| { |
| "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" |
| } |
| } |
| } |
|
|
