diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000391.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000391.json new file mode 100644 index 0000000000000000000000000000000000000000..7bd2cab4de266666c663bc331830e4e468ff832a --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000391.json @@ -0,0 +1,47 @@ +{ + "episode_index": 391, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Grab the bottle with bright orange top and drop it on the pad", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 68, + "arm": "right", + "kind": "close", + "start_frame": 61, + "end_frame": 75 + }, + { + "frame": 153, + "arm": "right", + "kind": "open", + "start_frame": 146, + "end_frame": 160 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000392.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000392.json new file mode 100644 index 0000000000000000000000000000000000000000..d623312d8d3c858b00cbfe53c80bbcbe90b97a84 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000392.json @@ -0,0 +1,47 @@ +{ + "episode_index": 392, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the bottle with white label and cap with one arm to the pad", + "num_frames": 141, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000393.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000393.json new file mode 100644 index 0000000000000000000000000000000000000000..79f13baeb86c34620f7cd4aa14d57c68dd8ba3da --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000393.json @@ -0,0 +1,47 @@ +{ + "episode_index": 393, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the compact plastic bottle with screw cap to the pad and release it there.", + "num_frames": 139, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000394.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000394.json new file mode 100644 index 0000000000000000000000000000000000000000..ef32e7123fe90a8961bf90941e3705ad78b71ea4 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000394.json @@ -0,0 +1,47 @@ +{ + "episode_index": 394, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to pick and place the brown bottle with wide white label onto the pad.", + "num_frames": 152, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 151, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 66, + "arm": "right", + "kind": "close", + "start_frame": 59, + "end_frame": 73 + }, + { + "frame": 139, + "arm": "right", + "kind": "open", + "start_frame": 132, + "end_frame": 146 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000395.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000395.json new file mode 100644 index 0000000000000000000000000000000000000000..3fd337f71b2abcec8e75ebc50e08f67ae462e8ed --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000395.json @@ -0,0 +1,47 @@ +{ + "episode_index": 395, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the bottle with bright orange top and carefully place it on pad", + "num_frames": 155, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 154, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 142, + "arm": "left", + "kind": "open", + "start_frame": 135, + "end_frame": 149 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000396.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000396.json new file mode 100644 index 0000000000000000000000000000000000000000..41df6c376721f7dc626410c297e89a89678160fc --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000396.json @@ -0,0 +1,47 @@ +{ + "episode_index": 396, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Direct the right arm to grab the white cylindrical bottle and drop it there", + "num_frames": 155, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 154, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "right", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 142, + "arm": "right", + "kind": "open", + "start_frame": 135, + "end_frame": 149 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000397.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000397.json new file mode 100644 index 0000000000000000000000000000000000000000..b0477f896317d2b9a8b3b49df62a26e5af08aa81 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000397.json @@ -0,0 +1,47 @@ +{ + "episode_index": 397, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the white bottle and position it on the pad", + "num_frames": 149, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 148, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 136, + "arm": "left", + "kind": "open", + "start_frame": 129, + "end_frame": 143 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000398.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000398.json new file mode 100644 index 0000000000000000000000000000000000000000..2230c29d22fa864257c3747e56aecafa9011e7fe --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000398.json @@ -0,0 +1,47 @@ +{ + "episode_index": 398, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to pick the flat base orange bottle, then place it on pad", + "num_frames": 150, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 149, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "right", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 137, + "arm": "right", + "kind": "open", + "start_frame": 130, + "end_frame": 144 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000399.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000399.json new file mode 100644 index 0000000000000000000000000000000000000000..084f7661516440aca05fe2d2b0d8666011373dc8 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000399.json @@ -0,0 +1,47 @@ +{ + "episode_index": 399, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the smooth-textured brown bottle and carefully place it on pad", + "num_frames": 150, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 149, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 137, + "arm": "left", + "kind": "open", + "start_frame": 130, + "end_frame": 144 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000400.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000400.json new file mode 100644 index 0000000000000000000000000000000000000000..a23c9c11ebaffdd73ace193fdf01e6e0ef84f09a --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000400.json @@ -0,0 +1,47 @@ +{ + "episode_index": 400, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to grab the smooth plastic orange bottle and place it", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "right", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000401.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000401.json new file mode 100644 index 0000000000000000000000000000000000000000..984b3f92fa12ed938b5f0290978437cc42879f88 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000401.json @@ -0,0 +1,47 @@ +{ + "episode_index": 401, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the smooth plastic orange bottle and carefully place it on pad", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000402.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000402.json new file mode 100644 index 0000000000000000000000000000000000000000..1531d760aee7e30347213dcb061212b53480c634 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000402.json @@ -0,0 +1,47 @@ +{ + "episode_index": 402, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the plastic bottle with brown body with the right arm and place it down", + "num_frames": 153, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 152, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 140, + "arm": "right", + "kind": "open", + "start_frame": 133, + "end_frame": 147 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000403.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000403.json new file mode 100644 index 0000000000000000000000000000000000000000..f4a4f4a45754f666777ff33255b9ef7d3aeecd13 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000403.json @@ -0,0 +1,47 @@ +{ + "episode_index": 403, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to set the small brown bottle with white accents onto the pad", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 68, + "arm": "left", + "kind": "close", + "start_frame": 61, + "end_frame": 75 + }, + { + "frame": 154, + "arm": "left", + "kind": "open", + "start_frame": 147, + "end_frame": 161 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000404.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000404.json new file mode 100644 index 0000000000000000000000000000000000000000..612ffb760352d5a06cd1d5c211b7fa3c3023d471 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000404.json @@ -0,0 +1,47 @@ +{ + "episode_index": 404, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the brown bottle with wide white label with one arm to the pad", + "num_frames": 162, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 161, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 66, + "arm": "right", + "kind": "close", + "start_frame": 59, + "end_frame": 73 + }, + { + "frame": 149, + "arm": "right", + "kind": "open", + "start_frame": 142, + "end_frame": 156 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000405.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000405.json new file mode 100644 index 0000000000000000000000000000000000000000..c0874d6825a0a2f9d17b0d9ac3730192386f9e77 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000405.json @@ -0,0 +1,47 @@ +{ + "episode_index": 405, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Direct the left arm to grab the orange cylindrical bottle for medicine and drop it there", + "num_frames": 145, + "subtasks": [ + { 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a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000406.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000406.json new file mode 100644 index 0000000000000000000000000000000000000000..6fbb225b0376e4edc9ed1dacde20f0f05253d75b --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000406.json @@ -0,0 +1,47 @@ +{ + "episode_index": 406, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to lift the teal and white plastic bottle and position it", + "num_frames": 154, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 153, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000407.json @@ -0,0 +1,47 @@ +{ + "episode_index": 407, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the smooth-textured brown bottle and gently lower onto the pad", + "num_frames": 136, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 123, + "arm": "right", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000408.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000408.json new file mode 100644 index 0000000000000000000000000000000000000000..d92a9769b189908d93c550ccfc7c7f269f7e4121 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000408.json @@ -0,0 +1,47 @@ +{ + "episode_index": 408, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the teal and white plastic bottle onto the pad using the right arm", + "num_frames": 152, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 151, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "right", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 139, + "arm": "right", + "kind": "open", + "start_frame": 132, + "end_frame": 146 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000409.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000409.json new file mode 100644 index 0000000000000000000000000000000000000000..313ad9f3eacfd48c1c0ec361df0aa6e8aebb6831 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000409.json @@ -0,0 +1,47 @@ +{ + "episode_index": 409, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the plastic bottle with ridged cap with the left arm and position it onto pad", + "num_frames": 152, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 151, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "left", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 139, + "arm": "left", + "kind": "open", + "start_frame": 132, + "end_frame": 146 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000410.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000410.json new file mode 100644 index 0000000000000000000000000000000000000000..789599319186d5b279a97be588d26afb018d35f9 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000410.json @@ -0,0 +1,47 @@ +{ + "episode_index": 410, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the palm-sized bottle with orange cover with the left arm and drop it onto the pad.", + "num_frames": 134, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 133, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000411.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000411.json new file mode 100644 index 0000000000000000000000000000000000000000..77c76822c59c15b4256fb4bc9744f34ada13cf43 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000411.json @@ -0,0 +1,47 @@ +{ + "episode_index": 411, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the orange cylindrical bottle with label using the right arm and set it on pad", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "right", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 145, + "arm": "right", + "kind": "open", + "start_frame": 138, + "end_frame": 152 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000412.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000412.json new file mode 100644 index 0000000000000000000000000000000000000000..3909006183bde091f038941090497db90d92f25e --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000412.json @@ -0,0 +1,47 @@ +{ + "episode_index": 412, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the cylindrical bottle with ridged white lid with the right arm and drop on pad", + "num_frames": 141, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000413.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000413.json new file mode 100644 index 0000000000000000000000000000000000000000..299b2bd66ed5bded0e417945fcfaf0186fd66b71 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000413.json @@ -0,0 +1,47 @@ +{ + "episode_index": 413, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Grab and transfer the medicine bottle with screw cap with the right arm to pad", + "num_frames": 153, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 152, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "right", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 140, + "arm": "right", + "kind": "open", + "start_frame": 133, + "end_frame": 147 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000414.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000414.json new file mode 100644 index 0000000000000000000000000000000000000000..4f771ed5d2c370bb416c49fb971055876788de31 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000414.json @@ -0,0 +1,47 @@ +{ + "episode_index": 414, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Take the plastic bottle with ridged white cap and put it onto the pad", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000415.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000415.json new file mode 100644 index 0000000000000000000000000000000000000000..6934106839efaabd3793567d62b2613f89b054aa --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000415.json @@ -0,0 +1,47 @@ +{ + "episode_index": 415, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to pick and place the smooth white bottle onto the pad.", + "num_frames": 135, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 134, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "right", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000416.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000416.json new file mode 100644 index 0000000000000000000000000000000000000000..da1181c1fd807194c767ef07c7c4a911a4a31213 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000416.json @@ -0,0 +1,47 @@ +{ + "episode_index": 416, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Direct the right arm to grab the white bottle with screw-on lid and drop it there", + "num_frames": 145, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 144, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "right", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000417.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000417.json new file mode 100644 index 0000000000000000000000000000000000000000..ac9722ad80f093c4b27443acaa849f156c316751 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000417.json @@ -0,0 +1,47 @@ +{ + "episode_index": 417, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Set the bottle with white label and cap down on the pad after picking it.", + "num_frames": 145, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 144, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000418.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000418.json new file mode 100644 index 0000000000000000000000000000000000000000..b63418adef28985504945e259446dedab1bb29b0 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000418.json @@ -0,0 +1,47 @@ +{ + "episode_index": 418, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Place the bottle with white screw cap onto the pad after picking it.", + "num_frames": 154, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 153, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 66, + "arm": "right", + "kind": "close", + "start_frame": 59, + "end_frame": 73 + }, + { + "frame": 141, + "arm": "right", + "kind": "open", + "start_frame": 134, + "end_frame": 148 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000419.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000419.json new file mode 100644 index 0000000000000000000000000000000000000000..16d5c37eed427f4bbefc736a3f9224a8e35b2762 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000419.json @@ -0,0 +1,47 @@ +{ + "episode_index": 419, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the teal and white plastic bottle and place it on the pad", + "num_frames": 141, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000420.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000420.json new file mode 100644 index 0000000000000000000000000000000000000000..fa231c68dd09ec7d50b3dffd2dd41664f5387fd0 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000420.json @@ -0,0 +1,47 @@ +{ + "episode_index": 420, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Grab the bottle with teal top and bottom and drop it onto the pad", + "num_frames": 150, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 149, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "right", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 137, + "arm": "right", + "kind": "open", + "start_frame": 130, + "end_frame": 144 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000421.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000421.json new file mode 100644 index 0000000000000000000000000000000000000000..e31f957071c4d94606582a2d7c47189613d8d5a9 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000421.json @@ -0,0 +1,47 @@ +{ + "episode_index": 421, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the brown bottle with wide white label using the left arm and set it on pad", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 71, + "arm": "left", + "kind": "close", + "start_frame": 64, + "end_frame": 78 + }, + { + "frame": 151, + "arm": "left", + "kind": "open", + "start_frame": 144, + "end_frame": 158 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000422.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000422.json new file mode 100644 index 0000000000000000000000000000000000000000..66cc4a3820d0ded8332cd3d40ec20212146cc11a --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000422.json @@ -0,0 +1,47 @@ +{ + "episode_index": 422, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the orange bottle with blue stripe label and set it on the pad", + "num_frames": 137, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000423.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000423.json new file mode 100644 index 0000000000000000000000000000000000000000..815e1c64b33f6cb990bb06066eb44db04566f86c --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000423.json @@ -0,0 +1,47 @@ +{ + "episode_index": 423, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Place the rounded bottle with small white cap on pad after lifting with the left arm", + "num_frames": 148, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 147, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 135, + "arm": "left", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000424.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000424.json new file mode 100644 index 0000000000000000000000000000000000000000..c51952ffda3594725e1e6b6a755d28c6e414865a --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000424.json @@ -0,0 +1,47 @@ +{ + "episode_index": 424, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Hold the white bottle and position it on the pad", + "num_frames": 144, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 131, + "arm": "left", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000425.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000425.json new file mode 100644 index 0000000000000000000000000000000000000000..adbe6989a3d0a9a3e5e412c110c6c60f88ac6769 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000425.json @@ -0,0 +1,47 @@ +{ + "episode_index": 425, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Take the cylindrical bottle with ridged white lid and place it onto the pad", + "num_frames": 139, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000426.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000426.json new file mode 100644 index 0000000000000000000000000000000000000000..ae02ae60bb523090718ce865447b50c948cd7835 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000426.json @@ -0,0 +1,47 @@ +{ + "episode_index": 426, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Grab the palm-sized bottle with orange cover and position it on the pad", + "num_frames": 143, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000427.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000427.json new file mode 100644 index 0000000000000000000000000000000000000000..305b9546e505bf1d8c100cedb6d5ee77b79a5ac7 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000427.json @@ -0,0 +1,47 @@ +{ + "episode_index": 427, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the white cylindrical bottle to the pad and leave it there", + "num_frames": 148, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 147, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 135, + "arm": "left", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000428.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000428.json new file mode 100644 index 0000000000000000000000000000000000000000..5de36e6dfe537ddd76094eaad01278e5f3a042a1 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000428.json @@ -0,0 +1,47 @@ +{ + "episode_index": 428, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the bottle with white screw cap using the right arm and position it on the pad.", + "num_frames": 160, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 159, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 69, + "arm": "right", + "kind": "close", + "start_frame": 62, + "end_frame": 76 + }, + { + "frame": 147, + "arm": "right", + "kind": "open", + "start_frame": 140, + "end_frame": 154 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000429.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000429.json new file mode 100644 index 0000000000000000000000000000000000000000..ed3d5c9829e29843c628afa5c3780e2bae0e12b5 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000429.json @@ -0,0 +1,47 @@ +{ + "episode_index": 429, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to grab the plastic bottle with ridged cap and put it on the pad.", + "num_frames": 136, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000430.json @@ -0,0 +1,47 @@ +{ + "episode_index": 430, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the palm-sized bottle with orange cover with the left arm and place it down", + "num_frames": 150, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 149, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 137, + "arm": "left", + "kind": "open", + "start_frame": 130, + "end_frame": 144 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000431.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000431.json new file mode 100644 index 0000000000000000000000000000000000000000..150b0ae660a8b863716de4d48b3e258e0b72c4df --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000431.json @@ -0,0 +1,47 @@ +{ + "episode_index": 431, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the bottle with smooth body and ridged cap using the left arm and drop it on pad", + "num_frames": 142, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 129, + "arm": "left", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000432.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000432.json new file mode 100644 index 0000000000000000000000000000000000000000..8b2b363b00ceb8ccf1dbaf02ccc2eda5cce2fdb5 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000432.json @@ -0,0 +1,47 @@ +{ + "episode_index": 432, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to pick and place the brown bottle with white cap onto the pad.", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000433.json @@ -0,0 +1,47 @@ +{ + "episode_index": 433, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the palm-sized bottle with orange cover to the pad and let it rest there", + "num_frames": 141, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 128, + "arm": "left", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000434.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000434.json new file mode 100644 index 0000000000000000000000000000000000000000..825cbabcb059569011ace662f19ba93f5444c83f --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000434.json @@ -0,0 +1,47 @@ +{ + "episode_index": 434, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to pick and place the medicine bottle with screw cap onto the pad.", + "num_frames": 155, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 154, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 68, + "arm": "left", + "kind": "close", + "start_frame": 61, + "end_frame": 75 + }, + { + "frame": 142, + "arm": "left", + "kind": "open", + "start_frame": 135, + "end_frame": 149 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000435.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000435.json new file mode 100644 index 0000000000000000000000000000000000000000..374b1b86745e6baff4545f0135b8b77846b6ad24 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000435.json @@ -0,0 +1,47 @@ +{ + "episode_index": 435, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the bottle featuring blue horizontal stripe and position it on the pad", + "num_frames": 150, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 149, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "right", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 137, + "arm": "right", + "kind": "open", + "start_frame": 130, + "end_frame": 144 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000436.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000436.json new file mode 100644 index 0000000000000000000000000000000000000000..37b8d51741432b3380e0b1fabf3479732428c47b --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000436.json @@ -0,0 +1,47 @@ +{ + "episode_index": 436, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the rounded small bottle using the left arm and set it on pad", + "num_frames": 146, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 145, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 133, + "arm": "left", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000437.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000437.json new file mode 100644 index 0000000000000000000000000000000000000000..785b6e96e48ec866a3937b8b1c03fe4693a368df --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000437.json @@ -0,0 +1,47 @@ +{ + "episode_index": 437, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Place the smooth plastic bottle on the pad after lifting it up.", + "num_frames": 148, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 147, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 135, + "arm": "left", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000438.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000438.json new file mode 100644 index 0000000000000000000000000000000000000000..b735d9326e9d7ef6cce4acb90a258c3c74006ccc --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000438.json @@ -0,0 +1,47 @@ +{ + "episode_index": 438, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Grab the white-capped cylindrical bottle and place it on the pad", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 71, + "arm": "right", + "kind": "close", + "start_frame": 64, + "end_frame": 78 + }, + { + "frame": 157, + "arm": "right", + "kind": "open", + "start_frame": 150, + "end_frame": 164 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000439.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000439.json new file mode 100644 index 0000000000000000000000000000000000000000..28d1e79c685d22715d21c61a61e2afca4844a97d --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000439.json @@ -0,0 +1,47 @@ +{ + "episode_index": 439, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to grab the compact bottle with teal and white design and place it", + "num_frames": 144, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 131, + "arm": "left", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000440.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000440.json new file mode 100644 index 0000000000000000000000000000000000000000..8e575d19a990124ca8acf0b2f531b6f2511baf9e --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000440.json @@ -0,0 +1,47 @@ +{ + "episode_index": 440, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to lift the white and orange storage bottle and place it", + "num_frames": 153, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 152, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "right", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 140, + "arm": "right", + "kind": "open", + "start_frame": 133, + "end_frame": 147 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000441.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000441.json new file mode 100644 index 0000000000000000000000000000000000000000..00977a8b609d9e6ac3b91ebd4095f58a056dfec3 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000441.json @@ -0,0 +1,47 @@ +{ + "episode_index": 441, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Place the teal-bottom bottle with cylindrical body on the pad after lifting it up.", + "num_frames": 142, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000442.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000442.json new file mode 100644 index 0000000000000000000000000000000000000000..31cd8ce5b658530e52359d2a3536b672abd956b5 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000442.json @@ -0,0 +1,47 @@ +{ + "episode_index": 442, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Hold the plastic bottle with ridged white cap and position it on the pad", + "num_frames": 136, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 123, + "arm": "right", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000443.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000443.json new file mode 100644 index 0000000000000000000000000000000000000000..7c27ecbea6f3990a22bc05421cd379f54ca6432d --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000443.json @@ -0,0 +1,47 @@ +{ + "episode_index": 443, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to move the lightweight plastic bottle to the pad", + "num_frames": 146, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 145, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 133, + "arm": "left", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000444.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000444.json new file mode 100644 index 0000000000000000000000000000000000000000..26f8f734d927bfdd14688f914838103d2880ea9d --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000444.json @@ -0,0 +1,47 @@ +{ + "episode_index": 444, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Grab and transfer the white cap on orange bottle with the left arm to pad", + "num_frames": 154, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 153, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 141, + "arm": "left", + "kind": "open", + "start_frame": 134, + "end_frame": 148 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000445.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000445.json new file mode 100644 index 0000000000000000000000000000000000000000..f986f09151f998f4a7e981ed9b0ddde1170afbd5 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000445.json @@ -0,0 +1,47 @@ +{ + "episode_index": 445, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to take the bottle with white label and cap and move it", + "num_frames": 134, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 133, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000446.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000446.json new file mode 100644 index 0000000000000000000000000000000000000000..67fbfe5660a10b1b9100449aa8242a615d4171bc --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000446.json @@ -0,0 +1,47 @@ +{ + "episode_index": 446, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Grab the bottle featuring blue horizontal stripe carefully and drop it on pad", + "num_frames": 150, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 149, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 137, + "arm": "left", + "kind": "open", + "start_frame": 130, + "end_frame": 144 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000447.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000447.json new file mode 100644 index 0000000000000000000000000000000000000000..11d5daf4bc7dadfc794833507459f7174ce24595 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000447.json @@ -0,0 +1,47 @@ +{ + "episode_index": 447, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the white bottle onto the pad using the right arm", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "right", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 150, + "arm": "right", + "kind": "open", + "start_frame": 143, + "end_frame": 157 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000448.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000448.json new file mode 100644 index 0000000000000000000000000000000000000000..5ba72ef28904e38a2dd770d1273066da18c1585d --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000448.json @@ -0,0 +1,47 @@ +{ + "episode_index": 448, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the white cap on orange bottle and position it on the pad", + "num_frames": 138, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000449.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000449.json new file mode 100644 index 0000000000000000000000000000000000000000..e7d41d855fe3d850813878510a0382b50a201e35 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000449.json @@ -0,0 +1,47 @@ +{ + "episode_index": 449, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Direct the left arm to grab the white bottle with ridged orange lid and drop it there", + "num_frames": 154, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 153, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 141, + "arm": "left", + "kind": "open", + "start_frame": 134, + "end_frame": 148 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000450.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000450.json new file mode 100644 index 0000000000000000000000000000000000000000..22e78e17abd45ebec094ebbb3c7e61fa719d8a82 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000450.json @@ -0,0 +1,47 @@ +{ + "episode_index": 450, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Grab the bottle with bright orange top carefully and drop it on pad", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 74, + "arm": "left", + "kind": "close", + "start_frame": 67, + "end_frame": 81 + }, + { + "frame": 156, + "arm": "left", + "kind": "open", + "start_frame": 149, + "end_frame": 163 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000451.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000451.json new file mode 100644 index 0000000000000000000000000000000000000000..cc8ad189f22bcbca20dc00f539c977711fd0d88a --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000451.json @@ -0,0 +1,47 @@ +{ + "episode_index": 451, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Grab the bottle with bright orange top and position it on the pad", + "num_frames": 142, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000452.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000452.json new file mode 100644 index 0000000000000000000000000000000000000000..0c8d0976fffb10ec825cff0c61fce0b49c655d93 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000452.json @@ -0,0 +1,47 @@ +{ + "episode_index": 452, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the white cap on orange bottle using the left arm and position it on the pad.", + "num_frames": 156, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 155, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "left", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 143, + "arm": "left", + "kind": "open", + "start_frame": 136, + "end_frame": 150 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000453.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000453.json new file mode 100644 index 0000000000000000000000000000000000000000..83722fef1e99b6fa614a184c7591916b61e0dea9 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000453.json @@ -0,0 +1,47 @@ +{ + "episode_index": 453, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the white bottle for pills or liquids and place it on the pad", + "num_frames": 162, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 161, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "right", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 149, + "arm": "right", + "kind": "open", + "start_frame": 142, + "end_frame": 156 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000454.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000454.json new file mode 100644 index 0000000000000000000000000000000000000000..c8e85214cc3a3a9857a9498f16cb71b3c44f8241 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000454.json @@ -0,0 +1,47 @@ +{ + "episode_index": 454, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the small plastic bottle up and set it onto the pad", + "num_frames": 143, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 130, + "arm": "left", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000455.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000455.json new file mode 100644 index 0000000000000000000000000000000000000000..31e23cac660e822b789130c1dee336506ec642d3 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000455.json @@ -0,0 +1,47 @@ +{ + "episode_index": 455, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the rounded bottle with small white cap with the left arm and drop it onto the pad.", + "num_frames": 152, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 151, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 139, + "arm": "left", + "kind": "open", + "start_frame": 132, + "end_frame": 146 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000456.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000456.json new file mode 100644 index 0000000000000000000000000000000000000000..046754dc2cb77485bf9ebaebed671ea0903e9fec --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000456.json @@ -0,0 +1,47 @@ +{ + "episode_index": 456, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the bottle with smooth body and ridged cap using the left arm and set it on pad", + "num_frames": 146, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 145, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 133, + "arm": "left", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000457.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000457.json new file mode 100644 index 0000000000000000000000000000000000000000..629da22e6b00504778115ef3c0a15e6452256fcd --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000457.json @@ -0,0 +1,47 @@ +{ + "episode_index": 457, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to grab the white body bottle with textured cap and place it", + "num_frames": 139, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000458.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000458.json new file mode 100644 index 0000000000000000000000000000000000000000..a8113fa8ee325001407943417f3ac7e662a6100c --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000458.json @@ -0,0 +1,47 @@ +{ + "episode_index": 458, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Take the orange cylindrical bottle for medicine and put it onto the pad", + "num_frames": 146, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 145, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "right", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000459.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000459.json new file mode 100644 index 0000000000000000000000000000000000000000..8f7c2e305088c09e12fd5374c3f1dbc1970cc089 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000459.json @@ -0,0 +1,47 @@ +{ + "episode_index": 459, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to grab the plastic bottle with brown body and place it", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000460.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000460.json new file mode 100644 index 0000000000000000000000000000000000000000..06f0e966beb9dff8f445b3970455fbf9d15dca47 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000460.json @@ -0,0 +1,47 @@ +{ + "episode_index": 460, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to lift the bottle with bright orange top and position it", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000461.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000461.json new file mode 100644 index 0000000000000000000000000000000000000000..80517b3c03d038d7e826a92b2328d9b858d90b2b --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000461.json @@ -0,0 +1,47 @@ +{ + "episode_index": 461, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Grab the white-capped cylindrical bottle with the right arm and move it to the pad.", + "num_frames": 159, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 158, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 146, + "arm": "right", + "kind": "open", + "start_frame": 139, + "end_frame": 153 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000462.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000462.json new file mode 100644 index 0000000000000000000000000000000000000000..0a3fa5d45b3ace5bfc776b9786dfaa4d3c0f40f3 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000462.json @@ -0,0 +1,47 @@ +{ + "episode_index": 462, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the white bottle and carefully place it on pad", + "num_frames": 153, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 152, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "left", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 140, + "arm": "left", + "kind": "open", + "start_frame": 133, + "end_frame": 147 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000463.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000463.json new file mode 100644 index 0000000000000000000000000000000000000000..27d826dbc849af28e1a1b48a96fe8e11cd47252d --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000463.json @@ -0,0 +1,47 @@ +{ + "episode_index": 463, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Grab the round bottle with orange screw-top and carefully set it onto the pad.", + "num_frames": 150, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 149, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 66, + "arm": "right", + "kind": "close", + "start_frame": 59, + "end_frame": 73 + }, + { + "frame": 137, + "arm": "right", + "kind": "open", + "start_frame": 130, + "end_frame": 144 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000464.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000464.json new file mode 100644 index 0000000000000000000000000000000000000000..248d48cdf4e0d1f170a0bb378bb59da64bbf2ce9 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000464.json @@ -0,0 +1,47 @@ +{ + "episode_index": 464, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to take the rounded small bottle and move it", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000465.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000465.json new file mode 100644 index 0000000000000000000000000000000000000000..7114a2440eadbb754c11a9a317fc72002df5426b --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000465.json @@ -0,0 +1,47 @@ +{ + "episode_index": 465, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the small brown bottle with white accents and place it on the pad", + "num_frames": 139, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000466.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000466.json new file mode 100644 index 0000000000000000000000000000000000000000..1218ec9d65a004e38e7e107c089aca30aa290321 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000466.json @@ -0,0 +1,47 @@ +{ + "episode_index": 466, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the teal-bottom bottle with cylindrical body using the right arm and drop it on pad", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 71, + "arm": "right", + "kind": "close", + "start_frame": 64, + "end_frame": 78 + }, + { + "frame": 154, + "arm": "right", + "kind": "open", + "start_frame": 147, + "end_frame": 161 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000467.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000467.json new file mode 100644 index 0000000000000000000000000000000000000000..e5b641c0cc8455fc968191773ea88ca342006bc7 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000467.json @@ -0,0 +1,47 @@ +{ + "episode_index": 467, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to grab the cylindrical bottle with ridged white lid and put it on the pad.", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000468.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000468.json new file mode 100644 index 0000000000000000000000000000000000000000..5f0d6c4bd81e2e0d98411b8e78eadc795b7ccc72 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000468.json @@ -0,0 +1,47 @@ +{ + "episode_index": 468, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to place the white-capped cylindrical bottle on the pad", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000469.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000469.json new file mode 100644 index 0000000000000000000000000000000000000000..bde9b4903f99634cace503fd2122dbc457406031 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000469.json @@ -0,0 +1,47 @@ +{ + "episode_index": 469, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Grab the white bottle with teal rounded edges and drop it on the pad", + "num_frames": 141, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 128, + "arm": "left", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000470.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000470.json new file mode 100644 index 0000000000000000000000000000000000000000..b8e4254a3ec0335ab41ec1bb6dc5edab3130d867 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000470.json @@ -0,0 +1,47 @@ +{ + "episode_index": 470, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the white cap on orange bottle with the left arm and set it down", + "num_frames": 143, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 130, + "arm": "left", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000471.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000471.json new file mode 100644 index 0000000000000000000000000000000000000000..765d33e78d09ec18d578b103681ffef09a09eb50 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000471.json @@ -0,0 +1,47 @@ +{ + "episode_index": 471, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Place the small brown bottle with white accents on the pad after lifting it up.", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000472.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000472.json new file mode 100644 index 0000000000000000000000000000000000000000..52b6a14163c8b18ce094d39f710d804c0cd0f303 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000472.json @@ -0,0 +1,47 @@ +{ + "episode_index": 472, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the flat base orange bottle and position it on the pad", + "num_frames": 131, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 130, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 118, + "arm": "right", + "kind": "open", + "start_frame": 111, + "end_frame": 125 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000473.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000473.json new file mode 100644 index 0000000000000000000000000000000000000000..8b5d914b55309604b8968ede872ecf7882fd7cdb --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000473.json @@ -0,0 +1,47 @@ +{ + "episode_index": 473, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Hold the cylindrical bottle with ridged white lid and position it on the pad", + "num_frames": 142, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 129, + "arm": "left", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000474.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000474.json new file mode 100644 index 0000000000000000000000000000000000000000..bb18f1fb681fe1ec2092bcf143d6cc951f807f26 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000474.json @@ -0,0 +1,47 @@ +{ + "episode_index": 474, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the teal and white plastic bottle with the right arm and position it onto pad", + "num_frames": 139, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000475.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000475.json new file mode 100644 index 0000000000000000000000000000000000000000..7ad4af757e59047a2a69b911dad71122e982486c --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000475.json @@ -0,0 +1,47 @@ +{ + "episode_index": 475, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the white and orange storage bottle to the pad and leave it there", + "num_frames": 154, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 153, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 66, + "arm": "right", + "kind": "close", + "start_frame": 59, + "end_frame": 73 + }, + { + "frame": 141, + "arm": "right", + "kind": "open", + "start_frame": 134, + "end_frame": 148 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000476.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000476.json new file mode 100644 index 0000000000000000000000000000000000000000..0c854732b5d4fb771741b25e2a9be24b43269313 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000476.json @@ -0,0 +1,47 @@ +{ + "episode_index": 476, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to move the smooth plastic bottle to the pad", + "num_frames": 151, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 150, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 138, + "arm": "left", + "kind": "open", + "start_frame": 131, + "end_frame": 145 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000477.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000477.json new file mode 100644 index 0000000000000000000000000000000000000000..a8ef90a2fb0cae60a9c49e91071a1ed557969390 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000477.json @@ -0,0 +1,47 @@ +{ + "episode_index": 477, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the smooth-textured brown bottle and place it on the pad", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "right", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 148, + "arm": "right", + "kind": "open", + "start_frame": 141, + "end_frame": 155 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000478.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000478.json new file mode 100644 index 0000000000000000000000000000000000000000..46480f5d64102de1bdd755c9d73e5ab1627a5d14 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000478.json @@ -0,0 +1,47 @@ +{ + "episode_index": 478, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the hand-held cylindrical white bottle with one arm to the pad", + "num_frames": 149, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 148, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 136, + "arm": "left", + "kind": "open", + "start_frame": 129, + "end_frame": 143 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000479.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000479.json new file mode 100644 index 0000000000000000000000000000000000000000..ea6353749d6f0b9e484f792faa62a215f832fa21 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000479.json @@ -0,0 +1,47 @@ +{ + "episode_index": 479, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the plastic bottle with ridged white cap up and set it onto the pad", + "num_frames": 151, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 150, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 138, + "arm": "left", + "kind": "open", + "start_frame": 131, + "end_frame": 145 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000480.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000480.json new file mode 100644 index 0000000000000000000000000000000000000000..760776190a78e3cbf312a7140c05166484b5a4c6 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000480.json @@ -0,0 +1,47 @@ +{ + "episode_index": 480, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the smooth white bottle and drop it on the pad", + "num_frames": 142, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "right", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000481.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000481.json new file mode 100644 index 0000000000000000000000000000000000000000..348bb19fb919b9d91a74d3ffcb96c0ce99e18adf --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000481.json @@ -0,0 +1,47 @@ +{ + "episode_index": 481, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the white cap on orange bottle to the pad and let it rest there", + "num_frames": 138, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000482.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000482.json new file mode 100644 index 0000000000000000000000000000000000000000..706cb76fc8d937fc2a00ef6e3ea0d277730698ab --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000482.json @@ -0,0 +1,47 @@ +{ + "episode_index": 482, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the small plastic bottle onto the pad using the left arm", + "num_frames": 148, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 147, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 135, + "arm": "left", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000483.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000483.json new file mode 100644 index 0000000000000000000000000000000000000000..7d15f3139b46832fc0d8da4a78a7924b39c32cbe --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000483.json @@ -0,0 +1,47 @@ +{ + "episode_index": 483, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Place the medicine bottle with screw cap on pad after lifting with the left arm", + "num_frames": 152, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 151, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "left", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 139, + "arm": "left", + "kind": "open", + "start_frame": 132, + "end_frame": 146 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000484.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000484.json new file mode 100644 index 0000000000000000000000000000000000000000..78430aed9c43e425b14ec2d2cbda16e259365ba4 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000484.json @@ -0,0 +1,47 @@ +{ + "episode_index": 484, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the smooth cylindrical bottle with teal ends to the pad and let it rest there", + "num_frames": 141, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000485.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000485.json new file mode 100644 index 0000000000000000000000000000000000000000..6bdd7531054ef9aac70009295971ef608195a951 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000485.json @@ -0,0 +1,47 @@ +{ + "episode_index": 485, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the medium-sized pharmacy bottle using the left arm and set it on pad", + "num_frames": 133, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 132, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000486.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000486.json new file mode 100644 index 0000000000000000000000000000000000000000..a6aad2f18acaa9fd8b7703bb91db7b393b061af6 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000486.json @@ -0,0 +1,47 @@ +{ + "episode_index": 486, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the white body bottle with textured cap and position it on the pad", + "num_frames": 149, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 148, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "right", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 136, + "arm": "right", + "kind": "open", + "start_frame": 129, + "end_frame": 143 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000487.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000487.json new file mode 100644 index 0000000000000000000000000000000000000000..2e37340ec2311085fd84fadadf1c0a607dd2aaa3 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000487.json @@ -0,0 +1,47 @@ +{ + "episode_index": 487, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Place the compact plastic bottle with screw cap on the pad after lifting it up.", + "num_frames": 157, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 156, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 144, + "arm": "left", + "kind": "open", + "start_frame": 137, + "end_frame": 151 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000488.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000488.json new file mode 100644 index 0000000000000000000000000000000000000000..5ff08ce37347e2ee937eb6fdaf45a4d9ce97cb52 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000488.json @@ -0,0 +1,47 @@ +{ + "episode_index": 488, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Set the smooth-textured brown bottle down on the pad after picking it.", + "num_frames": 142, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000489.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000489.json new file mode 100644 index 0000000000000000000000000000000000000000..d5d9fba1380baeab6d7ba56438b7f3c0329a5f19 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000489.json @@ -0,0 +1,47 @@ +{ + "episode_index": 489, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the plastic bottle with teal bands with the right arm and position it onto pad", + "num_frames": 142, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000490.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000490.json new file mode 100644 index 0000000000000000000000000000000000000000..0c888e71b7912b077cf8895414693ee7cfb7d489 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000490.json @@ -0,0 +1,47 @@ +{ + "episode_index": 490, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Grab and transfer the white cap on orange bottle with the left arm to pad", + "num_frames": 155, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 154, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 142, + "arm": "left", + "kind": "open", + "start_frame": 135, + "end_frame": 149 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000491.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000491.json new file mode 100644 index 0000000000000000000000000000000000000000..daac5e93d120a691ccb35bd4057c4913bb20d3d5 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000491.json @@ -0,0 +1,47 @@ +{ + "episode_index": 491, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to take the cylindrical bottle with brown surface and move it", + "num_frames": 160, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 159, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 147, + "arm": "left", + "kind": "open", + "start_frame": 140, + "end_frame": 154 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000492.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000492.json new file mode 100644 index 0000000000000000000000000000000000000000..f4dd6dd0e259eabca52d5ad6aff96441387f95df --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000492.json @@ -0,0 +1,47 @@ +{ + "episode_index": 492, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the white body bottle with textured cap and place it on the pad", + "num_frames": 147, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 146, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000493.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000493.json new file mode 100644 index 0000000000000000000000000000000000000000..3bb1662a420bc7fcb6e98b296f21dac401229f3d --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000493.json @@ -0,0 +1,47 @@ +{ + "episode_index": 493, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the bottle with bright orange top and gently lower onto the pad", + "num_frames": 139, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000494.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000494.json new file mode 100644 index 0000000000000000000000000000000000000000..ac7c694a265d3a618ec6e4a53d23bc00484efe35 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000494.json @@ -0,0 +1,47 @@ +{ + "episode_index": 494, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Take the plastic bottle with brown body and place it onto the pad", + "num_frames": 202, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 201, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 87, + "arm": "left", + "kind": "close", + "start_frame": 80, + "end_frame": 94 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000495.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000495.json new file mode 100644 index 0000000000000000000000000000000000000000..1a18640f8e6dc97206616a0f21cd246e673da621 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000495.json @@ -0,0 +1,47 @@ +{ + "episode_index": 495, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Set the medium orange bottle with flat bottom down on the pad after picking it.", + "num_frames": 138, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000496.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000496.json new file mode 100644 index 0000000000000000000000000000000000000000..e08e18cab12fb3ad1721578360dd9e2a64be5e8a --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000496.json @@ -0,0 +1,47 @@ +{ + "episode_index": 496, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to grab the brown bottle with wide white label and put it on the pad.", + "num_frames": 150, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 149, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "right", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 137, + "arm": "right", + "kind": "open", + "start_frame": 130, + "end_frame": 144 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000497.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000497.json new file mode 100644 index 0000000000000000000000000000000000000000..f29e993ee3e8f81b349b74d4ded04bc24b1c5db4 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000497.json @@ -0,0 +1,47 @@ +{ + "episode_index": 497, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the smooth cylindrical bottle with teal ends using the left arm and position it on the pad.", + "num_frames": 136, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000498.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000498.json new file mode 100644 index 0000000000000000000000000000000000000000..45100f469a6735a881a631624bfa6b447a5a2508 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000498.json @@ -0,0 +1,47 @@ +{ + "episode_index": 498, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to move the bottle with teal top and bottom to the pad", + "num_frames": 138, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000499.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000499.json new file mode 100644 index 0000000000000000000000000000000000000000..7fb51076cb6ddedb37e95bd71a0ec9ed00e8fe65 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic/episode_000499.json @@ -0,0 +1,47 @@ +{ + "episode_index": 499, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Grab the medium orange bottle with flat bottom and carefully set it onto the pad.", + "num_frames": 137, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000000.json @@ -0,0 +1,47 @@ +{ + "episode_index": 0, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the medium-sized white cylindrical container and place it on the pad", + "num_frames": 137, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000001.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..7e0f793c65195a09dac34e4da5faa91a478b3b1e --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000001.json @@ -0,0 +1,47 @@ +{ + "episode_index": 1, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the orange cylindrical bottle for medicine and set it on the pad", + "num_frames": 139, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000002.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..f9d11fe272f7c022ad8628e4091ab58ed7b78a86 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000002.json @@ -0,0 +1,47 @@ +{ + "episode_index": 2, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the plastic bottle with ridged cap and set it on the pad", + "num_frames": 150, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 149, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000003.json @@ -0,0 +1,47 @@ +{ + "episode_index": 3, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the plastic bottle with ridged white cap using the left arm and drop it on pad", + "num_frames": 141, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 128, + "arm": "left", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000004.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..3934483fd054ab9d891fc261145218d2860529f0 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000004.json @@ -0,0 +1,47 @@ +{ + "episode_index": 4, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to lift the teal-bottom bottle with cylindrical body and position it", + "num_frames": 133, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 132, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 120, + "arm": "right", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000005.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..82be37a21dafc5614b1b4761970fe2a674c9fca6 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000005.json @@ -0,0 +1,47 @@ +{ + "episode_index": 5, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Hold the teal and white plastic bottle and position it on the pad", + "num_frames": 147, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 146, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 134, + "arm": "left", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000006.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..7383b8864f6c46ac292e1e14735d21c6c5abc5f9 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000006.json @@ -0,0 +1,47 @@ +{ + "episode_index": 6, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the brown plastic cylindrical bottle to the pad and let it rest there", + "num_frames": 135, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 134, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000007.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..bfbdaf0a086197acd75a39841c47509cc4566d69 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000007.json @@ -0,0 +1,47 @@ +{ + "episode_index": 7, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Grab the plastic bottle with ridged cap and carefully set it onto the pad.", + "num_frames": 162, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 161, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 149, + "arm": "left", + "kind": "open", + "start_frame": 142, + "end_frame": 156 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000008.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..372420cdc12abc568ea90d4347cc1dd9a0dcba4f --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000008.json @@ -0,0 +1,47 @@ +{ + "episode_index": 8, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the orange cylindrical bottle with label using the left arm and position it on the pad.", + "num_frames": 149, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 148, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 136, + "arm": "left", + "kind": "open", + "start_frame": 129, + "end_frame": 143 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000009.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..1708c0e601df82e9a5511454357bfaa420ea37d6 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000009.json @@ -0,0 +1,47 @@ +{ + "episode_index": 9, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the bottle with teal top and bottom and drop it on the pad", + "num_frames": 149, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 148, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 136, + "arm": "left", + "kind": "open", + "start_frame": 129, + "end_frame": 143 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000010.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000010.json new file mode 100644 index 0000000000000000000000000000000000000000..b4e285443ca145ea8aa6fb38bd3a5f2a450a8ca3 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000010.json @@ -0,0 +1,47 @@ +{ + "episode_index": 10, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the small bottle with ridged orange cap with the left arm and drop it onto the pad.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 69, + "arm": "left", + "kind": "close", + "start_frame": 62, + "end_frame": 76 + }, + { + "frame": 153, + "arm": "left", + "kind": "open", + "start_frame": 146, + "end_frame": 160 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000011.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000011.json new file mode 100644 index 0000000000000000000000000000000000000000..4a8d7d7450d74ec7f3a1f031b5a18a83c3e3bcb7 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000011.json @@ -0,0 +1,47 @@ +{ + "episode_index": 11, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Set the smooth plastic bottle on pad after lifting it with the right arm", + "num_frames": 149, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 148, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "right", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 136, + "arm": "right", + "kind": "open", + "start_frame": 129, + "end_frame": 143 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000012.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000012.json new file mode 100644 index 0000000000000000000000000000000000000000..4aabc51b588dea96b6dd96d0f2a92b884a48cfb5 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000012.json @@ -0,0 +1,47 @@ +{ + "episode_index": 12, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to take the medium orange bottle with flat bottom and move it", + "num_frames": 142, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": 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"move_pillbottle_pad", + "task_goal": "Pick the plastic bottle with orange screw lid with the right arm and position it onto pad", + "num_frames": 138, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000014.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000014.json new file mode 100644 index 0000000000000000000000000000000000000000..1e126b9a7d6e3ebcb470e7879e61014cba170105 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000014.json @@ -0,0 +1,47 @@ +{ + "episode_index": 14, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Control the left arm to pick the flat base orange bottle and set it down", + "num_frames": 148, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 147, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 135, + "arm": "left", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000015.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000015.json new file mode 100644 index 0000000000000000000000000000000000000000..376674081a461578d26432be510b560410c2b211 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000015.json @@ -0,0 +1,47 @@ +{ + "episode_index": 15, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Direct the left arm to grab the bottle with large orange label and drop it there", + "num_frames": 136, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": 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"move_pillbottle_pad", + "task_goal": "Lift the white bottle with the right arm and set it down", + "num_frames": 150, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 149, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "right", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 137, + "arm": "right", + "kind": "open", + "start_frame": 130, + "end_frame": 144 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000017.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000017.json new file mode 100644 index 0000000000000000000000000000000000000000..b33eaa1a323d02089092d667fbbe1fa8056303a0 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000017.json @@ -0,0 +1,47 @@ +{ + "episode_index": 17, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the brown bottle with white cap with the right arm and position it onto pad", + "num_frames": 137, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000018.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000018.json new file mode 100644 index 0000000000000000000000000000000000000000..06ccf6c89b0df15df86f191a24cb137500069731 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000018.json @@ -0,0 +1,47 @@ +{ + "episode_index": 18, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Grab the lightweight plastic bottle and drop it on the pad", + "num_frames": 141, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000019.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000019.json new file mode 100644 index 0000000000000000000000000000000000000000..9b479db39c759777839444df74af19a214376eae --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000019.json @@ -0,0 +1,47 @@ +{ + "episode_index": 19, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Control the right arm to pick the white bottle with screw-on lid and set it down", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "right", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 150, + "arm": "right", + "kind": "open", + "start_frame": 143, + "end_frame": 157 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000020.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000020.json new file mode 100644 index 0000000000000000000000000000000000000000..81b8e9217abcd5f2429a24a894cc9fb5084053b3 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000020.json @@ -0,0 +1,47 @@ +{ + "episode_index": 20, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Grab the palm-sized bottle with orange cover and drop it onto the pad", + "num_frames": 138, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000021.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000021.json new file mode 100644 index 0000000000000000000000000000000000000000..b201384d343aedf5d12f2952a227f98a875767ab --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000021.json @@ -0,0 +1,47 @@ +{ + "episode_index": 21, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Direct the left arm to grab the flat base orange bottle and drop it there", + "num_frames": 159, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 158, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 68, + "arm": "left", + "kind": "close", + "start_frame": 61, + "end_frame": 75 + }, + { + "frame": 146, + "arm": "left", + "kind": "open", + "start_frame": 139, + "end_frame": 153 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000022.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000022.json new file mode 100644 index 0000000000000000000000000000000000000000..c5d4e14ac24ac325b0be8d3996413ff453a28b2e --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000022.json @@ -0,0 +1,47 @@ +{ + "episode_index": 22, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the round bottle with orange screw-top using the left arm and set it on pad", + "num_frames": 141, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 128, + "arm": "left", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000023.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000023.json new file mode 100644 index 0000000000000000000000000000000000000000..b739d81cb3b11d07b830c24a1101fe3f29863625 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000023.json @@ -0,0 +1,47 @@ +{ + "episode_index": 23, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the bottle featuring blue horizontal stripe to the pad and leave it there", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000024.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000024.json new file mode 100644 index 0000000000000000000000000000000000000000..d4e571825ca1a58f78c9171d96dd56b345ed9f93 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000024.json @@ -0,0 +1,47 @@ +{ + "episode_index": 24, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to move the bottle with bright orange top to the pad", + "num_frames": 142, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000025.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000025.json new file mode 100644 index 0000000000000000000000000000000000000000..07fcebe9a357bef0f7f2cd7c2437baa800f5c105 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000025.json @@ -0,0 +1,47 @@ +{ + "episode_index": 25, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the smooth plastic bottle with teal accents and gently lower onto the pad", + "num_frames": 139, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000026.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000026.json new file mode 100644 index 0000000000000000000000000000000000000000..4ac9cdb0657c5f18cf548b3f232f5fbeab0ebf56 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000026.json @@ -0,0 +1,47 @@ +{ + "episode_index": 26, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Grab the white bottle with teal rounded edges and drop it on the pad", + "num_frames": 143, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000027.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000027.json new file mode 100644 index 0000000000000000000000000000000000000000..d9ca77a773cb806e45f41659b0ed50d2497a7872 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000027.json @@ -0,0 +1,47 @@ +{ + "episode_index": 27, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the hand-held cylindrical white bottle and set it on the pad", + "num_frames": 155, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 154, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 66, + "arm": "left", + "kind": "close", + "start_frame": 59, + "end_frame": 73 + }, + { + "frame": 142, + "arm": "left", + "kind": "open", + "start_frame": 135, + "end_frame": 149 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000028.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000028.json new file mode 100644 index 0000000000000000000000000000000000000000..bf2e7bb9cdbe67c74162b4ec317df2599485a595 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000028.json @@ -0,0 +1,47 @@ +{ + "episode_index": 28, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to pick and place the bottle with smooth body and ridged cap onto the pad.", + "num_frames": 151, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 150, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 67, + "arm": "right", + "kind": "close", + "start_frame": 60, + "end_frame": 74 + }, + { + "frame": 138, + "arm": "right", + "kind": "open", + "start_frame": 131, + "end_frame": 145 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000029.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000029.json new file mode 100644 index 0000000000000000000000000000000000000000..78057e6e91ec24285cf4b37d5f5e551c6f272c0a --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000029.json @@ -0,0 +1,47 @@ +{ + "episode_index": 29, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to pick the cylindrical bottle with ridged white lid, then place it on pad", + "num_frames": 136, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000030.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000030.json new file mode 100644 index 0000000000000000000000000000000000000000..dff4df5ca0a7d8163ad9c69417d06bd6b50bb33d --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000030.json @@ -0,0 +1,47 @@ +{ + "episode_index": 30, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the small plastic bottle to the pad and release it there.", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "right", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 145, + "arm": "right", + "kind": "open", + "start_frame": 138, + "end_frame": 152 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000031.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000031.json new file mode 100644 index 0000000000000000000000000000000000000000..c97c3bab9576f4def8a3f3bf86b2799706e226f0 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000031.json @@ -0,0 +1,47 @@ +{ + "episode_index": 31, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the small bottle with ridged orange cap up and drop it onto the pad", + "num_frames": 145, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 144, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "right", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000032.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000032.json new file mode 100644 index 0000000000000000000000000000000000000000..12b45d6d45a8325ef997489aecd140b56904380d --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000032.json @@ -0,0 +1,47 @@ +{ + "episode_index": 32, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Control the left arm to pick the orange bottle for pills or liquid and set it down", + "num_frames": 149, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 148, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 136, + "arm": "left", + "kind": "open", + "start_frame": 129, + "end_frame": 143 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000033.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000033.json new file mode 100644 index 0000000000000000000000000000000000000000..01979f6de9ba0f469890137d51d7aaedf98f9d9e --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000033.json @@ -0,0 +1,47 @@ +{ + "episode_index": 33, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the palm-sized bottle with orange cover and position it on the pad", + "num_frames": 139, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000034.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000034.json new file mode 100644 index 0000000000000000000000000000000000000000..a2f1cf038e7f6187f66a2f95922dabbd5fa559af --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000034.json @@ -0,0 +1,47 @@ +{ + "episode_index": 34, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to place the smooth plastic bottle with teal accents on the pad", + "num_frames": 137, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000035.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000035.json new file mode 100644 index 0000000000000000000000000000000000000000..0475182fed74916b75ff54456772f7c765dfc9e2 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000035.json @@ -0,0 +1,47 @@ +{ + "episode_index": 35, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the bottle with white label and cap up and drop it onto the pad", + "num_frames": 138, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000036.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000036.json new file mode 100644 index 0000000000000000000000000000000000000000..6323a520f7fc0d2741688b8fe08bb2b2f100c35a --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000036.json @@ -0,0 +1,47 @@ +{ + "episode_index": 36, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Grab the bottle with white cap with the left arm and move it to the pad.", + "num_frames": 153, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 152, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "left", + 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"move_pillbottle_pad", + "task_goal": "Use the left arm to grab the bottle with white label and cap and place it", + "num_frames": 143, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 130, + "arm": "left", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000038.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000038.json new file mode 100644 index 0000000000000000000000000000000000000000..cfebf25755cec076aef0bd248f81a0b59178c9dd --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000038.json @@ -0,0 +1,47 @@ +{ + "episode_index": 38, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the bottle with teal top and bottom onto the pad using the left arm", + "num_frames": 138, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000039.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000039.json new file mode 100644 index 0000000000000000000000000000000000000000..baa838051cfb813ffd587aa8003b122556182d1e --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000039.json @@ -0,0 +1,47 @@ +{ + "episode_index": 39, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Grab the orange bottle for pills or liquid and position it on the pad", + "num_frames": 153, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 152, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 67, + "arm": "right", + "kind": "close", + "start_frame": 60, + "end_frame": 74 + }, + { + "frame": 140, + "arm": "right", + "kind": "open", + "start_frame": 133, + "end_frame": 147 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000040.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000040.json new file mode 100644 index 0000000000000000000000000000000000000000..97a8091948cf885ba2b0360265a02171d9464078 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000040.json @@ -0,0 +1,47 @@ +{ + "episode_index": 40, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to lift the compact bottle with teal and white design and position it", + "num_frames": 143, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000041.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000041.json new file mode 100644 index 0000000000000000000000000000000000000000..d1b22929b43988d9ca57a0fea06310abe144931f --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000041.json @@ -0,0 +1,47 @@ +{ + "episode_index": 41, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the smooth plastic bottle up and set it onto the pad", + "num_frames": 146, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 145, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 133, + "arm": "left", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000042.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000042.json new file mode 100644 index 0000000000000000000000000000000000000000..ae83ad870bd64a45f302475677a4474df4087db6 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000042.json @@ -0,0 +1,47 @@ +{ + "episode_index": 42, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Set the bottle featuring blue horizontal stripe down on the pad after picking it.", + "num_frames": 133, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 132, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": 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"move_pillbottle_pad", + "task_goal": "Pick the bottle with white cap up and drop it onto the pad", + "num_frames": 149, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 148, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 136, + "arm": "left", + "kind": "open", + "start_frame": 129, + "end_frame": 143 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000044.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000044.json new file mode 100644 index 0000000000000000000000000000000000000000..18f1496cbd6f6d7298eb0a1e7b3428ffb55c6670 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000044.json @@ -0,0 +1,47 @@ +{ + "episode_index": 44, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Grab the white and orange storage bottle with the left arm and move it to the pad.", + "num_frames": 141, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 128, + "arm": "left", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000045.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000045.json new file mode 100644 index 0000000000000000000000000000000000000000..a3f182326e5db5e95ece80ffbfdbb0d27540e3ff --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000045.json @@ -0,0 +1,47 @@ +{ + "episode_index": 45, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Place the plastic bottle with teal bands onto the pad after picking it.", + "num_frames": 145, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 144, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "right", + 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+ "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000047.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000047.json new file mode 100644 index 0000000000000000000000000000000000000000..5d04ee98c1f0c27e66de12e90f902d3cea782968 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000047.json @@ -0,0 +1,47 @@ +{ + "episode_index": 47, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the white bottle with teal rounded edges and position it on the pad", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000050.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000050.json new file mode 100644 index 0000000000000000000000000000000000000000..852f6884d8603cdbcc25056f23d7c4ec3d93d6f3 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000050.json @@ -0,0 +1,47 @@ +{ + "episode_index": 50, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the round bottle with orange screw-top to the pad and leave it there", + "num_frames": 157, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 156, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 68, + "arm": "right", + "kind": "close", + "start_frame": 61, + "end_frame": 75 + }, + { + "frame": 144, + "arm": "right", + "kind": "open", + "start_frame": 137, + "end_frame": 151 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000051.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000051.json new file mode 100644 index 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000053.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000053.json new file mode 100644 index 0000000000000000000000000000000000000000..9c3bafb9a0bcf3c233d44c16d121091cec25a069 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000053.json @@ -0,0 +1,47 @@ +{ + "episode_index": 53, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the white-capped cylindrical bottle and place it on the pad", + "num_frames": 131, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 130, + "boundary_source": "episode_end", + "truncation_rule": 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"kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000055.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000055.json new file mode 100644 index 0000000000000000000000000000000000000000..5ab4f56f45e5c771c396a0d97d9111c9cb4889a0 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000055.json @@ -0,0 +1,47 @@ +{ + "episode_index": 55, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000056.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000056.json new file mode 100644 index 0000000000000000000000000000000000000000..2d9eda751342c96ff687099314ca0006802a5ecd --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000056.json @@ -0,0 +1,47 @@ +{ + "episode_index": 56, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to set the medicine bottle with screw cap onto the pad", + "num_frames": 139, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "episode_end", + "truncation_rule": 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000059.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000059.json new file mode 100644 index 0000000000000000000000000000000000000000..5cfa0644f5c063cfb1521f567250ed7e39767ccb --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000059.json @@ -0,0 +1,47 @@ +{ + "episode_index": 59, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Set the compact plastic bottle with screw cap down on the pad after picking it.", + "num_frames": 157, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 156, + "boundary_source": "episode_end", + 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+ "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000062.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000062.json new file mode 100644 index 0000000000000000000000000000000000000000..be713eab4be0b0381eb98d90b6697c59a37b9ef4 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000062.json @@ -0,0 +1,47 @@ +{ + "episode_index": 62, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to set the small plastic bottle onto the pad", + "num_frames": 144, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "episode_end", + "truncation_rule": 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"anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000065.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000065.json new file mode 100644 index 0000000000000000000000000000000000000000..289a387385c4c7e480d1e7992021aa4bafbb55d4 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000065.json @@ -0,0 +1,47 @@ +{ + "episode_index": 65, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the plastic bottle with labeled surface to the pad and release it there.", + "num_frames": 153, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 152, + "boundary_source": 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000068.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000068.json new file mode 100644 index 0000000000000000000000000000000000000000..ff412803ca8318453784b2684090ed6d2c794ac1 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000068.json @@ -0,0 +1,47 @@ +{ + "episode_index": 68, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Grab and transfer the small brown bottle with white accents with the right arm to pad", + "num_frames": 153, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 152, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "right", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 140, + "arm": "right", + "kind": "open", + "start_frame": 133, + "end_frame": 147 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000069.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000069.json new file mode 100644 index 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"kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000070.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000070.json new file mode 100644 index 0000000000000000000000000000000000000000..cf356f18981b68621847d01cc0467b40ed1e5eee --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000070.json @@ -0,0 +1,47 @@ +{ + "episode_index": 70, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to pick and place the bottle featuring blue horizontal stripe onto the pad.", + "num_frames": 139, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000071.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000071.json new file mode 100644 index 0000000000000000000000000000000000000000..4774e18d4fed45a8cd1681d6b35d2baafb7238bf --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000071.json @@ -0,0 +1,47 @@ +{ + "episode_index": 71, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to move the medium orange bottle with flat bottom to the pad", + "num_frames": 138, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000072.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000072.json new file mode 100644 index 0000000000000000000000000000000000000000..e54f52b555ee319cbb37c719f4ced94d8eba3a81 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000072.json @@ -0,0 +1,47 @@ +{ + "episode_index": 72, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to move the bottle featuring blue horizontal stripe to the pad", + "num_frames": 146, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 145, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 133, + "arm": "left", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000073.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000073.json new file mode 100644 index 0000000000000000000000000000000000000000..b7868fd4c2878164927afa0d877aa95ee5bda5b1 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000073.json @@ -0,0 +1,47 @@ +{ + "episode_index": 73, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Control the right arm to pick the orange bottle for pills or liquid and set it down", + "num_frames": 137, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000074.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000074.json new file mode 100644 index 0000000000000000000000000000000000000000..62283ebd82e2114a23a14c58886f0f48ead66e38 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000074.json @@ -0,0 +1,47 @@ +{ + "episode_index": 74, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Grab the orange bottle with blue stripe label and drop it on the pad", + "num_frames": 157, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 156, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 144, + "arm": "left", + "kind": "open", + "start_frame": 137, + "end_frame": 151 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000075.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000075.json new file mode 100644 index 0000000000000000000000000000000000000000..a7ef5be502e120e6534208de16190bc7bda07ac8 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000075.json @@ -0,0 +1,47 @@ +{ + "episode_index": 75, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to take the brown bottle with white cap and move it", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000076.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000076.json new file mode 100644 index 0000000000000000000000000000000000000000..916b20c2b5cb2e8c7297afbed1a21c17a58e922d --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000076.json @@ -0,0 +1,47 @@ +{ + "episode_index": 76, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the white bottle and place it on the pad", + "num_frames": 159, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 158, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 71, + "arm": "right", + "kind": "close", + "start_frame": 64, + "end_frame": 78 + }, + { + "frame": 146, + "arm": "right", + "kind": "open", + "start_frame": 139, + "end_frame": 153 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000077.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000077.json new file mode 100644 index 0000000000000000000000000000000000000000..f71ce7c43b63cbd250ad80593e40aaa692552ae3 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000077.json @@ -0,0 +1,47 @@ +{ + "episode_index": 77, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the hand-held cylindrical white bottle to the pad and leave it there", + "num_frames": 136, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 123, + "arm": "right", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000078.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000078.json new file mode 100644 index 0000000000000000000000000000000000000000..d134e94aba6f9bb7cfa7179c887c5d5aba40ceb3 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000078.json @@ -0,0 +1,47 @@ +{ + "episode_index": 78, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to lift the plastic bottle with labeled surface and position it", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 70, + "arm": "right", + "kind": "close", + "start_frame": 63, + "end_frame": 77 + }, + { + "frame": 154, + "arm": "right", + "kind": "open", + "start_frame": 147, + "end_frame": 161 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000079.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000079.json new file mode 100644 index 0000000000000000000000000000000000000000..8ac1a443a8dba53eb82dde5562887c698d894e39 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000079.json @@ -0,0 +1,47 @@ +{ + "episode_index": 79, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the white and orange storage bottle and gently lower onto the pad", + "num_frames": 148, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 147, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 135, + "arm": "left", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000080.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000080.json new file mode 100644 index 0000000000000000000000000000000000000000..03b646abc1a0a3e1822d5af0940905c81b99a3d3 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000080.json @@ -0,0 +1,47 @@ +{ + "episode_index": 80, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Grab the hand-held cylindrical white bottle and place it on the pad", + "num_frames": 152, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 151, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "right", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 139, + "arm": "right", + "kind": "open", + "start_frame": 132, + "end_frame": 146 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000081.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000081.json new file mode 100644 index 0000000000000000000000000000000000000000..9c76fb73f9f34d2fabc3d49f4e9cc7228509c44e --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000081.json @@ -0,0 +1,47 @@ +{ + "episode_index": 81, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the hand-held cylindrical white bottle using the right arm and set it on pad", + "num_frames": 133, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 132, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 120, + "arm": "right", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000082.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000082.json new file mode 100644 index 0000000000000000000000000000000000000000..1729507cb99fc222507cbeba34d4e876dc3fe3ef --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000082.json @@ -0,0 +1,47 @@ +{ + "episode_index": 82, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to grab the brown bottle with wide white label and place it", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "right", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 148, + "arm": "right", + "kind": "open", + "start_frame": 141, + "end_frame": 155 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000083.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000083.json new file mode 100644 index 0000000000000000000000000000000000000000..90c19d91fa0bc25415b4f49d6bb9229b29515cc1 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000083.json @@ -0,0 +1,47 @@ +{ + "episode_index": 83, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Grab the round bottle with orange screw-top and drop it onto the pad", + "num_frames": 130, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 129, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 117, + "arm": "right", + "kind": "open", + "start_frame": 110, + "end_frame": 124 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000084.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000084.json new file mode 100644 index 0000000000000000000000000000000000000000..851fb895569ff85078ba3537209568f193644872 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000084.json @@ -0,0 +1,47 @@ +{ + "episode_index": 84, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to grab the medicine bottle with screw cap and place it", + "num_frames": 145, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 144, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 132, + "arm": "left", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000085.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000085.json new file mode 100644 index 0000000000000000000000000000000000000000..f2d32db57f52964785b555f18686d099fef4d78f --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000085.json @@ -0,0 +1,47 @@ +{ + "episode_index": 85, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the small brown bottle with the left arm and place it down", + "num_frames": 148, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 147, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 135, + "arm": "left", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000086.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000086.json new file mode 100644 index 0000000000000000000000000000000000000000..38f931555f3a064f161bfc4dea6abae2939fe4a9 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000086.json @@ -0,0 +1,47 @@ +{ + "episode_index": 86, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the white bottle with ridged orange lid up and drop it onto the pad", + "num_frames": 139, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000087.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000087.json new file mode 100644 index 0000000000000000000000000000000000000000..5ad2d367b8673b900c1bc14efa6400e20958d1ab --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000087.json @@ -0,0 +1,47 @@ +{ + "episode_index": 87, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the small bottle with ridged orange cap and carefully place it on pad", + "num_frames": 139, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000088.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000088.json new file mode 100644 index 0000000000000000000000000000000000000000..50180e9f2792158cffc7ed85587d8bd2cf2a59ef --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000088.json @@ -0,0 +1,47 @@ +{ + "episode_index": 88, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the bottle with smooth body and ridged cap and gently lower onto the pad", + "num_frames": 150, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 149, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "right", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 137, + "arm": "right", + "kind": "open", + "start_frame": 130, + "end_frame": 144 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000089.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000089.json new file mode 100644 index 0000000000000000000000000000000000000000..5cadb4573238ab96b13c366bc3f7b67096c06752 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000089.json @@ -0,0 +1,47 @@ +{ + "episode_index": 89, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the plastic bottle with orange screw lid with the left arm and set it down", + "num_frames": 145, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 144, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 132, + "arm": "left", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000090.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000090.json new file mode 100644 index 0000000000000000000000000000000000000000..436607a1baf952a528afc070ba20d55585497d2b --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000090.json @@ -0,0 +1,47 @@ +{ + "episode_index": 90, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the teal-bottom bottle with cylindrical body up and set it onto the pad", + "num_frames": 178, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 177, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 78, + "arm": "left", + "kind": "close", + "start_frame": 71, + "end_frame": 85 + }, + { + "frame": 165, + "arm": "left", + "kind": "open", + "start_frame": 158, + "end_frame": 172 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000091.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000091.json new file mode 100644 index 0000000000000000000000000000000000000000..6078c0365bac7eb62437cde033f76b525c380aa0 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000091.json @@ -0,0 +1,47 @@ +{ + "episode_index": 91, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Grab and transfer the medium-sized pharmacy bottle with the right arm to pad", + "num_frames": 150, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 149, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "right", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 137, + "arm": "right", + "kind": "open", + "start_frame": 130, + "end_frame": 144 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000092.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000092.json new file mode 100644 index 0000000000000000000000000000000000000000..e5a5acf8333e56a02ac4f281c2af1c1e61199bc5 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000092.json @@ -0,0 +1,47 @@ +{ + "episode_index": 92, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the orange cylindrical bottle for medicine and carefully place it on pad", + "num_frames": 138, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + 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/dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000093.json @@ -0,0 +1,47 @@ +{ + "episode_index": 93, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Take the rounded small bottle and put it onto the pad", + "num_frames": 138, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000094.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000094.json new file mode 100644 index 0000000000000000000000000000000000000000..c6df59815e1c280c800ba01e9a313e3145461e4f --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000094.json @@ -0,0 +1,47 @@ +{ + "episode_index": 94, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to set the cylindrical bottle with brown surface onto the pad", + "num_frames": 139, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000095.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000095.json new file mode 100644 index 0000000000000000000000000000000000000000..0ca374622fd619b13beb819cb58cfc1916933df0 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000095.json @@ -0,0 +1,47 @@ +{ + "episode_index": 95, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the small bottle with ridged orange cap and position it on the pad", + "num_frames": 151, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 150, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "left", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 138, + "arm": "left", + "kind": "open", + "start_frame": 131, + "end_frame": 145 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000096.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000096.json new file mode 100644 index 0000000000000000000000000000000000000000..67a387f6983d9524e09f3b3d1cd49dbb1282f516 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000096.json @@ -0,0 +1,47 @@ +{ + "episode_index": 96, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the smooth plastic orange bottle to the pad and let it rest there", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000097.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000097.json new file mode 100644 index 0000000000000000000000000000000000000000..65bd05dc47b62f392d0b8058bc23a5bd5bd87e58 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000097.json @@ -0,0 +1,47 @@ +{ + "episode_index": 97, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the white body bottle with textured cap and place it on the pad", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000098.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000098.json new file mode 100644 index 0000000000000000000000000000000000000000..d85396cf3ff1afc0588a3013528eb55fd55293b4 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000098.json @@ -0,0 +1,47 @@ +{ + "episode_index": 98, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Grab the orange bottle for pills or liquid and position it on the pad", + "num_frames": 152, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 151, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "right", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 139, + "arm": "right", + "kind": "open", + "start_frame": 132, + "end_frame": 146 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000099.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000099.json new file mode 100644 index 0000000000000000000000000000000000000000..dda7b290e6f0e4841c5ea49696ef3a3c2431fbf1 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000099.json @@ -0,0 +1,47 @@ +{ + "episode_index": 99, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the orange cylindrical bottle for medicine to the pad and release it there.", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000100.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000100.json new file mode 100644 index 0000000000000000000000000000000000000000..bee7606260f433556d2bbc80dcf44d5dfaf911c1 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000100.json @@ -0,0 +1,47 @@ +{ + "episode_index": 100, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to lift the brown bottle with wide white label and position it", + "num_frames": 143, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 130, + "arm": "left", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000101.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000101.json new file mode 100644 index 0000000000000000000000000000000000000000..c8174575f5d4e7626033168787adf1b077e4e2d3 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000101.json @@ -0,0 +1,47 @@ +{ + "episode_index": 101, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the medium orange bottle with flat bottom up and set it onto the pad", + "num_frames": 134, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 133, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000102.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000102.json new file mode 100644 index 0000000000000000000000000000000000000000..72ba1c5df9b39c6f677cab28b0dd3111843dcf38 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000102.json @@ -0,0 +1,47 @@ +{ + "episode_index": 102, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Control the left arm to pick the white body bottle with textured cap and set it down", + "num_frames": 137, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000103.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000103.json new file mode 100644 index 0000000000000000000000000000000000000000..f04f7e8940731838f7721c8ae073746af21938b4 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000103.json @@ -0,0 +1,47 @@ +{ + "episode_index": 103, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to lift the bottle with large orange 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a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000104.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000104.json new file mode 100644 index 0000000000000000000000000000000000000000..d0e4336a63f15e6bdb898fa9c280c351f963f377 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000104.json @@ -0,0 +1,47 @@ +{ + "episode_index": 104, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Control the left arm to pick the brown plastic cylindrical bottle and set it down", + "num_frames": 142, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 129, + "arm": "left", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000105.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000105.json new file mode 100644 index 0000000000000000000000000000000000000000..08f7815bccf9580b80a3aa2d679a4f325f08abdc --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000105.json @@ -0,0 +1,47 @@ +{ + "episode_index": 105, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to lift the round bottle with orange screw-top and position it", + "num_frames": 145, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 144, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000106.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000106.json new file mode 100644 index 0000000000000000000000000000000000000000..b602a44025146fd4c3a8327ae337cc92344e4da6 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000106.json @@ -0,0 +1,47 @@ +{ + "episode_index": 106, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the plastic bottle with brown body with the left arm and place it down", + "num_frames": 144, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 131, + "arm": "left", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000107.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000107.json new file mode 100644 index 0000000000000000000000000000000000000000..b3b409a02d861cdb4bbd56f2a3af716119e51d67 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000107.json @@ -0,0 +1,47 @@ +{ + "episode_index": 107, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the white bottle with screw-on lid onto the pad using the right arm", + "num_frames": 152, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 151, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "right", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 139, + "arm": "right", + "kind": "open", + "start_frame": 132, + "end_frame": 146 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000108.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000108.json new file mode 100644 index 0000000000000000000000000000000000000000..c3e571692fefeb4c402441d979549e7d86a5b22d --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000108.json @@ -0,0 +1,47 @@ +{ + "episode_index": 108, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the bottle featuring blue horizontal stripe and carefully place it on pad", + "num_frames": 148, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 147, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 135, + "arm": "left", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000109.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000109.json new file mode 100644 index 0000000000000000000000000000000000000000..c7c8e137e25d760284f333523406127a0b1e2fbb --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000109.json @@ -0,0 +1,47 @@ +{ + "episode_index": 109, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the medium-sized pharmacy bottle to the pad and leave it there", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 70, + "arm": "right", + "kind": "close", + "start_frame": 63, + "end_frame": 77 + }, + { + "frame": 148, + "arm": "right", + "kind": "open", + "start_frame": 141, + "end_frame": 155 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000110.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000110.json new file mode 100644 index 0000000000000000000000000000000000000000..08037687a4024df0b48aeff75ffae31e4b1ce3ec --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000110.json @@ -0,0 +1,47 @@ +{ + "episode_index": 110, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Control the right arm to pick the round bottle with orange screw-top and set it down", + "num_frames": 141, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000111.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000111.json new file mode 100644 index 0000000000000000000000000000000000000000..47b736d3375e6675840539cfa044e0249a111ed9 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000111.json @@ -0,0 +1,47 @@ +{ + "episode_index": 111, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the white bottle with screw-on lid and gently lower onto the pad", + "num_frames": 149, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 148, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "right", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 136, + "arm": "right", + "kind": "open", + "start_frame": 129, + "end_frame": 143 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000112.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000112.json new file mode 100644 index 0000000000000000000000000000000000000000..bba7903cc4285288ceac0e70791f9a7e4abeb02f --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000112.json @@ -0,0 +1,47 @@ +{ + "episode_index": 112, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to set the hand-held cylindrical white bottle onto the pad", + "num_frames": 156, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 155, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 79, + "arm": "left", + "kind": "close", + "start_frame": 72, + "end_frame": 86 + }, + { + "frame": 143, + "arm": "left", + "kind": "open", + "start_frame": 136, + "end_frame": 150 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000113.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000113.json new file mode 100644 index 0000000000000000000000000000000000000000..7f7bdff5762728282987b3d0c2e7f13e26fd302b --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000113.json @@ -0,0 +1,47 @@ +{ + "episode_index": 113, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Place the hand-held cylindrical white bottle on pad after lifting with the right arm", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000114.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000114.json new file mode 100644 index 0000000000000000000000000000000000000000..ebc45df9abc186cb5989129986d826144fd112df --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000114.json @@ -0,0 +1,47 @@ +{ + "episode_index": 114, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the white bottle for pills or liquids and carefully place it on pad", + "num_frames": 150, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 149, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 137, + "arm": "left", + "kind": "open", + "start_frame": 130, + "end_frame": 144 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000115.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000115.json new file mode 100644 index 0000000000000000000000000000000000000000..ecc4c19df891f9354934a58a0896013efb0eb512 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000115.json @@ -0,0 +1,47 @@ +{ + "episode_index": 115, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Grab the white body bottle with textured cap carefully and drop it on pad", + "num_frames": 148, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 147, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 135, + "arm": "right", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000116.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000116.json new file mode 100644 index 0000000000000000000000000000000000000000..8fbb58f948d9b62446db3a00ba9086251ae51602 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000116.json @@ -0,0 +1,47 @@ +{ + "episode_index": 116, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the plastic bottle with orange screw lid and gently lower onto the pad", + "num_frames": 139, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000117.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000117.json new file mode 100644 index 0000000000000000000000000000000000000000..1e3231a813d45083821744325f7ae728f28e90a7 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000117.json @@ -0,0 +1,47 @@ +{ + "episode_index": 117, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Control the left arm to pick the teal-bottom bottle with cylindrical body and set it down", + "num_frames": 130, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 129, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 117, + "arm": "left", + "kind": "open", + "start_frame": 110, + "end_frame": 124 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000118.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000118.json new file mode 100644 index 0000000000000000000000000000000000000000..4066dfd1ce52cd25cc36603cdcd50c8ea6a82339 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000118.json @@ -0,0 +1,47 @@ +{ + "episode_index": 118, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the medium orange bottle with flat bottom and gently lower onto the pad", + "num_frames": 155, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 154, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 67, + "arm": "right", + "kind": "close", + "start_frame": 60, + "end_frame": 74 + }, + { + "frame": 142, + "arm": "right", + "kind": "open", + "start_frame": 135, + "end_frame": 149 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000119.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000119.json new file mode 100644 index 0000000000000000000000000000000000000000..2517f2c44384e10da25d45336520f954d00377e7 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000119.json @@ -0,0 +1,47 @@ +{ + "episode_index": 119, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the medicine bottle with screw cap up and drop it onto the pad", + "num_frames": 141, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 128, + "arm": "left", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000120.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000120.json new file mode 100644 index 0000000000000000000000000000000000000000..5077fe727fe8674d786c44bc3f68f4455100a5d0 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000120.json @@ -0,0 +1,47 @@ +{ + "episode_index": 120, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the compact bottle with teal and white design up and set it onto the pad", + "num_frames": 147, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 146, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 134, + "arm": "left", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000121.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000121.json new file mode 100644 index 0000000000000000000000000000000000000000..763dff02ffa185aefc29cb1f127d17634799da5b --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000121.json @@ -0,0 +1,47 @@ +{ + "episode_index": 121, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the smooth plastic bottle with teal accents and drop it on the pad", + "num_frames": 146, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 145, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 133, + "arm": "left", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000122.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000122.json new file mode 100644 index 0000000000000000000000000000000000000000..561168ebb1a0faa68b72c05f57d8f19b15ffdebc --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000122.json @@ -0,0 +1,47 @@ +{ + "episode_index": 122, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the bottle with bright orange top to the pad and let it rest there", + "num_frames": 159, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 158, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 68, + "arm": "left", + "kind": "close", + "start_frame": 61, + "end_frame": 75 + }, + { + "frame": 146, + "arm": "left", + "kind": "open", + "start_frame": 139, + "end_frame": 153 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000123.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000123.json new file mode 100644 index 0000000000000000000000000000000000000000..ed1c61e8149ca6c03a65787b877abc52e69647c0 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000123.json @@ -0,0 +1,47 @@ +{ + "episode_index": 123, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the white-capped cylindrical bottle to the pad and leave it there", + "num_frames": 145, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 144, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 132, + "arm": "left", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000124.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000124.json new file mode 100644 index 0000000000000000000000000000000000000000..cfd2bfdeb4c091da383bae8d1b5b7121b12cfdd4 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000124.json @@ -0,0 +1,47 @@ +{ + "episode_index": 124, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to pick the white body bottle with textured cap, then place it on pad", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000125.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000125.json new file mode 100644 index 0000000000000000000000000000000000000000..8fa2afd88d59f18fe559224a0f52b71b76f8a7ac --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000125.json @@ -0,0 +1,47 @@ +{ + "episode_index": 125, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Place the medicine bottle with screw cap on the pad after lifting it up.", + "num_frames": 138, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000126.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000126.json new file mode 100644 index 0000000000000000000000000000000000000000..08a7a579e2360cc2a8e565b4d8deb35d3d0afef2 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000126.json @@ -0,0 +1,47 @@ +{ + "episode_index": 126, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the smooth white bottle with the right arm and drop on pad", + "num_frames": 160, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 159, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 70, + "arm": "right", + "kind": "close", + "start_frame": 63, + "end_frame": 77 + }, + { + "frame": 147, + "arm": "right", + "kind": "open", + "start_frame": 140, + "end_frame": 154 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000127.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000127.json new file mode 100644 index 0000000000000000000000000000000000000000..3a25c20be9ba827db420c2738d1c5446f027b9c6 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000127.json @@ -0,0 +1,47 @@ +{ + "episode_index": 127, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to set the smooth-textured brown bottle onto the pad", + 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a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000128.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000128.json new file mode 100644 index 0000000000000000000000000000000000000000..f3b01068a4c22131d13cc24dae475a6222b77a78 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000128.json @@ -0,0 +1,47 @@ +{ + "episode_index": 128, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Direct the right arm to grab the bottle with smooth body and ridged cap and drop it there", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000129.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000129.json new file mode 100644 index 0000000000000000000000000000000000000000..04db9b6aa435914fe7339c90c38806c4f24adae4 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000129.json @@ -0,0 +1,47 @@ +{ + "episode_index": 129, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the rounded small bottle up and drop it onto the pad", + "num_frames": 148, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 147, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 135, + "arm": "left", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000130.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000130.json new file mode 100644 index 0000000000000000000000000000000000000000..f6951371df68d4fac57dea7fcb732cbc9698d499 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000130.json @@ -0,0 +1,47 @@ +{ + "episode_index": 130, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000131.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000131.json new file mode 100644 index 0000000000000000000000000000000000000000..67a8cb246c073407e282007616f7388105fc12d1 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000131.json @@ -0,0 +1,47 @@ +{ + "episode_index": 131, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Grab the brown plastic cylindrical bottle and drop it on the pad", + "num_frames": 154, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 153, + "boundary_source": "episode_end", + "truncation_rule": 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0000000000000000000000000000000000000000..b1bd6134f190f576f9bebf561cd545e7d282e362 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000132.json @@ -0,0 +1,47 @@ +{ + "episode_index": 132, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the bottle with white screw cap to the pad and leave it there", + "num_frames": 146, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 145, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": 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"task_goal": "Grab the orange bottle with blue stripe label carefully and drop it on pad", + "num_frames": 147, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 146, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000134.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000134.json new file mode 100644 index 0000000000000000000000000000000000000000..a10bd5948d11ccce2cea0a94ccf33035cd81d9d0 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000134.json @@ -0,0 +1,47 @@ +{ + "episode_index": 134, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the bottle with smooth body and ridged cap to the pad and leave it there", + "num_frames": 151, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 150, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 138, + "arm": "right", + "kind": "open", + "start_frame": 131, + "end_frame": 145 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000135.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000135.json new file mode 100644 index 0000000000000000000000000000000000000000..3a7ea67a1e7409cb7d5fad044aca17fa9d2ef24d --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000135.json @@ -0,0 +1,47 @@ +{ + "episode_index": 135, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to place the flat base orange bottle on the pad", + "num_frames": 147, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 146, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "right", + "kind": 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"task_goal": "Place the hand-held cylindrical white bottle on the pad after lifting it up.", + "num_frames": 149, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 148, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 136, + "arm": "left", + "kind": "open", + "start_frame": 129, + "end_frame": 143 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000137.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000137.json new file mode 100644 index 0000000000000000000000000000000000000000..35821263994885584daa6faff4fc2188beef95da --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000137.json @@ -0,0 +1,47 @@ +{ + "episode_index": 137, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the bottle with white label and cap and gently lower onto the pad", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": 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"source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000140.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000140.json new file mode 100644 index 0000000000000000000000000000000000000000..b9549e5837e9a1f1d67c46d2319cc4e7af0031be --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000140.json @@ -0,0 +1,47 @@ +{ + "episode_index": 140, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the bottle with white screw cap with the left arm and set it down", + "num_frames": 149, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 148, + 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index 0000000000000000000000000000000000000000..def188ec66f85165f99e77919f7ec8786f50b3b7 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000141.json @@ -0,0 +1,47 @@ +{ + "episode_index": 141, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the white cylindrical bottle and gently lower onto the pad", + "num_frames": 152, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 151, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "right", + 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"anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000143.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000143.json new file mode 100644 index 0000000000000000000000000000000000000000..d2aa7ec5df0b917e2f9abb5929b4cd68a518bcb2 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000143.json @@ -0,0 +1,47 @@ +{ + "episode_index": 143, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the bottle with teal top and bottom and position it on the pad", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + 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"source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000146.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000146.json new file mode 100644 index 0000000000000000000000000000000000000000..6a34e7d8d9ebdc5dfbd0bffc6018b99e77e39040 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000146.json @@ -0,0 +1,47 @@ +{ + "episode_index": 146, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Set the plastic bottle with orange screw lid down on the pad after picking it.", + "num_frames": 143, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000147.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000147.json new file mode 100644 index 0000000000000000000000000000000000000000..f29b25862a8f83833710dc58f9325c08df2e84b8 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000147.json @@ -0,0 +1,47 @@ +{ + "episode_index": 147, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to pick the white cylindrical bottle, then place it on pad", + "num_frames": 144, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + 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"task_slug": "move_pillbottle_pad", + "task_goal": "Move the teal-bottom bottle with cylindrical body onto the pad using the right arm", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000149.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000149.json new file mode 100644 index 0000000000000000000000000000000000000000..3f9ab54428a4aad43049aca6261fb2518f79d3c2 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000149.json @@ -0,0 +1,47 @@ +{ + "episode_index": 149, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to grab the bottle with white screw cap and place it", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 160, + 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000152.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000152.json new file mode 100644 index 0000000000000000000000000000000000000000..8170335d71a0778f59447ae90a26264dae604654 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000152.json @@ -0,0 +1,47 @@ +{ + "episode_index": 152, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the white cylindrical bottle with the right arm and drop it onto the pad.", + "num_frames": 138, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "episode_end", + 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"task_goal": "Place the white bottle with screw-on lid on the pad after lifting it up.", + "num_frames": 138, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000155.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000155.json new file mode 100644 index 0000000000000000000000000000000000000000..95644617c0d0c2e9b5bc71509fe846080fcfe182 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000155.json @@ -0,0 +1,47 @@ +{ + "episode_index": 155, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to place the plastic bottle with brown body on the pad", + "num_frames": 154, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 153, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "right", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 141, + "arm": "right", + "kind": "open", + "start_frame": 134, + "end_frame": 148 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000156.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000156.json new file mode 100644 index 0000000000000000000000000000000000000000..f46938b82f347e07cc28325eba6f99191a208da3 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000156.json @@ -0,0 +1,47 @@ +{ + "episode_index": 156, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to move the plastic bottle with orange screw lid to the pad", + "num_frames": 139, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + 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"anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000158.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000158.json new file mode 100644 index 0000000000000000000000000000000000000000..840f79c8c2108d5fdea7fe2b967619e478ba76e5 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000158.json @@ -0,0 +1,47 @@ +{ + "episode_index": 158, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to pick and place the white bottle with ridged orange lid onto the pad.", + "num_frames": 151, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 150, + "boundary_source": 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"anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000164.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000164.json new file mode 100644 index 0000000000000000000000000000000000000000..65e96e4d36f02a19ce9ebb7b0cb1e9242c1c49bd --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000164.json @@ -0,0 +1,47 @@ +{ + "episode_index": 164, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Place the small brown bottle on pad after lifting with the left arm", + "num_frames": 141, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "episode_end", + 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"2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000167.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000167.json new file mode 100644 index 0000000000000000000000000000000000000000..f7daa97a581430f28951da1def7de1c597456a8b --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000167.json @@ -0,0 +1,47 @@ +{ + "episode_index": 167, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the plastic bottle with ridged cap up and drop it onto the pad", + "num_frames": 148, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 147, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + 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"task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to grab the brown bottle with wide white label and place it", + "num_frames": 146, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 145, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "right", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000170.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000170.json new file mode 100644 index 0000000000000000000000000000000000000000..5638844dbf72c4b15d418ed037440a35579bd6b4 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000170.json @@ -0,0 +1,47 @@ +{ + "episode_index": 170, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the medium orange bottle with flat bottom up and drop it onto the pad", + "num_frames": 142, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000173.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000173.json new file mode 100644 index 0000000000000000000000000000000000000000..2a8b67705a5260157d99fa1f90466e898c8fc911 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000173.json @@ -0,0 +1,47 @@ +{ + "episode_index": 173, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the white cylindrical bottle up and set it onto the pad", + "num_frames": 142, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "episode_end", + "truncation_rule": 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"source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000176.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000176.json new file mode 100644 index 0000000000000000000000000000000000000000..2fecc2f879b38f0cb0f9b112aed3bd8c65f3209a --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000176.json @@ -0,0 +1,47 @@ +{ + "episode_index": 176, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the flat base orange bottle and place it on the pad", + "num_frames": 135, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 134, + "boundary_source": 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"anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000179.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000179.json new file mode 100644 index 0000000000000000000000000000000000000000..0e5f670c159dc42c5bec135902b630275de94551 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000179.json @@ -0,0 +1,47 @@ +{ + "episode_index": 179, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to pick and place the bottle with white cap onto the pad.", + "num_frames": 152, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 151, + "boundary_source": "episode_end", 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000182.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000182.json new file mode 100644 index 0000000000000000000000000000000000000000..f50491aab2a55ef24391ef4c1abdf7cedd840b19 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000182.json @@ -0,0 +1,47 @@ +{ + "episode_index": 182, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the white bottle with ridged orange lid and set it on the pad", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": 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+ "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000185.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000185.json new file mode 100644 index 0000000000000000000000000000000000000000..193de3707529d88bffbd0d6b45983b1c59e41f5c --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000185.json @@ -0,0 +1,47 @@ +{ + "episode_index": 185, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the brown bottle with white cap and drop it on the pad", + "num_frames": 156, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 155, + "boundary_source": "episode_end", + "truncation_rule": 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000188.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000188.json new file mode 100644 index 0000000000000000000000000000000000000000..44faaa5f02fdc4d2b3279616dccf77e7457c9152 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000188.json @@ -0,0 +1,47 @@ +{ + "episode_index": 188, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the round bottle with orange screw-top and gently lower onto the pad", + "num_frames": 135, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 134, + "boundary_source": "episode_end", + 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000191.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000191.json new file mode 100644 index 0000000000000000000000000000000000000000..64d895f430669babd721de5a16f466130f86bc2d --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000191.json @@ -0,0 +1,47 @@ +{ + "episode_index": 191, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the bottle with white cap using the left arm and position it on the pad.", + "num_frames": 143, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "episode_end", + 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000194.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000194.json new file mode 100644 index 0000000000000000000000000000000000000000..7a4f389c019c8c651cc51bdbf190c1e22f8d390d --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000194.json @@ -0,0 +1,47 @@ +{ + "episode_index": 194, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the plastic bottle with ridged cap with the left arm and position it onto pad", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 163, + "boundary_source": "episode_end", + 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"task_goal": "Use the right arm to lift the plastic bottle with teal bands and position it", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 70, + "arm": "right", + "kind": "close", + "start_frame": 63, + "end_frame": 77 + }, + { + "frame": 155, + "arm": "right", + "kind": "open", + "start_frame": 148, + "end_frame": 162 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000197.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000197.json new file mode 100644 index 0000000000000000000000000000000000000000..d074165ca95840cb6687f5545c04aea7b9ddf135 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000197.json @@ -0,0 +1,47 @@ +{ + "episode_index": 197, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the small brown bottle with white accents and set it on the pad", + "num_frames": 152, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 151, + "boundary_source": "episode_end", + "truncation_rule": 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0000000000000000000000000000000000000000..cf14eacff49425bd1eecf5b04da8749136e10f3a --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000198.json @@ -0,0 +1,47 @@ +{ + "episode_index": 198, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the bottle with white screw cap and position it on the pad", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": 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"task_goal": "Move the plastic bottle with brown body using the right arm and drop it on pad", + "num_frames": 146, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 145, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "right", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000200.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000200.json new file mode 100644 index 0000000000000000000000000000000000000000..ac368ea57f9883b978fe06440e02603e3ca66acd --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000200.json @@ -0,0 +1,47 @@ +{ + "episode_index": 200, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the white bottle for pills or liquids with the left arm and set it down", + "num_frames": 132, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 131, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 119, + "arm": "left", + "kind": "open", + "start_frame": 112, + "end_frame": 126 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000201.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000201.json new file mode 100644 index 0000000000000000000000000000000000000000..145547b3069cabb85fa2d7d49fd458f3d9338df7 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000201.json @@ -0,0 +1,47 @@ +{ + "episode_index": 201, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the medium orange bottle with flat bottom with the right arm and drop it onto the pad.", + "num_frames": 145, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 144, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + 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"task_slug": "move_pillbottle_pad", + "task_goal": "Lift the white bottle with the right arm and set it down", + "num_frames": 137, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000203.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000203.json new file mode 100644 index 0000000000000000000000000000000000000000..df8938c5844978dc9494a8a988351afd30d57cc2 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000203.json @@ -0,0 +1,47 @@ +{ + "episode_index": 203, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Grab the white-capped cylindrical bottle with the right arm and move it to the pad.", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 69, + "arm": "right", + "kind": "close", + "start_frame": 62, + "end_frame": 76 + }, + { + "frame": 145, + "arm": "right", + "kind": "open", + "start_frame": 138, + "end_frame": 152 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000204.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000204.json new file mode 100644 index 0000000000000000000000000000000000000000..feed93246ae3022e0a483854127d8ece617d89aa --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000204.json @@ -0,0 +1,47 @@ +{ + "episode_index": 204, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to take the brown bottle with wide white label and move it", + "num_frames": 145, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 144, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 132, + "arm": "left", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000205.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000205.json new file mode 100644 index 0000000000000000000000000000000000000000..096ba1e7494e88378c8ba57029afe38442474489 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000205.json @@ -0,0 +1,47 @@ +{ + "episode_index": 205, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the rounded small bottle and gently lower onto the pad", + "num_frames": 139, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000206.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000206.json new file mode 100644 index 0000000000000000000000000000000000000000..85bbca6693e874c29caad775c6a9bf8e61027dec --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000206.json @@ -0,0 +1,47 @@ +{ + "episode_index": 206, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the plastic bottle with ridged white cap to the pad and leave it there", + "num_frames": 156, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 155, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 67, + "arm": "right", + "kind": "close", + "start_frame": 60, + "end_frame": 74 + }, + { + "frame": 143, + "arm": "right", + "kind": "open", + "start_frame": 136, + "end_frame": 150 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000207.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000207.json new file mode 100644 index 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"task_goal": "Move the smooth plastic bottle with teal accents and drop it on the pad", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 70, + "arm": "left", + "kind": "close", + "start_frame": 63, + "end_frame": 77 + }, + { + "frame": 154, + "arm": "left", + "kind": "open", + "start_frame": 147, + "end_frame": 161 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000209.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000209.json new file mode 100644 index 0000000000000000000000000000000000000000..395595bdb423b8969de83301133e855f5953595a --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000209.json @@ -0,0 +1,47 @@ +{ + "episode_index": 209, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the brown bottle with wide white label with the left arm and place it down", + "num_frames": 162, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 161, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 71, + "arm": "left", + "kind": "close", + "start_frame": 64, + "end_frame": 78 + }, + { + "frame": 149, + "arm": "left", + "kind": "open", + "start_frame": 142, + "end_frame": 156 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000210.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000210.json new file mode 100644 index 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"move_pillbottle_pad", + "task_goal": "Place the round bottle with orange screw-top on the pad after lifting it up.", + "num_frames": 147, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 146, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000212.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000212.json new file mode 100644 index 0000000000000000000000000000000000000000..f7d33f6c6a147c3d364a4cc079e10df7b653d128 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000212.json @@ -0,0 +1,47 @@ +{ + "episode_index": 212, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the teal and white plastic bottle using the right arm and set it on pad", + "num_frames": 137, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": 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+ "kind": "close", + "start_frame": 63, + "end_frame": 77 + }, + { + "frame": 153, + "arm": "left", + "kind": "open", + "start_frame": 146, + "end_frame": 160 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000214.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000214.json new file mode 100644 index 0000000000000000000000000000000000000000..35dca8b20bc392f5139a252373b00e065469b32a --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000214.json @@ -0,0 +1,47 @@ +{ + "episode_index": 214, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": 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"anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000215.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000215.json new file mode 100644 index 0000000000000000000000000000000000000000..14822fa44c23f99d479e852f065ffb79981eaaf8 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000215.json @@ -0,0 +1,47 @@ +{ + "episode_index": 215, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the white bottle for pills or liquids and gently lower onto the pad", + "num_frames": 142, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000216.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000216.json new file mode 100644 index 0000000000000000000000000000000000000000..dbb96698e8e6d6af9c83bee4bedeef3ad46c2961 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000216.json @@ -0,0 +1,47 @@ +{ + "episode_index": 216, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the white bottle to the pad and let it rest there", + "num_frames": 138, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000217.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000217.json new file mode 100644 index 0000000000000000000000000000000000000000..b9406b662cb15e643b39b5519c321d63ea819536 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000217.json @@ -0,0 +1,47 @@ +{ + "episode_index": 217, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the white bottle and position it on the pad", + "num_frames": 151, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 150, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 66, + "arm": "left", + "kind": "close", + "start_frame": 59, + "end_frame": 73 + }, + { + "frame": 138, + "arm": "left", + "kind": "open", + "start_frame": 131, + "end_frame": 145 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000218.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000218.json new file mode 100644 index 0000000000000000000000000000000000000000..21bfc48e532fba1a94123788adbe386b93f3839f --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000218.json @@ -0,0 +1,47 @@ +{ + "episode_index": 218, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Grab the orange cylindrical bottle with label carefully and drop it on pad", + "num_frames": 156, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 155, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 72, + "arm": "left", + "kind": "close", + "start_frame": 65, + "end_frame": 79 + }, + { + "frame": 143, + "arm": "left", + "kind": "open", + "start_frame": 136, + "end_frame": 150 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000219.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000219.json new file mode 100644 index 0000000000000000000000000000000000000000..8babc008f619c693dba0e8d5f6f3510e012743f3 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000219.json @@ -0,0 +1,47 @@ +{ + "episode_index": 219, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the teal-bottom bottle with cylindrical body with the right arm and drop it onto the pad.", + "num_frames": 157, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 156, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "right", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 144, + "arm": "right", + "kind": "open", + "start_frame": 137, + "end_frame": 151 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000220.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000220.json new file mode 100644 index 0000000000000000000000000000000000000000..df62cb88cb234694e5e5f2edab61e44941079f4a --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000220.json @@ -0,0 +1,47 @@ +{ + "episode_index": 220, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the rounded small bottle and set it on the pad", + "num_frames": 137, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000221.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000221.json new file mode 100644 index 0000000000000000000000000000000000000000..bf07843d93a209f51fd298ce58efaf9598c42a45 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000221.json @@ -0,0 +1,47 @@ +{ + "episode_index": 221, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to lift the white bottle with screw-on lid and place it", + "num_frames": 137, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000222.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000222.json new file mode 100644 index 0000000000000000000000000000000000000000..7362ac5ab16f0b1932ab7a9c68f85b163185df4f --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000222.json @@ -0,0 +1,47 @@ +{ + "episode_index": 222, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the white-capped cylindrical bottle up and set it onto the pad", + "num_frames": 136, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "right", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000223.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000223.json new file mode 100644 index 0000000000000000000000000000000000000000..3c87d9936b67c9e43727d9176b79e2fbf00e04fe --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000223.json @@ -0,0 +1,47 @@ +{ + "episode_index": 223, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Place the plastic bottle with orange screw lid on pad after lifting with the left arm", + "num_frames": 133, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 132, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000224.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000224.json new file mode 100644 index 0000000000000000000000000000000000000000..e408e8ae2aa18f5c484d3742315ca8b5b15978bc --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000224.json @@ -0,0 +1,47 @@ +{ + "episode_index": 224, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Place the plastic bottle with labeled surface onto the pad after picking it.", + "num_frames": 144, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "right", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000225.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000225.json new file mode 100644 index 0000000000000000000000000000000000000000..22dfc80f19431f799349236644df563250728606 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000225.json @@ -0,0 +1,47 @@ +{ + "episode_index": 225, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the orange cylindrical bottle with label up and set it onto the pad", + "num_frames": 146, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 145, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 133, + "arm": "left", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000226.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000226.json new file mode 100644 index 0000000000000000000000000000000000000000..27d7e7eb5a3d71a1e508979becc2526ddf2a7b14 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000226.json @@ -0,0 +1,47 @@ +{ + "episode_index": 226, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to move the brown plastic cylindrical bottle to the pad", + "num_frames": 150, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 149, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "right", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 137, + "arm": "right", + "kind": "open", + "start_frame": 130, + "end_frame": 144 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000227.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000227.json new file mode 100644 index 0000000000000000000000000000000000000000..bdd750bba6eac12632e94d2817ea98e94c1deeb7 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000227.json @@ -0,0 +1,47 @@ +{ + "episode_index": 227, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to pick and place the white bottle for pills or liquids onto the pad.", + "num_frames": 151, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 150, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 66, + "arm": "left", + "kind": "close", + "start_frame": 59, + "end_frame": 73 + }, + { + "frame": 138, + "arm": "left", + "kind": "open", + "start_frame": 131, + "end_frame": 145 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000228.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000228.json new file mode 100644 index 0000000000000000000000000000000000000000..4f8aa4d6079080eeba725fa5d104f4710250392c --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000228.json @@ -0,0 +1,47 @@ +{ + "episode_index": 228, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the compact bottle with teal and white design up and drop it onto the pad", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000229.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000229.json new file mode 100644 index 0000000000000000000000000000000000000000..76428138d45038b6e1e4054f6f7af1f3b3bc6063 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000229.json @@ -0,0 +1,47 @@ +{ + "episode_index": 229, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Set the white cap on orange bottle down on the pad after picking it.", + "num_frames": 137, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000230.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000230.json new file mode 100644 index 0000000000000000000000000000000000000000..6340d36daf94a82dc93834b15bcfd6fe00e8b6ad --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000230.json @@ -0,0 +1,47 @@ +{ + "episode_index": 230, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to pick the flat base orange bottle, then place it on pad", + "num_frames": 152, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 151, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 139, + "arm": "left", + "kind": "open", + "start_frame": 132, + "end_frame": 146 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000231.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000231.json new file mode 100644 index 0000000000000000000000000000000000000000..5a2d97d436aec97c000bf6ad3f56c381aa979d16 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000231.json @@ -0,0 +1,47 @@ +{ + "episode_index": 231, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to move the white bottle with orange label to the pad", + "num_frames": 138, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000232.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000232.json new file mode 100644 index 0000000000000000000000000000000000000000..13bae270a2bc1e7c6d264def3ee84dc5738d99ad --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000232.json @@ -0,0 +1,47 @@ +{ + "episode_index": 232, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to move the white bottle with teal rounded edges to the pad", + "num_frames": 138, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000233.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000233.json new file mode 100644 index 0000000000000000000000000000000000000000..94ffb3cd134c78fb36d4e3eefa5b4dd083eacccf --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000233.json @@ -0,0 +1,47 @@ +{ + "episode_index": 233, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the orange bottle with blue stripe label with the right arm and drop it onto the pad.", + "num_frames": 155, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 154, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 142, + "arm": "right", + "kind": "open", + "start_frame": 135, + "end_frame": 149 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000234.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000234.json new file mode 100644 index 0000000000000000000000000000000000000000..4f50275596c9a9259c8d92b5949dc0e5be2adac7 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000234.json @@ -0,0 +1,47 @@ +{ + "episode_index": 234, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the bottle with teal top and bottom and set it on the pad", + "num_frames": 142, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 129, + "arm": "left", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000235.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000235.json new file mode 100644 index 0000000000000000000000000000000000000000..4df187b3ec7bdc9cd74cbcc17588fbd76645afd7 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000235.json @@ -0,0 +1,47 @@ +{ + "episode_index": 235, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Place the small plastic bottle onto the pad after picking it.", + "num_frames": 139, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000236.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000236.json new file mode 100644 index 0000000000000000000000000000000000000000..38bcbc09b0ee63ad4c7f83b4f75b15f2b7205a68 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000236.json @@ -0,0 +1,47 @@ +{ + "episode_index": 236, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the white bottle with teal rounded edges and gently lower onto the pad", + "num_frames": 143, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 130, + "arm": "left", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000237.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000237.json new file mode 100644 index 0000000000000000000000000000000000000000..f9ff136347e73dbd2782fefef32182cd44bc4dd4 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000237.json @@ -0,0 +1,47 @@ +{ + "episode_index": 237, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to move the lightweight plastic bottle to the pad", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 70, + "arm": "right", + "kind": "close", + "start_frame": 63, + "end_frame": 77 + }, + { + "frame": 153, + "arm": "right", + "kind": "open", + "start_frame": 146, + "end_frame": 160 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000238.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000238.json new file mode 100644 index 0000000000000000000000000000000000000000..1a961f0fbaedb79eb27790296a7d195dad1a259d --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000238.json @@ -0,0 +1,47 @@ +{ + "episode_index": 238, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Take the orange cylindrical bottle with label and place it onto the pad", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 68, + "arm": "left", + "kind": "close", + "start_frame": 61, + "end_frame": 75 + }, + { + "frame": 155, + "arm": "left", + "kind": "open", + "start_frame": 148, + "end_frame": 162 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000239.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000239.json new file mode 100644 index 0000000000000000000000000000000000000000..d00b536d9f44897a86374fa1810968244e6d69b6 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000239.json @@ -0,0 +1,47 @@ +{ + "episode_index": 239, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the plastic bottle with ridged cap up and set it onto the pad", + "num_frames": 139, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000240.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000240.json new file mode 100644 index 0000000000000000000000000000000000000000..77efa3aa791ce57665fce5e8930525b73e44be95 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000240.json @@ -0,0 +1,47 @@ +{ + "episode_index": 240, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Take the teal-bottom bottle with cylindrical body and place it onto the pad", + "num_frames": 131, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 130, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000245.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000245.json new file mode 100644 index 0000000000000000000000000000000000000000..f99385598b86d61ba98fd00bc0af8e6e16b8dc53 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000245.json @@ -0,0 +1,47 @@ +{ + "episode_index": 245, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to set the hand-held cylindrical white bottle onto the pad", + "num_frames": 151, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 150, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 138, + "arm": "left", + "kind": "open", + "start_frame": 131, + "end_frame": 145 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000246.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000246.json new file mode 100644 index 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"task_goal": "Grab and transfer the small brown bottle with white accents with the right arm to pad", + "num_frames": 138, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000248.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000248.json new file mode 100644 index 0000000000000000000000000000000000000000..5fce2591d280f76b9be8d563befcb9cb6706582f --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000248.json @@ -0,0 +1,47 @@ +{ + "episode_index": 248, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the brown plastic cylindrical bottle up and set it onto the pad", + "num_frames": 137, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "episode_end", + "truncation_rule": 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0000000000000000000000000000000000000000..8ed7cbeb3e2c4c927199f376ebad9f649838bdd4 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000249.json @@ -0,0 +1,47 @@ +{ + "episode_index": 249, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Take the plastic bottle with ridged cap and put it onto the pad", + "num_frames": 146, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 145, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000251.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000251.json new file mode 100644 index 0000000000000000000000000000000000000000..a778543f2c749aa2ea07de976f5663153252c9b0 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000251.json @@ -0,0 +1,47 @@ +{ + "episode_index": 251, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Place the medium-sized white cylindrical container on the pad after lifting it up.", + "num_frames": 132, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 131, + "boundary_source": "episode_end", + 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+ "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000254.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000254.json new file mode 100644 index 0000000000000000000000000000000000000000..a46b1eb3afa798b13108710478096da903178605 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000254.json @@ -0,0 +1,47 @@ +{ + "episode_index": 254, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the small bottle with ridged orange cap to the pad and leave it there", + "num_frames": 151, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 150, + "boundary_source": "episode_end", + 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0000000000000000000000000000000000000000..06fdbd7bcb9fb18cd1100b0240d1530430cff5f8 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000255.json @@ -0,0 +1,47 @@ +{ + "episode_index": 255, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the brown plastic cylindrical bottle with the right arm and drop on pad", + "num_frames": 135, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 134, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 122, + "arm": "right", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000256.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000256.json new file mode 100644 index 0000000000000000000000000000000000000000..f26f28de6ff2a29e5bf0005cee69038c8a4aad6d --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000256.json @@ -0,0 +1,47 @@ +{ + "episode_index": 256, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to grab the medicine bottle with screw cap and put it on the pad.", + "num_frames": 145, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 144, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 132, + "arm": "left", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000257.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000257.json new file mode 100644 index 0000000000000000000000000000000000000000..36ebf31e8c7ccaff3f1c4603ce455723c470ae72 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000257.json @@ -0,0 +1,47 @@ +{ + "episode_index": 257, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to move the bottle with white screw cap to the pad", + "num_frames": 132, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 131, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 119, + "arm": "left", + "kind": "open", + "start_frame": 112, + "end_frame": 126 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000258.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000258.json new file mode 100644 index 0000000000000000000000000000000000000000..6540aa35a407ba73da4506aa2109ff452e57a248 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000258.json @@ -0,0 +1,47 @@ +{ + "episode_index": 258, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the round bottle with orange screw-top and place it on the pad", + "num_frames": 138, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000259.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000259.json new file mode 100644 index 0000000000000000000000000000000000000000..dd4d27db51671904ce8d85ba604e9a114c174dea --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000259.json @@ -0,0 +1,47 @@ +{ + "episode_index": 259, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the bottle with smooth body and ridged cap with the right arm and set it down", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 69, + "arm": "right", + "kind": "close", + "start_frame": 62, + "end_frame": 76 + }, + { + "frame": 148, + "arm": "right", + "kind": "open", + "start_frame": 141, + "end_frame": 155 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000260.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000260.json new file mode 100644 index 0000000000000000000000000000000000000000..663303c7eedfb4a6cbfd31f0fcfd50e7921c04af --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000260.json @@ -0,0 +1,47 @@ +{ + "episode_index": 260, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Set the hand-held cylindrical white bottle down on the pad after picking it.", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "right", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 148, + "arm": "right", + "kind": "open", + "start_frame": 141, + "end_frame": 155 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000261.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000261.json new file mode 100644 index 0000000000000000000000000000000000000000..19c5ddbe9b1af599b05677604526d7f7bbee0e63 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000261.json @@ -0,0 +1,47 @@ +{ + "episode_index": 261, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the compact plastic bottle with screw cap and gently lower onto the pad", + "num_frames": 154, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 153, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 141, + "arm": "right", + "kind": "open", + "start_frame": 134, + "end_frame": 148 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000262.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000262.json new file mode 100644 index 0000000000000000000000000000000000000000..382aafb1f5138f56b931c4ccf1da7b49669ef6a2 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000262.json @@ -0,0 +1,47 @@ +{ + "episode_index": 262, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to take the bottle featuring blue horizontal stripe and move it", + "num_frames": 138, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000263.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000263.json new file mode 100644 index 0000000000000000000000000000000000000000..8cf3c90855860b7355d6d4d9d8dc91c9b6ad795f --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000263.json @@ -0,0 +1,47 @@ +{ + "episode_index": 263, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to pick the white cap on orange bottle, then place it on pad", + "num_frames": 143, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 130, + "arm": "left", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000264.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000264.json new file mode 100644 index 0000000000000000000000000000000000000000..84d38f071bf0cddfdd9a095352f1d0634f5f6acc --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000264.json @@ -0,0 +1,47 @@ +{ + "episode_index": 264, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to grab the white bottle and place it", + "num_frames": 138, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000265.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000265.json new file mode 100644 index 0000000000000000000000000000000000000000..e691625ff98a9233fa1e078202f52d82eb4acfe7 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000265.json @@ -0,0 +1,47 @@ +{ + "episode_index": 265, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Set the bottle with teal top and bottom down on the pad after picking it.", + "num_frames": 135, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 134, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000266.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000266.json new file mode 100644 index 0000000000000000000000000000000000000000..2ba2d9b25da9c3c1f7a66864354d9f7941fad13e --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000266.json @@ -0,0 +1,47 @@ +{ + "episode_index": 266, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Grab the flat base orange bottle and drop it on the pad", + "num_frames": 148, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 147, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 135, + "arm": "left", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000267.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000267.json new file mode 100644 index 0000000000000000000000000000000000000000..ddc111d5d2aa0d3b3a3b11e34008c3ece120a7ef --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000267.json @@ -0,0 +1,47 @@ +{ + "episode_index": 267, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Grab and transfer the small brown bottle with the left arm to pad", + "num_frames": 141, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 128, + "arm": "left", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000268.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000268.json new file mode 100644 index 0000000000000000000000000000000000000000..30242a6c910f5d1f605d202f238594aa6a50c934 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000268.json @@ -0,0 +1,47 @@ +{ + "episode_index": 268, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Place the medium-sized pharmacy bottle on pad after lifting with the left arm", + "num_frames": 144, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 131, + "arm": "left", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000269.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000269.json new file mode 100644 index 0000000000000000000000000000000000000000..0d3230d76f0b86030a04b7a3834bc3fdd450874e --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000269.json @@ -0,0 +1,47 @@ +{ + "episode_index": 269, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the teal-bottom bottle with cylindrical body using the right arm and set it on pad", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "right", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 148, + "arm": "right", + "kind": "open", + "start_frame": 141, + "end_frame": 155 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000270.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000270.json new file mode 100644 index 0000000000000000000000000000000000000000..8f814199f31dfe98c40c14c36125ce8081602dd4 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000270.json @@ -0,0 +1,47 @@ +{ + "episode_index": 270, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to lift the white bottle with orange label and place it", + "num_frames": 139, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000271.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000271.json new file mode 100644 index 0000000000000000000000000000000000000000..1899799f6f2e42f2301c93f0bfba9d90d96ca62c --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000271.json @@ -0,0 +1,47 @@ +{ + "episode_index": 271, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to move the white bottle with screw-on lid to the pad", + "num_frames": 147, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 146, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 134, + "arm": "left", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000272.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000272.json new file mode 100644 index 0000000000000000000000000000000000000000..d853865b1ec680ee3f58c381316fb87e85135b6a --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000272.json @@ -0,0 +1,47 @@ +{ + "episode_index": 272, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to pick and place the smooth plastic bottle onto the pad.", + "num_frames": 137, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000273.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000273.json new file mode 100644 index 0000000000000000000000000000000000000000..f457b4baf3343f540bf3c9fd25d6f38028a83578 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000273.json @@ -0,0 +1,47 @@ +{ + "episode_index": 273, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Place the white bottle with screw-on lid on the pad after lifting it up.", + "num_frames": 150, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 149, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 137, + "arm": "left", + "kind": "open", + "start_frame": 130, + "end_frame": 144 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000274.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000274.json new file mode 100644 index 0000000000000000000000000000000000000000..cad5c4b476684a9b55d1e9aa84c6bdefcfe58a6e --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000274.json @@ -0,0 +1,47 @@ +{ + "episode_index": 274, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Take the rounded small bottle and put it onto the pad", + 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a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000275.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000275.json new file mode 100644 index 0000000000000000000000000000000000000000..d940779e4f535f0559ecf9e29335d47d8f8b8da3 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000275.json @@ -0,0 +1,47 @@ +{ + "episode_index": 275, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the white bottle with orange label onto the pad using the right arm", + "num_frames": 141, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + 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/dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000276.json @@ -0,0 +1,47 @@ +{ + "episode_index": 276, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the white and orange storage bottle up and drop it onto the pad", + "num_frames": 134, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 133, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": 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a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000278.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000278.json new file mode 100644 index 0000000000000000000000000000000000000000..cb560a7cc01d1945fee133a517cb8ff4fa0787f7 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000278.json @@ -0,0 +1,47 @@ +{ + "episode_index": 278, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Hold the white bottle and position it on the pad", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000279.json @@ -0,0 +1,47 @@ +{ + "episode_index": 279, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the bottle with smooth body and ridged cap using the left arm and set it on pad", + "num_frames": 152, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 151, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 139, + "arm": 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a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000281.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000281.json new file mode 100644 index 0000000000000000000000000000000000000000..039a14644f433e9fecfa3e450302a26ab201c679 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000281.json @@ -0,0 +1,47 @@ +{ + "episode_index": 281, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the brown bottle with white cap and set it on the pad", + "num_frames": 149, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 148, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000282.json @@ -0,0 +1,47 @@ +{ + "episode_index": 282, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to pick the bottle with large orange label, then place it on pad", + "num_frames": 159, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 158, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "right", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 146, + "arm": 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it down", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 67, + "arm": "left", + "kind": "close", + "start_frame": 60, + "end_frame": 74 + }, + { + "frame": 152, + "arm": "left", + "kind": "open", + "start_frame": 145, + "end_frame": 159 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000284.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000284.json new file mode 100644 index 0000000000000000000000000000000000000000..4372f01a9a1410f4b098d9d685c9fe760c99f682 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000284.json @@ -0,0 +1,47 @@ +{ + "episode_index": 284, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to grab the cylindrical bottle with ridged white lid and put it on the pad.", + "num_frames": 148, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 147, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 135, + "arm": "left", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000285.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000285.json new file mode 100644 index 0000000000000000000000000000000000000000..56aa713a1192ca62c6389228d19f650bdf42f103 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000285.json @@ -0,0 +1,47 @@ +{ + "episode_index": 285, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Place the bottle with bright orange top onto the pad after picking it.", + "num_frames": 144, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 131, + "arm": "left", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000286.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000286.json new file mode 100644 index 0000000000000000000000000000000000000000..b795472bac890bef27fdcc5687b1a951747ede99 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000286.json @@ -0,0 +1,47 @@ +{ + "episode_index": 286, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": 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"anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000287.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000287.json new file mode 100644 index 0000000000000000000000000000000000000000..c4f01bfeb0a27fd09da36002afa967e2ad971064 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000287.json @@ -0,0 +1,47 @@ +{ + "episode_index": 287, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Take the orange cylindrical bottle with label and place it onto the pad", + "num_frames": 148, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 147, + "boundary_source": "episode_end", + 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000290.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000290.json new file mode 100644 index 0000000000000000000000000000000000000000..6f2365b293704954ba463174e0fb29dbee357cdb --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000290.json @@ -0,0 +1,47 @@ +{ + "episode_index": 290, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the brown plastic cylindrical bottle using the left arm and position it on the pad.", + "num_frames": 142, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "episode_end", + 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000293.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000293.json new file mode 100644 index 0000000000000000000000000000000000000000..b5f7464aabe4a92b44083acb7f7ed6486ad7dcae --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000293.json @@ -0,0 +1,47 @@ +{ + "episode_index": 293, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to lift the lightweight plastic bottle and position it", + "num_frames": 146, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 145, + "boundary_source": "episode_end", + 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000296.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000296.json new file mode 100644 index 0000000000000000000000000000000000000000..fe9909e9e82072cc45f7e381f3309e1828e8a0df --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000296.json @@ -0,0 +1,47 @@ +{ + "episode_index": 296, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Take the plastic bottle with teal bands and put it onto the pad", + "num_frames": 142, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "episode_end", + "truncation_rule": 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"source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000299.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000299.json new file mode 100644 index 0000000000000000000000000000000000000000..4cf4a04d98e696c54a1c2951371cd61ac124719d --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000299.json @@ -0,0 +1,47 @@ +{ + "episode_index": 299, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the bottle with smooth body and ridged cap with the left arm and position it onto pad", + "num_frames": 149, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 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"move_pillbottle_pad", + "task_goal": "Grab the white bottle for pills or liquids with the right arm and move it to the pad.", + "num_frames": 141, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "right", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000302.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000302.json new file mode 100644 index 0000000000000000000000000000000000000000..a81eb756c894f08fa010b46a110cc94c69e262e2 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000302.json @@ -0,0 +1,47 @@ +{ + "episode_index": 302, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the white and orange storage bottle with one arm to the pad", + "num_frames": 149, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 148, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 136, + "arm": "left", + "kind": "open", + "start_frame": 129, + "end_frame": 143 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000303.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000303.json new file mode 100644 index 0000000000000000000000000000000000000000..01674209d59ca0e695ea7f10d27eabd90c0e568d --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000303.json @@ -0,0 +1,47 @@ +{ + "episode_index": 303, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to grab the small brown bottle with white accents and place it", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 69, + "arm": 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"move_pillbottle_pad", + "task_goal": "Use the right arm to pick the cylindrical bottle with brown surface, then place it on pad", + "num_frames": 156, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 155, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 67, + "arm": "right", + "kind": "close", + "start_frame": 60, + "end_frame": 74 + }, + { + "frame": 143, + "arm": "right", + "kind": "open", + "start_frame": 136, + "end_frame": 150 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000305.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000305.json new file mode 100644 index 0000000000000000000000000000000000000000..68a11a5ad1c13555e504eeb3a52ecbfac82ce94c --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000305.json @@ -0,0 +1,47 @@ +{ + "episode_index": 305, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the orange cylindrical bottle for medicine using the right arm and drop it on pad", + "num_frames": 151, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 150, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "right", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 138, + "arm": "right", + "kind": "open", + "start_frame": 131, + "end_frame": 145 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000306.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000306.json new file mode 100644 index 0000000000000000000000000000000000000000..34e3552998f79aa12bbfbbcd6c4e07c7cf130bde --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000306.json @@ -0,0 +1,47 @@ +{ + "episode_index": 306, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to take the medium orange bottle with flat bottom and move it", + "num_frames": 131, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 130, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 118, + "arm": "right", + "kind": "open", + "start_frame": 111, + "end_frame": 125 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000307.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000307.json new file mode 100644 index 0000000000000000000000000000000000000000..11446581e38946e2666f84c93656fae419fb3bb6 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000307.json @@ -0,0 +1,47 @@ +{ + "episode_index": 307, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the small brown bottle and gently lower onto the pad", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 69, + "arm": "left", + "kind": "close", + "start_frame": 62, + "end_frame": 76 + }, + { + "frame": 145, + "arm": "left", + "kind": "open", + "start_frame": 138, + "end_frame": 152 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000308.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000308.json new file mode 100644 index 0000000000000000000000000000000000000000..f404a1a5ccef876ce9b5680d448f64bbe2999a2c --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000308.json @@ -0,0 +1,47 @@ +{ + "episode_index": 308, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to grab the rounded bottle with small white cap and place it", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 66, + "arm": "left", + "kind": "close", + "start_frame": 59, + "end_frame": 73 + }, + { + "frame": 150, + "arm": "left", + "kind": "open", + "start_frame": 143, + "end_frame": 157 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000309.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000309.json new file mode 100644 index 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000317.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000317.json new file mode 100644 index 0000000000000000000000000000000000000000..74f5ca38a238e3cab8a8cc6c4b661f7f1a3d5ffc --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000317.json @@ -0,0 +1,47 @@ +{ + "episode_index": 317, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the smooth plastic orange bottle with the right arm and set it down", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "episode_end", + 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000320.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000320.json new file mode 100644 index 0000000000000000000000000000000000000000..9a25e468bf38a28c484a96a82b8ef573a44fe2b8 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000320.json @@ -0,0 +1,47 @@ +{ + "episode_index": 320, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to pick the bottle with white cap, then place it on pad", + "num_frames": 153, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 152, + "boundary_source": "episode_end", + 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"anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000323.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000323.json new file mode 100644 index 0000000000000000000000000000000000000000..2cf0c8188ce890f2cbe23e3f8f6a9c992db83bff --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000323.json @@ -0,0 +1,47 @@ +{ + "episode_index": 323, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Direct the right arm to grab the small brown bottle with white accents and drop it there", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": 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"anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000326.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000326.json new file mode 100644 index 0000000000000000000000000000000000000000..49b4cdd8421f23553e41125493958bf4a138aa13 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000326.json @@ -0,0 +1,47 @@ +{ + "episode_index": 326, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Grab the smooth white bottle and position it on the pad", + "num_frames": 139, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "episode_end", + 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"task_goal": "Move the brown bottle with white cap using the left arm and drop it on pad", + "num_frames": 155, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 154, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 142, + "arm": "left", + "kind": "open", + "start_frame": 135, + "end_frame": 149 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000329.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000329.json new file mode 100644 index 0000000000000000000000000000000000000000..1267075bccc6351ebc46ff2bc273e70bb97f4e61 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000329.json @@ -0,0 +1,47 @@ +{ + "episode_index": 329, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to grab the white-capped cylindrical bottle and put it on the pad.", + "num_frames": 145, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 144, + "boundary_source": "episode_end", + 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0000000000000000000000000000000000000000..d754cd183b939583c8d802d62eec4fe9e153fcd5 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000330.json @@ -0,0 +1,47 @@ +{ + "episode_index": 330, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Grab the orange cylindrical bottle for medicine and place it on the pad", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 69, + "arm": "right", + 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"anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000332.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000332.json new file mode 100644 index 0000000000000000000000000000000000000000..7b51d8316943263a5163a81a8ba7a705647848a6 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000332.json @@ -0,0 +1,47 @@ +{ + "episode_index": 332, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the plastic bottle with ridged white cap onto the pad using the left arm", + "num_frames": 160, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 159, + "boundary_source": 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0000000000000000000000000000000000000000..2115b25c0a2ad4c9be8ffdd0abc9489ba6e41ee4 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000333.json @@ -0,0 +1,47 @@ +{ + "episode_index": 333, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the smooth plastic bottle with teal accents with the left arm and set it down", + "num_frames": 146, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 145, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000335.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000335.json new file mode 100644 index 0000000000000000000000000000000000000000..0b3ea98d04ba7309c68e684d606fa9111f100b6e --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000335.json @@ -0,0 +1,47 @@ +{ + "episode_index": 335, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Set the plastic bottle with labeled surface on pad after lifting it with the right arm", + "num_frames": 143, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000336.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000336.json new file mode 100644 index 0000000000000000000000000000000000000000..2bf68c8af28ec3b68680fd7cee81b1f6033c65d9 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000336.json @@ -0,0 +1,47 @@ +{ + "episode_index": 336, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the white cap on orange bottle up and drop it onto the pad", + "num_frames": 149, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 148, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": 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"task_goal": "Pick the small bottle with ridged orange cap up and set it onto the pad", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000338.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000338.json new file mode 100644 index 0000000000000000000000000000000000000000..cfad6680b754dc094baa7e0de4057febd6ea1cea --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000338.json @@ -0,0 +1,47 @@ +{ + "episode_index": 338, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the brown plastic cylindrical bottle and position it on the pad", + "num_frames": 138, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000339.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000339.json new file mode 100644 index 0000000000000000000000000000000000000000..fbecabb2697cd0c42526677583bd685521a4dfff --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000339.json @@ -0,0 +1,47 @@ +{ + "episode_index": 339, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to grab the white and orange storage bottle and put it on the pad.", + "num_frames": 148, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 147, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000341.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000341.json new file mode 100644 index 0000000000000000000000000000000000000000..ded2798dd4536ded9f45230ba99bcbdfae7afe80 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000341.json @@ -0,0 +1,47 @@ +{ + "episode_index": 341, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Take the smooth plastic bottle and place it onto the pad", + "num_frames": 144, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "episode_end", + "truncation_rule": 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000347.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000347.json new file mode 100644 index 0000000000000000000000000000000000000000..f51ae75647199436f785b4172bdb33790551f15a --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000347.json @@ -0,0 +1,47 @@ +{ + "episode_index": 347, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Hold the white bottle with screw-on lid and position it on the pad", + "num_frames": 148, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 147, + "boundary_source": "episode_end", + "truncation_rule": 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000350.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000350.json new file mode 100644 index 0000000000000000000000000000000000000000..2c9b41a1ad70ee7f1cbc4a255a723087e3893155 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000350.json @@ -0,0 +1,47 @@ +{ + "episode_index": 350, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Grab and transfer the orange cylindrical bottle for medicine with the right arm to pad", + "num_frames": 148, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 147, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "right", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 135, + "arm": "right", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000351.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000351.json new file mode 100644 index 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"source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000353.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000353.json new file mode 100644 index 0000000000000000000000000000000000000000..fcc63e3500e3bde707e724635dcc907ddd2c01be --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000353.json @@ -0,0 +1,47 @@ +{ + "episode_index": 353, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the plastic bottle with brown body using the right arm and set it on pad", + "num_frames": 132, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 131, + 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"robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000356.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000356.json new file mode 100644 index 0000000000000000000000000000000000000000..2505e084d4251db894682513c070eb43625f267f --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000356.json @@ -0,0 +1,47 @@ +{ + "episode_index": 356, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Direct the left arm to grab the bottle with white cap and drop it there", + "num_frames": 135, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + 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"task_slug": "move_pillbottle_pad", + "task_goal": "Move the hand-held cylindrical white bottle to the pad and release it there.", + "num_frames": 146, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 145, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 133, + "arm": "left", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000359.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000359.json new file mode 100644 index 0000000000000000000000000000000000000000..720132c21cde1898783d91a5b57c72d0bd6f2274 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000359.json @@ -0,0 +1,47 @@ +{ + "episode_index": 359, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the smooth plastic bottle and carefully place it on pad", + "num_frames": 142, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": 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"task_goal": "Move the white cap on orange bottle using the right arm and drop it on pad", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "right", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 145, + "arm": "right", + "kind": "open", + "start_frame": 138, + "end_frame": 152 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000362.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000362.json new file mode 100644 index 0000000000000000000000000000000000000000..6df930e504d0eb79a508c7f069168ef5c90fb60e --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000362.json @@ -0,0 +1,47 @@ +{ + "episode_index": 362, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the white bottle for pills or liquids to the pad and leave it there", + "num_frames": 151, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 150, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "right", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 138, + "arm": "right", + "kind": "open", + "start_frame": 131, + "end_frame": 145 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000363.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000363.json new file mode 100644 index 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"anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000365.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000365.json new file mode 100644 index 0000000000000000000000000000000000000000..743391407c7c6eeb17ef385aa441ced801707b7e --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000365.json @@ -0,0 +1,47 @@ +{ + "episode_index": 365, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to move the medium-sized white cylindrical container to the pad", + "num_frames": 146, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 145, + "boundary_source": 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000371.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000371.json new file mode 100644 index 0000000000000000000000000000000000000000..3cfac28614e1ace30bcec1f2f8f88c22efd1c82d --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000371.json @@ -0,0 +1,47 @@ +{ + "episode_index": 371, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the compact bottle with teal and white design to the pad and let it rest there", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 160, + "boundary_source": "episode_end", + 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000374.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000374.json new file mode 100644 index 0000000000000000000000000000000000000000..4170859e6cbca217eac5e1db0ef890b5241a7dd5 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000374.json @@ -0,0 +1,47 @@ +{ + "episode_index": 374, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the brown plastic cylindrical bottle onto the pad using the right arm", + "num_frames": 149, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 148, + "boundary_source": "episode_end", + 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000377.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000377.json new file mode 100644 index 0000000000000000000000000000000000000000..d01a37afbd6a6a3c3add1f01724c05a6e09091b6 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000377.json @@ -0,0 +1,47 @@ +{ + "episode_index": 377, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the white bottle and drop it on the pad", + "num_frames": 149, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 148, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "right", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 136, + "arm": "right", + "kind": "open", + "start_frame": 129, + "end_frame": 143 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000378.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000378.json new file mode 100644 index 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"move_pillbottle_pad", + "task_goal": "Control the left arm to pick the bottle with large orange label and set it down", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000380.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000380.json new file mode 100644 index 0000000000000000000000000000000000000000..e172360c1250c33f3e1484509002e91438ade371 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000380.json @@ -0,0 +1,47 @@ +{ + "episode_index": 380, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the orange bottle with blue stripe label up and drop it onto the pad", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "episode_end", + 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0000000000000000000000000000000000000000..7a2f62cb9132f9dd466b3d43f94d8525485e62b3 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000381.json @@ -0,0 +1,47 @@ +{ + "episode_index": 381, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the cylindrical bottle with brown surface to the pad and release it there.", + "num_frames": 138, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000383.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000383.json new file mode 100644 index 0000000000000000000000000000000000000000..fa64035eaf7c76e610fccbf5146e2cb70dda5d90 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000383.json @@ -0,0 +1,47 @@ +{ + "episode_index": 383, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Set the white cylindrical bottle on pad after lifting it with the right arm", + "num_frames": 138, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000384.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000384.json new file mode 100644 index 0000000000000000000000000000000000000000..06a5c0b63902b07f4e36ef548f144ff33ae5ff24 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000384.json @@ -0,0 +1,47 @@ +{ + "episode_index": 384, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the white bottle with orange label up and drop it onto the pad", + "num_frames": 138, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": 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"task_goal": "Move the small brown bottle to the pad and leave it there", + "num_frames": 136, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "right", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000386.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000386.json new file mode 100644 index 0000000000000000000000000000000000000000..ab25ab8960e8aff5a32acad0d8553dc0d2650f4f --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000386.json @@ -0,0 +1,47 @@ +{ + "episode_index": 386, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the plastic bottle with orange screw lid using the right arm and position it on the pad.", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "episode_end", + "truncation_rule": 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0000000000000000000000000000000000000000..dc4ed9e1c5e6298015b80cb22a7fecdd07a015e4 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000387.json @@ -0,0 +1,47 @@ +{ + "episode_index": 387, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the small brown bottle with the right arm and place it down", + "num_frames": 136, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 123, + "arm": "right", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000388.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000388.json new file mode 100644 index 0000000000000000000000000000000000000000..e7ba8d959a4e38979f1078bd05fa55f4208e8a7c --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000388.json @@ -0,0 +1,47 @@ +{ + "episode_index": 388, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Place the compact bottle with teal and white design onto the pad after picking it.", + "num_frames": 141, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000389.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000389.json new file mode 100644 index 0000000000000000000000000000000000000000..4700fc54335f923e4e33dbfc19129305372a4dd5 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000389.json @@ -0,0 +1,47 @@ +{ + "episode_index": 389, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to take the plastic bottle with brown body and move it", + "num_frames": 149, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 148, + "boundary_source": "episode_end", + "truncation_rule": 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000392.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000392.json new file mode 100644 index 0000000000000000000000000000000000000000..d623312d8d3c858b00cbfe53c80bbcbe90b97a84 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000392.json @@ -0,0 +1,47 @@ +{ + "episode_index": 392, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Move the bottle with white label and cap with one arm to the pad", + "num_frames": 141, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "episode_end", + "truncation_rule": 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"source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000395.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000395.json new file mode 100644 index 0000000000000000000000000000000000000000..3fd337f71b2abcec8e75ebc50e08f67ae462e8ed --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000395.json @@ -0,0 +1,47 @@ +{ + "episode_index": 395, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the bottle with bright orange top and carefully place it on pad", + "num_frames": 155, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 154, + 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index 0000000000000000000000000000000000000000..41df6c376721f7dc626410c297e89a89678160fc --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000396.json @@ -0,0 +1,47 @@ +{ + "episode_index": 396, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Direct the right arm to grab the white cylindrical bottle and drop it there", + "num_frames": 155, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 154, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 64, + "arm": 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000398.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000398.json new file mode 100644 index 0000000000000000000000000000000000000000..2230c29d22fa864257c3747e56aecafa9011e7fe --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000398.json @@ -0,0 +1,47 @@ +{ + "episode_index": 398, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to pick the flat base orange bottle, then place it on pad", + "num_frames": 150, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 149, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "right", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 137, + "arm": "right", + "kind": "open", + "start_frame": 130, + "end_frame": 144 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000399.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000399.json new file mode 100644 index 0000000000000000000000000000000000000000..084f7661516440aca05fe2d2b0d8666011373dc8 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000399.json @@ -0,0 +1,47 @@ +{ + "episode_index": 399, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the smooth-textured brown bottle and carefully place it on pad", + "num_frames": 150, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 149, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000401.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000401.json new file mode 100644 index 0000000000000000000000000000000000000000..984b3f92fa12ed938b5f0290978437cc42879f88 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000401.json @@ -0,0 +1,47 @@ +{ + "episode_index": 401, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the smooth plastic orange bottle and carefully place it on pad", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "episode_end", + "truncation_rule": 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"anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000407.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000407.json new file mode 100644 index 0000000000000000000000000000000000000000..371c87323235adbe50abcfeec2f73aafddea8c39 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000407.json @@ -0,0 +1,47 @@ +{ + "episode_index": 407, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the smooth-textured brown bottle and gently lower onto the pad", + "num_frames": 136, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "episode_end", + 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"anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000410.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000410.json new file mode 100644 index 0000000000000000000000000000000000000000..789599319186d5b279a97be588d26afb018d35f9 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000410.json @@ -0,0 +1,47 @@ +{ + "episode_index": 410, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the palm-sized bottle with orange cover with the left arm and drop it onto the pad.", + "num_frames": 134, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 133, + "boundary_source": 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000419.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000419.json new file mode 100644 index 0000000000000000000000000000000000000000..16d5c37eed427f4bbefc736a3f9224a8e35b2762 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000419.json @@ -0,0 +1,47 @@ +{ + "episode_index": 419, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the teal and white plastic bottle and place it on the pad", + "num_frames": 141, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "episode_end", + "truncation_rule": 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000422.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000422.json new file mode 100644 index 0000000000000000000000000000000000000000..66cc4a3820d0ded8332cd3d40ec20212146cc11a --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000422.json @@ -0,0 +1,47 @@ +{ + "episode_index": 422, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the orange bottle with blue stripe label and set it on the pad", + "num_frames": 137, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "episode_end", + "truncation_rule": 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000428.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000428.json new file mode 100644 index 0000000000000000000000000000000000000000..5de36e6dfe537ddd76094eaad01278e5f3a042a1 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000428.json @@ -0,0 +1,47 @@ +{ + "episode_index": 428, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the bottle with white screw cap using the right arm and position it on the pad.", + "num_frames": 160, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 159, + "boundary_source": "episode_end", + 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"anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000434.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000434.json new file mode 100644 index 0000000000000000000000000000000000000000..825cbabcb059569011ace662f19ba93f5444c83f --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000434.json @@ -0,0 +1,47 @@ +{ + "episode_index": 434, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to pick and place the medicine bottle with screw cap onto the pad.", + "num_frames": 155, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 154, + "boundary_source": 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000437.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000437.json new file mode 100644 index 0000000000000000000000000000000000000000..785b6e96e48ec866a3937b8b1c03fe4693a368df --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000437.json @@ -0,0 +1,47 @@ +{ + "episode_index": 437, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Place the smooth plastic bottle on the pad after lifting it up.", + "num_frames": 148, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 147, + "boundary_source": "episode_end", + "truncation_rule": 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"task_goal": "Use the left arm to grab the compact bottle with teal and white design and place it", + "num_frames": 144, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 131, + "arm": "left", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000440.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000440.json new file mode 100644 index 0000000000000000000000000000000000000000..8e575d19a990124ca8acf0b2f531b6f2511baf9e --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000440.json @@ -0,0 +1,47 @@ +{ + "episode_index": 440, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to lift the white and orange storage bottle and place it", + "num_frames": 153, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 152, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "right", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 140, + "arm": "right", + "kind": "open", + "start_frame": 133, + "end_frame": 147 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000441.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000441.json new file mode 100644 index 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"anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000443.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000443.json new file mode 100644 index 0000000000000000000000000000000000000000..7c27ecbea6f3990a22bc05421cd379f54ca6432d --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000443.json @@ -0,0 +1,47 @@ +{ + "episode_index": 443, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to move the lightweight plastic bottle to the pad", + "num_frames": 146, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 145, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 133, + "arm": "left", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000444.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000444.json new file mode 100644 index 0000000000000000000000000000000000000000..26f8f734d927bfdd14688f914838103d2880ea9d --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000444.json @@ -0,0 +1,47 @@ +{ + "episode_index": 444, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Grab and transfer the white cap on orange bottle with the left arm to pad", + "num_frames": 154, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 153, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + 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+ "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000446.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000446.json new file mode 100644 index 0000000000000000000000000000000000000000..67fbfe5660a10b1b9100449aa8242a615d4171bc --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000446.json @@ -0,0 +1,47 @@ +{ + "episode_index": 446, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Grab the bottle featuring blue horizontal stripe carefully and drop it on pad", + "num_frames": 150, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 149, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 137, + "arm": "left", + "kind": "open", + "start_frame": 130, + "end_frame": 144 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000447.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000447.json new file mode 100644 index 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"2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000449.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000449.json new file mode 100644 index 0000000000000000000000000000000000000000..e7d41d855fe3d850813878510a0382b50a201e35 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000449.json @@ -0,0 +1,47 @@ +{ + "episode_index": 449, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Direct the left arm to grab the white bottle with ridged orange lid and drop it there", + "num_frames": 154, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 153, + "boundary_source": "episode_end", + "truncation_rule": 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"task_goal": "Grab the bottle with bright orange top and position it on the pad", + "num_frames": 142, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000452.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000452.json new file mode 100644 index 0000000000000000000000000000000000000000..0c8d0976fffb10ec825cff0c61fce0b49c655d93 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000452.json @@ -0,0 +1,47 @@ +{ + "episode_index": 452, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the white cap on orange bottle using the left arm and position it on the pad.", + "num_frames": 156, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 155, + "boundary_source": "episode_end", + "truncation_rule": 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"task_goal": "Pick the small plastic bottle up and set it onto the pad", + "num_frames": 143, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 130, + "arm": "left", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000455.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000455.json new file mode 100644 index 0000000000000000000000000000000000000000..31e23cac660e822b789130c1dee336506ec642d3 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000455.json @@ -0,0 +1,47 @@ +{ + "episode_index": 455, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the rounded bottle with small white cap with the left arm and drop it onto the pad.", + "num_frames": 152, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 151, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 139, + "arm": "left", + "kind": "open", + "start_frame": 132, + "end_frame": 146 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000456.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000456.json new file mode 100644 index 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"2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000464.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000464.json new file mode 100644 index 0000000000000000000000000000000000000000..248d48cdf4e0d1f170a0bb378bb59da64bbf2ce9 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000464.json @@ -0,0 +1,47 @@ +{ + "episode_index": 464, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to take the rounded small bottle and move it", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base4", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000465.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000465.json new file mode 100644 index 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"source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000467.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000467.json new file mode 100644 index 0000000000000000000000000000000000000000..e5b641c0cc8455fc968191773ea88ca342006bc7 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000467.json @@ -0,0 +1,47 @@ +{ + "episode_index": 467, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to grab the cylindrical bottle with ridged white lid and put it on the pad.", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + 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new file mode 100644 index 0000000000000000000000000000000000000000..5f0d6c4bd81e2e0d98411b8e78eadc795b7ccc72 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000468.json @@ -0,0 +1,47 @@ +{ + "episode_index": 468, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the right arm to place the white-capped cylindrical bottle on the pad", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + 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"robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000470.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000470.json new file mode 100644 index 0000000000000000000000000000000000000000..b8e4254a3ec0335ab41ec1bb6dc5edab3130d867 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000470.json @@ -0,0 +1,47 @@ +{ + "episode_index": 470, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Lift the white cap on orange bottle with the left arm and set it down", + "num_frames": 143, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + 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"task_slug": "move_pillbottle_pad", + "task_goal": "Move the flat base orange bottle and position it on the pad", + "num_frames": 131, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 130, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 118, + "arm": "right", + "kind": "open", + "start_frame": 111, + "end_frame": 125 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base3", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000473.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000473.json new file mode 100644 index 0000000000000000000000000000000000000000..8b5d914b55309604b8968ede872ecf7882fd7cdb --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000473.json @@ -0,0 +1,47 @@ +{ + "episode_index": 473, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Hold the cylindrical bottle with ridged white lid and position it on the pad", + "num_frames": 142, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": 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+ "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000476.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000476.json new file mode 100644 index 0000000000000000000000000000000000000000..0c854732b5d4fb771741b25e2a9be24b43269313 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000476.json @@ -0,0 +1,47 @@ +{ + "episode_index": 476, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to move the smooth plastic bottle to the pad", + "num_frames": 151, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 150, + "boundary_source": "episode_end", + "truncation_rule": 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"task_goal": "Move the hand-held cylindrical white bottle with one arm to the pad", + "num_frames": 149, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 148, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 136, + "arm": "left", + "kind": "open", + "start_frame": 129, + "end_frame": 143 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000479.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000479.json new file mode 100644 index 0000000000000000000000000000000000000000..ea6353749d6f0b9e484f792faa62a215f832fa21 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000479.json @@ -0,0 +1,47 @@ +{ + "episode_index": 479, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Pick the plastic bottle with ridged white cap up and set it onto the pad", + "num_frames": 151, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 150, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 138, + "arm": "left", + "kind": "open", + "start_frame": 131, + "end_frame": 145 + } + ], + "scene_info": { + "{A}": "080_pillbottle/base5", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000480.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000480.json new file mode 100644 index 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"anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000488.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000488.json new file mode 100644 index 0000000000000000000000000000000000000000..5ff08ce37347e2ee937eb6fdaf45a4d9ce97cb52 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000488.json @@ -0,0 +1,47 @@ +{ + "episode_index": 488, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Set the smooth-textured brown bottle down on the pad after picking it.", + "num_frames": 142, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "episode_end", + 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+ "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000491.json b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000491.json new file mode 100644 index 0000000000000000000000000000000000000000..daac5e93d120a691ccb35bd4057c4913bb20d3d5 --- /dev/null +++ b/data/aloha_clean/move_pillbottle_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000491.json @@ -0,0 +1,47 @@ +{ + "episode_index": 491, + "repo": "move_pillbottle_pad-aloha-agilex_randomized_500", + "task_slug": "move_pillbottle_pad", + "task_goal": "Use the left arm to take the cylindrical bottle with brown surface and move it", + "num_frames": 160, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the pill bottle on the pad.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 159, + "boundary_source": "episode_end", + 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