diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000139.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000139.json new file mode 100644 index 0000000000000000000000000000000000000000..9d53e8597b9fca8a582c45e92ce82bedf947cf92 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000139.json @@ -0,0 +1,48 @@ +{ + "episode_index": 139, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Slide the stapler with orange top lever to the Green colored mat.", + "num_frames": 149, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 148, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 136, + "arm": "left", + "kind": "open", + "start_frame": 129, + "end_frame": 143 + } + ], + "scene_info": { + "{A}": "048_stapler/base3", + "{B}": "Green", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000140.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000140.json new file mode 100644 index 0000000000000000000000000000000000000000..34b95c886a57d395fe8577262e2b240bfb52b9cb --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000140.json @@ -0,0 +1,48 @@ +{ + "episode_index": 140, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Relocate the red stapler for binding papers to the Gray colored mat", + "num_frames": 142, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Gray", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000141.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000141.json new file mode 100644 index 0000000000000000000000000000000000000000..ebacf6c7e057897dcd29c7ed03fd2e3c163e57ea --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000141.json @@ -0,0 +1,48 @@ +{ + "episode_index": 141, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "the right arm moves the stapler for fastening papers to the Red mat.", + "num_frames": 150, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 149, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 137, + "arm": "right", + "kind": "open", + "start_frame": 130, + "end_frame": 144 + } + ], + "scene_info": { + "{A}": "048_stapler/base4", + "{B}": "Red", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000142.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000142.json new file mode 100644 index 0000000000000000000000000000000000000000..eba1b609f528e4235aee930d6be40609a2f8e3bb --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000142.json @@ -0,0 +1,48 @@ +{ + "episode_index": 142, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Relocate the red top black bottom stapler to the Green colored mat", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 156, + "arm": "right", + "kind": "open", + "start_frame": 149, + "end_frame": 163 + } + ], + "scene_info": { + "{A}": "048_stapler/base4", + "{B}": "Green", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000143.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000143.json new file mode 100644 index 0000000000000000000000000000000000000000..757bb1b15ae638ecdf77c05cbda492a1ec741a23 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000143.json @@ -0,0 +1,48 @@ +{ + "episode_index": 143, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Lift the stapler with silver staple tray to the Gray mat using the left arm", + "num_frames": 144, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 131, + "arm": "left", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Gray", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000144.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000144.json new file mode 100644 index 0000000000000000000000000000000000000000..354c7bcf3a75c79bcbc0b302704ebee1f56fcd52 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000144.json @@ -0,0 +1,48 @@ +{ + "episode_index": 144, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Relocate the small lightweight blue stapler to the Blue colored mat", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 145, + "arm": "left", + "kind": "open", + "start_frame": 138, + "end_frame": 152 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Blue", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000145.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000145.json new file mode 100644 index 0000000000000000000000000000000000000000..af93f672f0ce900938566bcd30427a7c33d1c507 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000145.json @@ -0,0 +1,48 @@ +{ + "episode_index": 145, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Move the plastic blue stapler with metal parts to the Magenta mat with the left arm", + "num_frames": 157, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 156, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 144, + "arm": "left", + "kind": "open", + "start_frame": 137, + "end_frame": 151 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Magenta", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000146.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000146.json new file mode 100644 index 0000000000000000000000000000000000000000..5b65a958c7882a71a821bc08ed092eb7b8002801 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000146.json @@ -0,0 +1,48 @@ +{ + "episode_index": 146, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Place the stapler with white metallic components onto the Cyan colored mat.", + "num_frames": 155, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 154, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 142, + "arm": "left", + "kind": "open", + "start_frame": 135, + "end_frame": 149 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Cyan", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000147.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000147.json new file mode 100644 index 0000000000000000000000000000000000000000..3c72d8e884b855c427abb230711dfa6f7fe98d76 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000147.json @@ -0,0 +1,48 @@ +{ + "episode_index": 147, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Drop the stapler with black top section carefully on the Yellow mat", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 145, + "arm": "left", + "kind": "open", + "start_frame": 138, + "end_frame": 152 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Yellow", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000148.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000148.json new file mode 100644 index 0000000000000000000000000000000000000000..484757e9aba2d814f7bcec55e0710135d6ebcd21 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000148.json @@ -0,0 +1,48 @@ +{ + "episode_index": 148, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Move the metallic stapler with blue cover with the right arm to the Gray mat", + "num_frames": 147, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 146, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Gray", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000149.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000149.json new file mode 100644 index 0000000000000000000000000000000000000000..5a36d8abda8183b35326cfee8372ff6034f2e743 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000149.json @@ -0,0 +1,48 @@ +{ + "episode_index": 149, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Drop the stapler with smooth blue finish carefully on the Blue mat", + "num_frames": 160, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 159, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 147, + "arm": "right", + "kind": "open", + "start_frame": 140, + "end_frame": 154 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Blue", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000150.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000150.json new file mode 100644 index 0000000000000000000000000000000000000000..4f1273b42e085067c1413bca477a70db1c5f2a2f --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000150.json @@ -0,0 +1,48 @@ +{ + "episode_index": 150, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Place the metallic stapler with red body on the Green mat using the left arm", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 150, + "arm": "left", + "kind": "open", + "start_frame": 143, + "end_frame": 157 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Green", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000151.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000151.json new file mode 100644 index 0000000000000000000000000000000000000000..4e8023bf889da00a543c25553f5f0f9d62939555 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000151.json @@ -0,0 +1,48 @@ +{ + "episode_index": 151, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Put the stapler with silver staple tray on the Black mat", + "num_frames": 141, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 128, + "arm": "left", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Black", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000152.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000152.json new file mode 100644 index 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"anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000154.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000154.json new file mode 100644 index 0000000000000000000000000000000000000000..21f26cd42055f315c64478447fa733acbd4e4ccf --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000154.json @@ -0,0 +1,48 @@ +{ + "episode_index": 154, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "the right arm grabs the stapler with orange top lever and sets it on Magenta mat.", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 148, + "arm": "right", + "kind": "open", + "start_frame": 141, + "end_frame": 155 + } + ], + "scene_info": { + "{A}": "048_stapler/base3", + "{B}": "Magenta", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000155.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000155.json new file mode 100644 index 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"start_frame": 51, + "end_frame": 65 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Yellow", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000156.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000156.json new file mode 100644 index 0000000000000000000000000000000000000000..e4a4cbdbff6dee761cf383df92aa204150dfbe4a --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000156.json @@ -0,0 +1,48 @@ +{ + "episode_index": 156, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Drop the plastic blue stapler with metal parts carefully on the Green mat", + "num_frames": 147, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 146, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Green", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000157.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000157.json new file mode 100644 index 0000000000000000000000000000000000000000..69c841c399f99ad1e3374d72f460f84c458adedf --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000157.json @@ -0,0 +1,48 @@ +{ + "episode_index": 157, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Move the paper stapler with silver tray with the right arm to the Yellow mat", + "num_frames": 146, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 145, + "boundary_source": "episode_end", + "truncation_rule": 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0000000000000000000000000000000000000000..72f0f1edfd754def8a17ac0a3a1a6476886b3f59 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000158.json @@ -0,0 +1,48 @@ +{ + "episode_index": 158, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Place the black stapler with curved top onto the Green colored mat.", + "num_frames": 156, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 155, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": 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"task_goal": "Slide the stapler with smooth blue finish to the Blue colored mat.", + "num_frames": 149, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 148, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 136, + "arm": "right", + "kind": "open", + "start_frame": 129, + "end_frame": 143 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Blue", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000160.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000160.json new file mode 100644 index 0000000000000000000000000000000000000000..95d7950951bbefb70cfb501fcae38d0188581f47 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000160.json @@ -0,0 +1,48 @@ +{ + "episode_index": 160, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Drop the small stapler carefully on the Cyan mat", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 150, + "arm": "right", + "kind": "open", + "start_frame": 143, + "end_frame": 157 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Cyan", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000161.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000161.json new file mode 100644 index 0000000000000000000000000000000000000000..8134c4e2a96cae9b82eaef26eb4113e0df5a0002 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000161.json @@ -0,0 +1,48 @@ +{ + "episode_index": 161, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Use the left arm and place the blue plastic stapler with silver metal on Black mat.", + "num_frames": 160, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 159, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", 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"anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000163.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000163.json new file mode 100644 index 0000000000000000000000000000000000000000..14027478bf86d7c5e24af2c035ca9389b14403af --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000163.json @@ -0,0 +1,48 @@ +{ + "episode_index": 163, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "With the right arm, move the blue stapler with shiny silver parts to the Yellow mat", + "num_frames": 160, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 159, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 147, + "arm": "right", + "kind": "open", + "start_frame": 140, + "end_frame": 154 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Yellow", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000164.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000164.json new file mode 100644 index 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+ "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 148, + "arm": "right", + "kind": "open", + "start_frame": 141, + "end_frame": 155 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Black", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000165.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000165.json new file mode 100644 index 0000000000000000000000000000000000000000..eb0a727ab3712880e8a22a4528d8733b05886e4b --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000165.json @@ -0,0 +1,48 @@ +{ + "episode_index": 165, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Drop the red plastic stapler with smooth top carefully on the Blue mat", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 155, + "arm": "left", + "kind": "open", + "start_frame": 148, + "end_frame": 162 + } + ], + "scene_info": { + "{A}": "048_stapler/base4", + "{B}": "Blue", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000166.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000166.json new file mode 100644 index 0000000000000000000000000000000000000000..5b8fd09e7722b4a920f9b053fc7c429eac76583a --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000166.json @@ -0,0 +1,48 @@ +{ + "episode_index": 166, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Move the small black stapler with metal core to the Red mat.", + "num_frames": 159, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 158, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 146, + "arm": "left", + "kind": "open", + "start_frame": 139, + "end_frame": 153 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Red", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000167.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000167.json new file mode 100644 index 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"move_stapler_pad", + "task_goal": "Grab the plastic stapler with metal on base with the left arm and drop it on Yellow mat.", + "num_frames": 146, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 145, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 133, + "arm": "left", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Yellow", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000169.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000169.json new file mode 100644 index 0000000000000000000000000000000000000000..d1794dfb4f0af7dcf85adec098b10ff6d0a9bada --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000169.json @@ -0,0 +1,48 @@ +{ + "episode_index": 169, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Pick the paper stapler with silver tray using the left arm and move it to Black mat.", + "num_frames": 151, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 150, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 138, + "arm": "left", + "kind": "open", + "start_frame": 131, + "end_frame": 145 + } + ], + "scene_info": { + "{A}": "048_stapler/base3", + "{B}": "Black", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000170.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000170.json new file mode 100644 index 0000000000000000000000000000000000000000..678707368eb554644c1a58238da5dfa1c776a0f5 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000170.json @@ -0,0 +1,48 @@ +{ + "episode_index": 170, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "With the left arm, move the metal and plastic stapler to the Red mat", + "num_frames": 142, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": 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"move_stapler_pad", + "task_goal": "Carry the stapler with silver inner plates and drop it onto the Cyan mat", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 150, + "arm": "left", + "kind": "open", + "start_frame": 143, + "end_frame": 157 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Cyan", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000172.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000172.json new file mode 100644 index 0000000000000000000000000000000000000000..642106177d7728859beb6dcdf6f953706fdeecd0 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000172.json @@ -0,0 +1,48 @@ +{ + "episode_index": 172, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "the right arm transfers the manual blue stapler to the Black mat.", + "num_frames": 160, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 159, + "boundary_source": "episode_end", + "truncation_rule": 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0000000000000000000000000000000000000000..290ac64747d781766b6cd81fa3c99be066fa8dd3 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000173.json @@ -0,0 +1,48 @@ +{ + "episode_index": 173, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Pick up the compact black stapler with the left arm and set it on Cyan", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": 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"task_goal": "Using the right arm, set the blue stapler with silver staple tray on the Blue colored mat", + "num_frames": 143, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + } + ], + "scene_info": { + "{A}": "048_stapler/base6", + "{B}": "Blue", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000175.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000175.json new file mode 100644 index 0000000000000000000000000000000000000000..e7a2a01c280d04a93a782f957ebfb4f69ee2e977 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000175.json @@ -0,0 +1,48 @@ +{ + "episode_index": 175, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Grab the stapler in bright red color and drop it on Gray mat.", + "num_frames": 142, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "episode_end", + "truncation_rule": 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"anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000178.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000178.json new file mode 100644 index 0000000000000000000000000000000000000000..3ee1d7bf385b515b2c2e5d0ba60acff16d6cb96d --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000178.json @@ -0,0 +1,48 @@ +{ + "episode_index": 178, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Carry the stapler with black top section and drop it onto the Yellow mat", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 150, + "arm": "right", + "kind": "open", + "start_frame": 143, + "end_frame": 157 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Yellow", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000179.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000179.json new file mode 100644 index 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"anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000181.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000181.json new file mode 100644 index 0000000000000000000000000000000000000000..d604490535466df9f262f366a30be492b866fcad --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000181.json @@ -0,0 +1,48 @@ +{ + "episode_index": 181, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Shift the blue rectangular stapler with curves to the Black mat", + "num_frames": 147, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 146, + "boundary_source": "episode_end", + "truncation_rule": 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000184.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000184.json new file mode 100644 index 0000000000000000000000000000000000000000..4ba669fd161fb60f59f53f6c32414d2540130ca8 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000184.json @@ -0,0 +1,48 @@ +{ + "episode_index": 184, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "the right arm transfers the plastic blue stapler with metal parts to the Red mat.", + "num_frames": 159, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 158, + "boundary_source": "episode_end", + "truncation_rule": 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"anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000187.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000187.json new file mode 100644 index 0000000000000000000000000000000000000000..db0e06ce44140153454c6bc8a2df5d548b458911 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000187.json @@ -0,0 +1,48 @@ +{ + "episode_index": 187, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Place the stapler for stapling paper onto the Green colored mat.", + "num_frames": 148, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 147, + "boundary_source": "episode_end", + "truncation_rule": 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"anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000190.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000190.json new file mode 100644 index 0000000000000000000000000000000000000000..7366c7121f1b58dcfe335ac4c6590369bb5b63bd --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000190.json @@ -0,0 +1,48 @@ +{ + "episode_index": 190, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Place the blue stapler with silver staple tray onto the Gray colored mat", + "num_frames": 156, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 155, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 143, + "arm": "right", + "kind": "open", + "start_frame": 136, + "end_frame": 150 + } + ], + "scene_info": { + "{A}": "048_stapler/base6", + "{B}": "Gray", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000191.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000191.json new file mode 100644 index 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"task_goal": "With the right arm, position the simple stapler on the Gray mat", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 150, + "arm": "right", + "kind": "open", + "start_frame": 143, + "end_frame": 157 + } + ], + "scene_info": { + "{A}": "048_stapler/base6", + "{B}": "Gray", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000193.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000193.json new file mode 100644 index 0000000000000000000000000000000000000000..0c3e958f5a3031f11335603f7baf229857922a64 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000193.json @@ -0,0 +1,48 @@ +{ + "episode_index": 193, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Position the stapler with silver inner plates on the Red mat.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 154, + "arm": "right", + "kind": "open", + "start_frame": 147, + "end_frame": 161 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Red", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000194.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000194.json new file mode 100644 index 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"task_goal": "Pick up the stapler for stapling paper with the right arm and set it on Green", + "num_frames": 160, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 159, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 147, + "arm": "right", + "kind": "open", + "start_frame": 140, + "end_frame": 154 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Green", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000196.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000196.json new file mode 100644 index 0000000000000000000000000000000000000000..77a305fdeb71163fe14fb91c4e2dbf0c52b172d7 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000196.json @@ -0,0 +1,48 @@ +{ + "episode_index": 196, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Pick up the stapler with rounded edges and place it on Red mat", + "num_frames": 139, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + } + ], + "scene_info": { + "{A}": "048_stapler/base3", + "{B}": "Red", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000197.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000197.json new file mode 100644 index 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"source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000199.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000199.json new file mode 100644 index 0000000000000000000000000000000000000000..9efeff21f7c5ef68ec94547f4110466c9eb9964e --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000199.json @@ -0,0 +1,48 @@ +{ + "episode_index": 199, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Relocate the blue stapler for paper fastening to the Red mat.", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "right", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + } + ], + "scene_info": { + "{A}": "048_stapler/base6", + "{B}": "Red", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000200.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000200.json new file mode 100644 index 0000000000000000000000000000000000000000..6798753bdde6fcb406715cc575b2c361844c30d0 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000200.json @@ -0,0 +1,48 @@ +{ + "episode_index": 200, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Pick the blue stapler with the right arm and place it on Yellow mat", + "num_frames": 142, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": 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+ "task_goal": "Pick up the blue stapler with curved design and place it on Yellow mat", + "num_frames": 147, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 146, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 134, + "arm": "left", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Yellow", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000202.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000202.json new file mode 100644 index 0000000000000000000000000000000000000000..496544ad661adf26ceb6287ee03c0c5ec0e6ab17 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000202.json @@ -0,0 +1,48 @@ +{ + "episode_index": 202, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Shift the stapler with rectangular silver mechanism to the Red mat", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 145, + "arm": "right", + "kind": "open", + "start_frame": 138, + "end_frame": 152 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Red", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000203.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000203.json new file mode 100644 index 0000000000000000000000000000000000000000..df85d9af43e00781f003db38b5cb8c523230d513 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000203.json @@ -0,0 +1,48 @@ +{ + "episode_index": 203, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Put the stapler with orange button on the Green mat", + "num_frames": 144, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 131, + "arm": "left", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + } + ], + "scene_info": { + "{A}": "048_stapler/base3", + "{B}": "Green", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000204.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000204.json new file mode 100644 index 0000000000000000000000000000000000000000..5eaf3aed44241ed5a1bd3d8552d98b1e3c922bd7 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000204.json @@ -0,0 +1,48 @@ +{ + "episode_index": 204, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000205.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000205.json new file mode 100644 index 0000000000000000000000000000000000000000..7739d45f708499cb4bc9982d3d0fe8821abe2c68 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000205.json @@ -0,0 +1,48 @@ +{ + "episode_index": 205, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Using the left arm, set the metal and plastic stapler on the Blue colored mat", + "num_frames": 151, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 150, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 138, + "arm": "left", + "kind": "open", + "start_frame": 131, + "end_frame": 145 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Blue", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000206.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000206.json new file mode 100644 index 0000000000000000000000000000000000000000..5cd1be0a9deb134c2c377f4483739c3e3ab2c4ff --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000206.json @@ -0,0 +1,48 @@ +{ + "episode_index": 206, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "the left arm transfers the stapler with smooth blue finish to the Magenta mat.", + "num_frames": 157, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 156, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 144, + "arm": "left", + "kind": "open", + "start_frame": 137, + "end_frame": 151 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Magenta", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000207.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000207.json new file mode 100644 index 0000000000000000000000000000000000000000..bedb3d4cdd64eebf1bf49e09cd45546c8938b4d8 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000207.json @@ -0,0 +1,48 @@ +{ + "episode_index": 207, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Drop the lightweight red stapler carefully on the Yellow mat", + "num_frames": 159, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 158, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 146, + "arm": "right", + "kind": "open", + "start_frame": 139, + "end_frame": 153 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Yellow", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000208.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000208.json new file mode 100644 index 0000000000000000000000000000000000000000..8ffe7e490c1470b0f654f8008c1d64bb04ab68fe --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000208.json @@ -0,0 +1,48 @@ +{ + "episode_index": 208, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Use the right arm to grab the handheld stapler and place it on Red mat", + "num_frames": 153, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 152, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 140, + "arm": "right", + "kind": "open", + "start_frame": 133, + "end_frame": 147 + } + ], + "scene_info": { + "{A}": "048_stapler/base3", + "{B}": "Red", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000209.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000209.json new file mode 100644 index 0000000000000000000000000000000000000000..ed45abb781a651ef5a9db4c10218eb06954f968b --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000209.json @@ -0,0 +1,48 @@ +{ + "episode_index": 209, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Stick the stapler with smooth blue finish onto the Gray colored mat.", + "num_frames": 157, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 156, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 144, + "arm": "left", + "kind": "open", + "start_frame": 137, + "end_frame": 151 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Gray", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000210.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000210.json new file mode 100644 index 0000000000000000000000000000000000000000..3b6031d3d09c3cd0569dc2f74a21d083e3f8ff2d --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000210.json @@ -0,0 +1,48 @@ +{ + "episode_index": 210, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Transfer the curved blue and silver stapler to the Red colored mat.", + "num_frames": 160, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 159, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 147, + "arm": "left", + "kind": "open", + "start_frame": 140, + "end_frame": 154 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Red", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000211.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000211.json new file mode 100644 index 0000000000000000000000000000000000000000..4c3058d24f6901ec834ca46fff1713e74746ccc5 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000211.json @@ -0,0 +1,48 @@ +{ + "episode_index": 211, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Drop the black stapler with smooth finish onto the Red mat.", + "num_frames": 150, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 149, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 137, + "arm": "right", + "kind": "open", + "start_frame": 130, + "end_frame": 144 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Red", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000212.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000212.json new file mode 100644 index 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"close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 146, + "arm": "right", + "kind": "open", + "start_frame": 139, + "end_frame": 153 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Green", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000213.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000213.json new file mode 100644 index 0000000000000000000000000000000000000000..ee864d9cb09225144dcd1e807bc6adbb65007c45 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000213.json @@ -0,0 +1,48 @@ +{ + "episode_index": 213, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Shift the handheld stapler to the Red mat", + "num_frames": 151, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 150, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 138, + "arm": "left", + "kind": "open", + "start_frame": 131, + "end_frame": 145 + } + ], + "scene_info": { + "{A}": "048_stapler/base3", + "{B}": "Red", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000214.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000214.json new file mode 100644 index 0000000000000000000000000000000000000000..05b9f8e3a266804a4fec7a9320bcd312433fd9e3 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000214.json @@ -0,0 +1,48 @@ +{ + "episode_index": 214, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Pick up the small handheld stapler with the right arm and set it on Cyan", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 150, + "arm": "right", + "kind": "open", + "start_frame": 143, + "end_frame": 157 + } + ], + "scene_info": { + "{A}": "048_stapler/base4", + "{B}": "Cyan", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000215.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000215.json new file mode 100644 index 0000000000000000000000000000000000000000..664cd7af049183fb4f7f075d92b33e31af823afb --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000215.json @@ -0,0 +1,48 @@ +{ + "episode_index": 215, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Place the smooth plastic stapler onto the Magenta colored mat.", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 151, + "arm": "left", + "kind": "open", + "start_frame": 144, + "end_frame": 158 + } + ], + "scene_info": { + "{A}": "048_stapler/base3", + "{B}": "Magenta", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000216.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000216.json new file mode 100644 index 0000000000000000000000000000000000000000..bc0137c2918cc85dfb4c5d2c9fe0d4ee54d08f42 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000216.json @@ -0,0 +1,48 @@ +{ + "episode_index": 216, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Grab the stapler for fastening papers with the left arm and drop it on Green mat.", + "num_frames": 149, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 148, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 136, + "arm": "left", + "kind": "open", + "start_frame": 129, + "end_frame": 143 + } + ], + "scene_info": { + "{A}": "048_stapler/base3", + "{B}": "Green", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000217.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000217.json new file mode 100644 index 0000000000000000000000000000000000000000..3c3191d5083c75f2bf102fa30ac44bf354d63ea1 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000217.json @@ -0,0 +1,48 @@ +{ + "episode_index": 217, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Use the left arm to place the red top black bottom stapler onto the Red mat", + "num_frames": 144, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 131, + "arm": "left", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + } + ], + "scene_info": { + "{A}": "048_stapler/base4", + "{B}": "Red", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000218.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000218.json new file mode 100644 index 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51, + "end_frame": 65 + }, + { + "frame": 140, + "arm": "right", + "kind": "open", + "start_frame": 133, + "end_frame": 147 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Yellow", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000219.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000219.json new file mode 100644 index 0000000000000000000000000000000000000000..476bb811270055a64d3b5f8d77282aeaa3eabeba --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000219.json @@ -0,0 +1,48 @@ +{ + "episode_index": 219, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Grab the stapler for fastening papers using the right arm and shift it to Cyan", + "num_frames": 147, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 146, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + } + ], + "scene_info": { + "{A}": "048_stapler/base4", + "{B}": "Cyan", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000220.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000220.json new file mode 100644 index 0000000000000000000000000000000000000000..cb1785b59d33ffe18f77cb349d846b3aa1c38f9e --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000220.json @@ -0,0 +1,48 @@ +{ + "episode_index": 220, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Use the right arm to shift the stapler with white metallic components onto the Cyan mat", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 148, + "arm": "right", + "kind": "open", + "start_frame": 141, + "end_frame": 155 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Cyan", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000221.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000221.json new file mode 100644 index 0000000000000000000000000000000000000000..378fcafd4dfa25b5fc7321e8dfe9edc87f02c5b4 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000221.json @@ -0,0 +1,48 @@ +{ + "episode_index": 221, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Set the blue rectangular stapler with curves on the Green mat with the left arm.", + "num_frames": 149, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 148, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 136, + "arm": "left", + "kind": "open", + "start_frame": 129, + "end_frame": 143 + } + ], + "scene_info": { + "{A}": "048_stapler/base6", + "{B}": "Green", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000222.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000222.json new file mode 100644 index 0000000000000000000000000000000000000000..c892f8a297e4eb74fb307543875b0428f28edecb --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000222.json @@ -0,0 +1,48 @@ +{ + "episode_index": 222, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": 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"anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000223.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000223.json new file mode 100644 index 0000000000000000000000000000000000000000..f35038e5285d1a156d74e2ed9d81b59ae964d294 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000223.json @@ -0,0 +1,48 @@ +{ + "episode_index": 223, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Grab the blue stapler with the right arm and drop it on Gray mat.", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": 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0000000000000000000000000000000000000000..100d4e460a7feb2a3c1722279adbc6283cca2ef8 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000224.json @@ -0,0 +1,48 @@ +{ + "episode_index": 224, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Grab the blue stapler with silver staple tray and stick it onto Cyan mat", + "num_frames": 151, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 150, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 138, + "arm": "right", + "kind": "open", + "start_frame": 131, + "end_frame": 145 + } + ], + "scene_info": { + "{A}": "048_stapler/base6", + "{B}": "Cyan", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000225.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000225.json new file mode 100644 index 0000000000000000000000000000000000000000..356f04d96542804a5b5d3f3101cccaf446a1dfe0 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000225.json @@ -0,0 +1,48 @@ +{ + "episode_index": 225, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "the left arm places the compact red stapler with silver accents on the Blue mat.", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 148, + "arm": "left", + "kind": "open", + "start_frame": 141, + "end_frame": 155 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Blue", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000226.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000226.json new file mode 100644 index 0000000000000000000000000000000000000000..2d0668db6ceca3de492ef03028a2231ad8dd9177 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000226.json @@ -0,0 +1,48 @@ +{ + "episode_index": 226, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Move the small handheld stapler to the Green mat.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 158, + "arm": "right", + "kind": "open", + "start_frame": 151, + "end_frame": 165 + } + ], + "scene_info": { + "{A}": "048_stapler/base4", + "{B}": "Green", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000227.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000227.json new file mode 100644 index 0000000000000000000000000000000000000000..7e2636aa0a05d85a4572c7bc84aebdb005acdfd7 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000227.json @@ -0,0 +1,48 @@ +{ + "episode_index": 227, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Position the stapler with silver staple tray on the Cyan mat.", + "num_frames": 146, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 145, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 133, + "arm": "left", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Cyan", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000228.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000228.json new file mode 100644 index 0000000000000000000000000000000000000000..dd4c9f176f219a0f372fae2f661c9e79ff377ad6 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000228.json @@ -0,0 +1,48 @@ +{ + "episode_index": 228, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Carry the plastic stapler with metal on base to the Magenta colored mat", + "num_frames": 157, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 156, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 144, + "arm": "left", + "kind": "open", + "start_frame": 137, + "end_frame": 151 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Magenta", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000229.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000229.json new file mode 100644 index 0000000000000000000000000000000000000000..6f597af9adfb6e82699d316be922756dc9f01707 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000229.json @@ -0,0 +1,48 @@ +{ + "episode_index": 229, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Place the red stapler onto the Green colored mat", + "num_frames": 151, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 150, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 138, + "arm": "left", + "kind": "open", + "start_frame": 131, + "end_frame": 145 + } + ], + "scene_info": { + "{A}": "048_stapler/base4", + "{B}": "Green", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000230.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000230.json new file mode 100644 index 0000000000000000000000000000000000000000..88ee07eac801994b202032e8b2619acbdf33f0dd --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000230.json @@ -0,0 +1,48 @@ +{ + "episode_index": 230, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Set the stapler with blue plastic handle on the Green mat with the left arm.", + "num_frames": 155, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 154, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 142, + "arm": "left", + "kind": "open", + "start_frame": 135, + "end_frame": 149 + } + ], + "scene_info": { + "{A}": "048_stapler/base6", + "{B}": "Green", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000231.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000231.json new file mode 100644 index 0000000000000000000000000000000000000000..9f07394fffed35e1de4e5ea640c73d04a06a69cf --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000231.json @@ -0,0 +1,48 @@ +{ + "episode_index": 231, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Set the handheld red stapler onto the Yellow colored mat.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "right", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 153, + "arm": "right", + "kind": "open", + "start_frame": 146, + "end_frame": 160 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Yellow", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000232.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000232.json new file mode 100644 index 0000000000000000000000000000000000000000..b46aec0f9cf427eef005d15070d82f0f4dba1d6f --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000232.json @@ -0,0 +1,48 @@ +{ + "episode_index": 232, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "With the left arm, position the compact black stapler on the Red mat", + "num_frames": 143, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 130, + "arm": "left", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Red", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000233.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000233.json new file mode 100644 index 0000000000000000000000000000000000000000..348bde6f6842dcc1f20d91b366c18978b50a7aea --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000233.json @@ -0,0 +1,48 @@ +{ + "episode_index": 233, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Place the plastic stapler with metallic interior onto the Red colored mat", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": 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"task_goal": "Place the stapler for fastening papers onto the Green colored mat", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 148, + "arm": "left", + "kind": "open", + "start_frame": 141, + "end_frame": 155 + } + ], + "scene_info": { + "{A}": "048_stapler/base3", + "{B}": "Green", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000235.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000235.json new file mode 100644 index 0000000000000000000000000000000000000000..ea07729a5fe9a764a3a301a4d1a978239e091da9 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000235.json @@ -0,0 +1,48 @@ +{ + "episode_index": 235, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Use the right arm and place the white body stapler with accents on Blue mat.", + "num_frames": 150, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 149, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 137, + "arm": "right", + "kind": "open", + "start_frame": 130, + "end_frame": 144 + } + ], + "scene_info": { + "{A}": "048_stapler/base3", + "{B}": "Blue", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000236.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000236.json new file mode 100644 index 0000000000000000000000000000000000000000..c6551022c644fc8af75ad885b52c375efb47ed70 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000236.json @@ -0,0 +1,48 @@ +{ + "episode_index": 236, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Lift the stapler for fastening papers to the Gray mat using the right arm", + "num_frames": 157, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 156, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 144, + "arm": "right", + "kind": "open", + "start_frame": 137, + "end_frame": 151 + } + ], + "scene_info": { + "{A}": "048_stapler/base3", + "{B}": "Gray", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000237.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000237.json new file mode 100644 index 0000000000000000000000000000000000000000..2fb6f1332ee0ce4246aa18419f76660f00281162 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000237.json @@ -0,0 +1,48 @@ +{ + "episode_index": 237, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Use the right arm to shift the black stapler with curved top onto the Yellow mat", + "num_frames": 146, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 145, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Yellow", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000238.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000238.json new file mode 100644 index 0000000000000000000000000000000000000000..39549995bf3fcafff9eda69e8631fd4ef674f2ec --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000238.json @@ -0,0 +1,48 @@ +{ + "episode_index": 238, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Stick the curved black stapler onto the Blue colored mat.", + "num_frames": 154, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 153, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 141, + "arm": "right", + "kind": "open", + "start_frame": 134, + "end_frame": 148 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Blue", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000239.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000239.json new file mode 100644 index 0000000000000000000000000000000000000000..c9eb411c019d86c955ea390b164f675469af4606 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000239.json @@ -0,0 +1,48 @@ +{ + "episode_index": 239, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Relocate the curved blue and silver stapler to the Red mat.", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 151, + "arm": "right", + "kind": "open", + "start_frame": 144, + "end_frame": 158 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Red", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000240.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000240.json new file mode 100644 index 0000000000000000000000000000000000000000..e050be9333762eca998546d2edf5db6adb0f376c --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000240.json @@ -0,0 +1,48 @@ +{ + "episode_index": 240, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Stick the handy blue stapler with metal parts onto the Cyan colored mat.", + "num_frames": 139, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + } + ], + "scene_info": { + "{A}": "048_stapler/base6", + "{B}": "Cyan", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000241.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000241.json new file mode 100644 index 0000000000000000000000000000000000000000..73c542f392ca692d005f3fd44da5c2d4beca4a9a --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000241.json @@ -0,0 +1,48 @@ +{ + "episode_index": 241, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Transfer the compact stapler with smooth surface to the Cyan mat", + "num_frames": 141, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 128, + "arm": "left", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Cyan", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000242.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000242.json new file mode 100644 index 0000000000000000000000000000000000000000..1c46d968d0ff35f5c59f93c8c07483bbaeaea5c7 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000242.json @@ -0,0 +1,48 @@ +{ + "episode_index": 242, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Transfer the blue stapler to the Magenta colored mat.", + "num_frames": 149, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 148, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 136, + "arm": "left", + "kind": "open", + "start_frame": 129, + "end_frame": 143 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Magenta", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000243.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000243.json new file mode 100644 index 0000000000000000000000000000000000000000..4aa83f329d952eafd86a3dc4afc649afc5bfb51f --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000243.json @@ -0,0 +1,48 @@ +{ + "episode_index": 243, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Stick the stapler for fastening papers onto the Blue colored mat.", + "num_frames": 150, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 149, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 137, + "arm": "left", + "kind": "open", + "start_frame": 130, + "end_frame": 144 + } + ], + "scene_info": { + "{A}": "048_stapler/base3", + "{B}": "Blue", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000244.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000244.json new file mode 100644 index 0000000000000000000000000000000000000000..66b7b31d924fc3a6feb4c7493af4a88b5a0a42af --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000244.json @@ -0,0 +1,48 @@ +{ + "episode_index": 244, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Pick the handy blue stapler with metal parts with the right arm and place it on Cyan mat", + "num_frames": 160, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 159, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 147, + "arm": "right", + "kind": "open", + "start_frame": 140, + "end_frame": 154 + } + ], + "scene_info": { + "{A}": "048_stapler/base6", + "{B}": "Cyan", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000245.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000245.json new file mode 100644 index 0000000000000000000000000000000000000000..69d019cf4201c3fafdba851648d186698884aa39 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000245.json @@ -0,0 +1,48 @@ +{ + "episode_index": 245, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Shift the red stapler manually to the Cyan mat", + "num_frames": 144, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 131, + "arm": "left", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + } + ], + "scene_info": { + "{A}": "048_stapler/base4", + "{B}": "Cyan", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000246.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000246.json new file mode 100644 index 0000000000000000000000000000000000000000..45b481a858912cbc0dbcf8151eb0725741e55396 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000246.json @@ -0,0 +1,48 @@ +{ + "episode_index": 246, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Drop the bright blue smooth stapler onto the Cyan mat.", + "num_frames": 150, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 149, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 137, + "arm": "left", + "kind": "open", + "start_frame": 130, + "end_frame": 144 + } + ], + "scene_info": { + "{A}": "048_stapler/base6", + "{B}": "Cyan", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000247.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000247.json new file mode 100644 index 0000000000000000000000000000000000000000..e2e736c6df0b518b1481af46bc4b08c062baa7c2 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000247.json @@ -0,0 +1,48 @@ +{ + "episode_index": 247, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Grab the blue stapler with curved design using the right arm and shift it to Red", + "num_frames": 157, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 156, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 144, + "arm": "right", + "kind": "open", + "start_frame": 137, + "end_frame": 151 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Red", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000248.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000248.json new file mode 100644 index 0000000000000000000000000000000000000000..402eafc522a468c5481731bc1cd81fb4d8b9f245 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000248.json @@ -0,0 +1,48 @@ +{ + "episode_index": 248, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Set the compact stapler with smooth surface down on the Yellow mat", + "num_frames": 149, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 148, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 136, + "arm": "left", + "kind": "open", + "start_frame": 129, + "end_frame": 143 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Yellow", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000249.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000249.json new file mode 100644 index 0000000000000000000000000000000000000000..98706da2672b6dcc8c1b9af7a12ea580378559a0 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000249.json @@ -0,0 +1,48 @@ +{ + "episode_index": 249, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Transfer the curved red stapler to the Black colored mat.", + "num_frames": 144, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 131, + "arm": "left", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Black", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000250.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000250.json new file mode 100644 index 0000000000000000000000000000000000000000..ce36946b4d9c7e1262e613c591cb5270a0efa1ae --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000250.json @@ -0,0 +1,48 @@ +{ + "episode_index": 250, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Grab the blue stapler with silver staple tray and stick it onto Cyan mat", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 156, + "arm": "right", + "kind": "open", + "start_frame": 149, + "end_frame": 163 + } + ], + "scene_info": { + "{A}": "048_stapler/base6", + "{B}": "Cyan", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000251.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000251.json new file mode 100644 index 0000000000000000000000000000000000000000..c4abfc53c55d1257ae73dbd829e44bd467cb283d --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000251.json @@ -0,0 +1,48 @@ +{ + "episode_index": 251, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Relocate the metallic stapler with red body to the Cyan colored mat", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 145, + "arm": "right", + "kind": "open", + "start_frame": 138, + "end_frame": 152 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Cyan", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000252.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000252.json new file mode 100644 index 0000000000000000000000000000000000000000..09c2b7af46b475ebe28c9a80725959fe84b30431 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000252.json @@ -0,0 +1,48 @@ +{ + "episode_index": 252, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Carry the manual stapler with black base to the Yellow colored mat", + "num_frames": 152, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 151, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 139, + "arm": "right", + "kind": "open", + "start_frame": 132, + "end_frame": 146 + } + ], + "scene_info": { + "{A}": "048_stapler/base4", + "{B}": "Yellow", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000253.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000253.json new file mode 100644 index 0000000000000000000000000000000000000000..8e4a2d4a5e22cb1c50d52cb885bd23223adc83f8 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000253.json @@ -0,0 +1,48 @@ +{ + "episode_index": 253, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Drop the lightweight red stapler carefully on the Green mat", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 145, + "arm": "right", + "kind": "open", + "start_frame": 138, + "end_frame": 152 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Green", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000254.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000254.json new file mode 100644 index 0000000000000000000000000000000000000000..678f086a3f4ba1937137e308bc03226e9cb12ce7 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000254.json @@ -0,0 +1,48 @@ +{ + "episode_index": 254, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Carry the lightweight red stapler and drop it onto the Gray mat", + "num_frames": 155, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 154, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 142, + "arm": "left", + "kind": "open", + "start_frame": 135, + "end_frame": 149 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Gray", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000255.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000255.json new file mode 100644 index 0000000000000000000000000000000000000000..12e4f75fb670e5b7bf2125731f6aacad53f2cb1b --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000255.json @@ -0,0 +1,48 @@ +{ + "episode_index": 255, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Grab the black stapler for joining pages using the left arm and shift it to Yellow", + "num_frames": 143, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 130, + "arm": "left", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Yellow", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000256.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000256.json new file mode 100644 index 0000000000000000000000000000000000000000..8ffed642a322fa11ac2bb6d9d2ef387b22a93ae1 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000256.json @@ -0,0 +1,48 @@ +{ + "episode_index": 256, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "the left arm transfers the blue stapler to the Red mat.", + "num_frames": 154, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 153, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 141, + "arm": "left", + "kind": "open", + "start_frame": 134, + "end_frame": 148 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Red", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000257.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000257.json new file mode 100644 index 0000000000000000000000000000000000000000..894ef63a68fe3619882afd483d4c23360cdc5405 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000257.json @@ -0,0 +1,48 @@ +{ + "episode_index": 257, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Position the manual blue stapler on the Yellow mat.", + "num_frames": 154, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 153, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 141, + "arm": "left", + "kind": "open", + "start_frame": 134, + "end_frame": 148 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Yellow", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000258.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000258.json new file mode 100644 index 0000000000000000000000000000000000000000..37b541cf2bbe9e89b2e18ee38ddb88b1f5ea2301 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000258.json @@ -0,0 +1,48 @@ +{ + "episode_index": 258, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Transfer the red plastic stapler with smooth top to the Cyan colored mat.", + "num_frames": 144, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 131, + "arm": "left", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + } + ], + "scene_info": { + "{A}": "048_stapler/base4", + "{B}": "Cyan", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000259.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000259.json new file mode 100644 index 0000000000000000000000000000000000000000..7f1f4f6f723e4a703b03454507914cce65e0b07a --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000259.json @@ -0,0 +1,48 @@ +{ + "episode_index": 259, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Grab the stapler with silver staple tray and drop it on Blue mat.", + "num_frames": 147, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 146, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 134, + "arm": "left", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Blue", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000260.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000260.json new file mode 100644 index 0000000000000000000000000000000000000000..87af94c510bb8ee5e6079737fee6cf947df4fbbf --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000260.json @@ -0,0 +1,48 @@ +{ + "episode_index": 260, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Pick the small lightweight blue stapler with the right arm and place it on Cyan mat", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 145, + "arm": "right", + "kind": "open", + "start_frame": 138, + "end_frame": 152 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Cyan", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000261.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000261.json new file mode 100644 index 0000000000000000000000000000000000000000..ed0c0b5311bfc86ae72195e6e5ffb811e4ecb84e --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000261.json @@ -0,0 +1,48 @@ +{ + "episode_index": 261, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Relocate the paper stapler with silver tray to the Red mat.", + "num_frames": 148, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 147, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 135, + "arm": "right", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + } + ], + "scene_info": { + "{A}": "048_stapler/base3", + "{B}": "Red", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000262.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000262.json new file mode 100644 index 0000000000000000000000000000000000000000..d7cf89232d560b23a672492b5e647bfba36d8c0e --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000262.json @@ -0,0 +1,48 @@ +{ + "episode_index": 262, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Move the compact stapler to the Blue mat.", + "num_frames": 153, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 152, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 140, + "arm": "right", + "kind": "open", + "start_frame": 133, + "end_frame": 147 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Blue", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000263.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000263.json new file mode 100644 index 0000000000000000000000000000000000000000..fbf6387ec51121ed8a2868acf7fa309b3c9a91b6 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000263.json @@ -0,0 +1,48 @@ +{ + "episode_index": 263, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "With the right arm, position the red stapler for binding papers on the Yellow mat", + "num_frames": 147, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 146, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Yellow", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000264.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000264.json new file mode 100644 index 0000000000000000000000000000000000000000..ab2831a1298d83ed6a2a21d8c1aad1ec3094b72e --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000264.json @@ -0,0 +1,48 @@ +{ + "episode_index": 264, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Lift the blue stapler with silver staple tray and drop it onto Yellow mat", + "num_frames": 144, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + } + ], + "scene_info": { + "{A}": "048_stapler/base6", + "{B}": "Yellow", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000265.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000265.json new file mode 100644 index 0000000000000000000000000000000000000000..6ef904f3fc5dd91890d02fce23e246760635612d --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000265.json @@ -0,0 +1,48 @@ +{ + "episode_index": 265, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Drop the small office stapler onto the Magenta mat.", + "num_frames": 162, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 161, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 149, + "arm": "left", + "kind": "open", + "start_frame": 142, + "end_frame": 156 + } + ], + "scene_info": { + "{A}": "048_stapler/base3", + "{B}": "Magenta", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000266.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000266.json new file mode 100644 index 0000000000000000000000000000000000000000..d3f7b76f925d9e5fec3dccb60103df1bd12310c4 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000266.json @@ -0,0 +1,48 @@ +{ + "episode_index": 266, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Use the right arm to grab the handheld stapler and place it on Gray mat", + "num_frames": 143, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Gray", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000267.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000267.json new file mode 100644 index 0000000000000000000000000000000000000000..7c9418165d3a406400057987f3848a34ad57795f --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000267.json @@ -0,0 +1,48 @@ +{ + "episode_index": 267, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Put the plastic stapler with metallic interior on the Yellow mat", + "num_frames": 141, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + } + ], + "scene_info": { + "{A}": "048_stapler/base6", + "{B}": "Yellow", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000268.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000268.json new file mode 100644 index 0000000000000000000000000000000000000000..0d9ba1e99ab8eb5c50b9cc3877d7d0a070ae7ebc --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000268.json @@ -0,0 +1,48 @@ +{ + "episode_index": 268, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Shift the compact blue stapler manually to the Blue mat", + "num_frames": 145, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 144, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Blue", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000269.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000269.json new file mode 100644 index 0000000000000000000000000000000000000000..9e1e68c068eda20b14681fcfdd20c1cb064f7c01 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000269.json @@ -0,0 +1,48 @@ +{ + "episode_index": 269, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Place the black stapler for joining pages onto the Yellow colored mat.", + "num_frames": 155, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 154, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 142, + "arm": "left", + "kind": "open", + "start_frame": 135, + "end_frame": 149 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Yellow", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000270.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000270.json new file mode 100644 index 0000000000000000000000000000000000000000..e9e2ba8aa2f17f16bd209168aac333d7956a2403 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000270.json @@ -0,0 +1,48 @@ +{ + "episode_index": 270, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Set the desk stapler with red body down on the Yellow mat", + "num_frames": 154, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 153, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 141, + "arm": "right", + "kind": "open", + "start_frame": 134, + "end_frame": 148 + } + ], + "scene_info": { + "{A}": "048_stapler/base4", + "{B}": "Yellow", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000271.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000271.json new file mode 100644 index 0000000000000000000000000000000000000000..e72cf1b3a2b3a57d631d4f8415e47b43a744de1f --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000271.json @@ -0,0 +1,48 @@ +{ + "episode_index": 271, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Place the plastic stapler with metal top onto the Gray colored mat.", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 145, + "arm": "left", + "kind": "open", + "start_frame": 138, + "end_frame": 152 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Gray", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000272.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000272.json new file mode 100644 index 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"start_frame": 50, + "end_frame": 64 + }, + { + "frame": 135, + "arm": "left", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Black", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000273.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000273.json new file mode 100644 index 0000000000000000000000000000000000000000..9e2e7df3758da53e0dea20d2d2aaac843f08abb4 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000273.json @@ -0,0 +1,48 @@ +{ + "episode_index": 273, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000274.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000274.json new file mode 100644 index 0000000000000000000000000000000000000000..4fbd772f31d18b8ee32d2460238331dfbe563f86 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000274.json @@ -0,0 +1,48 @@ +{ + "episode_index": 274, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Relocate the red top black bottom stapler to the Red colored mat", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 161, + "arm": "left", + "kind": "open", + "start_frame": 154, + "end_frame": 168 + } + ], + "scene_info": { + "{A}": "048_stapler/base4", + "{B}": "Red", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000275.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000275.json new file mode 100644 index 0000000000000000000000000000000000000000..8e3d2a45a00f7dec3037c13f873eb6fa7d8a1b46 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000275.json @@ -0,0 +1,48 @@ +{ + "episode_index": 275, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "the right arm places the stapler with curved blue top on the Magenta mat.", + "num_frames": 155, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 154, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 142, + "arm": "right", + "kind": "open", + "start_frame": 135, + "end_frame": 149 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Magenta", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000276.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000276.json new file mode 100644 index 0000000000000000000000000000000000000000..de3bddba753f713498ac35d2377a15e500e7a7b0 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000276.json @@ -0,0 +1,48 @@ +{ + "episode_index": 276, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Set the paper stapler with silver tray onto the Black colored mat.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "right", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 156, + "arm": "right", + "kind": "open", + "start_frame": 149, + "end_frame": 163 + } + ], + "scene_info": { + "{A}": "048_stapler/base3", + "{B}": "Black", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000277.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000277.json new file mode 100644 index 0000000000000000000000000000000000000000..7832d75d31206c900ced232acf17f7b61b17ecba --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000277.json @@ -0,0 +1,48 @@ +{ + "episode_index": 277, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Place the blue stapler for paper fastening onto the Gray colored mat.", + "num_frames": 153, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 152, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 140, + "arm": "right", + "kind": "open", + "start_frame": 133, + "end_frame": 147 + } + ], + "scene_info": { + "{A}": "048_stapler/base6", + "{B}": "Gray", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000278.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000278.json new file mode 100644 index 0000000000000000000000000000000000000000..f095f4a2594ca09ff237bc8da269fe743ced1d80 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000278.json @@ -0,0 +1,48 @@ +{ + "episode_index": 278, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Pick the compact office stapler up and position it on Gray mat", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 150, + "arm": "right", + "kind": "open", + "start_frame": 143, + "end_frame": 157 + } + ], + "scene_info": { + "{A}": "048_stapler/base4", + "{B}": "Gray", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000279.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000279.json new file mode 100644 index 0000000000000000000000000000000000000000..346a931ae9b070f63724dfe3795147eb351e671e --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000279.json @@ -0,0 +1,48 @@ +{ + "episode_index": 279, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Pick the handy blue stapler with metal parts with the left arm and place it on Cyan mat", + "num_frames": 152, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 151, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 139, + "arm": "left", + "kind": "open", + "start_frame": 132, + "end_frame": 146 + } + ], + "scene_info": { + "{A}": "048_stapler/base6", + "{B}": "Cyan", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000280.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000280.json new file mode 100644 index 0000000000000000000000000000000000000000..4f5b29181cd3c54a5778f040ab15f2f7990290a0 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000280.json @@ -0,0 +1,48 @@ +{ + "episode_index": 280, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "the right arm places the compact stapler on the Yellow mat.", + "num_frames": 144, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Yellow", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000281.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000281.json new file mode 100644 index 0000000000000000000000000000000000000000..2a6b007d04e660fd6c251419c5253078b1e659cd --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000281.json @@ -0,0 +1,48 @@ +{ + "episode_index": 281, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Slide the blue rectangular stapler with curves to the Red colored mat.", + "num_frames": 153, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 152, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": 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"task_goal": "Pick the lightweight red stapler up and position it on Cyan mat", + "num_frames": 139, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Cyan", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000283.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000283.json new file mode 100644 index 0000000000000000000000000000000000000000..fc0d90b1314f86dca1d3b5f50648524092e0daa9 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000283.json @@ -0,0 +1,48 @@ +{ + "episode_index": 283, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Grab the stapler with silver staple tray, place it on the Cyan mat", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 148, + "arm": "right", + "kind": "open", + "start_frame": 141, + "end_frame": 155 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Cyan", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000284.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000284.json new file mode 100644 index 0000000000000000000000000000000000000000..e0b71c15d20e0e9f4f95585e2576464bb2d89653 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000284.json @@ -0,0 +1,48 @@ +{ + "episode_index": 284, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Place the metal and plastic stapler onto the Red colored mat", + "num_frames": 149, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 148, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 136, + "arm": "right", + "kind": "open", + "start_frame": 129, + "end_frame": 143 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Red", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000285.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000285.json new file mode 100644 index 0000000000000000000000000000000000000000..ae2153183d094b769dc7e63fd83572807894e4c0 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000285.json @@ -0,0 +1,48 @@ +{ + "episode_index": 285, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": 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"2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000286.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000286.json new file mode 100644 index 0000000000000000000000000000000000000000..ebd0294d164cbf8a4f465d33cff34faf3a6c3b2e --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000286.json @@ -0,0 +1,48 @@ +{ + "episode_index": 286, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Place the compact office stapler onto the Magenta colored mat", + "num_frames": 147, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 146, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 134, + "arm": "left", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + } + ], + "scene_info": { + "{A}": "048_stapler/base4", + "{B}": "Magenta", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000287.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000287.json new file mode 100644 index 0000000000000000000000000000000000000000..7900ba090da0a0d0495c900d5d31128c317c8e8a --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000287.json @@ -0,0 +1,48 @@ +{ + "episode_index": 287, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Relocate the stapler with silver staple tray to the Blue mat.", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "right", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 145, + "arm": "right", + "kind": "open", + "start_frame": 138, + "end_frame": 152 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Blue", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000288.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000288.json new file mode 100644 index 0000000000000000000000000000000000000000..f4bf90c720ed23c3630f0e188cd5317811d3168d --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000288.json @@ -0,0 +1,48 @@ +{ + "episode_index": 288, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Lift the bright blue smooth stapler and drop it onto Cyan mat", + "num_frames": 143, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + } + ], + "scene_info": { + "{A}": "048_stapler/base6", + "{B}": "Cyan", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000289.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000289.json new file mode 100644 index 0000000000000000000000000000000000000000..776ba24a9c317bc0b492566811ac0384d8290e7e --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000289.json @@ -0,0 +1,48 @@ +{ + "episode_index": 289, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Using the left arm, set the curved black stapler on the Black colored mat", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 152, + "arm": "left", + "kind": "open", + "start_frame": 145, + "end_frame": 159 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Black", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000290.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000290.json new file mode 100644 index 0000000000000000000000000000000000000000..3da7e429f79e8260662bfd47c9f5e24ab5263ed2 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000290.json @@ -0,0 +1,48 @@ +{ + "episode_index": 290, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Carry the curved red stapler and drop it onto the Black mat", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Black", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000291.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000291.json new file mode 100644 index 0000000000000000000000000000000000000000..901a999f89a04c01550d67b35b3597f9e6c3e92a --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000291.json @@ -0,0 +1,48 @@ +{ + "episode_index": 291, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Drop the stapler with black top section carefully on the Gray mat", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 155, + "arm": "left", + "kind": "open", + "start_frame": 148, + "end_frame": 162 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Gray", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000292.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000292.json new file mode 100644 index 0000000000000000000000000000000000000000..524a2821be35795379db68698495e69bd4a117d3 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000292.json @@ -0,0 +1,48 @@ +{ + "episode_index": 292, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Set the handheld red stapler onto the Magenta colored mat.", + "num_frames": 142, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 129, + "arm": "left", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Magenta", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000293.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000293.json new file mode 100644 index 0000000000000000000000000000000000000000..b7a665b77249cf2a1f5e73945260b0ae738951af --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000293.json @@ -0,0 +1,48 @@ +{ + "episode_index": 293, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Grab the small handheld stapler using the right arm and shift it to Red", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": 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"task_goal": "Pick the stapler for fastening papers with the left arm and place it on Blue mat", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 145, + "arm": "left", + "kind": "open", + "start_frame": 138, + "end_frame": 152 + } + ], + "scene_info": { + "{A}": "048_stapler/base4", + "{B}": "Blue", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000295.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000295.json new file mode 100644 index 0000000000000000000000000000000000000000..dc61e8dd17348cc4b443830f3c763e41c2b24b80 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000295.json @@ -0,0 +1,48 @@ +{ + "episode_index": 295, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Carry the white body stapler with accents and drop it onto the Black mat", + "num_frames": 162, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 161, + "boundary_source": "episode_end", + "truncation_rule": 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0000000000000000000000000000000000000000..c7777d10bb9c383f66e628c0494d37b4bab0e7ea --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000296.json @@ -0,0 +1,48 @@ +{ + "episode_index": 296, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Shift the red stapler with black base manually to the Yellow mat", + "num_frames": 159, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 158, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 146, + "arm": "right", + "kind": "open", + "start_frame": 139, + "end_frame": 153 + } + ], + "scene_info": { + "{A}": "048_stapler/base4", + "{B}": "Yellow", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000297.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000297.json new file mode 100644 index 0000000000000000000000000000000000000000..b52f89fed60620ab7ddffab99aa8fac845330dd9 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000297.json @@ -0,0 +1,48 @@ +{ + "episode_index": 297, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Use the right arm to grab the blue rectangular stapler with curves and place it on Black mat", + "num_frames": 142, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + } + ], + "scene_info": { + "{A}": "048_stapler/base6", + "{B}": "Black", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000298.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000298.json new file mode 100644 index 0000000000000000000000000000000000000000..763eec2f22b016be424802c00e65b44fc4ba6641 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000298.json @@ -0,0 +1,48 @@ +{ + "episode_index": 298, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Move the compact red stapler with silver accents with the left arm to the Blue mat", + "num_frames": 151, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 150, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 138, + "arm": "left", + "kind": "open", + "start_frame": 131, + "end_frame": 145 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Blue", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000299.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000299.json new file mode 100644 index 0000000000000000000000000000000000000000..aacb91c7981aa2f98f09b7e00ecc4919ef647688 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000299.json @@ -0,0 +1,48 @@ +{ + "episode_index": 299, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Move the smooth plastic stapler to the Red mat with the left arm", + "num_frames": 153, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 152, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 140, + "arm": "left", + "kind": "open", + "start_frame": 133, + "end_frame": 147 + } + ], + "scene_info": { + "{A}": "048_stapler/base3", + "{B}": "Red", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000300.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000300.json new file mode 100644 index 0000000000000000000000000000000000000000..fd8899339798952e2ab1e368116989b63c9cf8af --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000300.json @@ -0,0 +1,48 @@ +{ + "episode_index": 300, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Relocate the stapler with black top section to the Blue mat.", + "num_frames": 156, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 155, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 143, + "arm": "right", + "kind": "open", + "start_frame": 136, + "end_frame": 150 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Blue", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000301.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000301.json new file mode 100644 index 0000000000000000000000000000000000000000..b52b6bdd58abcb66583c2fc3911d45513e0f2b32 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000301.json @@ -0,0 +1,48 @@ +{ + "episode_index": 301, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Place the metallic stapler with blue cover onto the Blue colored mat.", + "num_frames": 160, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 159, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 147, + "arm": "left", + "kind": "open", + "start_frame": 140, + "end_frame": 154 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Blue", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000302.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000302.json new file mode 100644 index 0000000000000000000000000000000000000000..cc8460a507339913de89d2e116102410c700651c --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000302.json @@ -0,0 +1,48 @@ +{ + "episode_index": 302, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Carry the stapler with white metallic components and drop it onto the Green mat", + "num_frames": 156, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 155, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 143, + "arm": "left", + "kind": "open", + "start_frame": 136, + "end_frame": 150 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Green", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000303.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000303.json new file mode 100644 index 0000000000000000000000000000000000000000..de2d29d83a0f3208b0fde7ace88543934734d129 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000303.json @@ -0,0 +1,48 @@ +{ + "episode_index": 303, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Grab the handheld stapler and stick it onto Cyan mat", + "num_frames": 143, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Cyan", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000304.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000304.json new file mode 100644 index 0000000000000000000000000000000000000000..e6e69fb67a47dc8f0b1fe11e65c5ae02b2d55f81 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000304.json @@ -0,0 +1,48 @@ +{ + "episode_index": 304, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Stick the paper stapler with silver tray onto the Red colored mat.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 155, + "arm": "left", + "kind": "open", + "start_frame": 148, + "end_frame": 162 + } + ], + "scene_info": { + "{A}": "048_stapler/base3", + "{B}": "Red", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000305.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000305.json new file mode 100644 index 0000000000000000000000000000000000000000..f65aef6c5fff7ba7f8b30ef35fe932cdcd9fdc41 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000305.json @@ -0,0 +1,48 @@ +{ + "episode_index": 305, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Move the stapler with metallic staple slot with the right arm to the Gray mat", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "right", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 145, + "arm": "right", + "kind": "open", + "start_frame": 138, + "end_frame": 152 + } + ], + "scene_info": { + "{A}": "048_stapler/base4", + "{B}": "Gray", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000306.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000306.json new file mode 100644 index 0000000000000000000000000000000000000000..14e1bd0bcf119fbc63d8d789fefb3b498b20e6ed --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000306.json @@ -0,0 +1,48 @@ +{ + "episode_index": 306, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Lift the stapler with red top and drop it onto Cyan mat", + "num_frames": 157, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 156, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 144, + "arm": "left", + "kind": "open", + "start_frame": 137, + "end_frame": 151 + } + ], + "scene_info": { + "{A}": "048_stapler/base4", + "{B}": "Cyan", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000307.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000307.json new file mode 100644 index 0000000000000000000000000000000000000000..5dbb0aac8db7861de033b46b85279637ff1aa174 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000307.json @@ -0,0 +1,48 @@ +{ + "episode_index": 307, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Pick the stapler with curved blue top using the left arm and move it to Magenta mat.", + "num_frames": 139, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Magenta", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000308.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000308.json new file mode 100644 index 0000000000000000000000000000000000000000..37f5b073741bee91d7f02a0d14bbc211d80b155c --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000308.json @@ -0,0 +1,48 @@ +{ + "episode_index": 308, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Shift the metallic stapler with red body to the Yellow mat", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 151, + "arm": "left", + "kind": "open", + "start_frame": 144, + "end_frame": 158 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Yellow", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000309.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000309.json new file mode 100644 index 0000000000000000000000000000000000000000..a72940ff869c3a98004c1d46cf86dad1b5c9b70a --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000309.json @@ -0,0 +1,48 @@ +{ + "episode_index": 309, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Use the right arm to grab the black stapler with rectangular base and place it on Blue mat", + "num_frames": 144, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Blue", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000310.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000310.json new file mode 100644 index 0000000000000000000000000000000000000000..777e51e0edc7c56da3c3f31def07da2aaef7df20 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000310.json @@ -0,0 +1,48 @@ +{ + "episode_index": 310, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Place the stapler with silver inner plates onto the Black colored mat", + "num_frames": 157, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 156, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 144, + "arm": "right", + "kind": "open", + "start_frame": 137, + "end_frame": 151 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Black", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000311.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000311.json new file mode 100644 index 0000000000000000000000000000000000000000..e7817f6e6912d0d04611572017233246b0f17900 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000311.json @@ -0,0 +1,48 @@ +{ + "episode_index": 311, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Stick the compact red stapler with silver accents onto the Blue colored mat.", + "num_frames": 160, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 159, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 147, + "arm": "right", + "kind": "open", + "start_frame": 140, + "end_frame": 154 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Blue", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000312.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000312.json new file mode 100644 index 0000000000000000000000000000000000000000..cbc844357a1dd7ecc92d76fb7c7c655ac89189aa --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000312.json @@ -0,0 +1,48 @@ +{ + "episode_index": 312, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "the right arm transfers the paper stapler with silver tray to the Green mat.", + "num_frames": 159, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 158, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "right", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 146, + "arm": "right", + "kind": "open", + "start_frame": 139, + "end_frame": 153 + } + ], + "scene_info": { + "{A}": "048_stapler/base3", + "{B}": "Green", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000313.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000313.json new file mode 100644 index 0000000000000000000000000000000000000000..4653fef2fd46761d42c944b8e66b516a21200926 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000313.json @@ -0,0 +1,48 @@ +{ + "episode_index": 313, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Carry the plastic blue stapler with metal parts to the Blue colored mat", + "num_frames": 149, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 148, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 136, + "arm": "right", + "kind": "open", + "start_frame": 129, + "end_frame": 143 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Blue", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000314.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000314.json new file mode 100644 index 0000000000000000000000000000000000000000..064ea3d7eae5c6ece4e7df19b3a06a1be1fc0ee5 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000314.json @@ -0,0 +1,48 @@ +{ + "episode_index": 314, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Set the red stapler with black base onto the Gray colored mat.", + "num_frames": 156, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 155, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 143, + "arm": "right", + "kind": "open", + "start_frame": 136, + "end_frame": 150 + } + ], + "scene_info": { + "{A}": "048_stapler/base4", + "{B}": "Gray", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000315.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000315.json new file mode 100644 index 0000000000000000000000000000000000000000..16cf1d6537bf5c0225d03c01f5d986118cb15c91 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000315.json @@ -0,0 +1,48 @@ +{ + "episode_index": 315, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Grab the bright blue smooth stapler using the right arm and set it on Red mat.", + "num_frames": 156, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 155, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 143, + "arm": "right", + "kind": "open", + "start_frame": 136, + "end_frame": 150 + } + ], + "scene_info": { + "{A}": "048_stapler/base6", + "{B}": "Red", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000316.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000316.json new file mode 100644 index 0000000000000000000000000000000000000000..a54bbf6fb885619ba51f424fe10902c4bbb421e4 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000316.json @@ -0,0 +1,48 @@ +{ + "episode_index": 316, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Place the metallic stapler with red body onto the Cyan colored mat.", + "num_frames": 147, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 146, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 134, + "arm": "left", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Cyan", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000317.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000317.json new file mode 100644 index 0000000000000000000000000000000000000000..73124e9a45474e671fe1d874b92e71a91f2dacc7 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000317.json @@ -0,0 +1,48 @@ +{ + "episode_index": 317, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "the right arm moves the blue stapler with curved design to the Gray mat.", + "num_frames": 147, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 146, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Gray", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000318.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000318.json new file mode 100644 index 0000000000000000000000000000000000000000..e5cda69efe7db991f7a658ec1ce06db0270be542 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000318.json @@ -0,0 +1,48 @@ +{ + "episode_index": 318, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Set the black stapler for joining pages down on the Red mat", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 151, + "arm": "left", + "kind": "open", + "start_frame": 144, + "end_frame": 158 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Red", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000319.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000319.json new file mode 100644 index 0000000000000000000000000000000000000000..fe03f855bc16e95f828f026c5fc739b3cba477fc --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000319.json @@ -0,0 +1,48 @@ +{ + "episode_index": 319, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Lift the compact office stapler and drop it onto Yellow mat", + "num_frames": 149, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 148, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 136, + "arm": "left", + "kind": "open", + "start_frame": 129, + "end_frame": 143 + } + ], + "scene_info": { + "{A}": "048_stapler/base4", + "{B}": "Yellow", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000320.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000320.json new file mode 100644 index 0000000000000000000000000000000000000000..a791c1eea12cb2d78ed5c3b3804877770a51a3a5 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000320.json @@ -0,0 +1,48 @@ +{ + "episode_index": 320, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Drop the compact blue stapler carefully on the Gray mat", + "num_frames": 159, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 158, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 146, + "arm": "right", + "kind": "open", + "start_frame": 139, + "end_frame": 153 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Gray", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000321.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000321.json new file mode 100644 index 0000000000000000000000000000000000000000..2b2cc3241ed4c51560b34f488304b0582b9c6c2d --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000321.json @@ -0,0 +1,48 @@ +{ + "episode_index": 321, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Grab the stapler with blue plastic handle using the right arm and set it on Green mat.", + "num_frames": 150, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 149, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 137, + "arm": "right", + "kind": "open", + "start_frame": 130, + "end_frame": 144 + } + ], + "scene_info": { + "{A}": "048_stapler/base6", + "{B}": "Green", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000322.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000322.json new file mode 100644 index 0000000000000000000000000000000000000000..8e1237cb14b0a81d5c7b7d4ff842b00964a50148 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000322.json @@ -0,0 +1,48 @@ +{ + "episode_index": 322, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Position the compact stapler on the Magenta mat.", + "num_frames": 153, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 152, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 140, + "arm": "left", + "kind": "open", + "start_frame": 133, + "end_frame": 147 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Magenta", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000323.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000323.json new file mode 100644 index 0000000000000000000000000000000000000000..f40ccc46ac406018832eaeb368fa86288d69c1ae --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000323.json @@ -0,0 +1,48 @@ +{ + "episode_index": 323, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Put the plastic and metal stapler on the Green mat", + "num_frames": 143, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 130, + "arm": "left", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + } + ], + "scene_info": { + "{A}": "048_stapler/base3", + "{B}": "Green", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000324.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000324.json new file mode 100644 index 0000000000000000000000000000000000000000..4b4c4d07c58046c9922a133ccafc49debf3cc472 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000324.json @@ -0,0 +1,48 @@ +{ + "episode_index": 324, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Shift the stapler in bright red color manually to the Red mat", + "num_frames": 156, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 155, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 143, + "arm": "left", + "kind": "open", + "start_frame": 136, + "end_frame": 150 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Red", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000325.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000325.json new file mode 100644 index 0000000000000000000000000000000000000000..6badb8abcbedc5a2917c7bf25904cef1ddd08b05 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000325.json @@ -0,0 +1,48 @@ +{ + "episode_index": 325, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Shift the stapler with red top manually to the Gray mat", + "num_frames": 152, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 151, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 139, + "arm": "left", + "kind": "open", + "start_frame": 132, + "end_frame": 146 + } + ], + "scene_info": { + "{A}": "048_stapler/base4", + "{B}": "Gray", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000326.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000326.json new file mode 100644 index 0000000000000000000000000000000000000000..77d7dd7333b9b6ee797d1f7c0ad981febe0b9529 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000326.json @@ -0,0 +1,48 @@ +{ + "episode_index": 326, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "the right arm moves the handheld black stapler to the Yellow mat.", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Yellow", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000327.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000327.json new file mode 100644 index 0000000000000000000000000000000000000000..04c79ec5f8a7ce126a8c8f93570646fa95e3bf9d --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000327.json @@ -0,0 +1,48 @@ +{ + "episode_index": 327, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Set the modern design stapler down on the Blue mat", + "num_frames": 149, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 148, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 136, + "arm": "right", + "kind": "open", + "start_frame": 129, + "end_frame": 143 + } + ], + "scene_info": { + "{A}": "048_stapler/base3", + "{B}": "Blue", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000328.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000328.json new file mode 100644 index 0000000000000000000000000000000000000000..1cccf0f14cc4447db68d9703fd73aaa3ce6533fa --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000328.json @@ -0,0 +1,48 @@ +{ + "episode_index": 328, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Using the right arm, set the black smooth-textured stapler on the Magenta colored mat", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 155, + "arm": "right", + "kind": "open", + "start_frame": 148, + "end_frame": 162 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Magenta", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000329.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000329.json new file mode 100644 index 0000000000000000000000000000000000000000..650dd7bc3e5836f2485503539c8ea077d21ba98a --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000329.json @@ -0,0 +1,48 @@ +{ + "episode_index": 329, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "the right arm places the red top black bottom stapler on the Red mat.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 156, + "arm": "right", + "kind": "open", + "start_frame": 149, + "end_frame": 163 + } + ], + "scene_info": { + "{A}": "048_stapler/base4", + "{B}": "Red", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000330.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000330.json new file mode 100644 index 0000000000000000000000000000000000000000..a747a060144eded72bc62d3aa3606c4f98626333 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000330.json @@ -0,0 +1,48 @@ +{ + "episode_index": 330, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Stick the red stapler on the Cyan mat.", + "num_frames": 144, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Cyan", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000331.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000331.json new file mode 100644 index 0000000000000000000000000000000000000000..de262343ac53d40e642f3ee4aa57f2c8bf2d5a68 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000331.json @@ -0,0 +1,48 @@ +{ + "episode_index": 331, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Position the smooth plastic stapler on the Green mat.", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000332.json @@ -0,0 +1,48 @@ +{ + "episode_index": 332, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Transfer the stapler with white metallic components to the Magenta mat", + "num_frames": 187, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 186, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 174, + "arm": "left", + "kind": "open", + "start_frame": 167, + "end_frame": 181 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Magenta", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000333.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000333.json new file mode 100644 index 0000000000000000000000000000000000000000..5067d4de18d62d401c51e386e0dc55bab31c911e --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000333.json @@ -0,0 +1,48 @@ +{ + "episode_index": 333, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "the left arm grabs the metallic stapler with blue cover and sets it on Magenta mat.", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Magenta", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000334.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000334.json new file mode 100644 index 0000000000000000000000000000000000000000..76cda9c80725c703faff2db9d47343695ae759ad --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000334.json @@ -0,0 +1,48 @@ +{ + "episode_index": 334, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Place the black stapler with smooth finish on the Black mat using the right arm", + "num_frames": 162, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 161, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 149, + "arm": "right", + "kind": "open", + "start_frame": 142, + "end_frame": 156 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Black", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000335.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000335.json new file mode 100644 index 0000000000000000000000000000000000000000..f3528fbd55c7b47dbbc3b6b1479d2e97f276d751 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000335.json @@ -0,0 +1,48 @@ +{ + "episode_index": 335, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Relocate the simple stapler to the Cyan colored mat", + "num_frames": 144, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + } + ], + "scene_info": { + "{A}": "048_stapler/base6", + "{B}": "Cyan", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000336.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000336.json new file mode 100644 index 0000000000000000000000000000000000000000..582fc2b60fa43c10148c6fc5ad8229600e53052a --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000336.json @@ -0,0 +1,48 @@ +{ + "episode_index": 336, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Pick the compact stapler up and position it on Gray mat", + "num_frames": 157, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 156, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 144, + "arm": "right", + "kind": "open", + "start_frame": 137, + "end_frame": 151 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Gray", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000337.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000337.json new file mode 100644 index 0000000000000000000000000000000000000000..cc7f579df929f370ed5490fe9562d9c702469380 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000337.json @@ -0,0 +1,48 @@ +{ + "episode_index": 337, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Pick the curved red stapler up and position it on Black mat", + "num_frames": 148, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 147, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 135, + "arm": "left", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Black", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000338.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000338.json new file mode 100644 index 0000000000000000000000000000000000000000..5658814b6c24d312c0292290432e6503ab5b9269 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000338.json @@ -0,0 +1,48 @@ +{ + "episode_index": 338, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Pick the stapler for stapling paper up and position it on Black mat", + "num_frames": 146, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 145, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Black", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000339.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000339.json new file mode 100644 index 0000000000000000000000000000000000000000..de23246b9e4447dc8c3a0f8084b7dee207ef2e9b --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000339.json @@ -0,0 +1,48 @@ +{ + "episode_index": 339, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Drop the metallic stapler with blue cover onto the Magenta mat.", + "num_frames": 142, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 129, + "arm": "left", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Magenta", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000340.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000340.json new file mode 100644 index 0000000000000000000000000000000000000000..196aada30f83c2153ce96ea9f871c2bb52a3a791 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000340.json @@ -0,0 +1,48 @@ +{ + "episode_index": 340, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Set the stapler with red top on the Cyan mat with the left arm.", + "num_frames": 148, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 147, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 135, + "arm": "left", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + } + ], + "scene_info": { + "{A}": "048_stapler/base4", + "{B}": "Cyan", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000341.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000341.json new file mode 100644 index 0000000000000000000000000000000000000000..2be497581fff9f64cf13f6047469ace915c67c0a --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000341.json @@ -0,0 +1,48 @@ +{ + "episode_index": 341, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Grab the red top black bottom stapler using the left arm and shift it to Red", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 152, + "arm": "left", + "kind": "open", + "start_frame": 145, + "end_frame": 159 + } + ], + "scene_info": { + "{A}": "048_stapler/base4", + "{B}": "Red", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000342.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000342.json new file mode 100644 index 0000000000000000000000000000000000000000..73cdef010b5b7ab8122c9b4c48724d433d280d3b --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000342.json @@ -0,0 +1,48 @@ +{ + "episode_index": 342, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Slide the white body stapler with accents to the Green colored mat.", + "num_frames": 148, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 147, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 135, + "arm": "left", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + } + ], + "scene_info": { + "{A}": "048_stapler/base3", + "{B}": "Green", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000343.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000343.json new file mode 100644 index 0000000000000000000000000000000000000000..2cd8d3c9d62d689db73fd2c215bdbff98447c013 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000343.json @@ -0,0 +1,48 @@ +{ + "episode_index": 343, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Lift the stapler with silver staple tray and drop it onto Magenta mat", + "num_frames": 154, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 153, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 141, + "arm": "right", + "kind": "open", + "start_frame": 134, + "end_frame": 148 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Magenta", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000344.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000344.json new file mode 100644 index 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"task_goal": "Pick up the compact office stapler with the right arm and set it on Black", + "num_frames": 145, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 144, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + } + ], + "scene_info": { + "{A}": "048_stapler/base4", + "{B}": "Black", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000346.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000346.json new file mode 100644 index 0000000000000000000000000000000000000000..97e10e27c420f388784908b6090a63feaaa212a3 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000346.json @@ -0,0 +1,48 @@ +{ + "episode_index": 346, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Lift the bright blue smooth stapler to the Red mat using the right arm", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": 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0000000000000000000000000000000000000000..c6674653c5a837dda5fa17219c5f16ad47d1936d --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000347.json @@ -0,0 +1,48 @@ +{ + "episode_index": 347, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "the right arm places the manual blue stapler on the Green mat.", + "num_frames": 153, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 152, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 140, + "arm": "right", + "kind": "open", + "start_frame": 133, + "end_frame": 147 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Green", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000348.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000348.json new file mode 100644 index 0000000000000000000000000000000000000000..d662015766573fe02a0974aa7221ee9284d6a0e4 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000348.json @@ -0,0 +1,48 @@ +{ + "episode_index": 348, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "the left arm places the blue stapler with white accents on the Gray mat.", + "num_frames": 155, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 154, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 142, + "arm": "left", + "kind": "open", + "start_frame": 135, + "end_frame": 149 + } + ], + "scene_info": { + "{A}": "048_stapler/base6", + "{B}": "Gray", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000349.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000349.json new file mode 100644 index 0000000000000000000000000000000000000000..2512f660c369d0cf25af2a69829bc5c0106db28a --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000349.json @@ -0,0 +1,48 @@ +{ + "episode_index": 349, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Pick the red plastic stapler with smooth top up and position it on Magenta mat", + "num_frames": 151, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 150, + "boundary_source": "episode_end", + "truncation_rule": 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0000000000000000000000000000000000000000..14d083db30bc0baf66570e2429db8cc54b768628 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000350.json @@ -0,0 +1,48 @@ +{ + "episode_index": 350, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Grab the stapler with black top section using the right arm and set it on Magenta mat.", + "num_frames": 141, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": 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"move_stapler_pad", + "task_goal": "Transfer the blue stapler with black handle area to the Cyan mat", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 145, + "arm": "right", + "kind": "open", + "start_frame": 138, + "end_frame": 152 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Cyan", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000352.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000352.json new file mode 100644 index 0000000000000000000000000000000000000000..185571a7789020d7d4af0b74fe30188fc2c02467 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000352.json @@ -0,0 +1,48 @@ +{ + "episode_index": 352, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Place the curved blue and silver stapler onto the Red colored mat", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "episode_end", + "truncation_rule": 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0000000000000000000000000000000000000000..3e03add0e8717fc31bbeb374a8324a7eb24b30d3 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000353.json @@ -0,0 +1,48 @@ +{ + "episode_index": 353, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Set the stapler for fastening papers down on the Magenta mat", + "num_frames": 144, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + } + ], + "scene_info": { + "{A}": "048_stapler/base3", + "{B}": "Magenta", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000354.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000354.json new file mode 100644 index 0000000000000000000000000000000000000000..e141b13e3fbe93e807725b6492b370d8ad229e23 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000354.json @@ -0,0 +1,48 @@ +{ + "episode_index": 354, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Pick the stapler in bright red color up and position it on Gray mat", + "num_frames": 151, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 150, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 138, + "arm": "left", + "kind": "open", + "start_frame": 131, + "end_frame": 145 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Gray", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000355.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000355.json new file mode 100644 index 0000000000000000000000000000000000000000..b440a46cb42b82195de5783cec2125d53f8665d2 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000355.json @@ -0,0 +1,48 @@ +{ + "episode_index": 355, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Set the plastic stapler with silver mechanism on the Black mat with the right arm.", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": 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"source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000358.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000358.json new file mode 100644 index 0000000000000000000000000000000000000000..438dcf1e864dca78815823a10cdeea6a4aaf47a1 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000358.json @@ -0,0 +1,48 @@ +{ + "episode_index": 358, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "the left arm places the office stapler with plastic and metal parts on the Magenta mat.", + "num_frames": 154, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 153, + 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mode 100644 index 0000000000000000000000000000000000000000..96c585396fdc1540efbf7cf0dcf90586670cc799 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000359.json @@ -0,0 +1,48 @@ +{ + "episode_index": 359, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "the right arm transfers the compact black stapler to the Yellow mat.", + "num_frames": 157, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 156, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": 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"move_stapler_pad", + "task_goal": "Use the left arm to place the compact black stapler onto the Red mat", + "num_frames": 156, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 155, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 143, + "arm": "left", + "kind": "open", + "start_frame": 136, + "end_frame": 150 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Red", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000361.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000361.json new file mode 100644 index 0000000000000000000000000000000000000000..304e7bfa2df6760c753117a442c1f06e1b480778 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000361.json @@ -0,0 +1,48 @@ +{ + "episode_index": 361, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Place the stapler with rounded edges onto the Blue colored mat.", + "num_frames": 162, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 161, + "boundary_source": "episode_end", + "truncation_rule": 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0000000000000000000000000000000000000000..934b075d89c5293d935ccaf8ba70e4c16ce67df2 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000362.json @@ -0,0 +1,48 @@ +{ + "episode_index": 362, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Grab the small stapler and stick it onto Blue mat", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 153, + "arm": "right", + "kind": "open", + "start_frame": 146, + "end_frame": 160 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Blue", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000363.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000363.json new file mode 100644 index 0000000000000000000000000000000000000000..bcb918a604166695a802cf8873a1e85ad21a8814 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000363.json @@ -0,0 +1,48 @@ +{ + "episode_index": 363, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Carry the stapler in bright red color to the Gray colored mat", + "num_frames": 154, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 153, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 141, + "arm": "left", + "kind": "open", + "start_frame": 134, + "end_frame": 148 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Gray", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000364.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000364.json new file mode 100644 index 0000000000000000000000000000000000000000..b19e23f5c46a7cfb0d33fbfdc19b4ed9a7fdd443 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000364.json @@ -0,0 +1,48 @@ +{ + "episode_index": 364, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Carry the black stapler for joining pages and drop it onto the Magenta mat", + "num_frames": 143, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "episode_end", + "truncation_rule": 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0000000000000000000000000000000000000000..f87a8f5e4b1c0987ff198c11d5765528fbd70ff2 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000365.json @@ -0,0 +1,48 @@ +{ + "episode_index": 365, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "With the left arm, position the metallic stapler with red body on the Red mat", + "num_frames": 141, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + 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"source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000367.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000367.json new file mode 100644 index 0000000000000000000000000000000000000000..ef6a8bb8a9442a73f23b8f33f0ebb4d670317420 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000367.json @@ -0,0 +1,48 @@ +{ + "episode_index": 367, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Use the left arm to shift the plastic stapler with metallic interior onto the Cyan mat", + "num_frames": 150, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 149, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 137, + "arm": "left", + "kind": "open", + "start_frame": 130, + "end_frame": 144 + } + ], + "scene_info": { + "{A}": "048_stapler/base6", + "{B}": "Cyan", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000368.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000368.json new file mode 100644 index 0000000000000000000000000000000000000000..e282ffc3f568c252824a81a0d30e5a08de3d7abc --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000368.json @@ -0,0 +1,48 @@ +{ + "episode_index": 368, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "the left arm grabs the bright blue smooth stapler and sets it on Green mat.", + "num_frames": 153, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 152, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + 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"task_slug": "move_stapler_pad", + "task_goal": "the left arm moves the red stapler to the Gray mat.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 157, + "arm": "left", + "kind": "open", + "start_frame": 150, + "end_frame": 164 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Gray", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000370.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000370.json new file mode 100644 index 0000000000000000000000000000000000000000..059f48194d652c99d13ff1118d1d1e8430aa7d1f --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000370.json @@ -0,0 +1,48 @@ +{ + "episode_index": 370, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Set the black stapler with smooth finish down on the Black mat", + "num_frames": 147, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 146, + "boundary_source": "episode_end", + "truncation_rule": 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0000000000000000000000000000000000000000..7e488de864704c77feeeea899b19117f0c6c8aca --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000371.json @@ -0,0 +1,48 @@ +{ + "episode_index": 371, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Lift the small red stapler to the Black mat using the right arm", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 150, + "arm": "right", + "kind": "open", + "start_frame": 143, + "end_frame": 157 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Black", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000372.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000372.json new file mode 100644 index 0000000000000000000000000000000000000000..0348d3a44360cb6281c237adaed7c6a89cbb000c --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000372.json @@ -0,0 +1,48 @@ +{ + "episode_index": 372, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Shift the curved black stapler to the Red mat", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 150, + "arm": "left", + "kind": "open", + "start_frame": 143, + "end_frame": 157 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Red", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000373.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000373.json new file mode 100644 index 0000000000000000000000000000000000000000..2a06b16c38bb171a190de071b06a4c02bd7582cf --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000373.json @@ -0,0 +1,48 @@ +{ + "episode_index": 373, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Use the right arm to shift the modern design stapler onto the Blue mat", + "num_frames": 155, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 154, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 142, + "arm": "right", + "kind": "open", + "start_frame": 135, + "end_frame": 149 + } + ], + "scene_info": { + "{A}": "048_stapler/base3", + "{B}": "Blue", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000374.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000374.json new file mode 100644 index 0000000000000000000000000000000000000000..bf62eb91059396301df121fda27dbc7f06a15f25 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000374.json @@ -0,0 +1,48 @@ +{ + "episode_index": 374, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Relocate the bright blue smooth stapler to the Red colored mat", + "num_frames": 141, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + } + ], + "scene_info": { + "{A}": "048_stapler/base6", + "{B}": "Red", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000375.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000375.json new file mode 100644 index 0000000000000000000000000000000000000000..71d193df1127bec8d453d71c48f61eea2c0650b6 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000375.json @@ -0,0 +1,48 @@ +{ + "episode_index": 375, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000376.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000376.json new file mode 100644 index 0000000000000000000000000000000000000000..25bd7e83b7f53f16010cdd8590c3d2de34e0d623 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000376.json @@ -0,0 +1,48 @@ +{ + "episode_index": 376, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Pick the plastic blue stapler with metal parts using the right arm and move it to Yellow mat.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 154, + "arm": "right", + "kind": "open", + "start_frame": 147, + "end_frame": 161 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Yellow", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000377.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000377.json new file mode 100644 index 0000000000000000000000000000000000000000..0389f8c1f4ab6e2fee8403a0926d9d64f209bbc1 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000377.json @@ -0,0 +1,48 @@ +{ + "episode_index": 377, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Move the modern design stapler with the right arm to the Cyan mat", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": 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"task_goal": "Shift the blue stapler with ergonomic curve to the Cyan mat", + "num_frames": 152, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 151, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 139, + "arm": "left", + "kind": "open", + "start_frame": 132, + "end_frame": 146 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Cyan", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000379.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000379.json new file mode 100644 index 0000000000000000000000000000000000000000..0a524c7b19f2426a1250536052350d904c59dc2d --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000379.json @@ -0,0 +1,48 @@ +{ + "episode_index": 379, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Transfer the handheld blue and silver stapler to the Yellow mat", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 155, + "arm": "left", + "kind": "open", + "start_frame": 148, + "end_frame": 162 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Yellow", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000380.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000380.json new file mode 100644 index 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"start_frame": 53, + "end_frame": 67 + }, + { + "frame": 145, + "arm": "right", + "kind": "open", + "start_frame": 138, + "end_frame": 152 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Cyan", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000381.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000381.json new file mode 100644 index 0000000000000000000000000000000000000000..962dc269470b785dfab49d62a6524a1350864c1a --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000381.json @@ -0,0 +1,48 @@ +{ + "episode_index": 381, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Transfer the compact blue stapler to the Magenta colored mat.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 153, + "arm": "left", + "kind": "open", + "start_frame": 146, + "end_frame": 160 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Magenta", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000382.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000382.json new file mode 100644 index 0000000000000000000000000000000000000000..63bd0dfac1a578c98f2465492b41d263c5ed67d7 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000382.json @@ -0,0 +1,48 @@ +{ + "episode_index": 382, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Set the simple stapler onto the Black colored mat.", + "num_frames": 146, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 145, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + } + ], + "scene_info": { + "{A}": "048_stapler/base6", + "{B}": "Black", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000383.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000383.json new file mode 100644 index 0000000000000000000000000000000000000000..2d09dc8a2eb9180c8d04c398d000c87766718c21 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000383.json @@ -0,0 +1,48 @@ +{ + "episode_index": 383, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "the right arm transfers the stapler with orange top lever to the Gray mat.", + "num_frames": 154, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 153, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 141, + "arm": "right", + "kind": "open", + "start_frame": 134, + "end_frame": 148 + } + ], + "scene_info": { + "{A}": "048_stapler/base3", + "{B}": "Gray", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000384.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000384.json new file mode 100644 index 0000000000000000000000000000000000000000..52d33c81cc829af6e4b5a79aa73e5f5c3f632ef2 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000384.json @@ -0,0 +1,48 @@ +{ + "episode_index": 384, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Stick the stapler with black top section onto the Cyan colored mat.", + "num_frames": 157, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 156, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 144, + "arm": "right", + "kind": "open", + "start_frame": 137, + "end_frame": 151 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Cyan", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000385.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000385.json new file mode 100644 index 0000000000000000000000000000000000000000..66bac5cc2912e35121d2ad852c43dc6c6378dc9f --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000385.json @@ -0,0 +1,48 @@ +{ + "episode_index": 385, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Carry the manual stapler with black base and drop it onto the Magenta mat", + "num_frames": 150, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 149, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 137, + "arm": "left", + "kind": "open", + "start_frame": 130, + "end_frame": 144 + } + ], + "scene_info": { + "{A}": "048_stapler/base4", + "{B}": "Magenta", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000386.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000386.json new file mode 100644 index 0000000000000000000000000000000000000000..8fb8c8226c25d92791ed26144b858a79e53e95c9 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000386.json @@ -0,0 +1,48 @@ +{ + "episode_index": 386, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Pick the small stapler with the right arm and place it on Blue mat", + "num_frames": 154, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 153, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 141, + "arm": "right", + "kind": "open", + "start_frame": 134, + "end_frame": 148 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Blue", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000387.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000387.json new file mode 100644 index 0000000000000000000000000000000000000000..6c432cfcf364f78686f610e333728517a55af2ed --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000387.json @@ -0,0 +1,48 @@ +{ + "episode_index": 387, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Use the right arm to shift the blue stapler for paper fastening onto the Green mat", + "num_frames": 155, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 154, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 142, + "arm": "right", + "kind": "open", + "start_frame": 135, + "end_frame": 149 + } + ], + "scene_info": { + "{A}": "048_stapler/base6", + "{B}": "Green", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000388.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000388.json new file mode 100644 index 0000000000000000000000000000000000000000..807334c6fe096503640e0b1a2871c76ba8fc1a2f --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000388.json @@ -0,0 +1,48 @@ +{ + "episode_index": 388, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Pick the curved black stapler using the left arm and move it to Gray mat.", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 148, + "arm": "left", + "kind": "open", + "start_frame": 141, + "end_frame": 155 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Gray", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000389.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000389.json new file mode 100644 index 0000000000000000000000000000000000000000..0173512751ad92fa22d88db912633d20f27308df --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000389.json @@ -0,0 +1,48 @@ +{ + "episode_index": 389, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Stick the plastic and metal stapler onto the Red colored mat.", + "num_frames": 151, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 150, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 138, + "arm": "right", + "kind": "open", + "start_frame": 131, + "end_frame": 145 + } + ], + "scene_info": { + "{A}": "048_stapler/base3", + "{B}": "Red", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000390.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000390.json new file mode 100644 index 0000000000000000000000000000000000000000..89264cf91b8cb30ce16ac744e7bf8fba920e1dbf --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000390.json @@ -0,0 +1,48 @@ +{ + "episode_index": 390, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000391.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000391.json new file mode 100644 index 0000000000000000000000000000000000000000..05d1e27055c7f28d7830276d91e10531dc6bfec2 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000391.json @@ -0,0 +1,48 @@ +{ + "episode_index": 391, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Carry the manual blue stapler to the Cyan colored mat", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 151, + "arm": "right", + "kind": "open", + "start_frame": 144, + "end_frame": 158 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Cyan", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000392.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000392.json new file mode 100644 index 0000000000000000000000000000000000000000..8186616fb9bfd5b451e48c8d6189b8fe1258879f --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000392.json @@ -0,0 +1,48 @@ +{ + "episode_index": 392, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Carry the blue stapler with shiny silver parts to the Magenta colored mat", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": 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"task_goal": "Pick the blue plastic stapler with silver metal with the right arm and place it on Gray mat", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 152, + "arm": "right", + "kind": "open", + "start_frame": 145, + "end_frame": 159 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Gray", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000394.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000394.json new file mode 100644 index 0000000000000000000000000000000000000000..24eabdd92c88fe152203dd6278fd128c14892cb9 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000394.json @@ -0,0 +1,48 @@ +{ + "episode_index": 394, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Set the manual stapler with black base on the Green mat with the left arm.", + "num_frames": 141, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 128, + "arm": "left", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + } + ], + "scene_info": { + "{A}": "048_stapler/base4", + "{B}": "Green", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000395.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000395.json new file mode 100644 index 0000000000000000000000000000000000000000..301d825882f308c3e8fb678a5f217781df935f79 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000395.json @@ -0,0 +1,48 @@ +{ + "episode_index": 395, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Grab the stapler with white metallic components using the left arm and shift it to Black", + "num_frames": 146, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 145, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": 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"move_stapler_pad", + "task_goal": "Pick the compact office stapler using the left arm and move it to Cyan mat.", + "num_frames": 150, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 149, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 137, + "arm": "left", + "kind": "open", + "start_frame": 130, + "end_frame": 144 + } + ], + "scene_info": { + "{A}": "048_stapler/base4", + "{B}": "Cyan", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000397.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000397.json new file mode 100644 index 0000000000000000000000000000000000000000..835b6b44762703cf1d1c98c2fb91779a619e4653 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000397.json @@ -0,0 +1,48 @@ +{ + "episode_index": 397, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Move the compact office stapler to the Blue mat.", + "num_frames": 154, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 153, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 141, + "arm": "left", + "kind": "open", + "start_frame": 134, + "end_frame": 148 + } + ], + "scene_info": { + "{A}": "048_stapler/base4", + "{B}": "Blue", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000398.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000398.json new file mode 100644 index 0000000000000000000000000000000000000000..34dd9610382fa10be4b36a9988d5e33ac462a06d --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000398.json @@ -0,0 +1,48 @@ +{ + "episode_index": 398, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Shift the small stapler manually to the Black mat", + "num_frames": 144, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Black", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000399.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000399.json new file mode 100644 index 0000000000000000000000000000000000000000..52c680bf2df8793e45234787bb4dbadca51a3453 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000399.json @@ -0,0 +1,48 @@ +{ + "episode_index": 399, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Place the stapler with smooth blue finish on the Magenta mat using the right arm", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "right", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 152, + "arm": "right", + "kind": "open", + "start_frame": 145, + "end_frame": 159 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Magenta", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000400.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000400.json new file mode 100644 index 0000000000000000000000000000000000000000..fce167f1f7630b3663a35dc1f660b2860bdb7134 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000400.json @@ -0,0 +1,48 @@ +{ + "episode_index": 400, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "With the right arm, position the handheld stapler on the Cyan mat", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": 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0000000000000000000000000000000000000000..47124eee95f71203f82fcf44158f0076830d42f3 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000401.json @@ -0,0 +1,48 @@ +{ + "episode_index": 401, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Lift the stapler with orange top lever to the Blue mat using the left arm", + "num_frames": 149, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 148, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": 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"task_goal": "Use the right arm to shift the handheld blue and silver stapler onto the Cyan mat", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Cyan", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000403.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000403.json new file mode 100644 index 0000000000000000000000000000000000000000..aa362be7c33c36313a0d364ba24482aafa1f4cf3 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000403.json @@ -0,0 +1,48 @@ +{ + "episode_index": 403, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Relocate the paper stapler with silver tray to the Magenta mat.", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": 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"start_frame": 50, + "end_frame": 64 + }, + { + "frame": 141, + "arm": "left", + "kind": "open", + "start_frame": 134, + "end_frame": 148 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Magenta", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000405.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000405.json new file mode 100644 index 0000000000000000000000000000000000000000..0fe393e9e3e00a0206ff00fb61c90b0f701bf8c4 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000405.json @@ -0,0 +1,48 @@ +{ + "episode_index": 405, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Put the handheld stapler on the Green mat", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 151, + "arm": "left", + "kind": "open", + "start_frame": 144, + "end_frame": 158 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Green", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000406.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000406.json new file mode 100644 index 0000000000000000000000000000000000000000..49366a511908ffe5d333f2363fd2bb33b6fb86b7 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000406.json @@ -0,0 +1,48 @@ +{ + "episode_index": 406, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Set the black stapler with rectangular base down on the Red mat", + "num_frames": 142, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Red", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000407.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000407.json new file mode 100644 index 0000000000000000000000000000000000000000..edc89e2bc80dc0c0807fa2c7131bf397ee6cad28 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000407.json @@ -0,0 +1,48 @@ +{ + "episode_index": 407, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Transfer the handheld stapler to the Black colored mat.", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 148, + "arm": "left", + "kind": "open", + "start_frame": 141, + "end_frame": 155 + } + ], + "scene_info": { + "{A}": "048_stapler/base3", + "{B}": "Black", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000408.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000408.json new file mode 100644 index 0000000000000000000000000000000000000000..20230ef6ec65adca1347ed5e8cbf8fb129dfbf93 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000408.json @@ -0,0 +1,48 @@ +{ + "episode_index": 408, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000409.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000409.json new file mode 100644 index 0000000000000000000000000000000000000000..2a9d1caa52a672924eba4b9df7d941c77fdffbe5 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000409.json @@ -0,0 +1,48 @@ +{ + "episode_index": 409, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Grab the stapler with black top section, place it on the Red mat", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 161, + "arm": "right", + "kind": "open", + "start_frame": 154, + "end_frame": 168 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Red", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000410.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000410.json new file mode 100644 index 0000000000000000000000000000000000000000..dd7b37f5c934482d16bbd7476376bdd580e0bb0e --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000410.json @@ -0,0 +1,48 @@ +{ + "episode_index": 410, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Move the compact red stapler with silver accents to the Cyan mat with the left arm", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Cyan", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000411.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000411.json new file mode 100644 index 0000000000000000000000000000000000000000..30ad7524958ec09d4dfcf50f0328b8b9c8331807 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000411.json @@ -0,0 +1,48 @@ +{ + "episode_index": 411, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Grab the stapler with curved blue top, place it on the Blue mat", + "num_frames": 159, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 158, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 146, + "arm": "right", + "kind": "open", + "start_frame": 139, + "end_frame": 153 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Blue", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000412.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000412.json new file mode 100644 index 0000000000000000000000000000000000000000..a3f3565ae8740d4067233f3c15e4357084751dd7 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000412.json @@ -0,0 +1,48 @@ +{ + "episode_index": 412, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "the left arm grabs the stapler with black top section and sets it on Black mat.", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 151, + "arm": "left", + "kind": "open", + "start_frame": 144, + "end_frame": 158 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Black", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000413.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000413.json new file mode 100644 index 0000000000000000000000000000000000000000..5efa94ad9b218d156c4bee4d8498903d3d60bf43 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000413.json @@ -0,0 +1,48 @@ +{ + "episode_index": 413, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Use the right arm to place the stapler with white metallic components onto the Green mat", + "num_frames": 153, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 152, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": 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"anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000415.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000415.json new file mode 100644 index 0000000000000000000000000000000000000000..3d956821664aae82ee49bf25da91f0bfe75fc1c3 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000415.json @@ -0,0 +1,48 @@ +{ + "episode_index": 415, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Set the stapler with orange top lever on the Black mat with the left arm.", + "num_frames": 146, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 145, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 133, + "arm": "left", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + } + ], + "scene_info": { + "{A}": "048_stapler/base3", + "{B}": "Black", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000416.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000416.json new file mode 100644 index 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000418.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000418.json new file mode 100644 index 0000000000000000000000000000000000000000..1eeedef3c05995983fef62506e3c63b01919776f --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000418.json @@ -0,0 +1,48 @@ +{ + "episode_index": 418, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Transfer the stapler with silver staple tray to the Magenta mat", + "num_frames": 160, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 159, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 147, + "arm": "left", + "kind": "open", + "start_frame": 140, + "end_frame": 154 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Magenta", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000419.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000419.json new file mode 100644 index 0000000000000000000000000000000000000000..0da5150c8fe3c365988669e9f08b1314512f4ff3 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000419.json @@ -0,0 +1,48 @@ +{ + "episode_index": 419, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Transfer the white body stapler with accents to the Cyan mat", + "num_frames": 154, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 153, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 141, + "arm": "right", + "kind": "open", + "start_frame": 134, + "end_frame": 148 + } + ], + "scene_info": { + "{A}": "048_stapler/base3", + "{B}": "Cyan", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000420.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000420.json new file mode 100644 index 0000000000000000000000000000000000000000..ca8a2dee6588b31fb844c74858dcc595c50af2c8 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000420.json @@ -0,0 +1,48 @@ +{ + "episode_index": 420, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Set the handheld blue and silver stapler on the Green mat with the right arm.", + "num_frames": 144, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Green", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000421.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000421.json new file mode 100644 index 0000000000000000000000000000000000000000..a3ed76d5a1bf612a2d423aec19668c2fb9285f05 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000421.json @@ -0,0 +1,48 @@ +{ + "episode_index": 421, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Grab the compact red stapler with silver accents, place it on the Magenta mat", + "num_frames": 143, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Magenta", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000422.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000422.json new file mode 100644 index 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000424.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000424.json new file mode 100644 index 0000000000000000000000000000000000000000..2cf2e4fcaa7f78c5be8370f9cd2ed58eb35aa13f --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000424.json @@ -0,0 +1,48 @@ +{ + "episode_index": 424, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Relocate the modern design stapler to the Magenta mat.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 155, + "arm": "left", + "kind": "open", + "start_frame": 148, + "end_frame": 162 + } + ], + "scene_info": { + "{A}": "048_stapler/base3", + "{B}": "Magenta", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000425.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000425.json new file mode 100644 index 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000427.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000427.json new file mode 100644 index 0000000000000000000000000000000000000000..ce0e3a9d157dda6e9ba6c5f46dd7665ea38f652f --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000427.json @@ -0,0 +1,48 @@ +{ + "episode_index": 427, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Transfer the manual blue stapler to the Yellow colored mat.", + "num_frames": 150, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 149, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + 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0000000000000000000000000000000000000000..6b35233905931564b7b2c965dedaf72b72d853e9 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000428.json @@ -0,0 +1,48 @@ +{ + "episode_index": 428, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Drop the blue stapler with ergonomic curve carefully on the Blue mat", + "num_frames": 141, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 128, + "arm": "left", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Blue", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000429.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000429.json new file mode 100644 index 0000000000000000000000000000000000000000..ff21a462e3883b880c538137bad54c4375667f36 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000429.json @@ -0,0 +1,48 @@ +{ + "episode_index": 429, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Carry the plastic blue stapler with metal parts to the Green colored mat", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 148, + "arm": "right", + "kind": "open", + "start_frame": 141, + "end_frame": 155 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Green", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000430.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000430.json new file mode 100644 index 0000000000000000000000000000000000000000..2823ac19e7fbfbe729c1e1a05e4a427fb33d67f6 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000430.json @@ -0,0 +1,48 @@ +{ + "episode_index": 430, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Stick the black stapler with shiny interior on the Green mat.", + "num_frames": 144, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 131, + "arm": "left", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Green", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000431.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000431.json new file mode 100644 index 0000000000000000000000000000000000000000..8096517b01109abba24765736b1ad7dd378baf4f --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000431.json @@ -0,0 +1,48 @@ +{ + "episode_index": 431, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Grab the stapler for stapling paper using the right arm and set it on Yellow mat.", + "num_frames": 149, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 148, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 136, + "arm": "right", + "kind": "open", + "start_frame": 129, + "end_frame": 143 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Yellow", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000432.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000432.json new file mode 100644 index 0000000000000000000000000000000000000000..74d02dee6453c7b49242b1213752d7d95c52ebc4 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000432.json @@ -0,0 +1,48 @@ +{ + "episode_index": 432, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Grab the small lightweight blue stapler and drop it on Red mat.", + "num_frames": 145, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 144, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Red", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000433.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000433.json new file mode 100644 index 0000000000000000000000000000000000000000..8da9402a1a571761bcb162c3f5e5fd2d7c047394 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000433.json @@ -0,0 +1,48 @@ +{ + "episode_index": 433, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Stick the compact stapler with smooth surface onto the Green colored mat.", + "num_frames": 155, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 154, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 142, + "arm": "right", + "kind": "open", + "start_frame": 135, + "end_frame": 149 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Green", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000434.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000434.json new file mode 100644 index 0000000000000000000000000000000000000000..1a57d08f71a5d767565253f51830371fd43be6c2 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000434.json @@ -0,0 +1,48 @@ +{ + "episode_index": 434, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Use the left arm to place the handy blue stapler with metal parts onto the Black mat", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 150, + "arm": "left", + "kind": "open", + "start_frame": 143, + "end_frame": 157 + } + ], + "scene_info": { + "{A}": "048_stapler/base6", + "{B}": "Black", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000435.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000435.json new file mode 100644 index 0000000000000000000000000000000000000000..e63bbd711146d2cb223bba94f83cc97f3383b793 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000435.json @@ -0,0 +1,48 @@ +{ + "episode_index": 435, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Move the stapler in bright red color to the Magenta mat.", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 150, + "arm": "left", + "kind": "open", + "start_frame": 143, + "end_frame": 157 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Magenta", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000436.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000436.json new file mode 100644 index 0000000000000000000000000000000000000000..0d60b74385baef880f1679726c17dd5cfc9262c1 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000436.json @@ -0,0 +1,48 @@ +{ + "episode_index": 436, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Slide the stapler with red top to the Magenta colored mat.", + "num_frames": 153, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 152, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 140, + "arm": "right", + "kind": "open", + "start_frame": 133, + "end_frame": 147 + } + ], + "scene_info": { + "{A}": "048_stapler/base4", + "{B}": "Magenta", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000437.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000437.json new file mode 100644 index 0000000000000000000000000000000000000000..9ff2421cbab1a0eb9f42ade28f398ebbe9e34d4b --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000437.json @@ -0,0 +1,48 @@ +{ + "episode_index": 437, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Set the handheld stapler onto the Gray colored mat.", + "num_frames": 152, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 151, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 139, + "arm": "left", + "kind": "open", + "start_frame": 132, + "end_frame": 146 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Gray", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000438.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000438.json new file mode 100644 index 0000000000000000000000000000000000000000..1dcaaa9daa7c0f681e8f869864e0d7760153b8ae --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000438.json @@ -0,0 +1,48 @@ +{ + "episode_index": 438, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000439.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000439.json new file mode 100644 index 0000000000000000000000000000000000000000..6e711bfc5b8851fc4bf7921a63ec757cd837f965 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000439.json @@ -0,0 +1,48 @@ +{ + "episode_index": 439, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Grab the small red stapler using the right arm and shift it to Cyan", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 148, + "arm": "right", + "kind": "open", + "start_frame": 141, + "end_frame": 155 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Cyan", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000440.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000440.json new file mode 100644 index 0000000000000000000000000000000000000000..3f8e5e4e9e4be76e15dc20644018ab3b64d2518f --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000440.json @@ -0,0 +1,48 @@ +{ + "episode_index": 440, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Pick the small office stapler using the right arm and move it to Red mat.", + "num_frames": 144, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + } + ], + "scene_info": { + "{A}": "048_stapler/base3", + "{B}": "Red", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000441.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000441.json new file mode 100644 index 0000000000000000000000000000000000000000..6ee05027a6f18f13a9e9ff94259c4f1b548c1b4d --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000441.json @@ -0,0 +1,48 @@ +{ + "episode_index": 441, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "With the left arm, move the black stapler with rectangular base to the Green mat", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 155, + "arm": "left", + "kind": "open", + "start_frame": 148, + "end_frame": 162 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Green", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000442.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000442.json new file mode 100644 index 0000000000000000000000000000000000000000..37e6ce521eb9c8833131a7fd46efc8706c69c28c --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000442.json @@ -0,0 +1,48 @@ +{ + "episode_index": 442, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Use the right arm and place the blue stapler on Cyan mat.", + "num_frames": 157, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 156, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 144, + "arm": "right", + "kind": "open", + "start_frame": 137, + "end_frame": 151 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Cyan", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000443.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000443.json new file mode 100644 index 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"start_frame": 50, + "end_frame": 64 + }, + { + "frame": 146, + "arm": "right", + "kind": "open", + "start_frame": 139, + "end_frame": 153 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Cyan", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000444.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000444.json new file mode 100644 index 0000000000000000000000000000000000000000..5d245c974afa78fc423140d0a44bccb6f9c0367e --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000444.json @@ -0,0 +1,48 @@ +{ + "episode_index": 444, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "With the left arm, move the blue stapler to the Cyan mat", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 150, + "arm": "left", + "kind": "open", + "start_frame": 143, + "end_frame": 157 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Cyan", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000445.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000445.json new file mode 100644 index 0000000000000000000000000000000000000000..83cf32e72b73b9b3d85f333a243d48d338d325b7 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000445.json @@ -0,0 +1,48 @@ +{ + "episode_index": 445, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Pick up the compact black stapler and place it on Yellow mat", + "num_frames": 145, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 144, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 132, + "arm": "left", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Yellow", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000446.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000446.json new file mode 100644 index 0000000000000000000000000000000000000000..9561dfd80b5d3f260fcd6d7a40bb56ff4e8a598c --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000446.json @@ -0,0 +1,48 @@ +{ + "episode_index": 446, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Place the blue stapler onto the Cyan colored mat.", + "num_frames": 144, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Cyan", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000447.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000447.json new file mode 100644 index 0000000000000000000000000000000000000000..5f5e8f0c86fe31c2f7e831aed0116d1e5d8fcd90 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000447.json @@ -0,0 +1,48 @@ +{ + "episode_index": 447, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "With the left arm, move the blue stapler to the Green mat", + "num_frames": 157, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 156, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 144, + "arm": "left", + "kind": "open", + "start_frame": 137, + "end_frame": 151 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Green", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000448.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000448.json new file mode 100644 index 0000000000000000000000000000000000000000..be94ae196930b46fd3b356b46de8b186627ad62e --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000448.json @@ -0,0 +1,48 @@ +{ + "episode_index": 448, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Lift the simple stapler to the Black mat using the right arm", + "num_frames": 162, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 161, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 149, + "arm": "right", + "kind": "open", + "start_frame": 142, + "end_frame": 156 + } + ], + "scene_info": { + "{A}": "048_stapler/base6", + "{B}": "Black", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000449.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000449.json new file mode 100644 index 0000000000000000000000000000000000000000..7a90f35820724d6dd8299c8f17b2f407408e2f30 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000449.json @@ -0,0 +1,48 @@ +{ + "episode_index": 449, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "With the right arm, position the stapler with metallic staple slot on the Gray mat", + "num_frames": 146, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 145, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + } + ], + "scene_info": { + "{A}": "048_stapler/base4", + "{B}": "Gray", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000450.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000450.json new file mode 100644 index 0000000000000000000000000000000000000000..34d51bf4d2e8b1bc8e0365f01f8bb2a2db50a6f8 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000450.json @@ -0,0 +1,48 @@ +{ + "episode_index": 450, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Stick the blue stapler with ergonomic curve onto the Red colored mat.", + "num_frames": 148, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 147, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 135, + "arm": "left", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Red", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000451.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000451.json new file mode 100644 index 0000000000000000000000000000000000000000..3ef540ecb42ab8892c8b27a980890d58f59793e1 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000451.json @@ -0,0 +1,48 @@ +{ + "episode_index": 451, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Position the compact office stapler on the Blue mat.", + "num_frames": 145, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 144, + "boundary_source": "episode_end", + "truncation_rule": 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"task_goal": "Move the stapler for stapling paper with the right arm to the Gray mat", + "num_frames": 162, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 161, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 149, + "arm": "right", + "kind": "open", + "start_frame": 142, + "end_frame": 156 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Gray", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000454.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000454.json new file mode 100644 index 0000000000000000000000000000000000000000..8ba7d46cbdceeae0deb858746e75c248cf3cc097 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000454.json @@ -0,0 +1,48 @@ +{ + "episode_index": 454, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Pick up the black stapler with shiny interior with the left arm and set it on Yellow", + "num_frames": 146, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 145, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 133, + "arm": "left", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Yellow", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000455.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000455.json new file mode 100644 index 0000000000000000000000000000000000000000..e32a73ced4bf990339658f0ea52d7e8f44e196ce --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000455.json @@ -0,0 +1,48 @@ +{ + "episode_index": 455, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Place the small red stapler onto the Black colored mat.", + "num_frames": 146, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 145, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Black", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000456.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000456.json new file mode 100644 index 0000000000000000000000000000000000000000..ad5b68737bce26ff753bff79d3fe1c716784c20c --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000456.json @@ -0,0 +1,48 @@ +{ + "episode_index": 456, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Use the left arm to grab the metallic stapler with red body and place it on Gray mat", + "num_frames": 144, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 131, + "arm": "left", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Gray", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000457.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000457.json new file mode 100644 index 0000000000000000000000000000000000000000..4421698433c91ab69e506b8ce0540a184d731a70 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000457.json @@ -0,0 +1,48 @@ +{ + "episode_index": 457, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "With the right arm, move the plastic and metal stapler to the Blue mat", + "num_frames": 143, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + } + ], + "scene_info": { + "{A}": "048_stapler/base3", + "{B}": "Blue", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000458.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000458.json new file mode 100644 index 0000000000000000000000000000000000000000..2aab9eb769eda27b2a287a3c14a4f650b1a7808e --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000458.json @@ -0,0 +1,48 @@ +{ + "episode_index": 458, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Set the small office stapler onto the Green colored mat.", + "num_frames": 135, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 134, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "right", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + } + ], + "scene_info": { + "{A}": "048_stapler/base3", + "{B}": "Green", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000459.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000459.json new file mode 100644 index 0000000000000000000000000000000000000000..c8e7cea64218193be7a18e0a93c0542a657a995d --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000459.json @@ -0,0 +1,48 @@ +{ + "episode_index": 459, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Move the blue plastic stapler with silver metal to the Gray mat with the left arm", + "num_frames": 157, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 156, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 144, + "arm": "left", + "kind": "open", + "start_frame": 137, + "end_frame": 151 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Gray", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000460.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000460.json new file mode 100644 index 0000000000000000000000000000000000000000..178e7d8844b9f0be9e8912bf99807e3c535877a1 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000460.json @@ -0,0 +1,48 @@ +{ + "episode_index": 460, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Grab the metal and plastic stapler with the right arm and drop it on Blue mat.", + "num_frames": 147, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 146, + "boundary_source": "episode_end", + "truncation_rule": 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"task_slug": "move_stapler_pad", + "task_goal": "Move the small red stapler to the Yellow mat.", + "num_frames": 143, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Yellow", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000463.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000463.json new file mode 100644 index 0000000000000000000000000000000000000000..6d2a410f96fd9ae5eb66657b2d3969cbfedc64d0 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000463.json @@ -0,0 +1,48 @@ +{ + "episode_index": 463, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Drop the blue stapler carefully on the Gray mat", + "num_frames": 184, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 183, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 171, + "arm": "right", + "kind": "open", + "start_frame": 164, + "end_frame": 178 + } + ], + "scene_info": { + "{A}": "048_stapler/base6", + "{B}": "Gray", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000464.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000464.json new file mode 100644 index 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+ "end_frame": 63 + }, + { + "frame": 140, + "arm": "left", + "kind": "open", + "start_frame": 133, + "end_frame": 147 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Red", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000465.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000465.json new file mode 100644 index 0000000000000000000000000000000000000000..bb3841eb2713941d518e8467eb06180c8bfbf746 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000465.json @@ -0,0 +1,48 @@ +{ + "episode_index": 465, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Put the handheld stapler on the Yellow mat", + "num_frames": 153, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 152, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 140, + "arm": "left", + "kind": "open", + "start_frame": 133, + "end_frame": 147 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Yellow", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000466.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000466.json new file mode 100644 index 0000000000000000000000000000000000000000..8aed8cca6dc353cff2dd257c8ed1cfa9ca395b44 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000466.json @@ -0,0 +1,48 @@ +{ + "episode_index": 466, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Pick up the handy blue stapler with metal parts and place it on Red mat", + "num_frames": 156, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 155, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 143, + "arm": "right", + "kind": "open", + "start_frame": 136, + "end_frame": 150 + } + ], + "scene_info": { + "{A}": "048_stapler/base6", + "{B}": "Red", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000467.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000467.json new file mode 100644 index 0000000000000000000000000000000000000000..26a4e4c77d35d9378ebff9301448a00f3968e471 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000467.json @@ -0,0 +1,48 @@ +{ + "episode_index": 467, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Relocate the handy blue stapler with metal parts to the Magenta mat.", + "num_frames": 148, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 147, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 135, + "arm": "right", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + } + ], + "scene_info": { + "{A}": "048_stapler/base6", + "{B}": "Magenta", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000468.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000468.json new file mode 100644 index 0000000000000000000000000000000000000000..30668770da5eaf95864755c56215cae6daaff2c2 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000468.json @@ -0,0 +1,48 @@ +{ + "episode_index": 468, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Pick up the handheld blue and silver stapler and place it on Gray mat", + "num_frames": 156, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 155, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 143, + "arm": "left", + "kind": "open", + "start_frame": 136, + "end_frame": 150 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Gray", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000469.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000469.json new file mode 100644 index 0000000000000000000000000000000000000000..fae3707d9fb4175ae51c5d9af93289955b7e5f50 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000469.json @@ -0,0 +1,48 @@ +{ + "episode_index": 469, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "With the right arm, move the curved blue and silver stapler to the Magenta mat", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 153, + "arm": "right", + "kind": "open", + "start_frame": 146, + "end_frame": 160 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Magenta", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000470.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000470.json new file mode 100644 index 0000000000000000000000000000000000000000..6a1c52d4b8a99ef7d971e06d56094afe1574ff77 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000470.json @@ -0,0 +1,48 @@ +{ + "episode_index": 470, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Set the manual stapler with black base on the Blue mat with the left arm.", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 148, + "arm": "left", + "kind": "open", + "start_frame": 141, + "end_frame": 155 + } + ], + "scene_info": { + "{A}": "048_stapler/base4", + "{B}": "Blue", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000471.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000471.json new file mode 100644 index 0000000000000000000000000000000000000000..53043b659528df4af3c35c998ce22046888e239c --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000471.json @@ -0,0 +1,48 @@ +{ + "episode_index": 471, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Pick the black stapler with shiny interior with the right arm and place it on Green mat", + "num_frames": 156, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 155, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 143, + "arm": "right", + "kind": "open", + "start_frame": 136, + "end_frame": 150 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Green", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000472.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000472.json new file mode 100644 index 0000000000000000000000000000000000000000..adce10c3189c587ef5ca4af596f756c103ff8afd --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000472.json @@ -0,0 +1,48 @@ +{ + "episode_index": 472, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Drop the stapler with silver staple tray onto the Cyan mat.", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 145, + "arm": "left", + "kind": "open", + "start_frame": 138, + "end_frame": 152 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Cyan", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000473.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000473.json new file mode 100644 index 0000000000000000000000000000000000000000..5436fdb309aca6f732b7eecf499b8f506c6de82c --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000473.json @@ -0,0 +1,48 @@ +{ + "episode_index": 473, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Pick the stapler with orange button with the left arm and place it on Red mat", + "num_frames": 154, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 153, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 141, + "arm": "left", + "kind": "open", + "start_frame": 134, + "end_frame": 148 + } + ], + "scene_info": { + "{A}": "048_stapler/base3", + "{B}": "Red", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000474.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000474.json new file mode 100644 index 0000000000000000000000000000000000000000..670bc55de72044c836f0af3b99ca4fd4187e95a6 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000474.json @@ -0,0 +1,48 @@ +{ + "episode_index": 474, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Position the manual blue stapler on the Red mat.", + "num_frames": 162, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 161, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 149, + "arm": "right", + "kind": "open", + "start_frame": 142, + "end_frame": 156 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Red", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000475.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000475.json new file mode 100644 index 0000000000000000000000000000000000000000..bad3db8e03aae8d94abc618aff355aa0952a69cf --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000475.json @@ -0,0 +1,48 @@ +{ + "episode_index": 475, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "the right arm grabs the black smooth-textured stapler and sets it on Gray mat.", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 161, + "arm": "right", + "kind": "open", + "start_frame": 154, + "end_frame": 168 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Gray", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000476.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000476.json new file mode 100644 index 0000000000000000000000000000000000000000..73cc11a332631e8996f31d9045ff744143d9e071 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000476.json @@ -0,0 +1,48 @@ +{ + "episode_index": 476, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Slide the office stapler with plastic and metal parts to the Red colored mat.", + "num_frames": 162, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 161, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 149, + "arm": "left", + "kind": "open", + "start_frame": 142, + "end_frame": 156 + } + ], + "scene_info": { + "{A}": "048_stapler/base4", + "{B}": "Red", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000477.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000477.json new file mode 100644 index 0000000000000000000000000000000000000000..64256c5a724ca869877e80df1434a440f3947bd0 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000477.json @@ -0,0 +1,48 @@ +{ + "episode_index": 477, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Use the left arm and place the desk stapler with red body on Black mat.", + "num_frames": 153, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 152, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 140, + "arm": "left", + "kind": "open", + "start_frame": 133, + "end_frame": 147 + } + ], + "scene_info": { + "{A}": "048_stapler/base4", + "{B}": "Black", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000478.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000478.json new file mode 100644 index 0000000000000000000000000000000000000000..e18085b20648357f76a7a166256e7c420862c02c --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000478.json @@ -0,0 +1,48 @@ +{ + "episode_index": 478, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Use the right arm and place the handheld red stapler on Green mat.", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 145, + "arm": "right", + "kind": "open", + "start_frame": 138, + "end_frame": 152 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Green", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000479.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000479.json new file mode 100644 index 0000000000000000000000000000000000000000..148530790ecfb074b2b0039ada9a5de3b05a36d7 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000479.json @@ -0,0 +1,48 @@ +{ + "episode_index": 479, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Grab the red stapler for binding papers and drop it on Gray mat.", + "num_frames": 155, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 154, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 142, + "arm": "right", + "kind": "open", + "start_frame": 135, + "end_frame": 149 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Gray", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000480.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000480.json new file mode 100644 index 0000000000000000000000000000000000000000..a1c04e7e619e6903ec02aa91a14d3aa47ba396d2 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000480.json @@ -0,0 +1,48 @@ +{ + "episode_index": 480, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Pick the compact bright blue stapler with the left arm and place it on Cyan mat", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 145, + "arm": "left", + "kind": "open", + "start_frame": 138, + "end_frame": 152 + } + ], + "scene_info": { + "{A}": "048_stapler/base6", + "{B}": "Cyan", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000481.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000481.json new file mode 100644 index 0000000000000000000000000000000000000000..c11881f855d8e9562b04752515701fe19038733d --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000481.json @@ -0,0 +1,48 @@ +{ + "episode_index": 481, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Using the right arm, set the desk stapler with red body on the Red colored mat", + "num_frames": 150, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 149, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 137, + "arm": "right", + "kind": "open", + "start_frame": 130, + "end_frame": 144 + } + ], + "scene_info": { + "{A}": "048_stapler/base4", + "{B}": "Red", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000482.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000482.json new file mode 100644 index 0000000000000000000000000000000000000000..779916f6bf28d12ad36ca4e393bbbe70e259af8d --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000482.json @@ -0,0 +1,48 @@ +{ + "episode_index": 482, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Stick the small red stapler on the Magenta mat.", + "num_frames": 156, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 155, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 143, + "arm": "left", + "kind": "open", + "start_frame": 136, + "end_frame": 150 + } + ], + "scene_info": { + "{A}": "048_stapler/base5", + "{B}": "Magenta", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000483.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000483.json new file mode 100644 index 0000000000000000000000000000000000000000..067faaa409ab94da946dc2f8151e93306b31add1 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000483.json @@ -0,0 +1,48 @@ +{ + "episode_index": 483, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Pick up the handheld black stapler with the right arm and set it on Blue", + "num_frames": 155, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 154, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 142, + "arm": "right", + "kind": "open", + "start_frame": 135, + "end_frame": 149 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Blue", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000484.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000484.json new file mode 100644 index 0000000000000000000000000000000000000000..177a90abc0279384ff868e2664d601c303da8110 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000484.json @@ -0,0 +1,48 @@ +{ + "episode_index": 484, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Move the blue stapler with ergonomic curve with the right arm to the Magenta mat", + "num_frames": 144, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Magenta", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000485.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000485.json new file mode 100644 index 0000000000000000000000000000000000000000..a2294f30b9a2b99225b7b5a7400980728426259a --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000485.json @@ -0,0 +1,48 @@ +{ + "episode_index": 485, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Set the stapler with blue plastic handle on the Red mat with the left arm.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 152, + "arm": "left", + "kind": "open", + "start_frame": 145, + "end_frame": 159 + } + ], + "scene_info": { + "{A}": "048_stapler/base6", + "{B}": "Red", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000486.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000486.json new file mode 100644 index 0000000000000000000000000000000000000000..447691c369877eccd33d2f7d7e5da392b6eefe02 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000486.json @@ -0,0 +1,48 @@ +{ + "episode_index": 486, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Place the stapler with silver inner plates onto the Magenta colored mat", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 148, + "arm": "left", + "kind": "open", + "start_frame": 141, + "end_frame": 155 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Magenta", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000487.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000487.json new file mode 100644 index 0000000000000000000000000000000000000000..adb3ab7432882a48a7b0136f86c3cfbfcd0351ef --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000487.json @@ -0,0 +1,48 @@ +{ + "episode_index": 487, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "the left arm places the white stapler with rounded design on the Green mat.", + "num_frames": 148, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 147, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 135, + "arm": "left", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + } + ], + "scene_info": { + "{A}": "048_stapler/base3", + "{B}": "Green", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000488.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000488.json new file mode 100644 index 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+ "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 150, + "arm": "right", + "kind": "open", + "start_frame": 143, + "end_frame": 157 + } + ], + "scene_info": { + "{A}": "048_stapler/base4", + "{B}": "Black", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000489.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000489.json new file mode 100644 index 0000000000000000000000000000000000000000..47e502a91b0aaee1115b9a7d335224598b70a4da --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000489.json @@ -0,0 +1,48 @@ +{ + "episode_index": 489, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Relocate the stapler with smooth blue finish to the Yellow colored mat", + "num_frames": 142, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + } + ], + "scene_info": { + "{A}": "048_stapler/base0", + "{B}": "Yellow", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000490.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000490.json new file mode 100644 index 0000000000000000000000000000000000000000..b830cefbf38e2bf95d55e0f2f45cade172a8c94b --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000490.json @@ -0,0 +1,48 @@ +{ + "episode_index": 490, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Shift the modern design stapler manually to the Black mat", + "num_frames": 146, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 145, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 133, + "arm": "left", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + } + ], + "scene_info": { + "{A}": "048_stapler/base3", + "{B}": "Black", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000491.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000491.json new file mode 100644 index 0000000000000000000000000000000000000000..5ad6f63d413b91022720fd3b2a5fd56f9fbcd1b4 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000491.json @@ -0,0 +1,48 @@ +{ + "episode_index": 491, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Lift the metal and plastic stapler and drop it onto Cyan mat", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 150, + "arm": "right", + "kind": "open", + "start_frame": 143, + "end_frame": 157 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Cyan", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000492.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000492.json new file mode 100644 index 0000000000000000000000000000000000000000..fd3d6a1c5785077ae0991261756569d77ecd8ad5 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000492.json @@ -0,0 +1,48 @@ +{ + "episode_index": 492, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Stick the red plastic stapler with smooth top on the Blue mat.", + "num_frames": 147, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 146, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + } + ], + "scene_info": { + "{A}": "048_stapler/base4", + "{B}": "Blue", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000493.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000493.json new file mode 100644 index 0000000000000000000000000000000000000000..c5a32ad76757f4bcdaf5c54cd46f0c9be8725436 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000493.json @@ -0,0 +1,48 @@ +{ + "episode_index": 493, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "With the right arm, move the stapler with black top section to the Blue mat", + "num_frames": 157, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 156, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 144, + "arm": "right", + "kind": "open", + "start_frame": 137, + "end_frame": 151 + } + ], + "scene_info": { + "{A}": "048_stapler/base2", + "{B}": "Blue", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000494.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000494.json new file mode 100644 index 0000000000000000000000000000000000000000..563b87980c60ac08d19d2af6e62e41af5af852dd --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000494.json @@ -0,0 +1,48 @@ +{ + "episode_index": 494, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "the left arm places the plastic stapler with silver mechanism on the Green mat.", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 150, + "arm": "left", + "kind": "open", + "start_frame": 143, + "end_frame": 157 + } + ], + "scene_info": { + "{A}": "048_stapler/base6", + "{B}": "Green", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000495.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000495.json new file mode 100644 index 0000000000000000000000000000000000000000..3f5310f53eea818f4e50c5b621cc122fc9512aa1 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000495.json @@ -0,0 +1,48 @@ +{ + "episode_index": 495, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Stick the stapler with silver staple tray on the Green mat.", + "num_frames": 151, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 150, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 138, + "arm": "right", + "kind": "open", + "start_frame": 131, + "end_frame": 145 + } + ], + "scene_info": { + "{A}": "048_stapler/base1", + "{B}": "Green", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000496.json b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000496.json new file mode 100644 index 0000000000000000000000000000000000000000..822f4fd54f9bee9e84d47686c3818cd44670db51 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000496.json @@ -0,0 +1,48 @@ +{ + "episode_index": 496, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "Relocate the stapler for stapling paper to the Blue mat.", + "num_frames": 157, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 156, + "boundary_source": "episode_end", + "truncation_rule": 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0000000000000000000000000000000000000000..e77ebfb2a8d9e62f04b3cbb87236282a63c95dff --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000497.json @@ -0,0 +1,48 @@ +{ + "episode_index": 497, + "repo": "move_stapler_pad-aloha-agilex_randomized_500", + "task_slug": "move_stapler_pad", + "task_goal": "the left arm grabs the stapler for stapling paper and sets it on Black mat.", + "num_frames": 147, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the stapler on the target mat.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 146, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + 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"018304ef3d2e20834ca3e4f57a55d5b4478dc209.pt", + "normalized_text": "With the left arm, move the curved red stapler to the Magenta mat", + "raw_texts": [ + "With the left arm, move the curved red stapler to the Magenta mat" + ], + "num_links": 1 + }, + { + "key": "018e222e0882d44bd6670b752a1654080b2d2fa3", + "file": "018e222e0882d44bd6670b752a1654080b2d2fa3.pt", + "normalized_text": "Using the right arm, set the blue stapler with silver staple tray on the Green colored mat", + "raw_texts": [ + "Using the right arm, set the blue stapler with silver staple tray on the Green colored mat" + ], + "num_links": 1 + }, + { + "key": "0235bce04afd0e7fd9fd0c5172ad1f085cfa602e", + "file": "0235bce04afd0e7fd9fd0c5172ad1f085cfa602e.pt", + "normalized_text": "Shift the red stapler manually to the Cyan mat", + "raw_texts": [ + "Shift the red stapler manually to the Cyan mat" + ], + "num_links": 1 + }, + { + "key": "02c441ebf8df739508067280b22a9dad2be4122c", + "file": "02c441ebf8df739508067280b22a9dad2be4122c.pt", + "normalized_text": "Put the curved black stapler on the Blue mat", + "raw_texts": [ + "Put the curved black stapler on the Blue mat" + ], + "num_links": 1 + }, + { + "key": "03c6887dd261008f548b9d9e74939accb12ac4cf", + "file": "03c6887dd261008f548b9d9e74939accb12ac4cf.pt", + "normalized_text": "Relocate the curved blue and silver stapler to the Black mat.", + "raw_texts": [ + "Relocate the curved blue and silver stapler to the Black mat." + ], + "num_links": 1 + }, + { + "key": "0406508ef3637fcd4c6bf2e1d7b319c63e3c14cf", + "file": "0406508ef3637fcd4c6bf2e1d7b319c63e3c14cf.pt", + "normalized_text": "the left arm places the office stapler with plastic and metal parts on the Magenta mat.", + "raw_texts": [ + "the left arm places the office stapler with plastic and metal parts on the Magenta mat." + ], + "num_links": 1 + }, + { + "key": "041c46433bbbc0a115ceb5fbf6c12877dba0d091", + "file": "041c46433bbbc0a115ceb5fbf6c12877dba0d091.pt", + "normalized_text": "Grab the stapler for fastening papers using the right arm and shift it to Cyan", + "raw_texts": [ + "Grab the stapler for fastening papers using the right arm and shift it to Cyan" + ], + "num_links": 1 + }, + { + "key": "0477c352db1332a8bba163dc23899aae968e4daa", + "file": "0477c352db1332a8bba163dc23899aae968e4daa.pt", + "normalized_text": "Put the handheld stapler on the Green mat", + "raw_texts": [ + "Put the handheld stapler on the Green mat" + ], + "num_links": 1 + }, + { + "key": "04abf6b3fa6fde903f88c794f0a9dd5196c208e4", + "file": "04abf6b3fa6fde903f88c794f0a9dd5196c208e4.pt", + "normalized_text": "Place the black stapler for joining pages onto the Yellow colored mat.", + "raw_texts": [ + "Place the black stapler for joining pages onto the Yellow colored mat." + ], + "num_links": 1 + }, + { + "key": "04b4b52080f778640a9d8ec73a52ff046ca92c6b", + "file": "04b4b52080f778640a9d8ec73a52ff046ca92c6b.pt", + "normalized_text": "Pick the stapler in bright red color up and position it on Gray mat", + "raw_texts": [ + "Pick the stapler in bright red color up and position it on Gray mat" + ], + "num_links": 1 + }, + { + "key": "04f7d4150376d871403bcad24b0cb9d2f95d306e", + "file": "04f7d4150376d871403bcad24b0cb9d2f95d306e.pt", + "normalized_text": "Pick the plastic blue stapler with metal parts using the right arm and move it to Yellow mat.", + "raw_texts": [ + "Pick the plastic blue stapler with metal parts using the right arm and move it to Yellow mat." + ], + "num_links": 1 + }, + { + "key": "055e864c0365769fe351aaacd6d131954a59d2ac", + "file": "055e864c0365769fe351aaacd6d131954a59d2ac.pt", + "normalized_text": "Grab the stapler with curved blue top, place it on the Blue mat", + "raw_texts": [ + "Grab the stapler with curved blue top, place it on the Blue mat" + ], + "num_links": 1 + }, + { + "key": "05cfb5b50b9b8d361320cf1866c65033ef6eaf2d", + "file": "05cfb5b50b9b8d361320cf1866c65033ef6eaf2d.pt", + "normalized_text": "Move the compact office stapler to the Blue mat.", + "raw_texts": [ + "Move the compact office stapler to the Blue mat." + ], + "num_links": 1 + }, + { + "key": "061ac4cdab721854e164a183f02e3970457f4044", + "file": "061ac4cdab721854e164a183f02e3970457f4044.pt", + "normalized_text": "Place the curved blue and silver stapler onto the Red colored mat", + "raw_texts": [ + "Place the curved blue and silver stapler onto the Red colored mat" + ], + "num_links": 1 + }, + { + "key": "0695a0aa2cff006f37f305538979bc4f7ac03678", + "file": "0695a0aa2cff006f37f305538979bc4f7ac03678.pt", + "normalized_text": "Drop the small stapler carefully on the Cyan mat", + "raw_texts": [ + "Drop the small stapler carefully on the Cyan mat" + ], + "num_links": 1 + }, + { + "key": "06fc439ca45c776cf1b3c05388243a75760f119b", + "file": "06fc439ca45c776cf1b3c05388243a75760f119b.pt", + "normalized_text": "Pick the paper stapler with silver tray with the right arm and place it on Black mat", + "raw_texts": [ + "Pick the paper stapler with silver tray with the right arm and place it on Black mat" + ], + "num_links": 1 + }, + { + "key": "07356b75e36b594c6834b5e3040607e053b47cb6", + "file": "07356b75e36b594c6834b5e3040607e053b47cb6.pt", + "normalized_text": "Grab the red stapler for binding papers and drop it on Gray mat.", + "raw_texts": [ + "Grab the red stapler for binding papers and drop it on Gray mat." + ], + "num_links": 1 + }, + { + "key": "077cfbe73649ebc9651b55a54f6532ca0a92e091", + "file": "077cfbe73649ebc9651b55a54f6532ca0a92e091.pt", + "normalized_text": "Stick the stapler with silver staple tray on the Green mat.", + "raw_texts": [ + "Stick the stapler with silver staple tray on the Green mat." + ], + "num_links": 1 + }, + { + "key": "07852e05fcb4187e3a74a14f4e2251c121c2f5e0", + "file": "07852e05fcb4187e3a74a14f4e2251c121c2f5e0.pt", + "normalized_text": "the left arm places the plastic stapler with silver mechanism on the Green mat.", + "raw_texts": [ + "the left arm places the plastic stapler with silver mechanism on the Green mat." + ], + "num_links": 1 + }, + { + "key": "0872dde907a44e142c6afe5bb70a2ab82fe9a5f8", + "file": "0872dde907a44e142c6afe5bb70a2ab82fe9a5f8.pt", + "normalized_text": "Pick the small black stapler with metal core with the left arm and place it on Black mat", + "raw_texts": [ + "Pick the small black stapler with metal core with the left arm and place it on Black mat" + ], + "num_links": 1 + }, + { + "key": "091ecf8b1b3c2f8341c54f9fae38e491aaf35fc1", + "file": "091ecf8b1b3c2f8341c54f9fae38e491aaf35fc1.pt", + "normalized_text": "Pick the small office stapler using the right arm and move it to Red mat.", + "raw_texts": [ + "Pick the small office stapler using the right arm and move it to Red mat." + ], + "num_links": 1 + }, + { + "key": "095d7eb275afc8b61bcd728ff35b362c418f2ec4", + "file": "095d7eb275afc8b61bcd728ff35b362c418f2ec4.pt", + "normalized_text": "Transfer the stapler with silver staple tray to the Magenta mat", + "raw_texts": [ + "Transfer the stapler with silver staple tray to the Magenta mat" + ], + "num_links": 1 + }, + { + "key": "09c2f1ea19b12772097142129df4c98df31bec52", + "file": "09c2f1ea19b12772097142129df4c98df31bec52.pt", + "normalized_text": "Use the right arm and place the handheld red stapler on Green mat.", + "raw_texts": [ + "Use the right arm and place the handheld red stapler on Green mat." + ], + "num_links": 1 + }, + { + "key": "09f3803270eac5ee3b523cadcb29bf4187731e4a", + "file": "09f3803270eac5ee3b523cadcb29bf4187731e4a.pt", + "normalized_text": "Put the plastic stapler with metallic interior on the Yellow mat", + "raw_texts": [ + "Put the plastic stapler with metallic interior on the Yellow mat" + ], + "num_links": 1 + }, + { + "key": "0a7186e5e2532802b72118b40ec72302b949fa64", + "file": "0a7186e5e2532802b72118b40ec72302b949fa64.pt", + "normalized_text": "Use the left arm to place the handy blue stapler with metal parts onto the Black mat", + "raw_texts": [ + "Use the left arm to place the handy blue stapler with metal parts onto the Black mat" + ], + "num_links": 1 + }, + { + "key": "0af7880a7782891f0015311ac002a71cb76ad0d9", + "file": "0af7880a7782891f0015311ac002a71cb76ad0d9.pt", + "normalized_text": "Stick the compact red stapler with silver accents onto the Blue colored mat.", + "raw_texts": [ + "Stick the compact red stapler with silver accents onto the Blue colored mat." + ], + "num_links": 1 + }, + { + "key": "0b7e19e402397c76025b46b4ff2b2d6512e971d0", + "file": "0b7e19e402397c76025b46b4ff2b2d6512e971d0.pt", + "normalized_text": "Transfer the compact blue stapler to the Magenta colored mat.", + "raw_texts": [ + "Transfer the compact blue stapler to the Magenta colored mat." + ], + "num_links": 1 + }, + { + "key": "0be254c20966a2ccce81c5fb26c4225ec9d2f5ca", + "file": "0be254c20966a2ccce81c5fb26c4225ec9d2f5ca.pt", + "normalized_text": "the right arm transfers the stapler with orange top lever to the Gray mat.", + "raw_texts": [ + "the right arm transfers the stapler with orange top lever to the Gray mat." + ], + "num_links": 1 + }, + { + "key": "0ce703ffe6b6754cc8389e3acdcd6febdf2affdc", + "file": "0ce703ffe6b6754cc8389e3acdcd6febdf2affdc.pt", + "normalized_text": "Place the red stapler onto the Green colored mat", + "raw_texts": [ + "Place the red stapler onto the Green colored mat" + ], + "num_links": 1 + }, + { + "key": "0d0e7755f0b1a5786fa6968298b13c9d21954b53", + "file": "0d0e7755f0b1a5786fa6968298b13c9d21954b53.pt", + "normalized_text": "Carry the simple stapler to the Gray colored mat", + "raw_texts": [ + "Carry the simple stapler to the Gray colored mat" + ], + "num_links": 1 + }, + { + "key": "0de386cecdf2f94e0b7be525cc39f13e1549fd7c", + "file": "0de386cecdf2f94e0b7be525cc39f13e1549fd7c.pt", + "normalized_text": "Transfer the blue stapler with black handle area to the Yellow mat", + "raw_texts": [ + "Transfer the blue stapler with black handle area to the Yellow mat" + ], + "num_links": 1 + }, + { + "key": "0e3d297c21f91143aee9542e90d3645f455e28a3", + "file": "0e3d297c21f91143aee9542e90d3645f455e28a3.pt", + "normalized_text": "Grab the stapler with rounded edges, place it on the Magenta mat", + "raw_texts": [ + "Grab the stapler with rounded edges, place it on the Magenta mat" + ], + "num_links": 1 + }, + { + "key": "0e82d3d94ae284e8640e4efce7acdf3cb647ce0c", + "file": "0e82d3d94ae284e8640e4efce7acdf3cb647ce0c.pt", + "normalized_text": "Grab the black stapler with shiny interior and stick it onto Red mat", + "raw_texts": [ + "Grab the black stapler with shiny interior and stick it onto Red mat" + ], + "num_links": 1 + }, + { + "key": "0e9c94f831d7441df9598940f6815547004411be", + "file": "0e9c94f831d7441df9598940f6815547004411be.pt", + "normalized_text": "Shift the white body stapler with accents manually to the Cyan mat", + "raw_texts": [ + "Shift the white body stapler with accents manually to the Cyan mat" + ], + "num_links": 1 + }, + { + "key": "0ea4da518dca584659b67bf114ffe6174b5bd17f", + "file": "0ea4da518dca584659b67bf114ffe6174b5bd17f.pt", + "normalized_text": "Place the stapler for stapling paper onto the Green colored mat.", + "raw_texts": [ + "Place the stapler for stapling paper onto the Green colored mat." + ], + "num_links": 1 + }, + { + "key": "0f0ff32a8968148b19f8ccf9c468c708061027b3", + "file": "0f0ff32a8968148b19f8ccf9c468c708061027b3.pt", + "normalized_text": "Set the paper stapler with silver tray down on the Black mat", + "raw_texts": [ + "Set the paper stapler with silver tray down on the Black mat" + ], + "num_links": 1 + }, + { + "key": "1059436a9dbf479f65b0bc08078045e0b13d1e6e", + "file": "1059436a9dbf479f65b0bc08078045e0b13d1e6e.pt", + "normalized_text": "Position the metallic stapler with red body on the Red mat.", + "raw_texts": [ + "Position the metallic stapler with red body on the Red mat." + ], + "num_links": 1 + }, + { + "key": "106b63f64330dc74d2c548cc3b676d46b3378460", + "file": "106b63f64330dc74d2c548cc3b676d46b3378460.pt", + "normalized_text": "Pick the stapler with curved blue top using the left arm and move it to Magenta mat.", + "raw_texts": [ + "Pick the stapler with curved blue top using the left arm and move it to Magenta mat." + ], + "num_links": 1 + }, + { + "key": "1104bdb9c72d17295e15a5648ea58a39a7fc5363", + "file": "1104bdb9c72d17295e15a5648ea58a39a7fc5363.pt", + "normalized_text": "Drop the lightweight red stapler onto the Gray mat.", + "raw_texts": [ + "Drop the lightweight red stapler onto the Gray mat." + ], + "num_links": 1 + }, + { + "key": "111d766b907367170f1b53fdba1d510ff9053308", + "file": "111d766b907367170f1b53fdba1d510ff9053308.pt", + "normalized_text": "Use the right arm to grab the handheld stapler and place it on Red mat", + "raw_texts": [ + "Use the right arm to grab the handheld stapler and place it on Red mat" + ], + "num_links": 1 + }, + { + "key": "11252620c3bf8972ac5c8a316bcd459fe40f27d5", + "file": "11252620c3bf8972ac5c8a316bcd459fe40f27d5.pt", + "normalized_text": "Drop the small office stapler onto the Magenta mat.", + "raw_texts": [ + "Drop the small office stapler onto the Magenta mat." + ], + "num_links": 1 + }, + { + "key": "117b1a1c489940c78694df51b50288efbc9ed055", + "file": "117b1a1c489940c78694df51b50288efbc9ed055.pt", + "normalized_text": "Pick the compact blue stapler using the left arm and move it to Yellow mat.", + "raw_texts": [ + "Pick the compact blue stapler using the left arm and move it to Yellow mat." + ], + "num_links": 1 + }, + { + "key": "118f23653716104bfa0790d4d6c515e6c27ac150", + "file": "118f23653716104bfa0790d4d6c515e6c27ac150.pt", + "normalized_text": "Slide the handheld red stapler to the Magenta colored mat.", + "raw_texts": [ + "Slide the handheld red stapler to the Magenta colored mat." + ], + "num_links": 1 + }, + { + "key": "12502a2c9808fa152de4fcd2c7ae9b6d98921163", + "file": "12502a2c9808fa152de4fcd2c7ae9b6d98921163.pt", + "normalized_text": "the right arm grabs the black smooth-textured stapler and sets it on Gray mat.", + "raw_texts": [ + "the right arm grabs the black smooth-textured stapler and sets it on Gray mat." + ], + "num_links": 1 + }, + { + "key": "12511294504aa92f66039025b4b5302befab780a", + "file": "12511294504aa92f66039025b4b5302befab780a.pt", + "normalized_text": "Use the right arm to place the manual blue stapler onto the Magenta mat", + "raw_texts": [ + "Use the right arm to place the manual blue stapler onto the Magenta mat" + ], + "num_links": 1 + }, + { + "key": "1270a5c44f2319d8922d01c15ed4d65188ec31f8", + "file": "1270a5c44f2319d8922d01c15ed4d65188ec31f8.pt", + "normalized_text": "Use the left arm to place the paper stapler with silver tray onto the Black mat", + "raw_texts": [ + "Use the left arm to place the paper stapler with silver tray onto the Black mat" + ], + "num_links": 1 + }, + { + "key": "131a3d75062b5a606fb90b3113f7107cef9c1a3b", + "file": "131a3d75062b5a606fb90b3113f7107cef9c1a3b.pt", + "normalized_text": "the left arm transfers the blue stapler to the Red mat.", + "raw_texts": [ + "the left arm transfers the blue stapler to the Red mat." + ], + "num_links": 1 + }, + { + "key": "131b954103c390a3dbe64bd66f1e9d0948c1aa47", + "file": "131b954103c390a3dbe64bd66f1e9d0948c1aa47.pt", + "normalized_text": "Set the blue stapler with silver staple tray down on the Magenta mat", + "raw_texts": [ + "Set the blue stapler with silver staple tray down on the Magenta mat" + ], + "num_links": 1 + }, + { + "key": "138531afce7cba2e8240a6ad8ba3512231353084", + "file": "138531afce7cba2e8240a6ad8ba3512231353084.pt", + "normalized_text": "Pick the compact office stapler using the left arm and move it to Cyan mat.", + "raw_texts": [ + "Pick the compact office stapler using the left arm and move it to Cyan mat." + ], + "num_links": 1 + }, + { + "key": "13fdb7d306ffc2ac2354a44244408e6b145ebcf5", + "file": "13fdb7d306ffc2ac2354a44244408e6b145ebcf5.pt", + "normalized_text": "Lift the blue stapler with silver staple tray and drop it onto Yellow mat", + "raw_texts": [ + "Lift the blue stapler with silver staple tray and drop it onto Yellow mat" + ], + "num_links": 1 + }, + { + "key": "147fcb79d764a3ebd5f44178609370b3d16c13be", + "file": "147fcb79d764a3ebd5f44178609370b3d16c13be.pt", + "normalized_text": "Relocate the stapler with silver staple tray to the Blue mat.", + "raw_texts": [ + "Relocate the stapler with silver staple tray to the Blue mat." + ], + "num_links": 1 + }, + { + "key": "15ec4ef514d54aaa62408553cd08d99027fa7ee2", + "file": "15ec4ef514d54aaa62408553cd08d99027fa7ee2.pt", + "normalized_text": "Lift the curved black stapler and drop it onto Black mat", + "raw_texts": [ + "Lift the curved black stapler and drop it onto Black mat" + ], + "num_links": 1 + }, + { + "key": "1694502999efe1d808626521ed99f7407eae25e7", + "file": "1694502999efe1d808626521ed99f7407eae25e7.pt", + "normalized_text": "Grab the blue stapler with silver staple tray and stick it onto Cyan mat", + "raw_texts": [ + "Grab the blue stapler with silver staple tray and stick it onto Cyan mat" + ], + "num_links": 2 + }, + { + "key": "17293bef2d5ddade411604c7c75366e71eb82ee6", + "file": "17293bef2d5ddade411604c7c75366e71eb82ee6.pt", + "normalized_text": "Relocate the paper stapler with silver tray to the Red mat.", + "raw_texts": [ + "Relocate the paper stapler with silver tray to the Red mat." + ], + "num_links": 1 + }, + { + "key": "173cd786bca36f1c9a03e992acff7f37481adbf8", + "file": "173cd786bca36f1c9a03e992acff7f37481adbf8.pt", + "normalized_text": "Carry the manual stapler with black base to the Yellow colored mat", + "raw_texts": [ + "Carry the manual stapler with black base to the Yellow colored mat" + ], + "num_links": 1 + }, + { + "key": "1779740a9c6e344b906886862fd9eb0c9025ccc4", + "file": "1779740a9c6e344b906886862fd9eb0c9025ccc4.pt", + "normalized_text": "Pick the red plastic stapler with smooth top up and position it on Magenta mat", + "raw_texts": [ + "Pick the red plastic stapler with smooth top up and position it on Magenta mat" + ], + "num_links": 1 + }, + { + "key": "17cb04eeebe2e2055622976f3cc6bae479f070c5", + "file": "17cb04eeebe2e2055622976f3cc6bae479f070c5.pt", + "normalized_text": "Use the left arm and place the blue plastic stapler with silver metal on Black mat.", + "raw_texts": [ + "Use the left arm and place the blue plastic stapler with silver metal on Black mat." + ], + "num_links": 1 + }, + { + "key": "17d443c0d9dbd719949901e4d26906facf1772dd", + "file": "17d443c0d9dbd719949901e4d26906facf1772dd.pt", + "normalized_text": "Stick the stapler with black top section onto the Cyan colored mat.", + "raw_texts": [ + "Stick the stapler with black top section onto the Cyan colored mat." + ], + "num_links": 1 + }, + { + "key": "181e0de1c42a5a63b45ef02ca918cd74025555b5", + "file": "181e0de1c42a5a63b45ef02ca918cd74025555b5.pt", + "normalized_text": "Move the red stapler for binding papers to the Black mat with the right arm", + "raw_texts": [ + "Move the red stapler for binding papers to the Black mat with the right arm" + ], + "num_links": 1 + }, + { + "key": "1852af2a878714a38dac4cea11d23479797f5993", + "file": "1852af2a878714a38dac4cea11d23479797f5993.pt", + "normalized_text": "Use the right arm to grab the black stapler with rectangular base and place it on Blue mat", + "raw_texts": [ + "Use the right arm to grab the black stapler with rectangular base and place it on Blue mat" + ], + "num_links": 1 + }, + { + "key": "18d2bc9b4ff53122bf21ad1b3ec389346b6117c0", + "file": "18d2bc9b4ff53122bf21ad1b3ec389346b6117c0.pt", + "normalized_text": "Position the stapler with silver inner plates on the Red mat.", + "raw_texts": [ + "Position the stapler with silver inner plates on the Red mat." + ], + "num_links": 1 + }, + { + "key": "198046d873059cde862446da108882537ba6a99a", + "file": "198046d873059cde862446da108882537ba6a99a.pt", + "normalized_text": "Pick the stapler for fastening papers with the left arm and place it on Blue mat", + "raw_texts": [ + "Pick the stapler for fastening papers with the left arm and place it on Blue mat" + ], + "num_links": 1 + }, + { + "key": "19c3d22db1081515baa42bbab99cab5d857024ad", + "file": "19c3d22db1081515baa42bbab99cab5d857024ad.pt", + "normalized_text": "Shift the handy blue stapler with metal parts manually to the Green mat", + "raw_texts": [ + "Shift the handy blue stapler with metal parts manually to the Green mat" + ], + "num_links": 1 + }, + { + "key": "1ac89c2c3165c8de9d15c990aacb4753e3157777", + "file": "1ac89c2c3165c8de9d15c990aacb4753e3157777.pt", + "normalized_text": "Carry the stapler with white metallic components and drop it onto the Green mat", + "raw_texts": [ + "Carry the stapler with white metallic components and drop it onto the Green mat" + ], + "num_links": 1 + }, + { + "key": "1b8f59e5306c5adbb8815cdf88a014656bfb598e", + "file": "1b8f59e5306c5adbb8815cdf88a014656bfb598e.pt", + "normalized_text": "Use the left arm to shift the curved blue and silver stapler onto the Green mat", + "raw_texts": [ + "Use the left arm to shift the curved blue and silver stapler onto the Green mat" + ], + "num_links": 1 + }, + { + "key": "1c30764cd539c7e5c8210ea43ab405af601dc54e", + "file": "1c30764cd539c7e5c8210ea43ab405af601dc54e.pt", + "normalized_text": "Place the plastic stapler with metal top onto the Gray colored mat.", + "raw_texts": [ + "Place the plastic stapler with metal top onto the Gray colored mat." + ], + "num_links": 1 + }, + { + "key": "1c457da45b07cc67ebc2dcaaec6510999b1faacc", + "file": "1c457da45b07cc67ebc2dcaaec6510999b1faacc.pt", + "normalized_text": "Using the left arm, set the red stapler with black base on the Magenta colored mat", + "raw_texts": [ + "Using the left arm, set the red stapler with black base on the Magenta colored mat" + ], + "num_links": 1 + }, + { + "key": "1c4d2b7c88400634b4b2e91e7882c26559a9a7ec", + "file": "1c4d2b7c88400634b4b2e91e7882c26559a9a7ec.pt", + "normalized_text": "Use the right arm and place the stapler with black top section on Gray mat.", + "raw_texts": [ + "Use the right arm and place the stapler with black top section on Gray mat." + ], + "num_links": 1 + }, + { + "key": "1cfff010ee940587f71bcd281e24ab55dc08fd46", + "file": "1cfff010ee940587f71bcd281e24ab55dc08fd46.pt", + "normalized_text": "Move the stapler in bright red color to the Magenta mat.", + "raw_texts": [ + "Move the stapler in bright red color to the Magenta mat." + ], + "num_links": 1 + }, + { + "key": "1d1f797aef3131438c9058fda7a5b64bf7e264b7", + "file": "1d1f797aef3131438c9058fda7a5b64bf7e264b7.pt", + "normalized_text": "Grab the stapler for stapling paper using the right arm and set it on Yellow mat.", + "raw_texts": [ + "Grab the stapler for stapling paper using the right arm and set it on Yellow mat." + ], + "num_links": 1 + }, + { + "key": "1dad52411b4937f9a9f319046d6b05773ee2a2c7", + "file": "1dad52411b4937f9a9f319046d6b05773ee2a2c7.pt", + "normalized_text": "Grab the small red stapler using the right arm and shift it to Cyan", + "raw_texts": [ + "Grab the small red stapler using the right arm and shift it to Cyan" + ], + "num_links": 1 + }, + { + "key": "1e1912d97bf5721047710af93dbb143290933161", + "file": "1e1912d97bf5721047710af93dbb143290933161.pt", + "normalized_text": "the right arm moves the handheld black stapler to the Yellow mat.", + "raw_texts": [ + "the right arm moves the handheld black stapler to the Yellow mat." + ], + "num_links": 1 + }, + { + "key": "1e39ae4eb3f35194d10754291354ca9bd16b3990", + "file": "1e39ae4eb3f35194d10754291354ca9bd16b3990.pt", + "normalized_text": "the left arm places the white stapler with rounded design on the Green mat.", + "raw_texts": [ + "the left arm places the white stapler with rounded design on the Green mat." + ], + "num_links": 1 + }, + { + "key": "1f30a9a170aa3832c2b741e7219c4d403eb7ac1c", + "file": "1f30a9a170aa3832c2b741e7219c4d403eb7ac1c.pt", + "normalized_text": "Using the left arm, set the metal and plastic stapler on the Blue colored mat", + "raw_texts": [ + "Using the left arm, set the metal and plastic stapler on the Blue colored mat" + ], + "num_links": 1 + }, + { + "key": "207274e610d4c9362363c198f29dd5852c26bd26", + "file": "207274e610d4c9362363c198f29dd5852c26bd26.pt", + "normalized_text": "Pick up the red stapler with the right arm and set it on Gray", + "raw_texts": [ + "Pick up the red stapler with the right arm and set it on Gray" + ], + "num_links": 1 + }, + { + "key": "20c7ab9182f3e4d26cce3e6ca637509eb638f023", + "file": "20c7ab9182f3e4d26cce3e6ca637509eb638f023.pt", + "normalized_text": "Grab the bright blue smooth stapler using the right arm and set it on Red mat.", + "raw_texts": [ + "Grab the bright blue smooth stapler using the right arm and set it on Red mat." + ], + "num_links": 1 + }, + { + "key": "20ca696cb99e54f2524a39b77d8697373b773557", + "file": "20ca696cb99e54f2524a39b77d8697373b773557.pt", + "normalized_text": "Put the stapler with silver staple tray on the Black mat", + "raw_texts": [ + "Put the stapler with silver staple tray on the Black mat" + ], + "num_links": 1 + }, + { + "key": "2105ed9d562fad558ec703a018b4158b3ac3cd6a", + "file": "2105ed9d562fad558ec703a018b4158b3ac3cd6a.pt", + "normalized_text": "Position the handheld stapler on the Magenta mat.", + "raw_texts": [ + "Position the handheld stapler on the Magenta mat." + ], + "num_links": 1 + }, + { + "key": "2195a20710fc65c6f03fa5e97f90fc1f1632c396", + "file": "2195a20710fc65c6f03fa5e97f90fc1f1632c396.pt", + "normalized_text": "Use the right arm to shift the stapler with white metallic components onto the Cyan mat", + "raw_texts": [ + "Use the right arm to shift the stapler with white metallic components onto the Cyan mat" + ], + "num_links": 1 + }, + { + "key": "21eea3f3b3cf0fe32588069f71214a1aa545d5c8", + "file": "21eea3f3b3cf0fe32588069f71214a1aa545d5c8.pt", + "normalized_text": "Carry the white body stapler with accents to the Black colored mat", + "raw_texts": [ + "Carry the white body stapler with accents to the Black colored mat" + ], + "num_links": 1 + }, + { + "key": "223f4daac89d57c3b9d645d86fadc772b23a8333", + "file": "223f4daac89d57c3b9d645d86fadc772b23a8333.pt", + "normalized_text": "Set the stapler with blue plastic handle on the Red mat with the left arm.", + "raw_texts": [ + "Set the stapler with blue plastic handle on the Red mat with the left arm." + ], + "num_links": 1 + }, + { + "key": "234945019190b1d47bab28aa64b18a8d43eb7b7d", + "file": "234945019190b1d47bab28aa64b18a8d43eb7b7d.pt", + "normalized_text": "Stick the red plastic stapler with smooth top on the Blue mat.", + "raw_texts": [ + "Stick the red plastic stapler with smooth top on the Blue mat." + ], + "num_links": 1 + }, + { + "key": "23c48ac6f6bdc1a87ceb7ae888cfc4cf18cc117c", + "file": "23c48ac6f6bdc1a87ceb7ae888cfc4cf18cc117c.pt", + "normalized_text": "Carry the stapler with orange button to the Green colored mat", + "raw_texts": [ + "Carry the stapler with orange button to the Green colored mat" + ], + "num_links": 1 + }, + { + "key": "23c525f8730f14f3fe61a9845f6ed4cb7bd8653e", + "file": "23c525f8730f14f3fe61a9845f6ed4cb7bd8653e.pt", + "normalized_text": "With the right arm, position the black stapler with curved top on the Black mat", + "raw_texts": [ + "With the right arm, position the black stapler with curved top on the Black mat" + ], + "num_links": 1 + }, + { + "key": "23f389a457d7b2757de57ef2cf3ce3ca30166db8", + "file": "23f389a457d7b2757de57ef2cf3ce3ca30166db8.pt", + "normalized_text": "Grab the small lightweight blue stapler and drop it on Red mat.", + "raw_texts": [ + "Grab the small lightweight blue stapler and drop it on Red mat." + ], + "num_links": 1 + }, + { + "key": "23ff16b2dca1bc253ccc512709dbb625ee162903", + "file": "23ff16b2dca1bc253ccc512709dbb625ee162903.pt", + "normalized_text": "Shift the blue stapler with ergonomic curve manually to the Red mat", + "raw_texts": [ + "Shift the blue stapler with ergonomic curve manually to the Red mat" + ], + "num_links": 1 + }, + { + "key": "2535f31d99404c25857d5a5e7ce0314fd99324d8", + "file": "2535f31d99404c25857d5a5e7ce0314fd99324d8.pt", + "normalized_text": "With the right arm, move the stapler with rectangular silver mechanism to the Gray mat", + "raw_texts": [ + "With the right arm, move the stapler with rectangular silver mechanism to the Gray mat" + ], + "num_links": 1 + }, + { + "key": "25f741416c5ad1ccbe83052fb575386e2cccfd90", + "file": "25f741416c5ad1ccbe83052fb575386e2cccfd90.pt", + "normalized_text": "Using the right arm, set the black smooth-textured stapler on the Magenta colored mat", + "raw_texts": [ + "Using the right arm, set the black smooth-textured stapler on the Magenta colored mat" + ], + "num_links": 1 + }, + { + "key": "26b7cd9e3e6a451a4195955fd526f6a0850354f0", + "file": "26b7cd9e3e6a451a4195955fd526f6a0850354f0.pt", + "normalized_text": "Pick the black stapler with shiny interior with the right arm and place it on Green mat", + "raw_texts": [ + "Pick the black stapler with shiny interior with the right arm and place it on Green mat" + ], + "num_links": 1 + }, + { + "key": "280f401334f5d022f35dd550e2beb282e064eaa2", + "file": "280f401334f5d022f35dd550e2beb282e064eaa2.pt", + "normalized_text": "Grab the stapler with blue plastic handle using the right arm and set it on Green mat.", + "raw_texts": [ + "Grab the stapler with blue plastic handle using the right arm and set it on Green mat." + ], + "num_links": 1 + }, + { + "key": "29fd2cba628b17ec7dd2872b7df8448640a94e04", + "file": "29fd2cba628b17ec7dd2872b7df8448640a94e04.pt", + "normalized_text": "Use the right arm to place the stapler in bright red color onto the Green mat", + "raw_texts": [ + "Use the right arm to place the stapler in bright red color onto the Green mat" + ], + "num_links": 1 + }, + { + "key": "2a1c32b121a83e88c8983df139e719fe03159a0b", + "file": "2a1c32b121a83e88c8983df139e719fe03159a0b.pt", + "normalized_text": "Stick the metal and plastic stapler onto the Yellow colored mat.", + "raw_texts": [ + "Stick the metal and plastic stapler onto the Yellow colored mat." + ], + "num_links": 1 + }, + { + "key": "2a58268731f761101a385a5b479e2861296b3f61", + "file": "2a58268731f761101a385a5b479e2861296b3f61.pt", + "normalized_text": "Transfer the simple stapler to the Cyan mat", + "raw_texts": [ + "Transfer the simple stapler to the Cyan mat" + ], + "num_links": 1 + }, + { + "key": "2ac253ef1b1e75d32963582fce81d9518105740a", + "file": "2ac253ef1b1e75d32963582fce81d9518105740a.pt", + "normalized_text": "Pick the curved black stapler using the left arm and move it to Gray mat.", + "raw_texts": [ + "Pick the curved black stapler using the left arm and move it to Gray mat." + ], + "num_links": 1 + }, + { + "key": "2b6536f251236b6cd9b155485dcce9851f24e624", + "file": "2b6536f251236b6cd9b155485dcce9851f24e624.pt", + "normalized_text": "Move the compact red stapler with silver accents to the Cyan mat with the left arm", + "raw_texts": [ + "Move the compact red stapler with silver accents to the Cyan mat with the left arm" + ], + "num_links": 1 + }, + { + "key": "2c62f0cfb348a7cc6a16277657dde899f726e7ec", + "file": "2c62f0cfb348a7cc6a16277657dde899f726e7ec.pt", + "normalized_text": "Pick the plastic and metal stapler using the left arm and move it to Black mat.", + "raw_texts": [ + "Pick the plastic and metal stapler using the left arm and move it to Black mat." + ], + "num_links": 1 + }, + { + "key": "2cadece3c80aab5c02ab7de853bba1ed4faf9d73", + "file": "2cadece3c80aab5c02ab7de853bba1ed4faf9d73.pt", + "normalized_text": "Slide the black stapler with rectangular base to the Red colored mat.", + "raw_texts": [ + "Slide the black stapler with rectangular base to the Red colored mat." + ], + "num_links": 1 + }, + { + "key": "2cd9395fc6018b9129196bdf62794bcc4a199137", + "file": "2cd9395fc6018b9129196bdf62794bcc4a199137.pt", + "normalized_text": "Using the left arm, set the stapler for fastening papers on the Cyan colored mat", + "raw_texts": [ + "Using the left arm, set the stapler for fastening papers on the Cyan colored mat" + ], + "num_links": 1 + }, + { + "key": "2d1aaba8965ca00de1bd5e095ed70e279c747f9c", + "file": "2d1aaba8965ca00de1bd5e095ed70e279c747f9c.pt", + "normalized_text": "the left arm grabs the small lightweight blue stapler and sets it on Yellow mat.", + "raw_texts": [ + "the left arm grabs the small lightweight blue stapler and sets it on Yellow mat." + ], + "num_links": 1 + }, + { + "key": "2e141d49acc71d245beeace28426c136158fd6ad", + "file": "2e141d49acc71d245beeace28426c136158fd6ad.pt", + "normalized_text": "Grab the stapler in bright red color using the left arm and set it on Gray mat.", + "raw_texts": [ + "Grab the stapler in bright red color using the left arm and set it on Gray mat." + ], + "num_links": 1 + }, + { + "key": "2ec891db5f60b93e2565c26eb4c6e74a7f6c3db7", + "file": "2ec891db5f60b93e2565c26eb4c6e74a7f6c3db7.pt", + "normalized_text": "Set the small office stapler onto the Green colored mat.", + "raw_texts": [ + "Set the small office stapler onto the Green colored mat." + ], + "num_links": 1 + }, + { + "key": "2f0c3f207b82dd1e100b185a15b2b816f6669a2e", + "file": "2f0c3f207b82dd1e100b185a15b2b816f6669a2e.pt", + "normalized_text": "Carry the stapler with black top section and drop it onto the Yellow mat", + "raw_texts": [ + "Carry the stapler with black top section and drop it onto the Yellow mat" + ], + "num_links": 1 + }, + { + "key": "2febca846303cbc668aea024121905f0f3c450e8", + "file": "2febca846303cbc668aea024121905f0f3c450e8.pt", + "normalized_text": "Carry the stapler with blue plastic handle to the Gray colored mat", + "raw_texts": [ + "Carry the stapler with blue plastic handle to the Gray colored mat" + ], + "num_links": 1 + }, + { + "key": "304134eb57b120b2944a7c5b4e81d7b00d034645", + "file": "304134eb57b120b2944a7c5b4e81d7b00d034645.pt", + "normalized_text": "Use the left arm to grab the stapler with white metallic components and place it on Red mat", + "raw_texts": [ + "Use the left arm to grab the stapler with white metallic components and place it on Red mat" + ], + "num_links": 1 + }, + { + "key": "30474455328d5a32e8ad7b2ffdba98edf6a960a6", + "file": "30474455328d5a32e8ad7b2ffdba98edf6a960a6.pt", + "normalized_text": "Grab the stapler with orange button and stick it onto Black mat", + "raw_texts": [ + "Grab the stapler with orange button and stick it onto Black mat" + ], + "num_links": 1 + }, + { + "key": "30e532f459a534ebd307ffd45979ae841bad5709", + "file": "30e532f459a534ebd307ffd45979ae841bad5709.pt", + "normalized_text": "Drop the plastic blue stapler with metal parts carefully on the Green mat", + "raw_texts": [ + "Drop the plastic blue stapler with metal parts carefully on the Green mat" + ], + "num_links": 1 + }, + { + "key": "3293d790a9998aa09f618058931acf655b0d0aad", + "file": "3293d790a9998aa09f618058931acf655b0d0aad.pt", + "normalized_text": "Pick up the metallic stapler with red body and place it on Blue mat", + "raw_texts": [ + "Pick up the metallic stapler with red body and place it on Blue mat" + ], + "num_links": 1 + }, + { + "key": "32e96e7b5dae76eb7f87f741057ec70e5e37abd0", + "file": "32e96e7b5dae76eb7f87f741057ec70e5e37abd0.pt", + "normalized_text": "Pick up the metal and plastic stapler and place it on Cyan mat", + "raw_texts": [ + "Pick up the metal and plastic stapler and place it on Cyan mat" + ], + "num_links": 1 + }, + { + "key": "32f39a322aba46217d4f66a990f83fc701579e80", + "file": "32f39a322aba46217d4f66a990f83fc701579e80.pt", + "normalized_text": "Lift the simple stapler to the Black mat using the right arm", + "raw_texts": [ + "Lift the simple stapler to the Black mat using the right arm" + ], + "num_links": 1 + }, + { + "key": "3300d6ee0764eb1d1a1d03df72c7f807969276c6", + "file": "3300d6ee0764eb1d1a1d03df72c7f807969276c6.pt", + "normalized_text": "Stick the stapler with smooth blue finish onto the Green colored mat.", + "raw_texts": [ + "Stick the stapler with smooth blue finish onto the Green colored mat." + ], + "num_links": 1 + }, + { + "key": "335d74a2af7233dd2ee4169e52b76b11f699c030", + "file": "335d74a2af7233dd2ee4169e52b76b11f699c030.pt", + "normalized_text": "the right arm places the stapler with curved blue top on the Magenta mat.", + "raw_texts": [ + "the right arm places the stapler with curved blue top on the Magenta mat." + ], + "num_links": 1 + }, + { + "key": "339998746a2e558a4c6bbc60c70f52c5c286b007", + "file": "339998746a2e558a4c6bbc60c70f52c5c286b007.pt", + "normalized_text": "Pick the modern design stapler with the left arm and place it on Yellow mat", + "raw_texts": [ + "Pick the modern design stapler with the left arm and place it on Yellow mat" + ], + "num_links": 1 + }, + { + "key": "33cf1d4131fb5c9155104680413f6baa9b666858", + "file": "33cf1d4131fb5c9155104680413f6baa9b666858.pt", + "normalized_text": "Move the blue stapler with ergonomic curve with the right arm to the Magenta mat", + "raw_texts": [ + "Move the blue stapler with ergonomic curve with the right arm to the Magenta mat" + ], + "num_links": 1 + }, + { + "key": "3400d714b854feeda6931946183ee8afb5aba3d4", + "file": "3400d714b854feeda6931946183ee8afb5aba3d4.pt", + "normalized_text": "Set the compact stapler with smooth surface down on the Yellow mat", + "raw_texts": [ + "Set the compact stapler with smooth surface down on the Yellow mat" + ], + "num_links": 1 + }, + { + "key": "34a8988489ca26627fd5d5b156a2fd58f36fa660", + "file": "34a8988489ca26627fd5d5b156a2fd58f36fa660.pt", + "normalized_text": "Set the stapler with blue plastic handle on the Green mat with the left arm.", + "raw_texts": [ + "Set the stapler with blue plastic handle on the Green mat with the left arm." + ], + "num_links": 1 + }, + { + "key": "34d70b374b30859f2e4fcf4cec683b922a3dcf33", + "file": "34d70b374b30859f2e4fcf4cec683b922a3dcf33.pt", + "normalized_text": "Stick the blue stapler with ergonomic curve onto the Red colored mat.", + "raw_texts": [ + "Stick the blue stapler with ergonomic curve onto the Red colored mat." + ], + "num_links": 1 + }, + { + "key": "350f72395ad33a275750dbcd6f1004e592be33a0", + "file": "350f72395ad33a275750dbcd6f1004e592be33a0.pt", + "normalized_text": "Move the small red stapler to the Yellow mat.", + "raw_texts": [ + "Move the small red stapler to the Yellow mat." + ], + "num_links": 1 + }, + { + "key": "350f8844c6a0bd460be4fdcee0107df667c42691", + "file": "350f8844c6a0bd460be4fdcee0107df667c42691.pt", + "normalized_text": "Drop the lightweight red stapler onto the Magenta mat.", + "raw_texts": [ + "Drop the lightweight red stapler onto the Magenta mat." + ], + "num_links": 1 + }, + { + "key": "35f5a75e8365007aaae4fe1f521698ca6538da3c", + "file": "35f5a75e8365007aaae4fe1f521698ca6538da3c.pt", + "normalized_text": "Stick the paper stapler with silver tray onto the Red colored mat.", + "raw_texts": [ + "Stick the paper stapler with silver tray onto the Red colored mat." + ], + "num_links": 1 + }, + { + "key": "36301345e70ba16667c061d4893900f436c2d3e0", + "file": "36301345e70ba16667c061d4893900f436c2d3e0.pt", + "normalized_text": "Place the compact office stapler onto the Magenta colored mat", + "raw_texts": [ + "Place the compact office stapler onto the Magenta colored mat" + ], + "num_links": 1 + }, + { + "key": "367aaab774b5ddd4275e76f5ba9f3b4e8bdb1ec5", + "file": "367aaab774b5ddd4275e76f5ba9f3b4e8bdb1ec5.pt", + "normalized_text": "Pick up the stapler with rounded edges and place it on Red mat", + "raw_texts": [ + "Pick up the stapler with rounded edges and place it on Red mat" + ], + "num_links": 1 + }, + { + "key": "36c695ac98de1aec867d180afad4b3d9b4fe9f4d", + "file": "36c695ac98de1aec867d180afad4b3d9b4fe9f4d.pt", + "normalized_text": "Drop the simple stapler carefully on the Red mat", + "raw_texts": [ + "Drop the simple stapler carefully on the Red mat" + ], + "num_links": 1 + }, + { + "key": "36d241f7ad1f859f07064fffa6601ed76b7aff89", + "file": "36d241f7ad1f859f07064fffa6601ed76b7aff89.pt", + "normalized_text": "Put the simple stapler on the Black mat", + "raw_texts": [ + "Put the simple stapler on the Black mat" + ], + "num_links": 1 + }, + { + "key": "3731e5d267989432bdf3b785fe68a4a4a323e36e", + "file": "3731e5d267989432bdf3b785fe68a4a4a323e36e.pt", + "normalized_text": "Relocate the red stapler for binding papers to the Gray colored mat", + "raw_texts": [ + "Relocate the red stapler for binding papers to the Gray colored mat" + ], + "num_links": 1 + }, + { + "key": "3736e71ee8e57b5c5c3ae323b8631c098e740a42", + "file": "3736e71ee8e57b5c5c3ae323b8631c098e740a42.pt", + "normalized_text": "Grab the black stapler for joining pages using the left arm and shift it to Yellow", + "raw_texts": [ + "Grab the black stapler for joining pages using the left arm and shift it to Yellow" + ], + "num_links": 1 + }, + { + "key": "37473631b396018b729cdd4b3c2cfb2b04ae3c79", + "file": "37473631b396018b729cdd4b3c2cfb2b04ae3c79.pt", + "normalized_text": "With the right arm, position the blue stapler on the Cyan mat", + "raw_texts": [ + "With the right arm, position the blue stapler on the Cyan mat" + ], + "num_links": 1 + }, + { + "key": "3772fa05328720b6d75527ff09a3b31099c6cd45", + "file": "3772fa05328720b6d75527ff09a3b31099c6cd45.pt", + "normalized_text": "Carry the plastic blue stapler with metal parts to the Green colored mat", + "raw_texts": [ + "Carry the plastic blue stapler with metal parts to the Green colored mat" + ], + "num_links": 1 + }, + { + "key": "38130a06c7605b51f3841ba83dcf9daa10c919e1", + "file": "38130a06c7605b51f3841ba83dcf9daa10c919e1.pt", + "normalized_text": "Use the left arm to place the red top black bottom stapler onto the Red mat", + "raw_texts": [ + "Use the left arm to place the red top black bottom stapler onto the Red mat" + ], + "num_links": 1 + }, + { + "key": "38e0be3859a5fd4682f0bcbbdf9afaeb437d0dae", + "file": "38e0be3859a5fd4682f0bcbbdf9afaeb437d0dae.pt", + "normalized_text": "Use the left arm and place the stapler for fastening papers on Green mat.", + "raw_texts": [ + "Use the left arm and place the stapler for fastening papers on Green mat." + ], + "num_links": 1 + }, + { + "key": "3a3ce794388f4cc75ab4cdf89996b89e64f1e53f", + "file": "3a3ce794388f4cc75ab4cdf89996b89e64f1e53f.pt", + "normalized_text": "Drop the stapler with black top section carefully on the Gray mat", + "raw_texts": [ + "Drop the stapler with black top section carefully on the Gray mat" + ], + "num_links": 1 + }, + { + "key": "3a405647899194720048ed630e6e68ab951a91d3", + "file": "3a405647899194720048ed630e6e68ab951a91d3.pt", + "normalized_text": "Set the black stapler with smooth finish down on the Black mat", + "raw_texts": [ + "Set the black stapler with smooth finish down on the Black mat" + ], + "num_links": 1 + }, + { + "key": "3b191a9632539537ff666277d8ee79830b5747bc", + "file": "3b191a9632539537ff666277d8ee79830b5747bc.pt", + "normalized_text": "Transfer the curved blue and silver stapler to the Red colored mat.", + "raw_texts": [ + "Transfer the curved blue and silver stapler to the Red colored mat." + ], + "num_links": 1 + }, + { + "key": "3b2319bede1ac698148fed3153048386506f776f", + "file": "3b2319bede1ac698148fed3153048386506f776f.pt", + "normalized_text": "Drop the lightweight red stapler carefully on the Green mat", + "raw_texts": [ + "Drop the lightweight red stapler carefully on the Green mat" + ], + "num_links": 1 + }, + { + "key": "3b9e0486e9e7e4bc66e81dec8d7788cef49a8057", + "file": "3b9e0486e9e7e4bc66e81dec8d7788cef49a8057.pt", + "normalized_text": "Drop the blue stapler with ergonomic curve carefully on the Blue mat", + "raw_texts": [ + "Drop the blue stapler with ergonomic curve carefully on the Blue mat" + ], + "num_links": 1 + }, + { + "key": "3ba469595a011e44234497c48faab33c6dba0bba", + "file": "3ba469595a011e44234497c48faab33c6dba0bba.pt", + "normalized_text": "Relocate the black stapler for joining pages to the Gray mat.", + "raw_texts": [ + "Relocate the black stapler for joining pages to the Gray mat." + ], + "num_links": 1 + }, + { + "key": "3c5aefc6ee81f367413262ae0d49c5c11685ee60", + "file": "3c5aefc6ee81f367413262ae0d49c5c11685ee60.pt", + "normalized_text": "Move the red plastic stapler with smooth top to the Green mat with the left arm", + "raw_texts": [ + "Move the red plastic stapler with smooth top to the Green mat with the left arm" + ], + "num_links": 1 + }, + { + "key": "3c69698acdc770026a12c083ae5d9cb654ea5718", + "file": "3c69698acdc770026a12c083ae5d9cb654ea5718.pt", + "normalized_text": "the right arm places the blue stapler on the Black mat.", + "raw_texts": [ + "the right arm places the blue stapler on the Black mat." + ], + "num_links": 1 + }, + { + "key": "3c9523562049c21a7e74dd5ebc76459a5ee44803", + "file": "3c9523562049c21a7e74dd5ebc76459a5ee44803.pt", + "normalized_text": "Transfer the blue stapler with black handle area to the Cyan mat", + "raw_texts": [ + "Transfer the blue stapler with black handle area to the Cyan mat" + ], + "num_links": 1 + }, + { + "key": "3e23e9e8bc22f6ae17552dc19870a380d5f8e34f", + "file": "3e23e9e8bc22f6ae17552dc19870a380d5f8e34f.pt", + "normalized_text": "Carry the lightweight red stapler and drop it onto the Gray mat", + "raw_texts": [ + "Carry the lightweight red stapler and drop it onto the Gray mat" + ], + "num_links": 1 + }, + { + "key": "3e9ca4d2a4a576c9cc6638178c021daea7b791d6", + "file": "3e9ca4d2a4a576c9cc6638178c021daea7b791d6.pt", + "normalized_text": "Carry the stapler in bright red color to the Gray colored mat", + "raw_texts": [ + "Carry the stapler in bright red color to the Gray colored mat" + ], + "num_links": 1 + }, + { + "key": "3f3c62cabe805bde372353c1c7313efd5da83f4e", + "file": "3f3c62cabe805bde372353c1c7313efd5da83f4e.pt", + "normalized_text": "Lift the bright blue smooth stapler and drop it onto Cyan mat", + "raw_texts": [ + "Lift the bright blue smooth stapler and drop it onto Cyan mat" + ], + "num_links": 1 + }, + { + "key": "3fbfa7227eac78078087d5c086327454908e35df", + "file": "3fbfa7227eac78078087d5c086327454908e35df.pt", + "normalized_text": "Use the right arm to grab the handheld stapler and place it on Gray mat", + "raw_texts": [ + "Use the right arm to grab the handheld stapler and place it on Gray mat" + ], + "num_links": 1 + }, + { + "key": "406d01b7d767507e0e875f2fed390ea7f220ef38", + "file": "406d01b7d767507e0e875f2fed390ea7f220ef38.pt", + "normalized_text": "the left arm transfers the stapler with smooth blue finish to the Magenta mat.", + "raw_texts": [ + "the left arm transfers the stapler with smooth blue finish to the Magenta mat." + ], + "num_links": 1 + }, + { + "key": "40c71c8f0416eaa0be757cc650d62a73516722bf", + "file": "40c71c8f0416eaa0be757cc650d62a73516722bf.pt", + "normalized_text": "Grab the compact red stapler with silver accents, place it on the Magenta mat", + "raw_texts": [ + "Grab the compact red stapler with silver accents, place it on the Magenta mat" + ], + "num_links": 1 + }, + { + "key": "413b94c1ea6bae20872a916c7251780ec792601e", + "file": "413b94c1ea6bae20872a916c7251780ec792601e.pt", + "normalized_text": "Pick the handy blue stapler with metal parts with the right arm and place it on Cyan mat", + "raw_texts": [ + "Pick the handy blue stapler with metal parts with the right arm and place it on Cyan mat" + ], + "num_links": 1 + }, + { + "key": "4164b66dafb42f096533ebfde8eecd5d6023d112", + "file": "4164b66dafb42f096533ebfde8eecd5d6023d112.pt", + "normalized_text": "the right arm grabs the black stapler with rectangular base and sets it on Magenta mat.", + "raw_texts": [ + "the right arm grabs the black stapler with rectangular base and sets it on Magenta mat." + ], + "num_links": 1 + }, + { + "key": "419ab266329056dd22058a23b1dfe339bb5c7cf0", + "file": "419ab266329056dd22058a23b1dfe339bb5c7cf0.pt", + "normalized_text": "Grab the blue stapler with curved design using the right arm and shift it to Red", + "raw_texts": [ + "Grab the blue stapler with curved design using the right arm and shift it to Red" + ], + "num_links": 1 + }, + { + "key": "41d8d5e06deb73c93e2ca9e266c633be6c38473a", + "file": "41d8d5e06deb73c93e2ca9e266c633be6c38473a.pt", + "normalized_text": "Lift the stapler with red top and drop it onto Cyan mat", + "raw_texts": [ + "Lift the stapler with red top and drop it onto Cyan mat" + ], + "num_links": 1 + }, + { + "key": "424f3705add1518bb684d0af42cc340c4c492459", + "file": "424f3705add1518bb684d0af42cc340c4c492459.pt", + "normalized_text": "With the right arm, move the stapler with black top section to the Blue mat", + "raw_texts": [ + "With the right arm, move the stapler with black top section to the Blue mat" + ], + "num_links": 1 + }, + { + "key": "4307f7e9e0d4e322046fd6a7472febee9e4d78d0", + "file": "4307f7e9e0d4e322046fd6a7472febee9e4d78d0.pt", + "normalized_text": "Relocate the blue stapler to the Cyan colored mat", + "raw_texts": [ + "Relocate the blue stapler to the Cyan colored mat" + ], + "num_links": 1 + }, + { + "key": "435734d04d0d7229e89dd4ec1a15a44a7a596eda", + "file": "435734d04d0d7229e89dd4ec1a15a44a7a596eda.pt", + "normalized_text": "Grab the stapler with white metallic components using the left arm and shift it to Black", + "raw_texts": [ + "Grab the stapler with white metallic components using the left arm and shift it to Black" + ], + "num_links": 2 + }, + { + "key": "4365d691356f75a58c53d454d4c0448b585251fa", + "file": "4365d691356f75a58c53d454d4c0448b585251fa.pt", + "normalized_text": "the left arm places the manual stapler with black base on the Green mat.", + "raw_texts": [ + "the left arm places the manual stapler with black base on the Green mat." + ], + "num_links": 1 + }, + { + "key": "44b5b7604e0436c5d9cc1cbe48b22aaf8ece06ed", + "file": "44b5b7604e0436c5d9cc1cbe48b22aaf8ece06ed.pt", + "normalized_text": "Drop the black stapler with curved top carefully on the Blue mat", + "raw_texts": [ + "Drop the black stapler with curved top carefully on the Blue mat" + ], + "num_links": 1 + }, + { + "key": "44f264986c23181046c9f383bfad49c6e3d02c1c", + "file": "44f264986c23181046c9f383bfad49c6e3d02c1c.pt", + "normalized_text": "the left arm transfers the stapler for fastening papers to the Gray mat.", + "raw_texts": [ + "the left arm transfers the stapler for fastening papers to the Gray mat." + ], + "num_links": 1 + }, + { + "key": "453553c9dc9a4d398ac1d41881a0ea4c8725cc40", + "file": "453553c9dc9a4d398ac1d41881a0ea4c8725cc40.pt", + "normalized_text": "Slide the small red stapler to the Cyan colored mat.", + "raw_texts": [ + "Slide the small red stapler to the Cyan colored mat." + ], + "num_links": 1 + }, + { + "key": "4581accb3ccb7dc4e4c007792819f34d135888ac", + "file": "4581accb3ccb7dc4e4c007792819f34d135888ac.pt", + "normalized_text": "Relocate the plastic blue stapler with metal parts to the Black colored mat", + "raw_texts": [ + "Relocate the plastic blue stapler with metal parts to the Black colored mat" + ], + "num_links": 1 + }, + { + "key": "45c207afcd0586c475d31bb8a6dbf4fdad3894db", + "file": "45c207afcd0586c475d31bb8a6dbf4fdad3894db.pt", + "normalized_text": "Pick the blue stapler up and position it on Gray mat", + "raw_texts": [ + "Pick the blue stapler up and position it on Gray mat" + ], + "num_links": 1 + }, + { + "key": "49e72e1232afa80f8e7dd55abf1bd8cb73249413", + "file": "49e72e1232afa80f8e7dd55abf1bd8cb73249413.pt", + "normalized_text": "Drop the metallic stapler with blue cover onto the Magenta mat.", + "raw_texts": [ + "Drop the metallic stapler with blue cover onto the Magenta mat." + ], + "num_links": 1 + }, + { + "key": "4a39c8f032e8799afa4c52b82d9933eb4a1c661f", + "file": "4a39c8f032e8799afa4c52b82d9933eb4a1c661f.pt", + "normalized_text": "With the left arm, move the metal and plastic stapler to the Red mat", + "raw_texts": [ + "With the left arm, move the metal and plastic stapler to the Red mat" + ], + "num_links": 1 + }, + { + "key": "4aca18b5292468b918c54a1bc6f8f7231221394f", + "file": "4aca18b5292468b918c54a1bc6f8f7231221394f.pt", + "normalized_text": "Grab the red plastic stapler with smooth top, place it on the Gray mat", + "raw_texts": [ + "Grab the red plastic stapler with smooth top, place it on the Gray mat" + ], + "num_links": 1 + }, + { + "key": "4aee6cb1bbcdd67cb7fb21e11254327390a55047", + "file": "4aee6cb1bbcdd67cb7fb21e11254327390a55047.pt", + "normalized_text": "Grab the red stapler with black base and stick it onto Black mat", + "raw_texts": [ + "Grab the red stapler with black base and stick it onto Black mat" + ], + "num_links": 1 + }, + { + "key": "4b9e8ff6d82e606d4fd8d297108756381d358dce", + "file": "4b9e8ff6d82e606d4fd8d297108756381d358dce.pt", + "normalized_text": "Pick the blue stapler with the right arm and place it on Yellow mat", + "raw_texts": [ + "Pick the blue stapler with the right arm and place it on Yellow mat" + ], + "num_links": 1 + }, + { + "key": "4c326a0e73389b28026c72c398157f914d7ab6d6", + "file": "4c326a0e73389b28026c72c398157f914d7ab6d6.pt", + "normalized_text": "Use the right arm and place the blue stapler on Cyan mat.", + "raw_texts": [ + "Use the right arm and place the blue stapler on Cyan mat." + ], + "num_links": 1 + }, + { + "key": "4cb1fd11c5d65c199c1abd605b40ad7f4c2dc50a", + "file": "4cb1fd11c5d65c199c1abd605b40ad7f4c2dc50a.pt", + "normalized_text": "Move the curved red stapler to the Black mat with the right arm", + "raw_texts": [ + "Move the curved red stapler to the Black mat with the right arm" + ], + "num_links": 1 + }, + { + "key": "4d700d01bd44fb0a9e1e6b6413f14fa3d5dde533", + "file": "4d700d01bd44fb0a9e1e6b6413f14fa3d5dde533.pt", + "normalized_text": "Move the stapler with silver inner plates with the right arm to the Green mat", + "raw_texts": [ + "Move the stapler with silver inner plates with the right arm to the Green mat" + ], + "num_links": 1 + }, + { + "key": "4e1271e8c0fb6561a5b7ea4622e141593d1a9b61", + "file": "4e1271e8c0fb6561a5b7ea4622e141593d1a9b61.pt", + "normalized_text": "Stick the compact stapler with smooth surface onto the Green colored mat.", + "raw_texts": [ + "Stick the compact stapler with smooth surface onto the Green colored mat." + ], + "num_links": 1 + }, + { + "key": "4e7e9e11346065faa0b0f333fd8609cccc6fe966", + "file": "4e7e9e11346065faa0b0f333fd8609cccc6fe966.pt", + "normalized_text": "Place the black stapler with smooth finish on the Black mat using the right arm", + "raw_texts": [ + "Place the black stapler with smooth finish on the Black mat using the right arm" + ], + "num_links": 1 + }, + { + "key": "4e946e45e3b41ebde636c01e945fb6d600ff1fb0", + "file": "4e946e45e3b41ebde636c01e945fb6d600ff1fb0.pt", + "normalized_text": "Drop the small red stapler onto the Black mat.", + "raw_texts": [ + "Drop the small red stapler onto the Black mat." + ], + "num_links": 1 + }, + { + "key": "4f0020c8eb6324a4be4e1198920a2dc8314ce692", + "file": "4f0020c8eb6324a4be4e1198920a2dc8314ce692.pt", + "normalized_text": "Use the left arm to shift the plastic stapler with metallic interior onto the Cyan mat", + "raw_texts": [ + "Use the left arm to shift the plastic stapler with metallic interior onto the Cyan mat" + ], + "num_links": 1 + }, + { + "key": "4f9ff53a370f13ed8bd65efcc27b68392f54c8d9", + "file": "4f9ff53a370f13ed8bd65efcc27b68392f54c8d9.pt", + "normalized_text": "Lift the stapler for fastening papers to the Gray mat using the right arm", + "raw_texts": [ + "Lift the stapler for fastening papers to the Gray mat using the right arm" + ], + "num_links": 1 + }, + { + "key": "5018f364a4860612cd9c63772ecd6ae9bc739422", + "file": "5018f364a4860612cd9c63772ecd6ae9bc739422.pt", + "normalized_text": "Relocate the handheld blue and silver stapler to the Blue colored mat", + "raw_texts": [ + "Relocate the handheld blue and silver stapler to the Blue colored mat" + ], + "num_links": 1 + }, + { + "key": "51bf0a2543671953ff73d0fae69a733b46392fa4", + "file": "51bf0a2543671953ff73d0fae69a733b46392fa4.pt", + "normalized_text": "the right arm transfers the compact black stapler to the Yellow mat.", + "raw_texts": [ + "the right arm transfers the compact black stapler to the Yellow mat." + ], + "num_links": 1 + }, + { + "key": "52b587fe1d7ab9163fc8f12135d3526a12185218", + "file": "52b587fe1d7ab9163fc8f12135d3526a12185218.pt", + "normalized_text": "Carry the black stapler for joining pages and drop it onto the Magenta mat", + "raw_texts": [ + "Carry the black stapler for joining pages and drop it onto the Magenta mat" + ], + "num_links": 1 + }, + { + "key": "5332ba1373af1eb726de9e9a1eb9e1ae646563de", + "file": "5332ba1373af1eb726de9e9a1eb9e1ae646563de.pt", + "normalized_text": "Place the metallic stapler with red body onto the Cyan colored mat.", + "raw_texts": [ + "Place the metallic stapler with red body onto the Cyan colored mat." + ], + "num_links": 1 + }, + { + "key": "544e4bcc2006b9796a8a481af3182c23b3aeb7d6", + "file": "544e4bcc2006b9796a8a481af3182c23b3aeb7d6.pt", + "normalized_text": "Put the red stapler on the Black mat", + "raw_texts": [ + "Put the red stapler on the Black mat" + ], + "num_links": 1 + }, + { + "key": "563550c5e990fc79c457e49dacdc58be3077e635", + "file": "563550c5e990fc79c457e49dacdc58be3077e635.pt", + "normalized_text": "Using the right arm, set the blue stapler with silver staple tray on the Blue colored mat", + "raw_texts": [ + "Using the right arm, set the blue stapler with silver staple tray on the Blue colored mat" + ], + "num_links": 1 + }, + { + "key": "577b28f755d0c824cea1312192a9d06855ccf866", + "file": "577b28f755d0c824cea1312192a9d06855ccf866.pt", + "normalized_text": "Move the small handheld stapler to the Green mat.", + "raw_texts": [ + "Move the small handheld stapler to the Green mat." + ], + "num_links": 1 + }, + { + "key": "57f3a6974c468bb36b1c7873dda321becf1c3f66", + "file": "57f3a6974c468bb36b1c7873dda321becf1c3f66.pt", + "normalized_text": "Place the metallic stapler with blue cover onto the Blue colored mat.", + "raw_texts": [ + "Place the metallic stapler with blue cover onto the Blue colored mat." + ], + "num_links": 1 + }, + { + "key": "582b557c1c14254d90f5b4e2a7d234c949cd0c75", + "file": "582b557c1c14254d90f5b4e2a7d234c949cd0c75.pt", + "normalized_text": "Shift the curved blue and silver stapler manually to the Black mat", + "raw_texts": [ + "Shift the curved blue and silver stapler manually to the Black mat" + ], + "num_links": 1 + }, + { + "key": "5a10fe82b8fd8b85bb357c5a512ecdc2bc0dcfc0", + "file": "5a10fe82b8fd8b85bb357c5a512ecdc2bc0dcfc0.pt", + "normalized_text": "Put the stapler for fastening papers on the Green mat", + "raw_texts": [ + "Put the stapler for fastening papers on the Green mat" + ], + "num_links": 1 + }, + { + "key": "5adf05588f22d570f79d9c468db9e25ffc4e6692", + "file": "5adf05588f22d570f79d9c468db9e25ffc4e6692.pt", + "normalized_text": "Position the stapler with silver staple tray on the Cyan mat.", + "raw_texts": [ + "Position the stapler with silver staple tray on the Cyan mat." + ], + "num_links": 1 + }, + { + "key": "5b0968f1082678ae720fb6b4a7baed63598c10d1", + "file": "5b0968f1082678ae720fb6b4a7baed63598c10d1.pt", + "normalized_text": "Place the small red stapler onto the Yellow colored mat.", + "raw_texts": [ + "Place the small red stapler onto the Yellow colored mat." + ], + "num_links": 1 + }, + { + "key": "5b85360d21377f33abadd3e36cf45393d238298f", + "file": "5b85360d21377f33abadd3e36cf45393d238298f.pt", + "normalized_text": "the left arm transfers the stapler with rounded edges to the Green mat.", + "raw_texts": [ + "the left arm transfers the stapler with rounded edges to the Green mat." + ], + "num_links": 1 + }, + { + "key": "5b8682c2dbd88c22b7275d425f8f97cb2d5276cf", + "file": "5b8682c2dbd88c22b7275d425f8f97cb2d5276cf.pt", + "normalized_text": "Pick up the black stapler for joining pages and place it on Yellow mat", + "raw_texts": [ + "Pick up the black stapler for joining pages and place it on Yellow mat" + ], + "num_links": 1 + }, + { + "key": "5bfc8c2d782636f649fe61053cc265e47d8e62de", + "file": "5bfc8c2d782636f649fe61053cc265e47d8e62de.pt", + "normalized_text": "Grab the stapler with silver staple tray and drop it on Blue mat.", + "raw_texts": [ + "Grab the stapler with silver staple tray and drop it on Blue mat." + ], + "num_links": 1 + }, + { + "key": "5c2f4c63918434ec217a580c4d70c3b1a746f4f6", + "file": "5c2f4c63918434ec217a580c4d70c3b1a746f4f6.pt", + "normalized_text": "Use the right arm to grab the stapler with black top section and place it on Gray mat", + "raw_texts": [ + "Use the right arm to grab the stapler with black top section and place it on Gray mat" + ], + "num_links": 1 + }, + { + "key": "5cb95250abcf228fb469ace662d5b2ac0751671d", + "file": "5cb95250abcf228fb469ace662d5b2ac0751671d.pt", + "normalized_text": "Stick the stapler for fastening papers onto the Blue colored mat.", + "raw_texts": [ + "Stick the stapler for fastening papers onto the Blue colored mat." + ], + "num_links": 1 + }, + { + "key": "5d100ea1ca39951a17077592a6e5519a2c1a7e74", + "file": "5d100ea1ca39951a17077592a6e5519a2c1a7e74.pt", + "normalized_text": "Shift the red stapler with black base manually to the Yellow mat", + "raw_texts": [ + "Shift the red stapler with black base manually to the Yellow mat" + ], + "num_links": 1 + }, + { + "key": "5dfc1f15beb8b0d1e381d827ad7947dd2664e6ca", + "file": "5dfc1f15beb8b0d1e381d827ad7947dd2664e6ca.pt", + "normalized_text": "Pick the red plastic stapler with smooth top using the left arm and move it to Cyan mat.", + "raw_texts": [ + "Pick the red plastic stapler with smooth top using the left arm and move it to Cyan mat." + ], + "num_links": 1 + }, + { + "key": "5e21bcac320564daf47c601c1cb7cc0f8161c688", + "file": "5e21bcac320564daf47c601c1cb7cc0f8161c688.pt", + "normalized_text": "Shift the blue rectangular stapler with curves to the Black mat", + "raw_texts": [ + "Shift the blue rectangular stapler with curves to the Black mat" + ], + "num_links": 1 + }, + { + "key": "5eed7d2f548e00445fa76bffe089867d427dab65", + "file": "5eed7d2f548e00445fa76bffe089867d427dab65.pt", + "normalized_text": "Move the red stapler with the left arm to the Black mat", + "raw_texts": [ + "Move the red stapler with the left arm to the Black mat" + ], + "num_links": 1 + }, + { + "key": "602ab8bb3a8b2d4adbe2ef97507294bba602bac8", + "file": "602ab8bb3a8b2d4adbe2ef97507294bba602bac8.pt", + "normalized_text": "Carry the curved red stapler and drop it onto the Black mat", + "raw_texts": [ + "Carry the curved red stapler and drop it onto the Black mat" + ], + "num_links": 1 + }, + { + "key": "6137f0be3f27389cf05c5504931533f3be6abac0", + "file": "6137f0be3f27389cf05c5504931533f3be6abac0.pt", + "normalized_text": "Shift the metallic stapler with red body to the Yellow mat", + "raw_texts": [ + "Shift the metallic stapler with red body to the Yellow mat" + ], + "num_links": 1 + }, + { + "key": "61e227b4e9000a704c35b8b7481d330eb523971b", + "file": "61e227b4e9000a704c35b8b7481d330eb523971b.pt", + "normalized_text": "Shift the modern design stapler manually to the Black mat", + "raw_texts": [ + "Shift the modern design stapler manually to the Black mat" + ], + "num_links": 1 + }, + { + "key": "624b8d98f0d1f3ac6b1f38b431c74ad9dbfed8a5", + "file": "624b8d98f0d1f3ac6b1f38b431c74ad9dbfed8a5.pt", + "normalized_text": "the right arm grabs the stapler with orange top lever and sets it on Magenta mat.", + "raw_texts": [ + "the right arm grabs the stapler with orange top lever and sets it on Magenta mat." + ], + "num_links": 1 + }, + { + "key": "6259acfdcb3489d2c89bd6f99d53789790a46009", + "file": "6259acfdcb3489d2c89bd6f99d53789790a46009.pt", + "normalized_text": "Pick the small lightweight blue stapler with the right arm and place it on Cyan mat", + "raw_texts": [ + "Pick the small lightweight blue stapler with the right arm and place it on Cyan mat" + ], + "num_links": 1 + }, + { + "key": "636da62f47cdf4e0d7409260a4015ded673ae13b", + "file": "636da62f47cdf4e0d7409260a4015ded673ae13b.pt", + "normalized_text": "Pick up the stapler for stapling paper with the right arm and set it on Green", + "raw_texts": [ + "Pick up the stapler for stapling paper with the right arm and set it on Green" + ], + "num_links": 1 + }, + { + "key": "63c8b53c7bc9e55b111e52bd915827edc373e2bf", + "file": "63c8b53c7bc9e55b111e52bd915827edc373e2bf.pt", + "normalized_text": "Position the manual blue stapler on the Red mat.", + "raw_texts": [ + "Position the manual blue stapler on the Red mat." + ], + "num_links": 1 + }, + { + "key": "644265dd6e3f1898739c41f6d7ce75fee92e5856", + "file": "644265dd6e3f1898739c41f6d7ce75fee92e5856.pt", + "normalized_text": "Move the stapler with silver inner plates with the right arm to the Gray mat", + "raw_texts": [ + "Move the stapler with silver inner plates with the right arm to the Gray mat" + ], + "num_links": 1 + }, + { + "key": "658c6068d495f0a1c2a2829411c3143f451953e2", + "file": "658c6068d495f0a1c2a2829411c3143f451953e2.pt", + "normalized_text": "Relocate the stapler with black top section to the Blue mat.", + "raw_texts": [ + "Relocate the stapler with black top section to the Blue mat." + ], + "num_links": 1 + }, + { + "key": "6605ed114fb4660f4faa77a9c1ae0b6ea93b82a8", + "file": "6605ed114fb4660f4faa77a9c1ae0b6ea93b82a8.pt", + "normalized_text": "Place the handheld stapler onto the Green colored mat.", + "raw_texts": [ + "Place the handheld stapler onto the Green colored mat." + ], + "num_links": 1 + }, + { + "key": "668effad9c6a327843ec954945e854606d23d3fe", + "file": "668effad9c6a327843ec954945e854606d23d3fe.pt", + "normalized_text": "Stick the red stapler on the Cyan mat.", + "raw_texts": [ + "Stick the red stapler on the Cyan mat." + ], + "num_links": 1 + }, + { + "key": "66a1dc334386f7aab11dfc64cd7196bc16a61090", + "file": "66a1dc334386f7aab11dfc64cd7196bc16a61090.pt", + "normalized_text": "the left arm places the blue stapler with white accents on the Gray mat.", + "raw_texts": [ + "the left arm places the blue stapler with white accents on the Gray mat." + ], + "num_links": 1 + }, + { + "key": "66f331d3ea844616c444f7e7911a4119a36a97f9", + "file": "66f331d3ea844616c444f7e7911a4119a36a97f9.pt", + "normalized_text": "Drop the handheld stapler onto the Yellow mat.", + "raw_texts": [ + "Drop the handheld stapler onto the Yellow mat." + ], + "num_links": 1 + }, + { + "key": "673e401b2b64f1591bf89ca1058f3eb7bba57e27", + "file": "673e401b2b64f1591bf89ca1058f3eb7bba57e27.pt", + "normalized_text": "Set the compact blue stapler down on the Yellow mat", + "raw_texts": [ + "Set the compact blue stapler down on the Yellow mat" + ], + "num_links": 1 + }, + { + "key": "677d43b99dd2e182b8a3ae8ae70df3aa0db12337", + "file": "677d43b99dd2e182b8a3ae8ae70df3aa0db12337.pt", + "normalized_text": "Use the right arm to grab the blue rectangular stapler with curves and place it on Black mat", + "raw_texts": [ + "Use the right arm to grab the blue rectangular stapler with curves and place it on Black mat" + ], + "num_links": 1 + }, + { + "key": "678ba994bfd6d482043ff00ff1cf537cc1943d0f", + "file": "678ba994bfd6d482043ff00ff1cf537cc1943d0f.pt", + "normalized_text": "Shift the small stapler manually to the Black mat", + "raw_texts": [ + "Shift the small stapler manually to the Black mat" + ], + "num_links": 1 + }, + { + "key": "690acc9977c4c1497b90bf41715ff69524263e96", + "file": "690acc9977c4c1497b90bf41715ff69524263e96.pt", + "normalized_text": "Carry the white body stapler with accents and drop it onto the Black mat", + "raw_texts": [ + "Carry the white body stapler with accents and drop it onto the Black mat" + ], + "num_links": 1 + }, + { + "key": "6938404b1059c752a4945db36e4e4cfb2f4b3271", + "file": "6938404b1059c752a4945db36e4e4cfb2f4b3271.pt", + "normalized_text": "Grab the small stapler and stick it onto Blue mat", + "raw_texts": [ + "Grab the small stapler and stick it onto Blue mat" + ], + "num_links": 1 + }, + { + "key": "6a34dec6214378f74d67d9ed8f9abefce69d397f", + "file": "6a34dec6214378f74d67d9ed8f9abefce69d397f.pt", + "normalized_text": "Lift the stapler with orange top lever to the Blue mat using the left arm", + "raw_texts": [ + "Lift the stapler with orange top lever to the Blue mat using the left arm" + ], + "num_links": 1 + }, + { + "key": "6a4feb23cc81d206228212b97a25de5b2c264933", + "file": "6a4feb23cc81d206228212b97a25de5b2c264933.pt", + "normalized_text": "the left arm places the compact red stapler with silver accents on the Blue mat.", + "raw_texts": [ + "the left arm places the compact red stapler with silver accents on the Blue mat." + ], + "num_links": 1 + }, + { + "key": "6a6eb66b6006410554210f184cd84186d51a121c", + "file": "6a6eb66b6006410554210f184cd84186d51a121c.pt", + "normalized_text": "Use the left arm to place the small office stapler onto the Yellow mat", + "raw_texts": [ + "Use the left arm to place the small office stapler onto the Yellow mat" + ], + "num_links": 1 + }, + { + "key": "6b1d2ff5d5787649acaebdc0ec0c3d22289045f8", + "file": "6b1d2ff5d5787649acaebdc0ec0c3d22289045f8.pt", + "normalized_text": "Carry the plastic stapler with metal on base and drop it onto the Black mat", + "raw_texts": [ + "Carry the plastic stapler with metal on base and drop it onto the Black mat" + ], + "num_links": 1 + }, + { + "key": "6b44b31e4bb13ebc2ffe7af9d4984f7177851839", + "file": "6b44b31e4bb13ebc2ffe7af9d4984f7177851839.pt", + "normalized_text": "Set the red stapler with black base onto the Gray colored mat.", + "raw_texts": [ + "Set the red stapler with black base onto the Gray colored mat." + ], + "num_links": 1 + }, + { + "key": "6be9fca35167343ac32260c92b667bae27c3ce9e", + "file": "6be9fca35167343ac32260c92b667bae27c3ce9e.pt", + "normalized_text": "Carry the blue stapler with shiny silver parts to the Magenta colored mat", + "raw_texts": [ + "Carry the blue stapler with shiny silver parts to the Magenta colored mat" + ], + "num_links": 1 + }, + { + "key": "6c5dbb3af29ecc4a9cf1dd4fc99ee43c479660f3", + "file": "6c5dbb3af29ecc4a9cf1dd4fc99ee43c479660f3.pt", + "normalized_text": "the right arm transfers the manual blue stapler to the Black mat.", + "raw_texts": [ + "the right arm transfers the manual blue stapler to the Black mat." + ], + "num_links": 1 + }, + { + "key": "6db0e58ffed30ef97389186d18b0d76909823d8e", + "file": "6db0e58ffed30ef97389186d18b0d76909823d8e.pt", + "normalized_text": "Shift the blue stapler with ergonomic curve to the Cyan mat", + "raw_texts": [ + "Shift the blue stapler with ergonomic curve to the Cyan mat" + ], + "num_links": 1 + }, + { + "key": "6de755ffa35c606a11e36c87103ee4cb69db9218", + "file": "6de755ffa35c606a11e36c87103ee4cb69db9218.pt", + "normalized_text": "Grab the plastic stapler with metallic interior using the left arm and shift it to Cyan", + "raw_texts": [ + "Grab the plastic stapler with metallic interior using the left arm and shift it to Cyan" + ], + "num_links": 1 + }, + { + "key": "6eef9a1896e1849ddd42fe325f7a5d193ee46d5c", + "file": "6eef9a1896e1849ddd42fe325f7a5d193ee46d5c.pt", + "normalized_text": "Using the left arm, set the curved black stapler on the Black colored mat", + "raw_texts": [ + "Using the left arm, set the curved black stapler on the Black colored mat" + ], + "num_links": 1 + }, + { + "key": "6f94da60504deb14105a6a48b52490eea893b0d8", + "file": "6f94da60504deb14105a6a48b52490eea893b0d8.pt", + "normalized_text": "Relocate the curved blue and silver stapler to the Red mat.", + "raw_texts": [ + "Relocate the curved blue and silver stapler to the Red mat." + ], + "num_links": 1 + }, + { + "key": "70009aca2c8f9cb241a9ae9f2c2ce818f6ed8f70", + "file": "70009aca2c8f9cb241a9ae9f2c2ce818f6ed8f70.pt", + "normalized_text": "Grab the blue stapler with the right arm and drop it on Gray mat.", + "raw_texts": [ + "Grab the blue stapler with the right arm and drop it on Gray mat." + ], + "num_links": 1 + }, + { + "key": "700f7be45fbee9b0aa5392b335859a97e235dd06", + "file": "700f7be45fbee9b0aa5392b335859a97e235dd06.pt", + "normalized_text": "Relocate the small lightweight blue stapler to the Blue colored mat", + "raw_texts": [ + "Relocate the small lightweight blue stapler to the Blue colored mat" + ], + "num_links": 1 + }, + { + "key": "70ce7661b9a6115b6b81c304ff561d5a0dfa95b9", + "file": "70ce7661b9a6115b6b81c304ff561d5a0dfa95b9.pt", + "normalized_text": "Position the stapler with orange top lever on the Green mat.", + "raw_texts": [ + "Position the stapler with orange top lever on the Green mat." + ], + "num_links": 1 + }, + { + "key": "7140b3d63fd69bfc4b41246db3026d0373d20643", + "file": "7140b3d63fd69bfc4b41246db3026d0373d20643.pt", + "normalized_text": "Place the blue stapler for paper fastening onto the Gray colored mat.", + "raw_texts": [ + "Place the blue stapler for paper fastening onto the Gray colored mat." + ], + "num_links": 1 + }, + { + "key": "7249a1611588b7147f228149a101b48d6b9eb779", + "file": "7249a1611588b7147f228149a101b48d6b9eb779.pt", + "normalized_text": "Use the right arm to grab the black stapler with curved top and place it on Black mat", + "raw_texts": [ + "Use the right arm to grab the black stapler with curved top and place it on Black mat" + ], + "num_links": 1 + }, + { + "key": "7352d451dfbc0a0cc65d79e3743c72d66c8e1fa6", + "file": "7352d451dfbc0a0cc65d79e3743c72d66c8e1fa6.pt", + "normalized_text": "Relocate the red plastic stapler with smooth top to the Gray colored mat", + "raw_texts": [ + "Relocate the red plastic stapler with smooth top to the Gray colored mat" + ], + "num_links": 1 + }, + { + "key": "737db74b93786a53d5d313e8ebf739f88d18a45f", + "file": "737db74b93786a53d5d313e8ebf739f88d18a45f.pt", + "normalized_text": "Set the compact stapler onto the Magenta colored mat.", + "raw_texts": [ + "Set the compact stapler onto the Magenta colored mat." + ], + "num_links": 1 + }, + { + "key": "7418c149774ff567ca52a45b524b1f7875e3901e", + "file": "7418c149774ff567ca52a45b524b1f7875e3901e.pt", + "normalized_text": "Use the right arm to shift the modern design stapler onto the Blue mat", + "raw_texts": [ + "Use the right arm to shift the modern design stapler onto the Blue mat" + ], + "num_links": 1 + }, + { + "key": "75154b85e277136b8791009558ae1e1330a0f5a6", + "file": "75154b85e277136b8791009558ae1e1330a0f5a6.pt", + "normalized_text": "Grab the stapler in bright red color, place it on the Magenta mat", + "raw_texts": [ + "Grab the stapler in bright red color, place it on the Magenta mat" + ], + "num_links": 1 + }, + { + "key": "75ea7cc15fb01dc55ce10e715cffa7a386d4d321", + "file": "75ea7cc15fb01dc55ce10e715cffa7a386d4d321.pt", + "normalized_text": "Slide the white body stapler with accents to the Green colored mat.", + "raw_texts": [ + "Slide the white body stapler with accents to the Green colored mat." + ], + "num_links": 1 + }, + { + "key": "7645958bca89118faeef46930996f9a6fb11f9b7", + "file": "7645958bca89118faeef46930996f9a6fb11f9b7.pt", + "normalized_text": "the left arm grabs the stapler with black top section and sets it on Black mat.", + "raw_texts": [ + "the left arm grabs the stapler with black top section and sets it on Black mat." + ], + "num_links": 1 + }, + { + "key": "76d31050a1be83a0e11346c5d6edb1cba2274fc2", + "file": "76d31050a1be83a0e11346c5d6edb1cba2274fc2.pt", + "normalized_text": "Drop the stapler with black top section carefully on the Yellow mat", + "raw_texts": [ + "Drop the stapler with black top section carefully on the Yellow mat" + ], + "num_links": 1 + }, + { + "key": "770254ca43dba4332da3acf16a51171d19775678", + "file": "770254ca43dba4332da3acf16a51171d19775678.pt", + "normalized_text": "Use the left arm and place the stapler for fastening papers on Cyan mat.", + "raw_texts": [ + "Use the left arm and place the stapler for fastening papers on Cyan mat." + ], + "num_links": 1 + }, + { + "key": "7727b349d4bb03161683f24f9d39be7e874ce357", + "file": "7727b349d4bb03161683f24f9d39be7e874ce357.pt", + "normalized_text": "Relocate the simple stapler to the Cyan colored mat", + "raw_texts": [ + "Relocate the simple stapler to the Cyan colored mat" + ], + "num_links": 1 + }, + { + "key": "77b831f83adfbcfda29414d5518d40febf91047c", + "file": "77b831f83adfbcfda29414d5518d40febf91047c.pt", + "normalized_text": "Set the handheld red stapler onto the Yellow colored mat.", + "raw_texts": [ + "Set the handheld red stapler onto the Yellow colored mat." + ], + "num_links": 1 + }, + { + "key": "7824b5f3d08455a17add53a20f551ebeb9b7e501", + "file": "7824b5f3d08455a17add53a20f551ebeb9b7e501.pt", + "normalized_text": "Use the right arm to grab the white body stapler with accents and place it on Red mat", + "raw_texts": [ + "Use the right arm to grab the white body stapler with accents and place it on Red mat" + ], + "num_links": 1 + }, + { + "key": "785cee8e5a432f1e97275075c8d17e07113826dd", + "file": "785cee8e5a432f1e97275075c8d17e07113826dd.pt", + "normalized_text": "Grab the stapler with silver staple tray, place it on the Cyan mat", + "raw_texts": [ + "Grab the stapler with silver staple tray, place it on the Cyan mat" + ], + "num_links": 1 + }, + { + "key": "78e7e4c6f8e43b2b430ccccfe114d053e3f4fb76", + "file": "78e7e4c6f8e43b2b430ccccfe114d053e3f4fb76.pt", + "normalized_text": "Lift the stapler with rounded edges to the Yellow mat using the right arm", + "raw_texts": [ + "Lift the stapler with rounded edges to the Yellow mat using the right arm" + ], + "num_links": 1 + }, + { + "key": "78f50cf289f2d889a14ed5bff57edba2caa96e3b", + "file": "78f50cf289f2d889a14ed5bff57edba2caa96e3b.pt", + "normalized_text": "With the right arm, move the curved blue and silver stapler to the Magenta mat", + "raw_texts": [ + "With the right arm, move the curved blue and silver stapler to the Magenta mat" + ], + "num_links": 1 + }, + { + "key": "7abd397862ec49f456e99e6ab188ecdc8b6c6368", + "file": "7abd397862ec49f456e99e6ab188ecdc8b6c6368.pt", + "normalized_text": "Stick the black stapler with shiny interior on the Green mat.", + "raw_texts": [ + "Stick the black stapler with shiny interior on the Green mat." + ], + "num_links": 1 + }, + { + "key": "7ad048d9f60eacce4d478073372e7478ecc5ff26", + "file": "7ad048d9f60eacce4d478073372e7478ecc5ff26.pt", + "normalized_text": "Slide the red stapler for binding papers to the Magenta colored mat.", + "raw_texts": [ + "Slide the red stapler for binding papers to the Magenta colored mat." + ], + "num_links": 1 + }, + { + "key": "7b1778d0d6ed058d6b21b42d046ac81c4d638c04", + "file": "7b1778d0d6ed058d6b21b42d046ac81c4d638c04.pt", + "normalized_text": "Pick up the compact black stapler with the left arm and set it on Cyan", + "raw_texts": [ + "Pick up the compact black stapler with the left arm and set it on Cyan" + ], + "num_links": 1 + }, + { + "key": "7ba05664f0d06612cae70045b258edacf43e2eb2", + "file": "7ba05664f0d06612cae70045b258edacf43e2eb2.pt", + "normalized_text": "With the left arm, move the blue stapler to the Green mat", + "raw_texts": [ + "With the left arm, move the blue stapler to the Green mat" + ], + "num_links": 1 + }, + { + "key": "7bf6be1b99f816adef5f02c96491c6733f9bcfaf", + "file": "7bf6be1b99f816adef5f02c96491c6733f9bcfaf.pt", + "normalized_text": "Set the stapler with orange top lever on the Black mat with the left arm.", + "raw_texts": [ + "Set the stapler with orange top lever on the Black mat with the left arm." + ], + "num_links": 1 + }, + { + "key": "7c8373d2e2326d3141388b024b15f31171872561", + "file": "7c8373d2e2326d3141388b024b15f31171872561.pt", + "normalized_text": "the right arm transfers the plastic blue stapler with metal parts to the Red mat.", + "raw_texts": [ + "the right arm transfers the plastic blue stapler with metal parts to the Red mat." + ], + "num_links": 1 + }, + { + "key": "7c8f36bb63823893e4e71ad24c21e39e9eb5c32f", + "file": "7c8f36bb63823893e4e71ad24c21e39e9eb5c32f.pt", + "normalized_text": "Drop the stapler with silver staple tray onto the Cyan mat.", + "raw_texts": [ + "Drop the stapler with silver staple tray onto the Cyan mat." + ], + "num_links": 1 + }, + { + "key": "7d620d4fe3cb225f5ce150b7c92927ef310a6c95", + "file": "7d620d4fe3cb225f5ce150b7c92927ef310a6c95.pt", + "normalized_text": "Put the handheld stapler on the Yellow mat", + "raw_texts": [ + "Put the handheld stapler on the Yellow mat" + ], + "num_links": 1 + }, + { + "key": "7d69bea3c2bca49d4f9d64bf36d31d2c09fd63c3", + "file": "7d69bea3c2bca49d4f9d64bf36d31d2c09fd63c3.pt", + "normalized_text": "Grab the white body stapler with accents and drop it on Black mat.", + "raw_texts": [ + "Grab the white body stapler with accents and drop it on Black mat." + ], + "num_links": 1 + }, + { + "key": "7dd24366188e7f2a68ce1a425c7dbb1cd5acf409", + "file": "7dd24366188e7f2a68ce1a425c7dbb1cd5acf409.pt", + "normalized_text": "Position the small handheld stapler on the Blue mat.", + "raw_texts": [ + "Position the small handheld stapler on the Blue mat." + ], + "num_links": 1 + }, + { + "key": "7e347f317a7a8d9151d4fe017f08c9bf02230f2e", + "file": "7e347f317a7a8d9151d4fe017f08c9bf02230f2e.pt", + "normalized_text": "Slide the compact stapler to the Red colored mat.", + "raw_texts": [ + "Slide the compact stapler to the Red colored mat." + ], + "num_links": 1 + }, + { + "key": "7eb0848ec6fb9ae43e729632fceca14edb2368c7", + "file": "7eb0848ec6fb9ae43e729632fceca14edb2368c7.pt", + "normalized_text": "the right arm places the plastic stapler with metallic interior on the Red mat.", + "raw_texts": [ + "the right arm places the plastic stapler with metallic interior on the Red mat." + ], + "num_links": 1 + }, + { + "key": "7f49b1f1235a658b2643e20aee480ff12ec8005b", + "file": "7f49b1f1235a658b2643e20aee480ff12ec8005b.pt", + "normalized_text": "With the left arm, position the compact black stapler on the Red mat", + "raw_texts": [ + "With the left arm, position the compact black stapler on the Red mat" + ], + "num_links": 1 + }, + { + "key": "7fc7f0c1184269ac5b97d76eaacabcd0f138e75f", + "file": "7fc7f0c1184269ac5b97d76eaacabcd0f138e75f.pt", + "normalized_text": "Place the stapler with rounded edges onto the Blue colored mat.", + "raw_texts": [ + "Place the stapler with rounded edges onto the Blue colored mat." + ], + "num_links": 1 + }, + { + "key": "8017957386628baf17f149648d53d0971cc0a0ca", + "file": "8017957386628baf17f149648d53d0971cc0a0ca.pt", + "normalized_text": "Use the left arm to place the compact black stapler onto the Red mat", + "raw_texts": [ + "Use the left arm to place the compact black stapler onto the Red mat" + ], + "num_links": 1 + }, + { + "key": "81bfed760912daf5ddfa138912e39048a987777c", + "file": "81bfed760912daf5ddfa138912e39048a987777c.pt", + "normalized_text": "Lift the bright blue smooth stapler to the Red mat using the right arm", + "raw_texts": [ + "Lift the bright blue smooth stapler to the Red mat using the right arm" + ], + "num_links": 1 + }, + { + "key": "823a61634450fb3273dbdbfb3987265c150b64ae", + "file": "823a61634450fb3273dbdbfb3987265c150b64ae.pt", + "normalized_text": "Put the bright blue smooth stapler on the Green mat", + "raw_texts": [ + "Put the bright blue smooth stapler on the Green mat" + ], + "num_links": 1 + }, + { + "key": "82e75de7c4c84ddfaefb58c456a7a50f800e0ec7", + "file": "82e75de7c4c84ddfaefb58c456a7a50f800e0ec7.pt", + "normalized_text": "Carry the stapler with silver inner plates and drop it onto the Cyan mat", + "raw_texts": [ + "Carry the stapler with silver inner plates and drop it onto the Cyan mat" + ], + "num_links": 1 + }, + { + "key": "83008e766811f73d3924e7f3072dc4beea1c5bc0", + "file": "83008e766811f73d3924e7f3072dc4beea1c5bc0.pt", + "normalized_text": "Slide the stapler with smooth blue finish to the Blue colored mat.", + "raw_texts": [ + "Slide the stapler with smooth blue finish to the Blue colored mat." + ], + "num_links": 1 + }, + { + "key": "83169c091c34c1e5445dfe5e42d7c7b4858d463a", + "file": "83169c091c34c1e5445dfe5e42d7c7b4858d463a.pt", + "normalized_text": "Grab the stapler in bright red color and drop it on Gray mat.", + "raw_texts": [ + "Grab the stapler in bright red color and drop it on Gray mat." + ], + "num_links": 1 + }, + { + "key": "832a699b5ef1131ae20c81f626c1ad886c17a4c7", + "file": "832a699b5ef1131ae20c81f626c1ad886c17a4c7.pt", + "normalized_text": "Grab the red top black bottom stapler and stick it onto Magenta mat", + "raw_texts": [ + "Grab the red top black bottom stapler and stick it onto Magenta mat" + ], + "num_links": 1 + }, + { + "key": "834eda01be560d22b746a985b6dcab7debe7e60c", + "file": "834eda01be560d22b746a985b6dcab7debe7e60c.pt", + "normalized_text": "Pick the paper stapler with silver tray using the left arm and move it to Black mat.", + "raw_texts": [ + "Pick the paper stapler with silver tray using the left arm and move it to Black mat." + ], + "num_links": 1 + }, + { + "key": "834ee97ac668e015cb0d4b99c55805dbe625d17b", + "file": "834ee97ac668e015cb0d4b99c55805dbe625d17b.pt", + "normalized_text": "Relocate the red stapler to the Yellow mat.", + "raw_texts": [ + "Relocate the red stapler to the Yellow mat." + ], + "num_links": 1 + }, + { + "key": "8419436587755e39dc12ed7c6efaff05cd0d06c9", + "file": "8419436587755e39dc12ed7c6efaff05cd0d06c9.pt", + "normalized_text": "Set the red stapler for binding papers down on the Green mat", + "raw_texts": [ + "Set the red stapler for binding papers down on the Green mat" + ], + "num_links": 1 + }, + { + "key": "8444c417ec12b75f3fed262e18c46c12ee78e26f", + "file": "8444c417ec12b75f3fed262e18c46c12ee78e26f.pt", + "normalized_text": "Pick up the blue stapler with curved design and place it on Yellow mat", + "raw_texts": [ + "Pick up the blue stapler with curved design and place it on Yellow mat" + ], + "num_links": 1 + }, + { + "key": "8464c46350d49b2bbde0825756355f3e36e4b17b", + "file": "8464c46350d49b2bbde0825756355f3e36e4b17b.pt", + "normalized_text": "Relocate the blue stapler for paper fastening to the Red mat.", + "raw_texts": [ + "Relocate the blue stapler for paper fastening to the Red mat." + ], + "num_links": 1 + }, + { + "key": "84a42217b430cfd049f22d835de1b8c638dbcc99", + "file": "84a42217b430cfd049f22d835de1b8c638dbcc99.pt", + "normalized_text": "Transfer the handheld blue and silver stapler to the Yellow mat", + "raw_texts": [ + "Transfer the handheld blue and silver stapler to the Yellow mat" + ], + "num_links": 1 + }, + { + "key": "84a58cc0ed5f5c7917a84bef1859c4eb9dc4af4b", + "file": "84a58cc0ed5f5c7917a84bef1859c4eb9dc4af4b.pt", + "normalized_text": "Use the left arm to shift the office stapler with plastic and metal parts onto the Green mat", + "raw_texts": [ + "Use the left arm to shift the office stapler with plastic and metal parts onto the Green mat" + ], + "num_links": 1 + }, + { + "key": "84dc4fde22314221e499df188ff761f4e488082b", + "file": "84dc4fde22314221e499df188ff761f4e488082b.pt", + "normalized_text": "Place the blue stapler with silver staple tray onto the Gray colored mat", + "raw_texts": [ + "Place the blue stapler with silver staple tray onto the Gray colored mat" + ], + "num_links": 1 + }, + { + "key": "855b16737e6702604be47536f4f061bc14561f30", + "file": "855b16737e6702604be47536f4f061bc14561f30.pt", + "normalized_text": "Grab the stapler with black top section, place it on the Red mat", + "raw_texts": [ + "Grab the stapler with black top section, place it on the Red mat" + ], + "num_links": 1 + }, + { + "key": "860164257d59a11a2712b14f4e538150664313f7", + "file": "860164257d59a11a2712b14f4e538150664313f7.pt", + "normalized_text": "the left arm places the blue stapler with silver staple tray on the Green mat.", + "raw_texts": [ + "the left arm places the blue stapler with silver staple tray on the Green mat." + ], + "num_links": 1 + }, + { + "key": "868d9e6f14ee8e54161d2dff5aa01d3cf57c5e9b", + "file": "868d9e6f14ee8e54161d2dff5aa01d3cf57c5e9b.pt", + "normalized_text": "Transfer the white body stapler with accents to the Cyan mat", + "raw_texts": [ + "Transfer the white body stapler with accents to the Cyan mat" + ], + "num_links": 1 + }, + { + "key": "87785cc45a63b5e9e2d05ed3c63daee1e976c394", + "file": "87785cc45a63b5e9e2d05ed3c63daee1e976c394.pt", + "normalized_text": "Shift the stapler with rectangular silver mechanism to the Red mat", + "raw_texts": [ + "Shift the stapler with rectangular silver mechanism to the Red mat" + ], + "num_links": 1 + }, + { + "key": "887b01830ce67a1608cbab3eb9e64c67999dbcbb", + "file": "887b01830ce67a1608cbab3eb9e64c67999dbcbb.pt", + "normalized_text": "Grab the small office stapler using the right arm and shift it to Black", + "raw_texts": [ + "Grab the small office stapler using the right arm and shift it to Black" + ], + "num_links": 1 + }, + { + "key": "8883a7f7b6be62ab904dde9e36b269f98a83a1ee", + "file": "8883a7f7b6be62ab904dde9e36b269f98a83a1ee.pt", + "normalized_text": "Place the stapler with smooth blue finish on the Magenta mat using the right arm", + "raw_texts": [ + "Place the stapler with smooth blue finish on the Magenta mat using the right arm" + ], + "num_links": 1 + }, + { + "key": "88ff6d17e8fa427c4ddf80faaa1c86ca4fc1eae5", + "file": "88ff6d17e8fa427c4ddf80faaa1c86ca4fc1eae5.pt", + "normalized_text": "Put the stapler with orange button on the Green mat", + "raw_texts": [ + "Put the stapler with orange button on the Green mat" + ], + "num_links": 1 + }, + { + "key": "89171917500750df7636fc6eae3017c8e1ce8cad", + "file": "89171917500750df7636fc6eae3017c8e1ce8cad.pt", + "normalized_text": "Pick up the compact black stapler and place it on Yellow mat", + "raw_texts": [ + "Pick up the compact black stapler and place it on Yellow mat" + ], + "num_links": 1 + }, + { + "key": "891ebe5ec61f52796e00629c8ae04e144960a374", + "file": "891ebe5ec61f52796e00629c8ae04e144960a374.pt", + "normalized_text": "Relocate the red top black bottom stapler to the Green colored mat", + "raw_texts": [ + "Relocate the red top black bottom stapler to the Green colored mat" + ], + "num_links": 1 + }, + { + "key": "89867764fa0121bb1dde7f4e4b891f716d6578db", + "file": "89867764fa0121bb1dde7f4e4b891f716d6578db.pt", + "normalized_text": "Set the blue rectangular stapler with curves on the Green mat with the left arm.", + "raw_texts": [ + "Set the blue rectangular stapler with curves on the Green mat with the left arm." + ], + "num_links": 1 + }, + { + "key": "89a575521936c05ec05f9491d46e4162995866e3", + "file": "89a575521936c05ec05f9491d46e4162995866e3.pt", + "normalized_text": "Pick up the black stapler with shiny interior with the left arm and set it on Yellow", + "raw_texts": [ + "Pick up the black stapler with shiny interior with the left arm and set it on Yellow" + ], + "num_links": 1 + }, + { + "key": "8a6d96b778455177810e1d8ed0d06f16e2ba9e91", + "file": "8a6d96b778455177810e1d8ed0d06f16e2ba9e91.pt", + "normalized_text": "the right arm moves the stapler for fastening papers to the Red mat.", + "raw_texts": [ + "the right arm moves the stapler for fastening papers to the Red mat." + ], + "num_links": 1 + }, + { + "key": "8cfb14278b5ffc99fba3683f3d14c6692b886c47", + "file": "8cfb14278b5ffc99fba3683f3d14c6692b886c47.pt", + "normalized_text": "Relocate the metal and plastic stapler to the Black colored mat", + "raw_texts": [ + "Relocate the metal and plastic stapler to the Black colored mat" + ], + "num_links": 1 + }, + { + "key": "8e25dcf82cd7b5912db5f943882851a77d516a3a", + "file": "8e25dcf82cd7b5912db5f943882851a77d516a3a.pt", + "normalized_text": "Grab the compact office stapler using the left arm and shift it to Red", + "raw_texts": [ + "Grab the compact office stapler using the left arm and shift it to Red" + ], + "num_links": 1 + }, + { + "key": "8e4cbb9fcb711b10cbfec4d6ba6fc10a713b34f8", + "file": "8e4cbb9fcb711b10cbfec4d6ba6fc10a713b34f8.pt", + "normalized_text": "Relocate the red stapler with black base to the Green colored mat", + "raw_texts": [ + "Relocate the red stapler with black base to the Green colored mat" + ], + "num_links": 1 + }, + { + "key": "8ede141bc06a73f36307f63cf804c92be3236392", + "file": "8ede141bc06a73f36307f63cf804c92be3236392.pt", + "normalized_text": "Stick the small red stapler on the Magenta mat.", + "raw_texts": [ + "Stick the small red stapler on the Magenta mat." + ], + "num_links": 1 + }, + { + "key": "8f431d28c8a7e56658f0fe29351f51190ac51a79", + "file": "8f431d28c8a7e56658f0fe29351f51190ac51a79.pt", + "normalized_text": "Set the stapler with silver staple tray down on the Yellow mat", + "raw_texts": [ + "Set the stapler with silver staple tray down on the Yellow mat" + ], + "num_links": 1 + }, + { + "key": "8f55cfc908db544069e32aca51dbaeaaf58772aa", + "file": "8f55cfc908db544069e32aca51dbaeaaf58772aa.pt", + "normalized_text": "Slide the office stapler with plastic and metal parts to the Red colored mat.", + "raw_texts": [ + "Slide the office stapler with plastic and metal parts to the Red colored mat." + ], + "num_links": 1 + }, + { + "key": "8f5c5180a8ba2317def1ebdc27c7d760f5fe88a3", + "file": "8f5c5180a8ba2317def1ebdc27c7d760f5fe88a3.pt", + "normalized_text": "Carry the plastic stapler with metal on base to the Magenta colored mat", + "raw_texts": [ + "Carry the plastic stapler with metal on base to the Magenta colored mat" + ], + "num_links": 1 + }, + { + "key": "8f76d2e7231dc5d80467facfebf593dcbba33e82", + "file": "8f76d2e7231dc5d80467facfebf593dcbba33e82.pt", + "normalized_text": "Relocate the stapler with smooth blue finish to the Yellow colored mat", + "raw_texts": [ + "Relocate the stapler with smooth blue finish to the Yellow colored mat" + ], + "num_links": 1 + }, + { + "key": "8fbb6982f988cbb6c0cd92232c973b9a05d51ca8", + "file": "8fbb6982f988cbb6c0cd92232c973b9a05d51ca8.pt", + "normalized_text": "Relocate the modern design stapler to the Magenta mat.", + "raw_texts": [ + "Relocate the modern design stapler to the Magenta mat." + ], + "num_links": 1 + }, + { + "key": "8fca7678f5c89a2e8221ad3e1f37bfc8c8ed5235", + "file": "8fca7678f5c89a2e8221ad3e1f37bfc8c8ed5235.pt", + "normalized_text": "Slide the blue rectangular stapler with curves to the Red colored mat.", + "raw_texts": [ + "Slide the blue rectangular stapler with curves to the Red colored mat." + ], + "num_links": 1 + }, + { + "key": "9204363f4f379578b0740c348e55985b640dd654", + "file": "9204363f4f379578b0740c348e55985b640dd654.pt", + "normalized_text": "With the left arm, move the white body stapler with accents to the Blue mat", + "raw_texts": [ + "With the left arm, move the white body stapler with accents to the Blue mat" + ], + "num_links": 1 + }, + { + "key": "92075663d25671ac0f5bff2067d3b8d598b0a659", + "file": "92075663d25671ac0f5bff2067d3b8d598b0a659.pt", + "normalized_text": "Relocate the metallic stapler with red body to the Cyan colored mat", + "raw_texts": [ + "Relocate the metallic stapler with red body to the Cyan colored mat" + ], + "num_links": 1 + }, + { + "key": "944e5448a4f679a058102aeed70f7f0173071bf4", + "file": "944e5448a4f679a058102aeed70f7f0173071bf4.pt", + "normalized_text": "Position the compact office stapler on the Blue mat.", + "raw_texts": [ + "Position the compact office stapler on the Blue mat." + ], + "num_links": 1 + }, + { + "key": "969435fa9232f85c4f93a9b9859fa8ef213b501c", + "file": "969435fa9232f85c4f93a9b9859fa8ef213b501c.pt", + "normalized_text": "Drop the blue stapler carefully on the Gray mat", + "raw_texts": [ + "Drop the blue stapler carefully on the Gray mat" + ], + "num_links": 1 + }, + { + "key": "96b82a638de4f2c538e94242c217c5983fa8787d", + "file": "96b82a638de4f2c538e94242c217c5983fa8787d.pt", + "normalized_text": "Pick the curved red stapler up and position it on Black mat", + "raw_texts": [ + "Pick the curved red stapler up and position it on Black mat" + ], + "num_links": 1 + }, + { + "key": "9735d6f596c41e7af4b18c6acfff5b1454c4946f", + "file": "9735d6f596c41e7af4b18c6acfff5b1454c4946f.pt", + "normalized_text": "Position the metallic stapler with blue cover on the Green mat.", + "raw_texts": [ + "Position the metallic stapler with blue cover on the Green mat." + ], + "num_links": 1 + }, + { + "key": "97d2697b47a4e3799de3bb9f6958735bfac1887a", + "file": "97d2697b47a4e3799de3bb9f6958735bfac1887a.pt", + "normalized_text": "Set the handheld blue and silver stapler on the Green mat with the right arm.", + "raw_texts": [ + "Set the handheld blue and silver stapler on the Green mat with the right arm." + ], + "num_links": 1 + }, + { + "key": "9861cfee691fa64e2072cd4676ee2d3404840be1", + "file": "9861cfee691fa64e2072cd4676ee2d3404840be1.pt", + "normalized_text": "Place the metal and plastic stapler on the Blue mat using the left arm", + "raw_texts": [ + "Place the metal and plastic stapler on the Blue mat using the left arm" + ], + "num_links": 1 + }, + { + "key": "99f3ac7af94233cb3c0dc2dfc5f10db65c776b31", + "file": "99f3ac7af94233cb3c0dc2dfc5f10db65c776b31.pt", + "normalized_text": "Transfer the stapler with white metallic components to the Magenta mat", + "raw_texts": [ + "Transfer the stapler with white metallic components to the Magenta mat" + ], + "num_links": 1 + }, + { + "key": "9a1fc9c50e1b61bc16e7d8c0c0a7db75caf139f0", + "file": "9a1fc9c50e1b61bc16e7d8c0c0a7db75caf139f0.pt", + "normalized_text": "Pick the blue stapler with ergonomic curve with the right arm and place it on Blue mat", + "raw_texts": [ + "Pick the blue stapler with ergonomic curve with the right arm and place it on Blue mat" + ], + "num_links": 1 + }, + { + "key": "9b157164be270bd482283161c0df583f063bdbd1", + "file": "9b157164be270bd482283161c0df583f063bdbd1.pt", + "normalized_text": "Move the compact red stapler with silver accents with the left arm to the Blue mat", + "raw_texts": [ + "Move the compact red stapler with silver accents with the left arm to the Blue mat" + ], + "num_links": 1 + }, + { + "key": "9b36099df38fc3f6e42497c117bbfad6a33de397", + "file": "9b36099df38fc3f6e42497c117bbfad6a33de397.pt", + "normalized_text": "Set the stapler for fastening papers down on the Magenta mat", + "raw_texts": [ + "Set the stapler for fastening papers down on the Magenta mat" + ], + "num_links": 1 + }, + { + "key": "9b62e216e0fa9c92de2bef6ababf65997d7a0673", + "file": "9b62e216e0fa9c92de2bef6ababf65997d7a0673.pt", + "normalized_text": "Move the handheld blue and silver stapler with the left arm to the Gray mat", + "raw_texts": [ + "Move the handheld blue and silver stapler with the left arm to the Gray mat" + ], + "num_links": 1 + }, + { + "key": "9bb24ecb19a9f63578d0b52f39c0c000e140b206", + "file": "9bb24ecb19a9f63578d0b52f39c0c000e140b206.pt", + "normalized_text": "Put the blue stapler with black handle area on the Green mat", + "raw_texts": [ + "Put the blue stapler with black handle area on the Green mat" + ], + "num_links": 1 + }, + { + "key": "9bdbcd8a35af940b3249ece65dd8d2a90535e72f", + "file": "9bdbcd8a35af940b3249ece65dd8d2a90535e72f.pt", + "normalized_text": "Grab the metal and plastic stapler with the right arm and drop it on Blue mat.", + "raw_texts": [ + "Grab the metal and plastic stapler with the right arm and drop it on Blue mat." + ], + "num_links": 1 + }, + { + "key": "9cd55d7ed1d3a37e69e0feebeccdc1a10140b907", + "file": "9cd55d7ed1d3a37e69e0feebeccdc1a10140b907.pt", + "normalized_text": "Place the manual blue stapler onto the Black colored mat", + "raw_texts": [ + "Place the manual blue stapler onto the Black colored mat" + ], + "num_links": 1 + }, + { + "key": "9d63ac93fe57a4d0407f4823d93fa080f01724ec", + "file": "9d63ac93fe57a4d0407f4823d93fa080f01724ec.pt", + "normalized_text": "With the left arm, move the blue stapler to the Cyan mat", + "raw_texts": [ + "With the left arm, move the blue stapler to the Cyan mat" + ], + "num_links": 1 + }, + { + "key": "9dab2d3efe8c5fb2be65f88cf62a314a8aa2b1b4", + "file": "9dab2d3efe8c5fb2be65f88cf62a314a8aa2b1b4.pt", + "normalized_text": "Use the left arm and place the compact blue stapler on Red mat.", + "raw_texts": [ + "Use the left arm and place the compact blue stapler on Red mat." + ], + "num_links": 1 + }, + { + "key": "9dd8cdbb86d86f1a1a977b8999ae1d5d0106d377", + "file": "9dd8cdbb86d86f1a1a977b8999ae1d5d0106d377.pt", + "normalized_text": "Move the blue plastic stapler with silver metal to the Gray mat with the left arm", + "raw_texts": [ + "Move the blue plastic stapler with silver metal to the Gray mat with the left arm" + ], + "num_links": 1 + }, + { + "key": "9e8331df30bf45e4ac42259277866c3723a37fbb", + "file": "9e8331df30bf45e4ac42259277866c3723a37fbb.pt", + "normalized_text": "Set the stapler for stapling paper down on the Yellow mat", + "raw_texts": [ + "Set the stapler for stapling paper down on the Yellow mat" + ], + "num_links": 1 + }, + { + "key": "9fed8d2d2a6e92bc9b07ed9072bd4886cfc7331e", + "file": "9fed8d2d2a6e92bc9b07ed9072bd4886cfc7331e.pt", + "normalized_text": "Lift the metal and plastic stapler and drop it onto Cyan mat", + "raw_texts": [ + "Lift the metal and plastic stapler and drop it onto Cyan mat" + ], + "num_links": 1 + }, + { + "key": "a01bdc1f373b871357df4a1b886f88979bdf99dd", + "file": "a01bdc1f373b871357df4a1b886f88979bdf99dd.pt", + "normalized_text": "Use the left arm to shift the lightweight red stapler onto the Black mat", + "raw_texts": [ + "Use the left arm to shift the lightweight red stapler onto the Black mat" + ], + "num_links": 1 + }, + { + "key": "a0387fee1216fce321d231ca29555486ae0b13f4", + "file": "a0387fee1216fce321d231ca29555486ae0b13f4.pt", + "normalized_text": "Position the compact stapler on the Magenta mat.", + "raw_texts": [ + "Position the compact stapler on the Magenta mat." + ], + "num_links": 1 + }, + { + "key": "a06b027a6c347dfecb80817dcf29c23f442a9ff0", + "file": "a06b027a6c347dfecb80817dcf29c23f442a9ff0.pt", + "normalized_text": "Grab the office stapler with plastic and metal parts with the right arm and drop it on Blue mat.", + "raw_texts": [ + "Grab the office stapler with plastic and metal parts with the right arm and drop it on Blue mat." + ], + "num_links": 1 + }, + { + "key": "a0efc0080ba6cd130a1c9ce3623d3c80475f238d", + "file": "a0efc0080ba6cd130a1c9ce3623d3c80475f238d.pt", + "normalized_text": "Place the stapler with silver inner plates onto the Magenta colored mat", + "raw_texts": [ + "Place the stapler with silver inner plates onto the Magenta colored mat" + ], + "num_links": 1 + }, + { + "key": "a1bdfb50ec76555f9d4db652489665e11b5e0a3d", + "file": "a1bdfb50ec76555f9d4db652489665e11b5e0a3d.pt", + "normalized_text": "Set the modern design stapler down on the Blue mat", + "raw_texts": [ + "Set the modern design stapler down on the Blue mat" + ], + "num_links": 1 + }, + { + "key": "a218a97da3a96a8eae37df3d202164f258417912", + "file": "a218a97da3a96a8eae37df3d202164f258417912.pt", + "normalized_text": "Place the stapler with metallic staple slot onto the Red colored mat.", + "raw_texts": [ + "Place the stapler with metallic staple slot onto the Red colored mat." + ], + "num_links": 1 + }, + { + "key": "a289cfde86fc73027bfababe72ccd3af5b0a82ac", + "file": "a289cfde86fc73027bfababe72ccd3af5b0a82ac.pt", + "normalized_text": "Place the stapler for fastening papers onto the Green colored mat", + "raw_texts": [ + "Place the stapler for fastening papers onto the Green colored mat" + ], + "num_links": 1 + }, + { + "key": "a296c36b0550d862b7e3262cb2ac6add7ee972b3", + "file": "a296c36b0550d862b7e3262cb2ac6add7ee972b3.pt", + "normalized_text": "the left arm moves the red stapler to the Gray mat.", + "raw_texts": [ + "the left arm moves the red stapler to the Gray mat." + ], + "num_links": 1 + }, + { + "key": "a2b100d2feab7ba35c6845a6082e58ae4501a18d", + "file": "a2b100d2feab7ba35c6845a6082e58ae4501a18d.pt", + "normalized_text": "Place the blue stapler onto the Cyan colored mat.", + "raw_texts": [ + "Place the blue stapler onto the Cyan colored mat." + ], + "num_links": 1 + }, + { + "key": "a50c10296cd932c16c98c707bef45d019a349f9d", + "file": "a50c10296cd932c16c98c707bef45d019a349f9d.pt", + "normalized_text": "Move the compact stapler to the Blue mat.", + "raw_texts": [ + "Move the compact stapler to the Blue mat." + ], + "num_links": 1 + }, + { + "key": "a709c1a8db5e5459f128038dca1087906320e189", + "file": "a709c1a8db5e5459f128038dca1087906320e189.pt", + "normalized_text": "Drop the bright blue smooth stapler onto the Cyan mat.", + "raw_texts": [ + "Drop the bright blue smooth stapler onto the Cyan mat." + ], + "num_links": 1 + }, + { + "key": "a713c16763f9f0d1e9b354e8197bdbbc345dc533", + "file": "a713c16763f9f0d1e9b354e8197bdbbc345dc533.pt", + "normalized_text": "Grab the red plastic stapler with smooth top, place it on the Cyan mat", + "raw_texts": [ + "Grab the red plastic stapler with smooth top, place it on the Cyan mat" + ], + "num_links": 1 + }, + { + "key": "a780780681e5a32088e707edef150450581370b6", + "file": "a780780681e5a32088e707edef150450581370b6.pt", + "normalized_text": "Pick the paper stapler with silver tray up and position it on Cyan mat", + "raw_texts": [ + "Pick the paper stapler with silver tray up and position it on Cyan mat" + ], + "num_links": 1 + }, + { + "key": "a7aa189fe2876f94d8749c2e6e2dee837100ba02", + "file": "a7aa189fe2876f94d8749c2e6e2dee837100ba02.pt", + "normalized_text": "Set the simple stapler onto the Black colored mat.", + "raw_texts": [ + "Set the simple stapler onto the Black colored mat." + ], + "num_links": 1 + }, + { + "key": "aa9c482f5a81d7e80525ee332892424c6deee186", + "file": "aa9c482f5a81d7e80525ee332892424c6deee186.pt", + "normalized_text": "Pick the compact bright blue stapler with the left arm and place it on Cyan mat", + "raw_texts": [ + "Pick the compact bright blue stapler with the left arm and place it on Cyan mat" + ], + "num_links": 1 + }, + { + "key": "aa9f008785f4bd181728d4c6ea758f6944ba3178", + "file": "aa9f008785f4bd181728d4c6ea758f6944ba3178.pt", + "normalized_text": "the right arm transfers the paper stapler with silver tray to the Green mat.", + "raw_texts": [ + "the right arm transfers the paper stapler with silver tray to the Green mat." + ], + "num_links": 1 + }, + { + "key": "ab015185cedb18a3d2a72a303ac99108dbb47dfb", + "file": "ab015185cedb18a3d2a72a303ac99108dbb47dfb.pt", + "normalized_text": "Set the black stapler with rectangular base on the Blue mat with the left arm.", + "raw_texts": [ + "Set the black stapler with rectangular base on the Blue mat with the left arm." + ], + "num_links": 1 + }, + { + "key": "ab43121b989db3d0dfa641ed19e8d4510bca6794", + "file": "ab43121b989db3d0dfa641ed19e8d4510bca6794.pt", + "normalized_text": "Shift the stapler in bright red color manually to the Red mat", + "raw_texts": [ + "Shift the stapler in bright red color manually to the Red mat" + ], + "num_links": 1 + }, + { + "key": "aba380b628eb2246dda4cfd2fe1515043f1201f1", + "file": "aba380b628eb2246dda4cfd2fe1515043f1201f1.pt", + "normalized_text": "Relocate the paper stapler with silver tray to the Magenta mat.", + "raw_texts": [ + "Relocate the paper stapler with silver tray to the Magenta mat." + ], + "num_links": 1 + }, + { + "key": "abdb5dc2a624c0f9774c98e9df35f28c363ec3f8", + "file": "abdb5dc2a624c0f9774c98e9df35f28c363ec3f8.pt", + "normalized_text": "Lift the curved red stapler to the Yellow mat using the left arm", + "raw_texts": [ + "Lift the curved red stapler to the Yellow mat using the left arm" + ], + "num_links": 1 + }, + { + "key": "ac5791509feeaf5b59385a56a6aa4538f2083f99", + "file": "ac5791509feeaf5b59385a56a6aa4538f2083f99.pt", + "normalized_text": "Lift the small red stapler to the Black mat using the right arm", + "raw_texts": [ + "Lift the small red stapler to the Black mat using the right arm" + ], + "num_links": 1 + }, + { + "key": "ac737d6f2d4c93999f82c5dd01b6ac9e75558778", + "file": "ac737d6f2d4c93999f82c5dd01b6ac9e75558778.pt", + "normalized_text": "Lift the small red stapler and drop it onto Red mat", + "raw_texts": [ + "Lift the small red stapler and drop it onto Red mat" + ], + "num_links": 1 + }, + { + "key": "ac86dac5e35a4299ab37b1f96e93b1e5bf287286", + "file": "ac86dac5e35a4299ab37b1f96e93b1e5bf287286.pt", + "normalized_text": "Use the right arm to shift the handheld blue and silver stapler onto the Cyan mat", + "raw_texts": [ + "Use the right arm to shift the handheld blue and silver stapler onto the Cyan mat" + ], + "num_links": 1 + }, + { + "key": "adf218b5bd3364e9fe85547f6b3858e2261420c0", + "file": "adf218b5bd3364e9fe85547f6b3858e2261420c0.pt", + "normalized_text": "Place the small red stapler onto the Black colored mat.", + "raw_texts": [ + "Place the small red stapler onto the Black colored mat." + ], + "num_links": 1 + }, + { + "key": "ae45b02ebc4004ef09b43dc9d0fac6e3ed3e7910", + "file": "ae45b02ebc4004ef09b43dc9d0fac6e3ed3e7910.pt", + "normalized_text": "Pick the blue plastic stapler with silver metal with the right arm and place it on Gray mat", + "raw_texts": [ + "Pick the blue plastic stapler with silver metal with the right arm and place it on Gray mat" + ], + "num_links": 1 + }, + { + "key": "ae85de1c24d6a5dbe2720636acd5db0193420049", + "file": "ae85de1c24d6a5dbe2720636acd5db0193420049.pt", + "normalized_text": "Set the manual stapler with black base on the Blue mat with the left arm.", + "raw_texts": [ + "Set the manual stapler with black base on the Blue mat with the left arm." + ], + "num_links": 1 + }, + { + "key": "b1317ded066b8c901a3c095714d12300284a48e5", + "file": "b1317ded066b8c901a3c095714d12300284a48e5.pt", + "normalized_text": "With the left arm, move the black stapler with rectangular base to the Green mat", + "raw_texts": [ + "With the left arm, move the black stapler with rectangular base to the Green mat" + ], + "num_links": 1 + }, + { + "key": "b18f8a35dae555fc0cb909f5bbc10cab8384865f", + "file": "b18f8a35dae555fc0cb909f5bbc10cab8384865f.pt", + "normalized_text": "Transfer the handheld stapler to the Black colored mat.", + "raw_texts": [ + "Transfer the handheld stapler to the Black colored mat." + ], + "num_links": 1 + }, + { + "key": "b19a539c46a2188336bfbc14d2a8f9aef7d09762", + "file": "b19a539c46a2188336bfbc14d2a8f9aef7d09762.pt", + "normalized_text": "Lift the stapler with silver staple tray to the Gray mat using the left arm", + "raw_texts": [ + "Lift the stapler with silver staple tray to the Gray mat using the left arm" + ], + "num_links": 1 + }, + { + "key": "b1ad22942762e338fd4ea6e6f35c699623a5477b", + "file": "b1ad22942762e338fd4ea6e6f35c699623a5477b.pt", + "normalized_text": "Place the blue stapler on the Yellow mat using the left arm", + "raw_texts": [ + "Place the blue stapler on the Yellow mat using the left arm" + ], + "num_links": 1 + }, + { + "key": "b1cb8676757b52c65d17f20a3b82a1144fed0e7b", + "file": "b1cb8676757b52c65d17f20a3b82a1144fed0e7b.pt", + "normalized_text": "Drop the blue stapler with ergonomic curve onto the Yellow mat.", + "raw_texts": [ + "Drop the blue stapler with ergonomic curve onto the Yellow mat." + ], + "num_links": 1 + }, + { + "key": "b1e28f46665721fd4cc0fe22e80947cb555b4525", + "file": "b1e28f46665721fd4cc0fe22e80947cb555b4525.pt", + "normalized_text": "Set the stapler with silver inner plates onto the Magenta colored mat.", + "raw_texts": [ + "Set the stapler with silver inner plates onto the Magenta colored mat." + ], + "num_links": 1 + }, + { + "key": "b1fb6fef9ae081b0eec7a83f3df7e3930d0f827a", + "file": "b1fb6fef9ae081b0eec7a83f3df7e3930d0f827a.pt", + "normalized_text": "Pick the lightweight red stapler up and position it on Cyan mat", + "raw_texts": [ + "Pick the lightweight red stapler up and position it on Cyan mat" + ], + "num_links": 1 + }, + { + "key": "b2b5c4c7771ea3210edf0561b0caedacafeab185", + "file": "b2b5c4c7771ea3210edf0561b0caedacafeab185.pt", + "normalized_text": "Use the right arm and place the stapler with orange top lever on Gray mat.", + "raw_texts": [ + "Use the right arm and place the stapler with orange top lever on Gray mat." + ], + "num_links": 1 + }, + { + "key": "b3219efb1ebd7014badf87972fe7c1adc28fa5e8", + "file": "b3219efb1ebd7014badf87972fe7c1adc28fa5e8.pt", + "normalized_text": "Pick the compact office stapler up and position it on Gray mat", + "raw_texts": [ + "Pick the compact office stapler up and position it on Gray mat" + ], + "num_links": 1 + }, + { + "key": "b33084a49dc16df32144dadc7319714dc55efb14", + "file": "b33084a49dc16df32144dadc7319714dc55efb14.pt", + "normalized_text": "Set the compact red stapler with silver accents on the Blue mat with the right arm.", + "raw_texts": [ + "Set the compact red stapler with silver accents on the Blue mat with the right arm." + ], + "num_links": 1 + }, + { + "key": "b5602a47c19760e430ed04df5b47f61361c111b6", + "file": "b5602a47c19760e430ed04df5b47f61361c111b6.pt", + "normalized_text": "Transfer the curved blue and silver stapler to the Black mat", + "raw_texts": [ + "Transfer the curved blue and silver stapler to the Black mat" + ], + "num_links": 1 + }, + { + "key": "b69e26263275c231c95cd1891ffdd54fb5d10478", + "file": "b69e26263275c231c95cd1891ffdd54fb5d10478.pt", + "normalized_text": "Place the black stapler with curved top onto the Green colored mat.", + "raw_texts": [ + "Place the black stapler with curved top onto the Green colored mat." + ], + "num_links": 1 + }, + { + "key": "b6a7fd3b4d27832fc74f51bfdd8d3adfd04d956a", + "file": "b6a7fd3b4d27832fc74f51bfdd8d3adfd04d956a.pt", + "normalized_text": "Put the plastic and metal stapler on the Green mat", + "raw_texts": [ + "Put the plastic and metal stapler on the Green mat" + ], + "num_links": 1 + }, + { + "key": "b6cfc483323c8206a494feda9efd96977b6c0a3a", + "file": "b6cfc483323c8206a494feda9efd96977b6c0a3a.pt", + "normalized_text": "Shift the compact blue stapler manually to the Blue mat", + "raw_texts": [ + "Shift the compact blue stapler manually to the Blue mat" + ], + "num_links": 1 + }, + { + "key": "b75cd43069eb9e4635379ac0e6ea5e505db3728e", + "file": "b75cd43069eb9e4635379ac0e6ea5e505db3728e.pt", + "normalized_text": "Pick the red plastic stapler with smooth top with the right arm and place it on Blue mat", + "raw_texts": [ + "Pick the red plastic stapler with smooth top with the right arm and place it on Blue mat" + ], + "num_links": 1 + }, + { + "key": "b785e043da8a57ebbf7fa9ec5b0637ef4560628c", + "file": "b785e043da8a57ebbf7fa9ec5b0637ef4560628c.pt", + "normalized_text": "Transfer the stapler with silver inner plates to the Red colored mat.", + "raw_texts": [ + "Transfer the stapler with silver inner plates to the Red colored mat." + ], + "num_links": 1 + }, + { + "key": "b7caf04106a9ff77e43b5a7f8550a472f35f1e21", + "file": "b7caf04106a9ff77e43b5a7f8550a472f35f1e21.pt", + "normalized_text": "Set the handheld red stapler onto the Magenta colored mat.", + "raw_texts": [ + "Set the handheld red stapler onto the Magenta colored mat." + ], + "num_links": 1 + }, + { + "key": "b8243a7b0dfeca7c16588c0f6f08ca726930521d", + "file": "b8243a7b0dfeca7c16588c0f6f08ca726930521d.pt", + "normalized_text": "Move the stapler for stapling paper with the right arm to the Gray mat", + "raw_texts": [ + "Move the stapler for stapling paper with the right arm to the Gray mat" + ], + "num_links": 1 + }, + { + "key": "b89c62a84200bb49e9348f5af8fb6d6d0f35b208", + "file": "b89c62a84200bb49e9348f5af8fb6d6d0f35b208.pt", + "normalized_text": "the right arm places the compact stapler on the Yellow mat.", + "raw_texts": [ + "the right arm places the compact stapler on the Yellow mat." + ], + "num_links": 1 + }, + { + "key": "b8df1cc2bb56e0335700dee501cd0283d54f5129", + "file": "b8df1cc2bb56e0335700dee501cd0283d54f5129.pt", + "normalized_text": "Stick the plastic and metal stapler onto the Red colored mat.", + "raw_texts": [ + "Stick the plastic and metal stapler onto the Red colored mat." + ], + "num_links": 1 + }, + { + "key": "b8e4a5b0bf23e6f257b1219d27ef4bb308a1d67e", + "file": "b8e4a5b0bf23e6f257b1219d27ef4bb308a1d67e.pt", + "normalized_text": "Relocate the compact blue stapler to the Magenta colored mat", + "raw_texts": [ + "Relocate the compact blue stapler to the Magenta colored mat" + ], + "num_links": 1 + }, + { + "key": "b924e3f1c9f06a75a7726e6566fa1030933b0476", + "file": "b924e3f1c9f06a75a7726e6566fa1030933b0476.pt", + "normalized_text": "Using the right arm, set the desk stapler with red body on the Red colored mat", + "raw_texts": [ + "Using the right arm, set the desk stapler with red body on the Red colored mat" + ], + "num_links": 1 + }, + { + "key": "b9ac7bd25eb20deaba135d1ecdcecf5edba75808", + "file": "b9ac7bd25eb20deaba135d1ecdcecf5edba75808.pt", + "normalized_text": "Grab the stapler for fastening papers with the left arm and drop it on Green mat.", + "raw_texts": [ + "Grab the stapler for fastening papers with the left arm and drop it on Green mat." + ], + "num_links": 1 + }, + { + "key": "b9d6076162104a115435eb0c1dac5434cee9c1b2", + "file": "b9d6076162104a115435eb0c1dac5434cee9c1b2.pt", + "normalized_text": "Drop the black stapler with smooth finish onto the Red mat.", + "raw_texts": [ + "Drop the black stapler with smooth finish onto the Red mat." + ], + "num_links": 1 + }, + { + "key": "ba26ae0a5d1a462a545b419b0d44a42ae18b8e3c", + "file": "ba26ae0a5d1a462a545b419b0d44a42ae18b8e3c.pt", + "normalized_text": "Drop the lightweight red stapler carefully on the Yellow mat", + "raw_texts": [ + "Drop the lightweight red stapler carefully on the Yellow mat" + ], + "num_links": 1 + }, + { + "key": "ba6dc7b89d68389be83355b8bd0b0783d7dde7e1", + "file": "ba6dc7b89d68389be83355b8bd0b0783d7dde7e1.pt", + "normalized_text": "Grab the stapler with silver inner plates, place it on the Gray mat", + "raw_texts": [ + "Grab the stapler with silver inner plates, place it on the Gray mat" + ], + "num_links": 1 + }, + { + "key": "bc9bba8e17d7be1de8dabb9e049727f1247aecc2", + "file": "bc9bba8e17d7be1de8dabb9e049727f1247aecc2.pt", + "normalized_text": "With the left arm, move the compact black stapler to the Green mat", + "raw_texts": [ + "With the left arm, move the compact black stapler to the Green mat" + ], + "num_links": 1 + }, + { + "key": "bcc34e0d5063ddff634caa6648c53ab96b9c37af", + "file": "bcc34e0d5063ddff634caa6648c53ab96b9c37af.pt", + "normalized_text": "Set the stapler with rectangular silver mechanism onto the Yellow colored mat.", + "raw_texts": [ + "Set the stapler with rectangular silver mechanism onto the Yellow colored mat." + ], + "num_links": 1 + }, + { + "key": "bccd3519a3a550a99305699067fdc4d908284f2c", + "file": "bccd3519a3a550a99305699067fdc4d908284f2c.pt", + "normalized_text": "Place the metal and plastic stapler onto the Red colored mat", + "raw_texts": [ + "Place the metal and plastic stapler onto the Red colored mat" + ], + "num_links": 1 + }, + { + "key": "bdfdd3367fe6779814376c0d2b8cb84d0f8416c5", + "file": "bdfdd3367fe6779814376c0d2b8cb84d0f8416c5.pt", + "normalized_text": "Use the right arm to place the stapler with white metallic components onto the Green mat", + "raw_texts": [ + "Use the right arm to place the stapler with white metallic components onto the Green mat" + ], + "num_links": 1 + }, + { + "key": "be1e8855ea508e4e1711b555d1aacfedfaa8f839", + "file": "be1e8855ea508e4e1711b555d1aacfedfaa8f839.pt", + "normalized_text": "Lift the compact office stapler and drop it onto Yellow mat", + "raw_texts": [ + "Lift the compact office stapler and drop it onto Yellow mat" + ], + "num_links": 1 + }, + { + "key": "beb45f21ea7cbae428351da8ba795fc56f2df0f2", + "file": "beb45f21ea7cbae428351da8ba795fc56f2df0f2.pt", + "normalized_text": "Place the plastic stapler with metallic interior onto the Red colored mat", + "raw_texts": [ + "Place the plastic stapler with metallic interior onto the Red colored mat" + ], + "num_links": 1 + }, + { + "key": "beb6fa35d91926c162e9e1b67e5f1914fbfda58a", + "file": "beb6fa35d91926c162e9e1b67e5f1914fbfda58a.pt", + "normalized_text": "Place the stapler with silver inner plates onto the Black colored mat", + "raw_texts": [ + "Place the stapler with silver inner plates onto the Black colored mat" + ], + "num_links": 1 + }, + { + "key": "bed7410d783e30b74985700b13ebfce19de722a6", + "file": "bed7410d783e30b74985700b13ebfce19de722a6.pt", + "normalized_text": "Pick the compact stapler up and position it on Gray mat", + "raw_texts": [ + "Pick the compact stapler up and position it on Gray mat" + ], + "num_links": 1 + }, + { + "key": "bedb1baa170f36f086bbc8a0c51e02be47233f70", + "file": "bedb1baa170f36f086bbc8a0c51e02be47233f70.pt", + "normalized_text": "Set the stapler with silver staple tray down on the Magenta mat", + "raw_texts": [ + "Set the stapler with silver staple tray down on the Magenta mat" + ], + "num_links": 1 + }, + { + "key": "bee04d0968aa63d89989f6ef3490d091a27ee7b3", + "file": "bee04d0968aa63d89989f6ef3490d091a27ee7b3.pt", + "normalized_text": "Carry the manual stapler with black base and drop it onto the Magenta mat", + "raw_texts": [ + "Carry the manual stapler with black base and drop it onto the Magenta mat" + ], + "num_links": 1 + }, + { + "key": "bf252eaa2881144c4340f3860a2756c1ff42fe6a", + "file": "bf252eaa2881144c4340f3860a2756c1ff42fe6a.pt", + "normalized_text": "the right arm transfers the compact office stapler to the Red mat.", + "raw_texts": [ + "the right arm transfers the compact office stapler to the Red mat." + ], + "num_links": 1 + }, + { + "key": "bf451426dc79278a95e83c42c2806ae4b6a84973", + "file": "bf451426dc79278a95e83c42c2806ae4b6a84973.pt", + "normalized_text": "Set the stapler with rounded edges onto the Black colored mat.", + "raw_texts": [ + "Set the stapler with rounded edges onto the Black colored mat." + ], + "num_links": 1 + }, + { + "key": "bf45e30cdea9c2ecb2c6f7b54521fc66ef11a8ea", + "file": "bf45e30cdea9c2ecb2c6f7b54521fc66ef11a8ea.pt", + "normalized_text": "Set the plastic stapler with silver mechanism on the Black mat with the right arm.", + "raw_texts": [ + "Set the plastic stapler with silver mechanism on the Black mat with the right arm." + ], + "num_links": 1 + }, + { + "key": "c0c8380750bbe361f20d366a719b25799468f1f9", + "file": "c0c8380750bbe361f20d366a719b25799468f1f9.pt", + "normalized_text": "the left arm grabs the bright blue smooth stapler and sets it on Green mat.", + "raw_texts": [ + "the left arm grabs the bright blue smooth stapler and sets it on Green mat." + ], + "num_links": 1 + }, + { + "key": "c1161dcb7ebf5ddf119627f6170f145ebb9e8932", + "file": "c1161dcb7ebf5ddf119627f6170f145ebb9e8932.pt", + "normalized_text": "Move the metallic stapler with blue cover with the right arm to the Gray mat", + "raw_texts": [ + "Move the metallic stapler with blue cover with the right arm to the Gray mat" + ], + "num_links": 1 + }, + { + "key": "c22fc3d486242b40393c254589bb2c207bdae31a", + "file": "c22fc3d486242b40393c254589bb2c207bdae31a.pt", + "normalized_text": "Transfer the red plastic stapler with smooth top to the Cyan colored mat.", + "raw_texts": [ + "Transfer the red plastic stapler with smooth top to the Cyan colored mat." + ], + "num_links": 1 + }, + { + "key": "c48f608d4076e8fb5e17023522205f9f2ab9b6d0", + "file": "c48f608d4076e8fb5e17023522205f9f2ab9b6d0.pt", + "normalized_text": "Grab the plastic stapler with metal on base with the left arm and drop it on Yellow mat.", + "raw_texts": [ + "Grab the plastic stapler with metal on base with the left arm and drop it on Yellow mat." + ], + "num_links": 1 + }, + { + "key": "c4c23916a341a367e0de45644846272e39f04a20", + "file": "c4c23916a341a367e0de45644846272e39f04a20.pt", + "normalized_text": "Place the metallic stapler with red body on the Green mat using the left arm", + "raw_texts": [ + "Place the metallic stapler with red body on the Green mat using the left arm" + ], + "num_links": 1 + }, + { + "key": "c5cfebde7bad60eae3542b2842c4481be3c9018f", + "file": "c5cfebde7bad60eae3542b2842c4481be3c9018f.pt", + "normalized_text": "Pick the small office stapler using the left arm and move it to Yellow mat.", + "raw_texts": [ + "Pick the small office stapler using the left arm and move it to Yellow mat." + ], + "num_links": 1 + }, + { + "key": "c72ad56998367b4872ea44ffaea311b58aff62e2", + "file": "c72ad56998367b4872ea44ffaea311b58aff62e2.pt", + "normalized_text": "Drop the red plastic stapler with smooth top carefully on the Blue mat", + "raw_texts": [ + "Drop the red plastic stapler with smooth top carefully on the Blue mat" + ], + "num_links": 1 + }, + { + "key": "c85887f0fc65dc88de0c03c62829831c9aa76f7a", + "file": "c85887f0fc65dc88de0c03c62829831c9aa76f7a.pt", + "normalized_text": "Use the right arm to shift the blue stapler for paper fastening onto the Green mat", + "raw_texts": [ + "Use the right arm to shift the blue stapler for paper fastening onto the Green mat" + ], + "num_links": 1 + }, + { + "key": "c87065e31d4d6e6b6d2bd1b78d49ed46573ea323", + "file": "c87065e31d4d6e6b6d2bd1b78d49ed46573ea323.pt", + "normalized_text": "Drop the stapler with silver inner plates carefully on the Black mat", + "raw_texts": [ + "Drop the stapler with silver inner plates carefully on the Black mat" + ], + "num_links": 1 + }, + { + "key": "c87bc8fe59a2e9bcd748707e4657f0baa30d33d3", + "file": "c87bc8fe59a2e9bcd748707e4657f0baa30d33d3.pt", + "normalized_text": "the left arm grabs the metallic stapler with blue cover and sets it on Magenta mat.", + "raw_texts": [ + "the left arm grabs the metallic stapler with blue cover and sets it on Magenta mat." + ], + "num_links": 1 + }, + { + "key": "c94837a4502b25b068d2cdce018972183cbb1e87", + "file": "c94837a4502b25b068d2cdce018972183cbb1e87.pt", + "normalized_text": "Carry the curved blue and silver stapler to the Green colored mat", + "raw_texts": [ + "Carry the curved blue and silver stapler to the Green colored mat" + ], + "num_links": 1 + }, + { + "key": "c9dd2f8203861c5beb7fa70581da5d23d421fac5", + "file": "c9dd2f8203861c5beb7fa70581da5d23d421fac5.pt", + "normalized_text": "Relocate the handy blue stapler with metal parts to the Magenta mat.", + "raw_texts": [ + "Relocate the handy blue stapler with metal parts to the Magenta mat." + ], + "num_links": 1 + }, + { + "key": "cbfa262ace0c49807c86d388a7eb4d954d7299d3", + "file": "cbfa262ace0c49807c86d388a7eb4d954d7299d3.pt", + "normalized_text": "Move the small black stapler with metal core to the Red mat.", + "raw_texts": [ + "Move the small black stapler with metal core to the Red mat." + ], + "num_links": 1 + }, + { + "key": "cc8ca44187c795e48cc1907a36e599a38b0dc0df", + "file": "cc8ca44187c795e48cc1907a36e599a38b0dc0df.pt", + "normalized_text": "Use the left arm to grab the metallic stapler with red body and place it on Gray mat", + "raw_texts": [ + "Use the left arm to grab the metallic stapler with red body and place it on Gray mat" + ], + "num_links": 1 + }, + { + "key": "cd59c4a78842239081a3d08cf16a9c6ab6db5c73", + "file": "cd59c4a78842239081a3d08cf16a9c6ab6db5c73.pt", + "normalized_text": "Pick the plastic stapler with metal top using the left arm and move it to Cyan mat.", + "raw_texts": [ + "Pick the plastic stapler with metal top using the left arm and move it to Cyan mat." + ], + "num_links": 1 + }, + { + "key": "cdc5d2fcd3d57a31478f33ecde8205c6c6932dfc", + "file": "cdc5d2fcd3d57a31478f33ecde8205c6c6932dfc.pt", + "normalized_text": "Relocate the stapler for stapling paper to the Blue mat.", + "raw_texts": [ + "Relocate the stapler for stapling paper to the Blue mat." + ], + "num_links": 1 + }, + { + "key": "ceaf76cf1ac7d71ec4802dc65b4b150e19daefa5", + "file": "ceaf76cf1ac7d71ec4802dc65b4b150e19daefa5.pt", + "normalized_text": "Relocate the bright blue smooth stapler to the Red colored mat", + "raw_texts": [ + "Relocate the bright blue smooth stapler to the Red colored mat" + ], + "num_links": 1 + }, + { + "key": "ceb3c4dc358665f5a46bbd1b07ab185aecab8514", + "file": "ceb3c4dc358665f5a46bbd1b07ab185aecab8514.pt", + "normalized_text": "the right arm grabs the compact stapler and sets it on Green mat.", + "raw_texts": [ + "the right arm grabs the compact stapler and sets it on Green mat." + ], + "num_links": 1 + }, + { + "key": "cf9281d0249c4d2df5d6869bb0aa863927b9e906", + "file": "cf9281d0249c4d2df5d6869bb0aa863927b9e906.pt", + "normalized_text": "the right arm moves the blue stapler with curved design to the Gray mat.", + "raw_texts": [ + "the right arm moves the blue stapler with curved design to the Gray mat." + ], + "num_links": 1 + }, + { + "key": "d012e0c7f01ce1bef98fd4d1f2db0598f9b259fb", + "file": "d012e0c7f01ce1bef98fd4d1f2db0598f9b259fb.pt", + "normalized_text": "Move the small red stapler to the Gray mat with the right arm", + "raw_texts": [ + "Move the small red stapler to the Gray mat with the right arm" + ], + "num_links": 1 + }, + { + "key": "d1758bd32afd00c87ecbe3df7c56e06020a4bcda", + "file": "d1758bd32afd00c87ecbe3df7c56e06020a4bcda.pt", + "normalized_text": "Move the manual stapler with black base with the left arm to the Yellow mat", + "raw_texts": [ + "Move the manual stapler with black base with the left arm to the Yellow mat" + ], + "num_links": 1 + }, + { + "key": "d19c4e77e338f5bc1e815266bae9a6fb58d93c36", + "file": "d19c4e77e338f5bc1e815266bae9a6fb58d93c36.pt", + "normalized_text": "Transfer the manual blue stapler to the Yellow colored mat.", + "raw_texts": [ + "Transfer the manual blue stapler to the Yellow colored mat." + ], + "num_links": 1 + }, + { + "key": "d2508d0ebdc909d6e9335e89e4906d003433bc86", + "file": "d2508d0ebdc909d6e9335e89e4906d003433bc86.pt", + "normalized_text": "Place the manual stapler with black base onto the Blue colored mat", + "raw_texts": [ + "Place the manual stapler with black base onto the Blue colored mat" + ], + "num_links": 1 + }, + { + "key": "d29c2a3ae8846cf6cda579215611b665fa3bda6c", + "file": "d29c2a3ae8846cf6cda579215611b665fa3bda6c.pt", + "normalized_text": "Move the stapler with silver staple tray with the left arm to the Magenta mat", + "raw_texts": [ + "Move the stapler with silver staple tray with the left arm to the Magenta mat" + ], + "num_links": 1 + }, + { + "key": "d2fcc31aec29c05e5d6d2f28893b589958bda7ab", + "file": "d2fcc31aec29c05e5d6d2f28893b589958bda7ab.pt", + "normalized_text": "Set the black stapler for joining pages down on the Red mat", + "raw_texts": [ + "Set the black stapler for joining pages down on the Red mat" + ], + "num_links": 1 + }, + { + "key": "d2ffb29368a04b4a0f889aaf51d8582beb816857", + "file": "d2ffb29368a04b4a0f889aaf51d8582beb816857.pt", + "normalized_text": "Grab the stapler with silver inner plates with the left arm and drop it on Yellow mat.", + "raw_texts": [ + "Grab the stapler with silver inner plates with the left arm and drop it on Yellow mat." + ], + "num_links": 1 + }, + { + "key": "d338a00d0a1d2f37a94dead433c09f01b60b20fd", + "file": "d338a00d0a1d2f37a94dead433c09f01b60b20fd.pt", + "normalized_text": "Pick up the metallic stapler with red body with the right arm and set it on Gray", + "raw_texts": [ + "Pick up the metallic stapler with red body with the right arm and set it on Gray" + ], + "num_links": 1 + }, + { + "key": "d44ec88039ecef7661487422859ab580ae45b205", + "file": "d44ec88039ecef7661487422859ab580ae45b205.pt", + "normalized_text": "Slide the stapler with orange top lever to the Green colored mat.", + "raw_texts": [ + "Slide the stapler with orange top lever to the Green colored mat." + ], + "num_links": 1 + }, + { + "key": "d504f0ae0b136a6ee66857d3abc1d2fa5fdf6465", + "file": "d504f0ae0b136a6ee66857d3abc1d2fa5fdf6465.pt", + "normalized_text": "Set the handheld stapler onto the Gray colored mat.", + "raw_texts": [ + "Set the handheld stapler onto the Gray colored mat." + ], + "num_links": 1 + }, + { + "key": "d586b44796097e1f796e46edc29bdfd326c7a581", + "file": "d586b44796097e1f796e46edc29bdfd326c7a581.pt", + "normalized_text": "Stick the handy blue stapler with metal parts onto the Cyan colored mat.", + "raw_texts": [ + "Stick the handy blue stapler with metal parts onto the Cyan colored mat." + ], + "num_links": 1 + }, + { + "key": "d5f198721116f17a6261cf22df6edf8326e1f106", + "file": "d5f198721116f17a6261cf22df6edf8326e1f106.pt", + "normalized_text": "Carry the red stapler with black base to the Yellow colored mat", + "raw_texts": [ + "Carry the red stapler with black base to the Yellow colored mat" + ], + "num_links": 1 + }, + { + "key": "d76428696e8ea38a134e45e090850ea1e5bb76c6", + "file": "d76428696e8ea38a134e45e090850ea1e5bb76c6.pt", + "normalized_text": "Set the paper stapler with silver tray onto the Black colored mat.", + "raw_texts": [ + "Set the paper stapler with silver tray onto the Black colored mat." + ], + "num_links": 1 + }, + { + "key": "d77867e6f58cc31cab9d11a1e7e9324fb9648454", + "file": "d77867e6f58cc31cab9d11a1e7e9324fb9648454.pt", + "normalized_text": "Stick the white body stapler with accents onto the Red colored mat.", + "raw_texts": [ + "Stick the white body stapler with accents onto the Red colored mat." + ], + "num_links": 1 + }, + { + "key": "d80f1a1aae1f858c66fcf9000375265ccc6bb42a", + "file": "d80f1a1aae1f858c66fcf9000375265ccc6bb42a.pt", + "normalized_text": "Grab the handheld stapler and stick it onto Cyan mat", + "raw_texts": [ + "Grab the handheld stapler and stick it onto Cyan mat" + ], + "num_links": 1 + }, + { + "key": "d89a9c2267fb9e136854b1fa63974233e0d1b192", + "file": "d89a9c2267fb9e136854b1fa63974233e0d1b192.pt", + "normalized_text": "Carry the small handheld stapler to the Magenta colored mat", + "raw_texts": [ + "Carry the small handheld stapler to the Magenta colored mat" + ], + "num_links": 1 + }, + { + "key": "d89d828c0c5c9dc4abbca1f9728b2d42cf7babea", + "file": "d89d828c0c5c9dc4abbca1f9728b2d42cf7babea.pt", + "normalized_text": "Use the left arm to place the stapler with orange top lever onto the Blue mat", + "raw_texts": [ + "Use the left arm to place the stapler with orange top lever onto the Blue mat" + ], + "num_links": 1 + }, + { + "key": "d8b120c746cf523679f53eacd14fe0f906be29ce", + "file": "d8b120c746cf523679f53eacd14fe0f906be29ce.pt", + "normalized_text": "Place the blue stapler with shiny silver parts onto the Cyan colored mat", + "raw_texts": [ + "Place the blue stapler with shiny silver parts onto the Cyan colored mat" + ], + "num_links": 1 + }, + { + "key": "da0a5f4381ba06c0dbcc39e1fd9226f16380b7d2", + "file": "da0a5f4381ba06c0dbcc39e1fd9226f16380b7d2.pt", + "normalized_text": "Transfer the curved red stapler to the Black colored mat.", + "raw_texts": [ + "Transfer the curved red stapler to the Black colored mat." + ], + "num_links": 1 + }, + { + "key": "daa343644f316427b97858e3c0ed8b909872ca67", + "file": "daa343644f316427b97858e3c0ed8b909872ca67.pt", + "normalized_text": "With the right arm, position the red stapler for binding papers on the Yellow mat", + "raw_texts": [ + "With the right arm, position the red stapler for binding papers on the Yellow mat" + ], + "num_links": 1 + }, + { + "key": "dae988c1b644683d780b196ff424af8f819877ff", + "file": "dae988c1b644683d780b196ff424af8f819877ff.pt", + "normalized_text": "Drop the red stapler with black base carefully on the Yellow mat", + "raw_texts": [ + "Drop the red stapler with black base carefully on the Yellow mat" + ], + "num_links": 1 + }, + { + "key": "daee52d220b1e7fc3060685db39bd063d979f689", + "file": "daee52d220b1e7fc3060685db39bd063d979f689.pt", + "normalized_text": "With the left arm, position the metallic stapler with red body on the Red mat", + "raw_texts": [ + "With the left arm, position the metallic stapler with red body on the Red mat" + ], + "num_links": 1 + }, + { + "key": "dbd3e58d8a8fafab02c9f628095aa3673afcbab6", + "file": "dbd3e58d8a8fafab02c9f628095aa3673afcbab6.pt", + "normalized_text": "Grab the small handheld stapler using the right arm and shift it to Red", + "raw_texts": [ + "Grab the small handheld stapler using the right arm and shift it to Red" + ], + "num_links": 1 + }, + { + "key": "dcba2be6e79b7e70c077ea650a9cda48f87752cc", + "file": "dcba2be6e79b7e70c077ea650a9cda48f87752cc.pt", + "normalized_text": "Pick the red stapler up and position it on Black mat", + "raw_texts": [ + "Pick the red stapler up and position it on Black mat" + ], + "num_links": 1 + }, + { + "key": "dcc35fdc4c83bd775958213df5c67b337c2cc879", + "file": "dcc35fdc4c83bd775958213df5c67b337c2cc879.pt", + "normalized_text": "Drop the stapler with smooth blue finish carefully on the Blue mat", + "raw_texts": [ + "Drop the stapler with smooth blue finish carefully on the Blue mat" + ], + "num_links": 1 + }, + { + "key": "dcca59db96387fd952a404ecfab249f06c7e728b", + "file": "dcca59db96387fd952a404ecfab249f06c7e728b.pt", + "normalized_text": "Carry the red stapler to the Red colored mat", + "raw_texts": [ + "Carry the red stapler to the Red colored mat" + ], + "num_links": 1 + }, + { + "key": "dd2b789d267fc15f9d300b8d287785c4f351a61c", + "file": "dd2b789d267fc15f9d300b8d287785c4f351a61c.pt", + "normalized_text": "Carry the manual blue stapler to the Cyan colored mat", + "raw_texts": [ + "Carry the manual blue stapler to the Cyan colored mat" + ], + "num_links": 1 + }, + { + "key": "dd87da38f76a696a19a3d90be49c0d3d4d8bba29", + "file": "dd87da38f76a696a19a3d90be49c0d3d4d8bba29.pt", + "normalized_text": "Set the manual stapler with black base on the Green mat with the left arm.", + "raw_texts": [ + "Set the manual stapler with black base on the Green mat with the left arm." + ], + "num_links": 1 + }, + { + "key": "ddcc3104436f7b9bbf118d59d26099090251204d", + "file": "ddcc3104436f7b9bbf118d59d26099090251204d.pt", + "normalized_text": "Transfer the compact stapler with smooth surface to the Cyan mat", + "raw_texts": [ + "Transfer the compact stapler with smooth surface to the Cyan mat" + ], + "num_links": 1 + }, + { + "key": "ddf55356e2e46664272547977ca802273b852d74", + "file": "ddf55356e2e46664272547977ca802273b852d74.pt", + "normalized_text": "With the right arm, move the black stapler with rectangular base to the Green mat", + "raw_texts": [ + "With the right arm, move the black stapler with rectangular base to the Green mat" + ], + "num_links": 1 + }, + { + "key": "de3a529ff5fb88724d289976288699bb67b15904", + "file": "de3a529ff5fb88724d289976288699bb67b15904.pt", + "normalized_text": "With the right arm, move the plastic and metal stapler to the Blue mat", + "raw_texts": [ + "With the right arm, move the plastic and metal stapler to the Blue mat" + ], + "num_links": 1 + }, + { + "key": "dea1ddf3929b04788ec04e7a2b673f7a28aa675e", + "file": "dea1ddf3929b04788ec04e7a2b673f7a28aa675e.pt", + "normalized_text": "Stick the curved black stapler onto the Blue colored mat.", + "raw_texts": [ + "Stick the curved black stapler onto the Blue colored mat." + ], + "num_links": 1 + }, + { + "key": "deaac2bb881e5405c591e605b794e26d383fab77", + "file": "deaac2bb881e5405c591e605b794e26d383fab77.pt", + "normalized_text": "Pick the handy blue stapler with metal parts with the left arm and place it on Cyan mat", + "raw_texts": [ + "Pick the handy blue stapler with metal parts with the left arm and place it on Cyan mat" + ], + "num_links": 1 + }, + { + "key": "dec98b618300258df783bc7fe5473723548df36a", + "file": "dec98b618300258df783bc7fe5473723548df36a.pt", + "normalized_text": "the left arm grabs the stapler for stapling paper and sets it on Black mat.", + "raw_texts": [ + "the left arm grabs the stapler for stapling paper and sets it on Black mat." + ], + "num_links": 1 + }, + { + "key": "decfaf85525b4152440488fb2aebca0929d4ee39", + "file": "decfaf85525b4152440488fb2aebca0929d4ee39.pt", + "normalized_text": "Shift the stapler with red top manually to the Gray mat", + "raw_texts": [ + "Shift the stapler with red top manually to the Gray mat" + ], + "num_links": 1 + }, + { + "key": "df321e2fa5a0fd7e328f9a05ad7c2001f9fc2dcd", + "file": "df321e2fa5a0fd7e328f9a05ad7c2001f9fc2dcd.pt", + "normalized_text": "With the right arm, move the blue stapler with shiny silver parts to the Yellow mat", + "raw_texts": [ + "With the right arm, move the blue stapler with shiny silver parts to the Yellow mat" + ], + "num_links": 1 + }, + { + "key": "df55f89685a099c927212324e41592fed35cdd25", + "file": "df55f89685a099c927212324e41592fed35cdd25.pt", + "normalized_text": "Use the right arm to grab the stapler with white metallic components and place it on Magenta mat", + "raw_texts": [ + "Use the right arm to grab the stapler with white metallic components and place it on Magenta mat" + ], + "num_links": 1 + }, + { + "key": "dfbd3061218c3c4c0cf1a058945f3cd7b5e293fa", + "file": "dfbd3061218c3c4c0cf1a058945f3cd7b5e293fa.pt", + "normalized_text": "Lift the paper stapler with silver tray to the Magenta mat using the left arm", + "raw_texts": [ + "Lift the paper stapler with silver tray to the Magenta mat using the left arm" + ], + "num_links": 1 + }, + { + "key": "dfd695637785b25f8c1273f831aae1bace620027", + "file": "dfd695637785b25f8c1273f831aae1bace620027.pt", + "normalized_text": "Place the stapler with white metallic components onto the Cyan colored mat.", + "raw_texts": [ + "Place the stapler with white metallic components onto the Cyan colored mat." + ], + "num_links": 1 + }, + { + "key": "dfec8c916438df34c76d3cb10f9b98a218fa93fa", + "file": "dfec8c916438df34c76d3cb10f9b98a218fa93fa.pt", + "normalized_text": "Stick the stapler with smooth blue finish onto the Gray colored mat.", + "raw_texts": [ + "Stick the stapler with smooth blue finish onto the Gray colored mat." + ], + "num_links": 1 + }, + { + "key": "e001be03a81b637466cd035d3130544b4717a4b2", + "file": "e001be03a81b637466cd035d3130544b4717a4b2.pt", + "normalized_text": "Grab the stapler with black top section using the right arm and set it on Magenta mat.", + "raw_texts": [ + "Grab the stapler with black top section using the right arm and set it on Magenta mat." + ], + "num_links": 1 + }, + { + "key": "e01f6454ae18afb7f282fa48fca5aa1389577796", + "file": "e01f6454ae18afb7f282fa48fca5aa1389577796.pt", + "normalized_text": "Position the smooth plastic stapler on the Green mat.", + "raw_texts": [ + "Position the smooth plastic stapler on the Green mat." + ], + "num_links": 1 + }, + { + "key": "e03f55ae81e7d029b9f9f52ac61c922bf6689f5b", + "file": "e03f55ae81e7d029b9f9f52ac61c922bf6689f5b.pt", + "normalized_text": "With the right arm, position the simple stapler on the Gray mat", + "raw_texts": [ + "With the right arm, position the simple stapler on the Gray mat" + ], + "num_links": 1 + }, + { + "key": "e0df360a006335812f0b00bf0404078f4492450b", + "file": "e0df360a006335812f0b00bf0404078f4492450b.pt", + "normalized_text": "Grab the paper stapler with silver tray, place it on the Gray mat", + "raw_texts": [ + "Grab the paper stapler with silver tray, place it on the Gray mat" + ], + "num_links": 1 + }, + { + "key": "e0f39addc1119dc9d9783cda7d6a36b53b2da3cb", + "file": "e0f39addc1119dc9d9783cda7d6a36b53b2da3cb.pt", + "normalized_text": "Use the left arm and place the desk stapler with red body on Black mat.", + "raw_texts": [ + "Use the left arm and place the desk stapler with red body on Black mat." + ], + "num_links": 1 + }, + { + "key": "e13fd6c123783e3f23da94d46d99f9ef0b9f4379", + "file": "e13fd6c123783e3f23da94d46d99f9ef0b9f4379.pt", + "normalized_text": "With the right arm, position the handheld stapler on the Cyan mat", + "raw_texts": [ + "With the right arm, position the handheld stapler on the Cyan mat" + ], + "num_links": 1 + }, + { + "key": "e160ef090071afa08d339dd232dfb5e7ac9a2c9f", + "file": "e160ef090071afa08d339dd232dfb5e7ac9a2c9f.pt", + "normalized_text": "Pick up the small handheld stapler with the right arm and set it on Cyan", + "raw_texts": [ + "Pick up the small handheld stapler with the right arm and set it on Cyan" + ], + "num_links": 1 + }, + { + "key": "e1914e837fc40c11463a8ac8e76978156a80ca89", + "file": "e1914e837fc40c11463a8ac8e76978156a80ca89.pt", + "normalized_text": "Move the modern design stapler with the right arm to the Cyan mat", + "raw_texts": [ + "Move the modern design stapler with the right arm to the Cyan mat" + ], + "num_links": 1 + }, + { + "key": "e1b04f1d8e36ec4564547953938a115d29430444", + "file": "e1b04f1d8e36ec4564547953938a115d29430444.pt", + "normalized_text": "Pick up the compact office stapler with the right arm and set it on Black", + "raw_texts": [ + "Pick up the compact office stapler with the right arm and set it on Black" + ], + "num_links": 1 + }, + { + "key": "e1bc1521ee16a03bc7e1a207067a303f53f8c00f", + "file": "e1bc1521ee16a03bc7e1a207067a303f53f8c00f.pt", + "normalized_text": "Grab the desk stapler with red body with the left arm and drop it on Green mat.", + "raw_texts": [ + "Grab the desk stapler with red body with the left arm and drop it on Green mat." + ], + "num_links": 1 + }, + { + "key": "e27812882638722660435fbc5f0ec2f0959379d5", + "file": "e27812882638722660435fbc5f0ec2f0959379d5.pt", + "normalized_text": "Use the right arm to shift the black stapler with curved top onto the Yellow mat", + "raw_texts": [ + "Use the right arm to shift the black stapler with curved top onto the Yellow mat" + ], + "num_links": 1 + }, + { + "key": "e3b30ce54ada988e6a72bab820949adb36502f3f", + "file": "e3b30ce54ada988e6a72bab820949adb36502f3f.pt", + "normalized_text": "Set the desk stapler with red body down on the Yellow mat", + "raw_texts": [ + "Set the desk stapler with red body down on the Yellow mat" + ], + "num_links": 1 + }, + { + "key": "e40b30c40078dcc5db07990099ede1a8f72f4810", + "file": "e40b30c40078dcc5db07990099ede1a8f72f4810.pt", + "normalized_text": "Shift the curved black stapler to the Red mat", + "raw_texts": [ + "Shift the curved black stapler to the Red mat" + ], + "num_links": 1 + }, + { + "key": "e4ba04d57bce94e8068a487a8f3a43bacb9af857", + "file": "e4ba04d57bce94e8068a487a8f3a43bacb9af857.pt", + "normalized_text": "Use the left arm to shift the stapler with smooth blue finish onto the Red mat", + "raw_texts": [ + "Use the left arm to shift the stapler with smooth blue finish onto the Red mat" + ], + "num_links": 1 + }, + { + "key": "e51f0999e16f6a1d9a135e84339f5a194b2a4408", + "file": "e51f0999e16f6a1d9a135e84339f5a194b2a4408.pt", + "normalized_text": "Pick the small stapler with the right arm and place it on Blue mat", + "raw_texts": [ + "Pick the small stapler with the right arm and place it on Blue mat" + ], + "num_links": 1 + }, + { + "key": "e5a2da2c0463d6790f0852acd661dfb996bfcaaa", + "file": "e5a2da2c0463d6790f0852acd661dfb996bfcaaa.pt", + "normalized_text": "Pick up the blue stapler for paper fastening and place it on Blue mat", + "raw_texts": [ + "Pick up the blue stapler for paper fastening and place it on Blue mat" + ], + "num_links": 1 + }, + { + "key": "e62960b576a2172ccc0941b1a08bebf9351bbd44", + "file": "e62960b576a2172ccc0941b1a08bebf9351bbd44.pt", + "normalized_text": "Position the manual blue stapler on the Yellow mat.", + "raw_texts": [ + "Position the manual blue stapler on the Yellow mat." + ], + "num_links": 1 + }, + { + "key": "e654f015d4532056e4f08774856426a108d6ed6f", + "file": "e654f015d4532056e4f08774856426a108d6ed6f.pt", + "normalized_text": "Set the stapler with red top on the Cyan mat with the left arm.", + "raw_texts": [ + "Set the stapler with red top on the Cyan mat with the left arm." + ], + "num_links": 1 + }, + { + "key": "e657bba0ea20d0911fa08311dcb9678aaefecbfe", + "file": "e657bba0ea20d0911fa08311dcb9678aaefecbfe.pt", + "normalized_text": "Lift the stapler with silver staple tray and drop it onto Magenta mat", + "raw_texts": [ + "Lift the stapler with silver staple tray and drop it onto Magenta mat" + ], + "num_links": 1 + }, + { + "key": "e685a9aeb5cd5ef84bb0d2843f930970163bd009", + "file": "e685a9aeb5cd5ef84bb0d2843f930970163bd009.pt", + "normalized_text": "Relocate the red top black bottom stapler to the Red colored mat", + "raw_texts": [ + "Relocate the red top black bottom stapler to the Red colored mat" + ], + "num_links": 1 + }, + { + "key": "e6b6a07b704dcc41aa488f7eba635dabe8e63595", + "file": "e6b6a07b704dcc41aa488f7eba635dabe8e63595.pt", + "normalized_text": "Use the right arm and place the white body stapler with accents on Blue mat.", + "raw_texts": [ + "Use the right arm and place the white body stapler with accents on Blue mat." + ], + "num_links": 1 + }, + { + "key": "e7471b3d3575cccac37e7084cd11199fe5e05426", + "file": "e7471b3d3575cccac37e7084cd11199fe5e05426.pt", + "normalized_text": "the right arm places the red top black bottom stapler on the Red mat.", + "raw_texts": [ + "the right arm places the red top black bottom stapler on the Red mat." + ], + "num_links": 1 + }, + { + "key": "e7549cd245a978932f33f48c672d05c9cc795823", + "file": "e7549cd245a978932f33f48c672d05c9cc795823.pt", + "normalized_text": "Set the black stapler with rectangular base down on the Red mat", + "raw_texts": [ + "Set the black stapler with rectangular base down on the Red mat" + ], + "num_links": 1 + }, + { + "key": "e7eea7545c68e1969c0b49c655f02fe02ccd35d8", + "file": "e7eea7545c68e1969c0b49c655f02fe02ccd35d8.pt", + "normalized_text": "Move the smooth plastic stapler to the Red mat with the left arm", + "raw_texts": [ + "Move the smooth plastic stapler to the Red mat with the left arm" + ], + "num_links": 1 + }, + { + "key": "e8222a7e56c89bf677abb0a3e830b631f110eef5", + "file": "e8222a7e56c89bf677abb0a3e830b631f110eef5.pt", + "normalized_text": "Drop the compact blue stapler carefully on the Gray mat", + "raw_texts": [ + "Drop the compact blue stapler carefully on the Gray mat" + ], + "num_links": 1 + }, + { + "key": "e8a16659f742a2ff93067e24c4ea6dc4dfea2ed8", + "file": "e8a16659f742a2ff93067e24c4ea6dc4dfea2ed8.pt", + "normalized_text": "Stick the red plastic stapler with smooth top on the Cyan mat.", + "raw_texts": [ + "Stick the red plastic stapler with smooth top on the Cyan mat." + ], + "num_links": 1 + }, + { + "key": "e992aa0f045935e86b5e23a175007c23d086b83c", + "file": "e992aa0f045935e86b5e23a175007c23d086b83c.pt", + "normalized_text": "With the right arm, position the stapler with metallic staple slot on the Gray mat", + "raw_texts": [ + "With the right arm, position the stapler with metallic staple slot on the Gray mat" + ], + "num_links": 1 + }, + { + "key": "e9ece56494392f30ad91f51ed85a1c81c10d86f4", + "file": "e9ece56494392f30ad91f51ed85a1c81c10d86f4.pt", + "normalized_text": "the left arm transfers the blue stapler to the Gray mat.", + "raw_texts": [ + "the left arm transfers the blue stapler to the Gray mat." + ], + "num_links": 1 + }, + { + "key": "ea8140b599f69a9212f16f8071ed7ee94910d785", + "file": "ea8140b599f69a9212f16f8071ed7ee94910d785.pt", + "normalized_text": "Pick up the handheld blue and silver stapler and place it on Gray mat", + "raw_texts": [ + "Pick up the handheld blue and silver stapler and place it on Gray mat" + ], + "num_links": 1 + }, + { + "key": "eb4c47161ac194bc4e2916a081a0893cdd0ec42e", + "file": "eb4c47161ac194bc4e2916a081a0893cdd0ec42e.pt", + "normalized_text": "Pick up the handheld black stapler with the right arm and set it on Blue", + "raw_texts": [ + "Pick up the handheld black stapler with the right arm and set it on Blue" + ], + "num_links": 1 + }, + { + "key": "eb62451ffaabdc5a985ed58c83523103c7c5880d", + "file": "eb62451ffaabdc5a985ed58c83523103c7c5880d.pt", + "normalized_text": "Pick the small black stapler with metal core with the left arm and place it on Blue mat", + "raw_texts": [ + "Pick the small black stapler with metal core with the left arm and place it on Blue mat" + ], + "num_links": 1 + }, + { + "key": "eba9aa6121673e2ec76a85bf4701b6c3332e66a8", + "file": "eba9aa6121673e2ec76a85bf4701b6c3332e66a8.pt", + "normalized_text": "Place the stapler with metallic staple slot onto the Green colored mat.", + "raw_texts": [ + "Place the stapler with metallic staple slot onto the Green colored mat." + ], + "num_links": 1 + }, + { + "key": "ec88ec70fdbd7a71785324d65d0ddede057e0804", + "file": "ec88ec70fdbd7a71785324d65d0ddede057e0804.pt", + "normalized_text": "Using the right arm, set the blue stapler with curved design on the Red colored mat", + "raw_texts": [ + "Using the right arm, set the blue stapler with curved design on the Red colored mat" + ], + "num_links": 1 + }, + { + "key": "ed8ecd9cd27123c98c078c791258c622b173edc3", + "file": "ed8ecd9cd27123c98c078c791258c622b173edc3.pt", + "normalized_text": "Grab the metallic stapler with red body using the left arm and set it on Red mat.", + "raw_texts": [ + "Grab the metallic stapler with red body using the left arm and set it on Red mat." + ], + "num_links": 1 + }, + { + "key": "eddfccb6a95a5ad5588beb43fbb50a23ec2a384c", + "file": "eddfccb6a95a5ad5588beb43fbb50a23ec2a384c.pt", + "normalized_text": "Move the plastic blue stapler with metal parts to the Magenta mat with the left arm", + "raw_texts": [ + "Move the plastic blue stapler with metal parts to the Magenta mat with the left arm" + ], + "num_links": 1 + }, + { + "key": "ee3bf002ab4acc0734ec9605875fb8328ef4ebec", + "file": "ee3bf002ab4acc0734ec9605875fb8328ef4ebec.pt", + "normalized_text": "Carry the plastic blue stapler with metal parts to the Blue colored mat", + "raw_texts": [ + "Carry the plastic blue stapler with metal parts to the Blue colored mat" + ], + "num_links": 1 + }, + { + "key": "eecd87e181e93c3a794b707c79183b7228addab8", + "file": "eecd87e181e93c3a794b707c79183b7228addab8.pt", + "normalized_text": "Stick the white stapler with rounded design on the Yellow mat.", + "raw_texts": [ + "Stick the white stapler with rounded design on the Yellow mat." + ], + "num_links": 1 + }, + { + "key": "ef146fa033176149af025917f8dab2a3f0a6cb8d", + "file": "ef146fa033176149af025917f8dab2a3f0a6cb8d.pt", + "normalized_text": "Use the right arm to place the black stapler for joining pages onto the Cyan mat", + "raw_texts": [ + "Use the right arm to place the black stapler for joining pages onto the Cyan mat" + ], + "num_links": 1 + }, + { + "key": "f01d972f5d5b8c877a77606a558754460e793456", + "file": "f01d972f5d5b8c877a77606a558754460e793456.pt", + "normalized_text": "Move the stapler with metallic staple slot with the right arm to the Gray mat", + "raw_texts": [ + "Move the stapler with metallic staple slot with the right arm to the Gray mat" + ], + "num_links": 1 + }, + { + "key": "f0385a820d3a717f2432f83f0831618cdabb2991", + "file": "f0385a820d3a717f2432f83f0831618cdabb2991.pt", + "normalized_text": "Put the black stapler with smooth finish on the Yellow mat", + "raw_texts": [ + "Put the black stapler with smooth finish on the Yellow mat" + ], + "num_links": 1 + }, + { + "key": "f044604ec5d9af9c8f223a546fda37f36dbcc3fd", + "file": "f044604ec5d9af9c8f223a546fda37f36dbcc3fd.pt", + "normalized_text": "Set the black stapler with curved top on the Gray mat with the right arm.", + "raw_texts": [ + "Set the black stapler with curved top on the Gray mat with the right arm." + ], + "num_links": 1 + }, + { + "key": "f0d3da6e65217b41ecbfb3181eac4ebb2296c840", + "file": "f0d3da6e65217b41ecbfb3181eac4ebb2296c840.pt", + "normalized_text": "Use the left arm to shift the blue stapler onto the Red mat", + "raw_texts": [ + "Use the left arm to shift the blue stapler onto the Red mat" + ], + "num_links": 1 + }, + { + "key": "f106dd855bdb9f32ad88eea6fd8bf7fa0d714907", + "file": "f106dd855bdb9f32ad88eea6fd8bf7fa0d714907.pt", + "normalized_text": "Pick up the white body stapler with accents and place it on Yellow mat", + "raw_texts": [ + "Pick up the white body stapler with accents and place it on Yellow mat" + ], + "num_links": 1 + }, + { + "key": "f1853b83854ba13f5646a86659b6dd06120e99cd", + "file": "f1853b83854ba13f5646a86659b6dd06120e99cd.pt", + "normalized_text": "Grab the red top black bottom stapler using the left arm and shift it to Red", + "raw_texts": [ + "Grab the red top black bottom stapler using the left arm and shift it to Red" + ], + "num_links": 1 + }, + { + "key": "f28a3325495dc63ec07b79b632ab8406bf109df8", + "file": "f28a3325495dc63ec07b79b632ab8406bf109df8.pt", + "normalized_text": "Stick the curved black stapler onto the Cyan colored mat.", + "raw_texts": [ + "Stick the curved black stapler onto the Cyan colored mat." + ], + "num_links": 1 + }, + { + "key": "f28da08d7b52a5e61f37f4f332c86cce8578634e", + "file": "f28da08d7b52a5e61f37f4f332c86cce8578634e.pt", + "normalized_text": "the right arm places the manual blue stapler on the Green mat.", + "raw_texts": [ + "the right arm places the manual blue stapler on the Green mat." + ], + "num_links": 1 + }, + { + "key": "f3a09bd499f4404ba8c63941f886bc60e0b4b2a1", + "file": "f3a09bd499f4404ba8c63941f886bc60e0b4b2a1.pt", + "normalized_text": "the left arm transfers the stapler with rounded edges to the Magenta mat.", + "raw_texts": [ + "the left arm transfers the stapler with rounded edges to the Magenta mat." + ], + "num_links": 1 + }, + { + "key": "f66ea22278d0c7a88a00c31f863781d0161c9785", + "file": "f66ea22278d0c7a88a00c31f863781d0161c9785.pt", + "normalized_text": "Relocate the curved blue and silver stapler to the Yellow mat.", + "raw_texts": [ + "Relocate the curved blue and silver stapler to the Yellow mat." + ], + "num_links": 1 + }, + { + "key": "f83ab6ee46d986dc7cb0aef106b7625a209e2093", + "file": "f83ab6ee46d986dc7cb0aef106b7625a209e2093.pt", + "normalized_text": "Pick the stapler with orange button with the left arm and place it on Red mat", + "raw_texts": [ + "Pick the stapler with orange button with the left arm and place it on Red mat" + ], + "num_links": 1 + }, + { + "key": "f8a23095ff9107c6b50531a721aea311eba44a89", + "file": "f8a23095ff9107c6b50531a721aea311eba44a89.pt", + "normalized_text": "Transfer the blue stapler to the Magenta colored mat.", + "raw_texts": [ + "Transfer the blue stapler to the Magenta colored mat." + ], + "num_links": 1 + }, + { + "key": "f9935a64321abdf9f32ec049c94504c36b61ec15", + "file": "f9935a64321abdf9f32ec049c94504c36b61ec15.pt", + "normalized_text": "Move the paper stapler with silver tray with the right arm to the Yellow mat", + "raw_texts": [ + "Move the paper stapler with silver tray with the right arm to the Yellow mat" + ], + "num_links": 1 + }, + { + "key": "f99a925c665d36d7ced47852b9d1f4d15ccf2687", + "file": "f99a925c665d36d7ced47852b9d1f4d15ccf2687.pt", + "normalized_text": "Slide the stapler with red top to the Magenta colored mat.", + "raw_texts": [ + "Slide the stapler with red top to the Magenta colored mat." + ], + "num_links": 1 + }, + { + "key": "faab5d06197ffdd9217605f3fc4c2c3a65c6a423", + "file": "faab5d06197ffdd9217605f3fc4c2c3a65c6a423.pt", + "normalized_text": "Pick the stapler for stapling paper up and position it on Black mat", + "raw_texts": [ + "Pick the stapler for stapling paper up and position it on Black mat" + ], + "num_links": 1 + }, + { + "key": "fb24e839d3708678e7d23a373ecc4bc4ddc2be84", + "file": "fb24e839d3708678e7d23a373ecc4bc4ddc2be84.pt", + "normalized_text": "Shift the handheld stapler to the Red mat", + "raw_texts": [ + "Shift the handheld stapler to the Red mat" + ], + "num_links": 1 + }, + { + "key": "fb32d76415de10a72ad9c3e1a1a3f8720bfdaa3f", + "file": "fb32d76415de10a72ad9c3e1a1a3f8720bfdaa3f.pt", + "normalized_text": "With the right arm, position the simple stapler on the Black mat", + "raw_texts": [ + "With the right arm, position the simple stapler on the Black mat" + ], + "num_links": 1 + }, + { + "key": "fb5e4d82eb40e1b66193968bcb52616a9a5317c7", + "file": "fb5e4d82eb40e1b66193968bcb52616a9a5317c7.pt", + "normalized_text": "Transfer the compact black stapler to the Magenta colored mat.", + "raw_texts": [ + "Transfer the compact black stapler to the Magenta colored mat." + ], + "num_links": 1 + }, + { + "key": "fb79d0c074f321b3f2e1e257d724bfd3dc1d440c", + "file": "fb79d0c074f321b3f2e1e257d724bfd3dc1d440c.pt", + "normalized_text": "Move the red stapler with black base to the Cyan mat.", + "raw_texts": [ + "Move the red stapler with black base to the Cyan mat." + ], + "num_links": 1 + }, + { + "key": "fbf6b3993e63374eaa3ef5dda858e49adc264671", + "file": "fbf6b3993e63374eaa3ef5dda858e49adc264671.pt", + "normalized_text": "Place the smooth plastic stapler onto the Magenta colored mat.", + "raw_texts": [ + "Place the smooth plastic stapler onto the Magenta colored mat." + ], + "num_links": 1 + }, + { + "key": "fcb92997e9055d8c158b2923d1c3d58e9b1d52ee", + "file": "fcb92997e9055d8c158b2923d1c3d58e9b1d52ee.pt", + "normalized_text": "Pick up the handy blue stapler with metal parts and place it on Red mat", + "raw_texts": [ + "Pick up the handy blue stapler with metal parts and place it on Red mat" + ], + "num_links": 1 + }, + { + "key": "fd0ff372ad256d8584df08bcc89438d5a27784f2", + "file": "fd0ff372ad256d8584df08bcc89438d5a27784f2.pt", + "normalized_text": "Set the red stapler down on the Red mat", + "raw_texts": [ + "Set the red stapler down on the Red mat" + ], + "num_links": 1 + }, + { + "key": "fd712850cc1177efedc0e1e7222d8b5b5ba080d9", + "file": "fd712850cc1177efedc0e1e7222d8b5b5ba080d9.pt", + "normalized_text": "Set the office stapler with plastic and metal parts down on the Black mat", + "raw_texts": [ + "Set the office stapler with plastic and metal parts down on the Black mat" + ], + "num_links": 1 + }, + { + "key": "fe0ca671906374d7615efd36ea58f1c58a18f367", + "file": "fe0ca671906374d7615efd36ea58f1c58a18f367.pt", + "normalized_text": "Put the red top black bottom stapler on the Green mat", + "raw_texts": [ + "Put the red top black bottom stapler on the Green mat" + ], + "num_links": 1 + }, + { + "key": "ff916d2cccf928339e37962316665c20948197d4", + "file": "ff916d2cccf928339e37962316665c20948197d4.pt", + "normalized_text": "Use the right arm to grab the plastic stapler with silver mechanism and place it on Red mat", + "raw_texts": [ + "Use the right arm to grab the plastic stapler with silver mechanism and place it on Red mat" + ], + "num_links": 1 + } + ] +} \ No newline at end of file diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/meta/episodes.jsonl b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..59cdd377c07209d34aeb875bb6d009eba9f06c3c --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/meta/episodes.jsonl @@ -0,0 +1,500 @@ +{"episode_index": 0, "tasks": ["Grab the compact office stapler using the left arm and shift it to Red"], "length": 155, "action_config": [{"start_frame": 0, "end_frame": 155, "action_text": "Grab the compact office stapler using the left arm and shift it to Red", "skill": ""}]} +{"episode_index": 1, "tasks": ["Move the red stapler with black base to the Cyan mat."], "length": 163, "action_config": [{"start_frame": 0, "end_frame": 163, "action_text": "Move the red stapler with black base to the Cyan mat.", "skill": ""}]} +{"episode_index": 2, "tasks": ["Set the stapler with rectangular silver mechanism onto the Yellow colored mat."], "length": 159, "action_config": [{"start_frame": 0, "end_frame": 159, "action_text": "Set the stapler with rectangular silver mechanism onto the Yellow colored mat.", "skill": ""}]} +{"episode_index": 3, "tasks": ["Set the red stapler for binding papers down on the Green mat"], "length": 164, "action_config": [{"start_frame": 0, "end_frame": 164, "action_text": "Set the red stapler for binding papers down on the Green mat", "skill": ""}]} +{"episode_index": 4, "tasks": ["Carry the simple stapler to the Gray colored mat"], "length": 162, "action_config": [{"start_frame": 0, "end_frame": 162, "action_text": "Carry the simple stapler to the Gray colored mat", "skill": ""}]} +{"episode_index": 5, "tasks": ["Place the blue stapler with shiny silver parts onto the Cyan colored mat"], "length": 147, "action_config": [{"start_frame": 0, "end_frame": 147, "action_text": "Place the blue stapler with shiny silver parts onto the Cyan colored mat", "skill": ""}]} +{"episode_index": 6, "tasks": ["Use the left arm to shift the blue stapler onto the Red mat"], "length": 146, "action_config": [{"start_frame": 0, "end_frame": 146, "action_text": "Use the left arm to shift the blue stapler onto the Red mat", "skill": ""}]} +{"episode_index": 7, "tasks": ["Grab the red top black bottom stapler and stick it onto Magenta mat"], "length": 141, "action_config": [{"start_frame": 0, "end_frame": 141, "action_text": "Grab the red top black bottom stapler and stick it onto Magenta mat", "skill": ""}]} +{"episode_index": 8, "tasks": ["Grab the stapler with white metallic components using the left arm and shift it to Black"], "length": 169, "action_config": [{"start_frame": 0, "end_frame": 169, "action_text": "Grab the stapler with white metallic components using the left arm and shift it to Black", "skill": ""}]} +{"episode_index": 9, "tasks": ["Grab the stapler with silver inner plates with the left arm and drop it on Yellow mat."], "length": 141, "action_config": [{"start_frame": 0, "end_frame": 141, "action_text": "Grab the stapler with silver inner plates with the left arm and drop it on Yellow mat.", "skill": ""}]} +{"episode_index": 10, "tasks": ["Shift the handy blue stapler with metal parts manually to the Green mat"], "length": 144, "action_config": [{"start_frame": 0, "end_frame": 144, "action_text": "Shift the handy blue stapler with metal parts manually to the Green mat", "skill": ""}]} +{"episode_index": 11, "tasks": ["Relocate the red stapler to the Yellow mat."], "length": 146, "action_config": [{"start_frame": 0, "end_frame": 146, "action_text": "Relocate the red stapler to the Yellow mat.", "skill": ""}]} +{"episode_index": 12, "tasks": ["Pick the compact blue stapler using the left arm and move it to Yellow mat."], "length": 151, "action_config": [{"start_frame": 0, "end_frame": 151, "action_text": "Pick the compact blue stapler using the left arm and move it to Yellow mat.", "skill": ""}]} +{"episode_index": 13, "tasks": ["With the right arm, position the simple stapler on the Black mat"], "length": 142, "action_config": [{"start_frame": 0, "end_frame": 142, "action_text": "With the right arm, position the simple stapler on the Black mat", "skill": ""}]} +{"episode_index": 14, "tasks": ["Transfer the blue stapler with black handle area to the Yellow mat"], "length": 162, "action_config": [{"start_frame": 0, "end_frame": 162, "action_text": "Transfer the blue stapler with black handle area to the Yellow mat", "skill": ""}]} +{"episode_index": 15, "tasks": ["Use the left arm to place the small office stapler onto the Yellow mat"], "length": 162, "action_config": [{"start_frame": 0, "end_frame": 162, "action_text": "Use the left arm to place the small office stapler onto the Yellow mat", "skill": ""}]} +{"episode_index": 16, "tasks": ["Drop the simple stapler carefully on the Red mat"], "length": 148, "action_config": [{"start_frame": 0, "end_frame": 148, "action_text": "Drop the simple stapler carefully on the Red mat", "skill": ""}]} +{"episode_index": 17, "tasks": ["Stick the curved black stapler onto the Cyan colored mat."], "length": 153, "action_config": [{"start_frame": 0, "end_frame": 153, "action_text": "Stick the curved black stapler onto the Cyan colored mat.", "skill": ""}]} +{"episode_index": 18, "tasks": ["Set the compact red stapler with silver accents on the Blue mat with the right arm."], "length": 144, "action_config": [{"start_frame": 0, "end_frame": 144, "action_text": "Set the compact red stapler with silver accents on the Blue mat with the right arm.", "skill": ""}]} +{"episode_index": 19, "tasks": ["Set the black stapler with curved top on the Gray mat with the right arm."], "length": 144, "action_config": [{"start_frame": 0, "end_frame": 144, "action_text": "Set the black stapler with curved top on the Gray mat with the right arm.", "skill": ""}]} +{"episode_index": 20, "tasks": ["Drop the blue stapler with ergonomic curve onto the Yellow mat."], "length": 171, "action_config": [{"start_frame": 0, "end_frame": 171, "action_text": "Drop the blue stapler with ergonomic curve onto the Yellow mat.", "skill": ""}]} +{"episode_index": 21, "tasks": ["Grab the metallic stapler with red body using the left arm and set it on Red mat."], "length": 152, "action_config": [{"start_frame": 0, "end_frame": 152, "action_text": "Grab the metallic stapler with red body using the left arm and set it on Red mat.", "skill": ""}]} +{"episode_index": 22, "tasks": ["Use the right arm to grab the stapler with black top section and place it on Gray mat"], "length": 142, "action_config": [{"start_frame": 0, "end_frame": 142, "action_text": "Use the right arm to grab the stapler with black top section and place it on Gray mat", "skill": ""}]} +{"episode_index": 23, "tasks": ["Stick the metal and plastic stapler onto the Yellow colored mat."], "length": 159, "action_config": [{"start_frame": 0, "end_frame": 159, "action_text": "Stick the metal and plastic stapler onto the Yellow colored mat.", "skill": ""}]} +{"episode_index": 24, "tasks": ["Relocate the black stapler for joining pages to the Gray mat."], "length": 158, "action_config": [{"start_frame": 0, "end_frame": 158, "action_text": "Relocate the black stapler for joining pages to the Gray mat.", "skill": ""}]} +{"episode_index": 25, "tasks": ["Grab the small office stapler using the right arm and shift it to Black"], "length": 145, "action_config": [{"start_frame": 0, "end_frame": 145, "action_text": "Grab the small office stapler using the right arm and shift it to Black", "skill": ""}]} +{"episode_index": 26, "tasks": ["Position the small handheld stapler on the Blue mat."], "length": 162, "action_config": [{"start_frame": 0, "end_frame": 162, "action_text": "Position the small handheld stapler on the Blue mat.", "skill": ""}]} +{"episode_index": 27, "tasks": ["Put the blue stapler with black handle area on the Green mat"], "length": 160, "action_config": [{"start_frame": 0, "end_frame": 160, "action_text": "Put the blue stapler with black handle area on the Green mat", "skill": ""}]} +{"episode_index": 28, "tasks": ["With the left arm, move the compact black stapler to the Green mat"], "length": 146, "action_config": [{"start_frame": 0, "end_frame": 146, "action_text": "With the left arm, move the compact black stapler to the Green mat", "skill": ""}]} +{"episode_index": 29, "tasks": ["Use the left arm to shift the lightweight red stapler onto the Black mat"], "length": 171, "action_config": [{"start_frame": 0, "end_frame": 171, "action_text": "Use the left arm to shift the lightweight red stapler onto the Black mat", "skill": ""}]} +{"episode_index": 30, "tasks": ["Move the handheld blue and silver stapler with the left arm to the Gray mat"], "length": 160, "action_config": [{"start_frame": 0, "end_frame": 160, "action_text": "Move the handheld blue and silver stapler with the left arm to the Gray mat", "skill": ""}]} +{"episode_index": 31, "tasks": ["Transfer the simple stapler to the Cyan mat"], "length": 148, "action_config": [{"start_frame": 0, "end_frame": 148, "action_text": "Transfer the simple stapler to the Cyan mat", "skill": ""}]} +{"episode_index": 32, "tasks": ["Use the right arm to place the black stapler for joining pages onto the Cyan mat"], "length": 157, "action_config": [{"start_frame": 0, "end_frame": 157, "action_text": "Use the right arm to place the black stapler for joining pages onto the Cyan mat", "skill": ""}]} +{"episode_index": 33, "tasks": ["Use the left arm and place the stapler for fastening papers on Cyan mat."], "length": 162, "action_config": [{"start_frame": 0, "end_frame": 162, "action_text": "Use the left arm and place the stapler for fastening papers on Cyan mat.", "skill": ""}]} +{"episode_index": 34, "tasks": ["Pick the red plastic stapler with smooth top using the left arm and move it to Cyan mat."], "length": 148, "action_config": [{"start_frame": 0, "end_frame": 148, "action_text": "Pick the red plastic stapler with smooth top using the left arm and move it to Cyan mat.", "skill": ""}]} +{"episode_index": 35, "tasks": ["Place the manual stapler with black base onto the Blue colored mat"], "length": 165, "action_config": [{"start_frame": 0, "end_frame": 165, "action_text": "Place the manual stapler with black base onto the Blue colored mat", "skill": ""}]} +{"episode_index": 36, "tasks": ["the left arm places the manual stapler with black base on the Green mat."], "length": 157, "action_config": [{"start_frame": 0, "end_frame": 157, "action_text": "the left arm places the manual stapler with black base on the Green mat.", "skill": ""}]} +{"episode_index": 37, "tasks": ["Pick the red plastic stapler with smooth top with the right arm and place it on Blue mat"], "length": 143, "action_config": [{"start_frame": 0, "end_frame": 143, "action_text": "Pick the red plastic stapler with smooth top with the right arm and place it on Blue mat", "skill": ""}]} +{"episode_index": 38, "tasks": ["With the left arm, move the curved red stapler to the Magenta mat"], "length": 144, "action_config": [{"start_frame": 0, "end_frame": 144, "action_text": "With the left arm, move the curved red stapler to the Magenta mat", "skill": ""}]} +{"episode_index": 39, "tasks": ["Grab the stapler with orange button and stick it onto Black mat"], "length": 136, "action_config": [{"start_frame": 0, "end_frame": 136, "action_text": "Grab the stapler with orange button and stick it onto Black mat", "skill": ""}]} +{"episode_index": 40, "tasks": ["Shift the blue stapler with ergonomic curve manually to the Red mat"], "length": 145, "action_config": [{"start_frame": 0, "end_frame": 145, "action_text": "Shift the blue stapler with ergonomic curve manually to the Red mat", "skill": ""}]} +{"episode_index": 41, "tasks": ["Move the stapler with silver staple tray with the left arm to the Magenta mat"], "length": 146, "action_config": [{"start_frame": 0, "end_frame": 146, "action_text": "Move the stapler with silver staple tray with the left arm to the Magenta mat", "skill": ""}]} +{"episode_index": 42, "tasks": ["Place the blue stapler on the Yellow mat using the left arm"], "length": 145, "action_config": [{"start_frame": 0, "end_frame": 145, "action_text": "Place the blue stapler on the Yellow mat using the left arm", "skill": ""}]} +{"episode_index": 43, "tasks": ["Shift the curved blue and silver stapler manually to the Black mat"], "length": 148, "action_config": [{"start_frame": 0, "end_frame": 148, "action_text": "Shift the curved blue and silver stapler manually to the Black mat", "skill": ""}]} +{"episode_index": 44, "tasks": ["Pick up the metallic stapler with red body with the right arm and set it on Gray"], "length": 151, "action_config": [{"start_frame": 0, "end_frame": 151, "action_text": "Pick up the metallic stapler with red body with the right arm and set it on Gray", "skill": ""}]} +{"episode_index": 45, "tasks": ["Slide the red stapler for binding papers to the Magenta colored mat."], "length": 152, "action_config": [{"start_frame": 0, "end_frame": 152, "action_text": "Slide the red stapler for binding papers to the Magenta colored mat.", "skill": ""}]} +{"episode_index": 46, "tasks": ["Put the black stapler with smooth finish on the Yellow mat"], "length": 147, "action_config": [{"start_frame": 0, "end_frame": 147, "action_text": "Put the black stapler with smooth finish on the Yellow mat", "skill": ""}]} +{"episode_index": 47, "tasks": ["Using the left arm, set the stapler for fastening papers on the Cyan colored mat"], "length": 166, "action_config": [{"start_frame": 0, "end_frame": 166, "action_text": "Using the left arm, set the stapler for fastening papers on the Cyan colored mat", "skill": ""}]} +{"episode_index": 48, "tasks": ["Grab the black stapler with shiny interior and stick it onto Red mat"], "length": 166, "action_config": [{"start_frame": 0, "end_frame": 166, "action_text": "Grab the black stapler with shiny interior and stick it onto Red mat", "skill": ""}]} +{"episode_index": 49, "tasks": ["Move the small red stapler to the Gray mat with the right arm"], "length": 139, "action_config": [{"start_frame": 0, "end_frame": 139, "action_text": "Move the small red stapler to the Gray mat with the right arm", "skill": ""}]} +{"episode_index": 50, "tasks": ["Pick the blue stapler up and position it on Gray mat"], "length": 151, "action_config": [{"start_frame": 0, "end_frame": 151, "action_text": "Pick the blue stapler up and position it on Gray mat", "skill": ""}]} +{"episode_index": 51, "tasks": ["Use the left arm to grab the stapler with white metallic components and place it on Red mat"], "length": 160, "action_config": [{"start_frame": 0, "end_frame": 160, "action_text": "Use the left arm to grab the stapler with white metallic components and place it on Red mat", "skill": ""}]} +{"episode_index": 52, "tasks": ["the left arm transfers the stapler for fastening papers to the Gray mat."], "length": 165, "action_config": [{"start_frame": 0, "end_frame": 165, "action_text": "the left arm transfers the stapler for fastening papers to the Gray mat.", "skill": ""}]} +{"episode_index": 53, "tasks": ["Put the red stapler on the Black mat"], "length": 156, "action_config": [{"start_frame": 0, "end_frame": 156, "action_text": "Put the red stapler on the Black mat", "skill": ""}]} +{"episode_index": 54, "tasks": ["Put the red top black bottom stapler on the Green mat"], "length": 154, "action_config": [{"start_frame": 0, "end_frame": 154, "action_text": "Put the red top black bottom stapler on the Green mat", "skill": ""}]} +{"episode_index": 55, "tasks": ["Grab the stapler in bright red color using the left arm and set it on Gray mat."], "length": 148, "action_config": [{"start_frame": 0, "end_frame": 148, "action_text": "Grab the stapler in bright red color using the left arm and set it on Gray mat.", "skill": ""}]} +{"episode_index": 56, "tasks": ["Lift the curved black stapler and drop it onto Black mat"], "length": 163, "action_config": [{"start_frame": 0, "end_frame": 163, "action_text": "Lift the curved black stapler and drop it onto Black mat", "skill": ""}]} +{"episode_index": 57, "tasks": ["Lift the small red stapler and drop it onto Red mat"], "length": 164, "action_config": [{"start_frame": 0, "end_frame": 164, "action_text": "Lift the small red stapler and drop it onto Red mat", "skill": ""}]} +{"episode_index": 58, "tasks": ["Lift the paper stapler with silver tray to the Magenta mat using the left arm"], "length": 158, "action_config": [{"start_frame": 0, "end_frame": 158, "action_text": "Lift the paper stapler with silver tray to the Magenta mat using the left arm", "skill": ""}]} +{"episode_index": 59, "tasks": ["Slide the handheld red stapler to the Magenta colored mat."], "length": 163, "action_config": [{"start_frame": 0, "end_frame": 163, "action_text": "Slide the handheld red stapler to the Magenta colored mat.", "skill": ""}]} +{"episode_index": 60, "tasks": ["Lift the curved red stapler to the Yellow mat using the left arm"], "length": 163, "action_config": [{"start_frame": 0, "end_frame": 163, "action_text": "Lift the curved red stapler to the Yellow mat using the left arm", "skill": ""}]} +{"episode_index": 61, "tasks": ["Place the handheld stapler onto the Green colored mat."], "length": 142, "action_config": [{"start_frame": 0, "end_frame": 142, "action_text": "Place the handheld stapler onto the Green colored mat.", "skill": ""}]} +{"episode_index": 62, "tasks": ["Use the left arm to shift the curved blue and silver stapler onto the Green mat"], "length": 145, "action_config": [{"start_frame": 0, "end_frame": 145, "action_text": "Use the left arm to shift the curved blue and silver stapler onto the Green mat", "skill": ""}]} +{"episode_index": 63, "tasks": ["Move the red stapler with the left arm to the Black mat"], "length": 162, "action_config": [{"start_frame": 0, "end_frame": 162, "action_text": "Move the red stapler with the left arm to the Black mat", "skill": ""}]} +{"episode_index": 64, "tasks": ["Pick up the black stapler for joining pages and place it on Yellow mat"], "length": 139, "action_config": [{"start_frame": 0, "end_frame": 139, "action_text": "Pick up the black stapler for joining pages and place it on Yellow mat", "skill": ""}]} +{"episode_index": 65, "tasks": ["Pick the blue stapler with ergonomic curve with the right arm and place it on Blue mat"], "length": 146, "action_config": [{"start_frame": 0, "end_frame": 146, "action_text": "Pick the blue stapler with ergonomic curve with the right arm and place it on Blue mat", "skill": ""}]} +{"episode_index": 66, "tasks": ["the left arm places the blue stapler with silver staple tray on the Green mat."], "length": 161, "action_config": [{"start_frame": 0, "end_frame": 161, "action_text": "the left arm places the blue stapler with silver staple tray on the Green mat.", "skill": ""}]} +{"episode_index": 67, "tasks": ["Drop the lightweight red stapler onto the Gray mat."], "length": 139, "action_config": [{"start_frame": 0, "end_frame": 139, "action_text": "Drop the lightweight red stapler onto the Gray mat.", "skill": ""}]} +{"episode_index": 68, "tasks": ["Drop the red stapler with black base carefully on the Yellow mat"], "length": 150, "action_config": [{"start_frame": 0, "end_frame": 150, "action_text": "Drop the red stapler with black base carefully on the Yellow mat", "skill": ""}]} +{"episode_index": 69, "tasks": ["Place the metal and plastic stapler on the Blue mat using the left arm"], "length": 139, "action_config": [{"start_frame": 0, "end_frame": 139, "action_text": "Place the metal and plastic stapler on the Blue mat using the left arm", "skill": ""}]} +{"episode_index": 70, "tasks": ["Pick up the metallic stapler with red body and place it on Blue mat"], "length": 153, "action_config": [{"start_frame": 0, "end_frame": 153, "action_text": "Pick up the metallic stapler with red body and place it on Blue mat", "skill": ""}]} +{"episode_index": 71, "tasks": ["the left arm transfers the stapler with rounded edges to the Magenta mat."], "length": 163, "action_config": [{"start_frame": 0, "end_frame": 163, "action_text": "the left arm transfers the stapler with rounded edges to the Magenta mat.", "skill": ""}]} +{"episode_index": 72, "tasks": ["Grab the stapler in bright red color, place it on the Magenta mat"], "length": 156, "action_config": [{"start_frame": 0, "end_frame": 156, "action_text": "Grab the stapler in bright red color, place it on the Magenta mat", "skill": ""}]} +{"episode_index": 73, "tasks": ["Relocate the curved blue and silver stapler to the Black mat."], "length": 151, "action_config": [{"start_frame": 0, "end_frame": 151, "action_text": "Relocate the curved blue and silver stapler to the Black mat.", "skill": ""}]} +{"episode_index": 74, "tasks": ["With the right arm, move the black stapler with rectangular base to the Green mat"], "length": 153, "action_config": [{"start_frame": 0, "end_frame": 153, "action_text": "With the right arm, move the black stapler with rectangular base to the Green mat", "skill": ""}]} +{"episode_index": 75, "tasks": ["Use the left arm to shift the stapler with smooth blue finish onto the Red mat"], "length": 162, "action_config": [{"start_frame": 0, "end_frame": 162, "action_text": "Use the left arm to shift the stapler with smooth blue finish onto the Red mat", "skill": ""}]} +{"episode_index": 76, "tasks": ["Set the blue stapler with silver staple tray down on the Magenta mat"], "length": 164, "action_config": [{"start_frame": 0, "end_frame": 164, "action_text": "Set the blue stapler with silver staple tray down on the Magenta mat", "skill": ""}]} +{"episode_index": 77, "tasks": ["Carry the white body stapler with accents to the Black colored mat"], "length": 152, "action_config": [{"start_frame": 0, "end_frame": 152, "action_text": "Carry the white body stapler with accents to the Black colored mat", "skill": ""}]} +{"episode_index": 78, "tasks": ["Position the metallic stapler with red body on the Red mat."], "length": 161, "action_config": [{"start_frame": 0, "end_frame": 161, "action_text": "Position the metallic stapler with red body on the Red mat.", "skill": ""}]} +{"episode_index": 79, "tasks": ["Set the compact blue stapler down on the Yellow mat"], "length": 149, "action_config": [{"start_frame": 0, "end_frame": 149, "action_text": "Set the compact blue stapler down on the Yellow mat", "skill": ""}]} +{"episode_index": 80, "tasks": ["Use the right arm and place the stapler with orange top lever on Gray mat."], "length": 143, "action_config": [{"start_frame": 0, "end_frame": 143, "action_text": "Use the right arm and place the stapler with orange top lever on Gray mat.", "skill": ""}]} +{"episode_index": 81, "tasks": ["the right arm places the plastic stapler with metallic interior on the Red mat."], "length": 141, "action_config": [{"start_frame": 0, "end_frame": 141, "action_text": "the right arm places the plastic stapler with metallic interior on the Red mat.", "skill": ""}]} +{"episode_index": 82, "tasks": ["With the right arm, move the stapler with rectangular silver mechanism to the Gray mat"], "length": 157, "action_config": [{"start_frame": 0, "end_frame": 157, "action_text": "With the right arm, move the stapler with rectangular silver mechanism to the Gray mat", "skill": ""}]} +{"episode_index": 83, "tasks": ["Use the right arm to grab the white body stapler with accents and place it on Red mat"], "length": 160, "action_config": [{"start_frame": 0, "end_frame": 160, "action_text": "Use the right arm to grab the white body stapler with accents and place it on Red mat", "skill": ""}]} +{"episode_index": 84, "tasks": ["Set the stapler with rounded edges onto the Black colored mat."], "length": 156, "action_config": [{"start_frame": 0, "end_frame": 156, "action_text": "Set the stapler with rounded edges onto the Black colored mat.", "skill": ""}]} +{"episode_index": 85, "tasks": ["Move the stapler with silver inner plates with the right arm to the Gray mat"], "length": 143, "action_config": [{"start_frame": 0, "end_frame": 143, "action_text": "Move the stapler with silver inner plates with the right arm to the Gray mat", "skill": ""}]} +{"episode_index": 86, "tasks": ["Drop the stapler with silver inner plates carefully on the Black mat"], "length": 157, "action_config": [{"start_frame": 0, "end_frame": 157, "action_text": "Drop the stapler with silver inner plates carefully on the Black mat", "skill": ""}]} +{"episode_index": 87, "tasks": ["Grab the white body stapler with accents and drop it on Black mat."], "length": 146, "action_config": [{"start_frame": 0, "end_frame": 146, "action_text": "Grab the white body stapler with accents and drop it on Black mat.", "skill": ""}]} +{"episode_index": 88, "tasks": ["Slide the small red stapler to the Cyan colored mat."], "length": 148, "action_config": [{"start_frame": 0, "end_frame": 148, "action_text": "Slide the small red stapler to the Cyan colored mat.", "skill": ""}]} +{"episode_index": 89, "tasks": ["Grab the plastic stapler with metallic interior using the left arm and shift it to Cyan"], "length": 138, "action_config": [{"start_frame": 0, "end_frame": 138, "action_text": "Grab the plastic stapler with metallic interior using the left arm and shift it to Cyan", "skill": ""}]} +{"episode_index": 90, "tasks": ["Use the right arm to place the stapler in bright red color onto the Green mat"], "length": 140, "action_config": [{"start_frame": 0, "end_frame": 140, "action_text": "Use the right arm to place the stapler in bright red color onto the Green mat", "skill": ""}]} +{"episode_index": 91, "tasks": ["Stick the white stapler with rounded design on the Yellow mat."], "length": 145, "action_config": [{"start_frame": 0, "end_frame": 145, "action_text": "Stick the white stapler with rounded design on the Yellow mat.", "skill": ""}]} +{"episode_index": 92, "tasks": ["Put the bright blue smooth stapler on the Green mat"], "length": 164, "action_config": [{"start_frame": 0, "end_frame": 164, "action_text": "Put the bright blue smooth stapler on the Green mat", "skill": ""}]} +{"episode_index": 93, "tasks": ["Use the right arm to grab the stapler with white metallic components and place it on Magenta mat"], "length": 145, "action_config": [{"start_frame": 0, "end_frame": 145, "action_text": "Use the right arm to grab the stapler with white metallic components and place it on Magenta mat", "skill": ""}]} +{"episode_index": 94, "tasks": ["Move the red stapler for binding papers to the Black mat with the right arm"], "length": 164, "action_config": [{"start_frame": 0, "end_frame": 164, "action_text": "Move the red stapler for binding papers to the Black mat with the right arm", "skill": ""}]} +{"episode_index": 95, "tasks": ["Set the red stapler down on the Red mat"], "length": 148, "action_config": [{"start_frame": 0, "end_frame": 148, "action_text": "Set the red stapler down on the Red mat", "skill": ""}]} +{"episode_index": 96, "tasks": ["Pick the small black stapler with metal core with the left arm and place it on Blue mat"], "length": 143, "action_config": [{"start_frame": 0, "end_frame": 143, "action_text": "Pick the small black stapler with metal core with the left arm and place it on Blue mat", "skill": ""}]} +{"episode_index": 97, "tasks": ["Relocate the metal and plastic stapler to the Black colored mat"], "length": 145, "action_config": [{"start_frame": 0, "end_frame": 145, "action_text": "Relocate the metal and plastic stapler to the Black colored mat", "skill": ""}]} +{"episode_index": 98, "tasks": ["Use the left arm and place the compact blue stapler on Red mat."], "length": 149, "action_config": [{"start_frame": 0, "end_frame": 149, "action_text": "Use the left arm and place the compact blue stapler on Red mat.", "skill": ""}]} +{"episode_index": 99, "tasks": ["Grab the stapler with silver inner plates, place it on the Gray mat"], "length": 140, "action_config": [{"start_frame": 0, "end_frame": 140, "action_text": "Grab the stapler with silver inner plates, place it on the Gray mat", "skill": ""}]} +{"episode_index": 100, "tasks": ["Position the handheld stapler on the Magenta mat."], "length": 143, "action_config": [{"start_frame": 0, "end_frame": 143, "action_text": "Position the handheld stapler on the Magenta mat.", "skill": ""}]} +{"episode_index": 101, "tasks": ["Carry the red stapler with black base to the Yellow colored mat"], "length": 142, "action_config": [{"start_frame": 0, "end_frame": 142, "action_text": "Carry the red stapler with black base to the Yellow colored mat", "skill": ""}]} +{"episode_index": 102, "tasks": ["Position the stapler with orange top lever on the Green mat."], "length": 156, "action_config": [{"start_frame": 0, "end_frame": 156, "action_text": "Position the stapler with orange top lever on the Green mat.", "skill": ""}]} +{"episode_index": 103, "tasks": ["Place the stapler with metallic staple slot onto the Green colored mat."], "length": 147, "action_config": [{"start_frame": 0, "end_frame": 147, "action_text": "Place the stapler with metallic staple slot onto the Green colored mat.", "skill": ""}]} +{"episode_index": 104, "tasks": ["Using the left arm, set the red stapler with black base on the Magenta colored mat"], "length": 142, "action_config": [{"start_frame": 0, "end_frame": 142, "action_text": "Using the left arm, set the red stapler with black base on the Magenta colored mat", "skill": ""}]} +{"episode_index": 105, "tasks": ["Pick the plastic and metal stapler using the left arm and move it to Black mat."], "length": 166, "action_config": [{"start_frame": 0, "end_frame": 166, "action_text": "Pick the plastic and metal stapler using the left arm and move it to Black mat.", "skill": ""}]} +{"episode_index": 106, "tasks": ["Put the curved black stapler on the Blue mat"], "length": 160, "action_config": [{"start_frame": 0, "end_frame": 160, "action_text": "Put the curved black stapler on the Blue mat", "skill": ""}]} +{"episode_index": 107, "tasks": ["Transfer the curved blue and silver stapler to the Black mat"], "length": 147, "action_config": [{"start_frame": 0, "end_frame": 147, "action_text": "Transfer the curved blue and silver stapler to the Black mat", "skill": ""}]} +{"episode_index": 108, "tasks": ["Place the stapler with metallic staple slot onto the Red colored mat."], "length": 165, "action_config": [{"start_frame": 0, "end_frame": 165, "action_text": "Place the stapler with metallic staple slot onto the Red colored mat.", "skill": ""}]} +{"episode_index": 109, "tasks": ["Drop the small red stapler onto the Black mat."], "length": 153, "action_config": [{"start_frame": 0, "end_frame": 153, "action_text": "Drop the small red stapler onto the Black mat.", "skill": ""}]} +{"episode_index": 110, "tasks": ["Using the right arm, set the blue stapler with silver staple tray on the Green colored mat"], "length": 147, "action_config": [{"start_frame": 0, "end_frame": 147, "action_text": "Using the right arm, set the blue stapler with silver staple tray on the Green colored mat", "skill": ""}]} +{"episode_index": 111, "tasks": ["Drop the black stapler with curved top carefully on the Blue mat"], "length": 165, "action_config": [{"start_frame": 0, "end_frame": 165, "action_text": "Drop the black stapler with curved top carefully on the Blue mat", "skill": ""}]} +{"episode_index": 112, "tasks": ["Relocate the red plastic stapler with smooth top to the Gray colored mat"], "length": 143, 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["Put the stapler for fastening papers on the Green mat"], "length": 141, "action_config": [{"start_frame": 0, "end_frame": 141, "action_text": "Put the stapler for fastening papers on the Green mat", "skill": ""}]} +{"episode_index": 117, "tasks": ["Slide the compact stapler to the Red colored mat."], "length": 159, "action_config": [{"start_frame": 0, "end_frame": 159, "action_text": "Slide the compact stapler to the Red colored mat.", "skill": ""}]} +{"episode_index": 118, "tasks": ["Stick the white body stapler with accents onto the Red colored mat."], "length": 166, "action_config": [{"start_frame": 0, "end_frame": 166, "action_text": "Stick the white body stapler with accents onto the Red colored mat.", "skill": ""}]} +{"episode_index": 119, "tasks": ["Set the stapler for stapling paper down on the Yellow mat"], "length": 162, "action_config": [{"start_frame": 0, "end_frame": 162, "action_text": "Set the stapler for stapling paper down on the Yellow mat", "skill": ""}]} 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"skill": ""}]} +{"episode_index": 127, "tasks": ["Use the left arm and place the stapler for fastening papers on Green mat."], "length": 140, "action_config": [{"start_frame": 0, "end_frame": 140, "action_text": "Use the left arm and place the stapler for fastening papers on Green mat.", "skill": ""}]} +{"episode_index": 128, "tasks": ["Pick the plastic stapler with metal top using the left arm and move it to Cyan mat."], "length": 155, "action_config": [{"start_frame": 0, "end_frame": 155, "action_text": "Pick the plastic stapler with metal top using the left arm and move it to Cyan mat.", "skill": ""}]} +{"episode_index": 129, "tasks": ["Carry the stapler with blue plastic handle to the Gray colored mat"], "length": 154, "action_config": [{"start_frame": 0, "end_frame": 154, "action_text": "Carry the stapler with blue plastic handle to the Gray colored mat", "skill": ""}]} +{"episode_index": 130, "tasks": ["Slide the black stapler with rectangular base to the Red colored mat."], 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"skill": ""}]} +{"episode_index": 134, "tasks": ["Use the left arm to place the stapler with orange top lever onto the Blue mat"], "length": 150, "action_config": [{"start_frame": 0, "end_frame": 150, "action_text": "Use the left arm to place the stapler with orange top lever onto the Blue mat", "skill": ""}]} +{"episode_index": 135, "tasks": ["the left arm grabs the small lightweight blue stapler and sets it on Yellow mat."], "length": 168, "action_config": [{"start_frame": 0, "end_frame": 168, "action_text": "the left arm grabs the small lightweight blue stapler and sets it on Yellow mat.", "skill": ""}]} +{"episode_index": 136, "tasks": ["Put the simple stapler on the Black mat"], "length": 151, "action_config": [{"start_frame": 0, "end_frame": 151, "action_text": "Put the simple stapler on the Black mat", "skill": ""}]} +{"episode_index": 137, "tasks": ["With the right arm, position the black stapler with curved top on the Black mat"], "length": 145, "action_config": 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141, "tasks": ["the right arm moves the stapler for fastening papers to the Red mat."], "length": 150, "action_config": [{"start_frame": 0, "end_frame": 150, "action_text": "the right arm moves the stapler for fastening papers to the Red mat.", "skill": ""}]} +{"episode_index": 142, "tasks": ["Relocate the red top black bottom stapler to the Green colored mat"], "length": 169, "action_config": [{"start_frame": 0, "end_frame": 169, "action_text": "Relocate the red top black bottom stapler to the Green colored mat", "skill": ""}]} +{"episode_index": 143, "tasks": ["Lift the stapler with silver staple tray to the Gray mat using the left arm"], "length": 144, "action_config": [{"start_frame": 0, "end_frame": 144, "action_text": "Lift the stapler with silver staple tray to the Gray mat using the left arm", "skill": ""}]} +{"episode_index": 144, "tasks": ["Relocate the small lightweight blue stapler to the Blue colored mat"], "length": 158, "action_config": [{"start_frame": 0, "end_frame": 158, "action_text": "Relocate the small lightweight blue stapler to the Blue colored mat", "skill": ""}]} +{"episode_index": 145, "tasks": ["Move the plastic blue stapler with metal parts to the Magenta mat with the left arm"], "length": 157, "action_config": [{"start_frame": 0, "end_frame": 157, "action_text": "Move the plastic blue stapler with metal parts to the Magenta mat with the left arm", "skill": ""}]} +{"episode_index": 146, "tasks": ["Place the stapler with white metallic components onto the Cyan colored mat."], "length": 155, "action_config": [{"start_frame": 0, "end_frame": 155, "action_text": "Place the stapler with white metallic components onto the Cyan colored mat.", "skill": ""}]} +{"episode_index": 147, "tasks": ["Drop the stapler with black top section carefully on the Yellow mat"], "length": 158, "action_config": [{"start_frame": 0, "end_frame": 158, "action_text": "Drop the stapler with black top section carefully on the Yellow mat", "skill": ""}]} 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Magenta mat.", "skill": ""}]} +{"episode_index": 155, "tasks": ["Set the stapler with silver staple tray down on the Yellow mat"], "length": 146, "action_config": [{"start_frame": 0, "end_frame": 146, "action_text": "Set the stapler with silver staple tray down on the Yellow mat", "skill": ""}]} +{"episode_index": 156, "tasks": ["Drop the plastic blue stapler with metal parts carefully on the Green mat"], "length": 147, "action_config": [{"start_frame": 0, "end_frame": 147, "action_text": "Drop the plastic blue stapler with metal parts carefully on the Green mat", "skill": ""}]} +{"episode_index": 157, "tasks": ["Move the paper stapler with silver tray with the right arm to the Yellow mat"], "length": 146, "action_config": [{"start_frame": 0, "end_frame": 146, "action_text": "Move the paper stapler with silver tray with the right arm to the Yellow mat", "skill": ""}]} +{"episode_index": 158, "tasks": ["Place the black stapler with curved top onto the Green colored mat."], "length": 156, "action_config": [{"start_frame": 0, "end_frame": 156, "action_text": "Place the black stapler with curved top onto the Green colored mat.", "skill": ""}]} +{"episode_index": 159, "tasks": ["Slide the stapler with smooth blue finish to the Blue colored mat."], "length": 149, "action_config": [{"start_frame": 0, "end_frame": 149, "action_text": "Slide the stapler with smooth blue finish to the Blue colored mat.", "skill": ""}]} +{"episode_index": 160, "tasks": ["Drop the small stapler carefully on the Cyan mat"], "length": 163, "action_config": [{"start_frame": 0, "end_frame": 163, "action_text": "Drop the small stapler carefully on the Cyan mat", "skill": ""}]} +{"episode_index": 161, "tasks": ["Use the left arm and place the blue plastic stapler with silver metal on Black mat."], "length": 160, "action_config": [{"start_frame": 0, "end_frame": 160, "action_text": "Use the left arm and place the blue plastic stapler with silver metal on Black mat.", "skill": ""}]} 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"action_config": [{"start_frame": 0, "end_frame": 168, "action_text": "Drop the red plastic stapler with smooth top carefully on the Blue mat", "skill": ""}]} +{"episode_index": 166, "tasks": ["Move the small black stapler with metal core to the Red mat."], "length": 159, "action_config": [{"start_frame": 0, "end_frame": 159, "action_text": "Move the small black stapler with metal core to the Red mat.", "skill": ""}]} +{"episode_index": 167, "tasks": ["Pick the small black stapler with metal core with the left arm and place it on Black mat"], "length": 147, "action_config": [{"start_frame": 0, "end_frame": 147, "action_text": "Pick the small black stapler with metal core with the left arm and place it on Black mat", "skill": ""}]} +{"episode_index": 168, "tasks": ["Grab the plastic stapler with metal on base with the left arm and drop it on Yellow mat."], "length": 146, "action_config": [{"start_frame": 0, "end_frame": 146, "action_text": "Grab the plastic stapler with metal on base with the left arm and drop it on Yellow mat.", "skill": ""}]} +{"episode_index": 169, "tasks": ["Pick the paper stapler with silver tray using the left arm and move it to Black mat."], "length": 151, "action_config": [{"start_frame": 0, "end_frame": 151, "action_text": "Pick the paper stapler with silver tray using the left arm and move it to Black mat.", "skill": ""}]} +{"episode_index": 170, "tasks": ["With the left arm, move the metal and plastic stapler to the Red mat"], "length": 142, "action_config": [{"start_frame": 0, "end_frame": 142, "action_text": "With the left arm, move the metal and plastic stapler to the Red mat", "skill": ""}]} +{"episode_index": 171, "tasks": ["Carry the stapler with silver inner plates and drop it onto the Cyan mat"], "length": 163, "action_config": [{"start_frame": 0, "end_frame": 163, "action_text": "Carry the stapler with silver inner plates and drop it onto the Cyan mat", "skill": ""}]} +{"episode_index": 172, "tasks": ["the right arm transfers the manual blue stapler to the Black mat."], "length": 160, "action_config": [{"start_frame": 0, "end_frame": 160, "action_text": "the right arm transfers the manual blue stapler to the Black mat.", "skill": ""}]} +{"episode_index": 173, "tasks": ["Pick up the compact black stapler with the left arm and set it on Cyan"], "length": 167, "action_config": [{"start_frame": 0, "end_frame": 167, "action_text": "Pick up the compact black stapler with the left arm and set it on Cyan", "skill": ""}]} +{"episode_index": 174, "tasks": ["Using the right arm, set the blue stapler with silver staple tray on the Blue colored mat"], "length": 143, "action_config": [{"start_frame": 0, "end_frame": 143, "action_text": "Using the right arm, set the blue stapler with silver staple tray on the Blue colored mat", "skill": ""}]} +{"episode_index": 175, "tasks": ["Grab the stapler in bright red color and drop it on Gray mat."], "length": 142, "action_config": [{"start_frame": 0, "end_frame": 142, "action_text": "Grab the stapler in bright red color and drop it on Gray mat.", "skill": ""}]} +{"episode_index": 176, "tasks": ["Carry the plastic stapler with metal on base and drop it onto the Black mat"], "length": 162, "action_config": [{"start_frame": 0, "end_frame": 162, "action_text": "Carry the plastic stapler with metal on base and drop it onto the Black mat", "skill": ""}]} +{"episode_index": 177, "tasks": ["Carry the small handheld stapler to the Magenta colored mat"], "length": 146, "action_config": [{"start_frame": 0, "end_frame": 146, "action_text": "Carry the small handheld stapler to the Magenta colored mat", "skill": ""}]} +{"episode_index": 178, "tasks": ["Carry the stapler with black top section and drop it onto the Yellow mat"], "length": 163, "action_config": [{"start_frame": 0, "end_frame": 163, "action_text": "Carry the stapler with black top section and drop it onto the Yellow mat", "skill": ""}]} +{"episode_index": 179, "tasks": ["the right arm grabs the black stapler with rectangular base and sets it on Magenta mat."], "length": 161, "action_config": [{"start_frame": 0, "end_frame": 161, "action_text": "the right arm grabs the black stapler with rectangular base and sets it on Magenta mat.", "skill": ""}]} +{"episode_index": 180, "tasks": ["Grab the stapler with rounded edges, place it on the Magenta mat"], "length": 139, "action_config": [{"start_frame": 0, "end_frame": 139, "action_text": "Grab the stapler with rounded edges, place it on the Magenta mat", "skill": ""}]} +{"episode_index": 181, "tasks": ["Shift the blue rectangular stapler with curves to the Black mat"], "length": 147, "action_config": [{"start_frame": 0, "end_frame": 147, "action_text": "Shift the blue rectangular stapler with curves to the Black mat", "skill": ""}]} +{"episode_index": 182, "tasks": ["the right arm transfers the compact office stapler to the Red mat."], "length": 155, "action_config": [{"start_frame": 0, "end_frame": 155, "action_text": "the right arm transfers the compact office stapler to the Red mat.", "skill": ""}]} +{"episode_index": 183, "tasks": ["Set the compact stapler onto the Magenta colored mat."], "length": 138, "action_config": [{"start_frame": 0, "end_frame": 138, "action_text": "Set the compact stapler onto the Magenta colored mat.", "skill": ""}]} +{"episode_index": 184, "tasks": ["the right arm transfers the plastic blue stapler with metal parts to the Red mat."], "length": 159, "action_config": [{"start_frame": 0, "end_frame": 159, "action_text": "the right arm transfers the plastic blue stapler with metal parts to the Red mat.", "skill": ""}]} +{"episode_index": 185, "tasks": ["Use the left arm to place the paper stapler with silver tray onto the Black mat"], "length": 140, "action_config": [{"start_frame": 0, "end_frame": 140, "action_text": "Use the left arm to place the paper stapler with silver tray onto the Black mat", "skill": ""}]} +{"episode_index": 186, "tasks": ["Position the metallic stapler with blue 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"action_text": "Grab the stapler with silver staple tray, place it on the Cyan mat", "skill": ""}]} +{"episode_index": 284, "tasks": ["Place the metal and plastic stapler onto the Red colored mat"], "length": 149, "action_config": [{"start_frame": 0, "end_frame": 149, "action_text": "Place the metal and plastic stapler onto the Red colored mat", "skill": ""}]} +{"episode_index": 285, "tasks": ["Pick up the red stapler with the right arm and set it on Gray"], "length": 151, "action_config": [{"start_frame": 0, "end_frame": 151, "action_text": "Pick up the red stapler with the right arm and set it on Gray", "skill": ""}]} +{"episode_index": 286, "tasks": ["Place the compact office stapler onto the Magenta colored mat"], "length": 147, "action_config": [{"start_frame": 0, "end_frame": 147, "action_text": "Place the compact office stapler onto the Magenta colored mat", "skill": ""}]} +{"episode_index": 287, "tasks": ["Relocate the stapler with silver staple tray to the Blue mat."], "length": 158, "action_config": [{"start_frame": 0, "end_frame": 158, "action_text": "Relocate the stapler with silver staple tray to the Blue mat.", "skill": ""}]} +{"episode_index": 288, "tasks": ["Lift the bright blue smooth stapler and drop it onto Cyan mat"], "length": 143, "action_config": [{"start_frame": 0, "end_frame": 143, "action_text": "Lift the bright blue smooth stapler and drop it onto Cyan mat", "skill": ""}]} +{"episode_index": 289, "tasks": ["Using the left arm, set the curved black stapler on the Black colored mat"], "length": 165, "action_config": [{"start_frame": 0, "end_frame": 165, "action_text": "Using the left arm, set the curved black stapler on the Black colored mat", "skill": ""}]} +{"episode_index": 290, "tasks": ["Carry the curved red stapler and drop it onto the Black mat"], "length": 140, "action_config": [{"start_frame": 0, "end_frame": 140, "action_text": "Carry the curved red stapler and drop it onto the Black mat", "skill": ""}]} +{"episode_index": 291, "tasks": ["Drop the stapler with black top section carefully on the Gray mat"], "length": 168, "action_config": [{"start_frame": 0, "end_frame": 168, "action_text": "Drop the stapler with black top section carefully on the Gray mat", "skill": ""}]} +{"episode_index": 292, "tasks": ["Set the handheld red stapler onto the Magenta colored mat."], "length": 142, "action_config": [{"start_frame": 0, "end_frame": 142, "action_text": "Set the handheld red stapler onto the Magenta colored mat.", "skill": ""}]} +{"episode_index": 293, "tasks": ["Grab the small handheld stapler using the right arm and shift it to Red"], "length": 158, "action_config": [{"start_frame": 0, "end_frame": 158, "action_text": "Grab the small handheld stapler using the right arm and shift it to Red", "skill": ""}]} +{"episode_index": 294, "tasks": ["Pick the stapler for fastening papers with the left arm and place it on Blue mat"], "length": 158, "action_config": [{"start_frame": 0, "end_frame": 158, "action_text": "Pick the stapler for fastening papers with the left arm and place it on Blue mat", "skill": ""}]} +{"episode_index": 295, "tasks": ["Carry the white body stapler with accents and drop it onto the Black mat"], "length": 162, "action_config": [{"start_frame": 0, "end_frame": 162, "action_text": "Carry the white body stapler with accents and drop it onto the Black mat", "skill": ""}]} +{"episode_index": 296, "tasks": ["Shift the red stapler with black base manually to the Yellow mat"], "length": 159, "action_config": [{"start_frame": 0, "end_frame": 159, "action_text": "Shift the red stapler with black base manually to the Yellow mat", "skill": ""}]} +{"episode_index": 297, "tasks": ["Use the right arm to grab the blue rectangular stapler with curves and place it on Black mat"], "length": 142, "action_config": [{"start_frame": 0, "end_frame": 142, "action_text": "Use the right arm to grab the blue rectangular stapler with curves and place it on Black mat", "skill": ""}]} +{"episode_index": 298, "tasks": ["Move the compact red stapler with silver accents with the left arm to the Blue mat"], "length": 151, "action_config": [{"start_frame": 0, "end_frame": 151, "action_text": "Move the compact red stapler with silver accents with the left arm to the Blue mat", "skill": ""}]} +{"episode_index": 299, "tasks": ["Move the smooth plastic stapler to the Red mat with the left arm"], "length": 153, "action_config": [{"start_frame": 0, "end_frame": 153, "action_text": "Move the smooth plastic stapler to the Red mat with the left arm", "skill": ""}]} +{"episode_index": 300, "tasks": ["Relocate the stapler with black top section to the Blue mat."], "length": 156, "action_config": [{"start_frame": 0, "end_frame": 156, "action_text": "Relocate the stapler with black top section to the Blue mat.", "skill": ""}]} +{"episode_index": 301, "tasks": ["Place the metallic stapler with blue cover onto the Blue colored mat."], "length": 160, "action_config": [{"start_frame": 0, "end_frame": 160, "action_text": "Place the metallic stapler with blue cover onto the Blue colored mat.", "skill": ""}]} +{"episode_index": 302, "tasks": ["Carry the stapler with white metallic components and drop it onto the Green mat"], "length": 156, "action_config": [{"start_frame": 0, "end_frame": 156, "action_text": "Carry the stapler with white metallic components and drop it onto the Green mat", "skill": ""}]} +{"episode_index": 303, "tasks": ["Grab the handheld stapler and stick it onto Cyan mat"], "length": 143, "action_config": [{"start_frame": 0, "end_frame": 143, "action_text": "Grab the handheld stapler and stick it onto Cyan mat", "skill": ""}]} +{"episode_index": 304, "tasks": ["Stick the paper stapler with silver tray onto the Red colored mat."], "length": 168, "action_config": [{"start_frame": 0, "end_frame": 168, "action_text": "Stick the paper stapler with silver tray onto the Red colored mat.", "skill": ""}]} +{"episode_index": 305, "tasks": ["Move the stapler with metallic staple slot with the right arm to the Gray mat"], "length": 158, "action_config": [{"start_frame": 0, "end_frame": 158, "action_text": "Move the stapler with metallic staple slot with the right arm to the Gray mat", "skill": ""}]} +{"episode_index": 306, "tasks": ["Lift the stapler with red top and drop it onto Cyan mat"], "length": 157, "action_config": [{"start_frame": 0, "end_frame": 157, "action_text": "Lift the stapler with red top and drop it onto Cyan mat", "skill": ""}]} +{"episode_index": 307, "tasks": ["Pick the stapler with curved blue top using the left arm and move it to Magenta mat."], "length": 139, "action_config": [{"start_frame": 0, "end_frame": 139, "action_text": "Pick the stapler with curved blue top using the left arm and move it to Magenta mat.", "skill": ""}]} +{"episode_index": 308, "tasks": ["Shift the metallic stapler with red body to the Yellow mat"], "length": 164, "action_config": [{"start_frame": 0, "end_frame": 164, "action_text": "Shift the metallic stapler with red body to the Yellow mat", "skill": ""}]} +{"episode_index": 309, "tasks": ["Use the right arm to grab the black stapler with rectangular base and place it on Blue mat"], "length": 144, "action_config": [{"start_frame": 0, "end_frame": 144, "action_text": "Use the right arm to grab the black stapler with rectangular base and place it on Blue mat", "skill": ""}]} +{"episode_index": 310, "tasks": ["Place the stapler with silver inner plates onto the Black colored mat"], "length": 157, "action_config": [{"start_frame": 0, "end_frame": 157, "action_text": "Place the stapler with silver inner plates onto the Black colored mat", "skill": ""}]} +{"episode_index": 311, "tasks": ["Stick the compact red stapler with silver accents onto the Blue colored mat."], "length": 160, "action_config": [{"start_frame": 0, "end_frame": 160, "action_text": "Stick the compact red stapler with silver accents onto the Blue colored mat.", "skill": ""}]} +{"episode_index": 312, "tasks": ["the right arm transfers the paper stapler with silver tray to the Green mat."], "length": 159, "action_config": [{"start_frame": 0, "end_frame": 159, "action_text": "the right arm transfers the paper stapler with silver tray to the Green mat.", "skill": ""}]} +{"episode_index": 313, "tasks": ["Carry the plastic blue stapler with metal parts to the Blue colored mat"], "length": 149, "action_config": [{"start_frame": 0, "end_frame": 149, "action_text": "Carry the plastic blue stapler with metal parts to the Blue colored mat", "skill": ""}]} +{"episode_index": 314, "tasks": ["Set the red stapler with black base onto the Gray colored mat."], "length": 156, "action_config": [{"start_frame": 0, "end_frame": 156, "action_text": "Set the red stapler with black base onto the Gray colored mat.", "skill": ""}]} +{"episode_index": 315, "tasks": ["Grab the bright blue smooth stapler using the right arm and set it on Red mat."], "length": 156, "action_config": [{"start_frame": 0, "end_frame": 156, "action_text": "Grab the bright blue smooth stapler using the right arm and set it on Red mat.", "skill": ""}]} +{"episode_index": 316, "tasks": ["Place the metallic stapler with red body onto the Cyan colored mat."], "length": 147, "action_config": [{"start_frame": 0, "end_frame": 147, "action_text": "Place the metallic stapler with red body onto the Cyan colored mat.", "skill": ""}]} +{"episode_index": 317, "tasks": ["the right arm moves the blue stapler with curved design to the Gray mat."], "length": 147, "action_config": [{"start_frame": 0, "end_frame": 147, "action_text": "the right arm moves the blue stapler with curved design to the Gray mat.", "skill": ""}]} +{"episode_index": 318, "tasks": ["Set the black stapler for joining pages down on the Red mat"], "length": 164, "action_config": [{"start_frame": 0, "end_frame": 164, "action_text": "Set the black stapler for joining pages down on the Red mat", "skill": ""}]} +{"episode_index": 319, "tasks": ["Lift the compact office stapler and drop it onto Yellow mat"], "length": 149, "action_config": [{"start_frame": 0, "end_frame": 149, "action_text": "Lift the compact office stapler and drop it onto Yellow mat", "skill": ""}]} +{"episode_index": 320, "tasks": ["Drop the compact blue stapler carefully on the Gray mat"], "length": 159, "action_config": [{"start_frame": 0, "end_frame": 159, "action_text": "Drop the compact blue stapler carefully on the Gray mat", "skill": ""}]} +{"episode_index": 321, "tasks": ["Grab the stapler with blue plastic handle using the right arm and set it on Green mat."], "length": 150, "action_config": [{"start_frame": 0, "end_frame": 150, "action_text": "Grab the stapler with blue plastic handle using the right arm and set it on Green mat.", "skill": ""}]} +{"episode_index": 322, "tasks": ["Position the compact stapler on the Magenta mat."], "length": 153, "action_config": [{"start_frame": 0, "end_frame": 153, "action_text": "Position the compact stapler on the Magenta mat.", "skill": ""}]} +{"episode_index": 323, "tasks": ["Put the plastic and metal stapler on the Green mat"], "length": 143, "action_config": [{"start_frame": 0, "end_frame": 143, "action_text": "Put the plastic and metal stapler on the Green mat", "skill": ""}]} +{"episode_index": 324, "tasks": ["Shift the stapler in bright red color manually to the Red mat"], "length": 156, "action_config": [{"start_frame": 0, "end_frame": 156, "action_text": "Shift the stapler in bright red color manually to the Red mat", "skill": ""}]} +{"episode_index": 325, "tasks": ["Shift the stapler with red top manually to the Gray mat"], "length": 152, "action_config": [{"start_frame": 0, "end_frame": 152, "action_text": "Shift the stapler with red top manually to the Gray mat", "skill": ""}]} +{"episode_index": 326, "tasks": ["the right arm moves the handheld black stapler to the Yellow mat."], "length": 140, "action_config": [{"start_frame": 0, "end_frame": 140, "action_text": "the right arm moves the handheld black stapler to the Yellow mat.", "skill": ""}]} +{"episode_index": 327, "tasks": ["Set the modern design stapler down on the Blue mat"], "length": 149, "action_config": [{"start_frame": 0, "end_frame": 149, "action_text": "Set the modern design stapler down on the Blue mat", "skill": ""}]} +{"episode_index": 328, "tasks": ["Using the right arm, set the black smooth-textured stapler on the Magenta colored mat"], "length": 168, "action_config": [{"start_frame": 0, "end_frame": 168, "action_text": "Using the right arm, set the black smooth-textured stapler on the Magenta colored mat", "skill": ""}]} +{"episode_index": 329, "tasks": ["the right arm places the red top black bottom stapler on the Red mat."], "length": 169, "action_config": [{"start_frame": 0, "end_frame": 169, "action_text": "the right arm places the red top black bottom stapler on the Red mat.", "skill": ""}]} +{"episode_index": 330, "tasks": ["Stick the red stapler on the Cyan mat."], "length": 144, "action_config": [{"start_frame": 0, "end_frame": 144, "action_text": "Stick the red stapler on the Cyan mat.", "skill": ""}]} +{"episode_index": 331, "tasks": ["Position the smooth plastic stapler on the Green mat."], "length": 163, "action_config": [{"start_frame": 0, "end_frame": 163, "action_text": "Position the smooth plastic stapler on the Green mat.", "skill": ""}]} +{"episode_index": 332, "tasks": ["Transfer the stapler with white metallic components to the Magenta mat"], "length": 187, "action_config": [{"start_frame": 0, "end_frame": 187, "action_text": "Transfer the stapler with white metallic components to the Magenta mat", "skill": ""}]} +{"episode_index": 333, "tasks": ["the left arm grabs the metallic stapler with blue cover and sets it on Magenta mat."], "length": 140, "action_config": [{"start_frame": 0, "end_frame": 140, "action_text": "the left arm grabs the metallic stapler with blue cover and sets it on Magenta mat.", "skill": ""}]} +{"episode_index": 334, "tasks": ["Place the black stapler with smooth finish on the Black mat using the right arm"], "length": 162, "action_config": [{"start_frame": 0, "end_frame": 162, "action_text": "Place the black stapler with smooth finish on the Black mat using the right arm", "skill": ""}]} +{"episode_index": 335, "tasks": ["Relocate the simple stapler to the Cyan colored mat"], "length": 144, "action_config": [{"start_frame": 0, "end_frame": 144, "action_text": "Relocate the simple stapler to the Cyan colored mat", "skill": ""}]} +{"episode_index": 336, "tasks": ["Pick the compact stapler up and position it on Gray mat"], "length": 157, "action_config": [{"start_frame": 0, "end_frame": 157, "action_text": "Pick the compact stapler up and position it on Gray mat", "skill": ""}]} +{"episode_index": 337, "tasks": ["Pick the curved red stapler up and position it on Black mat"], "length": 148, "action_config": [{"start_frame": 0, "end_frame": 148, "action_text": "Pick the curved red stapler up and position it on Black mat", "skill": ""}]} +{"episode_index": 338, "tasks": ["Pick the stapler for stapling paper up and position it on Black mat"], "length": 146, "action_config": [{"start_frame": 0, "end_frame": 146, "action_text": "Pick the stapler for stapling paper up and position it on Black mat", "skill": ""}]} +{"episode_index": 339, "tasks": ["Drop the metallic stapler with blue cover onto the Magenta mat."], "length": 142, "action_config": [{"start_frame": 0, "end_frame": 142, "action_text": "Drop the metallic stapler with blue cover onto the Magenta mat.", "skill": ""}]} +{"episode_index": 340, "tasks": ["Set the stapler with red top on the Cyan mat with the left arm."], "length": 148, "action_config": [{"start_frame": 0, "end_frame": 148, "action_text": "Set the stapler with red top on the Cyan mat with the left arm.", "skill": ""}]} +{"episode_index": 341, "tasks": ["Grab the red top black bottom stapler using the left arm and shift it to Red"], "length": 165, "action_config": [{"start_frame": 0, "end_frame": 165, "action_text": "Grab the red top black bottom stapler using the left arm and shift it to Red", "skill": ""}]} +{"episode_index": 342, "tasks": ["Slide the white body stapler with accents to the Green colored mat."], "length": 148, "action_config": [{"start_frame": 0, "end_frame": 148, "action_text": "Slide the white body stapler with accents to the Green colored mat.", "skill": ""}]} +{"episode_index": 343, "tasks": ["Lift the stapler with silver staple tray and drop it onto Magenta mat"], "length": 154, "action_config": [{"start_frame": 0, "end_frame": 154, "action_text": "Lift the stapler with silver staple tray and drop it onto Magenta mat", "skill": ""}]} +{"episode_index": 344, "tasks": ["Grab the red plastic stapler with smooth top, place it on the Cyan mat"], "length": 162, "action_config": [{"start_frame": 0, "end_frame": 162, "action_text": "Grab the red plastic stapler with smooth top, place it on the Cyan mat", "skill": ""}]} +{"episode_index": 345, "tasks": ["Pick up the compact office stapler with the right arm and set it on Black"], "length": 145, "action_config": [{"start_frame": 0, "end_frame": 145, "action_text": "Pick up the compact office stapler with the right arm and set it on Black", "skill": ""}]} +{"episode_index": 346, "tasks": ["Lift the bright blue smooth stapler to the Red mat using the right arm"], "length": 166, "action_config": [{"start_frame": 0, "end_frame": 166, "action_text": "Lift the bright blue smooth stapler to the Red mat using the right arm", "skill": ""}]} +{"episode_index": 347, "tasks": ["the right arm places the manual blue stapler on the Green mat."], "length": 153, "action_config": [{"start_frame": 0, "end_frame": 153, "action_text": "the right arm places the manual blue stapler on the Green mat.", "skill": ""}]} +{"episode_index": 348, "tasks": ["the left arm places the blue stapler with white accents on the Gray mat."], "length": 155, "action_config": [{"start_frame": 0, "end_frame": 155, "action_text": "the left arm places the blue stapler with white accents on the Gray mat.", "skill": ""}]} +{"episode_index": 349, "tasks": ["Pick the red plastic stapler with smooth top up and position it on Magenta mat"], "length": 151, "action_config": [{"start_frame": 0, "end_frame": 151, "action_text": "Pick the red plastic stapler with smooth top up and position it on Magenta mat", "skill": ""}]} +{"episode_index": 350, "tasks": ["Grab the stapler with black top section using the right arm and set it on Magenta mat."], "length": 141, "action_config": [{"start_frame": 0, "end_frame": 141, "action_text": "Grab the stapler with black top section using the right arm and set it on Magenta mat.", "skill": ""}]} +{"episode_index": 351, "tasks": ["Transfer the blue stapler with black handle area to the Cyan mat"], "length": 158, "action_config": [{"start_frame": 0, "end_frame": 158, "action_text": "Transfer the blue stapler with black handle area to the Cyan mat", "skill": ""}]} +{"episode_index": 352, "tasks": ["Place the curved blue and silver stapler onto the Red colored mat"], "length": 140, "action_config": [{"start_frame": 0, "end_frame": 140, "action_text": "Place the curved blue and silver stapler onto the Red colored mat", "skill": ""}]} +{"episode_index": 353, "tasks": ["Set the stapler for fastening papers down on the Magenta mat"], "length": 144, "action_config": [{"start_frame": 0, "end_frame": 144, "action_text": "Set the stapler for fastening papers down on the Magenta mat", "skill": ""}]} +{"episode_index": 354, "tasks": ["Pick the stapler in bright red color up and position it on Gray mat"], "length": 151, "action_config": [{"start_frame": 0, "end_frame": 151, "action_text": "Pick the stapler in bright red color up and position it on Gray mat", "skill": ""}]} +{"episode_index": 355, "tasks": ["Set the plastic stapler with silver mechanism on the Black mat with the right arm."], "length": 161, "action_config": [{"start_frame": 0, "end_frame": 161, "action_text": "Set the plastic stapler with silver mechanism on the Black mat with the right arm.", "skill": ""}]} +{"episode_index": 356, "tasks": ["Use the right arm to grab the black stapler with curved top and place it on Black mat"], "length": 156, "action_config": [{"start_frame": 0, "end_frame": 156, "action_text": "Use the right arm to grab the black stapler with curved top and place it on Black mat", "skill": ""}]} +{"episode_index": 357, "tasks": ["Pick the small office stapler using the left arm and move it to Yellow mat."], "length": 142, "action_config": [{"start_frame": 0, "end_frame": 142, "action_text": "Pick the small office stapler using the left arm and move it to Yellow mat.", "skill": ""}]} +{"episode_index": 358, "tasks": ["the left arm places the office stapler with plastic and metal parts on the Magenta mat."], "length": 154, "action_config": [{"start_frame": 0, "end_frame": 154, "action_text": "the left arm places the office stapler with plastic and metal parts on the Magenta mat.", "skill": ""}]} +{"episode_index": 359, "tasks": ["the right arm transfers the compact black stapler to the Yellow mat."], "length": 157, "action_config": [{"start_frame": 0, "end_frame": 157, "action_text": "the right arm transfers the compact black stapler to the Yellow mat.", "skill": ""}]} +{"episode_index": 360, "tasks": ["Use the left arm to place the compact black stapler onto the Red mat"], "length": 156, "action_config": [{"start_frame": 0, "end_frame": 156, "action_text": "Use the left arm to place the compact black stapler onto the Red mat", "skill": ""}]} +{"episode_index": 361, "tasks": ["Place the stapler with rounded edges onto the Blue colored mat."], "length": 162, "action_config": [{"start_frame": 0, "end_frame": 162, "action_text": "Place the stapler with rounded edges onto the Blue colored mat.", "skill": ""}]} +{"episode_index": 362, "tasks": ["Grab the small stapler and stick it onto Blue mat"], "length": 166, "action_config": [{"start_frame": 0, "end_frame": 166, "action_text": "Grab the small stapler and stick it onto Blue mat", "skill": ""}]} +{"episode_index": 363, "tasks": ["Carry the stapler in bright red color to the Gray colored mat"], "length": 154, "action_config": [{"start_frame": 0, "end_frame": 154, "action_text": "Carry the stapler in bright red color to the Gray colored mat", "skill": ""}]} +{"episode_index": 364, "tasks": ["Carry the black stapler for joining pages and drop it onto the Magenta mat"], "length": 143, "action_config": [{"start_frame": 0, "end_frame": 143, "action_text": "Carry the black stapler for joining pages and drop it onto the Magenta mat", "skill": ""}]} +{"episode_index": 365, "tasks": ["With the left arm, position the metallic stapler with red body on the Red mat"], "length": 141, "action_config": [{"start_frame": 0, "end_frame": 141, "action_text": "With the left arm, position the metallic stapler with red body on the Red mat", "skill": ""}]} +{"episode_index": 366, "tasks": ["Set the black stapler with rectangular base on the Blue mat with the left arm."], "length": 151, "action_config": [{"start_frame": 0, "end_frame": 151, "action_text": "Set the black stapler with rectangular base on the Blue mat with the left arm.", "skill": ""}]} +{"episode_index": 367, "tasks": ["Use the left arm to shift the plastic stapler with metallic interior onto the Cyan mat"], "length": 150, "action_config": [{"start_frame": 0, "end_frame": 150, "action_text": "Use the left arm to shift the plastic stapler with metallic interior onto the Cyan mat", "skill": ""}]} +{"episode_index": 368, "tasks": ["the left arm grabs the bright blue smooth stapler and sets it on Green mat."], "length": 153, "action_config": [{"start_frame": 0, "end_frame": 153, "action_text": "the left arm grabs the bright blue smooth stapler and sets it on Green mat.", "skill": ""}]} +{"episode_index": 369, "tasks": ["the left arm moves the red stapler to the Gray mat."], "length": 170, "action_config": [{"start_frame": 0, "end_frame": 170, "action_text": "the left arm moves the red stapler to the Gray mat.", "skill": ""}]} +{"episode_index": 370, "tasks": ["Set the black stapler with smooth finish down on the Black mat"], "length": 147, "action_config": [{"start_frame": 0, "end_frame": 147, "action_text": "Set the black stapler with smooth finish down on the Black mat", "skill": ""}]} +{"episode_index": 371, "tasks": ["Lift the small red stapler to the Black mat using the right arm"], "length": 163, "action_config": [{"start_frame": 0, "end_frame": 163, "action_text": "Lift the small red stapler to the Black mat using the right arm", "skill": ""}]} +{"episode_index": 372, "tasks": ["Shift the curved black stapler to the Red mat"], "length": 163, "action_config": [{"start_frame": 0, "end_frame": 163, "action_text": "Shift the curved black stapler to the Red mat", "skill": ""}]} +{"episode_index": 373, "tasks": ["Use the right arm to shift the modern design stapler onto the Blue mat"], "length": 155, "action_config": [{"start_frame": 0, "end_frame": 155, "action_text": "Use the right arm to shift the modern design stapler onto the Blue mat", "skill": ""}]} +{"episode_index": 374, "tasks": ["Relocate the bright blue smooth stapler to the Red colored mat"], "length": 141, "action_config": [{"start_frame": 0, "end_frame": 141, "action_text": "Relocate the bright blue smooth stapler to the Red colored mat", "skill": ""}]} +{"episode_index": 375, "tasks": ["Grab the red plastic stapler with smooth top, place it on the Gray mat"], "length": 152, "action_config": [{"start_frame": 0, "end_frame": 152, "action_text": "Grab the red plastic stapler with smooth top, place it on the Gray mat", "skill": ""}]} +{"episode_index": 376, "tasks": ["Pick the plastic blue stapler with metal parts using the right arm and move it to Yellow mat."], "length": 167, "action_config": [{"start_frame": 0, "end_frame": 167, "action_text": "Pick the plastic blue stapler with metal parts using the right arm and move it to Yellow mat.", "skill": ""}]} +{"episode_index": 377, "tasks": ["Move the modern design stapler with the right arm to the Cyan mat"], "length": 167, "action_config": [{"start_frame": 0, "end_frame": 167, "action_text": "Move the modern design stapler with the right arm to the Cyan mat", "skill": ""}]} +{"episode_index": 378, "tasks": ["Shift the blue stapler with ergonomic curve to the Cyan mat"], "length": 152, "action_config": [{"start_frame": 0, "end_frame": 152, "action_text": "Shift the blue stapler with ergonomic curve to the Cyan mat", "skill": ""}]} +{"episode_index": 379, "tasks": ["Transfer the handheld blue and silver stapler to the Yellow mat"], "length": 168, "action_config": [{"start_frame": 0, "end_frame": 168, "action_text": "Transfer the handheld blue and silver stapler to the Yellow mat", "skill": ""}]} +{"episode_index": 380, "tasks": ["Relocate the blue stapler to the Cyan colored mat"], "length": 158, "action_config": 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"length": 174, "action_config": [{"start_frame": 0, "end_frame": 174, "action_text": "Grab the stapler with black top section, place it on the Red mat", "skill": ""}]} +{"episode_index": 410, "tasks": ["Move the compact red stapler with silver accents to the Cyan mat with the left arm"], "length": 140, "action_config": [{"start_frame": 0, "end_frame": 140, "action_text": "Move the compact red stapler with silver accents to the Cyan mat with the left arm", "skill": ""}]} +{"episode_index": 411, "tasks": ["Grab the stapler with curved blue top, place it on the Blue mat"], "length": 159, "action_config": [{"start_frame": 0, "end_frame": 159, "action_text": "Grab the stapler with curved blue top, place it on the Blue mat", "skill": ""}]} +{"episode_index": 412, "tasks": ["the left arm grabs the stapler with black top section and sets it on Black mat."], "length": 164, "action_config": [{"start_frame": 0, "end_frame": 164, "action_text": "the left arm grabs the stapler with black top 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"end_frame": 151, "action_text": "Place the small red stapler onto the Yellow colored mat.", "skill": ""}]} +{"episode_index": 424, "tasks": ["Relocate the modern design stapler to the Magenta mat."], "length": 168, "action_config": [{"start_frame": 0, "end_frame": 168, "action_text": "Relocate the modern design stapler to the Magenta mat.", "skill": ""}]} +{"episode_index": 425, "tasks": ["Use the right arm to place the manual blue stapler onto the Magenta mat"], "length": 178, "action_config": [{"start_frame": 0, "end_frame": 178, "action_text": "Use the right arm to place the manual blue stapler onto the Magenta mat", "skill": ""}]} +{"episode_index": 426, "tasks": ["the left arm transfers the blue stapler to the Gray mat."], "length": 158, "action_config": [{"start_frame": 0, "end_frame": 158, "action_text": "the left arm transfers the blue stapler to the Gray mat.", "skill": ""}]} +{"episode_index": 427, "tasks": ["Transfer the manual blue stapler to the Yellow colored mat."], 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"action_config": [{"start_frame": 0, "end_frame": 145, "action_text": "Pick up the compact black stapler and place it on Yellow mat", "skill": ""}]} +{"episode_index": 446, "tasks": ["Place the blue stapler onto the Cyan colored mat."], "length": 144, "action_config": [{"start_frame": 0, "end_frame": 144, "action_text": "Place the blue stapler onto the Cyan colored mat.", "skill": ""}]} +{"episode_index": 447, "tasks": ["With the left arm, move the blue stapler to the Green mat"], "length": 157, "action_config": [{"start_frame": 0, "end_frame": 157, "action_text": "With the left arm, move the blue stapler to the Green mat", "skill": ""}]} +{"episode_index": 448, "tasks": ["Lift the simple stapler to the Black mat using the right arm"], "length": 162, "action_config": [{"start_frame": 0, "end_frame": 162, "action_text": "Lift the simple stapler to the Black mat using the right arm", "skill": ""}]} +{"episode_index": 449, "tasks": ["With the right arm, position the stapler with metallic 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144, "action_config": [{"start_frame": 0, "end_frame": 144, "action_text": "Use the left arm to grab the metallic stapler with red body and place it on Gray mat", "skill": ""}]} +{"episode_index": 457, "tasks": ["With the right arm, move the plastic and metal stapler to the Blue mat"], "length": 143, "action_config": [{"start_frame": 0, "end_frame": 143, "action_text": "With the right arm, move the plastic and metal stapler to the Blue mat", "skill": ""}]} +{"episode_index": 458, "tasks": ["Set the small office stapler onto the Green colored mat."], "length": 135, "action_config": [{"start_frame": 0, "end_frame": 135, "action_text": "Set the small office stapler onto the Green colored mat.", "skill": ""}]} +{"episode_index": 459, "tasks": ["Move the blue plastic stapler with silver metal to the Gray mat with the left arm"], "length": 157, "action_config": [{"start_frame": 0, "end_frame": 157, "action_text": "Move the blue plastic stapler with silver metal to the Gray mat with the left 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stapler for binding papers down on the Green mat"} +{"task_index": 4, "task": "Carry the simple stapler to the Gray colored mat"} +{"task_index": 5, "task": "Place the blue stapler with shiny silver parts onto the Cyan colored mat"} +{"task_index": 6, "task": "Use the left arm to shift the blue stapler onto the Red mat"} +{"task_index": 7, "task": "Grab the red top black bottom stapler and stick it onto Magenta mat"} +{"task_index": 8, "task": "Grab the stapler with white metallic components using the left arm and shift it to Black"} +{"task_index": 9, "task": "Grab the stapler with silver inner plates with the left arm and drop it on Yellow mat."} +{"task_index": 10, "task": "Shift the handy blue stapler with metal parts manually to the Green mat"} +{"task_index": 11, "task": "Relocate the red stapler to the Yellow mat."} +{"task_index": 12, "task": "Pick the compact blue stapler using the left arm and move it to Yellow mat."} +{"task_index": 13, "task": "With the right arm, position the simple stapler on the Black mat"} +{"task_index": 14, "task": "Transfer the blue stapler with black handle area to the Yellow mat"} +{"task_index": 15, "task": "Use the left arm to place the small office stapler onto the Yellow mat"} +{"task_index": 16, "task": "Drop the simple stapler carefully on the Red mat"} +{"task_index": 17, "task": "Stick the curved black stapler onto the Cyan colored mat."} +{"task_index": 18, "task": "Set the compact red stapler with silver accents on the Blue mat with the right arm."} +{"task_index": 19, "task": "Set the black stapler with curved top on the Gray mat with the right arm."} +{"task_index": 20, "task": "Drop the blue stapler with ergonomic curve onto the Yellow mat."} +{"task_index": 21, "task": "Grab the metallic stapler with red body using the left arm and set it on Red mat."} +{"task_index": 22, "task": "Use the right arm to grab the stapler with black top section and place it on Gray mat"} +{"task_index": 23, "task": "Stick the metal and plastic stapler onto the Yellow colored mat."} +{"task_index": 24, "task": "Relocate the black stapler for joining pages to the Gray mat."} +{"task_index": 25, "task": "Grab the small office stapler using the right arm and shift it to Black"} +{"task_index": 26, "task": "Position the small handheld stapler on the Blue mat."} +{"task_index": 27, "task": "Put the blue stapler with black handle area on the Green mat"} +{"task_index": 28, "task": "With the left arm, move the compact black stapler to the Green mat"} +{"task_index": 29, "task": "Use the left arm to shift the lightweight red stapler onto the Black mat"} +{"task_index": 30, "task": "Move the handheld blue and silver stapler with the left arm to the Gray mat"} +{"task_index": 31, "task": "Transfer the simple stapler to the Cyan mat"} +{"task_index": 32, "task": "Use the right arm to place the black stapler for joining pages onto the Cyan mat"} +{"task_index": 33, "task": "Use the left arm and place the stapler for fastening papers on Cyan mat."} +{"task_index": 34, "task": "Pick the red plastic stapler with smooth top using the left arm and move it to Cyan mat."} +{"task_index": 35, "task": "Place the manual stapler with black base onto the Blue colored mat"} +{"task_index": 36, "task": "the left arm places the manual stapler with black base on the Green mat."} +{"task_index": 37, "task": "Pick the red plastic stapler with smooth top with the right arm and place it on Blue mat"} +{"task_index": 38, "task": "With the left arm, move the curved red stapler to the Magenta mat"} +{"task_index": 39, "task": "Grab the stapler with orange button and stick it onto Black mat"} +{"task_index": 40, "task": "Shift the blue stapler with ergonomic curve manually to the Red mat"} +{"task_index": 41, "task": "Move the stapler with silver staple tray with the left arm to the Magenta mat"} +{"task_index": 42, "task": "Place the blue stapler on the Yellow mat using the left arm"} +{"task_index": 43, "task": "Shift the curved blue and silver stapler manually to the Black mat"} +{"task_index": 44, "task": "Pick up the metallic stapler with red body with the right arm and set it on Gray"} +{"task_index": 45, "task": "Slide the red stapler for binding papers to the Magenta colored mat."} +{"task_index": 46, "task": "Put the black stapler with smooth finish on the Yellow mat"} +{"task_index": 47, "task": "Using the left arm, set the stapler for fastening papers on the Cyan colored mat"} +{"task_index": 48, "task": "Grab the black stapler with shiny interior and stick it onto Red mat"} +{"task_index": 49, "task": "Move the small red stapler to the Gray mat with the right arm"} +{"task_index": 50, "task": "Pick the blue stapler up and position it on Gray mat"} +{"task_index": 51, "task": "Use the left arm to grab the stapler with white metallic components and place it on Red mat"} +{"task_index": 52, "task": "the left arm transfers the stapler for fastening papers to the Gray mat."} +{"task_index": 53, "task": "Put the red stapler on the Black mat"} +{"task_index": 54, "task": "Put the red top black bottom stapler on the Green mat"} +{"task_index": 55, "task": "Grab the stapler in bright red color using the left arm and set it on Gray mat."} +{"task_index": 56, "task": "Lift the curved black stapler and drop it onto Black mat"} +{"task_index": 57, "task": "Lift the small red stapler and drop it onto Red mat"} +{"task_index": 58, "task": "Lift the paper stapler with silver tray to the Magenta mat using the left arm"} +{"task_index": 59, "task": "Slide the handheld red stapler to the Magenta colored mat."} +{"task_index": 60, "task": "Lift the curved red stapler to the Yellow mat using the left arm"} +{"task_index": 61, "task": "Place the handheld stapler onto the Green colored mat."} +{"task_index": 62, "task": "Use the left arm to shift the curved blue and silver stapler onto the Green mat"} +{"task_index": 63, "task": "Move the red stapler with the left arm to the Black mat"} +{"task_index": 64, "task": "Pick up the black stapler for joining pages and place it on Yellow mat"} +{"task_index": 65, "task": "Pick the blue stapler with ergonomic curve with the right arm and place it on Blue mat"} +{"task_index": 66, "task": "the left arm places the blue stapler with silver staple tray on the Green mat."} +{"task_index": 67, "task": "Drop the lightweight red stapler onto the Gray mat."} +{"task_index": 68, "task": "Drop the red stapler with black base carefully on the Yellow mat"} +{"task_index": 69, "task": "Place the metal and plastic stapler on the Blue mat using the left arm"} +{"task_index": 70, "task": "Pick up the metallic stapler with red body and place it on Blue mat"} +{"task_index": 71, "task": "the left arm transfers the stapler with rounded edges to the Magenta mat."} +{"task_index": 72, "task": "Grab the stapler in bright red color, place it on the Magenta mat"} +{"task_index": 73, "task": "Relocate the curved blue and silver stapler to the Black mat."} +{"task_index": 74, "task": "With the right arm, move the black stapler with rectangular base to the Green mat"} +{"task_index": 75, "task": "Use the left arm to shift the stapler with smooth blue finish onto the Red mat"} +{"task_index": 76, "task": "Set the blue stapler with silver staple tray down on the Magenta mat"} +{"task_index": 77, "task": "Carry the white body stapler with accents to the Black colored mat"} +{"task_index": 78, "task": "Position the metallic stapler with red body on the Red mat."} +{"task_index": 79, "task": "Set the compact blue stapler down on the Yellow mat"} +{"task_index": 80, "task": "Use the right arm and place the stapler with orange top lever on Gray mat."} +{"task_index": 81, "task": "the right arm places the plastic stapler with metallic interior on the Red mat."} +{"task_index": 82, "task": "With the right arm, move the stapler with rectangular silver mechanism to the Gray mat"} +{"task_index": 83, "task": "Use the right arm to grab the white body stapler with accents and place it on Red mat"} +{"task_index": 84, "task": "Set the stapler with rounded edges onto the Black colored mat."} +{"task_index": 85, "task": "Move the stapler with silver inner plates with the right arm to the Gray mat"} +{"task_index": 86, "task": "Drop the stapler with silver inner plates carefully on the Black mat"} +{"task_index": 87, "task": "Grab the white body stapler with accents and drop it on Black mat."} +{"task_index": 88, "task": "Slide the small red stapler to the Cyan colored mat."} +{"task_index": 89, "task": "Grab the plastic stapler with metallic interior using the left arm and shift it to Cyan"} +{"task_index": 90, "task": "Use the right arm to place the stapler in bright red color onto the Green mat"} +{"task_index": 91, "task": "Stick the white stapler with rounded design on the Yellow mat."} +{"task_index": 92, "task": "Put the bright blue smooth stapler on the Green mat"} +{"task_index": 93, "task": "Use the right arm to grab the stapler with white metallic components and place it on Magenta mat"} +{"task_index": 94, "task": "Move the red stapler for binding papers to the Black mat with the right arm"} +{"task_index": 95, "task": "Set the red stapler down on the Red mat"} +{"task_index": 96, "task": "Pick the small black stapler with metal core with the left arm and place it on Blue mat"} +{"task_index": 97, "task": "Relocate the metal and plastic stapler to the Black colored mat"} +{"task_index": 98, "task": "Use the left arm and place the compact blue stapler on Red mat."} +{"task_index": 99, "task": "Grab the stapler with silver inner plates, place it on the Gray mat"} +{"task_index": 100, "task": "Position the handheld stapler on the Magenta mat."} +{"task_index": 101, "task": "Carry the red stapler with black base to the Yellow colored mat"} +{"task_index": 102, "task": "Position the stapler with orange top lever on the Green mat."} +{"task_index": 103, "task": "Place the stapler with metallic staple slot onto the Green colored mat."} +{"task_index": 104, "task": "Using the left arm, set the red stapler with black base on the Magenta colored mat"} +{"task_index": 105, "task": "Pick the plastic and metal stapler using the left arm and move it to Black mat."} +{"task_index": 106, "task": "Put the curved black stapler on the Blue mat"} +{"task_index": 107, "task": "Transfer the curved blue and silver stapler to the Black mat"} +{"task_index": 108, "task": "Place the stapler with metallic staple slot onto the Red colored mat."} +{"task_index": 109, "task": "Drop the small red stapler onto the Black mat."} +{"task_index": 110, "task": "Using the right arm, set the blue stapler with silver staple tray on the Green colored mat"} +{"task_index": 111, "task": "Drop the black stapler with curved top carefully on the Blue mat"} +{"task_index": 112, "task": "Relocate the red plastic stapler with smooth top to the Gray colored mat"} +{"task_index": 113, "task": "Pick up the blue stapler for paper fastening and place it on Blue mat"} +{"task_index": 114, "task": "Grab the paper stapler with silver tray, place it on the Gray mat"} +{"task_index": 115, "task": "Drop the lightweight red stapler onto the Magenta mat."} +{"task_index": 116, "task": "Put the stapler for fastening papers on the Green mat"} +{"task_index": 117, "task": "Slide the compact stapler to the Red colored mat."} +{"task_index": 118, "task": "Stick the white body stapler with accents onto the Red colored mat."} +{"task_index": 119, "task": "Set the stapler for stapling paper down on the Yellow mat"} +{"task_index": 120, "task": "Relocate the plastic blue stapler with metal parts to the Black colored mat"} +{"task_index": 121, "task": "Relocate the handheld blue and silver stapler to the Blue colored mat"} +{"task_index": 122, "task": "Move the stapler with silver inner plates with the right arm to the Green mat"} +{"task_index": 123, "task": "Use the right arm and place the stapler with black top section on Gray mat."} +{"task_index": 124, "task": "Set the stapler with silver inner plates onto the Magenta colored mat."} +{"task_index": 125, "task": "Set the paper stapler with silver tray down on the Black mat"} +{"task_index": 126, "task": "Grab the desk stapler with red body with the left arm and drop it on Green mat."} +{"task_index": 127, "task": "Use the left arm and place the stapler for fastening papers on Green mat."} +{"task_index": 128, "task": "Pick the plastic stapler with metal top using the left arm and move it to Cyan mat."} +{"task_index": 129, "task": "Carry the stapler with blue plastic handle to the Gray colored mat"} +{"task_index": 130, "task": "Slide the black stapler with rectangular base to the Red colored mat."} +{"task_index": 131, "task": "the left arm transfers the stapler with rounded edges to the Green mat."} +{"task_index": 132, "task": "Set the stapler with silver staple tray down on the Magenta mat"} +{"task_index": 133, "task": "Lift the stapler with rounded edges to the Yellow mat using the right arm"} +{"task_index": 134, "task": "Use the left arm to place the stapler with orange top lever onto the Blue mat"} +{"task_index": 135, "task": "the left arm grabs the small lightweight blue stapler and sets it on Yellow mat."} +{"task_index": 136, "task": "Put the simple stapler on the Black mat"} +{"task_index": 137, "task": "With the right arm, position the black stapler with curved top on the Black mat"} +{"task_index": 138, "task": "Transfer the stapler with silver inner plates to the Red colored mat."} +{"task_index": 139, "task": "Slide the stapler with orange top lever to the Green colored mat."} +{"task_index": 140, "task": "Relocate the red stapler for binding papers to the Gray colored mat"} +{"task_index": 141, "task": "the right arm moves the stapler for fastening papers to the Red mat."} +{"task_index": 142, "task": "Relocate the red top black bottom stapler to the Green colored mat"} +{"task_index": 143, "task": "Lift the stapler with silver staple tray to the Gray mat using the left arm"} +{"task_index": 144, "task": "Relocate the small lightweight blue stapler to the Blue colored mat"} +{"task_index": 145, "task": "Move the plastic blue stapler with metal parts to the Magenta mat with the left arm"} +{"task_index": 146, "task": "Place the stapler with white metallic components onto the Cyan colored mat."} +{"task_index": 147, "task": "Drop the stapler with black top section carefully on the Yellow mat"} +{"task_index": 148, "task": "Move the metallic stapler with blue cover with the right arm to the Gray mat"} +{"task_index": 149, "task": "Drop the stapler with smooth blue finish carefully on the Blue mat"} +{"task_index": 150, "task": "Place the metallic stapler with red body on the Green mat using the left arm"} +{"task_index": 151, "task": "Put the stapler with silver staple tray on the Black mat"} +{"task_index": 152, "task": "Use the right arm to grab the plastic stapler with silver mechanism and place it on Red mat"} +{"task_index": 153, "task": "Pick up the metal and plastic stapler and place it on Cyan mat"} +{"task_index": 154, "task": "the right arm grabs the stapler with orange top lever and sets it on Magenta mat."} +{"task_index": 155, "task": "Set the stapler with silver staple tray down on the Yellow mat"} +{"task_index": 156, "task": "Drop the plastic blue stapler with metal parts carefully on the Green mat"} +{"task_index": 157, "task": "Move the paper stapler with silver tray with the right arm to the Yellow mat"} +{"task_index": 158, "task": "Place the black stapler with curved top onto the Green colored mat."} +{"task_index": 159, "task": "Slide the stapler with smooth blue finish to the Blue colored mat."} +{"task_index": 160, "task": "Drop the small stapler carefully on the Cyan mat"} +{"task_index": 161, "task": "Use the left arm and place the blue plastic stapler with silver metal on Black mat."} +{"task_index": 162, "task": "Set the office stapler with plastic and metal parts down on the Black mat"} +{"task_index": 163, "task": "With the right arm, move the blue stapler with shiny silver parts to the Yellow mat"} +{"task_index": 164, "task": "Move the curved red stapler to the Black mat with the right arm"} +{"task_index": 165, "task": "Drop the red plastic stapler with smooth top carefully on the Blue mat"} +{"task_index": 166, "task": "Move the small black stapler with metal core to the Red mat."} +{"task_index": 167, "task": "Pick the small black stapler with metal core with the left arm and place it on Black mat"} +{"task_index": 168, "task": "Grab the plastic stapler with metal on base with the left arm and drop it on Yellow mat."} +{"task_index": 169, "task": "Pick the paper stapler with silver tray using the left arm and move it to Black mat."} +{"task_index": 170, "task": "With the left arm, move the metal and plastic stapler to the Red mat"} +{"task_index": 171, "task": "Carry the stapler with silver inner plates and drop it onto the Cyan mat"} +{"task_index": 172, "task": "the right arm transfers the manual blue stapler to the Black mat."} +{"task_index": 173, "task": "Pick up the compact black stapler with the left arm and set it on Cyan"} +{"task_index": 174, "task": "Using the right arm, set the blue stapler with silver staple tray on the Blue colored mat"} +{"task_index": 175, "task": "Grab the stapler in bright red color and drop it on Gray mat."} +{"task_index": 176, "task": "Carry the plastic stapler with metal on base and drop it onto the Black mat"} +{"task_index": 177, "task": "Carry the small handheld stapler to the Magenta colored mat"} +{"task_index": 178, "task": "Carry the stapler with black top section and drop it onto the Yellow mat"} +{"task_index": 179, "task": "the right arm grabs the black stapler with rectangular base and sets it on Magenta mat."} +{"task_index": 180, "task": "Grab the stapler with rounded edges, place it on the Magenta mat"} +{"task_index": 181, "task": "Shift the blue rectangular stapler with curves to the Black mat"} +{"task_index": 182, "task": "the right arm transfers the compact office stapler to the Red mat."} +{"task_index": 183, "task": "Set the compact stapler onto the Magenta colored mat."} +{"task_index": 184, "task": "the right arm transfers the plastic blue stapler with metal parts to the Red mat."} +{"task_index": 185, "task": "Use the left arm to place the paper stapler with silver tray onto the Black mat"} +{"task_index": 186, "task": "Position the metallic stapler with blue cover on the Green mat."} +{"task_index": 187, "task": "Place the stapler for stapling paper onto the Green colored mat."} +{"task_index": 188, "task": "Using the right arm, set the blue stapler with curved design on the Red colored mat"} +{"task_index": 189, "task": "Relocate the compact blue stapler to the Magenta colored mat"} +{"task_index": 190, "task": "Place the blue stapler with silver staple tray onto the Gray colored mat"} +{"task_index": 191, "task": "Carry the curved blue and silver stapler to the Green colored mat"} +{"task_index": 192, "task": "With the right arm, position the simple stapler on the Gray mat"} +{"task_index": 193, "task": "Position the stapler with silver inner plates on the Red mat."} +{"task_index": 194, "task": "Pick the paper stapler with silver tray up and position it on Cyan mat"} +{"task_index": 195, "task": "Pick up the stapler for stapling paper with the right arm and set it on Green"} +{"task_index": 196, "task": "Pick up the stapler with rounded edges and place it on Red mat"} +{"task_index": 197, "task": "Move the red plastic stapler with smooth top to the Green mat with the left arm"} +{"task_index": 198, "task": "Pick the paper stapler with silver tray with the right arm and place it on Black mat"} +{"task_index": 199, "task": "Relocate the blue stapler for paper fastening to the Red mat."} +{"task_index": 200, "task": "Pick the blue stapler with the right arm and place it on Yellow mat"} +{"task_index": 201, "task": "Pick up the blue stapler with curved design and place it on Yellow mat"} +{"task_index": 202, "task": "Shift the stapler with rectangular silver mechanism to the Red mat"} +{"task_index": 203, "task": "Put the stapler with orange button on the Green mat"} +{"task_index": 204, "task": "Pick the modern design stapler with the left arm and place it on Yellow mat"} +{"task_index": 205, "task": "Using the left arm, set the metal and plastic stapler on the Blue colored mat"} +{"task_index": 206, "task": "the left arm transfers the stapler with smooth blue finish to the Magenta mat."} +{"task_index": 207, "task": "Drop the lightweight red stapler carefully on the Yellow mat"} +{"task_index": 208, "task": "Use the right arm to grab the handheld stapler and place it on Red mat"} +{"task_index": 209, "task": "Stick the stapler with smooth blue finish onto the Gray colored mat."} +{"task_index": 210, "task": "Transfer the curved blue and silver stapler to the Red colored mat."} +{"task_index": 211, "task": "Drop the black stapler with smooth finish onto the Red mat."} +{"task_index": 212, "task": "Stick the stapler with smooth blue finish onto the Green colored mat."} +{"task_index": 213, "task": "Shift the handheld stapler to the Red mat"} +{"task_index": 214, "task": "Pick up the small handheld stapler with the right arm and set it on Cyan"} +{"task_index": 215, "task": "Place the smooth plastic stapler onto the Magenta colored mat."} +{"task_index": 216, "task": "Grab the stapler for fastening papers with the left arm and drop it on Green mat."} +{"task_index": 217, "task": "Use the left arm to place the red top black bottom stapler onto the Red mat"} +{"task_index": 218, "task": "Drop the handheld stapler onto the Yellow mat."} +{"task_index": 219, "task": "Grab the stapler for fastening papers using the right arm and shift it to Cyan"} +{"task_index": 220, "task": "Use the right arm to shift the stapler with white metallic components onto the Cyan mat"} +{"task_index": 221, "task": "Set the blue rectangular stapler with curves on the Green mat with the left arm."} +{"task_index": 222, "task": "Relocate the red stapler with black base to the Green colored mat"} +{"task_index": 223, "task": "Grab the blue stapler with the right arm and drop it on Gray mat."} +{"task_index": 224, "task": "Grab the blue stapler with silver staple tray and stick it onto Cyan mat"} +{"task_index": 225, "task": "the left arm places the compact red stapler with silver accents on the Blue mat."} +{"task_index": 226, "task": "Move the small handheld stapler to the Green mat."} +{"task_index": 227, "task": "Position the stapler with silver staple tray on the Cyan mat."} +{"task_index": 228, "task": "Carry the plastic stapler with metal on base to the Magenta colored mat"} +{"task_index": 229, "task": "Place the red stapler onto the Green colored mat"} +{"task_index": 230, "task": "Set the stapler with blue plastic handle on the Green mat with the left arm."} +{"task_index": 231, "task": "Set the handheld red stapler onto the Yellow colored mat."} +{"task_index": 232, "task": "With the left arm, position the compact black stapler on the Red mat"} +{"task_index": 233, "task": "Place the plastic stapler with metallic interior onto the Red colored mat"} +{"task_index": 234, "task": "Place the stapler for fastening papers onto the Green colored mat"} +{"task_index": 235, "task": "Use the right arm and place the white body stapler with accents on Blue mat."} +{"task_index": 236, "task": "Lift the stapler for fastening papers to the Gray mat using the right arm"} +{"task_index": 237, "task": "Use the right arm to shift the black stapler with curved top onto the Yellow mat"} +{"task_index": 238, "task": "Stick the curved black stapler onto the Blue colored mat."} +{"task_index": 239, "task": "Relocate the curved blue and silver stapler to the Red mat."} +{"task_index": 240, "task": "Stick the handy blue stapler with metal parts onto the Cyan colored mat."} +{"task_index": 241, "task": "Transfer the compact stapler with smooth surface to the Cyan mat"} +{"task_index": 242, "task": "Transfer the blue stapler to the Magenta colored mat."} +{"task_index": 243, "task": "Stick the stapler for fastening papers onto the Blue colored mat."} +{"task_index": 244, "task": "Pick the handy blue stapler with metal parts with the right arm and place it on Cyan mat"} +{"task_index": 245, "task": "Shift the red stapler manually to the Cyan mat"} +{"task_index": 246, "task": "Drop the bright blue smooth stapler onto the Cyan mat."} +{"task_index": 247, "task": "Grab the blue stapler with curved design using the right arm and shift it to Red"} +{"task_index": 248, "task": "Set the compact stapler with smooth surface down on the Yellow mat"} +{"task_index": 249, "task": "Transfer the curved red stapler to the Black colored mat."} +{"task_index": 250, "task": "Relocate the metallic stapler with red body to the Cyan colored mat"} +{"task_index": 251, "task": "Carry the manual stapler with black base to the Yellow colored mat"} +{"task_index": 252, "task": "Drop the lightweight red stapler carefully on the Green mat"} +{"task_index": 253, "task": "Carry the lightweight red stapler and drop it onto the Gray mat"} +{"task_index": 254, "task": "Grab the black stapler for joining pages using the left arm and shift it to Yellow"} +{"task_index": 255, "task": "the left arm transfers the blue stapler to the Red mat."} +{"task_index": 256, "task": "Position the manual blue stapler on the Yellow mat."} +{"task_index": 257, "task": "Transfer the red plastic stapler with smooth top to the Cyan colored mat."} +{"task_index": 258, "task": "Grab the stapler with silver staple tray and drop it on Blue mat."} +{"task_index": 259, "task": "Pick the small lightweight blue stapler with the right arm and place it on Cyan mat"} +{"task_index": 260, "task": "Relocate the paper stapler with silver tray to the Red mat."} +{"task_index": 261, "task": "Move the compact stapler to the Blue mat."} +{"task_index": 262, "task": "With the right arm, position the red stapler for binding papers on the Yellow mat"} +{"task_index": 263, "task": "Lift the blue stapler with silver staple tray and drop it onto Yellow mat"} +{"task_index": 264, "task": "Drop the small office stapler onto the Magenta mat."} +{"task_index": 265, "task": "Use the right arm to grab the handheld stapler and place it on Gray mat"} +{"task_index": 266, "task": "Put the plastic stapler with metallic interior on the Yellow mat"} +{"task_index": 267, "task": "Shift the compact blue stapler manually to the Blue mat"} +{"task_index": 268, "task": "Place the black stapler for joining pages onto the Yellow colored mat."} +{"task_index": 269, "task": "Set the desk stapler with red body down on the Yellow mat"} +{"task_index": 270, "task": "Place the plastic stapler with metal top onto the Gray colored mat."} +{"task_index": 271, "task": "Place the manual blue stapler onto the Black colored mat"} +{"task_index": 272, "task": "With the left arm, move the white body stapler with accents to the Blue mat"} +{"task_index": 273, "task": "Relocate the red top black bottom stapler to the Red colored mat"} +{"task_index": 274, "task": "the right arm places the stapler with curved blue top on the Magenta mat."} +{"task_index": 275, "task": "Set the paper stapler with silver tray onto the Black colored mat."} +{"task_index": 276, "task": "Place the blue stapler for paper fastening onto the Gray colored mat."} +{"task_index": 277, "task": "Pick the compact office stapler up and position it on Gray mat"} +{"task_index": 278, "task": "Pick the handy blue stapler with metal parts with the left arm and place it on Cyan mat"} +{"task_index": 279, "task": "the right arm places the compact stapler on the Yellow mat."} +{"task_index": 280, "task": "Slide the blue rectangular stapler with curves to the Red colored mat."} +{"task_index": 281, "task": "Pick the lightweight red stapler up and position it on Cyan mat"} +{"task_index": 282, "task": "Grab the stapler with silver staple tray, place it on the Cyan mat"} +{"task_index": 283, "task": "Place the metal and plastic stapler onto the Red colored mat"} +{"task_index": 284, "task": "Pick up the red stapler with the right arm and set it on Gray"} +{"task_index": 285, "task": "Place the compact office stapler onto the Magenta colored mat"} +{"task_index": 286, "task": "Relocate the stapler with silver staple tray to the Blue mat."} +{"task_index": 287, "task": "Lift the bright blue smooth stapler and drop it onto Cyan mat"} +{"task_index": 288, "task": "Using the left arm, set the curved black stapler on the Black colored mat"} +{"task_index": 289, "task": "Carry the curved red stapler and drop it onto the Black mat"} +{"task_index": 290, "task": "Drop the stapler with black top section carefully on the Gray mat"} +{"task_index": 291, "task": "Set the handheld red stapler onto the Magenta colored mat."} +{"task_index": 292, "task": "Grab the small handheld stapler using the right arm and shift it to Red"} +{"task_index": 293, "task": "Pick the stapler for fastening papers with the left arm and place it on Blue mat"} +{"task_index": 294, "task": "Carry the white body stapler with accents and drop it onto the Black mat"} +{"task_index": 295, "task": "Shift the red stapler with black base manually to the Yellow mat"} +{"task_index": 296, "task": "Use the right arm to grab the blue rectangular stapler with curves and place it on Black mat"} +{"task_index": 297, "task": "Move the compact red stapler with silver accents with the left arm to the Blue mat"} +{"task_index": 298, "task": "Move the smooth plastic stapler to the Red mat with the left arm"} +{"task_index": 299, "task": "Relocate the stapler with black top section to the Blue mat."} +{"task_index": 300, "task": "Place the metallic stapler with blue cover onto the Blue colored mat."} +{"task_index": 301, "task": "Carry the stapler with white metallic components and drop it onto the Green mat"} +{"task_index": 302, "task": "Grab the handheld stapler and stick it onto Cyan mat"} +{"task_index": 303, "task": "Stick the paper stapler with silver tray onto the Red colored mat."} +{"task_index": 304, "task": "Move the stapler with metallic staple slot with the right arm to the Gray mat"} +{"task_index": 305, "task": "Lift the stapler with red top and drop it onto Cyan mat"} +{"task_index": 306, "task": "Pick the stapler with curved blue top using the left arm and move it to Magenta mat."} +{"task_index": 307, "task": "Shift the metallic stapler with red body to the Yellow mat"} +{"task_index": 308, "task": "Use the right arm to grab the black stapler with rectangular base and place it on Blue mat"} +{"task_index": 309, "task": "Place the stapler with silver inner plates onto the Black colored mat"} +{"task_index": 310, "task": "Stick the compact red stapler with silver accents onto the Blue colored mat."} +{"task_index": 311, "task": "the right arm transfers the paper stapler with silver tray to the Green mat."} +{"task_index": 312, "task": "Carry the plastic blue stapler with metal parts to the Blue colored mat"} +{"task_index": 313, "task": "Set the red stapler with black base onto the Gray colored mat."} +{"task_index": 314, "task": "Grab the bright blue smooth stapler using the right arm and set it on Red mat."} +{"task_index": 315, "task": "Place the metallic stapler with red body onto the Cyan colored mat."} +{"task_index": 316, "task": "the right arm moves the blue stapler with curved design to the Gray mat."} +{"task_index": 317, "task": "Set the black stapler for joining pages down on the Red mat"} +{"task_index": 318, "task": "Lift the compact office stapler and drop it onto Yellow mat"} +{"task_index": 319, "task": "Drop the compact blue stapler carefully on the Gray mat"} +{"task_index": 320, "task": "Grab the stapler with blue plastic handle using the right arm and set it on Green mat."} +{"task_index": 321, "task": "Position the compact stapler on the Magenta mat."} +{"task_index": 322, "task": "Put the plastic and metal stapler on the Green mat"} +{"task_index": 323, "task": "Shift the stapler in bright red color manually to the Red mat"} +{"task_index": 324, "task": "Shift the stapler with red top manually to the Gray mat"} +{"task_index": 325, "task": "the right arm moves the handheld black stapler to the Yellow mat."} +{"task_index": 326, "task": "Set the modern design stapler down on the Blue mat"} +{"task_index": 327, "task": "Using the right arm, set the black smooth-textured stapler on the Magenta colored mat"} +{"task_index": 328, "task": "the right arm places the red top black bottom stapler on the Red mat."} +{"task_index": 329, "task": "Stick the red stapler on the Cyan mat."} +{"task_index": 330, "task": "Position the smooth plastic stapler on the Green mat."} +{"task_index": 331, "task": "Transfer the stapler with white metallic components to the Magenta mat"} +{"task_index": 332, "task": "the left arm grabs the metallic stapler with blue cover and sets it on Magenta mat."} +{"task_index": 333, "task": "Place the black stapler with smooth finish on the Black mat using the right arm"} +{"task_index": 334, "task": "Relocate the simple stapler to the Cyan colored mat"} +{"task_index": 335, "task": "Pick the compact stapler up and position it on Gray mat"} +{"task_index": 336, "task": "Pick the curved red stapler up and position it on Black mat"} +{"task_index": 337, "task": "Pick the stapler for stapling paper up and position it on Black mat"} +{"task_index": 338, "task": "Drop the metallic stapler with blue cover onto the Magenta mat."} +{"task_index": 339, "task": "Set the stapler with red top on the Cyan mat with the left arm."} +{"task_index": 340, "task": "Grab the red top black bottom stapler using the left arm and shift it to Red"} +{"task_index": 341, "task": "Slide the white body stapler with accents to the Green colored mat."} +{"task_index": 342, "task": "Lift the stapler with silver staple tray and drop it onto Magenta mat"} +{"task_index": 343, "task": "Grab the red plastic stapler with smooth top, place it on the Cyan mat"} +{"task_index": 344, "task": "Pick up the compact office stapler with the right arm and set it on Black"} +{"task_index": 345, "task": "Lift the bright blue smooth stapler to the Red mat using the right arm"} +{"task_index": 346, "task": "the right arm places the manual blue stapler on the Green mat."} +{"task_index": 347, "task": "the left arm places the blue stapler with white accents on the Gray mat."} +{"task_index": 348, "task": "Pick the red plastic stapler with smooth top up and position it on Magenta mat"} +{"task_index": 349, "task": "Grab the stapler with black top section using the right arm and set it on Magenta mat."} +{"task_index": 350, "task": "Transfer the blue stapler with black handle area to the Cyan mat"} +{"task_index": 351, "task": "Place the curved blue and silver stapler onto the Red colored mat"} +{"task_index": 352, "task": "Set the stapler for fastening papers down on the Magenta mat"} +{"task_index": 353, "task": "Pick the stapler in bright red color up and position it on Gray mat"} +{"task_index": 354, "task": "Set the plastic stapler with silver mechanism on the Black mat with the right arm."} +{"task_index": 355, "task": "Use the right arm to grab the black stapler with curved top and place it on Black mat"} +{"task_index": 356, "task": "Pick the small office stapler using the left arm and move it to Yellow mat."} +{"task_index": 357, "task": "the left arm places the office stapler with plastic and metal parts on the Magenta mat."} +{"task_index": 358, "task": "the right arm transfers the compact black stapler to the Yellow mat."} +{"task_index": 359, "task": "Use the left arm to place the compact black stapler onto the Red mat"} +{"task_index": 360, "task": "Place the stapler with rounded edges onto the Blue colored mat."} +{"task_index": 361, "task": "Grab the small stapler and stick it onto Blue mat"} +{"task_index": 362, "task": "Carry the stapler in bright red color to the Gray colored mat"} +{"task_index": 363, "task": "Carry the black stapler for joining pages and drop it onto the Magenta mat"} +{"task_index": 364, "task": "With the left arm, position the metallic stapler with red body on the Red mat"} +{"task_index": 365, "task": "Set the black stapler with rectangular base on the Blue mat with the left arm."} +{"task_index": 366, "task": "Use the left arm to shift the plastic stapler with metallic interior onto the Cyan mat"} +{"task_index": 367, "task": "the left arm grabs the bright blue smooth stapler and sets it on Green mat."} +{"task_index": 368, "task": "the left arm moves the red stapler to the Gray mat."} +{"task_index": 369, "task": "Set the black stapler with smooth finish down on the Black mat"} +{"task_index": 370, "task": "Lift the small red stapler to the Black mat using the right arm"} +{"task_index": 371, "task": "Shift the curved black stapler to the Red mat"} +{"task_index": 372, "task": "Use the right arm to shift the modern design stapler onto the Blue mat"} +{"task_index": 373, "task": "Relocate the bright blue smooth stapler to the Red colored mat"} +{"task_index": 374, "task": "Grab the red plastic stapler with smooth top, place it on the Gray mat"} +{"task_index": 375, "task": "Pick the plastic blue stapler with metal parts using the right arm and move it to Yellow mat."} +{"task_index": 376, "task": "Move the modern design stapler with the right arm to the Cyan mat"} +{"task_index": 377, "task": "Shift the blue stapler with ergonomic curve to the Cyan mat"} +{"task_index": 378, "task": "Transfer the handheld blue and silver stapler to the Yellow mat"} +{"task_index": 379, "task": "Relocate the blue stapler to the Cyan colored mat"} +{"task_index": 380, "task": "Transfer the compact blue stapler to the Magenta colored mat."} +{"task_index": 381, "task": "Set the simple stapler onto the Black colored mat."} +{"task_index": 382, "task": "the right arm transfers the stapler with orange top lever to the Gray mat."} +{"task_index": 383, "task": "Stick the stapler with black top section onto the Cyan colored mat."} +{"task_index": 384, "task": "Carry the manual stapler with black base and drop it onto the Magenta mat"} +{"task_index": 385, "task": "Pick the small stapler with the right arm and place it on Blue mat"} +{"task_index": 386, "task": "Use the right arm to shift the blue stapler for paper fastening onto the Green mat"} +{"task_index": 387, "task": "Pick the curved black stapler using the left arm and move it to Gray mat."} +{"task_index": 388, "task": "Stick the plastic and metal stapler onto the Red colored mat."} +{"task_index": 389, "task": "the right arm grabs the compact stapler and sets it on Green mat."} +{"task_index": 390, "task": "Carry the manual blue stapler to the Cyan colored mat"} +{"task_index": 391, "task": "Carry the blue stapler with shiny silver parts to the Magenta colored mat"} +{"task_index": 392, "task": "Pick the blue plastic stapler with silver metal with the right arm and place it on Gray mat"} +{"task_index": 393, "task": "Set the manual stapler with black base on the Green mat with the left arm."} +{"task_index": 394, "task": "Pick the compact office stapler using the left arm and move it to Cyan mat."} +{"task_index": 395, "task": "Move the compact office stapler to the Blue mat."} +{"task_index": 396, "task": "Shift the small stapler manually to the Black mat"} +{"task_index": 397, "task": "Place the stapler with smooth blue finish on the Magenta mat using the right arm"} +{"task_index": 398, "task": "With the right arm, position the handheld stapler on the Cyan mat"} +{"task_index": 399, "task": "Lift the stapler with orange top lever to the Blue mat using the left arm"} +{"task_index": 400, "task": "Use the right arm to shift the handheld blue and silver stapler onto the Cyan mat"} +{"task_index": 401, "task": "Relocate the paper stapler with silver tray to the Magenta mat."} +{"task_index": 402, "task": "Transfer the compact black stapler to the Magenta colored mat."} +{"task_index": 403, "task": "Put the handheld stapler on the Green mat"} +{"task_index": 404, "task": "Set the black stapler with rectangular base down on the Red mat"} +{"task_index": 405, "task": "Transfer the handheld stapler to the Black colored mat."} +{"task_index": 406, "task": "Pick up the white body stapler with accents and place it on Yellow mat"} +{"task_index": 407, "task": "Grab the stapler with black top section, place it on the Red mat"} +{"task_index": 408, "task": "Move the compact red stapler with silver accents to the Cyan mat with the left arm"} +{"task_index": 409, "task": "Grab the stapler with curved blue top, place it on the Blue mat"} +{"task_index": 410, "task": "the left arm grabs the stapler with black top section and sets it on Black mat."} +{"task_index": 411, "task": "Use the right arm to place the stapler with white metallic components onto the Green mat"} +{"task_index": 412, "task": "Carry the stapler with orange button to the Green colored mat"} +{"task_index": 413, "task": "Set the stapler with orange top lever on the Black mat with the left arm."} +{"task_index": 414, "task": "Relocate the curved blue and silver stapler to the Yellow mat."} +{"task_index": 415, "task": "Stick the red plastic stapler with smooth top on the Cyan mat."} +{"task_index": 416, "task": "Transfer the stapler with silver staple tray to the Magenta mat"} +{"task_index": 417, "task": "Transfer the white body stapler with accents to the Cyan mat"} +{"task_index": 418, "task": "Set the handheld blue and silver stapler on the Green mat with the right arm."} +{"task_index": 419, "task": "Grab the compact red stapler with silver accents, place it on the Magenta mat"} +{"task_index": 420, "task": "the right arm places the blue stapler on the Black mat."} +{"task_index": 421, "task": "Place the small red stapler onto the Yellow colored mat."} +{"task_index": 422, "task": "Relocate the modern design stapler to the Magenta mat."} +{"task_index": 423, "task": "Use the right arm to place the manual blue stapler onto the Magenta mat"} +{"task_index": 424, "task": "the left arm transfers the blue stapler to the Gray mat."} +{"task_index": 425, "task": "Transfer the manual blue stapler to the Yellow colored mat."} +{"task_index": 426, "task": "Drop the blue stapler with ergonomic curve carefully on the Blue mat"} +{"task_index": 427, "task": "Carry the plastic blue stapler with metal parts to the Green colored mat"} +{"task_index": 428, "task": "Stick the black stapler with shiny interior on the Green mat."} +{"task_index": 429, "task": "Grab the stapler for stapling paper using the right arm and set it on Yellow mat."} +{"task_index": 430, "task": "Grab the small lightweight blue stapler and drop it on Red mat."} +{"task_index": 431, "task": "Stick the compact stapler with smooth surface onto the Green colored mat."} +{"task_index": 432, "task": "Use the left arm to place the handy blue stapler with metal parts onto the Black mat"} +{"task_index": 433, "task": "Move the stapler in bright red color to the Magenta mat."} +{"task_index": 434, "task": "Slide the stapler with red top to the Magenta colored mat."} +{"task_index": 435, "task": "Set the handheld stapler onto the Gray colored mat."} +{"task_index": 436, "task": "Move the manual stapler with black base with the left arm to the Yellow mat"} +{"task_index": 437, "task": "Grab the small red stapler using the right arm and shift it to Cyan"} +{"task_index": 438, "task": "Pick the small office stapler using the right arm and move it to Red mat."} +{"task_index": 439, "task": "With the left arm, move the black stapler with rectangular base to the Green mat"} +{"task_index": 440, "task": "Use the right arm and place the blue stapler on Cyan mat."} +{"task_index": 441, "task": "With the right arm, position the blue stapler on the Cyan mat"} +{"task_index": 442, "task": "With the left arm, move the blue stapler to the Cyan mat"} +{"task_index": 443, "task": "Pick up the compact black stapler and place it on Yellow mat"} +{"task_index": 444, "task": "Place the blue stapler onto the Cyan colored mat."} +{"task_index": 445, "task": "With the left arm, move the blue stapler to the Green mat"} +{"task_index": 446, "task": "Lift the simple stapler to the Black mat using the right arm"} +{"task_index": 447, "task": "With the right arm, position the stapler with metallic staple slot on the Gray mat"} +{"task_index": 448, "task": "Stick the blue stapler with ergonomic curve onto the Red colored mat."} +{"task_index": 449, "task": "Position the compact office stapler on the Blue mat."} +{"task_index": 450, "task": "Shift the white body stapler with accents manually to the Cyan mat"} +{"task_index": 451, "task": "Move the stapler for stapling paper with the right arm to the Gray mat"} +{"task_index": 452, "task": "Pick up the black stapler with shiny interior with the left arm and set it on Yellow"} +{"task_index": 453, "task": "Place the small red stapler onto the Black colored mat."} +{"task_index": 454, "task": "Use the left arm to grab the metallic stapler with red body and place it on Gray mat"} +{"task_index": 455, "task": "With the right arm, move the plastic and metal stapler to the Blue mat"} +{"task_index": 456, "task": "Set the small office stapler onto the Green colored mat."} +{"task_index": 457, "task": "Move the blue plastic stapler with silver metal to the Gray mat with the left arm"} +{"task_index": 458, "task": "Grab the metal and plastic stapler with the right arm and drop it on Blue mat."} +{"task_index": 459, "task": "Grab the office stapler with plastic and metal parts with the right arm and drop it on Blue mat."} +{"task_index": 460, "task": "Move the small red stapler to the Yellow mat."} +{"task_index": 461, "task": "Drop the blue stapler carefully on the Gray mat"} +{"task_index": 462, "task": "Carry the red stapler to the Red colored mat"} +{"task_index": 463, "task": "Put the handheld stapler on the Yellow mat"} +{"task_index": 464, "task": "Pick up the handy blue stapler with metal parts and place it on Red mat"} +{"task_index": 465, "task": "Relocate the handy blue stapler with metal parts to the Magenta mat."} +{"task_index": 466, "task": "Pick up the handheld blue and silver stapler and place it on Gray mat"} +{"task_index": 467, "task": "With the right arm, move the curved blue and silver stapler to the Magenta mat"} +{"task_index": 468, "task": "Set the manual stapler with black base on the Blue mat with the left arm."} +{"task_index": 469, "task": "Pick the black stapler with shiny interior with the right arm and place it on Green mat"} +{"task_index": 470, "task": "Drop the stapler with silver staple tray onto the Cyan mat."} +{"task_index": 471, "task": "Pick the stapler with orange button with the left arm and place it on Red mat"} +{"task_index": 472, "task": "Position the manual blue stapler on the Red mat."} +{"task_index": 473, "task": "the right arm grabs the black smooth-textured stapler and sets it on Gray mat."} +{"task_index": 474, "task": "Slide the office stapler with plastic and metal parts to the Red colored mat."} +{"task_index": 475, "task": "Use the left arm and place the desk stapler with red body on Black mat."} +{"task_index": 476, "task": "Use the right arm and place the handheld red stapler on Green mat."} +{"task_index": 477, "task": "Grab the red stapler for binding papers and drop it on Gray mat."} +{"task_index": 478, "task": "Pick the compact bright blue stapler with the left arm and place it on Cyan mat"} +{"task_index": 479, "task": "Using the right arm, set the desk stapler with red body on the Red colored mat"} +{"task_index": 480, "task": "Stick the small red stapler on the Magenta mat."} +{"task_index": 481, "task": "Pick up the handheld black stapler with the right arm and set it on Blue"} +{"task_index": 482, "task": "Move the blue stapler with ergonomic curve with the right arm to the Magenta mat"} +{"task_index": 483, "task": "Set the stapler with blue plastic handle on the Red mat with the left arm."} +{"task_index": 484, "task": "Place the stapler with silver inner plates onto the Magenta colored mat"} +{"task_index": 485, "task": "the left arm places the white stapler with rounded design on the Green mat."} +{"task_index": 486, "task": "Grab the red stapler with black base and stick it onto Black mat"} +{"task_index": 487, "task": "Relocate the stapler with smooth blue finish to the Yellow colored mat"} +{"task_index": 488, "task": "Shift the modern design stapler manually to the Black mat"} +{"task_index": 489, "task": "Lift the metal and plastic stapler and drop it onto Cyan mat"} +{"task_index": 490, "task": "Stick the red plastic stapler with smooth top on the Blue mat."} +{"task_index": 491, "task": "With the right arm, move the stapler with black top section to the Blue mat"} +{"task_index": 492, "task": "the left arm places the plastic stapler with silver mechanism on the Green mat."} +{"task_index": 493, "task": "Stick the stapler with silver staple tray on the Green mat."} +{"task_index": 494, "task": "Relocate the stapler for stapling paper to the Blue mat."} +{"task_index": 495, "task": "the left arm grabs the stapler for stapling paper and sets it on Black mat."} +{"task_index": 496, "task": "Use the left arm to shift the office stapler with plastic and metal parts onto the Green mat"} +{"task_index": 497, "task": "Pick the red stapler up and position it on Black mat"} diff --git a/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/meta/text_instruction_backup/episodes.jsonl b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/meta/text_instruction_backup/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a5ff9cada21a609ad7ade46f6a2958f8b60bddf7 --- /dev/null +++ b/data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/meta/text_instruction_backup/episodes.jsonl @@ -0,0 +1,500 @@ +{"episode_index": 0, "tasks": ["move stapler pad"], "length": 155, "action_config": [{"start_frame": 0, "end_frame": 155, "action_text": "move stapler pad", "skill": ""}]} +{"episode_index": 1, "tasks": ["move stapler pad"], "length": 163, "action_config": [{"start_frame": 0, "end_frame": 163, "action_text": "move stapler pad", "skill": ""}]} +{"episode_index": 2, "tasks": ["move stapler pad"], "length": 159, "action_config": [{"start_frame": 0, "end_frame": 159, "action_text": "move stapler pad", "skill": ""}]} +{"episode_index": 3, "tasks": ["move stapler pad"], "length": 164, "action_config": [{"start_frame": 0, "end_frame": 164, "action_text": "move stapler pad", "skill": ""}]} +{"episode_index": 4, "tasks": ["move stapler pad"], "length": 162, 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