| [ |
| { |
| "preview_episode_index": 81, |
| "episode_id": "real/roboInter_droid/codex/0277fa32-a8f1-5e3d-ab1a-63af4e9ffcbf", |
| "source_episode_index": 247, |
| "source_episode_name": "1009_exterior_image_1_left", |
| "source_version": "0208b79c34eca4d214cdb5d07f5ae0f7cc634340", |
| "start_frame": 186, |
| "end_frame": 369, |
| "contact_start_frame": 206, |
| "contact_end_frame": 349, |
| "fps": 10.0, |
| "primitive": "other", |
| "source_skill": "pick", |
| "instruction": "put the marker in the cup", |
| "params": {}, |
| "annotator": "robointer-contact-v4-original-language", |
| "annotator_version": "robointer-contact-v4-original-language", |
| "boundary_precision": "Endpoint is a gripper-reopening/RGB estimate reviewed using the displayed -3/0/+3-frame bracket; not physical-contact force ground truth.", |
| "wrist_review_note": "Target is recognizable in all three displayed starting wrist frames; reopening/release sequence was visually reviewed.", |
| "cameras": { |
| "primary": { |
| "source_video": "source/episodes/000247/primary.mp4", |
| "source_sha256": "1d010a45ab24321fe357b5a8ce64cb4753a075bdf0583b9afcd66020722f56fa", |
| "target_visible_at_start": true, |
| "checked_source_frames": [ |
| 186, |
| 187, |
| 188 |
| ], |
| "clip_video": "videos/chunk-000/observation.images.primary/episode_000081.mp4" |
| }, |
| "wrist": { |
| "source_video": "source/episodes/000247/wrist.mp4", |
| "source_sha256": "57e208e9c913c3d534c4ddab05ae7d665f04a163dfd5587d2fdf6459bb12cebb", |
| "target_visible_at_start": true, |
| "checked_source_frames": [ |
| 186, |
| 187, |
| 188, |
| 346, |
| 349, |
| 352 |
| ], |
| "clip_video": "videos/chunk-000/observation.images.wrist/episode_000081.mp4" |
| } |
| }, |
| "instruction_source": "annotation.instruction_add", |
| "source_language": { |
| "annotation.instruction_add": "put the marker in the cup", |
| "annotation.substask": "pick up the marker on the table", |
| "other_information.language_instruction_2": "Put the marker in the cup", |
| "other_information.language_instruction_3": "Put the marker in the cup" |
| }, |
| "task_view_episode_index": 0, |
| "previous_preview_episode_index": 81, |
| "concrete_task_id": "droid_put_marker_cup", |
| "configuration": "Franka / DROID", |
| "source_dataset_url": "https://huggingface.co/datasets/Travor278/a2r-robointer-contact-preview/tree/3156790d9f81fadb052489faf2c5834889971814/", |
| "task_viewer_warning": [] |
| }, |
| { |
| "preview_episode_index": 3, |
| "episode_id": "real/roboInter_droid/codex/6c5aeab5-4a2a-5095-b6fd-cbf945b09d5a", |
| "source_episode_index": 746, |
| "source_episode_name": "103_exterior_image_2_left", |
| "source_version": "0208b79c34eca4d214cdb5d07f5ae0f7cc634340", |
| "start_frame": 52, |
| "end_frame": 137, |
| "contact_start_frame": 72, |
| "contact_end_frame": 117, |
| "fps": 10.0, |
| "primitive": "other", |
| "source_skill": "pick", |
| "instruction": "put the marker in the cup", |
| "params": {}, |
| "annotator": "robointer-contact-v4-original-language", |
| "annotator_version": "robointer-contact-v4-original-language", |
| "boundary_precision": "RGB estimate at 10 Hz; end uncertainty approximately 2 frames; onset retains upstream annotation", |
| "wrist_review_note": "The white marker on the table is clearly visible in the wrist view at frames 52,53,54.", |
| "cameras": { |
| "primary": { |
| "source_video": "source/episodes/000746/primary.mp4", |
| "source_sha256": "f27481ce6b26cba571a6489a49fcec73ba32ad6f19f3aa7ee49aa6a6ee99deb4", |
| "target_visible_at_start": true, |
| "checked_source_frames": [ |
| 52, |
| 53, |
| 54, |
| 71, |
| 72, |
| 75 |
| ], |
| "clip_video": "videos/chunk-000/observation.images.primary/episode_000003.mp4" |
| }, |
| "wrist": { |
| "source_video": "source/episodes/000746/wrist.mp4", |
| "source_sha256": "3c2ccfb1971a599d24dbcbb8f48898567f347390c10f78aca02b82b2d8ac48c3", |
| "target_visible_at_start": true, |
| "checked_source_frames": [ |
| 52, |
| 53, |
| 54, |
| 71, |
| 72, |
| 75 |
| ], |
| "clip_video": "videos/chunk-000/observation.images.wrist/episode_000003.mp4" |
| } |
| }, |
| "instruction_source": "annotation.instruction_add", |
| "source_language": { |
| "annotation.instruction_add": "put the marker in the cup", |
| "annotation.substask": "pick up the marker from the table", |
| "other_information.language_instruction_2": "Put the marker in the cup", |
| "other_information.language_instruction_3": "Put the marker inside the red mug" |
| }, |
| "task_view_episode_index": 1, |
| "previous_preview_episode_index": 3, |
| "concrete_task_id": "droid_put_marker_cup", |
| "configuration": "Franka / DROID", |
| "source_dataset_url": "https://huggingface.co/datasets/Travor278/a2r-robointer-contact-preview/tree/3156790d9f81fadb052489faf2c5834889971814/", |
| "task_viewer_warning": [ |
| "当前标段只覆盖已标注的抓取阶段；原任务后续动作未在标注中确认。" |
| ] |
| } |
| ] |
