| [ |
| { |
| "preview_episode_index": 0, |
| "episode_id": "real/roboInter_droid/codex/352f926b-d93e-5f4f-b6fb-50e8e6445c07", |
| "source_episode_index": 17, |
| "source_episode_name": "10024_exterior_image_2_left", |
| "source_version": "0208b79c34eca4d214cdb5d07f5ae0f7cc634340", |
| "start_frame": 54, |
| "end_frame": 162, |
| "contact_start_frame": 74, |
| "contact_end_frame": 142, |
| "fps": 10.0, |
| "primitive": "other", |
| "source_skill": "pick", |
| "instruction": "take the marker out of the container and place it on the right side of the table", |
| "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 marker across the metal container is clearly visible in the wrist view at frames 54,55,56.", |
| "cameras": { |
| "primary": { |
| "source_video": "source/episodes/000017/primary.mp4", |
| "source_sha256": "25fcbaae4803a9746b99f26233cc3f8925eb9a332b16f5d2d5a26c1d6824d561", |
| "target_visible_at_start": true, |
| "checked_source_frames": [ |
| 54, |
| 55, |
| 56, |
| 73, |
| 74, |
| 77 |
| ], |
| "clip_video": "videos/chunk-000/observation.images.primary/episode_000000.mp4" |
| }, |
| "wrist": { |
| "source_video": "source/episodes/000017/wrist.mp4", |
| "source_sha256": "9db7867b9373985243c3c63f319ec69c719851fa1d9843c7f9872f5f0514bb91", |
| "target_visible_at_start": true, |
| "checked_source_frames": [ |
| 54, |
| 55, |
| 56, |
| 73, |
| 74, |
| 77 |
| ], |
| "clip_video": "videos/chunk-000/observation.images.wrist/episode_000000.mp4" |
| } |
| }, |
| "instruction_source": "annotation.instruction_add", |
| "source_language": { |
| "annotation.instruction_add": "take the marker out of the container and place it on the right side of the table", |
| "annotation.substask": "pick up the marker from the container", |
| "other_information.language_instruction_2": "Remove the marker from the pot and place it on the table", |
| "other_information.language_instruction_3": "Remove the marker from the pot" |
| }, |
| "task_view_episode_index": 0, |
| "previous_preview_episode_index": 0, |
| "concrete_task_id": "droid_remove_pen_container", |
| "configuration": "Franka / DROID", |
| "source_dataset_url": "https://huggingface.co/datasets/Travor278/a2r-robointer-contact-preview/tree/3156790d9f81fadb052489faf2c5834889971814/", |
| "task_viewer_warning": [] |
| }, |
| { |
| "preview_episode_index": 9, |
| "episode_id": "real/roboInter_droid/codex/c6a5927e-774a-5731-9293-c74f304ef717", |
| "source_episode_index": 2725, |
| "source_episode_name": "11417_exterior_image_2_left", |
| "source_version": "0208b79c34eca4d214cdb5d07f5ae0f7cc634340", |
| "start_frame": 86, |
| "end_frame": 211, |
| "contact_start_frame": 106, |
| "contact_end_frame": 191, |
| "fps": 10.0, |
| "primitive": "other", |
| "source_skill": "pick", |
| "instruction": "take the pen out of the bowl and put it on the table", |
| "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/002725/primary.mp4", |
| "source_sha256": "241d82bd88d1cc43d4d393285ba5f4692c74077e730de75a5f89d4740c996290", |
| "target_visible_at_start": true, |
| "checked_source_frames": [ |
| 86, |
| 87, |
| 88 |
| ], |
| "clip_video": "videos/chunk-000/observation.images.primary/episode_000009.mp4" |
| }, |
| "wrist": { |
| "source_video": "source/episodes/002725/wrist.mp4", |
| "source_sha256": "3ec7bca78216bdbd0e67465e95e54e2e8cbb7958b6a50e0f58a25bdd1e4d6bcb", |
| "target_visible_at_start": true, |
| "checked_source_frames": [ |
| 86, |
| 87, |
| 88, |
| 188, |
| 191, |
| 194 |
| ], |
| "clip_video": "videos/chunk-000/observation.images.wrist/episode_000009.mp4" |
| } |
| }, |
| "instruction_source": "annotation.instruction_add", |
| "source_language": { |
| "annotation.instruction_add": "take the pen out of the bowl and put it on the table", |
| "annotation.substask": "pick up the pen in the bowl", |
| "other_information.language_instruction_2": "Take the pen out of the white bowl", |
| "other_information.language_instruction_3": "Remove the pen from the bowl and place it on the table" |
| }, |
| "task_view_episode_index": 1, |
| "previous_preview_episode_index": 9, |
| "concrete_task_id": "droid_remove_pen_container", |
| "configuration": "Franka / DROID", |
| "source_dataset_url": "https://huggingface.co/datasets/Travor278/a2r-robointer-contact-preview/tree/3156790d9f81fadb052489faf2c5834889971814/", |
| "task_viewer_warning": [] |
| }, |
| { |
| "preview_episode_index": 26, |
| "episode_id": "real/roboInter_droid/codex/b83f58a8-2aff-5536-b089-0917487cc426", |
| "source_episode_index": 676, |
| "source_episode_name": "10348_exterior_image_2_left", |
| "source_version": "0208b79c34eca4d214cdb5d07f5ae0f7cc634340", |
| "start_frame": 88, |
| "end_frame": 216, |
| "contact_start_frame": 108, |
| "contact_end_frame": 196, |
| "fps": 10.0, |
| "primitive": "other", |
| "source_skill": "pick", |
| "instruction": "pick up the marker from the cup and put it on the table", |
| "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/000676/primary.mp4", |
| "source_sha256": "cc445c27ace5d17818cfc96b56771d724550783607d8234ce319da5f930304b0", |
| "target_visible_at_start": true, |
| "checked_source_frames": [ |
| 88, |
| 89, |
| 90 |
| ], |
| "clip_video": "videos/chunk-000/observation.images.primary/episode_000026.mp4" |
| }, |
| "wrist": { |
| "source_video": "source/episodes/000676/wrist.mp4", |
| "source_sha256": "e3600120fd4a10c1ed877c2535c59323e8c692e1f1a7cb858d6e5edc1430d929", |
| "target_visible_at_start": true, |
| "checked_source_frames": [ |
| 88, |
| 89, |
| 90, |
| 193, |
| 196, |
| 199 |
| ], |
| "clip_video": "videos/chunk-000/observation.images.wrist/episode_000026.mp4" |
| } |
| }, |
| "instruction_source": "annotation.instruction_add", |
| "source_language": { |
| "annotation.instruction_add": "pick up the marker from the cup and put it on the table", |
| "annotation.substask": "pick up the marker from the cup", |
| "other_information.language_instruction_2": "Pick up the marker from the cup and put it on the table", |
| "other_information.language_instruction_3": "Remove the marker from the cup" |
| }, |
| "task_view_episode_index": 2, |
| "previous_preview_episode_index": 26, |
| "concrete_task_id": "droid_remove_pen_container", |
| "configuration": "Franka / DROID", |
| "source_dataset_url": "https://huggingface.co/datasets/Travor278/a2r-robointer-contact-preview/tree/3156790d9f81fadb052489faf2c5834889971814/", |
| "task_viewer_warning": [] |
| }, |
| { |
| "preview_episode_index": 88, |
| "episode_id": "real/roboInter_droid/codex/4a374381-7ebd-58c6-a8d8-051d176c965a", |
| "source_episode_index": 3302, |
| "source_episode_name": "11739_exterior_image_1_left", |
| "source_version": "0208b79c34eca4d214cdb5d07f5ae0f7cc634340", |
| "start_frame": 104, |
| "end_frame": 235, |
| "contact_start_frame": 124, |
| "contact_end_frame": 215, |
| "fps": 10.0, |
| "primitive": "other", |
| "source_skill": "pick", |
| "instruction": "put the marker on the table", |
| "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/003302/primary.mp4", |
| "source_sha256": "bf2ebddfbcdc1bf568144a9ce94a61ef3774ecd1971b51efcbbd7a813626d7af", |
| "target_visible_at_start": true, |
| "checked_source_frames": [ |
| 104, |
| 105, |
| 106 |
| ], |
| "clip_video": "videos/chunk-000/observation.images.primary/episode_000088.mp4" |
| }, |
| "wrist": { |
| "source_video": "source/episodes/003302/wrist.mp4", |
| "source_sha256": "d3c2a6aa5d64956d0fd445a7271b010ff190c0a3d910d7f75b6a3b28e6998ec6", |
| "target_visible_at_start": true, |
| "checked_source_frames": [ |
| 104, |
| 105, |
| 106, |
| 212, |
| 215, |
| 218 |
| ], |
| "clip_video": "videos/chunk-000/observation.images.wrist/episode_000088.mp4" |
| } |
| }, |
| "instruction_source": "annotation.instruction_add", |
| "source_language": { |
| "annotation.instruction_add": "put the marker on the table", |
| "annotation.substask": "pick up the marker from the jar on the table", |
| "other_information.language_instruction_2": "", |
| "other_information.language_instruction_3": "" |
| }, |
| "task_view_episode_index": 3, |
| "previous_preview_episode_index": 88, |
| "concrete_task_id": "droid_remove_pen_container", |
| "configuration": "Franka / DROID", |
| "source_dataset_url": "https://huggingface.co/datasets/Travor278/a2r-robointer-contact-preview/tree/3156790d9f81fadb052489faf2c5834889971814/", |
| "task_viewer_warning": [] |
| }, |
| { |
| "preview_episode_index": 80, |
| "episode_id": "real/roboInter_droid/codex/859fd9ba-1ae5-51ab-bd33-c07ef444da02", |
| "source_episode_index": 3752, |
| "source_episode_name": "1200_exterior_image_2_left", |
| "source_version": "0208b79c34eca4d214cdb5d07f5ae0f7cc634340", |
| "start_frame": 72, |
| "end_frame": 186, |
| "contact_start_frame": 92, |
| "contact_end_frame": 166, |
| "fps": 10.0, |
| "primitive": "other", |
| "source_skill": "pick", |
| "instruction": "pick the pen from the cup and put it on the table, then pick it and put it back 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/003752/primary.mp4", |
| "source_sha256": "4c957169d4df6eee6306855a25c00ffc7cf5e7d51e6edb74bc8baebbed8cefec", |
| "target_visible_at_start": true, |
| "checked_source_frames": [ |
| 72, |
| 73, |
| 74 |
| ], |
| "clip_video": "videos/chunk-000/observation.images.primary/episode_000080.mp4" |
| }, |
| "wrist": { |
| "source_video": "source/episodes/003752/wrist.mp4", |
| "source_sha256": "1c223c3dabfcd18b89933762459c893d2508686dc69e1b16f18eab0d645c87de", |
| "target_visible_at_start": true, |
| "checked_source_frames": [ |
| 72, |
| 73, |
| 74, |
| 163, |
| 166, |
| 169 |
| ], |
| "clip_video": "videos/chunk-000/observation.images.wrist/episode_000080.mp4" |
| } |
| }, |
| "instruction_source": "annotation.instruction_add", |
| "source_language": { |
| "annotation.instruction_add": "pick the pen from the cup and put it on the table, then pick it and put it back in the cup", |
| "annotation.substask": "pick up the pen from the cup", |
| "other_information.language_instruction_2": "Take the pen out of the mug, put it on the table then put it back in the mug", |
| "other_information.language_instruction_3": "Pick up the pen from the mug cup and put it on the table. Return the pen back in the mug cup from the table." |
| }, |
| "task_view_episode_index": 4, |
| "previous_preview_episode_index": 80, |
| "concrete_task_id": "droid_remove_pen_container", |
| "configuration": "Franka / DROID", |
| "source_dataset_url": "https://huggingface.co/datasets/Travor278/a2r-robointer-contact-preview/tree/3156790d9f81fadb052489faf2c5834889971814/", |
| "task_viewer_warning": [ |
| "源指令包含多个步骤，本片段仅展示其中部分阶段。" |
| ] |
| } |
| ] |
