bfc3fb85ab1a4d94dad617bb1e091abc465839d9b38fb0d0e7dd23a0689e5594",
"from_timestamp": 108.0,
"to_timestamp": 198.0,
"output_sha256": "ba403b4b5e57b549909498b091e28084f0fb0a843d6425db21a4588b2d85f631"
},
{
"camera": "wrist",
"label": "WRIST",
"path": "media/pc_gpu/episode_000049/wrist.mp4",
"source_path": "videos/observation.images.wrist/chunk-000/file-008.mp4",
"source_bytes": 52865144,
"source_sha256": "8d65c5f9a0c815f4eb9e7fef5587c78fb48b0d7a05b242b19b0f54dd11e19104",
"from_timestamp": 356.0,
"to_timestamp": 446.0,
"output_sha256": "6632c6bbd9ad79893d7e2c52ca1d14625d4794f02325528af554ab31499d0bcd"
}
],
"trajectory_source_path": "data/chunk-000/file-000.parquet",
"trajectory_source_bytes": 71910675,
"trajectory_path": "trajectories/pc_gpu/episode_000049.parquet",
"composite_path": "media/pc_gpu/episode_000049/synchronized.mp4",
"preview_path": "media/pc_gpu/episode_000049/preview.jpg",
"metadata": {
"episode_index": 49,
"tasks": [
"grip the card by its top edge, lift it straight out of the holder, lower it into the case with its I/O bracket just forward of the rear panel, slide it rearward until the bracket and ports pass through the cutout, line its PCB edge connector up with the x16 slot, and press it straight down until it bottoms out. A seated card stays put on its own. The task is complete once the card is fully seated. The card holds in a firm pinch: close the fingers squarely across its body slab near the top edge and the grip locks; open wide to release.\nThe case has been set down by hand and is not on a fixed mark: its position on the bench shifts by a centimetre or so from one build to the next, so the slot's location must be read off the case itself rather than assumed. Its orientation is always the same — square to the bench."
],
"length": 1350,
"data/chunk_index": 0,
"data/file_index": 0,
"dataset_from_index": 93780,
"dataset_to_index": 95130,
"videos/observation.images.front/chunk_index": 0,
"videos/observation.images.front/file_index": 8,
"videos/observation.images.front/from_timestamp": 108.0,
"videos/observation.images.front/to_timestamp": 198.0,
"videos/observation.images.wrist/chunk_index": 0,
"videos/observation.images.wrist/file_index": 8,
"videos/observation.images.wrist/from_timestamp": 356.0,
"videos/observation.images.wrist/to_timestamp": 446.0,
"meta/episodes/chunk_index": 0,
"meta/episodes/file_index": 0
}
},
{
"catalog_number": 6,
"scene_key": "pc_gpu",
"source_repo": "EmbodiedSWE/pc_gpu_franka_osc.jointpos_15hz_20260907",
"source_revision": "d9d2cb6eb8288a2716758bb3790fe0d37798990b",
"task_index": 4,
"episode_index": 114,
"frame_count": 1830,
"fps": 15,
"instruction": "grip the card by its top edge, lift it straight out of the holder, lower it into the case with its I/O bracket just forward of the rear panel, slide it rearward until the bracket and ports pass through the cutout, line its PCB edge connector up with the x16 slot, and press it straight down until it bottoms out. A seated card stays put on its own. The task is complete once the card is fully seated. The card holds in a firm pinch: close the fingers squarely across its body slab near the top edge and the grip locks; open wide to release.\nThe work is raised: the case stands on a grey 60 mm bench riser and the card's holder on a matching plinth of the same height, so the whole job — the slot, the card and the space above them — sits that much higher off the table top than the bare bench would put it. The two platforms are fixed bench furniture: they do not move and are not part of the task.",
"views": [
{
"camera": "front",
"label": "FRONT",
"path": "media/pc_gpu/episode_000114/front.mp4",
"source_path": "videos/observation.images.front/chunk-000/file-019.mp4",
"source_bytes": 79447738,
"source_sha256": "014e8d53bac1bd32ad9b4c28715d874cdc4c4e28c97f1a10c3e37327812e306f",
"from_timestamp": 670.0,
"to_timestamp": 792.0,
"output_sha256": "8a0eb935caa5d2bc580177573e425180997dbc95efaf32cd973125b75dca673f"
},
{
"camera": "wrist",
"label": "WRIST",
"path": "media/pc_gpu/episode_000114/wrist.mp4",
"source_path": "videos/observation.images.wrist/chunk-000/file-020.mp4",
"source_bytes": 48710881,
"source_sha256": "57e30a430bdf68c30bfe33252c69181c9c6e7a30861ebb9e2d4e4db3ec42aeb6",
"from_timestamp": 0.0,
"to_timestamp": 122.0,
"output_sha256": "fa00ac37886168ec768c6bf700ba026f24ff5964a161a1f77905beee18a647df"
}
],
"trajectory_source_path": "data/chunk-000/file-000.parquet",
"trajectory_source_bytes": 71910675,
"trajectory_path": "trajectories/pc_gpu/episode_000114.parquet",
"composite_path": "media/pc_gpu/episode_000114/synchronized.mp4",
"preview_path": "media/pc_gpu/episode_000114/preview.jpg",
"metadata": {
"episode_index": 114,
"tasks": [
"grip the card by its top edge, lift it straight out of the holder, lower it into the case with its I/O bracket just forward of the rear panel, slide it rearward until the bracket and ports pass through the cutout, line its PCB edge connector up with the x16 slot, and press it straight down until it bottoms out. A seated card stays put on its own. The task is complete once the card is fully seated. The card holds in a firm pinch: close the fingers squarely across its body slab near the top edge and the grip locks; open wide to release.\nThe work is raised: the case stands on a grey 60 mm bench riser and the card's holder on a matching plinth of the same height, so the whole job — the slot, the card and the space above them — sits that much higher off the table top than the bare bench would put it. The two platforms are fixed bench furniture: they do not move and are not part of the task."
],
"length": 1830,
"data/chunk_index": 0,
"data/file_index": 0,
"dataset_from_index": 216300,
"dataset_to_index": 218130,
"videos/observation.images.front/chunk_index": 0,
"videos/observation.images.front/file_index": 19,
"videos/observation.images.front/from_timestamp": 670.0,
"videos/observation.images.front/to_timestamp": 792.0,
"videos/observation.images.wrist/chunk_index": 0,
"videos/observation.images.wrist/file_index": 20,
"videos/observation.images.wrist/from_timestamp": 0.0,
"videos/observation.images.wrist/to_timestamp": 122.0,
"meta/episodes/chunk_index": 0,
"meta/episodes/file_index": 0
}
},
{
"catalog_number": 7,
"scene_key": "pc_gpu_ram",
"source_repo": "EmbodiedSWE/pc_gpu_ram_franka_osc.jointpos_15hz_20260907",
"source_revision": "29f0af1fa2c33b3572f6b80c44a7eb4ed2dd4585",
"task_index": 0,
"episode_index": 0,
"frame_count": 2850,
"fps": 15,
"instruction": "install the card first — grip it by its top edge, lift it out of its holder, lower it into the case with its I/O bracket just forward of the rear panel, slide it rearward until the bracket and ports pass through the cutout, line its PCB edge connector up with the x16 slot, and press it straight down until it bottoms out — then install each RAM stick: carry it over the case wall, line its gold edge connector up with its slot (the outermost and the second-from-socket, the alternating pair a dual-channel kit fills), and press it straight down until it clicks fully home. Every seated part stays put on its own. The task is complete once the card and both sticks are fully seated. A part holds in a firm pinch: close the fingers squarely across the card's body slab or a stick's faces, near the top edge, and the grip locks; open wide to release.",
"views": [
{
"camera": "front",
"label": "FRONT",
"path": "media/pc_gpu_ram/episode_000000/front.mp4",
"source_path": "videos/observation.images.front/chunk-000/file-000.mp4",
"source_bytes": 63457871,
"source_sha256": "7fe566c4b37815f6fcfef32a94ef71d0b0b4b984f127864b3cdeb499f22b5f4c",
"from_timestamp": 0.0,
"to_timestamp": 190.0,
"output_sha256": "8e5799876c342a55dae88052ccc1d256ee15746d5a8ea65b5aed47445327c2f0"
},
{
"camera": "high",
"label": "HIGH",
"path": "media/pc_gpu_ram/episode_000000/high.mp4",
"source_path": "videos/observation.images.high/chunk-000/file-000.mp4",
"source_bytes": 67235439,
"source_sha256": "6c3fcf9a482573de194a824a6408d6c9c04ea356f20ff54e6bdbe6a22dd9d693",
"from_timestamp": 0.0,
"to_timestamp": 190.0,
"output_sha256": "b00b17f24017a1c08eaa3ed0afd70ac0192e36095faa436b40a61fc45d639f49"
},
{
"camera": "wrist",
"label": "WRIST",
"path": "media/pc_gpu_ram/episode_000000/wrist.mp4",
"source_path": "videos/observation.images.wrist/chunk-000/file-000.mp4",
"source_bytes": 56124119,
"source_sha256": "3e1d474843bcfa3f52086081ff80f4f2108908d9940367236684714d470f4f05",
"from_timestamp": 0.0,
"to_timestamp": 190.0,
"output_sha256": "7fa8b8a6dbfc3a4edbe5bb1a939942c50c395de085e99ed6481b7e806b3777d8"
}
],
"trajectory_source_path": "data/chunk-000/file-000.parquet",
"trajectory_source_bytes": 46157041,
"trajectory_path": "trajectories/pc_gpu_ram/episode_000000.parquet",
"composite_path": "media/pc_gpu_ram/episode_000000/synchronized.mp4",
"preview_path": "media/pc_gpu_ram/episode_000000/preview.jpg",
"metadata": {
"episode_index": 0,
"tasks": [
"install the card first — grip it by its top edge, lift it out of its holder, lower it into the case with its I/O bracket just forward of the rear panel, slide it rearward until the bracket and ports pass through the cutout, line its PCB edge connector up with the x16 slot, and press it straight down until it bottoms out — then install each RAM stick: carry it over the case wall, line its gold edge connector up with its slot (the outermost and the second-from-socket, the alternating pair a dual-channel kit fills), and press it straight down until it clicks fully home. Every seated part stays put on its own. The task is complete once the card and both sticks are fully seated. A part holds in a firm pinch: close the fingers squarely across the card's body slab or a stick's faces, near the top edge, and the grip locks; open wide to release."
],
"length": 2850,
"data/chunk_index": 0,
"data/file_index": 0,
"dataset_from_index": 0,
"dataset_to_index": 2850,
"videos/observation.images.front/chunk_index": 0,
"videos/observation.images.front/file_index": 0,
"videos/observation.images.front/from_timestamp": 0.0,
"videos/observation.images.front/to_timestamp": 190.0,
"videos/observation.images.high/chunk_index": 0,
"videos/observation.images.high/file_index": 0,
"videos/observation.images.high/from_timestamp": 0.0,
"videos/observation.images.high/to_timestamp": 190.0,
"videos/observation.images.wrist/chunk_index": 0,
"videos/observation.images.wrist/file_index": 0,
"videos/observation.images.wrist/from_timestamp": 0.0,
"videos/observation.images.wrist/to_timestamp": 190.0,
"meta/episodes/chunk_index": 0,
"meta/episodes/file_index": 0
}
},
{
"catalog_number": 7,
"scene_key": "pc_gpu_ram",
"source_repo": "EmbodiedSWE/pc_gpu_ram_franka_osc.jointpos_15hz_20260907",
"source_revision": "29f0af1fa2c33b3572f6b80c44a7eb4ed2dd4585",
"task_index": 1,
"episode_index": 16,
"frame_count": 2070,
"fps": 15,
"instruction": "install the card first — grip it by its top edge, lift it out of its holder, lower it into the case with its I/O bracket just forward of the rear panel, slide it rearward until the bracket and ports pass through the cutout, line its PCB edge connector up with the x16 slot, and press it straight down until it bottoms out — then install each RAM stick: carry it over the case wall, line its gold edge connector up with its slot (the outermost and the second-from-socket, the alternating pair a dual-channel kit fills), and press it straight down until it clicks fully home. Every seated part stays put on its own. The task is complete once the card and both sticks are fully seated. A part holds in a firm pinch: close the fingers squarely across the card's body slab or a stick's faces, near the top edge, and the grip locks; open wide to release.\nThe bench is a working one: well to the west of the case, clear of the case, the parts and every path between them, a shallow steel parts tray, a ceramic coffee mug and the motherboard's printed manual lie about. None of them belongs to this job — leave them where they are.",
"views": [
{
"camera": "front",
"label": "FRONT",
"path": "media/pc_gpu_ram/episode_000016/front.mp4",
"source_path": "videos/observation.images.front/chunk-000/file-003.mp4",
"source_bytes": 69920757,
"source_sha256": "fa429a65283af5b409b2cba6a8171f06c72d0cb5a7fb6261820bc8b42cdda3ab",
"from_timestamp": 596.0,
"to_timestamp": 734.0,
"output_sha256": "ccf7d424adda2fdf5459dab312ba8a3039437ed9a61cb0e5b15566982e6de70c"
},
{
"camera": "high",
"label": "HIGH",
"path": "media/pc_gpu_ram/episode_000016/high.mp4",
"source_path": "videos/observation.images.high/chunk-000/file-002.mp4",
"source_bytes": 50023866,
"source_sha256": "26823b1693764003b64f811c3a603b0c7f500a951133fdf8d2e24ea7b32e44f5",
"from_timestamp": 596.0,
"to_timestamp": 734.0,
"output_sha256": "0cbf94e087ccfed19418b9571fe684e1a8beb6394f05210b26548cfb87c3ceaf"
},
{
"camera": "wrist",
"label": "WRIST",
"path": "media/pc_gpu_ram/episode_000016/wrist.mp4",
"source_path": "videos/observation.images.wrist/chunk-000/file-003.mp4",
"source_bytes": 65639347,
"source_sha256": "0c50885ec650dd3da4855e3b0fdf14fdd72e4e138269b8ef01af975a703b2132",
"from_timestamp": 596.0,
"to_timestamp": 734.0,
"output_sha256": "10927e2979661ecfce7cd4f5c6cda71a95754fb18a436df568ca7cb8939e0392"
}
],
"trajectory_source_path": "data/chunk-000/file-000.parquet",
"trajectory_source_bytes": 46157041,
"trajectory_path": "trajectories/pc_gpu_ram/episode_000016.parquet",
"composite_path": "media/pc_gpu_ram/episode_000016/synchronized.mp4",
"preview_path": "media/pc_gpu_ram/episode_000016/preview.jpg",
"metadata": {
"episode_index": 16,
"tasks": [
"install the card first — grip it by its top edge, lift it out of its holder, lower it into the case with its I/O bracket just forward of the rear panel, slide it rearward until the bracket and ports pass through the cutout, line its PCB edge connector up with the x16 slot, and press it straight down until it bottoms out — then install each RAM stick: carry it over the case wall, line its gold edge connector up with its slot (the outermost and the second-from-socket, the alternating pair a dual-channel kit fills), and press it straight down until it clicks fully home. Every seated part stays put on its own. The task is complete once the card and both sticks are fully seated. A part holds in a firm pinch: close the fingers squarely across the card's body slab or a stick's faces, near the top edge, and the grip locks; open wide to release.\nThe bench is a working one: well to the west of the case, clear of the case, the parts and every path between them, a shallow steel parts tray, a ceramic coffee mug and the motherboard's printed manual lie about. None of them belongs to this job — leave them where they are."
],
"length": 2070,
"data/chunk_index": 0,
"data/file_index": 0,
"dataset_from_index": 38190,
"dataset_to_index": 40260,
"videos/observation.images.front/chunk_index": 0,
"videos/observation.images.front/file_index": 3,
"videos/observation.images.front/from_timestamp": 596.0,
"videos/observation.images.front/to_timestamp": 734.0,
"videos/observation.images.high/chunk_index": 0,
"videos/observation.images.high/file_index": 2,
"videos/observation.images.high/from_timestamp": 596.0,
"videos/observation.images.high/to_timestamp": 734.0,
"videos/observation.images.wrist/chunk_index": 0,
"videos/observation.images.wrist/file_index": 3,
"videos/observation.images.wrist/from_timestamp": 596.0,
"videos/observation.images.wrist/to_timestamp": 734.0,
"meta/episodes/chunk_index": 0,
"meta/episodes/file_index": 0
}
},
{
"catalog_number": 7,
"scene_key": "pc_gpu_ram",
"source_repo": "EmbodiedSWE/pc_gpu_ram_franka_osc.jointpos_15hz_20260907",
"source_revision": "29f0af1fa2c33b3572f6b80c44a7eb4ed2dd4585",
"task_index": 2,
"episode_index": 84,
"frame_count": 2070,
"fps": 15,
"instruction": "install the card first — grip it by its top edge, lift it out of its holder, lower it into the case with its I/O bracket just forward of the rear panel, slide it rearward until the bracket and ports pass through the cutout, line its PCB edge connector up with the x16 slot, and press it straight down until it bottoms out — then install each RAM stick: carry it over the case wall, line its gold edge connector up with its slot (the outermost and the second-from-socket, the alternating pair a dual-channel kit fills), and press it straight down until it clicks fully home. Every seated part stays put on its own. The task is complete once the card and both sticks are fully seated. A part holds in a firm pinch: close the fingers squarely across the card's body slab or a stick's faces, near the top edge, and the grip locks; open wide to release.\nThe bench stands in a service bay: a pegboard panel rises along its far edge, a steel shelf is cantilevered above that panel well over head height for the arm, and a wooden crate stands on the floor off the bench's west end. All three are fixed parts of the room — not objects to handle, and none is within reach of the work.",
"views": [
{
"camera": "front",
"label": "FRONT",
"path": "media/pc_gpu_ram/episode_000084/front.mp4",
"source_path": "videos/observation.images.front/chunk-000/file-019.mp4",
"source_bytes": 66414037,
"source_sha256": "18edee38b2061fcf47e7bf83c80bca21a976e1d4ff4ca029c421b30b08acff90",
"from_timestamp": 582.0,
"to_timestamp": 720.0,
"output_sha256": "fade8975a3fcc6f856345a6cf5ca726ce99037b1073c0a77c6d84067d30777fe"
},
{
"camera": "high",
"label": "HIGH",
"path": "media/pc_gpu_ram/episode_000084/high.mp4",
"source_path": "videos/observation.images.high/chunk-000/file-013.mp4",
"source_bytes": 81516171,
"source_sha256": "1621d4936aea3a4e0f90e991debd4e5e51c81b8b5d044ef2e279a3a3848f7feb",
"from_timestamp": 582.0,
"to_timestamp": 720.0,
"output_sha256": "02a73a5c5e4d69ce3aa6f11b29bc9d653f6b6ebed714429a7784e41b06f507f9"
},
{
"camera": "wrist",
"label": "WRIST",
"path": "media/pc_gpu_ram/episode_000084/wrist.mp4",
"source_path": "videos/observation.images.wrist/chunk-000/file-019.mp4",
"source_bytes": 63256208,
"source_sha256": "7198ba675e219ae9259d314ec6e683d6a80de8fe8a915c6162352749e1a2eca4",
"from_timestamp": 582.0,
"to_timestamp": 720.0,
"output_sha256": "4dbe303572fd1251ef697183dec6d856a1a80f1a5848feb9ec1e841e841857ef"
}
],
"trajectory_source_path": "data/chunk-000/file-000.parquet",
"trajectory_source_bytes": 46157041,
"trajectory_path": "trajectories/pc_gpu_ram/episode_000084.parquet",
"composite_path": "media/pc_gpu_ram/episode_000084/synchronized.mp4",
"preview_path": "media/pc_gpu_ram/episode_000084/preview.jpg",
"metadata": {
"episode_index": 84,
"tasks": [
"install the card first — grip it by its top edge, lift it out of its holder, lower it into the case with its I/O bracket just forward of the rear panel, slide it rearward until the bracket and ports pass through the cutout, line its PCB edge connector up with the x16 slot, and press it straight down until it bottoms out — then install each RAM stick: carry it over the case wall, line its gold edge connector up with its slot (the outermost and the second-from-socket, the alternating pair a dual-channel kit fills), and press it straight down until it clicks fully home. Every seated part stays put on its own. The task is complete once the card and both sticks are fully seated. A part holds in a firm pinch: close the fingers squarely across the card's body slab or a stick's faces, near the top edge, and the grip locks; open wide to release.\nThe bench stands in a service bay: a pegboard panel rises along its far edge, a steel shelf is cantilevered above that panel well over head height for the arm, and a wooden crate stands on the floor off the bench's west end. All three are fixed parts of the room — not objects to handle, and none is within reach of the work."
],
"length": 2070,
"data/chunk_index": 0,
"data/file_index": 0,
"dataset_from_index": 197550,
"dataset_to_index": 199620,
"videos/observation.images.front/chunk_index": 0,
"videos/observation.images.front/file_index": 19,
"videos/observation.images.front/from_timestamp": 582.0,
"videos/observation.images.front/to_timestamp": 720.0,
"videos/observation.images.high/chunk_index": 0,
"videos/observation.images.high/file_index": 13,
"videos/observation.images.high/from_timestamp": 582.0,
"videos/observation.images.high/to_timestamp": 720.0,
"videos/observation.images.wrist/chunk_index": 0,
"videos/observation.images.wrist/file_index": 19,
"videos/observation.images.wrist/from_timestamp": 582.0,
"videos/observation.images.wrist/to_timestamp": 720.0,
"meta/episodes/chunk_index": 0,
"meta/episodes/file_index": 0
}
},
{
"catalog_number": 9,
"scene_key": "pc_ram",
"source_repo": "EmbodiedSWE/pc_ram_franka_osc.jointpos_15hz_20260907",
"source_revision": "d2cd033771eb621a2f35e7e9b9a1c7ab943f5a69",
"task_index": 0,
"episode_index": 0,
"frame_count": 2250,
"fps": 15,
"instruction": "grip each stick by its top edge, lift it straight out of its holder, carry it over the case wall, line its gold edge connector up with its slot — the outermost and the second-from-socket, the alternating pair a dual-channel kit fills (the notch only fits one way — heat-spreader faces along the slot) — and press it straight down until it clicks fully home. A seated stick stays put on its own. The task is complete once both sticks are fully seated. A stick holds in a firm pinch: close the fingers flat across its faces near the top edge and the grip locks; open wide to release.",
"views": [
{
"camera": "front",
"label": "FRONT",
"path": "media/pc_ram/episode_000000/front.mp4",
"source_path": "videos/observation.images.front/chunk-000/file-000.mp4",
"source_bytes": 32402144,
"source_sha256": "9b8cbe591ab7601420bcfd936b76d48b7af99f795426ab962d9c7e0037d060fa",
"from_timestamp": 0.0,
"to_timestamp": 150.0,
"output_sha256": "dc9b344af9e10a2d73adf12738de71ff338ab5170b38be1b3cf5709058548c5d"
},
{
"camera": "wrist",
"label": "WRIST",
"path": "media/pc_ram/episode_000000/wrist.mp4",
"source_path": "videos/observation.images.wrist/chunk-000/file-000.mp4",
"source_bytes": 65052544,
"source_sha256": "6cd3da2e523b1f643fe6f77843726606210c2d0d8adfde4bc50ce509efd3af36",
"from_timestamp": 0.0,
"to_timestamp": 150.0,
"output_sha256": "4188509a92c8cbdb65bb28c8daeabfc7e21d19a5f4b439762e8afc50e8e0919b"
}
],
"trajectory_source_path": "data/chunk-000/file-000.parquet",
"trajectory_source_bytes": 66908044,
"trajectory_path": "trajectories/pc_ram/episode_000000.parquet",
"composite_path": "media/pc_ram/episode_000000/synchronized.mp4",
"preview_path": "media/pc_ram/episode_000000/preview.jpg",
"metadata": {
"episode_index": 0,
"tasks": [
"grip each stick by its top edge, lift it straight out of its holder, carry it over the case wall, line its gold edge connector up with its slot — the outermost and the second-from-socket, the alternating pair a dual-channel kit fills (the notch only fits one way — heat-spreader faces along the slot) — and press it straight down until it clicks fully home. A seated stick stays put on its own. The task is complete once both sticks are fully seated. A stick holds in a firm pinch: close the fingers flat across its faces near the top edge and the grip locks; open wide to release."
],
"length": 2250,
"data/chunk_index": 0,
"data/file_index": 0,
"dataset_from_index": 0,
"dataset_to_index": 2250,
"videos/observation.images.front/chunk_index": 0,
"videos/observation.images.front/file_index": 0,
"videos/observation.images.front/from_timestamp": 0.0,
"videos/observation.images.front/to_timestamp": 150.0,
"videos/observation.images.wrist/chunk_index": 0,
"videos/observation.images.wrist/file_index": 0,
"videos/observation.images.wrist/from_timestamp": 0.0,
"videos/observation.images.wrist/to_timestamp": 150.0,
"meta/episodes/chunk_index": 0,
"meta/episodes/file_index": 0
}
},
{
"catalog_number": 9,
"scene_key": "pc_ram",
"source_repo": "EmbodiedSWE/pc_ram_franka_osc.jointpos_15hz_20260907",
"source_revision": "d2cd033771eb621a2f35e7e9b9a1c7ab943f5a69",
"task_index": 0,
"episode_index": 300,
"frame_count": 1290,
"fps": 15,
"instruction": "grip each stick by its top edge, lift it straight out of its holder, carry it over the case wall, line its gold edge connector up with its slot — the outermost and the second-from-socket, the alternating pair a dual-channel kit fills (the notch only fits one way — heat-spreader faces along the slot) — and press it straight down until it clicks fully home. A seated stick stays put on its own. The task is complete once both sticks are fully seated. A stick holds in a firm pinch: close the fingers flat across its faces near the top edge and the grip locks; open wide to release.",
"views": [
{
"camera": "front",
"label": "FRONT",
"path": "media/pc_ram/episode_000300/front.mp4",
"source_path": "videos/observation.images.front/chunk-000/file-041.mp4",
"source_bytes": 60092047,
"source_sha256": "1c76d213187f0f74ab910d3d3441c42a84d93b31cec6ac7e28b016f102808ba3",
"from_timestamp": 846.0,
"to_timestamp": 932.0,
"output_sha256": "b5aad80980d2c730482ef2dd45099e22dfeb8edb1c7407213b2d87b078375c60"
},
{
"camera": "wrist",
"label": "WRIST",
"path": "media/pc_ram/episode_000300/wrist.mp4",
"source_path": "videos/observation.images.wrist/chunk-000/file-047.mp4",
"source_bytes": 36759316,
"source_sha256": "4482758034f81599614ce795faed768b6ce1ebef926d02f071ad8d630cfa47de",
"from_timestamp": 342.0,
"to_timestamp": 428.0,
"output_sha256": "7c2d7dc28c2aea55838c70bda4e662a0b4a06950cf1fc70819d44a12d3726122"
}
],
"trajectory_source_path": "data/chunk-000/file-000.parquet",
"trajectory_source_bytes": 66908044,
"trajectory_path": "trajectories/pc_ram/episode_000300.parquet",
"composite_path": "media/pc_ram/episode_000300/synchronized.mp4",
"preview_path": "media/pc_ram/episode_000300/preview.jpg",
"metadata": {
"episode_index": 300,
"tasks": [
"grip each stick by its top edge, lift it straight out of its holder, carry it over the case wall, line its gold edge connector up with its slot — the outermost and the second-from-socket, the alternating pair a dual-channel kit fills (the notch only fits one way — heat-spreader faces along the slot) — and press it straight down until it clicks fully home. A seated stick stays put on its own. The task is complete once both sticks are fully seated. A stick holds in a firm pinch: close the fingers flat across its faces near the top edge and the grip locks; open wide to release."
],
"length": 1290,
"data/chunk_index": 0,
"data/file_index": 0,
"dataset_from_index": 527982,
"dataset_to_index": 529272,
"videos/observation.images.front/chunk_index": 0,
"videos/observation.images.front/file_index": 41,
"videos/observation.images.front/from_timestamp": 846.0,
"videos/observation.images.front/to_timestamp": 932.0,
"videos/observation.images.wrist/chunk_index": 0,
"videos/observation.images.wrist/file_index": 47,
"videos/observation.images.wrist/from_timestamp": 342.0,
"videos/observation.images.wrist/to_timestamp": 428.0,
"meta/episodes/chunk_index": 0,
"meta/episodes/file_index": 0
}
},
{
"catalog_number": 9,
"scene_key": "pc_ram",
"source_repo": "EmbodiedSWE/pc_ram_franka_osc.jointpos_15hz_20260907",
"source_revision": "d2cd033771eb621a2f35e7e9b9a1c7ab943f5a69",
"task_index": 0,
"episode_index": 599,
"frame_count": 600,
"fps": 15,
"instruction": "grip each stick by its top edge, lift it straight out of its holder, carry it over the case wall, line its gold edge connector up with its slot — the outermost and the second-from-socket, the alternating pair a dual-channel kit fills (the notch only fits one way — heat-spreader faces along the slot) — and press it straight down until it clicks fully home. A seated stick stays put on its own. The task is complete once both sticks are fully seated. A stick holds in a firm pinch: close the fingers flat across its faces near the top edge and the grip locks; open wide to release.",
"views": [
{
"camera": "front",
"label": "FRONT",
"path": "media/pc_ram/episode_000599/front.mp4",
"source_path": "videos/observation.images.front/chunk-000/file-080.mp4",
"source_bytes": 53402969,
"source_sha256": "8580ed0c94c945fbf5b6dff4cb256df27b8598d99bd3dfa146e90c150aa24ad0",
"from_timestamp": 838.0,
"to_timestamp": 878.0,
"output_sha256": "d69e8ad67f9bcb9f262063ff8e31f4df2ca55495a18c66defd61566e980e8560"
},
{
"camera": "wrist",
"label": "WRIST",
"path": "media/pc_ram/episode_000599/wrist.mp4",
"source_path": "videos/observation.images.wrist/chunk-000/file-095.mp4",
"source_bytes": 60972148,
"source_sha256": "5f26078ccee2befe9c3fb03d315fb7956f2ed6584505fafc04ff38759b59087b",
"from_timestamp": 712.0,
"to_timestamp": 752.0,
"output_sha256": "3ab851571fdeed43696edbf138ae303196a90f3e5bbd9167d384d9d0c0be9bd2"
}
],
"trajectory_source_path": "data/chunk-000/file-001.parquet",
"trajectory_source_bytes": 34586397,
"trajectory_path": "trajectories/pc_ram/episode_000599.parquet",
"composite_path": "media/pc_ram/episode_000599/synchronized.mp4",
"preview_path": "media/pc_ram/episode_000599/preview.jpg",
"metadata": {
"episode_index": 599,
"tasks": [
"grip each stick by its top edge, lift it straight out of its holder, carry it over the case wall, line its gold edge connector up with its slot — the outermost and the second-from-socket, the alternating pair a dual-channel kit fills (the notch only fits one way — heat-spreader faces along the slot) — and press it straight down until it clicks fully home. A seated stick stays put on its own. The task is complete once both sticks are fully seated. A stick holds in a firm pinch: close the fingers flat across its faces near the top edge and the grip locks; open wide to release."
],
"length": 600,
"data/chunk_index": 0,
"data/file_index": 1,
"dataset_from_index": 1052622,
"dataset_to_index": 1053222,
"videos/observation.images.front/chunk_index": 0,
"videos/observation.images.front/file_index": 80,
"videos/observation.images.front/from_timestamp": 838.0,
"videos/observation.images.front/to_timestamp": 878.0,
"videos/observation.images.wrist/chunk_index": 0,
"videos/observation.images.wrist/file_index": 95,
"videos/observation.images.wrist/from_timestamp": 712.0,
"videos/observation.images.wrist/to_timestamp": 752.0,
"meta/episodes/chunk_index": 0,
"meta/episodes/file_index": 0
}
},
{
"catalog_number": 10,
"scene_key": "pen_holder",
"source_repo": "EmbodiedSWE/pen_holder_franka_diffik.jointtarget_15hz_20260909",
"source_revision": "c3ecaa765252aaca473cccf7c4e770acc5db7f0e",
"task_index": 0,
"episode_index": 0,
"frame_count": 3780,
"fps": 15,
"instruction": "put every pencil into the holder tip-up (writing tip pointing out of the cup), then leave the loaded holder standing upright on the surface. You may hold the holder while filling it; a pencil dropped tip-down or left leaning outside the cup does not count, and a tipped-over holder scores nothing until it is stood up.",
"views": [
{
"camera": "front",
"label": "FRONT",
"path": "media/pen_holder/episode_000000/front.mp4",
"source_path": "videos/observation.images.front/chunk-000/file-000.mp4",
"source_bytes": 50363082,
"source_sha256": "64596383ccc0afd4043bab859779aea5a6d417f9909421c7af9ff1ca3c1f7b39",
"from_timestamp": 0.0,
"to_timestamp": 252.0,
"output_sha256": "f20eb95e242f84b3709844f4ada7e24c5d8c6d2f24564e05ba1ae2fb09072f5f"
},
{
"camera": "corner",
"label": "CORNER",
"path": "media/pen_holder/episode_000000/corner.mp4",
"source_path": "videos/observation.images.corner/chunk-000/file-000.mp4",
"source_bytes": 55167084,
"source_sha256": "8ea7384f15f027b5222851699b873250030f5dad022adb70a65fc7128a1ca174",
"from_timestamp": 0.0,
"to_timestamp": 252.0,
"output_sha256": "cb9e61a82bb5a8bac2759c39a267ff9aa888395888189ff820ff53e0f6f725b7"
},
{
"camera": "wrist",
"label": "WRIST",
"path": "media/pen_holder/episode_000000/wrist.mp4",
"source_path": "videos/observation.images.wrist/chunk-000/file-000.mp4",
"source_bytes": 52745461,
"source_sha256": "9fa5ff499bfab934b78b4180c0c81d7ddf90b068be2608d95e22716872ebc156",
"from_timestamp": 0.0,
"to_timestamp": 252.0,
"output_sha256": "b6cddfe508396ad37131a0229601fbc2d74c8caad78db07e6458435778b0739e"
}
],
"trajectory_source_path": "data/chunk-000/file-000.parquet",
"trajectory_source_bytes": 93282240,
"trajectory_path": "trajectories/pen_holder/episode_000000.parquet",
"composite_path": "media/pen_holder/episode_000000/synchronized.mp4",
"preview_path": "media/pen_holder/episode_000000/preview.jpg",
"metadata": {
"episode_index": 0,
"tasks": [
"put every pencil into the holder tip-up (writing tip pointing out of the cup), then leave the loaded holder standing upright on the surface. You may hold the holder while filling it; a pencil dropped tip-down or left leaning outside the cup does not count, and a tipped-over holder scores nothing until it is stood up."
],
"length": 3780,
"data/chunk_index": 0,
"data/file_index": 0,
"dataset_from_index": 0,
"dataset_to_index": 3780,
"videos/observation.images.corner/chunk_index": 0,
"videos/observation.images.corner/file_index": 0,
"videos/observation.images.corner/from_timestamp": 0.0,
"videos/observation.images.corner/to_timestamp": 252.0,
"videos/observation.images.front/chunk_index": 0,
"videos/observation.images.front/file_index": 0,
"videos/observation.images.front/from_timestamp": 0.0,
"videos/observation.images.front/to_timestamp": 252.0,
"videos/observation.images.wrist/chunk_index": 0,
"videos/observation.images.wrist/file_index": 0,
"videos/observation.images.wrist/from_timestamp": 0.0,
"videos/observation.images.wrist/to_timestamp": 252.0,
"meta/episodes/chunk_index": 0,
"meta/episodes/file_index": 0
}
},
{
"catalog_number": 10,
"scene_key": "pen_holder",
"source_repo": "EmbodiedSWE/pen_holder_franka_diffik.jointtarget_15hz_20260909",
"source_revision": "c3ecaa765252aaca473cccf7c4e770acc5db7f0e",
"task_index": 0,
"episode_index": 342,
"frame_count": 900,
"fps": 15,
"instruction": "put every pencil into the holder tip-up (writing tip pointing out of the cup), then leave the loaded holder standing upright on the surface. You may hold the holder while filling it; a pencil dropped tip-down or left leaning outside the cup does not count, and a tipped-over holder scores nothing until it is stood up.",
"views": [
{
"camera": "front",
"label": "FRONT",
"path": "media/pen_holder/episode_000342/front.mp4",
"source_path": "videos/observation.images.front/chunk-000/file-047.mp4",
"source_bytes": 43424035,
"source_sha256": "5df50d498959ea063963d6f80719f1f05e265ce69a1e2ece022232a14de8278f",
"from_timestamp": 408.0,
"to_timestamp": 468.0,
"output_sha256": "bbb62caaa33d7f3c590c0b9253158b436aabc847cc95777e8af3f3ae24584aea"
},
{
"camera": "corner",
"label": "CORNER",
"path": "media/pen_holder/episode_000342/corner.mp4",
"source_path": "videos/observation.images.corner/chunk-000/file-047.mp4",
"source_bytes": 22162027,
"source_sha256": "8aee23ffab8c3dd35c87f43a7b807ab895d4a1819cc2e61a19a67b8781b72342",
"from_timestamp": 132.0,
"to_timestamp": 192.0,
"output_sha256": "926b32d2218ea4238f22649e6d481e30c206dc2186444c098462935a281e515d"
},
{
"camera": "wrist",
"label": "WRIST",
"path": "media/pen_holder/episode_000342/wrist.mp4",
"source_path": "videos/observation.images.wrist/chunk-000/file-047.mp4",
"source_bytes": 44112802,
"source_sha256": "18b61d58c45ba98122d026c526fd318bd024088aa02d866537f4a6998df25cbf",
"from_timestamp": 408.0,
"to_timestamp": 468.0,
"output_sha256": "08dc23e11d3870bea72bdc8d2a9956eb05e426a898b0dc8e49aa23e64d96c43b"
}
],
"trajectory_source_path": "data/chunk-000/file-000.parquet",
"trajectory_source_bytes": 93282240,
"trajectory_path": "trajectories/pen_holder/episode_000342.parquet",
"composite_path": "media/pen_holder/episode_000342/synchronized.mp4",
"preview_path": "media/pen_holder/episode_000342/preview.jpg",
"metadata": {
"episode_index": 342,
"tasks": [
"put every pencil into the holder tip-up (writing tip pointing out of the cup), then leave the loaded holder standing upright on the surface. You may hold the holder while filling it; a pencil dropped tip-down or left leaning outside the cup does not count, and a tipped-over holder scores nothing until it is stood up."
],
"length": 900,
"data/chunk_index": 0,
"data/file_index": 0,
"dataset_from_index": 518978,
"dataset_to_index": 519878,
"videos/observation.images.corner/chunk_index": 0,
"videos/observation.images.corner/file_index": 47,
"videos/observation.images.corner/from_timestamp": 132.0,
"videos/observation.images.corner/to_timestamp": 192.0,
"videos/observation.images.front/chunk_index": 0,
"videos/observation.images.front/file_index": 47,
"videos/observation.images.front/from_timestamp": 408.0,
"videos/observation.images.front/to_timestamp": 468.0,
"videos/observation.images.wrist/chunk_index": 0,
"videos/observation.images.wrist/file_index": 47,
"videos/observation.images.wrist/from_timestamp": 408.0,
"videos/observation.images.wrist/to_timestamp": 468.0,
"meta/episodes/chunk_index": 0,
"meta/episodes/file_index": 0
}
},
{
"catalog_number": 10,
"scene_key": "pen_holder",
"source_repo": "EmbodiedSWE/pen_holder_franka_diffik.jointtarget_15hz_20260909",
"source_revision": "c3ecaa765252aaca473cccf7c4e770acc5db7f0e",
"task_index": 0,
"episode_index": 683,
"frame_count": 420,
"fps": 15,
"instruction": "put every pencil into the holder tip-up (writing tip pointing out of the cup), then leave the loaded holder standing upright on the surface. You may hold the holder while filling it; a pencil dropped tip-down or left leaning outside the cup does not count, and a tipped-over holder scores nothing until it is stood up.",
"views": [
{
"camera": "front",
"label": "FRONT",
"path": "media/pen_holder/episode_000683/front.mp4",
"source_path": "videos/observation.images.front/chunk-000/file-095.mp4",
"source_bytes": 22936386,
"source_sha256": "eb525ec269b012178a038038da9062b4ef8b938cae409a90ae74e4adf3a720ec",
"from_timestamp": 318.0,
"to_timestamp": 346.0,
"output_sha256": "605b1679d8e4585f169409355884c1958bd402bf380ea742eceaa750a1c447dd"
},
{
"camera": "corner",
"label": "CORNER",
"path": "media/pen_holder/episode_000683/corner.mp4",
"source_path": "videos/observation.images.corner/chunk-000/file-095.mp4",
"source_bytes": 5379375,
"source_sha256": "6699352a3621da5f0d73d83b0ebf2f5954d49714cc8604e938982535831bce31",
"from_timestamp": 60.0,
"to_timestamp": 88.0,
"output_sha256": "7c83839faa4e12e4b3ced8fde6b68f68bdc97e0fa086a3444e36e6285509ac6e"
},
{
"camera": "wrist",
"label": "WRIST",
"path": "media/pen_holder/episode_000683/wrist.mp4",
"source_path": "videos/observation.images.wrist/chunk-000/file-095.mp4",
"source_bytes": 24111135,
"source_sha256": "7800aef9ed7c8cc9933b737b1db06e0ab481d82fd9c1620ca6de5a91b5bf0a0d",
"from_timestamp": 318.0,
"to_timestamp": 346.0,
"output_sha256": "8b7815fe9a3e52ee9d65f769ec7274c0d92d50f283420315debfc9fc297be446"
}
],
"trajectory_source_path": "data/chunk-000/file-001.parquet",
"trajectory_source_bytes": 46413534,
"trajectory_path": "trajectories/pen_holder/episode_000683.parquet",
"composite_path": "media/pen_holder/episode_000683/synchronized.mp4",
"preview_path": "media/pen_holder/episode_000683/preview.jpg",
"metadata": {
"episode_index": 683,
"tasks": [
"put every pencil into the holder tip-up (writing tip pointing out of the cup), then leave the loaded holder standing upright on the surface. You may hold the holder while filling it; a pencil dropped tip-down or left leaning outside the cup does not count, and a tipped-over holder scores nothing until it is stood up."
],
"length": 420,
"data/chunk_index": 0,
"data/file_index": 1,
"dataset_from_index": 1016182,
"dataset_to_index": 1016602,
"videos/observation.images.corner/chunk_index": 0,
"videos/observation.images.corner/file_index": 95,
"videos/observation.images.corner/from_timestamp": 60.0,
"videos/observation.images.corner/to_timestamp": 88.0,
"videos/observation.images.front/chunk_index": 0,
"videos/observation.images.front/file_index": 95,
"videos/observation.images.front/from_timestamp": 318.0,
"videos/observation.images.front/to_timestamp": 346.0,
"videos/observation.images.wrist/chunk_index": 0,
"videos/observation.images.wrist/file_index": 95,
"videos/observation.images.wrist/from_timestamp": 318.0,
"videos/observation.images.wrist/to_timestamp": 346.0,
"meta/episodes/chunk_index": 0,
"meta/episodes/file_index": 0
}
},
{
"catalog_number": 11,
"scene_key": "tool_packing",
"source_repo": "EmbodiedSWE/tool_packing_franka_diffik.jointtarget_15hz_20260910",
"source_revision": "b197c503474a91a911e6b8027f8e50cdfe5d135c",
"task_index": 0,
"episode_index": 0,
"frame_count": 8730,
"fps": 15,
"instruction": "pull drawers open as needed and pack the tools — the STAPLER goes in the TOP (1st) drawer, the SCISSORS in the SECOND drawer, the KNIFE in the THIRD drawer (the 4th/bottom drawer stays shut and gets nothing) — then push every drawer shut. An item counts only inside its own drawer's tray; the job is done when all three tools are stowed and every drawer is shut.",
"views": [
{
"camera": "front",
"label": "FRONT",
"path": "media/tool_packing/episode_000000/front.mp4",
"source_path": "videos/observation.images.front/chunk-000/file-000.mp4",
"source_bytes": 41791852,
"source_sha256": "57231e86c3940caf740a6963d2f5ed465185aceeccbf11e73df3ca852dced7bd",
"from_timestamp": 0.0,
"to_timestamp": 582.0,
"output_sha256": "030617149912c7bcff3ab5aa7f652e3b07968cabd8e558836a1c17c4525a90bb"
},
{
"camera": "corner",
"label": "CORNER",
"path": "media/tool_packing/episode_000000/corner.mp4",
"source_path": "videos/observation.images.corner/chunk-000/file-000.mp4",
"source_bytes": 35198253,
"source_sha256": "7be333bd4ae1b06453f18b65585f24c21c537ae23f7080519a721e72693bdc02",
"from_timestamp": 0.0,
"to_timestamp": 582.0,
"output_sha256": "d6055bbb5f349c632976be427ab6d4dfb45c9dcd65d612acf75b8c186fe95dec"
},
{
"camera": "wrist",
"label": "WRIST",
"path": "media/tool_packing/episode_000000/wrist.mp4",
"source_path": "videos/observation.images.wrist/chunk-000/file-000.mp4",
"source_bytes": 33879313,
"source_sha256": "ce5a9ee7745820b666d11a5091fd62cbb914bff611c790c785a79ecf2930ea0a",
"from_timestamp": 0.0,
"to_timestamp": 582.0,
"output_sha256": "d9f70eeaf9af25a92f280c726cba1d90341e5c8cab0b93d0c185e216618029c9"
}
],
"trajectory_source_path": "data/chunk-000/file-000.parquet",
"trajectory_source_bytes": 83934301,
"trajectory_path": "trajectories/tool_packing/episode_000000.parquet",
"composite_path": "media/tool_packing/episode_000000/synchronized.mp4",
"preview_path": "media/tool_packing/episode_000000/preview.jpg",
"metadata": {
"episode_index": 0,
"tasks": [
"pull drawers open as needed and pack the tools — the STAPLER goes in the TOP (1st) drawer, the SCISSORS in the SECOND drawer, the KNIFE in the THIRD drawer (the 4th/bottom drawer stays shut and gets nothing) — then push every drawer shut. An item counts only inside its own drawer's tray; the job is done when all three tools are stowed and every drawer is shut."
],
"length": 8730,
"data/chunk_index": 0,
"data/file_index": 0,
"dataset_from_index": 0,
"dataset_to_index": 8730,
"videos/observation.images.corner/chunk_index": 0,
"videos/observation.images.corner/file_index": 0,
"videos/observation.images.corner/from_timestamp": 0.0,
"videos/observation.images.corner/to_timestamp": 582.0,
"videos/observation.images.front/chunk_index": 0,
"videos/observation.images.front/file_index": 0,
"videos/observation.images.front/from_timestamp": 0.0,
"videos/observation.images.front/to_timestamp": 582.0,
"videos/observation.images.wrist/chunk_index": 0,
"videos/observation.images.wrist/file_index": 0,
"videos/observation.images.wrist/from_timestamp": 0.0,
"videos/observation.images.wrist/to_timestamp": 582.0,
"meta/episodes/chunk_index": 0,
"meta/episodes/file_index": 0
}
},
{
"catalog_number": 11,
"scene_key": "tool_packing",
"source_repo": "EmbodiedSWE/tool_packing_franka_diffik.jointtarget_15hz_20260910",
"source_revision": "b197c503474a91a911e6b8027f8e50cdfe5d135c",
"task_index": 0,
"episode_index": 843,
"frame_count": 3720,
"fps": 15,
"instruction": "pull drawers open as needed and pack the tools — the STAPLER goes in the TOP (1st) drawer, the SCISSORS in the SECOND drawer, the KNIFE in the THIRD drawer (the 4th/bottom drawer stays shut and gets nothing) — then push every drawer shut. An item counts only inside its own drawer's tray; the job is done when all three tools are stowed and every drawer is shut.",
"views": [
{
"camera": "front",
"label": "FRONT",
"path": "media/tool_packing/episode_000843/front.mp4",
"source_path": "videos/observation.images.front/chunk-000/file-469.mp4",
"source_bytes": 40058556,
"source_sha256": "32751d8f6f2c0191b21b2c8601bd49afe2fca3d359c2f6f182d49c128def1dd5",
"from_timestamp": 0.0,
"to_timestamp": 248.0,
"output_sha256": "4fca33e5b5cd086b39ea77a517d995c0760d8189cc8c2bd76d258410102d3658"
},
{
"camera": "corner",
"label": "CORNER",
"path": "media/tool_packing/episode_000843/corner.mp4",
"source_path": "videos/observation.images.corner/chunk-000/file-432.mp4",
"source_bytes": 33630956,
"source_sha256": "51aab6ec7756536d3e9e0d2c38c05a72817ebfe3147359c0b052f9090e8b2820",
"from_timestamp": 0.0,
"to_timestamp": 248.0,
"output_sha256": "75994f140f45c2ece1492ea5e198ec3b3f61741e1fb5900edfec3e755d81a7e8"
},
{
"camera": "wrist",
"label": "WRIST",
"path": "media/tool_packing/episode_000843/wrist.mp4",
"source_path": "videos/observation.images.wrist/chunk-000/file-409.mp4",
"source_bytes": 45234773,
"source_sha256": "1f3da4d7f8da5cfced84a18502e45fd455980167db32e7e62431e4fca482d4c7",
"from_timestamp": 0.0,
"to_timestamp": 248.0,
"output_sha256": "e524d8773e9e079096334d0a4c06e40d67b74fba3d166086acd93122d4e5e487"
}
],
"trajectory_source_path": "data/chunk-000/file-005.parquet",
"trajectory_source_bytes": 82132103,
"trajectory_path": "trajectories/tool_packing/episode_000843.parquet",
"composite_path": "media/tool_packing/episode_000843/synchronized.mp4",
"preview_path": "media/tool_packing/episode_000843/preview.jpg",
"metadata": {
"episode_index": 843,
"tasks": [
"pull drawers open as needed and pack the tools — the STAPLER goes in the TOP (1st) drawer, the SCISSORS in the SECOND drawer, the KNIFE in the THIRD drawer (the 4th/bottom drawer stays shut and gets nothing) — then push every drawer shut. An item counts only inside its own drawer's tray; the job is done when all three tools are stowed and every drawer is shut."
],
"length": 3720,
"data/chunk_index": 0,
"data/file_index": 5,
"dataset_from_index": 3539425,
"dataset_to_index": 3543145,
"videos/observation.images.corner/chunk_index": 0,
"videos/observation.images.corner/file_index": 432,
"videos/observation.images.corner/from_timestamp": 0.0,
"videos/observation.images.corner/to_timestamp": 248.0,
"videos/observation.images.front/chunk_index": 0,
"videos/observation.images.front/file_index": 469,
"videos/observation.images.front/from_timestamp": 0.0,
"videos/observation.images.front/to_timestamp": 248.0,
"videos/observation.images.wrist/chunk_index": 0,
"videos/observation.images.wrist/file_index": 409,
"videos/observation.images.wrist/from_timestamp": 0.0,
"videos/observation.images.wrist/to_timestamp": 248.0,
"meta/episodes/chunk_index": 0,
"meta/episodes/file_index": 0
}
},
{
"catalog_number": 11,
"scene_key": "tool_packing",
"source_repo": "EmbodiedSWE/tool_packing_franka_diffik.jointtarget_15hz_20260910",
"source_revision": "b197c503474a91a911e6b8027f8e50cdfe5d135c",
"task_index": 0,
"episode_index": 1685,
"frame_count": 3600,
"fps": 15,
"instruction": "pull drawers open as needed and pack the tools — the STAPLER goes in the TOP (1st) drawer, the SCISSORS in the SECOND drawer, the KNIFE in the THIRD drawer (the 4th/bottom drawer stays shut and gets nothing) — then push every drawer shut. An item counts only inside its own drawer's tray; the job is done when all three tools are stowed and every drawer is shut.",
"views": [
{
"camera": "front",
"label": "FRONT",
"path": "media/tool_packing/episode_001685/front.mp4",
"source_path": "videos/observation.images.front/chunk-000/file-926.mp4",
"source_bytes": 17866577,
"source_sha256": "9c15969427051d79f92d856c523e73ec747cda3635547c1f95b7797247b1c4d8",
"from_timestamp": 0.0,
"to_timestamp": 240.0,
"output_sha256": "12ce3d034ae6abea2e1b78fbe566f5236d01080a05503df5c872e73bac879613"
},
{
"camera": "corner",
"label": "CORNER",
"path": "media/tool_packing/episode_001685/corner.mp4",
"source_path": "videos/observation.images.corner/chunk-000/file-853.mp4",
"source_bytes": 15006815,
"source_sha256": "39e114548479d511566e56e0aa2cb36f9ad345b3ff1e46ca92c9cb61898a5d26",
"from_timestamp": 0.0,
"to_timestamp": 240.0,
"output_sha256": "e45484bf22fd4a82e5e13da11dde3655889e6b250c0a9847ed380be190e60977"
},
{
"camera": "wrist",
"label": "WRIST",
"path": "media/tool_packing/episode_001685/wrist.mp4",
"source_path": "videos/observation.images.wrist/chunk-000/file-776.mp4",
"source_bytes": 13574009,
"source_sha256": "a00b81897fbdbd7c11caa31ff5275687598f1e998debc045f1b492bb5e4b71f9",
"from_timestamp": 0.0,
"to_timestamp": 240.0,
"output_sha256": "a0964555b67d11756c3044ba724212c2340e9c15a5ba209231cdb2ba967a1821"
}
],
"trajectory_source_path": "data/chunk-000/file-011.parquet",
"trajectory_source_bytes": 81667746,
"trajectory_path": "trajectories/tool_packing/episode_001685.parquet",
"composite_path": "media/tool_packing/episode_001685/synchronized.mp4",
"preview_path": "media/tool_packing/episode_001685/preview.jpg",
"metadata": {
"episode_index": 1685,
"tasks": [
"pull drawers open as needed and pack the tools — the STAPLER goes in the TOP (1st) drawer, the SCISSORS in the SECOND drawer, the KNIFE in the THIRD drawer (the 4th/bottom drawer stays shut and gets nothing) — then push every drawer shut. An item counts only inside its own drawer's tray; the job is done when all three tools are stowed and every drawer is shut."
],
"length": 3600,
"data/chunk_index": 0,
"data/file_index": 11,
"dataset_from_index": 7047625,
"dataset_to_index": 7051225,
"videos/observation.images.corner/chunk_index": 0,
"videos/observation.images.corner/file_index": 853,
"videos/observation.images.corner/from_timestamp": 0.0,
"videos/observation.images.corner/to_timestamp": 240.0,
"videos/observation.images.front/chunk_index": 0,
"videos/observation.images.front/file_index": 926,
"videos/observation.images.front/from_timestamp": 0.0,
"videos/observation.images.front/to_timestamp": 240.0,
"videos/observation.images.wrist/chunk_index": 0,
"videos/observation.images.wrist/file_index": 776,
"videos/observation.images.wrist/from_timestamp": 0.0,
"videos/observation.images.wrist/to_timestamp": 240.0,
"meta/episodes/chunk_index": 0,
"meta/episodes/file_index": 0
}
},
{
"catalog_number": 13,
"scene_key": "clear_organic_objects",
"source_repo": "EmbodiedSWE/clear_organic_agent_ab_A400.jointtarget_20hz_20260918",
"source_revision": "c36f831161a17a6515740cd5c74739e1e79e2e3a",
"task_index": 0,
"episode_index": 0,
"frame_count": 4797,
"fps": 20,
"instruction": "identify every ORGANIC item — the fruits and vegetables — and place each one into the bin, leaving all the non-food clutter where it is. An item counts only when it is resting inside the bin; the job is done when every fruit and vegetable is in the bin and no non-food item has been put in.",
"views": [
{
"camera": "front",
"label": "FRONT",
"path": "media/clear_organic_objects/episode_000000/front.mp4",
"source_path": "videos/observation.images.front/chunk-000/file-000.mp4",
"source_bytes": 41908575,
"source_sha256": "467d07253f2db1a23013f5d93a07c5e3b1700b64d7e6bff5e90565a8833e2b4f",
"from_timestamp": 0.0,
"to_timestamp": 239.85,
"output_sha256": "9ee1bd97d85fcd58d65344f99f3d96e03bd9795f49287bafb190d5d4513d1c26"
},
{
"camera": "side",
"label": "SIDE",
"path": "media/clear_organic_objects/episode_000000/side.mp4",
"source_path": "videos/observation.images.side/chunk-000/file-000.mp4",
"source_bytes": 39476936,
"source_sha256": "3a7f8ddf6b2445ca50946e9877bee77ed7af7222995398afea487682a69011ec",
"from_timestamp": 0.0,
"to_timestamp": 239.85,
"output_sha256": "f4daaa02f64bdfcb3bb20f7974f42a12d02daa7474309bd1301df0055a4d455d"
},
{
"camera": "wrist",
"label": "WRIST",
"path": "media/clear_organic_objects/episode_000000/wrist.mp4",
"source_path": "videos/observation.images.wrist/chunk-000/file-000.mp4",
"source_bytes": 24540080,
"source_sha256": "c884ba3d9bce783375f0096290be4da47045e9c98d1ac793a31ffa8c6374c4d8",
"from_timestamp": 0.0,
"to_timestamp": 239.85,
"output_sha256": "2bf1d4206a131e4f14c9649efd08d36a89edd471511724594b8d4891c6efac8d"
}
],
"trajectory_source_path": "data/chunk-000/file-000.parquet",
"trajectory_source_bytes": 75236902,
"trajectory_path": "trajectories/clear_organic_objects/episode_000000.parquet",
"composite_path": "media/clear_organic_objects/episode_000000/synchronized.mp4",
"preview_path": "media/clear_organic_objects/episode_000000/preview.jpg",
"metadata": {
"episode_index": 0,
"tasks": [
"identify every ORGANIC item — the fruits and vegetables — and place each one into the bin, leaving all the non-food clutter where it is. An item counts only when it is resting inside the bin; the job is done when every fruit and vegetable is in the bin and no non-food item has been put in."
],
"length": 4797,
"data/chunk_index": 0,
"data/file_index": 0,
"dataset_from_index": 0,
"dataset_to_index": 4797,
"videos/observation.images.front/chunk_index": 0,
"videos/observation.images.front/file_index": 0,
"videos/observation.images.front/from_timestamp": 0.0,
"videos/observation.images.front/to_timestamp": 239.85,
"videos/observation.images.side/chunk_index": 0,
"videos/observation.images.side/file_index": 0,
"videos/observation.images.side/from_timestamp": 0.0,
"videos/observation.images.side/to_timestamp": 239.85,
"videos/observation.images.wrist/chunk_index": 0,
"videos/observation.images.wrist/file_index": 0,
"videos/observation.images.wrist/from_timestamp": 0.0,
"videos/observation.images.wrist/to_timestamp": 239.85,
"meta/episodes/chunk_index": 0,
"meta/episodes/file_index": 0
}
},
{
"catalog_number": 13,
"scene_key": "clear_organic_objects",
"source_repo": "EmbodiedSWE/clear_organic_agent_ab_A400.jointtarget_20hz_20260918",
"source_revision": "c36f831161a17a6515740cd5c74739e1e79e2e3a",
"task_index": 0,
"episode_index": 200,
"frame_count": 1879,
"fps": 20,
"instruction": "identify every ORGANIC item — the fruits and vegetables — and place each one into the bin, leaving all the non-food clutter where it is. An item counts only when it is resting inside the bin; the job is done when every fruit and vegetable is in the bin and no non-food item has been put in.",
"views": [
{
"camera": "front",
"label": "FRONT",
"path": "media/clear_organic_objects/episode_000200/front.mp4",
"source_path": "videos/observation.images.front/chunk-000/file-056.mp4",
"source_bytes": 44540608,
"source_sha256": "f9f7eec5e2a76d33e0e5e0651a6fb94706d6ca6216aec091f6a7dec0d3950846",
"from_timestamp": 381.29999999999995,
"to_timestamp": 475.24999999999994,
"output_sha256": "693847c1bda0bb91075ed588b4f9c58624bddf63c232b94f87d3ab0a08fd9c8d"
},
{
"camera": "side",
"label": "SIDE",
"path": "media/clear_organic_objects/episode_000200/side.mp4",
"source_path": "videos/observation.images.side/chunk-000/file-051.mp4",
"source_bytes": 39712216,
"source_sha256": "04f6979c99618719dfc0df9d3a0e50427fa18478a9cd7bffede9e752133943c7",
"from_timestamp": 0.0,
"to_timestamp": 93.95,
"output_sha256": "da0b65aa2f8c972cd1aec684b707e18c5f854c680d06249d7d08fa010bd71bf1"
},
{
"camera": "wrist",
"label": "WRIST",
"path": "media/clear_organic_objects/episode_000200/wrist.mp4",
"source_path": "videos/observation.images.wrist/chunk-000/file-065.mp4",
"source_bytes": 40317670,
"source_sha256": "ed18401fc90c3facb2766f64d79691aed07b1d29a788def91bbe895a3945d418",
"from_timestamp": 94.35,
"to_timestamp": 188.3,
"output_sha256": "edb77d1ba2f804041e17ae44d0cd8ddaf0e8c003c9fa8706648c7839cf245f91"
}
],
"trajectory_source_path": "data/chunk-000/file-000.parquet",
"trajectory_source_bytes": 75236902,
"trajectory_path": "trajectories/clear_organic_objects/episode_000200.parquet",
"composite_path": "media/clear_organic_objects/episode_000200/synchronized.mp4",
"preview_path": "media/clear_organic_objects/episode_000200/preview.jpg",
"metadata": {
"episode_index": 200,
"tasks": [
"identify every ORGANIC item — the fruits and vegetables — and place each one into the bin, leaving all the non-food clutter where it is. An item counts only when it is resting inside the bin; the job is done when every fruit and vegetable is in the bin and no non-food item has been put in."
],
"length": 1879,
"data/chunk_index": 0,
"data/file_index": 0,
"dataset_from_index": 446434,
"dataset_to_index": 448313,
"videos/observation.images.front/chunk_index": 0,
"videos/observation.images.front/file_index": 56,
"videos/observation.images.front/from_timestamp": 381.29999999999995,
"videos/observation.images.front/to_timestamp": 475.24999999999994,
"videos/observation.images.side/chunk_index": 0,
"videos/observation.images.side/file_index": 51,
"videos/observation.images.side/from_timestamp": 0.0,
"videos/observation.images.side/to_timestamp": 93.95,
"videos/observation.images.wrist/chunk_index": 0,
"videos/observation.images.wrist/file_index": 65,
"videos/observation.images.wrist/from_timestamp": 94.35,
"videos/observation.images.wrist/to_timestamp": 188.3,
"meta/episodes/chunk_index": 0,
"meta/episodes/file_index": 0
}
},
{
"catalog_number": 13,
"scene_key": "clear_organic_objects",
"source_repo": "EmbodiedSWE/clear_organic_agent_ab_A400.jointtarget_20hz_20260918",
"source_revision": "c36f831161a17a6515740cd5c74739e1e79e2e3a",
"task_index": 0,
"episode_index": 399,
"frame_count": 1320,
"fps": 20,
"instruction": "identify every ORGANIC item — the fruits and vegetables — and place each one into the bin, leaving all the non-food clutter where it is. An item counts only when it is resting inside the bin; the job is done when every fruit and vegetable is in the bin and no non-food item has been put in.",
"views": [
{
"camera": "front",
"label": "FRONT",
"path": "media/clear_organic_objects/episode_000399/front.mp4",
"source_path": "videos/observation.images.front/chunk-000/file-107.mp4",
"source_bytes": 33035947,
"source_sha256": "d6c6dddaa72f6a364879f0f1741e96ce2bd6ca7cc213f6835d902ada5dc05b8f",
"from_timestamp": 282.95000000000005,
"to_timestamp": 348.95000000000005,
"output_sha256": "6571d02c80842f1003feb8fe8908632927c78d784994932921e32d119bc84e0c"
},
{
"camera": "side",
"label": "SIDE",
"path": "media/clear_organic_objects/episode_000399/side.mp4",
"source_path": "videos/observation.images.side/chunk-000/file-097.mp4",
"source_bytes": 36021445,
"source_sha256": "211514178082b5e0ca8729794ea84bf4a1b781c7cbe72c0f0ef91a4aef4972d0",
"from_timestamp": 355.35,
"to_timestamp": 421.35,
"output_sha256": "cd92bea10136100d4a28060270010f08ba68dc57a1f6dc30aa8608ee006be0c0"
},
{
"camera": "wrist",
"label": "WRIST",
"path": "media/clear_organic_objects/episode_000399/wrist.mp4",
"source_path": "videos/observation.images.wrist/chunk-000/file-125.mp4",
"source_bytes": 22040765,
"source_sha256": "dc0f4246fba1c7d7abd3ae87c3daaba20e7d221d6ff31f4eac90e7c24dacc5c9",
"from_timestamp": 140.15,
"to_timestamp": 206.15,
"output_sha256": "6e86a920291b99d23a3e9763046156c938f3072d74d87db4d50aa9071adfa995"
}
],
"trajectory_source_path": "data/chunk-000/file-001.parquet",
"trajectory_source_bytes": 49630202,
"trajectory_path": "trajectories/clear_organic_objects/episode_000399.parquet",
"composite_path": "media/clear_organic_objects/episode_000399/synchronized.mp4",
"preview_path": "media/clear_organic_objects/episode_000399/preview.jpg",
"metadata": {
"episode_index": 399,
"tasks": [
"identify every ORGANIC item — the fruits and vegetables — and place each one into the bin, leaving all the non-food clutter where it is. An item counts only when it is resting inside the bin; the job is done when every fruit and vegetable is in the bin and no non-food item has been put in."
],
"length": 1320,
"data/chunk_index": 0,
"data/file_index": 1,
"dataset_from_index": 847924,
"dataset_to_index": 849244,
"videos/observation.images.front/chunk_index": 0,
"videos/observation.images.front/file_index": 107,
"videos/observation.images.front/from_timestamp": 282.95000000000005,
"videos/observation.images.front/to_timestamp": 348.95000000000005,
"videos/observation.images.side/chunk_index": 0,
"videos/observation.images.side/file_index": 97,
"videos/observation.images.side/from_timestamp": 355.35,
"videos/observation.images.side/to_timestamp": 421.35,
"videos/observation.images.wrist/chunk_index": 0,
"videos/observation.images.wrist/file_index": 125,
"videos/observation.images.wrist/from_timestamp": 140.15,
"videos/observation.images.wrist/to_timestamp": 206.15,
"meta/episodes/chunk_index": 0,
"meta/episodes/file_index": 0
}
},
{
"catalog_number": 14,
"scene_key": "coffee",
"source_repo": "EmbodiedSWE/coffee_franka_joint.jointtarget_60hz_20260907",
"source_revision": "2450113aeb495c4dd923b72c2a901f1ed84ea884",
"task_index": 0,
"episode_index": 0,
"frame_count": 8610,
"fps": 60,
"instruction": "the mug filled by a completed brew and resting on the tray. The cover ridge, the capsule and the mug rim hold in a firm pinch: close the fingers across them and the grip locks; open wide to release.",
"views": [
{
"camera": "front_wide",
"label": "FRONT WIDE",
"path": "media/coffee/episode_000000/front_wide.mp4",
"source_path": "videos/observation.images.front_wide/chunk-000/file-000.mp4",
"source_bytes": 64847705,
"source_sha256": "62a0675937238836b08e7a4eecd422cc4c18e070ad874c4dae850cd326d8bf11",
"from_timestamp": 0.0,
"to_timestamp": 143.5,
"output_sha256": "5fabfc5bfa8a802366cf0bdff1ec46278a5479f1836baa59a40c2540191e7d82"
},
{
"camera": "wrist",
"label": "WRIST",
"path": "media/coffee/episode_000000/wrist.mp4",
"source_path": "videos/observation.images.wrist/chunk-000/file-000.mp4",
"source_bytes": 59900891,
"source_sha256": "5b9f6d82e7a381ab2dc5aa07b2f53a975d5b7777a9792213f08c75f3d17b53e8",
"from_timestamp": 0.0,
"to_timestamp": 143.5,
"output_sha256": "295d34ee5baf287e68b9d4de59b9a22c8f42931ee993fd3bf869113bd9909306"
}
],
"trajectory_source_path": "data/chunk-000/file-000.parquet",
"trajectory_source_bytes": 49455336,
"trajectory_path": "trajectories/coffee/episode_000000.parquet",
"composite_path": "media/coffee/episode_000000/synchronized.mp4",
"preview_path": "media/coffee/episode_000000/preview.jpg",
"metadata": {
"episode_index": 0,
"tasks": [
"the mug filled by a completed brew and resting on the tray. The cover ridge, the capsule and the mug rim hold in a firm pinch: close the fingers across them and the grip locks; open wide to release."
],
"length": 8610,
"data/chunk_index": 0,
"data/file_index": 0,
"dataset_from_index": 0,
"dataset_to_index": 8610,
"videos/observation.images.front_wide/chunk_index": 0,
"videos/observation.images.front_wide/file_index": 0,
"videos/observation.images.front_wide/from_timestamp": 0.0,
"videos/observation.images.front_wide/to_timestamp": 143.5,
"videos/observation.images.wrist/chunk_index": 0,
"videos/observation.images.wrist/file_index": 0,
"videos/observation.images.wrist/from_timestamp": 0.0,
"videos/observation.images.wrist/to_timestamp": 143.5,
"meta/episodes/chunk_index": 0,
"meta/episodes/file_index": 0
}
},
{
"catalog_number": 14,
"scene_key": "coffee",
"source_repo": "EmbodiedSWE/coffee_franka_joint.jointtarget_60hz_20260907",
"source_revision": "2450113aeb495c4dd923b72c2a901f1ed84ea884",
"task_index": 0,
"episode_index": 300,
"frame_count": 8610,
"fps": 60,
"instruction": "the mug filled by a completed brew and resting on the tray. The cover ridge, the capsule and the mug rim hold in a firm pinch: close the fingers across them and the grip locks; open wide to release.",
"views": [
{
"camera": "front_wide",
"label": "FRONT WIDE",
"path": "media/coffee/episode_000300/front_wide.mp4",
"source_path": "videos/observation.images.front_wide/chunk-000/file-036.mp4",
"source_bytes": 43777419,
"source_sha256": "c1a9b924f792ddbe5f6d047aa394e780fbb48ffd6548cf2358d6f491d5d5a84c",
"from_timestamp": 0.0,
"to_timestamp": 143.5,
"output_sha256": "b677e9d3b07b31fa5ee9d184e22ac64b387078d9d036c966bdaeabb96186ccef"
},
{
"camera": "wrist",
"label": "WRIST",
"path": "media/coffee/episode_000300/wrist.mp4",
"source_path": "videos/observation.images.wrist/chunk-000/file-030.mp4",
"source_bytes": 61456028,
"source_sha256": "e75ef8e4fe1a4191dd3204d8d80fe3726761f4900ca341ef3663cafb0c0f22a6",
"from_timestamp": 0.0,
"to_timestamp": 143.5,
"output_sha256": "050e11cfeb6960f06c34897aa633e2bf169cf3c335dfbc63e62e3f35c483c33d"
}
],
"trajectory_source_path": "data/chunk-000/file-001.parquet",
"trajectory_source_bytes": 49455362,
"trajectory_path": "trajectories/coffee/episode_000300.parquet",
"composite_path": "media/coffee/episode_000300/synchronized.mp4",
"preview_path": "media/coffee/episode_000300/preview.jpg",
"metadata": {
"episode_index": 300,
"tasks": [
"the mug filled by a completed brew and resting on the tray. The cover ridge, the capsule and the mug rim hold in a firm pinch: close the fingers across them and the grip locks; open wide to release."
],
"length": 8610,
"data/chunk_index": 0,
"data/file_index": 1,
"dataset_from_index": 798150,
"dataset_to_index": 806760,
"videos/observation.images.front_wide/chunk_index": 0,
"videos/observation.images.front_wide/file_index": 36,
"videos/observation.images.front_wide/from_timestamp": 0.0,
"videos/observation.images.front_wide/to_timestamp": 143.5,
"videos/observation.images.wrist/chunk_index": 0,
"videos/observation.images.wrist/file_index": 30,
"videos/observation.images.wrist/from_timestamp": 0.0,
"videos/observation.images.wrist/to_timestamp": 143.5,
"meta/episodes/chunk_index": 0,
"meta/episodes/file_index": 0
}
},
{
"catalog_number": 14,
"scene_key": "coffee",
"source_repo": "EmbodiedSWE/coffee_franka_joint.jointtarget_60hz_20260907",
"source_revision": "2450113aeb495c4dd923b72c2a901f1ed84ea884",
"task_index": 0,
"episode_index": 599,
"frame_count": 1530,
"fps": 60,
"instruction": "the mug filled by a completed brew and resting on the tray. The cover ridge, the capsule and the mug rim hold in a firm pinch: close the fingers across them and the grip locks; open wide to release.",
"views": [
{
"camera": "front_wide",
"label": "FRONT WIDE",
"path": "media/coffee/episode_000599/front_wide.mp4",
"source_path": "videos/observation.images.front_wide/chunk-000/file-071.mp4",
"source_bytes": 34460974,
"source_sha256": "2d36ca16bdda5180bfd907fbcb2e917a0aee24e5b6213b0d8bb5abc383d1e9f5",
"from_timestamp": 204.0,
"to_timestamp": 229.5,
"output_sha256": "221f3229b6563038e3679069bd179d6e298a694ec0b1f40635393334fb3f62b3"
},
{
"camera": "wrist",
"label": "WRIST",
"path": "media/coffee/episode_000599/wrist.mp4",
"source_path": "videos/observation.images.wrist/chunk-000/file-059.mp4",
"source_bytes": 48943692,
"source_sha256": "4aec340e2344a76867d097de172fbff1d55378672a97c4fbd8d110c55a043c3e",
"from_timestamp": 280.5,
"to_timestamp": 306.0,
"output_sha256": "ed008a61c3d11b8b610b71b78e595aec43ed5087d74c86d3101b5a103091155e"
}
],
"trajectory_source_path": "data/chunk-000/file-002.parquet",
"trajectory_source_bytes": 49455378,
"trajectory_path": "trajectories/coffee/episode_000599.parquet",
"composite_path": "media/coffee/episode_000599/synchronized.mp4",
"preview_path": "media/coffee/episode_000599/preview.jpg",
"metadata": {
"episode_index": 599,
"tasks": [
"the mug filled by a completed brew and resting on the tray. The cover ridge, the capsule and the mug rim hold in a firm pinch: close the fingers across them and the grip locks; open wide to release."
],
"length": 1530,
"data/chunk_index": 0,
"data/file_index": 2,
"dataset_from_index": 1583100,
"dataset_to_index": 1584630,
"videos/observation.images.front_wide/chunk_index": 0,
"videos/observation.images.front_wide/file_index": 71,
"videos/observation.images.front_wide/from_timestamp": 204.0,
"videos/observation.images.front_wide/to_timestamp": 229.5,
"videos/observation.images.wrist/chunk_index": 0,
"videos/observation.images.wrist/file_index": 59,
"videos/observation.images.wrist/from_timestamp": 280.5,
"videos/observation.images.wrist/to_timestamp": 306.0,
"meta/episodes/chunk_index": 0,
"meta/episodes/file_index": 0
}
},
{
"catalog_number": 24,
"scene_key": "slice",
"source_repo": "EmbodiedSWE/cutting_slice_franka_diffik.jointtarget_15hz_train_20260919",
"source_revision": "0b89ef8fd191fd09815e7edb8e5fcb467f95e494",
"task_index": 0,
"episode_index": 0,
"frame_count": 1440,
"fps": 15,
"instruction": "pick up the knife and press its edge down through each scored plane (blade aligned with the plane) to cut the banana into slices. The banana is cut once every plane has been pressed through and the pieces separate, all of them staying on the board.",
"views": [
{
"camera": "front",
"label": "FRONT",
"path": "media/slice/episode_000000/front.mp4",
"source_path": "videos/observation.images.front/chunk-000/file-000.mp4",
"source_bytes": 25832029,
"source_sha256": "93ff709b35ba3b7fc603f4ce61c103019b50cc0e81b2462e12d54390960b4919",
"from_timestamp": 0.0,
"to_timestamp": 96.0,
"output_sha256": "b1942f15e481a609ae4e403d3d7ce855bbdbe3b4afc43f111f0d97aa2712728d"
},
{
"camera": "wrist",
"label": "WRIST",
"path": "media/slice/episode_000000/wrist.mp4",
"source_path": "videos/observation.images.wrist/chunk-000/file-000.mp4",
"source_bytes": 33715923,
"source_sha256": "f6181a5b7117f5da1b46176b9879cae13665bcd7f0946b8c796b7f2b206e3563",
"from_timestamp": 0.0,
"to_timestamp": 96.0,
"output_sha256": "0ed88e6d13ff1fd9dd8a63bcae4f868e8b3bf876bc31f3518410aa5aa7f1199d"
}
],
"trajectory_source_path": "data/chunk-000/file-000.parquet",
"trajectory_source_bytes": 96848495,
"trajectory_path": "trajectories/slice/episode_000000.parquet",
"composite_path": "media/slice/episode_000000/synchronized.mp4",
"preview_path": "media/slice/episode_000000/preview.jpg",
"metadata": {
"episode_index": 0,
"tasks": [
"pick up the knife and press its edge down through each scored plane (blade aligned with the plane) to cut the banana into slices. The banana is cut once every plane has been pressed through and the pieces separate, all of them staying on the board."
],
"length": 1440,
"data/chunk_index": 0,
"data/file_index": 0,
"dataset_from_index": 0,
"dataset_to_index": 1440,
"videos/observation.images.front/chunk_index": 0,
"videos/observation.images.front/file_index": 0,
"videos/observation.images.front/from_timestamp": 0.0,
"videos/observation.images.front/to_timestamp": 96.0,
"videos/observation.images.wrist/chunk_index": 0,
"videos/observation.images.wrist/file_index": 0,
"videos/observation.images.wrist/from_timestamp": 0.0,
"videos/observation.images.wrist/to_timestamp": 96.0,
"meta/episodes/chunk_index": 0,
"meta/episodes/file_index": 0
}
},
{
"catalog_number": 24,
"scene_key": "slice",
"source_repo": "EmbodiedSWE/cutting_slice_franka_diffik.jointtarget_15hz_train_20260919",
"source_revision": "0b89ef8fd191fd09815e7edb8e5fcb467f95e494",
"task_index": 5,
"episode_index": 1055,
"frame_count": 1200,
"fps": 15,
"instruction": "pick up the knife and press its edge down through each scored plane (blade aligned with the plane) to cut the carrot into slices. The carrot is cut once every plane has been pressed through and the pieces separate, all of them staying on the board.",
"views": [
{
"camera": "front",
"label": "FRONT",
"path": "media/slice/episode_001055/front.mp4",
"source_path": "videos/observation.images.front/chunk-000/file-284.mp4",
"source_bytes": 25769383,
"source_sha256": "6188e956a0a24d65e9e17bba03798b01e3fd1abeb765a6437caab1a27a6dfaf8",
"from_timestamp": 0.0,
"to_timestamp": 80.0,
"output_sha256": "7ea6bda9f4310b499be6ceee2d6f9b5944290e2a56e378c0c2ef58b4e41847b4"
},
{
"camera": "wrist",
"label": "WRIST",
"path": "media/slice/episode_001055/wrist.mp4",
"source_path": "videos/observation.images.wrist/chunk-000/file-151.mp4",
"source_bytes": 25852932,
"source_sha256": "5d7b47c6eed2677a0dc57112b683fbe7cab4c4bc91fe11b4f0e1de4373cc71e7",
"from_timestamp": 0.0,
"to_timestamp": 80.0,
"output_sha256": "476067f0c447930b9008c110e91afbb7443c5251974f554d0b5158b85e9dbee9"
}
],
"trajectory_source_path": "data/chunk-000/file-001.parquet",
"trajectory_source_bytes": 93593312,
"trajectory_path": "trajectories/slice/episode_001055.parquet",
"composite_path": "media/slice/episode_001055/synchronized.mp4",
"preview_path": "media/slice/episode_001055/preview.jpg",
"metadata": {
"episode_index": 1055,
"tasks": [
"pick up the knife and press its edge down through each scored plane (blade aligned with the plane) to cut the carrot into slices. The carrot is cut once every plane has been pressed through and the pieces separate, all of them staying on the board."
],
"length": 1200,
"data/chunk_index": 0,
"data/file_index": 1,
"dataset_from_index": 1336170,
"dataset_to_index": 1337370,
"videos/observation.images.front/chunk_index": 0,
"videos/observation.images.front/file_index": 284,
"videos/observation.images.front/from_timestamp": 0.0,
"videos/observation.images.front/to_timestamp": 80.0,
"videos/observation.images.wrist/chunk_index": 0,
"videos/observation.images.wrist/file_index": 151,
"videos/observation.images.wrist/from_timestamp": 0.0,
"videos/observation.images.wrist/to_timestamp": 80.0,
"meta/episodes/chunk_index": 0,
"meta/episodes/file_index": 0
}
},
{
"catalog_number": 24,
"scene_key": "slice",
"source_repo": "EmbodiedSWE/cutting_slice_franka_diffik.jointtarget_15hz_train_20260919",
"source_revision": "0b89ef8fd191fd09815e7edb8e5fcb467f95e494",
"task_index": 21,
"episode_index": 3664,
"frame_count": 1320,
"fps": 15,
"instruction": "pick up the knife and press its edge down through each scored plane (blade aligned with the plane) to cut the baguette_1 into slices. The baguette_1 is cut once every plane has been pressed through and the pieces separate, all of them staying on the board.",
"views": [
{
"camera": "front",
"label": "FRONT",
"path": "media/slice/episode_003664/front.mp4",
"source_path": "videos/observation.images.front/chunk-000/file-877.mp4",
"source_bytes": 33104553,
"source_sha256": "1e1f11aa7ed5ffcca9a5d1eaacef08d9bd6d79d0b6632852c2b8311fc0dbdcaa",
"from_timestamp": 0.0,
"to_timestamp": 88.0,
"output_sha256": "171f5ac3d444e17290d4ba926c05b63b64e19dc3e55af8360bfcfd510aa1cac6"
},
{
"camera": "wrist",
"label": "WRIST",
"path": "media/slice/episode_003664/wrist.mp4",
"source_path": "videos/observation.images.wrist/chunk-000/file-448.mp4",
"source_bytes": 37660261,
"source_sha256": "7a638b357030c60a884562e31cdd503fbf90ffc2988d6936f037226f316301f9",
"from_timestamp": 0.0,
"to_timestamp": 88.0,
"output_sha256": "2182e167938c221e14f710918a4a94936ac3ef2103d0d1472e8185f6c46f1b8b"
}
],
"trajectory_source_path": "data/chunk-000/file-006.parquet",
"trajectory_source_bytes": 91943444,
"trajectory_path": "trajectories/slice/episode_003664.parquet",
"composite_path": "media/slice/episode_003664/synchronized.mp4",
"preview_path": "media/slice/episode_003664/preview.jpg",
"metadata": {
"episode_index": 3664,
"tasks": [
"pick up the knife and press its edge down through each scored plane (blade aligned with the plane) to cut the baguette_1 into slices. The baguette_1 is cut once every plane has been pressed through and the pieces separate, all of them staying on the board."
],
"length": 1320,
"data/chunk_index": 0,
"data/file_index": 6,
"dataset_from_index": 4125630,
"dataset_to_index": 4126950,
"videos/observation.images.front/chunk_index": 0,
"videos/observation.images.front/file_index": 877,
"videos/observation.images.front/from_timestamp": 0.0,
"videos/observation.images.front/to_timestamp": 88.0,
"videos/observation.images.wrist/chunk_index": 0,
"videos/observation.images.wrist/file_index": 448,
"videos/observation.images.wrist/from_timestamp": 0.0,
"videos/observation.images.wrist/to_timestamp": 88.0,
"meta/episodes/chunk_index": 0,
"meta/episodes/file_index": 0
}
}
]