diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..66178f242687df518a4e37aec01465ff9ba42454 --- /dev/null +++ b/README.md @@ -0,0 +1,21 @@ +# subsampled vr dataset + +Filtered from `C:\Users\ricelab\.cache\huggingface\hub\datasets--aliy98--vr_datasets_abs_joint_abs_joint_30hz_colored\snapshots\32a9a4231680e1ec0337496601a5e57550d167e3`. + +Selection: +- tube: only episodes whose target rack is purple +- open thermal cycler: first half of episodes by episode_index +- close thermal cycler: first half of episodes by episode_index +- mantis: no episodes + +Episodes kept: 150 + +``` +task_text +open the thermal cycler 50 +close the thermal cycler 50 +pick up the centrifuge tube and move it to the purple rack, far left position 13 +pick up the centrifuge tube and move it to the purple rack, middle left position 13 +pick up the centrifuge tube and move it to the purple rack, middle right position 12 +pick up the centrifuge tube and move it to the purple rack, far right position 12 +``` diff --git a/data/chunk-000/file-000.parquet b/data/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..823b5790f3c34d37ed8f53cd7fa286cd0ba0b120 --- /dev/null +++ b/data/chunk-000/file-000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d56d02af0f168cb716e4af219fc104bc5abb1940ecf59c24e3e0e33a6b0cd16d +size 4689386 diff --git a/meta/episode_instruction_map.csv b/meta/episode_instruction_map.csv new file mode 100644 index 0000000000000000000000000000000000000000..779fdaa0259c9295dc844860e6c180e9803d7bd5 --- /dev/null +++ b/meta/episode_instruction_map.csv @@ -0,0 +1,151 @@ +episode_index,old_task,new_task,new_task_index,rewritten,ee_x,ee_y,ee_z,source_rack,target_rack,length,task_text,kind,source_episode_index +0,open the thermal cycler,open the thermal cycler,0,False,-0.2007660712962285,-0.3825144874837561,0.4405275134368726,,,421,open the thermal cycler,open_thermal,3 +1,open the thermal cycler,open the thermal cycler,0,False,-0.1733882684730396,-0.3190476563010386,0.450098217643412,,,442,open the thermal cycler,open_thermal,5 +2,close the thermal cycler,close the thermal cycler,1,False,-0.4450897701800349,-0.2849193588349639,0.4397529043229705,,,415,close the thermal cycler,close_thermal,6 +3,open the thermal cycler,open the thermal cycler,0,False,-0.1828566228252416,-0.3132253977169659,0.4592034632209745,,,414,open the thermal cycler,open_thermal,7 +4,close the thermal cycler,close the thermal cycler,1,False,-0.39902297353316,-0.2568445156511983,0.3710015692691851,,,349,close the thermal cycler,close_thermal,9 +5,close the thermal cycler,close the thermal cycler,1,False,-0.4227398779201297,-0.2878377620696691,0.3940080248488619,,,395,close the thermal cycler,close_thermal,10 +6,close the thermal cycler,close the thermal cycler,1,False,-0.4391047450731016,-0.269734353364769,0.3803457967212796,,,423,close the thermal cycler,close_thermal,11 +7,open the thermal cycler,open the thermal cycler,0,False,-0.1460105987212456,-0.3066896724502221,0.45478059427589,,,484,open the thermal cycler,open_thermal,12 +8,open the thermal cycler,open the thermal cycler,0,False,-0.2010912822108141,-0.3724171581875323,0.4430049503415162,,,422,open the thermal cycler,open_thermal,13 +9,open the thermal cycler,open the thermal cycler,0,False,-0.1353010653890862,-0.3080179418187675,0.4657668905505193,,,392,open the thermal cycler,open_thermal,14 +10,close the thermal cycler,close the thermal cycler,1,False,-0.4356974317117734,-0.2698333681767588,0.3720109847156336,,,444,close the thermal cycler,close_thermal,15 +11,open the thermal cycler,open the thermal cycler,0,False,-0.1522272437156431,-0.3428470705685212,0.4623144737408647,,,398,open the thermal cycler,open_thermal,16 +12,open the thermal cycler,open the thermal cycler,0,False,-0.2137380717108311,-0.3290336498857884,0.5236331867475806,,,523,open the thermal cycler,open_thermal,17 +13,close the thermal cycler,close the thermal cycler,1,False,-0.4360743764306725,-0.2580195553955044,0.3733179282050103,,,387,close the thermal cycler,close_thermal,19 +14,open the thermal cycler,open the thermal cycler,0,False,-0.1696336179847342,-0.3096050692274826,0.4660290018678298,,,418,open the thermal cycler,open_thermal,23 +15,close the thermal cycler,close the thermal cycler,1,False,-0.446678089926609,-0.2742022740595052,0.3752336974999894,,,545,close the thermal cycler,close_thermal,24 +16,"pick up the centrifuge tube and move it to the other rack, far left position","pick up the centrifuge tube and move it to the purple rack, far left position",2,True,-0.4289227252759382,-0.3708978037379413,0.3175421770887853,green,purple,641,"pick up the centrifuge tube and move it to the purple rack, far left position",tube,26 +17,open the thermal cycler,open the thermal cycler,0,False,-0.1392334059757365,-0.3338923854055634,0.4418211949602799,,,482,open the thermal cycler,open_thermal,27 +18,"pick up the centrifuge tube and move it to the other rack, middle left position","pick up the centrifuge tube and move it to the purple rack, middle left position",3,True,-0.4431396344209247,-0.4412519074453979,0.3428935729211309,green,purple,474,"pick up the centrifuge tube and move it to the purple rack, middle left position",tube,28 +19,"pick up the centrifuge tube and move it to the other rack, middle left position","pick up the centrifuge tube and move it to the purple rack, middle left position",3,True,-0.4219072797216567,-0.4508109860315228,0.3044196975819169,green,purple,520,"pick up the centrifuge tube and move it to the purple rack, middle left position",tube,29 +20,open the thermal cycler,open the thermal cycler,0,False,-0.1701151022259252,-0.354518938533319,0.4650288180342294,,,415,open the thermal cycler,open_thermal,31 +21,open the thermal cycler,open the thermal cycler,0,False,-0.1984756336130385,-0.3418844518845615,0.4537804186104576,,,381,open the thermal cycler,open_thermal,32 +22,open the thermal cycler,open the thermal cycler,0,False,-0.1338404352081773,-0.316224432339149,0.4547715895353039,,,487,open the thermal cycler,open_thermal,33 +23,"pick up the centrifuge tube and move it to the other rack, far left position","pick up the centrifuge tube and move it to the purple rack, far left position",2,True,-0.418610669192003,-0.3886488891984261,0.3230904739307074,green,purple,406,"pick up the centrifuge tube and move it to the purple rack, far left position",tube,39 +24,open the thermal cycler,open the thermal cycler,0,False,-0.1487504718350654,-0.353148401646077,0.427392384411429,,,435,open the thermal cycler,open_thermal,40 +25,close the thermal cycler,close the thermal cycler,1,False,-0.4579884508344737,-0.2616239834720837,0.3797452008437427,,,318,close the thermal cycler,close_thermal,42 +26,close the thermal cycler,close the thermal cycler,1,False,-0.4133491678808173,-0.2897845415748416,0.3773185873682541,,,483,close the thermal cycler,close_thermal,43 +27,close the thermal cycler,close the thermal cycler,1,False,-0.4286924678479404,-0.2830551557346848,0.3680386744736176,,,367,close the thermal cycler,close_thermal,46 +28,close the thermal cycler,close the thermal cycler,1,False,-0.4481859210152265,-0.2527255028813198,0.3822310520092141,,,324,close the thermal cycler,close_thermal,47 +29,open the thermal cycler,open the thermal cycler,0,False,-0.1482128884884853,-0.2918104718916161,0.4617985931617661,,,321,open the thermal cycler,open_thermal,48 +30,open the thermal cycler,open the thermal cycler,0,False,-0.166095918480555,-0.325934129443358,0.4603529745010638,,,347,open the thermal cycler,open_thermal,51 +31,close the thermal cycler,close the thermal cycler,1,False,-0.4274664709604793,-0.2619439777827098,0.3702762164631942,,,417,close the thermal cycler,close_thermal,53 +32,close the thermal cycler,close the thermal cycler,1,False,-0.4347959918599309,-0.2558219523149567,0.3700883099396059,,,252,close the thermal cycler,close_thermal,54 +33,open the thermal cycler,open the thermal cycler,0,False,-0.1896304326967373,-0.4257872605220653,0.4679740227908477,,,429,open the thermal cycler,open_thermal,55 +34,"pick up the centrifuge tube and move it to the other rack, middle right position","pick up the centrifuge tube and move it to the purple rack, middle right position",4,True,-0.4102090236513565,-0.4764568226537028,0.3157718568248478,green,purple,424,"pick up the centrifuge tube and move it to the purple rack, middle right position",tube,56 +35,open the thermal cycler,open the thermal cycler,0,False,-0.1105426899524965,-0.3264753026118646,0.4520501627515508,,,480,open the thermal cycler,open_thermal,57 +36,"pick up the centrifuge tube and move it to the other rack, middle right position","pick up the centrifuge tube and move it to the purple rack, middle right position",4,True,-0.4190147983175288,-0.4666538796370979,0.3373392392823247,green,purple,432,"pick up the centrifuge tube and move it to the purple rack, middle right position",tube,59 +37,close the thermal cycler,close the thermal cycler,1,False,-0.4093317500762151,-0.2509608463424841,0.3747134186641621,,,359,close the thermal cycler,close_thermal,60 +38,close the thermal cycler,close the thermal cycler,1,False,-0.4121102294615368,-0.2642974469002102,0.3770445314825104,,,397,close the thermal cycler,close_thermal,61 +39,close the thermal cycler,close the thermal cycler,1,False,-0.4244894628404309,-0.2761370056165954,0.3754770376626093,,,368,close the thermal cycler,close_thermal,62 +40,close the thermal cycler,close the thermal cycler,1,False,-0.4289629320217952,-0.2560649478623296,0.3717953359880513,,,381,close the thermal cycler,close_thermal,64 +41,open the thermal cycler,open the thermal cycler,0,False,-0.1170761942446749,-0.2958749778483875,0.4578905444348348,,,367,open the thermal cycler,open_thermal,66 +42,"pick up the centrifuge tube and move it to the other rack, middle right position","pick up the centrifuge tube and move it to the purple rack, middle right position",4,True,-0.427365322403167,-0.4887734025982452,0.332618084160542,green,purple,449,"pick up the centrifuge tube and move it to the purple rack, middle right position",tube,67 +43,open the thermal cycler,open the thermal cycler,0,False,-0.190985958245696,-0.4043968363209481,0.4517839194981606,,,420,open the thermal cycler,open_thermal,68 +44,close the thermal cycler,close the thermal cycler,1,False,-0.4323700242741735,-0.2594821614527585,0.3719130968010015,,,394,close the thermal cycler,close_thermal,69 +45,"pick up the centrifuge tube and move it to the other rack, middle left position","pick up the centrifuge tube and move it to the purple rack, middle left position",3,True,-0.429513850182516,-0.4358711158592386,0.3291520387224477,green,purple,463,"pick up the centrifuge tube and move it to the purple rack, middle left position",tube,71 +46,open the thermal cycler,open the thermal cycler,0,False,-0.1238173904663044,-0.3662853272148678,0.4645704129646644,,,443,open the thermal cycler,open_thermal,74 +47,"pick up the centrifuge tube and move it to the other rack, far left position","pick up the centrifuge tube and move it to the purple rack, far left position",2,True,-0.4006583733835979,-0.3884791019105456,0.3213545412644575,green,purple,405,"pick up the centrifuge tube and move it to the purple rack, far left position",tube,79 +48,open the thermal cycler,open the thermal cycler,0,False,-0.1833952092752725,-0.313755839265763,0.4432377287859511,,,367,open the thermal cycler,open_thermal,80 +49,"pick up the centrifuge tube and move it to the other rack, far left position","pick up the centrifuge tube and move it to the purple rack, far left position",2,True,-0.4327813421061104,-0.387113802824796,0.3312288149783411,green,purple,397,"pick up the centrifuge tube and move it to the purple rack, far left position",tube,84 +50,open the thermal cycler,open the thermal cycler,0,False,-0.1413088690717514,-0.3379047842706881,0.4736137503595888,,,417,open the thermal cycler,open_thermal,87 +51,close the thermal cycler,close the thermal cycler,1,False,-0.4139269867404017,-0.2595887556786876,0.3657345376962382,,,358,close the thermal cycler,close_thermal,89 +52,open the thermal cycler,open the thermal cycler,0,False,-0.1271324773192899,-0.3094864502595198,0.4548829591877647,,,399,open the thermal cycler,open_thermal,90 +53,open the thermal cycler,open the thermal cycler,0,False,-0.1592622745042288,-0.3065555736950626,0.4526122784044938,,,399,open the thermal cycler,open_thermal,91 +54,close the thermal cycler,close the thermal cycler,1,False,-0.4165858259802767,-0.2824982553070002,0.3714250949526587,,,359,close the thermal cycler,close_thermal,94 +55,close the thermal cycler,close the thermal cycler,1,False,-0.4403715115229955,-0.2633964669334643,0.3712143735507729,,,301,close the thermal cycler,close_thermal,95 +56,close the thermal cycler,close the thermal cycler,1,False,-0.4358017466907601,-0.2623747263225515,0.3819310109059066,,,433,close the thermal cycler,close_thermal,96 +57,open the thermal cycler,open the thermal cycler,0,False,-0.1179592626856814,-0.3126316943222688,0.4557785845679785,,,316,open the thermal cycler,open_thermal,97 +58,"pick up the centrifuge tube and move it to the other rack, far left position","pick up the centrifuge tube and move it to the purple rack, far left position",2,True,-0.4391410209236153,-0.3751596300032493,0.3309589524456434,green,purple,495,"pick up the centrifuge tube and move it to the purple rack, far left position",tube,98 +59,open the thermal cycler,open the thermal cycler,0,False,-0.143172301226939,-0.3710992681559043,0.4423482081387285,,,489,open the thermal cycler,open_thermal,100 +60,open the thermal cycler,open the thermal cycler,0,False,-0.1878679451689967,-0.3189659303413198,0.4521045000229683,,,405,open the thermal cycler,open_thermal,101 +61,close the thermal cycler,close the thermal cycler,1,False,-0.414521422076173,-0.2514290398029684,0.3788364715797657,,,363,close the thermal cycler,close_thermal,102 +62,"pick up the centrifuge tube and move it to the other rack, far right position","pick up the centrifuge tube and move it to the purple rack, far right position",5,True,-0.4434389305486054,-0.489656688840916,0.332667475436656,green,purple,591,"pick up the centrifuge tube and move it to the purple rack, far right position",tube,103 +63,"pick up the centrifuge tube and move it to the other rack, far right position","pick up the centrifuge tube and move it to the purple rack, far right position",5,True,-0.4540820515964367,-0.5134782735978826,0.3187109581467197,green,purple,487,"pick up the centrifuge tube and move it to the purple rack, far right position",tube,106 +64,close the thermal cycler,close the thermal cycler,1,False,-0.425413925350851,-0.2529200676245072,0.3747341498049408,,,336,close the thermal cycler,close_thermal,108 +65,close the thermal cycler,close the thermal cycler,1,False,-0.4217478737023545,-0.2817332276882646,0.3769808839212772,,,266,close the thermal cycler,close_thermal,111 +66,"pick up the centrifuge tube and move it to the other rack, middle right position","pick up the centrifuge tube and move it to the purple rack, middle right position",4,True,-0.415225984469691,-0.4623130239087706,0.3299722135153683,green,purple,517,"pick up the centrifuge tube and move it to the purple rack, middle right position",tube,113 +67,open the thermal cycler,open the thermal cycler,0,False,-0.1734208456838554,-0.2996635748217154,0.4572084084302247,,,426,open the thermal cycler,open_thermal,115 +68,"pick up the centrifuge tube and move it to the other rack, middle left position","pick up the centrifuge tube and move it to the purple rack, middle left position",3,True,-0.406397195162835,-0.3937170781117071,0.3194406699678753,green,purple,533,"pick up the centrifuge tube and move it to the purple rack, middle left position",tube,119 +69,"pick up the centrifuge tube and move it to the other rack, middle right position","pick up the centrifuge tube and move it to the purple rack, middle right position",4,True,-0.4191758162157722,-0.4900587614439814,0.2921859865379266,green,purple,625,"pick up the centrifuge tube and move it to the purple rack, middle right position",tube,120 +70,close the thermal cycler,close the thermal cycler,1,False,-0.4077079692470309,-0.2727532824030313,0.3834448481635792,,,289,close the thermal cycler,close_thermal,121 +71,close the thermal cycler,close the thermal cycler,1,False,-0.4250570168991729,-0.2710698082303024,0.3722851450109991,,,390,close the thermal cycler,close_thermal,122 +72,open the thermal cycler,open the thermal cycler,0,False,-0.1781065961852541,-0.3315771054953357,0.4484882156911189,,,484,open the thermal cycler,open_thermal,126 +73,close the thermal cycler,close the thermal cycler,1,False,-0.4130953991866324,-0.284405167538682,0.3689142696550127,,,239,close the thermal cycler,close_thermal,127 +74,close the thermal cycler,close the thermal cycler,1,False,-0.3946730752826478,-0.2844140813292546,0.4080956902501935,,,301,close the thermal cycler,close_thermal,130 +75,close the thermal cycler,close the thermal cycler,1,False,-0.4413805614803786,-0.2642611666874879,0.3786207085427836,,,350,close the thermal cycler,close_thermal,132 +76,open the thermal cycler,open the thermal cycler,0,False,-0.1972096845408512,-0.2821059999182068,0.446064974865687,,,440,open the thermal cycler,open_thermal,133 +77,open the thermal cycler,open the thermal cycler,0,False,-0.1713022970980028,-0.3716351376749408,0.454394373371189,,,476,open the thermal cycler,open_thermal,134 +78,"pick up the centrifuge tube and move it to the other rack, far left position","pick up the centrifuge tube and move it to the purple rack, far left position",2,True,-0.4030698982529299,-0.3929674621900739,0.3060334576947139,green,purple,388,"pick up the centrifuge tube and move it to the purple rack, far left position",tube,135 +79,close the thermal cycler,close the thermal cycler,1,False,-0.4446617359539766,-0.2845222018245621,0.3709820008190168,,,321,close the thermal cycler,close_thermal,138 +80,"pick up the centrifuge tube and move it to the other rack, far left position","pick up the centrifuge tube and move it to the purple rack, far left position",2,True,-0.3898057366356315,-0.3418750161036397,0.3086840823912514,green,purple,588,"pick up the centrifuge tube and move it to the purple rack, far left position",tube,139 +81,close the thermal cycler,close the thermal cycler,1,False,-0.4225672060436896,-0.283949869423511,0.3691154474871682,,,319,close the thermal cycler,close_thermal,140 +82,open the thermal cycler,open the thermal cycler,0,False,-0.143247099361854,-0.3700401418220443,0.4507981428675989,,,384,open the thermal cycler,open_thermal,141 +83,close the thermal cycler,close the thermal cycler,1,False,-0.3855848525483727,-0.3270785196915093,0.4072692680741308,,,464,close the thermal cycler,close_thermal,142 +84,open the thermal cycler,open the thermal cycler,0,False,-0.1667820740312271,-0.4054987073071146,0.4625866504810677,,,531,open the thermal cycler,open_thermal,145 +85,close the thermal cycler,close the thermal cycler,1,False,-0.4084397243176108,-0.2545872247096679,0.3691911244199866,,,353,close the thermal cycler,close_thermal,146 +86,open the thermal cycler,open the thermal cycler,0,False,-0.1642036516040791,-0.3114327524855406,0.4644738957269327,,,338,open the thermal cycler,open_thermal,147 +87,open the thermal cycler,open the thermal cycler,0,False,-0.1878651845553539,-0.316755256384064,0.4487572715356009,,,331,open the thermal cycler,open_thermal,148 +88,open the thermal cycler,open the thermal cycler,0,False,-0.1562218360820874,-0.3289145262643727,0.4501993009578435,,,367,open the thermal cycler,open_thermal,149 +89,"pick up the centrifuge tube and move it to the other rack, far left position","pick up the centrifuge tube and move it to the purple rack, far left position",2,True,-0.4446808345525995,-0.390118501856695,0.3203850655435441,green,purple,495,"pick up the centrifuge tube and move it to the purple rack, far left position",tube,153 +90,"pick up the centrifuge tube and move it to the other rack, middle left position","pick up the centrifuge tube and move it to the purple rack, middle left position",3,True,-0.4251057756495549,-0.4349620036569032,0.3564343264211233,green,purple,398,"pick up the centrifuge tube and move it to the purple rack, middle left position",tube,154 +91,"pick up the centrifuge tube and move it to the other rack, middle right position","pick up the centrifuge tube and move it to the purple rack, middle right position",4,True,-0.404502152422284,-0.4143061437888301,0.322042174263092,green,purple,749,"pick up the centrifuge tube and move it to the purple rack, middle right position",tube,155 +92,open the thermal cycler,open the thermal cycler,0,False,-0.1611340665260552,-0.3553855118052214,0.4574014200263673,,,495,open the thermal cycler,open_thermal,157 +93,open the thermal cycler,open the thermal cycler,0,False,-0.1616915146048008,-0.309687694823592,0.4782009656567739,,,355,open the thermal cycler,open_thermal,159 +94,open the thermal cycler,open the thermal cycler,0,False,-0.1334358104023388,-0.3088438757653098,0.4610368628916748,,,393,open the thermal cycler,open_thermal,161 +95,close the thermal cycler,close the thermal cycler,1,False,-0.4176698026214027,-0.2714219986345498,0.3728972594411524,,,392,close the thermal cycler,close_thermal,163 +96,close the thermal cycler,close the thermal cycler,1,False,-0.4266752998498294,-0.2619122209112978,0.3753833312235327,,,363,close the thermal cycler,close_thermal,164 +97,"pick up the centrifuge tube and move it to the other rack, far right position","pick up the centrifuge tube and move it to the purple rack, far right position",5,True,-0.4177879034784265,-0.4961905101680754,0.3343237591183883,green,purple,404,"pick up the centrifuge tube and move it to the purple rack, far right position",tube,165 +98,close the thermal cycler,close the thermal cycler,1,False,-0.43135944192955,-0.2629340454255356,0.3727009089776412,,,402,close the thermal cycler,close_thermal,168 +99,open the thermal cycler,open the thermal cycler,0,False,-0.1156654702158083,-0.3559426344349387,0.4745879274226666,,,443,open the thermal cycler,open_thermal,169 +100,"pick up the centrifuge tube and move it to the other rack, far right position","pick up the centrifuge tube and move it to the purple rack, far right position",5,True,-0.4403401399967217,-0.4809982992189164,0.343306057905515,green,purple,500,"pick up the centrifuge tube and move it to the purple rack, far right position",tube,171 +101,close the thermal cycler,close the thermal cycler,1,False,-0.4215251082518887,-0.3017339668626053,0.3823851139550148,,,424,close the thermal cycler,close_thermal,173 +102,close the thermal cycler,close the thermal cycler,1,False,-0.447196729728391,-0.2474454587485599,0.3764549587759869,,,344,close the thermal cycler,close_thermal,174 +103,open the thermal cycler,open the thermal cycler,0,False,-0.1455072956069567,-0.3506511431173655,0.493823017898063,,,377,open the thermal cycler,open_thermal,175 +104,close the thermal cycler,close the thermal cycler,1,False,-0.4435405069564982,-0.2760416611530329,0.371795118337821,,,345,close the thermal cycler,close_thermal,177 +105,close the thermal cycler,close the thermal cycler,1,False,-0.4327931596790673,-0.2328961285346725,0.3741002775288388,,,481,close the thermal cycler,close_thermal,179 +106,"pick up the centrifuge tube and move it to the other rack, far right position","pick up the centrifuge tube and move it to the purple rack, far right position",5,True,-0.4264628494535492,-0.510427988151752,0.3086914107876799,green,purple,434,"pick up the centrifuge tube and move it to the purple rack, far right position",tube,181 +107,open the thermal cycler,open the thermal cycler,0,False,-0.16181512528804,-0.3374109981007412,0.4527987118728473,,,386,open the thermal cycler,open_thermal,183 +108,"pick up the centrifuge tube and move it to the other rack, far left position","pick up the centrifuge tube and move it to the purple rack, far left position",2,True,-0.4285732234195893,-0.3988247025509949,0.3269524045904896,green,purple,379,"pick up the centrifuge tube and move it to the purple rack, far left position",tube,184 +109,open the thermal cycler,open the thermal cycler,0,False,-0.1869214871651996,-0.3360207387367852,0.4405702340117741,,,461,open the thermal cycler,open_thermal,185 +110,open the thermal cycler,open the thermal cycler,0,False,-0.1832646598094712,-0.3121508063134883,0.4559675069344295,,,469,open the thermal cycler,open_thermal,186 +111,close the thermal cycler,close the thermal cycler,1,False,-0.4093005217394103,-0.262646193916612,0.3708531021708305,,,385,close the thermal cycler,close_thermal,189 +112,close the thermal cycler,close the thermal cycler,1,False,-0.4232587928704743,-0.2919742288771429,0.3715592725182767,,,410,close the thermal cycler,close_thermal,190 +113,open the thermal cycler,open the thermal cycler,0,False,-0.1682205958958099,-0.3069928111930973,0.456638753816271,,,332,open the thermal cycler,open_thermal,192 +114,open the thermal cycler,open the thermal cycler,0,False,-0.1530464728957165,-0.3438476863361312,0.4578267485990595,,,512,open the thermal cycler,open_thermal,193 +115,open the thermal cycler,open the thermal cycler,0,False,-0.1434184483994228,-0.274923553273961,0.4686891075677632,,,310,open the thermal cycler,open_thermal,194 +116,open the thermal cycler,open the thermal cycler,0,False,-0.2077385886714498,-0.3384379902370878,0.4436808754597462,,,420,open the thermal cycler,open_thermal,195 +117,open the thermal cycler,open the thermal cycler,0,False,-0.1634311727959408,-0.2957865583637513,0.4506269183692905,,,400,open the thermal cycler,open_thermal,196 +118,close the thermal cycler,close the thermal cycler,1,False,-0.4136560848111059,-0.2765480219446979,0.3963236591920022,,,397,close the thermal cycler,close_thermal,197 +119,"pick up the centrifuge tube and move it to the other rack, middle right position","pick up the centrifuge tube and move it to the purple rack, middle right position",4,True,-0.4127129133360962,-0.4661001149684459,0.3386909290176578,green,purple,387,"pick up the centrifuge tube and move it to the purple rack, middle right position",tube,198 +120,close the thermal cycler,close the thermal cycler,1,False,-0.4053351189986117,-0.2548514860674609,0.3742458014049315,,,381,close the thermal cycler,close_thermal,201 +121,"pick up the centrifuge tube and move it to the other rack, middle left position","pick up the centrifuge tube and move it to the purple rack, middle left position",3,True,-0.4349345236235712,-0.4252169930892833,0.3351444167736912,green,purple,548,"pick up the centrifuge tube and move it to the purple rack, middle left position",tube,204 +122,close the thermal cycler,close the thermal cycler,1,False,-0.4119059513656744,-0.255799750161056,0.370559722968145,,,276,close the thermal cycler,close_thermal,205 +123,"pick up the centrifuge tube and move it to the other rack, far right position","pick up the centrifuge tube and move it to the purple rack, far right position",5,True,-0.4316455885173657,-0.5177254312460876,0.2839689841541192,green,purple,434,"pick up the centrifuge tube and move it to the purple rack, far right position",tube,211 +124,close the thermal cycler,close the thermal cycler,1,False,-0.414540343985363,-0.2473243445864141,0.3735369479592829,,,435,close the thermal cycler,close_thermal,214 +125,"pick up the centrifuge tube and move it to the other rack, far right position","pick up the centrifuge tube and move it to the purple rack, far right position",5,True,-0.4354410218223049,-0.5113517953099268,0.311903122070776,green,purple,609,"pick up the centrifuge tube and move it to the purple rack, far right position",tube,220 +126,close the thermal cycler,close the thermal cycler,1,False,-0.4152602256264372,-0.262660865524611,0.4142534076993198,,,276,close the thermal cycler,close_thermal,222 +127,close the thermal cycler,close the thermal cycler,1,False,-0.4045024026625733,-0.2800911091998057,0.3863851774146339,,,268,close the thermal cycler,close_thermal,226 +128,close the thermal cycler,close the thermal cycler,1,False,-0.4214017867259121,-0.2770378037682106,0.3719297363866417,,,457,close the thermal cycler,close_thermal,228 +129,"pick up the centrifuge tube and move it to the other rack, middle left position","pick up the centrifuge tube and move it to the purple rack, middle left position",3,True,-0.425498091537882,-0.4336286475573942,0.3337600382169548,green,purple,484,"pick up the centrifuge tube and move it to the purple rack, middle left position",tube,252 +130,"pick up the centrifuge tube and move it to the other rack, far left position","pick up the centrifuge tube and move it to the purple rack, far left position",2,True,-0.4219442359570439,-0.4301780130410322,0.3345058635178984,green,purple,495,"pick up the centrifuge tube and move it to the purple rack, far left position",tube,255 +131,"pick up the centrifuge tube and move it to the other rack, middle right position","pick up the centrifuge tube and move it to the purple rack, middle right position",4,True,-0.4305246641986417,-0.4739922326477042,0.3131911212074813,green,purple,495,"pick up the centrifuge tube and move it to the purple rack, middle right position",tube,271 +132,"pick up the centrifuge tube and move it to the other rack, far left position","pick up the centrifuge tube and move it to the purple rack, far left position",2,True,-0.4096799722899965,-0.3839878984936093,0.2887256236660953,green,purple,373,"pick up the centrifuge tube and move it to the purple rack, far left position",tube,272 +133,"pick up the centrifuge tube and move it to the other rack, middle left position","pick up the centrifuge tube and move it to the purple rack, middle left position",3,True,-0.4211103632074371,-0.4404806809387351,0.3009937176694607,green,purple,378,"pick up the centrifuge tube and move it to the purple rack, middle left position",tube,280 +134,"pick up the centrifuge tube and move it to the other rack, far right position","pick up the centrifuge tube and move it to the purple rack, far right position",5,True,-0.4420625605564083,-0.5317165159883832,0.3316705384075654,green,purple,565,"pick up the centrifuge tube and move it to the purple rack, far right position",tube,296 +135,"pick up the centrifuge tube and move it to the other rack, middle left position","pick up the centrifuge tube and move it to the purple rack, middle left position",3,True,-0.4069598684046068,-0.4136409247061139,0.3403506780359576,green,purple,379,"pick up the centrifuge tube and move it to the purple rack, middle left position",tube,305 +136,"pick up the centrifuge tube and move it to the other rack, middle left position","pick up the centrifuge tube and move it to the purple rack, middle left position",3,True,-0.4272388864549512,-0.427891686545611,0.3087836719238228,green,purple,460,"pick up the centrifuge tube and move it to the purple rack, middle left position",tube,306 +137,"pick up the centrifuge tube and move it to the other rack, far right position","pick up the centrifuge tube and move it to the purple rack, far right position",5,True,-0.4617508671925786,-0.5007448030731881,0.3063180344136473,green,purple,674,"pick up the centrifuge tube and move it to the purple rack, far right position",tube,307 +138,"pick up the centrifuge tube and move it to the other rack, far right position","pick up the centrifuge tube and move it to the purple rack, far right position",5,True,-0.4396549474359513,-0.4867414213564178,0.3415292578026973,green,purple,554,"pick up the centrifuge tube and move it to the purple rack, far right position",tube,328 +139,"pick up the centrifuge tube and move it to the other rack, middle right position","pick up the centrifuge tube and move it to the purple rack, middle right position",4,True,-0.4114823004889145,-0.4943783798927206,0.2955836362797673,green,purple,406,"pick up the centrifuge tube and move it to the purple rack, middle right position",tube,344 +140,"pick up the centrifuge tube and move it to the other rack, far left position","pick up the centrifuge tube and move it to the purple rack, far left position",2,True,-0.4439478274818628,-0.3972068176064078,0.3435362609376408,green,purple,458,"pick up the centrifuge tube and move it to the purple rack, far left position",tube,345 +141,"pick up the centrifuge tube and move it to the other rack, far left position","pick up the centrifuge tube and move it to the purple rack, far left position",2,True,-0.4046684689628652,-0.3877635342142543,0.3153005550207434,green,purple,421,"pick up the centrifuge tube and move it to the purple rack, far left position",tube,347 +142,"pick up the centrifuge tube and move it to the other rack, middle right position","pick up the centrifuge tube and move it to the purple rack, middle right position",4,True,-0.4323334906889213,-0.4607282369952851,0.3321907732970485,green,purple,606,"pick up the centrifuge tube and move it to the purple rack, middle right position",tube,350 +143,"pick up the centrifuge tube and move it to the other rack, far right position","pick up the centrifuge tube and move it to the purple rack, far right position",5,True,-0.4425835661718006,-0.5058137361058158,0.3376600465125139,green,purple,495,"pick up the centrifuge tube and move it to the purple rack, far right position",tube,366 +144,"pick up the centrifuge tube and move it to the other rack, middle right position","pick up the centrifuge tube and move it to the purple rack, middle right position",4,True,-0.4344674701150046,-0.4783224857488867,0.3235612135517203,green,purple,365,"pick up the centrifuge tube and move it to the purple rack, middle right position",tube,369 +145,"pick up the centrifuge tube and move it to the other rack, middle left position","pick up the centrifuge tube and move it to the purple rack, middle left position",3,True,-0.4392776094470657,-0.4168306940364716,0.3210827799568072,green,purple,519,"pick up the centrifuge tube and move it to the purple rack, middle left position",tube,374 +146,"pick up the centrifuge tube and move it to the other rack, middle left position","pick up the centrifuge tube and move it to the purple rack, middle left position",3,True,-0.4115813515730517,-0.4351043696044618,0.3224802697644027,green,purple,342,"pick up the centrifuge tube and move it to the purple rack, middle left position",tube,379 +147,"pick up the centrifuge tube and move it to the other rack, middle left position","pick up the centrifuge tube and move it to the purple rack, middle left position",3,True,-0.3880958794356439,-0.4163899772951763,0.3132152791371973,green,purple,395,"pick up the centrifuge tube and move it to the purple rack, middle left position",tube,392 +148,"pick up the centrifuge tube and move it to the other rack, middle right position","pick up the centrifuge tube and move it to the purple rack, middle right position",4,True,-0.4277461652895588,-0.4766693903949201,0.3173481149942942,green,purple,435,"pick up the centrifuge tube and move it to the purple rack, middle right position",tube,395 +149,"pick up the centrifuge tube and move it to the other rack, far right position","pick up the centrifuge tube and move it to the purple rack, far right position",5,True,-0.4367857900412725,-0.5218573008672108,0.3073258957247096,green,purple,616,"pick up the centrifuge tube and move it to the purple rack, far right position",tube,397 diff --git a/meta/episodes/chunk-000/file-000.parquet b/meta/episodes/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..215718aac0d94280b3876e29e65aca9b7e967393 --- /dev/null +++ b/meta/episodes/chunk-000/file-000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bdac60ea46c45fad1f80e277620b10aa6459ae66c4dc61ee34898b95442f3d3b +size 317726 diff --git a/meta/info.json b/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ee43c14c2af029e1c7dff1cd65e7c1ed595d410e --- /dev/null +++ b/meta/info.json @@ -0,0 +1,117 @@ +{ + "codebase_version": "v3.0", + "robot_type": "ur5", + "total_episodes": 150, + "total_frames": 63426, + "total_tasks": 6, + "chunks_size": 1000, + "data_files_size_in_mb": 100, + "video_files_size_in_mb": 200, + "fps": 30, + "splits": { + "train": "0:150" + }, + "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", + "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", + "features": { + "observation.images.front": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": [ + "state" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": [ + "action" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + } + } +} diff --git a/meta/stats.json b/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..236ebad987acd2531c2d0a39c7510e99d959d81f --- /dev/null +++ b/meta/stats.json @@ -0,0 +1 @@ +{"frame_index": {"min": [0.0], "max": [748.0], "mean": [219.4456689685618], "std": [137.13099988374358], "count": [63426], "q01": [4.0], "q10": [42.0], "q50": [211.0], "q90": [402.0], "q99": [562.0]}, 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