Upload complete RoboTwin ALOHA clean LeRobot dataset (part 59)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000391.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000392.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000393.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000394.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000395.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000396.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000397.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000398.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000399.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000400.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000401.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000402.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000403.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000404.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000405.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000406.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000407.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000408.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000409.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000410.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000411.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000412.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000413.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000414.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000415.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000416.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000417.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000418.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000419.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000420.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000421.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000422.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000423.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000424.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000425.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000426.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000427.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000428.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000429.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000430.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000431.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000432.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000433.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000434.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000435.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000436.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000437.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000438.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000439.json +47 -0
- data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000440.json +47 -0
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000391.json
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{
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"episode_index": 391,
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"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
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"task_slug": "move_pillbottle_pad",
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"task_goal": "Grab the bottle with bright orange top and drop it on the pad",
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"num_frames": 166,
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"subtasks": [
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{
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"subtask_index": 0,
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"subtask_goal": "Place the pill bottle on the pad.",
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"subtask_type": "semantic",
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"start_frame": 0,
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"end_frame": 165,
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"boundary_source": "episode_end",
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"truncation_rule": "semantic_plan"
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}
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],
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"metadata": {
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"annotation_version": "robotwin_semantic_reviewed_v1",
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"annotation_granularity": "semantic",
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"gripper_threshold": 0.5,
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"alignment_policy": "manually reviewed task-level semantic spans",
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"detected_gripper_events": [
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{
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"frame": 68,
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"arm": "right",
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"kind": "close",
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"start_frame": 61,
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"end_frame": 75
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},
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{
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"frame": 153,
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"arm": "right",
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"kind": "open",
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"start_frame": 146,
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"end_frame": 160
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}
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],
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"scene_info": {
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"{A}": "080_pillbottle/base1",
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"{a}": "right"
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},
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"source_annotation_version": "robotwin_vlm_coarse_v1",
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"source_annotation_dir": "anno_coarse",
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"semantic_plan_version": "2026-07-15"
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}
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}
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data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000392.json
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{
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"episode_index": 392,
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"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
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"task_slug": "move_pillbottle_pad",
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"task_goal": "Move the bottle with white label and cap with one arm to the pad",
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"num_frames": 141,
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"subtasks": [
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{
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"subtask_index": 0,
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"subtask_goal": "Place the pill bottle on the pad.",
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"subtask_type": "semantic",
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"start_frame": 0,
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"end_frame": 140,
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"boundary_source": "episode_end",
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"truncation_rule": "semantic_plan"
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}
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],
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"metadata": {
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"annotation_version": "robotwin_semantic_reviewed_v1",
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"annotation_granularity": "semantic",
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"gripper_threshold": 0.5,
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"alignment_policy": "manually reviewed task-level semantic spans",
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"detected_gripper_events": [
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{
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"frame": 56,
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"arm": "right",
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"kind": "close",
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"start_frame": 49,
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"end_frame": 63
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},
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{
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"frame": 128,
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"arm": "right",
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"kind": "open",
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"start_frame": 121,
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"end_frame": 135
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}
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],
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"scene_info": {
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"{A}": "080_pillbottle/base4",
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"{a}": "right"
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},
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"source_annotation_version": "robotwin_vlm_coarse_v1",
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"source_annotation_dir": "anno_coarse",
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"semantic_plan_version": "2026-07-15"
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}
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}
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data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000393.json
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{
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"episode_index": 393,
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"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
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"task_slug": "move_pillbottle_pad",
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"task_goal": "Move the compact plastic bottle with screw cap to the pad and release it there.",
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"num_frames": 139,
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"subtasks": [
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{
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"subtask_index": 0,
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"subtask_goal": "Place the pill bottle on the pad.",
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"subtask_type": "semantic",
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"start_frame": 0,
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"end_frame": 138,
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"boundary_source": "episode_end",
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"truncation_rule": "semantic_plan"
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}
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],
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"metadata": {
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"annotation_version": "robotwin_semantic_reviewed_v1",
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"annotation_granularity": "semantic",
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"gripper_threshold": 0.5,
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"alignment_policy": "manually reviewed task-level semantic spans",
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"detected_gripper_events": [
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{
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"frame": 55,
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"arm": "right",
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"kind": "close",
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"start_frame": 48,
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"end_frame": 62
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},
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{
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"frame": 126,
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"arm": "right",
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"kind": "open",
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"start_frame": 119,
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"end_frame": 133
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}
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],
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"scene_info": {
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"{A}": "080_pillbottle/base1",
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"{a}": "right"
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| 42 |
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},
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"source_annotation_version": "robotwin_vlm_coarse_v1",
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"source_annotation_dir": "anno_coarse",
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| 45 |
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"semantic_plan_version": "2026-07-15"
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}
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}
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data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000394.json
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{
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"episode_index": 394,
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"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
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| 4 |
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"task_slug": "move_pillbottle_pad",
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"task_goal": "Use the right arm to pick and place the brown bottle with wide white label onto the pad.",
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| 6 |
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"num_frames": 152,
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"subtasks": [
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{
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"subtask_index": 0,
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"subtask_goal": "Place the pill bottle on the pad.",
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"subtask_type": "semantic",
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"start_frame": 0,
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"end_frame": 151,
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"boundary_source": "episode_end",
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"truncation_rule": "semantic_plan"
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}
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],
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"metadata": {
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"annotation_version": "robotwin_semantic_reviewed_v1",
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"annotation_granularity": "semantic",
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| 21 |
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"gripper_threshold": 0.5,
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| 22 |
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"alignment_policy": "manually reviewed task-level semantic spans",
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"detected_gripper_events": [
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{
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"frame": 66,
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| 26 |
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"arm": "right",
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"kind": "close",
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"start_frame": 59,
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"end_frame": 73
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},
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{
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"frame": 139,
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"arm": "right",
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"kind": "open",
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"start_frame": 132,
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"end_frame": 146
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}
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],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base4",
|
| 41 |
+
"{a}": "right"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000395.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 395,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Lift the bottle with bright orange top and carefully place it on pad",
|
| 6 |
+
"num_frames": 155,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 154,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 62,
|
| 26 |
+
"arm": "left",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 55,
|
| 29 |
+
"end_frame": 69
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 142,
|
| 33 |
+
"arm": "left",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 135,
|
| 36 |
+
"end_frame": 149
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base1",
|
| 41 |
+
"{a}": "left"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000396.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 396,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Direct the right arm to grab the white cylindrical bottle and drop it there",
|
| 6 |
+
"num_frames": 155,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 154,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 64,
|
| 26 |
+
"arm": "right",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 57,
|
| 29 |
+
"end_frame": 71
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 142,
|
| 33 |
+
"arm": "right",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 135,
|
| 36 |
+
"end_frame": 149
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base2",
|
| 41 |
+
"{a}": "right"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000397.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 397,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Move the white bottle and position it on the pad",
|
| 6 |
+
"num_frames": 149,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 148,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 62,
|
| 26 |
+
"arm": "left",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 55,
|
| 29 |
+
"end_frame": 69
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 136,
|
| 33 |
+
"arm": "left",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 129,
|
| 36 |
+
"end_frame": 143
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base2",
|
| 41 |
+
"{a}": "left"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000398.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 398,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Use the right arm to pick the flat base orange bottle, then place it on pad",
|
| 6 |
+
"num_frames": 150,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 149,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 64,
|
| 26 |
+
"arm": "right",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 57,
|
| 29 |
+
"end_frame": 71
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 137,
|
| 33 |
+
"arm": "right",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 130,
|
| 36 |
+
"end_frame": 144
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base3",
|
| 41 |
+
"{a}": "right"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000399.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 399,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Lift the smooth-textured brown bottle and carefully place it on pad",
|
| 6 |
+
"num_frames": 150,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 149,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 63,
|
| 26 |
+
"arm": "left",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 56,
|
| 29 |
+
"end_frame": 70
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 137,
|
| 33 |
+
"arm": "left",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 130,
|
| 36 |
+
"end_frame": 144
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base4",
|
| 41 |
+
"{a}": "left"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000400.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 400,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Use the right arm to grab the smooth plastic orange bottle and place it",
|
| 6 |
+
"num_frames": 140,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 139,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 62,
|
| 26 |
+
"arm": "right",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 55,
|
| 29 |
+
"end_frame": 69
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 127,
|
| 33 |
+
"arm": "right",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 120,
|
| 36 |
+
"end_frame": 134
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base3",
|
| 41 |
+
"{a}": "right"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000401.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 401,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Lift the smooth plastic orange bottle and carefully place it on pad",
|
| 6 |
+
"num_frames": 140,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 139,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 57,
|
| 26 |
+
"arm": "right",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 50,
|
| 29 |
+
"end_frame": 64
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 127,
|
| 33 |
+
"arm": "right",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 120,
|
| 36 |
+
"end_frame": 134
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base3",
|
| 41 |
+
"{a}": "right"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000402.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 402,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Pick the plastic bottle with brown body with the right arm and place it down",
|
| 6 |
+
"num_frames": 153,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 152,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 57,
|
| 26 |
+
"arm": "right",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 50,
|
| 29 |
+
"end_frame": 64
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 140,
|
| 33 |
+
"arm": "right",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 133,
|
| 36 |
+
"end_frame": 147
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base4",
|
| 41 |
+
"{a}": "right"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000403.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 403,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Use the left arm to set the small brown bottle with white accents onto the pad",
|
| 6 |
+
"num_frames": 167,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 166,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 68,
|
| 26 |
+
"arm": "left",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 61,
|
| 29 |
+
"end_frame": 75
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 154,
|
| 33 |
+
"arm": "left",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 147,
|
| 36 |
+
"end_frame": 161
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base4",
|
| 41 |
+
"{a}": "left"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000404.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 404,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Move the brown bottle with wide white label with one arm to the pad",
|
| 6 |
+
"num_frames": 162,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 161,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 66,
|
| 26 |
+
"arm": "right",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 59,
|
| 29 |
+
"end_frame": 73
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 149,
|
| 33 |
+
"arm": "right",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 142,
|
| 36 |
+
"end_frame": 156
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base4",
|
| 41 |
+
"{a}": "right"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000405.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 405,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Direct the left arm to grab the orange cylindrical bottle for medicine and drop it there",
|
| 6 |
+
"num_frames": 145,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 144,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 62,
|
| 26 |
+
"arm": "left",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 55,
|
| 29 |
+
"end_frame": 69
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 132,
|
| 33 |
+
"arm": "left",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 125,
|
| 36 |
+
"end_frame": 139
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base3",
|
| 41 |
+
"{a}": "left"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000406.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 406,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Use the left arm to lift the teal and white plastic bottle and position it",
|
| 6 |
+
"num_frames": 154,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 153,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 63,
|
| 26 |
+
"arm": "left",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 56,
|
| 29 |
+
"end_frame": 70
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 141,
|
| 33 |
+
"arm": "left",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 134,
|
| 36 |
+
"end_frame": 148
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base5",
|
| 41 |
+
"{a}": "left"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000407.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 407,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Lift the smooth-textured brown bottle and gently lower onto the pad",
|
| 6 |
+
"num_frames": 136,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 135,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 56,
|
| 26 |
+
"arm": "right",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 49,
|
| 29 |
+
"end_frame": 63
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 123,
|
| 33 |
+
"arm": "right",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 116,
|
| 36 |
+
"end_frame": 130
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base4",
|
| 41 |
+
"{a}": "right"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000408.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 408,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Move the teal and white plastic bottle onto the pad using the right arm",
|
| 6 |
+
"num_frames": 152,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 151,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 64,
|
| 26 |
+
"arm": "right",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 57,
|
| 29 |
+
"end_frame": 71
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 139,
|
| 33 |
+
"arm": "right",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 132,
|
| 36 |
+
"end_frame": 146
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base5",
|
| 41 |
+
"{a}": "right"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000409.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 409,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Pick the plastic bottle with ridged cap with the left arm and position it onto pad",
|
| 6 |
+
"num_frames": 152,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 151,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 65,
|
| 26 |
+
"arm": "left",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 58,
|
| 29 |
+
"end_frame": 72
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 139,
|
| 33 |
+
"arm": "left",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 132,
|
| 36 |
+
"end_frame": 146
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base2",
|
| 41 |
+
"{a}": "left"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000410.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 410,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Pick the palm-sized bottle with orange cover with the left arm and drop it onto the pad.",
|
| 6 |
+
"num_frames": 134,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 133,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 55,
|
| 26 |
+
"arm": "left",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 48,
|
| 29 |
+
"end_frame": 62
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 121,
|
| 33 |
+
"arm": "left",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 114,
|
| 36 |
+
"end_frame": 128
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base1",
|
| 41 |
+
"{a}": "left"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000411.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 411,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Pick the orange cylindrical bottle with label using the right arm and set it on pad",
|
| 6 |
+
"num_frames": 158,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 157,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 64,
|
| 26 |
+
"arm": "right",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 57,
|
| 29 |
+
"end_frame": 71
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 145,
|
| 33 |
+
"arm": "right",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 138,
|
| 36 |
+
"end_frame": 152
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base3",
|
| 41 |
+
"{a}": "right"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000412.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 412,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Lift the cylindrical bottle with ridged white lid with the right arm and drop on pad",
|
| 6 |
+
"num_frames": 141,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 140,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 57,
|
| 26 |
+
"arm": "right",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 50,
|
| 29 |
+
"end_frame": 64
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 128,
|
| 33 |
+
"arm": "right",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 121,
|
| 36 |
+
"end_frame": 135
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base5",
|
| 41 |
+
"{a}": "right"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000413.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 413,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Grab and transfer the medicine bottle with screw cap with the right arm to pad",
|
| 6 |
+
"num_frames": 153,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 152,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 63,
|
| 26 |
+
"arm": "right",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 56,
|
| 29 |
+
"end_frame": 70
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 140,
|
| 33 |
+
"arm": "right",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 133,
|
| 36 |
+
"end_frame": 147
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base3",
|
| 41 |
+
"{a}": "right"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000414.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 414,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Take the plastic bottle with ridged white cap and put it onto the pad",
|
| 6 |
+
"num_frames": 140,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 139,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 56,
|
| 26 |
+
"arm": "left",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 49,
|
| 29 |
+
"end_frame": 63
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 127,
|
| 33 |
+
"arm": "left",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 120,
|
| 36 |
+
"end_frame": 134
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base5",
|
| 41 |
+
"{a}": "left"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000415.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 415,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Use the right arm to pick and place the smooth white bottle onto the pad.",
|
| 6 |
+
"num_frames": 135,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 134,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 54,
|
| 26 |
+
"arm": "right",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 47,
|
| 29 |
+
"end_frame": 61
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 122,
|
| 33 |
+
"arm": "right",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 115,
|
| 36 |
+
"end_frame": 129
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base2",
|
| 41 |
+
"{a}": "right"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000416.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 416,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Direct the right arm to grab the white bottle with screw-on lid and drop it there",
|
| 6 |
+
"num_frames": 145,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 144,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 62,
|
| 26 |
+
"arm": "right",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 55,
|
| 29 |
+
"end_frame": 69
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 132,
|
| 33 |
+
"arm": "right",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 125,
|
| 36 |
+
"end_frame": 139
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base2",
|
| 41 |
+
"{a}": "right"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000417.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 417,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Set the bottle with white label and cap down on the pad after picking it.",
|
| 6 |
+
"num_frames": 145,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 144,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 59,
|
| 26 |
+
"arm": "right",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 52,
|
| 29 |
+
"end_frame": 66
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 132,
|
| 33 |
+
"arm": "right",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 125,
|
| 36 |
+
"end_frame": 139
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base4",
|
| 41 |
+
"{a}": "right"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000418.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 418,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Place the bottle with white screw cap onto the pad after picking it.",
|
| 6 |
+
"num_frames": 154,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 153,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 66,
|
| 26 |
+
"arm": "right",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 59,
|
| 29 |
+
"end_frame": 73
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 141,
|
| 33 |
+
"arm": "right",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 134,
|
| 36 |
+
"end_frame": 148
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base2",
|
| 41 |
+
"{a}": "right"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000419.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 419,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Pick the teal and white plastic bottle and place it on the pad",
|
| 6 |
+
"num_frames": 141,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 140,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 55,
|
| 26 |
+
"arm": "right",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 48,
|
| 29 |
+
"end_frame": 62
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 128,
|
| 33 |
+
"arm": "right",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 121,
|
| 36 |
+
"end_frame": 135
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base5",
|
| 41 |
+
"{a}": "right"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000420.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 420,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Grab the bottle with teal top and bottom and drop it onto the pad",
|
| 6 |
+
"num_frames": 150,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 149,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 62,
|
| 26 |
+
"arm": "right",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 55,
|
| 29 |
+
"end_frame": 69
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 137,
|
| 33 |
+
"arm": "right",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 130,
|
| 36 |
+
"end_frame": 144
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base5",
|
| 41 |
+
"{a}": "right"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000421.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 421,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Pick the brown bottle with wide white label using the left arm and set it on pad",
|
| 6 |
+
"num_frames": 164,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 163,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 71,
|
| 26 |
+
"arm": "left",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 64,
|
| 29 |
+
"end_frame": 78
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 151,
|
| 33 |
+
"arm": "left",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 144,
|
| 36 |
+
"end_frame": 158
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base4",
|
| 41 |
+
"{a}": "left"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000422.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 422,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Lift the orange bottle with blue stripe label and set it on the pad",
|
| 6 |
+
"num_frames": 137,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 136,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 56,
|
| 26 |
+
"arm": "left",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 49,
|
| 29 |
+
"end_frame": 63
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 124,
|
| 33 |
+
"arm": "left",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 117,
|
| 36 |
+
"end_frame": 131
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base3",
|
| 41 |
+
"{a}": "left"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000423.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 423,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Place the rounded bottle with small white cap on pad after lifting with the left arm",
|
| 6 |
+
"num_frames": 148,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 147,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 63,
|
| 26 |
+
"arm": "left",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 56,
|
| 29 |
+
"end_frame": 70
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 135,
|
| 33 |
+
"arm": "left",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 128,
|
| 36 |
+
"end_frame": 142
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base5",
|
| 41 |
+
"{a}": "left"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000424.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 424,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Hold the white bottle and position it on the pad",
|
| 6 |
+
"num_frames": 144,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 143,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 60,
|
| 26 |
+
"arm": "left",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 53,
|
| 29 |
+
"end_frame": 67
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 131,
|
| 33 |
+
"arm": "left",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 124,
|
| 36 |
+
"end_frame": 138
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base5",
|
| 41 |
+
"{a}": "left"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000425.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 425,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Take the cylindrical bottle with ridged white lid and place it onto the pad",
|
| 6 |
+
"num_frames": 139,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 138,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 55,
|
| 26 |
+
"arm": "left",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 48,
|
| 29 |
+
"end_frame": 62
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 126,
|
| 33 |
+
"arm": "left",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 119,
|
| 36 |
+
"end_frame": 133
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base5",
|
| 41 |
+
"{a}": "left"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000426.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 426,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Grab the palm-sized bottle with orange cover and position it on the pad",
|
| 6 |
+
"num_frames": 143,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 142,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 57,
|
| 26 |
+
"arm": "right",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 50,
|
| 29 |
+
"end_frame": 64
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 130,
|
| 33 |
+
"arm": "right",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 123,
|
| 36 |
+
"end_frame": 137
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base1",
|
| 41 |
+
"{a}": "right"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000427.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 427,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Move the white cylindrical bottle to the pad and leave it there",
|
| 6 |
+
"num_frames": 148,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 147,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 61,
|
| 26 |
+
"arm": "left",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 54,
|
| 29 |
+
"end_frame": 68
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 135,
|
| 33 |
+
"arm": "left",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 128,
|
| 36 |
+
"end_frame": 142
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base2",
|
| 41 |
+
"{a}": "left"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000428.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 428,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Lift the bottle with white screw cap using the right arm and position it on the pad.",
|
| 6 |
+
"num_frames": 160,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 159,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 69,
|
| 26 |
+
"arm": "right",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 62,
|
| 29 |
+
"end_frame": 76
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 147,
|
| 33 |
+
"arm": "right",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 140,
|
| 36 |
+
"end_frame": 154
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base2",
|
| 41 |
+
"{a}": "right"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000429.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 429,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Use the left arm to grab the plastic bottle with ridged cap and put it on the pad.",
|
| 6 |
+
"num_frames": 136,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 135,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 53,
|
| 26 |
+
"arm": "left",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 46,
|
| 29 |
+
"end_frame": 60
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 123,
|
| 33 |
+
"arm": "left",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 116,
|
| 36 |
+
"end_frame": 130
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base2",
|
| 41 |
+
"{a}": "left"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000430.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 430,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Pick the palm-sized bottle with orange cover with the left arm and place it down",
|
| 6 |
+
"num_frames": 150,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 149,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 61,
|
| 26 |
+
"arm": "left",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 54,
|
| 29 |
+
"end_frame": 68
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 137,
|
| 33 |
+
"arm": "left",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 130,
|
| 36 |
+
"end_frame": 144
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base1",
|
| 41 |
+
"{a}": "left"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000431.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 431,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Move the bottle with smooth body and ridged cap using the left arm and drop it on pad",
|
| 6 |
+
"num_frames": 142,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 141,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 59,
|
| 26 |
+
"arm": "left",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 52,
|
| 29 |
+
"end_frame": 66
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 129,
|
| 33 |
+
"arm": "left",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 122,
|
| 36 |
+
"end_frame": 136
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base2",
|
| 41 |
+
"{a}": "left"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000432.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 432,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Use the left arm to pick and place the brown bottle with white cap onto the pad.",
|
| 6 |
+
"num_frames": 140,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 139,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 60,
|
| 26 |
+
"arm": "left",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 53,
|
| 29 |
+
"end_frame": 67
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 127,
|
| 33 |
+
"arm": "left",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 120,
|
| 36 |
+
"end_frame": 134
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base4",
|
| 41 |
+
"{a}": "left"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000433.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 433,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Move the palm-sized bottle with orange cover to the pad and let it rest there",
|
| 6 |
+
"num_frames": 141,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 140,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 56,
|
| 26 |
+
"arm": "left",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 49,
|
| 29 |
+
"end_frame": 63
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 128,
|
| 33 |
+
"arm": "left",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 121,
|
| 36 |
+
"end_frame": 135
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base1",
|
| 41 |
+
"{a}": "left"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000434.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 434,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Use the left arm to pick and place the medicine bottle with screw cap onto the pad.",
|
| 6 |
+
"num_frames": 155,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 154,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 68,
|
| 26 |
+
"arm": "left",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 61,
|
| 29 |
+
"end_frame": 75
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 142,
|
| 33 |
+
"arm": "left",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 135,
|
| 36 |
+
"end_frame": 149
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base3",
|
| 41 |
+
"{a}": "left"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000435.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 435,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Move the bottle featuring blue horizontal stripe and position it on the pad",
|
| 6 |
+
"num_frames": 150,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 149,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 64,
|
| 26 |
+
"arm": "right",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 57,
|
| 29 |
+
"end_frame": 71
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 137,
|
| 33 |
+
"arm": "right",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 130,
|
| 36 |
+
"end_frame": 144
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base3",
|
| 41 |
+
"{a}": "right"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000436.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 436,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Pick the rounded small bottle using the left arm and set it on pad",
|
| 6 |
+
"num_frames": 146,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 145,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 61,
|
| 26 |
+
"arm": "left",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 54,
|
| 29 |
+
"end_frame": 68
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 133,
|
| 33 |
+
"arm": "left",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 126,
|
| 36 |
+
"end_frame": 140
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base4",
|
| 41 |
+
"{a}": "left"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000437.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 437,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Place the smooth plastic bottle on the pad after lifting it up.",
|
| 6 |
+
"num_frames": 148,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 147,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 62,
|
| 26 |
+
"arm": "left",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 55,
|
| 29 |
+
"end_frame": 69
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 135,
|
| 33 |
+
"arm": "left",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 128,
|
| 36 |
+
"end_frame": 142
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base1",
|
| 41 |
+
"{a}": "left"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000438.json
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 438,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Grab the white-capped cylindrical bottle and place it on the pad",
|
| 6 |
+
"num_frames": 170,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 169,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 71,
|
| 26 |
+
"arm": "right",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 64,
|
| 29 |
+
"end_frame": 78
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 157,
|
| 33 |
+
"arm": "right",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 150,
|
| 36 |
+
"end_frame": 164
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base4",
|
| 41 |
+
"{a}": "right"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000439.json
ADDED
|
@@ -0,0 +1,47 @@
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|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 439,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Use the left arm to grab the compact bottle with teal and white design and place it",
|
| 6 |
+
"num_frames": 144,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 143,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 62,
|
| 26 |
+
"arm": "left",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 55,
|
| 29 |
+
"end_frame": 69
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 131,
|
| 33 |
+
"arm": "left",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 124,
|
| 36 |
+
"end_frame": 138
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base5",
|
| 41 |
+
"{a}": "left"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|
data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000440.json
ADDED
|
@@ -0,0 +1,47 @@
|
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|
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|
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|
|
|
|
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|
|
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|
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|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 440,
|
| 3 |
+
"repo": "move_pillbottle_pad-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "move_pillbottle_pad",
|
| 5 |
+
"task_goal": "Use the right arm to lift the white and orange storage bottle and place it",
|
| 6 |
+
"num_frames": 153,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Place the pill bottle on the pad.",
|
| 11 |
+
"subtask_type": "semantic",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 152,
|
| 14 |
+
"boundary_source": "episode_end",
|
| 15 |
+
"truncation_rule": "semantic_plan"
|
| 16 |
+
}
|
| 17 |
+
],
|
| 18 |
+
"metadata": {
|
| 19 |
+
"annotation_version": "robotwin_semantic_reviewed_v1",
|
| 20 |
+
"annotation_granularity": "semantic",
|
| 21 |
+
"gripper_threshold": 0.5,
|
| 22 |
+
"alignment_policy": "manually reviewed task-level semantic spans",
|
| 23 |
+
"detected_gripper_events": [
|
| 24 |
+
{
|
| 25 |
+
"frame": 64,
|
| 26 |
+
"arm": "right",
|
| 27 |
+
"kind": "close",
|
| 28 |
+
"start_frame": 57,
|
| 29 |
+
"end_frame": 71
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 140,
|
| 33 |
+
"arm": "right",
|
| 34 |
+
"kind": "open",
|
| 35 |
+
"start_frame": 133,
|
| 36 |
+
"end_frame": 147
|
| 37 |
+
}
|
| 38 |
+
],
|
| 39 |
+
"scene_info": {
|
| 40 |
+
"{A}": "080_pillbottle/base1",
|
| 41 |
+
"{a}": "right"
|
| 42 |
+
},
|
| 43 |
+
"source_annotation_version": "robotwin_vlm_coarse_v1",
|
| 44 |
+
"source_annotation_dir": "anno_coarse",
|
| 45 |
+
"semantic_plan_version": "2026-07-15"
|
| 46 |
+
}
|
| 47 |
+
}
|