| [ |
| { |
| "preview_episode_index": 6, |
| "episode_id": "real/roboInter_droid/codex/13debb0b-bcce-5faa-900c-78ec14f655af", |
| "source_episode_index": 114, |
| "source_episode_name": "10045_exterior_image_1_left", |
| "source_version": "0208b79c34eca4d214cdb5d07f5ae0f7cc634340", |
| "start_frame": 74, |
| "end_frame": 186, |
| "contact_start_frame": 94, |
| "contact_end_frame": 166, |
| "fps": 10.0, |
| "primitive": "other", |
| "source_skill": "pick", |
| "instruction": "take a box out of another box, and then place the other box inside the first box", |
| "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/000114/primary.mp4", |
| "source_sha256": "03b8ecc37145a5a977df5ee51b8ae0b0a5878ba42d3a10c77f9607b16058eb52", |
| "target_visible_at_start": true, |
| "checked_source_frames": [ |
| 74, |
| 75, |
| 76 |
| ], |
| "clip_video": "videos/chunk-000/observation.images.primary/episode_000006.mp4" |
| }, |
| "wrist": { |
| "source_video": "source/episodes/000114/wrist.mp4", |
| "source_sha256": "db3c0e4fb3b0e3186bd170ccb75a81a10000030694f48757e4ae5f34ba15bc7f", |
| "target_visible_at_start": true, |
| "checked_source_frames": [ |
| 74, |
| 75, |
| 76, |
| 163, |
| 166, |
| 169 |
| ], |
| "clip_video": "videos/chunk-000/observation.images.wrist/episode_000006.mp4" |
| } |
| }, |
| "instruction_source": "annotation.instruction_add", |
| "source_language": { |
| "annotation.instruction_add": "take a box out of another box, and then place the other box inside the first box", |
| "annotation.substask": "pick up a basket on two stacked baskets", |
| "other_information.language_instruction_2": "Unstack the two baskets then stack the baskets back together", |
| "other_information.language_instruction_3": "Swap around the utensil containers" |
| }, |
| "task_view_episode_index": 0, |
| "previous_preview_episode_index": 6, |
| "concrete_task_id": "droid_unstack_basket", |
| "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。" |
| ] |
| } |
| ] |
