diff --git a/README.md b/README.md
index 1e5306b5784431d38c2f4373b58478ae9842a97f..bd60bbee8988b32f1f6247b6a252c334625d6f0c 100644
--- a/README.md
+++ b/README.md
@@ -5,7 +5,7 @@ language:
license: other
license_name: upstream-robodojo-terms
license_link: LICENSE.md
-pretty_name: RoboDojo Task Examples — official task index / top / right / left
+pretty_name: RoboDojo Task Examples — official task index / top / left / right
tags:
- robotics
- robodojo
@@ -221,7 +221,7 @@ configs:
---
# RoboDojo Task Examples
-**按官方 task_index 找任务，按 top → right wrist → left wrist 看完整示教。**
+**按官方 task_index 找任务，按 top → left wrist → right wrist 看完整示教。**
43 个官网任务页面 · 35 个有公开示教的任务 · 每任务 3 条完整示教 · 12 个 random-layout 官网演示 · 8 个 Open eval-only 官网演示。
@@ -237,8 +237,9 @@ HF 原生表格 Viewer 仍是可选入口，后台处理期间可能不可用；
- `catalog_number`：本仓库对官网目录顺序的辅助编号 **C01–C43**，不是官方 task_index。
- `episode_index`：官方 LeRobot 全局 episode ID；`source_local_episode`：原始任务目录的 episode 文件编号。
- Open 类 8 个任务的 `task_index` / `episode_index` 为 null；只展示官网 eval-only 演示，不伪造示教。
-- `synchronized_views` 把同一 episode 的 **TOP / RIGHT WRIST / LEFT WRIST** 合成一行，同步播放，完整时长、25 FPS。
-- `top` / `right` / `left` 保留官方原始 H.264 预览视频（640×480），逐字节校验 SHA256。TOP 对应官方 `cam_head`（LeRobot 命名 `cam_high`），不是新生成的正交俯视相机。
+- `synchronized_views` 把同一 episode 的 **TOP / LEFT WRIST / RIGHT WRIST** 合成一行，同步播放，完整时长、25 FPS。
+- `top` / `left` / `right` 保留官方原始 H.264 预览视频（640×480），逐字节校验 SHA256。TOP 对应官方 `cam_head`（LeRobot 命名 `cam_high`），不是新生成的正交俯视相机。
+- Random version：官网公开 MP4 是 TOP / HEAD 单相机视角。画面里有双臂，但在已核查的官网和官方 HF 任务数据中未找到对应 LEFT / RIGHT 腕部录像，浏览页明确标记缺失。
- `trajectory_url` 可下载该 episode 的官方动作与状态 Parquet（14 维双臂关节）。这是关节示教数据，不是未提供的笛卡尔腕部位姿。
- `scoring` 是任务评分规则；官方未给每条示教评分，所以 `actual_episode_score` 为 null。
- `instruction` 来自当前官网；`dataset_instruction` 来自官方 v2.1 数据。Build Tower / Organize Table 的两者有差异，页面逐项展示；不可把旧版示教当作已完成新版目标。
@@ -298,7 +299,7 @@ X 红 / Y 绿 / Z 蓝。箭头位置只用于展示方向，并不代表世界
## 各任务示例、instruction 与评分
-每一行是同一 episode 的 top / right / left。点开同步视频可同时看三个视角；官网演示与正式示教分开标注。
+每一行是同一 episode 的 top / left / right。点开同步视频可同时看三个视角；官网演示与正式示教分开标注。
## Generalization
@@ -318,16 +319,18 @@ X 红 / Y 绿 / Z 蓝。箭头位置只用于展示方向，并不代表世界
| 15 | Any two bowls are stacked upright and the gripper is open. |
| 100 | All three bowls are stacked together, all bowls are upright, the bottom bowl is strictly and stably placed on the table, and the robot returns to origin. |
-| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 |
+| 官方 episode / 原始文件编号 | TOP → LEFT WRIST → RIGHT WRIST（同一帧） | 完整示教 |
| --- | --- | --- |
-| **3000** / 0000000 |  | [同步视频](media/stack_bowls/episode_0000000/top_right_left.mp4) · [top](media/stack_bowls/episode_0000000/top.mp4) · [right](media/stack_bowls/episode_0000000/right.mp4) · [left](media/stack_bowls/episode_0000000/left.mp4) · [动作/状态](trajectories/stack_bowls/episode_003000.parquet) |
-| **3049** / 0000049 |  | [同步视频](media/stack_bowls/episode_0000049/top_right_left.mp4) · [top](media/stack_bowls/episode_0000049/top.mp4) · [right](media/stack_bowls/episode_0000049/right.mp4) · [left](media/stack_bowls/episode_0000049/left.mp4) · [动作/状态](trajectories/stack_bowls/episode_003049.parquet) |
-| **3099** / 0000099 |  | [同步视频](media/stack_bowls/episode_0000099/top_right_left.mp4) · [top](media/stack_bowls/episode_0000099/top.mp4) · [right](media/stack_bowls/episode_0000099/right.mp4) · [left](media/stack_bowls/episode_0000099/left.mp4) · [动作/状态](trajectories/stack_bowls/episode_003099.parquet) |
+| **3000** / 0000000 |  | [同步视频](media/stack_bowls/episode_0000000/top_left_right.mp4) · [top](media/stack_bowls/episode_0000000/top.mp4) · [left](media/stack_bowls/episode_0000000/left.mp4) · [right](media/stack_bowls/episode_0000000/right.mp4) · [动作/状态](trajectories/stack_bowls/episode_003000.parquet) |
+| **3049** / 0000049 |  | [同步视频](media/stack_bowls/episode_0000049/top_left_right.mp4) · [top](media/stack_bowls/episode_0000049/top.mp4) · [left](media/stack_bowls/episode_0000049/left.mp4) · [right](media/stack_bowls/episode_0000049/right.mp4) · [动作/状态](trajectories/stack_bowls/episode_003049.parquet) |
+| **3099** / 0000099 |  | [同步视频](media/stack_bowls/episode_0000099/top_left_right.mp4) · [top](media/stack_bowls/episode_0000099/top.mp4) · [left](media/stack_bowls/episode_0000099/left.mp4) · [right](media/stack_bowls/episode_0000099/right.mp4) · [动作/状态](trajectories/stack_bowls/episode_003099.parquet) |
[官网 Standard version](https://robodojo-benchmark.com/doc/videos/tasks/stack-bowls.mp4)
**Random version · 官网演示（非训练示教）:** [视频](media/stack_bowls/random.mp4) · [官网原文件](https://robodojo-benchmark.com/doc/videos/tasks/stack-bowls-random.mp4)
+**视角可用性：** TOP / HEAD 已公开；LEFT WRIST 和 RIGHT WRIST 对应录像未公开（已核查官网与官方 HF 任务目录）。
+
### Push T · task_index=26 · C02
**Instruction:** Push the T-shaped block to align it precisely with the gray T-shaped pad.
@@ -343,16 +346,18 @@ X 红 / Y 绿 / Z 蓝。箭头位置只用于展示方向，并不代表世界
| 0 | The target pose, reset, or no-lift condition is not satisfied. |
| 100 | The T-shaped block is within the target xy threshold, its orientation matches the target, the robot returns to origin, and the block is never lifted above the allowed height. |
-| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 |
+| 官方 episode / 原始文件编号 | TOP → LEFT WRIST → RIGHT WRIST（同一帧） | 完整示教 |
| --- | --- | --- |
-| **2600** / 0000000 |  | [同步视频](media/push_T/episode_0000000/top_right_left.mp4) · [top](media/push_T/episode_0000000/top.mp4) · [right](media/push_T/episode_0000000/right.mp4) · [left](media/push_T/episode_0000000/left.mp4) · [动作/状态](trajectories/push_T/episode_002600.parquet) |
-| **2649** / 0000049 |  | [同步视频](media/push_T/episode_0000049/top_right_left.mp4) · [top](media/push_T/episode_0000049/top.mp4) · [right](media/push_T/episode_0000049/right.mp4) · [left](media/push_T/episode_0000049/left.mp4) · [动作/状态](trajectories/push_T/episode_002649.parquet) |
-| **2699** / 0000099 |  | [同步视频](media/push_T/episode_0000099/top_right_left.mp4) · [top](media/push_T/episode_0000099/top.mp4) · [right](media/push_T/episode_0000099/right.mp4) · [left](media/push_T/episode_0000099/left.mp4) · [动作/状态](trajectories/push_T/episode_002699.parquet) |
+| **2600** / 0000000 |  | [同步视频](media/push_T/episode_0000000/top_left_right.mp4) · [top](media/push_T/episode_0000000/top.mp4) · [left](media/push_T/episode_0000000/left.mp4) · [right](media/push_T/episode_0000000/right.mp4) · [动作/状态](trajectories/push_T/episode_002600.parquet) |
+| **2649** / 0000049 |  | [同步视频](media/push_T/episode_0000049/top_left_right.mp4) · [top](media/push_T/episode_0000049/top.mp4) · [left](media/push_T/episode_0000049/left.mp4) · [right](media/push_T/episode_0000049/right.mp4) · [动作/状态](trajectories/push_T/episode_002649.parquet) |
+| **2699** / 0000099 |  | [同步视频](media/push_T/episode_0000099/top_left_right.mp4) · [top](media/push_T/episode_0000099/top.mp4) · [left](media/push_T/episode_0000099/left.mp4) · [right](media/push_T/episode_0000099/right.mp4) · [动作/状态](trajectories/push_T/episode_002699.parquet) |
[官网 Standard version](https://robodojo-benchmark.com/doc/videos/tasks/push-t.mp4)
**Random version · 官网演示（非训练示教）:** [视频](media/push_T/random.mp4) · [官网原文件](https://robodojo-benchmark.com/doc/videos/tasks/push-t-random.mp4)
+**视角可用性：** TOP / HEAD 已公开；LEFT WRIST 和 RIGHT WRIST 对应录像未公开（已核查官网与官方 HF 任务目录）。
+
### Pack Objects Into Box · task_index=18 · C03
**Instruction:** Place all the objects into the box with their front sides facing left.
@@ -371,16 +376,18 @@ X 红 / Y 绿 / Z 蓝。箭头位置只用于展示方向，并不代表世界
| 50 | Any three objects are placed correctly into the box. |
| 100 | All four objects are placed in the aligned box with correct facing direction, and the robot returns to origin. |
-| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 |
+| 官方 episode / 原始文件编号 | TOP → LEFT WRIST → RIGHT WRIST（同一帧） | 完整示教 |
| --- | --- | --- |
-| **1800** / 0000000 |  | [同步视频](media/pack_objects_into_box/episode_0000000/top_right_left.mp4) · [top](media/pack_objects_into_box/episode_0000000/top.mp4) · [right](media/pack_objects_into_box/episode_0000000/right.mp4) · [left](media/pack_objects_into_box/episode_0000000/left.mp4) · [动作/状态](trajectories/pack_objects_into_box/episode_001800.parquet) |
-| **1849** / 0000049 |  | [同步视频](media/pack_objects_into_box/episode_0000049/top_right_left.mp4) · [top](media/pack_objects_into_box/episode_0000049/top.mp4) · [right](media/pack_objects_into_box/episode_0000049/right.mp4) · [left](media/pack_objects_into_box/episode_0000049/left.mp4) · [动作/状态](trajectories/pack_objects_into_box/episode_001849.parquet) |
-| **1899** / 0000099 |  | [同步视频](media/pack_objects_into_box/episode_0000099/top_right_left.mp4) · [top](media/pack_objects_into_box/episode_0000099/top.mp4) · [right](media/pack_objects_into_box/episode_0000099/right.mp4) · [left](media/pack_objects_into_box/episode_0000099/left.mp4) · [动作/状态](trajectories/pack_objects_into_box/episode_001899.parquet) |
+| **1800** / 0000000 |  | [同步视频](media/pack_objects_into_box/episode_0000000/top_left_right.mp4) · [top](media/pack_objects_into_box/episode_0000000/top.mp4) · [left](media/pack_objects_into_box/episode_0000000/left.mp4) · [right](media/pack_objects_into_box/episode_0000000/right.mp4) · [动作/状态](trajectories/pack_objects_into_box/episode_001800.parquet) |
+| **1849** / 0000049 |  | [同步视频](media/pack_objects_into_box/episode_0000049/top_left_right.mp4) · [top](media/pack_objects_into_box/episode_0000049/top.mp4) · [left](media/pack_objects_into_box/episode_0000049/left.mp4) · [right](media/pack_objects_into_box/episode_0000049/right.mp4) · [动作/状态](trajectories/pack_objects_into_box/episode_001849.parquet) |
+| **1899** / 0000099 |  | [同步视频](media/pack_objects_into_box/episode_0000099/top_left_right.mp4) · [top](media/pack_objects_into_box/episode_0000099/top.mp4) · [left](media/pack_objects_into_box/episode_0000099/left.mp4) · [right](media/pack_objects_into_box/episode_0000099/right.mp4) · [动作/状态](trajectories/pack_objects_into_box/episode_001899.parquet) |
[官网 Standard version](https://robodojo-benchmark.com/doc/videos/tasks/pack-objects-into-box.mp4)
**Random version · 官网演示（非训练示教）:** [视频](media/pack_objects_into_box/random.mp4) · [官网原文件](https://robodojo-benchmark.com/doc/videos/tasks/pack-objects-into-box-random.mp4)
+**视角可用性：** TOP / HEAD 已公开；LEFT WRIST 和 RIGHT WRIST 对应录像未公开（已核查官网与官方 HF 任务目录）。
+
### Fold Clothes · task_index=9 · C04
**Instruction:** Fold the clothes neatly.
@@ -397,16 +404,18 @@ X 红 / Y 绿 / Z 蓝。箭头位置只用于展示方向，并不代表世界
| 20 | When the gripper opens, both sleeves are folded inward close to the opposite chest points. |
| 100 | Both sleeves are folded inward, the hems are close to the shoulder points in x/y, the hem line is aligned with the shoulder line within the angle threshold, and the robot returns to origin. |
-| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 |
+| 官方 episode / 原始文件编号 | TOP → LEFT WRIST → RIGHT WRIST（同一帧） | 完整示教 |
| --- | --- | --- |
-| **900** / 0000000 |  | [同步视频](media/fold_clothes/episode_0000000/top_right_left.mp4) · [top](media/fold_clothes/episode_0000000/top.mp4) · [right](media/fold_clothes/episode_0000000/right.mp4) · [left](media/fold_clothes/episode_0000000/left.mp4) · [动作/状态](trajectories/fold_clothes/episode_000900.parquet) |
-| **949** / 0000049 |  | [同步视频](media/fold_clothes/episode_0000049/top_right_left.mp4) · [top](media/fold_clothes/episode_0000049/top.mp4) · [right](media/fold_clothes/episode_0000049/right.mp4) · [left](media/fold_clothes/episode_0000049/left.mp4) · [动作/状态](trajectories/fold_clothes/episode_000949.parquet) |
-| **999** / 0000099 |  | [同步视频](media/fold_clothes/episode_0000099/top_right_left.mp4) · [top](media/fold_clothes/episode_0000099/top.mp4) · [right](media/fold_clothes/episode_0000099/right.mp4) · [left](media/fold_clothes/episode_0000099/left.mp4) · [动作/状态](trajectories/fold_clothes/episode_000999.parquet) |
+| **900** / 0000000 |  | [同步视频](media/fold_clothes/episode_0000000/top_left_right.mp4) · [top](media/fold_clothes/episode_0000000/top.mp4) · [left](media/fold_clothes/episode_0000000/left.mp4) · [right](media/fold_clothes/episode_0000000/right.mp4) · [动作/状态](trajectories/fold_clothes/episode_000900.parquet) |
+| **949** / 0000049 |  | [同步视频](media/fold_clothes/episode_0000049/top_left_right.mp4) · [top](media/fold_clothes/episode_0000049/top.mp4) · [left](media/fold_clothes/episode_0000049/left.mp4) · [right](media/fold_clothes/episode_0000049/right.mp4) · [动作/状态](trajectories/fold_clothes/episode_000949.parquet) |
+| **999** / 0000099 |  | [同步视频](media/fold_clothes/episode_0000099/top_left_right.mp4) · [top](media/fold_clothes/episode_0000099/top.mp4) · [left](media/fold_clothes/episode_0000099/left.mp4) · [right](media/fold_clothes/episode_0000099/right.mp4) · [动作/状态](trajectories/fold_clothes/episode_000999.parquet) |
[官网 Standard version](https://robodojo-benchmark.com/doc/videos/tasks/fold-clothes.mp4)
**Random version · 官网演示（非训练示教）:** [视频](media/fold_clothes/random.mp4) · [官网原文件](https://robodojo-benchmark.com/doc/videos/tasks/fold-clothes-random.mp4)
+**视角可用性：** TOP / HEAD 已公开；LEFT WRIST 和 RIGHT WRIST 对应录像未公开（已核查官网与官方 HF 任务目录）。
+
### Hang Mugs · task_index=10 · C05
**Instruction:** Hang all the mugs on the mug rack.
@@ -424,16 +433,18 @@ X 红 / Y 绿 / Z 蓝。箭头位置只用于展示方向，并不代表世界
| 40 | Any two mugs are hung on the mug rack. |
| 100 | All three mugs are hung on the rack and the robot returns to origin. |
-| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 |
+| 官方 episode / 原始文件编号 | TOP → LEFT WRIST → RIGHT WRIST（同一帧） | 完整示教 |
| --- | --- | --- |
-| **1000** / 0000000 |  | [同步视频](media/hang_mugs/episode_0000000/top_right_left.mp4) · [top](media/hang_mugs/episode_0000000/top.mp4) · [right](media/hang_mugs/episode_0000000/right.mp4) · [left](media/hang_mugs/episode_0000000/left.mp4) · [动作/状态](trajectories/hang_mugs/episode_001000.parquet) |
-| **1049** / 0000049 |  | [同步视频](media/hang_mugs/episode_0000049/top_right_left.mp4) · [top](media/hang_mugs/episode_0000049/top.mp4) · [right](media/hang_mugs/episode_0000049/right.mp4) · [left](media/hang_mugs/episode_0000049/left.mp4) · [动作/状态](trajectories/hang_mugs/episode_001049.parquet) |
-| **1099** / 0000099 |  | [同步视频](media/hang_mugs/episode_0000099/top_right_left.mp4) · [top](media/hang_mugs/episode_0000099/top.mp4) · [right](media/hang_mugs/episode_0000099/right.mp4) · [left](media/hang_mugs/episode_0000099/left.mp4) · [动作/状态](trajectories/hang_mugs/episode_001099.parquet) |
+| **1000** / 0000000 |  | [同步视频](media/hang_mugs/episode_0000000/top_left_right.mp4) · [top](media/hang_mugs/episode_0000000/top.mp4) · [left](media/hang_mugs/episode_0000000/left.mp4) · [right](media/hang_mugs/episode_0000000/right.mp4) · [动作/状态](trajectories/hang_mugs/episode_001000.parquet) |
+| **1049** / 0000049 |  | [同步视频](media/hang_mugs/episode_0000049/top_left_right.mp4) · [top](media/hang_mugs/episode_0000049/top.mp4) · [left](media/hang_mugs/episode_0000049/left.mp4) · [right](media/hang_mugs/episode_0000049/right.mp4) · [动作/状态](trajectories/hang_mugs/episode_001049.parquet) |
+| **1099** / 0000099 |  | [同步视频](media/hang_mugs/episode_0000099/top_left_right.mp4) · [top](media/hang_mugs/episode_0000099/top.mp4) · [left](media/hang_mugs/episode_0000099/left.mp4) · [right](media/hang_mugs/episode_0000099/right.mp4) · [动作/状态](trajectories/hang_mugs/episode_001099.parquet) |
[官网 Standard version](https://robodojo-benchmark.com/doc/videos/tasks/hang-mugs.mp4)
**Random version · 官网演示（非训练示教）:** [视频](media/hang_mugs/random.mp4) · [官网原文件](https://robodojo-benchmark.com/doc/videos/tasks/hang-mugs-random.mp4)
+**视角可用性：** TOP / HEAD 已公开；LEFT WRIST 和 RIGHT WRIST 对应录像未公开（已核查官网与官方 HF 任务目录）。
+
### Sweep Blocks · task_index=34 · C06
**Instruction:** Pick up the broom, hand it over to the right hand, then use the dustpan to sweep the blocks.
@@ -449,16 +460,18 @@ X 红 / Y 绿 / Z 蓝。箭头位置只用于展示方向，并不代表世界
| 0 | The blocks are not fully swept into the dustpan. |
| 100 | The dustpan is positioned left of the broom, stably placed upright on the table, all blocks are inside the dustpan, and the robot returns to origin. |
-| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 |
+| 官方 episode / 原始文件编号 | TOP → LEFT WRIST → RIGHT WRIST（同一帧） | 完整示教 |
| --- | --- | --- |
-| **3400** / 0000000 |  | [同步视频](media/sweep_blocks/episode_0000000/top_right_left.mp4) · [top](media/sweep_blocks/episode_0000000/top.mp4) · [right](media/sweep_blocks/episode_0000000/right.mp4) · [left](media/sweep_blocks/episode_0000000/left.mp4) · [动作/状态](trajectories/sweep_blocks/episode_003400.parquet) |
-| **3449** / 0000049 |  | [同步视频](media/sweep_blocks/episode_0000049/top_right_left.mp4) · [top](media/sweep_blocks/episode_0000049/top.mp4) · [right](media/sweep_blocks/episode_0000049/right.mp4) · [left](media/sweep_blocks/episode_0000049/left.mp4) · [动作/状态](trajectories/sweep_blocks/episode_003449.parquet) |
-| **3499** / 0000099 |  | [同步视频](media/sweep_blocks/episode_0000099/top_right_left.mp4) · [top](media/sweep_blocks/episode_0000099/top.mp4) · [right](media/sweep_blocks/episode_0000099/right.mp4) · [left](media/sweep_blocks/episode_0000099/left.mp4) · [动作/状态](trajectories/sweep_blocks/episode_003499.parquet) |
+| **3400** / 0000000 |  | [同步视频](media/sweep_blocks/episode_0000000/top_left_right.mp4) · [top](media/sweep_blocks/episode_0000000/top.mp4) · [left](media/sweep_blocks/episode_0000000/left.mp4) · [right](media/sweep_blocks/episode_0000000/right.mp4) · [动作/状态](trajectories/sweep_blocks/episode_003400.parquet) |
+| **3449** / 0000049 |  | [同步视频](media/sweep_blocks/episode_0000049/top_left_right.mp4) · [top](media/sweep_blocks/episode_0000049/top.mp4) · [left](media/sweep_blocks/episode_0000049/left.mp4) · [right](media/sweep_blocks/episode_0000049/right.mp4) · [动作/状态](trajectories/sweep_blocks/episode_003449.parquet) |
+| **3499** / 0000099 |  | [同步视频](media/sweep_blocks/episode_0000099/top_left_right.mp4) · [top](media/sweep_blocks/episode_0000099/top.mp4) · [left](media/sweep_blocks/episode_0000099/left.mp4) · [right](media/sweep_blocks/episode_0000099/right.mp4) · [动作/状态](trajectories/sweep_blocks/episode_003499.parquet) |
[官网 Standard version](https://robodojo-benchmark.com/doc/videos/tasks/sweep-blocks.mp4)
**Random version · 官网演示（非训练示教）:** [视频](media/sweep_blocks/random.mp4) · [官网原文件](https://robodojo-benchmark.com/doc/videos/tasks/sweep-blocks-random.mp4)
+**视角可用性：** TOP / HEAD 已公开；LEFT WRIST 和 RIGHT WRIST 对应录像未公开（已核查官网与官方 HF 任务目录）。
+
### Pour Liquid Into Cup · task_index=24 · C07
**Instruction:** Pour the liquid from the bottle into the cup.
@@ -474,16 +487,18 @@ X 红 / Y 绿 / Z 蓝。箭头位置只用于展示方向，并不代表世界
| 0 | The liquid is not successfully poured into the cup. |
| 100 | The cup contains the required amount of liquid and the bottle is upright. |
-| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 |
+| 官方 episode / 原始文件编号 | TOP → LEFT WRIST → RIGHT WRIST（同一帧） | 完整示教 |
| --- | --- | --- |
-| **2400** / 0000000 |  | [同步视频](media/pour_liquid_into_cup/episode_0000000/top_right_left.mp4) · [top](media/pour_liquid_into_cup/episode_0000000/top.mp4) · [right](media/pour_liquid_into_cup/episode_0000000/right.mp4) · [left](media/pour_liquid_into_cup/episode_0000000/left.mp4) · [动作/状态](trajectories/pour_liquid_into_cup/episode_002400.parquet) |
-| **2449** / 0000049 |  | [同步视频](media/pour_liquid_into_cup/episode_0000049/top_right_left.mp4) · [top](media/pour_liquid_into_cup/episode_0000049/top.mp4) · [right](media/pour_liquid_into_cup/episode_0000049/right.mp4) · [left](media/pour_liquid_into_cup/episode_0000049/left.mp4) · [动作/状态](trajectories/pour_liquid_into_cup/episode_002449.parquet) |
-| **2499** / 0000099 |  | [同步视频](media/pour_liquid_into_cup/episode_0000099/top_right_left.mp4) · [top](media/pour_liquid_into_cup/episode_0000099/top.mp4) · [right](media/pour_liquid_into_cup/episode_0000099/right.mp4) · [left](media/pour_liquid_into_cup/episode_0000099/left.mp4) · [动作/状态](trajectories/pour_liquid_into_cup/episode_002499.parquet) |
+| **2400** / 0000000 |  | [同步视频](media/pour_liquid_into_cup/episode_0000000/top_left_right.mp4) · [top](media/pour_liquid_into_cup/episode_0000000/top.mp4) · [left](media/pour_liquid_into_cup/episode_0000000/left.mp4) · [right](media/pour_liquid_into_cup/episode_0000000/right.mp4) · [动作/状态](trajectories/pour_liquid_into_cup/episode_002400.parquet) |
+| **2449** / 0000049 |  | [同步视频](media/pour_liquid_into_cup/episode_0000049/top_left_right.mp4) · [top](media/pour_liquid_into_cup/episode_0000049/top.mp4) · [left](media/pour_liquid_into_cup/episode_0000049/left.mp4) · [right](media/pour_liquid_into_cup/episode_0000049/right.mp4) · [动作/状态](trajectories/pour_liquid_into_cup/episode_002449.parquet) |
+| **2499** / 0000099 |  | [同步视频](media/pour_liquid_into_cup/episode_0000099/top_left_right.mp4) · [top](media/pour_liquid_into_cup/episode_0000099/top.mp4) · [left](media/pour_liquid_into_cup/episode_0000099/left.mp4) · [right](media/pour_liquid_into_cup/episode_0000099/right.mp4) · [动作/状态](trajectories/pour_liquid_into_cup/episode_002499.parquet) |
[官网 Standard version](https://robodojo-benchmark.com/doc/videos/tasks/pour-liquid-into-cup.mp4)
**Random version · 官网演示（非训练示教）:** [视频](media/pour_liquid_into_cup/random.mp4) · [官网原文件](https://robodojo-benchmark.com/doc/videos/tasks/pour-liquid-into-cup-random.mp4)
+**视角可用性：** TOP / HEAD 已公开；LEFT WRIST 和 RIGHT WRIST 对应录像未公开（已核查官网与官方 HF 任务目录）。
+
### Make Toast · task_index=15 · C08
**Instruction:** Pick up two slices of bread, place them into the toaster, and press the lever down.
@@ -501,16 +516,18 @@ X 红 / Y 绿 / Z 蓝。箭头位置只用于展示方向，并不代表世界
| 50 | Two bread slices are inserted into the toaster slots and all bread axes satisfy the required orientation. |
| 100 | Both toaster slots are filled, exactly two bread slices remain on the shelf, the toaster control is pressed down, and the robot returns to origin. |
-| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 |
+| 官方 episode / 原始文件编号 | TOP → LEFT WRIST → RIGHT WRIST（同一帧） | 完整示教 |
| --- | --- | --- |
-| **1500** / 0000000 |  | [同步视频](media/make_toast/episode_0000000/top_right_left.mp4) · [top](media/make_toast/episode_0000000/top.mp4) · [right](media/make_toast/episode_0000000/right.mp4) · [left](media/make_toast/episode_0000000/left.mp4) · [动作/状态](trajectories/make_toast/episode_001500.parquet) |
-| **1549** / 0000049 |  | [同步视频](media/make_toast/episode_0000049/top_right_left.mp4) · [top](media/make_toast/episode_0000049/top.mp4) · [right](media/make_toast/episode_0000049/right.mp4) · [left](media/make_toast/episode_0000049/left.mp4) · [动作/状态](trajectories/make_toast/episode_001549.parquet) |
-| **1599** / 0000099 |  | [同步视频](media/make_toast/episode_0000099/top_right_left.mp4) · [top](media/make_toast/episode_0000099/top.mp4) · [right](media/make_toast/episode_0000099/right.mp4) · [left](media/make_toast/episode_0000099/left.mp4) · [动作/状态](trajectories/make_toast/episode_001599.parquet) |
+| **1500** / 0000000 |  | [同步视频](media/make_toast/episode_0000000/top_left_right.mp4) · [top](media/make_toast/episode_0000000/top.mp4) · [left](media/make_toast/episode_0000000/left.mp4) · [right](media/make_toast/episode_0000000/right.mp4) · [动作/状态](trajectories/make_toast/episode_001500.parquet) |
+| **1549** / 0000049 |  | [同步视频](media/make_toast/episode_0000049/top_left_right.mp4) · [top](media/make_toast/episode_0000049/top.mp4) · [left](media/make_toast/episode_0000049/left.mp4) · [right](media/make_toast/episode_0000049/right.mp4) · [动作/状态](trajectories/make_toast/episode_001549.parquet) |
+| **1599** / 0000099 |  | [同步视频](media/make_toast/episode_0000099/top_left_right.mp4) · [top](media/make_toast/episode_0000099/top.mp4) · [left](media/make_toast/episode_0000099/left.mp4) · [right](media/make_toast/episode_0000099/right.mp4) · [动作/状态](trajectories/make_toast/episode_001599.parquet) |
[官网 Standard version](https://robodojo-benchmark.com/doc/videos/tasks/make-toast.mp4)
**Random version · 官网演示（非训练示教）:** [视频](media/make_toast/random.mp4) · [官网原文件](https://robodojo-benchmark.com/doc/videos/tasks/make-toast-random.mp4)
+**视角可用性：** TOP / HEAD 已公开；LEFT WRIST 和 RIGHT WRIST 对应录像未公开（已核查官网与官方 HF 任务目录）。
+
### Arrange Largest Number · task_index=0 · C09
**Instruction:** Arrange the numbers from left to right to form the largest possible number, and place them on the pad.
@@ -533,16 +550,18 @@ X 红 / Y 绿 / Z 蓝。箭头位置只用于展示方向，并不代表世界
| 40 | In a 5-digit layout, any four digits are correctly placed. |
| 100 | All digits are correctly ordered on the pads, have valid orientation, and the robot returns to origin. |
-| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 |
+| 官方 episode / 原始文件编号 | TOP → LEFT WRIST → RIGHT WRIST（同一帧） | 完整示教 |
| --- | --- | --- |
-| **0** / 0000000 |  | [同步视频](media/arrange_largest_number/episode_0000000/top_right_left.mp4) · [top](media/arrange_largest_number/episode_0000000/top.mp4) · [right](media/arrange_largest_number/episode_0000000/right.mp4) · [left](media/arrange_largest_number/episode_0000000/left.mp4) · [动作/状态](trajectories/arrange_largest_number/episode_000000.parquet) |
-| **49** / 0000049 |  | [同步视频](media/arrange_largest_number/episode_0000049/top_right_left.mp4) · [top](media/arrange_largest_number/episode_0000049/top.mp4) · [right](media/arrange_largest_number/episode_0000049/right.mp4) · [left](media/arrange_largest_number/episode_0000049/left.mp4) · [动作/状态](trajectories/arrange_largest_number/episode_000049.parquet) |
-| **99** / 0000099 |  | [同步视频](media/arrange_largest_number/episode_0000099/top_right_left.mp4) · [top](media/arrange_largest_number/episode_0000099/top.mp4) · [right](media/arrange_largest_number/episode_0000099/right.mp4) · [left](media/arrange_largest_number/episode_0000099/left.mp4) · [动作/状态](trajectories/arrange_largest_number/episode_000099.parquet) |
+| **0** / 0000000 |  | [同步视频](media/arrange_largest_number/episode_0000000/top_left_right.mp4) · [top](media/arrange_largest_number/episode_0000000/top.mp4) · [left](media/arrange_largest_number/episode_0000000/left.mp4) · [right](media/arrange_largest_number/episode_0000000/right.mp4) · [动作/状态](trajectories/arrange_largest_number/episode_000000.parquet) |
+| **49** / 0000049 |  | [同步视频](media/arrange_largest_number/episode_0000049/top_left_right.mp4) · [top](media/arrange_largest_number/episode_0000049/top.mp4) · [left](media/arrange_largest_number/episode_0000049/left.mp4) · [right](media/arrange_largest_number/episode_0000049/right.mp4) · [动作/状态](trajectories/arrange_largest_number/episode_000049.parquet) |
+| **99** / 0000099 |  | [同步视频](media/arrange_largest_number/episode_0000099/top_left_right.mp4) · [top](media/arrange_largest_number/episode_0000099/top.mp4) · [left](media/arrange_largest_number/episode_0000099/left.mp4) · [right](media/arrange_largest_number/episode_0000099/right.mp4) · [动作/状态](trajectories/arrange_largest_number/episode_000099.parquet) |
[官网 Standard version](https://robodojo-benchmark.com/doc/videos/tasks/arrange-largest-number.mp4)
**Random version · 官网演示（非训练示教）:** [视频](media/arrange_largest_number/random.mp4) · [官网原文件](https://robodojo-benchmark.com/doc/videos/tasks/arrange-largest-number-random.mp4)
+**视角可用性：** TOP / HEAD 已公开；LEFT WRIST 和 RIGHT WRIST 对应录像未公开（已核查官网与官方 HF 任务目录）。
+
### Sort Nesting Dolls By Size · task_index=28 · C10
**Instruction:** Arrange the five nesting dolls in a row from left to right, from smallest to largest.
@@ -558,16 +577,18 @@ X 红 / Y 绿 / Z 蓝。箭头位置只用于展示方向，并不代表世界
| 0 | The dolls are not arranged in the required size order. |
| 100 | All five nesting dolls stand in a one horizontal straight row, are ordered from left to right from smallest to largest, and the robot returns to origin. |
-| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 |
+| 官方 episode / 原始文件编号 | TOP → LEFT WRIST → RIGHT WRIST（同一帧） | 完整示教 |
| --- | --- | --- |
-| **2800** / 0000000 |  | [同步视频](media/sort_nesting_dolls_by_size/episode_0000000/top_right_left.mp4) · [top](media/sort_nesting_dolls_by_size/episode_0000000/top.mp4) · [right](media/sort_nesting_dolls_by_size/episode_0000000/right.mp4) · [left](media/sort_nesting_dolls_by_size/episode_0000000/left.mp4) · [动作/状态](trajectories/sort_nesting_dolls_by_size/episode_002800.parquet) |
-| **2849** / 0000049 |  | [同步视频](media/sort_nesting_dolls_by_size/episode_0000049/top_right_left.mp4) · [top](media/sort_nesting_dolls_by_size/episode_0000049/top.mp4) · [right](media/sort_nesting_dolls_by_size/episode_0000049/right.mp4) · [left](media/sort_nesting_dolls_by_size/episode_0000049/left.mp4) · [动作/状态](trajectories/sort_nesting_dolls_by_size/episode_002849.parquet) |
-| **2899** / 0000099 |  | [同步视频](media/sort_nesting_dolls_by_size/episode_0000099/top_right_left.mp4) · [top](media/sort_nesting_dolls_by_size/episode_0000099/top.mp4) · [right](media/sort_nesting_dolls_by_size/episode_0000099/right.mp4) · [left](media/sort_nesting_dolls_by_size/episode_0000099/left.mp4) · [动作/状态](trajectories/sort_nesting_dolls_by_size/episode_002899.parquet) |
+| **2800** / 0000000 |  | [同步视频](media/sort_nesting_dolls_by_size/episode_0000000/top_left_right.mp4) · [top](media/sort_nesting_dolls_by_size/episode_0000000/top.mp4) · [left](media/sort_nesting_dolls_by_size/episode_0000000/left.mp4) · [right](media/sort_nesting_dolls_by_size/episode_0000000/right.mp4) · [动作/状态](trajectories/sort_nesting_dolls_by_size/episode_002800.parquet) |
+| **2849** / 0000049 |  | [同步视频](media/sort_nesting_dolls_by_size/episode_0000049/top_left_right.mp4) · [top](media/sort_nesting_dolls_by_size/episode_0000049/top.mp4) · [left](media/sort_nesting_dolls_by_size/episode_0000049/left.mp4) · [right](media/sort_nesting_dolls_by_size/episode_0000049/right.mp4) · [动作/状态](trajectories/sort_nesting_dolls_by_size/episode_002849.parquet) |
+| **2899** / 0000099 |  | [同步视频](media/sort_nesting_dolls_by_size/episode_0000099/top_left_right.mp4) · [top](media/sort_nesting_dolls_by_size/episode_0000099/top.mp4) · [left](media/sort_nesting_dolls_by_size/episode_0000099/left.mp4) · [right](media/sort_nesting_dolls_by_size/episode_0000099/right.mp4) · [动作/状态](trajectories/sort_nesting_dolls_by_size/episode_002899.parquet) |
[官网 Standard version](https://robodojo-benchmark.com/doc/videos/tasks/sort-nesting-dolls-by-size.mp4)
**Random version · 官网演示（非训练示教）:** [视频](media/sort_nesting_dolls_by_size/random.mp4) · [官网原文件](https://robodojo-benchmark.com/doc/videos/tasks/sort-nesting-dolls-by-size-random.mp4)
+**视角可用性：** TOP / HEAD 已公开；LEFT WRIST 和 RIGHT WRIST 对应录像未公开（已核查官网与官方 HF 任务目录）。
+
### Store Laptop And Headphones · task_index=31 · C11
**Instruction:** Hang the headphones on the headphone stand, close the laptop, then place it into the vertical laptop stand.
@@ -585,16 +606,18 @@ X 红 / Y 绿 / Z 蓝。箭头位置只用于展示方向，并不代表世界
| 80 | The headphones are correctly placed on the stand, and the laptop is closed, vertically inserted into the laptop rack, and within the required range. |
| 100 | Both the headphones and laptop conditions are satisfied and the robot returns to origin. |
-| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 |
+| 官方 episode / 原始文件编号 | TOP → LEFT WRIST → RIGHT WRIST（同一帧） | 完整示教 |
| --- | --- | --- |
-| **3100** / 0000000 |  | [同步视频](media/store_laptop_and_headphones/episode_0000000/top_right_left.mp4) · [top](media/store_laptop_and_headphones/episode_0000000/top.mp4) · [right](media/store_laptop_and_headphones/episode_0000000/right.mp4) · [left](media/store_laptop_and_headphones/episode_0000000/left.mp4) · [动作/状态](trajectories/store_laptop_and_headphones/episode_003100.parquet) |
-| **3149** / 0000049 |  | [同步视频](media/store_laptop_and_headphones/episode_0000049/top_right_left.mp4) · [top](media/store_laptop_and_headphones/episode_0000049/top.mp4) · [right](media/store_laptop_and_headphones/episode_0000049/right.mp4) · [left](media/store_laptop_and_headphones/episode_0000049/left.mp4) · [动作/状态](trajectories/store_laptop_and_headphones/episode_003149.parquet) |
-| **3199** / 0000099 |  | [同步视频](media/store_laptop_and_headphones/episode_0000099/top_right_left.mp4) · [top](media/store_laptop_and_headphones/episode_0000099/top.mp4) · [right](media/store_laptop_and_headphones/episode_0000099/right.mp4) · [left](media/store_laptop_and_headphones/episode_0000099/left.mp4) · [动作/状态](trajectories/store_laptop_and_headphones/episode_003199.parquet) |
+| **3100** / 0000000 |  | [同步视频](media/store_laptop_and_headphones/episode_0000000/top_left_right.mp4) · [top](media/store_laptop_and_headphones/episode_0000000/top.mp4) · [left](media/store_laptop_and_headphones/episode_0000000/left.mp4) · [right](media/store_laptop_and_headphones/episode_0000000/right.mp4) · [动作/状态](trajectories/store_laptop_and_headphones/episode_003100.parquet) |
+| **3149** / 0000049 |  | [同步视频](media/store_laptop_and_headphones/episode_0000049/top_left_right.mp4) · [top](media/store_laptop_and_headphones/episode_0000049/top.mp4) · [left](media/store_laptop_and_headphones/episode_0000049/left.mp4) · [right](media/store_laptop_and_headphones/episode_0000049/right.mp4) · [动作/状态](trajectories/store_laptop_and_headphones/episode_003149.parquet) |
+| **3199** / 0000099 |  | [同步视频](media/store_laptop_and_headphones/episode_0000099/top_left_right.mp4) · [top](media/store_laptop_and_headphones/episode_0000099/top.mp4) · [left](media/store_laptop_and_headphones/episode_0000099/left.mp4) · [right](media/store_laptop_and_headphones/episode_0000099/right.mp4) · [动作/状态](trajectories/store_laptop_and_headphones/episode_003199.parquet) |
[官网 Standard version](https://robodojo-benchmark.com/doc/videos/tasks/store-laptop-and-headphones.mp4)
**Random version · 官网演示（非训练示教）:** [视频](media/store_laptop_and_headphones/random.mp4) · [官网原文件](https://robodojo-benchmark.com/doc/videos/tasks/store-laptop-and-headphones-random.mp4)
+**视角可用性：** TOP / HEAD 已公开；LEFT WRIST 和 RIGHT WRIST 对应录像未公开（已核查官网与官方 HF 任务目录）。
+
### Stack Blocks · task_index=29 · C12
**Instruction:** Stack the three blocks with different textures.
@@ -611,16 +634,18 @@ X 红 / Y 绿 / Z 蓝。箭头位置只用于展示方向，并不代表世界
| 15 | Any two of the three blocks are stacked, and the gripper is open. |
| 100 | All three blocks are stacked together and the robot returns to origin. |
-| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 |
+| 官方 episode / 原始文件编号 | TOP → LEFT WRIST → RIGHT WRIST（同一帧） | 完整示教 |
| --- | --- | --- |
-| **2900** / 0000000 |  | [同步视频](media/stack_blocks/episode_0000000/top_right_left.mp4) · [top](media/stack_blocks/episode_0000000/top.mp4) · [right](media/stack_blocks/episode_0000000/right.mp4) · [left](media/stack_blocks/episode_0000000/left.mp4) · [动作/状态](trajectories/stack_blocks/episode_002900.parquet) |
-| **2949** / 0000049 |  | [同步视频](media/stack_blocks/episode_0000049/top_right_left.mp4) · [top](media/stack_blocks/episode_0000049/top.mp4) · [right](media/stack_blocks/episode_0000049/right.mp4) · [left](media/stack_blocks/episode_0000049/left.mp4) · [动作/状态](trajectories/stack_blocks/episode_002949.parquet) |
-| **2999** / 0000099 |  | [同步视频](media/stack_blocks/episode_0000099/top_right_left.mp4) · [top](media/stack_blocks/episode_0000099/top.mp4) · [right](media/stack_blocks/episode_0000099/right.mp4) · [left](media/stack_blocks/episode_0000099/left.mp4) · [动作/状态](trajectories/stack_blocks/episode_002999.parquet) |
+| **2900** / 0000000 |  | [同步视频](media/stack_blocks/episode_0000000/top_left_right.mp4) · [top](media/stack_blocks/episode_0000000/top.mp4) · [left](media/stack_blocks/episode_0000000/left.mp4) · [right](media/stack_blocks/episode_0000000/right.mp4) · [动作/状态](trajectories/stack_blocks/episode_002900.parquet) |
+| **2949** / 0000049 |  | [同步视频](media/stack_blocks/episode_0000049/top_left_right.mp4) · [top](media/stack_blocks/episode_0000049/top.mp4) · [left](media/stack_blocks/episode_0000049/left.mp4) · [right](media/stack_blocks/episode_0000049/right.mp4) · [动作/状态](trajectories/stack_blocks/episode_002949.parquet) |
+| **2999** / 0000099 |  | [同步视频](media/stack_blocks/episode_0000099/top_left_right.mp4) · [top](media/stack_blocks/episode_0000099/top.mp4) · [left](media/stack_blocks/episode_0000099/left.mp4) · [right](media/stack_blocks/episode_0000099/right.mp4) · [动作/状态](trajectories/stack_blocks/episode_002999.parquet) |
[官网 Standard version](https://robodojo-benchmark.com/doc/videos/tasks/stack-blocks.mp4)
**Random version · 官网演示（非训练示教）:** [视频](media/stack_blocks/random.mp4) · [官网原文件](https://robodojo-benchmark.com/doc/videos/tasks/stack-blocks-random.mp4)
+**视角可用性：** TOP / HEAD 已公开；LEFT WRIST 和 RIGHT WRIST 对应录像未公开（已核查官网与官方 HF 任务目录）。
+
## Memory
### Cover Blocks · task_index=3 · C13
@@ -641,11 +666,11 @@ X 红 / Y 绿 / Z 蓝。箭头位置只用于展示方向，并不代表世界
| 30 | The red and green blocks are uncovered in order while the blue block remains covered. |
| 100 | All three blocks are first covered from left to right, then uncovered in red, green, and blue order; cup orientation remains valid and the robot returns to origin. |
-| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 |
+| 官方 episode / 原始文件编号 | TOP → LEFT WRIST → RIGHT WRIST（同一帧） | 完整示教 |
| --- | --- | --- |
-| **300** / 0000000 |  | [同步视频](media/cover_blocks/episode_0000000/top_right_left.mp4) · [top](media/cover_blocks/episode_0000000/top.mp4) · [right](media/cover_blocks/episode_0000000/right.mp4) · [left](media/cover_blocks/episode_0000000/left.mp4) · [动作/状态](trajectories/cover_blocks/episode_000300.parquet) |
-| **349** / 0000049 |  | [同步视频](media/cover_blocks/episode_0000049/top_right_left.mp4) · [top](media/cover_blocks/episode_0000049/top.mp4) · [right](media/cover_blocks/episode_0000049/right.mp4) · [left](media/cover_blocks/episode_0000049/left.mp4) · [动作/状态](trajectories/cover_blocks/episode_000349.parquet) |
-| **399** / 0000099 |  | [同步视频](media/cover_blocks/episode_0000099/top_right_left.mp4) · [top](media/cover_blocks/episode_0000099/top.mp4) · [right](media/cover_blocks/episode_0000099/right.mp4) · [left](media/cover_blocks/episode_0000099/left.mp4) · [动作/状态](trajectories/cover_blocks/episode_000399.parquet) |
+| **300** / 0000000 |  | [同步视频](media/cover_blocks/episode_0000000/top_left_right.mp4) · [top](media/cover_blocks/episode_0000000/top.mp4) · [left](media/cover_blocks/episode_0000000/left.mp4) · [right](media/cover_blocks/episode_0000000/right.mp4) · [动作/状态](trajectories/cover_blocks/episode_000300.parquet) |
+| **349** / 0000049 |  | [同步视频](media/cover_blocks/episode_0000049/top_left_right.mp4) · [top](media/cover_blocks/episode_0000049/top.mp4) · [left](media/cover_blocks/episode_0000049/left.mp4) · [right](media/cover_blocks/episode_0000049/right.mp4) · [动作/状态](trajectories/cover_blocks/episode_000349.parquet) |
+| **399** / 0000099 |  | [同步视频](media/cover_blocks/episode_0000099/top_left_right.mp4) · [top](media/cover_blocks/episode_0000099/top.mp4) · [left](media/cover_blocks/episode_0000099/left.mp4) · [right](media/cover_blocks/episode_0000099/right.mp4) · [动作/状态](trajectories/cover_blocks/episode_000399.parquet) |
[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/cover-blocks.mp4)
@@ -664,11 +689,11 @@ X 红 / Y 绿 / Z 蓝。箭头位置只用于展示方向，并不代表世界
| 0 | The matching target object is not lifted high enough. |
| 100 | The matching target object is lifted at least 10 cm. |
-| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 |
+| 官方 episode / 原始文件编号 | TOP → LEFT WRIST → RIGHT WRIST（同一帧） | 完整示教 |
| --- | --- | --- |
-| **1600** / 0000000 |  | [同步视频](media/match_and_pick_from_conveyor/episode_0000000/top_right_left.mp4) · [top](media/match_and_pick_from_conveyor/episode_0000000/top.mp4) · [right](media/match_and_pick_from_conveyor/episode_0000000/right.mp4) · [left](media/match_and_pick_from_conveyor/episode_0000000/left.mp4) · [动作/状态](trajectories/match_and_pick_from_conveyor/episode_001600.parquet) |
-| **1649** / 0000049 |  | [同步视频](media/match_and_pick_from_conveyor/episode_0000049/top_right_left.mp4) · [top](media/match_and_pick_from_conveyor/episode_0000049/top.mp4) · [right](media/match_and_pick_from_conveyor/episode_0000049/right.mp4) · [left](media/match_and_pick_from_conveyor/episode_0000049/left.mp4) · [动作/状态](trajectories/match_and_pick_from_conveyor/episode_001649.parquet) |
-| **1699** / 0000099 |  | [同步视频](media/match_and_pick_from_conveyor/episode_0000099/top_right_left.mp4) · [top](media/match_and_pick_from_conveyor/episode_0000099/top.mp4) · [right](media/match_and_pick_from_conveyor/episode_0000099/right.mp4) · [left](media/match_and_pick_from_conveyor/episode_0000099/left.mp4) · [动作/状态](trajectories/match_and_pick_from_conveyor/episode_001699.parquet) |
+| **1600** / 0000000 |  | [同步视频](media/match_and_pick_from_conveyor/episode_0000000/top_left_right.mp4) · [top](media/match_and_pick_from_conveyor/episode_0000000/top.mp4) · [left](media/match_and_pick_from_conveyor/episode_0000000/left.mp4) · [right](media/match_and_pick_from_conveyor/episode_0000000/right.mp4) · [动作/状态](trajectories/match_and_pick_from_conveyor/episode_001600.parquet) |
+| **1649** / 0000049 |  | [同步视频](media/match_and_pick_from_conveyor/episode_0000049/top_left_right.mp4) · [top](media/match_and_pick_from_conveyor/episode_0000049/top.mp4) · [left](media/match_and_pick_from_conveyor/episode_0000049/left.mp4) · [right](media/match_and_pick_from_conveyor/episode_0000049/right.mp4) · [动作/状态](trajectories/match_and_pick_from_conveyor/episode_001649.parquet) |
+| **1699** / 0000099 |  | [同步视频](media/match_and_pick_from_conveyor/episode_0000099/top_left_right.mp4) · [top](media/match_and_pick_from_conveyor/episode_0000099/top.mp4) · [left](media/match_and_pick_from_conveyor/episode_0000099/left.mp4) · [right](media/match_and_pick_from_conveyor/episode_0000099/right.mp4) · [动作/状态](trajectories/match_and_pick_from_conveyor/episode_001699.parquet) |
[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/match-and-pick-from-conveyor.mp4)
@@ -687,11 +712,11 @@ X 红 / Y 绿 / Z 蓝。箭头位置只用于展示方向，并不代表世界
| 0 | The swap sequence is not completed, or the button is not pressed after each move. |
| 100 | The two target blocks are swapped using the empty mat, the button is pressed once after each of the three moves, the blocks finish on each other's original mats, and the robot returns to origin. |
-| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 |
+| 官方 episode / 原始文件编号 | TOP → LEFT WRIST → RIGHT WRIST（同一帧） | 完整示教 |
| --- | --- | --- |
-| **3300** / 0000000 |  | [同步视频](media/swap_blocks/episode_0000000/top_right_left.mp4) · [top](media/swap_blocks/episode_0000000/top.mp4) · [right](media/swap_blocks/episode_0000000/right.mp4) · [left](media/swap_blocks/episode_0000000/left.mp4) · [动作/状态](trajectories/swap_blocks/episode_003300.parquet) |
-| **3349** / 0000049 |  | [同步视频](media/swap_blocks/episode_0000049/top_right_left.mp4) · [top](media/swap_blocks/episode_0000049/top.mp4) · [right](media/swap_blocks/episode_0000049/right.mp4) · [left](media/swap_blocks/episode_0000049/left.mp4) · [动作/状态](trajectories/swap_blocks/episode_003349.parquet) |
-| **3399** / 0000099 |  | [同步视频](media/swap_blocks/episode_0000099/top_right_left.mp4) · [top](media/swap_blocks/episode_0000099/top.mp4) · [right](media/swap_blocks/episode_0000099/right.mp4) · [left](media/swap_blocks/episode_0000099/left.mp4) · [动作/状态](trajectories/swap_blocks/episode_003399.parquet) |
+| **3300** / 0000000 |  | [同步视频](media/swap_blocks/episode_0000000/top_left_right.mp4) · [top](media/swap_blocks/episode_0000000/top.mp4) · [left](media/swap_blocks/episode_0000000/left.mp4) · [right](media/swap_blocks/episode_0000000/right.mp4) · [动作/状态](trajectories/swap_blocks/episode_003300.parquet) |
+| **3349** / 0000049 |  | [同步视频](media/swap_blocks/episode_0000049/top_left_right.mp4) · [top](media/swap_blocks/episode_0000049/top.mp4) · [left](media/swap_blocks/episode_0000049/left.mp4) · [right](media/swap_blocks/episode_0000049/right.mp4) · [动作/状态](trajectories/swap_blocks/episode_003349.parquet) |
+| **3399** / 0000099 |  | [同步视频](media/swap_blocks/episode_0000099/top_left_right.mp4) · [top](media/swap_blocks/episode_0000099/top.mp4) · [left](media/swap_blocks/episode_0000099/left.mp4) · [right](media/swap_blocks/episode_0000099/right.mp4) · [动作/状态](trajectories/swap_blocks/episode_003399.parquet) |
[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/swap-blocks.mp4)
@@ -710,11 +735,11 @@ X 红 / Y 绿 / Z 蓝。箭头位置只用于展示方向，并不代表世界
| 0 | The two T blocks are not swapped with the required pose accuracy. |
| 100 | The two T-shaped blocks swap their original xy positions, their orientations match the swapped targets, and the robot returns to origin. |
-| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 |
+| 官方 episode / 原始文件编号 | TOP → LEFT WRIST → RIGHT WRIST（同一帧） | 完整示教 |
| --- | --- | --- |
-| **3200** / 0000000 |  | [同步视频](media/swap_T/episode_0000000/top_right_left.mp4) · [top](media/swap_T/episode_0000000/top.mp4) · [right](media/swap_T/episode_0000000/right.mp4) · [left](media/swap_T/episode_0000000/left.mp4) · [动作/状态](trajectories/swap_T/episode_003200.parquet) |
-| **3249** / 0000049 |  | [同步视频](media/swap_T/episode_0000049/top_right_left.mp4) · [top](media/swap_T/episode_0000049/top.mp4) · [right](media/swap_T/episode_0000049/right.mp4) · [left](media/swap_T/episode_0000049/left.mp4) · [动作/状态](trajectories/swap_T/episode_003249.parquet) |
-| **3299** / 0000099 |  | [同步视频](media/swap_T/episode_0000099/top_right_left.mp4) · [top](media/swap_T/episode_0000099/top.mp4) · [right](media/swap_T/episode_0000099/right.mp4) · [left](media/swap_T/episode_0000099/left.mp4) · [动作/状态](trajectories/swap_T/episode_003299.parquet) |
+| **3200** / 0000000 |  | [同步视频](media/swap_T/episode_0000000/top_left_right.mp4) · [top](media/swap_T/episode_0000000/top.mp4) · [left](media/swap_T/episode_0000000/left.mp4) · [right](media/swap_T/episode_0000000/right.mp4) · [动作/状态](trajectories/swap_T/episode_003200.parquet) |
+| **3249** / 0000049 |  | [同步视频](media/swap_T/episode_0000049/top_left_right.mp4) · [top](media/swap_T/episode_0000049/top.mp4) · [left](media/swap_T/episode_0000049/left.mp4) · [right](media/swap_T/episode_0000049/right.mp4) · [动作/状态](trajectories/swap_T/episode_003249.parquet) |
+| **3299** / 0000099 |  | [同步视频](media/swap_T/episode_0000099/top_left_right.mp4) · [top](media/swap_T/episode_0000099/top.mp4) · [left](media/swap_T/episode_0000099/left.mp4) · [right](media/swap_T/episode_0000099/right.mp4) · [动作/状态](trajectories/swap_T/episode_003299.parquet) |
[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/swap-t.mp4)
@@ -733,11 +758,11 @@ X 红 / Y 绿 / Z 蓝。箭头位置只用于展示方向，并不代表世界
| 0 | The required press counts or confirm sequence is not completed exactly. |
| 100 | Button `0` is pressed exactly the number shown by `num0`, the blue confirm button is pressed, button `1` is pressed exactly the number shown by `num1`, the blue confirm button is pressed again, and the robot returns to origin. |
-| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 |
+| 官方 episode / 原始文件编号 | TOP → LEFT WRIST → RIGHT WRIST（同一帧） | 完整示教 |
| --- | --- | --- |
-| **2500** / 0000000 |  | [同步视频](media/press_by_number/episode_0000000/top_right_left.mp4) · [top](media/press_by_number/episode_0000000/top.mp4) · [right](media/press_by_number/episode_0000000/right.mp4) · [left](media/press_by_number/episode_0000000/left.mp4) · [动作/状态](trajectories/press_by_number/episode_002500.parquet) |
-| **2549** / 0000049 |  | [同步视频](media/press_by_number/episode_0000049/top_right_left.mp4) · [top](media/press_by_number/episode_0000049/top.mp4) · [right](media/press_by_number/episode_0000049/right.mp4) · [left](media/press_by_number/episode_0000049/left.mp4) · [动作/状态](trajectories/press_by_number/episode_002549.parquet) |
-| **2599** / 0000099 |  | [同步视频](media/press_by_number/episode_0000099/top_right_left.mp4) · [top](media/press_by_number/episode_0000099/top.mp4) · [right](media/press_by_number/episode_0000099/right.mp4) · [left](media/press_by_number/episode_0000099/left.mp4) · [动作/状态](trajectories/press_by_number/episode_002599.parquet) |
+| **2500** / 0000000 |  | [同步视频](media/press_by_number/episode_0000000/top_left_right.mp4) · [top](media/press_by_number/episode_0000000/top.mp4) · [left](media/press_by_number/episode_0000000/left.mp4) · [right](media/press_by_number/episode_0000000/right.mp4) · [动作/状态](trajectories/press_by_number/episode_002500.parquet) |
+| **2549** / 0000049 |  | [同步视频](media/press_by_number/episode_0000049/top_left_right.mp4) · [top](media/press_by_number/episode_0000049/top.mp4) · [left](media/press_by_number/episode_0000049/left.mp4) · [right](media/press_by_number/episode_0000049/right.mp4) · [动作/状态](trajectories/press_by_number/episode_002549.parquet) |
+| **2599** / 0000099 |  | [同步视频](media/press_by_number/episode_0000099/top_left_right.mp4) · [top](media/press_by_number/episode_0000099/top.mp4) · [left](media/press_by_number/episode_0000099/left.mp4) · [right](media/press_by_number/episode_0000099/right.mp4) · [动作/状态](trajectories/press_by_number/episode_002599.parquet) |
[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/press-by-number.mp4)
@@ -760,11 +785,11 @@ X 红 / Y 绿 / Z 蓝。箭头位置只用于展示方向，并不代表世界
| 50 | The first four target objects are placed in the correct sequence. |
| 100 | All five target objects are placed in sequence, all demonstration objects remain in the demo basket, the gripper is open, and the robot returns to origin. |
-| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 |
+| 官方 episode / 原始文件编号 | TOP → LEFT WRIST → RIGHT WRIST（同一帧） | 完整示教 |
| --- | --- | --- |
-| **1100** / 0000000 |  | [同步视频](media/imitate_sorting_sequence/episode_0000000/top_right_left.mp4) · [top](media/imitate_sorting_sequence/episode_0000000/top.mp4) · [right](media/imitate_sorting_sequence/episode_0000000/right.mp4) · [left](media/imitate_sorting_sequence/episode_0000000/left.mp4) · [动作/状态](trajectories/imitate_sorting_sequence/episode_001100.parquet) |
-| **1149** / 0000049 |  | [同步视频](media/imitate_sorting_sequence/episode_0000049/top_right_left.mp4) · [top](media/imitate_sorting_sequence/episode_0000049/top.mp4) · [right](media/imitate_sorting_sequence/episode_0000049/right.mp4) · [left](media/imitate_sorting_sequence/episode_0000049/left.mp4) · [动作/状态](trajectories/imitate_sorting_sequence/episode_001149.parquet) |
-| **1199** / 0000099 |  | [同步视频](media/imitate_sorting_sequence/episode_0000099/top_right_left.mp4) · [top](media/imitate_sorting_sequence/episode_0000099/top.mp4) · [right](media/imitate_sorting_sequence/episode_0000099/right.mp4) · [left](media/imitate_sorting_sequence/episode_0000099/left.mp4) · [动作/状态](trajectories/imitate_sorting_sequence/episode_001199.parquet) |
+| **1100** / 0000000 |  | [同步视频](media/imitate_sorting_sequence/episode_0000000/top_left_right.mp4) · [top](media/imitate_sorting_sequence/episode_0000000/top.mp4) · [left](media/imitate_sorting_sequence/episode_0000000/left.mp4) · [right](media/imitate_sorting_sequence/episode_0000000/right.mp4) · [动作/状态](trajectories/imitate_sorting_sequence/episode_001100.parquet) |
+| **1149** / 0000049 |  | [同步视频](media/imitate_sorting_sequence/episode_0000049/top_left_right.mp4) · [top](media/imitate_sorting_sequence/episode_0000049/top.mp4) · [left](media/imitate_sorting_sequence/episode_0000049/left.mp4) · [right](media/imitate_sorting_sequence/episode_0000049/right.mp4) · [动作/状态](trajectories/imitate_sorting_sequence/episode_001149.parquet) |
+| **1199** / 0000099 |  | [同步视频](media/imitate_sorting_sequence/episode_0000099/top_left_right.mp4) · [top](media/imitate_sorting_sequence/episode_0000099/top.mp4) · [left](media/imitate_sorting_sequence/episode_0000099/left.mp4) · [right](media/imitate_sorting_sequence/episode_0000099/right.mp4) · [动作/状态](trajectories/imitate_sorting_sequence/episode_001199.parquet) |
[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/imitate-sorting-sequence.mp4)
@@ -787,11 +812,11 @@ X 红 / Y 绿 / Z 蓝。箭头位置只用于展示方向，并不代表世界
| 50 | Any two matching nut-bolt pairs are fastened correctly. |
| 100 | All three nut-bolt pairs are fastened, the gripper is open, and the robot returns to origin. |
-| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 |
+| 官方 episode / 原始文件编号 | TOP → LEFT WRIST → RIGHT WRIST（同一帧） | 完整示教 |
| --- | --- | --- |
-| **600** / 0000000 |  | [同步视频](media/fasten_screws/episode_0000000/top_right_left.mp4) · [top](media/fasten_screws/episode_0000000/top.mp4) · [right](media/fasten_screws/episode_0000000/right.mp4) · [left](media/fasten_screws/episode_0000000/left.mp4) · [动作/状态](trajectories/fasten_screws/episode_000600.parquet) |
-| **649** / 0000049 |  | [同步视频](media/fasten_screws/episode_0000049/top_right_left.mp4) · [top](media/fasten_screws/episode_0000049/top.mp4) · [right](media/fasten_screws/episode_0000049/right.mp4) · [left](media/fasten_screws/episode_0000049/left.mp4) · [动作/状态](trajectories/fasten_screws/episode_000649.parquet) |
-| **699** / 0000099 |  | [同步视频](media/fasten_screws/episode_0000099/top_right_left.mp4) · [top](media/fasten_screws/episode_0000099/top.mp4) · [right](media/fasten_screws/episode_0000099/right.mp4) · [left](media/fasten_screws/episode_0000099/left.mp4) · [动作/状态](trajectories/fasten_screws/episode_000699.parquet) |
+| **600** / 0000000 |  | [同步视频](media/fasten_screws/episode_0000000/top_left_right.mp4) · [top](media/fasten_screws/episode_0000000/top.mp4) · [left](media/fasten_screws/episode_0000000/left.mp4) · [right](media/fasten_screws/episode_0000000/right.mp4) · [动作/状态](trajectories/fasten_screws/episode_000600.parquet) |
+| **649** / 0000049 |  | [同步视频](media/fasten_screws/episode_0000049/top_left_right.mp4) · [top](media/fasten_screws/episode_0000049/top.mp4) · [left](media/fasten_screws/episode_0000049/left.mp4) · [right](media/fasten_screws/episode_0000049/right.mp4) · [动作/状态](trajectories/fasten_screws/episode_000649.parquet) |
+| **699** / 0000099 |  | [同步视频](media/fasten_screws/episode_0000099/top_left_right.mp4) · [top](media/fasten_screws/episode_0000099/top.mp4) · [left](media/fasten_screws/episode_0000099/left.mp4) · [right](media/fasten_screws/episode_0000099/right.mp4) · [动作/状态](trajectories/fasten_screws/episode_000699.parquet) |
[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/fasten-screws.mp4)
@@ -810,11 +835,11 @@ X 红 / Y 绿 / Z 蓝。箭头位置只用于展示方向，并不代表世界
| 0 | The charger is not fully plugged into the socket. |
| 100 | The charger is inside the socket, inserted to the required depth, upright, and the robot returns to origin. |
-| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 |
+| 官方 episode / 原始文件编号 | TOP → LEFT WRIST → RIGHT WRIST（同一帧） | 完整示教 |
| --- | --- | --- |
-| **2200** / 0000000 |  | [同步视频](media/plug_in_charger/episode_0000000/top_right_left.mp4) · [top](media/plug_in_charger/episode_0000000/top.mp4) · [right](media/plug_in_charger/episode_0000000/right.mp4) · [left](media/plug_in_charger/episode_0000000/left.mp4) · [动作/状态](trajectories/plug_in_charger/episode_002200.parquet) |
-| **2249** / 0000049 |  | [同步视频](media/plug_in_charger/episode_0000049/top_right_left.mp4) · [top](media/plug_in_charger/episode_0000049/top.mp4) · [right](media/plug_in_charger/episode_0000049/right.mp4) · [left](media/plug_in_charger/episode_0000049/left.mp4) · [动作/状态](trajectories/plug_in_charger/episode_002249.parquet) |
-| **2299** / 0000099 |  | [同步视频](media/plug_in_charger/episode_0000099/top_right_left.mp4) · [top](media/plug_in_charger/episode_0000099/top.mp4) · [right](media/plug_in_charger/episode_0000099/right.mp4) · [left](media/plug_in_charger/episode_0000099/left.mp4) · [动作/状态](trajectories/plug_in_charger/episode_002299.parquet) |
+| **2200** / 0000000 |  | [同步视频](media/plug_in_charger/episode_0000000/top_left_right.mp4) · [top](media/plug_in_charger/episode_0000000/top.mp4) · [left](media/plug_in_charger/episode_0000000/left.mp4) · [right](media/plug_in_charger/episode_0000000/right.mp4) · [动作/状态](trajectories/plug_in_charger/episode_002200.parquet) |
+| **2249** / 0000049 |  | [同步视频](media/plug_in_charger/episode_0000049/top_left_right.mp4) · [top](media/plug_in_charger/episode_0000049/top.mp4) · [left](media/plug_in_charger/episode_0000049/left.mp4) · [right](media/plug_in_charger/episode_0000049/right.mp4) · [动作/状态](trajectories/plug_in_charger/episode_002249.parquet) |
+| **2299** / 0000099 |  | [同步视频](media/plug_in_charger/episode_0000099/top_left_right.mp4) · [top](media/plug_in_charger/episode_0000099/top.mp4) · [left](media/plug_in_charger/episode_0000099/left.mp4) · [right](media/plug_in_charger/episode_0000099/right.mp4) · [动作/状态](trajectories/plug_in_charger/episode_002299.parquet) |
[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/plug-in-charger.mp4)
@@ -835,11 +860,11 @@ X 红 / Y 绿 / Z 蓝。箭头位置只用于展示方向，并不代表世界
| 40 | Any two tubes are inserted correctly. |
| 100 | All three tubes are inserted correctly and the robot returns to origin. |
-| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 |
+| 官方 episode / 原始文件编号 | TOP → LEFT WRIST → RIGHT WRIST（同一帧） | 完整示教 |
| --- | --- | --- |
-| **1300** / 0000000 |  | [同步视频](media/insert_tubes/episode_0000000/top_right_left.mp4) · [top](media/insert_tubes/episode_0000000/top.mp4) · [right](media/insert_tubes/episode_0000000/right.mp4) · [left](media/insert_tubes/episode_0000000/left.mp4) · [动作/状态](trajectories/insert_tubes/episode_001300.parquet) |
-| **1349** / 0000049 |  | [同步视频](media/insert_tubes/episode_0000049/top_right_left.mp4) · [top](media/insert_tubes/episode_0000049/top.mp4) · [right](media/insert_tubes/episode_0000049/right.mp4) · [left](media/insert_tubes/episode_0000049/left.mp4) · [动作/状态](trajectories/insert_tubes/episode_001349.parquet) |
-| **1399** / 0000099 |  | [同步视频](media/insert_tubes/episode_0000099/top_right_left.mp4) · [top](media/insert_tubes/episode_0000099/top.mp4) · [right](media/insert_tubes/episode_0000099/right.mp4) · [left](media/insert_tubes/episode_0000099/left.mp4) · [动作/状态](trajectories/insert_tubes/episode_001399.parquet) |
+| **1300** / 0000000 |  | [同步视频](media/insert_tubes/episode_0000000/top_left_right.mp4) · [top](media/insert_tubes/episode_0000000/top.mp4) · [left](media/insert_tubes/episode_0000000/left.mp4) · [right](media/insert_tubes/episode_0000000/right.mp4) · [动作/状态](trajectories/insert_tubes/episode_001300.parquet) |
+| **1349** / 0000049 |  | [同步视频](media/insert_tubes/episode_0000049/top_left_right.mp4) · [top](media/insert_tubes/episode_0000049/top.mp4) · [left](media/insert_tubes/episode_0000049/left.mp4) · [right](media/insert_tubes/episode_0000049/right.mp4) · [动作/状态](trajectories/insert_tubes/episode_001349.parquet) |
+| **1399** / 0000099 |  | [同步视频](media/insert_tubes/episode_0000099/top_left_right.mp4) · [top](media/insert_tubes/episode_0000099/top.mp4) · [left](media/insert_tubes/episode_0000099/left.mp4) · [right](media/insert_tubes/episode_0000099/right.mp4) · [动作/状态](trajectories/insert_tubes/episode_001399.parquet) |
[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/insert-tubes.mp4)
@@ -858,11 +883,11 @@ X 红 / Y 绿 / Z 蓝。箭头位置只用于展示方向，并不代表世界
| 0 | Not all balls are transferred into the vase. |
| 100 | All seven balls are inside the vase, the cup is upright, and the robot returns to origin. |
-| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 |
+| 官方 episode / 原始文件编号 | TOP → LEFT WRIST → RIGHT WRIST（同一帧） | 完整示教 |
| --- | --- | --- |
-| **2300** / 0000000 |  | [同步视频](media/pour_balls_into_vase/episode_0000000/top_right_left.mp4) · [top](media/pour_balls_into_vase/episode_0000000/top.mp4) · [right](media/pour_balls_into_vase/episode_0000000/right.mp4) · [left](media/pour_balls_into_vase/episode_0000000/left.mp4) · [动作/状态](trajectories/pour_balls_into_vase/episode_002300.parquet) |
-| **2349** / 0000049 |  | [同步视频](media/pour_balls_into_vase/episode_0000049/top_right_left.mp4) · [top](media/pour_balls_into_vase/episode_0000049/top.mp4) · [right](media/pour_balls_into_vase/episode_0000049/right.mp4) · [left](media/pour_balls_into_vase/episode_0000049/left.mp4) · [动作/状态](trajectories/pour_balls_into_vase/episode_002349.parquet) |
-| **2399** / 0000099 |  | [同步视频](media/pour_balls_into_vase/episode_0000099/top_right_left.mp4) · [top](media/pour_balls_into_vase/episode_0000099/top.mp4) · [right](media/pour_balls_into_vase/episode_0000099/right.mp4) · [left](media/pour_balls_into_vase/episode_0000099/left.mp4) · [动作/状态](trajectories/pour_balls_into_vase/episode_002399.parquet) |
+| **2300** / 0000000 |  | [同步视频](media/pour_balls_into_vase/episode_0000000/top_left_right.mp4) · [top](media/pour_balls_into_vase/episode_0000000/top.mp4) · [left](media/pour_balls_into_vase/episode_0000000/left.mp4) · [right](media/pour_balls_into_vase/episode_0000000/right.mp4) · [动作/状态](trajectories/pour_balls_into_vase/episode_002300.parquet) |
+| **2349** / 0000049 |  | [同步视频](media/pour_balls_into_vase/episode_0000049/top_left_right.mp4) · [top](media/pour_balls_into_vase/episode_0000049/top.mp4) · [left](media/pour_balls_into_vase/episode_0000049/left.mp4) · [right](media/pour_balls_into_vase/episode_0000049/right.mp4) · [动作/状态](trajectories/pour_balls_into_vase/episode_002349.parquet) |
+| **2399** / 0000099 |  | [同步视频](media/pour_balls_into_vase/episode_0000099/top_left_right.mp4) · [top](media/pour_balls_into_vase/episode_0000099/top.mp4) · [left](media/pour_balls_into_vase/episode_0000099/left.mp4) · [right](media/pour_balls_into_vase/episode_0000099/right.mp4) · [动作/状态](trajectories/pour_balls_into_vase/episode_002399.parquet) |
[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/pour-balls-into-vase.mp4)
@@ -881,11 +906,11 @@ X 红 / Y 绿 / Z 蓝。箭头位置只用于展示方向，并不代表世界
| 0 | The full left-to-right strike sequence is not completed. |
| 100 | The mallet tip hits all xylophone keys from left to right, and after each hit the mallet is lifted by at least 0.025 m. |
-| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 |
+| 官方 episode / 原始文件编号 | TOP → LEFT WRIST → RIGHT WRIST（同一帧） | 完整示教 |
| --- | --- | --- |
-| **1900** / 0000000 |  | [同步视频](media/play_Xylophone/episode_0000000/top_right_left.mp4) · [top](media/play_Xylophone/episode_0000000/top.mp4) · [right](media/play_Xylophone/episode_0000000/right.mp4) · [left](media/play_Xylophone/episode_0000000/left.mp4) · [动作/状态](trajectories/play_Xylophone/episode_001900.parquet) |
-| **1949** / 0000049 |  | [同步视频](media/play_Xylophone/episode_0000049/top_right_left.mp4) · [top](media/play_Xylophone/episode_0000049/top.mp4) · [right](media/play_Xylophone/episode_0000049/right.mp4) · [left](media/play_Xylophone/episode_0000049/left.mp4) · [动作/状态](trajectories/play_Xylophone/episode_001949.parquet) |
-| **1999** / 0000099 |  | [同步视频](media/play_Xylophone/episode_0000099/top_right_left.mp4) · [top](media/play_Xylophone/episode_0000099/top.mp4) · [right](media/play_Xylophone/episode_0000099/right.mp4) · [left](media/play_Xylophone/episode_0000099/left.mp4) · [动作/状态](trajectories/play_Xylophone/episode_001999.parquet) |
+| **1900** / 0000000 |  | [同步视频](media/play_Xylophone/episode_0000000/top_left_right.mp4) · [top](media/play_Xylophone/episode_0000000/top.mp4) · [left](media/play_Xylophone/episode_0000000/left.mp4) · [right](media/play_Xylophone/episode_0000000/right.mp4) · [动作/状态](trajectories/play_Xylophone/episode_001900.parquet) |
+| **1949** / 0000049 |  | [同步视频](media/play_Xylophone/episode_0000049/top_left_right.mp4) · [top](media/play_Xylophone/episode_0000049/top.mp4) · [left](media/play_Xylophone/episode_0000049/left.mp4) · [right](media/play_Xylophone/episode_0000049/right.mp4) · [动作/状态](trajectories/play_Xylophone/episode_001949.parquet) |
+| **1999** / 0000099 |  | [同步视频](media/play_Xylophone/episode_0000099/top_left_right.mp4) · [top](media/play_Xylophone/episode_0000099/top.mp4) · [left](media/play_Xylophone/episode_0000099/left.mp4) · [right](media/play_Xylophone/episode_0000099/right.mp4) · [动作/状态](trajectories/play_Xylophone/episode_001999.parquet) |
[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/play-xylophone.mp4)
@@ -905,11 +930,11 @@ X 红 / Y 绿 / Z 蓝。箭头位置只用于展示方向，并不代表世界
| 20 | The coin is lifted at least 8 cm. |
| 100 | The coin bounding box is inside the coin bank slot region, and the robot returns to origin. |
-| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 |
+| 官方 episode / 原始文件编号 | TOP → LEFT WRIST → RIGHT WRIST（同一帧） | 完整示教 |
| --- | --- | --- |
-| **400** / 0000000 |  | [同步视频](media/deposit_coin/episode_0000000/top_right_left.mp4) · [top](media/deposit_coin/episode_0000000/top.mp4) · [right](media/deposit_coin/episode_0000000/right.mp4) · [left](media/deposit_coin/episode_0000000/left.mp4) · [动作/状态](trajectories/deposit_coin/episode_000400.parquet) |
-| **449** / 0000049 |  | [同步视频](media/deposit_coin/episode_0000049/top_right_left.mp4) · [top](media/deposit_coin/episode_0000049/top.mp4) · [right](media/deposit_coin/episode_0000049/right.mp4) · [left](media/deposit_coin/episode_0000049/left.mp4) · [动作/状态](trajectories/deposit_coin/episode_000449.parquet) |
-| **499** / 0000099 |  | [同步视频](media/deposit_coin/episode_0000099/top_right_left.mp4) · [top](media/deposit_coin/episode_0000099/top.mp4) · [right](media/deposit_coin/episode_0000099/right.mp4) · [left](media/deposit_coin/episode_0000099/left.mp4) · [动作/状态](trajectories/deposit_coin/episode_000499.parquet) |
+| **400** / 0000000 |  | [同步视频](media/deposit_coin/episode_0000000/top_left_right.mp4) · [top](media/deposit_coin/episode_0000000/top.mp4) · [left](media/deposit_coin/episode_0000000/left.mp4) · [right](media/deposit_coin/episode_0000000/right.mp4) · [动作/状态](trajectories/deposit_coin/episode_000400.parquet) |
+| **449** / 0000049 |  | [同步视频](media/deposit_coin/episode_0000049/top_left_right.mp4) · [top](media/deposit_coin/episode_0000049/top.mp4) · [left](media/deposit_coin/episode_0000049/left.mp4) · [right](media/deposit_coin/episode_0000049/right.mp4) · [动作/状态](trajectories/deposit_coin/episode_000449.parquet) |
+| **499** / 0000099 |  | [同步视频](media/deposit_coin/episode_0000099/top_left_right.mp4) · [top](media/deposit_coin/episode_0000099/top.mp4) · [left](media/deposit_coin/episode_0000099/left.mp4) · [right](media/deposit_coin/episode_0000099/right.mp4) · [动作/状态](trajectories/deposit_coin/episode_000499.parquet) |
[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/deposit-coin.mp4)
@@ -929,11 +954,11 @@ X 红 / Y 绿 / Z 蓝。箭头位置只用于展示方向，并不代表世界
| 15 | The key is lifted at least 5 cm. |
| 100 | The key is inserted deep enough into the slot, aligned closely in x/y, kept upright, and successfully turned after insertion. |
-| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 |
+| 官方 episode / 原始文件编号 | TOP → LEFT WRIST → RIGHT WRIST（同一帧） | 完整示教 |
| --- | --- | --- |
-| **1200** / 0000000 |  | [同步视频](media/insert_key/episode_0000000/top_right_left.mp4) · [top](media/insert_key/episode_0000000/top.mp4) · [right](media/insert_key/episode_0000000/right.mp4) · [left](media/insert_key/episode_0000000/left.mp4) · [动作/状态](trajectories/insert_key/episode_001200.parquet) |
-| **1249** / 0000049 |  | [同步视频](media/insert_key/episode_0000049/top_right_left.mp4) · [top](media/insert_key/episode_0000049/top.mp4) · [right](media/insert_key/episode_0000049/right.mp4) · [left](media/insert_key/episode_0000049/left.mp4) · [动作/状态](trajectories/insert_key/episode_001249.parquet) |
-| **1299** / 0000099 |  | [同步视频](media/insert_key/episode_0000099/top_right_left.mp4) · [top](media/insert_key/episode_0000099/top.mp4) · [right](media/insert_key/episode_0000099/right.mp4) · [left](media/insert_key/episode_0000099/left.mp4) · [动作/状态](trajectories/insert_key/episode_001299.parquet) |
+| **1200** / 0000000 |  | [同步视频](media/insert_key/episode_0000000/top_left_right.mp4) · [top](media/insert_key/episode_0000000/top.mp4) · [left](media/insert_key/episode_0000000/left.mp4) · [right](media/insert_key/episode_0000000/right.mp4) · [动作/状态](trajectories/insert_key/episode_001200.parquet) |
+| **1249** / 0000049 |  | [同步视频](media/insert_key/episode_0000049/top_left_right.mp4) · [top](media/insert_key/episode_0000049/top.mp4) · [left](media/insert_key/episode_0000049/left.mp4) · [right](media/insert_key/episode_0000049/right.mp4) · [动作/状态](trajectories/insert_key/episode_001249.parquet) |
+| **1299** / 0000099 |  | [同步视频](media/insert_key/episode_0000099/top_left_right.mp4) · [top](media/insert_key/episode_0000099/top.mp4) · [left](media/insert_key/episode_0000099/left.mp4) · [right](media/insert_key/episode_0000099/right.mp4) · [动作/状态](trajectories/insert_key/episode_001299.parquet) |
[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/insert-key.mp4)
@@ -956,11 +981,11 @@ X 红 / Y 绿 / Z 蓝。箭头位置只用于展示方向，并不代表世界
| 30 | The middle board is placed on the completed lower layer, stays centered over it, and all lower and middle pieces remain upright. |
| 100 | The full tower is completed with the top pieces, all eight pieces remain upright, each layer stays centered over the layer below it, the gripper is open, and the robot returns to origin. |
-| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 |
+| 官方 episode / 原始文件编号 | TOP → LEFT WRIST → RIGHT WRIST（同一帧） | 完整示教 |
| --- | --- | --- |
-| **100** / 0000000 |  | [同步视频](media/build_tower/episode_0000000/top_right_left.mp4) · [top](media/build_tower/episode_0000000/top.mp4) · [right](media/build_tower/episode_0000000/right.mp4) · [left](media/build_tower/episode_0000000/left.mp4) · [动作/状态](trajectories/build_tower/episode_000100.parquet) |
-| **149** / 0000049 |  | [同步视频](media/build_tower/episode_0000049/top_right_left.mp4) · [top](media/build_tower/episode_0000049/top.mp4) · [right](media/build_tower/episode_0000049/right.mp4) · [left](media/build_tower/episode_0000049/left.mp4) · [动作/状态](trajectories/build_tower/episode_000149.parquet) |
-| **199** / 0000099 |  | [同步视频](media/build_tower/episode_0000099/top_right_left.mp4) · [top](media/build_tower/episode_0000099/top.mp4) · [right](media/build_tower/episode_0000099/right.mp4) · [left](media/build_tower/episode_0000099/left.mp4) · [动作/状态](trajectories/build_tower/episode_000199.parquet) |
+| **100** / 0000000 |  | [同步视频](media/build_tower/episode_0000000/top_left_right.mp4) · [top](media/build_tower/episode_0000000/top.mp4) · [left](media/build_tower/episode_0000000/left.mp4) · [right](media/build_tower/episode_0000000/right.mp4) · [动作/状态](trajectories/build_tower/episode_000100.parquet) |
+| **149** / 0000049 |  | [同步视频](media/build_tower/episode_0000049/top_left_right.mp4) · [top](media/build_tower/episode_0000049/top.mp4) · [left](media/build_tower/episode_0000049/left.mp4) · [right](media/build_tower/episode_0000049/right.mp4) · [动作/状态](trajectories/build_tower/episode_000149.parquet) |
+| **199** / 0000099 |  | [同步视频](media/build_tower/episode_0000099/top_left_right.mp4) · [top](media/build_tower/episode_0000099/top.mp4) · [left](media/build_tower/episode_0000099/left.mp4) · [right](media/build_tower/episode_0000099/right.mp4) · [动作/状态](trajectories/build_tower/episode_000199.parquet) |
[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/build-tower.mp4)
@@ -985,11 +1010,11 @@ X 红 / Y 绿 / Z 蓝。箭头位置只用于展示方向，并不代表世界
| 90 | All four pens are inserted into the upright pen holder, but the robot has not returned to origin yet. |
| 100 | All four pens are inserted, the pen holder is upright, and the robot returns to origin. |
-| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 |
+| 官方 episode / 原始文件编号 | TOP → LEFT WRIST → RIGHT WRIST（同一帧） | 完整示教 |
| --- | --- | --- |
-| **800** / 0000000 |  | [同步视频](media/fill_pen_holder/episode_0000000/top_right_left.mp4) · [top](media/fill_pen_holder/episode_0000000/top.mp4) · [right](media/fill_pen_holder/episode_0000000/right.mp4) · [left](media/fill_pen_holder/episode_0000000/left.mp4) · [动作/状态](trajectories/fill_pen_holder/episode_000800.parquet) |
-| **849** / 0000049 |  | [同步视频](media/fill_pen_holder/episode_0000049/top_right_left.mp4) · [top](media/fill_pen_holder/episode_0000049/top.mp4) · [right](media/fill_pen_holder/episode_0000049/right.mp4) · [left](media/fill_pen_holder/episode_0000049/left.mp4) · [动作/状态](trajectories/fill_pen_holder/episode_000849.parquet) |
-| **899** / 0000099 |  | [同步视频](media/fill_pen_holder/episode_0000099/top_right_left.mp4) · [top](media/fill_pen_holder/episode_0000099/top.mp4) · [right](media/fill_pen_holder/episode_0000099/right.mp4) · [left](media/fill_pen_holder/episode_0000099/left.mp4) · [动作/状态](trajectories/fill_pen_holder/episode_000899.parquet) |
+| **800** / 0000000 |  | [同步视频](media/fill_pen_holder/episode_0000000/top_left_right.mp4) · [top](media/fill_pen_holder/episode_0000000/top.mp4) · [left](media/fill_pen_holder/episode_0000000/left.mp4) · [right](media/fill_pen_holder/episode_0000000/right.mp4) · [动作/状态](trajectories/fill_pen_holder/episode_000800.parquet) |
+| **849** / 0000049 |  | [同步视频](media/fill_pen_holder/episode_0000049/top_left_right.mp4) · [top](media/fill_pen_holder/episode_0000049/top.mp4) · [left](media/fill_pen_holder/episode_0000049/left.mp4) · [right](media/fill_pen_holder/episode_0000049/right.mp4) · [动作/状态](trajectories/fill_pen_holder/episode_000849.parquet) |
+| **899** / 0000099 |  | [同步视频](media/fill_pen_holder/episode_0000099/top_left_right.mp4) · [top](media/fill_pen_holder/episode_0000099/top.mp4) · [left](media/fill_pen_holder/episode_0000099/left.mp4) · [right](media/fill_pen_holder/episode_0000099/right.mp4) · [动作/状态](trajectories/fill_pen_holder/episode_000899.parquet) |
[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/fill-pen-holder.mp4)
@@ -1010,11 +1035,11 @@ X 红 / Y 绿 / Z 蓝。箭头位置只用于展示方向，并不代表世界
| 40 | Two baskets each contain exactly one complete category. |
| 100 | All three categories are separated into three baskets, the objects are settled inside the baskets, and the robot returns to origin. |
-| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 |
+| 官方 episode / 原始文件编号 | TOP → LEFT WRIST → RIGHT WRIST（同一帧） | 完整示教 |
| --- | --- | --- |
-| **200** / 0000000 |  | [同步视频](media/classify_objects/episode_0000000/top_right_left.mp4) · [top](media/classify_objects/episode_0000000/top.mp4) · [right](media/classify_objects/episode_0000000/right.mp4) · [left](media/classify_objects/episode_0000000/left.mp4) · [动作/状态](trajectories/classify_objects/episode_000200.parquet) |
-| **249** / 0000049 |  | [同步视频](media/classify_objects/episode_0000049/top_right_left.mp4) · [top](media/classify_objects/episode_0000049/top.mp4) · [right](media/classify_objects/episode_0000049/right.mp4) · [left](media/classify_objects/episode_0000049/left.mp4) · [动作/状态](trajectories/classify_objects/episode_000249.parquet) |
-| **299** / 0000099 |  | [同步视频](media/classify_objects/episode_0000099/top_right_left.mp4) · [top](media/classify_objects/episode_0000099/top.mp4) · [right](media/classify_objects/episode_0000099/right.mp4) · [left](media/classify_objects/episode_0000099/left.mp4) · [动作/状态](trajectories/classify_objects/episode_000299.parquet) |
+| **200** / 0000000 |  | [同步视频](media/classify_objects/episode_0000000/top_left_right.mp4) · [top](media/classify_objects/episode_0000000/top.mp4) · [left](media/classify_objects/episode_0000000/left.mp4) · [right](media/classify_objects/episode_0000000/right.mp4) · [动作/状态](trajectories/classify_objects/episode_000200.parquet) |
+| **249** / 0000049 |  | [同步视频](media/classify_objects/episode_0000049/top_left_right.mp4) · [top](media/classify_objects/episode_0000049/top.mp4) · [left](media/classify_objects/episode_0000049/left.mp4) · [right](media/classify_objects/episode_0000049/right.mp4) · [动作/状态](trajectories/classify_objects/episode_000249.parquet) |
+| **299** / 0000099 |  | [同步视频](media/classify_objects/episode_0000099/top_left_right.mp4) · [top](media/classify_objects/episode_0000099/top.mp4) · [left](media/classify_objects/episode_0000099/left.mp4) · [right](media/classify_objects/episode_0000099/right.mp4) · [动作/状态](trajectories/classify_objects/episode_000299.parquet) |
[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/classify-objects.mp4)
@@ -1036,11 +1061,11 @@ X 红 / Y 绿 / Z 蓝。箭头位置只用于展示方向，并不代表世界
| 40 | Any three bottles are inside the dustbin. |
| 100 | All four bottles are inside the dustbin and the robot returns to origin. |
-| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 |
+| 官方 episode / 原始文件编号 | TOP → LEFT WRIST → RIGHT WRIST（同一帧） | 完整示教 |
| --- | --- | --- |
-| **2700** / 0000000 |  | [同步视频](media/put_bottles_into_dustbin/episode_0000000/top_right_left.mp4) · [top](media/put_bottles_into_dustbin/episode_0000000/top.mp4) · [right](media/put_bottles_into_dustbin/episode_0000000/right.mp4) · [left](media/put_bottles_into_dustbin/episode_0000000/left.mp4) · [动作/状态](trajectories/put_bottles_into_dustbin/episode_002700.parquet) |
-| **2749** / 0000049 |  | [同步视频](media/put_bottles_into_dustbin/episode_0000049/top_right_left.mp4) · [top](media/put_bottles_into_dustbin/episode_0000049/top.mp4) · [right](media/put_bottles_into_dustbin/episode_0000049/right.mp4) · [left](media/put_bottles_into_dustbin/episode_0000049/left.mp4) · [动作/状态](trajectories/put_bottles_into_dustbin/episode_002749.parquet) |
-| **2799** / 0000099 |  | [同步视频](media/put_bottles_into_dustbin/episode_0000099/top_right_left.mp4) · [top](media/put_bottles_into_dustbin/episode_0000099/top.mp4) · [right](media/put_bottles_into_dustbin/episode_0000099/right.mp4) · [left](media/put_bottles_into_dustbin/episode_0000099/left.mp4) · [动作/状态](trajectories/put_bottles_into_dustbin/episode_002799.parquet) |
+| **2700** / 0000000 |  | [同步视频](media/put_bottles_into_dustbin/episode_0000000/top_left_right.mp4) · [top](media/put_bottles_into_dustbin/episode_0000000/top.mp4) · [left](media/put_bottles_into_dustbin/episode_0000000/left.mp4) · [right](media/put_bottles_into_dustbin/episode_0000000/right.mp4) · [动作/状态](trajectories/put_bottles_into_dustbin/episode_002700.parquet) |
+| **2749** / 0000049 |  | [同步视频](media/put_bottles_into_dustbin/episode_0000049/top_left_right.mp4) · [top](media/put_bottles_into_dustbin/episode_0000049/top.mp4) · [left](media/put_bottles_into_dustbin/episode_0000049/left.mp4) · [right](media/put_bottles_into_dustbin/episode_0000049/right.mp4) · [动作/状态](trajectories/put_bottles_into_dustbin/episode_002749.parquet) |
+| **2799** / 0000099 |  | [同步视频](media/put_bottles_into_dustbin/episode_0000099/top_left_right.mp4) · [top](media/put_bottles_into_dustbin/episode_0000099/top.mp4) · [left](media/put_bottles_into_dustbin/episode_0000099/left.mp4) · [right](media/put_bottles_into_dustbin/episode_0000099/right.mp4) · [动作/状态](trajectories/put_bottles_into_dustbin/episode_002799.parquet) |
[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/put-bottles-into-dustbin.mp4)
@@ -1063,11 +1088,11 @@ X 红 / Y 绿 / Z 蓝。箭头位置只用于展示方向，并不代表世界
| 75 | Any four player pieces are placed on board cells. |
| 100 | All five player pieces are on board cells at the correct height and the gripper is open. |
-| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 |
+| 官方 episode / 原始文件编号 | TOP → LEFT WRIST → RIGHT WRIST（同一帧） | 完整示教 |
| --- | --- | --- |
-| **2100** / 0000000 |  | [同步视频](media/play_tic_tac_toe/episode_0000000/top_right_left.mp4) · [top](media/play_tic_tac_toe/episode_0000000/top.mp4) · [right](media/play_tic_tac_toe/episode_0000000/right.mp4) · [left](media/play_tic_tac_toe/episode_0000000/left.mp4) · [动作/状态](trajectories/play_tic_tac_toe/episode_002100.parquet) |
-| **2149** / 0000049 |  | [同步视频](media/play_tic_tac_toe/episode_0000049/top_right_left.mp4) · [top](media/play_tic_tac_toe/episode_0000049/top.mp4) · [right](media/play_tic_tac_toe/episode_0000049/right.mp4) · [left](media/play_tic_tac_toe/episode_0000049/left.mp4) · [动作/状态](trajectories/play_tic_tac_toe/episode_002149.parquet) |
-| **2199** / 0000099 |  | [同步视频](media/play_tic_tac_toe/episode_0000099/top_right_left.mp4) · [top](media/play_tic_tac_toe/episode_0000099/top.mp4) · [right](media/play_tic_tac_toe/episode_0000099/right.mp4) · [left](media/play_tic_tac_toe/episode_0000099/left.mp4) · [动作/状态](trajectories/play_tic_tac_toe/episode_002199.parquet) |
+| **2100** / 0000000 |  | [同步视频](media/play_tic_tac_toe/episode_0000000/top_left_right.mp4) · [top](media/play_tic_tac_toe/episode_0000000/top.mp4) · [left](media/play_tic_tac_toe/episode_0000000/left.mp4) · [right](media/play_tic_tac_toe/episode_0000000/right.mp4) · [动作/状态](trajectories/play_tic_tac_toe/episode_002100.parquet) |
+| **2149** / 0000049 |  | [同步视频](media/play_tic_tac_toe/episode_0000049/top_left_right.mp4) · [top](media/play_tic_tac_toe/episode_0000049/top.mp4) · [left](media/play_tic_tac_toe/episode_0000049/left.mp4) · [right](media/play_tic_tac_toe/episode_0000049/right.mp4) · [动作/状态](trajectories/play_tic_tac_toe/episode_002149.parquet) |
+| **2199** / 0000099 |  | [同步视频](media/play_tic_tac_toe/episode_0000099/top_left_right.mp4) · [top](media/play_tic_tac_toe/episode_0000099/top.mp4) · [left](media/play_tic_tac_toe/episode_0000099/left.mp4) · [right](media/play_tic_tac_toe/episode_0000099/right.mp4) · [动作/状态](trajectories/play_tic_tac_toe/episode_002199.parquet) |
[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/play-tic-tac-toe.mp4)
@@ -1090,11 +1115,11 @@ X 红 / Y 绿 / Z 蓝。箭头位置只用于展示方向，并不代表世界
| 90 | All four eggs are placed in the holder, but the lid is not fully closed yet. |
| 100 | All four eggs are in the holder, the holder lid is correctly and fully closed, and the robot returns to origin. |
-| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 |
+| 官方 episode / 原始文件编号 | TOP → LEFT WRIST → RIGHT WRIST（同一帧） | 完整示教 |
| --- | --- | --- |
-| **700** / 0000000 |  | [同步视频](media/fill_egg_holder/episode_0000000/top_right_left.mp4) · [top](media/fill_egg_holder/episode_0000000/top.mp4) · [right](media/fill_egg_holder/episode_0000000/right.mp4) · [left](media/fill_egg_holder/episode_0000000/left.mp4) · [动作/状态](trajectories/fill_egg_holder/episode_000700.parquet) |
-| **749** / 0000049 |  | [同步视频](media/fill_egg_holder/episode_0000049/top_right_left.mp4) · [top](media/fill_egg_holder/episode_0000049/top.mp4) · [right](media/fill_egg_holder/episode_0000049/right.mp4) · [left](media/fill_egg_holder/episode_0000049/left.mp4) · [动作/状态](trajectories/fill_egg_holder/episode_000749.parquet) |
-| **799** / 0000099 |  | [同步视频](media/fill_egg_holder/episode_0000099/top_right_left.mp4) · [top](media/fill_egg_holder/episode_0000099/top.mp4) · [right](media/fill_egg_holder/episode_0000099/right.mp4) · [left](media/fill_egg_holder/episode_0000099/left.mp4) · [动作/状态](trajectories/fill_egg_holder/episode_000799.parquet) |
+| **700** / 0000000 |  | [同步视频](media/fill_egg_holder/episode_0000000/top_left_right.mp4) · [top](media/fill_egg_holder/episode_0000000/top.mp4) · [left](media/fill_egg_holder/episode_0000000/left.mp4) · [right](media/fill_egg_holder/episode_0000000/right.mp4) · [动作/状态](trajectories/fill_egg_holder/episode_000700.parquet) |
+| **749** / 0000049 |  | [同步视频](media/fill_egg_holder/episode_0000049/top_left_right.mp4) · [top](media/fill_egg_holder/episode_0000049/top.mp4) · [left](media/fill_egg_holder/episode_0000049/left.mp4) · [right](media/fill_egg_holder/episode_0000049/right.mp4) · [动作/状态](trajectories/fill_egg_holder/episode_000749.parquet) |
+| **799** / 0000099 |  | [同步视频](media/fill_egg_holder/episode_0000099/top_left_right.mp4) · [top](media/fill_egg_holder/episode_0000099/top.mp4) · [left](media/fill_egg_holder/episode_0000099/left.mp4) · [right](media/fill_egg_holder/episode_0000099/right.mp4) · [动作/状态](trajectories/fill_egg_holder/episode_000799.parquet) |
[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/fill-egg-holder.mp4)
@@ -1118,11 +1143,11 @@ X 红 / Y 绿 / Z 蓝。箭头位置只用于展示方向，并不代表世界
| 75 | Any three target items are organized correctly. |
| 100 | All four target items are organized correctly and the robot returns to origin. |
-| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 |
+| 官方 episode / 原始文件编号 | TOP → LEFT WRIST → RIGHT WRIST（同一帧） | 完整示教 |
| --- | --- | --- |
-| **1700** / 0000000 |  | [同步视频](media/organize_table/episode_0000000/top_right_left.mp4) · [top](media/organize_table/episode_0000000/top.mp4) · [right](media/organize_table/episode_0000000/right.mp4) · [left](media/organize_table/episode_0000000/left.mp4) · [动作/状态](trajectories/organize_table/episode_001700.parquet) |
-| **1749** / 0000049 |  | [同步视频](media/organize_table/episode_0000049/top_right_left.mp4) · [top](media/organize_table/episode_0000049/top.mp4) · [right](media/organize_table/episode_0000049/right.mp4) · [left](media/organize_table/episode_0000049/left.mp4) · [动作/状态](trajectories/organize_table/episode_001749.parquet) |
-| **1799** / 0000099 |  | [同步视频](media/organize_table/episode_0000099/top_right_left.mp4) · [top](media/organize_table/episode_0000099/top.mp4) · [right](media/organize_table/episode_0000099/right.mp4) · [left](media/organize_table/episode_0000099/left.mp4) · [动作/状态](trajectories/organize_table/episode_001799.parquet) |
+| **1700** / 0000000 |  | [同步视频](media/organize_table/episode_0000000/top_left_right.mp4) · [top](media/organize_table/episode_0000000/top.mp4) · [left](media/organize_table/episode_0000000/left.mp4) · [right](media/organize_table/episode_0000000/right.mp4) · [动作/状态](trajectories/organize_table/episode_001700.parquet) |
+| **1749** / 0000049 |  | [同步视频](media/organize_table/episode_0000049/top_left_right.mp4) · [top](media/organize_table/episode_0000049/top.mp4) · [left](media/organize_table/episode_0000049/left.mp4) · [right](media/organize_table/episode_0000049/right.mp4) · [动作/状态](trajectories/organize_table/episode_001749.parquet) |
+| **1799** / 0000099 |  | [同步视频](media/organize_table/episode_0000099/top_left_right.mp4) · [top](media/organize_table/episode_0000099/top.mp4) · [left](media/organize_table/episode_0000099/left.mp4) · [right](media/organize_table/episode_0000099/right.mp4) · [动作/状态](trajectories/organize_table/episode_001799.parquet) |
[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/organize-table.mp4)
@@ -1141,11 +1166,11 @@ X 红 / Y 绿 / Z 蓝。箭头位置只用于展示方向，并不代表世界
| 0 | The kong declaration state is not completed. |
| 100 | The three matching Mahjong tiles are pushed down, the non-matching tiles remain upright on the table, the target tile is correctly grasped and placed at the required position, the gripper is open, and no invalid robot motion is detected. |
-| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 |
+| 官方 episode / 原始文件编号 | TOP → LEFT WRIST → RIGHT WRIST（同一帧） | 完整示教 |
| --- | --- | --- |
-| **1400** / 0000000 |  | [同步视频](media/make_kong/episode_0000000/top_right_left.mp4) · [top](media/make_kong/episode_0000000/top.mp4) · [right](media/make_kong/episode_0000000/right.mp4) · [left](media/make_kong/episode_0000000/left.mp4) · [动作/状态](trajectories/make_kong/episode_001400.parquet) |
-| **1449** / 0000049 |  | [同步视频](media/make_kong/episode_0000049/top_right_left.mp4) · [top](media/make_kong/episode_0000049/top.mp4) · [right](media/make_kong/episode_0000049/right.mp4) · [left](media/make_kong/episode_0000049/left.mp4) · [动作/状态](trajectories/make_kong/episode_001449.parquet) |
-| **1499** / 0000099 |  | [同步视频](media/make_kong/episode_0000099/top_right_left.mp4) · [top](media/make_kong/episode_0000099/top.mp4) · [right](media/make_kong/episode_0000099/right.mp4) · [left](media/make_kong/episode_0000099/left.mp4) · [动作/状态](trajectories/make_kong/episode_001499.parquet) |
+| **1400** / 0000000 |  | [同步视频](media/make_kong/episode_0000000/top_left_right.mp4) · [top](media/make_kong/episode_0000000/top.mp4) · [left](media/make_kong/episode_0000000/left.mp4) · [right](media/make_kong/episode_0000000/right.mp4) · [动作/状态](trajectories/make_kong/episode_001400.parquet) |
+| **1449** / 0000049 |  | [同步视频](media/make_kong/episode_0000049/top_left_right.mp4) · [top](media/make_kong/episode_0000049/top.mp4) · [left](media/make_kong/episode_0000049/left.mp4) · [right](media/make_kong/episode_0000049/right.mp4) · [动作/状态](trajectories/make_kong/episode_001449.parquet) |
+| **1499** / 0000099 |  | [同步视频](media/make_kong/episode_0000099/top_left_right.mp4) · [top](media/make_kong/episode_0000099/top.mp4) · [left](media/make_kong/episode_0000099/left.mp4) · [right](media/make_kong/episode_0000099/right.mp4) · [动作/状态](trajectories/make_kong/episode_001499.parquet) |
[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/make-kong.mp4)
@@ -1167,11 +1192,11 @@ X 红 / Y 绿 / Z 蓝。箭头位置只用于展示方向，并不代表世界
| 60 | Three peg groups are completed. |
| 100 | All four peg groups are completed and the robot returns to origin. |
-| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 |
+| 官方 episode / 原始文件编号 | TOP → LEFT WRIST → RIGHT WRIST（同一帧） | 完整示教 |
| --- | --- | --- |
-| **2000** / 0000000 |  | [同步视频](media/play_stacking_toy/episode_0000000/top_right_left.mp4) · [top](media/play_stacking_toy/episode_0000000/top.mp4) · [right](media/play_stacking_toy/episode_0000000/right.mp4) · [left](media/play_stacking_toy/episode_0000000/left.mp4) · [动作/状态](trajectories/play_stacking_toy/episode_002000.parquet) |
-| **2049** / 0000049 |  | [同步视频](media/play_stacking_toy/episode_0000049/top_right_left.mp4) · [top](media/play_stacking_toy/episode_0000049/top.mp4) · [right](media/play_stacking_toy/episode_0000049/right.mp4) · [left](media/play_stacking_toy/episode_0000049/left.mp4) · [动作/状态](trajectories/play_stacking_toy/episode_002049.parquet) |
-| **2099** / 0000099 |  | [同步视频](media/play_stacking_toy/episode_0000099/top_right_left.mp4) · [top](media/play_stacking_toy/episode_0000099/top.mp4) · [right](media/play_stacking_toy/episode_0000099/right.mp4) · [left](media/play_stacking_toy/episode_0000099/left.mp4) · [动作/状态](trajectories/play_stacking_toy/episode_002099.parquet) |
+| **2000** / 0000000 |  | [同步视频](media/play_stacking_toy/episode_0000000/top_left_right.mp4) · [top](media/play_stacking_toy/episode_0000000/top.mp4) · [left](media/play_stacking_toy/episode_0000000/left.mp4) · [right](media/play_stacking_toy/episode_0000000/right.mp4) · [动作/状态](trajectories/play_stacking_toy/episode_002000.parquet) |
+| **2049** / 0000049 |  | [同步视频](media/play_stacking_toy/episode_0000049/top_left_right.mp4) · [top](media/play_stacking_toy/episode_0000049/top.mp4) · [left](media/play_stacking_toy/episode_0000049/left.mp4) · [right](media/play_stacking_toy/episode_0000049/right.mp4) · [动作/状态](trajectories/play_stacking_toy/episode_002049.parquet) |
+| **2099** / 0000099 |  | [同步视频](media/play_stacking_toy/episode_0000099/top_left_right.mp4) · [top](media/play_stacking_toy/episode_0000099/top.mp4) · [left](media/play_stacking_toy/episode_0000099/left.mp4) · [right](media/play_stacking_toy/episode_0000099/right.mp4) · [动作/状态](trajectories/play_stacking_toy/episode_002099.parquet) |
[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/play-stacking-toy.mp4)
@@ -1353,11 +1378,11 @@ X 红 / Y 绿 / Z 蓝。箭头位置只用于展示方向，并不代表世界
**Scoring:** 官网未提供该任务的评分标准。
-| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 |
+| 官方 episode / 原始文件编号 | TOP → LEFT WRIST → RIGHT WRIST（同一帧） | 完整示教 |
| --- | --- | --- |
-| **500** / 0000000 |  | [同步视频](media/dlc/episode_0000000/top_right_left.mp4) · [top](media/dlc/episode_0000000/top.mp4) · [right](media/dlc/episode_0000000/right.mp4) · [left](media/dlc/episode_0000000/left.mp4) · [动作/状态](trajectories/dlc/episode_000500.parquet) |
-| **549** / 0000049 |  | [同步视频](media/dlc/episode_0000049/top_right_left.mp4) · [top](media/dlc/episode_0000049/top.mp4) · [right](media/dlc/episode_0000049/right.mp4) · [left](media/dlc/episode_0000049/left.mp4) · [动作/状态](trajectories/dlc/episode_000549.parquet) |
-| **599** / 0000099 |  | [同步视频](media/dlc/episode_0000099/top_right_left.mp4) · [top](media/dlc/episode_0000099/top.mp4) · [right](media/dlc/episode_0000099/right.mp4) · [left](media/dlc/episode_0000099/left.mp4) · [动作/状态](trajectories/dlc/episode_000599.parquet) |
+| **500** / 0000000 |  | [同步视频](media/dlc/episode_0000000/top_left_right.mp4) · [top](media/dlc/episode_0000000/top.mp4) · [left](media/dlc/episode_0000000/left.mp4) · [right](media/dlc/episode_0000000/right.mp4) · [动作/状态](trajectories/dlc/episode_000500.parquet) |
+| **549** / 0000049 |  | [同步视频](media/dlc/episode_0000049/top_left_right.mp4) · [top](media/dlc/episode_0000049/top.mp4) · [left](media/dlc/episode_0000049/left.mp4) · [right](media/dlc/episode_0000049/right.mp4) · [动作/状态](trajectories/dlc/episode_000549.parquet) |
+| **599** / 0000099 |  | [同步视频](media/dlc/episode_0000099/top_left_right.mp4) · [top](media/dlc/episode_0000099/top.mp4) · [left](media/dlc/episode_0000099/left.mp4) · [right](media/dlc/episode_0000099/right.mp4) · [动作/状态](trajectories/dlc/episode_000599.parquet) |
[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/dlc.mp4)
diff --git a/browser/index.html b/browser/index.html
index a4cfc132c5abc8c6adf1cda711a2b6abf0accfdd..f7ee44431d1833a348b389678eeb0bca4bec78d8 100644
--- a/browser/index.html
+++ b/browser/index.html
@@ -9,6 +9,7 @@
*{box-sizing:border-box}html{scroll-behavior:smooth}body{margin:0;background:var(--paper);color:var(--ink);font-family:'Trebuchet MS','Microsoft YaHei',sans-serif;font-size:14px}button,input,a{font:inherit}button,a{touch-action:manipulation}button{cursor:pointer}a{color:inherit;text-underline-offset:3px}button:focus-visible,a:focus-visible,input:focus-visible{outline:3px solid var(--accent);outline-offset:3px}.mono{font-family:Consolas,'Liberation Mono',monospace}.app{display:grid;grid-template-columns:268px minmax(0,1fr);min-height:100vh}.rail{background:var(--rail);color:#f3f5ed;position:sticky;top:0;height:100vh;display:flex;flex-direction:column;padding:26px 18px 14px}.brand{font-family:Bahnschrift,'Trebuchet MS',sans-serif;font-weight:700;font-size:26px;letter-spacing:-1px}.brand span{color:var(--green)}.rail-caption{color:#a0b4a7;font-size:11px;letter-spacing:1.8px;margin:8px 0 22px}.search{width:100%;padding:11px 12px;border:1px solid #456052;background:#213b30;color:white;border-radius:3px}.search::placeholder{color:#acb9ad}.groups{display:grid;grid-template-columns:1fr 1fr;gap:5px;margin:12px 0 17px}.group{border:1px solid #385245;color:#bed0c2;background:none;padding:8px 6px;font-size:11px;text-align:left;border-radius:3px}.group.active{background:var(--green);border-color:var(--green);color:var(--rail)}.group span{float:right;opacity:.7}.list-head{display:flex;justify-content:space-between;font-size:11px;color:#a4b7a8;margin:0 3px 9px}.task-list{min-height:0;overflow:auto;flex:1;scrollbar-width:thin;scrollbar-color:#527761 #172923}.task-link{width:100%;display:flex;gap:11px;align-items:center;text-align:left;border:0;border-bottom:1px solid #2b4136;background:none;color:#c7d5cb;padding:12px 9px;line-height:1.35}.task-link:hover{background:#243f31}.task-link.active{color:#172923;background:var(--white);border-radius:3px}.task-link .id{color:#a6c99b;font-size:13px;min-width:32px}.task-link.active .id{color:#a2462c}.task-link .name{font-size:12px}.rail-footer{font-size:11px;border-top:1px solid #3a5143;padding-top:14px;margin-top:13px;display:flex;gap:16px;color:#a8bbaa}.main{padding:27px clamp(20px,3.6vw,58px) 65px;min-width:0;max-width:1600px;width:100%;margin:auto}.topline{display:flex;align-items:center;justify-content:space-between;gap:12px;border-bottom:1px solid var(--line);padding-bottom:19px;margin-bottom:30px;color:var(--muted);font-size:12px}.topline b{color:var(--ink)}.toplinks{display:flex;gap:17px;align-items:center}.nav-buttons{display:flex;gap:6px}.small-button{border:1px solid var(--line);background:var(--white);color:var(--ink);padding:7px 11px;border-radius:3px}.small-button:disabled{opacity:.35;cursor:default}.eyebrow{font-size:11px;letter-spacing:1.7px;text-transform:uppercase;color:var(--muted);display:flex;align-items:center;gap:11px}.tag{display:inline-block;border:1px solid var(--line);padding:4px 7px;border-radius:2px;letter-spacing:0;text-transform:none}.task-heading{display:flex;align-items:baseline;gap:22px;margin:12px 0 20px}.big-id{font-size:64px;letter-spacing:-4px;line-height:1;color:var(--accent)}h1{font-family:Bahnschrift,'Trebuchet MS','Microsoft YaHei',sans-serif;font-size:clamp(27px,3.15vw,45px);line-height:1.1;letter-spacing:-1.3px;margin:0}.instruction{background:var(--white);border-left:4px solid var(--accent);padding:18px 22px;margin-bottom:14px}.label{font-size:10px;letter-spacing:1.8px;color:var(--muted);text-transform:uppercase}.instruction p{font-size:18px;line-height:1.55;margin:8px 0 0}.description{color:var(--muted);line-height:1.7;margin:12px 0 20px;max-width:1000px}.facts{display:flex;gap:20px;flex-wrap:wrap;font-size:11px;padding-bottom:22px;border-bottom:1px solid var(--line)}.facts strong{display:block;margin-top:5px;font-weight:400;font-size:12px;color:var(--ink)}.warning{background:#f8e9d7;border:1px solid #e2c5a5;padding:14px 17px;margin:15px 0;font-size:12px;line-height:1.7}.section-bar{display:flex;justify-content:space-between;align-items:center;gap:14px;margin:30px 0 17px}h2{font-family:Bahnschrift,'Trebuchet MS','Microsoft YaHei',sans-serif;font-size:23px;letter-spacing:-.5px;margin:0}.section-note{color:var(--muted);font-size:11px;margin-top:5px}.mode{display:flex;gap:2px;background:#e4e7df;padding:3px;border-radius:4px}.mode button{border:0;border-radius:3px;padding:8px 11px;color:var(--muted);background:none;font-size:11px}.mode button.active{background:var(--white);color:var(--ink);box-shadow:0 1px 3px #0001}.episode{background:var(--white);border:1px solid var(--line);margin-bottom:21px;border-radius:4px;overflow:hidden}.episode-head{display:flex;align-items:center;justify-content:space-between;gap:12px;padding:14px 16px;border-bottom:1px solid var(--line);font-size:12px}.episode-head b{font-weight:400;font-size:14px}.episode-meta{font-size:11px;color:var(--muted);margin-top:5px}.episode-badge{color:var(--muted);font-size:10px;letter-spacing:1px}.combined{padding:12px;background:#13231d}video{display:block;width:100%;background:#101b17}.combined video{aspect-ratio:960/268}.view-labels{display:grid;grid-template-columns:repeat(3,1fr);background:#263c31;color:#cbd9cc;font-size:10px;letter-spacing:1.2px;padding:8px;text-align:center}.views-scroll{overflow-x:auto}.views{display:grid;grid-template-columns:repeat(3,minmax(220px,1fr));min-width:690px;gap:1px;background:#47604f}.view{background:#13231d}.view .camera{color:#d1ded1;font-size:10px;letter-spacing:1px;padding:9px 12px}.view video{aspect-ratio:4/3}.episode-foot{display:flex;justify-content:space-between;flex-wrap:wrap;align-items:center;gap:9px;padding:12px 16px;color:var(--muted);font-size:11px}.source-links{display:flex;gap:13px;flex-wrap:wrap}.sync-actions{display:flex;gap:5px}.sync-actions button{padding:5px 8px;font-size:11px;background:var(--white);border:1px solid var(--line);border-radius:3px}.demo-video{background:#14241c;padding:12px}.demo-video video{max-height:520px;min-height:160px}.scoring{border:1px solid var(--line);border-collapse:collapse;width:100%;background:var(--white);margin:15px 0}.scoring th{text-align:left;padding:12px 16px;background:#e6eadd;font-size:11px;text-transform:uppercase;letter-spacing:1px}.scoring td{padding:13px 16px;line-height:1.6;border-top:1px solid var(--line);vertical-align:top}.scoring td:first-child{width:88px;font-family:Consolas,monospace;font-size:20px;color:#a84428}.empty{padding:20px;border:1px solid var(--line);line-height:1.7;background:var(--white)}.source-footer{font-size:11px;color:var(--muted);line-height:1.8;border-top:1px solid var(--line);margin-top:27px;padding-top:20px}.source-footer a{margin-right:12px}.error{font-size:11px;color:#aa3d2c;padding:8px 16px;line-height:1.6}.reference{padding:25px 0;border-top:1px solid var(--line)}.reference video{max-height:500px;margin-top:12px}.axis{max-width:700px;width:100%;margin-top:15px}.no-results{color:#a7bcab;font-size:12px;padding:16px 8px}.stats{font-size:11px;letter-spacing:.4px}.muted{color:var(--muted)}
@media(min-width:1600px){.main{padding-left:55px;padding-right:55px}}@media(max-width:900px){.app{grid-template-columns:218px minmax(0,1fr)}.rail{padding:20px 12px}.main{padding:21px 19px 50px}.big-id{font-size:48px}.task-heading{gap:13px}.toplinks a{font-size:10px}.stats{display:none}.section-bar{align-items:flex-start;flex-direction:column}}@media(max-width:620px){.app{display:block}.rail{position:relative;height:auto;max-height:360px;padding:17px 14px}.brand{font-size:22px}.rail-caption{margin-bottom:12px}.groups{grid-template-columns:repeat(4,1fr);margin-bottom:9px}.task-list{max-height:125px;min-height:70px}.rail-footer{display:none}.main{padding:20px 14px 45px}.topline{margin-bottom:22px}.task-heading{align-items:center}.big-id{font-size:44px}h1{font-size:29px}.instruction{padding:14px 17px}.instruction p{font-size:16px}.episode-head{padding:12px}.episode-foot{padding:11px}.toplinks{gap:12px}.section-bar{gap:12px}.facts{gap:17px}.combined{padding:6px}.scoring td{font-size:12px;padding:11px}.scoring td:first-child{width:55px;font-size:18px}}
@media(prefers-reduced-motion:reduce){html{scroll-behavior:auto}}
+.camera-unavailable{aspect-ratio:4/3;display:flex;flex-direction:column;align-items:center;justify-content:center;gap:10px;text-align:center;background:#eef1e7;color:#5d6d61;border-left:1px solid #d7ded1}.camera-unavailable b{font-size:15px;font-weight:400}.camera-unavailable span{font-size:12px;color:#8a5b45}.camera-unavailable small{font-size:10px;line-height:1.65;color:#819080}.random-camera-note{padding:12px 16px;line-height:1.8;font-size:11px;background:#f6f0e3;color:#776545;border-top:1px solid var(--line)}.random-camera-note b{font-weight:600;margin-right:6px}
@@ -54,9 +55,9 @@ function selectTask(token,update=true){
function head(){return `43 TASKS / 35 OFFICIAL DATA INDICES / 105 DEMONSTRATIONS${link(DATA.repo_url,'数据仓库 ↗')}${link('https://robodojo-benchmark.com/doc/sim-tasks/','官方文档 ↗')}
`}
function video(url,poster='',cls=''){return ``}
function episode(s){
- const originals=['top','right','left'].map(v=>link(file(s.views[v].path),v.toUpperCase()+' 原视频')).join('');
- const content=mode==='combined'?`TOP / HEADRIGHT WRISTLEFT WRIST
${video(media(s.synchronized_views_path),media(s.preview_path))}
`:
- ``;
+ const originals=['top','left','right'].map(v=>link(file(s.views[v].path),v.toUpperCase()+' 原视频')).join('');
+ const content=mode==='combined'?`TOP / HEADLEFT WRISTRIGHT WRIST
${video(media(s.synchronized_views_path),media(s.preview_path))}
`:
+ ``;
return `EPISODE ${s.episode_index}原始文件 ${String(s.source_local_episode).padStart(7,'0')} · ${(s.frame_count/s.fps).toFixed(2)} s · ${s.fps} FPS · ${s.frame_count} frames
OFFICIAL DEMONSTRATION${esc(t.category)}官网目录 C${String(t.catalog_number).padStart(2,'0')}
${t.task_index!==null?String(t.task_index).padStart(2,'0'):'C'+t.catalog_number}
${esc(t.task_name)}
${t.task_index!==null?'OFFICIAL task_index = '+t.task_index:'EVAL-ONLY · 无官方 task_index'}评分标准 ↓ Instruction · 官网指令
${esc(t.fields.Instruction)}
数据版本的 instruction 与当前官网不同
${esc(t.dataset_instruction)}
下面的示教属于官方数据版本，不能直接认定其完成了当前官网的全部目标。
`;
html+=`${esc(t.fields.Description)}
Platform${esc(t.fields.Platform)}
Data source${esc(t.fields['Data Source'])}
Usage${esc(t.fields.Usage)}
Source${link(t.doc_url,'官方任务页 ↗')}
${ss.length?'官方示教':'官方评估演示'}
${ss.length?'同一 episode 的 TOP → RIGHT WRIST → LEFT WRIST；完整 MP4。':'官方没有发布该任务的三相机训练示教，下面是官网 MP4 演示。'}
${ss.length?`
`:''}
${esc(d.label)}官网演示 · ${d.label.includes('Random')?'随机布局，eval-only':'eval-only，无公开示教'}
WEBSITE DEMO${video(media(d.path))}
`;
+ html+=`${ss.length?'官方示教':'官方评估演示'}
${ss.length?'同一 episode 的 TOP → LEFT WRIST → RIGHT WRIST；完整 MP4。':'官方没有发布该任务的三相机训练示教，下面是官网 MP4 演示。'}
${ss.length?`
`:''}
${camera} WRIST
${camera==='LEFT'?'左':'右'}腕相机对应 MP4 未公开官网及官方 HF 任务数据中
未找到这段演示的腕部录像
Random version 只有公开的头部相机 MP4。画面里有左右机械臂，但这不表示对应的左右腕相机录像已发布。当前保留真实可用的 TOP 视角，LEFT / RIGHT 标记为未公开。
`:`${video(media(d.path))}
`;
+ html+=`${esc(d.label)}官网演示 · ${random?'随机布局，eval-only · TOP 视角':'eval-only，无公开示教'}
WEBSITE DEMOScoring · 评分标准
来自当前官网的任务规则；官方没有提供每条示教的实际得分。
| Score | Condition |
|---|
${t.scoring.map(s=>`| ${esc(s.score)} | ${esc(s.condition)} |
`).join('')}
`:'官网未提供该任务的评分标准。
';
diff --git a/data/all.parquet b/data/all.parquet
index 9b4534533d2e15a4e18b969557e8d5f2a44bf869..4d11235e635658bf4c5d92df86bb20f675d87c9d 100644
--- a/data/all.parquet
+++ b/data/all.parquet
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
-oid sha256:63d7cb4dbc022b05cd09c431c4282e207b06bade3b8367f7740b957395f4ab3c
-size 148645
+oid sha256:19a3def2fc5639062f10dc319a39502d3b4fc3e42fbbddcd6d919ce1dbe6ea51
+size 150780
diff --git a/data/catalog_35_align_blocks.parquet b/data/catalog_35_align_blocks.parquet
index 4cd3cf350828a36fc19be217805c4968bf32cd5c..8cac054ef689c9c03e26aa4b8a3b87a68ad92da5 100644
--- a/data/catalog_35_align_blocks.parquet
+++ b/data/catalog_35_align_blocks.parquet
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
-oid sha256:c6748455fb95b2ffcd8b66c493ba0c0907815305528525ded55c80f87fb2efea
+oid sha256:67bf75400b8c1a41f588352c0aba523058854d4f7d9a2f94aa71da6eab21d689
size 20421
diff --git a/data/catalog_36_general_pickup.parquet b/data/catalog_36_general_pickup.parquet
index 2c9094e1c23028071f455aa4eca121210f2f0c74..6d3b576786b19a9be110e9f9c4592e2785abe343 100644
--- a/data/catalog_36_general_pickup.parquet
+++ b/data/catalog_36_general_pickup.parquet
@@ -1,3 +1,3 @@
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@@ -0,0 +1,3 @@
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deleted file mode 100644
index b9037f8011975ceb9b8905e44f3522ae5d3a9379..0000000000000000000000000000000000000000
--- a/media/sweep_blocks/episode_0000049/top_right_left.jpg
+++ /dev/null
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-size 30606
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deleted file mode 100644
index bc6b79429445522216af96b796636d474120ad7e..0000000000000000000000000000000000000000
--- a/media/sweep_blocks/episode_0000049/top_right_left.mp4
+++ /dev/null
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new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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new file mode 100644
index 0000000000000000000000000000000000000000..b898a7fd24ae3e4fadd8c643a3a5d49bdc17cc74
--- /dev/null
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@@ -0,0 +1,3 @@
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--- a/media/sweep_blocks/episode_0000099/top_right_left.jpg
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index a2546a01975bab7f3737c4ffd5ecc4d5fce3dd19..0000000000000000000000000000000000000000
--- a/media/sweep_blocks/episode_0000099/top_right_left.mp4
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diff --git a/provenance/random_camera_audit.json b/provenance/random_camera_audit.json
new file mode 100644
index 0000000000000000000000000000000000000000..efdd1b9cedc8b7873d55212d2e9d0f3561cb5c1b
--- /dev/null
+++ b/provenance/random_camera_audit.json
@@ -0,0 +1,372 @@
+{
+ "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41",
+ "official_random_task_pages": [
+ {
+ "task_key": "stack_bowls",
+ "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/stack-bowls/",
+ "video_sources": [
+ "/doc/videos/tasks/stack-bowls.mp4",
+ "/doc/videos/tasks/stack-bowls-random.mp4"
+ ],
+ "has_random_eval_label": true
+ },
+ {
+ "task_key": "push_T",
+ "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/push-t/",
+ "video_sources": [
+ "/doc/videos/tasks/push-t.mp4",
+ "/doc/videos/tasks/push-t-random.mp4"
+ ],
+ "has_random_eval_label": true
+ },
+ {
+ "task_key": "pack_objects_into_box",
+ "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/pack-objects-into-box/",
+ "video_sources": [
+ "/doc/videos/tasks/pack-objects-into-box.mp4",
+ "/doc/videos/tasks/pack-objects-into-box-random.mp4"
+ ],
+ "has_random_eval_label": true
+ },
+ {
+ "task_key": "fold_clothes",
+ "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/fold-clothes/",
+ "video_sources": [
+ "/doc/videos/tasks/fold-clothes.mp4",
+ "/doc/videos/tasks/fold-clothes-random.mp4"
+ ],
+ "has_random_eval_label": true
+ },
+ {
+ "task_key": "hang_mugs",
+ "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/hang-mugs/",
+ "video_sources": [
+ "/doc/videos/tasks/hang-mugs.mp4",
+ "/doc/videos/tasks/hang-mugs-random.mp4"
+ ],
+ "has_random_eval_label": true
+ },
+ {
+ "task_key": "sweep_blocks",
+ "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/sweep-blocks/",
+ "video_sources": [
+ "/doc/videos/tasks/sweep-blocks.mp4",
+ "/doc/videos/tasks/sweep-blocks-random.mp4"
+ ],
+ "has_random_eval_label": true
+ },
+ {
+ "task_key": "pour_liquid_into_cup",
+ "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/pour-liquid-into-cup/",
+ "video_sources": [
+ "/doc/videos/tasks/pour-liquid-into-cup.mp4",
+ "/doc/videos/tasks/pour-liquid-into-cup-random.mp4"
+ ],
+ "has_random_eval_label": true
+ },
+ {
+ "task_key": "make_toast",
+ "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/make-toast/",
+ "video_sources": [
+ "/doc/videos/tasks/make-toast.mp4",
+ "/doc/videos/tasks/make-toast-random.mp4"
+ ],
+ "has_random_eval_label": true
+ },
+ {
+ "task_key": "arrange_largest_number",
+ "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/arrange-largest-number/",
+ "video_sources": [
+ "/doc/videos/tasks/arrange-largest-number.mp4",
+ "/doc/videos/tasks/arrange-largest-number-random.mp4"
+ ],
+ "has_random_eval_label": true
+ },
+ {
+ "task_key": "sort_nesting_dolls_by_size",
+ "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/sort-nesting-dolls-by-size/",
+ "video_sources": [
+ "/doc/videos/tasks/sort-nesting-dolls-by-size.mp4",
+ "/doc/videos/tasks/sort-nesting-dolls-by-size-random.mp4"
+ ],
+ "has_random_eval_label": true
+ },
+ {
+ "task_key": "store_laptop_and_headphones",
+ "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/store-laptop-and-headphones/",
+ "video_sources": [
+ "/doc/videos/tasks/store-laptop-and-headphones.mp4",
+ "/doc/videos/tasks/store-laptop-and-headphones-random.mp4"
+ ],
+ "has_random_eval_label": true
+ },
+ {
+ "task_key": "stack_blocks",
+ "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/stack-blocks/",
+ "video_sources": [
+ "/doc/videos/tasks/stack-blocks.mp4",
+ "/doc/videos/tasks/stack-blocks-random.mp4"
+ ],
+ "has_random_eval_label": true
+ }
+ ],
+ "local_official_random_video_streams": [
+ {
+ "task_key": "stack_bowls",
+ "file": "media/stack_bowls/random.mp4",
+ "width": 640,
+ "height": 480,
+ "duration": "7.040000",
+ "nb_frames": "176"
+ },
+ {
+ "task_key": "push_T",
+ "file": "media/push_T/random.mp4",
+ "width": 640,
+ "height": 480,
+ "duration": "9.120000",
+ "nb_frames": "228"
+ },
+ {
+ "task_key": "pack_objects_into_box",
+ "file": "media/pack_objects_into_box/random.mp4",
+ "width": 640,
+ "height": 480,
+ "duration": "22.800000",
+ "nb_frames": "570"
+ },
+ {
+ "task_key": "fold_clothes",
+ "file": "media/fold_clothes/random.mp4",
+ "width": 640,
+ "height": 480,
+ "duration": "10.040000",
+ "nb_frames": "251"
+ },
+ {
+ "task_key": "hang_mugs",
+ "file": "media/hang_mugs/random.mp4",
+ "width": 640,
+ "height": 480,
+ "duration": "11.120000",
+ "nb_frames": "278"
+ },
+ {
+ "task_key": "sweep_blocks",
+ "file": "media/sweep_blocks/random.mp4",
+ "width": 640,
+ "height": 480,
+ "duration": "21.520000",
+ "nb_frames": "538"
+ },
+ {
+ "task_key": "pour_liquid_into_cup",
+ "file": "media/pour_liquid_into_cup/random.mp4",
+ "width": 640,
+ "height": 480,
+ "duration": "5.560000",
+ "nb_frames": "139"
+ },
+ {
+ "task_key": "make_toast",
+ "file": "media/make_toast/random.mp4",
+ "width": 640,
+ "height": 480,
+ "duration": "15.000000",
+ "nb_frames": "375"
+ },
+ {
+ "task_key": "arrange_largest_number",
+ "file": "media/arrange_largest_number/random.mp4",
+ "width": 640,
+ "height": 480,
+ "duration": "30.920000",
+ "nb_frames": "773"
+ },
+ {
+ "task_key": "sort_nesting_dolls_by_size",
+ "file": "media/sort_nesting_dolls_by_size/random.mp4",
+ "width": 640,
+ "height": 480,
+ "duration": "41.240000",
+ "nb_frames": "1031"
+ },
+ {
+ "task_key": "store_laptop_and_headphones",
+ "file": "media/store_laptop_and_headphones/random.mp4",
+ "width": 640,
+ "height": 480,
+ "duration": "13.480000",
+ "nb_frames": "337"
+ },
+ {
+ "task_key": "stack_blocks",
+ "file": "media/stack_blocks/random.mp4",
+ "width": 640,
+ "height": 480,
+ "duration": "14.080000",
+ "nb_frames": "352"
+ }
+ ],
+ "published_raw_task_folders": [
+ "data/RoboDojo/arrange_largest_number",
+ "data/RoboDojo/build_tower",
+ "data/RoboDojo/classify_objects",
+ "data/RoboDojo/cover_blocks",
+ "data/RoboDojo/deposit_coin",
+ "data/RoboDojo/dlc",
+ "data/RoboDojo/fasten_screws",
+ "data/RoboDojo/fill_egg_holder",
+ "data/RoboDojo/fill_pen_holder",
+ "data/RoboDojo/fold_clothes",
+ "data/RoboDojo/hang_mugs",
+ "data/RoboDojo/imitate_sorting_sequence",
+ "data/RoboDojo/insert_key",
+ "data/RoboDojo/insert_tubes",
+ "data/RoboDojo/make_kong",
+ "data/RoboDojo/make_toast",
+ "data/RoboDojo/match_and_pick_from_conveyor",
+ "data/RoboDojo/organize_table",
+ "data/RoboDojo/pack_objects_into_box",
+ "data/RoboDojo/play_Xylophone",
+ "data/RoboDojo/play_stacking_toy",
+ "data/RoboDojo/play_tic_tac_toe",
+ "data/RoboDojo/plug_in_charger",
+ "data/RoboDojo/pour_balls_into_vase",
+ "data/RoboDojo/pour_liquid_into_cup",
+ "data/RoboDojo/press_by_number",
+ "data/RoboDojo/push_T",
+ "data/RoboDojo/put_bottles_into_dustbin",
+ "data/RoboDojo/sort_nesting_dolls_by_size",
+ "data/RoboDojo/stack_blocks",
+ "data/RoboDojo/stack_bowls",
+ "data/RoboDojo/store_laptop_and_headphones",
+ "data/RoboDojo/swap_T",
+ "data/RoboDojo/swap_blocks",
+ "data/RoboDojo/sweep_blocks"
+ ],
+ "random_variant_folders_found": [],
+ "conclusion": "The audited official task pages expose one 640x480 head-camera MP4 per Random version; no paired left/right wrist videos are published in those pages or in the official task-specific HF dataset folders. Both robot arms can be visible in the head-camera image.",
+ "raw_preview_directory_checks": [
+ {
+ "task_key": "stack_bowls",
+ "preview_file_count": 300,
+ "episode_count": 100,
+ "episode_range": [
+ 0,
+ 99
+ ],
+ "explicit_random_files": []
+ },
+ {
+ "task_key": "push_T",
+ "preview_file_count": 300,
+ "episode_count": 100,
+ "episode_range": [
+ 0,
+ 99
+ ],
+ "explicit_random_files": []
+ },
+ {
+ "task_key": "pack_objects_into_box",
+ "preview_file_count": 300,
+ "episode_count": 100,
+ "episode_range": [
+ 0,
+ 99
+ ],
+ "explicit_random_files": []
+ },
+ {
+ "task_key": "fold_clothes",
+ "preview_file_count": 300,
+ "episode_count": 100,
+ "episode_range": [
+ 0,
+ 99
+ ],
+ "explicit_random_files": []
+ },
+ {
+ "task_key": "hang_mugs",
+ "preview_file_count": 300,
+ "episode_count": 100,
+ "episode_range": [
+ 0,
+ 99
+ ],
+ "explicit_random_files": []
+ },
+ {
+ "task_key": "sweep_blocks",
+ "preview_file_count": 300,
+ "episode_count": 100,
+ "episode_range": [
+ 0,
+ 99
+ ],
+ "explicit_random_files": []
+ },
+ {
+ "task_key": "pour_liquid_into_cup",
+ "preview_file_count": 300,
+ "episode_count": 100,
+ "episode_range": [
+ 0,
+ 99
+ ],
+ "explicit_random_files": []
+ },
+ {
+ "task_key": "make_toast",
+ "preview_file_count": 300,
+ "episode_count": 100,
+ "episode_range": [
+ 0,
+ 99
+ ],
+ "explicit_random_files": []
+ },
+ {
+ "task_key": "arrange_largest_number",
+ "preview_file_count": 300,
+ "episode_count": 100,
+ "episode_range": [
+ 0,
+ 99
+ ],
+ "explicit_random_files": []
+ },
+ {
+ "task_key": "sort_nesting_dolls_by_size",
+ "preview_file_count": 300,
+ "episode_count": 100,
+ "episode_range": [
+ 0,
+ 99
+ ],
+ "explicit_random_files": []
+ },
+ {
+ "task_key": "store_laptop_and_headphones",
+ "preview_file_count": 300,
+ "episode_count": 100,
+ "episode_range": [
+ 0,
+ 99
+ ],
+ "explicit_random_files": []
+ },
+ {
+ "task_key": "stack_blocks",
+ "preview_file_count": 300,
+ "episode_count": 100,
+ "episode_range": [
+ 0,
+ 99
+ ],
+ "explicit_random_files": []
+ }
+ ]
+}
\ No newline at end of file
diff --git a/provenance/selected_episodes.json b/provenance/selected_episodes.json
index e3f3a4b1b1e43ba4d743d127c5e6bc158a12baa3..fd3cfa83eaad439f550fea383c2ef8c7e0328713 100644
--- a/provenance/selected_episodes.json
+++ b/provenance/selected_episodes.json
@@ -14,25 +14,30 @@
"source_bytes": 433850,
"camera": "cam_head"
},
- "right": {
- "path": "media/stack_bowls/episode_0000000/right.mp4",
- "source_path": "data/RoboDojo/stack_bowls/arx_x5/preview_video/episode_0000000_cam_right_wrist.mp4",
- "source_sha256": "83079e8f54bc91578d6f9e99dbc5560014ca0333553ed811802267e30f750651",
- "source_bytes": 674614,
- "camera": "cam_right_wrist"
- },
"left": {
"path": "media/stack_bowls/episode_0000000/left.mp4",
"source_path": "data/RoboDojo/stack_bowls/arx_x5/preview_video/episode_0000000_cam_left_wrist.mp4",
"source_sha256": "54792772c438f729c12a3d1a0def97b2bda67d76bdac43773213b21dd54b1f59",
"source_bytes": 563545,
"camera": "cam_left_wrist"
+ },
+ "right": {
+ "path": "media/stack_bowls/episode_0000000/right.mp4",
+ "source_path": "data/RoboDojo/stack_bowls/arx_x5/preview_video/episode_0000000_cam_right_wrist.mp4",
+ "source_sha256": "83079e8f54bc91578d6f9e99dbc5560014ca0333553ed811802267e30f750651",
+ "source_bytes": 674614,
+ "camera": "cam_right_wrist"
}
},
"trajectory_path": "trajectories/stack_bowls/episode_003000.parquet",
"trajectory_source_path": "data/RoboDojo_lerobot_v21_video/data/chunk-003/episode_003000.parquet",
- "synchronized_views_path": "media/stack_bowls/episode_0000000/top_right_left.mp4",
- "preview_path": "media/stack_bowls/episode_0000000/top_right_left.jpg"
+ "synchronized_views_path": "media/stack_bowls/episode_0000000/top_left_right.mp4",
+ "preview_path": "media/stack_bowls/episode_0000000/top_left_right.jpg",
+ "view_order": [
+ "top",
+ "left",
+ "right"
+ ]
},
{
"task_key": "stack_bowls",
@@ -49,25 +54,30 @@
"source_bytes": 568626,
"camera": "cam_head"
},
- "right": {
- "path": "media/stack_bowls/episode_0000049/right.mp4",
- "source_path": "data/RoboDojo/stack_bowls/arx_x5/preview_video/episode_0000049_cam_right_wrist.mp4",
- "source_sha256": "fa43d7e6d435d2beb7c00a68402f565847dd17ce8311624f9c746af291c21563",
- "source_bytes": 1567732,
- "camera": "cam_right_wrist"
- },
"left": {
"path": "media/stack_bowls/episode_0000049/left.mp4",
"source_path": "data/RoboDojo/stack_bowls/arx_x5/preview_video/episode_0000049_cam_left_wrist.mp4",
"source_sha256": "e56462e5304e84f6c56dbfdf084610935ffcdd6d0120894fda4af382f6ba98d5",
"source_bytes": 1301300,
"camera": "cam_left_wrist"
+ },
+ "right": {
+ "path": "media/stack_bowls/episode_0000049/right.mp4",
+ "source_path": "data/RoboDojo/stack_bowls/arx_x5/preview_video/episode_0000049_cam_right_wrist.mp4",
+ "source_sha256": "fa43d7e6d435d2beb7c00a68402f565847dd17ce8311624f9c746af291c21563",
+ "source_bytes": 1567732,
+ "camera": "cam_right_wrist"
}
},
"trajectory_path": "trajectories/stack_bowls/episode_003049.parquet",
"trajectory_source_path": "data/RoboDojo_lerobot_v21_video/data/chunk-003/episode_003049.parquet",
- "synchronized_views_path": "media/stack_bowls/episode_0000049/top_right_left.mp4",
- "preview_path": "media/stack_bowls/episode_0000049/top_right_left.jpg"
+ "synchronized_views_path": "media/stack_bowls/episode_0000049/top_left_right.mp4",
+ "preview_path": "media/stack_bowls/episode_0000049/top_left_right.jpg",
+ "view_order": [
+ "top",
+ "left",
+ "right"
+ ]
},
{
"task_key": "stack_bowls",
@@ -84,25 +94,30 @@
"source_bytes": 548792,
"camera": "cam_head"
},
- "right": {
- "path": "media/stack_bowls/episode_0000099/right.mp4",
- "source_path": "data/RoboDojo/stack_bowls/arx_x5/preview_video/episode_0000099_cam_right_wrist.mp4",
- "source_sha256": "e9906d6bce09bd901da7fdeb1e0f12866ad9d7f8d6469a555d861c65fc18c0d8",
- "source_bytes": 747195,
- "camera": "cam_right_wrist"
- },
"left": {
"path": "media/stack_bowls/episode_0000099/left.mp4",
"source_path": "data/RoboDojo/stack_bowls/arx_x5/preview_video/episode_0000099_cam_left_wrist.mp4",
"source_sha256": "90fa18f65bab8a5b451b52b8c4744f260e533646748058c3c2da5d97f47688eb",
"source_bytes": 660938,
"camera": "cam_left_wrist"
+ },
+ "right": {
+ "path": "media/stack_bowls/episode_0000099/right.mp4",
+ "source_path": "data/RoboDojo/stack_bowls/arx_x5/preview_video/episode_0000099_cam_right_wrist.mp4",
+ "source_sha256": "e9906d6bce09bd901da7fdeb1e0f12866ad9d7f8d6469a555d861c65fc18c0d8",
+ "source_bytes": 747195,
+ "camera": "cam_right_wrist"
}
},
"trajectory_path": "trajectories/stack_bowls/episode_003099.parquet",
"trajectory_source_path": "data/RoboDojo_lerobot_v21_video/data/chunk-003/episode_003099.parquet",
- "synchronized_views_path": "media/stack_bowls/episode_0000099/top_right_left.mp4",
- "preview_path": "media/stack_bowls/episode_0000099/top_right_left.jpg"
+ "synchronized_views_path": "media/stack_bowls/episode_0000099/top_left_right.mp4",
+ "preview_path": "media/stack_bowls/episode_0000099/top_left_right.jpg",
+ "view_order": [
+ "top",
+ "left",
+ "right"
+ ]
},
{
"task_key": "push_T",
@@ -119,25 +134,30 @@
"source_bytes": 389803,
"camera": "cam_head"
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+ "source_sha256": "0f88ff7efc5236cf558fd1b0d1c3ef294a891c738842b02f828ce4c4a9417a76",
+ "source_bytes": 690576,
+ "camera": "cam_right_wrist"
}
},
"trajectory_path": "trajectories/make_kong/episode_001449.parquet",
"trajectory_source_path": "data/RoboDojo_lerobot_v21_video/data/chunk-001/episode_001449.parquet",
- "synchronized_views_path": "media/make_kong/episode_0000049/top_right_left.mp4",
- "preview_path": "media/make_kong/episode_0000049/top_right_left.jpg"
+ "synchronized_views_path": "media/make_kong/episode_0000049/top_left_right.mp4",
+ "preview_path": "media/make_kong/episode_0000049/top_left_right.jpg",
+ "view_order": [
+ "top",
+ "left",
+ "right"
+ ]
},
{
"task_key": "make_kong",
@@ -3444,25 +3934,30 @@
"source_bytes": 558731,
"camera": "cam_head"
},
- "right": {
- "path": "media/make_kong/episode_0000099/right.mp4",
- "source_path": "data/RoboDojo/make_kong/arx_x5/preview_video/episode_0000099_cam_right_wrist.mp4",
- "source_sha256": "ad76963511830f933c43235bafb8c68fd4c02e191d6dd9312dbf4f515a2c460f",
- "source_bytes": 687782,
- "camera": "cam_right_wrist"
- },
"left": {
"path": "media/make_kong/episode_0000099/left.mp4",
"source_path": "data/RoboDojo/make_kong/arx_x5/preview_video/episode_0000099_cam_left_wrist.mp4",
"source_sha256": "0f2d7d71351ba36fc1c09a4d3256824dd49759bb0f4a4ebfcad5441e005a6f3c",
"source_bytes": 1307317,
"camera": "cam_left_wrist"
+ },
+ "right": {
+ "path": "media/make_kong/episode_0000099/right.mp4",
+ "source_path": "data/RoboDojo/make_kong/arx_x5/preview_video/episode_0000099_cam_right_wrist.mp4",
+ "source_sha256": "ad76963511830f933c43235bafb8c68fd4c02e191d6dd9312dbf4f515a2c460f",
+ "source_bytes": 687782,
+ "camera": "cam_right_wrist"
}
},
"trajectory_path": "trajectories/make_kong/episode_001499.parquet",
"trajectory_source_path": "data/RoboDojo_lerobot_v21_video/data/chunk-001/episode_001499.parquet",
- "synchronized_views_path": "media/make_kong/episode_0000099/top_right_left.mp4",
- "preview_path": "media/make_kong/episode_0000099/top_right_left.jpg"
+ "synchronized_views_path": "media/make_kong/episode_0000099/top_left_right.mp4",
+ "preview_path": "media/make_kong/episode_0000099/top_left_right.jpg",
+ "view_order": [
+ "top",
+ "left",
+ "right"
+ ]
},
{
"task_key": "play_stacking_toy",
@@ -3479,25 +3974,30 @@
"source_bytes": 1510013,
"camera": "cam_head"
},
- "right": {
- "path": "media/play_stacking_toy/episode_0000000/right.mp4",
- "source_path": "data/RoboDojo/play_stacking_toy/arx_x5/preview_video/episode_0000000_cam_right_wrist.mp4",
- "source_sha256": "6b6b0bda75ea3322d5d4da0fc83fa0ad232829f07f0fbdcaf6f5f818e0147032",
- "source_bytes": 3070148,
- "camera": "cam_right_wrist"
- },
"left": {
"path": "media/play_stacking_toy/episode_0000000/left.mp4",
"source_path": "data/RoboDojo/play_stacking_toy/arx_x5/preview_video/episode_0000000_cam_left_wrist.mp4",
"source_sha256": "f8247027f2667b02785001ac511aa069b7e0e0759ae9d80b16a8ac9eedb86331",
"source_bytes": 2144337,
"camera": "cam_left_wrist"
+ },
+ "right": {
+ "path": "media/play_stacking_toy/episode_0000000/right.mp4",
+ "source_path": "data/RoboDojo/play_stacking_toy/arx_x5/preview_video/episode_0000000_cam_right_wrist.mp4",
+ "source_sha256": "6b6b0bda75ea3322d5d4da0fc83fa0ad232829f07f0fbdcaf6f5f818e0147032",
+ "source_bytes": 3070148,
+ "camera": "cam_right_wrist"
}
},
"trajectory_path": "trajectories/play_stacking_toy/episode_002000.parquet",
"trajectory_source_path": "data/RoboDojo_lerobot_v21_video/data/chunk-002/episode_002000.parquet",
- "synchronized_views_path": "media/play_stacking_toy/episode_0000000/top_right_left.mp4",
- "preview_path": "media/play_stacking_toy/episode_0000000/top_right_left.jpg"
+ "synchronized_views_path": "media/play_stacking_toy/episode_0000000/top_left_right.mp4",
+ "preview_path": "media/play_stacking_toy/episode_0000000/top_left_right.jpg",
+ "view_order": [
+ "top",
+ "left",
+ "right"
+ ]
},
{
"task_key": "play_stacking_toy",
@@ -3514,25 +4014,30 @@
"source_bytes": 1714873,
"camera": "cam_head"
},
- "right": {
- "path": "media/play_stacking_toy/episode_0000049/right.mp4",
- "source_path": "data/RoboDojo/play_stacking_toy/arx_x5/preview_video/episode_0000049_cam_right_wrist.mp4",
- "source_sha256": "852fdce86f7855ddf835c9833f0464904c5883186d6dc2ac8f4cb3063b5066da",
- "source_bytes": 2717006,
- "camera": "cam_right_wrist"
- },
"left": {
"path": "media/play_stacking_toy/episode_0000049/left.mp4",
"source_path": "data/RoboDojo/play_stacking_toy/arx_x5/preview_video/episode_0000049_cam_left_wrist.mp4",
"source_sha256": "e449c45c0249be584fdecf3c819fe5fff463c9433f6500f0bd582b0b19186c7d",
"source_bytes": 3007724,
"camera": "cam_left_wrist"
+ },
+ "right": {
+ "path": "media/play_stacking_toy/episode_0000049/right.mp4",
+ "source_path": "data/RoboDojo/play_stacking_toy/arx_x5/preview_video/episode_0000049_cam_right_wrist.mp4",
+ "source_sha256": "852fdce86f7855ddf835c9833f0464904c5883186d6dc2ac8f4cb3063b5066da",
+ "source_bytes": 2717006,
+ "camera": "cam_right_wrist"
}
},
"trajectory_path": "trajectories/play_stacking_toy/episode_002049.parquet",
"trajectory_source_path": "data/RoboDojo_lerobot_v21_video/data/chunk-002/episode_002049.parquet",
- "synchronized_views_path": "media/play_stacking_toy/episode_0000049/top_right_left.mp4",
- "preview_path": "media/play_stacking_toy/episode_0000049/top_right_left.jpg"
+ "synchronized_views_path": "media/play_stacking_toy/episode_0000049/top_left_right.mp4",
+ "preview_path": "media/play_stacking_toy/episode_0000049/top_left_right.jpg",
+ "view_order": [
+ "top",
+ "left",
+ "right"
+ ]
},
{
"task_key": "play_stacking_toy",
@@ -3549,25 +4054,30 @@
"source_bytes": 1638739,
"camera": "cam_head"
},
- "right": {
- "path": "media/play_stacking_toy/episode_0000099/right.mp4",
- "source_path": "data/RoboDojo/play_stacking_toy/arx_x5/preview_video/episode_0000099_cam_right_wrist.mp4",
- "source_sha256": "cad019ec54fb81e2ec6b95f1612f8c9a5f2148f3a942ccf193f551ad40cbe8d7",
- "source_bytes": 3037184,
- "camera": "cam_right_wrist"
- },
"left": {
"path": "media/play_stacking_toy/episode_0000099/left.mp4",
"source_path": "data/RoboDojo/play_stacking_toy/arx_x5/preview_video/episode_0000099_cam_left_wrist.mp4",
"source_sha256": "9559c652990e919555671aeb4719f14c98b2b638bc654656223fae07de2106ea",
"source_bytes": 2234449,
"camera": "cam_left_wrist"
+ },
+ "right": {
+ "path": "media/play_stacking_toy/episode_0000099/right.mp4",
+ "source_path": "data/RoboDojo/play_stacking_toy/arx_x5/preview_video/episode_0000099_cam_right_wrist.mp4",
+ "source_sha256": "cad019ec54fb81e2ec6b95f1612f8c9a5f2148f3a942ccf193f551ad40cbe8d7",
+ "source_bytes": 3037184,
+ "camera": "cam_right_wrist"
}
},
"trajectory_path": "trajectories/play_stacking_toy/episode_002099.parquet",
"trajectory_source_path": "data/RoboDojo_lerobot_v21_video/data/chunk-002/episode_002099.parquet",
- "synchronized_views_path": "media/play_stacking_toy/episode_0000099/top_right_left.mp4",
- "preview_path": "media/play_stacking_toy/episode_0000099/top_right_left.jpg"
+ "synchronized_views_path": "media/play_stacking_toy/episode_0000099/top_left_right.mp4",
+ "preview_path": "media/play_stacking_toy/episode_0000099/top_left_right.jpg",
+ "view_order": [
+ "top",
+ "left",
+ "right"
+ ]
},
{
"task_key": "dlc",
@@ -3584,25 +4094,30 @@
"source_bytes": 1744907,
"camera": "cam_head"
},
- "right": {
- "path": "media/dlc/episode_0000000/right.mp4",
- "source_path": "data/RoboDojo/dlc/arx_x5/preview_video/episode_0000000_cam_right_wrist.mp4",
- "source_sha256": "20271695453f335d5feddfc2b80c9d92c84c861d3667a515faa232c5e749ff89",
- "source_bytes": 3115538,
- "camera": "cam_right_wrist"
- },
"left": {
"path": "media/dlc/episode_0000000/left.mp4",
"source_path": "data/RoboDojo/dlc/arx_x5/preview_video/episode_0000000_cam_left_wrist.mp4",
"source_sha256": "a58d73d46e11828ab4980218a3b50dda8224bde82519371dc7017568f1ed9a93",
"source_bytes": 3011275,
"camera": "cam_left_wrist"
+ },
+ "right": {
+ "path": "media/dlc/episode_0000000/right.mp4",
+ "source_path": "data/RoboDojo/dlc/arx_x5/preview_video/episode_0000000_cam_right_wrist.mp4",
+ "source_sha256": "20271695453f335d5feddfc2b80c9d92c84c861d3667a515faa232c5e749ff89",
+ "source_bytes": 3115538,
+ "camera": "cam_right_wrist"
}
},
"trajectory_path": "trajectories/dlc/episode_000500.parquet",
"trajectory_source_path": "data/RoboDojo_lerobot_v21_video/data/chunk-000/episode_000500.parquet",
- "synchronized_views_path": "media/dlc/episode_0000000/top_right_left.mp4",
- "preview_path": "media/dlc/episode_0000000/top_right_left.jpg"
+ "synchronized_views_path": "media/dlc/episode_0000000/top_left_right.mp4",
+ "preview_path": "media/dlc/episode_0000000/top_left_right.jpg",
+ "view_order": [
+ "top",
+ "left",
+ "right"
+ ]
},
{
"task_key": "dlc",
@@ -3619,25 +4134,30 @@
"source_bytes": 1417557,
"camera": "cam_head"
},
- "right": {
- "path": "media/dlc/episode_0000049/right.mp4",
- "source_path": "data/RoboDojo/dlc/arx_x5/preview_video/episode_0000049_cam_right_wrist.mp4",
- "source_sha256": "a5dee0c4d23c65bca45f3e8bc83e43cb0f23658f3ad51c8b4014757c948b81d6",
- "source_bytes": 1540326,
- "camera": "cam_right_wrist"
- },
"left": {
"path": "media/dlc/episode_0000049/left.mp4",
"source_path": "data/RoboDojo/dlc/arx_x5/preview_video/episode_0000049_cam_left_wrist.mp4",
"source_sha256": "5f434c111209dbbeb6711be1933d77a2ab207b334a2ae03106666722c675fb6f",
"source_bytes": 1484081,
"camera": "cam_left_wrist"
+ },
+ "right": {
+ "path": "media/dlc/episode_0000049/right.mp4",
+ "source_path": "data/RoboDojo/dlc/arx_x5/preview_video/episode_0000049_cam_right_wrist.mp4",
+ "source_sha256": "a5dee0c4d23c65bca45f3e8bc83e43cb0f23658f3ad51c8b4014757c948b81d6",
+ "source_bytes": 1540326,
+ "camera": "cam_right_wrist"
}
},
"trajectory_path": "trajectories/dlc/episode_000549.parquet",
"trajectory_source_path": "data/RoboDojo_lerobot_v21_video/data/chunk-000/episode_000549.parquet",
- "synchronized_views_path": "media/dlc/episode_0000049/top_right_left.mp4",
- "preview_path": "media/dlc/episode_0000049/top_right_left.jpg"
+ "synchronized_views_path": "media/dlc/episode_0000049/top_left_right.mp4",
+ "preview_path": "media/dlc/episode_0000049/top_left_right.jpg",
+ "view_order": [
+ "top",
+ "left",
+ "right"
+ ]
},
{
"task_key": "dlc",
@@ -3654,24 +4174,29 @@
"source_bytes": 1594684,
"camera": "cam_head"
},
- "right": {
- "path": "media/dlc/episode_0000099/right.mp4",
- "source_path": "data/RoboDojo/dlc/arx_x5/preview_video/episode_0000099_cam_right_wrist.mp4",
- "source_sha256": "7dfcc85ada5f87e1af8cca9b4cf451750ad7517eee3ef539fcefd635ab956f76",
- "source_bytes": 2808804,
- "camera": "cam_right_wrist"
- },
"left": {
"path": "media/dlc/episode_0000099/left.mp4",
"source_path": "data/RoboDojo/dlc/arx_x5/preview_video/episode_0000099_cam_left_wrist.mp4",
"source_sha256": "2ced2f72b38ae1adc505639c877f2a15d949405828a3d4f1be71ab5bddd71af9",
"source_bytes": 2720141,
"camera": "cam_left_wrist"
+ },
+ "right": {
+ "path": "media/dlc/episode_0000099/right.mp4",
+ "source_path": "data/RoboDojo/dlc/arx_x5/preview_video/episode_0000099_cam_right_wrist.mp4",
+ "source_sha256": "7dfcc85ada5f87e1af8cca9b4cf451750ad7517eee3ef539fcefd635ab956f76",
+ "source_bytes": 2808804,
+ "camera": "cam_right_wrist"
}
},
"trajectory_path": "trajectories/dlc/episode_000599.parquet",
"trajectory_source_path": "data/RoboDojo_lerobot_v21_video/data/chunk-000/episode_000599.parquet",
- "synchronized_views_path": "media/dlc/episode_0000099/top_right_left.mp4",
- "preview_path": "media/dlc/episode_0000099/top_right_left.jpg"
+ "synchronized_views_path": "media/dlc/episode_0000099/top_left_right.mp4",
+ "preview_path": "media/dlc/episode_0000099/top_left_right.jpg",
+ "view_order": [
+ "top",
+ "left",
+ "right"
+ ]
}
]
\ No newline at end of file
diff --git a/provenance/source.json b/provenance/source.json
index a0a16c3a36b6ac7be347f1efc10183d24ce2fad3..0ffbcbf3c7b231ce0d34534551322126e5d97212 100644
--- a/provenance/source.json
+++ b/provenance/source.json
@@ -14,10 +14,20 @@
"background_annotation": "The upstream metadata does not label background IDs. Three spaced episode IDs are sampled per task; distinct background coverage is not guaranteed.",
"camera_mapping": {
"top": "cam_head (raw preview); cam_high (LeRobot)",
- "right": "cam_right_wrist",
- "left": "cam_left_wrist"
+ "left": "cam_left_wrist",
+ "right": "cam_right_wrist"
},
"upstream_code_repository": "https://github.com/RoboDojo-Benchmark/RoboDojo",
"upstream_code_revision": "726e9aabfaa642203722eb126f5eaf0f37f3e1ad",
- "axis_image_url": "https://robodojo-benchmark.com/doc/images/axes.png"
+ "axis_image_url": "https://robodojo-benchmark.com/doc/images/axes.png",
+ "view_order": [
+ "top",
+ "left",
+ "right"
+ ],
+ "random_camera_availability": {
+ "top": "official website head-camera MP4",
+ "left": "paired wrist video not found in audited official sources",
+ "right": "paired wrist video not found in audited official sources"
+ }
}
\ No newline at end of file
diff --git a/provenance/task_catalog.json b/provenance/task_catalog.json
index 96be0daafeab5d91330b28ca70663e9ca9330b0f..4f1926245d1c7d1f8ecc8d5712ab134036710f9e 100644
--- a/provenance/task_catalog.json
+++ b/provenance/task_catalog.json
@@ -36,7 +36,15 @@
{
"label": "Random version",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/stack-bowls-random.mp4",
- "path": "media/stack_bowls/random.mp4"
+ "path": "media/stack_bowls/random.mp4",
+ "available_views": [
+ "top"
+ ],
+ "unavailable_views": [
+ "left",
+ "right"
+ ],
+ "camera_note": "公开的官网 Random MP4 只有头部相机视角；对应的左右腕相机录像未在官网及官方 HF 任务数据中找到。画面里的双臂不等于有腕部相机视频。"
}
],
"config": "task_30_stack_bowls",
@@ -77,7 +85,15 @@
{
"label": "Random version",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/push-t-random.mp4",
- "path": "media/push_T/random.mp4"
+ "path": "media/push_T/random.mp4",
+ "available_views": [
+ "top"
+ ],
+ "unavailable_views": [
+ "left",
+ "right"
+ ],
+ "camera_note": "公开的官网 Random MP4 只有头部相机视角；对应的左右腕相机录像未在官网及官方 HF 任务数据中找到。画面里的双臂不等于有腕部相机视频。"
}
],
"config": "task_26_push_T",
@@ -130,7 +146,15 @@
{
"label": "Random version",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/pack-objects-into-box-random.mp4",
- "path": "media/pack_objects_into_box/random.mp4"
+ "path": "media/pack_objects_into_box/random.mp4",
+ "available_views": [
+ "top"
+ ],
+ "unavailable_views": [
+ "left",
+ "right"
+ ],
+ "camera_note": "公开的官网 Random MP4 只有头部相机视角；对应的左右腕相机录像未在官网及官方 HF 任务数据中找到。画面里的双臂不等于有腕部相机视频。"
}
],
"config": "task_18_pack_objects_into_box",
@@ -175,7 +199,15 @@
{
"label": "Random version",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/fold-clothes-random.mp4",
- "path": "media/fold_clothes/random.mp4"
+ "path": "media/fold_clothes/random.mp4",
+ "available_views": [
+ "top"
+ ],
+ "unavailable_views": [
+ "left",
+ "right"
+ ],
+ "camera_note": "公开的官网 Random MP4 只有头部相机视角；对应的左右腕相机录像未在官网及官方 HF 任务数据中找到。画面里的双臂不等于有腕部相机视频。"
}
],
"config": "task_09_fold_clothes",
@@ -224,7 +256,15 @@
{
"label": "Random version",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/hang-mugs-random.mp4",
- "path": "media/hang_mugs/random.mp4"
+ "path": "media/hang_mugs/random.mp4",
+ "available_views": [
+ "top"
+ ],
+ "unavailable_views": [
+ "left",
+ "right"
+ ],
+ "camera_note": "公开的官网 Random MP4 只有头部相机视角；对应的左右腕相机录像未在官网及官方 HF 任务数据中找到。画面里的双臂不等于有腕部相机视频。"
}
],
"config": "task_10_hang_mugs",
@@ -265,7 +305,15 @@
{
"label": "Random version",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/sweep-blocks-random.mp4",
- "path": "media/sweep_blocks/random.mp4"
+ "path": "media/sweep_blocks/random.mp4",
+ "available_views": [
+ "top"
+ ],
+ "unavailable_views": [
+ "left",
+ "right"
+ ],
+ "camera_note": "公开的官网 Random MP4 只有头部相机视角；对应的左右腕相机录像未在官网及官方 HF 任务数据中找到。画面里的双臂不等于有腕部相机视频。"
}
],
"config": "task_34_sweep_blocks",
@@ -306,7 +354,15 @@
{
"label": "Random version",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/pour-liquid-into-cup-random.mp4",
- "path": "media/pour_liquid_into_cup/random.mp4"
+ "path": "media/pour_liquid_into_cup/random.mp4",
+ "available_views": [
+ "top"
+ ],
+ "unavailable_views": [
+ "left",
+ "right"
+ ],
+ "camera_note": "公开的官网 Random MP4 只有头部相机视角；对应的左右腕相机录像未在官网及官方 HF 任务数据中找到。画面里的双臂不等于有腕部相机视频。"
}
],
"config": "task_24_pour_liquid_into_cup",
@@ -355,7 +411,15 @@
{
"label": "Random version",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/make-toast-random.mp4",
- "path": "media/make_toast/random.mp4"
+ "path": "media/make_toast/random.mp4",
+ "available_views": [
+ "top"
+ ],
+ "unavailable_views": [
+ "left",
+ "right"
+ ],
+ "camera_note": "公开的官网 Random MP4 只有头部相机视角；对应的左右腕相机录像未在官网及官方 HF 任务数据中找到。画面里的双臂不等于有腕部相机视频。"
}
],
"config": "task_15_make_toast",
@@ -417,7 +481,15 @@
{
"label": "Random version",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/arrange-largest-number-random.mp4",
- "path": "media/arrange_largest_number/random.mp4"
+ "path": "media/arrange_largest_number/random.mp4",
+ "available_views": [
+ "top"
+ ],
+ "unavailable_views": [
+ "left",
+ "right"
+ ],
+ "camera_note": "公开的官网 Random MP4 只有头部相机视角；对应的左右腕相机录像未在官网及官方 HF 任务数据中找到。画面里的双臂不等于有腕部相机视频。"
}
],
"config": "task_00_arrange_largest_number",
@@ -458,7 +530,15 @@
{
"label": "Random version",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/sort-nesting-dolls-by-size-random.mp4",
- "path": "media/sort_nesting_dolls_by_size/random.mp4"
+ "path": "media/sort_nesting_dolls_by_size/random.mp4",
+ "available_views": [
+ "top"
+ ],
+ "unavailable_views": [
+ "left",
+ "right"
+ ],
+ "camera_note": "公开的官网 Random MP4 只有头部相机视角；对应的左右腕相机录像未在官网及官方 HF 任务数据中找到。画面里的双臂不等于有腕部相机视频。"
}
],
"config": "task_28_sort_nesting_dolls_by_size",
@@ -507,7 +587,15 @@
{
"label": "Random version",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/store-laptop-and-headphones-random.mp4",
- "path": "media/store_laptop_and_headphones/random.mp4"
+ "path": "media/store_laptop_and_headphones/random.mp4",
+ "available_views": [
+ "top"
+ ],
+ "unavailable_views": [
+ "left",
+ "right"
+ ],
+ "camera_note": "公开的官网 Random MP4 只有头部相机视角；对应的左右腕相机录像未在官网及官方 HF 任务数据中找到。画面里的双臂不等于有腕部相机视频。"
}
],
"config": "task_31_store_laptop_and_headphones",
@@ -552,7 +640,15 @@
{
"label": "Random version",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/stack-blocks-random.mp4",
- "path": "media/stack_blocks/random.mp4"
+ "path": "media/stack_blocks/random.mp4",
+ "available_views": [
+ "top"
+ ],
+ "unavailable_views": [
+ "left",
+ "right"
+ ],
+ "camera_note": "公开的官网 Random MP4 只有头部相机视角；对应的左右腕相机录像未在官网及官方 HF 任务数据中找到。画面里的双臂不等于有腕部相机视频。"
}
],
"config": "task_29_stack_blocks",
diff --git a/provenance/validation.json b/provenance/validation.json
index 9fb9f11232ee93b4b35c7cdbae185a3c65235cf9..c8510b86bd007519bfd110c4434cc0149b352c94 100644
--- a/provenance/validation.json
+++ b/provenance/validation.json
@@ -6,8 +6,8 @@
"demonstrations": 105,
"website_demo_rows": 20,
"viewer_rows": 125,
- "total_files": 718,
- "dataset_bytes": 647980743,
+ "total_files": 722,
+ "dataset_bytes": 648121028,
"episode_checks": [
{
"task_index": 30,
@@ -22,7 +22,7 @@
"duration": "9.600000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -30,7 +30,7 @@
"duration": "9.600000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -53,7 +53,7 @@
"duration": "12.720000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -61,7 +61,7 @@
"duration": "12.720000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -84,7 +84,7 @@
"duration": "10.600000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -92,7 +92,7 @@
"duration": "10.600000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -115,7 +115,7 @@
"duration": "14.360000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -123,7 +123,7 @@
"duration": "14.360000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -146,7 +146,7 @@
"duration": "7.480000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -154,7 +154,7 @@
"duration": "7.480000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -177,7 +177,7 @@
"duration": "7.520000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -185,7 +185,7 @@
"duration": "7.520000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -208,7 +208,7 @@
"duration": "46.240000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -216,7 +216,7 @@
"duration": "46.240000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -239,7 +239,7 @@
"duration": "25.440000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -247,7 +247,7 @@
"duration": "25.440000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -270,7 +270,7 @@
"duration": "24.720000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -278,7 +278,7 @@
"duration": "24.720000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -301,7 +301,7 @@
"duration": "12.000000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -309,7 +309,7 @@
"duration": "12.000000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -332,7 +332,7 @@
"duration": "12.000000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -340,7 +340,7 @@
"duration": "12.000000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -363,7 +363,7 @@
"duration": "11.960000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -371,7 +371,7 @@
"duration": "11.960000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -394,7 +394,7 @@
"duration": "20.480000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -402,7 +402,7 @@
"duration": "20.480000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -425,7 +425,7 @@
"duration": "18.480000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -433,7 +433,7 @@
"duration": "18.480000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -456,7 +456,7 @@
"duration": "17.520000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -464,7 +464,7 @@
"duration": "17.520000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -487,7 +487,7 @@
"duration": "28.080000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -495,7 +495,7 @@
"duration": "28.080000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -518,7 +518,7 @@
"duration": "29.600000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -526,7 +526,7 @@
"duration": "29.600000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -549,7 +549,7 @@
"duration": "21.080000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -557,7 +557,7 @@
"duration": "21.080000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -580,7 +580,7 @@
"duration": "7.040000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -588,7 +588,7 @@
"duration": "7.040000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -611,7 +611,7 @@
"duration": "9.680000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -619,7 +619,7 @@
"duration": "9.680000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -642,7 +642,7 @@
"duration": "16.480000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -650,7 +650,7 @@
"duration": "16.480000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -673,7 +673,7 @@
"duration": "23.320000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -681,7 +681,7 @@
"duration": "23.320000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -704,7 +704,7 @@
"duration": "28.800000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -712,7 +712,7 @@
"duration": "28.800000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -735,7 +735,7 @@
"duration": "29.240000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -743,7 +743,7 @@
"duration": "29.240000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -766,7 +766,7 @@
"duration": "23.120000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -774,7 +774,7 @@
"duration": "23.120000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -797,7 +797,7 @@
"duration": "36.280000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -805,7 +805,7 @@
"duration": "36.280000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -828,7 +828,7 @@
"duration": "22.520000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -836,7 +836,7 @@
"duration": "22.520000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -859,7 +859,7 @@
"duration": "29.920000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -867,7 +867,7 @@
"duration": "29.920000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -890,7 +890,7 @@
"duration": "30.200000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -898,7 +898,7 @@
"duration": "30.200000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -921,7 +921,7 @@
"duration": "18.000000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -929,7 +929,7 @@
"duration": "18.000000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -952,7 +952,7 @@
"duration": "22.000000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -960,7 +960,7 @@
"duration": "22.000000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -983,7 +983,7 @@
"duration": "18.400000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -991,7 +991,7 @@
"duration": "18.400000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -1014,7 +1014,7 @@
"duration": "22.440000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -1022,7 +1022,7 @@
"duration": "22.440000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -1045,7 +1045,7 @@
"duration": "10.680000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -1053,7 +1053,7 @@
"duration": "10.680000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -1076,7 +1076,7 @@
"duration": "10.640000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -1084,7 +1084,7 @@
"duration": "10.640000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -1107,7 +1107,7 @@
"duration": "10.640000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -1115,7 +1115,7 @@
"duration": "10.640000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -1138,7 +1138,7 @@
"duration": "22.200000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -1146,7 +1146,7 @@
"duration": "22.200000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -1169,7 +1169,7 @@
"duration": "21.720000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -1177,7 +1177,7 @@
"duration": "21.720000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -1200,7 +1200,7 @@
"duration": "21.600000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -1208,7 +1208,7 @@
"duration": "21.600000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -1231,7 +1231,7 @@
"duration": "18.960000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -1239,7 +1239,7 @@
"duration": "18.960000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -1262,7 +1262,7 @@
"duration": "13.160000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -1270,7 +1270,7 @@
"duration": "13.160000",
"avg_frame_rate": "25/1"
},
- "left": {
+ "right": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -1293,7 +1293,7 @@
"duration": "18.600000",
"avg_frame_rate": "25/1"
},
- "right": {
+ "left": {
"codec_name": "h264",
"width": 640,
"height": 480,
@@ -1301,7 +1301,7 @@
"duration": "18.600000",
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@@ -1324,7 +1324,7 @@
"duration": "17.760000",
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@@ -1332,7 +1332,7 @@
"duration": "17.760000",
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@@ -1355,7 +1355,7 @@
"duration": "17.200000",
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@@ -1363,7 +1363,7 @@
"duration": "17.200000",
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@@ -1386,7 +1386,7 @@
"duration": "17.200000",
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@@ -1394,7 +1394,7 @@
"duration": "17.200000",
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@@ -1417,7 +1417,7 @@
"duration": "10.880000",
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@@ -1425,7 +1425,7 @@
"duration": "10.880000",
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@@ -1448,7 +1448,7 @@
"duration": "11.240000",
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@@ -1456,7 +1456,7 @@
"duration": "11.240000",
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@@ -1479,7 +1479,7 @@
"duration": "10.960000",
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@@ -1487,7 +1487,7 @@
"duration": "10.960000",
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@@ -1510,7 +1510,7 @@
"duration": "15.080000",
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@@ -1518,7 +1518,7 @@
"duration": "15.080000",
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@@ -1541,7 +1541,7 @@
"duration": "15.800000",
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@@ -1549,7 +1549,7 @@
"duration": "15.800000",
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@@ -1572,7 +1572,7 @@
"duration": "15.040000",
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@@ -1580,7 +1580,7 @@
"duration": "15.040000",
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@@ -1603,7 +1603,7 @@
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@@ -1611,7 +1611,7 @@
"duration": "47.480000",
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@@ -1634,7 +1634,7 @@
"duration": "52.080000",
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@@ -1642,7 +1642,7 @@
"duration": "52.080000",
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@@ -1665,7 +1665,7 @@
"duration": "48.240000",
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@@ -1673,7 +1673,7 @@
"duration": "48.240000",
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@@ -1696,7 +1696,7 @@
"duration": "60.400000",
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@@ -1704,7 +1704,7 @@
"duration": "60.400000",
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@@ -1727,7 +1727,7 @@
"duration": "60.480000",
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@@ -1735,7 +1735,7 @@
"duration": "60.480000",
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@@ -1758,7 +1758,7 @@
"duration": "56.800000",
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@@ -1766,7 +1766,7 @@
"duration": "56.800000",
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@@ -1789,7 +1789,7 @@
"duration": "7.800000",
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@@ -1797,7 +1797,7 @@
"duration": "7.800000",
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@@ -1820,7 +1820,7 @@
"duration": "7.640000",
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@@ -1828,7 +1828,7 @@
"duration": "7.640000",
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@@ -1851,7 +1851,7 @@
"duration": "7.880000",
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@@ -1859,7 +1859,7 @@
"duration": "7.880000",
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@@ -1882,7 +1882,7 @@
"duration": "12.760000",
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@@ -1890,7 +1890,7 @@
"duration": "12.760000",
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@@ -1913,7 +1913,7 @@
"duration": "13.160000",
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@@ -1921,7 +1921,7 @@
"duration": "13.160000",
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@@ -1944,7 +1944,7 @@
"duration": "12.760000",
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@@ -1952,7 +1952,7 @@
"duration": "12.760000",
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@@ -1975,7 +1975,7 @@
"duration": "14.200000",
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@@ -1983,7 +1983,7 @@
"duration": "14.200000",
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@@ -2006,7 +2006,7 @@
"duration": "16.920000",
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@@ -2014,7 +2014,7 @@
"duration": "16.920000",
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@@ -2037,7 +2037,7 @@
"duration": "13.280000",
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@@ -2045,7 +2045,7 @@
"duration": "13.280000",
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@@ -2068,7 +2068,7 @@
"duration": "12.400000",
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@@ -2076,7 +2076,7 @@
"duration": "12.400000",
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@@ -2099,7 +2099,7 @@
"duration": "12.640000",
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@@ -2107,7 +2107,7 @@
"duration": "12.640000",
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@@ -2130,7 +2130,7 @@
"duration": "12.720000",
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@@ -2138,7 +2138,7 @@
"duration": "12.720000",
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@@ -2161,7 +2161,7 @@
"duration": "7.640000",
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@@ -2169,7 +2169,7 @@
"duration": "7.640000",
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@@ -2192,7 +2192,7 @@
"duration": "8.000000",
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@@ -2200,7 +2200,7 @@
"duration": "8.000000",
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@@ -2223,7 +2223,7 @@
"duration": "4.520000",
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@@ -2231,7 +2231,7 @@
"duration": "4.520000",
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@@ -2254,7 +2254,7 @@
"duration": "7.000000",
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@@ -2262,7 +2262,7 @@
"duration": "7.000000",
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@@ -2285,7 +2285,7 @@
"duration": "7.080000",
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@@ -2293,7 +2293,7 @@
"duration": "7.080000",
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@@ -2316,7 +2316,7 @@
"duration": "7.080000",
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@@ -2324,7 +2324,7 @@
"duration": "7.080000",
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@@ -2347,7 +2347,7 @@
"duration": "28.880000",
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@@ -2355,7 +2355,7 @@
"duration": "28.880000",
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},
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@@ -2378,7 +2378,7 @@
"duration": "29.480000",
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@@ -2386,7 +2386,7 @@
"duration": "29.480000",
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@@ -2409,7 +2409,7 @@
"duration": "29.160000",
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},
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@@ -2417,7 +2417,7 @@
"duration": "29.160000",
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},
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@@ -2440,7 +2440,7 @@
"duration": "37.320000",
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@@ -2448,7 +2448,7 @@
"duration": "37.320000",
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@@ -2471,7 +2471,7 @@
"duration": "29.880000",
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@@ -2479,7 +2479,7 @@
"duration": "29.880000",
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@@ -2502,7 +2502,7 @@
"duration": "24.360000",
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@@ -2510,7 +2510,7 @@
"duration": "24.360000",
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@@ -2533,7 +2533,7 @@
"duration": "29.880000",
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@@ -2541,7 +2541,7 @@
"duration": "29.880000",
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@@ -2564,7 +2564,7 @@
"duration": "26.080000",
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@@ -2572,7 +2572,7 @@
"duration": "26.080000",
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@@ -2595,7 +2595,7 @@
"duration": "32.160000",
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@@ -2603,7 +2603,7 @@
"duration": "32.160000",
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@@ -2626,7 +2626,7 @@
"duration": "14.480000",
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@@ -2634,7 +2634,7 @@
"duration": "14.480000",
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@@ -2657,7 +2657,7 @@
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@@ -2665,7 +2665,7 @@
"duration": "13.440000",
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@@ -2688,7 +2688,7 @@
"duration": "16.520000",
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@@ -2696,7 +2696,7 @@
"duration": "16.520000",
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@@ -2719,7 +2719,7 @@
"duration": "35.320000",
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@@ -2727,7 +2727,7 @@
"duration": "35.320000",
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@@ -2750,7 +2750,7 @@
"duration": "34.560000",
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@@ -2758,7 +2758,7 @@
"duration": "34.560000",
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@@ -2781,7 +2781,7 @@
"duration": "34.280000",
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@@ -2789,7 +2789,7 @@
"duration": "34.280000",
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@@ -2812,7 +2812,7 @@
"duration": "19.520000",
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@@ -2820,7 +2820,7 @@
"duration": "19.520000",
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@@ -2843,7 +2843,7 @@
"duration": "15.600000",
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@@ -2851,7 +2851,7 @@
"duration": "15.600000",
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diff --git a/provenance/view_order_verification.json b/provenance/view_order_verification.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c1f6b9f964284330b35ca95cbe139911735ea2a
--- /dev/null
+++ b/provenance/view_order_verification.json
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+ "left": 2.403125047683716,
+ "right": 2.6427950859069824
+ }
+ },
+ {
+ "task_index": 23,
+ "episode_index": 2399,
+ "mean_pixel_error": {
+ "top": 3.051380157470703,
+ "left": 2.66955304145813,
+ "right": 2.503242254257202
+ }
+ },
+ {
+ "task_index": 19,
+ "episode_index": 1900,
+ "mean_pixel_error": {
+ "top": 3.372821092605591,
+ "left": 3.2283594608306885,
+ "right": 2.688194513320923
+ }
+ },
+ {
+ "task_index": 19,
+ "episode_index": 1949,
+ "mean_pixel_error": {
+ "top": 3.486953020095825,
+ "left": 3.5017144680023193,
+ "right": 2.8870182037353516
+ }
+ },
+ {
+ "task_index": 19,
+ "episode_index": 1999,
+ "mean_pixel_error": {
+ "top": 3.4658071994781494,
+ "left": 3.009852409362793,
+ "right": 2.936840295791626
+ }
+ },
+ {
+ "task_index": 4,
+ "episode_index": 400,
+ "mean_pixel_error": {
+ "top": 2.974123239517212,
+ "left": 2.3823351860046387,
+ "right": 2.540581703186035
+ }
+ },
+ {
+ "task_index": 4,
+ "episode_index": 449,
+ "mean_pixel_error": {
+ "top": 3.0249176025390625,
+ "left": 2.4411978721618652,
+ "right": 2.5342273712158203
+ }
+ },
+ {
+ "task_index": 4,
+ "episode_index": 499,
+ "mean_pixel_error": {
+ "top": 3.0191450119018555,
+ "left": 2.4272048473358154,
+ "right": 2.6668097972869873
+ }
+ },
+ {
+ "task_index": 12,
+ "episode_index": 1200,
+ "mean_pixel_error": {
+ "top": 2.9190495014190674,
+ "left": 2.3262412548065186,
+ "right": 2.517144203186035
+ }
+ },
+ {
+ "task_index": 12,
+ "episode_index": 1249,
+ "mean_pixel_error": {
+ "top": 2.970299482345581,
+ "left": 2.3929903507232666,
+ "right": 2.6568055152893066
+ }
+ },
+ {
+ "task_index": 12,
+ "episode_index": 1299,
+ "mean_pixel_error": {
+ "top": 2.968745708465576,
+ "left": 2.4057769775390625,
+ "right": 2.5684635639190674
+ }
+ },
+ {
+ "task_index": 1,
+ "episode_index": 100,
+ "mean_pixel_error": {
+ "top": 3.2352733612060547,
+ "left": 2.6840407848358154,
+ "right": 2.4966797828674316
+ }
+ },
+ {
+ "task_index": 1,
+ "episode_index": 149,
+ "mean_pixel_error": {
+ "top": 3.2898523807525635,
+ "left": 2.7613627910614014,
+ "right": 2.571054697036743
+ }
+ },
+ {
+ "task_index": 1,
+ "episode_index": 199,
+ "mean_pixel_error": {
+ "top": 3.3194618225097656,
+ "left": 2.825308084487915,
+ "right": 2.6263887882232666
+ }
+ },
+ {
+ "task_index": 8,
+ "episode_index": 800,
+ "mean_pixel_error": {
+ "top": 3.12351131439209,
+ "left": 2.4645137786865234,
+ "right": 2.617539167404175
+ }
+ },
+ {
+ "task_index": 8,
+ "episode_index": 849,
+ "mean_pixel_error": {
+ "top": 3.2117013931274414,
+ "left": 2.5126519203186035,
+ "right": 2.6323957443237305
+ }
+ },
+ {
+ "task_index": 8,
+ "episode_index": 899,
+ "mean_pixel_error": {
+ "top": 3.088528633117676,
+ "left": 2.813354969024658,
+ "right": 2.500950574874878
+ }
+ },
+ {
+ "task_index": 2,
+ "episode_index": 200,
+ "mean_pixel_error": {
+ "top": 3.5022265911102295,
+ "left": 3.238971471786499,
+ "right": 2.8641884326934814
+ }
+ },
+ {
+ "task_index": 2,
+ "episode_index": 249,
+ "mean_pixel_error": {
+ "top": 3.431701421737671,
+ "left": 3.1747264862060547,
+ "right": 2.982769012451172
+ }
+ },
+ {
+ "task_index": 2,
+ "episode_index": 299,
+ "mean_pixel_error": {
+ "top": 3.477369785308838,
+ "left": 3.0891926288604736,
+ "right": 3.17722225189209
+ }
+ },
+ {
+ "task_index": 27,
+ "episode_index": 2700,
+ "mean_pixel_error": {
+ "top": 2.96614146232605,
+ "left": 2.820972204208374,
+ "right": 2.3847525119781494
+ }
+ },
+ {
+ "task_index": 27,
+ "episode_index": 2749,
+ "mean_pixel_error": {
+ "top": 3.071918487548828,
+ "left": 2.5581986904144287,
+ "right": 2.7683768272399902
+ }
+ },
+ {
+ "task_index": 27,
+ "episode_index": 2799,
+ "mean_pixel_error": {
+ "top": 3.0540668964385986,
+ "left": 2.5512847900390625,
+ "right": 2.917821168899536
+ }
+ },
+ {
+ "task_index": 21,
+ "episode_index": 2100,
+ "mean_pixel_error": {
+ "top": 3.377760410308838,
+ "left": 2.737938404083252,
+ "right": 2.5317318439483643
+ }
+ },
+ {
+ "task_index": 21,
+ "episode_index": 2149,
+ "mean_pixel_error": {
+ "top": 3.4761154651641846,
+ "left": 2.7739627361297607,
+ "right": 2.589418411254883
+ }
+ },
+ {
+ "task_index": 21,
+ "episode_index": 2199,
+ "mean_pixel_error": {
+ "top": 3.4281511306762695,
+ "left": 2.793224811553955,
+ "right": 2.558763027191162
+ }
+ },
+ {
+ "task_index": 7,
+ "episode_index": 700,
+ "mean_pixel_error": {
+ "top": 3.2913410663604736,
+ "left": 2.2593445777893066,
+ "right": 4.53544282913208
+ }
+ },
+ {
+ "task_index": 7,
+ "episode_index": 749,
+ "mean_pixel_error": {
+ "top": 3.2927474975585938,
+ "left": 4.836792469024658,
+ "right": 2.332257032394409
+ }
+ },
+ {
+ "task_index": 7,
+ "episode_index": 799,
+ "mean_pixel_error": {
+ "top": 3.304795980453491,
+ "left": 4.483463764190674,
+ "right": 2.367248296737671
+ }
+ },
+ {
+ "task_index": 17,
+ "episode_index": 1700,
+ "mean_pixel_error": {
+ "top": 3.391801118850708,
+ "left": 2.880629301071167,
+ "right": 2.0070137977600098
+ }
+ },
+ {
+ "task_index": 17,
+ "episode_index": 1749,
+ "mean_pixel_error": {
+ "top": 3.4822611808776855,
+ "left": 3.0071918964385986,
+ "right": 2.27668833732605
+ }
+ },
+ {
+ "task_index": 17,
+ "episode_index": 1799,
+ "mean_pixel_error": {
+ "top": 3.4483375549316406,
+ "left": 3.1426734924316406,
+ "right": 2.435112953186035
+ }
+ },
+ {
+ "task_index": 14,
+ "episode_index": 1400,
+ "mean_pixel_error": {
+ "top": 3.477447986602783,
+ "left": 3.32663631439209,
+ "right": 2.928819417953491
+ }
+ },
+ {
+ "task_index": 14,
+ "episode_index": 1449,
+ "mean_pixel_error": {
+ "top": 3.5065972805023193,
+ "left": 3.5368316173553467,
+ "right": 2.8400824069976807
+ }
+ },
+ {
+ "task_index": 14,
+ "episode_index": 1499,
+ "mean_pixel_error": {
+ "top": 3.5021917819976807,
+ "left": 3.552539110183716,
+ "right": 2.9417405128479004
+ }
+ },
+ {
+ "task_index": 20,
+ "episode_index": 2000,
+ "mean_pixel_error": {
+ "top": 3.2148568630218506,
+ "left": 2.54733943939209,
+ "right": 2.533433198928833
+ }
+ },
+ {
+ "task_index": 20,
+ "episode_index": 2049,
+ "mean_pixel_error": {
+ "top": 3.3582205772399902,
+ "left": 2.913433074951172,
+ "right": 2.707378387451172
+ }
+ },
+ {
+ "task_index": 20,
+ "episode_index": 2099,
+ "mean_pixel_error": {
+ "top": 3.3172004222869873,
+ "left": 2.781796932220459,
+ "right": 2.7409722805023193
+ }
+ },
+ {
+ "task_index": 5,
+ "episode_index": 500,
+ "mean_pixel_error": {
+ "top": 4.751519203186035,
+ "left": 4.17164945602417,
+ "right": 3.6468446254730225
+ }
+ },
+ {
+ "task_index": 5,
+ "episode_index": 549,
+ "mean_pixel_error": {
+ "top": 4.3647918701171875,
+ "left": 3.3917274475097656,
+ "right": 3.1666102409362793
+ }
+ },
+ {
+ "task_index": 5,
+ "episode_index": 599,
+ "mean_pixel_error": {
+ "top": 5.930078029632568,
+ "left": 5.140759468078613,
+ "right": 5.071571350097656
+ }
+ }
+ ]
+}
\ No newline at end of file
diff --git a/provenance/viewer_rows.json b/provenance/viewer_rows.json
index df809bbd33e699bf49000c32992fb4b68df421fd..503707fda4faa8ab4791219376ddee781bfe482e 100644
--- a/provenance/viewer_rows.json
+++ b/provenance/viewer_rows.json
@@ -125,7 +125,7 @@
"fps": null,
"frame_count": null,
"duration_seconds": null,
- "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/arrange-largest-number-random.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page."
+ "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/arrange-largest-number-random.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page. Only the head-camera MP4 is publicly provided; corresponding left/right wrist videos were not found in audited official sources."
},
{
"task_index": 1,
@@ -1021,7 +1021,7 @@
"fps": null,
"frame_count": null,
"duration_seconds": null,
- "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/fold-clothes-random.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page."
+ "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/fold-clothes-random.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page. Only the head-camera MP4 is publicly provided; corresponding left/right wrist videos were not found in audited official sources."
},
{
"task_index": 10,
@@ -1149,7 +1149,7 @@
"fps": null,
"frame_count": null,
"duration_seconds": null,
- "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/hang-mugs-random.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page."
+ "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/hang-mugs-random.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page. Only the head-camera MP4 is publicly provided; corresponding left/right wrist videos were not found in audited official sources."
},
{
"task_index": 11,
@@ -1661,7 +1661,7 @@
"fps": null,
"frame_count": null,
"duration_seconds": null,
- "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/make-toast-random.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page."
+ "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/make-toast-random.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page. Only the head-camera MP4 is publicly provided; corresponding left/right wrist videos were not found in audited official sources."
},
{
"task_index": 16,
@@ -1981,7 +1981,7 @@
"fps": null,
"frame_count": null,
"duration_seconds": null,
- "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/pack-objects-into-box-random.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page."
+ "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/pack-objects-into-box-random.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page. Only the head-camera MP4 is publicly provided; corresponding left/right wrist videos were not found in audited official sources."
},
{
"task_index": 19,
@@ -2589,7 +2589,7 @@
"fps": null,
"frame_count": null,
"duration_seconds": null,
- "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/pour-liquid-into-cup-random.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page."
+ "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/pour-liquid-into-cup-random.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page. Only the head-camera MP4 is publicly provided; corresponding left/right wrist videos were not found in audited official sources."
},
{
"task_index": 25,
@@ -2813,7 +2813,7 @@
"fps": null,
"frame_count": null,
"duration_seconds": null,
- "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/push-t-random.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page."
+ "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/push-t-random.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page. Only the head-camera MP4 is publicly provided; corresponding left/right wrist videos were not found in audited official sources."
},
{
"task_index": 27,
@@ -3037,7 +3037,7 @@
"fps": null,
"frame_count": null,
"duration_seconds": null,
- "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/sort-nesting-dolls-by-size-random.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page."
+ "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/sort-nesting-dolls-by-size-random.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page. Only the head-camera MP4 is publicly provided; corresponding left/right wrist videos were not found in audited official sources."
},
{
"task_index": 29,
@@ -3165,7 +3165,7 @@
"fps": null,
"frame_count": null,
"duration_seconds": null,
- "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/stack-blocks-random.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page."
+ "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/stack-blocks-random.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page. Only the head-camera MP4 is publicly provided; corresponding left/right wrist videos were not found in audited official sources."
},
{
"task_index": 30,
@@ -3293,7 +3293,7 @@
"fps": null,
"frame_count": null,
"duration_seconds": null,
- "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/stack-bowls-random.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page."
+ "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/stack-bowls-random.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page. Only the head-camera MP4 is publicly provided; corresponding left/right wrist videos were not found in audited official sources."
},
{
"task_index": 31,
@@ -3421,7 +3421,7 @@
"fps": null,
"frame_count": null,
"duration_seconds": null,
- "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/store-laptop-and-headphones-random.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page."
+ "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/store-laptop-and-headphones-random.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page. Only the head-camera MP4 is publicly provided; corresponding left/right wrist videos were not found in audited official sources."
},
{
"task_index": 32,
@@ -3741,7 +3741,7 @@
"fps": null,
"frame_count": null,
"duration_seconds": null,
- "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/sweep-blocks-random.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page."
+ "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/sweep-blocks-random.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page. Only the head-camera MP4 is publicly provided; corresponding left/right wrist videos were not found in audited official sources."
},
{
"task_index": null,
diff --git a/scripts/build_dataset.py b/scripts/build_dataset.py
index 70d00830cf8fafc453f2faddcea2f04d115c9ce9..44c41253d0bfa4108d5e494bc2aab0e9c5125e6a 100644
--- a/scripts/build_dataset.py
+++ b/scripts/build_dataset.py
@@ -144,7 +144,7 @@ def prepare():
media_dir = f"media/{task['task_key']}/episode_{local:07d}"
sample = dict(task_key=task['task_key'], task_index=index, episode_index=eid,
source_local_episode=local, frame_count=ep['length'], fps=25, views={})
- for view, camera in [('top', 'cam_head'), ('right', 'cam_right_wrist'), ('left', 'cam_left_wrist')]:
+ for view, camera in [('top', 'cam_head'), ('left', 'cam_left_wrist'), ('right', 'cam_right_wrist')]:
filename = f'episode_{local:07d}_{camera}.mp4'
obj = listings[task['task_key']][filename]
target = f'{media_dir}/{view}.mp4'
@@ -155,8 +155,8 @@ def prepare():
parquet_target = f"trajectories/{task['task_key']}/episode_{eid:06d}.parquet"
sample['trajectory_path'] = parquet_target
sample['trajectory_source_path'] = parquet_source
- sample['synchronized_views_path'] = f'{media_dir}/top_right_left.mp4'
- sample['preview_path'] = f'{media_dir}/top_right_left.jpg'
+ sample['synchronized_views_path'] = f'{media_dir}/top_left_right.mp4'
+ sample['preview_path'] = f'{media_dir}/top_left_right.jpg'
plan.append(dict(url=source_url(parquet_source, revision), path=parquet_target))
samples.append(sample)
for demo in task['documentation_videos']:
@@ -164,6 +164,10 @@ def prepare():
if index is None or 'Random' in demo['label']:
target = f"media/{task['task_key']}/{'random' if 'Random' in demo['label'] else 'documentation'}.mp4"
demo['path'] = target
+ if 'Random' in demo['label']:
+ demo['available_views'] = ['top']
+ demo['unavailable_views'] = ['left', 'right']
+ demo['camera_note'] = '公开的官网 Random MP4 只有头部相机视角；对应的左右腕相机录像未在官网及官方 HF 任务数据中找到。画面里的双臂不等于有腕部相机视频。'
plan.append(dict(url=demo['url'], path=target))
image = main.find('img')
# The official HTML points to /images/axes.png (404); its asset lives under /doc/.
@@ -183,7 +187,7 @@ def prepare():
task_index_source='data/RoboDojo_lerobot_v21_video/meta/tasks.jsonl', retrieved_date='2026-10-03',
episode_selection=LOCAL_EPISODES, source_catalog_task_count=43, official_dataset_task_count=35,
background_annotation='The upstream metadata does not label background IDs. Three spaced episode IDs are sampled per task; distinct background coverage is not guaranteed.',
- camera_mapping={'top': 'cam_head (raw preview); cam_high (LeRobot)', 'right': 'cam_right_wrist', 'left': 'cam_left_wrist'}))
+ camera_mapping={'top': 'cam_head (raw preview); cam_high (LeRobot)', 'left': 'cam_left_wrist', 'right': 'cam_right_wrist'}, view_order=['top', 'left', 'right']))
for filename in ['tasks.jsonl', 'info.json']:
shutil.copy2(WORK / filename, OUT / 'provenance' / filename)
print(f'Prepared {len(tasks)} tasks, {len(samples)} full demonstrations, {len(plan)} selected downloads.', flush=True)
@@ -216,7 +220,7 @@ def render():
samples = read(OUT / 'provenance/selected_episodes.json')
label = Image.new('RGB', (960, 28), '#142032')
drawer = ImageDraw.Draw(label)
- for x, text in [(12, 'TOP / HEAD'), (332, 'RIGHT WRIST'), (652, 'LEFT WRIST')]:
+ for x, text in [(12, 'TOP / HEAD'), (332, 'LEFT WRIST'), (652, 'RIGHT WRIST')]:
drawer.text((x, 7), text, fill='white')
labels_path = WORK / 'labels.png'
label.save(labels_path)
@@ -224,7 +228,7 @@ def render():
target = OUT / sample['synchronized_views_path']
if not target.exists():
command = ['ffmpeg', '-hide_banner', '-loglevel', 'error', '-y']
- for view in ['top', 'right', 'left']:
+ for view in ['top', 'left', 'right']:
command += ['-i', str(OUT / sample['views'][view]['path'])]
command += ['-loop', '1', '-i', str(labels_path), '-filter_complex',
'[0:v]scale=320:240,setsar=1[a];[1:v]scale=320:240,setsar=1[b];[2:v]scale=320:240,setsar=1[c];'
@@ -265,8 +269,8 @@ def package():
row_kind='official_demonstration', variant='standard / sampled scene',
synchronized_views=dict(path=viewer_media_path(s['synchronized_views_path']), bytes=None),
top=dict(path=viewer_media_path(s['views']['top']['path']), bytes=None),
- right=dict(path=viewer_media_path(s['views']['right']['path']), bytes=None),
- left=dict(path=viewer_media_path(s['views']['left']['path']), bytes=None), official_demo=None,
+ left=dict(path=viewer_media_path(s['views']['left']['path']), bytes=None),
+ right=dict(path=viewer_media_path(s['views']['right']['path']), bytes=None), official_demo=None,
preview=dict(path=viewer_media_path(s['preview_path']), bytes=None), trajectory_url=own_url(s['trajectory_path']),
source_top_url=source_url(s['views']['top']['source_path'], source['revision']),
source_right_url=source_url(s['views']['right']['source_path'], source['revision']),
@@ -279,18 +283,20 @@ def package():
if 'path' in demo:
rows.append(dict(common, episode_index=None, source_local_episode=None,
row_kind='documentation_random_eval' if 'Random' in demo['label'] else 'documentation_eval_only',
- variant=demo['label'], synchronized_views=None, top=None, right=None, left=None,
+ variant=demo['label'], synchronized_views=None,
+ top=dict(path=viewer_media_path(demo['path']), bytes=None) if 'Random' in demo['label'] else None,
+ left=None, right=None,
official_demo=dict(path=viewer_media_path(demo['path']), bytes=None), preview=None, trajectory_url='',
source_top_url='', source_right_url='', source_left_url='', source_trajectory_url='',
fps=None, frame_count=None, duration_seconds=None,
- notes=f"Official website demo: {demo['url']}. No published three-camera training demonstration for this variant. Scoring is from the base task page."))
+ notes=f"Official website demo: {demo['url']}. No published three-camera training demonstration for this variant. Scoring is from the base task page." + (' Only the head-camera MP4 is publicly provided; corresponding left/right wrist videos were not found in audited official sources.' if 'Random' in demo['label'] else '')))
# Lead with the actual official task IDs. Documentation-only tasks follow.
rows.sort(key=lambda r: (r['task_index'] if r['task_index'] is not None else 100+r['catalog_number'],
r['episode_index'] if r['episode_index'] is not None else 999999))
- order = ['task_index', 'task_name', 'episode_index', 'synchronized_views', 'top', 'right', 'left', 'official_demo',
+ order = ['task_index', 'task_name', 'episode_index', 'synchronized_views', 'top', 'left', 'right', 'official_demo',
'category', 'instruction', 'dataset_instruction', 'scoring', 'variant', 'row_kind', 'catalog_number', 'source_local_episode',
'task_key', 'description', 'platform', 'data_source', 'usage', 'comment', 'preview', 'frame_count', 'fps',
- 'duration_seconds', 'trajectory_url', 'official_task_page', 'source_top_url', 'source_right_url', 'source_left_url',
+ 'duration_seconds', 'trajectory_url', 'official_task_page', 'source_top_url', 'source_left_url', 'source_right_url',
'source_trajectory_url', 'source_revision', 'actual_episode_score', 'background_id', 'notes']
ints = {'task_index', 'episode_index', 'catalog_number', 'source_local_episode', 'frame_count', 'fps'}
videos = {'synchronized_views', 'top', 'right', 'left', 'official_demo'}
@@ -319,11 +325,11 @@ def package():
configs.append(dict(config_name='reference_tools', data_files=[dict(split='examples', path='data/reference_tools.parquet')]))
write(OUT / 'provenance/viewer_rows.json', [{k:v for k,v in r.items() if k not in videos | {'preview'}} for r in rows])
frontmatter = dict(language=['en', 'zh'], license='other', license_name='upstream-robodojo-terms',
- license_link='LICENSE.md', pretty_name='RoboDojo Task Examples — official task index / top / right / left',
+ license_link='LICENSE.md', pretty_name='RoboDojo Task Examples — official task index / top / left / right',
tags=['robotics', 'robodojo', 'video', 'bimanual', 'task-catalog'], configs=configs)
card = ['---', yaml.safe_dump(frontmatter, sort_keys=False, allow_unicode=True).rstrip(), '---',
'# RoboDojo Task Examples',
- '\n**按官方 task_index 找任务，按 top → right wrist → left wrist 看完整示教。**',
+ '\n**按官方 task_index 找任务，按 top → left wrist → right wrist 看完整示教。**',
'\n43 个官网任务页面 · 35 个有公开示教的任务 · 每任务 3 条完整示教 · 12 个 random-layout 官网演示 · 8 个 Open eval-only 官网演示。',
'\n这是精选浏览集，不是官方完整训练集。数据源：[官方 HF 数据](https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo) / [官方任务文档](https://robodojo-benchmark.com/doc/sim-tasks/)。',
'\n## 快速定位任务',
@@ -333,8 +339,9 @@ def package():
'- `catalog_number`：本仓库对官网目录顺序的辅助编号 **C01–C43**，不是官方 task_index。',
'- `episode_index`：官方 LeRobot 全局 episode ID；`source_local_episode`：原始任务目录的 episode 文件编号。',
'- Open 类 8 个任务的 `task_index` / `episode_index` 为 null；只展示官网 eval-only 演示，不伪造示教。',
- '- `synchronized_views` 把同一 episode 的 **TOP / RIGHT WRIST / LEFT WRIST** 合成一行，同步播放，完整时长、25 FPS。',
- '- `top` / `right` / `left` 保留官方原始 H.264 预览视频（640×480），逐字节校验 SHA256。TOP 对应官方 `cam_head`（LeRobot 命名 `cam_high`），不是新生成的正交俯视相机。',
+ '- `synchronized_views` 把同一 episode 的 **TOP / LEFT WRIST / RIGHT WRIST** 合成一行，同步播放，完整时长、25 FPS。',
+ '- `top` / `left` / `right` 保留官方原始 H.264 预览视频（640×480），逐字节校验 SHA256。TOP 对应官方 `cam_head`（LeRobot 命名 `cam_high`），不是新生成的正交俯视相机。',
+ '- Random version：官网公开 MP4 是 TOP / HEAD 单相机视角。画面里有双臂，但在已核查的官网和官方 HF 任务数据中未找到对应 LEFT / RIGHT 腕部录像，浏览页明确标记缺失。',
'- `trajectory_url` 可下载该 episode 的官方动作与状态 Parquet（14 维双臂关节）。这是关节示教数据，不是未提供的笛卡尔腕部位姿。',
'- `scoring` 是任务评分规则；官方未给每条示教评分，所以 `actual_episode_score` 为 null。',
'- `instruction` 来自当前官网；`dataset_instruction` 来自官方 v2.1 数据。Build Tower / Organize Table 的两者有差异，页面逐项展示；不可把旧版示教当作已完成新版目标。',
@@ -348,7 +355,7 @@ def package():
token = str(t['task_index']) if t['task_index'] is not None else t['task_key']
viewer = f"{BROWSER_URL}/?task={quote(token, safe='')}"
card.append(f"| **{idx}** | C{t['catalog_number']:02d} | [{t['task_name']}]({t['doc_url']}) | {t['category']} | [打开]({viewer}) |")
- card.extend(['\n## 各任务示例、instruction 与评分', '\n每一行是同一 episode 的 top / right / left。点开同步视频可同时看三个视角；官网演示与正式示教分开标注。'])
+ card.extend(['\n## 各任务示例、instruction 与评分', '\n每一行是同一 episode 的 top / left / right。点开同步视频可同时看三个视角；官网演示与正式示教分开标注。'])
for group in GROUPS:
card.append(f'\n## {group}')
for t in [x for x in tasks if x['category'] == group]:
@@ -368,14 +375,16 @@ def package():
card.append('\n**Scoring:** 官网未提供该任务的评分标准。')
ss = [s for s in samples if s['task_key'] == t['task_key']]
if ss:
- card.extend(['\n| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 |', '| --- | --- | --- |'])
+ card.extend(['\n| 官方 episode / 原始文件编号 | TOP → LEFT WRIST → RIGHT WRIST（同一帧） | 完整示教 |', '| --- | --- | --- |'])
for s in ss:
- card.append(f"| **{s['episode_index']}** / {s['source_local_episode']:07d} |  | [同步视频]({s['synchronized_views_path']}) · [top]({s['views']['top']['path']}) · [right]({s['views']['right']['path']}) · [left]({s['views']['left']['path']}) · [动作/状态]({s['trajectory_path']}) |")
+ card.append(f"| **{s['episode_index']}** / {s['source_local_episode']:07d} |  | [同步视频]({s['synchronized_views_path']}) · [top]({s['views']['top']['path']}) · [left]({s['views']['left']['path']}) · [right]({s['views']['right']['path']}) · [动作/状态]({s['trajectory_path']}) |")
else:
card.append('\n**公开示教数据：无（官方标记 eval-only）。** 官网演示如下：')
for demo in t['documentation_videos']:
if 'path' in demo:
card.append(f"\n**{demo['label']} · 官网演示（非训练示教）:** [视频]({demo['path']}) · [官网原文件]({demo['url']})")
+ if 'Random' in demo['label']:
+ card.append('\n**视角可用性：** TOP / HEAD 已公开；LEFT WRIST 和 RIGHT WRIST 对应录像未公开（已核查官网与官方 HF 任务目录）。')
else:
card.append(f"\n[官网 {demo['label']}]({demo['url']})")
card.extend(['\n## 更多官网可展示内容',
@@ -426,7 +435,7 @@ def validate():
if data['frame_index'].to_pylist() != list(range(data.num_rows)):
errors.append('non-contiguous frames')
view_stats = {}
- for v in ['top', 'right', 'left']:
+ for v in ['top', 'left', 'right']:
m = s['views'][v]
p = OUT / m['path']
if hashlib.sha256(p.read_bytes()).hexdigest() != m['source_sha256']:
@@ -454,7 +463,7 @@ def validate():
# actual accepted URL format, rather than only testing browser file URLs.
for parquet in (OUT / 'data').glob('*.parquet'):
subset = pq.read_table(parquet)
- for column in ['synchronized_views','top','right','left','official_demo','preview','video']:
+ for column in ['synchronized_views','top','left','right','official_demo','preview','video']:
if column not in subset.column_names:
continue
for x in subset[column].to_pylist():