27 episodes

README.md

@@ -18,9 +18,9 @@ Room light, with three to five new objects on the table (stapler, pliers, lemon,
 
 Each episode replays one recording from Trossen Robotics' public `bin_picking` dataset on a simulated copy of its station. A bimanual WidowX AI picks up one of five objects (red cup, yellow duck, purple marker, screwdriver, roll of black tape) and puts it in a clear tray. The joint states, actions, timing and task text are the recording's, unchanged. The four camera videos are rendered.
 
-Upload in progress: 22 of 94 episodes so far. More are added as they finish rendering.
+Upload in progress: 27 of 94 episodes so far. More are added as they finish rendering.
 
-22 episodes: 18 for training, then 4 held out for testing (`splits` in `meta/info.json`). `meta/provenance.json` gives each episode's source episode, object and outcome.
+27 episodes: 23 for training, then 4 held out for testing (`splits` in `meta/info.json`). `meta/provenance.json` gives each episode's source episode, object and outcome.
 
 | Key | Shape | Content |
 | --- | --- | --- |

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meta/info.json

@@ -1,8 +1,8 @@
 {
     "codebase_version": "v3.0",
     "robot_type": "bi_widowxai_follower_robot",
-    "total_episodes": 22,
-    "total_frames": 8648,
+    "total_episodes": 27,
+    "total_frames": 10386,
     "total_tasks": 5,
     "fps": 30,
     "chunks_size": 1000,
@@ -11,8 +11,8 @@
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     "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
     "splits": {
-        "train": "0:18",
-        "test": "18:22"
+        "train": "0:23",
+        "test": "23:27"
     },
     "features": {
         "observation.state": {

meta/provenance.json

@@ -129,6 +129,22 @@
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   {
    "episode_index": 8,
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+   "split": "train",
+   "object": "yellow_rubber_duck",
+   "frames": 297,
+   "handover": false,
+   "in_tray_recorded": true,
+   "in_tray_replay": true,
+   "extra_objects": [
+    "vintage_stapler",
+    "lemon",
+    "baseball_01",
+    "pliers"
+   ]
+  },
+  {
+   "episode_index": 9,
    "source_episode": 26,
    "split": "train",
    "object": "yellow_rubber_duck",
@@ -144,7 +160,7 @@
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+   "episode_index": 10,
    "source_episode": 40,
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    "object": "purple_marker",
@@ -159,7 +175,7 @@
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   {
-   "episode_index": 10,
+   "episode_index": 11,
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@@ -175,7 +191,38 @@
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+    "vintage_stapler",
+    "baseball_01",
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@@ -190,7 +237,7 @@
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@@ -206,7 +253,7 @@
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@@ -222,7 +269,22 @@
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@@ -238,7 +300,7 @@
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@@ -254,7 +316,7 @@
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@@ -270,7 +332,7 @@
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@@ -301,7 +379,7 @@
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@@ -332,7 +410,7 @@
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