Upload eval unified v3
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- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/data/chunk-000/episode_000000.parquet +3 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/data/chunk-000/episode_000001.parquet +3 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/data/chunk-000/episode_000002.parquet +3 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/data/chunk-000/episode_000003.parquet +3 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/data/chunk-000/episode_000004.parquet +3 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/data/chunk-000/episode_000005.parquet +3 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/data/chunk-000/episode_000006.parquet +3 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/data/chunk-000/episode_000007.parquet +3 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/data/chunk-000/episode_000008.parquet +3 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/data/chunk-000/episode_000009.parquet +3 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/meta/info.json +374 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/meta/manifest.jsonl +10 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/left_wrist/episode0.mp4 +3 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/left_wrist/episode1.mp4 +3 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/left_wrist/episode2.mp4 +3 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/left_wrist/episode3.mp4 +3 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/left_wrist/episode4.mp4 +3 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/left_wrist/episode5.mp4 +3 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/left_wrist/episode6.mp4 +3 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/left_wrist/episode7.mp4 +3 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/left_wrist/episode8.mp4 +3 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/left_wrist/episode9.mp4 +3 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/right_wrist/episode0.mp4 +3 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/right_wrist/episode1.mp4 +3 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/right_wrist/episode2.mp4 +3 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/right_wrist/episode3.mp4 +3 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/right_wrist/episode4.mp4 +3 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/right_wrist/episode5.mp4 +3 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/right_wrist/episode6.mp4 +3 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/right_wrist/episode7.mp4 +3 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/right_wrist/episode8.mp4 +3 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/right_wrist/episode9.mp4 +3 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/state/episode0.json +88 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/state/episode0.npy +3 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/state/episode1.json +88 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/state/episode1.npy +3 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/state/episode2.json +88 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/state/episode2.npy +3 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/state/episode3.json +88 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/state/episode3.npy +3 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/state/episode4.json +88 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/state/episode4.npy +3 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/state/episode5.json +88 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/state/episode5.npy +3 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/state/episode6.json +88 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/state/episode6.npy +3 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/state/episode7.json +88 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/state/episode7.npy +3 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/state/episode8.json +88 -0
- eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/state/episode8.npy +3 -0
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eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/meta/info.json
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oid sha256:687117c6e0c2d2d977de6c6df51a230e3a9c2be5da02d3d6f563f49925fb41bc
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| 3 |
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size 45920
|
eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/state/episode2.json
ADDED
|
@@ -0,0 +1,88 @@
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
| 1 |
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{
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|
| 3 |
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|
| 4 |
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|
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| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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"episode": 2,
|
| 31 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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| 36 |
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| 37 |
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"joint/position": [
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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| 49 |
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|
| 50 |
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| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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| 61 |
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|
| 63 |
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|
| 64 |
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| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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0,
|
| 71 |
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|
| 72 |
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],
|
| 73 |
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"note": "crt_120s fingers are kinematic and have no articulation DOF",
|
| 74 |
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"source": "realized_kinematic_open_fraction"
|
| 75 |
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},
|
| 76 |
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"sample_timing": "after_controller_target_and_simulation_update",
|
| 77 |
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|
| 78 |
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|
| 79 |
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368,
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| 80 |
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|
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|
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|
| 83 |
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|
| 84 |
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|
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|
| 86 |
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|
| 87 |
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}
|
| 88 |
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}
|
eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/state/episode2.npy
ADDED
|
@@ -0,0 +1,3 @@
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|
|
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|
|
|
|
|
|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:28f7094047cd3b455e180ea4862ba5c4dd4e454995cacdb6a30c2a63a434240d
|
| 3 |
+
size 35456
|
eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/state/episode3.json
ADDED
|
@@ -0,0 +1,88 @@
|
|
|
|
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|
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|
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|
|
|
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|
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|
|
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|
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|
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|
| 1 |
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{
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| 2 |
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|
| 3 |
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| 4 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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"source": "isaac_articulation_get_joint_positions"
|
| 28 |
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|
| 29 |
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"dtype": "float32",
|
| 30 |
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"episode": 3,
|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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| 37 |
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"joint/position": [
|
| 38 |
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|
| 39 |
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| 49 |
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|
| 50 |
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| 52 |
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|
| 53 |
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| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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| 65 |
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|
| 66 |
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|
| 67 |
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"fps": 30,
|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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],
|
| 73 |
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"note": "crt_120s fingers are kinematic and have no articulation DOF",
|
| 74 |
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"source": "realized_kinematic_open_fraction"
|
| 75 |
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},
|
| 76 |
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"sample_timing": "after_controller_target_and_simulation_update",
|
| 77 |
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|
| 78 |
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"shape": [
|
| 79 |
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|
| 80 |
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| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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"rms_24d": 0.02949538826942444,
|
| 86 |
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"rms_articulated_22d": 0.030806930735707283
|
| 87 |
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}
|
| 88 |
+
}
|
eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/state/episode3.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
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|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:32e8c9609968104b863be08355f7b9b6057ede517b0f53a8cfe7ec658978ed26
|
| 3 |
+
size 104768
|
eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/state/episode4.json
ADDED
|
@@ -0,0 +1,88 @@
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|
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 24 |
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|
| 25 |
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| 26 |
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|
| 27 |
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"source": "isaac_articulation_get_joint_positions"
|
| 28 |
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},
|
| 29 |
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"dtype": "float32",
|
| 30 |
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"episode": 4,
|
| 31 |
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| 32 |
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|
| 33 |
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|
| 34 |
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| 36 |
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| 37 |
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"joint/position": [
|
| 38 |
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|
| 39 |
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| 40 |
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| 41 |
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| 48 |
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|
| 49 |
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|
| 50 |
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| 51 |
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| 52 |
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|
| 53 |
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"left_effector/position": [
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| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
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|
| 59 |
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|
| 60 |
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| 61 |
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| 63 |
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| 65 |
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| 66 |
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|
| 67 |
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"fps": 30,
|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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],
|
| 73 |
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"note": "crt_120s fingers are kinematic and have no articulation DOF",
|
| 74 |
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"source": "realized_kinematic_open_fraction"
|
| 75 |
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},
|
| 76 |
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"sample_timing": "after_controller_target_and_simulation_update",
|
| 77 |
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|
| 78 |
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"shape": [
|
| 79 |
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304,
|
| 80 |
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| 82 |
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|
| 83 |
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|
| 86 |
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|
| 87 |
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}
|
| 88 |
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}
|
eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/state/episode4.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
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oid sha256:f6d0a79caa9e3ebcf5cf257f9835ea81edfdb251e71712e4776c9239bf7b9a57
|
| 3 |
+
size 29312
|
eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/state/episode5.json
ADDED
|
@@ -0,0 +1,88 @@
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|
|
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|
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| 4 |
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| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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| 37 |
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|
| 38 |
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|
| 39 |
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| 40 |
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|
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|
| 56 |
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|
| 60 |
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| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
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|
| 80 |
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|
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|
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/state/episode5.npy
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:aeb53528cd6b9aaa30e60bf12fa1b81bdb4046adbf46db9960e4a255b2c3e13b
|
| 3 |
+
size 32480
|
eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/state/episode6.json
ADDED
|
@@ -0,0 +1,88 @@
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|
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| 3 |
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|
| 24 |
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| 25 |
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|
| 26 |
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|
| 27 |
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"source": "isaac_articulation_get_joint_positions"
|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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| 32 |
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|
| 33 |
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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|
| 38 |
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| 39 |
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| 49 |
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| 50 |
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| 53 |
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| 54 |
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| 55 |
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| 56 |
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| 57 |
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| 59 |
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|
| 60 |
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| 61 |
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| 62 |
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| 63 |
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| 64 |
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| 65 |
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| 66 |
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| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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| 76 |
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|
| 77 |
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| 78 |
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| 80 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/state/episode6.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:1b014a9571ce0b7ce06223e78d9d475716b225b28ff52b443ceecaa779923ea8
|
| 3 |
+
size 29600
|
eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/state/episode7.json
ADDED
|
@@ -0,0 +1,88 @@
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|
| 28 |
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|
| 30 |
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|
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| 70 |
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| 71 |
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| 72 |
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| 73 |
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| 74 |
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| 75 |
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| 76 |
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|
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| 78 |
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|
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| 80 |
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| 87 |
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|
| 88 |
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}
|
eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/state/episode7.npy
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
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|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:be283835cb2629573408bdc429c5d10506580d80b17f3d8a0541378bc86dc153
|
| 3 |
+
size 124832
|
eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/state/episode8.json
ADDED
|
@@ -0,0 +1,88 @@
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|
| 1 |
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{
|
| 2 |
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| 3 |
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| 4 |
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| 9 |
+
7,
|
| 10 |
+
8,
|
| 11 |
+
9,
|
| 12 |
+
10,
|
| 13 |
+
11,
|
| 14 |
+
12,
|
| 15 |
+
13,
|
| 16 |
+
14,
|
| 17 |
+
15,
|
| 18 |
+
16,
|
| 19 |
+
17,
|
| 20 |
+
18,
|
| 21 |
+
19,
|
| 22 |
+
20,
|
| 23 |
+
21,
|
| 24 |
+
22,
|
| 25 |
+
23
|
| 26 |
+
],
|
| 27 |
+
"source": "isaac_articulation_get_joint_positions"
|
| 28 |
+
},
|
| 29 |
+
"dtype": "float32",
|
| 30 |
+
"episode": 8,
|
| 31 |
+
"fields": {
|
| 32 |
+
"head/position": [
|
| 33 |
+
16,
|
| 34 |
+
17,
|
| 35 |
+
18
|
| 36 |
+
],
|
| 37 |
+
"joint/position": [
|
| 38 |
+
2,
|
| 39 |
+
3,
|
| 40 |
+
4,
|
| 41 |
+
5,
|
| 42 |
+
6,
|
| 43 |
+
7,
|
| 44 |
+
8,
|
| 45 |
+
9,
|
| 46 |
+
10,
|
| 47 |
+
11,
|
| 48 |
+
12,
|
| 49 |
+
13,
|
| 50 |
+
14,
|
| 51 |
+
15
|
| 52 |
+
],
|
| 53 |
+
"left_effector/position": [
|
| 54 |
+
0
|
| 55 |
+
],
|
| 56 |
+
"right_effector/position": [
|
| 57 |
+
1
|
| 58 |
+
],
|
| 59 |
+
"waist/position": [
|
| 60 |
+
19,
|
| 61 |
+
20,
|
| 62 |
+
21,
|
| 63 |
+
22,
|
| 64 |
+
23
|
| 65 |
+
]
|
| 66 |
+
},
|
| 67 |
+
"fps": 30,
|
| 68 |
+
"gripper_dimensions": {
|
| 69 |
+
"indices": [
|
| 70 |
+
0,
|
| 71 |
+
1
|
| 72 |
+
],
|
| 73 |
+
"note": "crt_120s fingers are kinematic and have no articulation DOF",
|
| 74 |
+
"source": "realized_kinematic_open_fraction"
|
| 75 |
+
},
|
| 76 |
+
"sample_timing": "after_controller_target_and_simulation_update",
|
| 77 |
+
"schema_version": 1,
|
| 78 |
+
"shape": [
|
| 79 |
+
508,
|
| 80 |
+
24
|
| 81 |
+
],
|
| 82 |
+
"tracking_error_vs_target": {
|
| 83 |
+
"max_abs_24d": 0.32126206159591675,
|
| 84 |
+
"max_abs_articulated_22d": 0.32126206159591675,
|
| 85 |
+
"rms_24d": 0.03652001917362213,
|
| 86 |
+
"rms_articulated_22d": 0.03814391419291496
|
| 87 |
+
}
|
| 88 |
+
}
|
eval/unified/v3/AgiBotWorld-RichInteraction/task_4224/sim/state/episode8.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bc73de89c29255f932df9994fd642413d9e14082713236e3af286a5e1c5ab861
|
| 3 |
+
size 48896
|