File size: 5,244 Bytes
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"train": {
"PushCube-v1": {
"description": "Push the cube across the tabletop until its center lies inside the target region.",
"language_vector_index": 0,
"camera": "render_camera"
},
"StackCube-v1": {
"description": "Pick up cube A, place it stably on top of cube B, and release it without knocking the stack over.",
"language_vector_index": 1,
"camera": "render_camera"
},
"PickCube-ball": {
"description": "Pick up the tennis ball and place it at the target.",
"language_vector_index": 2,
"camera": "render_camera"
},
"PullCube-block": {
"description": "Pull the wooden block into the target region.",
"language_vector_index": 3,
"camera": "render_camera"
},
"PlugCharger-v1": {
"description": "Pick up the charger, align its plug with the receptacle, and insert it fully.",
"language_vector_index": 4,
"camera": "render_camera"
},
"PullCubeTool-golf": {
"description": "Use the L-shaped tool to pull the golf ball into the reachable target region.",
"language_vector_index": 5,
"camera": "render_camera"
},
"PegInsertionSide-v1": {
"description": "Pick up the peg, align its head with the side-facing hole, and insert it into the box.",
"language_vector_index": 6,
"camera": "render_camera"
},
"PegInsertionVertical-v1": {
"description": "Insert the peg vertically into the target hole.",
"language_vector_index": 7,
"camera": "render_camera"
},
"UprightStack-v1": {
"description": "Stand the brick upright and stack it on the red cube.",
"language_vector_index": 8,
"camera": "render_camera"
},
"PlaceSphere-v1": {
"description": "Place the blue sphere into the white bin.",
"language_vector_index": 9,
"camera": "render_camera"
},
"StackPyramid-v1": {
"description": "Stack the blue cube on top of the red and green cubes.",
"language_vector_index": 10,
"camera": "render_camera"
},
"PutSpoonOnTableClothInScene-v1": {
"description": "Pick up the spoon and place it on the table cloth.",
"language_vector_index": 11,
"camera": "render_camera",
"source_camera": "3rd_view_camera"
}
},
"test_ind": {
"PushCube-v1": {
"description": "Push the cube across the tabletop until its center lies inside the target region.",
"language_vector_index": 0,
"camera": "render_camera"
},
"StackCube-v1": {
"description": "Pick up cube A, place it stably on top of cube B, and release it without knocking the stack over.",
"language_vector_index": 1,
"camera": "render_camera"
},
"PickCube-ball": {
"description": "Pick up the tennis ball and place it at the target.",
"language_vector_index": 2,
"camera": "render_camera"
},
"PullCube-block": {
"description": "Pull the wooden block into the target region.",
"language_vector_index": 3,
"camera": "render_camera"
},
"PlugCharger-v1": {
"description": "Pick up the charger, align its plug with the receptacle, and insert it fully.",
"language_vector_index": 4,
"camera": "render_camera"
},
"PullCubeTool-golf": {
"description": "Use the L-shaped tool to pull the golf ball into the reachable target region.",
"language_vector_index": 5,
"camera": "render_camera"
},
"PegInsertionSide-v1": {
"description": "Pick up the peg, align its head with the side-facing hole, and insert it into the box.",
"language_vector_index": 6,
"camera": "render_camera"
},
"PegInsertionVertical-v1": {
"description": "Insert the peg vertically into the target hole.",
"language_vector_index": 7,
"camera": "render_camera"
},
"UprightStack-v1": {
"description": "Stand the brick upright and stack it on the red cube.",
"language_vector_index": 8,
"camera": "render_camera"
},
"PlaceSphere-v1": {
"description": "Place the blue sphere into the white bin.",
"language_vector_index": 9,
"camera": "render_camera"
},
"StackPyramid-v1": {
"description": "Stack the blue cube on top of the red and green cubes.",
"language_vector_index": 10,
"camera": "render_camera"
},
"PutSpoonOnTableClothInScene-v1": {
"description": "Pick up the spoon and place it on the table cloth.",
"language_vector_index": 11,
"camera": "render_camera",
"source_camera": "3rd_view_camera"
}
},
"test_ood": {
"PokeCubeWristCam-v1_OOD": {
"description": "Poke the red cube with the peg and push it into the marked target region.",
"split": "OOD"
},
"PushCube-cup_OOD": {
"description": "Push the cup across the tabletop until its center lies inside the target region.",
"split": "OOD"
},
"PutEggplantInBasketScene-v1_OOD": {
"description": "Pick up the eggplant and place it into the yellow basket.",
"split": "OOD"
},
"StackCube-orangebowl_OOD": {
"description": "Stack the orange on top of the bowl.",
"split": "OOD"
}
}
}
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